diff --git a/data/spatial codes/sam3+depth-anything-3/metric/tracking/selective/32/explicit/13c3e046d7.json b/data/spatial codes/sam3+depth-anything-3/metric/tracking/selective/32/explicit/13c3e046d7.json
new file mode 100644
index 0000000000000000000000000000000000000000..c350ac5074e424b9e4a21a68a157b5d3c9cf6324
--- /dev/null
+++ b/data/spatial codes/sam3+depth-anything-3/metric/tracking/selective/32/explicit/13c3e046d7.json	
@@ -0,0 +1,245 @@
+{
+ "spatial code schema": {
+  "objects": {
+   "<object class>": {
+    "count": {
+     "unit": null,
+     "description": "number of instances of this class in the compact spatial code (that schema's per-class oriented-box list length)"
+    },
+    "instances": [
+     {
+      "position": {
+       "x coordinate": {
+        "unit": "meters",
+        "description": "x coordinate of this instance's compact 3D oriented bounding box center"
+       },
+       "y coordinate": {
+        "unit": "meters",
+        "description": "y coordinate of this instance's compact 3D oriented bounding box center"
+       },
+       "height above floor": {
+        "unit": "meters",
+        "description": "height coordinate of this instance's compact 3D oriented bounding box center"
+       }
+      },
+      "longest dimension": {
+       "unit": "meters",
+       "description": "longest of this instance's compact 3D oriented bounding box dimensions"
+      }
+     }
+    ]
+   }
+  },
+  "room": {
+   "floor area": {
+    "unit": "square meters",
+    "description": "shoelace area of the compact spatial code's floor boundary polygons, with every interior hole subtracted"
+   }
+  },
+  "closest classes distance meters from": {
+   "<object class>": {
+    "<other object class>": {
+     "distance": {
+      "unit": "meters",
+      "description": "minimum surface-to-surface separation between the two classes' compact 3D oriented bounding boxes, over every instance pair"
+     },
+     "closeness rank": {
+      "unit": null,
+      "description": "1 = the nearest other class to this one, 2 = second-nearest, and so on"
+     }
+    }
+   }
+  },
+  "appearance order": {
+   "unit": null,
+   "description": "class names ordered by earliest compact 'first visible time' across all of that class's instances"
+  }
+ },
+ "objects": {
+  "ceiling light": {
+   "count": 2,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-1.89 meters",
+      "y coordinate": "-0.61 meters",
+      "height above floor": "-0.63 meters"
+     },
+     "longest dimension": "1.52 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-1.91 meters",
+      "y coordinate": "0.17 meters",
+      "height above floor": "0.77 meters"
+     },
+     "longest dimension": "2.45 meters"
+    }
+   ]
+  },
+  "crate": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-1.16 meters",
+      "y coordinate": "2.66 meters",
+      "height above floor": "0.82 meters"
+     },
+     "longest dimension": "2.13 meters"
+    }
+   ]
+  },
+  "door": {
+   "count": 3,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "0.45 meters",
+      "y coordinate": "-0.45 meters",
+      "height above floor": "1.44 meters"
+     },
+     "longest dimension": "1.71 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "0.28 meters",
+      "y coordinate": "0.2 meters",
+      "height above floor": "1.48 meters"
+     },
+     "longest dimension": "1.69 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "0.21 meters",
+      "y coordinate": "-0.48 meters",
+      "height above floor": "1.54 meters"
+     },
+     "longest dimension": "1.61 meters"
+    }
+   ]
+  },
+  "table": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-1.26 meters",
+      "y coordinate": "2.34 meters",
+      "height above floor": "0.76 meters"
+     },
+     "longest dimension": "1.34 meters"
+    }
+   ]
+  },
+  "whiteboard": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-1.41 meters",
+      "y coordinate": "-0.21 meters",
+      "height above floor": "-1.17 meters"
+     },
+     "longest dimension": "2.92 meters"
+    }
+   ]
+  }
+ },
+ "room": {
+  "floor area": "22.0 square meters"
+ },
+ "closest classes distance meters from": {
+  "ceiling light": {
+   "whiteboard": {
+    "distance": "0.27 meters",
+    "closeness rank": 1
+   },
+   "crate": {
+    "distance": "1.1 meters",
+    "closeness rank": 2
+   },
+   "door": {
+    "distance": "1.11 meters",
+    "closeness rank": 3
+   },
+   "table": {
+    "distance": "1.14 meters",
+    "closeness rank": 4
+   }
+  },
+  "crate": {
+   "table": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "whiteboard": {
+    "distance": "0.98 meters",
+    "closeness rank": 2
+   },
+   "ceiling light": {
+    "distance": "1.1 meters",
+    "closeness rank": 3
+   },
+   "door": {
+    "distance": "1.91 meters",
+    "closeness rank": 4
+   }
+  },
+  "door": {
+   "ceiling light": {
+    "distance": "1.11 meters",
+    "closeness rank": 1
+   },
+   "crate": {
+    "distance": "1.91 meters",
+    "closeness rank": 2
+   },
+   "table": {
+    "distance": "2.15 meters",
+    "closeness rank": 3
+   },
+   "whiteboard": {
+    "distance": "2.2 meters",
+    "closeness rank": 4
+   }
+  },
+  "table": {
+   "crate": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "ceiling light": {
+    "distance": "1.14 meters",
+    "closeness rank": 2
+   },
+   "whiteboard": {
+    "distance": "1.34 meters",
+    "closeness rank": 3
+   },
+   "door": {
+    "distance": "2.15 meters",
+    "closeness rank": 4
+   }
+  },
+  "whiteboard": {
+   "ceiling light": {
+    "distance": "0.27 meters",
+    "closeness rank": 1
+   },
+   "crate": {
+    "distance": "0.98 meters",
+    "closeness rank": 2
+   },
+   "table": {
+    "distance": "1.34 meters",
+    "closeness rank": 3
+   },
+   "door": {
+    "distance": "2.2 meters",
+    "closeness rank": 4
+   }
+  }
+ },
+ "appearance order": ["ceiling light", "door", "whiteboard", "crate", "table"]
+}
\ No newline at end of file
diff --git a/data/spatial codes/sam3+depth-anything-3/metric/tracking/selective/32/explicit/21d970d8de.json b/data/spatial codes/sam3+depth-anything-3/metric/tracking/selective/32/explicit/21d970d8de.json
new file mode 100644
index 0000000000000000000000000000000000000000..442cc74b6598c953dc148350e8b6a1605096cf46
--- /dev/null
+++ b/data/spatial codes/sam3+depth-anything-3/metric/tracking/selective/32/explicit/21d970d8de.json	
@@ -0,0 +1,720 @@
+{
+ "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": 7,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-2.07 meters",
+      "y coordinate": "0.14 meters",
+      "height above floor": "2.13 meters"
+     },
+     "longest dimension": "1.25 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-0.77 meters",
+      "y coordinate": "-2.13 meters",
+      "height above floor": "2.2 meters"
+     },
+     "longest dimension": "2.64 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "0.55 meters",
+      "y coordinate": "1.31 meters",
+      "height above floor": "2.13 meters"
+     },
+     "longest dimension": "0.84 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "2.37 meters",
+      "y coordinate": "-0.79 meters",
+      "height above floor": "2.23 meters"
+     },
+     "longest dimension": "1.8 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "1.41 meters",
+      "y coordinate": "1.71 meters",
+      "height above floor": "2.13 meters"
+     },
+     "longest dimension": "1.16 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "1.02 meters",
+      "y coordinate": "-1.35 meters",
+      "height above floor": "2.22 meters"
+     },
+     "longest dimension": "1.36 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "3.1 meters",
+      "y coordinate": "2.46 meters",
+      "height above floor": "2.13 meters"
+     },
+     "longest dimension": "1.21 meters"
+    }
+   ]
+  },
+  "chair": {
+   "count": 7,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "2.11 meters",
+      "y coordinate": "-1.19 meters",
+      "height above floor": "0.01 meters"
+     },
+     "longest dimension": "0.83 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "3.66 meters",
+      "y coordinate": "-3.25 meters",
+      "height above floor": "0.04 meters"
+     },
+     "longest dimension": "2.86 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "0.54 meters",
+      "y coordinate": "-4.68 meters",
+      "height above floor": "0.13 meters"
+     },
+     "longest dimension": "0.47 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "1.58 meters",
+      "y coordinate": "-3.79 meters",
+      "height above floor": "0.16 meters"
+     },
+     "longest dimension": "0.36 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "1.8 meters",
+      "y coordinate": "-4.35 meters",
+      "height above floor": "0.17 meters"
+     },
+     "longest dimension": "0.4 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "1.95 meters",
+      "y coordinate": "-4.24 meters",
+      "height above floor": "0.17 meters"
+     },
+     "longest dimension": "0.46 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "4.51 meters",
+      "y coordinate": "-3.25 meters",
+      "height above floor": "-0.01 meters"
+     },
+     "longest dimension": "0.73 meters"
+    }
+   ]
+  },
+  "clock": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "0.58 meters",
+      "y coordinate": "2.38 meters",
+      "height above floor": "1.9 meters"
+     },
+     "longest dimension": "0.29 meters"
+    }
+   ]
+  },
+  "door": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-1.42 meters",
+      "y coordinate": "1.46 meters",
+      "height above floor": "0.29 meters"
+     },
+     "longest dimension": "2.06 meters"
+    }
+   ]
+  },
+  "exhaust fan": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-0.77 meters",
+      "y coordinate": "-2.13 meters",
+      "height above floor": "2.2 meters"
+     },
+     "longest dimension": "2.64 meters"
+    }
+   ]
+  },
+  "table": {
+   "count": 5,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "2.02 meters",
+      "y coordinate": "-0.82 meters",
+      "height above floor": "0.01 meters"
+     },
+     "longest dimension": "2.06 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "1.79 meters",
+      "y coordinate": "-2.31 meters",
+      "height above floor": "-0.11 meters"
+     },
+     "longest dimension": "1.52 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "1.4 meters",
+      "y coordinate": "0.69 meters",
+      "height above floor": "0.0 meters"
+     },
+     "longest dimension": "1.14 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "3.57 meters",
+      "y coordinate": "-4.39 meters",
+      "height above floor": "0.43 meters"
+     },
+     "longest dimension": "0.28 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "5.15 meters",
+      "y coordinate": "-2.69 meters",
+      "height above floor": "0.08 meters"
+     },
+     "longest dimension": "1.23 meters"
+    }
+   ]
+  },
+  "telephone": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "1.15 meters",
+      "y coordinate": "-5.31 meters",
+      "height above floor": "0.31 meters"
+     },
+     "longest dimension": "0.83 meters"
+    }
+   ]
+  },
+  "trash can": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-2.49 meters",
+      "y coordinate": "0.37 meters",
+      "height above floor": "-0.55 meters"
+     },
+     "longest dimension": "0.3 meters"
+    }
+   ]
+  },
+  "tv": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-2.27 meters",
+      "y coordinate": "-1.01 meters",
+      "height above floor": "1.08 meters"
+     },
+     "longest dimension": "1.25 meters"
+    }
+   ]
+  },
+  "whiteboard": {
+   "count": 3,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-0.09 meters",
+      "y coordinate": "1.6 meters",
+      "height above floor": "0.66 meters"
+     },
+     "longest dimension": "1.85 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-0.68 meters",
+      "y coordinate": "-4.31 meters",
+      "height above floor": "1.05 meters"
+     },
+     "longest dimension": "1.83 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-0.67 meters",
+      "y coordinate": "-4.22 meters",
+      "height above floor": "1.11 meters"
+     },
+     "longest dimension": "1.62 meters"
+    }
+   ]
+  }
+ },
+ "room": {
+  "floor area": "61.7 square meters"
+ },
+ "closest classes distance meters from": {
+  "ceiling light": {
+   "exhaust fan": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "whiteboard": {
+    "distance": "0.7 meters",
+    "closeness rank": 2
+   },
+   "tv": {
+    "distance": "0.74 meters",
+    "closeness rank": 3
+   },
+   "clock": {
+    "distance": "0.81 meters",
+    "closeness rank": 4
+   },
+   "door": {
+    "distance": "1.11 meters",
+    "closeness rank": 5
+   },
+   "chair": {
+    "distance": "1.78 meters",
+    "closeness rank": 6
+   },
+   "table": {
+    "distance": "2.12 meters",
+    "closeness rank": 7
+   },
+   "trash can": {
+    "distance": "2.52 meters",
+    "closeness rank": 8
+   },
+   "telephone": {
+    "distance": "2.91 meters",
+    "closeness rank": 9
+   }
+  },
+  "chair": {
+   "table": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "telephone": {
+    "distance": "0.56 meters",
+    "closeness rank": 2
+   },
+   "whiteboard": {
+    "distance": "0.72 meters",
+    "closeness rank": 3
+   },
+   "ceiling light": {
+    "distance": "1.78 meters",
+    "closeness rank": 4
+   },
+   "exhaust fan": {
+    "distance": "2.24 meters",
+    "closeness rank": 5
+   },
+   "tv": {
+    "distance": "3.83 meters",
+    "closeness rank": 6
+   },
+   "clock": {
+    "distance": "3.89 meters",
+    "closeness rank": 7
+   },
+   "door": {
+    "distance": "3.96 meters",
+    "closeness rank": 8
+   },
+   "trash can": {
+    "distance": "4.53 meters",
+    "closeness rank": 9
+   }
+  },
+  "clock": {
+   "whiteboard": {
+    "distance": "0.53 meters",
+    "closeness rank": 1
+   },
+   "ceiling light": {
+    "distance": "0.81 meters",
+    "closeness rank": 2
+   },
+   "door": {
+    "distance": "1.67 meters",
+    "closeness rank": 3
+   },
+   "table": {
+    "distance": "2.17 meters",
+    "closeness rank": 4
+   },
+   "exhaust fan": {
+    "distance": "3.62 meters",
+    "closeness rank": 5
+   },
+   "chair": {
+    "distance": "3.89 meters",
+    "closeness rank": 6
+   },
+   "trash can": {
+    "distance": "4.0 meters",
+    "closeness rank": 7
+   },
+   "tv": {
+    "distance": "4.07 meters",
+    "closeness rank": 8
+   },
+   "telephone": {
+    "distance": "7.54 meters",
+    "closeness rank": 9
+   }
+  },
+  "door": {
+   "whiteboard": {
+    "distance": "0.29 meters",
+    "closeness rank": 1
+   },
+   "trash can": {
+    "distance": "0.92 meters",
+    "closeness rank": 2
+   },
+   "ceiling light": {
+    "distance": "1.11 meters",
+    "closeness rank": 3
+   },
+   "clock": {
+    "distance": "1.67 meters",
+    "closeness rank": 4
+   },
+   "tv": {
+    "distance": "1.81 meters",
+    "closeness rank": 5
+   },
+   "table": {
+    "distance": "2.02 meters",
+    "closeness rank": 6
+   },
+   "exhaust fan": {
+    "distance": "2.36 meters",
+    "closeness rank": 7
+   },
+   "chair": {
+    "distance": "3.96 meters",
+    "closeness rank": 8
+   },
+   "telephone": {
+    "distance": "7.04 meters",
+    "closeness rank": 9
+   }
+  },
+  "exhaust fan": {
+   "ceiling light": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "whiteboard": {
+    "distance": "0.7 meters",
+    "closeness rank": 2
+   },
+   "tv": {
+    "distance": "1.0 meters",
+    "closeness rank": 3
+   },
+   "chair": {
+    "distance": "2.24 meters",
+    "closeness rank": 4
+   },
+   "door": {
+    "distance": "2.36 meters",
+    "closeness rank": 5
+   },
+   "table": {
+    "distance": "2.81 meters",
+    "closeness rank": 6
+   },
+   "telephone": {
+    "distance": "2.91 meters",
+    "closeness rank": 7
+   },
+   "trash can": {
+    "distance": "2.98 meters",
+    "closeness rank": 8
+   },
+   "clock": {
+    "distance": "3.62 meters",
+    "closeness rank": 9
+   }
+  },
+  "table": {
+   "chair": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "whiteboard": {
+    "distance": "0.75 meters",
+    "closeness rank": 2
+   },
+   "telephone": {
+    "distance": "1.96 meters",
+    "closeness rank": 3
+   },
+   "door": {
+    "distance": "2.02 meters",
+    "closeness rank": 4
+   },
+   "ceiling light": {
+    "distance": "2.12 meters",
+    "closeness rank": 5
+   },
+   "clock": {
+    "distance": "2.17 meters",
+    "closeness rank": 6
+   },
+   "exhaust fan": {
+    "distance": "2.81 meters",
+    "closeness rank": 7
+   },
+   "tv": {
+    "distance": "3.14 meters",
+    "closeness rank": 8
+   },
+   "trash can": {
+    "distance": "3.43 meters",
+    "closeness rank": 9
+   }
+  },
+  "telephone": {
+   "chair": {
+    "distance": "0.56 meters",
+    "closeness rank": 1
+   },
+   "whiteboard": {
+    "distance": "1.04 meters",
+    "closeness rank": 2
+   },
+   "table": {
+    "distance": "1.96 meters",
+    "closeness rank": 3
+   },
+   "ceiling light": {
+    "distance": "2.91 meters",
+    "closeness rank": 4
+   },
+   "exhaust fan": {
+    "distance": "2.91 meters",
+    "closeness rank": 5
+   },
+   "tv": {
+    "distance": "4.76 meters",
+    "closeness rank": 6
+   },
+   "trash can": {
+    "distance": "6.51 meters",
+    "closeness rank": 7
+   },
+   "door": {
+    "distance": "7.04 meters",
+    "closeness rank": 8
+   },
+   "clock": {
+    "distance": "7.54 meters",
+    "closeness rank": 9
+   }
+  },
+  "trash can": {
+   "door": {
+    "distance": "0.92 meters",
+    "closeness rank": 1
+   },
+   "tv": {
+    "distance": "1.33 meters",
+    "closeness rank": 2
+   },
+   "whiteboard": {
+    "distance": "1.61 meters",
+    "closeness rank": 3
+   },
+   "ceiling light": {
+    "distance": "2.52 meters",
+    "closeness rank": 4
+   },
+   "exhaust fan": {
+    "distance": "2.98 meters",
+    "closeness rank": 5
+   },
+   "table": {
+    "distance": "3.43 meters",
+    "closeness rank": 6
+   },
+   "clock": {
+    "distance": "4.0 meters",
+    "closeness rank": 7
+   },
+   "chair": {
+    "distance": "4.53 meters",
+    "closeness rank": 8
+   },
+   "telephone": {
+    "distance": "6.51 meters",
+    "closeness rank": 9
+   }
+  },
+  "tv": {
+   "ceiling light": {
+    "distance": "0.74 meters",
+    "closeness rank": 1
+   },
+   "exhaust fan": {
+    "distance": "1.0 meters",
+    "closeness rank": 2
+   },
+   "trash can": {
+    "distance": "1.33 meters",
+    "closeness rank": 3
+   },
+   "door": {
+    "distance": "1.81 meters",
+    "closeness rank": 4
+   },
+   "whiteboard": {
+    "distance": "2.12 meters",
+    "closeness rank": 5
+   },
+   "table": {
+    "distance": "3.14 meters",
+    "closeness rank": 6
+   },
+   "chair": {
+    "distance": "3.83 meters",
+    "closeness rank": 7
+   },
+   "clock": {
+    "distance": "4.07 meters",
+    "closeness rank": 8
+   },
+   "telephone": {
+    "distance": "4.76 meters",
+    "closeness rank": 9
+   }
+  },
+  "whiteboard": {
+   "door": {
+    "distance": "0.29 meters",
+    "closeness rank": 1
+   },
+   "clock": {
+    "distance": "0.53 meters",
+    "closeness rank": 2
+   },
+   "ceiling light": {
+    "distance": "0.7 meters",
+    "closeness rank": 3
+   },
+   "exhaust fan": {
+    "distance": "0.7 meters",
+    "closeness rank": 4
+   },
+   "chair": {
+    "distance": "0.72 meters",
+    "closeness rank": 5
+   },
+   "table": {
+    "distance": "0.75 meters",
+    "closeness rank": 6
+   },
+   "telephone": {
+    "distance": "1.04 meters",
+    "closeness rank": 7
+   },
+   "trash can": {
+    "distance": "1.61 meters",
+    "closeness rank": 8
+   },
+   "tv": {
+    "distance": "2.12 meters",
+    "closeness rank": 9
+   }
+  }
+ },
+ "appearance order": ["chair", "table", "whiteboard", "telephone", "door", "ceiling light", "exhaust fan", "tv", "trash can", "clock"]
+}
\ No newline at end of file
diff --git a/data/spatial codes/sam3+depth-anything-3/metric/tracking/selective/32/explicit/3e8bba0176.json b/data/spatial codes/sam3+depth-anything-3/metric/tracking/selective/32/explicit/3e8bba0176.json
new file mode 100644
index 0000000000000000000000000000000000000000..e42a9cedbcf4aa0dee703b348cef4172d01574de
--- /dev/null
+++ b/data/spatial codes/sam3+depth-anything-3/metric/tracking/selective/32/explicit/3e8bba0176.json	
@@ -0,0 +1,1585 @@
+{
+ "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": "-1.5 meters",
+      "y coordinate": "-1.32 meters",
+      "height above floor": "0.82 meters"
+     },
+     "longest dimension": "1.27 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "0.82 meters",
+      "y coordinate": "-1.4 meters",
+      "height above floor": "2.54 meters"
+     },
+     "longest dimension": "1.2 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-1.52 meters",
+      "y coordinate": "-1.34 meters",
+      "height above floor": "2.76 meters"
+     },
+     "longest dimension": "1.25 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "2.07 meters",
+      "y coordinate": "-0.57 meters",
+      "height above floor": "0.91 meters"
+     },
+     "longest dimension": "0.29 meters"
+    }
+   ]
+  },
+  "chair": {
+   "count": 3,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "0.3 meters",
+      "y coordinate": "0.4 meters",
+      "height above floor": "2.73 meters"
+     },
+     "longest dimension": "0.67 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "0.89 meters",
+      "y coordinate": "0.79 meters",
+      "height above floor": "0.53 meters"
+     },
+     "longest dimension": "1.05 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-1.44 meters",
+      "y coordinate": "0.8 meters",
+      "height above floor": "3.23 meters"
+     },
+     "longest dimension": "0.91 meters"
+    }
+   ]
+  },
+  "computer mouse": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "0.8 meters",
+      "y coordinate": "0.59 meters",
+      "height above floor": "1.52 meters"
+     },
+     "longest dimension": "0.15 meters"
+    }
+   ]
+  },
+  "cup": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-0.46 meters",
+      "y coordinate": "0.54 meters",
+      "height above floor": "2.35 meters"
+     },
+     "longest dimension": "0.14 meters"
+    }
+   ]
+  },
+  "cushion": {
+   "count": 3,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "1.08 meters",
+      "y coordinate": "0.61 meters",
+      "height above floor": "1.8 meters"
+     },
+     "longest dimension": "0.37 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-1.52 meters",
+      "y coordinate": "0.77 meters",
+      "height above floor": "0.26 meters"
+     },
+     "longest dimension": "0.45 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "0.81 meters",
+      "y coordinate": "0.87 meters",
+      "height above floor": "0.57 meters"
+     },
+     "longest dimension": "0.46 meters"
+    }
+   ]
+  },
+  "door": {
+   "count": 3,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "1.08 meters",
+      "y coordinate": "0.9 meters",
+      "height above floor": "1.12 meters"
+     },
+     "longest dimension": "1.21 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-2.63 meters",
+      "y coordinate": "0.5 meters",
+      "height above floor": "2.63 meters"
+     },
+     "longest dimension": "1.98 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "2.04 meters",
+      "y coordinate": "-0.28 meters",
+      "height above floor": "0.32 meters"
+     },
+     "longest dimension": "1.25 meters"
+    }
+   ]
+  },
+  "headphones": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "0.62 meters",
+      "y coordinate": "0.54 meters",
+      "height above floor": "1.61 meters"
+     },
+     "longest dimension": "0.11 meters"
+    }
+   ]
+  },
+  "keyboard": {
+   "count": 3,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "0.14 meters",
+      "y coordinate": "0.61 meters",
+      "height above floor": "1.41 meters"
+     },
+     "longest dimension": "0.41 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "1.49 meters",
+      "y coordinate": "0.6 meters",
+      "height above floor": "1.29 meters"
+     },
+     "longest dimension": "0.38 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "0.22 meters",
+      "y coordinate": "0.57 meters",
+      "height above floor": "2.19 meters"
+     },
+     "longest dimension": "0.29 meters"
+    }
+   ]
+  },
+  "monitor": {
+   "count": 3,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "0.13 meters",
+      "y coordinate": "0.25 meters",
+      "height above floor": "1.88 meters"
+     },
+     "longest dimension": "0.7 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "2.01 meters",
+      "y coordinate": "0.13 meters",
+      "height above floor": "2.12 meters"
+     },
+     "longest dimension": "0.23 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "2.03 meters",
+      "y coordinate": "0.11 meters",
+      "height above floor": "2.56 meters"
+     },
+     "longest dimension": "0.27 meters"
+    }
+   ]
+  },
+  "paper bag": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-0.79 meters",
+      "y coordinate": "0.54 meters",
+      "height above floor": "2.02 meters"
+     },
+     "longest dimension": "0.23 meters"
+    }
+   ]
+  },
+  "pillow": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "1.09 meters",
+      "y coordinate": "0.6 meters",
+      "height above floor": "1.86 meters"
+     },
+     "longest dimension": "0.37 meters"
+    }
+   ]
+  },
+  "power strip": {
+   "count": 2,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "0.45 meters",
+      "y coordinate": "0.56 meters",
+      "height above floor": "1.98 meters"
+     },
+     "longest dimension": "0.22 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-0.38 meters",
+      "y coordinate": "0.59 meters",
+      "height above floor": "1.8 meters"
+     },
+     "longest dimension": "0.1 meters"
+    }
+   ]
+  },
+  "table": {
+   "count": 5,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "0.37 meters",
+      "y coordinate": "0.58 meters",
+      "height above floor": "2.26 meters"
+     },
+     "longest dimension": "1.43 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "1.34 meters",
+      "y coordinate": "0.63 meters",
+      "height above floor": "2.24 meters"
+     },
+     "longest dimension": "1.29 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-0.15 meters",
+      "y coordinate": "0.73 meters",
+      "height above floor": "1.33 meters"
+     },
+     "longest dimension": "1.51 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-0.3 meters",
+      "y coordinate": "0.6 meters",
+      "height above floor": "2.35 meters"
+     },
+     "longest dimension": "1.95 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "2.08 meters",
+      "y coordinate": "0.28 meters",
+      "height above floor": "2.51 meters"
+     },
+     "longest dimension": "0.42 meters"
+    }
+   ]
+  },
+  "telephone": {
+   "count": 2,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "1.56 meters",
+      "y coordinate": "0.59 meters",
+      "height above floor": "2.42 meters"
+     },
+     "longest dimension": "0.42 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "1.5 meters",
+      "y coordinate": "0.6 meters",
+      "height above floor": "1.29 meters"
+     },
+     "longest dimension": "0.42 meters"
+    }
+   ]
+  },
+  "trash can": {
+   "count": 2,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-1.88 meters",
+      "y coordinate": "1.23 meters",
+      "height above floor": "3.31 meters"
+     },
+     "longest dimension": "0.34 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-2.17 meters",
+      "y coordinate": "1.25 meters",
+      "height above floor": "3.3 meters"
+     },
+     "longest dimension": "0.32 meters"
+    }
+   ]
+  },
+  "tv": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-0.31 meters",
+      "y coordinate": "0.24 meters",
+      "height above floor": "2.12 meters"
+     },
+     "longest dimension": "0.55 meters"
+    }
+   ]
+  },
+  "whiteboard": {
+   "count": 3,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-0.67 meters",
+      "y coordinate": "0.0 meters",
+      "height above floor": "-0.02 meters"
+     },
+     "longest dimension": "2.26 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "0.22 meters",
+      "y coordinate": "-0.07 meters",
+      "height above floor": "3.47 meters"
+     },
+     "longest dimension": "2.39 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "1.99 meters",
+      "y coordinate": "-0.04 meters",
+      "height above floor": "0.97 meters"
+     },
+     "longest dimension": "0.91 meters"
+    }
+   ]
+  }
+ },
+ "room": {
+  "floor area": "16.9 square meters"
+ },
+ "closest classes distance meters from": {
+  "ceiling light": {
+   "door": {
+    "distance": "0.24 meters",
+    "closeness rank": 1
+   },
+   "whiteboard": {
+    "distance": "0.32 meters",
+    "closeness rank": 2
+   },
+   "monitor": {
+    "distance": "1.11 meters",
+    "closeness rank": 3
+   },
+   "keyboard": {
+    "distance": "1.14 meters",
+    "closeness rank": 4
+   },
+   "telephone": {
+    "distance": "1.15 meters",
+    "closeness rank": 5
+   },
+   "table": {
+    "distance": "1.21 meters",
+    "closeness rank": 6
+   },
+   "chair": {
+    "distance": "1.26 meters",
+    "closeness rank": 7
+   },
+   "pillow": {
+    "distance": "1.55 meters",
+    "closeness rank": 8
+   },
+   "cushion": {
+    "distance": "1.55 meters",
+    "closeness rank": 9
+   },
+   "tv": {
+    "distance": "1.58 meters",
+    "closeness rank": 10
+   },
+   "computer mouse": {
+    "distance": "1.71 meters",
+    "closeness rank": 11
+   },
+   "headphones": {
+    "distance": "1.83 meters",
+    "closeness rank": 12
+   },
+   "paper bag": {
+    "distance": "1.86 meters",
+    "closeness rank": 13
+   },
+   "power strip": {
+    "distance": "1.88 meters",
+    "closeness rank": 14
+   },
+   "cup": {
+    "distance": "1.99 meters",
+    "closeness rank": 15
+   },
+   "trash can": {
+    "distance": "2.35 meters",
+    "closeness rank": 16
+   }
+  },
+  "chair": {
+   "cushion": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "door": {
+    "distance": "0.0 meters",
+    "closeness rank": 2
+   },
+   "table": {
+    "distance": "0.07 meters",
+    "closeness rank": 3
+   },
+   "trash can": {
+    "distance": "0.21 meters",
+    "closeness rank": 4
+   },
+   "whiteboard": {
+    "distance": "0.41 meters",
+    "closeness rank": 5
+   },
+   "tv": {
+    "distance": "0.45 meters",
+    "closeness rank": 6
+   },
+   "keyboard": {
+    "distance": "0.45 meters",
+    "closeness rank": 7
+   },
+   "telephone": {
+    "distance": "0.52 meters",
+    "closeness rank": 8
+   },
+   "cup": {
+    "distance": "0.62 meters",
+    "closeness rank": 9
+   },
+   "power strip": {
+    "distance": "0.67 meters",
+    "closeness rank": 10
+   },
+   "monitor": {
+    "distance": "0.75 meters",
+    "closeness rank": 11
+   },
+   "computer mouse": {
+    "distance": "0.76 meters",
+    "closeness rank": 12
+   },
+   "pillow": {
+    "distance": "0.81 meters",
+    "closeness rank": 13
+   },
+   "headphones": {
+    "distance": "0.88 meters",
+    "closeness rank": 14
+   },
+   "paper bag": {
+    "distance": "0.95 meters",
+    "closeness rank": 15
+   },
+   "ceiling light": {
+    "distance": "1.26 meters",
+    "closeness rank": 16
+   }
+  },
+  "computer mouse": {
+   "headphones": {
+    "distance": "0.08 meters",
+    "closeness rank": 1
+   },
+   "cushion": {
+    "distance": "0.15 meters",
+    "closeness rank": 2
+   },
+   "door": {
+    "distance": "0.15 meters",
+    "closeness rank": 3
+   },
+   "pillow": {
+    "distance": "0.16 meters",
+    "closeness rank": 4
+   },
+   "table": {
+    "distance": "0.19 meters",
+    "closeness rank": 5
+   },
+   "power strip": {
+    "distance": "0.4 meters",
+    "closeness rank": 6
+   },
+   "monitor": {
+    "distance": "0.41 meters",
+    "closeness rank": 7
+   },
+   "keyboard": {
+    "distance": "0.41 meters",
+    "closeness rank": 8
+   },
+   "telephone": {
+    "distance": "0.45 meters",
+    "closeness rank": 9
+   },
+   "chair": {
+    "distance": "0.76 meters",
+    "closeness rank": 10
+   },
+   "tv": {
+    "distance": "0.93 meters",
+    "closeness rank": 11
+   },
+   "whiteboard": {
+    "distance": "1.21 meters",
+    "closeness rank": 12
+   },
+   "cup": {
+    "distance": "1.35 meters",
+    "closeness rank": 13
+   },
+   "paper bag": {
+    "distance": "1.46 meters",
+    "closeness rank": 14
+   },
+   "ceiling light": {
+    "distance": "1.71 meters",
+    "closeness rank": 15
+   },
+   "trash can": {
+    "distance": "3.01 meters",
+    "closeness rank": 16
+   }
+  },
+  "cup": {
+   "table": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "tv": {
+    "distance": "0.11 meters",
+    "closeness rank": 2
+   },
+   "paper bag": {
+    "distance": "0.26 meters",
+    "closeness rank": 3
+   },
+   "monitor": {
+    "distance": "0.42 meters",
+    "closeness rank": 4
+   },
+   "keyboard": {
+    "distance": "0.47 meters",
+    "closeness rank": 5
+   },
+   "power strip": {
+    "distance": "0.47 meters",
+    "closeness rank": 6
+   },
+   "chair": {
+    "distance": "0.62 meters",
+    "closeness rank": 7
+   },
+   "whiteboard": {
+    "distance": "1.11 meters",
+    "closeness rank": 8
+   },
+   "headphones": {
+    "distance": "1.15 meters",
+    "closeness rank": 9
+   },
+   "computer mouse": {
+    "distance": "1.35 meters",
+    "closeness rank": 10
+   },
+   "pillow": {
+    "distance": "1.4 meters",
+    "closeness rank": 11
+   },
+   "cushion": {
+    "distance": "1.42 meters",
+    "closeness rank": 12
+   },
+   "door": {
+    "distance": "1.5 meters",
+    "closeness rank": 13
+   },
+   "trash can": {
+    "distance": "1.57 meters",
+    "closeness rank": 14
+   },
+   "telephone": {
+    "distance": "1.81 meters",
+    "closeness rank": 15
+   },
+   "ceiling light": {
+    "distance": "1.99 meters",
+    "closeness rank": 16
+   }
+  },
+  "cushion": {
+   "chair": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "door": {
+    "distance": "0.0 meters",
+    "closeness rank": 2
+   },
+   "pillow": {
+    "distance": "0.0 meters",
+    "closeness rank": 3
+   },
+   "table": {
+    "distance": "0.0 meters",
+    "closeness rank": 4
+   },
+   "computer mouse": {
+    "distance": "0.15 meters",
+    "closeness rank": 5
+   },
+   "whiteboard": {
+    "distance": "0.2 meters",
+    "closeness rank": 6
+   },
+   "telephone": {
+    "distance": "0.24 meters",
+    "closeness rank": 7
+   },
+   "keyboard": {
+    "distance": "0.25 meters",
+    "closeness rank": 8
+   },
+   "headphones": {
+    "distance": "0.31 meters",
+    "closeness rank": 9
+   },
+   "power strip": {
+    "distance": "0.43 meters",
+    "closeness rank": 10
+   },
+   "monitor": {
+    "distance": "0.55 meters",
+    "closeness rank": 11
+   },
+   "tv": {
+    "distance": "1.07 meters",
+    "closeness rank": 12
+   },
+   "cup": {
+    "distance": "1.42 meters",
+    "closeness rank": 13
+   },
+   "ceiling light": {
+    "distance": "1.55 meters",
+    "closeness rank": 14
+   },
+   "paper bag": {
+    "distance": "1.66 meters",
+    "closeness rank": 15
+   },
+   "trash can": {
+    "distance": "2.85 meters",
+    "closeness rank": 16
+   }
+  },
+  "door": {
+   "chair": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "cushion": {
+    "distance": "0.0 meters",
+    "closeness rank": 2
+   },
+   "pillow": {
+    "distance": "0.0 meters",
+    "closeness rank": 3
+   },
+   "table": {
+    "distance": "0.0 meters",
+    "closeness rank": 4
+   },
+   "whiteboard": {
+    "distance": "0.01 meters",
+    "closeness rank": 5
+   },
+   "telephone": {
+    "distance": "0.05 meters",
+    "closeness rank": 6
+   },
+   "keyboard": {
+    "distance": "0.06 meters",
+    "closeness rank": 7
+   },
+   "trash can": {
+    "distance": "0.13 meters",
+    "closeness rank": 8
+   },
+   "computer mouse": {
+    "distance": "0.15 meters",
+    "closeness rank": 9
+   },
+   "ceiling light": {
+    "distance": "0.24 meters",
+    "closeness rank": 10
+   },
+   "headphones": {
+    "distance": "0.32 meters",
+    "closeness rank": 11
+   },
+   "power strip": {
+    "distance": "0.49 meters",
+    "closeness rank": 12
+   },
+   "monitor": {
+    "distance": "0.57 meters",
+    "closeness rank": 13
+   },
+   "tv": {
+    "distance": "1.12 meters",
+    "closeness rank": 14
+   },
+   "paper bag": {
+    "distance": "1.45 meters",
+    "closeness rank": 15
+   },
+   "cup": {
+    "distance": "1.5 meters",
+    "closeness rank": 16
+   }
+  },
+  "headphones": {
+   "computer mouse": {
+    "distance": "0.08 meters",
+    "closeness rank": 1
+   },
+   "table": {
+    "distance": "0.11 meters",
+    "closeness rank": 2
+   },
+   "monitor": {
+    "distance": "0.22 meters",
+    "closeness rank": 3
+   },
+   "keyboard": {
+    "distance": "0.24 meters",
+    "closeness rank": 4
+   },
+   "power strip": {
+    "distance": "0.29 meters",
+    "closeness rank": 5
+   },
+   "pillow": {
+    "distance": "0.3 meters",
+    "closeness rank": 6
+   },
+   "cushion": {
+    "distance": "0.31 meters",
+    "closeness rank": 7
+   },
+   "door": {
+    "distance": "0.32 meters",
+    "closeness rank": 8
+   },
+   "telephone": {
+    "distance": "0.63 meters",
+    "closeness rank": 9
+   },
+   "tv": {
+    "distance": "0.72 meters",
+    "closeness rank": 10
+   },
+   "chair": {
+    "distance": "0.88 meters",
+    "closeness rank": 11
+   },
+   "cup": {
+    "distance": "1.15 meters",
+    "closeness rank": 12
+   },
+   "paper bag": {
+    "distance": "1.26 meters",
+    "closeness rank": 13
+   },
+   "whiteboard": {
+    "distance": "1.35 meters",
+    "closeness rank": 14
+   },
+   "ceiling light": {
+    "distance": "1.83 meters",
+    "closeness rank": 15
+   },
+   "trash can": {
+    "distance": "2.83 meters",
+    "closeness rank": 16
+   }
+  },
+  "keyboard": {
+   "table": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "telephone": {
+    "distance": "0.0 meters",
+    "closeness rank": 2
+   },
+   "door": {
+    "distance": "0.06 meters",
+    "closeness rank": 3
+   },
+   "power strip": {
+    "distance": "0.11 meters",
+    "closeness rank": 4
+   },
+   "tv": {
+    "distance": "0.19 meters",
+    "closeness rank": 5
+   },
+   "headphones": {
+    "distance": "0.24 meters",
+    "closeness rank": 6
+   },
+   "cushion": {
+    "distance": "0.25 meters",
+    "closeness rank": 7
+   },
+   "monitor": {
+    "distance": "0.26 meters",
+    "closeness rank": 8
+   },
+   "pillow": {
+    "distance": "0.29 meters",
+    "closeness rank": 9
+   },
+   "computer mouse": {
+    "distance": "0.41 meters",
+    "closeness rank": 10
+   },
+   "chair": {
+    "distance": "0.45 meters",
+    "closeness rank": 11
+   },
+   "whiteboard": {
+    "distance": "0.47 meters",
+    "closeness rank": 12
+   },
+   "cup": {
+    "distance": "0.47 meters",
+    "closeness rank": 13
+   },
+   "paper bag": {
+    "distance": "0.74 meters",
+    "closeness rank": 14
+   },
+   "ceiling light": {
+    "distance": "1.14 meters",
+    "closeness rank": 15
+   },
+   "trash can": {
+    "distance": "2.14 meters",
+    "closeness rank": 16
+   }
+  },
+  "monitor": {
+   "tv": {
+    "distance": "0.04 meters",
+    "closeness rank": 1
+   },
+   "table": {
+    "distance": "0.07 meters",
+    "closeness rank": 2
+   },
+   "power strip": {
+    "distance": "0.16 meters",
+    "closeness rank": 3
+   },
+   "headphones": {
+    "distance": "0.22 meters",
+    "closeness rank": 4
+   },
+   "keyboard": {
+    "distance": "0.26 meters",
+    "closeness rank": 5
+   },
+   "computer mouse": {
+    "distance": "0.41 meters",
+    "closeness rank": 6
+   },
+   "cup": {
+    "distance": "0.42 meters",
+    "closeness rank": 7
+   },
+   "telephone": {
+    "distance": "0.43 meters",
+    "closeness rank": 8
+   },
+   "paper bag": {
+    "distance": "0.47 meters",
+    "closeness rank": 9
+   },
+   "pillow": {
+    "distance": "0.53 meters",
+    "closeness rank": 10
+   },
+   "cushion": {
+    "distance": "0.55 meters",
+    "closeness rank": 11
+   },
+   "door": {
+    "distance": "0.57 meters",
+    "closeness rank": 12
+   },
+   "whiteboard": {
+    "distance": "0.58 meters",
+    "closeness rank": 13
+   },
+   "chair": {
+    "distance": "0.75 meters",
+    "closeness rank": 14
+   },
+   "ceiling light": {
+    "distance": "1.11 meters",
+    "closeness rank": 15
+   },
+   "trash can": {
+    "distance": "2.11 meters",
+    "closeness rank": 16
+   }
+  },
+  "paper bag": {
+   "table": {
+    "distance": "0.01 meters",
+    "closeness rank": 1
+   },
+   "tv": {
+    "distance": "0.15 meters",
+    "closeness rank": 2
+   },
+   "cup": {
+    "distance": "0.26 meters",
+    "closeness rank": 3
+   },
+   "power strip": {
+    "distance": "0.26 meters",
+    "closeness rank": 4
+   },
+   "monitor": {
+    "distance": "0.47 meters",
+    "closeness rank": 5
+   },
+   "keyboard": {
+    "distance": "0.74 meters",
+    "closeness rank": 6
+   },
+   "chair": {
+    "distance": "0.95 meters",
+    "closeness rank": 7
+   },
+   "headphones": {
+    "distance": "1.26 meters",
+    "closeness rank": 8
+   },
+   "whiteboard": {
+    "distance": "1.39 meters",
+    "closeness rank": 9
+   },
+   "door": {
+    "distance": "1.45 meters",
+    "closeness rank": 10
+   },
+   "computer mouse": {
+    "distance": "1.46 meters",
+    "closeness rank": 11
+   },
+   "trash can": {
+    "distance": "1.47 meters",
+    "closeness rank": 12
+   },
+   "pillow": {
+    "distance": "1.65 meters",
+    "closeness rank": 13
+   },
+   "cushion": {
+    "distance": "1.66 meters",
+    "closeness rank": 14
+   },
+   "ceiling light": {
+    "distance": "1.86 meters",
+    "closeness rank": 15
+   },
+   "telephone": {
+    "distance": "2.03 meters",
+    "closeness rank": 16
+   }
+  },
+  "pillow": {
+   "cushion": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "door": {
+    "distance": "0.0 meters",
+    "closeness rank": 2
+   },
+   "table": {
+    "distance": "0.0 meters",
+    "closeness rank": 3
+   },
+   "computer mouse": {
+    "distance": "0.16 meters",
+    "closeness rank": 4
+   },
+   "telephone": {
+    "distance": "0.28 meters",
+    "closeness rank": 5
+   },
+   "keyboard": {
+    "distance": "0.29 meters",
+    "closeness rank": 6
+   },
+   "headphones": {
+    "distance": "0.3 meters",
+    "closeness rank": 7
+   },
+   "power strip": {
+    "distance": "0.43 meters",
+    "closeness rank": 8
+   },
+   "monitor": {
+    "distance": "0.53 meters",
+    "closeness rank": 9
+   },
+   "chair": {
+    "distance": "0.81 meters",
+    "closeness rank": 10
+   },
+   "whiteboard": {
+    "distance": "0.92 meters",
+    "closeness rank": 11
+   },
+   "tv": {
+    "distance": "1.06 meters",
+    "closeness rank": 12
+   },
+   "cup": {
+    "distance": "1.4 meters",
+    "closeness rank": 13
+   },
+   "ceiling light": {
+    "distance": "1.55 meters",
+    "closeness rank": 14
+   },
+   "paper bag": {
+    "distance": "1.65 meters",
+    "closeness rank": 15
+   },
+   "trash can": {
+    "distance": "3.0 meters",
+    "closeness rank": 16
+   }
+  },
+  "power strip": {
+   "table": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "keyboard": {
+    "distance": "0.11 meters",
+    "closeness rank": 2
+   },
+   "monitor": {
+    "distance": "0.16 meters",
+    "closeness rank": 3
+   },
+   "tv": {
+    "distance": "0.22 meters",
+    "closeness rank": 4
+   },
+   "paper bag": {
+    "distance": "0.26 meters",
+    "closeness rank": 5
+   },
+   "headphones": {
+    "distance": "0.29 meters",
+    "closeness rank": 6
+   },
+   "computer mouse": {
+    "distance": "0.4 meters",
+    "closeness rank": 7
+   },
+   "pillow": {
+    "distance": "0.43 meters",
+    "closeness rank": 8
+   },
+   "cushion": {
+    "distance": "0.43 meters",
+    "closeness rank": 9
+   },
+   "cup": {
+    "distance": "0.47 meters",
+    "closeness rank": 10
+   },
+   "door": {
+    "distance": "0.49 meters",
+    "closeness rank": 11
+   },
+   "chair": {
+    "distance": "0.67 meters",
+    "closeness rank": 12
+   },
+   "telephone": {
+    "distance": "0.89 meters",
+    "closeness rank": 13
+   },
+   "whiteboard": {
+    "distance": "1.46 meters",
+    "closeness rank": 14
+   },
+   "ceiling light": {
+    "distance": "1.88 meters",
+    "closeness rank": 15
+   },
+   "trash can": {
+    "distance": "1.97 meters",
+    "closeness rank": 16
+   }
+  },
+  "table": {
+   "cup": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "cushion": {
+    "distance": "0.0 meters",
+    "closeness rank": 2
+   },
+   "door": {
+    "distance": "0.0 meters",
+    "closeness rank": 3
+   },
+   "keyboard": {
+    "distance": "0.0 meters",
+    "closeness rank": 4
+   },
+   "pillow": {
+    "distance": "0.0 meters",
+    "closeness rank": 5
+   },
+   "power strip": {
+    "distance": "0.0 meters",
+    "closeness rank": 6
+   },
+   "telephone": {
+    "distance": "0.0 meters",
+    "closeness rank": 7
+   },
+   "paper bag": {
+    "distance": "0.01 meters",
+    "closeness rank": 8
+   },
+   "monitor": {
+    "distance": "0.07 meters",
+    "closeness rank": 9
+   },
+   "chair": {
+    "distance": "0.07 meters",
+    "closeness rank": 10
+   },
+   "tv": {
+    "distance": "0.08 meters",
+    "closeness rank": 11
+   },
+   "headphones": {
+    "distance": "0.11 meters",
+    "closeness rank": 12
+   },
+   "computer mouse": {
+    "distance": "0.19 meters",
+    "closeness rank": 13
+   },
+   "whiteboard": {
+    "distance": "0.56 meters",
+    "closeness rank": 14
+   },
+   "trash can": {
+    "distance": "0.88 meters",
+    "closeness rank": 15
+   },
+   "ceiling light": {
+    "distance": "1.21 meters",
+    "closeness rank": 16
+   }
+  },
+  "telephone": {
+   "keyboard": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "table": {
+    "distance": "0.0 meters",
+    "closeness rank": 2
+   },
+   "door": {
+    "distance": "0.05 meters",
+    "closeness rank": 3
+   },
+   "cushion": {
+    "distance": "0.24 meters",
+    "closeness rank": 4
+   },
+   "pillow": {
+    "distance": "0.28 meters",
+    "closeness rank": 5
+   },
+   "monitor": {
+    "distance": "0.43 meters",
+    "closeness rank": 6
+   },
+   "computer mouse": {
+    "distance": "0.45 meters",
+    "closeness rank": 7
+   },
+   "whiteboard": {
+    "distance": "0.46 meters",
+    "closeness rank": 8
+   },
+   "chair": {
+    "distance": "0.52 meters",
+    "closeness rank": 9
+   },
+   "headphones": {
+    "distance": "0.63 meters",
+    "closeness rank": 10
+   },
+   "power strip": {
+    "distance": "0.89 meters",
+    "closeness rank": 11
+   },
+   "ceiling light": {
+    "distance": "1.15 meters",
+    "closeness rank": 12
+   },
+   "tv": {
+    "distance": "1.48 meters",
+    "closeness rank": 13
+   },
+   "cup": {
+    "distance": "1.81 meters",
+    "closeness rank": 14
+   },
+   "paper bag": {
+    "distance": "2.03 meters",
+    "closeness rank": 15
+   },
+   "trash can": {
+    "distance": "3.26 meters",
+    "closeness rank": 16
+   }
+  },
+  "trash can": {
+   "door": {
+    "distance": "0.13 meters",
+    "closeness rank": 1
+   },
+   "chair": {
+    "distance": "0.21 meters",
+    "closeness rank": 2
+   },
+   "table": {
+    "distance": "0.88 meters",
+    "closeness rank": 3
+   },
+   "whiteboard": {
+    "distance": "1.19 meters",
+    "closeness rank": 4
+   },
+   "paper bag": {
+    "distance": "1.47 meters",
+    "closeness rank": 5
+   },
+   "cup": {
+    "distance": "1.57 meters",
+    "closeness rank": 6
+   },
+   "tv": {
+    "distance": "1.66 meters",
+    "closeness rank": 7
+   },
+   "power strip": {
+    "distance": "1.97 meters",
+    "closeness rank": 8
+   },
+   "monitor": {
+    "distance": "2.11 meters",
+    "closeness rank": 9
+   },
+   "keyboard": {
+    "distance": "2.14 meters",
+    "closeness rank": 10
+   },
+   "ceiling light": {
+    "distance": "2.35 meters",
+    "closeness rank": 11
+   },
+   "headphones": {
+    "distance": "2.83 meters",
+    "closeness rank": 12
+   },
+   "cushion": {
+    "distance": "2.85 meters",
+    "closeness rank": 13
+   },
+   "pillow": {
+    "distance": "3.0 meters",
+    "closeness rank": 14
+   },
+   "computer mouse": {
+    "distance": "3.01 meters",
+    "closeness rank": 15
+   },
+   "telephone": {
+    "distance": "3.26 meters",
+    "closeness rank": 16
+   }
+  },
+  "tv": {
+   "monitor": {
+    "distance": "0.04 meters",
+    "closeness rank": 1
+   },
+   "table": {
+    "distance": "0.08 meters",
+    "closeness rank": 2
+   },
+   "cup": {
+    "distance": "0.11 meters",
+    "closeness rank": 3
+   },
+   "paper bag": {
+    "distance": "0.15 meters",
+    "closeness rank": 4
+   },
+   "keyboard": {
+    "distance": "0.19 meters",
+    "closeness rank": 5
+   },
+   "power strip": {
+    "distance": "0.22 meters",
+    "closeness rank": 6
+   },
+   "chair": {
+    "distance": "0.45 meters",
+    "closeness rank": 7
+   },
+   "headphones": {
+    "distance": "0.72 meters",
+    "closeness rank": 8
+   },
+   "computer mouse": {
+    "distance": "0.93 meters",
+    "closeness rank": 9
+   },
+   "pillow": {
+    "distance": "1.06 meters",
+    "closeness rank": 10
+   },
+   "cushion": {
+    "distance": "1.07 meters",
+    "closeness rank": 11
+   },
+   "door": {
+    "distance": "1.12 meters",
+    "closeness rank": 12
+   },
+   "whiteboard": {
+    "distance": "1.2 meters",
+    "closeness rank": 13
+   },
+   "telephone": {
+    "distance": "1.48 meters",
+    "closeness rank": 14
+   },
+   "ceiling light": {
+    "distance": "1.58 meters",
+    "closeness rank": 15
+   },
+   "trash can": {
+    "distance": "1.66 meters",
+    "closeness rank": 16
+   }
+  },
+  "whiteboard": {
+   "door": {
+    "distance": "0.01 meters",
+    "closeness rank": 1
+   },
+   "cushion": {
+    "distance": "0.2 meters",
+    "closeness rank": 2
+   },
+   "ceiling light": {
+    "distance": "0.32 meters",
+    "closeness rank": 3
+   },
+   "chair": {
+    "distance": "0.41 meters",
+    "closeness rank": 4
+   },
+   "telephone": {
+    "distance": "0.46 meters",
+    "closeness rank": 5
+   },
+   "keyboard": {
+    "distance": "0.47 meters",
+    "closeness rank": 6
+   },
+   "table": {
+    "distance": "0.56 meters",
+    "closeness rank": 7
+   },
+   "monitor": {
+    "distance": "0.58 meters",
+    "closeness rank": 8
+   },
+   "pillow": {
+    "distance": "0.92 meters",
+    "closeness rank": 9
+   },
+   "cup": {
+    "distance": "1.11 meters",
+    "closeness rank": 10
+   },
+   "trash can": {
+    "distance": "1.19 meters",
+    "closeness rank": 11
+   },
+   "tv": {
+    "distance": "1.2 meters",
+    "closeness rank": 12
+   },
+   "computer mouse": {
+    "distance": "1.21 meters",
+    "closeness rank": 13
+   },
+   "headphones": {
+    "distance": "1.35 meters",
+    "closeness rank": 14
+   },
+   "paper bag": {
+    "distance": "1.39 meters",
+    "closeness rank": 15
+   },
+   "power strip": {
+    "distance": "1.46 meters",
+    "closeness rank": 16
+   }
+  }
+ },
+ "appearance order": ["chair", "cushion", "table", "whiteboard", "keyboard", "telephone", "monitor", "trash can", "paper bag", "pillow", "cup", "headphones", "ceiling light", "door", "tv", "power strip", "computer mouse"]
+}
\ No newline at end of file
diff --git a/data/spatial codes/sam3+depth-anything-3/metric/tracking/selective/32/explicit/3f15a9266d.json b/data/spatial codes/sam3+depth-anything-3/metric/tracking/selective/32/explicit/3f15a9266d.json
new file mode 100644
index 0000000000000000000000000000000000000000..0d906adb26cbce45962b24e743b1e8fc28998dac
--- /dev/null
+++ b/data/spatial codes/sam3+depth-anything-3/metric/tracking/selective/32/explicit/3f15a9266d.json	
@@ -0,0 +1,1513 @@
+{
+ "spatial code schema": {
+  "objects": {
+   "<object class>": {
+    "count": {
+     "unit": null,
+     "description": "number of instances of this class in the compact spatial code (that schema's per-class oriented-box list length)"
+    },
+    "instances": [
+     {
+      "position": {
+       "x coordinate": {
+        "unit": "meters",
+        "description": "x coordinate of this instance's compact 3D oriented bounding box center"
+       },
+       "y coordinate": {
+        "unit": "meters",
+        "description": "y coordinate of this instance's compact 3D oriented bounding box center"
+       },
+       "height above floor": {
+        "unit": "meters",
+        "description": "height coordinate of this instance's compact 3D oriented bounding box center"
+       }
+      },
+      "longest dimension": {
+       "unit": "meters",
+       "description": "longest of this instance's compact 3D oriented bounding box dimensions"
+      }
+     }
+    ]
+   }
+  },
+  "room": {
+   "floor area": {
+    "unit": "square meters",
+    "description": "shoelace area of the compact spatial code's floor boundary polygons, with every interior hole subtracted"
+   }
+  },
+  "closest classes distance meters from": {
+   "<object class>": {
+    "<other object class>": {
+     "distance": {
+      "unit": "meters",
+      "description": "minimum surface-to-surface separation between the two classes' compact 3D oriented bounding boxes, over every instance pair"
+     },
+     "closeness rank": {
+      "unit": null,
+      "description": "1 = the nearest other class to this one, 2 = second-nearest, and so on"
+     }
+    }
+   }
+  },
+  "appearance order": {
+   "unit": null,
+   "description": "class names ordered by earliest compact 'first visible time' across all of that class's instances"
+  }
+ },
+ "objects": {
+  "bookshelf": {
+   "count": 3,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "1.63 meters",
+      "y coordinate": "1.54 meters",
+      "height above floor": "0.38 meters"
+     },
+     "longest dimension": "1.79 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-0.11 meters",
+      "y coordinate": "2.35 meters",
+      "height above floor": "0.31 meters"
+     },
+     "longest dimension": "1.34 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-0.14 meters",
+      "y coordinate": "2.29 meters",
+      "height above floor": "-0.08 meters"
+     },
+     "longest dimension": "0.56 meters"
+    }
+   ]
+  },
+  "bucket": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-0.78 meters",
+      "y coordinate": "2.11 meters",
+      "height above floor": "1.06 meters"
+     },
+     "longest dimension": "0.2 meters"
+    }
+   ]
+  },
+  "ceiling light": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-0.36 meters",
+      "y coordinate": "-0.31 meters",
+      "height above floor": "1.89 meters"
+     },
+     "longest dimension": "1.1 meters"
+    }
+   ]
+  },
+  "chair": {
+   "count": 4,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-0.75 meters",
+      "y coordinate": "1.54 meters",
+      "height above floor": "0.04 meters"
+     },
+     "longest dimension": "0.98 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-0.67 meters",
+      "y coordinate": "0.25 meters",
+      "height above floor": "0.11 meters"
+     },
+     "longest dimension": "1.16 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "0.98 meters",
+      "y coordinate": "0.7 meters",
+      "height above floor": "0.02 meters"
+     },
+     "longest dimension": "0.86 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-0.02 meters",
+      "y coordinate": "1.79 meters",
+      "height above floor": "-0.03 meters"
+     },
+     "longest dimension": "0.77 meters"
+    }
+   ]
+  },
+  "clock": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "1.35 meters",
+      "y coordinate": "-0.08 meters",
+      "height above floor": "1.5 meters"
+     },
+     "longest dimension": "0.29 meters"
+    }
+   ]
+  },
+  "computer mouse": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-1.14 meters",
+      "y coordinate": "-0.25 meters",
+      "height above floor": "0.25 meters"
+     },
+     "longest dimension": "0.14 meters"
+    }
+   ]
+  },
+  "cup": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "0.96 meters",
+      "y coordinate": "-0.4 meters",
+      "height above floor": "0.3 meters"
+     },
+     "longest dimension": "0.1 meters"
+    }
+   ]
+  },
+  "cushion": {
+   "count": 2,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-0.68 meters",
+      "y coordinate": "1.52 meters",
+      "height above floor": "-0.01 meters"
+     },
+     "longest dimension": "0.54 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-0.58 meters",
+      "y coordinate": "0.18 meters",
+      "height above floor": "0.01 meters"
+     },
+     "longest dimension": "0.59 meters"
+    }
+   ]
+  },
+  "door": {
+   "count": 2,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-1.46 meters",
+      "y coordinate": "0.77 meters",
+      "height above floor": "0.71 meters"
+     },
+     "longest dimension": "2.15 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "1.07 meters",
+      "y coordinate": "2.22 meters",
+      "height above floor": "0.48 meters"
+     },
+     "longest dimension": "2.04 meters"
+    }
+   ]
+  },
+  "keyboard": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-0.94 meters",
+      "y coordinate": "-0.33 meters",
+      "height above floor": "0.24 meters"
+     },
+     "longest dimension": "0.78 meters"
+    }
+   ]
+  },
+  "microwave": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "0.92 meters",
+      "y coordinate": "-0.52 meters",
+      "height above floor": "-0.32 meters"
+     },
+     "longest dimension": "0.45 meters"
+    }
+   ]
+  },
+  "monitor": {
+   "count": 2,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-0.93 meters",
+      "y coordinate": "-0.57 meters",
+      "height above floor": "0.65 meters"
+     },
+     "longest dimension": "0.62 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-1.37 meters",
+      "y coordinate": "-0.27 meters",
+      "height above floor": "0.66 meters"
+     },
+     "longest dimension": "0.54 meters"
+    }
+   ]
+  },
+  "table": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-0.33 meters",
+      "y coordinate": "-0.35 meters",
+      "height above floor": "0.19 meters"
+     },
+     "longest dimension": "2.21 meters"
+    }
+   ]
+  },
+  "telephone": {
+   "count": 2,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-0.42 meters",
+      "y coordinate": "-0.92 meters",
+      "height above floor": "0.26 meters"
+     },
+     "longest dimension": "0.25 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-0.37 meters",
+      "y coordinate": "-0.89 meters",
+      "height above floor": "0.27 meters"
+     },
+     "longest dimension": "0.3 meters"
+    }
+   ]
+  },
+  "trash can": {
+   "count": 3,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "1.38 meters",
+      "y coordinate": "1.0 meters",
+      "height above floor": "-0.27 meters"
+     },
+     "longest dimension": "0.69 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "1.38 meters",
+      "y coordinate": "0.61 meters",
+      "height above floor": "-0.16 meters"
+     },
+     "longest dimension": "0.44 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "1.33 meters",
+      "y coordinate": "1.01 meters",
+      "height above floor": "-0.19 meters"
+     },
+     "longest dimension": "0.48 meters"
+    }
+   ]
+  },
+  "tv": {
+   "count": 2,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-0.93 meters",
+      "y coordinate": "-0.58 meters",
+      "height above floor": "0.65 meters"
+     },
+     "longest dimension": "0.62 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-1.37 meters",
+      "y coordinate": "-0.27 meters",
+      "height above floor": "0.66 meters"
+     },
+     "longest dimension": "0.54 meters"
+    }
+   ]
+  },
+  "whiteboard": {
+   "count": 2,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-1.38 meters",
+      "y coordinate": "1.12 meters",
+      "height above floor": "0.69 meters"
+     },
+     "longest dimension": "2.65 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-1.56 meters",
+      "y coordinate": "0.35 meters",
+      "height above floor": "0.76 meters"
+     },
+     "longest dimension": "1.76 meters"
+    }
+   ]
+  }
+ },
+ "room": {
+  "floor area": "14.1 square meters"
+ },
+ "closest classes distance meters from": {
+  "bookshelf": {
+   "trash can": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "chair": {
+    "distance": "0.1 meters",
+    "closeness rank": 2
+   },
+   "door": {
+    "distance": "0.11 meters",
+    "closeness rank": 3
+   },
+   "bucket": {
+    "distance": "0.33 meters",
+    "closeness rank": 4
+   },
+   "cushion": {
+    "distance": "0.45 meters",
+    "closeness rank": 5
+   },
+   "whiteboard": {
+    "distance": "0.58 meters",
+    "closeness rank": 6
+   },
+   "clock": {
+    "distance": "1.06 meters",
+    "closeness rank": 7
+   },
+   "table": {
+    "distance": "1.3 meters",
+    "closeness rank": 8
+   },
+   "microwave": {
+    "distance": "1.47 meters",
+    "closeness rank": 9
+   },
+   "cup": {
+    "distance": "1.51 meters",
+    "closeness rank": 10
+   },
+   "ceiling light": {
+    "distance": "1.96 meters",
+    "closeness rank": 11
+   },
+   "keyboard": {
+    "distance": "2.38 meters",
+    "closeness rank": 12
+   },
+   "telephone": {
+    "distance": "2.51 meters",
+    "closeness rank": 13
+   },
+   "computer mouse": {
+    "distance": "2.57 meters",
+    "closeness rank": 14
+   },
+   "tv": {
+    "distance": "2.58 meters",
+    "closeness rank": 15
+   },
+   "monitor": {
+    "distance": "2.58 meters",
+    "closeness rank": 16
+   }
+  },
+  "bucket": {
+   "whiteboard": {
+    "distance": "0.27 meters",
+    "closeness rank": 1
+   },
+   "bookshelf": {
+    "distance": "0.33 meters",
+    "closeness rank": 2
+   },
+   "chair": {
+    "distance": "0.46 meters",
+    "closeness rank": 3
+   },
+   "door": {
+    "distance": "0.46 meters",
+    "closeness rank": 4
+   },
+   "cushion": {
+    "distance": "0.98 meters",
+    "closeness rank": 5
+   },
+   "table": {
+    "distance": "1.98 meters",
+    "closeness rank": 6
+   },
+   "ceiling light": {
+    "distance": "2.05 meters",
+    "closeness rank": 7
+   },
+   "tv": {
+    "distance": "2.22 meters",
+    "closeness rank": 8
+   },
+   "monitor": {
+    "distance": "2.22 meters",
+    "closeness rank": 9
+   },
+   "trash can": {
+    "distance": "2.28 meters",
+    "closeness rank": 10
+   },
+   "keyboard": {
+    "distance": "2.36 meters",
+    "closeness rank": 11
+   },
+   "computer mouse": {
+    "distance": "2.37 meters",
+    "closeness rank": 12
+   },
+   "telephone": {
+    "distance": "2.9 meters",
+    "closeness rank": 13
+   },
+   "clock": {
+    "distance": "2.95 meters",
+    "closeness rank": 14
+   },
+   "cup": {
+    "distance": "3.03 meters",
+    "closeness rank": 15
+   },
+   "microwave": {
+    "distance": "3.12 meters",
+    "closeness rank": 16
+   }
+  },
+  "ceiling light": {
+   "whiteboard": {
+    "distance": "1.04 meters",
+    "closeness rank": 1
+   },
+   "door": {
+    "distance": "1.08 meters",
+    "closeness rank": 2
+   },
+   "monitor": {
+    "distance": "1.09 meters",
+    "closeness rank": 3
+   },
+   "tv": {
+    "distance": "1.09 meters",
+    "closeness rank": 4
+   },
+   "clock": {
+    "distance": "1.1 meters",
+    "closeness rank": 5
+   },
+   "chair": {
+    "distance": "1.19 meters",
+    "closeness rank": 6
+   },
+   "telephone": {
+    "distance": "1.59 meters",
+    "closeness rank": 7
+   },
+   "keyboard": {
+    "distance": "1.63 meters",
+    "closeness rank": 8
+   },
+   "computer mouse": {
+    "distance": "1.63 meters",
+    "closeness rank": 9
+   },
+   "table": {
+    "distance": "1.66 meters",
+    "closeness rank": 10
+   },
+   "cup": {
+    "distance": "1.69 meters",
+    "closeness rank": 11
+   },
+   "cushion": {
+    "distance": "1.83 meters",
+    "closeness rank": 12
+   },
+   "bookshelf": {
+    "distance": "1.96 meters",
+    "closeness rank": 13
+   },
+   "bucket": {
+    "distance": "2.05 meters",
+    "closeness rank": 14
+   },
+   "microwave": {
+    "distance": "2.18 meters",
+    "closeness rank": 15
+   },
+   "trash can": {
+    "distance": "2.37 meters",
+    "closeness rank": 16
+   }
+  },
+  "chair": {
+   "cushion": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "table": {
+    "distance": "0.0 meters",
+    "closeness rank": 2
+   },
+   "trash can": {
+    "distance": "0.0 meters",
+    "closeness rank": 3
+   },
+   "keyboard": {
+    "distance": "0.1 meters",
+    "closeness rank": 4
+   },
+   "bookshelf": {
+    "distance": "0.1 meters",
+    "closeness rank": 5
+   },
+   "whiteboard": {
+    "distance": "0.17 meters",
+    "closeness rank": 6
+   },
+   "door": {
+    "distance": "0.17 meters",
+    "closeness rank": 7
+   },
+   "computer mouse": {
+    "distance": "0.34 meters",
+    "closeness rank": 8
+   },
+   "monitor": {
+    "distance": "0.46 meters",
+    "closeness rank": 9
+   },
+   "bucket": {
+    "distance": "0.46 meters",
+    "closeness rank": 10
+   },
+   "tv": {
+    "distance": "0.46 meters",
+    "closeness rank": 11
+   },
+   "microwave": {
+    "distance": "0.5 meters",
+    "closeness rank": 12
+   },
+   "cup": {
+    "distance": "0.55 meters",
+    "closeness rank": 13
+   },
+   "telephone": {
+    "distance": "0.63 meters",
+    "closeness rank": 14
+   },
+   "clock": {
+    "distance": "1.15 meters",
+    "closeness rank": 15
+   },
+   "ceiling light": {
+    "distance": "1.19 meters",
+    "closeness rank": 16
+   }
+  },
+  "clock": {
+   "bookshelf": {
+    "distance": "1.06 meters",
+    "closeness rank": 1
+   },
+   "cup": {
+    "distance": "1.07 meters",
+    "closeness rank": 2
+   },
+   "ceiling light": {
+    "distance": "1.1 meters",
+    "closeness rank": 3
+   },
+   "chair": {
+    "distance": "1.15 meters",
+    "closeness rank": 4
+   },
+   "table": {
+    "distance": "1.23 meters",
+    "closeness rank": 5
+   },
+   "trash can": {
+    "distance": "1.51 meters",
+    "closeness rank": 6
+   },
+   "microwave": {
+    "distance": "1.58 meters",
+    "closeness rank": 7
+   },
+   "telephone": {
+    "distance": "2.0 meters",
+    "closeness rank": 8
+   },
+   "door": {
+    "distance": "2.05 meters",
+    "closeness rank": 9
+   },
+   "tv": {
+    "distance": "2.06 meters",
+    "closeness rank": 10
+   },
+   "monitor": {
+    "distance": "2.06 meters",
+    "closeness rank": 11
+   },
+   "cushion": {
+    "distance": "2.06 meters",
+    "closeness rank": 12
+   },
+   "keyboard": {
+    "distance": "2.15 meters",
+    "closeness rank": 13
+   },
+   "computer mouse": {
+    "distance": "2.62 meters",
+    "closeness rank": 14
+   },
+   "whiteboard": {
+    "distance": "2.91 meters",
+    "closeness rank": 15
+   },
+   "bucket": {
+    "distance": "2.95 meters",
+    "closeness rank": 16
+   }
+  },
+  "computer mouse": {
+   "keyboard": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "table": {
+    "distance": "0.02 meters",
+    "closeness rank": 2
+   },
+   "monitor": {
+    "distance": "0.26 meters",
+    "closeness rank": 3
+   },
+   "tv": {
+    "distance": "0.26 meters",
+    "closeness rank": 4
+   },
+   "chair": {
+    "distance": "0.34 meters",
+    "closeness rank": 5
+   },
+   "cushion": {
+    "distance": "0.39 meters",
+    "closeness rank": 6
+   },
+   "door": {
+    "distance": "0.48 meters",
+    "closeness rank": 7
+   },
+   "whiteboard": {
+    "distance": "0.5 meters",
+    "closeness rank": 8
+   },
+   "telephone": {
+    "distance": "0.81 meters",
+    "closeness rank": 9
+   },
+   "ceiling light": {
+    "distance": "1.63 meters",
+    "closeness rank": 10
+   },
+   "microwave": {
+    "distance": "1.96 meters",
+    "closeness rank": 11
+   },
+   "cup": {
+    "distance": "2.01 meters",
+    "closeness rank": 12
+   },
+   "bucket": {
+    "distance": "2.37 meters",
+    "closeness rank": 13
+   },
+   "trash can": {
+    "distance": "2.41 meters",
+    "closeness rank": 14
+   },
+   "bookshelf": {
+    "distance": "2.57 meters",
+    "closeness rank": 15
+   },
+   "clock": {
+    "distance": "2.62 meters",
+    "closeness rank": 16
+   }
+  },
+  "cup": {
+   "table": {
+    "distance": "0.15 meters",
+    "closeness rank": 1
+   },
+   "microwave": {
+    "distance": "0.46 meters",
+    "closeness rank": 2
+   },
+   "chair": {
+    "distance": "0.55 meters",
+    "closeness rank": 3
+   },
+   "trash can": {
+    "distance": "0.9 meters",
+    "closeness rank": 4
+   },
+   "clock": {
+    "distance": "1.07 meters",
+    "closeness rank": 5
+   },
+   "telephone": {
+    "distance": "1.26 meters",
+    "closeness rank": 6
+   },
+   "cushion": {
+    "distance": "1.31 meters",
+    "closeness rank": 7
+   },
+   "keyboard": {
+    "distance": "1.47 meters",
+    "closeness rank": 8
+   },
+   "bookshelf": {
+    "distance": "1.51 meters",
+    "closeness rank": 9
+   },
+   "tv": {
+    "distance": "1.58 meters",
+    "closeness rank": 10
+   },
+   "monitor": {
+    "distance": "1.58 meters",
+    "closeness rank": 11
+   },
+   "ceiling light": {
+    "distance": "1.69 meters",
+    "closeness rank": 12
+   },
+   "computer mouse": {
+    "distance": "2.01 meters",
+    "closeness rank": 13
+   },
+   "door": {
+    "distance": "2.49 meters",
+    "closeness rank": 14
+   },
+   "whiteboard": {
+    "distance": "2.58 meters",
+    "closeness rank": 15
+   },
+   "bucket": {
+    "distance": "3.03 meters",
+    "closeness rank": 16
+   }
+  },
+  "cushion": {
+   "chair": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "table": {
+    "distance": "0.12 meters",
+    "closeness rank": 2
+   },
+   "keyboard": {
+    "distance": "0.21 meters",
+    "closeness rank": 3
+   },
+   "computer mouse": {
+    "distance": "0.39 meters",
+    "closeness rank": 4
+   },
+   "door": {
+    "distance": "0.4 meters",
+    "closeness rank": 5
+   },
+   "whiteboard": {
+    "distance": "0.45 meters",
+    "closeness rank": 6
+   },
+   "bookshelf": {
+    "distance": "0.45 meters",
+    "closeness rank": 7
+   },
+   "monitor": {
+    "distance": "0.64 meters",
+    "closeness rank": 8
+   },
+   "tv": {
+    "distance": "0.64 meters",
+    "closeness rank": 9
+   },
+   "telephone": {
+    "distance": "0.68 meters",
+    "closeness rank": 10
+   },
+   "bucket": {
+    "distance": "0.98 meters",
+    "closeness rank": 11
+   },
+   "microwave": {
+    "distance": "1.27 meters",
+    "closeness rank": 12
+   },
+   "cup": {
+    "distance": "1.31 meters",
+    "closeness rank": 13
+   },
+   "trash can": {
+    "distance": "1.42 meters",
+    "closeness rank": 14
+   },
+   "ceiling light": {
+    "distance": "1.83 meters",
+    "closeness rank": 15
+   },
+   "clock": {
+    "distance": "2.06 meters",
+    "closeness rank": 16
+   }
+  },
+  "door": {
+   "whiteboard": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "monitor": {
+    "distance": "0.09 meters",
+    "closeness rank": 2
+   },
+   "tv": {
+    "distance": "0.09 meters",
+    "closeness rank": 3
+   },
+   "bookshelf": {
+    "distance": "0.11 meters",
+    "closeness rank": 4
+   },
+   "chair": {
+    "distance": "0.17 meters",
+    "closeness rank": 5
+   },
+   "table": {
+    "distance": "0.24 meters",
+    "closeness rank": 6
+   },
+   "keyboard": {
+    "distance": "0.36 meters",
+    "closeness rank": 7
+   },
+   "cushion": {
+    "distance": "0.4 meters",
+    "closeness rank": 8
+   },
+   "bucket": {
+    "distance": "0.46 meters",
+    "closeness rank": 9
+   },
+   "computer mouse": {
+    "distance": "0.48 meters",
+    "closeness rank": 10
+   },
+   "trash can": {
+    "distance": "0.9 meters",
+    "closeness rank": 11
+   },
+   "ceiling light": {
+    "distance": "1.08 meters",
+    "closeness rank": 12
+   },
+   "telephone": {
+    "distance": "1.3 meters",
+    "closeness rank": 13
+   },
+   "clock": {
+    "distance": "2.05 meters",
+    "closeness rank": 14
+   },
+   "microwave": {
+    "distance": "2.44 meters",
+    "closeness rank": 15
+   },
+   "cup": {
+    "distance": "2.49 meters",
+    "closeness rank": 16
+   }
+  },
+  "keyboard": {
+   "computer mouse": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "table": {
+    "distance": "0.01 meters",
+    "closeness rank": 2
+   },
+   "chair": {
+    "distance": "0.1 meters",
+    "closeness rank": 3
+   },
+   "cushion": {
+    "distance": "0.21 meters",
+    "closeness rank": 4
+   },
+   "monitor": {
+    "distance": "0.25 meters",
+    "closeness rank": 5
+   },
+   "tv": {
+    "distance": "0.25 meters",
+    "closeness rank": 6
+   },
+   "telephone": {
+    "distance": "0.26 meters",
+    "closeness rank": 7
+   },
+   "door": {
+    "distance": "0.36 meters",
+    "closeness rank": 8
+   },
+   "whiteboard": {
+    "distance": "0.38 meters",
+    "closeness rank": 9
+   },
+   "microwave": {
+    "distance": "1.43 meters",
+    "closeness rank": 10
+   },
+   "cup": {
+    "distance": "1.47 meters",
+    "closeness rank": 11
+   },
+   "ceiling light": {
+    "distance": "1.63 meters",
+    "closeness rank": 12
+   },
+   "trash can": {
+    "distance": "1.95 meters",
+    "closeness rank": 13
+   },
+   "clock": {
+    "distance": "2.15 meters",
+    "closeness rank": 14
+   },
+   "bucket": {
+    "distance": "2.36 meters",
+    "closeness rank": 15
+   },
+   "bookshelf": {
+    "distance": "2.38 meters",
+    "closeness rank": 16
+   }
+  },
+  "microwave": {
+   "table": {
+    "distance": "0.37 meters",
+    "closeness rank": 1
+   },
+   "cup": {
+    "distance": "0.46 meters",
+    "closeness rank": 2
+   },
+   "chair": {
+    "distance": "0.5 meters",
+    "closeness rank": 3
+   },
+   "trash can": {
+    "distance": "0.77 meters",
+    "closeness rank": 4
+   },
+   "telephone": {
+    "distance": "1.17 meters",
+    "closeness rank": 5
+   },
+   "cushion": {
+    "distance": "1.27 meters",
+    "closeness rank": 6
+   },
+   "keyboard": {
+    "distance": "1.43 meters",
+    "closeness rank": 7
+   },
+   "bookshelf": {
+    "distance": "1.47 meters",
+    "closeness rank": 8
+   },
+   "tv": {
+    "distance": "1.56 meters",
+    "closeness rank": 9
+   },
+   "monitor": {
+    "distance": "1.56 meters",
+    "closeness rank": 10
+   },
+   "clock": {
+    "distance": "1.58 meters",
+    "closeness rank": 11
+   },
+   "computer mouse": {
+    "distance": "1.96 meters",
+    "closeness rank": 12
+   },
+   "ceiling light": {
+    "distance": "2.18 meters",
+    "closeness rank": 13
+   },
+   "door": {
+    "distance": "2.44 meters",
+    "closeness rank": 14
+   },
+   "whiteboard": {
+    "distance": "2.58 meters",
+    "closeness rank": 15
+   },
+   "bucket": {
+    "distance": "3.12 meters",
+    "closeness rank": 16
+   }
+  },
+  "monitor": {
+   "tv": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "door": {
+    "distance": "0.09 meters",
+    "closeness rank": 2
+   },
+   "whiteboard": {
+    "distance": "0.1 meters",
+    "closeness rank": 3
+   },
+   "keyboard": {
+    "distance": "0.25 meters",
+    "closeness rank": 4
+   },
+   "computer mouse": {
+    "distance": "0.26 meters",
+    "closeness rank": 5
+   },
+   "table": {
+    "distance": "0.27 meters",
+    "closeness rank": 6
+   },
+   "telephone": {
+    "distance": "0.27 meters",
+    "closeness rank": 7
+   },
+   "chair": {
+    "distance": "0.46 meters",
+    "closeness rank": 8
+   },
+   "cushion": {
+    "distance": "0.64 meters",
+    "closeness rank": 9
+   },
+   "ceiling light": {
+    "distance": "1.09 meters",
+    "closeness rank": 10
+   },
+   "microwave": {
+    "distance": "1.56 meters",
+    "closeness rank": 11
+   },
+   "cup": {
+    "distance": "1.58 meters",
+    "closeness rank": 12
+   },
+   "clock": {
+    "distance": "2.06 meters",
+    "closeness rank": 13
+   },
+   "bucket": {
+    "distance": "2.22 meters",
+    "closeness rank": 14
+   },
+   "trash can": {
+    "distance": "2.25 meters",
+    "closeness rank": 15
+   },
+   "bookshelf": {
+    "distance": "2.58 meters",
+    "closeness rank": 16
+   }
+  },
+  "table": {
+   "chair": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "keyboard": {
+    "distance": "0.01 meters",
+    "closeness rank": 2
+   },
+   "telephone": {
+    "distance": "0.01 meters",
+    "closeness rank": 3
+   },
+   "computer mouse": {
+    "distance": "0.02 meters",
+    "closeness rank": 4
+   },
+   "cushion": {
+    "distance": "0.12 meters",
+    "closeness rank": 5
+   },
+   "cup": {
+    "distance": "0.15 meters",
+    "closeness rank": 6
+   },
+   "door": {
+    "distance": "0.24 meters",
+    "closeness rank": 7
+   },
+   "monitor": {
+    "distance": "0.27 meters",
+    "closeness rank": 8
+   },
+   "tv": {
+    "distance": "0.27 meters",
+    "closeness rank": 9
+   },
+   "whiteboard": {
+    "distance": "0.27 meters",
+    "closeness rank": 10
+   },
+   "microwave": {
+    "distance": "0.37 meters",
+    "closeness rank": 11
+   },
+   "trash can": {
+    "distance": "0.7 meters",
+    "closeness rank": 12
+   },
+   "clock": {
+    "distance": "1.23 meters",
+    "closeness rank": 13
+   },
+   "bookshelf": {
+    "distance": "1.3 meters",
+    "closeness rank": 14
+   },
+   "ceiling light": {
+    "distance": "1.66 meters",
+    "closeness rank": 15
+   },
+   "bucket": {
+    "distance": "1.98 meters",
+    "closeness rank": 16
+   }
+  },
+  "telephone": {
+   "table": {
+    "distance": "0.01 meters",
+    "closeness rank": 1
+   },
+   "keyboard": {
+    "distance": "0.26 meters",
+    "closeness rank": 2
+   },
+   "tv": {
+    "distance": "0.26 meters",
+    "closeness rank": 3
+   },
+   "monitor": {
+    "distance": "0.27 meters",
+    "closeness rank": 4
+   },
+   "chair": {
+    "distance": "0.63 meters",
+    "closeness rank": 5
+   },
+   "cushion": {
+    "distance": "0.68 meters",
+    "closeness rank": 6
+   },
+   "computer mouse": {
+    "distance": "0.81 meters",
+    "closeness rank": 7
+   },
+   "microwave": {
+    "distance": "1.17 meters",
+    "closeness rank": 8
+   },
+   "cup": {
+    "distance": "1.26 meters",
+    "closeness rank": 9
+   },
+   "whiteboard": {
+    "distance": "1.29 meters",
+    "closeness rank": 10
+   },
+   "door": {
+    "distance": "1.3 meters",
+    "closeness rank": 11
+   },
+   "ceiling light": {
+    "distance": "1.59 meters",
+    "closeness rank": 12
+   },
+   "trash can": {
+    "distance": "1.97 meters",
+    "closeness rank": 13
+   },
+   "clock": {
+    "distance": "2.0 meters",
+    "closeness rank": 14
+   },
+   "bookshelf": {
+    "distance": "2.51 meters",
+    "closeness rank": 15
+   },
+   "bucket": {
+    "distance": "2.9 meters",
+    "closeness rank": 16
+   }
+  },
+  "trash can": {
+   "bookshelf": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "chair": {
+    "distance": "0.0 meters",
+    "closeness rank": 2
+   },
+   "table": {
+    "distance": "0.7 meters",
+    "closeness rank": 3
+   },
+   "microwave": {
+    "distance": "0.77 meters",
+    "closeness rank": 4
+   },
+   "door": {
+    "distance": "0.9 meters",
+    "closeness rank": 5
+   },
+   "cup": {
+    "distance": "0.9 meters",
+    "closeness rank": 6
+   },
+   "cushion": {
+    "distance": "1.42 meters",
+    "closeness rank": 7
+   },
+   "clock": {
+    "distance": "1.51 meters",
+    "closeness rank": 8
+   },
+   "keyboard": {
+    "distance": "1.95 meters",
+    "closeness rank": 9
+   },
+   "telephone": {
+    "distance": "1.97 meters",
+    "closeness rank": 10
+   },
+   "monitor": {
+    "distance": "2.25 meters",
+    "closeness rank": 11
+   },
+   "tv": {
+    "distance": "2.25 meters",
+    "closeness rank": 12
+   },
+   "bucket": {
+    "distance": "2.28 meters",
+    "closeness rank": 13
+   },
+   "ceiling light": {
+    "distance": "2.37 meters",
+    "closeness rank": 14
+   },
+   "whiteboard": {
+    "distance": "2.38 meters",
+    "closeness rank": 15
+   },
+   "computer mouse": {
+    "distance": "2.41 meters",
+    "closeness rank": 16
+   }
+  },
+  "tv": {
+   "monitor": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "door": {
+    "distance": "0.09 meters",
+    "closeness rank": 2
+   },
+   "whiteboard": {
+    "distance": "0.1 meters",
+    "closeness rank": 3
+   },
+   "keyboard": {
+    "distance": "0.25 meters",
+    "closeness rank": 4
+   },
+   "computer mouse": {
+    "distance": "0.26 meters",
+    "closeness rank": 5
+   },
+   "telephone": {
+    "distance": "0.26 meters",
+    "closeness rank": 6
+   },
+   "table": {
+    "distance": "0.27 meters",
+    "closeness rank": 7
+   },
+   "chair": {
+    "distance": "0.46 meters",
+    "closeness rank": 8
+   },
+   "cushion": {
+    "distance": "0.64 meters",
+    "closeness rank": 9
+   },
+   "ceiling light": {
+    "distance": "1.09 meters",
+    "closeness rank": 10
+   },
+   "microwave": {
+    "distance": "1.56 meters",
+    "closeness rank": 11
+   },
+   "cup": {
+    "distance": "1.58 meters",
+    "closeness rank": 12
+   },
+   "clock": {
+    "distance": "2.06 meters",
+    "closeness rank": 13
+   },
+   "bucket": {
+    "distance": "2.22 meters",
+    "closeness rank": 14
+   },
+   "trash can": {
+    "distance": "2.25 meters",
+    "closeness rank": 15
+   },
+   "bookshelf": {
+    "distance": "2.58 meters",
+    "closeness rank": 16
+   }
+  },
+  "whiteboard": {
+   "door": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "monitor": {
+    "distance": "0.1 meters",
+    "closeness rank": 2
+   },
+   "tv": {
+    "distance": "0.1 meters",
+    "closeness rank": 3
+   },
+   "chair": {
+    "distance": "0.17 meters",
+    "closeness rank": 4
+   },
+   "bucket": {
+    "distance": "0.27 meters",
+    "closeness rank": 5
+   },
+   "table": {
+    "distance": "0.27 meters",
+    "closeness rank": 6
+   },
+   "keyboard": {
+    "distance": "0.38 meters",
+    "closeness rank": 7
+   },
+   "cushion": {
+    "distance": "0.45 meters",
+    "closeness rank": 8
+   },
+   "computer mouse": {
+    "distance": "0.5 meters",
+    "closeness rank": 9
+   },
+   "bookshelf": {
+    "distance": "0.58 meters",
+    "closeness rank": 10
+   },
+   "ceiling light": {
+    "distance": "1.04 meters",
+    "closeness rank": 11
+   },
+   "telephone": {
+    "distance": "1.29 meters",
+    "closeness rank": 12
+   },
+   "trash can": {
+    "distance": "2.38 meters",
+    "closeness rank": 13
+   },
+   "cup": {
+    "distance": "2.58 meters",
+    "closeness rank": 14
+   },
+   "microwave": {
+    "distance": "2.58 meters",
+    "closeness rank": 15
+   },
+   "clock": {
+    "distance": "2.91 meters",
+    "closeness rank": 16
+   }
+  }
+ },
+ "appearance order": ["chair", "telephone", "computer mouse", "monitor", "tv", "whiteboard", "bookshelf", "cushion", "bucket", "door", "trash can", "cup", "clock", "microwave", "table", "keyboard", "ceiling light"]
+}
\ No newline at end of file
diff --git a/data/spatial codes/sam3+depth-anything-3/metric/tracking/selective/32/explicit/41125731.json b/data/spatial codes/sam3+depth-anything-3/metric/tracking/selective/32/explicit/41125731.json
new file mode 100644
index 0000000000000000000000000000000000000000..6f11688b624cb071f934dadf58e4c436fad14c6c
--- /dev/null
+++ b/data/spatial codes/sam3+depth-anything-3/metric/tracking/selective/32/explicit/41125731.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": {
+  "bed": {
+   "count": 2,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "0.72 meters",
+      "y coordinate": "-1.67 meters",
+      "height above floor": "0.03 meters"
+     },
+     "longest dimension": "2.14 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-2.58 meters",
+      "y coordinate": "-0.47 meters",
+      "height above floor": "0.25 meters"
+     },
+     "longest dimension": "1.85 meters"
+    }
+   ]
+  }
+ },
+ "room": {
+  "floor area": "23.6 square meters"
+ },
+ "closest classes distance meters from": {
+  "bed": {}
+ },
+ "appearance order": ["bed"]
+}
\ No newline at end of file
diff --git a/data/spatial codes/sam3+depth-anything-3/metric/tracking/selective/32/explicit/41142280.json b/data/spatial codes/sam3+depth-anything-3/metric/tracking/selective/32/explicit/41142280.json
new file mode 100644
index 0000000000000000000000000000000000000000..66056093c2550d03af9f749bdecd7f51f706ea71
--- /dev/null
+++ b/data/spatial codes/sam3+depth-anything-3/metric/tracking/selective/32/explicit/41142280.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": {
+  "bathtub": {
+   "count": 2,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-1.19 meters",
+      "y coordinate": "0.98 meters",
+      "height above floor": "-1.22 meters"
+     },
+     "longest dimension": "1.26 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-0.67 meters",
+      "y coordinate": "1.1 meters",
+      "height above floor": "-0.73 meters"
+     },
+     "longest dimension": "1.32 meters"
+    }
+   ]
+  },
+  "chair": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "4.21 meters",
+      "y coordinate": "0.87 meters",
+      "height above floor": "-2.9 meters"
+     },
+     "longest dimension": "0.43 meters"
+    }
+   ]
+  },
+  "table": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "4.14 meters",
+      "y coordinate": "0.69 meters",
+      "height above floor": "-3.15 meters"
+     },
+     "longest dimension": "0.77 meters"
+    }
+   ]
+  },
+  "toilet": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "0.03 meters",
+      "y coordinate": "0.78 meters",
+      "height above floor": "-0.13 meters"
+     },
+     "longest dimension": "0.6 meters"
+    }
+   ]
+  }
+ },
+ "room": {
+  "floor area": "7.9 square meters"
+ },
+ "closest classes distance meters from": {
+  "bathtub": {
+   "toilet": {
+    "distance": "0.51 meters",
+    "closeness rank": 1
+   },
+   "table": {
+    "distance": "4.84 meters",
+    "closeness rank": 2
+   },
+   "chair": {
+    "distance": "4.85 meters",
+    "closeness rank": 3
+   }
+  },
+  "chair": {
+   "table": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "toilet": {
+    "distance": "4.49 meters",
+    "closeness rank": 2
+   },
+   "bathtub": {
+    "distance": "4.85 meters",
+    "closeness rank": 3
+   }
+  },
+  "table": {
+   "chair": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "toilet": {
+    "distance": "4.53 meters",
+    "closeness rank": 2
+   },
+   "bathtub": {
+    "distance": "4.84 meters",
+    "closeness rank": 3
+   }
+  },
+  "toilet": {
+   "bathtub": {
+    "distance": "0.51 meters",
+    "closeness rank": 1
+   },
+   "chair": {
+    "distance": "4.49 meters",
+    "closeness rank": 2
+   },
+   "table": {
+    "distance": "4.53 meters",
+    "closeness rank": 3
+   }
+  }
+ },
+ "appearance order": ["bathtub", "toilet", "chair", "table"]
+}
\ No newline at end of file
diff --git a/data/spatial codes/sam3+depth-anything-3/metric/tracking/selective/32/explicit/41159541.json b/data/spatial codes/sam3+depth-anything-3/metric/tracking/selective/32/explicit/41159541.json
new file mode 100644
index 0000000000000000000000000000000000000000..69e12522a4cf73047a474088e9578e248b9a1082
--- /dev/null
+++ b/data/spatial codes/sam3+depth-anything-3/metric/tracking/selective/32/explicit/41159541.json	
@@ -0,0 +1,301 @@
+{
+ "spatial code schema": {
+  "objects": {
+   "<object class>": {
+    "count": {
+     "unit": null,
+     "description": "number of instances of this class in the compact spatial code (that schema's per-class oriented-box list length)"
+    },
+    "instances": [
+     {
+      "position": {
+       "x coordinate": {
+        "unit": "meters",
+        "description": "x coordinate of this instance's compact 3D oriented bounding box center"
+       },
+       "y coordinate": {
+        "unit": "meters",
+        "description": "y coordinate of this instance's compact 3D oriented bounding box center"
+       },
+       "height above floor": {
+        "unit": "meters",
+        "description": "height coordinate of this instance's compact 3D oriented bounding box center"
+       }
+      },
+      "longest dimension": {
+       "unit": "meters",
+       "description": "longest of this instance's compact 3D oriented bounding box dimensions"
+      }
+     }
+    ]
+   }
+  },
+  "room": {
+   "floor area": {
+    "unit": "square meters",
+    "description": "shoelace area of the compact spatial code's floor boundary polygons, with every interior hole subtracted"
+   }
+  },
+  "closest classes distance meters from": {
+   "<object class>": {
+    "<other object class>": {
+     "distance": {
+      "unit": "meters",
+      "description": "minimum surface-to-surface separation between the two classes' compact 3D oriented bounding boxes, over every instance pair"
+     },
+     "closeness rank": {
+      "unit": null,
+      "description": "1 = the nearest other class to this one, 2 = second-nearest, and so on"
+     }
+    }
+   }
+  },
+  "appearance order": {
+   "unit": null,
+   "description": "class names ordered by earliest compact 'first visible time' across all of that class's instances"
+  }
+ },
+ "objects": {
+  "bed": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "3.34 meters",
+      "y coordinate": "-1.09 meters",
+      "height above floor": "-0.11 meters"
+     },
+     "longest dimension": "1.88 meters"
+    }
+   ]
+  },
+  "chair": {
+   "count": 7,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "2.04 meters",
+      "y coordinate": "-0.37 meters",
+      "height above floor": "-0.05 meters"
+     },
+     "longest dimension": "0.92 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "0.87 meters",
+      "y coordinate": "-1.44 meters",
+      "height above floor": "0.15 meters"
+     },
+     "longest dimension": "1.25 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "2.97 meters",
+      "y coordinate": "-2.69 meters",
+      "height above floor": "0.18 meters"
+     },
+     "longest dimension": "1.57 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-0.76 meters",
+      "y coordinate": "0.98 meters",
+      "height above floor": "-0.32 meters"
+     },
+     "longest dimension": "0.95 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "1.34 meters",
+      "y coordinate": "-1.73 meters",
+      "height above floor": "0.21 meters"
+     },
+     "longest dimension": "0.31 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "2.22 meters",
+      "y coordinate": "-2.03 meters",
+      "height above floor": "0.11 meters"
+     },
+     "longest dimension": "0.62 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "2.48 meters",
+      "y coordinate": "-2.1 meters",
+      "height above floor": "0.16 meters"
+     },
+     "longest dimension": "0.66 meters"
+    }
+   ]
+  },
+  "sofa": {
+   "count": 2,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "0.82 meters",
+      "y coordinate": "1.32 meters",
+      "height above floor": "-0.35 meters"
+     },
+     "longest dimension": "1.88 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "0.5 meters",
+      "y coordinate": "1.37 meters",
+      "height above floor": "-0.2 meters"
+     },
+     "longest dimension": "1.51 meters"
+    }
+   ]
+  },
+  "table": {
+   "count": 4,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "0.88 meters",
+      "y coordinate": "-0.74 meters",
+      "height above floor": "-0.11 meters"
+     },
+     "longest dimension": "1.51 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "0.67 meters",
+      "y coordinate": "-1.11 meters",
+      "height above floor": "-0.21 meters"
+     },
+     "longest dimension": "0.93 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "3.11 meters",
+      "y coordinate": "-1.45 meters",
+      "height above floor": "0.0 meters"
+     },
+     "longest dimension": "2.59 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-1.1 meters",
+      "y coordinate": "-0.08 meters",
+      "height above floor": "-0.54 meters"
+     },
+     "longest dimension": "0.89 meters"
+    }
+   ]
+  },
+  "tv": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-0.95 meters",
+      "y coordinate": "-1.27 meters",
+      "height above floor": "0.14 meters"
+     },
+     "longest dimension": "1.13 meters"
+    }
+   ]
+  }
+ },
+ "room": {
+  "floor area": "37.7 square meters"
+ },
+ "closest classes distance meters from": {
+  "bed": {
+   "table": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "chair": {
+    "distance": "0.26 meters",
+    "closeness rank": 2
+   },
+   "sofa": {
+    "distance": "1.58 meters",
+    "closeness rank": 3
+   },
+   "tv": {
+    "distance": "3.0 meters",
+    "closeness rank": 4
+   }
+  },
+  "chair": {
+   "table": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "sofa": {
+    "distance": "0.19 meters",
+    "closeness rank": 2
+   },
+   "bed": {
+    "distance": "0.26 meters",
+    "closeness rank": 3
+   },
+   "tv": {
+    "distance": "0.98 meters",
+    "closeness rank": 4
+   }
+  },
+  "sofa": {
+   "chair": {
+    "distance": "0.19 meters",
+    "closeness rank": 1
+   },
+   "table": {
+    "distance": "0.76 meters",
+    "closeness rank": 2
+   },
+   "bed": {
+    "distance": "1.58 meters",
+    "closeness rank": 3
+   },
+   "tv": {
+    "distance": "2.23 meters",
+    "closeness rank": 4
+   }
+  },
+  "table": {
+   "bed": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "chair": {
+    "distance": "0.0 meters",
+    "closeness rank": 2
+   },
+   "tv": {
+    "distance": "0.6 meters",
+    "closeness rank": 3
+   },
+   "sofa": {
+    "distance": "0.76 meters",
+    "closeness rank": 4
+   }
+  },
+  "tv": {
+   "table": {
+    "distance": "0.6 meters",
+    "closeness rank": 1
+   },
+   "chair": {
+    "distance": "0.98 meters",
+    "closeness rank": 2
+   },
+   "sofa": {
+    "distance": "2.23 meters",
+    "closeness rank": 3
+   },
+   "bed": {
+    "distance": "3.0 meters",
+    "closeness rank": 4
+   }
+  }
+ },
+ "appearance order": ["sofa", "chair", "table", "tv", "bed"]
+}
\ No newline at end of file
diff --git a/data/spatial codes/sam3+depth-anything-3/metric/tracking/selective/32/explicit/41254432.json b/data/spatial codes/sam3+depth-anything-3/metric/tracking/selective/32/explicit/41254432.json
new file mode 100644
index 0000000000000000000000000000000000000000..d3892f2523f5978d8b9c1f549bd7d94c63e4c286
--- /dev/null
+++ b/data/spatial codes/sam3+depth-anything-3/metric/tracking/selective/32/explicit/41254432.json	
@@ -0,0 +1,284 @@
+{
+ "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": "1.12 meters",
+      "y coordinate": "-2.88 meters",
+      "height above floor": "0.39 meters"
+     },
+     "longest dimension": "2.02 meters"
+    }
+   ]
+  },
+  "refrigerator": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "1.21 meters",
+      "y coordinate": "1.29 meters",
+      "height above floor": "0.18 meters"
+     },
+     "longest dimension": "0.86 meters"
+    }
+   ]
+  },
+  "sofa": {
+   "count": 2,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "0.2 meters",
+      "y coordinate": "4.61 meters",
+      "height above floor": "0.02 meters"
+     },
+     "longest dimension": "1.47 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-0.05 meters",
+      "y coordinate": "3.11 meters",
+      "height above floor": "0.04 meters"
+     },
+     "longest dimension": "1.89 meters"
+    }
+   ]
+  },
+  "stool": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-1.74 meters",
+      "y coordinate": "1.84 meters",
+      "height above floor": "0.07 meters"
+     },
+     "longest dimension": "0.92 meters"
+    }
+   ]
+  },
+  "stove": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "2.71 meters",
+      "y coordinate": "2.53 meters",
+      "height above floor": "0.61 meters"
+     },
+     "longest dimension": "0.77 meters"
+    }
+   ]
+  },
+  "tv": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-2.08 meters",
+      "y coordinate": "3.56 meters",
+      "height above floor": "-0.23 meters"
+     },
+     "longest dimension": "0.4 meters"
+    }
+   ]
+  }
+ },
+ "room": {
+  "floor area": "35.9 square meters"
+ },
+ "closest classes distance meters from": {
+  "bed": {
+   "refrigerator": {
+    "distance": "2.74 meters",
+    "closeness rank": 1
+   },
+   "sofa": {
+    "distance": "3.96 meters",
+    "closeness rank": 2
+   },
+   "stool": {
+    "distance": "4.15 meters",
+    "closeness rank": 3
+   },
+   "stove": {
+    "distance": "4.56 meters",
+    "closeness rank": 4
+   },
+   "tv": {
+    "distance": "5.86 meters",
+    "closeness rank": 5
+   }
+  },
+  "refrigerator": {
+   "sofa": {
+    "distance": "1.07 meters",
+    "closeness rank": 1
+   },
+   "stove": {
+    "distance": "1.18 meters",
+    "closeness rank": 2
+   },
+   "stool": {
+    "distance": "2.54 meters",
+    "closeness rank": 3
+   },
+   "bed": {
+    "distance": "2.74 meters",
+    "closeness rank": 4
+   },
+   "tv": {
+    "distance": "3.79 meters",
+    "closeness rank": 5
+   }
+  },
+  "sofa": {
+   "stool": {
+    "distance": "0.94 meters",
+    "closeness rank": 1
+   },
+   "refrigerator": {
+    "distance": "1.07 meters",
+    "closeness rank": 2
+   },
+   "tv": {
+    "distance": "1.5 meters",
+    "closeness rank": 3
+   },
+   "stove": {
+    "distance": "1.88 meters",
+    "closeness rank": 4
+   },
+   "bed": {
+    "distance": "3.96 meters",
+    "closeness rank": 5
+   }
+  },
+  "stool": {
+   "sofa": {
+    "distance": "0.94 meters",
+    "closeness rank": 1
+   },
+   "tv": {
+    "distance": "1.35 meters",
+    "closeness rank": 2
+   },
+   "refrigerator": {
+    "distance": "2.54 meters",
+    "closeness rank": 3
+   },
+   "stove": {
+    "distance": "3.83 meters",
+    "closeness rank": 4
+   },
+   "bed": {
+    "distance": "4.15 meters",
+    "closeness rank": 5
+   }
+  },
+  "stove": {
+   "refrigerator": {
+    "distance": "1.18 meters",
+    "closeness rank": 1
+   },
+   "sofa": {
+    "distance": "1.88 meters",
+    "closeness rank": 2
+   },
+   "stool": {
+    "distance": "3.83 meters",
+    "closeness rank": 3
+   },
+   "tv": {
+    "distance": "4.43 meters",
+    "closeness rank": 4
+   },
+   "bed": {
+    "distance": "4.56 meters",
+    "closeness rank": 5
+   }
+  },
+  "tv": {
+   "stool": {
+    "distance": "1.35 meters",
+    "closeness rank": 1
+   },
+   "sofa": {
+    "distance": "1.5 meters",
+    "closeness rank": 2
+   },
+   "refrigerator": {
+    "distance": "3.79 meters",
+    "closeness rank": 3
+   },
+   "stove": {
+    "distance": "4.43 meters",
+    "closeness rank": 4
+   },
+   "bed": {
+    "distance": "5.86 meters",
+    "closeness rank": 5
+   }
+  }
+ },
+ "appearance order": ["sofa", "stool", "refrigerator", "stove", "tv", "bed"]
+}
\ No newline at end of file
diff --git a/data/spatial codes/sam3+depth-anything-3/metric/tracking/selective/32/explicit/42444976.json b/data/spatial codes/sam3+depth-anything-3/metric/tracking/selective/32/explicit/42444976.json
new file mode 100644
index 0000000000000000000000000000000000000000..de397021d948a73c03f0fab7ee4904090899ff6b
--- /dev/null
+++ b/data/spatial codes/sam3+depth-anything-3/metric/tracking/selective/32/explicit/42444976.json	
@@ -0,0 +1,371 @@
+{
+ "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": "0.86 meters",
+      "y coordinate": "1.51 meters",
+      "height above floor": "1.8 meters"
+     },
+     "longest dimension": "1.34 meters"
+    }
+   ]
+  },
+  "chair": {
+   "count": 3,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "0.67 meters",
+      "y coordinate": "1.0 meters",
+      "height above floor": "1.89 meters"
+     },
+     "longest dimension": "0.84 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "0.88 meters",
+      "y coordinate": "2.21 meters",
+      "height above floor": "2.67 meters"
+     },
+     "longest dimension": "1.05 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "0.91 meters",
+      "y coordinate": "1.7 meters",
+      "height above floor": "2.38 meters"
+     },
+     "longest dimension": "1.13 meters"
+    }
+   ]
+  },
+  "dishwasher": {
+   "count": 2,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "0.58 meters",
+      "y coordinate": "-0.89 meters",
+      "height above floor": "-0.2 meters"
+     },
+     "longest dimension": "0.88 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "0.38 meters",
+      "y coordinate": "-1.05 meters",
+      "height above floor": "2.26 meters"
+     },
+     "longest dimension": "0.88 meters"
+    }
+   ]
+  },
+  "refrigerator": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "0.48 meters",
+      "y coordinate": "-0.87 meters",
+      "height above floor": "-0.18 meters"
+     },
+     "longest dimension": "1.11 meters"
+    }
+   ]
+  },
+  "stove": {
+   "count": 2,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-0.05 meters",
+      "y coordinate": "-1.27 meters",
+      "height above floor": "1.33 meters"
+     },
+     "longest dimension": "0.66 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-0.07 meters",
+      "y coordinate": "-1.25 meters",
+      "height above floor": "1.37 meters"
+     },
+     "longest dimension": "0.88 meters"
+    }
+   ]
+  },
+  "table": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "0.71 meters",
+      "y coordinate": "1.48 meters",
+      "height above floor": "1.71 meters"
+     },
+     "longest dimension": "1.11 meters"
+    }
+   ]
+  },
+  "washer": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "0.58 meters",
+      "y coordinate": "-0.11 meters",
+      "height above floor": "2.66 meters"
+     },
+     "longest dimension": "0.92 meters"
+    }
+   ]
+  }
+ },
+ "room": {
+  "floor area": "12.7 square meters"
+ },
+ "closest classes distance meters from": {
+  "bathtub": {
+   "chair": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "table": {
+    "distance": "0.0 meters",
+    "closeness rank": 2
+   },
+   "washer": {
+    "distance": "0.78 meters",
+    "closeness rank": 3
+   },
+   "dishwasher": {
+    "distance": "1.91 meters",
+    "closeness rank": 4
+   },
+   "stove": {
+    "distance": "1.98 meters",
+    "closeness rank": 5
+   },
+   "refrigerator": {
+    "distance": "2.17 meters",
+    "closeness rank": 6
+   }
+  },
+  "chair": {
+   "bathtub": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "table": {
+    "distance": "0.0 meters",
+    "closeness rank": 2
+   },
+   "washer": {
+    "distance": "0.94 meters",
+    "closeness rank": 3
+   },
+   "dishwasher": {
+    "distance": "1.94 meters",
+    "closeness rank": 4
+   },
+   "stove": {
+    "distance": "2.02 meters",
+    "closeness rank": 5
+   },
+   "refrigerator": {
+    "distance": "2.39 meters",
+    "closeness rank": 6
+   }
+  },
+  "dishwasher": {
+   "refrigerator": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "stove": {
+    "distance": "0.15 meters",
+    "closeness rank": 2
+   },
+   "washer": {
+    "distance": "0.58 meters",
+    "closeness rank": 3
+   },
+   "bathtub": {
+    "distance": "1.91 meters",
+    "closeness rank": 4
+   },
+   "chair": {
+    "distance": "1.94 meters",
+    "closeness rank": 5
+   },
+   "table": {
+    "distance": "2.21 meters",
+    "closeness rank": 6
+   }
+  },
+  "refrigerator": {
+   "dishwasher": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "stove": {
+    "distance": "0.89 meters",
+    "closeness rank": 2
+   },
+   "bathtub": {
+    "distance": "2.17 meters",
+    "closeness rank": 3
+   },
+   "table": {
+    "distance": "2.3 meters",
+    "closeness rank": 4
+   },
+   "chair": {
+    "distance": "2.39 meters",
+    "closeness rank": 5
+   },
+   "washer": {
+    "distance": "2.59 meters",
+    "closeness rank": 6
+   }
+  },
+  "stove": {
+   "dishwasher": {
+    "distance": "0.15 meters",
+    "closeness rank": 1
+   },
+   "refrigerator": {
+    "distance": "0.89 meters",
+    "closeness rank": 2
+   },
+   "washer": {
+    "distance": "1.04 meters",
+    "closeness rank": 3
+   },
+   "bathtub": {
+    "distance": "1.98 meters",
+    "closeness rank": 4
+   },
+   "chair": {
+    "distance": "2.02 meters",
+    "closeness rank": 5
+   },
+   "table": {
+    "distance": "2.29 meters",
+    "closeness rank": 6
+   }
+  },
+  "table": {
+   "bathtub": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "chair": {
+    "distance": "0.0 meters",
+    "closeness rank": 2
+   },
+   "washer": {
+    "distance": "1.06 meters",
+    "closeness rank": 3
+   },
+   "dishwasher": {
+    "distance": "2.21 meters",
+    "closeness rank": 4
+   },
+   "stove": {
+    "distance": "2.29 meters",
+    "closeness rank": 5
+   },
+   "refrigerator": {
+    "distance": "2.3 meters",
+    "closeness rank": 6
+   }
+  },
+  "washer": {
+   "dishwasher": {
+    "distance": "0.58 meters",
+    "closeness rank": 1
+   },
+   "bathtub": {
+    "distance": "0.78 meters",
+    "closeness rank": 2
+   },
+   "chair": {
+    "distance": "0.94 meters",
+    "closeness rank": 3
+   },
+   "stove": {
+    "distance": "1.04 meters",
+    "closeness rank": 4
+   },
+   "table": {
+    "distance": "1.06 meters",
+    "closeness rank": 5
+   },
+   "refrigerator": {
+    "distance": "2.59 meters",
+    "closeness rank": 6
+   }
+  }
+ },
+ "appearance order": ["washer", "stove", "dishwasher", "refrigerator", "chair", "table", "bathtub"]
+}
\ No newline at end of file
diff --git a/data/spatial codes/sam3+depth-anything-3/metric/tracking/selective/32/explicit/42445026.json b/data/spatial codes/sam3+depth-anything-3/metric/tracking/selective/32/explicit/42445026.json
new file mode 100644
index 0000000000000000000000000000000000000000..fbb75a9b9a1ffef4603028959bb400992aa3ddb7
--- /dev/null
+++ b/data/spatial codes/sam3+depth-anything-3/metric/tracking/selective/32/explicit/42445026.json	
@@ -0,0 +1,284 @@
+{
+ "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": "1.1 meters",
+      "y coordinate": "0.13 meters",
+      "height above floor": "1.32 meters"
+     },
+     "longest dimension": "1.21 meters"
+    }
+   ]
+  },
+  "chair": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "0.76 meters",
+      "y coordinate": "-1.43 meters",
+      "height above floor": "1.89 meters"
+     },
+     "longest dimension": "0.72 meters"
+    }
+   ]
+  },
+  "sofa": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "1.09 meters",
+      "y coordinate": "0.11 meters",
+      "height above floor": "1.32 meters"
+     },
+     "longest dimension": "1.22 meters"
+    }
+   ]
+  },
+  "stool": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "0.77 meters",
+      "y coordinate": "0.21 meters",
+      "height above floor": "-0.01 meters"
+     },
+     "longest dimension": "1.06 meters"
+    }
+   ]
+  },
+  "table": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "0.5 meters",
+      "y coordinate": "-1.47 meters",
+      "height above floor": "1.53 meters"
+     },
+     "longest dimension": "1.02 meters"
+    }
+   ]
+  },
+  "tv": {
+   "count": 2,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "0.09 meters",
+      "y coordinate": "0.09 meters",
+      "height above floor": "-0.04 meters"
+     },
+     "longest dimension": "0.79 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "0.12 meters",
+      "y coordinate": "0.07 meters",
+      "height above floor": "-0.08 meters"
+     },
+     "longest dimension": "1.2 meters"
+    }
+   ]
+  }
+ },
+ "room": {
+  "floor area": "10.1 square meters"
+ },
+ "closest classes distance meters from": {
+  "bed": {
+   "sofa": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "chair": {
+    "distance": "0.74 meters",
+    "closeness rank": 2
+   },
+   "table": {
+    "distance": "0.93 meters",
+    "closeness rank": 3
+   },
+   "stool": {
+    "distance": "1.07 meters",
+    "closeness rank": 4
+   },
+   "tv": {
+    "distance": "1.25 meters",
+    "closeness rank": 5
+   }
+  },
+  "chair": {
+   "table": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "sofa": {
+    "distance": "0.72 meters",
+    "closeness rank": 2
+   },
+   "bed": {
+    "distance": "0.74 meters",
+    "closeness rank": 3
+   },
+   "stool": {
+    "distance": "1.86 meters",
+    "closeness rank": 4
+   },
+   "tv": {
+    "distance": "1.92 meters",
+    "closeness rank": 5
+   }
+  },
+  "sofa": {
+   "bed": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "chair": {
+    "distance": "0.72 meters",
+    "closeness rank": 2
+   },
+   "table": {
+    "distance": "0.9 meters",
+    "closeness rank": 3
+   },
+   "stool": {
+    "distance": "1.07 meters",
+    "closeness rank": 4
+   },
+   "tv": {
+    "distance": "1.25 meters",
+    "closeness rank": 5
+   }
+  },
+  "stool": {
+   "tv": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "bed": {
+    "distance": "1.07 meters",
+    "closeness rank": 2
+   },
+   "sofa": {
+    "distance": "1.07 meters",
+    "closeness rank": 3
+   },
+   "table": {
+    "distance": "1.36 meters",
+    "closeness rank": 4
+   },
+   "chair": {
+    "distance": "1.86 meters",
+    "closeness rank": 5
+   }
+  },
+  "table": {
+   "chair": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "sofa": {
+    "distance": "0.9 meters",
+    "closeness rank": 2
+   },
+   "bed": {
+    "distance": "0.93 meters",
+    "closeness rank": 3
+   },
+   "tv": {
+    "distance": "1.25 meters",
+    "closeness rank": 4
+   },
+   "stool": {
+    "distance": "1.36 meters",
+    "closeness rank": 5
+   }
+  },
+  "tv": {
+   "stool": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "table": {
+    "distance": "1.25 meters",
+    "closeness rank": 2
+   },
+   "sofa": {
+    "distance": "1.25 meters",
+    "closeness rank": 3
+   },
+   "bed": {
+    "distance": "1.25 meters",
+    "closeness rank": 4
+   },
+   "chair": {
+    "distance": "1.92 meters",
+    "closeness rank": 5
+   }
+  }
+ },
+ "appearance order": ["tv", "bed", "sofa", "chair", "table", "stool"]
+}
\ No newline at end of file
diff --git a/data/spatial codes/sam3+depth-anything-3/metric/tracking/selective/32/explicit/42445031.json b/data/spatial codes/sam3+depth-anything-3/metric/tracking/selective/32/explicit/42445031.json
new file mode 100644
index 0000000000000000000000000000000000000000..ac01025af34688451f17f9d08cdd1213096b16f9
--- /dev/null
+++ b/data/spatial codes/sam3+depth-anything-3/metric/tracking/selective/32/explicit/42445031.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": 2,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "1.05 meters",
+      "y coordinate": "0.59 meters",
+      "height above floor": "-0.02 meters"
+     },
+     "longest dimension": "1.34 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "0.17 meters",
+      "y coordinate": "0.99 meters",
+      "height above floor": "0.03 meters"
+     },
+     "longest dimension": "0.96 meters"
+    }
+   ]
+  },
+  "table": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "0.58 meters",
+      "y coordinate": "-1.75 meters",
+      "height above floor": "-0.11 meters"
+     },
+     "longest dimension": "0.92 meters"
+    }
+   ]
+  },
+  "tv": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-0.55 meters",
+      "y coordinate": "1.54 meters",
+      "height above floor": "0.48 meters"
+     },
+     "longest dimension": "1.21 meters"
+    }
+   ]
+  }
+ },
+ "room": {
+  "floor area": "16.4 square meters"
+ },
+ "closest classes distance meters from": {
+  "bed": {
+   "tv": {
+    "distance": "0.36 meters",
+    "closeness rank": 1
+   },
+   "table": {
+    "distance": "1.23 meters",
+    "closeness rank": 2
+   }
+  },
+  "table": {
+   "bed": {
+    "distance": "1.23 meters",
+    "closeness rank": 1
+   },
+   "tv": {
+    "distance": "2.5 meters",
+    "closeness rank": 2
+   }
+  },
+  "tv": {
+   "bed": {
+    "distance": "0.36 meters",
+    "closeness rank": 1
+   },
+   "table": {
+    "distance": "2.5 meters",
+    "closeness rank": 2
+   }
+  }
+ },
+ "appearance order": ["bed", "tv", "table"]
+}
\ No newline at end of file
diff --git a/data/spatial codes/sam3+depth-anything-3/metric/tracking/selective/32/explicit/42445981.json b/data/spatial codes/sam3+depth-anything-3/metric/tracking/selective/32/explicit/42445981.json
new file mode 100644
index 0000000000000000000000000000000000000000..3e9be414248ee8ec6e932b23c9a24079adaa0da9
--- /dev/null
+++ b/data/spatial codes/sam3+depth-anything-3/metric/tracking/selective/32/explicit/42445981.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": {
+  "chair": {
+   "count": 4,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "2.79 meters",
+      "y coordinate": "1.79 meters",
+      "height above floor": "-0.27 meters"
+     },
+     "longest dimension": "0.91 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "1.8 meters",
+      "y coordinate": "2.74 meters",
+      "height above floor": "0.0 meters"
+     },
+     "longest dimension": "0.49 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "2.63 meters",
+      "y coordinate": "2.64 meters",
+      "height above floor": "-0.05 meters"
+     },
+     "longest dimension": "0.55 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "2.9 meters",
+      "y coordinate": "2.44 meters",
+      "height above floor": "-0.08 meters"
+     },
+     "longest dimension": "0.67 meters"
+    }
+   ]
+  },
+  "sofa": {
+   "count": 2,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "1.32 meters",
+      "y coordinate": "1.81 meters",
+      "height above floor": "-0.35 meters"
+     },
+     "longest dimension": "1.75 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "1.5 meters",
+      "y coordinate": "0.84 meters",
+      "height above floor": "-0.76 meters"
+     },
+     "longest dimension": "1.1 meters"
+    }
+   ]
+  },
+  "table": {
+   "count": 2,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "2.43 meters",
+      "y coordinate": "2.12 meters",
+      "height above floor": "-0.08 meters"
+     },
+     "longest dimension": "1.12 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "2.32 meters",
+      "y coordinate": "1.87 meters",
+      "height above floor": "-0.25 meters"
+     },
+     "longest dimension": "1.21 meters"
+    }
+   ]
+  },
+  "tv": {
+   "count": 2,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-0.95 meters",
+      "y coordinate": "-0.44 meters",
+      "height above floor": "-0.36 meters"
+     },
+     "longest dimension": "1.1 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "2.36 meters",
+      "y coordinate": "0.37 meters",
+      "height above floor": "-0.37 meters"
+     },
+     "longest dimension": "1.21 meters"
+    }
+   ]
+  }
+ },
+ "room": {
+  "floor area": "25.7 square meters"
+ },
+ "closest classes distance meters from": {
+  "chair": {
+   "table": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "sofa": {
+    "distance": "0.18 meters",
+    "closeness rank": 2
+   },
+   "tv": {
+    "distance": "1.11 meters",
+    "closeness rank": 3
+   }
+  },
+  "sofa": {
+   "table": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "chair": {
+    "distance": "0.18 meters",
+    "closeness rank": 2
+   },
+   "tv": {
+    "distance": "0.42 meters",
+    "closeness rank": 3
+   }
+  },
+  "table": {
+   "chair": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "sofa": {
+    "distance": "0.0 meters",
+    "closeness rank": 2
+   },
+   "tv": {
+    "distance": "0.72 meters",
+    "closeness rank": 3
+   }
+  },
+  "tv": {
+   "sofa": {
+    "distance": "0.42 meters",
+    "closeness rank": 1
+   },
+   "table": {
+    "distance": "0.72 meters",
+    "closeness rank": 2
+   },
+   "chair": {
+    "distance": "1.11 meters",
+    "closeness rank": 3
+   }
+  }
+ },
+ "appearance order": ["chair", "table", "tv", "sofa"]
+}
\ No newline at end of file
diff --git a/data/spatial codes/sam3+depth-anything-3/metric/tracking/selective/32/explicit/42446517.json b/data/spatial codes/sam3+depth-anything-3/metric/tracking/selective/32/explicit/42446517.json
new file mode 100644
index 0000000000000000000000000000000000000000..0881f5dcfad0aff5173ab0381bdfd41484117608
--- /dev/null
+++ b/data/spatial codes/sam3+depth-anything-3/metric/tracking/selective/32/explicit/42446517.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": {
+  "bed": {
+   "count": 5,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-0.83 meters",
+      "y coordinate": "-1.71 meters",
+      "height above floor": "0.0 meters"
+     },
+     "longest dimension": "1.06 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "0.13 meters",
+      "y coordinate": "-1.34 meters",
+      "height above floor": "-0.07 meters"
+     },
+     "longest dimension": "1.72 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-0.55 meters",
+      "y coordinate": "-1.06 meters",
+      "height above floor": "0.0 meters"
+     },
+     "longest dimension": "0.89 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "0.78 meters",
+      "y coordinate": "-1.19 meters",
+      "height above floor": "0.05 meters"
+     },
+     "longest dimension": "1.06 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-0.87 meters",
+      "y coordinate": "-3.46 meters",
+      "height above floor": "0.09 meters"
+     },
+     "longest dimension": "1.13 meters"
+    }
+   ]
+  },
+  "chair": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "0.41 meters",
+      "y coordinate": "0.51 meters",
+      "height above floor": "0.25 meters"
+     },
+     "longest dimension": "0.88 meters"
+    }
+   ]
+  },
+  "table": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-1.12 meters",
+      "y coordinate": "0.44 meters",
+      "height above floor": "0.19 meters"
+     },
+     "longest dimension": "1.48 meters"
+    }
+   ]
+  },
+  "tv": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-1.8 meters",
+      "y coordinate": "-1.52 meters",
+      "height above floor": "0.93 meters"
+     },
+     "longest dimension": "0.79 meters"
+    }
+   ]
+  }
+ },
+ "room": {
+  "floor area": "18.8 square meters"
+ },
+ "closest classes distance meters from": {
+  "bed": {
+   "chair": {
+    "distance": "0.74 meters",
+    "closeness rank": 1
+   },
+   "tv": {
+    "distance": "0.81 meters",
+    "closeness rank": 2
+   },
+   "table": {
+    "distance": "1.07 meters",
+    "closeness rank": 3
+   }
+  },
+  "chair": {
+   "bed": {
+    "distance": "0.74 meters",
+    "closeness rank": 1
+   },
+   "table": {
+    "distance": "1.08 meters",
+    "closeness rank": 2
+   },
+   "tv": {
+    "distance": "2.42 meters",
+    "closeness rank": 3
+   }
+  },
+  "table": {
+   "bed": {
+    "distance": "1.07 meters",
+    "closeness rank": 1
+   },
+   "chair": {
+    "distance": "1.08 meters",
+    "closeness rank": 2
+   },
+   "tv": {
+    "distance": "1.45 meters",
+    "closeness rank": 3
+   }
+  },
+  "tv": {
+   "bed": {
+    "distance": "0.81 meters",
+    "closeness rank": 1
+   },
+   "table": {
+    "distance": "1.45 meters",
+    "closeness rank": 2
+   },
+   "chair": {
+    "distance": "2.42 meters",
+    "closeness rank": 3
+   }
+  }
+ },
+ "appearance order": ["bed", "chair", "table", "tv"]
+}
\ No newline at end of file
diff --git a/data/spatial codes/sam3+depth-anything-3/metric/tracking/selective/32/explicit/42446535.json b/data/spatial codes/sam3+depth-anything-3/metric/tracking/selective/32/explicit/42446535.json
new file mode 100644
index 0000000000000000000000000000000000000000..920d50157798629d46f9e4ee39b585a7733bf1bb
--- /dev/null
+++ b/data/spatial codes/sam3+depth-anything-3/metric/tracking/selective/32/explicit/42446535.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": {
+  "bathtub": {
+   "count": 2,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "0.27 meters",
+      "y coordinate": "-0.48 meters",
+      "height above floor": "-0.21 meters"
+     },
+     "longest dimension": "1.16 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-0.49 meters",
+      "y coordinate": "-0.71 meters",
+      "height above floor": "0.55 meters"
+     },
+     "longest dimension": "0.46 meters"
+    }
+   ]
+  },
+  "toilet": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-0.57 meters",
+      "y coordinate": "0.14 meters",
+      "height above floor": "0.05 meters"
+     },
+     "longest dimension": "0.54 meters"
+    }
+   ]
+  }
+ },
+ "room": {
+  "floor area": "4.7 square meters"
+ },
+ "closest classes distance meters from": {
+  "bathtub": {
+   "toilet": {
+    "distance": "0.58 meters",
+    "closeness rank": 1
+   }
+  },
+  "toilet": {
+   "bathtub": {
+    "distance": "0.58 meters",
+    "closeness rank": 1
+   }
+  }
+ },
+ "appearance order": ["bathtub", "toilet"]
+}
\ No newline at end of file
diff --git a/data/spatial codes/sam3+depth-anything-3/metric/tracking/selective/32/explicit/42897550.json b/data/spatial codes/sam3+depth-anything-3/metric/tracking/selective/32/explicit/42897550.json
new file mode 100644
index 0000000000000000000000000000000000000000..0034113c79f5b908261707f3d2eac948de60b655
--- /dev/null
+++ b/data/spatial codes/sam3+depth-anything-3/metric/tracking/selective/32/explicit/42897550.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": {
+  "bathtub": {
+   "count": 2,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "0.35 meters",
+      "y coordinate": "-0.39 meters",
+      "height above floor": "0.1 meters"
+     },
+     "longest dimension": "1.09 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "0.28 meters",
+      "y coordinate": "-0.61 meters",
+      "height above floor": "0.1 meters"
+     },
+     "longest dimension": "0.53 meters"
+    }
+   ]
+  },
+  "toilet": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-0.41 meters",
+      "y coordinate": "0.15 meters",
+      "height above floor": "-0.02 meters"
+     },
+     "longest dimension": "0.57 meters"
+    }
+   ]
+  }
+ },
+ "room": {
+  "floor area": "7.2 square meters"
+ },
+ "closest classes distance meters from": {
+  "bathtub": {
+   "toilet": {
+    "distance": "0.17 meters",
+    "closeness rank": 1
+   }
+  },
+  "toilet": {
+   "bathtub": {
+    "distance": "0.17 meters",
+    "closeness rank": 1
+   }
+  }
+ },
+ "appearance order": ["bathtub", "toilet"]
+}
\ No newline at end of file
diff --git a/data/spatial codes/sam3+depth-anything-3/metric/tracking/selective/32/explicit/42897629.json b/data/spatial codes/sam3+depth-anything-3/metric/tracking/selective/32/explicit/42897629.json
new file mode 100644
index 0000000000000000000000000000000000000000..4ccb80958f490ba7d4cc286420fad513f4e58c39
--- /dev/null
+++ b/data/spatial codes/sam3+depth-anything-3/metric/tracking/selective/32/explicit/42897629.json	
@@ -0,0 +1,458 @@
+{
+ "spatial code schema": {
+  "objects": {
+   "<object class>": {
+    "count": {
+     "unit": null,
+     "description": "number of instances of this class in the compact spatial code (that schema's per-class oriented-box list length)"
+    },
+    "instances": [
+     {
+      "position": {
+       "x coordinate": {
+        "unit": "meters",
+        "description": "x coordinate of this instance's compact 3D oriented bounding box center"
+       },
+       "y coordinate": {
+        "unit": "meters",
+        "description": "y coordinate of this instance's compact 3D oriented bounding box center"
+       },
+       "height above floor": {
+        "unit": "meters",
+        "description": "height coordinate of this instance's compact 3D oriented bounding box center"
+       }
+      },
+      "longest dimension": {
+       "unit": "meters",
+       "description": "longest of this instance's compact 3D oriented bounding box dimensions"
+      }
+     }
+    ]
+   }
+  },
+  "room": {
+   "floor area": {
+    "unit": "square meters",
+    "description": "shoelace area of the compact spatial code's floor boundary polygons, with every interior hole subtracted"
+   }
+  },
+  "closest classes distance meters from": {
+   "<object class>": {
+    "<other object class>": {
+     "distance": {
+      "unit": "meters",
+      "description": "minimum surface-to-surface separation between the two classes' compact 3D oriented bounding boxes, over every instance pair"
+     },
+     "closeness rank": {
+      "unit": null,
+      "description": "1 = the nearest other class to this one, 2 = second-nearest, and so on"
+     }
+    }
+   }
+  },
+  "appearance order": {
+   "unit": null,
+   "description": "class names ordered by earliest compact 'first visible time' across all of that class's instances"
+  }
+ },
+ "objects": {
+  "chair": {
+   "count": 5,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-1.54 meters",
+      "y coordinate": "4.8 meters",
+      "height above floor": "-0.16 meters"
+     },
+     "longest dimension": "1.0 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-1.2 meters",
+      "y coordinate": "3.41 meters",
+      "height above floor": "0.08 meters"
+     },
+     "longest dimension": "0.91 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-0.31 meters",
+      "y coordinate": "3.16 meters",
+      "height above floor": "-0.13 meters"
+     },
+     "longest dimension": "1.64 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-1.56 meters",
+      "y coordinate": "1.84 meters",
+      "height above floor": "-0.18 meters"
+     },
+     "longest dimension": "0.92 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-1.4 meters",
+      "y coordinate": "2.93 meters",
+      "height above floor": "-0.16 meters"
+     },
+     "longest dimension": "0.95 meters"
+    }
+   ]
+  },
+  "dishwasher": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "1.39 meters",
+      "y coordinate": "3.1 meters",
+      "height above floor": "-0.68 meters"
+     },
+     "longest dimension": "2.07 meters"
+    }
+   ]
+  },
+  "refrigerator": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-3.23 meters",
+      "y coordinate": "0.23 meters",
+      "height above floor": "-0.11 meters"
+     },
+     "longest dimension": "1.48 meters"
+    }
+   ]
+  },
+  "sofa": {
+   "count": 2,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-0.35 meters",
+      "y coordinate": "7.41 meters",
+      "height above floor": "-0.1 meters"
+     },
+     "longest dimension": "2.26 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "0.61 meters",
+      "y coordinate": "5.0 meters",
+      "height above floor": "-0.22 meters"
+     },
+     "longest dimension": "0.73 meters"
+    }
+   ]
+  },
+  "stool": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-1.48 meters",
+      "y coordinate": "4.77 meters",
+      "height above floor": "-0.15 meters"
+     },
+     "longest dimension": "1.0 meters"
+    }
+   ]
+  },
+  "stove": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-0.65 meters",
+      "y coordinate": "-0.91 meters",
+      "height above floor": "-0.02 meters"
+     },
+     "longest dimension": "0.91 meters"
+    }
+   ]
+  },
+  "table": {
+   "count": 2,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-0.98 meters",
+      "y coordinate": "2.91 meters",
+      "height above floor": "0.2 meters"
+     },
+     "longest dimension": "1.8 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-3.05 meters",
+      "y coordinate": "1.52 meters",
+      "height above floor": "0.09 meters"
+     },
+     "longest dimension": "0.43 meters"
+    }
+   ]
+  },
+  "tv": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "2.12 meters",
+      "y coordinate": "3.52 meters",
+      "height above floor": "0.81 meters"
+     },
+     "longest dimension": "0.43 meters"
+    }
+   ]
+  }
+ },
+ "room": {
+  "floor area": "39.3 square meters"
+ },
+ "closest classes distance meters from": {
+  "chair": {
+   "stool": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "table": {
+    "distance": "0.0 meters",
+    "closeness rank": 2
+   },
+   "dishwasher": {
+    "distance": "0.17 meters",
+    "closeness rank": 3
+   },
+   "sofa": {
+    "distance": "1.0 meters",
+    "closeness rank": 4
+   },
+   "tv": {
+    "distance": "1.61 meters",
+    "closeness rank": 5
+   },
+   "refrigerator": {
+    "distance": "1.86 meters",
+    "closeness rank": 6
+   },
+   "stove": {
+    "distance": "2.36 meters",
+    "closeness rank": 7
+   }
+  },
+  "dishwasher": {
+   "chair": {
+    "distance": "0.17 meters",
+    "closeness rank": 1
+   },
+   "sofa": {
+    "distance": "0.81 meters",
+    "closeness rank": 2
+   },
+   "table": {
+    "distance": "1.24 meters",
+    "closeness rank": 3
+   },
+   "tv": {
+    "distance": "1.25 meters",
+    "closeness rank": 4
+   },
+   "stool": {
+    "distance": "2.04 meters",
+    "closeness rank": 5
+   },
+   "stove": {
+    "distance": "3.47 meters",
+    "closeness rank": 6
+   },
+   "refrigerator": {
+    "distance": "4.23 meters",
+    "closeness rank": 7
+   }
+  },
+  "refrigerator": {
+   "table": {
+    "distance": "1.18 meters",
+    "closeness rank": 1
+   },
+   "chair": {
+    "distance": "1.86 meters",
+    "closeness rank": 2
+   },
+   "stove": {
+    "distance": "2.11 meters",
+    "closeness rank": 3
+   },
+   "dishwasher": {
+    "distance": "4.23 meters",
+    "closeness rank": 4
+   },
+   "stool": {
+    "distance": "4.6 meters",
+    "closeness rank": 5
+   },
+   "sofa": {
+    "distance": "5.82 meters",
+    "closeness rank": 6
+   },
+   "tv": {
+    "distance": "6.04 meters",
+    "closeness rank": 7
+   }
+  },
+  "sofa": {
+   "dishwasher": {
+    "distance": "0.81 meters",
+    "closeness rank": 1
+   },
+   "chair": {
+    "distance": "1.0 meters",
+    "closeness rank": 2
+   },
+   "stool": {
+    "distance": "1.48 meters",
+    "closeness rank": 3
+   },
+   "table": {
+    "distance": "1.52 meters",
+    "closeness rank": 4
+   },
+   "tv": {
+    "distance": "1.8 meters",
+    "closeness rank": 5
+   },
+   "stove": {
+    "distance": "5.45 meters",
+    "closeness rank": 6
+   },
+   "refrigerator": {
+    "distance": "5.82 meters",
+    "closeness rank": 7
+   }
+  },
+  "stool": {
+   "chair": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "table": {
+    "distance": "0.74 meters",
+    "closeness rank": 2
+   },
+   "sofa": {
+    "distance": "1.48 meters",
+    "closeness rank": 3
+   },
+   "dishwasher": {
+    "distance": "2.04 meters",
+    "closeness rank": 4
+   },
+   "tv": {
+    "distance": "3.43 meters",
+    "closeness rank": 5
+   },
+   "refrigerator": {
+    "distance": "4.6 meters",
+    "closeness rank": 6
+   },
+   "stove": {
+    "distance": "5.19 meters",
+    "closeness rank": 7
+   }
+  },
+  "stove": {
+   "refrigerator": {
+    "distance": "2.11 meters",
+    "closeness rank": 1
+   },
+   "chair": {
+    "distance": "2.36 meters",
+    "closeness rank": 2
+   },
+   "table": {
+    "distance": "2.64 meters",
+    "closeness rank": 3
+   },
+   "dishwasher": {
+    "distance": "3.47 meters",
+    "closeness rank": 4
+   },
+   "tv": {
+    "distance": "4.68 meters",
+    "closeness rank": 5
+   },
+   "stool": {
+    "distance": "5.19 meters",
+    "closeness rank": 6
+   },
+   "sofa": {
+    "distance": "5.45 meters",
+    "closeness rank": 7
+   }
+  },
+  "table": {
+   "chair": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "stool": {
+    "distance": "0.74 meters",
+    "closeness rank": 2
+   },
+   "refrigerator": {
+    "distance": "1.18 meters",
+    "closeness rank": 3
+   },
+   "dishwasher": {
+    "distance": "1.24 meters",
+    "closeness rank": 4
+   },
+   "sofa": {
+    "distance": "1.52 meters",
+    "closeness rank": 5
+   },
+   "tv": {
+    "distance": "2.56 meters",
+    "closeness rank": 6
+   },
+   "stove": {
+    "distance": "2.64 meters",
+    "closeness rank": 7
+   }
+  },
+  "tv": {
+   "dishwasher": {
+    "distance": "1.25 meters",
+    "closeness rank": 1
+   },
+   "chair": {
+    "distance": "1.61 meters",
+    "closeness rank": 2
+   },
+   "sofa": {
+    "distance": "1.8 meters",
+    "closeness rank": 3
+   },
+   "table": {
+    "distance": "2.56 meters",
+    "closeness rank": 4
+   },
+   "stool": {
+    "distance": "3.43 meters",
+    "closeness rank": 5
+   },
+   "stove": {
+    "distance": "4.68 meters",
+    "closeness rank": 6
+   },
+   "refrigerator": {
+    "distance": "6.04 meters",
+    "closeness rank": 7
+   }
+  }
+ },
+ "appearance order": ["table", "chair", "stool", "refrigerator", "stove", "tv", "sofa", "dishwasher"]
+}
\ No newline at end of file
diff --git a/data/spatial codes/sam3+depth-anything-3/metric/tracking/selective/32/explicit/42897692.json b/data/spatial codes/sam3+depth-anything-3/metric/tracking/selective/32/explicit/42897692.json
new file mode 100644
index 0000000000000000000000000000000000000000..baf4a676f8b6eda81e932384a75c1db07dbb2e51
--- /dev/null
+++ b/data/spatial codes/sam3+depth-anything-3/metric/tracking/selective/32/explicit/42897692.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": {
+  "bed": {
+   "count": 2,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-2.13 meters",
+      "y coordinate": "0.36 meters",
+      "height above floor": "-0.19 meters"
+     },
+     "longest dimension": "1.68 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-3.02 meters",
+      "y coordinate": "1.01 meters",
+      "height above floor": "-0.06 meters"
+     },
+     "longest dimension": "1.09 meters"
+    }
+   ]
+  },
+  "table": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-1.14 meters",
+      "y coordinate": "2.06 meters",
+      "height above floor": "-0.12 meters"
+     },
+     "longest dimension": "0.94 meters"
+    }
+   ]
+  }
+ },
+ "room": {
+  "floor area": "20.8 square meters"
+ },
+ "closest classes distance meters from": {
+  "bed": {
+   "table": {
+    "distance": "0.99 meters",
+    "closeness rank": 1
+   }
+  },
+  "table": {
+   "bed": {
+    "distance": "0.99 meters",
+    "closeness rank": 1
+   }
+  }
+ },
+ "appearance order": ["bed", "table"]
+}
\ No newline at end of file
diff --git a/data/spatial codes/sam3+depth-anything-3/metric/tracking/selective/32/explicit/42898486.json b/data/spatial codes/sam3+depth-anything-3/metric/tracking/selective/32/explicit/42898486.json
new file mode 100644
index 0000000000000000000000000000000000000000..49e3b95231a0542f7b37bb9f4562a73a49a4e6f8
--- /dev/null
+++ b/data/spatial codes/sam3+depth-anything-3/metric/tracking/selective/32/explicit/42898486.json	
@@ -0,0 +1,426 @@
+{
+ "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": "-1.5 meters",
+      "y coordinate": "-2.22 meters",
+      "height above floor": "0.06 meters"
+     },
+     "longest dimension": "0.88 meters"
+    }
+   ]
+  },
+  "chair": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-1.3 meters",
+      "y coordinate": "-2.78 meters",
+      "height above floor": "0.05 meters"
+     },
+     "longest dimension": "0.94 meters"
+    }
+   ]
+  },
+  "fireplace": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-3.58 meters",
+      "y coordinate": "0.0 meters",
+      "height above floor": "0.46 meters"
+     },
+     "longest dimension": "0.58 meters"
+    }
+   ]
+  },
+  "sofa": {
+   "count": 2,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-1.26 meters",
+      "y coordinate": "-2.76 meters",
+      "height above floor": "0.02 meters"
+     },
+     "longest dimension": "1.14 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-1.9 meters",
+      "y coordinate": "-3.58 meters",
+      "height above floor": "-0.33 meters"
+     },
+     "longest dimension": "0.64 meters"
+    }
+   ]
+  },
+  "stool": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-1.47 meters",
+      "y coordinate": "-1.41 meters",
+      "height above floor": "-0.03 meters"
+     },
+     "longest dimension": "1.16 meters"
+    }
+   ]
+  },
+  "table": {
+   "count": 2,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-2.85 meters",
+      "y coordinate": "-2.82 meters",
+      "height above floor": "-0.26 meters"
+     },
+     "longest dimension": "1.48 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-1.74 meters",
+      "y coordinate": "-4.47 meters",
+      "height above floor": "-0.69 meters"
+     },
+     "longest dimension": "0.35 meters"
+    }
+   ]
+  },
+  "toilet": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-4.09 meters",
+      "y coordinate": "-3.05 meters",
+      "height above floor": "-0.46 meters"
+     },
+     "longest dimension": "1.59 meters"
+    }
+   ]
+  },
+  "tv": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-2.95 meters",
+      "y coordinate": "0.25 meters",
+      "height above floor": "1.55 meters"
+     },
+     "longest dimension": "0.6 meters"
+    }
+   ]
+  }
+ },
+ "room": {
+  "floor area": "36.0 square meters"
+ },
+ "closest classes distance meters from": {
+  "bed": {
+   "sofa": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "stool": {
+    "distance": "0.16 meters",
+    "closeness rank": 2
+   },
+   "chair": {
+    "distance": "0.36 meters",
+    "closeness rank": 3
+   },
+   "table": {
+    "distance": "0.48 meters",
+    "closeness rank": 4
+   },
+   "toilet": {
+    "distance": "1.75 meters",
+    "closeness rank": 5
+   },
+   "tv": {
+    "distance": "2.74 meters",
+    "closeness rank": 6
+   },
+   "fireplace": {
+    "distance": "2.74 meters",
+    "closeness rank": 7
+   }
+  },
+  "chair": {
+   "sofa": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "bed": {
+    "distance": "0.36 meters",
+    "closeness rank": 2
+   },
+   "table": {
+    "distance": "0.42 meters",
+    "closeness rank": 3
+   },
+   "stool": {
+    "distance": "0.8 meters",
+    "closeness rank": 4
+   },
+   "toilet": {
+    "distance": "1.59 meters",
+    "closeness rank": 5
+   },
+   "fireplace": {
+    "distance": "3.32 meters",
+    "closeness rank": 6
+   },
+   "tv": {
+    "distance": "3.34 meters",
+    "closeness rank": 7
+   }
+  },
+  "fireplace": {
+   "tv": {
+    "distance": "0.61 meters",
+    "closeness rank": 1
+   },
+   "stool": {
+    "distance": "2.05 meters",
+    "closeness rank": 2
+   },
+   "toilet": {
+    "distance": "2.24 meters",
+    "closeness rank": 3
+   },
+   "table": {
+    "distance": "2.32 meters",
+    "closeness rank": 4
+   },
+   "bed": {
+    "distance": "2.74 meters",
+    "closeness rank": 5
+   },
+   "sofa": {
+    "distance": "2.84 meters",
+    "closeness rank": 6
+   },
+   "chair": {
+    "distance": "3.32 meters",
+    "closeness rank": 7
+   }
+  },
+  "sofa": {
+   "bed": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "chair": {
+    "distance": "0.0 meters",
+    "closeness rank": 2
+   },
+   "stool": {
+    "distance": "0.27 meters",
+    "closeness rank": 3
+   },
+   "table": {
+    "distance": "0.41 meters",
+    "closeness rank": 4
+   },
+   "toilet": {
+    "distance": "1.21 meters",
+    "closeness rank": 5
+   },
+   "fireplace": {
+    "distance": "2.84 meters",
+    "closeness rank": 6
+   },
+   "tv": {
+    "distance": "2.87 meters",
+    "closeness rank": 7
+   }
+  },
+  "stool": {
+   "bed": {
+    "distance": "0.16 meters",
+    "closeness rank": 1
+   },
+   "sofa": {
+    "distance": "0.27 meters",
+    "closeness rank": 2
+   },
+   "table": {
+    "distance": "0.63 meters",
+    "closeness rank": 3
+   },
+   "chair": {
+    "distance": "0.8 meters",
+    "closeness rank": 4
+   },
+   "toilet": {
+    "distance": "1.88 meters",
+    "closeness rank": 5
+   },
+   "fireplace": {
+    "distance": "2.05 meters",
+    "closeness rank": 6
+   },
+   "tv": {
+    "distance": "2.18 meters",
+    "closeness rank": 7
+   }
+  },
+  "table": {
+   "toilet": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "sofa": {
+    "distance": "0.41 meters",
+    "closeness rank": 2
+   },
+   "chair": {
+    "distance": "0.42 meters",
+    "closeness rank": 3
+   },
+   "bed": {
+    "distance": "0.48 meters",
+    "closeness rank": 4
+   },
+   "stool": {
+    "distance": "0.63 meters",
+    "closeness rank": 5
+   },
+   "fireplace": {
+    "distance": "2.32 meters",
+    "closeness rank": 6
+   },
+   "tv": {
+    "distance": "2.65 meters",
+    "closeness rank": 7
+   }
+  },
+  "toilet": {
+   "table": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "sofa": {
+    "distance": "1.21 meters",
+    "closeness rank": 2
+   },
+   "chair": {
+    "distance": "1.59 meters",
+    "closeness rank": 3
+   },
+   "bed": {
+    "distance": "1.75 meters",
+    "closeness rank": 4
+   },
+   "stool": {
+    "distance": "1.88 meters",
+    "closeness rank": 5
+   },
+   "fireplace": {
+    "distance": "2.24 meters",
+    "closeness rank": 6
+   },
+   "tv": {
+    "distance": "3.13 meters",
+    "closeness rank": 7
+   }
+  },
+  "tv": {
+   "fireplace": {
+    "distance": "0.61 meters",
+    "closeness rank": 1
+   },
+   "stool": {
+    "distance": "2.18 meters",
+    "closeness rank": 2
+   },
+   "table": {
+    "distance": "2.65 meters",
+    "closeness rank": 3
+   },
+   "bed": {
+    "distance": "2.74 meters",
+    "closeness rank": 4
+   },
+   "sofa": {
+    "distance": "2.87 meters",
+    "closeness rank": 5
+   },
+   "toilet": {
+    "distance": "3.13 meters",
+    "closeness rank": 6
+   },
+   "chair": {
+    "distance": "3.34 meters",
+    "closeness rank": 7
+   }
+  }
+ },
+ "appearance order": ["stool", "tv", "fireplace", "toilet", "table", "sofa", "bed", "chair"]
+}
\ No newline at end of file
diff --git a/data/spatial codes/sam3+depth-anything-3/metric/tracking/selective/32/explicit/42898826.json b/data/spatial codes/sam3+depth-anything-3/metric/tracking/selective/32/explicit/42898826.json
new file mode 100644
index 0000000000000000000000000000000000000000..ee70db64d827ed914073fe36de2b0240609b6b1c
--- /dev/null
+++ b/data/spatial codes/sam3+depth-anything-3/metric/tracking/selective/32/explicit/42898826.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": "0.53 meters",
+      "y coordinate": "-0.1 meters",
+      "height above floor": "-0.21 meters"
+     },
+     "longest dimension": "1.52 meters"
+    }
+   ]
+  },
+  "toilet": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "0.39 meters",
+      "y coordinate": "-0.3 meters",
+      "height above floor": "-0.28 meters"
+     },
+     "longest dimension": "1.33 meters"
+    }
+   ]
+  }
+ },
+ "room": {
+  "floor area": "13.0 square meters"
+ },
+ "closest classes distance meters from": {
+  "bathtub": {
+   "toilet": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   }
+  },
+  "toilet": {
+   "bathtub": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   }
+  }
+ },
+ "appearance order": ["toilet", "bathtub"]
+}
\ No newline at end of file
diff --git a/data/spatial codes/sam3+depth-anything-3/metric/tracking/selective/32/explicit/42899612.json b/data/spatial codes/sam3+depth-anything-3/metric/tracking/selective/32/explicit/42899612.json
new file mode 100644
index 0000000000000000000000000000000000000000..96962446b9a8110d5abb9088be40a923828df2cc
--- /dev/null
+++ b/data/spatial codes/sam3+depth-anything-3/metric/tracking/selective/32/explicit/42899612.json	
@@ -0,0 +1,237 @@
+{
+ "spatial code schema": {
+  "objects": {
+   "<object class>": {
+    "count": {
+     "unit": null,
+     "description": "number of instances of this class in the compact spatial code (that schema's per-class oriented-box list length)"
+    },
+    "instances": [
+     {
+      "position": {
+       "x coordinate": {
+        "unit": "meters",
+        "description": "x coordinate of this instance's compact 3D oriented bounding box center"
+       },
+       "y coordinate": {
+        "unit": "meters",
+        "description": "y coordinate of this instance's compact 3D oriented bounding box center"
+       },
+       "height above floor": {
+        "unit": "meters",
+        "description": "height coordinate of this instance's compact 3D oriented bounding box center"
+       }
+      },
+      "longest dimension": {
+       "unit": "meters",
+       "description": "longest of this instance's compact 3D oriented bounding box dimensions"
+      }
+     }
+    ]
+   }
+  },
+  "room": {
+   "floor area": {
+    "unit": "square meters",
+    "description": "shoelace area of the compact spatial code's floor boundary polygons, with every interior hole subtracted"
+   }
+  },
+  "closest classes distance meters from": {
+   "<object class>": {
+    "<other object class>": {
+     "distance": {
+      "unit": "meters",
+      "description": "minimum surface-to-surface separation between the two classes' compact 3D oriented bounding boxes, over every instance pair"
+     },
+     "closeness rank": {
+      "unit": null,
+      "description": "1 = the nearest other class to this one, 2 = second-nearest, and so on"
+     }
+    }
+   }
+  },
+  "appearance order": {
+   "unit": null,
+   "description": "class names ordered by earliest compact 'first visible time' across all of that class's instances"
+  }
+ },
+ "objects": {
+  "bed": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "1.49 meters",
+      "y coordinate": "0.3 meters",
+      "height above floor": "0.17 meters"
+     },
+     "longest dimension": "2.26 meters"
+    }
+   ]
+  },
+  "chair": {
+   "count": 2,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "1.39 meters",
+      "y coordinate": "3.1 meters",
+      "height above floor": "0.16 meters"
+     },
+     "longest dimension": "0.94 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "1.13 meters",
+      "y coordinate": "2.45 meters",
+      "height above floor": "0.01 meters"
+     },
+     "longest dimension": "0.65 meters"
+    }
+   ]
+  },
+  "fireplace": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-4.71 meters",
+      "y coordinate": "0.19 meters",
+      "height above floor": "-0.43 meters"
+     },
+     "longest dimension": "0.37 meters"
+    }
+   ]
+  },
+  "stool": {
+   "count": 2,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "1.13 meters",
+      "y coordinate": "2.4 meters",
+      "height above floor": "0.02 meters"
+     },
+     "longest dimension": "0.65 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-0.37 meters",
+      "y coordinate": "3.73 meters",
+      "height above floor": "0.05 meters"
+     },
+     "longest dimension": "0.68 meters"
+    }
+   ]
+  },
+  "table": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "2.29 meters",
+      "y coordinate": "1.06 meters",
+      "height above floor": "-0.09 meters"
+     },
+     "longest dimension": "0.7 meters"
+    }
+   ]
+  }
+ },
+ "room": {
+  "floor area": "26.8 square meters"
+ },
+ "closest classes distance meters from": {
+  "bed": {
+   "table": {
+    "distance": "0.17 meters",
+    "closeness rank": 1
+   },
+   "stool": {
+    "distance": "1.39 meters",
+    "closeness rank": 2
+   },
+   "chair": {
+    "distance": "1.46 meters",
+    "closeness rank": 3
+   },
+   "fireplace": {
+    "distance": "5.0 meters",
+    "closeness rank": 4
+   }
+  },
+  "chair": {
+   "stool": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "table": {
+    "distance": "1.14 meters",
+    "closeness rank": 2
+   },
+   "bed": {
+    "distance": "1.46 meters",
+    "closeness rank": 3
+   },
+   "fireplace": {
+    "distance": "5.85 meters",
+    "closeness rank": 4
+   }
+  },
+  "fireplace": {
+   "bed": {
+    "distance": "5.0 meters",
+    "closeness rank": 1
+   },
+   "stool": {
+    "distance": "5.26 meters",
+    "closeness rank": 2
+   },
+   "chair": {
+    "distance": "5.85 meters",
+    "closeness rank": 3
+   },
+   "table": {
+    "distance": "6.72 meters",
+    "closeness rank": 4
+   }
+  },
+  "stool": {
+   "chair": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "table": {
+    "distance": "1.11 meters",
+    "closeness rank": 2
+   },
+   "bed": {
+    "distance": "1.39 meters",
+    "closeness rank": 3
+   },
+   "fireplace": {
+    "distance": "5.26 meters",
+    "closeness rank": 4
+   }
+  },
+  "table": {
+   "bed": {
+    "distance": "0.17 meters",
+    "closeness rank": 1
+   },
+   "stool": {
+    "distance": "1.11 meters",
+    "closeness rank": 2
+   },
+   "chair": {
+    "distance": "1.14 meters",
+    "closeness rank": 3
+   },
+   "fireplace": {
+    "distance": "6.72 meters",
+    "closeness rank": 4
+   }
+  }
+ },
+ "appearance order": ["bed", "fireplace", "stool", "table", "chair"]
+}
\ No newline at end of file
diff --git a/data/spatial codes/sam3+depth-anything-3/metric/tracking/selective/32/explicit/44358499.json b/data/spatial codes/sam3+depth-anything-3/metric/tracking/selective/32/explicit/44358499.json
new file mode 100644
index 0000000000000000000000000000000000000000..264d70daefe7cb2595e6da8609f426f7de742ee6
--- /dev/null
+++ b/data/spatial codes/sam3+depth-anything-3/metric/tracking/selective/32/explicit/44358499.json	
@@ -0,0 +1,482 @@
+{
+ "spatial code schema": {
+  "objects": {
+   "<object class>": {
+    "count": {
+     "unit": null,
+     "description": "number of instances of this class in the compact spatial code (that schema's per-class oriented-box list length)"
+    },
+    "instances": [
+     {
+      "position": {
+       "x coordinate": {
+        "unit": "meters",
+        "description": "x coordinate of this instance's compact 3D oriented bounding box center"
+       },
+       "y coordinate": {
+        "unit": "meters",
+        "description": "y coordinate of this instance's compact 3D oriented bounding box center"
+       },
+       "height above floor": {
+        "unit": "meters",
+        "description": "height coordinate of this instance's compact 3D oriented bounding box center"
+       }
+      },
+      "longest dimension": {
+       "unit": "meters",
+       "description": "longest of this instance's compact 3D oriented bounding box dimensions"
+      }
+     }
+    ]
+   }
+  },
+  "room": {
+   "floor area": {
+    "unit": "square meters",
+    "description": "shoelace area of the compact spatial code's floor boundary polygons, with every interior hole subtracted"
+   }
+  },
+  "closest classes distance meters from": {
+   "<object class>": {
+    "<other object class>": {
+     "distance": {
+      "unit": "meters",
+      "description": "minimum surface-to-surface separation between the two classes' compact 3D oriented bounding boxes, over every instance pair"
+     },
+     "closeness rank": {
+      "unit": null,
+      "description": "1 = the nearest other class to this one, 2 = second-nearest, and so on"
+     }
+    }
+   }
+  },
+  "appearance order": {
+   "unit": null,
+   "description": "class names ordered by earliest compact 'first visible time' across all of that class's instances"
+  }
+ },
+ "objects": {
+  "chair": {
+   "count": 5,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-2.02 meters",
+      "y coordinate": "1.34 meters",
+      "height above floor": "0.0 meters"
+     },
+     "longest dimension": "0.84 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-1.65 meters",
+      "y coordinate": "0.07 meters",
+      "height above floor": "-0.21 meters"
+     },
+     "longest dimension": "0.82 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-1.81 meters",
+      "y coordinate": "-0.26 meters",
+      "height above floor": "-0.29 meters"
+     },
+     "longest dimension": "0.84 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-2.81 meters",
+      "y coordinate": "0.31 meters",
+      "height above floor": "0.1 meters"
+     },
+     "longest dimension": "0.54 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-2.74 meters",
+      "y coordinate": "1.09 meters",
+      "height above floor": "0.12 meters"
+     },
+     "longest dimension": "0.5 meters"
+    }
+   ]
+  },
+  "dishwasher": {
+   "count": 2,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-0.73 meters",
+      "y coordinate": "3.33 meters",
+      "height above floor": "-0.06 meters"
+     },
+     "longest dimension": "0.82 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-0.2 meters",
+      "y coordinate": "3.89 meters",
+      "height above floor": "-0.1 meters"
+     },
+     "longest dimension": "0.84 meters"
+    }
+   ]
+  },
+  "fireplace": {
+   "count": 2,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "3.81 meters",
+      "y coordinate": "-0.77 meters",
+      "height above floor": "-0.38 meters"
+     },
+     "longest dimension": "0.77 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "3.81 meters",
+      "y coordinate": "-0.77 meters",
+      "height above floor": "0.01 meters"
+     },
+     "longest dimension": "1.16 meters"
+    }
+   ]
+  },
+  "sofa": {
+   "count": 2,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "1.54 meters",
+      "y coordinate": "-1.42 meters",
+      "height above floor": "-0.43 meters"
+     },
+     "longest dimension": "2.11 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "0.89 meters",
+      "y coordinate": "-1.07 meters",
+      "height above floor": "-0.32 meters"
+     },
+     "longest dimension": "1.81 meters"
+    }
+   ]
+  },
+  "stove": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-2.44 meters",
+      "y coordinate": "3.91 meters",
+      "height above floor": "0.44 meters"
+     },
+     "longest dimension": "0.66 meters"
+    }
+   ]
+  },
+  "table": {
+   "count": 3,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-0.4 meters",
+      "y coordinate": "-1.46 meters",
+      "height above floor": "-0.38 meters"
+     },
+     "longest dimension": "1.51 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-1.9 meters",
+      "y coordinate": "0.23 meters",
+      "height above floor": "-0.22 meters"
+     },
+     "longest dimension": "1.76 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "1.22 meters",
+      "y coordinate": "-0.33 meters",
+      "height above floor": "-0.47 meters"
+     },
+     "longest dimension": "0.63 meters"
+    }
+   ]
+  },
+  "tv": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "3.64 meters",
+      "y coordinate": "0.94 meters",
+      "height above floor": "0.12 meters"
+     },
+     "longest dimension": "1.13 meters"
+    }
+   ]
+  },
+  "washer": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-0.21 meters",
+      "y coordinate": "4.46 meters",
+      "height above floor": "-0.06 meters"
+     },
+     "longest dimension": "0.85 meters"
+    }
+   ]
+  }
+ },
+ "room": {
+  "floor area": "45.9 square meters"
+ },
+ "closest classes distance meters from": {
+  "chair": {
+   "table": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "dishwasher": {
+    "distance": "1.97 meters",
+    "closeness rank": 2
+   },
+   "stove": {
+    "distance": "2.08 meters",
+    "closeness rank": 3
+   },
+   "sofa": {
+    "distance": "2.33 meters",
+    "closeness rank": 4
+   },
+   "washer": {
+    "distance": "3.12 meters",
+    "closeness rank": 5
+   },
+   "tv": {
+    "distance": "4.84 meters",
+    "closeness rank": 6
+   },
+   "fireplace": {
+    "distance": "5.23 meters",
+    "closeness rank": 7
+   }
+  },
+  "dishwasher": {
+   "washer": {
+    "distance": "0.04 meters",
+    "closeness rank": 1
+   },
+   "stove": {
+    "distance": "1.41 meters",
+    "closeness rank": 2
+   },
+   "chair": {
+    "distance": "1.97 meters",
+    "closeness rank": 3
+   },
+   "table": {
+    "distance": "2.19 meters",
+    "closeness rank": 4
+   },
+   "sofa": {
+    "distance": "3.63 meters",
+    "closeness rank": 5
+   },
+   "tv": {
+    "distance": "4.14 meters",
+    "closeness rank": 6
+   },
+   "fireplace": {
+    "distance": "5.52 meters",
+    "closeness rank": 7
+   }
+  },
+  "fireplace": {
+   "tv": {
+    "distance": "0.69 meters",
+    "closeness rank": 1
+   },
+   "sofa": {
+    "distance": "1.88 meters",
+    "closeness rank": 2
+   },
+   "table": {
+    "distance": "2.14 meters",
+    "closeness rank": 3
+   },
+   "chair": {
+    "distance": "5.23 meters",
+    "closeness rank": 4
+   },
+   "dishwasher": {
+    "distance": "5.52 meters",
+    "closeness rank": 5
+   },
+   "washer": {
+    "distance": "5.86 meters",
+    "closeness rank": 6
+   },
+   "stove": {
+    "distance": "7.06 meters",
+    "closeness rank": 7
+   }
+  },
+  "sofa": {
+   "table": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "fireplace": {
+    "distance": "1.88 meters",
+    "closeness rank": 2
+   },
+   "tv": {
+    "distance": "2.26 meters",
+    "closeness rank": 3
+   },
+   "chair": {
+    "distance": "2.33 meters",
+    "closeness rank": 4
+   },
+   "dishwasher": {
+    "distance": "3.63 meters",
+    "closeness rank": 5
+   },
+   "washer": {
+    "distance": "4.45 meters",
+    "closeness rank": 6
+   },
+   "stove": {
+    "distance": "4.85 meters",
+    "closeness rank": 7
+   }
+  },
+  "stove": {
+   "dishwasher": {
+    "distance": "1.41 meters",
+    "closeness rank": 1
+   },
+   "washer": {
+    "distance": "1.97 meters",
+    "closeness rank": 2
+   },
+   "chair": {
+    "distance": "2.08 meters",
+    "closeness rank": 3
+   },
+   "table": {
+    "distance": "2.48 meters",
+    "closeness rank": 4
+   },
+   "sofa": {
+    "distance": "4.85 meters",
+    "closeness rank": 5
+   },
+   "tv": {
+    "distance": "5.87 meters",
+    "closeness rank": 6
+   },
+   "fireplace": {
+    "distance": "7.06 meters",
+    "closeness rank": 7
+   }
+  },
+  "table": {
+   "chair": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "sofa": {
+    "distance": "0.0 meters",
+    "closeness rank": 2
+   },
+   "fireplace": {
+    "distance": "2.14 meters",
+    "closeness rank": 3
+   },
+   "dishwasher": {
+    "distance": "2.19 meters",
+    "closeness rank": 4
+   },
+   "tv": {
+    "distance": "2.28 meters",
+    "closeness rank": 5
+   },
+   "stove": {
+    "distance": "2.48 meters",
+    "closeness rank": 6
+   },
+   "washer": {
+    "distance": "3.34 meters",
+    "closeness rank": 7
+   }
+  },
+  "tv": {
+   "fireplace": {
+    "distance": "0.69 meters",
+    "closeness rank": 1
+   },
+   "sofa": {
+    "distance": "2.26 meters",
+    "closeness rank": 2
+   },
+   "table": {
+    "distance": "2.28 meters",
+    "closeness rank": 3
+   },
+   "dishwasher": {
+    "distance": "4.14 meters",
+    "closeness rank": 4
+   },
+   "washer": {
+    "distance": "4.42 meters",
+    "closeness rank": 5
+   },
+   "chair": {
+    "distance": "4.84 meters",
+    "closeness rank": 6
+   },
+   "stove": {
+    "distance": "5.87 meters",
+    "closeness rank": 7
+   }
+  },
+  "washer": {
+   "dishwasher": {
+    "distance": "0.04 meters",
+    "closeness rank": 1
+   },
+   "stove": {
+    "distance": "1.97 meters",
+    "closeness rank": 2
+   },
+   "chair": {
+    "distance": "3.12 meters",
+    "closeness rank": 3
+   },
+   "table": {
+    "distance": "3.34 meters",
+    "closeness rank": 4
+   },
+   "tv": {
+    "distance": "4.42 meters",
+    "closeness rank": 5
+   },
+   "sofa": {
+    "distance": "4.45 meters",
+    "closeness rank": 6
+   },
+   "fireplace": {
+    "distance": "5.86 meters",
+    "closeness rank": 7
+   }
+  }
+ },
+ "appearance order": ["chair", "table", "fireplace", "sofa", "tv", "dishwasher", "washer", "stove"]
+}
\ No newline at end of file
diff --git a/data/spatial codes/sam3+depth-anything-3/metric/tracking/selective/32/explicit/45260856.json b/data/spatial codes/sam3+depth-anything-3/metric/tracking/selective/32/explicit/45260856.json
new file mode 100644
index 0000000000000000000000000000000000000000..f8c82c866a3bc7c0415021fdedea9d475e658427
--- /dev/null
+++ b/data/spatial codes/sam3+depth-anything-3/metric/tracking/selective/32/explicit/45260856.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": {
+  "bed": {
+   "count": 3,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-0.95 meters",
+      "y coordinate": "0.33 meters",
+      "height above floor": "-0.11 meters"
+     },
+     "longest dimension": "1.79 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-2.48 meters",
+      "y coordinate": "0.91 meters",
+      "height above floor": "-0.03 meters"
+     },
+     "longest dimension": "1.12 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-0.82 meters",
+      "y coordinate": "0.04 meters",
+      "height above floor": "-0.34 meters"
+     },
+     "longest dimension": "1.8 meters"
+    }
+   ]
+  },
+  "chair": {
+   "count": 4,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-0.01 meters",
+      "y coordinate": "2.33 meters",
+      "height above floor": "-0.23 meters"
+     },
+     "longest dimension": "1.01 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "0.76 meters",
+      "y coordinate": "-0.48 meters",
+      "height above floor": "-0.38 meters"
+     },
+     "longest dimension": "1.05 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-1.52 meters",
+      "y coordinate": "-1.9 meters",
+      "height above floor": "-0.31 meters"
+     },
+     "longest dimension": "0.74 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "0.94 meters",
+      "y coordinate": "1.01 meters",
+      "height above floor": "-0.32 meters"
+     },
+     "longest dimension": "0.66 meters"
+    }
+   ]
+  },
+  "fireplace": {
+   "count": 2,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "0.73 meters",
+      "y coordinate": "2.3 meters",
+      "height above floor": "-0.24 meters"
+     },
+     "longest dimension": "1.07 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "0.75 meters",
+      "y coordinate": "2.18 meters",
+      "height above floor": "0.17 meters"
+     },
+     "longest dimension": "1.42 meters"
+    }
+   ]
+  },
+  "table": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-2.97 meters",
+      "y coordinate": "0.93 meters",
+      "height above floor": "-0.42 meters"
+     },
+     "longest dimension": "0.62 meters"
+    }
+   ]
+  }
+ },
+ "room": {
+  "floor area": "26.9 square meters"
+ },
+ "closest classes distance meters from": {
+  "bed": {
+   "table": {
+    "distance": "0.03 meters",
+    "closeness rank": 1
+   },
+   "chair": {
+    "distance": "0.17 meters",
+    "closeness rank": 2
+   },
+   "fireplace": {
+    "distance": "1.32 meters",
+    "closeness rank": 3
+   }
+  },
+  "chair": {
+   "fireplace": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "bed": {
+    "distance": "0.17 meters",
+    "closeness rank": 2
+   },
+   "table": {
+    "distance": "2.71 meters",
+    "closeness rank": 3
+   }
+  },
+  "fireplace": {
+   "chair": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "bed": {
+    "distance": "1.32 meters",
+    "closeness rank": 2
+   },
+   "table": {
+    "distance": "3.45 meters",
+    "closeness rank": 3
+   }
+  },
+  "table": {
+   "bed": {
+    "distance": "0.03 meters",
+    "closeness rank": 1
+   },
+   "chair": {
+    "distance": "2.71 meters",
+    "closeness rank": 2
+   },
+   "fireplace": {
+    "distance": "3.45 meters",
+    "closeness rank": 3
+   }
+  }
+ },
+ "appearance order": ["bed", "chair", "table", "fireplace"]
+}
\ No newline at end of file
diff --git a/data/spatial codes/sam3+depth-anything-3/metric/tracking/selective/32/explicit/45261150.json b/data/spatial codes/sam3+depth-anything-3/metric/tracking/selective/32/explicit/45261150.json
new file mode 100644
index 0000000000000000000000000000000000000000..9bc1ae627b5a4c3be7902ee0c9b032aeadc54509
--- /dev/null
+++ b/data/spatial codes/sam3+depth-anything-3/metric/tracking/selective/32/explicit/45261150.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": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-1.17 meters",
+      "y coordinate": "0.67 meters",
+      "height above floor": "-0.24 meters"
+     },
+     "longest dimension": "1.86 meters"
+    }
+   ]
+  },
+  "refrigerator": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "1.02 meters",
+      "y coordinate": "0.58 meters",
+      "height above floor": "0.0 meters"
+     },
+     "longest dimension": "1.13 meters"
+    }
+   ]
+  },
+  "table": {
+   "count": 2,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-0.23 meters",
+      "y coordinate": "-0.39 meters",
+      "height above floor": "-0.24 meters"
+     },
+     "longest dimension": "1.26 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "1.11 meters",
+      "y coordinate": "-0.34 meters",
+      "height above floor": "-0.19 meters"
+     },
+     "longest dimension": "1.09 meters"
+    }
+   ]
+  },
+  "tv": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-1.28 meters",
+      "y coordinate": "-1.53 meters",
+      "height above floor": "1.07 meters"
+     },
+     "longest dimension": "0.69 meters"
+    }
+   ]
+  }
+ },
+ "room": {
+  "floor area": "18.3 square meters"
+ },
+ "closest classes distance meters from": {
+  "bed": {
+   "table": {
+    "distance": "0.04 meters",
+    "closeness rank": 1
+   },
+   "refrigerator": {
+    "distance": "1.36 meters",
+    "closeness rank": 2
+   },
+   "tv": {
+    "distance": "1.51 meters",
+    "closeness rank": 3
+   }
+  },
+  "refrigerator": {
+   "table": {
+    "distance": "0.46 meters",
+    "closeness rank": 1
+   },
+   "bed": {
+    "distance": "1.36 meters",
+    "closeness rank": 2
+   },
+   "tv": {
+    "distance": "2.56 meters",
+    "closeness rank": 3
+   }
+  },
+  "table": {
+   "bed": {
+    "distance": "0.04 meters",
+    "closeness rank": 1
+   },
+   "refrigerator": {
+    "distance": "0.46 meters",
+    "closeness rank": 2
+   },
+   "tv": {
+    "distance": "1.13 meters",
+    "closeness rank": 3
+   }
+  },
+  "tv": {
+   "table": {
+    "distance": "1.13 meters",
+    "closeness rank": 1
+   },
+   "bed": {
+    "distance": "1.51 meters",
+    "closeness rank": 2
+   },
+   "refrigerator": {
+    "distance": "2.56 meters",
+    "closeness rank": 3
+   }
+  }
+ },
+ "appearance order": ["bed", "tv", "table", "refrigerator"]
+}
\ No newline at end of file
diff --git a/data/spatial codes/sam3+depth-anything-3/metric/tracking/selective/32/explicit/45261182.json b/data/spatial codes/sam3+depth-anything-3/metric/tracking/selective/32/explicit/45261182.json
new file mode 100644
index 0000000000000000000000000000000000000000..7ead920802cc7fbdc95924d4dbaaa7ab627abcb0
--- /dev/null
+++ b/data/spatial codes/sam3+depth-anything-3/metric/tracking/selective/32/explicit/45261182.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": "2.17 meters",
+      "y coordinate": "1.27 meters",
+      "height above floor": "-1.53 meters"
+     },
+     "longest dimension": "1.67 meters"
+    }
+   ]
+  },
+  "toilet": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-0.39 meters",
+      "y coordinate": "1.54 meters",
+      "height above floor": "0.06 meters"
+     },
+     "longest dimension": "0.93 meters"
+    }
+   ]
+  }
+ },
+ "room": {
+  "floor area": "8.0 square meters"
+ },
+ "closest classes distance meters from": {
+  "bed": {
+   "toilet": {
+    "distance": "1.7 meters",
+    "closeness rank": 1
+   }
+  },
+  "toilet": {
+   "bed": {
+    "distance": "1.7 meters",
+    "closeness rank": 1
+   }
+  }
+ },
+ "appearance order": ["toilet", "bed"]
+}
\ No newline at end of file
diff --git a/data/spatial codes/sam3+depth-anything-3/metric/tracking/selective/32/explicit/45662970.json b/data/spatial codes/sam3+depth-anything-3/metric/tracking/selective/32/explicit/45662970.json
new file mode 100644
index 0000000000000000000000000000000000000000..20fa8ee27ca6b663441a5ec926257812a20cba50
--- /dev/null
+++ b/data/spatial codes/sam3+depth-anything-3/metric/tracking/selective/32/explicit/45662970.json	
@@ -0,0 +1,135 @@
+{
+ "spatial code schema": {
+  "objects": {
+   "<object class>": {
+    "count": {
+     "unit": null,
+     "description": "number of instances of this class in the compact spatial code (that schema's per-class oriented-box list length)"
+    },
+    "instances": [
+     {
+      "position": {
+       "x coordinate": {
+        "unit": "meters",
+        "description": "x coordinate of this instance's compact 3D oriented bounding box center"
+       },
+       "y coordinate": {
+        "unit": "meters",
+        "description": "y coordinate of this instance's compact 3D oriented bounding box center"
+       },
+       "height above floor": {
+        "unit": "meters",
+        "description": "height coordinate of this instance's compact 3D oriented bounding box center"
+       }
+      },
+      "longest dimension": {
+       "unit": "meters",
+       "description": "longest of this instance's compact 3D oriented bounding box dimensions"
+      }
+     }
+    ]
+   }
+  },
+  "room": {
+   "floor area": {
+    "unit": "square meters",
+    "description": "shoelace area of the compact spatial code's floor boundary polygons, with every interior hole subtracted"
+   }
+  },
+  "closest classes distance meters from": {
+   "<object class>": {
+    "<other object class>": {
+     "distance": {
+      "unit": "meters",
+      "description": "minimum surface-to-surface separation between the two classes' compact 3D oriented bounding boxes, over every instance pair"
+     },
+     "closeness rank": {
+      "unit": null,
+      "description": "1 = the nearest other class to this one, 2 = second-nearest, and so on"
+     }
+    }
+   }
+  },
+  "appearance order": {
+   "unit": null,
+   "description": "class names ordered by earliest compact 'first visible time' across all of that class's instances"
+  }
+ },
+ "objects": {
+  "chair": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "1.25 meters",
+      "y coordinate": "-0.12 meters",
+      "height above floor": "0.15 meters"
+     },
+     "longest dimension": "0.09 meters"
+    }
+   ]
+  },
+  "dishwasher": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "0.38 meters",
+      "y coordinate": "0.58 meters",
+      "height above floor": "0.47 meters"
+     },
+     "longest dimension": "0.86 meters"
+    }
+   ]
+  },
+  "washer": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "0.37 meters",
+      "y coordinate": "0.81 meters",
+      "height above floor": "0.65 meters"
+     },
+     "longest dimension": "0.87 meters"
+    }
+   ]
+  }
+ },
+ "room": {
+  "floor area": "8.7 square meters"
+ },
+ "closest classes distance meters from": {
+  "chair": {
+   "dishwasher": {
+    "distance": "0.85 meters",
+    "closeness rank": 1
+   },
+   "washer": {
+    "distance": "1.05 meters",
+    "closeness rank": 2
+   }
+  },
+  "dishwasher": {
+   "washer": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "chair": {
+    "distance": "0.85 meters",
+    "closeness rank": 2
+   }
+  },
+  "washer": {
+   "dishwasher": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "chair": {
+    "distance": "1.05 meters",
+    "closeness rank": 2
+   }
+  }
+ },
+ "appearance order": ["washer", "chair", "dishwasher"]
+}
\ No newline at end of file
diff --git a/data/spatial codes/sam3+depth-anything-3/metric/tracking/selective/32/explicit/45662987.json b/data/spatial codes/sam3+depth-anything-3/metric/tracking/selective/32/explicit/45662987.json
new file mode 100644
index 0000000000000000000000000000000000000000..c661482cc88e35c2844f418ec2d62722f005d224
--- /dev/null
+++ b/data/spatial codes/sam3+depth-anything-3/metric/tracking/selective/32/explicit/45662987.json	
@@ -0,0 +1,245 @@
+{
+ "spatial code schema": {
+  "objects": {
+   "<object class>": {
+    "count": {
+     "unit": null,
+     "description": "number of instances of this class in the compact spatial code (that schema's per-class oriented-box list length)"
+    },
+    "instances": [
+     {
+      "position": {
+       "x coordinate": {
+        "unit": "meters",
+        "description": "x coordinate of this instance's compact 3D oriented bounding box center"
+       },
+       "y coordinate": {
+        "unit": "meters",
+        "description": "y coordinate of this instance's compact 3D oriented bounding box center"
+       },
+       "height above floor": {
+        "unit": "meters",
+        "description": "height coordinate of this instance's compact 3D oriented bounding box center"
+       }
+      },
+      "longest dimension": {
+       "unit": "meters",
+       "description": "longest of this instance's compact 3D oriented bounding box dimensions"
+      }
+     }
+    ]
+   }
+  },
+  "room": {
+   "floor area": {
+    "unit": "square meters",
+    "description": "shoelace area of the compact spatial code's floor boundary polygons, with every interior hole subtracted"
+   }
+  },
+  "closest classes distance meters from": {
+   "<object class>": {
+    "<other object class>": {
+     "distance": {
+      "unit": "meters",
+      "description": "minimum surface-to-surface separation between the two classes' compact 3D oriented bounding boxes, over every instance pair"
+     },
+     "closeness rank": {
+      "unit": null,
+      "description": "1 = the nearest other class to this one, 2 = second-nearest, and so on"
+     }
+    }
+   }
+  },
+  "appearance order": {
+   "unit": null,
+   "description": "class names ordered by earliest compact 'first visible time' across all of that class's instances"
+  }
+ },
+ "objects": {
+  "chair": {
+   "count": 2,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "0.78 meters",
+      "y coordinate": "-1.29 meters",
+      "height above floor": "0.14 meters"
+     },
+     "longest dimension": "1.46 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "0.97 meters",
+      "y coordinate": "1.98 meters",
+      "height above floor": "0.05 meters"
+     },
+     "longest dimension": "0.78 meters"
+    }
+   ]
+  },
+  "fireplace": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-1.62 meters",
+      "y coordinate": "-1.07 meters",
+      "height above floor": "0.15 meters"
+     },
+     "longest dimension": "0.91 meters"
+    }
+   ]
+  },
+  "sofa": {
+   "count": 2,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "2.38 meters",
+      "y coordinate": "-0.37 meters",
+      "height above floor": "0.06 meters"
+     },
+     "longest dimension": "2.01 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "2.24 meters",
+      "y coordinate": "0.55 meters",
+      "height above floor": "0.11 meters"
+     },
+     "longest dimension": "1.1 meters"
+    }
+   ]
+  },
+  "table": {
+   "count": 2,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "1.26 meters",
+      "y coordinate": "-0.13 meters",
+      "height above floor": "-0.14 meters"
+     },
+     "longest dimension": "1.52 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "0.28 meters",
+      "y coordinate": "2.12 meters",
+      "height above floor": "-0.14 meters"
+     },
+     "longest dimension": "1.83 meters"
+    }
+   ]
+  },
+  "tv": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-1.75 meters",
+      "y coordinate": "1.03 meters",
+      "height above floor": "0.79 meters"
+     },
+     "longest dimension": "0.82 meters"
+    }
+   ]
+  }
+ },
+ "room": {
+  "floor area": "36.6 square meters"
+ },
+ "closest classes distance meters from": {
+  "chair": {
+   "table": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "sofa": {
+    "distance": "0.16 meters",
+    "closeness rank": 2
+   },
+   "fireplace": {
+    "distance": "1.53 meters",
+    "closeness rank": 3
+   },
+   "tv": {
+    "distance": "2.36 meters",
+    "closeness rank": 4
+   }
+  },
+  "fireplace": {
+   "tv": {
+    "distance": "1.39 meters",
+    "closeness rank": 1
+   },
+   "chair": {
+    "distance": "1.53 meters",
+    "closeness rank": 2
+   },
+   "table": {
+    "distance": "2.03 meters",
+    "closeness rank": 3
+   },
+   "sofa": {
+    "distance": "3.1 meters",
+    "closeness rank": 4
+   }
+  },
+  "sofa": {
+   "table": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "chair": {
+    "distance": "0.16 meters",
+    "closeness rank": 2
+   },
+   "fireplace": {
+    "distance": "3.1 meters",
+    "closeness rank": 3
+   },
+   "tv": {
+    "distance": "3.39 meters",
+    "closeness rank": 4
+   }
+  },
+  "table": {
+   "chair": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "sofa": {
+    "distance": "0.0 meters",
+    "closeness rank": 2
+   },
+   "tv": {
+    "distance": "1.98 meters",
+    "closeness rank": 3
+   },
+   "fireplace": {
+    "distance": "2.03 meters",
+    "closeness rank": 4
+   }
+  },
+  "tv": {
+   "fireplace": {
+    "distance": "1.39 meters",
+    "closeness rank": 1
+   },
+   "table": {
+    "distance": "1.98 meters",
+    "closeness rank": 2
+   },
+   "chair": {
+    "distance": "2.36 meters",
+    "closeness rank": 3
+   },
+   "sofa": {
+    "distance": "3.39 meters",
+    "closeness rank": 4
+   }
+  }
+ },
+ "appearance order": ["sofa", "chair", "tv", "table", "fireplace"]
+}
\ No newline at end of file
diff --git a/data/spatial codes/sam3+depth-anything-3/metric/tracking/selective/32/explicit/45663114.json b/data/spatial codes/sam3+depth-anything-3/metric/tracking/selective/32/explicit/45663114.json
new file mode 100644
index 0000000000000000000000000000000000000000..d634cea5244f43bf37fe1ab045e1afdc99c02563
--- /dev/null
+++ b/data/spatial codes/sam3+depth-anything-3/metric/tracking/selective/32/explicit/45663114.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": "-0.36 meters",
+      "y coordinate": "4.23 meters",
+      "height above floor": "0.16 meters"
+     },
+     "longest dimension": "1.6 meters"
+    }
+   ]
+  },
+  "toilet": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-1.27 meters",
+      "y coordinate": "4.51 meters",
+      "height above floor": "0.15 meters"
+     },
+     "longest dimension": "0.8 meters"
+    }
+   ]
+  }
+ },
+ "room": {
+  "floor area": "11.0 square meters"
+ },
+ "closest classes distance meters from": {
+  "bathtub": {
+   "toilet": {
+    "distance": "0.37 meters",
+    "closeness rank": 1
+   }
+  },
+  "toilet": {
+   "bathtub": {
+    "distance": "0.37 meters",
+    "closeness rank": 1
+   }
+  }
+ },
+ "appearance order": ["bathtub", "toilet"]
+}
\ No newline at end of file
diff --git a/data/spatial codes/sam3+depth-anything-3/metric/tracking/selective/32/explicit/47115460.json b/data/spatial codes/sam3+depth-anything-3/metric/tracking/selective/32/explicit/47115460.json
new file mode 100644
index 0000000000000000000000000000000000000000..af99a66f2b3a9049a02cc9757dda87fb74d03987
--- /dev/null
+++ b/data/spatial codes/sam3+depth-anything-3/metric/tracking/selective/32/explicit/47115460.json	
@@ -0,0 +1,363 @@
+{
+ "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": "0.78 meters",
+      "y coordinate": "0.15 meters",
+      "height above floor": "-0.21 meters"
+     },
+     "longest dimension": "0.66 meters"
+    }
+   ]
+  },
+  "chair": {
+   "count": 3,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "0.43 meters",
+      "y coordinate": "-0.55 meters",
+      "height above floor": "-0.28 meters"
+     },
+     "longest dimension": "0.77 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "0.4 meters",
+      "y coordinate": "-0.73 meters",
+      "height above floor": "-0.3 meters"
+     },
+     "longest dimension": "1.1 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "0.78 meters",
+      "y coordinate": "-1.15 meters",
+      "height above floor": "-0.31 meters"
+     },
+     "longest dimension": "0.74 meters"
+    }
+   ]
+  },
+  "dishwasher": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-1.03 meters",
+      "y coordinate": "-2.46 meters",
+      "height above floor": "-0.01 meters"
+     },
+     "longest dimension": "0.56 meters"
+    }
+   ]
+  },
+  "stove": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-1.26 meters",
+      "y coordinate": "-2.34 meters",
+      "height above floor": "0.26 meters"
+     },
+     "longest dimension": "1.59 meters"
+    }
+   ]
+  },
+  "table": {
+   "count": 2,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "0.59 meters",
+      "y coordinate": "-0.73 meters",
+      "height above floor": "-0.18 meters"
+     },
+     "longest dimension": "0.94 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "0.79 meters",
+      "y coordinate": "0.09 meters",
+      "height above floor": "-0.3 meters"
+     },
+     "longest dimension": "0.66 meters"
+    }
+   ]
+  },
+  "toilet": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "0.56 meters",
+      "y coordinate": "-2.82 meters",
+      "height above floor": "-0.07 meters"
+     },
+     "longest dimension": "0.28 meters"
+    }
+   ]
+  },
+  "washer": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "0.56 meters",
+      "y coordinate": "-2.82 meters",
+      "height above floor": "-0.07 meters"
+     },
+     "longest dimension": "0.28 meters"
+    }
+   ]
+  }
+ },
+ "room": {
+  "floor area": "19.0 square meters"
+ },
+ "closest classes distance meters from": {
+  "bed": {
+   "table": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "chair": {
+    "distance": "0.21 meters",
+    "closeness rank": 2
+   },
+   "stove": {
+    "distance": "2.39 meters",
+    "closeness rank": 3
+   },
+   "toilet": {
+    "distance": "2.62 meters",
+    "closeness rank": 4
+   },
+   "washer": {
+    "distance": "2.62 meters",
+    "closeness rank": 5
+   },
+   "dishwasher": {
+    "distance": "2.66 meters",
+    "closeness rank": 6
+   }
+  },
+  "chair": {
+   "table": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "bed": {
+    "distance": "0.21 meters",
+    "closeness rank": 2
+   },
+   "toilet": {
+    "distance": "1.23 meters",
+    "closeness rank": 3
+   },
+   "washer": {
+    "distance": "1.23 meters",
+    "closeness rank": 4
+   },
+   "dishwasher": {
+    "distance": "1.61 meters",
+    "closeness rank": 5
+   },
+   "stove": {
+    "distance": "1.63 meters",
+    "closeness rank": 6
+   }
+  },
+  "dishwasher": {
+   "stove": {
+    "distance": "0.05 meters",
+    "closeness rank": 1
+   },
+   "toilet": {
+    "distance": "1.47 meters",
+    "closeness rank": 2
+   },
+   "washer": {
+    "distance": "1.47 meters",
+    "closeness rank": 3
+   },
+   "table": {
+    "distance": "1.58 meters",
+    "closeness rank": 4
+   },
+   "chair": {
+    "distance": "1.61 meters",
+    "closeness rank": 5
+   },
+   "bed": {
+    "distance": "2.66 meters",
+    "closeness rank": 6
+   }
+  },
+  "stove": {
+   "dishwasher": {
+    "distance": "0.05 meters",
+    "closeness rank": 1
+   },
+   "toilet": {
+    "distance": "1.2 meters",
+    "closeness rank": 2
+   },
+   "washer": {
+    "distance": "1.2 meters",
+    "closeness rank": 3
+   },
+   "table": {
+    "distance": "1.53 meters",
+    "closeness rank": 4
+   },
+   "chair": {
+    "distance": "1.63 meters",
+    "closeness rank": 5
+   },
+   "bed": {
+    "distance": "2.39 meters",
+    "closeness rank": 6
+   }
+  },
+  "table": {
+   "bed": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "chair": {
+    "distance": "0.0 meters",
+    "closeness rank": 2
+   },
+   "toilet": {
+    "distance": "1.46 meters",
+    "closeness rank": 3
+   },
+   "washer": {
+    "distance": "1.46 meters",
+    "closeness rank": 4
+   },
+   "stove": {
+    "distance": "1.53 meters",
+    "closeness rank": 5
+   },
+   "dishwasher": {
+    "distance": "1.58 meters",
+    "closeness rank": 6
+   }
+  },
+  "toilet": {
+   "washer": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "stove": {
+    "distance": "1.2 meters",
+    "closeness rank": 2
+   },
+   "chair": {
+    "distance": "1.23 meters",
+    "closeness rank": 3
+   },
+   "table": {
+    "distance": "1.46 meters",
+    "closeness rank": 4
+   },
+   "dishwasher": {
+    "distance": "1.47 meters",
+    "closeness rank": 5
+   },
+   "bed": {
+    "distance": "2.62 meters",
+    "closeness rank": 6
+   }
+  },
+  "washer": {
+   "toilet": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "stove": {
+    "distance": "1.2 meters",
+    "closeness rank": 2
+   },
+   "chair": {
+    "distance": "1.23 meters",
+    "closeness rank": 3
+   },
+   "table": {
+    "distance": "1.46 meters",
+    "closeness rank": 4
+   },
+   "dishwasher": {
+    "distance": "1.47 meters",
+    "closeness rank": 5
+   },
+   "bed": {
+    "distance": "2.62 meters",
+    "closeness rank": 6
+   }
+  }
+ },
+ "appearance order": ["chair", "table", "stove", "dishwasher", "toilet", "washer", "bed"]
+}
\ No newline at end of file
diff --git a/data/spatial codes/sam3+depth-anything-3/metric/tracking/selective/32/explicit/47115525.json b/data/spatial codes/sam3+depth-anything-3/metric/tracking/selective/32/explicit/47115525.json
new file mode 100644
index 0000000000000000000000000000000000000000..7a7540418407497157fd5f6e15b122d0cdbbbe20
--- /dev/null
+++ b/data/spatial codes/sam3+depth-anything-3/metric/tracking/selective/32/explicit/47115525.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": {
+  "fireplace": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "1.76 meters",
+      "y coordinate": "2.3 meters",
+      "height above floor": "0.21 meters"
+     },
+     "longest dimension": "0.84 meters"
+    }
+   ]
+  },
+  "sofa": {
+   "count": 2,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "0.21 meters",
+      "y coordinate": "-0.23 meters",
+      "height above floor": "0.03 meters"
+     },
+     "longest dimension": "1.35 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-0.7 meters",
+      "y coordinate": "0.83 meters",
+      "height above floor": "0.17 meters"
+     },
+     "longest dimension": "0.82 meters"
+    }
+   ]
+  },
+  "stool": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "2.44 meters",
+      "y coordinate": "0.69 meters",
+      "height above floor": "-0.05 meters"
+     },
+     "longest dimension": "0.35 meters"
+    }
+   ]
+  },
+  "table": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-0.11 meters",
+      "y coordinate": "1.78 meters",
+      "height above floor": "-0.15 meters"
+     },
+     "longest dimension": "1.19 meters"
+    }
+   ]
+  },
+  "tv": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "1.02 meters",
+      "y coordinate": "3.65 meters",
+      "height above floor": "0.87 meters"
+     },
+     "longest dimension": "0.95 meters"
+    }
+   ]
+  }
+ },
+ "room": {
+  "floor area": "23.4 square meters"
+ },
+ "closest classes distance meters from": {
+  "fireplace": {
+   "tv": {
+    "distance": "0.72 meters",
+    "closeness rank": 1
+   },
+   "table": {
+    "distance": "1.16 meters",
+    "closeness rank": 2
+   },
+   "stool": {
+    "distance": "1.32 meters",
+    "closeness rank": 3
+   },
+   "sofa": {
+    "distance": "2.07 meters",
+    "closeness rank": 4
+   }
+  },
+  "sofa": {
+   "table": {
+    "distance": "0.48 meters",
+    "closeness rank": 1
+   },
+   "stool": {
+    "distance": "1.54 meters",
+    "closeness rank": 2
+   },
+   "fireplace": {
+    "distance": "2.07 meters",
+    "closeness rank": 3
+   },
+   "tv": {
+    "distance": "2.97 meters",
+    "closeness rank": 4
+   }
+  },
+  "stool": {
+   "fireplace": {
+    "distance": "1.32 meters",
+    "closeness rank": 1
+   },
+   "sofa": {
+    "distance": "1.54 meters",
+    "closeness rank": 2
+   },
+   "table": {
+    "distance": "2.06 meters",
+    "closeness rank": 3
+   },
+   "tv": {
+    "distance": "2.8 meters",
+    "closeness rank": 4
+   }
+  },
+  "table": {
+   "sofa": {
+    "distance": "0.48 meters",
+    "closeness rank": 1
+   },
+   "fireplace": {
+    "distance": "1.16 meters",
+    "closeness rank": 2
+   },
+   "tv": {
+    "distance": "1.74 meters",
+    "closeness rank": 3
+   },
+   "stool": {
+    "distance": "2.06 meters",
+    "closeness rank": 4
+   }
+  },
+  "tv": {
+   "fireplace": {
+    "distance": "0.72 meters",
+    "closeness rank": 1
+   },
+   "table": {
+    "distance": "1.74 meters",
+    "closeness rank": 2
+   },
+   "stool": {
+    "distance": "2.8 meters",
+    "closeness rank": 3
+   },
+   "sofa": {
+    "distance": "2.97 meters",
+    "closeness rank": 4
+   }
+  }
+ },
+ "appearance order": ["sofa", "fireplace", "table", "tv", "stool"]
+}
\ No newline at end of file
diff --git a/data/spatial codes/sam3+depth-anything-3/metric/tracking/selective/32/explicit/47204566.json b/data/spatial codes/sam3+depth-anything-3/metric/tracking/selective/32/explicit/47204566.json
new file mode 100644
index 0000000000000000000000000000000000000000..500fb5ebd5dbd33531fe9ab89480f2e040290a6e
--- /dev/null
+++ b/data/spatial codes/sam3+depth-anything-3/metric/tracking/selective/32/explicit/47204566.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": {
+  "chair": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-0.25 meters",
+      "y coordinate": "0.76 meters",
+      "height above floor": "-0.09 meters"
+     },
+     "longest dimension": "0.84 meters"
+    }
+   ]
+  },
+  "tv": {
+   "count": 2,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "0.25 meters",
+      "y coordinate": "0.21 meters",
+      "height above floor": "-0.49 meters"
+     },
+     "longest dimension": "0.52 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "0.27 meters",
+      "y coordinate": "0.23 meters",
+      "height above floor": "-0.5 meters"
+     },
+     "longest dimension": "0.6 meters"
+    }
+   ]
+  }
+ },
+ "room": {
+  "floor area": "9.5 square meters"
+ },
+ "closest classes distance meters from": {
+  "chair": {
+   "tv": {
+    "distance": "0.24 meters",
+    "closeness rank": 1
+   }
+  },
+  "tv": {
+   "chair": {
+    "distance": "0.24 meters",
+    "closeness rank": 1
+   }
+  }
+ },
+ "appearance order": ["tv", "chair"]
+}
\ No newline at end of file
diff --git a/data/spatial codes/sam3+depth-anything-3/metric/tracking/selective/32/explicit/47204578.json b/data/spatial codes/sam3+depth-anything-3/metric/tracking/selective/32/explicit/47204578.json
new file mode 100644
index 0000000000000000000000000000000000000000..c010c59d2fd3d4e5cb8c38113822e08a0798b90e
--- /dev/null
+++ b/data/spatial codes/sam3+depth-anything-3/metric/tracking/selective/32/explicit/47204578.json	
@@ -0,0 +1,237 @@
+{
+ "spatial code schema": {
+  "objects": {
+   "<object class>": {
+    "count": {
+     "unit": null,
+     "description": "number of instances of this class in the compact spatial code (that schema's per-class oriented-box list length)"
+    },
+    "instances": [
+     {
+      "position": {
+       "x coordinate": {
+        "unit": "meters",
+        "description": "x coordinate of this instance's compact 3D oriented bounding box center"
+       },
+       "y coordinate": {
+        "unit": "meters",
+        "description": "y coordinate of this instance's compact 3D oriented bounding box center"
+       },
+       "height above floor": {
+        "unit": "meters",
+        "description": "height coordinate of this instance's compact 3D oriented bounding box center"
+       }
+      },
+      "longest dimension": {
+       "unit": "meters",
+       "description": "longest of this instance's compact 3D oriented bounding box dimensions"
+      }
+     }
+    ]
+   }
+  },
+  "room": {
+   "floor area": {
+    "unit": "square meters",
+    "description": "shoelace area of the compact spatial code's floor boundary polygons, with every interior hole subtracted"
+   }
+  },
+  "closest classes distance meters from": {
+   "<object class>": {
+    "<other object class>": {
+     "distance": {
+      "unit": "meters",
+      "description": "minimum surface-to-surface separation between the two classes' compact 3D oriented bounding boxes, over every instance pair"
+     },
+     "closeness rank": {
+      "unit": null,
+      "description": "1 = the nearest other class to this one, 2 = second-nearest, and so on"
+     }
+    }
+   }
+  },
+  "appearance order": {
+   "unit": null,
+   "description": "class names ordered by earliest compact 'first visible time' across all of that class's instances"
+  }
+ },
+ "objects": {
+  "bathtub": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "0.51 meters",
+      "y coordinate": "-3.17 meters",
+      "height above floor": "0.62 meters"
+     },
+     "longest dimension": "3.43 meters"
+    }
+   ]
+  },
+  "fireplace": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "1.71 meters",
+      "y coordinate": "1.36 meters",
+      "height above floor": "-0.68 meters"
+     },
+     "longest dimension": "1.36 meters"
+    }
+   ]
+  },
+  "sofa": {
+   "count": 2,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "0.78 meters",
+      "y coordinate": "3.79 meters",
+      "height above floor": "-0.01 meters"
+     },
+     "longest dimension": "3.78 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-1.68 meters",
+      "y coordinate": "1.21 meters",
+      "height above floor": "-0.62 meters"
+     },
+     "longest dimension": "0.28 meters"
+    }
+   ]
+  },
+  "table": {
+   "count": 2,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-1.55 meters",
+      "y coordinate": "1.06 meters",
+      "height above floor": "-0.02 meters"
+     },
+     "longest dimension": "1.88 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-1.11 meters",
+      "y coordinate": "2.07 meters",
+      "height above floor": "0.23 meters"
+     },
+     "longest dimension": "0.85 meters"
+    }
+   ]
+  },
+  "tv": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "1.72 meters",
+      "y coordinate": "1.36 meters",
+      "height above floor": "-0.7 meters"
+     },
+     "longest dimension": "1.37 meters"
+    }
+   ]
+  }
+ },
+ "room": {
+  "floor area": "28.4 square meters"
+ },
+ "closest classes distance meters from": {
+  "bathtub": {
+   "fireplace": {
+    "distance": "2.51 meters",
+    "closeness rank": 1
+   },
+   "tv": {
+    "distance": "2.51 meters",
+    "closeness rank": 2
+   },
+   "table": {
+    "distance": "2.71 meters",
+    "closeness rank": 3
+   },
+   "sofa": {
+    "distance": "3.53 meters",
+    "closeness rank": 4
+   }
+  },
+  "fireplace": {
+   "tv": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "sofa": {
+    "distance": "1.56 meters",
+    "closeness rank": 2
+   },
+   "table": {
+    "distance": "2.37 meters",
+    "closeness rank": 3
+   },
+   "bathtub": {
+    "distance": "2.51 meters",
+    "closeness rank": 4
+   }
+  },
+  "sofa": {
+   "table": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "tv": {
+    "distance": "1.55 meters",
+    "closeness rank": 2
+   },
+   "fireplace": {
+    "distance": "1.56 meters",
+    "closeness rank": 3
+   },
+   "bathtub": {
+    "distance": "3.53 meters",
+    "closeness rank": 4
+   }
+  },
+  "table": {
+   "sofa": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "fireplace": {
+    "distance": "2.37 meters",
+    "closeness rank": 2
+   },
+   "tv": {
+    "distance": "2.38 meters",
+    "closeness rank": 3
+   },
+   "bathtub": {
+    "distance": "2.71 meters",
+    "closeness rank": 4
+   }
+  },
+  "tv": {
+   "fireplace": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "sofa": {
+    "distance": "1.55 meters",
+    "closeness rank": 2
+   },
+   "table": {
+    "distance": "2.38 meters",
+    "closeness rank": 3
+   },
+   "bathtub": {
+    "distance": "2.51 meters",
+    "closeness rank": 4
+   }
+  }
+ },
+ "appearance order": ["tv", "sofa", "table", "fireplace", "bathtub"]
+}
\ No newline at end of file
diff --git a/data/spatial codes/sam3+depth-anything-3/metric/tracking/selective/32/explicit/47204607.json b/data/spatial codes/sam3+depth-anything-3/metric/tracking/selective/32/explicit/47204607.json
new file mode 100644
index 0000000000000000000000000000000000000000..97f41c7b94ff5fabfc3bf1143086a8adf161b55d
--- /dev/null
+++ b/data/spatial codes/sam3+depth-anything-3/metric/tracking/selective/32/explicit/47204607.json	
@@ -0,0 +1,214 @@
+{
+ "spatial code schema": {
+  "objects": {
+   "<object class>": {
+    "count": {
+     "unit": null,
+     "description": "number of instances of this class in the compact spatial code (that schema's per-class oriented-box list length)"
+    },
+    "instances": [
+     {
+      "position": {
+       "x coordinate": {
+        "unit": "meters",
+        "description": "x coordinate of this instance's compact 3D oriented bounding box center"
+       },
+       "y coordinate": {
+        "unit": "meters",
+        "description": "y coordinate of this instance's compact 3D oriented bounding box center"
+       },
+       "height above floor": {
+        "unit": "meters",
+        "description": "height coordinate of this instance's compact 3D oriented bounding box center"
+       }
+      },
+      "longest dimension": {
+       "unit": "meters",
+       "description": "longest of this instance's compact 3D oriented bounding box dimensions"
+      }
+     }
+    ]
+   }
+  },
+  "room": {
+   "floor area": {
+    "unit": "square meters",
+    "description": "shoelace area of the compact spatial code's floor boundary polygons, with every interior hole subtracted"
+   }
+  },
+  "closest classes distance meters from": {
+   "<object class>": {
+    "<other object class>": {
+     "distance": {
+      "unit": "meters",
+      "description": "minimum surface-to-surface separation between the two classes' compact 3D oriented bounding boxes, over every instance pair"
+     },
+     "closeness rank": {
+      "unit": null,
+      "description": "1 = the nearest other class to this one, 2 = second-nearest, and so on"
+     }
+    }
+   }
+  },
+  "appearance order": {
+   "unit": null,
+   "description": "class names ordered by earliest compact 'first visible time' across all of that class's instances"
+  }
+ },
+ "objects": {
+  "sofa": {
+   "count": 3,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "0.15 meters",
+      "y coordinate": "0.25 meters",
+      "height above floor": "0.11 meters"
+     },
+     "longest dimension": "1.53 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "0.9 meters",
+      "y coordinate": "-0.77 meters",
+      "height above floor": "0.37 meters"
+     },
+     "longest dimension": "1.56 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-0.29 meters",
+      "y coordinate": "-0.11 meters",
+      "height above floor": "0.13 meters"
+     },
+     "longest dimension": "1.97 meters"
+    }
+   ]
+  },
+  "stool": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-2.3 meters",
+      "y coordinate": "1.66 meters",
+      "height above floor": "-0.15 meters"
+     },
+     "longest dimension": "0.47 meters"
+    }
+   ]
+  },
+  "table": {
+   "count": 3,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-0.35 meters",
+      "y coordinate": "1.28 meters",
+      "height above floor": "-0.02 meters"
+     },
+     "longest dimension": "1.0 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-0.92 meters",
+      "y coordinate": "2.78 meters",
+      "height above floor": "-0.18 meters"
+     },
+     "longest dimension": "1.17 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-2.3 meters",
+      "y coordinate": "1.66 meters",
+      "height above floor": "-0.15 meters"
+     },
+     "longest dimension": "0.47 meters"
+    }
+   ]
+  },
+  "tv": {
+   "count": 2,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-1.33 meters",
+      "y coordinate": "2.81 meters",
+      "height above floor": "0.38 meters"
+     },
+     "longest dimension": "1.12 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-0.95 meters",
+      "y coordinate": "2.94 meters",
+      "height above floor": "0.27 meters"
+     },
+     "longest dimension": "1.08 meters"
+    }
+   ]
+  }
+ },
+ "room": {
+  "floor area": "27.2 square meters"
+ },
+ "closest classes distance meters from": {
+  "sofa": {
+   "table": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "tv": {
+    "distance": "1.97 meters",
+    "closeness rank": 2
+   },
+   "stool": {
+    "distance": "2.02 meters",
+    "closeness rank": 3
+   }
+  },
+  "stool": {
+   "table": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "tv": {
+    "distance": "0.86 meters",
+    "closeness rank": 2
+   },
+   "sofa": {
+    "distance": "2.02 meters",
+    "closeness rank": 3
+   }
+  },
+  "table": {
+   "sofa": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "stool": {
+    "distance": "0.0 meters",
+    "closeness rank": 2
+   },
+   "tv": {
+    "distance": "0.04 meters",
+    "closeness rank": 3
+   }
+  },
+  "tv": {
+   "table": {
+    "distance": "0.04 meters",
+    "closeness rank": 1
+   },
+   "stool": {
+    "distance": "0.86 meters",
+    "closeness rank": 2
+   },
+   "sofa": {
+    "distance": "1.97 meters",
+    "closeness rank": 3
+   }
+  }
+ },
+ "appearance order": ["table", "tv", "sofa", "stool"]
+}
\ No newline at end of file
diff --git a/data/spatial codes/sam3+depth-anything-3/metric/tracking/selective/32/explicit/47331063.json b/data/spatial codes/sam3+depth-anything-3/metric/tracking/selective/32/explicit/47331063.json
new file mode 100644
index 0000000000000000000000000000000000000000..cd0c428b28dec28fe48c212df0a64fc77982cd0b
--- /dev/null
+++ b/data/spatial codes/sam3+depth-anything-3/metric/tracking/selective/32/explicit/47331063.json	
@@ -0,0 +1,355 @@
+{
+ "spatial code schema": {
+  "objects": {
+   "<object class>": {
+    "count": {
+     "unit": null,
+     "description": "number of instances of this class in the compact spatial code (that schema's per-class oriented-box list length)"
+    },
+    "instances": [
+     {
+      "position": {
+       "x coordinate": {
+        "unit": "meters",
+        "description": "x coordinate of this instance's compact 3D oriented bounding box center"
+       },
+       "y coordinate": {
+        "unit": "meters",
+        "description": "y coordinate of this instance's compact 3D oriented bounding box center"
+       },
+       "height above floor": {
+        "unit": "meters",
+        "description": "height coordinate of this instance's compact 3D oriented bounding box center"
+       }
+      },
+      "longest dimension": {
+       "unit": "meters",
+       "description": "longest of this instance's compact 3D oriented bounding box dimensions"
+      }
+     }
+    ]
+   }
+  },
+  "room": {
+   "floor area": {
+    "unit": "square meters",
+    "description": "shoelace area of the compact spatial code's floor boundary polygons, with every interior hole subtracted"
+   }
+  },
+  "closest classes distance meters from": {
+   "<object class>": {
+    "<other object class>": {
+     "distance": {
+      "unit": "meters",
+      "description": "minimum surface-to-surface separation between the two classes' compact 3D oriented bounding boxes, over every instance pair"
+     },
+     "closeness rank": {
+      "unit": null,
+      "description": "1 = the nearest other class to this one, 2 = second-nearest, and so on"
+     }
+    }
+   }
+  },
+  "appearance order": {
+   "unit": null,
+   "description": "class names ordered by earliest compact 'first visible time' across all of that class's instances"
+  }
+ },
+ "objects": {
+  "bed": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-0.43 meters",
+      "y coordinate": "0.67 meters",
+      "height above floor": "0.04 meters"
+     },
+     "longest dimension": "1.11 meters"
+    }
+   ]
+  },
+  "chair": {
+   "count": 2,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "0.03 meters",
+      "y coordinate": "-0.98 meters",
+      "height above floor": "-0.16 meters"
+     },
+     "longest dimension": "0.51 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "0.5 meters",
+      "y coordinate": "-1.83 meters",
+      "height above floor": "-0.15 meters"
+     },
+     "longest dimension": "0.47 meters"
+    }
+   ]
+  },
+  "refrigerator": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "0.83 meters",
+      "y coordinate": "-2.25 meters",
+      "height above floor": "0.91 meters"
+     },
+     "longest dimension": "0.58 meters"
+    }
+   ]
+  },
+  "stool": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "0.83 meters",
+      "y coordinate": "1.15 meters",
+      "height above floor": "-0.27 meters"
+     },
+     "longest dimension": "0.48 meters"
+    }
+   ]
+  },
+  "stove": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "1.47 meters",
+      "y coordinate": "-1.75 meters",
+      "height above floor": "0.32 meters"
+     },
+     "longest dimension": "0.48 meters"
+    }
+   ]
+  },
+  "table": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "0.62 meters",
+      "y coordinate": "-0.06 meters",
+      "height above floor": "0.19 meters"
+     },
+     "longest dimension": "0.81 meters"
+    }
+   ]
+  },
+  "tv": {
+   "count": 2,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-1.32 meters",
+      "y coordinate": "-0.97 meters",
+      "height above floor": "0.82 meters"
+     },
+     "longest dimension": "0.81 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-0.46 meters",
+      "y coordinate": "-1.57 meters",
+      "height above floor": "0.59 meters"
+     },
+     "longest dimension": "0.39 meters"
+    }
+   ]
+  }
+ },
+ "room": {
+  "floor area": "13.9 square meters"
+ },
+ "closest classes distance meters from": {
+  "bed": {
+   "stool": {
+    "distance": "0.48 meters",
+    "closeness rank": 1
+   },
+   "table": {
+    "distance": "0.77 meters",
+    "closeness rank": 2
+   },
+   "chair": {
+    "distance": "0.81 meters",
+    "closeness rank": 3
+   },
+   "tv": {
+    "distance": "1.25 meters",
+    "closeness rank": 4
+   },
+   "stove": {
+    "distance": "2.32 meters",
+    "closeness rank": 5
+   },
+   "refrigerator": {
+    "distance": "2.55 meters",
+    "closeness rank": 6
+   }
+  },
+  "chair": {
+   "table": {
+    "distance": "0.48 meters",
+    "closeness rank": 1
+   },
+   "stove": {
+    "distance": "0.66 meters",
+    "closeness rank": 2
+   },
+   "tv": {
+    "distance": "0.72 meters",
+    "closeness rank": 3
+   },
+   "bed": {
+    "distance": "0.81 meters",
+    "closeness rank": 4
+   },
+   "refrigerator": {
+    "distance": "0.89 meters",
+    "closeness rank": 5
+   },
+   "stool": {
+    "distance": "1.76 meters",
+    "closeness rank": 6
+   }
+  },
+  "refrigerator": {
+   "stove": {
+    "distance": "0.63 meters",
+    "closeness rank": 1
+   },
+   "chair": {
+    "distance": "0.89 meters",
+    "closeness rank": 2
+   },
+   "tv": {
+    "distance": "1.17 meters",
+    "closeness rank": 3
+   },
+   "table": {
+    "distance": "1.69 meters",
+    "closeness rank": 4
+   },
+   "bed": {
+    "distance": "2.55 meters",
+    "closeness rank": 5
+   },
+   "stool": {
+    "distance": "3.07 meters",
+    "closeness rank": 6
+   }
+  },
+  "stool": {
+   "bed": {
+    "distance": "0.48 meters",
+    "closeness rank": 1
+   },
+   "table": {
+    "distance": "0.57 meters",
+    "closeness rank": 2
+   },
+   "chair": {
+    "distance": "1.76 meters",
+    "closeness rank": 3
+   },
+   "stove": {
+    "distance": "2.51 meters",
+    "closeness rank": 4
+   },
+   "tv": {
+    "distance": "2.77 meters",
+    "closeness rank": 5
+   },
+   "refrigerator": {
+    "distance": "3.07 meters",
+    "closeness rank": 6
+   }
+  },
+  "stove": {
+   "refrigerator": {
+    "distance": "0.63 meters",
+    "closeness rank": 1
+   },
+   "chair": {
+    "distance": "0.66 meters",
+    "closeness rank": 2
+   },
+   "table": {
+    "distance": "1.3 meters",
+    "closeness rank": 3
+   },
+   "tv": {
+    "distance": "1.53 meters",
+    "closeness rank": 4
+   },
+   "bed": {
+    "distance": "2.32 meters",
+    "closeness rank": 5
+   },
+   "stool": {
+    "distance": "2.51 meters",
+    "closeness rank": 6
+   }
+  },
+  "table": {
+   "chair": {
+    "distance": "0.48 meters",
+    "closeness rank": 1
+   },
+   "stool": {
+    "distance": "0.57 meters",
+    "closeness rank": 2
+   },
+   "bed": {
+    "distance": "0.77 meters",
+    "closeness rank": 3
+   },
+   "stove": {
+    "distance": "1.3 meters",
+    "closeness rank": 4
+   },
+   "tv": {
+    "distance": "1.43 meters",
+    "closeness rank": 5
+   },
+   "refrigerator": {
+    "distance": "1.69 meters",
+    "closeness rank": 6
+   }
+  },
+  "tv": {
+   "chair": {
+    "distance": "0.72 meters",
+    "closeness rank": 1
+   },
+   "refrigerator": {
+    "distance": "1.17 meters",
+    "closeness rank": 2
+   },
+   "bed": {
+    "distance": "1.25 meters",
+    "closeness rank": 3
+   },
+   "table": {
+    "distance": "1.43 meters",
+    "closeness rank": 4
+   },
+   "stove": {
+    "distance": "1.53 meters",
+    "closeness rank": 5
+   },
+   "stool": {
+    "distance": "2.77 meters",
+    "closeness rank": 6
+   }
+  }
+ },
+ "appearance order": ["bed", "tv", "refrigerator", "chair", "table", "stove", "stool"]
+}
\ No newline at end of file
diff --git a/data/spatial codes/sam3+depth-anything-3/metric/tracking/selective/32/explicit/47331654.json b/data/spatial codes/sam3+depth-anything-3/metric/tracking/selective/32/explicit/47331654.json
new file mode 100644
index 0000000000000000000000000000000000000000..11f45470ba25bb882e696bd8fd3bd3a2a04cbdc1
--- /dev/null
+++ b/data/spatial codes/sam3+depth-anything-3/metric/tracking/selective/32/explicit/47331654.json	
@@ -0,0 +1,426 @@
+{
+ "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": "-0.26 meters",
+      "y coordinate": "2.06 meters",
+      "height above floor": "0.44 meters"
+     },
+     "longest dimension": "0.83 meters"
+    }
+   ]
+  },
+  "chair": {
+   "count": 2,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-0.6 meters",
+      "y coordinate": "1.11 meters",
+      "height above floor": "-0.18 meters"
+     },
+     "longest dimension": "0.85 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-1.47 meters",
+      "y coordinate": "0.45 meters",
+      "height above floor": "-0.3 meters"
+     },
+     "longest dimension": "0.72 meters"
+    }
+   ]
+  },
+  "refrigerator": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-0.8 meters",
+      "y coordinate": "-0.2 meters",
+      "height above floor": "-0.11 meters"
+     },
+     "longest dimension": "1.26 meters"
+    }
+   ]
+  },
+  "stool": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "0.37 meters",
+      "y coordinate": "-0.28 meters",
+      "height above floor": "-0.52 meters"
+     },
+     "longest dimension": "0.28 meters"
+    }
+   ]
+  },
+  "stove": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "0.75 meters",
+      "y coordinate": "1.3 meters",
+      "height above floor": "0.12 meters"
+     },
+     "longest dimension": "0.92 meters"
+    }
+   ]
+  },
+  "table": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-0.91 meters",
+      "y coordinate": "1.04 meters",
+      "height above floor": "-0.08 meters"
+     },
+     "longest dimension": "0.89 meters"
+    }
+   ]
+  },
+  "toilet": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "0.35 meters",
+      "y coordinate": "-0.3 meters",
+      "height above floor": "-0.25 meters"
+     },
+     "longest dimension": "0.35 meters"
+    }
+   ]
+  },
+  "washer": {
+   "count": 2,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "1.06 meters",
+      "y coordinate": "0.99 meters",
+      "height above floor": "0.09 meters"
+     },
+     "longest dimension": "0.8 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "1.12 meters",
+      "y coordinate": "0.93 meters",
+      "height above floor": "0.11 meters"
+     },
+     "longest dimension": "0.75 meters"
+    }
+   ]
+  }
+ },
+ "room": {
+  "floor area": "13.1 square meters"
+ },
+ "closest classes distance meters from": {
+  "bathtub": {
+   "chair": {
+    "distance": "0.42 meters",
+    "closeness rank": 1
+   },
+   "table": {
+    "distance": "0.63 meters",
+    "closeness rank": 2
+   },
+   "stove": {
+    "distance": "0.72 meters",
+    "closeness rank": 3
+   },
+   "washer": {
+    "distance": "1.04 meters",
+    "closeness rank": 4
+   },
+   "refrigerator": {
+    "distance": "1.69 meters",
+    "closeness rank": 5
+   },
+   "toilet": {
+    "distance": "1.96 meters",
+    "closeness rank": 6
+   },
+   "stool": {
+    "distance": "2.01 meters",
+    "closeness rank": 7
+   }
+  },
+  "chair": {
+   "table": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "bathtub": {
+    "distance": "0.42 meters",
+    "closeness rank": 2
+   },
+   "refrigerator": {
+    "distance": "0.47 meters",
+    "closeness rank": 3
+   },
+   "stove": {
+    "distance": "0.98 meters",
+    "closeness rank": 4
+   },
+   "washer": {
+    "distance": "1.24 meters",
+    "closeness rank": 5
+   },
+   "stool": {
+    "distance": "1.27 meters",
+    "closeness rank": 6
+   },
+   "toilet": {
+    "distance": "1.29 meters",
+    "closeness rank": 7
+   }
+  },
+  "refrigerator": {
+   "chair": {
+    "distance": "0.47 meters",
+    "closeness rank": 1
+   },
+   "table": {
+    "distance": "0.56 meters",
+    "closeness rank": 2
+   },
+   "stool": {
+    "distance": "0.75 meters",
+    "closeness rank": 3
+   },
+   "toilet": {
+    "distance": "0.78 meters",
+    "closeness rank": 4
+   },
+   "bathtub": {
+    "distance": "1.69 meters",
+    "closeness rank": 5
+   },
+   "stove": {
+    "distance": "1.85 meters",
+    "closeness rank": 6
+   },
+   "washer": {
+    "distance": "1.93 meters",
+    "closeness rank": 7
+   }
+  },
+  "stool": {
+   "toilet": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "refrigerator": {
+    "distance": "0.75 meters",
+    "closeness rank": 2
+   },
+   "washer": {
+    "distance": "1.15 meters",
+    "closeness rank": 3
+   },
+   "chair": {
+    "distance": "1.27 meters",
+    "closeness rank": 4
+   },
+   "stove": {
+    "distance": "1.36 meters",
+    "closeness rank": 5
+   },
+   "table": {
+    "distance": "1.58 meters",
+    "closeness rank": 6
+   },
+   "bathtub": {
+    "distance": "2.01 meters",
+    "closeness rank": 7
+   }
+  },
+  "stove": {
+   "washer": {
+    "distance": "0.09 meters",
+    "closeness rank": 1
+   },
+   "bathtub": {
+    "distance": "0.72 meters",
+    "closeness rank": 2
+   },
+   "chair": {
+    "distance": "0.98 meters",
+    "closeness rank": 3
+   },
+   "table": {
+    "distance": "1.08 meters",
+    "closeness rank": 4
+   },
+   "stool": {
+    "distance": "1.36 meters",
+    "closeness rank": 5
+   },
+   "toilet": {
+    "distance": "1.44 meters",
+    "closeness rank": 6
+   },
+   "refrigerator": {
+    "distance": "1.85 meters",
+    "closeness rank": 7
+   }
+  },
+  "table": {
+   "chair": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "refrigerator": {
+    "distance": "0.56 meters",
+    "closeness rank": 2
+   },
+   "bathtub": {
+    "distance": "0.63 meters",
+    "closeness rank": 3
+   },
+   "stove": {
+    "distance": "1.08 meters",
+    "closeness rank": 4
+   },
+   "washer": {
+    "distance": "1.33 meters",
+    "closeness rank": 5
+   },
+   "stool": {
+    "distance": "1.58 meters",
+    "closeness rank": 6
+   },
+   "toilet": {
+    "distance": "1.59 meters",
+    "closeness rank": 7
+   }
+  },
+  "toilet": {
+   "stool": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "refrigerator": {
+    "distance": "0.78 meters",
+    "closeness rank": 2
+   },
+   "washer": {
+    "distance": "1.21 meters",
+    "closeness rank": 3
+   },
+   "chair": {
+    "distance": "1.29 meters",
+    "closeness rank": 4
+   },
+   "stove": {
+    "distance": "1.44 meters",
+    "closeness rank": 5
+   },
+   "table": {
+    "distance": "1.59 meters",
+    "closeness rank": 6
+   },
+   "bathtub": {
+    "distance": "1.96 meters",
+    "closeness rank": 7
+   }
+  },
+  "washer": {
+   "stove": {
+    "distance": "0.09 meters",
+    "closeness rank": 1
+   },
+   "bathtub": {
+    "distance": "1.04 meters",
+    "closeness rank": 2
+   },
+   "stool": {
+    "distance": "1.15 meters",
+    "closeness rank": 3
+   },
+   "toilet": {
+    "distance": "1.21 meters",
+    "closeness rank": 4
+   },
+   "chair": {
+    "distance": "1.24 meters",
+    "closeness rank": 5
+   },
+   "table": {
+    "distance": "1.33 meters",
+    "closeness rank": 6
+   },
+   "refrigerator": {
+    "distance": "1.93 meters",
+    "closeness rank": 7
+   }
+  }
+ },
+ "appearance order": ["chair", "table", "stove", "washer", "stool", "bathtub", "refrigerator", "toilet"]
+}
\ No newline at end of file
diff --git a/data/spatial codes/sam3+depth-anything-3/metric/tracking/selective/32/explicit/47331990.json b/data/spatial codes/sam3+depth-anything-3/metric/tracking/selective/32/explicit/47331990.json
new file mode 100644
index 0000000000000000000000000000000000000000..f360130212f4b109438f0041e8f556437129d494
--- /dev/null
+++ b/data/spatial codes/sam3+depth-anything-3/metric/tracking/selective/32/explicit/47331990.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": "-0.63 meters",
+      "y coordinate": "-1.34 meters",
+      "height above floor": "0.22 meters"
+     },
+     "longest dimension": "1.78 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-0.42 meters",
+      "y coordinate": "-1.82 meters",
+      "height above floor": "0.08 meters"
+     },
+     "longest dimension": "1.2 meters"
+    }
+   ]
+  },
+  "fireplace": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "0.23 meters",
+      "y coordinate": "1.07 meters",
+      "height above floor": "1.62 meters"
+     },
+     "longest dimension": "1.54 meters"
+    }
+   ]
+  },
+  "table": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-1.31 meters",
+      "y coordinate": "2.26 meters",
+      "height above floor": "0.0 meters"
+     },
+     "longest dimension": "1.54 meters"
+    }
+   ]
+  },
+  "tv": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "0.27 meters",
+      "y coordinate": "1.07 meters",
+      "height above floor": "1.61 meters"
+     },
+     "longest dimension": "1.02 meters"
+    }
+   ]
+  }
+ },
+ "room": {
+  "floor area": "16.3 square meters"
+ },
+ "closest classes distance meters from": {
+  "bed": {
+   "fireplace": {
+    "distance": "1.95 meters",
+    "closeness rank": 1
+   },
+   "tv": {
+    "distance": "2.19 meters",
+    "closeness rank": 2
+   },
+   "table": {
+    "distance": "2.3 meters",
+    "closeness rank": 3
+   }
+  },
+  "fireplace": {
+   "tv": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "table": {
+    "distance": "1.06 meters",
+    "closeness rank": 2
+   },
+   "bed": {
+    "distance": "1.95 meters",
+    "closeness rank": 3
+   }
+  },
+  "table": {
+   "fireplace": {
+    "distance": "1.06 meters",
+    "closeness rank": 1
+   },
+   "tv": {
+    "distance": "1.44 meters",
+    "closeness rank": 2
+   },
+   "bed": {
+    "distance": "2.3 meters",
+    "closeness rank": 3
+   }
+  },
+  "tv": {
+   "fireplace": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "table": {
+    "distance": "1.44 meters",
+    "closeness rank": 2
+   },
+   "bed": {
+    "distance": "2.19 meters",
+    "closeness rank": 3
+   }
+  }
+ },
+ "appearance order": ["bed", "fireplace", "tv", "table"]
+}
\ No newline at end of file
diff --git a/data/spatial codes/sam3+depth-anything-3/metric/tracking/selective/32/explicit/47332005.json b/data/spatial codes/sam3+depth-anything-3/metric/tracking/selective/32/explicit/47332005.json
new file mode 100644
index 0000000000000000000000000000000000000000..a9f04411b1f86cb7e519e5f3a470f775353440ec
--- /dev/null
+++ b/data/spatial codes/sam3+depth-anything-3/metric/tracking/selective/32/explicit/47332005.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": {
+  "refrigerator": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-0.52 meters",
+      "y coordinate": "0.33 meters",
+      "height above floor": "1.0 meters"
+     },
+     "longest dimension": "0.71 meters"
+    }
+   ]
+  },
+  "sofa": {
+   "count": 2,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "1.54 meters",
+      "y coordinate": "-3.52 meters",
+      "height above floor": "0.33 meters"
+     },
+     "longest dimension": "2.02 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "3.35 meters",
+      "y coordinate": "-5.17 meters",
+      "height above floor": "0.16 meters"
+     },
+     "longest dimension": "1.01 meters"
+    }
+   ]
+  },
+  "table": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "0.52 meters",
+      "y coordinate": "-1.76 meters",
+      "height above floor": "0.01 meters"
+     },
+     "longest dimension": "0.65 meters"
+    }
+   ]
+  },
+  "toilet": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "0.79 meters",
+      "y coordinate": "-0.12 meters",
+      "height above floor": "0.5 meters"
+     },
+     "longest dimension": "0.68 meters"
+    }
+   ]
+  }
+ },
+ "room": {
+  "floor area": "10.9 square meters"
+ },
+ "closest classes distance meters from": {
+  "refrigerator": {
+   "toilet": {
+    "distance": "0.82 meters",
+    "closeness rank": 1
+   },
+   "table": {
+    "distance": "1.87 meters",
+    "closeness rank": 2
+   },
+   "sofa": {
+    "distance": "3.46 meters",
+    "closeness rank": 3
+   }
+  },
+  "sofa": {
+   "table": {
+    "distance": "1.04 meters",
+    "closeness rank": 1
+   },
+   "toilet": {
+    "distance": "2.81 meters",
+    "closeness rank": 2
+   },
+   "refrigerator": {
+    "distance": "3.46 meters",
+    "closeness rank": 3
+   }
+  },
+  "table": {
+   "toilet": {
+    "distance": "1.02 meters",
+    "closeness rank": 1
+   },
+   "sofa": {
+    "distance": "1.04 meters",
+    "closeness rank": 2
+   },
+   "refrigerator": {
+    "distance": "1.87 meters",
+    "closeness rank": 3
+   }
+  },
+  "toilet": {
+   "refrigerator": {
+    "distance": "0.82 meters",
+    "closeness rank": 1
+   },
+   "table": {
+    "distance": "1.02 meters",
+    "closeness rank": 2
+   },
+   "sofa": {
+    "distance": "2.81 meters",
+    "closeness rank": 3
+   }
+  }
+ },
+ "appearance order": ["refrigerator", "toilet", "sofa", "table"]
+}
\ No newline at end of file
diff --git a/data/spatial codes/sam3+depth-anything-3/metric/tracking/selective/32/explicit/47332899.json b/data/spatial codes/sam3+depth-anything-3/metric/tracking/selective/32/explicit/47332899.json
new file mode 100644
index 0000000000000000000000000000000000000000..204b45a4a977d6d646a2e29c78c7320dcc0ae8b2
--- /dev/null
+++ b/data/spatial codes/sam3+depth-anything-3/metric/tracking/selective/32/explicit/47332899.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": {
+  "bathtub": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-1.43 meters",
+      "y coordinate": "0.25 meters",
+      "height above floor": "-0.32 meters"
+     },
+     "longest dimension": "0.95 meters"
+    }
+   ]
+  },
+  "bed": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-2.07 meters",
+      "y coordinate": "0.01 meters",
+      "height above floor": "-0.06 meters"
+     },
+     "longest dimension": "2.49 meters"
+    }
+   ]
+  },
+  "stool": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-1.7 meters",
+      "y coordinate": "-1.34 meters",
+      "height above floor": "-0.96 meters"
+     },
+     "longest dimension": "0.51 meters"
+    }
+   ]
+  },
+  "table": {
+   "count": 2,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-1.0 meters",
+      "y coordinate": "-1.36 meters",
+      "height above floor": "-0.69 meters"
+     },
+     "longest dimension": "0.97 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-1.09 meters",
+      "y coordinate": "-1.48 meters",
+      "height above floor": "-0.7 meters"
+     },
+     "longest dimension": "0.99 meters"
+    }
+   ]
+  },
+  "tv": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-1.22 meters",
+      "y coordinate": "-1.84 meters",
+      "height above floor": "-0.21 meters"
+     },
+     "longest dimension": "0.7 meters"
+    }
+   ]
+  }
+ },
+ "room": {
+  "floor area": "15.1 square meters"
+ },
+ "closest classes distance meters from": {
+  "bathtub": {
+   "bed": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "table": {
+    "distance": "1.03 meters",
+    "closeness rank": 2
+   },
+   "stool": {
+    "distance": "1.07 meters",
+    "closeness rank": 3
+   },
+   "tv": {
+    "distance": "1.68 meters",
+    "closeness rank": 4
+   }
+  },
+  "bed": {
+   "bathtub": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "stool": {
+    "distance": "0.77 meters",
+    "closeness rank": 2
+   },
+   "table": {
+    "distance": "1.01 meters",
+    "closeness rank": 3
+   },
+   "tv": {
+    "distance": "1.55 meters",
+    "closeness rank": 4
+   }
+  },
+  "stool": {
+   "table": {
+    "distance": "0.08 meters",
+    "closeness rank": 1
+   },
+   "tv": {
+    "distance": "0.6 meters",
+    "closeness rank": 2
+   },
+   "bed": {
+    "distance": "0.77 meters",
+    "closeness rank": 3
+   },
+   "bathtub": {
+    "distance": "1.07 meters",
+    "closeness rank": 4
+   }
+  },
+  "table": {
+   "tv": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "stool": {
+    "distance": "0.08 meters",
+    "closeness rank": 2
+   },
+   "bed": {
+    "distance": "1.01 meters",
+    "closeness rank": 3
+   },
+   "bathtub": {
+    "distance": "1.03 meters",
+    "closeness rank": 4
+   }
+  },
+  "tv": {
+   "table": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "stool": {
+    "distance": "0.6 meters",
+    "closeness rank": 2
+   },
+   "bed": {
+    "distance": "1.55 meters",
+    "closeness rank": 3
+   },
+   "bathtub": {
+    "distance": "1.68 meters",
+    "closeness rank": 4
+   }
+  }
+ },
+ "appearance order": ["table", "bathtub", "bed", "stool", "tv"]
+}
\ No newline at end of file
diff --git a/data/spatial codes/sam3+depth-anything-3/metric/tracking/selective/32/explicit/47332901.json b/data/spatial codes/sam3+depth-anything-3/metric/tracking/selective/32/explicit/47332901.json
new file mode 100644
index 0000000000000000000000000000000000000000..6a3c59a27a8e94cd94b538e3518818a68c7e944b
--- /dev/null
+++ b/data/spatial codes/sam3+depth-anything-3/metric/tracking/selective/32/explicit/47332901.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": 3,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "0.82 meters",
+      "y coordinate": "-0.97 meters",
+      "height above floor": "0.37 meters"
+     },
+     "longest dimension": "1.52 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "0.68 meters",
+      "y coordinate": "-0.97 meters",
+      "height above floor": "0.92 meters"
+     },
+     "longest dimension": "0.75 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "0.88 meters",
+      "y coordinate": "-1.07 meters",
+      "height above floor": "1.05 meters"
+     },
+     "longest dimension": "0.37 meters"
+    }
+   ]
+  },
+  "stove": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-0.89 meters",
+      "y coordinate": "0.64 meters",
+      "height above floor": "0.04 meters"
+     },
+     "longest dimension": "1.15 meters"
+    }
+   ]
+  },
+  "table": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "1.24 meters",
+      "y coordinate": "0.23 meters",
+      "height above floor": "0.25 meters"
+     },
+     "longest dimension": "0.61 meters"
+    }
+   ]
+  }
+ },
+ "room": {
+  "floor area": "10.8 square meters"
+ },
+ "closest classes distance meters from": {
+  "refrigerator": {
+   "table": {
+    "distance": "0.9 meters",
+    "closeness rank": 1
+   },
+   "stove": {
+    "distance": "1.77 meters",
+    "closeness rank": 2
+   }
+  },
+  "stove": {
+   "table": {
+    "distance": "1.65 meters",
+    "closeness rank": 1
+   },
+   "refrigerator": {
+    "distance": "1.77 meters",
+    "closeness rank": 2
+   }
+  },
+  "table": {
+   "refrigerator": {
+    "distance": "0.9 meters",
+    "closeness rank": 1
+   },
+   "stove": {
+    "distance": "1.65 meters",
+    "closeness rank": 2
+   }
+  }
+ },
+ "appearance order": ["refrigerator", "stove", "table"]
+}
\ No newline at end of file
diff --git a/data/spatial codes/sam3+depth-anything-3/metric/tracking/selective/32/explicit/47333436.json b/data/spatial codes/sam3+depth-anything-3/metric/tracking/selective/32/explicit/47333436.json
new file mode 100644
index 0000000000000000000000000000000000000000..21c749fb06b3c38ff68df98fa594f56dc6f9792c
--- /dev/null
+++ b/data/spatial codes/sam3+depth-anything-3/metric/tracking/selective/32/explicit/47333436.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": "1.21 meters",
+      "y coordinate": "-1.23 meters",
+      "height above floor": "-0.03 meters"
+     },
+     "longest dimension": "1.52 meters"
+    }
+   ]
+  },
+  "chair": {
+   "count": 2,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "2.23 meters",
+      "y coordinate": "-0.02 meters",
+      "height above floor": "0.25 meters"
+     },
+     "longest dimension": "0.54 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "1.83 meters",
+      "y coordinate": "1.11 meters",
+      "height above floor": "0.37 meters"
+     },
+     "longest dimension": "0.2 meters"
+    }
+   ]
+  },
+  "sofa": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "1.04 meters",
+      "y coordinate": "-1.22 meters",
+      "height above floor": "-0.07 meters"
+     },
+     "longest dimension": "1.51 meters"
+    }
+   ]
+  },
+  "table": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "2.3 meters",
+      "y coordinate": "-0.14 meters",
+      "height above floor": "0.22 meters"
+     },
+     "longest dimension": "0.39 meters"
+    }
+   ]
+  },
+  "tv": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "0.08 meters",
+      "y coordinate": "1.13 meters",
+      "height above floor": "0.06 meters"
+     },
+     "longest dimension": "0.96 meters"
+    }
+   ]
+  }
+ },
+ "room": {
+  "floor area": "15.8 square meters"
+ },
+ "closest classes distance meters from": {
+  "bed": {
+   "sofa": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "chair": {
+    "distance": "0.6 meters",
+    "closeness rank": 2
+   },
+   "table": {
+    "distance": "0.63 meters",
+    "closeness rank": 3
+   },
+   "tv": {
+    "distance": "1.88 meters",
+    "closeness rank": 4
+   }
+  },
+  "chair": {
+   "table": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "bed": {
+    "distance": "0.6 meters",
+    "closeness rank": 2
+   },
+   "sofa": {
+    "distance": "0.69 meters",
+    "closeness rank": 3
+   },
+   "tv": {
+    "distance": "1.21 meters",
+    "closeness rank": 4
+   }
+  },
+  "sofa": {
+   "bed": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "chair": {
+    "distance": "0.69 meters",
+    "closeness rank": 2
+   },
+   "table": {
+    "distance": "0.72 meters",
+    "closeness rank": 3
+   },
+   "tv": {
+    "distance": "1.71 meters",
+    "closeness rank": 4
+   }
+  },
+  "table": {
+   "chair": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "bed": {
+    "distance": "0.63 meters",
+    "closeness rank": 2
+   },
+   "sofa": {
+    "distance": "0.72 meters",
+    "closeness rank": 3
+   },
+   "tv": {
+    "distance": "2.08 meters",
+    "closeness rank": 4
+   }
+  },
+  "tv": {
+   "chair": {
+    "distance": "1.21 meters",
+    "closeness rank": 1
+   },
+   "sofa": {
+    "distance": "1.71 meters",
+    "closeness rank": 2
+   },
+   "bed": {
+    "distance": "1.88 meters",
+    "closeness rank": 3
+   },
+   "table": {
+    "distance": "2.08 meters",
+    "closeness rank": 4
+   }
+  }
+ },
+ "appearance order": ["tv", "chair", "table", "bed", "sofa"]
+}
\ No newline at end of file
diff --git a/data/spatial codes/sam3+depth-anything-3/metric/tracking/selective/32/explicit/47334238.json b/data/spatial codes/sam3+depth-anything-3/metric/tracking/selective/32/explicit/47334238.json
new file mode 100644
index 0000000000000000000000000000000000000000..0b9f8c5c5adcf75dd6e37e5523798909f45195f8
--- /dev/null
+++ b/data/spatial codes/sam3+depth-anything-3/metric/tracking/selective/32/explicit/47334238.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": 4,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "0.33 meters",
+      "y coordinate": "1.33 meters",
+      "height above floor": "0.1 meters"
+     },
+     "longest dimension": "0.87 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-2.16 meters",
+      "y coordinate": "0.29 meters",
+      "height above floor": "0.0 meters"
+     },
+     "longest dimension": "0.91 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "1.0 meters",
+      "y coordinate": "0.67 meters",
+      "height above floor": "0.07 meters"
+     },
+     "longest dimension": "0.89 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-2.06 meters",
+      "y coordinate": "-0.55 meters",
+      "height above floor": "-0.09 meters"
+     },
+     "longest dimension": "0.92 meters"
+    }
+   ]
+  },
+  "sofa": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-1.85 meters",
+      "y coordinate": "-0.61 meters",
+      "height above floor": "-0.02 meters"
+     },
+     "longest dimension": "1.18 meters"
+    }
+   ]
+  },
+  "table": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "0.53 meters",
+      "y coordinate": "0.99 meters",
+      "height above floor": "0.1 meters"
+     },
+     "longest dimension": "1.07 meters"
+    }
+   ]
+  }
+ },
+ "room": {
+  "floor area": "22.8 square meters"
+ },
+ "closest classes distance meters from": {
+  "chair": {
+   "sofa": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "table": {
+    "distance": "0.0 meters",
+    "closeness rank": 2
+   }
+  },
+  "sofa": {
+   "chair": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "table": {
+    "distance": "1.58 meters",
+    "closeness rank": 2
+   }
+  },
+  "table": {
+   "chair": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "sofa": {
+    "distance": "1.58 meters",
+    "closeness rank": 2
+   }
+  }
+ },
+ "appearance order": ["chair", "table", "sofa"]
+}
\ No newline at end of file
diff --git a/data/spatial codes/sam3+depth-anything-3/metric/tracking/selective/32/explicit/47334362.json b/data/spatial codes/sam3+depth-anything-3/metric/tracking/selective/32/explicit/47334362.json
new file mode 100644
index 0000000000000000000000000000000000000000..8ae771caa7a4e12c7c4efea91369fdeaecd51e9f
--- /dev/null
+++ b/data/spatial codes/sam3+depth-anything-3/metric/tracking/selective/32/explicit/47334362.json	
@@ -0,0 +1,245 @@
+{
+ "spatial code schema": {
+  "objects": {
+   "<object class>": {
+    "count": {
+     "unit": null,
+     "description": "number of instances of this class in the compact spatial code (that schema's per-class oriented-box list length)"
+    },
+    "instances": [
+     {
+      "position": {
+       "x coordinate": {
+        "unit": "meters",
+        "description": "x coordinate of this instance's compact 3D oriented bounding box center"
+       },
+       "y coordinate": {
+        "unit": "meters",
+        "description": "y coordinate of this instance's compact 3D oriented bounding box center"
+       },
+       "height above floor": {
+        "unit": "meters",
+        "description": "height coordinate of this instance's compact 3D oriented bounding box center"
+       }
+      },
+      "longest dimension": {
+       "unit": "meters",
+       "description": "longest of this instance's compact 3D oriented bounding box dimensions"
+      }
+     }
+    ]
+   }
+  },
+  "room": {
+   "floor area": {
+    "unit": "square meters",
+    "description": "shoelace area of the compact spatial code's floor boundary polygons, with every interior hole subtracted"
+   }
+  },
+  "closest classes distance meters from": {
+   "<object class>": {
+    "<other object class>": {
+     "distance": {
+      "unit": "meters",
+      "description": "minimum surface-to-surface separation between the two classes' compact 3D oriented bounding boxes, over every instance pair"
+     },
+     "closeness rank": {
+      "unit": null,
+      "description": "1 = the nearest other class to this one, 2 = second-nearest, and so on"
+     }
+    }
+   }
+  },
+  "appearance order": {
+   "unit": null,
+   "description": "class names ordered by earliest compact 'first visible time' across all of that class's instances"
+  }
+ },
+ "objects": {
+  "bed": {
+   "count": 3,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "1.71 meters",
+      "y coordinate": "-1.01 meters",
+      "height above floor": "0.55 meters"
+     },
+     "longest dimension": "1.32 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "0.32 meters",
+      "y coordinate": "-2.07 meters",
+      "height above floor": "0.67 meters"
+     },
+     "longest dimension": "1.64 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-0.36 meters",
+      "y coordinate": "-0.93 meters",
+      "height above floor": "0.55 meters"
+     },
+     "longest dimension": "1.34 meters"
+    }
+   ]
+  },
+  "sofa": {
+   "count": 2,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "1.59 meters",
+      "y coordinate": "-2.66 meters",
+      "height above floor": "0.63 meters"
+     },
+     "longest dimension": "2.01 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "1.89 meters",
+      "y coordinate": "-1.38 meters",
+      "height above floor": "0.54 meters"
+     },
+     "longest dimension": "1.47 meters"
+    }
+   ]
+  },
+  "stool": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "1.44 meters",
+      "y coordinate": "-1.96 meters",
+      "height above floor": "0.38 meters"
+     },
+     "longest dimension": "1.37 meters"
+    }
+   ]
+  },
+  "table": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "0.16 meters",
+      "y coordinate": "-0.02 meters",
+      "height above floor": "0.0 meters"
+     },
+     "longest dimension": "1.91 meters"
+    }
+   ]
+  },
+  "tv": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "0.72 meters",
+      "y coordinate": "-3.71 meters",
+      "height above floor": "0.88 meters"
+     },
+     "longest dimension": "1.04 meters"
+    }
+   ]
+  }
+ },
+ "room": {
+  "floor area": "24.4 square meters"
+ },
+ "closest classes distance meters from": {
+  "bed": {
+   "sofa": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "stool": {
+    "distance": "0.04 meters",
+    "closeness rank": 2
+   },
+   "table": {
+    "distance": "0.37 meters",
+    "closeness rank": 3
+   },
+   "tv": {
+    "distance": "0.62 meters",
+    "closeness rank": 4
+   }
+  },
+  "sofa": {
+   "bed": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "stool": {
+    "distance": "0.0 meters",
+    "closeness rank": 2
+   },
+   "tv": {
+    "distance": "0.22 meters",
+    "closeness rank": 3
+   },
+   "table": {
+    "distance": "0.6 meters",
+    "closeness rank": 4
+   }
+  },
+  "stool": {
+   "sofa": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "bed": {
+    "distance": "0.04 meters",
+    "closeness rank": 2
+   },
+   "table": {
+    "distance": "0.77 meters",
+    "closeness rank": 3
+   },
+   "tv": {
+    "distance": "1.74 meters",
+    "closeness rank": 4
+   }
+  },
+  "table": {
+   "bed": {
+    "distance": "0.37 meters",
+    "closeness rank": 1
+   },
+   "sofa": {
+    "distance": "0.6 meters",
+    "closeness rank": 2
+   },
+   "stool": {
+    "distance": "0.77 meters",
+    "closeness rank": 3
+   },
+   "tv": {
+    "distance": "2.57 meters",
+    "closeness rank": 4
+   }
+  },
+  "tv": {
+   "sofa": {
+    "distance": "0.22 meters",
+    "closeness rank": 1
+   },
+   "bed": {
+    "distance": "0.62 meters",
+    "closeness rank": 2
+   },
+   "stool": {
+    "distance": "1.74 meters",
+    "closeness rank": 3
+   },
+   "table": {
+    "distance": "2.57 meters",
+    "closeness rank": 4
+   }
+  }
+ },
+ "appearance order": ["bed", "sofa", "table", "stool", "tv"]
+}
\ No newline at end of file
diff --git a/data/spatial codes/sam3+depth-anything-3/metric/tracking/selective/32/explicit/5942004064.json b/data/spatial codes/sam3+depth-anything-3/metric/tracking/selective/32/explicit/5942004064.json
new file mode 100644
index 0000000000000000000000000000000000000000..f6ce69d3867b397b84da974bef349567353ad453
--- /dev/null
+++ b/data/spatial codes/sam3+depth-anything-3/metric/tracking/selective/32/explicit/5942004064.json	
@@ -0,0 +1,2205 @@
+{
+ "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": {
+  "basket": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "2.45 meters",
+      "y coordinate": "1.36 meters",
+      "height above floor": "-1.77 meters"
+     },
+     "longest dimension": "0.24 meters"
+    }
+   ]
+  },
+  "bed": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "1.31 meters",
+      "y coordinate": "1.14 meters",
+      "height above floor": "-1.35 meters"
+     },
+     "longest dimension": "1.81 meters"
+    }
+   ]
+  },
+  "blanket": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "1.55 meters",
+      "y coordinate": "1.05 meters",
+      "height above floor": "-1.39 meters"
+     },
+     "longest dimension": "1.76 meters"
+    }
+   ]
+  },
+  "bookshelf": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "2.21 meters",
+      "y coordinate": "1.19 meters",
+      "height above floor": "0.56 meters"
+     },
+     "longest dimension": "0.19 meters"
+    }
+   ]
+  },
+  "ceiling light": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-1.11 meters",
+      "y coordinate": "-1.1 meters",
+      "height above floor": "-0.74 meters"
+     },
+     "longest dimension": "1.2 meters"
+    }
+   ]
+  },
+  "chair": {
+   "count": 2,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-0.42 meters",
+      "y coordinate": "0.79 meters",
+      "height above floor": "-1.7 meters"
+     },
+     "longest dimension": "0.78 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-1.15 meters",
+      "y coordinate": "0.92 meters",
+      "height above floor": "-0.02 meters"
+     },
+     "longest dimension": "0.84 meters"
+    }
+   ]
+  },
+  "cushion": {
+   "count": 5,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-1.2 meters",
+      "y coordinate": "0.73 meters",
+      "height above floor": "0.98 meters"
+     },
+     "longest dimension": "1.71 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "0.98 meters",
+      "y coordinate": "0.9 meters",
+      "height above floor": "-2.49 meters"
+     },
+     "longest dimension": "0.67 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-0.57 meters",
+      "y coordinate": "0.73 meters",
+      "height above floor": "0.91 meters"
+     },
+     "longest dimension": "0.53 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-1.96 meters",
+      "y coordinate": "0.65 meters",
+      "height above floor": "1.13 meters"
+     },
+     "longest dimension": "0.5 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-1.19 meters",
+      "y coordinate": "0.83 meters",
+      "height above floor": "0.04 meters"
+     },
+     "longest dimension": "0.49 meters"
+    }
+   ]
+  },
+  "door": {
+   "count": 4,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "2.56 meters",
+      "y coordinate": "0.62 meters",
+      "height above floor": "0.01 meters"
+     },
+     "longest dimension": "1.85 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "2.39 meters",
+      "y coordinate": "0.24 meters",
+      "height above floor": "-1.48 meters"
+     },
+     "longest dimension": "0.8 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-2.33 meters",
+      "y coordinate": "0.31 meters",
+      "height above floor": "-1.13 meters"
+     },
+     "longest dimension": "2.33 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "3.31 meters",
+      "y coordinate": "1.27 meters",
+      "height above floor": "-2.18 meters"
+     },
+     "longest dimension": "0.37 meters"
+    }
+   ]
+  },
+  "headphones": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "1.03 meters",
+      "y coordinate": "0.59 meters",
+      "height above floor": "0.91 meters"
+     },
+     "longest dimension": "1.2 meters"
+    }
+   ]
+  },
+  "kettle": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-1.08 meters",
+      "y coordinate": "0.45 meters",
+      "height above floor": "-1.81 meters"
+     },
+     "longest dimension": "0.16 meters"
+    }
+   ]
+  },
+  "laptop": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-0.48 meters",
+      "y coordinate": "0.55 meters",
+      "height above floor": "-2.06 meters"
+     },
+     "longest dimension": "0.41 meters"
+    }
+   ]
+  },
+  "pillow": {
+   "count": 3,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "0.98 meters",
+      "y coordinate": "0.9 meters",
+      "height above floor": "-2.49 meters"
+     },
+     "longest dimension": "0.67 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-0.57 meters",
+      "y coordinate": "0.73 meters",
+      "height above floor": "0.91 meters"
+     },
+     "longest dimension": "0.53 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-1.95 meters",
+      "y coordinate": "0.65 meters",
+      "height above floor": "1.13 meters"
+     },
+     "longest dimension": "0.5 meters"
+    }
+   ]
+  },
+  "plant": {
+   "count": 8,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-2.36 meters",
+      "y coordinate": "-0.05 meters",
+      "height above floor": "0.94 meters"
+     },
+     "longest dimension": "1.76 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "0.15 meters",
+      "y coordinate": "0.29 meters",
+      "height above floor": "-1.95 meters"
+     },
+     "longest dimension": "0.53 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-1.96 meters",
+      "y coordinate": "0.28 meters",
+      "height above floor": "0.02 meters"
+     },
+     "longest dimension": "0.5 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-2.5 meters",
+      "y coordinate": "0.13 meters",
+      "height above floor": "0.39 meters"
+     },
+     "longest dimension": "0.71 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-2.66 meters",
+      "y coordinate": "0.25 meters",
+      "height above floor": "1.37 meters"
+     },
+     "longest dimension": "0.79 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-0.02 meters",
+      "y coordinate": "0.49 meters",
+      "height above floor": "-2.02 meters"
+     },
+     "longest dimension": "0.17 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-1.79 meters",
+      "y coordinate": "0.26 meters",
+      "height above floor": "0.34 meters"
+     },
+     "longest dimension": "0.28 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "0.1 meters",
+      "y coordinate": "0.4 meters",
+      "height above floor": "-2.07 meters"
+     },
+     "longest dimension": "0.58 meters"
+    }
+   ]
+  },
+  "power strip": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-0.68 meters",
+      "y coordinate": "0.52 meters",
+      "height above floor": "1.26 meters"
+     },
+     "longest dimension": "0.29 meters"
+    }
+   ]
+  },
+  "sofa": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-1.23 meters",
+      "y coordinate": "0.68 meters",
+      "height above floor": "0.99 meters"
+     },
+     "longest dimension": "2.08 meters"
+    }
+   ]
+  },
+  "table": {
+   "count": 2,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-1.47 meters",
+      "y coordinate": "0.66 meters",
+      "height above floor": "0.14 meters"
+     },
+     "longest dimension": "1.02 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-1.4 meters",
+      "y coordinate": "0.64 meters",
+      "height above floor": "0.16 meters"
+     },
+     "longest dimension": "0.81 meters"
+    }
+   ]
+  },
+  "table lamp": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-2.16 meters",
+      "y coordinate": "-0.14 meters",
+      "height above floor": "1.33 meters"
+     },
+     "longest dimension": "0.68 meters"
+    }
+   ]
+  },
+  "telephone": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "3.71 meters",
+      "y coordinate": "0.54 meters",
+      "height above floor": "-0.9 meters"
+     },
+     "longest dimension": "0.28 meters"
+    }
+   ]
+  },
+  "toilet": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "3.5 meters",
+      "y coordinate": "1.21 meters",
+      "height above floor": "-1.35 meters"
+     },
+     "longest dimension": "0.82 meters"
+    }
+   ]
+  },
+  "trash can": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "2.58 meters",
+      "y coordinate": "1.44 meters",
+      "height above floor": "-1.76 meters"
+     },
+     "longest dimension": "0.2 meters"
+    }
+   ]
+  },
+  "tv": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "0.78 meters",
+      "y coordinate": "0.61 meters",
+      "height above floor": "0.92 meters"
+     },
+     "longest dimension": "1.07 meters"
+    }
+   ]
+  }
+ },
+ "room": {
+  "floor area": "21.6 square meters"
+ },
+ "closest classes distance meters from": {
+  "basket": {
+   "trash can": {
+    "distance": "0.04 meters",
+    "closeness rank": 1
+   },
+   "blanket": {
+    "distance": "0.39 meters",
+    "closeness rank": 2
+   },
+   "door": {
+    "distance": "0.61 meters",
+    "closeness rank": 3
+   },
+   "bed": {
+    "distance": "0.63 meters",
+    "closeness rank": 4
+   },
+   "toilet": {
+    "distance": "0.83 meters",
+    "closeness rank": 5
+   },
+   "pillow": {
+    "distance": "1.21 meters",
+    "closeness rank": 6
+   },
+   "cushion": {
+    "distance": "1.21 meters",
+    "closeness rank": 7
+   },
+   "telephone": {
+    "distance": "1.48 meters",
+    "closeness rank": 8
+   },
+   "bookshelf": {
+    "distance": "2.12 meters",
+    "closeness rank": 9
+   },
+   "plant": {
+    "distance": "2.14 meters",
+    "closeness rank": 10
+   },
+   "chair": {
+    "distance": "2.5 meters",
+    "closeness rank": 11
+   },
+   "tv": {
+    "distance": "2.73 meters",
+    "closeness rank": 12
+   },
+   "headphones": {
+    "distance": "2.73 meters",
+    "closeness rank": 13
+   },
+   "laptop": {
+    "distance": "2.75 meters",
+    "closeness rank": 14
+   },
+   "sofa": {
+    "distance": "3.45 meters",
+    "closeness rank": 15
+   },
+   "kettle": {
+    "distance": "3.52 meters",
+    "closeness rank": 16
+   },
+   "table": {
+    "distance": "3.69 meters",
+    "closeness rank": 17
+   },
+   "ceiling light": {
+    "distance": "3.79 meters",
+    "closeness rank": 18
+   },
+   "power strip": {
+    "distance": "4.13 meters",
+    "closeness rank": 19
+   },
+   "table lamp": {
+    "distance": "5.38 meters",
+    "closeness rank": 20
+   }
+  },
+  "bed": {
+   "blanket": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "cushion": {
+    "distance": "0.12 meters",
+    "closeness rank": 2
+   },
+   "pillow": {
+    "distance": "0.12 meters",
+    "closeness rank": 3
+   },
+   "door": {
+    "distance": "0.42 meters",
+    "closeness rank": 4
+   },
+   "basket": {
+    "distance": "0.63 meters",
+    "closeness rank": 5
+   },
+   "plant": {
+    "distance": "0.7 meters",
+    "closeness rank": 6
+   },
+   "trash can": {
+    "distance": "0.83 meters",
+    "closeness rank": 7
+   },
+   "chair": {
+    "distance": "0.98 meters",
+    "closeness rank": 8
+   },
+   "bookshelf": {
+    "distance": "1.01 meters",
+    "closeness rank": 9
+   },
+   "laptop": {
+    "distance": "1.22 meters",
+    "closeness rank": 10
+   },
+   "headphones": {
+    "distance": "1.28 meters",
+    "closeness rank": 11
+   },
+   "tv": {
+    "distance": "1.28 meters",
+    "closeness rank": 12
+   },
+   "toilet": {
+    "distance": "1.5 meters",
+    "closeness rank": 13
+   },
+   "sofa": {
+    "distance": "1.52 meters",
+    "closeness rank": 14
+   },
+   "table": {
+    "distance": "1.88 meters",
+    "closeness rank": 15
+   },
+   "telephone": {
+    "distance": "1.92 meters",
+    "closeness rank": 16
+   },
+   "kettle": {
+    "distance": "1.99 meters",
+    "closeness rank": 17
+   },
+   "power strip": {
+    "distance": "2.19 meters",
+    "closeness rank": 18
+   },
+   "ceiling light": {
+    "distance": "2.42 meters",
+    "closeness rank": 19
+   },
+   "table lamp": {
+    "distance": "3.45 meters",
+    "closeness rank": 20
+   }
+  },
+  "blanket": {
+   "bed": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "cushion": {
+    "distance": "0.11 meters",
+    "closeness rank": 2
+   },
+   "pillow": {
+    "distance": "0.11 meters",
+    "closeness rank": 3
+   },
+   "door": {
+    "distance": "0.24 meters",
+    "closeness rank": 4
+   },
+   "basket": {
+    "distance": "0.39 meters",
+    "closeness rank": 5
+   },
+   "trash can": {
+    "distance": "0.57 meters",
+    "closeness rank": 6
+   },
+   "plant": {
+    "distance": "0.86 meters",
+    "closeness rank": 7
+   },
+   "bookshelf": {
+    "distance": "0.99 meters",
+    "closeness rank": 8
+   },
+   "chair": {
+    "distance": "1.15 meters",
+    "closeness rank": 9
+   },
+   "toilet": {
+    "distance": "1.2 meters",
+    "closeness rank": 10
+   },
+   "headphones": {
+    "distance": "1.34 meters",
+    "closeness rank": 11
+   },
+   "tv": {
+    "distance": "1.35 meters",
+    "closeness rank": 12
+   },
+   "laptop": {
+    "distance": "1.39 meters",
+    "closeness rank": 13
+   },
+   "telephone": {
+    "distance": "1.63 meters",
+    "closeness rank": 14
+   },
+   "sofa": {
+    "distance": "1.68 meters",
+    "closeness rank": 15
+   },
+   "table": {
+    "distance": "2.05 meters",
+    "closeness rank": 16
+   },
+   "kettle": {
+    "distance": "2.15 meters",
+    "closeness rank": 17
+   },
+   "power strip": {
+    "distance": "2.36 meters",
+    "closeness rank": 18
+   },
+   "ceiling light": {
+    "distance": "2.58 meters",
+    "closeness rank": 19
+   },
+   "table lamp": {
+    "distance": "3.63 meters",
+    "closeness rank": 20
+   }
+  },
+  "bookshelf": {
+   "door": {
+    "distance": "0.42 meters",
+    "closeness rank": 1
+   },
+   "tv": {
+    "distance": "0.91 meters",
+    "closeness rank": 2
+   },
+   "headphones": {
+    "distance": "0.97 meters",
+    "closeness rank": 3
+   },
+   "blanket": {
+    "distance": "0.99 meters",
+    "closeness rank": 4
+   },
+   "bed": {
+    "distance": "1.01 meters",
+    "closeness rank": 5
+   },
+   "toilet": {
+    "distance": "1.99 meters",
+    "closeness rank": 6
+   },
+   "telephone": {
+    "distance": "2.01 meters",
+    "closeness rank": 7
+   },
+   "basket": {
+    "distance": "2.12 meters",
+    "closeness rank": 8
+   },
+   "trash can": {
+    "distance": "2.19 meters",
+    "closeness rank": 9
+   },
+   "sofa": {
+    "distance": "2.39 meters",
+    "closeness rank": 10
+   },
+   "cushion": {
+    "distance": "2.5 meters",
+    "closeness rank": 11
+   },
+   "pillow": {
+    "distance": "2.5 meters",
+    "closeness rank": 12
+   },
+   "power strip": {
+    "distance": "2.83 meters",
+    "closeness rank": 13
+   },
+   "chair": {
+    "distance": "2.87 meters",
+    "closeness rank": 14
+   },
+   "plant": {
+    "distance": "2.97 meters",
+    "closeness rank": 15
+   },
+   "table": {
+    "distance": "3.18 meters",
+    "closeness rank": 16
+   },
+   "laptop": {
+    "distance": "3.48 meters",
+    "closeness rank": 17
+   },
+   "ceiling light": {
+    "distance": "3.64 meters",
+    "closeness rank": 18
+   },
+   "kettle": {
+    "distance": "3.98 meters",
+    "closeness rank": 19
+   },
+   "table lamp": {
+    "distance": "4.35 meters",
+    "closeness rank": 20
+   }
+  },
+  "ceiling light": {
+   "door": {
+    "distance": "0.29 meters",
+    "closeness rank": 1
+   },
+   "plant": {
+    "distance": "1.25 meters",
+    "closeness rank": 2
+   },
+   "chair": {
+    "distance": "1.45 meters",
+    "closeness rank": 3
+   },
+   "table": {
+    "distance": "1.51 meters",
+    "closeness rank": 4
+   },
+   "kettle": {
+    "distance": "1.65 meters",
+    "closeness rank": 5
+   },
+   "cushion": {
+    "distance": "1.79 meters",
+    "closeness rank": 6
+   },
+   "laptop": {
+    "distance": "1.88 meters",
+    "closeness rank": 7
+   },
+   "sofa": {
+    "distance": "1.94 meters",
+    "closeness rank": 8
+   },
+   "table lamp": {
+    "distance": "1.97 meters",
+    "closeness rank": 9
+   },
+   "pillow": {
+    "distance": "2.08 meters",
+    "closeness rank": 10
+   },
+   "tv": {
+    "distance": "2.16 meters",
+    "closeness rank": 11
+   },
+   "headphones": {
+    "distance": "2.22 meters",
+    "closeness rank": 12
+   },
+   "power strip": {
+    "distance": "2.3 meters",
+    "closeness rank": 13
+   },
+   "bed": {
+    "distance": "2.42 meters",
+    "closeness rank": 14
+   },
+   "blanket": {
+    "distance": "2.58 meters",
+    "closeness rank": 15
+   },
+   "bookshelf": {
+    "distance": "3.64 meters",
+    "closeness rank": 16
+   },
+   "basket": {
+    "distance": "3.79 meters",
+    "closeness rank": 17
+   },
+   "trash can": {
+    "distance": "3.97 meters",
+    "closeness rank": 18
+   },
+   "toilet": {
+    "distance": "4.21 meters",
+    "closeness rank": 19
+   },
+   "telephone": {
+    "distance": "4.42 meters",
+    "closeness rank": 20
+   }
+  },
+  "chair": {
+   "cushion": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "laptop": {
+    "distance": "0.0 meters",
+    "closeness rank": 2
+   },
+   "plant": {
+    "distance": "0.0 meters",
+    "closeness rank": 3
+   },
+   "table": {
+    "distance": "0.0 meters",
+    "closeness rank": 4
+   },
+   "kettle": {
+    "distance": "0.4 meters",
+    "closeness rank": 5
+   },
+   "sofa": {
+    "distance": "0.45 meters",
+    "closeness rank": 6
+   },
+   "pillow": {
+    "distance": "0.58 meters",
+    "closeness rank": 7
+   },
+   "door": {
+    "distance": "0.84 meters",
+    "closeness rank": 8
+   },
+   "bed": {
+    "distance": "0.98 meters",
+    "closeness rank": 9
+   },
+   "power strip": {
+    "distance": "1.01 meters",
+    "closeness rank": 10
+   },
+   "blanket": {
+    "distance": "1.15 meters",
+    "closeness rank": 11
+   },
+   "tv": {
+    "distance": "1.18 meters",
+    "closeness rank": 12
+   },
+   "table lamp": {
+    "distance": "1.29 meters",
+    "closeness rank": 13
+   },
+   "ceiling light": {
+    "distance": "1.45 meters",
+    "closeness rank": 14
+   },
+   "headphones": {
+    "distance": "1.7 meters",
+    "closeness rank": 15
+   },
+   "basket": {
+    "distance": "2.5 meters",
+    "closeness rank": 16
+   },
+   "trash can": {
+    "distance": "2.7 meters",
+    "closeness rank": 17
+   },
+   "bookshelf": {
+    "distance": "2.87 meters",
+    "closeness rank": 18
+   },
+   "toilet": {
+    "distance": "3.27 meters",
+    "closeness rank": 19
+   },
+   "telephone": {
+    "distance": "3.68 meters",
+    "closeness rank": 20
+   }
+  },
+  "cushion": {
+   "chair": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "pillow": {
+    "distance": "0.0 meters",
+    "closeness rank": 2
+   },
+   "power strip": {
+    "distance": "0.0 meters",
+    "closeness rank": 3
+   },
+   "sofa": {
+    "distance": "0.0 meters",
+    "closeness rank": 4
+   },
+   "table": {
+    "distance": "0.0 meters",
+    "closeness rank": 5
+   },
+   "blanket": {
+    "distance": "0.11 meters",
+    "closeness rank": 6
+   },
+   "bed": {
+    "distance": "0.12 meters",
+    "closeness rank": 7
+   },
+   "plant": {
+    "distance": "0.13 meters",
+    "closeness rank": 8
+   },
+   "table lamp": {
+    "distance": "0.23 meters",
+    "closeness rank": 9
+   },
+   "tv": {
+    "distance": "0.53 meters",
+    "closeness rank": 10
+   },
+   "laptop": {
+    "distance": "0.98 meters",
+    "closeness rank": 11
+   },
+   "door": {
+    "distance": "1.0 meters",
+    "closeness rank": 12
+   },
+   "headphones": {
+    "distance": "1.16 meters",
+    "closeness rank": 13
+   },
+   "basket": {
+    "distance": "1.21 meters",
+    "closeness rank": 14
+   },
+   "trash can": {
+    "distance": "1.42 meters",
+    "closeness rank": 15
+   },
+   "kettle": {
+    "distance": "1.67 meters",
+    "closeness rank": 16
+   },
+   "ceiling light": {
+    "distance": "1.79 meters",
+    "closeness rank": 17
+   },
+   "toilet": {
+    "distance": "2.13 meters",
+    "closeness rank": 18
+   },
+   "bookshelf": {
+    "distance": "2.5 meters",
+    "closeness rank": 19
+   },
+   "telephone": {
+    "distance": "2.76 meters",
+    "closeness rank": 20
+   }
+  },
+  "door": {
+   "blanket": {
+    "distance": "0.24 meters",
+    "closeness rank": 1
+   },
+   "ceiling light": {
+    "distance": "0.29 meters",
+    "closeness rank": 2
+   },
+   "bookshelf": {
+    "distance": "0.42 meters",
+    "closeness rank": 3
+   },
+   "bed": {
+    "distance": "0.42 meters",
+    "closeness rank": 4
+   },
+   "toilet": {
+    "distance": "0.57 meters",
+    "closeness rank": 5
+   },
+   "basket": {
+    "distance": "0.61 meters",
+    "closeness rank": 6
+   },
+   "trash can": {
+    "distance": "0.69 meters",
+    "closeness rank": 7
+   },
+   "table": {
+    "distance": "0.81 meters",
+    "closeness rank": 8
+   },
+   "chair": {
+    "distance": "0.84 meters",
+    "closeness rank": 9
+   },
+   "kettle": {
+    "distance": "0.85 meters",
+    "closeness rank": 10
+   },
+   "plant": {
+    "distance": "0.94 meters",
+    "closeness rank": 11
+   },
+   "headphones": {
+    "distance": "0.96 meters",
+    "closeness rank": 12
+   },
+   "tv": {
+    "distance": "0.98 meters",
+    "closeness rank": 13
+   },
+   "telephone": {
+    "distance": "0.99 meters",
+    "closeness rank": 14
+   },
+   "cushion": {
+    "distance": "1.0 meters",
+    "closeness rank": 15
+   },
+   "pillow": {
+    "distance": "1.05 meters",
+    "closeness rank": 16
+   },
+   "laptop": {
+    "distance": "1.31 meters",
+    "closeness rank": 17
+   },
+   "sofa": {
+    "distance": "1.65 meters",
+    "closeness rank": 18
+   },
+   "table lamp": {
+    "distance": "2.29 meters",
+    "closeness rank": 19
+   },
+   "power strip": {
+    "distance": "2.41 meters",
+    "closeness rank": 20
+   }
+  },
+  "headphones": {
+   "tv": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "door": {
+    "distance": "0.96 meters",
+    "closeness rank": 2
+   },
+   "bookshelf": {
+    "distance": "0.97 meters",
+    "closeness rank": 3
+   },
+   "sofa": {
+    "distance": "1.05 meters",
+    "closeness rank": 4
+   },
+   "cushion": {
+    "distance": "1.16 meters",
+    "closeness rank": 5
+   },
+   "pillow": {
+    "distance": "1.16 meters",
+    "closeness rank": 6
+   },
+   "bed": {
+    "distance": "1.28 meters",
+    "closeness rank": 7
+   },
+   "blanket": {
+    "distance": "1.34 meters",
+    "closeness rank": 8
+   },
+   "power strip": {
+    "distance": "1.41 meters",
+    "closeness rank": 9
+   },
+   "chair": {
+    "distance": "1.7 meters",
+    "closeness rank": 10
+   },
+   "table": {
+    "distance": "1.84 meters",
+    "closeness rank": 11
+   },
+   "ceiling light": {
+    "distance": "2.22 meters",
+    "closeness rank": 12
+   },
+   "plant": {
+    "distance": "2.31 meters",
+    "closeness rank": 13
+   },
+   "basket": {
+    "distance": "2.73 meters",
+    "closeness rank": 14
+   },
+   "trash can": {
+    "distance": "2.86 meters",
+    "closeness rank": 15
+   },
+   "table lamp": {
+    "distance": "2.87 meters",
+    "closeness rank": 16
+   },
+   "toilet": {
+    "distance": "2.89 meters",
+    "closeness rank": 17
+   },
+   "telephone": {
+    "distance": "2.98 meters",
+    "closeness rank": 18
+   },
+   "laptop": {
+    "distance": "2.99 meters",
+    "closeness rank": 19
+   },
+   "kettle": {
+    "distance": "3.21 meters",
+    "closeness rank": 20
+   }
+  },
+  "kettle": {
+   "laptop": {
+    "distance": "0.38 meters",
+    "closeness rank": 1
+   },
+   "chair": {
+    "distance": "0.4 meters",
+    "closeness rank": 2
+   },
+   "door": {
+    "distance": "0.85 meters",
+    "closeness rank": 3
+   },
+   "plant": {
+    "distance": "0.94 meters",
+    "closeness rank": 4
+   },
+   "table": {
+    "distance": "1.51 meters",
+    "closeness rank": 5
+   },
+   "ceiling light": {
+    "distance": "1.65 meters",
+    "closeness rank": 6
+   },
+   "cushion": {
+    "distance": "1.67 meters",
+    "closeness rank": 7
+   },
+   "pillow": {
+    "distance": "1.8 meters",
+    "closeness rank": 8
+   },
+   "bed": {
+    "distance": "1.99 meters",
+    "closeness rank": 9
+   },
+   "blanket": {
+    "distance": "2.15 meters",
+    "closeness rank": 10
+   },
+   "sofa": {
+    "distance": "2.38 meters",
+    "closeness rank": 11
+   },
+   "tv": {
+    "distance": "2.87 meters",
+    "closeness rank": 12
+   },
+   "power strip": {
+    "distance": "2.94 meters",
+    "closeness rank": 13
+   },
+   "table lamp": {
+    "distance": "3.15 meters",
+    "closeness rank": 14
+   },
+   "headphones": {
+    "distance": "3.21 meters",
+    "closeness rank": 15
+   },
+   "basket": {
+    "distance": "3.52 meters",
+    "closeness rank": 16
+   },
+   "trash can": {
+    "distance": "3.72 meters",
+    "closeness rank": 17
+   },
+   "bookshelf": {
+    "distance": "3.98 meters",
+    "closeness rank": 18
+   },
+   "toilet": {
+    "distance": "4.32 meters",
+    "closeness rank": 19
+   },
+   "telephone": {
+    "distance": "4.78 meters",
+    "closeness rank": 20
+   }
+  },
+  "laptop": {
+   "chair": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "plant": {
+    "distance": "0.2 meters",
+    "closeness rank": 2
+   },
+   "kettle": {
+    "distance": "0.38 meters",
+    "closeness rank": 3
+   },
+   "pillow": {
+    "distance": "0.98 meters",
+    "closeness rank": 4
+   },
+   "cushion": {
+    "distance": "0.98 meters",
+    "closeness rank": 5
+   },
+   "bed": {
+    "distance": "1.22 meters",
+    "closeness rank": 6
+   },
+   "door": {
+    "distance": "1.31 meters",
+    "closeness rank": 7
+   },
+   "blanket": {
+    "distance": "1.39 meters",
+    "closeness rank": 8
+   },
+   "table": {
+    "distance": "1.75 meters",
+    "closeness rank": 9
+   },
+   "ceiling light": {
+    "distance": "1.88 meters",
+    "closeness rank": 10
+   },
+   "sofa": {
+    "distance": "2.55 meters",
+    "closeness rank": 11
+   },
+   "basket": {
+    "distance": "2.75 meters",
+    "closeness rank": 12
+   },
+   "tv": {
+    "distance": "2.81 meters",
+    "closeness rank": 13
+   },
+   "trash can": {
+    "distance": "2.95 meters",
+    "closeness rank": 14
+   },
+   "headphones": {
+    "distance": "2.99 meters",
+    "closeness rank": 15
+   },
+   "power strip": {
+    "distance": "3.11 meters",
+    "closeness rank": 16
+   },
+   "table lamp": {
+    "distance": "3.47 meters",
+    "closeness rank": 17
+   },
+   "bookshelf": {
+    "distance": "3.48 meters",
+    "closeness rank": 18
+   },
+   "toilet": {
+    "distance": "3.56 meters",
+    "closeness rank": 19
+   },
+   "telephone": {
+    "distance": "4.05 meters",
+    "closeness rank": 20
+   }
+  },
+  "pillow": {
+   "cushion": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "sofa": {
+    "distance": "0.0 meters",
+    "closeness rank": 2
+   },
+   "power strip": {
+    "distance": "0.11 meters",
+    "closeness rank": 3
+   },
+   "blanket": {
+    "distance": "0.11 meters",
+    "closeness rank": 4
+   },
+   "bed": {
+    "distance": "0.12 meters",
+    "closeness rank": 5
+   },
+   "plant": {
+    "distance": "0.13 meters",
+    "closeness rank": 6
+   },
+   "table lamp": {
+    "distance": "0.23 meters",
+    "closeness rank": 7
+   },
+   "table": {
+    "distance": "0.31 meters",
+    "closeness rank": 8
+   },
+   "tv": {
+    "distance": "0.53 meters",
+    "closeness rank": 9
+   },
+   "chair": {
+    "distance": "0.58 meters",
+    "closeness rank": 10
+   },
+   "laptop": {
+    "distance": "0.98 meters",
+    "closeness rank": 11
+   },
+   "door": {
+    "distance": "1.05 meters",
+    "closeness rank": 12
+   },
+   "headphones": {
+    "distance": "1.16 meters",
+    "closeness rank": 13
+   },
+   "basket": {
+    "distance": "1.21 meters",
+    "closeness rank": 14
+   },
+   "trash can": {
+    "distance": "1.42 meters",
+    "closeness rank": 15
+   },
+   "kettle": {
+    "distance": "1.8 meters",
+    "closeness rank": 16
+   },
+   "ceiling light": {
+    "distance": "2.08 meters",
+    "closeness rank": 17
+   },
+   "toilet": {
+    "distance": "2.13 meters",
+    "closeness rank": 18
+   },
+   "bookshelf": {
+    "distance": "2.5 meters",
+    "closeness rank": 19
+   },
+   "telephone": {
+    "distance": "2.75 meters",
+    "closeness rank": 20
+   }
+  },
+  "plant": {
+   "chair": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "table": {
+    "distance": "0.0 meters",
+    "closeness rank": 2
+   },
+   "table lamp": {
+    "distance": "0.1 meters",
+    "closeness rank": 3
+   },
+   "sofa": {
+    "distance": "0.11 meters",
+    "closeness rank": 4
+   },
+   "cushion": {
+    "distance": "0.13 meters",
+    "closeness rank": 5
+   },
+   "pillow": {
+    "distance": "0.13 meters",
+    "closeness rank": 6
+   },
+   "laptop": {
+    "distance": "0.2 meters",
+    "closeness rank": 7
+   },
+   "power strip": {
+    "distance": "0.69 meters",
+    "closeness rank": 8
+   },
+   "bed": {
+    "distance": "0.7 meters",
+    "closeness rank": 9
+   },
+   "blanket": {
+    "distance": "0.86 meters",
+    "closeness rank": 10
+   },
+   "kettle": {
+    "distance": "0.94 meters",
+    "closeness rank": 11
+   },
+   "door": {
+    "distance": "0.94 meters",
+    "closeness rank": 12
+   },
+   "ceiling light": {
+    "distance": "1.25 meters",
+    "closeness rank": 13
+   },
+   "tv": {
+    "distance": "1.69 meters",
+    "closeness rank": 14
+   },
+   "basket": {
+    "distance": "2.14 meters",
+    "closeness rank": 15
+   },
+   "headphones": {
+    "distance": "2.31 meters",
+    "closeness rank": 16
+   },
+   "trash can": {
+    "distance": "2.33 meters",
+    "closeness rank": 17
+   },
+   "toilet": {
+    "distance": "2.88 meters",
+    "closeness rank": 18
+   },
+   "bookshelf": {
+    "distance": "2.97 meters",
+    "closeness rank": 19
+   },
+   "telephone": {
+    "distance": "3.36 meters",
+    "closeness rank": 20
+   }
+  },
+  "power strip": {
+   "cushion": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "sofa": {
+    "distance": "0.0 meters",
+    "closeness rank": 2
+   },
+   "pillow": {
+    "distance": "0.11 meters",
+    "closeness rank": 3
+   },
+   "plant": {
+    "distance": "0.69 meters",
+    "closeness rank": 4
+   },
+   "table": {
+    "distance": "0.71 meters",
+    "closeness rank": 5
+   },
+   "tv": {
+    "distance": "0.75 meters",
+    "closeness rank": 6
+   },
+   "chair": {
+    "distance": "1.01 meters",
+    "closeness rank": 7
+   },
+   "table lamp": {
+    "distance": "1.23 meters",
+    "closeness rank": 8
+   },
+   "headphones": {
+    "distance": "1.41 meters",
+    "closeness rank": 9
+   },
+   "bed": {
+    "distance": "2.19 meters",
+    "closeness rank": 10
+   },
+   "ceiling light": {
+    "distance": "2.3 meters",
+    "closeness rank": 11
+   },
+   "blanket": {
+    "distance": "2.36 meters",
+    "closeness rank": 12
+   },
+   "door": {
+    "distance": "2.41 meters",
+    "closeness rank": 13
+   },
+   "bookshelf": {
+    "distance": "2.83 meters",
+    "closeness rank": 14
+   },
+   "kettle": {
+    "distance": "2.94 meters",
+    "closeness rank": 15
+   },
+   "laptop": {
+    "distance": "3.11 meters",
+    "closeness rank": 16
+   },
+   "basket": {
+    "distance": "4.13 meters",
+    "closeness rank": 17
+   },
+   "trash can": {
+    "distance": "4.3 meters",
+    "closeness rank": 18
+   },
+   "toilet": {
+    "distance": "4.48 meters",
+    "closeness rank": 19
+   },
+   "telephone": {
+    "distance": "4.66 meters",
+    "closeness rank": 20
+   }
+  },
+  "sofa": {
+   "cushion": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "pillow": {
+    "distance": "0.0 meters",
+    "closeness rank": 2
+   },
+   "power strip": {
+    "distance": "0.0 meters",
+    "closeness rank": 3
+   },
+   "table": {
+    "distance": "0.06 meters",
+    "closeness rank": 4
+   },
+   "plant": {
+    "distance": "0.11 meters",
+    "closeness rank": 5
+   },
+   "table lamp": {
+    "distance": "0.25 meters",
+    "closeness rank": 6
+   },
+   "tv": {
+    "distance": "0.38 meters",
+    "closeness rank": 7
+   },
+   "chair": {
+    "distance": "0.45 meters",
+    "closeness rank": 8
+   },
+   "headphones": {
+    "distance": "1.05 meters",
+    "closeness rank": 9
+   },
+   "bed": {
+    "distance": "1.52 meters",
+    "closeness rank": 10
+   },
+   "door": {
+    "distance": "1.65 meters",
+    "closeness rank": 11
+   },
+   "blanket": {
+    "distance": "1.68 meters",
+    "closeness rank": 12
+   },
+   "ceiling light": {
+    "distance": "1.94 meters",
+    "closeness rank": 13
+   },
+   "kettle": {
+    "distance": "2.38 meters",
+    "closeness rank": 14
+   },
+   "bookshelf": {
+    "distance": "2.39 meters",
+    "closeness rank": 15
+   },
+   "laptop": {
+    "distance": "2.55 meters",
+    "closeness rank": 16
+   },
+   "basket": {
+    "distance": "3.45 meters",
+    "closeness rank": 17
+   },
+   "trash can": {
+    "distance": "3.63 meters",
+    "closeness rank": 18
+   },
+   "toilet": {
+    "distance": "3.9 meters",
+    "closeness rank": 19
+   },
+   "telephone": {
+    "distance": "4.12 meters",
+    "closeness rank": 20
+   }
+  },
+  "table": {
+   "chair": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "cushion": {
+    "distance": "0.0 meters",
+    "closeness rank": 2
+   },
+   "plant": {
+    "distance": "0.0 meters",
+    "closeness rank": 3
+   },
+   "sofa": {
+    "distance": "0.06 meters",
+    "closeness rank": 4
+   },
+   "pillow": {
+    "distance": "0.31 meters",
+    "closeness rank": 5
+   },
+   "power strip": {
+    "distance": "0.71 meters",
+    "closeness rank": 6
+   },
+   "door": {
+    "distance": "0.81 meters",
+    "closeness rank": 7
+   },
+   "table lamp": {
+    "distance": "0.82 meters",
+    "closeness rank": 8
+   },
+   "tv": {
+    "distance": "1.19 meters",
+    "closeness rank": 9
+   },
+   "ceiling light": {
+    "distance": "1.51 meters",
+    "closeness rank": 10
+   },
+   "kettle": {
+    "distance": "1.51 meters",
+    "closeness rank": 11
+   },
+   "laptop": {
+    "distance": "1.75 meters",
+    "closeness rank": 12
+   },
+   "headphones": {
+    "distance": "1.84 meters",
+    "closeness rank": 13
+   },
+   "bed": {
+    "distance": "1.88 meters",
+    "closeness rank": 14
+   },
+   "blanket": {
+    "distance": "2.05 meters",
+    "closeness rank": 15
+   },
+   "bookshelf": {
+    "distance": "3.18 meters",
+    "closeness rank": 16
+   },
+   "basket": {
+    "distance": "3.69 meters",
+    "closeness rank": 17
+   },
+   "trash can": {
+    "distance": "3.89 meters",
+    "closeness rank": 18
+   },
+   "toilet": {
+    "distance": "4.32 meters",
+    "closeness rank": 19
+   },
+   "telephone": {
+    "distance": "4.63 meters",
+    "closeness rank": 20
+   }
+  },
+  "table lamp": {
+   "plant": {
+    "distance": "0.1 meters",
+    "closeness rank": 1
+   },
+   "cushion": {
+    "distance": "0.23 meters",
+    "closeness rank": 2
+   },
+   "pillow": {
+    "distance": "0.23 meters",
+    "closeness rank": 3
+   },
+   "sofa": {
+    "distance": "0.25 meters",
+    "closeness rank": 4
+   },
+   "table": {
+    "distance": "0.82 meters",
+    "closeness rank": 5
+   },
+   "power strip": {
+    "distance": "1.23 meters",
+    "closeness rank": 6
+   },
+   "chair": {
+    "distance": "1.29 meters",
+    "closeness rank": 7
+   },
+   "ceiling light": {
+    "distance": "1.97 meters",
+    "closeness rank": 8
+   },
+   "tv": {
+    "distance": "2.23 meters",
+    "closeness rank": 9
+   },
+   "door": {
+    "distance": "2.29 meters",
+    "closeness rank": 10
+   },
+   "headphones": {
+    "distance": "2.87 meters",
+    "closeness rank": 11
+   },
+   "kettle": {
+    "distance": "3.15 meters",
+    "closeness rank": 12
+   },
+   "bed": {
+    "distance": "3.45 meters",
+    "closeness rank": 13
+   },
+   "laptop": {
+    "distance": "3.47 meters",
+    "closeness rank": 14
+   },
+   "blanket": {
+    "distance": "3.63 meters",
+    "closeness rank": 15
+   },
+   "bookshelf": {
+    "distance": "4.35 meters",
+    "closeness rank": 16
+   },
+   "basket": {
+    "distance": "5.38 meters",
+    "closeness rank": 17
+   },
+   "trash can": {
+    "distance": "5.57 meters",
+    "closeness rank": 18
+   },
+   "toilet": {
+    "distance": "5.85 meters",
+    "closeness rank": 19
+   },
+   "telephone": {
+    "distance": "6.07 meters",
+    "closeness rank": 20
+   }
+  },
+  "telephone": {
+   "toilet": {
+    "distance": "0.33 meters",
+    "closeness rank": 1
+   },
+   "door": {
+    "distance": "0.99 meters",
+    "closeness rank": 2
+   },
+   "trash can": {
+    "distance": "1.46 meters",
+    "closeness rank": 3
+   },
+   "basket": {
+    "distance": "1.48 meters",
+    "closeness rank": 4
+   },
+   "blanket": {
+    "distance": "1.63 meters",
+    "closeness rank": 5
+   },
+   "bed": {
+    "distance": "1.92 meters",
+    "closeness rank": 6
+   },
+   "bookshelf": {
+    "distance": "2.01 meters",
+    "closeness rank": 7
+   },
+   "pillow": {
+    "distance": "2.75 meters",
+    "closeness rank": 8
+   },
+   "cushion": {
+    "distance": "2.76 meters",
+    "closeness rank": 9
+   },
+   "tv": {
+    "distance": "2.85 meters",
+    "closeness rank": 10
+   },
+   "headphones": {
+    "distance": "2.98 meters",
+    "closeness rank": 11
+   },
+   "plant": {
+    "distance": "3.36 meters",
+    "closeness rank": 12
+   },
+   "chair": {
+    "distance": "3.68 meters",
+    "closeness rank": 13
+   },
+   "laptop": {
+    "distance": "4.05 meters",
+    "closeness rank": 14
+   },
+   "sofa": {
+    "distance": "4.12 meters",
+    "closeness rank": 15
+   },
+   "ceiling light": {
+    "distance": "4.42 meters",
+    "closeness rank": 16
+   },
+   "table": {
+    "distance": "4.63 meters",
+    "closeness rank": 17
+   },
+   "power strip": {
+    "distance": "4.66 meters",
+    "closeness rank": 18
+   },
+   "kettle": {
+    "distance": "4.78 meters",
+    "closeness rank": 19
+   },
+   "table lamp": {
+    "distance": "6.07 meters",
+    "closeness rank": 20
+   }
+  },
+  "toilet": {
+   "telephone": {
+    "distance": "0.33 meters",
+    "closeness rank": 1
+   },
+   "door": {
+    "distance": "0.57 meters",
+    "closeness rank": 2
+   },
+   "trash can": {
+    "distance": "0.77 meters",
+    "closeness rank": 3
+   },
+   "basket": {
+    "distance": "0.83 meters",
+    "closeness rank": 4
+   },
+   "blanket": {
+    "distance": "1.2 meters",
+    "closeness rank": 5
+   },
+   "bed": {
+    "distance": "1.5 meters",
+    "closeness rank": 6
+   },
+   "bookshelf": {
+    "distance": "1.99 meters",
+    "closeness rank": 7
+   },
+   "pillow": {
+    "distance": "2.13 meters",
+    "closeness rank": 8
+   },
+   "cushion": {
+    "distance": "2.13 meters",
+    "closeness rank": 9
+   },
+   "tv": {
+    "distance": "2.78 meters",
+    "closeness rank": 10
+   },
+   "plant": {
+    "distance": "2.88 meters",
+    "closeness rank": 11
+   },
+   "headphones": {
+    "distance": "2.89 meters",
+    "closeness rank": 12
+   },
+   "chair": {
+    "distance": "3.27 meters",
+    "closeness rank": 13
+   },
+   "laptop": {
+    "distance": "3.56 meters",
+    "closeness rank": 14
+   },
+   "sofa": {
+    "distance": "3.9 meters",
+    "closeness rank": 15
+   },
+   "ceiling light": {
+    "distance": "4.21 meters",
+    "closeness rank": 16
+   },
+   "table": {
+    "distance": "4.32 meters",
+    "closeness rank": 17
+   },
+   "kettle": {
+    "distance": "4.32 meters",
+    "closeness rank": 18
+   },
+   "power strip": {
+    "distance": "4.48 meters",
+    "closeness rank": 19
+   },
+   "table lamp": {
+    "distance": "5.85 meters",
+    "closeness rank": 20
+   }
+  },
+  "trash can": {
+   "basket": {
+    "distance": "0.04 meters",
+    "closeness rank": 1
+   },
+   "blanket": {
+    "distance": "0.57 meters",
+    "closeness rank": 2
+   },
+   "door": {
+    "distance": "0.69 meters",
+    "closeness rank": 3
+   },
+   "toilet": {
+    "distance": "0.77 meters",
+    "closeness rank": 4
+   },
+   "bed": {
+    "distance": "0.83 meters",
+    "closeness rank": 5
+   },
+   "pillow": {
+    "distance": "1.42 meters",
+    "closeness rank": 6
+   },
+   "cushion": {
+    "distance": "1.42 meters",
+    "closeness rank": 7
+   },
+   "telephone": {
+    "distance": "1.46 meters",
+    "closeness rank": 8
+   },
+   "bookshelf": {
+    "distance": "2.19 meters",
+    "closeness rank": 9
+   },
+   "plant": {
+    "distance": "2.33 meters",
+    "closeness rank": 10
+   },
+   "chair": {
+    "distance": "2.7 meters",
+    "closeness rank": 11
+   },
+   "tv": {
+    "distance": "2.85 meters",
+    "closeness rank": 12
+   },
+   "headphones": {
+    "distance": "2.86 meters",
+    "closeness rank": 13
+   },
+   "laptop": {
+    "distance": "2.95 meters",
+    "closeness rank": 14
+   },
+   "sofa": {
+    "distance": "3.63 meters",
+    "closeness rank": 15
+   },
+   "kettle": {
+    "distance": "3.72 meters",
+    "closeness rank": 16
+   },
+   "table": {
+    "distance": "3.89 meters",
+    "closeness rank": 17
+   },
+   "ceiling light": {
+    "distance": "3.97 meters",
+    "closeness rank": 18
+   },
+   "power strip": {
+    "distance": "4.3 meters",
+    "closeness rank": 19
+   },
+   "table lamp": {
+    "distance": "5.57 meters",
+    "closeness rank": 20
+   }
+  },
+  "tv": {
+   "headphones": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "sofa": {
+    "distance": "0.38 meters",
+    "closeness rank": 2
+   },
+   "pillow": {
+    "distance": "0.53 meters",
+    "closeness rank": 3
+   },
+   "cushion": {
+    "distance": "0.53 meters",
+    "closeness rank": 4
+   },
+   "power strip": {
+    "distance": "0.75 meters",
+    "closeness rank": 5
+   },
+   "bookshelf": {
+    "distance": "0.91 meters",
+    "closeness rank": 6
+   },
+   "door": {
+    "distance": "0.98 meters",
+    "closeness rank": 7
+   },
+   "chair": {
+    "distance": "1.18 meters",
+    "closeness rank": 8
+   },
+   "table": {
+    "distance": "1.19 meters",
+    "closeness rank": 9
+   },
+   "bed": {
+    "distance": "1.28 meters",
+    "closeness rank": 10
+   },
+   "blanket": {
+    "distance": "1.35 meters",
+    "closeness rank": 11
+   },
+   "plant": {
+    "distance": "1.69 meters",
+    "closeness rank": 12
+   },
+   "ceiling light": {
+    "distance": "2.16 meters",
+    "closeness rank": 13
+   },
+   "table lamp": {
+    "distance": "2.23 meters",
+    "closeness rank": 14
+   },
+   "basket": {
+    "distance": "2.73 meters",
+    "closeness rank": 15
+   },
+   "toilet": {
+    "distance": "2.78 meters",
+    "closeness rank": 16
+   },
+   "laptop": {
+    "distance": "2.81 meters",
+    "closeness rank": 17
+   },
+   "telephone": {
+    "distance": "2.85 meters",
+    "closeness rank": 18
+   },
+   "trash can": {
+    "distance": "2.85 meters",
+    "closeness rank": 19
+   },
+   "kettle": {
+    "distance": "2.87 meters",
+    "closeness rank": 20
+   }
+  }
+ },
+ "appearance order": ["door", "basket", "toilet", "telephone", "ceiling light", "bed", "cushion", "plant", "chair", "pillow", "table", "tv", "sofa", "kettle", "laptop", "table lamp", "headphones", "power strip", "blanket", "bookshelf", "trash can"]
+}
\ No newline at end of file
diff --git a/data/spatial codes/sam3+depth-anything-3/metric/tracking/selective/32/explicit/7831862f02.json b/data/spatial codes/sam3+depth-anything-3/metric/tracking/selective/32/explicit/7831862f02.json
new file mode 100644
index 0000000000000000000000000000000000000000..60617054259991154da3cdbc9e67fb87462b1691
--- /dev/null
+++ b/data/spatial codes/sam3+depth-anything-3/metric/tracking/selective/32/explicit/7831862f02.json	
@@ -0,0 +1,737 @@
+{
+ "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": 3,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "0.25 meters",
+      "y coordinate": "0.8 meters",
+      "height above floor": "1.78 meters"
+     },
+     "longest dimension": "1.99 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-5.73 meters",
+      "y coordinate": "2.47 meters",
+      "height above floor": "1.75 meters"
+     },
+     "longest dimension": "0.79 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-7.8 meters",
+      "y coordinate": "-4.86 meters",
+      "height above floor": "1.63 meters"
+     },
+     "longest dimension": "0.67 meters"
+    }
+   ]
+  },
+  "chair": {
+   "count": 9,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-0.54 meters",
+      "y coordinate": "3.59 meters",
+      "height above floor": "-0.13 meters"
+     },
+     "longest dimension": "1.04 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "0.85 meters",
+      "y coordinate": "1.39 meters",
+      "height above floor": "-0.04 meters"
+     },
+     "longest dimension": "0.99 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-1.44 meters",
+      "y coordinate": "0.64 meters",
+      "height above floor": "-0.01 meters"
+     },
+     "longest dimension": "0.94 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "2.42 meters",
+      "y coordinate": "1.88 meters",
+      "height above floor": "-0.02 meters"
+     },
+     "longest dimension": "0.94 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "0.03 meters",
+      "y coordinate": "-1.07 meters",
+      "height above floor": "0.06 meters"
+     },
+     "longest dimension": "0.7 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-1.15 meters",
+      "y coordinate": "1.16 meters",
+      "height above floor": "-0.22 meters"
+     },
+     "longest dimension": "0.51 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-0.46 meters",
+      "y coordinate": "-1.68 meters",
+      "height above floor": "0.19 meters"
+     },
+     "longest dimension": "1.9 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-5.29 meters",
+      "y coordinate": "-4.75 meters",
+      "height above floor": "0.34 meters"
+     },
+     "longest dimension": "2.28 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "0.67 meters",
+      "y coordinate": "-7.15 meters",
+      "height above floor": "0.5 meters"
+     },
+     "longest dimension": "0.64 meters"
+    }
+   ]
+  },
+  "cushion": {
+   "count": 13,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "1.08 meters",
+      "y coordinate": "0.72 meters",
+      "height above floor": "0.05 meters"
+     },
+     "longest dimension": "0.84 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "0.09 meters",
+      "y coordinate": "1.7 meters",
+      "height above floor": "-0.01 meters"
+     },
+     "longest dimension": "0.44 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "1.78 meters",
+      "y coordinate": "2.38 meters",
+      "height above floor": "-0.18 meters"
+     },
+     "longest dimension": "0.6 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-1.04 meters",
+      "y coordinate": "1.86 meters",
+      "height above floor": "-0.12 meters"
+     },
+     "longest dimension": "0.71 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-0.68 meters",
+      "y coordinate": "0.56 meters",
+      "height above floor": "-0.14 meters"
+     },
+     "longest dimension": "0.72 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "0.4 meters",
+      "y coordinate": "2.12 meters",
+      "height above floor": "-0.01 meters"
+     },
+     "longest dimension": "0.38 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "0.75 meters",
+      "y coordinate": "1.49 meters",
+      "height above floor": "-0.1 meters"
+     },
+     "longest dimension": "0.76 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "0.55 meters",
+      "y coordinate": "2.32 meters",
+      "height above floor": "-0.02 meters"
+     },
+     "longest dimension": "0.6 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "1.18 meters",
+      "y coordinate": "0.7 meters",
+      "height above floor": "0.05 meters"
+     },
+     "longest dimension": "0.43 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "0.61 meters",
+      "y coordinate": "2.31 meters",
+      "height above floor": "-0.02 meters"
+     },
+     "longest dimension": "0.42 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "0.84 meters",
+      "y coordinate": "2.58 meters",
+      "height above floor": "-0.03 meters"
+     },
+     "longest dimension": "0.42 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "0.82 meters",
+      "y coordinate": "0.36 meters",
+      "height above floor": "0.04 meters"
+     },
+     "longest dimension": "0.54 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "0.49 meters",
+      "y coordinate": "0.04 meters",
+      "height above floor": "0.05 meters"
+     },
+     "longest dimension": "0.64 meters"
+    }
+   ]
+  },
+  "door": {
+   "count": 2,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "2.94 meters",
+      "y coordinate": "2.58 meters",
+      "height above floor": "0.51 meters"
+     },
+     "longest dimension": "2.56 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "0.32 meters",
+      "y coordinate": "5.18 meters",
+      "height above floor": "0.06 meters"
+     },
+     "longest dimension": "1.97 meters"
+    }
+   ]
+  },
+  "exhaust fan": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "0.61 meters",
+      "y coordinate": "0.43 meters",
+      "height above floor": "1.9 meters"
+     },
+     "longest dimension": "2.87 meters"
+    }
+   ]
+  },
+  "pillow": {
+   "count": 5,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-0.13 meters",
+      "y coordinate": "1.7 meters",
+      "height above floor": "-0.01 meters"
+     },
+     "longest dimension": "0.45 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "0.14 meters",
+      "y coordinate": "1.92 meters",
+      "height above floor": "-0.01 meters"
+     },
+     "longest dimension": "0.4 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "0.51 meters",
+      "y coordinate": "0.03 meters",
+      "height above floor": "0.03 meters"
+     },
+     "longest dimension": "0.4 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "0.93 meters",
+      "y coordinate": "0.5 meters",
+      "height above floor": "0.02 meters"
+     },
+     "longest dimension": "0.53 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "0.68 meters",
+      "y coordinate": "0.32 meters",
+      "height above floor": "0.03 meters"
+     },
+     "longest dimension": "0.48 meters"
+    }
+   ]
+  },
+  "table": {
+   "count": 5,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-0.55 meters",
+      "y coordinate": "0.8 meters",
+      "height above floor": "-0.17 meters"
+     },
+     "longest dimension": "0.55 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "0.74 meters",
+      "y coordinate": "1.99 meters",
+      "height above floor": "-0.2 meters"
+     },
+     "longest dimension": "0.42 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-6.19 meters",
+      "y coordinate": "-4.26 meters",
+      "height above floor": "0.21 meters"
+     },
+     "longest dimension": "2.18 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-4.93 meters",
+      "y coordinate": "-2.83 meters",
+      "height above floor": "0.09 meters"
+     },
+     "longest dimension": "2.45 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-0.77 meters",
+      "y coordinate": "-2.21 meters",
+      "height above floor": "0.2 meters"
+     },
+     "longest dimension": "1.64 meters"
+    }
+   ]
+  },
+  "trash can": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "1.16 meters",
+      "y coordinate": "1.19 meters",
+      "height above floor": "-0.01 meters"
+     },
+     "longest dimension": "0.89 meters"
+    }
+   ]
+  },
+  "whiteboard": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "1.67 meters",
+      "y coordinate": "-0.92 meters",
+      "height above floor": "0.5 meters"
+     },
+     "longest dimension": "2.88 meters"
+    }
+   ]
+  }
+ },
+ "room": {
+  "floor area": "58.7 square meters"
+ },
+ "closest classes distance meters from": {
+  "ceiling light": {
+   "exhaust fan": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "whiteboard": {
+    "distance": "0.79 meters",
+    "closeness rank": 2
+   },
+   "table": {
+    "distance": "1.24 meters",
+    "closeness rank": 3
+   },
+   "trash can": {
+    "distance": "1.39 meters",
+    "closeness rank": 4
+   },
+   "chair": {
+    "distance": "1.4 meters",
+    "closeness rank": 5
+   },
+   "cushion": {
+    "distance": "1.48 meters",
+    "closeness rank": 6
+   },
+   "pillow": {
+    "distance": "1.63 meters",
+    "closeness rank": 7
+   },
+   "door": {
+    "distance": "2.61 meters",
+    "closeness rank": 8
+   }
+  },
+  "chair": {
+   "cushion": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "table": {
+    "distance": "0.0 meters",
+    "closeness rank": 2
+   },
+   "trash can": {
+    "distance": "0.0 meters",
+    "closeness rank": 3
+   },
+   "pillow": {
+    "distance": "0.09 meters",
+    "closeness rank": 4
+   },
+   "door": {
+    "distance": "0.31 meters",
+    "closeness rank": 5
+   },
+   "whiteboard": {
+    "distance": "0.6 meters",
+    "closeness rank": 6
+   },
+   "exhaust fan": {
+    "distance": "1.39 meters",
+    "closeness rank": 7
+   },
+   "ceiling light": {
+    "distance": "1.4 meters",
+    "closeness rank": 8
+   }
+  },
+  "cushion": {
+   "chair": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "pillow": {
+    "distance": "0.0 meters",
+    "closeness rank": 2
+   },
+   "table": {
+    "distance": "0.0 meters",
+    "closeness rank": 3
+   },
+   "trash can": {
+    "distance": "0.0 meters",
+    "closeness rank": 4
+   },
+   "whiteboard": {
+    "distance": "0.29 meters",
+    "closeness rank": 5
+   },
+   "door": {
+    "distance": "0.78 meters",
+    "closeness rank": 6
+   },
+   "ceiling light": {
+    "distance": "1.48 meters",
+    "closeness rank": 7
+   },
+   "exhaust fan": {
+    "distance": "1.52 meters",
+    "closeness rank": 8
+   }
+  },
+  "door": {
+   "chair": {
+    "distance": "0.31 meters",
+    "closeness rank": 1
+   },
+   "cushion": {
+    "distance": "0.78 meters",
+    "closeness rank": 2
+   },
+   "trash can": {
+    "distance": "1.92 meters",
+    "closeness rank": 3
+   },
+   "table": {
+    "distance": "1.97 meters",
+    "closeness rank": 4
+   },
+   "whiteboard": {
+    "distance": "2.13 meters",
+    "closeness rank": 5
+   },
+   "pillow": {
+    "distance": "2.52 meters",
+    "closeness rank": 6
+   },
+   "exhaust fan": {
+    "distance": "2.56 meters",
+    "closeness rank": 7
+   },
+   "ceiling light": {
+    "distance": "2.61 meters",
+    "closeness rank": 8
+   }
+  },
+  "exhaust fan": {
+   "ceiling light": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "whiteboard": {
+    "distance": "0.67 meters",
+    "closeness rank": 2
+   },
+   "chair": {
+    "distance": "1.39 meters",
+    "closeness rank": 3
+   },
+   "trash can": {
+    "distance": "1.44 meters",
+    "closeness rank": 4
+   },
+   "cushion": {
+    "distance": "1.52 meters",
+    "closeness rank": 5
+   },
+   "pillow": {
+    "distance": "1.67 meters",
+    "closeness rank": 6
+   },
+   "table": {
+    "distance": "1.7 meters",
+    "closeness rank": 7
+   },
+   "door": {
+    "distance": "2.56 meters",
+    "closeness rank": 8
+   }
+  },
+  "pillow": {
+   "cushion": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "chair": {
+    "distance": "0.09 meters",
+    "closeness rank": 2
+   },
+   "trash can": {
+    "distance": "0.15 meters",
+    "closeness rank": 3
+   },
+   "table": {
+    "distance": "0.24 meters",
+    "closeness rank": 4
+   },
+   "whiteboard": {
+    "distance": "0.47 meters",
+    "closeness rank": 5
+   },
+   "ceiling light": {
+    "distance": "1.63 meters",
+    "closeness rank": 6
+   },
+   "exhaust fan": {
+    "distance": "1.67 meters",
+    "closeness rank": 7
+   },
+   "door": {
+    "distance": "2.52 meters",
+    "closeness rank": 8
+   }
+  },
+  "table": {
+   "chair": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "cushion": {
+    "distance": "0.0 meters",
+    "closeness rank": 2
+   },
+   "pillow": {
+    "distance": "0.24 meters",
+    "closeness rank": 3
+   },
+   "trash can": {
+    "distance": "0.25 meters",
+    "closeness rank": 4
+   },
+   "whiteboard": {
+    "distance": "1.17 meters",
+    "closeness rank": 5
+   },
+   "ceiling light": {
+    "distance": "1.24 meters",
+    "closeness rank": 6
+   },
+   "exhaust fan": {
+    "distance": "1.7 meters",
+    "closeness rank": 7
+   },
+   "door": {
+    "distance": "1.97 meters",
+    "closeness rank": 8
+   }
+  },
+  "trash can": {
+   "chair": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "cushion": {
+    "distance": "0.0 meters",
+    "closeness rank": 2
+   },
+   "pillow": {
+    "distance": "0.15 meters",
+    "closeness rank": 3
+   },
+   "table": {
+    "distance": "0.25 meters",
+    "closeness rank": 4
+   },
+   "whiteboard": {
+    "distance": "0.41 meters",
+    "closeness rank": 5
+   },
+   "ceiling light": {
+    "distance": "1.39 meters",
+    "closeness rank": 6
+   },
+   "exhaust fan": {
+    "distance": "1.44 meters",
+    "closeness rank": 7
+   },
+   "door": {
+    "distance": "1.92 meters",
+    "closeness rank": 8
+   }
+  },
+  "whiteboard": {
+   "cushion": {
+    "distance": "0.29 meters",
+    "closeness rank": 1
+   },
+   "trash can": {
+    "distance": "0.41 meters",
+    "closeness rank": 2
+   },
+   "pillow": {
+    "distance": "0.47 meters",
+    "closeness rank": 3
+   },
+   "chair": {
+    "distance": "0.6 meters",
+    "closeness rank": 4
+   },
+   "exhaust fan": {
+    "distance": "0.67 meters",
+    "closeness rank": 5
+   },
+   "ceiling light": {
+    "distance": "0.79 meters",
+    "closeness rank": 6
+   },
+   "table": {
+    "distance": "1.17 meters",
+    "closeness rank": 7
+   },
+   "door": {
+    "distance": "2.13 meters",
+    "closeness rank": 8
+   }
+  }
+ },
+ "appearance order": ["chair", "table", "door", "cushion", "ceiling light", "pillow", "exhaust fan", "whiteboard", "trash can"]
+}
\ No newline at end of file
diff --git a/data/spatial codes/sam3+depth-anything-3/metric/tracking/selective/32/explicit/7bc286c1b6.json b/data/spatial codes/sam3+depth-anything-3/metric/tracking/selective/32/explicit/7bc286c1b6.json
new file mode 100644
index 0000000000000000000000000000000000000000..6ba81b0368b9d0e5bb510055bdf80b2415992153
--- /dev/null
+++ b/data/spatial codes/sam3+depth-anything-3/metric/tracking/selective/32/explicit/7bc286c1b6.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": {
+  "ceiling light": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-0.07 meters",
+      "y coordinate": "-0.3 meters",
+      "height above floor": "-0.54 meters"
+     },
+     "longest dimension": "0.23 meters"
+    }
+   ]
+  },
+  "door": {
+   "count": 3,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "0.83 meters",
+      "y coordinate": "-0.52 meters",
+      "height above floor": "0.0 meters"
+     },
+     "longest dimension": "1.2 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "0.65 meters",
+      "y coordinate": "-1.35 meters",
+      "height above floor": "-1.07 meters"
+     },
+     "longest dimension": "0.77 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "0.54 meters",
+      "y coordinate": "-1.54 meters",
+      "height above floor": "-1.07 meters"
+     },
+     "longest dimension": "0.77 meters"
+    }
+   ]
+  },
+  "toilet": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "0.69 meters",
+      "y coordinate": "-1.47 meters",
+      "height above floor": "-0.47 meters"
+     },
+     "longest dimension": "0.47 meters"
+    }
+   ]
+  },
+  "trash can": {
+   "count": 2,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "1.2 meters",
+      "y coordinate": "-1.02 meters",
+      "height above floor": "-1.05 meters"
+     },
+     "longest dimension": "0.3 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "1.22 meters",
+      "y coordinate": "-0.97 meters",
+      "height above floor": "-1.02 meters"
+     },
+     "longest dimension": "0.37 meters"
+    }
+   ]
+  }
+ },
+ "room": {
+  "floor area": "8.3 square meters"
+ },
+ "closest classes distance meters from": {
+  "ceiling light": {
+   "door": {
+    "distance": "0.49 meters",
+    "closeness rank": 1
+   },
+   "toilet": {
+    "distance": "1.22 meters",
+    "closeness rank": 2
+   },
+   "trash can": {
+    "distance": "1.27 meters",
+    "closeness rank": 3
+   }
+  },
+  "door": {
+   "trash can": {
+    "distance": "0.26 meters",
+    "closeness rank": 1
+   },
+   "toilet": {
+    "distance": "0.44 meters",
+    "closeness rank": 2
+   },
+   "ceiling light": {
+    "distance": "0.49 meters",
+    "closeness rank": 3
+   }
+  },
+  "toilet": {
+   "trash can": {
+    "distance": "0.41 meters",
+    "closeness rank": 1
+   },
+   "door": {
+    "distance": "0.44 meters",
+    "closeness rank": 2
+   },
+   "ceiling light": {
+    "distance": "1.22 meters",
+    "closeness rank": 3
+   }
+  },
+  "trash can": {
+   "door": {
+    "distance": "0.26 meters",
+    "closeness rank": 1
+   },
+   "toilet": {
+    "distance": "0.41 meters",
+    "closeness rank": 2
+   },
+   "ceiling light": {
+    "distance": "1.27 meters",
+    "closeness rank": 3
+   }
+  }
+ },
+ "appearance order": ["toilet", "ceiling light", "door", "trash can"]
+}
\ No newline at end of file
diff --git a/data/spatial codes/sam3+depth-anything-3/metric/tracking/selective/32/explicit/99fa5c25e1.json b/data/spatial codes/sam3+depth-anything-3/metric/tracking/selective/32/explicit/99fa5c25e1.json
new file mode 100644
index 0000000000000000000000000000000000000000..e759c280b05181cb3e9c9548197832d60c221f4d
--- /dev/null
+++ b/data/spatial codes/sam3+depth-anything-3/metric/tracking/selective/32/explicit/99fa5c25e1.json	
@@ -0,0 +1,736 @@
+{
+ "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": {
+  "bucket": {
+   "count": 3,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-1.52 meters",
+      "y coordinate": "-2.58 meters",
+      "height above floor": "-0.66 meters"
+     },
+     "longest dimension": "0.25 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-1.23 meters",
+      "y coordinate": "-2.9 meters",
+      "height above floor": "-0.65 meters"
+     },
+     "longest dimension": "0.29 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "0.7 meters",
+      "y coordinate": "-3.45 meters",
+      "height above floor": "-0.72 meters"
+     },
+     "longest dimension": "0.14 meters"
+    }
+   ]
+  },
+  "ceiling light": {
+   "count": 12,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-2.01 meters",
+      "y coordinate": "0.1 meters",
+      "height above floor": "0.59 meters"
+     },
+     "longest dimension": "0.16 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-2.43 meters",
+      "y coordinate": "4.76 meters",
+      "height above floor": "2.75 meters"
+     },
+     "longest dimension": "0.28 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-2.08 meters",
+      "y coordinate": "2.06 meters",
+      "height above floor": "2.02 meters"
+     },
+     "longest dimension": "0.15 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-4.44 meters",
+      "y coordinate": "4.83 meters",
+      "height above floor": "3.12 meters"
+     },
+     "longest dimension": "0.42 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-1.94 meters",
+      "y coordinate": "5.23 meters",
+      "height above floor": "2.41 meters"
+     },
+     "longest dimension": "1.38 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-2.46 meters",
+      "y coordinate": "1.87 meters",
+      "height above floor": "3.33 meters"
+     },
+     "longest dimension": "0.19 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-4.79 meters",
+      "y coordinate": "6.27 meters",
+      "height above floor": "3.1 meters"
+     },
+     "longest dimension": "0.61 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-1.21 meters",
+      "y coordinate": "7.01 meters",
+      "height above floor": "2.66 meters"
+     },
+     "longest dimension": "0.48 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-0.53 meters",
+      "y coordinate": "6.12 meters",
+      "height above floor": "2.91 meters"
+     },
+     "longest dimension": "0.73 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-3.19 meters",
+      "y coordinate": "7.7 meters",
+      "height above floor": "2.74 meters"
+     },
+     "longest dimension": "0.15 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-3.12 meters",
+      "y coordinate": "6.29 meters",
+      "height above floor": "2.81 meters"
+     },
+     "longest dimension": "0.23 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-1.62 meters",
+      "y coordinate": "5.5 meters",
+      "height above floor": "2.62 meters"
+     },
+     "longest dimension": "0.14 meters"
+    }
+   ]
+  },
+  "chair": {
+   "count": 2,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "1.57 meters",
+      "y coordinate": "1.18 meters",
+      "height above floor": "-0.13 meters"
+     },
+     "longest dimension": "1.12 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "0.82 meters",
+      "y coordinate": "-0.51 meters",
+      "height above floor": "-0.18 meters"
+     },
+     "longest dimension": "0.96 meters"
+    }
+   ]
+  },
+  "crate": {
+   "count": 3,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "1.63 meters",
+      "y coordinate": "-1.1 meters",
+      "height above floor": "0.27 meters"
+     },
+     "longest dimension": "0.45 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "1.36 meters",
+      "y coordinate": "-1.23 meters",
+      "height above floor": "0.29 meters"
+     },
+     "longest dimension": "0.34 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "1.92 meters",
+      "y coordinate": "-0.85 meters",
+      "height above floor": "0.19 meters"
+     },
+     "longest dimension": "0.43 meters"
+    }
+   ]
+  },
+  "door": {
+   "count": 3,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "0.01 meters",
+      "y coordinate": "0.79 meters",
+      "height above floor": "0.13 meters"
+     },
+     "longest dimension": "1.34 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-2.48 meters",
+      "y coordinate": "-0.92 meters",
+      "height above floor": "0.26 meters"
+     },
+     "longest dimension": "1.01 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-7.86 meters",
+      "y coordinate": "8.01 meters",
+      "height above floor": "0.09 meters"
+     },
+     "longest dimension": "1.18 meters"
+    }
+   ]
+  },
+  "keyboard": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "1.6 meters",
+      "y coordinate": "1.67 meters",
+      "height above floor": "0.29 meters"
+     },
+     "longest dimension": "0.23 meters"
+    }
+   ]
+  },
+  "monitor": {
+   "count": 2,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "1.77 meters",
+      "y coordinate": "1.82 meters",
+      "height above floor": "0.47 meters"
+     },
+     "longest dimension": "0.31 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "5.83 meters",
+      "y coordinate": "4.68 meters",
+      "height above floor": "0.84 meters"
+     },
+     "longest dimension": "0.34 meters"
+    }
+   ]
+  },
+  "table": {
+   "count": 2,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "0.08 meters",
+      "y coordinate": "0.51 meters",
+      "height above floor": "-0.28 meters"
+     },
+     "longest dimension": "0.72 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "1.02 meters",
+      "y coordinate": "-0.63 meters",
+      "height above floor": "0.02 meters"
+     },
+     "longest dimension": "1.66 meters"
+    }
+   ]
+  },
+  "trash can": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "2.35 meters",
+      "y coordinate": "1.46 meters",
+      "height above floor": "-0.18 meters"
+     },
+     "longest dimension": "0.89 meters"
+    }
+   ]
+  },
+  "whiteboard": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-0.75 meters",
+      "y coordinate": "-0.47 meters",
+      "height above floor": "0.4 meters"
+     },
+     "longest dimension": "0.57 meters"
+    }
+   ]
+  }
+ },
+ "room": {
+  "floor area": "32.9 square meters"
+ },
+ "closest classes distance meters from": {
+  "bucket": {
+   "door": {
+    "distance": "1.61 meters",
+    "closeness rank": 1
+   },
+   "whiteboard": {
+    "distance": "2.08 meters",
+    "closeness rank": 2
+   },
+   "crate": {
+    "distance": "2.25 meters",
+    "closeness rank": 3
+   },
+   "table": {
+    "distance": "2.26 meters",
+    "closeness rank": 4
+   },
+   "chair": {
+    "distance": "2.58 meters",
+    "closeness rank": 5
+   },
+   "ceiling light": {
+    "distance": "2.73 meters",
+    "closeness rank": 6
+   },
+   "trash can": {
+    "distance": "4.89 meters",
+    "closeness rank": 7
+   },
+   "keyboard": {
+    "distance": "5.04 meters",
+    "closeness rank": 8
+   },
+   "monitor": {
+    "distance": "5.27 meters",
+    "closeness rank": 9
+   }
+  },
+  "ceiling light": {
+   "door": {
+    "distance": "0.76 meters",
+    "closeness rank": 1
+   },
+   "whiteboard": {
+    "distance": "1.18 meters",
+    "closeness rank": 2
+   },
+   "table": {
+    "distance": "1.84 meters",
+    "closeness rank": 3
+   },
+   "chair": {
+    "distance": "2.51 meters",
+    "closeness rank": 4
+   },
+   "bucket": {
+    "distance": "2.73 meters",
+    "closeness rank": 5
+   },
+   "crate": {
+    "distance": "3.36 meters",
+    "closeness rank": 6
+   },
+   "keyboard": {
+    "distance": "3.75 meters",
+    "closeness rank": 7
+   },
+   "monitor": {
+    "distance": "3.9 meters",
+    "closeness rank": 8
+   },
+   "trash can": {
+    "distance": "4.32 meters",
+    "closeness rank": 9
+   }
+  },
+  "chair": {
+   "table": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "keyboard": {
+    "distance": "0.15 meters",
+    "closeness rank": 2
+   },
+   "monitor": {
+    "distance": "0.28 meters",
+    "closeness rank": 3
+   },
+   "trash can": {
+    "distance": "0.44 meters",
+    "closeness rank": 4
+   },
+   "crate": {
+    "distance": "0.48 meters",
+    "closeness rank": 5
+   },
+   "door": {
+    "distance": "1.06 meters",
+    "closeness rank": 6
+   },
+   "whiteboard": {
+    "distance": "1.11 meters",
+    "closeness rank": 7
+   },
+   "ceiling light": {
+    "distance": "2.51 meters",
+    "closeness rank": 8
+   },
+   "bucket": {
+    "distance": "2.58 meters",
+    "closeness rank": 9
+   }
+  },
+  "crate": {
+   "table": {
+    "distance": "0.4 meters",
+    "closeness rank": 1
+   },
+   "chair": {
+    "distance": "0.48 meters",
+    "closeness rank": 2
+   },
+   "whiteboard": {
+    "distance": "1.93 meters",
+    "closeness rank": 3
+   },
+   "trash can": {
+    "distance": "1.94 meters",
+    "closeness rank": 4
+   },
+   "door": {
+    "distance": "2.18 meters",
+    "closeness rank": 5
+   },
+   "bucket": {
+    "distance": "2.25 meters",
+    "closeness rank": 6
+   },
+   "keyboard": {
+    "distance": "2.29 meters",
+    "closeness rank": 7
+   },
+   "monitor": {
+    "distance": "2.38 meters",
+    "closeness rank": 8
+   },
+   "ceiling light": {
+    "distance": "3.36 meters",
+    "closeness rank": 9
+   }
+  },
+  "door": {
+   "table": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "ceiling light": {
+    "distance": "0.76 meters",
+    "closeness rank": 2
+   },
+   "whiteboard": {
+    "distance": "0.99 meters",
+    "closeness rank": 3
+   },
+   "chair": {
+    "distance": "1.06 meters",
+    "closeness rank": 4
+   },
+   "keyboard": {
+    "distance": "1.32 meters",
+    "closeness rank": 5
+   },
+   "bucket": {
+    "distance": "1.61 meters",
+    "closeness rank": 6
+   },
+   "monitor": {
+    "distance": "1.61 meters",
+    "closeness rank": 7
+   },
+   "trash can": {
+    "distance": "1.88 meters",
+    "closeness rank": 8
+   },
+   "crate": {
+    "distance": "2.18 meters",
+    "closeness rank": 9
+   }
+  },
+  "keyboard": {
+   "monitor": {
+    "distance": "0.08 meters",
+    "closeness rank": 1
+   },
+   "chair": {
+    "distance": "0.15 meters",
+    "closeness rank": 2
+   },
+   "trash can": {
+    "distance": "0.43 meters",
+    "closeness rank": 3
+   },
+   "door": {
+    "distance": "1.32 meters",
+    "closeness rank": 4
+   },
+   "table": {
+    "distance": "1.55 meters",
+    "closeness rank": 5
+   },
+   "crate": {
+    "distance": "2.29 meters",
+    "closeness rank": 6
+   },
+   "whiteboard": {
+    "distance": "2.91 meters",
+    "closeness rank": 7
+   },
+   "ceiling light": {
+    "distance": "3.75 meters",
+    "closeness rank": 8
+   },
+   "bucket": {
+    "distance": "5.04 meters",
+    "closeness rank": 9
+   }
+  },
+  "monitor": {
+   "keyboard": {
+    "distance": "0.08 meters",
+    "closeness rank": 1
+   },
+   "chair": {
+    "distance": "0.28 meters",
+    "closeness rank": 2
+   },
+   "trash can": {
+    "distance": "0.29 meters",
+    "closeness rank": 3
+   },
+   "door": {
+    "distance": "1.61 meters",
+    "closeness rank": 4
+   },
+   "table": {
+    "distance": "1.81 meters",
+    "closeness rank": 5
+   },
+   "crate": {
+    "distance": "2.38 meters",
+    "closeness rank": 6
+   },
+   "whiteboard": {
+    "distance": "3.21 meters",
+    "closeness rank": 7
+   },
+   "ceiling light": {
+    "distance": "3.9 meters",
+    "closeness rank": 8
+   },
+   "bucket": {
+    "distance": "5.27 meters",
+    "closeness rank": 9
+   }
+  },
+  "table": {
+   "chair": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "door": {
+    "distance": "0.0 meters",
+    "closeness rank": 2
+   },
+   "crate": {
+    "distance": "0.4 meters",
+    "closeness rank": 3
+   },
+   "whiteboard": {
+    "distance": "0.96 meters",
+    "closeness rank": 4
+   },
+   "trash can": {
+    "distance": "1.51 meters",
+    "closeness rank": 5
+   },
+   "keyboard": {
+    "distance": "1.55 meters",
+    "closeness rank": 6
+   },
+   "monitor": {
+    "distance": "1.81 meters",
+    "closeness rank": 7
+   },
+   "ceiling light": {
+    "distance": "1.84 meters",
+    "closeness rank": 8
+   },
+   "bucket": {
+    "distance": "2.26 meters",
+    "closeness rank": 9
+   }
+  },
+  "trash can": {
+   "monitor": {
+    "distance": "0.29 meters",
+    "closeness rank": 1
+   },
+   "keyboard": {
+    "distance": "0.43 meters",
+    "closeness rank": 2
+   },
+   "chair": {
+    "distance": "0.44 meters",
+    "closeness rank": 3
+   },
+   "table": {
+    "distance": "1.51 meters",
+    "closeness rank": 4
+   },
+   "door": {
+    "distance": "1.88 meters",
+    "closeness rank": 5
+   },
+   "crate": {
+    "distance": "1.94 meters",
+    "closeness rank": 6
+   },
+   "whiteboard": {
+    "distance": "3.38 meters",
+    "closeness rank": 7
+   },
+   "ceiling light": {
+    "distance": "4.32 meters",
+    "closeness rank": 8
+   },
+   "bucket": {
+    "distance": "4.89 meters",
+    "closeness rank": 9
+   }
+  },
+  "whiteboard": {
+   "table": {
+    "distance": "0.96 meters",
+    "closeness rank": 1
+   },
+   "door": {
+    "distance": "0.99 meters",
+    "closeness rank": 2
+   },
+   "chair": {
+    "distance": "1.11 meters",
+    "closeness rank": 3
+   },
+   "ceiling light": {
+    "distance": "1.18 meters",
+    "closeness rank": 4
+   },
+   "crate": {
+    "distance": "1.93 meters",
+    "closeness rank": 5
+   },
+   "bucket": {
+    "distance": "2.08 meters",
+    "closeness rank": 6
+   },
+   "keyboard": {
+    "distance": "2.91 meters",
+    "closeness rank": 7
+   },
+   "monitor": {
+    "distance": "3.21 meters",
+    "closeness rank": 8
+   },
+   "trash can": {
+    "distance": "3.38 meters",
+    "closeness rank": 9
+   }
+  }
+ },
+ "appearance order": ["chair", "trash can", "monitor", "door", "keyboard", "ceiling light", "table", "crate", "bucket", "whiteboard"]
+}
\ No newline at end of file
diff --git a/data/spatial codes/sam3+depth-anything-3/metric/tracking/selective/32/explicit/a980334473.json b/data/spatial codes/sam3+depth-anything-3/metric/tracking/selective/32/explicit/a980334473.json
new file mode 100644
index 0000000000000000000000000000000000000000..d05d2b6eeeb2a3c181a136ee399d97f5e26d9f73
--- /dev/null
+++ b/data/spatial codes/sam3+depth-anything-3/metric/tracking/selective/32/explicit/a980334473.json	
@@ -0,0 +1,426 @@
+{
+ "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": "-0.49 meters",
+      "y coordinate": "0.84 meters",
+      "height above floor": "0.22 meters"
+     },
+     "longest dimension": "0.39 meters"
+    }
+   ]
+  },
+  "chair": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "1.11 meters",
+      "y coordinate": "0.43 meters",
+      "height above floor": "1.45 meters"
+     },
+     "longest dimension": "0.28 meters"
+    }
+   ]
+  },
+  "door": {
+   "count": 2,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "0.48 meters",
+      "y coordinate": "-0.45 meters",
+      "height above floor": "0.87 meters"
+     },
+     "longest dimension": "1.42 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "0.86 meters",
+      "y coordinate": "-0.59 meters",
+      "height above floor": "0.78 meters"
+     },
+     "longest dimension": "1.2 meters"
+    }
+   ]
+  },
+  "power strip": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "1.26 meters",
+      "y coordinate": "0.98 meters",
+      "height above floor": "0.52 meters"
+     },
+     "longest dimension": "0.88 meters"
+    }
+   ]
+  },
+  "printer": {
+   "count": 2,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "0.82 meters",
+      "y coordinate": "0.23 meters",
+      "height above floor": "-0.15 meters"
+     },
+     "longest dimension": "0.99 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "1.13 meters",
+      "y coordinate": "0.8 meters",
+      "height above floor": "1.22 meters"
+     },
+     "longest dimension": "0.56 meters"
+    }
+   ]
+  },
+  "table": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "1.16 meters",
+      "y coordinate": "0.67 meters",
+      "height above floor": "0.55 meters"
+     },
+     "longest dimension": "0.88 meters"
+    }
+   ]
+  },
+  "trash can": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "1.33 meters",
+      "y coordinate": "-0.26 meters",
+      "height above floor": "1.48 meters"
+     },
+     "longest dimension": "0.39 meters"
+    }
+   ]
+  },
+  "whiteboard": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "0.13 meters",
+      "y coordinate": "1.39 meters",
+      "height above floor": "0.48 meters"
+     },
+     "longest dimension": "2.0 meters"
+    }
+   ]
+  }
+ },
+ "room": {
+  "floor area": "5.8 square meters"
+ },
+ "closest classes distance meters from": {
+  "ceiling light": {
+   "whiteboard": {
+    "distance": "0.61 meters",
+    "closeness rank": 1
+   },
+   "printer": {
+    "distance": "0.87 meters",
+    "closeness rank": 2
+   },
+   "door": {
+    "distance": "1.0 meters",
+    "closeness rank": 3
+   },
+   "table": {
+    "distance": "1.59 meters",
+    "closeness rank": 4
+   },
+   "power strip": {
+    "distance": "1.61 meters",
+    "closeness rank": 5
+   },
+   "chair": {
+    "distance": "1.8 meters",
+    "closeness rank": 6
+   },
+   "trash can": {
+    "distance": "2.09 meters",
+    "closeness rank": 7
+   }
+  },
+  "chair": {
+   "printer": {
+    "distance": "0.15 meters",
+    "closeness rank": 1
+   },
+   "table": {
+    "distance": "0.32 meters",
+    "closeness rank": 2
+   },
+   "trash can": {
+    "distance": "0.45 meters",
+    "closeness rank": 3
+   },
+   "power strip": {
+    "distance": "0.63 meters",
+    "closeness rank": 4
+   },
+   "whiteboard": {
+    "distance": "0.96 meters",
+    "closeness rank": 5
+   },
+   "door": {
+    "distance": "0.99 meters",
+    "closeness rank": 6
+   },
+   "ceiling light": {
+    "distance": "1.8 meters",
+    "closeness rank": 7
+   }
+  },
+  "door": {
+   "trash can": {
+    "distance": "0.4 meters",
+    "closeness rank": 1
+   },
+   "printer": {
+    "distance": "0.6 meters",
+    "closeness rank": 2
+   },
+   "chair": {
+    "distance": "0.99 meters",
+    "closeness rank": 3
+   },
+   "ceiling light": {
+    "distance": "1.0 meters",
+    "closeness rank": 4
+   },
+   "table": {
+    "distance": "1.07 meters",
+    "closeness rank": 5
+   },
+   "power strip": {
+    "distance": "1.56 meters",
+    "closeness rank": 6
+   },
+   "whiteboard": {
+    "distance": "1.59 meters",
+    "closeness rank": 7
+   }
+  },
+  "power strip": {
+   "printer": {
+    "distance": "0.02 meters",
+    "closeness rank": 1
+   },
+   "table": {
+    "distance": "0.13 meters",
+    "closeness rank": 2
+   },
+   "chair": {
+    "distance": "0.63 meters",
+    "closeness rank": 3
+   },
+   "whiteboard": {
+    "distance": "0.68 meters",
+    "closeness rank": 4
+   },
+   "trash can": {
+    "distance": "1.09 meters",
+    "closeness rank": 5
+   },
+   "door": {
+    "distance": "1.56 meters",
+    "closeness rank": 6
+   },
+   "ceiling light": {
+    "distance": "1.61 meters",
+    "closeness rank": 7
+   }
+  },
+  "printer": {
+   "table": {
+    "distance": "0.01 meters",
+    "closeness rank": 1
+   },
+   "power strip": {
+    "distance": "0.02 meters",
+    "closeness rank": 2
+   },
+   "chair": {
+    "distance": "0.15 meters",
+    "closeness rank": 3
+   },
+   "whiteboard": {
+    "distance": "0.58 meters",
+    "closeness rank": 4
+   },
+   "door": {
+    "distance": "0.6 meters",
+    "closeness rank": 5
+   },
+   "trash can": {
+    "distance": "0.69 meters",
+    "closeness rank": 6
+   },
+   "ceiling light": {
+    "distance": "0.87 meters",
+    "closeness rank": 7
+   }
+  },
+  "table": {
+   "printer": {
+    "distance": "0.01 meters",
+    "closeness rank": 1
+   },
+   "power strip": {
+    "distance": "0.13 meters",
+    "closeness rank": 2
+   },
+   "chair": {
+    "distance": "0.32 meters",
+    "closeness rank": 3
+   },
+   "trash can": {
+    "distance": "0.67 meters",
+    "closeness rank": 4
+   },
+   "whiteboard": {
+    "distance": "0.79 meters",
+    "closeness rank": 5
+   },
+   "door": {
+    "distance": "1.07 meters",
+    "closeness rank": 6
+   },
+   "ceiling light": {
+    "distance": "1.59 meters",
+    "closeness rank": 7
+   }
+  },
+  "trash can": {
+   "door": {
+    "distance": "0.4 meters",
+    "closeness rank": 1
+   },
+   "chair": {
+    "distance": "0.45 meters",
+    "closeness rank": 2
+   },
+   "table": {
+    "distance": "0.67 meters",
+    "closeness rank": 3
+   },
+   "printer": {
+    "distance": "0.69 meters",
+    "closeness rank": 4
+   },
+   "power strip": {
+    "distance": "1.09 meters",
+    "closeness rank": 5
+   },
+   "whiteboard": {
+    "distance": "1.49 meters",
+    "closeness rank": 6
+   },
+   "ceiling light": {
+    "distance": "2.09 meters",
+    "closeness rank": 7
+   }
+  },
+  "whiteboard": {
+   "printer": {
+    "distance": "0.58 meters",
+    "closeness rank": 1
+   },
+   "ceiling light": {
+    "distance": "0.61 meters",
+    "closeness rank": 2
+   },
+   "power strip": {
+    "distance": "0.68 meters",
+    "closeness rank": 3
+   },
+   "table": {
+    "distance": "0.79 meters",
+    "closeness rank": 4
+   },
+   "chair": {
+    "distance": "0.96 meters",
+    "closeness rank": 5
+   },
+   "trash can": {
+    "distance": "1.49 meters",
+    "closeness rank": 6
+   },
+   "door": {
+    "distance": "1.59 meters",
+    "closeness rank": 7
+   }
+  }
+ },
+ "appearance order": ["printer", "table", "ceiling light", "whiteboard", "chair", "trash can", "door", "power strip"]
+}
\ No newline at end of file
diff --git a/data/spatial codes/sam3+depth-anything-3/metric/tracking/selective/32/explicit/bde1e479ad.json b/data/spatial codes/sam3+depth-anything-3/metric/tracking/selective/32/explicit/bde1e479ad.json
new file mode 100644
index 0000000000000000000000000000000000000000..a3233a90e7fdad73c0202ae8142d32a1eb5645bc
--- /dev/null
+++ b/data/spatial codes/sam3+depth-anything-3/metric/tracking/selective/32/explicit/bde1e479ad.json	
@@ -0,0 +1,769 @@
+{
+ "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": 7,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "4.04 meters",
+      "y coordinate": "2.44 meters",
+      "height above floor": "2.07 meters"
+     },
+     "longest dimension": "1.39 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "0.1 meters",
+      "y coordinate": "-2.17 meters",
+      "height above floor": "2.21 meters"
+     },
+     "longest dimension": "0.7 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "1.6 meters",
+      "y coordinate": "-2.35 meters",
+      "height above floor": "2.16 meters"
+     },
+     "longest dimension": "1.16 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "5.45 meters",
+      "y coordinate": "-0.19 meters",
+      "height above floor": "2.11 meters"
+     },
+     "longest dimension": "2.19 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "3.8 meters",
+      "y coordinate": "0.01 meters",
+      "height above floor": "2.15 meters"
+     },
+     "longest dimension": "1.96 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "0.44 meters",
+      "y coordinate": "2.97 meters",
+      "height above floor": "2.2 meters"
+     },
+     "longest dimension": "1.2 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "3.42 meters",
+      "y coordinate": "-2.55 meters",
+      "height above floor": "2.09 meters"
+     },
+     "longest dimension": "1.15 meters"
+    }
+   ]
+  },
+  "chair": {
+   "count": 16,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "2.09 meters",
+      "y coordinate": "0.34 meters",
+      "height above floor": "-0.05 meters"
+     },
+     "longest dimension": "0.77 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "4.53 meters",
+      "y coordinate": "2.46 meters",
+      "height above floor": "-0.09 meters"
+     },
+     "longest dimension": "0.77 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "5.06 meters",
+      "y coordinate": "0.64 meters",
+      "height above floor": "-0.42 meters"
+     },
+     "longest dimension": "1.81 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "4.67 meters",
+      "y coordinate": "2.95 meters",
+      "height above floor": "-0.21 meters"
+     },
+     "longest dimension": "0.78 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "3.0 meters",
+      "y coordinate": "3.06 meters",
+      "height above floor": "-0.12 meters"
+     },
+     "longest dimension": "1.43 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "1.56 meters",
+      "y coordinate": "-3.0 meters",
+      "height above floor": "-0.02 meters"
+     },
+     "longest dimension": "0.45 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "6.4 meters",
+      "y coordinate": "2.71 meters",
+      "height above floor": "-0.12 meters"
+     },
+     "longest dimension": "0.65 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-0.57 meters",
+      "y coordinate": "-0.19 meters",
+      "height above floor": "-0.05 meters"
+     },
+     "longest dimension": "0.8 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "0.56 meters",
+      "y coordinate": "-2.87 meters",
+      "height above floor": "-0.03 meters"
+     },
+     "longest dimension": "0.65 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "5.99 meters",
+      "y coordinate": "2.81 meters",
+      "height above floor": "-0.54 meters"
+     },
+     "longest dimension": "0.54 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-0.96 meters",
+      "y coordinate": "-2.68 meters",
+      "height above floor": "0.15 meters"
+     },
+     "longest dimension": "0.38 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "2.61 meters",
+      "y coordinate": "-3.2 meters",
+      "height above floor": "-0.26 meters"
+     },
+     "longest dimension": "0.78 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-0.56 meters",
+      "y coordinate": "-1.58 meters",
+      "height above floor": "0.13 meters"
+     },
+     "longest dimension": "0.38 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "2.66 meters",
+      "y coordinate": "3.91 meters",
+      "height above floor": "0.34 meters"
+     },
+     "longest dimension": "0.25 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "6.16 meters",
+      "y coordinate": "2.62 meters",
+      "height above floor": "-0.02 meters"
+     },
+     "longest dimension": "0.33 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "4.56 meters",
+      "y coordinate": "3.67 meters",
+      "height above floor": "0.29 meters"
+     },
+     "longest dimension": "0.13 meters"
+    }
+   ]
+  },
+  "clock": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "1.92 meters",
+      "y coordinate": "-3.31 meters",
+      "height above floor": "1.92 meters"
+     },
+     "longest dimension": "0.29 meters"
+    }
+   ]
+  },
+  "door": {
+   "count": 3,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "4.04 meters",
+      "y coordinate": "-3.6 meters",
+      "height above floor": "0.71 meters"
+     },
+     "longest dimension": "1.9 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "4.0 meters",
+      "y coordinate": "-3.61 meters",
+      "height above floor": "0.24 meters"
+     },
+     "longest dimension": "1.57 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "4.2 meters",
+      "y coordinate": "-3.69 meters",
+      "height above floor": "0.32 meters"
+     },
+     "longest dimension": "1.26 meters"
+    }
+   ]
+  },
+  "microwave": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "4.5 meters",
+      "y coordinate": "3.66 meters",
+      "height above floor": "0.17 meters"
+     },
+     "longest dimension": "1.66 meters"
+    }
+   ]
+  },
+  "power strip": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "5.26 meters",
+      "y coordinate": "2.42 meters",
+      "height above floor": "0.02 meters"
+     },
+     "longest dimension": "0.31 meters"
+    }
+   ]
+  },
+  "table": {
+   "count": 6,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "2.66 meters",
+      "y coordinate": "0.25 meters",
+      "height above floor": "-0.02 meters"
+     },
+     "longest dimension": "1.39 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "4.98 meters",
+      "y coordinate": "2.09 meters",
+      "height above floor": "-0.02 meters"
+     },
+     "longest dimension": "2.41 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "1.53 meters",
+      "y coordinate": "2.49 meters",
+      "height above floor": "0.07 meters"
+     },
+     "longest dimension": "1.18 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "4.66 meters",
+      "y coordinate": "3.65 meters",
+      "height above floor": "0.24 meters"
+     },
+     "longest dimension": "0.51 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-0.24 meters",
+      "y coordinate": "-2.05 meters",
+      "height above floor": "0.01 meters"
+     },
+     "longest dimension": "0.74 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "4.39 meters",
+      "y coordinate": "3.69 meters",
+      "height above floor": "0.3 meters"
+     },
+     "longest dimension": "0.61 meters"
+    }
+   ]
+  },
+  "trash can": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "4.98 meters",
+      "y coordinate": "-3.33 meters",
+      "height above floor": "-0.49 meters"
+     },
+     "longest dimension": "0.33 meters"
+    }
+   ]
+  },
+  "whiteboard": {
+   "count": 8,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "6.18 meters",
+      "y coordinate": "-0.75 meters",
+      "height above floor": "-0.06 meters"
+     },
+     "longest dimension": "2.41 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "6.11 meters",
+      "y coordinate": "-0.84 meters",
+      "height above floor": "1.01 meters"
+     },
+     "longest dimension": "1.97 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "6.46 meters",
+      "y coordinate": "1.52 meters",
+      "height above floor": "0.99 meters"
+     },
+     "longest dimension": "1.61 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "6.23 meters",
+      "y coordinate": "-0.71 meters",
+      "height above floor": "1.27 meters"
+     },
+     "longest dimension": "2.46 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "2.34 meters",
+      "y coordinate": "-3.39 meters",
+      "height above floor": "0.31 meters"
+     },
+     "longest dimension": "1.3 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "2.21 meters",
+      "y coordinate": "-3.4 meters",
+      "height above floor": "0.79 meters"
+     },
+     "longest dimension": "2.03 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "6.24 meters",
+      "y coordinate": "0.0 meters",
+      "height above floor": "0.23 meters"
+     },
+     "longest dimension": "1.0 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "6.57 meters",
+      "y coordinate": "2.01 meters",
+      "height above floor": "0.2 meters"
+     },
+     "longest dimension": "0.7 meters"
+    }
+   ]
+  }
+ },
+ "room": {
+  "floor area": "58.8 square meters"
+ },
+ "closest classes distance meters from": {
+  "ceiling light": {
+   "whiteboard": {
+    "distance": "0.73 meters",
+    "closeness rank": 1
+   },
+   "clock": {
+    "distance": "0.75 meters",
+    "closeness rank": 2
+   },
+   "door": {
+    "distance": "0.92 meters",
+    "closeness rank": 3
+   },
+   "chair": {
+    "distance": "1.74 meters",
+    "closeness rank": 4
+   },
+   "table": {
+    "distance": "2.0 meters",
+    "closeness rank": 5
+   },
+   "power strip": {
+    "distance": "2.05 meters",
+    "closeness rank": 6
+   },
+   "microwave": {
+    "distance": "2.06 meters",
+    "closeness rank": 7
+   },
+   "trash can": {
+    "distance": "2.64 meters",
+    "closeness rank": 8
+   }
+  },
+  "chair": {
+   "microwave": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "table": {
+    "distance": "0.0 meters",
+    "closeness rank": 2
+   },
+   "whiteboard": {
+    "distance": "0.0 meters",
+    "closeness rank": 3
+   },
+   "power strip": {
+    "distance": "0.51 meters",
+    "closeness rank": 4
+   },
+   "door": {
+    "distance": "0.87 meters",
+    "closeness rank": 5
+   },
+   "clock": {
+    "distance": "1.59 meters",
+    "closeness rank": 6
+   },
+   "ceiling light": {
+    "distance": "1.74 meters",
+    "closeness rank": 7
+   },
+   "trash can": {
+    "distance": "2.06 meters",
+    "closeness rank": 8
+   }
+  },
+  "clock": {
+   "whiteboard": {
+    "distance": "0.36 meters",
+    "closeness rank": 1
+   },
+   "ceiling light": {
+    "distance": "0.75 meters",
+    "closeness rank": 2
+   },
+   "door": {
+    "distance": "1.56 meters",
+    "closeness rank": 3
+   },
+   "chair": {
+    "distance": "1.59 meters",
+    "closeness rank": 4
+   },
+   "table": {
+    "distance": "2.66 meters",
+    "closeness rank": 5
+   },
+   "trash can": {
+    "distance": "3.48 meters",
+    "closeness rank": 6
+   },
+   "power strip": {
+    "distance": "6.63 meters",
+    "closeness rank": 7
+   },
+   "microwave": {
+    "distance": "7.36 meters",
+    "closeness rank": 8
+   }
+  },
+  "door": {
+   "whiteboard": {
+    "distance": "0.35 meters",
+    "closeness rank": 1
+   },
+   "trash can": {
+    "distance": "0.38 meters",
+    "closeness rank": 2
+   },
+   "chair": {
+    "distance": "0.87 meters",
+    "closeness rank": 3
+   },
+   "ceiling light": {
+    "distance": "0.92 meters",
+    "closeness rank": 4
+   },
+   "clock": {
+    "distance": "1.56 meters",
+    "closeness rank": 5
+   },
+   "table": {
+    "distance": "3.18 meters",
+    "closeness rank": 6
+   },
+   "power strip": {
+    "distance": "5.95 meters",
+    "closeness rank": 7
+   },
+   "microwave": {
+    "distance": "7.21 meters",
+    "closeness rank": 8
+   }
+  },
+  "microwave": {
+   "chair": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "table": {
+    "distance": "0.0 meters",
+    "closeness rank": 2
+   },
+   "power strip": {
+    "distance": "0.96 meters",
+    "closeness rank": 3
+   },
+   "whiteboard": {
+    "distance": "1.71 meters",
+    "closeness rank": 4
+   },
+   "ceiling light": {
+    "distance": "2.06 meters",
+    "closeness rank": 5
+   },
+   "trash can": {
+    "distance": "6.69 meters",
+    "closeness rank": 6
+   },
+   "door": {
+    "distance": "7.21 meters",
+    "closeness rank": 7
+   },
+   "clock": {
+    "distance": "7.36 meters",
+    "closeness rank": 8
+   }
+  },
+  "power strip": {
+   "table": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "chair": {
+    "distance": "0.51 meters",
+    "closeness rank": 2
+   },
+   "microwave": {
+    "distance": "0.96 meters",
+    "closeness rank": 3
+   },
+   "whiteboard": {
+    "distance": "1.28 meters",
+    "closeness rank": 4
+   },
+   "ceiling light": {
+    "distance": "2.05 meters",
+    "closeness rank": 5
+   },
+   "trash can": {
+    "distance": "5.42 meters",
+    "closeness rank": 6
+   },
+   "door": {
+    "distance": "5.95 meters",
+    "closeness rank": 7
+   },
+   "clock": {
+    "distance": "6.63 meters",
+    "closeness rank": 8
+   }
+  },
+  "table": {
+   "chair": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "microwave": {
+    "distance": "0.0 meters",
+    "closeness rank": 2
+   },
+   "power strip": {
+    "distance": "0.0 meters",
+    "closeness rank": 3
+   },
+   "whiteboard": {
+    "distance": "0.33 meters",
+    "closeness rank": 4
+   },
+   "ceiling light": {
+    "distance": "2.0 meters",
+    "closeness rank": 5
+   },
+   "clock": {
+    "distance": "2.66 meters",
+    "closeness rank": 6
+   },
+   "door": {
+    "distance": "3.18 meters",
+    "closeness rank": 7
+   },
+   "trash can": {
+    "distance": "3.32 meters",
+    "closeness rank": 8
+   }
+  },
+  "trash can": {
+   "door": {
+    "distance": "0.38 meters",
+    "closeness rank": 1
+   },
+   "whiteboard": {
+    "distance": "1.59 meters",
+    "closeness rank": 2
+   },
+   "chair": {
+    "distance": "2.06 meters",
+    "closeness rank": 3
+   },
+   "ceiling light": {
+    "distance": "2.64 meters",
+    "closeness rank": 4
+   },
+   "table": {
+    "distance": "3.32 meters",
+    "closeness rank": 5
+   },
+   "clock": {
+    "distance": "3.48 meters",
+    "closeness rank": 6
+   },
+   "power strip": {
+    "distance": "5.42 meters",
+    "closeness rank": 7
+   },
+   "microwave": {
+    "distance": "6.69 meters",
+    "closeness rank": 8
+   }
+  },
+  "whiteboard": {
+   "chair": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "table": {
+    "distance": "0.33 meters",
+    "closeness rank": 2
+   },
+   "door": {
+    "distance": "0.35 meters",
+    "closeness rank": 3
+   },
+   "clock": {
+    "distance": "0.36 meters",
+    "closeness rank": 4
+   },
+   "ceiling light": {
+    "distance": "0.73 meters",
+    "closeness rank": 5
+   },
+   "power strip": {
+    "distance": "1.28 meters",
+    "closeness rank": 6
+   },
+   "trash can": {
+    "distance": "1.59 meters",
+    "closeness rank": 7
+   },
+   "microwave": {
+    "distance": "1.71 meters",
+    "closeness rank": 8
+   }
+  }
+ },
+ "appearance order": ["chair", "table", "trash can", "whiteboard", "ceiling light", "door", "power strip", "clock", "microwave"]
+}
\ No newline at end of file
diff --git a/data/spatial codes/sam3+depth-anything-3/metric/tracking/selective/32/explicit/e398684d27.json b/data/spatial codes/sam3+depth-anything-3/metric/tracking/selective/32/explicit/e398684d27.json
new file mode 100644
index 0000000000000000000000000000000000000000..4434d3c7986f5dcd380ab68d5149fd8bb0dd89a1
--- /dev/null
+++ b/data/spatial codes/sam3+depth-anything-3/metric/tracking/selective/32/explicit/e398684d27.json	
@@ -0,0 +1,640 @@
+{
+ "spatial code schema": {
+  "objects": {
+   "<object class>": {
+    "count": {
+     "unit": null,
+     "description": "number of instances of this class in the compact spatial code (that schema's per-class oriented-box list length)"
+    },
+    "instances": [
+     {
+      "position": {
+       "x coordinate": {
+        "unit": "meters",
+        "description": "x coordinate of this instance's compact 3D oriented bounding box center"
+       },
+       "y coordinate": {
+        "unit": "meters",
+        "description": "y coordinate of this instance's compact 3D oriented bounding box center"
+       },
+       "height above floor": {
+        "unit": "meters",
+        "description": "height coordinate of this instance's compact 3D oriented bounding box center"
+       }
+      },
+      "longest dimension": {
+       "unit": "meters",
+       "description": "longest of this instance's compact 3D oriented bounding box dimensions"
+      }
+     }
+    ]
+   }
+  },
+  "room": {
+   "floor area": {
+    "unit": "square meters",
+    "description": "shoelace area of the compact spatial code's floor boundary polygons, with every interior hole subtracted"
+   }
+  },
+  "closest classes distance meters from": {
+   "<object class>": {
+    "<other object class>": {
+     "distance": {
+      "unit": "meters",
+      "description": "minimum surface-to-surface separation between the two classes' compact 3D oriented bounding boxes, over every instance pair"
+     },
+     "closeness rank": {
+      "unit": null,
+      "description": "1 = the nearest other class to this one, 2 = second-nearest, and so on"
+     }
+    }
+   }
+  },
+  "appearance order": {
+   "unit": null,
+   "description": "class names ordered by earliest compact 'first visible time' across all of that class's instances"
+  }
+ },
+ "objects": {
+  "basket": {
+   "count": 2,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-1.37 meters",
+      "y coordinate": "1.08 meters",
+      "height above floor": "-0.08 meters"
+     },
+     "longest dimension": "0.12 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-1.33 meters",
+      "y coordinate": "1.19 meters",
+      "height above floor": "-0.08 meters"
+     },
+     "longest dimension": "0.11 meters"
+    }
+   ]
+  },
+  "ceiling light": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-1.87 meters",
+      "y coordinate": "-1.62 meters",
+      "height above floor": "0.85 meters"
+     },
+     "longest dimension": "1.39 meters"
+    }
+   ]
+  },
+  "crate": {
+   "count": 2,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-2.02 meters",
+      "y coordinate": "1.72 meters",
+      "height above floor": "1.31 meters"
+     },
+     "longest dimension": "0.44 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-1.37 meters",
+      "y coordinate": "1.08 meters",
+      "height above floor": "-0.08 meters"
+     },
+     "longest dimension": "0.12 meters"
+    }
+   ]
+  },
+  "door": {
+   "count": 5,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-1.04 meters",
+      "y coordinate": "0.79 meters",
+      "height above floor": "0.24 meters"
+     },
+     "longest dimension": "1.32 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-0.06 meters",
+      "y coordinate": "0.23 meters",
+      "height above floor": "0.15 meters"
+     },
+     "longest dimension": "0.98 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-1.28 meters",
+      "y coordinate": "0.11 meters",
+      "height above floor": "1.51 meters"
+     },
+     "longest dimension": "1.11 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-2.02 meters",
+      "y coordinate": "1.41 meters",
+      "height above floor": "0.99 meters"
+     },
+     "longest dimension": "1.12 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-2.11 meters",
+      "y coordinate": "1.47 meters",
+      "height above floor": "1.54 meters"
+     },
+     "longest dimension": "0.37 meters"
+    }
+   ]
+  },
+  "headphones": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-1.93 meters",
+      "y coordinate": "-0.07 meters",
+      "height above floor": "1.5 meters"
+     },
+     "longest dimension": "0.48 meters"
+    }
+   ]
+  },
+  "monitor": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-0.28 meters",
+      "y coordinate": "-0.72 meters",
+      "height above floor": "1.55 meters"
+     },
+     "longest dimension": "0.49 meters"
+    }
+   ]
+  },
+  "paper bag": {
+   "count": 2,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-1.35 meters",
+      "y coordinate": "-0.36 meters",
+      "height above floor": "0.03 meters"
+     },
+     "longest dimension": "0.41 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-2.17 meters",
+      "y coordinate": "-0.1 meters",
+      "height above floor": "0.83 meters"
+     },
+     "longest dimension": "0.44 meters"
+    }
+   ]
+  },
+  "refrigerator": {
+   "count": 2,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-1.66 meters",
+      "y coordinate": "0.1 meters",
+      "height above floor": "0.59 meters"
+     },
+     "longest dimension": "1.69 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-2.18 meters",
+      "y coordinate": "0.27 meters",
+      "height above floor": "1.55 meters"
+     },
+     "longest dimension": "0.62 meters"
+    }
+   ]
+  },
+  "tv": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-0.28 meters",
+      "y coordinate": "-0.72 meters",
+      "height above floor": "1.55 meters"
+     },
+     "longest dimension": "0.49 meters"
+    }
+   ]
+  },
+  "whiteboard": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "0.25 meters",
+      "y coordinate": "0.31 meters",
+      "height above floor": "0.11 meters"
+     },
+     "longest dimension": "1.48 meters"
+    }
+   ]
+  }
+ },
+ "room": {
+  "floor area": "15.7 square meters"
+ },
+ "closest classes distance meters from": {
+  "basket": {
+   "crate": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "door": {
+    "distance": "0.34 meters",
+    "closeness rank": 2
+   },
+   "refrigerator": {
+    "distance": "1.01 meters",
+    "closeness rank": 3
+   },
+   "paper bag": {
+    "distance": "1.21 meters",
+    "closeness rank": 4
+   },
+   "whiteboard": {
+    "distance": "1.71 meters",
+    "closeness rank": 5
+   },
+   "headphones": {
+    "distance": "1.88 meters",
+    "closeness rank": 6
+   },
+   "monitor": {
+    "distance": "2.41 meters",
+    "closeness rank": 7
+   },
+   "tv": {
+    "distance": "2.41 meters",
+    "closeness rank": 8
+   },
+   "ceiling light": {
+    "distance": "2.73 meters",
+    "closeness rank": 9
+   }
+  },
+  "ceiling light": {
+   "monitor": {
+    "distance": "1.17 meters",
+    "closeness rank": 1
+   },
+   "tv": {
+    "distance": "1.17 meters",
+    "closeness rank": 2
+   },
+   "paper bag": {
+    "distance": "1.19 meters",
+    "closeness rank": 3
+   },
+   "door": {
+    "distance": "1.29 meters",
+    "closeness rank": 4
+   },
+   "headphones": {
+    "distance": "1.41 meters",
+    "closeness rank": 5
+   },
+   "refrigerator": {
+    "distance": "1.47 meters",
+    "closeness rank": 6
+   },
+   "whiteboard": {
+    "distance": "1.79 meters",
+    "closeness rank": 7
+   },
+   "basket": {
+    "distance": "2.73 meters",
+    "closeness rank": 8
+   },
+   "crate": {
+    "distance": "2.73 meters",
+    "closeness rank": 9
+   }
+  },
+  "crate": {
+   "basket": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "door": {
+    "distance": "0.06 meters",
+    "closeness rank": 2
+   },
+   "refrigerator": {
+    "distance": "1.01 meters",
+    "closeness rank": 3
+   },
+   "paper bag": {
+    "distance": "1.21 meters",
+    "closeness rank": 4
+   },
+   "headphones": {
+    "distance": "1.4 meters",
+    "closeness rank": 5
+   },
+   "whiteboard": {
+    "distance": "1.72 meters",
+    "closeness rank": 6
+   },
+   "monitor": {
+    "distance": "2.41 meters",
+    "closeness rank": 7
+   },
+   "tv": {
+    "distance": "2.41 meters",
+    "closeness rank": 8
+   },
+   "ceiling light": {
+    "distance": "2.73 meters",
+    "closeness rank": 9
+   }
+  },
+  "door": {
+   "headphones": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "whiteboard": {
+    "distance": "0.0 meters",
+    "closeness rank": 2
+   },
+   "crate": {
+    "distance": "0.06 meters",
+    "closeness rank": 3
+   },
+   "refrigerator": {
+    "distance": "0.19 meters",
+    "closeness rank": 4
+   },
+   "basket": {
+    "distance": "0.34 meters",
+    "closeness rank": 5
+   },
+   "paper bag": {
+    "distance": "0.43 meters",
+    "closeness rank": 6
+   },
+   "monitor": {
+    "distance": "0.83 meters",
+    "closeness rank": 7
+   },
+   "tv": {
+    "distance": "0.84 meters",
+    "closeness rank": 8
+   },
+   "ceiling light": {
+    "distance": "1.29 meters",
+    "closeness rank": 9
+   }
+  },
+  "headphones": {
+   "door": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "refrigerator": {
+    "distance": "0.01 meters",
+    "closeness rank": 2
+   },
+   "paper bag": {
+    "distance": "0.62 meters",
+    "closeness rank": 3
+   },
+   "monitor": {
+    "distance": "1.23 meters",
+    "closeness rank": 4
+   },
+   "tv": {
+    "distance": "1.23 meters",
+    "closeness rank": 5
+   },
+   "crate": {
+    "distance": "1.4 meters",
+    "closeness rank": 6
+   },
+   "ceiling light": {
+    "distance": "1.41 meters",
+    "closeness rank": 7
+   },
+   "basket": {
+    "distance": "1.88 meters",
+    "closeness rank": 8
+   },
+   "whiteboard": {
+    "distance": "2.01 meters",
+    "closeness rank": 9
+   }
+  },
+  "monitor": {
+   "tv": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "door": {
+    "distance": "0.83 meters",
+    "closeness rank": 2
+   },
+   "refrigerator": {
+    "distance": "0.95 meters",
+    "closeness rank": 3
+   },
+   "whiteboard": {
+    "distance": "1.08 meters",
+    "closeness rank": 4
+   },
+   "ceiling light": {
+    "distance": "1.17 meters",
+    "closeness rank": 5
+   },
+   "headphones": {
+    "distance": "1.23 meters",
+    "closeness rank": 6
+   },
+   "paper bag": {
+    "distance": "1.45 meters",
+    "closeness rank": 7
+   },
+   "basket": {
+    "distance": "2.41 meters",
+    "closeness rank": 8
+   },
+   "crate": {
+    "distance": "2.41 meters",
+    "closeness rank": 9
+   }
+  },
+  "paper bag": {
+   "refrigerator": {
+    "distance": "0.13 meters",
+    "closeness rank": 1
+   },
+   "door": {
+    "distance": "0.43 meters",
+    "closeness rank": 2
+   },
+   "headphones": {
+    "distance": "0.62 meters",
+    "closeness rank": 3
+   },
+   "whiteboard": {
+    "distance": "1.13 meters",
+    "closeness rank": 4
+   },
+   "ceiling light": {
+    "distance": "1.19 meters",
+    "closeness rank": 5
+   },
+   "basket": {
+    "distance": "1.21 meters",
+    "closeness rank": 6
+   },
+   "crate": {
+    "distance": "1.21 meters",
+    "closeness rank": 7
+   },
+   "monitor": {
+    "distance": "1.45 meters",
+    "closeness rank": 8
+   },
+   "tv": {
+    "distance": "1.45 meters",
+    "closeness rank": 9
+   }
+  },
+  "refrigerator": {
+   "headphones": {
+    "distance": "0.01 meters",
+    "closeness rank": 1
+   },
+   "paper bag": {
+    "distance": "0.13 meters",
+    "closeness rank": 2
+   },
+   "door": {
+    "distance": "0.19 meters",
+    "closeness rank": 3
+   },
+   "whiteboard": {
+    "distance": "0.89 meters",
+    "closeness rank": 4
+   },
+   "monitor": {
+    "distance": "0.95 meters",
+    "closeness rank": 5
+   },
+   "tv": {
+    "distance": "0.95 meters",
+    "closeness rank": 6
+   },
+   "basket": {
+    "distance": "1.01 meters",
+    "closeness rank": 7
+   },
+   "crate": {
+    "distance": "1.01 meters",
+    "closeness rank": 8
+   },
+   "ceiling light": {
+    "distance": "1.47 meters",
+    "closeness rank": 9
+   }
+  },
+  "tv": {
+   "monitor": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "door": {
+    "distance": "0.84 meters",
+    "closeness rank": 2
+   },
+   "refrigerator": {
+    "distance": "0.95 meters",
+    "closeness rank": 3
+   },
+   "whiteboard": {
+    "distance": "1.08 meters",
+    "closeness rank": 4
+   },
+   "ceiling light": {
+    "distance": "1.17 meters",
+    "closeness rank": 5
+   },
+   "headphones": {
+    "distance": "1.23 meters",
+    "closeness rank": 6
+   },
+   "paper bag": {
+    "distance": "1.45 meters",
+    "closeness rank": 7
+   },
+   "basket": {
+    "distance": "2.41 meters",
+    "closeness rank": 8
+   },
+   "crate": {
+    "distance": "2.41 meters",
+    "closeness rank": 9
+   }
+  },
+  "whiteboard": {
+   "door": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "refrigerator": {
+    "distance": "0.89 meters",
+    "closeness rank": 2
+   },
+   "monitor": {
+    "distance": "1.08 meters",
+    "closeness rank": 3
+   },
+   "tv": {
+    "distance": "1.08 meters",
+    "closeness rank": 4
+   },
+   "paper bag": {
+    "distance": "1.13 meters",
+    "closeness rank": 5
+   },
+   "basket": {
+    "distance": "1.71 meters",
+    "closeness rank": 6
+   },
+   "crate": {
+    "distance": "1.72 meters",
+    "closeness rank": 7
+   },
+   "ceiling light": {
+    "distance": "1.79 meters",
+    "closeness rank": 8
+   },
+   "headphones": {
+    "distance": "2.01 meters",
+    "closeness rank": 9
+   }
+  }
+ },
+ "appearance order": ["door", "ceiling light", "crate", "whiteboard", "monitor", "tv", "refrigerator", "headphones", "paper bag", "basket"]
+}
\ No newline at end of file
diff --git a/data/spatial codes/sam3+depth-anything-3/metric/tracking/selective/32/explicit/f9f95681fd.json b/data/spatial codes/sam3+depth-anything-3/metric/tracking/selective/32/explicit/f9f95681fd.json
new file mode 100644
index 0000000000000000000000000000000000000000..5c13c7b4962a0b1739a2553089b64f1c5aeba593
--- /dev/null
+++ b/data/spatial codes/sam3+depth-anything-3/metric/tracking/selective/32/explicit/f9f95681fd.json	
@@ -0,0 +1,846 @@
+{
+ "spatial code schema": {
+  "objects": {
+   "<object class>": {
+    "count": {
+     "unit": null,
+     "description": "number of instances of this class in the compact spatial code (that schema's per-class oriented-box list length)"
+    },
+    "instances": [
+     {
+      "position": {
+       "x coordinate": {
+        "unit": "meters",
+        "description": "x coordinate of this instance's compact 3D oriented bounding box center"
+       },
+       "y coordinate": {
+        "unit": "meters",
+        "description": "y coordinate of this instance's compact 3D oriented bounding box center"
+       },
+       "height above floor": {
+        "unit": "meters",
+        "description": "height coordinate of this instance's compact 3D oriented bounding box center"
+       }
+      },
+      "longest dimension": {
+       "unit": "meters",
+       "description": "longest of this instance's compact 3D oriented bounding box dimensions"
+      }
+     }
+    ]
+   }
+  },
+  "room": {
+   "floor area": {
+    "unit": "square meters",
+    "description": "shoelace area of the compact spatial code's floor boundary polygons, with every interior hole subtracted"
+   }
+  },
+  "closest classes distance meters from": {
+   "<object class>": {
+    "<other object class>": {
+     "distance": {
+      "unit": "meters",
+      "description": "minimum surface-to-surface separation between the two classes' compact 3D oriented bounding boxes, over every instance pair"
+     },
+     "closeness rank": {
+      "unit": null,
+      "description": "1 = the nearest other class to this one, 2 = second-nearest, and so on"
+     }
+    }
+   }
+  },
+  "appearance order": {
+   "unit": null,
+   "description": "class names ordered by earliest compact 'first visible time' across all of that class's instances"
+  }
+ },
+ "objects": {
+  "basket": {
+   "count": 2,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-0.85 meters",
+      "y coordinate": "0.01 meters",
+      "height above floor": "-0.28 meters"
+     },
+     "longest dimension": "0.25 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-0.87 meters",
+      "y coordinate": "-0.02 meters",
+      "height above floor": "-0.46 meters"
+     },
+     "longest dimension": "0.28 meters"
+    }
+   ]
+  },
+  "bowl": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-0.69 meters",
+      "y coordinate": "0.09 meters",
+      "height above floor": "-0.58 meters"
+     },
+     "longest dimension": "0.24 meters"
+    }
+   ]
+  },
+  "ceiling light": {
+   "count": 2,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "0.12 meters",
+      "y coordinate": "0.31 meters",
+      "height above floor": "1.39 meters"
+     },
+     "longest dimension": "0.26 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "0.73 meters",
+      "y coordinate": "-0.02 meters",
+      "height above floor": "1.45 meters"
+     },
+     "longest dimension": "0.14 meters"
+    }
+   ]
+  },
+  "cup": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-0.68 meters",
+      "y coordinate": "-0.44 meters",
+      "height above floor": "0.0 meters"
+     },
+     "longest dimension": "0.09 meters"
+    }
+   ]
+  },
+  "cutting board": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-0.74 meters",
+      "y coordinate": "0.26 meters",
+      "height above floor": "-0.47 meters"
+     },
+     "longest dimension": "0.36 meters"
+    }
+   ]
+  },
+  "door": {
+   "count": 6,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-0.31 meters",
+      "y coordinate": "0.52 meters",
+      "height above floor": "-0.04 meters"
+     },
+     "longest dimension": "1.0 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "0.39 meters",
+      "y coordinate": "0.89 meters",
+      "height above floor": "0.43 meters"
+     },
+     "longest dimension": "1.3 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "0.73 meters",
+      "y coordinate": "-0.64 meters",
+      "height above floor": "0.69 meters"
+     },
+     "longest dimension": "1.21 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-0.83 meters",
+      "y coordinate": "0.21 meters",
+      "height above floor": "1.01 meters"
+     },
+     "longest dimension": "0.81 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "1.02 meters",
+      "y coordinate": "0.25 meters",
+      "height above floor": "0.13 meters"
+     },
+     "longest dimension": "0.4 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "0.93 meters",
+      "y coordinate": "-0.01 meters",
+      "height above floor": "1.02 meters"
+     },
+     "longest dimension": "0.87 meters"
+    }
+   ]
+  },
+  "kettle": {
+   "count": 2,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-0.48 meters",
+      "y coordinate": "-0.49 meters",
+      "height above floor": "0.11 meters"
+     },
+     "longest dimension": "0.22 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-0.5 meters",
+      "y coordinate": "-0.48 meters",
+      "height above floor": "0.08 meters"
+     },
+     "longest dimension": "0.22 meters"
+    }
+   ]
+  },
+  "laptop": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-0.84 meters",
+      "y coordinate": "-0.32 meters",
+      "height above floor": "0.14 meters"
+     },
+     "longest dimension": "0.32 meters"
+    }
+   ]
+  },
+  "microwave": {
+   "count": 2,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-0.85 meters",
+      "y coordinate": "-0.34 meters",
+      "height above floor": "0.14 meters"
+     },
+     "longest dimension": "0.53 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "1.12 meters",
+      "y coordinate": "0.16 meters",
+      "height above floor": "0.14 meters"
+     },
+     "longest dimension": "0.51 meters"
+    }
+   ]
+  },
+  "refrigerator": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "0.39 meters",
+      "y coordinate": "0.54 meters",
+      "height above floor": "0.26 meters"
+     },
+     "longest dimension": "0.7 meters"
+    }
+   ]
+  },
+  "trash can": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-0.17 meters",
+      "y coordinate": "0.61 meters",
+      "height above floor": "-0.44 meters"
+     },
+     "longest dimension": "0.35 meters"
+    }
+   ]
+  },
+  "whiteboard": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "0.79 meters",
+      "y coordinate": "-0.01 meters",
+      "height above floor": "0.65 meters"
+     },
+     "longest dimension": "0.95 meters"
+    }
+   ]
+  }
+ },
+ "room": {
+  "floor area": "5.6 square meters"
+ },
+ "closest classes distance meters from": {
+  "basket": {
+   "bowl": {
+    "distance": "0.07 meters",
+    "closeness rank": 1
+   },
+   "cutting board": {
+    "distance": "0.13 meters",
+    "closeness rank": 2
+   },
+   "laptop": {
+    "distance": "0.23 meters",
+    "closeness rank": 3
+   },
+   "microwave": {
+    "distance": "0.25 meters",
+    "closeness rank": 4
+   },
+   "cup": {
+    "distance": "0.39 meters",
+    "closeness rank": 5
+   },
+   "door": {
+    "distance": "0.41 meters",
+    "closeness rank": 6
+   },
+   "kettle": {
+    "distance": "0.46 meters",
+    "closeness rank": 7
+   },
+   "trash can": {
+    "distance": "0.55 meters",
+    "closeness rank": 8
+   },
+   "refrigerator": {
+    "distance": "1.0 meters",
+    "closeness rank": 9
+   },
+   "whiteboard": {
+    "distance": "1.47 meters",
+    "closeness rank": 10
+   },
+   "ceiling light": {
+    "distance": "1.81 meters",
+    "closeness rank": 11
+   }
+  },
+  "bowl": {
+   "cutting board": {
+    "distance": "0.02 meters",
+    "closeness rank": 1
+   },
+   "basket": {
+    "distance": "0.07 meters",
+    "closeness rank": 2
+   },
+   "door": {
+    "distance": "0.24 meters",
+    "closeness rank": 3
+   },
+   "trash can": {
+    "distance": "0.38 meters",
+    "closeness rank": 4
+   },
+   "microwave": {
+    "distance": "0.56 meters",
+    "closeness rank": 5
+   },
+   "laptop": {
+    "distance": "0.56 meters",
+    "closeness rank": 6
+   },
+   "cup": {
+    "distance": "0.63 meters",
+    "closeness rank": 7
+   },
+   "kettle": {
+    "distance": "0.66 meters",
+    "closeness rank": 8
+   },
+   "refrigerator": {
+    "distance": "0.94 meters",
+    "closeness rank": 9
+   },
+   "whiteboard": {
+    "distance": "1.45 meters",
+    "closeness rank": 10
+   },
+   "ceiling light": {
+    "distance": "2.04 meters",
+    "closeness rank": 11
+   }
+  },
+  "ceiling light": {
+   "door": {
+    "distance": "0.12 meters",
+    "closeness rank": 1
+   },
+   "whiteboard": {
+    "distance": "0.32 meters",
+    "closeness rank": 2
+   },
+   "refrigerator": {
+    "distance": "0.77 meters",
+    "closeness rank": 3
+   },
+   "microwave": {
+    "distance": "1.19 meters",
+    "closeness rank": 4
+   },
+   "kettle": {
+    "distance": "1.42 meters",
+    "closeness rank": 5
+   },
+   "laptop": {
+    "distance": "1.42 meters",
+    "closeness rank": 6
+   },
+   "cup": {
+    "distance": "1.64 meters",
+    "closeness rank": 7
+   },
+   "trash can": {
+    "distance": "1.7 meters",
+    "closeness rank": 8
+   },
+   "basket": {
+    "distance": "1.81 meters",
+    "closeness rank": 9
+   },
+   "cutting board": {
+    "distance": "1.82 meters",
+    "closeness rank": 10
+   },
+   "bowl": {
+    "distance": "2.04 meters",
+    "closeness rank": 11
+   }
+  },
+  "cup": {
+   "microwave": {
+    "distance": "0.02 meters",
+    "closeness rank": 1
+   },
+   "kettle": {
+    "distance": "0.04 meters",
+    "closeness rank": 2
+   },
+   "laptop": {
+    "distance": "0.04 meters",
+    "closeness rank": 3
+   },
+   "basket": {
+    "distance": "0.39 meters",
+    "closeness rank": 4
+   },
+   "bowl": {
+    "distance": "0.63 meters",
+    "closeness rank": 5
+   },
+   "cutting board": {
+    "distance": "0.68 meters",
+    "closeness rank": 6
+   },
+   "door": {
+    "distance": "0.71 meters",
+    "closeness rank": 7
+   },
+   "trash can": {
+    "distance": "0.95 meters",
+    "closeness rank": 8
+   },
+   "refrigerator": {
+    "distance": "1.18 meters",
+    "closeness rank": 9
+   },
+   "whiteboard": {
+    "distance": "1.36 meters",
+    "closeness rank": 10
+   },
+   "ceiling light": {
+    "distance": "1.64 meters",
+    "closeness rank": 11
+   }
+  },
+  "cutting board": {
+   "bowl": {
+    "distance": "0.02 meters",
+    "closeness rank": 1
+   },
+   "basket": {
+    "distance": "0.13 meters",
+    "closeness rank": 2
+   },
+   "door": {
+    "distance": "0.19 meters",
+    "closeness rank": 3
+   },
+   "trash can": {
+    "distance": "0.33 meters",
+    "closeness rank": 4
+   },
+   "microwave": {
+    "distance": "0.48 meters",
+    "closeness rank": 5
+   },
+   "laptop": {
+    "distance": "0.53 meters",
+    "closeness rank": 6
+   },
+   "kettle": {
+    "distance": "0.67 meters",
+    "closeness rank": 7
+   },
+   "cup": {
+    "distance": "0.68 meters",
+    "closeness rank": 8
+   },
+   "refrigerator": {
+    "distance": "0.8 meters",
+    "closeness rank": 9
+   },
+   "whiteboard": {
+    "distance": "1.32 meters",
+    "closeness rank": 10
+   },
+   "ceiling light": {
+    "distance": "1.82 meters",
+    "closeness rank": 11
+   }
+  },
+  "door": {
+   "microwave": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "trash can": {
+    "distance": "0.0 meters",
+    "closeness rank": 2
+   },
+   "whiteboard": {
+    "distance": "0.0 meters",
+    "closeness rank": 3
+   },
+   "refrigerator": {
+    "distance": "0.08 meters",
+    "closeness rank": 4
+   },
+   "ceiling light": {
+    "distance": "0.12 meters",
+    "closeness rank": 5
+   },
+   "cutting board": {
+    "distance": "0.19 meters",
+    "closeness rank": 6
+   },
+   "bowl": {
+    "distance": "0.24 meters",
+    "closeness rank": 7
+   },
+   "basket": {
+    "distance": "0.41 meters",
+    "closeness rank": 8
+   },
+   "laptop": {
+    "distance": "0.42 meters",
+    "closeness rank": 9
+   },
+   "kettle": {
+    "distance": "0.65 meters",
+    "closeness rank": 10
+   },
+   "cup": {
+    "distance": "0.71 meters",
+    "closeness rank": 11
+   }
+  },
+  "kettle": {
+   "cup": {
+    "distance": "0.04 meters",
+    "closeness rank": 1
+   },
+   "microwave": {
+    "distance": "0.1 meters",
+    "closeness rank": 2
+   },
+   "laptop": {
+    "distance": "0.13 meters",
+    "closeness rank": 3
+   },
+   "basket": {
+    "distance": "0.46 meters",
+    "closeness rank": 4
+   },
+   "door": {
+    "distance": "0.65 meters",
+    "closeness rank": 5
+   },
+   "bowl": {
+    "distance": "0.66 meters",
+    "closeness rank": 6
+   },
+   "cutting board": {
+    "distance": "0.67 meters",
+    "closeness rank": 7
+   },
+   "trash can": {
+    "distance": "0.9 meters",
+    "closeness rank": 8
+   },
+   "refrigerator": {
+    "distance": "1.05 meters",
+    "closeness rank": 9
+   },
+   "whiteboard": {
+    "distance": "1.14 meters",
+    "closeness rank": 10
+   },
+   "ceiling light": {
+    "distance": "1.42 meters",
+    "closeness rank": 11
+   }
+  },
+  "laptop": {
+   "microwave": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "cup": {
+    "distance": "0.04 meters",
+    "closeness rank": 2
+   },
+   "kettle": {
+    "distance": "0.13 meters",
+    "closeness rank": 3
+   },
+   "basket": {
+    "distance": "0.23 meters",
+    "closeness rank": 4
+   },
+   "door": {
+    "distance": "0.42 meters",
+    "closeness rank": 5
+   },
+   "cutting board": {
+    "distance": "0.53 meters",
+    "closeness rank": 6
+   },
+   "bowl": {
+    "distance": "0.56 meters",
+    "closeness rank": 7
+   },
+   "trash can": {
+    "distance": "0.84 meters",
+    "closeness rank": 8
+   },
+   "refrigerator": {
+    "distance": "1.15 meters",
+    "closeness rank": 9
+   },
+   "whiteboard": {
+    "distance": "1.41 meters",
+    "closeness rank": 10
+   },
+   "ceiling light": {
+    "distance": "1.42 meters",
+    "closeness rank": 11
+   }
+  },
+  "microwave": {
+   "door": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "laptop": {
+    "distance": "0.0 meters",
+    "closeness rank": 2
+   },
+   "whiteboard": {
+    "distance": "0.02 meters",
+    "closeness rank": 3
+   },
+   "cup": {
+    "distance": "0.02 meters",
+    "closeness rank": 4
+   },
+   "kettle": {
+    "distance": "0.1 meters",
+    "closeness rank": 5
+   },
+   "basket": {
+    "distance": "0.25 meters",
+    "closeness rank": 6
+   },
+   "refrigerator": {
+    "distance": "0.46 meters",
+    "closeness rank": 7
+   },
+   "cutting board": {
+    "distance": "0.48 meters",
+    "closeness rank": 8
+   },
+   "bowl": {
+    "distance": "0.56 meters",
+    "closeness rank": 9
+   },
+   "trash can": {
+    "distance": "0.74 meters",
+    "closeness rank": 10
+   },
+   "ceiling light": {
+    "distance": "1.19 meters",
+    "closeness rank": 11
+   }
+  },
+  "refrigerator": {
+   "door": {
+    "distance": "0.08 meters",
+    "closeness rank": 1
+   },
+   "trash can": {
+    "distance": "0.28 meters",
+    "closeness rank": 2
+   },
+   "whiteboard": {
+    "distance": "0.32 meters",
+    "closeness rank": 3
+   },
+   "microwave": {
+    "distance": "0.46 meters",
+    "closeness rank": 4
+   },
+   "ceiling light": {
+    "distance": "0.77 meters",
+    "closeness rank": 5
+   },
+   "cutting board": {
+    "distance": "0.8 meters",
+    "closeness rank": 6
+   },
+   "bowl": {
+    "distance": "0.94 meters",
+    "closeness rank": 7
+   },
+   "basket": {
+    "distance": "1.0 meters",
+    "closeness rank": 8
+   },
+   "kettle": {
+    "distance": "1.05 meters",
+    "closeness rank": 9
+   },
+   "laptop": {
+    "distance": "1.15 meters",
+    "closeness rank": 10
+   },
+   "cup": {
+    "distance": "1.18 meters",
+    "closeness rank": 11
+   }
+  },
+  "trash can": {
+   "door": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "refrigerator": {
+    "distance": "0.28 meters",
+    "closeness rank": 2
+   },
+   "cutting board": {
+    "distance": "0.33 meters",
+    "closeness rank": 3
+   },
+   "bowl": {
+    "distance": "0.38 meters",
+    "closeness rank": 4
+   },
+   "basket": {
+    "distance": "0.55 meters",
+    "closeness rank": 5
+   },
+   "microwave": {
+    "distance": "0.74 meters",
+    "closeness rank": 6
+   },
+   "laptop": {
+    "distance": "0.84 meters",
+    "closeness rank": 7
+   },
+   "whiteboard": {
+    "distance": "0.87 meters",
+    "closeness rank": 8
+   },
+   "kettle": {
+    "distance": "0.9 meters",
+    "closeness rank": 9
+   },
+   "cup": {
+    "distance": "0.95 meters",
+    "closeness rank": 10
+   },
+   "ceiling light": {
+    "distance": "1.7 meters",
+    "closeness rank": 11
+   }
+  },
+  "whiteboard": {
+   "door": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "microwave": {
+    "distance": "0.02 meters",
+    "closeness rank": 2
+   },
+   "refrigerator": {
+    "distance": "0.32 meters",
+    "closeness rank": 3
+   },
+   "ceiling light": {
+    "distance": "0.32 meters",
+    "closeness rank": 4
+   },
+   "trash can": {
+    "distance": "0.87 meters",
+    "closeness rank": 5
+   },
+   "kettle": {
+    "distance": "1.14 meters",
+    "closeness rank": 6
+   },
+   "cutting board": {
+    "distance": "1.32 meters",
+    "closeness rank": 7
+   },
+   "cup": {
+    "distance": "1.36 meters",
+    "closeness rank": 8
+   },
+   "laptop": {
+    "distance": "1.41 meters",
+    "closeness rank": 9
+   },
+   "bowl": {
+    "distance": "1.45 meters",
+    "closeness rank": 10
+   },
+   "basket": {
+    "distance": "1.47 meters",
+    "closeness rank": 11
+   }
+  }
+ },
+ "appearance order": ["door", "kettle", "basket", "bowl", "cutting board", "trash can", "cup", "microwave", "laptop", "ceiling light", "whiteboard", "refrigerator"]
+}
\ No newline at end of file
diff --git a/data/spatial codes/sam3+depth-anything-3/metric/tracking/selective/32/explicit/fb5a96b1a2.json b/data/spatial codes/sam3+depth-anything-3/metric/tracking/selective/32/explicit/fb5a96b1a2.json
new file mode 100644
index 0000000000000000000000000000000000000000..487e31d11d13e3fd32981bb27ed7358db71c88bb
--- /dev/null
+++ b/data/spatial codes/sam3+depth-anything-3/metric/tracking/selective/32/explicit/fb5a96b1a2.json	
@@ -0,0 +1,1554 @@
+{
+ "spatial code schema": {
+  "objects": {
+   "<object class>": {
+    "count": {
+     "unit": null,
+     "description": "number of instances of this class in the compact spatial code (that schema's per-class oriented-box list length)"
+    },
+    "instances": [
+     {
+      "position": {
+       "x coordinate": {
+        "unit": "meters",
+        "description": "x coordinate of this instance's compact 3D oriented bounding box center"
+       },
+       "y coordinate": {
+        "unit": "meters",
+        "description": "y coordinate of this instance's compact 3D oriented bounding box center"
+       },
+       "height above floor": {
+        "unit": "meters",
+        "description": "height coordinate of this instance's compact 3D oriented bounding box center"
+       }
+      },
+      "longest dimension": {
+       "unit": "meters",
+       "description": "longest of this instance's compact 3D oriented bounding box dimensions"
+      }
+     }
+    ]
+   }
+  },
+  "room": {
+   "floor area": {
+    "unit": "square meters",
+    "description": "shoelace area of the compact spatial code's floor boundary polygons, with every interior hole subtracted"
+   }
+  },
+  "closest classes distance meters from": {
+   "<object class>": {
+    "<other object class>": {
+     "distance": {
+      "unit": "meters",
+      "description": "minimum surface-to-surface separation between the two classes' compact 3D oriented bounding boxes, over every instance pair"
+     },
+     "closeness rank": {
+      "unit": null,
+      "description": "1 = the nearest other class to this one, 2 = second-nearest, and so on"
+     }
+    }
+   }
+  },
+  "appearance order": {
+   "unit": null,
+   "description": "class names ordered by earliest compact 'first visible time' across all of that class's instances"
+  }
+ },
+ "objects": {
+  "bookshelf": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "3.04 meters",
+      "y coordinate": "3.15 meters",
+      "height above floor": "0.41 meters"
+     },
+     "longest dimension": "1.69 meters"
+    }
+   ]
+  },
+  "ceiling light": {
+   "count": 19,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "1.09 meters",
+      "y coordinate": "2.93 meters",
+      "height above floor": "1.77 meters"
+     },
+     "longest dimension": "0.29 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "2.93 meters",
+      "y coordinate": "1.58 meters",
+      "height above floor": "1.72 meters"
+     },
+     "longest dimension": "0.19 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "2.95 meters",
+      "y coordinate": "-1.98 meters",
+      "height above floor": "1.68 meters"
+     },
+     "longest dimension": "0.52 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "2.35 meters",
+      "y coordinate": "1.88 meters",
+      "height above floor": "1.76 meters"
+     },
+     "longest dimension": "0.2 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "1.21 meters",
+      "y coordinate": "0.85 meters",
+      "height above floor": "1.69 meters"
+     },
+     "longest dimension": "0.2 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-0.75 meters",
+      "y coordinate": "-0.06 meters",
+      "height above floor": "1.7 meters"
+     },
+     "longest dimension": "0.33 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "1.66 meters",
+      "y coordinate": "-1.36 meters",
+      "height above floor": "1.71 meters"
+     },
+     "longest dimension": "0.15 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "1.0 meters",
+      "y coordinate": "3.01 meters",
+      "height above floor": "1.82 meters"
+     },
+     "longest dimension": "0.22 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "4.07 meters",
+      "y coordinate": "-0.78 meters",
+      "height above floor": "1.78 meters"
+     },
+     "longest dimension": "0.19 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-0.12 meters",
+      "y coordinate": "-0.44 meters",
+      "height above floor": "1.64 meters"
+     },
+     "longest dimension": "0.18 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "0.7 meters",
+      "y coordinate": "1.21 meters",
+      "height above floor": "1.81 meters"
+     },
+     "longest dimension": "0.4 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-0.31 meters",
+      "y coordinate": "0.9 meters",
+      "height above floor": "1.8 meters"
+     },
+     "longest dimension": "0.45 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "0.26 meters",
+      "y coordinate": "1.71 meters",
+      "height above floor": "1.8 meters"
+     },
+     "longest dimension": "0.41 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "3.8 meters",
+      "y coordinate": "2.78 meters",
+      "height above floor": "1.35 meters"
+     },
+     "longest dimension": "0.08 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "4.83 meters",
+      "y coordinate": "1.01 meters",
+      "height above floor": "1.61 meters"
+     },
+     "longest dimension": "0.16 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-1.28 meters",
+      "y coordinate": "-0.57 meters",
+      "height above floor": "1.64 meters"
+     },
+     "longest dimension": "0.29 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "1.35 meters",
+      "y coordinate": "-2.42 meters",
+      "height above floor": "1.46 meters"
+     },
+     "longest dimension": "0.17 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "3.86 meters",
+      "y coordinate": "2.7 meters",
+      "height above floor": "1.24 meters"
+     },
+     "longest dimension": "0.05 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "0.01 meters",
+      "y coordinate": "2.83 meters",
+      "height above floor": "1.84 meters"
+     },
+     "longest dimension": "0.29 meters"
+    }
+   ]
+  },
+  "chair": {
+   "count": 8,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "0.79 meters",
+      "y coordinate": "0.89 meters",
+      "height above floor": "-0.11 meters"
+     },
+     "longest dimension": "0.88 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "3.21 meters",
+      "y coordinate": "0.33 meters",
+      "height above floor": "-0.12 meters"
+     },
+     "longest dimension": "0.88 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-0.8 meters",
+      "y coordinate": "2.03 meters",
+      "height above floor": "0.17 meters"
+     },
+     "longest dimension": "1.24 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "2.23 meters",
+      "y coordinate": "-1.87 meters",
+      "height above floor": "-0.42 meters"
+     },
+     "longest dimension": "1.03 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "3.68 meters",
+      "y coordinate": "-0.48 meters",
+      "height above floor": "-0.11 meters"
+     },
+     "longest dimension": "0.88 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "2.29 meters",
+      "y coordinate": "-1.82 meters",
+      "height above floor": "-0.43 meters"
+     },
+     "longest dimension": "0.97 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "4.03 meters",
+      "y coordinate": "1.43 meters",
+      "height above floor": "-0.08 meters"
+     },
+     "longest dimension": "0.89 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "3.02 meters",
+      "y coordinate": "-1.73 meters",
+      "height above floor": "-0.16 meters"
+     },
+     "longest dimension": "0.89 meters"
+    }
+   ]
+  },
+  "computer mouse": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "1.74 meters",
+      "y coordinate": "0.64 meters",
+      "height above floor": "0.01 meters"
+     },
+     "longest dimension": "0.13 meters"
+    }
+   ]
+  },
+  "cushion": {
+   "count": 3,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "1.16 meters",
+      "y coordinate": "-1.52 meters",
+      "height above floor": "-0.34 meters"
+     },
+     "longest dimension": "0.62 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "1.0 meters",
+      "y coordinate": "-1.74 meters",
+      "height above floor": "-0.15 meters"
+     },
+     "longest dimension": "0.45 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "2.12 meters",
+      "y coordinate": "-1.79 meters",
+      "height above floor": "-0.43 meters"
+     },
+     "longest dimension": "0.54 meters"
+    }
+   ]
+  },
+  "door": {
+   "count": 2,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "4.42 meters",
+      "y coordinate": "1.86 meters",
+      "height above floor": "0.67 meters"
+     },
+     "longest dimension": "0.97 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "2.46 meters",
+      "y coordinate": "3.52 meters",
+      "height above floor": "-0.04 meters"
+     },
+     "longest dimension": "0.77 meters"
+    }
+   ]
+  },
+  "keyboard": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "1.66 meters",
+      "y coordinate": "-2.31 meters",
+      "height above floor": "0.3 meters"
+     },
+     "longest dimension": "0.19 meters"
+    }
+   ]
+  },
+  "laptop": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "1.62 meters",
+      "y coordinate": "0.69 meters",
+      "height above floor": "0.04 meters"
+     },
+     "longest dimension": "0.35 meters"
+    }
+   ]
+  },
+  "monitor": {
+   "count": 2,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "0.09 meters",
+      "y coordinate": "2.82 meters",
+      "height above floor": "0.47 meters"
+     },
+     "longest dimension": "1.44 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "1.84 meters",
+      "y coordinate": "0.79 meters",
+      "height above floor": "0.07 meters"
+     },
+     "longest dimension": "0.3 meters"
+    }
+   ]
+  },
+  "printer": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "1.29 meters",
+      "y coordinate": "0.6 meters",
+      "height above floor": "0.04 meters"
+     },
+     "longest dimension": "0.33 meters"
+    }
+   ]
+  },
+  "refrigerator": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "2.45 meters",
+      "y coordinate": "3.51 meters",
+      "height above floor": "0.35 meters"
+     },
+     "longest dimension": "1.79 meters"
+    }
+   ]
+  },
+  "table": {
+   "count": 2,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "1.19 meters",
+      "y coordinate": "0.47 meters",
+      "height above floor": "-0.01 meters"
+     },
+     "longest dimension": "2.47 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "1.79 meters",
+      "y coordinate": "-2.21 meters",
+      "height above floor": "-0.12 meters"
+     },
+     "longest dimension": "1.01 meters"
+    }
+   ]
+  },
+  "telephone": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "1.72 meters",
+      "y coordinate": "-2.31 meters",
+      "height above floor": "0.34 meters"
+     },
+     "longest dimension": "0.33 meters"
+    }
+   ]
+  },
+  "trash can": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "1.45 meters",
+      "y coordinate": "-1.9 meters",
+      "height above floor": "-0.5 meters"
+     },
+     "longest dimension": "0.53 meters"
+    }
+   ]
+  },
+  "tv": {
+   "count": 4,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "1.5 meters",
+      "y coordinate": "3.29 meters",
+      "height above floor": "0.45 meters"
+     },
+     "longest dimension": "1.46 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "0.68 meters",
+      "y coordinate": "3.06 meters",
+      "height above floor": "0.35 meters"
+     },
+     "longest dimension": "0.8 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "0.1 meters",
+      "y coordinate": "2.84 meters",
+      "height above floor": "0.46 meters"
+     },
+     "longest dimension": "1.5 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "1.77 meters",
+      "y coordinate": "3.5 meters",
+      "height above floor": "0.45 meters"
+     },
+     "longest dimension": "1.45 meters"
+    }
+   ]
+  },
+  "whiteboard": {
+   "count": 4,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "3.07 meters",
+      "y coordinate": "-2.14 meters",
+      "height above floor": "0.65 meters"
+     },
+     "longest dimension": "1.48 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "4.01 meters",
+      "y coordinate": "-0.81 meters",
+      "height above floor": "0.51 meters"
+     },
+     "longest dimension": "2.01 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "0.93 meters",
+      "y coordinate": "-2.03 meters",
+      "height above floor": "0.85 meters"
+     },
+     "longest dimension": "2.31 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "3.67 meters",
+      "y coordinate": "-1.09 meters",
+      "height above floor": "0.72 meters"
+     },
+     "longest dimension": "1.03 meters"
+    }
+   ]
+  }
+ },
+ "room": {
+  "floor area": "38.1 square meters"
+ },
+ "closest classes distance meters from": {
+  "bookshelf": {
+   "refrigerator": {
+    "distance": "0.04 meters",
+    "closeness rank": 1
+   },
+   "door": {
+    "distance": "0.05 meters",
+    "closeness rank": 2
+   },
+   "ceiling light": {
+    "distance": "0.35 meters",
+    "closeness rank": 3
+   },
+   "tv": {
+    "distance": "0.39 meters",
+    "closeness rank": 4
+   },
+   "chair": {
+    "distance": "1.22 meters",
+    "closeness rank": 5
+   },
+   "table": {
+    "distance": "1.76 meters",
+    "closeness rank": 6
+   },
+   "monitor": {
+    "distance": "1.77 meters",
+    "closeness rank": 7
+   },
+   "laptop": {
+    "distance": "2.46 meters",
+    "closeness rank": 8
+   },
+   "computer mouse": {
+    "distance": "2.59 meters",
+    "closeness rank": 9
+   },
+   "printer": {
+    "distance": "2.71 meters",
+    "closeness rank": 10
+   },
+   "whiteboard": {
+    "distance": "2.86 meters",
+    "closeness rank": 11
+   },
+   "cushion": {
+    "distance": "4.45 meters",
+    "closeness rank": 12
+   },
+   "trash can": {
+    "distance": "4.92 meters",
+    "closeness rank": 13
+   },
+   "telephone": {
+    "distance": "5.26 meters",
+    "closeness rank": 14
+   },
+   "keyboard": {
+    "distance": "5.29 meters",
+    "closeness rank": 15
+   }
+  },
+  "ceiling light": {
+   "whiteboard": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "bookshelf": {
+    "distance": "0.35 meters",
+    "closeness rank": 2
+   },
+   "door": {
+    "distance": "0.62 meters",
+    "closeness rank": 3
+   },
+   "tv": {
+    "distance": "0.68 meters",
+    "closeness rank": 4
+   },
+   "monitor": {
+    "distance": "0.86 meters",
+    "closeness rank": 5
+   },
+   "telephone": {
+    "distance": "1.02 meters",
+    "closeness rank": 6
+   },
+   "table": {
+    "distance": "1.03 meters",
+    "closeness rank": 7
+   },
+   "keyboard": {
+    "distance": "1.09 meters",
+    "closeness rank": 8
+   },
+   "chair": {
+    "distance": "1.15 meters",
+    "closeness rank": 9
+   },
+   "refrigerator": {
+    "distance": "1.34 meters",
+    "closeness rank": 10
+   },
+   "cushion": {
+    "distance": "1.46 meters",
+    "closeness rank": 11
+   },
+   "printer": {
+    "distance": "1.56 meters",
+    "closeness rank": 12
+   },
+   "laptop": {
+    "distance": "1.57 meters",
+    "closeness rank": 13
+   },
+   "computer mouse": {
+    "distance": "1.67 meters",
+    "closeness rank": 14
+   },
+   "trash can": {
+    "distance": "1.68 meters",
+    "closeness rank": 15
+   }
+  },
+  "chair": {
+   "cushion": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "table": {
+    "distance": "0.0 meters",
+    "closeness rank": 2
+   },
+   "whiteboard": {
+    "distance": "0.0 meters",
+    "closeness rank": 3
+   },
+   "door": {
+    "distance": "0.01 meters",
+    "closeness rank": 4
+   },
+   "trash can": {
+    "distance": "0.07 meters",
+    "closeness rank": 5
+   },
+   "printer": {
+    "distance": "0.13 meters",
+    "closeness rank": 6
+   },
+   "monitor": {
+    "distance": "0.3 meters",
+    "closeness rank": 7
+   },
+   "tv": {
+    "distance": "0.31 meters",
+    "closeness rank": 8
+   },
+   "laptop": {
+    "distance": "0.38 meters",
+    "closeness rank": 9
+   },
+   "telephone": {
+    "distance": "0.44 meters",
+    "closeness rank": 10
+   },
+   "keyboard": {
+    "distance": "0.45 meters",
+    "closeness rank": 11
+   },
+   "computer mouse": {
+    "distance": "0.65 meters",
+    "closeness rank": 12
+   },
+   "ceiling light": {
+    "distance": "1.15 meters",
+    "closeness rank": 13
+   },
+   "bookshelf": {
+    "distance": "1.22 meters",
+    "closeness rank": 14
+   },
+   "refrigerator": {
+    "distance": "2.17 meters",
+    "closeness rank": 15
+   }
+  },
+  "computer mouse": {
+   "laptop": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "table": {
+    "distance": "0.0 meters",
+    "closeness rank": 2
+   },
+   "monitor": {
+    "distance": "0.03 meters",
+    "closeness rank": 3
+   },
+   "printer": {
+    "distance": "0.29 meters",
+    "closeness rank": 4
+   },
+   "chair": {
+    "distance": "0.65 meters",
+    "closeness rank": 5
+   },
+   "ceiling light": {
+    "distance": "1.67 meters",
+    "closeness rank": 6
+   },
+   "cushion": {
+    "distance": "1.96 meters",
+    "closeness rank": 7
+   },
+   "whiteboard": {
+    "distance": "2.12 meters",
+    "closeness rank": 8
+   },
+   "trash can": {
+    "distance": "2.33 meters",
+    "closeness rank": 9
+   },
+   "tv": {
+    "distance": "2.47 meters",
+    "closeness rank": 10
+   },
+   "bookshelf": {
+    "distance": "2.59 meters",
+    "closeness rank": 11
+   },
+   "refrigerator": {
+    "distance": "2.71 meters",
+    "closeness rank": 12
+   },
+   "door": {
+    "distance": "2.74 meters",
+    "closeness rank": 13
+   },
+   "telephone": {
+    "distance": "2.75 meters",
+    "closeness rank": 14
+   },
+   "keyboard": {
+    "distance": "2.82 meters",
+    "closeness rank": 15
+   }
+  },
+  "cushion": {
+   "chair": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "trash can": {
+    "distance": "0.0 meters",
+    "closeness rank": 2
+   },
+   "table": {
+    "distance": "0.01 meters",
+    "closeness rank": 3
+   },
+   "whiteboard": {
+    "distance": "0.29 meters",
+    "closeness rank": 4
+   },
+   "telephone": {
+    "distance": "0.58 meters",
+    "closeness rank": 5
+   },
+   "keyboard": {
+    "distance": "0.62 meters",
+    "closeness rank": 6
+   },
+   "ceiling light": {
+    "distance": "1.46 meters",
+    "closeness rank": 7
+   },
+   "printer": {
+    "distance": "1.76 meters",
+    "closeness rank": 8
+   },
+   "laptop": {
+    "distance": "1.85 meters",
+    "closeness rank": 9
+   },
+   "computer mouse": {
+    "distance": "1.96 meters",
+    "closeness rank": 10
+   },
+   "monitor": {
+    "distance": "2.11 meters",
+    "closeness rank": 11
+   },
+   "door": {
+    "distance": "3.84 meters",
+    "closeness rank": 12
+   },
+   "tv": {
+    "distance": "4.13 meters",
+    "closeness rank": 13
+   },
+   "bookshelf": {
+    "distance": "4.45 meters",
+    "closeness rank": 14
+   },
+   "refrigerator": {
+    "distance": "4.77 meters",
+    "closeness rank": 15
+   }
+  },
+  "door": {
+   "refrigerator": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "chair": {
+    "distance": "0.01 meters",
+    "closeness rank": 2
+   },
+   "bookshelf": {
+    "distance": "0.05 meters",
+    "closeness rank": 3
+   },
+   "tv": {
+    "distance": "0.19 meters",
+    "closeness rank": 4
+   },
+   "ceiling light": {
+    "distance": "0.62 meters",
+    "closeness rank": 5
+   },
+   "whiteboard": {
+    "distance": "1.39 meters",
+    "closeness rank": 6
+   },
+   "monitor": {
+    "distance": "1.72 meters",
+    "closeness rank": 7
+   },
+   "table": {
+    "distance": "1.84 meters",
+    "closeness rank": 8
+   },
+   "laptop": {
+    "distance": "2.59 meters",
+    "closeness rank": 9
+   },
+   "computer mouse": {
+    "distance": "2.74 meters",
+    "closeness rank": 10
+   },
+   "printer": {
+    "distance": "2.81 meters",
+    "closeness rank": 11
+   },
+   "cushion": {
+    "distance": "3.84 meters",
+    "closeness rank": 12
+   },
+   "trash can": {
+    "distance": "4.45 meters",
+    "closeness rank": 13
+   },
+   "telephone": {
+    "distance": "4.65 meters",
+    "closeness rank": 14
+   },
+   "keyboard": {
+    "distance": "4.68 meters",
+    "closeness rank": 15
+   }
+  },
+  "keyboard": {
+   "table": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "telephone": {
+    "distance": "0.0 meters",
+    "closeness rank": 2
+   },
+   "whiteboard": {
+    "distance": "0.16 meters",
+    "closeness rank": 3
+   },
+   "chair": {
+    "distance": "0.45 meters",
+    "closeness rank": 4
+   },
+   "trash can": {
+    "distance": "0.57 meters",
+    "closeness rank": 5
+   },
+   "cushion": {
+    "distance": "0.62 meters",
+    "closeness rank": 6
+   },
+   "ceiling light": {
+    "distance": "1.09 meters",
+    "closeness rank": 7
+   },
+   "printer": {
+    "distance": "2.69 meters",
+    "closeness rank": 8
+   },
+   "laptop": {
+    "distance": "2.74 meters",
+    "closeness rank": 9
+   },
+   "computer mouse": {
+    "distance": "2.82 meters",
+    "closeness rank": 10
+   },
+   "monitor": {
+    "distance": "2.94 meters",
+    "closeness rank": 11
+   },
+   "door": {
+    "distance": "4.68 meters",
+    "closeness rank": 12
+   },
+   "tv": {
+    "distance": "5.29 meters",
+    "closeness rank": 13
+   },
+   "bookshelf": {
+    "distance": "5.29 meters",
+    "closeness rank": 14
+   },
+   "refrigerator": {
+    "distance": "5.61 meters",
+    "closeness rank": 15
+   }
+  },
+  "laptop": {
+   "computer mouse": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "monitor": {
+    "distance": "0.0 meters",
+    "closeness rank": 2
+   },
+   "table": {
+    "distance": "0.0 meters",
+    "closeness rank": 3
+   },
+   "printer": {
+    "distance": "0.05 meters",
+    "closeness rank": 4
+   },
+   "chair": {
+    "distance": "0.38 meters",
+    "closeness rank": 5
+   },
+   "ceiling light": {
+    "distance": "1.57 meters",
+    "closeness rank": 6
+   },
+   "cushion": {
+    "distance": "1.85 meters",
+    "closeness rank": 7
+   },
+   "whiteboard": {
+    "distance": "2.09 meters",
+    "closeness rank": 8
+   },
+   "trash can": {
+    "distance": "2.23 meters",
+    "closeness rank": 9
+   },
+   "tv": {
+    "distance": "2.28 meters",
+    "closeness rank": 10
+   },
+   "bookshelf": {
+    "distance": "2.46 meters",
+    "closeness rank": 11
+   },
+   "refrigerator": {
+    "distance": "2.55 meters",
+    "closeness rank": 12
+   },
+   "door": {
+    "distance": "2.59 meters",
+    "closeness rank": 13
+   },
+   "telephone": {
+    "distance": "2.66 meters",
+    "closeness rank": 14
+   },
+   "keyboard": {
+    "distance": "2.74 meters",
+    "closeness rank": 15
+   }
+  },
+  "monitor": {
+   "laptop": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "tv": {
+    "distance": "0.0 meters",
+    "closeness rank": 2
+   },
+   "table": {
+    "distance": "0.01 meters",
+    "closeness rank": 3
+   },
+   "computer mouse": {
+    "distance": "0.03 meters",
+    "closeness rank": 4
+   },
+   "printer": {
+    "distance": "0.26 meters",
+    "closeness rank": 5
+   },
+   "chair": {
+    "distance": "0.3 meters",
+    "closeness rank": 6
+   },
+   "ceiling light": {
+    "distance": "0.86 meters",
+    "closeness rank": 7
+   },
+   "refrigerator": {
+    "distance": "1.7 meters",
+    "closeness rank": 8
+   },
+   "door": {
+    "distance": "1.72 meters",
+    "closeness rank": 9
+   },
+   "bookshelf": {
+    "distance": "1.77 meters",
+    "closeness rank": 10
+   },
+   "whiteboard": {
+    "distance": "2.02 meters",
+    "closeness rank": 11
+   },
+   "cushion": {
+    "distance": "2.11 meters",
+    "closeness rank": 12
+   },
+   "trash can": {
+    "distance": "2.49 meters",
+    "closeness rank": 13
+   },
+   "telephone": {
+    "distance": "2.87 meters",
+    "closeness rank": 14
+   },
+   "keyboard": {
+    "distance": "2.94 meters",
+    "closeness rank": 15
+   }
+  },
+  "printer": {
+   "table": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "laptop": {
+    "distance": "0.05 meters",
+    "closeness rank": 2
+   },
+   "chair": {
+    "distance": "0.13 meters",
+    "closeness rank": 3
+   },
+   "monitor": {
+    "distance": "0.26 meters",
+    "closeness rank": 4
+   },
+   "computer mouse": {
+    "distance": "0.29 meters",
+    "closeness rank": 5
+   },
+   "ceiling light": {
+    "distance": "1.56 meters",
+    "closeness rank": 6
+   },
+   "cushion": {
+    "distance": "1.76 meters",
+    "closeness rank": 7
+   },
+   "whiteboard": {
+    "distance": "1.98 meters",
+    "closeness rank": 8
+   },
+   "trash can": {
+    "distance": "2.16 meters",
+    "closeness rank": 9
+   },
+   "tv": {
+    "distance": "2.25 meters",
+    "closeness rank": 10
+   },
+   "telephone": {
+    "distance": "2.61 meters",
+    "closeness rank": 11
+   },
+   "keyboard": {
+    "distance": "2.69 meters",
+    "closeness rank": 12
+   },
+   "bookshelf": {
+    "distance": "2.71 meters",
+    "closeness rank": 13
+   },
+   "refrigerator": {
+    "distance": "2.78 meters",
+    "closeness rank": 14
+   },
+   "door": {
+    "distance": "2.81 meters",
+    "closeness rank": 15
+   }
+  },
+  "refrigerator": {
+   "door": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "bookshelf": {
+    "distance": "0.04 meters",
+    "closeness rank": 2
+   },
+   "tv": {
+    "distance": "0.17 meters",
+    "closeness rank": 3
+   },
+   "ceiling light": {
+    "distance": "1.34 meters",
+    "closeness rank": 4
+   },
+   "monitor": {
+    "distance": "1.7 meters",
+    "closeness rank": 5
+   },
+   "table": {
+    "distance": "1.81 meters",
+    "closeness rank": 6
+   },
+   "chair": {
+    "distance": "2.17 meters",
+    "closeness rank": 7
+   },
+   "laptop": {
+    "distance": "2.55 meters",
+    "closeness rank": 8
+   },
+   "computer mouse": {
+    "distance": "2.71 meters",
+    "closeness rank": 9
+   },
+   "printer": {
+    "distance": "2.78 meters",
+    "closeness rank": 10
+   },
+   "whiteboard": {
+    "distance": "3.72 meters",
+    "closeness rank": 11
+   },
+   "cushion": {
+    "distance": "4.77 meters",
+    "closeness rank": 12
+   },
+   "trash can": {
+    "distance": "5.16 meters",
+    "closeness rank": 13
+   },
+   "telephone": {
+    "distance": "5.55 meters",
+    "closeness rank": 14
+   },
+   "keyboard": {
+    "distance": "5.61 meters",
+    "closeness rank": 15
+   }
+  },
+  "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
+   },
+   "laptop": {
+    "distance": "0.0 meters",
+    "closeness rank": 4
+   },
+   "printer": {
+    "distance": "0.0 meters",
+    "closeness rank": 5
+   },
+   "telephone": {
+    "distance": "0.0 meters",
+    "closeness rank": 6
+   },
+   "monitor": {
+    "distance": "0.01 meters",
+    "closeness rank": 7
+   },
+   "cushion": {
+    "distance": "0.01 meters",
+    "closeness rank": 8
+   },
+   "trash can": {
+    "distance": "0.03 meters",
+    "closeness rank": 9
+   },
+   "whiteboard": {
+    "distance": "0.12 meters",
+    "closeness rank": 10
+   },
+   "ceiling light": {
+    "distance": "1.03 meters",
+    "closeness rank": 11
+   },
+   "tv": {
+    "distance": "1.33 meters",
+    "closeness rank": 12
+   },
+   "bookshelf": {
+    "distance": "1.76 meters",
+    "closeness rank": 13
+   },
+   "refrigerator": {
+    "distance": "1.81 meters",
+    "closeness rank": 14
+   },
+   "door": {
+    "distance": "1.84 meters",
+    "closeness rank": 15
+   }
+  },
+  "telephone": {
+   "keyboard": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "table": {
+    "distance": "0.0 meters",
+    "closeness rank": 2
+   },
+   "whiteboard": {
+    "distance": "0.18 meters",
+    "closeness rank": 3
+   },
+   "chair": {
+    "distance": "0.44 meters",
+    "closeness rank": 4
+   },
+   "trash can": {
+    "distance": "0.53 meters",
+    "closeness rank": 5
+   },
+   "cushion": {
+    "distance": "0.58 meters",
+    "closeness rank": 6
+   },
+   "ceiling light": {
+    "distance": "1.02 meters",
+    "closeness rank": 7
+   },
+   "printer": {
+    "distance": "2.61 meters",
+    "closeness rank": 8
+   },
+   "laptop": {
+    "distance": "2.66 meters",
+    "closeness rank": 9
+   },
+   "computer mouse": {
+    "distance": "2.75 meters",
+    "closeness rank": 10
+   },
+   "monitor": {
+    "distance": "2.87 meters",
+    "closeness rank": 11
+   },
+   "door": {
+    "distance": "4.65 meters",
+    "closeness rank": 12
+   },
+   "tv": {
+    "distance": "5.18 meters",
+    "closeness rank": 13
+   },
+   "bookshelf": {
+    "distance": "5.26 meters",
+    "closeness rank": 14
+   },
+   "refrigerator": {
+    "distance": "5.55 meters",
+    "closeness rank": 15
+   }
+  },
+  "trash can": {
+   "cushion": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "table": {
+    "distance": "0.03 meters",
+    "closeness rank": 2
+   },
+   "chair": {
+    "distance": "0.07 meters",
+    "closeness rank": 3
+   },
+   "telephone": {
+    "distance": "0.53 meters",
+    "closeness rank": 4
+   },
+   "keyboard": {
+    "distance": "0.57 meters",
+    "closeness rank": 5
+   },
+   "whiteboard": {
+    "distance": "0.57 meters",
+    "closeness rank": 6
+   },
+   "ceiling light": {
+    "distance": "1.68 meters",
+    "closeness rank": 7
+   },
+   "printer": {
+    "distance": "2.16 meters",
+    "closeness rank": 8
+   },
+   "laptop": {
+    "distance": "2.23 meters",
+    "closeness rank": 9
+   },
+   "computer mouse": {
+    "distance": "2.33 meters",
+    "closeness rank": 10
+   },
+   "monitor": {
+    "distance": "2.49 meters",
+    "closeness rank": 11
+   },
+   "door": {
+    "distance": "4.45 meters",
+    "closeness rank": 12
+   },
+   "tv": {
+    "distance": "4.71 meters",
+    "closeness rank": 13
+   },
+   "bookshelf": {
+    "distance": "4.92 meters",
+    "closeness rank": 14
+   },
+   "refrigerator": {
+    "distance": "5.16 meters",
+    "closeness rank": 15
+   }
+  },
+  "tv": {
+   "monitor": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "refrigerator": {
+    "distance": "0.17 meters",
+    "closeness rank": 2
+   },
+   "door": {
+    "distance": "0.19 meters",
+    "closeness rank": 3
+   },
+   "chair": {
+    "distance": "0.31 meters",
+    "closeness rank": 4
+   },
+   "bookshelf": {
+    "distance": "0.39 meters",
+    "closeness rank": 5
+   },
+   "ceiling light": {
+    "distance": "0.68 meters",
+    "closeness rank": 6
+   },
+   "table": {
+    "distance": "1.33 meters",
+    "closeness rank": 7
+   },
+   "printer": {
+    "distance": "2.25 meters",
+    "closeness rank": 8
+   },
+   "laptop": {
+    "distance": "2.28 meters",
+    "closeness rank": 9
+   },
+   "computer mouse": {
+    "distance": "2.47 meters",
+    "closeness rank": 10
+   },
+   "whiteboard": {
+    "distance": "3.86 meters",
+    "closeness rank": 11
+   },
+   "cushion": {
+    "distance": "4.13 meters",
+    "closeness rank": 12
+   },
+   "trash can": {
+    "distance": "4.71 meters",
+    "closeness rank": 13
+   },
+   "telephone": {
+    "distance": "5.18 meters",
+    "closeness rank": 14
+   },
+   "keyboard": {
+    "distance": "5.29 meters",
+    "closeness rank": 15
+   }
+  },
+  "whiteboard": {
+   "ceiling light": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "chair": {
+    "distance": "0.0 meters",
+    "closeness rank": 2
+   },
+   "table": {
+    "distance": "0.12 meters",
+    "closeness rank": 3
+   },
+   "keyboard": {
+    "distance": "0.16 meters",
+    "closeness rank": 4
+   },
+   "telephone": {
+    "distance": "0.18 meters",
+    "closeness rank": 5
+   },
+   "cushion": {
+    "distance": "0.29 meters",
+    "closeness rank": 6
+   },
+   "trash can": {
+    "distance": "0.57 meters",
+    "closeness rank": 7
+   },
+   "door": {
+    "distance": "1.39 meters",
+    "closeness rank": 8
+   },
+   "printer": {
+    "distance": "1.98 meters",
+    "closeness rank": 9
+   },
+   "monitor": {
+    "distance": "2.02 meters",
+    "closeness rank": 10
+   },
+   "laptop": {
+    "distance": "2.09 meters",
+    "closeness rank": 11
+   },
+   "computer mouse": {
+    "distance": "2.12 meters",
+    "closeness rank": 12
+   },
+   "bookshelf": {
+    "distance": "2.86 meters",
+    "closeness rank": 13
+   },
+   "refrigerator": {
+    "distance": "3.72 meters",
+    "closeness rank": 14
+   },
+   "tv": {
+    "distance": "3.86 meters",
+    "closeness rank": 15
+   }
+  }
+ },
+ "appearance order": ["chair", "bookshelf", "ceiling light", "computer mouse", "table", "tv", "monitor", "printer", "refrigerator", "whiteboard", "cushion", "keyboard", "telephone", "trash can", "door", "laptop"]
+}
\ No newline at end of file
diff --git a/data/spatial codes/sam3+depth-anything-3/metric/tracking/selective/32/explicit/scene0030_02.json b/data/spatial codes/sam3+depth-anything-3/metric/tracking/selective/32/explicit/scene0030_02.json
new file mode 100644
index 0000000000000000000000000000000000000000..07fde88024cc571d9e25fb06ee1f841042154848
--- /dev/null
+++ b/data/spatial codes/sam3+depth-anything-3/metric/tracking/selective/32/explicit/scene0030_02.json	
@@ -0,0 +1,554 @@
+{
+ "spatial code schema": {
+  "objects": {
+   "<object class>": {
+    "count": {
+     "unit": null,
+     "description": "number of instances of this class in the compact spatial code (that schema's per-class oriented-box list length)"
+    },
+    "instances": [
+     {
+      "position": {
+       "x coordinate": {
+        "unit": "meters",
+        "description": "x coordinate of this instance's compact 3D oriented bounding box center"
+       },
+       "y coordinate": {
+        "unit": "meters",
+        "description": "y coordinate of this instance's compact 3D oriented bounding box center"
+       },
+       "height above floor": {
+        "unit": "meters",
+        "description": "height coordinate of this instance's compact 3D oriented bounding box center"
+       }
+      },
+      "longest dimension": {
+       "unit": "meters",
+       "description": "longest of this instance's compact 3D oriented bounding box dimensions"
+      }
+     }
+    ]
+   }
+  },
+  "room": {
+   "floor area": {
+    "unit": "square meters",
+    "description": "shoelace area of the compact spatial code's floor boundary polygons, with every interior hole subtracted"
+   }
+  },
+  "closest classes distance meters from": {
+   "<object class>": {
+    "<other object class>": {
+     "distance": {
+      "unit": "meters",
+      "description": "minimum surface-to-surface separation between the two classes' compact 3D oriented bounding boxes, over every instance pair"
+     },
+     "closeness rank": {
+      "unit": null,
+      "description": "1 = the nearest other class to this one, 2 = second-nearest, and so on"
+     }
+    }
+   }
+  },
+  "appearance order": {
+   "unit": null,
+   "description": "class names ordered by earliest compact 'first visible time' across all of that class's instances"
+  }
+ },
+ "objects": {
+  "bookshelf": {
+   "count": 3,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "4.82 meters",
+      "y coordinate": "0.58 meters",
+      "height above floor": "0.44 meters"
+     },
+     "longest dimension": "1.44 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "4.84 meters",
+      "y coordinate": "0.46 meters",
+      "height above floor": "1.54 meters"
+     },
+     "longest dimension": "2.18 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "0.17 meters",
+      "y coordinate": "0.64 meters",
+      "height above floor": "3.63 meters"
+     },
+     "longest dimension": "1.11 meters"
+    }
+   ]
+  },
+  "chair": {
+   "count": 11,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "1.95 meters",
+      "y coordinate": "0.71 meters",
+      "height above floor": "0.53 meters"
+     },
+     "longest dimension": "0.82 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "0.8 meters",
+      "y coordinate": "0.71 meters",
+      "height above floor": "-1.55 meters"
+     },
+     "longest dimension": "1.5 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "3.97 meters",
+      "y coordinate": "0.63 meters",
+      "height above floor": "-1.7 meters"
+     },
+     "longest dimension": "0.77 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "0.7 meters",
+      "y coordinate": "0.55 meters",
+      "height above floor": "0.53 meters"
+     },
+     "longest dimension": "0.39 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "0.63 meters",
+      "y coordinate": "0.55 meters",
+      "height above floor": "-0.27 meters"
+     },
+     "longest dimension": "0.56 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "4.15 meters",
+      "y coordinate": "0.61 meters",
+      "height above floor": "0.2 meters"
+     },
+     "longest dimension": "0.7 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "0.8 meters",
+      "y coordinate": "0.71 meters",
+      "height above floor": "2.3 meters"
+     },
+     "longest dimension": "1.03 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "3.99 meters",
+      "y coordinate": "0.8 meters",
+      "height above floor": "1.71 meters"
+     },
+     "longest dimension": "0.75 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "2.93 meters",
+      "y coordinate": "0.71 meters",
+      "height above floor": "-1.39 meters"
+     },
+     "longest dimension": "1.05 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "3.74 meters",
+      "y coordinate": "0.9 meters",
+      "height above floor": "0.18 meters"
+     },
+     "longest dimension": "0.43 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "1.4 meters",
+      "y coordinate": "1.07 meters",
+      "height above floor": "2.06 meters"
+     },
+     "longest dimension": "0.52 meters"
+    }
+   ]
+  },
+  "clock": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-0.21 meters",
+      "y coordinate": "-0.93 meters",
+      "height above floor": "0.71 meters"
+     },
+     "longest dimension": "0.28 meters"
+    }
+   ]
+  },
+  "door": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "5.21 meters",
+      "y coordinate": "0.3 meters",
+      "height above floor": "-0.62 meters"
+     },
+     "longest dimension": "1.48 meters"
+    }
+   ]
+  },
+  "sofa": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "0.79 meters",
+      "y coordinate": "0.72 meters",
+      "height above floor": "-1.58 meters"
+     },
+     "longest dimension": "1.49 meters"
+    }
+   ]
+  },
+  "table": {
+   "count": 5,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "1.3 meters",
+      "y coordinate": "0.53 meters",
+      "height above floor": "0.12 meters"
+     },
+     "longest dimension": "1.75 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "3.57 meters",
+      "y coordinate": "0.52 meters",
+      "height above floor": "0.09 meters"
+     },
+     "longest dimension": "2.07 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "1.39 meters",
+      "y coordinate": "0.59 meters",
+      "height above floor": "1.89 meters"
+     },
+     "longest dimension": "2.56 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "3.76 meters",
+      "y coordinate": "0.61 meters",
+      "height above floor": "1.8 meters"
+     },
+     "longest dimension": "2.25 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "2.36 meters",
+      "y coordinate": "0.79 meters",
+      "height above floor": "3.25 meters"
+     },
+     "longest dimension": "1.49 meters"
+    }
+   ]
+  },
+  "trash bin": {
+   "count": 2,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "4.73 meters",
+      "y coordinate": "0.89 meters",
+      "height above floor": "-1.91 meters"
+     },
+     "longest dimension": "0.42 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "4.43 meters",
+      "y coordinate": "0.89 meters",
+      "height above floor": "-1.85 meters"
+     },
+     "longest dimension": "0.39 meters"
+    }
+   ]
+  },
+  "window": {
+   "count": 2,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "0.7 meters",
+      "y coordinate": "0.15 meters",
+      "height above floor": "3.85 meters"
+     },
+     "longest dimension": "2.0 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "3.68 meters",
+      "y coordinate": "0.28 meters",
+      "height above floor": "3.87 meters"
+     },
+     "longest dimension": "3.28 meters"
+    }
+   ]
+  }
+ },
+ "room": {
+  "floor area": "14.8 square meters"
+ },
+ "closest classes distance meters from": {
+  "bookshelf": {
+   "window": {
+    "distance": "0.04 meters",
+    "closeness rank": 1
+   },
+   "chair": {
+    "distance": "0.39 meters",
+    "closeness rank": 2
+   },
+   "door": {
+    "distance": "0.42 meters",
+    "closeness rank": 3
+   },
+   "table": {
+    "distance": "0.52 meters",
+    "closeness rank": 4
+   },
+   "trash bin": {
+    "distance": "1.69 meters",
+    "closeness rank": 5
+   },
+   "clock": {
+    "distance": "2.79 meters",
+    "closeness rank": 6
+   },
+   "sofa": {
+    "distance": "3.35 meters",
+    "closeness rank": 7
+   }
+  },
+  "chair": {
+   "sofa": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "table": {
+    "distance": "0.0 meters",
+    "closeness rank": 2
+   },
+   "trash bin": {
+    "distance": "0.0 meters",
+    "closeness rank": 3
+   },
+   "bookshelf": {
+    "distance": "0.39 meters",
+    "closeness rank": 4
+   },
+   "door": {
+    "distance": "0.99 meters",
+    "closeness rank": 5
+   },
+   "window": {
+    "distance": "1.02 meters",
+    "closeness rank": 6
+   },
+   "clock": {
+    "distance": "1.56 meters",
+    "closeness rank": 7
+   }
+  },
+  "clock": {
+   "chair": {
+    "distance": "1.56 meters",
+    "closeness rank": 1
+   },
+   "table": {
+    "distance": "1.71 meters",
+    "closeness rank": 2
+   },
+   "sofa": {
+    "distance": "2.05 meters",
+    "closeness rank": 3
+   },
+   "bookshelf": {
+    "distance": "2.79 meters",
+    "closeness rank": 4
+   },
+   "window": {
+    "distance": "3.04 meters",
+    "closeness rank": 5
+   },
+   "trash bin": {
+    "distance": "5.27 meters",
+    "closeness rank": 6
+   },
+   "door": {
+    "distance": "5.47 meters",
+    "closeness rank": 7
+   }
+  },
+  "door": {
+   "bookshelf": {
+    "distance": "0.42 meters",
+    "closeness rank": 1
+   },
+   "chair": {
+    "distance": "0.99 meters",
+    "closeness rank": 2
+   },
+   "trash bin": {
+    "distance": "1.0 meters",
+    "closeness rank": 3
+   },
+   "table": {
+    "distance": "1.2 meters",
+    "closeness rank": 4
+   },
+   "sofa": {
+    "distance": "3.7 meters",
+    "closeness rank": 5
+   },
+   "window": {
+    "distance": "4.25 meters",
+    "closeness rank": 6
+   },
+   "clock": {
+    "distance": "5.47 meters",
+    "closeness rank": 7
+   }
+  },
+  "sofa": {
+   "chair": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "table": {
+    "distance": "0.41 meters",
+    "closeness rank": 2
+   },
+   "clock": {
+    "distance": "2.05 meters",
+    "closeness rank": 3
+   },
+   "trash bin": {
+    "distance": "2.79 meters",
+    "closeness rank": 4
+   },
+   "bookshelf": {
+    "distance": "3.35 meters",
+    "closeness rank": 5
+   },
+   "door": {
+    "distance": "3.7 meters",
+    "closeness rank": 6
+   },
+   "window": {
+    "distance": "4.98 meters",
+    "closeness rank": 7
+   }
+  },
+  "table": {
+   "chair": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "sofa": {
+    "distance": "0.41 meters",
+    "closeness rank": 2
+   },
+   "window": {
+    "distance": "0.43 meters",
+    "closeness rank": 3
+   },
+   "bookshelf": {
+    "distance": "0.52 meters",
+    "closeness rank": 4
+   },
+   "trash bin": {
+    "distance": "0.86 meters",
+    "closeness rank": 5
+   },
+   "door": {
+    "distance": "1.2 meters",
+    "closeness rank": 6
+   },
+   "clock": {
+    "distance": "1.71 meters",
+    "closeness rank": 7
+   }
+  },
+  "trash bin": {
+   "chair": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "table": {
+    "distance": "0.86 meters",
+    "closeness rank": 2
+   },
+   "door": {
+    "distance": "1.0 meters",
+    "closeness rank": 3
+   },
+   "bookshelf": {
+    "distance": "1.69 meters",
+    "closeness rank": 4
+   },
+   "sofa": {
+    "distance": "2.79 meters",
+    "closeness rank": 5
+   },
+   "clock": {
+    "distance": "5.27 meters",
+    "closeness rank": 6
+   },
+   "window": {
+    "distance": "5.57 meters",
+    "closeness rank": 7
+   }
+  },
+  "window": {
+   "bookshelf": {
+    "distance": "0.04 meters",
+    "closeness rank": 1
+   },
+   "table": {
+    "distance": "0.43 meters",
+    "closeness rank": 2
+   },
+   "chair": {
+    "distance": "1.02 meters",
+    "closeness rank": 3
+   },
+   "clock": {
+    "distance": "3.04 meters",
+    "closeness rank": 4
+   },
+   "door": {
+    "distance": "4.25 meters",
+    "closeness rank": 5
+   },
+   "sofa": {
+    "distance": "4.98 meters",
+    "closeness rank": 6
+   },
+   "trash bin": {
+    "distance": "5.57 meters",
+    "closeness rank": 7
+   }
+  }
+ },
+ "appearance order": ["chair", "clock", "table", "bookshelf", "window", "door", "trash bin", "sofa"]
+}
\ No newline at end of file
diff --git a/data/spatial codes/sam3+depth-anything-3/metric/tracking/selective/32/explicit/scene0095_01.json b/data/spatial codes/sam3+depth-anything-3/metric/tracking/selective/32/explicit/scene0095_01.json
new file mode 100644
index 0000000000000000000000000000000000000000..1af9e25433e7721abcb2ae3b834ac97a99b74947
--- /dev/null
+++ b/data/spatial codes/sam3+depth-anything-3/metric/tracking/selective/32/explicit/scene0095_01.json	
@@ -0,0 +1,879 @@
+{
+ "spatial code schema": {
+  "objects": {
+   "<object class>": {
+    "count": {
+     "unit": null,
+     "description": "number of instances of this class in the compact spatial code (that schema's per-class oriented-box list length)"
+    },
+    "instances": [
+     {
+      "position": {
+       "x coordinate": {
+        "unit": "meters",
+        "description": "x coordinate of this instance's compact 3D oriented bounding box center"
+       },
+       "y coordinate": {
+        "unit": "meters",
+        "description": "y coordinate of this instance's compact 3D oriented bounding box center"
+       },
+       "height above floor": {
+        "unit": "meters",
+        "description": "height coordinate of this instance's compact 3D oriented bounding box center"
+       }
+      },
+      "longest dimension": {
+       "unit": "meters",
+       "description": "longest of this instance's compact 3D oriented bounding box dimensions"
+      }
+     }
+    ]
+   }
+  },
+  "room": {
+   "floor area": {
+    "unit": "square meters",
+    "description": "shoelace area of the compact spatial code's floor boundary polygons, with every interior hole subtracted"
+   }
+  },
+  "closest classes distance meters from": {
+   "<object class>": {
+    "<other object class>": {
+     "distance": {
+      "unit": "meters",
+      "description": "minimum surface-to-surface separation between the two classes' compact 3D oriented bounding boxes, over every instance pair"
+     },
+     "closeness rank": {
+      "unit": null,
+      "description": "1 = the nearest other class to this one, 2 = second-nearest, and so on"
+     }
+    }
+   }
+  },
+  "appearance order": {
+   "unit": null,
+   "description": "class names ordered by earliest compact 'first visible time' across all of that class's instances"
+  }
+ },
+ "objects": {
+  "chair": {
+   "count": 8,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "0.98 meters",
+      "y coordinate": "1.69 meters",
+      "height above floor": "-0.16 meters"
+     },
+     "longest dimension": "0.78 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "1.7 meters",
+      "y coordinate": "2.46 meters",
+      "height above floor": "-0.09 meters"
+     },
+     "longest dimension": "1.12 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "1.76 meters",
+      "y coordinate": "4.06 meters",
+      "height above floor": "-0.04 meters"
+     },
+     "longest dimension": "0.57 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "0.09 meters",
+      "y coordinate": "3.92 meters",
+      "height above floor": "-0.27 meters"
+     },
+     "longest dimension": "0.76 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-0.08 meters",
+      "y coordinate": "0.82 meters",
+      "height above floor": "-0.06 meters"
+     },
+     "longest dimension": "0.44 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "0.02 meters",
+      "y coordinate": "1.91 meters",
+      "height above floor": "-0.07 meters"
+     },
+     "longest dimension": "0.82 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "1.67 meters",
+      "y coordinate": "5.88 meters",
+      "height above floor": "-0.25 meters"
+     },
+     "longest dimension": "0.8 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "2.1 meters",
+      "y coordinate": "5.88 meters",
+      "height above floor": "-0.1 meters"
+     },
+     "longest dimension": "0.52 meters"
+    }
+   ]
+  },
+  "computer mouse": {
+   "count": 4,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "0.53 meters",
+      "y coordinate": "4.44 meters",
+      "height above floor": "-0.05 meters"
+     },
+     "longest dimension": "0.13 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "0.34 meters",
+      "y coordinate": "3.09 meters",
+      "height above floor": "-0.06 meters"
+     },
+     "longest dimension": "0.27 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "1.69 meters",
+      "y coordinate": "1.46 meters",
+      "height above floor": "0.03 meters"
+     },
+     "longest dimension": "0.11 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "0.3 meters",
+      "y coordinate": "4.49 meters",
+      "height above floor": "-0.07 meters"
+     },
+     "longest dimension": "0.17 meters"
+    }
+   ]
+  },
+  "door": {
+   "count": 4,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "0.27 meters",
+      "y coordinate": "5.57 meters",
+      "height above floor": "-0.39 meters"
+     },
+     "longest dimension": "0.71 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-0.47 meters",
+      "y coordinate": "5.51 meters",
+      "height above floor": "-0.35 meters"
+     },
+     "longest dimension": "0.7 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-0.48 meters",
+      "y coordinate": "5.58 meters",
+      "height above floor": "-0.38 meters"
+     },
+     "longest dimension": "0.7 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-0.01 meters",
+      "y coordinate": "-1.43 meters",
+      "height above floor": "0.41 meters"
+     },
+     "longest dimension": "0.89 meters"
+    }
+   ]
+  },
+  "keyboard": {
+   "count": 2,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "0.56 meters",
+      "y coordinate": "2.91 meters",
+      "height above floor": "-0.04 meters"
+     },
+     "longest dimension": "0.43 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "0.51 meters",
+      "y coordinate": "1.94 meters",
+      "height above floor": "-0.03 meters"
+     },
+     "longest dimension": "0.39 meters"
+    }
+   ]
+  },
+  "monitor": {
+   "count": 6,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "0.74 meters",
+      "y coordinate": "2.74 meters",
+      "height above floor": "0.23 meters"
+     },
+     "longest dimension": "0.6 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "1.22 meters",
+      "y coordinate": "0.7 meters",
+      "height above floor": "0.25 meters"
+     },
+     "longest dimension": "0.58 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "0.59 meters",
+      "y coordinate": "3.37 meters",
+      "height above floor": "0.18 meters"
+     },
+     "longest dimension": "1.16 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "0.53 meters",
+      "y coordinate": "4.4 meters",
+      "height above floor": "0.18 meters"
+     },
+     "longest dimension": "0.33 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "0.74 meters",
+      "y coordinate": "0.77 meters",
+      "height above floor": "0.23 meters"
+     },
+     "longest dimension": "0.49 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "0.7 meters",
+      "y coordinate": "2.18 meters",
+      "height above floor": "0.11 meters"
+     },
+     "longest dimension": "0.25 meters"
+    }
+   ]
+  },
+  "pillow": {
+   "count": 2,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "0.78 meters",
+      "y coordinate": "-2.01 meters",
+      "height above floor": "0.35 meters"
+     },
+     "longest dimension": "0.48 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "1.31 meters",
+      "y coordinate": "-1.5 meters",
+      "height above floor": "0.39 meters"
+     },
+     "longest dimension": "0.23 meters"
+    }
+   ]
+  },
+  "plant": {
+   "count": 3,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "2.74 meters",
+      "y coordinate": "4.71 meters",
+      "height above floor": "0.2 meters"
+     },
+     "longest dimension": "0.24 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "2.78 meters",
+      "y coordinate": "4.25 meters",
+      "height above floor": "0.17 meters"
+     },
+     "longest dimension": "0.09 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "2.78 meters",
+      "y coordinate": "3.96 meters",
+      "height above floor": "0.19 meters"
+     },
+     "longest dimension": "0.22 meters"
+    }
+   ]
+  },
+  "radiator": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "2.47 meters",
+      "y coordinate": "4.27 meters",
+      "height above floor": "-0.22 meters"
+     },
+     "longest dimension": "0.61 meters"
+    }
+   ]
+  },
+  "sofa": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "0.84 meters",
+      "y coordinate": "-2.14 meters",
+      "height above floor": "0.09 meters"
+     },
+     "longest dimension": "0.75 meters"
+    }
+   ]
+  },
+  "table": {
+   "count": 3,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "1.12 meters",
+      "y coordinate": "3.36 meters",
+      "height above floor": "-0.02 meters"
+     },
+     "longest dimension": "1.26 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "0.58 meters",
+      "y coordinate": "1.97 meters",
+      "height above floor": "-0.05 meters"
+     },
+     "longest dimension": "2.04 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "1.31 meters",
+      "y coordinate": "1.25 meters",
+      "height above floor": "0.0 meters"
+     },
+     "longest dimension": "1.42 meters"
+    }
+   ]
+  },
+  "window": {
+   "count": 3,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "2.67 meters",
+      "y coordinate": "4.27 meters",
+      "height above floor": "0.2 meters"
+     },
+     "longest dimension": "1.11 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "2.65 meters",
+      "y coordinate": "0.5 meters",
+      "height above floor": "0.31 meters"
+     },
+     "longest dimension": "0.76 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "1.27 meters",
+      "y coordinate": "-1.19 meters",
+      "height above floor": "0.48 meters"
+     },
+     "longest dimension": "0.69 meters"
+    }
+   ]
+  }
+ },
+ "room": {
+  "floor area": "26.6 square meters"
+ },
+ "closest classes distance meters from": {
+  "chair": {
+   "table": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "monitor": {
+    "distance": "0.17 meters",
+    "closeness rank": 2
+   },
+   "keyboard": {
+    "distance": "0.22 meters",
+    "closeness rank": 3
+   },
+   "computer mouse": {
+    "distance": "0.33 meters",
+    "closeness rank": 4
+   },
+   "radiator": {
+    "distance": "0.63 meters",
+    "closeness rank": 5
+   },
+   "window": {
+    "distance": "0.65 meters",
+    "closeness rank": 6
+   },
+   "plant": {
+    "distance": "0.9 meters",
+    "closeness rank": 7
+   },
+   "door": {
+    "distance": "1.04 meters",
+    "closeness rank": 8
+   },
+   "pillow": {
+    "distance": "2.43 meters",
+    "closeness rank": 9
+   },
+   "sofa": {
+    "distance": "2.67 meters",
+    "closeness rank": 10
+   }
+  },
+  "computer mouse": {
+   "table": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "monitor": {
+    "distance": "0.05 meters",
+    "closeness rank": 2
+   },
+   "keyboard": {
+    "distance": "0.08 meters",
+    "closeness rank": 3
+   },
+   "chair": {
+    "distance": "0.33 meters",
+    "closeness rank": 4
+   },
+   "door": {
+    "distance": "0.98 meters",
+    "closeness rank": 5
+   },
+   "window": {
+    "distance": "1.16 meters",
+    "closeness rank": 6
+   },
+   "radiator": {
+    "distance": "1.87 meters",
+    "closeness rank": 7
+   },
+   "plant": {
+    "distance": "2.12 meters",
+    "closeness rank": 8
+   },
+   "pillow": {
+    "distance": "2.92 meters",
+    "closeness rank": 9
+   },
+   "sofa": {
+    "distance": "3.48 meters",
+    "closeness rank": 10
+   }
+  },
+  "door": {
+   "pillow": {
+    "distance": "0.58 meters",
+    "closeness rank": 1
+   },
+   "sofa": {
+    "distance": "0.6 meters",
+    "closeness rank": 2
+   },
+   "window": {
+    "distance": "0.75 meters",
+    "closeness rank": 3
+   },
+   "computer mouse": {
+    "distance": "0.98 meters",
+    "closeness rank": 4
+   },
+   "chair": {
+    "distance": "1.04 meters",
+    "closeness rank": 5
+   },
+   "monitor": {
+    "distance": "1.1 meters",
+    "closeness rank": 6
+   },
+   "table": {
+    "distance": "1.67 meters",
+    "closeness rank": 7
+   },
+   "radiator": {
+    "distance": "2.23 meters",
+    "closeness rank": 8
+   },
+   "plant": {
+    "distance": "2.37 meters",
+    "closeness rank": 9
+   },
+   "keyboard": {
+    "distance": "2.44 meters",
+    "closeness rank": 10
+   }
+  },
+  "keyboard": {
+   "table": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "monitor": {
+    "distance": "0.05 meters",
+    "closeness rank": 2
+   },
+   "computer mouse": {
+    "distance": "0.08 meters",
+    "closeness rank": 3
+   },
+   "chair": {
+    "distance": "0.22 meters",
+    "closeness rank": 4
+   },
+   "window": {
+    "distance": "1.93 meters",
+    "closeness rank": 5
+   },
+   "radiator": {
+    "distance": "2.02 meters",
+    "closeness rank": 6
+   },
+   "plant": {
+    "distance": "2.28 meters",
+    "closeness rank": 7
+   },
+   "door": {
+    "distance": "2.44 meters",
+    "closeness rank": 8
+   },
+   "pillow": {
+    "distance": "3.31 meters",
+    "closeness rank": 9
+   },
+   "sofa": {
+    "distance": "3.76 meters",
+    "closeness rank": 10
+   }
+  },
+  "monitor": {
+   "table": {
+    "distance": "0.02 meters",
+    "closeness rank": 1
+   },
+   "keyboard": {
+    "distance": "0.05 meters",
+    "closeness rank": 2
+   },
+   "computer mouse": {
+    "distance": "0.05 meters",
+    "closeness rank": 3
+   },
+   "chair": {
+    "distance": "0.17 meters",
+    "closeness rank": 4
+   },
+   "door": {
+    "distance": "1.1 meters",
+    "closeness rank": 5
+   },
+   "window": {
+    "distance": "1.11 meters",
+    "closeness rank": 6
+   },
+   "radiator": {
+    "distance": "1.71 meters",
+    "closeness rank": 7
+   },
+   "plant": {
+    "distance": "1.99 meters",
+    "closeness rank": 8
+   },
+   "pillow": {
+    "distance": "2.11 meters",
+    "closeness rank": 9
+   },
+   "sofa": {
+    "distance": "2.68 meters",
+    "closeness rank": 10
+   }
+  },
+  "pillow": {
+   "sofa": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "window": {
+    "distance": "0.21 meters",
+    "closeness rank": 2
+   },
+   "door": {
+    "distance": "0.58 meters",
+    "closeness rank": 3
+   },
+   "table": {
+    "distance": "2.05 meters",
+    "closeness rank": 4
+   },
+   "monitor": {
+    "distance": "2.11 meters",
+    "closeness rank": 5
+   },
+   "chair": {
+    "distance": "2.43 meters",
+    "closeness rank": 6
+   },
+   "computer mouse": {
+    "distance": "2.92 meters",
+    "closeness rank": 7
+   },
+   "keyboard": {
+    "distance": "3.31 meters",
+    "closeness rank": 8
+   },
+   "plant": {
+    "distance": "5.5 meters",
+    "closeness rank": 9
+   },
+   "radiator": {
+    "distance": "5.57 meters",
+    "closeness rank": 10
+   }
+  },
+  "plant": {
+   "window": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "radiator": {
+    "distance": "0.24 meters",
+    "closeness rank": 2
+   },
+   "chair": {
+    "distance": "0.9 meters",
+    "closeness rank": 3
+   },
+   "table": {
+    "distance": "1.38 meters",
+    "closeness rank": 4
+   },
+   "monitor": {
+    "distance": "1.99 meters",
+    "closeness rank": 5
+   },
+   "computer mouse": {
+    "distance": "2.12 meters",
+    "closeness rank": 6
+   },
+   "keyboard": {
+    "distance": "2.28 meters",
+    "closeness rank": 7
+   },
+   "door": {
+    "distance": "2.37 meters",
+    "closeness rank": 8
+   },
+   "pillow": {
+    "distance": "5.5 meters",
+    "closeness rank": 9
+   },
+   "sofa": {
+    "distance": "6.09 meters",
+    "closeness rank": 10
+   }
+  },
+  "radiator": {
+   "window": {
+    "distance": "0.11 meters",
+    "closeness rank": 1
+   },
+   "plant": {
+    "distance": "0.24 meters",
+    "closeness rank": 2
+   },
+   "chair": {
+    "distance": "0.63 meters",
+    "closeness rank": 3
+   },
+   "table": {
+    "distance": "1.1 meters",
+    "closeness rank": 4
+   },
+   "monitor": {
+    "distance": "1.71 meters",
+    "closeness rank": 5
+   },
+   "computer mouse": {
+    "distance": "1.87 meters",
+    "closeness rank": 6
+   },
+   "keyboard": {
+    "distance": "2.02 meters",
+    "closeness rank": 7
+   },
+   "door": {
+    "distance": "2.23 meters",
+    "closeness rank": 8
+   },
+   "pillow": {
+    "distance": "5.57 meters",
+    "closeness rank": 9
+   },
+   "sofa": {
+    "distance": "6.14 meters",
+    "closeness rank": 10
+   }
+  },
+  "sofa": {
+   "pillow": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "door": {
+    "distance": "0.6 meters",
+    "closeness rank": 2
+   },
+   "window": {
+    "distance": "0.77 meters",
+    "closeness rank": 3
+   },
+   "table": {
+    "distance": "2.58 meters",
+    "closeness rank": 4
+   },
+   "chair": {
+    "distance": "2.67 meters",
+    "closeness rank": 5
+   },
+   "monitor": {
+    "distance": "2.68 meters",
+    "closeness rank": 6
+   },
+   "computer mouse": {
+    "distance": "3.48 meters",
+    "closeness rank": 7
+   },
+   "keyboard": {
+    "distance": "3.76 meters",
+    "closeness rank": 8
+   },
+   "plant": {
+    "distance": "6.09 meters",
+    "closeness rank": 9
+   },
+   "radiator": {
+    "distance": "6.14 meters",
+    "closeness rank": 10
+   }
+  },
+  "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": "0.02 meters",
+    "closeness rank": 4
+   },
+   "window": {
+    "distance": "0.99 meters",
+    "closeness rank": 5
+   },
+   "radiator": {
+    "distance": "1.1 meters",
+    "closeness rank": 6
+   },
+   "plant": {
+    "distance": "1.38 meters",
+    "closeness rank": 7
+   },
+   "door": {
+    "distance": "1.67 meters",
+    "closeness rank": 8
+   },
+   "pillow": {
+    "distance": "2.05 meters",
+    "closeness rank": 9
+   },
+   "sofa": {
+    "distance": "2.58 meters",
+    "closeness rank": 10
+   }
+  },
+  "window": {
+   "plant": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "radiator": {
+    "distance": "0.11 meters",
+    "closeness rank": 2
+   },
+   "pillow": {
+    "distance": "0.21 meters",
+    "closeness rank": 3
+   },
+   "chair": {
+    "distance": "0.65 meters",
+    "closeness rank": 4
+   },
+   "door": {
+    "distance": "0.75 meters",
+    "closeness rank": 5
+   },
+   "sofa": {
+    "distance": "0.77 meters",
+    "closeness rank": 6
+   },
+   "table": {
+    "distance": "0.99 meters",
+    "closeness rank": 7
+   },
+   "monitor": {
+    "distance": "1.11 meters",
+    "closeness rank": 8
+   },
+   "computer mouse": {
+    "distance": "1.16 meters",
+    "closeness rank": 9
+   },
+   "keyboard": {
+    "distance": "1.93 meters",
+    "closeness rank": 10
+   }
+  }
+ },
+ "appearance order": ["door", "chair", "computer mouse", "keyboard", "plant", "radiator", "table", "window", "monitor", "pillow", "sofa"]
+}
\ No newline at end of file
diff --git a/data/spatial codes/sam3+depth-anything-3/metric/tracking/selective/32/explicit/scene0164_02.json b/data/spatial codes/sam3+depth-anything-3/metric/tracking/selective/32/explicit/scene0164_02.json
new file mode 100644
index 0000000000000000000000000000000000000000..0a1db88d185e0f8d8d4e6de8defa5a913a2c405a
--- /dev/null
+++ b/data/spatial codes/sam3+depth-anything-3/metric/tracking/selective/32/explicit/scene0164_02.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": {
+  "backpack": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "2.27 meters",
+      "y coordinate": "1.28 meters",
+      "height above floor": "1.42 meters"
+     },
+     "longest dimension": "0.51 meters"
+    }
+   ]
+  },
+  "counter": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-0.22 meters",
+      "y coordinate": "0.47 meters",
+      "height above floor": "1.56 meters"
+     },
+     "longest dimension": "2.04 meters"
+    }
+   ]
+  },
+  "door": {
+   "count": 7,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-0.07 meters",
+      "y coordinate": "-0.14 meters",
+      "height above floor": "-0.04 meters"
+     },
+     "longest dimension": "1.08 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-0.27 meters",
+      "y coordinate": "0.98 meters",
+      "height above floor": "-0.05 meters"
+     },
+     "longest dimension": "0.61 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-0.32 meters",
+      "y coordinate": "-0.2 meters",
+      "height above floor": "1.81 meters"
+     },
+     "longest dimension": "0.73 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-0.26 meters",
+      "y coordinate": "0.61 meters",
+      "height above floor": "-0.06 meters"
+     },
+     "longest dimension": "0.45 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-0.21 meters",
+      "y coordinate": "0.86 meters",
+      "height above floor": "1.52 meters"
+     },
+     "longest dimension": "0.68 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-0.53 meters",
+      "y coordinate": "0.97 meters",
+      "height above floor": "1.28 meters"
+     },
+     "longest dimension": "0.63 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "1.0 meters",
+      "y coordinate": "-0.17 meters",
+      "height above floor": "-0.34 meters"
+     },
+     "longest dimension": "0.75 meters"
+    }
+   ]
+  },
+  "microwave": {
+   "count": 2,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-0.76 meters",
+      "y coordinate": "0.28 meters",
+      "height above floor": "-0.33 meters"
+     },
+     "longest dimension": "0.58 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "0.37 meters",
+      "y coordinate": "0.3 meters",
+      "height above floor": "-0.54 meters"
+     },
+     "longest dimension": "0.74 meters"
+    }
+   ]
+  },
+  "oven": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "0.34 meters",
+      "y coordinate": "0.92 meters",
+      "height above floor": "0.0 meters"
+     },
+     "longest dimension": "0.86 meters"
+    }
+   ]
+  },
+  "plant": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "1.22 meters",
+      "y coordinate": "0.5 meters",
+      "height above floor": "-0.08 meters"
+     },
+     "longest dimension": "0.06 meters"
+    }
+   ]
+  },
+  "refrigerator": {
+   "count": 2,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "0.82 meters",
+      "y coordinate": "0.56 meters",
+      "height above floor": "1.62 meters"
+     },
+     "longest dimension": "1.37 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "0.44 meters",
+      "y coordinate": "0.67 meters",
+      "height above floor": "1.04 meters"
+     },
+     "longest dimension": "1.14 meters"
+    }
+   ]
+  },
+  "towel": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "0.23 meters",
+      "y coordinate": "0.74 meters",
+      "height above floor": "0.05 meters"
+     },
+     "longest dimension": "0.47 meters"
+    }
+   ]
+  }
+ },
+ "room": {
+  "floor area": "6.5 square meters"
+ },
+ "closest classes distance meters from": {
+  "backpack": {
+   "refrigerator": {
+    "distance": "0.95 meters",
+    "closeness rank": 1
+   },
+   "plant": {
+    "distance": "1.79 meters",
+    "closeness rank": 2
+   },
+   "oven": {
+    "distance": "1.88 meters",
+    "closeness rank": 3
+   },
+   "door": {
+    "distance": "2.08 meters",
+    "closeness rank": 4
+   },
+   "counter": {
+    "distance": "2.1 meters",
+    "closeness rank": 5
+   },
+   "towel": {
+    "distance": "2.17 meters",
+    "closeness rank": 6
+   },
+   "microwave": {
+    "distance": "2.43 meters",
+    "closeness rank": 7
+   }
+  },
+  "counter": {
+   "door": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "refrigerator": {
+    "distance": "0.0 meters",
+    "closeness rank": 2
+   },
+   "towel": {
+    "distance": "0.46 meters",
+    "closeness rank": 3
+   },
+   "oven": {
+    "distance": "0.53 meters",
+    "closeness rank": 4
+   },
+   "microwave": {
+    "distance": "0.76 meters",
+    "closeness rank": 5
+   },
+   "plant": {
+    "distance": "1.17 meters",
+    "closeness rank": 6
+   },
+   "backpack": {
+    "distance": "2.1 meters",
+    "closeness rank": 7
+   }
+  },
+  "door": {
+   "counter": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "oven": {
+    "distance": "0.06 meters",
+    "closeness rank": 2
+   },
+   "microwave": {
+    "distance": "0.16 meters",
+    "closeness rank": 3
+   },
+   "towel": {
+    "distance": "0.19 meters",
+    "closeness rank": 4
+   },
+   "refrigerator": {
+    "distance": "0.33 meters",
+    "closeness rank": 5
+   },
+   "plant": {
+    "distance": "0.39 meters",
+    "closeness rank": 6
+   },
+   "backpack": {
+    "distance": "2.08 meters",
+    "closeness rank": 7
+   }
+  },
+  "microwave": {
+   "door": {
+    "distance": "0.16 meters",
+    "closeness rank": 1
+   },
+   "oven": {
+    "distance": "0.49 meters",
+    "closeness rank": 2
+   },
+   "towel": {
+    "distance": "0.52 meters",
+    "closeness rank": 3
+   },
+   "plant": {
+    "distance": "0.63 meters",
+    "closeness rank": 4
+   },
+   "counter": {
+    "distance": "0.76 meters",
+    "closeness rank": 5
+   },
+   "refrigerator": {
+    "distance": "1.3 meters",
+    "closeness rank": 6
+   },
+   "backpack": {
+    "distance": "2.43 meters",
+    "closeness rank": 7
+   }
+  },
+  "oven": {
+   "towel": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "door": {
+    "distance": "0.06 meters",
+    "closeness rank": 2
+   },
+   "microwave": {
+    "distance": "0.49 meters",
+    "closeness rank": 3
+   },
+   "counter": {
+    "distance": "0.53 meters",
+    "closeness rank": 4
+   },
+   "plant": {
+    "distance": "0.55 meters",
+    "closeness rank": 5
+   },
+   "refrigerator": {
+    "distance": "0.93 meters",
+    "closeness rank": 6
+   },
+   "backpack": {
+    "distance": "1.88 meters",
+    "closeness rank": 7
+   }
+  },
+  "plant": {
+   "door": {
+    "distance": "0.39 meters",
+    "closeness rank": 1
+   },
+   "oven": {
+    "distance": "0.55 meters",
+    "closeness rank": 2
+   },
+   "microwave": {
+    "distance": "0.63 meters",
+    "closeness rank": 3
+   },
+   "towel": {
+    "distance": "0.89 meters",
+    "closeness rank": 4
+   },
+   "refrigerator": {
+    "distance": "1.12 meters",
+    "closeness rank": 5
+   },
+   "counter": {
+    "distance": "1.17 meters",
+    "closeness rank": 6
+   },
+   "backpack": {
+    "distance": "1.79 meters",
+    "closeness rank": 7
+   }
+  },
+  "refrigerator": {
+   "counter": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "door": {
+    "distance": "0.33 meters",
+    "closeness rank": 2
+   },
+   "towel": {
+    "distance": "0.85 meters",
+    "closeness rank": 3
+   },
+   "oven": {
+    "distance": "0.93 meters",
+    "closeness rank": 4
+   },
+   "backpack": {
+    "distance": "0.95 meters",
+    "closeness rank": 5
+   },
+   "plant": {
+    "distance": "1.12 meters",
+    "closeness rank": 6
+   },
+   "microwave": {
+    "distance": "1.3 meters",
+    "closeness rank": 7
+   }
+  },
+  "towel": {
+   "oven": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "door": {
+    "distance": "0.19 meters",
+    "closeness rank": 2
+   },
+   "counter": {
+    "distance": "0.46 meters",
+    "closeness rank": 3
+   },
+   "microwave": {
+    "distance": "0.52 meters",
+    "closeness rank": 4
+   },
+   "refrigerator": {
+    "distance": "0.85 meters",
+    "closeness rank": 5
+   },
+   "plant": {
+    "distance": "0.89 meters",
+    "closeness rank": 6
+   },
+   "backpack": {
+    "distance": "2.17 meters",
+    "closeness rank": 7
+   }
+  }
+ },
+ "appearance order": ["door", "towel", "microwave", "oven", "counter", "refrigerator", "backpack", "plant"]
+}
\ No newline at end of file
diff --git a/data/spatial codes/sam3+depth-anything-3/metric/tracking/selective/32/explicit/scene0207_02.json b/data/spatial codes/sam3+depth-anything-3/metric/tracking/selective/32/explicit/scene0207_02.json
new file mode 100644
index 0000000000000000000000000000000000000000..c3c9ced278471fca418af0eb6b487749a8a137a2
--- /dev/null
+++ b/data/spatial codes/sam3+depth-anything-3/metric/tracking/selective/32/explicit/scene0207_02.json	
@@ -0,0 +1,2372 @@
+{
+ "spatial code schema": {
+  "objects": {
+   "<object class>": {
+    "count": {
+     "unit": null,
+     "description": "number of instances of this class in the compact spatial code (that schema's per-class oriented-box list length)"
+    },
+    "instances": [
+     {
+      "position": {
+       "x coordinate": {
+        "unit": "meters",
+        "description": "x coordinate of this instance's compact 3D oriented bounding box center"
+       },
+       "y coordinate": {
+        "unit": "meters",
+        "description": "y coordinate of this instance's compact 3D oriented bounding box center"
+       },
+       "height above floor": {
+        "unit": "meters",
+        "description": "height coordinate of this instance's compact 3D oriented bounding box center"
+       }
+      },
+      "longest dimension": {
+       "unit": "meters",
+       "description": "longest of this instance's compact 3D oriented bounding box dimensions"
+      }
+     }
+    ]
+   }
+  },
+  "room": {
+   "floor area": {
+    "unit": "square meters",
+    "description": "shoelace area of the compact spatial code's floor boundary polygons, with every interior hole subtracted"
+   }
+  },
+  "closest classes distance meters from": {
+   "<object class>": {
+    "<other object class>": {
+     "distance": {
+      "unit": "meters",
+      "description": "minimum surface-to-surface separation between the two classes' compact 3D oriented bounding boxes, over every instance pair"
+     },
+     "closeness rank": {
+      "unit": null,
+      "description": "1 = the nearest other class to this one, 2 = second-nearest, and so on"
+     }
+    }
+   }
+  },
+  "appearance order": {
+   "unit": null,
+   "description": "class names ordered by earliest compact 'first visible time' across all of that class's instances"
+  }
+ },
+ "objects": {
+  "backpack": {
+   "count": 3,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "0.8 meters",
+      "y coordinate": "0.48 meters",
+      "height above floor": "-0.35 meters"
+     },
+     "longest dimension": "0.62 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "1.36 meters",
+      "y coordinate": "-0.86 meters",
+      "height above floor": "-0.13 meters"
+     },
+     "longest dimension": "0.61 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "0.06 meters",
+      "y coordinate": "0.53 meters",
+      "height above floor": "-0.61 meters"
+     },
+     "longest dimension": "0.4 meters"
+    }
+   ]
+  },
+  "bed": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-1.07 meters",
+      "y coordinate": "-1.57 meters",
+      "height above floor": "-0.16 meters"
+     },
+     "longest dimension": "1.86 meters"
+    }
+   ]
+  },
+  "bookshelf": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "0.55 meters",
+      "y coordinate": "-1.71 meters",
+      "height above floor": "0.98 meters"
+     },
+     "longest dimension": "1.08 meters"
+    }
+   ]
+  },
+  "chair": {
+   "count": 2,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "0.66 meters",
+      "y coordinate": "-0.3 meters",
+      "height above floor": "-0.34 meters"
+     },
+     "longest dimension": "0.87 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "1.96 meters",
+      "y coordinate": "-0.24 meters",
+      "height above floor": "-0.11 meters"
+     },
+     "longest dimension": "0.34 meters"
+    }
+   ]
+  },
+  "closet": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-2.47 meters",
+      "y coordinate": "-0.1 meters",
+      "height above floor": "0.09 meters"
+     },
+     "longest dimension": "1.43 meters"
+    }
+   ]
+  },
+  "door": {
+   "count": 5,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-2.38 meters",
+      "y coordinate": "3.62 meters",
+      "height above floor": "-0.03 meters"
+     },
+     "longest dimension": "1.63 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-1.67 meters",
+      "y coordinate": "0.07 meters",
+      "height above floor": "0.26 meters"
+     },
+     "longest dimension": "1.72 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-3.77 meters",
+      "y coordinate": "0.88 meters",
+      "height above floor": "1.07 meters"
+     },
+     "longest dimension": "0.95 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-2.83 meters",
+      "y coordinate": "-0.74 meters",
+      "height above floor": "0.55 meters"
+     },
+     "longest dimension": "1.1 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-0.02 meters",
+      "y coordinate": "-2.34 meters",
+      "height above floor": "0.29 meters"
+     },
+     "longest dimension": "0.64 meters"
+    }
+   ]
+  },
+  "keyboard": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "0.03 meters",
+      "y coordinate": "-0.93 meters",
+      "height above floor": "0.02 meters"
+     },
+     "longest dimension": "0.26 meters"
+    }
+   ]
+  },
+  "mattress": {
+   "count": 2,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-1.16 meters",
+      "y coordinate": "-1.59 meters",
+      "height above floor": "-0.04 meters"
+     },
+     "longest dimension": "1.73 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-0.93 meters",
+      "y coordinate": "-1.39 meters",
+      "height above floor": "-0.22 meters"
+     },
+     "longest dimension": "1.81 meters"
+    }
+   ]
+  },
+  "microwave": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-2.81 meters",
+      "y coordinate": "3.02 meters",
+      "height above floor": "0.09 meters"
+     },
+     "longest dimension": "0.42 meters"
+    }
+   ]
+  },
+  "mirror": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-3.72 meters",
+      "y coordinate": "0.33 meters",
+      "height above floor": "0.84 meters"
+     },
+     "longest dimension": "0.97 meters"
+    }
+   ]
+  },
+  "monitor": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-0.15 meters",
+      "y coordinate": "-1.11 meters",
+      "height above floor": "0.36 meters"
+     },
+     "longest dimension": "0.45 meters"
+    }
+   ]
+  },
+  "nightstand": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-0.29 meters",
+      "y coordinate": "-1.99 meters",
+      "height above floor": "-0.34 meters"
+     },
+     "longest dimension": "0.43 meters"
+    }
+   ]
+  },
+  "pillow": {
+   "count": 3,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-0.95 meters",
+      "y coordinate": "-2.35 meters",
+      "height above floor": "0.12 meters"
+     },
+     "longest dimension": "0.69 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-1.53 meters",
+      "y coordinate": "-1.84 meters",
+      "height above floor": "0.2 meters"
+     },
+     "longest dimension": "0.15 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-0.62 meters",
+      "y coordinate": "-2.35 meters",
+      "height above floor": "0.09 meters"
+     },
+     "longest dimension": "0.19 meters"
+    }
+   ]
+  },
+  "printer": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "0.12 meters",
+      "y coordinate": "-1.65 meters",
+      "height above floor": "0.15 meters"
+     },
+     "longest dimension": "0.56 meters"
+    }
+   ]
+  },
+  "refrigerator": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-1.46 meters",
+      "y coordinate": "3.79 meters",
+      "height above floor": "-0.09 meters"
+     },
+     "longest dimension": "1.38 meters"
+    }
+   ]
+  },
+  "sofa": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "0.96 meters",
+      "y coordinate": "0.38 meters",
+      "height above floor": "-0.39 meters"
+     },
+     "longest dimension": "1.89 meters"
+    }
+   ]
+  },
+  "table": {
+   "count": 3,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-0.65 meters",
+      "y coordinate": "-0.75 meters",
+      "height above floor": "-0.01 meters"
+     },
+     "longest dimension": "1.33 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-0.26 meters",
+      "y coordinate": "1.48 meters",
+      "height above floor": "-0.31 meters"
+     },
+     "longest dimension": "1.3 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-2.4 meters",
+      "y coordinate": "2.58 meters",
+      "height above floor": "-0.1 meters"
+     },
+     "longest dimension": "0.73 meters"
+    }
+   ]
+  },
+  "telephone": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "0.79 meters",
+      "y coordinate": "-1.64 meters",
+      "height above floor": "0.07 meters"
+     },
+     "longest dimension": "0.19 meters"
+    }
+   ]
+  },
+  "towel": {
+   "count": 2,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-1.12 meters",
+      "y coordinate": "2.88 meters",
+      "height above floor": "-0.26 meters"
+     },
+     "longest dimension": "0.38 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-2.74 meters",
+      "y coordinate": "2.22 meters",
+      "height above floor": "0.21 meters"
+     },
+     "longest dimension": "0.69 meters"
+    }
+   ]
+  },
+  "trash bin": {
+   "count": 3,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-1.88 meters",
+      "y coordinate": "-0.82 meters",
+      "height above floor": "-0.3 meters"
+     },
+     "longest dimension": "0.58 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-0.25 meters",
+      "y coordinate": "1.47 meters",
+      "height above floor": "-0.5 meters"
+     },
+     "longest dimension": "0.65 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-2.48 meters",
+      "y coordinate": "-1.06 meters",
+      "height above floor": "-0.08 meters"
+     },
+     "longest dimension": "0.52 meters"
+    }
+   ]
+  },
+  "tv": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-0.15 meters",
+      "y coordinate": "-1.11 meters",
+      "height above floor": "0.36 meters"
+     },
+     "longest dimension": "0.45 meters"
+    }
+   ]
+  },
+  "window": {
+   "count": 2,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-0.07 meters",
+      "y coordinate": "-2.37 meters",
+      "height above floor": "0.28 meters"
+     },
+     "longest dimension": "0.76 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "1.13 meters",
+      "y coordinate": "-1.48 meters",
+      "height above floor": "0.48 meters"
+     },
+     "longest dimension": "0.92 meters"
+    }
+   ]
+  }
+ },
+ "room": {
+  "floor area": "31.3 square meters"
+ },
+ "closest classes distance meters from": {
+  "backpack": {
+   "sofa": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "window": {
+    "distance": "0.2 meters",
+    "closeness rank": 2
+   },
+   "chair": {
+    "distance": "0.24 meters",
+    "closeness rank": 3
+   },
+   "table": {
+    "distance": "0.53 meters",
+    "closeness rank": 4
+   },
+   "telephone": {
+    "distance": "0.63 meters",
+    "closeness rank": 5
+   },
+   "trash bin": {
+    "distance": "0.73 meters",
+    "closeness rank": 6
+   },
+   "bookshelf": {
+    "distance": "0.78 meters",
+    "closeness rank": 7
+   },
+   "printer": {
+    "distance": "1.1 meters",
+    "closeness rank": 8
+   },
+   "keyboard": {
+    "distance": "1.12 meters",
+    "closeness rank": 9
+   },
+   "tv": {
+    "distance": "1.28 meters",
+    "closeness rank": 10
+   },
+   "monitor": {
+    "distance": "1.28 meters",
+    "closeness rank": 11
+   },
+   "door": {
+    "distance": "1.43 meters",
+    "closeness rank": 12
+   },
+   "nightstand": {
+    "distance": "1.63 meters",
+    "closeness rank": 13
+   },
+   "bed": {
+    "distance": "1.65 meters",
+    "closeness rank": 14
+   },
+   "mattress": {
+    "distance": "1.71 meters",
+    "closeness rank": 15
+   },
+   "closet": {
+    "distance": "2.11 meters",
+    "closeness rank": 16
+   },
+   "pillow": {
+    "distance": "2.13 meters",
+    "closeness rank": 17
+   },
+   "towel": {
+    "distance": "2.34 meters",
+    "closeness rank": 18
+   },
+   "refrigerator": {
+    "distance": "3.15 meters",
+    "closeness rank": 19
+   },
+   "microwave": {
+    "distance": "3.42 meters",
+    "closeness rank": 20
+   },
+   "mirror": {
+    "distance": "3.58 meters",
+    "closeness rank": 21
+   }
+  },
+  "bed": {
+   "mattress": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "trash bin": {
+    "distance": "0.0 meters",
+    "closeness rank": 2
+   },
+   "pillow": {
+    "distance": "0.02 meters",
+    "closeness rank": 3
+   },
+   "nightstand": {
+    "distance": "0.06 meters",
+    "closeness rank": 4
+   },
+   "table": {
+    "distance": "0.17 meters",
+    "closeness rank": 5
+   },
+   "window": {
+    "distance": "0.23 meters",
+    "closeness rank": 6
+   },
+   "door": {
+    "distance": "0.32 meters",
+    "closeness rank": 7
+   },
+   "printer": {
+    "distance": "0.58 meters",
+    "closeness rank": 8
+   },
+   "tv": {
+    "distance": "0.74 meters",
+    "closeness rank": 9
+   },
+   "monitor": {
+    "distance": "0.74 meters",
+    "closeness rank": 10
+   },
+   "bookshelf": {
+    "distance": "0.84 meters",
+    "closeness rank": 11
+   },
+   "keyboard": {
+    "distance": "0.96 meters",
+    "closeness rank": 12
+   },
+   "closet": {
+    "distance": "0.98 meters",
+    "closeness rank": 13
+   },
+   "telephone": {
+    "distance": "1.25 meters",
+    "closeness rank": 14
+   },
+   "chair": {
+    "distance": "1.58 meters",
+    "closeness rank": 15
+   },
+   "backpack": {
+    "distance": "1.65 meters",
+    "closeness rank": 16
+   },
+   "sofa": {
+    "distance": "1.88 meters",
+    "closeness rank": 17
+   },
+   "mirror": {
+    "distance": "2.13 meters",
+    "closeness rank": 18
+   },
+   "towel": {
+    "distance": "3.06 meters",
+    "closeness rank": 19
+   },
+   "microwave": {
+    "distance": "3.72 meters",
+    "closeness rank": 20
+   },
+   "refrigerator": {
+    "distance": "4.05 meters",
+    "closeness rank": 21
+   }
+  },
+  "bookshelf": {
+   "window": {
+    "distance": "0.11 meters",
+    "closeness rank": 1
+   },
+   "printer": {
+    "distance": "0.19 meters",
+    "closeness rank": 2
+   },
+   "door": {
+    "distance": "0.22 meters",
+    "closeness rank": 3
+   },
+   "telephone": {
+    "distance": "0.27 meters",
+    "closeness rank": 4
+   },
+   "monitor": {
+    "distance": "0.59 meters",
+    "closeness rank": 5
+   },
+   "tv": {
+    "distance": "0.59 meters",
+    "closeness rank": 6
+   },
+   "nightstand": {
+    "distance": "0.72 meters",
+    "closeness rank": 7
+   },
+   "backpack": {
+    "distance": "0.78 meters",
+    "closeness rank": 8
+   },
+   "keyboard": {
+    "distance": "0.83 meters",
+    "closeness rank": 9
+   },
+   "table": {
+    "distance": "0.84 meters",
+    "closeness rank": 10
+   },
+   "bed": {
+    "distance": "0.84 meters",
+    "closeness rank": 11
+   },
+   "mattress": {
+    "distance": "0.85 meters",
+    "closeness rank": 12
+   },
+   "chair": {
+    "distance": "0.86 meters",
+    "closeness rank": 13
+   },
+   "pillow": {
+    "distance": "1.0 meters",
+    "closeness rank": 14
+   },
+   "sofa": {
+    "distance": "1.3 meters",
+    "closeness rank": 15
+   },
+   "trash bin": {
+    "distance": "2.22 meters",
+    "closeness rank": 16
+   },
+   "closet": {
+    "distance": "3.04 meters",
+    "closeness rank": 17
+   },
+   "mirror": {
+    "distance": "4.33 meters",
+    "closeness rank": 18
+   },
+   "towel": {
+    "distance": "4.62 meters",
+    "closeness rank": 19
+   },
+   "refrigerator": {
+    "distance": "5.39 meters",
+    "closeness rank": 20
+   },
+   "microwave": {
+    "distance": "5.5 meters",
+    "closeness rank": 21
+   }
+  },
+  "chair": {
+   "sofa": {
+    "distance": "0.01 meters",
+    "closeness rank": 1
+   },
+   "backpack": {
+    "distance": "0.24 meters",
+    "closeness rank": 2
+   },
+   "keyboard": {
+    "distance": "0.58 meters",
+    "closeness rank": 3
+   },
+   "table": {
+    "distance": "0.73 meters",
+    "closeness rank": 4
+   },
+   "monitor": {
+    "distance": "0.85 meters",
+    "closeness rank": 5
+   },
+   "tv": {
+    "distance": "0.85 meters",
+    "closeness rank": 6
+   },
+   "bookshelf": {
+    "distance": "0.86 meters",
+    "closeness rank": 7
+   },
+   "window": {
+    "distance": "0.92 meters",
+    "closeness rank": 8
+   },
+   "printer": {
+    "distance": "0.94 meters",
+    "closeness rank": 9
+   },
+   "telephone": {
+    "distance": "0.95 meters",
+    "closeness rank": 10
+   },
+   "nightstand": {
+    "distance": "1.45 meters",
+    "closeness rank": 11
+   },
+   "door": {
+    "distance": "1.49 meters",
+    "closeness rank": 12
+   },
+   "trash bin": {
+    "distance": "1.53 meters",
+    "closeness rank": 13
+   },
+   "bed": {
+    "distance": "1.58 meters",
+    "closeness rank": 14
+   },
+   "mattress": {
+    "distance": "1.61 meters",
+    "closeness rank": 15
+   },
+   "pillow": {
+    "distance": "1.92 meters",
+    "closeness rank": 16
+   },
+   "closet": {
+    "distance": "2.44 meters",
+    "closeness rank": 17
+   },
+   "towel": {
+    "distance": "3.21 meters",
+    "closeness rank": 18
+   },
+   "mirror": {
+    "distance": "3.88 meters",
+    "closeness rank": 19
+   },
+   "refrigerator": {
+    "distance": "4.03 meters",
+    "closeness rank": 20
+   },
+   "microwave": {
+    "distance": "4.29 meters",
+    "closeness rank": 21
+   }
+  },
+  "closet": {
+   "door": {
+    "distance": "0.29 meters",
+    "closeness rank": 1
+   },
+   "trash bin": {
+    "distance": "0.44 meters",
+    "closeness rank": 2
+   },
+   "mirror": {
+    "distance": "0.88 meters",
+    "closeness rank": 3
+   },
+   "mattress": {
+    "distance": "0.96 meters",
+    "closeness rank": 4
+   },
+   "bed": {
+    "distance": "0.98 meters",
+    "closeness rank": 5
+   },
+   "table": {
+    "distance": "1.0 meters",
+    "closeness rank": 6
+   },
+   "pillow": {
+    "distance": "1.8 meters",
+    "closeness rank": 7
+   },
+   "towel": {
+    "distance": "1.98 meters",
+    "closeness rank": 8
+   },
+   "tv": {
+    "distance": "2.08 meters",
+    "closeness rank": 9
+   },
+   "monitor": {
+    "distance": "2.08 meters",
+    "closeness rank": 10
+   },
+   "backpack": {
+    "distance": "2.11 meters",
+    "closeness rank": 11
+   },
+   "sofa": {
+    "distance": "2.23 meters",
+    "closeness rank": 12
+   },
+   "keyboard": {
+    "distance": "2.24 meters",
+    "closeness rank": 13
+   },
+   "chair": {
+    "distance": "2.44 meters",
+    "closeness rank": 14
+   },
+   "printer": {
+    "distance": "2.52 meters",
+    "closeness rank": 15
+   },
+   "nightstand": {
+    "distance": "2.61 meters",
+    "closeness rank": 16
+   },
+   "microwave": {
+    "distance": "2.68 meters",
+    "closeness rank": 17
+   },
+   "bookshelf": {
+    "distance": "3.04 meters",
+    "closeness rank": 18
+   },
+   "window": {
+    "distance": "3.1 meters",
+    "closeness rank": 19
+   },
+   "refrigerator": {
+    "distance": "3.29 meters",
+    "closeness rank": 20
+   },
+   "telephone": {
+    "distance": "3.34 meters",
+    "closeness rank": 21
+   }
+  },
+  "door": {
+   "window": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "trash bin": {
+    "distance": "0.08 meters",
+    "closeness rank": 2
+   },
+   "mirror": {
+    "distance": "0.14 meters",
+    "closeness rank": 3
+   },
+   "refrigerator": {
+    "distance": "0.17 meters",
+    "closeness rank": 4
+   },
+   "printer": {
+    "distance": "0.19 meters",
+    "closeness rank": 5
+   },
+   "microwave": {
+    "distance": "0.21 meters",
+    "closeness rank": 6
+   },
+   "bookshelf": {
+    "distance": "0.22 meters",
+    "closeness rank": 7
+   },
+   "closet": {
+    "distance": "0.29 meters",
+    "closeness rank": 8
+   },
+   "pillow": {
+    "distance": "0.31 meters",
+    "closeness rank": 9
+   },
+   "bed": {
+    "distance": "0.32 meters",
+    "closeness rank": 10
+   },
+   "nightstand": {
+    "distance": "0.39 meters",
+    "closeness rank": 11
+   },
+   "mattress": {
+    "distance": "0.41 meters",
+    "closeness rank": 12
+   },
+   "table": {
+    "distance": "0.48 meters",
+    "closeness rank": 13
+   },
+   "telephone": {
+    "distance": "0.72 meters",
+    "closeness rank": 14
+   },
+   "monitor": {
+    "distance": "0.84 meters",
+    "closeness rank": 15
+   },
+   "tv": {
+    "distance": "0.84 meters",
+    "closeness rank": 16
+   },
+   "towel": {
+    "distance": "0.96 meters",
+    "closeness rank": 17
+   },
+   "keyboard": {
+    "distance": "1.06 meters",
+    "closeness rank": 18
+   },
+   "backpack": {
+    "distance": "1.43 meters",
+    "closeness rank": 19
+   },
+   "chair": {
+    "distance": "1.49 meters",
+    "closeness rank": 20
+   },
+   "sofa": {
+    "distance": "1.72 meters",
+    "closeness rank": 21
+   }
+  },
+  "keyboard": {
+   "table": {
+    "distance": "0.06 meters",
+    "closeness rank": 1
+   },
+   "monitor": {
+    "distance": "0.26 meters",
+    "closeness rank": 2
+   },
+   "tv": {
+    "distance": "0.26 meters",
+    "closeness rank": 3
+   },
+   "printer": {
+    "distance": "0.33 meters",
+    "closeness rank": 4
+   },
+   "chair": {
+    "distance": "0.58 meters",
+    "closeness rank": 5
+   },
+   "bookshelf": {
+    "distance": "0.83 meters",
+    "closeness rank": 6
+   },
+   "nightstand": {
+    "distance": "0.86 meters",
+    "closeness rank": 7
+   },
+   "telephone": {
+    "distance": "0.88 meters",
+    "closeness rank": 8
+   },
+   "bed": {
+    "distance": "0.96 meters",
+    "closeness rank": 9
+   },
+   "mattress": {
+    "distance": "0.98 meters",
+    "closeness rank": 10
+   },
+   "window": {
+    "distance": "1.0 meters",
+    "closeness rank": 11
+   },
+   "door": {
+    "distance": "1.06 meters",
+    "closeness rank": 12
+   },
+   "backpack": {
+    "distance": "1.12 meters",
+    "closeness rank": 13
+   },
+   "sofa": {
+    "distance": "1.16 meters",
+    "closeness rank": 14
+   },
+   "pillow": {
+    "distance": "1.28 meters",
+    "closeness rank": 15
+   },
+   "trash bin": {
+    "distance": "1.57 meters",
+    "closeness rank": 16
+   },
+   "closet": {
+    "distance": "2.24 meters",
+    "closeness rank": 17
+   },
+   "mirror": {
+    "distance": "3.65 meters",
+    "closeness rank": 18
+   },
+   "towel": {
+    "distance": "3.72 meters",
+    "closeness rank": 19
+   },
+   "refrigerator": {
+    "distance": "4.49 meters",
+    "closeness rank": 20
+   },
+   "microwave": {
+    "distance": "4.52 meters",
+    "closeness rank": 21
+   }
+  },
+  "mattress": {
+   "bed": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "trash bin": {
+    "distance": "0.0 meters",
+    "closeness rank": 2
+   },
+   "nightstand": {
+    "distance": "0.01 meters",
+    "closeness rank": 3
+   },
+   "pillow": {
+    "distance": "0.01 meters",
+    "closeness rank": 4
+   },
+   "table": {
+    "distance": "0.22 meters",
+    "closeness rank": 5
+   },
+   "window": {
+    "distance": "0.33 meters",
+    "closeness rank": 6
+   },
+   "door": {
+    "distance": "0.41 meters",
+    "closeness rank": 7
+   },
+   "printer": {
+    "distance": "0.58 meters",
+    "closeness rank": 8
+   },
+   "tv": {
+    "distance": "0.77 meters",
+    "closeness rank": 9
+   },
+   "monitor": {
+    "distance": "0.77 meters",
+    "closeness rank": 10
+   },
+   "bookshelf": {
+    "distance": "0.85 meters",
+    "closeness rank": 11
+   },
+   "closet": {
+    "distance": "0.96 meters",
+    "closeness rank": 12
+   },
+   "keyboard": {
+    "distance": "0.98 meters",
+    "closeness rank": 13
+   },
+   "telephone": {
+    "distance": "1.22 meters",
+    "closeness rank": 14
+   },
+   "chair": {
+    "distance": "1.61 meters",
+    "closeness rank": 15
+   },
+   "backpack": {
+    "distance": "1.71 meters",
+    "closeness rank": 16
+   },
+   "sofa": {
+    "distance": "1.93 meters",
+    "closeness rank": 17
+   },
+   "mirror": {
+    "distance": "2.1 meters",
+    "closeness rank": 18
+   },
+   "towel": {
+    "distance": "3.02 meters",
+    "closeness rank": 19
+   },
+   "microwave": {
+    "distance": "3.68 meters",
+    "closeness rank": 20
+   },
+   "refrigerator": {
+    "distance": "4.04 meters",
+    "closeness rank": 21
+   }
+  },
+  "microwave": {
+   "table": {
+    "distance": "0.16 meters",
+    "closeness rank": 1
+   },
+   "door": {
+    "distance": "0.21 meters",
+    "closeness rank": 2
+   },
+   "towel": {
+    "distance": "0.43 meters",
+    "closeness rank": 3
+   },
+   "refrigerator": {
+    "distance": "1.09 meters",
+    "closeness rank": 4
+   },
+   "mirror": {
+    "distance": "2.49 meters",
+    "closeness rank": 5
+   },
+   "trash bin": {
+    "distance": "2.63 meters",
+    "closeness rank": 6
+   },
+   "closet": {
+    "distance": "2.68 meters",
+    "closeness rank": 7
+   },
+   "sofa": {
+    "distance": "3.42 meters",
+    "closeness rank": 8
+   },
+   "backpack": {
+    "distance": "3.42 meters",
+    "closeness rank": 9
+   },
+   "mattress": {
+    "distance": "3.68 meters",
+    "closeness rank": 10
+   },
+   "bed": {
+    "distance": "3.72 meters",
+    "closeness rank": 11
+   },
+   "chair": {
+    "distance": "4.29 meters",
+    "closeness rank": 12
+   },
+   "tv": {
+    "distance": "4.47 meters",
+    "closeness rank": 13
+   },
+   "monitor": {
+    "distance": "4.47 meters",
+    "closeness rank": 14
+   },
+   "keyboard": {
+    "distance": "4.52 meters",
+    "closeness rank": 15
+   },
+   "pillow": {
+    "distance": "4.71 meters",
+    "closeness rank": 16
+   },
+   "printer": {
+    "distance": "5.0 meters",
+    "closeness rank": 17
+   },
+   "nightstand": {
+    "distance": "5.28 meters",
+    "closeness rank": 18
+   },
+   "bookshelf": {
+    "distance": "5.5 meters",
+    "closeness rank": 19
+   },
+   "telephone": {
+    "distance": "5.65 meters",
+    "closeness rank": 20
+   },
+   "window": {
+    "distance": "5.72 meters",
+    "closeness rank": 21
+   }
+  },
+  "mirror": {
+   "door": {
+    "distance": "0.14 meters",
+    "closeness rank": 1
+   },
+   "closet": {
+    "distance": "0.88 meters",
+    "closeness rank": 2
+   },
+   "trash bin": {
+    "distance": "1.44 meters",
+    "closeness rank": 3
+   },
+   "towel": {
+    "distance": "1.86 meters",
+    "closeness rank": 4
+   },
+   "mattress": {
+    "distance": "2.1 meters",
+    "closeness rank": 5
+   },
+   "bed": {
+    "distance": "2.13 meters",
+    "closeness rank": 6
+   },
+   "table": {
+    "distance": "2.24 meters",
+    "closeness rank": 7
+   },
+   "microwave": {
+    "distance": "2.49 meters",
+    "closeness rank": 8
+   },
+   "pillow": {
+    "distance": "2.81 meters",
+    "closeness rank": 9
+   },
+   "tv": {
+    "distance": "3.45 meters",
+    "closeness rank": 10
+   },
+   "monitor": {
+    "distance": "3.45 meters",
+    "closeness rank": 11
+   },
+   "backpack": {
+    "distance": "3.58 meters",
+    "closeness rank": 12
+   },
+   "refrigerator": {
+    "distance": "3.59 meters",
+    "closeness rank": 13
+   },
+   "sofa": {
+    "distance": "3.62 meters",
+    "closeness rank": 14
+   },
+   "keyboard": {
+    "distance": "3.65 meters",
+    "closeness rank": 15
+   },
+   "nightstand": {
+    "distance": "3.83 meters",
+    "closeness rank": 16
+   },
+   "printer": {
+    "distance": "3.83 meters",
+    "closeness rank": 17
+   },
+   "chair": {
+    "distance": "3.88 meters",
+    "closeness rank": 18
+   },
+   "window": {
+    "distance": "4.18 meters",
+    "closeness rank": 19
+   },
+   "bookshelf": {
+    "distance": "4.33 meters",
+    "closeness rank": 20
+   },
+   "telephone": {
+    "distance": "4.7 meters",
+    "closeness rank": 21
+   }
+  },
+  "monitor": {
+   "tv": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "printer": {
+    "distance": "0.08 meters",
+    "closeness rank": 2
+   },
+   "table": {
+    "distance": "0.2 meters",
+    "closeness rank": 3
+   },
+   "keyboard": {
+    "distance": "0.26 meters",
+    "closeness rank": 4
+   },
+   "bookshelf": {
+    "distance": "0.59 meters",
+    "closeness rank": 5
+   },
+   "nightstand": {
+    "distance": "0.67 meters",
+    "closeness rank": 6
+   },
+   "bed": {
+    "distance": "0.74 meters",
+    "closeness rank": 7
+   },
+   "mattress": {
+    "distance": "0.77 meters",
+    "closeness rank": 8
+   },
+   "telephone": {
+    "distance": "0.83 meters",
+    "closeness rank": 9
+   },
+   "window": {
+    "distance": "0.83 meters",
+    "closeness rank": 10
+   },
+   "door": {
+    "distance": "0.84 meters",
+    "closeness rank": 11
+   },
+   "chair": {
+    "distance": "0.85 meters",
+    "closeness rank": 12
+   },
+   "pillow": {
+    "distance": "1.02 meters",
+    "closeness rank": 13
+   },
+   "backpack": {
+    "distance": "1.28 meters",
+    "closeness rank": 14
+   },
+   "trash bin": {
+    "distance": "1.38 meters",
+    "closeness rank": 15
+   },
+   "sofa": {
+    "distance": "1.44 meters",
+    "closeness rank": 16
+   },
+   "closet": {
+    "distance": "2.08 meters",
+    "closeness rank": 17
+   },
+   "mirror": {
+    "distance": "3.45 meters",
+    "closeness rank": 18
+   },
+   "towel": {
+    "distance": "3.78 meters",
+    "closeness rank": 19
+   },
+   "microwave": {
+    "distance": "4.47 meters",
+    "closeness rank": 20
+   },
+   "refrigerator": {
+    "distance": "4.52 meters",
+    "closeness rank": 21
+   }
+  },
+  "nightstand": {
+   "mattress": {
+    "distance": "0.01 meters",
+    "closeness rank": 1
+   },
+   "bed": {
+    "distance": "0.06 meters",
+    "closeness rank": 2
+   },
+   "window": {
+    "distance": "0.3 meters",
+    "closeness rank": 3
+   },
+   "pillow": {
+    "distance": "0.32 meters",
+    "closeness rank": 4
+   },
+   "printer": {
+    "distance": "0.35 meters",
+    "closeness rank": 5
+   },
+   "door": {
+    "distance": "0.39 meters",
+    "closeness rank": 6
+   },
+   "table": {
+    "distance": "0.53 meters",
+    "closeness rank": 7
+   },
+   "monitor": {
+    "distance": "0.67 meters",
+    "closeness rank": 8
+   },
+   "tv": {
+    "distance": "0.67 meters",
+    "closeness rank": 9
+   },
+   "bookshelf": {
+    "distance": "0.72 meters",
+    "closeness rank": 10
+   },
+   "keyboard": {
+    "distance": "0.86 meters",
+    "closeness rank": 11
+   },
+   "telephone": {
+    "distance": "0.98 meters",
+    "closeness rank": 12
+   },
+   "chair": {
+    "distance": "1.45 meters",
+    "closeness rank": 13
+   },
+   "trash bin": {
+    "distance": "1.6 meters",
+    "closeness rank": 14
+   },
+   "backpack": {
+    "distance": "1.63 meters",
+    "closeness rank": 15
+   },
+   "sofa": {
+    "distance": "2.07 meters",
+    "closeness rank": 16
+   },
+   "closet": {
+    "distance": "2.61 meters",
+    "closeness rank": 17
+   },
+   "mirror": {
+    "distance": "3.83 meters",
+    "closeness rank": 18
+   },
+   "towel": {
+    "distance": "4.64 meters",
+    "closeness rank": 19
+   },
+   "microwave": {
+    "distance": "5.28 meters",
+    "closeness rank": 20
+   },
+   "refrigerator": {
+    "distance": "5.42 meters",
+    "closeness rank": 21
+   }
+  },
+  "pillow": {
+   "mattress": {
+    "distance": "0.01 meters",
+    "closeness rank": 1
+   },
+   "bed": {
+    "distance": "0.02 meters",
+    "closeness rank": 2
+   },
+   "window": {
+    "distance": "0.19 meters",
+    "closeness rank": 3
+   },
+   "door": {
+    "distance": "0.31 meters",
+    "closeness rank": 4
+   },
+   "nightstand": {
+    "distance": "0.32 meters",
+    "closeness rank": 5
+   },
+   "trash bin": {
+    "distance": "0.77 meters",
+    "closeness rank": 6
+   },
+   "printer": {
+    "distance": "0.8 meters",
+    "closeness rank": 7
+   },
+   "table": {
+    "distance": "0.88 meters",
+    "closeness rank": 8
+   },
+   "bookshelf": {
+    "distance": "1.0 meters",
+    "closeness rank": 9
+   },
+   "monitor": {
+    "distance": "1.02 meters",
+    "closeness rank": 10
+   },
+   "tv": {
+    "distance": "1.02 meters",
+    "closeness rank": 11
+   },
+   "keyboard": {
+    "distance": "1.28 meters",
+    "closeness rank": 12
+   },
+   "telephone": {
+    "distance": "1.48 meters",
+    "closeness rank": 13
+   },
+   "closet": {
+    "distance": "1.8 meters",
+    "closeness rank": 14
+   },
+   "chair": {
+    "distance": "1.92 meters",
+    "closeness rank": 15
+   },
+   "backpack": {
+    "distance": "2.13 meters",
+    "closeness rank": 16
+   },
+   "sofa": {
+    "distance": "2.56 meters",
+    "closeness rank": 17
+   },
+   "mirror": {
+    "distance": "2.81 meters",
+    "closeness rank": 18
+   },
+   "towel": {
+    "distance": "4.02 meters",
+    "closeness rank": 19
+   },
+   "microwave": {
+    "distance": "4.71 meters",
+    "closeness rank": 20
+   },
+   "refrigerator": {
+    "distance": "5.16 meters",
+    "closeness rank": 21
+   }
+  },
+  "printer": {
+   "monitor": {
+    "distance": "0.08 meters",
+    "closeness rank": 1
+   },
+   "tv": {
+    "distance": "0.08 meters",
+    "closeness rank": 2
+   },
+   "window": {
+    "distance": "0.18 meters",
+    "closeness rank": 3
+   },
+   "door": {
+    "distance": "0.19 meters",
+    "closeness rank": 4
+   },
+   "bookshelf": {
+    "distance": "0.19 meters",
+    "closeness rank": 5
+   },
+   "table": {
+    "distance": "0.22 meters",
+    "closeness rank": 6
+   },
+   "keyboard": {
+    "distance": "0.33 meters",
+    "closeness rank": 7
+   },
+   "nightstand": {
+    "distance": "0.35 meters",
+    "closeness rank": 8
+   },
+   "telephone": {
+    "distance": "0.42 meters",
+    "closeness rank": 9
+   },
+   "bed": {
+    "distance": "0.58 meters",
+    "closeness rank": 10
+   },
+   "mattress": {
+    "distance": "0.58 meters",
+    "closeness rank": 11
+   },
+   "pillow": {
+    "distance": "0.8 meters",
+    "closeness rank": 12
+   },
+   "chair": {
+    "distance": "0.94 meters",
+    "closeness rank": 13
+   },
+   "backpack": {
+    "distance": "1.1 meters",
+    "closeness rank": 14
+   },
+   "sofa": {
+    "distance": "1.58 meters",
+    "closeness rank": 15
+   },
+   "trash bin": {
+    "distance": "1.69 meters",
+    "closeness rank": 16
+   },
+   "closet": {
+    "distance": "2.52 meters",
+    "closeness rank": 17
+   },
+   "mirror": {
+    "distance": "3.83 meters",
+    "closeness rank": 18
+   },
+   "towel": {
+    "distance": "4.28 meters",
+    "closeness rank": 19
+   },
+   "microwave": {
+    "distance": "5.0 meters",
+    "closeness rank": 20
+   },
+   "refrigerator": {
+    "distance": "5.04 meters",
+    "closeness rank": 21
+   }
+  },
+  "refrigerator": {
+   "door": {
+    "distance": "0.17 meters",
+    "closeness rank": 1
+   },
+   "towel": {
+    "distance": "0.57 meters",
+    "closeness rank": 2
+   },
+   "table": {
+    "distance": "0.91 meters",
+    "closeness rank": 3
+   },
+   "microwave": {
+    "distance": "1.09 meters",
+    "closeness rank": 4
+   },
+   "trash bin": {
+    "distance": "2.21 meters",
+    "closeness rank": 5
+   },
+   "sofa": {
+    "distance": "2.9 meters",
+    "closeness rank": 6
+   },
+   "backpack": {
+    "distance": "3.15 meters",
+    "closeness rank": 7
+   },
+   "closet": {
+    "distance": "3.29 meters",
+    "closeness rank": 8
+   },
+   "mirror": {
+    "distance": "3.59 meters",
+    "closeness rank": 9
+   },
+   "chair": {
+    "distance": "4.03 meters",
+    "closeness rank": 10
+   },
+   "mattress": {
+    "distance": "4.04 meters",
+    "closeness rank": 11
+   },
+   "bed": {
+    "distance": "4.05 meters",
+    "closeness rank": 12
+   },
+   "keyboard": {
+    "distance": "4.49 meters",
+    "closeness rank": 13
+   },
+   "monitor": {
+    "distance": "4.52 meters",
+    "closeness rank": 14
+   },
+   "tv": {
+    "distance": "4.52 meters",
+    "closeness rank": 15
+   },
+   "printer": {
+    "distance": "5.04 meters",
+    "closeness rank": 16
+   },
+   "pillow": {
+    "distance": "5.16 meters",
+    "closeness rank": 17
+   },
+   "bookshelf": {
+    "distance": "5.39 meters",
+    "closeness rank": 18
+   },
+   "nightstand": {
+    "distance": "5.42 meters",
+    "closeness rank": 19
+   },
+   "window": {
+    "distance": "5.55 meters",
+    "closeness rank": 20
+   },
+   "telephone": {
+    "distance": "5.56 meters",
+    "closeness rank": 21
+   }
+  },
+  "sofa": {
+   "backpack": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "chair": {
+    "distance": "0.01 meters",
+    "closeness rank": 2
+   },
+   "table": {
+    "distance": "0.35 meters",
+    "closeness rank": 3
+   },
+   "trash bin": {
+    "distance": "0.54 meters",
+    "closeness rank": 4
+   },
+   "window": {
+    "distance": "0.83 meters",
+    "closeness rank": 5
+   },
+   "keyboard": {
+    "distance": "1.16 meters",
+    "closeness rank": 6
+   },
+   "telephone": {
+    "distance": "1.25 meters",
+    "closeness rank": 7
+   },
+   "bookshelf": {
+    "distance": "1.3 meters",
+    "closeness rank": 8
+   },
+   "monitor": {
+    "distance": "1.44 meters",
+    "closeness rank": 9
+   },
+   "tv": {
+    "distance": "1.44 meters",
+    "closeness rank": 10
+   },
+   "printer": {
+    "distance": "1.58 meters",
+    "closeness rank": 11
+   },
+   "door": {
+    "distance": "1.72 meters",
+    "closeness rank": 12
+   },
+   "bed": {
+    "distance": "1.88 meters",
+    "closeness rank": 13
+   },
+   "mattress": {
+    "distance": "1.93 meters",
+    "closeness rank": 14
+   },
+   "nightstand": {
+    "distance": "2.07 meters",
+    "closeness rank": 15
+   },
+   "towel": {
+    "distance": "2.14 meters",
+    "closeness rank": 16
+   },
+   "closet": {
+    "distance": "2.23 meters",
+    "closeness rank": 17
+   },
+   "pillow": {
+    "distance": "2.56 meters",
+    "closeness rank": 18
+   },
+   "refrigerator": {
+    "distance": "2.9 meters",
+    "closeness rank": 19
+   },
+   "microwave": {
+    "distance": "3.42 meters",
+    "closeness rank": 20
+   },
+   "mirror": {
+    "distance": "3.62 meters",
+    "closeness rank": 21
+   }
+  },
+  "table": {
+   "trash bin": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "keyboard": {
+    "distance": "0.06 meters",
+    "closeness rank": 2
+   },
+   "microwave": {
+    "distance": "0.16 meters",
+    "closeness rank": 3
+   },
+   "bed": {
+    "distance": "0.17 meters",
+    "closeness rank": 4
+   },
+   "towel": {
+    "distance": "0.19 meters",
+    "closeness rank": 5
+   },
+   "monitor": {
+    "distance": "0.2 meters",
+    "closeness rank": 6
+   },
+   "tv": {
+    "distance": "0.2 meters",
+    "closeness rank": 7
+   },
+   "printer": {
+    "distance": "0.22 meters",
+    "closeness rank": 8
+   },
+   "mattress": {
+    "distance": "0.22 meters",
+    "closeness rank": 9
+   },
+   "sofa": {
+    "distance": "0.35 meters",
+    "closeness rank": 10
+   },
+   "door": {
+    "distance": "0.48 meters",
+    "closeness rank": 11
+   },
+   "backpack": {
+    "distance": "0.53 meters",
+    "closeness rank": 12
+   },
+   "nightstand": {
+    "distance": "0.53 meters",
+    "closeness rank": 13
+   },
+   "chair": {
+    "distance": "0.73 meters",
+    "closeness rank": 14
+   },
+   "bookshelf": {
+    "distance": "0.84 meters",
+    "closeness rank": 15
+   },
+   "pillow": {
+    "distance": "0.88 meters",
+    "closeness rank": 16
+   },
+   "refrigerator": {
+    "distance": "0.91 meters",
+    "closeness rank": 17
+   },
+   "window": {
+    "distance": "0.91 meters",
+    "closeness rank": 18
+   },
+   "telephone": {
+    "distance": "0.98 meters",
+    "closeness rank": 19
+   },
+   "closet": {
+    "distance": "1.0 meters",
+    "closeness rank": 20
+   },
+   "mirror": {
+    "distance": "2.24 meters",
+    "closeness rank": 21
+   }
+  },
+  "telephone": {
+   "window": {
+    "distance": "0.14 meters",
+    "closeness rank": 1
+   },
+   "bookshelf": {
+    "distance": "0.27 meters",
+    "closeness rank": 2
+   },
+   "printer": {
+    "distance": "0.42 meters",
+    "closeness rank": 3
+   },
+   "backpack": {
+    "distance": "0.63 meters",
+    "closeness rank": 4
+   },
+   "door": {
+    "distance": "0.72 meters",
+    "closeness rank": 5
+   },
+   "tv": {
+    "distance": "0.83 meters",
+    "closeness rank": 6
+   },
+   "monitor": {
+    "distance": "0.83 meters",
+    "closeness rank": 7
+   },
+   "keyboard": {
+    "distance": "0.88 meters",
+    "closeness rank": 8
+   },
+   "chair": {
+    "distance": "0.95 meters",
+    "closeness rank": 9
+   },
+   "nightstand": {
+    "distance": "0.98 meters",
+    "closeness rank": 10
+   },
+   "table": {
+    "distance": "0.98 meters",
+    "closeness rank": 11
+   },
+   "mattress": {
+    "distance": "1.22 meters",
+    "closeness rank": 12
+   },
+   "sofa": {
+    "distance": "1.25 meters",
+    "closeness rank": 13
+   },
+   "bed": {
+    "distance": "1.25 meters",
+    "closeness rank": 14
+   },
+   "pillow": {
+    "distance": "1.48 meters",
+    "closeness rank": 15
+   },
+   "trash bin": {
+    "distance": "2.57 meters",
+    "closeness rank": 16
+   },
+   "closet": {
+    "distance": "3.34 meters",
+    "closeness rank": 17
+   },
+   "mirror": {
+    "distance": "4.7 meters",
+    "closeness rank": 18
+   },
+   "towel": {
+    "distance": "4.76 meters",
+    "closeness rank": 19
+   },
+   "refrigerator": {
+    "distance": "5.56 meters",
+    "closeness rank": 20
+   },
+   "microwave": {
+    "distance": "5.65 meters",
+    "closeness rank": 21
+   }
+  },
+  "towel": {
+   "table": {
+    "distance": "0.19 meters",
+    "closeness rank": 1
+   },
+   "microwave": {
+    "distance": "0.43 meters",
+    "closeness rank": 2
+   },
+   "refrigerator": {
+    "distance": "0.57 meters",
+    "closeness rank": 3
+   },
+   "door": {
+    "distance": "0.96 meters",
+    "closeness rank": 4
+   },
+   "trash bin": {
+    "distance": "1.39 meters",
+    "closeness rank": 5
+   },
+   "mirror": {
+    "distance": "1.86 meters",
+    "closeness rank": 6
+   },
+   "closet": {
+    "distance": "1.98 meters",
+    "closeness rank": 7
+   },
+   "sofa": {
+    "distance": "2.14 meters",
+    "closeness rank": 8
+   },
+   "backpack": {
+    "distance": "2.34 meters",
+    "closeness rank": 9
+   },
+   "mattress": {
+    "distance": "3.02 meters",
+    "closeness rank": 10
+   },
+   "bed": {
+    "distance": "3.06 meters",
+    "closeness rank": 11
+   },
+   "chair": {
+    "distance": "3.21 meters",
+    "closeness rank": 12
+   },
+   "keyboard": {
+    "distance": "3.72 meters",
+    "closeness rank": 13
+   },
+   "monitor": {
+    "distance": "3.78 meters",
+    "closeness rank": 14
+   },
+   "tv": {
+    "distance": "3.78 meters",
+    "closeness rank": 15
+   },
+   "pillow": {
+    "distance": "4.02 meters",
+    "closeness rank": 16
+   },
+   "printer": {
+    "distance": "4.28 meters",
+    "closeness rank": 17
+   },
+   "bookshelf": {
+    "distance": "4.62 meters",
+    "closeness rank": 18
+   },
+   "nightstand": {
+    "distance": "4.64 meters",
+    "closeness rank": 19
+   },
+   "window": {
+    "distance": "4.73 meters",
+    "closeness rank": 20
+   },
+   "telephone": {
+    "distance": "4.76 meters",
+    "closeness rank": 21
+   }
+  },
+  "trash bin": {
+   "bed": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "mattress": {
+    "distance": "0.0 meters",
+    "closeness rank": 2
+   },
+   "table": {
+    "distance": "0.0 meters",
+    "closeness rank": 3
+   },
+   "door": {
+    "distance": "0.08 meters",
+    "closeness rank": 4
+   },
+   "closet": {
+    "distance": "0.44 meters",
+    "closeness rank": 5
+   },
+   "sofa": {
+    "distance": "0.54 meters",
+    "closeness rank": 6
+   },
+   "backpack": {
+    "distance": "0.73 meters",
+    "closeness rank": 7
+   },
+   "pillow": {
+    "distance": "0.77 meters",
+    "closeness rank": 8
+   },
+   "tv": {
+    "distance": "1.38 meters",
+    "closeness rank": 9
+   },
+   "monitor": {
+    "distance": "1.38 meters",
+    "closeness rank": 10
+   },
+   "towel": {
+    "distance": "1.39 meters",
+    "closeness rank": 11
+   },
+   "mirror": {
+    "distance": "1.44 meters",
+    "closeness rank": 12
+   },
+   "chair": {
+    "distance": "1.53 meters",
+    "closeness rank": 13
+   },
+   "keyboard": {
+    "distance": "1.57 meters",
+    "closeness rank": 14
+   },
+   "nightstand": {
+    "distance": "1.6 meters",
+    "closeness rank": 15
+   },
+   "printer": {
+    "distance": "1.69 meters",
+    "closeness rank": 16
+   },
+   "window": {
+    "distance": "2.02 meters",
+    "closeness rank": 17
+   },
+   "refrigerator": {
+    "distance": "2.21 meters",
+    "closeness rank": 18
+   },
+   "bookshelf": {
+    "distance": "2.22 meters",
+    "closeness rank": 19
+   },
+   "telephone": {
+    "distance": "2.57 meters",
+    "closeness rank": 20
+   },
+   "microwave": {
+    "distance": "2.63 meters",
+    "closeness rank": 21
+   }
+  },
+  "tv": {
+   "monitor": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "printer": {
+    "distance": "0.08 meters",
+    "closeness rank": 2
+   },
+   "table": {
+    "distance": "0.2 meters",
+    "closeness rank": 3
+   },
+   "keyboard": {
+    "distance": "0.26 meters",
+    "closeness rank": 4
+   },
+   "bookshelf": {
+    "distance": "0.59 meters",
+    "closeness rank": 5
+   },
+   "nightstand": {
+    "distance": "0.67 meters",
+    "closeness rank": 6
+   },
+   "bed": {
+    "distance": "0.74 meters",
+    "closeness rank": 7
+   },
+   "mattress": {
+    "distance": "0.77 meters",
+    "closeness rank": 8
+   },
+   "telephone": {
+    "distance": "0.83 meters",
+    "closeness rank": 9
+   },
+   "window": {
+    "distance": "0.84 meters",
+    "closeness rank": 10
+   },
+   "door": {
+    "distance": "0.84 meters",
+    "closeness rank": 11
+   },
+   "chair": {
+    "distance": "0.85 meters",
+    "closeness rank": 12
+   },
+   "pillow": {
+    "distance": "1.02 meters",
+    "closeness rank": 13
+   },
+   "backpack": {
+    "distance": "1.28 meters",
+    "closeness rank": 14
+   },
+   "trash bin": {
+    "distance": "1.38 meters",
+    "closeness rank": 15
+   },
+   "sofa": {
+    "distance": "1.44 meters",
+    "closeness rank": 16
+   },
+   "closet": {
+    "distance": "2.08 meters",
+    "closeness rank": 17
+   },
+   "mirror": {
+    "distance": "3.45 meters",
+    "closeness rank": 18
+   },
+   "towel": {
+    "distance": "3.78 meters",
+    "closeness rank": 19
+   },
+   "microwave": {
+    "distance": "4.47 meters",
+    "closeness rank": 20
+   },
+   "refrigerator": {
+    "distance": "4.52 meters",
+    "closeness rank": 21
+   }
+  },
+  "window": {
+   "door": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "bookshelf": {
+    "distance": "0.11 meters",
+    "closeness rank": 2
+   },
+   "telephone": {
+    "distance": "0.14 meters",
+    "closeness rank": 3
+   },
+   "printer": {
+    "distance": "0.18 meters",
+    "closeness rank": 4
+   },
+   "pillow": {
+    "distance": "0.19 meters",
+    "closeness rank": 5
+   },
+   "backpack": {
+    "distance": "0.2 meters",
+    "closeness rank": 6
+   },
+   "bed": {
+    "distance": "0.23 meters",
+    "closeness rank": 7
+   },
+   "nightstand": {
+    "distance": "0.3 meters",
+    "closeness rank": 8
+   },
+   "mattress": {
+    "distance": "0.33 meters",
+    "closeness rank": 9
+   },
+   "sofa": {
+    "distance": "0.83 meters",
+    "closeness rank": 10
+   },
+   "monitor": {
+    "distance": "0.83 meters",
+    "closeness rank": 11
+   },
+   "tv": {
+    "distance": "0.84 meters",
+    "closeness rank": 12
+   },
+   "table": {
+    "distance": "0.91 meters",
+    "closeness rank": 13
+   },
+   "chair": {
+    "distance": "0.92 meters",
+    "closeness rank": 14
+   },
+   "keyboard": {
+    "distance": "1.0 meters",
+    "closeness rank": 15
+   },
+   "trash bin": {
+    "distance": "2.02 meters",
+    "closeness rank": 16
+   },
+   "closet": {
+    "distance": "3.1 meters",
+    "closeness rank": 17
+   },
+   "mirror": {
+    "distance": "4.18 meters",
+    "closeness rank": 18
+   },
+   "towel": {
+    "distance": "4.73 meters",
+    "closeness rank": 19
+   },
+   "refrigerator": {
+    "distance": "5.55 meters",
+    "closeness rank": 20
+   },
+   "microwave": {
+    "distance": "5.72 meters",
+    "closeness rank": 21
+   }
+  }
+ },
+ "appearance order": ["bed", "mattress", "pillow", "table", "trash bin", "keyboard", "monitor", "printer", "tv", "bookshelf", "door", "telephone", "window", "backpack", "chair", "sofa", "nightstand", "closet", "refrigerator", "towel", "mirror", "microwave"]
+}
\ No newline at end of file
diff --git a/data/spatial codes/sam3+depth-anything-3/metric/tracking/selective/32/explicit/scene0221_01.json b/data/spatial codes/sam3+depth-anything-3/metric/tracking/selective/32/explicit/scene0221_01.json
new file mode 100644
index 0000000000000000000000000000000000000000..40aef2637fed1dddacaaba5effda8d378eef87b6
--- /dev/null
+++ b/data/spatial codes/sam3+depth-anything-3/metric/tracking/selective/32/explicit/scene0221_01.json	
@@ -0,0 +1,1799 @@
+{
+ "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": "-0.16 meters",
+      "y coordinate": "1.0 meters",
+      "height above floor": "-0.03 meters"
+     },
+     "longest dimension": "2.04 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-1.28 meters",
+      "y coordinate": "-0.13 meters",
+      "height above floor": "-0.06 meters"
+     },
+     "longest dimension": "1.69 meters"
+    }
+   ]
+  },
+  "chair": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-0.19 meters",
+      "y coordinate": "-0.85 meters",
+      "height above floor": "0.03 meters"
+     },
+     "longest dimension": "0.63 meters"
+    }
+   ]
+  },
+  "clock": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "0.17 meters",
+      "y coordinate": "-1.07 meters",
+      "height above floor": "0.3 meters"
+     },
+     "longest dimension": "0.1 meters"
+    }
+   ]
+  },
+  "closet": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-1.73 meters",
+      "y coordinate": "-3.05 meters",
+      "height above floor": "0.45 meters"
+     },
+     "longest dimension": "0.95 meters"
+    }
+   ]
+  },
+  "counter": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-0.16 meters",
+      "y coordinate": "-0.61 meters",
+      "height above floor": "0.23 meters"
+     },
+     "longest dimension": "1.08 meters"
+    }
+   ]
+  },
+  "door": {
+   "count": 2,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-3.52 meters",
+      "y coordinate": "-3.72 meters",
+      "height above floor": "0.5 meters"
+     },
+     "longest dimension": "1.82 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-0.78 meters",
+      "y coordinate": "-2.48 meters",
+      "height above floor": "0.45 meters"
+     },
+     "longest dimension": "0.95 meters"
+    }
+   ]
+  },
+  "lamp": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-1.63 meters",
+      "y coordinate": "0.94 meters",
+      "height above floor": "0.09 meters"
+     },
+     "longest dimension": "0.32 meters"
+    }
+   ]
+  },
+  "mattress": {
+   "count": 3,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-0.11 meters",
+      "y coordinate": "0.98 meters",
+      "height above floor": "-0.06 meters"
+     },
+     "longest dimension": "1.61 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-1.28 meters",
+      "y coordinate": "-0.15 meters",
+      "height above floor": "-0.05 meters"
+     },
+     "longest dimension": "1.76 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-0.53 meters",
+      "y coordinate": "1.98 meters",
+      "height above floor": "-0.09 meters"
+     },
+     "longest dimension": "1.55 meters"
+    }
+   ]
+  },
+  "microwave": {
+   "count": 2,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-3.37 meters",
+      "y coordinate": "-1.12 meters",
+      "height above floor": "0.54 meters"
+     },
+     "longest dimension": "0.42 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-3.46 meters",
+      "y coordinate": "-1.52 meters",
+      "height above floor": "0.67 meters"
+     },
+     "longest dimension": "0.54 meters"
+    }
+   ]
+  },
+  "mirror": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-1.13 meters",
+      "y coordinate": "1.8 meters",
+      "height above floor": "0.57 meters"
+     },
+     "longest dimension": "0.83 meters"
+    }
+   ]
+  },
+  "nightstand": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-1.47 meters",
+      "y coordinate": "0.94 meters",
+      "height above floor": "-0.07 meters"
+     },
+     "longest dimension": "1.13 meters"
+    }
+   ]
+  },
+  "pillow": {
+   "count": 5,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-0.84 meters",
+      "y coordinate": "1.62 meters",
+      "height above floor": "0.15 meters"
+     },
+     "longest dimension": "0.8 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-1.26 meters",
+      "y coordinate": "1.36 meters",
+      "height above floor": "0.22 meters"
+     },
+     "longest dimension": "0.63 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-0.64 meters",
+      "y coordinate": "2.01 meters",
+      "height above floor": "0.12 meters"
+     },
+     "longest dimension": "0.6 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-0.76 meters",
+      "y coordinate": "1.48 meters",
+      "height above floor": "0.0 meters"
+     },
+     "longest dimension": "0.36 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-2.24 meters",
+      "y coordinate": "0.1 meters",
+      "height above floor": "0.23 meters"
+     },
+     "longest dimension": "0.68 meters"
+    }
+   ]
+  },
+  "radiator": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "0.65 meters",
+      "y coordinate": "2.9 meters",
+      "height above floor": "-0.29 meters"
+     },
+     "longest dimension": "0.81 meters"
+    }
+   ]
+  },
+  "table": {
+   "count": 2,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "0.15 meters",
+      "y coordinate": "0.81 meters",
+      "height above floor": "-0.07 meters"
+     },
+     "longest dimension": "1.4 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-0.76 meters",
+      "y coordinate": "-1.98 meters",
+      "height above floor": "0.14 meters"
+     },
+     "longest dimension": "0.88 meters"
+    }
+   ]
+  },
+  "telephone": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "0.06 meters",
+      "y coordinate": "-1.24 meters",
+      "height above floor": "0.32 meters"
+     },
+     "longest dimension": "0.25 meters"
+    }
+   ]
+  },
+  "towel": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-2.18 meters",
+      "y coordinate": "-3.27 meters",
+      "height above floor": "1.09 meters"
+     },
+     "longest dimension": "0.13 meters"
+    }
+   ]
+  },
+  "trash bin": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-2.61 meters",
+      "y coordinate": "-2.11 meters",
+      "height above floor": "-0.09 meters"
+     },
+     "longest dimension": "0.33 meters"
+    }
+   ]
+  },
+  "tv": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "0.48 meters",
+      "y coordinate": "-0.64 meters",
+      "height above floor": "0.54 meters"
+     },
+     "longest dimension": "0.61 meters"
+    }
+   ]
+  },
+  "window": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-1.26 meters",
+      "y coordinate": "1.69 meters",
+      "height above floor": "0.76 meters"
+     },
+     "longest dimension": "0.63 meters"
+    }
+   ]
+  }
+ },
+ "room": {
+  "floor area": "26.5 square meters"
+ },
+ "closest classes distance meters from": {
+  "bed": {
+   "mattress": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "nightstand": {
+    "distance": "0.0 meters",
+    "closeness rank": 2
+   },
+   "pillow": {
+    "distance": "0.0 meters",
+    "closeness rank": 3
+   },
+   "table": {
+    "distance": "0.0 meters",
+    "closeness rank": 4
+   },
+   "lamp": {
+    "distance": "0.03 meters",
+    "closeness rank": 5
+   },
+   "counter": {
+    "distance": "0.07 meters",
+    "closeness rank": 6
+   },
+   "mirror": {
+    "distance": "0.44 meters",
+    "closeness rank": 7
+   },
+   "chair": {
+    "distance": "0.49 meters",
+    "closeness rank": 8
+   },
+   "window": {
+    "distance": "0.61 meters",
+    "closeness rank": 9
+   },
+   "radiator": {
+    "distance": "0.68 meters",
+    "closeness rank": 10
+   },
+   "telephone": {
+    "distance": "0.8 meters",
+    "closeness rank": 11
+   },
+   "tv": {
+    "distance": "0.97 meters",
+    "closeness rank": 12
+   },
+   "clock": {
+    "distance": "0.99 meters",
+    "closeness rank": 13
+   },
+   "door": {
+    "distance": "1.18 meters",
+    "closeness rank": 14
+   },
+   "trash bin": {
+    "distance": "1.2 meters",
+    "closeness rank": 15
+   },
+   "microwave": {
+    "distance": "1.29 meters",
+    "closeness rank": 16
+   },
+   "closet": {
+    "distance": "1.56 meters",
+    "closeness rank": 17
+   },
+   "towel": {
+    "distance": "2.52 meters",
+    "closeness rank": 18
+   }
+  },
+  "chair": {
+   "counter": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "telephone": {
+    "distance": "0.28 meters",
+    "closeness rank": 2
+   },
+   "clock": {
+    "distance": "0.32 meters",
+    "closeness rank": 3
+   },
+   "mattress": {
+    "distance": "0.38 meters",
+    "closeness rank": 4
+   },
+   "tv": {
+    "distance": "0.43 meters",
+    "closeness rank": 5
+   },
+   "bed": {
+    "distance": "0.49 meters",
+    "closeness rank": 6
+   },
+   "table": {
+    "distance": "0.69 meters",
+    "closeness rank": 7
+   },
+   "door": {
+    "distance": "1.28 meters",
+    "closeness rank": 8
+   },
+   "nightstand": {
+    "distance": "1.78 meters",
+    "closeness rank": 9
+   },
+   "pillow": {
+    "distance": "1.96 meters",
+    "closeness rank": 10
+   },
+   "closet": {
+    "distance": "2.04 meters",
+    "closeness rank": 11
+   },
+   "lamp": {
+    "distance": "2.18 meters",
+    "closeness rank": 12
+   },
+   "trash bin": {
+    "distance": "2.41 meters",
+    "closeness rank": 13
+   },
+   "mirror": {
+    "distance": "2.62 meters",
+    "closeness rank": 14
+   },
+   "window": {
+    "distance": "2.64 meters",
+    "closeness rank": 15
+   },
+   "microwave": {
+    "distance": "2.98 meters",
+    "closeness rank": 16
+   },
+   "towel": {
+    "distance": "3.01 meters",
+    "closeness rank": 17
+   },
+   "radiator": {
+    "distance": "3.45 meters",
+    "closeness rank": 18
+   }
+  },
+  "clock": {
+   "telephone": {
+    "distance": "0.1 meters",
+    "closeness rank": 1
+   },
+   "counter": {
+    "distance": "0.17 meters",
+    "closeness rank": 2
+   },
+   "tv": {
+    "distance": "0.22 meters",
+    "closeness rank": 3
+   },
+   "chair": {
+    "distance": "0.32 meters",
+    "closeness rank": 4
+   },
+   "table": {
+    "distance": "0.78 meters",
+    "closeness rank": 5
+   },
+   "mattress": {
+    "distance": "0.87 meters",
+    "closeness rank": 6
+   },
+   "bed": {
+    "distance": "0.99 meters",
+    "closeness rank": 7
+   },
+   "door": {
+    "distance": "1.3 meters",
+    "closeness rank": 8
+   },
+   "closet": {
+    "distance": "2.13 meters",
+    "closeness rank": 9
+   },
+   "nightstand": {
+    "distance": "2.24 meters",
+    "closeness rank": 10
+   },
+   "pillow": {
+    "distance": "2.45 meters",
+    "closeness rank": 11
+   },
+   "lamp": {
+    "distance": "2.59 meters",
+    "closeness rank": 12
+   },
+   "trash bin": {
+    "distance": "2.77 meters",
+    "closeness rank": 13
+   },
+   "mirror": {
+    "distance": "3.01 meters",
+    "closeness rank": 14
+   },
+   "window": {
+    "distance": "3.03 meters",
+    "closeness rank": 15
+   },
+   "towel": {
+    "distance": "3.18 meters",
+    "closeness rank": 16
+   },
+   "microwave": {
+    "distance": "3.45 meters",
+    "closeness rank": 17
+   },
+   "radiator": {
+    "distance": "3.67 meters",
+    "closeness rank": 18
+   }
+  },
+  "closet": {
+   "door": {
+    "distance": "0.14 meters",
+    "closeness rank": 1
+   },
+   "towel": {
+    "distance": "0.23 meters",
+    "closeness rank": 2
+   },
+   "table": {
+    "distance": "0.46 meters",
+    "closeness rank": 3
+   },
+   "trash bin": {
+    "distance": "0.68 meters",
+    "closeness rank": 4
+   },
+   "mattress": {
+    "distance": "1.42 meters",
+    "closeness rank": 5
+   },
+   "bed": {
+    "distance": "1.56 meters",
+    "closeness rank": 6
+   },
+   "microwave": {
+    "distance": "1.56 meters",
+    "closeness rank": 7
+   },
+   "counter": {
+    "distance": "1.8 meters",
+    "closeness rank": 8
+   },
+   "telephone": {
+    "distance": "1.91 meters",
+    "closeness rank": 9
+   },
+   "chair": {
+    "distance": "2.04 meters",
+    "closeness rank": 10
+   },
+   "clock": {
+    "distance": "2.13 meters",
+    "closeness rank": 11
+   },
+   "pillow": {
+    "distance": "2.2 meters",
+    "closeness rank": 12
+   },
+   "tv": {
+    "distance": "2.44 meters",
+    "closeness rank": 13
+   },
+   "nightstand": {
+    "distance": "2.83 meters",
+    "closeness rank": 14
+   },
+   "lamp": {
+    "distance": "3.3 meters",
+    "closeness rank": 15
+   },
+   "mirror": {
+    "distance": "4.09 meters",
+    "closeness rank": 16
+   },
+   "window": {
+    "distance": "4.12 meters",
+    "closeness rank": 17
+   },
+   "radiator": {
+    "distance": "5.72 meters",
+    "closeness rank": 18
+   }
+  },
+  "counter": {
+   "chair": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "tv": {
+    "distance": "0.0 meters",
+    "closeness rank": 2
+   },
+   "mattress": {
+    "distance": "0.06 meters",
+    "closeness rank": 3
+   },
+   "bed": {
+    "distance": "0.07 meters",
+    "closeness rank": 4
+   },
+   "clock": {
+    "distance": "0.17 meters",
+    "closeness rank": 5
+   },
+   "telephone": {
+    "distance": "0.22 meters",
+    "closeness rank": 6
+   },
+   "table": {
+    "distance": "0.43 meters",
+    "closeness rank": 7
+   },
+   "door": {
+    "distance": "1.14 meters",
+    "closeness rank": 8
+   },
+   "nightstand": {
+    "distance": "1.17 meters",
+    "closeness rank": 9
+   },
+   "pillow": {
+    "distance": "1.4 meters",
+    "closeness rank": 10
+   },
+   "lamp": {
+    "distance": "1.58 meters",
+    "closeness rank": 11
+   },
+   "closet": {
+    "distance": "1.8 meters",
+    "closeness rank": 12
+   },
+   "trash bin": {
+    "distance": "2.1 meters",
+    "closeness rank": 13
+   },
+   "mirror": {
+    "distance": "2.14 meters",
+    "closeness rank": 14
+   },
+   "window": {
+    "distance": "2.17 meters",
+    "closeness rank": 15
+   },
+   "microwave": {
+    "distance": "2.56 meters",
+    "closeness rank": 16
+   },
+   "towel": {
+    "distance": "2.75 meters",
+    "closeness rank": 17
+   },
+   "radiator": {
+    "distance": "2.79 meters",
+    "closeness rank": 18
+   }
+  },
+  "door": {
+   "table": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "closet": {
+    "distance": "0.14 meters",
+    "closeness rank": 2
+   },
+   "telephone": {
+    "distance": "1.09 meters",
+    "closeness rank": 3
+   },
+   "counter": {
+    "distance": "1.14 meters",
+    "closeness rank": 4
+   },
+   "towel": {
+    "distance": "1.16 meters",
+    "closeness rank": 5
+   },
+   "bed": {
+    "distance": "1.18 meters",
+    "closeness rank": 6
+   },
+   "mattress": {
+    "distance": "1.21 meters",
+    "closeness rank": 7
+   },
+   "chair": {
+    "distance": "1.28 meters",
+    "closeness rank": 8
+   },
+   "clock": {
+    "distance": "1.3 meters",
+    "closeness rank": 9
+   },
+   "trash bin": {
+    "distance": "1.5 meters",
+    "closeness rank": 10
+   },
+   "tv": {
+    "distance": "1.6 meters",
+    "closeness rank": 11
+   },
+   "microwave": {
+    "distance": "1.73 meters",
+    "closeness rank": 12
+   },
+   "pillow": {
+    "distance": "2.54 meters",
+    "closeness rank": 13
+   },
+   "nightstand": {
+    "distance": "2.77 meters",
+    "closeness rank": 14
+   },
+   "lamp": {
+    "distance": "3.25 meters",
+    "closeness rank": 15
+   },
+   "mirror": {
+    "distance": "3.89 meters",
+    "closeness rank": 16
+   },
+   "window": {
+    "distance": "3.92 meters",
+    "closeness rank": 17
+   },
+   "radiator": {
+    "distance": "4.98 meters",
+    "closeness rank": 18
+   }
+  },
+  "lamp": {
+   "nightstand": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "bed": {
+    "distance": "0.03 meters",
+    "closeness rank": 2
+   },
+   "mattress": {
+    "distance": "0.11 meters",
+    "closeness rank": 3
+   },
+   "pillow": {
+    "distance": "0.16 meters",
+    "closeness rank": 4
+   },
+   "mirror": {
+    "distance": "0.62 meters",
+    "closeness rank": 5
+   },
+   "window": {
+    "distance": "0.68 meters",
+    "closeness rank": 6
+   },
+   "table": {
+    "distance": "1.05 meters",
+    "closeness rank": 7
+   },
+   "counter": {
+    "distance": "1.58 meters",
+    "closeness rank": 8
+   },
+   "chair": {
+    "distance": "2.18 meters",
+    "closeness rank": 9
+   },
+   "microwave": {
+    "distance": "2.41 meters",
+    "closeness rank": 10
+   },
+   "tv": {
+    "distance": "2.49 meters",
+    "closeness rank": 11
+   },
+   "telephone": {
+    "distance": "2.55 meters",
+    "closeness rank": 12
+   },
+   "clock": {
+    "distance": "2.59 meters",
+    "closeness rank": 13
+   },
+   "radiator": {
+    "distance": "2.84 meters",
+    "closeness rank": 14
+   },
+   "trash bin": {
+    "distance": "2.91 meters",
+    "closeness rank": 15
+   },
+   "door": {
+    "distance": "3.25 meters",
+    "closeness rank": 16
+   },
+   "closet": {
+    "distance": "3.3 meters",
+    "closeness rank": 17
+   },
+   "towel": {
+    "distance": "4.15 meters",
+    "closeness rank": 18
+   }
+  },
+  "mattress": {
+   "bed": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "nightstand": {
+    "distance": "0.0 meters",
+    "closeness rank": 2
+   },
+   "pillow": {
+    "distance": "0.0 meters",
+    "closeness rank": 3
+   },
+   "table": {
+    "distance": "0.0 meters",
+    "closeness rank": 4
+   },
+   "counter": {
+    "distance": "0.06 meters",
+    "closeness rank": 5
+   },
+   "lamp": {
+    "distance": "0.11 meters",
+    "closeness rank": 6
+   },
+   "mirror": {
+    "distance": "0.21 meters",
+    "closeness rank": 7
+   },
+   "chair": {
+    "distance": "0.38 meters",
+    "closeness rank": 8
+   },
+   "window": {
+    "distance": "0.48 meters",
+    "closeness rank": 9
+   },
+   "radiator": {
+    "distance": "0.63 meters",
+    "closeness rank": 10
+   },
+   "telephone": {
+    "distance": "0.67 meters",
+    "closeness rank": 11
+   },
+   "tv": {
+    "distance": "0.74 meters",
+    "closeness rank": 12
+   },
+   "clock": {
+    "distance": "0.87 meters",
+    "closeness rank": 13
+   },
+   "trash bin": {
+    "distance": "1.15 meters",
+    "closeness rank": 14
+   },
+   "door": {
+    "distance": "1.21 meters",
+    "closeness rank": 15
+   },
+   "closet": {
+    "distance": "1.42 meters",
+    "closeness rank": 16
+   },
+   "microwave": {
+    "distance": "1.49 meters",
+    "closeness rank": 17
+   },
+   "towel": {
+    "distance": "2.37 meters",
+    "closeness rank": 18
+   }
+  },
+  "microwave": {
+   "trash bin": {
+    "distance": "0.9 meters",
+    "closeness rank": 1
+   },
+   "pillow": {
+    "distance": "1.08 meters",
+    "closeness rank": 2
+   },
+   "bed": {
+    "distance": "1.29 meters",
+    "closeness rank": 3
+   },
+   "mattress": {
+    "distance": "1.49 meters",
+    "closeness rank": 4
+   },
+   "closet": {
+    "distance": "1.56 meters",
+    "closeness rank": 5
+   },
+   "door": {
+    "distance": "1.73 meters",
+    "closeness rank": 6
+   },
+   "towel": {
+    "distance": "1.84 meters",
+    "closeness rank": 7
+   },
+   "nightstand": {
+    "distance": "2.04 meters",
+    "closeness rank": 8
+   },
+   "table": {
+    "distance": "2.13 meters",
+    "closeness rank": 9
+   },
+   "lamp": {
+    "distance": "2.41 meters",
+    "closeness rank": 10
+   },
+   "counter": {
+    "distance": "2.56 meters",
+    "closeness rank": 11
+   },
+   "chair": {
+    "distance": "2.98 meters",
+    "closeness rank": 12
+   },
+   "mirror": {
+    "distance": "3.18 meters",
+    "closeness rank": 13
+   },
+   "window": {
+    "distance": "3.21 meters",
+    "closeness rank": 14
+   },
+   "telephone": {
+    "distance": "3.22 meters",
+    "closeness rank": 15
+   },
+   "clock": {
+    "distance": "3.45 meters",
+    "closeness rank": 16
+   },
+   "tv": {
+    "distance": "3.64 meters",
+    "closeness rank": 17
+   },
+   "radiator": {
+    "distance": "5.44 meters",
+    "closeness rank": 18
+   }
+  },
+  "mirror": {
+   "window": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "pillow": {
+    "distance": "0.08 meters",
+    "closeness rank": 2
+   },
+   "nightstand": {
+    "distance": "0.14 meters",
+    "closeness rank": 3
+   },
+   "mattress": {
+    "distance": "0.21 meters",
+    "closeness rank": 4
+   },
+   "bed": {
+    "distance": "0.44 meters",
+    "closeness rank": 5
+   },
+   "lamp": {
+    "distance": "0.62 meters",
+    "closeness rank": 6
+   },
+   "table": {
+    "distance": "1.29 meters",
+    "closeness rank": 7
+   },
+   "radiator": {
+    "distance": "1.7 meters",
+    "closeness rank": 8
+   },
+   "counter": {
+    "distance": "2.14 meters",
+    "closeness rank": 9
+   },
+   "chair": {
+    "distance": "2.62 meters",
+    "closeness rank": 10
+   },
+   "tv": {
+    "distance": "2.75 meters",
+    "closeness rank": 11
+   },
+   "clock": {
+    "distance": "3.01 meters",
+    "closeness rank": 12
+   },
+   "telephone": {
+    "distance": "3.02 meters",
+    "closeness rank": 13
+   },
+   "microwave": {
+    "distance": "3.18 meters",
+    "closeness rank": 14
+   },
+   "trash bin": {
+    "distance": "3.73 meters",
+    "closeness rank": 15
+   },
+   "door": {
+    "distance": "3.89 meters",
+    "closeness rank": 16
+   },
+   "closet": {
+    "distance": "4.09 meters",
+    "closeness rank": 17
+   },
+   "towel": {
+    "distance": "4.87 meters",
+    "closeness rank": 18
+   }
+  },
+  "nightstand": {
+   "bed": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "lamp": {
+    "distance": "0.0 meters",
+    "closeness rank": 2
+   },
+   "mattress": {
+    "distance": "0.0 meters",
+    "closeness rank": 3
+   },
+   "pillow": {
+    "distance": "0.0 meters",
+    "closeness rank": 4
+   },
+   "mirror": {
+    "distance": "0.14 meters",
+    "closeness rank": 5
+   },
+   "window": {
+    "distance": "0.42 meters",
+    "closeness rank": 6
+   },
+   "table": {
+    "distance": "0.77 meters",
+    "closeness rank": 7
+   },
+   "counter": {
+    "distance": "1.17 meters",
+    "closeness rank": 8
+   },
+   "chair": {
+    "distance": "1.78 meters",
+    "closeness rank": 9
+   },
+   "microwave": {
+    "distance": "2.04 meters",
+    "closeness rank": 10
+   },
+   "telephone": {
+    "distance": "2.17 meters",
+    "closeness rank": 11
+   },
+   "radiator": {
+    "distance": "2.21 meters",
+    "closeness rank": 12
+   },
+   "clock": {
+    "distance": "2.24 meters",
+    "closeness rank": 13
+   },
+   "tv": {
+    "distance": "2.24 meters",
+    "closeness rank": 14
+   },
+   "trash bin": {
+    "distance": "2.48 meters",
+    "closeness rank": 15
+   },
+   "door": {
+    "distance": "2.77 meters",
+    "closeness rank": 16
+   },
+   "closet": {
+    "distance": "2.83 meters",
+    "closeness rank": 17
+   },
+   "towel": {
+    "distance": "3.74 meters",
+    "closeness rank": 18
+   }
+  },
+  "pillow": {
+   "bed": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "mattress": {
+    "distance": "0.0 meters",
+    "closeness rank": 2
+   },
+   "nightstand": {
+    "distance": "0.0 meters",
+    "closeness rank": 3
+   },
+   "mirror": {
+    "distance": "0.08 meters",
+    "closeness rank": 4
+   },
+   "lamp": {
+    "distance": "0.16 meters",
+    "closeness rank": 5
+   },
+   "window": {
+    "distance": "0.19 meters",
+    "closeness rank": 6
+   },
+   "table": {
+    "distance": "0.76 meters",
+    "closeness rank": 7
+   },
+   "microwave": {
+    "distance": "1.08 meters",
+    "closeness rank": 8
+   },
+   "radiator": {
+    "distance": "1.17 meters",
+    "closeness rank": 9
+   },
+   "counter": {
+    "distance": "1.4 meters",
+    "closeness rank": 10
+   },
+   "trash bin": {
+    "distance": "1.7 meters",
+    "closeness rank": 11
+   },
+   "chair": {
+    "distance": "1.96 meters",
+    "closeness rank": 12
+   },
+   "closet": {
+    "distance": "2.2 meters",
+    "closeness rank": 13
+   },
+   "tv": {
+    "distance": "2.22 meters",
+    "closeness rank": 14
+   },
+   "telephone": {
+    "distance": "2.3 meters",
+    "closeness rank": 15
+   },
+   "clock": {
+    "distance": "2.45 meters",
+    "closeness rank": 16
+   },
+   "door": {
+    "distance": "2.54 meters",
+    "closeness rank": 17
+   },
+   "towel": {
+    "distance": "3.0 meters",
+    "closeness rank": 18
+   }
+  },
+  "radiator": {
+   "mattress": {
+    "distance": "0.63 meters",
+    "closeness rank": 1
+   },
+   "bed": {
+    "distance": "0.68 meters",
+    "closeness rank": 2
+   },
+   "pillow": {
+    "distance": "1.17 meters",
+    "closeness rank": 3
+   },
+   "table": {
+    "distance": "1.19 meters",
+    "closeness rank": 4
+   },
+   "mirror": {
+    "distance": "1.7 meters",
+    "closeness rank": 5
+   },
+   "window": {
+    "distance": "2.12 meters",
+    "closeness rank": 6
+   },
+   "nightstand": {
+    "distance": "2.21 meters",
+    "closeness rank": 7
+   },
+   "counter": {
+    "distance": "2.79 meters",
+    "closeness rank": 8
+   },
+   "lamp": {
+    "distance": "2.84 meters",
+    "closeness rank": 9
+   },
+   "tv": {
+    "distance": "2.98 meters",
+    "closeness rank": 10
+   },
+   "chair": {
+    "distance": "3.45 meters",
+    "closeness rank": 11
+   },
+   "clock": {
+    "distance": "3.67 meters",
+    "closeness rank": 12
+   },
+   "telephone": {
+    "distance": "3.81 meters",
+    "closeness rank": 13
+   },
+   "door": {
+    "distance": "4.98 meters",
+    "closeness rank": 14
+   },
+   "microwave": {
+    "distance": "5.44 meters",
+    "closeness rank": 15
+   },
+   "trash bin": {
+    "distance": "5.66 meters",
+    "closeness rank": 16
+   },
+   "closet": {
+    "distance": "5.72 meters",
+    "closeness rank": 17
+   },
+   "towel": {
+    "distance": "6.61 meters",
+    "closeness rank": 18
+   }
+  },
+  "table": {
+   "bed": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "door": {
+    "distance": "0.0 meters",
+    "closeness rank": 2
+   },
+   "mattress": {
+    "distance": "0.0 meters",
+    "closeness rank": 3
+   },
+   "counter": {
+    "distance": "0.43 meters",
+    "closeness rank": 4
+   },
+   "closet": {
+    "distance": "0.46 meters",
+    "closeness rank": 5
+   },
+   "telephone": {
+    "distance": "0.57 meters",
+    "closeness rank": 6
+   },
+   "chair": {
+    "distance": "0.69 meters",
+    "closeness rank": 7
+   },
+   "pillow": {
+    "distance": "0.76 meters",
+    "closeness rank": 8
+   },
+   "nightstand": {
+    "distance": "0.77 meters",
+    "closeness rank": 9
+   },
+   "clock": {
+    "distance": "0.78 meters",
+    "closeness rank": 10
+   },
+   "tv": {
+    "distance": "1.01 meters",
+    "closeness rank": 11
+   },
+   "lamp": {
+    "distance": "1.05 meters",
+    "closeness rank": 12
+   },
+   "radiator": {
+    "distance": "1.19 meters",
+    "closeness rank": 13
+   },
+   "trash bin": {
+    "distance": "1.22 meters",
+    "closeness rank": 14
+   },
+   "mirror": {
+    "distance": "1.29 meters",
+    "closeness rank": 15
+   },
+   "window": {
+    "distance": "1.37 meters",
+    "closeness rank": 16
+   },
+   "towel": {
+    "distance": "1.59 meters",
+    "closeness rank": 17
+   },
+   "microwave": {
+    "distance": "2.13 meters",
+    "closeness rank": 18
+   }
+  },
+  "telephone": {
+   "clock": {
+    "distance": "0.1 meters",
+    "closeness rank": 1
+   },
+   "counter": {
+    "distance": "0.22 meters",
+    "closeness rank": 2
+   },
+   "chair": {
+    "distance": "0.28 meters",
+    "closeness rank": 3
+   },
+   "tv": {
+    "distance": "0.41 meters",
+    "closeness rank": 4
+   },
+   "table": {
+    "distance": "0.57 meters",
+    "closeness rank": 5
+   },
+   "mattress": {
+    "distance": "0.67 meters",
+    "closeness rank": 6
+   },
+   "bed": {
+    "distance": "0.8 meters",
+    "closeness rank": 7
+   },
+   "door": {
+    "distance": "1.09 meters",
+    "closeness rank": 8
+   },
+   "closet": {
+    "distance": "1.91 meters",
+    "closeness rank": 9
+   },
+   "nightstand": {
+    "distance": "2.17 meters",
+    "closeness rank": 10
+   },
+   "pillow": {
+    "distance": "2.3 meters",
+    "closeness rank": 11
+   },
+   "trash bin": {
+    "distance": "2.52 meters",
+    "closeness rank": 12
+   },
+   "lamp": {
+    "distance": "2.55 meters",
+    "closeness rank": 13
+   },
+   "towel": {
+    "distance": "2.94 meters",
+    "closeness rank": 14
+   },
+   "mirror": {
+    "distance": "3.02 meters",
+    "closeness rank": 15
+   },
+   "window": {
+    "distance": "3.04 meters",
+    "closeness rank": 16
+   },
+   "microwave": {
+    "distance": "3.22 meters",
+    "closeness rank": 17
+   },
+   "radiator": {
+    "distance": "3.81 meters",
+    "closeness rank": 18
+   }
+  },
+  "towel": {
+   "closet": {
+    "distance": "0.23 meters",
+    "closeness rank": 1
+   },
+   "door": {
+    "distance": "1.16 meters",
+    "closeness rank": 2
+   },
+   "trash bin": {
+    "distance": "1.46 meters",
+    "closeness rank": 3
+   },
+   "table": {
+    "distance": "1.59 meters",
+    "closeness rank": 4
+   },
+   "microwave": {
+    "distance": "1.84 meters",
+    "closeness rank": 5
+   },
+   "mattress": {
+    "distance": "2.37 meters",
+    "closeness rank": 6
+   },
+   "bed": {
+    "distance": "2.52 meters",
+    "closeness rank": 7
+   },
+   "counter": {
+    "distance": "2.75 meters",
+    "closeness rank": 8
+   },
+   "telephone": {
+    "distance": "2.94 meters",
+    "closeness rank": 9
+   },
+   "pillow": {
+    "distance": "3.0 meters",
+    "closeness rank": 10
+   },
+   "chair": {
+    "distance": "3.01 meters",
+    "closeness rank": 11
+   },
+   "clock": {
+    "distance": "3.18 meters",
+    "closeness rank": 12
+   },
+   "tv": {
+    "distance": "3.41 meters",
+    "closeness rank": 13
+   },
+   "nightstand": {
+    "distance": "3.74 meters",
+    "closeness rank": 14
+   },
+   "lamp": {
+    "distance": "4.15 meters",
+    "closeness rank": 15
+   },
+   "mirror": {
+    "distance": "4.87 meters",
+    "closeness rank": 16
+   },
+   "window": {
+    "distance": "4.9 meters",
+    "closeness rank": 17
+   },
+   "radiator": {
+    "distance": "6.61 meters",
+    "closeness rank": 18
+   }
+  },
+  "trash bin": {
+   "closet": {
+    "distance": "0.68 meters",
+    "closeness rank": 1
+   },
+   "microwave": {
+    "distance": "0.9 meters",
+    "closeness rank": 2
+   },
+   "mattress": {
+    "distance": "1.15 meters",
+    "closeness rank": 3
+   },
+   "bed": {
+    "distance": "1.2 meters",
+    "closeness rank": 4
+   },
+   "table": {
+    "distance": "1.22 meters",
+    "closeness rank": 5
+   },
+   "towel": {
+    "distance": "1.46 meters",
+    "closeness rank": 6
+   },
+   "door": {
+    "distance": "1.5 meters",
+    "closeness rank": 7
+   },
+   "pillow": {
+    "distance": "1.7 meters",
+    "closeness rank": 8
+   },
+   "counter": {
+    "distance": "2.1 meters",
+    "closeness rank": 9
+   },
+   "chair": {
+    "distance": "2.41 meters",
+    "closeness rank": 10
+   },
+   "nightstand": {
+    "distance": "2.48 meters",
+    "closeness rank": 11
+   },
+   "telephone": {
+    "distance": "2.52 meters",
+    "closeness rank": 12
+   },
+   "clock": {
+    "distance": "2.77 meters",
+    "closeness rank": 13
+   },
+   "lamp": {
+    "distance": "2.91 meters",
+    "closeness rank": 14
+   },
+   "tv": {
+    "distance": "3.03 meters",
+    "closeness rank": 15
+   },
+   "mirror": {
+    "distance": "3.73 meters",
+    "closeness rank": 16
+   },
+   "window": {
+    "distance": "3.79 meters",
+    "closeness rank": 17
+   },
+   "radiator": {
+    "distance": "5.66 meters",
+    "closeness rank": 18
+   }
+  },
+  "tv": {
+   "counter": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "clock": {
+    "distance": "0.22 meters",
+    "closeness rank": 2
+   },
+   "telephone": {
+    "distance": "0.41 meters",
+    "closeness rank": 3
+   },
+   "chair": {
+    "distance": "0.43 meters",
+    "closeness rank": 4
+   },
+   "mattress": {
+    "distance": "0.74 meters",
+    "closeness rank": 5
+   },
+   "bed": {
+    "distance": "0.97 meters",
+    "closeness rank": 6
+   },
+   "table": {
+    "distance": "1.01 meters",
+    "closeness rank": 7
+   },
+   "door": {
+    "distance": "1.6 meters",
+    "closeness rank": 8
+   },
+   "pillow": {
+    "distance": "2.22 meters",
+    "closeness rank": 9
+   },
+   "nightstand": {
+    "distance": "2.24 meters",
+    "closeness rank": 10
+   },
+   "closet": {
+    "distance": "2.44 meters",
+    "closeness rank": 11
+   },
+   "lamp": {
+    "distance": "2.49 meters",
+    "closeness rank": 12
+   },
+   "mirror": {
+    "distance": "2.75 meters",
+    "closeness rank": 13
+   },
+   "window": {
+    "distance": "2.76 meters",
+    "closeness rank": 14
+   },
+   "radiator": {
+    "distance": "2.98 meters",
+    "closeness rank": 15
+   },
+   "trash bin": {
+    "distance": "3.03 meters",
+    "closeness rank": 16
+   },
+   "towel": {
+    "distance": "3.41 meters",
+    "closeness rank": 17
+   },
+   "microwave": {
+    "distance": "3.64 meters",
+    "closeness rank": 18
+   }
+  },
+  "window": {
+   "mirror": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "pillow": {
+    "distance": "0.19 meters",
+    "closeness rank": 2
+   },
+   "nightstand": {
+    "distance": "0.42 meters",
+    "closeness rank": 3
+   },
+   "mattress": {
+    "distance": "0.48 meters",
+    "closeness rank": 4
+   },
+   "bed": {
+    "distance": "0.61 meters",
+    "closeness rank": 5
+   },
+   "lamp": {
+    "distance": "0.68 meters",
+    "closeness rank": 6
+   },
+   "table": {
+    "distance": "1.37 meters",
+    "closeness rank": 7
+   },
+   "radiator": {
+    "distance": "2.12 meters",
+    "closeness rank": 8
+   },
+   "counter": {
+    "distance": "2.17 meters",
+    "closeness rank": 9
+   },
+   "chair": {
+    "distance": "2.64 meters",
+    "closeness rank": 10
+   },
+   "tv": {
+    "distance": "2.76 meters",
+    "closeness rank": 11
+   },
+   "clock": {
+    "distance": "3.03 meters",
+    "closeness rank": 12
+   },
+   "telephone": {
+    "distance": "3.04 meters",
+    "closeness rank": 13
+   },
+   "microwave": {
+    "distance": "3.21 meters",
+    "closeness rank": 14
+   },
+   "trash bin": {
+    "distance": "3.79 meters",
+    "closeness rank": 15
+   },
+   "door": {
+    "distance": "3.92 meters",
+    "closeness rank": 16
+   },
+   "closet": {
+    "distance": "4.12 meters",
+    "closeness rank": 17
+   },
+   "towel": {
+    "distance": "4.9 meters",
+    "closeness rank": 18
+   }
+  }
+ },
+ "appearance order": ["door", "towel", "trash bin", "counter", "microwave", "mirror", "pillow", "mattress", "bed", "lamp", "nightstand", "radiator", "window", "table", "chair", "tv", "clock", "telephone", "closet"]
+}
\ No newline at end of file
diff --git a/data/spatial codes/sam3+depth-anything-3/metric/tracking/selective/32/explicit/scene0304_00.json b/data/spatial codes/sam3+depth-anything-3/metric/tracking/selective/32/explicit/scene0304_00.json
new file mode 100644
index 0000000000000000000000000000000000000000..27835986e91cd09a7a6ffa9f5796c129022f23ec
--- /dev/null
+++ b/data/spatial codes/sam3+depth-anything-3/metric/tracking/selective/32/explicit/scene0304_00.json	
@@ -0,0 +1,347 @@
+{
+ "spatial code schema": {
+  "objects": {
+   "<object class>": {
+    "count": {
+     "unit": null,
+     "description": "number of instances of this class in the compact spatial code (that schema's per-class oriented-box list length)"
+    },
+    "instances": [
+     {
+      "position": {
+       "x coordinate": {
+        "unit": "meters",
+        "description": "x coordinate of this instance's compact 3D oriented bounding box center"
+       },
+       "y coordinate": {
+        "unit": "meters",
+        "description": "y coordinate of this instance's compact 3D oriented bounding box center"
+       },
+       "height above floor": {
+        "unit": "meters",
+        "description": "height coordinate of this instance's compact 3D oriented bounding box center"
+       }
+      },
+      "longest dimension": {
+       "unit": "meters",
+       "description": "longest of this instance's compact 3D oriented bounding box dimensions"
+      }
+     }
+    ]
+   }
+  },
+  "room": {
+   "floor area": {
+    "unit": "square meters",
+    "description": "shoelace area of the compact spatial code's floor boundary polygons, with every interior hole subtracted"
+   }
+  },
+  "closest classes distance meters from": {
+   "<object class>": {
+    "<other object class>": {
+     "distance": {
+      "unit": "meters",
+      "description": "minimum surface-to-surface separation between the two classes' compact 3D oriented bounding boxes, over every instance pair"
+     },
+     "closeness rank": {
+      "unit": null,
+      "description": "1 = the nearest other class to this one, 2 = second-nearest, and so on"
+     }
+    }
+   }
+  },
+  "appearance order": {
+   "unit": null,
+   "description": "class names ordered by earliest compact 'first visible time' across all of that class's instances"
+  }
+ },
+ "objects": {
+  "backpack": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "0.25 meters",
+      "y coordinate": "0.02 meters",
+      "height above floor": "1.66 meters"
+     },
+     "longest dimension": "0.6 meters"
+    }
+   ]
+  },
+  "door": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "0.46 meters",
+      "y coordinate": "0.54 meters",
+      "height above floor": "1.15 meters"
+     },
+     "longest dimension": "1.71 meters"
+    }
+   ]
+  },
+  "lamp": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-1.42 meters",
+      "y coordinate": "1.32 meters",
+      "height above floor": "1.57 meters"
+     },
+     "longest dimension": "0.3 meters"
+    }
+   ]
+  },
+  "plant": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "1.91 meters",
+      "y coordinate": "-4.22 meters",
+      "height above floor": "6.28 meters"
+     },
+     "longest dimension": "0.34 meters"
+    }
+   ]
+  },
+  "table": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "0.22 meters",
+      "y coordinate": "0.53 meters",
+      "height above floor": "1.48 meters"
+     },
+     "longest dimension": "1.88 meters"
+    }
+   ]
+  },
+  "trash bin": {
+   "count": 2,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "0.91 meters",
+      "y coordinate": "-0.4 meters",
+      "height above floor": "3.21 meters"
+     },
+     "longest dimension": "0.78 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "1.39 meters",
+      "y coordinate": "-2.75 meters",
+      "height above floor": "3.1 meters"
+     },
+     "longest dimension": "0.7 meters"
+    }
+   ]
+  },
+  "window": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-0.96 meters",
+      "y coordinate": "4.46 meters",
+      "height above floor": "2.11 meters"
+     },
+     "longest dimension": "1.9 meters"
+    }
+   ]
+  }
+ },
+ "room": {
+  "floor area": "21.6 square meters"
+ },
+ "closest classes distance meters from": {
+  "backpack": {
+   "table": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "door": {
+    "distance": "0.37 meters",
+    "closeness rank": 2
+   },
+   "trash bin": {
+    "distance": "1.36 meters",
+    "closeness rank": 3
+   },
+   "lamp": {
+    "distance": "1.7 meters",
+    "closeness rank": 4
+   },
+   "window": {
+    "distance": "4.0 meters",
+    "closeness rank": 5
+   },
+   "plant": {
+    "distance": "5.97 meters",
+    "closeness rank": 6
+   }
+  },
+  "door": {
+   "table": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "backpack": {
+    "distance": "0.37 meters",
+    "closeness rank": 2
+   },
+   "lamp": {
+    "distance": "1.34 meters",
+    "closeness rank": 3
+   },
+   "trash bin": {
+    "distance": "2.09 meters",
+    "closeness rank": 4
+   },
+   "window": {
+    "distance": "3.66 meters",
+    "closeness rank": 5
+   },
+   "plant": {
+    "distance": "6.8 meters",
+    "closeness rank": 6
+   }
+  },
+  "lamp": {
+   "table": {
+    "distance": "1.18 meters",
+    "closeness rank": 1
+   },
+   "door": {
+    "distance": "1.34 meters",
+    "closeness rank": 2
+   },
+   "backpack": {
+    "distance": "1.7 meters",
+    "closeness rank": 3
+   },
+   "window": {
+    "distance": "2.57 meters",
+    "closeness rank": 4
+   },
+   "trash bin": {
+    "distance": "2.85 meters",
+    "closeness rank": 5
+   },
+   "plant": {
+    "distance": "7.64 meters",
+    "closeness rank": 6
+   }
+  },
+  "plant": {
+   "trash bin": {
+    "distance": "3.14 meters",
+    "closeness rank": 1
+   },
+   "table": {
+    "distance": "5.84 meters",
+    "closeness rank": 2
+   },
+   "backpack": {
+    "distance": "5.97 meters",
+    "closeness rank": 3
+   },
+   "door": {
+    "distance": "6.8 meters",
+    "closeness rank": 4
+   },
+   "lamp": {
+    "distance": "7.64 meters",
+    "closeness rank": 5
+   },
+   "window": {
+    "distance": "9.2 meters",
+    "closeness rank": 6
+   }
+  },
+  "table": {
+   "backpack": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "door": {
+    "distance": "0.0 meters",
+    "closeness rank": 2
+   },
+   "lamp": {
+    "distance": "1.18 meters",
+    "closeness rank": 3
+   },
+   "trash bin": {
+    "distance": "1.31 meters",
+    "closeness rank": 4
+   },
+   "window": {
+    "distance": "2.86 meters",
+    "closeness rank": 5
+   },
+   "plant": {
+    "distance": "5.84 meters",
+    "closeness rank": 6
+   }
+  },
+  "trash bin": {
+   "table": {
+    "distance": "1.31 meters",
+    "closeness rank": 1
+   },
+   "backpack": {
+    "distance": "1.36 meters",
+    "closeness rank": 2
+   },
+   "door": {
+    "distance": "2.09 meters",
+    "closeness rank": 3
+   },
+   "lamp": {
+    "distance": "2.85 meters",
+    "closeness rank": 4
+   },
+   "plant": {
+    "distance": "3.14 meters",
+    "closeness rank": 5
+   },
+   "window": {
+    "distance": "4.78 meters",
+    "closeness rank": 6
+   }
+  },
+  "window": {
+   "lamp": {
+    "distance": "2.57 meters",
+    "closeness rank": 1
+   },
+   "table": {
+    "distance": "2.86 meters",
+    "closeness rank": 2
+   },
+   "door": {
+    "distance": "3.66 meters",
+    "closeness rank": 3
+   },
+   "backpack": {
+    "distance": "4.0 meters",
+    "closeness rank": 4
+   },
+   "trash bin": {
+    "distance": "4.78 meters",
+    "closeness rank": 5
+   },
+   "plant": {
+    "distance": "9.2 meters",
+    "closeness rank": 6
+   }
+  }
+ },
+ "appearance order": ["door", "lamp", "window", "backpack", "table", "trash bin", "plant"]
+}
\ No newline at end of file
diff --git a/data/spatial codes/sam3+depth-anything-3/metric/tracking/selective/32/explicit/scene0328_00.json b/data/spatial codes/sam3+depth-anything-3/metric/tracking/selective/32/explicit/scene0328_00.json
new file mode 100644
index 0000000000000000000000000000000000000000..3e64ce265aff71d5021101feef5e40b000a9e3d4
--- /dev/null
+++ b/data/spatial codes/sam3+depth-anything-3/metric/tracking/selective/32/explicit/scene0328_00.json	
@@ -0,0 +1,562 @@
+{
+ "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": 13,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "0.13 meters",
+      "y coordinate": "0.19 meters",
+      "height above floor": "1.78 meters"
+     },
+     "longest dimension": "1.0 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "0.03 meters",
+      "y coordinate": "-0.24 meters",
+      "height above floor": "-0.04 meters"
+     },
+     "longest dimension": "0.71 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-0.44 meters",
+      "y coordinate": "-0.25 meters",
+      "height above floor": "-0.03 meters"
+     },
+     "longest dimension": "0.71 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "1.45 meters",
+      "y coordinate": "-0.32 meters",
+      "height above floor": "-0.01 meters"
+     },
+     "longest dimension": "0.92 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-1.21 meters",
+      "y coordinate": "-0.27 meters",
+      "height above floor": "1.06 meters"
+     },
+     "longest dimension": "0.7 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-0.82 meters",
+      "y coordinate": "-0.31 meters",
+      "height above floor": "-0.01 meters"
+     },
+     "longest dimension": "0.83 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-1.24 meters",
+      "y coordinate": "-0.23 meters",
+      "height above floor": "2.03 meters"
+     },
+     "longest dimension": "0.6 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-1.24 meters",
+      "y coordinate": "-0.25 meters",
+      "height above floor": "1.56 meters"
+     },
+     "longest dimension": "0.46 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-1.11 meters",
+      "y coordinate": "-0.38 meters",
+      "height above floor": "0.12 meters"
+     },
+     "longest dimension": "0.92 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-1.24 meters",
+      "y coordinate": "-0.48 meters",
+      "height above floor": "0.43 meters"
+     },
+     "longest dimension": "0.92 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-1.02 meters",
+      "y coordinate": "0.78 meters",
+      "height above floor": "0.98 meters"
+     },
+     "longest dimension": "0.67 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-1.22 meters",
+      "y coordinate": "-0.27 meters",
+      "height above floor": "0.73 meters"
+     },
+     "longest dimension": "0.3 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-1.24 meters",
+      "y coordinate": "-0.71 meters",
+      "height above floor": "0.95 meters"
+     },
+     "longest dimension": "0.64 meters"
+    }
+   ]
+  },
+  "lamp": {
+   "count": 5,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "0.56 meters",
+      "y coordinate": "-0.98 meters",
+      "height above floor": "0.55 meters"
+     },
+     "longest dimension": "0.13 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "0.31 meters",
+      "y coordinate": "-0.98 meters",
+      "height above floor": "0.57 meters"
+     },
+     "longest dimension": "0.11 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "0.11 meters",
+      "y coordinate": "-0.97 meters",
+      "height above floor": "0.56 meters"
+     },
+     "longest dimension": "0.07 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-0.14 meters",
+      "y coordinate": "-0.99 meters",
+      "height above floor": "0.58 meters"
+     },
+     "longest dimension": "0.11 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "0.91 meters",
+      "y coordinate": "-0.95 meters",
+      "height above floor": "0.56 meters"
+     },
+     "longest dimension": "0.05 meters"
+    }
+   ]
+  },
+  "microwave": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-1.22 meters",
+      "y coordinate": "-0.29 meters",
+      "height above floor": "1.01 meters"
+     },
+     "longest dimension": "0.71 meters"
+    }
+   ]
+  },
+  "mirror": {
+   "count": 3,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-0.43 meters",
+      "y coordinate": "-0.31 meters",
+      "height above floor": "-0.04 meters"
+     },
+     "longest dimension": "0.52 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-0.41 meters",
+      "y coordinate": "-0.22 meters",
+      "height above floor": "2.31 meters"
+     },
+     "longest dimension": "0.52 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-1.19 meters",
+      "y coordinate": "-0.35 meters",
+      "height above floor": "0.1 meters"
+     },
+     "longest dimension": "0.47 meters"
+    }
+   ]
+  },
+  "oven": {
+   "count": 2,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-1.22 meters",
+      "y coordinate": "-0.29 meters",
+      "height above floor": "1.01 meters"
+     },
+     "longest dimension": "0.71 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-1.03 meters",
+      "y coordinate": "0.82 meters",
+      "height above floor": "0.98 meters"
+     },
+     "longest dimension": "0.8 meters"
+    }
+   ]
+  },
+  "plant": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "0.04 meters",
+      "y coordinate": "0.21 meters",
+      "height above floor": "-0.25 meters"
+     },
+     "longest dimension": "0.3 meters"
+    }
+   ]
+  },
+  "refrigerator": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "0.55 meters",
+      "y coordinate": "0.23 meters",
+      "height above floor": "1.74 meters"
+     },
+     "longest dimension": "0.97 meters"
+    }
+   ]
+  },
+  "towel": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-0.11 meters",
+      "y coordinate": "0.22 meters",
+      "height above floor": "-0.23 meters"
+     },
+     "longest dimension": "0.18 meters"
+    }
+   ]
+  }
+ },
+ "room": {
+  "floor area": "8.8 square meters"
+ },
+ "closest classes distance meters from": {
+  "door": {
+   "microwave": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "mirror": {
+    "distance": "0.0 meters",
+    "closeness rank": 2
+   },
+   "oven": {
+    "distance": "0.0 meters",
+    "closeness rank": 3
+   },
+   "refrigerator": {
+    "distance": "0.0 meters",
+    "closeness rank": 4
+   },
+   "towel": {
+    "distance": "0.1 meters",
+    "closeness rank": 5
+   },
+   "plant": {
+    "distance": "0.12 meters",
+    "closeness rank": 6
+   },
+   "lamp": {
+    "distance": "0.6 meters",
+    "closeness rank": 7
+   }
+  },
+  "lamp": {
+   "door": {
+    "distance": "0.6 meters",
+    "closeness rank": 1
+   },
+   "mirror": {
+    "distance": "0.69 meters",
+    "closeness rank": 2
+   },
+   "microwave": {
+    "distance": "1.15 meters",
+    "closeness rank": 3
+   },
+   "oven": {
+    "distance": "1.15 meters",
+    "closeness rank": 4
+   },
+   "towel": {
+    "distance": "1.27 meters",
+    "closeness rank": 5
+   },
+   "refrigerator": {
+    "distance": "1.31 meters",
+    "closeness rank": 6
+   },
+   "plant": {
+    "distance": "1.32 meters",
+    "closeness rank": 7
+   }
+  },
+  "microwave": {
+   "door": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "oven": {
+    "distance": "0.0 meters",
+    "closeness rank": 2
+   },
+   "mirror": {
+    "distance": "0.49 meters",
+    "closeness rank": 3
+   },
+   "lamp": {
+    "distance": "1.15 meters",
+    "closeness rank": 4
+   },
+   "towel": {
+    "distance": "1.32 meters",
+    "closeness rank": 5
+   },
+   "plant": {
+    "distance": "1.42 meters",
+    "closeness rank": 6
+   },
+   "refrigerator": {
+    "distance": "1.62 meters",
+    "closeness rank": 7
+   }
+  },
+  "mirror": {
+   "door": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "towel": {
+    "distance": "0.28 meters",
+    "closeness rank": 2
+   },
+   "plant": {
+    "distance": "0.31 meters",
+    "closeness rank": 3
+   },
+   "microwave": {
+    "distance": "0.49 meters",
+    "closeness rank": 4
+   },
+   "oven": {
+    "distance": "0.49 meters",
+    "closeness rank": 5
+   },
+   "lamp": {
+    "distance": "0.69 meters",
+    "closeness rank": 6
+   },
+   "refrigerator": {
+    "distance": "0.71 meters",
+    "closeness rank": 7
+   }
+  },
+  "oven": {
+   "door": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "microwave": {
+    "distance": "0.0 meters",
+    "closeness rank": 2
+   },
+   "mirror": {
+    "distance": "0.49 meters",
+    "closeness rank": 3
+   },
+   "lamp": {
+    "distance": "1.15 meters",
+    "closeness rank": 4
+   },
+   "towel": {
+    "distance": "1.17 meters",
+    "closeness rank": 5
+   },
+   "plant": {
+    "distance": "1.25 meters",
+    "closeness rank": 6
+   },
+   "refrigerator": {
+    "distance": "1.49 meters",
+    "closeness rank": 7
+   }
+  },
+  "plant": {
+   "towel": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "door": {
+    "distance": "0.12 meters",
+    "closeness rank": 2
+   },
+   "mirror": {
+    "distance": "0.31 meters",
+    "closeness rank": 3
+   },
+   "oven": {
+    "distance": "1.25 meters",
+    "closeness rank": 4
+   },
+   "lamp": {
+    "distance": "1.32 meters",
+    "closeness rank": 5
+   },
+   "microwave": {
+    "distance": "1.42 meters",
+    "closeness rank": 6
+   },
+   "refrigerator": {
+    "distance": "1.93 meters",
+    "closeness rank": 7
+   }
+  },
+  "refrigerator": {
+   "door": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "mirror": {
+    "distance": "0.71 meters",
+    "closeness rank": 2
+   },
+   "lamp": {
+    "distance": "1.31 meters",
+    "closeness rank": 3
+   },
+   "oven": {
+    "distance": "1.49 meters",
+    "closeness rank": 4
+   },
+   "microwave": {
+    "distance": "1.62 meters",
+    "closeness rank": 5
+   },
+   "plant": {
+    "distance": "1.93 meters",
+    "closeness rank": 6
+   },
+   "towel": {
+    "distance": "1.93 meters",
+    "closeness rank": 7
+   }
+  },
+  "towel": {
+   "plant": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "door": {
+    "distance": "0.1 meters",
+    "closeness rank": 2
+   },
+   "mirror": {
+    "distance": "0.28 meters",
+    "closeness rank": 3
+   },
+   "oven": {
+    "distance": "1.17 meters",
+    "closeness rank": 4
+   },
+   "lamp": {
+    "distance": "1.27 meters",
+    "closeness rank": 5
+   },
+   "microwave": {
+    "distance": "1.32 meters",
+    "closeness rank": 6
+   },
+   "refrigerator": {
+    "distance": "1.93 meters",
+    "closeness rank": 7
+   }
+  }
+ },
+ "appearance order": ["door", "microwave", "oven", "refrigerator", "lamp", "plant", "mirror", "towel"]
+}
\ No newline at end of file
diff --git a/data/spatial codes/sam3+depth-anything-3/metric/tracking/selective/32/explicit/scene0356_00.json b/data/spatial codes/sam3+depth-anything-3/metric/tracking/selective/32/explicit/scene0356_00.json
new file mode 100644
index 0000000000000000000000000000000000000000..f656aee5edd1d9cac047440d1d69e06468ef38b3
--- /dev/null
+++ b/data/spatial codes/sam3+depth-anything-3/metric/tracking/selective/32/explicit/scene0356_00.json	
@@ -0,0 +1,648 @@
+{
+ "spatial code schema": {
+  "objects": {
+   "<object class>": {
+    "count": {
+     "unit": null,
+     "description": "number of instances of this class in the compact spatial code (that schema's per-class oriented-box list length)"
+    },
+    "instances": [
+     {
+      "position": {
+       "x coordinate": {
+        "unit": "meters",
+        "description": "x coordinate of this instance's compact 3D oriented bounding box center"
+       },
+       "y coordinate": {
+        "unit": "meters",
+        "description": "y coordinate of this instance's compact 3D oriented bounding box center"
+       },
+       "height above floor": {
+        "unit": "meters",
+        "description": "height coordinate of this instance's compact 3D oriented bounding box center"
+       }
+      },
+      "longest dimension": {
+       "unit": "meters",
+       "description": "longest of this instance's compact 3D oriented bounding box dimensions"
+      }
+     }
+    ]
+   }
+  },
+  "room": {
+   "floor area": {
+    "unit": "square meters",
+    "description": "shoelace area of the compact spatial code's floor boundary polygons, with every interior hole subtracted"
+   }
+  },
+  "closest classes distance meters from": {
+   "<object class>": {
+    "<other object class>": {
+     "distance": {
+      "unit": "meters",
+      "description": "minimum surface-to-surface separation between the two classes' compact 3D oriented bounding boxes, over every instance pair"
+     },
+     "closeness rank": {
+      "unit": null,
+      "description": "1 = the nearest other class to this one, 2 = second-nearest, and so on"
+     }
+    }
+   }
+  },
+  "appearance order": {
+   "unit": null,
+   "description": "class names ordered by earliest compact 'first visible time' across all of that class's instances"
+  }
+ },
+ "objects": {
+  "bed": {
+   "count": 2,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "1.2 meters",
+      "y coordinate": "-1.46 meters",
+      "height above floor": "-0.1 meters"
+     },
+     "longest dimension": "1.97 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-1.06 meters",
+      "y coordinate": "0.11 meters",
+      "height above floor": "0.15 meters"
+     },
+     "longest dimension": "0.59 meters"
+    }
+   ]
+  },
+  "chair": {
+   "count": 2,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "1.88 meters",
+      "y coordinate": "-0.52 meters",
+      "height above floor": "-0.05 meters"
+     },
+     "longest dimension": "0.79 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-0.89 meters",
+      "y coordinate": "0.43 meters",
+      "height above floor": "0.2 meters"
+     },
+     "longest dimension": "0.36 meters"
+    }
+   ]
+  },
+  "door": {
+   "count": 5,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-0.95 meters",
+      "y coordinate": "0.3 meters",
+      "height above floor": "-0.19 meters"
+     },
+     "longest dimension": "1.32 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-0.43 meters",
+      "y coordinate": "-1.06 meters",
+      "height above floor": "0.01 meters"
+     },
+     "longest dimension": "1.15 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "0.81 meters",
+      "y coordinate": "1.51 meters",
+      "height above floor": "-0.37 meters"
+     },
+     "longest dimension": "1.05 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-0.79 meters",
+      "y coordinate": "-0.42 meters",
+      "height above floor": "-0.05 meters"
+     },
+     "longest dimension": "1.35 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-0.69 meters",
+      "y coordinate": "-0.47 meters",
+      "height above floor": "-0.14 meters"
+     },
+     "longest dimension": "1.25 meters"
+    }
+   ]
+  },
+  "mattress": {
+   "count": 2,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "1.22 meters",
+      "y coordinate": "-1.5 meters",
+      "height above floor": "-0.05 meters"
+     },
+     "longest dimension": "1.89 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-1.06 meters",
+      "y coordinate": "0.1 meters",
+      "height above floor": "0.27 meters"
+     },
+     "longest dimension": "0.3 meters"
+    }
+   ]
+  },
+  "mirror": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-1.0 meters",
+      "y coordinate": "0.23 meters",
+      "height above floor": "0.01 meters"
+     },
+     "longest dimension": "0.93 meters"
+    }
+   ]
+  },
+  "plant": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "2.61 meters",
+      "y coordinate": "-1.37 meters",
+      "height above floor": "0.35 meters"
+     },
+     "longest dimension": "1.16 meters"
+    }
+   ]
+  },
+  "table": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "1.87 meters",
+      "y coordinate": "-0.02 meters",
+      "height above floor": "-0.06 meters"
+     },
+     "longest dimension": "0.83 meters"
+    }
+   ]
+  },
+  "telephone": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-0.5 meters",
+      "y coordinate": "1.23 meters",
+      "height above floor": "0.15 meters"
+     },
+     "longest dimension": "0.41 meters"
+    }
+   ]
+  },
+  "trash bin": {
+   "count": 3,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "1.93 meters",
+      "y coordinate": "-0.14 meters",
+      "height above floor": "0.13 meters"
+     },
+     "longest dimension": "0.39 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "2.13 meters",
+      "y coordinate": "-0.32 meters",
+      "height above floor": "0.14 meters"
+     },
+     "longest dimension": "0.4 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "2.38 meters",
+      "y coordinate": "-0.47 meters",
+      "height above floor": "0.26 meters"
+     },
+     "longest dimension": "0.42 meters"
+    }
+   ]
+  },
+  "window": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "2.41 meters",
+      "y coordinate": "-1.71 meters",
+      "height above floor": "0.28 meters"
+     },
+     "longest dimension": "1.69 meters"
+    }
+   ]
+  }
+ },
+ "room": {
+  "floor area": "15.4 square meters"
+ },
+ "closest classes distance meters from": {
+  "bed": {
+   "door": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "mattress": {
+    "distance": "0.0 meters",
+    "closeness rank": 2
+   },
+   "mirror": {
+    "distance": "0.0 meters",
+    "closeness rank": 3
+   },
+   "window": {
+    "distance": "0.12 meters",
+    "closeness rank": 4
+   },
+   "chair": {
+    "distance": "0.16 meters",
+    "closeness rank": 5
+   },
+   "plant": {
+    "distance": "0.24 meters",
+    "closeness rank": 6
+   },
+   "trash bin": {
+    "distance": "0.71 meters",
+    "closeness rank": 7
+   },
+   "table": {
+    "distance": "0.75 meters",
+    "closeness rank": 8
+   },
+   "telephone": {
+    "distance": "1.06 meters",
+    "closeness rank": 9
+   }
+  },
+  "chair": {
+   "door": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "mirror": {
+    "distance": "0.0 meters",
+    "closeness rank": 2
+   },
+   "table": {
+    "distance": "0.0 meters",
+    "closeness rank": 3
+   },
+   "trash bin": {
+    "distance": "0.0 meters",
+    "closeness rank": 4
+   },
+   "bed": {
+    "distance": "0.16 meters",
+    "closeness rank": 5
+   },
+   "mattress": {
+    "distance": "0.17 meters",
+    "closeness rank": 6
+   },
+   "window": {
+    "distance": "0.71 meters",
+    "closeness rank": 7
+   },
+   "plant": {
+    "distance": "0.79 meters",
+    "closeness rank": 8
+   },
+   "telephone": {
+    "distance": "0.8 meters",
+    "closeness rank": 9
+   }
+  },
+  "door": {
+   "bed": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "chair": {
+    "distance": "0.0 meters",
+    "closeness rank": 2
+   },
+   "mattress": {
+    "distance": "0.0 meters",
+    "closeness rank": 3
+   },
+   "mirror": {
+    "distance": "0.0 meters",
+    "closeness rank": 4
+   },
+   "telephone": {
+    "distance": "0.58 meters",
+    "closeness rank": 5
+   },
+   "table": {
+    "distance": "1.43 meters",
+    "closeness rank": 6
+   },
+   "trash bin": {
+    "distance": "1.71 meters",
+    "closeness rank": 7
+   },
+   "window": {
+    "distance": "2.77 meters",
+    "closeness rank": 8
+   },
+   "plant": {
+    "distance": "2.86 meters",
+    "closeness rank": 9
+   }
+  },
+  "mattress": {
+   "bed": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "door": {
+    "distance": "0.0 meters",
+    "closeness rank": 2
+   },
+   "mirror": {
+    "distance": "0.0 meters",
+    "closeness rank": 3
+   },
+   "window": {
+    "distance": "0.12 meters",
+    "closeness rank": 4
+   },
+   "chair": {
+    "distance": "0.17 meters",
+    "closeness rank": 5
+   },
+   "plant": {
+    "distance": "0.26 meters",
+    "closeness rank": 6
+   },
+   "trash bin": {
+    "distance": "0.74 meters",
+    "closeness rank": 7
+   },
+   "table": {
+    "distance": "0.78 meters",
+    "closeness rank": 8
+   },
+   "telephone": {
+    "distance": "1.07 meters",
+    "closeness rank": 9
+   }
+  },
+  "mirror": {
+   "bed": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "chair": {
+    "distance": "0.0 meters",
+    "closeness rank": 2
+   },
+   "door": {
+    "distance": "0.0 meters",
+    "closeness rank": 3
+   },
+   "mattress": {
+    "distance": "0.0 meters",
+    "closeness rank": 4
+   },
+   "telephone": {
+    "distance": "0.8 meters",
+    "closeness rank": 5
+   },
+   "table": {
+    "distance": "2.52 meters",
+    "closeness rank": 6
+   },
+   "trash bin": {
+    "distance": "2.66 meters",
+    "closeness rank": 7
+   },
+   "window": {
+    "distance": "3.75 meters",
+    "closeness rank": 8
+   },
+   "plant": {
+    "distance": "3.83 meters",
+    "closeness rank": 9
+   }
+  },
+  "plant": {
+   "window": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "bed": {
+    "distance": "0.24 meters",
+    "closeness rank": 2
+   },
+   "mattress": {
+    "distance": "0.26 meters",
+    "closeness rank": 3
+   },
+   "trash bin": {
+    "distance": "0.29 meters",
+    "closeness rank": 4
+   },
+   "chair": {
+    "distance": "0.79 meters",
+    "closeness rank": 5
+   },
+   "table": {
+    "distance": "0.92 meters",
+    "closeness rank": 6
+   },
+   "door": {
+    "distance": "2.86 meters",
+    "closeness rank": 7
+   },
+   "telephone": {
+    "distance": "3.83 meters",
+    "closeness rank": 8
+   },
+   "mirror": {
+    "distance": "3.83 meters",
+    "closeness rank": 9
+   }
+  },
+  "table": {
+   "chair": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "trash bin": {
+    "distance": "0.02 meters",
+    "closeness rank": 2
+   },
+   "bed": {
+    "distance": "0.75 meters",
+    "closeness rank": 3
+   },
+   "mattress": {
+    "distance": "0.78 meters",
+    "closeness rank": 4
+   },
+   "window": {
+    "distance": "0.83 meters",
+    "closeness rank": 5
+   },
+   "plant": {
+    "distance": "0.92 meters",
+    "closeness rank": 6
+   },
+   "door": {
+    "distance": "1.43 meters",
+    "closeness rank": 7
+   },
+   "telephone": {
+    "distance": "2.41 meters",
+    "closeness rank": 8
+   },
+   "mirror": {
+    "distance": "2.52 meters",
+    "closeness rank": 9
+   }
+  },
+  "telephone": {
+   "door": {
+    "distance": "0.58 meters",
+    "closeness rank": 1
+   },
+   "chair": {
+    "distance": "0.8 meters",
+    "closeness rank": 2
+   },
+   "mirror": {
+    "distance": "0.8 meters",
+    "closeness rank": 3
+   },
+   "bed": {
+    "distance": "1.06 meters",
+    "closeness rank": 4
+   },
+   "mattress": {
+    "distance": "1.07 meters",
+    "closeness rank": 5
+   },
+   "table": {
+    "distance": "2.41 meters",
+    "closeness rank": 6
+   },
+   "trash bin": {
+    "distance": "2.53 meters",
+    "closeness rank": 7
+   },
+   "window": {
+    "distance": "3.77 meters",
+    "closeness rank": 8
+   },
+   "plant": {
+    "distance": "3.83 meters",
+    "closeness rank": 9
+   }
+  },
+  "trash bin": {
+   "chair": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "table": {
+    "distance": "0.02 meters",
+    "closeness rank": 2
+   },
+   "window": {
+    "distance": "0.27 meters",
+    "closeness rank": 3
+   },
+   "plant": {
+    "distance": "0.29 meters",
+    "closeness rank": 4
+   },
+   "bed": {
+    "distance": "0.71 meters",
+    "closeness rank": 5
+   },
+   "mattress": {
+    "distance": "0.74 meters",
+    "closeness rank": 6
+   },
+   "door": {
+    "distance": "1.71 meters",
+    "closeness rank": 7
+   },
+   "telephone": {
+    "distance": "2.53 meters",
+    "closeness rank": 8
+   },
+   "mirror": {
+    "distance": "2.66 meters",
+    "closeness rank": 9
+   }
+  },
+  "window": {
+   "plant": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "bed": {
+    "distance": "0.12 meters",
+    "closeness rank": 2
+   },
+   "mattress": {
+    "distance": "0.12 meters",
+    "closeness rank": 3
+   },
+   "trash bin": {
+    "distance": "0.27 meters",
+    "closeness rank": 4
+   },
+   "chair": {
+    "distance": "0.71 meters",
+    "closeness rank": 5
+   },
+   "table": {
+    "distance": "0.83 meters",
+    "closeness rank": 6
+   },
+   "door": {
+    "distance": "2.77 meters",
+    "closeness rank": 7
+   },
+   "mirror": {
+    "distance": "3.75 meters",
+    "closeness rank": 8
+   },
+   "telephone": {
+    "distance": "3.77 meters",
+    "closeness rank": 9
+   }
+  }
+ },
+ "appearance order": ["chair", "plant", "table", "window", "trash bin", "bed", "mattress", "door", "mirror", "telephone"]
+}
\ No newline at end of file
diff --git a/data/spatial codes/sam3+depth-anything-3/metric/tracking/selective/32/explicit/scene0357_01.json b/data/spatial codes/sam3+depth-anything-3/metric/tracking/selective/32/explicit/scene0357_01.json
new file mode 100644
index 0000000000000000000000000000000000000000..d451fe55032faac0b5288492f29514fab6bee14b
--- /dev/null
+++ b/data/spatial codes/sam3+depth-anything-3/metric/tracking/selective/32/explicit/scene0357_01.json	
@@ -0,0 +1,292 @@
+{
+ "spatial code schema": {
+  "objects": {
+   "<object class>": {
+    "count": {
+     "unit": null,
+     "description": "number of instances of this class in the compact spatial code (that schema's per-class oriented-box list length)"
+    },
+    "instances": [
+     {
+      "position": {
+       "x coordinate": {
+        "unit": "meters",
+        "description": "x coordinate of this instance's compact 3D oriented bounding box center"
+       },
+       "y coordinate": {
+        "unit": "meters",
+        "description": "y coordinate of this instance's compact 3D oriented bounding box center"
+       },
+       "height above floor": {
+        "unit": "meters",
+        "description": "height coordinate of this instance's compact 3D oriented bounding box center"
+       }
+      },
+      "longest dimension": {
+       "unit": "meters",
+       "description": "longest of this instance's compact 3D oriented bounding box dimensions"
+      }
+     }
+    ]
+   }
+  },
+  "room": {
+   "floor area": {
+    "unit": "square meters",
+    "description": "shoelace area of the compact spatial code's floor boundary polygons, with every interior hole subtracted"
+   }
+  },
+  "closest classes distance meters from": {
+   "<object class>": {
+    "<other object class>": {
+     "distance": {
+      "unit": "meters",
+      "description": "minimum surface-to-surface separation between the two classes' compact 3D oriented bounding boxes, over every instance pair"
+     },
+     "closeness rank": {
+      "unit": null,
+      "description": "1 = the nearest other class to this one, 2 = second-nearest, and so on"
+     }
+    }
+   }
+  },
+  "appearance order": {
+   "unit": null,
+   "description": "class names ordered by earliest compact 'first visible time' across all of that class's instances"
+  }
+ },
+ "objects": {
+  "backpack": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-0.03 meters",
+      "y coordinate": "1.32 meters",
+      "height above floor": "0.88 meters"
+     },
+     "longest dimension": "0.52 meters"
+    }
+   ]
+  },
+  "closet": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "0.12 meters",
+      "y coordinate": "0.31 meters",
+      "height above floor": "-0.51 meters"
+     },
+     "longest dimension": "2.24 meters"
+    }
+   ]
+  },
+  "door": {
+   "count": 2,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "1.3 meters",
+      "y coordinate": "0.68 meters",
+      "height above floor": "-0.87 meters"
+     },
+     "longest dimension": "1.73 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "0.76 meters",
+      "y coordinate": "0.57 meters",
+      "height above floor": "0.49 meters"
+     },
+     "longest dimension": "1.4 meters"
+    }
+   ]
+  },
+  "table": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-0.17 meters",
+      "y coordinate": "0.9 meters",
+      "height above floor": "-0.32 meters"
+     },
+     "longest dimension": "0.6 meters"
+    }
+   ]
+  },
+  "trash bin": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "1.13 meters",
+      "y coordinate": "1.04 meters",
+      "height above floor": "-0.18 meters"
+     },
+     "longest dimension": "0.36 meters"
+    }
+   ]
+  },
+  "window": {
+   "count": 2,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "0.16 meters",
+      "y coordinate": "0.04 meters",
+      "height above floor": "2.17 meters"
+     },
+     "longest dimension": "0.45 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-0.4 meters",
+      "y coordinate": "-0.11 meters",
+      "height above floor": "-5.05 meters"
+     },
+     "longest dimension": "0.49 meters"
+    }
+   ]
+  }
+ },
+ "room": {
+  "floor area": "10.5 square meters"
+ },
+ "closest classes distance meters from": {
+  "backpack": {
+   "door": {
+    "distance": "0.43 meters",
+    "closeness rank": 1
+   },
+   "table": {
+    "distance": "0.73 meters",
+    "closeness rank": 2
+   },
+   "closet": {
+    "distance": "0.82 meters",
+    "closeness rank": 3
+   },
+   "trash bin": {
+    "distance": "1.05 meters",
+    "closeness rank": 4
+   },
+   "window": {
+    "distance": "1.35 meters",
+    "closeness rank": 5
+   }
+  },
+  "closet": {
+   "table": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "door": {
+    "distance": "0.06 meters",
+    "closeness rank": 2
+   },
+   "trash bin": {
+    "distance": "0.6 meters",
+    "closeness rank": 3
+   },
+   "backpack": {
+    "distance": "0.82 meters",
+    "closeness rank": 4
+   },
+   "window": {
+    "distance": "2.23 meters",
+    "closeness rank": 5
+   }
+  },
+  "door": {
+   "closet": {
+    "distance": "0.06 meters",
+    "closeness rank": 1
+   },
+   "trash bin": {
+    "distance": "0.28 meters",
+    "closeness rank": 2
+   },
+   "backpack": {
+    "distance": "0.43 meters",
+    "closeness rank": 3
+   },
+   "table": {
+    "distance": "0.74 meters",
+    "closeness rank": 4
+   },
+   "window": {
+    "distance": "1.41 meters",
+    "closeness rank": 5
+   }
+  },
+  "table": {
+   "closet": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "backpack": {
+    "distance": "0.73 meters",
+    "closeness rank": 2
+   },
+   "door": {
+    "distance": "0.74 meters",
+    "closeness rank": 3
+   },
+   "trash bin": {
+    "distance": "1.02 meters",
+    "closeness rank": 4
+   },
+   "window": {
+    "distance": "2.23 meters",
+    "closeness rank": 5
+   }
+  },
+  "trash bin": {
+   "door": {
+    "distance": "0.28 meters",
+    "closeness rank": 1
+   },
+   "closet": {
+    "distance": "0.6 meters",
+    "closeness rank": 2
+   },
+   "table": {
+    "distance": "1.02 meters",
+    "closeness rank": 3
+   },
+   "backpack": {
+    "distance": "1.05 meters",
+    "closeness rank": 4
+   },
+   "window": {
+    "distance": "2.35 meters",
+    "closeness rank": 5
+   }
+  },
+  "window": {
+   "backpack": {
+    "distance": "1.35 meters",
+    "closeness rank": 1
+   },
+   "door": {
+    "distance": "1.41 meters",
+    "closeness rank": 2
+   },
+   "table": {
+    "distance": "2.23 meters",
+    "closeness rank": 3
+   },
+   "closet": {
+    "distance": "2.23 meters",
+    "closeness rank": 4
+   },
+   "trash bin": {
+    "distance": "2.35 meters",
+    "closeness rank": 5
+   }
+  }
+ },
+ "appearance order": ["table", "door", "trash bin", "closet", "backpack", "window"]
+}
\ No newline at end of file
diff --git a/data/spatial codes/sam3+depth-anything-3/metric/tracking/selective/32/explicit/scene0412_00.json b/data/spatial codes/sam3+depth-anything-3/metric/tracking/selective/32/explicit/scene0412_00.json
new file mode 100644
index 0000000000000000000000000000000000000000..3a9b0d9b793fa19551019a3d314e26f81016429d
--- /dev/null
+++ b/data/spatial codes/sam3+depth-anything-3/metric/tracking/selective/32/explicit/scene0412_00.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": {
+  "counter": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-0.03 meters",
+      "y coordinate": "1.28 meters",
+      "height above floor": "2.7 meters"
+     },
+     "longest dimension": "2.08 meters"
+    }
+   ]
+  },
+  "door": {
+   "count": 5,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "0.43 meters",
+      "y coordinate": "0.4 meters",
+      "height above floor": "5.24 meters"
+     },
+     "longest dimension": "2.02 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "0.72 meters",
+      "y coordinate": "-1.6 meters",
+      "height above floor": "0.02 meters"
+     },
+     "longest dimension": "0.74 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "1.67 meters",
+      "y coordinate": "-3.13 meters",
+      "height above floor": "0.39 meters"
+     },
+     "longest dimension": "1.24 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "1.05 meters",
+      "y coordinate": "-0.98 meters",
+      "height above floor": "0.02 meters"
+     },
+     "longest dimension": "0.86 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "1.19 meters",
+      "y coordinate": "-1.47 meters",
+      "height above floor": "0.06 meters"
+     },
+     "longest dimension": "0.78 meters"
+    }
+   ]
+  },
+  "mirror": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-0.03 meters",
+      "y coordinate": "1.04 meters",
+      "height above floor": "4.19 meters"
+     },
+     "longest dimension": "0.42 meters"
+    }
+   ]
+  },
+  "radiator": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "0.71 meters",
+      "y coordinate": "-0.5 meters",
+      "height above floor": "-0.08 meters"
+     },
+     "longest dimension": "1.89 meters"
+    }
+   ]
+  },
+  "refrigerator": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "0.94 meters",
+      "y coordinate": "-1.14 meters",
+      "height above floor": "0.01 meters"
+     },
+     "longest dimension": "1.67 meters"
+    }
+   ]
+  },
+  "table": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "0.62 meters",
+      "y coordinate": "0.74 meters",
+      "height above floor": "0.57 meters"
+     },
+     "longest dimension": "1.17 meters"
+    }
+   ]
+  },
+  "telephone": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-0.16 meters",
+      "y coordinate": "0.78 meters",
+      "height above floor": "5.23 meters"
+     },
+     "longest dimension": "0.14 meters"
+    }
+   ]
+  },
+  "trash bin": {
+   "count": 5,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "0.61 meters",
+      "y coordinate": "0.99 meters",
+      "height above floor": "1.09 meters"
+     },
+     "longest dimension": "0.68 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "0.88 meters",
+      "y coordinate": "0.27 meters",
+      "height above floor": "0.48 meters"
+     },
+     "longest dimension": "0.6 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "1.72 meters",
+      "y coordinate": "-2.72 meters",
+      "height above floor": "-0.28 meters"
+     },
+     "longest dimension": "0.83 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-0.08 meters",
+      "y coordinate": "1.41 meters",
+      "height above floor": "1.33 meters"
+     },
+     "longest dimension": "0.53 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "0.32 meters",
+      "y coordinate": "1.24 meters",
+      "height above floor": "1.47 meters"
+     },
+     "longest dimension": "0.66 meters"
+    }
+   ]
+  }
+ },
+ "room": {
+  "floor area": "11.7 square meters"
+ },
+ "closest classes distance meters from": {
+  "counter": {
+   "trash bin": {
+    "distance": "0.03 meters",
+    "closeness rank": 1
+   },
+   "mirror": {
+    "distance": "0.24 meters",
+    "closeness rank": 2
+   },
+   "table": {
+    "distance": "0.82 meters",
+    "closeness rank": 3
+   },
+   "door": {
+    "distance": "1.48 meters",
+    "closeness rank": 4
+   },
+   "telephone": {
+    "distance": "1.51 meters",
+    "closeness rank": 5
+   },
+   "refrigerator": {
+    "distance": "2.13 meters",
+    "closeness rank": 6
+   },
+   "radiator": {
+    "distance": "2.29 meters",
+    "closeness rank": 7
+   }
+  },
+  "door": {
+   "refrigerator": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "telephone": {
+    "distance": "0.0 meters",
+    "closeness rank": 2
+   },
+   "radiator": {
+    "distance": "0.07 meters",
+    "closeness rank": 3
+   },
+   "trash bin": {
+    "distance": "0.18 meters",
+    "closeness rank": 4
+   },
+   "mirror": {
+    "distance": "0.81 meters",
+    "closeness rank": 5
+   },
+   "table": {
+    "distance": "0.83 meters",
+    "closeness rank": 6
+   },
+   "counter": {
+    "distance": "1.48 meters",
+    "closeness rank": 7
+   }
+  },
+  "mirror": {
+   "counter": {
+    "distance": "0.24 meters",
+    "closeness rank": 1
+   },
+   "door": {
+    "distance": "0.81 meters",
+    "closeness rank": 2
+   },
+   "telephone": {
+    "distance": "0.84 meters",
+    "closeness rank": 3
+   },
+   "trash bin": {
+    "distance": "2.35 meters",
+    "closeness rank": 4
+   },
+   "table": {
+    "distance": "3.14 meters",
+    "closeness rank": 5
+   },
+   "refrigerator": {
+    "distance": "4.16 meters",
+    "closeness rank": 6
+   },
+   "radiator": {
+    "distance": "4.31 meters",
+    "closeness rank": 7
+   }
+  },
+  "radiator": {
+   "refrigerator": {
+    "distance": "0.03 meters",
+    "closeness rank": 1
+   },
+   "door": {
+    "distance": "0.07 meters",
+    "closeness rank": 2
+   },
+   "table": {
+    "distance": "0.58 meters",
+    "closeness rank": 3
+   },
+   "trash bin": {
+    "distance": "0.59 meters",
+    "closeness rank": 4
+   },
+   "counter": {
+    "distance": "2.29 meters",
+    "closeness rank": 5
+   },
+   "mirror": {
+    "distance": "4.31 meters",
+    "closeness rank": 6
+   },
+   "telephone": {
+    "distance": "5.44 meters",
+    "closeness rank": 7
+   }
+  },
+  "refrigerator": {
+   "door": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "radiator": {
+    "distance": "0.03 meters",
+    "closeness rank": 2
+   },
+   "table": {
+    "distance": "0.46 meters",
+    "closeness rank": 3
+   },
+   "trash bin": {
+    "distance": "0.5 meters",
+    "closeness rank": 4
+   },
+   "counter": {
+    "distance": "2.13 meters",
+    "closeness rank": 5
+   },
+   "mirror": {
+    "distance": "4.16 meters",
+    "closeness rank": 6
+   },
+   "telephone": {
+    "distance": "5.31 meters",
+    "closeness rank": 7
+   }
+  },
+  "table": {
+   "trash bin": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "refrigerator": {
+    "distance": "0.46 meters",
+    "closeness rank": 2
+   },
+   "radiator": {
+    "distance": "0.58 meters",
+    "closeness rank": 3
+   },
+   "counter": {
+    "distance": "0.82 meters",
+    "closeness rank": 4
+   },
+   "door": {
+    "distance": "0.83 meters",
+    "closeness rank": 5
+   },
+   "mirror": {
+    "distance": "3.14 meters",
+    "closeness rank": 6
+   },
+   "telephone": {
+    "distance": "4.4 meters",
+    "closeness rank": 7
+   }
+  },
+  "telephone": {
+   "door": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "mirror": {
+    "distance": "0.84 meters",
+    "closeness rank": 2
+   },
+   "counter": {
+    "distance": "1.51 meters",
+    "closeness rank": 3
+   },
+   "trash bin": {
+    "distance": "3.61 meters",
+    "closeness rank": 4
+   },
+   "table": {
+    "distance": "4.4 meters",
+    "closeness rank": 5
+   },
+   "refrigerator": {
+    "distance": "5.31 meters",
+    "closeness rank": 6
+   },
+   "radiator": {
+    "distance": "5.44 meters",
+    "closeness rank": 7
+   }
+  },
+  "trash bin": {
+   "table": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "counter": {
+    "distance": "0.03 meters",
+    "closeness rank": 2
+   },
+   "door": {
+    "distance": "0.18 meters",
+    "closeness rank": 3
+   },
+   "refrigerator": {
+    "distance": "0.5 meters",
+    "closeness rank": 4
+   },
+   "radiator": {
+    "distance": "0.59 meters",
+    "closeness rank": 5
+   },
+   "mirror": {
+    "distance": "2.35 meters",
+    "closeness rank": 6
+   },
+   "telephone": {
+    "distance": "3.61 meters",
+    "closeness rank": 7
+   }
+  }
+ },
+ "appearance order": ["radiator", "door", "telephone", "mirror", "counter", "table", "trash bin", "refrigerator"]
+}
\ No newline at end of file
diff --git a/data/spatial codes/sam3+depth-anything-3/metric/tracking/selective/32/explicit/scene0426_00.json b/data/spatial codes/sam3+depth-anything-3/metric/tracking/selective/32/explicit/scene0426_00.json
new file mode 100644
index 0000000000000000000000000000000000000000..5706d22d6af9d3e6e1a03440dd1de137ab55ecce
--- /dev/null
+++ b/data/spatial codes/sam3+depth-anything-3/metric/tracking/selective/32/explicit/scene0426_00.json	
@@ -0,0 +1,1481 @@
+{
+ "spatial code schema": {
+  "objects": {
+   "<object class>": {
+    "count": {
+     "unit": null,
+     "description": "number of instances of this class in the compact spatial code (that schema's per-class oriented-box list length)"
+    },
+    "instances": [
+     {
+      "position": {
+       "x coordinate": {
+        "unit": "meters",
+        "description": "x coordinate of this instance's compact 3D oriented bounding box center"
+       },
+       "y coordinate": {
+        "unit": "meters",
+        "description": "y coordinate of this instance's compact 3D oriented bounding box center"
+       },
+       "height above floor": {
+        "unit": "meters",
+        "description": "height coordinate of this instance's compact 3D oriented bounding box center"
+       }
+      },
+      "longest dimension": {
+       "unit": "meters",
+       "description": "longest of this instance's compact 3D oriented bounding box dimensions"
+      }
+     }
+    ]
+   }
+  },
+  "room": {
+   "floor area": {
+    "unit": "square meters",
+    "description": "shoelace area of the compact spatial code's floor boundary polygons, with every interior hole subtracted"
+   }
+  },
+  "closest classes distance meters from": {
+   "<object class>": {
+    "<other object class>": {
+     "distance": {
+      "unit": "meters",
+      "description": "minimum surface-to-surface separation between the two classes' compact 3D oriented bounding boxes, over every instance pair"
+     },
+     "closeness rank": {
+      "unit": null,
+      "description": "1 = the nearest other class to this one, 2 = second-nearest, and so on"
+     }
+    }
+   }
+  },
+  "appearance order": {
+   "unit": null,
+   "description": "class names ordered by earliest compact 'first visible time' across all of that class's instances"
+  }
+ },
+ "objects": {
+  "backpack": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "0.02 meters",
+      "y coordinate": "0.94 meters",
+      "height above floor": "-0.39 meters"
+     },
+     "longest dimension": "0.41 meters"
+    }
+   ]
+  },
+  "bed": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-0.55 meters",
+      "y coordinate": "-0.28 meters",
+      "height above floor": "-0.11 meters"
+     },
+     "longest dimension": "1.46 meters"
+    }
+   ]
+  },
+  "chair": {
+   "count": 2,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "1.03 meters",
+      "y coordinate": "1.06 meters",
+      "height above floor": "-0.28 meters"
+     },
+     "longest dimension": "0.61 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "0.68 meters",
+      "y coordinate": "-0.94 meters",
+      "height above floor": "-0.38 meters"
+     },
+     "longest dimension": "0.54 meters"
+    }
+   ]
+  },
+  "computer mouse": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "1.53 meters",
+      "y coordinate": "-0.06 meters",
+      "height above floor": "0.1 meters"
+     },
+     "longest dimension": "0.11 meters"
+    }
+   ]
+  },
+  "door": {
+   "count": 3,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "0.33 meters",
+      "y coordinate": "-1.56 meters",
+      "height above floor": "0.57 meters"
+     },
+     "longest dimension": "1.47 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "1.82 meters",
+      "y coordinate": "1.14 meters",
+      "height above floor": "-0.12 meters"
+     },
+     "longest dimension": "1.37 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "1.47 meters",
+      "y coordinate": "-0.59 meters",
+      "height above floor": "-0.18 meters"
+     },
+     "longest dimension": "0.42 meters"
+    }
+   ]
+  },
+  "keyboard": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-1.44 meters",
+      "y coordinate": "1.18 meters",
+      "height above floor": "0.16 meters"
+     },
+     "longest dimension": "0.84 meters"
+    }
+   ]
+  },
+  "lamp": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "0.35 meters",
+      "y coordinate": "-1.34 meters",
+      "height above floor": "0.65 meters"
+     },
+     "longest dimension": "1.06 meters"
+    }
+   ]
+  },
+  "mattress": {
+   "count": 3,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-0.63 meters",
+      "y coordinate": "-0.53 meters",
+      "height above floor": "-0.04 meters"
+     },
+     "longest dimension": "1.45 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-1.06 meters",
+      "y coordinate": "0.29 meters",
+      "height above floor": "0.04 meters"
+     },
+     "longest dimension": "0.55 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-1.55 meters",
+      "y coordinate": "0.36 meters",
+      "height above floor": "-0.03 meters"
+     },
+     "longest dimension": "0.38 meters"
+    }
+   ]
+  },
+  "monitor": {
+   "count": 2,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "1.72 meters",
+      "y coordinate": "-0.39 meters",
+      "height above floor": "0.52 meters"
+     },
+     "longest dimension": "0.98 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-0.89 meters",
+      "y coordinate": "1.19 meters",
+      "height above floor": "0.23 meters"
+     },
+     "longest dimension": "0.47 meters"
+    }
+   ]
+  },
+  "nightstand": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "1.59 meters",
+      "y coordinate": "-0.06 meters",
+      "height above floor": "-0.08 meters"
+     },
+     "longest dimension": "0.67 meters"
+    }
+   ]
+  },
+  "piano": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-1.44 meters",
+      "y coordinate": "1.17 meters",
+      "height above floor": "0.16 meters"
+     },
+     "longest dimension": "0.85 meters"
+    }
+   ]
+  },
+  "pillow": {
+   "count": 2,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "1.04 meters",
+      "y coordinate": "1.09 meters",
+      "height above floor": "-0.14 meters"
+     },
+     "longest dimension": "0.43 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-1.77 meters",
+      "y coordinate": "0.23 meters",
+      "height above floor": "0.15 meters"
+     },
+     "longest dimension": "0.6 meters"
+    }
+   ]
+  },
+  "table": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-1.0 meters",
+      "y coordinate": "0.91 meters",
+      "height above floor": "-0.14 meters"
+     },
+     "longest dimension": "1.55 meters"
+    }
+   ]
+  },
+  "towel": {
+   "count": 2,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-0.7 meters",
+      "y coordinate": "-0.73 meters",
+      "height above floor": "0.34 meters"
+     },
+     "longest dimension": "1.36 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "0.61 meters",
+      "y coordinate": "-0.91 meters",
+      "height above floor": "-0.14 meters"
+     },
+     "longest dimension": "0.51 meters"
+    }
+   ]
+  },
+  "trash bin": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-0.3 meters",
+      "y coordinate": "0.99 meters",
+      "height above floor": "0.04 meters"
+     },
+     "longest dimension": "0.4 meters"
+    }
+   ]
+  },
+  "tv": {
+   "count": 2,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "1.7 meters",
+      "y coordinate": "-0.41 meters",
+      "height above floor": "0.49 meters"
+     },
+     "longest dimension": "0.97 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-0.89 meters",
+      "y coordinate": "1.19 meters",
+      "height above floor": "0.23 meters"
+     },
+     "longest dimension": "0.48 meters"
+    }
+   ]
+  },
+  "window": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-1.93 meters",
+      "y coordinate": "0.18 meters",
+      "height above floor": "0.81 meters"
+     },
+     "longest dimension": "1.07 meters"
+    }
+   ]
+  }
+ },
+ "room": {
+  "floor area": "12.6 square meters"
+ },
+ "closest classes distance meters from": {
+  "backpack": {
+   "trash bin": {
+    "distance": "0.03 meters",
+    "closeness rank": 1
+   },
+   "table": {
+    "distance": "0.04 meters",
+    "closeness rank": 2
+   },
+   "bed": {
+    "distance": "0.51 meters",
+    "closeness rank": 3
+   },
+   "chair": {
+    "distance": "0.54 meters",
+    "closeness rank": 4
+   },
+   "pillow": {
+    "distance": "0.69 meters",
+    "closeness rank": 5
+   },
+   "tv": {
+    "distance": "0.74 meters",
+    "closeness rank": 6
+   },
+   "monitor": {
+    "distance": "0.74 meters",
+    "closeness rank": 7
+   },
+   "mattress": {
+    "distance": "0.78 meters",
+    "closeness rank": 8
+   },
+   "piano": {
+    "distance": "0.92 meters",
+    "closeness rank": 9
+   },
+   "keyboard": {
+    "distance": "0.92 meters",
+    "closeness rank": 10
+   },
+   "towel": {
+    "distance": "1.27 meters",
+    "closeness rank": 11
+   },
+   "nightstand": {
+    "distance": "1.49 meters",
+    "closeness rank": 12
+   },
+   "door": {
+    "distance": "1.62 meters",
+    "closeness rank": 13
+   },
+   "computer mouse": {
+    "distance": "1.62 meters",
+    "closeness rank": 14
+   },
+   "window": {
+    "distance": "1.86 meters",
+    "closeness rank": 15
+   },
+   "lamp": {
+    "distance": "2.08 meters",
+    "closeness rank": 16
+   }
+  },
+  "bed": {
+   "mattress": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "table": {
+    "distance": "0.2 meters",
+    "closeness rank": 2
+   },
+   "towel": {
+    "distance": "0.22 meters",
+    "closeness rank": 3
+   },
+   "trash bin": {
+    "distance": "0.49 meters",
+    "closeness rank": 4
+   },
+   "backpack": {
+    "distance": "0.51 meters",
+    "closeness rank": 5
+   },
+   "tv": {
+    "distance": "0.53 meters",
+    "closeness rank": 6
+   },
+   "monitor": {
+    "distance": "0.53 meters",
+    "closeness rank": 7
+   },
+   "door": {
+    "distance": "0.55 meters",
+    "closeness rank": 8
+   },
+   "lamp": {
+    "distance": "0.61 meters",
+    "closeness rank": 9
+   },
+   "piano": {
+    "distance": "0.63 meters",
+    "closeness rank": 10
+   },
+   "keyboard": {
+    "distance": "0.65 meters",
+    "closeness rank": 11
+   },
+   "chair": {
+    "distance": "0.69 meters",
+    "closeness rank": 12
+   },
+   "pillow": {
+    "distance": "0.89 meters",
+    "closeness rank": 13
+   },
+   "window": {
+    "distance": "1.11 meters",
+    "closeness rank": 14
+   },
+   "nightstand": {
+    "distance": "1.8 meters",
+    "closeness rank": 15
+   },
+   "computer mouse": {
+    "distance": "1.82 meters",
+    "closeness rank": 16
+   }
+  },
+  "chair": {
+   "pillow": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "towel": {
+    "distance": "0.02 meters",
+    "closeness rank": 2
+   },
+   "lamp": {
+    "distance": "0.42 meters",
+    "closeness rank": 3
+   },
+   "door": {
+    "distance": "0.48 meters",
+    "closeness rank": 4
+   },
+   "backpack": {
+    "distance": "0.54 meters",
+    "closeness rank": 5
+   },
+   "bed": {
+    "distance": "0.69 meters",
+    "closeness rank": 6
+   },
+   "nightstand": {
+    "distance": "0.77 meters",
+    "closeness rank": 7
+   },
+   "mattress": {
+    "distance": "0.81 meters",
+    "closeness rank": 8
+   },
+   "tv": {
+    "distance": "0.81 meters",
+    "closeness rank": 9
+   },
+   "trash bin": {
+    "distance": "0.88 meters",
+    "closeness rank": 10
+   },
+   "monitor": {
+    "distance": "0.9 meters",
+    "closeness rank": 11
+   },
+   "table": {
+    "distance": "0.9 meters",
+    "closeness rank": 12
+   },
+   "computer mouse": {
+    "distance": "0.91 meters",
+    "closeness rank": 13
+   },
+   "piano": {
+    "distance": "1.74 meters",
+    "closeness rank": 14
+   },
+   "keyboard": {
+    "distance": "1.75 meters",
+    "closeness rank": 15
+   },
+   "window": {
+    "distance": "2.48 meters",
+    "closeness rank": 16
+   }
+  },
+  "computer mouse": {
+   "nightstand": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "tv": {
+    "distance": "0.1 meters",
+    "closeness rank": 2
+   },
+   "monitor": {
+    "distance": "0.18 meters",
+    "closeness rank": 3
+   },
+   "door": {
+    "distance": "0.33 meters",
+    "closeness rank": 4
+   },
+   "chair": {
+    "distance": "0.91 meters",
+    "closeness rank": 5
+   },
+   "pillow": {
+    "distance": "0.99 meters",
+    "closeness rank": 6
+   },
+   "towel": {
+    "distance": "1.01 meters",
+    "closeness rank": 7
+   },
+   "lamp": {
+    "distance": "1.56 meters",
+    "closeness rank": 8
+   },
+   "backpack": {
+    "distance": "1.62 meters",
+    "closeness rank": 9
+   },
+   "bed": {
+    "distance": "1.82 meters",
+    "closeness rank": 10
+   },
+   "trash bin": {
+    "distance": "1.92 meters",
+    "closeness rank": 11
+   },
+   "mattress": {
+    "distance": "1.93 meters",
+    "closeness rank": 12
+   },
+   "table": {
+    "distance": "1.94 meters",
+    "closeness rank": 13
+   },
+   "piano": {
+    "distance": "2.7 meters",
+    "closeness rank": 14
+   },
+   "keyboard": {
+    "distance": "2.72 meters",
+    "closeness rank": 15
+   },
+   "window": {
+    "distance": "3.37 meters",
+    "closeness rank": 16
+   }
+  },
+  "door": {
+   "lamp": {
+    "distance": "0.11 meters",
+    "closeness rank": 1
+   },
+   "nightstand": {
+    "distance": "0.14 meters",
+    "closeness rank": 2
+   },
+   "towel": {
+    "distance": "0.19 meters",
+    "closeness rank": 3
+   },
+   "mattress": {
+    "distance": "0.31 meters",
+    "closeness rank": 4
+   },
+   "computer mouse": {
+    "distance": "0.33 meters",
+    "closeness rank": 5
+   },
+   "tv": {
+    "distance": "0.35 meters",
+    "closeness rank": 6
+   },
+   "monitor": {
+    "distance": "0.44 meters",
+    "closeness rank": 7
+   },
+   "chair": {
+    "distance": "0.48 meters",
+    "closeness rank": 8
+   },
+   "bed": {
+    "distance": "0.55 meters",
+    "closeness rank": 9
+   },
+   "pillow": {
+    "distance": "0.57 meters",
+    "closeness rank": 10
+   },
+   "backpack": {
+    "distance": "1.62 meters",
+    "closeness rank": 11
+   },
+   "trash bin": {
+    "distance": "1.95 meters",
+    "closeness rank": 12
+   },
+   "table": {
+    "distance": "1.98 meters",
+    "closeness rank": 13
+   },
+   "window": {
+    "distance": "2.07 meters",
+    "closeness rank": 14
+   },
+   "piano": {
+    "distance": "2.64 meters",
+    "closeness rank": 15
+   },
+   "keyboard": {
+    "distance": "2.66 meters",
+    "closeness rank": 16
+   }
+  },
+  "keyboard": {
+   "piano": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "table": {
+    "distance": "0.03 meters",
+    "closeness rank": 2
+   },
+   "tv": {
+    "distance": "0.1 meters",
+    "closeness rank": 3
+   },
+   "monitor": {
+    "distance": "0.1 meters",
+    "closeness rank": 4
+   },
+   "pillow": {
+    "distance": "0.49 meters",
+    "closeness rank": 5
+   },
+   "window": {
+    "distance": "0.54 meters",
+    "closeness rank": 6
+   },
+   "mattress": {
+    "distance": "0.54 meters",
+    "closeness rank": 7
+   },
+   "trash bin": {
+    "distance": "0.56 meters",
+    "closeness rank": 8
+   },
+   "bed": {
+    "distance": "0.65 meters",
+    "closeness rank": 9
+   },
+   "backpack": {
+    "distance": "0.92 meters",
+    "closeness rank": 10
+   },
+   "towel": {
+    "distance": "1.12 meters",
+    "closeness rank": 11
+   },
+   "chair": {
+    "distance": "1.75 meters",
+    "closeness rank": 12
+   },
+   "nightstand": {
+    "distance": "2.63 meters",
+    "closeness rank": 13
+   },
+   "lamp": {
+    "distance": "2.63 meters",
+    "closeness rank": 14
+   },
+   "door": {
+    "distance": "2.66 meters",
+    "closeness rank": 15
+   },
+   "computer mouse": {
+    "distance": "2.72 meters",
+    "closeness rank": 16
+   }
+  },
+  "lamp": {
+   "door": {
+    "distance": "0.11 meters",
+    "closeness rank": 1
+   },
+   "towel": {
+    "distance": "0.38 meters",
+    "closeness rank": 2
+   },
+   "chair": {
+    "distance": "0.42 meters",
+    "closeness rank": 3
+   },
+   "bed": {
+    "distance": "0.61 meters",
+    "closeness rank": 4
+   },
+   "mattress": {
+    "distance": "0.64 meters",
+    "closeness rank": 5
+   },
+   "tv": {
+    "distance": "1.27 meters",
+    "closeness rank": 6
+   },
+   "monitor": {
+    "distance": "1.34 meters",
+    "closeness rank": 7
+   },
+   "nightstand": {
+    "distance": "1.43 meters",
+    "closeness rank": 8
+   },
+   "computer mouse": {
+    "distance": "1.56 meters",
+    "closeness rank": 9
+   },
+   "backpack": {
+    "distance": "2.08 meters",
+    "closeness rank": 10
+   },
+   "pillow": {
+    "distance": "2.18 meters",
+    "closeness rank": 11
+   },
+   "table": {
+    "distance": "2.19 meters",
+    "closeness rank": 12
+   },
+   "trash bin": {
+    "distance": "2.27 meters",
+    "closeness rank": 13
+   },
+   "window": {
+    "distance": "2.44 meters",
+    "closeness rank": 14
+   },
+   "piano": {
+    "distance": "2.61 meters",
+    "closeness rank": 15
+   },
+   "keyboard": {
+    "distance": "2.63 meters",
+    "closeness rank": 16
+   }
+  },
+  "mattress": {
+   "bed": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "table": {
+    "distance": "0.0 meters",
+    "closeness rank": 2
+   },
+   "pillow": {
+    "distance": "0.01 meters",
+    "closeness rank": 3
+   },
+   "towel": {
+    "distance": "0.2 meters",
+    "closeness rank": 4
+   },
+   "door": {
+    "distance": "0.31 meters",
+    "closeness rank": 5
+   },
+   "window": {
+    "distance": "0.31 meters",
+    "closeness rank": 6
+   },
+   "tv": {
+    "distance": "0.51 meters",
+    "closeness rank": 7
+   },
+   "monitor": {
+    "distance": "0.51 meters",
+    "closeness rank": 8
+   },
+   "piano": {
+    "distance": "0.53 meters",
+    "closeness rank": 9
+   },
+   "keyboard": {
+    "distance": "0.54 meters",
+    "closeness rank": 10
+   },
+   "trash bin": {
+    "distance": "0.62 meters",
+    "closeness rank": 11
+   },
+   "lamp": {
+    "distance": "0.64 meters",
+    "closeness rank": 12
+   },
+   "backpack": {
+    "distance": "0.78 meters",
+    "closeness rank": 13
+   },
+   "chair": {
+    "distance": "0.81 meters",
+    "closeness rank": 14
+   },
+   "nightstand": {
+    "distance": "1.91 meters",
+    "closeness rank": 15
+   },
+   "computer mouse": {
+    "distance": "1.93 meters",
+    "closeness rank": 16
+   }
+  },
+  "monitor": {
+   "nightstand": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "table": {
+    "distance": "0.0 meters",
+    "closeness rank": 2
+   },
+   "tv": {
+    "distance": "0.0 meters",
+    "closeness rank": 3
+   },
+   "piano": {
+    "distance": "0.09 meters",
+    "closeness rank": 4
+   },
+   "keyboard": {
+    "distance": "0.1 meters",
+    "closeness rank": 5
+   },
+   "computer mouse": {
+    "distance": "0.18 meters",
+    "closeness rank": 6
+   },
+   "trash bin": {
+    "distance": "0.39 meters",
+    "closeness rank": 7
+   },
+   "door": {
+    "distance": "0.44 meters",
+    "closeness rank": 8
+   },
+   "mattress": {
+    "distance": "0.51 meters",
+    "closeness rank": 9
+   },
+   "bed": {
+    "distance": "0.53 meters",
+    "closeness rank": 10
+   },
+   "backpack": {
+    "distance": "0.74 meters",
+    "closeness rank": 11
+   },
+   "chair": {
+    "distance": "0.9 meters",
+    "closeness rank": 12
+   },
+   "pillow": {
+    "distance": "0.91 meters",
+    "closeness rank": 13
+   },
+   "towel": {
+    "distance": "0.93 meters",
+    "closeness rank": 14
+   },
+   "window": {
+    "distance": "1.1 meters",
+    "closeness rank": 15
+   },
+   "lamp": {
+    "distance": "1.34 meters",
+    "closeness rank": 16
+   }
+  },
+  "nightstand": {
+   "computer mouse": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "monitor": {
+    "distance": "0.0 meters",
+    "closeness rank": 2
+   },
+   "tv": {
+    "distance": "0.0 meters",
+    "closeness rank": 3
+   },
+   "door": {
+    "distance": "0.14 meters",
+    "closeness rank": 4
+   },
+   "chair": {
+    "distance": "0.77 meters",
+    "closeness rank": 5
+   },
+   "pillow": {
+    "distance": "0.84 meters",
+    "closeness rank": 6
+   },
+   "towel": {
+    "distance": "0.86 meters",
+    "closeness rank": 7
+   },
+   "lamp": {
+    "distance": "1.43 meters",
+    "closeness rank": 8
+   },
+   "backpack": {
+    "distance": "1.49 meters",
+    "closeness rank": 9
+   },
+   "bed": {
+    "distance": "1.8 meters",
+    "closeness rank": 10
+   },
+   "trash bin": {
+    "distance": "1.81 meters",
+    "closeness rank": 11
+   },
+   "table": {
+    "distance": "1.83 meters",
+    "closeness rank": 12
+   },
+   "mattress": {
+    "distance": "1.91 meters",
+    "closeness rank": 13
+   },
+   "piano": {
+    "distance": "2.62 meters",
+    "closeness rank": 14
+   },
+   "keyboard": {
+    "distance": "2.63 meters",
+    "closeness rank": 15
+   },
+   "window": {
+    "distance": "3.35 meters",
+    "closeness rank": 16
+   }
+  },
+  "piano": {
+   "keyboard": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "table": {
+    "distance": "0.03 meters",
+    "closeness rank": 2
+   },
+   "monitor": {
+    "distance": "0.09 meters",
+    "closeness rank": 3
+   },
+   "tv": {
+    "distance": "0.09 meters",
+    "closeness rank": 4
+   },
+   "pillow": {
+    "distance": "0.48 meters",
+    "closeness rank": 5
+   },
+   "window": {
+    "distance": "0.53 meters",
+    "closeness rank": 6
+   },
+   "mattress": {
+    "distance": "0.53 meters",
+    "closeness rank": 7
+   },
+   "trash bin": {
+    "distance": "0.56 meters",
+    "closeness rank": 8
+   },
+   "bed": {
+    "distance": "0.63 meters",
+    "closeness rank": 9
+   },
+   "backpack": {
+    "distance": "0.92 meters",
+    "closeness rank": 10
+   },
+   "towel": {
+    "distance": "1.1 meters",
+    "closeness rank": 11
+   },
+   "chair": {
+    "distance": "1.74 meters",
+    "closeness rank": 12
+   },
+   "lamp": {
+    "distance": "2.61 meters",
+    "closeness rank": 13
+   },
+   "nightstand": {
+    "distance": "2.62 meters",
+    "closeness rank": 14
+   },
+   "door": {
+    "distance": "2.64 meters",
+    "closeness rank": 15
+   },
+   "computer mouse": {
+    "distance": "2.7 meters",
+    "closeness rank": 16
+   }
+  },
+  "pillow": {
+   "chair": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "mattress": {
+    "distance": "0.01 meters",
+    "closeness rank": 2
+   },
+   "table": {
+    "distance": "0.03 meters",
+    "closeness rank": 3
+   },
+   "window": {
+    "distance": "0.06 meters",
+    "closeness rank": 4
+   },
+   "piano": {
+    "distance": "0.48 meters",
+    "closeness rank": 5
+   },
+   "keyboard": {
+    "distance": "0.49 meters",
+    "closeness rank": 6
+   },
+   "door": {
+    "distance": "0.57 meters",
+    "closeness rank": 7
+   },
+   "towel": {
+    "distance": "0.64 meters",
+    "closeness rank": 8
+   },
+   "backpack": {
+    "distance": "0.69 meters",
+    "closeness rank": 9
+   },
+   "nightstand": {
+    "distance": "0.84 meters",
+    "closeness rank": 10
+   },
+   "bed": {
+    "distance": "0.89 meters",
+    "closeness rank": 11
+   },
+   "tv": {
+    "distance": "0.9 meters",
+    "closeness rank": 12
+   },
+   "monitor": {
+    "distance": "0.91 meters",
+    "closeness rank": 13
+   },
+   "computer mouse": {
+    "distance": "0.99 meters",
+    "closeness rank": 14
+   },
+   "trash bin": {
+    "distance": "1.0 meters",
+    "closeness rank": 15
+   },
+   "lamp": {
+    "distance": "2.18 meters",
+    "closeness rank": 16
+   }
+  },
+  "table": {
+   "mattress": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "monitor": {
+    "distance": "0.0 meters",
+    "closeness rank": 2
+   },
+   "trash bin": {
+    "distance": "0.0 meters",
+    "closeness rank": 3
+   },
+   "tv": {
+    "distance": "0.0 meters",
+    "closeness rank": 4
+   },
+   "pillow": {
+    "distance": "0.03 meters",
+    "closeness rank": 5
+   },
+   "keyboard": {
+    "distance": "0.03 meters",
+    "closeness rank": 6
+   },
+   "piano": {
+    "distance": "0.03 meters",
+    "closeness rank": 7
+   },
+   "backpack": {
+    "distance": "0.04 meters",
+    "closeness rank": 8
+   },
+   "bed": {
+    "distance": "0.2 meters",
+    "closeness rank": 9
+   },
+   "window": {
+    "distance": "0.29 meters",
+    "closeness rank": 10
+   },
+   "towel": {
+    "distance": "0.62 meters",
+    "closeness rank": 11
+   },
+   "chair": {
+    "distance": "0.9 meters",
+    "closeness rank": 12
+   },
+   "nightstand": {
+    "distance": "1.83 meters",
+    "closeness rank": 13
+   },
+   "computer mouse": {
+    "distance": "1.94 meters",
+    "closeness rank": 14
+   },
+   "door": {
+    "distance": "1.98 meters",
+    "closeness rank": 15
+   },
+   "lamp": {
+    "distance": "2.19 meters",
+    "closeness rank": 16
+   }
+  },
+  "towel": {
+   "chair": {
+    "distance": "0.02 meters",
+    "closeness rank": 1
+   },
+   "door": {
+    "distance": "0.19 meters",
+    "closeness rank": 2
+   },
+   "mattress": {
+    "distance": "0.2 meters",
+    "closeness rank": 3
+   },
+   "bed": {
+    "distance": "0.22 meters",
+    "closeness rank": 4
+   },
+   "lamp": {
+    "distance": "0.38 meters",
+    "closeness rank": 5
+   },
+   "table": {
+    "distance": "0.62 meters",
+    "closeness rank": 6
+   },
+   "pillow": {
+    "distance": "0.64 meters",
+    "closeness rank": 7
+   },
+   "window": {
+    "distance": "0.85 meters",
+    "closeness rank": 8
+   },
+   "tv": {
+    "distance": "0.85 meters",
+    "closeness rank": 9
+   },
+   "nightstand": {
+    "distance": "0.86 meters",
+    "closeness rank": 10
+   },
+   "monitor": {
+    "distance": "0.93 meters",
+    "closeness rank": 11
+   },
+   "computer mouse": {
+    "distance": "1.01 meters",
+    "closeness rank": 12
+   },
+   "trash bin": {
+    "distance": "1.09 meters",
+    "closeness rank": 13
+   },
+   "piano": {
+    "distance": "1.1 meters",
+    "closeness rank": 14
+   },
+   "keyboard": {
+    "distance": "1.12 meters",
+    "closeness rank": 15
+   },
+   "backpack": {
+    "distance": "1.27 meters",
+    "closeness rank": 16
+   }
+  },
+  "trash bin": {
+   "table": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "backpack": {
+    "distance": "0.03 meters",
+    "closeness rank": 2
+   },
+   "tv": {
+    "distance": "0.39 meters",
+    "closeness rank": 3
+   },
+   "monitor": {
+    "distance": "0.39 meters",
+    "closeness rank": 4
+   },
+   "bed": {
+    "distance": "0.49 meters",
+    "closeness rank": 5
+   },
+   "piano": {
+    "distance": "0.56 meters",
+    "closeness rank": 6
+   },
+   "keyboard": {
+    "distance": "0.56 meters",
+    "closeness rank": 7
+   },
+   "mattress": {
+    "distance": "0.62 meters",
+    "closeness rank": 8
+   },
+   "chair": {
+    "distance": "0.88 meters",
+    "closeness rank": 9
+   },
+   "pillow": {
+    "distance": "1.0 meters",
+    "closeness rank": 10
+   },
+   "towel": {
+    "distance": "1.09 meters",
+    "closeness rank": 11
+   },
+   "window": {
+    "distance": "1.53 meters",
+    "closeness rank": 12
+   },
+   "nightstand": {
+    "distance": "1.81 meters",
+    "closeness rank": 13
+   },
+   "computer mouse": {
+    "distance": "1.92 meters",
+    "closeness rank": 14
+   },
+   "door": {
+    "distance": "1.95 meters",
+    "closeness rank": 15
+   },
+   "lamp": {
+    "distance": "2.27 meters",
+    "closeness rank": 16
+   }
+  },
+  "tv": {
+   "monitor": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "nightstand": {
+    "distance": "0.0 meters",
+    "closeness rank": 2
+   },
+   "table": {
+    "distance": "0.0 meters",
+    "closeness rank": 3
+   },
+   "piano": {
+    "distance": "0.09 meters",
+    "closeness rank": 4
+   },
+   "keyboard": {
+    "distance": "0.1 meters",
+    "closeness rank": 5
+   },
+   "computer mouse": {
+    "distance": "0.1 meters",
+    "closeness rank": 6
+   },
+   "door": {
+    "distance": "0.35 meters",
+    "closeness rank": 7
+   },
+   "trash bin": {
+    "distance": "0.39 meters",
+    "closeness rank": 8
+   },
+   "mattress": {
+    "distance": "0.51 meters",
+    "closeness rank": 9
+   },
+   "bed": {
+    "distance": "0.53 meters",
+    "closeness rank": 10
+   },
+   "backpack": {
+    "distance": "0.74 meters",
+    "closeness rank": 11
+   },
+   "chair": {
+    "distance": "0.81 meters",
+    "closeness rank": 12
+   },
+   "towel": {
+    "distance": "0.85 meters",
+    "closeness rank": 13
+   },
+   "pillow": {
+    "distance": "0.9 meters",
+    "closeness rank": 14
+   },
+   "window": {
+    "distance": "1.1 meters",
+    "closeness rank": 15
+   },
+   "lamp": {
+    "distance": "1.27 meters",
+    "closeness rank": 16
+   }
+  },
+  "window": {
+   "pillow": {
+    "distance": "0.06 meters",
+    "closeness rank": 1
+   },
+   "table": {
+    "distance": "0.29 meters",
+    "closeness rank": 2
+   },
+   "mattress": {
+    "distance": "0.31 meters",
+    "closeness rank": 3
+   },
+   "piano": {
+    "distance": "0.53 meters",
+    "closeness rank": 4
+   },
+   "keyboard": {
+    "distance": "0.54 meters",
+    "closeness rank": 5
+   },
+   "towel": {
+    "distance": "0.85 meters",
+    "closeness rank": 6
+   },
+   "tv": {
+    "distance": "1.1 meters",
+    "closeness rank": 7
+   },
+   "monitor": {
+    "distance": "1.1 meters",
+    "closeness rank": 8
+   },
+   "bed": {
+    "distance": "1.11 meters",
+    "closeness rank": 9
+   },
+   "trash bin": {
+    "distance": "1.53 meters",
+    "closeness rank": 10
+   },
+   "backpack": {
+    "distance": "1.86 meters",
+    "closeness rank": 11
+   },
+   "door": {
+    "distance": "2.07 meters",
+    "closeness rank": 12
+   },
+   "lamp": {
+    "distance": "2.44 meters",
+    "closeness rank": 13
+   },
+   "chair": {
+    "distance": "2.48 meters",
+    "closeness rank": 14
+   },
+   "nightstand": {
+    "distance": "3.35 meters",
+    "closeness rank": 15
+   },
+   "computer mouse": {
+    "distance": "3.37 meters",
+    "closeness rank": 16
+   }
+  }
+ },
+ "appearance order": ["keyboard", "mattress", "monitor", "piano", "pillow", "table", "tv", "backpack", "bed", "trash bin", "chair", "door", "computer mouse", "lamp", "towel", "window", "nightstand"]
+}
\ No newline at end of file
diff --git a/data/spatial codes/sam3+depth-anything-3/metric/tracking/selective/32/explicit/scene0435_02.json b/data/spatial codes/sam3+depth-anything-3/metric/tracking/selective/32/explicit/scene0435_02.json
new file mode 100644
index 0000000000000000000000000000000000000000..06c49c95cbc1452560b3af1902cfd978040b0644
--- /dev/null
+++ b/data/spatial codes/sam3+depth-anything-3/metric/tracking/selective/32/explicit/scene0435_02.json	
@@ -0,0 +1,1386 @@
+{
+ "spatial code schema": {
+  "objects": {
+   "<object class>": {
+    "count": {
+     "unit": null,
+     "description": "number of instances of this class in the compact spatial code (that schema's per-class oriented-box list length)"
+    },
+    "instances": [
+     {
+      "position": {
+       "x coordinate": {
+        "unit": "meters",
+        "description": "x coordinate of this instance's compact 3D oriented bounding box center"
+       },
+       "y coordinate": {
+        "unit": "meters",
+        "description": "y coordinate of this instance's compact 3D oriented bounding box center"
+       },
+       "height above floor": {
+        "unit": "meters",
+        "description": "height coordinate of this instance's compact 3D oriented bounding box center"
+       }
+      },
+      "longest dimension": {
+       "unit": "meters",
+       "description": "longest of this instance's compact 3D oriented bounding box dimensions"
+      }
+     }
+    ]
+   }
+  },
+  "room": {
+   "floor area": {
+    "unit": "square meters",
+    "description": "shoelace area of the compact spatial code's floor boundary polygons, with every interior hole subtracted"
+   }
+  },
+  "closest classes distance meters from": {
+   "<object class>": {
+    "<other object class>": {
+     "distance": {
+      "unit": "meters",
+      "description": "minimum surface-to-surface separation between the two classes' compact 3D oriented bounding boxes, over every instance pair"
+     },
+     "closeness rank": {
+      "unit": null,
+      "description": "1 = the nearest other class to this one, 2 = second-nearest, and so on"
+     }
+    }
+   }
+  },
+  "appearance order": {
+   "unit": null,
+   "description": "class names ordered by earliest compact 'first visible time' across all of that class's instances"
+  }
+ },
+ "objects": {
+  "backpack": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "2.24 meters",
+      "y coordinate": "1.17 meters",
+      "height above floor": "1.23 meters"
+     },
+     "longest dimension": "0.44 meters"
+    }
+   ]
+  },
+  "bed": {
+   "count": 2,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "1.27 meters",
+      "y coordinate": "0.81 meters",
+      "height above floor": "0.74 meters"
+     },
+     "longest dimension": "2.01 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-0.91 meters",
+      "y coordinate": "0.68 meters",
+      "height above floor": "1.18 meters"
+     },
+     "longest dimension": "2.03 meters"
+    }
+   ]
+  },
+  "chair": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "1.05 meters",
+      "y coordinate": "0.87 meters",
+      "height above floor": "-0.95 meters"
+     },
+     "longest dimension": "1.07 meters"
+    }
+   ]
+  },
+  "door": {
+   "count": 2,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "2.04 meters",
+      "y coordinate": "0.4 meters",
+      "height above floor": "-1.74 meters"
+     },
+     "longest dimension": "1.99 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-3.19 meters",
+      "y coordinate": "1.13 meters",
+      "height above floor": "-1.24 meters"
+     },
+     "longest dimension": "0.78 meters"
+    }
+   ]
+  },
+  "lamp": {
+   "count": 2,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-0.03 meters",
+      "y coordinate": "0.06 meters",
+      "height above floor": "1.68 meters"
+     },
+     "longest dimension": "0.48 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "1.38 meters",
+      "y coordinate": "0.13 meters",
+      "height above floor": "-1.44 meters"
+     },
+     "longest dimension": "0.27 meters"
+    }
+   ]
+  },
+  "mattress": {
+   "count": 3,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "1.27 meters",
+      "y coordinate": "0.81 meters",
+      "height above floor": "0.74 meters"
+     },
+     "longest dimension": "2.0 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-1.02 meters",
+      "y coordinate": "0.73 meters",
+      "height above floor": "0.78 meters"
+     },
+     "longest dimension": "1.85 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-0.87 meters",
+      "y coordinate": "0.77 meters",
+      "height above floor": "0.93 meters"
+     },
+     "longest dimension": "1.41 meters"
+    }
+   ]
+  },
+  "mirror": {
+   "count": 2,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "0.86 meters",
+      "y coordinate": "0.11 meters",
+      "height above floor": "-1.73 meters"
+     },
+     "longest dimension": "0.73 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-0.16 meters",
+      "y coordinate": "0.35 meters",
+      "height above floor": "-1.56 meters"
+     },
+     "longest dimension": "0.53 meters"
+    }
+   ]
+  },
+  "monitor": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-0.26 meters",
+      "y coordinate": "0.29 meters",
+      "height above floor": "-1.51 meters"
+     },
+     "longest dimension": "0.84 meters"
+    }
+   ]
+  },
+  "nightstand": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-0.01 meters",
+      "y coordinate": "0.96 meters",
+      "height above floor": "1.59 meters"
+     },
+     "longest dimension": "0.87 meters"
+    }
+   ]
+  },
+  "pillow": {
+   "count": 8,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "1.45 meters",
+      "y coordinate": "0.52 meters",
+      "height above floor": "1.64 meters"
+     },
+     "longest dimension": "0.62 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "0.81 meters",
+      "y coordinate": "0.53 meters",
+      "height above floor": "1.63 meters"
+     },
+     "longest dimension": "0.6 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "1.47 meters",
+      "y coordinate": "0.64 meters",
+      "height above floor": "1.64 meters"
+     },
+     "longest dimension": "0.65 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-0.78 meters",
+      "y coordinate": "0.5 meters",
+      "height above floor": "1.64 meters"
+     },
+     "longest dimension": "0.48 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-1.52 meters",
+      "y coordinate": "0.51 meters",
+      "height above floor": "1.63 meters"
+     },
+     "longest dimension": "0.75 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-1.56 meters",
+      "y coordinate": "0.62 meters",
+      "height above floor": "1.49 meters"
+     },
+     "longest dimension": "0.67 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "2.9 meters",
+      "y coordinate": "0.75 meters",
+      "height above floor": "1.4 meters"
+     },
+     "longest dimension": "0.34 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "0.85 meters",
+      "y coordinate": "0.64 meters",
+      "height above floor": "1.52 meters"
+     },
+     "longest dimension": "0.61 meters"
+    }
+   ]
+  },
+  "sofa": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "2.57 meters",
+      "y coordinate": "0.84 meters",
+      "height above floor": "1.29 meters"
+     },
+     "longest dimension": "0.84 meters"
+    }
+   ]
+  },
+  "table": {
+   "count": 3,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "0.8 meters",
+      "y coordinate": "0.7 meters",
+      "height above floor": "-1.56 meters"
+     },
+     "longest dimension": "1.32 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "0.89 meters",
+      "y coordinate": "0.77 meters",
+      "height above floor": "-1.29 meters"
+     },
+     "longest dimension": "1.3 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "0.01 meters",
+      "y coordinate": "0.84 meters",
+      "height above floor": "-1.43 meters"
+     },
+     "longest dimension": "1.04 meters"
+    }
+   ]
+  },
+  "telephone": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-0.26 meters",
+      "y coordinate": "0.64 meters",
+      "height above floor": "1.63 meters"
+     },
+     "longest dimension": "0.34 meters"
+    }
+   ]
+  },
+  "towel": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "0.43 meters",
+      "y coordinate": "0.7 meters",
+      "height above floor": "-1.31 meters"
+     },
+     "longest dimension": "0.32 meters"
+    }
+   ]
+  },
+  "trash bin": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "0.53 meters",
+      "y coordinate": "1.19 meters",
+      "height above floor": "-1.2 meters"
+     },
+     "longest dimension": "0.3 meters"
+    }
+   ]
+  },
+  "tv": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-0.3 meters",
+      "y coordinate": "0.24 meters",
+      "height above floor": "-1.51 meters"
+     },
+     "longest dimension": "0.84 meters"
+    }
+   ]
+  }
+ },
+ "room": {
+  "floor area": "12.7 square meters"
+ },
+ "closest classes distance meters from": {
+  "backpack": {
+   "sofa": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "bed": {
+    "distance": "0.31 meters",
+    "closeness rank": 2
+   },
+   "mattress": {
+    "distance": "0.33 meters",
+    "closeness rank": 3
+   },
+   "pillow": {
+    "distance": "0.4 meters",
+    "closeness rank": 4
+   },
+   "nightstand": {
+    "distance": "1.5 meters",
+    "closeness rank": 5
+   },
+   "chair": {
+    "distance": "2.02 meters",
+    "closeness rank": 6
+   },
+   "lamp": {
+    "distance": "2.1 meters",
+    "closeness rank": 7
+   },
+   "telephone": {
+    "distance": "2.25 meters",
+    "closeness rank": 8
+   },
+   "table": {
+    "distance": "2.28 meters",
+    "closeness rank": 9
+   },
+   "trash bin": {
+    "distance": "2.56 meters",
+    "closeness rank": 10
+   },
+   "towel": {
+    "distance": "2.72 meters",
+    "closeness rank": 11
+   },
+   "door": {
+    "distance": "2.79 meters",
+    "closeness rank": 12
+   },
+   "mirror": {
+    "distance": "3.03 meters",
+    "closeness rank": 13
+   },
+   "monitor": {
+    "distance": "3.25 meters",
+    "closeness rank": 14
+   },
+   "tv": {
+    "distance": "3.29 meters",
+    "closeness rank": 15
+   }
+  },
+  "bed": {
+   "mattress": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "nightstand": {
+    "distance": "0.0 meters",
+    "closeness rank": 2
+   },
+   "pillow": {
+    "distance": "0.0 meters",
+    "closeness rank": 3
+   },
+   "telephone": {
+    "distance": "0.02 meters",
+    "closeness rank": 4
+   },
+   "sofa": {
+    "distance": "0.28 meters",
+    "closeness rank": 5
+   },
+   "backpack": {
+    "distance": "0.31 meters",
+    "closeness rank": 6
+   },
+   "lamp": {
+    "distance": "0.34 meters",
+    "closeness rank": 7
+   },
+   "chair": {
+    "distance": "0.53 meters",
+    "closeness rank": 8
+   },
+   "trash bin": {
+    "distance": "0.84 meters",
+    "closeness rank": 9
+   },
+   "table": {
+    "distance": "0.85 meters",
+    "closeness rank": 10
+   },
+   "towel": {
+    "distance": "0.9 meters",
+    "closeness rank": 11
+   },
+   "monitor": {
+    "distance": "1.35 meters",
+    "closeness rank": 12
+   },
+   "tv": {
+    "distance": "1.37 meters",
+    "closeness rank": 13
+   },
+   "mirror": {
+    "distance": "1.42 meters",
+    "closeness rank": 14
+   },
+   "door": {
+    "distance": "1.45 meters",
+    "closeness rank": 15
+   }
+  },
+  "chair": {
+   "table": {
+    "distance": "0.01 meters",
+    "closeness rank": 1
+   },
+   "trash bin": {
+    "distance": "0.1 meters",
+    "closeness rank": 2
+   },
+   "lamp": {
+    "distance": "0.24 meters",
+    "closeness rank": 3
+   },
+   "towel": {
+    "distance": "0.29 meters",
+    "closeness rank": 4
+   },
+   "bed": {
+    "distance": "0.53 meters",
+    "closeness rank": 5
+   },
+   "mattress": {
+    "distance": "0.53 meters",
+    "closeness rank": 6
+   },
+   "mirror": {
+    "distance": "0.61 meters",
+    "closeness rank": 7
+   },
+   "door": {
+    "distance": "0.66 meters",
+    "closeness rank": 8
+   },
+   "monitor": {
+    "distance": "0.82 meters",
+    "closeness rank": 9
+   },
+   "tv": {
+    "distance": "0.86 meters",
+    "closeness rank": 10
+   },
+   "sofa": {
+    "distance": "1.98 meters",
+    "closeness rank": 11
+   },
+   "backpack": {
+    "distance": "2.02 meters",
+    "closeness rank": 12
+   },
+   "nightstand": {
+    "distance": "2.22 meters",
+    "closeness rank": 13
+   },
+   "pillow": {
+    "distance": "2.26 meters",
+    "closeness rank": 14
+   },
+   "telephone": {
+    "distance": "2.47 meters",
+    "closeness rank": 15
+   }
+  },
+  "door": {
+   "lamp": {
+    "distance": "0.17 meters",
+    "closeness rank": 1
+   },
+   "table": {
+    "distance": "0.18 meters",
+    "closeness rank": 2
+   },
+   "mirror": {
+    "distance": "0.31 meters",
+    "closeness rank": 3
+   },
+   "chair": {
+    "distance": "0.66 meters",
+    "closeness rank": 4
+   },
+   "towel": {
+    "distance": "1.19 meters",
+    "closeness rank": 5
+   },
+   "trash bin": {
+    "distance": "1.2 meters",
+    "closeness rank": 6
+   },
+   "monitor": {
+    "distance": "1.4 meters",
+    "closeness rank": 7
+   },
+   "tv": {
+    "distance": "1.43 meters",
+    "closeness rank": 8
+   },
+   "bed": {
+    "distance": "1.45 meters",
+    "closeness rank": 9
+   },
+   "mattress": {
+    "distance": "1.45 meters",
+    "closeness rank": 10
+   },
+   "sofa": {
+    "distance": "2.72 meters",
+    "closeness rank": 11
+   },
+   "backpack": {
+    "distance": "2.79 meters",
+    "closeness rank": 12
+   },
+   "pillow": {
+    "distance": "2.86 meters",
+    "closeness rank": 13
+   },
+   "nightstand": {
+    "distance": "3.38 meters",
+    "closeness rank": 14
+   },
+   "telephone": {
+    "distance": "3.62 meters",
+    "closeness rank": 15
+   }
+  },
+  "lamp": {
+   "door": {
+    "distance": "0.17 meters",
+    "closeness rank": 1
+   },
+   "mirror": {
+    "distance": "0.18 meters",
+    "closeness rank": 2
+   },
+   "table": {
+    "distance": "0.21 meters",
+    "closeness rank": 3
+   },
+   "chair": {
+    "distance": "0.24 meters",
+    "closeness rank": 4
+   },
+   "bed": {
+    "distance": "0.34 meters",
+    "closeness rank": 5
+   },
+   "pillow": {
+    "distance": "0.39 meters",
+    "closeness rank": 6
+   },
+   "nightstand": {
+    "distance": "0.4 meters",
+    "closeness rank": 7
+   },
+   "telephone": {
+    "distance": "0.4 meters",
+    "closeness rank": 8
+   },
+   "mattress": {
+    "distance": "0.53 meters",
+    "closeness rank": 9
+   },
+   "towel": {
+    "distance": "0.88 meters",
+    "closeness rank": 10
+   },
+   "trash bin": {
+    "distance": "1.04 meters",
+    "closeness rank": 11
+   },
+   "monitor": {
+    "distance": "1.09 meters",
+    "closeness rank": 12
+   },
+   "tv": {
+    "distance": "1.13 meters",
+    "closeness rank": 13
+   },
+   "sofa": {
+    "distance": "2.08 meters",
+    "closeness rank": 14
+   },
+   "backpack": {
+    "distance": "2.1 meters",
+    "closeness rank": 15
+   }
+  },
+  "mattress": {
+   "bed": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "nightstand": {
+    "distance": "0.0 meters",
+    "closeness rank": 2
+   },
+   "pillow": {
+    "distance": "0.0 meters",
+    "closeness rank": 3
+   },
+   "telephone": {
+    "distance": "0.01 meters",
+    "closeness rank": 4
+   },
+   "sofa": {
+    "distance": "0.3 meters",
+    "closeness rank": 5
+   },
+   "backpack": {
+    "distance": "0.33 meters",
+    "closeness rank": 6
+   },
+   "lamp": {
+    "distance": "0.53 meters",
+    "closeness rank": 7
+   },
+   "chair": {
+    "distance": "0.53 meters",
+    "closeness rank": 8
+   },
+   "trash bin": {
+    "distance": "0.84 meters",
+    "closeness rank": 9
+   },
+   "table": {
+    "distance": "0.85 meters",
+    "closeness rank": 10
+   },
+   "towel": {
+    "distance": "0.91 meters",
+    "closeness rank": 11
+   },
+   "monitor": {
+    "distance": "1.35 meters",
+    "closeness rank": 12
+   },
+   "tv": {
+    "distance": "1.36 meters",
+    "closeness rank": 13
+   },
+   "mirror": {
+    "distance": "1.43 meters",
+    "closeness rank": 14
+   },
+   "door": {
+    "distance": "1.45 meters",
+    "closeness rank": 15
+   }
+  },
+  "mirror": {
+   "monitor": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "table": {
+    "distance": "0.0 meters",
+    "closeness rank": 2
+   },
+   "tv": {
+    "distance": "0.0 meters",
+    "closeness rank": 3
+   },
+   "lamp": {
+    "distance": "0.18 meters",
+    "closeness rank": 4
+   },
+   "door": {
+    "distance": "0.31 meters",
+    "closeness rank": 5
+   },
+   "towel": {
+    "distance": "0.32 meters",
+    "closeness rank": 6
+   },
+   "chair": {
+    "distance": "0.61 meters",
+    "closeness rank": 7
+   },
+   "trash bin": {
+    "distance": "0.68 meters",
+    "closeness rank": 8
+   },
+   "bed": {
+    "distance": "1.42 meters",
+    "closeness rank": 9
+   },
+   "mattress": {
+    "distance": "1.43 meters",
+    "closeness rank": 10
+   },
+   "nightstand": {
+    "distance": "2.95 meters",
+    "closeness rank": 11
+   },
+   "sofa": {
+    "distance": "2.96 meters",
+    "closeness rank": 12
+   },
+   "pillow": {
+    "distance": "2.98 meters",
+    "closeness rank": 13
+   },
+   "telephone": {
+    "distance": "3.0 meters",
+    "closeness rank": 14
+   },
+   "backpack": {
+    "distance": "3.03 meters",
+    "closeness rank": 15
+   }
+  },
+  "monitor": {
+   "mirror": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "table": {
+    "distance": "0.0 meters",
+    "closeness rank": 2
+   },
+   "tv": {
+    "distance": "0.0 meters",
+    "closeness rank": 3
+   },
+   "towel": {
+    "distance": "0.25 meters",
+    "closeness rank": 4
+   },
+   "trash bin": {
+    "distance": "0.6 meters",
+    "closeness rank": 5
+   },
+   "chair": {
+    "distance": "0.82 meters",
+    "closeness rank": 6
+   },
+   "lamp": {
+    "distance": "1.09 meters",
+    "closeness rank": 7
+   },
+   "bed": {
+    "distance": "1.35 meters",
+    "closeness rank": 8
+   },
+   "mattress": {
+    "distance": "1.35 meters",
+    "closeness rank": 9
+   },
+   "door": {
+    "distance": "1.4 meters",
+    "closeness rank": 10
+   },
+   "nightstand": {
+    "distance": "2.89 meters",
+    "closeness rank": 11
+   },
+   "pillow": {
+    "distance": "2.92 meters",
+    "closeness rank": 12
+   },
+   "telephone": {
+    "distance": "2.94 meters",
+    "closeness rank": 13
+   },
+   "sofa": {
+    "distance": "3.22 meters",
+    "closeness rank": 14
+   },
+   "backpack": {
+    "distance": "3.25 meters",
+    "closeness rank": 15
+   }
+  },
+  "nightstand": {
+   "bed": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "mattress": {
+    "distance": "0.0 meters",
+    "closeness rank": 2
+   },
+   "telephone": {
+    "distance": "0.0 meters",
+    "closeness rank": 3
+   },
+   "pillow": {
+    "distance": "0.16 meters",
+    "closeness rank": 4
+   },
+   "lamp": {
+    "distance": "0.4 meters",
+    "closeness rank": 5
+   },
+   "backpack": {
+    "distance": "1.5 meters",
+    "closeness rank": 6
+   },
+   "sofa": {
+    "distance": "1.64 meters",
+    "closeness rank": 7
+   },
+   "chair": {
+    "distance": "2.22 meters",
+    "closeness rank": 8
+   },
+   "trash bin": {
+    "distance": "2.5 meters",
+    "closeness rank": 9
+   },
+   "table": {
+    "distance": "2.53 meters",
+    "closeness rank": 10
+   },
+   "towel": {
+    "distance": "2.56 meters",
+    "closeness rank": 11
+   },
+   "monitor": {
+    "distance": "2.89 meters",
+    "closeness rank": 12
+   },
+   "tv": {
+    "distance": "2.89 meters",
+    "closeness rank": 13
+   },
+   "mirror": {
+    "distance": "2.95 meters",
+    "closeness rank": 14
+   },
+   "door": {
+    "distance": "3.38 meters",
+    "closeness rank": 15
+   }
+  },
+  "pillow": {
+   "bed": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "mattress": {
+    "distance": "0.0 meters",
+    "closeness rank": 2
+   },
+   "sofa": {
+    "distance": "0.0 meters",
+    "closeness rank": 3
+   },
+   "nightstand": {
+    "distance": "0.16 meters",
+    "closeness rank": 4
+   },
+   "telephone": {
+    "distance": "0.21 meters",
+    "closeness rank": 5
+   },
+   "lamp": {
+    "distance": "0.39 meters",
+    "closeness rank": 6
+   },
+   "backpack": {
+    "distance": "0.4 meters",
+    "closeness rank": 7
+   },
+   "chair": {
+    "distance": "2.26 meters",
+    "closeness rank": 8
+   },
+   "table": {
+    "distance": "2.59 meters",
+    "closeness rank": 9
+   },
+   "trash bin": {
+    "distance": "2.61 meters",
+    "closeness rank": 10
+   },
+   "towel": {
+    "distance": "2.64 meters",
+    "closeness rank": 11
+   },
+   "door": {
+    "distance": "2.86 meters",
+    "closeness rank": 12
+   },
+   "monitor": {
+    "distance": "2.92 meters",
+    "closeness rank": 13
+   },
+   "tv": {
+    "distance": "2.92 meters",
+    "closeness rank": 14
+   },
+   "mirror": {
+    "distance": "2.98 meters",
+    "closeness rank": 15
+   }
+  },
+  "sofa": {
+   "backpack": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "pillow": {
+    "distance": "0.0 meters",
+    "closeness rank": 2
+   },
+   "bed": {
+    "distance": "0.28 meters",
+    "closeness rank": 3
+   },
+   "mattress": {
+    "distance": "0.3 meters",
+    "closeness rank": 4
+   },
+   "nightstand": {
+    "distance": "1.64 meters",
+    "closeness rank": 5
+   },
+   "chair": {
+    "distance": "1.98 meters",
+    "closeness rank": 6
+   },
+   "lamp": {
+    "distance": "2.08 meters",
+    "closeness rank": 7
+   },
+   "table": {
+    "distance": "2.21 meters",
+    "closeness rank": 8
+   },
+   "telephone": {
+    "distance": "2.32 meters",
+    "closeness rank": 9
+   },
+   "trash bin": {
+    "distance": "2.57 meters",
+    "closeness rank": 10
+   },
+   "towel": {
+    "distance": "2.7 meters",
+    "closeness rank": 11
+   },
+   "door": {
+    "distance": "2.72 meters",
+    "closeness rank": 12
+   },
+   "mirror": {
+    "distance": "2.96 meters",
+    "closeness rank": 13
+   },
+   "monitor": {
+    "distance": "3.22 meters",
+    "closeness rank": 14
+   },
+   "tv": {
+    "distance": "3.26 meters",
+    "closeness rank": 15
+   }
+  },
+  "table": {
+   "mirror": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "monitor": {
+    "distance": "0.0 meters",
+    "closeness rank": 2
+   },
+   "towel": {
+    "distance": "0.0 meters",
+    "closeness rank": 3
+   },
+   "trash bin": {
+    "distance": "0.0 meters",
+    "closeness rank": 4
+   },
+   "tv": {
+    "distance": "0.0 meters",
+    "closeness rank": 5
+   },
+   "chair": {
+    "distance": "0.01 meters",
+    "closeness rank": 6
+   },
+   "door": {
+    "distance": "0.18 meters",
+    "closeness rank": 7
+   },
+   "lamp": {
+    "distance": "0.21 meters",
+    "closeness rank": 8
+   },
+   "bed": {
+    "distance": "0.85 meters",
+    "closeness rank": 9
+   },
+   "mattress": {
+    "distance": "0.85 meters",
+    "closeness rank": 10
+   },
+   "sofa": {
+    "distance": "2.21 meters",
+    "closeness rank": 11
+   },
+   "backpack": {
+    "distance": "2.28 meters",
+    "closeness rank": 12
+   },
+   "nightstand": {
+    "distance": "2.53 meters",
+    "closeness rank": 13
+   },
+   "pillow": {
+    "distance": "2.59 meters",
+    "closeness rank": 14
+   },
+   "telephone": {
+    "distance": "2.61 meters",
+    "closeness rank": 15
+   }
+  },
+  "telephone": {
+   "nightstand": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "mattress": {
+    "distance": "0.01 meters",
+    "closeness rank": 2
+   },
+   "bed": {
+    "distance": "0.02 meters",
+    "closeness rank": 3
+   },
+   "pillow": {
+    "distance": "0.21 meters",
+    "closeness rank": 4
+   },
+   "lamp": {
+    "distance": "0.4 meters",
+    "closeness rank": 5
+   },
+   "backpack": {
+    "distance": "2.25 meters",
+    "closeness rank": 6
+   },
+   "sofa": {
+    "distance": "2.32 meters",
+    "closeness rank": 7
+   },
+   "chair": {
+    "distance": "2.47 meters",
+    "closeness rank": 8
+   },
+   "table": {
+    "distance": "2.61 meters",
+    "closeness rank": 9
+   },
+   "trash bin": {
+    "distance": "2.65 meters",
+    "closeness rank": 10
+   },
+   "towel": {
+    "distance": "2.66 meters",
+    "closeness rank": 11
+   },
+   "monitor": {
+    "distance": "2.94 meters",
+    "closeness rank": 12
+   },
+   "tv": {
+    "distance": "2.94 meters",
+    "closeness rank": 13
+   },
+   "mirror": {
+    "distance": "3.0 meters",
+    "closeness rank": 14
+   },
+   "door": {
+    "distance": "3.62 meters",
+    "closeness rank": 15
+   }
+  },
+  "towel": {
+   "table": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "monitor": {
+    "distance": "0.25 meters",
+    "closeness rank": 2
+   },
+   "chair": {
+    "distance": "0.29 meters",
+    "closeness rank": 3
+   },
+   "tv": {
+    "distance": "0.31 meters",
+    "closeness rank": 4
+   },
+   "mirror": {
+    "distance": "0.32 meters",
+    "closeness rank": 5
+   },
+   "trash bin": {
+    "distance": "0.32 meters",
+    "closeness rank": 6
+   },
+   "lamp": {
+    "distance": "0.88 meters",
+    "closeness rank": 7
+   },
+   "bed": {
+    "distance": "0.9 meters",
+    "closeness rank": 8
+   },
+   "mattress": {
+    "distance": "0.91 meters",
+    "closeness rank": 9
+   },
+   "door": {
+    "distance": "1.19 meters",
+    "closeness rank": 10
+   },
+   "nightstand": {
+    "distance": "2.56 meters",
+    "closeness rank": 11
+   },
+   "pillow": {
+    "distance": "2.64 meters",
+    "closeness rank": 12
+   },
+   "telephone": {
+    "distance": "2.66 meters",
+    "closeness rank": 13
+   },
+   "sofa": {
+    "distance": "2.7 meters",
+    "closeness rank": 14
+   },
+   "backpack": {
+    "distance": "2.72 meters",
+    "closeness rank": 15
+   }
+  },
+  "trash bin": {
+   "table": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "chair": {
+    "distance": "0.1 meters",
+    "closeness rank": 2
+   },
+   "towel": {
+    "distance": "0.32 meters",
+    "closeness rank": 3
+   },
+   "monitor": {
+    "distance": "0.6 meters",
+    "closeness rank": 4
+   },
+   "tv": {
+    "distance": "0.67 meters",
+    "closeness rank": 5
+   },
+   "mirror": {
+    "distance": "0.68 meters",
+    "closeness rank": 6
+   },
+   "bed": {
+    "distance": "0.84 meters",
+    "closeness rank": 7
+   },
+   "mattress": {
+    "distance": "0.84 meters",
+    "closeness rank": 8
+   },
+   "lamp": {
+    "distance": "1.04 meters",
+    "closeness rank": 9
+   },
+   "door": {
+    "distance": "1.2 meters",
+    "closeness rank": 10
+   },
+   "nightstand": {
+    "distance": "2.5 meters",
+    "closeness rank": 11
+   },
+   "backpack": {
+    "distance": "2.56 meters",
+    "closeness rank": 12
+   },
+   "sofa": {
+    "distance": "2.57 meters",
+    "closeness rank": 13
+   },
+   "pillow": {
+    "distance": "2.61 meters",
+    "closeness rank": 14
+   },
+   "telephone": {
+    "distance": "2.65 meters",
+    "closeness rank": 15
+   }
+  },
+  "tv": {
+   "mirror": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "monitor": {
+    "distance": "0.0 meters",
+    "closeness rank": 2
+   },
+   "table": {
+    "distance": "0.0 meters",
+    "closeness rank": 3
+   },
+   "towel": {
+    "distance": "0.31 meters",
+    "closeness rank": 4
+   },
+   "trash bin": {
+    "distance": "0.67 meters",
+    "closeness rank": 5
+   },
+   "chair": {
+    "distance": "0.86 meters",
+    "closeness rank": 6
+   },
+   "lamp": {
+    "distance": "1.13 meters",
+    "closeness rank": 7
+   },
+   "mattress": {
+    "distance": "1.36 meters",
+    "closeness rank": 8
+   },
+   "bed": {
+    "distance": "1.37 meters",
+    "closeness rank": 9
+   },
+   "door": {
+    "distance": "1.43 meters",
+    "closeness rank": 10
+   },
+   "nightstand": {
+    "distance": "2.89 meters",
+    "closeness rank": 11
+   },
+   "pillow": {
+    "distance": "2.92 meters",
+    "closeness rank": 12
+   },
+   "telephone": {
+    "distance": "2.94 meters",
+    "closeness rank": 13
+   },
+   "sofa": {
+    "distance": "3.26 meters",
+    "closeness rank": 14
+   },
+   "backpack": {
+    "distance": "3.29 meters",
+    "closeness rank": 15
+   }
+  }
+ },
+ "appearance order": ["door", "lamp", "table", "chair", "trash bin", "towel", "mattress", "mirror", "bed", "pillow", "backpack", "sofa", "telephone", "nightstand", "tv", "monitor"]
+}
\ No newline at end of file
diff --git a/data/spatial codes/sam3+depth-anything-3/metric/tracking/selective/32/explicit/scene0575_01.json b/data/spatial codes/sam3+depth-anything-3/metric/tracking/selective/32/explicit/scene0575_01.json
new file mode 100644
index 0000000000000000000000000000000000000000..ff6d787247943e141263778126665ffa261e23c1
--- /dev/null
+++ b/data/spatial codes/sam3+depth-anything-3/metric/tracking/selective/32/explicit/scene0575_01.json	
@@ -0,0 +1,490 @@
+{
+ "spatial code schema": {
+  "objects": {
+   "<object class>": {
+    "count": {
+     "unit": null,
+     "description": "number of instances of this class in the compact spatial code (that schema's per-class oriented-box list length)"
+    },
+    "instances": [
+     {
+      "position": {
+       "x coordinate": {
+        "unit": "meters",
+        "description": "x coordinate of this instance's compact 3D oriented bounding box center"
+       },
+       "y coordinate": {
+        "unit": "meters",
+        "description": "y coordinate of this instance's compact 3D oriented bounding box center"
+       },
+       "height above floor": {
+        "unit": "meters",
+        "description": "height coordinate of this instance's compact 3D oriented bounding box center"
+       }
+      },
+      "longest dimension": {
+       "unit": "meters",
+       "description": "longest of this instance's compact 3D oriented bounding box dimensions"
+      }
+     }
+    ]
+   }
+  },
+  "room": {
+   "floor area": {
+    "unit": "square meters",
+    "description": "shoelace area of the compact spatial code's floor boundary polygons, with every interior hole subtracted"
+   }
+  },
+  "closest classes distance meters from": {
+   "<object class>": {
+    "<other object class>": {
+     "distance": {
+      "unit": "meters",
+      "description": "minimum surface-to-surface separation between the two classes' compact 3D oriented bounding boxes, over every instance pair"
+     },
+     "closeness rank": {
+      "unit": null,
+      "description": "1 = the nearest other class to this one, 2 = second-nearest, and so on"
+     }
+    }
+   }
+  },
+  "appearance order": {
+   "unit": null,
+   "description": "class names ordered by earliest compact 'first visible time' across all of that class's instances"
+  }
+ },
+ "objects": {
+  "chair": {
+   "count": 7,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "0.64 meters",
+      "y coordinate": "0.01 meters",
+      "height above floor": "1.88 meters"
+     },
+     "longest dimension": "0.98 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "0.6 meters",
+      "y coordinate": "-0.02 meters",
+      "height above floor": "0.89 meters"
+     },
+     "longest dimension": "0.66 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "0.34 meters",
+      "y coordinate": "0.33 meters",
+      "height above floor": "-0.04 meters"
+     },
+     "longest dimension": "0.62 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "0.05 meters",
+      "y coordinate": "0.76 meters",
+      "height above floor": "-0.02 meters"
+     },
+     "longest dimension": "0.35 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-0.16 meters",
+      "y coordinate": "0.73 meters",
+      "height above floor": "-0.01 meters"
+     },
+     "longest dimension": "0.26 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-0.02 meters",
+      "y coordinate": "0.4 meters",
+      "height above floor": "-0.03 meters"
+     },
+     "longest dimension": "0.2 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-0.01 meters",
+      "y coordinate": "0.33 meters",
+      "height above floor": "-0.03 meters"
+     },
+     "longest dimension": "0.11 meters"
+    }
+   ]
+  },
+  "computer mouse": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "0.41 meters",
+      "y coordinate": "0.41 meters",
+      "height above floor": "2.0 meters"
+     },
+     "longest dimension": "0.32 meters"
+    }
+   ]
+  },
+  "door": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-0.19 meters",
+      "y coordinate": "1.61 meters",
+      "height above floor": "0.0 meters"
+     },
+     "longest dimension": "1.82 meters"
+    }
+   ]
+  },
+  "monitor": {
+   "count": 2,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "1.47 meters",
+      "y coordinate": "-3.17 meters",
+      "height above floor": "0.94 meters"
+     },
+     "longest dimension": "1.32 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "1.47 meters",
+      "y coordinate": "-3.17 meters",
+      "height above floor": "2.46 meters"
+     },
+     "longest dimension": "1.32 meters"
+    }
+   ]
+  },
+  "table": {
+   "count": 2,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "0.87 meters",
+      "y coordinate": "-0.51 meters",
+      "height above floor": "1.65 meters"
+     },
+     "longest dimension": "2.31 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "0.19 meters",
+      "y coordinate": "0.29 meters",
+      "height above floor": "-0.03 meters"
+     },
+     "longest dimension": "1.57 meters"
+    }
+   ]
+  },
+  "trash bin": {
+   "count": 2,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "0.38 meters",
+      "y coordinate": "0.68 meters",
+      "height above floor": "2.61 meters"
+     },
+     "longest dimension": "0.96 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "0.07 meters",
+      "y coordinate": "2.13 meters",
+      "height above floor": "1.47 meters"
+     },
+     "longest dimension": "0.35 meters"
+    }
+   ]
+  },
+  "tv": {
+   "count": 2,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "1.47 meters",
+      "y coordinate": "-3.17 meters",
+      "height above floor": "0.94 meters"
+     },
+     "longest dimension": "1.32 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "1.53 meters",
+      "y coordinate": "-3.16 meters",
+      "height above floor": "2.45 meters"
+     },
+     "longest dimension": "1.32 meters"
+    }
+   ]
+  },
+  "window": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-0.79 meters",
+      "y coordinate": "1.87 meters",
+      "height above floor": "1.09 meters"
+     },
+     "longest dimension": "3.37 meters"
+    }
+   ]
+  }
+ },
+ "room": {
+  "floor area": "13.8 square meters"
+ },
+ "closest classes distance meters from": {
+  "chair": {
+   "table": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "computer mouse": {
+    "distance": "0.1 meters",
+    "closeness rank": 2
+   },
+   "door": {
+    "distance": "0.25 meters",
+    "closeness rank": 3
+   },
+   "trash bin": {
+    "distance": "0.3 meters",
+    "closeness rank": 4
+   },
+   "window": {
+    "distance": "1.13 meters",
+    "closeness rank": 5
+   },
+   "tv": {
+    "distance": "2.95 meters",
+    "closeness rank": 6
+   },
+   "monitor": {
+    "distance": "2.96 meters",
+    "closeness rank": 7
+   }
+  },
+  "computer mouse": {
+   "table": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "chair": {
+    "distance": "0.1 meters",
+    "closeness rank": 2
+   },
+   "trash bin": {
+    "distance": "0.23 meters",
+    "closeness rank": 3
+   },
+   "window": {
+    "distance": "1.71 meters",
+    "closeness rank": 4
+   },
+   "door": {
+    "distance": "2.0 meters",
+    "closeness rank": 5
+   },
+   "monitor": {
+    "distance": "3.58 meters",
+    "closeness rank": 6
+   },
+   "tv": {
+    "distance": "3.58 meters",
+    "closeness rank": 7
+   }
+  },
+  "door": {
+   "window": {
+    "distance": "0.07 meters",
+    "closeness rank": 1
+   },
+   "table": {
+    "distance": "0.15 meters",
+    "closeness rank": 2
+   },
+   "chair": {
+    "distance": "0.25 meters",
+    "closeness rank": 3
+   },
+   "trash bin": {
+    "distance": "1.27 meters",
+    "closeness rank": 4
+   },
+   "computer mouse": {
+    "distance": "2.0 meters",
+    "closeness rank": 5
+   },
+   "tv": {
+    "distance": "4.58 meters",
+    "closeness rank": 6
+   },
+   "monitor": {
+    "distance": "4.59 meters",
+    "closeness rank": 7
+   }
+  },
+  "monitor": {
+   "tv": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "table": {
+    "distance": "1.52 meters",
+    "closeness rank": 2
+   },
+   "chair": {
+    "distance": "2.96 meters",
+    "closeness rank": 3
+   },
+   "trash bin": {
+    "distance": "3.53 meters",
+    "closeness rank": 4
+   },
+   "computer mouse": {
+    "distance": "3.58 meters",
+    "closeness rank": 5
+   },
+   "door": {
+    "distance": "4.59 meters",
+    "closeness rank": 6
+   },
+   "window": {
+    "distance": "5.49 meters",
+    "closeness rank": 7
+   }
+  },
+  "table": {
+   "chair": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "computer mouse": {
+    "distance": "0.0 meters",
+    "closeness rank": 2
+   },
+   "door": {
+    "distance": "0.15 meters",
+    "closeness rank": 3
+   },
+   "trash bin": {
+    "distance": "0.37 meters",
+    "closeness rank": 4
+   },
+   "window": {
+    "distance": "1.05 meters",
+    "closeness rank": 5
+   },
+   "monitor": {
+    "distance": "1.52 meters",
+    "closeness rank": 6
+   },
+   "tv": {
+    "distance": "1.52 meters",
+    "closeness rank": 7
+   }
+  },
+  "trash bin": {
+   "computer mouse": {
+    "distance": "0.23 meters",
+    "closeness rank": 1
+   },
+   "chair": {
+    "distance": "0.3 meters",
+    "closeness rank": 2
+   },
+   "table": {
+    "distance": "0.37 meters",
+    "closeness rank": 3
+   },
+   "window": {
+    "distance": "0.48 meters",
+    "closeness rank": 4
+   },
+   "door": {
+    "distance": "1.27 meters",
+    "closeness rank": 5
+   },
+   "monitor": {
+    "distance": "3.53 meters",
+    "closeness rank": 6
+   },
+   "tv": {
+    "distance": "3.54 meters",
+    "closeness rank": 7
+   }
+  },
+  "tv": {
+   "monitor": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "table": {
+    "distance": "1.52 meters",
+    "closeness rank": 2
+   },
+   "chair": {
+    "distance": "2.95 meters",
+    "closeness rank": 3
+   },
+   "trash bin": {
+    "distance": "3.54 meters",
+    "closeness rank": 4
+   },
+   "computer mouse": {
+    "distance": "3.58 meters",
+    "closeness rank": 5
+   },
+   "door": {
+    "distance": "4.58 meters",
+    "closeness rank": 6
+   },
+   "window": {
+    "distance": "5.49 meters",
+    "closeness rank": 7
+   }
+  },
+  "window": {
+   "door": {
+    "distance": "0.07 meters",
+    "closeness rank": 1
+   },
+   "trash bin": {
+    "distance": "0.48 meters",
+    "closeness rank": 2
+   },
+   "table": {
+    "distance": "1.05 meters",
+    "closeness rank": 3
+   },
+   "chair": {
+    "distance": "1.13 meters",
+    "closeness rank": 4
+   },
+   "computer mouse": {
+    "distance": "1.71 meters",
+    "closeness rank": 5
+   },
+   "tv": {
+    "distance": "5.49 meters",
+    "closeness rank": 6
+   },
+   "monitor": {
+    "distance": "5.49 meters",
+    "closeness rank": 7
+   }
+  }
+ },
+ "appearance order": ["chair", "door", "table", "trash bin", "tv", "monitor", "computer mouse", "window"]
+}
\ No newline at end of file
diff --git a/data/spatial codes/sam3+depth-anything-3/metric/tracking/selective/32/explicit/scene0580_01.json b/data/spatial codes/sam3+depth-anything-3/metric/tracking/selective/32/explicit/scene0580_01.json
new file mode 100644
index 0000000000000000000000000000000000000000..56988438d156f0b6834d7327731b86a33a354868
--- /dev/null
+++ b/data/spatial codes/sam3+depth-anything-3/metric/tracking/selective/32/explicit/scene0580_01.json	
@@ -0,0 +1,1147 @@
+{
+ "spatial code schema": {
+  "objects": {
+   "<object class>": {
+    "count": {
+     "unit": null,
+     "description": "number of instances of this class in the compact spatial code (that schema's per-class oriented-box list length)"
+    },
+    "instances": [
+     {
+      "position": {
+       "x coordinate": {
+        "unit": "meters",
+        "description": "x coordinate of this instance's compact 3D oriented bounding box center"
+       },
+       "y coordinate": {
+        "unit": "meters",
+        "description": "y coordinate of this instance's compact 3D oriented bounding box center"
+       },
+       "height above floor": {
+        "unit": "meters",
+        "description": "height coordinate of this instance's compact 3D oriented bounding box center"
+       }
+      },
+      "longest dimension": {
+       "unit": "meters",
+       "description": "longest of this instance's compact 3D oriented bounding box dimensions"
+      }
+     }
+    ]
+   }
+  },
+  "room": {
+   "floor area": {
+    "unit": "square meters",
+    "description": "shoelace area of the compact spatial code's floor boundary polygons, with every interior hole subtracted"
+   }
+  },
+  "closest classes distance meters from": {
+   "<object class>": {
+    "<other object class>": {
+     "distance": {
+      "unit": "meters",
+      "description": "minimum surface-to-surface separation between the two classes' compact 3D oriented bounding boxes, over every instance pair"
+     },
+     "closeness rank": {
+      "unit": null,
+      "description": "1 = the nearest other class to this one, 2 = second-nearest, and so on"
+     }
+    }
+   }
+  },
+  "appearance order": {
+   "unit": null,
+   "description": "class names ordered by earliest compact 'first visible time' across all of that class's instances"
+  }
+ },
+ "objects": {
+  "backpack": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-0.47 meters",
+      "y coordinate": "2.02 meters",
+      "height above floor": "0.09 meters"
+     },
+     "longest dimension": "0.35 meters"
+    }
+   ]
+  },
+  "bed": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-0.01 meters",
+      "y coordinate": "0.44 meters",
+      "height above floor": "0.02 meters"
+     },
+     "longest dimension": "1.48 meters"
+    }
+   ]
+  },
+  "bookshelf": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "1.67 meters",
+      "y coordinate": "1.16 meters",
+      "height above floor": "-0.01 meters"
+     },
+     "longest dimension": "1.44 meters"
+    }
+   ]
+  },
+  "chair": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-0.45 meters",
+      "y coordinate": "1.99 meters",
+      "height above floor": "-0.14 meters"
+     },
+     "longest dimension": "0.84 meters"
+    }
+   ]
+  },
+  "closet": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "1.58 meters",
+      "y coordinate": "1.26 meters",
+      "height above floor": "0.23 meters"
+     },
+     "longest dimension": "1.46 meters"
+    }
+   ]
+  },
+  "door": {
+   "count": 2,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-0.46 meters",
+      "y coordinate": "-0.51 meters",
+      "height above floor": "0.32 meters"
+     },
+     "longest dimension": "1.81 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "0.77 meters",
+      "y coordinate": "0.04 meters",
+      "height above floor": "0.23 meters"
+     },
+     "longest dimension": "1.96 meters"
+    }
+   ]
+  },
+  "fan": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "0.34 meters",
+      "y coordinate": "0.57 meters",
+      "height above floor": "1.94 meters"
+     },
+     "longest dimension": "1.14 meters"
+    }
+   ]
+  },
+  "lamp": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-1.32 meters",
+      "y coordinate": "0.24 meters",
+      "height above floor": "0.37 meters"
+     },
+     "longest dimension": "0.72 meters"
+    }
+   ]
+  },
+  "mattress": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "0.0 meters",
+      "y coordinate": "0.44 meters",
+      "height above floor": "0.01 meters"
+     },
+     "longest dimension": "1.5 meters"
+    }
+   ]
+  },
+  "mirror": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "1.5 meters",
+      "y coordinate": "0.2 meters",
+      "height above floor": "0.49 meters"
+     },
+     "longest dimension": "0.56 meters"
+    }
+   ]
+  },
+  "nightstand": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-1.32 meters",
+      "y coordinate": "0.15 meters",
+      "height above floor": "-0.04 meters"
+     },
+     "longest dimension": "0.44 meters"
+    }
+   ]
+  },
+  "pillow": {
+   "count": 2,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-0.87 meters",
+      "y coordinate": "0.74 meters",
+      "height above floor": "0.18 meters"
+     },
+     "longest dimension": "0.67 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-0.64 meters",
+      "y coordinate": "1.25 meters",
+      "height above floor": "0.13 meters"
+     },
+     "longest dimension": "0.74 meters"
+    }
+   ]
+  },
+  "sofa": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "0.12 meters",
+      "y coordinate": "0.53 meters",
+      "height above floor": "0.02 meters"
+     },
+     "longest dimension": "1.61 meters"
+    }
+   ]
+  },
+  "table": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "1.06 meters",
+      "y coordinate": "0.07 meters",
+      "height above floor": "0.12 meters"
+     },
+     "longest dimension": "1.04 meters"
+    }
+   ]
+  },
+  "trash bin": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "1.72 meters",
+      "y coordinate": "0.91 meters",
+      "height above floor": "-0.53 meters"
+     },
+     "longest dimension": "0.29 meters"
+    }
+   ]
+  }
+ },
+ "room": {
+  "floor area": "11.3 square meters"
+ },
+ "closest classes distance meters from": {
+  "backpack": {
+   "chair": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "pillow": {
+    "distance": "0.23 meters",
+    "closeness rank": 2
+   },
+   "sofa": {
+    "distance": "0.61 meters",
+    "closeness rank": 3
+   },
+   "mattress": {
+    "distance": "1.08 meters",
+    "closeness rank": 4
+   },
+   "bed": {
+    "distance": "1.1 meters",
+    "closeness rank": 5
+   },
+   "lamp": {
+    "distance": "1.64 meters",
+    "closeness rank": 6
+   },
+   "nightstand": {
+    "distance": "1.64 meters",
+    "closeness rank": 7
+   },
+   "bookshelf": {
+    "distance": "1.79 meters",
+    "closeness rank": 8
+   },
+   "fan": {
+    "distance": "1.83 meters",
+    "closeness rank": 9
+   },
+   "closet": {
+    "distance": "1.83 meters",
+    "closeness rank": 10
+   },
+   "door": {
+    "distance": "1.92 meters",
+    "closeness rank": 11
+   },
+   "table": {
+    "distance": "2.0 meters",
+    "closeness rank": 12
+   },
+   "trash bin": {
+    "distance": "2.16 meters",
+    "closeness rank": 13
+   },
+   "mirror": {
+    "distance": "2.49 meters",
+    "closeness rank": 14
+   }
+  },
+  "bed": {
+   "mattress": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "sofa": {
+    "distance": "0.0 meters",
+    "closeness rank": 2
+   },
+   "door": {
+    "distance": "0.0 meters",
+    "closeness rank": 3
+   },
+   "pillow": {
+    "distance": "0.01 meters",
+    "closeness rank": 4
+   },
+   "table": {
+    "distance": "0.22 meters",
+    "closeness rank": 5
+   },
+   "nightstand": {
+    "distance": "0.33 meters",
+    "closeness rank": 6
+   },
+   "lamp": {
+    "distance": "0.41 meters",
+    "closeness rank": 7
+   },
+   "mirror": {
+    "distance": "0.67 meters",
+    "closeness rank": 8
+   },
+   "bookshelf": {
+    "distance": "0.82 meters",
+    "closeness rank": 9
+   },
+   "closet": {
+    "distance": "0.85 meters",
+    "closeness rank": 10
+   },
+   "chair": {
+    "distance": "0.87 meters",
+    "closeness rank": 11
+   },
+   "trash bin": {
+    "distance": "0.99 meters",
+    "closeness rank": 12
+   },
+   "backpack": {
+    "distance": "1.1 meters",
+    "closeness rank": 13
+   },
+   "fan": {
+    "distance": "1.71 meters",
+    "closeness rank": 14
+   }
+  },
+  "bookshelf": {
+   "closet": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "trash bin": {
+    "distance": "0.0 meters",
+    "closeness rank": 2
+   },
+   "table": {
+    "distance": "0.58 meters",
+    "closeness rank": 3
+   },
+   "mirror": {
+    "distance": "0.69 meters",
+    "closeness rank": 4
+   },
+   "mattress": {
+    "distance": "0.8 meters",
+    "closeness rank": 5
+   },
+   "bed": {
+    "distance": "0.82 meters",
+    "closeness rank": 6
+   },
+   "door": {
+    "distance": "0.95 meters",
+    "closeness rank": 7
+   },
+   "sofa": {
+    "distance": "0.99 meters",
+    "closeness rank": 8
+   },
+   "fan": {
+    "distance": "1.25 meters",
+    "closeness rank": 9
+   },
+   "chair": {
+    "distance": "1.72 meters",
+    "closeness rank": 10
+   },
+   "pillow": {
+    "distance": "1.79 meters",
+    "closeness rank": 11
+   },
+   "backpack": {
+    "distance": "1.79 meters",
+    "closeness rank": 12
+   },
+   "nightstand": {
+    "distance": "2.63 meters",
+    "closeness rank": 13
+   },
+   "lamp": {
+    "distance": "2.71 meters",
+    "closeness rank": 14
+   }
+  },
+  "chair": {
+   "backpack": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "pillow": {
+    "distance": "0.11 meters",
+    "closeness rank": 2
+   },
+   "sofa": {
+    "distance": "0.39 meters",
+    "closeness rank": 3
+   },
+   "mattress": {
+    "distance": "0.85 meters",
+    "closeness rank": 4
+   },
+   "bed": {
+    "distance": "0.87 meters",
+    "closeness rank": 5
+   },
+   "nightstand": {
+    "distance": "1.58 meters",
+    "closeness rank": 6
+   },
+   "lamp": {
+    "distance": "1.58 meters",
+    "closeness rank": 7
+   },
+   "door": {
+    "distance": "1.68 meters",
+    "closeness rank": 8
+   },
+   "bookshelf": {
+    "distance": "1.72 meters",
+    "closeness rank": 9
+   },
+   "fan": {
+    "distance": "1.73 meters",
+    "closeness rank": 10
+   },
+   "closet": {
+    "distance": "1.75 meters",
+    "closeness rank": 11
+   },
+   "table": {
+    "distance": "1.85 meters",
+    "closeness rank": 12
+   },
+   "trash bin": {
+    "distance": "2.05 meters",
+    "closeness rank": 13
+   },
+   "mirror": {
+    "distance": "2.34 meters",
+    "closeness rank": 14
+   }
+  },
+  "closet": {
+   "bookshelf": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "trash bin": {
+    "distance": "0.07 meters",
+    "closeness rank": 2
+   },
+   "table": {
+    "distance": "0.62 meters",
+    "closeness rank": 3
+   },
+   "mirror": {
+    "distance": "0.81 meters",
+    "closeness rank": 4
+   },
+   "mattress": {
+    "distance": "0.83 meters",
+    "closeness rank": 5
+   },
+   "bed": {
+    "distance": "0.85 meters",
+    "closeness rank": 6
+   },
+   "door": {
+    "distance": "0.98 meters",
+    "closeness rank": 7
+   },
+   "sofa": {
+    "distance": "1.02 meters",
+    "closeness rank": 8
+   },
+   "fan": {
+    "distance": "1.05 meters",
+    "closeness rank": 9
+   },
+   "chair": {
+    "distance": "1.75 meters",
+    "closeness rank": 10
+   },
+   "backpack": {
+    "distance": "1.83 meters",
+    "closeness rank": 11
+   },
+   "pillow": {
+    "distance": "1.83 meters",
+    "closeness rank": 12
+   },
+   "nightstand": {
+    "distance": "2.66 meters",
+    "closeness rank": 13
+   },
+   "lamp": {
+    "distance": "2.75 meters",
+    "closeness rank": 14
+   }
+  },
+  "door": {
+   "mattress": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "sofa": {
+    "distance": "0.0 meters",
+    "closeness rank": 2
+   },
+   "table": {
+    "distance": "0.0 meters",
+    "closeness rank": 3
+   },
+   "bed": {
+    "distance": "0.0 meters",
+    "closeness rank": 4
+   },
+   "mirror": {
+    "distance": "0.44 meters",
+    "closeness rank": 5
+   },
+   "nightstand": {
+    "distance": "0.54 meters",
+    "closeness rank": 6
+   },
+   "fan": {
+    "distance": "0.59 meters",
+    "closeness rank": 7
+   },
+   "lamp": {
+    "distance": "0.62 meters",
+    "closeness rank": 8
+   },
+   "pillow": {
+    "distance": "0.64 meters",
+    "closeness rank": 9
+   },
+   "trash bin": {
+    "distance": "0.84 meters",
+    "closeness rank": 10
+   },
+   "bookshelf": {
+    "distance": "0.95 meters",
+    "closeness rank": 11
+   },
+   "closet": {
+    "distance": "0.98 meters",
+    "closeness rank": 12
+   },
+   "chair": {
+    "distance": "1.68 meters",
+    "closeness rank": 13
+   },
+   "backpack": {
+    "distance": "1.92 meters",
+    "closeness rank": 14
+   }
+  },
+  "fan": {
+   "door": {
+    "distance": "0.59 meters",
+    "closeness rank": 1
+   },
+   "closet": {
+    "distance": "1.05 meters",
+    "closeness rank": 2
+   },
+   "mirror": {
+    "distance": "1.2 meters",
+    "closeness rank": 3
+   },
+   "bookshelf": {
+    "distance": "1.25 meters",
+    "closeness rank": 4
+   },
+   "lamp": {
+    "distance": "1.38 meters",
+    "closeness rank": 5
+   },
+   "pillow": {
+    "distance": "1.58 meters",
+    "closeness rank": 6
+   },
+   "table": {
+    "distance": "1.62 meters",
+    "closeness rank": 7
+   },
+   "sofa": {
+    "distance": "1.71 meters",
+    "closeness rank": 8
+   },
+   "bed": {
+    "distance": "1.71 meters",
+    "closeness rank": 9
+   },
+   "mattress": {
+    "distance": "1.72 meters",
+    "closeness rank": 10
+   },
+   "chair": {
+    "distance": "1.73 meters",
+    "closeness rank": 11
+   },
+   "backpack": {
+    "distance": "1.83 meters",
+    "closeness rank": 12
+   },
+   "nightstand": {
+    "distance": "1.85 meters",
+    "closeness rank": 13
+   },
+   "trash bin": {
+    "distance": "2.36 meters",
+    "closeness rank": 14
+   }
+  },
+  "lamp": {
+   "nightstand": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "pillow": {
+    "distance": "0.2 meters",
+    "closeness rank": 2
+   },
+   "mattress": {
+    "distance": "0.4 meters",
+    "closeness rank": 3
+   },
+   "bed": {
+    "distance": "0.41 meters",
+    "closeness rank": 4
+   },
+   "door": {
+    "distance": "0.62 meters",
+    "closeness rank": 5
+   },
+   "sofa": {
+    "distance": "0.76 meters",
+    "closeness rank": 6
+   },
+   "fan": {
+    "distance": "1.38 meters",
+    "closeness rank": 7
+   },
+   "chair": {
+    "distance": "1.58 meters",
+    "closeness rank": 8
+   },
+   "backpack": {
+    "distance": "1.64 meters",
+    "closeness rank": 9
+   },
+   "table": {
+    "distance": "2.1 meters",
+    "closeness rank": 10
+   },
+   "mirror": {
+    "distance": "2.69 meters",
+    "closeness rank": 11
+   },
+   "bookshelf": {
+    "distance": "2.71 meters",
+    "closeness rank": 12
+   },
+   "closet": {
+    "distance": "2.75 meters",
+    "closeness rank": 13
+   },
+   "trash bin": {
+    "distance": "2.9 meters",
+    "closeness rank": 14
+   }
+  },
+  "mattress": {
+   "bed": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "door": {
+    "distance": "0.0 meters",
+    "closeness rank": 2
+   },
+   "sofa": {
+    "distance": "0.0 meters",
+    "closeness rank": 3
+   },
+   "pillow": {
+    "distance": "0.02 meters",
+    "closeness rank": 4
+   },
+   "table": {
+    "distance": "0.19 meters",
+    "closeness rank": 5
+   },
+   "nightstand": {
+    "distance": "0.32 meters",
+    "closeness rank": 6
+   },
+   "lamp": {
+    "distance": "0.4 meters",
+    "closeness rank": 7
+   },
+   "mirror": {
+    "distance": "0.64 meters",
+    "closeness rank": 8
+   },
+   "bookshelf": {
+    "distance": "0.8 meters",
+    "closeness rank": 9
+   },
+   "closet": {
+    "distance": "0.83 meters",
+    "closeness rank": 10
+   },
+   "chair": {
+    "distance": "0.85 meters",
+    "closeness rank": 11
+   },
+   "trash bin": {
+    "distance": "0.97 meters",
+    "closeness rank": 12
+   },
+   "backpack": {
+    "distance": "1.08 meters",
+    "closeness rank": 13
+   },
+   "fan": {
+    "distance": "1.72 meters",
+    "closeness rank": 14
+   }
+  },
+  "mirror": {
+   "table": {
+    "distance": "0.23 meters",
+    "closeness rank": 1
+   },
+   "door": {
+    "distance": "0.44 meters",
+    "closeness rank": 2
+   },
+   "sofa": {
+    "distance": "0.52 meters",
+    "closeness rank": 3
+   },
+   "mattress": {
+    "distance": "0.64 meters",
+    "closeness rank": 4
+   },
+   "bed": {
+    "distance": "0.67 meters",
+    "closeness rank": 5
+   },
+   "bookshelf": {
+    "distance": "0.69 meters",
+    "closeness rank": 6
+   },
+   "closet": {
+    "distance": "0.81 meters",
+    "closeness rank": 7
+   },
+   "trash bin": {
+    "distance": "0.94 meters",
+    "closeness rank": 8
+   },
+   "fan": {
+    "distance": "1.2 meters",
+    "closeness rank": 9
+   },
+   "pillow": {
+    "distance": "2.07 meters",
+    "closeness rank": 10
+   },
+   "chair": {
+    "distance": "2.34 meters",
+    "closeness rank": 11
+   },
+   "backpack": {
+    "distance": "2.49 meters",
+    "closeness rank": 12
+   },
+   "nightstand": {
+    "distance": "2.58 meters",
+    "closeness rank": 13
+   },
+   "lamp": {
+    "distance": "2.69 meters",
+    "closeness rank": 14
+   }
+  },
+  "nightstand": {
+   "lamp": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "pillow": {
+    "distance": "0.13 meters",
+    "closeness rank": 2
+   },
+   "mattress": {
+    "distance": "0.32 meters",
+    "closeness rank": 3
+   },
+   "bed": {
+    "distance": "0.33 meters",
+    "closeness rank": 4
+   },
+   "door": {
+    "distance": "0.54 meters",
+    "closeness rank": 5
+   },
+   "sofa": {
+    "distance": "0.71 meters",
+    "closeness rank": 6
+   },
+   "chair": {
+    "distance": "1.58 meters",
+    "closeness rank": 7
+   },
+   "backpack": {
+    "distance": "1.64 meters",
+    "closeness rank": 8
+   },
+   "fan": {
+    "distance": "1.85 meters",
+    "closeness rank": 9
+   },
+   "table": {
+    "distance": "2.04 meters",
+    "closeness rank": 10
+   },
+   "mirror": {
+    "distance": "2.58 meters",
+    "closeness rank": 11
+   },
+   "bookshelf": {
+    "distance": "2.63 meters",
+    "closeness rank": 12
+   },
+   "closet": {
+    "distance": "2.66 meters",
+    "closeness rank": 13
+   },
+   "trash bin": {
+    "distance": "2.77 meters",
+    "closeness rank": 14
+   }
+  },
+  "pillow": {
+   "sofa": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "bed": {
+    "distance": "0.01 meters",
+    "closeness rank": 2
+   },
+   "mattress": {
+    "distance": "0.02 meters",
+    "closeness rank": 3
+   },
+   "chair": {
+    "distance": "0.11 meters",
+    "closeness rank": 4
+   },
+   "nightstand": {
+    "distance": "0.13 meters",
+    "closeness rank": 5
+   },
+   "lamp": {
+    "distance": "0.2 meters",
+    "closeness rank": 6
+   },
+   "backpack": {
+    "distance": "0.23 meters",
+    "closeness rank": 7
+   },
+   "door": {
+    "distance": "0.64 meters",
+    "closeness rank": 8
+   },
+   "fan": {
+    "distance": "1.58 meters",
+    "closeness rank": 9
+   },
+   "table": {
+    "distance": "1.63 meters",
+    "closeness rank": 10
+   },
+   "bookshelf": {
+    "distance": "1.79 meters",
+    "closeness rank": 11
+   },
+   "closet": {
+    "distance": "1.83 meters",
+    "closeness rank": 12
+   },
+   "mirror": {
+    "distance": "2.07 meters",
+    "closeness rank": 13
+   },
+   "trash bin": {
+    "distance": "2.12 meters",
+    "closeness rank": 14
+   }
+  },
+  "sofa": {
+   "bed": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "door": {
+    "distance": "0.0 meters",
+    "closeness rank": 2
+   },
+   "mattress": {
+    "distance": "0.0 meters",
+    "closeness rank": 3
+   },
+   "pillow": {
+    "distance": "0.0 meters",
+    "closeness rank": 4
+   },
+   "table": {
+    "distance": "0.04 meters",
+    "closeness rank": 5
+   },
+   "chair": {
+    "distance": "0.39 meters",
+    "closeness rank": 6
+   },
+   "mirror": {
+    "distance": "0.52 meters",
+    "closeness rank": 7
+   },
+   "backpack": {
+    "distance": "0.61 meters",
+    "closeness rank": 8
+   },
+   "nightstand": {
+    "distance": "0.71 meters",
+    "closeness rank": 9
+   },
+   "lamp": {
+    "distance": "0.76 meters",
+    "closeness rank": 10
+   },
+   "bookshelf": {
+    "distance": "0.99 meters",
+    "closeness rank": 11
+   },
+   "closet": {
+    "distance": "1.02 meters",
+    "closeness rank": 12
+   },
+   "trash bin": {
+    "distance": "1.06 meters",
+    "closeness rank": 13
+   },
+   "fan": {
+    "distance": "1.71 meters",
+    "closeness rank": 14
+   }
+  },
+  "table": {
+   "door": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "sofa": {
+    "distance": "0.04 meters",
+    "closeness rank": 2
+   },
+   "mattress": {
+    "distance": "0.19 meters",
+    "closeness rank": 3
+   },
+   "bed": {
+    "distance": "0.22 meters",
+    "closeness rank": 4
+   },
+   "mirror": {
+    "distance": "0.23 meters",
+    "closeness rank": 5
+   },
+   "bookshelf": {
+    "distance": "0.58 meters",
+    "closeness rank": 6
+   },
+   "closet": {
+    "distance": "0.62 meters",
+    "closeness rank": 7
+   },
+   "trash bin": {
+    "distance": "0.71 meters",
+    "closeness rank": 8
+   },
+   "fan": {
+    "distance": "1.62 meters",
+    "closeness rank": 9
+   },
+   "pillow": {
+    "distance": "1.63 meters",
+    "closeness rank": 10
+   },
+   "chair": {
+    "distance": "1.85 meters",
+    "closeness rank": 11
+   },
+   "backpack": {
+    "distance": "2.0 meters",
+    "closeness rank": 12
+   },
+   "nightstand": {
+    "distance": "2.04 meters",
+    "closeness rank": 13
+   },
+   "lamp": {
+    "distance": "2.1 meters",
+    "closeness rank": 14
+   }
+  },
+  "trash bin": {
+   "bookshelf": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "closet": {
+    "distance": "0.07 meters",
+    "closeness rank": 2
+   },
+   "table": {
+    "distance": "0.71 meters",
+    "closeness rank": 3
+   },
+   "door": {
+    "distance": "0.84 meters",
+    "closeness rank": 4
+   },
+   "mirror": {
+    "distance": "0.94 meters",
+    "closeness rank": 5
+   },
+   "mattress": {
+    "distance": "0.97 meters",
+    "closeness rank": 6
+   },
+   "bed": {
+    "distance": "0.99 meters",
+    "closeness rank": 7
+   },
+   "sofa": {
+    "distance": "1.06 meters",
+    "closeness rank": 8
+   },
+   "chair": {
+    "distance": "2.05 meters",
+    "closeness rank": 9
+   },
+   "pillow": {
+    "distance": "2.12 meters",
+    "closeness rank": 10
+   },
+   "backpack": {
+    "distance": "2.16 meters",
+    "closeness rank": 11
+   },
+   "fan": {
+    "distance": "2.36 meters",
+    "closeness rank": 12
+   },
+   "nightstand": {
+    "distance": "2.77 meters",
+    "closeness rank": 13
+   },
+   "lamp": {
+    "distance": "2.9 meters",
+    "closeness rank": 14
+   }
+  }
+ },
+ "appearance order": ["nightstand", "bed", "lamp", "mattress", "pillow", "table", "fan", "bookshelf", "trash bin", "door", "sofa", "backpack", "chair", "closet", "mirror"]
+}
\ No newline at end of file
diff --git a/data/spatial codes/sam3+depth-anything-3/metric/tracking/selective/32/explicit/scene0593_00.json b/data/spatial codes/sam3+depth-anything-3/metric/tracking/selective/32/explicit/scene0593_00.json
new file mode 100644
index 0000000000000000000000000000000000000000..1767b02e4c0fbba08ee8eb5d12d0fdb2b91ae75c
--- /dev/null
+++ b/data/spatial codes/sam3+depth-anything-3/metric/tracking/selective/32/explicit/scene0593_00.json	
@@ -0,0 +1,822 @@
+{
+ "spatial code schema": {
+  "objects": {
+   "<object class>": {
+    "count": {
+     "unit": null,
+     "description": "number of instances of this class in the compact spatial code (that schema's per-class oriented-box list length)"
+    },
+    "instances": [
+     {
+      "position": {
+       "x coordinate": {
+        "unit": "meters",
+        "description": "x coordinate of this instance's compact 3D oriented bounding box center"
+       },
+       "y coordinate": {
+        "unit": "meters",
+        "description": "y coordinate of this instance's compact 3D oriented bounding box center"
+       },
+       "height above floor": {
+        "unit": "meters",
+        "description": "height coordinate of this instance's compact 3D oriented bounding box center"
+       }
+      },
+      "longest dimension": {
+       "unit": "meters",
+       "description": "longest of this instance's compact 3D oriented bounding box dimensions"
+      }
+     }
+    ]
+   }
+  },
+  "room": {
+   "floor area": {
+    "unit": "square meters",
+    "description": "shoelace area of the compact spatial code's floor boundary polygons, with every interior hole subtracted"
+   }
+  },
+  "closest classes distance meters from": {
+   "<object class>": {
+    "<other object class>": {
+     "distance": {
+      "unit": "meters",
+      "description": "minimum surface-to-surface separation between the two classes' compact 3D oriented bounding boxes, over every instance pair"
+     },
+     "closeness rank": {
+      "unit": null,
+      "description": "1 = the nearest other class to this one, 2 = second-nearest, and so on"
+     }
+    }
+   }
+  },
+  "appearance order": {
+   "unit": null,
+   "description": "class names ordered by earliest compact 'first visible time' across all of that class's instances"
+  }
+ },
+ "objects": {
+  "backpack": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "0.73 meters",
+      "y coordinate": "0.03 meters",
+      "height above floor": "-0.06 meters"
+     },
+     "longest dimension": "0.54 meters"
+    }
+   ]
+  },
+  "door": {
+   "count": 3,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "1.54 meters",
+      "y coordinate": "-0.99 meters",
+      "height above floor": "2.27 meters"
+     },
+     "longest dimension": "1.29 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "1.87 meters",
+      "y coordinate": "-0.98 meters",
+      "height above floor": "3.88 meters"
+     },
+     "longest dimension": "0.65 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "0.97 meters",
+      "y coordinate": "-1.54 meters",
+      "height above floor": "-0.1 meters"
+     },
+     "longest dimension": "1.92 meters"
+    }
+   ]
+  },
+  "fan": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "1.51 meters",
+      "y coordinate": "-0.75 meters",
+      "height above floor": "2.91 meters"
+     },
+     "longest dimension": "1.19 meters"
+    }
+   ]
+  },
+  "monitor": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "0.49 meters",
+      "y coordinate": "1.44 meters",
+      "height above floor": "2.63 meters"
+     },
+     "longest dimension": "0.35 meters"
+    }
+   ]
+  },
+  "pillow": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "0.72 meters",
+      "y coordinate": "0.04 meters",
+      "height above floor": "-0.07 meters"
+     },
+     "longest dimension": "0.55 meters"
+    }
+   ]
+  },
+  "printer": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "0.86 meters",
+      "y coordinate": "1.26 meters",
+      "height above floor": "2.91 meters"
+     },
+     "longest dimension": "0.7 meters"
+    }
+   ]
+  },
+  "refrigerator": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "1.25 meters",
+      "y coordinate": "-1.14 meters",
+      "height above floor": "0.73 meters"
+     },
+     "longest dimension": "1.0 meters"
+    }
+   ]
+  },
+  "sofa": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "0.88 meters",
+      "y coordinate": "0.09 meters",
+      "height above floor": "-0.03 meters"
+     },
+     "longest dimension": "1.25 meters"
+    }
+   ]
+  },
+  "table": {
+   "count": 2,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "0.85 meters",
+      "y coordinate": "1.92 meters",
+      "height above floor": "0.68 meters"
+     },
+     "longest dimension": "1.06 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "0.47 meters",
+      "y coordinate": "1.44 meters",
+      "height above floor": "-0.21 meters"
+     },
+     "longest dimension": "0.88 meters"
+    }
+   ]
+  },
+  "telephone": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "1.44 meters",
+      "y coordinate": "1.04 meters",
+      "height above floor": "4.75 meters"
+     },
+     "longest dimension": "0.25 meters"
+    }
+   ]
+  },
+  "trash bin": {
+   "count": 2,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "1.89 meters",
+      "y coordinate": "-0.69 meters",
+      "height above floor": "4.48 meters"
+     },
+     "longest dimension": "0.96 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "1.76 meters",
+      "y coordinate": "1.62 meters",
+      "height above floor": "4.23 meters"
+     },
+     "longest dimension": "0.49 meters"
+    }
+   ]
+  },
+  "window": {
+   "count": 3,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "1.22 meters",
+      "y coordinate": "0.96 meters",
+      "height above floor": "5.07 meters"
+     },
+     "longest dimension": "1.25 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "1.52 meters",
+      "y coordinate": "-0.27 meters",
+      "height above floor": "5.02 meters"
+     },
+     "longest dimension": "1.06 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-0.53 meters",
+      "y coordinate": "-0.21 meters",
+      "height above floor": "-0.25 meters"
+     },
+     "longest dimension": "0.45 meters"
+    }
+   ]
+  }
+ },
+ "room": {
+  "floor area": "12.7 square meters"
+ },
+ "closest classes distance meters from": {
+  "backpack": {
+   "pillow": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "sofa": {
+    "distance": "0.0 meters",
+    "closeness rank": 2
+   },
+   "table": {
+    "distance": "0.68 meters",
+    "closeness rank": 3
+   },
+   "window": {
+    "distance": "0.91 meters",
+    "closeness rank": 4
+   },
+   "refrigerator": {
+    "distance": "1.04 meters",
+    "closeness rank": 5
+   },
+   "door": {
+    "distance": "1.23 meters",
+    "closeness rank": 6
+   },
+   "fan": {
+    "distance": "2.6 meters",
+    "closeness rank": 7
+   },
+   "monitor": {
+    "distance": "2.67 meters",
+    "closeness rank": 8
+   },
+   "printer": {
+    "distance": "2.83 meters",
+    "closeness rank": 9
+   },
+   "trash bin": {
+    "distance": "4.12 meters",
+    "closeness rank": 10
+   },
+   "telephone": {
+    "distance": "4.65 meters",
+    "closeness rank": 11
+   }
+  },
+  "door": {
+   "fan": {
+    "distance": "0.02 meters",
+    "closeness rank": 1
+   },
+   "trash bin": {
+    "distance": "0.07 meters",
+    "closeness rank": 2
+   },
+   "refrigerator": {
+    "distance": "0.36 meters",
+    "closeness rank": 3
+   },
+   "window": {
+    "distance": "0.91 meters",
+    "closeness rank": 4
+   },
+   "sofa": {
+    "distance": "0.95 meters",
+    "closeness rank": 5
+   },
+   "pillow": {
+    "distance": "1.23 meters",
+    "closeness rank": 6
+   },
+   "backpack": {
+    "distance": "1.23 meters",
+    "closeness rank": 7
+   },
+   "telephone": {
+    "distance": "1.96 meters",
+    "closeness rank": 8
+   },
+   "printer": {
+    "distance": "2.18 meters",
+    "closeness rank": 9
+   },
+   "monitor": {
+    "distance": "2.47 meters",
+    "closeness rank": 10
+   },
+   "table": {
+    "distance": "2.54 meters",
+    "closeness rank": 11
+   }
+  },
+  "fan": {
+   "door": {
+    "distance": "0.02 meters",
+    "closeness rank": 1
+   },
+   "trash bin": {
+    "distance": "0.97 meters",
+    "closeness rank": 2
+   },
+   "refrigerator": {
+    "distance": "1.72 meters",
+    "closeness rank": 3
+   },
+   "printer": {
+    "distance": "1.77 meters",
+    "closeness rank": 4
+   },
+   "window": {
+    "distance": "1.78 meters",
+    "closeness rank": 5
+   },
+   "telephone": {
+    "distance": "2.06 meters",
+    "closeness rank": 6
+   },
+   "monitor": {
+    "distance": "2.1 meters",
+    "closeness rank": 7
+   },
+   "sofa": {
+    "distance": "2.37 meters",
+    "closeness rank": 8
+   },
+   "backpack": {
+    "distance": "2.6 meters",
+    "closeness rank": 9
+   },
+   "pillow": {
+    "distance": "2.61 meters",
+    "closeness rank": 10
+   },
+   "table": {
+    "distance": "2.66 meters",
+    "closeness rank": 11
+   }
+  },
+  "monitor": {
+   "printer": {
+    "distance": "0.06 meters",
+    "closeness rank": 1
+   },
+   "table": {
+    "distance": "1.32 meters",
+    "closeness rank": 2
+   },
+   "trash bin": {
+    "distance": "1.57 meters",
+    "closeness rank": 3
+   },
+   "telephone": {
+    "distance": "2.07 meters",
+    "closeness rank": 4
+   },
+   "fan": {
+    "distance": "2.1 meters",
+    "closeness rank": 5
+   },
+   "window": {
+    "distance": "2.25 meters",
+    "closeness rank": 6
+   },
+   "sofa": {
+    "distance": "2.36 meters",
+    "closeness rank": 7
+   },
+   "door": {
+    "distance": "2.47 meters",
+    "closeness rank": 8
+   },
+   "pillow": {
+    "distance": "2.66 meters",
+    "closeness rank": 9
+   },
+   "backpack": {
+    "distance": "2.67 meters",
+    "closeness rank": 10
+   },
+   "refrigerator": {
+    "distance": "3.03 meters",
+    "closeness rank": 11
+   }
+  },
+  "pillow": {
+   "backpack": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "sofa": {
+    "distance": "0.0 meters",
+    "closeness rank": 2
+   },
+   "table": {
+    "distance": "0.65 meters",
+    "closeness rank": 3
+   },
+   "window": {
+    "distance": "0.87 meters",
+    "closeness rank": 4
+   },
+   "refrigerator": {
+    "distance": "1.04 meters",
+    "closeness rank": 5
+   },
+   "door": {
+    "distance": "1.23 meters",
+    "closeness rank": 6
+   },
+   "fan": {
+    "distance": "2.61 meters",
+    "closeness rank": 7
+   },
+   "monitor": {
+    "distance": "2.66 meters",
+    "closeness rank": 8
+   },
+   "printer": {
+    "distance": "2.82 meters",
+    "closeness rank": 9
+   },
+   "trash bin": {
+    "distance": "4.13 meters",
+    "closeness rank": 10
+   },
+   "telephone": {
+    "distance": "4.66 meters",
+    "closeness rank": 11
+   }
+  },
+  "printer": {
+   "monitor": {
+    "distance": "0.06 meters",
+    "closeness rank": 1
+   },
+   "trash bin": {
+    "distance": "1.1 meters",
+    "closeness rank": 2
+   },
+   "table": {
+    "distance": "1.58 meters",
+    "closeness rank": 3
+   },
+   "telephone": {
+    "distance": "1.63 meters",
+    "closeness rank": 4
+   },
+   "fan": {
+    "distance": "1.77 meters",
+    "closeness rank": 5
+   },
+   "window": {
+    "distance": "1.94 meters",
+    "closeness rank": 6
+   },
+   "door": {
+    "distance": "2.18 meters",
+    "closeness rank": 7
+   },
+   "sofa": {
+    "distance": "2.55 meters",
+    "closeness rank": 8
+   },
+   "pillow": {
+    "distance": "2.82 meters",
+    "closeness rank": 9
+   },
+   "backpack": {
+    "distance": "2.83 meters",
+    "closeness rank": 10
+   },
+   "refrigerator": {
+    "distance": "2.94 meters",
+    "closeness rank": 11
+   }
+  },
+  "refrigerator": {
+   "door": {
+    "distance": "0.36 meters",
+    "closeness rank": 1
+   },
+   "sofa": {
+    "distance": "0.68 meters",
+    "closeness rank": 2
+   },
+   "backpack": {
+    "distance": "1.04 meters",
+    "closeness rank": 3
+   },
+   "pillow": {
+    "distance": "1.04 meters",
+    "closeness rank": 4
+   },
+   "window": {
+    "distance": "1.6 meters",
+    "closeness rank": 5
+   },
+   "fan": {
+    "distance": "1.72 meters",
+    "closeness rank": 6
+   },
+   "table": {
+    "distance": "2.3 meters",
+    "closeness rank": 7
+   },
+   "printer": {
+    "distance": "2.94 meters",
+    "closeness rank": 8
+   },
+   "monitor": {
+    "distance": "3.03 meters",
+    "closeness rank": 9
+   },
+   "trash bin": {
+    "distance": "3.24 meters",
+    "closeness rank": 10
+   },
+   "telephone": {
+    "distance": "4.23 meters",
+    "closeness rank": 11
+   }
+  },
+  "sofa": {
+   "backpack": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "pillow": {
+    "distance": "0.0 meters",
+    "closeness rank": 2
+   },
+   "table": {
+    "distance": "0.32 meters",
+    "closeness rank": 3
+   },
+   "refrigerator": {
+    "distance": "0.68 meters",
+    "closeness rank": 4
+   },
+   "door": {
+    "distance": "0.95 meters",
+    "closeness rank": 5
+   },
+   "window": {
+    "distance": "1.04 meters",
+    "closeness rank": 6
+   },
+   "monitor": {
+    "distance": "2.36 meters",
+    "closeness rank": 7
+   },
+   "fan": {
+    "distance": "2.37 meters",
+    "closeness rank": 8
+   },
+   "printer": {
+    "distance": "2.55 meters",
+    "closeness rank": 9
+   },
+   "trash bin": {
+    "distance": "3.89 meters",
+    "closeness rank": 10
+   },
+   "telephone": {
+    "distance": "4.41 meters",
+    "closeness rank": 11
+   }
+  },
+  "table": {
+   "sofa": {
+    "distance": "0.32 meters",
+    "closeness rank": 1
+   },
+   "pillow": {
+    "distance": "0.65 meters",
+    "closeness rank": 2
+   },
+   "backpack": {
+    "distance": "0.68 meters",
+    "closeness rank": 3
+   },
+   "monitor": {
+    "distance": "1.32 meters",
+    "closeness rank": 4
+   },
+   "window": {
+    "distance": "1.36 meters",
+    "closeness rank": 5
+   },
+   "printer": {
+    "distance": "1.58 meters",
+    "closeness rank": 6
+   },
+   "refrigerator": {
+    "distance": "2.3 meters",
+    "closeness rank": 7
+   },
+   "door": {
+    "distance": "2.54 meters",
+    "closeness rank": 8
+   },
+   "fan": {
+    "distance": "2.66 meters",
+    "closeness rank": 9
+   },
+   "trash bin": {
+    "distance": "2.89 meters",
+    "closeness rank": 10
+   },
+   "telephone": {
+    "distance": "3.51 meters",
+    "closeness rank": 11
+   }
+  },
+  "telephone": {
+   "window": {
+    "distance": "0.13 meters",
+    "closeness rank": 1
+   },
+   "trash bin": {
+    "distance": "0.48 meters",
+    "closeness rank": 2
+   },
+   "printer": {
+    "distance": "1.63 meters",
+    "closeness rank": 3
+   },
+   "door": {
+    "distance": "1.96 meters",
+    "closeness rank": 4
+   },
+   "fan": {
+    "distance": "2.06 meters",
+    "closeness rank": 5
+   },
+   "monitor": {
+    "distance": "2.07 meters",
+    "closeness rank": 6
+   },
+   "table": {
+    "distance": "3.51 meters",
+    "closeness rank": 7
+   },
+   "refrigerator": {
+    "distance": "4.23 meters",
+    "closeness rank": 8
+   },
+   "sofa": {
+    "distance": "4.41 meters",
+    "closeness rank": 9
+   },
+   "backpack": {
+    "distance": "4.65 meters",
+    "closeness rank": 10
+   },
+   "pillow": {
+    "distance": "4.66 meters",
+    "closeness rank": 11
+   }
+  },
+  "trash bin": {
+   "door": {
+    "distance": "0.07 meters",
+    "closeness rank": 1
+   },
+   "window": {
+    "distance": "0.16 meters",
+    "closeness rank": 2
+   },
+   "telephone": {
+    "distance": "0.48 meters",
+    "closeness rank": 3
+   },
+   "fan": {
+    "distance": "0.97 meters",
+    "closeness rank": 4
+   },
+   "printer": {
+    "distance": "1.1 meters",
+    "closeness rank": 5
+   },
+   "monitor": {
+    "distance": "1.57 meters",
+    "closeness rank": 6
+   },
+   "table": {
+    "distance": "2.89 meters",
+    "closeness rank": 7
+   },
+   "refrigerator": {
+    "distance": "3.24 meters",
+    "closeness rank": 8
+   },
+   "sofa": {
+    "distance": "3.89 meters",
+    "closeness rank": 9
+   },
+   "backpack": {
+    "distance": "4.12 meters",
+    "closeness rank": 10
+   },
+   "pillow": {
+    "distance": "4.13 meters",
+    "closeness rank": 11
+   }
+  },
+  "window": {
+   "telephone": {
+    "distance": "0.13 meters",
+    "closeness rank": 1
+   },
+   "trash bin": {
+    "distance": "0.16 meters",
+    "closeness rank": 2
+   },
+   "pillow": {
+    "distance": "0.87 meters",
+    "closeness rank": 3
+   },
+   "door": {
+    "distance": "0.91 meters",
+    "closeness rank": 4
+   },
+   "backpack": {
+    "distance": "0.91 meters",
+    "closeness rank": 5
+   },
+   "sofa": {
+    "distance": "1.04 meters",
+    "closeness rank": 6
+   },
+   "table": {
+    "distance": "1.36 meters",
+    "closeness rank": 7
+   },
+   "refrigerator": {
+    "distance": "1.6 meters",
+    "closeness rank": 8
+   },
+   "fan": {
+    "distance": "1.78 meters",
+    "closeness rank": 9
+   },
+   "printer": {
+    "distance": "1.94 meters",
+    "closeness rank": 10
+   },
+   "monitor": {
+    "distance": "2.25 meters",
+    "closeness rank": 11
+   }
+  }
+ },
+ "appearance order": ["window", "monitor", "printer", "door", "trash bin", "fan", "refrigerator", "sofa", "backpack", "table", "pillow", "telephone"]
+}
\ No newline at end of file
diff --git a/data/spatial codes/sam3+depth-anything-3/metric/tracking/selective/32/explicit/scene0647_00.json b/data/spatial codes/sam3+depth-anything-3/metric/tracking/selective/32/explicit/scene0647_00.json
new file mode 100644
index 0000000000000000000000000000000000000000..1ab5c7f2a87bdcb17fb9e5c55df98c1d7fababb5
--- /dev/null
+++ b/data/spatial codes/sam3+depth-anything-3/metric/tracking/selective/32/explicit/scene0647_00.json	
@@ -0,0 +1,529 @@
+{
+ "spatial code schema": {
+  "objects": {
+   "<object class>": {
+    "count": {
+     "unit": null,
+     "description": "number of instances of this class in the compact spatial code (that schema's per-class oriented-box list length)"
+    },
+    "instances": [
+     {
+      "position": {
+       "x coordinate": {
+        "unit": "meters",
+        "description": "x coordinate of this instance's compact 3D oriented bounding box center"
+       },
+       "y coordinate": {
+        "unit": "meters",
+        "description": "y coordinate of this instance's compact 3D oriented bounding box center"
+       },
+       "height above floor": {
+        "unit": "meters",
+        "description": "height coordinate of this instance's compact 3D oriented bounding box center"
+       }
+      },
+      "longest dimension": {
+       "unit": "meters",
+       "description": "longest of this instance's compact 3D oriented bounding box dimensions"
+      }
+     }
+    ]
+   }
+  },
+  "room": {
+   "floor area": {
+    "unit": "square meters",
+    "description": "shoelace area of the compact spatial code's floor boundary polygons, with every interior hole subtracted"
+   }
+  },
+  "closest classes distance meters from": {
+   "<object class>": {
+    "<other object class>": {
+     "distance": {
+      "unit": "meters",
+      "description": "minimum surface-to-surface separation between the two classes' compact 3D oriented bounding boxes, over every instance pair"
+     },
+     "closeness rank": {
+      "unit": null,
+      "description": "1 = the nearest other class to this one, 2 = second-nearest, and so on"
+     }
+    }
+   }
+  },
+  "appearance order": {
+   "unit": null,
+   "description": "class names ordered by earliest compact 'first visible time' across all of that class's instances"
+  }
+ },
+ "objects": {
+  "backpack": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "1.16 meters",
+      "y coordinate": "0.71 meters",
+      "height above floor": "4.14 meters"
+     },
+     "longest dimension": "0.46 meters"
+    }
+   ]
+  },
+  "chair": {
+   "count": 2,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "0.73 meters",
+      "y coordinate": "1.43 meters",
+      "height above floor": "4.07 meters"
+     },
+     "longest dimension": "1.02 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "0.85 meters",
+      "y coordinate": "0.04 meters",
+      "height above floor": "4.33 meters"
+     },
+     "longest dimension": "0.61 meters"
+    }
+   ]
+  },
+  "door": {
+   "count": 2,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-0.33 meters",
+      "y coordinate": "2.8 meters",
+      "height above floor": "4.69 meters"
+     },
+     "longest dimension": "1.93 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "0.19 meters",
+      "y coordinate": "0.61 meters",
+      "height above floor": "-0.02 meters"
+     },
+     "longest dimension": "2.04 meters"
+    }
+   ]
+  },
+  "fan": {
+   "count": 2,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-0.57 meters",
+      "y coordinate": "-0.79 meters",
+      "height above floor": "1.01 meters"
+     },
+     "longest dimension": "0.78 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-0.58 meters",
+      "y coordinate": "-0.24 meters",
+      "height above floor": "2.9 meters"
+     },
+     "longest dimension": "0.61 meters"
+    }
+   ]
+  },
+  "lamp": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-0.51 meters",
+      "y coordinate": "-0.87 meters",
+      "height above floor": "0.99 meters"
+     },
+     "longest dimension": "1.07 meters"
+    }
+   ]
+  },
+  "monitor": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-0.87 meters",
+      "y coordinate": "4.12 meters",
+      "height above floor": "2.8 meters"
+     },
+     "longest dimension": "2.49 meters"
+    }
+   ]
+  },
+  "sofa": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "1.19 meters",
+      "y coordinate": "-0.59 meters",
+      "height above floor": "3.67 meters"
+     },
+     "longest dimension": "1.77 meters"
+    }
+   ]
+  },
+  "table": {
+   "count": 3,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "0.15 meters",
+      "y coordinate": "2.44 meters",
+      "height above floor": "1.47 meters"
+     },
+     "longest dimension": "2.62 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "1.06 meters",
+      "y coordinate": "-0.48 meters",
+      "height above floor": "3.63 meters"
+     },
+     "longest dimension": "1.0 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "0.93 meters",
+      "y coordinate": "-0.89 meters",
+      "height above floor": "0.92 meters"
+     },
+     "longest dimension": "1.03 meters"
+    }
+   ]
+  },
+  "tv": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-1.45 meters",
+      "y coordinate": "4.84 meters",
+      "height above floor": "3.62 meters"
+     },
+     "longest dimension": "1.31 meters"
+    }
+   ]
+  }
+ },
+ "room": {
+  "floor area": "20.6 square meters"
+ },
+ "closest classes distance meters from": {
+  "backpack": {
+   "chair": {
+    "distance": "0.06 meters",
+    "closeness rank": 1
+   },
+   "sofa": {
+    "distance": "0.23 meters",
+    "closeness rank": 2
+   },
+   "table": {
+    "distance": "0.57 meters",
+    "closeness rank": 3
+   },
+   "door": {
+    "distance": "1.23 meters",
+    "closeness rank": 4
+   },
+   "fan": {
+    "distance": "1.91 meters",
+    "closeness rank": 5
+   },
+   "monitor": {
+    "distance": "2.54 meters",
+    "closeness rank": 6
+   },
+   "lamp": {
+    "distance": "3.34 meters",
+    "closeness rank": 7
+   },
+   "tv": {
+    "distance": "4.47 meters",
+    "closeness rank": 8
+   }
+  },
+  "chair": {
+   "sofa": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "table": {
+    "distance": "0.0 meters",
+    "closeness rank": 2
+   },
+   "backpack": {
+    "distance": "0.06 meters",
+    "closeness rank": 3
+   },
+   "door": {
+    "distance": "0.35 meters",
+    "closeness rank": 4
+   },
+   "monitor": {
+    "distance": "1.42 meters",
+    "closeness rank": 5
+   },
+   "fan": {
+    "distance": "1.58 meters",
+    "closeness rank": 6
+   },
+   "lamp": {
+    "distance": "3.12 meters",
+    "closeness rank": 7
+   },
+   "tv": {
+    "distance": "3.38 meters",
+    "closeness rank": 8
+   }
+  },
+  "door": {
+   "chair": {
+    "distance": "0.35 meters",
+    "closeness rank": 1
+   },
+   "fan": {
+    "distance": "0.67 meters",
+    "closeness rank": 2
+   },
+   "lamp": {
+    "distance": "0.72 meters",
+    "closeness rank": 3
+   },
+   "table": {
+    "distance": "0.84 meters",
+    "closeness rank": 4
+   },
+   "backpack": {
+    "distance": "1.23 meters",
+    "closeness rank": 5
+   },
+   "tv": {
+    "distance": "1.27 meters",
+    "closeness rank": 6
+   },
+   "monitor": {
+    "distance": "1.35 meters",
+    "closeness rank": 7
+   },
+   "sofa": {
+    "distance": "1.91 meters",
+    "closeness rank": 8
+   }
+  },
+  "fan": {
+   "lamp": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "door": {
+    "distance": "0.67 meters",
+    "closeness rank": 2
+   },
+   "table": {
+    "distance": "0.81 meters",
+    "closeness rank": 3
+   },
+   "sofa": {
+    "distance": "1.2 meters",
+    "closeness rank": 4
+   },
+   "chair": {
+    "distance": "1.58 meters",
+    "closeness rank": 5
+   },
+   "backpack": {
+    "distance": "1.91 meters",
+    "closeness rank": 6
+   },
+   "monitor": {
+    "distance": "2.85 meters",
+    "closeness rank": 7
+   },
+   "tv": {
+    "distance": "4.81 meters",
+    "closeness rank": 8
+   }
+  },
+  "lamp": {
+   "fan": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "table": {
+    "distance": "0.66 meters",
+    "closeness rank": 2
+   },
+   "door": {
+    "distance": "0.72 meters",
+    "closeness rank": 3
+   },
+   "sofa": {
+    "distance": "1.93 meters",
+    "closeness rank": 4
+   },
+   "chair": {
+    "distance": "3.12 meters",
+    "closeness rank": 5
+   },
+   "backpack": {
+    "distance": "3.34 meters",
+    "closeness rank": 6
+   },
+   "monitor": {
+    "distance": "3.43 meters",
+    "closeness rank": 7
+   },
+   "tv": {
+    "distance": "5.48 meters",
+    "closeness rank": 8
+   }
+  },
+  "monitor": {
+   "tv": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "table": {
+    "distance": "0.21 meters",
+    "closeness rank": 2
+   },
+   "door": {
+    "distance": "1.35 meters",
+    "closeness rank": 3
+   },
+   "chair": {
+    "distance": "1.42 meters",
+    "closeness rank": 4
+   },
+   "backpack": {
+    "distance": "2.54 meters",
+    "closeness rank": 5
+   },
+   "fan": {
+    "distance": "2.85 meters",
+    "closeness rank": 6
+   },
+   "sofa": {
+    "distance": "3.1 meters",
+    "closeness rank": 7
+   },
+   "lamp": {
+    "distance": "3.43 meters",
+    "closeness rank": 8
+   }
+  },
+  "sofa": {
+   "chair": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "table": {
+    "distance": "0.0 meters",
+    "closeness rank": 2
+   },
+   "backpack": {
+    "distance": "0.23 meters",
+    "closeness rank": 3
+   },
+   "fan": {
+    "distance": "1.2 meters",
+    "closeness rank": 4
+   },
+   "door": {
+    "distance": "1.91 meters",
+    "closeness rank": 5
+   },
+   "lamp": {
+    "distance": "1.93 meters",
+    "closeness rank": 6
+   },
+   "monitor": {
+    "distance": "3.1 meters",
+    "closeness rank": 7
+   },
+   "tv": {
+    "distance": "5.16 meters",
+    "closeness rank": 8
+   }
+  },
+  "table": {
+   "chair": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "sofa": {
+    "distance": "0.0 meters",
+    "closeness rank": 2
+   },
+   "monitor": {
+    "distance": "0.21 meters",
+    "closeness rank": 3
+   },
+   "backpack": {
+    "distance": "0.57 meters",
+    "closeness rank": 4
+   },
+   "lamp": {
+    "distance": "0.66 meters",
+    "closeness rank": 5
+   },
+   "fan": {
+    "distance": "0.81 meters",
+    "closeness rank": 6
+   },
+   "door": {
+    "distance": "0.84 meters",
+    "closeness rank": 7
+   },
+   "tv": {
+    "distance": "1.7 meters",
+    "closeness rank": 8
+   }
+  },
+  "tv": {
+   "monitor": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "door": {
+    "distance": "1.27 meters",
+    "closeness rank": 2
+   },
+   "table": {
+    "distance": "1.7 meters",
+    "closeness rank": 3
+   },
+   "chair": {
+    "distance": "3.38 meters",
+    "closeness rank": 4
+   },
+   "backpack": {
+    "distance": "4.47 meters",
+    "closeness rank": 5
+   },
+   "fan": {
+    "distance": "4.81 meters",
+    "closeness rank": 6
+   },
+   "sofa": {
+    "distance": "5.16 meters",
+    "closeness rank": 7
+   },
+   "lamp": {
+    "distance": "5.48 meters",
+    "closeness rank": 8
+   }
+  }
+ },
+ "appearance order": ["door", "table", "lamp", "fan", "sofa", "backpack", "chair", "tv", "monitor"]
+}
\ No newline at end of file
diff --git a/data/spatial codes/sam3+depth-anything-3/metric/tracking/selective/32/explicit/scene0648_00.json b/data/spatial codes/sam3+depth-anything-3/metric/tracking/selective/32/explicit/scene0648_00.json
new file mode 100644
index 0000000000000000000000000000000000000000..8f108c516cc414972957d40a7408a136a295c753
--- /dev/null
+++ b/data/spatial codes/sam3+depth-anything-3/metric/tracking/selective/32/explicit/scene0648_00.json	
@@ -0,0 +1,1481 @@
+{
+ "spatial code schema": {
+  "objects": {
+   "<object class>": {
+    "count": {
+     "unit": null,
+     "description": "number of instances of this class in the compact spatial code (that schema's per-class oriented-box list length)"
+    },
+    "instances": [
+     {
+      "position": {
+       "x coordinate": {
+        "unit": "meters",
+        "description": "x coordinate of this instance's compact 3D oriented bounding box center"
+       },
+       "y coordinate": {
+        "unit": "meters",
+        "description": "y coordinate of this instance's compact 3D oriented bounding box center"
+       },
+       "height above floor": {
+        "unit": "meters",
+        "description": "height coordinate of this instance's compact 3D oriented bounding box center"
+       }
+      },
+      "longest dimension": {
+       "unit": "meters",
+       "description": "longest of this instance's compact 3D oriented bounding box dimensions"
+      }
+     }
+    ]
+   }
+  },
+  "room": {
+   "floor area": {
+    "unit": "square meters",
+    "description": "shoelace area of the compact spatial code's floor boundary polygons, with every interior hole subtracted"
+   }
+  },
+  "closest classes distance meters from": {
+   "<object class>": {
+    "<other object class>": {
+     "distance": {
+      "unit": "meters",
+      "description": "minimum surface-to-surface separation between the two classes' compact 3D oriented bounding boxes, over every instance pair"
+     },
+     "closeness rank": {
+      "unit": null,
+      "description": "1 = the nearest other class to this one, 2 = second-nearest, and so on"
+     }
+    }
+   }
+  },
+  "appearance order": {
+   "unit": null,
+   "description": "class names ordered by earliest compact 'first visible time' across all of that class's instances"
+  }
+ },
+ "objects": {
+  "backpack": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "0.24 meters",
+      "y coordinate": "1.07 meters",
+      "height above floor": "-0.4 meters"
+     },
+     "longest dimension": "0.45 meters"
+    }
+   ]
+  },
+  "bed": {
+   "count": 3,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "0.22 meters",
+      "y coordinate": "0.26 meters",
+      "height above floor": "0.18 meters"
+     },
+     "longest dimension": "1.46 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "1.34 meters",
+      "y coordinate": "-0.7 meters",
+      "height above floor": "-0.6 meters"
+     },
+     "longest dimension": "0.99 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "0.8 meters",
+      "y coordinate": "-0.21 meters",
+      "height above floor": "0.4 meters"
+     },
+     "longest dimension": "0.9 meters"
+    }
+   ]
+  },
+  "bookshelf": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-0.87 meters",
+      "y coordinate": "0.7 meters",
+      "height above floor": "-0.77 meters"
+     },
+     "longest dimension": "0.99 meters"
+    }
+   ]
+  },
+  "chair": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "0.22 meters",
+      "y coordinate": "0.89 meters",
+      "height above floor": "-0.95 meters"
+     },
+     "longest dimension": "0.82 meters"
+    }
+   ]
+  },
+  "clock": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "1.12 meters",
+      "y coordinate": "-0.94 meters",
+      "height above floor": "-1.12 meters"
+     },
+     "longest dimension": "0.14 meters"
+    }
+   ]
+  },
+  "closet": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-0.69 meters",
+      "y coordinate": "0.63 meters",
+      "height above floor": "-1.56 meters"
+     },
+     "longest dimension": "1.19 meters"
+    }
+   ]
+  },
+  "door": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "1.14 meters",
+      "y coordinate": "0.26 meters",
+      "height above floor": "-1.02 meters"
+     },
+     "longest dimension": "0.52 meters"
+    }
+   ]
+  },
+  "keyboard": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "1.1 meters",
+      "y coordinate": "-0.18 meters",
+      "height above floor": "0.51 meters"
+     },
+     "longest dimension": "0.26 meters"
+    }
+   ]
+  },
+  "lamp": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "1.17 meters",
+      "y coordinate": "-0.93 meters",
+      "height above floor": "0.59 meters"
+     },
+     "longest dimension": "0.28 meters"
+    }
+   ]
+  },
+  "mattress": {
+   "count": 3,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "0.48 meters",
+      "y coordinate": "0.08 meters",
+      "height above floor": "0.16 meters"
+     },
+     "longest dimension": "1.25 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "1.33 meters",
+      "y coordinate": "-0.7 meters",
+      "height above floor": "-0.57 meters"
+     },
+     "longest dimension": "0.78 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "1.38 meters",
+      "y coordinate": "-0.72 meters",
+      "height above floor": "0.6 meters"
+     },
+     "longest dimension": "0.79 meters"
+    }
+   ]
+  },
+  "monitor": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "1.07 meters",
+      "y coordinate": "-0.21 meters",
+      "height above floor": "0.62 meters"
+     },
+     "longest dimension": "0.29 meters"
+    }
+   ]
+  },
+  "nightstand": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-0.25 meters",
+      "y coordinate": "0.99 meters",
+      "height above floor": "-0.95 meters"
+     },
+     "longest dimension": "1.13 meters"
+    }
+   ]
+  },
+  "pillow": {
+   "count": 4,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "1.4 meters",
+      "y coordinate": "-0.97 meters",
+      "height above floor": "0.73 meters"
+     },
+     "longest dimension": "0.79 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-0.57 meters",
+      "y coordinate": "0.42 meters",
+      "height above floor": "0.45 meters"
+     },
+     "longest dimension": "0.56 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "1.29 meters",
+      "y coordinate": "-0.72 meters",
+      "height above floor": "0.86 meters"
+     },
+     "longest dimension": "0.21 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-0.47 meters",
+      "y coordinate": "0.52 meters",
+      "height above floor": "0.78 meters"
+     },
+     "longest dimension": "0.31 meters"
+    }
+   ]
+  },
+  "plant": {
+   "count": 2,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-1.15 meters",
+      "y coordinate": "0.42 meters",
+      "height above floor": "-1.08 meters"
+     },
+     "longest dimension": "0.4 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-1.09 meters",
+      "y coordinate": "0.36 meters",
+      "height above floor": "-0.48 meters"
+     },
+     "longest dimension": "0.28 meters"
+    }
+   ]
+  },
+  "table": {
+   "count": 2,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-0.29 meters",
+      "y coordinate": "0.94 meters",
+      "height above floor": "-1.03 meters"
+     },
+     "longest dimension": "1.0 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "1.24 meters",
+      "y coordinate": "-0.22 meters",
+      "height above floor": "0.4 meters"
+     },
+     "longest dimension": "0.74 meters"
+    }
+   ]
+  },
+  "towel": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-0.67 meters",
+      "y coordinate": "0.89 meters",
+      "height above floor": "-1.57 meters"
+     },
+     "longest dimension": "0.43 meters"
+    }
+   ]
+  },
+  "window": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "0.89 meters",
+      "y coordinate": "-0.45 meters",
+      "height above floor": "1.5 meters"
+     },
+     "longest dimension": "1.05 meters"
+    }
+   ]
+  }
+ },
+ "room": {
+  "floor area": "10.4 square meters"
+ },
+ "closest classes distance meters from": {
+  "backpack": {
+   "nightstand": {
+    "distance": "0.09 meters",
+    "closeness rank": 1
+   },
+   "table": {
+    "distance": "0.09 meters",
+    "closeness rank": 2
+   },
+   "chair": {
+    "distance": "0.19 meters",
+    "closeness rank": 3
+   },
+   "mattress": {
+    "distance": "0.37 meters",
+    "closeness rank": 4
+   },
+   "bed": {
+    "distance": "0.45 meters",
+    "closeness rank": 5
+   },
+   "bookshelf": {
+    "distance": "0.71 meters",
+    "closeness rank": 6
+   },
+   "pillow": {
+    "distance": "0.82 meters",
+    "closeness rank": 7
+   },
+   "closet": {
+    "distance": "0.93 meters",
+    "closeness rank": 8
+   },
+   "door": {
+    "distance": "1.12 meters",
+    "closeness rank": 9
+   },
+   "towel": {
+    "distance": "1.14 meters",
+    "closeness rank": 10
+   },
+   "plant": {
+    "distance": "1.19 meters",
+    "closeness rank": 11
+   },
+   "keyboard": {
+    "distance": "1.52 meters",
+    "closeness rank": 12
+   },
+   "monitor": {
+    "distance": "1.57 meters",
+    "closeness rank": 13
+   },
+   "window": {
+    "distance": "1.96 meters",
+    "closeness rank": 14
+   },
+   "clock": {
+    "distance": "2.11 meters",
+    "closeness rank": 15
+   },
+   "lamp": {
+    "distance": "2.2 meters",
+    "closeness rank": 16
+   }
+  },
+  "bed": {
+   "mattress": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "pillow": {
+    "distance": "0.0 meters",
+    "closeness rank": 2
+   },
+   "table": {
+    "distance": "0.01 meters",
+    "closeness rank": 3
+   },
+   "monitor": {
+    "distance": "0.02 meters",
+    "closeness rank": 4
+   },
+   "keyboard": {
+    "distance": "0.07 meters",
+    "closeness rank": 5
+   },
+   "clock": {
+    "distance": "0.18 meters",
+    "closeness rank": 6
+   },
+   "bookshelf": {
+    "distance": "0.43 meters",
+    "closeness rank": 7
+   },
+   "backpack": {
+    "distance": "0.45 meters",
+    "closeness rank": 8
+   },
+   "nightstand": {
+    "distance": "0.46 meters",
+    "closeness rank": 9
+   },
+   "window": {
+    "distance": "0.53 meters",
+    "closeness rank": 10
+   },
+   "lamp": {
+    "distance": "0.57 meters",
+    "closeness rank": 11
+   },
+   "plant": {
+    "distance": "0.64 meters",
+    "closeness rank": 12
+   },
+   "door": {
+    "distance": "0.64 meters",
+    "closeness rank": 13
+   },
+   "chair": {
+    "distance": "0.74 meters",
+    "closeness rank": 14
+   },
+   "closet": {
+    "distance": "1.43 meters",
+    "closeness rank": 15
+   },
+   "towel": {
+    "distance": "1.59 meters",
+    "closeness rank": 16
+   }
+  },
+  "bookshelf": {
+   "plant": {
+    "distance": "0.06 meters",
+    "closeness rank": 1
+   },
+   "closet": {
+    "distance": "0.12 meters",
+    "closeness rank": 2
+   },
+   "table": {
+    "distance": "0.18 meters",
+    "closeness rank": 3
+   },
+   "towel": {
+    "distance": "0.26 meters",
+    "closeness rank": 4
+   },
+   "nightstand": {
+    "distance": "0.3 meters",
+    "closeness rank": 5
+   },
+   "bed": {
+    "distance": "0.43 meters",
+    "closeness rank": 6
+   },
+   "pillow": {
+    "distance": "0.46 meters",
+    "closeness rank": 7
+   },
+   "chair": {
+    "distance": "0.65 meters",
+    "closeness rank": 8
+   },
+   "backpack": {
+    "distance": "0.71 meters",
+    "closeness rank": 9
+   },
+   "mattress": {
+    "distance": "0.75 meters",
+    "closeness rank": 10
+   },
+   "door": {
+    "distance": "1.68 meters",
+    "closeness rank": 11
+   },
+   "keyboard": {
+    "distance": "2.04 meters",
+    "closeness rank": 12
+   },
+   "monitor": {
+    "distance": "2.06 meters",
+    "closeness rank": 13
+   },
+   "window": {
+    "distance": "2.15 meters",
+    "closeness rank": 14
+   },
+   "clock": {
+    "distance": "2.34 meters",
+    "closeness rank": 15
+   },
+   "lamp": {
+    "distance": "2.51 meters",
+    "closeness rank": 16
+   }
+  },
+  "chair": {
+   "table": {
+    "distance": "0.04 meters",
+    "closeness rank": 1
+   },
+   "nightstand": {
+    "distance": "0.04 meters",
+    "closeness rank": 2
+   },
+   "backpack": {
+    "distance": "0.19 meters",
+    "closeness rank": 3
+   },
+   "closet": {
+    "distance": "0.29 meters",
+    "closeness rank": 4
+   },
+   "door": {
+    "distance": "0.5 meters",
+    "closeness rank": 5
+   },
+   "towel": {
+    "distance": "0.55 meters",
+    "closeness rank": 6
+   },
+   "bookshelf": {
+    "distance": "0.65 meters",
+    "closeness rank": 7
+   },
+   "mattress": {
+    "distance": "0.66 meters",
+    "closeness rank": 8
+   },
+   "bed": {
+    "distance": "0.74 meters",
+    "closeness rank": 9
+   },
+   "pillow": {
+    "distance": "0.98 meters",
+    "closeness rank": 10
+   },
+   "plant": {
+    "distance": "1.04 meters",
+    "closeness rank": 11
+   },
+   "keyboard": {
+    "distance": "1.4 meters",
+    "closeness rank": 12
+   },
+   "monitor": {
+    "distance": "1.5 meters",
+    "closeness rank": 13
+   },
+   "clock": {
+    "distance": "1.5 meters",
+    "closeness rank": 14
+   },
+   "lamp": {
+    "distance": "1.93 meters",
+    "closeness rank": 15
+   },
+   "window": {
+    "distance": "2.16 meters",
+    "closeness rank": 16
+   }
+  },
+  "clock": {
+   "bed": {
+    "distance": "0.18 meters",
+    "closeness rank": 1
+   },
+   "mattress": {
+    "distance": "0.25 meters",
+    "closeness rank": 2
+   },
+   "door": {
+    "distance": "0.9 meters",
+    "closeness rank": 3
+   },
+   "table": {
+    "distance": "1.5 meters",
+    "closeness rank": 4
+   },
+   "chair": {
+    "distance": "1.5 meters",
+    "closeness rank": 5
+   },
+   "lamp": {
+    "distance": "1.55 meters",
+    "closeness rank": 6
+   },
+   "closet": {
+    "distance": "1.61 meters",
+    "closeness rank": 7
+   },
+   "keyboard": {
+    "distance": "1.67 meters",
+    "closeness rank": 8
+   },
+   "pillow": {
+    "distance": "1.71 meters",
+    "closeness rank": 9
+   },
+   "monitor": {
+    "distance": "1.77 meters",
+    "closeness rank": 10
+   },
+   "backpack": {
+    "distance": "2.11 meters",
+    "closeness rank": 11
+   },
+   "nightstand": {
+    "distance": "2.12 meters",
+    "closeness rank": 12
+   },
+   "bookshelf": {
+    "distance": "2.34 meters",
+    "closeness rank": 13
+   },
+   "towel": {
+    "distance": "2.47 meters",
+    "closeness rank": 14
+   },
+   "plant": {
+    "distance": "2.47 meters",
+    "closeness rank": 15
+   },
+   "window": {
+    "distance": "2.48 meters",
+    "closeness rank": 16
+   }
+  },
+  "closet": {
+   "nightstand": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "table": {
+    "distance": "0.0 meters",
+    "closeness rank": 2
+   },
+   "towel": {
+    "distance": "0.0 meters",
+    "closeness rank": 3
+   },
+   "plant": {
+    "distance": "0.1 meters",
+    "closeness rank": 4
+   },
+   "bookshelf": {
+    "distance": "0.12 meters",
+    "closeness rank": 5
+   },
+   "chair": {
+    "distance": "0.29 meters",
+    "closeness rank": 6
+   },
+   "backpack": {
+    "distance": "0.93 meters",
+    "closeness rank": 7
+   },
+   "door": {
+    "distance": "1.12 meters",
+    "closeness rank": 8
+   },
+   "mattress": {
+    "distance": "1.35 meters",
+    "closeness rank": 9
+   },
+   "bed": {
+    "distance": "1.43 meters",
+    "closeness rank": 10
+   },
+   "pillow": {
+    "distance": "1.55 meters",
+    "closeness rank": 11
+   },
+   "clock": {
+    "distance": "1.61 meters",
+    "closeness rank": 12
+   },
+   "keyboard": {
+    "distance": "2.2 meters",
+    "closeness rank": 13
+   },
+   "monitor": {
+    "distance": "2.28 meters",
+    "closeness rank": 14
+   },
+   "lamp": {
+    "distance": "2.47 meters",
+    "closeness rank": 15
+   },
+   "window": {
+    "distance": "2.83 meters",
+    "closeness rank": 16
+   }
+  },
+  "door": {
+   "chair": {
+    "distance": "0.5 meters",
+    "closeness rank": 1
+   },
+   "mattress": {
+    "distance": "0.62 meters",
+    "closeness rank": 2
+   },
+   "bed": {
+    "distance": "0.64 meters",
+    "closeness rank": 3
+   },
+   "clock": {
+    "distance": "0.9 meters",
+    "closeness rank": 4
+   },
+   "backpack": {
+    "distance": "1.12 meters",
+    "closeness rank": 5
+   },
+   "closet": {
+    "distance": "1.12 meters",
+    "closeness rank": 6
+   },
+   "table": {
+    "distance": "1.18 meters",
+    "closeness rank": 7
+   },
+   "nightstand": {
+    "distance": "1.24 meters",
+    "closeness rank": 8
+   },
+   "keyboard": {
+    "distance": "1.44 meters",
+    "closeness rank": 9
+   },
+   "monitor": {
+    "distance": "1.57 meters",
+    "closeness rank": 10
+   },
+   "towel": {
+    "distance": "1.68 meters",
+    "closeness rank": 11
+   },
+   "bookshelf": {
+    "distance": "1.68 meters",
+    "closeness rank": 12
+   },
+   "lamp": {
+    "distance": "1.7 meters",
+    "closeness rank": 13
+   },
+   "pillow": {
+    "distance": "1.72 meters",
+    "closeness rank": 14
+   },
+   "plant": {
+    "distance": "1.91 meters",
+    "closeness rank": 15
+   },
+   "window": {
+    "distance": "2.36 meters",
+    "closeness rank": 16
+   }
+  },
+  "keyboard": {
+   "table": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "monitor": {
+    "distance": "0.03 meters",
+    "closeness rank": 2
+   },
+   "bed": {
+    "distance": "0.07 meters",
+    "closeness rank": 3
+   },
+   "mattress": {
+    "distance": "0.09 meters",
+    "closeness rank": 4
+   },
+   "pillow": {
+    "distance": "0.32 meters",
+    "closeness rank": 5
+   },
+   "lamp": {
+    "distance": "0.61 meters",
+    "closeness rank": 6
+   },
+   "window": {
+    "distance": "0.81 meters",
+    "closeness rank": 7
+   },
+   "chair": {
+    "distance": "1.4 meters",
+    "closeness rank": 8
+   },
+   "door": {
+    "distance": "1.44 meters",
+    "closeness rank": 9
+   },
+   "backpack": {
+    "distance": "1.52 meters",
+    "closeness rank": 10
+   },
+   "clock": {
+    "distance": "1.67 meters",
+    "closeness rank": 11
+   },
+   "nightstand": {
+    "distance": "1.72 meters",
+    "closeness rank": 12
+   },
+   "bookshelf": {
+    "distance": "2.04 meters",
+    "closeness rank": 13
+   },
+   "closet": {
+    "distance": "2.2 meters",
+    "closeness rank": 14
+   },
+   "plant": {
+    "distance": "2.24 meters",
+    "closeness rank": 15
+   },
+   "towel": {
+    "distance": "2.72 meters",
+    "closeness rank": 16
+   }
+  },
+  "lamp": {
+   "pillow": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "mattress": {
+    "distance": "0.2 meters",
+    "closeness rank": 2
+   },
+   "table": {
+    "distance": "0.49 meters",
+    "closeness rank": 3
+   },
+   "monitor": {
+    "distance": "0.55 meters",
+    "closeness rank": 4
+   },
+   "bed": {
+    "distance": "0.57 meters",
+    "closeness rank": 5
+   },
+   "keyboard": {
+    "distance": "0.61 meters",
+    "closeness rank": 6
+   },
+   "window": {
+    "distance": "0.65 meters",
+    "closeness rank": 7
+   },
+   "clock": {
+    "distance": "1.55 meters",
+    "closeness rank": 8
+   },
+   "door": {
+    "distance": "1.7 meters",
+    "closeness rank": 9
+   },
+   "chair": {
+    "distance": "1.93 meters",
+    "closeness rank": 10
+   },
+   "backpack": {
+    "distance": "2.2 meters",
+    "closeness rank": 11
+   },
+   "nightstand": {
+    "distance": "2.32 meters",
+    "closeness rank": 12
+   },
+   "closet": {
+    "distance": "2.47 meters",
+    "closeness rank": 13
+   },
+   "bookshelf": {
+    "distance": "2.51 meters",
+    "closeness rank": 14
+   },
+   "plant": {
+    "distance": "2.62 meters",
+    "closeness rank": 15
+   },
+   "towel": {
+    "distance": "3.18 meters",
+    "closeness rank": 16
+   }
+  },
+  "mattress": {
+   "bed": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "pillow": {
+    "distance": "0.0 meters",
+    "closeness rank": 2
+   },
+   "table": {
+    "distance": "0.03 meters",
+    "closeness rank": 3
+   },
+   "monitor": {
+    "distance": "0.05 meters",
+    "closeness rank": 4
+   },
+   "keyboard": {
+    "distance": "0.09 meters",
+    "closeness rank": 5
+   },
+   "lamp": {
+    "distance": "0.2 meters",
+    "closeness rank": 6
+   },
+   "clock": {
+    "distance": "0.25 meters",
+    "closeness rank": 7
+   },
+   "backpack": {
+    "distance": "0.37 meters",
+    "closeness rank": 8
+   },
+   "nightstand": {
+    "distance": "0.5 meters",
+    "closeness rank": 9
+   },
+   "window": {
+    "distance": "0.54 meters",
+    "closeness rank": 10
+   },
+   "door": {
+    "distance": "0.62 meters",
+    "closeness rank": 11
+   },
+   "chair": {
+    "distance": "0.66 meters",
+    "closeness rank": 12
+   },
+   "bookshelf": {
+    "distance": "0.75 meters",
+    "closeness rank": 13
+   },
+   "plant": {
+    "distance": "0.97 meters",
+    "closeness rank": 14
+   },
+   "closet": {
+    "distance": "1.35 meters",
+    "closeness rank": 15
+   },
+   "towel": {
+    "distance": "1.65 meters",
+    "closeness rank": 16
+   }
+  },
+  "monitor": {
+   "bed": {
+    "distance": "0.02 meters",
+    "closeness rank": 1
+   },
+   "keyboard": {
+    "distance": "0.03 meters",
+    "closeness rank": 2
+   },
+   "mattress": {
+    "distance": "0.05 meters",
+    "closeness rank": 3
+   },
+   "table": {
+    "distance": "0.09 meters",
+    "closeness rank": 4
+   },
+   "pillow": {
+    "distance": "0.28 meters",
+    "closeness rank": 5
+   },
+   "lamp": {
+    "distance": "0.55 meters",
+    "closeness rank": 6
+   },
+   "window": {
+    "distance": "0.72 meters",
+    "closeness rank": 7
+   },
+   "chair": {
+    "distance": "1.5 meters",
+    "closeness rank": 8
+   },
+   "door": {
+    "distance": "1.57 meters",
+    "closeness rank": 9
+   },
+   "backpack": {
+    "distance": "1.57 meters",
+    "closeness rank": 10
+   },
+   "nightstand": {
+    "distance": "1.77 meters",
+    "closeness rank": 11
+   },
+   "clock": {
+    "distance": "1.77 meters",
+    "closeness rank": 12
+   },
+   "bookshelf": {
+    "distance": "2.06 meters",
+    "closeness rank": 13
+   },
+   "plant": {
+    "distance": "2.24 meters",
+    "closeness rank": 14
+   },
+   "closet": {
+    "distance": "2.28 meters",
+    "closeness rank": 15
+   },
+   "towel": {
+    "distance": "2.81 meters",
+    "closeness rank": 16
+   }
+  },
+  "nightstand": {
+   "closet": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "table": {
+    "distance": "0.0 meters",
+    "closeness rank": 2
+   },
+   "chair": {
+    "distance": "0.04 meters",
+    "closeness rank": 3
+   },
+   "towel": {
+    "distance": "0.07 meters",
+    "closeness rank": 4
+   },
+   "backpack": {
+    "distance": "0.09 meters",
+    "closeness rank": 5
+   },
+   "bookshelf": {
+    "distance": "0.3 meters",
+    "closeness rank": 6
+   },
+   "bed": {
+    "distance": "0.46 meters",
+    "closeness rank": 7
+   },
+   "mattress": {
+    "distance": "0.5 meters",
+    "closeness rank": 8
+   },
+   "pillow": {
+    "distance": "0.73 meters",
+    "closeness rank": 9
+   },
+   "plant": {
+    "distance": "0.8 meters",
+    "closeness rank": 10
+   },
+   "door": {
+    "distance": "1.24 meters",
+    "closeness rank": 11
+   },
+   "keyboard": {
+    "distance": "1.72 meters",
+    "closeness rank": 12
+   },
+   "monitor": {
+    "distance": "1.77 meters",
+    "closeness rank": 13
+   },
+   "window": {
+    "distance": "2.07 meters",
+    "closeness rank": 14
+   },
+   "clock": {
+    "distance": "2.12 meters",
+    "closeness rank": 15
+   },
+   "lamp": {
+    "distance": "2.32 meters",
+    "closeness rank": 16
+   }
+  },
+  "pillow": {
+   "bed": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "lamp": {
+    "distance": "0.0 meters",
+    "closeness rank": 2
+   },
+   "mattress": {
+    "distance": "0.0 meters",
+    "closeness rank": 3
+   },
+   "table": {
+    "distance": "0.15 meters",
+    "closeness rank": 4
+   },
+   "monitor": {
+    "distance": "0.28 meters",
+    "closeness rank": 5
+   },
+   "keyboard": {
+    "distance": "0.32 meters",
+    "closeness rank": 6
+   },
+   "window": {
+    "distance": "0.41 meters",
+    "closeness rank": 7
+   },
+   "bookshelf": {
+    "distance": "0.46 meters",
+    "closeness rank": 8
+   },
+   "plant": {
+    "distance": "0.58 meters",
+    "closeness rank": 9
+   },
+   "nightstand": {
+    "distance": "0.73 meters",
+    "closeness rank": 10
+   },
+   "backpack": {
+    "distance": "0.82 meters",
+    "closeness rank": 11
+   },
+   "chair": {
+    "distance": "0.98 meters",
+    "closeness rank": 12
+   },
+   "closet": {
+    "distance": "1.55 meters",
+    "closeness rank": 13
+   },
+   "towel": {
+    "distance": "1.7 meters",
+    "closeness rank": 14
+   },
+   "clock": {
+    "distance": "1.71 meters",
+    "closeness rank": 15
+   },
+   "door": {
+    "distance": "1.72 meters",
+    "closeness rank": 16
+   }
+  },
+  "plant": {
+   "bookshelf": {
+    "distance": "0.06 meters",
+    "closeness rank": 1
+   },
+   "closet": {
+    "distance": "0.1 meters",
+    "closeness rank": 2
+   },
+   "towel": {
+    "distance": "0.41 meters",
+    "closeness rank": 3
+   },
+   "pillow": {
+    "distance": "0.58 meters",
+    "closeness rank": 4
+   },
+   "bed": {
+    "distance": "0.64 meters",
+    "closeness rank": 5
+   },
+   "table": {
+    "distance": "0.67 meters",
+    "closeness rank": 6
+   },
+   "nightstand": {
+    "distance": "0.8 meters",
+    "closeness rank": 7
+   },
+   "mattress": {
+    "distance": "0.97 meters",
+    "closeness rank": 8
+   },
+   "chair": {
+    "distance": "1.04 meters",
+    "closeness rank": 9
+   },
+   "backpack": {
+    "distance": "1.19 meters",
+    "closeness rank": 10
+   },
+   "door": {
+    "distance": "1.91 meters",
+    "closeness rank": 11
+   },
+   "keyboard": {
+    "distance": "2.24 meters",
+    "closeness rank": 12
+   },
+   "monitor": {
+    "distance": "2.24 meters",
+    "closeness rank": 13
+   },
+   "window": {
+    "distance": "2.3 meters",
+    "closeness rank": 14
+   },
+   "clock": {
+    "distance": "2.47 meters",
+    "closeness rank": 15
+   },
+   "lamp": {
+    "distance": "2.62 meters",
+    "closeness rank": 16
+   }
+  },
+  "table": {
+   "closet": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "keyboard": {
+    "distance": "0.0 meters",
+    "closeness rank": 2
+   },
+   "nightstand": {
+    "distance": "0.0 meters",
+    "closeness rank": 3
+   },
+   "bed": {
+    "distance": "0.01 meters",
+    "closeness rank": 4
+   },
+   "towel": {
+    "distance": "0.01 meters",
+    "closeness rank": 5
+   },
+   "mattress": {
+    "distance": "0.03 meters",
+    "closeness rank": 6
+   },
+   "chair": {
+    "distance": "0.04 meters",
+    "closeness rank": 7
+   },
+   "backpack": {
+    "distance": "0.09 meters",
+    "closeness rank": 8
+   },
+   "monitor": {
+    "distance": "0.09 meters",
+    "closeness rank": 9
+   },
+   "pillow": {
+    "distance": "0.15 meters",
+    "closeness rank": 10
+   },
+   "bookshelf": {
+    "distance": "0.18 meters",
+    "closeness rank": 11
+   },
+   "lamp": {
+    "distance": "0.49 meters",
+    "closeness rank": 12
+   },
+   "plant": {
+    "distance": "0.67 meters",
+    "closeness rank": 13
+   },
+   "window": {
+    "distance": "0.88 meters",
+    "closeness rank": 14
+   },
+   "door": {
+    "distance": "1.18 meters",
+    "closeness rank": 15
+   },
+   "clock": {
+    "distance": "1.5 meters",
+    "closeness rank": 16
+   }
+  },
+  "towel": {
+   "closet": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "table": {
+    "distance": "0.01 meters",
+    "closeness rank": 2
+   },
+   "nightstand": {
+    "distance": "0.07 meters",
+    "closeness rank": 3
+   },
+   "bookshelf": {
+    "distance": "0.26 meters",
+    "closeness rank": 4
+   },
+   "plant": {
+    "distance": "0.41 meters",
+    "closeness rank": 5
+   },
+   "chair": {
+    "distance": "0.55 meters",
+    "closeness rank": 6
+   },
+   "backpack": {
+    "distance": "1.14 meters",
+    "closeness rank": 7
+   },
+   "bed": {
+    "distance": "1.59 meters",
+    "closeness rank": 8
+   },
+   "mattress": {
+    "distance": "1.65 meters",
+    "closeness rank": 9
+   },
+   "door": {
+    "distance": "1.68 meters",
+    "closeness rank": 10
+   },
+   "pillow": {
+    "distance": "1.7 meters",
+    "closeness rank": 11
+   },
+   "clock": {
+    "distance": "2.47 meters",
+    "closeness rank": 12
+   },
+   "keyboard": {
+    "distance": "2.72 meters",
+    "closeness rank": 13
+   },
+   "monitor": {
+    "distance": "2.81 meters",
+    "closeness rank": 14
+   },
+   "lamp": {
+    "distance": "3.18 meters",
+    "closeness rank": 15
+   },
+   "window": {
+    "distance": "3.23 meters",
+    "closeness rank": 16
+   }
+  },
+  "window": {
+   "pillow": {
+    "distance": "0.41 meters",
+    "closeness rank": 1
+   },
+   "bed": {
+    "distance": "0.53 meters",
+    "closeness rank": 2
+   },
+   "mattress": {
+    "distance": "0.54 meters",
+    "closeness rank": 3
+   },
+   "lamp": {
+    "distance": "0.65 meters",
+    "closeness rank": 4
+   },
+   "monitor": {
+    "distance": "0.72 meters",
+    "closeness rank": 5
+   },
+   "keyboard": {
+    "distance": "0.81 meters",
+    "closeness rank": 6
+   },
+   "table": {
+    "distance": "0.88 meters",
+    "closeness rank": 7
+   },
+   "backpack": {
+    "distance": "1.96 meters",
+    "closeness rank": 8
+   },
+   "nightstand": {
+    "distance": "2.07 meters",
+    "closeness rank": 9
+   },
+   "bookshelf": {
+    "distance": "2.15 meters",
+    "closeness rank": 10
+   },
+   "chair": {
+    "distance": "2.16 meters",
+    "closeness rank": 11
+   },
+   "plant": {
+    "distance": "2.3 meters",
+    "closeness rank": 12
+   },
+   "door": {
+    "distance": "2.36 meters",
+    "closeness rank": 13
+   },
+   "clock": {
+    "distance": "2.48 meters",
+    "closeness rank": 14
+   },
+   "closet": {
+    "distance": "2.83 meters",
+    "closeness rank": 15
+   },
+   "towel": {
+    "distance": "3.23 meters",
+    "closeness rank": 16
+   }
+  }
+ },
+ "appearance order": ["pillow", "bed", "mattress", "chair", "backpack", "lamp", "keyboard", "table", "window", "bookshelf", "nightstand", "closet", "plant", "towel", "door", "monitor", "clock"]
+}
\ No newline at end of file
diff --git a/data/spatial codes/sam3+depth-anything-3/metric/tracking/selective/32/explicit/scene0663_00.json b/data/spatial codes/sam3+depth-anything-3/metric/tracking/selective/32/explicit/scene0663_00.json
new file mode 100644
index 0000000000000000000000000000000000000000..5e57745b53f2b1610b99bff0444f43a60cb83f20
--- /dev/null
+++ b/data/spatial codes/sam3+depth-anything-3/metric/tracking/selective/32/explicit/scene0663_00.json	
@@ -0,0 +1,759 @@
+{
+ "spatial code schema": {
+  "objects": {
+   "<object class>": {
+    "count": {
+     "unit": null,
+     "description": "number of instances of this class in the compact spatial code (that schema's per-class oriented-box list length)"
+    },
+    "instances": [
+     {
+      "position": {
+       "x coordinate": {
+        "unit": "meters",
+        "description": "x coordinate of this instance's compact 3D oriented bounding box center"
+       },
+       "y coordinate": {
+        "unit": "meters",
+        "description": "y coordinate of this instance's compact 3D oriented bounding box center"
+       },
+       "height above floor": {
+        "unit": "meters",
+        "description": "height coordinate of this instance's compact 3D oriented bounding box center"
+       }
+      },
+      "longest dimension": {
+       "unit": "meters",
+       "description": "longest of this instance's compact 3D oriented bounding box dimensions"
+      }
+     }
+    ]
+   }
+  },
+  "room": {
+   "floor area": {
+    "unit": "square meters",
+    "description": "shoelace area of the compact spatial code's floor boundary polygons, with every interior hole subtracted"
+   }
+  },
+  "closest classes distance meters from": {
+   "<object class>": {
+    "<other object class>": {
+     "distance": {
+      "unit": "meters",
+      "description": "minimum surface-to-surface separation between the two classes' compact 3D oriented bounding boxes, over every instance pair"
+     },
+     "closeness rank": {
+      "unit": null,
+      "description": "1 = the nearest other class to this one, 2 = second-nearest, and so on"
+     }
+    }
+   }
+  },
+  "appearance order": {
+   "unit": null,
+   "description": "class names ordered by earliest compact 'first visible time' across all of that class's instances"
+  }
+ },
+ "objects": {
+  "backpack": {
+   "count": 3,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-0.2 meters",
+      "y coordinate": "0.56 meters",
+      "height above floor": "-0.43 meters"
+     },
+     "longest dimension": "0.5 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-0.68 meters",
+      "y coordinate": "0.93 meters",
+      "height above floor": "-0.84 meters"
+     },
+     "longest dimension": "0.44 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-0.33 meters",
+      "y coordinate": "1.04 meters",
+      "height above floor": "-0.78 meters"
+     },
+     "longest dimension": "0.5 meters"
+    }
+   ]
+  },
+  "chair": {
+   "count": 3,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-1.81 meters",
+      "y coordinate": "0.54 meters",
+      "height above floor": "-1.02 meters"
+     },
+     "longest dimension": "1.01 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-2.04 meters",
+      "y coordinate": "0.47 meters",
+      "height above floor": "-1.01 meters"
+     },
+     "longest dimension": "0.5 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "0.57 meters",
+      "y coordinate": "0.54 meters",
+      "height above floor": "-1.56 meters"
+     },
+     "longest dimension": "0.78 meters"
+    }
+   ]
+  },
+  "computer mouse": {
+   "count": 2,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-1.41 meters",
+      "y coordinate": "0.57 meters",
+      "height above floor": "-0.41 meters"
+     },
+     "longest dimension": "0.09 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "0.18 meters",
+      "y coordinate": "0.56 meters",
+      "height above floor": "-2.08 meters"
+     },
+     "longest dimension": "0.12 meters"
+    }
+   ]
+  },
+  "door": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "1.57 meters",
+      "y coordinate": "0.46 meters",
+      "height above floor": "-0.56 meters"
+     },
+     "longest dimension": "1.69 meters"
+    }
+   ]
+  },
+  "keyboard": {
+   "count": 2,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-1.73 meters",
+      "y coordinate": "0.57 meters",
+      "height above floor": "-0.34 meters"
+     },
+     "longest dimension": "0.46 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "0.48 meters",
+      "y coordinate": "0.56 meters",
+      "height above floor": "-2.13 meters"
+     },
+     "longest dimension": "0.46 meters"
+    }
+   ]
+  },
+  "monitor": {
+   "count": 4,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "0.71 meters",
+      "y coordinate": "0.48 meters",
+      "height above floor": "-1.59 meters"
+     },
+     "longest dimension": "0.7 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-1.5 meters",
+      "y coordinate": "0.36 meters",
+      "height above floor": "0.0 meters"
+     },
+     "longest dimension": "0.58 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "0.43 meters",
+      "y coordinate": "0.26 meters",
+      "height above floor": "-2.4 meters"
+     },
+     "longest dimension": "0.61 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-2.04 meters",
+      "y coordinate": "0.36 meters",
+      "height above floor": "0.0 meters"
+     },
+     "longest dimension": "0.53 meters"
+    }
+   ]
+  },
+  "table": {
+   "count": 2,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-1.78 meters",
+      "y coordinate": "0.58 meters",
+      "height above floor": "-0.25 meters"
+     },
+     "longest dimension": "1.54 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-2.39 meters",
+      "y coordinate": "0.58 meters",
+      "height above floor": "-1.04 meters"
+     },
+     "longest dimension": "1.18 meters"
+    }
+   ]
+  },
+  "telephone": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "0.0 meters",
+      "y coordinate": "0.53 meters",
+      "height above floor": "-2.29 meters"
+     },
+     "longest dimension": "0.29 meters"
+    }
+   ]
+  },
+  "trash bin": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "0.23 meters",
+      "y coordinate": "1.02 meters",
+      "height above floor": "-0.38 meters"
+     },
+     "longest dimension": "0.45 meters"
+    }
+   ]
+  },
+  "tv": {
+   "count": 2,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-1.5 meters",
+      "y coordinate": "0.36 meters",
+      "height above floor": "0.0 meters"
+     },
+     "longest dimension": "0.58 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-2.04 meters",
+      "y coordinate": "0.36 meters",
+      "height above floor": "0.0 meters"
+     },
+     "longest dimension": "0.53 meters"
+    }
+   ]
+  },
+  "window": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-3.04 meters",
+      "y coordinate": "0.29 meters",
+      "height above floor": "-1.08 meters"
+     },
+     "longest dimension": "2.07 meters"
+    }
+   ]
+  }
+ },
+ "room": {
+  "floor area": "11.4 square meters"
+ },
+ "closest classes distance meters from": {
+  "backpack": {
+   "trash bin": {
+    "distance": "0.2 meters",
+    "closeness rank": 1
+   },
+   "table": {
+    "distance": "0.35 meters",
+    "closeness rank": 2
+   },
+   "computer mouse": {
+    "distance": "0.72 meters",
+    "closeness rank": 3
+   },
+   "chair": {
+    "distance": "0.73 meters",
+    "closeness rank": 4
+   },
+   "tv": {
+    "distance": "0.75 meters",
+    "closeness rank": 5
+   },
+   "monitor": {
+    "distance": "0.76 meters",
+    "closeness rank": 6
+   },
+   "keyboard": {
+    "distance": "0.84 meters",
+    "closeness rank": 7
+   },
+   "telephone": {
+    "distance": "1.26 meters",
+    "closeness rank": 8
+   },
+   "door": {
+    "distance": "1.46 meters",
+    "closeness rank": 9
+   },
+   "window": {
+    "distance": "2.26 meters",
+    "closeness rank": 10
+   }
+  },
+  "chair": {
+   "monitor": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "table": {
+    "distance": "0.03 meters",
+    "closeness rank": 2
+   },
+   "computer mouse": {
+    "distance": "0.34 meters",
+    "closeness rank": 3
+   },
+   "keyboard": {
+    "distance": "0.37 meters",
+    "closeness rank": 4
+   },
+   "telephone": {
+    "distance": "0.53 meters",
+    "closeness rank": 5
+   },
+   "tv": {
+    "distance": "0.72 meters",
+    "closeness rank": 6
+   },
+   "backpack": {
+    "distance": "0.73 meters",
+    "closeness rank": 7
+   },
+   "window": {
+    "distance": "0.85 meters",
+    "closeness rank": 8
+   },
+   "door": {
+    "distance": "0.88 meters",
+    "closeness rank": 9
+   },
+   "trash bin": {
+    "distance": "0.96 meters",
+    "closeness rank": 10
+   }
+  },
+  "computer mouse": {
+   "table": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "keyboard": {
+    "distance": "0.04 meters",
+    "closeness rank": 2
+   },
+   "telephone": {
+    "distance": "0.07 meters",
+    "closeness rank": 3
+   },
+   "monitor": {
+    "distance": "0.26 meters",
+    "closeness rank": 4
+   },
+   "tv": {
+    "distance": "0.31 meters",
+    "closeness rank": 5
+   },
+   "chair": {
+    "distance": "0.34 meters",
+    "closeness rank": 6
+   },
+   "backpack": {
+    "distance": "0.72 meters",
+    "closeness rank": 7
+   },
+   "trash bin": {
+    "distance": "1.44 meters",
+    "closeness rank": 8
+   },
+   "window": {
+    "distance": "1.56 meters",
+    "closeness rank": 9
+   },
+   "door": {
+    "distance": "1.77 meters",
+    "closeness rank": 10
+   }
+  },
+  "door": {
+   "monitor": {
+    "distance": "0.86 meters",
+    "closeness rank": 1
+   },
+   "chair": {
+    "distance": "0.88 meters",
+    "closeness rank": 2
+   },
+   "trash bin": {
+    "distance": "1.06 meters",
+    "closeness rank": 3
+   },
+   "keyboard": {
+    "distance": "1.45 meters",
+    "closeness rank": 4
+   },
+   "backpack": {
+    "distance": "1.46 meters",
+    "closeness rank": 5
+   },
+   "computer mouse": {
+    "distance": "1.77 meters",
+    "closeness rank": 6
+   },
+   "telephone": {
+    "distance": "1.94 meters",
+    "closeness rank": 7
+   },
+   "table": {
+    "distance": "2.56 meters",
+    "closeness rank": 8
+   },
+   "tv": {
+    "distance": "2.76 meters",
+    "closeness rank": 9
+   },
+   "window": {
+    "distance": "4.55 meters",
+    "closeness rank": 10
+   }
+  },
+  "keyboard": {
+   "table": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "computer mouse": {
+    "distance": "0.04 meters",
+    "closeness rank": 2
+   },
+   "monitor": {
+    "distance": "0.12 meters",
+    "closeness rank": 3
+   },
+   "telephone": {
+    "distance": "0.17 meters",
+    "closeness rank": 4
+   },
+   "tv": {
+    "distance": "0.21 meters",
+    "closeness rank": 5
+   },
+   "chair": {
+    "distance": "0.37 meters",
+    "closeness rank": 6
+   },
+   "backpack": {
+    "distance": "0.84 meters",
+    "closeness rank": 7
+   },
+   "window": {
+    "distance": "1.04 meters",
+    "closeness rank": 8
+   },
+   "door": {
+    "distance": "1.45 meters",
+    "closeness rank": 9
+   },
+   "trash bin": {
+    "distance": "1.55 meters",
+    "closeness rank": 10
+   }
+  },
+  "monitor": {
+   "chair": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "table": {
+    "distance": "0.0 meters",
+    "closeness rank": 2
+   },
+   "tv": {
+    "distance": "0.0 meters",
+    "closeness rank": 3
+   },
+   "telephone": {
+    "distance": "0.07 meters",
+    "closeness rank": 4
+   },
+   "keyboard": {
+    "distance": "0.12 meters",
+    "closeness rank": 5
+   },
+   "computer mouse": {
+    "distance": "0.26 meters",
+    "closeness rank": 6
+   },
+   "window": {
+    "distance": "0.69 meters",
+    "closeness rank": 7
+   },
+   "backpack": {
+    "distance": "0.76 meters",
+    "closeness rank": 8
+   },
+   "trash bin": {
+    "distance": "0.83 meters",
+    "closeness rank": 9
+   },
+   "door": {
+    "distance": "0.86 meters",
+    "closeness rank": 10
+   }
+  },
+  "table": {
+   "computer mouse": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "keyboard": {
+    "distance": "0.0 meters",
+    "closeness rank": 2
+   },
+   "monitor": {
+    "distance": "0.0 meters",
+    "closeness rank": 3
+   },
+   "tv": {
+    "distance": "0.0 meters",
+    "closeness rank": 4
+   },
+   "chair": {
+    "distance": "0.03 meters",
+    "closeness rank": 5
+   },
+   "backpack": {
+    "distance": "0.35 meters",
+    "closeness rank": 6
+   },
+   "window": {
+    "distance": "0.42 meters",
+    "closeness rank": 7
+   },
+   "trash bin": {
+    "distance": "1.08 meters",
+    "closeness rank": 8
+   },
+   "telephone": {
+    "distance": "1.85 meters",
+    "closeness rank": 9
+   },
+   "door": {
+    "distance": "2.56 meters",
+    "closeness rank": 10
+   }
+  },
+  "telephone": {
+   "computer mouse": {
+    "distance": "0.07 meters",
+    "closeness rank": 1
+   },
+   "monitor": {
+    "distance": "0.07 meters",
+    "closeness rank": 2
+   },
+   "keyboard": {
+    "distance": "0.17 meters",
+    "closeness rank": 3
+   },
+   "chair": {
+    "distance": "0.53 meters",
+    "closeness rank": 4
+   },
+   "backpack": {
+    "distance": "1.26 meters",
+    "closeness rank": 5
+   },
+   "trash bin": {
+    "distance": "1.7 meters",
+    "closeness rank": 6
+   },
+   "table": {
+    "distance": "1.85 meters",
+    "closeness rank": 7
+   },
+   "door": {
+    "distance": "1.94 meters",
+    "closeness rank": 8
+   },
+   "tv": {
+    "distance": "2.37 meters",
+    "closeness rank": 9
+   },
+   "window": {
+    "distance": "2.91 meters",
+    "closeness rank": 10
+   }
+  },
+  "trash bin": {
+   "backpack": {
+    "distance": "0.2 meters",
+    "closeness rank": 1
+   },
+   "monitor": {
+    "distance": "0.83 meters",
+    "closeness rank": 2
+   },
+   "chair": {
+    "distance": "0.96 meters",
+    "closeness rank": 3
+   },
+   "door": {
+    "distance": "1.06 meters",
+    "closeness rank": 4
+   },
+   "table": {
+    "distance": "1.08 meters",
+    "closeness rank": 5
+   },
+   "tv": {
+    "distance": "1.29 meters",
+    "closeness rank": 6
+   },
+   "computer mouse": {
+    "distance": "1.44 meters",
+    "closeness rank": 7
+   },
+   "keyboard": {
+    "distance": "1.55 meters",
+    "closeness rank": 8
+   },
+   "telephone": {
+    "distance": "1.7 meters",
+    "closeness rank": 9
+   },
+   "window": {
+    "distance": "3.03 meters",
+    "closeness rank": 10
+   }
+  },
+  "tv": {
+   "monitor": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "table": {
+    "distance": "0.0 meters",
+    "closeness rank": 2
+   },
+   "keyboard": {
+    "distance": "0.21 meters",
+    "closeness rank": 3
+   },
+   "computer mouse": {
+    "distance": "0.31 meters",
+    "closeness rank": 4
+   },
+   "window": {
+    "distance": "0.69 meters",
+    "closeness rank": 5
+   },
+   "chair": {
+    "distance": "0.72 meters",
+    "closeness rank": 6
+   },
+   "backpack": {
+    "distance": "0.75 meters",
+    "closeness rank": 7
+   },
+   "trash bin": {
+    "distance": "1.29 meters",
+    "closeness rank": 8
+   },
+   "telephone": {
+    "distance": "2.37 meters",
+    "closeness rank": 9
+   },
+   "door": {
+    "distance": "2.76 meters",
+    "closeness rank": 10
+   }
+  },
+  "window": {
+   "table": {
+    "distance": "0.42 meters",
+    "closeness rank": 1
+   },
+   "monitor": {
+    "distance": "0.69 meters",
+    "closeness rank": 2
+   },
+   "tv": {
+    "distance": "0.69 meters",
+    "closeness rank": 3
+   },
+   "chair": {
+    "distance": "0.85 meters",
+    "closeness rank": 4
+   },
+   "keyboard": {
+    "distance": "1.04 meters",
+    "closeness rank": 5
+   },
+   "computer mouse": {
+    "distance": "1.56 meters",
+    "closeness rank": 6
+   },
+   "backpack": {
+    "distance": "2.26 meters",
+    "closeness rank": 7
+   },
+   "telephone": {
+    "distance": "2.91 meters",
+    "closeness rank": 8
+   },
+   "trash bin": {
+    "distance": "3.03 meters",
+    "closeness rank": 9
+   },
+   "door": {
+    "distance": "4.55 meters",
+    "closeness rank": 10
+   }
+  }
+ },
+ "appearance order": ["chair", "table", "computer mouse", "keyboard", "monitor", "tv", "window", "backpack", "door", "trash bin", "telephone"]
+}
\ No newline at end of file
diff --git a/data/spatial codes/sam3+depth-anything-3/metric/tracking/selective/32/explicit/scene0684_01.json b/data/spatial codes/sam3+depth-anything-3/metric/tracking/selective/32/explicit/scene0684_01.json
new file mode 100644
index 0000000000000000000000000000000000000000..586d09e0dc66cc756e33b31aacafa41a47de4c0d
--- /dev/null
+++ b/data/spatial codes/sam3+depth-anything-3/metric/tracking/selective/32/explicit/scene0684_01.json	
@@ -0,0 +1,355 @@
+{
+ "spatial code schema": {
+  "objects": {
+   "<object class>": {
+    "count": {
+     "unit": null,
+     "description": "number of instances of this class in the compact spatial code (that schema's per-class oriented-box list length)"
+    },
+    "instances": [
+     {
+      "position": {
+       "x coordinate": {
+        "unit": "meters",
+        "description": "x coordinate of this instance's compact 3D oriented bounding box center"
+       },
+       "y coordinate": {
+        "unit": "meters",
+        "description": "y coordinate of this instance's compact 3D oriented bounding box center"
+       },
+       "height above floor": {
+        "unit": "meters",
+        "description": "height coordinate of this instance's compact 3D oriented bounding box center"
+       }
+      },
+      "longest dimension": {
+       "unit": "meters",
+       "description": "longest of this instance's compact 3D oriented bounding box dimensions"
+      }
+     }
+    ]
+   }
+  },
+  "room": {
+   "floor area": {
+    "unit": "square meters",
+    "description": "shoelace area of the compact spatial code's floor boundary polygons, with every interior hole subtracted"
+   }
+  },
+  "closest classes distance meters from": {
+   "<object class>": {
+    "<other object class>": {
+     "distance": {
+      "unit": "meters",
+      "description": "minimum surface-to-surface separation between the two classes' compact 3D oriented bounding boxes, over every instance pair"
+     },
+     "closeness rank": {
+      "unit": null,
+      "description": "1 = the nearest other class to this one, 2 = second-nearest, and so on"
+     }
+    }
+   }
+  },
+  "appearance order": {
+   "unit": null,
+   "description": "class names ordered by earliest compact 'first visible time' across all of that class's instances"
+  }
+ },
+ "objects": {
+  "chair": {
+   "count": 2,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-1.15 meters",
+      "y coordinate": "0.62 meters",
+      "height above floor": "-0.7 meters"
+     },
+     "longest dimension": "0.91 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-1.74 meters",
+      "y coordinate": "1.21 meters",
+      "height above floor": "-0.33 meters"
+     },
+     "longest dimension": "0.32 meters"
+    }
+   ]
+  },
+  "door": {
+   "count": 2,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "0.94 meters",
+      "y coordinate": "0.6 meters",
+      "height above floor": "-0.44 meters"
+     },
+     "longest dimension": "0.92 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "0.89 meters",
+      "y coordinate": "0.71 meters",
+      "height above floor": "-0.25 meters"
+     },
+     "longest dimension": "0.98 meters"
+    }
+   ]
+  },
+  "table": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-1.0 meters",
+      "y coordinate": "0.63 meters",
+      "height above floor": "0.14 meters"
+     },
+     "longest dimension": "1.43 meters"
+    }
+   ]
+  },
+  "telephone": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-1.71 meters",
+      "y coordinate": "0.54 meters",
+      "height above floor": "-0.05 meters"
+     },
+     "longest dimension": "0.35 meters"
+    }
+   ]
+  },
+  "trash bin": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "0.5 meters",
+      "y coordinate": "0.82 meters",
+      "height above floor": "0.07 meters"
+     },
+     "longest dimension": "0.83 meters"
+    }
+   ]
+  },
+  "washing machine": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-0.1 meters",
+      "y coordinate": "0.73 meters",
+      "height above floor": "0.11 meters"
+     },
+     "longest dimension": "0.49 meters"
+    }
+   ]
+  },
+  "window": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-1.63 meters",
+      "y coordinate": "0.44 meters",
+      "height above floor": "0.53 meters"
+     },
+     "longest dimension": "0.62 meters"
+    }
+   ]
+  }
+ },
+ "room": {
+  "floor area": "5.4 square meters"
+ },
+ "closest classes distance meters from": {
+  "chair": {
+   "table": {
+    "distance": "0.31 meters",
+    "closeness rank": 1
+   },
+   "telephone": {
+    "distance": "0.36 meters",
+    "closeness rank": 2
+   },
+   "washing machine": {
+    "distance": "0.76 meters",
+    "closeness rank": 3
+   },
+   "window": {
+    "distance": "0.89 meters",
+    "closeness rank": 4
+   },
+   "trash bin": {
+    "distance": "1.29 meters",
+    "closeness rank": 5
+   },
+   "door": {
+    "distance": "1.76 meters",
+    "closeness rank": 6
+   }
+  },
+  "door": {
+   "trash bin": {
+    "distance": "0.09 meters",
+    "closeness rank": 1
+   },
+   "washing machine": {
+    "distance": "0.68 meters",
+    "closeness rank": 2
+   },
+   "table": {
+    "distance": "1.09 meters",
+    "closeness rank": 3
+   },
+   "chair": {
+    "distance": "1.76 meters",
+    "closeness rank": 4
+   },
+   "window": {
+    "distance": "2.14 meters",
+    "closeness rank": 5
+   },
+   "telephone": {
+    "distance": "2.38 meters",
+    "closeness rank": 6
+   }
+  },
+  "table": {
+   "telephone": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "washing machine": {
+    "distance": "0.0 meters",
+    "closeness rank": 2
+   },
+   "window": {
+    "distance": "0.06 meters",
+    "closeness rank": 3
+   },
+   "chair": {
+    "distance": "0.31 meters",
+    "closeness rank": 4
+   },
+   "trash bin": {
+    "distance": "0.6 meters",
+    "closeness rank": 5
+   },
+   "door": {
+    "distance": "1.09 meters",
+    "closeness rank": 6
+   }
+  },
+  "telephone": {
+   "table": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "window": {
+    "distance": "0.3 meters",
+    "closeness rank": 2
+   },
+   "chair": {
+    "distance": "0.36 meters",
+    "closeness rank": 3
+   },
+   "washing machine": {
+    "distance": "1.24 meters",
+    "closeness rank": 4
+   },
+   "trash bin": {
+    "distance": "1.91 meters",
+    "closeness rank": 5
+   },
+   "door": {
+    "distance": "2.38 meters",
+    "closeness rank": 6
+   }
+  },
+  "trash bin": {
+   "door": {
+    "distance": "0.09 meters",
+    "closeness rank": 1
+   },
+   "washing machine": {
+    "distance": "0.16 meters",
+    "closeness rank": 2
+   },
+   "table": {
+    "distance": "0.6 meters",
+    "closeness rank": 3
+   },
+   "chair": {
+    "distance": "1.29 meters",
+    "closeness rank": 4
+   },
+   "window": {
+    "distance": "1.66 meters",
+    "closeness rank": 5
+   },
+   "telephone": {
+    "distance": "1.91 meters",
+    "closeness rank": 6
+   }
+  },
+  "washing machine": {
+   "table": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "trash bin": {
+    "distance": "0.16 meters",
+    "closeness rank": 2
+   },
+   "door": {
+    "distance": "0.68 meters",
+    "closeness rank": 3
+   },
+   "chair": {
+    "distance": "0.76 meters",
+    "closeness rank": 4
+   },
+   "window": {
+    "distance": "0.99 meters",
+    "closeness rank": 5
+   },
+   "telephone": {
+    "distance": "1.24 meters",
+    "closeness rank": 6
+   }
+  },
+  "window": {
+   "table": {
+    "distance": "0.06 meters",
+    "closeness rank": 1
+   },
+   "telephone": {
+    "distance": "0.3 meters",
+    "closeness rank": 2
+   },
+   "chair": {
+    "distance": "0.89 meters",
+    "closeness rank": 3
+   },
+   "washing machine": {
+    "distance": "0.99 meters",
+    "closeness rank": 4
+   },
+   "trash bin": {
+    "distance": "1.66 meters",
+    "closeness rank": 5
+   },
+   "door": {
+    "distance": "2.14 meters",
+    "closeness rank": 6
+   }
+  }
+ },
+ "appearance order": ["door", "trash bin", "table", "telephone", "window", "chair", "washing machine"]
+}
\ No newline at end of file
diff --git a/data/spatial codes/sam3+depth-anything-3/metric/tracking/selective/32/explicit/scene0693_00.json b/data/spatial codes/sam3+depth-anything-3/metric/tracking/selective/32/explicit/scene0693_00.json
new file mode 100644
index 0000000000000000000000000000000000000000..54948832999f506ca77885e4a62b0386fce435f4
--- /dev/null
+++ b/data/spatial codes/sam3+depth-anything-3/metric/tracking/selective/32/explicit/scene0693_00.json	
@@ -0,0 +1,269 @@
+{
+ "spatial code schema": {
+  "objects": {
+   "<object class>": {
+    "count": {
+     "unit": null,
+     "description": "number of instances of this class in the compact spatial code (that schema's per-class oriented-box list length)"
+    },
+    "instances": [
+     {
+      "position": {
+       "x coordinate": {
+        "unit": "meters",
+        "description": "x coordinate of this instance's compact 3D oriented bounding box center"
+       },
+       "y coordinate": {
+        "unit": "meters",
+        "description": "y coordinate of this instance's compact 3D oriented bounding box center"
+       },
+       "height above floor": {
+        "unit": "meters",
+        "description": "height coordinate of this instance's compact 3D oriented bounding box center"
+       }
+      },
+      "longest dimension": {
+       "unit": "meters",
+       "description": "longest of this instance's compact 3D oriented bounding box dimensions"
+      }
+     }
+    ]
+   }
+  },
+  "room": {
+   "floor area": {
+    "unit": "square meters",
+    "description": "shoelace area of the compact spatial code's floor boundary polygons, with every interior hole subtracted"
+   }
+  },
+  "closest classes distance meters from": {
+   "<object class>": {
+    "<other object class>": {
+     "distance": {
+      "unit": "meters",
+      "description": "minimum surface-to-surface separation between the two classes' compact 3D oriented bounding boxes, over every instance pair"
+     },
+     "closeness rank": {
+      "unit": null,
+      "description": "1 = the nearest other class to this one, 2 = second-nearest, and so on"
+     }
+    }
+   }
+  },
+  "appearance order": {
+   "unit": null,
+   "description": "class names ordered by earliest compact 'first visible time' across all of that class's instances"
+  }
+ },
+ "objects": {
+  "door": {
+   "count": 4,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-0.32 meters",
+      "y coordinate": "0.81 meters",
+      "height above floor": "-0.22 meters"
+     },
+     "longest dimension": "0.52 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-0.66 meters",
+      "y coordinate": "0.73 meters",
+      "height above floor": "-0.22 meters"
+     },
+     "longest dimension": "0.54 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-0.44 meters",
+      "y coordinate": "0.88 meters",
+      "height above floor": "-0.11 meters"
+     },
+     "longest dimension": "0.78 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-0.09 meters",
+      "y coordinate": "-0.6 meters",
+      "height above floor": "-0.24 meters"
+     },
+     "longest dimension": "0.9 meters"
+    }
+   ]
+  },
+  "mirror": {
+   "count": 2,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "1.16 meters",
+      "y coordinate": "0.6 meters",
+      "height above floor": "0.19 meters"
+     },
+     "longest dimension": "1.26 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-0.07 meters",
+      "y coordinate": "-0.6 meters",
+      "height above floor": "-0.16 meters"
+     },
+     "longest dimension": "0.77 meters"
+    }
+   ]
+  },
+  "towel": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "0.56 meters",
+      "y coordinate": "1.02 meters",
+      "height above floor": "0.2 meters"
+     },
+     "longest dimension": "0.68 meters"
+    }
+   ]
+  },
+  "trash bin": {
+   "count": 2,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "0.35 meters",
+      "y coordinate": "-0.29 meters",
+      "height above floor": "-0.43 meters"
+     },
+     "longest dimension": "0.31 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "0.79 meters",
+      "y coordinate": "-0.23 meters",
+      "height above floor": "-0.42 meters"
+     },
+     "longest dimension": "0.26 meters"
+    }
+   ]
+  },
+  "window": {
+   "count": 2,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-0.56 meters",
+      "y coordinate": "1.28 meters",
+      "height above floor": "1.0 meters"
+     },
+     "longest dimension": "0.71 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-0.92 meters",
+      "y coordinate": "0.68 meters",
+      "height above floor": "0.91 meters"
+     },
+     "longest dimension": "0.14 meters"
+    }
+   ]
+  }
+ },
+ "room": {
+  "floor area": "5.7 square meters"
+ },
+ "closest classes distance meters from": {
+  "door": {
+   "mirror": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "trash bin": {
+    "distance": "0.12 meters",
+    "closeness rank": 2
+   },
+   "towel": {
+    "distance": "0.58 meters",
+    "closeness rank": 3
+   },
+   "window": {
+    "distance": "0.63 meters",
+    "closeness rank": 4
+   }
+  },
+  "mirror": {
+   "door": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "trash bin": {
+    "distance": "0.23 meters",
+    "closeness rank": 2
+   },
+   "towel": {
+    "distance": "0.24 meters",
+    "closeness rank": 3
+   },
+   "window": {
+    "distance": "1.2 meters",
+    "closeness rank": 4
+   }
+  },
+  "towel": {
+   "mirror": {
+    "distance": "0.24 meters",
+    "closeness rank": 1
+   },
+   "door": {
+    "distance": "0.58 meters",
+    "closeness rank": 2
+   },
+   "window": {
+    "distance": "0.82 meters",
+    "closeness rank": 3
+   },
+   "trash bin": {
+    "distance": "1.01 meters",
+    "closeness rank": 4
+   }
+  },
+  "trash bin": {
+   "door": {
+    "distance": "0.12 meters",
+    "closeness rank": 1
+   },
+   "mirror": {
+    "distance": "0.23 meters",
+    "closeness rank": 2
+   },
+   "towel": {
+    "distance": "1.01 meters",
+    "closeness rank": 3
+   },
+   "window": {
+    "distance": "1.8 meters",
+    "closeness rank": 4
+   }
+  },
+  "window": {
+   "door": {
+    "distance": "0.63 meters",
+    "closeness rank": 1
+   },
+   "towel": {
+    "distance": "0.82 meters",
+    "closeness rank": 2
+   },
+   "mirror": {
+    "distance": "1.2 meters",
+    "closeness rank": 3
+   },
+   "trash bin": {
+    "distance": "1.8 meters",
+    "closeness rank": 4
+   }
+  }
+ },
+ "appearance order": ["door", "towel", "mirror", "window", "trash bin"]
+}
\ No newline at end of file
diff --git a/data/spatial codes/sam3+depth-anything-3/metric/tracking/selective/32/explicit/scene0696_01.json b/data/spatial codes/sam3+depth-anything-3/metric/tracking/selective/32/explicit/scene0696_01.json
new file mode 100644
index 0000000000000000000000000000000000000000..5fc262ee8613fac85feba2fe3d675066ea515d56
--- /dev/null
+++ b/data/spatial codes/sam3+depth-anything-3/metric/tracking/selective/32/explicit/scene0696_01.json	
@@ -0,0 +1,1720 @@
+{
+ "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": "1.72 meters",
+      "y coordinate": "1.44 meters",
+      "height above floor": "3.73 meters"
+     },
+     "longest dimension": "1.68 meters"
+    }
+   ]
+  },
+  "bookshelf": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-0.94 meters",
+      "y coordinate": "0.36 meters",
+      "height above floor": "0.6 meters"
+     },
+     "longest dimension": "1.6 meters"
+    }
+   ]
+  },
+  "chair": {
+   "count": 8,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "0.67 meters",
+      "y coordinate": "0.89 meters",
+      "height above floor": "1.52 meters"
+     },
+     "longest dimension": "0.75 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "0.69 meters",
+      "y coordinate": "1.2 meters",
+      "height above floor": "2.52 meters"
+     },
+     "longest dimension": "0.78 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "1.06 meters",
+      "y coordinate": "0.87 meters",
+      "height above floor": "0.62 meters"
+     },
+     "longest dimension": "0.69 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "2.41 meters",
+      "y coordinate": "0.9 meters",
+      "height above floor": "1.7 meters"
+     },
+     "longest dimension": "0.46 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "2.42 meters",
+      "y coordinate": "0.98 meters",
+      "height above floor": "2.19 meters"
+     },
+     "longest dimension": "0.47 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "2.51 meters",
+      "y coordinate": "1.11 meters",
+      "height above floor": "2.63 meters"
+     },
+     "longest dimension": "0.51 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "2.3 meters",
+      "y coordinate": "0.92 meters",
+      "height above floor": "1.06 meters"
+     },
+     "longest dimension": "0.59 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "0.72 meters",
+      "y coordinate": "1.08 meters",
+      "height above floor": "2.88 meters"
+     },
+     "longest dimension": "0.52 meters"
+    }
+   ]
+  },
+  "computer mouse": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-0.75 meters",
+      "y coordinate": "0.03 meters",
+      "height above floor": "1.25 meters"
+     },
+     "longest dimension": "0.14 meters"
+    }
+   ]
+  },
+  "door": {
+   "count": 5,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "0.01 meters",
+      "y coordinate": "-0.16 meters",
+      "height above floor": "-0.61 meters"
+     },
+     "longest dimension": "1.65 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "3.23 meters",
+      "y coordinate": "0.98 meters",
+      "height above floor": "2.59 meters"
+     },
+     "longest dimension": "0.75 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-0.74 meters",
+      "y coordinate": "-0.47 meters",
+      "height above floor": "0.76 meters"
+     },
+     "longest dimension": "0.55 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-0.65 meters",
+      "y coordinate": "0.95 meters",
+      "height above floor": "1.45 meters"
+     },
+     "longest dimension": "0.61 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "3.23 meters",
+      "y coordinate": "1.13 meters",
+      "height above floor": "2.92 meters"
+     },
+     "longest dimension": "0.72 meters"
+    }
+   ]
+  },
+  "mattress": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "1.91 meters",
+      "y coordinate": "1.47 meters",
+      "height above floor": "3.79 meters"
+     },
+     "longest dimension": "1.02 meters"
+    }
+   ]
+  },
+  "microwave": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "3.23 meters",
+      "y coordinate": "0.5 meters",
+      "height above floor": "1.1 meters"
+     },
+     "longest dimension": "0.61 meters"
+    }
+   ]
+  },
+  "monitor": {
+   "count": 2,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "3.44 meters",
+      "y coordinate": "0.47 meters",
+      "height above floor": "1.62 meters"
+     },
+     "longest dimension": "0.49 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "3.26 meters",
+      "y coordinate": "0.38 meters",
+      "height above floor": "1.21 meters"
+     },
+     "longest dimension": "0.49 meters"
+    }
+   ]
+  },
+  "pillow": {
+   "count": 2,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "1.89 meters",
+      "y coordinate": "0.45 meters",
+      "height above floor": "0.0 meters"
+     },
+     "longest dimension": "0.63 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "1.64 meters",
+      "y coordinate": "1.2 meters",
+      "height above floor": "4.14 meters"
+     },
+     "longest dimension": "0.45 meters"
+    }
+   ]
+  },
+  "printer": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-0.7 meters",
+      "y coordinate": "0.04 meters",
+      "height above floor": "1.68 meters"
+     },
+     "longest dimension": "0.45 meters"
+    }
+   ]
+  },
+  "radiator": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "1.53 meters",
+      "y coordinate": "1.19 meters",
+      "height above floor": "4.31 meters"
+     },
+     "longest dimension": "1.51 meters"
+    }
+   ]
+  },
+  "sofa": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "1.67 meters",
+      "y coordinate": "0.72 meters",
+      "height above floor": "-0.02 meters"
+     },
+     "longest dimension": "1.78 meters"
+    }
+   ]
+  },
+  "table": {
+   "count": 4,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "1.36 meters",
+      "y coordinate": "0.9 meters",
+      "height above floor": "1.68 meters"
+     },
+     "longest dimension": "2.2 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "1.77 meters",
+      "y coordinate": "1.09 meters",
+      "height above floor": "2.69 meters"
+     },
+     "longest dimension": "1.5 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "1.71 meters",
+      "y coordinate": "0.68 meters",
+      "height above floor": "0.89 meters"
+     },
+     "longest dimension": "0.93 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "2.01 meters",
+      "y coordinate": "0.83 meters",
+      "height above floor": "1.45 meters"
+     },
+     "longest dimension": "1.18 meters"
+    }
+   ]
+  },
+  "telephone": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-0.78 meters",
+      "y coordinate": "0.45 meters",
+      "height above floor": "1.65 meters"
+     },
+     "longest dimension": "0.2 meters"
+    }
+   ]
+  },
+  "towel": {
+   "count": 3,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "1.89 meters",
+      "y coordinate": "0.45 meters",
+      "height above floor": "0.0 meters"
+     },
+     "longest dimension": "0.59 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "1.64 meters",
+      "y coordinate": "0.76 meters",
+      "height above floor": "1.49 meters"
+     },
+     "longest dimension": "0.65 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "3.14 meters",
+      "y coordinate": "0.61 meters",
+      "height above floor": "1.04 meters"
+     },
+     "longest dimension": "0.63 meters"
+    }
+   ]
+  },
+  "trash bin": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "2.7 meters",
+      "y coordinate": "1.28 meters",
+      "height above floor": "3.68 meters"
+     },
+     "longest dimension": "0.61 meters"
+    }
+   ]
+  },
+  "tv": {
+   "count": 2,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "3.41 meters",
+      "y coordinate": "0.47 meters",
+      "height above floor": "1.62 meters"
+     },
+     "longest dimension": "0.48 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "3.26 meters",
+      "y coordinate": "0.38 meters",
+      "height above floor": "1.2 meters"
+     },
+     "longest dimension": "0.49 meters"
+    }
+   ]
+  },
+  "window": {
+   "count": 2,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "1.73 meters",
+      "y coordinate": "0.65 meters",
+      "height above floor": "4.43 meters"
+     },
+     "longest dimension": "2.09 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "3.71 meters",
+      "y coordinate": "0.42 meters",
+      "height above floor": "2.08 meters"
+     },
+     "longest dimension": "0.87 meters"
+    }
+   ]
+  }
+ },
+ "room": {
+  "floor area": "13.2 square meters"
+ },
+ "closest classes distance meters from": {
+  "bed": {
+   "mattress": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "pillow": {
+    "distance": "0.0 meters",
+    "closeness rank": 2
+   },
+   "trash bin": {
+    "distance": "0.0 meters",
+    "closeness rank": 3
+   },
+   "table": {
+    "distance": "0.09 meters",
+    "closeness rank": 4
+   },
+   "radiator": {
+    "distance": "0.09 meters",
+    "closeness rank": 5
+   },
+   "chair": {
+    "distance": "0.26 meters",
+    "closeness rank": 6
+   },
+   "window": {
+    "distance": "0.37 meters",
+    "closeness rank": 7
+   },
+   "door": {
+    "distance": "0.7 meters",
+    "closeness rank": 8
+   },
+   "towel": {
+    "distance": "1.71 meters",
+    "closeness rank": 9
+   },
+   "monitor": {
+    "distance": "1.83 meters",
+    "closeness rank": 10
+   },
+   "tv": {
+    "distance": "1.83 meters",
+    "closeness rank": 11
+   },
+   "microwave": {
+    "distance": "2.2 meters",
+    "closeness rank": 12
+   },
+   "printer": {
+    "distance": "2.41 meters",
+    "closeness rank": 13
+   },
+   "telephone": {
+    "distance": "2.44 meters",
+    "closeness rank": 14
+   },
+   "computer mouse": {
+    "distance": "2.9 meters",
+    "closeness rank": 15
+   },
+   "bookshelf": {
+    "distance": "3.02 meters",
+    "closeness rank": 16
+   },
+   "sofa": {
+    "distance": "3.33 meters",
+    "closeness rank": 17
+   }
+  },
+  "bookshelf": {
+   "door": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "computer mouse": {
+    "distance": "0.3 meters",
+    "closeness rank": 2
+   },
+   "printer": {
+    "distance": "0.57 meters",
+    "closeness rank": 3
+   },
+   "telephone": {
+    "distance": "0.67 meters",
+    "closeness rank": 4
+   },
+   "chair": {
+    "distance": "1.42 meters",
+    "closeness rank": 5
+   },
+   "sofa": {
+    "distance": "1.58 meters",
+    "closeness rank": 6
+   },
+   "table": {
+    "distance": "1.77 meters",
+    "closeness rank": 7
+   },
+   "towel": {
+    "distance": "2.14 meters",
+    "closeness rank": 8
+   },
+   "pillow": {
+    "distance": "2.33 meters",
+    "closeness rank": 9
+   },
+   "bed": {
+    "distance": "3.02 meters",
+    "closeness rank": 10
+   },
+   "mattress": {
+    "distance": "3.45 meters",
+    "closeness rank": 11
+   },
+   "radiator": {
+    "distance": "3.66 meters",
+    "closeness rank": 12
+   },
+   "window": {
+    "distance": "3.7 meters",
+    "closeness rank": 13
+   },
+   "microwave": {
+    "distance": "3.97 meters",
+    "closeness rank": 14
+   },
+   "tv": {
+    "distance": "3.99 meters",
+    "closeness rank": 15
+   },
+   "monitor": {
+    "distance": "3.99 meters",
+    "closeness rank": 16
+   },
+   "trash bin": {
+    "distance": "4.16 meters",
+    "closeness rank": 17
+   }
+  },
+  "chair": {
+   "table": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "bed": {
+    "distance": "0.26 meters",
+    "closeness rank": 2
+   },
+   "towel": {
+    "distance": "0.31 meters",
+    "closeness rank": 3
+   },
+   "sofa": {
+    "distance": "0.43 meters",
+    "closeness rank": 4
+   },
+   "pillow": {
+    "distance": "0.49 meters",
+    "closeness rank": 5
+   },
+   "trash bin": {
+    "distance": "0.58 meters",
+    "closeness rank": 6
+   },
+   "door": {
+    "distance": "0.59 meters",
+    "closeness rank": 7
+   },
+   "mattress": {
+    "distance": "0.65 meters",
+    "closeness rank": 8
+   },
+   "microwave": {
+    "distance": "0.71 meters",
+    "closeness rank": 9
+   },
+   "tv": {
+    "distance": "0.73 meters",
+    "closeness rank": 10
+   },
+   "monitor": {
+    "distance": "0.73 meters",
+    "closeness rank": 11
+   },
+   "radiator": {
+    "distance": "1.03 meters",
+    "closeness rank": 12
+   },
+   "window": {
+    "distance": "1.09 meters",
+    "closeness rank": 13
+   },
+   "printer": {
+    "distance": "1.22 meters",
+    "closeness rank": 14
+   },
+   "telephone": {
+    "distance": "1.28 meters",
+    "closeness rank": 15
+   },
+   "computer mouse": {
+    "distance": "1.35 meters",
+    "closeness rank": 16
+   },
+   "bookshelf": {
+    "distance": "1.42 meters",
+    "closeness rank": 17
+   }
+  },
+  "computer mouse": {
+   "printer": {
+    "distance": "0.14 meters",
+    "closeness rank": 1
+   },
+   "door": {
+    "distance": "0.28 meters",
+    "closeness rank": 2
+   },
+   "bookshelf": {
+    "distance": "0.3 meters",
+    "closeness rank": 3
+   },
+   "telephone": {
+    "distance": "0.4 meters",
+    "closeness rank": 4
+   },
+   "chair": {
+    "distance": "1.35 meters",
+    "closeness rank": 5
+   },
+   "table": {
+    "distance": "1.84 meters",
+    "closeness rank": 6
+   },
+   "sofa": {
+    "distance": "1.9 meters",
+    "closeness rank": 7
+   },
+   "towel": {
+    "distance": "2.16 meters",
+    "closeness rank": 8
+   },
+   "pillow": {
+    "distance": "2.54 meters",
+    "closeness rank": 9
+   },
+   "bed": {
+    "distance": "2.9 meters",
+    "closeness rank": 10
+   },
+   "window": {
+    "distance": "3.28 meters",
+    "closeness rank": 11
+   },
+   "mattress": {
+    "distance": "3.35 meters",
+    "closeness rank": 12
+   },
+   "radiator": {
+    "distance": "3.36 meters",
+    "closeness rank": 13
+   },
+   "monitor": {
+    "distance": "3.91 meters",
+    "closeness rank": 14
+   },
+   "microwave": {
+    "distance": "3.93 meters",
+    "closeness rank": 15
+   },
+   "tv": {
+    "distance": "3.93 meters",
+    "closeness rank": 16
+   },
+   "trash bin": {
+    "distance": "4.05 meters",
+    "closeness rank": 17
+   }
+  },
+  "door": {
+   "bookshelf": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "telephone": {
+    "distance": "0.17 meters",
+    "closeness rank": 2
+   },
+   "computer mouse": {
+    "distance": "0.28 meters",
+    "closeness rank": 3
+   },
+   "window": {
+    "distance": "0.36 meters",
+    "closeness rank": 4
+   },
+   "trash bin": {
+    "distance": "0.48 meters",
+    "closeness rank": 5
+   },
+   "printer": {
+    "distance": "0.5 meters",
+    "closeness rank": 6
+   },
+   "monitor": {
+    "distance": "0.56 meters",
+    "closeness rank": 7
+   },
+   "tv": {
+    "distance": "0.56 meters",
+    "closeness rank": 8
+   },
+   "chair": {
+    "distance": "0.59 meters",
+    "closeness rank": 9
+   },
+   "bed": {
+    "distance": "0.7 meters",
+    "closeness rank": 10
+   },
+   "sofa": {
+    "distance": "0.75 meters",
+    "closeness rank": 11
+   },
+   "mattress": {
+    "distance": "0.88 meters",
+    "closeness rank": 12
+   },
+   "table": {
+    "distance": "0.95 meters",
+    "closeness rank": 13
+   },
+   "microwave": {
+    "distance": "0.96 meters",
+    "closeness rank": 14
+   },
+   "towel": {
+    "distance": "1.01 meters",
+    "closeness rank": 15
+   },
+   "radiator": {
+    "distance": "1.44 meters",
+    "closeness rank": 16
+   },
+   "pillow": {
+    "distance": "1.46 meters",
+    "closeness rank": 17
+   }
+  },
+  "mattress": {
+   "bed": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "pillow": {
+    "distance": "0.01 meters",
+    "closeness rank": 2
+   },
+   "trash bin": {
+    "distance": "0.01 meters",
+    "closeness rank": 3
+   },
+   "table": {
+    "distance": "0.11 meters",
+    "closeness rank": 4
+   },
+   "radiator": {
+    "distance": "0.11 meters",
+    "closeness rank": 5
+   },
+   "window": {
+    "distance": "0.34 meters",
+    "closeness rank": 6
+   },
+   "chair": {
+    "distance": "0.65 meters",
+    "closeness rank": 7
+   },
+   "door": {
+    "distance": "0.88 meters",
+    "closeness rank": 8
+   },
+   "towel": {
+    "distance": "1.87 meters",
+    "closeness rank": 9
+   },
+   "monitor": {
+    "distance": "1.99 meters",
+    "closeness rank": 10
+   },
+   "tv": {
+    "distance": "2.0 meters",
+    "closeness rank": 11
+   },
+   "microwave": {
+    "distance": "2.36 meters",
+    "closeness rank": 12
+   },
+   "printer": {
+    "distance": "2.88 meters",
+    "closeness rank": 13
+   },
+   "telephone": {
+    "distance": "2.92 meters",
+    "closeness rank": 14
+   },
+   "computer mouse": {
+    "distance": "3.35 meters",
+    "closeness rank": 15
+   },
+   "bookshelf": {
+    "distance": "3.45 meters",
+    "closeness rank": 16
+   },
+   "sofa": {
+    "distance": "3.47 meters",
+    "closeness rank": 17
+   }
+  },
+  "microwave": {
+   "monitor": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "tv": {
+    "distance": "0.0 meters",
+    "closeness rank": 2
+   },
+   "towel": {
+    "distance": "0.01 meters",
+    "closeness rank": 3
+   },
+   "window": {
+    "distance": "0.55 meters",
+    "closeness rank": 4
+   },
+   "chair": {
+    "distance": "0.71 meters",
+    "closeness rank": 5
+   },
+   "table": {
+    "distance": "0.9 meters",
+    "closeness rank": 6
+   },
+   "door": {
+    "distance": "0.96 meters",
+    "closeness rank": 7
+   },
+   "sofa": {
+    "distance": "0.96 meters",
+    "closeness rank": 8
+   },
+   "pillow": {
+    "distance": "1.21 meters",
+    "closeness rank": 9
+   },
+   "trash bin": {
+    "distance": "2.12 meters",
+    "closeness rank": 10
+   },
+   "bed": {
+    "distance": "2.2 meters",
+    "closeness rank": 11
+   },
+   "mattress": {
+    "distance": "2.36 meters",
+    "closeness rank": 12
+   },
+   "radiator": {
+    "distance": "2.95 meters",
+    "closeness rank": 13
+   },
+   "printer": {
+    "distance": "3.81 meters",
+    "closeness rank": 14
+   },
+   "telephone": {
+    "distance": "3.91 meters",
+    "closeness rank": 15
+   },
+   "computer mouse": {
+    "distance": "3.93 meters",
+    "closeness rank": 16
+   },
+   "bookshelf": {
+    "distance": "3.97 meters",
+    "closeness rank": 17
+   }
+  },
+  "monitor": {
+   "microwave": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "tv": {
+    "distance": "0.0 meters",
+    "closeness rank": 2
+   },
+   "window": {
+    "distance": "0.02 meters",
+    "closeness rank": 3
+   },
+   "towel": {
+    "distance": "0.03 meters",
+    "closeness rank": 4
+   },
+   "door": {
+    "distance": "0.56 meters",
+    "closeness rank": 5
+   },
+   "chair": {
+    "distance": "0.73 meters",
+    "closeness rank": 6
+   },
+   "table": {
+    "distance": "0.86 meters",
+    "closeness rank": 7
+   },
+   "sofa": {
+    "distance": "1.11 meters",
+    "closeness rank": 8
+   },
+   "pillow": {
+    "distance": "1.33 meters",
+    "closeness rank": 9
+   },
+   "trash bin": {
+    "distance": "1.72 meters",
+    "closeness rank": 10
+   },
+   "bed": {
+    "distance": "1.83 meters",
+    "closeness rank": 11
+   },
+   "mattress": {
+    "distance": "1.99 meters",
+    "closeness rank": 12
+   },
+   "radiator": {
+    "distance": "2.57 meters",
+    "closeness rank": 13
+   },
+   "printer": {
+    "distance": "3.8 meters",
+    "closeness rank": 14
+   },
+   "computer mouse": {
+    "distance": "3.91 meters",
+    "closeness rank": 15
+   },
+   "telephone": {
+    "distance": "3.91 meters",
+    "closeness rank": 16
+   },
+   "bookshelf": {
+    "distance": "3.99 meters",
+    "closeness rank": 17
+   }
+  },
+  "pillow": {
+   "bed": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "radiator": {
+    "distance": "0.0 meters",
+    "closeness rank": 2
+   },
+   "sofa": {
+    "distance": "0.0 meters",
+    "closeness rank": 3
+   },
+   "towel": {
+    "distance": "0.0 meters",
+    "closeness rank": 4
+   },
+   "mattress": {
+    "distance": "0.01 meters",
+    "closeness rank": 5
+   },
+   "window": {
+    "distance": "0.09 meters",
+    "closeness rank": 6
+   },
+   "table": {
+    "distance": "0.36 meters",
+    "closeness rank": 7
+   },
+   "chair": {
+    "distance": "0.49 meters",
+    "closeness rank": 8
+   },
+   "trash bin": {
+    "distance": "0.61 meters",
+    "closeness rank": 9
+   },
+   "microwave": {
+    "distance": "1.21 meters",
+    "closeness rank": 10
+   },
+   "tv": {
+    "distance": "1.32 meters",
+    "closeness rank": 11
+   },
+   "monitor": {
+    "distance": "1.33 meters",
+    "closeness rank": 12
+   },
+   "door": {
+    "distance": "1.46 meters",
+    "closeness rank": 13
+   },
+   "bookshelf": {
+    "distance": "2.33 meters",
+    "closeness rank": 14
+   },
+   "computer mouse": {
+    "distance": "2.54 meters",
+    "closeness rank": 15
+   },
+   "printer": {
+    "distance": "2.57 meters",
+    "closeness rank": 16
+   },
+   "telephone": {
+    "distance": "2.7 meters",
+    "closeness rank": 17
+   }
+  },
+  "printer": {
+   "computer mouse": {
+    "distance": "0.14 meters",
+    "closeness rank": 1
+   },
+   "telephone": {
+    "distance": "0.22 meters",
+    "closeness rank": 2
+   },
+   "door": {
+    "distance": "0.5 meters",
+    "closeness rank": 3
+   },
+   "bookshelf": {
+    "distance": "0.57 meters",
+    "closeness rank": 4
+   },
+   "chair": {
+    "distance": "1.22 meters",
+    "closeness rank": 5
+   },
+   "table": {
+    "distance": "1.71 meters",
+    "closeness rank": 6
+   },
+   "sofa": {
+    "distance": "1.99 meters",
+    "closeness rank": 7
+   },
+   "towel": {
+    "distance": "2.02 meters",
+    "closeness rank": 8
+   },
+   "bed": {
+    "distance": "2.41 meters",
+    "closeness rank": 9
+   },
+   "pillow": {
+    "distance": "2.57 meters",
+    "closeness rank": 10
+   },
+   "window": {
+    "distance": "2.7 meters",
+    "closeness rank": 11
+   },
+   "radiator": {
+    "distance": "2.8 meters",
+    "closeness rank": 12
+   },
+   "mattress": {
+    "distance": "2.88 meters",
+    "closeness rank": 13
+   },
+   "trash bin": {
+    "distance": "3.65 meters",
+    "closeness rank": 14
+   },
+   "monitor": {
+    "distance": "3.8 meters",
+    "closeness rank": 15
+   },
+   "microwave": {
+    "distance": "3.81 meters",
+    "closeness rank": 16
+   },
+   "tv": {
+    "distance": "3.82 meters",
+    "closeness rank": 17
+   }
+  },
+  "radiator": {
+   "pillow": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "window": {
+    "distance": "0.06 meters",
+    "closeness rank": 2
+   },
+   "bed": {
+    "distance": "0.09 meters",
+    "closeness rank": 3
+   },
+   "mattress": {
+    "distance": "0.11 meters",
+    "closeness rank": 4
+   },
+   "trash bin": {
+    "distance": "0.33 meters",
+    "closeness rank": 5
+   },
+   "table": {
+    "distance": "0.73 meters",
+    "closeness rank": 6
+   },
+   "chair": {
+    "distance": "1.03 meters",
+    "closeness rank": 7
+   },
+   "door": {
+    "distance": "1.44 meters",
+    "closeness rank": 8
+   },
+   "towel": {
+    "distance": "2.48 meters",
+    "closeness rank": 9
+   },
+   "monitor": {
+    "distance": "2.57 meters",
+    "closeness rank": 10
+   },
+   "tv": {
+    "distance": "2.58 meters",
+    "closeness rank": 11
+   },
+   "printer": {
+    "distance": "2.8 meters",
+    "closeness rank": 12
+   },
+   "telephone": {
+    "distance": "2.9 meters",
+    "closeness rank": 13
+   },
+   "microwave": {
+    "distance": "2.95 meters",
+    "closeness rank": 14
+   },
+   "computer mouse": {
+    "distance": "3.36 meters",
+    "closeness rank": 15
+   },
+   "bookshelf": {
+    "distance": "3.66 meters",
+    "closeness rank": 16
+   },
+   "sofa": {
+    "distance": "4.12 meters",
+    "closeness rank": 17
+   }
+  },
+  "sofa": {
+   "pillow": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "towel": {
+    "distance": "0.0 meters",
+    "closeness rank": 2
+   },
+   "table": {
+    "distance": "0.37 meters",
+    "closeness rank": 3
+   },
+   "chair": {
+    "distance": "0.43 meters",
+    "closeness rank": 4
+   },
+   "door": {
+    "distance": "0.75 meters",
+    "closeness rank": 5
+   },
+   "microwave": {
+    "distance": "0.96 meters",
+    "closeness rank": 6
+   },
+   "tv": {
+    "distance": "1.1 meters",
+    "closeness rank": 7
+   },
+   "monitor": {
+    "distance": "1.11 meters",
+    "closeness rank": 8
+   },
+   "bookshelf": {
+    "distance": "1.58 meters",
+    "closeness rank": 9
+   },
+   "computer mouse": {
+    "distance": "1.9 meters",
+    "closeness rank": 10
+   },
+   "printer": {
+    "distance": "1.99 meters",
+    "closeness rank": 11
+   },
+   "window": {
+    "distance": "2.05 meters",
+    "closeness rank": 12
+   },
+   "telephone": {
+    "distance": "2.12 meters",
+    "closeness rank": 13
+   },
+   "bed": {
+    "distance": "3.33 meters",
+    "closeness rank": 14
+   },
+   "trash bin": {
+    "distance": "3.4 meters",
+    "closeness rank": 15
+   },
+   "mattress": {
+    "distance": "3.47 meters",
+    "closeness rank": 16
+   },
+   "radiator": {
+    "distance": "4.12 meters",
+    "closeness rank": 17
+   }
+  },
+  "table": {
+   "chair": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "towel": {
+    "distance": "0.0 meters",
+    "closeness rank": 2
+   },
+   "bed": {
+    "distance": "0.09 meters",
+    "closeness rank": 3
+   },
+   "mattress": {
+    "distance": "0.11 meters",
+    "closeness rank": 4
+   },
+   "pillow": {
+    "distance": "0.36 meters",
+    "closeness rank": 5
+   },
+   "trash bin": {
+    "distance": "0.37 meters",
+    "closeness rank": 6
+   },
+   "sofa": {
+    "distance": "0.37 meters",
+    "closeness rank": 7
+   },
+   "radiator": {
+    "distance": "0.73 meters",
+    "closeness rank": 8
+   },
+   "window": {
+    "distance": "0.83 meters",
+    "closeness rank": 9
+   },
+   "monitor": {
+    "distance": "0.86 meters",
+    "closeness rank": 10
+   },
+   "tv": {
+    "distance": "0.87 meters",
+    "closeness rank": 11
+   },
+   "microwave": {
+    "distance": "0.9 meters",
+    "closeness rank": 12
+   },
+   "door": {
+    "distance": "0.95 meters",
+    "closeness rank": 13
+   },
+   "printer": {
+    "distance": "1.71 meters",
+    "closeness rank": 14
+   },
+   "telephone": {
+    "distance": "1.75 meters",
+    "closeness rank": 15
+   },
+   "bookshelf": {
+    "distance": "1.77 meters",
+    "closeness rank": 16
+   },
+   "computer mouse": {
+    "distance": "1.84 meters",
+    "closeness rank": 17
+   }
+  },
+  "telephone": {
+   "door": {
+    "distance": "0.17 meters",
+    "closeness rank": 1
+   },
+   "printer": {
+    "distance": "0.22 meters",
+    "closeness rank": 2
+   },
+   "computer mouse": {
+    "distance": "0.4 meters",
+    "closeness rank": 3
+   },
+   "bookshelf": {
+    "distance": "0.67 meters",
+    "closeness rank": 4
+   },
+   "chair": {
+    "distance": "1.28 meters",
+    "closeness rank": 5
+   },
+   "table": {
+    "distance": "1.75 meters",
+    "closeness rank": 6
+   },
+   "towel": {
+    "distance": "2.05 meters",
+    "closeness rank": 7
+   },
+   "sofa": {
+    "distance": "2.12 meters",
+    "closeness rank": 8
+   },
+   "bed": {
+    "distance": "2.44 meters",
+    "closeness rank": 9
+   },
+   "pillow": {
+    "distance": "2.7 meters",
+    "closeness rank": 10
+   },
+   "window": {
+    "distance": "2.89 meters",
+    "closeness rank": 11
+   },
+   "radiator": {
+    "distance": "2.9 meters",
+    "closeness rank": 12
+   },
+   "mattress": {
+    "distance": "2.92 meters",
+    "closeness rank": 13
+   },
+   "trash bin": {
+    "distance": "3.72 meters",
+    "closeness rank": 14
+   },
+   "microwave": {
+    "distance": "3.91 meters",
+    "closeness rank": 15
+   },
+   "monitor": {
+    "distance": "3.91 meters",
+    "closeness rank": 16
+   },
+   "tv": {
+    "distance": "3.92 meters",
+    "closeness rank": 17
+   }
+  },
+  "towel": {
+   "pillow": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "sofa": {
+    "distance": "0.0 meters",
+    "closeness rank": 2
+   },
+   "table": {
+    "distance": "0.0 meters",
+    "closeness rank": 3
+   },
+   "microwave": {
+    "distance": "0.01 meters",
+    "closeness rank": 4
+   },
+   "tv": {
+    "distance": "0.03 meters",
+    "closeness rank": 5
+   },
+   "monitor": {
+    "distance": "0.03 meters",
+    "closeness rank": 6
+   },
+   "chair": {
+    "distance": "0.31 meters",
+    "closeness rank": 7
+   },
+   "window": {
+    "distance": "0.65 meters",
+    "closeness rank": 8
+   },
+   "door": {
+    "distance": "1.01 meters",
+    "closeness rank": 9
+   },
+   "bed": {
+    "distance": "1.71 meters",
+    "closeness rank": 10
+   },
+   "mattress": {
+    "distance": "1.87 meters",
+    "closeness rank": 11
+   },
+   "trash bin": {
+    "distance": "1.96 meters",
+    "closeness rank": 12
+   },
+   "printer": {
+    "distance": "2.02 meters",
+    "closeness rank": 13
+   },
+   "telephone": {
+    "distance": "2.05 meters",
+    "closeness rank": 14
+   },
+   "bookshelf": {
+    "distance": "2.14 meters",
+    "closeness rank": 15
+   },
+   "computer mouse": {
+    "distance": "2.16 meters",
+    "closeness rank": 16
+   },
+   "radiator": {
+    "distance": "2.48 meters",
+    "closeness rank": 17
+   }
+  },
+  "trash bin": {
+   "bed": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "mattress": {
+    "distance": "0.01 meters",
+    "closeness rank": 2
+   },
+   "radiator": {
+    "distance": "0.33 meters",
+    "closeness rank": 3
+   },
+   "table": {
+    "distance": "0.37 meters",
+    "closeness rank": 4
+   },
+   "window": {
+    "distance": "0.38 meters",
+    "closeness rank": 5
+   },
+   "door": {
+    "distance": "0.48 meters",
+    "closeness rank": 6
+   },
+   "chair": {
+    "distance": "0.58 meters",
+    "closeness rank": 7
+   },
+   "pillow": {
+    "distance": "0.61 meters",
+    "closeness rank": 8
+   },
+   "tv": {
+    "distance": "1.72 meters",
+    "closeness rank": 9
+   },
+   "monitor": {
+    "distance": "1.72 meters",
+    "closeness rank": 10
+   },
+   "towel": {
+    "distance": "1.96 meters",
+    "closeness rank": 11
+   },
+   "microwave": {
+    "distance": "2.12 meters",
+    "closeness rank": 12
+   },
+   "sofa": {
+    "distance": "3.4 meters",
+    "closeness rank": 13
+   },
+   "printer": {
+    "distance": "3.65 meters",
+    "closeness rank": 14
+   },
+   "telephone": {
+    "distance": "3.72 meters",
+    "closeness rank": 15
+   },
+   "computer mouse": {
+    "distance": "4.05 meters",
+    "closeness rank": 16
+   },
+   "bookshelf": {
+    "distance": "4.16 meters",
+    "closeness rank": 17
+   }
+  },
+  "tv": {
+   "microwave": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "monitor": {
+    "distance": "0.0 meters",
+    "closeness rank": 2
+   },
+   "towel": {
+    "distance": "0.03 meters",
+    "closeness rank": 3
+   },
+   "window": {
+    "distance": "0.06 meters",
+    "closeness rank": 4
+   },
+   "door": {
+    "distance": "0.56 meters",
+    "closeness rank": 5
+   },
+   "chair": {
+    "distance": "0.73 meters",
+    "closeness rank": 6
+   },
+   "table": {
+    "distance": "0.87 meters",
+    "closeness rank": 7
+   },
+   "sofa": {
+    "distance": "1.1 meters",
+    "closeness rank": 8
+   },
+   "pillow": {
+    "distance": "1.32 meters",
+    "closeness rank": 9
+   },
+   "trash bin": {
+    "distance": "1.72 meters",
+    "closeness rank": 10
+   },
+   "bed": {
+    "distance": "1.83 meters",
+    "closeness rank": 11
+   },
+   "mattress": {
+    "distance": "2.0 meters",
+    "closeness rank": 12
+   },
+   "radiator": {
+    "distance": "2.58 meters",
+    "closeness rank": 13
+   },
+   "printer": {
+    "distance": "3.82 meters",
+    "closeness rank": 14
+   },
+   "telephone": {
+    "distance": "3.92 meters",
+    "closeness rank": 15
+   },
+   "computer mouse": {
+    "distance": "3.93 meters",
+    "closeness rank": 16
+   },
+   "bookshelf": {
+    "distance": "3.99 meters",
+    "closeness rank": 17
+   }
+  },
+  "window": {
+   "monitor": {
+    "distance": "0.02 meters",
+    "closeness rank": 1
+   },
+   "radiator": {
+    "distance": "0.06 meters",
+    "closeness rank": 2
+   },
+   "tv": {
+    "distance": "0.06 meters",
+    "closeness rank": 3
+   },
+   "pillow": {
+    "distance": "0.09 meters",
+    "closeness rank": 4
+   },
+   "mattress": {
+    "distance": "0.34 meters",
+    "closeness rank": 5
+   },
+   "door": {
+    "distance": "0.36 meters",
+    "closeness rank": 6
+   },
+   "bed": {
+    "distance": "0.37 meters",
+    "closeness rank": 7
+   },
+   "trash bin": {
+    "distance": "0.38 meters",
+    "closeness rank": 8
+   },
+   "microwave": {
+    "distance": "0.55 meters",
+    "closeness rank": 9
+   },
+   "towel": {
+    "distance": "0.65 meters",
+    "closeness rank": 10
+   },
+   "table": {
+    "distance": "0.83 meters",
+    "closeness rank": 11
+   },
+   "chair": {
+    "distance": "1.09 meters",
+    "closeness rank": 12
+   },
+   "sofa": {
+    "distance": "2.05 meters",
+    "closeness rank": 13
+   },
+   "printer": {
+    "distance": "2.7 meters",
+    "closeness rank": 14
+   },
+   "telephone": {
+    "distance": "2.89 meters",
+    "closeness rank": 15
+   },
+   "computer mouse": {
+    "distance": "3.28 meters",
+    "closeness rank": 16
+   },
+   "bookshelf": {
+    "distance": "3.7 meters",
+    "closeness rank": 17
+   }
+  }
+ },
+ "appearance order": ["chair", "sofa", "table", "door", "bookshelf", "computer mouse", "printer", "pillow", "radiator", "window", "bed", "towel", "monitor", "trash bin", "tv", "telephone", "mattress", "microwave"]
+}
\ No newline at end of file
diff --git a/data/spatial codes/sam3+depth-anything-3/metric/tracking/selective/32/explicit/scene0699_00.json b/data/spatial codes/sam3+depth-anything-3/metric/tracking/selective/32/explicit/scene0699_00.json
new file mode 100644
index 0000000000000000000000000000000000000000..06450df22ebfcb43bba2b532f878132104d05c5c
--- /dev/null
+++ b/data/spatial codes/sam3+depth-anything-3/metric/tracking/selective/32/explicit/scene0699_00.json	
@@ -0,0 +1,1171 @@
+{
+ "spatial code schema": {
+  "objects": {
+   "<object class>": {
+    "count": {
+     "unit": null,
+     "description": "number of instances of this class in the compact spatial code (that schema's per-class oriented-box list length)"
+    },
+    "instances": [
+     {
+      "position": {
+       "x coordinate": {
+        "unit": "meters",
+        "description": "x coordinate of this instance's compact 3D oriented bounding box center"
+       },
+       "y coordinate": {
+        "unit": "meters",
+        "description": "y coordinate of this instance's compact 3D oriented bounding box center"
+       },
+       "height above floor": {
+        "unit": "meters",
+        "description": "height coordinate of this instance's compact 3D oriented bounding box center"
+       }
+      },
+      "longest dimension": {
+       "unit": "meters",
+       "description": "longest of this instance's compact 3D oriented bounding box dimensions"
+      }
+     }
+    ]
+   }
+  },
+  "room": {
+   "floor area": {
+    "unit": "square meters",
+    "description": "shoelace area of the compact spatial code's floor boundary polygons, with every interior hole subtracted"
+   }
+  },
+  "closest classes distance meters from": {
+   "<object class>": {
+    "<other object class>": {
+     "distance": {
+      "unit": "meters",
+      "description": "minimum surface-to-surface separation between the two classes' compact 3D oriented bounding boxes, over every instance pair"
+     },
+     "closeness rank": {
+      "unit": null,
+      "description": "1 = the nearest other class to this one, 2 = second-nearest, and so on"
+     }
+    }
+   }
+  },
+  "appearance order": {
+   "unit": null,
+   "description": "class names ordered by earliest compact 'first visible time' across all of that class's instances"
+  }
+ },
+ "objects": {
+  "backpack": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "3.05 meters",
+      "y coordinate": "1.13 meters",
+      "height above floor": "0.68 meters"
+     },
+     "longest dimension": "0.73 meters"
+    }
+   ]
+  },
+  "bed": {
+   "count": 2,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "0.94 meters",
+      "y coordinate": "0.78 meters",
+      "height above floor": "1.77 meters"
+     },
+     "longest dimension": "1.5 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "0.74 meters",
+      "y coordinate": "0.91 meters",
+      "height above floor": "0.56 meters"
+     },
+     "longest dimension": "1.36 meters"
+    }
+   ]
+  },
+  "chair": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "3.33 meters",
+      "y coordinate": "0.87 meters",
+      "height above floor": "0.53 meters"
+     },
+     "longest dimension": "0.56 meters"
+    }
+   ]
+  },
+  "clock": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-0.35 meters",
+      "y coordinate": "0.71 meters",
+      "height above floor": "0.57 meters"
+     },
+     "longest dimension": "0.16 meters"
+    }
+   ]
+  },
+  "closet": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "3.27 meters",
+      "y coordinate": "0.56 meters",
+      "height above floor": "-0.19 meters"
+     },
+     "longest dimension": "2.07 meters"
+    }
+   ]
+  },
+  "door": {
+   "count": 3,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-0.49 meters",
+      "y coordinate": "0.46 meters",
+      "height above floor": "0.91 meters"
+     },
+     "longest dimension": "0.86 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "2.96 meters",
+      "y coordinate": "0.74 meters",
+      "height above floor": "-0.03 meters"
+     },
+     "longest dimension": "1.51 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-0.25 meters",
+      "y coordinate": "1.07 meters",
+      "height above floor": "-0.66 meters"
+     },
+     "longest dimension": "0.65 meters"
+    }
+   ]
+  },
+  "mattress": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "0.62 meters",
+      "y coordinate": "0.94 meters",
+      "height above floor": "1.25 meters"
+     },
+     "longest dimension": "1.04 meters"
+    }
+   ]
+  },
+  "nightstand": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "0.05 meters",
+      "y coordinate": "1.18 meters",
+      "height above floor": "2.0 meters"
+     },
+     "longest dimension": "0.68 meters"
+    }
+   ]
+  },
+  "pillow": {
+   "count": 2,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "1.51 meters",
+      "y coordinate": "0.88 meters",
+      "height above floor": "1.94 meters"
+     },
+     "longest dimension": "0.66 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "0.83 meters",
+      "y coordinate": "0.87 meters",
+      "height above floor": "1.96 meters"
+     },
+     "longest dimension": "0.64 meters"
+    }
+   ]
+  },
+  "plant": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "4.21 meters",
+      "y coordinate": "0.5 meters",
+      "height above floor": "0.79 meters"
+     },
+     "longest dimension": "0.35 meters"
+    }
+   ]
+  },
+  "radiator": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-0.28 meters",
+      "y coordinate": "1.01 meters",
+      "height above floor": "0.82 meters"
+     },
+     "longest dimension": "1.38 meters"
+    }
+   ]
+  },
+  "refrigerator": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "3.99 meters",
+      "y coordinate": "1.0 meters",
+      "height above floor": "0.97 meters"
+     },
+     "longest dimension": "0.68 meters"
+    }
+   ]
+  },
+  "table": {
+   "count": 2,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "3.55 meters",
+      "y coordinate": "0.69 meters",
+      "height above floor": "1.1 meters"
+     },
+     "longest dimension": "1.32 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "0.06 meters",
+      "y coordinate": "1.17 meters",
+      "height above floor": "1.99 meters"
+     },
+     "longest dimension": "0.7 meters"
+    }
+   ]
+  },
+  "trash bin": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "4.14 meters",
+      "y coordinate": "0.56 meters",
+      "height above floor": "0.91 meters"
+     },
+     "longest dimension": "0.23 meters"
+    }
+   ]
+  },
+  "window": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-0.55 meters",
+      "y coordinate": "0.55 meters",
+      "height above floor": "0.85 meters"
+     },
+     "longest dimension": "0.83 meters"
+    }
+   ]
+  }
+ },
+ "room": {
+  "floor area": "10.6 square meters"
+ },
+ "closest classes distance meters from": {
+  "backpack": {
+   "chair": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "table": {
+    "distance": "0.09 meters",
+    "closeness rank": 2
+   },
+   "refrigerator": {
+    "distance": "0.41 meters",
+    "closeness rank": 3
+   },
+   "closet": {
+    "distance": "0.43 meters",
+    "closeness rank": 4
+   },
+   "door": {
+    "distance": "0.53 meters",
+    "closeness rank": 5
+   },
+   "trash bin": {
+    "distance": "0.74 meters",
+    "closeness rank": 6
+   },
+   "plant": {
+    "distance": "0.77 meters",
+    "closeness rank": 7
+   },
+   "bed": {
+    "distance": "1.17 meters",
+    "closeness rank": 8
+   },
+   "pillow": {
+    "distance": "1.32 meters",
+    "closeness rank": 9
+   },
+   "mattress": {
+    "distance": "1.61 meters",
+    "closeness rank": 10
+   },
+   "nightstand": {
+    "distance": "2.48 meters",
+    "closeness rank": 11
+   },
+   "radiator": {
+    "distance": "2.8 meters",
+    "closeness rank": 12
+   },
+   "clock": {
+    "distance": "3.03 meters",
+    "closeness rank": 13
+   },
+   "window": {
+    "distance": "3.27 meters",
+    "closeness rank": 14
+   }
+  },
+  "bed": {
+   "mattress": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "nightstand": {
+    "distance": "0.0 meters",
+    "closeness rank": 2
+   },
+   "pillow": {
+    "distance": "0.0 meters",
+    "closeness rank": 3
+   },
+   "table": {
+    "distance": "0.0 meters",
+    "closeness rank": 4
+   },
+   "radiator": {
+    "distance": "0.35 meters",
+    "closeness rank": 5
+   },
+   "clock": {
+    "distance": "0.58 meters",
+    "closeness rank": 6
+   },
+   "door": {
+    "distance": "0.6 meters",
+    "closeness rank": 7
+   },
+   "window": {
+    "distance": "0.7 meters",
+    "closeness rank": 8
+   },
+   "closet": {
+    "distance": "1.08 meters",
+    "closeness rank": 9
+   },
+   "backpack": {
+    "distance": "1.17 meters",
+    "closeness rank": 10
+   },
+   "chair": {
+    "distance": "1.56 meters",
+    "closeness rank": 11
+   },
+   "refrigerator": {
+    "distance": "2.11 meters",
+    "closeness rank": 12
+   },
+   "trash bin": {
+    "distance": "2.34 meters",
+    "closeness rank": 13
+   },
+   "plant": {
+    "distance": "2.37 meters",
+    "closeness rank": 14
+   }
+  },
+  "chair": {
+   "backpack": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "table": {
+    "distance": "0.03 meters",
+    "closeness rank": 2
+   },
+   "closet": {
+    "distance": "0.15 meters",
+    "closeness rank": 3
+   },
+   "door": {
+    "distance": "0.25 meters",
+    "closeness rank": 4
+   },
+   "refrigerator": {
+    "distance": "0.32 meters",
+    "closeness rank": 5
+   },
+   "trash bin": {
+    "distance": "0.58 meters",
+    "closeness rank": 6
+   },
+   "plant": {
+    "distance": "0.58 meters",
+    "closeness rank": 7
+   },
+   "bed": {
+    "distance": "1.56 meters",
+    "closeness rank": 8
+   },
+   "pillow": {
+    "distance": "1.64 meters",
+    "closeness rank": 9
+   },
+   "mattress": {
+    "distance": "2.03 meters",
+    "closeness rank": 10
+   },
+   "nightstand": {
+    "distance": "2.94 meters",
+    "closeness rank": 11
+   },
+   "radiator": {
+    "distance": "3.27 meters",
+    "closeness rank": 12
+   },
+   "clock": {
+    "distance": "3.45 meters",
+    "closeness rank": 13
+   },
+   "window": {
+    "distance": "3.68 meters",
+    "closeness rank": 14
+   }
+  },
+  "clock": {
+   "radiator": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "door": {
+    "distance": "0.07 meters",
+    "closeness rank": 2
+   },
+   "window": {
+    "distance": "0.09 meters",
+    "closeness rank": 3
+   },
+   "mattress": {
+    "distance": "0.49 meters",
+    "closeness rank": 4
+   },
+   "bed": {
+    "distance": "0.58 meters",
+    "closeness rank": 5
+   },
+   "nightstand": {
+    "distance": "1.06 meters",
+    "closeness rank": 6
+   },
+   "table": {
+    "distance": "1.13 meters",
+    "closeness rank": 7
+   },
+   "pillow": {
+    "distance": "1.41 meters",
+    "closeness rank": 8
+   },
+   "closet": {
+    "distance": "2.51 meters",
+    "closeness rank": 9
+   },
+   "backpack": {
+    "distance": "3.03 meters",
+    "closeness rank": 10
+   },
+   "chair": {
+    "distance": "3.45 meters",
+    "closeness rank": 11
+   },
+   "refrigerator": {
+    "distance": "4.08 meters",
+    "closeness rank": 12
+   },
+   "trash bin": {
+    "distance": "4.31 meters",
+    "closeness rank": 13
+   },
+   "plant": {
+    "distance": "4.32 meters",
+    "closeness rank": 14
+   }
+  },
+  "closet": {
+   "door": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "chair": {
+    "distance": "0.15 meters",
+    "closeness rank": 2
+   },
+   "backpack": {
+    "distance": "0.43 meters",
+    "closeness rank": 3
+   },
+   "plant": {
+    "distance": "0.57 meters",
+    "closeness rank": 4
+   },
+   "table": {
+    "distance": "0.59 meters",
+    "closeness rank": 5
+   },
+   "refrigerator": {
+    "distance": "0.62 meters",
+    "closeness rank": 6
+   },
+   "trash bin": {
+    "distance": "0.69 meters",
+    "closeness rank": 7
+   },
+   "bed": {
+    "distance": "1.08 meters",
+    "closeness rank": 8
+   },
+   "mattress": {
+    "distance": "1.38 meters",
+    "closeness rank": 9
+   },
+   "pillow": {
+    "distance": "1.72 meters",
+    "closeness rank": 10
+   },
+   "radiator": {
+    "distance": "2.4 meters",
+    "closeness rank": 11
+   },
+   "nightstand": {
+    "distance": "2.47 meters",
+    "closeness rank": 12
+   },
+   "clock": {
+    "distance": "2.51 meters",
+    "closeness rank": 13
+   },
+   "window": {
+    "distance": "2.71 meters",
+    "closeness rank": 14
+   }
+  },
+  "door": {
+   "closet": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "radiator": {
+    "distance": "0.0 meters",
+    "closeness rank": 2
+   },
+   "window": {
+    "distance": "0.0 meters",
+    "closeness rank": 3
+   },
+   "clock": {
+    "distance": "0.07 meters",
+    "closeness rank": 4
+   },
+   "chair": {
+    "distance": "0.25 meters",
+    "closeness rank": 5
+   },
+   "mattress": {
+    "distance": "0.5 meters",
+    "closeness rank": 6
+   },
+   "backpack": {
+    "distance": "0.53 meters",
+    "closeness rank": 7
+   },
+   "nightstand": {
+    "distance": "0.55 meters",
+    "closeness rank": 8
+   },
+   "bed": {
+    "distance": "0.6 meters",
+    "closeness rank": 9
+   },
+   "table": {
+    "distance": "0.61 meters",
+    "closeness rank": 10
+   },
+   "refrigerator": {
+    "distance": "0.97 meters",
+    "closeness rank": 11
+   },
+   "plant": {
+    "distance": "1.08 meters",
+    "closeness rank": 12
+   },
+   "pillow": {
+    "distance": "1.12 meters",
+    "closeness rank": 13
+   },
+   "trash bin": {
+    "distance": "1.16 meters",
+    "closeness rank": 14
+   }
+  },
+  "mattress": {
+   "bed": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "nightstand": {
+    "distance": "0.06 meters",
+    "closeness rank": 2
+   },
+   "table": {
+    "distance": "0.14 meters",
+    "closeness rank": 3
+   },
+   "pillow": {
+    "distance": "0.18 meters",
+    "closeness rank": 4
+   },
+   "radiator": {
+    "distance": "0.27 meters",
+    "closeness rank": 5
+   },
+   "clock": {
+    "distance": "0.49 meters",
+    "closeness rank": 6
+   },
+   "door": {
+    "distance": "0.5 meters",
+    "closeness rank": 7
+   },
+   "window": {
+    "distance": "0.65 meters",
+    "closeness rank": 8
+   },
+   "closet": {
+    "distance": "1.38 meters",
+    "closeness rank": 9
+   },
+   "backpack": {
+    "distance": "1.61 meters",
+    "closeness rank": 10
+   },
+   "chair": {
+    "distance": "2.03 meters",
+    "closeness rank": 11
+   },
+   "refrigerator": {
+    "distance": "2.67 meters",
+    "closeness rank": 12
+   },
+   "trash bin": {
+    "distance": "2.92 meters",
+    "closeness rank": 13
+   },
+   "plant": {
+    "distance": "2.92 meters",
+    "closeness rank": 14
+   }
+  },
+  "nightstand": {
+   "bed": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "table": {
+    "distance": "0.0 meters",
+    "closeness rank": 2
+   },
+   "mattress": {
+    "distance": "0.06 meters",
+    "closeness rank": 3
+   },
+   "radiator": {
+    "distance": "0.15 meters",
+    "closeness rank": 4
+   },
+   "pillow": {
+    "distance": "0.18 meters",
+    "closeness rank": 5
+   },
+   "window": {
+    "distance": "0.53 meters",
+    "closeness rank": 6
+   },
+   "door": {
+    "distance": "0.55 meters",
+    "closeness rank": 7
+   },
+   "clock": {
+    "distance": "1.06 meters",
+    "closeness rank": 8
+   },
+   "closet": {
+    "distance": "2.47 meters",
+    "closeness rank": 9
+   },
+   "backpack": {
+    "distance": "2.48 meters",
+    "closeness rank": 10
+   },
+   "chair": {
+    "distance": "2.94 meters",
+    "closeness rank": 11
+   },
+   "refrigerator": {
+    "distance": "3.46 meters",
+    "closeness rank": 12
+   },
+   "trash bin": {
+    "distance": "3.78 meters",
+    "closeness rank": 13
+   },
+   "plant": {
+    "distance": "3.81 meters",
+    "closeness rank": 14
+   }
+  },
+  "pillow": {
+   "bed": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "table": {
+    "distance": "0.13 meters",
+    "closeness rank": 2
+   },
+   "mattress": {
+    "distance": "0.18 meters",
+    "closeness rank": 3
+   },
+   "nightstand": {
+    "distance": "0.18 meters",
+    "closeness rank": 4
+   },
+   "radiator": {
+    "distance": "0.73 meters",
+    "closeness rank": 5
+   },
+   "door": {
+    "distance": "1.12 meters",
+    "closeness rank": 6
+   },
+   "window": {
+    "distance": "1.15 meters",
+    "closeness rank": 7
+   },
+   "backpack": {
+    "distance": "1.32 meters",
+    "closeness rank": 8
+   },
+   "clock": {
+    "distance": "1.41 meters",
+    "closeness rank": 9
+   },
+   "chair": {
+    "distance": "1.64 meters",
+    "closeness rank": 10
+   },
+   "closet": {
+    "distance": "1.72 meters",
+    "closeness rank": 11
+   },
+   "refrigerator": {
+    "distance": "2.04 meters",
+    "closeness rank": 12
+   },
+   "trash bin": {
+    "distance": "2.33 meters",
+    "closeness rank": 13
+   },
+   "plant": {
+    "distance": "2.38 meters",
+    "closeness rank": 14
+   }
+  },
+  "plant": {
+   "trash bin": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "refrigerator": {
+    "distance": "0.13 meters",
+    "closeness rank": 2
+   },
+   "table": {
+    "distance": "0.13 meters",
+    "closeness rank": 3
+   },
+   "closet": {
+    "distance": "0.57 meters",
+    "closeness rank": 4
+   },
+   "chair": {
+    "distance": "0.58 meters",
+    "closeness rank": 5
+   },
+   "backpack": {
+    "distance": "0.77 meters",
+    "closeness rank": 6
+   },
+   "door": {
+    "distance": "1.08 meters",
+    "closeness rank": 7
+   },
+   "bed": {
+    "distance": "2.37 meters",
+    "closeness rank": 8
+   },
+   "pillow": {
+    "distance": "2.38 meters",
+    "closeness rank": 9
+   },
+   "mattress": {
+    "distance": "2.92 meters",
+    "closeness rank": 10
+   },
+   "nightstand": {
+    "distance": "3.81 meters",
+    "closeness rank": 11
+   },
+   "radiator": {
+    "distance": "4.19 meters",
+    "closeness rank": 12
+   },
+   "clock": {
+    "distance": "4.32 meters",
+    "closeness rank": 13
+   },
+   "window": {
+    "distance": "4.55 meters",
+    "closeness rank": 14
+   }
+  },
+  "radiator": {
+   "clock": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "door": {
+    "distance": "0.0 meters",
+    "closeness rank": 2
+   },
+   "window": {
+    "distance": "0.08 meters",
+    "closeness rank": 3
+   },
+   "nightstand": {
+    "distance": "0.15 meters",
+    "closeness rank": 4
+   },
+   "table": {
+    "distance": "0.22 meters",
+    "closeness rank": 5
+   },
+   "mattress": {
+    "distance": "0.27 meters",
+    "closeness rank": 6
+   },
+   "bed": {
+    "distance": "0.35 meters",
+    "closeness rank": 7
+   },
+   "pillow": {
+    "distance": "0.73 meters",
+    "closeness rank": 8
+   },
+   "closet": {
+    "distance": "2.4 meters",
+    "closeness rank": 9
+   },
+   "backpack": {
+    "distance": "2.8 meters",
+    "closeness rank": 10
+   },
+   "chair": {
+    "distance": "3.27 meters",
+    "closeness rank": 11
+   },
+   "refrigerator": {
+    "distance": "3.89 meters",
+    "closeness rank": 12
+   },
+   "trash bin": {
+    "distance": "4.19 meters",
+    "closeness rank": 13
+   },
+   "plant": {
+    "distance": "4.19 meters",
+    "closeness rank": 14
+   }
+  },
+  "refrigerator": {
+   "table": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "trash bin": {
+    "distance": "0.0 meters",
+    "closeness rank": 2
+   },
+   "plant": {
+    "distance": "0.13 meters",
+    "closeness rank": 3
+   },
+   "chair": {
+    "distance": "0.32 meters",
+    "closeness rank": 4
+   },
+   "backpack": {
+    "distance": "0.41 meters",
+    "closeness rank": 5
+   },
+   "closet": {
+    "distance": "0.62 meters",
+    "closeness rank": 6
+   },
+   "door": {
+    "distance": "0.97 meters",
+    "closeness rank": 7
+   },
+   "pillow": {
+    "distance": "2.04 meters",
+    "closeness rank": 8
+   },
+   "bed": {
+    "distance": "2.11 meters",
+    "closeness rank": 9
+   },
+   "mattress": {
+    "distance": "2.67 meters",
+    "closeness rank": 10
+   },
+   "nightstand": {
+    "distance": "3.46 meters",
+    "closeness rank": 11
+   },
+   "radiator": {
+    "distance": "3.89 meters",
+    "closeness rank": 12
+   },
+   "clock": {
+    "distance": "4.08 meters",
+    "closeness rank": 13
+   },
+   "window": {
+    "distance": "4.32 meters",
+    "closeness rank": 14
+   }
+  },
+  "table": {
+   "bed": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "nightstand": {
+    "distance": "0.0 meters",
+    "closeness rank": 2
+   },
+   "refrigerator": {
+    "distance": "0.0 meters",
+    "closeness rank": 3
+   },
+   "trash bin": {
+    "distance": "0.0 meters",
+    "closeness rank": 4
+   },
+   "chair": {
+    "distance": "0.03 meters",
+    "closeness rank": 5
+   },
+   "backpack": {
+    "distance": "0.09 meters",
+    "closeness rank": 6
+   },
+   "pillow": {
+    "distance": "0.13 meters",
+    "closeness rank": 7
+   },
+   "plant": {
+    "distance": "0.13 meters",
+    "closeness rank": 8
+   },
+   "mattress": {
+    "distance": "0.14 meters",
+    "closeness rank": 9
+   },
+   "radiator": {
+    "distance": "0.22 meters",
+    "closeness rank": 10
+   },
+   "window": {
+    "distance": "0.57 meters",
+    "closeness rank": 11
+   },
+   "closet": {
+    "distance": "0.59 meters",
+    "closeness rank": 12
+   },
+   "door": {
+    "distance": "0.61 meters",
+    "closeness rank": 13
+   },
+   "clock": {
+    "distance": "1.13 meters",
+    "closeness rank": 14
+   }
+  },
+  "trash bin": {
+   "plant": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "refrigerator": {
+    "distance": "0.0 meters",
+    "closeness rank": 2
+   },
+   "table": {
+    "distance": "0.0 meters",
+    "closeness rank": 3
+   },
+   "chair": {
+    "distance": "0.58 meters",
+    "closeness rank": 4
+   },
+   "closet": {
+    "distance": "0.69 meters",
+    "closeness rank": 5
+   },
+   "backpack": {
+    "distance": "0.74 meters",
+    "closeness rank": 6
+   },
+   "door": {
+    "distance": "1.16 meters",
+    "closeness rank": 7
+   },
+   "pillow": {
+    "distance": "2.33 meters",
+    "closeness rank": 8
+   },
+   "bed": {
+    "distance": "2.34 meters",
+    "closeness rank": 9
+   },
+   "mattress": {
+    "distance": "2.92 meters",
+    "closeness rank": 10
+   },
+   "nightstand": {
+    "distance": "3.78 meters",
+    "closeness rank": 11
+   },
+   "radiator": {
+    "distance": "4.19 meters",
+    "closeness rank": 12
+   },
+   "clock": {
+    "distance": "4.31 meters",
+    "closeness rank": 13
+   },
+   "window": {
+    "distance": "4.54 meters",
+    "closeness rank": 14
+   }
+  },
+  "window": {
+   "door": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "radiator": {
+    "distance": "0.08 meters",
+    "closeness rank": 2
+   },
+   "clock": {
+    "distance": "0.09 meters",
+    "closeness rank": 3
+   },
+   "nightstand": {
+    "distance": "0.53 meters",
+    "closeness rank": 4
+   },
+   "table": {
+    "distance": "0.57 meters",
+    "closeness rank": 5
+   },
+   "mattress": {
+    "distance": "0.65 meters",
+    "closeness rank": 6
+   },
+   "bed": {
+    "distance": "0.7 meters",
+    "closeness rank": 7
+   },
+   "pillow": {
+    "distance": "1.15 meters",
+    "closeness rank": 8
+   },
+   "closet": {
+    "distance": "2.71 meters",
+    "closeness rank": 9
+   },
+   "backpack": {
+    "distance": "3.27 meters",
+    "closeness rank": 10
+   },
+   "chair": {
+    "distance": "3.68 meters",
+    "closeness rank": 11
+   },
+   "refrigerator": {
+    "distance": "4.32 meters",
+    "closeness rank": 12
+   },
+   "trash bin": {
+    "distance": "4.54 meters",
+    "closeness rank": 13
+   },
+   "plant": {
+    "distance": "4.55 meters",
+    "closeness rank": 14
+   }
+  }
+ },
+ "appearance order": ["bed", "mattress", "pillow", "nightstand", "radiator", "window", "table", "chair", "trash bin", "backpack", "plant", "refrigerator", "closet", "door", "clock"]
+}
\ No newline at end of file
diff --git a/data/spatial codes/sam3+depth-anything-3/metric/tracking/selective/64/explicit/13c3e046d7.json b/data/spatial codes/sam3+depth-anything-3/metric/tracking/selective/64/explicit/13c3e046d7.json
new file mode 100644
index 0000000000000000000000000000000000000000..39b015c41616ebc4f7b5e73695482fdb0ea395c7
--- /dev/null
+++ b/data/spatial codes/sam3+depth-anything-3/metric/tracking/selective/64/explicit/13c3e046d7.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": {
+  "bucket": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-0.93 meters",
+      "y coordinate": "1.3 meters",
+      "height above floor": "2.39 meters"
+     },
+     "longest dimension": "0.41 meters"
+    }
+   ]
+  },
+  "ceiling light": {
+   "count": 3,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-0.03 meters",
+      "y coordinate": "-1.28 meters",
+      "height above floor": "0.58 meters"
+     },
+     "longest dimension": "1.48 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "3.01 meters",
+      "y coordinate": "-1.36 meters",
+      "height above floor": "1.74 meters"
+     },
+     "longest dimension": "1.85 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "3.16 meters",
+      "y coordinate": "-1.39 meters",
+      "height above floor": "1.5 meters"
+     },
+     "longest dimension": "1.42 meters"
+    }
+   ]
+  },
+  "door": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-0.03 meters",
+      "y coordinate": "0.6 meters",
+      "height above floor": "2.82 meters"
+     },
+     "longest dimension": "1.74 meters"
+    }
+   ]
+  },
+  "table": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "2.78 meters",
+      "y coordinate": "0.07 meters",
+      "height above floor": "1.74 meters"
+     },
+     "longest dimension": "1.55 meters"
+    }
+   ]
+  },
+  "trash can": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-0.93 meters",
+      "y coordinate": "1.3 meters",
+      "height above floor": "2.44 meters"
+     },
+     "longest dimension": "0.41 meters"
+    }
+   ]
+  },
+  "whiteboard": {
+   "count": 4,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "0.04 meters",
+      "y coordinate": "-0.68 meters",
+      "height above floor": "0.03 meters"
+     },
+     "longest dimension": "3.15 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-1.58 meters",
+      "y coordinate": "0.25 meters",
+      "height above floor": "2.17 meters"
+     },
+     "longest dimension": "0.29 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-1.59 meters",
+      "y coordinate": "0.05 meters",
+      "height above floor": "2.39 meters"
+     },
+     "longest dimension": "0.3 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-1.61 meters",
+      "y coordinate": "0.01 meters",
+      "height above floor": "2.19 meters"
+     },
+     "longest dimension": "0.3 meters"
+    }
+   ]
+  }
+ },
+ "room": {
+  "floor area": "19.9 square meters"
+ },
+ "closest classes distance meters from": {
+  "bucket": {
+   "trash can": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "door": {
+    "distance": "0.12 meters",
+    "closeness rank": 2
+   },
+   "whiteboard": {
+    "distance": "0.89 meters",
+    "closeness rank": 3
+   },
+   "ceiling light": {
+    "distance": "2.72 meters",
+    "closeness rank": 4
+   },
+   "table": {
+    "distance": "3.62 meters",
+    "closeness rank": 5
+   }
+  },
+  "ceiling light": {
+   "whiteboard": {
+    "distance": "0.24 meters",
+    "closeness rank": 1
+   },
+   "table": {
+    "distance": "0.99 meters",
+    "closeness rank": 2
+   },
+   "door": {
+    "distance": "1.96 meters",
+    "closeness rank": 3
+   },
+   "bucket": {
+    "distance": "2.72 meters",
+    "closeness rank": 4
+   },
+   "trash can": {
+    "distance": "2.72 meters",
+    "closeness rank": 5
+   }
+  },
+  "door": {
+   "trash can": {
+    "distance": "0.1 meters",
+    "closeness rank": 1
+   },
+   "bucket": {
+    "distance": "0.12 meters",
+    "closeness rank": 2
+   },
+   "whiteboard": {
+    "distance": "1.03 meters",
+    "closeness rank": 3
+   },
+   "ceiling light": {
+    "distance": "1.96 meters",
+    "closeness rank": 4
+   },
+   "table": {
+    "distance": "1.98 meters",
+    "closeness rank": 5
+   }
+  },
+  "table": {
+   "ceiling light": {
+    "distance": "0.99 meters",
+    "closeness rank": 1
+   },
+   "whiteboard": {
+    "distance": "1.19 meters",
+    "closeness rank": 2
+   },
+   "door": {
+    "distance": "1.98 meters",
+    "closeness rank": 3
+   },
+   "trash can": {
+    "distance": "3.62 meters",
+    "closeness rank": 4
+   },
+   "bucket": {
+    "distance": "3.62 meters",
+    "closeness rank": 5
+   }
+  },
+  "trash can": {
+   "bucket": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "door": {
+    "distance": "0.1 meters",
+    "closeness rank": 2
+   },
+   "whiteboard": {
+    "distance": "0.89 meters",
+    "closeness rank": 3
+   },
+   "ceiling light": {
+    "distance": "2.72 meters",
+    "closeness rank": 4
+   },
+   "table": {
+    "distance": "3.62 meters",
+    "closeness rank": 5
+   }
+  },
+  "whiteboard": {
+   "ceiling light": {
+    "distance": "0.24 meters",
+    "closeness rank": 1
+   },
+   "trash can": {
+    "distance": "0.89 meters",
+    "closeness rank": 2
+   },
+   "bucket": {
+    "distance": "0.89 meters",
+    "closeness rank": 3
+   },
+   "door": {
+    "distance": "1.03 meters",
+    "closeness rank": 4
+   },
+   "table": {
+    "distance": "1.19 meters",
+    "closeness rank": 5
+   }
+  }
+ },
+ "appearance order": ["whiteboard", "door", "ceiling light", "table", "bucket", "trash can"]
+}
\ No newline at end of file
diff --git a/data/spatial codes/sam3+depth-anything-3/metric/tracking/selective/64/explicit/3f15a9266d.json b/data/spatial codes/sam3+depth-anything-3/metric/tracking/selective/64/explicit/3f15a9266d.json
new file mode 100644
index 0000000000000000000000000000000000000000..212e3de093e803547668e4c5fde0c810c6c700fb
--- /dev/null
+++ b/data/spatial codes/sam3+depth-anything-3/metric/tracking/selective/64/explicit/3f15a9266d.json	
@@ -0,0 +1,1815 @@
+{
+ "spatial code schema": {
+  "objects": {
+   "<object class>": {
+    "count": {
+     "unit": null,
+     "description": "number of instances of this class in the compact spatial code (that schema's per-class oriented-box list length)"
+    },
+    "instances": [
+     {
+      "position": {
+       "x coordinate": {
+        "unit": "meters",
+        "description": "x coordinate of this instance's compact 3D oriented bounding box center"
+       },
+       "y coordinate": {
+        "unit": "meters",
+        "description": "y coordinate of this instance's compact 3D oriented bounding box center"
+       },
+       "height above floor": {
+        "unit": "meters",
+        "description": "height coordinate of this instance's compact 3D oriented bounding box center"
+       }
+      },
+      "longest dimension": {
+       "unit": "meters",
+       "description": "longest of this instance's compact 3D oriented bounding box dimensions"
+      }
+     }
+    ]
+   }
+  },
+  "room": {
+   "floor area": {
+    "unit": "square meters",
+    "description": "shoelace area of the compact spatial code's floor boundary polygons, with every interior hole subtracted"
+   }
+  },
+  "closest classes distance meters from": {
+   "<object class>": {
+    "<other object class>": {
+     "distance": {
+      "unit": "meters",
+      "description": "minimum surface-to-surface separation between the two classes' compact 3D oriented bounding boxes, over every instance pair"
+     },
+     "closeness rank": {
+      "unit": null,
+      "description": "1 = the nearest other class to this one, 2 = second-nearest, and so on"
+     }
+    }
+   }
+  },
+  "appearance order": {
+   "unit": null,
+   "description": "class names ordered by earliest compact 'first visible time' across all of that class's instances"
+  }
+ },
+ "objects": {
+  "bookshelf": {
+   "count": 3,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "1.06 meters",
+      "y coordinate": "2.03 meters",
+      "height above floor": "0.36 meters"
+     },
+     "longest dimension": "1.85 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-0.84 meters",
+      "y coordinate": "2.1 meters",
+      "height above floor": "0.23 meters"
+     },
+     "longest dimension": "1.35 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-0.6 meters",
+      "y coordinate": "2.16 meters",
+      "height above floor": "0.54 meters"
+     },
+     "longest dimension": "1.53 meters"
+    }
+   ]
+  },
+  "bucket": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-1.4 meters",
+      "y coordinate": "1.64 meters",
+      "height above floor": "1.09 meters"
+     },
+     "longest dimension": "0.2 meters"
+    }
+   ]
+  },
+  "ceiling light": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "0.03 meters",
+      "y coordinate": "-0.4 meters",
+      "height above floor": "1.97 meters"
+     },
+     "longest dimension": "1.19 meters"
+    }
+   ]
+  },
+  "chair": {
+   "count": 4,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-1.14 meters",
+      "y coordinate": "1.1 meters",
+      "height above floor": "0.09 meters"
+     },
+     "longest dimension": "0.97 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-0.55 meters",
+      "y coordinate": "-0.05 meters",
+      "height above floor": "0.18 meters"
+     },
+     "longest dimension": "1.15 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "0.77 meters",
+      "y coordinate": "0.98 meters",
+      "height above floor": "0.09 meters"
+     },
+     "longest dimension": "0.74 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-0.57 meters",
+      "y coordinate": "1.61 meters",
+      "height above floor": "0.0 meters"
+     },
+     "longest dimension": "0.76 meters"
+    }
+   ]
+  },
+  "clock": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "1.42 meters",
+      "y coordinate": "0.44 meters",
+      "height above floor": "1.55 meters"
+     },
+     "longest dimension": "0.29 meters"
+    }
+   ]
+  },
+  "computer mouse": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-0.79 meters",
+      "y coordinate": "-0.67 meters",
+      "height above floor": "0.34 meters"
+     },
+     "longest dimension": "0.11 meters"
+    }
+   ]
+  },
+  "crate": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "0.87 meters",
+      "y coordinate": "0.21 meters",
+      "height above floor": "-0.3 meters"
+     },
+     "longest dimension": "0.39 meters"
+    }
+   ]
+  },
+  "cup": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "1.19 meters",
+      "y coordinate": "-0.03 meters",
+      "height above floor": "0.37 meters"
+     },
+     "longest dimension": "0.09 meters"
+    }
+   ]
+  },
+  "cushion": {
+   "count": 2,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-1.06 meters",
+      "y coordinate": "1.09 meters",
+      "height above floor": "0.04 meters"
+     },
+     "longest dimension": "0.56 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-0.44 meters",
+      "y coordinate": "-0.05 meters",
+      "height above floor": "0.07 meters"
+     },
+     "longest dimension": "0.46 meters"
+    }
+   ]
+  },
+  "door": {
+   "count": 2,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "0.28 meters",
+      "y coordinate": "2.42 meters",
+      "height above floor": "0.36 meters"
+     },
+     "longest dimension": "2.03 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-1.61 meters",
+      "y coordinate": "0.92 meters",
+      "height above floor": "0.67 meters"
+     },
+     "longest dimension": "1.26 meters"
+    }
+   ]
+  },
+  "keyboard": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-0.58 meters",
+      "y coordinate": "-0.69 meters",
+      "height above floor": "0.33 meters"
+     },
+     "longest dimension": "0.78 meters"
+    }
+   ]
+  },
+  "microwave": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "1.14 meters",
+      "y coordinate": "-0.18 meters",
+      "height above floor": "-0.25 meters"
+     },
+     "longest dimension": "0.46 meters"
+    }
+   ]
+  },
+  "monitor": {
+   "count": 2,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-0.48 meters",
+      "y coordinate": "-0.9 meters",
+      "height above floor": "0.74 meters"
+     },
+     "longest dimension": "0.61 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-1.01 meters",
+      "y coordinate": "-0.77 meters",
+      "height above floor": "0.76 meters"
+     },
+     "longest dimension": "0.54 meters"
+    }
+   ]
+  },
+  "table": {
+   "count": 2,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "0.85 meters",
+      "y coordinate": "0.39 meters",
+      "height above floor": "0.27 meters"
+     },
+     "longest dimension": "0.69 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "0.63 meters",
+      "y coordinate": "-0.31 meters",
+      "height above floor": "0.27 meters"
+     },
+     "longest dimension": "0.59 meters"
+    }
+   ]
+  },
+  "table lamp": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-0.43 meters",
+      "y coordinate": "-0.73 meters",
+      "height above floor": "0.43 meters"
+     },
+     "longest dimension": "0.84 meters"
+    }
+   ]
+  },
+  "telephone": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "0.11 meters",
+      "y coordinate": "-1.04 meters",
+      "height above floor": "0.36 meters"
+     },
+     "longest dimension": "0.27 meters"
+    }
+   ]
+  },
+  "trash can": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "1.02 meters",
+      "y coordinate": "1.4 meters",
+      "height above floor": "-0.22 meters"
+     },
+     "longest dimension": "0.49 meters"
+    }
+   ]
+  },
+  "tv": {
+   "count": 3,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-0.48 meters",
+      "y coordinate": "-0.9 meters",
+      "height above floor": "0.74 meters"
+     },
+     "longest dimension": "0.61 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-1.01 meters",
+      "y coordinate": "-0.77 meters",
+      "height above floor": "0.76 meters"
+     },
+     "longest dimension": "0.54 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "1.53 meters",
+      "y coordinate": "-0.47 meters",
+      "height above floor": "0.86 meters"
+     },
+     "longest dimension": "0.88 meters"
+    }
+   ]
+  },
+  "whiteboard": {
+   "count": 2,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-1.5 meters",
+      "y coordinate": "0.17 meters",
+      "height above floor": "0.83 meters"
+     },
+     "longest dimension": "2.5 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-1.51 meters",
+      "y coordinate": "0.2 meters",
+      "height above floor": "0.76 meters"
+     },
+     "longest dimension": "2.65 meters"
+    }
+   ]
+  }
+ },
+ "room": {
+  "floor area": "13.5 square meters"
+ },
+ "closest classes distance meters from": {
+  "bookshelf": {
+   "trash can": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "chair": {
+    "distance": "0.08 meters",
+    "closeness rank": 2
+   },
+   "door": {
+    "distance": "0.13 meters",
+    "closeness rank": 3
+   },
+   "bucket": {
+    "distance": "0.23 meters",
+    "closeness rank": 4
+   },
+   "cushion": {
+    "distance": "0.45 meters",
+    "closeness rank": 5
+   },
+   "whiteboard": {
+    "distance": "0.55 meters",
+    "closeness rank": 6
+   },
+   "table": {
+    "distance": "0.79 meters",
+    "closeness rank": 7
+   },
+   "clock": {
+    "distance": "1.06 meters",
+    "closeness rank": 8
+   },
+   "crate": {
+    "distance": "1.15 meters",
+    "closeness rank": 9
+   },
+   "microwave": {
+    "distance": "1.5 meters",
+    "closeness rank": 10
+   },
+   "cup": {
+    "distance": "1.54 meters",
+    "closeness rank": 11
+   },
+   "tv": {
+    "distance": "1.64 meters",
+    "closeness rank": 12
+   },
+   "ceiling light": {
+    "distance": "1.92 meters",
+    "closeness rank": 13
+   },
+   "table lamp": {
+    "distance": "2.29 meters",
+    "closeness rank": 14
+   },
+   "keyboard": {
+    "distance": "2.4 meters",
+    "closeness rank": 15
+   },
+   "monitor": {
+    "distance": "2.5 meters",
+    "closeness rank": 16
+   },
+   "computer mouse": {
+    "distance": "2.53 meters",
+    "closeness rank": 17
+   },
+   "telephone": {
+    "distance": "2.59 meters",
+    "closeness rank": 18
+   }
+  },
+  "bucket": {
+   "bookshelf": {
+    "distance": "0.23 meters",
+    "closeness rank": 1
+   },
+   "whiteboard": {
+    "distance": "0.27 meters",
+    "closeness rank": 2
+   },
+   "door": {
+    "distance": "0.28 meters",
+    "closeness rank": 3
+   },
+   "chair": {
+    "distance": "0.46 meters",
+    "closeness rank": 4
+   },
+   "cushion": {
+    "distance": "0.98 meters",
+    "closeness rank": 5
+   },
+   "ceiling light": {
+    "distance": "2.02 meters",
+    "closeness rank": 6
+   },
+   "monitor": {
+    "distance": "2.23 meters",
+    "closeness rank": 7
+   },
+   "tv": {
+    "distance": "2.23 meters",
+    "closeness rank": 8
+   },
+   "table": {
+    "distance": "2.29 meters",
+    "closeness rank": 9
+   },
+   "table lamp": {
+    "distance": "2.29 meters",
+    "closeness rank": 10
+   },
+   "keyboard": {
+    "distance": "2.36 meters",
+    "closeness rank": 11
+   },
+   "trash can": {
+    "distance": "2.37 meters",
+    "closeness rank": 12
+   },
+   "computer mouse": {
+    "distance": "2.37 meters",
+    "closeness rank": 13
+   },
+   "crate": {
+    "distance": "2.68 meters",
+    "closeness rank": 14
+   },
+   "clock": {
+    "distance": "2.96 meters",
+    "closeness rank": 15
+   },
+   "telephone": {
+    "distance": "2.96 meters",
+    "closeness rank": 16
+   },
+   "cup": {
+    "distance": "3.05 meters",
+    "closeness rank": 17
+   },
+   "microwave": {
+    "distance": "3.12 meters",
+    "closeness rank": 18
+   }
+  },
+  "ceiling light": {
+   "clock": {
+    "distance": "0.97 meters",
+    "closeness rank": 1
+   },
+   "monitor": {
+    "distance": "1.08 meters",
+    "closeness rank": 2
+   },
+   "tv": {
+    "distance": "1.08 meters",
+    "closeness rank": 3
+   },
+   "whiteboard": {
+    "distance": "1.09 meters",
+    "closeness rank": 4
+   },
+   "chair": {
+    "distance": "1.2 meters",
+    "closeness rank": 5
+   },
+   "table lamp": {
+    "distance": "1.42 meters",
+    "closeness rank": 6
+   },
+   "door": {
+    "distance": "1.5 meters",
+    "closeness rank": 7
+   },
+   "telephone": {
+    "distance": "1.58 meters",
+    "closeness rank": 8
+   },
+   "keyboard": {
+    "distance": "1.61 meters",
+    "closeness rank": 9
+   },
+   "computer mouse": {
+    "distance": "1.62 meters",
+    "closeness rank": 10
+   },
+   "cup": {
+    "distance": "1.62 meters",
+    "closeness rank": 11
+   },
+   "table": {
+    "distance": "1.67 meters",
+    "closeness rank": 12
+   },
+   "cushion": {
+    "distance": "1.85 meters",
+    "closeness rank": 13
+   },
+   "bookshelf": {
+    "distance": "1.92 meters",
+    "closeness rank": 14
+   },
+   "bucket": {
+    "distance": "2.02 meters",
+    "closeness rank": 15
+   },
+   "microwave": {
+    "distance": "2.14 meters",
+    "closeness rank": 16
+   },
+   "crate": {
+    "distance": "2.16 meters",
+    "closeness rank": 17
+   },
+   "trash can": {
+    "distance": "2.49 meters",
+    "closeness rank": 18
+   }
+  },
+  "chair": {
+   "cushion": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "trash can": {
+    "distance": "0.0 meters",
+    "closeness rank": 2
+   },
+   "table": {
+    "distance": "0.01 meters",
+    "closeness rank": 3
+   },
+   "bookshelf": {
+    "distance": "0.08 meters",
+    "closeness rank": 4
+   },
+   "table lamp": {
+    "distance": "0.14 meters",
+    "closeness rank": 5
+   },
+   "door": {
+    "distance": "0.15 meters",
+    "closeness rank": 6
+   },
+   "whiteboard": {
+    "distance": "0.16 meters",
+    "closeness rank": 7
+   },
+   "keyboard": {
+    "distance": "0.16 meters",
+    "closeness rank": 8
+   },
+   "computer mouse": {
+    "distance": "0.35 meters",
+    "closeness rank": 9
+   },
+   "crate": {
+    "distance": "0.42 meters",
+    "closeness rank": 10
+   },
+   "bucket": {
+    "distance": "0.46 meters",
+    "closeness rank": 11
+   },
+   "monitor": {
+    "distance": "0.48 meters",
+    "closeness rank": 12
+   },
+   "tv": {
+    "distance": "0.48 meters",
+    "closeness rank": 13
+   },
+   "telephone": {
+    "distance": "0.68 meters",
+    "closeness rank": 14
+   },
+   "microwave": {
+    "distance": "0.78 meters",
+    "closeness rank": 15
+   },
+   "cup": {
+    "distance": "0.84 meters",
+    "closeness rank": 16
+   },
+   "clock": {
+    "distance": "1.05 meters",
+    "closeness rank": 17
+   },
+   "ceiling light": {
+    "distance": "1.2 meters",
+    "closeness rank": 18
+   }
+  },
+  "clock": {
+   "tv": {
+    "distance": "0.61 meters",
+    "closeness rank": 1
+   },
+   "ceiling light": {
+    "distance": "0.97 meters",
+    "closeness rank": 2
+   },
+   "chair": {
+    "distance": "1.05 meters",
+    "closeness rank": 3
+   },
+   "bookshelf": {
+    "distance": "1.06 meters",
+    "closeness rank": 4
+   },
+   "cup": {
+    "distance": "1.06 meters",
+    "closeness rank": 5
+   },
+   "table": {
+    "distance": "1.18 meters",
+    "closeness rank": 6
+   },
+   "microwave": {
+    "distance": "1.59 meters",
+    "closeness rank": 7
+   },
+   "crate": {
+    "distance": "1.64 meters",
+    "closeness rank": 8
+   },
+   "trash can": {
+    "distance": "1.69 meters",
+    "closeness rank": 9
+   },
+   "table lamp": {
+    "distance": "1.88 meters",
+    "closeness rank": 10
+   },
+   "door": {
+    "distance": "2.04 meters",
+    "closeness rank": 11
+   },
+   "telephone": {
+    "distance": "2.05 meters",
+    "closeness rank": 12
+   },
+   "monitor": {
+    "distance": "2.05 meters",
+    "closeness rank": 13
+   },
+   "cushion": {
+    "distance": "2.08 meters",
+    "closeness rank": 14
+   },
+   "keyboard": {
+    "distance": "2.13 meters",
+    "closeness rank": 15
+   },
+   "computer mouse": {
+    "distance": "2.59 meters",
+    "closeness rank": 16
+   },
+   "whiteboard": {
+    "distance": "2.9 meters",
+    "closeness rank": 17
+   },
+   "bucket": {
+    "distance": "2.96 meters",
+    "closeness rank": 18
+   }
+  },
+  "computer mouse": {
+   "keyboard": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "table lamp": {
+    "distance": "0.0 meters",
+    "closeness rank": 2
+   },
+   "monitor": {
+    "distance": "0.28 meters",
+    "closeness rank": 3
+   },
+   "tv": {
+    "distance": "0.28 meters",
+    "closeness rank": 4
+   },
+   "chair": {
+    "distance": "0.35 meters",
+    "closeness rank": 5
+   },
+   "whiteboard": {
+    "distance": "0.51 meters",
+    "closeness rank": 6
+   },
+   "cushion": {
+    "distance": "0.55 meters",
+    "closeness rank": 7
+   },
+   "telephone": {
+    "distance": "0.78 meters",
+    "closeness rank": 8
+   },
+   "table": {
+    "distance": "1.13 meters",
+    "closeness rank": 9
+   },
+   "door": {
+    "distance": "1.16 meters",
+    "closeness rank": 10
+   },
+   "ceiling light": {
+    "distance": "1.62 meters",
+    "closeness rank": 11
+   },
+   "crate": {
+    "distance": "1.68 meters",
+    "closeness rank": 12
+   },
+   "microwave": {
+    "distance": "1.93 meters",
+    "closeness rank": 13
+   },
+   "cup": {
+    "distance": "1.97 meters",
+    "closeness rank": 14
+   },
+   "bucket": {
+    "distance": "2.37 meters",
+    "closeness rank": 15
+   },
+   "trash can": {
+    "distance": "2.46 meters",
+    "closeness rank": 16
+   },
+   "bookshelf": {
+    "distance": "2.53 meters",
+    "closeness rank": 17
+   },
+   "clock": {
+    "distance": "2.59 meters",
+    "closeness rank": 18
+   }
+  },
+  "crate": {
+   "microwave": {
+    "distance": "0.08 meters",
+    "closeness rank": 1
+   },
+   "chair": {
+    "distance": "0.42 meters",
+    "closeness rank": 2
+   },
+   "table": {
+    "distance": "0.44 meters",
+    "closeness rank": 3
+   },
+   "cup": {
+    "distance": "0.53 meters",
+    "closeness rank": 4
+   },
+   "trash can": {
+    "distance": "0.83 meters",
+    "closeness rank": 5
+   },
+   "cushion": {
+    "distance": "0.9 meters",
+    "closeness rank": 6
+   },
+   "table lamp": {
+    "distance": "1.04 meters",
+    "closeness rank": 7
+   },
+   "tv": {
+    "distance": "1.08 meters",
+    "closeness rank": 8
+   },
+   "bookshelf": {
+    "distance": "1.15 meters",
+    "closeness rank": 9
+   },
+   "keyboard": {
+    "distance": "1.19 meters",
+    "closeness rank": 10
+   },
+   "telephone": {
+    "distance": "1.21 meters",
+    "closeness rank": 11
+   },
+   "monitor": {
+    "distance": "1.47 meters",
+    "closeness rank": 12
+   },
+   "clock": {
+    "distance": "1.64 meters",
+    "closeness rank": 13
+   },
+   "computer mouse": {
+    "distance": "1.68 meters",
+    "closeness rank": 14
+   },
+   "door": {
+    "distance": "2.09 meters",
+    "closeness rank": 15
+   },
+   "ceiling light": {
+    "distance": "2.16 meters",
+    "closeness rank": 16
+   },
+   "whiteboard": {
+    "distance": "2.23 meters",
+    "closeness rank": 17
+   },
+   "bucket": {
+    "distance": "2.68 meters",
+    "closeness rank": 18
+   }
+  },
+  "cup": {
+   "table": {
+    "distance": "0.11 meters",
+    "closeness rank": 1
+   },
+   "tv": {
+    "distance": "0.46 meters",
+    "closeness rank": 2
+   },
+   "microwave": {
+    "distance": "0.46 meters",
+    "closeness rank": 3
+   },
+   "crate": {
+    "distance": "0.53 meters",
+    "closeness rank": 4
+   },
+   "chair": {
+    "distance": "0.84 meters",
+    "closeness rank": 5
+   },
+   "clock": {
+    "distance": "1.06 meters",
+    "closeness rank": 6
+   },
+   "table lamp": {
+    "distance": "1.26 meters",
+    "closeness rank": 7
+   },
+   "trash can": {
+    "distance": "1.31 meters",
+    "closeness rank": 8
+   },
+   "telephone": {
+    "distance": "1.32 meters",
+    "closeness rank": 9
+   },
+   "cushion": {
+    "distance": "1.33 meters",
+    "closeness rank": 10
+   },
+   "keyboard": {
+    "distance": "1.44 meters",
+    "closeness rank": 11
+   },
+   "bookshelf": {
+    "distance": "1.54 meters",
+    "closeness rank": 12
+   },
+   "monitor": {
+    "distance": "1.56 meters",
+    "closeness rank": 13
+   },
+   "ceiling light": {
+    "distance": "1.62 meters",
+    "closeness rank": 14
+   },
+   "computer mouse": {
+    "distance": "1.97 meters",
+    "closeness rank": 15
+   },
+   "door": {
+    "distance": "2.5 meters",
+    "closeness rank": 16
+   },
+   "whiteboard": {
+    "distance": "2.56 meters",
+    "closeness rank": 17
+   },
+   "bucket": {
+    "distance": "3.05 meters",
+    "closeness rank": 18
+   }
+  },
+  "cushion": {
+   "chair": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "table lamp": {
+    "distance": "0.3 meters",
+    "closeness rank": 2
+   },
+   "keyboard": {
+    "distance": "0.32 meters",
+    "closeness rank": 3
+   },
+   "door": {
+    "distance": "0.45 meters",
+    "closeness rank": 4
+   },
+   "bookshelf": {
+    "distance": "0.45 meters",
+    "closeness rank": 5
+   },
+   "whiteboard": {
+    "distance": "0.47 meters",
+    "closeness rank": 6
+   },
+   "computer mouse": {
+    "distance": "0.55 meters",
+    "closeness rank": 7
+   },
+   "table": {
+    "distance": "0.71 meters",
+    "closeness rank": 8
+   },
+   "monitor": {
+    "distance": "0.74 meters",
+    "closeness rank": 9
+   },
+   "tv": {
+    "distance": "0.74 meters",
+    "closeness rank": 10
+   },
+   "telephone": {
+    "distance": "0.75 meters",
+    "closeness rank": 11
+   },
+   "crate": {
+    "distance": "0.9 meters",
+    "closeness rank": 12
+   },
+   "bucket": {
+    "distance": "0.98 meters",
+    "closeness rank": 13
+   },
+   "microwave": {
+    "distance": "1.26 meters",
+    "closeness rank": 14
+   },
+   "cup": {
+    "distance": "1.33 meters",
+    "closeness rank": 15
+   },
+   "trash can": {
+    "distance": "1.51 meters",
+    "closeness rank": 16
+   },
+   "ceiling light": {
+    "distance": "1.85 meters",
+    "closeness rank": 17
+   },
+   "clock": {
+    "distance": "2.08 meters",
+    "closeness rank": 18
+   }
+  },
+  "door": {
+   "whiteboard": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "bookshelf": {
+    "distance": "0.13 meters",
+    "closeness rank": 2
+   },
+   "chair": {
+    "distance": "0.15 meters",
+    "closeness rank": 3
+   },
+   "bucket": {
+    "distance": "0.28 meters",
+    "closeness rank": 4
+   },
+   "cushion": {
+    "distance": "0.45 meters",
+    "closeness rank": 5
+   },
+   "monitor": {
+    "distance": "0.96 meters",
+    "closeness rank": 6
+   },
+   "tv": {
+    "distance": "0.96 meters",
+    "closeness rank": 7
+   },
+   "trash can": {
+    "distance": "1.0 meters",
+    "closeness rank": 8
+   },
+   "keyboard": {
+    "distance": "1.08 meters",
+    "closeness rank": 9
+   },
+   "table lamp": {
+    "distance": "1.09 meters",
+    "closeness rank": 10
+   },
+   "computer mouse": {
+    "distance": "1.16 meters",
+    "closeness rank": 11
+   },
+   "ceiling light": {
+    "distance": "1.5 meters",
+    "closeness rank": 12
+   },
+   "table": {
+    "distance": "1.73 meters",
+    "closeness rank": 13
+   },
+   "telephone": {
+    "distance": "1.94 meters",
+    "closeness rank": 14
+   },
+   "clock": {
+    "distance": "2.04 meters",
+    "closeness rank": 15
+   },
+   "crate": {
+    "distance": "2.09 meters",
+    "closeness rank": 16
+   },
+   "microwave": {
+    "distance": "2.45 meters",
+    "closeness rank": 17
+   },
+   "cup": {
+    "distance": "2.5 meters",
+    "closeness rank": 18
+   }
+  },
+  "keyboard": {
+   "computer mouse": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "table lamp": {
+    "distance": "0.0 meters",
+    "closeness rank": 2
+   },
+   "chair": {
+    "distance": "0.16 meters",
+    "closeness rank": 3
+   },
+   "tv": {
+    "distance": "0.25 meters",
+    "closeness rank": 4
+   },
+   "monitor": {
+    "distance": "0.25 meters",
+    "closeness rank": 5
+   },
+   "telephone": {
+    "distance": "0.27 meters",
+    "closeness rank": 6
+   },
+   "cushion": {
+    "distance": "0.32 meters",
+    "closeness rank": 7
+   },
+   "whiteboard": {
+    "distance": "0.39 meters",
+    "closeness rank": 8
+   },
+   "table": {
+    "distance": "0.59 meters",
+    "closeness rank": 9
+   },
+   "door": {
+    "distance": "1.08 meters",
+    "closeness rank": 10
+   },
+   "crate": {
+    "distance": "1.19 meters",
+    "closeness rank": 11
+   },
+   "microwave": {
+    "distance": "1.41 meters",
+    "closeness rank": 12
+   },
+   "cup": {
+    "distance": "1.44 meters",
+    "closeness rank": 13
+   },
+   "ceiling light": {
+    "distance": "1.61 meters",
+    "closeness rank": 14
+   },
+   "trash can": {
+    "distance": "2.06 meters",
+    "closeness rank": 15
+   },
+   "clock": {
+    "distance": "2.13 meters",
+    "closeness rank": 16
+   },
+   "bucket": {
+    "distance": "2.36 meters",
+    "closeness rank": 17
+   },
+   "bookshelf": {
+    "distance": "2.4 meters",
+    "closeness rank": 18
+   }
+  },
+  "microwave": {
+   "crate": {
+    "distance": "0.08 meters",
+    "closeness rank": 1
+   },
+   "table": {
+    "distance": "0.4 meters",
+    "closeness rank": 2
+   },
+   "cup": {
+    "distance": "0.46 meters",
+    "closeness rank": 3
+   },
+   "chair": {
+    "distance": "0.78 meters",
+    "closeness rank": 4
+   },
+   "tv": {
+    "distance": "1.0 meters",
+    "closeness rank": 5
+   },
+   "trash can": {
+    "distance": "1.19 meters",
+    "closeness rank": 6
+   },
+   "telephone": {
+    "distance": "1.21 meters",
+    "closeness rank": 7
+   },
+   "table lamp": {
+    "distance": "1.25 meters",
+    "closeness rank": 8
+   },
+   "cushion": {
+    "distance": "1.26 meters",
+    "closeness rank": 9
+   },
+   "keyboard": {
+    "distance": "1.41 meters",
+    "closeness rank": 10
+   },
+   "bookshelf": {
+    "distance": "1.5 meters",
+    "closeness rank": 11
+   },
+   "monitor": {
+    "distance": "1.55 meters",
+    "closeness rank": 12
+   },
+   "clock": {
+    "distance": "1.59 meters",
+    "closeness rank": 13
+   },
+   "computer mouse": {
+    "distance": "1.93 meters",
+    "closeness rank": 14
+   },
+   "ceiling light": {
+    "distance": "2.14 meters",
+    "closeness rank": 15
+   },
+   "door": {
+    "distance": "2.45 meters",
+    "closeness rank": 16
+   },
+   "whiteboard": {
+    "distance": "2.56 meters",
+    "closeness rank": 17
+   },
+   "bucket": {
+    "distance": "3.12 meters",
+    "closeness rank": 18
+   }
+  },
+  "monitor": {
+   "tv": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "table lamp": {
+    "distance": "0.04 meters",
+    "closeness rank": 2
+   },
+   "whiteboard": {
+    "distance": "0.09 meters",
+    "closeness rank": 3
+   },
+   "keyboard": {
+    "distance": "0.25 meters",
+    "closeness rank": 4
+   },
+   "telephone": {
+    "distance": "0.25 meters",
+    "closeness rank": 5
+   },
+   "computer mouse": {
+    "distance": "0.28 meters",
+    "closeness rank": 6
+   },
+   "chair": {
+    "distance": "0.48 meters",
+    "closeness rank": 7
+   },
+   "table": {
+    "distance": "0.73 meters",
+    "closeness rank": 8
+   },
+   "cushion": {
+    "distance": "0.74 meters",
+    "closeness rank": 9
+   },
+   "door": {
+    "distance": "0.96 meters",
+    "closeness rank": 10
+   },
+   "ceiling light": {
+    "distance": "1.08 meters",
+    "closeness rank": 11
+   },
+   "crate": {
+    "distance": "1.47 meters",
+    "closeness rank": 12
+   },
+   "microwave": {
+    "distance": "1.55 meters",
+    "closeness rank": 13
+   },
+   "cup": {
+    "distance": "1.56 meters",
+    "closeness rank": 14
+   },
+   "clock": {
+    "distance": "2.05 meters",
+    "closeness rank": 15
+   },
+   "bucket": {
+    "distance": "2.23 meters",
+    "closeness rank": 16
+   },
+   "trash can": {
+    "distance": "2.39 meters",
+    "closeness rank": 17
+   },
+   "bookshelf": {
+    "distance": "2.5 meters",
+    "closeness rank": 18
+   }
+  },
+  "table": {
+   "chair": {
+    "distance": "0.01 meters",
+    "closeness rank": 1
+   },
+   "cup": {
+    "distance": "0.11 meters",
+    "closeness rank": 2
+   },
+   "microwave": {
+    "distance": "0.4 meters",
+    "closeness rank": 3
+   },
+   "table lamp": {
+    "distance": "0.41 meters",
+    "closeness rank": 4
+   },
+   "crate": {
+    "distance": "0.44 meters",
+    "closeness rank": 5
+   },
+   "telephone": {
+    "distance": "0.47 meters",
+    "closeness rank": 6
+   },
+   "trash can": {
+    "distance": "0.58 meters",
+    "closeness rank": 7
+   },
+   "keyboard": {
+    "distance": "0.59 meters",
+    "closeness rank": 8
+   },
+   "tv": {
+    "distance": "0.66 meters",
+    "closeness rank": 9
+   },
+   "cushion": {
+    "distance": "0.71 meters",
+    "closeness rank": 10
+   },
+   "monitor": {
+    "distance": "0.73 meters",
+    "closeness rank": 11
+   },
+   "bookshelf": {
+    "distance": "0.79 meters",
+    "closeness rank": 12
+   },
+   "computer mouse": {
+    "distance": "1.13 meters",
+    "closeness rank": 13
+   },
+   "clock": {
+    "distance": "1.18 meters",
+    "closeness rank": 14
+   },
+   "ceiling light": {
+    "distance": "1.67 meters",
+    "closeness rank": 15
+   },
+   "door": {
+    "distance": "1.73 meters",
+    "closeness rank": 16
+   },
+   "whiteboard": {
+    "distance": "1.75 meters",
+    "closeness rank": 17
+   },
+   "bucket": {
+    "distance": "2.29 meters",
+    "closeness rank": 18
+   }
+  },
+  "table lamp": {
+   "computer mouse": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "keyboard": {
+    "distance": "0.0 meters",
+    "closeness rank": 2
+   },
+   "monitor": {
+    "distance": "0.04 meters",
+    "closeness rank": 3
+   },
+   "tv": {
+    "distance": "0.04 meters",
+    "closeness rank": 4
+   },
+   "telephone": {
+    "distance": "0.06 meters",
+    "closeness rank": 5
+   },
+   "chair": {
+    "distance": "0.14 meters",
+    "closeness rank": 6
+   },
+   "cushion": {
+    "distance": "0.3 meters",
+    "closeness rank": 7
+   },
+   "table": {
+    "distance": "0.41 meters",
+    "closeness rank": 8
+   },
+   "whiteboard": {
+    "distance": "0.47 meters",
+    "closeness rank": 9
+   },
+   "crate": {
+    "distance": "1.04 meters",
+    "closeness rank": 10
+   },
+   "door": {
+    "distance": "1.09 meters",
+    "closeness rank": 11
+   },
+   "microwave": {
+    "distance": "1.25 meters",
+    "closeness rank": 12
+   },
+   "cup": {
+    "distance": "1.26 meters",
+    "closeness rank": 13
+   },
+   "ceiling light": {
+    "distance": "1.42 meters",
+    "closeness rank": 14
+   },
+   "clock": {
+    "distance": "1.88 meters",
+    "closeness rank": 15
+   },
+   "trash can": {
+    "distance": "1.94 meters",
+    "closeness rank": 16
+   },
+   "bookshelf": {
+    "distance": "2.29 meters",
+    "closeness rank": 17
+   },
+   "bucket": {
+    "distance": "2.29 meters",
+    "closeness rank": 18
+   }
+  },
+  "telephone": {
+   "table lamp": {
+    "distance": "0.06 meters",
+    "closeness rank": 1
+   },
+   "tv": {
+    "distance": "0.25 meters",
+    "closeness rank": 2
+   },
+   "monitor": {
+    "distance": "0.25 meters",
+    "closeness rank": 3
+   },
+   "keyboard": {
+    "distance": "0.27 meters",
+    "closeness rank": 4
+   },
+   "table": {
+    "distance": "0.47 meters",
+    "closeness rank": 5
+   },
+   "chair": {
+    "distance": "0.68 meters",
+    "closeness rank": 6
+   },
+   "cushion": {
+    "distance": "0.75 meters",
+    "closeness rank": 7
+   },
+   "computer mouse": {
+    "distance": "0.78 meters",
+    "closeness rank": 8
+   },
+   "crate": {
+    "distance": "1.21 meters",
+    "closeness rank": 9
+   },
+   "microwave": {
+    "distance": "1.21 meters",
+    "closeness rank": 10
+   },
+   "whiteboard": {
+    "distance": "1.27 meters",
+    "closeness rank": 11
+   },
+   "cup": {
+    "distance": "1.32 meters",
+    "closeness rank": 12
+   },
+   "ceiling light": {
+    "distance": "1.58 meters",
+    "closeness rank": 13
+   },
+   "door": {
+    "distance": "1.94 meters",
+    "closeness rank": 14
+   },
+   "clock": {
+    "distance": "2.05 meters",
+    "closeness rank": 15
+   },
+   "trash can": {
+    "distance": "2.25 meters",
+    "closeness rank": 16
+   },
+   "bookshelf": {
+    "distance": "2.59 meters",
+    "closeness rank": 17
+   },
+   "bucket": {
+    "distance": "2.96 meters",
+    "closeness rank": 18
+   }
+  },
+  "trash can": {
+   "bookshelf": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "chair": {
+    "distance": "0.0 meters",
+    "closeness rank": 2
+   },
+   "table": {
+    "distance": "0.58 meters",
+    "closeness rank": 3
+   },
+   "crate": {
+    "distance": "0.83 meters",
+    "closeness rank": 4
+   },
+   "door": {
+    "distance": "1.0 meters",
+    "closeness rank": 5
+   },
+   "microwave": {
+    "distance": "1.19 meters",
+    "closeness rank": 6
+   },
+   "cup": {
+    "distance": "1.31 meters",
+    "closeness rank": 7
+   },
+   "cushion": {
+    "distance": "1.51 meters",
+    "closeness rank": 8
+   },
+   "tv": {
+    "distance": "1.65 meters",
+    "closeness rank": 9
+   },
+   "clock": {
+    "distance": "1.69 meters",
+    "closeness rank": 10
+   },
+   "table lamp": {
+    "distance": "1.94 meters",
+    "closeness rank": 11
+   },
+   "keyboard": {
+    "distance": "2.06 meters",
+    "closeness rank": 12
+   },
+   "telephone": {
+    "distance": "2.25 meters",
+    "closeness rank": 13
+   },
+   "bucket": {
+    "distance": "2.37 meters",
+    "closeness rank": 14
+   },
+   "monitor": {
+    "distance": "2.39 meters",
+    "closeness rank": 15
+   },
+   "computer mouse": {
+    "distance": "2.46 meters",
+    "closeness rank": 16
+   },
+   "whiteboard": {
+    "distance": "2.47 meters",
+    "closeness rank": 17
+   },
+   "ceiling light": {
+    "distance": "2.49 meters",
+    "closeness rank": 18
+   }
+  },
+  "tv": {
+   "monitor": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "table lamp": {
+    "distance": "0.04 meters",
+    "closeness rank": 2
+   },
+   "whiteboard": {
+    "distance": "0.09 meters",
+    "closeness rank": 3
+   },
+   "keyboard": {
+    "distance": "0.25 meters",
+    "closeness rank": 4
+   },
+   "telephone": {
+    "distance": "0.25 meters",
+    "closeness rank": 5
+   },
+   "computer mouse": {
+    "distance": "0.28 meters",
+    "closeness rank": 6
+   },
+   "cup": {
+    "distance": "0.46 meters",
+    "closeness rank": 7
+   },
+   "chair": {
+    "distance": "0.48 meters",
+    "closeness rank": 8
+   },
+   "clock": {
+    "distance": "0.61 meters",
+    "closeness rank": 9
+   },
+   "table": {
+    "distance": "0.66 meters",
+    "closeness rank": 10
+   },
+   "cushion": {
+    "distance": "0.74 meters",
+    "closeness rank": 11
+   },
+   "door": {
+    "distance": "0.96 meters",
+    "closeness rank": 12
+   },
+   "microwave": {
+    "distance": "1.0 meters",
+    "closeness rank": 13
+   },
+   "ceiling light": {
+    "distance": "1.08 meters",
+    "closeness rank": 14
+   },
+   "crate": {
+    "distance": "1.08 meters",
+    "closeness rank": 15
+   },
+   "bookshelf": {
+    "distance": "1.64 meters",
+    "closeness rank": 16
+   },
+   "trash can": {
+    "distance": "1.65 meters",
+    "closeness rank": 17
+   },
+   "bucket": {
+    "distance": "2.23 meters",
+    "closeness rank": 18
+   }
+  },
+  "whiteboard": {
+   "door": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "monitor": {
+    "distance": "0.09 meters",
+    "closeness rank": 2
+   },
+   "tv": {
+    "distance": "0.09 meters",
+    "closeness rank": 3
+   },
+   "chair": {
+    "distance": "0.16 meters",
+    "closeness rank": 4
+   },
+   "bucket": {
+    "distance": "0.27 meters",
+    "closeness rank": 5
+   },
+   "keyboard": {
+    "distance": "0.39 meters",
+    "closeness rank": 6
+   },
+   "table lamp": {
+    "distance": "0.47 meters",
+    "closeness rank": 7
+   },
+   "cushion": {
+    "distance": "0.47 meters",
+    "closeness rank": 8
+   },
+   "computer mouse": {
+    "distance": "0.51 meters",
+    "closeness rank": 9
+   },
+   "bookshelf": {
+    "distance": "0.55 meters",
+    "closeness rank": 10
+   },
+   "ceiling light": {
+    "distance": "1.09 meters",
+    "closeness rank": 11
+   },
+   "telephone": {
+    "distance": "1.27 meters",
+    "closeness rank": 12
+   },
+   "table": {
+    "distance": "1.75 meters",
+    "closeness rank": 13
+   },
+   "crate": {
+    "distance": "2.23 meters",
+    "closeness rank": 14
+   },
+   "trash can": {
+    "distance": "2.47 meters",
+    "closeness rank": 15
+   },
+   "cup": {
+    "distance": "2.56 meters",
+    "closeness rank": 16
+   },
+   "microwave": {
+    "distance": "2.56 meters",
+    "closeness rank": 17
+   },
+   "clock": {
+    "distance": "2.9 meters",
+    "closeness rank": 18
+   }
+  }
+ },
+ "appearance order": ["chair", "whiteboard", "computer mouse", "keyboard", "monitor", "tv", "cushion", "door", "bucket", "ceiling light", "bookshelf", "trash can", "crate", "cup", "clock", "telephone", "table", "microwave", "table lamp"]
+}
\ No newline at end of file
diff --git a/data/spatial codes/sam3+depth-anything-3/metric/tracking/selective/64/explicit/41125731.json b/data/spatial codes/sam3+depth-anything-3/metric/tracking/selective/64/explicit/41125731.json
new file mode 100644
index 0000000000000000000000000000000000000000..a154a1cfec1b8d43db29401e80f387fa057ddbd6
--- /dev/null
+++ b/data/spatial codes/sam3+depth-anything-3/metric/tracking/selective/64/explicit/41125731.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": "-1.62 meters",
+      "y coordinate": "0.2 meters",
+      "height above floor": "-0.11 meters"
+     },
+     "longest dimension": "2.17 meters"
+    }
+   ]
+  }
+ },
+ "room": {
+  "floor area": "24.0 square meters"
+ },
+ "closest classes distance meters from": {
+  "bed": {}
+ },
+ "appearance order": ["bed"]
+}
\ No newline at end of file
diff --git a/data/spatial codes/sam3+depth-anything-3/metric/tracking/selective/64/explicit/41142280.json b/data/spatial codes/sam3+depth-anything-3/metric/tracking/selective/64/explicit/41142280.json
new file mode 100644
index 0000000000000000000000000000000000000000..76035ac0b406685656e7f3cb6ca6ae397bca0c71
--- /dev/null
+++ b/data/spatial codes/sam3+depth-anything-3/metric/tracking/selective/64/explicit/41142280.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": {
+  "bathtub": {
+   "count": 2,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "1.23 meters",
+      "y coordinate": "0.78 meters",
+      "height above floor": "-1.4 meters"
+     },
+     "longest dimension": "1.28 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "1.54 meters",
+      "y coordinate": "0.46 meters",
+      "height above floor": "-0.75 meters"
+     },
+     "longest dimension": "1.35 meters"
+    }
+   ]
+  },
+  "toilet": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "1.25 meters",
+      "y coordinate": "-0.18 meters",
+      "height above floor": "-0.4 meters"
+     },
+     "longest dimension": "0.76 meters"
+    }
+   ]
+  }
+ },
+ "room": {
+  "floor area": "6.7 square meters"
+ },
+ "closest classes distance meters from": {
+  "bathtub": {
+   "toilet": {
+    "distance": "0.47 meters",
+    "closeness rank": 1
+   }
+  },
+  "toilet": {
+   "bathtub": {
+    "distance": "0.47 meters",
+    "closeness rank": 1
+   }
+  }
+ },
+ "appearance order": ["bathtub", "toilet"]
+}
\ No newline at end of file
diff --git a/data/spatial codes/sam3+depth-anything-3/metric/tracking/selective/64/explicit/41159541.json b/data/spatial codes/sam3+depth-anything-3/metric/tracking/selective/64/explicit/41159541.json
new file mode 100644
index 0000000000000000000000000000000000000000..a9f6d07b664e7a257e75c706811c967f7db922f9
--- /dev/null
+++ b/data/spatial codes/sam3+depth-anything-3/metric/tracking/selective/64/explicit/41159541.json	
@@ -0,0 +1,443 @@
+{
+ "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": "0.03 meters",
+      "y coordinate": "-2.23 meters",
+      "height above floor": "-0.16 meters"
+     },
+     "longest dimension": "2.41 meters"
+    }
+   ]
+  },
+  "chair": {
+   "count": 9,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "0.29 meters",
+      "y coordinate": "-0.89 meters",
+      "height above floor": "-0.03 meters"
+     },
+     "longest dimension": "0.89 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "0.54 meters",
+      "y coordinate": "-0.47 meters",
+      "height above floor": "-0.07 meters"
+     },
+     "longest dimension": "1.0 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "0.02 meters",
+      "y coordinate": "-1.35 meters",
+      "height above floor": "-0.13 meters"
+     },
+     "longest dimension": "1.02 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "0.98 meters",
+      "y coordinate": "-3.28 meters",
+      "height above floor": "0.04 meters"
+     },
+     "longest dimension": "1.7 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "1.63 meters",
+      "y coordinate": "-1.4 meters",
+      "height above floor": "-0.05 meters"
+     },
+     "longest dimension": "2.13 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "0.59 meters",
+      "y coordinate": "-0.41 meters",
+      "height above floor": "-0.13 meters"
+     },
+     "longest dimension": "0.96 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "1.17 meters",
+      "y coordinate": "0.08 meters",
+      "height above floor": "-0.23 meters"
+     },
+     "longest dimension": "0.95 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "1.06 meters",
+      "y coordinate": "-2.41 meters",
+      "height above floor": "0.04 meters"
+     },
+     "longest dimension": "0.98 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "0.84 meters",
+      "y coordinate": "-2.59 meters",
+      "height above floor": "0.03 meters"
+     },
+     "longest dimension": "0.89 meters"
+    }
+   ]
+  },
+  "fireplace": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "3.04 meters",
+      "y coordinate": "-0.07 meters",
+      "height above floor": "-0.06 meters"
+     },
+     "longest dimension": "1.14 meters"
+    }
+   ]
+  },
+  "sofa": {
+   "count": 3,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "0.25 meters",
+      "y coordinate": "1.42 meters",
+      "height above floor": "-0.26 meters"
+     },
+     "longest dimension": "1.62 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "0.08 meters",
+      "y coordinate": "1.23 meters",
+      "height above floor": "-0.32 meters"
+     },
+     "longest dimension": "1.92 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "1.59 meters",
+      "y coordinate": "2.03 meters",
+      "height above floor": "-0.14 meters"
+     },
+     "longest dimension": "0.63 meters"
+    }
+   ]
+  },
+  "stove": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "1.65 meters",
+      "y coordinate": "-0.59 meters",
+      "height above floor": "0.03 meters"
+     },
+     "longest dimension": "0.29 meters"
+    }
+   ]
+  },
+  "table": {
+   "count": 4,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "1.23 meters",
+      "y coordinate": "-0.75 meters",
+      "height above floor": "-0.11 meters"
+     },
+     "longest dimension": "1.88 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-0.71 meters",
+      "y coordinate": "-1.12 meters",
+      "height above floor": "-0.53 meters"
+     },
+     "longest dimension": "0.38 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "3.04 meters",
+      "y coordinate": "0.27 meters",
+      "height above floor": "-0.45 meters"
+     },
+     "longest dimension": "0.62 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "2.61 meters",
+      "y coordinate": "1.27 meters",
+      "height above floor": "-0.49 meters"
+     },
+     "longest dimension": "0.88 meters"
+    }
+   ]
+  },
+  "tv": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "3.17 meters",
+      "y coordinate": "0.19 meters",
+      "height above floor": "0.16 meters"
+     },
+     "longest dimension": "1.14 meters"
+    }
+   ]
+  }
+ },
+ "room": {
+  "floor area": "36.6 square meters"
+ },
+ "closest classes distance meters from": {
+  "bed": {
+   "chair": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "table": {
+    "distance": "0.0 meters",
+    "closeness rank": 2
+   },
+   "stove": {
+    "distance": "0.83 meters",
+    "closeness rank": 3
+   },
+   "sofa": {
+    "distance": "1.16 meters",
+    "closeness rank": 4
+   },
+   "fireplace": {
+    "distance": "1.94 meters",
+    "closeness rank": 5
+   },
+   "tv": {
+    "distance": "2.17 meters",
+    "closeness rank": 6
+   }
+  },
+  "chair": {
+   "bed": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "table": {
+    "distance": "0.0 meters",
+    "closeness rank": 2
+   },
+   "stove": {
+    "distance": "0.4 meters",
+    "closeness rank": 3
+   },
+   "sofa": {
+    "distance": "0.66 meters",
+    "closeness rank": 4
+   },
+   "fireplace": {
+    "distance": "0.96 meters",
+    "closeness rank": 5
+   },
+   "tv": {
+    "distance": "1.25 meters",
+    "closeness rank": 6
+   }
+  },
+  "fireplace": {
+   "tv": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "table": {
+    "distance": "0.12 meters",
+    "closeness rank": 2
+   },
+   "chair": {
+    "distance": "0.96 meters",
+    "closeness rank": 3
+   },
+   "stove": {
+    "distance": "0.98 meters",
+    "closeness rank": 4
+   },
+   "bed": {
+    "distance": "1.94 meters",
+    "closeness rank": 5
+   },
+   "sofa": {
+    "distance": "2.09 meters",
+    "closeness rank": 6
+   }
+  },
+  "sofa": {
+   "table": {
+    "distance": "0.6 meters",
+    "closeness rank": 1
+   },
+   "chair": {
+    "distance": "0.66 meters",
+    "closeness rank": 2
+   },
+   "bed": {
+    "distance": "1.16 meters",
+    "closeness rank": 3
+   },
+   "stove": {
+    "distance": "1.59 meters",
+    "closeness rank": 4
+   },
+   "tv": {
+    "distance": "1.99 meters",
+    "closeness rank": 5
+   },
+   "fireplace": {
+    "distance": "2.09 meters",
+    "closeness rank": 6
+   }
+  },
+  "stove": {
+   "table": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "chair": {
+    "distance": "0.4 meters",
+    "closeness rank": 2
+   },
+   "bed": {
+    "distance": "0.83 meters",
+    "closeness rank": 3
+   },
+   "fireplace": {
+    "distance": "0.98 meters",
+    "closeness rank": 4
+   },
+   "tv": {
+    "distance": "1.12 meters",
+    "closeness rank": 5
+   },
+   "sofa": {
+    "distance": "1.59 meters",
+    "closeness rank": 6
+   }
+  },
+  "table": {
+   "bed": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "chair": {
+    "distance": "0.0 meters",
+    "closeness rank": 2
+   },
+   "stove": {
+    "distance": "0.0 meters",
+    "closeness rank": 3
+   },
+   "fireplace": {
+    "distance": "0.12 meters",
+    "closeness rank": 4
+   },
+   "tv": {
+    "distance": "0.12 meters",
+    "closeness rank": 5
+   },
+   "sofa": {
+    "distance": "0.6 meters",
+    "closeness rank": 6
+   }
+  },
+  "tv": {
+   "fireplace": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "table": {
+    "distance": "0.12 meters",
+    "closeness rank": 2
+   },
+   "stove": {
+    "distance": "1.12 meters",
+    "closeness rank": 3
+   },
+   "chair": {
+    "distance": "1.25 meters",
+    "closeness rank": 4
+   },
+   "sofa": {
+    "distance": "1.99 meters",
+    "closeness rank": 5
+   },
+   "bed": {
+    "distance": "2.17 meters",
+    "closeness rank": 6
+   }
+  }
+ },
+ "appearance order": ["chair", "table", "sofa", "tv", "fireplace", "stove", "bed"]
+}
\ No newline at end of file
diff --git a/data/spatial codes/sam3+depth-anything-3/metric/tracking/selective/64/explicit/41254432.json b/data/spatial codes/sam3+depth-anything-3/metric/tracking/selective/64/explicit/41254432.json
new file mode 100644
index 0000000000000000000000000000000000000000..c4f2f47a44d45cd8a17851c8f5bba65eeb49e517
--- /dev/null
+++ b/data/spatial codes/sam3+depth-anything-3/metric/tracking/selective/64/explicit/41254432.json	
@@ -0,0 +1,505 @@
+{
+ "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": "5.53 meters",
+      "y coordinate": "-0.41 meters",
+      "height above floor": "0.31 meters"
+     },
+     "longest dimension": "2.15 meters"
+    }
+   ]
+  },
+  "chair": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-0.24 meters",
+      "y coordinate": "-0.64 meters",
+      "height above floor": "0.35 meters"
+     },
+     "longest dimension": "0.51 meters"
+    }
+   ]
+  },
+  "dishwasher": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "1.71 meters",
+      "y coordinate": "1.68 meters",
+      "height above floor": "0.21 meters"
+     },
+     "longest dimension": "0.97 meters"
+    }
+   ]
+  },
+  "refrigerator": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "1.71 meters",
+      "y coordinate": "1.68 meters",
+      "height above floor": "0.21 meters"
+     },
+     "longest dimension": "0.97 meters"
+    }
+   ]
+  },
+  "sofa": {
+   "count": 2,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-1.8 meters",
+      "y coordinate": "2.32 meters",
+      "height above floor": "0.02 meters"
+     },
+     "longest dimension": "1.69 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-0.2 meters",
+      "y coordinate": "1.62 meters",
+      "height above floor": "0.0 meters"
+     },
+     "longest dimension": "1.86 meters"
+    }
+   ]
+  },
+  "stool": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-0.23 meters",
+      "y coordinate": "-0.7 meters",
+      "height above floor": "0.05 meters"
+     },
+     "longest dimension": "0.89 meters"
+    }
+   ]
+  },
+  "stove": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "1.39 meters",
+      "y coordinate": "3.62 meters",
+      "height above floor": "0.6 meters"
+     },
+     "longest dimension": "0.92 meters"
+    }
+   ]
+  },
+  "table": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "1.16 meters",
+      "y coordinate": "3.42 meters",
+      "height above floor": "0.56 meters"
+     },
+     "longest dimension": "1.28 meters"
+    }
+   ]
+  },
+  "tv": {
+   "count": 2,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-1.92 meters",
+      "y coordinate": "-0.13 meters",
+      "height above floor": "-0.23 meters"
+     },
+     "longest dimension": "0.41 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-1.94 meters",
+      "y coordinate": "-0.19 meters",
+      "height above floor": "-0.2 meters"
+     },
+     "longest dimension": "0.6 meters"
+    }
+   ]
+  }
+ },
+ "room": {
+  "floor area": "38.2 square meters"
+ },
+ "closest classes distance meters from": {
+  "bed": {
+   "dishwasher": {
+    "distance": "2.96 meters",
+    "closeness rank": 1
+   },
+   "refrigerator": {
+    "distance": "2.96 meters",
+    "closeness rank": 2
+   },
+   "sofa": {
+    "distance": "3.94 meters",
+    "closeness rank": 3
+   },
+   "stool": {
+    "distance": "4.25 meters",
+    "closeness rank": 4
+   },
+   "chair": {
+    "distance": "4.27 meters",
+    "closeness rank": 5
+   },
+   "table": {
+    "distance": "4.37 meters",
+    "closeness rank": 6
+   },
+   "stove": {
+    "distance": "4.55 meters",
+    "closeness rank": 7
+   },
+   "tv": {
+    "distance": "5.81 meters",
+    "closeness rank": 8
+   }
+  },
+  "chair": {
+   "stool": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "sofa": {
+    "distance": "1.23 meters",
+    "closeness rank": 2
+   },
+   "tv": {
+    "distance": "1.26 meters",
+    "closeness rank": 3
+   },
+   "dishwasher": {
+    "distance": "2.57 meters",
+    "closeness rank": 4
+   },
+   "refrigerator": {
+    "distance": "2.57 meters",
+    "closeness rank": 5
+   },
+   "table": {
+    "distance": "3.69 meters",
+    "closeness rank": 6
+   },
+   "stove": {
+    "distance": "3.86 meters",
+    "closeness rank": 7
+   },
+   "bed": {
+    "distance": "4.27 meters",
+    "closeness rank": 8
+   }
+  },
+  "dishwasher": {
+   "refrigerator": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "sofa": {
+    "distance": "1.13 meters",
+    "closeness rank": 2
+   },
+   "table": {
+    "distance": "1.37 meters",
+    "closeness rank": 3
+   },
+   "stove": {
+    "distance": "1.39 meters",
+    "closeness rank": 4
+   },
+   "stool": {
+    "distance": "2.57 meters",
+    "closeness rank": 5
+   },
+   "chair": {
+    "distance": "2.57 meters",
+    "closeness rank": 6
+   },
+   "bed": {
+    "distance": "2.96 meters",
+    "closeness rank": 7
+   },
+   "tv": {
+    "distance": "3.51 meters",
+    "closeness rank": 8
+   }
+  },
+  "refrigerator": {
+   "dishwasher": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "sofa": {
+    "distance": "1.13 meters",
+    "closeness rank": 2
+   },
+   "table": {
+    "distance": "1.37 meters",
+    "closeness rank": 3
+   },
+   "stove": {
+    "distance": "1.39 meters",
+    "closeness rank": 4
+   },
+   "stool": {
+    "distance": "2.57 meters",
+    "closeness rank": 5
+   },
+   "chair": {
+    "distance": "2.57 meters",
+    "closeness rank": 6
+   },
+   "bed": {
+    "distance": "2.96 meters",
+    "closeness rank": 7
+   },
+   "tv": {
+    "distance": "3.51 meters",
+    "closeness rank": 8
+   }
+  },
+  "sofa": {
+   "dishwasher": {
+    "distance": "1.13 meters",
+    "closeness rank": 1
+   },
+   "refrigerator": {
+    "distance": "1.13 meters",
+    "closeness rank": 2
+   },
+   "chair": {
+    "distance": "1.23 meters",
+    "closeness rank": 3
+   },
+   "tv": {
+    "distance": "1.24 meters",
+    "closeness rank": 4
+   },
+   "stool": {
+    "distance": "1.25 meters",
+    "closeness rank": 5
+   },
+   "table": {
+    "distance": "1.29 meters",
+    "closeness rank": 6
+   },
+   "stove": {
+    "distance": "1.75 meters",
+    "closeness rank": 7
+   },
+   "bed": {
+    "distance": "3.94 meters",
+    "closeness rank": 8
+   }
+  },
+  "stool": {
+   "chair": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "sofa": {
+    "distance": "1.25 meters",
+    "closeness rank": 2
+   },
+   "tv": {
+    "distance": "1.25 meters",
+    "closeness rank": 3
+   },
+   "dishwasher": {
+    "distance": "2.57 meters",
+    "closeness rank": 4
+   },
+   "refrigerator": {
+    "distance": "2.57 meters",
+    "closeness rank": 5
+   },
+   "table": {
+    "distance": "3.71 meters",
+    "closeness rank": 6
+   },
+   "stove": {
+    "distance": "3.87 meters",
+    "closeness rank": 7
+   },
+   "bed": {
+    "distance": "4.25 meters",
+    "closeness rank": 8
+   }
+  },
+  "stove": {
+   "table": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "dishwasher": {
+    "distance": "1.39 meters",
+    "closeness rank": 2
+   },
+   "refrigerator": {
+    "distance": "1.39 meters",
+    "closeness rank": 3
+   },
+   "sofa": {
+    "distance": "1.75 meters",
+    "closeness rank": 4
+   },
+   "chair": {
+    "distance": "3.86 meters",
+    "closeness rank": 5
+   },
+   "stool": {
+    "distance": "3.87 meters",
+    "closeness rank": 6
+   },
+   "tv": {
+    "distance": "4.27 meters",
+    "closeness rank": 7
+   },
+   "bed": {
+    "distance": "4.55 meters",
+    "closeness rank": 8
+   }
+  },
+  "table": {
+   "stove": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "sofa": {
+    "distance": "1.29 meters",
+    "closeness rank": 2
+   },
+   "dishwasher": {
+    "distance": "1.37 meters",
+    "closeness rank": 3
+   },
+   "refrigerator": {
+    "distance": "1.37 meters",
+    "closeness rank": 4
+   },
+   "chair": {
+    "distance": "3.69 meters",
+    "closeness rank": 5
+   },
+   "stool": {
+    "distance": "3.71 meters",
+    "closeness rank": 6
+   },
+   "tv": {
+    "distance": "3.89 meters",
+    "closeness rank": 7
+   },
+   "bed": {
+    "distance": "4.37 meters",
+    "closeness rank": 8
+   }
+  },
+  "tv": {
+   "sofa": {
+    "distance": "1.24 meters",
+    "closeness rank": 1
+   },
+   "stool": {
+    "distance": "1.25 meters",
+    "closeness rank": 2
+   },
+   "chair": {
+    "distance": "1.26 meters",
+    "closeness rank": 3
+   },
+   "dishwasher": {
+    "distance": "3.51 meters",
+    "closeness rank": 4
+   },
+   "refrigerator": {
+    "distance": "3.51 meters",
+    "closeness rank": 5
+   },
+   "table": {
+    "distance": "3.89 meters",
+    "closeness rank": 6
+   },
+   "stove": {
+    "distance": "4.27 meters",
+    "closeness rank": 7
+   },
+   "bed": {
+    "distance": "5.81 meters",
+    "closeness rank": 8
+   }
+  }
+ },
+ "appearance order": ["sofa", "stool", "chair", "dishwasher", "refrigerator", "stove", "table", "tv", "bed"]
+}
\ No newline at end of file
diff --git a/data/spatial codes/sam3+depth-anything-3/metric/tracking/selective/64/explicit/42444976.json b/data/spatial codes/sam3+depth-anything-3/metric/tracking/selective/64/explicit/42444976.json
new file mode 100644
index 0000000000000000000000000000000000000000..18618dff7af9f62365865434db0a0578031bda05
--- /dev/null
+++ b/data/spatial codes/sam3+depth-anything-3/metric/tracking/selective/64/explicit/42444976.json	
@@ -0,0 +1,371 @@
+{
+ "spatial code schema": {
+  "objects": {
+   "<object class>": {
+    "count": {
+     "unit": null,
+     "description": "number of instances of this class in the compact spatial code (that schema's per-class oriented-box list length)"
+    },
+    "instances": [
+     {
+      "position": {
+       "x coordinate": {
+        "unit": "meters",
+        "description": "x coordinate of this instance's compact 3D oriented bounding box center"
+       },
+       "y coordinate": {
+        "unit": "meters",
+        "description": "y coordinate of this instance's compact 3D oriented bounding box center"
+       },
+       "height above floor": {
+        "unit": "meters",
+        "description": "height coordinate of this instance's compact 3D oriented bounding box center"
+       }
+      },
+      "longest dimension": {
+       "unit": "meters",
+       "description": "longest of this instance's compact 3D oriented bounding box dimensions"
+      }
+     }
+    ]
+   }
+  },
+  "room": {
+   "floor area": {
+    "unit": "square meters",
+    "description": "shoelace area of the compact spatial code's floor boundary polygons, with every interior hole subtracted"
+   }
+  },
+  "closest classes distance meters from": {
+   "<object class>": {
+    "<other object class>": {
+     "distance": {
+      "unit": "meters",
+      "description": "minimum surface-to-surface separation between the two classes' compact 3D oriented bounding boxes, over every instance pair"
+     },
+     "closeness rank": {
+      "unit": null,
+      "description": "1 = the nearest other class to this one, 2 = second-nearest, and so on"
+     }
+    }
+   }
+  },
+  "appearance order": {
+   "unit": null,
+   "description": "class names ordered by earliest compact 'first visible time' across all of that class's instances"
+  }
+ },
+ "objects": {
+  "chair": {
+   "count": 3,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "0.1 meters",
+      "y coordinate": "-1.09 meters",
+      "height above floor": "-1.84 meters"
+     },
+     "longest dimension": "0.77 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-0.16 meters",
+      "y coordinate": "-2.15 meters",
+      "height above floor": "-2.64 meters"
+     },
+     "longest dimension": "0.99 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "0.31 meters",
+      "y coordinate": "-1.78 meters",
+      "height above floor": "-2.23 meters"
+     },
+     "longest dimension": "0.89 meters"
+    }
+   ]
+  },
+  "dishwasher": {
+   "count": 2,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "0.81 meters",
+      "y coordinate": "0.52 meters",
+      "height above floor": "0.22 meters"
+     },
+     "longest dimension": "0.91 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "0.92 meters",
+      "y coordinate": "0.71 meters",
+      "height above floor": "-2.19 meters"
+     },
+     "longest dimension": "0.88 meters"
+    }
+   ]
+  },
+  "refrigerator": {
+   "count": 2,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "0.68 meters",
+      "y coordinate": "0.57 meters",
+      "height above floor": "0.2 meters"
+     },
+     "longest dimension": "0.91 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "1.14 meters",
+      "y coordinate": "0.43 meters",
+      "height above floor": "0.16 meters"
+     },
+     "longest dimension": "1.02 meters"
+    }
+   ]
+  },
+  "stove": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "0.62 meters",
+      "y coordinate": "1.11 meters",
+      "height above floor": "-1.27 meters"
+     },
+     "longest dimension": "0.89 meters"
+    }
+   ]
+  },
+  "table": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-0.15 meters",
+      "y coordinate": "-1.6 meters",
+      "height above floor": "-1.8 meters"
+     },
+     "longest dimension": "1.16 meters"
+    }
+   ]
+  },
+  "tv": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "0.04 meters",
+      "y coordinate": "-1.23 meters",
+      "height above floor": "4.09 meters"
+     },
+     "longest dimension": "0.89 meters"
+    }
+   ]
+  },
+  "washer": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "0.6 meters",
+      "y coordinate": "-0.09 meters",
+      "height above floor": "-2.58 meters"
+     },
+     "longest dimension": "0.94 meters"
+    }
+   ]
+  }
+ },
+ "room": {
+  "floor area": "13.3 square meters"
+ },
+ "closest classes distance meters from": {
+  "chair": {
+   "table": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "washer": {
+    "distance": "0.74 meters",
+    "closeness rank": 2
+   },
+   "dishwasher": {
+    "distance": "1.71 meters",
+    "closeness rank": 3
+   },
+   "stove": {
+    "distance": "1.85 meters",
+    "closeness rank": 4
+   },
+   "refrigerator": {
+    "distance": "2.16 meters",
+    "closeness rank": 5
+   },
+   "tv": {
+    "distance": "5.28 meters",
+    "closeness rank": 6
+   }
+  },
+  "dishwasher": {
+   "refrigerator": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "stove": {
+    "distance": "0.19 meters",
+    "closeness rank": 2
+   },
+   "washer": {
+    "distance": "0.39 meters",
+    "closeness rank": 3
+   },
+   "chair": {
+    "distance": "1.71 meters",
+    "closeness rank": 4
+   },
+   "table": {
+    "distance": "1.94 meters",
+    "closeness rank": 5
+   },
+   "tv": {
+    "distance": "3.64 meters",
+    "closeness rank": 6
+   }
+  },
+  "refrigerator": {
+   "dishwasher": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "stove": {
+    "distance": "0.76 meters",
+    "closeness rank": 2
+   },
+   "chair": {
+    "distance": "2.16 meters",
+    "closeness rank": 3
+   },
+   "table": {
+    "distance": "2.21 meters",
+    "closeness rank": 4
+   },
+   "washer": {
+    "distance": "2.41 meters",
+    "closeness rank": 5
+   },
+   "tv": {
+    "distance": "3.66 meters",
+    "closeness rank": 6
+   }
+  },
+  "stove": {
+   "dishwasher": {
+    "distance": "0.19 meters",
+    "closeness rank": 1
+   },
+   "refrigerator": {
+    "distance": "0.76 meters",
+    "closeness rank": 2
+   },
+   "washer": {
+    "distance": "1.03 meters",
+    "closeness rank": 3
+   },
+   "chair": {
+    "distance": "1.85 meters",
+    "closeness rank": 4
+   },
+   "table": {
+    "distance": "1.99 meters",
+    "closeness rank": 5
+   },
+   "tv": {
+    "distance": "4.95 meters",
+    "closeness rank": 6
+   }
+  },
+  "table": {
+   "chair": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "washer": {
+    "distance": "0.75 meters",
+    "closeness rank": 2
+   },
+   "dishwasher": {
+    "distance": "1.94 meters",
+    "closeness rank": 3
+   },
+   "stove": {
+    "distance": "1.99 meters",
+    "closeness rank": 4
+   },
+   "refrigerator": {
+    "distance": "2.21 meters",
+    "closeness rank": 5
+   },
+   "tv": {
+    "distance": "5.11 meters",
+    "closeness rank": 6
+   }
+  },
+  "tv": {
+   "dishwasher": {
+    "distance": "3.64 meters",
+    "closeness rank": 1
+   },
+   "refrigerator": {
+    "distance": "3.66 meters",
+    "closeness rank": 2
+   },
+   "stove": {
+    "distance": "4.95 meters",
+    "closeness rank": 3
+   },
+   "table": {
+    "distance": "5.11 meters",
+    "closeness rank": 4
+   },
+   "chair": {
+    "distance": "5.28 meters",
+    "closeness rank": 5
+   },
+   "washer": {
+    "distance": "6.21 meters",
+    "closeness rank": 6
+   }
+  },
+  "washer": {
+   "dishwasher": {
+    "distance": "0.39 meters",
+    "closeness rank": 1
+   },
+   "chair": {
+    "distance": "0.74 meters",
+    "closeness rank": 2
+   },
+   "table": {
+    "distance": "0.75 meters",
+    "closeness rank": 3
+   },
+   "stove": {
+    "distance": "1.03 meters",
+    "closeness rank": 4
+   },
+   "refrigerator": {
+    "distance": "2.41 meters",
+    "closeness rank": 5
+   },
+   "tv": {
+    "distance": "6.21 meters",
+    "closeness rank": 6
+   }
+  }
+ },
+ "appearance order": ["washer", "dishwasher", "refrigerator", "stove", "chair", "tv", "table"]
+}
\ No newline at end of file
diff --git a/data/spatial codes/sam3+depth-anything-3/metric/tracking/selective/64/explicit/42445026.json b/data/spatial codes/sam3+depth-anything-3/metric/tracking/selective/64/explicit/42445026.json
new file mode 100644
index 0000000000000000000000000000000000000000..b383d8b4529a99786c8b5119b7bea0d21b78686a
--- /dev/null
+++ b/data/spatial codes/sam3+depth-anything-3/metric/tracking/selective/64/explicit/42445026.json	
@@ -0,0 +1,276 @@
+{
+ "spatial code schema": {
+  "objects": {
+   "<object class>": {
+    "count": {
+     "unit": null,
+     "description": "number of instances of this class in the compact spatial code (that schema's per-class oriented-box list length)"
+    },
+    "instances": [
+     {
+      "position": {
+       "x coordinate": {
+        "unit": "meters",
+        "description": "x coordinate of this instance's compact 3D oriented bounding box center"
+       },
+       "y coordinate": {
+        "unit": "meters",
+        "description": "y coordinate of this instance's compact 3D oriented bounding box center"
+       },
+       "height above floor": {
+        "unit": "meters",
+        "description": "height coordinate of this instance's compact 3D oriented bounding box center"
+       }
+      },
+      "longest dimension": {
+       "unit": "meters",
+       "description": "longest of this instance's compact 3D oriented bounding box dimensions"
+      }
+     }
+    ]
+   }
+  },
+  "room": {
+   "floor area": {
+    "unit": "square meters",
+    "description": "shoelace area of the compact spatial code's floor boundary polygons, with every interior hole subtracted"
+   }
+  },
+  "closest classes distance meters from": {
+   "<object class>": {
+    "<other object class>": {
+     "distance": {
+      "unit": "meters",
+      "description": "minimum surface-to-surface separation between the two classes' compact 3D oriented bounding boxes, over every instance pair"
+     },
+     "closeness rank": {
+      "unit": null,
+      "description": "1 = the nearest other class to this one, 2 = second-nearest, and so on"
+     }
+    }
+   }
+  },
+  "appearance order": {
+   "unit": null,
+   "description": "class names ordered by earliest compact 'first visible time' across all of that class's instances"
+  }
+ },
+ "objects": {
+  "bed": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "0.93 meters",
+      "y coordinate": "-0.59 meters",
+      "height above floor": "1.41 meters"
+     },
+     "longest dimension": "0.42 meters"
+    }
+   ]
+  },
+  "chair": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "0.73 meters",
+      "y coordinate": "-1.31 meters",
+      "height above floor": "2.06 meters"
+     },
+     "longest dimension": "0.88 meters"
+    }
+   ]
+  },
+  "sofa": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "1.11 meters",
+      "y coordinate": "0.0 meters",
+      "height above floor": "1.33 meters"
+     },
+     "longest dimension": "1.15 meters"
+    }
+   ]
+  },
+  "stool": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "0.64 meters",
+      "y coordinate": "-1.52 meters",
+      "height above floor": "2.01 meters"
+     },
+     "longest dimension": "0.46 meters"
+    }
+   ]
+  },
+  "table": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "0.52 meters",
+      "y coordinate": "-1.44 meters",
+      "height above floor": "1.72 meters"
+     },
+     "longest dimension": "1.28 meters"
+    }
+   ]
+  },
+  "tv": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "0.08 meters",
+      "y coordinate": "0.07 meters",
+      "height above floor": "-0.03 meters"
+     },
+     "longest dimension": "0.83 meters"
+    }
+   ]
+  }
+ },
+ "room": {
+  "floor area": "11.3 square meters"
+ },
+ "closest classes distance meters from": {
+  "bed": {
+   "sofa": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "chair": {
+    "distance": "0.37 meters",
+    "closeness rank": 2
+   },
+   "table": {
+    "distance": "0.59 meters",
+    "closeness rank": 3
+   },
+   "stool": {
+    "distance": "0.69 meters",
+    "closeness rank": 4
+   },
+   "tv": {
+    "distance": "1.3 meters",
+    "closeness rank": 5
+   }
+  },
+  "chair": {
+   "stool": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "table": {
+    "distance": "0.0 meters",
+    "closeness rank": 2
+   },
+   "bed": {
+    "distance": "0.37 meters",
+    "closeness rank": 3
+   },
+   "sofa": {
+    "distance": "0.57 meters",
+    "closeness rank": 4
+   },
+   "tv": {
+    "distance": "1.92 meters",
+    "closeness rank": 5
+   }
+  },
+  "sofa": {
+   "bed": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "chair": {
+    "distance": "0.57 meters",
+    "closeness rank": 2
+   },
+   "table": {
+    "distance": "0.76 meters",
+    "closeness rank": 3
+   },
+   "stool": {
+    "distance": "0.9 meters",
+    "closeness rank": 4
+   },
+   "tv": {
+    "distance": "1.28 meters",
+    "closeness rank": 5
+   }
+  },
+  "stool": {
+   "chair": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "table": {
+    "distance": "0.0 meters",
+    "closeness rank": 2
+   },
+   "bed": {
+    "distance": "0.69 meters",
+    "closeness rank": 3
+   },
+   "sofa": {
+    "distance": "0.9 meters",
+    "closeness rank": 4
+   },
+   "tv": {
+    "distance": "2.16 meters",
+    "closeness rank": 5
+   }
+  },
+  "table": {
+   "chair": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "stool": {
+    "distance": "0.0 meters",
+    "closeness rank": 2
+   },
+   "bed": {
+    "distance": "0.59 meters",
+    "closeness rank": 3
+   },
+   "sofa": {
+    "distance": "0.76 meters",
+    "closeness rank": 4
+   },
+   "tv": {
+    "distance": "1.33 meters",
+    "closeness rank": 5
+   }
+  },
+  "tv": {
+   "sofa": {
+    "distance": "1.28 meters",
+    "closeness rank": 1
+   },
+   "bed": {
+    "distance": "1.3 meters",
+    "closeness rank": 2
+   },
+   "table": {
+    "distance": "1.33 meters",
+    "closeness rank": 3
+   },
+   "chair": {
+    "distance": "1.92 meters",
+    "closeness rank": 4
+   },
+   "stool": {
+    "distance": "2.16 meters",
+    "closeness rank": 5
+   }
+  }
+ },
+ "appearance order": ["tv", "sofa", "chair", "bed", "table", "stool"]
+}
\ No newline at end of file
diff --git a/data/spatial codes/sam3+depth-anything-3/metric/tracking/selective/64/explicit/42445031.json b/data/spatial codes/sam3+depth-anything-3/metric/tracking/selective/64/explicit/42445031.json
new file mode 100644
index 0000000000000000000000000000000000000000..79aab1932000c069e45adccd74f9015b05e11c12
--- /dev/null
+++ b/data/spatial codes/sam3+depth-anything-3/metric/tracking/selective/64/explicit/42445031.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": {
+  "bed": {
+   "count": 2,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "0.93 meters",
+      "y coordinate": "0.68 meters",
+      "height above floor": "-0.02 meters"
+     },
+     "longest dimension": "1.45 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "2.11 meters",
+      "y coordinate": "-0.36 meters",
+      "height above floor": "0.33 meters"
+     },
+     "longest dimension": "0.53 meters"
+    }
+   ]
+  },
+  "table": {
+   "count": 2,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "1.21 meters",
+      "y coordinate": "-0.17 meters",
+      "height above floor": "-0.15 meters"
+     },
+     "longest dimension": "0.51 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "0.69 meters",
+      "y coordinate": "-1.71 meters",
+      "height above floor": "-0.02 meters"
+     },
+     "longest dimension": "0.92 meters"
+    }
+   ]
+  },
+  "tv": {
+   "count": 2,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "2.49 meters",
+      "y coordinate": "-0.32 meters",
+      "height above floor": "0.9 meters"
+     },
+     "longest dimension": "0.93 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "1.62 meters",
+      "y coordinate": "-0.33 meters",
+      "height above floor": "0.95 meters"
+     },
+     "longest dimension": "0.25 meters"
+    }
+   ]
+  }
+ },
+ "room": {
+  "floor area": "16.7 square meters"
+ },
+ "closest classes distance meters from": {
+  "bed": {
+   "table": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "tv": {
+    "distance": "0.15 meters",
+    "closeness rank": 2
+   }
+  },
+  "table": {
+   "bed": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "tv": {
+    "distance": "0.79 meters",
+    "closeness rank": 2
+   }
+  },
+  "tv": {
+   "bed": {
+    "distance": "0.15 meters",
+    "closeness rank": 1
+   },
+   "table": {
+    "distance": "0.79 meters",
+    "closeness rank": 2
+   }
+  }
+ },
+ "appearance order": ["tv", "bed", "table"]
+}
\ No newline at end of file
diff --git a/data/spatial codes/sam3+depth-anything-3/metric/tracking/selective/64/explicit/42445981.json b/data/spatial codes/sam3+depth-anything-3/metric/tracking/selective/64/explicit/42445981.json
new file mode 100644
index 0000000000000000000000000000000000000000..d892dfc5f028f043ca098c566091f111137324b8
--- /dev/null
+++ b/data/spatial codes/sam3+depth-anything-3/metric/tracking/selective/64/explicit/42445981.json	
@@ -0,0 +1,285 @@
+{
+ "spatial code schema": {
+  "objects": {
+   "<object class>": {
+    "count": {
+     "unit": null,
+     "description": "number of instances of this class in the compact spatial code (that schema's per-class oriented-box list length)"
+    },
+    "instances": [
+     {
+      "position": {
+       "x coordinate": {
+        "unit": "meters",
+        "description": "x coordinate of this instance's compact 3D oriented bounding box center"
+       },
+       "y coordinate": {
+        "unit": "meters",
+        "description": "y coordinate of this instance's compact 3D oriented bounding box center"
+       },
+       "height above floor": {
+        "unit": "meters",
+        "description": "height coordinate of this instance's compact 3D oriented bounding box center"
+       }
+      },
+      "longest dimension": {
+       "unit": "meters",
+       "description": "longest of this instance's compact 3D oriented bounding box dimensions"
+      }
+     }
+    ]
+   }
+  },
+  "room": {
+   "floor area": {
+    "unit": "square meters",
+    "description": "shoelace area of the compact spatial code's floor boundary polygons, with every interior hole subtracted"
+   }
+  },
+  "closest classes distance meters from": {
+   "<object class>": {
+    "<other object class>": {
+     "distance": {
+      "unit": "meters",
+      "description": "minimum surface-to-surface separation between the two classes' compact 3D oriented bounding boxes, over every instance pair"
+     },
+     "closeness rank": {
+      "unit": null,
+      "description": "1 = the nearest other class to this one, 2 = second-nearest, and so on"
+     }
+    }
+   }
+  },
+  "appearance order": {
+   "unit": null,
+   "description": "class names ordered by earliest compact 'first visible time' across all of that class's instances"
+  }
+ },
+ "objects": {
+  "chair": {
+   "count": 5,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "2.59 meters",
+      "y coordinate": "-1.53 meters",
+      "height above floor": "-0.13 meters"
+     },
+     "longest dimension": "0.87 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "1.68 meters",
+      "y coordinate": "-2.61 meters",
+      "height above floor": "-0.15 meters"
+     },
+     "longest dimension": "0.88 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "1.65 meters",
+      "y coordinate": "-2.6 meters",
+      "height above floor": "0.0 meters"
+     },
+     "longest dimension": "0.47 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "2.41 meters",
+      "y coordinate": "-2.52 meters",
+      "height above floor": "-0.16 meters"
+     },
+     "longest dimension": "0.89 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "3.95 meters",
+      "y coordinate": "-1.54 meters",
+      "height above floor": "-0.39 meters"
+     },
+     "longest dimension": "0.57 meters"
+    }
+   ]
+  },
+  "sofa": {
+   "count": 2,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "1.54 meters",
+      "y coordinate": "-1.53 meters",
+      "height above floor": "-0.2 meters"
+     },
+     "longest dimension": "1.67 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "0.98 meters",
+      "y coordinate": "-2.03 meters",
+      "height above floor": "-0.27 meters"
+     },
+     "longest dimension": "1.31 meters"
+    }
+   ]
+  },
+  "stool": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "0.25 meters",
+      "y coordinate": "-1.04 meters",
+      "height above floor": "-0.64 meters"
+     },
+     "longest dimension": "0.35 meters"
+    }
+   ]
+  },
+  "table": {
+   "count": 3,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "2.22 meters",
+      "y coordinate": "-2.08 meters",
+      "height above floor": "-0.03 meters"
+     },
+     "longest dimension": "1.32 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "3.98 meters",
+      "y coordinate": "-1.62 meters",
+      "height above floor": "-0.46 meters"
+     },
+     "longest dimension": "0.61 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "0.03 meters",
+      "y coordinate": "0.93 meters",
+      "height above floor": "-0.52 meters"
+     },
+     "longest dimension": "0.61 meters"
+    }
+   ]
+  },
+  "tv": {
+   "count": 2,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-0.69 meters",
+      "y coordinate": "0.5 meters",
+      "height above floor": "0.11 meters"
+     },
+     "longest dimension": "0.98 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "2.21 meters",
+      "y coordinate": "-0.21 meters",
+      "height above floor": "-0.12 meters"
+     },
+     "longest dimension": "1.18 meters"
+    }
+   ]
+  }
+ },
+ "room": {
+  "floor area": "24.5 square meters"
+ },
+ "closest classes distance meters from": {
+  "chair": {
+   "table": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "sofa": {
+    "distance": "0.02 meters",
+    "closeness rank": 2
+   },
+   "tv": {
+    "distance": "1.09 meters",
+    "closeness rank": 3
+   },
+   "stool": {
+    "distance": "1.87 meters",
+    "closeness rank": 4
+   }
+  },
+  "sofa": {
+   "table": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "chair": {
+    "distance": "0.02 meters",
+    "closeness rank": 2
+   },
+   "tv": {
+    "distance": "0.44 meters",
+    "closeness rank": 3
+   },
+   "stool": {
+    "distance": "0.7 meters",
+    "closeness rank": 4
+   }
+  },
+  "stool": {
+   "sofa": {
+    "distance": "0.7 meters",
+    "closeness rank": 1
+   },
+   "table": {
+    "distance": "1.49 meters",
+    "closeness rank": 2
+   },
+   "tv": {
+    "distance": "1.75 meters",
+    "closeness rank": 3
+   },
+   "chair": {
+    "distance": "1.87 meters",
+    "closeness rank": 4
+   }
+  },
+  "table": {
+   "chair": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "sofa": {
+    "distance": "0.0 meters",
+    "closeness rank": 2
+   },
+   "tv": {
+    "distance": "0.17 meters",
+    "closeness rank": 3
+   },
+   "stool": {
+    "distance": "1.49 meters",
+    "closeness rank": 4
+   }
+  },
+  "tv": {
+   "table": {
+    "distance": "0.17 meters",
+    "closeness rank": 1
+   },
+   "sofa": {
+    "distance": "0.44 meters",
+    "closeness rank": 2
+   },
+   "chair": {
+    "distance": "1.09 meters",
+    "closeness rank": 3
+   },
+   "stool": {
+    "distance": "1.75 meters",
+    "closeness rank": 4
+   }
+  }
+ },
+ "appearance order": ["chair", "table", "sofa", "tv", "stool"]
+}
\ No newline at end of file
diff --git a/data/spatial codes/sam3+depth-anything-3/metric/tracking/selective/64/explicit/42446517.json b/data/spatial codes/sam3+depth-anything-3/metric/tracking/selective/64/explicit/42446517.json
new file mode 100644
index 0000000000000000000000000000000000000000..4eb68608d1ef0598bb534824545c181342e82239
--- /dev/null
+++ b/data/spatial codes/sam3+depth-anything-3/metric/tracking/selective/64/explicit/42446517.json	
@@ -0,0 +1,214 @@
+{
+ "spatial code schema": {
+  "objects": {
+   "<object class>": {
+    "count": {
+     "unit": null,
+     "description": "number of instances of this class in the compact spatial code (that schema's per-class oriented-box list length)"
+    },
+    "instances": [
+     {
+      "position": {
+       "x coordinate": {
+        "unit": "meters",
+        "description": "x coordinate of this instance's compact 3D oriented bounding box center"
+       },
+       "y coordinate": {
+        "unit": "meters",
+        "description": "y coordinate of this instance's compact 3D oriented bounding box center"
+       },
+       "height above floor": {
+        "unit": "meters",
+        "description": "height coordinate of this instance's compact 3D oriented bounding box center"
+       }
+      },
+      "longest dimension": {
+       "unit": "meters",
+       "description": "longest of this instance's compact 3D oriented bounding box dimensions"
+      }
+     }
+    ]
+   }
+  },
+  "room": {
+   "floor area": {
+    "unit": "square meters",
+    "description": "shoelace area of the compact spatial code's floor boundary polygons, with every interior hole subtracted"
+   }
+  },
+  "closest classes distance meters from": {
+   "<object class>": {
+    "<other object class>": {
+     "distance": {
+      "unit": "meters",
+      "description": "minimum surface-to-surface separation between the two classes' compact 3D oriented bounding boxes, over every instance pair"
+     },
+     "closeness rank": {
+      "unit": null,
+      "description": "1 = the nearest other class to this one, 2 = second-nearest, and so on"
+     }
+    }
+   }
+  },
+  "appearance order": {
+   "unit": null,
+   "description": "class names ordered by earliest compact 'first visible time' across all of that class's instances"
+  }
+ },
+ "objects": {
+  "bed": {
+   "count": 5,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "0.36 meters",
+      "y coordinate": "-0.21 meters",
+      "height above floor": "0.03 meters"
+     },
+     "longest dimension": "1.03 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-1.73 meters",
+      "y coordinate": "-1.08 meters",
+      "height above floor": "-0.17 meters"
+     },
+     "longest dimension": "1.17 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "0.67 meters",
+      "y coordinate": "-0.8 meters",
+      "height above floor": "-0.05 meters"
+     },
+     "longest dimension": "1.17 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-0.23 meters",
+      "y coordinate": "-0.99 meters",
+      "height above floor": "-0.13 meters"
+     },
+     "longest dimension": "1.08 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-0.3 meters",
+      "y coordinate": "-1.62 meters",
+      "height above floor": "-0.15 meters"
+     },
+     "longest dimension": "1.06 meters"
+    }
+   ]
+  },
+  "chair": {
+   "count": 2,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-1.85 meters",
+      "y coordinate": "-0.9 meters",
+      "height above floor": "-0.06 meters"
+     },
+     "longest dimension": "0.83 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-1.7 meters",
+      "y coordinate": "-1.01 meters",
+      "height above floor": "-0.27 meters"
+     },
+     "longest dimension": "0.92 meters"
+    }
+   ]
+  },
+  "table": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-1.68 meters",
+      "y coordinate": "-1.4 meters",
+      "height above floor": "-0.1 meters"
+     },
+     "longest dimension": "0.77 meters"
+    }
+   ]
+  },
+  "tv": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "0.45 meters",
+      "y coordinate": "0.77 meters",
+      "height above floor": "1.02 meters"
+     },
+     "longest dimension": "0.88 meters"
+    }
+   ]
+  }
+ },
+ "room": {
+  "floor area": "17.3 square meters"
+ },
+ "closest classes distance meters from": {
+  "bed": {
+   "chair": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "table": {
+    "distance": "0.0 meters",
+    "closeness rank": 2
+   },
+   "tv": {
+    "distance": "0.9 meters",
+    "closeness rank": 3
+   }
+  },
+  "chair": {
+   "bed": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "table": {
+    "distance": "0.0 meters",
+    "closeness rank": 2
+   },
+   "tv": {
+    "distance": "2.25 meters",
+    "closeness rank": 3
+   }
+  },
+  "table": {
+   "bed": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "chair": {
+    "distance": "0.0 meters",
+    "closeness rank": 2
+   },
+   "tv": {
+    "distance": "2.6 meters",
+    "closeness rank": 3
+   }
+  },
+  "tv": {
+   "bed": {
+    "distance": "0.9 meters",
+    "closeness rank": 1
+   },
+   "chair": {
+    "distance": "2.25 meters",
+    "closeness rank": 2
+   },
+   "table": {
+    "distance": "2.6 meters",
+    "closeness rank": 3
+   }
+  }
+ },
+ "appearance order": ["bed", "chair", "table", "tv"]
+}
\ No newline at end of file
diff --git a/data/spatial codes/sam3+depth-anything-3/metric/tracking/selective/64/explicit/42446535.json b/data/spatial codes/sam3+depth-anything-3/metric/tracking/selective/64/explicit/42446535.json
new file mode 100644
index 0000000000000000000000000000000000000000..7ec008e5dd772330c7163f9cb930f24d26485831
--- /dev/null
+++ b/data/spatial codes/sam3+depth-anything-3/metric/tracking/selective/64/explicit/42446535.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": {
+  "bathtub": {
+   "count": 2,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-0.25 meters",
+      "y coordinate": "-0.28 meters",
+      "height above floor": "-0.23 meters"
+     },
+     "longest dimension": "1.17 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-0.2 meters",
+      "y coordinate": "0.6 meters",
+      "height above floor": "-0.03 meters"
+     },
+     "longest dimension": "0.41 meters"
+    }
+   ]
+  },
+  "bed": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-0.19 meters",
+      "y coordinate": "0.47 meters",
+      "height above floor": "0.24 meters"
+     },
+     "longest dimension": "1.03 meters"
+    }
+   ]
+  },
+  "toilet": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "0.82 meters",
+      "y coordinate": "-0.53 meters",
+      "height above floor": "-0.15 meters"
+     },
+     "longest dimension": "0.54 meters"
+    }
+   ]
+  }
+ },
+ "room": {
+  "floor area": "5.7 square meters"
+ },
+ "closest classes distance meters from": {
+  "bathtub": {
+   "bed": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "toilet": {
+    "distance": "0.92 meters",
+    "closeness rank": 2
+   }
+  },
+  "bed": {
+   "bathtub": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "toilet": {
+    "distance": "0.97 meters",
+    "closeness rank": 2
+   }
+  },
+  "toilet": {
+   "bathtub": {
+    "distance": "0.92 meters",
+    "closeness rank": 1
+   },
+   "bed": {
+    "distance": "0.97 meters",
+    "closeness rank": 2
+   }
+  }
+ },
+ "appearance order": ["bathtub", "bed", "toilet"]
+}
\ No newline at end of file
diff --git a/data/spatial codes/sam3+depth-anything-3/metric/tracking/selective/64/explicit/42897550.json b/data/spatial codes/sam3+depth-anything-3/metric/tracking/selective/64/explicit/42897550.json
new file mode 100644
index 0000000000000000000000000000000000000000..8aaac256df0d4eb80addf76fe805aea9ef5b100c
--- /dev/null
+++ b/data/spatial codes/sam3+depth-anything-3/metric/tracking/selective/64/explicit/42897550.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": "-0.45 meters",
+      "y coordinate": "0.04 meters",
+      "height above floor": "-0.12 meters"
+     },
+     "longest dimension": "1.39 meters"
+    }
+   ]
+  },
+  "dishwasher": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-0.44 meters",
+      "y coordinate": "0.1 meters",
+      "height above floor": "-0.11 meters"
+     },
+     "longest dimension": "0.67 meters"
+    }
+   ]
+  },
+  "toilet": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "0.45 meters",
+      "y coordinate": "0.22 meters",
+      "height above floor": "-0.02 meters"
+     },
+     "longest dimension": "0.53 meters"
+    }
+   ]
+  },
+  "washer": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-0.24 meters",
+      "y coordinate": "-0.82 meters",
+      "height above floor": "-0.07 meters"
+     },
+     "longest dimension": "0.78 meters"
+    }
+   ]
+  }
+ },
+ "room": {
+  "floor area": "7.3 square meters"
+ },
+ "closest classes distance meters from": {
+  "bathtub": {
+   "dishwasher": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "washer": {
+    "distance": "0.0 meters",
+    "closeness rank": 2
+   },
+   "toilet": {
+    "distance": "0.72 meters",
+    "closeness rank": 3
+   }
+  },
+  "dishwasher": {
+   "bathtub": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "washer": {
+    "distance": "0.21 meters",
+    "closeness rank": 2
+   },
+   "toilet": {
+    "distance": "0.73 meters",
+    "closeness rank": 3
+   }
+  },
+  "toilet": {
+   "bathtub": {
+    "distance": "0.72 meters",
+    "closeness rank": 1
+   },
+   "dishwasher": {
+    "distance": "0.73 meters",
+    "closeness rank": 2
+   },
+   "washer": {
+    "distance": "0.77 meters",
+    "closeness rank": 3
+   }
+  },
+  "washer": {
+   "bathtub": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "dishwasher": {
+    "distance": "0.21 meters",
+    "closeness rank": 2
+   },
+   "toilet": {
+    "distance": "0.77 meters",
+    "closeness rank": 3
+   }
+  }
+ },
+ "appearance order": ["bathtub", "dishwasher", "toilet", "washer"]
+}
\ No newline at end of file
diff --git a/data/spatial codes/sam3+depth-anything-3/metric/tracking/selective/64/explicit/42897629.json b/data/spatial codes/sam3+depth-anything-3/metric/tracking/selective/64/explicit/42897629.json
new file mode 100644
index 0000000000000000000000000000000000000000..97b67e17a8b37877077b5651edb260635b40fb90
--- /dev/null
+++ b/data/spatial codes/sam3+depth-anything-3/metric/tracking/selective/64/explicit/42897629.json	
@@ -0,0 +1,419 @@
+{
+ "spatial code schema": {
+  "objects": {
+   "<object class>": {
+    "count": {
+     "unit": null,
+     "description": "number of instances of this class in the compact spatial code (that schema's per-class oriented-box list length)"
+    },
+    "instances": [
+     {
+      "position": {
+       "x coordinate": {
+        "unit": "meters",
+        "description": "x coordinate of this instance's compact 3D oriented bounding box center"
+       },
+       "y coordinate": {
+        "unit": "meters",
+        "description": "y coordinate of this instance's compact 3D oriented bounding box center"
+       },
+       "height above floor": {
+        "unit": "meters",
+        "description": "height coordinate of this instance's compact 3D oriented bounding box center"
+       }
+      },
+      "longest dimension": {
+       "unit": "meters",
+       "description": "longest of this instance's compact 3D oriented bounding box dimensions"
+      }
+     }
+    ]
+   }
+  },
+  "room": {
+   "floor area": {
+    "unit": "square meters",
+    "description": "shoelace area of the compact spatial code's floor boundary polygons, with every interior hole subtracted"
+   }
+  },
+  "closest classes distance meters from": {
+   "<object class>": {
+    "<other object class>": {
+     "distance": {
+      "unit": "meters",
+      "description": "minimum surface-to-surface separation between the two classes' compact 3D oriented bounding boxes, over every instance pair"
+     },
+     "closeness rank": {
+      "unit": null,
+      "description": "1 = the nearest other class to this one, 2 = second-nearest, and so on"
+     }
+    }
+   }
+  },
+  "appearance order": {
+   "unit": null,
+   "description": "class names ordered by earliest compact 'first visible time' across all of that class's instances"
+  }
+ },
+ "objects": {
+  "chair": {
+   "count": 8,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-2.08 meters",
+      "y coordinate": "-1.77 meters",
+      "height above floor": "-0.33 meters"
+     },
+     "longest dimension": "0.95 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-2.63 meters",
+      "y coordinate": "-1.47 meters",
+      "height above floor": "-0.32 meters"
+     },
+     "longest dimension": "0.97 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-4.22 meters",
+      "y coordinate": "-1.66 meters",
+      "height above floor": "-0.3 meters"
+     },
+     "longest dimension": "1.03 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-2.48 meters",
+      "y coordinate": "-0.33 meters",
+      "height above floor": "-0.39 meters"
+     },
+     "longest dimension": "0.94 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-0.54 meters",
+      "y coordinate": "-2.33 meters",
+      "height above floor": "-0.37 meters"
+     },
+     "longest dimension": "1.95 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-2.74 meters",
+      "y coordinate": "-0.81 meters",
+      "height above floor": "-0.34 meters"
+     },
+     "longest dimension": "0.96 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-0.4 meters",
+      "y coordinate": "-2.46 meters",
+      "height above floor": "-0.17 meters"
+     },
+     "longest dimension": "1.38 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "0.23 meters",
+      "y coordinate": "-2.73 meters",
+      "height above floor": "-0.13 meters"
+     },
+     "longest dimension": "6.03 meters"
+    }
+   ]
+  },
+  "refrigerator": {
+   "count": 2,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "0.5 meters",
+      "y coordinate": "-4.19 meters",
+      "height above floor": "-0.36 meters"
+     },
+     "longest dimension": "1.24 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "0.62 meters",
+      "y coordinate": "-3.75 meters",
+      "height above floor": "-0.19 meters"
+     },
+     "longest dimension": "1.78 meters"
+    }
+   ]
+  },
+  "sofa": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-4.75 meters",
+      "y coordinate": "0.35 meters",
+      "height above floor": "-0.41 meters"
+     },
+     "longest dimension": "0.92 meters"
+    }
+   ]
+  },
+  "stool": {
+   "count": 2,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-2.27 meters",
+      "y coordinate": "-1.67 meters",
+      "height above floor": "-0.32 meters"
+     },
+     "longest dimension": "0.97 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-4.14 meters",
+      "y coordinate": "-1.74 meters",
+      "height above floor": "-0.39 meters"
+     },
+     "longest dimension": "0.97 meters"
+    }
+   ]
+  },
+  "stove": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-2.62 meters",
+      "y coordinate": "1.12 meters",
+      "height above floor": "-0.96 meters"
+     },
+     "longest dimension": "2.08 meters"
+    }
+   ]
+  },
+  "table": {
+   "count": 2,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-1.17 meters",
+      "y coordinate": "-1.71 meters",
+      "height above floor": "-0.34 meters"
+     },
+     "longest dimension": "2.34 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-2.35 meters",
+      "y coordinate": "-0.5 meters",
+      "height above floor": "-0.03 meters"
+     },
+     "longest dimension": "1.77 meters"
+    }
+   ]
+  },
+  "tv": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-2.51 meters",
+      "y coordinate": "1.84 meters",
+      "height above floor": "0.59 meters"
+     },
+     "longest dimension": "0.77 meters"
+    }
+   ]
+  }
+ },
+ "room": {
+  "floor area": "43.4 square meters"
+ },
+ "closest classes distance meters from": {
+  "chair": {
+   "stool": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "table": {
+    "distance": "0.0 meters",
+    "closeness rank": 2
+   },
+   "refrigerator": {
+    "distance": "0.08 meters",
+    "closeness rank": 3
+   },
+   "stove": {
+    "distance": "0.13 meters",
+    "closeness rank": 4
+   },
+   "sofa": {
+    "distance": "1.27 meters",
+    "closeness rank": 5
+   },
+   "tv": {
+    "distance": "1.68 meters",
+    "closeness rank": 6
+   }
+  },
+  "refrigerator": {
+   "chair": {
+    "distance": "0.08 meters",
+    "closeness rank": 1
+   },
+   "table": {
+    "distance": "1.37 meters",
+    "closeness rank": 2
+   },
+   "stool": {
+    "distance": "3.21 meters",
+    "closeness rank": 3
+   },
+   "stove": {
+    "distance": "4.39 meters",
+    "closeness rank": 4
+   },
+   "sofa": {
+    "distance": "6.12 meters",
+    "closeness rank": 5
+   },
+   "tv": {
+    "distance": "6.14 meters",
+    "closeness rank": 6
+   }
+  },
+  "sofa": {
+   "table": {
+    "distance": "1.14 meters",
+    "closeness rank": 1
+   },
+   "stove": {
+    "distance": "1.15 meters",
+    "closeness rank": 2
+   },
+   "chair": {
+    "distance": "1.27 meters",
+    "closeness rank": 3
+   },
+   "stool": {
+    "distance": "1.39 meters",
+    "closeness rank": 4
+   },
+   "tv": {
+    "distance": "2.03 meters",
+    "closeness rank": 5
+   },
+   "refrigerator": {
+    "distance": "6.12 meters",
+    "closeness rank": 6
+   }
+  },
+  "stool": {
+   "chair": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "table": {
+    "distance": "0.0 meters",
+    "closeness rank": 2
+   },
+   "sofa": {
+    "distance": "1.39 meters",
+    "closeness rank": 3
+   },
+   "stove": {
+    "distance": "1.48 meters",
+    "closeness rank": 4
+   },
+   "tv": {
+    "distance": "3.0 meters",
+    "closeness rank": 5
+   },
+   "refrigerator": {
+    "distance": "3.21 meters",
+    "closeness rank": 6
+   }
+  },
+  "stove": {
+   "chair": {
+    "distance": "0.13 meters",
+    "closeness rank": 1
+   },
+   "table": {
+    "distance": "0.9 meters",
+    "closeness rank": 2
+   },
+   "sofa": {
+    "distance": "1.15 meters",
+    "closeness rank": 3
+   },
+   "tv": {
+    "distance": "1.36 meters",
+    "closeness rank": 4
+   },
+   "stool": {
+    "distance": "1.48 meters",
+    "closeness rank": 5
+   },
+   "refrigerator": {
+    "distance": "4.39 meters",
+    "closeness rank": 6
+   }
+  },
+  "table": {
+   "chair": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "stool": {
+    "distance": "0.0 meters",
+    "closeness rank": 2
+   },
+   "stove": {
+    "distance": "0.9 meters",
+    "closeness rank": 3
+   },
+   "sofa": {
+    "distance": "1.14 meters",
+    "closeness rank": 4
+   },
+   "tv": {
+    "distance": "1.35 meters",
+    "closeness rank": 5
+   },
+   "refrigerator": {
+    "distance": "1.37 meters",
+    "closeness rank": 6
+   }
+  },
+  "tv": {
+   "table": {
+    "distance": "1.35 meters",
+    "closeness rank": 1
+   },
+   "stove": {
+    "distance": "1.36 meters",
+    "closeness rank": 2
+   },
+   "chair": {
+    "distance": "1.68 meters",
+    "closeness rank": 3
+   },
+   "sofa": {
+    "distance": "2.03 meters",
+    "closeness rank": 4
+   },
+   "stool": {
+    "distance": "3.0 meters",
+    "closeness rank": 5
+   },
+   "refrigerator": {
+    "distance": "6.14 meters",
+    "closeness rank": 6
+   }
+  }
+ },
+ "appearance order": ["chair", "refrigerator", "table", "stool", "stove", "tv", "sofa"]
+}
\ No newline at end of file
diff --git a/data/spatial codes/sam3+depth-anything-3/metric/tracking/selective/64/explicit/42897692.json b/data/spatial codes/sam3+depth-anything-3/metric/tracking/selective/64/explicit/42897692.json
new file mode 100644
index 0000000000000000000000000000000000000000..f0c83626cf7d85d3950cfdf5db59d2eb3ff8d014
--- /dev/null
+++ b/data/spatial codes/sam3+depth-anything-3/metric/tracking/selective/64/explicit/42897692.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": 3,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-0.34 meters",
+      "y coordinate": "0.94 meters",
+      "height above floor": "-0.05 meters"
+     },
+     "longest dimension": "1.64 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "0.55 meters",
+      "y coordinate": "-0.36 meters",
+      "height above floor": "-0.14 meters"
+     },
+     "longest dimension": "1.53 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-1.08 meters",
+      "y coordinate": "1.36 meters",
+      "height above floor": "0.46 meters"
+     },
+     "longest dimension": "0.97 meters"
+    }
+   ]
+  },
+  "stool": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-0.42 meters",
+      "y coordinate": "-1.28 meters",
+      "height above floor": "-0.02 meters"
+     },
+     "longest dimension": "0.78 meters"
+    }
+   ]
+  },
+  "table": {
+   "count": 2,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "2.38 meters",
+      "y coordinate": "-1.25 meters",
+      "height above floor": "-0.08 meters"
+     },
+     "longest dimension": "0.88 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-0.75 meters",
+      "y coordinate": "-1.63 meters",
+      "height above floor": "0.12 meters"
+     },
+     "longest dimension": "0.88 meters"
+    }
+   ]
+  },
+  "toilet": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "1.65 meters",
+      "y coordinate": "-1.7 meters",
+      "height above floor": "-0.35 meters"
+     },
+     "longest dimension": "0.41 meters"
+    }
+   ]
+  }
+ },
+ "room": {
+  "floor area": "29.6 square meters"
+ },
+ "closest classes distance meters from": {
+  "bed": {
+   "stool": {
+    "distance": "0.39 meters",
+    "closeness rank": 1
+   },
+   "table": {
+    "distance": "0.89 meters",
+    "closeness rank": 2
+   },
+   "toilet": {
+    "distance": "1.17 meters",
+    "closeness rank": 3
+   }
+  },
+  "stool": {
+   "table": {
+    "distance": "0.19 meters",
+    "closeness rank": 1
+   },
+   "bed": {
+    "distance": "0.39 meters",
+    "closeness rank": 2
+   },
+   "toilet": {
+    "distance": "1.58 meters",
+    "closeness rank": 3
+   }
+  },
+  "table": {
+   "stool": {
+    "distance": "0.19 meters",
+    "closeness rank": 1
+   },
+   "toilet": {
+    "distance": "0.28 meters",
+    "closeness rank": 2
+   },
+   "bed": {
+    "distance": "0.89 meters",
+    "closeness rank": 3
+   }
+  },
+  "toilet": {
+   "table": {
+    "distance": "0.28 meters",
+    "closeness rank": 1
+   },
+   "bed": {
+    "distance": "1.17 meters",
+    "closeness rank": 2
+   },
+   "stool": {
+    "distance": "1.58 meters",
+    "closeness rank": 3
+   }
+  }
+ },
+ "appearance order": ["bed", "stool", "table", "toilet"]
+}
\ No newline at end of file
diff --git a/data/spatial codes/sam3+depth-anything-3/metric/tracking/selective/64/explicit/42898486.json b/data/spatial codes/sam3+depth-anything-3/metric/tracking/selective/64/explicit/42898486.json
new file mode 100644
index 0000000000000000000000000000000000000000..0b19c03b0dc047e827deb547f2584b5c1f33cb61
--- /dev/null
+++ b/data/spatial codes/sam3+depth-anything-3/metric/tracking/selective/64/explicit/42898486.json	
@@ -0,0 +1,442 @@
+{
+ "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": "5.34 meters",
+      "y coordinate": "-3.72 meters",
+      "height above floor": "0.28 meters"
+     },
+     "longest dimension": "1.18 meters"
+    }
+   ]
+  },
+  "chair": {
+   "count": 2,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-1.13 meters",
+      "y coordinate": "0.41 meters",
+      "height above floor": "-0.05 meters"
+     },
+     "longest dimension": "1.34 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-0.22 meters",
+      "y coordinate": "1.23 meters",
+      "height above floor": "0.01 meters"
+     },
+     "longest dimension": "0.86 meters"
+    }
+   ]
+  },
+  "fireplace": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "3.46 meters",
+      "y coordinate": "2.02 meters",
+      "height above floor": "-0.06 meters"
+     },
+     "longest dimension": "0.66 meters"
+    }
+   ]
+  },
+  "sofa": {
+   "count": 3,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-0.22 meters",
+      "y coordinate": "1.94 meters",
+      "height above floor": "-0.15 meters"
+     },
+     "longest dimension": "2.05 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-1.01 meters",
+      "y coordinate": "3.4 meters",
+      "height above floor": "0.21 meters"
+     },
+     "longest dimension": "1.91 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "0.24 meters",
+      "y coordinate": "0.89 meters",
+      "height above floor": "0.06 meters"
+     },
+     "longest dimension": "1.59 meters"
+    }
+   ]
+  },
+  "stool": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-0.36 meters",
+      "y coordinate": "-0.05 meters",
+      "height above floor": "-0.19 meters"
+     },
+     "longest dimension": "0.76 meters"
+    }
+   ]
+  },
+  "table": {
+   "count": 2,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "0.33 meters",
+      "y coordinate": "3.02 meters",
+      "height above floor": "-0.21 meters"
+     },
+     "longest dimension": "1.42 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "1.3 meters",
+      "y coordinate": "0.22 meters",
+      "height above floor": "-0.19 meters"
+     },
+     "longest dimension": "0.55 meters"
+    }
+   ]
+  },
+  "toilet": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "0.37 meters",
+      "y coordinate": "0.95 meters",
+      "height above floor": "0.21 meters"
+     },
+     "longest dimension": "1.14 meters"
+    }
+   ]
+  },
+  "tv": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "3.41 meters",
+      "y coordinate": "2.04 meters",
+      "height above floor": "1.06 meters"
+     },
+     "longest dimension": "1.12 meters"
+    }
+   ]
+  }
+ },
+ "room": {
+  "floor area": "33.6 square meters"
+ },
+ "closest classes distance meters from": {
+  "bed": {
+   "table": {
+    "distance": "5.14 meters",
+    "closeness rank": 1
+   },
+   "tv": {
+    "distance": "5.35 meters",
+    "closeness rank": 2
+   },
+   "fireplace": {
+    "distance": "5.53 meters",
+    "closeness rank": 3
+   },
+   "sofa": {
+    "distance": "5.8 meters",
+    "closeness rank": 4
+   },
+   "toilet": {
+    "distance": "6.0 meters",
+    "closeness rank": 5
+   },
+   "stool": {
+    "distance": "6.25 meters",
+    "closeness rank": 6
+   },
+   "chair": {
+    "distance": "6.7 meters",
+    "closeness rank": 7
+   }
+  },
+  "chair": {
+   "sofa": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "toilet": {
+    "distance": "0.0 meters",
+    "closeness rank": 2
+   },
+   "stool": {
+    "distance": "0.11 meters",
+    "closeness rank": 3
+   },
+   "table": {
+    "distance": "0.85 meters",
+    "closeness rank": 4
+   },
+   "tv": {
+    "distance": "3.26 meters",
+    "closeness rank": 5
+   },
+   "fireplace": {
+    "distance": "3.43 meters",
+    "closeness rank": 6
+   },
+   "bed": {
+    "distance": "6.7 meters",
+    "closeness rank": 7
+   }
+  },
+  "fireplace": {
+   "tv": {
+    "distance": "0.51 meters",
+    "closeness rank": 1
+   },
+   "sofa": {
+    "distance": "2.4 meters",
+    "closeness rank": 2
+   },
+   "table": {
+    "distance": "2.43 meters",
+    "closeness rank": 3
+   },
+   "toilet": {
+    "distance": "2.52 meters",
+    "closeness rank": 4
+   },
+   "chair": {
+    "distance": "3.43 meters",
+    "closeness rank": 5
+   },
+   "stool": {
+    "distance": "3.99 meters",
+    "closeness rank": 6
+   },
+   "bed": {
+    "distance": "5.53 meters",
+    "closeness rank": 7
+   }
+  },
+  "sofa": {
+   "chair": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "table": {
+    "distance": "0.0 meters",
+    "closeness rank": 2
+   },
+   "toilet": {
+    "distance": "0.0 meters",
+    "closeness rank": 3
+   },
+   "stool": {
+    "distance": "0.39 meters",
+    "closeness rank": 4
+   },
+   "tv": {
+    "distance": "2.23 meters",
+    "closeness rank": 5
+   },
+   "fireplace": {
+    "distance": "2.4 meters",
+    "closeness rank": 6
+   },
+   "bed": {
+    "distance": "5.8 meters",
+    "closeness rank": 7
+   }
+  },
+  "stool": {
+   "chair": {
+    "distance": "0.11 meters",
+    "closeness rank": 1
+   },
+   "sofa": {
+    "distance": "0.39 meters",
+    "closeness rank": 2
+   },
+   "toilet": {
+    "distance": "0.41 meters",
+    "closeness rank": 3
+   },
+   "table": {
+    "distance": "1.37 meters",
+    "closeness rank": 4
+   },
+   "tv": {
+    "distance": "3.78 meters",
+    "closeness rank": 5
+   },
+   "fireplace": {
+    "distance": "3.99 meters",
+    "closeness rank": 6
+   },
+   "bed": {
+    "distance": "6.25 meters",
+    "closeness rank": 7
+   }
+  },
+  "table": {
+   "sofa": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "toilet": {
+    "distance": "0.56 meters",
+    "closeness rank": 2
+   },
+   "chair": {
+    "distance": "0.85 meters",
+    "closeness rank": 3
+   },
+   "stool": {
+    "distance": "1.37 meters",
+    "closeness rank": 4
+   },
+   "tv": {
+    "distance": "2.25 meters",
+    "closeness rank": 5
+   },
+   "fireplace": {
+    "distance": "2.43 meters",
+    "closeness rank": 6
+   },
+   "bed": {
+    "distance": "5.14 meters",
+    "closeness rank": 7
+   }
+  },
+  "toilet": {
+   "chair": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "sofa": {
+    "distance": "0.0 meters",
+    "closeness rank": 2
+   },
+   "stool": {
+    "distance": "0.41 meters",
+    "closeness rank": 3
+   },
+   "table": {
+    "distance": "0.56 meters",
+    "closeness rank": 4
+   },
+   "tv": {
+    "distance": "2.31 meters",
+    "closeness rank": 5
+   },
+   "fireplace": {
+    "distance": "2.52 meters",
+    "closeness rank": 6
+   },
+   "bed": {
+    "distance": "6.0 meters",
+    "closeness rank": 7
+   }
+  },
+  "tv": {
+   "fireplace": {
+    "distance": "0.51 meters",
+    "closeness rank": 1
+   },
+   "sofa": {
+    "distance": "2.23 meters",
+    "closeness rank": 2
+   },
+   "table": {
+    "distance": "2.25 meters",
+    "closeness rank": 3
+   },
+   "toilet": {
+    "distance": "2.31 meters",
+    "closeness rank": 4
+   },
+   "chair": {
+    "distance": "3.26 meters",
+    "closeness rank": 5
+   },
+   "stool": {
+    "distance": "3.78 meters",
+    "closeness rank": 6
+   },
+   "bed": {
+    "distance": "5.35 meters",
+    "closeness rank": 7
+   }
+  }
+ },
+ "appearance order": ["sofa", "table", "fireplace", "tv", "chair", "stool", "toilet", "bed"]
+}
\ No newline at end of file
diff --git a/data/spatial codes/sam3+depth-anything-3/metric/tracking/selective/64/explicit/42898826.json b/data/spatial codes/sam3+depth-anything-3/metric/tracking/selective/64/explicit/42898826.json
new file mode 100644
index 0000000000000000000000000000000000000000..995f7724377458881e45c12040c7828e41dbec57
--- /dev/null
+++ b/data/spatial codes/sam3+depth-anything-3/metric/tracking/selective/64/explicit/42898826.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": {
+  "bathtub": {
+   "count": 2,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-0.26 meters",
+      "y coordinate": "3.01 meters",
+      "height above floor": "-0.21 meters"
+     },
+     "longest dimension": "1.54 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "0.69 meters",
+      "y coordinate": "1.38 meters",
+      "height above floor": "0.17 meters"
+     },
+     "longest dimension": "0.34 meters"
+    }
+   ]
+  },
+  "toilet": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "1.39 meters",
+      "y coordinate": "2.35 meters",
+      "height above floor": "-0.23 meters"
+     },
+     "longest dimension": "0.78 meters"
+    }
+   ]
+  }
+ },
+ "room": {
+  "floor area": "12.4 square meters"
+ },
+ "closest classes distance meters from": {
+  "bathtub": {
+   "toilet": {
+    "distance": "0.75 meters",
+    "closeness rank": 1
+   }
+  },
+  "toilet": {
+   "bathtub": {
+    "distance": "0.75 meters",
+    "closeness rank": 1
+   }
+  }
+ },
+ "appearance order": ["bathtub", "toilet"]
+}
\ No newline at end of file
diff --git a/data/spatial codes/sam3+depth-anything-3/metric/tracking/selective/64/explicit/42899612.json b/data/spatial codes/sam3+depth-anything-3/metric/tracking/selective/64/explicit/42899612.json
new file mode 100644
index 0000000000000000000000000000000000000000..3dda12e718a912a6ebaad3589ca0e7093f2a3eb9
--- /dev/null
+++ b/data/spatial codes/sam3+depth-anything-3/metric/tracking/selective/64/explicit/42899612.json	
@@ -0,0 +1,371 @@
+{
+ "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": "-1.34 meters",
+      "y coordinate": "2.48 meters",
+      "height above floor": "0.28 meters"
+     },
+     "longest dimension": "0.29 meters"
+    }
+   ]
+  },
+  "bed": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "2.51 meters",
+      "y coordinate": "-0.63 meters",
+      "height above floor": "0.1 meters"
+     },
+     "longest dimension": "2.17 meters"
+    }
+   ]
+  },
+  "chair": {
+   "count": 2,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-0.1 meters",
+      "y coordinate": "-0.6 meters",
+      "height above floor": "0.08 meters"
+     },
+     "longest dimension": "1.6 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-0.46 meters",
+      "y coordinate": "-0.87 meters",
+      "height above floor": "0.23 meters"
+     },
+     "longest dimension": "0.94 meters"
+    }
+   ]
+  },
+  "fireplace": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "1.41 meters",
+      "y coordinate": "4.81 meters",
+      "height above floor": "-0.73 meters"
+     },
+     "longest dimension": "0.58 meters"
+    }
+   ]
+  },
+  "stool": {
+   "count": 3,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "0.25 meters",
+      "y coordinate": "-0.48 meters",
+      "height above floor": "0.01 meters"
+     },
+     "longest dimension": "0.65 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-0.28 meters",
+      "y coordinate": "-0.6 meters",
+      "height above floor": "-0.01 meters"
+     },
+     "longest dimension": "0.83 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-1.36 meters",
+      "y coordinate": "0.94 meters",
+      "height above floor": "0.04 meters"
+     },
+     "longest dimension": "0.58 meters"
+    }
+   ]
+  },
+  "table": {
+   "count": 2,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "1.73 meters",
+      "y coordinate": "-1.41 meters",
+      "height above floor": "-0.11 meters"
+     },
+     "longest dimension": "0.69 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-1.34 meters",
+      "y coordinate": "-0.17 meters",
+      "height above floor": "0.16 meters"
+     },
+     "longest dimension": "1.39 meters"
+    }
+   ]
+  },
+  "toilet": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-1.4 meters",
+      "y coordinate": "2.19 meters",
+      "height above floor": "0.63 meters"
+     },
+     "longest dimension": "0.33 meters"
+    }
+   ]
+  }
+ },
+ "room": {
+  "floor area": "27.8 square meters"
+ },
+ "closest classes distance meters from": {
+  "bathtub": {
+   "toilet": {
+    "distance": "0.24 meters",
+    "closeness rank": 1
+   },
+   "stool": {
+    "distance": "1.23 meters",
+    "closeness rank": 2
+   },
+   "table": {
+    "distance": "2.36 meters",
+    "closeness rank": 3
+   },
+   "chair": {
+    "distance": "2.97 meters",
+    "closeness rank": 4
+   },
+   "fireplace": {
+    "distance": "3.28 meters",
+    "closeness rank": 5
+   },
+   "bed": {
+    "distance": "3.78 meters",
+    "closeness rank": 6
+   }
+  },
+  "bed": {
+   "table": {
+    "distance": "0.16 meters",
+    "closeness rank": 1
+   },
+   "chair": {
+    "distance": "1.3 meters",
+    "closeness rank": 2
+   },
+   "stool": {
+    "distance": "1.43 meters",
+    "closeness rank": 3
+   },
+   "toilet": {
+    "distance": "3.72 meters",
+    "closeness rank": 4
+   },
+   "bathtub": {
+    "distance": "3.78 meters",
+    "closeness rank": 5
+   },
+   "fireplace": {
+    "distance": "4.12 meters",
+    "closeness rank": 6
+   }
+  },
+  "chair": {
+   "stool": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "table": {
+    "distance": "0.28 meters",
+    "closeness rank": 2
+   },
+   "bed": {
+    "distance": "1.3 meters",
+    "closeness rank": 3
+   },
+   "toilet": {
+    "distance": "2.7 meters",
+    "closeness rank": 4
+   },
+   "bathtub": {
+    "distance": "2.97 meters",
+    "closeness rank": 5
+   },
+   "fireplace": {
+    "distance": "4.66 meters",
+    "closeness rank": 6
+   }
+  },
+  "fireplace": {
+   "bathtub": {
+    "distance": "3.28 meters",
+    "closeness rank": 1
+   },
+   "toilet": {
+    "distance": "3.63 meters",
+    "closeness rank": 2
+   },
+   "stool": {
+    "distance": "4.08 meters",
+    "closeness rank": 3
+   },
+   "bed": {
+    "distance": "4.12 meters",
+    "closeness rank": 4
+   },
+   "chair": {
+    "distance": "4.66 meters",
+    "closeness rank": 5
+   },
+   "table": {
+    "distance": "5.03 meters",
+    "closeness rank": 6
+   }
+  },
+  "stool": {
+   "chair": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "table": {
+    "distance": "0.45 meters",
+    "closeness rank": 2
+   },
+   "toilet": {
+    "distance": "0.93 meters",
+    "closeness rank": 3
+   },
+   "bathtub": {
+    "distance": "1.23 meters",
+    "closeness rank": 4
+   },
+   "bed": {
+    "distance": "1.43 meters",
+    "closeness rank": 5
+   },
+   "fireplace": {
+    "distance": "4.08 meters",
+    "closeness rank": 6
+   }
+  },
+  "table": {
+   "bed": {
+    "distance": "0.16 meters",
+    "closeness rank": 1
+   },
+   "chair": {
+    "distance": "0.28 meters",
+    "closeness rank": 2
+   },
+   "stool": {
+    "distance": "0.45 meters",
+    "closeness rank": 3
+   },
+   "toilet": {
+    "distance": "2.03 meters",
+    "closeness rank": 4
+   },
+   "bathtub": {
+    "distance": "2.36 meters",
+    "closeness rank": 5
+   },
+   "fireplace": {
+    "distance": "5.03 meters",
+    "closeness rank": 6
+   }
+  },
+  "toilet": {
+   "bathtub": {
+    "distance": "0.24 meters",
+    "closeness rank": 1
+   },
+   "stool": {
+    "distance": "0.93 meters",
+    "closeness rank": 2
+   },
+   "table": {
+    "distance": "2.03 meters",
+    "closeness rank": 3
+   },
+   "chair": {
+    "distance": "2.7 meters",
+    "closeness rank": 4
+   },
+   "fireplace": {
+    "distance": "3.63 meters",
+    "closeness rank": 5
+   },
+   "bed": {
+    "distance": "3.72 meters",
+    "closeness rank": 6
+   }
+  }
+ },
+ "appearance order": ["bed", "table", "stool", "fireplace", "bathtub", "toilet", "chair"]
+}
\ No newline at end of file
diff --git a/data/spatial codes/sam3+depth-anything-3/metric/tracking/selective/64/explicit/44358499.json b/data/spatial codes/sam3+depth-anything-3/metric/tracking/selective/64/explicit/44358499.json
new file mode 100644
index 0000000000000000000000000000000000000000..a1a169bfcc6e6c69cf138bc64a054e87cb77a62d
--- /dev/null
+++ b/data/spatial codes/sam3+depth-anything-3/metric/tracking/selective/64/explicit/44358499.json	
@@ -0,0 +1,743 @@
+{
+ "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": "-0.61 meters",
+      "y coordinate": "3.43 meters",
+      "height above floor": "0.0 meters"
+     },
+     "longest dimension": "2.0 meters"
+    }
+   ]
+  },
+  "chair": {
+   "count": 5,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-2.03 meters",
+      "y coordinate": "0.14 meters",
+      "height above floor": "0.38 meters"
+     },
+     "longest dimension": "0.82 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-2.05 meters",
+      "y coordinate": "1.58 meters",
+      "height above floor": "0.44 meters"
+     },
+     "longest dimension": "0.83 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-2.11 meters",
+      "y coordinate": "1.6 meters",
+      "height above floor": "0.34 meters"
+     },
+     "longest dimension": "0.77 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-2.56 meters",
+      "y coordinate": "0.84 meters",
+      "height above floor": "0.47 meters"
+     },
+     "longest dimension": "1.07 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-1.76 meters",
+      "y coordinate": "-0.06 meters",
+      "height above floor": "0.78 meters"
+     },
+     "longest dimension": "0.4 meters"
+    }
+   ]
+  },
+  "dishwasher": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-1.9 meters",
+      "y coordinate": "4.85 meters",
+      "height above floor": "0.56 meters"
+     },
+     "longest dimension": "0.74 meters"
+    }
+   ]
+  },
+  "fireplace": {
+   "count": 2,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "3.35 meters",
+      "y coordinate": "-1.04 meters",
+      "height above floor": "0.76 meters"
+     },
+     "longest dimension": "1.1 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "3.51 meters",
+      "y coordinate": "-1.55 meters",
+      "height above floor": "0.56 meters"
+     },
+     "longest dimension": "0.49 meters"
+    }
+   ]
+  },
+  "refrigerator": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-0.05 meters",
+      "y coordinate": "3.89 meters",
+      "height above floor": "0.4 meters"
+     },
+     "longest dimension": "0.87 meters"
+    }
+   ]
+  },
+  "sofa": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "0.9 meters",
+      "y coordinate": "-1.24 meters",
+      "height above floor": "0.41 meters"
+     },
+     "longest dimension": "2.31 meters"
+    }
+   ]
+  },
+  "stool": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "3.04 meters",
+      "y coordinate": "-3.06 meters",
+      "height above floor": "0.17 meters"
+     },
+     "longest dimension": "0.52 meters"
+    }
+   ]
+  },
+  "stove": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-2.23 meters",
+      "y coordinate": "4.27 meters",
+      "height above floor": "0.96 meters"
+     },
+     "longest dimension": "0.75 meters"
+    }
+   ]
+  },
+  "table": {
+   "count": 4,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-1.02 meters",
+      "y coordinate": "-1.4 meters",
+      "height above floor": "0.39 meters"
+     },
+     "longest dimension": "1.47 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-2.13 meters",
+      "y coordinate": "0.26 meters",
+      "height above floor": "0.45 meters"
+     },
+     "longest dimension": "1.89 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "0.92 meters",
+      "y coordinate": "-0.39 meters",
+      "height above floor": "0.24 meters"
+     },
+     "longest dimension": "0.89 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-0.54 meters",
+      "y coordinate": "1.32 meters",
+      "height above floor": "0.68 meters"
+     },
+     "longest dimension": "0.44 meters"
+    }
+   ]
+  },
+  "tv": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "3.49 meters",
+      "y coordinate": "0.67 meters",
+      "height above floor": "0.77 meters"
+     },
+     "longest dimension": "1.14 meters"
+    }
+   ]
+  },
+  "washer": {
+   "count": 2,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-0.05 meters",
+      "y coordinate": "3.92 meters",
+      "height above floor": "0.45 meters"
+     },
+     "longest dimension": "0.86 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "0.0 meters",
+      "y coordinate": "4.56 meters",
+      "height above floor": "0.45 meters"
+     },
+     "longest dimension": "0.84 meters"
+    }
+   ]
+  }
+ },
+ "room": {
+  "floor area": "48.5 square meters"
+ },
+ "closest classes distance meters from": {
+  "bed": {
+   "washer": {
+    "distance": "0.1 meters",
+    "closeness rank": 1
+   },
+   "refrigerator": {
+    "distance": "0.1 meters",
+    "closeness rank": 2
+   },
+   "dishwasher": {
+    "distance": "0.7 meters",
+    "closeness rank": 3
+   },
+   "table": {
+    "distance": "0.98 meters",
+    "closeness rank": 4
+   },
+   "stove": {
+    "distance": "1.08 meters",
+    "closeness rank": 5
+   },
+   "chair": {
+    "distance": "1.39 meters",
+    "closeness rank": 6
+   },
+   "sofa": {
+    "distance": "2.74 meters",
+    "closeness rank": 7
+   },
+   "tv": {
+    "distance": "3.36 meters",
+    "closeness rank": 8
+   },
+   "fireplace": {
+    "distance": "4.58 meters",
+    "closeness rank": 9
+   },
+   "stool": {
+    "distance": "6.13 meters",
+    "closeness rank": 10
+   }
+  },
+  "chair": {
+   "table": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "bed": {
+    "distance": "1.39 meters",
+    "closeness rank": 2
+   },
+   "sofa": {
+    "distance": "1.87 meters",
+    "closeness rank": 3
+   },
+   "stove": {
+    "distance": "2.12 meters",
+    "closeness rank": 4
+   },
+   "refrigerator": {
+    "distance": "2.68 meters",
+    "closeness rank": 5
+   },
+   "washer": {
+    "distance": "2.68 meters",
+    "closeness rank": 6
+   },
+   "dishwasher": {
+    "distance": "2.87 meters",
+    "closeness rank": 7
+   },
+   "fireplace": {
+    "distance": "4.78 meters",
+    "closeness rank": 8
+   },
+   "tv": {
+    "distance": "4.93 meters",
+    "closeness rank": 9
+   },
+   "stool": {
+    "distance": "5.28 meters",
+    "closeness rank": 10
+   }
+  },
+  "dishwasher": {
+   "stove": {
+    "distance": "0.06 meters",
+    "closeness rank": 1
+   },
+   "bed": {
+    "distance": "0.7 meters",
+    "closeness rank": 2
+   },
+   "washer": {
+    "distance": "1.82 meters",
+    "closeness rank": 3
+   },
+   "refrigerator": {
+    "distance": "1.95 meters",
+    "closeness rank": 4
+   },
+   "chair": {
+    "distance": "2.87 meters",
+    "closeness rank": 5
+   },
+   "table": {
+    "distance": "3.38 meters",
+    "closeness rank": 6
+   },
+   "sofa": {
+    "distance": "5.32 meters",
+    "closeness rank": 7
+   },
+   "tv": {
+    "distance": "6.15 meters",
+    "closeness rank": 8
+   },
+   "fireplace": {
+    "distance": "7.41 meters",
+    "closeness rank": 9
+   },
+   "stool": {
+    "distance": "8.89 meters",
+    "closeness rank": 10
+   }
+  },
+  "fireplace": {
+   "tv": {
+    "distance": "0.74 meters",
+    "closeness rank": 1
+   },
+   "stool": {
+    "distance": "1.16 meters",
+    "closeness rank": 2
+   },
+   "sofa": {
+    "distance": "1.46 meters",
+    "closeness rank": 3
+   },
+   "table": {
+    "distance": "1.9 meters",
+    "closeness rank": 4
+   },
+   "bed": {
+    "distance": "4.58 meters",
+    "closeness rank": 5
+   },
+   "chair": {
+    "distance": "4.78 meters",
+    "closeness rank": 6
+   },
+   "refrigerator": {
+    "distance": "5.42 meters",
+    "closeness rank": 7
+   },
+   "washer": {
+    "distance": "5.43 meters",
+    "closeness rank": 8
+   },
+   "stove": {
+    "distance": "6.94 meters",
+    "closeness rank": 9
+   },
+   "dishwasher": {
+    "distance": "7.41 meters",
+    "closeness rank": 10
+   }
+  },
+  "refrigerator": {
+   "washer": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "bed": {
+    "distance": "0.1 meters",
+    "closeness rank": 2
+   },
+   "stove": {
+    "distance": "1.83 meters",
+    "closeness rank": 3
+   },
+   "dishwasher": {
+    "distance": "1.95 meters",
+    "closeness rank": 4
+   },
+   "table": {
+    "distance": "2.21 meters",
+    "closeness rank": 5
+   },
+   "chair": {
+    "distance": "2.68 meters",
+    "closeness rank": 6
+   },
+   "sofa": {
+    "distance": "3.8 meters",
+    "closeness rank": 7
+   },
+   "tv": {
+    "distance": "4.08 meters",
+    "closeness rank": 8
+   },
+   "fireplace": {
+    "distance": "5.42 meters",
+    "closeness rank": 9
+   },
+   "stool": {
+    "distance": "7.14 meters",
+    "closeness rank": 10
+   }
+  },
+  "sofa": {
+   "table": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "stool": {
+    "distance": "1.39 meters",
+    "closeness rank": 2
+   },
+   "fireplace": {
+    "distance": "1.46 meters",
+    "closeness rank": 3
+   },
+   "chair": {
+    "distance": "1.87 meters",
+    "closeness rank": 4
+   },
+   "tv": {
+    "distance": "2.46 meters",
+    "closeness rank": 5
+   },
+   "bed": {
+    "distance": "2.74 meters",
+    "closeness rank": 6
+   },
+   "refrigerator": {
+    "distance": "3.8 meters",
+    "closeness rank": 7
+   },
+   "washer": {
+    "distance": "3.81 meters",
+    "closeness rank": 8
+   },
+   "stove": {
+    "distance": "4.69 meters",
+    "closeness rank": 9
+   },
+   "dishwasher": {
+    "distance": "5.32 meters",
+    "closeness rank": 10
+   }
+  },
+  "stool": {
+   "fireplace": {
+    "distance": "1.16 meters",
+    "closeness rank": 1
+   },
+   "sofa": {
+    "distance": "1.39 meters",
+    "closeness rank": 2
+   },
+   "table": {
+    "distance": "2.94 meters",
+    "closeness rank": 3
+   },
+   "tv": {
+    "distance": "3.09 meters",
+    "closeness rank": 4
+   },
+   "chair": {
+    "distance": "5.28 meters",
+    "closeness rank": 5
+   },
+   "bed": {
+    "distance": "6.13 meters",
+    "closeness rank": 6
+   },
+   "refrigerator": {
+    "distance": "7.14 meters",
+    "closeness rank": 7
+   },
+   "washer": {
+    "distance": "7.15 meters",
+    "closeness rank": 8
+   },
+   "stove": {
+    "distance": "8.32 meters",
+    "closeness rank": 9
+   },
+   "dishwasher": {
+    "distance": "8.89 meters",
+    "closeness rank": 10
+   }
+  },
+  "stove": {
+   "dishwasher": {
+    "distance": "0.06 meters",
+    "closeness rank": 1
+   },
+   "bed": {
+    "distance": "1.08 meters",
+    "closeness rank": 2
+   },
+   "washer": {
+    "distance": "1.83 meters",
+    "closeness rank": 3
+   },
+   "refrigerator": {
+    "distance": "1.83 meters",
+    "closeness rank": 4
+   },
+   "chair": {
+    "distance": "2.12 meters",
+    "closeness rank": 5
+   },
+   "table": {
+    "distance": "2.61 meters",
+    "closeness rank": 6
+   },
+   "sofa": {
+    "distance": "4.69 meters",
+    "closeness rank": 7
+   },
+   "tv": {
+    "distance": "5.76 meters",
+    "closeness rank": 8
+   },
+   "fireplace": {
+    "distance": "6.94 meters",
+    "closeness rank": 9
+   },
+   "stool": {
+    "distance": "8.32 meters",
+    "closeness rank": 10
+   }
+  },
+  "table": {
+   "chair": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "sofa": {
+    "distance": "0.0 meters",
+    "closeness rank": 2
+   },
+   "bed": {
+    "distance": "0.98 meters",
+    "closeness rank": 3
+   },
+   "fireplace": {
+    "distance": "1.9 meters",
+    "closeness rank": 4
+   },
+   "tv": {
+    "distance": "2.21 meters",
+    "closeness rank": 5
+   },
+   "refrigerator": {
+    "distance": "2.21 meters",
+    "closeness rank": 6
+   },
+   "washer": {
+    "distance": "2.22 meters",
+    "closeness rank": 7
+   },
+   "stove": {
+    "distance": "2.61 meters",
+    "closeness rank": 8
+   },
+   "stool": {
+    "distance": "2.94 meters",
+    "closeness rank": 9
+   },
+   "dishwasher": {
+    "distance": "3.38 meters",
+    "closeness rank": 10
+   }
+  },
+  "tv": {
+   "fireplace": {
+    "distance": "0.74 meters",
+    "closeness rank": 1
+   },
+   "table": {
+    "distance": "2.21 meters",
+    "closeness rank": 2
+   },
+   "sofa": {
+    "distance": "2.46 meters",
+    "closeness rank": 3
+   },
+   "stool": {
+    "distance": "3.09 meters",
+    "closeness rank": 4
+   },
+   "bed": {
+    "distance": "3.36 meters",
+    "closeness rank": 5
+   },
+   "refrigerator": {
+    "distance": "4.08 meters",
+    "closeness rank": 6
+   },
+   "washer": {
+    "distance": "4.09 meters",
+    "closeness rank": 7
+   },
+   "chair": {
+    "distance": "4.93 meters",
+    "closeness rank": 8
+   },
+   "stove": {
+    "distance": "5.76 meters",
+    "closeness rank": 9
+   },
+   "dishwasher": {
+    "distance": "6.15 meters",
+    "closeness rank": 10
+   }
+  },
+  "washer": {
+   "refrigerator": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "bed": {
+    "distance": "0.1 meters",
+    "closeness rank": 2
+   },
+   "dishwasher": {
+    "distance": "1.82 meters",
+    "closeness rank": 3
+   },
+   "stove": {
+    "distance": "1.83 meters",
+    "closeness rank": 4
+   },
+   "table": {
+    "distance": "2.22 meters",
+    "closeness rank": 5
+   },
+   "chair": {
+    "distance": "2.68 meters",
+    "closeness rank": 6
+   },
+   "sofa": {
+    "distance": "3.81 meters",
+    "closeness rank": 7
+   },
+   "tv": {
+    "distance": "4.09 meters",
+    "closeness rank": 8
+   },
+   "fireplace": {
+    "distance": "5.43 meters",
+    "closeness rank": 9
+   },
+   "stool": {
+    "distance": "7.15 meters",
+    "closeness rank": 10
+   }
+  }
+ },
+ "appearance order": ["table", "chair", "fireplace", "sofa", "tv", "stool", "bed", "dishwasher", "washer", "refrigerator", "stove"]
+}
\ No newline at end of file
diff --git a/data/spatial codes/sam3+depth-anything-3/metric/tracking/selective/64/explicit/45260856.json b/data/spatial codes/sam3+depth-anything-3/metric/tracking/selective/64/explicit/45260856.json
new file mode 100644
index 0000000000000000000000000000000000000000..6a4b55629fa140c1e70809e3e2a2b5410c6f79f3
--- /dev/null
+++ b/data/spatial codes/sam3+depth-anything-3/metric/tracking/selective/64/explicit/45260856.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": {
+  "bed": {
+   "count": 2,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "0.37 meters",
+      "y coordinate": "1.3 meters",
+      "height above floor": "0.01 meters"
+     },
+     "longest dimension": "2.12 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-0.47 meters",
+      "y coordinate": "1.96 meters",
+      "height above floor": "0.1 meters"
+     },
+     "longest dimension": "1.88 meters"
+    }
+   ]
+  },
+  "chair": {
+   "count": 4,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "2.55 meters",
+      "y coordinate": "0.72 meters",
+      "height above floor": "-0.21 meters"
+     },
+     "longest dimension": "0.72 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "1.75 meters",
+      "y coordinate": "3.38 meters",
+      "height above floor": "-0.15 meters"
+     },
+     "longest dimension": "0.93 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "2.65 meters",
+      "y coordinate": "2.16 meters",
+      "height above floor": "-0.22 meters"
+     },
+     "longest dimension": "0.72 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "0.37 meters",
+      "y coordinate": "-0.68 meters",
+      "height above floor": "-0.12 meters"
+     },
+     "longest dimension": "0.71 meters"
+    }
+   ]
+  },
+  "fireplace": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "2.44 meters",
+      "y coordinate": "3.21 meters",
+      "height above floor": "0.32 meters"
+     },
+     "longest dimension": "1.43 meters"
+    }
+   ]
+  },
+  "stool": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "0.29 meters",
+      "y coordinate": "-0.66 meters",
+      "height above floor": "-0.17 meters"
+     },
+     "longest dimension": "1.4 meters"
+    }
+   ]
+  },
+  "table": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-1.06 meters",
+      "y coordinate": "2.0 meters",
+      "height above floor": "-0.2 meters"
+     },
+     "longest dimension": "0.56 meters"
+    }
+   ]
+  }
+ },
+ "room": {
+  "floor area": "26.1 square meters"
+ },
+ "closest classes distance meters from": {
+  "bed": {
+   "table": {
+    "distance": "0.12 meters",
+    "closeness rank": 1
+   },
+   "stool": {
+    "distance": "0.46 meters",
+    "closeness rank": 2
+   },
+   "chair": {
+    "distance": "0.55 meters",
+    "closeness rank": 3
+   },
+   "fireplace": {
+    "distance": "2.0 meters",
+    "closeness rank": 4
+   }
+  },
+  "chair": {
+   "stool": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "fireplace": {
+    "distance": "0.03 meters",
+    "closeness rank": 2
+   },
+   "bed": {
+    "distance": "0.55 meters",
+    "closeness rank": 3
+   },
+   "table": {
+    "distance": "2.6 meters",
+    "closeness rank": 4
+   }
+  },
+  "fireplace": {
+   "chair": {
+    "distance": "0.03 meters",
+    "closeness rank": 1
+   },
+   "bed": {
+    "distance": "2.0 meters",
+    "closeness rank": 2
+   },
+   "stool": {
+    "distance": "3.33 meters",
+    "closeness rank": 3
+   },
+   "table": {
+    "distance": "3.35 meters",
+    "closeness rank": 4
+   }
+  },
+  "stool": {
+   "chair": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "bed": {
+    "distance": "0.46 meters",
+    "closeness rank": 2
+   },
+   "table": {
+    "distance": "2.62 meters",
+    "closeness rank": 3
+   },
+   "fireplace": {
+    "distance": "3.33 meters",
+    "closeness rank": 4
+   }
+  },
+  "table": {
+   "bed": {
+    "distance": "0.12 meters",
+    "closeness rank": 1
+   },
+   "chair": {
+    "distance": "2.6 meters",
+    "closeness rank": 2
+   },
+   "stool": {
+    "distance": "2.62 meters",
+    "closeness rank": 3
+   },
+   "fireplace": {
+    "distance": "3.35 meters",
+    "closeness rank": 4
+   }
+  }
+ },
+ "appearance order": ["chair", "bed", "table", "fireplace", "stool"]
+}
\ No newline at end of file
diff --git a/data/spatial codes/sam3+depth-anything-3/metric/tracking/selective/64/explicit/45261150.json b/data/spatial codes/sam3+depth-anything-3/metric/tracking/selective/64/explicit/45261150.json
new file mode 100644
index 0000000000000000000000000000000000000000..9ecb7ad49681207571925f8c2c9cdd7654b4077e
--- /dev/null
+++ b/data/spatial codes/sam3+depth-anything-3/metric/tracking/selective/64/explicit/45261150.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": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-0.76 meters",
+      "y coordinate": "1.78 meters",
+      "height above floor": "-0.25 meters"
+     },
+     "longest dimension": "1.9 meters"
+    }
+   ]
+  },
+  "refrigerator": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "1.2 meters",
+      "y coordinate": "2.73 meters",
+      "height above floor": "-0.1 meters"
+     },
+     "longest dimension": "1.13 meters"
+    }
+   ]
+  },
+  "table": {
+   "count": 2,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "0.59 meters",
+      "y coordinate": "1.3 meters",
+      "height above floor": "-0.3 meters"
+     },
+     "longest dimension": "1.33 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "1.74 meters",
+      "y coordinate": "1.95 meters",
+      "height above floor": "-0.32 meters"
+     },
+     "longest dimension": "0.8 meters"
+    }
+   ]
+  },
+  "tv": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "0.21 meters",
+      "y coordinate": "-0.17 meters",
+      "height above floor": "1.05 meters"
+     },
+     "longest dimension": "0.96 meters"
+    }
+   ]
+  }
+ },
+ "room": {
+  "floor area": "20.0 square meters"
+ },
+ "closest classes distance meters from": {
+  "bed": {
+   "table": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "refrigerator": {
+    "distance": "1.32 meters",
+    "closeness rank": 2
+   },
+   "tv": {
+    "distance": "1.36 meters",
+    "closeness rank": 3
+   }
+  },
+  "refrigerator": {
+   "table": {
+    "distance": "0.35 meters",
+    "closeness rank": 1
+   },
+   "bed": {
+    "distance": "1.32 meters",
+    "closeness rank": 2
+   },
+   "tv": {
+    "distance": "2.44 meters",
+    "closeness rank": 3
+   }
+  },
+  "table": {
+   "bed": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "refrigerator": {
+    "distance": "0.35 meters",
+    "closeness rank": 2
+   },
+   "tv": {
+    "distance": "1.1 meters",
+    "closeness rank": 3
+   }
+  },
+  "tv": {
+   "table": {
+    "distance": "1.1 meters",
+    "closeness rank": 1
+   },
+   "bed": {
+    "distance": "1.36 meters",
+    "closeness rank": 2
+   },
+   "refrigerator": {
+    "distance": "2.44 meters",
+    "closeness rank": 3
+   }
+  }
+ },
+ "appearance order": ["bed", "refrigerator", "tv", "table"]
+}
\ No newline at end of file
diff --git a/data/spatial codes/sam3+depth-anything-3/metric/tracking/selective/64/explicit/45261182.json b/data/spatial codes/sam3+depth-anything-3/metric/tracking/selective/64/explicit/45261182.json
new file mode 100644
index 0000000000000000000000000000000000000000..5f0f3abc87fd98ed5c289bbb066dc03f66892a25
--- /dev/null
+++ b/data/spatial codes/sam3+depth-anything-3/metric/tracking/selective/64/explicit/45261182.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": "1.84 meters",
+      "y coordinate": "0.29 meters",
+      "height above floor": "-0.59 meters"
+     },
+     "longest dimension": "0.32 meters"
+    }
+   ]
+  },
+  "bed": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "0.28 meters",
+      "y coordinate": "-1.95 meters",
+      "height above floor": "-1.44 meters"
+     },
+     "longest dimension": "1.55 meters"
+    }
+   ]
+  },
+  "toilet": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "1.71 meters",
+      "y coordinate": "0.39 meters",
+      "height above floor": "0.07 meters"
+     },
+     "longest dimension": "0.8 meters"
+    }
+   ]
+  },
+  "tv": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-1.12 meters",
+      "y coordinate": "-1.81 meters",
+      "height above floor": "-0.52 meters"
+     },
+     "longest dimension": "0.31 meters"
+    }
+   ]
+  }
+ },
+ "room": {
+  "floor area": "9.4 square meters"
+ },
+ "closest classes distance meters from": {
+  "bathtub": {
+   "toilet": {
+    "distance": "0.34 meters",
+    "closeness rank": 1
+   },
+   "bed": {
+    "distance": "1.91 meters",
+    "closeness rank": 2
+   },
+   "tv": {
+    "distance": "3.46 meters",
+    "closeness rank": 3
+   }
+  },
+  "bed": {
+   "tv": {
+    "distance": "0.81 meters",
+    "closeness rank": 1
+   },
+   "toilet": {
+    "distance": "1.81 meters",
+    "closeness rank": 2
+   },
+   "bathtub": {
+    "distance": "1.91 meters",
+    "closeness rank": 3
+   }
+  },
+  "toilet": {
+   "bathtub": {
+    "distance": "0.34 meters",
+    "closeness rank": 1
+   },
+   "bed": {
+    "distance": "1.81 meters",
+    "closeness rank": 2
+   },
+   "tv": {
+    "distance": "3.12 meters",
+    "closeness rank": 3
+   }
+  },
+  "tv": {
+   "bed": {
+    "distance": "0.81 meters",
+    "closeness rank": 1
+   },
+   "toilet": {
+    "distance": "3.12 meters",
+    "closeness rank": 2
+   },
+   "bathtub": {
+    "distance": "3.46 meters",
+    "closeness rank": 3
+   }
+  }
+ },
+ "appearance order": ["tv", "bed", "bathtub", "toilet"]
+}
\ No newline at end of file
diff --git a/data/spatial codes/sam3+depth-anything-3/metric/tracking/selective/64/explicit/45662970.json b/data/spatial codes/sam3+depth-anything-3/metric/tracking/selective/64/explicit/45662970.json
new file mode 100644
index 0000000000000000000000000000000000000000..31cb3c817405bca402ae3061a35fb22f0c4e2b4b
--- /dev/null
+++ b/data/spatial codes/sam3+depth-anything-3/metric/tracking/selective/64/explicit/45662970.json	
@@ -0,0 +1,143 @@
+{
+ "spatial code schema": {
+  "objects": {
+   "<object class>": {
+    "count": {
+     "unit": null,
+     "description": "number of instances of this class in the compact spatial code (that schema's per-class oriented-box list length)"
+    },
+    "instances": [
+     {
+      "position": {
+       "x coordinate": {
+        "unit": "meters",
+        "description": "x coordinate of this instance's compact 3D oriented bounding box center"
+       },
+       "y coordinate": {
+        "unit": "meters",
+        "description": "y coordinate of this instance's compact 3D oriented bounding box center"
+       },
+       "height above floor": {
+        "unit": "meters",
+        "description": "height coordinate of this instance's compact 3D oriented bounding box center"
+       }
+      },
+      "longest dimension": {
+       "unit": "meters",
+       "description": "longest of this instance's compact 3D oriented bounding box dimensions"
+      }
+     }
+    ]
+   }
+  },
+  "room": {
+   "floor area": {
+    "unit": "square meters",
+    "description": "shoelace area of the compact spatial code's floor boundary polygons, with every interior hole subtracted"
+   }
+  },
+  "closest classes distance meters from": {
+   "<object class>": {
+    "<other object class>": {
+     "distance": {
+      "unit": "meters",
+      "description": "minimum surface-to-surface separation between the two classes' compact 3D oriented bounding boxes, over every instance pair"
+     },
+     "closeness rank": {
+      "unit": null,
+      "description": "1 = the nearest other class to this one, 2 = second-nearest, and so on"
+     }
+    }
+   }
+  },
+  "appearance order": {
+   "unit": null,
+   "description": "class names ordered by earliest compact 'first visible time' across all of that class's instances"
+  }
+ },
+ "objects": {
+  "chair": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "0.71 meters",
+      "y coordinate": "-0.49 meters",
+      "height above floor": "-0.72 meters"
+     },
+     "longest dimension": "0.07 meters"
+    }
+   ]
+  },
+  "dishwasher": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "1.37 meters",
+      "y coordinate": "-1.45 meters",
+      "height above floor": "-0.02 meters"
+     },
+     "longest dimension": "0.98 meters"
+    }
+   ]
+  },
+  "washer": {
+   "count": 2,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "1.12 meters",
+      "y coordinate": "-0.6 meters",
+      "height above floor": "-0.24 meters"
+     },
+     "longest dimension": "1.04 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "1.43 meters",
+      "y coordinate": "-1.48 meters",
+      "height above floor": "-0.03 meters"
+     },
+     "longest dimension": "0.99 meters"
+    }
+   ]
+  }
+ },
+ "room": {
+  "floor area": "11.8 square meters"
+ },
+ "closest classes distance meters from": {
+  "chair": {
+   "washer": {
+    "distance": "0.35 meters",
+    "closeness rank": 1
+   },
+   "dishwasher": {
+    "distance": "0.91 meters",
+    "closeness rank": 2
+   }
+  },
+  "dishwasher": {
+   "washer": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "chair": {
+    "distance": "0.91 meters",
+    "closeness rank": 2
+   }
+  },
+  "washer": {
+   "dishwasher": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "chair": {
+    "distance": "0.35 meters",
+    "closeness rank": 2
+   }
+  }
+ },
+ "appearance order": ["washer", "chair", "dishwasher"]
+}
\ No newline at end of file
diff --git a/data/spatial codes/sam3+depth-anything-3/metric/tracking/selective/64/explicit/45662987.json b/data/spatial codes/sam3+depth-anything-3/metric/tracking/selective/64/explicit/45662987.json
new file mode 100644
index 0000000000000000000000000000000000000000..8245a968e427b3df7b23d15ee5d12253d4759de1
--- /dev/null
+++ b/data/spatial codes/sam3+depth-anything-3/metric/tracking/selective/64/explicit/45662987.json	
@@ -0,0 +1,269 @@
+{
+ "spatial code schema": {
+  "objects": {
+   "<object class>": {
+    "count": {
+     "unit": null,
+     "description": "number of instances of this class in the compact spatial code (that schema's per-class oriented-box list length)"
+    },
+    "instances": [
+     {
+      "position": {
+       "x coordinate": {
+        "unit": "meters",
+        "description": "x coordinate of this instance's compact 3D oriented bounding box center"
+       },
+       "y coordinate": {
+        "unit": "meters",
+        "description": "y coordinate of this instance's compact 3D oriented bounding box center"
+       },
+       "height above floor": {
+        "unit": "meters",
+        "description": "height coordinate of this instance's compact 3D oriented bounding box center"
+       }
+      },
+      "longest dimension": {
+       "unit": "meters",
+       "description": "longest of this instance's compact 3D oriented bounding box dimensions"
+      }
+     }
+    ]
+   }
+  },
+  "room": {
+   "floor area": {
+    "unit": "square meters",
+    "description": "shoelace area of the compact spatial code's floor boundary polygons, with every interior hole subtracted"
+   }
+  },
+  "closest classes distance meters from": {
+   "<object class>": {
+    "<other object class>": {
+     "distance": {
+      "unit": "meters",
+      "description": "minimum surface-to-surface separation between the two classes' compact 3D oriented bounding boxes, over every instance pair"
+     },
+     "closeness rank": {
+      "unit": null,
+      "description": "1 = the nearest other class to this one, 2 = second-nearest, and so on"
+     }
+    }
+   }
+  },
+  "appearance order": {
+   "unit": null,
+   "description": "class names ordered by earliest compact 'first visible time' across all of that class's instances"
+  }
+ },
+ "objects": {
+  "chair": {
+   "count": 4,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "0.45 meters",
+      "y coordinate": "0.49 meters",
+      "height above floor": "0.24 meters"
+     },
+     "longest dimension": "2.05 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-2.4 meters",
+      "y coordinate": "0.78 meters",
+      "height above floor": "-0.63 meters"
+     },
+     "longest dimension": "0.87 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-2.36 meters",
+      "y coordinate": "0.83 meters",
+      "height above floor": "-1.89 meters"
+     },
+     "longest dimension": "0.83 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-2.35 meters",
+      "y coordinate": "0.82 meters",
+      "height above floor": "-1.92 meters"
+     },
+     "longest dimension": "0.98 meters"
+    }
+   ]
+  },
+  "fireplace": {
+   "count": 2,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "0.0 meters",
+      "y coordinate": "0.5 meters",
+      "height above floor": "-3.69 meters"
+     },
+     "longest dimension": "0.87 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "0.09 meters",
+      "y coordinate": "0.79 meters",
+      "height above floor": "-3.54 meters"
+     },
+     "longest dimension": "1.1 meters"
+    }
+   ]
+  },
+  "sofa": {
+   "count": 2,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "0.46 meters",
+      "y coordinate": "0.48 meters",
+      "height above floor": "0.22 meters"
+     },
+     "longest dimension": "2.14 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "0.44 meters",
+      "y coordinate": "0.56 meters",
+      "height above floor": "0.41 meters"
+     },
+     "longest dimension": "0.99 meters"
+    }
+   ]
+  },
+  "table": {
+   "count": 2,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-0.56 meters",
+      "y coordinate": "0.85 meters",
+      "height above floor": "-0.69 meters"
+     },
+     "longest dimension": "1.67 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-2.65 meters",
+      "y coordinate": "0.99 meters",
+      "height above floor": "-1.24 meters"
+     },
+     "longest dimension": "1.37 meters"
+    }
+   ]
+  },
+  "tv": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-1.69 meters",
+      "y coordinate": "0.08 meters",
+      "height above floor": "-3.45 meters"
+     },
+     "longest dimension": "1.54 meters"
+    }
+   ]
+  }
+ },
+ "room": {
+  "floor area": "25.5 square meters"
+ },
+ "closest classes distance meters from": {
+  "chair": {
+   "sofa": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "table": {
+    "distance": "0.11 meters",
+    "closeness rank": 2
+   },
+   "tv": {
+    "distance": "1.2 meters",
+    "closeness rank": 3
+   },
+   "fireplace": {
+    "distance": "1.88 meters",
+    "closeness rank": 4
+   }
+  },
+  "fireplace": {
+   "tv": {
+    "distance": "0.4 meters",
+    "closeness rank": 1
+   },
+   "chair": {
+    "distance": "1.88 meters",
+    "closeness rank": 2
+   },
+   "table": {
+    "distance": "2.39 meters",
+    "closeness rank": 3
+   },
+   "sofa": {
+    "distance": "3.26 meters",
+    "closeness rank": 4
+   }
+  },
+  "sofa": {
+   "chair": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "table": {
+    "distance": "0.25 meters",
+    "closeness rank": 2
+   },
+   "fireplace": {
+    "distance": "3.26 meters",
+    "closeness rank": 3
+   },
+   "tv": {
+    "distance": "3.26 meters",
+    "closeness rank": 4
+   }
+  },
+  "table": {
+   "chair": {
+    "distance": "0.11 meters",
+    "closeness rank": 1
+   },
+   "sofa": {
+    "distance": "0.25 meters",
+    "closeness rank": 2
+   },
+   "tv": {
+    "distance": "1.93 meters",
+    "closeness rank": 3
+   },
+   "fireplace": {
+    "distance": "2.39 meters",
+    "closeness rank": 4
+   }
+  },
+  "tv": {
+   "fireplace": {
+    "distance": "0.4 meters",
+    "closeness rank": 1
+   },
+   "chair": {
+    "distance": "1.2 meters",
+    "closeness rank": 2
+   },
+   "table": {
+    "distance": "1.93 meters",
+    "closeness rank": 3
+   },
+   "sofa": {
+    "distance": "3.26 meters",
+    "closeness rank": 4
+   }
+  }
+ },
+ "appearance order": ["sofa", "chair", "tv", "fireplace", "table"]
+}
\ No newline at end of file
diff --git a/data/spatial codes/sam3+depth-anything-3/metric/tracking/selective/64/explicit/45663114.json b/data/spatial codes/sam3+depth-anything-3/metric/tracking/selective/64/explicit/45663114.json
new file mode 100644
index 0000000000000000000000000000000000000000..2ab87a8f4759727e808ee12798a3fc08d96c4965
--- /dev/null
+++ b/data/spatial codes/sam3+depth-anything-3/metric/tracking/selective/64/explicit/45663114.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": "0.62 meters",
+      "y coordinate": "0.38 meters",
+      "height above floor": "0.24 meters"
+     },
+     "longest dimension": "1.63 meters"
+    }
+   ]
+  },
+  "toilet": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "0.78 meters",
+      "y coordinate": "-0.07 meters",
+      "height above floor": "1.08 meters"
+     },
+     "longest dimension": "0.9 meters"
+    }
+   ]
+  }
+ },
+ "room": {
+  "floor area": "13.8 square meters"
+ },
+ "closest classes distance meters from": {
+  "bathtub": {
+   "toilet": {
+    "distance": "0.38 meters",
+    "closeness rank": 1
+   }
+  },
+  "toilet": {
+   "bathtub": {
+    "distance": "0.38 meters",
+    "closeness rank": 1
+   }
+  }
+ },
+ "appearance order": ["bathtub", "toilet"]
+}
\ No newline at end of file
diff --git a/data/spatial codes/sam3+depth-anything-3/metric/tracking/selective/64/explicit/47115460.json b/data/spatial codes/sam3+depth-anything-3/metric/tracking/selective/64/explicit/47115460.json
new file mode 100644
index 0000000000000000000000000000000000000000..69eb40f2c6304cb1909dae32bee82ae89cae1d25
--- /dev/null
+++ b/data/spatial codes/sam3+depth-anything-3/metric/tracking/selective/64/explicit/47115460.json	
@@ -0,0 +1,434 @@
+{
+ "spatial code schema": {
+  "objects": {
+   "<object class>": {
+    "count": {
+     "unit": null,
+     "description": "number of instances of this class in the compact spatial code (that schema's per-class oriented-box list length)"
+    },
+    "instances": [
+     {
+      "position": {
+       "x coordinate": {
+        "unit": "meters",
+        "description": "x coordinate of this instance's compact 3D oriented bounding box center"
+       },
+       "y coordinate": {
+        "unit": "meters",
+        "description": "y coordinate of this instance's compact 3D oriented bounding box center"
+       },
+       "height above floor": {
+        "unit": "meters",
+        "description": "height coordinate of this instance's compact 3D oriented bounding box center"
+       }
+      },
+      "longest dimension": {
+       "unit": "meters",
+       "description": "longest of this instance's compact 3D oriented bounding box dimensions"
+      }
+     }
+    ]
+   }
+  },
+  "room": {
+   "floor area": {
+    "unit": "square meters",
+    "description": "shoelace area of the compact spatial code's floor boundary polygons, with every interior hole subtracted"
+   }
+  },
+  "closest classes distance meters from": {
+   "<object class>": {
+    "<other object class>": {
+     "distance": {
+      "unit": "meters",
+      "description": "minimum surface-to-surface separation between the two classes' compact 3D oriented bounding boxes, over every instance pair"
+     },
+     "closeness rank": {
+      "unit": null,
+      "description": "1 = the nearest other class to this one, 2 = second-nearest, and so on"
+     }
+    }
+   }
+  },
+  "appearance order": {
+   "unit": null,
+   "description": "class names ordered by earliest compact 'first visible time' across all of that class's instances"
+  }
+ },
+ "objects": {
+  "bathtub": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-1.35 meters",
+      "y coordinate": "2.35 meters",
+      "height above floor": "-0.51 meters"
+     },
+     "longest dimension": "0.41 meters"
+    }
+   ]
+  },
+  "bed": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-0.99 meters",
+      "y coordinate": "-0.81 meters",
+      "height above floor": "-0.3 meters"
+     },
+     "longest dimension": "0.67 meters"
+    }
+   ]
+  },
+  "chair": {
+   "count": 3,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-1.08 meters",
+      "y coordinate": "0.44 meters",
+      "height above floor": "-0.33 meters"
+     },
+     "longest dimension": "1.1 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-0.68 meters",
+      "y coordinate": "-0.14 meters",
+      "height above floor": "-0.3 meters"
+     },
+     "longest dimension": "0.78 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-1.54 meters",
+      "y coordinate": "0.03 meters",
+      "height above floor": "-0.28 meters"
+     },
+     "longest dimension": "0.82 meters"
+    }
+   ]
+  },
+  "dishwasher": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "0.53 meters",
+      "y coordinate": "1.76 meters",
+      "height above floor": "0.11 meters"
+     },
+     "longest dimension": "0.33 meters"
+    }
+   ]
+  },
+  "stove": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "0.8 meters",
+      "y coordinate": "1.84 meters",
+      "height above floor": "0.21 meters"
+     },
+     "longest dimension": "1.9 meters"
+    }
+   ]
+  },
+  "table": {
+   "count": 2,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-0.88 meters",
+      "y coordinate": "-0.02 meters",
+      "height above floor": "-0.26 meters"
+     },
+     "longest dimension": "1.3 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-1.06 meters",
+      "y coordinate": "-0.73 meters",
+      "height above floor": "-0.31 meters"
+     },
+     "longest dimension": "0.92 meters"
+    }
+   ]
+  },
+  "toilet": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-1.04 meters",
+      "y coordinate": "2.2 meters",
+      "height above floor": "-0.08 meters"
+     },
+     "longest dimension": "0.29 meters"
+    }
+   ]
+  },
+  "tv": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-1.23 meters",
+      "y coordinate": "-0.09 meters",
+      "height above floor": "0.1 meters"
+     },
+     "longest dimension": "0.21 meters"
+    }
+   ]
+  }
+ },
+ "room": {
+  "floor area": "19.4 square meters"
+ },
+ "closest classes distance meters from": {
+  "bathtub": {
+   "toilet": {
+    "distance": "0.33 meters",
+    "closeness rank": 1
+   },
+   "chair": {
+    "distance": "1.09 meters",
+    "closeness rank": 2
+   },
+   "table": {
+    "distance": "1.47 meters",
+    "closeness rank": 3
+   },
+   "dishwasher": {
+    "distance": "1.8 meters",
+    "closeness rank": 4
+   },
+   "stove": {
+    "distance": "1.88 meters",
+    "closeness rank": 5
+   },
+   "tv": {
+    "distance": "2.14 meters",
+    "closeness rank": 6
+   },
+   "bed": {
+    "distance": "2.67 meters",
+    "closeness rank": 7
+   }
+  },
+  "bed": {
+   "table": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "chair": {
+    "distance": "0.14 meters",
+    "closeness rank": 2
+   },
+   "tv": {
+    "distance": "0.35 meters",
+    "closeness rank": 3
+   },
+   "stove": {
+    "distance": "1.98 meters",
+    "closeness rank": 4
+   },
+   "dishwasher": {
+    "distance": "2.55 meters",
+    "closeness rank": 5
+   },
+   "toilet": {
+    "distance": "2.65 meters",
+    "closeness rank": 6
+   },
+   "bathtub": {
+    "distance": "2.67 meters",
+    "closeness rank": 7
+   }
+  },
+  "chair": {
+   "table": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "tv": {
+    "distance": "0.0 meters",
+    "closeness rank": 2
+   },
+   "bed": {
+    "distance": "0.14 meters",
+    "closeness rank": 3
+   },
+   "toilet": {
+    "distance": "1.06 meters",
+    "closeness rank": 4
+   },
+   "bathtub": {
+    "distance": "1.09 meters",
+    "closeness rank": 5
+   },
+   "stove": {
+    "distance": "1.28 meters",
+    "closeness rank": 6
+   },
+   "dishwasher": {
+    "distance": "1.67 meters",
+    "closeness rank": 7
+   }
+  },
+  "dishwasher": {
+   "stove": {
+    "distance": "0.05 meters",
+    "closeness rank": 1
+   },
+   "table": {
+    "distance": "1.43 meters",
+    "closeness rank": 2
+   },
+   "toilet": {
+    "distance": "1.45 meters",
+    "closeness rank": 3
+   },
+   "chair": {
+    "distance": "1.67 meters",
+    "closeness rank": 4
+   },
+   "bathtub": {
+    "distance": "1.8 meters",
+    "closeness rank": 5
+   },
+   "tv": {
+    "distance": "2.31 meters",
+    "closeness rank": 6
+   },
+   "bed": {
+    "distance": "2.55 meters",
+    "closeness rank": 7
+   }
+  },
+  "stove": {
+   "dishwasher": {
+    "distance": "0.05 meters",
+    "closeness rank": 1
+   },
+   "table": {
+    "distance": "1.04 meters",
+    "closeness rank": 2
+   },
+   "chair": {
+    "distance": "1.28 meters",
+    "closeness rank": 3
+   },
+   "toilet": {
+    "distance": "1.53 meters",
+    "closeness rank": 4
+   },
+   "tv": {
+    "distance": "1.87 meters",
+    "closeness rank": 5
+   },
+   "bathtub": {
+    "distance": "1.88 meters",
+    "closeness rank": 6
+   },
+   "bed": {
+    "distance": "1.98 meters",
+    "closeness rank": 7
+   }
+  },
+  "table": {
+   "bed": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "chair": {
+    "distance": "0.0 meters",
+    "closeness rank": 2
+   },
+   "tv": {
+    "distance": "0.06 meters",
+    "closeness rank": 3
+   },
+   "stove": {
+    "distance": "1.04 meters",
+    "closeness rank": 4
+   },
+   "dishwasher": {
+    "distance": "1.43 meters",
+    "closeness rank": 5
+   },
+   "toilet": {
+    "distance": "1.46 meters",
+    "closeness rank": 6
+   },
+   "bathtub": {
+    "distance": "1.47 meters",
+    "closeness rank": 7
+   }
+  },
+  "toilet": {
+   "bathtub": {
+    "distance": "0.33 meters",
+    "closeness rank": 1
+   },
+   "chair": {
+    "distance": "1.06 meters",
+    "closeness rank": 2
+   },
+   "dishwasher": {
+    "distance": "1.45 meters",
+    "closeness rank": 3
+   },
+   "table": {
+    "distance": "1.46 meters",
+    "closeness rank": 4
+   },
+   "stove": {
+    "distance": "1.53 meters",
+    "closeness rank": 5
+   },
+   "tv": {
+    "distance": "2.11 meters",
+    "closeness rank": 6
+   },
+   "bed": {
+    "distance": "2.65 meters",
+    "closeness rank": 7
+   }
+  },
+  "tv": {
+   "chair": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "table": {
+    "distance": "0.06 meters",
+    "closeness rank": 2
+   },
+   "bed": {
+    "distance": "0.35 meters",
+    "closeness rank": 3
+   },
+   "stove": {
+    "distance": "1.87 meters",
+    "closeness rank": 4
+   },
+   "toilet": {
+    "distance": "2.11 meters",
+    "closeness rank": 5
+   },
+   "bathtub": {
+    "distance": "2.14 meters",
+    "closeness rank": 6
+   },
+   "dishwasher": {
+    "distance": "2.31 meters",
+    "closeness rank": 7
+   }
+  }
+ },
+ "appearance order": ["chair", "table", "stove", "dishwasher", "bathtub", "toilet", "tv", "bed"]
+}
\ No newline at end of file
diff --git a/data/spatial codes/sam3+depth-anything-3/metric/tracking/selective/64/explicit/47115525.json b/data/spatial codes/sam3+depth-anything-3/metric/tracking/selective/64/explicit/47115525.json
new file mode 100644
index 0000000000000000000000000000000000000000..97e780cfbcb4c1bd796e64638924c867cf5850fd
--- /dev/null
+++ b/data/spatial codes/sam3+depth-anything-3/metric/tracking/selective/64/explicit/47115525.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": "-0.7 meters",
+      "y coordinate": "-0.94 meters",
+      "height above floor": "0.02 meters"
+     },
+     "longest dimension": "1.97 meters"
+    }
+   ]
+  },
+  "fireplace": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "1.2 meters",
+      "y coordinate": "-0.39 meters",
+      "height above floor": "0.14 meters"
+     },
+     "longest dimension": "0.83 meters"
+    }
+   ]
+  },
+  "sofa": {
+   "count": 2,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-1.69 meters",
+      "y coordinate": "-0.77 meters",
+      "height above floor": "-0.04 meters"
+     },
+     "longest dimension": "1.9 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-1.73 meters",
+      "y coordinate": "1.26 meters",
+      "height above floor": "-0.01 meters"
+     },
+     "longest dimension": "1.9 meters"
+    }
+   ]
+  },
+  "table": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-0.39 meters",
+      "y coordinate": "0.72 meters",
+      "height above floor": "-0.14 meters"
+     },
+     "longest dimension": "1.18 meters"
+    }
+   ]
+  },
+  "tv": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "1.77 meters",
+      "y coordinate": "1.0 meters",
+      "height above floor": "0.85 meters"
+     },
+     "longest dimension": "0.88 meters"
+    }
+   ]
+  }
+ },
+ "room": {
+  "floor area": "23.1 square meters"
+ },
+ "closest classes distance meters from": {
+  "bed": {
+   "sofa": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "table": {
+    "distance": "0.35 meters",
+    "closeness rank": 2
+   },
+   "fireplace": {
+    "distance": "0.8 meters",
+    "closeness rank": 3
+   },
+   "tv": {
+    "distance": "1.74 meters",
+    "closeness rank": 4
+   }
+  },
+  "fireplace": {
+   "tv": {
+    "distance": "0.8 meters",
+    "closeness rank": 1
+   },
+   "bed": {
+    "distance": "0.8 meters",
+    "closeness rank": 2
+   },
+   "table": {
+    "distance": "1.18 meters",
+    "closeness rank": 3
+   },
+   "sofa": {
+    "distance": "1.78 meters",
+    "closeness rank": 4
+   }
+  },
+  "sofa": {
+   "bed": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "table": {
+    "distance": "0.38 meters",
+    "closeness rank": 2
+   },
+   "fireplace": {
+    "distance": "1.78 meters",
+    "closeness rank": 3
+   },
+   "tv": {
+    "distance": "2.72 meters",
+    "closeness rank": 4
+   }
+  },
+  "table": {
+   "bed": {
+    "distance": "0.35 meters",
+    "closeness rank": 1
+   },
+   "sofa": {
+    "distance": "0.38 meters",
+    "closeness rank": 2
+   },
+   "fireplace": {
+    "distance": "1.18 meters",
+    "closeness rank": 3
+   },
+   "tv": {
+    "distance": "1.51 meters",
+    "closeness rank": 4
+   }
+  },
+  "tv": {
+   "fireplace": {
+    "distance": "0.8 meters",
+    "closeness rank": 1
+   },
+   "table": {
+    "distance": "1.51 meters",
+    "closeness rank": 2
+   },
+   "bed": {
+    "distance": "1.74 meters",
+    "closeness rank": 3
+   },
+   "sofa": {
+    "distance": "2.72 meters",
+    "closeness rank": 4
+   }
+  }
+ },
+ "appearance order": ["sofa", "fireplace", "table", "tv", "bed"]
+}
\ No newline at end of file
diff --git a/data/spatial codes/sam3+depth-anything-3/metric/tracking/selective/64/explicit/47204566.json b/data/spatial codes/sam3+depth-anything-3/metric/tracking/selective/64/explicit/47204566.json
new file mode 100644
index 0000000000000000000000000000000000000000..6636e7f9e8f57b3e9181c417671e09fd2866b03e
--- /dev/null
+++ b/data/spatial codes/sam3+depth-anything-3/metric/tracking/selective/64/explicit/47204566.json	
@@ -0,0 +1,135 @@
+{
+ "spatial code schema": {
+  "objects": {
+   "<object class>": {
+    "count": {
+     "unit": null,
+     "description": "number of instances of this class in the compact spatial code (that schema's per-class oriented-box list length)"
+    },
+    "instances": [
+     {
+      "position": {
+       "x coordinate": {
+        "unit": "meters",
+        "description": "x coordinate of this instance's compact 3D oriented bounding box center"
+       },
+       "y coordinate": {
+        "unit": "meters",
+        "description": "y coordinate of this instance's compact 3D oriented bounding box center"
+       },
+       "height above floor": {
+        "unit": "meters",
+        "description": "height coordinate of this instance's compact 3D oriented bounding box center"
+       }
+      },
+      "longest dimension": {
+       "unit": "meters",
+       "description": "longest of this instance's compact 3D oriented bounding box dimensions"
+      }
+     }
+    ]
+   }
+  },
+  "room": {
+   "floor area": {
+    "unit": "square meters",
+    "description": "shoelace area of the compact spatial code's floor boundary polygons, with every interior hole subtracted"
+   }
+  },
+  "closest classes distance meters from": {
+   "<object class>": {
+    "<other object class>": {
+     "distance": {
+      "unit": "meters",
+      "description": "minimum surface-to-surface separation between the two classes' compact 3D oriented bounding boxes, over every instance pair"
+     },
+     "closeness rank": {
+      "unit": null,
+      "description": "1 = the nearest other class to this one, 2 = second-nearest, and so on"
+     }
+    }
+   }
+  },
+  "appearance order": {
+   "unit": null,
+   "description": "class names ordered by earliest compact 'first visible time' across all of that class's instances"
+  }
+ },
+ "objects": {
+  "chair": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-0.29 meters",
+      "y coordinate": "0.73 meters",
+      "height above floor": "-0.06 meters"
+     },
+     "longest dimension": "0.81 meters"
+    }
+   ]
+  },
+  "toilet": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "0.5 meters",
+      "y coordinate": "0.77 meters",
+      "height above floor": "0.47 meters"
+     },
+     "longest dimension": "0.58 meters"
+    }
+   ]
+  },
+  "tv": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "0.2 meters",
+      "y coordinate": "0.12 meters",
+      "height above floor": "-0.44 meters"
+     },
+     "longest dimension": "0.53 meters"
+    }
+   ]
+  }
+ },
+ "room": {
+  "floor area": "9.9 square meters"
+ },
+ "closest classes distance meters from": {
+  "chair": {
+   "tv": {
+    "distance": "0.17 meters",
+    "closeness rank": 1
+   },
+   "toilet": {
+    "distance": "0.32 meters",
+    "closeness rank": 2
+   }
+  },
+  "toilet": {
+   "chair": {
+    "distance": "0.32 meters",
+    "closeness rank": 1
+   },
+   "tv": {
+    "distance": "0.68 meters",
+    "closeness rank": 2
+   }
+  },
+  "tv": {
+   "chair": {
+    "distance": "0.17 meters",
+    "closeness rank": 1
+   },
+   "toilet": {
+    "distance": "0.68 meters",
+    "closeness rank": 2
+   }
+  }
+ },
+ "appearance order": ["tv", "toilet", "chair"]
+}
\ No newline at end of file
diff --git a/data/spatial codes/sam3+depth-anything-3/metric/tracking/selective/64/explicit/47204578.json b/data/spatial codes/sam3+depth-anything-3/metric/tracking/selective/64/explicit/47204578.json
new file mode 100644
index 0000000000000000000000000000000000000000..baa99cc076de10277a6f3b61afc7fd7fe471d1d6
--- /dev/null
+++ b/data/spatial codes/sam3+depth-anything-3/metric/tracking/selective/64/explicit/47204578.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": {
+  "bathtub": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "0.38 meters",
+      "y coordinate": "-3.66 meters",
+      "height above floor": "0.36 meters"
+     },
+     "longest dimension": "4.18 meters"
+    }
+   ]
+  },
+  "fireplace": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "1.83 meters",
+      "y coordinate": "1.28 meters",
+      "height above floor": "-1.01 meters"
+     },
+     "longest dimension": "1.36 meters"
+    }
+   ]
+  },
+  "sofa": {
+   "count": 2,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "0.43 meters",
+      "y coordinate": "3.47 meters",
+      "height above floor": "-0.03 meters"
+     },
+     "longest dimension": "3.84 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "1.8 meters",
+      "y coordinate": "1.2 meters",
+      "height above floor": "-0.62 meters"
+     },
+     "longest dimension": "1.33 meters"
+    }
+   ]
+  },
+  "stool": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-1.05 meters",
+      "y coordinate": "2.03 meters",
+      "height above floor": "0.2 meters"
+     },
+     "longest dimension": "0.83 meters"
+    }
+   ]
+  },
+  "table": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-0.98 meters",
+      "y coordinate": "2.11 meters",
+      "height above floor": "0.2 meters"
+     },
+     "longest dimension": "0.78 meters"
+    }
+   ]
+  },
+  "tv": {
+   "count": 2,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "1.84 meters",
+      "y coordinate": "1.27 meters",
+      "height above floor": "-0.84 meters"
+     },
+     "longest dimension": "1.38 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "1.81 meters",
+      "y coordinate": "1.23 meters",
+      "height above floor": "-0.84 meters"
+     },
+     "longest dimension": "1.58 meters"
+    }
+   ]
+  }
+ },
+ "room": {
+  "floor area": "30.3 square meters"
+ },
+ "closest classes distance meters from": {
+  "bathtub": {
+   "tv": {
+    "distance": "2.39 meters",
+    "closeness rank": 1
+   },
+   "sofa": {
+    "distance": "2.47 meters",
+    "closeness rank": 2
+   },
+   "fireplace": {
+    "distance": "2.67 meters",
+    "closeness rank": 3
+   },
+   "table": {
+    "distance": "3.51 meters",
+    "closeness rank": 4
+   },
+   "stool": {
+    "distance": "3.58 meters",
+    "closeness rank": 5
+   }
+  },
+  "fireplace": {
+   "tv": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "sofa": {
+    "distance": "0.01 meters",
+    "closeness rank": 2
+   },
+   "stool": {
+    "distance": "2.55 meters",
+    "closeness rank": 3
+   },
+   "table": {
+    "distance": "2.55 meters",
+    "closeness rank": 4
+   },
+   "bathtub": {
+    "distance": "2.67 meters",
+    "closeness rank": 5
+   }
+  },
+  "sofa": {
+   "stool": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "table": {
+    "distance": "0.0 meters",
+    "closeness rank": 2
+   },
+   "tv": {
+    "distance": "0.0 meters",
+    "closeness rank": 3
+   },
+   "fireplace": {
+    "distance": "0.01 meters",
+    "closeness rank": 4
+   },
+   "bathtub": {
+    "distance": "2.47 meters",
+    "closeness rank": 5
+   }
+  },
+  "stool": {
+   "sofa": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "table": {
+    "distance": "0.0 meters",
+    "closeness rank": 2
+   },
+   "tv": {
+    "distance": "2.49 meters",
+    "closeness rank": 3
+   },
+   "fireplace": {
+    "distance": "2.55 meters",
+    "closeness rank": 4
+   },
+   "bathtub": {
+    "distance": "3.58 meters",
+    "closeness rank": 5
+   }
+  },
+  "table": {
+   "sofa": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "stool": {
+    "distance": "0.0 meters",
+    "closeness rank": 2
+   },
+   "tv": {
+    "distance": "2.5 meters",
+    "closeness rank": 3
+   },
+   "fireplace": {
+    "distance": "2.55 meters",
+    "closeness rank": 4
+   },
+   "bathtub": {
+    "distance": "3.51 meters",
+    "closeness rank": 5
+   }
+  },
+  "tv": {
+   "fireplace": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "sofa": {
+    "distance": "0.0 meters",
+    "closeness rank": 2
+   },
+   "bathtub": {
+    "distance": "2.39 meters",
+    "closeness rank": 3
+   },
+   "stool": {
+    "distance": "2.49 meters",
+    "closeness rank": 4
+   },
+   "table": {
+    "distance": "2.5 meters",
+    "closeness rank": 5
+   }
+  }
+ },
+ "appearance order": ["tv", "sofa", "table", "stool", "fireplace", "bathtub"]
+}
\ No newline at end of file
diff --git a/data/spatial codes/sam3+depth-anything-3/metric/tracking/selective/64/explicit/47204607.json b/data/spatial codes/sam3+depth-anything-3/metric/tracking/selective/64/explicit/47204607.json
new file mode 100644
index 0000000000000000000000000000000000000000..25306d0ddcc4eaf4be616c584b553095bb13ba1e
--- /dev/null
+++ b/data/spatial codes/sam3+depth-anything-3/metric/tracking/selective/64/explicit/47204607.json	
@@ -0,0 +1,332 @@
+{
+ "spatial code schema": {
+  "objects": {
+   "<object class>": {
+    "count": {
+     "unit": null,
+     "description": "number of instances of this class in the compact spatial code (that schema's per-class oriented-box list length)"
+    },
+    "instances": [
+     {
+      "position": {
+       "x coordinate": {
+        "unit": "meters",
+        "description": "x coordinate of this instance's compact 3D oriented bounding box center"
+       },
+       "y coordinate": {
+        "unit": "meters",
+        "description": "y coordinate of this instance's compact 3D oriented bounding box center"
+       },
+       "height above floor": {
+        "unit": "meters",
+        "description": "height coordinate of this instance's compact 3D oriented bounding box center"
+       }
+      },
+      "longest dimension": {
+       "unit": "meters",
+       "description": "longest of this instance's compact 3D oriented bounding box dimensions"
+      }
+     }
+    ]
+   }
+  },
+  "room": {
+   "floor area": {
+    "unit": "square meters",
+    "description": "shoelace area of the compact spatial code's floor boundary polygons, with every interior hole subtracted"
+   }
+  },
+  "closest classes distance meters from": {
+   "<object class>": {
+    "<other object class>": {
+     "distance": {
+      "unit": "meters",
+      "description": "minimum surface-to-surface separation between the two classes' compact 3D oriented bounding boxes, over every instance pair"
+     },
+     "closeness rank": {
+      "unit": null,
+      "description": "1 = the nearest other class to this one, 2 = second-nearest, and so on"
+     }
+    }
+   }
+  },
+  "appearance order": {
+   "unit": null,
+   "description": "class names ordered by earliest compact 'first visible time' across all of that class's instances"
+  }
+ },
+ "objects": {
+  "chair": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-1.95 meters",
+      "y coordinate": "0.09 meters",
+      "height above floor": "-0.04 meters"
+     },
+     "longest dimension": "1.76 meters"
+    }
+   ]
+  },
+  "sofa": {
+   "count": 2,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-3.14 meters",
+      "y coordinate": "-0.47 meters",
+      "height above floor": "0.19 meters"
+     },
+     "longest dimension": "1.8 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-1.33 meters",
+      "y coordinate": "1.25 meters",
+      "height above floor": "0.08 meters"
+     },
+     "longest dimension": "1.41 meters"
+    }
+   ]
+  },
+  "stool": {
+   "count": 4,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-0.69 meters",
+      "y coordinate": "1.67 meters",
+      "height above floor": "0.12 meters"
+     },
+     "longest dimension": "0.95 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-0.07 meters",
+      "y coordinate": "0.89 meters",
+      "height above floor": "-0.17 meters"
+     },
+     "longest dimension": "0.48 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "0.05 meters",
+      "y coordinate": "1.11 meters",
+      "height above floor": "-0.15 meters"
+     },
+     "longest dimension": "0.52 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "0.12 meters",
+      "y coordinate": "1.25 meters",
+      "height above floor": "-0.12 meters"
+     },
+     "longest dimension": "0.57 meters"
+    }
+   ]
+  },
+  "table": {
+   "count": 4,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-1.21 meters",
+      "y coordinate": "-0.7 meters",
+      "height above floor": "-0.13 meters"
+     },
+     "longest dimension": "1.16 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "0.3 meters",
+      "y coordinate": "-0.75 meters",
+      "height above floor": "-0.14 meters"
+     },
+     "longest dimension": "1.19 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-4.41 meters",
+      "y coordinate": "0.43 meters",
+      "height above floor": "-0.16 meters"
+     },
+     "longest dimension": "0.66 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-0.07 meters",
+      "y coordinate": "0.91 meters",
+      "height above floor": "-0.17 meters"
+     },
+     "longest dimension": "0.75 meters"
+    }
+   ]
+  },
+  "toilet": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-0.69 meters",
+      "y coordinate": "1.67 meters",
+      "height above floor": "0.12 meters"
+     },
+     "longest dimension": "0.95 meters"
+    }
+   ]
+  },
+  "tv": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "0.54 meters",
+      "y coordinate": "-0.53 meters",
+      "height above floor": "0.37 meters"
+     },
+     "longest dimension": "1.18 meters"
+    }
+   ]
+  }
+ },
+ "room": {
+  "floor area": "26.4 square meters"
+ },
+ "closest classes distance meters from": {
+  "chair": {
+   "table": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "sofa": {
+    "distance": "0.16 meters",
+    "closeness rank": 2
+   },
+   "stool": {
+    "distance": "1.36 meters",
+    "closeness rank": 3
+   },
+   "toilet": {
+    "distance": "1.45 meters",
+    "closeness rank": 4
+   },
+   "tv": {
+    "distance": "1.61 meters",
+    "closeness rank": 5
+   }
+  },
+  "sofa": {
+   "stool": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "toilet": {
+    "distance": "0.0 meters",
+    "closeness rank": 2
+   },
+   "chair": {
+    "distance": "0.16 meters",
+    "closeness rank": 3
+   },
+   "table": {
+    "distance": "0.36 meters",
+    "closeness rank": 4
+   },
+   "tv": {
+    "distance": "1.43 meters",
+    "closeness rank": 5
+   }
+  },
+  "stool": {
+   "sofa": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "table": {
+    "distance": "0.0 meters",
+    "closeness rank": 2
+   },
+   "toilet": {
+    "distance": "0.0 meters",
+    "closeness rank": 3
+   },
+   "tv": {
+    "distance": "0.87 meters",
+    "closeness rank": 4
+   },
+   "chair": {
+    "distance": "1.36 meters",
+    "closeness rank": 5
+   }
+  },
+  "table": {
+   "chair": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "stool": {
+    "distance": "0.0 meters",
+    "closeness rank": 2
+   },
+   "tv": {
+    "distance": "0.04 meters",
+    "closeness rank": 3
+   },
+   "toilet": {
+    "distance": "0.13 meters",
+    "closeness rank": 4
+   },
+   "sofa": {
+    "distance": "0.36 meters",
+    "closeness rank": 5
+   }
+  },
+  "toilet": {
+   "sofa": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "stool": {
+    "distance": "0.0 meters",
+    "closeness rank": 2
+   },
+   "table": {
+    "distance": "0.13 meters",
+    "closeness rank": 3
+   },
+   "chair": {
+    "distance": "1.45 meters",
+    "closeness rank": 4
+   },
+   "tv": {
+    "distance": "1.58 meters",
+    "closeness rank": 5
+   }
+  },
+  "tv": {
+   "table": {
+    "distance": "0.04 meters",
+    "closeness rank": 1
+   },
+   "stool": {
+    "distance": "0.87 meters",
+    "closeness rank": 2
+   },
+   "sofa": {
+    "distance": "1.43 meters",
+    "closeness rank": 3
+   },
+   "toilet": {
+    "distance": "1.58 meters",
+    "closeness rank": 4
+   },
+   "chair": {
+    "distance": "1.61 meters",
+    "closeness rank": 5
+   }
+  }
+ },
+ "appearance order": ["tv", "sofa", "table", "stool", "toilet", "chair"]
+}
\ No newline at end of file
diff --git a/data/spatial codes/sam3+depth-anything-3/metric/tracking/selective/64/explicit/47331063.json b/data/spatial codes/sam3+depth-anything-3/metric/tracking/selective/64/explicit/47331063.json
new file mode 100644
index 0000000000000000000000000000000000000000..59e9233fb61278573eda534c1efb8d5823c3bd69
--- /dev/null
+++ b/data/spatial codes/sam3+depth-anything-3/metric/tracking/selective/64/explicit/47331063.json	
@@ -0,0 +1,505 @@
+{
+ "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": "-0.91 meters",
+      "y coordinate": "-0.43 meters",
+      "height above floor": "0.01 meters"
+     },
+     "longest dimension": "1.21 meters"
+    }
+   ]
+  },
+  "chair": {
+   "count": 2,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "0.35 meters",
+      "y coordinate": "-1.07 meters",
+      "height above floor": "-0.18 meters"
+     },
+     "longest dimension": "0.7 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "1.21 meters",
+      "y coordinate": "-1.58 meters",
+      "height above floor": "-0.33 meters"
+     },
+     "longest dimension": "0.54 meters"
+    }
+   ]
+  },
+  "dishwasher": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "0.7 meters",
+      "y coordinate": "-0.11 meters",
+      "height above floor": "0.36 meters"
+     },
+     "longest dimension": "0.42 meters"
+    }
+   ]
+  },
+  "fireplace": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "1.75 meters",
+      "y coordinate": "-1.23 meters",
+      "height above floor": "-0.02 meters"
+     },
+     "longest dimension": "0.59 meters"
+    }
+   ]
+  },
+  "refrigerator": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "1.8 meters",
+      "y coordinate": "-1.81 meters",
+      "height above floor": "0.71 meters"
+     },
+     "longest dimension": "1.22 meters"
+    }
+   ]
+  },
+  "stool": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-0.27 meters",
+      "y coordinate": "1.01 meters",
+      "height above floor": "-0.23 meters"
+     },
+     "longest dimension": "0.41 meters"
+    }
+   ]
+  },
+  "stove": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "2.01 meters",
+      "y coordinate": "-1.3 meters",
+      "height above floor": "0.34 meters"
+     },
+     "longest dimension": "0.43 meters"
+    }
+   ]
+  },
+  "table": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "0.78 meters",
+      "y coordinate": "-1.92 meters",
+      "height above floor": "0.05 meters"
+     },
+     "longest dimension": "0.88 meters"
+    }
+   ]
+  },
+  "tv": {
+   "count": 2,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-0.75 meters",
+      "y coordinate": "-2.14 meters",
+      "height above floor": "0.82 meters"
+     },
+     "longest dimension": "0.86 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "0.47 meters",
+      "y coordinate": "-2.05 meters",
+      "height above floor": "0.52 meters"
+     },
+     "longest dimension": "0.53 meters"
+    }
+   ]
+  }
+ },
+ "room": {
+  "floor area": "14.1 square meters"
+ },
+ "closest classes distance meters from": {
+  "bed": {
+   "chair": {
+    "distance": "0.54 meters",
+    "closeness rank": 1
+   },
+   "stool": {
+    "distance": "0.66 meters",
+    "closeness rank": 2
+   },
+   "tv": {
+    "distance": "1.08 meters",
+    "closeness rank": 3
+   },
+   "table": {
+    "distance": "1.11 meters",
+    "closeness rank": 4
+   },
+   "dishwasher": {
+    "distance": "1.12 meters",
+    "closeness rank": 5
+   },
+   "fireplace": {
+    "distance": "2.19 meters",
+    "closeness rank": 6
+   },
+   "stove": {
+    "distance": "2.28 meters",
+    "closeness rank": 7
+   },
+   "refrigerator": {
+    "distance": "2.29 meters",
+    "closeness rank": 8
+   }
+  },
+  "chair": {
+   "table": {
+    "distance": "0.09 meters",
+    "closeness rank": 1
+   },
+   "fireplace": {
+    "distance": "0.29 meters",
+    "closeness rank": 2
+   },
+   "refrigerator": {
+    "distance": "0.37 meters",
+    "closeness rank": 3
+   },
+   "dishwasher": {
+    "distance": "0.52 meters",
+    "closeness rank": 4
+   },
+   "bed": {
+    "distance": "0.54 meters",
+    "closeness rank": 5
+   },
+   "stove": {
+    "distance": "0.63 meters",
+    "closeness rank": 6
+   },
+   "tv": {
+    "distance": "0.68 meters",
+    "closeness rank": 7
+   },
+   "stool": {
+    "distance": "1.58 meters",
+    "closeness rank": 8
+   }
+  },
+  "dishwasher": {
+   "chair": {
+    "distance": "0.52 meters",
+    "closeness rank": 1
+   },
+   "stool": {
+    "distance": "1.09 meters",
+    "closeness rank": 2
+   },
+   "bed": {
+    "distance": "1.12 meters",
+    "closeness rank": 3
+   },
+   "fireplace": {
+    "distance": "1.15 meters",
+    "closeness rank": 4
+   },
+   "stove": {
+    "distance": "1.32 meters",
+    "closeness rank": 5
+   },
+   "table": {
+    "distance": "1.37 meters",
+    "closeness rank": 6
+   },
+   "refrigerator": {
+    "distance": "1.56 meters",
+    "closeness rank": 7
+   },
+   "tv": {
+    "distance": "1.66 meters",
+    "closeness rank": 8
+   }
+  },
+  "fireplace": {
+   "stove": {
+    "distance": "0.06 meters",
+    "closeness rank": 1
+   },
+   "refrigerator": {
+    "distance": "0.14 meters",
+    "closeness rank": 2
+   },
+   "chair": {
+    "distance": "0.29 meters",
+    "closeness rank": 3
+   },
+   "table": {
+    "distance": "0.62 meters",
+    "closeness rank": 4
+   },
+   "dishwasher": {
+    "distance": "1.15 meters",
+    "closeness rank": 5
+   },
+   "tv": {
+    "distance": "1.18 meters",
+    "closeness rank": 6
+   },
+   "bed": {
+    "distance": "2.19 meters",
+    "closeness rank": 7
+   },
+   "stool": {
+    "distance": "2.6 meters",
+    "closeness rank": 8
+   }
+  },
+  "refrigerator": {
+   "stove": {
+    "distance": "0.14 meters",
+    "closeness rank": 1
+   },
+   "fireplace": {
+    "distance": "0.14 meters",
+    "closeness rank": 2
+   },
+   "chair": {
+    "distance": "0.37 meters",
+    "closeness rank": 3
+   },
+   "table": {
+    "distance": "0.5 meters",
+    "closeness rank": 4
+   },
+   "tv": {
+    "distance": "1.0 meters",
+    "closeness rank": 5
+   },
+   "dishwasher": {
+    "distance": "1.56 meters",
+    "closeness rank": 6
+   },
+   "bed": {
+    "distance": "2.29 meters",
+    "closeness rank": 7
+   },
+   "stool": {
+    "distance": "3.03 meters",
+    "closeness rank": 8
+   }
+  },
+  "stool": {
+   "bed": {
+    "distance": "0.66 meters",
+    "closeness rank": 1
+   },
+   "dishwasher": {
+    "distance": "1.09 meters",
+    "closeness rank": 2
+   },
+   "chair": {
+    "distance": "1.58 meters",
+    "closeness rank": 3
+   },
+   "table": {
+    "distance": "2.54 meters",
+    "closeness rank": 4
+   },
+   "fireplace": {
+    "distance": "2.6 meters",
+    "closeness rank": 5
+   },
+   "stove": {
+    "distance": "2.8 meters",
+    "closeness rank": 6
+   },
+   "tv": {
+    "distance": "2.93 meters",
+    "closeness rank": 7
+   },
+   "refrigerator": {
+    "distance": "3.03 meters",
+    "closeness rank": 8
+   }
+  },
+  "stove": {
+   "fireplace": {
+    "distance": "0.06 meters",
+    "closeness rank": 1
+   },
+   "refrigerator": {
+    "distance": "0.14 meters",
+    "closeness rank": 2
+   },
+   "chair": {
+    "distance": "0.63 meters",
+    "closeness rank": 3
+   },
+   "table": {
+    "distance": "0.66 meters",
+    "closeness rank": 4
+   },
+   "tv": {
+    "distance": "1.21 meters",
+    "closeness rank": 5
+   },
+   "dishwasher": {
+    "distance": "1.32 meters",
+    "closeness rank": 6
+   },
+   "bed": {
+    "distance": "2.28 meters",
+    "closeness rank": 7
+   },
+   "stool": {
+    "distance": "2.8 meters",
+    "closeness rank": 8
+   }
+  },
+  "table": {
+   "chair": {
+    "distance": "0.09 meters",
+    "closeness rank": 1
+   },
+   "tv": {
+    "distance": "0.15 meters",
+    "closeness rank": 2
+   },
+   "refrigerator": {
+    "distance": "0.5 meters",
+    "closeness rank": 3
+   },
+   "fireplace": {
+    "distance": "0.62 meters",
+    "closeness rank": 4
+   },
+   "stove": {
+    "distance": "0.66 meters",
+    "closeness rank": 5
+   },
+   "bed": {
+    "distance": "1.11 meters",
+    "closeness rank": 6
+   },
+   "dishwasher": {
+    "distance": "1.37 meters",
+    "closeness rank": 7
+   },
+   "stool": {
+    "distance": "2.54 meters",
+    "closeness rank": 8
+   }
+  },
+  "tv": {
+   "table": {
+    "distance": "0.15 meters",
+    "closeness rank": 1
+   },
+   "chair": {
+    "distance": "0.68 meters",
+    "closeness rank": 2
+   },
+   "refrigerator": {
+    "distance": "1.0 meters",
+    "closeness rank": 3
+   },
+   "bed": {
+    "distance": "1.08 meters",
+    "closeness rank": 4
+   },
+   "fireplace": {
+    "distance": "1.18 meters",
+    "closeness rank": 5
+   },
+   "stove": {
+    "distance": "1.21 meters",
+    "closeness rank": 6
+   },
+   "dishwasher": {
+    "distance": "1.66 meters",
+    "closeness rank": 7
+   },
+   "stool": {
+    "distance": "2.93 meters",
+    "closeness rank": 8
+   }
+  }
+ },
+ "appearance order": ["bed", "tv", "table", "chair", "refrigerator", "fireplace", "stove", "dishwasher", "stool"]
+}
\ No newline at end of file
diff --git a/data/spatial codes/sam3+depth-anything-3/metric/tracking/selective/64/explicit/47331654.json b/data/spatial codes/sam3+depth-anything-3/metric/tracking/selective/64/explicit/47331654.json
new file mode 100644
index 0000000000000000000000000000000000000000..0fc88819b61d24083193f5d857255f4d22aa6bc7
--- /dev/null
+++ b/data/spatial codes/sam3+depth-anything-3/metric/tracking/selective/64/explicit/47331654.json	
@@ -0,0 +1,363 @@
+{
+ "spatial code schema": {
+  "objects": {
+   "<object class>": {
+    "count": {
+     "unit": null,
+     "description": "number of instances of this class in the compact spatial code (that schema's per-class oriented-box list length)"
+    },
+    "instances": [
+     {
+      "position": {
+       "x coordinate": {
+        "unit": "meters",
+        "description": "x coordinate of this instance's compact 3D oriented bounding box center"
+       },
+       "y coordinate": {
+        "unit": "meters",
+        "description": "y coordinate of this instance's compact 3D oriented bounding box center"
+       },
+       "height above floor": {
+        "unit": "meters",
+        "description": "height coordinate of this instance's compact 3D oriented bounding box center"
+       }
+      },
+      "longest dimension": {
+       "unit": "meters",
+       "description": "longest of this instance's compact 3D oriented bounding box dimensions"
+      }
+     }
+    ]
+   }
+  },
+  "room": {
+   "floor area": {
+    "unit": "square meters",
+    "description": "shoelace area of the compact spatial code's floor boundary polygons, with every interior hole subtracted"
+   }
+  },
+  "closest classes distance meters from": {
+   "<object class>": {
+    "<other object class>": {
+     "distance": {
+      "unit": "meters",
+      "description": "minimum surface-to-surface separation between the two classes' compact 3D oriented bounding boxes, over every instance pair"
+     },
+     "closeness rank": {
+      "unit": null,
+      "description": "1 = the nearest other class to this one, 2 = second-nearest, and so on"
+     }
+    }
+   }
+  },
+  "appearance order": {
+   "unit": null,
+   "description": "class names ordered by earliest compact 'first visible time' across all of that class's instances"
+  }
+ },
+ "objects": {
+  "chair": {
+   "count": 2,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "2.62 meters",
+      "y coordinate": "0.87 meters",
+      "height above floor": "-0.29 meters"
+     },
+     "longest dimension": "0.78 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "2.04 meters",
+      "y coordinate": "1.79 meters",
+      "height above floor": "-0.3 meters"
+     },
+     "longest dimension": "0.75 meters"
+    }
+   ]
+  },
+  "refrigerator": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "1.37 meters",
+      "y coordinate": "1.22 meters",
+      "height above floor": "0.0 meters"
+     },
+     "longest dimension": "1.36 meters"
+    }
+   ]
+  },
+  "stool": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "1.03 meters",
+      "y coordinate": "0.15 meters",
+      "height above floor": "-0.56 meters"
+     },
+     "longest dimension": "0.3 meters"
+    }
+   ]
+  },
+  "stove": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "2.71 meters",
+      "y coordinate": "-0.44 meters",
+      "height above floor": "-0.15 meters"
+     },
+     "longest dimension": "0.87 meters"
+    }
+   ]
+  },
+  "table": {
+   "count": 2,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "2.62 meters",
+      "y coordinate": "1.1 meters",
+      "height above floor": "-0.2 meters"
+     },
+     "longest dimension": "0.91 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "2.4 meters",
+      "y coordinate": "1.18 meters",
+      "height above floor": "-0.3 meters"
+     },
+     "longest dimension": "0.76 meters"
+    }
+   ]
+  },
+  "toilet": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "1.04 meters",
+      "y coordinate": "0.13 meters",
+      "height above floor": "-0.3 meters"
+     },
+     "longest dimension": "0.32 meters"
+    }
+   ]
+  },
+  "washer": {
+   "count": 2,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "2.25 meters",
+      "y coordinate": "-0.76 meters",
+      "height above floor": "-0.21 meters"
+     },
+     "longest dimension": "0.83 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "2.08 meters",
+      "y coordinate": "-0.93 meters",
+      "height above floor": "-0.26 meters"
+     },
+     "longest dimension": "0.79 meters"
+    }
+   ]
+  }
+ },
+ "room": {
+  "floor area": "13.6 square meters"
+ },
+ "closest classes distance meters from": {
+  "chair": {
+   "table": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "refrigerator": {
+    "distance": "0.35 meters",
+    "closeness rank": 2
+   },
+   "stove": {
+    "distance": "0.84 meters",
+    "closeness rank": 3
+   },
+   "washer": {
+    "distance": "1.2 meters",
+    "closeness rank": 4
+   },
+   "stool": {
+    "distance": "1.36 meters",
+    "closeness rank": 5
+   },
+   "toilet": {
+    "distance": "1.42 meters",
+    "closeness rank": 6
+   }
+  },
+  "refrigerator": {
+   "chair": {
+    "distance": "0.35 meters",
+    "closeness rank": 1
+   },
+   "table": {
+    "distance": "0.48 meters",
+    "closeness rank": 2
+   },
+   "stool": {
+    "distance": "0.78 meters",
+    "closeness rank": 3
+   },
+   "toilet": {
+    "distance": "0.84 meters",
+    "closeness rank": 4
+   },
+   "stove": {
+    "distance": "1.97 meters",
+    "closeness rank": 5
+   },
+   "washer": {
+    "distance": "1.97 meters",
+    "closeness rank": 6
+   }
+  },
+  "stool": {
+   "toilet": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "refrigerator": {
+    "distance": "0.78 meters",
+    "closeness rank": 2
+   },
+   "table": {
+    "distance": "1.24 meters",
+    "closeness rank": 3
+   },
+   "washer": {
+    "distance": "1.28 meters",
+    "closeness rank": 4
+   },
+   "chair": {
+    "distance": "1.36 meters",
+    "closeness rank": 5
+   },
+   "stove": {
+    "distance": "1.46 meters",
+    "closeness rank": 6
+   }
+  },
+  "stove": {
+   "washer": {
+    "distance": "0.08 meters",
+    "closeness rank": 1
+   },
+   "chair": {
+    "distance": "0.84 meters",
+    "closeness rank": 2
+   },
+   "table": {
+    "distance": "0.94 meters",
+    "closeness rank": 3
+   },
+   "stool": {
+    "distance": "1.46 meters",
+    "closeness rank": 4
+   },
+   "toilet": {
+    "distance": "1.49 meters",
+    "closeness rank": 5
+   },
+   "refrigerator": {
+    "distance": "1.97 meters",
+    "closeness rank": 6
+   }
+  },
+  "table": {
+   "chair": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "refrigerator": {
+    "distance": "0.48 meters",
+    "closeness rank": 2
+   },
+   "stove": {
+    "distance": "0.94 meters",
+    "closeness rank": 3
+   },
+   "stool": {
+    "distance": "1.24 meters",
+    "closeness rank": 4
+   },
+   "toilet": {
+    "distance": "1.3 meters",
+    "closeness rank": 5
+   },
+   "washer": {
+    "distance": "1.38 meters",
+    "closeness rank": 6
+   }
+  },
+  "toilet": {
+   "stool": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "refrigerator": {
+    "distance": "0.84 meters",
+    "closeness rank": 2
+   },
+   "table": {
+    "distance": "1.3 meters",
+    "closeness rank": 3
+   },
+   "washer": {
+    "distance": "1.31 meters",
+    "closeness rank": 4
+   },
+   "chair": {
+    "distance": "1.42 meters",
+    "closeness rank": 5
+   },
+   "stove": {
+    "distance": "1.49 meters",
+    "closeness rank": 6
+   }
+  },
+  "washer": {
+   "stove": {
+    "distance": "0.08 meters",
+    "closeness rank": 1
+   },
+   "chair": {
+    "distance": "1.2 meters",
+    "closeness rank": 2
+   },
+   "stool": {
+    "distance": "1.28 meters",
+    "closeness rank": 3
+   },
+   "toilet": {
+    "distance": "1.31 meters",
+    "closeness rank": 4
+   },
+   "table": {
+    "distance": "1.38 meters",
+    "closeness rank": 5
+   },
+   "refrigerator": {
+    "distance": "1.97 meters",
+    "closeness rank": 6
+   }
+  }
+ },
+ "appearance order": ["chair", "table", "stool", "stove", "washer", "refrigerator", "toilet"]
+}
\ No newline at end of file
diff --git a/data/spatial codes/sam3+depth-anything-3/metric/tracking/selective/64/explicit/47331990.json b/data/spatial codes/sam3+depth-anything-3/metric/tracking/selective/64/explicit/47331990.json
new file mode 100644
index 0000000000000000000000000000000000000000..84335f300299ce961a85623c588b9839bfc16b46
--- /dev/null
+++ b/data/spatial codes/sam3+depth-anything-3/metric/tracking/selective/64/explicit/47331990.json	
@@ -0,0 +1,237 @@
+{
+ "spatial code schema": {
+  "objects": {
+   "<object class>": {
+    "count": {
+     "unit": null,
+     "description": "number of instances of this class in the compact spatial code (that schema's per-class oriented-box list length)"
+    },
+    "instances": [
+     {
+      "position": {
+       "x coordinate": {
+        "unit": "meters",
+        "description": "x coordinate of this instance's compact 3D oriented bounding box center"
+       },
+       "y coordinate": {
+        "unit": "meters",
+        "description": "y coordinate of this instance's compact 3D oriented bounding box center"
+       },
+       "height above floor": {
+        "unit": "meters",
+        "description": "height coordinate of this instance's compact 3D oriented bounding box center"
+       }
+      },
+      "longest dimension": {
+       "unit": "meters",
+       "description": "longest of this instance's compact 3D oriented bounding box dimensions"
+      }
+     }
+    ]
+   }
+  },
+  "room": {
+   "floor area": {
+    "unit": "square meters",
+    "description": "shoelace area of the compact spatial code's floor boundary polygons, with every interior hole subtracted"
+   }
+  },
+  "closest classes distance meters from": {
+   "<object class>": {
+    "<other object class>": {
+     "distance": {
+      "unit": "meters",
+      "description": "minimum surface-to-surface separation between the two classes' compact 3D oriented bounding boxes, over every instance pair"
+     },
+     "closeness rank": {
+      "unit": null,
+      "description": "1 = the nearest other class to this one, 2 = second-nearest, and so on"
+     }
+    }
+   }
+  },
+  "appearance order": {
+   "unit": null,
+   "description": "class names ordered by earliest compact 'first visible time' across all of that class's instances"
+  }
+ },
+ "objects": {
+  "bed": {
+   "count": 2,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "0.84 meters",
+      "y coordinate": "-0.99 meters",
+      "height above floor": "-1.67 meters"
+     },
+     "longest dimension": "1.79 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "0.9 meters",
+      "y coordinate": "-0.97 meters",
+      "height above floor": "-3.2 meters"
+     },
+     "longest dimension": "1.18 meters"
+    }
+   ]
+  },
+  "fireplace": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "0.85 meters",
+      "y coordinate": "-0.95 meters",
+      "height above floor": "0.11 meters"
+     },
+     "longest dimension": "1.4 meters"
+    }
+   ]
+  },
+  "sofa": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "0.92 meters",
+      "y coordinate": "-0.93 meters",
+      "height above floor": "-3.2 meters"
+     },
+     "longest dimension": "1.34 meters"
+    }
+   ]
+  },
+  "table": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "0.77 meters",
+      "y coordinate": "0.54 meters",
+      "height above floor": "-1.86 meters"
+     },
+     "longest dimension": "0.85 meters"
+    }
+   ]
+  },
+  "tv": {
+   "count": 2,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "0.86 meters",
+      "y coordinate": "-0.95 meters",
+      "height above floor": "0.12 meters"
+     },
+     "longest dimension": "1.4 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-0.37 meters",
+      "y coordinate": "-0.69 meters",
+      "height above floor": "0.3 meters"
+     },
+     "longest dimension": "1.11 meters"
+    }
+   ]
+  }
+ },
+ "room": {
+  "floor area": "10.0 square meters"
+ },
+ "closest classes distance meters from": {
+  "bed": {
+   "sofa": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "fireplace": {
+    "distance": "0.73 meters",
+    "closeness rank": 2
+   },
+   "tv": {
+    "distance": "0.74 meters",
+    "closeness rank": 3
+   },
+   "table": {
+    "distance": "1.04 meters",
+    "closeness rank": 4
+   }
+  },
+  "fireplace": {
+   "tv": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "bed": {
+    "distance": "0.73 meters",
+    "closeness rank": 2
+   },
+   "table": {
+    "distance": "1.52 meters",
+    "closeness rank": 3
+   },
+   "sofa": {
+    "distance": "3.1 meters",
+    "closeness rank": 4
+   }
+  },
+  "sofa": {
+   "bed": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "table": {
+    "distance": "1.11 meters",
+    "closeness rank": 2
+   },
+   "fireplace": {
+    "distance": "3.1 meters",
+    "closeness rank": 3
+   },
+   "tv": {
+    "distance": "3.11 meters",
+    "closeness rank": 4
+   }
+  },
+  "table": {
+   "bed": {
+    "distance": "1.04 meters",
+    "closeness rank": 1
+   },
+   "sofa": {
+    "distance": "1.11 meters",
+    "closeness rank": 2
+   },
+   "fireplace": {
+    "distance": "1.52 meters",
+    "closeness rank": 3
+   },
+   "tv": {
+    "distance": "1.53 meters",
+    "closeness rank": 4
+   }
+  },
+  "tv": {
+   "fireplace": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "bed": {
+    "distance": "0.74 meters",
+    "closeness rank": 2
+   },
+   "table": {
+    "distance": "1.53 meters",
+    "closeness rank": 3
+   },
+   "sofa": {
+    "distance": "3.11 meters",
+    "closeness rank": 4
+   }
+  }
+ },
+ "appearance order": ["bed", "sofa", "table", "tv", "fireplace"]
+}
\ No newline at end of file
diff --git a/data/spatial codes/sam3+depth-anything-3/metric/tracking/selective/64/explicit/47332005.json b/data/spatial codes/sam3+depth-anything-3/metric/tracking/selective/64/explicit/47332005.json
new file mode 100644
index 0000000000000000000000000000000000000000..553468971a631cf17534baf03c0259404474de9d
--- /dev/null
+++ b/data/spatial codes/sam3+depth-anything-3/metric/tracking/selective/64/explicit/47332005.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": "-0.2 meters",
+      "y coordinate": "-2.97 meters",
+      "height above floor": "0.42 meters"
+     },
+     "longest dimension": "2.0 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-0.46 meters",
+      "y coordinate": "-4.83 meters",
+      "height above floor": "0.89 meters"
+     },
+     "longest dimension": "2.24 meters"
+    }
+   ]
+  },
+  "table": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "0.07 meters",
+      "y coordinate": "-0.54 meters",
+      "height above floor": "0.01 meters"
+     },
+     "longest dimension": "0.64 meters"
+    }
+   ]
+  },
+  "toilet": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-0.72 meters",
+      "y coordinate": "1.01 meters",
+      "height above floor": "0.53 meters"
+     },
+     "longest dimension": "0.75 meters"
+    }
+   ]
+  }
+ },
+ "room": {
+  "floor area": "14.2 square meters"
+ },
+ "closest classes distance meters from": {
+  "sofa": {
+   "table": {
+    "distance": "1.58 meters",
+    "closeness rank": 1
+   },
+   "toilet": {
+    "distance": "3.43 meters",
+    "closeness rank": 2
+   }
+  },
+  "table": {
+   "toilet": {
+    "distance": "1.13 meters",
+    "closeness rank": 1
+   },
+   "sofa": {
+    "distance": "1.58 meters",
+    "closeness rank": 2
+   }
+  },
+  "toilet": {
+   "table": {
+    "distance": "1.13 meters",
+    "closeness rank": 1
+   },
+   "sofa": {
+    "distance": "3.43 meters",
+    "closeness rank": 2
+   }
+  }
+ },
+ "appearance order": ["toilet", "sofa", "table"]
+}
\ No newline at end of file
diff --git a/data/spatial codes/sam3+depth-anything-3/metric/tracking/selective/64/explicit/47332899.json b/data/spatial codes/sam3+depth-anything-3/metric/tracking/selective/64/explicit/47332899.json
new file mode 100644
index 0000000000000000000000000000000000000000..33e80f9aa815df09a5adb7c4bb6a7cb53383052e
--- /dev/null
+++ b/data/spatial codes/sam3+depth-anything-3/metric/tracking/selective/64/explicit/47332899.json	
@@ -0,0 +1,276 @@
+{
+ "spatial code schema": {
+  "objects": {
+   "<object class>": {
+    "count": {
+     "unit": null,
+     "description": "number of instances of this class in the compact spatial code (that schema's per-class oriented-box list length)"
+    },
+    "instances": [
+     {
+      "position": {
+       "x coordinate": {
+        "unit": "meters",
+        "description": "x coordinate of this instance's compact 3D oriented bounding box center"
+       },
+       "y coordinate": {
+        "unit": "meters",
+        "description": "y coordinate of this instance's compact 3D oriented bounding box center"
+       },
+       "height above floor": {
+        "unit": "meters",
+        "description": "height coordinate of this instance's compact 3D oriented bounding box center"
+       }
+      },
+      "longest dimension": {
+       "unit": "meters",
+       "description": "longest of this instance's compact 3D oriented bounding box dimensions"
+      }
+     }
+    ]
+   }
+  },
+  "room": {
+   "floor area": {
+    "unit": "square meters",
+    "description": "shoelace area of the compact spatial code's floor boundary polygons, with every interior hole subtracted"
+   }
+  },
+  "closest classes distance meters from": {
+   "<object class>": {
+    "<other object class>": {
+     "distance": {
+      "unit": "meters",
+      "description": "minimum surface-to-surface separation between the two classes' compact 3D oriented bounding boxes, over every instance pair"
+     },
+     "closeness rank": {
+      "unit": null,
+      "description": "1 = the nearest other class to this one, 2 = second-nearest, and so on"
+     }
+    }
+   }
+  },
+  "appearance order": {
+   "unit": null,
+   "description": "class names ordered by earliest compact 'first visible time' across all of that class's instances"
+  }
+ },
+ "objects": {
+  "bathtub": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-1.64 meters",
+      "y coordinate": "0.52 meters",
+      "height above floor": "0.13 meters"
+     },
+     "longest dimension": "2.35 meters"
+    }
+   ]
+  },
+  "bed": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-1.65 meters",
+      "y coordinate": "0.56 meters",
+      "height above floor": "0.14 meters"
+     },
+     "longest dimension": "2.22 meters"
+    }
+   ]
+  },
+  "chair": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-2.62 meters",
+      "y coordinate": "-0.54 meters",
+      "height above floor": "-0.06 meters"
+     },
+     "longest dimension": "0.84 meters"
+    }
+   ]
+  },
+  "stool": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-1.73 meters",
+      "y coordinate": "-0.8 meters",
+      "height above floor": "-0.51 meters"
+     },
+     "longest dimension": "0.49 meters"
+    }
+   ]
+  },
+  "table": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-1.21 meters",
+      "y coordinate": "-1.18 meters",
+      "height above floor": "-0.3 meters"
+     },
+     "longest dimension": "1.52 meters"
+    }
+   ]
+  },
+  "tv": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-1.38 meters",
+      "y coordinate": "-1.49 meters",
+      "height above floor": "0.23 meters"
+     },
+     "longest dimension": "0.73 meters"
+    }
+   ]
+  }
+ },
+ "room": {
+  "floor area": "15.5 square meters"
+ },
+ "closest classes distance meters from": {
+  "bathtub": {
+   "bed": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "chair": {
+    "distance": "0.15 meters",
+    "closeness rank": 2
+   },
+   "stool": {
+    "distance": "0.67 meters",
+    "closeness rank": 3
+   },
+   "table": {
+    "distance": "1.16 meters",
+    "closeness rank": 4
+   },
+   "tv": {
+    "distance": "1.62 meters",
+    "closeness rank": 5
+   }
+  },
+  "bed": {
+   "bathtub": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "chair": {
+    "distance": "0.18 meters",
+    "closeness rank": 2
+   },
+   "stool": {
+    "distance": "0.61 meters",
+    "closeness rank": 3
+   },
+   "table": {
+    "distance": "1.15 meters",
+    "closeness rank": 4
+   },
+   "tv": {
+    "distance": "1.55 meters",
+    "closeness rank": 5
+   }
+  },
+  "chair": {
+   "bathtub": {
+    "distance": "0.15 meters",
+    "closeness rank": 1
+   },
+   "bed": {
+    "distance": "0.18 meters",
+    "closeness rank": 2
+   },
+   "stool": {
+    "distance": "0.52 meters",
+    "closeness rank": 3
+   },
+   "table": {
+    "distance": "0.83 meters",
+    "closeness rank": 4
+   },
+   "tv": {
+    "distance": "1.22 meters",
+    "closeness rank": 5
+   }
+  },
+  "stool": {
+   "table": {
+    "distance": "0.14 meters",
+    "closeness rank": 1
+   },
+   "chair": {
+    "distance": "0.52 meters",
+    "closeness rank": 2
+   },
+   "bed": {
+    "distance": "0.61 meters",
+    "closeness rank": 3
+   },
+   "bathtub": {
+    "distance": "0.67 meters",
+    "closeness rank": 4
+   },
+   "tv": {
+    "distance": "0.69 meters",
+    "closeness rank": 5
+   }
+  },
+  "table": {
+   "tv": {
+    "distance": "0.05 meters",
+    "closeness rank": 1
+   },
+   "stool": {
+    "distance": "0.14 meters",
+    "closeness rank": 2
+   },
+   "chair": {
+    "distance": "0.83 meters",
+    "closeness rank": 3
+   },
+   "bed": {
+    "distance": "1.15 meters",
+    "closeness rank": 4
+   },
+   "bathtub": {
+    "distance": "1.16 meters",
+    "closeness rank": 5
+   }
+  },
+  "tv": {
+   "table": {
+    "distance": "0.05 meters",
+    "closeness rank": 1
+   },
+   "stool": {
+    "distance": "0.69 meters",
+    "closeness rank": 2
+   },
+   "chair": {
+    "distance": "1.22 meters",
+    "closeness rank": 3
+   },
+   "bed": {
+    "distance": "1.55 meters",
+    "closeness rank": 4
+   },
+   "bathtub": {
+    "distance": "1.62 meters",
+    "closeness rank": 5
+   }
+  }
+ },
+ "appearance order": ["bed", "chair", "bathtub", "stool", "table", "tv"]
+}
\ No newline at end of file
diff --git a/data/spatial codes/sam3+depth-anything-3/metric/tracking/selective/64/explicit/47332901.json b/data/spatial codes/sam3+depth-anything-3/metric/tracking/selective/64/explicit/47332901.json
new file mode 100644
index 0000000000000000000000000000000000000000..d27b7e02d3c21c269f48487772660c4de19b647d
--- /dev/null
+++ b/data/spatial codes/sam3+depth-anything-3/metric/tracking/selective/64/explicit/47332901.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": 2,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-0.32 meters",
+      "y coordinate": "0.63 meters",
+      "height above floor": "1.42 meters"
+     },
+     "longest dimension": "1.2 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "0.32 meters",
+      "y coordinate": "0.67 meters",
+      "height above floor": "1.04 meters"
+     },
+     "longest dimension": "1.81 meters"
+    }
+   ]
+  },
+  "stove": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "0.97 meters",
+      "y coordinate": "-1.34 meters",
+      "height above floor": "0.48 meters"
+     },
+     "longest dimension": "0.77 meters"
+    }
+   ]
+  },
+  "table": {
+   "count": 2,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "0.18 meters",
+      "y coordinate": "0.09 meters",
+      "height above floor": "0.44 meters"
+     },
+     "longest dimension": "0.95 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-0.65 meters",
+      "y coordinate": "-0.41 meters",
+      "height above floor": "0.79 meters"
+     },
+     "longest dimension": "0.87 meters"
+    }
+   ]
+  }
+ },
+ "room": {
+  "floor area": "10.7 square meters"
+ },
+ "closest classes distance meters from": {
+  "refrigerator": {
+   "table": {
+    "distance": "0.02 meters",
+    "closeness rank": 1
+   },
+   "stove": {
+    "distance": "1.6 meters",
+    "closeness rank": 2
+   }
+  },
+  "stove": {
+   "table": {
+    "distance": "1.06 meters",
+    "closeness rank": 1
+   },
+   "refrigerator": {
+    "distance": "1.6 meters",
+    "closeness rank": 2
+   }
+  },
+  "table": {
+   "refrigerator": {
+    "distance": "0.02 meters",
+    "closeness rank": 1
+   },
+   "stove": {
+    "distance": "1.06 meters",
+    "closeness rank": 2
+   }
+  }
+ },
+ "appearance order": ["refrigerator", "table", "stove"]
+}
\ No newline at end of file
diff --git a/data/spatial codes/sam3+depth-anything-3/metric/tracking/selective/64/explicit/47333436.json b/data/spatial codes/sam3+depth-anything-3/metric/tracking/selective/64/explicit/47333436.json
new file mode 100644
index 0000000000000000000000000000000000000000..c963f7f3e2372b2d48e00099827d14b2314f79e8
--- /dev/null
+++ b/data/spatial codes/sam3+depth-anything-3/metric/tracking/selective/64/explicit/47333436.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": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-1.94 meters",
+      "y coordinate": "0.22 meters",
+      "height above floor": "0.01 meters"
+     },
+     "longest dimension": "1.37 meters"
+    }
+   ]
+  },
+  "chair": {
+   "count": 2,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-3.43 meters",
+      "y coordinate": "0.63 meters",
+      "height above floor": "0.45 meters"
+     },
+     "longest dimension": "0.45 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-2.87 meters",
+      "y coordinate": "1.92 meters",
+      "height above floor": "0.41 meters"
+     },
+     "longest dimension": "0.36 meters"
+    }
+   ]
+  },
+  "sofa": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-1.87 meters",
+      "y coordinate": "-0.86 meters",
+      "height above floor": "-0.06 meters"
+     },
+     "longest dimension": "0.85 meters"
+    }
+   ]
+  },
+  "tv": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-0.96 meters",
+      "y coordinate": "1.53 meters",
+      "height above floor": "0.26 meters"
+     },
+     "longest dimension": "1.12 meters"
+    }
+   ]
+  }
+ },
+ "room": {
+  "floor area": "17.8 square meters"
+ },
+ "closest classes distance meters from": {
+  "bed": {
+   "sofa": {
+    "distance": "0.2 meters",
+    "closeness rank": 1
+   },
+   "tv": {
+    "distance": "0.85 meters",
+    "closeness rank": 2
+   },
+   "chair": {
+    "distance": "0.93 meters",
+    "closeness rank": 3
+   }
+  },
+  "chair": {
+   "bed": {
+    "distance": "0.93 meters",
+    "closeness rank": 1
+   },
+   "tv": {
+    "distance": "1.32 meters",
+    "closeness rank": 2
+   },
+   "sofa": {
+    "distance": "1.93 meters",
+    "closeness rank": 3
+   }
+  },
+  "sofa": {
+   "bed": {
+    "distance": "0.2 meters",
+    "closeness rank": 1
+   },
+   "chair": {
+    "distance": "1.93 meters",
+    "closeness rank": 2
+   },
+   "tv": {
+    "distance": "2.32 meters",
+    "closeness rank": 3
+   }
+  },
+  "tv": {
+   "bed": {
+    "distance": "0.85 meters",
+    "closeness rank": 1
+   },
+   "chair": {
+    "distance": "1.32 meters",
+    "closeness rank": 2
+   },
+   "sofa": {
+    "distance": "2.32 meters",
+    "closeness rank": 3
+   }
+  }
+ },
+ "appearance order": ["tv", "chair", "sofa", "bed"]
+}
\ No newline at end of file
diff --git a/data/spatial codes/sam3+depth-anything-3/metric/tracking/selective/64/explicit/47334238.json b/data/spatial codes/sam3+depth-anything-3/metric/tracking/selective/64/explicit/47334238.json
new file mode 100644
index 0000000000000000000000000000000000000000..8e8e069b71f515c210162ecbb38b65ab00c69bb6
--- /dev/null
+++ b/data/spatial codes/sam3+depth-anything-3/metric/tracking/selective/64/explicit/47334238.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": {
+  "chair": {
+   "count": 5,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "1.9 meters",
+      "y coordinate": "-3.24 meters",
+      "height above floor": "0.22 meters"
+     },
+     "longest dimension": "0.84 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "0.85 meters",
+      "y coordinate": "-3.73 meters",
+      "height above floor": "0.1 meters"
+     },
+     "longest dimension": "1.44 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "1.75 meters",
+      "y coordinate": "-0.84 meters",
+      "height above floor": "0.21 meters"
+     },
+     "longest dimension": "0.89 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "0.56 meters",
+      "y coordinate": "-0.22 meters",
+      "height above floor": "-0.04 meters"
+     },
+     "longest dimension": "0.88 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "0.79 meters",
+      "y coordinate": "-1.27 meters",
+      "height above floor": "0.06 meters"
+     },
+     "longest dimension": "0.94 meters"
+    }
+   ]
+  },
+  "sofa": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "1.05 meters",
+      "y coordinate": "-3.61 meters",
+      "height above floor": "0.15 meters"
+     },
+     "longest dimension": "1.42 meters"
+    }
+   ]
+  },
+  "stool": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "4.28 meters",
+      "y coordinate": "-2.5 meters",
+      "height above floor": "-0.17 meters"
+     },
+     "longest dimension": "0.4 meters"
+    }
+   ]
+  },
+  "table": {
+   "count": 3,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "0.97 meters",
+      "y coordinate": "-0.66 meters",
+      "height above floor": "0.24 meters"
+     },
+     "longest dimension": "1.43 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "0.61 meters",
+      "y coordinate": "-2.98 meters",
+      "height above floor": "-0.05 meters"
+     },
+     "longest dimension": "0.9 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "6.06 meters",
+      "y coordinate": "-2.2 meters",
+      "height above floor": "0.12 meters"
+     },
+     "longest dimension": "0.69 meters"
+    }
+   ]
+  }
+ },
+ "room": {
+  "floor area": "24.1 square meters"
+ },
+ "closest classes distance meters from": {
+  "chair": {
+   "sofa": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "table": {
+    "distance": "0.0 meters",
+    "closeness rank": 2
+   },
+   "stool": {
+    "distance": "2.0 meters",
+    "closeness rank": 3
+   }
+  },
+  "sofa": {
+   "chair": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "table": {
+    "distance": "0.0 meters",
+    "closeness rank": 2
+   },
+   "stool": {
+    "distance": "2.53 meters",
+    "closeness rank": 3
+   }
+  },
+  "stool": {
+   "table": {
+    "distance": "1.41 meters",
+    "closeness rank": 1
+   },
+   "chair": {
+    "distance": "2.0 meters",
+    "closeness rank": 2
+   },
+   "sofa": {
+    "distance": "2.53 meters",
+    "closeness rank": 3
+   }
+  },
+  "table": {
+   "chair": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "sofa": {
+    "distance": "0.0 meters",
+    "closeness rank": 2
+   },
+   "stool": {
+    "distance": "1.41 meters",
+    "closeness rank": 3
+   }
+  }
+ },
+ "appearance order": ["chair", "table", "sofa", "stool"]
+}
\ No newline at end of file
diff --git a/data/spatial codes/sam3+depth-anything-3/metric/tracking/selective/64/explicit/47334362.json b/data/spatial codes/sam3+depth-anything-3/metric/tracking/selective/64/explicit/47334362.json
new file mode 100644
index 0000000000000000000000000000000000000000..be471178a56a88554d049de6bdabbc392187f51c
--- /dev/null
+++ b/data/spatial codes/sam3+depth-anything-3/metric/tracking/selective/64/explicit/47334362.json	
@@ -0,0 +1,396 @@
+{
+ "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": 4,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "2.34 meters",
+      "y coordinate": "-2.7 meters",
+      "height above floor": "0.45 meters"
+     },
+     "longest dimension": "1.83 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "1.91 meters",
+      "y coordinate": "-1.21 meters",
+      "height above floor": "0.55 meters"
+     },
+     "longest dimension": "1.54 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "0.21 meters",
+      "y coordinate": "-0.88 meters",
+      "height above floor": "0.7 meters"
+     },
+     "longest dimension": "0.49 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "0.53 meters",
+      "y coordinate": "0.6 meters",
+      "height above floor": "0.49 meters"
+     },
+     "longest dimension": "0.24 meters"
+    }
+   ]
+  },
+  "chair": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "1.97 meters",
+      "y coordinate": "-2.56 meters",
+      "height above floor": "0.38 meters"
+     },
+     "longest dimension": "0.57 meters"
+    }
+   ]
+  },
+  "sofa": {
+   "count": 3,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "0.36 meters",
+      "y coordinate": "-1.99 meters",
+      "height above floor": "0.46 meters"
+     },
+     "longest dimension": "1.78 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "2.31 meters",
+      "y coordinate": "-3.11 meters",
+      "height above floor": "0.42 meters"
+     },
+     "longest dimension": "1.31 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "2.55 meters",
+      "y coordinate": "-2.37 meters",
+      "height above floor": "0.35 meters"
+     },
+     "longest dimension": "0.78 meters"
+    }
+   ]
+  },
+  "table": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "0.2 meters",
+      "y coordinate": "0.05 meters",
+      "height above floor": "0.0 meters"
+     },
+     "longest dimension": "1.97 meters"
+    }
+   ]
+  },
+  "tv": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "0.96 meters",
+      "y coordinate": "-3.59 meters",
+      "height above floor": "0.68 meters"
+     },
+     "longest dimension": "0.97 meters"
+    }
+   ]
+  },
+  "washer": {
+   "count": 11,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "0.74 meters",
+      "y coordinate": "-3.24 meters",
+      "height above floor": "0.35 meters"
+     },
+     "longest dimension": "0.04 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "0.71 meters",
+      "y coordinate": "-3.37 meters",
+      "height above floor": "0.36 meters"
+     },
+     "longest dimension": "0.05 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "1.15 meters",
+      "y coordinate": "-3.53 meters",
+      "height above floor": "0.38 meters"
+     },
+     "longest dimension": "0.05 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "1.08 meters",
+      "y coordinate": "-3.5 meters",
+      "height above floor": "0.38 meters"
+     },
+     "longest dimension": "0.05 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "0.88 meters",
+      "y coordinate": "-3.43 meters",
+      "height above floor": "0.37 meters"
+     },
+     "longest dimension": "0.06 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "0.81 meters",
+      "y coordinate": "-3.4 meters",
+      "height above floor": "0.37 meters"
+     },
+     "longest dimension": "0.05 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "1.07 meters",
+      "y coordinate": "-3.62 meters",
+      "height above floor": "0.46 meters"
+     },
+     "longest dimension": "0.03 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "0.9 meters",
+      "y coordinate": "-3.55 meters",
+      "height above floor": "0.47 meters"
+     },
+     "longest dimension": "0.03 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "0.84 meters",
+      "y coordinate": "-3.52 meters",
+      "height above floor": "0.47 meters"
+     },
+     "longest dimension": "0.04 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "0.79 meters",
+      "y coordinate": "-3.5 meters",
+      "height above floor": "0.48 meters"
+     },
+     "longest dimension": "0.03 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "1.15 meters",
+      "y coordinate": "-3.42 meters",
+      "height above floor": "0.39 meters"
+     },
+     "longest dimension": "0.03 meters"
+    }
+   ]
+  }
+ },
+ "room": {
+  "floor area": "22.0 square meters"
+ },
+ "closest classes distance meters from": {
+  "bed": {
+   "chair": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "sofa": {
+    "distance": "0.0 meters",
+    "closeness rank": 2
+   },
+   "tv": {
+    "distance": "0.38 meters",
+    "closeness rank": 3
+   },
+   "table": {
+    "distance": "0.43 meters",
+    "closeness rank": 4
+   },
+   "washer": {
+    "distance": "0.58 meters",
+    "closeness rank": 5
+   }
+  },
+  "chair": {
+   "bed": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "sofa": {
+    "distance": "0.0 meters",
+    "closeness rank": 2
+   },
+   "washer": {
+    "distance": "0.94 meters",
+    "closeness rank": 3
+   },
+   "tv": {
+    "distance": "1.01 meters",
+    "closeness rank": 4
+   },
+   "table": {
+    "distance": "1.91 meters",
+    "closeness rank": 5
+   }
+  },
+  "sofa": {
+   "bed": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "chair": {
+    "distance": "0.0 meters",
+    "closeness rank": 2
+   },
+   "table": {
+    "distance": "0.35 meters",
+    "closeness rank": 3
+   },
+   "tv": {
+    "distance": "0.51 meters",
+    "closeness rank": 4
+   },
+   "washer": {
+    "distance": "0.76 meters",
+    "closeness rank": 5
+   }
+  },
+  "table": {
+   "sofa": {
+    "distance": "0.35 meters",
+    "closeness rank": 1
+   },
+   "bed": {
+    "distance": "0.43 meters",
+    "closeness rank": 2
+   },
+   "chair": {
+    "distance": "1.91 meters",
+    "closeness rank": 3
+   },
+   "washer": {
+    "distance": "2.33 meters",
+    "closeness rank": 4
+   },
+   "tv": {
+    "distance": "2.47 meters",
+    "closeness rank": 5
+   }
+  },
+  "tv": {
+   "washer": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "bed": {
+    "distance": "0.38 meters",
+    "closeness rank": 2
+   },
+   "sofa": {
+    "distance": "0.51 meters",
+    "closeness rank": 3
+   },
+   "chair": {
+    "distance": "1.01 meters",
+    "closeness rank": 4
+   },
+   "table": {
+    "distance": "2.47 meters",
+    "closeness rank": 5
+   }
+  },
+  "washer": {
+   "tv": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "bed": {
+    "distance": "0.58 meters",
+    "closeness rank": 2
+   },
+   "sofa": {
+    "distance": "0.76 meters",
+    "closeness rank": 3
+   },
+   "chair": {
+    "distance": "0.94 meters",
+    "closeness rank": 4
+   },
+   "table": {
+    "distance": "2.33 meters",
+    "closeness rank": 5
+   }
+  }
+ },
+ "appearance order": ["table", "bed", "sofa", "chair", "tv", "washer"]
+}
\ No newline at end of file
diff --git a/data/spatial codes/sam3+depth-anything-3/metric/tracking/selective/64/explicit/5942004064.json b/data/spatial codes/sam3+depth-anything-3/metric/tracking/selective/64/explicit/5942004064.json
new file mode 100644
index 0000000000000000000000000000000000000000..d2e8c86eeae9096254db24eb11a76d9f4c95a5de
--- /dev/null
+++ b/data/spatial codes/sam3+depth-anything-3/metric/tracking/selective/64/explicit/5942004064.json	
@@ -0,0 +1,2850 @@
+{
+ "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": {
+  "basket": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "0.0 meters",
+      "y coordinate": "1.56 meters",
+      "height above floor": "1.82 meters"
+     },
+     "longest dimension": "0.28 meters"
+    }
+   ]
+  },
+  "bed": {
+   "count": 2,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-1.29 meters",
+      "y coordinate": "1.44 meters",
+      "height above floor": "1.81 meters"
+     },
+     "longest dimension": "1.82 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-1.6 meters",
+      "y coordinate": "1.54 meters",
+      "height above floor": "2.49 meters"
+     },
+     "longest dimension": "1.46 meters"
+    }
+   ]
+  },
+  "blanket": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-1.13 meters",
+      "y coordinate": "1.4 meters",
+      "height above floor": "1.65 meters"
+     },
+     "longest dimension": "1.79 meters"
+    }
+   ]
+  },
+  "bookshelf": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-0.78 meters",
+      "y coordinate": "1.29 meters",
+      "height above floor": "-0.37 meters"
+     },
+     "longest dimension": "0.19 meters"
+    }
+   ]
+  },
+  "bowl": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-4.56 meters",
+      "y coordinate": "1.47 meters",
+      "height above floor": "0.75 meters"
+     },
+     "longest dimension": "0.79 meters"
+    }
+   ]
+  },
+  "ceiling light": {
+   "count": 2,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-4.12 meters",
+      "y coordinate": "-0.23 meters",
+      "height above floor": "1.5 meters"
+     },
+     "longest dimension": "1.85 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-4.34 meters",
+      "y coordinate": "-0.27 meters",
+      "height above floor": "1.2 meters"
+     },
+     "longest dimension": "0.48 meters"
+    }
+   ]
+  },
+  "chair": {
+   "count": 2,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-3.94 meters",
+      "y coordinate": "1.73 meters",
+      "height above floor": "0.77 meters"
+     },
+     "longest dimension": "0.77 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-3.01 meters",
+      "y coordinate": "1.65 meters",
+      "height above floor": "2.32 meters"
+     },
+     "longest dimension": "0.9 meters"
+    }
+   ]
+  },
+  "clock": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-3.01 meters",
+      "y coordinate": "1.07 meters",
+      "height above floor": "3.05 meters"
+     },
+     "longest dimension": "0.06 meters"
+    }
+   ]
+  },
+  "cup": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-4.43 meters",
+      "y coordinate": "1.46 meters",
+      "height above floor": "0.49 meters"
+     },
+     "longest dimension": "0.49 meters"
+    }
+   ]
+  },
+  "cushion": {
+   "count": 6,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-4.14 meters",
+      "y coordinate": "1.72 meters",
+      "height above floor": "-0.04 meters"
+     },
+     "longest dimension": "1.62 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-4.4 meters",
+      "y coordinate": "1.48 meters",
+      "height above floor": "-0.42 meters"
+     },
+     "longest dimension": "1.86 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-1.49 meters",
+      "y coordinate": "1.39 meters",
+      "height above floor": "2.84 meters"
+     },
+     "longest dimension": "0.9 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-5.07 meters",
+      "y coordinate": "1.63 meters",
+      "height above floor": "-0.16 meters"
+     },
+     "longest dimension": "0.5 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-4.02 meters",
+      "y coordinate": "1.67 meters",
+      "height above floor": "0.77 meters"
+     },
+     "longest dimension": "0.5 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-3.6 meters",
+      "y coordinate": "1.44 meters",
+      "height above floor": "-0.16 meters"
+     },
+     "longest dimension": "0.53 meters"
+    }
+   ]
+  },
+  "cutting board": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-4.47 meters",
+      "y coordinate": "1.79 meters",
+      "height above floor": "0.71 meters"
+     },
+     "longest dimension": "0.78 meters"
+    }
+   ]
+  },
+  "door": {
+   "count": 6,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-0.16 meters",
+      "y coordinate": "0.14 meters",
+      "height above floor": "1.0 meters"
+     },
+     "longest dimension": "1.71 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "0.05 meters",
+      "y coordinate": "0.55 meters",
+      "height above floor": "1.37 meters"
+     },
+     "longest dimension": "1.13 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-0.03 meters",
+      "y coordinate": "0.59 meters",
+      "height above floor": "-0.01 meters"
+     },
+     "longest dimension": "1.84 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-0.93 meters",
+      "y coordinate": "0.62 meters",
+      "height above floor": "0.05 meters"
+     },
+     "longest dimension": "1.96 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-5.78 meters",
+      "y coordinate": "1.82 meters",
+      "height above floor": "1.72 meters"
+     },
+     "longest dimension": "2.36 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "1.36 meters",
+      "y coordinate": "0.5 meters",
+      "height above floor": "0.46 meters"
+     },
+     "longest dimension": "1.98 meters"
+    }
+   ]
+  },
+  "kettle": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-3.6 meters",
+      "y coordinate": "1.37 meters",
+      "height above floor": "2.71 meters"
+     },
+     "longest dimension": "0.15 meters"
+    }
+   ]
+  },
+  "laptop": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-3.03 meters",
+      "y coordinate": "1.35 meters",
+      "height above floor": "2.7 meters"
+     },
+     "longest dimension": "0.4 meters"
+    }
+   ]
+  },
+  "pillow": {
+   "count": 4,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-1.5 meters",
+      "y coordinate": "1.39 meters",
+      "height above floor": "2.84 meters"
+     },
+     "longest dimension": "0.86 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-5.06 meters",
+      "y coordinate": "1.63 meters",
+      "height above floor": "-0.16 meters"
+     },
+     "longest dimension": "0.49 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-3.62 meters",
+      "y coordinate": "1.46 meters",
+      "height above floor": "-0.16 meters"
+     },
+     "longest dimension": "0.53 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-0.72 meters",
+      "y coordinate": "1.28 meters",
+      "height above floor": "2.7 meters"
+     },
+     "longest dimension": "0.65 meters"
+    }
+   ]
+  },
+  "plant": {
+   "count": 9,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-2.46 meters",
+      "y coordinate": "0.98 meters",
+      "height above floor": "2.5 meters"
+     },
+     "longest dimension": "0.68 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-5.01 meters",
+      "y coordinate": "1.34 meters",
+      "height above floor": "1.02 meters"
+     },
+     "longest dimension": "0.77 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-5.68 meters",
+      "y coordinate": "1.07 meters",
+      "height above floor": "0.36 meters"
+     },
+     "longest dimension": "0.71 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-3.09 meters",
+      "y coordinate": "1.02 meters",
+      "height above floor": "-0.36 meters"
+     },
+     "longest dimension": "1.36 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-4.8 meters",
+      "y coordinate": "1.26 meters",
+      "height above floor": "0.82 meters"
+     },
+     "longest dimension": "0.76 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-5.71 meters",
+      "y coordinate": "1.33 meters",
+      "height above floor": "-0.21 meters"
+     },
+     "longest dimension": "0.83 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-2.6 meters",
+      "y coordinate": "1.18 meters",
+      "height above floor": "2.58 meters"
+     },
+     "longest dimension": "0.18 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-4.85 meters",
+      "y coordinate": "1.25 meters",
+      "height above floor": "0.61 meters"
+     },
+     "longest dimension": "0.37 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-5.52 meters",
+      "y coordinate": "1.56 meters",
+      "height above floor": "-0.3 meters"
+     },
+     "longest dimension": "0.22 meters"
+    }
+   ]
+  },
+  "power strip": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-3.87 meters",
+      "y coordinate": "1.22 meters",
+      "height above floor": "-0.46 meters"
+     },
+     "longest dimension": "0.27 meters"
+    }
+   ]
+  },
+  "sofa": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-4.25 meters",
+      "y coordinate": "1.54 meters",
+      "height above floor": "-0.15 meters"
+     },
+     "longest dimension": "2.46 meters"
+    }
+   ]
+  },
+  "table": {
+   "count": 2,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-4.43 meters",
+      "y coordinate": "1.75 meters",
+      "height above floor": "0.73 meters"
+     },
+     "longest dimension": "1.25 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-2.51 meters",
+      "y coordinate": "1.31 meters",
+      "height above floor": "2.58 meters"
+     },
+     "longest dimension": "0.62 meters"
+    }
+   ]
+  },
+  "table lamp": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-5.48 meters",
+      "y coordinate": "0.91 meters",
+      "height above floor": "-0.27 meters"
+     },
+     "longest dimension": "0.35 meters"
+    }
+   ]
+  },
+  "telephone": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "0.85 meters",
+      "y coordinate": "0.43 meters",
+      "height above floor": "0.87 meters"
+     },
+     "longest dimension": "0.29 meters"
+    }
+   ]
+  },
+  "toilet": {
+   "count": 3,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "0.89 meters",
+      "y coordinate": "0.89 meters",
+      "height above floor": "2.04 meters"
+     },
+     "longest dimension": "0.61 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "0.92 meters",
+      "y coordinate": "1.19 meters",
+      "height above floor": "1.34 meters"
+     },
+     "longest dimension": "0.62 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "0.86 meters",
+      "y coordinate": "1.13 meters",
+      "height above floor": "1.31 meters"
+     },
+     "longest dimension": "1.0 meters"
+    }
+   ]
+  },
+  "trash can": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "0.09 meters",
+      "y coordinate": "1.58 meters",
+      "height above floor": "1.81 meters"
+     },
+     "longest dimension": "0.22 meters"
+    }
+   ]
+  },
+  "tv": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-2.36 meters",
+      "y coordinate": "1.05 meters",
+      "height above floor": "-0.44 meters"
+     },
+     "longest dimension": "1.03 meters"
+    }
+   ]
+  }
+ },
+ "room": {
+  "floor area": "23.0 square meters"
+ },
+ "closest classes distance meters from": {
+  "basket": {
+   "trash can": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "door": {
+    "distance": "0.42 meters",
+    "closeness rank": 2
+   },
+   "toilet": {
+    "distance": "0.45 meters",
+    "closeness rank": 3
+   },
+   "blanket": {
+    "distance": "0.46 meters",
+    "closeness rank": 4
+   },
+   "bed": {
+    "distance": "0.55 meters",
+    "closeness rank": 5
+   },
+   "pillow": {
+    "distance": "0.69 meters",
+    "closeness rank": 6
+   },
+   "cushion": {
+    "distance": "1.19 meters",
+    "closeness rank": 7
+   },
+   "telephone": {
+    "distance": "1.38 meters",
+    "closeness rank": 8
+   },
+   "plant": {
+    "distance": "2.04 meters",
+    "closeness rank": 9
+   },
+   "bookshelf": {
+    "distance": "2.08 meters",
+    "closeness rank": 10
+   },
+   "table": {
+    "distance": "2.13 meters",
+    "closeness rank": 11
+   },
+   "chair": {
+    "distance": "2.37 meters",
+    "closeness rank": 12
+   },
+   "tv": {
+    "distance": "2.7 meters",
+    "closeness rank": 13
+   },
+   "laptop": {
+    "distance": "2.77 meters",
+    "closeness rank": 14
+   },
+   "clock": {
+    "distance": "3.08 meters",
+    "closeness rank": 15
+   },
+   "sofa": {
+    "distance": "3.25 meters",
+    "closeness rank": 16
+   },
+   "ceiling light": {
+    "distance": "3.48 meters",
+    "closeness rank": 17
+   },
+   "kettle": {
+    "distance": "3.5 meters",
+    "closeness rank": 18
+   },
+   "cutting board": {
+    "distance": "4.05 meters",
+    "closeness rank": 19
+   },
+   "bowl": {
+    "distance": "4.1 meters",
+    "closeness rank": 20
+   },
+   "power strip": {
+    "distance": "4.17 meters",
+    "closeness rank": 21
+   },
+   "cup": {
+    "distance": "4.2 meters",
+    "closeness rank": 22
+   },
+   "table lamp": {
+    "distance": "5.57 meters",
+    "closeness rank": 23
+   }
+  },
+  "bed": {
+   "blanket": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "cushion": {
+    "distance": "0.0 meters",
+    "closeness rank": 2
+   },
+   "pillow": {
+    "distance": "0.0 meters",
+    "closeness rank": 3
+   },
+   "table": {
+    "distance": "0.34 meters",
+    "closeness rank": 4
+   },
+   "plant": {
+    "distance": "0.43 meters",
+    "closeness rank": 5
+   },
+   "door": {
+    "distance": "0.44 meters",
+    "closeness rank": 6
+   },
+   "basket": {
+    "distance": "0.55 meters",
+    "closeness rank": 7
+   },
+   "chair": {
+    "distance": "0.62 meters",
+    "closeness rank": 8
+   },
+   "trash can": {
+    "distance": "0.75 meters",
+    "closeness rank": 9
+   },
+   "laptop": {
+    "distance": "0.94 meters",
+    "closeness rank": 10
+   },
+   "bookshelf": {
+    "distance": "1.17 meters",
+    "closeness rank": 11
+   },
+   "clock": {
+    "distance": "1.2 meters",
+    "closeness rank": 12
+   },
+   "toilet": {
+    "distance": "1.23 meters",
+    "closeness rank": 13
+   },
+   "sofa": {
+    "distance": "1.34 meters",
+    "closeness rank": 14
+   },
+   "tv": {
+    "distance": "1.35 meters",
+    "closeness rank": 15
+   },
+   "kettle": {
+    "distance": "1.66 meters",
+    "closeness rank": 16
+   },
+   "telephone": {
+    "distance": "1.67 meters",
+    "closeness rank": 17
+   },
+   "ceiling light": {
+    "distance": "2.1 meters",
+    "closeness rank": 18
+   },
+   "power strip": {
+    "distance": "2.26 meters",
+    "closeness rank": 19
+   },
+   "bowl": {
+    "distance": "2.27 meters",
+    "closeness rank": 20
+   },
+   "cutting board": {
+    "distance": "2.3 meters",
+    "closeness rank": 21
+   },
+   "cup": {
+    "distance": "2.32 meters",
+    "closeness rank": 22
+   },
+   "table lamp": {
+    "distance": "3.66 meters",
+    "closeness rank": 23
+   }
+  },
+  "blanket": {
+   "bed": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "pillow": {
+    "distance": "0.01 meters",
+    "closeness rank": 2
+   },
+   "cushion": {
+    "distance": "0.17 meters",
+    "closeness rank": 3
+   },
+   "door": {
+    "distance": "0.46 meters",
+    "closeness rank": 4
+   },
+   "basket": {
+    "distance": "0.46 meters",
+    "closeness rank": 5
+   },
+   "plant": {
+    "distance": "0.54 meters",
+    "closeness rank": 6
+   },
+   "table": {
+    "distance": "0.54 meters",
+    "closeness rank": 7
+   },
+   "trash can": {
+    "distance": "0.66 meters",
+    "closeness rank": 8
+   },
+   "chair": {
+    "distance": "0.85 meters",
+    "closeness rank": 9
+   },
+   "bookshelf": {
+    "distance": "1.03 meters",
+    "closeness rank": 10
+   },
+   "toilet": {
+    "distance": "1.14 meters",
+    "closeness rank": 11
+   },
+   "laptop": {
+    "distance": "1.17 meters",
+    "closeness rank": 12
+   },
+   "tv": {
+    "distance": "1.22 meters",
+    "closeness rank": 13
+   },
+   "clock": {
+    "distance": "1.45 meters",
+    "closeness rank": 14
+   },
+   "sofa": {
+    "distance": "1.48 meters",
+    "closeness rank": 15
+   },
+   "telephone": {
+    "distance": "1.57 meters",
+    "closeness rank": 16
+   },
+   "kettle": {
+    "distance": "1.9 meters",
+    "closeness rank": 17
+   },
+   "ceiling light": {
+    "distance": "2.21 meters",
+    "closeness rank": 18
+   },
+   "power strip": {
+    "distance": "2.37 meters",
+    "closeness rank": 19
+   },
+   "bowl": {
+    "distance": "2.5 meters",
+    "closeness rank": 20
+   },
+   "cup": {
+    "distance": "2.53 meters",
+    "closeness rank": 21
+   },
+   "cutting board": {
+    "distance": "2.53 meters",
+    "closeness rank": 22
+   },
+   "table lamp": {
+    "distance": "3.83 meters",
+    "closeness rank": 23
+   }
+  },
+  "bookshelf": {
+   "door": {
+    "distance": "0.28 meters",
+    "closeness rank": 1
+   },
+   "tv": {
+    "distance": "0.96 meters",
+    "closeness rank": 2
+   },
+   "blanket": {
+    "distance": "1.03 meters",
+    "closeness rank": 3
+   },
+   "bed": {
+    "distance": "1.17 meters",
+    "closeness rank": 4
+   },
+   "plant": {
+    "distance": "1.93 meters",
+    "closeness rank": 5
+   },
+   "toilet": {
+    "distance": "1.94 meters",
+    "closeness rank": 6
+   },
+   "telephone": {
+    "distance": "2.05 meters",
+    "closeness rank": 7
+   },
+   "basket": {
+    "distance": "2.08 meters",
+    "closeness rank": 8
+   },
+   "trash can": {
+    "distance": "2.19 meters",
+    "closeness rank": 9
+   },
+   "sofa": {
+    "distance": "2.22 meters",
+    "closeness rank": 10
+   },
+   "cushion": {
+    "distance": "2.55 meters",
+    "closeness rank": 11
+   },
+   "pillow": {
+    "distance": "2.66 meters",
+    "closeness rank": 12
+   },
+   "chair": {
+    "distance": "2.88 meters",
+    "closeness rank": 13
+   },
+   "power strip": {
+    "distance": "2.93 meters",
+    "closeness rank": 14
+   },
+   "table": {
+    "distance": "3.06 meters",
+    "closeness rank": 15
+   },
+   "ceiling light": {
+    "distance": "3.18 meters",
+    "closeness rank": 16
+   },
+   "cutting board": {
+    "distance": "3.45 meters",
+    "closeness rank": 17
+   },
+   "cup": {
+    "distance": "3.45 meters",
+    "closeness rank": 18
+   },
+   "bowl": {
+    "distance": "3.47 meters",
+    "closeness rank": 19
+   },
+   "laptop": {
+    "distance": "3.49 meters",
+    "closeness rank": 20
+   },
+   "clock": {
+    "distance": "3.98 meters",
+    "closeness rank": 21
+   },
+   "kettle": {
+    "distance": "4.04 meters",
+    "closeness rank": 22
+   },
+   "table lamp": {
+    "distance": "4.55 meters",
+    "closeness rank": 23
+   }
+  },
+  "bowl": {
+   "chair": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "plant": {
+    "distance": "0.0 meters",
+    "closeness rank": 2
+   },
+   "table": {
+    "distance": "0.0 meters",
+    "closeness rank": 3
+   },
+   "cutting board": {
+    "distance": "0.0 meters",
+    "closeness rank": 4
+   },
+   "cup": {
+    "distance": "0.04 meters",
+    "closeness rank": 5
+   },
+   "cushion": {
+    "distance": "0.22 meters",
+    "closeness rank": 6
+   },
+   "sofa": {
+    "distance": "0.43 meters",
+    "closeness rank": 7
+   },
+   "pillow": {
+    "distance": "0.62 meters",
+    "closeness rank": 8
+   },
+   "door": {
+    "distance": "0.92 meters",
+    "closeness rank": 9
+   },
+   "table lamp": {
+    "distance": "0.97 meters",
+    "closeness rank": 10
+   },
+   "power strip": {
+    "distance": "1.01 meters",
+    "closeness rank": 11
+   },
+   "ceiling light": {
+    "distance": "1.56 meters",
+    "closeness rank": 12
+   },
+   "tv": {
+    "distance": "1.64 meters",
+    "closeness rank": 13
+   },
+   "kettle": {
+    "distance": "1.85 meters",
+    "closeness rank": 14
+   },
+   "laptop": {
+    "distance": "1.91 meters",
+    "closeness rank": 15
+   },
+   "bed": {
+    "distance": "2.27 meters",
+    "closeness rank": 16
+   },
+   "clock": {
+    "distance": "2.44 meters",
+    "closeness rank": 17
+   },
+   "blanket": {
+    "distance": "2.5 meters",
+    "closeness rank": 18
+   },
+   "bookshelf": {
+    "distance": "3.47 meters",
+    "closeness rank": 19
+   },
+   "basket": {
+    "distance": "4.1 meters",
+    "closeness rank": 20
+   },
+   "trash can": {
+    "distance": "4.31 meters",
+    "closeness rank": 21
+   },
+   "toilet": {
+    "distance": "4.7 meters",
+    "closeness rank": 22
+   },
+   "telephone": {
+    "distance": "5.04 meters",
+    "closeness rank": 23
+   }
+  },
+  "ceiling light": {
+   "plant": {
+    "distance": "1.09 meters",
+    "closeness rank": 1
+   },
+   "door": {
+    "distance": "1.17 meters",
+    "closeness rank": 2
+   },
+   "table": {
+    "distance": "1.43 meters",
+    "closeness rank": 3
+   },
+   "chair": {
+    "distance": "1.47 meters",
+    "closeness rank": 4
+   },
+   "bowl": {
+    "distance": "1.56 meters",
+    "closeness rank": 5
+   },
+   "cutting board": {
+    "distance": "1.62 meters",
+    "closeness rank": 6
+   },
+   "table lamp": {
+    "distance": "1.67 meters",
+    "closeness rank": 7
+   },
+   "kettle": {
+    "distance": "1.71 meters",
+    "closeness rank": 8
+   },
+   "cup": {
+    "distance": "1.72 meters",
+    "closeness rank": 9
+   },
+   "laptop": {
+    "distance": "1.73 meters",
+    "closeness rank": 10
+   },
+   "clock": {
+    "distance": "1.76 meters",
+    "closeness rank": 11
+   },
+   "sofa": {
+    "distance": "1.77 meters",
+    "closeness rank": 12
+   },
+   "cushion": {
+    "distance": "1.8 meters",
+    "closeness rank": 13
+   },
+   "pillow": {
+    "distance": "1.87 meters",
+    "closeness rank": 14
+   },
+   "tv": {
+    "distance": "2.0 meters",
+    "closeness rank": 15
+   },
+   "power strip": {
+    "distance": "2.09 meters",
+    "closeness rank": 16
+   },
+   "bed": {
+    "distance": "2.1 meters",
+    "closeness rank": 17
+   },
+   "blanket": {
+    "distance": "2.21 meters",
+    "closeness rank": 18
+   },
+   "bookshelf": {
+    "distance": "3.18 meters",
+    "closeness rank": 19
+   },
+   "basket": {
+    "distance": "3.48 meters",
+    "closeness rank": 20
+   },
+   "trash can": {
+    "distance": "3.66 meters",
+    "closeness rank": 21
+   },
+   "toilet": {
+    "distance": "4.01 meters",
+    "closeness rank": 22
+   },
+   "telephone": {
+    "distance": "4.02 meters",
+    "closeness rank": 23
+   }
+  },
+  "chair": {
+   "bowl": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "cup": {
+    "distance": "0.0 meters",
+    "closeness rank": 2
+   },
+   "cushion": {
+    "distance": "0.0 meters",
+    "closeness rank": 3
+   },
+   "cutting board": {
+    "distance": "0.0 meters",
+    "closeness rank": 4
+   },
+   "laptop": {
+    "distance": "0.0 meters",
+    "closeness rank": 5
+   },
+   "table": {
+    "distance": "0.0 meters",
+    "closeness rank": 6
+   },
+   "kettle": {
+    "distance": "0.15 meters",
+    "closeness rank": 7
+   },
+   "plant": {
+    "distance": "0.24 meters",
+    "closeness rank": 8
+   },
+   "sofa": {
+    "distance": "0.38 meters",
+    "closeness rank": 9
+   },
+   "pillow": {
+    "distance": "0.45 meters",
+    "closeness rank": 10
+   },
+   "clock": {
+    "distance": "0.51 meters",
+    "closeness rank": 11
+   },
+   "bed": {
+    "distance": "0.62 meters",
+    "closeness rank": 12
+   },
+   "blanket": {
+    "distance": "0.85 meters",
+    "closeness rank": 13
+   },
+   "power strip": {
+    "distance": "0.95 meters",
+    "closeness rank": 14
+   },
+   "table lamp": {
+    "distance": "1.35 meters",
+    "closeness rank": 15
+   },
+   "tv": {
+    "distance": "1.38 meters",
+    "closeness rank": 16
+   },
+   "ceiling light": {
+    "distance": "1.47 meters",
+    "closeness rank": 17
+   },
+   "door": {
+    "distance": "1.5 meters",
+    "closeness rank": 18
+   },
+   "basket": {
+    "distance": "2.37 meters",
+    "closeness rank": 19
+   },
+   "trash can": {
+    "distance": "2.57 meters",
+    "closeness rank": 20
+   },
+   "bookshelf": {
+    "distance": "2.88 meters",
+    "closeness rank": 21
+   },
+   "toilet": {
+    "distance": "3.09 meters",
+    "closeness rank": 22
+   },
+   "telephone": {
+    "distance": "3.62 meters",
+    "closeness rank": 23
+   }
+  },
+  "clock": {
+   "laptop": {
+    "distance": "0.31 meters",
+    "closeness rank": 1
+   },
+   "plant": {
+    "distance": "0.43 meters",
+    "closeness rank": 2
+   },
+   "table": {
+    "distance": "0.43 meters",
+    "closeness rank": 3
+   },
+   "chair": {
+    "distance": "0.51 meters",
+    "closeness rank": 4
+   },
+   "kettle": {
+    "distance": "0.66 meters",
+    "closeness rank": 5
+   },
+   "cushion": {
+    "distance": "1.1 meters",
+    "closeness rank": 6
+   },
+   "pillow": {
+    "distance": "1.11 meters",
+    "closeness rank": 7
+   },
+   "bed": {
+    "distance": "1.2 meters",
+    "closeness rank": 8
+   },
+   "blanket": {
+    "distance": "1.45 meters",
+    "closeness rank": 9
+   },
+   "ceiling light": {
+    "distance": "1.76 meters",
+    "closeness rank": 10
+   },
+   "cutting board": {
+    "distance": "2.3 meters",
+    "closeness rank": 11
+   },
+   "bowl": {
+    "distance": "2.44 meters",
+    "closeness rank": 12
+   },
+   "door": {
+    "distance": "2.72 meters",
+    "closeness rank": 13
+   },
+   "cup": {
+    "distance": "2.76 meters",
+    "closeness rank": 14
+   },
+   "sofa": {
+    "distance": "2.88 meters",
+    "closeness rank": 15
+   },
+   "basket": {
+    "distance": "3.08 meters",
+    "closeness rank": 16
+   },
+   "trash can": {
+    "distance": "3.29 meters",
+    "closeness rank": 17
+   },
+   "tv": {
+    "distance": "3.48 meters",
+    "closeness rank": 18
+   },
+   "power strip": {
+    "distance": "3.51 meters",
+    "closeness rank": 19
+   },
+   "toilet": {
+    "distance": "3.72 meters",
+    "closeness rank": 20
+   },
+   "table lamp": {
+    "distance": "3.98 meters",
+    "closeness rank": 21
+   },
+   "bookshelf": {
+    "distance": "3.98 meters",
+    "closeness rank": 22
+   },
+   "telephone": {
+    "distance": "4.38 meters",
+    "closeness rank": 23
+   }
+  },
+  "cup": {
+   "chair": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "cutting board": {
+    "distance": "0.0 meters",
+    "closeness rank": 2
+   },
+   "table": {
+    "distance": "0.0 meters",
+    "closeness rank": 3
+   },
+   "bowl": {
+    "distance": "0.04 meters",
+    "closeness rank": 4
+   },
+   "plant": {
+    "distance": "0.05 meters",
+    "closeness rank": 5
+   },
+   "cushion": {
+    "distance": "0.21 meters",
+    "closeness rank": 6
+   },
+   "sofa": {
+    "distance": "0.25 meters",
+    "closeness rank": 7
+   },
+   "pillow": {
+    "distance": "0.48 meters",
+    "closeness rank": 8
+   },
+   "power strip": {
+    "distance": "0.86 meters",
+    "closeness rank": 9
+   },
+   "table lamp": {
+    "distance": "0.99 meters",
+    "closeness rank": 10
+   },
+   "door": {
+    "distance": "1.34 meters",
+    "closeness rank": 11
+   },
+   "tv": {
+    "distance": "1.57 meters",
+    "closeness rank": 12
+   },
+   "ceiling light": {
+    "distance": "1.72 meters",
+    "closeness rank": 13
+   },
+   "kettle": {
+    "distance": "2.19 meters",
+    "closeness rank": 14
+   },
+   "laptop": {
+    "distance": "2.23 meters",
+    "closeness rank": 15
+   },
+   "bed": {
+    "distance": "2.32 meters",
+    "closeness rank": 16
+   },
+   "blanket": {
+    "distance": "2.53 meters",
+    "closeness rank": 17
+   },
+   "clock": {
+    "distance": "2.76 meters",
+    "closeness rank": 18
+   },
+   "bookshelf": {
+    "distance": "3.45 meters",
+    "closeness rank": 19
+   },
+   "basket": {
+    "distance": "4.2 meters",
+    "closeness rank": 20
+   },
+   "trash can": {
+    "distance": "4.41 meters",
+    "closeness rank": 21
+   },
+   "toilet": {
+    "distance": "4.75 meters",
+    "closeness rank": 22
+   },
+   "telephone": {
+    "distance": "5.07 meters",
+    "closeness rank": 23
+   }
+  },
+  "cushion": {
+   "bed": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "chair": {
+    "distance": "0.0 meters",
+    "closeness rank": 2
+   },
+   "cutting board": {
+    "distance": "0.0 meters",
+    "closeness rank": 3
+   },
+   "pillow": {
+    "distance": "0.0 meters",
+    "closeness rank": 4
+   },
+   "sofa": {
+    "distance": "0.0 meters",
+    "closeness rank": 5
+   },
+   "table": {
+    "distance": "0.0 meters",
+    "closeness rank": 6
+   },
+   "power strip": {
+    "distance": "0.01 meters",
+    "closeness rank": 7
+   },
+   "plant": {
+    "distance": "0.02 meters",
+    "closeness rank": 8
+   },
+   "blanket": {
+    "distance": "0.17 meters",
+    "closeness rank": 9
+   },
+   "cup": {
+    "distance": "0.21 meters",
+    "closeness rank": 10
+   },
+   "bowl": {
+    "distance": "0.22 meters",
+    "closeness rank": 11
+   },
+   "table lamp": {
+    "distance": "0.23 meters",
+    "closeness rank": 12
+   },
+   "tv": {
+    "distance": "0.59 meters",
+    "closeness rank": 13
+   },
+   "laptop": {
+    "distance": "0.89 meters",
+    "closeness rank": 14
+   },
+   "clock": {
+    "distance": "1.1 meters",
+    "closeness rank": 15
+   },
+   "basket": {
+    "distance": "1.19 meters",
+    "closeness rank": 16
+   },
+   "door": {
+    "distance": "1.37 meters",
+    "closeness rank": 17
+   },
+   "trash can": {
+    "distance": "1.39 meters",
+    "closeness rank": 18
+   },
+   "kettle": {
+    "distance": "1.61 meters",
+    "closeness rank": 19
+   },
+   "ceiling light": {
+    "distance": "1.8 meters",
+    "closeness rank": 20
+   },
+   "toilet": {
+    "distance": "1.81 meters",
+    "closeness rank": 21
+   },
+   "bookshelf": {
+    "distance": "2.55 meters",
+    "closeness rank": 22
+   },
+   "telephone": {
+    "distance": "2.69 meters",
+    "closeness rank": 23
+   }
+  },
+  "cutting board": {
+   "chair": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "cup": {
+    "distance": "0.0 meters",
+    "closeness rank": 2
+   },
+   "cushion": {
+    "distance": "0.0 meters",
+    "closeness rank": 3
+   },
+   "table": {
+    "distance": "0.0 meters",
+    "closeness rank": 4
+   },
+   "bowl": {
+    "distance": "0.0 meters",
+    "closeness rank": 5
+   },
+   "plant": {
+    "distance": "0.1 meters",
+    "closeness rank": 6
+   },
+   "sofa": {
+    "distance": "0.15 meters",
+    "closeness rank": 7
+   },
+   "pillow": {
+    "distance": "0.34 meters",
+    "closeness rank": 8
+   },
+   "power strip": {
+    "distance": "0.78 meters",
+    "closeness rank": 9
+   },
+   "table lamp": {
+    "distance": "0.88 meters",
+    "closeness rank": 10
+   },
+   "door": {
+    "distance": "0.98 meters",
+    "closeness rank": 11
+   },
+   "tv": {
+    "distance": "1.55 meters",
+    "closeness rank": 12
+   },
+   "ceiling light": {
+    "distance": "1.62 meters",
+    "closeness rank": 13
+   },
+   "kettle": {
+    "distance": "1.68 meters",
+    "closeness rank": 14
+   },
+   "laptop": {
+    "distance": "1.77 meters",
+    "closeness rank": 15
+   },
+   "bed": {
+    "distance": "2.3 meters",
+    "closeness rank": 16
+   },
+   "clock": {
+    "distance": "2.3 meters",
+    "closeness rank": 17
+   },
+   "blanket": {
+    "distance": "2.53 meters",
+    "closeness rank": 18
+   },
+   "bookshelf": {
+    "distance": "3.45 meters",
+    "closeness rank": 19
+   },
+   "basket": {
+    "distance": "4.05 meters",
+    "closeness rank": 20
+   },
+   "trash can": {
+    "distance": "4.27 meters",
+    "closeness rank": 21
+   },
+   "toilet": {
+    "distance": "4.69 meters",
+    "closeness rank": 22
+   },
+   "telephone": {
+    "distance": "5.1 meters",
+    "closeness rank": 23
+   }
+  },
+  "door": {
+   "telephone": {
+    "distance": "0.06 meters",
+    "closeness rank": 1
+   },
+   "toilet": {
+    "distance": "0.07 meters",
+    "closeness rank": 2
+   },
+   "bookshelf": {
+    "distance": "0.28 meters",
+    "closeness rank": 3
+   },
+   "basket": {
+    "distance": "0.42 meters",
+    "closeness rank": 4
+   },
+   "plant": {
+    "distance": "0.42 meters",
+    "closeness rank": 5
+   },
+   "bed": {
+    "distance": "0.44 meters",
+    "closeness rank": 6
+   },
+   "trash can": {
+    "distance": "0.45 meters",
+    "closeness rank": 7
+   },
+   "blanket": {
+    "distance": "0.46 meters",
+    "closeness rank": 8
+   },
+   "tv": {
+    "distance": "0.61 meters",
+    "closeness rank": 9
+   },
+   "table": {
+    "distance": "0.68 meters",
+    "closeness rank": 10
+   },
+   "bowl": {
+    "distance": "0.92 meters",
+    "closeness rank": 11
+   },
+   "cutting board": {
+    "distance": "0.98 meters",
+    "closeness rank": 12
+   },
+   "pillow": {
+    "distance": "1.16 meters",
+    "closeness rank": 13
+   },
+   "ceiling light": {
+    "distance": "1.17 meters",
+    "closeness rank": 14
+   },
+   "sofa": {
+    "distance": "1.19 meters",
+    "closeness rank": 15
+   },
+   "cup": {
+    "distance": "1.34 meters",
+    "closeness rank": 16
+   },
+   "cushion": {
+    "distance": "1.37 meters",
+    "closeness rank": 17
+   },
+   "chair": {
+    "distance": "1.5 meters",
+    "closeness rank": 18
+   },
+   "table lamp": {
+    "distance": "1.54 meters",
+    "closeness rank": 19
+   },
+   "kettle": {
+    "distance": "2.22 meters",
+    "closeness rank": 20
+   },
+   "laptop": {
+    "distance": "2.36 meters",
+    "closeness rank": 21
+   },
+   "power strip": {
+    "distance": "2.43 meters",
+    "closeness rank": 22
+   },
+   "clock": {
+    "distance": "2.72 meters",
+    "closeness rank": 23
+   }
+  },
+  "kettle": {
+   "chair": {
+    "distance": "0.15 meters",
+    "closeness rank": 1
+   },
+   "laptop": {
+    "distance": "0.33 meters",
+    "closeness rank": 2
+   },
+   "clock": {
+    "distance": "0.66 meters",
+    "closeness rank": 3
+   },
+   "table": {
+    "distance": "0.74 meters",
+    "closeness rank": 4
+   },
+   "plant": {
+    "distance": "0.83 meters",
+    "closeness rank": 5
+   },
+   "cushion": {
+    "distance": "1.61 meters",
+    "closeness rank": 6
+   },
+   "pillow": {
+    "distance": "1.62 meters",
+    "closeness rank": 7
+   },
+   "bed": {
+    "distance": "1.66 meters",
+    "closeness rank": 8
+   },
+   "cutting board": {
+    "distance": "1.68 meters",
+    "closeness rank": 9
+   },
+   "ceiling light": {
+    "distance": "1.71 meters",
+    "closeness rank": 10
+   },
+   "bowl": {
+    "distance": "1.85 meters",
+    "closeness rank": 11
+   },
+   "blanket": {
+    "distance": "1.9 meters",
+    "closeness rank": 12
+   },
+   "cup": {
+    "distance": "2.19 meters",
+    "closeness rank": 13
+   },
+   "door": {
+    "distance": "2.22 meters",
+    "closeness rank": 14
+   },
+   "sofa": {
+    "distance": "2.5 meters",
+    "closeness rank": 15
+   },
+   "power strip": {
+    "distance": "3.07 meters",
+    "closeness rank": 16
+   },
+   "tv": {
+    "distance": "3.19 meters",
+    "closeness rank": 17
+   },
+   "table lamp": {
+    "distance": "3.35 meters",
+    "closeness rank": 18
+   },
+   "basket": {
+    "distance": "3.5 meters",
+    "closeness rank": 19
+   },
+   "trash can": {
+    "distance": "3.7 meters",
+    "closeness rank": 20
+   },
+   "bookshelf": {
+    "distance": "4.04 meters",
+    "closeness rank": 21
+   },
+   "toilet": {
+    "distance": "4.26 meters",
+    "closeness rank": 22
+   },
+   "telephone": {
+    "distance": "4.79 meters",
+    "closeness rank": 23
+   }
+  },
+  "laptop": {
+   "chair": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "table": {
+    "distance": "0.01 meters",
+    "closeness rank": 2
+   },
+   "plant": {
+    "distance": "0.14 meters",
+    "closeness rank": 3
+   },
+   "clock": {
+    "distance": "0.31 meters",
+    "closeness rank": 4
+   },
+   "kettle": {
+    "distance": "0.33 meters",
+    "closeness rank": 5
+   },
+   "cushion": {
+    "distance": "0.89 meters",
+    "closeness rank": 6
+   },
+   "pillow": {
+    "distance": "0.9 meters",
+    "closeness rank": 7
+   },
+   "bed": {
+    "distance": "0.94 meters",
+    "closeness rank": 8
+   },
+   "blanket": {
+    "distance": "1.17 meters",
+    "closeness rank": 9
+   },
+   "ceiling light": {
+    "distance": "1.73 meters",
+    "closeness rank": 10
+   },
+   "cutting board": {
+    "distance": "1.77 meters",
+    "closeness rank": 11
+   },
+   "bowl": {
+    "distance": "1.91 meters",
+    "closeness rank": 12
+   },
+   "cup": {
+    "distance": "2.23 meters",
+    "closeness rank": 13
+   },
+   "door": {
+    "distance": "2.36 meters",
+    "closeness rank": 14
+   },
+   "sofa": {
+    "distance": "2.4 meters",
+    "closeness rank": 15
+   },
+   "basket": {
+    "distance": "2.77 meters",
+    "closeness rank": 16
+   },
+   "trash can": {
+    "distance": "2.98 meters",
+    "closeness rank": 17
+   },
+   "tv": {
+    "distance": "3.0 meters",
+    "closeness rank": 18
+   },
+   "power strip": {
+    "distance": "3.01 meters",
+    "closeness rank": 19
+   },
+   "bookshelf": {
+    "distance": "3.49 meters",
+    "closeness rank": 20
+   },
+   "table lamp": {
+    "distance": "3.51 meters",
+    "closeness rank": 21
+   },
+   "toilet": {
+    "distance": "3.54 meters",
+    "closeness rank": 22
+   },
+   "telephone": {
+    "distance": "4.07 meters",
+    "closeness rank": 23
+   }
+  },
+  "pillow": {
+   "bed": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "cushion": {
+    "distance": "0.0 meters",
+    "closeness rank": 2
+   },
+   "sofa": {
+    "distance": "0.0 meters",
+    "closeness rank": 3
+   },
+   "blanket": {
+    "distance": "0.01 meters",
+    "closeness rank": 4
+   },
+   "plant": {
+    "distance": "0.05 meters",
+    "closeness rank": 5
+   },
+   "power strip": {
+    "distance": "0.09 meters",
+    "closeness rank": 6
+   },
+   "table": {
+    "distance": "0.27 meters",
+    "closeness rank": 7
+   },
+   "cutting board": {
+    "distance": "0.34 meters",
+    "closeness rank": 8
+   },
+   "table lamp": {
+    "distance": "0.39 meters",
+    "closeness rank": 9
+   },
+   "chair": {
+    "distance": "0.45 meters",
+    "closeness rank": 10
+   },
+   "cup": {
+    "distance": "0.48 meters",
+    "closeness rank": 11
+   },
+   "tv": {
+    "distance": "0.61 meters",
+    "closeness rank": 12
+   },
+   "bowl": {
+    "distance": "0.62 meters",
+    "closeness rank": 13
+   },
+   "basket": {
+    "distance": "0.69 meters",
+    "closeness rank": 14
+   },
+   "trash can": {
+    "distance": "0.83 meters",
+    "closeness rank": 15
+   },
+   "laptop": {
+    "distance": "0.9 meters",
+    "closeness rank": 16
+   },
+   "clock": {
+    "distance": "1.11 meters",
+    "closeness rank": 17
+   },
+   "toilet": {
+    "distance": "1.14 meters",
+    "closeness rank": 18
+   },
+   "door": {
+    "distance": "1.16 meters",
+    "closeness rank": 19
+   },
+   "kettle": {
+    "distance": "1.62 meters",
+    "closeness rank": 20
+   },
+   "ceiling light": {
+    "distance": "1.87 meters",
+    "closeness rank": 21
+   },
+   "telephone": {
+    "distance": "2.14 meters",
+    "closeness rank": 22
+   },
+   "bookshelf": {
+    "distance": "2.66 meters",
+    "closeness rank": 23
+   }
+  },
+  "plant": {
+   "bowl": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "sofa": {
+    "distance": "0.0 meters",
+    "closeness rank": 2
+   },
+   "table": {
+    "distance": "0.0 meters",
+    "closeness rank": 3
+   },
+   "tv": {
+    "distance": "0.0 meters",
+    "closeness rank": 4
+   },
+   "cushion": {
+    "distance": "0.02 meters",
+    "closeness rank": 5
+   },
+   "cup": {
+    "distance": "0.05 meters",
+    "closeness rank": 6
+   },
+   "pillow": {
+    "distance": "0.05 meters",
+    "closeness rank": 7
+   },
+   "table lamp": {
+    "distance": "0.09 meters",
+    "closeness rank": 8
+   },
+   "cutting board": {
+    "distance": "0.1 meters",
+    "closeness rank": 9
+   },
+   "laptop": {
+    "distance": "0.14 meters",
+    "closeness rank": 10
+   },
+   "chair": {
+    "distance": "0.24 meters",
+    "closeness rank": 11
+   },
+   "power strip": {
+    "distance": "0.41 meters",
+    "closeness rank": 12
+   },
+   "door": {
+    "distance": "0.42 meters",
+    "closeness rank": 13
+   },
+   "clock": {
+    "distance": "0.43 meters",
+    "closeness rank": 14
+   },
+   "bed": {
+    "distance": "0.43 meters",
+    "closeness rank": 15
+   },
+   "blanket": {
+    "distance": "0.54 meters",
+    "closeness rank": 16
+   },
+   "kettle": {
+    "distance": "0.83 meters",
+    "closeness rank": 17
+   },
+   "ceiling light": {
+    "distance": "1.09 meters",
+    "closeness rank": 18
+   },
+   "bookshelf": {
+    "distance": "1.93 meters",
+    "closeness rank": 19
+   },
+   "basket": {
+    "distance": "2.04 meters",
+    "closeness rank": 20
+   },
+   "trash can": {
+    "distance": "2.24 meters",
+    "closeness rank": 21
+   },
+   "toilet": {
+    "distance": "2.77 meters",
+    "closeness rank": 22
+   },
+   "telephone": {
+    "distance": "3.28 meters",
+    "closeness rank": 23
+   }
+  },
+  "power strip": {
+   "cushion": {
+    "distance": "0.01 meters",
+    "closeness rank": 1
+   },
+   "sofa": {
+    "distance": "0.04 meters",
+    "closeness rank": 2
+   },
+   "pillow": {
+    "distance": "0.09 meters",
+    "closeness rank": 3
+   },
+   "plant": {
+    "distance": "0.41 meters",
+    "closeness rank": 4
+   },
+   "table": {
+    "distance": "0.77 meters",
+    "closeness rank": 5
+   },
+   "cutting board": {
+    "distance": "0.78 meters",
+    "closeness rank": 6
+   },
+   "tv": {
+    "distance": "0.81 meters",
+    "closeness rank": 7
+   },
+   "cup": {
+    "distance": "0.86 meters",
+    "closeness rank": 8
+   },
+   "chair": {
+    "distance": "0.95 meters",
+    "closeness rank": 9
+   },
+   "bowl": {
+    "distance": "1.01 meters",
+    "closeness rank": 10
+   },
+   "table lamp": {
+    "distance": "1.37 meters",
+    "closeness rank": 11
+   },
+   "ceiling light": {
+    "distance": "2.09 meters",
+    "closeness rank": 12
+   },
+   "bed": {
+    "distance": "2.26 meters",
+    "closeness rank": 13
+   },
+   "blanket": {
+    "distance": "2.37 meters",
+    "closeness rank": 14
+   },
+   "door": {
+    "distance": "2.43 meters",
+    "closeness rank": 15
+   },
+   "bookshelf": {
+    "distance": "2.93 meters",
+    "closeness rank": 16
+   },
+   "laptop": {
+    "distance": "3.01 meters",
+    "closeness rank": 17
+   },
+   "kettle": {
+    "distance": "3.07 meters",
+    "closeness rank": 18
+   },
+   "clock": {
+    "distance": "3.51 meters",
+    "closeness rank": 19
+   },
+   "basket": {
+    "distance": "4.17 meters",
+    "closeness rank": 20
+   },
+   "trash can": {
+    "distance": "4.36 meters",
+    "closeness rank": 21
+   },
+   "toilet": {
+    "distance": "4.55 meters",
+    "closeness rank": 22
+   },
+   "telephone": {
+    "distance": "4.75 meters",
+    "closeness rank": 23
+   }
+  },
+  "sofa": {
+   "cushion": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "pillow": {
+    "distance": "0.0 meters",
+    "closeness rank": 2
+   },
+   "plant": {
+    "distance": "0.0 meters",
+    "closeness rank": 3
+   },
+   "power strip": {
+    "distance": "0.04 meters",
+    "closeness rank": 4
+   },
+   "cutting board": {
+    "distance": "0.15 meters",
+    "closeness rank": 5
+   },
+   "tv": {
+    "distance": "0.19 meters",
+    "closeness rank": 6
+   },
+   "table": {
+    "distance": "0.2 meters",
+    "closeness rank": 7
+   },
+   "table lamp": {
+    "distance": "0.21 meters",
+    "closeness rank": 8
+   },
+   "cup": {
+    "distance": "0.25 meters",
+    "closeness rank": 9
+   },
+   "chair": {
+    "distance": "0.38 meters",
+    "closeness rank": 10
+   },
+   "bowl": {
+    "distance": "0.43 meters",
+    "closeness rank": 11
+   },
+   "door": {
+    "distance": "1.19 meters",
+    "closeness rank": 12
+   },
+   "bed": {
+    "distance": "1.34 meters",
+    "closeness rank": 13
+   },
+   "blanket": {
+    "distance": "1.48 meters",
+    "closeness rank": 14
+   },
+   "ceiling light": {
+    "distance": "1.77 meters",
+    "closeness rank": 15
+   },
+   "bookshelf": {
+    "distance": "2.22 meters",
+    "closeness rank": 16
+   },
+   "laptop": {
+    "distance": "2.4 meters",
+    "closeness rank": 17
+   },
+   "kettle": {
+    "distance": "2.5 meters",
+    "closeness rank": 18
+   },
+   "clock": {
+    "distance": "2.88 meters",
+    "closeness rank": 19
+   },
+   "basket": {
+    "distance": "3.25 meters",
+    "closeness rank": 20
+   },
+   "trash can": {
+    "distance": "3.46 meters",
+    "closeness rank": 21
+   },
+   "toilet": {
+    "distance": "3.68 meters",
+    "closeness rank": 22
+   },
+   "telephone": {
+    "distance": "3.95 meters",
+    "closeness rank": 23
+   }
+  },
+  "table": {
+   "bowl": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "chair": {
+    "distance": "0.0 meters",
+    "closeness rank": 2
+   },
+   "cup": {
+    "distance": "0.0 meters",
+    "closeness rank": 3
+   },
+   "cushion": {
+    "distance": "0.0 meters",
+    "closeness rank": 4
+   },
+   "cutting board": {
+    "distance": "0.0 meters",
+    "closeness rank": 5
+   },
+   "plant": {
+    "distance": "0.0 meters",
+    "closeness rank": 6
+   },
+   "laptop": {
+    "distance": "0.01 meters",
+    "closeness rank": 7
+   },
+   "sofa": {
+    "distance": "0.2 meters",
+    "closeness rank": 8
+   },
+   "pillow": {
+    "distance": "0.27 meters",
+    "closeness rank": 9
+   },
+   "bed": {
+    "distance": "0.34 meters",
+    "closeness rank": 10
+   },
+   "clock": {
+    "distance": "0.43 meters",
+    "closeness rank": 11
+   },
+   "blanket": {
+    "distance": "0.54 meters",
+    "closeness rank": 12
+   },
+   "door": {
+    "distance": "0.68 meters",
+    "closeness rank": 13
+   },
+   "kettle": {
+    "distance": "0.74 meters",
+    "closeness rank": 14
+   },
+   "power strip": {
+    "distance": "0.77 meters",
+    "closeness rank": 15
+   },
+   "table lamp": {
+    "distance": "0.82 meters",
+    "closeness rank": 16
+   },
+   "tv": {
+    "distance": "1.29 meters",
+    "closeness rank": 17
+   },
+   "ceiling light": {
+    "distance": "1.43 meters",
+    "closeness rank": 18
+   },
+   "basket": {
+    "distance": "2.13 meters",
+    "closeness rank": 19
+   },
+   "trash can": {
+    "distance": "2.34 meters",
+    "closeness rank": 20
+   },
+   "toilet": {
+    "distance": "2.9 meters",
+    "closeness rank": 21
+   },
+   "bookshelf": {
+    "distance": "3.06 meters",
+    "closeness rank": 22
+   },
+   "telephone": {
+    "distance": "3.46 meters",
+    "closeness rank": 23
+   }
+  },
+  "table lamp": {
+   "plant": {
+    "distance": "0.09 meters",
+    "closeness rank": 1
+   },
+   "sofa": {
+    "distance": "0.21 meters",
+    "closeness rank": 2
+   },
+   "cushion": {
+    "distance": "0.23 meters",
+    "closeness rank": 3
+   },
+   "pillow": {
+    "distance": "0.39 meters",
+    "closeness rank": 4
+   },
+   "table": {
+    "distance": "0.82 meters",
+    "closeness rank": 5
+   },
+   "cutting board": {
+    "distance": "0.88 meters",
+    "closeness rank": 6
+   },
+   "bowl": {
+    "distance": "0.97 meters",
+    "closeness rank": 7
+   },
+   "cup": {
+    "distance": "0.99 meters",
+    "closeness rank": 8
+   },
+   "chair": {
+    "distance": "1.35 meters",
+    "closeness rank": 9
+   },
+   "power strip": {
+    "distance": "1.37 meters",
+    "closeness rank": 10
+   },
+   "door": {
+    "distance": "1.54 meters",
+    "closeness rank": 11
+   },
+   "ceiling light": {
+    "distance": "1.67 meters",
+    "closeness rank": 12
+   },
+   "tv": {
+    "distance": "2.37 meters",
+    "closeness rank": 13
+   },
+   "kettle": {
+    "distance": "3.35 meters",
+    "closeness rank": 14
+   },
+   "laptop": {
+    "distance": "3.51 meters",
+    "closeness rank": 15
+   },
+   "bed": {
+    "distance": "3.66 meters",
+    "closeness rank": 16
+   },
+   "blanket": {
+    "distance": "3.83 meters",
+    "closeness rank": 17
+   },
+   "clock": {
+    "distance": "3.98 meters",
+    "closeness rank": 18
+   },
+   "bookshelf": {
+    "distance": "4.55 meters",
+    "closeness rank": 19
+   },
+   "basket": {
+    "distance": "5.57 meters",
+    "closeness rank": 20
+   },
+   "trash can": {
+    "distance": "5.77 meters",
+    "closeness rank": 21
+   },
+   "toilet": {
+    "distance": "6.06 meters",
+    "closeness rank": 22
+   },
+   "telephone": {
+    "distance": "6.22 meters",
+    "closeness rank": 23
+   }
+  },
+  "telephone": {
+   "door": {
+    "distance": "0.06 meters",
+    "closeness rank": 1
+   },
+   "toilet": {
+    "distance": "0.26 meters",
+    "closeness rank": 2
+   },
+   "basket": {
+    "distance": "1.38 meters",
+    "closeness rank": 3
+   },
+   "trash can": {
+    "distance": "1.42 meters",
+    "closeness rank": 4
+   },
+   "blanket": {
+    "distance": "1.57 meters",
+    "closeness rank": 5
+   },
+   "bed": {
+    "distance": "1.67 meters",
+    "closeness rank": 6
+   },
+   "bookshelf": {
+    "distance": "2.05 meters",
+    "closeness rank": 7
+   },
+   "pillow": {
+    "distance": "2.14 meters",
+    "closeness rank": 8
+   },
+   "cushion": {
+    "distance": "2.69 meters",
+    "closeness rank": 9
+   },
+   "tv": {
+    "distance": "2.92 meters",
+    "closeness rank": 10
+   },
+   "plant": {
+    "distance": "3.28 meters",
+    "closeness rank": 11
+   },
+   "table": {
+    "distance": "3.46 meters",
+    "closeness rank": 12
+   },
+   "chair": {
+    "distance": "3.62 meters",
+    "closeness rank": 13
+   },
+   "sofa": {
+    "distance": "3.95 meters",
+    "closeness rank": 14
+   },
+   "ceiling light": {
+    "distance": "4.02 meters",
+    "closeness rank": 15
+   },
+   "laptop": {
+    "distance": "4.07 meters",
+    "closeness rank": 16
+   },
+   "clock": {
+    "distance": "4.38 meters",
+    "closeness rank": 17
+   },
+   "power strip": {
+    "distance": "4.75 meters",
+    "closeness rank": 18
+   },
+   "kettle": {
+    "distance": "4.79 meters",
+    "closeness rank": 19
+   },
+   "bowl": {
+    "distance": "5.04 meters",
+    "closeness rank": 20
+   },
+   "cup": {
+    "distance": "5.07 meters",
+    "closeness rank": 21
+   },
+   "cutting board": {
+    "distance": "5.1 meters",
+    "closeness rank": 22
+   },
+   "table lamp": {
+    "distance": "6.22 meters",
+    "closeness rank": 23
+   }
+  },
+  "toilet": {
+   "door": {
+    "distance": "0.07 meters",
+    "closeness rank": 1
+   },
+   "telephone": {
+    "distance": "0.26 meters",
+    "closeness rank": 2
+   },
+   "basket": {
+    "distance": "0.45 meters",
+    "closeness rank": 3
+   },
+   "trash can": {
+    "distance": "0.5 meters",
+    "closeness rank": 4
+   },
+   "blanket": {
+    "distance": "1.14 meters",
+    "closeness rank": 5
+   },
+   "pillow": {
+    "distance": "1.14 meters",
+    "closeness rank": 6
+   },
+   "bed": {
+    "distance": "1.23 meters",
+    "closeness rank": 7
+   },
+   "cushion": {
+    "distance": "1.81 meters",
+    "closeness rank": 8
+   },
+   "bookshelf": {
+    "distance": "1.94 meters",
+    "closeness rank": 9
+   },
+   "plant": {
+    "distance": "2.77 meters",
+    "closeness rank": 10
+   },
+   "tv": {
+    "distance": "2.81 meters",
+    "closeness rank": 11
+   },
+   "table": {
+    "distance": "2.9 meters",
+    "closeness rank": 12
+   },
+   "chair": {
+    "distance": "3.09 meters",
+    "closeness rank": 13
+   },
+   "laptop": {
+    "distance": "3.54 meters",
+    "closeness rank": 14
+   },
+   "sofa": {
+    "distance": "3.68 meters",
+    "closeness rank": 15
+   },
+   "clock": {
+    "distance": "3.72 meters",
+    "closeness rank": 16
+   },
+   "ceiling light": {
+    "distance": "4.01 meters",
+    "closeness rank": 17
+   },
+   "kettle": {
+    "distance": "4.26 meters",
+    "closeness rank": 18
+   },
+   "power strip": {
+    "distance": "4.55 meters",
+    "closeness rank": 19
+   },
+   "cutting board": {
+    "distance": "4.69 meters",
+    "closeness rank": 20
+   },
+   "bowl": {
+    "distance": "4.7 meters",
+    "closeness rank": 21
+   },
+   "cup": {
+    "distance": "4.75 meters",
+    "closeness rank": 22
+   },
+   "table lamp": {
+    "distance": "6.06 meters",
+    "closeness rank": 23
+   }
+  },
+  "trash can": {
+   "basket": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "door": {
+    "distance": "0.45 meters",
+    "closeness rank": 2
+   },
+   "toilet": {
+    "distance": "0.5 meters",
+    "closeness rank": 3
+   },
+   "blanket": {
+    "distance": "0.66 meters",
+    "closeness rank": 4
+   },
+   "bed": {
+    "distance": "0.75 meters",
+    "closeness rank": 5
+   },
+   "pillow": {
+    "distance": "0.83 meters",
+    "closeness rank": 6
+   },
+   "cushion": {
+    "distance": "1.39 meters",
+    "closeness rank": 7
+   },
+   "telephone": {
+    "distance": "1.42 meters",
+    "closeness rank": 8
+   },
+   "bookshelf": {
+    "distance": "2.19 meters",
+    "closeness rank": 9
+   },
+   "plant": {
+    "distance": "2.24 meters",
+    "closeness rank": 10
+   },
+   "table": {
+    "distance": "2.34 meters",
+    "closeness rank": 11
+   },
+   "chair": {
+    "distance": "2.57 meters",
+    "closeness rank": 12
+   },
+   "tv": {
+    "distance": "2.85 meters",
+    "closeness rank": 13
+   },
+   "laptop": {
+    "distance": "2.98 meters",
+    "closeness rank": 14
+   },
+   "clock": {
+    "distance": "3.29 meters",
+    "closeness rank": 15
+   },
+   "sofa": {
+    "distance": "3.46 meters",
+    "closeness rank": 16
+   },
+   "ceiling light": {
+    "distance": "3.66 meters",
+    "closeness rank": 17
+   },
+   "kettle": {
+    "distance": "3.7 meters",
+    "closeness rank": 18
+   },
+   "cutting board": {
+    "distance": "4.27 meters",
+    "closeness rank": 19
+   },
+   "bowl": {
+    "distance": "4.31 meters",
+    "closeness rank": 20
+   },
+   "power strip": {
+    "distance": "4.36 meters",
+    "closeness rank": 21
+   },
+   "cup": {
+    "distance": "4.41 meters",
+    "closeness rank": 22
+   },
+   "table lamp": {
+    "distance": "5.77 meters",
+    "closeness rank": 23
+   }
+  },
+  "tv": {
+   "plant": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "sofa": {
+    "distance": "0.19 meters",
+    "closeness rank": 2
+   },
+   "cushion": {
+    "distance": "0.59 meters",
+    "closeness rank": 3
+   },
+   "door": {
+    "distance": "0.61 meters",
+    "closeness rank": 4
+   },
+   "pillow": {
+    "distance": "0.61 meters",
+    "closeness rank": 5
+   },
+   "power strip": {
+    "distance": "0.81 meters",
+    "closeness rank": 6
+   },
+   "bookshelf": {
+    "distance": "0.96 meters",
+    "closeness rank": 7
+   },
+   "blanket": {
+    "distance": "1.22 meters",
+    "closeness rank": 8
+   },
+   "table": {
+    "distance": "1.29 meters",
+    "closeness rank": 9
+   },
+   "bed": {
+    "distance": "1.35 meters",
+    "closeness rank": 10
+   },
+   "chair": {
+    "distance": "1.38 meters",
+    "closeness rank": 11
+   },
+   "cutting board": {
+    "distance": "1.55 meters",
+    "closeness rank": 12
+   },
+   "cup": {
+    "distance": "1.57 meters",
+    "closeness rank": 13
+   },
+   "bowl": {
+    "distance": "1.64 meters",
+    "closeness rank": 14
+   },
+   "ceiling light": {
+    "distance": "2.0 meters",
+    "closeness rank": 15
+   },
+   "table lamp": {
+    "distance": "2.37 meters",
+    "closeness rank": 16
+   },
+   "basket": {
+    "distance": "2.7 meters",
+    "closeness rank": 17
+   },
+   "toilet": {
+    "distance": "2.81 meters",
+    "closeness rank": 18
+   },
+   "trash can": {
+    "distance": "2.85 meters",
+    "closeness rank": 19
+   },
+   "telephone": {
+    "distance": "2.92 meters",
+    "closeness rank": 20
+   },
+   "laptop": {
+    "distance": "3.0 meters",
+    "closeness rank": 21
+   },
+   "kettle": {
+    "distance": "3.19 meters",
+    "closeness rank": 22
+   },
+   "clock": {
+    "distance": "3.48 meters",
+    "closeness rank": 23
+   }
+  }
+ },
+ "appearance order": ["door", "toilet", "basket", "telephone", "ceiling light", "plant", "chair", "cushion", "pillow", "laptop", "table", "table lamp", "tv", "sofa", "clock", "bed", "kettle", "bowl", "cup", "cutting board", "power strip", "blanket", "bookshelf", "trash can"]
+}
\ No newline at end of file
diff --git a/data/spatial codes/sam3+depth-anything-3/metric/tracking/selective/64/explicit/7831862f02.json b/data/spatial codes/sam3+depth-anything-3/metric/tracking/selective/64/explicit/7831862f02.json
new file mode 100644
index 0000000000000000000000000000000000000000..3a0e0781419850e14a87530814c92cb75643329c
--- /dev/null
+++ b/data/spatial codes/sam3+depth-anything-3/metric/tracking/selective/64/explicit/7831862f02.json	
@@ -0,0 +1,1006 @@
+{
+ "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": "-1.79 meters",
+      "y coordinate": "2.7 meters",
+      "height above floor": "2.45 meters"
+     },
+     "longest dimension": "2.65 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-0.44 meters",
+      "y coordinate": "2.27 meters",
+      "height above floor": "1.8 meters"
+     },
+     "longest dimension": "2.69 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-0.73 meters",
+      "y coordinate": "0.19 meters",
+      "height above floor": "1.83 meters"
+     },
+     "longest dimension": "1.9 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "5.18 meters",
+      "y coordinate": "4.6 meters",
+      "height above floor": "2.1 meters"
+     },
+     "longest dimension": "2.38 meters"
+    }
+   ]
+  },
+  "chair": {
+   "count": 11,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-0.97 meters",
+      "y coordinate": "2.48 meters",
+      "height above floor": "-0.03 meters"
+     },
+     "longest dimension": "0.96 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-3.14 meters",
+      "y coordinate": "0.66 meters",
+      "height above floor": "-0.08 meters"
+     },
+     "longest dimension": "1.02 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-0.53 meters",
+      "y coordinate": "3.64 meters",
+      "height above floor": "0.03 meters"
+     },
+     "longest dimension": "0.96 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-2.43 meters",
+      "y coordinate": "4.4 meters",
+      "height above floor": "0.01 meters"
+     },
+     "longest dimension": "0.69 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-2.3 meters",
+      "y coordinate": "5.16 meters",
+      "height above floor": "0.13 meters"
+     },
+     "longest dimension": "3.3 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "4.51 meters",
+      "y coordinate": "5.47 meters",
+      "height above floor": "0.14 meters"
+     },
+     "longest dimension": "1.0 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "2.62 meters",
+      "y coordinate": "7.87 meters",
+      "height above floor": "0.28 meters"
+     },
+     "longest dimension": "1.25 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-6.48 meters",
+      "y coordinate": "9.98 meters",
+      "height above floor": "0.18 meters"
+     },
+     "longest dimension": "1.08 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-0.88 meters",
+      "y coordinate": "11.6 meters",
+      "height above floor": "0.24 meters"
+     },
+     "longest dimension": "1.23 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "0.9 meters",
+      "y coordinate": "10.79 meters",
+      "height above floor": "0.36 meters"
+     },
+     "longest dimension": "1.74 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-1.67 meters",
+      "y coordinate": "12.0 meters",
+      "height above floor": "0.55 meters"
+     },
+     "longest dimension": "1.34 meters"
+    }
+   ]
+  },
+  "crate": {
+   "count": 3,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-1.54 meters",
+      "y coordinate": "0.85 meters",
+      "height above floor": "-0.24 meters"
+     },
+     "longest dimension": "0.42 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-2.13 meters",
+      "y coordinate": "-0.28 meters",
+      "height above floor": "0.09 meters"
+     },
+     "longest dimension": "0.48 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-2.13 meters",
+      "y coordinate": "-0.27 meters",
+      "height above floor": "-0.25 meters"
+     },
+     "longest dimension": "0.41 meters"
+    }
+   ]
+  },
+  "cushion": {
+   "count": 4,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-1.62 meters",
+      "y coordinate": "1.61 meters",
+      "height above floor": "0.0 meters"
+     },
+     "longest dimension": "0.82 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-2.48 meters",
+      "y coordinate": "5.17 meters",
+      "height above floor": "0.05 meters"
+     },
+     "longest dimension": "0.56 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "4.44 meters",
+      "y coordinate": "5.2 meters",
+      "height above floor": "0.07 meters"
+     },
+     "longest dimension": "0.62 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "4.62 meters",
+      "y coordinate": "5.67 meters",
+      "height above floor": "0.29 meters"
+     },
+     "longest dimension": "0.56 meters"
+    }
+   ]
+  },
+  "door": {
+   "count": 3,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-3.16 meters",
+      "y coordinate": "-0.23 meters",
+      "height above floor": "0.68 meters"
+     },
+     "longest dimension": "2.75 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-0.66 meters",
+      "y coordinate": "-0.81 meters",
+      "height above floor": "1.03 meters"
+     },
+     "longest dimension": "3.8 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "3.95 meters",
+      "y coordinate": "10.78 meters",
+      "height above floor": "0.7 meters"
+     },
+     "longest dimension": "1.5 meters"
+    }
+   ]
+  },
+  "exhaust fan": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-0.62 meters",
+      "y coordinate": "0.55 meters",
+      "height above floor": "1.7 meters"
+     },
+     "longest dimension": "3.09 meters"
+    }
+   ]
+  },
+  "heater": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "1.39 meters",
+      "y coordinate": "-1.35 meters",
+      "height above floor": "0.78 meters"
+     },
+     "longest dimension": "1.43 meters"
+    }
+   ]
+  },
+  "pillow": {
+   "count": 5,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-1.34 meters",
+      "y coordinate": "1.58 meters",
+      "height above floor": "0.01 meters"
+     },
+     "longest dimension": "0.44 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-1.02 meters",
+      "y coordinate": "2.05 meters",
+      "height above floor": "0.01 meters"
+     },
+     "longest dimension": "0.41 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-1.31 meters",
+      "y coordinate": "1.11 meters",
+      "height above floor": "0.02 meters"
+     },
+     "longest dimension": "0.36 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-2.35 meters",
+      "y coordinate": "3.23 meters",
+      "height above floor": "0.02 meters"
+     },
+     "longest dimension": "0.44 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-2.41 meters",
+      "y coordinate": "2.91 meters",
+      "height above floor": "0.03 meters"
+     },
+     "longest dimension": "0.34 meters"
+    }
+   ]
+  },
+  "sofa": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-0.49 meters",
+      "y coordinate": "2.15 meters",
+      "height above floor": "0.01 meters"
+     },
+     "longest dimension": "1.8 meters"
+    }
+   ]
+  },
+  "table": {
+   "count": 6,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-1.09 meters",
+      "y coordinate": "2.0 meters",
+      "height above floor": "-0.17 meters"
+     },
+     "longest dimension": "0.67 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-0.36 meters",
+      "y coordinate": "2.97 meters",
+      "height above floor": "-0.15 meters"
+     },
+     "longest dimension": "0.42 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-1.78 meters",
+      "y coordinate": "4.27 meters",
+      "height above floor": "-0.16 meters"
+     },
+     "longest dimension": "0.8 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-2.93 meters",
+      "y coordinate": "3.98 meters",
+      "height above floor": "-0.16 meters"
+     },
+     "longest dimension": "0.41 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "1.66 meters",
+      "y coordinate": "10.4 meters",
+      "height above floor": "0.19 meters"
+     },
+     "longest dimension": "1.99 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-1.79 meters",
+      "y coordinate": "11.19 meters",
+      "height above floor": "0.21 meters"
+     },
+     "longest dimension": "2.25 meters"
+    }
+   ]
+  },
+  "trash can": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-1.26 meters",
+      "y coordinate": "2.63 meters",
+      "height above floor": "-0.17 meters"
+     },
+     "longest dimension": "0.58 meters"
+    }
+   ]
+  },
+  "whiteboard": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-4.04 meters",
+      "y coordinate": "2.72 meters",
+      "height above floor": "1.12 meters"
+     },
+     "longest dimension": "4.96 meters"
+    }
+   ]
+  }
+ },
+ "room": {
+  "floor area": "85.0 square meters"
+ },
+ "closest classes distance meters from": {
+  "ceiling light": {
+   "door": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "exhaust fan": {
+    "distance": "0.0 meters",
+    "closeness rank": 2
+   },
+   "whiteboard": {
+    "distance": "0.4 meters",
+    "closeness rank": 3
+   },
+   "crate": {
+    "distance": "1.34 meters",
+    "closeness rank": 4
+   },
+   "sofa": {
+    "distance": "1.37 meters",
+    "closeness rank": 5
+   },
+   "chair": {
+    "distance": "1.4 meters",
+    "closeness rank": 6
+   },
+   "pillow": {
+    "distance": "1.58 meters",
+    "closeness rank": 7
+   },
+   "table": {
+    "distance": "1.59 meters",
+    "closeness rank": 8
+   },
+   "heater": {
+    "distance": "1.6 meters",
+    "closeness rank": 9
+   },
+   "trash can": {
+    "distance": "1.62 meters",
+    "closeness rank": 10
+   },
+   "cushion": {
+    "distance": "1.66 meters",
+    "closeness rank": 11
+   }
+  },
+  "chair": {
+   "cushion": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "pillow": {
+    "distance": "0.0 meters",
+    "closeness rank": 2
+   },
+   "sofa": {
+    "distance": "0.0 meters",
+    "closeness rank": 3
+   },
+   "table": {
+    "distance": "0.0 meters",
+    "closeness rank": 4
+   },
+   "trash can": {
+    "distance": "0.0 meters",
+    "closeness rank": 5
+   },
+   "whiteboard": {
+    "distance": "0.0 meters",
+    "closeness rank": 6
+   },
+   "door": {
+    "distance": "0.36 meters",
+    "closeness rank": 7
+   },
+   "crate": {
+    "distance": "0.6 meters",
+    "closeness rank": 8
+   },
+   "exhaust fan": {
+    "distance": "1.28 meters",
+    "closeness rank": 9
+   },
+   "ceiling light": {
+    "distance": "1.4 meters",
+    "closeness rank": 10
+   },
+   "heater": {
+    "distance": "4.06 meters",
+    "closeness rank": 11
+   }
+  },
+  "crate": {
+   "pillow": {
+    "distance": "0.09 meters",
+    "closeness rank": 1
+   },
+   "cushion": {
+    "distance": "0.11 meters",
+    "closeness rank": 2
+   },
+   "door": {
+    "distance": "0.44 meters",
+    "closeness rank": 3
+   },
+   "sofa": {
+    "distance": "0.51 meters",
+    "closeness rank": 4
+   },
+   "chair": {
+    "distance": "0.6 meters",
+    "closeness rank": 5
+   },
+   "table": {
+    "distance": "0.64 meters",
+    "closeness rank": 6
+   },
+   "whiteboard": {
+    "distance": "1.03 meters",
+    "closeness rank": 7
+   },
+   "trash can": {
+    "distance": "1.24 meters",
+    "closeness rank": 8
+   },
+   "exhaust fan": {
+    "distance": "1.3 meters",
+    "closeness rank": 9
+   },
+   "ceiling light": {
+    "distance": "1.34 meters",
+    "closeness rank": 10
+   },
+   "heater": {
+    "distance": "3.35 meters",
+    "closeness rank": 11
+   }
+  },
+  "cushion": {
+   "chair": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "pillow": {
+    "distance": "0.0 meters",
+    "closeness rank": 2
+   },
+   "crate": {
+    "distance": "0.11 meters",
+    "closeness rank": 3
+   },
+   "sofa": {
+    "distance": "0.13 meters",
+    "closeness rank": 4
+   },
+   "table": {
+    "distance": "0.14 meters",
+    "closeness rank": 5
+   },
+   "trash can": {
+    "distance": "0.4 meters",
+    "closeness rank": 6
+   },
+   "whiteboard": {
+    "distance": "0.87 meters",
+    "closeness rank": 7
+   },
+   "exhaust fan": {
+    "distance": "1.54 meters",
+    "closeness rank": 8
+   },
+   "ceiling light": {
+    "distance": "1.66 meters",
+    "closeness rank": 9
+   },
+   "door": {
+    "distance": "1.7 meters",
+    "closeness rank": 10
+   },
+   "heater": {
+    "distance": "3.69 meters",
+    "closeness rank": 11
+   }
+  },
+  "door": {
+   "ceiling light": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "exhaust fan": {
+    "distance": "0.0 meters",
+    "closeness rank": 2
+   },
+   "chair": {
+    "distance": "0.36 meters",
+    "closeness rank": 3
+   },
+   "whiteboard": {
+    "distance": "0.38 meters",
+    "closeness rank": 4
+   },
+   "crate": {
+    "distance": "0.44 meters",
+    "closeness rank": 5
+   },
+   "heater": {
+    "distance": "0.94 meters",
+    "closeness rank": 6
+   },
+   "pillow": {
+    "distance": "1.31 meters",
+    "closeness rank": 7
+   },
+   "sofa": {
+    "distance": "1.59 meters",
+    "closeness rank": 8
+   },
+   "table": {
+    "distance": "1.68 meters",
+    "closeness rank": 9
+   },
+   "cushion": {
+    "distance": "1.7 meters",
+    "closeness rank": 10
+   },
+   "trash can": {
+    "distance": "2.48 meters",
+    "closeness rank": 11
+   }
+  },
+  "exhaust fan": {
+   "ceiling light": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "door": {
+    "distance": "0.0 meters",
+    "closeness rank": 2
+   },
+   "sofa": {
+    "distance": "1.24 meters",
+    "closeness rank": 3
+   },
+   "chair": {
+    "distance": "1.28 meters",
+    "closeness rank": 4
+   },
+   "crate": {
+    "distance": "1.3 meters",
+    "closeness rank": 5
+   },
+   "pillow": {
+    "distance": "1.5 meters",
+    "closeness rank": 6
+   },
+   "table": {
+    "distance": "1.52 meters",
+    "closeness rank": 7
+   },
+   "cushion": {
+    "distance": "1.54 meters",
+    "closeness rank": 8
+   },
+   "trash can": {
+    "distance": "1.62 meters",
+    "closeness rank": 9
+   },
+   "whiteboard": {
+    "distance": "1.73 meters",
+    "closeness rank": 10
+   },
+   "heater": {
+    "distance": "1.93 meters",
+    "closeness rank": 11
+   }
+  },
+  "heater": {
+   "door": {
+    "distance": "0.94 meters",
+    "closeness rank": 1
+   },
+   "ceiling light": {
+    "distance": "1.6 meters",
+    "closeness rank": 2
+   },
+   "exhaust fan": {
+    "distance": "1.93 meters",
+    "closeness rank": 3
+   },
+   "pillow": {
+    "distance": "3.35 meters",
+    "closeness rank": 4
+   },
+   "crate": {
+    "distance": "3.35 meters",
+    "closeness rank": 5
+   },
+   "sofa": {
+    "distance": "3.49 meters",
+    "closeness rank": 6
+   },
+   "cushion": {
+    "distance": "3.69 meters",
+    "closeness rank": 7
+   },
+   "table": {
+    "distance": "3.71 meters",
+    "closeness rank": 8
+   },
+   "chair": {
+    "distance": "4.06 meters",
+    "closeness rank": 9
+   },
+   "trash can": {
+    "distance": "4.37 meters",
+    "closeness rank": 10
+   },
+   "whiteboard": {
+    "distance": "4.84 meters",
+    "closeness rank": 11
+   }
+  },
+  "pillow": {
+   "chair": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "cushion": {
+    "distance": "0.0 meters",
+    "closeness rank": 2
+   },
+   "sofa": {
+    "distance": "0.0 meters",
+    "closeness rank": 3
+   },
+   "table": {
+    "distance": "0.0 meters",
+    "closeness rank": 4
+   },
+   "trash can": {
+    "distance": "0.07 meters",
+    "closeness rank": 5
+   },
+   "crate": {
+    "distance": "0.09 meters",
+    "closeness rank": 6
+   },
+   "whiteboard": {
+    "distance": "0.81 meters",
+    "closeness rank": 7
+   },
+   "door": {
+    "distance": "1.31 meters",
+    "closeness rank": 8
+   },
+   "exhaust fan": {
+    "distance": "1.5 meters",
+    "closeness rank": 9
+   },
+   "ceiling light": {
+    "distance": "1.58 meters",
+    "closeness rank": 10
+   },
+   "heater": {
+    "distance": "3.35 meters",
+    "closeness rank": 11
+   }
+  },
+  "sofa": {
+   "chair": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "pillow": {
+    "distance": "0.0 meters",
+    "closeness rank": 2
+   },
+   "table": {
+    "distance": "0.0 meters",
+    "closeness rank": 3
+   },
+   "trash can": {
+    "distance": "0.03 meters",
+    "closeness rank": 4
+   },
+   "cushion": {
+    "distance": "0.13 meters",
+    "closeness rank": 5
+   },
+   "crate": {
+    "distance": "0.51 meters",
+    "closeness rank": 6
+   },
+   "exhaust fan": {
+    "distance": "1.24 meters",
+    "closeness rank": 7
+   },
+   "ceiling light": {
+    "distance": "1.37 meters",
+    "closeness rank": 8
+   },
+   "door": {
+    "distance": "1.59 meters",
+    "closeness rank": 9
+   },
+   "whiteboard": {
+    "distance": "1.89 meters",
+    "closeness rank": 10
+   },
+   "heater": {
+    "distance": "3.49 meters",
+    "closeness rank": 11
+   }
+  },
+  "table": {
+   "chair": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "pillow": {
+    "distance": "0.0 meters",
+    "closeness rank": 2
+   },
+   "sofa": {
+    "distance": "0.0 meters",
+    "closeness rank": 3
+   },
+   "trash can": {
+    "distance": "0.0 meters",
+    "closeness rank": 4
+   },
+   "cushion": {
+    "distance": "0.14 meters",
+    "closeness rank": 5
+   },
+   "whiteboard": {
+    "distance": "0.38 meters",
+    "closeness rank": 6
+   },
+   "crate": {
+    "distance": "0.64 meters",
+    "closeness rank": 7
+   },
+   "exhaust fan": {
+    "distance": "1.52 meters",
+    "closeness rank": 8
+   },
+   "ceiling light": {
+    "distance": "1.59 meters",
+    "closeness rank": 9
+   },
+   "door": {
+    "distance": "1.68 meters",
+    "closeness rank": 10
+   },
+   "heater": {
+    "distance": "3.71 meters",
+    "closeness rank": 11
+   }
+  },
+  "trash can": {
+   "chair": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "table": {
+    "distance": "0.0 meters",
+    "closeness rank": 2
+   },
+   "sofa": {
+    "distance": "0.03 meters",
+    "closeness rank": 3
+   },
+   "pillow": {
+    "distance": "0.07 meters",
+    "closeness rank": 4
+   },
+   "cushion": {
+    "distance": "0.4 meters",
+    "closeness rank": 5
+   },
+   "crate": {
+    "distance": "1.24 meters",
+    "closeness rank": 6
+   },
+   "exhaust fan": {
+    "distance": "1.62 meters",
+    "closeness rank": 7
+   },
+   "ceiling light": {
+    "distance": "1.62 meters",
+    "closeness rank": 8
+   },
+   "whiteboard": {
+    "distance": "1.82 meters",
+    "closeness rank": 9
+   },
+   "door": {
+    "distance": "2.48 meters",
+    "closeness rank": 10
+   },
+   "heater": {
+    "distance": "4.37 meters",
+    "closeness rank": 11
+   }
+  },
+  "whiteboard": {
+   "chair": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "table": {
+    "distance": "0.38 meters",
+    "closeness rank": 2
+   },
+   "door": {
+    "distance": "0.38 meters",
+    "closeness rank": 3
+   },
+   "ceiling light": {
+    "distance": "0.4 meters",
+    "closeness rank": 4
+   },
+   "pillow": {
+    "distance": "0.81 meters",
+    "closeness rank": 5
+   },
+   "cushion": {
+    "distance": "0.87 meters",
+    "closeness rank": 6
+   },
+   "crate": {
+    "distance": "1.03 meters",
+    "closeness rank": 7
+   },
+   "exhaust fan": {
+    "distance": "1.73 meters",
+    "closeness rank": 8
+   },
+   "trash can": {
+    "distance": "1.82 meters",
+    "closeness rank": 9
+   },
+   "sofa": {
+    "distance": "1.89 meters",
+    "closeness rank": 10
+   },
+   "heater": {
+    "distance": "4.84 meters",
+    "closeness rank": 11
+   }
+  }
+ },
+ "appearance order": ["chair", "table", "cushion", "door", "ceiling light", "whiteboard", "crate", "sofa", "pillow", "trash can", "heater", "exhaust fan"]
+}
\ No newline at end of file
diff --git a/data/spatial codes/sam3+depth-anything-3/metric/tracking/selective/64/explicit/7bc286c1b6.json b/data/spatial codes/sam3+depth-anything-3/metric/tracking/selective/64/explicit/7bc286c1b6.json
new file mode 100644
index 0000000000000000000000000000000000000000..043acc39ccba87addd94671f462946e2e7520bf6
--- /dev/null
+++ b/data/spatial codes/sam3+depth-anything-3/metric/tracking/selective/64/explicit/7bc286c1b6.json	
@@ -0,0 +1,245 @@
+{
+ "spatial code schema": {
+  "objects": {
+   "<object class>": {
+    "count": {
+     "unit": null,
+     "description": "number of instances of this class in the compact spatial code (that schema's per-class oriented-box list length)"
+    },
+    "instances": [
+     {
+      "position": {
+       "x coordinate": {
+        "unit": "meters",
+        "description": "x coordinate of this instance's compact 3D oriented bounding box center"
+       },
+       "y coordinate": {
+        "unit": "meters",
+        "description": "y coordinate of this instance's compact 3D oriented bounding box center"
+       },
+       "height above floor": {
+        "unit": "meters",
+        "description": "height coordinate of this instance's compact 3D oriented bounding box center"
+       }
+      },
+      "longest dimension": {
+       "unit": "meters",
+       "description": "longest of this instance's compact 3D oriented bounding box dimensions"
+      }
+     }
+    ]
+   }
+  },
+  "room": {
+   "floor area": {
+    "unit": "square meters",
+    "description": "shoelace area of the compact spatial code's floor boundary polygons, with every interior hole subtracted"
+   }
+  },
+  "closest classes distance meters from": {
+   "<object class>": {
+    "<other object class>": {
+     "distance": {
+      "unit": "meters",
+      "description": "minimum surface-to-surface separation between the two classes' compact 3D oriented bounding boxes, over every instance pair"
+     },
+     "closeness rank": {
+      "unit": null,
+      "description": "1 = the nearest other class to this one, 2 = second-nearest, and so on"
+     }
+    }
+   }
+  },
+  "appearance order": {
+   "unit": null,
+   "description": "class names ordered by earliest compact 'first visible time' across all of that class's instances"
+  }
+ },
+ "objects": {
+  "ceiling light": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-1.18 meters",
+      "y coordinate": "0.98 meters",
+      "height above floor": "0.66 meters"
+     },
+     "longest dimension": "0.11 meters"
+    }
+   ]
+  },
+  "door": {
+   "count": 4,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "0.76 meters",
+      "y coordinate": "0.43 meters",
+      "height above floor": "0.0 meters"
+     },
+     "longest dimension": "1.16 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "1.04 meters",
+      "y coordinate": "-0.28 meters",
+      "height above floor": "1.11 meters"
+     },
+     "longest dimension": "0.79 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "1.08 meters",
+      "y coordinate": "-0.51 meters",
+      "height above floor": "1.11 meters"
+     },
+     "longest dimension": "0.81 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "0.19 meters",
+      "y coordinate": "-0.77 meters",
+      "height above floor": "0.9 meters"
+     },
+     "longest dimension": "0.44 meters"
+    }
+   ]
+  },
+  "toilet": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "1.13 meters",
+      "y coordinate": "-0.34 meters",
+      "height above floor": "0.52 meters"
+     },
+     "longest dimension": "0.51 meters"
+    }
+   ]
+  },
+  "trash can": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "1.24 meters",
+      "y coordinate": "0.34 meters",
+      "height above floor": "1.06 meters"
+     },
+     "longest dimension": "0.32 meters"
+    }
+   ]
+  },
+  "whiteboard": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "0.15 meters",
+      "y coordinate": "-0.77 meters",
+      "height above floor": "1.19 meters"
+     },
+     "longest dimension": "0.46 meters"
+    }
+   ]
+  }
+ },
+ "room": {
+  "floor area": "8.1 square meters"
+ },
+ "closest classes distance meters from": {
+  "ceiling light": {
+   "door": {
+    "distance": "1.52 meters",
+    "closeness rank": 1
+   },
+   "whiteboard": {
+    "distance": "2.03 meters",
+    "closeness rank": 2
+   },
+   "trash can": {
+    "distance": "2.34 meters",
+    "closeness rank": 3
+   },
+   "toilet": {
+    "distance": "2.45 meters",
+    "closeness rank": 4
+   }
+  },
+  "door": {
+   "whiteboard": {
+    "distance": "0.2 meters",
+    "closeness rank": 1
+   },
+   "trash can": {
+    "distance": "0.31 meters",
+    "closeness rank": 2
+   },
+   "toilet": {
+    "distance": "0.42 meters",
+    "closeness rank": 3
+   },
+   "ceiling light": {
+    "distance": "1.52 meters",
+    "closeness rank": 4
+   }
+  },
+  "toilet": {
+   "door": {
+    "distance": "0.42 meters",
+    "closeness rank": 1
+   },
+   "trash can": {
+    "distance": "0.45 meters",
+    "closeness rank": 2
+   },
+   "whiteboard": {
+    "distance": "0.91 meters",
+    "closeness rank": 3
+   },
+   "ceiling light": {
+    "distance": "2.45 meters",
+    "closeness rank": 4
+   }
+  },
+  "trash can": {
+   "door": {
+    "distance": "0.31 meters",
+    "closeness rank": 1
+   },
+   "toilet": {
+    "distance": "0.45 meters",
+    "closeness rank": 2
+   },
+   "whiteboard": {
+    "distance": "1.22 meters",
+    "closeness rank": 3
+   },
+   "ceiling light": {
+    "distance": "2.34 meters",
+    "closeness rank": 4
+   }
+  },
+  "whiteboard": {
+   "door": {
+    "distance": "0.2 meters",
+    "closeness rank": 1
+   },
+   "toilet": {
+    "distance": "0.91 meters",
+    "closeness rank": 2
+   },
+   "trash can": {
+    "distance": "1.22 meters",
+    "closeness rank": 3
+   },
+   "ceiling light": {
+    "distance": "2.03 meters",
+    "closeness rank": 4
+   }
+  }
+ },
+ "appearance order": ["toilet", "ceiling light", "door", "whiteboard", "trash can"]
+}
\ No newline at end of file
diff --git a/data/spatial codes/sam3+depth-anything-3/metric/tracking/selective/64/explicit/99fa5c25e1.json b/data/spatial codes/sam3+depth-anything-3/metric/tracking/selective/64/explicit/99fa5c25e1.json
new file mode 100644
index 0000000000000000000000000000000000000000..f583681f304d735984271efff53127caff61637f
--- /dev/null
+++ b/data/spatial codes/sam3+depth-anything-3/metric/tracking/selective/64/explicit/99fa5c25e1.json	
@@ -0,0 +1,966 @@
+{
+ "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": {
+  "bucket": {
+   "count": 2,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "2.29 meters",
+      "y coordinate": "-1.27 meters",
+      "height above floor": "-0.65 meters"
+     },
+     "longest dimension": "0.29 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "2.64 meters",
+      "y coordinate": "-1.26 meters",
+      "height above floor": "-0.59 meters"
+     },
+     "longest dimension": "0.35 meters"
+    }
+   ]
+  },
+  "ceiling light": {
+   "count": 16,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "1.78 meters",
+      "y coordinate": "0.39 meters",
+      "height above floor": "0.53 meters"
+     },
+     "longest dimension": "0.2 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "7.75 meters",
+      "y coordinate": "-0.93 meters",
+      "height above floor": "3.11 meters"
+     },
+     "longest dimension": "0.73 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "6.34 meters",
+      "y coordinate": "-5.01 meters",
+      "height above floor": "3.03 meters"
+     },
+     "longest dimension": "1.09 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "8.01 meters",
+      "y coordinate": "-1.24 meters",
+      "height above floor": "3.07 meters"
+     },
+     "longest dimension": "1.52 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "7.47 meters",
+      "y coordinate": "-8.28 meters",
+      "height above floor": "3.17 meters"
+     },
+     "longest dimension": "1.31 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "8.72 meters",
+      "y coordinate": "0.41 meters",
+      "height above floor": "3.3 meters"
+     },
+     "longest dimension": "0.96 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "7.76 meters",
+      "y coordinate": "2.26 meters",
+      "height above floor": "3.17 meters"
+     },
+     "longest dimension": "0.61 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "6.54 meters",
+      "y coordinate": "2.02 meters",
+      "height above floor": "3.59 meters"
+     },
+     "longest dimension": "0.31 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "9.8 meters",
+      "y coordinate": "1.5 meters",
+      "height above floor": "3.07 meters"
+     },
+     "longest dimension": "0.76 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "10.37 meters",
+      "y coordinate": "-0.99 meters",
+      "height above floor": "2.89 meters"
+     },
+     "longest dimension": "0.68 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "4.19 meters",
+      "y coordinate": "-1.82 meters",
+      "height above floor": "2.36 meters"
+     },
+     "longest dimension": "0.28 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "4.19 meters",
+      "y coordinate": "-3.86 meters",
+      "height above floor": "4.01 meters"
+     },
+     "longest dimension": "0.92 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "4.23 meters",
+      "y coordinate": "-12.78 meters",
+      "height above floor": "3.83 meters"
+     },
+     "longest dimension": "0.51 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "9.28 meters",
+      "y coordinate": "-6.58 meters",
+      "height above floor": "3.01 meters"
+     },
+     "longest dimension": "1.26 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "7.32 meters",
+      "y coordinate": "-10.64 meters",
+      "height above floor": "3.91 meters"
+     },
+     "longest dimension": "1.12 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "1.98 meters",
+      "y coordinate": "-10.29 meters",
+      "height above floor": "4.14 meters"
+     },
+     "longest dimension": "0.75 meters"
+    }
+   ]
+  },
+  "chair": {
+   "count": 4,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "1.09 meters",
+      "y coordinate": "-3.34 meters",
+      "height above floor": "-0.18 meters"
+     },
+     "longest dimension": "1.12 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-0.08 meters",
+      "y coordinate": "-1.82 meters",
+      "height above floor": "-0.24 meters"
+     },
+     "longest dimension": "0.97 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "1.06 meters",
+      "y coordinate": "-3.2 meters",
+      "height above floor": "0.23 meters"
+     },
+     "longest dimension": "1.01 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "1.75 meters",
+      "y coordinate": "-4.35 meters",
+      "height above floor": "-0.49 meters"
+     },
+     "longest dimension": "0.64 meters"
+    }
+   ]
+  },
+  "crate": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-1.06 meters",
+      "y coordinate": "0.65 meters",
+      "height above floor": "0.23 meters"
+     },
+     "longest dimension": "0.35 meters"
+    }
+   ]
+  },
+  "cup": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-0.58 meters",
+      "y coordinate": "0.53 meters",
+      "height above floor": "-0.01 meters"
+     },
+     "longest dimension": "0.19 meters"
+    }
+   ]
+  },
+  "door": {
+   "count": 2,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "1.47 meters",
+      "y coordinate": "-1.78 meters",
+      "height above floor": "-0.03 meters"
+     },
+     "longest dimension": "1.38 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "1.04 meters",
+      "y coordinate": "1.41 meters",
+      "height above floor": "0.08 meters"
+     },
+     "longest dimension": "1.02 meters"
+    }
+   ]
+  },
+  "keyboard": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "1.56 meters",
+      "y coordinate": "-3.61 meters",
+      "height above floor": "0.23 meters"
+     },
+     "longest dimension": "0.3 meters"
+    }
+   ]
+  },
+  "laptop": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "1.49 meters",
+      "y coordinate": "-3.56 meters",
+      "height above floor": "0.28 meters"
+     },
+     "longest dimension": "0.65 meters"
+    }
+   ]
+  },
+  "monitor": {
+   "count": 2,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "1.56 meters",
+      "y coordinate": "-3.72 meters",
+      "height above floor": "0.41 meters"
+     },
+     "longest dimension": "0.31 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "0.7 meters",
+      "y coordinate": "-0.23 meters",
+      "height above floor": "0.59 meters"
+     },
+     "longest dimension": "0.28 meters"
+    }
+   ]
+  },
+  "table": {
+   "count": 2,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "1.17 meters",
+      "y coordinate": "-1.68 meters",
+      "height above floor": "-0.35 meters"
+     },
+     "longest dimension": "0.73 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-0.35 meters",
+      "y coordinate": "-0.47 meters",
+      "height above floor": "-0.03 meters"
+     },
+     "longest dimension": "1.49 meters"
+    }
+   ]
+  },
+  "trash can": {
+   "count": 2,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-0.18 meters",
+      "y coordinate": "-2.93 meters",
+      "height above floor": "-0.36 meters"
+     },
+     "longest dimension": "0.77 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "2.39 meters",
+      "y coordinate": "-0.8 meters",
+      "height above floor": "-0.55 meters"
+     },
+     "longest dimension": "0.41 meters"
+    }
+   ]
+  },
+  "whiteboard": {
+   "count": 2,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "1.83 meters",
+      "y coordinate": "0.11 meters",
+      "height above floor": "0.48 meters"
+     },
+     "longest dimension": "1.16 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "1.52 meters",
+      "y coordinate": "-3.57 meters",
+      "height above floor": "0.3 meters"
+     },
+     "longest dimension": "0.61 meters"
+    }
+   ]
+  }
+ },
+ "room": {
+  "floor area": "70.5 square meters"
+ },
+ "closest classes distance meters from": {
+  "bucket": {
+   "trash can": {
+    "distance": "0.24 meters",
+    "closeness rank": 1
+   },
+   "door": {
+    "distance": "0.63 meters",
+    "closeness rank": 2
+   },
+   "table": {
+    "distance": "0.84 meters",
+    "closeness rank": 3
+   },
+   "whiteboard": {
+    "distance": "1.03 meters",
+    "closeness rank": 4
+   },
+   "ceiling light": {
+    "distance": "1.77 meters",
+    "closeness rank": 5
+   },
+   "monitor": {
+    "distance": "1.96 meters",
+    "closeness rank": 6
+   },
+   "chair": {
+    "distance": "2.0 meters",
+    "closeness rank": 7
+   },
+   "laptop": {
+    "distance": "2.06 meters",
+    "closeness rank": 8
+   },
+   "keyboard": {
+    "distance": "2.32 meters",
+    "closeness rank": 9
+   },
+   "cup": {
+    "distance": "3.18 meters",
+    "closeness rank": 10
+   },
+   "crate": {
+    "distance": "3.65 meters",
+    "closeness rank": 11
+   }
+  },
+  "ceiling light": {
+   "whiteboard": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "door": {
+    "distance": "0.68 meters",
+    "closeness rank": 2
+   },
+   "monitor": {
+    "distance": "1.01 meters",
+    "closeness rank": 3
+   },
+   "trash can": {
+    "distance": "1.4 meters",
+    "closeness rank": 4
+   },
+   "bucket": {
+    "distance": "1.77 meters",
+    "closeness rank": 5
+   },
+   "table": {
+    "distance": "1.86 meters",
+    "closeness rank": 6
+   },
+   "cup": {
+    "distance": "2.26 meters",
+    "closeness rank": 7
+   },
+   "chair": {
+    "distance": "2.49 meters",
+    "closeness rank": 8
+   },
+   "crate": {
+    "distance": "2.74 meters",
+    "closeness rank": 9
+   },
+   "laptop": {
+    "distance": "3.34 meters",
+    "closeness rank": 10
+   },
+   "keyboard": {
+    "distance": "3.6 meters",
+    "closeness rank": 11
+   }
+  },
+  "chair": {
+   "laptop": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "whiteboard": {
+    "distance": "0.0 meters",
+    "closeness rank": 2
+   },
+   "keyboard": {
+    "distance": "0.05 meters",
+    "closeness rank": 3
+   },
+   "monitor": {
+    "distance": "0.11 meters",
+    "closeness rank": 4
+   },
+   "table": {
+    "distance": "0.39 meters",
+    "closeness rank": 5
+   },
+   "trash can": {
+    "distance": "0.61 meters",
+    "closeness rank": 6
+   },
+   "door": {
+    "distance": "0.76 meters",
+    "closeness rank": 7
+   },
+   "bucket": {
+    "distance": "2.0 meters",
+    "closeness rank": 8
+   },
+   "cup": {
+    "distance": "2.07 meters",
+    "closeness rank": 9
+   },
+   "crate": {
+    "distance": "2.21 meters",
+    "closeness rank": 10
+   },
+   "ceiling light": {
+    "distance": "2.49 meters",
+    "closeness rank": 11
+   }
+  },
+  "crate": {
+   "cup": {
+    "distance": "0.42 meters",
+    "closeness rank": 1
+   },
+   "table": {
+    "distance": "0.58 meters",
+    "closeness rank": 2
+   },
+   "monitor": {
+    "distance": "1.76 meters",
+    "closeness rank": 3
+   },
+   "door": {
+    "distance": "2.05 meters",
+    "closeness rank": 4
+   },
+   "chair": {
+    "distance": "2.21 meters",
+    "closeness rank": 5
+   },
+   "ceiling light": {
+    "distance": "2.74 meters",
+    "closeness rank": 6
+   },
+   "whiteboard": {
+    "distance": "2.82 meters",
+    "closeness rank": 7
+   },
+   "trash can": {
+    "distance": "3.27 meters",
+    "closeness rank": 8
+   },
+   "bucket": {
+    "distance": "3.65 meters",
+    "closeness rank": 9
+   },
+   "laptop": {
+    "distance": "4.48 meters",
+    "closeness rank": 10
+   },
+   "keyboard": {
+    "distance": "4.75 meters",
+    "closeness rank": 11
+   }
+  },
+  "cup": {
+   "table": {
+    "distance": "0.18 meters",
+    "closeness rank": 1
+   },
+   "crate": {
+    "distance": "0.42 meters",
+    "closeness rank": 2
+   },
+   "monitor": {
+    "distance": "1.38 meters",
+    "closeness rank": 3
+   },
+   "door": {
+    "distance": "1.57 meters",
+    "closeness rank": 4
+   },
+   "chair": {
+    "distance": "2.07 meters",
+    "closeness rank": 5
+   },
+   "ceiling light": {
+    "distance": "2.26 meters",
+    "closeness rank": 6
+   },
+   "whiteboard": {
+    "distance": "2.32 meters",
+    "closeness rank": 7
+   },
+   "trash can": {
+    "distance": "3.09 meters",
+    "closeness rank": 8
+   },
+   "bucket": {
+    "distance": "3.18 meters",
+    "closeness rank": 9
+   },
+   "laptop": {
+    "distance": "4.23 meters",
+    "closeness rank": 10
+   },
+   "keyboard": {
+    "distance": "4.49 meters",
+    "closeness rank": 11
+   }
+  },
+  "door": {
+   "table": {
+    "distance": "0.01 meters",
+    "closeness rank": 1
+   },
+   "bucket": {
+    "distance": "0.63 meters",
+    "closeness rank": 2
+   },
+   "ceiling light": {
+    "distance": "0.68 meters",
+    "closeness rank": 3
+   },
+   "whiteboard": {
+    "distance": "0.7 meters",
+    "closeness rank": 4
+   },
+   "chair": {
+    "distance": "0.76 meters",
+    "closeness rank": 5
+   },
+   "trash can": {
+    "distance": "1.02 meters",
+    "closeness rank": 6
+   },
+   "monitor": {
+    "distance": "1.08 meters",
+    "closeness rank": 7
+   },
+   "laptop": {
+    "distance": "1.2 meters",
+    "closeness rank": 8
+   },
+   "keyboard": {
+    "distance": "1.41 meters",
+    "closeness rank": 9
+   },
+   "cup": {
+    "distance": "1.57 meters",
+    "closeness rank": 10
+   },
+   "crate": {
+    "distance": "2.05 meters",
+    "closeness rank": 11
+   }
+  },
+  "keyboard": {
+   "laptop": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "whiteboard": {
+    "distance": "0.0 meters",
+    "closeness rank": 2
+   },
+   "chair": {
+    "distance": "0.05 meters",
+    "closeness rank": 3
+   },
+   "monitor": {
+    "distance": "0.07 meters",
+    "closeness rank": 4
+   },
+   "door": {
+    "distance": "1.41 meters",
+    "closeness rank": 5
+   },
+   "trash can": {
+    "distance": "1.51 meters",
+    "closeness rank": 6
+   },
+   "table": {
+    "distance": "1.73 meters",
+    "closeness rank": 7
+   },
+   "bucket": {
+    "distance": "2.32 meters",
+    "closeness rank": 8
+   },
+   "ceiling light": {
+    "distance": "3.6 meters",
+    "closeness rank": 9
+   },
+   "cup": {
+    "distance": "4.49 meters",
+    "closeness rank": 10
+   },
+   "crate": {
+    "distance": "4.75 meters",
+    "closeness rank": 11
+   }
+  },
+  "laptop": {
+   "chair": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "keyboard": {
+    "distance": "0.0 meters",
+    "closeness rank": 2
+   },
+   "monitor": {
+    "distance": "0.0 meters",
+    "closeness rank": 3
+   },
+   "whiteboard": {
+    "distance": "0.0 meters",
+    "closeness rank": 4
+   },
+   "door": {
+    "distance": "1.2 meters",
+    "closeness rank": 5
+   },
+   "trash can": {
+    "distance": "1.27 meters",
+    "closeness rank": 6
+   },
+   "table": {
+    "distance": "1.48 meters",
+    "closeness rank": 7
+   },
+   "bucket": {
+    "distance": "2.06 meters",
+    "closeness rank": 8
+   },
+   "ceiling light": {
+    "distance": "3.34 meters",
+    "closeness rank": 9
+   },
+   "cup": {
+    "distance": "4.23 meters",
+    "closeness rank": 10
+   },
+   "crate": {
+    "distance": "4.48 meters",
+    "closeness rank": 11
+   }
+  },
+  "monitor": {
+   "laptop": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "whiteboard": {
+    "distance": "0.0 meters",
+    "closeness rank": 2
+   },
+   "keyboard": {
+    "distance": "0.07 meters",
+    "closeness rank": 3
+   },
+   "chair": {
+    "distance": "0.11 meters",
+    "closeness rank": 4
+   },
+   "table": {
+    "distance": "0.97 meters",
+    "closeness rank": 5
+   },
+   "ceiling light": {
+    "distance": "1.01 meters",
+    "closeness rank": 6
+   },
+   "door": {
+    "distance": "1.08 meters",
+    "closeness rank": 7
+   },
+   "cup": {
+    "distance": "1.38 meters",
+    "closeness rank": 8
+   },
+   "trash can": {
+    "distance": "1.58 meters",
+    "closeness rank": 9
+   },
+   "crate": {
+    "distance": "1.76 meters",
+    "closeness rank": 10
+   },
+   "bucket": {
+    "distance": "1.96 meters",
+    "closeness rank": 11
+   }
+  },
+  "table": {
+   "door": {
+    "distance": "0.01 meters",
+    "closeness rank": 1
+   },
+   "cup": {
+    "distance": "0.18 meters",
+    "closeness rank": 2
+   },
+   "chair": {
+    "distance": "0.39 meters",
+    "closeness rank": 3
+   },
+   "crate": {
+    "distance": "0.58 meters",
+    "closeness rank": 4
+   },
+   "bucket": {
+    "distance": "0.84 meters",
+    "closeness rank": 5
+   },
+   "monitor": {
+    "distance": "0.97 meters",
+    "closeness rank": 6
+   },
+   "whiteboard": {
+    "distance": "1.06 meters",
+    "closeness rank": 7
+   },
+   "trash can": {
+    "distance": "1.2 meters",
+    "closeness rank": 8
+   },
+   "laptop": {
+    "distance": "1.48 meters",
+    "closeness rank": 9
+   },
+   "keyboard": {
+    "distance": "1.73 meters",
+    "closeness rank": 10
+   },
+   "ceiling light": {
+    "distance": "1.86 meters",
+    "closeness rank": 11
+   }
+  },
+  "trash can": {
+   "bucket": {
+    "distance": "0.24 meters",
+    "closeness rank": 1
+   },
+   "chair": {
+    "distance": "0.61 meters",
+    "closeness rank": 2
+   },
+   "whiteboard": {
+    "distance": "0.76 meters",
+    "closeness rank": 3
+   },
+   "door": {
+    "distance": "1.02 meters",
+    "closeness rank": 4
+   },
+   "table": {
+    "distance": "1.2 meters",
+    "closeness rank": 5
+   },
+   "laptop": {
+    "distance": "1.27 meters",
+    "closeness rank": 6
+   },
+   "ceiling light": {
+    "distance": "1.4 meters",
+    "closeness rank": 7
+   },
+   "keyboard": {
+    "distance": "1.51 meters",
+    "closeness rank": 8
+   },
+   "monitor": {
+    "distance": "1.58 meters",
+    "closeness rank": 9
+   },
+   "cup": {
+    "distance": "3.09 meters",
+    "closeness rank": 10
+   },
+   "crate": {
+    "distance": "3.27 meters",
+    "closeness rank": 11
+   }
+  },
+  "whiteboard": {
+   "ceiling light": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "chair": {
+    "distance": "0.0 meters",
+    "closeness rank": 2
+   },
+   "keyboard": {
+    "distance": "0.0 meters",
+    "closeness rank": 3
+   },
+   "laptop": {
+    "distance": "0.0 meters",
+    "closeness rank": 4
+   },
+   "monitor": {
+    "distance": "0.0 meters",
+    "closeness rank": 5
+   },
+   "door": {
+    "distance": "0.7 meters",
+    "closeness rank": 6
+   },
+   "trash can": {
+    "distance": "0.76 meters",
+    "closeness rank": 7
+   },
+   "bucket": {
+    "distance": "1.03 meters",
+    "closeness rank": 8
+   },
+   "table": {
+    "distance": "1.06 meters",
+    "closeness rank": 9
+   },
+   "cup": {
+    "distance": "2.32 meters",
+    "closeness rank": 10
+   },
+   "crate": {
+    "distance": "2.82 meters",
+    "closeness rank": 11
+   }
+  }
+ },
+ "appearance order": ["chair", "ceiling light", "keyboard", "table", "trash can", "laptop", "monitor", "door", "whiteboard", "bucket", "crate", "cup"]
+}
\ No newline at end of file
diff --git a/data/spatial codes/sam3+depth-anything-3/metric/tracking/selective/64/explicit/a980334473.json b/data/spatial codes/sam3+depth-anything-3/metric/tracking/selective/64/explicit/a980334473.json
new file mode 100644
index 0000000000000000000000000000000000000000..4051d2ec759102a4050d98ace221b1e9a18f1fcb
--- /dev/null
+++ b/data/spatial codes/sam3+depth-anything-3/metric/tracking/selective/64/explicit/a980334473.json	
@@ -0,0 +1,576 @@
+{
+ "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": "-1.57 meters",
+      "y coordinate": "-0.44 meters",
+      "height above floor": "0.03 meters"
+     },
+     "longest dimension": "1.32 meters"
+    }
+   ]
+  },
+  "chair": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-0.07 meters",
+      "y coordinate": "0.56 meters",
+      "height above floor": "1.39 meters"
+     },
+     "longest dimension": "0.55 meters"
+    }
+   ]
+  },
+  "door": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "0.2 meters",
+      "y coordinate": "-0.63 meters",
+      "height above floor": "0.81 meters"
+     },
+     "longest dimension": "1.63 meters"
+    }
+   ]
+  },
+  "monitor": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-0.3 meters",
+      "y coordinate": "0.13 meters",
+      "height above floor": "-0.17 meters"
+     },
+     "longest dimension": "0.21 meters"
+    }
+   ]
+  },
+  "power strip": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-0.47 meters",
+      "y coordinate": "0.92 meters",
+      "height above floor": "1.9 meters"
+     },
+     "longest dimension": "0.26 meters"
+    }
+   ]
+  },
+  "printer": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-0.1 meters",
+      "y coordinate": "0.2 meters",
+      "height above floor": "-0.2 meters"
+     },
+     "longest dimension": "1.09 meters"
+    }
+   ]
+  },
+  "table": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-0.23 meters",
+      "y coordinate": "0.65 meters",
+      "height above floor": "0.74 meters"
+     },
+     "longest dimension": "0.98 meters"
+    }
+   ]
+  },
+  "toilet": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-1.07 meters",
+      "y coordinate": "0.45 meters",
+      "height above floor": "1.39 meters"
+     },
+     "longest dimension": "0.32 meters"
+    }
+   ]
+  },
+  "trash can": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "0.57 meters",
+      "y coordinate": "0.11 meters",
+      "height above floor": "1.57 meters"
+     },
+     "longest dimension": "0.47 meters"
+    }
+   ]
+  },
+  "whiteboard": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "0.02 meters",
+      "y coordinate": "0.51 meters",
+      "height above floor": "1.31 meters"
+     },
+     "longest dimension": "0.41 meters"
+    }
+   ]
+  }
+ },
+ "room": {
+  "floor area": "6.3 square meters"
+ },
+ "closest classes distance meters from": {
+  "ceiling light": {
+   "printer": {
+    "distance": "1.0 meters",
+    "closeness rank": 1
+   },
+   "toilet": {
+    "distance": "1.07 meters",
+    "closeness rank": 2
+   },
+   "door": {
+    "distance": "1.1 meters",
+    "closeness rank": 3
+   },
+   "monitor": {
+    "distance": "1.29 meters",
+    "closeness rank": 4
+   },
+   "table": {
+    "distance": "1.64 meters",
+    "closeness rank": 5
+   },
+   "chair": {
+    "distance": "1.65 meters",
+    "closeness rank": 6
+   },
+   "whiteboard": {
+    "distance": "1.77 meters",
+    "closeness rank": 7
+   },
+   "power strip": {
+    "distance": "1.99 meters",
+    "closeness rank": 8
+   },
+   "trash can": {
+    "distance": "2.03 meters",
+    "closeness rank": 9
+   }
+  },
+  "chair": {
+   "table": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "whiteboard": {
+    "distance": "0.0 meters",
+    "closeness rank": 2
+   },
+   "power strip": {
+    "distance": "0.44 meters",
+    "closeness rank": 3
+   },
+   "trash can": {
+    "distance": "0.49 meters",
+    "closeness rank": 4
+   },
+   "toilet": {
+    "distance": "0.73 meters",
+    "closeness rank": 5
+   },
+   "door": {
+    "distance": "1.04 meters",
+    "closeness rank": 6
+   },
+   "printer": {
+    "distance": "1.13 meters",
+    "closeness rank": 7
+   },
+   "monitor": {
+    "distance": "1.2 meters",
+    "closeness rank": 8
+   },
+   "ceiling light": {
+    "distance": "1.65 meters",
+    "closeness rank": 9
+   }
+  },
+  "door": {
+   "trash can": {
+    "distance": "0.34 meters",
+    "closeness rank": 1
+   },
+   "printer": {
+    "distance": "0.64 meters",
+    "closeness rank": 2
+   },
+   "whiteboard": {
+    "distance": "0.85 meters",
+    "closeness rank": 3
+   },
+   "monitor": {
+    "distance": "0.95 meters",
+    "closeness rank": 4
+   },
+   "chair": {
+    "distance": "1.04 meters",
+    "closeness rank": 5
+   },
+   "table": {
+    "distance": "1.08 meters",
+    "closeness rank": 6
+   },
+   "ceiling light": {
+    "distance": "1.1 meters",
+    "closeness rank": 7
+   },
+   "toilet": {
+    "distance": "1.37 meters",
+    "closeness rank": 8
+   },
+   "power strip": {
+    "distance": "1.76 meters",
+    "closeness rank": 9
+   }
+  },
+  "monitor": {
+   "printer": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "table": {
+    "distance": "0.41 meters",
+    "closeness rank": 2
+   },
+   "door": {
+    "distance": "0.95 meters",
+    "closeness rank": 3
+   },
+   "chair": {
+    "distance": "1.2 meters",
+    "closeness rank": 4
+   },
+   "ceiling light": {
+    "distance": "1.29 meters",
+    "closeness rank": 5
+   },
+   "whiteboard": {
+    "distance": "1.34 meters",
+    "closeness rank": 6
+   },
+   "toilet": {
+    "distance": "1.5 meters",
+    "closeness rank": 7
+   },
+   "trash can": {
+    "distance": "1.59 meters",
+    "closeness rank": 8
+   },
+   "power strip": {
+    "distance": "1.97 meters",
+    "closeness rank": 9
+   }
+  },
+  "power strip": {
+   "chair": {
+    "distance": "0.44 meters",
+    "closeness rank": 1
+   },
+   "table": {
+    "distance": "0.55 meters",
+    "closeness rank": 2
+   },
+   "whiteboard": {
+    "distance": "0.57 meters",
+    "closeness rank": 3
+   },
+   "toilet": {
+    "distance": "0.76 meters",
+    "closeness rank": 4
+   },
+   "trash can": {
+    "distance": "1.15 meters",
+    "closeness rank": 5
+   },
+   "door": {
+    "distance": "1.76 meters",
+    "closeness rank": 6
+   },
+   "printer": {
+    "distance": "1.86 meters",
+    "closeness rank": 7
+   },
+   "monitor": {
+    "distance": "1.97 meters",
+    "closeness rank": 8
+   },
+   "ceiling light": {
+    "distance": "1.99 meters",
+    "closeness rank": 9
+   }
+  },
+  "printer": {
+   "monitor": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "table": {
+    "distance": "0.27 meters",
+    "closeness rank": 2
+   },
+   "door": {
+    "distance": "0.64 meters",
+    "closeness rank": 3
+   },
+   "ceiling light": {
+    "distance": "1.0 meters",
+    "closeness rank": 4
+   },
+   "chair": {
+    "distance": "1.13 meters",
+    "closeness rank": 5
+   },
+   "whiteboard": {
+    "distance": "1.25 meters",
+    "closeness rank": 6
+   },
+   "toilet": {
+    "distance": "1.35 meters",
+    "closeness rank": 7
+   },
+   "trash can": {
+    "distance": "1.45 meters",
+    "closeness rank": 8
+   },
+   "power strip": {
+    "distance": "1.86 meters",
+    "closeness rank": 9
+   }
+  },
+  "table": {
+   "chair": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "whiteboard": {
+    "distance": "0.01 meters",
+    "closeness rank": 2
+   },
+   "printer": {
+    "distance": "0.27 meters",
+    "closeness rank": 3
+   },
+   "monitor": {
+    "distance": "0.41 meters",
+    "closeness rank": 4
+   },
+   "power strip": {
+    "distance": "0.55 meters",
+    "closeness rank": 5
+   },
+   "trash can": {
+    "distance": "0.61 meters",
+    "closeness rank": 6
+   },
+   "toilet": {
+    "distance": "0.78 meters",
+    "closeness rank": 7
+   },
+   "door": {
+    "distance": "1.08 meters",
+    "closeness rank": 8
+   },
+   "ceiling light": {
+    "distance": "1.64 meters",
+    "closeness rank": 9
+   }
+  },
+  "toilet": {
+   "chair": {
+    "distance": "0.73 meters",
+    "closeness rank": 1
+   },
+   "power strip": {
+    "distance": "0.76 meters",
+    "closeness rank": 2
+   },
+   "table": {
+    "distance": "0.78 meters",
+    "closeness rank": 3
+   },
+   "whiteboard": {
+    "distance": "0.81 meters",
+    "closeness rank": 4
+   },
+   "ceiling light": {
+    "distance": "1.07 meters",
+    "closeness rank": 5
+   },
+   "trash can": {
+    "distance": "1.3 meters",
+    "closeness rank": 6
+   },
+   "printer": {
+    "distance": "1.35 meters",
+    "closeness rank": 7
+   },
+   "door": {
+    "distance": "1.37 meters",
+    "closeness rank": 8
+   },
+   "monitor": {
+    "distance": "1.5 meters",
+    "closeness rank": 9
+   }
+  },
+  "trash can": {
+   "whiteboard": {
+    "distance": "0.31 meters",
+    "closeness rank": 1
+   },
+   "door": {
+    "distance": "0.34 meters",
+    "closeness rank": 2
+   },
+   "chair": {
+    "distance": "0.49 meters",
+    "closeness rank": 3
+   },
+   "table": {
+    "distance": "0.61 meters",
+    "closeness rank": 4
+   },
+   "power strip": {
+    "distance": "1.15 meters",
+    "closeness rank": 5
+   },
+   "toilet": {
+    "distance": "1.3 meters",
+    "closeness rank": 6
+   },
+   "printer": {
+    "distance": "1.45 meters",
+    "closeness rank": 7
+   },
+   "monitor": {
+    "distance": "1.59 meters",
+    "closeness rank": 8
+   },
+   "ceiling light": {
+    "distance": "2.03 meters",
+    "closeness rank": 9
+   }
+  },
+  "whiteboard": {
+   "chair": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "table": {
+    "distance": "0.01 meters",
+    "closeness rank": 2
+   },
+   "trash can": {
+    "distance": "0.31 meters",
+    "closeness rank": 3
+   },
+   "power strip": {
+    "distance": "0.57 meters",
+    "closeness rank": 4
+   },
+   "toilet": {
+    "distance": "0.81 meters",
+    "closeness rank": 5
+   },
+   "door": {
+    "distance": "0.85 meters",
+    "closeness rank": 6
+   },
+   "printer": {
+    "distance": "1.25 meters",
+    "closeness rank": 7
+   },
+   "monitor": {
+    "distance": "1.34 meters",
+    "closeness rank": 8
+   },
+   "ceiling light": {
+    "distance": "1.77 meters",
+    "closeness rank": 9
+   }
+  }
+ },
+ "appearance order": ["printer", "table", "ceiling light", "chair", "toilet", "power strip", "trash can", "whiteboard", "monitor", "door"]
+}
\ No newline at end of file
diff --git a/data/spatial codes/sam3+depth-anything-3/metric/tracking/selective/64/explicit/bde1e479ad.json b/data/spatial codes/sam3+depth-anything-3/metric/tracking/selective/64/explicit/bde1e479ad.json
new file mode 100644
index 0000000000000000000000000000000000000000..d87de35b65b4eae8980ef1c90efaa8187d01d6d8
--- /dev/null
+++ b/data/spatial codes/sam3+depth-anything-3/metric/tracking/selective/64/explicit/bde1e479ad.json	
@@ -0,0 +1,807 @@
+{
+ "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": "1.11 meters",
+      "y coordinate": "2.72 meters",
+      "height above floor": "2.17 meters"
+     },
+     "longest dimension": "1.36 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "4.01 meters",
+      "y coordinate": "-1.17 meters",
+      "height above floor": "2.12 meters"
+     },
+     "longest dimension": "1.23 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "4.16 meters",
+      "y coordinate": "4.19 meters",
+      "height above floor": "2.14 meters"
+     },
+     "longest dimension": "1.19 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "4.03 meters",
+      "y coordinate": "0.67 meters",
+      "height above floor": "2.15 meters"
+     },
+     "longest dimension": "1.11 meters"
+    }
+   ]
+  },
+  "chair": {
+   "count": 6,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "2.36 meters",
+      "y coordinate": "2.16 meters",
+      "height above floor": "-0.05 meters"
+     },
+     "longest dimension": "0.75 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "4.58 meters",
+      "y coordinate": "-1.52 meters",
+      "height above floor": "-0.07 meters"
+     },
+     "longest dimension": "0.71 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "0.78 meters",
+      "y coordinate": "5.0 meters",
+      "height above floor": "-0.11 meters"
+     },
+     "longest dimension": "0.8 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "4.1 meters",
+      "y coordinate": "0.21 meters",
+      "height above floor": "-0.06 meters"
+     },
+     "longest dimension": "0.46 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "4.52 meters",
+      "y coordinate": "0.26 meters",
+      "height above floor": "-0.07 meters"
+     },
+     "longest dimension": "0.48 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-0.32 meters",
+      "y coordinate": "-1.33 meters",
+      "height above floor": "-0.28 meters"
+     },
+     "longest dimension": "0.96 meters"
+    }
+   ]
+  },
+  "clock": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-1.98 meters",
+      "y coordinate": "2.13 meters",
+      "height above floor": "1.95 meters"
+     },
+     "longest dimension": "0.32 meters"
+    }
+   ]
+  },
+  "door": {
+   "count": 2,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-2.02 meters",
+      "y coordinate": "-0.08 meters",
+      "height above floor": "0.07 meters"
+     },
+     "longest dimension": "1.43 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "5.26 meters",
+      "y coordinate": "2.36 meters",
+      "height above floor": "0.74 meters"
+     },
+     "longest dimension": "1.54 meters"
+    }
+   ]
+  },
+  "monitor": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "5.35 meters",
+      "y coordinate": "2.23 meters",
+      "height above floor": "0.23 meters"
+     },
+     "longest dimension": "1.14 meters"
+    }
+   ]
+  },
+  "power strip": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "2.19 meters",
+      "y coordinate": "-0.51 meters",
+      "height above floor": "-0.21 meters"
+     },
+     "longest dimension": "0.65 meters"
+    }
+   ]
+  },
+  "table": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "2.22 meters",
+      "y coordinate": "1.54 meters",
+      "height above floor": "0.01 meters"
+     },
+     "longest dimension": "1.34 meters"
+    }
+   ]
+  },
+  "toilet": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-1.56 meters",
+      "y coordinate": "-1.52 meters",
+      "height above floor": "0.44 meters"
+     },
+     "longest dimension": "0.58 meters"
+    }
+   ]
+  },
+  "trash can": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-1.61 meters",
+      "y coordinate": "-0.91 meters",
+      "height above floor": "-0.46 meters"
+     },
+     "longest dimension": "0.33 meters"
+    }
+   ]
+  },
+  "tv": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "5.35 meters",
+      "y coordinate": "2.23 meters",
+      "height above floor": "0.23 meters"
+     },
+     "longest dimension": "1.14 meters"
+    }
+   ]
+  },
+  "whiteboard": {
+   "count": 9,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "1.07 meters",
+      "y coordinate": "-1.78 meters",
+      "height above floor": "0.28 meters"
+     },
+     "longest dimension": "1.97 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-2.0 meters",
+      "y coordinate": "1.86 meters",
+      "height above floor": "0.43 meters"
+     },
+     "longest dimension": "1.98 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "5.1 meters",
+      "y coordinate": "4.48 meters",
+      "height above floor": "0.32 meters"
+     },
+     "longest dimension": "0.23 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "5.05 meters",
+      "y coordinate": "4.32 meters",
+      "height above floor": "0.67 meters"
+     },
+     "longest dimension": "1.7 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "5.1 meters",
+      "y coordinate": "4.18 meters",
+      "height above floor": "0.32 meters"
+     },
+     "longest dimension": "0.22 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "5.1 meters",
+      "y coordinate": "4.06 meters",
+      "height above floor": "0.32 meters"
+     },
+     "longest dimension": "0.22 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "5.1 meters",
+      "y coordinate": "3.94 meters",
+      "height above floor": "0.31 meters"
+     },
+     "longest dimension": "0.21 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "5.1 meters",
+      "y coordinate": "3.82 meters",
+      "height above floor": "0.31 meters"
+     },
+     "longest dimension": "0.21 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "5.11 meters",
+      "y coordinate": "3.69 meters",
+      "height above floor": "0.31 meters"
+     },
+     "longest dimension": "0.21 meters"
+    }
+   ]
+  }
+ },
+ "room": {
+  "floor area": "59.6 square meters"
+ },
+ "closest classes distance meters from": {
+  "ceiling light": {
+   "whiteboard": {
+    "distance": "0.97 meters",
+    "closeness rank": 1
+   },
+   "door": {
+    "distance": "1.39 meters",
+    "closeness rank": 2
+   },
+   "chair": {
+    "distance": "2.04 meters",
+    "closeness rank": 3
+   },
+   "table": {
+    "distance": "2.24 meters",
+    "closeness rank": 4
+   },
+   "monitor": {
+    "distance": "2.24 meters",
+    "closeness rank": 5
+   },
+   "tv": {
+    "distance": "2.24 meters",
+    "closeness rank": 6
+   },
+   "clock": {
+    "distance": "2.68 meters",
+    "closeness rank": 7
+   },
+   "power strip": {
+    "distance": "2.68 meters",
+    "closeness rank": 8
+   },
+   "toilet": {
+    "distance": "4.27 meters",
+    "closeness rank": 9
+   },
+   "trash can": {
+    "distance": "4.41 meters",
+    "closeness rank": 10
+   }
+  },
+  "chair": {
+   "table": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "whiteboard": {
+    "distance": "0.0 meters",
+    "closeness rank": 2
+   },
+   "trash can": {
+    "distance": "0.67 meters",
+    "closeness rank": 3
+   },
+   "toilet": {
+    "distance": "0.68 meters",
+    "closeness rank": 4
+   },
+   "door": {
+    "distance": "1.32 meters",
+    "closeness rank": 5
+   },
+   "monitor": {
+    "distance": "1.49 meters",
+    "closeness rank": 6
+   },
+   "tv": {
+    "distance": "1.49 meters",
+    "closeness rank": 7
+   },
+   "power strip": {
+    "distance": "1.68 meters",
+    "closeness rank": 8
+   },
+   "ceiling light": {
+    "distance": "2.04 meters",
+    "closeness rank": 9
+   },
+   "clock": {
+    "distance": "3.73 meters",
+    "closeness rank": 10
+   }
+  },
+  "clock": {
+   "whiteboard": {
+    "distance": "1.04 meters",
+    "closeness rank": 1
+   },
+   "door": {
+    "distance": "2.0 meters",
+    "closeness rank": 2
+   },
+   "ceiling light": {
+    "distance": "2.68 meters",
+    "closeness rank": 3
+   },
+   "trash can": {
+    "distance": "3.46 meters",
+    "closeness rank": 4
+   },
+   "toilet": {
+    "distance": "3.47 meters",
+    "closeness rank": 5
+   },
+   "chair": {
+    "distance": "3.73 meters",
+    "closeness rank": 6
+   },
+   "table": {
+    "distance": "3.9 meters",
+    "closeness rank": 7
+   },
+   "power strip": {
+    "distance": "4.93 meters",
+    "closeness rank": 8
+   },
+   "monitor": {
+    "distance": "7.44 meters",
+    "closeness rank": 9
+   },
+   "tv": {
+    "distance": "7.44 meters",
+    "closeness rank": 10
+   }
+  },
+  "door": {
+   "monitor": {
+    "distance": "0.02 meters",
+    "closeness rank": 1
+   },
+   "tv": {
+    "distance": "0.02 meters",
+    "closeness rank": 2
+   },
+   "trash can": {
+    "distance": "0.4 meters",
+    "closeness rank": 3
+   },
+   "whiteboard": {
+    "distance": "0.59 meters",
+    "closeness rank": 4
+   },
+   "toilet": {
+    "distance": "0.94 meters",
+    "closeness rank": 5
+   },
+   "chair": {
+    "distance": "1.32 meters",
+    "closeness rank": 6
+   },
+   "ceiling light": {
+    "distance": "1.39 meters",
+    "closeness rank": 7
+   },
+   "clock": {
+    "distance": "2.0 meters",
+    "closeness rank": 8
+   },
+   "table": {
+    "distance": "2.26 meters",
+    "closeness rank": 9
+   },
+   "power strip": {
+    "distance": "3.68 meters",
+    "closeness rank": 10
+   }
+  },
+  "monitor": {
+   "tv": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "door": {
+    "distance": "0.02 meters",
+    "closeness rank": 2
+   },
+   "whiteboard": {
+    "distance": "0.85 meters",
+    "closeness rank": 3
+   },
+   "chair": {
+    "distance": "1.49 meters",
+    "closeness rank": 4
+   },
+   "ceiling light": {
+    "distance": "2.24 meters",
+    "closeness rank": 5
+   },
+   "table": {
+    "distance": "2.34 meters",
+    "closeness rank": 6
+   },
+   "power strip": {
+    "distance": "3.6 meters",
+    "closeness rank": 7
+   },
+   "trash can": {
+    "distance": "7.19 meters",
+    "closeness rank": 8
+   },
+   "toilet": {
+    "distance": "7.25 meters",
+    "closeness rank": 9
+   },
+   "clock": {
+    "distance": "7.44 meters",
+    "closeness rank": 10
+   }
+  },
+  "power strip": {
+   "whiteboard": {
+    "distance": "0.73 meters",
+    "closeness rank": 1
+   },
+   "table": {
+    "distance": "1.0 meters",
+    "closeness rank": 2
+   },
+   "chair": {
+    "distance": "1.68 meters",
+    "closeness rank": 3
+   },
+   "ceiling light": {
+    "distance": "2.68 meters",
+    "closeness rank": 4
+   },
+   "toilet": {
+    "distance": "3.45 meters",
+    "closeness rank": 5
+   },
+   "trash can": {
+    "distance": "3.46 meters",
+    "closeness rank": 6
+   },
+   "tv": {
+    "distance": "3.6 meters",
+    "closeness rank": 7
+   },
+   "monitor": {
+    "distance": "3.6 meters",
+    "closeness rank": 8
+   },
+   "door": {
+    "distance": "3.68 meters",
+    "closeness rank": 9
+   },
+   "clock": {
+    "distance": "4.93 meters",
+    "closeness rank": 10
+   }
+  },
+  "table": {
+   "chair": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "power strip": {
+    "distance": "1.0 meters",
+    "closeness rank": 2
+   },
+   "whiteboard": {
+    "distance": "1.93 meters",
+    "closeness rank": 3
+   },
+   "ceiling light": {
+    "distance": "2.24 meters",
+    "closeness rank": 4
+   },
+   "door": {
+    "distance": "2.26 meters",
+    "closeness rank": 5
+   },
+   "tv": {
+    "distance": "2.34 meters",
+    "closeness rank": 6
+   },
+   "monitor": {
+    "distance": "2.34 meters",
+    "closeness rank": 7
+   },
+   "trash can": {
+    "distance": "3.63 meters",
+    "closeness rank": 8
+   },
+   "toilet": {
+    "distance": "3.89 meters",
+    "closeness rank": 9
+   },
+   "clock": {
+    "distance": "3.9 meters",
+    "closeness rank": 10
+   }
+  },
+  "toilet": {
+   "trash can": {
+    "distance": "0.65 meters",
+    "closeness rank": 1
+   },
+   "chair": {
+    "distance": "0.68 meters",
+    "closeness rank": 2
+   },
+   "door": {
+    "distance": "0.94 meters",
+    "closeness rank": 3
+   },
+   "whiteboard": {
+    "distance": "1.13 meters",
+    "closeness rank": 4
+   },
+   "power strip": {
+    "distance": "3.45 meters",
+    "closeness rank": 5
+   },
+   "clock": {
+    "distance": "3.47 meters",
+    "closeness rank": 6
+   },
+   "table": {
+    "distance": "3.89 meters",
+    "closeness rank": 7
+   },
+   "ceiling light": {
+    "distance": "4.27 meters",
+    "closeness rank": 8
+   },
+   "monitor": {
+    "distance": "7.25 meters",
+    "closeness rank": 9
+   },
+   "tv": {
+    "distance": "7.25 meters",
+    "closeness rank": 10
+   }
+  },
+  "trash can": {
+   "door": {
+    "distance": "0.4 meters",
+    "closeness rank": 1
+   },
+   "toilet": {
+    "distance": "0.65 meters",
+    "closeness rank": 2
+   },
+   "chair": {
+    "distance": "0.67 meters",
+    "closeness rank": 3
+   },
+   "whiteboard": {
+    "distance": "1.55 meters",
+    "closeness rank": 4
+   },
+   "power strip": {
+    "distance": "3.46 meters",
+    "closeness rank": 5
+   },
+   "clock": {
+    "distance": "3.46 meters",
+    "closeness rank": 6
+   },
+   "table": {
+    "distance": "3.63 meters",
+    "closeness rank": 7
+   },
+   "ceiling light": {
+    "distance": "4.41 meters",
+    "closeness rank": 8
+   },
+   "tv": {
+    "distance": "7.19 meters",
+    "closeness rank": 9
+   },
+   "monitor": {
+    "distance": "7.19 meters",
+    "closeness rank": 10
+   }
+  },
+  "tv": {
+   "monitor": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "door": {
+    "distance": "0.02 meters",
+    "closeness rank": 2
+   },
+   "whiteboard": {
+    "distance": "0.85 meters",
+    "closeness rank": 3
+   },
+   "chair": {
+    "distance": "1.49 meters",
+    "closeness rank": 4
+   },
+   "ceiling light": {
+    "distance": "2.24 meters",
+    "closeness rank": 5
+   },
+   "table": {
+    "distance": "2.34 meters",
+    "closeness rank": 6
+   },
+   "power strip": {
+    "distance": "3.6 meters",
+    "closeness rank": 7
+   },
+   "trash can": {
+    "distance": "7.19 meters",
+    "closeness rank": 8
+   },
+   "toilet": {
+    "distance": "7.25 meters",
+    "closeness rank": 9
+   },
+   "clock": {
+    "distance": "7.44 meters",
+    "closeness rank": 10
+   }
+  },
+  "whiteboard": {
+   "chair": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "door": {
+    "distance": "0.59 meters",
+    "closeness rank": 2
+   },
+   "power strip": {
+    "distance": "0.73 meters",
+    "closeness rank": 3
+   },
+   "monitor": {
+    "distance": "0.85 meters",
+    "closeness rank": 4
+   },
+   "tv": {
+    "distance": "0.85 meters",
+    "closeness rank": 5
+   },
+   "ceiling light": {
+    "distance": "0.97 meters",
+    "closeness rank": 6
+   },
+   "clock": {
+    "distance": "1.04 meters",
+    "closeness rank": 7
+   },
+   "toilet": {
+    "distance": "1.13 meters",
+    "closeness rank": 8
+   },
+   "trash can": {
+    "distance": "1.55 meters",
+    "closeness rank": 9
+   },
+   "table": {
+    "distance": "1.93 meters",
+    "closeness rank": 10
+   }
+  }
+ },
+ "appearance order": ["chair", "table", "trash can", "whiteboard", "ceiling light", "door", "clock", "toilet", "power strip", "monitor", "tv"]
+}
\ No newline at end of file
diff --git a/data/spatial codes/sam3+depth-anything-3/metric/tracking/selective/64/explicit/e398684d27.json b/data/spatial codes/sam3+depth-anything-3/metric/tracking/selective/64/explicit/e398684d27.json
new file mode 100644
index 0000000000000000000000000000000000000000..d0e04dcc6e975134ba1449eec862dbef65863fa1
--- /dev/null
+++ b/data/spatial codes/sam3+depth-anything-3/metric/tracking/selective/64/explicit/e398684d27.json	
@@ -0,0 +1,450 @@
+{
+ "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": {
+  "basket": {
+   "count": 2,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "0.12 meters",
+      "y coordinate": "-1.36 meters",
+      "height above floor": "-1.71 meters"
+     },
+     "longest dimension": "0.13 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "0.2 meters",
+      "y coordinate": "-1.44 meters",
+      "height above floor": "-1.7 meters"
+     },
+     "longest dimension": "0.11 meters"
+    }
+   ]
+  },
+  "ceiling light": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-0.86 meters",
+      "y coordinate": "1.31 meters",
+      "height above floor": "-1.59 meters"
+     },
+     "longest dimension": "1.35 meters"
+    }
+   ]
+  },
+  "crate": {
+   "count": 2,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "0.12 meters",
+      "y coordinate": "-1.36 meters",
+      "height above floor": "-1.71 meters"
+     },
+     "longest dimension": "0.13 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "0.2 meters",
+      "y coordinate": "-1.45 meters",
+      "height above floor": "-1.7 meters"
+     },
+     "longest dimension": "0.11 meters"
+    }
+   ]
+  },
+  "door": {
+   "count": 3,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "0.45 meters",
+      "y coordinate": "-0.61 meters",
+      "height above floor": "-1.41 meters"
+     },
+     "longest dimension": "1.29 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-0.01 meters",
+      "y coordinate": "-0.48 meters",
+      "height above floor": "-2.58 meters"
+     },
+     "longest dimension": "0.97 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-0.14 meters",
+      "y coordinate": "-0.84 meters",
+      "height above floor": "-0.65 meters"
+     },
+     "longest dimension": "1.27 meters"
+    }
+   ]
+  },
+  "monitor": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "0.6 meters",
+      "y coordinate": "0.92 meters",
+      "height above floor": "-0.41 meters"
+     },
+     "longest dimension": "0.49 meters"
+    }
+   ]
+  },
+  "paper bag": {
+   "count": 2,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "0.6 meters",
+      "y coordinate": "0.6 meters",
+      "height above floor": "-1.58 meters"
+     },
+     "longest dimension": "0.21 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-0.61 meters",
+      "y coordinate": "-0.24 meters",
+      "height above floor": "-1.99 meters"
+     },
+     "longest dimension": "0.17 meters"
+    }
+   ]
+  },
+  "tv": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "0.62 meters",
+      "y coordinate": "0.94 meters",
+      "height above floor": "-0.41 meters"
+     },
+     "longest dimension": "0.49 meters"
+    }
+   ]
+  },
+  "whiteboard": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "0.31 meters",
+      "y coordinate": "-0.88 meters",
+      "height above floor": "0.0 meters"
+     },
+     "longest dimension": "1.36 meters"
+    }
+   ]
+  }
+ },
+ "room": {
+  "floor area": "12.8 square meters"
+ },
+ "closest classes distance meters from": {
+  "basket": {
+   "crate": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "door": {
+    "distance": "0.52 meters",
+    "closeness rank": 2
+   },
+   "paper bag": {
+    "distance": "1.2 meters",
+    "closeness rank": 3
+   },
+   "whiteboard": {
+    "distance": "1.64 meters",
+    "closeness rank": 4
+   },
+   "tv": {
+    "distance": "2.39 meters",
+    "closeness rank": 5
+   },
+   "monitor": {
+    "distance": "2.39 meters",
+    "closeness rank": 6
+   },
+   "ceiling light": {
+    "distance": "2.7 meters",
+    "closeness rank": 7
+   }
+  },
+  "ceiling light": {
+   "tv": {
+    "distance": "1.32 meters",
+    "closeness rank": 1
+   },
+   "monitor": {
+    "distance": "1.32 meters",
+    "closeness rank": 2
+   },
+   "door": {
+    "distance": "1.39 meters",
+    "closeness rank": 3
+   },
+   "paper bag": {
+    "distance": "1.41 meters",
+    "closeness rank": 4
+   },
+   "whiteboard": {
+    "distance": "1.91 meters",
+    "closeness rank": 5
+   },
+   "crate": {
+    "distance": "2.7 meters",
+    "closeness rank": 6
+   },
+   "basket": {
+    "distance": "2.7 meters",
+    "closeness rank": 7
+   }
+  },
+  "crate": {
+   "basket": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "door": {
+    "distance": "0.51 meters",
+    "closeness rank": 2
+   },
+   "paper bag": {
+    "distance": "1.2 meters",
+    "closeness rank": 3
+   },
+   "whiteboard": {
+    "distance": "1.64 meters",
+    "closeness rank": 4
+   },
+   "tv": {
+    "distance": "2.39 meters",
+    "closeness rank": 5
+   },
+   "monitor": {
+    "distance": "2.39 meters",
+    "closeness rank": 6
+   },
+   "ceiling light": {
+    "distance": "2.7 meters",
+    "closeness rank": 7
+   }
+  },
+  "door": {
+   "crate": {
+    "distance": "0.51 meters",
+    "closeness rank": 1
+   },
+   "basket": {
+    "distance": "0.52 meters",
+    "closeness rank": 2
+   },
+   "whiteboard": {
+    "distance": "0.53 meters",
+    "closeness rank": 3
+   },
+   "paper bag": {
+    "distance": "0.6 meters",
+    "closeness rank": 4
+   },
+   "tv": {
+    "distance": "1.31 meters",
+    "closeness rank": 5
+   },
+   "monitor": {
+    "distance": "1.31 meters",
+    "closeness rank": 6
+   },
+   "ceiling light": {
+    "distance": "1.39 meters",
+    "closeness rank": 7
+   }
+  },
+  "monitor": {
+   "tv": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "paper bag": {
+    "distance": "0.85 meters",
+    "closeness rank": 2
+   },
+   "whiteboard": {
+    "distance": "1.06 meters",
+    "closeness rank": 3
+   },
+   "door": {
+    "distance": "1.31 meters",
+    "closeness rank": 4
+   },
+   "ceiling light": {
+    "distance": "1.32 meters",
+    "closeness rank": 5
+   },
+   "crate": {
+    "distance": "2.39 meters",
+    "closeness rank": 6
+   },
+   "basket": {
+    "distance": "2.39 meters",
+    "closeness rank": 7
+   }
+  },
+  "paper bag": {
+   "door": {
+    "distance": "0.6 meters",
+    "closeness rank": 1
+   },
+   "tv": {
+    "distance": "0.85 meters",
+    "closeness rank": 2
+   },
+   "monitor": {
+    "distance": "0.85 meters",
+    "closeness rank": 3
+   },
+   "crate": {
+    "distance": "1.2 meters",
+    "closeness rank": 4
+   },
+   "basket": {
+    "distance": "1.2 meters",
+    "closeness rank": 5
+   },
+   "ceiling light": {
+    "distance": "1.41 meters",
+    "closeness rank": 6
+   },
+   "whiteboard": {
+    "distance": "1.65 meters",
+    "closeness rank": 7
+   }
+  },
+  "tv": {
+   "monitor": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "paper bag": {
+    "distance": "0.85 meters",
+    "closeness rank": 2
+   },
+   "whiteboard": {
+    "distance": "1.06 meters",
+    "closeness rank": 3
+   },
+   "door": {
+    "distance": "1.31 meters",
+    "closeness rank": 4
+   },
+   "ceiling light": {
+    "distance": "1.32 meters",
+    "closeness rank": 5
+   },
+   "crate": {
+    "distance": "2.39 meters",
+    "closeness rank": 6
+   },
+   "basket": {
+    "distance": "2.39 meters",
+    "closeness rank": 7
+   }
+  },
+  "whiteboard": {
+   "door": {
+    "distance": "0.53 meters",
+    "closeness rank": 1
+   },
+   "tv": {
+    "distance": "1.06 meters",
+    "closeness rank": 2
+   },
+   "monitor": {
+    "distance": "1.06 meters",
+    "closeness rank": 3
+   },
+   "basket": {
+    "distance": "1.64 meters",
+    "closeness rank": 4
+   },
+   "crate": {
+    "distance": "1.64 meters",
+    "closeness rank": 5
+   },
+   "paper bag": {
+    "distance": "1.65 meters",
+    "closeness rank": 6
+   },
+   "ceiling light": {
+    "distance": "1.91 meters",
+    "closeness rank": 7
+   }
+  }
+ },
+ "appearance order": ["door", "monitor", "tv", "ceiling light", "whiteboard", "paper bag", "basket", "crate"]
+}
\ No newline at end of file
diff --git a/data/spatial codes/sam3+depth-anything-3/metric/tracking/selective/64/explicit/f9f95681fd.json b/data/spatial codes/sam3+depth-anything-3/metric/tracking/selective/64/explicit/f9f95681fd.json
new file mode 100644
index 0000000000000000000000000000000000000000..dd126b312d67f514a468b57902da4153ba813015
--- /dev/null
+++ b/data/spatial codes/sam3+depth-anything-3/metric/tracking/selective/64/explicit/f9f95681fd.json	
@@ -0,0 +1,1195 @@
+{
+ "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": {
+  "basket": {
+   "count": 2,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "1.03 meters",
+      "y coordinate": "0.79 meters",
+      "height above floor": "-1.89 meters"
+     },
+     "longest dimension": "0.26 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "1.58 meters",
+      "y coordinate": "0.92 meters",
+      "height above floor": "-1.24 meters"
+     },
+     "longest dimension": "0.29 meters"
+    }
+   ]
+  },
+  "bowl": {
+   "count": 2,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "1.04 meters",
+      "y coordinate": "1.04 meters",
+      "height above floor": "-1.26 meters"
+     },
+     "longest dimension": "0.21 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "1.03 meters",
+      "y coordinate": "0.72 meters",
+      "height above floor": "-1.63 meters"
+     },
+     "longest dimension": "0.1 meters"
+    }
+   ]
+  },
+  "ceiling light": {
+   "count": 2,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-0.5 meters",
+      "y coordinate": "0.38 meters",
+      "height above floor": "-0.39 meters"
+     },
+     "longest dimension": "0.23 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-0.41 meters",
+      "y coordinate": "1.02 meters",
+      "height above floor": "-1.08 meters"
+     },
+     "longest dimension": "0.13 meters"
+    }
+   ]
+  },
+  "cup": {
+   "count": 2,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "1.03 meters",
+      "y coordinate": "0.72 meters",
+      "height above floor": "-1.63 meters"
+     },
+     "longest dimension": "0.1 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "0.87 meters",
+      "y coordinate": "0.19 meters",
+      "height above floor": "-1.89 meters"
+     },
+     "longest dimension": "0.13 meters"
+    }
+   ]
+  },
+  "cutting board": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "1.54 meters",
+      "y coordinate": "0.85 meters",
+      "height above floor": "-0.95 meters"
+     },
+     "longest dimension": "0.37 meters"
+    }
+   ]
+  },
+  "door": {
+   "count": 5,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "0.96 meters",
+      "y coordinate": "0.31 meters",
+      "height above floor": "-0.01 meters"
+     },
+     "longest dimension": "1.18 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-0.16 meters",
+      "y coordinate": "0.17 meters",
+      "height above floor": "-1.21 meters"
+     },
+     "longest dimension": "0.82 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "0.78 meters",
+      "y coordinate": "0.58 meters",
+      "height above floor": "-0.65 meters"
+     },
+     "longest dimension": "1.01 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "0.15 meters",
+      "y coordinate": "1.21 meters",
+      "height above floor": "-1.7 meters"
+     },
+     "longest dimension": "1.01 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "1.22 meters",
+      "y coordinate": "-0.68 meters",
+      "height above floor": "-0.57 meters"
+     },
+     "longest dimension": "0.61 meters"
+    }
+   ]
+  },
+  "exhaust fan": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-0.59 meters",
+      "y coordinate": "-0.06 meters",
+      "height above floor": "-0.98 meters"
+     },
+     "longest dimension": "0.14 meters"
+    }
+   ]
+  },
+  "kettle": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "0.89 meters",
+      "y coordinate": "0.52 meters",
+      "height above floor": "-1.63 meters"
+     },
+     "longest dimension": "0.24 meters"
+    }
+   ]
+  },
+  "laptop": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "0.94 meters",
+      "y coordinate": "0.93 meters",
+      "height above floor": "-1.56 meters"
+     },
+     "longest dimension": "0.53 meters"
+    }
+   ]
+  },
+  "microwave": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "0.57 meters",
+      "y coordinate": "-0.85 meters",
+      "height above floor": "-0.56 meters"
+     },
+     "longest dimension": "0.53 meters"
+    }
+   ]
+  },
+  "power strip": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "1.12 meters",
+      "y coordinate": "1.05 meters",
+      "height above floor": "-1.47 meters"
+     },
+     "longest dimension": "0.14 meters"
+    }
+   ]
+  },
+  "refrigerator": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "1.33 meters",
+      "y coordinate": "-0.68 meters",
+      "height above floor": "-0.68 meters"
+     },
+     "longest dimension": "0.71 meters"
+    }
+   ]
+  },
+  "table": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "1.07 meters",
+      "y coordinate": "0.67 meters",
+      "height above floor": "-1.48 meters"
+     },
+     "longest dimension": "1.03 meters"
+    }
+   ]
+  },
+  "trash can": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "1.57 meters",
+      "y coordinate": "-0.24 meters",
+      "height above floor": "-1.71 meters"
+     },
+     "longest dimension": "0.34 meters"
+    }
+   ]
+  },
+  "whiteboard": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-0.23 meters",
+      "y coordinate": "-0.22 meters",
+      "height above floor": "-1.92 meters"
+     },
+     "longest dimension": "0.35 meters"
+    }
+   ]
+  }
+ },
+ "room": {
+  "floor area": "7.2 square meters"
+ },
+ "closest classes distance meters from": {
+  "basket": {
+   "laptop": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "table": {
+    "distance": "0.01 meters",
+    "closeness rank": 2
+   },
+   "cutting board": {
+    "distance": "0.13 meters",
+    "closeness rank": 3
+   },
+   "bowl": {
+    "distance": "0.17 meters",
+    "closeness rank": 4
+   },
+   "cup": {
+    "distance": "0.17 meters",
+    "closeness rank": 5
+   },
+   "kettle": {
+    "distance": "0.19 meters",
+    "closeness rank": 6
+   },
+   "power strip": {
+    "distance": "0.34 meters",
+    "closeness rank": 7
+   },
+   "door": {
+    "distance": "0.41 meters",
+    "closeness rank": 8
+   },
+   "trash can": {
+    "distance": "0.83 meters",
+    "closeness rank": 9
+   },
+   "whiteboard": {
+    "distance": "1.32 meters",
+    "closeness rank": 10
+   },
+   "refrigerator": {
+    "distance": "1.57 meters",
+    "closeness rank": 11
+   },
+   "ceiling light": {
+    "distance": "1.57 meters",
+    "closeness rank": 12
+   },
+   "microwave": {
+    "distance": "1.77 meters",
+    "closeness rank": 13
+   },
+   "exhaust fan": {
+    "distance": "1.88 meters",
+    "closeness rank": 14
+   }
+  },
+  "bowl": {
+   "cup": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "laptop": {
+    "distance": "0.0 meters",
+    "closeness rank": 2
+   },
+   "table": {
+    "distance": "0.0 meters",
+    "closeness rank": 3
+   },
+   "power strip": {
+    "distance": "0.08 meters",
+    "closeness rank": 4
+   },
+   "kettle": {
+    "distance": "0.14 meters",
+    "closeness rank": 5
+   },
+   "basket": {
+    "distance": "0.17 meters",
+    "closeness rank": 6
+   },
+   "door": {
+    "distance": "0.3 meters",
+    "closeness rank": 7
+   },
+   "cutting board": {
+    "distance": "0.36 meters",
+    "closeness rank": 8
+   },
+   "trash can": {
+    "distance": "0.83 meters",
+    "closeness rank": 9
+   },
+   "whiteboard": {
+    "distance": "1.37 meters",
+    "closeness rank": 10
+   },
+   "ceiling light": {
+    "distance": "1.4 meters",
+    "closeness rank": 11
+   },
+   "refrigerator": {
+    "distance": "1.48 meters",
+    "closeness rank": 12
+   },
+   "microwave": {
+    "distance": "1.66 meters",
+    "closeness rank": 13
+   },
+   "exhaust fan": {
+    "distance": "1.82 meters",
+    "closeness rank": 14
+   }
+  },
+  "ceiling light": {
+   "door": {
+    "distance": "0.44 meters",
+    "closeness rank": 1
+   },
+   "exhaust fan": {
+    "distance": "0.55 meters",
+    "closeness rank": 2
+   },
+   "laptop": {
+    "distance": "1.19 meters",
+    "closeness rank": 3
+   },
+   "whiteboard": {
+    "distance": "1.27 meters",
+    "closeness rank": 4
+   },
+   "kettle": {
+    "distance": "1.33 meters",
+    "closeness rank": 5
+   },
+   "bowl": {
+    "distance": "1.4 meters",
+    "closeness rank": 6
+   },
+   "microwave": {
+    "distance": "1.44 meters",
+    "closeness rank": 7
+   },
+   "cup": {
+    "distance": "1.49 meters",
+    "closeness rank": 8
+   },
+   "power strip": {
+    "distance": "1.49 meters",
+    "closeness rank": 9
+   },
+   "table": {
+    "distance": "1.5 meters",
+    "closeness rank": 10
+   },
+   "basket": {
+    "distance": "1.57 meters",
+    "closeness rank": 11
+   },
+   "refrigerator": {
+    "distance": "1.75 meters",
+    "closeness rank": 12
+   },
+   "cutting board": {
+    "distance": "1.75 meters",
+    "closeness rank": 13
+   },
+   "trash can": {
+    "distance": "2.2 meters",
+    "closeness rank": 14
+   }
+  },
+  "cup": {
+   "bowl": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "table": {
+    "distance": "0.0 meters",
+    "closeness rank": 2
+   },
+   "laptop": {
+    "distance": "0.01 meters",
+    "closeness rank": 3
+   },
+   "kettle": {
+    "distance": "0.14 meters",
+    "closeness rank": 4
+   },
+   "basket": {
+    "distance": "0.17 meters",
+    "closeness rank": 5
+   },
+   "power strip": {
+    "distance": "0.23 meters",
+    "closeness rank": 6
+   },
+   "door": {
+    "distance": "0.46 meters",
+    "closeness rank": 7
+   },
+   "trash can": {
+    "distance": "0.59 meters",
+    "closeness rank": 8
+   },
+   "cutting board": {
+    "distance": "0.68 meters",
+    "closeness rank": 9
+   },
+   "whiteboard": {
+    "distance": "0.96 meters",
+    "closeness rank": 10
+   },
+   "refrigerator": {
+    "distance": "1.28 meters",
+    "closeness rank": 11
+   },
+   "microwave": {
+    "distance": "1.38 meters",
+    "closeness rank": 12
+   },
+   "ceiling light": {
+    "distance": "1.49 meters",
+    "closeness rank": 13
+   },
+   "exhaust fan": {
+    "distance": "1.59 meters",
+    "closeness rank": 14
+   }
+  },
+  "cutting board": {
+   "basket": {
+    "distance": "0.13 meters",
+    "closeness rank": 1
+   },
+   "table": {
+    "distance": "0.22 meters",
+    "closeness rank": 2
+   },
+   "bowl": {
+    "distance": "0.36 meters",
+    "closeness rank": 3
+   },
+   "laptop": {
+    "distance": "0.42 meters",
+    "closeness rank": 4
+   },
+   "door": {
+    "distance": "0.47 meters",
+    "closeness rank": 5
+   },
+   "power strip": {
+    "distance": "0.52 meters",
+    "closeness rank": 6
+   },
+   "cup": {
+    "distance": "0.68 meters",
+    "closeness rank": 7
+   },
+   "kettle": {
+    "distance": "0.73 meters",
+    "closeness rank": 8
+   },
+   "trash can": {
+    "distance": "0.96 meters",
+    "closeness rank": 9
+   },
+   "refrigerator": {
+    "distance": "1.36 meters",
+    "closeness rank": 10
+   },
+   "microwave": {
+    "distance": "1.65 meters",
+    "closeness rank": 11
+   },
+   "ceiling light": {
+    "distance": "1.75 meters",
+    "closeness rank": 12
+   },
+   "whiteboard": {
+    "distance": "1.92 meters",
+    "closeness rank": 13
+   },
+   "exhaust fan": {
+    "distance": "2.05 meters",
+    "closeness rank": 14
+   }
+  },
+  "door": {
+   "refrigerator": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "table": {
+    "distance": "0.15 meters",
+    "closeness rank": 2
+   },
+   "laptop": {
+    "distance": "0.18 meters",
+    "closeness rank": 3
+   },
+   "microwave": {
+    "distance": "0.24 meters",
+    "closeness rank": 4
+   },
+   "exhaust fan": {
+    "distance": "0.27 meters",
+    "closeness rank": 5
+   },
+   "bowl": {
+    "distance": "0.3 meters",
+    "closeness rank": 6
+   },
+   "basket": {
+    "distance": "0.41 meters",
+    "closeness rank": 7
+   },
+   "power strip": {
+    "distance": "0.42 meters",
+    "closeness rank": 8
+   },
+   "kettle": {
+    "distance": "0.42 meters",
+    "closeness rank": 9
+   },
+   "ceiling light": {
+    "distance": "0.44 meters",
+    "closeness rank": 10
+   },
+   "cup": {
+    "distance": "0.46 meters",
+    "closeness rank": 11
+   },
+   "cutting board": {
+    "distance": "0.47 meters",
+    "closeness rank": 12
+   },
+   "whiteboard": {
+    "distance": "0.5 meters",
+    "closeness rank": 13
+   },
+   "trash can": {
+    "distance": "0.74 meters",
+    "closeness rank": 14
+   }
+  },
+  "exhaust fan": {
+   "door": {
+    "distance": "0.27 meters",
+    "closeness rank": 1
+   },
+   "ceiling light": {
+    "distance": "0.55 meters",
+    "closeness rank": 2
+   },
+   "whiteboard": {
+    "distance": "0.9 meters",
+    "closeness rank": 3
+   },
+   "microwave": {
+    "distance": "1.19 meters",
+    "closeness rank": 4
+   },
+   "kettle": {
+    "distance": "1.55 meters",
+    "closeness rank": 5
+   },
+   "cup": {
+    "distance": "1.59 meters",
+    "closeness rank": 6
+   },
+   "refrigerator": {
+    "distance": "1.6 meters",
+    "closeness rank": 7
+   },
+   "laptop": {
+    "distance": "1.64 meters",
+    "closeness rank": 8
+   },
+   "table": {
+    "distance": "1.65 meters",
+    "closeness rank": 9
+   },
+   "bowl": {
+    "distance": "1.82 meters",
+    "closeness rank": 10
+   },
+   "basket": {
+    "distance": "1.88 meters",
+    "closeness rank": 11
+   },
+   "power strip": {
+    "distance": "2.0 meters",
+    "closeness rank": 12
+   },
+   "trash can": {
+    "distance": "2.03 meters",
+    "closeness rank": 13
+   },
+   "cutting board": {
+    "distance": "2.05 meters",
+    "closeness rank": 14
+   }
+  },
+  "kettle": {
+   "table": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "cup": {
+    "distance": "0.14 meters",
+    "closeness rank": 2
+   },
+   "bowl": {
+    "distance": "0.14 meters",
+    "closeness rank": 3
+   },
+   "basket": {
+    "distance": "0.19 meters",
+    "closeness rank": 4
+   },
+   "laptop": {
+    "distance": "0.22 meters",
+    "closeness rank": 5
+   },
+   "door": {
+    "distance": "0.42 meters",
+    "closeness rank": 6
+   },
+   "power strip": {
+    "distance": "0.46 meters",
+    "closeness rank": 7
+   },
+   "trash can": {
+    "distance": "0.69 meters",
+    "closeness rank": 8
+   },
+   "cutting board": {
+    "distance": "0.73 meters",
+    "closeness rank": 9
+   },
+   "whiteboard": {
+    "distance": "1.1 meters",
+    "closeness rank": 10
+   },
+   "refrigerator": {
+    "distance": "1.27 meters",
+    "closeness rank": 11
+   },
+   "ceiling light": {
+    "distance": "1.33 meters",
+    "closeness rank": 12
+   },
+   "microwave": {
+    "distance": "1.43 meters",
+    "closeness rank": 13
+   },
+   "exhaust fan": {
+    "distance": "1.55 meters",
+    "closeness rank": 14
+   }
+  },
+  "laptop": {
+   "bowl": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "power strip": {
+    "distance": "0.0 meters",
+    "closeness rank": 2
+   },
+   "basket": {
+    "distance": "0.0 meters",
+    "closeness rank": 3
+   },
+   "cup": {
+    "distance": "0.01 meters",
+    "closeness rank": 4
+   },
+   "table": {
+    "distance": "0.02 meters",
+    "closeness rank": 5
+   },
+   "door": {
+    "distance": "0.18 meters",
+    "closeness rank": 6
+   },
+   "kettle": {
+    "distance": "0.22 meters",
+    "closeness rank": 7
+   },
+   "cutting board": {
+    "distance": "0.42 meters",
+    "closeness rank": 8
+   },
+   "trash can": {
+    "distance": "0.94 meters",
+    "closeness rank": 9
+   },
+   "ceiling light": {
+    "distance": "1.19 meters",
+    "closeness rank": 10
+   },
+   "whiteboard": {
+    "distance": "1.28 meters",
+    "closeness rank": 11
+   },
+   "refrigerator": {
+    "distance": "1.45 meters",
+    "closeness rank": 12
+   },
+   "exhaust fan": {
+    "distance": "1.64 meters",
+    "closeness rank": 13
+   },
+   "microwave": {
+    "distance": "1.66 meters",
+    "closeness rank": 14
+   }
+  },
+  "microwave": {
+   "door": {
+    "distance": "0.24 meters",
+    "closeness rank": 1
+   },
+   "refrigerator": {
+    "distance": "0.32 meters",
+    "closeness rank": 2
+   },
+   "trash can": {
+    "distance": "1.1 meters",
+    "closeness rank": 3
+   },
+   "exhaust fan": {
+    "distance": "1.19 meters",
+    "closeness rank": 4
+   },
+   "whiteboard": {
+    "distance": "1.27 meters",
+    "closeness rank": 5
+   },
+   "table": {
+    "distance": "1.29 meters",
+    "closeness rank": 6
+   },
+   "cup": {
+    "distance": "1.38 meters",
+    "closeness rank": 7
+   },
+   "kettle": {
+    "distance": "1.43 meters",
+    "closeness rank": 8
+   },
+   "ceiling light": {
+    "distance": "1.44 meters",
+    "closeness rank": 9
+   },
+   "cutting board": {
+    "distance": "1.65 meters",
+    "closeness rank": 10
+   },
+   "bowl": {
+    "distance": "1.66 meters",
+    "closeness rank": 11
+   },
+   "laptop": {
+    "distance": "1.66 meters",
+    "closeness rank": 12
+   },
+   "basket": {
+    "distance": "1.77 meters",
+    "closeness rank": 13
+   },
+   "power strip": {
+    "distance": "1.89 meters",
+    "closeness rank": 14
+   }
+  },
+  "power strip": {
+   "laptop": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "bowl": {
+    "distance": "0.08 meters",
+    "closeness rank": 2
+   },
+   "table": {
+    "distance": "0.09 meters",
+    "closeness rank": 3
+   },
+   "cup": {
+    "distance": "0.23 meters",
+    "closeness rank": 4
+   },
+   "basket": {
+    "distance": "0.34 meters",
+    "closeness rank": 5
+   },
+   "door": {
+    "distance": "0.42 meters",
+    "closeness rank": 6
+   },
+   "kettle": {
+    "distance": "0.46 meters",
+    "closeness rank": 7
+   },
+   "cutting board": {
+    "distance": "0.52 meters",
+    "closeness rank": 8
+   },
+   "trash can": {
+    "distance": "1.09 meters",
+    "closeness rank": 9
+   },
+   "ceiling light": {
+    "distance": "1.49 meters",
+    "closeness rank": 10
+   },
+   "whiteboard": {
+    "distance": "1.66 meters",
+    "closeness rank": 11
+   },
+   "refrigerator": {
+    "distance": "1.68 meters",
+    "closeness rank": 12
+   },
+   "microwave": {
+    "distance": "1.89 meters",
+    "closeness rank": 13
+   },
+   "exhaust fan": {
+    "distance": "2.0 meters",
+    "closeness rank": 14
+   }
+  },
+  "refrigerator": {
+   "door": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "microwave": {
+    "distance": "0.32 meters",
+    "closeness rank": 2
+   },
+   "trash can": {
+    "distance": "0.86 meters",
+    "closeness rank": 3
+   },
+   "table": {
+    "distance": "1.05 meters",
+    "closeness rank": 4
+   },
+   "kettle": {
+    "distance": "1.27 meters",
+    "closeness rank": 5
+   },
+   "cup": {
+    "distance": "1.28 meters",
+    "closeness rank": 6
+   },
+   "cutting board": {
+    "distance": "1.36 meters",
+    "closeness rank": 7
+   },
+   "laptop": {
+    "distance": "1.45 meters",
+    "closeness rank": 8
+   },
+   "bowl": {
+    "distance": "1.48 meters",
+    "closeness rank": 9
+   },
+   "whiteboard": {
+    "distance": "1.56 meters",
+    "closeness rank": 10
+   },
+   "basket": {
+    "distance": "1.57 meters",
+    "closeness rank": 11
+   },
+   "exhaust fan": {
+    "distance": "1.6 meters",
+    "closeness rank": 12
+   },
+   "power strip": {
+    "distance": "1.68 meters",
+    "closeness rank": 13
+   },
+   "ceiling light": {
+    "distance": "1.75 meters",
+    "closeness rank": 14
+   }
+  },
+  "table": {
+   "bowl": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "cup": {
+    "distance": "0.0 meters",
+    "closeness rank": 2
+   },
+   "kettle": {
+    "distance": "0.0 meters",
+    "closeness rank": 3
+   },
+   "basket": {
+    "distance": "0.01 meters",
+    "closeness rank": 4
+   },
+   "laptop": {
+    "distance": "0.02 meters",
+    "closeness rank": 5
+   },
+   "power strip": {
+    "distance": "0.09 meters",
+    "closeness rank": 6
+   },
+   "door": {
+    "distance": "0.15 meters",
+    "closeness rank": 7
+   },
+   "cutting board": {
+    "distance": "0.22 meters",
+    "closeness rank": 8
+   },
+   "trash can": {
+    "distance": "0.68 meters",
+    "closeness rank": 9
+   },
+   "refrigerator": {
+    "distance": "1.05 meters",
+    "closeness rank": 10
+   },
+   "whiteboard": {
+    "distance": "1.26 meters",
+    "closeness rank": 11
+   },
+   "microwave": {
+    "distance": "1.29 meters",
+    "closeness rank": 12
+   },
+   "ceiling light": {
+    "distance": "1.5 meters",
+    "closeness rank": 13
+   },
+   "exhaust fan": {
+    "distance": "1.65 meters",
+    "closeness rank": 14
+   }
+  },
+  "trash can": {
+   "cup": {
+    "distance": "0.59 meters",
+    "closeness rank": 1
+   },
+   "table": {
+    "distance": "0.68 meters",
+    "closeness rank": 2
+   },
+   "kettle": {
+    "distance": "0.69 meters",
+    "closeness rank": 3
+   },
+   "door": {
+    "distance": "0.74 meters",
+    "closeness rank": 4
+   },
+   "basket": {
+    "distance": "0.83 meters",
+    "closeness rank": 5
+   },
+   "bowl": {
+    "distance": "0.83 meters",
+    "closeness rank": 6
+   },
+   "refrigerator": {
+    "distance": "0.86 meters",
+    "closeness rank": 7
+   },
+   "laptop": {
+    "distance": "0.94 meters",
+    "closeness rank": 8
+   },
+   "cutting board": {
+    "distance": "0.96 meters",
+    "closeness rank": 9
+   },
+   "power strip": {
+    "distance": "1.09 meters",
+    "closeness rank": 10
+   },
+   "microwave": {
+    "distance": "1.1 meters",
+    "closeness rank": 11
+   },
+   "whiteboard": {
+    "distance": "1.45 meters",
+    "closeness rank": 12
+   },
+   "exhaust fan": {
+    "distance": "2.03 meters",
+    "closeness rank": 13
+   },
+   "ceiling light": {
+    "distance": "2.2 meters",
+    "closeness rank": 14
+   }
+  },
+  "whiteboard": {
+   "door": {
+    "distance": "0.5 meters",
+    "closeness rank": 1
+   },
+   "exhaust fan": {
+    "distance": "0.9 meters",
+    "closeness rank": 2
+   },
+   "cup": {
+    "distance": "0.96 meters",
+    "closeness rank": 3
+   },
+   "kettle": {
+    "distance": "1.1 meters",
+    "closeness rank": 4
+   },
+   "table": {
+    "distance": "1.26 meters",
+    "closeness rank": 5
+   },
+   "microwave": {
+    "distance": "1.27 meters",
+    "closeness rank": 6
+   },
+   "ceiling light": {
+    "distance": "1.27 meters",
+    "closeness rank": 7
+   },
+   "laptop": {
+    "distance": "1.28 meters",
+    "closeness rank": 8
+   },
+   "basket": {
+    "distance": "1.32 meters",
+    "closeness rank": 9
+   },
+   "bowl": {
+    "distance": "1.37 meters",
+    "closeness rank": 10
+   },
+   "trash can": {
+    "distance": "1.45 meters",
+    "closeness rank": 11
+   },
+   "refrigerator": {
+    "distance": "1.56 meters",
+    "closeness rank": 12
+   },
+   "power strip": {
+    "distance": "1.66 meters",
+    "closeness rank": 13
+   },
+   "cutting board": {
+    "distance": "1.92 meters",
+    "closeness rank": 14
+   }
+  }
+ },
+ "appearance order": ["door", "kettle", "trash can", "ceiling light", "basket", "cutting board", "cup", "table", "bowl", "laptop", "power strip", "microwave", "whiteboard", "exhaust fan", "refrigerator"]
+}
\ No newline at end of file
diff --git a/data/spatial codes/sam3+depth-anything-3/metric/tracking/selective/64/explicit/fb5a96b1a2.json b/data/spatial codes/sam3+depth-anything-3/metric/tracking/selective/64/explicit/fb5a96b1a2.json
new file mode 100644
index 0000000000000000000000000000000000000000..45402d8e168e6e7722a343f0721875a29f5af895
--- /dev/null
+++ b/data/spatial codes/sam3+depth-anything-3/metric/tracking/selective/64/explicit/fb5a96b1a2.json	
@@ -0,0 +1,1618 @@
+{
+ "spatial code schema": {
+  "objects": {
+   "<object class>": {
+    "count": {
+     "unit": null,
+     "description": "number of instances of this class in the compact spatial code (that schema's per-class oriented-box list length)"
+    },
+    "instances": [
+     {
+      "position": {
+       "x coordinate": {
+        "unit": "meters",
+        "description": "x coordinate of this instance's compact 3D oriented bounding box center"
+       },
+       "y coordinate": {
+        "unit": "meters",
+        "description": "y coordinate of this instance's compact 3D oriented bounding box center"
+       },
+       "height above floor": {
+        "unit": "meters",
+        "description": "height coordinate of this instance's compact 3D oriented bounding box center"
+       }
+      },
+      "longest dimension": {
+       "unit": "meters",
+       "description": "longest of this instance's compact 3D oriented bounding box dimensions"
+      }
+     }
+    ]
+   }
+  },
+  "room": {
+   "floor area": {
+    "unit": "square meters",
+    "description": "shoelace area of the compact spatial code's floor boundary polygons, with every interior hole subtracted"
+   }
+  },
+  "closest classes distance meters from": {
+   "<object class>": {
+    "<other object class>": {
+     "distance": {
+      "unit": "meters",
+      "description": "minimum surface-to-surface separation between the two classes' compact 3D oriented bounding boxes, over every instance pair"
+     },
+     "closeness rank": {
+      "unit": null,
+      "description": "1 = the nearest other class to this one, 2 = second-nearest, and so on"
+     }
+    }
+   }
+  },
+  "appearance order": {
+   "unit": null,
+   "description": "class names ordered by earliest compact 'first visible time' across all of that class's instances"
+  }
+ },
+ "objects": {
+  "bookshelf": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-1.5 meters",
+      "y coordinate": "-0.91 meters",
+      "height above floor": "0.15 meters"
+     },
+     "longest dimension": "1.76 meters"
+    }
+   ]
+  },
+  "ceiling light": {
+   "count": 18,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-0.33 meters",
+      "y coordinate": "1.74 meters",
+      "height above floor": "1.77 meters"
+     },
+     "longest dimension": "0.44 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-2.91 meters",
+      "y coordinate": "2.93 meters",
+      "height above floor": "1.86 meters"
+     },
+     "longest dimension": "0.21 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-1.48 meters",
+      "y coordinate": "-0.28 meters",
+      "height above floor": "1.81 meters"
+     },
+     "longest dimension": "0.22 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-1.86 meters",
+      "y coordinate": "4.35 meters",
+      "height above floor": "1.78 meters"
+     },
+     "longest dimension": "0.17 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "2.69 meters",
+      "y coordinate": "1.1 meters",
+      "height above floor": "1.83 meters"
+     },
+     "longest dimension": "0.18 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-3.31 meters",
+      "y coordinate": "2.8 meters",
+      "height above floor": "1.57 meters"
+     },
+     "longest dimension": "0.26 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "0.51 meters",
+      "y coordinate": "-0.57 meters",
+      "height above floor": "1.8 meters"
+     },
+     "longest dimension": "0.34 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-3.4 meters",
+      "y coordinate": "1.14 meters",
+      "height above floor": "1.66 meters"
+     },
+     "longest dimension": "0.15 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-2.72 meters",
+      "y coordinate": "-0.06 meters",
+      "height above floor": "1.34 meters"
+     },
+     "longest dimension": "0.11 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "1.96 meters",
+      "y coordinate": "2.38 meters",
+      "height above floor": "1.72 meters"
+     },
+     "longest dimension": "0.32 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-3.39 meters",
+      "y coordinate": "2.56 meters",
+      "height above floor": "1.59 meters"
+     },
+     "longest dimension": "0.14 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "2.43 meters",
+      "y coordinate": "3.34 meters",
+      "height above floor": "1.66 meters"
+     },
+     "longest dimension": "0.16 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-0.53 meters",
+      "y coordinate": "4.45 meters",
+      "height above floor": "1.68 meters"
+     },
+     "longest dimension": "0.3 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-2.54 meters",
+      "y coordinate": "-0.34 meters",
+      "height above floor": "1.45 meters"
+     },
+     "longest dimension": "0.21 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-3.3 meters",
+      "y coordinate": "0.86 meters",
+      "height above floor": "1.34 meters"
+     },
+     "longest dimension": "0.12 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "3.0 meters",
+      "y coordinate": "2.76 meters",
+      "height above floor": "1.26 meters"
+     },
+     "longest dimension": "0.16 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-3.39 meters",
+      "y coordinate": "1.16 meters",
+      "height above floor": "1.29 meters"
+     },
+     "longest dimension": "0.07 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-2.35 meters",
+      "y coordinate": "-0.66 meters",
+      "height above floor": "1.36 meters"
+     },
+     "longest dimension": "0.14 meters"
+    }
+   ]
+  },
+  "chair": {
+   "count": 8,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-1.03 meters",
+      "y coordinate": "1.92 meters",
+      "height above floor": "-0.08 meters"
+     },
+     "longest dimension": "0.88 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-1.58 meters",
+      "y coordinate": "-0.28 meters",
+      "height above floor": "-0.17 meters"
+     },
+     "longest dimension": "0.89 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-1.18 meters",
+      "y coordinate": "4.18 meters",
+      "height above floor": "-0.32 meters"
+     },
+     "longest dimension": "0.87 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "0.05 meters",
+      "y coordinate": "4.11 meters",
+      "height above floor": "-0.09 meters"
+     },
+     "longest dimension": "0.66 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-1.83 meters",
+      "y coordinate": "4.07 meters",
+      "height above floor": "-0.08 meters"
+     },
+     "longest dimension": "0.81 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-2.41 meters",
+      "y coordinate": "-0.21 meters",
+      "height above floor": "-0.07 meters"
+     },
+     "longest dimension": "0.7 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-2.38 meters",
+      "y coordinate": "-0.25 meters",
+      "height above floor": "-0.09 meters"
+     },
+     "longest dimension": "1.02 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-0.87 meters",
+      "y coordinate": "2.46 meters",
+      "height above floor": "-0.58 meters"
+     },
+     "longest dimension": "0.89 meters"
+    }
+   ]
+  },
+  "computer mouse": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-0.42 meters",
+      "y coordinate": "1.77 meters",
+      "height above floor": "0.04 meters"
+     },
+     "longest dimension": "0.09 meters"
+    }
+   ]
+  },
+  "cushion": {
+   "count": 6,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "0.59 meters",
+      "y coordinate": "2.28 meters",
+      "height above floor": "-0.24 meters"
+     },
+     "longest dimension": "0.56 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-1.14 meters",
+      "y coordinate": "4.13 meters",
+      "height above floor": "-0.35 meters"
+     },
+     "longest dimension": "0.55 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-2.06 meters",
+      "y coordinate": "2.07 meters",
+      "height above floor": "-0.23 meters"
+     },
+     "longest dimension": "0.67 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "2.55 meters",
+      "y coordinate": "1.43 meters",
+      "height above floor": "-0.26 meters"
+     },
+     "longest dimension": "0.58 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-1.33 meters",
+      "y coordinate": "4.45 meters",
+      "height above floor": "-0.17 meters"
+     },
+     "longest dimension": "0.42 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-2.25 meters",
+      "y coordinate": "2.66 meters",
+      "height above floor": "-0.24 meters"
+     },
+     "longest dimension": "0.58 meters"
+    }
+   ]
+  },
+  "door": {
+   "count": 4,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "3.05 meters",
+      "y coordinate": "1.77 meters",
+      "height above floor": "0.42 meters"
+     },
+     "longest dimension": "2.02 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-0.87 meters",
+      "y coordinate": "-1.17 meters",
+      "height above floor": "-0.09 meters"
+     },
+     "longest dimension": "1.89 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-2.97 meters",
+      "y coordinate": "0.29 meters",
+      "height above floor": "0.79 meters"
+     },
+     "longest dimension": "0.9 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "4.98 meters",
+      "y coordinate": "5.96 meters",
+      "height above floor": "0.27 meters"
+     },
+     "longest dimension": "1.94 meters"
+    }
+   ]
+  },
+  "laptop": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-0.01 meters",
+      "y coordinate": "1.81 meters",
+      "height above floor": "0.09 meters"
+     },
+     "longest dimension": "0.32 meters"
+    }
+   ]
+  },
+  "monitor": {
+   "count": 2,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "1.37 meters",
+      "y coordinate": "-0.33 meters",
+      "height above floor": "0.45 meters"
+     },
+     "longest dimension": "1.45 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-0.5 meters",
+      "y coordinate": "1.62 meters",
+      "height above floor": "0.1 meters"
+     },
+     "longest dimension": "0.31 meters"
+    }
+   ]
+  },
+  "plant": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-3.52 meters",
+      "y coordinate": "1.93 meters",
+      "height above floor": "1.1 meters"
+     },
+     "longest dimension": "0.13 meters"
+    }
+   ]
+  },
+  "printer": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "0.03 meters",
+      "y coordinate": "1.84 meters",
+      "height above floor": "0.07 meters"
+     },
+     "longest dimension": "0.28 meters"
+    }
+   ]
+  },
+  "refrigerator": {
+   "count": 3,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-0.86 meters",
+      "y coordinate": "-1.16 meters",
+      "height above floor": "0.09 meters"
+     },
+     "longest dimension": "1.88 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "3.09 meters",
+      "y coordinate": "1.78 meters",
+      "height above floor": "0.08 meters"
+     },
+     "longest dimension": "1.53 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "1.44 meters",
+      "y coordinate": "3.59 meters",
+      "height above floor": "0.42 meters"
+     },
+     "longest dimension": "1.65 meters"
+    }
+   ]
+  },
+  "table": {
+   "count": 3,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "0.0 meters",
+      "y coordinate": "1.92 meters",
+      "height above floor": "0.01 meters"
+     },
+     "longest dimension": "2.86 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-0.75 meters",
+      "y coordinate": "4.53 meters",
+      "height above floor": "0.12 meters"
+     },
+     "longest dimension": "0.72 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-1.59 meters",
+      "y coordinate": "1.64 meters",
+      "height above floor": "-0.14 meters"
+     },
+     "longest dimension": "1.26 meters"
+    }
+   ]
+  },
+  "telephone": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-0.66 meters",
+      "y coordinate": "4.71 meters",
+      "height above floor": "0.42 meters"
+     },
+     "longest dimension": "0.42 meters"
+    }
+   ]
+  },
+  "trash can": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-0.38 meters",
+      "y coordinate": "4.35 meters",
+      "height above floor": "-0.39 meters"
+     },
+     "longest dimension": "0.52 meters"
+    }
+   ]
+  },
+  "tv": {
+   "count": 4,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-2.31 meters",
+      "y coordinate": "-0.61 meters",
+      "height above floor": "1.07 meters"
+     },
+     "longest dimension": "2.1 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "0.11 meters",
+      "y coordinate": "-0.88 meters",
+      "height above floor": "0.46 meters"
+     },
+     "longest dimension": "1.48 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "1.3 meters",
+      "y coordinate": "-0.38 meters",
+      "height above floor": "0.44 meters"
+     },
+     "longest dimension": "1.47 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "2.27 meters",
+      "y coordinate": "0.54 meters",
+      "height above floor": "0.51 meters"
+     },
+     "longest dimension": "0.38 meters"
+    }
+   ]
+  },
+  "whiteboard": {
+   "count": 5,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "0.28 meters",
+      "y coordinate": "4.33 meters",
+      "height above floor": "0.64 meters"
+     },
+     "longest dimension": "2.08 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "3.03 meters",
+      "y coordinate": "0.82 meters",
+      "height above floor": "0.56 meters"
+     },
+     "longest dimension": "3.67 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-2.06 meters",
+      "y coordinate": "4.34 meters",
+      "height above floor": "0.54 meters"
+     },
+     "longest dimension": "1.36 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-2.8 meters",
+      "y coordinate": "2.9 meters",
+      "height above floor": "0.71 meters"
+     },
+     "longest dimension": "1.95 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-2.71 meters",
+      "y coordinate": "3.13 meters",
+      "height above floor": "0.7 meters"
+     },
+     "longest dimension": "1.95 meters"
+    }
+   ]
+  }
+ },
+ "room": {
+  "floor area": "41.6 square meters"
+ },
+ "closest classes distance meters from": {
+  "bookshelf": {
+   "chair": {
+    "distance": "0.02 meters",
+    "closeness rank": 1
+   },
+   "refrigerator": {
+    "distance": "0.04 meters",
+    "closeness rank": 2
+   },
+   "door": {
+    "distance": "0.05 meters",
+    "closeness rank": 3
+   },
+   "tv": {
+    "distance": "0.12 meters",
+    "closeness rank": 4
+   },
+   "ceiling light": {
+    "distance": "0.45 meters",
+    "closeness rank": 5
+   },
+   "table": {
+    "distance": "1.57 meters",
+    "closeness rank": 6
+   },
+   "monitor": {
+    "distance": "1.71 meters",
+    "closeness rank": 7
+   },
+   "cushion": {
+    "distance": "2.29 meters",
+    "closeness rank": 8
+   },
+   "whiteboard": {
+    "distance": "2.52 meters",
+    "closeness rank": 9
+   },
+   "computer mouse": {
+    "distance": "2.66 meters",
+    "closeness rank": 10
+   },
+   "laptop": {
+    "distance": "2.69 meters",
+    "closeness rank": 11
+   },
+   "printer": {
+    "distance": "2.79 meters",
+    "closeness rank": 12
+   },
+   "plant": {
+    "distance": "2.94 meters",
+    "closeness rank": 13
+   },
+   "trash can": {
+    "distance": "5.0 meters",
+    "closeness rank": 14
+   },
+   "telephone": {
+    "distance": "5.21 meters",
+    "closeness rank": 15
+   }
+  },
+  "ceiling light": {
+   "tv": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "door": {
+    "distance": "0.05 meters",
+    "closeness rank": 2
+   },
+   "bookshelf": {
+    "distance": "0.45 meters",
+    "closeness rank": 3
+   },
+   "whiteboard": {
+    "distance": "0.48 meters",
+    "closeness rank": 4
+   },
+   "plant": {
+    "distance": "0.64 meters",
+    "closeness rank": 5
+   },
+   "refrigerator": {
+    "distance": "0.81 meters",
+    "closeness rank": 6
+   },
+   "monitor": {
+    "distance": "0.87 meters",
+    "closeness rank": 7
+   },
+   "chair": {
+    "distance": "1.01 meters",
+    "closeness rank": 8
+   },
+   "telephone": {
+    "distance": "1.12 meters",
+    "closeness rank": 9
+   },
+   "table": {
+    "distance": "1.14 meters",
+    "closeness rank": 10
+   },
+   "laptop": {
+    "distance": "1.57 meters",
+    "closeness rank": 11
+   },
+   "printer": {
+    "distance": "1.57 meters",
+    "closeness rank": 12
+   },
+   "computer mouse": {
+    "distance": "1.64 meters",
+    "closeness rank": 13
+   },
+   "trash can": {
+    "distance": "1.75 meters",
+    "closeness rank": 14
+   },
+   "cushion": {
+    "distance": "1.75 meters",
+    "closeness rank": 15
+   }
+  },
+  "chair": {
+   "cushion": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "table": {
+    "distance": "0.0 meters",
+    "closeness rank": 2
+   },
+   "tv": {
+    "distance": "0.0 meters",
+    "closeness rank": 3
+   },
+   "whiteboard": {
+    "distance": "0.0 meters",
+    "closeness rank": 4
+   },
+   "bookshelf": {
+    "distance": "0.02 meters",
+    "closeness rank": 5
+   },
+   "trash can": {
+    "distance": "0.04 meters",
+    "closeness rank": 6
+   },
+   "door": {
+    "distance": "0.14 meters",
+    "closeness rank": 7
+   },
+   "monitor": {
+    "distance": "0.2 meters",
+    "closeness rank": 8
+   },
+   "computer mouse": {
+    "distance": "0.38 meters",
+    "closeness rank": 9
+   },
+   "telephone": {
+    "distance": "0.43 meters",
+    "closeness rank": 10
+   },
+   "laptop": {
+    "distance": "0.63 meters",
+    "closeness rank": 11
+   },
+   "refrigerator": {
+    "distance": "0.65 meters",
+    "closeness rank": 12
+   },
+   "printer": {
+    "distance": "0.7 meters",
+    "closeness rank": 13
+   },
+   "ceiling light": {
+    "distance": "1.01 meters",
+    "closeness rank": 14
+   },
+   "plant": {
+    "distance": "2.07 meters",
+    "closeness rank": 15
+   }
+  },
+  "computer mouse": {
+   "table": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "monitor": {
+    "distance": "0.04 meters",
+    "closeness rank": 2
+   },
+   "laptop": {
+    "distance": "0.18 meters",
+    "closeness rank": 3
+   },
+   "printer": {
+    "distance": "0.27 meters",
+    "closeness rank": 4
+   },
+   "chair": {
+    "distance": "0.38 meters",
+    "closeness rank": 5
+   },
+   "cushion": {
+    "distance": "0.85 meters",
+    "closeness rank": 6
+   },
+   "ceiling light": {
+    "distance": "1.64 meters",
+    "closeness rank": 7
+   },
+   "whiteboard": {
+    "distance": "2.12 meters",
+    "closeness rank": 8
+   },
+   "refrigerator": {
+    "distance": "2.32 meters",
+    "closeness rank": 9
+   },
+   "trash can": {
+    "distance": "2.37 meters",
+    "closeness rank": 10
+   },
+   "tv": {
+    "distance": "2.51 meters",
+    "closeness rank": 11
+   },
+   "bookshelf": {
+    "distance": "2.66 meters",
+    "closeness rank": 12
+   },
+   "telephone": {
+    "distance": "2.68 meters",
+    "closeness rank": 13
+   },
+   "door": {
+    "distance": "2.73 meters",
+    "closeness rank": 14
+   },
+   "plant": {
+    "distance": "3.2 meters",
+    "closeness rank": 15
+   }
+  },
+  "cushion": {
+   "chair": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "table": {
+    "distance": "0.0 meters",
+    "closeness rank": 2
+   },
+   "whiteboard": {
+    "distance": "0.06 meters",
+    "closeness rank": 3
+   },
+   "refrigerator": {
+    "distance": "0.19 meters",
+    "closeness rank": 4
+   },
+   "door": {
+    "distance": "0.23 meters",
+    "closeness rank": 5
+   },
+   "trash can": {
+    "distance": "0.26 meters",
+    "closeness rank": 6
+   },
+   "printer": {
+    "distance": "0.41 meters",
+    "closeness rank": 7
+   },
+   "laptop": {
+    "distance": "0.46 meters",
+    "closeness rank": 8
+   },
+   "telephone": {
+    "distance": "0.57 meters",
+    "closeness rank": 9
+   },
+   "tv": {
+    "distance": "0.79 meters",
+    "closeness rank": 10
+   },
+   "computer mouse": {
+    "distance": "0.85 meters",
+    "closeness rank": 11
+   },
+   "monitor": {
+    "distance": "0.91 meters",
+    "closeness rank": 12
+   },
+   "plant": {
+    "distance": "1.63 meters",
+    "closeness rank": 13
+   },
+   "ceiling light": {
+    "distance": "1.75 meters",
+    "closeness rank": 14
+   },
+   "bookshelf": {
+    "distance": "2.29 meters",
+    "closeness rank": 15
+   }
+  },
+  "door": {
+   "refrigerator": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "bookshelf": {
+    "distance": "0.05 meters",
+    "closeness rank": 2
+   },
+   "ceiling light": {
+    "distance": "0.05 meters",
+    "closeness rank": 3
+   },
+   "chair": {
+    "distance": "0.14 meters",
+    "closeness rank": 4
+   },
+   "tv": {
+    "distance": "0.22 meters",
+    "closeness rank": 5
+   },
+   "cushion": {
+    "distance": "0.23 meters",
+    "closeness rank": 6
+   },
+   "whiteboard": {
+    "distance": "0.27 meters",
+    "closeness rank": 7
+   },
+   "plant": {
+    "distance": "1.29 meters",
+    "closeness rank": 8
+   },
+   "table": {
+    "distance": "1.35 meters",
+    "closeness rank": 9
+   },
+   "monitor": {
+    "distance": "1.57 meters",
+    "closeness rank": 10
+   },
+   "laptop": {
+    "distance": "2.68 meters",
+    "closeness rank": 11
+   },
+   "printer": {
+    "distance": "2.68 meters",
+    "closeness rank": 12
+   },
+   "computer mouse": {
+    "distance": "2.73 meters",
+    "closeness rank": 13
+   },
+   "trash can": {
+    "distance": "3.98 meters",
+    "closeness rank": 14
+   },
+   "telephone": {
+    "distance": "4.34 meters",
+    "closeness rank": 15
+   }
+  },
+  "laptop": {
+   "printer": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "table": {
+    "distance": "0.02 meters",
+    "closeness rank": 2
+   },
+   "computer mouse": {
+    "distance": "0.18 meters",
+    "closeness rank": 3
+   },
+   "monitor": {
+    "distance": "0.19 meters",
+    "closeness rank": 4
+   },
+   "cushion": {
+    "distance": "0.46 meters",
+    "closeness rank": 5
+   },
+   "chair": {
+    "distance": "0.63 meters",
+    "closeness rank": 6
+   },
+   "ceiling light": {
+    "distance": "1.57 meters",
+    "closeness rank": 7
+   },
+   "whiteboard": {
+    "distance": "1.8 meters",
+    "closeness rank": 8
+   },
+   "refrigerator": {
+    "distance": "1.87 meters",
+    "closeness rank": 9
+   },
+   "trash can": {
+    "distance": "2.23 meters",
+    "closeness rank": 10
+   },
+   "tv": {
+    "distance": "2.3 meters",
+    "closeness rank": 11
+   },
+   "telephone": {
+    "distance": "2.6 meters",
+    "closeness rank": 12
+   },
+   "door": {
+    "distance": "2.68 meters",
+    "closeness rank": 13
+   },
+   "bookshelf": {
+    "distance": "2.69 meters",
+    "closeness rank": 14
+   },
+   "plant": {
+    "distance": "3.42 meters",
+    "closeness rank": 15
+   }
+  },
+  "monitor": {
+   "table": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "tv": {
+    "distance": "0.0 meters",
+    "closeness rank": 2
+   },
+   "whiteboard": {
+    "distance": "0.0 meters",
+    "closeness rank": 3
+   },
+   "computer mouse": {
+    "distance": "0.04 meters",
+    "closeness rank": 4
+   },
+   "laptop": {
+    "distance": "0.19 meters",
+    "closeness rank": 5
+   },
+   "chair": {
+    "distance": "0.2 meters",
+    "closeness rank": 6
+   },
+   "printer": {
+    "distance": "0.26 meters",
+    "closeness rank": 7
+   },
+   "ceiling light": {
+    "distance": "0.87 meters",
+    "closeness rank": 8
+   },
+   "cushion": {
+    "distance": "0.91 meters",
+    "closeness rank": 9
+   },
+   "refrigerator": {
+    "distance": "1.51 meters",
+    "closeness rank": 10
+   },
+   "door": {
+    "distance": "1.57 meters",
+    "closeness rank": 11
+   },
+   "bookshelf": {
+    "distance": "1.71 meters",
+    "closeness rank": 12
+   },
+   "trash can": {
+    "distance": "2.5 meters",
+    "closeness rank": 13
+   },
+   "telephone": {
+    "distance": "2.8 meters",
+    "closeness rank": 14
+   },
+   "plant": {
+    "distance": "2.99 meters",
+    "closeness rank": 15
+   }
+  },
+  "plant": {
+   "whiteboard": {
+    "distance": "0.41 meters",
+    "closeness rank": 1
+   },
+   "ceiling light": {
+    "distance": "0.64 meters",
+    "closeness rank": 2
+   },
+   "door": {
+    "distance": "1.29 meters",
+    "closeness rank": 3
+   },
+   "cushion": {
+    "distance": "1.63 meters",
+    "closeness rank": 4
+   },
+   "table": {
+    "distance": "1.69 meters",
+    "closeness rank": 5
+   },
+   "chair": {
+    "distance": "2.07 meters",
+    "closeness rank": 6
+   },
+   "tv": {
+    "distance": "2.51 meters",
+    "closeness rank": 7
+   },
+   "bookshelf": {
+    "distance": "2.94 meters",
+    "closeness rank": 8
+   },
+   "monitor": {
+    "distance": "2.99 meters",
+    "closeness rank": 9
+   },
+   "computer mouse": {
+    "distance": "3.2 meters",
+    "closeness rank": 10
+   },
+   "laptop": {
+    "distance": "3.42 meters",
+    "closeness rank": 11
+   },
+   "printer": {
+    "distance": "3.49 meters",
+    "closeness rank": 12
+   },
+   "refrigerator": {
+    "distance": "3.83 meters",
+    "closeness rank": 13
+   },
+   "telephone": {
+    "distance": "3.83 meters",
+    "closeness rank": 14
+   },
+   "trash can": {
+    "distance": "3.91 meters",
+    "closeness rank": 15
+   }
+  },
+  "printer": {
+   "laptop": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "table": {
+    "distance": "0.0 meters",
+    "closeness rank": 2
+   },
+   "monitor": {
+    "distance": "0.26 meters",
+    "closeness rank": 3
+   },
+   "computer mouse": {
+    "distance": "0.27 meters",
+    "closeness rank": 4
+   },
+   "cushion": {
+    "distance": "0.41 meters",
+    "closeness rank": 5
+   },
+   "chair": {
+    "distance": "0.7 meters",
+    "closeness rank": 6
+   },
+   "ceiling light": {
+    "distance": "1.57 meters",
+    "closeness rank": 7
+   },
+   "whiteboard": {
+    "distance": "1.79 meters",
+    "closeness rank": 8
+   },
+   "refrigerator": {
+    "distance": "1.85 meters",
+    "closeness rank": 9
+   },
+   "trash can": {
+    "distance": "2.29 meters",
+    "closeness rank": 10
+   },
+   "tv": {
+    "distance": "2.37 meters",
+    "closeness rank": 11
+   },
+   "telephone": {
+    "distance": "2.65 meters",
+    "closeness rank": 12
+   },
+   "door": {
+    "distance": "2.68 meters",
+    "closeness rank": 13
+   },
+   "bookshelf": {
+    "distance": "2.79 meters",
+    "closeness rank": 14
+   },
+   "plant": {
+    "distance": "3.49 meters",
+    "closeness rank": 15
+   }
+  },
+  "refrigerator": {
+   "door": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "bookshelf": {
+    "distance": "0.04 meters",
+    "closeness rank": 2
+   },
+   "whiteboard": {
+    "distance": "0.15 meters",
+    "closeness rank": 3
+   },
+   "tv": {
+    "distance": "0.18 meters",
+    "closeness rank": 4
+   },
+   "cushion": {
+    "distance": "0.19 meters",
+    "closeness rank": 5
+   },
+   "table": {
+    "distance": "0.57 meters",
+    "closeness rank": 6
+   },
+   "chair": {
+    "distance": "0.65 meters",
+    "closeness rank": 7
+   },
+   "ceiling light": {
+    "distance": "0.81 meters",
+    "closeness rank": 8
+   },
+   "monitor": {
+    "distance": "1.51 meters",
+    "closeness rank": 9
+   },
+   "trash can": {
+    "distance": "1.64 meters",
+    "closeness rank": 10
+   },
+   "printer": {
+    "distance": "1.85 meters",
+    "closeness rank": 11
+   },
+   "laptop": {
+    "distance": "1.87 meters",
+    "closeness rank": 12
+   },
+   "telephone": {
+    "distance": "1.94 meters",
+    "closeness rank": 13
+   },
+   "computer mouse": {
+    "distance": "2.32 meters",
+    "closeness rank": 14
+   },
+   "plant": {
+    "distance": "3.83 meters",
+    "closeness rank": 15
+   }
+  },
+  "table": {
+   "chair": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "computer mouse": {
+    "distance": "0.0 meters",
+    "closeness rank": 2
+   },
+   "cushion": {
+    "distance": "0.0 meters",
+    "closeness rank": 3
+   },
+   "monitor": {
+    "distance": "0.0 meters",
+    "closeness rank": 4
+   },
+   "printer": {
+    "distance": "0.0 meters",
+    "closeness rank": 5
+   },
+   "telephone": {
+    "distance": "0.0 meters",
+    "closeness rank": 6
+   },
+   "trash can": {
+    "distance": "0.02 meters",
+    "closeness rank": 7
+   },
+   "laptop": {
+    "distance": "0.02 meters",
+    "closeness rank": 8
+   },
+   "whiteboard": {
+    "distance": "0.21 meters",
+    "closeness rank": 9
+   },
+   "refrigerator": {
+    "distance": "0.57 meters",
+    "closeness rank": 10
+   },
+   "ceiling light": {
+    "distance": "1.14 meters",
+    "closeness rank": 11
+   },
+   "door": {
+    "distance": "1.35 meters",
+    "closeness rank": 12
+   },
+   "tv": {
+    "distance": "1.42 meters",
+    "closeness rank": 13
+   },
+   "bookshelf": {
+    "distance": "1.57 meters",
+    "closeness rank": 14
+   },
+   "plant": {
+    "distance": "1.69 meters",
+    "closeness rank": 15
+   }
+  },
+  "telephone": {
+   "table": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "whiteboard": {
+    "distance": "0.12 meters",
+    "closeness rank": 2
+   },
+   "chair": {
+    "distance": "0.43 meters",
+    "closeness rank": 3
+   },
+   "trash can": {
+    "distance": "0.48 meters",
+    "closeness rank": 4
+   },
+   "cushion": {
+    "distance": "0.57 meters",
+    "closeness rank": 5
+   },
+   "ceiling light": {
+    "distance": "1.12 meters",
+    "closeness rank": 6
+   },
+   "refrigerator": {
+    "distance": "1.94 meters",
+    "closeness rank": 7
+   },
+   "laptop": {
+    "distance": "2.6 meters",
+    "closeness rank": 8
+   },
+   "printer": {
+    "distance": "2.65 meters",
+    "closeness rank": 9
+   },
+   "computer mouse": {
+    "distance": "2.68 meters",
+    "closeness rank": 10
+   },
+   "monitor": {
+    "distance": "2.8 meters",
+    "closeness rank": 11
+   },
+   "plant": {
+    "distance": "3.83 meters",
+    "closeness rank": 12
+   },
+   "door": {
+    "distance": "4.34 meters",
+    "closeness rank": 13
+   },
+   "tv": {
+    "distance": "4.8 meters",
+    "closeness rank": 14
+   },
+   "bookshelf": {
+    "distance": "5.21 meters",
+    "closeness rank": 15
+   }
+  },
+  "trash can": {
+   "table": {
+    "distance": "0.02 meters",
+    "closeness rank": 1
+   },
+   "chair": {
+    "distance": "0.04 meters",
+    "closeness rank": 2
+   },
+   "cushion": {
+    "distance": "0.26 meters",
+    "closeness rank": 3
+   },
+   "whiteboard": {
+    "distance": "0.48 meters",
+    "closeness rank": 4
+   },
+   "telephone": {
+    "distance": "0.48 meters",
+    "closeness rank": 5
+   },
+   "refrigerator": {
+    "distance": "1.64 meters",
+    "closeness rank": 6
+   },
+   "ceiling light": {
+    "distance": "1.75 meters",
+    "closeness rank": 7
+   },
+   "laptop": {
+    "distance": "2.23 meters",
+    "closeness rank": 8
+   },
+   "printer": {
+    "distance": "2.29 meters",
+    "closeness rank": 9
+   },
+   "computer mouse": {
+    "distance": "2.37 meters",
+    "closeness rank": 10
+   },
+   "monitor": {
+    "distance": "2.5 meters",
+    "closeness rank": 11
+   },
+   "plant": {
+    "distance": "3.91 meters",
+    "closeness rank": 12
+   },
+   "door": {
+    "distance": "3.98 meters",
+    "closeness rank": 13
+   },
+   "tv": {
+    "distance": "4.43 meters",
+    "closeness rank": 14
+   },
+   "bookshelf": {
+    "distance": "5.0 meters",
+    "closeness rank": 15
+   }
+  },
+  "tv": {
+   "ceiling light": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "chair": {
+    "distance": "0.0 meters",
+    "closeness rank": 2
+   },
+   "monitor": {
+    "distance": "0.0 meters",
+    "closeness rank": 3
+   },
+   "whiteboard": {
+    "distance": "0.0 meters",
+    "closeness rank": 4
+   },
+   "bookshelf": {
+    "distance": "0.12 meters",
+    "closeness rank": 5
+   },
+   "refrigerator": {
+    "distance": "0.18 meters",
+    "closeness rank": 6
+   },
+   "door": {
+    "distance": "0.22 meters",
+    "closeness rank": 7
+   },
+   "cushion": {
+    "distance": "0.79 meters",
+    "closeness rank": 8
+   },
+   "table": {
+    "distance": "1.42 meters",
+    "closeness rank": 9
+   },
+   "laptop": {
+    "distance": "2.3 meters",
+    "closeness rank": 10
+   },
+   "printer": {
+    "distance": "2.37 meters",
+    "closeness rank": 11
+   },
+   "computer mouse": {
+    "distance": "2.51 meters",
+    "closeness rank": 12
+   },
+   "plant": {
+    "distance": "2.51 meters",
+    "closeness rank": 13
+   },
+   "trash can": {
+    "distance": "4.43 meters",
+    "closeness rank": 14
+   },
+   "telephone": {
+    "distance": "4.8 meters",
+    "closeness rank": 15
+   }
+  },
+  "whiteboard": {
+   "chair": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "monitor": {
+    "distance": "0.0 meters",
+    "closeness rank": 2
+   },
+   "tv": {
+    "distance": "0.0 meters",
+    "closeness rank": 3
+   },
+   "cushion": {
+    "distance": "0.06 meters",
+    "closeness rank": 4
+   },
+   "telephone": {
+    "distance": "0.12 meters",
+    "closeness rank": 5
+   },
+   "refrigerator": {
+    "distance": "0.15 meters",
+    "closeness rank": 6
+   },
+   "table": {
+    "distance": "0.21 meters",
+    "closeness rank": 7
+   },
+   "door": {
+    "distance": "0.27 meters",
+    "closeness rank": 8
+   },
+   "plant": {
+    "distance": "0.41 meters",
+    "closeness rank": 9
+   },
+   "ceiling light": {
+    "distance": "0.48 meters",
+    "closeness rank": 10
+   },
+   "trash can": {
+    "distance": "0.48 meters",
+    "closeness rank": 11
+   },
+   "printer": {
+    "distance": "1.79 meters",
+    "closeness rank": 12
+   },
+   "laptop": {
+    "distance": "1.8 meters",
+    "closeness rank": 13
+   },
+   "computer mouse": {
+    "distance": "2.12 meters",
+    "closeness rank": 14
+   },
+   "bookshelf": {
+    "distance": "2.52 meters",
+    "closeness rank": 15
+   }
+  }
+ },
+ "appearance order": ["chair", "table", "ceiling light", "whiteboard", "tv", "cushion", "door", "refrigerator", "monitor", "telephone", "trash can", "printer", "bookshelf", "plant", "computer mouse", "laptop"]
+}
\ No newline at end of file
diff --git a/data/spatial codes/sam3+depth-anything-3/metric/tracking/selective/64/explicit/scene0164_02.json b/data/spatial codes/sam3+depth-anything-3/metric/tracking/selective/64/explicit/scene0164_02.json
new file mode 100644
index 0000000000000000000000000000000000000000..34b7085dfea1c7254b1d00745dfe06235b276516
--- /dev/null
+++ b/data/spatial codes/sam3+depth-anything-3/metric/tracking/selective/64/explicit/scene0164_02.json	
@@ -0,0 +1,482 @@
+{
+ "spatial code schema": {
+  "objects": {
+   "<object class>": {
+    "count": {
+     "unit": null,
+     "description": "number of instances of this class in the compact spatial code (that schema's per-class oriented-box list length)"
+    },
+    "instances": [
+     {
+      "position": {
+       "x coordinate": {
+        "unit": "meters",
+        "description": "x coordinate of this instance's compact 3D oriented bounding box center"
+       },
+       "y coordinate": {
+        "unit": "meters",
+        "description": "y coordinate of this instance's compact 3D oriented bounding box center"
+       },
+       "height above floor": {
+        "unit": "meters",
+        "description": "height coordinate of this instance's compact 3D oriented bounding box center"
+       }
+      },
+      "longest dimension": {
+       "unit": "meters",
+       "description": "longest of this instance's compact 3D oriented bounding box dimensions"
+      }
+     }
+    ]
+   }
+  },
+  "room": {
+   "floor area": {
+    "unit": "square meters",
+    "description": "shoelace area of the compact spatial code's floor boundary polygons, with every interior hole subtracted"
+   }
+  },
+  "closest classes distance meters from": {
+   "<object class>": {
+    "<other object class>": {
+     "distance": {
+      "unit": "meters",
+      "description": "minimum surface-to-surface separation between the two classes' compact 3D oriented bounding boxes, over every instance pair"
+     },
+     "closeness rank": {
+      "unit": null,
+      "description": "1 = the nearest other class to this one, 2 = second-nearest, and so on"
+     }
+    }
+   }
+  },
+  "appearance order": {
+   "unit": null,
+   "description": "class names ordered by earliest compact 'first visible time' across all of that class's instances"
+  }
+ },
+ "objects": {
+  "backpack": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-2.06 meters",
+      "y coordinate": "1.58 meters",
+      "height above floor": "1.26 meters"
+     },
+     "longest dimension": "0.51 meters"
+    }
+   ]
+  },
+  "counter": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "0.17 meters",
+      "y coordinate": "0.7 meters",
+      "height above floor": "1.76 meters"
+     },
+     "longest dimension": "1.4 meters"
+    }
+   ]
+  },
+  "door": {
+   "count": 10,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "0.33 meters",
+      "y coordinate": "0.61 meters",
+      "height above floor": "-0.08 meters"
+     },
+     "longest dimension": "0.76 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-0.66 meters",
+      "y coordinate": "1.09 meters",
+      "height above floor": "1.38 meters"
+     },
+     "longest dimension": "1.04 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-0.28 meters",
+      "y coordinate": "0.59 meters",
+      "height above floor": "0.02 meters"
+     },
+     "longest dimension": "0.82 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-0.76 meters",
+      "y coordinate": "0.42 meters",
+      "height above floor": "1.57 meters"
+     },
+     "longest dimension": "0.74 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-0.14 meters",
+      "y coordinate": "0.11 meters",
+      "height above floor": "2.0 meters"
+     },
+     "longest dimension": "0.69 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "0.66 meters",
+      "y coordinate": "1.01 meters",
+      "height above floor": "1.15 meters"
+     },
+     "longest dimension": "0.67 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "0.43 meters",
+      "y coordinate": "1.09 meters",
+      "height above floor": "1.41 meters"
+     },
+     "longest dimension": "0.67 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "0.63 meters",
+      "y coordinate": "0.9 meters",
+      "height above floor": "0.74 meters"
+     },
+     "longest dimension": "0.68 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-1.07 meters",
+      "y coordinate": "-0.38 meters",
+      "height above floor": "-0.04 meters"
+     },
+     "longest dimension": "0.75 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-0.04 meters",
+      "y coordinate": "1.03 meters",
+      "height above floor": "1.47 meters"
+     },
+     "longest dimension": "0.47 meters"
+    }
+   ]
+  },
+  "microwave": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "0.73 meters",
+      "y coordinate": "-0.06 meters",
+      "height above floor": "-0.19 meters"
+     },
+     "longest dimension": "0.57 meters"
+    }
+   ]
+  },
+  "oven": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-0.28 meters",
+      "y coordinate": "0.6 meters",
+      "height above floor": "0.02 meters"
+     },
+     "longest dimension": "0.87 meters"
+    }
+   ]
+  },
+  "plant": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-1.19 meters",
+      "y coordinate": "0.36 meters",
+      "height above floor": "0.05 meters"
+     },
+     "longest dimension": "0.07 meters"
+    }
+   ]
+  },
+  "refrigerator": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-0.7 meters",
+      "y coordinate": "0.73 meters",
+      "height above floor": "1.69 meters"
+     },
+     "longest dimension": "1.27 meters"
+    }
+   ]
+  },
+  "towel": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-0.19 meters",
+      "y coordinate": "0.53 meters",
+      "height above floor": "0.06 meters"
+     },
+     "longest dimension": "0.44 meters"
+    }
+   ]
+  }
+ },
+ "room": {
+  "floor area": "8.4 square meters"
+ },
+ "closest classes distance meters from": {
+  "backpack": {
+   "door": {
+    "distance": "0.98 meters",
+    "closeness rank": 1
+   },
+   "refrigerator": {
+    "distance": "0.99 meters",
+    "closeness rank": 2
+   },
+   "counter": {
+    "distance": "1.61 meters",
+    "closeness rank": 3
+   },
+   "plant": {
+    "distance": "1.69 meters",
+    "closeness rank": 4
+   },
+   "oven": {
+    "distance": "1.8 meters",
+    "closeness rank": 5
+   },
+   "towel": {
+    "distance": "2.13 meters",
+    "closeness rank": 6
+   },
+   "microwave": {
+    "distance": "3.1 meters",
+    "closeness rank": 7
+   }
+  },
+  "counter": {
+   "refrigerator": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "door": {
+    "distance": "0.02 meters",
+    "closeness rank": 2
+   },
+   "towel": {
+    "distance": "1.39 meters",
+    "closeness rank": 3
+   },
+   "oven": {
+    "distance": "1.42 meters",
+    "closeness rank": 4
+   },
+   "backpack": {
+    "distance": "1.61 meters",
+    "closeness rank": 5
+   },
+   "plant": {
+    "distance": "1.63 meters",
+    "closeness rank": 6
+   },
+   "microwave": {
+    "distance": "1.68 meters",
+    "closeness rank": 7
+   }
+  },
+  "door": {
+   "oven": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "refrigerator": {
+    "distance": "0.0 meters",
+    "closeness rank": 2
+   },
+   "towel": {
+    "distance": "0.0 meters",
+    "closeness rank": 3
+   },
+   "counter": {
+    "distance": "0.02 meters",
+    "closeness rank": 4
+   },
+   "microwave": {
+    "distance": "0.15 meters",
+    "closeness rank": 5
+   },
+   "plant": {
+    "distance": "0.33 meters",
+    "closeness rank": 6
+   },
+   "backpack": {
+    "distance": "0.98 meters",
+    "closeness rank": 7
+   }
+  },
+  "microwave": {
+   "door": {
+    "distance": "0.15 meters",
+    "closeness rank": 1
+   },
+   "oven": {
+    "distance": "0.45 meters",
+    "closeness rank": 2
+   },
+   "towel": {
+    "distance": "0.63 meters",
+    "closeness rank": 3
+   },
+   "plant": {
+    "distance": "1.64 meters",
+    "closeness rank": 4
+   },
+   "counter": {
+    "distance": "1.68 meters",
+    "closeness rank": 5
+   },
+   "refrigerator": {
+    "distance": "1.75 meters",
+    "closeness rank": 6
+   },
+   "backpack": {
+    "distance": "3.1 meters",
+    "closeness rank": 7
+   }
+  },
+  "oven": {
+   "door": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "towel": {
+    "distance": "0.0 meters",
+    "closeness rank": 2
+   },
+   "plant": {
+    "distance": "0.41 meters",
+    "closeness rank": 3
+   },
+   "microwave": {
+    "distance": "0.45 meters",
+    "closeness rank": 4
+   },
+   "refrigerator": {
+    "distance": "1.3 meters",
+    "closeness rank": 5
+   },
+   "counter": {
+    "distance": "1.42 meters",
+    "closeness rank": 6
+   },
+   "backpack": {
+    "distance": "1.8 meters",
+    "closeness rank": 7
+   }
+  },
+  "plant": {
+   "door": {
+    "distance": "0.33 meters",
+    "closeness rank": 1
+   },
+   "oven": {
+    "distance": "0.41 meters",
+    "closeness rank": 2
+   },
+   "towel": {
+    "distance": "0.88 meters",
+    "closeness rank": 3
+   },
+   "refrigerator": {
+    "distance": "1.34 meters",
+    "closeness rank": 4
+   },
+   "counter": {
+    "distance": "1.63 meters",
+    "closeness rank": 5
+   },
+   "microwave": {
+    "distance": "1.64 meters",
+    "closeness rank": 6
+   },
+   "backpack": {
+    "distance": "1.69 meters",
+    "closeness rank": 7
+   }
+  },
+  "refrigerator": {
+   "counter": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "door": {
+    "distance": "0.0 meters",
+    "closeness rank": 2
+   },
+   "backpack": {
+    "distance": "0.99 meters",
+    "closeness rank": 3
+   },
+   "towel": {
+    "distance": "1.28 meters",
+    "closeness rank": 4
+   },
+   "oven": {
+    "distance": "1.3 meters",
+    "closeness rank": 5
+   },
+   "plant": {
+    "distance": "1.34 meters",
+    "closeness rank": 6
+   },
+   "microwave": {
+    "distance": "1.75 meters",
+    "closeness rank": 7
+   }
+  },
+  "towel": {
+   "door": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "oven": {
+    "distance": "0.0 meters",
+    "closeness rank": 2
+   },
+   "microwave": {
+    "distance": "0.63 meters",
+    "closeness rank": 3
+   },
+   "plant": {
+    "distance": "0.88 meters",
+    "closeness rank": 4
+   },
+   "refrigerator": {
+    "distance": "1.28 meters",
+    "closeness rank": 5
+   },
+   "counter": {
+    "distance": "1.39 meters",
+    "closeness rank": 6
+   },
+   "backpack": {
+    "distance": "2.13 meters",
+    "closeness rank": 7
+   }
+  }
+ },
+ "appearance order": ["door", "towel", "oven", "microwave", "counter", "refrigerator", "backpack", "plant"]
+}
\ No newline at end of file
diff --git a/data/spatial codes/sam3+depth-anything-3/metric/tracking/selective/64/explicit/scene0304_00.json b/data/spatial codes/sam3+depth-anything-3/metric/tracking/selective/64/explicit/scene0304_00.json
new file mode 100644
index 0000000000000000000000000000000000000000..a084895770250743981753ca477bfc82c113e37b
--- /dev/null
+++ b/data/spatial codes/sam3+depth-anything-3/metric/tracking/selective/64/explicit/scene0304_00.json	
@@ -0,0 +1,427 @@
+{
+ "spatial code schema": {
+  "objects": {
+   "<object class>": {
+    "count": {
+     "unit": null,
+     "description": "number of instances of this class in the compact spatial code (that schema's per-class oriented-box list length)"
+    },
+    "instances": [
+     {
+      "position": {
+       "x coordinate": {
+        "unit": "meters",
+        "description": "x coordinate of this instance's compact 3D oriented bounding box center"
+       },
+       "y coordinate": {
+        "unit": "meters",
+        "description": "y coordinate of this instance's compact 3D oriented bounding box center"
+       },
+       "height above floor": {
+        "unit": "meters",
+        "description": "height coordinate of this instance's compact 3D oriented bounding box center"
+       }
+      },
+      "longest dimension": {
+       "unit": "meters",
+       "description": "longest of this instance's compact 3D oriented bounding box dimensions"
+      }
+     }
+    ]
+   }
+  },
+  "room": {
+   "floor area": {
+    "unit": "square meters",
+    "description": "shoelace area of the compact spatial code's floor boundary polygons, with every interior hole subtracted"
+   }
+  },
+  "closest classes distance meters from": {
+   "<object class>": {
+    "<other object class>": {
+     "distance": {
+      "unit": "meters",
+      "description": "minimum surface-to-surface separation between the two classes' compact 3D oriented bounding boxes, over every instance pair"
+     },
+     "closeness rank": {
+      "unit": null,
+      "description": "1 = the nearest other class to this one, 2 = second-nearest, and so on"
+     }
+    }
+   }
+  },
+  "appearance order": {
+   "unit": null,
+   "description": "class names ordered by earliest compact 'first visible time' across all of that class's instances"
+  }
+ },
+ "objects": {
+  "backpack": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "0.65 meters",
+      "y coordinate": "-1.99 meters",
+      "height above floor": "-1.53 meters"
+     },
+     "longest dimension": "0.55 meters"
+    }
+   ]
+  },
+  "counter": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "0.82 meters",
+      "y coordinate": "-2.04 meters",
+      "height above floor": "-1.62 meters"
+     },
+     "longest dimension": "1.45 meters"
+    }
+   ]
+  },
+  "door": {
+   "count": 7,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "0.17 meters",
+      "y coordinate": "2.05 meters",
+      "height above floor": "-3.15 meters"
+     },
+     "longest dimension": "2.09 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "0.93 meters",
+      "y coordinate": "-1.76 meters",
+      "height above floor": "-1.99 meters"
+     },
+     "longest dimension": "0.42 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "1.3 meters",
+      "y coordinate": "-1.99 meters",
+      "height above floor": "-1.98 meters"
+     },
+     "longest dimension": "0.35 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "1.59 meters",
+      "y coordinate": "-1.95 meters",
+      "height above floor": "-1.97 meters"
+     },
+     "longest dimension": "0.32 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "1.25 meters",
+      "y coordinate": "-1.7 meters",
+      "height above floor": "-1.98 meters"
+     },
+     "longest dimension": "0.37 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "1.2 meters",
+      "y coordinate": "-1.4 meters",
+      "height above floor": "-1.99 meters"
+     },
+     "longest dimension": "0.37 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "0.85 meters",
+      "y coordinate": "-1.15 meters",
+      "height above floor": "-2.0 meters"
+     },
+     "longest dimension": "0.28 meters"
+    }
+   ]
+  },
+  "plant": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "1.71 meters",
+      "y coordinate": "-6.68 meters",
+      "height above floor": "3.35 meters"
+     },
+     "longest dimension": "0.39 meters"
+    }
+   ]
+  },
+  "table": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "0.74 meters",
+      "y coordinate": "-1.73 meters",
+      "height above floor": "-1.65 meters"
+     },
+     "longest dimension": "1.63 meters"
+    }
+   ]
+  },
+  "trash bin": {
+   "count": 3,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "1.63 meters",
+      "y coordinate": "-3.96 meters",
+      "height above floor": "-1.63 meters"
+     },
+     "longest dimension": "0.99 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "1.27 meters",
+      "y coordinate": "-2.53 meters",
+      "height above floor": "0.1 meters"
+     },
+     "longest dimension": "0.67 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "1.35 meters",
+      "y coordinate": "-4.7 meters",
+      "height above floor": "-0.18 meters"
+     },
+     "longest dimension": "1.11 meters"
+    }
+   ]
+  },
+  "window": {
+   "count": 4,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "0.57 meters",
+      "y coordinate": "-0.66 meters",
+      "height above floor": "0.04 meters"
+     },
+     "longest dimension": "3.65 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "0.12 meters",
+      "y coordinate": "2.25 meters",
+      "height above floor": "-0.6 meters"
+     },
+     "longest dimension": "1.63 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "1.29 meters",
+      "y coordinate": "-4.06 meters",
+      "height above floor": "-4.61 meters"
+     },
+     "longest dimension": "1.67 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-0.08 meters",
+      "y coordinate": "2.29 meters",
+      "height above floor": "-0.87 meters"
+     },
+     "longest dimension": "1.02 meters"
+    }
+   ]
+  }
+ },
+ "room": {
+  "floor area": "22.8 square meters"
+ },
+ "closest classes distance meters from": {
+  "backpack": {
+   "counter": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "table": {
+    "distance": "0.01 meters",
+    "closeness rank": 2
+   },
+   "door": {
+    "distance": "0.33 meters",
+    "closeness rank": 3
+   },
+   "window": {
+    "distance": "1.42 meters",
+    "closeness rank": 4
+   },
+   "trash bin": {
+    "distance": "1.43 meters",
+    "closeness rank": 5
+   },
+   "plant": {
+    "distance": "6.36 meters",
+    "closeness rank": 6
+   }
+  },
+  "counter": {
+   "table": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "backpack": {
+    "distance": "0.0 meters",
+    "closeness rank": 2
+   },
+   "door": {
+    "distance": "0.1 meters",
+    "closeness rank": 3
+   },
+   "trash bin": {
+    "distance": "0.95 meters",
+    "closeness rank": 4
+   },
+   "window": {
+    "distance": "1.37 meters",
+    "closeness rank": 5
+   },
+   "plant": {
+    "distance": "5.98 meters",
+    "closeness rank": 6
+   }
+  },
+  "door": {
+   "table": {
+    "distance": "0.01 meters",
+    "closeness rank": 1
+   },
+   "counter": {
+    "distance": "0.1 meters",
+    "closeness rank": 2
+   },
+   "backpack": {
+    "distance": "0.33 meters",
+    "closeness rank": 3
+   },
+   "trash bin": {
+    "distance": "1.47 meters",
+    "closeness rank": 4
+   },
+   "window": {
+    "distance": "1.97 meters",
+    "closeness rank": 5
+   },
+   "plant": {
+    "distance": "6.76 meters",
+    "closeness rank": 6
+   }
+  },
+  "plant": {
+   "trash bin": {
+    "distance": "3.45 meters",
+    "closeness rank": 1
+   },
+   "window": {
+    "distance": "5.18 meters",
+    "closeness rank": 2
+   },
+   "counter": {
+    "distance": "5.98 meters",
+    "closeness rank": 3
+   },
+   "table": {
+    "distance": "6.1 meters",
+    "closeness rank": 4
+   },
+   "backpack": {
+    "distance": "6.36 meters",
+    "closeness rank": 5
+   },
+   "door": {
+    "distance": "6.76 meters",
+    "closeness rank": 6
+   }
+  },
+  "table": {
+   "counter": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "door": {
+    "distance": "0.01 meters",
+    "closeness rank": 2
+   },
+   "backpack": {
+    "distance": "0.01 meters",
+    "closeness rank": 3
+   },
+   "trash bin": {
+    "distance": "1.18 meters",
+    "closeness rank": 4
+   },
+   "window": {
+    "distance": "1.33 meters",
+    "closeness rank": 5
+   },
+   "plant": {
+    "distance": "6.1 meters",
+    "closeness rank": 6
+   }
+  },
+  "trash bin": {
+   "window": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "counter": {
+    "distance": "0.95 meters",
+    "closeness rank": 2
+   },
+   "table": {
+    "distance": "1.18 meters",
+    "closeness rank": 3
+   },
+   "backpack": {
+    "distance": "1.43 meters",
+    "closeness rank": 4
+   },
+   "door": {
+    "distance": "1.47 meters",
+    "closeness rank": 5
+   },
+   "plant": {
+    "distance": "3.45 meters",
+    "closeness rank": 6
+   }
+  },
+  "window": {
+   "trash bin": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "table": {
+    "distance": "1.33 meters",
+    "closeness rank": 2
+   },
+   "counter": {
+    "distance": "1.37 meters",
+    "closeness rank": 3
+   },
+   "backpack": {
+    "distance": "1.42 meters",
+    "closeness rank": 4
+   },
+   "door": {
+    "distance": "1.97 meters",
+    "closeness rank": 5
+   },
+   "plant": {
+    "distance": "5.18 meters",
+    "closeness rank": 6
+   }
+  }
+ },
+ "appearance order": ["door", "window", "backpack", "table", "trash bin", "counter", "plant"]
+}
\ No newline at end of file
diff --git a/data/spatial codes/sam3+depth-anything-3/metric/tracking/selective/64/explicit/scene0328_00.json b/data/spatial codes/sam3+depth-anything-3/metric/tracking/selective/64/explicit/scene0328_00.json
new file mode 100644
index 0000000000000000000000000000000000000000..2e27de5d74433061cbb7f12277ee43bf66bff23d
--- /dev/null
+++ b/data/spatial codes/sam3+depth-anything-3/metric/tracking/selective/64/explicit/scene0328_00.json	
@@ -0,0 +1,665 @@
+{
+ "spatial code schema": {
+  "objects": {
+   "<object class>": {
+    "count": {
+     "unit": null,
+     "description": "number of instances of this class in the compact spatial code (that schema's per-class oriented-box list length)"
+    },
+    "instances": [
+     {
+      "position": {
+       "x coordinate": {
+        "unit": "meters",
+        "description": "x coordinate of this instance's compact 3D oriented bounding box center"
+       },
+       "y coordinate": {
+        "unit": "meters",
+        "description": "y coordinate of this instance's compact 3D oriented bounding box center"
+       },
+       "height above floor": {
+        "unit": "meters",
+        "description": "height coordinate of this instance's compact 3D oriented bounding box center"
+       }
+      },
+      "longest dimension": {
+       "unit": "meters",
+       "description": "longest of this instance's compact 3D oriented bounding box dimensions"
+      }
+     }
+    ]
+   }
+  },
+  "room": {
+   "floor area": {
+    "unit": "square meters",
+    "description": "shoelace area of the compact spatial code's floor boundary polygons, with every interior hole subtracted"
+   }
+  },
+  "closest classes distance meters from": {
+   "<object class>": {
+    "<other object class>": {
+     "distance": {
+      "unit": "meters",
+      "description": "minimum surface-to-surface separation between the two classes' compact 3D oriented bounding boxes, over every instance pair"
+     },
+     "closeness rank": {
+      "unit": null,
+      "description": "1 = the nearest other class to this one, 2 = second-nearest, and so on"
+     }
+    }
+   }
+  },
+  "appearance order": {
+   "unit": null,
+   "description": "class names ordered by earliest compact 'first visible time' across all of that class's instances"
+  }
+ },
+ "objects": {
+  "counter": {
+   "count": 2,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-0.72 meters",
+      "y coordinate": "0.58 meters",
+      "height above floor": "-0.01 meters"
+     },
+     "longest dimension": "2.14 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "0.38 meters",
+      "y coordinate": "0.55 meters",
+      "height above floor": "-0.14 meters"
+     },
+     "longest dimension": "2.49 meters"
+    }
+   ]
+  },
+  "door": {
+   "count": 12,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "0.29 meters",
+      "y coordinate": "-0.16 meters",
+      "height above floor": "0.02 meters"
+     },
+     "longest dimension": "0.62 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-0.18 meters",
+      "y coordinate": "0.27 meters",
+      "height above floor": "-1.83 meters"
+     },
+     "longest dimension": "1.07 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-1.6 meters",
+      "y coordinate": "-0.23 meters",
+      "height above floor": "-0.05 meters"
+     },
+     "longest dimension": "0.92 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "1.13 meters",
+      "y coordinate": "-0.2 meters",
+      "height above floor": "-1.0 meters"
+     },
+     "longest dimension": "0.7 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "1.2 meters",
+      "y coordinate": "-0.17 meters",
+      "height above floor": "-2.03 meters"
+     },
+     "longest dimension": "0.77 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "1.19 meters",
+      "y coordinate": "-0.14 meters",
+      "height above floor": "-1.56 meters"
+     },
+     "longest dimension": "0.51 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "0.93 meters",
+      "y coordinate": "0.85 meters",
+      "height above floor": "-1.03 meters"
+     },
+     "longest dimension": "0.71 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "1.14 meters",
+      "y coordinate": "-0.36 meters",
+      "height above floor": "-0.44 meters"
+     },
+     "longest dimension": "0.92 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "1.16 meters",
+      "y coordinate": "-0.18 meters",
+      "height above floor": "-0.34 meters"
+     },
+     "longest dimension": "0.53 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "1.16 meters",
+      "y coordinate": "-0.61 meters",
+      "height above floor": "-0.93 meters"
+     },
+     "longest dimension": "0.65 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "0.7 meters",
+      "y coordinate": "-0.35 meters",
+      "height above floor": "0.0 meters"
+     },
+     "longest dimension": "0.84 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "1.17 meters",
+      "y coordinate": "-0.38 meters",
+      "height above floor": "-1.52 meters"
+     },
+     "longest dimension": "0.92 meters"
+    }
+   ]
+  },
+  "lamp": {
+   "count": 5,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-0.63 meters",
+      "y coordinate": "-0.92 meters",
+      "height above floor": "-0.59 meters"
+     },
+     "longest dimension": "0.11 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-0.4 meters",
+      "y coordinate": "-0.89 meters",
+      "height above floor": "-0.61 meters"
+     },
+     "longest dimension": "0.12 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-0.16 meters",
+      "y coordinate": "-0.9 meters",
+      "height above floor": "-0.59 meters"
+     },
+     "longest dimension": "0.07 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "0.1 meters",
+      "y coordinate": "-0.91 meters",
+      "height above floor": "-0.61 meters"
+     },
+     "longest dimension": "0.12 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-1.01 meters",
+      "y coordinate": "-0.88 meters",
+      "height above floor": "-0.61 meters"
+     },
+     "longest dimension": "0.06 meters"
+    }
+   ]
+  },
+  "microwave": {
+   "count": 2,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "1.12 meters",
+      "y coordinate": "-0.18 meters",
+      "height above floor": "-0.99 meters"
+     },
+     "longest dimension": "0.7 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "1.15 meters",
+      "y coordinate": "-0.21 meters",
+      "height above floor": "-1.01 meters"
+     },
+     "longest dimension": "0.7 meters"
+    }
+   ]
+  },
+  "mirror": {
+   "count": 3,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "0.31 meters",
+      "y coordinate": "-0.19 meters",
+      "height above floor": "0.02 meters"
+     },
+     "longest dimension": "0.52 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "0.32 meters",
+      "y coordinate": "-0.16 meters",
+      "height above floor": "-2.34 meters"
+     },
+     "longest dimension": "0.5 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "1.09 meters",
+      "y coordinate": "-0.25 meters",
+      "height above floor": "-0.09 meters"
+     },
+     "longest dimension": "0.48 meters"
+    }
+   ]
+  },
+  "oven": {
+   "count": 4,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "0.89 meters",
+      "y coordinate": "0.62 meters",
+      "height above floor": "-1.03 meters"
+     },
+     "longest dimension": "0.69 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "1.12 meters",
+      "y coordinate": "-0.19 meters",
+      "height above floor": "-0.99 meters"
+     },
+     "longest dimension": "0.7 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "0.93 meters",
+      "y coordinate": "0.9 meters",
+      "height above floor": "-1.02 meters"
+     },
+     "longest dimension": "0.8 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "1.14 meters",
+      "y coordinate": "-0.21 meters",
+      "height above floor": "-1.02 meters"
+     },
+     "longest dimension": "0.7 meters"
+    }
+   ]
+  },
+  "plant": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-0.15 meters",
+      "y coordinate": "0.32 meters",
+      "height above floor": "0.22 meters"
+     },
+     "longest dimension": "0.3 meters"
+    }
+   ]
+  },
+  "refrigerator": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-0.66 meters",
+      "y coordinate": "0.23 meters",
+      "height above floor": "-1.78 meters"
+     },
+     "longest dimension": "0.99 meters"
+    }
+   ]
+  },
+  "towel": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-0.03 meters",
+      "y coordinate": "0.34 meters",
+      "height above floor": "0.23 meters"
+     },
+     "longest dimension": "0.19 meters"
+    }
+   ]
+  }
+ },
+ "room": {
+  "floor area": "9.3 square meters"
+ },
+ "closest classes distance meters from": {
+  "counter": {
+   "towel": {
+    "distance": "0.09 meters",
+    "closeness rank": 1
+   },
+   "door": {
+    "distance": "0.15 meters",
+    "closeness rank": 2
+   },
+   "oven": {
+    "distance": "0.16 meters",
+    "closeness rank": 3
+   },
+   "plant": {
+    "distance": "0.16 meters",
+    "closeness rank": 4
+   },
+   "mirror": {
+    "distance": "0.44 meters",
+    "closeness rank": 5
+   },
+   "microwave": {
+    "distance": "0.52 meters",
+    "closeness rank": 6
+   },
+   "refrigerator": {
+    "distance": "1.23 meters",
+    "closeness rank": 7
+   },
+   "lamp": {
+    "distance": "1.37 meters",
+    "closeness rank": 8
+   }
+  },
+  "door": {
+   "microwave": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "mirror": {
+    "distance": "0.0 meters",
+    "closeness rank": 2
+   },
+   "oven": {
+    "distance": "0.0 meters",
+    "closeness rank": 3
+   },
+   "refrigerator": {
+    "distance": "0.02 meters",
+    "closeness rank": 4
+   },
+   "counter": {
+    "distance": "0.15 meters",
+    "closeness rank": 5
+   },
+   "towel": {
+    "distance": "0.17 meters",
+    "closeness rank": 6
+   },
+   "plant": {
+    "distance": "0.19 meters",
+    "closeness rank": 7
+   },
+   "lamp": {
+    "distance": "0.68 meters",
+    "closeness rank": 8
+   }
+  },
+  "lamp": {
+   "door": {
+    "distance": "0.68 meters",
+    "closeness rank": 1
+   },
+   "mirror": {
+    "distance": "0.7 meters",
+    "closeness rank": 2
+   },
+   "oven": {
+    "distance": "1.1 meters",
+    "closeness rank": 3
+   },
+   "microwave": {
+    "distance": "1.1 meters",
+    "closeness rank": 4
+   },
+   "refrigerator": {
+    "distance": "1.26 meters",
+    "closeness rank": 5
+   },
+   "towel": {
+    "distance": "1.32 meters",
+    "closeness rank": 6
+   },
+   "plant": {
+    "distance": "1.34 meters",
+    "closeness rank": 7
+   },
+   "counter": {
+    "distance": "1.37 meters",
+    "closeness rank": 8
+   }
+  },
+  "microwave": {
+   "door": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "oven": {
+    "distance": "0.0 meters",
+    "closeness rank": 2
+   },
+   "mirror": {
+    "distance": "0.48 meters",
+    "closeness rank": 3
+   },
+   "counter": {
+    "distance": "0.52 meters",
+    "closeness rank": 4
+   },
+   "lamp": {
+    "distance": "1.1 meters",
+    "closeness rank": 5
+   },
+   "refrigerator": {
+    "distance": "1.33 meters",
+    "closeness rank": 6
+   },
+   "towel": {
+    "distance": "1.36 meters",
+    "closeness rank": 7
+   },
+   "plant": {
+    "distance": "1.39 meters",
+    "closeness rank": 8
+   }
+  },
+  "mirror": {
+   "door": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "towel": {
+    "distance": "0.28 meters",
+    "closeness rank": 2
+   },
+   "plant": {
+    "distance": "0.31 meters",
+    "closeness rank": 3
+   },
+   "counter": {
+    "distance": "0.44 meters",
+    "closeness rank": 4
+   },
+   "microwave": {
+    "distance": "0.48 meters",
+    "closeness rank": 5
+   },
+   "oven": {
+    "distance": "0.48 meters",
+    "closeness rank": 6
+   },
+   "refrigerator": {
+    "distance": "0.57 meters",
+    "closeness rank": 7
+   },
+   "lamp": {
+    "distance": "0.7 meters",
+    "closeness rank": 8
+   }
+  },
+  "oven": {
+   "door": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "microwave": {
+    "distance": "0.0 meters",
+    "closeness rank": 2
+   },
+   "counter": {
+    "distance": "0.16 meters",
+    "closeness rank": 3
+   },
+   "mirror": {
+    "distance": "0.48 meters",
+    "closeness rank": 4
+   },
+   "lamp": {
+    "distance": "1.1 meters",
+    "closeness rank": 5
+   },
+   "towel": {
+    "distance": "1.2 meters",
+    "closeness rank": 6
+   },
+   "refrigerator": {
+    "distance": "1.21 meters",
+    "closeness rank": 7
+   },
+   "plant": {
+    "distance": "1.22 meters",
+    "closeness rank": 8
+   }
+  },
+  "plant": {
+   "towel": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "counter": {
+    "distance": "0.16 meters",
+    "closeness rank": 2
+   },
+   "door": {
+    "distance": "0.19 meters",
+    "closeness rank": 3
+   },
+   "mirror": {
+    "distance": "0.31 meters",
+    "closeness rank": 4
+   },
+   "oven": {
+    "distance": "1.22 meters",
+    "closeness rank": 5
+   },
+   "lamp": {
+    "distance": "1.34 meters",
+    "closeness rank": 6
+   },
+   "microwave": {
+    "distance": "1.39 meters",
+    "closeness rank": 7
+   },
+   "refrigerator": {
+    "distance": "1.93 meters",
+    "closeness rank": 8
+   }
+  },
+  "refrigerator": {
+   "door": {
+    "distance": "0.02 meters",
+    "closeness rank": 1
+   },
+   "mirror": {
+    "distance": "0.57 meters",
+    "closeness rank": 2
+   },
+   "oven": {
+    "distance": "1.21 meters",
+    "closeness rank": 3
+   },
+   "counter": {
+    "distance": "1.23 meters",
+    "closeness rank": 4
+   },
+   "lamp": {
+    "distance": "1.26 meters",
+    "closeness rank": 5
+   },
+   "microwave": {
+    "distance": "1.33 meters",
+    "closeness rank": 6
+   },
+   "plant": {
+    "distance": "1.93 meters",
+    "closeness rank": 7
+   },
+   "towel": {
+    "distance": "1.94 meters",
+    "closeness rank": 8
+   }
+  },
+  "towel": {
+   "plant": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "counter": {
+    "distance": "0.09 meters",
+    "closeness rank": 2
+   },
+   "door": {
+    "distance": "0.17 meters",
+    "closeness rank": 3
+   },
+   "mirror": {
+    "distance": "0.28 meters",
+    "closeness rank": 4
+   },
+   "oven": {
+    "distance": "1.2 meters",
+    "closeness rank": 5
+   },
+   "lamp": {
+    "distance": "1.32 meters",
+    "closeness rank": 6
+   },
+   "microwave": {
+    "distance": "1.36 meters",
+    "closeness rank": 7
+   },
+   "refrigerator": {
+    "distance": "1.94 meters",
+    "closeness rank": 8
+   }
+  }
+ },
+ "appearance order": ["door", "microwave", "plant", "refrigerator", "lamp", "oven", "counter", "mirror", "towel"]
+}
\ No newline at end of file
diff --git a/data/spatial codes/sam3+depth-anything-3/metric/tracking/selective/64/explicit/scene0356_00.json b/data/spatial codes/sam3+depth-anything-3/metric/tracking/selective/64/explicit/scene0356_00.json
new file mode 100644
index 0000000000000000000000000000000000000000..38961c942decf6e682392da8870700cbb185573c
--- /dev/null
+++ b/data/spatial codes/sam3+depth-anything-3/metric/tracking/selective/64/explicit/scene0356_00.json	
@@ -0,0 +1,648 @@
+{
+ "spatial code schema": {
+  "objects": {
+   "<object class>": {
+    "count": {
+     "unit": null,
+     "description": "number of instances of this class in the compact spatial code (that schema's per-class oriented-box list length)"
+    },
+    "instances": [
+     {
+      "position": {
+       "x coordinate": {
+        "unit": "meters",
+        "description": "x coordinate of this instance's compact 3D oriented bounding box center"
+       },
+       "y coordinate": {
+        "unit": "meters",
+        "description": "y coordinate of this instance's compact 3D oriented bounding box center"
+       },
+       "height above floor": {
+        "unit": "meters",
+        "description": "height coordinate of this instance's compact 3D oriented bounding box center"
+       }
+      },
+      "longest dimension": {
+       "unit": "meters",
+       "description": "longest of this instance's compact 3D oriented bounding box dimensions"
+      }
+     }
+    ]
+   }
+  },
+  "room": {
+   "floor area": {
+    "unit": "square meters",
+    "description": "shoelace area of the compact spatial code's floor boundary polygons, with every interior hole subtracted"
+   }
+  },
+  "closest classes distance meters from": {
+   "<object class>": {
+    "<other object class>": {
+     "distance": {
+      "unit": "meters",
+      "description": "minimum surface-to-surface separation between the two classes' compact 3D oriented bounding boxes, over every instance pair"
+     },
+     "closeness rank": {
+      "unit": null,
+      "description": "1 = the nearest other class to this one, 2 = second-nearest, and so on"
+     }
+    }
+   }
+  },
+  "appearance order": {
+   "unit": null,
+   "description": "class names ordered by earliest compact 'first visible time' across all of that class's instances"
+  }
+ },
+ "objects": {
+  "bed": {
+   "count": 2,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "1.78 meters",
+      "y coordinate": "-0.57 meters",
+      "height above floor": "-0.1 meters"
+     },
+     "longest dimension": "1.92 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-0.93 meters",
+      "y coordinate": "-0.29 meters",
+      "height above floor": "0.22 meters"
+     },
+     "longest dimension": "0.61 meters"
+    }
+   ]
+  },
+  "chair": {
+   "count": 2,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "1.9 meters",
+      "y coordinate": "0.56 meters",
+      "height above floor": "-0.06 meters"
+     },
+     "longest dimension": "0.7 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "1.7 meters",
+      "y coordinate": "0.72 meters",
+      "height above floor": "-0.22 meters"
+     },
+     "longest dimension": "0.79 meters"
+    }
+   ]
+  },
+  "door": {
+   "count": 4,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-0.98 meters",
+      "y coordinate": "-0.06 meters",
+      "height above floor": "-0.14 meters"
+     },
+     "longest dimension": "1.29 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "0.02 meters",
+      "y coordinate": "1.83 meters",
+      "height above floor": "-0.22 meters"
+     },
+     "longest dimension": "0.98 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-0.47 meters",
+      "y coordinate": "-0.6 meters",
+      "height above floor": "-0.01 meters"
+     },
+     "longest dimension": "1.35 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "0.13 meters",
+      "y coordinate": "-0.99 meters",
+      "height above floor": "0.02 meters"
+     },
+     "longest dimension": "1.13 meters"
+    }
+   ]
+  },
+  "mattress": {
+   "count": 2,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "1.75 meters",
+      "y coordinate": "-0.62 meters",
+      "height above floor": "-0.05 meters"
+     },
+     "longest dimension": "1.87 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-0.94 meters",
+      "y coordinate": "-0.3 meters",
+      "height above floor": "0.35 meters"
+     },
+     "longest dimension": "0.31 meters"
+    }
+   ]
+  },
+  "mirror": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-0.97 meters",
+      "y coordinate": "-0.15 meters",
+      "height above floor": "0.08 meters"
+     },
+     "longest dimension": "0.94 meters"
+    }
+   ]
+  },
+  "plant": {
+   "count": 2,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "2.95 meters",
+      "y coordinate": "0.04 meters",
+      "height above floor": "0.33 meters"
+     },
+     "longest dimension": "1.15 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "3.0 meters",
+      "y coordinate": "-0.45 meters",
+      "height above floor": "0.33 meters"
+     },
+     "longest dimension": "0.33 meters"
+    }
+   ]
+  },
+  "table": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "1.64 meters",
+      "y coordinate": "0.99 meters",
+      "height above floor": "-0.11 meters"
+     },
+     "longest dimension": "0.81 meters"
+    }
+   ]
+  },
+  "telephone": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-1.02 meters",
+      "y coordinate": "0.97 meters",
+      "height above floor": "0.24 meters"
+     },
+     "longest dimension": "0.45 meters"
+    }
+   ]
+  },
+  "trash bin": {
+   "count": 3,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "1.77 meters",
+      "y coordinate": "0.89 meters",
+      "height above floor": "0.19 meters"
+     },
+     "longest dimension": "0.38 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "2.03 meters",
+      "y coordinate": "0.83 meters",
+      "height above floor": "0.2 meters"
+     },
+     "longest dimension": "0.41 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "2.31 meters",
+      "y coordinate": "0.82 meters",
+      "height above floor": "0.32 meters"
+     },
+     "longest dimension": "0.4 meters"
+    }
+   ]
+  },
+  "window": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "2.92 meters",
+      "y coordinate": "-0.22 meters",
+      "height above floor": "0.23 meters"
+     },
+     "longest dimension": "1.71 meters"
+    }
+   ]
+  }
+ },
+ "room": {
+  "floor area": "14.6 square meters"
+ },
+ "closest classes distance meters from": {
+  "bed": {
+   "door": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "mattress": {
+    "distance": "0.0 meters",
+    "closeness rank": 2
+   },
+   "mirror": {
+    "distance": "0.0 meters",
+    "closeness rank": 3
+   },
+   "window": {
+    "distance": "0.08 meters",
+    "closeness rank": 4
+   },
+   "plant": {
+    "distance": "0.22 meters",
+    "closeness rank": 5
+   },
+   "chair": {
+    "distance": "0.54 meters",
+    "closeness rank": 6
+   },
+   "trash bin": {
+    "distance": "0.68 meters",
+    "closeness rank": 7
+   },
+   "table": {
+    "distance": "0.73 meters",
+    "closeness rank": 8
+   },
+   "telephone": {
+    "distance": "1.1 meters",
+    "closeness rank": 9
+   }
+  },
+  "chair": {
+   "table": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "trash bin": {
+    "distance": "0.0 meters",
+    "closeness rank": 2
+   },
+   "bed": {
+    "distance": "0.54 meters",
+    "closeness rank": 3
+   },
+   "mattress": {
+    "distance": "0.6 meters",
+    "closeness rank": 4
+   },
+   "window": {
+    "distance": "0.7 meters",
+    "closeness rank": 5
+   },
+   "plant": {
+    "distance": "0.76 meters",
+    "closeness rank": 6
+   },
+   "door": {
+    "distance": "1.68 meters",
+    "closeness rank": 7
+   },
+   "telephone": {
+    "distance": "2.47 meters",
+    "closeness rank": 8
+   },
+   "mirror": {
+    "distance": "2.52 meters",
+    "closeness rank": 9
+   }
+  },
+  "door": {
+   "bed": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "mattress": {
+    "distance": "0.0 meters",
+    "closeness rank": 2
+   },
+   "mirror": {
+    "distance": "0.0 meters",
+    "closeness rank": 3
+   },
+   "telephone": {
+    "distance": "0.6 meters",
+    "closeness rank": 4
+   },
+   "table": {
+    "distance": "1.43 meters",
+    "closeness rank": 5
+   },
+   "chair": {
+    "distance": "1.68 meters",
+    "closeness rank": 6
+   },
+   "trash bin": {
+    "distance": "1.74 meters",
+    "closeness rank": 7
+   },
+   "window": {
+    "distance": "2.74 meters",
+    "closeness rank": 8
+   },
+   "plant": {
+    "distance": "2.84 meters",
+    "closeness rank": 9
+   }
+  },
+  "mattress": {
+   "bed": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "door": {
+    "distance": "0.0 meters",
+    "closeness rank": 2
+   },
+   "mirror": {
+    "distance": "0.0 meters",
+    "closeness rank": 3
+   },
+   "window": {
+    "distance": "0.14 meters",
+    "closeness rank": 4
+   },
+   "plant": {
+    "distance": "0.31 meters",
+    "closeness rank": 5
+   },
+   "chair": {
+    "distance": "0.6 meters",
+    "closeness rank": 6
+   },
+   "trash bin": {
+    "distance": "0.73 meters",
+    "closeness rank": 7
+   },
+   "table": {
+    "distance": "0.78 meters",
+    "closeness rank": 8
+   },
+   "telephone": {
+    "distance": "1.08 meters",
+    "closeness rank": 9
+   }
+  },
+  "mirror": {
+   "bed": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "door": {
+    "distance": "0.0 meters",
+    "closeness rank": 2
+   },
+   "mattress": {
+    "distance": "0.0 meters",
+    "closeness rank": 3
+   },
+   "telephone": {
+    "distance": "0.81 meters",
+    "closeness rank": 4
+   },
+   "table": {
+    "distance": "2.47 meters",
+    "closeness rank": 5
+   },
+   "chair": {
+    "distance": "2.52 meters",
+    "closeness rank": 6
+   },
+   "trash bin": {
+    "distance": "2.64 meters",
+    "closeness rank": 7
+   },
+   "window": {
+    "distance": "3.69 meters",
+    "closeness rank": 8
+   },
+   "plant": {
+    "distance": "3.75 meters",
+    "closeness rank": 9
+   }
+  },
+  "plant": {
+   "window": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "bed": {
+    "distance": "0.22 meters",
+    "closeness rank": 2
+   },
+   "trash bin": {
+    "distance": "0.3 meters",
+    "closeness rank": 3
+   },
+   "mattress": {
+    "distance": "0.31 meters",
+    "closeness rank": 4
+   },
+   "chair": {
+    "distance": "0.76 meters",
+    "closeness rank": 5
+   },
+   "table": {
+    "distance": "0.94 meters",
+    "closeness rank": 6
+   },
+   "door": {
+    "distance": "2.84 meters",
+    "closeness rank": 7
+   },
+   "mirror": {
+    "distance": "3.75 meters",
+    "closeness rank": 8
+   },
+   "telephone": {
+    "distance": "3.8 meters",
+    "closeness rank": 9
+   }
+  },
+  "table": {
+   "chair": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "trash bin": {
+    "distance": "0.01 meters",
+    "closeness rank": 2
+   },
+   "bed": {
+    "distance": "0.73 meters",
+    "closeness rank": 3
+   },
+   "mattress": {
+    "distance": "0.78 meters",
+    "closeness rank": 4
+   },
+   "window": {
+    "distance": "0.87 meters",
+    "closeness rank": 5
+   },
+   "plant": {
+    "distance": "0.94 meters",
+    "closeness rank": 6
+   },
+   "door": {
+    "distance": "1.43 meters",
+    "closeness rank": 7
+   },
+   "telephone": {
+    "distance": "2.44 meters",
+    "closeness rank": 8
+   },
+   "mirror": {
+    "distance": "2.47 meters",
+    "closeness rank": 9
+   }
+  },
+  "telephone": {
+   "door": {
+    "distance": "0.6 meters",
+    "closeness rank": 1
+   },
+   "mirror": {
+    "distance": "0.81 meters",
+    "closeness rank": 2
+   },
+   "mattress": {
+    "distance": "1.08 meters",
+    "closeness rank": 3
+   },
+   "bed": {
+    "distance": "1.1 meters",
+    "closeness rank": 4
+   },
+   "table": {
+    "distance": "2.44 meters",
+    "closeness rank": 5
+   },
+   "chair": {
+    "distance": "2.47 meters",
+    "closeness rank": 6
+   },
+   "trash bin": {
+    "distance": "2.61 meters",
+    "closeness rank": 7
+   },
+   "window": {
+    "distance": "3.74 meters",
+    "closeness rank": 8
+   },
+   "plant": {
+    "distance": "3.8 meters",
+    "closeness rank": 9
+   }
+  },
+  "trash bin": {
+   "chair": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "table": {
+    "distance": "0.01 meters",
+    "closeness rank": 2
+   },
+   "window": {
+    "distance": "0.24 meters",
+    "closeness rank": 3
+   },
+   "plant": {
+    "distance": "0.3 meters",
+    "closeness rank": 4
+   },
+   "bed": {
+    "distance": "0.68 meters",
+    "closeness rank": 5
+   },
+   "mattress": {
+    "distance": "0.73 meters",
+    "closeness rank": 6
+   },
+   "door": {
+    "distance": "1.74 meters",
+    "closeness rank": 7
+   },
+   "telephone": {
+    "distance": "2.61 meters",
+    "closeness rank": 8
+   },
+   "mirror": {
+    "distance": "2.64 meters",
+    "closeness rank": 9
+   }
+  },
+  "window": {
+   "plant": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "bed": {
+    "distance": "0.08 meters",
+    "closeness rank": 2
+   },
+   "mattress": {
+    "distance": "0.14 meters",
+    "closeness rank": 3
+   },
+   "trash bin": {
+    "distance": "0.24 meters",
+    "closeness rank": 4
+   },
+   "chair": {
+    "distance": "0.7 meters",
+    "closeness rank": 5
+   },
+   "table": {
+    "distance": "0.87 meters",
+    "closeness rank": 6
+   },
+   "door": {
+    "distance": "2.74 meters",
+    "closeness rank": 7
+   },
+   "mirror": {
+    "distance": "3.69 meters",
+    "closeness rank": 8
+   },
+   "telephone": {
+    "distance": "3.74 meters",
+    "closeness rank": 9
+   }
+  }
+ },
+ "appearance order": ["chair", "plant", "table", "window", "trash bin", "bed", "mattress", "door", "mirror", "telephone"]
+}
\ No newline at end of file
diff --git a/data/spatial codes/sam3+depth-anything-3/metric/tracking/selective/64/explicit/scene0357_01.json b/data/spatial codes/sam3+depth-anything-3/metric/tracking/selective/64/explicit/scene0357_01.json
new file mode 100644
index 0000000000000000000000000000000000000000..1ba8016e5da47a962bfabe1f66d46d17e4843f83
--- /dev/null
+++ b/data/spatial codes/sam3+depth-anything-3/metric/tracking/selective/64/explicit/scene0357_01.json	
@@ -0,0 +1,363 @@
+{
+ "spatial code schema": {
+  "objects": {
+   "<object class>": {
+    "count": {
+     "unit": null,
+     "description": "number of instances of this class in the compact spatial code (that schema's per-class oriented-box list length)"
+    },
+    "instances": [
+     {
+      "position": {
+       "x coordinate": {
+        "unit": "meters",
+        "description": "x coordinate of this instance's compact 3D oriented bounding box center"
+       },
+       "y coordinate": {
+        "unit": "meters",
+        "description": "y coordinate of this instance's compact 3D oriented bounding box center"
+       },
+       "height above floor": {
+        "unit": "meters",
+        "description": "height coordinate of this instance's compact 3D oriented bounding box center"
+       }
+      },
+      "longest dimension": {
+       "unit": "meters",
+       "description": "longest of this instance's compact 3D oriented bounding box dimensions"
+      }
+     }
+    ]
+   }
+  },
+  "room": {
+   "floor area": {
+    "unit": "square meters",
+    "description": "shoelace area of the compact spatial code's floor boundary polygons, with every interior hole subtracted"
+   }
+  },
+  "closest classes distance meters from": {
+   "<object class>": {
+    "<other object class>": {
+     "distance": {
+      "unit": "meters",
+      "description": "minimum surface-to-surface separation between the two classes' compact 3D oriented bounding boxes, over every instance pair"
+     },
+     "closeness rank": {
+      "unit": null,
+      "description": "1 = the nearest other class to this one, 2 = second-nearest, and so on"
+     }
+    }
+   }
+  },
+  "appearance order": {
+   "unit": null,
+   "description": "class names ordered by earliest compact 'first visible time' across all of that class's instances"
+  }
+ },
+ "objects": {
+  "backpack": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-0.21 meters",
+      "y coordinate": "1.38 meters",
+      "height above floor": "1.32 meters"
+     },
+     "longest dimension": "0.59 meters"
+    }
+   ]
+  },
+  "closet": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-0.49 meters",
+      "y coordinate": "0.25 meters",
+      "height above floor": "0.33 meters"
+     },
+     "longest dimension": "2.13 meters"
+    }
+   ]
+  },
+  "door": {
+   "count": 2,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-1.93 meters",
+      "y coordinate": "0.63 meters",
+      "height above floor": "0.01 meters"
+     },
+     "longest dimension": "1.69 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-0.6 meters",
+      "y coordinate": "0.32 meters",
+      "height above floor": "0.59 meters"
+     },
+     "longest dimension": "1.45 meters"
+    }
+   ]
+  },
+  "table": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-1.42 meters",
+      "y coordinate": "1.07 meters",
+      "height above floor": "1.52 meters"
+     },
+     "longest dimension": "0.79 meters"
+    }
+   ]
+  },
+  "towel": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "0.47 meters",
+      "y coordinate": "0.19 meters",
+      "height above floor": "2.29 meters"
+     },
+     "longest dimension": "0.11 meters"
+    }
+   ]
+  },
+  "trash bin": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-1.28 meters",
+      "y coordinate": "0.95 meters",
+      "height above floor": "0.15 meters"
+     },
+     "longest dimension": "0.38 meters"
+    }
+   ]
+  },
+  "window": {
+   "count": 3,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "0.92 meters",
+      "y coordinate": "0.19 meters",
+      "height above floor": "0.99 meters"
+     },
+     "longest dimension": "0.71 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "1.06 meters",
+      "y coordinate": "0.12 meters",
+      "height above floor": "1.25 meters"
+     },
+     "longest dimension": "0.45 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-5.8 meters",
+      "y coordinate": "-0.08 meters",
+      "height above floor": "1.65 meters"
+     },
+     "longest dimension": "0.45 meters"
+    }
+   ]
+  }
+ },
+ "room": {
+  "floor area": "11.5 square meters"
+ },
+ "closest classes distance meters from": {
+  "backpack": {
+   "table": {
+    "distance": "0.5 meters",
+    "closeness rank": 1
+   },
+   "closet": {
+    "distance": "0.53 meters",
+    "closeness rank": 2
+   },
+   "door": {
+    "distance": "0.56 meters",
+    "closeness rank": 3
+   },
+   "window": {
+    "distance": "1.03 meters",
+    "closeness rank": 4
+   },
+   "trash bin": {
+    "distance": "1.07 meters",
+    "closeness rank": 5
+   },
+   "towel": {
+    "distance": "1.27 meters",
+    "closeness rank": 6
+   }
+  },
+  "closet": {
+   "door": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "trash bin": {
+    "distance": "0.28 meters",
+    "closeness rank": 2
+   },
+   "window": {
+    "distance": "0.33 meters",
+    "closeness rank": 3
+   },
+   "backpack": {
+    "distance": "0.53 meters",
+    "closeness rank": 4
+   },
+   "table": {
+    "distance": "0.74 meters",
+    "closeness rank": 5
+   },
+   "towel": {
+    "distance": "1.64 meters",
+    "closeness rank": 6
+   }
+  },
+  "door": {
+   "closet": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "trash bin": {
+    "distance": "0.18 meters",
+    "closeness rank": 2
+   },
+   "backpack": {
+    "distance": "0.56 meters",
+    "closeness rank": 3
+   },
+   "table": {
+    "distance": "0.68 meters",
+    "closeness rank": 4
+   },
+   "window": {
+    "distance": "1.11 meters",
+    "closeness rank": 5
+   },
+   "towel": {
+    "distance": "1.75 meters",
+    "closeness rank": 6
+   }
+  },
+  "table": {
+   "backpack": {
+    "distance": "0.5 meters",
+    "closeness rank": 1
+   },
+   "door": {
+    "distance": "0.68 meters",
+    "closeness rank": 2
+   },
+   "closet": {
+    "distance": "0.74 meters",
+    "closeness rank": 3
+   },
+   "trash bin": {
+    "distance": "1.02 meters",
+    "closeness rank": 4
+   },
+   "towel": {
+    "distance": "1.71 meters",
+    "closeness rank": 5
+   },
+   "window": {
+    "distance": "1.93 meters",
+    "closeness rank": 6
+   }
+  },
+  "towel": {
+   "window": {
+    "distance": "1.01 meters",
+    "closeness rank": 1
+   },
+   "backpack": {
+    "distance": "1.27 meters",
+    "closeness rank": 2
+   },
+   "closet": {
+    "distance": "1.64 meters",
+    "closeness rank": 3
+   },
+   "table": {
+    "distance": "1.71 meters",
+    "closeness rank": 4
+   },
+   "door": {
+    "distance": "1.75 meters",
+    "closeness rank": 5
+   },
+   "trash bin": {
+    "distance": "2.58 meters",
+    "closeness rank": 6
+   }
+  },
+  "trash bin": {
+   "door": {
+    "distance": "0.18 meters",
+    "closeness rank": 1
+   },
+   "closet": {
+    "distance": "0.28 meters",
+    "closeness rank": 2
+   },
+   "table": {
+    "distance": "1.02 meters",
+    "closeness rank": 3
+   },
+   "backpack": {
+    "distance": "1.07 meters",
+    "closeness rank": 4
+   },
+   "window": {
+    "distance": "2.08 meters",
+    "closeness rank": 5
+   },
+   "towel": {
+    "distance": "2.58 meters",
+    "closeness rank": 6
+   }
+  },
+  "window": {
+   "closet": {
+    "distance": "0.33 meters",
+    "closeness rank": 1
+   },
+   "towel": {
+    "distance": "1.01 meters",
+    "closeness rank": 2
+   },
+   "backpack": {
+    "distance": "1.03 meters",
+    "closeness rank": 3
+   },
+   "door": {
+    "distance": "1.11 meters",
+    "closeness rank": 4
+   },
+   "table": {
+    "distance": "1.93 meters",
+    "closeness rank": 5
+   },
+   "trash bin": {
+    "distance": "2.08 meters",
+    "closeness rank": 6
+   }
+  }
+ },
+ "appearance order": ["table", "closet", "door", "backpack", "window", "towel", "trash bin"]
+}
\ No newline at end of file
diff --git a/data/spatial codes/sam3+depth-anything-3/metric/tracking/selective/64/explicit/scene0412_00.json b/data/spatial codes/sam3+depth-anything-3/metric/tracking/selective/64/explicit/scene0412_00.json
new file mode 100644
index 0000000000000000000000000000000000000000..21a02e59e6fced11c693c09e56322142a6091e01
--- /dev/null
+++ b/data/spatial codes/sam3+depth-anything-3/metric/tracking/selective/64/explicit/scene0412_00.json	
@@ -0,0 +1,411 @@
+{
+ "spatial code schema": {
+  "objects": {
+   "<object class>": {
+    "count": {
+     "unit": null,
+     "description": "number of instances of this class in the compact spatial code (that schema's per-class oriented-box list length)"
+    },
+    "instances": [
+     {
+      "position": {
+       "x coordinate": {
+        "unit": "meters",
+        "description": "x coordinate of this instance's compact 3D oriented bounding box center"
+       },
+       "y coordinate": {
+        "unit": "meters",
+        "description": "y coordinate of this instance's compact 3D oriented bounding box center"
+       },
+       "height above floor": {
+        "unit": "meters",
+        "description": "height coordinate of this instance's compact 3D oriented bounding box center"
+       }
+      },
+      "longest dimension": {
+       "unit": "meters",
+       "description": "longest of this instance's compact 3D oriented bounding box dimensions"
+      }
+     }
+    ]
+   }
+  },
+  "room": {
+   "floor area": {
+    "unit": "square meters",
+    "description": "shoelace area of the compact spatial code's floor boundary polygons, with every interior hole subtracted"
+   }
+  },
+  "closest classes distance meters from": {
+   "<object class>": {
+    "<other object class>": {
+     "distance": {
+      "unit": "meters",
+      "description": "minimum surface-to-surface separation between the two classes' compact 3D oriented bounding boxes, over every instance pair"
+     },
+     "closeness rank": {
+      "unit": null,
+      "description": "1 = the nearest other class to this one, 2 = second-nearest, and so on"
+     }
+    }
+   }
+  },
+  "appearance order": {
+   "unit": null,
+   "description": "class names ordered by earliest compact 'first visible time' across all of that class's instances"
+  }
+ },
+ "objects": {
+  "counter": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "0.28 meters",
+      "y coordinate": "0.57 meters",
+      "height above floor": "4.46 meters"
+     },
+     "longest dimension": "0.39 meters"
+    }
+   ]
+  },
+  "door": {
+   "count": 5,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "1.69 meters",
+      "y coordinate": "-2.43 meters",
+      "height above floor": "3.76 meters"
+     },
+     "longest dimension": "1.17 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-0.46 meters",
+      "y coordinate": "2.26 meters",
+      "height above floor": "2.2 meters"
+     },
+     "longest dimension": "0.82 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-0.92 meters",
+      "y coordinate": "2.04 meters",
+      "height above floor": "2.27 meters"
+     },
+     "longest dimension": "1.13 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-0.98 meters",
+      "y coordinate": "2.05 meters",
+      "height above floor": "1.51 meters"
+     },
+     "longest dimension": "0.67 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "1.8 meters",
+      "y coordinate": "-2.35 meters",
+      "height above floor": "2.94 meters"
+     },
+     "longest dimension": "1.06 meters"
+    }
+   ]
+  },
+  "radiator": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-0.57 meters",
+      "y coordinate": "2.3 meters",
+      "height above floor": "2.75 meters"
+     },
+     "longest dimension": "1.88 meters"
+    }
+   ]
+  },
+  "refrigerator": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-0.65 meters",
+      "y coordinate": "2.18 meters",
+      "height above floor": "2.08 meters"
+     },
+     "longest dimension": "1.88 meters"
+    }
+   ]
+  },
+  "table": {
+   "count": 2,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-0.08 meters",
+      "y coordinate": "1.68 meters",
+      "height above floor": "3.9 meters"
+     },
+     "longest dimension": "1.98 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "1.0 meters",
+      "y coordinate": "-0.98 meters",
+      "height above floor": "3.1 meters"
+     },
+     "longest dimension": "0.77 meters"
+    }
+   ]
+  },
+  "trash bin": {
+   "count": 5,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "0.38 meters",
+      "y coordinate": "1.41 meters",
+      "height above floor": "4.12 meters"
+     },
+     "longest dimension": "0.66 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "0.04 meters",
+      "y coordinate": "1.98 meters",
+      "height above floor": "3.36 meters"
+     },
+     "longest dimension": "0.62 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-0.72 meters",
+      "y coordinate": "2.65 meters",
+      "height above floor": "0.4 meters"
+     },
+     "longest dimension": "0.8 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "0.34 meters",
+      "y coordinate": "0.97 meters",
+      "height above floor": "4.4 meters"
+     },
+     "longest dimension": "0.76 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "0.04 meters",
+      "y coordinate": "0.97 meters",
+      "height above floor": "4.78 meters"
+     },
+     "longest dimension": "0.48 meters"
+    }
+   ]
+  },
+  "window": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "0.36 meters",
+      "y coordinate": "0.17 meters",
+      "height above floor": "5.15 meters"
+     },
+     "longest dimension": "0.66 meters"
+    }
+   ]
+  }
+ },
+ "room": {
+  "floor area": "13.2 square meters"
+ },
+ "closest classes distance meters from": {
+  "counter": {
+   "trash bin": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "table": {
+    "distance": "0.19 meters",
+    "closeness rank": 2
+   },
+   "window": {
+    "distance": "0.45 meters",
+    "closeness rank": 3
+   },
+   "radiator": {
+    "distance": "2.21 meters",
+    "closeness rank": 4
+   },
+   "door": {
+    "distance": "2.35 meters",
+    "closeness rank": 5
+   },
+   "refrigerator": {
+    "distance": "2.38 meters",
+    "closeness rank": 6
+   }
+  },
+  "door": {
+   "refrigerator": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "radiator": {
+    "distance": "0.02 meters",
+    "closeness rank": 2
+   },
+   "trash bin": {
+    "distance": "0.59 meters",
+    "closeness rank": 3
+   },
+   "table": {
+    "distance": "0.91 meters",
+    "closeness rank": 4
+   },
+   "counter": {
+    "distance": "2.35 meters",
+    "closeness rank": 5
+   },
+   "window": {
+    "distance": "2.74 meters",
+    "closeness rank": 6
+   }
+  },
+  "radiator": {
+   "refrigerator": {
+    "distance": "0.02 meters",
+    "closeness rank": 1
+   },
+   "door": {
+    "distance": "0.02 meters",
+    "closeness rank": 2
+   },
+   "trash bin": {
+    "distance": "0.53 meters",
+    "closeness rank": 3
+   },
+   "table": {
+    "distance": "0.55 meters",
+    "closeness rank": 4
+   },
+   "counter": {
+    "distance": "2.21 meters",
+    "closeness rank": 5
+   },
+   "window": {
+    "distance": "2.91 meters",
+    "closeness rank": 6
+   }
+  },
+  "refrigerator": {
+   "door": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "radiator": {
+    "distance": "0.02 meters",
+    "closeness rank": 2
+   },
+   "trash bin": {
+    "distance": "0.77 meters",
+    "closeness rank": 3
+   },
+   "table": {
+    "distance": "0.91 meters",
+    "closeness rank": 4
+   },
+   "counter": {
+    "distance": "2.38 meters",
+    "closeness rank": 5
+   },
+   "window": {
+    "distance": "3.11 meters",
+    "closeness rank": 6
+   }
+  },
+  "table": {
+   "trash bin": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "counter": {
+    "distance": "0.19 meters",
+    "closeness rank": 2
+   },
+   "radiator": {
+    "distance": "0.55 meters",
+    "closeness rank": 3
+   },
+   "window": {
+    "distance": "0.82 meters",
+    "closeness rank": 4
+   },
+   "door": {
+    "distance": "0.91 meters",
+    "closeness rank": 5
+   },
+   "refrigerator": {
+    "distance": "0.91 meters",
+    "closeness rank": 6
+   }
+  },
+  "trash bin": {
+   "counter": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "table": {
+    "distance": "0.0 meters",
+    "closeness rank": 2
+   },
+   "window": {
+    "distance": "0.35 meters",
+    "closeness rank": 3
+   },
+   "radiator": {
+    "distance": "0.53 meters",
+    "closeness rank": 4
+   },
+   "door": {
+    "distance": "0.59 meters",
+    "closeness rank": 5
+   },
+   "refrigerator": {
+    "distance": "0.77 meters",
+    "closeness rank": 6
+   }
+  },
+  "window": {
+   "trash bin": {
+    "distance": "0.35 meters",
+    "closeness rank": 1
+   },
+   "counter": {
+    "distance": "0.45 meters",
+    "closeness rank": 2
+   },
+   "table": {
+    "distance": "0.82 meters",
+    "closeness rank": 3
+   },
+   "door": {
+    "distance": "2.74 meters",
+    "closeness rank": 4
+   },
+   "radiator": {
+    "distance": "2.91 meters",
+    "closeness rank": 5
+   },
+   "refrigerator": {
+    "distance": "3.11 meters",
+    "closeness rank": 6
+   }
+  }
+ },
+ "appearance order": ["door", "trash bin", "radiator", "table", "refrigerator", "counter", "window"]
+}
\ No newline at end of file
diff --git a/data/spatial codes/sam3+depth-anything-3/metric/tracking/selective/64/explicit/scene0593_00.json b/data/spatial codes/sam3+depth-anything-3/metric/tracking/selective/64/explicit/scene0593_00.json
new file mode 100644
index 0000000000000000000000000000000000000000..5c81593aae91dfef0bf6f3bd55b888e52663e9c2
--- /dev/null
+++ b/data/spatial codes/sam3+depth-anything-3/metric/tracking/selective/64/explicit/scene0593_00.json	
@@ -0,0 +1,1640 @@
+{
+ "spatial code schema": {
+  "objects": {
+   "<object class>": {
+    "count": {
+     "unit": null,
+     "description": "number of instances of this class in the compact spatial code (that schema's per-class oriented-box list length)"
+    },
+    "instances": [
+     {
+      "position": {
+       "x coordinate": {
+        "unit": "meters",
+        "description": "x coordinate of this instance's compact 3D oriented bounding box center"
+       },
+       "y coordinate": {
+        "unit": "meters",
+        "description": "y coordinate of this instance's compact 3D oriented bounding box center"
+       },
+       "height above floor": {
+        "unit": "meters",
+        "description": "height coordinate of this instance's compact 3D oriented bounding box center"
+       }
+      },
+      "longest dimension": {
+       "unit": "meters",
+       "description": "longest of this instance's compact 3D oriented bounding box dimensions"
+      }
+     }
+    ]
+   }
+  },
+  "room": {
+   "floor area": {
+    "unit": "square meters",
+    "description": "shoelace area of the compact spatial code's floor boundary polygons, with every interior hole subtracted"
+   }
+  },
+  "closest classes distance meters from": {
+   "<object class>": {
+    "<other object class>": {
+     "distance": {
+      "unit": "meters",
+      "description": "minimum surface-to-surface separation between the two classes' compact 3D oriented bounding boxes, over every instance pair"
+     },
+     "closeness rank": {
+      "unit": null,
+      "description": "1 = the nearest other class to this one, 2 = second-nearest, and so on"
+     }
+    }
+   }
+  },
+  "appearance order": {
+   "unit": null,
+   "description": "class names ordered by earliest compact 'first visible time' across all of that class's instances"
+  }
+ },
+ "objects": {
+  "backpack": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "0.8 meters",
+      "y coordinate": "0.01 meters",
+      "height above floor": "-2.17 meters"
+     },
+     "longest dimension": "0.49 meters"
+    }
+   ]
+  },
+  "bookshelf": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "0.26 meters",
+      "y coordinate": "0.53 meters",
+      "height above floor": "-0.37 meters"
+     },
+     "longest dimension": "2.56 meters"
+    }
+   ]
+  },
+  "chair": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "0.89 meters",
+      "y coordinate": "0.19 meters",
+      "height above floor": "-2.15 meters"
+     },
+     "longest dimension": "1.76 meters"
+    }
+   ]
+  },
+  "door": {
+   "count": 5,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "0.98 meters",
+      "y coordinate": "-1.54 meters",
+      "height above floor": "-2.16 meters"
+     },
+     "longest dimension": "1.91 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "0.47 meters",
+      "y coordinate": "-1.48 meters",
+      "height above floor": "1.67 meters"
+     },
+     "longest dimension": "0.75 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "0.5 meters",
+      "y coordinate": "-1.47 meters",
+      "height above floor": "2.02 meters"
+     },
+     "longest dimension": "0.68 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "0.53 meters",
+      "y coordinate": "-1.46 meters",
+      "height above floor": "2.4 meters"
+     },
+     "longest dimension": "0.73 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "1.63 meters",
+      "y coordinate": "-0.97 meters",
+      "height above floor": "2.02 meters"
+     },
+     "longest dimension": "0.62 meters"
+    }
+   ]
+  },
+  "fan": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "1.17 meters",
+      "y coordinate": "-0.78 meters",
+      "height above floor": "1.04 meters"
+     },
+     "longest dimension": "1.16 meters"
+    }
+   ]
+  },
+  "keyboard": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "0.27 meters",
+      "y coordinate": "1.33 meters",
+      "height above floor": "0.45 meters"
+     },
+     "longest dimension": "0.19 meters"
+    }
+   ]
+  },
+  "lamp": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-0.03 meters",
+      "y coordinate": "0.37 meters",
+      "height above floor": "0.05 meters"
+     },
+     "longest dimension": "0.31 meters"
+    }
+   ]
+  },
+  "monitor": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "0.17 meters",
+      "y coordinate": "1.33 meters",
+      "height above floor": "0.45 meters"
+     },
+     "longest dimension": "0.32 meters"
+    }
+   ]
+  },
+  "pillow": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "0.64 meters",
+      "y coordinate": "0.64 meters",
+      "height above floor": "-2.41 meters"
+     },
+     "longest dimension": "0.68 meters"
+    }
+   ]
+  },
+  "printer": {
+   "count": 3,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "0.76 meters",
+      "y coordinate": "1.33 meters",
+      "height above floor": "0.92 meters"
+     },
+     "longest dimension": "1.27 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "0.41 meters",
+      "y coordinate": "1.3 meters",
+      "height above floor": "0.63 meters"
+     },
+     "longest dimension": "0.98 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "1.04 meters",
+      "y coordinate": "-1.31 meters",
+      "height above floor": "1.73 meters"
+     },
+     "longest dimension": "0.53 meters"
+    }
+   ]
+  },
+  "refrigerator": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "0.8 meters",
+      "y coordinate": "0.11 meters",
+      "height above floor": "-0.02 meters"
+     },
+     "longest dimension": "0.54 meters"
+    }
+   ]
+  },
+  "sofa": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "0.89 meters",
+      "y coordinate": "0.2 meters",
+      "height above floor": "-2.15 meters"
+     },
+     "longest dimension": "1.72 meters"
+    }
+   ]
+  },
+  "table": {
+   "count": 2,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "0.59 meters",
+      "y coordinate": "1.61 meters",
+      "height above floor": "-2.34 meters"
+     },
+     "longest dimension": "0.92 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "0.73 meters",
+      "y coordinate": "1.94 meters",
+      "height above floor": "-1.26 meters"
+     },
+     "longest dimension": "0.9 meters"
+    }
+   ]
+  },
+  "telephone": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "1.15 meters",
+      "y coordinate": "-1.18 meters",
+      "height above floor": "1.46 meters"
+     },
+     "longest dimension": "0.2 meters"
+    }
+   ]
+  },
+  "towel": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-0.03 meters",
+      "y coordinate": "0.37 meters",
+      "height above floor": "0.05 meters"
+     },
+     "longest dimension": "0.3 meters"
+    }
+   ]
+  },
+  "trash bin": {
+   "count": 2,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "1.46 meters",
+      "y coordinate": "-0.71 meters",
+      "height above floor": "2.42 meters"
+     },
+     "longest dimension": "0.96 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "1.21 meters",
+      "y coordinate": "1.58 meters",
+      "height above floor": "2.21 meters"
+     },
+     "longest dimension": "0.49 meters"
+    }
+   ]
+  },
+  "tv": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "0.17 meters",
+      "y coordinate": "1.36 meters",
+      "height above floor": "0.45 meters"
+     },
+     "longest dimension": "0.3 meters"
+    }
+   ]
+  },
+  "window": {
+   "count": 3,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "0.07 meters",
+      "y coordinate": "0.83 meters",
+      "height above floor": "-0.01 meters"
+     },
+     "longest dimension": "1.97 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "0.9 meters",
+      "y coordinate": "-0.46 meters",
+      "height above floor": "2.93 meters"
+     },
+     "longest dimension": "1.2 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "0.6 meters",
+      "y coordinate": "0.94 meters",
+      "height above floor": "2.95 meters"
+     },
+     "longest dimension": "1.21 meters"
+    }
+   ]
+  }
+ },
+ "room": {
+  "floor area": "10.9 square meters"
+ },
+ "closest classes distance meters from": {
+  "backpack": {
+   "chair": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "sofa": {
+    "distance": "0.0 meters",
+    "closeness rank": 2
+   },
+   "pillow": {
+    "distance": "0.03 meters",
+    "closeness rank": 3
+   },
+   "table": {
+    "distance": "0.88 meters",
+    "closeness rank": 4
+   },
+   "door": {
+    "distance": "1.25 meters",
+    "closeness rank": 5
+   },
+   "bookshelf": {
+    "distance": "1.42 meters",
+    "closeness rank": 6
+   },
+   "refrigerator": {
+    "distance": "1.89 meters",
+    "closeness rank": 7
+   },
+   "window": {
+    "distance": "1.92 meters",
+    "closeness rank": 8
+   },
+   "lamp": {
+    "distance": "2.13 meters",
+    "closeness rank": 9
+   },
+   "towel": {
+    "distance": "2.13 meters",
+    "closeness rank": 10
+   },
+   "printer": {
+    "distance": "2.46 meters",
+    "closeness rank": 11
+   },
+   "monitor": {
+    "distance": "2.6 meters",
+    "closeness rank": 12
+   },
+   "keyboard": {
+    "distance": "2.61 meters",
+    "closeness rank": 13
+   },
+   "tv": {
+    "distance": "2.64 meters",
+    "closeness rank": 14
+   },
+   "fan": {
+    "distance": "2.83 meters",
+    "closeness rank": 15
+   },
+   "telephone": {
+    "distance": "3.56 meters",
+    "closeness rank": 16
+   },
+   "trash bin": {
+    "distance": "4.16 meters",
+    "closeness rank": 17
+   }
+  },
+  "bookshelf": {
+   "refrigerator": {
+    "distance": "0.01 meters",
+    "closeness rank": 1
+   },
+   "window": {
+    "distance": "0.04 meters",
+    "closeness rank": 2
+   },
+   "lamp": {
+    "distance": "0.16 meters",
+    "closeness rank": 3
+   },
+   "towel": {
+    "distance": "0.16 meters",
+    "closeness rank": 4
+   },
+   "table": {
+    "distance": "0.34 meters",
+    "closeness rank": 5
+   },
+   "printer": {
+    "distance": "0.43 meters",
+    "closeness rank": 6
+   },
+   "monitor": {
+    "distance": "0.49 meters",
+    "closeness rank": 7
+   },
+   "keyboard": {
+    "distance": "0.5 meters",
+    "closeness rank": 8
+   },
+   "tv": {
+    "distance": "0.51 meters",
+    "closeness rank": 9
+   },
+   "fan": {
+    "distance": "0.93 meters",
+    "closeness rank": 10
+   },
+   "sofa": {
+    "distance": "1.25 meters",
+    "closeness rank": 11
+   },
+   "chair": {
+    "distance": "1.25 meters",
+    "closeness rank": 12
+   },
+   "door": {
+    "distance": "1.32 meters",
+    "closeness rank": 13
+   },
+   "backpack": {
+    "distance": "1.42 meters",
+    "closeness rank": 14
+   },
+   "telephone": {
+    "distance": "1.66 meters",
+    "closeness rank": 15
+   },
+   "pillow": {
+    "distance": "1.74 meters",
+    "closeness rank": 16
+   },
+   "trash bin": {
+    "distance": "2.26 meters",
+    "closeness rank": 17
+   }
+  },
+  "chair": {
+   "backpack": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "pillow": {
+    "distance": "0.0 meters",
+    "closeness rank": 2
+   },
+   "sofa": {
+    "distance": "0.0 meters",
+    "closeness rank": 3
+   },
+   "table": {
+    "distance": "0.09 meters",
+    "closeness rank": 4
+   },
+   "door": {
+    "distance": "0.79 meters",
+    "closeness rank": 5
+   },
+   "bookshelf": {
+    "distance": "1.25 meters",
+    "closeness rank": 6
+   },
+   "refrigerator": {
+    "distance": "1.72 meters",
+    "closeness rank": 7
+   },
+   "window": {
+    "distance": "1.75 meters",
+    "closeness rank": 8
+   },
+   "lamp": {
+    "distance": "1.95 meters",
+    "closeness rank": 9
+   },
+   "towel": {
+    "distance": "1.95 meters",
+    "closeness rank": 10
+   },
+   "printer": {
+    "distance": "2.14 meters",
+    "closeness rank": 11
+   },
+   "monitor": {
+    "distance": "2.22 meters",
+    "closeness rank": 12
+   },
+   "keyboard": {
+    "distance": "2.23 meters",
+    "closeness rank": 13
+   },
+   "tv": {
+    "distance": "2.24 meters",
+    "closeness rank": 14
+   },
+   "fan": {
+    "distance": "2.63 meters",
+    "closeness rank": 15
+   },
+   "telephone": {
+    "distance": "3.31 meters",
+    "closeness rank": 16
+   },
+   "trash bin": {
+    "distance": "3.95 meters",
+    "closeness rank": 17
+   }
+  },
+  "door": {
+   "trash bin": {
+    "distance": "0.02 meters",
+    "closeness rank": 1
+   },
+   "printer": {
+    "distance": "0.06 meters",
+    "closeness rank": 2
+   },
+   "telephone": {
+    "distance": "0.28 meters",
+    "closeness rank": 3
+   },
+   "fan": {
+    "distance": "0.39 meters",
+    "closeness rank": 4
+   },
+   "window": {
+    "distance": "0.45 meters",
+    "closeness rank": 5
+   },
+   "chair": {
+    "distance": "0.79 meters",
+    "closeness rank": 6
+   },
+   "sofa": {
+    "distance": "0.82 meters",
+    "closeness rank": 7
+   },
+   "backpack": {
+    "distance": "1.25 meters",
+    "closeness rank": 8
+   },
+   "bookshelf": {
+    "distance": "1.32 meters",
+    "closeness rank": 9
+   },
+   "pillow": {
+    "distance": "1.82 meters",
+    "closeness rank": 10
+   },
+   "refrigerator": {
+    "distance": "2.03 meters",
+    "closeness rank": 11
+   },
+   "lamp": {
+    "distance": "2.25 meters",
+    "closeness rank": 12
+   },
+   "towel": {
+    "distance": "2.26 meters",
+    "closeness rank": 13
+   },
+   "table": {
+    "distance": "2.67 meters",
+    "closeness rank": 14
+   },
+   "monitor": {
+    "distance": "2.83 meters",
+    "closeness rank": 15
+   },
+   "keyboard": {
+    "distance": "2.85 meters",
+    "closeness rank": 16
+   },
+   "tv": {
+    "distance": "2.89 meters",
+    "closeness rank": 17
+   }
+  },
+  "fan": {
+   "telephone": {
+    "distance": "0.17 meters",
+    "closeness rank": 1
+   },
+   "printer": {
+    "distance": "0.23 meters",
+    "closeness rank": 2
+   },
+   "door": {
+    "distance": "0.39 meters",
+    "closeness rank": 3
+   },
+   "trash bin": {
+    "distance": "0.83 meters",
+    "closeness rank": 4
+   },
+   "bookshelf": {
+    "distance": "0.93 meters",
+    "closeness rank": 5
+   },
+   "window": {
+    "distance": "0.96 meters",
+    "closeness rank": 6
+   },
+   "refrigerator": {
+    "distance": "1.02 meters",
+    "closeness rank": 7
+   },
+   "lamp": {
+    "distance": "1.31 meters",
+    "closeness rank": 8
+   },
+   "towel": {
+    "distance": "1.31 meters",
+    "closeness rank": 9
+   },
+   "monitor": {
+    "distance": "2.03 meters",
+    "closeness rank": 10
+   },
+   "keyboard": {
+    "distance": "2.04 meters",
+    "closeness rank": 11
+   },
+   "tv": {
+    "distance": "2.09 meters",
+    "closeness rank": 12
+   },
+   "sofa": {
+    "distance": "2.63 meters",
+    "closeness rank": 13
+   },
+   "chair": {
+    "distance": "2.63 meters",
+    "closeness rank": 14
+   },
+   "table": {
+    "distance": "2.77 meters",
+    "closeness rank": 15
+   },
+   "backpack": {
+    "distance": "2.83 meters",
+    "closeness rank": 16
+   },
+   "pillow": {
+    "distance": "3.27 meters",
+    "closeness rank": 17
+   }
+  },
+  "keyboard": {
+   "monitor": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "printer": {
+    "distance": "0.0 meters",
+    "closeness rank": 2
+   },
+   "tv": {
+    "distance": "0.0 meters",
+    "closeness rank": 3
+   },
+   "window": {
+    "distance": "0.28 meters",
+    "closeness rank": 4
+   },
+   "bookshelf": {
+    "distance": "0.5 meters",
+    "closeness rank": 5
+   },
+   "lamp": {
+    "distance": "0.86 meters",
+    "closeness rank": 6
+   },
+   "towel": {
+    "distance": "0.87 meters",
+    "closeness rank": 7
+   },
+   "table": {
+    "distance": "1.25 meters",
+    "closeness rank": 8
+   },
+   "refrigerator": {
+    "distance": "1.26 meters",
+    "closeness rank": 9
+   },
+   "trash bin": {
+    "distance": "1.65 meters",
+    "closeness rank": 10
+   },
+   "fan": {
+    "distance": "2.04 meters",
+    "closeness rank": 11
+   },
+   "sofa": {
+    "distance": "2.23 meters",
+    "closeness rank": 12
+   },
+   "chair": {
+    "distance": "2.23 meters",
+    "closeness rank": 13
+   },
+   "backpack": {
+    "distance": "2.61 meters",
+    "closeness rank": 14
+   },
+   "telephone": {
+    "distance": "2.67 meters",
+    "closeness rank": 15
+   },
+   "pillow": {
+    "distance": "2.72 meters",
+    "closeness rank": 16
+   },
+   "door": {
+    "distance": "2.85 meters",
+    "closeness rank": 17
+   }
+  },
+  "lamp": {
+   "towel": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "window": {
+    "distance": "0.0 meters",
+    "closeness rank": 2
+   },
+   "bookshelf": {
+    "distance": "0.16 meters",
+    "closeness rank": 3
+   },
+   "refrigerator": {
+    "distance": "0.52 meters",
+    "closeness rank": 4
+   },
+   "printer": {
+    "distance": "0.73 meters",
+    "closeness rank": 5
+   },
+   "tv": {
+    "distance": "0.79 meters",
+    "closeness rank": 6
+   },
+   "monitor": {
+    "distance": "0.8 meters",
+    "closeness rank": 7
+   },
+   "keyboard": {
+    "distance": "0.86 meters",
+    "closeness rank": 8
+   },
+   "fan": {
+    "distance": "1.31 meters",
+    "closeness rank": 9
+   },
+   "table": {
+    "distance": "1.54 meters",
+    "closeness rank": 10
+   },
+   "sofa": {
+    "distance": "1.95 meters",
+    "closeness rank": 11
+   },
+   "chair": {
+    "distance": "1.95 meters",
+    "closeness rank": 12
+   },
+   "backpack": {
+    "distance": "2.13 meters",
+    "closeness rank": 13
+   },
+   "telephone": {
+    "distance": "2.19 meters",
+    "closeness rank": 14
+   },
+   "door": {
+    "distance": "2.25 meters",
+    "closeness rank": 15
+   },
+   "trash bin": {
+    "distance": "2.38 meters",
+    "closeness rank": 16
+   },
+   "pillow": {
+    "distance": "2.41 meters",
+    "closeness rank": 17
+   }
+  },
+  "monitor": {
+   "keyboard": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "printer": {
+    "distance": "0.0 meters",
+    "closeness rank": 2
+   },
+   "tv": {
+    "distance": "0.0 meters",
+    "closeness rank": 3
+   },
+   "window": {
+    "distance": "0.27 meters",
+    "closeness rank": 4
+   },
+   "bookshelf": {
+    "distance": "0.49 meters",
+    "closeness rank": 5
+   },
+   "lamp": {
+    "distance": "0.8 meters",
+    "closeness rank": 6
+   },
+   "towel": {
+    "distance": "0.81 meters",
+    "closeness rank": 7
+   },
+   "table": {
+    "distance": "1.23 meters",
+    "closeness rank": 8
+   },
+   "refrigerator": {
+    "distance": "1.24 meters",
+    "closeness rank": 9
+   },
+   "trash bin": {
+    "distance": "1.64 meters",
+    "closeness rank": 10
+   },
+   "fan": {
+    "distance": "2.03 meters",
+    "closeness rank": 11
+   },
+   "sofa": {
+    "distance": "2.22 meters",
+    "closeness rank": 12
+   },
+   "chair": {
+    "distance": "2.22 meters",
+    "closeness rank": 13
+   },
+   "backpack": {
+    "distance": "2.6 meters",
+    "closeness rank": 14
+   },
+   "telephone": {
+    "distance": "2.65 meters",
+    "closeness rank": 15
+   },
+   "pillow": {
+    "distance": "2.71 meters",
+    "closeness rank": 16
+   },
+   "door": {
+    "distance": "2.83 meters",
+    "closeness rank": 17
+   }
+  },
+  "pillow": {
+   "chair": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "sofa": {
+    "distance": "0.0 meters",
+    "closeness rank": 2
+   },
+   "backpack": {
+    "distance": "0.03 meters",
+    "closeness rank": 3
+   },
+   "table": {
+    "distance": "0.14 meters",
+    "closeness rank": 4
+   },
+   "bookshelf": {
+    "distance": "1.74 meters",
+    "closeness rank": 5
+   },
+   "door": {
+    "distance": "1.82 meters",
+    "closeness rank": 6
+   },
+   "refrigerator": {
+    "distance": "2.21 meters",
+    "closeness rank": 7
+   },
+   "window": {
+    "distance": "2.24 meters",
+    "closeness rank": 8
+   },
+   "lamp": {
+    "distance": "2.41 meters",
+    "closeness rank": 9
+   },
+   "towel": {
+    "distance": "2.42 meters",
+    "closeness rank": 10
+   },
+   "printer": {
+    "distance": "2.62 meters",
+    "closeness rank": 11
+   },
+   "monitor": {
+    "distance": "2.71 meters",
+    "closeness rank": 12
+   },
+   "keyboard": {
+    "distance": "2.72 meters",
+    "closeness rank": 13
+   },
+   "tv": {
+    "distance": "2.73 meters",
+    "closeness rank": 14
+   },
+   "fan": {
+    "distance": "3.27 meters",
+    "closeness rank": 15
+   },
+   "telephone": {
+    "distance": "4.04 meters",
+    "closeness rank": 16
+   },
+   "trash bin": {
+    "distance": "4.45 meters",
+    "closeness rank": 17
+   }
+  },
+  "printer": {
+   "keyboard": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "monitor": {
+    "distance": "0.0 meters",
+    "closeness rank": 2
+   },
+   "tv": {
+    "distance": "0.0 meters",
+    "closeness rank": 3
+   },
+   "telephone": {
+    "distance": "0.04 meters",
+    "closeness rank": 4
+   },
+   "door": {
+    "distance": "0.06 meters",
+    "closeness rank": 5
+   },
+   "trash bin": {
+    "distance": "0.19 meters",
+    "closeness rank": 6
+   },
+   "window": {
+    "distance": "0.21 meters",
+    "closeness rank": 7
+   },
+   "fan": {
+    "distance": "0.23 meters",
+    "closeness rank": 8
+   },
+   "bookshelf": {
+    "distance": "0.43 meters",
+    "closeness rank": 9
+   },
+   "lamp": {
+    "distance": "0.73 meters",
+    "closeness rank": 10
+   },
+   "towel": {
+    "distance": "0.74 meters",
+    "closeness rank": 11
+   },
+   "refrigerator": {
+    "distance": "0.89 meters",
+    "closeness rank": 12
+   },
+   "table": {
+    "distance": "1.1 meters",
+    "closeness rank": 13
+   },
+   "sofa": {
+    "distance": "2.13 meters",
+    "closeness rank": 14
+   },
+   "chair": {
+    "distance": "2.14 meters",
+    "closeness rank": 15
+   },
+   "backpack": {
+    "distance": "2.46 meters",
+    "closeness rank": 16
+   },
+   "pillow": {
+    "distance": "2.62 meters",
+    "closeness rank": 17
+   }
+  },
+  "refrigerator": {
+   "window": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "bookshelf": {
+    "distance": "0.01 meters",
+    "closeness rank": 2
+   },
+   "lamp": {
+    "distance": "0.52 meters",
+    "closeness rank": 3
+   },
+   "towel": {
+    "distance": "0.52 meters",
+    "closeness rank": 4
+   },
+   "printer": {
+    "distance": "0.89 meters",
+    "closeness rank": 5
+   },
+   "fan": {
+    "distance": "1.02 meters",
+    "closeness rank": 6
+   },
+   "monitor": {
+    "distance": "1.24 meters",
+    "closeness rank": 7
+   },
+   "keyboard": {
+    "distance": "1.26 meters",
+    "closeness rank": 8
+   },
+   "tv": {
+    "distance": "1.31 meters",
+    "closeness rank": 9
+   },
+   "table": {
+    "distance": "1.63 meters",
+    "closeness rank": 10
+   },
+   "sofa": {
+    "distance": "1.71 meters",
+    "closeness rank": 11
+   },
+   "chair": {
+    "distance": "1.72 meters",
+    "closeness rank": 12
+   },
+   "telephone": {
+    "distance": "1.81 meters",
+    "closeness rank": 13
+   },
+   "backpack": {
+    "distance": "1.89 meters",
+    "closeness rank": 14
+   },
+   "door": {
+    "distance": "2.03 meters",
+    "closeness rank": 15
+   },
+   "trash bin": {
+    "distance": "2.15 meters",
+    "closeness rank": 16
+   },
+   "pillow": {
+    "distance": "2.21 meters",
+    "closeness rank": 17
+   }
+  },
+  "sofa": {
+   "backpack": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "chair": {
+    "distance": "0.0 meters",
+    "closeness rank": 2
+   },
+   "pillow": {
+    "distance": "0.0 meters",
+    "closeness rank": 3
+   },
+   "table": {
+    "distance": "0.1 meters",
+    "closeness rank": 4
+   },
+   "door": {
+    "distance": "0.82 meters",
+    "closeness rank": 5
+   },
+   "bookshelf": {
+    "distance": "1.25 meters",
+    "closeness rank": 6
+   },
+   "refrigerator": {
+    "distance": "1.71 meters",
+    "closeness rank": 7
+   },
+   "window": {
+    "distance": "1.74 meters",
+    "closeness rank": 8
+   },
+   "lamp": {
+    "distance": "1.95 meters",
+    "closeness rank": 9
+   },
+   "towel": {
+    "distance": "1.95 meters",
+    "closeness rank": 10
+   },
+   "printer": {
+    "distance": "2.13 meters",
+    "closeness rank": 11
+   },
+   "monitor": {
+    "distance": "2.22 meters",
+    "closeness rank": 12
+   },
+   "keyboard": {
+    "distance": "2.23 meters",
+    "closeness rank": 13
+   },
+   "tv": {
+    "distance": "2.24 meters",
+    "closeness rank": 14
+   },
+   "fan": {
+    "distance": "2.63 meters",
+    "closeness rank": 15
+   },
+   "telephone": {
+    "distance": "3.31 meters",
+    "closeness rank": 16
+   },
+   "trash bin": {
+    "distance": "3.95 meters",
+    "closeness rank": 17
+   }
+  },
+  "table": {
+   "chair": {
+    "distance": "0.09 meters",
+    "closeness rank": 1
+   },
+   "sofa": {
+    "distance": "0.1 meters",
+    "closeness rank": 2
+   },
+   "pillow": {
+    "distance": "0.14 meters",
+    "closeness rank": 3
+   },
+   "bookshelf": {
+    "distance": "0.34 meters",
+    "closeness rank": 4
+   },
+   "window": {
+    "distance": "0.77 meters",
+    "closeness rank": 5
+   },
+   "backpack": {
+    "distance": "0.88 meters",
+    "closeness rank": 6
+   },
+   "printer": {
+    "distance": "1.1 meters",
+    "closeness rank": 7
+   },
+   "monitor": {
+    "distance": "1.23 meters",
+    "closeness rank": 8
+   },
+   "tv": {
+    "distance": "1.24 meters",
+    "closeness rank": 9
+   },
+   "keyboard": {
+    "distance": "1.25 meters",
+    "closeness rank": 10
+   },
+   "lamp": {
+    "distance": "1.54 meters",
+    "closeness rank": 11
+   },
+   "towel": {
+    "distance": "1.55 meters",
+    "closeness rank": 12
+   },
+   "refrigerator": {
+    "distance": "1.63 meters",
+    "closeness rank": 13
+   },
+   "door": {
+    "distance": "2.67 meters",
+    "closeness rank": 14
+   },
+   "fan": {
+    "distance": "2.77 meters",
+    "closeness rank": 15
+   },
+   "trash bin": {
+    "distance": "2.89 meters",
+    "closeness rank": 16
+   },
+   "telephone": {
+    "distance": "3.54 meters",
+    "closeness rank": 17
+   }
+  },
+  "telephone": {
+   "printer": {
+    "distance": "0.04 meters",
+    "closeness rank": 1
+   },
+   "fan": {
+    "distance": "0.17 meters",
+    "closeness rank": 2
+   },
+   "door": {
+    "distance": "0.28 meters",
+    "closeness rank": 3
+   },
+   "trash bin": {
+    "distance": "0.64 meters",
+    "closeness rank": 4
+   },
+   "window": {
+    "distance": "1.41 meters",
+    "closeness rank": 5
+   },
+   "bookshelf": {
+    "distance": "1.66 meters",
+    "closeness rank": 6
+   },
+   "refrigerator": {
+    "distance": "1.81 meters",
+    "closeness rank": 7
+   },
+   "lamp": {
+    "distance": "2.19 meters",
+    "closeness rank": 8
+   },
+   "towel": {
+    "distance": "2.2 meters",
+    "closeness rank": 9
+   },
+   "monitor": {
+    "distance": "2.65 meters",
+    "closeness rank": 10
+   },
+   "keyboard": {
+    "distance": "2.67 meters",
+    "closeness rank": 11
+   },
+   "tv": {
+    "distance": "2.71 meters",
+    "closeness rank": 12
+   },
+   "sofa": {
+    "distance": "3.31 meters",
+    "closeness rank": 13
+   },
+   "chair": {
+    "distance": "3.31 meters",
+    "closeness rank": 14
+   },
+   "table": {
+    "distance": "3.54 meters",
+    "closeness rank": 15
+   },
+   "backpack": {
+    "distance": "3.56 meters",
+    "closeness rank": 16
+   },
+   "pillow": {
+    "distance": "4.04 meters",
+    "closeness rank": 17
+   }
+  },
+  "towel": {
+   "lamp": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "window": {
+    "distance": "0.0 meters",
+    "closeness rank": 2
+   },
+   "bookshelf": {
+    "distance": "0.16 meters",
+    "closeness rank": 3
+   },
+   "refrigerator": {
+    "distance": "0.52 meters",
+    "closeness rank": 4
+   },
+   "printer": {
+    "distance": "0.74 meters",
+    "closeness rank": 5
+   },
+   "tv": {
+    "distance": "0.79 meters",
+    "closeness rank": 6
+   },
+   "monitor": {
+    "distance": "0.81 meters",
+    "closeness rank": 7
+   },
+   "keyboard": {
+    "distance": "0.87 meters",
+    "closeness rank": 8
+   },
+   "fan": {
+    "distance": "1.31 meters",
+    "closeness rank": 9
+   },
+   "table": {
+    "distance": "1.55 meters",
+    "closeness rank": 10
+   },
+   "sofa": {
+    "distance": "1.95 meters",
+    "closeness rank": 11
+   },
+   "chair": {
+    "distance": "1.95 meters",
+    "closeness rank": 12
+   },
+   "backpack": {
+    "distance": "2.13 meters",
+    "closeness rank": 13
+   },
+   "telephone": {
+    "distance": "2.2 meters",
+    "closeness rank": 14
+   },
+   "door": {
+    "distance": "2.26 meters",
+    "closeness rank": 15
+   },
+   "trash bin": {
+    "distance": "2.38 meters",
+    "closeness rank": 16
+   },
+   "pillow": {
+    "distance": "2.42 meters",
+    "closeness rank": 17
+   }
+  },
+  "trash bin": {
+   "door": {
+    "distance": "0.02 meters",
+    "closeness rank": 1
+   },
+   "window": {
+    "distance": "0.18 meters",
+    "closeness rank": 2
+   },
+   "printer": {
+    "distance": "0.19 meters",
+    "closeness rank": 3
+   },
+   "telephone": {
+    "distance": "0.64 meters",
+    "closeness rank": 4
+   },
+   "fan": {
+    "distance": "0.83 meters",
+    "closeness rank": 5
+   },
+   "monitor": {
+    "distance": "1.64 meters",
+    "closeness rank": 6
+   },
+   "keyboard": {
+    "distance": "1.65 meters",
+    "closeness rank": 7
+   },
+   "tv": {
+    "distance": "1.66 meters",
+    "closeness rank": 8
+   },
+   "refrigerator": {
+    "distance": "2.15 meters",
+    "closeness rank": 9
+   },
+   "bookshelf": {
+    "distance": "2.26 meters",
+    "closeness rank": 10
+   },
+   "lamp": {
+    "distance": "2.38 meters",
+    "closeness rank": 11
+   },
+   "towel": {
+    "distance": "2.38 meters",
+    "closeness rank": 12
+   },
+   "table": {
+    "distance": "2.89 meters",
+    "closeness rank": 13
+   },
+   "sofa": {
+    "distance": "3.95 meters",
+    "closeness rank": 14
+   },
+   "chair": {
+    "distance": "3.95 meters",
+    "closeness rank": 15
+   },
+   "backpack": {
+    "distance": "4.16 meters",
+    "closeness rank": 16
+   },
+   "pillow": {
+    "distance": "4.45 meters",
+    "closeness rank": 17
+   }
+  },
+  "tv": {
+   "keyboard": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "monitor": {
+    "distance": "0.0 meters",
+    "closeness rank": 2
+   },
+   "printer": {
+    "distance": "0.0 meters",
+    "closeness rank": 3
+   },
+   "window": {
+    "distance": "0.28 meters",
+    "closeness rank": 4
+   },
+   "bookshelf": {
+    "distance": "0.51 meters",
+    "closeness rank": 5
+   },
+   "lamp": {
+    "distance": "0.79 meters",
+    "closeness rank": 6
+   },
+   "towel": {
+    "distance": "0.79 meters",
+    "closeness rank": 7
+   },
+   "table": {
+    "distance": "1.24 meters",
+    "closeness rank": 8
+   },
+   "refrigerator": {
+    "distance": "1.31 meters",
+    "closeness rank": 9
+   },
+   "trash bin": {
+    "distance": "1.66 meters",
+    "closeness rank": 10
+   },
+   "fan": {
+    "distance": "2.09 meters",
+    "closeness rank": 11
+   },
+   "sofa": {
+    "distance": "2.24 meters",
+    "closeness rank": 12
+   },
+   "chair": {
+    "distance": "2.24 meters",
+    "closeness rank": 13
+   },
+   "backpack": {
+    "distance": "2.64 meters",
+    "closeness rank": 14
+   },
+   "telephone": {
+    "distance": "2.71 meters",
+    "closeness rank": 15
+   },
+   "pillow": {
+    "distance": "2.73 meters",
+    "closeness rank": 16
+   },
+   "door": {
+    "distance": "2.89 meters",
+    "closeness rank": 17
+   }
+  },
+  "window": {
+   "lamp": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "refrigerator": {
+    "distance": "0.0 meters",
+    "closeness rank": 2
+   },
+   "towel": {
+    "distance": "0.0 meters",
+    "closeness rank": 3
+   },
+   "bookshelf": {
+    "distance": "0.04 meters",
+    "closeness rank": 4
+   },
+   "trash bin": {
+    "distance": "0.18 meters",
+    "closeness rank": 5
+   },
+   "printer": {
+    "distance": "0.21 meters",
+    "closeness rank": 6
+   },
+   "monitor": {
+    "distance": "0.27 meters",
+    "closeness rank": 7
+   },
+   "keyboard": {
+    "distance": "0.28 meters",
+    "closeness rank": 8
+   },
+   "tv": {
+    "distance": "0.28 meters",
+    "closeness rank": 9
+   },
+   "door": {
+    "distance": "0.45 meters",
+    "closeness rank": 10
+   },
+   "table": {
+    "distance": "0.77 meters",
+    "closeness rank": 11
+   },
+   "fan": {
+    "distance": "0.96 meters",
+    "closeness rank": 12
+   },
+   "telephone": {
+    "distance": "1.41 meters",
+    "closeness rank": 13
+   },
+   "sofa": {
+    "distance": "1.74 meters",
+    "closeness rank": 14
+   },
+   "chair": {
+    "distance": "1.75 meters",
+    "closeness rank": 15
+   },
+   "backpack": {
+    "distance": "1.92 meters",
+    "closeness rank": 16
+   },
+   "pillow": {
+    "distance": "2.24 meters",
+    "closeness rank": 17
+   }
+  }
+ },
+ "appearance order": ["window", "chair", "sofa", "monitor", "printer", "trash bin", "door", "fan", "lamp", "refrigerator", "towel", "tv", "backpack", "table", "bookshelf", "pillow", "telephone", "keyboard"]
+}
\ No newline at end of file
diff --git a/data/spatial codes/sam3+depth-anything-3/metric/tracking/selective/64/explicit/scene0647_00.json b/data/spatial codes/sam3+depth-anything-3/metric/tracking/selective/64/explicit/scene0647_00.json
new file mode 100644
index 0000000000000000000000000000000000000000..46c5d64b4147b88e56f8bab88fbda85bfd932c3a
--- /dev/null
+++ b/data/spatial codes/sam3+depth-anything-3/metric/tracking/selective/64/explicit/scene0647_00.json	
@@ -0,0 +1,616 @@
+{
+ "spatial code schema": {
+  "objects": {
+   "<object class>": {
+    "count": {
+     "unit": null,
+     "description": "number of instances of this class in the compact spatial code (that schema's per-class oriented-box list length)"
+    },
+    "instances": [
+     {
+      "position": {
+       "x coordinate": {
+        "unit": "meters",
+        "description": "x coordinate of this instance's compact 3D oriented bounding box center"
+       },
+       "y coordinate": {
+        "unit": "meters",
+        "description": "y coordinate of this instance's compact 3D oriented bounding box center"
+       },
+       "height above floor": {
+        "unit": "meters",
+        "description": "height coordinate of this instance's compact 3D oriented bounding box center"
+       }
+      },
+      "longest dimension": {
+       "unit": "meters",
+       "description": "longest of this instance's compact 3D oriented bounding box dimensions"
+      }
+     }
+    ]
+   }
+  },
+  "room": {
+   "floor area": {
+    "unit": "square meters",
+    "description": "shoelace area of the compact spatial code's floor boundary polygons, with every interior hole subtracted"
+   }
+  },
+  "closest classes distance meters from": {
+   "<object class>": {
+    "<other object class>": {
+     "distance": {
+      "unit": "meters",
+      "description": "minimum surface-to-surface separation between the two classes' compact 3D oriented bounding boxes, over every instance pair"
+     },
+     "closeness rank": {
+      "unit": null,
+      "description": "1 = the nearest other class to this one, 2 = second-nearest, and so on"
+     }
+    }
+   }
+  },
+  "appearance order": {
+   "unit": null,
+   "description": "class names ordered by earliest compact 'first visible time' across all of that class's instances"
+  }
+ },
+ "objects": {
+  "backpack": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "1.61 meters",
+      "y coordinate": "-1.24 meters",
+      "height above floor": "4.08 meters"
+     },
+     "longest dimension": "0.47 meters"
+    }
+   ]
+  },
+  "chair": {
+   "count": 2,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "1.19 meters",
+      "y coordinate": "-0.5 meters",
+      "height above floor": "3.98 meters"
+     },
+     "longest dimension": "1.02 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "1.27 meters",
+      "y coordinate": "-1.89 meters",
+      "height above floor": "4.26 meters"
+     },
+     "longest dimension": "0.6 meters"
+    }
+   ]
+  },
+  "door": {
+   "count": 2,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "0.73 meters",
+      "y coordinate": "-1.47 meters",
+      "height above floor": "-0.02 meters"
+     },
+     "longest dimension": "1.94 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "0.27 meters",
+      "y coordinate": "-0.41 meters",
+      "height above floor": "-0.06 meters"
+     },
+     "longest dimension": "1.95 meters"
+    }
+   ]
+  },
+  "fan": {
+   "count": 2,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-0.24 meters",
+      "y coordinate": "-1.91 meters",
+      "height above floor": "2.45 meters"
+     },
+     "longest dimension": "0.95 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-0.03 meters",
+      "y coordinate": "-2.88 meters",
+      "height above floor": "0.96 meters"
+     },
+     "longest dimension": "0.76 meters"
+    }
+   ]
+  },
+  "lamp": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-0.11 meters",
+      "y coordinate": "-2.54 meters",
+      "height above floor": "0.98 meters"
+     },
+     "longest dimension": "0.76 meters"
+    }
+   ]
+  },
+  "mirror": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-0.45 meters",
+      "y coordinate": "5.0 meters",
+      "height above floor": "1.12 meters"
+     },
+     "longest dimension": "4.86 meters"
+    }
+   ]
+  },
+  "monitor": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-0.72 meters",
+      "y coordinate": "2.94 meters",
+      "height above floor": "3.14 meters"
+     },
+     "longest dimension": "0.92 meters"
+    }
+   ]
+  },
+  "sofa": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "1.57 meters",
+      "y coordinate": "-2.48 meters",
+      "height above floor": "3.66 meters"
+     },
+     "longest dimension": "1.74 meters"
+    }
+   ]
+  },
+  "table": {
+   "count": 3,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "0.72 meters",
+      "y coordinate": "0.47 meters",
+      "height above floor": "1.37 meters"
+     },
+     "longest dimension": "2.62 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "1.45 meters",
+      "y coordinate": "-2.3 meters",
+      "height above floor": "3.6 meters"
+     },
+     "longest dimension": "0.93 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "1.4 meters",
+      "y coordinate": "-2.86 meters",
+      "height above floor": "1.0 meters"
+     },
+     "longest dimension": "1.01 meters"
+    }
+   ]
+  },
+  "tv": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-0.89 meters",
+      "y coordinate": "2.93 meters",
+      "height above floor": "3.42 meters"
+     },
+     "longest dimension": "1.3 meters"
+    }
+   ]
+  }
+ },
+ "room": {
+  "floor area": "28.2 square meters"
+ },
+ "closest classes distance meters from": {
+  "backpack": {
+   "chair": {
+    "distance": "0.06 meters",
+    "closeness rank": 1
+   },
+   "sofa": {
+    "distance": "0.13 meters",
+    "closeness rank": 2
+   },
+   "table": {
+    "distance": "0.31 meters",
+    "closeness rank": 3
+   },
+   "fan": {
+    "distance": "1.95 meters",
+    "closeness rank": 4
+   },
+   "lamp": {
+    "distance": "3.15 meters",
+    "closeness rank": 5
+   },
+   "door": {
+    "distance": "3.98 meters",
+    "closeness rank": 6
+   },
+   "mirror": {
+    "distance": "4.09 meters",
+    "closeness rank": 7
+   },
+   "monitor": {
+    "distance": "4.49 meters",
+    "closeness rank": 8
+   },
+   "tv": {
+    "distance": "4.49 meters",
+    "closeness rank": 9
+   }
+  },
+  "chair": {
+   "sofa": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "table": {
+    "distance": "0.0 meters",
+    "closeness rank": 2
+   },
+   "backpack": {
+    "distance": "0.06 meters",
+    "closeness rank": 3
+   },
+   "fan": {
+    "distance": "1.6 meters",
+    "closeness rank": 4
+   },
+   "lamp": {
+    "distance": "2.93 meters",
+    "closeness rank": 5
+   },
+   "mirror": {
+    "distance": "3.01 meters",
+    "closeness rank": 6
+   },
+   "monitor": {
+    "distance": "3.3 meters",
+    "closeness rank": 7
+   },
+   "tv": {
+    "distance": "3.33 meters",
+    "closeness rank": 8
+   },
+   "door": {
+    "distance": "3.71 meters",
+    "closeness rank": 9
+   }
+  },
+  "door": {
+   "lamp": {
+    "distance": "0.65 meters",
+    "closeness rank": 1
+   },
+   "table": {
+    "distance": "0.76 meters",
+    "closeness rank": 2
+   },
+   "fan": {
+    "distance": "0.85 meters",
+    "closeness rank": 3
+   },
+   "mirror": {
+    "distance": "2.53 meters",
+    "closeness rank": 4
+   },
+   "sofa": {
+    "distance": "2.79 meters",
+    "closeness rank": 5
+   },
+   "chair": {
+    "distance": "3.71 meters",
+    "closeness rank": 6
+   },
+   "backpack": {
+    "distance": "3.98 meters",
+    "closeness rank": 7
+   },
+   "monitor": {
+    "distance": "4.07 meters",
+    "closeness rank": 8
+   },
+   "tv": {
+    "distance": "4.21 meters",
+    "closeness rank": 9
+   }
+  },
+  "fan": {
+   "lamp": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "table": {
+    "distance": "0.8 meters",
+    "closeness rank": 2
+   },
+   "door": {
+    "distance": "0.85 meters",
+    "closeness rank": 3
+   },
+   "sofa": {
+    "distance": "1.15 meters",
+    "closeness rank": 4
+   },
+   "chair": {
+    "distance": "1.6 meters",
+    "closeness rank": 5
+   },
+   "backpack": {
+    "distance": "1.95 meters",
+    "closeness rank": 6
+   },
+   "mirror": {
+    "distance": "4.2 meters",
+    "closeness rank": 7
+   },
+   "monitor": {
+    "distance": "4.43 meters",
+    "closeness rank": 8
+   },
+   "tv": {
+    "distance": "4.53 meters",
+    "closeness rank": 9
+   }
+  },
+  "lamp": {
+   "fan": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "door": {
+    "distance": "0.65 meters",
+    "closeness rank": 2
+   },
+   "table": {
+    "distance": "0.93 meters",
+    "closeness rank": 3
+   },
+   "sofa": {
+    "distance": "1.82 meters",
+    "closeness rank": 4
+   },
+   "chair": {
+    "distance": "2.93 meters",
+    "closeness rank": 5
+   },
+   "backpack": {
+    "distance": "3.15 meters",
+    "closeness rank": 6
+   },
+   "mirror": {
+    "distance": "4.89 meters",
+    "closeness rank": 7
+   },
+   "monitor": {
+    "distance": "5.34 meters",
+    "closeness rank": 8
+   },
+   "tv": {
+    "distance": "5.45 meters",
+    "closeness rank": 9
+   }
+  },
+  "mirror": {
+   "monitor": {
+    "distance": "0.6 meters",
+    "closeness rank": 1
+   },
+   "tv": {
+    "distance": "0.67 meters",
+    "closeness rank": 2
+   },
+   "table": {
+    "distance": "0.8 meters",
+    "closeness rank": 3
+   },
+   "door": {
+    "distance": "2.53 meters",
+    "closeness rank": 4
+   },
+   "chair": {
+    "distance": "3.01 meters",
+    "closeness rank": 5
+   },
+   "backpack": {
+    "distance": "4.09 meters",
+    "closeness rank": 6
+   },
+   "fan": {
+    "distance": "4.2 meters",
+    "closeness rank": 7
+   },
+   "sofa": {
+    "distance": "4.43 meters",
+    "closeness rank": 8
+   },
+   "lamp": {
+    "distance": "4.89 meters",
+    "closeness rank": 9
+   }
+  },
+  "monitor": {
+   "tv": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "mirror": {
+    "distance": "0.6 meters",
+    "closeness rank": 2
+   },
+   "table": {
+    "distance": "1.64 meters",
+    "closeness rank": 3
+   },
+   "chair": {
+    "distance": "3.3 meters",
+    "closeness rank": 4
+   },
+   "door": {
+    "distance": "4.07 meters",
+    "closeness rank": 5
+   },
+   "fan": {
+    "distance": "4.43 meters",
+    "closeness rank": 6
+   },
+   "backpack": {
+    "distance": "4.49 meters",
+    "closeness rank": 7
+   },
+   "sofa": {
+    "distance": "5.0 meters",
+    "closeness rank": 8
+   },
+   "lamp": {
+    "distance": "5.34 meters",
+    "closeness rank": 9
+   }
+  },
+  "sofa": {
+   "chair": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "table": {
+    "distance": "0.0 meters",
+    "closeness rank": 2
+   },
+   "backpack": {
+    "distance": "0.13 meters",
+    "closeness rank": 3
+   },
+   "fan": {
+    "distance": "1.15 meters",
+    "closeness rank": 4
+   },
+   "lamp": {
+    "distance": "1.82 meters",
+    "closeness rank": 5
+   },
+   "door": {
+    "distance": "2.79 meters",
+    "closeness rank": 6
+   },
+   "mirror": {
+    "distance": "4.43 meters",
+    "closeness rank": 7
+   },
+   "monitor": {
+    "distance": "5.0 meters",
+    "closeness rank": 8
+   },
+   "tv": {
+    "distance": "5.08 meters",
+    "closeness rank": 9
+   }
+  },
+  "table": {
+   "chair": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "sofa": {
+    "distance": "0.0 meters",
+    "closeness rank": 2
+   },
+   "backpack": {
+    "distance": "0.31 meters",
+    "closeness rank": 3
+   },
+   "door": {
+    "distance": "0.76 meters",
+    "closeness rank": 4
+   },
+   "mirror": {
+    "distance": "0.8 meters",
+    "closeness rank": 5
+   },
+   "fan": {
+    "distance": "0.8 meters",
+    "closeness rank": 6
+   },
+   "lamp": {
+    "distance": "0.93 meters",
+    "closeness rank": 7
+   },
+   "monitor": {
+    "distance": "1.64 meters",
+    "closeness rank": 8
+   },
+   "tv": {
+    "distance": "1.7 meters",
+    "closeness rank": 9
+   }
+  },
+  "tv": {
+   "monitor": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "mirror": {
+    "distance": "0.67 meters",
+    "closeness rank": 2
+   },
+   "table": {
+    "distance": "1.7 meters",
+    "closeness rank": 3
+   },
+   "chair": {
+    "distance": "3.33 meters",
+    "closeness rank": 4
+   },
+   "door": {
+    "distance": "4.21 meters",
+    "closeness rank": 5
+   },
+   "backpack": {
+    "distance": "4.49 meters",
+    "closeness rank": 6
+   },
+   "fan": {
+    "distance": "4.53 meters",
+    "closeness rank": 7
+   },
+   "sofa": {
+    "distance": "5.08 meters",
+    "closeness rank": 8
+   },
+   "lamp": {
+    "distance": "5.45 meters",
+    "closeness rank": 9
+   }
+  }
+ },
+ "appearance order": ["door", "table", "lamp", "fan", "sofa", "backpack", "chair", "tv", "mirror", "monitor"]
+}
\ No newline at end of file
diff --git a/data/spatial codes/sam3+depth-anything-3/metric/tracking/selective/64/explicit/scene0648_00.json b/data/spatial codes/sam3+depth-anything-3/metric/tracking/selective/64/explicit/scene0648_00.json
new file mode 100644
index 0000000000000000000000000000000000000000..3e3d3f3a532939f8199d007c0ebed188661a9a05
--- /dev/null
+++ b/data/spatial codes/sam3+depth-anything-3/metric/tracking/selective/64/explicit/scene0648_00.json	
@@ -0,0 +1,1402 @@
+{
+ "spatial code schema": {
+  "objects": {
+   "<object class>": {
+    "count": {
+     "unit": null,
+     "description": "number of instances of this class in the compact spatial code (that schema's per-class oriented-box list length)"
+    },
+    "instances": [
+     {
+      "position": {
+       "x coordinate": {
+        "unit": "meters",
+        "description": "x coordinate of this instance's compact 3D oriented bounding box center"
+       },
+       "y coordinate": {
+        "unit": "meters",
+        "description": "y coordinate of this instance's compact 3D oriented bounding box center"
+       },
+       "height above floor": {
+        "unit": "meters",
+        "description": "height coordinate of this instance's compact 3D oriented bounding box center"
+       }
+      },
+      "longest dimension": {
+       "unit": "meters",
+       "description": "longest of this instance's compact 3D oriented bounding box dimensions"
+      }
+     }
+    ]
+   }
+  },
+  "room": {
+   "floor area": {
+    "unit": "square meters",
+    "description": "shoelace area of the compact spatial code's floor boundary polygons, with every interior hole subtracted"
+   }
+  },
+  "closest classes distance meters from": {
+   "<object class>": {
+    "<other object class>": {
+     "distance": {
+      "unit": "meters",
+      "description": "minimum surface-to-surface separation between the two classes' compact 3D oriented bounding boxes, over every instance pair"
+     },
+     "closeness rank": {
+      "unit": null,
+      "description": "1 = the nearest other class to this one, 2 = second-nearest, and so on"
+     }
+    }
+   }
+  },
+  "appearance order": {
+   "unit": null,
+   "description": "class names ordered by earliest compact 'first visible time' across all of that class's instances"
+  }
+ },
+ "objects": {
+  "backpack": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "1.28 meters",
+      "y coordinate": "-0.02 meters",
+      "height above floor": "1.78 meters"
+     },
+     "longest dimension": "0.45 meters"
+    }
+   ]
+  },
+  "bed": {
+   "count": 3,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "0.55 meters",
+      "y coordinate": "0.41 meters",
+      "height above floor": "0.86 meters"
+     },
+     "longest dimension": "1.32 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "0.48 meters",
+      "y coordinate": "-0.12 meters",
+      "height above floor": "-0.14 meters"
+     },
+     "longest dimension": "0.96 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "0.49 meters",
+      "y coordinate": "0.94 meters",
+      "height above floor": "-0.22 meters"
+     },
+     "longest dimension": "0.79 meters"
+    }
+   ]
+  },
+  "bookshelf": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "0.46 meters",
+      "y coordinate": "-0.55 meters",
+      "height above floor": "2.42 meters"
+     },
+     "longest dimension": "1.07 meters"
+    }
+   ]
+  },
+  "chair": {
+   "count": 2,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "1.09 meters",
+      "y coordinate": "-0.59 meters",
+      "height above floor": "1.8 meters"
+     },
+     "longest dimension": "0.76 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "0.99 meters",
+      "y coordinate": "0.48 meters",
+      "height above floor": "0.26 meters"
+     },
+     "longest dimension": "0.42 meters"
+    }
+   ]
+  },
+  "clock": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "0.22 meters",
+      "y coordinate": "-0.78 meters",
+      "height above floor": "-0.16 meters"
+     },
+     "longest dimension": "0.14 meters"
+    }
+   ]
+  },
+  "keyboard": {
+   "count": 2,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "0.76 meters",
+      "y coordinate": "0.86 meters",
+      "height above floor": "0.36 meters"
+     },
+     "longest dimension": "0.28 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "0.69 meters",
+      "y coordinate": "0.96 meters",
+      "height above floor": "0.37 meters"
+     },
+     "longest dimension": "0.23 meters"
+    }
+   ]
+  },
+  "lamp": {
+   "count": 2,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "0.82 meters",
+      "y coordinate": "0.31 meters",
+      "height above floor": "0.09 meters"
+     },
+     "longest dimension": "0.66 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "0.43 meters",
+      "y coordinate": "0.0 meters",
+      "height above floor": "2.38 meters"
+     },
+     "longest dimension": "0.28 meters"
+    }
+   ]
+  },
+  "mattress": {
+   "count": 4,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "0.57 meters",
+      "y coordinate": "0.42 meters",
+      "height above floor": "1.04 meters"
+     },
+     "longest dimension": "1.31 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "0.52 meters",
+      "y coordinate": "-0.18 meters",
+      "height above floor": "-0.13 meters"
+     },
+     "longest dimension": "0.84 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "0.42 meters",
+      "y coordinate": "0.79 meters",
+      "height above floor": "0.66 meters"
+     },
+     "longest dimension": "0.7 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "0.49 meters",
+      "y coordinate": "0.94 meters",
+      "height above floor": "-0.22 meters"
+     },
+     "longest dimension": "0.79 meters"
+    }
+   ]
+  },
+  "mirror": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "0.72 meters",
+      "y coordinate": "0.27 meters",
+      "height above floor": "1.49 meters"
+     },
+     "longest dimension": "0.5 meters"
+    }
+   ]
+  },
+  "nightstand": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "0.64 meters",
+      "y coordinate": "-0.6 meters",
+      "height above floor": "2.25 meters"
+     },
+     "longest dimension": "1.13 meters"
+    }
+   ]
+  },
+  "pillow": {
+   "count": 5,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "0.27 meters",
+      "y coordinate": "1.09 meters",
+      "height above floor": "-0.42 meters"
+     },
+     "longest dimension": "0.73 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "0.22 meters",
+      "y coordinate": "0.66 meters",
+      "height above floor": "1.92 meters"
+     },
+     "longest dimension": "0.55 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "0.28 meters",
+      "y coordinate": "0.37 meters",
+      "height above floor": "2.13 meters"
+     },
+     "longest dimension": "0.3 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "0.35 meters",
+      "y coordinate": "0.34 meters",
+      "height above floor": "2.36 meters"
+     },
+     "longest dimension": "0.4 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "0.35 meters",
+      "y coordinate": "1.19 meters",
+      "height above floor": "-0.1 meters"
+     },
+     "longest dimension": "0.33 meters"
+    }
+   ]
+  },
+  "plant": {
+   "count": 2,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-0.02 meters",
+      "y coordinate": "-0.76 meters",
+      "height above floor": "2.44 meters"
+     },
+     "longest dimension": "0.39 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-0.07 meters",
+      "y coordinate": "-0.23 meters",
+      "height above floor": "2.4 meters"
+     },
+     "longest dimension": "0.2 meters"
+    }
+   ]
+  },
+  "table": {
+   "count": 2,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "0.93 meters",
+      "y coordinate": "-0.52 meters",
+      "height above floor": "2.13 meters"
+     },
+     "longest dimension": "1.25 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "0.81 meters",
+      "y coordinate": "0.77 meters",
+      "height above floor": "0.23 meters"
+     },
+     "longest dimension": "0.68 meters"
+    }
+   ]
+  },
+  "towel": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "0.43 meters",
+      "y coordinate": "0.78 meters",
+      "height above floor": "0.66 meters"
+     },
+     "longest dimension": "0.61 meters"
+    }
+   ]
+  },
+  "tv": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "0.65 meters",
+      "y coordinate": "0.97 meters",
+      "height above floor": "0.34 meters"
+     },
+     "longest dimension": "0.25 meters"
+    }
+   ]
+  },
+  "window": {
+   "count": 4,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "0.19 meters",
+      "y coordinate": "1.88 meters",
+      "height above floor": "0.0 meters"
+     },
+     "longest dimension": "0.89 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "0.09 meters",
+      "y coordinate": "1.86 meters",
+      "height above floor": "0.56 meters"
+     },
+     "longest dimension": "1.14 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "0.55 meters",
+      "y coordinate": "1.82 meters",
+      "height above floor": "0.46 meters"
+     },
+     "longest dimension": "0.56 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "0.54 meters",
+      "y coordinate": "1.83 meters",
+      "height above floor": "-0.03 meters"
+     },
+     "longest dimension": "0.56 meters"
+    }
+   ]
+  }
+ },
+ "room": {
+  "floor area": "9.6 square meters"
+ },
+ "closest classes distance meters from": {
+  "backpack": {
+   "table": {
+    "distance": "0.09 meters",
+    "closeness rank": 1
+   },
+   "chair": {
+    "distance": "0.16 meters",
+    "closeness rank": 2
+   },
+   "mirror": {
+    "distance": "0.19 meters",
+    "closeness rank": 3
+   },
+   "nightstand": {
+    "distance": "0.23 meters",
+    "closeness rank": 4
+   },
+   "bed": {
+    "distance": "0.39 meters",
+    "closeness rank": 5
+   },
+   "mattress": {
+    "distance": "0.4 meters",
+    "closeness rank": 6
+   },
+   "bookshelf": {
+    "distance": "0.48 meters",
+    "closeness rank": 7
+   },
+   "lamp": {
+    "distance": "0.63 meters",
+    "closeness rank": 8
+   },
+   "pillow": {
+    "distance": "0.66 meters",
+    "closeness rank": 9
+   },
+   "towel": {
+    "distance": "1.14 meters",
+    "closeness rank": 10
+   },
+   "plant": {
+    "distance": "1.14 meters",
+    "closeness rank": 11
+   },
+   "keyboard": {
+    "distance": "1.41 meters",
+    "closeness rank": 12
+   },
+   "tv": {
+    "distance": "1.53 meters",
+    "closeness rank": 13
+   },
+   "window": {
+    "distance": "1.98 meters",
+    "closeness rank": 14
+   },
+   "clock": {
+    "distance": "2.04 meters",
+    "closeness rank": 15
+   }
+  },
+  "bed": {
+   "lamp": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "mattress": {
+    "distance": "0.0 meters",
+    "closeness rank": 2
+   },
+   "mirror": {
+    "distance": "0.0 meters",
+    "closeness rank": 3
+   },
+   "pillow": {
+    "distance": "0.0 meters",
+    "closeness rank": 4
+   },
+   "towel": {
+    "distance": "0.0 meters",
+    "closeness rank": 5
+   },
+   "tv": {
+    "distance": "0.04 meters",
+    "closeness rank": 6
+   },
+   "table": {
+    "distance": "0.07 meters",
+    "closeness rank": 7
+   },
+   "keyboard": {
+    "distance": "0.1 meters",
+    "closeness rank": 8
+   },
+   "chair": {
+    "distance": "0.22 meters",
+    "closeness rank": 9
+   },
+   "clock": {
+    "distance": "0.23 meters",
+    "closeness rank": 10
+   },
+   "backpack": {
+    "distance": "0.39 meters",
+    "closeness rank": 11
+   },
+   "window": {
+    "distance": "0.58 meters",
+    "closeness rank": 12
+   },
+   "nightstand": {
+    "distance": "0.65 meters",
+    "closeness rank": 13
+   },
+   "bookshelf": {
+    "distance": "0.8 meters",
+    "closeness rank": 14
+   },
+   "plant": {
+    "distance": "0.98 meters",
+    "closeness rank": 15
+   }
+  },
+  "bookshelf": {
+   "lamp": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "nightstand": {
+    "distance": "0.0 meters",
+    "closeness rank": 2
+   },
+   "table": {
+    "distance": "0.03 meters",
+    "closeness rank": 3
+   },
+   "plant": {
+    "distance": "0.04 meters",
+    "closeness rank": 4
+   },
+   "pillow": {
+    "distance": "0.28 meters",
+    "closeness rank": 5
+   },
+   "chair": {
+    "distance": "0.28 meters",
+    "closeness rank": 6
+   },
+   "backpack": {
+    "distance": "0.48 meters",
+    "closeness rank": 7
+   },
+   "mirror": {
+    "distance": "0.61 meters",
+    "closeness rank": 8
+   },
+   "mattress": {
+    "distance": "0.66 meters",
+    "closeness rank": 9
+   },
+   "bed": {
+    "distance": "0.8 meters",
+    "closeness rank": 10
+   },
+   "towel": {
+    "distance": "1.62 meters",
+    "closeness rank": 11
+   },
+   "keyboard": {
+    "distance": "1.98 meters",
+    "closeness rank": 12
+   },
+   "tv": {
+    "distance": "2.06 meters",
+    "closeness rank": 13
+   },
+   "window": {
+    "distance": "2.33 meters",
+    "closeness rank": 14
+   },
+   "clock": {
+    "distance": "2.39 meters",
+    "closeness rank": 15
+   }
+  },
+  "chair": {
+   "table": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "lamp": {
+    "distance": "0.0 meters",
+    "closeness rank": 2
+   },
+   "nightstand": {
+    "distance": "0.11 meters",
+    "closeness rank": 3
+   },
+   "backpack": {
+    "distance": "0.16 meters",
+    "closeness rank": 4
+   },
+   "mattress": {
+    "distance": "0.18 meters",
+    "closeness rank": 5
+   },
+   "bed": {
+    "distance": "0.22 meters",
+    "closeness rank": 6
+   },
+   "keyboard": {
+    "distance": "0.24 meters",
+    "closeness rank": 7
+   },
+   "bookshelf": {
+    "distance": "0.28 meters",
+    "closeness rank": 8
+   },
+   "towel": {
+    "distance": "0.39 meters",
+    "closeness rank": 9
+   },
+   "tv": {
+    "distance": "0.39 meters",
+    "closeness rank": 10
+   },
+   "mirror": {
+    "distance": "0.56 meters",
+    "closeness rank": 11
+   },
+   "pillow": {
+    "distance": "0.62 meters",
+    "closeness rank": 12
+   },
+   "plant": {
+    "distance": "0.69 meters",
+    "closeness rank": 13
+   },
+   "window": {
+    "distance": "1.19 meters",
+    "closeness rank": 14
+   },
+   "clock": {
+    "distance": "1.33 meters",
+    "closeness rank": 15
+   }
+  },
+  "clock": {
+   "bed": {
+    "distance": "0.23 meters",
+    "closeness rank": 1
+   },
+   "mattress": {
+    "distance": "0.3 meters",
+    "closeness rank": 2
+   },
+   "lamp": {
+    "distance": "1.14 meters",
+    "closeness rank": 3
+   },
+   "chair": {
+    "distance": "1.33 meters",
+    "closeness rank": 4
+   },
+   "towel": {
+    "distance": "1.42 meters",
+    "closeness rank": 5
+   },
+   "table": {
+    "distance": "1.51 meters",
+    "closeness rank": 6
+   },
+   "keyboard": {
+    "distance": "1.68 meters",
+    "closeness rank": 7
+   },
+   "pillow": {
+    "distance": "1.69 meters",
+    "closeness rank": 8
+   },
+   "mirror": {
+    "distance": "1.7 meters",
+    "closeness rank": 9
+   },
+   "tv": {
+    "distance": "1.79 meters",
+    "closeness rank": 10
+   },
+   "backpack": {
+    "distance": "2.04 meters",
+    "closeness rank": 11
+   },
+   "nightstand": {
+    "distance": "2.21 meters",
+    "closeness rank": 12
+   },
+   "bookshelf": {
+    "distance": "2.39 meters",
+    "closeness rank": 13
+   },
+   "plant": {
+    "distance": "2.41 meters",
+    "closeness rank": 14
+   },
+   "window": {
+    "distance": "2.53 meters",
+    "closeness rank": 15
+   }
+  },
+  "keyboard": {
+   "table": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "tv": {
+    "distance": "0.0 meters",
+    "closeness rank": 2
+   },
+   "bed": {
+    "distance": "0.1 meters",
+    "closeness rank": 3
+   },
+   "mattress": {
+    "distance": "0.1 meters",
+    "closeness rank": 4
+   },
+   "towel": {
+    "distance": "0.19 meters",
+    "closeness rank": 5
+   },
+   "chair": {
+    "distance": "0.24 meters",
+    "closeness rank": 6
+   },
+   "lamp": {
+    "distance": "0.34 meters",
+    "closeness rank": 7
+   },
+   "pillow": {
+    "distance": "0.36 meters",
+    "closeness rank": 8
+   },
+   "window": {
+    "distance": "0.78 meters",
+    "closeness rank": 9
+   },
+   "mirror": {
+    "distance": "0.9 meters",
+    "closeness rank": 10
+   },
+   "backpack": {
+    "distance": "1.41 meters",
+    "closeness rank": 11
+   },
+   "clock": {
+    "distance": "1.68 meters",
+    "closeness rank": 12
+   },
+   "nightstand": {
+    "distance": "1.81 meters",
+    "closeness rank": 13
+   },
+   "bookshelf": {
+    "distance": "1.98 meters",
+    "closeness rank": 14
+   },
+   "plant": {
+    "distance": "2.2 meters",
+    "closeness rank": 15
+   }
+  },
+  "lamp": {
+   "bed": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "bookshelf": {
+    "distance": "0.0 meters",
+    "closeness rank": 2
+   },
+   "chair": {
+    "distance": "0.0 meters",
+    "closeness rank": 3
+   },
+   "mattress": {
+    "distance": "0.09 meters",
+    "closeness rank": 4
+   },
+   "nightstand": {
+    "distance": "0.11 meters",
+    "closeness rank": 5
+   },
+   "pillow": {
+    "distance": "0.14 meters",
+    "closeness rank": 6
+   },
+   "table": {
+    "distance": "0.2 meters",
+    "closeness rank": 7
+   },
+   "plant": {
+    "distance": "0.27 meters",
+    "closeness rank": 8
+   },
+   "keyboard": {
+    "distance": "0.34 meters",
+    "closeness rank": 9
+   },
+   "towel": {
+    "distance": "0.4 meters",
+    "closeness rank": 10
+   },
+   "tv": {
+    "distance": "0.44 meters",
+    "closeness rank": 11
+   },
+   "mirror": {
+    "distance": "0.6 meters",
+    "closeness rank": 12
+   },
+   "backpack": {
+    "distance": "0.63 meters",
+    "closeness rank": 13
+   },
+   "clock": {
+    "distance": "1.14 meters",
+    "closeness rank": 14
+   },
+   "window": {
+    "distance": "1.24 meters",
+    "closeness rank": 15
+   }
+  },
+  "mattress": {
+   "bed": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "mirror": {
+    "distance": "0.0 meters",
+    "closeness rank": 2
+   },
+   "pillow": {
+    "distance": "0.0 meters",
+    "closeness rank": 3
+   },
+   "towel": {
+    "distance": "0.0 meters",
+    "closeness rank": 4
+   },
+   "tv": {
+    "distance": "0.04 meters",
+    "closeness rank": 5
+   },
+   "lamp": {
+    "distance": "0.09 meters",
+    "closeness rank": 6
+   },
+   "keyboard": {
+    "distance": "0.1 meters",
+    "closeness rank": 7
+   },
+   "table": {
+    "distance": "0.14 meters",
+    "closeness rank": 8
+   },
+   "chair": {
+    "distance": "0.18 meters",
+    "closeness rank": 9
+   },
+   "clock": {
+    "distance": "0.3 meters",
+    "closeness rank": 10
+   },
+   "backpack": {
+    "distance": "0.4 meters",
+    "closeness rank": 11
+   },
+   "nightstand": {
+    "distance": "0.48 meters",
+    "closeness rank": 12
+   },
+   "window": {
+    "distance": "0.59 meters",
+    "closeness rank": 13
+   },
+   "bookshelf": {
+    "distance": "0.66 meters",
+    "closeness rank": 14
+   },
+   "plant": {
+    "distance": "0.94 meters",
+    "closeness rank": 15
+   }
+  },
+  "mirror": {
+   "bed": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "mattress": {
+    "distance": "0.0 meters",
+    "closeness rank": 2
+   },
+   "pillow": {
+    "distance": "0.19 meters",
+    "closeness rank": 3
+   },
+   "backpack": {
+    "distance": "0.19 meters",
+    "closeness rank": 4
+   },
+   "table": {
+    "distance": "0.26 meters",
+    "closeness rank": 5
+   },
+   "nightstand": {
+    "distance": "0.45 meters",
+    "closeness rank": 6
+   },
+   "towel": {
+    "distance": "0.53 meters",
+    "closeness rank": 7
+   },
+   "chair": {
+    "distance": "0.56 meters",
+    "closeness rank": 8
+   },
+   "lamp": {
+    "distance": "0.6 meters",
+    "closeness rank": 9
+   },
+   "bookshelf": {
+    "distance": "0.61 meters",
+    "closeness rank": 10
+   },
+   "plant": {
+    "distance": "0.88 meters",
+    "closeness rank": 11
+   },
+   "keyboard": {
+    "distance": "0.9 meters",
+    "closeness rank": 12
+   },
+   "tv": {
+    "distance": "1.01 meters",
+    "closeness rank": 13
+   },
+   "window": {
+    "distance": "1.53 meters",
+    "closeness rank": 14
+   },
+   "clock": {
+    "distance": "1.7 meters",
+    "closeness rank": 15
+   }
+  },
+  "nightstand": {
+   "bookshelf": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "table": {
+    "distance": "0.0 meters",
+    "closeness rank": 2
+   },
+   "chair": {
+    "distance": "0.11 meters",
+    "closeness rank": 3
+   },
+   "lamp": {
+    "distance": "0.11 meters",
+    "closeness rank": 4
+   },
+   "plant": {
+    "distance": "0.13 meters",
+    "closeness rank": 5
+   },
+   "backpack": {
+    "distance": "0.23 meters",
+    "closeness rank": 6
+   },
+   "pillow": {
+    "distance": "0.38 meters",
+    "closeness rank": 7
+   },
+   "mirror": {
+    "distance": "0.45 meters",
+    "closeness rank": 8
+   },
+   "mattress": {
+    "distance": "0.48 meters",
+    "closeness rank": 9
+   },
+   "bed": {
+    "distance": "0.65 meters",
+    "closeness rank": 10
+   },
+   "towel": {
+    "distance": "1.47 meters",
+    "closeness rank": 11
+   },
+   "keyboard": {
+    "distance": "1.81 meters",
+    "closeness rank": 12
+   },
+   "tv": {
+    "distance": "1.9 meters",
+    "closeness rank": 13
+   },
+   "clock": {
+    "distance": "2.21 meters",
+    "closeness rank": 14
+   },
+   "window": {
+    "distance": "2.24 meters",
+    "closeness rank": 15
+   }
+  },
+  "pillow": {
+   "bed": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "mattress": {
+    "distance": "0.0 meters",
+    "closeness rank": 2
+   },
+   "lamp": {
+    "distance": "0.14 meters",
+    "closeness rank": 3
+   },
+   "mirror": {
+    "distance": "0.19 meters",
+    "closeness rank": 4
+   },
+   "bookshelf": {
+    "distance": "0.28 meters",
+    "closeness rank": 5
+   },
+   "tv": {
+    "distance": "0.3 meters",
+    "closeness rank": 6
+   },
+   "table": {
+    "distance": "0.35 meters",
+    "closeness rank": 7
+   },
+   "keyboard": {
+    "distance": "0.36 meters",
+    "closeness rank": 8
+   },
+   "nightstand": {
+    "distance": "0.38 meters",
+    "closeness rank": 9
+   },
+   "window": {
+    "distance": "0.42 meters",
+    "closeness rank": 10
+   },
+   "plant": {
+    "distance": "0.47 meters",
+    "closeness rank": 11
+   },
+   "chair": {
+    "distance": "0.62 meters",
+    "closeness rank": 12
+   },
+   "towel": {
+    "distance": "0.64 meters",
+    "closeness rank": 13
+   },
+   "backpack": {
+    "distance": "0.66 meters",
+    "closeness rank": 14
+   },
+   "clock": {
+    "distance": "1.69 meters",
+    "closeness rank": 15
+   }
+  },
+  "plant": {
+   "bookshelf": {
+    "distance": "0.04 meters",
+    "closeness rank": 1
+   },
+   "nightstand": {
+    "distance": "0.13 meters",
+    "closeness rank": 2
+   },
+   "lamp": {
+    "distance": "0.27 meters",
+    "closeness rank": 3
+   },
+   "pillow": {
+    "distance": "0.47 meters",
+    "closeness rank": 4
+   },
+   "table": {
+    "distance": "0.65 meters",
+    "closeness rank": 5
+   },
+   "chair": {
+    "distance": "0.69 meters",
+    "closeness rank": 6
+   },
+   "mirror": {
+    "distance": "0.88 meters",
+    "closeness rank": 7
+   },
+   "mattress": {
+    "distance": "0.94 meters",
+    "closeness rank": 8
+   },
+   "bed": {
+    "distance": "0.98 meters",
+    "closeness rank": 9
+   },
+   "backpack": {
+    "distance": "1.14 meters",
+    "closeness rank": 10
+   },
+   "towel": {
+    "distance": "1.76 meters",
+    "closeness rank": 11
+   },
+   "keyboard": {
+    "distance": "2.2 meters",
+    "closeness rank": 12
+   },
+   "tv": {
+    "distance": "2.25 meters",
+    "closeness rank": 13
+   },
+   "clock": {
+    "distance": "2.41 meters",
+    "closeness rank": 14
+   },
+   "window": {
+    "distance": "2.48 meters",
+    "closeness rank": 15
+   }
+  },
+  "table": {
+   "chair": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "keyboard": {
+    "distance": "0.0 meters",
+    "closeness rank": 2
+   },
+   "nightstand": {
+    "distance": "0.0 meters",
+    "closeness rank": 3
+   },
+   "bookshelf": {
+    "distance": "0.03 meters",
+    "closeness rank": 4
+   },
+   "bed": {
+    "distance": "0.07 meters",
+    "closeness rank": 5
+   },
+   "tv": {
+    "distance": "0.08 meters",
+    "closeness rank": 6
+   },
+   "backpack": {
+    "distance": "0.09 meters",
+    "closeness rank": 7
+   },
+   "mattress": {
+    "distance": "0.14 meters",
+    "closeness rank": 8
+   },
+   "towel": {
+    "distance": "0.18 meters",
+    "closeness rank": 9
+   },
+   "lamp": {
+    "distance": "0.2 meters",
+    "closeness rank": 10
+   },
+   "mirror": {
+    "distance": "0.26 meters",
+    "closeness rank": 11
+   },
+   "pillow": {
+    "distance": "0.35 meters",
+    "closeness rank": 12
+   },
+   "plant": {
+    "distance": "0.65 meters",
+    "closeness rank": 13
+   },
+   "window": {
+    "distance": "0.88 meters",
+    "closeness rank": 14
+   },
+   "clock": {
+    "distance": "1.51 meters",
+    "closeness rank": 15
+   }
+  },
+  "towel": {
+   "bed": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "mattress": {
+    "distance": "0.0 meters",
+    "closeness rank": 2
+   },
+   "tv": {
+    "distance": "0.15 meters",
+    "closeness rank": 3
+   },
+   "table": {
+    "distance": "0.18 meters",
+    "closeness rank": 4
+   },
+   "keyboard": {
+    "distance": "0.19 meters",
+    "closeness rank": 5
+   },
+   "chair": {
+    "distance": "0.39 meters",
+    "closeness rank": 6
+   },
+   "lamp": {
+    "distance": "0.4 meters",
+    "closeness rank": 7
+   },
+   "mirror": {
+    "distance": "0.53 meters",
+    "closeness rank": 8
+   },
+   "pillow": {
+    "distance": "0.64 meters",
+    "closeness rank": 9
+   },
+   "window": {
+    "distance": "0.67 meters",
+    "closeness rank": 10
+   },
+   "backpack": {
+    "distance": "1.14 meters",
+    "closeness rank": 11
+   },
+   "clock": {
+    "distance": "1.42 meters",
+    "closeness rank": 12
+   },
+   "nightstand": {
+    "distance": "1.47 meters",
+    "closeness rank": 13
+   },
+   "bookshelf": {
+    "distance": "1.62 meters",
+    "closeness rank": 14
+   },
+   "plant": {
+    "distance": "1.76 meters",
+    "closeness rank": 15
+   }
+  },
+  "tv": {
+   "keyboard": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "bed": {
+    "distance": "0.04 meters",
+    "closeness rank": 2
+   },
+   "mattress": {
+    "distance": "0.04 meters",
+    "closeness rank": 3
+   },
+   "table": {
+    "distance": "0.08 meters",
+    "closeness rank": 4
+   },
+   "towel": {
+    "distance": "0.15 meters",
+    "closeness rank": 5
+   },
+   "pillow": {
+    "distance": "0.3 meters",
+    "closeness rank": 6
+   },
+   "chair": {
+    "distance": "0.39 meters",
+    "closeness rank": 7
+   },
+   "lamp": {
+    "distance": "0.44 meters",
+    "closeness rank": 8
+   },
+   "window": {
+    "distance": "0.78 meters",
+    "closeness rank": 9
+   },
+   "mirror": {
+    "distance": "1.01 meters",
+    "closeness rank": 10
+   },
+   "backpack": {
+    "distance": "1.53 meters",
+    "closeness rank": 11
+   },
+   "clock": {
+    "distance": "1.79 meters",
+    "closeness rank": 12
+   },
+   "nightstand": {
+    "distance": "1.9 meters",
+    "closeness rank": 13
+   },
+   "bookshelf": {
+    "distance": "2.06 meters",
+    "closeness rank": 14
+   },
+   "plant": {
+    "distance": "2.25 meters",
+    "closeness rank": 15
+   }
+  },
+  "window": {
+   "pillow": {
+    "distance": "0.42 meters",
+    "closeness rank": 1
+   },
+   "bed": {
+    "distance": "0.58 meters",
+    "closeness rank": 2
+   },
+   "mattress": {
+    "distance": "0.59 meters",
+    "closeness rank": 3
+   },
+   "towel": {
+    "distance": "0.67 meters",
+    "closeness rank": 4
+   },
+   "tv": {
+    "distance": "0.78 meters",
+    "closeness rank": 5
+   },
+   "keyboard": {
+    "distance": "0.78 meters",
+    "closeness rank": 6
+   },
+   "table": {
+    "distance": "0.88 meters",
+    "closeness rank": 7
+   },
+   "chair": {
+    "distance": "1.19 meters",
+    "closeness rank": 8
+   },
+   "lamp": {
+    "distance": "1.24 meters",
+    "closeness rank": 9
+   },
+   "mirror": {
+    "distance": "1.53 meters",
+    "closeness rank": 10
+   },
+   "backpack": {
+    "distance": "1.98 meters",
+    "closeness rank": 11
+   },
+   "nightstand": {
+    "distance": "2.24 meters",
+    "closeness rank": 12
+   },
+   "bookshelf": {
+    "distance": "2.33 meters",
+    "closeness rank": 13
+   },
+   "plant": {
+    "distance": "2.48 meters",
+    "closeness rank": 14
+   },
+   "clock": {
+    "distance": "2.53 meters",
+    "closeness rank": 15
+   }
+  }
+ },
+ "appearance order": ["bed", "mattress", "window", "lamp", "pillow", "bookshelf", "chair", "keyboard", "table", "backpack", "nightstand", "plant", "towel", "mirror", "tv", "clock"]
+}
\ No newline at end of file
diff --git a/data/spatial codes/sam3+depth-anything-3/metric/tracking/selective/64/explicit/scene0663_00.json b/data/spatial codes/sam3+depth-anything-3/metric/tracking/selective/64/explicit/scene0663_00.json
new file mode 100644
index 0000000000000000000000000000000000000000..d096e61b37b2945d1a0f810341c28efa74d1d3ec
--- /dev/null
+++ b/data/spatial codes/sam3+depth-anything-3/metric/tracking/selective/64/explicit/scene0663_00.json	
@@ -0,0 +1,1013 @@
+{
+ "spatial code schema": {
+  "objects": {
+   "<object class>": {
+    "count": {
+     "unit": null,
+     "description": "number of instances of this class in the compact spatial code (that schema's per-class oriented-box list length)"
+    },
+    "instances": [
+     {
+      "position": {
+       "x coordinate": {
+        "unit": "meters",
+        "description": "x coordinate of this instance's compact 3D oriented bounding box center"
+       },
+       "y coordinate": {
+        "unit": "meters",
+        "description": "y coordinate of this instance's compact 3D oriented bounding box center"
+       },
+       "height above floor": {
+        "unit": "meters",
+        "description": "height coordinate of this instance's compact 3D oriented bounding box center"
+       }
+      },
+      "longest dimension": {
+       "unit": "meters",
+       "description": "longest of this instance's compact 3D oriented bounding box dimensions"
+      }
+     }
+    ]
+   }
+  },
+  "room": {
+   "floor area": {
+    "unit": "square meters",
+    "description": "shoelace area of the compact spatial code's floor boundary polygons, with every interior hole subtracted"
+   }
+  },
+  "closest classes distance meters from": {
+   "<object class>": {
+    "<other object class>": {
+     "distance": {
+      "unit": "meters",
+      "description": "minimum surface-to-surface separation between the two classes' compact 3D oriented bounding boxes, over every instance pair"
+     },
+     "closeness rank": {
+      "unit": null,
+      "description": "1 = the nearest other class to this one, 2 = second-nearest, and so on"
+     }
+    }
+   }
+  },
+  "appearance order": {
+   "unit": null,
+   "description": "class names ordered by earliest compact 'first visible time' across all of that class's instances"
+  }
+ },
+ "objects": {
+  "backpack": {
+   "count": 4,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-0.16 meters",
+      "y coordinate": "0.62 meters",
+      "height above floor": "0.41 meters"
+     },
+     "longest dimension": "0.43 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-0.62 meters",
+      "y coordinate": "1.08 meters",
+      "height above floor": "0.86 meters"
+     },
+     "longest dimension": "0.44 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-0.44 meters",
+      "y coordinate": "0.63 meters",
+      "height above floor": "0.53 meters"
+     },
+     "longest dimension": "0.35 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-0.28 meters",
+      "y coordinate": "1.11 meters",
+      "height above floor": "0.77 meters"
+     },
+     "longest dimension": "0.52 meters"
+    }
+   ]
+  },
+  "chair": {
+   "count": 3,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-1.9 meters",
+      "y coordinate": "0.63 meters",
+      "height above floor": "1.04 meters"
+     },
+     "longest dimension": "1.09 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "0.74 meters",
+      "y coordinate": "0.72 meters",
+      "height above floor": "1.56 meters"
+     },
+     "longest dimension": "1.11 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-0.57 meters",
+      "y coordinate": "0.77 meters",
+      "height above floor": "1.52 meters"
+     },
+     "longest dimension": "0.67 meters"
+    }
+   ]
+  },
+  "computer mouse": {
+   "count": 3,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-1.37 meters",
+      "y coordinate": "0.63 meters",
+      "height above floor": "0.43 meters"
+     },
+     "longest dimension": "0.1 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "0.29 meters",
+      "y coordinate": "0.66 meters",
+      "height above floor": "2.07 meters"
+     },
+     "longest dimension": "0.13 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "1.37 meters",
+      "y coordinate": "0.64 meters",
+      "height above floor": "2.25 meters"
+     },
+     "longest dimension": "0.23 meters"
+    }
+   ]
+  },
+  "door": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "1.63 meters",
+      "y coordinate": "0.57 meters",
+      "height above floor": "0.57 meters"
+     },
+     "longest dimension": "1.63 meters"
+    }
+   ]
+  },
+  "keyboard": {
+   "count": 2,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-1.69 meters",
+      "y coordinate": "0.63 meters",
+      "height above floor": "0.36 meters"
+     },
+     "longest dimension": "0.45 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "0.59 meters",
+      "y coordinate": "0.66 meters",
+      "height above floor": "2.1 meters"
+     },
+     "longest dimension": "0.51 meters"
+    }
+   ]
+  },
+  "lamp": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-2.41 meters",
+      "y coordinate": "0.55 meters",
+      "height above floor": "1.09 meters"
+     },
+     "longest dimension": "0.65 meters"
+    }
+   ]
+  },
+  "monitor": {
+   "count": 3,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-1.49 meters",
+      "y coordinate": "0.42 meters",
+      "height above floor": "0.01 meters"
+     },
+     "longest dimension": "0.56 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-2.01 meters",
+      "y coordinate": "0.41 meters",
+      "height above floor": "0.01 meters"
+     },
+     "longest dimension": "0.54 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "0.57 meters",
+      "y coordinate": "0.36 meters",
+      "height above floor": "2.38 meters"
+     },
+     "longest dimension": "0.62 meters"
+    }
+   ]
+  },
+  "table": {
+   "count": 4,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-0.86 meters",
+      "y coordinate": "0.89 meters",
+      "height above floor": "0.1 meters"
+     },
+     "longest dimension": "1.5 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "0.27 meters",
+      "y coordinate": "0.68 meters",
+      "height above floor": "2.08 meters"
+     },
+     "longest dimension": "1.56 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-1.86 meters",
+      "y coordinate": "0.65 meters",
+      "height above floor": "0.24 meters"
+     },
+     "longest dimension": "1.4 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-2.35 meters",
+      "y coordinate": "0.65 meters",
+      "height above floor": "1.19 meters"
+     },
+     "longest dimension": "1.12 meters"
+    }
+   ]
+  },
+  "telephone": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "0.13 meters",
+      "y coordinate": "0.61 meters",
+      "height above floor": "2.28 meters"
+     },
+     "longest dimension": "0.26 meters"
+    }
+   ]
+  },
+  "towel": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-0.52 meters",
+      "y coordinate": "0.6 meters",
+      "height above floor": "1.54 meters"
+     },
+     "longest dimension": "0.81 meters"
+    }
+   ]
+  },
+  "trash bin": {
+   "count": 2,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "0.26 meters",
+      "y coordinate": "1.11 meters",
+      "height above floor": "0.37 meters"
+     },
+     "longest dimension": "0.35 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "1.33 meters",
+      "y coordinate": "1.15 meters",
+      "height above floor": "1.37 meters"
+     },
+     "longest dimension": "0.51 meters"
+    }
+   ]
+  },
+  "tv": {
+   "count": 2,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-2.01 meters",
+      "y coordinate": "0.41 meters",
+      "height above floor": "0.01 meters"
+     },
+     "longest dimension": "0.54 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "0.57 meters",
+      "y coordinate": "0.36 meters",
+      "height above floor": "2.38 meters"
+     },
+     "longest dimension": "0.62 meters"
+    }
+   ]
+  },
+  "window": {
+   "count": 2,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-3.01 meters",
+      "y coordinate": "0.34 meters",
+      "height above floor": "1.08 meters"
+     },
+     "longest dimension": "1.99 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-0.28 meters",
+      "y coordinate": "-0.13 meters",
+      "height above floor": "-0.08 meters"
+     },
+     "longest dimension": "1.08 meters"
+    }
+   ]
+  }
+ },
+ "room": {
+  "floor area": "13.4 square meters"
+ },
+ "closest classes distance meters from": {
+  "backpack": {
+   "table": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "window": {
+    "distance": "0.07 meters",
+    "closeness rank": 2
+   },
+   "trash bin": {
+    "distance": "0.18 meters",
+    "closeness rank": 3
+   },
+   "towel": {
+    "distance": "0.2 meters",
+    "closeness rank": 4
+   },
+   "chair": {
+    "distance": "0.36 meters",
+    "closeness rank": 5
+   },
+   "monitor": {
+    "distance": "0.72 meters",
+    "closeness rank": 6
+   },
+   "computer mouse": {
+    "distance": "0.72 meters",
+    "closeness rank": 7
+   },
+   "keyboard": {
+    "distance": "0.84 meters",
+    "closeness rank": 8
+   },
+   "tv": {
+    "distance": "1.18 meters",
+    "closeness rank": 9
+   },
+   "telephone": {
+    "distance": "1.28 meters",
+    "closeness rank": 10
+   },
+   "door": {
+    "distance": "1.54 meters",
+    "closeness rank": 11
+   },
+   "lamp": {
+    "distance": "1.59 meters",
+    "closeness rank": 12
+   }
+  },
+  "chair": {
+   "lamp": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "table": {
+    "distance": "0.0 meters",
+    "closeness rank": 2
+   },
+   "towel": {
+    "distance": "0.0 meters",
+    "closeness rank": 3
+   },
+   "trash bin": {
+    "distance": "0.21 meters",
+    "closeness rank": 4
+   },
+   "keyboard": {
+    "distance": "0.22 meters",
+    "closeness rank": 5
+   },
+   "computer mouse": {
+    "distance": "0.25 meters",
+    "closeness rank": 6
+   },
+   "backpack": {
+    "distance": "0.36 meters",
+    "closeness rank": 7
+   },
+   "telephone": {
+    "distance": "0.43 meters",
+    "closeness rank": 8
+   },
+   "door": {
+    "distance": "0.5 meters",
+    "closeness rank": 9
+   },
+   "window": {
+    "distance": "0.53 meters",
+    "closeness rank": 10
+   },
+   "monitor": {
+    "distance": "0.55 meters",
+    "closeness rank": 11
+   },
+   "tv": {
+    "distance": "0.55 meters",
+    "closeness rank": 12
+   }
+  },
+  "computer mouse": {
+   "table": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "keyboard": {
+    "distance": "0.01 meters",
+    "closeness rank": 2
+   },
+   "telephone": {
+    "distance": "0.05 meters",
+    "closeness rank": 3
+   },
+   "chair": {
+    "distance": "0.25 meters",
+    "closeness rank": 4
+   },
+   "monitor": {
+    "distance": "0.25 meters",
+    "closeness rank": 5
+   },
+   "tv": {
+    "distance": "0.25 meters",
+    "closeness rank": 6
+   },
+   "towel": {
+    "distance": "0.65 meters",
+    "closeness rank": 7
+   },
+   "backpack": {
+    "distance": "0.72 meters",
+    "closeness rank": 8
+   },
+   "trash bin": {
+    "distance": "0.76 meters",
+    "closeness rank": 9
+   },
+   "window": {
+    "distance": "0.85 meters",
+    "closeness rank": 10
+   },
+   "lamp": {
+    "distance": "0.92 meters",
+    "closeness rank": 11
+   },
+   "door": {
+    "distance": "1.21 meters",
+    "closeness rank": 12
+   }
+  },
+  "door": {
+   "trash bin": {
+    "distance": "0.26 meters",
+    "closeness rank": 1
+   },
+   "chair": {
+    "distance": "0.5 meters",
+    "closeness rank": 2
+   },
+   "table": {
+    "distance": "0.98 meters",
+    "closeness rank": 3
+   },
+   "computer mouse": {
+    "distance": "1.21 meters",
+    "closeness rank": 4
+   },
+   "keyboard": {
+    "distance": "1.29 meters",
+    "closeness rank": 5
+   },
+   "backpack": {
+    "distance": "1.54 meters",
+    "closeness rank": 6
+   },
+   "window": {
+    "distance": "1.54 meters",
+    "closeness rank": 7
+   },
+   "monitor": {
+    "distance": "1.55 meters",
+    "closeness rank": 8
+   },
+   "tv": {
+    "distance": "1.55 meters",
+    "closeness rank": 9
+   },
+   "telephone": {
+    "distance": "1.81 meters",
+    "closeness rank": 10
+   },
+   "towel": {
+    "distance": "2.0 meters",
+    "closeness rank": 11
+   },
+   "lamp": {
+    "distance": "3.88 meters",
+    "closeness rank": 12
+   }
+  },
+  "keyboard": {
+   "table": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "computer mouse": {
+    "distance": "0.01 meters",
+    "closeness rank": 2
+   },
+   "telephone": {
+    "distance": "0.12 meters",
+    "closeness rank": 3
+   },
+   "tv": {
+    "distance": "0.21 meters",
+    "closeness rank": 4
+   },
+   "monitor": {
+    "distance": "0.22 meters",
+    "closeness rank": 5
+   },
+   "chair": {
+    "distance": "0.22 meters",
+    "closeness rank": 6
+   },
+   "lamp": {
+    "distance": "0.49 meters",
+    "closeness rank": 7
+   },
+   "trash bin": {
+    "distance": "0.66 meters",
+    "closeness rank": 8
+   },
+   "towel": {
+    "distance": "0.73 meters",
+    "closeness rank": 9
+   },
+   "backpack": {
+    "distance": "0.84 meters",
+    "closeness rank": 10
+   },
+   "window": {
+    "distance": "0.95 meters",
+    "closeness rank": 11
+   },
+   "door": {
+    "distance": "1.29 meters",
+    "closeness rank": 12
+   }
+  },
+  "lamp": {
+   "chair": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "table": {
+    "distance": "0.0 meters",
+    "closeness rank": 2
+   },
+   "window": {
+    "distance": "0.4 meters",
+    "closeness rank": 3
+   },
+   "keyboard": {
+    "distance": "0.49 meters",
+    "closeness rank": 4
+   },
+   "tv": {
+    "distance": "0.69 meters",
+    "closeness rank": 5
+   },
+   "monitor": {
+    "distance": "0.7 meters",
+    "closeness rank": 6
+   },
+   "computer mouse": {
+    "distance": "0.92 meters",
+    "closeness rank": 7
+   },
+   "backpack": {
+    "distance": "1.59 meters",
+    "closeness rank": 8
+   },
+   "towel": {
+    "distance": "1.62 meters",
+    "closeness rank": 9
+   },
+   "telephone": {
+    "distance": "2.42 meters",
+    "closeness rank": 10
+   },
+   "trash bin": {
+    "distance": "2.44 meters",
+    "closeness rank": 11
+   },
+   "door": {
+    "distance": "3.88 meters",
+    "closeness rank": 12
+   }
+  },
+  "monitor": {
+   "table": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "tv": {
+    "distance": "0.0 meters",
+    "closeness rank": 2
+   },
+   "telephone": {
+    "distance": "0.07 meters",
+    "closeness rank": 3
+   },
+   "keyboard": {
+    "distance": "0.22 meters",
+    "closeness rank": 4
+   },
+   "computer mouse": {
+    "distance": "0.25 meters",
+    "closeness rank": 5
+   },
+   "chair": {
+    "distance": "0.55 meters",
+    "closeness rank": 6
+   },
+   "window": {
+    "distance": "0.55 meters",
+    "closeness rank": 7
+   },
+   "lamp": {
+    "distance": "0.7 meters",
+    "closeness rank": 8
+   },
+   "backpack": {
+    "distance": "0.72 meters",
+    "closeness rank": 9
+   },
+   "towel": {
+    "distance": "0.78 meters",
+    "closeness rank": 10
+   },
+   "trash bin": {
+    "distance": "0.99 meters",
+    "closeness rank": 11
+   },
+   "door": {
+    "distance": "1.55 meters",
+    "closeness rank": 12
+   }
+  },
+  "table": {
+   "chair": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "computer mouse": {
+    "distance": "0.0 meters",
+    "closeness rank": 2
+   },
+   "keyboard": {
+    "distance": "0.0 meters",
+    "closeness rank": 3
+   },
+   "lamp": {
+    "distance": "0.0 meters",
+    "closeness rank": 4
+   },
+   "monitor": {
+    "distance": "0.0 meters",
+    "closeness rank": 5
+   },
+   "telephone": {
+    "distance": "0.0 meters",
+    "closeness rank": 6
+   },
+   "towel": {
+    "distance": "0.0 meters",
+    "closeness rank": 7
+   },
+   "tv": {
+    "distance": "0.0 meters",
+    "closeness rank": 8
+   },
+   "backpack": {
+    "distance": "0.0 meters",
+    "closeness rank": 9
+   },
+   "window": {
+    "distance": "0.17 meters",
+    "closeness rank": 10
+   },
+   "trash bin": {
+    "distance": "0.2 meters",
+    "closeness rank": 11
+   },
+   "door": {
+    "distance": "0.98 meters",
+    "closeness rank": 12
+   }
+  },
+  "telephone": {
+   "table": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "computer mouse": {
+    "distance": "0.05 meters",
+    "closeness rank": 2
+   },
+   "monitor": {
+    "distance": "0.07 meters",
+    "closeness rank": 3
+   },
+   "tv": {
+    "distance": "0.07 meters",
+    "closeness rank": 4
+   },
+   "keyboard": {
+    "distance": "0.12 meters",
+    "closeness rank": 5
+   },
+   "chair": {
+    "distance": "0.43 meters",
+    "closeness rank": 6
+   },
+   "towel": {
+    "distance": "0.48 meters",
+    "closeness rank": 7
+   },
+   "trash bin": {
+    "distance": "1.13 meters",
+    "closeness rank": 8
+   },
+   "backpack": {
+    "distance": "1.28 meters",
+    "closeness rank": 9
+   },
+   "window": {
+    "distance": "1.72 meters",
+    "closeness rank": 10
+   },
+   "door": {
+    "distance": "1.81 meters",
+    "closeness rank": 11
+   },
+   "lamp": {
+    "distance": "2.42 meters",
+    "closeness rank": 12
+   }
+  },
+  "towel": {
+   "chair": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "table": {
+    "distance": "0.0 meters",
+    "closeness rank": 2
+   },
+   "backpack": {
+    "distance": "0.2 meters",
+    "closeness rank": 3
+   },
+   "telephone": {
+    "distance": "0.48 meters",
+    "closeness rank": 4
+   },
+   "computer mouse": {
+    "distance": "0.65 meters",
+    "closeness rank": 5
+   },
+   "window": {
+    "distance": "0.72 meters",
+    "closeness rank": 6
+   },
+   "keyboard": {
+    "distance": "0.73 meters",
+    "closeness rank": 7
+   },
+   "monitor": {
+    "distance": "0.78 meters",
+    "closeness rank": 8
+   },
+   "tv": {
+    "distance": "0.78 meters",
+    "closeness rank": 9
+   },
+   "trash bin": {
+    "distance": "0.89 meters",
+    "closeness rank": 10
+   },
+   "lamp": {
+    "distance": "1.62 meters",
+    "closeness rank": 11
+   },
+   "door": {
+    "distance": "2.0 meters",
+    "closeness rank": 12
+   }
+  },
+  "trash bin": {
+   "backpack": {
+    "distance": "0.18 meters",
+    "closeness rank": 1
+   },
+   "table": {
+    "distance": "0.2 meters",
+    "closeness rank": 2
+   },
+   "chair": {
+    "distance": "0.21 meters",
+    "closeness rank": 3
+   },
+   "door": {
+    "distance": "0.26 meters",
+    "closeness rank": 4
+   },
+   "keyboard": {
+    "distance": "0.66 meters",
+    "closeness rank": 5
+   },
+   "window": {
+    "distance": "0.68 meters",
+    "closeness rank": 6
+   },
+   "computer mouse": {
+    "distance": "0.76 meters",
+    "closeness rank": 7
+   },
+   "towel": {
+    "distance": "0.89 meters",
+    "closeness rank": 8
+   },
+   "monitor": {
+    "distance": "0.99 meters",
+    "closeness rank": 9
+   },
+   "tv": {
+    "distance": "0.99 meters",
+    "closeness rank": 10
+   },
+   "telephone": {
+    "distance": "1.13 meters",
+    "closeness rank": 11
+   },
+   "lamp": {
+    "distance": "2.44 meters",
+    "closeness rank": 12
+   }
+  },
+  "tv": {
+   "monitor": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "table": {
+    "distance": "0.0 meters",
+    "closeness rank": 2
+   },
+   "telephone": {
+    "distance": "0.07 meters",
+    "closeness rank": 3
+   },
+   "keyboard": {
+    "distance": "0.21 meters",
+    "closeness rank": 4
+   },
+   "computer mouse": {
+    "distance": "0.25 meters",
+    "closeness rank": 5
+   },
+   "chair": {
+    "distance": "0.55 meters",
+    "closeness rank": 6
+   },
+   "window": {
+    "distance": "0.68 meters",
+    "closeness rank": 7
+   },
+   "lamp": {
+    "distance": "0.69 meters",
+    "closeness rank": 8
+   },
+   "towel": {
+    "distance": "0.78 meters",
+    "closeness rank": 9
+   },
+   "trash bin": {
+    "distance": "0.99 meters",
+    "closeness rank": 10
+   },
+   "backpack": {
+    "distance": "1.18 meters",
+    "closeness rank": 11
+   },
+   "door": {
+    "distance": "1.55 meters",
+    "closeness rank": 12
+   }
+  },
+  "window": {
+   "backpack": {
+    "distance": "0.07 meters",
+    "closeness rank": 1
+   },
+   "table": {
+    "distance": "0.17 meters",
+    "closeness rank": 2
+   },
+   "lamp": {
+    "distance": "0.4 meters",
+    "closeness rank": 3
+   },
+   "chair": {
+    "distance": "0.53 meters",
+    "closeness rank": 4
+   },
+   "monitor": {
+    "distance": "0.55 meters",
+    "closeness rank": 5
+   },
+   "tv": {
+    "distance": "0.68 meters",
+    "closeness rank": 6
+   },
+   "trash bin": {
+    "distance": "0.68 meters",
+    "closeness rank": 7
+   },
+   "towel": {
+    "distance": "0.72 meters",
+    "closeness rank": 8
+   },
+   "computer mouse": {
+    "distance": "0.85 meters",
+    "closeness rank": 9
+   },
+   "keyboard": {
+    "distance": "0.95 meters",
+    "closeness rank": 10
+   },
+   "door": {
+    "distance": "1.54 meters",
+    "closeness rank": 11
+   },
+   "telephone": {
+    "distance": "1.72 meters",
+    "closeness rank": 12
+   }
+  }
+ },
+ "appearance order": ["chair", "table", "window", "computer mouse", "keyboard", "monitor", "tv", "lamp", "backpack", "door", "trash bin", "telephone", "towel"]
+}
\ No newline at end of file
diff --git a/data/spatial codes/sam3+depth-anything-3/metric/tracking/selective/64/explicit/scene0684_01.json b/data/spatial codes/sam3+depth-anything-3/metric/tracking/selective/64/explicit/scene0684_01.json
new file mode 100644
index 0000000000000000000000000000000000000000..24eca4cece8578e64c377f6cd4dd362d66480d24
--- /dev/null
+++ b/data/spatial codes/sam3+depth-anything-3/metric/tracking/selective/64/explicit/scene0684_01.json	
@@ -0,0 +1,434 @@
+{
+ "spatial code schema": {
+  "objects": {
+   "<object class>": {
+    "count": {
+     "unit": null,
+     "description": "number of instances of this class in the compact spatial code (that schema's per-class oriented-box list length)"
+    },
+    "instances": [
+     {
+      "position": {
+       "x coordinate": {
+        "unit": "meters",
+        "description": "x coordinate of this instance's compact 3D oriented bounding box center"
+       },
+       "y coordinate": {
+        "unit": "meters",
+        "description": "y coordinate of this instance's compact 3D oriented bounding box center"
+       },
+       "height above floor": {
+        "unit": "meters",
+        "description": "height coordinate of this instance's compact 3D oriented bounding box center"
+       }
+      },
+      "longest dimension": {
+       "unit": "meters",
+       "description": "longest of this instance's compact 3D oriented bounding box dimensions"
+      }
+     }
+    ]
+   }
+  },
+  "room": {
+   "floor area": {
+    "unit": "square meters",
+    "description": "shoelace area of the compact spatial code's floor boundary polygons, with every interior hole subtracted"
+   }
+  },
+  "closest classes distance meters from": {
+   "<object class>": {
+    "<other object class>": {
+     "distance": {
+      "unit": "meters",
+      "description": "minimum surface-to-surface separation between the two classes' compact 3D oriented bounding boxes, over every instance pair"
+     },
+     "closeness rank": {
+      "unit": null,
+      "description": "1 = the nearest other class to this one, 2 = second-nearest, and so on"
+     }
+    }
+   }
+  },
+  "appearance order": {
+   "unit": null,
+   "description": "class names ordered by earliest compact 'first visible time' across all of that class's instances"
+  }
+ },
+ "objects": {
+  "chair": {
+   "count": 2,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "0.31 meters",
+      "y coordinate": "0.88 meters",
+      "height above floor": "-0.6 meters"
+     },
+     "longest dimension": "0.8 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "0.63 meters",
+      "y coordinate": "1.6 meters",
+      "height above floor": "-0.06 meters"
+     },
+     "longest dimension": "0.35 meters"
+    }
+   ]
+  },
+  "door": {
+   "count": 2,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "1.3 meters",
+      "y coordinate": "-0.92 meters",
+      "height above floor": "-0.55 meters"
+     },
+     "longest dimension": "0.85 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "1.65 meters",
+      "y coordinate": "-0.72 meters",
+      "height above floor": "-0.56 meters"
+     },
+     "longest dimension": "0.95 meters"
+    }
+   ]
+  },
+  "lamp": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "0.38 meters",
+      "y coordinate": "0.72 meters",
+      "height above floor": "0.21 meters"
+     },
+     "longest dimension": "1.42 meters"
+    }
+   ]
+  },
+  "table": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "0.4 meters",
+      "y coordinate": "0.69 meters",
+      "height above floor": "0.2 meters"
+     },
+     "longest dimension": "1.39 meters"
+    }
+   ]
+  },
+  "telephone": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "0.02 meters",
+      "y coordinate": "1.24 meters",
+      "height above floor": "0.12 meters"
+     },
+     "longest dimension": "0.32 meters"
+    }
+   ]
+  },
+  "trash bin": {
+   "count": 2,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "1.2 meters",
+      "y coordinate": "-0.51 meters",
+      "height above floor": "0.02 meters"
+     },
+     "longest dimension": "0.83 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "1.27 meters",
+      "y coordinate": "-0.51 meters",
+      "height above floor": "0.0 meters"
+     },
+     "longest dimension": "0.79 meters"
+    }
+   ]
+  },
+  "washing machine": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "0.91 meters",
+      "y coordinate": "-0.09 meters",
+      "height above floor": "0.12 meters"
+     },
+     "longest dimension": "0.55 meters"
+    }
+   ]
+  },
+  "window": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-0.08 meters",
+      "y coordinate": "0.98 meters",
+      "height above floor": "0.63 meters"
+     },
+     "longest dimension": "0.83 meters"
+    }
+   ]
+  }
+ },
+ "room": {
+  "floor area": "5.3 square meters"
+ },
+ "closest classes distance meters from": {
+  "chair": {
+   "table": {
+    "distance": "0.25 meters",
+    "closeness rank": 1
+   },
+   "lamp": {
+    "distance": "0.26 meters",
+    "closeness rank": 2
+   },
+   "telephone": {
+    "distance": "0.36 meters",
+    "closeness rank": 3
+   },
+   "washing machine": {
+    "distance": "0.74 meters",
+    "closeness rank": 4
+   },
+   "window": {
+    "distance": "0.89 meters",
+    "closeness rank": 5
+   },
+   "trash bin": {
+    "distance": "1.07 meters",
+    "closeness rank": 6
+   },
+   "door": {
+    "distance": "1.78 meters",
+    "closeness rank": 7
+   }
+  },
+  "door": {
+   "trash bin": {
+    "distance": "0.01 meters",
+    "closeness rank": 1
+   },
+   "washing machine": {
+    "distance": "0.6 meters",
+    "closeness rank": 2
+   },
+   "table": {
+    "distance": "1.11 meters",
+    "closeness rank": 3
+   },
+   "lamp": {
+    "distance": "1.13 meters",
+    "closeness rank": 4
+   },
+   "chair": {
+    "distance": "1.78 meters",
+    "closeness rank": 5
+   },
+   "window": {
+    "distance": "1.99 meters",
+    "closeness rank": 6
+   },
+   "telephone": {
+    "distance": "2.37 meters",
+    "closeness rank": 7
+   }
+  },
+  "lamp": {
+   "table": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "telephone": {
+    "distance": "0.0 meters",
+    "closeness rank": 2
+   },
+   "washing machine": {
+    "distance": "0.01 meters",
+    "closeness rank": 3
+   },
+   "window": {
+    "distance": "0.15 meters",
+    "closeness rank": 4
+   },
+   "chair": {
+    "distance": "0.26 meters",
+    "closeness rank": 5
+   },
+   "trash bin": {
+    "distance": "0.55 meters",
+    "closeness rank": 6
+   },
+   "door": {
+    "distance": "1.13 meters",
+    "closeness rank": 7
+   }
+  },
+  "table": {
+   "lamp": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "telephone": {
+    "distance": "0.0 meters",
+    "closeness rank": 2
+   },
+   "washing machine": {
+    "distance": "0.01 meters",
+    "closeness rank": 3
+   },
+   "window": {
+    "distance": "0.16 meters",
+    "closeness rank": 4
+   },
+   "chair": {
+    "distance": "0.25 meters",
+    "closeness rank": 5
+   },
+   "trash bin": {
+    "distance": "0.53 meters",
+    "closeness rank": 6
+   },
+   "door": {
+    "distance": "1.11 meters",
+    "closeness rank": 7
+   }
+  },
+  "telephone": {
+   "lamp": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "table": {
+    "distance": "0.0 meters",
+    "closeness rank": 2
+   },
+   "window": {
+    "distance": "0.27 meters",
+    "closeness rank": 3
+   },
+   "chair": {
+    "distance": "0.36 meters",
+    "closeness rank": 4
+   },
+   "washing machine": {
+    "distance": "1.2 meters",
+    "closeness rank": 5
+   },
+   "trash bin": {
+    "distance": "1.69 meters",
+    "closeness rank": 6
+   },
+   "door": {
+    "distance": "2.37 meters",
+    "closeness rank": 7
+   }
+  },
+  "trash bin": {
+   "washing machine": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "door": {
+    "distance": "0.01 meters",
+    "closeness rank": 2
+   },
+   "table": {
+    "distance": "0.53 meters",
+    "closeness rank": 3
+   },
+   "lamp": {
+    "distance": "0.55 meters",
+    "closeness rank": 4
+   },
+   "chair": {
+    "distance": "1.07 meters",
+    "closeness rank": 5
+   },
+   "window": {
+    "distance": "1.34 meters",
+    "closeness rank": 6
+   },
+   "telephone": {
+    "distance": "1.69 meters",
+    "closeness rank": 7
+   }
+  },
+  "washing machine": {
+   "trash bin": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "table": {
+    "distance": "0.01 meters",
+    "closeness rank": 2
+   },
+   "lamp": {
+    "distance": "0.01 meters",
+    "closeness rank": 3
+   },
+   "door": {
+    "distance": "0.6 meters",
+    "closeness rank": 4
+   },
+   "chair": {
+    "distance": "0.74 meters",
+    "closeness rank": 5
+   },
+   "window": {
+    "distance": "0.78 meters",
+    "closeness rank": 6
+   },
+   "telephone": {
+    "distance": "1.2 meters",
+    "closeness rank": 7
+   }
+  },
+  "window": {
+   "lamp": {
+    "distance": "0.15 meters",
+    "closeness rank": 1
+   },
+   "table": {
+    "distance": "0.16 meters",
+    "closeness rank": 2
+   },
+   "telephone": {
+    "distance": "0.27 meters",
+    "closeness rank": 3
+   },
+   "washing machine": {
+    "distance": "0.78 meters",
+    "closeness rank": 4
+   },
+   "chair": {
+    "distance": "0.89 meters",
+    "closeness rank": 5
+   },
+   "trash bin": {
+    "distance": "1.34 meters",
+    "closeness rank": 6
+   },
+   "door": {
+    "distance": "1.99 meters",
+    "closeness rank": 7
+   }
+  }
+ },
+ "appearance order": ["door", "trash bin", "table", "telephone", "window", "chair", "washing machine", "lamp"]
+}
\ No newline at end of file
diff --git a/data/spatial codes/sam3+depth-anything-3/metric/tracking/selective/64/explicit/scene0693_00.json b/data/spatial codes/sam3+depth-anything-3/metric/tracking/selective/64/explicit/scene0693_00.json
new file mode 100644
index 0000000000000000000000000000000000000000..e7aa766d03eaf0d0a6c6f058b1fd5e79dd3fbebd
--- /dev/null
+++ b/data/spatial codes/sam3+depth-anything-3/metric/tracking/selective/64/explicit/scene0693_00.json	
@@ -0,0 +1,269 @@
+{
+ "spatial code schema": {
+  "objects": {
+   "<object class>": {
+    "count": {
+     "unit": null,
+     "description": "number of instances of this class in the compact spatial code (that schema's per-class oriented-box list length)"
+    },
+    "instances": [
+     {
+      "position": {
+       "x coordinate": {
+        "unit": "meters",
+        "description": "x coordinate of this instance's compact 3D oriented bounding box center"
+       },
+       "y coordinate": {
+        "unit": "meters",
+        "description": "y coordinate of this instance's compact 3D oriented bounding box center"
+       },
+       "height above floor": {
+        "unit": "meters",
+        "description": "height coordinate of this instance's compact 3D oriented bounding box center"
+       }
+      },
+      "longest dimension": {
+       "unit": "meters",
+       "description": "longest of this instance's compact 3D oriented bounding box dimensions"
+      }
+     }
+    ]
+   }
+  },
+  "room": {
+   "floor area": {
+    "unit": "square meters",
+    "description": "shoelace area of the compact spatial code's floor boundary polygons, with every interior hole subtracted"
+   }
+  },
+  "closest classes distance meters from": {
+   "<object class>": {
+    "<other object class>": {
+     "distance": {
+      "unit": "meters",
+      "description": "minimum surface-to-surface separation between the two classes' compact 3D oriented bounding boxes, over every instance pair"
+     },
+     "closeness rank": {
+      "unit": null,
+      "description": "1 = the nearest other class to this one, 2 = second-nearest, and so on"
+     }
+    }
+   }
+  },
+  "appearance order": {
+   "unit": null,
+   "description": "class names ordered by earliest compact 'first visible time' across all of that class's instances"
+  }
+ },
+ "objects": {
+  "door": {
+   "count": 3,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-0.31 meters",
+      "y coordinate": "0.78 meters",
+      "height above floor": "-0.21 meters"
+     },
+     "longest dimension": "0.52 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-0.08 meters",
+      "y coordinate": "-0.64 meters",
+      "height above floor": "-0.12 meters"
+     },
+     "longest dimension": "0.96 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-0.65 meters",
+      "y coordinate": "0.69 meters",
+      "height above floor": "-0.21 meters"
+     },
+     "longest dimension": "0.54 meters"
+    }
+   ]
+  },
+  "mirror": {
+   "count": 3,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-0.08 meters",
+      "y coordinate": "-0.65 meters",
+      "height above floor": "-0.02 meters"
+     },
+     "longest dimension": "0.77 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-0.87 meters",
+      "y coordinate": "0.6 meters",
+      "height above floor": "0.52 meters"
+     },
+     "longest dimension": "0.29 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "1.04 meters",
+      "y coordinate": "0.2 meters",
+      "height above floor": "0.17 meters"
+     },
+     "longest dimension": "0.15 meters"
+    }
+   ]
+  },
+  "towel": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "0.57 meters",
+      "y coordinate": "1.0 meters",
+      "height above floor": "0.19 meters"
+     },
+     "longest dimension": "0.69 meters"
+    }
+   ]
+  },
+  "trash bin": {
+   "count": 2,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "0.38 meters",
+      "y coordinate": "-0.32 meters",
+      "height above floor": "-0.37 meters"
+     },
+     "longest dimension": "0.31 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "0.78 meters",
+      "y coordinate": "-0.27 meters",
+      "height above floor": "-0.37 meters"
+     },
+     "longest dimension": "0.27 meters"
+    }
+   ]
+  },
+  "window": {
+   "count": 2,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "0.61 meters",
+      "y coordinate": "1.12 meters",
+      "height above floor": "0.27 meters"
+     },
+     "longest dimension": "0.99 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-0.57 meters",
+      "y coordinate": "1.31 meters",
+      "height above floor": "0.97 meters"
+     },
+     "longest dimension": "0.71 meters"
+    }
+   ]
+  }
+ },
+ "room": {
+  "floor area": "5.6 square meters"
+ },
+ "closest classes distance meters from": {
+  "door": {
+   "mirror": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "trash bin": {
+    "distance": "0.11 meters",
+    "closeness rank": 2
+   },
+   "towel": {
+    "distance": "0.72 meters",
+    "closeness rank": 3
+   },
+   "window": {
+    "distance": "0.8 meters",
+    "closeness rank": 4
+   }
+  },
+  "mirror": {
+   "door": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "trash bin": {
+    "distance": "0.22 meters",
+    "closeness rank": 2
+   },
+   "window": {
+    "distance": "0.56 meters",
+    "closeness rank": 3
+   },
+   "towel": {
+    "distance": "0.72 meters",
+    "closeness rank": 4
+   }
+  },
+  "towel": {
+   "window": {
+    "distance": "0.03 meters",
+    "closeness rank": 1
+   },
+   "door": {
+    "distance": "0.72 meters",
+    "closeness rank": 2
+   },
+   "mirror": {
+    "distance": "0.72 meters",
+    "closeness rank": 3
+   },
+   "trash bin": {
+    "distance": "1.0 meters",
+    "closeness rank": 4
+   }
+  },
+  "trash bin": {
+   "door": {
+    "distance": "0.11 meters",
+    "closeness rank": 1
+   },
+   "mirror": {
+    "distance": "0.22 meters",
+    "closeness rank": 2
+   },
+   "window": {
+    "distance": "0.91 meters",
+    "closeness rank": 3
+   },
+   "towel": {
+    "distance": "1.0 meters",
+    "closeness rank": 4
+   }
+  },
+  "window": {
+   "towel": {
+    "distance": "0.03 meters",
+    "closeness rank": 1
+   },
+   "mirror": {
+    "distance": "0.56 meters",
+    "closeness rank": 2
+   },
+   "door": {
+    "distance": "0.8 meters",
+    "closeness rank": 3
+   },
+   "trash bin": {
+    "distance": "0.91 meters",
+    "closeness rank": 4
+   }
+  }
+ },
+ "appearance order": ["door", "towel", "mirror", "window", "trash bin"]
+}
\ No newline at end of file
diff --git a/data/spatial codes/sam3+depth-anything-3/metric/tracking/selective/64/explicit/scene0696_01.json b/data/spatial codes/sam3+depth-anything-3/metric/tracking/selective/64/explicit/scene0696_01.json
new file mode 100644
index 0000000000000000000000000000000000000000..de7d6556a67ada816a02d9071bb0bb499517067b
--- /dev/null
+++ b/data/spatial codes/sam3+depth-anything-3/metric/tracking/selective/64/explicit/scene0696_01.json	
@@ -0,0 +1,1458 @@
+{
+ "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": "-2.88 meters",
+      "y coordinate": "1.67 meters",
+      "height above floor": "-0.08 meters"
+     },
+     "longest dimension": "1.61 meters"
+    }
+   ]
+  },
+  "bookshelf": {
+   "count": 2,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "0.62 meters",
+      "y coordinate": "-0.81 meters",
+      "height above floor": "0.17 meters"
+     },
+     "longest dimension": "1.91 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "1.55 meters",
+      "y coordinate": "1.43 meters",
+      "height above floor": "0.39 meters"
+     },
+     "longest dimension": "1.06 meters"
+    }
+   ]
+  },
+  "chair": {
+   "count": 8,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-0.56 meters",
+      "y coordinate": "0.7 meters",
+      "height above floor": "-0.16 meters"
+     },
+     "longest dimension": "0.78 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-0.13 meters",
+      "y coordinate": "0.72 meters",
+      "height above floor": "-0.15 meters"
+     },
+     "longest dimension": "0.76 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-0.97 meters",
+      "y coordinate": "2.25 meters",
+      "height above floor": "-0.1 meters"
+     },
+     "longest dimension": "0.71 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-0.36 meters",
+      "y coordinate": "-0.59 meters",
+      "height above floor": "-0.32 meters"
+     },
+     "longest dimension": "0.55 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-1.44 meters",
+      "y coordinate": "0.7 meters",
+      "height above floor": "-0.25 meters"
+     },
+     "longest dimension": "0.8 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-1.81 meters",
+      "y coordinate": "0.64 meters",
+      "height above floor": "-0.21 meters"
+     },
+     "longest dimension": "1.07 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "0.5 meters",
+      "y coordinate": "1.81 meters",
+      "height above floor": "-0.11 meters"
+     },
+     "longest dimension": "0.45 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-2.24 meters",
+      "y coordinate": "0.47 meters",
+      "height above floor": "0.02 meters"
+     },
+     "longest dimension": "0.76 meters"
+    }
+   ]
+  },
+  "computer mouse": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "0.08 meters",
+      "y coordinate": "-0.68 meters",
+      "height above floor": "0.54 meters"
+     },
+     "longest dimension": "0.16 meters"
+    }
+   ]
+  },
+  "door": {
+   "count": 6,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "1.84 meters",
+      "y coordinate": "0.29 meters",
+      "height above floor": "0.34 meters"
+     },
+     "longest dimension": "1.54 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-1.79 meters",
+      "y coordinate": "3.16 meters",
+      "height above floor": "0.12 meters"
+     },
+     "longest dimension": "0.72 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-1.58 meters",
+      "y coordinate": "-0.51 meters",
+      "height above floor": "0.51 meters"
+     },
+     "longest dimension": "0.69 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-0.36 meters",
+      "y coordinate": "-0.59 meters",
+      "height above floor": "-0.28 meters"
+     },
+     "longest dimension": "0.61 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "0.66 meters",
+      "y coordinate": "-0.67 meters",
+      "height above floor": "0.91 meters"
+     },
+     "longest dimension": "0.51 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-2.15 meters",
+      "y coordinate": "3.14 meters",
+      "height above floor": "0.09 meters"
+     },
+     "longest dimension": "0.7 meters"
+    }
+   ]
+  },
+  "lamp": {
+   "count": 2,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-0.03 meters",
+      "y coordinate": "-0.89 meters",
+      "height above floor": "1.02 meters"
+     },
+     "longest dimension": "0.14 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "0.1 meters",
+      "y coordinate": "-0.91 meters",
+      "height above floor": "0.96 meters"
+     },
+     "longest dimension": "0.06 meters"
+    }
+   ]
+  },
+  "monitor": {
+   "count": 2,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-0.74 meters",
+      "y coordinate": "3.4 meters",
+      "height above floor": "0.42 meters"
+     },
+     "longest dimension": "0.43 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-0.31 meters",
+      "y coordinate": "3.28 meters",
+      "height above floor": "0.39 meters"
+     },
+     "longest dimension": "0.52 meters"
+    }
+   ]
+  },
+  "pillow": {
+   "count": 3,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "0.15 meters",
+      "y coordinate": "0.99 meters",
+      "height above floor": "0.05 meters"
+     },
+     "longest dimension": "0.42 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "0.93 meters",
+      "y coordinate": "2.05 meters",
+      "height above floor": "-0.03 meters"
+     },
+     "longest dimension": "0.49 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-3.23 meters",
+      "y coordinate": "1.47 meters",
+      "height above floor": "0.23 meters"
+     },
+     "longest dimension": "0.47 meters"
+    }
+   ]
+  },
+  "printer": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-0.37 meters",
+      "y coordinate": "-0.7 meters",
+      "height above floor": "0.63 meters"
+     },
+     "longest dimension": "0.5 meters"
+    }
+   ]
+  },
+  "radiator": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-3.35 meters",
+      "y coordinate": "1.33 meters",
+      "height above floor": "0.27 meters"
+     },
+     "longest dimension": "1.54 meters"
+    }
+   ]
+  },
+  "sofa": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "0.9 meters",
+      "y coordinate": "1.81 meters",
+      "height above floor": "-0.31 meters"
+     },
+     "longest dimension": "1.67 meters"
+    }
+   ]
+  },
+  "table": {
+   "count": 4,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-1.22 meters",
+      "y coordinate": "1.61 meters",
+      "height above floor": "-0.02 meters"
+     },
+     "longest dimension": "2.32 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "0.12 meters",
+      "y coordinate": "1.77 meters",
+      "height above floor": "-0.07 meters"
+     },
+     "longest dimension": "0.96 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-1.57 meters",
+      "y coordinate": "2.07 meters",
+      "height above floor": "0.05 meters"
+     },
+     "longest dimension": "0.63 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-0.64 meters",
+      "y coordinate": "2.09 meters",
+      "height above floor": "-0.05 meters"
+     },
+     "longest dimension": "0.88 meters"
+    }
+   ]
+  },
+  "telephone": {
+   "count": 3,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "0.09 meters",
+      "y coordinate": "-0.84 meters",
+      "height above floor": "0.2 meters"
+     },
+     "longest dimension": "0.39 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-0.2 meters",
+      "y coordinate": "-0.74 meters",
+      "height above floor": "0.21 meters"
+     },
+     "longest dimension": "0.26 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-0.41 meters",
+      "y coordinate": "-0.77 meters",
+      "height above floor": "0.22 meters"
+     },
+     "longest dimension": "0.2 meters"
+    }
+   ]
+  },
+  "towel": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "0.93 meters",
+      "y coordinate": "2.05 meters",
+      "height above floor": "-0.03 meters"
+     },
+     "longest dimension": "0.56 meters"
+    }
+   ]
+  },
+  "tv": {
+   "count": 2,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-0.74 meters",
+      "y coordinate": "3.4 meters",
+      "height above floor": "0.42 meters"
+     },
+     "longest dimension": "0.44 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-0.31 meters",
+      "y coordinate": "3.28 meters",
+      "height above floor": "0.39 meters"
+     },
+     "longest dimension": "0.52 meters"
+    }
+   ]
+  },
+  "window": {
+   "count": 2,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-3.39 meters",
+      "y coordinate": "1.59 meters",
+      "height above floor": "0.79 meters"
+     },
+     "longest dimension": "2.18 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-1.11 meters",
+      "y coordinate": "3.72 meters",
+      "height above floor": "0.55 meters"
+     },
+     "longest dimension": "0.77 meters"
+    }
+   ]
+  }
+ },
+ "room": {
+  "floor area": "28.9 square meters"
+ },
+ "closest classes distance meters from": {
+  "bed": {
+   "pillow": {
+    "distance": "0.02 meters",
+    "closeness rank": 1
+   },
+   "radiator": {
+    "distance": "0.04 meters",
+    "closeness rank": 2
+   },
+   "table": {
+    "distance": "0.1 meters",
+    "closeness rank": 3
+   },
+   "chair": {
+    "distance": "0.23 meters",
+    "closeness rank": 4
+   },
+   "window": {
+    "distance": "0.46 meters",
+    "closeness rank": 5
+   },
+   "door": {
+    "distance": "0.7 meters",
+    "closeness rank": 6
+   },
+   "tv": {
+    "distance": "1.84 meters",
+    "closeness rank": 7
+   },
+   "monitor": {
+    "distance": "1.84 meters",
+    "closeness rank": 8
+   },
+   "printer": {
+    "distance": "2.41 meters",
+    "closeness rank": 9
+   },
+   "telephone": {
+    "distance": "2.52 meters",
+    "closeness rank": 10
+   },
+   "computer mouse": {
+    "distance": "2.94 meters",
+    "closeness rank": 11
+   },
+   "lamp": {
+    "distance": "3.1 meters",
+    "closeness rank": 12
+   },
+   "bookshelf": {
+    "distance": "3.25 meters",
+    "closeness rank": 13
+   },
+   "sofa": {
+    "distance": "3.3 meters",
+    "closeness rank": 14
+   },
+   "towel": {
+    "distance": "3.31 meters",
+    "closeness rank": 15
+   }
+  },
+  "bookshelf": {
+   "door": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "telephone": {
+    "distance": "0.15 meters",
+    "closeness rank": 2
+   },
+   "computer mouse": {
+    "distance": "0.23 meters",
+    "closeness rank": 3
+   },
+   "lamp": {
+    "distance": "0.25 meters",
+    "closeness rank": 4
+   },
+   "towel": {
+    "distance": "0.3 meters",
+    "closeness rank": 5
+   },
+   "sofa": {
+    "distance": "0.31 meters",
+    "closeness rank": 6
+   },
+   "pillow": {
+    "distance": "0.39 meters",
+    "closeness rank": 7
+   },
+   "printer": {
+    "distance": "0.51 meters",
+    "closeness rank": 8
+   },
+   "chair": {
+    "distance": "0.57 meters",
+    "closeness rank": 9
+   },
+   "table": {
+    "distance": "0.81 meters",
+    "closeness rank": 10
+   },
+   "monitor": {
+    "distance": "2.13 meters",
+    "closeness rank": 11
+   },
+   "tv": {
+    "distance": "2.13 meters",
+    "closeness rank": 12
+   },
+   "window": {
+    "distance": "2.9 meters",
+    "closeness rank": 13
+   },
+   "bed": {
+    "distance": "3.25 meters",
+    "closeness rank": 14
+   },
+   "radiator": {
+    "distance": "3.91 meters",
+    "closeness rank": 15
+   }
+  },
+  "chair": {
+   "door": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "table": {
+    "distance": "0.0 meters",
+    "closeness rank": 2
+   },
+   "pillow": {
+    "distance": "0.11 meters",
+    "closeness rank": 3
+   },
+   "sofa": {
+    "distance": "0.21 meters",
+    "closeness rank": 4
+   },
+   "telephone": {
+    "distance": "0.22 meters",
+    "closeness rank": 5
+   },
+   "bed": {
+    "distance": "0.23 meters",
+    "closeness rank": 6
+   },
+   "towel": {
+    "distance": "0.25 meters",
+    "closeness rank": 7
+   },
+   "bookshelf": {
+    "distance": "0.57 meters",
+    "closeness rank": 8
+   },
+   "printer": {
+    "distance": "0.58 meters",
+    "closeness rank": 9
+   },
+   "computer mouse": {
+    "distance": "0.59 meters",
+    "closeness rank": 10
+   },
+   "tv": {
+    "distance": "0.69 meters",
+    "closeness rank": 11
+   },
+   "monitor": {
+    "distance": "0.7 meters",
+    "closeness rank": 12
+   },
+   "radiator": {
+    "distance": "0.71 meters",
+    "closeness rank": 13
+   },
+   "window": {
+    "distance": "0.85 meters",
+    "closeness rank": 14
+   },
+   "lamp": {
+    "distance": "1.06 meters",
+    "closeness rank": 15
+   }
+  },
+  "computer mouse": {
+   "printer": {
+    "distance": "0.11 meters",
+    "closeness rank": 1
+   },
+   "bookshelf": {
+    "distance": "0.23 meters",
+    "closeness rank": 2
+   },
+   "telephone": {
+    "distance": "0.26 meters",
+    "closeness rank": 3
+   },
+   "door": {
+    "distance": "0.29 meters",
+    "closeness rank": 4
+   },
+   "lamp": {
+    "distance": "0.4 meters",
+    "closeness rank": 5
+   },
+   "chair": {
+    "distance": "0.59 meters",
+    "closeness rank": 6
+   },
+   "table": {
+    "distance": "1.51 meters",
+    "closeness rank": 7
+   },
+   "pillow": {
+    "distance": "1.6 meters",
+    "closeness rank": 8
+   },
+   "sofa": {
+    "distance": "1.82 meters",
+    "closeness rank": 9
+   },
+   "towel": {
+    "distance": "2.56 meters",
+    "closeness rank": 10
+   },
+   "bed": {
+    "distance": "2.94 meters",
+    "closeness rank": 11
+   },
+   "window": {
+    "distance": "3.54 meters",
+    "closeness rank": 12
+   },
+   "radiator": {
+    "distance": "3.54 meters",
+    "closeness rank": 13
+   },
+   "monitor": {
+    "distance": "3.85 meters",
+    "closeness rank": 14
+   },
+   "tv": {
+    "distance": "3.85 meters",
+    "closeness rank": 15
+   }
+  },
+  "door": {
+   "bookshelf": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "chair": {
+    "distance": "0.0 meters",
+    "closeness rank": 2
+   },
+   "telephone": {
+    "distance": "0.15 meters",
+    "closeness rank": 3
+   },
+   "computer mouse": {
+    "distance": "0.29 meters",
+    "closeness rank": 4
+   },
+   "lamp": {
+    "distance": "0.39 meters",
+    "closeness rank": 5
+   },
+   "window": {
+    "distance": "0.5 meters",
+    "closeness rank": 6
+   },
+   "printer": {
+    "distance": "0.52 meters",
+    "closeness rank": 7
+   },
+   "tv": {
+    "distance": "0.59 meters",
+    "closeness rank": 8
+   },
+   "monitor": {
+    "distance": "0.6 meters",
+    "closeness rank": 9
+   },
+   "table": {
+    "distance": "0.66 meters",
+    "closeness rank": 10
+   },
+   "bed": {
+    "distance": "0.7 meters",
+    "closeness rank": 11
+   },
+   "sofa": {
+    "distance": "0.79 meters",
+    "closeness rank": 12
+   },
+   "towel": {
+    "distance": "1.35 meters",
+    "closeness rank": 13
+   },
+   "pillow": {
+    "distance": "1.39 meters",
+    "closeness rank": 14
+   },
+   "radiator": {
+    "distance": "1.44 meters",
+    "closeness rank": 15
+   }
+  },
+  "lamp": {
+   "bookshelf": {
+    "distance": "0.25 meters",
+    "closeness rank": 1
+   },
+   "printer": {
+    "distance": "0.27 meters",
+    "closeness rank": 2
+   },
+   "door": {
+    "distance": "0.39 meters",
+    "closeness rank": 3
+   },
+   "computer mouse": {
+    "distance": "0.4 meters",
+    "closeness rank": 4
+   },
+   "telephone": {
+    "distance": "0.69 meters",
+    "closeness rank": 5
+   },
+   "chair": {
+    "distance": "1.06 meters",
+    "closeness rank": 6
+   },
+   "table": {
+    "distance": "1.93 meters",
+    "closeness rank": 7
+   },
+   "pillow": {
+    "distance": "2.0 meters",
+    "closeness rank": 8
+   },
+   "sofa": {
+    "distance": "2.18 meters",
+    "closeness rank": 9
+   },
+   "towel": {
+    "distance": "2.89 meters",
+    "closeness rank": 10
+   },
+   "bed": {
+    "distance": "3.1 meters",
+    "closeness rank": 11
+   },
+   "window": {
+    "distance": "3.52 meters",
+    "closeness rank": 12
+   },
+   "radiator": {
+    "distance": "3.57 meters",
+    "closeness rank": 13
+   },
+   "tv": {
+    "distance": "4.13 meters",
+    "closeness rank": 14
+   },
+   "monitor": {
+    "distance": "4.13 meters",
+    "closeness rank": 15
+   }
+  },
+  "monitor": {
+   "tv": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "window": {
+    "distance": "0.07 meters",
+    "closeness rank": 2
+   },
+   "door": {
+    "distance": "0.6 meters",
+    "closeness rank": 3
+   },
+   "chair": {
+    "distance": "0.7 meters",
+    "closeness rank": 4
+   },
+   "sofa": {
+    "distance": "0.98 meters",
+    "closeness rank": 5
+   },
+   "table": {
+    "distance": "1.0 meters",
+    "closeness rank": 6
+   },
+   "towel": {
+    "distance": "1.24 meters",
+    "closeness rank": 7
+   },
+   "pillow": {
+    "distance": "1.31 meters",
+    "closeness rank": 8
+   },
+   "bed": {
+    "distance": "1.84 meters",
+    "closeness rank": 9
+   },
+   "bookshelf": {
+    "distance": "2.13 meters",
+    "closeness rank": 10
+   },
+   "radiator": {
+    "distance": "2.61 meters",
+    "closeness rank": 11
+   },
+   "printer": {
+    "distance": "3.78 meters",
+    "closeness rank": 12
+   },
+   "telephone": {
+    "distance": "3.81 meters",
+    "closeness rank": 13
+   },
+   "computer mouse": {
+    "distance": "3.85 meters",
+    "closeness rank": 14
+   },
+   "lamp": {
+    "distance": "4.13 meters",
+    "closeness rank": 15
+   }
+  },
+  "pillow": {
+   "radiator": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "sofa": {
+    "distance": "0.0 meters",
+    "closeness rank": 2
+   },
+   "towel": {
+    "distance": "0.0 meters",
+    "closeness rank": 3
+   },
+   "bed": {
+    "distance": "0.02 meters",
+    "closeness rank": 4
+   },
+   "chair": {
+    "distance": "0.11 meters",
+    "closeness rank": 5
+   },
+   "table": {
+    "distance": "0.13 meters",
+    "closeness rank": 6
+   },
+   "window": {
+    "distance": "0.16 meters",
+    "closeness rank": 7
+   },
+   "bookshelf": {
+    "distance": "0.39 meters",
+    "closeness rank": 8
+   },
+   "monitor": {
+    "distance": "1.31 meters",
+    "closeness rank": 9
+   },
+   "tv": {
+    "distance": "1.31 meters",
+    "closeness rank": 10
+   },
+   "door": {
+    "distance": "1.39 meters",
+    "closeness rank": 11
+   },
+   "telephone": {
+    "distance": "1.54 meters",
+    "closeness rank": 12
+   },
+   "printer": {
+    "distance": "1.59 meters",
+    "closeness rank": 13
+   },
+   "computer mouse": {
+    "distance": "1.6 meters",
+    "closeness rank": 14
+   },
+   "lamp": {
+    "distance": "2.0 meters",
+    "closeness rank": 15
+   }
+  },
+  "printer": {
+   "computer mouse": {
+    "distance": "0.11 meters",
+    "closeness rank": 1
+   },
+   "lamp": {
+    "distance": "0.27 meters",
+    "closeness rank": 2
+   },
+   "telephone": {
+    "distance": "0.28 meters",
+    "closeness rank": 3
+   },
+   "bookshelf": {
+    "distance": "0.51 meters",
+    "closeness rank": 4
+   },
+   "door": {
+    "distance": "0.52 meters",
+    "closeness rank": 5
+   },
+   "chair": {
+    "distance": "0.58 meters",
+    "closeness rank": 6
+   },
+   "table": {
+    "distance": "1.45 meters",
+    "closeness rank": 7
+   },
+   "pillow": {
+    "distance": "1.59 meters",
+    "closeness rank": 8
+   },
+   "sofa": {
+    "distance": "1.89 meters",
+    "closeness rank": 9
+   },
+   "bed": {
+    "distance": "2.41 meters",
+    "closeness rank": 10
+   },
+   "towel": {
+    "distance": "2.6 meters",
+    "closeness rank": 11
+   },
+   "window": {
+    "distance": "2.93 meters",
+    "closeness rank": 12
+   },
+   "radiator": {
+    "distance": "2.93 meters",
+    "closeness rank": 13
+   },
+   "tv": {
+    "distance": "3.78 meters",
+    "closeness rank": 14
+   },
+   "monitor": {
+    "distance": "3.78 meters",
+    "closeness rank": 15
+   }
+  },
+  "radiator": {
+   "pillow": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "bed": {
+    "distance": "0.04 meters",
+    "closeness rank": 2
+   },
+   "window": {
+    "distance": "0.08 meters",
+    "closeness rank": 3
+   },
+   "chair": {
+    "distance": "0.71 meters",
+    "closeness rank": 4
+   },
+   "table": {
+    "distance": "0.86 meters",
+    "closeness rank": 5
+   },
+   "door": {
+    "distance": "1.44 meters",
+    "closeness rank": 6
+   },
+   "tv": {
+    "distance": "2.61 meters",
+    "closeness rank": 7
+   },
+   "monitor": {
+    "distance": "2.61 meters",
+    "closeness rank": 8
+   },
+   "printer": {
+    "distance": "2.93 meters",
+    "closeness rank": 9
+   },
+   "telephone": {
+    "distance": "3.08 meters",
+    "closeness rank": 10
+   },
+   "computer mouse": {
+    "distance": "3.54 meters",
+    "closeness rank": 11
+   },
+   "lamp": {
+    "distance": "3.57 meters",
+    "closeness rank": 12
+   },
+   "bookshelf": {
+    "distance": "3.91 meters",
+    "closeness rank": 13
+   },
+   "towel": {
+    "distance": "4.02 meters",
+    "closeness rank": 14
+   },
+   "sofa": {
+    "distance": "4.03 meters",
+    "closeness rank": 15
+   }
+  },
+  "sofa": {
+   "pillow": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "towel": {
+    "distance": "0.0 meters",
+    "closeness rank": 2
+   },
+   "table": {
+    "distance": "0.14 meters",
+    "closeness rank": 3
+   },
+   "chair": {
+    "distance": "0.21 meters",
+    "closeness rank": 4
+   },
+   "bookshelf": {
+    "distance": "0.31 meters",
+    "closeness rank": 5
+   },
+   "door": {
+    "distance": "0.79 meters",
+    "closeness rank": 6
+   },
+   "tv": {
+    "distance": "0.98 meters",
+    "closeness rank": 7
+   },
+   "monitor": {
+    "distance": "0.98 meters",
+    "closeness rank": 8
+   },
+   "telephone": {
+    "distance": "1.76 meters",
+    "closeness rank": 9
+   },
+   "window": {
+    "distance": "1.77 meters",
+    "closeness rank": 10
+   },
+   "computer mouse": {
+    "distance": "1.82 meters",
+    "closeness rank": 11
+   },
+   "printer": {
+    "distance": "1.89 meters",
+    "closeness rank": 12
+   },
+   "lamp": {
+    "distance": "2.18 meters",
+    "closeness rank": 13
+   },
+   "bed": {
+    "distance": "3.3 meters",
+    "closeness rank": 14
+   },
+   "radiator": {
+    "distance": "4.03 meters",
+    "closeness rank": 15
+   }
+  },
+  "table": {
+   "chair": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "bed": {
+    "distance": "0.1 meters",
+    "closeness rank": 2
+   },
+   "pillow": {
+    "distance": "0.13 meters",
+    "closeness rank": 3
+   },
+   "sofa": {
+    "distance": "0.14 meters",
+    "closeness rank": 4
+   },
+   "towel": {
+    "distance": "0.21 meters",
+    "closeness rank": 5
+   },
+   "door": {
+    "distance": "0.66 meters",
+    "closeness rank": 6
+   },
+   "bookshelf": {
+    "distance": "0.81 meters",
+    "closeness rank": 7
+   },
+   "radiator": {
+    "distance": "0.86 meters",
+    "closeness rank": 8
+   },
+   "tv": {
+    "distance": "1.0 meters",
+    "closeness rank": 9
+   },
+   "monitor": {
+    "distance": "1.0 meters",
+    "closeness rank": 10
+   },
+   "window": {
+    "distance": "1.02 meters",
+    "closeness rank": 11
+   },
+   "telephone": {
+    "distance": "1.36 meters",
+    "closeness rank": 12
+   },
+   "printer": {
+    "distance": "1.45 meters",
+    "closeness rank": 13
+   },
+   "computer mouse": {
+    "distance": "1.51 meters",
+    "closeness rank": 14
+   },
+   "lamp": {
+    "distance": "1.93 meters",
+    "closeness rank": 15
+   }
+  },
+  "telephone": {
+   "door": {
+    "distance": "0.15 meters",
+    "closeness rank": 1
+   },
+   "bookshelf": {
+    "distance": "0.15 meters",
+    "closeness rank": 2
+   },
+   "chair": {
+    "distance": "0.22 meters",
+    "closeness rank": 3
+   },
+   "computer mouse": {
+    "distance": "0.26 meters",
+    "closeness rank": 4
+   },
+   "printer": {
+    "distance": "0.28 meters",
+    "closeness rank": 5
+   },
+   "lamp": {
+    "distance": "0.69 meters",
+    "closeness rank": 6
+   },
+   "table": {
+    "distance": "1.36 meters",
+    "closeness rank": 7
+   },
+   "pillow": {
+    "distance": "1.54 meters",
+    "closeness rank": 8
+   },
+   "sofa": {
+    "distance": "1.76 meters",
+    "closeness rank": 9
+   },
+   "towel": {
+    "distance": "2.52 meters",
+    "closeness rank": 10
+   },
+   "bed": {
+    "distance": "2.52 meters",
+    "closeness rank": 11
+   },
+   "radiator": {
+    "distance": "3.08 meters",
+    "closeness rank": 12
+   },
+   "window": {
+    "distance": "3.08 meters",
+    "closeness rank": 13
+   },
+   "tv": {
+    "distance": "3.8 meters",
+    "closeness rank": 14
+   },
+   "monitor": {
+    "distance": "3.81 meters",
+    "closeness rank": 15
+   }
+  },
+  "towel": {
+   "pillow": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "sofa": {
+    "distance": "0.0 meters",
+    "closeness rank": 2
+   },
+   "table": {
+    "distance": "0.21 meters",
+    "closeness rank": 3
+   },
+   "chair": {
+    "distance": "0.25 meters",
+    "closeness rank": 4
+   },
+   "bookshelf": {
+    "distance": "0.3 meters",
+    "closeness rank": 5
+   },
+   "monitor": {
+    "distance": "1.24 meters",
+    "closeness rank": 6
+   },
+   "tv": {
+    "distance": "1.24 meters",
+    "closeness rank": 7
+   },
+   "door": {
+    "distance": "1.35 meters",
+    "closeness rank": 8
+   },
+   "window": {
+    "distance": "2.01 meters",
+    "closeness rank": 9
+   },
+   "telephone": {
+    "distance": "2.52 meters",
+    "closeness rank": 10
+   },
+   "computer mouse": {
+    "distance": "2.56 meters",
+    "closeness rank": 11
+   },
+   "printer": {
+    "distance": "2.6 meters",
+    "closeness rank": 12
+   },
+   "lamp": {
+    "distance": "2.89 meters",
+    "closeness rank": 13
+   },
+   "bed": {
+    "distance": "3.31 meters",
+    "closeness rank": 14
+   },
+   "radiator": {
+    "distance": "4.02 meters",
+    "closeness rank": 15
+   }
+  },
+  "tv": {
+   "monitor": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "window": {
+    "distance": "0.06 meters",
+    "closeness rank": 2
+   },
+   "door": {
+    "distance": "0.59 meters",
+    "closeness rank": 3
+   },
+   "chair": {
+    "distance": "0.69 meters",
+    "closeness rank": 4
+   },
+   "sofa": {
+    "distance": "0.98 meters",
+    "closeness rank": 5
+   },
+   "table": {
+    "distance": "1.0 meters",
+    "closeness rank": 6
+   },
+   "towel": {
+    "distance": "1.24 meters",
+    "closeness rank": 7
+   },
+   "pillow": {
+    "distance": "1.31 meters",
+    "closeness rank": 8
+   },
+   "bed": {
+    "distance": "1.84 meters",
+    "closeness rank": 9
+   },
+   "bookshelf": {
+    "distance": "2.13 meters",
+    "closeness rank": 10
+   },
+   "radiator": {
+    "distance": "2.61 meters",
+    "closeness rank": 11
+   },
+   "printer": {
+    "distance": "3.78 meters",
+    "closeness rank": 12
+   },
+   "telephone": {
+    "distance": "3.8 meters",
+    "closeness rank": 13
+   },
+   "computer mouse": {
+    "distance": "3.85 meters",
+    "closeness rank": 14
+   },
+   "lamp": {
+    "distance": "4.13 meters",
+    "closeness rank": 15
+   }
+  },
+  "window": {
+   "tv": {
+    "distance": "0.06 meters",
+    "closeness rank": 1
+   },
+   "monitor": {
+    "distance": "0.07 meters",
+    "closeness rank": 2
+   },
+   "radiator": {
+    "distance": "0.08 meters",
+    "closeness rank": 3
+   },
+   "pillow": {
+    "distance": "0.16 meters",
+    "closeness rank": 4
+   },
+   "bed": {
+    "distance": "0.46 meters",
+    "closeness rank": 5
+   },
+   "door": {
+    "distance": "0.5 meters",
+    "closeness rank": 6
+   },
+   "chair": {
+    "distance": "0.85 meters",
+    "closeness rank": 7
+   },
+   "table": {
+    "distance": "1.02 meters",
+    "closeness rank": 8
+   },
+   "sofa": {
+    "distance": "1.77 meters",
+    "closeness rank": 9
+   },
+   "towel": {
+    "distance": "2.01 meters",
+    "closeness rank": 10
+   },
+   "bookshelf": {
+    "distance": "2.9 meters",
+    "closeness rank": 11
+   },
+   "printer": {
+    "distance": "2.93 meters",
+    "closeness rank": 12
+   },
+   "telephone": {
+    "distance": "3.08 meters",
+    "closeness rank": 13
+   },
+   "lamp": {
+    "distance": "3.52 meters",
+    "closeness rank": 14
+   },
+   "computer mouse": {
+    "distance": "3.54 meters",
+    "closeness rank": 15
+   }
+  }
+ },
+ "appearance order": ["chair", "sofa", "table", "towel", "door", "bookshelf", "computer mouse", "printer", "telephone", "window", "pillow", "radiator", "bed", "monitor", "tv", "lamp"]
+}
\ No newline at end of file
diff --git a/data/spatial codes/sam3+depth-anything-3/metric/tracking/selective/64/explicit/scene0699_00.json b/data/spatial codes/sam3+depth-anything-3/metric/tracking/selective/64/explicit/scene0699_00.json
new file mode 100644
index 0000000000000000000000000000000000000000..5d890bf94a43d1be5f77fc344b0ecf1c5fc76c1e
--- /dev/null
+++ b/data/spatial codes/sam3+depth-anything-3/metric/tracking/selective/64/explicit/scene0699_00.json	
@@ -0,0 +1,1187 @@
+{
+ "spatial code schema": {
+  "objects": {
+   "<object class>": {
+    "count": {
+     "unit": null,
+     "description": "number of instances of this class in the compact spatial code (that schema's per-class oriented-box list length)"
+    },
+    "instances": [
+     {
+      "position": {
+       "x coordinate": {
+        "unit": "meters",
+        "description": "x coordinate of this instance's compact 3D oriented bounding box center"
+       },
+       "y coordinate": {
+        "unit": "meters",
+        "description": "y coordinate of this instance's compact 3D oriented bounding box center"
+       },
+       "height above floor": {
+        "unit": "meters",
+        "description": "height coordinate of this instance's compact 3D oriented bounding box center"
+       }
+      },
+      "longest dimension": {
+       "unit": "meters",
+       "description": "longest of this instance's compact 3D oriented bounding box dimensions"
+      }
+     }
+    ]
+   }
+  },
+  "room": {
+   "floor area": {
+    "unit": "square meters",
+    "description": "shoelace area of the compact spatial code's floor boundary polygons, with every interior hole subtracted"
+   }
+  },
+  "closest classes distance meters from": {
+   "<object class>": {
+    "<other object class>": {
+     "distance": {
+      "unit": "meters",
+      "description": "minimum surface-to-surface separation between the two classes' compact 3D oriented bounding boxes, over every instance pair"
+     },
+     "closeness rank": {
+      "unit": null,
+      "description": "1 = the nearest other class to this one, 2 = second-nearest, and so on"
+     }
+    }
+   }
+  },
+  "appearance order": {
+   "unit": null,
+   "description": "class names ordered by earliest compact 'first visible time' across all of that class's instances"
+  }
+ },
+ "objects": {
+  "backpack": {
+   "count": 2,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "3.34 meters",
+      "y coordinate": "1.11 meters",
+      "height above floor": "-0.15 meters"
+     },
+     "longest dimension": "0.42 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "3.51 meters",
+      "y coordinate": "1.15 meters",
+      "height above floor": "0.06 meters"
+     },
+     "longest dimension": "0.49 meters"
+    }
+   ]
+  },
+  "bed": {
+   "count": 2,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "0.9 meters",
+      "y coordinate": "0.86 meters",
+      "height above floor": "-0.03 meters"
+     },
+     "longest dimension": "1.74 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "0.65 meters",
+      "y coordinate": "0.86 meters",
+      "height above floor": "0.63 meters"
+     },
+     "longest dimension": "1.61 meters"
+    }
+   ]
+  },
+  "chair": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "3.46 meters",
+      "y coordinate": "0.9 meters",
+      "height above floor": "0.23 meters"
+     },
+     "longest dimension": "0.73 meters"
+    }
+   ]
+  },
+  "clock": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-0.31 meters",
+      "y coordinate": "0.72 meters",
+      "height above floor": "-0.32 meters"
+     },
+     "longest dimension": "0.15 meters"
+    }
+   ]
+  },
+  "closet": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-0.47 meters",
+      "y coordinate": "0.46 meters",
+      "height above floor": "-0.02 meters"
+     },
+     "longest dimension": "0.58 meters"
+    }
+   ]
+  },
+  "door": {
+   "count": 3,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "1.75 meters",
+      "y coordinate": "0.97 meters",
+      "height above floor": "-1.25 meters"
+     },
+     "longest dimension": "1.01 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "2.93 meters",
+      "y coordinate": "0.86 meters",
+      "height above floor": "-1.36 meters"
+     },
+     "longest dimension": "1.11 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-0.15 meters",
+      "y coordinate": "1.12 meters",
+      "height above floor": "-1.55 meters"
+     },
+     "longest dimension": "0.6 meters"
+    }
+   ]
+  },
+  "lamp": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "0.71 meters",
+      "y coordinate": "0.91 meters",
+      "height above floor": "-1.3 meters"
+     },
+     "longest dimension": "1.33 meters"
+    }
+   ]
+  },
+  "mattress": {
+   "count": 2,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "0.52 meters",
+      "y coordinate": "0.93 meters",
+      "height above floor": "0.5 meters"
+     },
+     "longest dimension": "1.24 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "0.88 meters",
+      "y coordinate": "0.9 meters",
+      "height above floor": "-0.1 meters"
+     },
+     "longest dimension": "1.28 meters"
+    }
+   ]
+  },
+  "nightstand": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "0.01 meters",
+      "y coordinate": "1.15 meters",
+      "height above floor": "1.14 meters"
+     },
+     "longest dimension": "0.7 meters"
+    }
+   ]
+  },
+  "pillow": {
+   "count": 2,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "0.94 meters",
+      "y coordinate": "0.97 meters",
+      "height above floor": "-0.23 meters"
+     },
+     "longest dimension": "1.33 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "1.46 meters",
+      "y coordinate": "0.86 meters",
+      "height above floor": "1.14 meters"
+     },
+     "longest dimension": "0.62 meters"
+    }
+   ]
+  },
+  "plant": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "4.09 meters",
+      "y coordinate": "0.44 meters",
+      "height above floor": "0.92 meters"
+     },
+     "longest dimension": "0.57 meters"
+    }
+   ]
+  },
+  "radiator": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-0.26 meters",
+      "y coordinate": "1.01 meters",
+      "height above floor": "-0.06 meters"
+     },
+     "longest dimension": "1.39 meters"
+    }
+   ]
+  },
+  "table": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "3.41 meters",
+      "y coordinate": "0.81 meters",
+      "height above floor": "0.88 meters"
+     },
+     "longest dimension": "1.24 meters"
+    }
+   ]
+  },
+  "trash bin": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "3.95 meters",
+      "y coordinate": "0.54 meters",
+      "height above floor": "0.88 meters"
+     },
+     "longest dimension": "0.29 meters"
+    }
+   ]
+  },
+  "window": {
+   "count": 2,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-0.51 meters",
+      "y coordinate": "0.49 meters",
+      "height above floor": "-0.04 meters"
+     },
+     "longest dimension": "0.82 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "3.82 meters",
+      "y coordinate": "0.57 meters",
+      "height above floor": "1.39 meters"
+     },
+     "longest dimension": "0.79 meters"
+    }
+   ]
+  }
+ },
+ "room": {
+  "floor area": "11.3 square meters"
+ },
+ "closest classes distance meters from": {
+  "backpack": {
+   "chair": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "table": {
+    "distance": "0.23 meters",
+    "closeness rank": 2
+   },
+   "trash bin": {
+    "distance": "0.7 meters",
+    "closeness rank": 3
+   },
+   "plant": {
+    "distance": "0.76 meters",
+    "closeness rank": 4
+   },
+   "door": {
+    "distance": "0.93 meters",
+    "closeness rank": 5
+   },
+   "window": {
+    "distance": "1.03 meters",
+    "closeness rank": 6
+   },
+   "pillow": {
+    "distance": "1.57 meters",
+    "closeness rank": 7
+   },
+   "bed": {
+    "distance": "1.89 meters",
+    "closeness rank": 8
+   },
+   "mattress": {
+    "distance": "1.93 meters",
+    "closeness rank": 9
+   },
+   "lamp": {
+    "distance": "2.55 meters",
+    "closeness rank": 10
+   },
+   "nightstand": {
+    "distance": "2.94 meters",
+    "closeness rank": 11
+   },
+   "radiator": {
+    "distance": "3.22 meters",
+    "closeness rank": 12
+   },
+   "clock": {
+    "distance": "3.47 meters",
+    "closeness rank": 13
+   },
+   "closet": {
+    "distance": "3.66 meters",
+    "closeness rank": 14
+   }
+  },
+  "bed": {
+   "mattress": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "pillow": {
+    "distance": "0.0 meters",
+    "closeness rank": 2
+   },
+   "nightstand": {
+    "distance": "0.11 meters",
+    "closeness rank": 3
+   },
+   "lamp": {
+    "distance": "0.3 meters",
+    "closeness rank": 4
+   },
+   "door": {
+    "distance": "0.3 meters",
+    "closeness rank": 5
+   },
+   "radiator": {
+    "distance": "0.48 meters",
+    "closeness rank": 6
+   },
+   "clock": {
+    "distance": "0.69 meters",
+    "closeness rank": 7
+   },
+   "window": {
+    "distance": "0.88 meters",
+    "closeness rank": 8
+   },
+   "closet": {
+    "distance": "0.88 meters",
+    "closeness rank": 9
+   },
+   "table": {
+    "distance": "1.46 meters",
+    "closeness rank": 10
+   },
+   "backpack": {
+    "distance": "1.89 meters",
+    "closeness rank": 11
+   },
+   "chair": {
+    "distance": "1.97 meters",
+    "closeness rank": 12
+   },
+   "trash bin": {
+    "distance": "2.47 meters",
+    "closeness rank": 13
+   },
+   "plant": {
+    "distance": "2.51 meters",
+    "closeness rank": 14
+   }
+  },
+  "chair": {
+   "backpack": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "table": {
+    "distance": "0.12 meters",
+    "closeness rank": 2
+   },
+   "trash bin": {
+    "distance": "0.44 meters",
+    "closeness rank": 3
+   },
+   "plant": {
+    "distance": "0.46 meters",
+    "closeness rank": 4
+   },
+   "window": {
+    "distance": "0.9 meters",
+    "closeness rank": 5
+   },
+   "door": {
+    "distance": "1.3 meters",
+    "closeness rank": 6
+   },
+   "pillow": {
+    "distance": "1.63 meters",
+    "closeness rank": 7
+   },
+   "bed": {
+    "distance": "1.97 meters",
+    "closeness rank": 8
+   },
+   "mattress": {
+    "distance": "2.04 meters",
+    "closeness rank": 9
+   },
+   "lamp": {
+    "distance": "2.76 meters",
+    "closeness rank": 10
+   },
+   "nightstand": {
+    "distance": "2.98 meters",
+    "closeness rank": 11
+   },
+   "radiator": {
+    "distance": "3.34 meters",
+    "closeness rank": 12
+   },
+   "clock": {
+    "distance": "3.55 meters",
+    "closeness rank": 13
+   },
+   "closet": {
+    "distance": "3.72 meters",
+    "closeness rank": 14
+   }
+  },
+  "clock": {
+   "radiator": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "window": {
+    "distance": "0.07 meters",
+    "closeness rank": 2
+   },
+   "closet": {
+    "distance": "0.08 meters",
+    "closeness rank": 3
+   },
+   "mattress": {
+    "distance": "0.43 meters",
+    "closeness rank": 4
+   },
+   "pillow": {
+    "distance": "0.51 meters",
+    "closeness rank": 5
+   },
+   "bed": {
+    "distance": "0.69 meters",
+    "closeness rank": 6
+   },
+   "nightstand": {
+    "distance": "1.06 meters",
+    "closeness rank": 7
+   },
+   "door": {
+    "distance": "1.17 meters",
+    "closeness rank": 8
+   },
+   "lamp": {
+    "distance": "1.18 meters",
+    "closeness rank": 9
+   },
+   "table": {
+    "distance": "3.11 meters",
+    "closeness rank": 10
+   },
+   "backpack": {
+    "distance": "3.47 meters",
+    "closeness rank": 11
+   },
+   "chair": {
+    "distance": "3.55 meters",
+    "closeness rank": 12
+   },
+   "trash bin": {
+    "distance": "4.15 meters",
+    "closeness rank": 13
+   },
+   "plant": {
+    "distance": "4.18 meters",
+    "closeness rank": 14
+   }
+  },
+  "closet": {
+   "window": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "clock": {
+    "distance": "0.08 meters",
+    "closeness rank": 2
+   },
+   "radiator": {
+    "distance": "0.17 meters",
+    "closeness rank": 3
+   },
+   "mattress": {
+    "distance": "0.45 meters",
+    "closeness rank": 4
+   },
+   "nightstand": {
+    "distance": "0.64 meters",
+    "closeness rank": 5
+   },
+   "pillow": {
+    "distance": "0.7 meters",
+    "closeness rank": 6
+   },
+   "bed": {
+    "distance": "0.88 meters",
+    "closeness rank": 7
+   },
+   "door": {
+    "distance": "1.25 meters",
+    "closeness rank": 8
+   },
+   "lamp": {
+    "distance": "1.36 meters",
+    "closeness rank": 9
+   },
+   "table": {
+    "distance": "3.21 meters",
+    "closeness rank": 10
+   },
+   "backpack": {
+    "distance": "3.66 meters",
+    "closeness rank": 11
+   },
+   "chair": {
+    "distance": "3.72 meters",
+    "closeness rank": 12
+   },
+   "trash bin": {
+    "distance": "4.23 meters",
+    "closeness rank": 13
+   },
+   "plant": {
+    "distance": "4.26 meters",
+    "closeness rank": 14
+   }
+  },
+  "door": {
+   "bed": {
+    "distance": "0.3 meters",
+    "closeness rank": 1
+   },
+   "mattress": {
+    "distance": "0.46 meters",
+    "closeness rank": 2
+   },
+   "pillow": {
+    "distance": "0.54 meters",
+    "closeness rank": 3
+   },
+   "lamp": {
+    "distance": "0.55 meters",
+    "closeness rank": 4
+   },
+   "radiator": {
+    "distance": "0.79 meters",
+    "closeness rank": 5
+   },
+   "backpack": {
+    "distance": "0.93 meters",
+    "closeness rank": 6
+   },
+   "window": {
+    "distance": "1.1 meters",
+    "closeness rank": 7
+   },
+   "clock": {
+    "distance": "1.17 meters",
+    "closeness rank": 8
+   },
+   "closet": {
+    "distance": "1.25 meters",
+    "closeness rank": 9
+   },
+   "chair": {
+    "distance": "1.3 meters",
+    "closeness rank": 10
+   },
+   "table": {
+    "distance": "1.76 meters",
+    "closeness rank": 11
+   },
+   "trash bin": {
+    "distance": "2.17 meters",
+    "closeness rank": 12
+   },
+   "plant": {
+    "distance": "2.19 meters",
+    "closeness rank": 13
+   },
+   "nightstand": {
+    "distance": "2.26 meters",
+    "closeness rank": 14
+   }
+  },
+  "lamp": {
+   "bed": {
+    "distance": "0.3 meters",
+    "closeness rank": 1
+   },
+   "mattress": {
+    "distance": "0.46 meters",
+    "closeness rank": 2
+   },
+   "door": {
+    "distance": "0.55 meters",
+    "closeness rank": 3
+   },
+   "pillow": {
+    "distance": "0.65 meters",
+    "closeness rank": 4
+   },
+   "radiator": {
+    "distance": "0.76 meters",
+    "closeness rank": 5
+   },
+   "clock": {
+    "distance": "1.18 meters",
+    "closeness rank": 6
+   },
+   "window": {
+    "distance": "1.29 meters",
+    "closeness rank": 7
+   },
+   "closet": {
+    "distance": "1.36 meters",
+    "closeness rank": 8
+   },
+   "nightstand": {
+    "distance": "2.0 meters",
+    "closeness rank": 9
+   },
+   "backpack": {
+    "distance": "2.55 meters",
+    "closeness rank": 10
+   },
+   "table": {
+    "distance": "2.6 meters",
+    "closeness rank": 11
+   },
+   "chair": {
+    "distance": "2.76 meters",
+    "closeness rank": 12
+   },
+   "trash bin": {
+    "distance": "3.56 meters",
+    "closeness rank": 13
+   },
+   "plant": {
+    "distance": "3.58 meters",
+    "closeness rank": 14
+   }
+  },
+  "mattress": {
+   "bed": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "nightstand": {
+    "distance": "0.0 meters",
+    "closeness rank": 2
+   },
+   "pillow": {
+    "distance": "0.0 meters",
+    "closeness rank": 3
+   },
+   "radiator": {
+    "distance": "0.03 meters",
+    "closeness rank": 4
+   },
+   "window": {
+    "distance": "0.41 meters",
+    "closeness rank": 5
+   },
+   "clock": {
+    "distance": "0.43 meters",
+    "closeness rank": 6
+   },
+   "closet": {
+    "distance": "0.45 meters",
+    "closeness rank": 7
+   },
+   "lamp": {
+    "distance": "0.46 meters",
+    "closeness rank": 8
+   },
+   "door": {
+    "distance": "0.46 meters",
+    "closeness rank": 9
+   },
+   "table": {
+    "distance": "1.53 meters",
+    "closeness rank": 10
+   },
+   "backpack": {
+    "distance": "1.93 meters",
+    "closeness rank": 11
+   },
+   "chair": {
+    "distance": "2.04 meters",
+    "closeness rank": 12
+   },
+   "trash bin": {
+    "distance": "2.55 meters",
+    "closeness rank": 13
+   },
+   "plant": {
+    "distance": "2.59 meters",
+    "closeness rank": 14
+   }
+  },
+  "nightstand": {
+   "mattress": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "bed": {
+    "distance": "0.11 meters",
+    "closeness rank": 2
+   },
+   "radiator": {
+    "distance": "0.15 meters",
+    "closeness rank": 3
+   },
+   "window": {
+    "distance": "0.52 meters",
+    "closeness rank": 4
+   },
+   "closet": {
+    "distance": "0.64 meters",
+    "closeness rank": 5
+   },
+   "pillow": {
+    "distance": "0.7 meters",
+    "closeness rank": 6
+   },
+   "clock": {
+    "distance": "1.06 meters",
+    "closeness rank": 7
+   },
+   "lamp": {
+    "distance": "2.0 meters",
+    "closeness rank": 8
+   },
+   "door": {
+    "distance": "2.26 meters",
+    "closeness rank": 9
+   },
+   "table": {
+    "distance": "2.47 meters",
+    "closeness rank": 10
+   },
+   "backpack": {
+    "distance": "2.94 meters",
+    "closeness rank": 11
+   },
+   "chair": {
+    "distance": "2.98 meters",
+    "closeness rank": 12
+   },
+   "trash bin": {
+    "distance": "3.51 meters",
+    "closeness rank": 13
+   },
+   "plant": {
+    "distance": "3.55 meters",
+    "closeness rank": 14
+   }
+  },
+  "pillow": {
+   "bed": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "mattress": {
+    "distance": "0.0 meters",
+    "closeness rank": 2
+   },
+   "radiator": {
+    "distance": "0.32 meters",
+    "closeness rank": 3
+   },
+   "clock": {
+    "distance": "0.51 meters",
+    "closeness rank": 4
+   },
+   "door": {
+    "distance": "0.54 meters",
+    "closeness rank": 5
+   },
+   "lamp": {
+    "distance": "0.65 meters",
+    "closeness rank": 6
+   },
+   "nightstand": {
+    "distance": "0.7 meters",
+    "closeness rank": 7
+   },
+   "window": {
+    "distance": "0.7 meters",
+    "closeness rank": 8
+   },
+   "closet": {
+    "distance": "0.7 meters",
+    "closeness rank": 9
+   },
+   "table": {
+    "distance": "1.01 meters",
+    "closeness rank": 10
+   },
+   "backpack": {
+    "distance": "1.57 meters",
+    "closeness rank": 11
+   },
+   "chair": {
+    "distance": "1.63 meters",
+    "closeness rank": 12
+   },
+   "trash bin": {
+    "distance": "2.02 meters",
+    "closeness rank": 13
+   },
+   "plant": {
+    "distance": "2.06 meters",
+    "closeness rank": 14
+   }
+  },
+  "plant": {
+   "trash bin": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "table": {
+    "distance": "0.11 meters",
+    "closeness rank": 2
+   },
+   "window": {
+    "distance": "0.3 meters",
+    "closeness rank": 3
+   },
+   "chair": {
+    "distance": "0.46 meters",
+    "closeness rank": 4
+   },
+   "backpack": {
+    "distance": "0.76 meters",
+    "closeness rank": 5
+   },
+   "pillow": {
+    "distance": "2.06 meters",
+    "closeness rank": 6
+   },
+   "door": {
+    "distance": "2.19 meters",
+    "closeness rank": 7
+   },
+   "bed": {
+    "distance": "2.51 meters",
+    "closeness rank": 8
+   },
+   "mattress": {
+    "distance": "2.59 meters",
+    "closeness rank": 9
+   },
+   "nightstand": {
+    "distance": "3.55 meters",
+    "closeness rank": 10
+   },
+   "lamp": {
+    "distance": "3.58 meters",
+    "closeness rank": 11
+   },
+   "radiator": {
+    "distance": "3.91 meters",
+    "closeness rank": 12
+   },
+   "clock": {
+    "distance": "4.18 meters",
+    "closeness rank": 13
+   },
+   "closet": {
+    "distance": "4.26 meters",
+    "closeness rank": 14
+   }
+  },
+  "radiator": {
+   "clock": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "mattress": {
+    "distance": "0.03 meters",
+    "closeness rank": 2
+   },
+   "window": {
+    "distance": "0.1 meters",
+    "closeness rank": 3
+   },
+   "nightstand": {
+    "distance": "0.15 meters",
+    "closeness rank": 4
+   },
+   "closet": {
+    "distance": "0.17 meters",
+    "closeness rank": 5
+   },
+   "pillow": {
+    "distance": "0.32 meters",
+    "closeness rank": 6
+   },
+   "bed": {
+    "distance": "0.48 meters",
+    "closeness rank": 7
+   },
+   "lamp": {
+    "distance": "0.76 meters",
+    "closeness rank": 8
+   },
+   "door": {
+    "distance": "0.79 meters",
+    "closeness rank": 9
+   },
+   "table": {
+    "distance": "2.84 meters",
+    "closeness rank": 10
+   },
+   "backpack": {
+    "distance": "3.22 meters",
+    "closeness rank": 11
+   },
+   "chair": {
+    "distance": "3.34 meters",
+    "closeness rank": 12
+   },
+   "trash bin": {
+    "distance": "3.86 meters",
+    "closeness rank": 13
+   },
+   "plant": {
+    "distance": "3.91 meters",
+    "closeness rank": 14
+   }
+  },
+  "table": {
+   "trash bin": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "window": {
+    "distance": "0.08 meters",
+    "closeness rank": 2
+   },
+   "plant": {
+    "distance": "0.11 meters",
+    "closeness rank": 3
+   },
+   "chair": {
+    "distance": "0.12 meters",
+    "closeness rank": 4
+   },
+   "backpack": {
+    "distance": "0.23 meters",
+    "closeness rank": 5
+   },
+   "pillow": {
+    "distance": "1.01 meters",
+    "closeness rank": 6
+   },
+   "bed": {
+    "distance": "1.46 meters",
+    "closeness rank": 7
+   },
+   "mattress": {
+    "distance": "1.53 meters",
+    "closeness rank": 8
+   },
+   "door": {
+    "distance": "1.76 meters",
+    "closeness rank": 9
+   },
+   "nightstand": {
+    "distance": "2.47 meters",
+    "closeness rank": 10
+   },
+   "lamp": {
+    "distance": "2.6 meters",
+    "closeness rank": 11
+   },
+   "radiator": {
+    "distance": "2.84 meters",
+    "closeness rank": 12
+   },
+   "clock": {
+    "distance": "3.11 meters",
+    "closeness rank": 13
+   },
+   "closet": {
+    "distance": "3.21 meters",
+    "closeness rank": 14
+   }
+  },
+  "trash bin": {
+   "plant": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "table": {
+    "distance": "0.0 meters",
+    "closeness rank": 2
+   },
+   "window": {
+    "distance": "0.37 meters",
+    "closeness rank": 3
+   },
+   "chair": {
+    "distance": "0.44 meters",
+    "closeness rank": 4
+   },
+   "backpack": {
+    "distance": "0.7 meters",
+    "closeness rank": 5
+   },
+   "pillow": {
+    "distance": "2.02 meters",
+    "closeness rank": 6
+   },
+   "door": {
+    "distance": "2.17 meters",
+    "closeness rank": 7
+   },
+   "bed": {
+    "distance": "2.47 meters",
+    "closeness rank": 8
+   },
+   "mattress": {
+    "distance": "2.55 meters",
+    "closeness rank": 9
+   },
+   "nightstand": {
+    "distance": "3.51 meters",
+    "closeness rank": 10
+   },
+   "lamp": {
+    "distance": "3.56 meters",
+    "closeness rank": 11
+   },
+   "radiator": {
+    "distance": "3.86 meters",
+    "closeness rank": 12
+   },
+   "clock": {
+    "distance": "4.15 meters",
+    "closeness rank": 13
+   },
+   "closet": {
+    "distance": "4.23 meters",
+    "closeness rank": 14
+   }
+  },
+  "window": {
+   "closet": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "clock": {
+    "distance": "0.07 meters",
+    "closeness rank": 2
+   },
+   "table": {
+    "distance": "0.08 meters",
+    "closeness rank": 3
+   },
+   "radiator": {
+    "distance": "0.1 meters",
+    "closeness rank": 4
+   },
+   "plant": {
+    "distance": "0.3 meters",
+    "closeness rank": 5
+   },
+   "trash bin": {
+    "distance": "0.37 meters",
+    "closeness rank": 6
+   },
+   "mattress": {
+    "distance": "0.41 meters",
+    "closeness rank": 7
+   },
+   "nightstand": {
+    "distance": "0.52 meters",
+    "closeness rank": 8
+   },
+   "pillow": {
+    "distance": "0.7 meters",
+    "closeness rank": 9
+   },
+   "bed": {
+    "distance": "0.88 meters",
+    "closeness rank": 10
+   },
+   "chair": {
+    "distance": "0.9 meters",
+    "closeness rank": 11
+   },
+   "backpack": {
+    "distance": "1.03 meters",
+    "closeness rank": 12
+   },
+   "door": {
+    "distance": "1.1 meters",
+    "closeness rank": 13
+   },
+   "lamp": {
+    "distance": "1.29 meters",
+    "closeness rank": 14
+   }
+  }
+ },
+ "appearance order": ["bed", "mattress", "pillow", "window", "radiator", "door", "nightstand", "table", "chair", "trash bin", "plant", "backpack", "closet", "lamp", "clock"]
+}
\ No newline at end of file
diff --git a/data/spatial codes/sam3+depth-anything-3/metric/tracking/uniform/32/explicit/scene0356_00.json b/data/spatial codes/sam3+depth-anything-3/metric/tracking/uniform/32/explicit/scene0356_00.json
new file mode 100644
index 0000000000000000000000000000000000000000..107f807b5c99f04a9e923cd9594817f1aa8f1dbd
--- /dev/null
+++ b/data/spatial codes/sam3+depth-anything-3/metric/tracking/uniform/32/explicit/scene0356_00.json	
@@ -0,0 +1,600 @@
+{
+ "objects": {
+  "bed": {
+   "count": 2,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "1.02 meters",
+      "y coordinate": "-0.47 meters",
+      "height above floor": "-0.05 meters"
+     },
+     "longest dimension": "1.56 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-0.5 meters",
+      "y coordinate": "1.69 meters",
+      "height above floor": "0.08 meters"
+     },
+     "longest dimension": "0.42 meters"
+    }
+   ]
+  },
+  "chair": {
+   "count": 2,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "1.15 meters",
+      "y coordinate": "-0.37 meters",
+      "height above floor": "-1.06 meters"
+     },
+     "longest dimension": "0.68 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-0.45 meters",
+      "y coordinate": "1.69 meters",
+      "height above floor": "0.15 meters"
+     },
+     "longest dimension": "0.47 meters"
+    }
+   ]
+  },
+  "door": {
+   "count": 4,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-0.2 meters",
+      "y coordinate": "1.86 meters",
+      "height above floor": "-0.17 meters"
+     },
+     "longest dimension": "1.09 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "0.17 meters",
+      "y coordinate": "0.73 meters",
+      "height above floor": "0.67 meters"
+     },
+     "longest dimension": "0.92 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-0.03 meters",
+      "y coordinate": "1.93 meters",
+      "height above floor": "-0.36 meters"
+     },
+     "longest dimension": "1.32 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-0.01 meters",
+      "y coordinate": "1.28 meters",
+      "height above floor": "0.33 meters"
+     },
+     "longest dimension": "1.14 meters"
+    }
+   ]
+  },
+  "mattress": {
+   "count": 2,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "1.0 meters",
+      "y coordinate": "-0.5 meters",
+      "height above floor": "0.0 meters"
+     },
+     "longest dimension": "1.5 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-0.54 meters",
+      "y coordinate": "1.65 meters",
+      "height above floor": "0.11 meters"
+     },
+     "longest dimension": "0.27 meters"
+    }
+   ]
+  },
+  "mirror": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-0.4 meters",
+      "y coordinate": "1.67 meters",
+      "height above floor": "-0.06 meters"
+     },
+     "longest dimension": "0.82 meters"
+    }
+   ]
+  },
+  "plant": {
+   "count": 2,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "1.35 meters",
+      "y coordinate": "-1.82 meters",
+      "height above floor": "-0.65 meters"
+     },
+     "longest dimension": "0.94 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "1.5 meters",
+      "y coordinate": "-1.92 meters",
+      "height above floor": "-0.05 meters"
+     },
+     "longest dimension": "0.35 meters"
+    }
+   ]
+  },
+  "table": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "0.86 meters",
+      "y coordinate": "-0.32 meters",
+      "height above floor": "-1.41 meters"
+     },
+     "longest dimension": "0.78 meters"
+    }
+   ]
+  },
+  "telephone": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-0.64 meters",
+      "y coordinate": "1.81 meters",
+      "height above floor": "-1.14 meters"
+     },
+     "longest dimension": "0.29 meters"
+    }
+   ]
+  },
+  "trash bin": {
+   "count": 3,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "0.78 meters",
+      "y coordinate": "-0.59 meters",
+      "height above floor": "-1.34 meters"
+     },
+     "longest dimension": "0.39 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "0.86 meters",
+      "y coordinate": "-0.95 meters",
+      "height above floor": "-1.27 meters"
+     },
+     "longest dimension": "0.36 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "0.96 meters",
+      "y coordinate": "-1.22 meters",
+      "height above floor": "-1.29 meters"
+     },
+     "longest dimension": "0.29 meters"
+    }
+   ]
+  },
+  "window": {
+   "count": 2,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "1.44 meters",
+      "y coordinate": "-1.86 meters",
+      "height above floor": "-0.55 meters"
+     },
+     "longest dimension": "1.64 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-0.74 meters",
+      "y coordinate": "1.5 meters",
+      "height above floor": "0.14 meters"
+     },
+     "longest dimension": "0.21 meters"
+    }
+   ]
+  }
+ },
+ "room": {
+  "floor area": "6.8 square meters"
+ },
+ "closest classes distance meters from": {
+  "bed": {
+   "mattress": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "window": {
+    "distance": "0.41 meters",
+    "closeness rank": 2
+   },
+   "plant": {
+    "distance": "0.55 meters",
+    "closeness rank": 3
+   },
+   "chair": {
+    "distance": "0.71 meters",
+    "closeness rank": 4
+   },
+   "table": {
+    "distance": "0.84 meters",
+    "closeness rank": 5
+   },
+   "trash bin": {
+    "distance": "0.98 meters",
+    "closeness rank": 6
+   },
+   "mirror": {
+    "distance": "1.49 meters",
+    "closeness rank": 7
+   },
+   "door": {
+    "distance": "1.51 meters",
+    "closeness rank": 8
+   },
+   "telephone": {
+    "distance": "2.04 meters",
+    "closeness rank": 9
+   }
+  },
+  "chair": {
+   "table": {
+    "distance": "0.04 meters",
+    "closeness rank": 1
+   },
+   "trash bin": {
+    "distance": "0.19 meters",
+    "closeness rank": 2
+   },
+   "window": {
+    "distance": "0.7 meters",
+    "closeness rank": 3
+   },
+   "bed": {
+    "distance": "0.71 meters",
+    "closeness rank": 4
+   },
+   "mattress": {
+    "distance": "0.73 meters",
+    "closeness rank": 5
+   },
+   "plant": {
+    "distance": "0.86 meters",
+    "closeness rank": 6
+   },
+   "mirror": {
+    "distance": "2.54 meters",
+    "closeness rank": 7
+   },
+   "door": {
+    "distance": "2.59 meters",
+    "closeness rank": 8
+   },
+   "telephone": {
+    "distance": "2.63 meters",
+    "closeness rank": 9
+   }
+  },
+  "door": {
+   "mirror": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "window": {
+    "distance": "0.0 meters",
+    "closeness rank": 2
+   },
+   "telephone": {
+    "distance": "0.57 meters",
+    "closeness rank": 3
+   },
+   "bed": {
+    "distance": "1.51 meters",
+    "closeness rank": 4
+   },
+   "mattress": {
+    "distance": "1.59 meters",
+    "closeness rank": 5
+   },
+   "table": {
+    "distance": "2.46 meters",
+    "closeness rank": 6
+   },
+   "chair": {
+    "distance": "2.59 meters",
+    "closeness rank": 7
+   },
+   "trash bin": {
+    "distance": "2.65 meters",
+    "closeness rank": 8
+   },
+   "plant": {
+    "distance": "3.74 meters",
+    "closeness rank": 9
+   }
+  },
+  "mattress": {
+   "bed": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "window": {
+    "distance": "0.43 meters",
+    "closeness rank": 2
+   },
+   "plant": {
+    "distance": "0.55 meters",
+    "closeness rank": 3
+   },
+   "chair": {
+    "distance": "0.73 meters",
+    "closeness rank": 4
+   },
+   "table": {
+    "distance": "0.87 meters",
+    "closeness rank": 5
+   },
+   "trash bin": {
+    "distance": "1.0 meters",
+    "closeness rank": 6
+   },
+   "mirror": {
+    "distance": "1.58 meters",
+    "closeness rank": 7
+   },
+   "door": {
+    "distance": "1.59 meters",
+    "closeness rank": 8
+   },
+   "telephone": {
+    "distance": "2.14 meters",
+    "closeness rank": 9
+   }
+  },
+  "mirror": {
+   "door": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "window": {
+    "distance": "0.0 meters",
+    "closeness rank": 2
+   },
+   "telephone": {
+    "distance": "0.8 meters",
+    "closeness rank": 3
+   },
+   "bed": {
+    "distance": "1.49 meters",
+    "closeness rank": 4
+   },
+   "mattress": {
+    "distance": "1.58 meters",
+    "closeness rank": 5
+   },
+   "table": {
+    "distance": "2.43 meters",
+    "closeness rank": 6
+   },
+   "chair": {
+    "distance": "2.54 meters",
+    "closeness rank": 7
+   },
+   "trash bin": {
+    "distance": "2.62 meters",
+    "closeness rank": 8
+   },
+   "plant": {
+    "distance": "3.66 meters",
+    "closeness rank": 9
+   }
+  },
+  "plant": {
+   "window": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "bed": {
+    "distance": "0.55 meters",
+    "closeness rank": 2
+   },
+   "mattress": {
+    "distance": "0.55 meters",
+    "closeness rank": 3
+   },
+   "chair": {
+    "distance": "0.86 meters",
+    "closeness rank": 4
+   },
+   "table": {
+    "distance": "1.01 meters",
+    "closeness rank": 5
+   },
+   "trash bin": {
+    "distance": "1.01 meters",
+    "closeness rank": 6
+   },
+   "mirror": {
+    "distance": "3.66 meters",
+    "closeness rank": 7
+   },
+   "door": {
+    "distance": "3.74 meters",
+    "closeness rank": 8
+   },
+   "telephone": {
+    "distance": "3.89 meters",
+    "closeness rank": 9
+   }
+  },
+  "table": {
+   "trash bin": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "chair": {
+    "distance": "0.04 meters",
+    "closeness rank": 2
+   },
+   "bed": {
+    "distance": "0.84 meters",
+    "closeness rank": 3
+   },
+   "window": {
+    "distance": "0.86 meters",
+    "closeness rank": 4
+   },
+   "mattress": {
+    "distance": "0.87 meters",
+    "closeness rank": 5
+   },
+   "plant": {
+    "distance": "1.01 meters",
+    "closeness rank": 6
+   },
+   "mirror": {
+    "distance": "2.43 meters",
+    "closeness rank": 7
+   },
+   "door": {
+    "distance": "2.46 meters",
+    "closeness rank": 8
+   },
+   "telephone": {
+    "distance": "2.48 meters",
+    "closeness rank": 9
+   }
+  },
+  "telephone": {
+   "door": {
+    "distance": "0.57 meters",
+    "closeness rank": 1
+   },
+   "window": {
+    "distance": "0.58 meters",
+    "closeness rank": 2
+   },
+   "mirror": {
+    "distance": "0.8 meters",
+    "closeness rank": 3
+   },
+   "bed": {
+    "distance": "2.04 meters",
+    "closeness rank": 4
+   },
+   "mattress": {
+    "distance": "2.14 meters",
+    "closeness rank": 5
+   },
+   "table": {
+    "distance": "2.48 meters",
+    "closeness rank": 6
+   },
+   "chair": {
+    "distance": "2.63 meters",
+    "closeness rank": 7
+   },
+   "trash bin": {
+    "distance": "2.66 meters",
+    "closeness rank": 8
+   },
+   "plant": {
+    "distance": "3.89 meters",
+    "closeness rank": 9
+   }
+  },
+  "trash bin": {
+   "table": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "chair": {
+    "distance": "0.19 meters",
+    "closeness rank": 2
+   },
+   "window": {
+    "distance": "0.86 meters",
+    "closeness rank": 3
+   },
+   "bed": {
+    "distance": "0.98 meters",
+    "closeness rank": 4
+   },
+   "mattress": {
+    "distance": "1.0 meters",
+    "closeness rank": 5
+   },
+   "plant": {
+    "distance": "1.01 meters",
+    "closeness rank": 6
+   },
+   "mirror": {
+    "distance": "2.62 meters",
+    "closeness rank": 7
+   },
+   "door": {
+    "distance": "2.65 meters",
+    "closeness rank": 8
+   },
+   "telephone": {
+    "distance": "2.66 meters",
+    "closeness rank": 9
+   }
+  },
+  "window": {
+   "door": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "mirror": {
+    "distance": "0.0 meters",
+    "closeness rank": 2
+   },
+   "plant": {
+    "distance": "0.0 meters",
+    "closeness rank": 3
+   },
+   "bed": {
+    "distance": "0.41 meters",
+    "closeness rank": 4
+   },
+   "mattress": {
+    "distance": "0.43 meters",
+    "closeness rank": 5
+   },
+   "telephone": {
+    "distance": "0.58 meters",
+    "closeness rank": 6
+   },
+   "chair": {
+    "distance": "0.7 meters",
+    "closeness rank": 7
+   },
+   "table": {
+    "distance": "0.86 meters",
+    "closeness rank": 8
+   },
+   "trash bin": {
+    "distance": "0.86 meters",
+    "closeness rank": 9
+   }
+  }
+ },
+ "appearance order": ["chair", "plant", "window", "table", "trash bin", "bed", "mattress", "door", "mirror", "telephone"]
+}
\ No newline at end of file
diff --git a/data/spatial codes/sam3+depth-anything-3/metric/tracking/uniform/32/explicit/scene0357_01.json b/data/spatial codes/sam3+depth-anything-3/metric/tracking/uniform/32/explicit/scene0357_01.json
new file mode 100644
index 0000000000000000000000000000000000000000..9ad03a580bbce22e515f44926a8118d2a6eae1c2
--- /dev/null
+++ b/data/spatial codes/sam3+depth-anything-3/metric/tracking/uniform/32/explicit/scene0357_01.json	
@@ -0,0 +1,244 @@
+{
+ "objects": {
+  "backpack": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-0.0 meters",
+      "y coordinate": "1.21 meters",
+      "height above floor": "0.88 meters"
+     },
+     "longest dimension": "0.41 meters"
+    }
+   ]
+  },
+  "closet": {
+   "count": 2,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "1.54 meters",
+      "y coordinate": "0.8 meters",
+      "height above floor": "1.24 meters"
+     },
+     "longest dimension": "2.01 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "0.89 meters",
+      "y coordinate": "0.09 meters",
+      "height above floor": "0.18 meters"
+     },
+     "longest dimension": "1.4 meters"
+    }
+   ]
+  },
+  "door": {
+   "count": 2,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "1.32 meters",
+      "y coordinate": "0.74 meters",
+      "height above floor": "-0.84 meters"
+     },
+     "longest dimension": "1.08 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "0.89 meters",
+      "y coordinate": "0.07 meters",
+      "height above floor": "0.18 meters"
+     },
+     "longest dimension": "1.47 meters"
+    }
+   ]
+  },
+  "table": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-0.68 meters",
+      "y coordinate": "0.76 meters",
+      "height above floor": "0.41 meters"
+     },
+     "longest dimension": "1.26 meters"
+    }
+   ]
+  },
+  "trash bin": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "1.22 meters",
+      "y coordinate": "0.92 meters",
+      "height above floor": "-0.1 meters"
+     },
+     "longest dimension": "0.32 meters"
+    }
+   ]
+  },
+  "window": {
+   "count": 2,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-0.05 meters",
+      "y coordinate": "-0.09 meters",
+      "height above floor": "2.04 meters"
+     },
+     "longest dimension": "0.69 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "0.15 meters",
+      "y coordinate": "-0.01 meters",
+      "height above floor": "2.12 meters"
+     },
+     "longest dimension": "0.44 meters"
+    }
+   ]
+  }
+ },
+ "room": {
+  "floor area": "6.8 square meters"
+ },
+ "closest classes distance meters from": {
+  "backpack": {
+   "table": {
+    "distance": "0.29 meters",
+    "closeness rank": 1
+   },
+   "closet": {
+    "distance": "0.54 meters",
+    "closeness rank": 2
+   },
+   "window": {
+    "distance": "1.22 meters",
+    "closeness rank": 3
+   },
+   "trash bin": {
+    "distance": "1.29 meters",
+    "closeness rank": 4
+   },
+   "door": {
+    "distance": "1.79 meters",
+    "closeness rank": 5
+   }
+  },
+  "closet": {
+   "trash bin": {
+    "distance": "0.02 meters",
+    "closeness rank": 1
+   },
+   "backpack": {
+    "distance": "0.54 meters",
+    "closeness rank": 2
+   },
+   "door": {
+    "distance": "0.54 meters",
+    "closeness rank": 3
+   },
+   "table": {
+    "distance": "0.74 meters",
+    "closeness rank": 4
+   },
+   "window": {
+    "distance": "0.98 meters",
+    "closeness rank": 5
+   }
+  },
+  "door": {
+   "trash bin": {
+    "distance": "0.28 meters",
+    "closeness rank": 1
+   },
+   "closet": {
+    "distance": "0.54 meters",
+    "closeness rank": 2
+   },
+   "table": {
+    "distance": "1.27 meters",
+    "closeness rank": 3
+   },
+   "backpack": {
+    "distance": "1.79 meters",
+    "closeness rank": 4
+   },
+   "window": {
+    "distance": "2.87 meters",
+    "closeness rank": 5
+   }
+  },
+  "table": {
+   "backpack": {
+    "distance": "0.29 meters",
+    "closeness rank": 1
+   },
+   "closet": {
+    "distance": "0.74 meters",
+    "closeness rank": 2
+   },
+   "trash bin": {
+    "distance": "1.02 meters",
+    "closeness rank": 3
+   },
+   "door": {
+    "distance": "1.27 meters",
+    "closeness rank": 4
+   },
+   "window": {
+    "distance": "1.35 meters",
+    "closeness rank": 5
+   }
+  },
+  "trash bin": {
+   "closet": {
+    "distance": "0.02 meters",
+    "closeness rank": 1
+   },
+   "door": {
+    "distance": "0.28 meters",
+    "closeness rank": 2
+   },
+   "table": {
+    "distance": "1.02 meters",
+    "closeness rank": 3
+   },
+   "backpack": {
+    "distance": "1.29 meters",
+    "closeness rank": 4
+   },
+   "window": {
+    "distance": "2.39 meters",
+    "closeness rank": 5
+   }
+  },
+  "window": {
+   "closet": {
+    "distance": "0.98 meters",
+    "closeness rank": 1
+   },
+   "backpack": {
+    "distance": "1.22 meters",
+    "closeness rank": 2
+   },
+   "table": {
+    "distance": "1.35 meters",
+    "closeness rank": 3
+   },
+   "trash bin": {
+    "distance": "2.39 meters",
+    "closeness rank": 4
+   },
+   "door": {
+    "distance": "2.87 meters",
+    "closeness rank": 5
+   }
+  }
+ },
+ "appearance order": ["table", "closet", "door", "backpack", "window", "trash bin"]
+}
\ No newline at end of file
diff --git a/data/spatial codes/sam3+depth-anything-3/metric/tracking/uniform/32/explicit/scene0412_00.json b/data/spatial codes/sam3+depth-anything-3/metric/tracking/uniform/32/explicit/scene0412_00.json
new file mode 100644
index 0000000000000000000000000000000000000000..f751f07c8081282d1dee6eceb889237bff0a95fc
--- /dev/null
+++ b/data/spatial codes/sam3+depth-anything-3/metric/tracking/uniform/32/explicit/scene0412_00.json	
@@ -0,0 +1,355 @@
+{
+ "objects": {
+  "counter": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "1.52 meters",
+      "y coordinate": "-1.53 meters",
+      "height above floor": "3.29 meters"
+     },
+     "longest dimension": "1.76 meters"
+    }
+   ]
+  },
+  "door": {
+   "count": 5,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "1.19 meters",
+      "y coordinate": "-0.55 meters",
+      "height above floor": "5.07 meters"
+     },
+     "longest dimension": "1.66 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-0.45 meters",
+      "y coordinate": "2.31 meters",
+      "height above floor": "0.28 meters"
+     },
+     "longest dimension": "0.95 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "0.53 meters",
+      "y coordinate": "0.32 meters",
+      "height above floor": "-0.03 meters"
+     },
+     "longest dimension": "0.72 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "0.13 meters",
+      "y coordinate": "0.11 meters",
+      "height above floor": "-0.01 meters"
+     },
+     "longest dimension": "0.54 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "0.23 meters",
+      "y coordinate": "0.95 meters",
+      "height above floor": "-0.03 meters"
+     },
+     "longest dimension": "0.7 meters"
+    }
+   ]
+  },
+  "radiator": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "0.61 meters",
+      "y coordinate": "-0.15 meters",
+      "height above floor": "-0.1 meters"
+     },
+     "longest dimension": "1.15 meters"
+    }
+   ]
+  },
+  "refrigerator": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "0.33 meters",
+      "y coordinate": "0.32 meters",
+      "height above floor": "-0.02 meters"
+     },
+     "longest dimension": "1.22 meters"
+    }
+   ]
+  },
+  "table": {
+   "count": 2,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "1.14 meters",
+      "y coordinate": "-0.93 meters",
+      "height above floor": "0.59 meters"
+     },
+     "longest dimension": "0.83 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "1.07 meters",
+      "y coordinate": "-0.35 meters",
+      "height above floor": "2.63 meters"
+     },
+     "longest dimension": "0.56 meters"
+    }
+   ]
+  },
+  "trash bin": {
+   "count": 5,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "1.55 meters",
+      "y coordinate": "-1.13 meters",
+      "height above floor": "1.11 meters"
+     },
+     "longest dimension": "0.57 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "1.26 meters",
+      "y coordinate": "-0.5 meters",
+      "height above floor": "0.48 meters"
+     },
+     "longest dimension": "0.63 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-0.23 meters",
+      "y coordinate": "1.87 meters",
+      "height above floor": "-0.37 meters"
+     },
+     "longest dimension": "0.75 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "1.31 meters",
+      "y coordinate": "-0.52 meters",
+      "height above floor": "0.48 meters"
+     },
+     "longest dimension": "0.57 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "1.73 meters",
+      "y coordinate": "-1.34 meters",
+      "height above floor": "1.4 meters"
+     },
+     "longest dimension": "0.53 meters"
+    }
+   ]
+  },
+  "window": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "0.69 meters",
+      "y coordinate": "-0.37 meters",
+      "height above floor": "5.11 meters"
+     },
+     "longest dimension": "0.52 meters"
+    }
+   ]
+  }
+ },
+ "room": {
+  "floor area": "10.5 square meters"
+ },
+ "closest classes distance meters from": {
+  "counter": {
+   "trash bin": {
+    "distance": "0.54 meters",
+    "closeness rank": 1
+   },
+   "table": {
+    "distance": "0.9 meters",
+    "closeness rank": 2
+   },
+   "door": {
+    "distance": "1.24 meters",
+    "closeness rank": 3
+   },
+   "window": {
+    "distance": "1.59 meters",
+    "closeness rank": 4
+   },
+   "radiator": {
+    "distance": "2.29 meters",
+    "closeness rank": 5
+   },
+   "refrigerator": {
+    "distance": "2.43 meters",
+    "closeness rank": 6
+   }
+  },
+  "door": {
+   "window": {
+    "distance": "0.01 meters",
+    "closeness rank": 1
+   },
+   "counter": {
+    "distance": "1.24 meters",
+    "closeness rank": 2
+   },
+   "trash bin": {
+    "distance": "3.88 meters",
+    "closeness rank": 3
+   },
+   "table": {
+    "distance": "4.22 meters",
+    "closeness rank": 4
+   },
+   "refrigerator": {
+    "distance": "5.04 meters",
+    "closeness rank": 5
+   },
+   "radiator": {
+    "distance": "5.15 meters",
+    "closeness rank": 6
+   }
+  },
+  "radiator": {
+   "refrigerator": {
+    "distance": "0.03 meters",
+    "closeness rank": 1
+   },
+   "table": {
+    "distance": "0.62 meters",
+    "closeness rank": 2
+   },
+   "trash bin": {
+    "distance": "1.47 meters",
+    "closeness rank": 3
+   },
+   "counter": {
+    "distance": "2.29 meters",
+    "closeness rank": 4
+   },
+   "door": {
+    "distance": "5.15 meters",
+    "closeness rank": 5
+   },
+   "window": {
+    "distance": "5.15 meters",
+    "closeness rank": 6
+   }
+  },
+  "refrigerator": {
+   "radiator": {
+    "distance": "0.03 meters",
+    "closeness rank": 1
+   },
+   "table": {
+    "distance": "0.85 meters",
+    "closeness rank": 2
+   },
+   "trash bin": {
+    "distance": "1.66 meters",
+    "closeness rank": 3
+   },
+   "counter": {
+    "distance": "2.43 meters",
+    "closeness rank": 4
+   },
+   "door": {
+    "distance": "5.04 meters",
+    "closeness rank": 5
+   },
+   "window": {
+    "distance": "5.06 meters",
+    "closeness rank": 6
+   }
+  },
+  "table": {
+   "trash bin": {
+    "distance": "0.14 meters",
+    "closeness rank": 1
+   },
+   "radiator": {
+    "distance": "0.62 meters",
+    "closeness rank": 2
+   },
+   "refrigerator": {
+    "distance": "0.85 meters",
+    "closeness rank": 3
+   },
+   "counter": {
+    "distance": "0.9 meters",
+    "closeness rank": 4
+   },
+   "door": {
+    "distance": "4.22 meters",
+    "closeness rank": 5
+   },
+   "window": {
+    "distance": "4.3 meters",
+    "closeness rank": 6
+   }
+  },
+  "trash bin": {
+   "table": {
+    "distance": "0.14 meters",
+    "closeness rank": 1
+   },
+   "counter": {
+    "distance": "0.54 meters",
+    "closeness rank": 2
+   },
+   "radiator": {
+    "distance": "1.47 meters",
+    "closeness rank": 3
+   },
+   "refrigerator": {
+    "distance": "1.66 meters",
+    "closeness rank": 4
+   },
+   "door": {
+    "distance": "3.88 meters",
+    "closeness rank": 5
+   },
+   "window": {
+    "distance": "4.0 meters",
+    "closeness rank": 6
+   }
+  },
+  "window": {
+   "door": {
+    "distance": "0.01 meters",
+    "closeness rank": 1
+   },
+   "counter": {
+    "distance": "1.59 meters",
+    "closeness rank": 2
+   },
+   "trash bin": {
+    "distance": "4.0 meters",
+    "closeness rank": 3
+   },
+   "table": {
+    "distance": "4.3 meters",
+    "closeness rank": 4
+   },
+   "refrigerator": {
+    "distance": "5.06 meters",
+    "closeness rank": 5
+   },
+   "radiator": {
+    "distance": "5.15 meters",
+    "closeness rank": 6
+   }
+  }
+ },
+ "appearance order": ["door", "counter", "trash bin", "table", "refrigerator", "window", "radiator"]
+}
\ No newline at end of file
diff --git a/data/spatial codes/sam3+depth-anything-3/metric/tracking/uniform/32/explicit/scene0426_00.json b/data/spatial codes/sam3+depth-anything-3/metric/tracking/uniform/32/explicit/scene0426_00.json
new file mode 100644
index 0000000000000000000000000000000000000000..22297209ca7419efe76f368163668b394c705bdb
--- /dev/null
+++ b/data/spatial codes/sam3+depth-anything-3/metric/tracking/uniform/32/explicit/scene0426_00.json	
@@ -0,0 +1,1346 @@
+{
+ "objects": {
+  "backpack": {
+   "count": 3,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "1.31 meters",
+      "y coordinate": "-0.19 meters",
+      "height above floor": "0.31 meters"
+     },
+     "longest dimension": "0.57 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "0.01 meters",
+      "y coordinate": "-0.52 meters",
+      "height above floor": "-0.4 meters"
+     },
+     "longest dimension": "0.46 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "1.03 meters",
+      "y coordinate": "0.06 meters",
+      "height above floor": "-0.05 meters"
+     },
+     "longest dimension": "0.54 meters"
+    }
+   ]
+  },
+  "bed": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-0.72 meters",
+      "y coordinate": "0.31 meters",
+      "height above floor": "0.3 meters"
+     },
+     "longest dimension": "0.98 meters"
+    }
+   ]
+  },
+  "chair": {
+   "count": 2,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "1.7 meters",
+      "y coordinate": "0.42 meters",
+      "height above floor": "0.86 meters"
+     },
+     "longest dimension": "0.88 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "0.03 meters",
+      "y coordinate": "1.32 meters",
+      "height above floor": "0.47 meters"
+     },
+     "longest dimension": "0.59 meters"
+    }
+   ]
+  },
+  "computer mouse": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "1.52 meters",
+      "y coordinate": "0.27 meters",
+      "height above floor": "0.39 meters"
+     },
+     "longest dimension": "0.11 meters"
+    }
+   ]
+  },
+  "door": {
+   "count": 6,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "1.87 meters",
+      "y coordinate": "-0.9 meters",
+      "height above floor": "0.05 meters"
+     },
+     "longest dimension": "1.43 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "0.76 meters",
+      "y coordinate": "1.38 meters",
+      "height above floor": "1.38 meters"
+     },
+     "longest dimension": "1.09 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "1.86 meters",
+      "y coordinate": "-0.82 meters",
+      "height above floor": "0.1 meters"
+     },
+     "longest dimension": "1.23 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "0.03 meters",
+      "y coordinate": "1.41 meters",
+      "height above floor": "1.35 meters"
+     },
+     "longest dimension": "1.2 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "1.2 meters",
+      "y coordinate": "1.64 meters",
+      "height above floor": "0.84 meters"
+     },
+     "longest dimension": "0.9 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "1.1 meters",
+      "y coordinate": "1.4 meters",
+      "height above floor": "1.4 meters"
+     },
+     "longest dimension": "1.07 meters"
+    }
+   ]
+  },
+  "keyboard": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-1.42 meters",
+      "y coordinate": "-0.89 meters",
+      "height above floor": "-0.02 meters"
+     },
+     "longest dimension": "0.76 meters"
+    }
+   ]
+  },
+  "lamp": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "0.39 meters",
+      "y coordinate": "0.98 meters",
+      "height above floor": "1.64 meters"
+     },
+     "longest dimension": "0.8 meters"
+    }
+   ]
+  },
+  "mattress": {
+   "count": 3,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "0.44 meters",
+      "y coordinate": "1.39 meters",
+      "height above floor": "1.42 meters"
+     },
+     "longest dimension": "1.38 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-0.53 meters",
+      "y coordinate": "0.34 meters",
+      "height above floor": "0.28 meters"
+     },
+     "longest dimension": "0.87 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "0.89 meters",
+      "y coordinate": "1.28 meters",
+      "height above floor": "0.05 meters"
+     },
+     "longest dimension": "1.22 meters"
+    }
+   ]
+  },
+  "monitor": {
+   "count": 2,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-0.83 meters",
+      "y coordinate": "-0.94 meters",
+      "height above floor": "0.07 meters"
+     },
+     "longest dimension": "0.42 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-1.7 meters",
+      "y coordinate": "-0.75 meters",
+      "height above floor": "0.23 meters"
+     },
+     "longest dimension": "0.36 meters"
+    }
+   ]
+  },
+  "piano": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-1.41 meters",
+      "y coordinate": "-0.89 meters",
+      "height above floor": "-0.02 meters"
+     },
+     "longest dimension": "0.77 meters"
+    }
+   ]
+  },
+  "pillow": {
+   "count": 5,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-1.03 meters",
+      "y coordinate": "0.51 meters",
+      "height above floor": "0.54 meters"
+     },
+     "longest dimension": "0.58 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-0.84 meters",
+      "y coordinate": "-0.02 meters",
+      "height above floor": "0.27 meters"
+     },
+     "longest dimension": "0.5 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-0.4 meters",
+      "y coordinate": "0.58 meters",
+      "height above floor": "0.36 meters"
+     },
+     "longest dimension": "0.51 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-1.62 meters",
+      "y coordinate": "-0.03 meters",
+      "height above floor": "0.36 meters"
+     },
+     "longest dimension": "0.84 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-1.41 meters",
+      "y coordinate": "0.89 meters",
+      "height above floor": "1.11 meters"
+     },
+     "longest dimension": "0.69 meters"
+    }
+   ]
+  },
+  "table": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-0.68 meters",
+      "y coordinate": "-0.66 meters",
+      "height above floor": "-0.04 meters"
+     },
+     "longest dimension": "1.23 meters"
+    }
+   ]
+  },
+  "towel": {
+   "count": 2,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "0.99 meters",
+      "y coordinate": "-1.06 meters",
+      "height above floor": "-0.14 meters"
+     },
+     "longest dimension": "0.51 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "0.65 meters",
+      "y coordinate": "1.12 meters",
+      "height above floor": "0.52 meters"
+     },
+     "longest dimension": "0.36 meters"
+    }
+   ]
+  },
+  "trash bin": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-0.23 meters",
+      "y coordinate": "-0.73 meters",
+      "height above floor": "-0.07 meters"
+     },
+     "longest dimension": "0.38 meters"
+    }
+   ]
+  },
+  "tv": {
+   "count": 2,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "1.7 meters",
+      "y coordinate": "0.42 meters",
+      "height above floor": "0.86 meters"
+     },
+     "longest dimension": "0.87 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-0.83 meters",
+      "y coordinate": "-0.94 meters",
+      "height above floor": "0.06 meters"
+     },
+     "longest dimension": "0.42 meters"
+    }
+   ]
+  },
+  "window": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-1.85 meters",
+      "y coordinate": "-0.07 meters",
+      "height above floor": "0.89 meters"
+     },
+     "longest dimension": "1.04 meters"
+    }
+   ]
+  }
+ },
+ "room": {
+  "floor area": "13.7 square meters"
+ },
+ "closest classes distance meters from": {
+  "backpack": {
+   "computer mouse": {
+    "distance": "0.33 meters",
+    "closeness rank": 1
+   },
+   "chair": {
+    "distance": "0.37 meters",
+    "closeness rank": 2
+   },
+   "tv": {
+    "distance": "0.37 meters",
+    "closeness rank": 3
+   },
+   "door": {
+    "distance": "0.6 meters",
+    "closeness rank": 4
+   },
+   "towel": {
+    "distance": "0.83 meters",
+    "closeness rank": 5
+   },
+   "mattress": {
+    "distance": "1.26 meters",
+    "closeness rank": 6
+   },
+   "trash bin": {
+    "distance": "1.49 meters",
+    "closeness rank": 7
+   },
+   "bed": {
+    "distance": "1.63 meters",
+    "closeness rank": 8
+   },
+   "table": {
+    "distance": "1.79 meters",
+    "closeness rank": 9
+   },
+   "lamp": {
+    "distance": "1.85 meters",
+    "closeness rank": 10
+   },
+   "monitor": {
+    "distance": "2.17 meters",
+    "closeness rank": 11
+   },
+   "pillow": {
+    "distance": "2.35 meters",
+    "closeness rank": 12
+   },
+   "keyboard": {
+    "distance": "2.37 meters",
+    "closeness rank": 13
+   },
+   "piano": {
+    "distance": "2.37 meters",
+    "closeness rank": 14
+   },
+   "window": {
+    "distance": "3.14 meters",
+    "closeness rank": 15
+   }
+  },
+  "bed": {
+   "mattress": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "pillow": {
+    "distance": "0.16 meters",
+    "closeness rank": 2
+   },
+   "table": {
+    "distance": "0.32 meters",
+    "closeness rank": 3
+   },
+   "trash bin": {
+    "distance": "0.53 meters",
+    "closeness rank": 4
+   },
+   "monitor": {
+    "distance": "0.58 meters",
+    "closeness rank": 5
+   },
+   "chair": {
+    "distance": "0.59 meters",
+    "closeness rank": 6
+   },
+   "keyboard": {
+    "distance": "0.66 meters",
+    "closeness rank": 7
+   },
+   "piano": {
+    "distance": "0.66 meters",
+    "closeness rank": 8
+   },
+   "towel": {
+    "distance": "0.78 meters",
+    "closeness rank": 9
+   },
+   "window": {
+    "distance": "0.83 meters",
+    "closeness rank": 10
+   },
+   "lamp": {
+    "distance": "1.2 meters",
+    "closeness rank": 11
+   },
+   "backpack": {
+    "distance": "1.63 meters",
+    "closeness rank": 12
+   },
+   "computer mouse": {
+    "distance": "1.81 meters",
+    "closeness rank": 13
+   },
+   "door": {
+    "distance": "1.87 meters",
+    "closeness rank": 14
+   },
+   "tv": {
+    "distance": "1.93 meters",
+    "closeness rank": 15
+   }
+  },
+  "chair": {
+   "towel": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "tv": {
+    "distance": "0.0 meters",
+    "closeness rank": 2
+   },
+   "mattress": {
+    "distance": "0.01 meters",
+    "closeness rank": 3
+   },
+   "trash bin": {
+    "distance": "0.03 meters",
+    "closeness rank": 4
+   },
+   "computer mouse": {
+    "distance": "0.14 meters",
+    "closeness rank": 5
+   },
+   "backpack": {
+    "distance": "0.37 meters",
+    "closeness rank": 6
+   },
+   "table": {
+    "distance": "0.39 meters",
+    "closeness rank": 7
+   },
+   "bed": {
+    "distance": "0.59 meters",
+    "closeness rank": 8
+   },
+   "door": {
+    "distance": "0.61 meters",
+    "closeness rank": 9
+   },
+   "lamp": {
+    "distance": "0.63 meters",
+    "closeness rank": 10
+   },
+   "monitor": {
+    "distance": "0.7 meters",
+    "closeness rank": 11
+   },
+   "keyboard": {
+    "distance": "0.9 meters",
+    "closeness rank": 12
+   },
+   "piano": {
+    "distance": "0.9 meters",
+    "closeness rank": 13
+   },
+   "pillow": {
+    "distance": "1.34 meters",
+    "closeness rank": 14
+   },
+   "window": {
+    "distance": "1.88 meters",
+    "closeness rank": 15
+   }
+  },
+  "computer mouse": {
+   "tv": {
+    "distance": "0.1 meters",
+    "closeness rank": 1
+   },
+   "chair": {
+    "distance": "0.14 meters",
+    "closeness rank": 2
+   },
+   "backpack": {
+    "distance": "0.33 meters",
+    "closeness rank": 3
+   },
+   "door": {
+    "distance": "0.86 meters",
+    "closeness rank": 4
+   },
+   "mattress": {
+    "distance": "1.03 meters",
+    "closeness rank": 5
+   },
+   "towel": {
+    "distance": "1.03 meters",
+    "closeness rank": 6
+   },
+   "lamp": {
+    "distance": "1.74 meters",
+    "closeness rank": 7
+   },
+   "bed": {
+    "distance": "1.81 meters",
+    "closeness rank": 8
+   },
+   "trash bin": {
+    "distance": "1.91 meters",
+    "closeness rank": 9
+   },
+   "table": {
+    "distance": "2.14 meters",
+    "closeness rank": 10
+   },
+   "pillow": {
+    "distance": "2.39 meters",
+    "closeness rank": 11
+   },
+   "monitor": {
+    "distance": "2.54 meters",
+    "closeness rank": 12
+   },
+   "keyboard": {
+    "distance": "2.73 meters",
+    "closeness rank": 13
+   },
+   "piano": {
+    "distance": "2.73 meters",
+    "closeness rank": 14
+   },
+   "window": {
+    "distance": "3.34 meters",
+    "closeness rank": 15
+   }
+  },
+  "door": {
+   "backpack": {
+    "distance": "0.6 meters",
+    "closeness rank": 1
+   },
+   "chair": {
+    "distance": "0.61 meters",
+    "closeness rank": 2
+   },
+   "towel": {
+    "distance": "0.66 meters",
+    "closeness rank": 3
+   },
+   "tv": {
+    "distance": "0.67 meters",
+    "closeness rank": 4
+   },
+   "mattress": {
+    "distance": "0.7 meters",
+    "closeness rank": 5
+   },
+   "computer mouse": {
+    "distance": "0.86 meters",
+    "closeness rank": 6
+   },
+   "lamp": {
+    "distance": "0.89 meters",
+    "closeness rank": 7
+   },
+   "bed": {
+    "distance": "1.87 meters",
+    "closeness rank": 8
+   },
+   "trash bin": {
+    "distance": "1.93 meters",
+    "closeness rank": 9
+   },
+   "table": {
+    "distance": "2.3 meters",
+    "closeness rank": 10
+   },
+   "pillow": {
+    "distance": "2.34 meters",
+    "closeness rank": 11
+   },
+   "monitor": {
+    "distance": "2.6 meters",
+    "closeness rank": 12
+   },
+   "keyboard": {
+    "distance": "2.81 meters",
+    "closeness rank": 13
+   },
+   "piano": {
+    "distance": "2.81 meters",
+    "closeness rank": 14
+   },
+   "window": {
+    "distance": "3.38 meters",
+    "closeness rank": 15
+   }
+  },
+  "keyboard": {
+   "piano": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "table": {
+    "distance": "0.03 meters",
+    "closeness rank": 2
+   },
+   "monitor": {
+    "distance": "0.1 meters",
+    "closeness rank": 3
+   },
+   "trash bin": {
+    "distance": "0.59 meters",
+    "closeness rank": 4
+   },
+   "window": {
+    "distance": "0.64 meters",
+    "closeness rank": 5
+   },
+   "bed": {
+    "distance": "0.66 meters",
+    "closeness rank": 6
+   },
+   "chair": {
+    "distance": "0.9 meters",
+    "closeness rank": 7
+   },
+   "mattress": {
+    "distance": "0.94 meters",
+    "closeness rank": 8
+   },
+   "pillow": {
+    "distance": "1.1 meters",
+    "closeness rank": 9
+   },
+   "towel": {
+    "distance": "1.91 meters",
+    "closeness rank": 10
+   },
+   "backpack": {
+    "distance": "2.37 meters",
+    "closeness rank": 11
+   },
+   "computer mouse": {
+    "distance": "2.73 meters",
+    "closeness rank": 12
+   },
+   "lamp": {
+    "distance": "2.79 meters",
+    "closeness rank": 13
+   },
+   "door": {
+    "distance": "2.81 meters",
+    "closeness rank": 14
+   },
+   "tv": {
+    "distance": "2.89 meters",
+    "closeness rank": 15
+   }
+  },
+  "lamp": {
+   "mattress": {
+    "distance": "0.2 meters",
+    "closeness rank": 1
+   },
+   "chair": {
+    "distance": "0.63 meters",
+    "closeness rank": 2
+   },
+   "towel": {
+    "distance": "0.84 meters",
+    "closeness rank": 3
+   },
+   "door": {
+    "distance": "0.89 meters",
+    "closeness rank": 4
+   },
+   "bed": {
+    "distance": "1.2 meters",
+    "closeness rank": 5
+   },
+   "tv": {
+    "distance": "1.33 meters",
+    "closeness rank": 6
+   },
+   "pillow": {
+    "distance": "1.53 meters",
+    "closeness rank": 7
+   },
+   "computer mouse": {
+    "distance": "1.74 meters",
+    "closeness rank": 8
+   },
+   "backpack": {
+    "distance": "1.85 meters",
+    "closeness rank": 9
+   },
+   "window": {
+    "distance": "2.35 meters",
+    "closeness rank": 10
+   },
+   "table": {
+    "distance": "2.36 meters",
+    "closeness rank": 11
+   },
+   "trash bin": {
+    "distance": "2.36 meters",
+    "closeness rank": 12
+   },
+   "monitor": {
+    "distance": "2.57 meters",
+    "closeness rank": 13
+   },
+   "keyboard": {
+    "distance": "2.79 meters",
+    "closeness rank": 14
+   },
+   "piano": {
+    "distance": "2.79 meters",
+    "closeness rank": 15
+   }
+  },
+  "mattress": {
+   "bed": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "towel": {
+    "distance": "0.0 meters",
+    "closeness rank": 2
+   },
+   "chair": {
+    "distance": "0.01 meters",
+    "closeness rank": 3
+   },
+   "lamp": {
+    "distance": "0.2 meters",
+    "closeness rank": 4
+   },
+   "pillow": {
+    "distance": "0.34 meters",
+    "closeness rank": 5
+   },
+   "table": {
+    "distance": "0.58 meters",
+    "closeness rank": 6
+   },
+   "door": {
+    "distance": "0.7 meters",
+    "closeness rank": 7
+   },
+   "trash bin": {
+    "distance": "0.71 meters",
+    "closeness rank": 8
+   },
+   "monitor": {
+    "distance": "0.83 meters",
+    "closeness rank": 9
+   },
+   "tv": {
+    "distance": "0.9 meters",
+    "closeness rank": 10
+   },
+   "keyboard": {
+    "distance": "0.94 meters",
+    "closeness rank": 11
+   },
+   "piano": {
+    "distance": "0.94 meters",
+    "closeness rank": 12
+   },
+   "computer mouse": {
+    "distance": "1.03 meters",
+    "closeness rank": 13
+   },
+   "window": {
+    "distance": "1.13 meters",
+    "closeness rank": 14
+   },
+   "backpack": {
+    "distance": "1.26 meters",
+    "closeness rank": 15
+   }
+  },
+  "monitor": {
+   "table": {
+    "distance": "0.01 meters",
+    "closeness rank": 1
+   },
+   "piano": {
+    "distance": "0.09 meters",
+    "closeness rank": 2
+   },
+   "keyboard": {
+    "distance": "0.1 meters",
+    "closeness rank": 3
+   },
+   "trash bin": {
+    "distance": "0.39 meters",
+    "closeness rank": 4
+   },
+   "bed": {
+    "distance": "0.58 meters",
+    "closeness rank": 5
+   },
+   "chair": {
+    "distance": "0.7 meters",
+    "closeness rank": 6
+   },
+   "mattress": {
+    "distance": "0.83 meters",
+    "closeness rank": 7
+   },
+   "pillow": {
+    "distance": "1.1 meters",
+    "closeness rank": 8
+   },
+   "window": {
+    "distance": "1.15 meters",
+    "closeness rank": 9
+   },
+   "towel": {
+    "distance": "1.69 meters",
+    "closeness rank": 10
+   },
+   "backpack": {
+    "distance": "2.17 meters",
+    "closeness rank": 11
+   },
+   "computer mouse": {
+    "distance": "2.54 meters",
+    "closeness rank": 12
+   },
+   "lamp": {
+    "distance": "2.57 meters",
+    "closeness rank": 13
+   },
+   "door": {
+    "distance": "2.6 meters",
+    "closeness rank": 14
+   },
+   "tv": {
+    "distance": "2.69 meters",
+    "closeness rank": 15
+   }
+  },
+  "piano": {
+   "keyboard": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "table": {
+    "distance": "0.03 meters",
+    "closeness rank": 2
+   },
+   "monitor": {
+    "distance": "0.09 meters",
+    "closeness rank": 3
+   },
+   "trash bin": {
+    "distance": "0.59 meters",
+    "closeness rank": 4
+   },
+   "window": {
+    "distance": "0.63 meters",
+    "closeness rank": 5
+   },
+   "bed": {
+    "distance": "0.66 meters",
+    "closeness rank": 6
+   },
+   "chair": {
+    "distance": "0.9 meters",
+    "closeness rank": 7
+   },
+   "mattress": {
+    "distance": "0.94 meters",
+    "closeness rank": 8
+   },
+   "pillow": {
+    "distance": "1.1 meters",
+    "closeness rank": 9
+   },
+   "towel": {
+    "distance": "1.91 meters",
+    "closeness rank": 10
+   },
+   "backpack": {
+    "distance": "2.37 meters",
+    "closeness rank": 11
+   },
+   "computer mouse": {
+    "distance": "2.73 meters",
+    "closeness rank": 12
+   },
+   "lamp": {
+    "distance": "2.79 meters",
+    "closeness rank": 13
+   },
+   "door": {
+    "distance": "2.81 meters",
+    "closeness rank": 14
+   },
+   "tv": {
+    "distance": "2.89 meters",
+    "closeness rank": 15
+   }
+  },
+  "pillow": {
+   "bed": {
+    "distance": "0.16 meters",
+    "closeness rank": 1
+   },
+   "mattress": {
+    "distance": "0.34 meters",
+    "closeness rank": 2
+   },
+   "window": {
+    "distance": "0.66 meters",
+    "closeness rank": 3
+   },
+   "table": {
+    "distance": "0.79 meters",
+    "closeness rank": 4
+   },
+   "keyboard": {
+    "distance": "1.1 meters",
+    "closeness rank": 5
+   },
+   "monitor": {
+    "distance": "1.1 meters",
+    "closeness rank": 6
+   },
+   "piano": {
+    "distance": "1.1 meters",
+    "closeness rank": 7
+   },
+   "trash bin": {
+    "distance": "1.29 meters",
+    "closeness rank": 8
+   },
+   "towel": {
+    "distance": "1.33 meters",
+    "closeness rank": 9
+   },
+   "chair": {
+    "distance": "1.34 meters",
+    "closeness rank": 10
+   },
+   "lamp": {
+    "distance": "1.53 meters",
+    "closeness rank": 11
+   },
+   "door": {
+    "distance": "2.34 meters",
+    "closeness rank": 12
+   },
+   "backpack": {
+    "distance": "2.35 meters",
+    "closeness rank": 13
+   },
+   "computer mouse": {
+    "distance": "2.39 meters",
+    "closeness rank": 14
+   },
+   "tv": {
+    "distance": "2.48 meters",
+    "closeness rank": 15
+   }
+  },
+  "table": {
+   "monitor": {
+    "distance": "0.01 meters",
+    "closeness rank": 1
+   },
+   "keyboard": {
+    "distance": "0.03 meters",
+    "closeness rank": 2
+   },
+   "piano": {
+    "distance": "0.03 meters",
+    "closeness rank": 3
+   },
+   "trash bin": {
+    "distance": "0.07 meters",
+    "closeness rank": 4
+   },
+   "bed": {
+    "distance": "0.32 meters",
+    "closeness rank": 5
+   },
+   "chair": {
+    "distance": "0.39 meters",
+    "closeness rank": 6
+   },
+   "mattress": {
+    "distance": "0.58 meters",
+    "closeness rank": 7
+   },
+   "window": {
+    "distance": "0.72 meters",
+    "closeness rank": 8
+   },
+   "pillow": {
+    "distance": "0.79 meters",
+    "closeness rank": 9
+   },
+   "towel": {
+    "distance": "1.39 meters",
+    "closeness rank": 10
+   },
+   "backpack": {
+    "distance": "1.79 meters",
+    "closeness rank": 11
+   },
+   "computer mouse": {
+    "distance": "2.14 meters",
+    "closeness rank": 12
+   },
+   "door": {
+    "distance": "2.3 meters",
+    "closeness rank": 13
+   },
+   "tv": {
+    "distance": "2.31 meters",
+    "closeness rank": 14
+   },
+   "lamp": {
+    "distance": "2.36 meters",
+    "closeness rank": 15
+   }
+  },
+  "towel": {
+   "chair": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "mattress": {
+    "distance": "0.0 meters",
+    "closeness rank": 2
+   },
+   "door": {
+    "distance": "0.66 meters",
+    "closeness rank": 3
+   },
+   "bed": {
+    "distance": "0.78 meters",
+    "closeness rank": 4
+   },
+   "backpack": {
+    "distance": "0.83 meters",
+    "closeness rank": 5
+   },
+   "lamp": {
+    "distance": "0.84 meters",
+    "closeness rank": 6
+   },
+   "tv": {
+    "distance": "0.9 meters",
+    "closeness rank": 7
+   },
+   "computer mouse": {
+    "distance": "1.03 meters",
+    "closeness rank": 8
+   },
+   "trash bin": {
+    "distance": "1.05 meters",
+    "closeness rank": 9
+   },
+   "pillow": {
+    "distance": "1.33 meters",
+    "closeness rank": 10
+   },
+   "table": {
+    "distance": "1.39 meters",
+    "closeness rank": 11
+   },
+   "monitor": {
+    "distance": "1.69 meters",
+    "closeness rank": 12
+   },
+   "keyboard": {
+    "distance": "1.91 meters",
+    "closeness rank": 13
+   },
+   "piano": {
+    "distance": "1.91 meters",
+    "closeness rank": 14
+   },
+   "window": {
+    "distance": "2.46 meters",
+    "closeness rank": 15
+   }
+  },
+  "trash bin": {
+   "chair": {
+    "distance": "0.03 meters",
+    "closeness rank": 1
+   },
+   "table": {
+    "distance": "0.07 meters",
+    "closeness rank": 2
+   },
+   "monitor": {
+    "distance": "0.39 meters",
+    "closeness rank": 3
+   },
+   "bed": {
+    "distance": "0.53 meters",
+    "closeness rank": 4
+   },
+   "keyboard": {
+    "distance": "0.59 meters",
+    "closeness rank": 5
+   },
+   "piano": {
+    "distance": "0.59 meters",
+    "closeness rank": 6
+   },
+   "mattress": {
+    "distance": "0.71 meters",
+    "closeness rank": 7
+   },
+   "towel": {
+    "distance": "1.05 meters",
+    "closeness rank": 8
+   },
+   "pillow": {
+    "distance": "1.29 meters",
+    "closeness rank": 9
+   },
+   "backpack": {
+    "distance": "1.49 meters",
+    "closeness rank": 10
+   },
+   "window": {
+    "distance": "1.59 meters",
+    "closeness rank": 11
+   },
+   "computer mouse": {
+    "distance": "1.91 meters",
+    "closeness rank": 12
+   },
+   "door": {
+    "distance": "1.93 meters",
+    "closeness rank": 13
+   },
+   "tv": {
+    "distance": "2.05 meters",
+    "closeness rank": 14
+   },
+   "lamp": {
+    "distance": "2.36 meters",
+    "closeness rank": 15
+   }
+  },
+  "tv": {
+   "chair": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "computer mouse": {
+    "distance": "0.1 meters",
+    "closeness rank": 2
+   },
+   "backpack": {
+    "distance": "0.37 meters",
+    "closeness rank": 3
+   },
+   "door": {
+    "distance": "0.67 meters",
+    "closeness rank": 4
+   },
+   "mattress": {
+    "distance": "0.9 meters",
+    "closeness rank": 5
+   },
+   "towel": {
+    "distance": "0.9 meters",
+    "closeness rank": 6
+   },
+   "lamp": {
+    "distance": "1.33 meters",
+    "closeness rank": 7
+   },
+   "bed": {
+    "distance": "1.93 meters",
+    "closeness rank": 8
+   },
+   "trash bin": {
+    "distance": "2.05 meters",
+    "closeness rank": 9
+   },
+   "table": {
+    "distance": "2.31 meters",
+    "closeness rank": 10
+   },
+   "pillow": {
+    "distance": "2.48 meters",
+    "closeness rank": 11
+   },
+   "monitor": {
+    "distance": "2.69 meters",
+    "closeness rank": 12
+   },
+   "keyboard": {
+    "distance": "2.89 meters",
+    "closeness rank": 13
+   },
+   "piano": {
+    "distance": "2.89 meters",
+    "closeness rank": 14
+   },
+   "window": {
+    "distance": "3.47 meters",
+    "closeness rank": 15
+   }
+  },
+  "window": {
+   "piano": {
+    "distance": "0.63 meters",
+    "closeness rank": 1
+   },
+   "keyboard": {
+    "distance": "0.64 meters",
+    "closeness rank": 2
+   },
+   "pillow": {
+    "distance": "0.66 meters",
+    "closeness rank": 3
+   },
+   "table": {
+    "distance": "0.72 meters",
+    "closeness rank": 4
+   },
+   "bed": {
+    "distance": "0.83 meters",
+    "closeness rank": 5
+   },
+   "mattress": {
+    "distance": "1.13 meters",
+    "closeness rank": 6
+   },
+   "monitor": {
+    "distance": "1.15 meters",
+    "closeness rank": 7
+   },
+   "trash bin": {
+    "distance": "1.59 meters",
+    "closeness rank": 8
+   },
+   "chair": {
+    "distance": "1.88 meters",
+    "closeness rank": 9
+   },
+   "lamp": {
+    "distance": "2.35 meters",
+    "closeness rank": 10
+   },
+   "towel": {
+    "distance": "2.46 meters",
+    "closeness rank": 11
+   },
+   "backpack": {
+    "distance": "3.14 meters",
+    "closeness rank": 12
+   },
+   "computer mouse": {
+    "distance": "3.34 meters",
+    "closeness rank": 13
+   },
+   "door": {
+    "distance": "3.38 meters",
+    "closeness rank": 14
+   },
+   "tv": {
+    "distance": "3.47 meters",
+    "closeness rank": 15
+   }
+  }
+ },
+ "appearance order": ["keyboard", "mattress", "monitor", "piano", "table", "tv", "trash bin", "door", "backpack", "chair", "bed", "towel", "pillow", "window", "computer mouse", "lamp"]
+}
\ No newline at end of file
diff --git a/data/spatial codes/sam3+depth-anything-3/metric/tracking/uniform/32/explicit/scene0575_01.json b/data/spatial codes/sam3+depth-anything-3/metric/tracking/uniform/32/explicit/scene0575_01.json
new file mode 100644
index 0000000000000000000000000000000000000000..d23bb74a0fe65b6f94c84c2006dee72bde45fa2f
--- /dev/null
+++ b/data/spatial codes/sam3+depth-anything-3/metric/tracking/uniform/32/explicit/scene0575_01.json	
@@ -0,0 +1,379 @@
+{
+ "objects": {
+  "chair": {
+   "count": 9,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "2.37 meters",
+      "y coordinate": "0.71 meters",
+      "height above floor": "2.01 meters"
+     },
+     "longest dimension": "0.64 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "1.64 meters",
+      "y coordinate": "0.83 meters",
+      "height above floor": "1.03 meters"
+     },
+     "longest dimension": "0.66 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-0.01 meters",
+      "y coordinate": "0.61 meters",
+      "height above floor": "3.06 meters"
+     },
+     "longest dimension": "0.73 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-0.59 meters",
+      "y coordinate": "0.61 meters",
+      "height above floor": "1.06 meters"
+     },
+     "longest dimension": "0.9 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "1.68 meters",
+      "y coordinate": "0.82 meters",
+      "height above floor": "2.98 meters"
+     },
+     "longest dimension": "0.89 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "1.05 meters",
+      "y coordinate": "0.78 meters",
+      "height above floor": "0.94 meters"
+     },
+     "longest dimension": "0.68 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-0.54 meters",
+      "y coordinate": "0.47 meters",
+      "height above floor": "0.96 meters"
+     },
+     "longest dimension": "0.54 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "0.94 meters",
+      "y coordinate": "0.71 meters",
+      "height above floor": "3.0 meters"
+     },
+     "longest dimension": "0.68 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-1.1 meters",
+      "y coordinate": "0.52 meters",
+      "height above floor": "2.73 meters"
+     },
+     "longest dimension": "0.89 meters"
+    }
+   ]
+  },
+  "door": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "2.7 meters",
+      "y coordinate": "0.82 meters",
+      "height above floor": "-0.01 meters"
+     },
+     "longest dimension": "1.27 meters"
+    }
+   ]
+  },
+  "monitor": {
+   "count": 2,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-2.22 meters",
+      "y coordinate": "-0.28 meters",
+      "height above floor": "1.05 meters"
+     },
+     "longest dimension": "1.25 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-2.13 meters",
+      "y coordinate": "-0.32 meters",
+      "height above floor": "2.66 meters"
+     },
+     "longest dimension": "1.21 meters"
+    }
+   ]
+  },
+  "table": {
+   "count": 3,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-0.39 meters",
+      "y coordinate": "0.54 meters",
+      "height above floor": "1.68 meters"
+     },
+     "longest dimension": "1.13 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-0.31 meters",
+      "y coordinate": "0.53 meters",
+      "height above floor": "1.77 meters"
+     },
+     "longest dimension": "0.25 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "1.01 meters",
+      "y coordinate": "0.44 meters",
+      "height above floor": "0.02 meters"
+     },
+     "longest dimension": "1.4 meters"
+    }
+   ]
+  },
+  "trash bin": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "2.46 meters",
+      "y coordinate": "0.89 meters",
+      "height above floor": "1.74 meters"
+     },
+     "longest dimension": "1.07 meters"
+    }
+   ]
+  },
+  "tv": {
+   "count": 2,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-2.22 meters",
+      "y coordinate": "-0.28 meters",
+      "height above floor": "1.05 meters"
+     },
+     "longest dimension": "1.26 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-2.13 meters",
+      "y coordinate": "-0.32 meters",
+      "height above floor": "2.66 meters"
+     },
+     "longest dimension": "1.21 meters"
+    }
+   ]
+  },
+  "window": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "2.12 meters",
+      "y coordinate": "0.5 meters",
+      "height above floor": "-0.01 meters"
+     },
+     "longest dimension": "1.46 meters"
+    }
+   ]
+  }
+ },
+ "room": {
+  "floor area": "11.5 square meters"
+ },
+ "closest classes distance meters from": {
+  "chair": {
+   "trash bin": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "table": {
+    "distance": "0.02 meters",
+    "closeness rank": 2
+   },
+   "door": {
+    "distance": "1.52 meters",
+    "closeness rank": 3
+   },
+   "window": {
+    "distance": "1.58 meters",
+    "closeness rank": 4
+   },
+   "monitor": {
+    "distance": "2.15 meters",
+    "closeness rank": 5
+   },
+   "tv": {
+    "distance": "2.15 meters",
+    "closeness rank": 6
+   }
+  },
+  "door": {
+   "window": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "trash bin": {
+    "distance": "1.28 meters",
+    "closeness rank": 2
+   },
+   "chair": {
+    "distance": "1.52 meters",
+    "closeness rank": 3
+   },
+   "table": {
+    "distance": "1.53 meters",
+    "closeness rank": 4
+   },
+   "tv": {
+    "distance": "4.54 meters",
+    "closeness rank": 5
+   },
+   "monitor": {
+    "distance": "4.56 meters",
+    "closeness rank": 6
+   }
+  },
+  "monitor": {
+   "tv": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "table": {
+    "distance": "1.44 meters",
+    "closeness rank": 2
+   },
+   "chair": {
+    "distance": "2.15 meters",
+    "closeness rank": 3
+   },
+   "window": {
+    "distance": "3.01 meters",
+    "closeness rank": 4
+   },
+   "trash bin": {
+    "distance": "3.87 meters",
+    "closeness rank": 5
+   },
+   "door": {
+    "distance": "4.56 meters",
+    "closeness rank": 6
+   }
+  },
+  "table": {
+   "chair": {
+    "distance": "0.02 meters",
+    "closeness rank": 1
+   },
+   "trash bin": {
+    "distance": "0.22 meters",
+    "closeness rank": 2
+   },
+   "window": {
+    "distance": "1.32 meters",
+    "closeness rank": 3
+   },
+   "monitor": {
+    "distance": "1.44 meters",
+    "closeness rank": 4
+   },
+   "tv": {
+    "distance": "1.45 meters",
+    "closeness rank": 5
+   },
+   "door": {
+    "distance": "1.53 meters",
+    "closeness rank": 6
+   }
+  },
+  "trash bin": {
+   "chair": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "table": {
+    "distance": "0.22 meters",
+    "closeness rank": 2
+   },
+   "door": {
+    "distance": "1.28 meters",
+    "closeness rank": 3
+   },
+   "window": {
+    "distance": "1.38 meters",
+    "closeness rank": 4
+   },
+   "monitor": {
+    "distance": "3.87 meters",
+    "closeness rank": 5
+   },
+   "tv": {
+    "distance": "3.87 meters",
+    "closeness rank": 6
+   }
+  },
+  "tv": {
+   "monitor": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "table": {
+    "distance": "1.45 meters",
+    "closeness rank": 2
+   },
+   "chair": {
+    "distance": "2.15 meters",
+    "closeness rank": 3
+   },
+   "window": {
+    "distance": "3.01 meters",
+    "closeness rank": 4
+   },
+   "trash bin": {
+    "distance": "3.87 meters",
+    "closeness rank": 5
+   },
+   "door": {
+    "distance": "4.54 meters",
+    "closeness rank": 6
+   }
+  },
+  "window": {
+   "door": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "table": {
+    "distance": "1.32 meters",
+    "closeness rank": 2
+   },
+   "trash bin": {
+    "distance": "1.38 meters",
+    "closeness rank": 3
+   },
+   "chair": {
+    "distance": "1.58 meters",
+    "closeness rank": 4
+   },
+   "monitor": {
+    "distance": "3.01 meters",
+    "closeness rank": 5
+   },
+   "tv": {
+    "distance": "3.01 meters",
+    "closeness rank": 6
+   }
+  }
+ },
+ "appearance order": ["chair", "door", "table", "trash bin", "tv", "monitor", "window"]
+}
\ No newline at end of file
diff --git a/data/spatial codes/sam3+depth-anything-3/metric/tracking/uniform/32/explicit/scene0580_01.json b/data/spatial codes/sam3+depth-anything-3/metric/tracking/uniform/32/explicit/scene0580_01.json
new file mode 100644
index 0000000000000000000000000000000000000000..2a02eb9fb77baba26e201cde0490a07401262346
--- /dev/null
+++ b/data/spatial codes/sam3+depth-anything-3/metric/tracking/uniform/32/explicit/scene0580_01.json	
@@ -0,0 +1,1107 @@
+{
+ "objects": {
+  "backpack": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-0.62 meters",
+      "y coordinate": "1.95 meters",
+      "height above floor": "0.2 meters"
+     },
+     "longest dimension": "0.35 meters"
+    }
+   ]
+  },
+  "bed": {
+   "count": 2,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "0.35 meters",
+      "y coordinate": "0.73 meters",
+      "height above floor": "-0.05 meters"
+     },
+     "longest dimension": "1.04 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-0.29 meters",
+      "y coordinate": "0.34 meters",
+      "height above floor": "0.06 meters"
+     },
+     "longest dimension": "1.13 meters"
+    }
+   ]
+  },
+  "bookshelf": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "1.36 meters",
+      "y coordinate": "1.2 meters",
+      "height above floor": "-0.21 meters"
+     },
+     "longest dimension": "0.98 meters"
+    }
+   ]
+  },
+  "chair": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-0.52 meters",
+      "y coordinate": "1.87 meters",
+      "height above floor": "-0.07 meters"
+     },
+     "longest dimension": "0.61 meters"
+    }
+   ]
+  },
+  "closet": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "1.51 meters",
+      "y coordinate": "1.36 meters",
+      "height above floor": "0.66 meters"
+     },
+     "longest dimension": "0.42 meters"
+    }
+   ]
+  },
+  "door": {
+   "count": 2,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "0.77 meters",
+      "y coordinate": "-0.3 meters",
+      "height above floor": "0.01 meters"
+     },
+     "longest dimension": "0.58 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "1.35 meters",
+      "y coordinate": "1.66 meters",
+      "height above floor": "0.75 meters"
+     },
+     "longest dimension": "0.55 meters"
+    }
+   ]
+  },
+  "fan": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "0.33 meters",
+      "y coordinate": "0.74 meters",
+      "height above floor": "1.9 meters"
+     },
+     "longest dimension": "1.11 meters"
+    }
+   ]
+  },
+  "lamp": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-1.28 meters",
+      "y coordinate": "0.19 meters",
+      "height above floor": "0.84 meters"
+     },
+     "longest dimension": "0.78 meters"
+    }
+   ]
+  },
+  "mattress": {
+   "count": 2,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "0.06 meters",
+      "y coordinate": "0.49 meters",
+      "height above floor": "0.0 meters"
+     },
+     "longest dimension": "0.8 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-0.29 meters",
+      "y coordinate": "0.34 meters",
+      "height above floor": "0.06 meters"
+     },
+     "longest dimension": "1.13 meters"
+    }
+   ]
+  },
+  "mirror": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "1.41 meters",
+      "y coordinate": "-0.12 meters",
+      "height above floor": "0.44 meters"
+     },
+     "longest dimension": "0.85 meters"
+    }
+   ]
+  },
+  "nightstand": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-1.38 meters",
+      "y coordinate": "0.13 meters",
+      "height above floor": "0.12 meters"
+     },
+     "longest dimension": "0.51 meters"
+    }
+   ]
+  },
+  "pillow": {
+   "count": 2,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-0.99 meters",
+      "y coordinate": "0.82 meters",
+      "height above floor": "0.3 meters"
+     },
+     "longest dimension": "0.51 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-0.78 meters",
+      "y coordinate": "1.52 meters",
+      "height above floor": "0.19 meters"
+     },
+     "longest dimension": "0.24 meters"
+    }
+   ]
+  },
+  "table": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "0.77 meters",
+      "y coordinate": "-0.16 meters",
+      "height above floor": "0.06 meters"
+     },
+     "longest dimension": "0.77 meters"
+    }
+   ]
+  },
+  "trash bin": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "0.77 meters",
+      "y coordinate": "-0.62 meters",
+      "height above floor": "-0.34 meters"
+     },
+     "longest dimension": "0.38 meters"
+    }
+   ]
+  },
+  "window": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "0.81 meters",
+      "y coordinate": "1.92 meters",
+      "height above floor": "0.92 meters"
+     },
+     "longest dimension": "0.49 meters"
+    }
+   ]
+  }
+ },
+ "room": {
+  "floor area": "10.5 square meters"
+ },
+ "closest classes distance meters from": {
+  "backpack": {
+   "chair": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "trash bin": {
+    "distance": "0.0 meters",
+    "closeness rank": 2
+   },
+   "door": {
+    "distance": "0.36 meters",
+    "closeness rank": 3
+   },
+   "mattress": {
+    "distance": "0.43 meters",
+    "closeness rank": 4
+   },
+   "bed": {
+    "distance": "0.48 meters",
+    "closeness rank": 5
+   },
+   "pillow": {
+    "distance": "0.49 meters",
+    "closeness rank": 6
+   },
+   "bookshelf": {
+    "distance": "0.98 meters",
+    "closeness rank": 7
+   },
+   "closet": {
+    "distance": "1.12 meters",
+    "closeness rank": 8
+   },
+   "window": {
+    "distance": "1.15 meters",
+    "closeness rank": 9
+   },
+   "nightstand": {
+    "distance": "1.65 meters",
+    "closeness rank": 10
+   },
+   "lamp": {
+    "distance": "1.73 meters",
+    "closeness rank": 11
+   },
+   "table": {
+    "distance": "2.11 meters",
+    "closeness rank": 12
+   },
+   "fan": {
+    "distance": "2.12 meters",
+    "closeness rank": 13
+   },
+   "mirror": {
+    "distance": "2.54 meters",
+    "closeness rank": 14
+   }
+  },
+  "bed": {
+   "mattress": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "pillow": {
+    "distance": "0.0 meters",
+    "closeness rank": 2
+   },
+   "nightstand": {
+    "distance": "0.08 meters",
+    "closeness rank": 3
+   },
+   "lamp": {
+    "distance": "0.29 meters",
+    "closeness rank": 4
+   },
+   "door": {
+    "distance": "0.34 meters",
+    "closeness rank": 5
+   },
+   "table": {
+    "distance": "0.35 meters",
+    "closeness rank": 6
+   },
+   "bookshelf": {
+    "distance": "0.36 meters",
+    "closeness rank": 7
+   },
+   "chair": {
+    "distance": "0.36 meters",
+    "closeness rank": 8
+   },
+   "trash bin": {
+    "distance": "0.44 meters",
+    "closeness rank": 9
+   },
+   "backpack": {
+    "distance": "0.48 meters",
+    "closeness rank": 10
+   },
+   "closet": {
+    "distance": "0.7 meters",
+    "closeness rank": 11
+   },
+   "mirror": {
+    "distance": "0.84 meters",
+    "closeness rank": 12
+   },
+   "window": {
+    "distance": "1.27 meters",
+    "closeness rank": 13
+   },
+   "fan": {
+    "distance": "1.69 meters",
+    "closeness rank": 14
+   }
+  },
+  "bookshelf": {
+   "closet": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "door": {
+    "distance": "0.0 meters",
+    "closeness rank": 2
+   },
+   "table": {
+    "distance": "0.0 meters",
+    "closeness rank": 3
+   },
+   "mirror": {
+    "distance": "0.29 meters",
+    "closeness rank": 4
+   },
+   "bed": {
+    "distance": "0.36 meters",
+    "closeness rank": 5
+   },
+   "mattress": {
+    "distance": "0.37 meters",
+    "closeness rank": 6
+   },
+   "trash bin": {
+    "distance": "0.59 meters",
+    "closeness rank": 7
+   },
+   "window": {
+    "distance": "0.71 meters",
+    "closeness rank": 8
+   },
+   "chair": {
+    "distance": "0.72 meters",
+    "closeness rank": 9
+   },
+   "pillow": {
+    "distance": "0.83 meters",
+    "closeness rank": 10
+   },
+   "backpack": {
+    "distance": "0.98 meters",
+    "closeness rank": 11
+   },
+   "fan": {
+    "distance": "1.22 meters",
+    "closeness rank": 12
+   },
+   "nightstand": {
+    "distance": "2.06 meters",
+    "closeness rank": 13
+   },
+   "lamp": {
+    "distance": "2.12 meters",
+    "closeness rank": 14
+   }
+  },
+  "chair": {
+   "backpack": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "trash bin": {
+    "distance": "0.0 meters",
+    "closeness rank": 2
+   },
+   "door": {
+    "distance": "0.23 meters",
+    "closeness rank": 3
+   },
+   "bed": {
+    "distance": "0.36 meters",
+    "closeness rank": 4
+   },
+   "mattress": {
+    "distance": "0.38 meters",
+    "closeness rank": 5
+   },
+   "pillow": {
+    "distance": "0.44 meters",
+    "closeness rank": 6
+   },
+   "bookshelf": {
+    "distance": "0.72 meters",
+    "closeness rank": 7
+   },
+   "closet": {
+    "distance": "1.08 meters",
+    "closeness rank": 8
+   },
+   "window": {
+    "distance": "1.13 meters",
+    "closeness rank": 9
+   },
+   "nightstand": {
+    "distance": "1.6 meters",
+    "closeness rank": 10
+   },
+   "lamp": {
+    "distance": "1.72 meters",
+    "closeness rank": 11
+   },
+   "table": {
+    "distance": "1.93 meters",
+    "closeness rank": 12
+   },
+   "fan": {
+    "distance": "2.1 meters",
+    "closeness rank": 13
+   },
+   "mirror": {
+    "distance": "2.37 meters",
+    "closeness rank": 14
+   }
+  },
+  "closet": {
+   "bookshelf": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "door": {
+    "distance": "0.0 meters",
+    "closeness rank": 2
+   },
+   "window": {
+    "distance": "0.01 meters",
+    "closeness rank": 3
+   },
+   "bed": {
+    "distance": "0.7 meters",
+    "closeness rank": 4
+   },
+   "table": {
+    "distance": "0.83 meters",
+    "closeness rank": 5
+   },
+   "mattress": {
+    "distance": "0.86 meters",
+    "closeness rank": 6
+   },
+   "trash bin": {
+    "distance": "0.9 meters",
+    "closeness rank": 7
+   },
+   "mirror": {
+    "distance": "0.94 meters",
+    "closeness rank": 8
+   },
+   "chair": {
+    "distance": "1.08 meters",
+    "closeness rank": 9
+   },
+   "backpack": {
+    "distance": "1.12 meters",
+    "closeness rank": 10
+   },
+   "fan": {
+    "distance": "1.21 meters",
+    "closeness rank": 11
+   },
+   "pillow": {
+    "distance": "1.34 meters",
+    "closeness rank": 12
+   },
+   "lamp": {
+    "distance": "1.51 meters",
+    "closeness rank": 13
+   },
+   "nightstand": {
+    "distance": "1.55 meters",
+    "closeness rank": 14
+   }
+  },
+  "door": {
+   "bookshelf": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "closet": {
+    "distance": "0.0 meters",
+    "closeness rank": 2
+   },
+   "mirror": {
+    "distance": "0.0 meters",
+    "closeness rank": 3
+   },
+   "table": {
+    "distance": "0.0 meters",
+    "closeness rank": 4
+   },
+   "trash bin": {
+    "distance": "0.03 meters",
+    "closeness rank": 5
+   },
+   "chair": {
+    "distance": "0.23 meters",
+    "closeness rank": 6
+   },
+   "bed": {
+    "distance": "0.34 meters",
+    "closeness rank": 7
+   },
+   "mattress": {
+    "distance": "0.34 meters",
+    "closeness rank": 8
+   },
+   "backpack": {
+    "distance": "0.36 meters",
+    "closeness rank": 9
+   },
+   "window": {
+    "distance": "0.72 meters",
+    "closeness rank": 10
+   },
+   "pillow": {
+    "distance": "0.73 meters",
+    "closeness rank": 11
+   },
+   "fan": {
+    "distance": "1.33 meters",
+    "closeness rank": 12
+   },
+   "nightstand": {
+    "distance": "1.79 meters",
+    "closeness rank": 13
+   },
+   "lamp": {
+    "distance": "1.99 meters",
+    "closeness rank": 14
+   }
+  },
+  "fan": {
+   "closet": {
+    "distance": "1.21 meters",
+    "closeness rank": 1
+   },
+   "bookshelf": {
+    "distance": "1.22 meters",
+    "closeness rank": 2
+   },
+   "window": {
+    "distance": "1.24 meters",
+    "closeness rank": 3
+   },
+   "door": {
+    "distance": "1.33 meters",
+    "closeness rank": 4
+   },
+   "mirror": {
+    "distance": "1.48 meters",
+    "closeness rank": 5
+   },
+   "lamp": {
+    "distance": "1.5 meters",
+    "closeness rank": 6
+   },
+   "mattress": {
+    "distance": "1.68 meters",
+    "closeness rank": 7
+   },
+   "bed": {
+    "distance": "1.69 meters",
+    "closeness rank": 8
+   },
+   "pillow": {
+    "distance": "1.69 meters",
+    "closeness rank": 9
+   },
+   "table": {
+    "distance": "1.83 meters",
+    "closeness rank": 10
+   },
+   "chair": {
+    "distance": "2.1 meters",
+    "closeness rank": 11
+   },
+   "backpack": {
+    "distance": "2.12 meters",
+    "closeness rank": 12
+   },
+   "nightstand": {
+    "distance": "2.12 meters",
+    "closeness rank": 13
+   },
+   "trash bin": {
+    "distance": "2.17 meters",
+    "closeness rank": 14
+   }
+  },
+  "lamp": {
+   "nightstand": {
+    "distance": "0.01 meters",
+    "closeness rank": 1
+   },
+   "pillow": {
+    "distance": "0.23 meters",
+    "closeness rank": 2
+   },
+   "mattress": {
+    "distance": "0.28 meters",
+    "closeness rank": 3
+   },
+   "bed": {
+    "distance": "0.29 meters",
+    "closeness rank": 4
+   },
+   "fan": {
+    "distance": "1.5 meters",
+    "closeness rank": 5
+   },
+   "closet": {
+    "distance": "1.51 meters",
+    "closeness rank": 6
+   },
+   "chair": {
+    "distance": "1.72 meters",
+    "closeness rank": 7
+   },
+   "backpack": {
+    "distance": "1.73 meters",
+    "closeness rank": 8
+   },
+   "trash bin": {
+    "distance": "1.76 meters",
+    "closeness rank": 9
+   },
+   "door": {
+    "distance": "1.99 meters",
+    "closeness rank": 10
+   },
+   "table": {
+    "distance": "1.99 meters",
+    "closeness rank": 11
+   },
+   "bookshelf": {
+    "distance": "2.12 meters",
+    "closeness rank": 12
+   },
+   "window": {
+    "distance": "2.42 meters",
+    "closeness rank": 13
+   },
+   "mirror": {
+    "distance": "2.49 meters",
+    "closeness rank": 14
+   }
+  },
+  "mattress": {
+   "bed": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "pillow": {
+    "distance": "0.0 meters",
+    "closeness rank": 2
+   },
+   "nightstand": {
+    "distance": "0.06 meters",
+    "closeness rank": 3
+   },
+   "lamp": {
+    "distance": "0.28 meters",
+    "closeness rank": 4
+   },
+   "door": {
+    "distance": "0.34 meters",
+    "closeness rank": 5
+   },
+   "table": {
+    "distance": "0.34 meters",
+    "closeness rank": 6
+   },
+   "bookshelf": {
+    "distance": "0.37 meters",
+    "closeness rank": 7
+   },
+   "chair": {
+    "distance": "0.38 meters",
+    "closeness rank": 8
+   },
+   "backpack": {
+    "distance": "0.43 meters",
+    "closeness rank": 9
+   },
+   "trash bin": {
+    "distance": "0.43 meters",
+    "closeness rank": 10
+   },
+   "mirror": {
+    "distance": "0.85 meters",
+    "closeness rank": 11
+   },
+   "closet": {
+    "distance": "0.86 meters",
+    "closeness rank": 12
+   },
+   "window": {
+    "distance": "1.28 meters",
+    "closeness rank": 13
+   },
+   "fan": {
+    "distance": "1.68 meters",
+    "closeness rank": 14
+   }
+  },
+  "mirror": {
+   "door": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "table": {
+    "distance": "0.09 meters",
+    "closeness rank": 2
+   },
+   "bookshelf": {
+    "distance": "0.29 meters",
+    "closeness rank": 3
+   },
+   "trash bin": {
+    "distance": "0.57 meters",
+    "closeness rank": 4
+   },
+   "bed": {
+    "distance": "0.84 meters",
+    "closeness rank": 5
+   },
+   "mattress": {
+    "distance": "0.85 meters",
+    "closeness rank": 6
+   },
+   "closet": {
+    "distance": "0.94 meters",
+    "closeness rank": 7
+   },
+   "pillow": {
+    "distance": "1.24 meters",
+    "closeness rank": 8
+   },
+   "fan": {
+    "distance": "1.48 meters",
+    "closeness rank": 9
+   },
+   "window": {
+    "distance": "1.67 meters",
+    "closeness rank": 10
+   },
+   "chair": {
+    "distance": "2.37 meters",
+    "closeness rank": 11
+   },
+   "nightstand": {
+    "distance": "2.46 meters",
+    "closeness rank": 12
+   },
+   "lamp": {
+    "distance": "2.49 meters",
+    "closeness rank": 13
+   },
+   "backpack": {
+    "distance": "2.54 meters",
+    "closeness rank": 14
+   }
+  },
+  "nightstand": {
+   "lamp": {
+    "distance": "0.01 meters",
+    "closeness rank": 1
+   },
+   "mattress": {
+    "distance": "0.06 meters",
+    "closeness rank": 2
+   },
+   "bed": {
+    "distance": "0.08 meters",
+    "closeness rank": 3
+   },
+   "pillow": {
+    "distance": "0.1 meters",
+    "closeness rank": 4
+   },
+   "closet": {
+    "distance": "1.55 meters",
+    "closeness rank": 5
+   },
+   "chair": {
+    "distance": "1.6 meters",
+    "closeness rank": 6
+   },
+   "trash bin": {
+    "distance": "1.62 meters",
+    "closeness rank": 7
+   },
+   "backpack": {
+    "distance": "1.65 meters",
+    "closeness rank": 8
+   },
+   "door": {
+    "distance": "1.79 meters",
+    "closeness rank": 9
+   },
+   "table": {
+    "distance": "1.95 meters",
+    "closeness rank": 10
+   },
+   "bookshelf": {
+    "distance": "2.06 meters",
+    "closeness rank": 11
+   },
+   "fan": {
+    "distance": "2.12 meters",
+    "closeness rank": 12
+   },
+   "mirror": {
+    "distance": "2.46 meters",
+    "closeness rank": 13
+   },
+   "window": {
+    "distance": "2.53 meters",
+    "closeness rank": 14
+   }
+  },
+  "pillow": {
+   "bed": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "mattress": {
+    "distance": "0.0 meters",
+    "closeness rank": 2
+   },
+   "nightstand": {
+    "distance": "0.1 meters",
+    "closeness rank": 3
+   },
+   "lamp": {
+    "distance": "0.23 meters",
+    "closeness rank": 4
+   },
+   "chair": {
+    "distance": "0.44 meters",
+    "closeness rank": 5
+   },
+   "trash bin": {
+    "distance": "0.48 meters",
+    "closeness rank": 6
+   },
+   "backpack": {
+    "distance": "0.49 meters",
+    "closeness rank": 7
+   },
+   "door": {
+    "distance": "0.73 meters",
+    "closeness rank": 8
+   },
+   "table": {
+    "distance": "0.82 meters",
+    "closeness rank": 9
+   },
+   "bookshelf": {
+    "distance": "0.83 meters",
+    "closeness rank": 10
+   },
+   "mirror": {
+    "distance": "1.24 meters",
+    "closeness rank": 11
+   },
+   "closet": {
+    "distance": "1.34 meters",
+    "closeness rank": 12
+   },
+   "window": {
+    "distance": "1.41 meters",
+    "closeness rank": 13
+   },
+   "fan": {
+    "distance": "1.69 meters",
+    "closeness rank": 14
+   }
+  },
+  "table": {
+   "bookshelf": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "door": {
+    "distance": "0.0 meters",
+    "closeness rank": 2
+   },
+   "mirror": {
+    "distance": "0.09 meters",
+    "closeness rank": 3
+   },
+   "mattress": {
+    "distance": "0.34 meters",
+    "closeness rank": 4
+   },
+   "bed": {
+    "distance": "0.35 meters",
+    "closeness rank": 5
+   },
+   "trash bin": {
+    "distance": "0.36 meters",
+    "closeness rank": 6
+   },
+   "pillow": {
+    "distance": "0.82 meters",
+    "closeness rank": 7
+   },
+   "closet": {
+    "distance": "0.83 meters",
+    "closeness rank": 8
+   },
+   "window": {
+    "distance": "1.47 meters",
+    "closeness rank": 9
+   },
+   "fan": {
+    "distance": "1.83 meters",
+    "closeness rank": 10
+   },
+   "chair": {
+    "distance": "1.93 meters",
+    "closeness rank": 11
+   },
+   "nightstand": {
+    "distance": "1.95 meters",
+    "closeness rank": 12
+   },
+   "lamp": {
+    "distance": "1.99 meters",
+    "closeness rank": 13
+   },
+   "backpack": {
+    "distance": "2.11 meters",
+    "closeness rank": 14
+   }
+  },
+  "trash bin": {
+   "backpack": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "chair": {
+    "distance": "0.0 meters",
+    "closeness rank": 2
+   },
+   "door": {
+    "distance": "0.03 meters",
+    "closeness rank": 3
+   },
+   "table": {
+    "distance": "0.36 meters",
+    "closeness rank": 4
+   },
+   "mattress": {
+    "distance": "0.43 meters",
+    "closeness rank": 5
+   },
+   "bed": {
+    "distance": "0.44 meters",
+    "closeness rank": 6
+   },
+   "pillow": {
+    "distance": "0.48 meters",
+    "closeness rank": 7
+   },
+   "mirror": {
+    "distance": "0.57 meters",
+    "closeness rank": 8
+   },
+   "bookshelf": {
+    "distance": "0.59 meters",
+    "closeness rank": 9
+   },
+   "closet": {
+    "distance": "0.9 meters",
+    "closeness rank": 10
+   },
+   "window": {
+    "distance": "1.17 meters",
+    "closeness rank": 11
+   },
+   "nightstand": {
+    "distance": "1.62 meters",
+    "closeness rank": 12
+   },
+   "lamp": {
+    "distance": "1.76 meters",
+    "closeness rank": 13
+   },
+   "fan": {
+    "distance": "2.17 meters",
+    "closeness rank": 14
+   }
+  },
+  "window": {
+   "closet": {
+    "distance": "0.01 meters",
+    "closeness rank": 1
+   },
+   "bookshelf": {
+    "distance": "0.71 meters",
+    "closeness rank": 2
+   },
+   "door": {
+    "distance": "0.72 meters",
+    "closeness rank": 3
+   },
+   "chair": {
+    "distance": "1.13 meters",
+    "closeness rank": 4
+   },
+   "backpack": {
+    "distance": "1.15 meters",
+    "closeness rank": 5
+   },
+   "trash bin": {
+    "distance": "1.17 meters",
+    "closeness rank": 6
+   },
+   "fan": {
+    "distance": "1.24 meters",
+    "closeness rank": 7
+   },
+   "bed": {
+    "distance": "1.27 meters",
+    "closeness rank": 8
+   },
+   "mattress": {
+    "distance": "1.28 meters",
+    "closeness rank": 9
+   },
+   "pillow": {
+    "distance": "1.41 meters",
+    "closeness rank": 10
+   },
+   "table": {
+    "distance": "1.47 meters",
+    "closeness rank": 11
+   },
+   "mirror": {
+    "distance": "1.67 meters",
+    "closeness rank": 12
+   },
+   "lamp": {
+    "distance": "2.42 meters",
+    "closeness rank": 13
+   },
+   "nightstand": {
+    "distance": "2.53 meters",
+    "closeness rank": 14
+   }
+  }
+ },
+ "appearance order": ["bed", "mattress", "lamp", "nightstand", "pillow", "door", "trash bin", "table", "bookshelf", "mirror", "closet", "backpack", "chair", "window", "fan"]
+}
\ No newline at end of file
diff --git a/data/spatial codes/sam3+depth-anything-3/metric/tracking/uniform/32/explicit/scene0647_00.json b/data/spatial codes/sam3+depth-anything-3/metric/tracking/uniform/32/explicit/scene0647_00.json
new file mode 100644
index 0000000000000000000000000000000000000000..d65b02d1381f0b5d3e165bfa13c43ee5d2fcbb06
--- /dev/null
+++ b/data/spatial codes/sam3+depth-anything-3/metric/tracking/uniform/32/explicit/scene0647_00.json	
@@ -0,0 +1,489 @@
+{
+ "objects": {
+  "backpack": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "1.06 meters",
+      "y coordinate": "0.64 meters",
+      "height above floor": "-0.35 meters"
+     },
+     "longest dimension": "0.37 meters"
+    }
+   ]
+  },
+  "chair": {
+   "count": 2,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "1.04 meters",
+      "y coordinate": "-0.17 meters",
+      "height above floor": "-0.59 meters"
+     },
+     "longest dimension": "0.67 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "0.55 meters",
+      "y coordinate": "1.2 meters",
+      "height above floor": "-0.03 meters"
+     },
+     "longest dimension": "0.59 meters"
+    }
+   ]
+  },
+  "door": {
+   "count": 3,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "0.8 meters",
+      "y coordinate": "-1.82 meters",
+      "height above floor": "0.02 meters"
+     },
+     "longest dimension": "1.63 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "0.3 meters",
+      "y coordinate": "0.49 meters",
+      "height above floor": "-4.59 meters"
+     },
+     "longest dimension": "1.61 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "0.3 meters",
+      "y coordinate": "-0.61 meters",
+      "height above floor": "-4.61 meters"
+     },
+     "longest dimension": "1.82 meters"
+    }
+   ]
+  },
+  "fan": {
+   "count": 2,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-0.95 meters",
+      "y coordinate": "1.3 meters",
+      "height above floor": "-3.5 meters"
+     },
+     "longest dimension": "0.7 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-0.84 meters",
+      "y coordinate": "1.02 meters",
+      "height above floor": "-1.4 meters"
+     },
+     "longest dimension": "0.65 meters"
+    }
+   ]
+  },
+  "lamp": {
+   "count": 2,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-0.95 meters",
+      "y coordinate": "1.3 meters",
+      "height above floor": "-3.5 meters"
+     },
+     "longest dimension": "0.71 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "0.1 meters",
+      "y coordinate": "-4.3 meters",
+      "height above floor": "-1.08 meters"
+     },
+     "longest dimension": "0.27 meters"
+    }
+   ]
+  },
+  "monitor": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "0.76 meters",
+      "y coordinate": "-4.18 meters",
+      "height above floor": "-1.08 meters"
+     },
+     "longest dimension": "1.22 meters"
+    }
+   ]
+  },
+  "sofa": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "0.55 meters",
+      "y coordinate": "2.27 meters",
+      "height above floor": "-1.18 meters"
+     },
+     "longest dimension": "2.15 meters"
+    }
+   ]
+  },
+  "table": {
+   "count": 3,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "1.13 meters",
+      "y coordinate": "-1.76 meters",
+      "height above floor": "-3.01 meters"
+     },
+     "longest dimension": "2.21 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "0.51 meters",
+      "y coordinate": "1.68 meters",
+      "height above floor": "-0.91 meters"
+     },
+     "longest dimension": "0.97 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "1.17 meters",
+      "y coordinate": "-3.24 meters",
+      "height above floor": "-0.62 meters"
+     },
+     "longest dimension": "0.72 meters"
+    }
+   ]
+  },
+  "tv": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "0.68 meters",
+      "y coordinate": "-4.23 meters",
+      "height above floor": "-1.15 meters"
+     },
+     "longest dimension": "1.25 meters"
+    }
+   ]
+  }
+ },
+ "room": {
+  "floor area": "16.8 square meters"
+ },
+ "closest classes distance meters from": {
+  "backpack": {
+   "chair": {
+    "distance": "0.28 meters",
+    "closeness rank": 1
+   },
+   "sofa": {
+    "distance": "0.37 meters",
+    "closeness rank": 2
+   },
+   "door": {
+    "distance": "1.94 meters",
+    "closeness rank": 3
+   },
+   "table": {
+    "distance": "2.34 meters",
+    "closeness rank": 4
+   },
+   "fan": {
+    "distance": "3.48 meters",
+    "closeness rank": 5
+   },
+   "lamp": {
+    "distance": "3.48 meters",
+    "closeness rank": 6
+   },
+   "tv": {
+    "distance": "4.65 meters",
+    "closeness rank": 7
+   },
+   "monitor": {
+    "distance": "4.67 meters",
+    "closeness rank": 8
+   }
+  },
+  "chair": {
+   "backpack": {
+    "distance": "0.28 meters",
+    "closeness rank": 1
+   },
+   "sofa": {
+    "distance": "0.98 meters",
+    "closeness rank": 2
+   },
+   "door": {
+    "distance": "1.05 meters",
+    "closeness rank": 3
+   },
+   "table": {
+    "distance": "1.73 meters",
+    "closeness rank": 4
+   },
+   "fan": {
+    "distance": "3.27 meters",
+    "closeness rank": 5
+   },
+   "lamp": {
+    "distance": "3.27 meters",
+    "closeness rank": 6
+   },
+   "tv": {
+    "distance": "3.63 meters",
+    "closeness rank": 7
+   },
+   "monitor": {
+    "distance": "3.64 meters",
+    "closeness rank": 8
+   }
+  },
+  "door": {
+   "chair": {
+    "distance": "1.05 meters",
+    "closeness rank": 1
+   },
+   "monitor": {
+    "distance": "1.82 meters",
+    "closeness rank": 2
+   },
+   "tv": {
+    "distance": "1.82 meters",
+    "closeness rank": 3
+   },
+   "backpack": {
+    "distance": "1.94 meters",
+    "closeness rank": 4
+   },
+   "fan": {
+    "distance": "2.04 meters",
+    "closeness rank": 5
+   },
+   "sofa": {
+    "distance": "2.32 meters",
+    "closeness rank": 6
+   },
+   "table": {
+    "distance": "2.36 meters",
+    "closeness rank": 7
+   },
+   "lamp": {
+    "distance": "4.36 meters",
+    "closeness rank": 8
+   }
+  },
+  "fan": {
+   "lamp": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "tv": {
+    "distance": "0.21 meters",
+    "closeness rank": 2
+   },
+   "monitor": {
+    "distance": "0.46 meters",
+    "closeness rank": 3
+   },
+   "table": {
+    "distance": "1.8 meters",
+    "closeness rank": 4
+   },
+   "door": {
+    "distance": "2.04 meters",
+    "closeness rank": 5
+   },
+   "sofa": {
+    "distance": "2.17 meters",
+    "closeness rank": 6
+   },
+   "chair": {
+    "distance": "3.27 meters",
+    "closeness rank": 7
+   },
+   "backpack": {
+    "distance": "3.48 meters",
+    "closeness rank": 8
+   }
+  },
+  "lamp": {
+   "fan": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "table": {
+    "distance": "1.8 meters",
+    "closeness rank": 2
+   },
+   "sofa": {
+    "distance": "2.17 meters",
+    "closeness rank": 3
+   },
+   "chair": {
+    "distance": "3.27 meters",
+    "closeness rank": 4
+   },
+   "backpack": {
+    "distance": "3.48 meters",
+    "closeness rank": 5
+   },
+   "door": {
+    "distance": "4.36 meters",
+    "closeness rank": 6
+   },
+   "tv": {
+    "distance": "5.79 meters",
+    "closeness rank": 7
+   },
+   "monitor": {
+    "distance": "5.82 meters",
+    "closeness rank": 8
+   }
+  },
+  "monitor": {
+   "tv": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "fan": {
+    "distance": "0.46 meters",
+    "closeness rank": 2
+   },
+   "door": {
+    "distance": "1.82 meters",
+    "closeness rank": 3
+   },
+   "table": {
+    "distance": "2.07 meters",
+    "closeness rank": 4
+   },
+   "chair": {
+    "distance": "3.64 meters",
+    "closeness rank": 5
+   },
+   "backpack": {
+    "distance": "4.67 meters",
+    "closeness rank": 6
+   },
+   "sofa": {
+    "distance": "5.09 meters",
+    "closeness rank": 7
+   },
+   "lamp": {
+    "distance": "5.82 meters",
+    "closeness rank": 8
+   }
+  },
+  "sofa": {
+   "backpack": {
+    "distance": "0.37 meters",
+    "closeness rank": 1
+   },
+   "chair": {
+    "distance": "0.98 meters",
+    "closeness rank": 2
+   },
+   "fan": {
+    "distance": "2.17 meters",
+    "closeness rank": 3
+   },
+   "lamp": {
+    "distance": "2.17 meters",
+    "closeness rank": 4
+   },
+   "table": {
+    "distance": "2.23 meters",
+    "closeness rank": 5
+   },
+   "door": {
+    "distance": "2.32 meters",
+    "closeness rank": 6
+   },
+   "monitor": {
+    "distance": "5.09 meters",
+    "closeness rank": 7
+   },
+   "tv": {
+    "distance": "5.09 meters",
+    "closeness rank": 8
+   }
+  },
+  "table": {
+   "chair": {
+    "distance": "1.73 meters",
+    "closeness rank": 1
+   },
+   "fan": {
+    "distance": "1.8 meters",
+    "closeness rank": 2
+   },
+   "lamp": {
+    "distance": "1.8 meters",
+    "closeness rank": 3
+   },
+   "tv": {
+    "distance": "2.02 meters",
+    "closeness rank": 4
+   },
+   "monitor": {
+    "distance": "2.07 meters",
+    "closeness rank": 5
+   },
+   "sofa": {
+    "distance": "2.23 meters",
+    "closeness rank": 6
+   },
+   "backpack": {
+    "distance": "2.34 meters",
+    "closeness rank": 7
+   },
+   "door": {
+    "distance": "2.36 meters",
+    "closeness rank": 8
+   }
+  },
+  "tv": {
+   "monitor": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "fan": {
+    "distance": "0.21 meters",
+    "closeness rank": 2
+   },
+   "door": {
+    "distance": "1.82 meters",
+    "closeness rank": 3
+   },
+   "table": {
+    "distance": "2.02 meters",
+    "closeness rank": 4
+   },
+   "chair": {
+    "distance": "3.63 meters",
+    "closeness rank": 5
+   },
+   "backpack": {
+    "distance": "4.65 meters",
+    "closeness rank": 6
+   },
+   "sofa": {
+    "distance": "5.09 meters",
+    "closeness rank": 7
+   },
+   "lamp": {
+    "distance": "5.79 meters",
+    "closeness rank": 8
+   }
+  }
+ },
+ "appearance order": ["door", "table", "fan", "lamp", "sofa", "backpack", "chair", "tv", "monitor"]
+}
\ No newline at end of file
diff --git a/data/spatial codes/sam3+depth-anything-3/metric/tracking/uniform/32/explicit/scene0648_00.json b/data/spatial codes/sam3+depth-anything-3/metric/tracking/uniform/32/explicit/scene0648_00.json
new file mode 100644
index 0000000000000000000000000000000000000000..f08c54c6940a77cfa068f4725cbb8303d0ba20e9
--- /dev/null
+++ b/data/spatial codes/sam3+depth-anything-3/metric/tracking/uniform/32/explicit/scene0648_00.json	
@@ -0,0 +1,1934 @@
+{
+ "objects": {
+  "backpack": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-1.18 meters",
+      "y coordinate": "1.19 meters",
+      "height above floor": "-0.41 meters"
+     },
+     "longest dimension": "0.39 meters"
+    }
+   ]
+  },
+  "bed": {
+   "count": 3,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-0.6 meters",
+      "y coordinate": "0.36 meters",
+      "height above floor": "0.15 meters"
+     },
+     "longest dimension": "0.88 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "0.62 meters",
+      "y coordinate": "0.57 meters",
+      "height above floor": "-0.4 meters"
+     },
+     "longest dimension": "0.82 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "0.03 meters",
+      "y coordinate": "0.88 meters",
+      "height above floor": "0.26 meters"
+     },
+     "longest dimension": "1.0 meters"
+    }
+   ]
+  },
+  "bookshelf": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-1.81 meters",
+      "y coordinate": "0.44 meters",
+      "height above floor": "-1.06 meters"
+     },
+     "longest dimension": "0.88 meters"
+    }
+   ]
+  },
+  "chair": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-1.0 meters",
+      "y coordinate": "1.03 meters",
+      "height above floor": "-0.87 meters"
+     },
+     "longest dimension": "0.74 meters"
+    }
+   ]
+  },
+  "clock": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "0.75 meters",
+      "y coordinate": "0.16 meters",
+      "height above floor": "-0.97 meters"
+     },
+     "longest dimension": "0.14 meters"
+    }
+   ]
+  },
+  "closet": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-1.5 meters",
+      "y coordinate": "-0.06 meters",
+      "height above floor": "-1.74 meters"
+     },
+     "longest dimension": "1.0 meters"
+    }
+   ]
+  },
+  "computer mouse": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "0.49 meters",
+      "y coordinate": "0.6 meters",
+      "height above floor": "0.56 meters"
+     },
+     "longest dimension": "0.17 meters"
+    }
+   ]
+  },
+  "door": {
+   "count": 2,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-2.19 meters",
+      "y coordinate": "-0.35 meters",
+      "height above floor": "0.39 meters"
+     },
+     "longest dimension": "0.29 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-2.07 meters",
+      "y coordinate": "-0.27 meters",
+      "height above floor": "-0.29 meters"
+     },
+     "longest dimension": "0.24 meters"
+    }
+   ]
+  },
+  "fan": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-0.79 meters",
+      "y coordinate": "0.49 meters",
+      "height above floor": "-0.31 meters"
+     },
+     "longest dimension": "0.31 meters"
+    }
+   ]
+  },
+  "keyboard": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "0.14 meters",
+      "y coordinate": "0.62 meters",
+      "height above floor": "0.63 meters"
+     },
+     "longest dimension": "0.24 meters"
+    }
+   ]
+  },
+  "lamp": {
+   "count": 2,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-0.79 meters",
+      "y coordinate": "0.49 meters",
+      "height above floor": "-0.31 meters"
+     },
+     "longest dimension": "0.32 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-1.74 meters",
+      "y coordinate": "0.43 meters",
+      "height above floor": "-0.52 meters"
+     },
+     "longest dimension": "0.19 meters"
+    }
+   ]
+  },
+  "mattress": {
+   "count": 3,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-0.32 meters",
+      "y coordinate": "0.44 meters",
+      "height above floor": "0.12 meters"
+     },
+     "longest dimension": "1.06 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "0.75 meters",
+      "y coordinate": "0.39 meters",
+      "height above floor": "-0.25 meters"
+     },
+     "longest dimension": "0.79 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "0.6 meters",
+      "y coordinate": "0.3 meters",
+      "height above floor": "0.66 meters"
+     },
+     "longest dimension": "0.7 meters"
+    }
+   ]
+  },
+  "mirror": {
+   "count": 2,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-0.32 meters",
+      "y coordinate": "0.44 meters",
+      "height above floor": "0.12 meters"
+     },
+     "longest dimension": "1.06 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-1.57 meters",
+      "y coordinate": "0.71 meters",
+      "height above floor": "-0.46 meters"
+     },
+     "longest dimension": "0.15 meters"
+    }
+   ]
+  },
+  "pillow": {
+   "count": 4,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "0.7 meters",
+      "y coordinate": "0.13 meters",
+      "height above floor": "0.85 meters"
+     },
+     "longest dimension": "0.65 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-1.44 meters",
+      "y coordinate": "0.16 meters",
+      "height above floor": "0.19 meters"
+     },
+     "longest dimension": "0.48 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-1.54 meters",
+      "y coordinate": "0.24 meters",
+      "height above floor": "-0.12 meters"
+     },
+     "longest dimension": "0.31 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-1.85 meters",
+      "y coordinate": "0.3 meters",
+      "height above floor": "-0.16 meters"
+     },
+     "longest dimension": "0.28 meters"
+    }
+   ]
+  },
+  "plant": {
+   "count": 3,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-1.75 meters",
+      "y coordinate": "-0.03 meters",
+      "height above floor": "-1.24 meters"
+     },
+     "longest dimension": "0.22 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-1.76 meters",
+      "y coordinate": "-0.09 meters",
+      "height above floor": "-0.74 meters"
+     },
+     "longest dimension": "0.17 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-1.88 meters",
+      "y coordinate": "-0.65 meters",
+      "height above floor": "0.05 meters"
+     },
+     "longest dimension": "0.18 meters"
+    }
+   ]
+  },
+  "radiator": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "0.25 meters",
+      "y coordinate": "0.58 meters",
+      "height above floor": "1.16 meters"
+     },
+     "longest dimension": "0.33 meters"
+    }
+   ]
+  },
+  "table": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-1.77 meters",
+      "y coordinate": "0.42 meters",
+      "height above floor": "-1.1 meters"
+     },
+     "longest dimension": "0.93 meters"
+    }
+   ]
+  },
+  "towel": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-1.68 meters",
+      "y coordinate": "0.59 meters",
+      "height above floor": "-1.68 meters"
+     },
+     "longest dimension": "0.92 meters"
+    }
+   ]
+  },
+  "tv": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "0.91 meters",
+      "y coordinate": "0.12 meters",
+      "height above floor": "-1.04 meters"
+     },
+     "longest dimension": "0.38 meters"
+    }
+   ]
+  },
+  "window": {
+   "count": 2,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-0.14 meters",
+      "y coordinate": "-0.16 meters",
+      "height above floor": "1.52 meters"
+     },
+     "longest dimension": "1.02 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "0.39 meters",
+      "y coordinate": "-0.14 meters",
+      "height above floor": "1.75 meters"
+     },
+     "longest dimension": "0.92 meters"
+    }
+   ]
+  }
+ },
+ "room": {
+  "floor area": "8.9 square meters"
+ },
+ "closest classes distance meters from": {
+  "backpack": {
+   "fan": {
+    "distance": "0.04 meters",
+    "closeness rank": 1
+   },
+   "table": {
+    "distance": "0.04 meters",
+    "closeness rank": 2
+   },
+   "lamp": {
+    "distance": "0.06 meters",
+    "closeness rank": 3
+   },
+   "chair": {
+    "distance": "0.18 meters",
+    "closeness rank": 4
+   },
+   "mattress": {
+    "distance": "0.42 meters",
+    "closeness rank": 5
+   },
+   "mirror": {
+    "distance": "0.43 meters",
+    "closeness rank": 6
+   },
+   "bookshelf": {
+    "distance": "0.49 meters",
+    "closeness rank": 7
+   },
+   "bed": {
+    "distance": "0.61 meters",
+    "closeness rank": 8
+   },
+   "towel": {
+    "distance": "1.19 meters",
+    "closeness rank": 9
+   },
+   "closet": {
+    "distance": "1.2 meters",
+    "closeness rank": 10
+   },
+   "plant": {
+    "distance": "1.31 meters",
+    "closeness rank": 11
+   },
+   "keyboard": {
+    "distance": "1.54 meters",
+    "closeness rank": 12
+   },
+   "door": {
+    "distance": "1.7 meters",
+    "closeness rank": 13
+   },
+   "computer mouse": {
+    "distance": "1.81 meters",
+    "closeness rank": 14
+   },
+   "radiator": {
+    "distance": "2.0 meters",
+    "closeness rank": 15
+   },
+   "window": {
+    "distance": "2.06 meters",
+    "closeness rank": 16
+   },
+   "clock": {
+    "distance": "2.09 meters",
+    "closeness rank": 17
+   },
+   "tv": {
+    "distance": "2.14 meters",
+    "closeness rank": 18
+   },
+   "pillow": {
+    "distance": "2.19 meters",
+    "closeness rank": 19
+   }
+  },
+  "bed": {
+   "mattress": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "mirror": {
+    "distance": "0.0 meters",
+    "closeness rank": 2
+   },
+   "table": {
+    "distance": "0.01 meters",
+    "closeness rank": 3
+   },
+   "fan": {
+    "distance": "0.19 meters",
+    "closeness rank": 4
+   },
+   "lamp": {
+    "distance": "0.19 meters",
+    "closeness rank": 5
+   },
+   "clock": {
+    "distance": "0.34 meters",
+    "closeness rank": 6
+   },
+   "keyboard": {
+    "distance": "0.37 meters",
+    "closeness rank": 7
+   },
+   "tv": {
+    "distance": "0.41 meters",
+    "closeness rank": 8
+   },
+   "closet": {
+    "distance": "0.42 meters",
+    "closeness rank": 9
+   },
+   "computer mouse": {
+    "distance": "0.55 meters",
+    "closeness rank": 10
+   },
+   "backpack": {
+    "distance": "0.61 meters",
+    "closeness rank": 11
+   },
+   "chair": {
+    "distance": "0.68 meters",
+    "closeness rank": 12
+   },
+   "bookshelf": {
+    "distance": "0.82 meters",
+    "closeness rank": 13
+   },
+   "pillow": {
+    "distance": "0.85 meters",
+    "closeness rank": 14
+   },
+   "window": {
+    "distance": "0.88 meters",
+    "closeness rank": 15
+   },
+   "radiator": {
+    "distance": "0.9 meters",
+    "closeness rank": 16
+   },
+   "plant": {
+    "distance": "1.36 meters",
+    "closeness rank": 17
+   },
+   "door": {
+    "distance": "1.39 meters",
+    "closeness rank": 18
+   },
+   "towel": {
+    "distance": "1.71 meters",
+    "closeness rank": 19
+   }
+  },
+  "bookshelf": {
+   "table": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "closet": {
+    "distance": "0.11 meters",
+    "closeness rank": 2
+   },
+   "plant": {
+    "distance": "0.12 meters",
+    "closeness rank": 3
+   },
+   "towel": {
+    "distance": "0.25 meters",
+    "closeness rank": 4
+   },
+   "mirror": {
+    "distance": "0.39 meters",
+    "closeness rank": 5
+   },
+   "mattress": {
+    "distance": "0.43 meters",
+    "closeness rank": 6
+   },
+   "chair": {
+    "distance": "0.45 meters",
+    "closeness rank": 7
+   },
+   "backpack": {
+    "distance": "0.49 meters",
+    "closeness rank": 8
+   },
+   "lamp": {
+    "distance": "0.72 meters",
+    "closeness rank": 9
+   },
+   "fan": {
+    "distance": "0.73 meters",
+    "closeness rank": 10
+   },
+   "bed": {
+    "distance": "0.82 meters",
+    "closeness rank": 11
+   },
+   "door": {
+    "distance": "1.04 meters",
+    "closeness rank": 12
+   },
+   "keyboard": {
+    "distance": "2.03 meters",
+    "closeness rank": 13
+   },
+   "clock": {
+    "distance": "2.31 meters",
+    "closeness rank": 14
+   },
+   "computer mouse": {
+    "distance": "2.32 meters",
+    "closeness rank": 15
+   },
+   "tv": {
+    "distance": "2.33 meters",
+    "closeness rank": 16
+   },
+   "window": {
+    "distance": "2.37 meters",
+    "closeness rank": 17
+   },
+   "radiator": {
+    "distance": "2.48 meters",
+    "closeness rank": 18
+   },
+   "pillow": {
+    "distance": "2.6 meters",
+    "closeness rank": 19
+   }
+  },
+  "chair": {
+   "table": {
+    "distance": "0.05 meters",
+    "closeness rank": 1
+   },
+   "backpack": {
+    "distance": "0.18 meters",
+    "closeness rank": 2
+   },
+   "fan": {
+    "distance": "0.24 meters",
+    "closeness rank": 3
+   },
+   "lamp": {
+    "distance": "0.24 meters",
+    "closeness rank": 4
+   },
+   "bookshelf": {
+    "distance": "0.45 meters",
+    "closeness rank": 5
+   },
+   "closet": {
+    "distance": "0.6 meters",
+    "closeness rank": 6
+   },
+   "mattress": {
+    "distance": "0.61 meters",
+    "closeness rank": 7
+   },
+   "mirror": {
+    "distance": "0.61 meters",
+    "closeness rank": 8
+   },
+   "bed": {
+    "distance": "0.68 meters",
+    "closeness rank": 9
+   },
+   "towel": {
+    "distance": "0.82 meters",
+    "closeness rank": 10
+   },
+   "plant": {
+    "distance": "1.03 meters",
+    "closeness rank": 11
+   },
+   "keyboard": {
+    "distance": "1.64 meters",
+    "closeness rank": 12
+   },
+   "clock": {
+    "distance": "1.74 meters",
+    "closeness rank": 13
+   },
+   "tv": {
+    "distance": "1.78 meters",
+    "closeness rank": 14
+   },
+   "door": {
+    "distance": "1.79 meters",
+    "closeness rank": 15
+   },
+   "computer mouse": {
+    "distance": "1.87 meters",
+    "closeness rank": 16
+   },
+   "radiator": {
+    "distance": "2.17 meters",
+    "closeness rank": 17
+   },
+   "pillow": {
+    "distance": "2.24 meters",
+    "closeness rank": 18
+   },
+   "window": {
+    "distance": "2.28 meters",
+    "closeness rank": 19
+   }
+  },
+  "clock": {
+   "tv": {
+    "distance": "0.01 meters",
+    "closeness rank": 1
+   },
+   "closet": {
+    "distance": "0.18 meters",
+    "closeness rank": 2
+   },
+   "bed": {
+    "distance": "0.34 meters",
+    "closeness rank": 3
+   },
+   "table": {
+    "distance": "0.53 meters",
+    "closeness rank": 4
+   },
+   "mattress": {
+    "distance": "1.32 meters",
+    "closeness rank": 5
+   },
+   "mirror": {
+    "distance": "1.32 meters",
+    "closeness rank": 6
+   },
+   "computer mouse": {
+    "distance": "1.53 meters",
+    "closeness rank": 7
+   },
+   "fan": {
+    "distance": "1.58 meters",
+    "closeness rank": 8
+   },
+   "lamp": {
+    "distance": "1.58 meters",
+    "closeness rank": 9
+   },
+   "pillow": {
+    "distance": "1.69 meters",
+    "closeness rank": 10
+   },
+   "keyboard": {
+    "distance": "1.7 meters",
+    "closeness rank": 11
+   },
+   "chair": {
+    "distance": "1.74 meters",
+    "closeness rank": 12
+   },
+   "backpack": {
+    "distance": "2.09 meters",
+    "closeness rank": 13
+   },
+   "radiator": {
+    "distance": "2.19 meters",
+    "closeness rank": 14
+   },
+   "bookshelf": {
+    "distance": "2.31 meters",
+    "closeness rank": 15
+   },
+   "plant": {
+    "distance": "2.42 meters",
+    "closeness rank": 16
+   },
+   "towel": {
+    "distance": "2.44 meters",
+    "closeness rank": 17
+   },
+   "window": {
+    "distance": "2.59 meters",
+    "closeness rank": 18
+   },
+   "door": {
+    "distance": "3.14 meters",
+    "closeness rank": 19
+   }
+  },
+  "closet": {
+   "tv": {
+    "distance": "0.08 meters",
+    "closeness rank": 1
+   },
+   "window": {
+    "distance": "0.08 meters",
+    "closeness rank": 2
+   },
+   "towel": {
+    "distance": "0.1 meters",
+    "closeness rank": 3
+   },
+   "bookshelf": {
+    "distance": "0.11 meters",
+    "closeness rank": 4
+   },
+   "table": {
+    "distance": "0.12 meters",
+    "closeness rank": 5
+   },
+   "clock": {
+    "distance": "0.18 meters",
+    "closeness rank": 6
+   },
+   "plant": {
+    "distance": "0.19 meters",
+    "closeness rank": 7
+   },
+   "bed": {
+    "distance": "0.42 meters",
+    "closeness rank": 8
+   },
+   "chair": {
+    "distance": "0.6 meters",
+    "closeness rank": 9
+   },
+   "mirror": {
+    "distance": "0.74 meters",
+    "closeness rank": 10
+   },
+   "mattress": {
+    "distance": "0.81 meters",
+    "closeness rank": 11
+   },
+   "door": {
+    "distance": "1.04 meters",
+    "closeness rank": 12
+   },
+   "fan": {
+    "distance": "1.11 meters",
+    "closeness rank": 13
+   },
+   "lamp": {
+    "distance": "1.11 meters",
+    "closeness rank": 14
+   },
+   "pillow": {
+    "distance": "1.17 meters",
+    "closeness rank": 15
+   },
+   "backpack": {
+    "distance": "1.2 meters",
+    "closeness rank": 16
+   },
+   "radiator": {
+    "distance": "1.31 meters",
+    "closeness rank": 17
+   },
+   "keyboard": {
+    "distance": "1.45 meters",
+    "closeness rank": 18
+   },
+   "computer mouse": {
+    "distance": "1.55 meters",
+    "closeness rank": 19
+   }
+  },
+  "computer mouse": {
+   "table": {
+    "distance": "0.06 meters",
+    "closeness rank": 1
+   },
+   "keyboard": {
+    "distance": "0.14 meters",
+    "closeness rank": 2
+   },
+   "pillow": {
+    "distance": "0.38 meters",
+    "closeness rank": 3
+   },
+   "mattress": {
+    "distance": "0.45 meters",
+    "closeness rank": 4
+   },
+   "mirror": {
+    "distance": "0.45 meters",
+    "closeness rank": 5
+   },
+   "radiator": {
+    "distance": "0.52 meters",
+    "closeness rank": 6
+   },
+   "bed": {
+    "distance": "0.55 meters",
+    "closeness rank": 7
+   },
+   "window": {
+    "distance": "1.06 meters",
+    "closeness rank": 8
+   },
+   "fan": {
+    "distance": "1.39 meters",
+    "closeness rank": 9
+   },
+   "lamp": {
+    "distance": "1.39 meters",
+    "closeness rank": 10
+   },
+   "clock": {
+    "distance": "1.53 meters",
+    "closeness rank": 11
+   },
+   "closet": {
+    "distance": "1.55 meters",
+    "closeness rank": 12
+   },
+   "tv": {
+    "distance": "1.57 meters",
+    "closeness rank": 13
+   },
+   "backpack": {
+    "distance": "1.81 meters",
+    "closeness rank": 14
+   },
+   "chair": {
+    "distance": "1.87 meters",
+    "closeness rank": 15
+   },
+   "bookshelf": {
+    "distance": "2.32 meters",
+    "closeness rank": 16
+   },
+   "door": {
+    "distance": "2.71 meters",
+    "closeness rank": 17
+   },
+   "plant": {
+    "distance": "2.77 meters",
+    "closeness rank": 18
+   },
+   "towel": {
+    "distance": "2.97 meters",
+    "closeness rank": 19
+   }
+  },
+  "door": {
+   "bookshelf": {
+    "distance": "1.04 meters",
+    "closeness rank": 1
+   },
+   "closet": {
+    "distance": "1.04 meters",
+    "closeness rank": 2
+   },
+   "mirror": {
+    "distance": "1.04 meters",
+    "closeness rank": 3
+   },
+   "table": {
+    "distance": "1.04 meters",
+    "closeness rank": 4
+   },
+   "mattress": {
+    "distance": "1.06 meters",
+    "closeness rank": 5
+   },
+   "bed": {
+    "distance": "1.39 meters",
+    "closeness rank": 6
+   },
+   "plant": {
+    "distance": "1.44 meters",
+    "closeness rank": 7
+   },
+   "lamp": {
+    "distance": "1.55 meters",
+    "closeness rank": 8
+   },
+   "fan": {
+    "distance": "1.56 meters",
+    "closeness rank": 9
+   },
+   "backpack": {
+    "distance": "1.7 meters",
+    "closeness rank": 10
+   },
+   "chair": {
+    "distance": "1.79 meters",
+    "closeness rank": 11
+   },
+   "window": {
+    "distance": "2.0 meters",
+    "closeness rank": 12
+   },
+   "towel": {
+    "distance": "2.14 meters",
+    "closeness rank": 13
+   },
+   "keyboard": {
+    "distance": "2.37 meters",
+    "closeness rank": 14
+   },
+   "radiator": {
+    "distance": "2.58 meters",
+    "closeness rank": 15
+   },
+   "computer mouse": {
+    "distance": "2.71 meters",
+    "closeness rank": 16
+   },
+   "pillow": {
+    "distance": "2.76 meters",
+    "closeness rank": 17
+   },
+   "clock": {
+    "distance": "3.14 meters",
+    "closeness rank": 18
+   },
+   "tv": {
+    "distance": "3.16 meters",
+    "closeness rank": 19
+   }
+  },
+  "fan": {
+   "lamp": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "backpack": {
+    "distance": "0.04 meters",
+    "closeness rank": 2
+   },
+   "bed": {
+    "distance": "0.19 meters",
+    "closeness rank": 3
+   },
+   "mirror": {
+    "distance": "0.22 meters",
+    "closeness rank": 4
+   },
+   "mattress": {
+    "distance": "0.23 meters",
+    "closeness rank": 5
+   },
+   "chair": {
+    "distance": "0.24 meters",
+    "closeness rank": 6
+   },
+   "table": {
+    "distance": "0.41 meters",
+    "closeness rank": 7
+   },
+   "bookshelf": {
+    "distance": "0.73 meters",
+    "closeness rank": 8
+   },
+   "closet": {
+    "distance": "1.11 meters",
+    "closeness rank": 9
+   },
+   "keyboard": {
+    "distance": "1.15 meters",
+    "closeness rank": 10
+   },
+   "plant": {
+    "distance": "1.24 meters",
+    "closeness rank": 11
+   },
+   "computer mouse": {
+    "distance": "1.39 meters",
+    "closeness rank": 12
+   },
+   "towel": {
+    "distance": "1.44 meters",
+    "closeness rank": 13
+   },
+   "door": {
+    "distance": "1.56 meters",
+    "closeness rank": 14
+   },
+   "clock": {
+    "distance": "1.58 meters",
+    "closeness rank": 15
+   },
+   "tv": {
+    "distance": "1.62 meters",
+    "closeness rank": 16
+   },
+   "radiator": {
+    "distance": "1.68 meters",
+    "closeness rank": 17
+   },
+   "pillow": {
+    "distance": "1.71 meters",
+    "closeness rank": 18
+   },
+   "window": {
+    "distance": "1.76 meters",
+    "closeness rank": 19
+   }
+  },
+  "keyboard": {
+   "table": {
+    "distance": "0.04 meters",
+    "closeness rank": 1
+   },
+   "computer mouse": {
+    "distance": "0.14 meters",
+    "closeness rank": 2
+   },
+   "mirror": {
+    "distance": "0.22 meters",
+    "closeness rank": 3
+   },
+   "mattress": {
+    "distance": "0.23 meters",
+    "closeness rank": 4
+   },
+   "bed": {
+    "distance": "0.37 meters",
+    "closeness rank": 5
+   },
+   "radiator": {
+    "distance": "0.44 meters",
+    "closeness rank": 6
+   },
+   "pillow": {
+    "distance": "0.47 meters",
+    "closeness rank": 7
+   },
+   "window": {
+    "distance": "0.91 meters",
+    "closeness rank": 8
+   },
+   "fan": {
+    "distance": "1.15 meters",
+    "closeness rank": 9
+   },
+   "lamp": {
+    "distance": "1.15 meters",
+    "closeness rank": 10
+   },
+   "closet": {
+    "distance": "1.45 meters",
+    "closeness rank": 11
+   },
+   "backpack": {
+    "distance": "1.54 meters",
+    "closeness rank": 12
+   },
+   "chair": {
+    "distance": "1.64 meters",
+    "closeness rank": 13
+   },
+   "clock": {
+    "distance": "1.7 meters",
+    "closeness rank": 14
+   },
+   "tv": {
+    "distance": "1.74 meters",
+    "closeness rank": 15
+   },
+   "bookshelf": {
+    "distance": "2.03 meters",
+    "closeness rank": 16
+   },
+   "door": {
+    "distance": "2.37 meters",
+    "closeness rank": 17
+   },
+   "plant": {
+    "distance": "2.54 meters",
+    "closeness rank": 18
+   },
+   "towel": {
+    "distance": "2.77 meters",
+    "closeness rank": 19
+   }
+  },
+  "lamp": {
+   "fan": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "backpack": {
+    "distance": "0.06 meters",
+    "closeness rank": 2
+   },
+   "bed": {
+    "distance": "0.19 meters",
+    "closeness rank": 3
+   },
+   "mattress": {
+    "distance": "0.22 meters",
+    "closeness rank": 4
+   },
+   "mirror": {
+    "distance": "0.22 meters",
+    "closeness rank": 5
+   },
+   "chair": {
+    "distance": "0.24 meters",
+    "closeness rank": 6
+   },
+   "table": {
+    "distance": "0.41 meters",
+    "closeness rank": 7
+   },
+   "bookshelf": {
+    "distance": "0.72 meters",
+    "closeness rank": 8
+   },
+   "closet": {
+    "distance": "1.11 meters",
+    "closeness rank": 9
+   },
+   "keyboard": {
+    "distance": "1.15 meters",
+    "closeness rank": 10
+   },
+   "plant": {
+    "distance": "1.23 meters",
+    "closeness rank": 11
+   },
+   "computer mouse": {
+    "distance": "1.39 meters",
+    "closeness rank": 12
+   },
+   "towel": {
+    "distance": "1.43 meters",
+    "closeness rank": 13
+   },
+   "door": {
+    "distance": "1.55 meters",
+    "closeness rank": 14
+   },
+   "clock": {
+    "distance": "1.58 meters",
+    "closeness rank": 15
+   },
+   "tv": {
+    "distance": "1.62 meters",
+    "closeness rank": 16
+   },
+   "radiator": {
+    "distance": "1.68 meters",
+    "closeness rank": 17
+   },
+   "pillow": {
+    "distance": "1.71 meters",
+    "closeness rank": 18
+   },
+   "window": {
+    "distance": "1.76 meters",
+    "closeness rank": 19
+   }
+  },
+  "mattress": {
+   "bed": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "mirror": {
+    "distance": "0.0 meters",
+    "closeness rank": 2
+   },
+   "table": {
+    "distance": "0.01 meters",
+    "closeness rank": 3
+   },
+   "lamp": {
+    "distance": "0.22 meters",
+    "closeness rank": 4
+   },
+   "fan": {
+    "distance": "0.23 meters",
+    "closeness rank": 5
+   },
+   "keyboard": {
+    "distance": "0.23 meters",
+    "closeness rank": 6
+   },
+   "backpack": {
+    "distance": "0.42 meters",
+    "closeness rank": 7
+   },
+   "bookshelf": {
+    "distance": "0.43 meters",
+    "closeness rank": 8
+   },
+   "computer mouse": {
+    "distance": "0.45 meters",
+    "closeness rank": 9
+   },
+   "chair": {
+    "distance": "0.61 meters",
+    "closeness rank": 10
+   },
+   "pillow": {
+    "distance": "0.63 meters",
+    "closeness rank": 11
+   },
+   "radiator": {
+    "distance": "0.66 meters",
+    "closeness rank": 12
+   },
+   "closet": {
+    "distance": "0.81 meters",
+    "closeness rank": 13
+   },
+   "window": {
+    "distance": "0.88 meters",
+    "closeness rank": 14
+   },
+   "door": {
+    "distance": "1.06 meters",
+    "closeness rank": 15
+   },
+   "plant": {
+    "distance": "1.12 meters",
+    "closeness rank": 16
+   },
+   "clock": {
+    "distance": "1.32 meters",
+    "closeness rank": 17
+   },
+   "tv": {
+    "distance": "1.37 meters",
+    "closeness rank": 18
+   },
+   "towel": {
+    "distance": "1.5 meters",
+    "closeness rank": 19
+   }
+  },
+  "mirror": {
+   "bed": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "mattress": {
+    "distance": "0.0 meters",
+    "closeness rank": 2
+   },
+   "table": {
+    "distance": "0.02 meters",
+    "closeness rank": 3
+   },
+   "fan": {
+    "distance": "0.22 meters",
+    "closeness rank": 4
+   },
+   "keyboard": {
+    "distance": "0.22 meters",
+    "closeness rank": 5
+   },
+   "lamp": {
+    "distance": "0.22 meters",
+    "closeness rank": 6
+   },
+   "bookshelf": {
+    "distance": "0.39 meters",
+    "closeness rank": 7
+   },
+   "backpack": {
+    "distance": "0.43 meters",
+    "closeness rank": 8
+   },
+   "computer mouse": {
+    "distance": "0.45 meters",
+    "closeness rank": 9
+   },
+   "chair": {
+    "distance": "0.61 meters",
+    "closeness rank": 10
+   },
+   "pillow": {
+    "distance": "0.65 meters",
+    "closeness rank": 11
+   },
+   "radiator": {
+    "distance": "0.67 meters",
+    "closeness rank": 12
+   },
+   "closet": {
+    "distance": "0.74 meters",
+    "closeness rank": 13
+   },
+   "window": {
+    "distance": "0.93 meters",
+    "closeness rank": 14
+   },
+   "door": {
+    "distance": "1.04 meters",
+    "closeness rank": 15
+   },
+   "plant": {
+    "distance": "1.08 meters",
+    "closeness rank": 16
+   },
+   "clock": {
+    "distance": "1.32 meters",
+    "closeness rank": 17
+   },
+   "tv": {
+    "distance": "1.36 meters",
+    "closeness rank": 18
+   },
+   "towel": {
+    "distance": "1.49 meters",
+    "closeness rank": 19
+   }
+  },
+  "pillow": {
+   "computer mouse": {
+    "distance": "0.38 meters",
+    "closeness rank": 1
+   },
+   "radiator": {
+    "distance": "0.4 meters",
+    "closeness rank": 2
+   },
+   "keyboard": {
+    "distance": "0.47 meters",
+    "closeness rank": 3
+   },
+   "table": {
+    "distance": "0.52 meters",
+    "closeness rank": 4
+   },
+   "mattress": {
+    "distance": "0.63 meters",
+    "closeness rank": 5
+   },
+   "mirror": {
+    "distance": "0.65 meters",
+    "closeness rank": 6
+   },
+   "window": {
+    "distance": "0.75 meters",
+    "closeness rank": 7
+   },
+   "bed": {
+    "distance": "0.85 meters",
+    "closeness rank": 8
+   },
+   "closet": {
+    "distance": "1.17 meters",
+    "closeness rank": 9
+   },
+   "clock": {
+    "distance": "1.69 meters",
+    "closeness rank": 10
+   },
+   "fan": {
+    "distance": "1.71 meters",
+    "closeness rank": 11
+   },
+   "lamp": {
+    "distance": "1.71 meters",
+    "closeness rank": 12
+   },
+   "tv": {
+    "distance": "1.71 meters",
+    "closeness rank": 13
+   },
+   "backpack": {
+    "distance": "2.19 meters",
+    "closeness rank": 14
+   },
+   "chair": {
+    "distance": "2.24 meters",
+    "closeness rank": 15
+   },
+   "bookshelf": {
+    "distance": "2.6 meters",
+    "closeness rank": 16
+   },
+   "door": {
+    "distance": "2.76 meters",
+    "closeness rank": 17
+   },
+   "plant": {
+    "distance": "3.02 meters",
+    "closeness rank": 18
+   },
+   "towel": {
+    "distance": "3.32 meters",
+    "closeness rank": 19
+   }
+  },
+  "plant": {
+   "bookshelf": {
+    "distance": "0.12 meters",
+    "closeness rank": 1
+   },
+   "table": {
+    "distance": "0.12 meters",
+    "closeness rank": 2
+   },
+   "closet": {
+    "distance": "0.19 meters",
+    "closeness rank": 3
+   },
+   "towel": {
+    "distance": "0.48 meters",
+    "closeness rank": 4
+   },
+   "chair": {
+    "distance": "1.03 meters",
+    "closeness rank": 5
+   },
+   "mirror": {
+    "distance": "1.08 meters",
+    "closeness rank": 6
+   },
+   "mattress": {
+    "distance": "1.12 meters",
+    "closeness rank": 7
+   },
+   "lamp": {
+    "distance": "1.23 meters",
+    "closeness rank": 8
+   },
+   "fan": {
+    "distance": "1.24 meters",
+    "closeness rank": 9
+   },
+   "backpack": {
+    "distance": "1.31 meters",
+    "closeness rank": 10
+   },
+   "bed": {
+    "distance": "1.36 meters",
+    "closeness rank": 11
+   },
+   "door": {
+    "distance": "1.44 meters",
+    "closeness rank": 12
+   },
+   "clock": {
+    "distance": "2.42 meters",
+    "closeness rank": 13
+   },
+   "tv": {
+    "distance": "2.43 meters",
+    "closeness rank": 14
+   },
+   "keyboard": {
+    "distance": "2.54 meters",
+    "closeness rank": 15
+   },
+   "computer mouse": {
+    "distance": "2.77 meters",
+    "closeness rank": 16
+   },
+   "window": {
+    "distance": "2.84 meters",
+    "closeness rank": 17
+   },
+   "pillow": {
+    "distance": "3.02 meters",
+    "closeness rank": 18
+   },
+   "radiator": {
+    "distance": "3.04 meters",
+    "closeness rank": 19
+   }
+  },
+  "radiator": {
+   "pillow": {
+    "distance": "0.4 meters",
+    "closeness rank": 1
+   },
+   "keyboard": {
+    "distance": "0.44 meters",
+    "closeness rank": 2
+   },
+   "window": {
+    "distance": "0.46 meters",
+    "closeness rank": 3
+   },
+   "computer mouse": {
+    "distance": "0.52 meters",
+    "closeness rank": 4
+   },
+   "table": {
+    "distance": "0.56 meters",
+    "closeness rank": 5
+   },
+   "mattress": {
+    "distance": "0.66 meters",
+    "closeness rank": 6
+   },
+   "mirror": {
+    "distance": "0.67 meters",
+    "closeness rank": 7
+   },
+   "bed": {
+    "distance": "0.9 meters",
+    "closeness rank": 8
+   },
+   "closet": {
+    "distance": "1.31 meters",
+    "closeness rank": 9
+   },
+   "fan": {
+    "distance": "1.68 meters",
+    "closeness rank": 10
+   },
+   "lamp": {
+    "distance": "1.68 meters",
+    "closeness rank": 11
+   },
+   "backpack": {
+    "distance": "2.0 meters",
+    "closeness rank": 12
+   },
+   "chair": {
+    "distance": "2.17 meters",
+    "closeness rank": 13
+   },
+   "clock": {
+    "distance": "2.19 meters",
+    "closeness rank": 14
+   },
+   "tv": {
+    "distance": "2.22 meters",
+    "closeness rank": 15
+   },
+   "bookshelf": {
+    "distance": "2.48 meters",
+    "closeness rank": 16
+   },
+   "door": {
+    "distance": "2.58 meters",
+    "closeness rank": 17
+   },
+   "plant": {
+    "distance": "3.04 meters",
+    "closeness rank": 18
+   },
+   "towel": {
+    "distance": "3.31 meters",
+    "closeness rank": 19
+   }
+  },
+  "table": {
+   "bookshelf": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "bed": {
+    "distance": "0.01 meters",
+    "closeness rank": 2
+   },
+   "mattress": {
+    "distance": "0.01 meters",
+    "closeness rank": 3
+   },
+   "mirror": {
+    "distance": "0.02 meters",
+    "closeness rank": 4
+   },
+   "backpack": {
+    "distance": "0.04 meters",
+    "closeness rank": 5
+   },
+   "keyboard": {
+    "distance": "0.04 meters",
+    "closeness rank": 6
+   },
+   "chair": {
+    "distance": "0.05 meters",
+    "closeness rank": 7
+   },
+   "computer mouse": {
+    "distance": "0.06 meters",
+    "closeness rank": 8
+   },
+   "closet": {
+    "distance": "0.12 meters",
+    "closeness rank": 9
+   },
+   "plant": {
+    "distance": "0.12 meters",
+    "closeness rank": 10
+   },
+   "towel": {
+    "distance": "0.26 meters",
+    "closeness rank": 11
+   },
+   "fan": {
+    "distance": "0.41 meters",
+    "closeness rank": 12
+   },
+   "lamp": {
+    "distance": "0.41 meters",
+    "closeness rank": 13
+   },
+   "pillow": {
+    "distance": "0.52 meters",
+    "closeness rank": 14
+   },
+   "clock": {
+    "distance": "0.53 meters",
+    "closeness rank": 15
+   },
+   "radiator": {
+    "distance": "0.56 meters",
+    "closeness rank": 16
+   },
+   "tv": {
+    "distance": "0.6 meters",
+    "closeness rank": 17
+   },
+   "window": {
+    "distance": "0.95 meters",
+    "closeness rank": 18
+   },
+   "door": {
+    "distance": "1.04 meters",
+    "closeness rank": 19
+   }
+  },
+  "towel": {
+   "closet": {
+    "distance": "0.1 meters",
+    "closeness rank": 1
+   },
+   "bookshelf": {
+    "distance": "0.25 meters",
+    "closeness rank": 2
+   },
+   "table": {
+    "distance": "0.26 meters",
+    "closeness rank": 3
+   },
+   "plant": {
+    "distance": "0.48 meters",
+    "closeness rank": 4
+   },
+   "chair": {
+    "distance": "0.82 meters",
+    "closeness rank": 5
+   },
+   "backpack": {
+    "distance": "1.19 meters",
+    "closeness rank": 6
+   },
+   "lamp": {
+    "distance": "1.43 meters",
+    "closeness rank": 7
+   },
+   "fan": {
+    "distance": "1.44 meters",
+    "closeness rank": 8
+   },
+   "mirror": {
+    "distance": "1.49 meters",
+    "closeness rank": 9
+   },
+   "mattress": {
+    "distance": "1.5 meters",
+    "closeness rank": 10
+   },
+   "bed": {
+    "distance": "1.71 meters",
+    "closeness rank": 11
+   },
+   "door": {
+    "distance": "2.14 meters",
+    "closeness rank": 12
+   },
+   "clock": {
+    "distance": "2.44 meters",
+    "closeness rank": 13
+   },
+   "tv": {
+    "distance": "2.46 meters",
+    "closeness rank": 14
+   },
+   "keyboard": {
+    "distance": "2.77 meters",
+    "closeness rank": 15
+   },
+   "computer mouse": {
+    "distance": "2.97 meters",
+    "closeness rank": 16
+   },
+   "radiator": {
+    "distance": "3.31 meters",
+    "closeness rank": 17
+   },
+   "pillow": {
+    "distance": "3.32 meters",
+    "closeness rank": 18
+   },
+   "window": {
+    "distance": "3.36 meters",
+    "closeness rank": 19
+   }
+  },
+  "tv": {
+   "clock": {
+    "distance": "0.01 meters",
+    "closeness rank": 1
+   },
+   "closet": {
+    "distance": "0.08 meters",
+    "closeness rank": 2
+   },
+   "bed": {
+    "distance": "0.41 meters",
+    "closeness rank": 3
+   },
+   "table": {
+    "distance": "0.6 meters",
+    "closeness rank": 4
+   },
+   "mirror": {
+    "distance": "1.36 meters",
+    "closeness rank": 5
+   },
+   "mattress": {
+    "distance": "1.37 meters",
+    "closeness rank": 6
+   },
+   "computer mouse": {
+    "distance": "1.57 meters",
+    "closeness rank": 7
+   },
+   "fan": {
+    "distance": "1.62 meters",
+    "closeness rank": 8
+   },
+   "lamp": {
+    "distance": "1.62 meters",
+    "closeness rank": 9
+   },
+   "pillow": {
+    "distance": "1.71 meters",
+    "closeness rank": 10
+   },
+   "keyboard": {
+    "distance": "1.74 meters",
+    "closeness rank": 11
+   },
+   "chair": {
+    "distance": "1.78 meters",
+    "closeness rank": 12
+   },
+   "backpack": {
+    "distance": "2.14 meters",
+    "closeness rank": 13
+   },
+   "radiator": {
+    "distance": "2.22 meters",
+    "closeness rank": 14
+   },
+   "bookshelf": {
+    "distance": "2.33 meters",
+    "closeness rank": 15
+   },
+   "plant": {
+    "distance": "2.43 meters",
+    "closeness rank": 16
+   },
+   "towel": {
+    "distance": "2.46 meters",
+    "closeness rank": 17
+   },
+   "window": {
+    "distance": "2.6 meters",
+    "closeness rank": 18
+   },
+   "door": {
+    "distance": "3.16 meters",
+    "closeness rank": 19
+   }
+  },
+  "window": {
+   "closet": {
+    "distance": "0.08 meters",
+    "closeness rank": 1
+   },
+   "radiator": {
+    "distance": "0.46 meters",
+    "closeness rank": 2
+   },
+   "pillow": {
+    "distance": "0.75 meters",
+    "closeness rank": 3
+   },
+   "bed": {
+    "distance": "0.88 meters",
+    "closeness rank": 4
+   },
+   "mattress": {
+    "distance": "0.88 meters",
+    "closeness rank": 5
+   },
+   "keyboard": {
+    "distance": "0.91 meters",
+    "closeness rank": 6
+   },
+   "mirror": {
+    "distance": "0.93 meters",
+    "closeness rank": 7
+   },
+   "table": {
+    "distance": "0.95 meters",
+    "closeness rank": 8
+   },
+   "computer mouse": {
+    "distance": "1.06 meters",
+    "closeness rank": 9
+   },
+   "fan": {
+    "distance": "1.76 meters",
+    "closeness rank": 10
+   },
+   "lamp": {
+    "distance": "1.76 meters",
+    "closeness rank": 11
+   },
+   "door": {
+    "distance": "2.0 meters",
+    "closeness rank": 12
+   },
+   "backpack": {
+    "distance": "2.06 meters",
+    "closeness rank": 13
+   },
+   "chair": {
+    "distance": "2.28 meters",
+    "closeness rank": 14
+   },
+   "bookshelf": {
+    "distance": "2.37 meters",
+    "closeness rank": 15
+   },
+   "clock": {
+    "distance": "2.59 meters",
+    "closeness rank": 16
+   },
+   "tv": {
+    "distance": "2.6 meters",
+    "closeness rank": 17
+   },
+   "plant": {
+    "distance": "2.84 meters",
+    "closeness rank": 18
+   },
+   "towel": {
+    "distance": "3.36 meters",
+    "closeness rank": 19
+   }
+  }
+ },
+ "appearance order": ["bed", "pillow", "backpack", "chair", "mattress", "lamp", "window", "keyboard", "fan", "door", "plant", "bookshelf", "table", "closet", "towel", "mirror", "computer mouse", "radiator", "clock", "tv"]
+}
\ No newline at end of file
diff --git a/data/spatial codes/sam3+depth-anything-3/metric/tracking/uniform/32/explicit/scene0663_00.json b/data/spatial codes/sam3+depth-anything-3/metric/tracking/uniform/32/explicit/scene0663_00.json
new file mode 100644
index 0000000000000000000000000000000000000000..ccb5abca766a4f5c8c92771531731205cfb509a0
--- /dev/null
+++ b/data/spatial codes/sam3+depth-anything-3/metric/tracking/uniform/32/explicit/scene0663_00.json	
@@ -0,0 +1,1028 @@
+{
+ "objects": {
+  "backpack": {
+   "count": 3,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "0.95 meters",
+      "y coordinate": "-0.65 meters",
+      "height above floor": "-0.45 meters"
+     },
+     "longest dimension": "0.35 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "1.24 meters",
+      "y coordinate": "-0.21 meters",
+      "height above floor": "-0.78 meters"
+     },
+     "longest dimension": "0.41 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "0.99 meters",
+      "y coordinate": "-0.01 meters",
+      "height above floor": "-0.82 meters"
+     },
+     "longest dimension": "0.27 meters"
+    }
+   ]
+  },
+  "chair": {
+   "count": 3,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "0.09 meters",
+      "y coordinate": "0.81 meters",
+      "height above floor": "-1.04 meters"
+     },
+     "longest dimension": "0.72 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "1.43 meters",
+      "y coordinate": "-1.37 meters",
+      "height above floor": "-1.5 meters"
+     },
+     "longest dimension": "0.69 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "0.77 meters",
+      "y coordinate": "-0.18 meters",
+      "height above floor": "-1.56 meters"
+     },
+     "longest dimension": "0.42 meters"
+    }
+   ]
+  },
+  "computer mouse": {
+   "count": 2,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "0.29 meters",
+      "y coordinate": "0.38 meters",
+      "height above floor": "-0.44 meters"
+     },
+     "longest dimension": "0.08 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "1.19 meters",
+      "y coordinate": "-1.0 meters",
+      "height above floor": "-2.05 meters"
+     },
+     "longest dimension": "0.08 meters"
+    }
+   ]
+  },
+  "door": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "1.83 meters",
+      "y coordinate": "-2.21 meters",
+      "height above floor": "-0.57 meters"
+     },
+     "longest dimension": "1.41 meters"
+    }
+   ]
+  },
+  "keyboard": {
+   "count": 2,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "0.13 meters",
+      "y coordinate": "0.62 meters",
+      "height above floor": "-0.37 meters"
+     },
+     "longest dimension": "0.4 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "1.29 meters",
+      "y coordinate": "-1.15 meters",
+      "height above floor": "-2.11 meters"
+     },
+     "longest dimension": "0.41 meters"
+    }
+   ]
+  },
+  "lamp": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-0.37 meters",
+      "y coordinate": "1.13 meters",
+      "height above floor": "-1.42 meters"
+     },
+     "longest dimension": "0.17 meters"
+    }
+   ]
+  },
+  "monitor": {
+   "count": 2,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "0.02 meters",
+      "y coordinate": "0.37 meters",
+      "height above floor": "0.02 meters"
+     },
+     "longest dimension": "0.49 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-0.26 meters",
+      "y coordinate": "0.78 meters",
+      "height above floor": "-0.02 meters"
+     },
+     "longest dimension": "0.5 meters"
+    }
+   ]
+  },
+  "plant": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-1.01 meters",
+      "y coordinate": "1.62 meters",
+      "height above floor": "-0.68 meters"
+     },
+     "longest dimension": "0.43 meters"
+    }
+   ]
+  },
+  "table": {
+   "count": 3,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "0.93 meters",
+      "y coordinate": "-0.44 meters",
+      "height above floor": "-2.21 meters"
+     },
+     "longest dimension": "0.72 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "0.7 meters",
+      "y coordinate": "0.04 meters",
+      "height above floor": "-0.23 meters"
+     },
+     "longest dimension": "0.73 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-0.21 meters",
+      "y coordinate": "1.16 meters",
+      "height above floor": "-1.21 meters"
+     },
+     "longest dimension": "0.72 meters"
+    }
+   ]
+  },
+  "telephone": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "1.05 meters",
+      "y coordinate": "-0.88 meters",
+      "height above floor": "-2.27 meters"
+     },
+     "longest dimension": "0.21 meters"
+    }
+   ]
+  },
+  "towel": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "0.68 meters",
+      "y coordinate": "-0.32 meters",
+      "height above floor": "-1.29 meters"
+     },
+     "longest dimension": "0.52 meters"
+    }
+   ]
+  },
+  "trash bin": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "1.56 meters",
+      "y coordinate": "-0.71 meters",
+      "height above floor": "-0.37 meters"
+     },
+     "longest dimension": "0.3 meters"
+    }
+   ]
+  },
+  "tv": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-0.26 meters",
+      "y coordinate": "0.78 meters",
+      "height above floor": "-0.02 meters"
+     },
+     "longest dimension": "0.5 meters"
+    }
+   ]
+  },
+  "window": {
+   "count": 2,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-1.12 meters",
+      "y coordinate": "1.55 meters",
+      "height above floor": "-0.59 meters"
+     },
+     "longest dimension": "1.01 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-0.62 meters",
+      "y coordinate": "1.59 meters",
+      "height above floor": "-1.34 meters"
+     },
+     "longest dimension": "1.38 meters"
+    }
+   ]
+  }
+ },
+ "room": {
+  "floor area": "10.3 square meters"
+ },
+ "closest classes distance meters from": {
+  "backpack": {
+   "trash bin": {
+    "distance": "0.37 meters",
+    "closeness rank": 1
+   },
+   "towel": {
+    "distance": "0.75 meters",
+    "closeness rank": 2
+   },
+   "table": {
+    "distance": "1.0 meters",
+    "closeness rank": 3
+   },
+   "computer mouse": {
+    "distance": "1.01 meters",
+    "closeness rank": 4
+   },
+   "monitor": {
+    "distance": "1.02 meters",
+    "closeness rank": 5
+   },
+   "keyboard": {
+    "distance": "1.16 meters",
+    "closeness rank": 6
+   },
+   "chair": {
+    "distance": "1.31 meters",
+    "closeness rank": 7
+   },
+   "tv": {
+    "distance": "1.48 meters",
+    "closeness rank": 8
+   },
+   "door": {
+    "distance": "1.62 meters",
+    "closeness rank": 9
+   },
+   "telephone": {
+    "distance": "1.65 meters",
+    "closeness rank": 10
+   },
+   "lamp": {
+    "distance": "2.22 meters",
+    "closeness rank": 11
+   },
+   "window": {
+    "distance": "2.62 meters",
+    "closeness rank": 12
+   },
+   "plant": {
+    "distance": "2.66 meters",
+    "closeness rank": 13
+   }
+  },
+  "chair": {
+   "table": {
+    "distance": "0.27 meters",
+    "closeness rank": 1
+   },
+   "keyboard": {
+    "distance": "0.36 meters",
+    "closeness rank": 2
+   },
+   "lamp": {
+    "distance": "0.41 meters",
+    "closeness rank": 3
+   },
+   "computer mouse": {
+    "distance": "0.42 meters",
+    "closeness rank": 4
+   },
+   "tv": {
+    "distance": "0.77 meters",
+    "closeness rank": 5
+   },
+   "monitor": {
+    "distance": "0.8 meters",
+    "closeness rank": 6
+   },
+   "towel": {
+    "distance": "0.87 meters",
+    "closeness rank": 7
+   },
+   "window": {
+    "distance": "0.9 meters",
+    "closeness rank": 8
+   },
+   "plant": {
+    "distance": "0.94 meters",
+    "closeness rank": 9
+   },
+   "backpack": {
+    "distance": "1.31 meters",
+    "closeness rank": 10
+   },
+   "trash bin": {
+    "distance": "1.75 meters",
+    "closeness rank": 11
+   },
+   "telephone": {
+    "distance": "1.85 meters",
+    "closeness rank": 12
+   },
+   "door": {
+    "distance": "3.1 meters",
+    "closeness rank": 13
+   }
+  },
+  "computer mouse": {
+   "table": {
+    "distance": "0.01 meters",
+    "closeness rank": 1
+   },
+   "keyboard": {
+    "distance": "0.08 meters",
+    "closeness rank": 2
+   },
+   "monitor": {
+    "distance": "0.36 meters",
+    "closeness rank": 3
+   },
+   "chair": {
+    "distance": "0.42 meters",
+    "closeness rank": 4
+   },
+   "tv": {
+    "distance": "0.56 meters",
+    "closeness rank": 5
+   },
+   "backpack": {
+    "distance": "1.01 meters",
+    "closeness rank": 6
+   },
+   "towel": {
+    "distance": "1.07 meters",
+    "closeness rank": 7
+   },
+   "lamp": {
+    "distance": "1.31 meters",
+    "closeness rank": 8
+   },
+   "trash bin": {
+    "distance": "1.51 meters",
+    "closeness rank": 9
+   },
+   "window": {
+    "distance": "1.54 meters",
+    "closeness rank": 10
+   },
+   "plant": {
+    "distance": "1.6 meters",
+    "closeness rank": 11
+   },
+   "telephone": {
+    "distance": "2.21 meters",
+    "closeness rank": 12
+   },
+   "door": {
+    "distance": "2.94 meters",
+    "closeness rank": 13
+   }
+  },
+  "door": {
+   "trash bin": {
+    "distance": "1.16 meters",
+    "closeness rank": 1
+   },
+   "backpack": {
+    "distance": "1.62 meters",
+    "closeness rank": 2
+   },
+   "telephone": {
+    "distance": "1.91 meters",
+    "closeness rank": 3
+   },
+   "table": {
+    "distance": "1.99 meters",
+    "closeness rank": 4
+   },
+   "towel": {
+    "distance": "2.1 meters",
+    "closeness rank": 5
+   },
+   "monitor": {
+    "distance": "2.88 meters",
+    "closeness rank": 6
+   },
+   "computer mouse": {
+    "distance": "2.94 meters",
+    "closeness rank": 7
+   },
+   "keyboard": {
+    "distance": "3.09 meters",
+    "closeness rank": 8
+   },
+   "chair": {
+    "distance": "3.1 meters",
+    "closeness rank": 9
+   },
+   "tv": {
+    "distance": "3.36 meters",
+    "closeness rank": 10
+   },
+   "lamp": {
+    "distance": "3.96 meters",
+    "closeness rank": 11
+   },
+   "window": {
+    "distance": "4.55 meters",
+    "closeness rank": 12
+   },
+   "plant": {
+    "distance": "4.58 meters",
+    "closeness rank": 13
+   }
+  },
+  "keyboard": {
+   "table": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "computer mouse": {
+    "distance": "0.08 meters",
+    "closeness rank": 2
+   },
+   "monitor": {
+    "distance": "0.28 meters",
+    "closeness rank": 3
+   },
+   "tv": {
+    "distance": "0.31 meters",
+    "closeness rank": 4
+   },
+   "chair": {
+    "distance": "0.36 meters",
+    "closeness rank": 5
+   },
+   "lamp": {
+    "distance": "1.05 meters",
+    "closeness rank": 6
+   },
+   "window": {
+    "distance": "1.05 meters",
+    "closeness rank": 7
+   },
+   "plant": {
+    "distance": "1.12 meters",
+    "closeness rank": 8
+   },
+   "backpack": {
+    "distance": "1.16 meters",
+    "closeness rank": 9
+   },
+   "towel": {
+    "distance": "1.19 meters",
+    "closeness rank": 10
+   },
+   "trash bin": {
+    "distance": "1.65 meters",
+    "closeness rank": 11
+   },
+   "telephone": {
+    "distance": "2.33 meters",
+    "closeness rank": 12
+   },
+   "door": {
+    "distance": "3.09 meters",
+    "closeness rank": 13
+   }
+  },
+  "lamp": {
+   "chair": {
+    "distance": "0.41 meters",
+    "closeness rank": 1
+   },
+   "window": {
+    "distance": "0.58 meters",
+    "closeness rank": 2
+   },
+   "table": {
+    "distance": "0.83 meters",
+    "closeness rank": 3
+   },
+   "plant": {
+    "distance": "0.84 meters",
+    "closeness rank": 4
+   },
+   "keyboard": {
+    "distance": "1.05 meters",
+    "closeness rank": 5
+   },
+   "tv": {
+    "distance": "1.28 meters",
+    "closeness rank": 6
+   },
+   "computer mouse": {
+    "distance": "1.31 meters",
+    "closeness rank": 7
+   },
+   "monitor": {
+    "distance": "1.49 meters",
+    "closeness rank": 8
+   },
+   "towel": {
+    "distance": "1.67 meters",
+    "closeness rank": 9
+   },
+   "backpack": {
+    "distance": "2.22 meters",
+    "closeness rank": 10
+   },
+   "telephone": {
+    "distance": "2.47 meters",
+    "closeness rank": 11
+   },
+   "trash bin": {
+    "distance": "2.7 meters",
+    "closeness rank": 12
+   },
+   "door": {
+    "distance": "3.96 meters",
+    "closeness rank": 13
+   }
+  },
+  "monitor": {
+   "tv": {
+    "distance": "0.01 meters",
+    "closeness rank": 1
+   },
+   "table": {
+    "distance": "0.12 meters",
+    "closeness rank": 2
+   },
+   "keyboard": {
+    "distance": "0.28 meters",
+    "closeness rank": 3
+   },
+   "computer mouse": {
+    "distance": "0.36 meters",
+    "closeness rank": 4
+   },
+   "chair": {
+    "distance": "0.8 meters",
+    "closeness rank": 5
+   },
+   "backpack": {
+    "distance": "1.02 meters",
+    "closeness rank": 6
+   },
+   "window": {
+    "distance": "1.21 meters",
+    "closeness rank": 7
+   },
+   "plant": {
+    "distance": "1.27 meters",
+    "closeness rank": 8
+   },
+   "towel": {
+    "distance": "1.41 meters",
+    "closeness rank": 9
+   },
+   "lamp": {
+    "distance": "1.49 meters",
+    "closeness rank": 10
+   },
+   "trash bin": {
+    "distance": "1.51 meters",
+    "closeness rank": 11
+   },
+   "telephone": {
+    "distance": "2.55 meters",
+    "closeness rank": 12
+   },
+   "door": {
+    "distance": "2.88 meters",
+    "closeness rank": 13
+   }
+  },
+  "plant": {
+   "window": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "table": {
+    "distance": "0.78 meters",
+    "closeness rank": 2
+   },
+   "tv": {
+    "distance": "0.78 meters",
+    "closeness rank": 3
+   },
+   "lamp": {
+    "distance": "0.84 meters",
+    "closeness rank": 4
+   },
+   "chair": {
+    "distance": "0.94 meters",
+    "closeness rank": 5
+   },
+   "keyboard": {
+    "distance": "1.12 meters",
+    "closeness rank": 6
+   },
+   "monitor": {
+    "distance": "1.27 meters",
+    "closeness rank": 7
+   },
+   "computer mouse": {
+    "distance": "1.6 meters",
+    "closeness rank": 8
+   },
+   "towel": {
+    "distance": "2.4 meters",
+    "closeness rank": 9
+   },
+   "backpack": {
+    "distance": "2.66 meters",
+    "closeness rank": 10
+   },
+   "trash bin": {
+    "distance": "3.17 meters",
+    "closeness rank": 11
+   },
+   "telephone": {
+    "distance": "3.32 meters",
+    "closeness rank": 12
+   },
+   "door": {
+    "distance": "4.58 meters",
+    "closeness rank": 13
+   }
+  },
+  "table": {
+   "keyboard": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "computer mouse": {
+    "distance": "0.01 meters",
+    "closeness rank": 2
+   },
+   "telephone": {
+    "distance": "0.06 meters",
+    "closeness rank": 3
+   },
+   "monitor": {
+    "distance": "0.12 meters",
+    "closeness rank": 4
+   },
+   "tv": {
+    "distance": "0.12 meters",
+    "closeness rank": 5
+   },
+   "chair": {
+    "distance": "0.27 meters",
+    "closeness rank": 6
+   },
+   "towel": {
+    "distance": "0.35 meters",
+    "closeness rank": 7
+   },
+   "window": {
+    "distance": "0.68 meters",
+    "closeness rank": 8
+   },
+   "plant": {
+    "distance": "0.78 meters",
+    "closeness rank": 9
+   },
+   "lamp": {
+    "distance": "0.83 meters",
+    "closeness rank": 10
+   },
+   "backpack": {
+    "distance": "1.0 meters",
+    "closeness rank": 11
+   },
+   "trash bin": {
+    "distance": "1.49 meters",
+    "closeness rank": 12
+   },
+   "door": {
+    "distance": "1.99 meters",
+    "closeness rank": 13
+   }
+  },
+  "telephone": {
+   "table": {
+    "distance": "0.06 meters",
+    "closeness rank": 1
+   },
+   "towel": {
+    "distance": "0.76 meters",
+    "closeness rank": 2
+   },
+   "backpack": {
+    "distance": "1.65 meters",
+    "closeness rank": 3
+   },
+   "trash bin": {
+    "distance": "1.81 meters",
+    "closeness rank": 4
+   },
+   "chair": {
+    "distance": "1.85 meters",
+    "closeness rank": 5
+   },
+   "door": {
+    "distance": "1.91 meters",
+    "closeness rank": 6
+   },
+   "computer mouse": {
+    "distance": "2.21 meters",
+    "closeness rank": 7
+   },
+   "keyboard": {
+    "distance": "2.33 meters",
+    "closeness rank": 8
+   },
+   "lamp": {
+    "distance": "2.47 meters",
+    "closeness rank": 9
+   },
+   "monitor": {
+    "distance": "2.55 meters",
+    "closeness rank": 10
+   },
+   "tv": {
+    "distance": "2.83 meters",
+    "closeness rank": 11
+   },
+   "window": {
+    "distance": "2.95 meters",
+    "closeness rank": 12
+   },
+   "plant": {
+    "distance": "3.32 meters",
+    "closeness rank": 13
+   }
+  },
+  "towel": {
+   "table": {
+    "distance": "0.35 meters",
+    "closeness rank": 1
+   },
+   "backpack": {
+    "distance": "0.75 meters",
+    "closeness rank": 2
+   },
+   "telephone": {
+    "distance": "0.76 meters",
+    "closeness rank": 3
+   },
+   "chair": {
+    "distance": "0.87 meters",
+    "closeness rank": 4
+   },
+   "computer mouse": {
+    "distance": "1.07 meters",
+    "closeness rank": 5
+   },
+   "trash bin": {
+    "distance": "1.11 meters",
+    "closeness rank": 6
+   },
+   "keyboard": {
+    "distance": "1.19 meters",
+    "closeness rank": 7
+   },
+   "monitor": {
+    "distance": "1.41 meters",
+    "closeness rank": 8
+   },
+   "lamp": {
+    "distance": "1.67 meters",
+    "closeness rank": 9
+   },
+   "tv": {
+    "distance": "1.69 meters",
+    "closeness rank": 10
+   },
+   "door": {
+    "distance": "2.1 meters",
+    "closeness rank": 11
+   },
+   "window": {
+    "distance": "2.29 meters",
+    "closeness rank": 12
+   },
+   "plant": {
+    "distance": "2.4 meters",
+    "closeness rank": 13
+   }
+  },
+  "trash bin": {
+   "backpack": {
+    "distance": "0.37 meters",
+    "closeness rank": 1
+   },
+   "towel": {
+    "distance": "1.11 meters",
+    "closeness rank": 2
+   },
+   "door": {
+    "distance": "1.16 meters",
+    "closeness rank": 3
+   },
+   "table": {
+    "distance": "1.49 meters",
+    "closeness rank": 4
+   },
+   "computer mouse": {
+    "distance": "1.51 meters",
+    "closeness rank": 5
+   },
+   "monitor": {
+    "distance": "1.51 meters",
+    "closeness rank": 6
+   },
+   "keyboard": {
+    "distance": "1.65 meters",
+    "closeness rank": 7
+   },
+   "chair": {
+    "distance": "1.75 meters",
+    "closeness rank": 8
+   },
+   "telephone": {
+    "distance": "1.81 meters",
+    "closeness rank": 9
+   },
+   "tv": {
+    "distance": "1.95 meters",
+    "closeness rank": 10
+   },
+   "lamp": {
+    "distance": "2.7 meters",
+    "closeness rank": 11
+   },
+   "window": {
+    "distance": "3.11 meters",
+    "closeness rank": 12
+   },
+   "plant": {
+    "distance": "3.17 meters",
+    "closeness rank": 13
+   }
+  },
+  "tv": {
+   "monitor": {
+    "distance": "0.01 meters",
+    "closeness rank": 1
+   },
+   "table": {
+    "distance": "0.12 meters",
+    "closeness rank": 2
+   },
+   "keyboard": {
+    "distance": "0.31 meters",
+    "closeness rank": 3
+   },
+   "computer mouse": {
+    "distance": "0.56 meters",
+    "closeness rank": 4
+   },
+   "window": {
+    "distance": "0.71 meters",
+    "closeness rank": 5
+   },
+   "chair": {
+    "distance": "0.77 meters",
+    "closeness rank": 6
+   },
+   "plant": {
+    "distance": "0.78 meters",
+    "closeness rank": 7
+   },
+   "lamp": {
+    "distance": "1.28 meters",
+    "closeness rank": 8
+   },
+   "backpack": {
+    "distance": "1.48 meters",
+    "closeness rank": 9
+   },
+   "towel": {
+    "distance": "1.69 meters",
+    "closeness rank": 10
+   },
+   "trash bin": {
+    "distance": "1.95 meters",
+    "closeness rank": 11
+   },
+   "telephone": {
+    "distance": "2.83 meters",
+    "closeness rank": 12
+   },
+   "door": {
+    "distance": "3.36 meters",
+    "closeness rank": 13
+   }
+  },
+  "window": {
+   "plant": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "lamp": {
+    "distance": "0.58 meters",
+    "closeness rank": 2
+   },
+   "table": {
+    "distance": "0.68 meters",
+    "closeness rank": 3
+   },
+   "tv": {
+    "distance": "0.71 meters",
+    "closeness rank": 4
+   },
+   "chair": {
+    "distance": "0.9 meters",
+    "closeness rank": 5
+   },
+   "keyboard": {
+    "distance": "1.05 meters",
+    "closeness rank": 6
+   },
+   "monitor": {
+    "distance": "1.21 meters",
+    "closeness rank": 7
+   },
+   "computer mouse": {
+    "distance": "1.54 meters",
+    "closeness rank": 8
+   },
+   "towel": {
+    "distance": "2.29 meters",
+    "closeness rank": 9
+   },
+   "backpack": {
+    "distance": "2.62 meters",
+    "closeness rank": 10
+   },
+   "telephone": {
+    "distance": "2.95 meters",
+    "closeness rank": 11
+   },
+   "trash bin": {
+    "distance": "3.11 meters",
+    "closeness rank": 12
+   },
+   "door": {
+    "distance": "4.55 meters",
+    "closeness rank": 13
+   }
+  }
+ },
+ "appearance order": ["chair", "table", "window", "computer mouse", "keyboard", "monitor", "tv", "plant", "backpack", "door", "telephone", "towel", "lamp", "trash bin"]
+}
\ No newline at end of file
diff --git a/data/spatial codes/sam3+depth-anything-3/metric/tracking/uniform/32/explicit/scene0684_01.json b/data/spatial codes/sam3+depth-anything-3/metric/tracking/uniform/32/explicit/scene0684_01.json
new file mode 100644
index 0000000000000000000000000000000000000000..2051b80d1044cecca85d783986d3951eb90d9d30
--- /dev/null
+++ b/data/spatial codes/sam3+depth-anything-3/metric/tracking/uniform/32/explicit/scene0684_01.json	
@@ -0,0 +1,536 @@
+{
+ "objects": {
+  "chair": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "0.23 meters",
+      "y coordinate": "0.71 meters",
+      "height above floor": "-0.08 meters"
+     },
+     "longest dimension": "0.53 meters"
+    }
+   ]
+  },
+  "door": {
+   "count": 2,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-1.07 meters",
+      "y coordinate": "-0.82 meters",
+      "height above floor": "-0.04 meters"
+     },
+     "longest dimension": "0.72 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-0.85 meters",
+      "y coordinate": "-0.91 meters",
+      "height above floor": "-0.03 meters"
+     },
+     "longest dimension": "0.86 meters"
+    }
+   ]
+  },
+  "mirror": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-1.06 meters",
+      "y coordinate": "-0.84 meters",
+      "height above floor": "0.05 meters"
+     },
+     "longest dimension": "0.52 meters"
+    }
+   ]
+  },
+  "radiator": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "0.07 meters",
+      "y coordinate": "1.1 meters",
+      "height above floor": "-0.42 meters"
+     },
+     "longest dimension": "0.59 meters"
+    }
+   ]
+  },
+  "refrigerator": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-0.25 meters",
+      "y coordinate": "0.66 meters",
+      "height above floor": "0.36 meters"
+     },
+     "longest dimension": "0.68 meters"
+    }
+   ]
+  },
+  "table": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "0.61 meters",
+      "y coordinate": "-0.0 meters",
+      "height above floor": "-0.05 meters"
+     },
+     "longest dimension": "1.09 meters"
+    }
+   ]
+  },
+  "telephone": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "1.13 meters",
+      "y coordinate": "0.52 meters",
+      "height above floor": "0.05 meters"
+     },
+     "longest dimension": "0.21 meters"
+    }
+   ]
+  },
+  "trash bin": {
+   "count": 2,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-0.41 meters",
+      "y coordinate": "-0.83 meters",
+      "height above floor": "-0.11 meters"
+     },
+     "longest dimension": "0.76 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-0.43 meters",
+      "y coordinate": "-0.88 meters",
+      "height above floor": "-0.07 meters"
+     },
+     "longest dimension": "0.68 meters"
+    }
+   ]
+  },
+  "washing machine": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-0.18 meters",
+      "y coordinate": "0.77 meters",
+      "height above floor": "0.42 meters"
+     },
+     "longest dimension": "0.71 meters"
+    }
+   ]
+  },
+  "window": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "1.39 meters",
+      "y coordinate": "-0.04 meters",
+      "height above floor": "0.12 meters"
+     },
+     "longest dimension": "0.72 meters"
+    }
+   ]
+  }
+ },
+ "room": {
+  "floor area": "5.7 square meters"
+ },
+ "closest classes distance meters from": {
+  "chair": {
+   "washing machine": {
+    "distance": "0.18 meters",
+    "closeness rank": 1
+   },
+   "refrigerator": {
+    "distance": "0.23 meters",
+    "closeness rank": 2
+   },
+   "table": {
+    "distance": "0.29 meters",
+    "closeness rank": 3
+   },
+   "radiator": {
+    "distance": "0.38 meters",
+    "closeness rank": 4
+   },
+   "telephone": {
+    "distance": "0.58 meters",
+    "closeness rank": 5
+   },
+   "window": {
+    "distance": "1.01 meters",
+    "closeness rank": 6
+   },
+   "trash bin": {
+    "distance": "1.36 meters",
+    "closeness rank": 7
+   },
+   "door": {
+    "distance": "1.79 meters",
+    "closeness rank": 8
+   },
+   "mirror": {
+    "distance": "1.83 meters",
+    "closeness rank": 9
+   }
+  },
+  "door": {
+   "mirror": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "trash bin": {
+    "distance": "0.2 meters",
+    "closeness rank": 2
+   },
+   "table": {
+    "distance": "1.29 meters",
+    "closeness rank": 3
+   },
+   "washing machine": {
+    "distance": "1.59 meters",
+    "closeness rank": 4
+   },
+   "refrigerator": {
+    "distance": "1.6 meters",
+    "closeness rank": 5
+   },
+   "window": {
+    "distance": "1.74 meters",
+    "closeness rank": 6
+   },
+   "chair": {
+    "distance": "1.79 meters",
+    "closeness rank": 7
+   },
+   "radiator": {
+    "distance": "2.17 meters",
+    "closeness rank": 8
+   },
+   "telephone": {
+    "distance": "2.3 meters",
+    "closeness rank": 9
+   }
+  },
+  "mirror": {
+   "door": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "trash bin": {
+    "distance": "0.28 meters",
+    "closeness rank": 2
+   },
+   "table": {
+    "distance": "1.36 meters",
+    "closeness rank": 3
+   },
+   "refrigerator": {
+    "distance": "1.59 meters",
+    "closeness rank": 4
+   },
+   "washing machine": {
+    "distance": "1.59 meters",
+    "closeness rank": 5
+   },
+   "chair": {
+    "distance": "1.83 meters",
+    "closeness rank": 6
+   },
+   "window": {
+    "distance": "1.85 meters",
+    "closeness rank": 7
+   },
+   "radiator": {
+    "distance": "2.21 meters",
+    "closeness rank": 8
+   },
+   "telephone": {
+    "distance": "2.39 meters",
+    "closeness rank": 9
+   }
+  },
+  "radiator": {
+   "chair": {
+    "distance": "0.38 meters",
+    "closeness rank": 1
+   },
+   "washing machine": {
+    "distance": "0.47 meters",
+    "closeness rank": 2
+   },
+   "refrigerator": {
+    "distance": "0.65 meters",
+    "closeness rank": 3
+   },
+   "table": {
+    "distance": "0.93 meters",
+    "closeness rank": 4
+   },
+   "telephone": {
+    "distance": "1.18 meters",
+    "closeness rank": 5
+   },
+   "window": {
+    "distance": "1.64 meters",
+    "closeness rank": 6
+   },
+   "trash bin": {
+    "distance": "1.84 meters",
+    "closeness rank": 7
+   },
+   "door": {
+    "distance": "2.17 meters",
+    "closeness rank": 8
+   },
+   "mirror": {
+    "distance": "2.21 meters",
+    "closeness rank": 9
+   }
+  },
+  "refrigerator": {
+   "washing machine": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "chair": {
+    "distance": "0.23 meters",
+    "closeness rank": 2
+   },
+   "radiator": {
+    "distance": "0.65 meters",
+    "closeness rank": 3
+   },
+   "table": {
+    "distance": "0.85 meters",
+    "closeness rank": 4
+   },
+   "telephone": {
+    "distance": "1.24 meters",
+    "closeness rank": 5
+   },
+   "trash bin": {
+    "distance": "1.36 meters",
+    "closeness rank": 6
+   },
+   "window": {
+    "distance": "1.57 meters",
+    "closeness rank": 7
+   },
+   "mirror": {
+    "distance": "1.59 meters",
+    "closeness rank": 8
+   },
+   "door": {
+    "distance": "1.6 meters",
+    "closeness rank": 9
+   }
+  },
+  "table": {
+   "telephone": {
+    "distance": "0.11 meters",
+    "closeness rank": 1
+   },
+   "chair": {
+    "distance": "0.29 meters",
+    "closeness rank": 2
+   },
+   "window": {
+    "distance": "0.33 meters",
+    "closeness rank": 3
+   },
+   "trash bin": {
+    "distance": "0.84 meters",
+    "closeness rank": 4
+   },
+   "refrigerator": {
+    "distance": "0.85 meters",
+    "closeness rank": 5
+   },
+   "washing machine": {
+    "distance": "0.86 meters",
+    "closeness rank": 6
+   },
+   "radiator": {
+    "distance": "0.93 meters",
+    "closeness rank": 7
+   },
+   "door": {
+    "distance": "1.29 meters",
+    "closeness rank": 8
+   },
+   "mirror": {
+    "distance": "1.36 meters",
+    "closeness rank": 9
+   }
+  },
+  "telephone": {
+   "table": {
+    "distance": "0.11 meters",
+    "closeness rank": 1
+   },
+   "window": {
+    "distance": "0.35 meters",
+    "closeness rank": 2
+   },
+   "chair": {
+    "distance": "0.58 meters",
+    "closeness rank": 3
+   },
+   "radiator": {
+    "distance": "1.18 meters",
+    "closeness rank": 4
+   },
+   "washing machine": {
+    "distance": "1.18 meters",
+    "closeness rank": 5
+   },
+   "refrigerator": {
+    "distance": "1.24 meters",
+    "closeness rank": 6
+   },
+   "trash bin": {
+    "distance": "1.85 meters",
+    "closeness rank": 7
+   },
+   "door": {
+    "distance": "2.3 meters",
+    "closeness rank": 8
+   },
+   "mirror": {
+    "distance": "2.39 meters",
+    "closeness rank": 9
+   }
+  },
+  "trash bin": {
+   "door": {
+    "distance": "0.2 meters",
+    "closeness rank": 1
+   },
+   "mirror": {
+    "distance": "0.28 meters",
+    "closeness rank": 2
+   },
+   "table": {
+    "distance": "0.84 meters",
+    "closeness rank": 3
+   },
+   "window": {
+    "distance": "1.23 meters",
+    "closeness rank": 4
+   },
+   "washing machine": {
+    "distance": "1.35 meters",
+    "closeness rank": 5
+   },
+   "chair": {
+    "distance": "1.36 meters",
+    "closeness rank": 6
+   },
+   "refrigerator": {
+    "distance": "1.36 meters",
+    "closeness rank": 7
+   },
+   "radiator": {
+    "distance": "1.84 meters",
+    "closeness rank": 8
+   },
+   "telephone": {
+    "distance": "1.85 meters",
+    "closeness rank": 9
+   }
+  },
+  "washing machine": {
+   "refrigerator": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "chair": {
+    "distance": "0.18 meters",
+    "closeness rank": 2
+   },
+   "radiator": {
+    "distance": "0.47 meters",
+    "closeness rank": 3
+   },
+   "table": {
+    "distance": "0.86 meters",
+    "closeness rank": 4
+   },
+   "telephone": {
+    "distance": "1.18 meters",
+    "closeness rank": 5
+   },
+   "trash bin": {
+    "distance": "1.35 meters",
+    "closeness rank": 6
+   },
+   "window": {
+    "distance": "1.57 meters",
+    "closeness rank": 7
+   },
+   "door": {
+    "distance": "1.59 meters",
+    "closeness rank": 8
+   },
+   "mirror": {
+    "distance": "1.59 meters",
+    "closeness rank": 9
+   }
+  },
+  "window": {
+   "table": {
+    "distance": "0.33 meters",
+    "closeness rank": 1
+   },
+   "telephone": {
+    "distance": "0.35 meters",
+    "closeness rank": 2
+   },
+   "chair": {
+    "distance": "1.01 meters",
+    "closeness rank": 3
+   },
+   "trash bin": {
+    "distance": "1.23 meters",
+    "closeness rank": 4
+   },
+   "refrigerator": {
+    "distance": "1.57 meters",
+    "closeness rank": 5
+   },
+   "washing machine": {
+    "distance": "1.57 meters",
+    "closeness rank": 6
+   },
+   "radiator": {
+    "distance": "1.64 meters",
+    "closeness rank": 7
+   },
+   "door": {
+    "distance": "1.74 meters",
+    "closeness rank": 8
+   },
+   "mirror": {
+    "distance": "1.85 meters",
+    "closeness rank": 9
+   }
+  }
+ },
+ "appearance order": ["door", "trash bin", "table", "telephone", "window", "chair", "washing machine", "refrigerator", "mirror", "radiator"]
+}
\ No newline at end of file
diff --git a/data/spatial codes/sam3+depth-anything-3/metric/tracking/uniform/32/explicit/scene0693_00.json b/data/spatial codes/sam3+depth-anything-3/metric/tracking/uniform/32/explicit/scene0693_00.json
new file mode 100644
index 0000000000000000000000000000000000000000..53810027672deac10df2a8038a5476a3d89a86cc
--- /dev/null
+++ b/data/spatial codes/sam3+depth-anything-3/metric/tracking/uniform/32/explicit/scene0693_00.json	
@@ -0,0 +1,213 @@
+{
+ "objects": {
+  "door": {
+   "count": 4,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-0.01 meters",
+      "y coordinate": "-0.37 meters",
+      "height above floor": "-0.18 meters"
+     },
+     "longest dimension": "0.5 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "0.28 meters",
+      "y coordinate": "-0.54 meters",
+      "height above floor": "-0.17 meters"
+     },
+     "longest dimension": "0.49 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "0.55 meters",
+      "y coordinate": "0.94 meters",
+      "height above floor": "-0.16 meters"
+     },
+     "longest dimension": "0.97 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-0.87 meters",
+      "y coordinate": "0.2 meters",
+      "height above floor": "0.59 meters"
+     },
+     "longest dimension": "0.97 meters"
+    }
+   ]
+  },
+  "mirror": {
+   "count": 2,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-0.85 meters",
+      "y coordinate": "0.9 meters",
+      "height above floor": "0.19 meters"
+     },
+     "longest dimension": "0.99 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "0.76 meters",
+      "y coordinate": "0.86 meters",
+      "height above floor": "0.05 meters"
+     },
+     "longest dimension": "0.76 meters"
+    }
+   ]
+  },
+  "towel": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-0.8 meters",
+      "y coordinate": "0.13 meters",
+      "height above floor": "0.22 meters"
+     },
+     "longest dimension": "0.62 meters"
+    }
+   ]
+  },
+  "trash bin": {
+   "count": 2,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "0.19 meters",
+      "y coordinate": "0.87 meters",
+      "height above floor": "-0.37 meters"
+     },
+     "longest dimension": "0.31 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-0.14 meters",
+      "y coordinate": "1.23 meters",
+      "height above floor": "-0.45 meters"
+     },
+     "longest dimension": "0.17 meters"
+    }
+   ]
+  },
+  "window": {
+   "count": 2,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-0.87 meters",
+      "y coordinate": "0.2 meters",
+      "height above floor": "0.58 meters"
+     },
+     "longest dimension": "0.96 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-0.21 meters",
+      "y coordinate": "-0.88 meters",
+      "height above floor": "1.01 meters"
+     },
+     "longest dimension": "0.68 meters"
+    }
+   ]
+  }
+ },
+ "room": {
+  "floor area": "5.3 square meters"
+ },
+ "closest classes distance meters from": {
+  "door": {
+   "towel": {
+    "distance": "0.72 meters",
+    "closeness rank": 1
+   },
+   "window": {
+    "distance": "0.81 meters",
+    "closeness rank": 2
+   },
+   "mirror": {
+    "distance": "0.89 meters",
+    "closeness rank": 3
+   },
+   "trash bin": {
+    "distance": "1.12 meters",
+    "closeness rank": 4
+   }
+  },
+  "mirror": {
+   "window": {
+    "distance": "0.01 meters",
+    "closeness rank": 1
+   },
+   "towel": {
+    "distance": "0.22 meters",
+    "closeness rank": 2
+   },
+   "trash bin": {
+    "distance": "0.47 meters",
+    "closeness rank": 3
+   },
+   "door": {
+    "distance": "0.89 meters",
+    "closeness rank": 4
+   }
+  },
+  "towel": {
+   "window": {
+    "distance": "0.02 meters",
+    "closeness rank": 1
+   },
+   "mirror": {
+    "distance": "0.22 meters",
+    "closeness rank": 2
+   },
+   "door": {
+    "distance": "0.72 meters",
+    "closeness rank": 3
+   },
+   "trash bin": {
+    "distance": "1.07 meters",
+    "closeness rank": 4
+   }
+  },
+  "trash bin": {
+   "mirror": {
+    "distance": "0.47 meters",
+    "closeness rank": 1
+   },
+   "window": {
+    "distance": "0.84 meters",
+    "closeness rank": 2
+   },
+   "towel": {
+    "distance": "1.07 meters",
+    "closeness rank": 3
+   },
+   "door": {
+    "distance": "1.12 meters",
+    "closeness rank": 4
+   }
+  },
+  "window": {
+   "mirror": {
+    "distance": "0.01 meters",
+    "closeness rank": 1
+   },
+   "towel": {
+    "distance": "0.02 meters",
+    "closeness rank": 2
+   },
+   "door": {
+    "distance": "0.81 meters",
+    "closeness rank": 3
+   },
+   "trash bin": {
+    "distance": "0.84 meters",
+    "closeness rank": 4
+   }
+  }
+ },
+ "appearance order": ["door", "towel", "mirror", "window", "trash bin"]
+}
\ No newline at end of file
diff --git a/data/spatial codes/sam3+depth-anything-3/metric/tracking/uniform/32/explicit/scene0696_01.json b/data/spatial codes/sam3+depth-anything-3/metric/tracking/uniform/32/explicit/scene0696_01.json
new file mode 100644
index 0000000000000000000000000000000000000000..2514d4eee7b9594036eaa06081964df5239b6b0e
--- /dev/null
+++ b/data/spatial codes/sam3+depth-anything-3/metric/tracking/uniform/32/explicit/scene0696_01.json	
@@ -0,0 +1,1362 @@
+{
+ "objects": {
+  "bed": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-2.96 meters",
+      "y coordinate": "2.15 meters",
+      "height above floor": "-0.01 meters"
+     },
+     "longest dimension": "0.88 meters"
+    }
+   ]
+  },
+  "bookshelf": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "0.39 meters",
+      "y coordinate": "-0.71 meters",
+      "height above floor": "-0.37 meters"
+     },
+     "longest dimension": "1.0 meters"
+    }
+   ]
+  },
+  "chair": {
+   "count": 9,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "0.92 meters",
+      "y coordinate": "2.14 meters",
+      "height above floor": "-0.22 meters"
+     },
+     "longest dimension": "1.34 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "0.06 meters",
+      "y coordinate": "1.11 meters",
+      "height above floor": "-0.11 meters"
+     },
+     "longest dimension": "0.38 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-0.62 meters",
+      "y coordinate": "0.92 meters",
+      "height above floor": "-0.39 meters"
+     },
+     "longest dimension": "0.73 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-0.84 meters",
+      "y coordinate": "0.8 meters",
+      "height above floor": "-0.22 meters"
+     },
+     "longest dimension": "0.74 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-0.24 meters",
+      "y coordinate": "0.95 meters",
+      "height above floor": "-0.39 meters"
+     },
+     "longest dimension": "0.71 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-0.58 meters",
+      "y coordinate": "-0.34 meters",
+      "height above floor": "-0.65 meters"
+     },
+     "longest dimension": "0.57 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-1.59 meters",
+      "y coordinate": "2.68 meters",
+      "height above floor": "0.18 meters"
+     },
+     "longest dimension": "1.04 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-1.51 meters",
+      "y coordinate": "0.98 meters",
+      "height above floor": "-0.32 meters"
+     },
+     "longest dimension": "0.6 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-0.86 meters",
+      "y coordinate": "2.49 meters",
+      "height above floor": "-0.17 meters"
+     },
+     "longest dimension": "0.56 meters"
+    }
+   ]
+  },
+  "computer mouse": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-0.17 meters",
+      "y coordinate": "-0.59 meters",
+      "height above floor": "0.09 meters"
+     },
+     "longest dimension": "0.14 meters"
+    }
+   ]
+  },
+  "door": {
+   "count": 5,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-1.52 meters",
+      "y coordinate": "3.4 meters",
+      "height above floor": "0.4 meters"
+     },
+     "longest dimension": "0.67 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "1.73 meters",
+      "y coordinate": "0.45 meters",
+      "height above floor": "0.1 meters"
+     },
+     "longest dimension": "1.18 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "1.74 meters",
+      "y coordinate": "-0.06 meters",
+      "height above floor": "-0.01 meters"
+     },
+     "longest dimension": "1.03 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "0.37 meters",
+      "y coordinate": "-0.72 meters",
+      "height above floor": "0.44 meters"
+     },
+     "longest dimension": "0.46 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-0.58 meters",
+      "y coordinate": "-0.34 meters",
+      "height above floor": "-0.63 meters"
+     },
+     "longest dimension": "0.61 meters"
+    }
+   ]
+  },
+  "microwave": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-0.15 meters",
+      "y coordinate": "3.3 meters",
+      "height above floor": "0.7 meters"
+     },
+     "longest dimension": "0.41 meters"
+    }
+   ]
+  },
+  "monitor": {
+   "count": 2,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-0.67 meters",
+      "y coordinate": "3.37 meters",
+      "height above floor": "0.78 meters"
+     },
+     "longest dimension": "0.45 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-0.05 meters",
+      "y coordinate": "3.3 meters",
+      "height above floor": "0.74 meters"
+     },
+     "longest dimension": "0.52 meters"
+    }
+   ]
+  },
+  "pillow": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "0.97 meters",
+      "y coordinate": "2.03 meters",
+      "height above floor": "0.05 meters"
+     },
+     "longest dimension": "0.42 meters"
+    }
+   ]
+  },
+  "printer": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-0.46 meters",
+      "y coordinate": "-0.51 meters",
+      "height above floor": "0.2 meters"
+     },
+     "longest dimension": "0.48 meters"
+    }
+   ]
+  },
+  "radiator": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-3.42 meters",
+      "y coordinate": "1.4 meters",
+      "height above floor": "0.26 meters"
+     },
+     "longest dimension": "1.31 meters"
+    }
+   ]
+  },
+  "sofa": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "0.92 meters",
+      "y coordinate": "2.14 meters",
+      "height above floor": "-0.22 meters"
+     },
+     "longest dimension": "1.35 meters"
+    }
+   ]
+  },
+  "table": {
+   "count": 4,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-0.71 meters",
+      "y coordinate": "1.31 meters",
+      "height above floor": "-0.1 meters"
+     },
+     "longest dimension": "1.9 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "0.2 meters",
+      "y coordinate": "1.9 meters",
+      "height above floor": "-0.02 meters"
+     },
+     "longest dimension": "0.8 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-1.75 meters",
+      "y coordinate": "2.12 meters",
+      "height above floor": "0.12 meters"
+     },
+     "longest dimension": "1.03 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-0.88 meters",
+      "y coordinate": "2.32 meters",
+      "height above floor": "0.07 meters"
+     },
+     "longest dimension": "0.15 meters"
+    }
+   ]
+  },
+  "telephone": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-0.64 meters",
+      "y coordinate": "-0.54 meters",
+      "height above floor": "-0.2 meters"
+     },
+     "longest dimension": "0.18 meters"
+    }
+   ]
+  },
+  "towel": {
+   "count": 2,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "0.97 meters",
+      "y coordinate": "2.03 meters",
+      "height above floor": "0.05 meters"
+     },
+     "longest dimension": "0.42 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-1.94 meters",
+      "y coordinate": "1.18 meters",
+      "height above floor": "0.03 meters"
+     },
+     "longest dimension": "0.44 meters"
+    }
+   ]
+  },
+  "tv": {
+   "count": 2,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-0.66 meters",
+      "y coordinate": "3.37 meters",
+      "height above floor": "0.77 meters"
+     },
+     "longest dimension": "0.45 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-0.05 meters",
+      "y coordinate": "3.3 meters",
+      "height above floor": "0.73 meters"
+     },
+     "longest dimension": "0.53 meters"
+    }
+   ]
+  },
+  "window": {
+   "count": 2,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-3.38 meters",
+      "y coordinate": "1.47 meters",
+      "height above floor": "1.02 meters"
+     },
+     "longest dimension": "1.91 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-0.88 meters",
+      "y coordinate": "3.77 meters",
+      "height above floor": "1.01 meters"
+     },
+     "longest dimension": "0.64 meters"
+    }
+   ]
+  }
+ },
+ "room": {
+  "floor area": "23.8 square meters"
+ },
+ "closest classes distance meters from": {
+  "bed": {
+   "radiator": {
+    "distance": "0.06 meters",
+    "closeness rank": 1
+   },
+   "table": {
+    "distance": "0.41 meters",
+    "closeness rank": 2
+   },
+   "window": {
+    "distance": "0.45 meters",
+    "closeness rank": 3
+   },
+   "door": {
+    "distance": "1.12 meters",
+    "closeness rank": 4
+   },
+   "monitor": {
+    "distance": "2.04 meters",
+    "closeness rank": 5
+   },
+   "tv": {
+    "distance": "2.04 meters",
+    "closeness rank": 6
+   },
+   "microwave": {
+    "distance": "2.35 meters",
+    "closeness rank": 7
+   },
+   "printer": {
+    "distance": "3.03 meters",
+    "closeness rank": 8
+   },
+   "telephone": {
+    "distance": "3.1 meters",
+    "closeness rank": 9
+   },
+   "chair": {
+    "distance": "3.37 meters",
+    "closeness rank": 10
+   },
+   "sofa": {
+    "distance": "3.37 meters",
+    "closeness rank": 11
+   },
+   "towel": {
+    "distance": "3.41 meters",
+    "closeness rank": 12
+   },
+   "pillow": {
+    "distance": "3.42 meters",
+    "closeness rank": 13
+   },
+   "computer mouse": {
+    "distance": "3.47 meters",
+    "closeness rank": 14
+   },
+   "bookshelf": {
+    "distance": "3.72 meters",
+    "closeness rank": 15
+   }
+  },
+  "bookshelf": {
+   "computer mouse": {
+    "distance": "0.26 meters",
+    "closeness rank": 1
+   },
+   "printer": {
+    "distance": "0.52 meters",
+    "closeness rank": 2
+   },
+   "telephone": {
+    "distance": "0.7 meters",
+    "closeness rank": 3
+   },
+   "chair": {
+    "distance": "1.65 meters",
+    "closeness rank": 4
+   },
+   "sofa": {
+    "distance": "1.65 meters",
+    "closeness rank": 5
+   },
+   "table": {
+    "distance": "1.68 meters",
+    "closeness rank": 6
+   },
+   "pillow": {
+    "distance": "2.38 meters",
+    "closeness rank": 7
+   },
+   "towel": {
+    "distance": "2.38 meters",
+    "closeness rank": 8
+   },
+   "bed": {
+    "distance": "3.72 meters",
+    "closeness rank": 9
+   },
+   "microwave": {
+    "distance": "3.93 meters",
+    "closeness rank": 10
+   },
+   "window": {
+    "distance": "3.93 meters",
+    "closeness rank": 11
+   },
+   "radiator": {
+    "distance": "3.96 meters",
+    "closeness rank": 12
+   },
+   "monitor": {
+    "distance": "4.01 meters",
+    "closeness rank": 13
+   },
+   "tv": {
+    "distance": "4.02 meters",
+    "closeness rank": 14
+   },
+   "door": {
+    "distance": "4.27 meters",
+    "closeness rank": 15
+   }
+  },
+  "chair": {
+   "pillow": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "sofa": {
+    "distance": "0.0 meters",
+    "closeness rank": 2
+   },
+   "towel": {
+    "distance": "0.01 meters",
+    "closeness rank": 3
+   },
+   "table": {
+    "distance": "1.03 meters",
+    "closeness rank": 4
+   },
+   "microwave": {
+    "distance": "1.22 meters",
+    "closeness rank": 5
+   },
+   "tv": {
+    "distance": "1.59 meters",
+    "closeness rank": 6
+   },
+   "monitor": {
+    "distance": "1.6 meters",
+    "closeness rank": 7
+   },
+   "bookshelf": {
+    "distance": "1.65 meters",
+    "closeness rank": 8
+   },
+   "computer mouse": {
+    "distance": "1.9 meters",
+    "closeness rank": 9
+   },
+   "printer": {
+    "distance": "2.01 meters",
+    "closeness rank": 10
+   },
+   "telephone": {
+    "distance": "2.15 meters",
+    "closeness rank": 11
+   },
+   "door": {
+    "distance": "2.51 meters",
+    "closeness rank": 12
+   },
+   "bed": {
+    "distance": "3.37 meters",
+    "closeness rank": 13
+   },
+   "radiator": {
+    "distance": "4.15 meters",
+    "closeness rank": 14
+   },
+   "window": {
+    "distance": "4.27 meters",
+    "closeness rank": 15
+   }
+  },
+  "computer mouse": {
+   "printer": {
+    "distance": "0.12 meters",
+    "closeness rank": 1
+   },
+   "bookshelf": {
+    "distance": "0.26 meters",
+    "closeness rank": 2
+   },
+   "telephone": {
+    "distance": "0.43 meters",
+    "closeness rank": 3
+   },
+   "table": {
+    "distance": "1.56 meters",
+    "closeness rank": 4
+   },
+   "chair": {
+    "distance": "1.9 meters",
+    "closeness rank": 5
+   },
+   "sofa": {
+    "distance": "1.9 meters",
+    "closeness rank": 6
+   },
+   "pillow": {
+    "distance": "2.48 meters",
+    "closeness rank": 7
+   },
+   "towel": {
+    "distance": "2.48 meters",
+    "closeness rank": 8
+   },
+   "bed": {
+    "distance": "3.47 meters",
+    "closeness rank": 9
+   },
+   "window": {
+    "distance": "3.54 meters",
+    "closeness rank": 10
+   },
+   "radiator": {
+    "distance": "3.61 meters",
+    "closeness rank": 11
+   },
+   "microwave": {
+    "distance": "3.86 meters",
+    "closeness rank": 12
+   },
+   "monitor": {
+    "distance": "3.9 meters",
+    "closeness rank": 13
+   },
+   "tv": {
+    "distance": "3.9 meters",
+    "closeness rank": 14
+   },
+   "door": {
+    "distance": "4.08 meters",
+    "closeness rank": 15
+   }
+  },
+  "door": {
+   "monitor": {
+    "distance": "0.61 meters",
+    "closeness rank": 1
+   },
+   "tv": {
+    "distance": "0.61 meters",
+    "closeness rank": 2
+   },
+   "table": {
+    "distance": "0.95 meters",
+    "closeness rank": 3
+   },
+   "microwave": {
+    "distance": "0.99 meters",
+    "closeness rank": 4
+   },
+   "bed": {
+    "distance": "1.12 meters",
+    "closeness rank": 5
+   },
+   "window": {
+    "distance": "1.52 meters",
+    "closeness rank": 6
+   },
+   "radiator": {
+    "distance": "1.71 meters",
+    "closeness rank": 7
+   },
+   "chair": {
+    "distance": "2.51 meters",
+    "closeness rank": 8
+   },
+   "sofa": {
+    "distance": "2.52 meters",
+    "closeness rank": 9
+   },
+   "towel": {
+    "distance": "2.62 meters",
+    "closeness rank": 10
+   },
+   "pillow": {
+    "distance": "2.63 meters",
+    "closeness rank": 11
+   },
+   "printer": {
+    "distance": "3.85 meters",
+    "closeness rank": 12
+   },
+   "telephone": {
+    "distance": "3.97 meters",
+    "closeness rank": 13
+   },
+   "computer mouse": {
+    "distance": "4.08 meters",
+    "closeness rank": 14
+   },
+   "bookshelf": {
+    "distance": "4.27 meters",
+    "closeness rank": 15
+   }
+  },
+  "microwave": {
+   "monitor": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "tv": {
+    "distance": "0.0 meters",
+    "closeness rank": 2
+   },
+   "door": {
+    "distance": "0.99 meters",
+    "closeness rank": 3
+   },
+   "table": {
+    "distance": "1.12 meters",
+    "closeness rank": 4
+   },
+   "sofa": {
+    "distance": "1.21 meters",
+    "closeness rank": 5
+   },
+   "chair": {
+    "distance": "1.22 meters",
+    "closeness rank": 6
+   },
+   "towel": {
+    "distance": "1.47 meters",
+    "closeness rank": 7
+   },
+   "pillow": {
+    "distance": "1.49 meters",
+    "closeness rank": 8
+   },
+   "bed": {
+    "distance": "2.35 meters",
+    "closeness rank": 9
+   },
+   "window": {
+    "distance": "2.93 meters",
+    "closeness rank": 10
+   },
+   "radiator": {
+    "distance": "3.03 meters",
+    "closeness rank": 11
+   },
+   "printer": {
+    "distance": "3.82 meters",
+    "closeness rank": 12
+   },
+   "computer mouse": {
+    "distance": "3.86 meters",
+    "closeness rank": 13
+   },
+   "telephone": {
+    "distance": "3.92 meters",
+    "closeness rank": 14
+   },
+   "bookshelf": {
+    "distance": "3.93 meters",
+    "closeness rank": 15
+   }
+  },
+  "monitor": {
+   "microwave": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "tv": {
+    "distance": "0.0 meters",
+    "closeness rank": 2
+   },
+   "door": {
+    "distance": "0.61 meters",
+    "closeness rank": 3
+   },
+   "table": {
+    "distance": "1.1 meters",
+    "closeness rank": 4
+   },
+   "chair": {
+    "distance": "1.6 meters",
+    "closeness rank": 5
+   },
+   "sofa": {
+    "distance": "1.6 meters",
+    "closeness rank": 6
+   },
+   "towel": {
+    "distance": "1.79 meters",
+    "closeness rank": 7
+   },
+   "pillow": {
+    "distance": "1.81 meters",
+    "closeness rank": 8
+   },
+   "bed": {
+    "distance": "2.04 meters",
+    "closeness rank": 9
+   },
+   "window": {
+    "distance": "2.56 meters",
+    "closeness rank": 10
+   },
+   "radiator": {
+    "distance": "2.68 meters",
+    "closeness rank": 11
+   },
+   "printer": {
+    "distance": "3.83 meters",
+    "closeness rank": 12
+   },
+   "computer mouse": {
+    "distance": "3.9 meters",
+    "closeness rank": 13
+   },
+   "telephone": {
+    "distance": "3.92 meters",
+    "closeness rank": 14
+   },
+   "bookshelf": {
+    "distance": "4.01 meters",
+    "closeness rank": 15
+   }
+  },
+  "pillow": {
+   "chair": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "sofa": {
+    "distance": "0.0 meters",
+    "closeness rank": 2
+   },
+   "towel": {
+    "distance": "0.0 meters",
+    "closeness rank": 3
+   },
+   "table": {
+    "distance": "1.03 meters",
+    "closeness rank": 4
+   },
+   "microwave": {
+    "distance": "1.49 meters",
+    "closeness rank": 5
+   },
+   "monitor": {
+    "distance": "1.81 meters",
+    "closeness rank": 6
+   },
+   "tv": {
+    "distance": "1.81 meters",
+    "closeness rank": 7
+   },
+   "bookshelf": {
+    "distance": "2.38 meters",
+    "closeness rank": 8
+   },
+   "computer mouse": {
+    "distance": "2.48 meters",
+    "closeness rank": 9
+   },
+   "printer": {
+    "distance": "2.54 meters",
+    "closeness rank": 10
+   },
+   "door": {
+    "distance": "2.63 meters",
+    "closeness rank": 11
+   },
+   "telephone": {
+    "distance": "2.67 meters",
+    "closeness rank": 12
+   },
+   "bed": {
+    "distance": "3.42 meters",
+    "closeness rank": 13
+   },
+   "radiator": {
+    "distance": "4.16 meters",
+    "closeness rank": 14
+   },
+   "window": {
+    "distance": "4.23 meters",
+    "closeness rank": 15
+   }
+  },
+  "printer": {
+   "computer mouse": {
+    "distance": "0.12 meters",
+    "closeness rank": 1
+   },
+   "telephone": {
+    "distance": "0.3 meters",
+    "closeness rank": 2
+   },
+   "bookshelf": {
+    "distance": "0.52 meters",
+    "closeness rank": 3
+   },
+   "table": {
+    "distance": "1.48 meters",
+    "closeness rank": 4
+   },
+   "chair": {
+    "distance": "2.01 meters",
+    "closeness rank": 5
+   },
+   "sofa": {
+    "distance": "2.01 meters",
+    "closeness rank": 6
+   },
+   "pillow": {
+    "distance": "2.54 meters",
+    "closeness rank": 7
+   },
+   "towel": {
+    "distance": "2.54 meters",
+    "closeness rank": 8
+   },
+   "window": {
+    "distance": "2.95 meters",
+    "closeness rank": 9
+   },
+   "bed": {
+    "distance": "3.03 meters",
+    "closeness rank": 10
+   },
+   "radiator": {
+    "distance": "3.06 meters",
+    "closeness rank": 11
+   },
+   "microwave": {
+    "distance": "3.82 meters",
+    "closeness rank": 12
+   },
+   "monitor": {
+    "distance": "3.83 meters",
+    "closeness rank": 13
+   },
+   "tv": {
+    "distance": "3.83 meters",
+    "closeness rank": 14
+   },
+   "door": {
+    "distance": "3.85 meters",
+    "closeness rank": 15
+   }
+  },
+  "radiator": {
+   "bed": {
+    "distance": "0.06 meters",
+    "closeness rank": 1
+   },
+   "window": {
+    "distance": "0.07 meters",
+    "closeness rank": 2
+   },
+   "table": {
+    "distance": "1.11 meters",
+    "closeness rank": 3
+   },
+   "door": {
+    "distance": "1.71 meters",
+    "closeness rank": 4
+   },
+   "monitor": {
+    "distance": "2.68 meters",
+    "closeness rank": 5
+   },
+   "tv": {
+    "distance": "2.68 meters",
+    "closeness rank": 6
+   },
+   "microwave": {
+    "distance": "3.03 meters",
+    "closeness rank": 7
+   },
+   "printer": {
+    "distance": "3.06 meters",
+    "closeness rank": 8
+   },
+   "telephone": {
+    "distance": "3.15 meters",
+    "closeness rank": 9
+   },
+   "computer mouse": {
+    "distance": "3.61 meters",
+    "closeness rank": 10
+   },
+   "bookshelf": {
+    "distance": "3.96 meters",
+    "closeness rank": 11
+   },
+   "chair": {
+    "distance": "4.15 meters",
+    "closeness rank": 12
+   },
+   "sofa": {
+    "distance": "4.15 meters",
+    "closeness rank": 13
+   },
+   "pillow": {
+    "distance": "4.16 meters",
+    "closeness rank": 14
+   },
+   "towel": {
+    "distance": "4.16 meters",
+    "closeness rank": 15
+   }
+  },
+  "sofa": {
+   "chair": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "pillow": {
+    "distance": "0.0 meters",
+    "closeness rank": 2
+   },
+   "towel": {
+    "distance": "0.0 meters",
+    "closeness rank": 3
+   },
+   "table": {
+    "distance": "1.03 meters",
+    "closeness rank": 4
+   },
+   "microwave": {
+    "distance": "1.21 meters",
+    "closeness rank": 5
+   },
+   "tv": {
+    "distance": "1.59 meters",
+    "closeness rank": 6
+   },
+   "monitor": {
+    "distance": "1.6 meters",
+    "closeness rank": 7
+   },
+   "bookshelf": {
+    "distance": "1.65 meters",
+    "closeness rank": 8
+   },
+   "computer mouse": {
+    "distance": "1.9 meters",
+    "closeness rank": 9
+   },
+   "printer": {
+    "distance": "2.01 meters",
+    "closeness rank": 10
+   },
+   "telephone": {
+    "distance": "2.15 meters",
+    "closeness rank": 11
+   },
+   "door": {
+    "distance": "2.52 meters",
+    "closeness rank": 12
+   },
+   "bed": {
+    "distance": "3.37 meters",
+    "closeness rank": 13
+   },
+   "radiator": {
+    "distance": "4.15 meters",
+    "closeness rank": 14
+   },
+   "window": {
+    "distance": "4.27 meters",
+    "closeness rank": 15
+   }
+  },
+  "table": {
+   "bed": {
+    "distance": "0.41 meters",
+    "closeness rank": 1
+   },
+   "door": {
+    "distance": "0.95 meters",
+    "closeness rank": 2
+   },
+   "chair": {
+    "distance": "1.03 meters",
+    "closeness rank": 3
+   },
+   "pillow": {
+    "distance": "1.03 meters",
+    "closeness rank": 4
+   },
+   "sofa": {
+    "distance": "1.03 meters",
+    "closeness rank": 5
+   },
+   "towel": {
+    "distance": "1.03 meters",
+    "closeness rank": 6
+   },
+   "monitor": {
+    "distance": "1.1 meters",
+    "closeness rank": 7
+   },
+   "tv": {
+    "distance": "1.1 meters",
+    "closeness rank": 8
+   },
+   "radiator": {
+    "distance": "1.11 meters",
+    "closeness rank": 9
+   },
+   "microwave": {
+    "distance": "1.12 meters",
+    "closeness rank": 10
+   },
+   "window": {
+    "distance": "1.23 meters",
+    "closeness rank": 11
+   },
+   "printer": {
+    "distance": "1.48 meters",
+    "closeness rank": 12
+   },
+   "telephone": {
+    "distance": "1.48 meters",
+    "closeness rank": 13
+   },
+   "computer mouse": {
+    "distance": "1.56 meters",
+    "closeness rank": 14
+   },
+   "bookshelf": {
+    "distance": "1.68 meters",
+    "closeness rank": 15
+   }
+  },
+  "telephone": {
+   "printer": {
+    "distance": "0.3 meters",
+    "closeness rank": 1
+   },
+   "computer mouse": {
+    "distance": "0.43 meters",
+    "closeness rank": 2
+   },
+   "bookshelf": {
+    "distance": "0.7 meters",
+    "closeness rank": 3
+   },
+   "table": {
+    "distance": "1.48 meters",
+    "closeness rank": 4
+   },
+   "chair": {
+    "distance": "2.15 meters",
+    "closeness rank": 5
+   },
+   "sofa": {
+    "distance": "2.15 meters",
+    "closeness rank": 6
+   },
+   "pillow": {
+    "distance": "2.67 meters",
+    "closeness rank": 7
+   },
+   "towel": {
+    "distance": "2.67 meters",
+    "closeness rank": 8
+   },
+   "bed": {
+    "distance": "3.1 meters",
+    "closeness rank": 9
+   },
+   "window": {
+    "distance": "3.11 meters",
+    "closeness rank": 10
+   },
+   "radiator": {
+    "distance": "3.15 meters",
+    "closeness rank": 11
+   },
+   "microwave": {
+    "distance": "3.92 meters",
+    "closeness rank": 12
+   },
+   "monitor": {
+    "distance": "3.92 meters",
+    "closeness rank": 13
+   },
+   "tv": {
+    "distance": "3.92 meters",
+    "closeness rank": 14
+   },
+   "door": {
+    "distance": "3.97 meters",
+    "closeness rank": 15
+   }
+  },
+  "towel": {
+   "pillow": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "sofa": {
+    "distance": "0.0 meters",
+    "closeness rank": 2
+   },
+   "chair": {
+    "distance": "0.01 meters",
+    "closeness rank": 3
+   },
+   "table": {
+    "distance": "1.03 meters",
+    "closeness rank": 4
+   },
+   "microwave": {
+    "distance": "1.47 meters",
+    "closeness rank": 5
+   },
+   "monitor": {
+    "distance": "1.79 meters",
+    "closeness rank": 6
+   },
+   "tv": {
+    "distance": "1.79 meters",
+    "closeness rank": 7
+   },
+   "bookshelf": {
+    "distance": "2.38 meters",
+    "closeness rank": 8
+   },
+   "computer mouse": {
+    "distance": "2.48 meters",
+    "closeness rank": 9
+   },
+   "printer": {
+    "distance": "2.54 meters",
+    "closeness rank": 10
+   },
+   "door": {
+    "distance": "2.62 meters",
+    "closeness rank": 11
+   },
+   "telephone": {
+    "distance": "2.67 meters",
+    "closeness rank": 12
+   },
+   "bed": {
+    "distance": "3.41 meters",
+    "closeness rank": 13
+   },
+   "radiator": {
+    "distance": "4.16 meters",
+    "closeness rank": 14
+   },
+   "window": {
+    "distance": "4.23 meters",
+    "closeness rank": 15
+   }
+  },
+  "tv": {
+   "microwave": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "monitor": {
+    "distance": "0.0 meters",
+    "closeness rank": 2
+   },
+   "door": {
+    "distance": "0.61 meters",
+    "closeness rank": 3
+   },
+   "table": {
+    "distance": "1.1 meters",
+    "closeness rank": 4
+   },
+   "chair": {
+    "distance": "1.59 meters",
+    "closeness rank": 5
+   },
+   "sofa": {
+    "distance": "1.59 meters",
+    "closeness rank": 6
+   },
+   "towel": {
+    "distance": "1.79 meters",
+    "closeness rank": 7
+   },
+   "pillow": {
+    "distance": "1.81 meters",
+    "closeness rank": 8
+   },
+   "bed": {
+    "distance": "2.04 meters",
+    "closeness rank": 9
+   },
+   "window": {
+    "distance": "2.56 meters",
+    "closeness rank": 10
+   },
+   "radiator": {
+    "distance": "2.68 meters",
+    "closeness rank": 11
+   },
+   "printer": {
+    "distance": "3.83 meters",
+    "closeness rank": 12
+   },
+   "computer mouse": {
+    "distance": "3.9 meters",
+    "closeness rank": 13
+   },
+   "telephone": {
+    "distance": "3.92 meters",
+    "closeness rank": 14
+   },
+   "bookshelf": {
+    "distance": "4.02 meters",
+    "closeness rank": 15
+   }
+  },
+  "window": {
+   "radiator": {
+    "distance": "0.07 meters",
+    "closeness rank": 1
+   },
+   "bed": {
+    "distance": "0.45 meters",
+    "closeness rank": 2
+   },
+   "table": {
+    "distance": "1.23 meters",
+    "closeness rank": 3
+   },
+   "door": {
+    "distance": "1.52 meters",
+    "closeness rank": 4
+   },
+   "monitor": {
+    "distance": "2.56 meters",
+    "closeness rank": 5
+   },
+   "tv": {
+    "distance": "2.56 meters",
+    "closeness rank": 6
+   },
+   "microwave": {
+    "distance": "2.93 meters",
+    "closeness rank": 7
+   },
+   "printer": {
+    "distance": "2.95 meters",
+    "closeness rank": 8
+   },
+   "telephone": {
+    "distance": "3.11 meters",
+    "closeness rank": 9
+   },
+   "computer mouse": {
+    "distance": "3.54 meters",
+    "closeness rank": 10
+   },
+   "bookshelf": {
+    "distance": "3.93 meters",
+    "closeness rank": 11
+   },
+   "pillow": {
+    "distance": "4.23 meters",
+    "closeness rank": 12
+   },
+   "towel": {
+    "distance": "4.23 meters",
+    "closeness rank": 13
+   },
+   "chair": {
+    "distance": "4.27 meters",
+    "closeness rank": 14
+   },
+   "sofa": {
+    "distance": "4.27 meters",
+    "closeness rank": 15
+   }
+  }
+ },
+ "appearance order": ["chair", "sofa", "table", "door", "bookshelf", "printer", "telephone", "pillow", "radiator", "towel", "window", "monitor", "tv", "bed", "computer mouse", "microwave"]
+}
\ No newline at end of file
diff --git a/data/spatial codes/sam3+depth-anything-3/metric/tracking/uniform/32/explicit/scene0699_00.json b/data/spatial codes/sam3+depth-anything-3/metric/tracking/uniform/32/explicit/scene0699_00.json
new file mode 100644
index 0000000000000000000000000000000000000000..3a7e6d96c9bc2ab91550e4f983a6eecc5080605d
--- /dev/null
+++ b/data/spatial codes/sam3+depth-anything-3/metric/tracking/uniform/32/explicit/scene0699_00.json	
@@ -0,0 +1,766 @@
+{
+ "objects": {
+  "backpack": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "1.84 meters",
+      "y coordinate": "-1.03 meters",
+      "height above floor": "-0.75 meters"
+     },
+     "longest dimension": "0.63 meters"
+    }
+   ]
+  },
+  "bed": {
+   "count": 2,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "0.68 meters",
+      "y coordinate": "0.64 meters",
+      "height above floor": "0.02 meters"
+     },
+     "longest dimension": "1.42 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "0.29 meters",
+      "y coordinate": "1.11 meters",
+      "height above floor": "-1.0 meters"
+     },
+     "longest dimension": "0.86 meters"
+    }
+   ]
+  },
+  "chair": {
+   "count": 2,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "1.56 meters",
+      "y coordinate": "-0.91 meters",
+      "height above floor": "-0.34 meters"
+     },
+     "longest dimension": "0.55 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "1.52 meters",
+      "y coordinate": "-1.25 meters",
+      "height above floor": "0.11 meters"
+     },
+     "longest dimension": "0.9 meters"
+    }
+   ]
+  },
+  "closet": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "1.27 meters",
+      "y coordinate": "-1.55 meters",
+      "height above floor": "-2.33 meters"
+     },
+     "longest dimension": "1.81 meters"
+    }
+   ]
+  },
+  "door": {
+   "count": 3,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "0.64 meters",
+      "y coordinate": "0.45 meters",
+      "height above floor": "-1.92 meters"
+     },
+     "longest dimension": "0.87 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "1.58 meters",
+      "y coordinate": "-1.95 meters",
+      "height above floor": "-2.0 meters"
+     },
+     "longest dimension": "1.33 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-0.08 meters",
+      "y coordinate": "2.22 meters",
+      "height above floor": "-2.37 meters"
+     },
+     "longest dimension": "0.53 meters"
+    }
+   ]
+  },
+  "mattress": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "0.68 meters",
+      "y coordinate": "0.61 meters",
+      "height above floor": "-0.11 meters"
+     },
+     "longest dimension": "0.91 meters"
+    }
+   ]
+  },
+  "nightstand": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-0.09 meters",
+      "y coordinate": "2.06 meters",
+      "height above floor": "0.12 meters"
+     },
+     "longest dimension": "0.66 meters"
+    }
+   ]
+  },
+  "pillow": {
+   "count": 2,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "0.5 meters",
+      "y coordinate": "0.69 meters",
+      "height above floor": "0.33 meters"
+     },
+     "longest dimension": "0.6 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "0.17 meters",
+      "y coordinate": "1.21 meters",
+      "height above floor": "0.28 meters"
+     },
+     "longest dimension": "0.54 meters"
+    }
+   ]
+  },
+  "plant": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "1.36 meters",
+      "y coordinate": "-1.48 meters",
+      "height above floor": "0.57 meters"
+     },
+     "longest dimension": "0.3 meters"
+    }
+   ]
+  },
+  "radiator": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-0.24 meters",
+      "y coordinate": "2.27 meters",
+      "height above floor": "-1.02 meters"
+     },
+     "longest dimension": "1.26 meters"
+    }
+   ]
+  },
+  "table": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "1.16 meters",
+      "y coordinate": "-0.67 meters",
+      "height above floor": "0.3 meters"
+     },
+     "longest dimension": "1.08 meters"
+    }
+   ]
+  },
+  "window": {
+   "count": 2,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-0.85 meters",
+      "y coordinate": "2.15 meters",
+      "height above floor": "-0.69 meters"
+     },
+     "longest dimension": "0.6 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "1.24 meters",
+      "y coordinate": "-1.11 meters",
+      "height above floor": "0.98 meters"
+     },
+     "longest dimension": "0.56 meters"
+    }
+   ]
+  }
+ },
+ "room": {
+  "floor area": "8.4 square meters"
+ },
+ "closest classes distance meters from": {
+  "backpack": {
+   "chair": {
+    "distance": "0.17 meters",
+    "closeness rank": 1
+   },
+   "door": {
+    "distance": "0.31 meters",
+    "closeness rank": 2
+   },
+   "table": {
+    "distance": "0.77 meters",
+    "closeness rank": 3
+   },
+   "closet": {
+    "distance": "1.13 meters",
+    "closeness rank": 4
+   },
+   "plant": {
+    "distance": "1.14 meters",
+    "closeness rank": 5
+   },
+   "window": {
+    "distance": "1.49 meters",
+    "closeness rank": 6
+   },
+   "bed": {
+    "distance": "1.86 meters",
+    "closeness rank": 7
+   },
+   "mattress": {
+    "distance": "2.0 meters",
+    "closeness rank": 8
+   },
+   "pillow": {
+    "distance": "2.07 meters",
+    "closeness rank": 9
+   },
+   "nightstand": {
+    "distance": "3.26 meters",
+    "closeness rank": 10
+   },
+   "radiator": {
+    "distance": "3.63 meters",
+    "closeness rank": 11
+   }
+  },
+  "bed": {
+   "mattress": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "pillow": {
+    "distance": "0.01 meters",
+    "closeness rank": 2
+   },
+   "nightstand": {
+    "distance": "0.14 meters",
+    "closeness rank": 3
+   },
+   "radiator": {
+    "distance": "0.65 meters",
+    "closeness rank": 4
+   },
+   "window": {
+    "distance": "0.94 meters",
+    "closeness rank": 5
+   },
+   "table": {
+    "distance": "0.96 meters",
+    "closeness rank": 6
+   },
+   "closet": {
+    "distance": "1.35 meters",
+    "closeness rank": 7
+   },
+   "door": {
+    "distance": "1.35 meters",
+    "closeness rank": 8
+   },
+   "chair": {
+    "distance": "1.47 meters",
+    "closeness rank": 9
+   },
+   "backpack": {
+    "distance": "1.86 meters",
+    "closeness rank": 10
+   },
+   "plant": {
+    "distance": "1.95 meters",
+    "closeness rank": 11
+   }
+  },
+  "chair": {
+   "door": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "backpack": {
+    "distance": "0.17 meters",
+    "closeness rank": 2
+   },
+   "table": {
+    "distance": "0.26 meters",
+    "closeness rank": 3
+   },
+   "plant": {
+    "distance": "0.78 meters",
+    "closeness rank": 4
+   },
+   "window": {
+    "distance": "1.05 meters",
+    "closeness rank": 5
+   },
+   "bed": {
+    "distance": "1.47 meters",
+    "closeness rank": 6
+   },
+   "closet": {
+    "distance": "1.54 meters",
+    "closeness rank": 7
+   },
+   "mattress": {
+    "distance": "1.56 meters",
+    "closeness rank": 8
+   },
+   "pillow": {
+    "distance": "1.6 meters",
+    "closeness rank": 9
+   },
+   "nightstand": {
+    "distance": "2.91 meters",
+    "closeness rank": 10
+   },
+   "radiator": {
+    "distance": "3.42 meters",
+    "closeness rank": 11
+   }
+  },
+  "closet": {
+   "door": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "backpack": {
+    "distance": "1.13 meters",
+    "closeness rank": 2
+   },
+   "mattress": {
+    "distance": "1.34 meters",
+    "closeness rank": 3
+   },
+   "bed": {
+    "distance": "1.35 meters",
+    "closeness rank": 4
+   },
+   "chair": {
+    "distance": "1.54 meters",
+    "closeness rank": 5
+   },
+   "radiator": {
+    "distance": "1.7 meters",
+    "closeness rank": 6
+   },
+   "pillow": {
+    "distance": "1.84 meters",
+    "closeness rank": 7
+   },
+   "table": {
+    "distance": "1.9 meters",
+    "closeness rank": 8
+   },
+   "window": {
+    "distance": "2.02 meters",
+    "closeness rank": 9
+   },
+   "nightstand": {
+    "distance": "2.14 meters",
+    "closeness rank": 10
+   },
+   "plant": {
+    "distance": "2.47 meters",
+    "closeness rank": 11
+   }
+  },
+  "door": {
+   "chair": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "closet": {
+    "distance": "0.0 meters",
+    "closeness rank": 2
+   },
+   "backpack": {
+    "distance": "0.31 meters",
+    "closeness rank": 3
+   },
+   "table": {
+    "distance": "0.45 meters",
+    "closeness rank": 4
+   },
+   "plant": {
+    "distance": "1.01 meters",
+    "closeness rank": 5
+   },
+   "window": {
+    "distance": "1.31 meters",
+    "closeness rank": 6
+   },
+   "mattress": {
+    "distance": "1.34 meters",
+    "closeness rank": 7
+   },
+   "bed": {
+    "distance": "1.35 meters",
+    "closeness rank": 8
+   },
+   "radiator": {
+    "distance": "1.71 meters",
+    "closeness rank": 9
+   },
+   "pillow": {
+    "distance": "1.83 meters",
+    "closeness rank": 10
+   },
+   "nightstand": {
+    "distance": "2.14 meters",
+    "closeness rank": 11
+   }
+  },
+  "mattress": {
+   "bed": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "pillow": {
+    "distance": "0.02 meters",
+    "closeness rank": 2
+   },
+   "nightstand": {
+    "distance": "0.21 meters",
+    "closeness rank": 3
+   },
+   "radiator": {
+    "distance": "0.66 meters",
+    "closeness rank": 4
+   },
+   "window": {
+    "distance": "0.93 meters",
+    "closeness rank": 5
+   },
+   "table": {
+    "distance": "1.0 meters",
+    "closeness rank": 6
+   },
+   "closet": {
+    "distance": "1.34 meters",
+    "closeness rank": 7
+   },
+   "door": {
+    "distance": "1.34 meters",
+    "closeness rank": 8
+   },
+   "chair": {
+    "distance": "1.56 meters",
+    "closeness rank": 9
+   },
+   "backpack": {
+    "distance": "2.0 meters",
+    "closeness rank": 10
+   },
+   "plant": {
+    "distance": "2.02 meters",
+    "closeness rank": 11
+   }
+  },
+  "nightstand": {
+   "bed": {
+    "distance": "0.14 meters",
+    "closeness rank": 1
+   },
+   "mattress": {
+    "distance": "0.21 meters",
+    "closeness rank": 2
+   },
+   "radiator": {
+    "distance": "0.21 meters",
+    "closeness rank": 3
+   },
+   "window": {
+    "distance": "0.63 meters",
+    "closeness rank": 4
+   },
+   "pillow": {
+    "distance": "0.82 meters",
+    "closeness rank": 5
+   },
+   "closet": {
+    "distance": "2.14 meters",
+    "closeness rank": 6
+   },
+   "door": {
+    "distance": "2.14 meters",
+    "closeness rank": 7
+   },
+   "table": {
+    "distance": "2.4 meters",
+    "closeness rank": 8
+   },
+   "chair": {
+    "distance": "2.91 meters",
+    "closeness rank": 9
+   },
+   "backpack": {
+    "distance": "3.26 meters",
+    "closeness rank": 10
+   },
+   "plant": {
+    "distance": "3.41 meters",
+    "closeness rank": 11
+   }
+  },
+  "pillow": {
+   "bed": {
+    "distance": "0.01 meters",
+    "closeness rank": 1
+   },
+   "mattress": {
+    "distance": "0.02 meters",
+    "closeness rank": 2
+   },
+   "nightstand": {
+    "distance": "0.82 meters",
+    "closeness rank": 3
+   },
+   "table": {
+    "distance": "1.0 meters",
+    "closeness rank": 4
+   },
+   "radiator": {
+    "distance": "1.44 meters",
+    "closeness rank": 5
+   },
+   "window": {
+    "distance": "1.55 meters",
+    "closeness rank": 6
+   },
+   "chair": {
+    "distance": "1.6 meters",
+    "closeness rank": 7
+   },
+   "door": {
+    "distance": "1.83 meters",
+    "closeness rank": 8
+   },
+   "closet": {
+    "distance": "1.84 meters",
+    "closeness rank": 9
+   },
+   "plant": {
+    "distance": "2.02 meters",
+    "closeness rank": 10
+   },
+   "backpack": {
+    "distance": "2.07 meters",
+    "closeness rank": 11
+   }
+  },
+  "plant": {
+   "window": {
+    "distance": "0.42 meters",
+    "closeness rank": 1
+   },
+   "table": {
+    "distance": "0.44 meters",
+    "closeness rank": 2
+   },
+   "chair": {
+    "distance": "0.78 meters",
+    "closeness rank": 3
+   },
+   "door": {
+    "distance": "1.01 meters",
+    "closeness rank": 4
+   },
+   "backpack": {
+    "distance": "1.14 meters",
+    "closeness rank": 5
+   },
+   "bed": {
+    "distance": "1.95 meters",
+    "closeness rank": 6
+   },
+   "mattress": {
+    "distance": "2.02 meters",
+    "closeness rank": 7
+   },
+   "pillow": {
+    "distance": "2.02 meters",
+    "closeness rank": 8
+   },
+   "closet": {
+    "distance": "2.47 meters",
+    "closeness rank": 9
+   },
+   "nightstand": {
+    "distance": "3.41 meters",
+    "closeness rank": 10
+   },
+   "radiator": {
+    "distance": "4.0 meters",
+    "closeness rank": 11
+   }
+  },
+  "radiator": {
+   "window": {
+    "distance": "0.12 meters",
+    "closeness rank": 1
+   },
+   "nightstand": {
+    "distance": "0.21 meters",
+    "closeness rank": 2
+   },
+   "bed": {
+    "distance": "0.65 meters",
+    "closeness rank": 3
+   },
+   "mattress": {
+    "distance": "0.66 meters",
+    "closeness rank": 4
+   },
+   "pillow": {
+    "distance": "1.44 meters",
+    "closeness rank": 5
+   },
+   "closet": {
+    "distance": "1.7 meters",
+    "closeness rank": 6
+   },
+   "door": {
+    "distance": "1.71 meters",
+    "closeness rank": 7
+   },
+   "table": {
+    "distance": "2.94 meters",
+    "closeness rank": 8
+   },
+   "chair": {
+    "distance": "3.42 meters",
+    "closeness rank": 9
+   },
+   "backpack": {
+    "distance": "3.63 meters",
+    "closeness rank": 10
+   },
+   "plant": {
+    "distance": "4.0 meters",
+    "closeness rank": 11
+   }
+  },
+  "table": {
+   "chair": {
+    "distance": "0.26 meters",
+    "closeness rank": 1
+   },
+   "window": {
+    "distance": "0.3 meters",
+    "closeness rank": 2
+   },
+   "plant": {
+    "distance": "0.44 meters",
+    "closeness rank": 3
+   },
+   "door": {
+    "distance": "0.45 meters",
+    "closeness rank": 4
+   },
+   "backpack": {
+    "distance": "0.77 meters",
+    "closeness rank": 5
+   },
+   "bed": {
+    "distance": "0.96 meters",
+    "closeness rank": 6
+   },
+   "mattress": {
+    "distance": "1.0 meters",
+    "closeness rank": 7
+   },
+   "pillow": {
+    "distance": "1.0 meters",
+    "closeness rank": 8
+   },
+   "closet": {
+    "distance": "1.9 meters",
+    "closeness rank": 9
+   },
+   "nightstand": {
+    "distance": "2.4 meters",
+    "closeness rank": 10
+   },
+   "radiator": {
+    "distance": "2.94 meters",
+    "closeness rank": 11
+   }
+  },
+  "window": {
+   "radiator": {
+    "distance": "0.12 meters",
+    "closeness rank": 1
+   },
+   "table": {
+    "distance": "0.3 meters",
+    "closeness rank": 2
+   },
+   "plant": {
+    "distance": "0.42 meters",
+    "closeness rank": 3
+   },
+   "nightstand": {
+    "distance": "0.63 meters",
+    "closeness rank": 4
+   },
+   "mattress": {
+    "distance": "0.93 meters",
+    "closeness rank": 5
+   },
+   "bed": {
+    "distance": "0.94 meters",
+    "closeness rank": 6
+   },
+   "chair": {
+    "distance": "1.05 meters",
+    "closeness rank": 7
+   },
+   "door": {
+    "distance": "1.31 meters",
+    "closeness rank": 8
+   },
+   "backpack": {
+    "distance": "1.49 meters",
+    "closeness rank": 9
+   },
+   "pillow": {
+    "distance": "1.55 meters",
+    "closeness rank": 10
+   },
+   "closet": {
+    "distance": "2.02 meters",
+    "closeness rank": 11
+   }
+  }
+ },
+ "appearance order": ["bed", "mattress", "pillow", "nightstand", "radiator", "window", "door", "table", "backpack", "chair", "plant", "closet"]
+}
\ No newline at end of file
diff --git a/data/spatial codes/sam3+depth-anything-3/metric/tracking/uniform/64/explicit/21d970d8de.json b/data/spatial codes/sam3+depth-anything-3/metric/tracking/uniform/64/explicit/21d970d8de.json
new file mode 100644
index 0000000000000000000000000000000000000000..bdbeb13b0963dd4557b4ef6b7c908fac27d19cf3
--- /dev/null
+++ b/data/spatial codes/sam3+depth-anything-3/metric/tracking/uniform/64/explicit/21d970d8de.json	
@@ -0,0 +1,1295 @@
+{
+ "objects": {
+  "ceiling light": {
+   "count": 14,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "0.56 meters",
+      "y coordinate": "5.92 meters",
+      "height above floor": "2.05 meters"
+     },
+     "longest dimension": "0.55 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-0.84 meters",
+      "y coordinate": "7.26 meters",
+      "height above floor": "2.09 meters"
+     },
+     "longest dimension": "0.85 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-2.73 meters",
+      "y coordinate": "4.93 meters",
+      "height above floor": "2.12 meters"
+     },
+     "longest dimension": "2.08 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-1.4 meters",
+      "y coordinate": "4.38 meters",
+      "height above floor": "2.07 meters"
+     },
+     "longest dimension": "1.14 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-1.11 meters",
+      "y coordinate": "7.44 meters",
+      "height above floor": "2.12 meters"
+     },
+     "longest dimension": "0.54 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "0.26 meters",
+      "y coordinate": "2.82 meters",
+      "height above floor": "2.07 meters"
+     },
+     "longest dimension": "1.16 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-4.16 meters",
+      "y coordinate": "3.44 meters",
+      "height above floor": "2.11 meters"
+     },
+     "longest dimension": "1.02 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-1.04 meters",
+      "y coordinate": "4.0 meters",
+      "height above floor": "2.1 meters"
+     },
+     "longest dimension": "1.15 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "0.07 meters",
+      "y coordinate": "3.02 meters",
+      "height above floor": "2.09 meters"
+     },
+     "longest dimension": "0.93 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-2.9 meters",
+      "y coordinate": "2.37 meters",
+      "height above floor": "2.08 meters"
+     },
+     "longest dimension": "0.86 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-2.85 meters",
+      "y coordinate": "4.85 meters",
+      "height above floor": "2.13 meters"
+     },
+     "longest dimension": "0.93 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "1.26 meters",
+      "y coordinate": "1.96 meters",
+      "height above floor": "2.11 meters"
+     },
+     "longest dimension": "1.21 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "0.13 meters",
+      "y coordinate": "2.91 meters",
+      "height above floor": "2.09 meters"
+     },
+     "longest dimension": "0.89 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "1.63 meters",
+      "y coordinate": "4.97 meters",
+      "height above floor": "2.05 meters"
+     },
+     "longest dimension": "0.76 meters"
+    }
+   ]
+  },
+  "chair": {
+   "count": 45,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-0.92 meters",
+      "y coordinate": "1.74 meters",
+      "height above floor": "-0.03 meters"
+     },
+     "longest dimension": "0.42 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-2.54 meters",
+      "y coordinate": "3.26 meters",
+      "height above floor": "-0.08 meters"
+     },
+     "longest dimension": "0.72 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-3.45 meters",
+      "y coordinate": "2.04 meters",
+      "height above floor": "-0.03 meters"
+     },
+     "longest dimension": "0.45 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-0.97 meters",
+      "y coordinate": "1.73 meters",
+      "height above floor": "-0.11 meters"
+     },
+     "longest dimension": "0.54 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-0.34 meters",
+      "y coordinate": "6.01 meters",
+      "height above floor": "-0.15 meters"
+     },
+     "longest dimension": "0.75 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "1.81 meters",
+      "y coordinate": "3.58 meters",
+      "height above floor": "-0.06 meters"
+     },
+     "longest dimension": "0.65 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "1.88 meters",
+      "y coordinate": "3.65 meters",
+      "height above floor": "-0.04 meters"
+     },
+     "longest dimension": "0.58 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-2.14 meters",
+      "y coordinate": "3.94 meters",
+      "height above floor": "-0.05 meters"
+     },
+     "longest dimension": "0.81 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-2.16 meters",
+      "y coordinate": "4.05 meters",
+      "height above floor": "-0.13 meters"
+     },
+     "longest dimension": "0.67 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-3.21 meters",
+      "y coordinate": "2.52 meters",
+      "height above floor": "-0.07 meters"
+     },
+     "longest dimension": "0.56 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-0.84 meters",
+      "y coordinate": "0.59 meters",
+      "height above floor": "0.02 meters"
+     },
+     "longest dimension": "0.64 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "1.0 meters",
+      "y coordinate": "2.89 meters",
+      "height above floor": "-0.18 meters"
+     },
+     "longest dimension": "0.9 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "0.87 meters",
+      "y coordinate": "3.52 meters",
+      "height above floor": "-0.01 meters"
+     },
+     "longest dimension": "0.3 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-0.91 meters",
+      "y coordinate": "0.64 meters",
+      "height above floor": "-0.05 meters"
+     },
+     "longest dimension": "0.54 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-0.23 meters",
+      "y coordinate": "4.62 meters",
+      "height above floor": "-0.17 meters"
+     },
+     "longest dimension": "0.66 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "2.19 meters",
+      "y coordinate": "2.36 meters",
+      "height above floor": "0.06 meters"
+     },
+     "longest dimension": "0.41 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-0.26 meters",
+      "y coordinate": "4.6 meters",
+      "height above floor": "-0.13 meters"
+     },
+     "longest dimension": "0.64 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-0.48 meters",
+      "y coordinate": "1.63 meters",
+      "height above floor": "-0.29 meters"
+     },
+     "longest dimension": "0.55 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "1.18 meters",
+      "y coordinate": "2.99 meters",
+      "height above floor": "-0.08 meters"
+     },
+     "longest dimension": "0.69 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "0.3 meters",
+      "y coordinate": "5.21 meters",
+      "height above floor": "-0.17 meters"
+     },
+     "longest dimension": "0.65 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-2.21 meters",
+      "y coordinate": "6.51 meters",
+      "height above floor": "-0.19 meters"
+     },
+     "longest dimension": "0.56 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-1.93 meters",
+      "y coordinate": "0.57 meters",
+      "height above floor": "-0.05 meters"
+     },
+     "longest dimension": "0.45 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-0.21 meters",
+      "y coordinate": "1.47 meters",
+      "height above floor": "-0.09 meters"
+     },
+     "longest dimension": "0.63 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "2.16 meters",
+      "y coordinate": "3.97 meters",
+      "height above floor": "-0.04 meters"
+     },
+     "longest dimension": "0.46 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-1.72 meters",
+      "y coordinate": "4.15 meters",
+      "height above floor": "-0.07 meters"
+     },
+     "longest dimension": "0.62 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-0.97 meters",
+      "y coordinate": "1.66 meters",
+      "height above floor": "0.03 meters"
+     },
+     "longest dimension": "0.64 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-1.61 meters",
+      "y coordinate": "2.67 meters",
+      "height above floor": "0.02 meters"
+     },
+     "longest dimension": "0.37 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-0.14 meters",
+      "y coordinate": "1.42 meters",
+      "height above floor": "0.03 meters"
+     },
+     "longest dimension": "0.41 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-2.09 meters",
+      "y coordinate": "6.48 meters",
+      "height above floor": "-0.26 meters"
+     },
+     "longest dimension": "0.58 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-3.94 meters",
+      "y coordinate": "3.19 meters",
+      "height above floor": "-0.18 meters"
+     },
+     "longest dimension": "0.2 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-2.07 meters",
+      "y coordinate": "0.65 meters",
+      "height above floor": "-0.2 meters"
+     },
+     "longest dimension": "0.65 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-0.25 meters",
+      "y coordinate": "5.89 meters",
+      "height above floor": "0.0 meters"
+     },
+     "longest dimension": "0.41 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-0.06 meters",
+      "y coordinate": "4.52 meters",
+      "height above floor": "0.01 meters"
+     },
+     "longest dimension": "0.39 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "0.27 meters",
+      "y coordinate": "5.25 meters",
+      "height above floor": "-0.23 meters"
+     },
+     "longest dimension": "0.68 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-0.06 meters",
+      "y coordinate": "4.53 meters",
+      "height above floor": "-0.0 meters"
+     },
+     "longest dimension": "1.15 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-0.5 meters",
+      "y coordinate": "4.05 meters",
+      "height above floor": "-0.01 meters"
+     },
+     "longest dimension": "0.4 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-0.6 meters",
+      "y coordinate": "-0.53 meters",
+      "height above floor": "0.11 meters"
+     },
+     "longest dimension": "1.57 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-2.17 meters",
+      "y coordinate": "6.48 meters",
+      "height above floor": "-0.11 meters"
+     },
+     "longest dimension": "0.45 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-2.44 meters",
+      "y coordinate": "3.36 meters",
+      "height above floor": "0.09 meters"
+     },
+     "longest dimension": "1.18 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-1.21 meters",
+      "y coordinate": "3.17 meters",
+      "height above floor": "-0.03 meters"
+     },
+     "longest dimension": "0.64 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-2.08 meters",
+      "y coordinate": "3.88 meters",
+      "height above floor": "0.01 meters"
+     },
+     "longest dimension": "0.36 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-3.15 meters",
+      "y coordinate": "2.49 meters",
+      "height above floor": "0.06 meters"
+     },
+     "longest dimension": "0.39 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-1.64 meters",
+      "y coordinate": "4.19 meters",
+      "height above floor": "0.03 meters"
+     },
+     "longest dimension": "0.34 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-3.12 meters",
+      "y coordinate": "2.55 meters",
+      "height above floor": "-0.06 meters"
+     },
+     "longest dimension": "0.44 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-3.46 meters",
+      "y coordinate": "2.01 meters",
+      "height above floor": "0.05 meters"
+     },
+     "longest dimension": "0.36 meters"
+    }
+   ]
+  },
+  "clock": {
+   "count": 3,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "2.05 meters",
+      "y coordinate": "5.84 meters",
+      "height above floor": "1.84 meters"
+     },
+     "longest dimension": "0.28 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "2.06 meters",
+      "y coordinate": "5.83 meters",
+      "height above floor": "1.84 meters"
+     },
+     "longest dimension": "0.27 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "2.09 meters",
+      "y coordinate": "5.85 meters",
+      "height above floor": "1.86 meters"
+     },
+     "longest dimension": "0.28 meters"
+    }
+   ]
+  },
+  "door": {
+   "count": 3,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "0.47 meters",
+      "y coordinate": "7.28 meters",
+      "height above floor": "0.38 meters"
+     },
+     "longest dimension": "1.75 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "0.57 meters",
+      "y coordinate": "7.2 meters",
+      "height above floor": "0.45 meters"
+     },
+     "longest dimension": "1.86 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "0.53 meters",
+      "y coordinate": "7.22 meters",
+      "height above floor": "0.07 meters"
+     },
+     "longest dimension": "1.31 meters"
+    }
+   ]
+  },
+  "exhaust fan": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-1.78 meters",
+      "y coordinate": "6.1 meters",
+      "height above floor": "2.15 meters"
+     },
+     "longest dimension": "0.32 meters"
+    }
+   ]
+  },
+  "power strip": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "0.94 meters",
+      "y coordinate": "6.85 meters",
+      "height above floor": "-0.39 meters"
+     },
+     "longest dimension": "0.09 meters"
+    }
+   ]
+  },
+  "table": {
+   "count": 18,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-2.92 meters",
+      "y coordinate": "3.32 meters",
+      "height above floor": "0.0 meters"
+     },
+     "longest dimension": "1.78 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-1.4 meters",
+      "y coordinate": "1.92 meters",
+      "height above floor": "-0.01 meters"
+     },
+     "longest dimension": "0.69 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "0.48 meters",
+      "y coordinate": "5.49 meters",
+      "height above floor": "0.01 meters"
+     },
+     "longest dimension": "1.11 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-2.66 meters",
+      "y coordinate": "1.99 meters",
+      "height above floor": "0.03 meters"
+     },
+     "longest dimension": "0.87 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-0.58 meters",
+      "y coordinate": "6.17 meters",
+      "height above floor": "-0.0 meters"
+     },
+     "longest dimension": "0.93 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "2.66 meters",
+      "y coordinate": "3.55 meters",
+      "height above floor": "-0.01 meters"
+     },
+     "longest dimension": "1.06 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "1.99 meters",
+      "y coordinate": "4.23 meters",
+      "height above floor": "-0.02 meters"
+     },
+     "longest dimension": "0.74 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "0.32 meters",
+      "y coordinate": "5.4 meters",
+      "height above floor": "-0.0 meters"
+     },
+     "longest dimension": "1.63 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "1.65 meters",
+      "y coordinate": "3.98 meters",
+      "height above floor": "-0.02 meters"
+     },
+     "longest dimension": "1.11 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-2.11 meters",
+      "y coordinate": "4.29 meters",
+      "height above floor": "-0.01 meters"
+     },
+     "longest dimension": "0.8 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-1.38 meters",
+      "y coordinate": "3.41 meters",
+      "height above floor": "-0.02 meters"
+     },
+     "longest dimension": "1.11 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "0.35 meters",
+      "y coordinate": "5.46 meters",
+      "height above floor": "-0.01 meters"
+     },
+     "longest dimension": "0.5 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "0.25 meters",
+      "y coordinate": "0.57 meters",
+      "height above floor": "0.03 meters"
+     },
+     "longest dimension": "0.96 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-1.67 meters",
+      "y coordinate": "4.91 meters",
+      "height above floor": "-0.0 meters"
+     },
+     "longest dimension": "0.42 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "0.08 meters",
+      "y coordinate": "2.02 meters",
+      "height above floor": "-0.02 meters"
+     },
+     "longest dimension": "0.95 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "2.58 meters",
+      "y coordinate": "3.36 meters",
+      "height above floor": "-0.02 meters"
+     },
+     "longest dimension": "0.86 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-0.35 meters",
+      "y coordinate": "4.72 meters",
+      "height above floor": "-0.03 meters"
+     },
+     "longest dimension": "0.65 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "2.5 meters",
+      "y coordinate": "3.31 meters",
+      "height above floor": "-0.01 meters"
+     },
+     "longest dimension": "1.1 meters"
+    }
+   ]
+  },
+  "telephone": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-4.65 meters",
+      "y coordinate": "2.34 meters",
+      "height above floor": "0.21 meters"
+     },
+     "longest dimension": "0.61 meters"
+    }
+   ]
+  },
+  "trash can": {
+   "count": 2,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-0.88 meters",
+      "y coordinate": "7.82 meters",
+      "height above floor": "-0.46 meters"
+     },
+     "longest dimension": "0.29 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-0.84 meters",
+      "y coordinate": "7.75 meters",
+      "height above floor": "-0.5 meters"
+     },
+     "longest dimension": "0.36 meters"
+    }
+   ]
+  },
+  "tv": {
+   "count": 3,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-1.97 meters",
+      "y coordinate": "7.14 meters",
+      "height above floor": "1.11 meters"
+     },
+     "longest dimension": "1.13 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-2.22 meters",
+      "y coordinate": "6.92 meters",
+      "height above floor": "1.04 meters"
+     },
+     "longest dimension": "1.09 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-2.4 meters",
+      "y coordinate": "6.77 meters",
+      "height above floor": "1.06 meters"
+     },
+     "longest dimension": "0.67 meters"
+    }
+   ]
+  },
+  "whiteboard": {
+   "count": 5,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "1.7 meters",
+      "y coordinate": "6.13 meters",
+      "height above floor": "0.72 meters"
+     },
+     "longest dimension": "1.84 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "1.62 meters",
+      "y coordinate": "6.22 meters",
+      "height above floor": "0.67 meters"
+     },
+     "longest dimension": "1.84 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-4.47 meters",
+      "y coordinate": "4.26 meters",
+      "height above floor": "0.94 meters"
+     },
+     "longest dimension": "1.74 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-3.37 meters",
+      "y coordinate": "5.69 meters",
+      "height above floor": "0.77 meters"
+     },
+     "longest dimension": "1.85 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-4.31 meters",
+      "y coordinate": "4.44 meters",
+      "height above floor": "0.91 meters"
+     },
+     "longest dimension": "1.76 meters"
+    }
+   ]
+  }
+ },
+ "room": {
+  "floor area": "51.1 square meters"
+ },
+ "closest classes distance meters from": {
+  "ceiling light": {
+   "clock": {
+    "distance": "1.03 meters",
+    "closeness rank": 1
+   },
+   "whiteboard": {
+    "distance": "1.19 meters",
+    "closeness rank": 2
+   },
+   "door": {
+    "distance": "1.21 meters",
+    "closeness rank": 3
+   },
+   "exhaust fan": {
+    "distance": "1.74 meters",
+    "closeness rank": 4
+   },
+   "chair": {
+    "distance": "1.96 meters",
+    "closeness rank": 5
+   },
+   "table": {
+    "distance": "2.16 meters",
+    "closeness rank": 6
+   },
+   "tv": {
+    "distance": "2.17 meters",
+    "closeness rank": 7
+   },
+   "power strip": {
+    "distance": "2.55 meters",
+    "closeness rank": 8
+   },
+   "trash can": {
+    "distance": "2.91 meters",
+    "closeness rank": 9
+   },
+   "telephone": {
+    "distance": "6.22 meters",
+    "closeness rank": 10
+   }
+  },
+  "chair": {
+   "table": {
+    "distance": "0.13 meters",
+    "closeness rank": 1
+   },
+   "whiteboard": {
+    "distance": "1.21 meters",
+    "closeness rank": 2
+   },
+   "door": {
+    "distance": "1.35 meters",
+    "closeness rank": 3
+   },
+   "power strip": {
+    "distance": "1.43 meters",
+    "closeness rank": 4
+   },
+   "trash can": {
+    "distance": "1.74 meters",
+    "closeness rank": 5
+   },
+   "telephone": {
+    "distance": "1.87 meters",
+    "closeness rank": 6
+   },
+   "ceiling light": {
+    "distance": "1.96 meters",
+    "closeness rank": 7
+   },
+   "clock": {
+    "distance": "1.97 meters",
+    "closeness rank": 8
+   },
+   "exhaust fan": {
+    "distance": "2.02 meters",
+    "closeness rank": 9
+   },
+   "tv": {
+    "distance": "2.11 meters",
+    "closeness rank": 10
+   }
+  },
+  "clock": {
+   "whiteboard": {
+    "distance": "0.41 meters",
+    "closeness rank": 1
+   },
+   "ceiling light": {
+    "distance": "1.03 meters",
+    "closeness rank": 2
+   },
+   "door": {
+    "distance": "1.72 meters",
+    "closeness rank": 3
+   },
+   "chair": {
+    "distance": "1.97 meters",
+    "closeness rank": 4
+   },
+   "power strip": {
+    "distance": "2.47 meters",
+    "closeness rank": 5
+   },
+   "table": {
+    "distance": "2.6 meters",
+    "closeness rank": 6
+   },
+   "exhaust fan": {
+    "distance": "3.38 meters",
+    "closeness rank": 7
+   },
+   "trash can": {
+    "distance": "3.93 meters",
+    "closeness rank": 8
+   },
+   "tv": {
+    "distance": "3.93 meters",
+    "closeness rank": 9
+   },
+   "telephone": {
+    "distance": "7.39 meters",
+    "closeness rank": 10
+   }
+  },
+  "door": {
+   "power strip": {
+    "distance": "0.21 meters",
+    "closeness rank": 1
+   },
+   "whiteboard": {
+    "distance": "0.31 meters",
+    "closeness rank": 2
+   },
+   "trash can": {
+    "distance": "0.93 meters",
+    "closeness rank": 3
+   },
+   "ceiling light": {
+    "distance": "1.21 meters",
+    "closeness rank": 4
+   },
+   "chair": {
+    "distance": "1.35 meters",
+    "closeness rank": 5
+   },
+   "clock": {
+    "distance": "1.72 meters",
+    "closeness rank": 6
+   },
+   "table": {
+    "distance": "1.75 meters",
+    "closeness rank": 7
+   },
+   "tv": {
+    "distance": "1.82 meters",
+    "closeness rank": 8
+   },
+   "exhaust fan": {
+    "distance": "2.6 meters",
+    "closeness rank": 9
+   },
+   "telephone": {
+    "distance": "6.91 meters",
+    "closeness rank": 10
+   }
+  },
+  "exhaust fan": {
+   "tv": {
+    "distance": "1.11 meters",
+    "closeness rank": 1
+   },
+   "whiteboard": {
+    "distance": "1.31 meters",
+    "closeness rank": 2
+   },
+   "ceiling light": {
+    "distance": "1.74 meters",
+    "closeness rank": 3
+   },
+   "chair": {
+    "distance": "2.02 meters",
+    "closeness rank": 4
+   },
+   "table": {
+    "distance": "2.1 meters",
+    "closeness rank": 5
+   },
+   "door": {
+    "distance": "2.6 meters",
+    "closeness rank": 6
+   },
+   "trash can": {
+    "distance": "3.06 meters",
+    "closeness rank": 7
+   },
+   "clock": {
+    "distance": "3.38 meters",
+    "closeness rank": 8
+   },
+   "power strip": {
+    "distance": "3.7 meters",
+    "closeness rank": 9
+   },
+   "telephone": {
+    "distance": "4.05 meters",
+    "closeness rank": 10
+   }
+  },
+  "power strip": {
+   "door": {
+    "distance": "0.21 meters",
+    "closeness rank": 1
+   },
+   "whiteboard": {
+    "distance": "0.41 meters",
+    "closeness rank": 2
+   },
+   "chair": {
+    "distance": "1.43 meters",
+    "closeness rank": 3
+   },
+   "table": {
+    "distance": "1.75 meters",
+    "closeness rank": 4
+   },
+   "trash can": {
+    "distance": "1.93 meters",
+    "closeness rank": 5
+   },
+   "clock": {
+    "distance": "2.47 meters",
+    "closeness rank": 6
+   },
+   "ceiling light": {
+    "distance": "2.55 meters",
+    "closeness rank": 7
+   },
+   "tv": {
+    "distance": "2.88 meters",
+    "closeness rank": 8
+   },
+   "exhaust fan": {
+    "distance": "3.7 meters",
+    "closeness rank": 9
+   },
+   "telephone": {
+    "distance": "7.0 meters",
+    "closeness rank": 10
+   }
+  },
+  "table": {
+   "chair": {
+    "distance": "0.13 meters",
+    "closeness rank": 1
+   },
+   "telephone": {
+    "distance": "0.95 meters",
+    "closeness rank": 2
+   },
+   "whiteboard": {
+    "distance": "1.65 meters",
+    "closeness rank": 3
+   },
+   "door": {
+    "distance": "1.75 meters",
+    "closeness rank": 4
+   },
+   "power strip": {
+    "distance": "1.75 meters",
+    "closeness rank": 5
+   },
+   "tv": {
+    "distance": "1.75 meters",
+    "closeness rank": 6
+   },
+   "exhaust fan": {
+    "distance": "2.1 meters",
+    "closeness rank": 7
+   },
+   "trash can": {
+    "distance": "2.11 meters",
+    "closeness rank": 8
+   },
+   "ceiling light": {
+    "distance": "2.16 meters",
+    "closeness rank": 9
+   },
+   "clock": {
+    "distance": "2.6 meters",
+    "closeness rank": 10
+   }
+  },
+  "telephone": {
+   "table": {
+    "distance": "0.95 meters",
+    "closeness rank": 1
+   },
+   "chair": {
+    "distance": "1.87 meters",
+    "closeness rank": 2
+   },
+   "whiteboard": {
+    "distance": "2.8 meters",
+    "closeness rank": 3
+   },
+   "exhaust fan": {
+    "distance": "4.05 meters",
+    "closeness rank": 4
+   },
+   "tv": {
+    "distance": "4.73 meters",
+    "closeness rank": 5
+   },
+   "ceiling light": {
+    "distance": "6.22 meters",
+    "closeness rank": 6
+   },
+   "trash can": {
+    "distance": "6.36 meters",
+    "closeness rank": 7
+   },
+   "door": {
+    "distance": "6.91 meters",
+    "closeness rank": 8
+   },
+   "power strip": {
+    "distance": "7.0 meters",
+    "closeness rank": 9
+   },
+   "clock": {
+    "distance": "7.39 meters",
+    "closeness rank": 10
+   }
+  },
+  "trash can": {
+   "door": {
+    "distance": "0.93 meters",
+    "closeness rank": 1
+   },
+   "tv": {
+    "distance": "1.31 meters",
+    "closeness rank": 2
+   },
+   "chair": {
+    "distance": "1.74 meters",
+    "closeness rank": 3
+   },
+   "power strip": {
+    "distance": "1.93 meters",
+    "closeness rank": 4
+   },
+   "table": {
+    "distance": "2.11 meters",
+    "closeness rank": 5
+   },
+   "whiteboard": {
+    "distance": "2.15 meters",
+    "closeness rank": 6
+   },
+   "ceiling light": {
+    "distance": "2.91 meters",
+    "closeness rank": 7
+   },
+   "exhaust fan": {
+    "distance": "3.06 meters",
+    "closeness rank": 8
+   },
+   "clock": {
+    "distance": "3.93 meters",
+    "closeness rank": 9
+   },
+   "telephone": {
+    "distance": "6.36 meters",
+    "closeness rank": 10
+   }
+  },
+  "tv": {
+   "whiteboard": {
+    "distance": "0.21 meters",
+    "closeness rank": 1
+   },
+   "exhaust fan": {
+    "distance": "1.11 meters",
+    "closeness rank": 2
+   },
+   "trash can": {
+    "distance": "1.31 meters",
+    "closeness rank": 3
+   },
+   "table": {
+    "distance": "1.75 meters",
+    "closeness rank": 4
+   },
+   "door": {
+    "distance": "1.82 meters",
+    "closeness rank": 5
+   },
+   "chair": {
+    "distance": "2.11 meters",
+    "closeness rank": 6
+   },
+   "ceiling light": {
+    "distance": "2.17 meters",
+    "closeness rank": 7
+   },
+   "power strip": {
+    "distance": "2.88 meters",
+    "closeness rank": 8
+   },
+   "clock": {
+    "distance": "3.93 meters",
+    "closeness rank": 9
+   },
+   "telephone": {
+    "distance": "4.73 meters",
+    "closeness rank": 10
+   }
+  },
+  "whiteboard": {
+   "tv": {
+    "distance": "0.21 meters",
+    "closeness rank": 1
+   },
+   "door": {
+    "distance": "0.31 meters",
+    "closeness rank": 2
+   },
+   "clock": {
+    "distance": "0.41 meters",
+    "closeness rank": 3
+   },
+   "power strip": {
+    "distance": "0.41 meters",
+    "closeness rank": 4
+   },
+   "ceiling light": {
+    "distance": "1.19 meters",
+    "closeness rank": 5
+   },
+   "chair": {
+    "distance": "1.21 meters",
+    "closeness rank": 6
+   },
+   "exhaust fan": {
+    "distance": "1.31 meters",
+    "closeness rank": 7
+   },
+   "table": {
+    "distance": "1.65 meters",
+    "closeness rank": 8
+   },
+   "trash can": {
+    "distance": "2.15 meters",
+    "closeness rank": 9
+   },
+   "telephone": {
+    "distance": "2.8 meters",
+    "closeness rank": 10
+   }
+  }
+ },
+ "appearance order": ["chair", "table", "ceiling light", "door", "tv", "whiteboard", "trash can", "power strip", "clock", "telephone", "exhaust fan"]
+}
\ No newline at end of file
diff --git a/data/spatial codes/sam3+depth-anything-3/metric/tracking/uniform/64/explicit/3f15a9266d.json b/data/spatial codes/sam3+depth-anything-3/metric/tracking/uniform/64/explicit/3f15a9266d.json
new file mode 100644
index 0000000000000000000000000000000000000000..8e8e1bf21a47ba36151b202e86a34f90ff7f9580
--- /dev/null
+++ b/data/spatial codes/sam3+depth-anything-3/metric/tracking/uniform/64/explicit/3f15a9266d.json	
@@ -0,0 +1,1759 @@
+{
+ "objects": {
+  "bookshelf": {
+   "count": 2,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "1.1 meters",
+      "y coordinate": "1.59 meters",
+      "height above floor": "0.8 meters"
+     },
+     "longest dimension": "1.52 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-1.06 meters",
+      "y coordinate": "2.11 meters",
+      "height above floor": "1.1 meters"
+     },
+     "longest dimension": "1.5 meters"
+    }
+   ]
+  },
+  "bucket": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-1.34 meters",
+      "y coordinate": "1.68 meters",
+      "height above floor": "1.05 meters"
+     },
+     "longest dimension": "0.19 meters"
+    }
+   ]
+  },
+  "ceiling light": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "0.46 meters",
+      "y coordinate": "-0.36 meters",
+      "height above floor": "1.95 meters"
+     },
+     "longest dimension": "0.53 meters"
+    }
+   ]
+  },
+  "chair": {
+   "count": 4,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-1.24 meters",
+      "y coordinate": "1.11 meters",
+      "height above floor": "0.06 meters"
+     },
+     "longest dimension": "0.94 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-0.51 meters",
+      "y coordinate": "1.61 meters",
+      "height above floor": "-0.04 meters"
+     },
+     "longest dimension": "0.66 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "0.82 meters",
+      "y coordinate": "0.96 meters",
+      "height above floor": "-0.03 meters"
+     },
+     "longest dimension": "0.61 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-0.69 meters",
+      "y coordinate": "0.16 meters",
+      "height above floor": "0.23 meters"
+     },
+     "longest dimension": "1.1 meters"
+    }
+   ]
+  },
+  "clock": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "1.4 meters",
+      "y coordinate": "0.42 meters",
+      "height above floor": "1.54 meters"
+     },
+     "longest dimension": "0.26 meters"
+    }
+   ]
+  },
+  "computer mouse": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-0.88 meters",
+      "y coordinate": "-0.68 meters",
+      "height above floor": "0.3 meters"
+     },
+     "longest dimension": "0.09 meters"
+    }
+   ]
+  },
+  "crate": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "0.78 meters",
+      "y coordinate": "0.16 meters",
+      "height above floor": "-0.22 meters"
+     },
+     "longest dimension": "0.41 meters"
+    }
+   ]
+  },
+  "cup": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "1.15 meters",
+      "y coordinate": "-0.06 meters",
+      "height above floor": "0.36 meters"
+     },
+     "longest dimension": "0.1 meters"
+    }
+   ]
+  },
+  "cushion": {
+   "count": 2,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-0.99 meters",
+      "y coordinate": "1.13 meters",
+      "height above floor": "0.01 meters"
+     },
+     "longest dimension": "0.46 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-0.53 meters",
+      "y coordinate": "1.52 meters",
+      "height above floor": "-0.05 meters"
+     },
+     "longest dimension": "0.49 meters"
+    }
+   ]
+  },
+  "door": {
+   "count": 2,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "0.3 meters",
+      "y coordinate": "2.42 meters",
+      "height above floor": "0.66 meters"
+     },
+     "longest dimension": "1.8 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-1.58 meters",
+      "y coordinate": "0.68 meters",
+      "height above floor": "0.67 meters"
+     },
+     "longest dimension": "1.32 meters"
+    }
+   ]
+  },
+  "headphones": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-1.18 meters",
+      "y coordinate": "1.13 meters",
+      "height above floor": "0.05 meters"
+     },
+     "longest dimension": "0.87 meters"
+    }
+   ]
+  },
+  "keyboard": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-0.55 meters",
+      "y coordinate": "-0.63 meters",
+      "height above floor": "0.3 meters"
+     },
+     "longest dimension": "0.48 meters"
+    }
+   ]
+  },
+  "microwave": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "1.12 meters",
+      "y coordinate": "-0.2 meters",
+      "height above floor": "-0.24 meters"
+     },
+     "longest dimension": "0.39 meters"
+    }
+   ]
+  },
+  "monitor": {
+   "count": 3,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-0.49 meters",
+      "y coordinate": "-0.87 meters",
+      "height above floor": "0.72 meters"
+     },
+     "longest dimension": "0.56 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-1.06 meters",
+      "y coordinate": "-0.76 meters",
+      "height above floor": "0.72 meters"
+     },
+     "longest dimension": "0.49 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "0.86 meters",
+      "y coordinate": "-1.12 meters",
+      "height above floor": "0.53 meters"
+     },
+     "longest dimension": "0.22 meters"
+    }
+   ]
+  },
+  "table": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "0.69 meters",
+      "y coordinate": "0.46 meters",
+      "height above floor": "0.23 meters"
+     },
+     "longest dimension": "0.62 meters"
+    }
+   ]
+  },
+  "telephone": {
+   "count": 2,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "0.06 meters",
+      "y coordinate": "-1.04 meters",
+      "height above floor": "0.34 meters"
+     },
+     "longest dimension": "0.22 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "0.1 meters",
+      "y coordinate": "-1.03 meters",
+      "height above floor": "0.34 meters"
+     },
+     "longest dimension": "0.25 meters"
+    }
+   ]
+  },
+  "trash can": {
+   "count": 2,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "0.92 meters",
+      "y coordinate": "1.38 meters",
+      "height above floor": "-0.21 meters"
+     },
+     "longest dimension": "0.39 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "1.22 meters",
+      "y coordinate": "1.02 meters",
+      "height above floor": "-0.14 meters"
+     },
+     "longest dimension": "0.31 meters"
+    }
+   ]
+  },
+  "tv": {
+   "count": 2,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-0.49 meters",
+      "y coordinate": "-0.87 meters",
+      "height above floor": "0.72 meters"
+     },
+     "longest dimension": "0.56 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-1.06 meters",
+      "y coordinate": "-0.76 meters",
+      "height above floor": "0.72 meters"
+     },
+     "longest dimension": "0.48 meters"
+    }
+   ]
+  },
+  "whiteboard": {
+   "count": 2,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-1.56 meters",
+      "y coordinate": "0.65 meters",
+      "height above floor": "1.02 meters"
+     },
+     "longest dimension": "2.46 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-1.55 meters",
+      "y coordinate": "0.51 meters",
+      "height above floor": "0.98 meters"
+     },
+     "longest dimension": "2.25 meters"
+    }
+   ]
+  }
+ },
+ "room": {
+  "floor area": "12.9 square meters"
+ },
+ "closest classes distance meters from": {
+  "bookshelf": {
+   "trash can": {
+    "distance": "0.02 meters",
+    "closeness rank": 1
+   },
+   "door": {
+    "distance": "0.17 meters",
+    "closeness rank": 2
+   },
+   "table": {
+    "distance": "0.87 meters",
+    "closeness rank": 3
+   },
+   "clock": {
+    "distance": "1.02 meters",
+    "closeness rank": 4
+   },
+   "crate": {
+    "distance": "1.28 meters",
+    "closeness rank": 5
+   },
+   "ceiling light": {
+    "distance": "1.48 meters",
+    "closeness rank": 6
+   },
+   "cup": {
+    "distance": "1.53 meters",
+    "closeness rank": 7
+   },
+   "microwave": {
+    "distance": "1.55 meters",
+    "closeness rank": 8
+   },
+   "headphones": {
+    "distance": "1.88 meters",
+    "closeness rank": 9
+   },
+   "chair": {
+    "distance": "1.9 meters",
+    "closeness rank": 10
+   },
+   "cushion": {
+    "distance": "1.91 meters",
+    "closeness rank": 11
+   },
+   "bucket": {
+    "distance": "2.36 meters",
+    "closeness rank": 12
+   },
+   "keyboard": {
+    "distance": "2.4 meters",
+    "closeness rank": 13
+   },
+   "telephone": {
+    "distance": "2.64 meters",
+    "closeness rank": 14
+   },
+   "whiteboard": {
+    "distance": "2.66 meters",
+    "closeness rank": 15
+   },
+   "monitor": {
+    "distance": "2.69 meters",
+    "closeness rank": 16
+   },
+   "tv": {
+    "distance": "2.71 meters",
+    "closeness rank": 17
+   },
+   "computer mouse": {
+    "distance": "2.81 meters",
+    "closeness rank": 18
+   }
+  },
+  "bucket": {
+   "whiteboard": {
+    "distance": "0.32 meters",
+    "closeness rank": 1
+   },
+   "chair": {
+    "distance": "0.6 meters",
+    "closeness rank": 2
+   },
+   "headphones": {
+    "distance": "0.61 meters",
+    "closeness rank": 3
+   },
+   "ceiling light": {
+    "distance": "0.98 meters",
+    "closeness rank": 4
+   },
+   "cushion": {
+    "distance": "0.99 meters",
+    "closeness rank": 5
+   },
+   "door": {
+    "distance": "1.42 meters",
+    "closeness rank": 6
+   },
+   "table": {
+    "distance": "2.3 meters",
+    "closeness rank": 7
+   },
+   "keyboard": {
+    "distance": "2.35 meters",
+    "closeness rank": 8
+   },
+   "bookshelf": {
+    "distance": "2.36 meters",
+    "closeness rank": 9
+   },
+   "computer mouse": {
+    "distance": "2.39 meters",
+    "closeness rank": 10
+   },
+   "trash can": {
+    "distance": "2.46 meters",
+    "closeness rank": 11
+   },
+   "monitor": {
+    "distance": "2.57 meters",
+    "closeness rank": 12
+   },
+   "tv": {
+    "distance": "2.58 meters",
+    "closeness rank": 13
+   },
+   "crate": {
+    "distance": "2.76 meters",
+    "closeness rank": 14
+   },
+   "telephone": {
+    "distance": "2.97 meters",
+    "closeness rank": 15
+   },
+   "clock": {
+    "distance": "2.98 meters",
+    "closeness rank": 16
+   },
+   "cup": {
+    "distance": "3.04 meters",
+    "closeness rank": 17
+   },
+   "microwave": {
+    "distance": "3.17 meters",
+    "closeness rank": 18
+   }
+  },
+  "ceiling light": {
+   "door": {
+    "distance": "0.9 meters",
+    "closeness rank": 1
+   },
+   "clock": {
+    "distance": "0.97 meters",
+    "closeness rank": 2
+   },
+   "bucket": {
+    "distance": "0.98 meters",
+    "closeness rank": 3
+   },
+   "whiteboard": {
+    "distance": "1.06 meters",
+    "closeness rank": 4
+   },
+   "monitor": {
+    "distance": "1.17 meters",
+    "closeness rank": 5
+   },
+   "tv": {
+    "distance": "1.18 meters",
+    "closeness rank": 6
+   },
+   "bookshelf": {
+    "distance": "1.48 meters",
+    "closeness rank": 7
+   },
+   "chair": {
+    "distance": "1.59 meters",
+    "closeness rank": 8
+   },
+   "headphones": {
+    "distance": "1.59 meters",
+    "closeness rank": 9
+   },
+   "telephone": {
+    "distance": "1.64 meters",
+    "closeness rank": 10
+   },
+   "cup": {
+    "distance": "1.65 meters",
+    "closeness rank": 11
+   },
+   "keyboard": {
+    "distance": "1.66 meters",
+    "closeness rank": 12
+   },
+   "table": {
+    "distance": "1.66 meters",
+    "closeness rank": 13
+   },
+   "computer mouse": {
+    "distance": "1.84 meters",
+    "closeness rank": 14
+   },
+   "cushion": {
+    "distance": "1.93 meters",
+    "closeness rank": 15
+   },
+   "crate": {
+    "distance": "2.15 meters",
+    "closeness rank": 16
+   },
+   "microwave": {
+    "distance": "2.15 meters",
+    "closeness rank": 17
+   },
+   "trash can": {
+    "distance": "2.39 meters",
+    "closeness rank": 18
+   }
+  },
+  "chair": {
+   "cushion": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "headphones": {
+    "distance": "0.0 meters",
+    "closeness rank": 2
+   },
+   "whiteboard": {
+    "distance": "0.16 meters",
+    "closeness rank": 3
+   },
+   "bucket": {
+    "distance": "0.6 meters",
+    "closeness rank": 4
+   },
+   "door": {
+    "distance": "1.32 meters",
+    "closeness rank": 5
+   },
+   "keyboard": {
+    "distance": "1.47 meters",
+    "closeness rank": 6
+   },
+   "computer mouse": {
+    "distance": "1.51 meters",
+    "closeness rank": 7
+   },
+   "table": {
+    "distance": "1.55 meters",
+    "closeness rank": 8
+   },
+   "ceiling light": {
+    "distance": "1.59 meters",
+    "closeness rank": 9
+   },
+   "trash can": {
+    "distance": "1.74 meters",
+    "closeness rank": 10
+   },
+   "crate": {
+    "distance": "1.79 meters",
+    "closeness rank": 11
+   },
+   "monitor": {
+    "distance": "1.86 meters",
+    "closeness rank": 12
+   },
+   "tv": {
+    "distance": "1.86 meters",
+    "closeness rank": 13
+   },
+   "bookshelf": {
+    "distance": "1.9 meters",
+    "closeness rank": 14
+   },
+   "telephone": {
+    "distance": "2.07 meters",
+    "closeness rank": 15
+   },
+   "microwave": {
+    "distance": "2.22 meters",
+    "closeness rank": 16
+   },
+   "cup": {
+    "distance": "2.28 meters",
+    "closeness rank": 17
+   },
+   "clock": {
+    "distance": "2.72 meters",
+    "closeness rank": 18
+   }
+  },
+  "clock": {
+   "ceiling light": {
+    "distance": "0.97 meters",
+    "closeness rank": 1
+   },
+   "bookshelf": {
+    "distance": "1.02 meters",
+    "closeness rank": 2
+   },
+   "cup": {
+    "distance": "1.14 meters",
+    "closeness rank": 3
+   },
+   "table": {
+    "distance": "1.19 meters",
+    "closeness rank": 4
+   },
+   "microwave": {
+    "distance": "1.65 meters",
+    "closeness rank": 5
+   },
+   "crate": {
+    "distance": "1.7 meters",
+    "closeness rank": 6
+   },
+   "trash can": {
+    "distance": "1.78 meters",
+    "closeness rank": 7
+   },
+   "door": {
+    "distance": "2.04 meters",
+    "closeness rank": 8
+   },
+   "telephone": {
+    "distance": "2.14 meters",
+    "closeness rank": 9
+   },
+   "monitor": {
+    "distance": "2.15 meters",
+    "closeness rank": 10
+   },
+   "tv": {
+    "distance": "2.15 meters",
+    "closeness rank": 11
+   },
+   "keyboard": {
+    "distance": "2.19 meters",
+    "closeness rank": 12
+   },
+   "computer mouse": {
+    "distance": "2.65 meters",
+    "closeness rank": 13
+   },
+   "chair": {
+    "distance": "2.72 meters",
+    "closeness rank": 14
+   },
+   "cushion": {
+    "distance": "2.72 meters",
+    "closeness rank": 15
+   },
+   "headphones": {
+    "distance": "2.73 meters",
+    "closeness rank": 16
+   },
+   "whiteboard": {
+    "distance": "2.89 meters",
+    "closeness rank": 17
+   },
+   "bucket": {
+    "distance": "2.98 meters",
+    "closeness rank": 18
+   }
+  },
+  "computer mouse": {
+   "keyboard": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "monitor": {
+    "distance": "0.32 meters",
+    "closeness rank": 2
+   },
+   "tv": {
+    "distance": "0.32 meters",
+    "closeness rank": 3
+   },
+   "telephone": {
+    "distance": "0.83 meters",
+    "closeness rank": 4
+   },
+   "whiteboard": {
+    "distance": "0.86 meters",
+    "closeness rank": 5
+   },
+   "chair": {
+    "distance": "1.51 meters",
+    "closeness rank": 6
+   },
+   "cushion": {
+    "distance": "1.51 meters",
+    "closeness rank": 7
+   },
+   "headphones": {
+    "distance": "1.52 meters",
+    "closeness rank": 8
+   },
+   "table": {
+    "distance": "1.63 meters",
+    "closeness rank": 9
+   },
+   "crate": {
+    "distance": "1.77 meters",
+    "closeness rank": 10
+   },
+   "ceiling light": {
+    "distance": "1.84 meters",
+    "closeness rank": 11
+   },
+   "microwave": {
+    "distance": "2.0 meters",
+    "closeness rank": 12
+   },
+   "cup": {
+    "distance": "2.01 meters",
+    "closeness rank": 13
+   },
+   "bucket": {
+    "distance": "2.39 meters",
+    "closeness rank": 14
+   },
+   "trash can": {
+    "distance": "2.57 meters",
+    "closeness rank": 15
+   },
+   "clock": {
+    "distance": "2.65 meters",
+    "closeness rank": 16
+   },
+   "bookshelf": {
+    "distance": "2.81 meters",
+    "closeness rank": 17
+   },
+   "door": {
+    "distance": "3.04 meters",
+    "closeness rank": 18
+   }
+  },
+  "crate": {
+   "table": {
+    "distance": "0.08 meters",
+    "closeness rank": 1
+   },
+   "microwave": {
+    "distance": "0.24 meters",
+    "closeness rank": 2
+   },
+   "cup": {
+    "distance": "0.58 meters",
+    "closeness rank": 3
+   },
+   "trash can": {
+    "distance": "0.99 meters",
+    "closeness rank": 4
+   },
+   "bookshelf": {
+    "distance": "1.28 meters",
+    "closeness rank": 5
+   },
+   "keyboard": {
+    "distance": "1.29 meters",
+    "closeness rank": 6
+   },
+   "telephone": {
+    "distance": "1.33 meters",
+    "closeness rank": 7
+   },
+   "monitor": {
+    "distance": "1.6 meters",
+    "closeness rank": 8
+   },
+   "tv": {
+    "distance": "1.61 meters",
+    "closeness rank": 9
+   },
+   "clock": {
+    "distance": "1.7 meters",
+    "closeness rank": 10
+   },
+   "computer mouse": {
+    "distance": "1.77 meters",
+    "closeness rank": 11
+   },
+   "cushion": {
+    "distance": "1.77 meters",
+    "closeness rank": 12
+   },
+   "headphones": {
+    "distance": "1.78 meters",
+    "closeness rank": 13
+   },
+   "chair": {
+    "distance": "1.79 meters",
+    "closeness rank": 14
+   },
+   "door": {
+    "distance": "2.14 meters",
+    "closeness rank": 15
+   },
+   "ceiling light": {
+    "distance": "2.15 meters",
+    "closeness rank": 16
+   },
+   "whiteboard": {
+    "distance": "2.32 meters",
+    "closeness rank": 17
+   },
+   "bucket": {
+    "distance": "2.76 meters",
+    "closeness rank": 18
+   }
+  },
+  "cup": {
+   "table": {
+    "distance": "0.31 meters",
+    "closeness rank": 1
+   },
+   "microwave": {
+    "distance": "0.45 meters",
+    "closeness rank": 2
+   },
+   "crate": {
+    "distance": "0.58 meters",
+    "closeness rank": 3
+   },
+   "clock": {
+    "distance": "1.14 meters",
+    "closeness rank": 4
+   },
+   "trash can": {
+    "distance": "1.34 meters",
+    "closeness rank": 5
+   },
+   "telephone": {
+    "distance": "1.37 meters",
+    "closeness rank": 6
+   },
+   "keyboard": {
+    "distance": "1.49 meters",
+    "closeness rank": 7
+   },
+   "bookshelf": {
+    "distance": "1.53 meters",
+    "closeness rank": 8
+   },
+   "monitor": {
+    "distance": "1.61 meters",
+    "closeness rank": 9
+   },
+   "tv": {
+    "distance": "1.64 meters",
+    "closeness rank": 10
+   },
+   "ceiling light": {
+    "distance": "1.65 meters",
+    "closeness rank": 11
+   },
+   "computer mouse": {
+    "distance": "2.01 meters",
+    "closeness rank": 12
+   },
+   "cushion": {
+    "distance": "2.26 meters",
+    "closeness rank": 13
+   },
+   "headphones": {
+    "distance": "2.27 meters",
+    "closeness rank": 14
+   },
+   "chair": {
+    "distance": "2.28 meters",
+    "closeness rank": 15
+   },
+   "door": {
+    "distance": "2.5 meters",
+    "closeness rank": 16
+   },
+   "whiteboard": {
+    "distance": "2.6 meters",
+    "closeness rank": 17
+   },
+   "bucket": {
+    "distance": "3.04 meters",
+    "closeness rank": 18
+   }
+  },
+  "cushion": {
+   "chair": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "headphones": {
+    "distance": "0.0 meters",
+    "closeness rank": 2
+   },
+   "whiteboard": {
+    "distance": "0.5 meters",
+    "closeness rank": 3
+   },
+   "bucket": {
+    "distance": "0.99 meters",
+    "closeness rank": 4
+   },
+   "door": {
+    "distance": "1.33 meters",
+    "closeness rank": 5
+   },
+   "keyboard": {
+    "distance": "1.46 meters",
+    "closeness rank": 6
+   },
+   "computer mouse": {
+    "distance": "1.51 meters",
+    "closeness rank": 7
+   },
+   "table": {
+    "distance": "1.54 meters",
+    "closeness rank": 8
+   },
+   "trash can": {
+    "distance": "1.74 meters",
+    "closeness rank": 9
+   },
+   "crate": {
+    "distance": "1.77 meters",
+    "closeness rank": 10
+   },
+   "tv": {
+    "distance": "1.85 meters",
+    "closeness rank": 11
+   },
+   "monitor": {
+    "distance": "1.86 meters",
+    "closeness rank": 12
+   },
+   "bookshelf": {
+    "distance": "1.91 meters",
+    "closeness rank": 13
+   },
+   "ceiling light": {
+    "distance": "1.93 meters",
+    "closeness rank": 14
+   },
+   "telephone": {
+    "distance": "2.07 meters",
+    "closeness rank": 15
+   },
+   "microwave": {
+    "distance": "2.21 meters",
+    "closeness rank": 16
+   },
+   "cup": {
+    "distance": "2.26 meters",
+    "closeness rank": 17
+   },
+   "clock": {
+    "distance": "2.72 meters",
+    "closeness rank": 18
+   }
+  },
+  "door": {
+   "bookshelf": {
+    "distance": "0.17 meters",
+    "closeness rank": 1
+   },
+   "ceiling light": {
+    "distance": "0.9 meters",
+    "closeness rank": 2
+   },
+   "trash can": {
+    "distance": "0.99 meters",
+    "closeness rank": 3
+   },
+   "chair": {
+    "distance": "1.32 meters",
+    "closeness rank": 4
+   },
+   "cushion": {
+    "distance": "1.33 meters",
+    "closeness rank": 5
+   },
+   "headphones": {
+    "distance": "1.35 meters",
+    "closeness rank": 6
+   },
+   "bucket": {
+    "distance": "1.42 meters",
+    "closeness rank": 7
+   },
+   "table": {
+    "distance": "1.74 meters",
+    "closeness rank": 8
+   },
+   "whiteboard": {
+    "distance": "1.8 meters",
+    "closeness rank": 9
+   },
+   "clock": {
+    "distance": "2.04 meters",
+    "closeness rank": 10
+   },
+   "crate": {
+    "distance": "2.14 meters",
+    "closeness rank": 11
+   },
+   "cup": {
+    "distance": "2.5 meters",
+    "closeness rank": 12
+   },
+   "microwave": {
+    "distance": "2.5 meters",
+    "closeness rank": 13
+   },
+   "keyboard": {
+    "distance": "2.83 meters",
+    "closeness rank": 14
+   },
+   "computer mouse": {
+    "distance": "3.04 meters",
+    "closeness rank": 15
+   },
+   "monitor": {
+    "distance": "3.21 meters",
+    "closeness rank": 16
+   },
+   "tv": {
+    "distance": "3.22 meters",
+    "closeness rank": 17
+   },
+   "telephone": {
+    "distance": "3.28 meters",
+    "closeness rank": 18
+   }
+  },
+  "headphones": {
+   "chair": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "cushion": {
+    "distance": "0.0 meters",
+    "closeness rank": 2
+   },
+   "whiteboard": {
+    "distance": "0.18 meters",
+    "closeness rank": 3
+   },
+   "bucket": {
+    "distance": "0.61 meters",
+    "closeness rank": 4
+   },
+   "door": {
+    "distance": "1.35 meters",
+    "closeness rank": 5
+   },
+   "keyboard": {
+    "distance": "1.47 meters",
+    "closeness rank": 6
+   },
+   "computer mouse": {
+    "distance": "1.52 meters",
+    "closeness rank": 7
+   },
+   "table": {
+    "distance": "1.55 meters",
+    "closeness rank": 8
+   },
+   "ceiling light": {
+    "distance": "1.59 meters",
+    "closeness rank": 9
+   },
+   "trash can": {
+    "distance": "1.73 meters",
+    "closeness rank": 10
+   },
+   "crate": {
+    "distance": "1.78 meters",
+    "closeness rank": 11
+   },
+   "monitor": {
+    "distance": "1.87 meters",
+    "closeness rank": 12
+   },
+   "tv": {
+    "distance": "1.87 meters",
+    "closeness rank": 13
+   },
+   "bookshelf": {
+    "distance": "1.88 meters",
+    "closeness rank": 14
+   },
+   "telephone": {
+    "distance": "2.06 meters",
+    "closeness rank": 15
+   },
+   "microwave": {
+    "distance": "2.21 meters",
+    "closeness rank": 16
+   },
+   "cup": {
+    "distance": "2.27 meters",
+    "closeness rank": 17
+   },
+   "clock": {
+    "distance": "2.73 meters",
+    "closeness rank": 18
+   }
+  },
+  "keyboard": {
+   "computer mouse": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "monitor": {
+    "distance": "0.3 meters",
+    "closeness rank": 2
+   },
+   "tv": {
+    "distance": "0.3 meters",
+    "closeness rank": 3
+   },
+   "telephone": {
+    "distance": "0.4 meters",
+    "closeness rank": 4
+   },
+   "whiteboard": {
+    "distance": "0.79 meters",
+    "closeness rank": 5
+   },
+   "table": {
+    "distance": "1.11 meters",
+    "closeness rank": 6
+   },
+   "crate": {
+    "distance": "1.29 meters",
+    "closeness rank": 7
+   },
+   "cushion": {
+    "distance": "1.46 meters",
+    "closeness rank": 8
+   },
+   "chair": {
+    "distance": "1.47 meters",
+    "closeness rank": 9
+   },
+   "headphones": {
+    "distance": "1.47 meters",
+    "closeness rank": 10
+   },
+   "cup": {
+    "distance": "1.49 meters",
+    "closeness rank": 11
+   },
+   "microwave": {
+    "distance": "1.5 meters",
+    "closeness rank": 12
+   },
+   "ceiling light": {
+    "distance": "1.66 meters",
+    "closeness rank": 13
+   },
+   "trash can": {
+    "distance": "2.15 meters",
+    "closeness rank": 14
+   },
+   "clock": {
+    "distance": "2.19 meters",
+    "closeness rank": 15
+   },
+   "bucket": {
+    "distance": "2.35 meters",
+    "closeness rank": 16
+   },
+   "bookshelf": {
+    "distance": "2.4 meters",
+    "closeness rank": 17
+   },
+   "door": {
+    "distance": "2.83 meters",
+    "closeness rank": 18
+   }
+  },
+  "microwave": {
+   "crate": {
+    "distance": "0.24 meters",
+    "closeness rank": 1
+   },
+   "cup": {
+    "distance": "0.45 meters",
+    "closeness rank": 2
+   },
+   "table": {
+    "distance": "0.51 meters",
+    "closeness rank": 3
+   },
+   "trash can": {
+    "distance": "1.28 meters",
+    "closeness rank": 4
+   },
+   "telephone": {
+    "distance": "1.31 meters",
+    "closeness rank": 5
+   },
+   "keyboard": {
+    "distance": "1.5 meters",
+    "closeness rank": 6
+   },
+   "bookshelf": {
+    "distance": "1.55 meters",
+    "closeness rank": 7
+   },
+   "clock": {
+    "distance": "1.65 meters",
+    "closeness rank": 8
+   },
+   "monitor": {
+    "distance": "1.68 meters",
+    "closeness rank": 9
+   },
+   "tv": {
+    "distance": "1.69 meters",
+    "closeness rank": 10
+   },
+   "computer mouse": {
+    "distance": "2.0 meters",
+    "closeness rank": 11
+   },
+   "ceiling light": {
+    "distance": "2.15 meters",
+    "closeness rank": 12
+   },
+   "cushion": {
+    "distance": "2.21 meters",
+    "closeness rank": 13
+   },
+   "headphones": {
+    "distance": "2.21 meters",
+    "closeness rank": 14
+   },
+   "chair": {
+    "distance": "2.22 meters",
+    "closeness rank": 15
+   },
+   "door": {
+    "distance": "2.5 meters",
+    "closeness rank": 16
+   },
+   "whiteboard": {
+    "distance": "2.66 meters",
+    "closeness rank": 17
+   },
+   "bucket": {
+    "distance": "3.17 meters",
+    "closeness rank": 18
+   }
+  },
+  "monitor": {
+   "tv": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "keyboard": {
+    "distance": "0.3 meters",
+    "closeness rank": 2
+   },
+   "computer mouse": {
+    "distance": "0.32 meters",
+    "closeness rank": 3
+   },
+   "telephone": {
+    "distance": "0.38 meters",
+    "closeness rank": 4
+   },
+   "whiteboard": {
+    "distance": "1.06 meters",
+    "closeness rank": 5
+   },
+   "ceiling light": {
+    "distance": "1.17 meters",
+    "closeness rank": 6
+   },
+   "table": {
+    "distance": "1.34 meters",
+    "closeness rank": 7
+   },
+   "crate": {
+    "distance": "1.6 meters",
+    "closeness rank": 8
+   },
+   "cup": {
+    "distance": "1.61 meters",
+    "closeness rank": 9
+   },
+   "microwave": {
+    "distance": "1.68 meters",
+    "closeness rank": 10
+   },
+   "chair": {
+    "distance": "1.86 meters",
+    "closeness rank": 11
+   },
+   "cushion": {
+    "distance": "1.86 meters",
+    "closeness rank": 12
+   },
+   "headphones": {
+    "distance": "1.87 meters",
+    "closeness rank": 13
+   },
+   "clock": {
+    "distance": "2.15 meters",
+    "closeness rank": 14
+   },
+   "trash can": {
+    "distance": "2.52 meters",
+    "closeness rank": 15
+   },
+   "bucket": {
+    "distance": "2.57 meters",
+    "closeness rank": 16
+   },
+   "bookshelf": {
+    "distance": "2.69 meters",
+    "closeness rank": 17
+   },
+   "door": {
+    "distance": "3.21 meters",
+    "closeness rank": 18
+   }
+  },
+  "table": {
+   "crate": {
+    "distance": "0.08 meters",
+    "closeness rank": 1
+   },
+   "cup": {
+    "distance": "0.31 meters",
+    "closeness rank": 2
+   },
+   "microwave": {
+    "distance": "0.51 meters",
+    "closeness rank": 3
+   },
+   "trash can": {
+    "distance": "0.63 meters",
+    "closeness rank": 4
+   },
+   "bookshelf": {
+    "distance": "0.87 meters",
+    "closeness rank": 5
+   },
+   "keyboard": {
+    "distance": "1.11 meters",
+    "closeness rank": 6
+   },
+   "telephone": {
+    "distance": "1.15 meters",
+    "closeness rank": 7
+   },
+   "clock": {
+    "distance": "1.19 meters",
+    "closeness rank": 8
+   },
+   "monitor": {
+    "distance": "1.34 meters",
+    "closeness rank": 9
+   },
+   "tv": {
+    "distance": "1.35 meters",
+    "closeness rank": 10
+   },
+   "cushion": {
+    "distance": "1.54 meters",
+    "closeness rank": 11
+   },
+   "chair": {
+    "distance": "1.55 meters",
+    "closeness rank": 12
+   },
+   "headphones": {
+    "distance": "1.55 meters",
+    "closeness rank": 13
+   },
+   "computer mouse": {
+    "distance": "1.63 meters",
+    "closeness rank": 14
+   },
+   "ceiling light": {
+    "distance": "1.66 meters",
+    "closeness rank": 15
+   },
+   "door": {
+    "distance": "1.74 meters",
+    "closeness rank": 16
+   },
+   "whiteboard": {
+    "distance": "2.16 meters",
+    "closeness rank": 17
+   },
+   "bucket": {
+    "distance": "2.3 meters",
+    "closeness rank": 18
+   }
+  },
+  "telephone": {
+   "monitor": {
+    "distance": "0.38 meters",
+    "closeness rank": 1
+   },
+   "tv": {
+    "distance": "0.39 meters",
+    "closeness rank": 2
+   },
+   "keyboard": {
+    "distance": "0.4 meters",
+    "closeness rank": 3
+   },
+   "computer mouse": {
+    "distance": "0.83 meters",
+    "closeness rank": 4
+   },
+   "table": {
+    "distance": "1.15 meters",
+    "closeness rank": 5
+   },
+   "microwave": {
+    "distance": "1.31 meters",
+    "closeness rank": 6
+   },
+   "crate": {
+    "distance": "1.33 meters",
+    "closeness rank": 7
+   },
+   "cup": {
+    "distance": "1.37 meters",
+    "closeness rank": 8
+   },
+   "ceiling light": {
+    "distance": "1.64 meters",
+    "closeness rank": 9
+   },
+   "whiteboard": {
+    "distance": "1.73 meters",
+    "closeness rank": 10
+   },
+   "headphones": {
+    "distance": "2.06 meters",
+    "closeness rank": 11
+   },
+   "chair": {
+    "distance": "2.07 meters",
+    "closeness rank": 12
+   },
+   "cushion": {
+    "distance": "2.07 meters",
+    "closeness rank": 13
+   },
+   "clock": {
+    "distance": "2.14 meters",
+    "closeness rank": 14
+   },
+   "trash can": {
+    "distance": "2.39 meters",
+    "closeness rank": 15
+   },
+   "bookshelf": {
+    "distance": "2.64 meters",
+    "closeness rank": 16
+   },
+   "bucket": {
+    "distance": "2.97 meters",
+    "closeness rank": 17
+   },
+   "door": {
+    "distance": "3.28 meters",
+    "closeness rank": 18
+   }
+  },
+  "trash can": {
+   "bookshelf": {
+    "distance": "0.02 meters",
+    "closeness rank": 1
+   },
+   "table": {
+    "distance": "0.63 meters",
+    "closeness rank": 2
+   },
+   "crate": {
+    "distance": "0.99 meters",
+    "closeness rank": 3
+   },
+   "door": {
+    "distance": "0.99 meters",
+    "closeness rank": 4
+   },
+   "microwave": {
+    "distance": "1.28 meters",
+    "closeness rank": 5
+   },
+   "cup": {
+    "distance": "1.34 meters",
+    "closeness rank": 6
+   },
+   "headphones": {
+    "distance": "1.73 meters",
+    "closeness rank": 7
+   },
+   "chair": {
+    "distance": "1.74 meters",
+    "closeness rank": 8
+   },
+   "cushion": {
+    "distance": "1.74 meters",
+    "closeness rank": 9
+   },
+   "clock": {
+    "distance": "1.78 meters",
+    "closeness rank": 10
+   },
+   "keyboard": {
+    "distance": "2.15 meters",
+    "closeness rank": 11
+   },
+   "ceiling light": {
+    "distance": "2.39 meters",
+    "closeness rank": 12
+   },
+   "telephone": {
+    "distance": "2.39 meters",
+    "closeness rank": 13
+   },
+   "bucket": {
+    "distance": "2.46 meters",
+    "closeness rank": 14
+   },
+   "monitor": {
+    "distance": "2.52 meters",
+    "closeness rank": 15
+   },
+   "tv": {
+    "distance": "2.54 meters",
+    "closeness rank": 16
+   },
+   "whiteboard": {
+    "distance": "2.54 meters",
+    "closeness rank": 17
+   },
+   "computer mouse": {
+    "distance": "2.57 meters",
+    "closeness rank": 18
+   }
+  },
+  "tv": {
+   "monitor": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "keyboard": {
+    "distance": "0.3 meters",
+    "closeness rank": 2
+   },
+   "computer mouse": {
+    "distance": "0.32 meters",
+    "closeness rank": 3
+   },
+   "telephone": {
+    "distance": "0.39 meters",
+    "closeness rank": 4
+   },
+   "whiteboard": {
+    "distance": "1.07 meters",
+    "closeness rank": 5
+   },
+   "ceiling light": {
+    "distance": "1.18 meters",
+    "closeness rank": 6
+   },
+   "table": {
+    "distance": "1.35 meters",
+    "closeness rank": 7
+   },
+   "crate": {
+    "distance": "1.61 meters",
+    "closeness rank": 8
+   },
+   "cup": {
+    "distance": "1.64 meters",
+    "closeness rank": 9
+   },
+   "microwave": {
+    "distance": "1.69 meters",
+    "closeness rank": 10
+   },
+   "cushion": {
+    "distance": "1.85 meters",
+    "closeness rank": 11
+   },
+   "chair": {
+    "distance": "1.86 meters",
+    "closeness rank": 12
+   },
+   "headphones": {
+    "distance": "1.87 meters",
+    "closeness rank": 13
+   },
+   "clock": {
+    "distance": "2.15 meters",
+    "closeness rank": 14
+   },
+   "trash can": {
+    "distance": "2.54 meters",
+    "closeness rank": 15
+   },
+   "bucket": {
+    "distance": "2.58 meters",
+    "closeness rank": 16
+   },
+   "bookshelf": {
+    "distance": "2.71 meters",
+    "closeness rank": 17
+   },
+   "door": {
+    "distance": "3.22 meters",
+    "closeness rank": 18
+   }
+  },
+  "whiteboard": {
+   "chair": {
+    "distance": "0.16 meters",
+    "closeness rank": 1
+   },
+   "headphones": {
+    "distance": "0.18 meters",
+    "closeness rank": 2
+   },
+   "bucket": {
+    "distance": "0.32 meters",
+    "closeness rank": 3
+   },
+   "cushion": {
+    "distance": "0.5 meters",
+    "closeness rank": 4
+   },
+   "keyboard": {
+    "distance": "0.79 meters",
+    "closeness rank": 5
+   },
+   "computer mouse": {
+    "distance": "0.86 meters",
+    "closeness rank": 6
+   },
+   "ceiling light": {
+    "distance": "1.06 meters",
+    "closeness rank": 7
+   },
+   "monitor": {
+    "distance": "1.06 meters",
+    "closeness rank": 8
+   },
+   "tv": {
+    "distance": "1.07 meters",
+    "closeness rank": 9
+   },
+   "telephone": {
+    "distance": "1.73 meters",
+    "closeness rank": 10
+   },
+   "door": {
+    "distance": "1.8 meters",
+    "closeness rank": 11
+   },
+   "table": {
+    "distance": "2.16 meters",
+    "closeness rank": 12
+   },
+   "crate": {
+    "distance": "2.32 meters",
+    "closeness rank": 13
+   },
+   "trash can": {
+    "distance": "2.54 meters",
+    "closeness rank": 14
+   },
+   "cup": {
+    "distance": "2.6 meters",
+    "closeness rank": 15
+   },
+   "bookshelf": {
+    "distance": "2.66 meters",
+    "closeness rank": 16
+   },
+   "microwave": {
+    "distance": "2.66 meters",
+    "closeness rank": 17
+   },
+   "clock": {
+    "distance": "2.89 meters",
+    "closeness rank": 18
+   }
+  }
+ },
+ "appearance order": ["chair", "telephone", "whiteboard", "computer mouse", "monitor", "tv", "bucket", "bookshelf", "cushion", "door", "trash can", "crate", "cup", "clock", "ceiling light", "keyboard", "headphones", "table", "microwave"]
+}
\ No newline at end of file
diff --git a/data/spatial codes/sam3+depth-anything-3/metric/tracking/uniform/64/explicit/41125731.json b/data/spatial codes/sam3+depth-anything-3/metric/tracking/uniform/64/explicit/41125731.json
new file mode 100644
index 0000000000000000000000000000000000000000..4b295b6f700d7d6c8dcd3dfeb33b376b7bb5ddb9
--- /dev/null
+++ b/data/spatial codes/sam3+depth-anything-3/metric/tracking/uniform/64/explicit/41125731.json	
@@ -0,0 +1,48 @@
+{
+ "objects": {
+  "bed": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "0.29 meters",
+      "y coordinate": "-1.35 meters",
+      "height above floor": "-0.01 meters"
+     },
+     "longest dimension": "1.97 meters"
+    }
+   ]
+  },
+  "sofa": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "2.02 meters",
+      "y coordinate": "1.94 meters",
+      "height above floor": "0.54 meters"
+     },
+     "longest dimension": "0.26 meters"
+    }
+   ]
+  }
+ },
+ "room": {
+  "floor area": "21.6 square meters"
+ },
+ "closest classes distance meters from": {
+  "bed": {
+   "sofa": {
+    "distance": "0.01 meters",
+    "closeness rank": 1
+   }
+  },
+  "sofa": {
+   "bed": {
+    "distance": "0.01 meters",
+    "closeness rank": 1
+   }
+  }
+ },
+ "appearance order": ["bed", "sofa"]
+}
\ No newline at end of file
diff --git a/data/spatial codes/sam3+depth-anything-3/metric/tracking/uniform/64/explicit/41142280.json b/data/spatial codes/sam3+depth-anything-3/metric/tracking/uniform/64/explicit/41142280.json
new file mode 100644
index 0000000000000000000000000000000000000000..97cba1785e7a40588f309cdf55f5e6e8f1023c93
--- /dev/null
+++ b/data/spatial codes/sam3+depth-anything-3/metric/tracking/uniform/64/explicit/41142280.json	
@@ -0,0 +1,173 @@
+{
+ "objects": {
+  "bathtub": {
+   "count": 2,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "0.28 meters",
+      "y coordinate": "1.45 meters",
+      "height above floor": "-0.16 meters"
+     },
+     "longest dimension": "1.57 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "0.73 meters",
+      "y coordinate": "0.81 meters",
+      "height above floor": "0.14 meters"
+     },
+     "longest dimension": "1.1 meters"
+    }
+   ]
+  },
+  "chair": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-1.25 meters",
+      "y coordinate": "-3.17 meters",
+      "height above floor": "-0.6 meters"
+     },
+     "longest dimension": "0.17 meters"
+    }
+   ]
+  },
+  "stool": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-1.25 meters",
+      "y coordinate": "-3.17 meters",
+      "height above floor": "-0.6 meters"
+     },
+     "longest dimension": "0.17 meters"
+    }
+   ]
+  },
+  "table": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-1.59 meters",
+      "y coordinate": "-3.31 meters",
+      "height above floor": "-0.83 meters"
+     },
+     "longest dimension": "0.34 meters"
+    }
+   ]
+  },
+  "toilet": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "1.19 meters",
+      "y coordinate": "0.1 meters",
+      "height above floor": "-0.02 meters"
+     },
+     "longest dimension": "0.67 meters"
+    }
+   ]
+  }
+ },
+ "room": {
+  "floor area": "5.5 square meters"
+ },
+ "closest classes distance meters from": {
+  "bathtub": {
+   "toilet": {
+    "distance": "0.95 meters",
+    "closeness rank": 1
+   },
+   "chair": {
+    "distance": "3.73 meters",
+    "closeness rank": 2
+   },
+   "stool": {
+    "distance": "3.73 meters",
+    "closeness rank": 3
+   },
+   "table": {
+    "distance": "3.83 meters",
+    "closeness rank": 4
+   }
+  },
+  "chair": {
+   "stool": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "table": {
+    "distance": "0.36 meters",
+    "closeness rank": 2
+   },
+   "bathtub": {
+    "distance": "3.73 meters",
+    "closeness rank": 3
+   },
+   "toilet": {
+    "distance": "3.87 meters",
+    "closeness rank": 4
+   }
+  },
+  "stool": {
+   "chair": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "table": {
+    "distance": "0.36 meters",
+    "closeness rank": 2
+   },
+   "bathtub": {
+    "distance": "3.73 meters",
+    "closeness rank": 3
+   },
+   "toilet": {
+    "distance": "3.87 meters",
+    "closeness rank": 4
+   }
+  },
+  "table": {
+   "chair": {
+    "distance": "0.36 meters",
+    "closeness rank": 1
+   },
+   "stool": {
+    "distance": "0.36 meters",
+    "closeness rank": 2
+   },
+   "bathtub": {
+    "distance": "3.83 meters",
+    "closeness rank": 3
+   },
+   "toilet": {
+    "distance": "4.11 meters",
+    "closeness rank": 4
+   }
+  },
+  "toilet": {
+   "bathtub": {
+    "distance": "0.95 meters",
+    "closeness rank": 1
+   },
+   "chair": {
+    "distance": "3.87 meters",
+    "closeness rank": 2
+   },
+   "stool": {
+    "distance": "3.87 meters",
+    "closeness rank": 3
+   },
+   "table": {
+    "distance": "4.11 meters",
+    "closeness rank": 4
+   }
+  }
+ },
+ "appearance order": ["bathtub", "toilet", "chair", "stool", "table"]
+}
\ No newline at end of file
diff --git a/data/spatial codes/sam3+depth-anything-3/metric/tracking/uniform/64/explicit/41159541.json b/data/spatial codes/sam3+depth-anything-3/metric/tracking/uniform/64/explicit/41159541.json
new file mode 100644
index 0000000000000000000000000000000000000000..1cb55ccf62029274325e124bcb8f87fd8ec1dedf
--- /dev/null
+++ b/data/spatial codes/sam3+depth-anything-3/metric/tracking/uniform/64/explicit/41159541.json	
@@ -0,0 +1,379 @@
+{
+ "objects": {
+  "bathtub": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "2.39 meters",
+      "y coordinate": "-1.73 meters",
+      "height above floor": "0.63 meters"
+     },
+     "longest dimension": "0.23 meters"
+    }
+   ]
+  },
+  "bed": {
+   "count": 2,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-0.74 meters",
+      "y coordinate": "-0.16 meters",
+      "height above floor": "-0.0 meters"
+     },
+     "longest dimension": "1.2 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-0.41 meters",
+      "y coordinate": "-1.97 meters",
+      "height above floor": "0.73 meters"
+     },
+     "longest dimension": "1.44 meters"
+    }
+   ]
+  },
+  "chair": {
+   "count": 10,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "3.14 meters",
+      "y coordinate": "-0.18 meters",
+      "height above floor": "0.84 meters"
+     },
+     "longest dimension": "1.03 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "0.45 meters",
+      "y coordinate": "-0.32 meters",
+      "height above floor": "0.74 meters"
+     },
+     "longest dimension": "0.52 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "0.82 meters",
+      "y coordinate": "1.53 meters",
+      "height above floor": "0.47 meters"
+     },
+     "longest dimension": "1.98 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "0.13 meters",
+      "y coordinate": "-0.89 meters",
+      "height above floor": "0.74 meters"
+     },
+     "longest dimension": "0.65 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-0.15 meters",
+      "y coordinate": "-1.31 meters",
+      "height above floor": "0.71 meters"
+     },
+     "longest dimension": "0.77 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "0.71 meters",
+      "y coordinate": "-3.35 meters",
+      "height above floor": "0.89 meters"
+     },
+     "longest dimension": "1.7 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "1.78 meters",
+      "y coordinate": "-1.17 meters",
+      "height above floor": "0.8 meters"
+     },
+     "longest dimension": "1.03 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "1.12 meters",
+      "y coordinate": "-0.04 meters",
+      "height above floor": "0.49 meters"
+     },
+     "longest dimension": "0.99 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "1.37 meters",
+      "y coordinate": "-1.71 meters",
+      "height above floor": "0.89 meters"
+     },
+     "longest dimension": "0.51 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "0.9 meters",
+      "y coordinate": "-2.31 meters",
+      "height above floor": "0.7 meters"
+     },
+     "longest dimension": "0.65 meters"
+    }
+   ]
+  },
+  "sofa": {
+   "count": 2,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "0.81 meters",
+      "y coordinate": "1.47 meters",
+      "height above floor": "0.3 meters"
+     },
+     "longest dimension": "1.06 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "2.3 meters",
+      "y coordinate": "0.15 meters",
+      "height above floor": "-0.0 meters"
+     },
+     "longest dimension": "0.68 meters"
+    }
+   ]
+  },
+  "stove": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "1.64 meters",
+      "y coordinate": "-0.74 meters",
+      "height above floor": "0.79 meters"
+     },
+     "longest dimension": "0.24 meters"
+    }
+   ]
+  },
+  "table": {
+   "count": 2,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "1.62 meters",
+      "y coordinate": "-0.58 meters",
+      "height above floor": "0.75 meters"
+     },
+     "longest dimension": "0.94 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "1.47 meters",
+      "y coordinate": "-0.41 meters",
+      "height above floor": "0.63 meters"
+     },
+     "longest dimension": "1.06 meters"
+    }
+   ]
+  },
+  "tv": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "3.1 meters",
+      "y coordinate": "-0.31 meters",
+      "height above floor": "0.69 meters"
+     },
+     "longest dimension": "0.75 meters"
+    }
+   ]
+  }
+ },
+ "room": {
+  "floor area": "30.5 square meters"
+ },
+ "closest classes distance meters from": {
+  "bathtub": {
+   "chair": {
+    "distance": "0.81 meters",
+    "closeness rank": 1
+   },
+   "table": {
+    "distance": "1.06 meters",
+    "closeness rank": 2
+   },
+   "stove": {
+    "distance": "1.15 meters",
+    "closeness rank": 3
+   },
+   "tv": {
+    "distance": "1.18 meters",
+    "closeness rank": 4
+   },
+   "bed": {
+    "distance": "2.6 meters",
+    "closeness rank": 5
+   },
+   "sofa": {
+    "distance": "3.06 meters",
+    "closeness rank": 6
+   }
+  },
+  "bed": {
+   "chair": {
+    "distance": "0.22 meters",
+    "closeness rank": 1
+   },
+   "sofa": {
+    "distance": "0.56 meters",
+    "closeness rank": 2
+   },
+   "table": {
+    "distance": "0.73 meters",
+    "closeness rank": 3
+   },
+   "stove": {
+    "distance": "1.72 meters",
+    "closeness rank": 4
+   },
+   "bathtub": {
+    "distance": "2.6 meters",
+    "closeness rank": 5
+   },
+   "tv": {
+    "distance": "2.95 meters",
+    "closeness rank": 6
+   }
+  },
+  "chair": {
+   "tv": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "table": {
+    "distance": "0.11 meters",
+    "closeness rank": 2
+   },
+   "bed": {
+    "distance": "0.22 meters",
+    "closeness rank": 3
+   },
+   "stove": {
+    "distance": "0.33 meters",
+    "closeness rank": 4
+   },
+   "bathtub": {
+    "distance": "0.81 meters",
+    "closeness rank": 5
+   },
+   "sofa": {
+    "distance": "0.99 meters",
+    "closeness rank": 6
+   }
+  },
+  "sofa": {
+   "bed": {
+    "distance": "0.56 meters",
+    "closeness rank": 1
+   },
+   "table": {
+    "distance": "0.79 meters",
+    "closeness rank": 2
+   },
+   "chair": {
+    "distance": "0.99 meters",
+    "closeness rank": 3
+   },
+   "stove": {
+    "distance": "1.77 meters",
+    "closeness rank": 4
+   },
+   "tv": {
+    "distance": "2.77 meters",
+    "closeness rank": 5
+   },
+   "bathtub": {
+    "distance": "3.06 meters",
+    "closeness rank": 6
+   }
+  },
+  "stove": {
+   "table": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "chair": {
+    "distance": "0.33 meters",
+    "closeness rank": 2
+   },
+   "bathtub": {
+    "distance": "1.15 meters",
+    "closeness rank": 3
+   },
+   "tv": {
+    "distance": "1.17 meters",
+    "closeness rank": 4
+   },
+   "bed": {
+    "distance": "1.72 meters",
+    "closeness rank": 5
+   },
+   "sofa": {
+    "distance": "1.77 meters",
+    "closeness rank": 6
+   }
+  },
+  "table": {
+   "stove": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "chair": {
+    "distance": "0.11 meters",
+    "closeness rank": 2
+   },
+   "bed": {
+    "distance": "0.73 meters",
+    "closeness rank": 3
+   },
+   "sofa": {
+    "distance": "0.79 meters",
+    "closeness rank": 4
+   },
+   "tv": {
+    "distance": "0.94 meters",
+    "closeness rank": 5
+   },
+   "bathtub": {
+    "distance": "1.06 meters",
+    "closeness rank": 6
+   }
+  },
+  "tv": {
+   "chair": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "table": {
+    "distance": "0.94 meters",
+    "closeness rank": 2
+   },
+   "stove": {
+    "distance": "1.17 meters",
+    "closeness rank": 3
+   },
+   "bathtub": {
+    "distance": "1.18 meters",
+    "closeness rank": 4
+   },
+   "sofa": {
+    "distance": "2.77 meters",
+    "closeness rank": 5
+   },
+   "bed": {
+    "distance": "2.95 meters",
+    "closeness rank": 6
+   }
+  }
+ },
+ "appearance order": ["sofa", "chair", "table", "tv", "bathtub", "stove", "bed"]
+}
\ No newline at end of file
diff --git a/data/spatial codes/sam3+depth-anything-3/metric/tracking/uniform/64/explicit/41254432.json b/data/spatial codes/sam3+depth-anything-3/metric/tracking/uniform/64/explicit/41254432.json
new file mode 100644
index 0000000000000000000000000000000000000000..ae1c5b30cab1236dc2048570fe2d1d55a4f216d2
--- /dev/null
+++ b/data/spatial codes/sam3+depth-anything-3/metric/tracking/uniform/64/explicit/41254432.json	
@@ -0,0 +1,260 @@
+{
+ "objects": {
+  "bed": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-6.56 meters",
+      "y coordinate": "1.23 meters",
+      "height above floor": "-0.03 meters"
+     },
+     "longest dimension": "2.84 meters"
+    }
+   ]
+  },
+  "chair": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-1.09 meters",
+      "y coordinate": "1.51 meters",
+      "height above floor": "0.33 meters"
+     },
+     "longest dimension": "0.83 meters"
+    }
+   ]
+  },
+  "sofa": {
+   "count": 5,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "0.19 meters",
+      "y coordinate": "-1.75 meters",
+      "height above floor": "-0.12 meters"
+     },
+     "longest dimension": "1.34 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "1.04 meters",
+      "y coordinate": "-1.28 meters",
+      "height above floor": "-0.04 meters"
+     },
+     "longest dimension": "1.09 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-1.18 meters",
+      "y coordinate": "-0.03 meters",
+      "height above floor": "-0.07 meters"
+     },
+     "longest dimension": "1.2 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-0.87 meters",
+      "y coordinate": "-0.73 meters",
+      "height above floor": "0.01 meters"
+     },
+     "longest dimension": "1.21 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-0.41 meters",
+      "y coordinate": "-1.21 meters",
+      "height above floor": "0.03 meters"
+     },
+     "longest dimension": "0.48 meters"
+    }
+   ]
+  },
+  "stool": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-1.07 meters",
+      "y coordinate": "1.47 meters",
+      "height above floor": "-0.14 meters"
+     },
+     "longest dimension": "0.87 meters"
+    }
+   ]
+  },
+  "stove": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-2.97 meters",
+      "y coordinate": "-2.74 meters",
+      "height above floor": "-0.57 meters"
+     },
+     "longest dimension": "0.72 meters"
+    }
+   ]
+  },
+  "tv": {
+   "count": 2,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "0.63 meters",
+      "y coordinate": "0.89 meters",
+      "height above floor": "0.19 meters"
+     },
+     "longest dimension": "0.42 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "0.58 meters",
+      "y coordinate": "0.78 meters",
+      "height above floor": "0.04 meters"
+     },
+     "longest dimension": "0.29 meters"
+    }
+   ]
+  }
+ },
+ "room": {
+  "floor area": "32.4 square meters"
+ },
+ "closest classes distance meters from": {
+  "bed": {
+   "sofa": {
+    "distance": "3.95 meters",
+    "closeness rank": 1
+   },
+   "stool": {
+    "distance": "4.2 meters",
+    "closeness rank": 2
+   },
+   "chair": {
+    "distance": "4.21 meters",
+    "closeness rank": 3
+   },
+   "stove": {
+    "distance": "4.64 meters",
+    "closeness rank": 4
+   },
+   "tv": {
+    "distance": "5.95 meters",
+    "closeness rank": 5
+   }
+  },
+  "chair": {
+   "stool": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "sofa": {
+    "distance": "1.12 meters",
+    "closeness rank": 2
+   },
+   "tv": {
+    "distance": "1.43 meters",
+    "closeness rank": 3
+   },
+   "stove": {
+    "distance": "4.12 meters",
+    "closeness rank": 4
+   },
+   "bed": {
+    "distance": "4.21 meters",
+    "closeness rank": 5
+   }
+  },
+  "sofa": {
+   "stool": {
+    "distance": "1.1 meters",
+    "closeness rank": 1
+   },
+   "chair": {
+    "distance": "1.12 meters",
+    "closeness rank": 2
+   },
+   "tv": {
+    "distance": "1.65 meters",
+    "closeness rank": 3
+   },
+   "stove": {
+    "distance": "1.95 meters",
+    "closeness rank": 4
+   },
+   "bed": {
+    "distance": "3.95 meters",
+    "closeness rank": 5
+   }
+  },
+  "stool": {
+   "chair": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "sofa": {
+    "distance": "1.1 meters",
+    "closeness rank": 2
+   },
+   "tv": {
+    "distance": "1.43 meters",
+    "closeness rank": 3
+   },
+   "stove": {
+    "distance": "4.01 meters",
+    "closeness rank": 4
+   },
+   "bed": {
+    "distance": "4.2 meters",
+    "closeness rank": 5
+   }
+  },
+  "stove": {
+   "sofa": {
+    "distance": "1.95 meters",
+    "closeness rank": 1
+   },
+   "stool": {
+    "distance": "4.01 meters",
+    "closeness rank": 2
+   },
+   "chair": {
+    "distance": "4.12 meters",
+    "closeness rank": 3
+   },
+   "bed": {
+    "distance": "4.64 meters",
+    "closeness rank": 4
+   },
+   "tv": {
+    "distance": "4.67 meters",
+    "closeness rank": 5
+   }
+  },
+  "tv": {
+   "chair": {
+    "distance": "1.43 meters",
+    "closeness rank": 1
+   },
+   "stool": {
+    "distance": "1.43 meters",
+    "closeness rank": 2
+   },
+   "sofa": {
+    "distance": "1.65 meters",
+    "closeness rank": 3
+   },
+   "stove": {
+    "distance": "4.67 meters",
+    "closeness rank": 4
+   },
+   "bed": {
+    "distance": "5.95 meters",
+    "closeness rank": 5
+   }
+  }
+ },
+ "appearance order": ["sofa", "tv", "stool", "stove", "chair", "bed"]
+}
\ No newline at end of file
diff --git a/data/spatial codes/sam3+depth-anything-3/metric/tracking/uniform/64/explicit/42444976.json b/data/spatial codes/sam3+depth-anything-3/metric/tracking/uniform/64/explicit/42444976.json
new file mode 100644
index 0000000000000000000000000000000000000000..6436d58b7a7f81005db9287547b7ccfc1683a733
--- /dev/null
+++ b/data/spatial codes/sam3+depth-anything-3/metric/tracking/uniform/64/explicit/42444976.json	
@@ -0,0 +1,386 @@
+{
+ "objects": {
+  "chair": {
+   "count": 3,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "1.49 meters",
+      "y coordinate": "0.49 meters",
+      "height above floor": "-2.09 meters"
+     },
+     "longest dimension": "0.47 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "1.99 meters",
+      "y coordinate": "0.49 meters",
+      "height above floor": "-2.07 meters"
+     },
+     "longest dimension": "0.5 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "2.59 meters",
+      "y coordinate": "0.68 meters",
+      "height above floor": "-3.04 meters"
+     },
+     "longest dimension": "0.94 meters"
+    }
+   ]
+  },
+  "dishwasher": {
+   "count": 2,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-0.06 meters",
+      "y coordinate": "0.42 meters",
+      "height above floor": "0.21 meters"
+     },
+     "longest dimension": "0.79 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-0.52 meters",
+      "y coordinate": "0.66 meters",
+      "height above floor": "-2.11 meters"
+     },
+     "longest dimension": "0.83 meters"
+    }
+   ]
+  },
+  "refrigerator": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-0.05 meters",
+      "y coordinate": "-0.07 meters",
+      "height above floor": "0.2 meters"
+     },
+     "longest dimension": "0.66 meters"
+    }
+   ]
+  },
+  "stool": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "2.59 meters",
+      "y coordinate": "0.67 meters",
+      "height above floor": "-3.04 meters"
+     },
+     "longest dimension": "0.93 meters"
+    }
+   ]
+  },
+  "stove": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-0.63 meters",
+      "y coordinate": "0.18 meters",
+      "height above floor": "-1.22 meters"
+     },
+     "longest dimension": "0.56 meters"
+    }
+   ]
+  },
+  "table": {
+   "count": 2,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "1.89 meters",
+      "y coordinate": "0.48 meters",
+      "height above floor": "-2.28 meters"
+     },
+     "longest dimension": "1.02 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "0.63 meters",
+      "y coordinate": "0.35 meters",
+      "height above floor": "-2.75 meters"
+     },
+     "longest dimension": "0.2 meters"
+    }
+   ]
+  },
+  "tv": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "2.19 meters",
+      "y coordinate": "-0.18 meters",
+      "height above floor": "3.7 meters"
+     },
+     "longest dimension": "0.7 meters"
+    }
+   ]
+  },
+  "washer": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "0.3 meters",
+      "y coordinate": "0.57 meters",
+      "height above floor": "-2.58 meters"
+     },
+     "longest dimension": "0.78 meters"
+    }
+   ]
+  }
+ },
+ "room": {
+  "floor area": "11.7 square meters"
+ },
+ "closest classes distance meters from": {
+  "chair": {
+   "table": {
+    "distance": "0.08 meters",
+    "closeness rank": 1
+   },
+   "washer": {
+    "distance": "0.93 meters",
+    "closeness rank": 2
+   },
+   "stool": {
+    "distance": "1.02 meters",
+    "closeness rank": 3
+   },
+   "stove": {
+    "distance": "1.95 meters",
+    "closeness rank": 4
+   },
+   "dishwasher": {
+    "distance": "2.41 meters",
+    "closeness rank": 5
+   },
+   "refrigerator": {
+    "distance": "2.41 meters",
+    "closeness rank": 6
+   },
+   "tv": {
+    "distance": "5.4 meters",
+    "closeness rank": 7
+   }
+  },
+  "dishwasher": {
+   "refrigerator": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "stove": {
+    "distance": "0.94 meters",
+    "closeness rank": 2
+   },
+   "chair": {
+    "distance": "2.41 meters",
+    "closeness rank": 3
+   },
+   "washer": {
+    "distance": "2.46 meters",
+    "closeness rank": 4
+   },
+   "table": {
+    "distance": "2.49 meters",
+    "closeness rank": 5
+   },
+   "stool": {
+    "distance": "3.71 meters",
+    "closeness rank": 6
+   },
+   "tv": {
+    "distance": "3.75 meters",
+    "closeness rank": 7
+   }
+  },
+  "refrigerator": {
+   "dishwasher": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "stove": {
+    "distance": "0.94 meters",
+    "closeness rank": 2
+   },
+   "chair": {
+    "distance": "2.41 meters",
+    "closeness rank": 3
+   },
+   "washer": {
+    "distance": "2.47 meters",
+    "closeness rank": 4
+   },
+   "table": {
+    "distance": "2.49 meters",
+    "closeness rank": 5
+   },
+   "stool": {
+    "distance": "3.71 meters",
+    "closeness rank": 6
+   },
+   "tv": {
+    "distance": "3.74 meters",
+    "closeness rank": 7
+   }
+  },
+  "stool": {
+   "table": {
+    "distance": "0.4 meters",
+    "closeness rank": 1
+   },
+   "chair": {
+    "distance": "1.02 meters",
+    "closeness rank": 2
+   },
+   "washer": {
+    "distance": "1.7 meters",
+    "closeness rank": 3
+   },
+   "stove": {
+    "distance": "3.09 meters",
+    "closeness rank": 4
+   },
+   "dishwasher": {
+    "distance": "3.71 meters",
+    "closeness rank": 5
+   },
+   "refrigerator": {
+    "distance": "3.71 meters",
+    "closeness rank": 6
+   },
+   "tv": {
+    "distance": "6.38 meters",
+    "closeness rank": 7
+   }
+  },
+  "stove": {
+   "dishwasher": {
+    "distance": "0.94 meters",
+    "closeness rank": 1
+   },
+   "refrigerator": {
+    "distance": "0.94 meters",
+    "closeness rank": 2
+   },
+   "washer": {
+    "distance": "1.13 meters",
+    "closeness rank": 3
+   },
+   "chair": {
+    "distance": "1.95 meters",
+    "closeness rank": 4
+   },
+   "table": {
+    "distance": "2.11 meters",
+    "closeness rank": 5
+   },
+   "stool": {
+    "distance": "3.09 meters",
+    "closeness rank": 6
+   },
+   "tv": {
+    "distance": "5.17 meters",
+    "closeness rank": 7
+   }
+  },
+  "table": {
+   "chair": {
+    "distance": "0.08 meters",
+    "closeness rank": 1
+   },
+   "stool": {
+    "distance": "0.4 meters",
+    "closeness rank": 2
+   },
+   "washer": {
+    "distance": "1.09 meters",
+    "closeness rank": 3
+   },
+   "stove": {
+    "distance": "2.11 meters",
+    "closeness rank": 4
+   },
+   "dishwasher": {
+    "distance": "2.49 meters",
+    "closeness rank": 5
+   },
+   "refrigerator": {
+    "distance": "2.49 meters",
+    "closeness rank": 6
+   },
+   "tv": {
+    "distance": "5.07 meters",
+    "closeness rank": 7
+   }
+  },
+  "tv": {
+   "refrigerator": {
+    "distance": "3.74 meters",
+    "closeness rank": 1
+   },
+   "dishwasher": {
+    "distance": "3.75 meters",
+    "closeness rank": 2
+   },
+   "table": {
+    "distance": "5.07 meters",
+    "closeness rank": 3
+   },
+   "stove": {
+    "distance": "5.17 meters",
+    "closeness rank": 4
+   },
+   "chair": {
+    "distance": "5.4 meters",
+    "closeness rank": 5
+   },
+   "washer": {
+    "distance": "6.34 meters",
+    "closeness rank": 6
+   },
+   "stool": {
+    "distance": "6.38 meters",
+    "closeness rank": 7
+   }
+  },
+  "washer": {
+   "chair": {
+    "distance": "0.93 meters",
+    "closeness rank": 1
+   },
+   "table": {
+    "distance": "1.09 meters",
+    "closeness rank": 2
+   },
+   "stove": {
+    "distance": "1.13 meters",
+    "closeness rank": 3
+   },
+   "stool": {
+    "distance": "1.7 meters",
+    "closeness rank": 4
+   },
+   "dishwasher": {
+    "distance": "2.46 meters",
+    "closeness rank": 5
+   },
+   "refrigerator": {
+    "distance": "2.47 meters",
+    "closeness rank": 6
+   },
+   "tv": {
+    "distance": "6.34 meters",
+    "closeness rank": 7
+   }
+  }
+ },
+ "appearance order": ["washer", "refrigerator", "dishwasher", "stove", "chair", "stool", "table", "tv"]
+}
\ No newline at end of file
diff --git a/data/spatial codes/sam3+depth-anything-3/metric/tracking/uniform/64/explicit/42445026.json b/data/spatial codes/sam3+depth-anything-3/metric/tracking/uniform/64/explicit/42445026.json
new file mode 100644
index 0000000000000000000000000000000000000000..1e37fbdcf9645988fb9446563acf05b09ef62cf2
--- /dev/null
+++ b/data/spatial codes/sam3+depth-anything-3/metric/tracking/uniform/64/explicit/42445026.json	
@@ -0,0 +1,165 @@
+{
+ "objects": {
+  "bed": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-0.22 meters",
+      "y coordinate": "0.68 meters",
+      "height above floor": "1.42 meters"
+     },
+     "longest dimension": "0.82 meters"
+    }
+   ]
+  },
+  "chair": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "1.08 meters",
+      "y coordinate": "0.46 meters",
+      "height above floor": "1.97 meters"
+     },
+     "longest dimension": "0.76 meters"
+    }
+   ]
+  },
+  "sofa": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-0.22 meters",
+      "y coordinate": "0.68 meters",
+      "height above floor": "1.42 meters"
+     },
+     "longest dimension": "0.82 meters"
+    }
+   ]
+  },
+  "table": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "1.29 meters",
+      "y coordinate": "0.21 meters",
+      "height above floor": "1.64 meters"
+     },
+     "longest dimension": "0.68 meters"
+    }
+   ]
+  },
+  "tv": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-0.04 meters",
+      "y coordinate": "-0.12 meters",
+      "height above floor": "0.01 meters"
+     },
+     "longest dimension": "0.68 meters"
+    }
+   ]
+  }
+ },
+ "room": {
+  "floor area": "9.7 square meters"
+ },
+ "closest classes distance meters from": {
+  "bed": {
+   "sofa": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "chair": {
+    "distance": "0.71 meters",
+    "closeness rank": 2
+   },
+   "table": {
+    "distance": "0.82 meters",
+    "closeness rank": 3
+   },
+   "tv": {
+    "distance": "1.44 meters",
+    "closeness rank": 4
+   }
+  },
+  "chair": {
+   "table": {
+    "distance": "0.11 meters",
+    "closeness rank": 1
+   },
+   "bed": {
+    "distance": "0.71 meters",
+    "closeness rank": 2
+   },
+   "sofa": {
+    "distance": "0.72 meters",
+    "closeness rank": 3
+   },
+   "tv": {
+    "distance": "2.06 meters",
+    "closeness rank": 4
+   }
+  },
+  "sofa": {
+   "bed": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "chair": {
+    "distance": "0.72 meters",
+    "closeness rank": 2
+   },
+   "table": {
+    "distance": "0.84 meters",
+    "closeness rank": 3
+   },
+   "tv": {
+    "distance": "1.44 meters",
+    "closeness rank": 4
+   }
+  },
+  "table": {
+   "chair": {
+    "distance": "0.11 meters",
+    "closeness rank": 1
+   },
+   "bed": {
+    "distance": "0.82 meters",
+    "closeness rank": 2
+   },
+   "sofa": {
+    "distance": "0.84 meters",
+    "closeness rank": 3
+   },
+   "tv": {
+    "distance": "1.58 meters",
+    "closeness rank": 4
+   }
+  },
+  "tv": {
+   "bed": {
+    "distance": "1.44 meters",
+    "closeness rank": 1
+   },
+   "sofa": {
+    "distance": "1.44 meters",
+    "closeness rank": 2
+   },
+   "table": {
+    "distance": "1.58 meters",
+    "closeness rank": 3
+   },
+   "chair": {
+    "distance": "2.06 meters",
+    "closeness rank": 4
+   }
+  }
+ },
+ "appearance order": ["tv", "bed", "sofa", "chair", "table"]
+}
\ No newline at end of file
diff --git a/data/spatial codes/sam3+depth-anything-3/metric/tracking/uniform/64/explicit/42445031.json b/data/spatial codes/sam3+depth-anything-3/metric/tracking/uniform/64/explicit/42445031.json
new file mode 100644
index 0000000000000000000000000000000000000000..7fe72b0e3bf62334624f85247bd0c8e21ec4dee7
--- /dev/null
+++ b/data/spatial codes/sam3+depth-anything-3/metric/tracking/uniform/64/explicit/42445031.json	
@@ -0,0 +1,142 @@
+{
+ "objects": {
+  "bed": {
+   "count": 2,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-0.4 meters",
+      "y coordinate": "-1.2 meters",
+      "height above floor": "-0.05 meters"
+     },
+     "longest dimension": "1.23 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "0.41 meters",
+      "y coordinate": "-1.33 meters",
+      "height above floor": "0.04 meters"
+     },
+     "longest dimension": "0.96 meters"
+    }
+   ]
+  },
+  "sofa": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "2.13 meters",
+      "y coordinate": "0.47 meters",
+      "height above floor": "-0.3 meters"
+     },
+     "longest dimension": "0.67 meters"
+    }
+   ]
+  },
+  "table": {
+   "count": 2,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-0.75 meters",
+      "y coordinate": "0.92 meters",
+      "height above floor": "0.06 meters"
+     },
+     "longest dimension": "0.94 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-1.33 meters",
+      "y coordinate": "0.86 meters",
+      "height above floor": "0.07 meters"
+     },
+     "longest dimension": "0.4 meters"
+    }
+   ]
+  },
+  "tv": {
+   "count": 2,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "1.36 meters",
+      "y coordinate": "-1.26 meters",
+      "height above floor": "0.62 meters"
+     },
+     "longest dimension": "0.97 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-1.72 meters",
+      "y coordinate": "-0.69 meters",
+      "height above floor": "0.94 meters"
+     },
+     "longest dimension": "0.59 meters"
+    }
+   ]
+  }
+ },
+ "room": {
+  "floor area": "15.1 square meters"
+ },
+ "closest classes distance meters from": {
+  "bed": {
+   "tv": {
+    "distance": "0.87 meters",
+    "closeness rank": 1
+   },
+   "table": {
+    "distance": "1.78 meters",
+    "closeness rank": 2
+   },
+   "sofa": {
+    "distance": "1.99 meters",
+    "closeness rank": 3
+   }
+  },
+  "sofa": {
+   "tv": {
+    "distance": "1.52 meters",
+    "closeness rank": 1
+   },
+   "bed": {
+    "distance": "1.99 meters",
+    "closeness rank": 2
+   },
+   "table": {
+    "distance": "2.7 meters",
+    "closeness rank": 3
+   }
+  },
+  "table": {
+   "bed": {
+    "distance": "1.78 meters",
+    "closeness rank": 1
+   },
+   "tv": {
+    "distance": "2.56 meters",
+    "closeness rank": 2
+   },
+   "sofa": {
+    "distance": "2.7 meters",
+    "closeness rank": 3
+   }
+  },
+  "tv": {
+   "bed": {
+    "distance": "0.87 meters",
+    "closeness rank": 1
+   },
+   "sofa": {
+    "distance": "1.52 meters",
+    "closeness rank": 2
+   },
+   "table": {
+    "distance": "2.56 meters",
+    "closeness rank": 3
+   }
+  }
+ },
+ "appearance order": ["bed", "tv", "sofa", "table"]
+}
\ No newline at end of file
diff --git a/data/spatial codes/sam3+depth-anything-3/metric/tracking/uniform/64/explicit/42445981.json b/data/spatial codes/sam3+depth-anything-3/metric/tracking/uniform/64/explicit/42445981.json
new file mode 100644
index 0000000000000000000000000000000000000000..1839869c2e8fa8452931ed25c23a0f94d6eeec58
--- /dev/null
+++ b/data/spatial codes/sam3+depth-anything-3/metric/tracking/uniform/64/explicit/42445981.json	
@@ -0,0 +1,237 @@
+{
+ "objects": {
+  "chair": {
+   "count": 5,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "0.61 meters",
+      "y coordinate": "1.82 meters",
+      "height above floor": "0.2 meters"
+     },
+     "longest dimension": "0.7 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "0.67 meters",
+      "y coordinate": "1.76 meters",
+      "height above floor": "0.27 meters"
+     },
+     "longest dimension": "0.72 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "1.41 meters",
+      "y coordinate": "3.01 meters",
+      "height above floor": "0.14 meters"
+     },
+     "longest dimension": "0.76 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "1.45 meters",
+      "y coordinate": "1.95 meters",
+      "height above floor": "0.38 meters"
+     },
+     "longest dimension": "0.5 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "1.17 meters",
+      "y coordinate": "0.57 meters",
+      "height above floor": "0.05 meters"
+     },
+     "longest dimension": "0.37 meters"
+    }
+   ]
+  },
+  "sofa": {
+   "count": 3,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "0.16 meters",
+      "y coordinate": "2.3 meters",
+      "height above floor": "0.22 meters"
+     },
+     "longest dimension": "1.06 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "0.43 meters",
+      "y coordinate": "3.31 meters",
+      "height above floor": "0.11 meters"
+     },
+     "longest dimension": "1.57 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-0.78 meters",
+      "y coordinate": "2.62 meters",
+      "height above floor": "0.25 meters"
+     },
+     "longest dimension": "0.22 meters"
+    }
+   ]
+  },
+  "stool": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "1.24 meters",
+      "y coordinate": "0.64 meters",
+      "height above floor": "0.06 meters"
+     },
+     "longest dimension": "0.5 meters"
+    }
+   ]
+  },
+  "table": {
+   "count": 3,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-0.95 meters",
+      "y coordinate": "4.03 meters",
+      "height above floor": "-0.01 meters"
+     },
+     "longest dimension": "0.79 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "1.18 meters",
+      "y coordinate": "2.14 meters",
+      "height above floor": "0.33 meters"
+     },
+     "longest dimension": "1.25 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "1.34 meters",
+      "y coordinate": "0.71 meters",
+      "height above floor": "0.07 meters"
+     },
+     "longest dimension": "0.64 meters"
+    }
+   ]
+  },
+  "tv": {
+   "count": 2,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-0.62 meters",
+      "y coordinate": "1.74 meters",
+      "height above floor": "0.14 meters"
+     },
+     "longest dimension": "1.14 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-2.31 meters",
+      "y coordinate": "4.07 meters",
+      "height above floor": "0.51 meters"
+     },
+     "longest dimension": "0.95 meters"
+    }
+   ]
+  }
+ },
+ "room": {
+  "floor area": "20.8 square meters"
+ },
+ "closest classes distance meters from": {
+  "chair": {
+   "table": {
+    "distance": "0.14 meters",
+    "closeness rank": 1
+   },
+   "sofa": {
+    "distance": "0.16 meters",
+    "closeness rank": 2
+   },
+   "stool": {
+    "distance": "0.98 meters",
+    "closeness rank": 3
+   },
+   "tv": {
+    "distance": "1.04 meters",
+    "closeness rank": 4
+   }
+  },
+  "sofa": {
+   "table": {
+    "distance": "0.02 meters",
+    "closeness rank": 1
+   },
+   "tv": {
+    "distance": "0.12 meters",
+    "closeness rank": 2
+   },
+   "chair": {
+    "distance": "0.16 meters",
+    "closeness rank": 3
+   },
+   "stool": {
+    "distance": "1.51 meters",
+    "closeness rank": 4
+   }
+  },
+  "stool": {
+   "chair": {
+    "distance": "0.98 meters",
+    "closeness rank": 1
+   },
+   "table": {
+    "distance": "1.0 meters",
+    "closeness rank": 2
+   },
+   "sofa": {
+    "distance": "1.51 meters",
+    "closeness rank": 3
+   },
+   "tv": {
+    "distance": "1.91 meters",
+    "closeness rank": 4
+   }
+  },
+  "table": {
+   "sofa": {
+    "distance": "0.02 meters",
+    "closeness rank": 1
+   },
+   "chair": {
+    "distance": "0.14 meters",
+    "closeness rank": 2
+   },
+   "tv": {
+    "distance": "0.91 meters",
+    "closeness rank": 3
+   },
+   "stool": {
+    "distance": "1.0 meters",
+    "closeness rank": 4
+   }
+  },
+  "tv": {
+   "sofa": {
+    "distance": "0.12 meters",
+    "closeness rank": 1
+   },
+   "table": {
+    "distance": "0.91 meters",
+    "closeness rank": 2
+   },
+   "chair": {
+    "distance": "1.04 meters",
+    "closeness rank": 3
+   },
+   "stool": {
+    "distance": "1.91 meters",
+    "closeness rank": 4
+   }
+  }
+ },
+ "appearance order": ["chair", "table", "tv", "sofa", "stool"]
+}
\ No newline at end of file
diff --git a/data/spatial codes/sam3+depth-anything-3/metric/tracking/uniform/64/explicit/42446517.json b/data/spatial codes/sam3+depth-anything-3/metric/tracking/uniform/64/explicit/42446517.json
new file mode 100644
index 0000000000000000000000000000000000000000..9c98ae35d9b25c875f7c823123fb3af507cfafda
--- /dev/null
+++ b/data/spatial codes/sam3+depth-anything-3/metric/tracking/uniform/64/explicit/42446517.json	
@@ -0,0 +1,166 @@
+{
+ "objects": {
+  "bed": {
+   "count": 6,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-0.44 meters",
+      "y coordinate": "1.53 meters",
+      "height above floor": "-0.03 meters"
+     },
+     "longest dimension": "0.87 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-0.72 meters",
+      "y coordinate": "2.48 meters",
+      "height above floor": "0.03 meters"
+     },
+     "longest dimension": "0.8 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-1.24 meters",
+      "y coordinate": "1.87 meters",
+      "height above floor": "0.14 meters"
+     },
+     "longest dimension": "1.25 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-0.27 meters",
+      "y coordinate": "1.56 meters",
+      "height above floor": "-0.04 meters"
+     },
+     "longest dimension": "0.72 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-2.32 meters",
+      "y coordinate": "4.78 meters",
+      "height above floor": "0.5 meters"
+     },
+     "longest dimension": "1.22 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-1.99 meters",
+      "y coordinate": "1.76 meters",
+      "height above floor": "-0.04 meters"
+     },
+     "longest dimension": "1.03 meters"
+    }
+   ]
+  },
+  "chair": {
+   "count": 2,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-0.28 meters",
+      "y coordinate": "-0.27 meters",
+      "height above floor": "-0.45 meters"
+     },
+     "longest dimension": "0.68 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-0.35 meters",
+      "y coordinate": "-0.18 meters",
+      "height above floor": "-0.03 meters"
+     },
+     "longest dimension": "0.99 meters"
+    }
+   ]
+  },
+  "table": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-0.82 meters",
+      "y coordinate": "-0.02 meters",
+      "height above floor": "-0.3 meters"
+     },
+     "longest dimension": "0.73 meters"
+    }
+   ]
+  },
+  "tv": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "0.41 meters",
+      "y coordinate": "2.44 meters",
+      "height above floor": "-0.9 meters"
+     },
+     "longest dimension": "0.76 meters"
+    }
+   ]
+  }
+ },
+ "room": {
+  "floor area": "15.1 square meters"
+ },
+ "closest classes distance meters from": {
+  "bed": {
+   "tv": {
+    "distance": "0.07 meters",
+    "closeness rank": 1
+   },
+   "table": {
+    "distance": "0.61 meters",
+    "closeness rank": 2
+   },
+   "chair": {
+    "distance": "0.85 meters",
+    "closeness rank": 3
+   }
+  },
+  "chair": {
+   "table": {
+    "distance": "0.25 meters",
+    "closeness rank": 1
+   },
+   "bed": {
+    "distance": "0.85 meters",
+    "closeness rank": 2
+   },
+   "tv": {
+    "distance": "2.53 meters",
+    "closeness rank": 3
+   }
+  },
+  "table": {
+   "chair": {
+    "distance": "0.25 meters",
+    "closeness rank": 1
+   },
+   "bed": {
+    "distance": "0.61 meters",
+    "closeness rank": 2
+   },
+   "tv": {
+    "distance": "2.35 meters",
+    "closeness rank": 3
+   }
+  },
+  "tv": {
+   "bed": {
+    "distance": "0.07 meters",
+    "closeness rank": 1
+   },
+   "table": {
+    "distance": "2.35 meters",
+    "closeness rank": 2
+   },
+   "chair": {
+    "distance": "2.53 meters",
+    "closeness rank": 3
+   }
+  }
+ },
+ "appearance order": ["bed", "chair", "tv", "table"]
+}
\ No newline at end of file
diff --git a/data/spatial codes/sam3+depth-anything-3/metric/tracking/uniform/64/explicit/42446535.json b/data/spatial codes/sam3+depth-anything-3/metric/tracking/uniform/64/explicit/42446535.json
new file mode 100644
index 0000000000000000000000000000000000000000..5720233bd585462922212efef5da7960bcea866b
--- /dev/null
+++ b/data/spatial codes/sam3+depth-anything-3/metric/tracking/uniform/64/explicit/42446535.json	
@@ -0,0 +1,64 @@
+{
+ "objects": {
+  "bathtub": {
+   "count": 2,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-0.59 meters",
+      "y coordinate": "-0.24 meters",
+      "height above floor": "-0.21 meters"
+     },
+     "longest dimension": "0.8 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-0.04 meters",
+      "y coordinate": "-1.1 meters",
+      "height above floor": "0.52 meters"
+     },
+     "longest dimension": "0.4 meters"
+    }
+   ]
+  },
+  "toilet": {
+   "count": 2,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "0.57 meters",
+      "y coordinate": "-0.34 meters",
+      "height above floor": "0.01 meters"
+     },
+     "longest dimension": "0.77 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-0.03 meters",
+      "y coordinate": "0.04 meters",
+      "height above floor": "-0.59 meters"
+     },
+     "longest dimension": "0.28 meters"
+    }
+   ]
+  }
+ },
+ "room": {
+  "floor area": "4.7 square meters"
+ },
+ "closest classes distance meters from": {
+  "bathtub": {
+   "toilet": {
+    "distance": "0.99 meters",
+    "closeness rank": 1
+   }
+  },
+  "toilet": {
+   "bathtub": {
+    "distance": "0.99 meters",
+    "closeness rank": 1
+   }
+  }
+ },
+ "appearance order": ["bathtub", "toilet"]
+}
\ No newline at end of file
diff --git a/data/spatial codes/sam3+depth-anything-3/metric/tracking/uniform/64/explicit/42897550.json b/data/spatial codes/sam3+depth-anything-3/metric/tracking/uniform/64/explicit/42897550.json
new file mode 100644
index 0000000000000000000000000000000000000000..592112ddb2d35ed184c5e018017b157233ca89ee
--- /dev/null
+++ b/data/spatial codes/sam3+depth-anything-3/metric/tracking/uniform/64/explicit/42897550.json	
@@ -0,0 +1,95 @@
+{
+ "objects": {
+  "bathtub": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-0.18 meters",
+      "y coordinate": "-0.71 meters",
+      "height above floor": "-0.12 meters"
+     },
+     "longest dimension": "0.96 meters"
+    }
+   ]
+  },
+  "toilet": {
+   "count": 3,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "0.54 meters",
+      "y coordinate": "0.29 meters",
+      "height above floor": "-0.27 meters"
+     },
+     "longest dimension": "0.48 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "0.57 meters",
+      "y coordinate": "0.28 meters",
+      "height above floor": "-0.27 meters"
+     },
+     "longest dimension": "0.48 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "0.52 meters",
+      "y coordinate": "0.33 meters",
+      "height above floor": "-0.27 meters"
+     },
+     "longest dimension": "0.34 meters"
+    }
+   ]
+  },
+  "washer": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-0.43 meters",
+      "y coordinate": "-0.01 meters",
+      "height above floor": "-0.19 meters"
+     },
+     "longest dimension": "0.65 meters"
+    }
+   ]
+  }
+ },
+ "room": {
+  "floor area": "6.4 square meters"
+ },
+ "closest classes distance meters from": {
+  "bathtub": {
+   "washer": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "toilet": {
+    "distance": "0.7 meters",
+    "closeness rank": 2
+   }
+  },
+  "toilet": {
+   "bathtub": {
+    "distance": "0.7 meters",
+    "closeness rank": 1
+   },
+   "washer": {
+    "distance": "0.81 meters",
+    "closeness rank": 2
+   }
+  },
+  "washer": {
+   "bathtub": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "toilet": {
+    "distance": "0.81 meters",
+    "closeness rank": 2
+   }
+  }
+ },
+ "appearance order": ["bathtub", "toilet", "washer"]
+}
\ No newline at end of file
diff --git a/data/spatial codes/sam3+depth-anything-3/metric/tracking/uniform/64/explicit/42897629.json b/data/spatial codes/sam3+depth-anything-3/metric/tracking/uniform/64/explicit/42897629.json
new file mode 100644
index 0000000000000000000000000000000000000000..5d88076bf8ca39bba64474801091b379ad695276
--- /dev/null
+++ b/data/spatial codes/sam3+depth-anything-3/metric/tracking/uniform/64/explicit/42897629.json	
@@ -0,0 +1,418 @@
+{
+ "objects": {
+  "chair": {
+   "count": 5,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "4.16 meters",
+      "y coordinate": "1.18 meters",
+      "height above floor": "-0.26 meters"
+     },
+     "longest dimension": "0.85 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-0.4 meters",
+      "y coordinate": "-1.33 meters",
+      "height above floor": "-0.23 meters"
+     },
+     "longest dimension": "0.74 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "3.16 meters",
+      "y coordinate": "0.33 meters",
+      "height above floor": "-0.22 meters"
+     },
+     "longest dimension": "0.83 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "2.49 meters",
+      "y coordinate": "0.28 meters",
+      "height above floor": "-0.14 meters"
+     },
+     "longest dimension": "0.51 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "3.5 meters",
+      "y coordinate": "-0.77 meters",
+      "height above floor": "-0.69 meters"
+     },
+     "longest dimension": "0.51 meters"
+    }
+   ]
+  },
+  "refrigerator": {
+   "count": 2,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "3.39 meters",
+      "y coordinate": "-0.07 meters",
+      "height above floor": "-0.01 meters"
+     },
+     "longest dimension": "1.26 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-0.6 meters",
+      "y coordinate": "0.38 meters",
+      "height above floor": "-0.23 meters"
+     },
+     "longest dimension": "0.91 meters"
+    }
+   ]
+  },
+  "sofa": {
+   "count": 2,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "5.41 meters",
+      "y coordinate": "-0.29 meters",
+      "height above floor": "-0.48 meters"
+     },
+     "longest dimension": "0.75 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "7.14 meters",
+      "y coordinate": "1.95 meters",
+      "height above floor": "-0.37 meters"
+     },
+     "longest dimension": "0.92 meters"
+    }
+   ]
+  },
+  "stool": {
+   "count": 2,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "4.17 meters",
+      "y coordinate": "1.35 meters",
+      "height above floor": "-0.25 meters"
+     },
+     "longest dimension": "0.77 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "3.26 meters",
+      "y coordinate": "0.18 meters",
+      "height above floor": "-0.02 meters"
+     },
+     "longest dimension": "0.78 meters"
+    }
+   ]
+  },
+  "stove": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "3.53 meters",
+      "y coordinate": "-0.94 meters",
+      "height above floor": "-0.89 meters"
+     },
+     "longest dimension": "0.96 meters"
+    }
+   ]
+  },
+  "table": {
+   "count": 2,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "2.82 meters",
+      "y coordinate": "-0.02 meters",
+      "height above floor": "0.01 meters"
+     },
+     "longest dimension": "0.91 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "1.66 meters",
+      "y coordinate": "1.01 meters",
+      "height above floor": "-0.31 meters"
+     },
+     "longest dimension": "1.56 meters"
+    }
+   ]
+  },
+  "tv": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "4.73 meters",
+      "y coordinate": "-2.41 meters",
+      "height above floor": "0.59 meters"
+     },
+     "longest dimension": "0.65 meters"
+    }
+   ]
+  },
+  "washer": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "0.26 meters",
+      "y coordinate": "0.84 meters",
+      "height above floor": "-0.4 meters"
+     },
+     "longest dimension": "0.57 meters"
+    }
+   ]
+  }
+ },
+ "room": {
+  "floor area": "33.0 square meters"
+ },
+ "closest classes distance meters from": {
+  "chair": {
+   "stool": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "stove": {
+    "distance": "0.07 meters",
+    "closeness rank": 2
+   },
+   "table": {
+    "distance": "1.0 meters",
+    "closeness rank": 3
+   },
+   "refrigerator": {
+    "distance": "1.24 meters",
+    "closeness rank": 4
+   },
+   "sofa": {
+    "distance": "1.61 meters",
+    "closeness rank": 5
+   },
+   "tv": {
+    "distance": "3.11 meters",
+    "closeness rank": 6
+   },
+   "washer": {
+    "distance": "3.47 meters",
+    "closeness rank": 7
+   }
+  },
+  "refrigerator": {
+   "table": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "washer": {
+    "distance": "0.75 meters",
+    "closeness rank": 2
+   },
+   "stove": {
+    "distance": "0.81 meters",
+    "closeness rank": 3
+   },
+   "chair": {
+    "distance": "1.24 meters",
+    "closeness rank": 4
+   },
+   "stool": {
+    "distance": "1.29 meters",
+    "closeness rank": 5
+   },
+   "tv": {
+    "distance": "1.59 meters",
+    "closeness rank": 6
+   },
+   "sofa": {
+    "distance": "1.77 meters",
+    "closeness rank": 7
+   }
+  },
+  "sofa": {
+   "stove": {
+    "distance": "0.62 meters",
+    "closeness rank": 1
+   },
+   "chair": {
+    "distance": "1.61 meters",
+    "closeness rank": 2
+   },
+   "stool": {
+    "distance": "1.64 meters",
+    "closeness rank": 3
+   },
+   "table": {
+    "distance": "1.76 meters",
+    "closeness rank": 4
+   },
+   "refrigerator": {
+    "distance": "1.77 meters",
+    "closeness rank": 5
+   },
+   "tv": {
+    "distance": "2.0 meters",
+    "closeness rank": 6
+   },
+   "washer": {
+    "distance": "5.03 meters",
+    "closeness rank": 7
+   }
+  },
+  "stool": {
+   "chair": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "stove": {
+    "distance": "0.02 meters",
+    "closeness rank": 2
+   },
+   "table": {
+    "distance": "1.05 meters",
+    "closeness rank": 3
+   },
+   "refrigerator": {
+    "distance": "1.29 meters",
+    "closeness rank": 4
+   },
+   "sofa": {
+    "distance": "1.64 meters",
+    "closeness rank": 5
+   },
+   "tv": {
+    "distance": "3.13 meters",
+    "closeness rank": 6
+   },
+   "washer": {
+    "distance": "3.47 meters",
+    "closeness rank": 7
+   }
+  },
+  "stove": {
+   "stool": {
+    "distance": "0.02 meters",
+    "closeness rank": 1
+   },
+   "chair": {
+    "distance": "0.07 meters",
+    "closeness rank": 2
+   },
+   "sofa": {
+    "distance": "0.62 meters",
+    "closeness rank": 3
+   },
+   "refrigerator": {
+    "distance": "0.81 meters",
+    "closeness rank": 4
+   },
+   "table": {
+    "distance": "0.81 meters",
+    "closeness rank": 5
+   },
+   "tv": {
+    "distance": "1.48 meters",
+    "closeness rank": 6
+   },
+   "washer": {
+    "distance": "2.58 meters",
+    "closeness rank": 7
+   }
+  },
+  "table": {
+   "refrigerator": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "stove": {
+    "distance": "0.81 meters",
+    "closeness rank": 2
+   },
+   "chair": {
+    "distance": "1.0 meters",
+    "closeness rank": 3
+   },
+   "stool": {
+    "distance": "1.05 meters",
+    "closeness rank": 4
+   },
+   "washer": {
+    "distance": "1.13 meters",
+    "closeness rank": 5
+   },
+   "tv": {
+    "distance": "1.6 meters",
+    "closeness rank": 6
+   },
+   "sofa": {
+    "distance": "1.76 meters",
+    "closeness rank": 7
+   }
+  },
+  "tv": {
+   "stove": {
+    "distance": "1.48 meters",
+    "closeness rank": 1
+   },
+   "refrigerator": {
+    "distance": "1.59 meters",
+    "closeness rank": 2
+   },
+   "table": {
+    "distance": "1.6 meters",
+    "closeness rank": 3
+   },
+   "sofa": {
+    "distance": "2.0 meters",
+    "closeness rank": 4
+   },
+   "chair": {
+    "distance": "3.11 meters",
+    "closeness rank": 5
+   },
+   "stool": {
+    "distance": "3.13 meters",
+    "closeness rank": 6
+   },
+   "washer": {
+    "distance": "5.39 meters",
+    "closeness rank": 7
+   }
+  },
+  "washer": {
+   "refrigerator": {
+    "distance": "0.75 meters",
+    "closeness rank": 1
+   },
+   "table": {
+    "distance": "1.13 meters",
+    "closeness rank": 2
+   },
+   "stove": {
+    "distance": "2.58 meters",
+    "closeness rank": 3
+   },
+   "chair": {
+    "distance": "3.47 meters",
+    "closeness rank": 4
+   },
+   "stool": {
+    "distance": "3.47 meters",
+    "closeness rank": 5
+   },
+   "sofa": {
+    "distance": "5.03 meters",
+    "closeness rank": 6
+   },
+   "tv": {
+    "distance": "5.39 meters",
+    "closeness rank": 7
+   }
+  }
+ },
+ "appearance order": ["refrigerator", "washer", "table", "chair", "sofa", "tv", "stool", "stove"]
+}
\ No newline at end of file
diff --git a/data/spatial codes/sam3+depth-anything-3/metric/tracking/uniform/64/explicit/42897692.json b/data/spatial codes/sam3+depth-anything-3/metric/tracking/uniform/64/explicit/42897692.json
new file mode 100644
index 0000000000000000000000000000000000000000..a746de475dae744eda8deb15f11928135dc331d8
--- /dev/null
+++ b/data/spatial codes/sam3+depth-anything-3/metric/tracking/uniform/64/explicit/42897692.json	
@@ -0,0 +1,197 @@
+{
+ "objects": {
+  "bathtub": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "1.74 meters",
+      "y coordinate": "-1.96 meters",
+      "height above floor": "-0.15 meters"
+     },
+     "longest dimension": "1.0 meters"
+    }
+   ]
+  },
+  "bed": {
+   "count": 4,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "1.71 meters",
+      "y coordinate": "-1.99 meters",
+      "height above floor": "-0.17 meters"
+     },
+     "longest dimension": "0.98 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-0.31 meters",
+      "y coordinate": "-1.06 meters",
+      "height above floor": "-0.07 meters"
+     },
+     "longest dimension": "1.01 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-1.23 meters",
+      "y coordinate": "-0.48 meters",
+      "height above floor": "0.18 meters"
+     },
+     "longest dimension": "0.75 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "1.6 meters",
+      "y coordinate": "-2.13 meters",
+      "height above floor": "-0.23 meters"
+     },
+     "longest dimension": "1.01 meters"
+    }
+   ]
+  },
+  "stool": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-0.56 meters",
+      "y coordinate": "0.11 meters",
+      "height above floor": "-0.18 meters"
+     },
+     "longest dimension": "0.29 meters"
+    }
+   ]
+  },
+  "table": {
+   "count": 2,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "1.82 meters",
+      "y coordinate": "0.14 meters",
+      "height above floor": "0.17 meters"
+     },
+     "longest dimension": "0.59 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-1.37 meters",
+      "y coordinate": "-1.71 meters",
+      "height above floor": "-0.02 meters"
+     },
+     "longest dimension": "0.59 meters"
+    }
+   ]
+  },
+  "tv": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-1.32 meters",
+      "y coordinate": "-0.52 meters",
+      "height above floor": "0.41 meters"
+     },
+     "longest dimension": "0.24 meters"
+    }
+   ]
+  }
+ },
+ "room": {
+  "floor area": "19.2 square meters"
+ },
+ "closest classes distance meters from": {
+  "bathtub": {
+   "bed": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "tv": {
+    "distance": "1.29 meters",
+    "closeness rank": 2
+   },
+   "table": {
+    "distance": "1.52 meters",
+    "closeness rank": 3
+   },
+   "stool": {
+    "distance": "2.21 meters",
+    "closeness rank": 4
+   }
+  },
+  "bed": {
+   "bathtub": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "tv": {
+    "distance": "0.15 meters",
+    "closeness rank": 2
+   },
+   "table": {
+    "distance": "0.29 meters",
+    "closeness rank": 3
+   },
+   "stool": {
+    "distance": "0.85 meters",
+    "closeness rank": 4
+   }
+  },
+  "stool": {
+   "bed": {
+    "distance": "0.85 meters",
+    "closeness rank": 1
+   },
+   "tv": {
+    "distance": "0.95 meters",
+    "closeness rank": 2
+   },
+   "table": {
+    "distance": "1.99 meters",
+    "closeness rank": 3
+   },
+   "bathtub": {
+    "distance": "2.21 meters",
+    "closeness rank": 4
+   }
+  },
+  "table": {
+   "bed": {
+    "distance": "0.29 meters",
+    "closeness rank": 1
+   },
+   "bathtub": {
+    "distance": "1.52 meters",
+    "closeness rank": 2
+   },
+   "stool": {
+    "distance": "1.99 meters",
+    "closeness rank": 3
+   },
+   "tv": {
+    "distance": "2.8 meters",
+    "closeness rank": 4
+   }
+  },
+  "tv": {
+   "bed": {
+    "distance": "0.15 meters",
+    "closeness rank": 1
+   },
+   "stool": {
+    "distance": "0.95 meters",
+    "closeness rank": 2
+   },
+   "bathtub": {
+    "distance": "1.29 meters",
+    "closeness rank": 3
+   },
+   "table": {
+    "distance": "2.8 meters",
+    "closeness rank": 4
+   }
+  }
+ },
+ "appearance order": ["bed", "table", "bathtub", "stool", "tv"]
+}
\ No newline at end of file
diff --git a/data/spatial codes/sam3+depth-anything-3/metric/tracking/uniform/64/explicit/42898486.json b/data/spatial codes/sam3+depth-anything-3/metric/tracking/uniform/64/explicit/42898486.json
new file mode 100644
index 0000000000000000000000000000000000000000..f4041fb8776c6bc8959929044dd0362eecce7b3e
--- /dev/null
+++ b/data/spatial codes/sam3+depth-anything-3/metric/tracking/uniform/64/explicit/42898486.json	
@@ -0,0 +1,331 @@
+{
+ "objects": {
+  "bed": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "5.68 meters",
+      "y coordinate": "6.0 meters",
+      "height above floor": "0.0 meters"
+     },
+     "longest dimension": "2.49 meters"
+    }
+   ]
+  },
+  "chair": {
+   "count": 2,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "2.37 meters",
+      "y coordinate": "0.29 meters",
+      "height above floor": "0.04 meters"
+     },
+     "longest dimension": "1.0 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "0.97 meters",
+      "y coordinate": "1.18 meters",
+      "height above floor": "1.0 meters"
+     },
+     "longest dimension": "1.2 meters"
+    }
+   ]
+  },
+  "fireplace": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "5.03 meters",
+      "y coordinate": "0.08 meters",
+      "height above floor": "-0.07 meters"
+     },
+     "longest dimension": "0.56 meters"
+    }
+   ]
+  },
+  "sofa": {
+   "count": 3,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "1.33 meters",
+      "y coordinate": "-2.03 meters",
+      "height above floor": "0.13 meters"
+     },
+     "longest dimension": "1.89 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "1.07 meters",
+      "y coordinate": "0.0 meters",
+      "height above floor": "0.14 meters"
+     },
+     "longest dimension": "0.98 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "1.28 meters",
+      "y coordinate": "-1.94 meters",
+      "height above floor": "0.14 meters"
+     },
+     "longest dimension": "1.89 meters"
+    }
+   ]
+  },
+  "stool": {
+   "count": 2,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "1.32 meters",
+      "y coordinate": "-2.01 meters",
+      "height above floor": "0.12 meters"
+     },
+     "longest dimension": "1.88 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "2.5 meters",
+      "y coordinate": "-1.59 meters",
+      "height above floor": "-0.03 meters"
+     },
+     "longest dimension": "0.83 meters"
+    }
+   ]
+  },
+  "table": {
+   "count": 3,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "2.5 meters",
+      "y coordinate": "-1.59 meters",
+      "height above floor": "-0.03 meters"
+     },
+     "longest dimension": "0.84 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "2.77 meters",
+      "y coordinate": "0.97 meters",
+      "height above floor": "0.03 meters"
+     },
+     "longest dimension": "0.63 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "2.08 meters",
+      "y coordinate": "-1.2 meters",
+      "height above floor": "-0.08 meters"
+     },
+     "longest dimension": "1.14 meters"
+    }
+   ]
+  },
+  "tv": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "4.99 meters",
+      "y coordinate": "0.08 meters",
+      "height above floor": "1.02 meters"
+     },
+     "longest dimension": "1.03 meters"
+    }
+   ]
+  }
+ },
+ "room": {
+  "floor area": "29.3 square meters"
+ },
+ "closest classes distance meters from": {
+  "bed": {
+   "table": {
+    "distance": "4.98 meters",
+    "closeness rank": 1
+   },
+   "stool": {
+    "distance": "5.13 meters",
+    "closeness rank": 2
+   },
+   "tv": {
+    "distance": "5.29 meters",
+    "closeness rank": 3
+   },
+   "fireplace": {
+    "distance": "5.36 meters",
+    "closeness rank": 4
+   },
+   "chair": {
+    "distance": "5.7 meters",
+    "closeness rank": 5
+   },
+   "sofa": {
+    "distance": "5.71 meters",
+    "closeness rank": 6
+   }
+  },
+  "chair": {
+   "sofa": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "stool": {
+    "distance": "0.0 meters",
+    "closeness rank": 2
+   },
+   "table": {
+    "distance": "0.44 meters",
+    "closeness rank": 3
+   },
+   "fireplace": {
+    "distance": "2.29 meters",
+    "closeness rank": 4
+   },
+   "tv": {
+    "distance": "2.33 meters",
+    "closeness rank": 5
+   },
+   "bed": {
+    "distance": "5.7 meters",
+    "closeness rank": 6
+   }
+  },
+  "fireplace": {
+   "tv": {
+    "distance": "0.5 meters",
+    "closeness rank": 1
+   },
+   "stool": {
+    "distance": "1.39 meters",
+    "closeness rank": 2
+   },
+   "chair": {
+    "distance": "2.29 meters",
+    "closeness rank": 3
+   },
+   "sofa": {
+    "distance": "2.29 meters",
+    "closeness rank": 4
+   },
+   "table": {
+    "distance": "2.3 meters",
+    "closeness rank": 5
+   },
+   "bed": {
+    "distance": "5.36 meters",
+    "closeness rank": 6
+   }
+  },
+  "sofa": {
+   "chair": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "stool": {
+    "distance": "0.0 meters",
+    "closeness rank": 2
+   },
+   "table": {
+    "distance": "0.34 meters",
+    "closeness rank": 3
+   },
+   "fireplace": {
+    "distance": "2.29 meters",
+    "closeness rank": 4
+   },
+   "tv": {
+    "distance": "2.33 meters",
+    "closeness rank": 5
+   },
+   "bed": {
+    "distance": "5.71 meters",
+    "closeness rank": 6
+   }
+  },
+  "stool": {
+   "chair": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "sofa": {
+    "distance": "0.0 meters",
+    "closeness rank": 2
+   },
+   "table": {
+    "distance": "0.29 meters",
+    "closeness rank": 3
+   },
+   "fireplace": {
+    "distance": "1.39 meters",
+    "closeness rank": 4
+   },
+   "tv": {
+    "distance": "1.51 meters",
+    "closeness rank": 5
+   },
+   "bed": {
+    "distance": "5.13 meters",
+    "closeness rank": 6
+   }
+  },
+  "table": {
+   "stool": {
+    "distance": "0.29 meters",
+    "closeness rank": 1
+   },
+   "sofa": {
+    "distance": "0.34 meters",
+    "closeness rank": 2
+   },
+   "chair": {
+    "distance": "0.44 meters",
+    "closeness rank": 3
+   },
+   "tv": {
+    "distance": "2.27 meters",
+    "closeness rank": 4
+   },
+   "fireplace": {
+    "distance": "2.3 meters",
+    "closeness rank": 5
+   },
+   "bed": {
+    "distance": "4.98 meters",
+    "closeness rank": 6
+   }
+  },
+  "tv": {
+   "fireplace": {
+    "distance": "0.5 meters",
+    "closeness rank": 1
+   },
+   "stool": {
+    "distance": "1.51 meters",
+    "closeness rank": 2
+   },
+   "table": {
+    "distance": "2.27 meters",
+    "closeness rank": 3
+   },
+   "chair": {
+    "distance": "2.33 meters",
+    "closeness rank": 4
+   },
+   "sofa": {
+    "distance": "2.33 meters",
+    "closeness rank": 5
+   },
+   "bed": {
+    "distance": "5.29 meters",
+    "closeness rank": 6
+   }
+  }
+ },
+ "appearance order": ["chair", "sofa", "table", "stool", "tv", "fireplace", "bed"]
+}
\ No newline at end of file
diff --git a/data/spatial codes/sam3+depth-anything-3/metric/tracking/uniform/64/explicit/42898826.json b/data/spatial codes/sam3+depth-anything-3/metric/tracking/uniform/64/explicit/42898826.json
new file mode 100644
index 0000000000000000000000000000000000000000..692eb20ab89fa9078faac8ec1879980c8a862ddd
--- /dev/null
+++ b/data/spatial codes/sam3+depth-anything-3/metric/tracking/uniform/64/explicit/42898826.json	
@@ -0,0 +1,64 @@
+{
+ "objects": {
+  "bathtub": {
+   "count": 2,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "0.39 meters",
+      "y coordinate": "-0.6 meters",
+      "height above floor": "0.14 meters"
+     },
+     "longest dimension": "1.54 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "0.39 meters",
+      "y coordinate": "-0.41 meters",
+      "height above floor": "0.16 meters"
+     },
+     "longest dimension": "1.2 meters"
+    }
+   ]
+  },
+  "toilet": {
+   "count": 2,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "0.4 meters",
+      "y coordinate": "-0.61 meters",
+      "height above floor": "0.14 meters"
+     },
+     "longest dimension": "1.55 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-1.47 meters",
+      "y coordinate": "-0.26 meters",
+      "height above floor": "0.15 meters"
+     },
+     "longest dimension": "0.79 meters"
+    }
+   ]
+  }
+ },
+ "room": {
+  "floor area": "11.6 square meters"
+ },
+ "closest classes distance meters from": {
+  "bathtub": {
+   "toilet": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   }
+  },
+  "toilet": {
+   "bathtub": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   }
+  }
+ },
+ "appearance order": ["bathtub", "toilet"]
+}
\ No newline at end of file
diff --git a/data/spatial codes/sam3+depth-anything-3/metric/tracking/uniform/64/explicit/42899612.json b/data/spatial codes/sam3+depth-anything-3/metric/tracking/uniform/64/explicit/42899612.json
new file mode 100644
index 0000000000000000000000000000000000000000..cde66e8097c800cb54fb501e47392bdcf552a038
--- /dev/null
+++ b/data/spatial codes/sam3+depth-anything-3/metric/tracking/uniform/64/explicit/42899612.json	
@@ -0,0 +1,244 @@
+{
+ "objects": {
+  "bed": {
+   "count": 2,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-2.42 meters",
+      "y coordinate": "0.82 meters",
+      "height above floor": "0.39 meters"
+     },
+     "longest dimension": "1.56 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-1.99 meters",
+      "y coordinate": "3.18 meters",
+      "height above floor": "1.17 meters"
+     },
+     "longest dimension": "0.26 meters"
+    }
+   ]
+  },
+  "chair": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "0.88 meters",
+      "y coordinate": "0.38 meters",
+      "height above floor": "0.0 meters"
+     },
+     "longest dimension": "1.05 meters"
+    }
+   ]
+  },
+  "fireplace": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-0.33 meters",
+      "y coordinate": "5.5 meters",
+      "height above floor": "0.17 meters"
+     },
+     "longest dimension": "0.29 meters"
+    }
+   ]
+  },
+  "stool": {
+   "count": 2,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "0.8 meters",
+      "y coordinate": "0.46 meters",
+      "height above floor": "0.01 meters"
+     },
+     "longest dimension": "0.52 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "0.76 meters",
+      "y coordinate": "0.31 meters",
+      "height above floor": "0.01 meters"
+     },
+     "longest dimension": "0.52 meters"
+    }
+   ]
+  },
+  "table": {
+   "count": 2,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-2.9 meters",
+      "y coordinate": "-0.5 meters",
+      "height above floor": "0.38 meters"
+     },
+     "longest dimension": "0.49 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "2.42 meters",
+      "y coordinate": "1.67 meters",
+      "height above floor": "0.17 meters"
+     },
+     "longest dimension": "0.52 meters"
+    }
+   ]
+  },
+  "toilet": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "2.38 meters",
+      "y coordinate": "2.93 meters",
+      "height above floor": "0.53 meters"
+     },
+     "longest dimension": "0.9 meters"
+    }
+   ]
+  }
+ },
+ "room": {
+  "floor area": "24.9 square meters"
+ },
+ "closest classes distance meters from": {
+  "bed": {
+   "chair": {
+    "distance": "0.02 meters",
+    "closeness rank": 1
+   },
+   "table": {
+    "distance": "0.11 meters",
+    "closeness rank": 2
+   },
+   "stool": {
+    "distance": "0.5 meters",
+    "closeness rank": 3
+   },
+   "toilet": {
+    "distance": "2.84 meters",
+    "closeness rank": 4
+   },
+   "fireplace": {
+    "distance": "3.9 meters",
+    "closeness rank": 5
+   }
+  },
+  "chair": {
+   "stool": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "bed": {
+    "distance": "0.02 meters",
+    "closeness rank": 2
+   },
+   "table": {
+    "distance": "1.2 meters",
+    "closeness rank": 3
+   },
+   "toilet": {
+    "distance": "2.6 meters",
+    "closeness rank": 4
+   },
+   "fireplace": {
+    "distance": "4.39 meters",
+    "closeness rank": 5
+   }
+  },
+  "fireplace": {
+   "toilet": {
+    "distance": "3.21 meters",
+    "closeness rank": 1
+   },
+   "bed": {
+    "distance": "3.9 meters",
+    "closeness rank": 2
+   },
+   "chair": {
+    "distance": "4.39 meters",
+    "closeness rank": 3
+   },
+   "stool": {
+    "distance": "4.41 meters",
+    "closeness rank": 4
+   },
+   "table": {
+    "distance": "5.34 meters",
+    "closeness rank": 5
+   }
+  },
+  "stool": {
+   "chair": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "bed": {
+    "distance": "0.5 meters",
+    "closeness rank": 2
+   },
+   "table": {
+    "distance": "1.23 meters",
+    "closeness rank": 3
+   },
+   "toilet": {
+    "distance": "2.63 meters",
+    "closeness rank": 4
+   },
+   "fireplace": {
+    "distance": "4.41 meters",
+    "closeness rank": 5
+   }
+  },
+  "table": {
+   "bed": {
+    "distance": "0.11 meters",
+    "closeness rank": 1
+   },
+   "chair": {
+    "distance": "1.2 meters",
+    "closeness rank": 2
+   },
+   "stool": {
+    "distance": "1.23 meters",
+    "closeness rank": 3
+   },
+   "toilet": {
+    "distance": "4.23 meters",
+    "closeness rank": 4
+   },
+   "fireplace": {
+    "distance": "5.34 meters",
+    "closeness rank": 5
+   }
+  },
+  "toilet": {
+   "chair": {
+    "distance": "2.6 meters",
+    "closeness rank": 1
+   },
+   "stool": {
+    "distance": "2.63 meters",
+    "closeness rank": 2
+   },
+   "bed": {
+    "distance": "2.84 meters",
+    "closeness rank": 3
+   },
+   "fireplace": {
+    "distance": "3.21 meters",
+    "closeness rank": 4
+   },
+   "table": {
+    "distance": "4.23 meters",
+    "closeness rank": 5
+   }
+  }
+ },
+ "appearance order": ["table", "bed", "stool", "fireplace", "chair", "toilet"]
+}
\ No newline at end of file
diff --git a/data/spatial codes/sam3+depth-anything-3/metric/tracking/uniform/64/explicit/44358499.json b/data/spatial codes/sam3+depth-anything-3/metric/tracking/uniform/64/explicit/44358499.json
new file mode 100644
index 0000000000000000000000000000000000000000..1505dd917fe83d81e4d954854712b112a8b4c9ef
--- /dev/null
+++ b/data/spatial codes/sam3+depth-anything-3/metric/tracking/uniform/64/explicit/44358499.json	
@@ -0,0 +1,505 @@
+{
+ "objects": {
+  "chair": {
+   "count": 7,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-1.54 meters",
+      "y coordinate": "0.26 meters",
+      "height above floor": "0.6 meters"
+     },
+     "longest dimension": "0.52 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-1.96 meters",
+      "y coordinate": "1.43 meters",
+      "height above floor": "0.53 meters"
+     },
+     "longest dimension": "0.78 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-2.3 meters",
+      "y coordinate": "-0.45 meters",
+      "height above floor": "0.37 meters"
+     },
+     "longest dimension": "0.53 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-1.4 meters",
+      "y coordinate": "0.27 meters",
+      "height above floor": "0.65 meters"
+     },
+     "longest dimension": "0.37 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-1.58 meters",
+      "y coordinate": "0.97 meters",
+      "height above floor": "0.48 meters"
+     },
+     "longest dimension": "0.25 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-0.5 meters",
+      "y coordinate": "1.55 meters",
+      "height above floor": "0.95 meters"
+     },
+     "longest dimension": "0.24 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "1.29 meters",
+      "y coordinate": "-0.22 meters",
+      "height above floor": "0.47 meters"
+     },
+     "longest dimension": "0.56 meters"
+    }
+   ]
+  },
+  "dishwasher": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-0.69 meters",
+      "y coordinate": "3.26 meters",
+      "height above floor": "0.36 meters"
+     },
+     "longest dimension": "0.78 meters"
+    }
+   ]
+  },
+  "fireplace": {
+   "count": 2,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "4.02 meters",
+      "y coordinate": "-1.16 meters",
+      "height above floor": "0.79 meters"
+     },
+     "longest dimension": "1.11 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "3.75 meters",
+      "y coordinate": "-0.75 meters",
+      "height above floor": "0.51 meters"
+     },
+     "longest dimension": "0.72 meters"
+    }
+   ]
+  },
+  "sofa": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-0.7 meters",
+      "y coordinate": "4.16 meters",
+      "height above floor": "0.0 meters"
+     },
+     "longest dimension": "1.22 meters"
+    }
+   ]
+  },
+  "stool": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "1.39 meters",
+      "y coordinate": "-0.24 meters",
+      "height above floor": "0.45 meters"
+     },
+     "longest dimension": "0.56 meters"
+    }
+   ]
+  },
+  "stove": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-2.37 meters",
+      "y coordinate": "3.99 meters",
+      "height above floor": "0.89 meters"
+     },
+     "longest dimension": "0.62 meters"
+    }
+   ]
+  },
+  "table": {
+   "count": 2,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-2.03 meters",
+      "y coordinate": "-0.71 meters",
+      "height above floor": "0.64 meters"
+     },
+     "longest dimension": "1.11 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-0.89 meters",
+      "y coordinate": "-1.67 meters",
+      "height above floor": "0.47 meters"
+     },
+     "longest dimension": "0.72 meters"
+    }
+   ]
+  },
+  "tv": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "3.55 meters",
+      "y coordinate": "0.99 meters",
+      "height above floor": "0.91 meters"
+     },
+     "longest dimension": "1.06 meters"
+    }
+   ]
+  },
+  "washer": {
+   "count": 2,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-0.17 meters",
+      "y coordinate": "4.45 meters",
+      "height above floor": "0.43 meters"
+     },
+     "longest dimension": "0.63 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-0.18 meters",
+      "y coordinate": "3.93 meters",
+      "height above floor": "0.54 meters"
+     },
+     "longest dimension": "0.67 meters"
+    }
+   ]
+  }
+ },
+ "room": {
+  "floor area": "44.6 square meters"
+ },
+ "closest classes distance meters from": {
+  "chair": {
+   "table": {
+    "distance": "0.05 meters",
+    "closeness rank": 1
+   },
+   "sofa": {
+    "distance": "2.41 meters",
+    "closeness rank": 2
+   },
+   "stool": {
+    "distance": "2.65 meters",
+    "closeness rank": 3
+   },
+   "dishwasher": {
+    "distance": "2.74 meters",
+    "closeness rank": 4
+   },
+   "stove": {
+    "distance": "3.27 meters",
+    "closeness rank": 5
+   },
+   "washer": {
+    "distance": "3.9 meters",
+    "closeness rank": 6
+   },
+   "tv": {
+    "distance": "4.83 meters",
+    "closeness rank": 7
+   },
+   "fireplace": {
+    "distance": "5.25 meters",
+    "closeness rank": 8
+   }
+  },
+  "dishwasher": {
+   "sofa": {
+    "distance": "0.22 meters",
+    "closeness rank": 1
+   },
+   "washer": {
+    "distance": "0.92 meters",
+    "closeness rank": 2
+   },
+   "stove": {
+    "distance": "1.55 meters",
+    "closeness rank": 3
+   },
+   "table": {
+    "distance": "2.18 meters",
+    "closeness rank": 4
+   },
+   "chair": {
+    "distance": "2.74 meters",
+    "closeness rank": 5
+   },
+   "stool": {
+    "distance": "3.76 meters",
+    "closeness rank": 6
+   },
+   "tv": {
+    "distance": "4.31 meters",
+    "closeness rank": 7
+   },
+   "fireplace": {
+    "distance": "5.88 meters",
+    "closeness rank": 8
+   }
+  },
+  "fireplace": {
+   "tv": {
+    "distance": "0.86 meters",
+    "closeness rank": 1
+   },
+   "sofa": {
+    "distance": "1.72 meters",
+    "closeness rank": 2
+   },
+   "stool": {
+    "distance": "2.26 meters",
+    "closeness rank": 3
+   },
+   "chair": {
+    "distance": "5.25 meters",
+    "closeness rank": 4
+   },
+   "table": {
+    "distance": "5.32 meters",
+    "closeness rank": 5
+   },
+   "dishwasher": {
+    "distance": "5.88 meters",
+    "closeness rank": 6
+   },
+   "washer": {
+    "distance": "6.19 meters",
+    "closeness rank": 7
+   },
+   "stove": {
+    "distance": "7.45 meters",
+    "closeness rank": 8
+   }
+  },
+  "sofa": {
+   "washer": {
+    "distance": "0.04 meters",
+    "closeness rank": 1
+   },
+   "stool": {
+    "distance": "0.1 meters",
+    "closeness rank": 2
+   },
+   "dishwasher": {
+    "distance": "0.22 meters",
+    "closeness rank": 3
+   },
+   "stove": {
+    "distance": "1.15 meters",
+    "closeness rank": 4
+   },
+   "fireplace": {
+    "distance": "1.72 meters",
+    "closeness rank": 5
+   },
+   "chair": {
+    "distance": "2.41 meters",
+    "closeness rank": 6
+   },
+   "tv": {
+    "distance": "2.47 meters",
+    "closeness rank": 7
+   },
+   "table": {
+    "distance": "2.52 meters",
+    "closeness rank": 8
+   }
+  },
+  "stool": {
+   "sofa": {
+    "distance": "0.1 meters",
+    "closeness rank": 1
+   },
+   "fireplace": {
+    "distance": "2.26 meters",
+    "closeness rank": 2
+   },
+   "tv": {
+    "distance": "2.27 meters",
+    "closeness rank": 3
+   },
+   "chair": {
+    "distance": "2.65 meters",
+    "closeness rank": 4
+   },
+   "table": {
+    "distance": "2.84 meters",
+    "closeness rank": 5
+   },
+   "dishwasher": {
+    "distance": "3.76 meters",
+    "closeness rank": 6
+   },
+   "washer": {
+    "distance": "4.51 meters",
+    "closeness rank": 7
+   },
+   "stove": {
+    "distance": "5.14 meters",
+    "closeness rank": 8
+   }
+  },
+  "stove": {
+   "sofa": {
+    "distance": "1.15 meters",
+    "closeness rank": 1
+   },
+   "dishwasher": {
+    "distance": "1.55 meters",
+    "closeness rank": 2
+   },
+   "washer": {
+    "distance": "1.89 meters",
+    "closeness rank": 3
+   },
+   "table": {
+    "distance": "2.65 meters",
+    "closeness rank": 4
+   },
+   "chair": {
+    "distance": "3.27 meters",
+    "closeness rank": 5
+   },
+   "stool": {
+    "distance": "5.14 meters",
+    "closeness rank": 6
+   },
+   "tv": {
+    "distance": "5.92 meters",
+    "closeness rank": 7
+   },
+   "fireplace": {
+    "distance": "7.45 meters",
+    "closeness rank": 8
+   }
+  },
+  "table": {
+   "chair": {
+    "distance": "0.05 meters",
+    "closeness rank": 1
+   },
+   "dishwasher": {
+    "distance": "2.18 meters",
+    "closeness rank": 2
+   },
+   "sofa": {
+    "distance": "2.52 meters",
+    "closeness rank": 3
+   },
+   "stove": {
+    "distance": "2.65 meters",
+    "closeness rank": 4
+   },
+   "stool": {
+    "distance": "2.84 meters",
+    "closeness rank": 5
+   },
+   "washer": {
+    "distance": "3.35 meters",
+    "closeness rank": 6
+   },
+   "tv": {
+    "distance": "4.83 meters",
+    "closeness rank": 7
+   },
+   "fireplace": {
+    "distance": "5.32 meters",
+    "closeness rank": 8
+   }
+  },
+  "tv": {
+   "fireplace": {
+    "distance": "0.86 meters",
+    "closeness rank": 1
+   },
+   "stool": {
+    "distance": "2.27 meters",
+    "closeness rank": 2
+   },
+   "sofa": {
+    "distance": "2.47 meters",
+    "closeness rank": 3
+   },
+   "dishwasher": {
+    "distance": "4.31 meters",
+    "closeness rank": 4
+   },
+   "washer": {
+    "distance": "4.45 meters",
+    "closeness rank": 5
+   },
+   "chair": {
+    "distance": "4.83 meters",
+    "closeness rank": 6
+   },
+   "table": {
+    "distance": "4.83 meters",
+    "closeness rank": 7
+   },
+   "stove": {
+    "distance": "5.92 meters",
+    "closeness rank": 8
+   }
+  },
+  "washer": {
+   "sofa": {
+    "distance": "0.04 meters",
+    "closeness rank": 1
+   },
+   "dishwasher": {
+    "distance": "0.92 meters",
+    "closeness rank": 2
+   },
+   "stove": {
+    "distance": "1.89 meters",
+    "closeness rank": 3
+   },
+   "table": {
+    "distance": "3.35 meters",
+    "closeness rank": 4
+   },
+   "chair": {
+    "distance": "3.9 meters",
+    "closeness rank": 5
+   },
+   "tv": {
+    "distance": "4.45 meters",
+    "closeness rank": 6
+   },
+   "stool": {
+    "distance": "4.51 meters",
+    "closeness rank": 7
+   },
+   "fireplace": {
+    "distance": "6.19 meters",
+    "closeness rank": 8
+   }
+  }
+ },
+ "appearance order": ["chair", "table", "sofa", "stool", "tv", "fireplace", "stove", "dishwasher", "washer"]
+}
\ No newline at end of file
diff --git a/data/spatial codes/sam3+depth-anything-3/metric/tracking/uniform/64/explicit/45260856.json b/data/spatial codes/sam3+depth-anything-3/metric/tracking/uniform/64/explicit/45260856.json
new file mode 100644
index 0000000000000000000000000000000000000000..430ed71ccc9771993a0d60f432c9c81790340f57
--- /dev/null
+++ b/data/spatial codes/sam3+depth-anything-3/metric/tracking/uniform/64/explicit/45260856.json	
@@ -0,0 +1,197 @@
+{
+ "objects": {
+  "bed": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "1.84 meters",
+      "y coordinate": "0.76 meters",
+      "height above floor": "0.2 meters"
+     },
+     "longest dimension": "1.72 meters"
+    }
+   ]
+  },
+  "chair": {
+   "count": 4,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-0.71 meters",
+      "y coordinate": "-0.44 meters",
+      "height above floor": "0.02 meters"
+     },
+     "longest dimension": "0.71 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-0.11 meters",
+      "y coordinate": "2.1 meters",
+      "height above floor": "0.0 meters"
+     },
+     "longest dimension": "0.65 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-0.9 meters",
+      "y coordinate": "1.07 meters",
+      "height above floor": "-0.05 meters"
+     },
+     "longest dimension": "0.7 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-0.06 meters",
+      "y coordinate": "2.11 meters",
+      "height above floor": "0.0 meters"
+     },
+     "longest dimension": "0.69 meters"
+    }
+   ]
+  },
+  "fireplace": {
+   "count": 2,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-1.29 meters",
+      "y coordinate": "-0.02 meters",
+      "height above floor": "0.58 meters"
+     },
+     "longest dimension": "1.24 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-1.29 meters",
+      "y coordinate": "-0.46 meters",
+      "height above floor": "0.3 meters"
+     },
+     "longest dimension": "1.06 meters"
+    }
+   ]
+  },
+  "sofa": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-0.79 meters",
+      "y coordinate": "-0.58 meters",
+      "height above floor": "0.14 meters"
+     },
+     "longest dimension": "0.88 meters"
+    }
+   ]
+  },
+  "table": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "2.45 meters",
+      "y coordinate": "-0.75 meters",
+      "height above floor": "0.15 meters"
+     },
+     "longest dimension": "0.33 meters"
+    }
+   ]
+  }
+ },
+ "room": {
+  "floor area": "22.6 square meters"
+ },
+ "closest classes distance meters from": {
+  "bed": {
+   "table": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "chair": {
+    "distance": "1.3 meters",
+    "closeness rank": 2
+   },
+   "sofa": {
+    "distance": "1.31 meters",
+    "closeness rank": 3
+   },
+   "fireplace": {
+    "distance": "1.77 meters",
+    "closeness rank": 4
+   }
+  },
+  "chair": {
+   "sofa": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "fireplace": {
+    "distance": "0.08 meters",
+    "closeness rank": 2
+   },
+   "bed": {
+    "distance": "1.3 meters",
+    "closeness rank": 3
+   },
+   "table": {
+    "distance": "2.55 meters",
+    "closeness rank": 4
+   }
+  },
+  "fireplace": {
+   "chair": {
+    "distance": "0.08 meters",
+    "closeness rank": 1
+   },
+   "sofa": {
+    "distance": "0.13 meters",
+    "closeness rank": 2
+   },
+   "bed": {
+    "distance": "1.77 meters",
+    "closeness rank": 3
+   },
+   "table": {
+    "distance": "3.4 meters",
+    "closeness rank": 4
+   }
+  },
+  "sofa": {
+   "chair": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "fireplace": {
+    "distance": "0.13 meters",
+    "closeness rank": 2
+   },
+   "bed": {
+    "distance": "1.31 meters",
+    "closeness rank": 3
+   },
+   "table": {
+    "distance": "2.57 meters",
+    "closeness rank": 4
+   }
+  },
+  "table": {
+   "bed": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "chair": {
+    "distance": "2.55 meters",
+    "closeness rank": 2
+   },
+   "sofa": {
+    "distance": "2.57 meters",
+    "closeness rank": 3
+   },
+   "fireplace": {
+    "distance": "3.4 meters",
+    "closeness rank": 4
+   }
+  }
+ },
+ "appearance order": ["chair", "bed", "table", "fireplace", "sofa"]
+}
\ No newline at end of file
diff --git a/data/spatial codes/sam3+depth-anything-3/metric/tracking/uniform/64/explicit/45261150.json b/data/spatial codes/sam3+depth-anything-3/metric/tracking/uniform/64/explicit/45261150.json
new file mode 100644
index 0000000000000000000000000000000000000000..9f1e1f9130ceac4cda24a16392331efbd2a0a1c1
--- /dev/null
+++ b/data/spatial codes/sam3+depth-anything-3/metric/tracking/uniform/64/explicit/45261150.json	
@@ -0,0 +1,87 @@
+{
+ "objects": {
+  "bed": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "0.35 meters",
+      "y coordinate": "-0.69 meters",
+      "height above floor": "-0.03 meters"
+     },
+     "longest dimension": "1.94 meters"
+    }
+   ]
+  },
+  "table": {
+   "count": 2,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-0.91 meters",
+      "y coordinate": "0.38 meters",
+      "height above floor": "0.06 meters"
+     },
+     "longest dimension": "1.3 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-2.25 meters",
+      "y coordinate": "-0.0 meters",
+      "height above floor": "0.04 meters"
+     },
+     "longest dimension": "0.83 meters"
+    }
+   ]
+  },
+  "tv": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-0.43 meters",
+      "y coordinate": "1.49 meters",
+      "height above floor": "1.13 meters"
+     },
+     "longest dimension": "0.83 meters"
+    }
+   ]
+  }
+ },
+ "room": {
+  "floor area": "17.8 square meters"
+ },
+ "closest classes distance meters from": {
+  "bed": {
+   "table": {
+    "distance": "0.5 meters",
+    "closeness rank": 1
+   },
+   "tv": {
+    "distance": "2.0 meters",
+    "closeness rank": 2
+   }
+  },
+  "table": {
+   "bed": {
+    "distance": "0.5 meters",
+    "closeness rank": 1
+   },
+   "tv": {
+    "distance": "1.13 meters",
+    "closeness rank": 2
+   }
+  },
+  "tv": {
+   "table": {
+    "distance": "1.13 meters",
+    "closeness rank": 1
+   },
+   "bed": {
+    "distance": "2.0 meters",
+    "closeness rank": 2
+   }
+  }
+ },
+ "appearance order": ["bed", "tv", "table"]
+}
\ No newline at end of file
diff --git a/data/spatial codes/sam3+depth-anything-3/metric/tracking/uniform/64/explicit/45261182.json b/data/spatial codes/sam3+depth-anything-3/metric/tracking/uniform/64/explicit/45261182.json
new file mode 100644
index 0000000000000000000000000000000000000000..44bd073f2418dd21a8f22e825639378ce52fb10f
--- /dev/null
+++ b/data/spatial codes/sam3+depth-anything-3/metric/tracking/uniform/64/explicit/45261182.json	
@@ -0,0 +1,87 @@
+{
+ "objects": {
+  "bathtub": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "0.63 meters",
+      "y coordinate": "0.14 meters",
+      "height above floor": "0.54 meters"
+     },
+     "longest dimension": "0.17 meters"
+    }
+   ]
+  },
+  "bed": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "1.75 meters",
+      "y coordinate": "-1.31 meters",
+      "height above floor": "-1.03 meters"
+     },
+     "longest dimension": "1.21 meters"
+    }
+   ]
+  },
+  "toilet": {
+   "count": 2,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "0.26 meters",
+      "y coordinate": "0.42 meters",
+      "height above floor": "0.05 meters"
+     },
+     "longest dimension": "0.55 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-0.29 meters",
+      "y coordinate": "0.73 meters",
+      "height above floor": "-0.55 meters"
+     },
+     "longest dimension": "0.41 meters"
+    }
+   ]
+  }
+ },
+ "room": {
+  "floor area": "7.1 square meters"
+ },
+ "closest classes distance meters from": {
+  "bathtub": {
+   "toilet": {
+    "distance": "0.37 meters",
+    "closeness rank": 1
+   },
+   "bed": {
+    "distance": "1.71 meters",
+    "closeness rank": 2
+   }
+  },
+  "bed": {
+   "bathtub": {
+    "distance": "1.71 meters",
+    "closeness rank": 1
+   },
+   "toilet": {
+    "distance": "1.88 meters",
+    "closeness rank": 2
+   }
+  },
+  "toilet": {
+   "bathtub": {
+    "distance": "0.37 meters",
+    "closeness rank": 1
+   },
+   "bed": {
+    "distance": "1.88 meters",
+    "closeness rank": 2
+   }
+  }
+ },
+ "appearance order": ["toilet", "bed", "bathtub"]
+}
\ No newline at end of file
diff --git a/data/spatial codes/sam3+depth-anything-3/metric/tracking/uniform/64/explicit/45662970.json b/data/spatial codes/sam3+depth-anything-3/metric/tracking/uniform/64/explicit/45662970.json
new file mode 100644
index 0000000000000000000000000000000000000000..64f5d98ffcfc797690904dd2dba2348f82c7464b
--- /dev/null
+++ b/data/spatial codes/sam3+depth-anything-3/metric/tracking/uniform/64/explicit/45662970.json	
@@ -0,0 +1,95 @@
+{
+ "objects": {
+  "dishwasher": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "0.18 meters",
+      "y coordinate": "-1.47 meters",
+      "height above floor": "-0.18 meters"
+     },
+     "longest dimension": "0.81 meters"
+    }
+   ]
+  },
+  "toilet": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "0.19 meters",
+      "y coordinate": "-0.46 meters",
+      "height above floor": "-0.33 meters"
+     },
+     "longest dimension": "0.69 meters"
+    }
+   ]
+  },
+  "washer": {
+   "count": 3,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "0.31 meters",
+      "y coordinate": "-0.75 meters",
+      "height above floor": "-0.14 meters"
+     },
+     "longest dimension": "0.92 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "0.18 meters",
+      "y coordinate": "-1.47 meters",
+      "height above floor": "-0.18 meters"
+     },
+     "longest dimension": "0.8 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "0.25 meters",
+      "y coordinate": "-1.76 meters",
+      "height above floor": "-0.14 meters"
+     },
+     "longest dimension": "0.74 meters"
+    }
+   ]
+  }
+ },
+ "room": {
+  "floor area": "10.5 square meters"
+ },
+ "closest classes distance meters from": {
+  "dishwasher": {
+   "toilet": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "washer": {
+    "distance": "0.11 meters",
+    "closeness rank": 2
+   }
+  },
+  "toilet": {
+   "dishwasher": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "washer": {
+    "distance": "0.0 meters",
+    "closeness rank": 2
+   }
+  },
+  "washer": {
+   "toilet": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "dishwasher": {
+    "distance": "0.11 meters",
+    "closeness rank": 2
+   }
+  }
+ },
+ "appearance order": ["washer", "dishwasher", "toilet"]
+}
\ No newline at end of file
diff --git a/data/spatial codes/sam3+depth-anything-3/metric/tracking/uniform/64/explicit/45662987.json b/data/spatial codes/sam3+depth-anything-3/metric/tracking/uniform/64/explicit/45662987.json
new file mode 100644
index 0000000000000000000000000000000000000000..f8b2a91ce5d103e677c6dd19cc348d1acaf74163
--- /dev/null
+++ b/data/spatial codes/sam3+depth-anything-3/metric/tracking/uniform/64/explicit/45662987.json	
@@ -0,0 +1,268 @@
+{
+ "objects": {
+  "chair": {
+   "count": 2,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-3.97 meters",
+      "y coordinate": "4.54 meters",
+      "height above floor": "-3.11 meters"
+     },
+     "longest dimension": "0.67 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-3.99 meters",
+      "y coordinate": "4.5 meters",
+      "height above floor": "-1.76 meters"
+     },
+     "longest dimension": "0.68 meters"
+    }
+   ]
+  },
+  "fireplace": {
+   "count": 2,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-2.17 meters",
+      "y coordinate": "2.95 meters",
+      "height above floor": "-0.07 meters"
+     },
+     "longest dimension": "1.14 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-2.35 meters",
+      "y coordinate": "2.81 meters",
+      "height above floor": "0.04 meters"
+     },
+     "longest dimension": "0.88 meters"
+    }
+   ]
+  },
+  "sofa": {
+   "count": 3,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-2.3 meters",
+      "y coordinate": "2.95 meters",
+      "height above floor": "-3.75 meters"
+     },
+     "longest dimension": "1.21 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-1.15 meters",
+      "y coordinate": "1.93 meters",
+      "height above floor": "-2.63 meters"
+     },
+     "longest dimension": "1.72 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-1.13 meters",
+      "y coordinate": "2.02 meters",
+      "height above floor": "-2.49 meters"
+     },
+     "longest dimension": "1.16 meters"
+    }
+   ]
+  },
+  "stool": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-3.99 meters",
+      "y coordinate": "4.5 meters",
+      "height above floor": "-1.76 meters"
+     },
+     "longest dimension": "0.68 meters"
+    }
+   ]
+  },
+  "table": {
+   "count": 2,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-2.54 meters",
+      "y coordinate": "3.4 meters",
+      "height above floor": "-3.03 meters"
+     },
+     "longest dimension": "1.14 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-4.16 meters",
+      "y coordinate": "4.72 meters",
+      "height above floor": "-2.5 meters"
+     },
+     "longest dimension": "0.61 meters"
+    }
+   ]
+  },
+  "tv": {
+   "count": 2,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-3.89 meters",
+      "y coordinate": "3.42 meters",
+      "height above floor": "-0.21 meters"
+     },
+     "longest dimension": "1.32 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-3.92 meters",
+      "y coordinate": "3.43 meters",
+      "height above floor": "-0.23 meters"
+     },
+     "longest dimension": "1.34 meters"
+    }
+   ]
+  }
+ },
+ "room": {
+  "floor area": "22.9 square meters"
+ },
+ "closest classes distance meters from": {
+  "chair": {
+   "stool": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "table": {
+    "distance": "0.91 meters",
+    "closeness rank": 2
+   },
+   "tv": {
+    "distance": "1.31 meters",
+    "closeness rank": 3
+   },
+   "fireplace": {
+    "distance": "1.96 meters",
+    "closeness rank": 4
+   },
+   "sofa": {
+    "distance": "2.27 meters",
+    "closeness rank": 5
+   }
+  },
+  "fireplace": {
+   "tv": {
+    "distance": "0.39 meters",
+    "closeness rank": 1
+   },
+   "sofa": {
+    "distance": "1.04 meters",
+    "closeness rank": 2
+   },
+   "chair": {
+    "distance": "1.96 meters",
+    "closeness rank": 3
+   },
+   "stool": {
+    "distance": "1.96 meters",
+    "closeness rank": 4
+   },
+   "table": {
+    "distance": "2.29 meters",
+    "closeness rank": 5
+   }
+  },
+  "sofa": {
+   "table": {
+    "distance": "0.38 meters",
+    "closeness rank": 1
+   },
+   "fireplace": {
+    "distance": "1.04 meters",
+    "closeness rank": 2
+   },
+   "chair": {
+    "distance": "2.27 meters",
+    "closeness rank": 3
+   },
+   "stool": {
+    "distance": "2.28 meters",
+    "closeness rank": 4
+   },
+   "tv": {
+    "distance": "2.64 meters",
+    "closeness rank": 5
+   }
+  },
+  "stool": {
+   "chair": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "table": {
+    "distance": "0.92 meters",
+    "closeness rank": 2
+   },
+   "tv": {
+    "distance": "1.23 meters",
+    "closeness rank": 3
+   },
+   "fireplace": {
+    "distance": "1.96 meters",
+    "closeness rank": 4
+   },
+   "sofa": {
+    "distance": "2.28 meters",
+    "closeness rank": 5
+   }
+  },
+  "table": {
+   "sofa": {
+    "distance": "0.38 meters",
+    "closeness rank": 1
+   },
+   "chair": {
+    "distance": "0.91 meters",
+    "closeness rank": 2
+   },
+   "stool": {
+    "distance": "0.92 meters",
+    "closeness rank": 3
+   },
+   "fireplace": {
+    "distance": "2.29 meters",
+    "closeness rank": 4
+   },
+   "tv": {
+    "distance": "2.57 meters",
+    "closeness rank": 5
+   }
+  },
+  "tv": {
+   "fireplace": {
+    "distance": "0.39 meters",
+    "closeness rank": 1
+   },
+   "stool": {
+    "distance": "1.23 meters",
+    "closeness rank": 2
+   },
+   "chair": {
+    "distance": "1.31 meters",
+    "closeness rank": 3
+   },
+   "table": {
+    "distance": "2.57 meters",
+    "closeness rank": 4
+   },
+   "sofa": {
+    "distance": "2.64 meters",
+    "closeness rank": 5
+   }
+  }
+ },
+ "appearance order": ["sofa", "table", "tv", "chair", "fireplace", "stool"]
+}
\ No newline at end of file
diff --git a/data/spatial codes/sam3+depth-anything-3/metric/tracking/uniform/64/explicit/45663114.json b/data/spatial codes/sam3+depth-anything-3/metric/tracking/uniform/64/explicit/45663114.json
new file mode 100644
index 0000000000000000000000000000000000000000..01987cd51440fca1c33236019297e25dbf944a33
--- /dev/null
+++ b/data/spatial codes/sam3+depth-anything-3/metric/tracking/uniform/64/explicit/45663114.json	
@@ -0,0 +1,48 @@
+{
+ "objects": {
+  "bathtub": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-0.69 meters",
+      "y coordinate": "-0.27 meters",
+      "height above floor": "-0.25 meters"
+     },
+     "longest dimension": "1.11 meters"
+    }
+   ]
+  },
+  "toilet": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "0.41 meters",
+      "y coordinate": "-0.11 meters",
+      "height above floor": "-0.08 meters"
+     },
+     "longest dimension": "0.65 meters"
+    }
+   ]
+  }
+ },
+ "room": {
+  "floor area": "9.8 square meters"
+ },
+ "closest classes distance meters from": {
+  "bathtub": {
+   "toilet": {
+    "distance": "0.37 meters",
+    "closeness rank": 1
+   }
+  },
+  "toilet": {
+   "bathtub": {
+    "distance": "0.37 meters",
+    "closeness rank": 1
+   }
+  }
+ },
+ "appearance order": ["bathtub", "toilet"]
+}
\ No newline at end of file
diff --git a/data/spatial codes/sam3+depth-anything-3/metric/tracking/uniform/64/explicit/47115460.json b/data/spatial codes/sam3+depth-anything-3/metric/tracking/uniform/64/explicit/47115460.json
new file mode 100644
index 0000000000000000000000000000000000000000..9c5902f48832f462f17fef6f767f1da4bde8cb3d
--- /dev/null
+++ b/data/spatial codes/sam3+depth-anything-3/metric/tracking/uniform/64/explicit/47115460.json	
@@ -0,0 +1,236 @@
+{
+ "objects": {
+  "bed": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "0.78 meters",
+      "y coordinate": "-0.29 meters",
+      "height above floor": "-0.05 meters"
+     },
+     "longest dimension": "0.63 meters"
+    }
+   ]
+  },
+  "chair": {
+   "count": 3,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "0.41 meters",
+      "y coordinate": "-0.76 meters",
+      "height above floor": "-0.07 meters"
+     },
+     "longest dimension": "0.67 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "0.23 meters",
+      "y coordinate": "-1.37 meters",
+      "height above floor": "0.34 meters"
+     },
+     "longest dimension": "0.66 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "0.51 meters",
+      "y coordinate": "-0.84 meters",
+      "height above floor": "0.98 meters"
+     },
+     "longest dimension": "0.44 meters"
+    }
+   ]
+  },
+  "dishwasher": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-1.34 meters",
+      "y coordinate": "-2.3 meters",
+      "height above floor": "-0.88 meters"
+     },
+     "longest dimension": "0.5 meters"
+    }
+   ]
+  },
+  "stove": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-1.56 meters",
+      "y coordinate": "-2.03 meters",
+      "height above floor": "-0.9 meters"
+     },
+     "longest dimension": "0.71 meters"
+    }
+   ]
+  },
+  "table": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "0.41 meters",
+      "y coordinate": "-0.75 meters",
+      "height above floor": "-0.06 meters"
+     },
+     "longest dimension": "0.7 meters"
+    }
+   ]
+  },
+  "toilet": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-1.37 meters",
+      "y coordinate": "-3.17 meters",
+      "height above floor": "-0.94 meters"
+     },
+     "longest dimension": "0.27 meters"
+    }
+   ]
+  }
+ },
+ "room": {
+  "floor area": "21.6 square meters"
+ },
+ "closest classes distance meters from": {
+  "bed": {
+   "chair": {
+    "distance": "0.04 meters",
+    "closeness rank": 1
+   },
+   "table": {
+    "distance": "0.04 meters",
+    "closeness rank": 2
+   },
+   "stove": {
+    "distance": "2.45 meters",
+    "closeness rank": 3
+   },
+   "dishwasher": {
+    "distance": "2.46 meters",
+    "closeness rank": 4
+   },
+   "toilet": {
+    "distance": "3.28 meters",
+    "closeness rank": 5
+   }
+  },
+  "chair": {
+   "table": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "bed": {
+    "distance": "0.04 meters",
+    "closeness rank": 2
+   },
+   "stove": {
+    "distance": "1.79 meters",
+    "closeness rank": 3
+   },
+   "dishwasher": {
+    "distance": "1.8 meters",
+    "closeness rank": 4
+   },
+   "toilet": {
+    "distance": "2.55 meters",
+    "closeness rank": 5
+   }
+  },
+  "dishwasher": {
+   "stove": {
+    "distance": "0.02 meters",
+    "closeness rank": 1
+   },
+   "toilet": {
+    "distance": "0.38 meters",
+    "closeness rank": 2
+   },
+   "table": {
+    "distance": "1.65 meters",
+    "closeness rank": 3
+   },
+   "chair": {
+    "distance": "1.8 meters",
+    "closeness rank": 4
+   },
+   "bed": {
+    "distance": "2.46 meters",
+    "closeness rank": 5
+   }
+  },
+  "stove": {
+   "dishwasher": {
+    "distance": "0.02 meters",
+    "closeness rank": 1
+   },
+   "toilet": {
+    "distance": "0.8 meters",
+    "closeness rank": 2
+   },
+   "table": {
+    "distance": "1.63 meters",
+    "closeness rank": 3
+   },
+   "chair": {
+    "distance": "1.79 meters",
+    "closeness rank": 4
+   },
+   "bed": {
+    "distance": "2.45 meters",
+    "closeness rank": 5
+   }
+  },
+  "table": {
+   "chair": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "bed": {
+    "distance": "0.04 meters",
+    "closeness rank": 2
+   },
+   "stove": {
+    "distance": "1.63 meters",
+    "closeness rank": 3
+   },
+   "dishwasher": {
+    "distance": "1.65 meters",
+    "closeness rank": 4
+   },
+   "toilet": {
+    "distance": "2.49 meters",
+    "closeness rank": 5
+   }
+  },
+  "toilet": {
+   "dishwasher": {
+    "distance": "0.38 meters",
+    "closeness rank": 1
+   },
+   "stove": {
+    "distance": "0.8 meters",
+    "closeness rank": 2
+   },
+   "table": {
+    "distance": "2.49 meters",
+    "closeness rank": 3
+   },
+   "chair": {
+    "distance": "2.55 meters",
+    "closeness rank": 4
+   },
+   "bed": {
+    "distance": "3.28 meters",
+    "closeness rank": 5
+   }
+  }
+ },
+ "appearance order": ["chair", "table", "bed", "stove", "dishwasher", "toilet"]
+}
\ No newline at end of file
diff --git a/data/spatial codes/sam3+depth-anything-3/metric/tracking/uniform/64/explicit/47115525.json b/data/spatial codes/sam3+depth-anything-3/metric/tracking/uniform/64/explicit/47115525.json
new file mode 100644
index 0000000000000000000000000000000000000000..1d1f01c2c106a1dbe3bc7cb463957a5471df0651
--- /dev/null
+++ b/data/spatial codes/sam3+depth-anything-3/metric/tracking/uniform/64/explicit/47115525.json	
@@ -0,0 +1,244 @@
+{
+ "objects": {
+  "bed": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-1.42 meters",
+      "y coordinate": "-0.7 meters",
+      "height above floor": "0.16 meters"
+     },
+     "longest dimension": "1.07 meters"
+    }
+   ]
+  },
+  "fireplace": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "0.8 meters",
+      "y coordinate": "-0.9 meters",
+      "height above floor": "0.17 meters"
+     },
+     "longest dimension": "0.94 meters"
+    }
+   ]
+  },
+  "sofa": {
+   "count": 4,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-2.13 meters",
+      "y coordinate": "0.1 meters",
+      "height above floor": "0.06 meters"
+     },
+     "longest dimension": "0.84 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-1.17 meters",
+      "y coordinate": "1.57 meters",
+      "height above floor": "-0.01 meters"
+     },
+     "longest dimension": "1.45 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-1.16 meters",
+      "y coordinate": "1.4 meters",
+      "height above floor": "-0.08 meters"
+     },
+     "longest dimension": "1.07 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-1.71 meters",
+      "y coordinate": "0.24 meters",
+      "height above floor": "0.08 meters"
+     },
+     "longest dimension": "0.54 meters"
+    }
+   ]
+  },
+  "stool": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-0.78 meters",
+      "y coordinate": "-1.84 meters",
+      "height above floor": "-0.25 meters"
+     },
+     "longest dimension": "0.32 meters"
+    }
+   ]
+  },
+  "table": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-0.26 meters",
+      "y coordinate": "0.56 meters",
+      "height above floor": "-0.02 meters"
+     },
+     "longest dimension": "0.92 meters"
+    }
+   ]
+  },
+  "tv": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "1.85 meters",
+      "y coordinate": "-0.2 meters",
+      "height above floor": "0.78 meters"
+     },
+     "longest dimension": "0.68 meters"
+    }
+   ]
+  }
+ },
+ "room": {
+  "floor area": "20.5 square meters"
+ },
+ "closest classes distance meters from": {
+  "bed": {
+   "sofa": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "table": {
+    "distance": "0.49 meters",
+    "closeness rank": 2
+   },
+   "fireplace": {
+    "distance": "0.79 meters",
+    "closeness rank": 3
+   },
+   "stool": {
+    "distance": "0.87 meters",
+    "closeness rank": 4
+   },
+   "tv": {
+    "distance": "2.25 meters",
+    "closeness rank": 5
+   }
+  },
+  "fireplace": {
+   "bed": {
+    "distance": "0.79 meters",
+    "closeness rank": 1
+   },
+   "sofa": {
+    "distance": "0.79 meters",
+    "closeness rank": 2
+   },
+   "tv": {
+    "distance": "0.81 meters",
+    "closeness rank": 3
+   },
+   "stool": {
+    "distance": "1.34 meters",
+    "closeness rank": 4
+   },
+   "table": {
+    "distance": "1.35 meters",
+    "closeness rank": 5
+   }
+  },
+  "sofa": {
+   "bed": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "table": {
+    "distance": "0.6 meters",
+    "closeness rank": 2
+   },
+   "stool": {
+    "distance": "0.77 meters",
+    "closeness rank": 3
+   },
+   "fireplace": {
+    "distance": "0.79 meters",
+    "closeness rank": 4
+   },
+   "tv": {
+    "distance": "2.25 meters",
+    "closeness rank": 5
+   }
+  },
+  "stool": {
+   "sofa": {
+    "distance": "0.77 meters",
+    "closeness rank": 1
+   },
+   "bed": {
+    "distance": "0.87 meters",
+    "closeness rank": 2
+   },
+   "fireplace": {
+    "distance": "1.34 meters",
+    "closeness rank": 3
+   },
+   "table": {
+    "distance": "2.05 meters",
+    "closeness rank": 4
+   },
+   "tv": {
+    "distance": "2.91 meters",
+    "closeness rank": 5
+   }
+  },
+  "table": {
+   "bed": {
+    "distance": "0.49 meters",
+    "closeness rank": 1
+   },
+   "sofa": {
+    "distance": "0.6 meters",
+    "closeness rank": 2
+   },
+   "fireplace": {
+    "distance": "1.35 meters",
+    "closeness rank": 3
+   },
+   "tv": {
+    "distance": "1.82 meters",
+    "closeness rank": 4
+   },
+   "stool": {
+    "distance": "2.05 meters",
+    "closeness rank": 5
+   }
+  },
+  "tv": {
+   "fireplace": {
+    "distance": "0.81 meters",
+    "closeness rank": 1
+   },
+   "table": {
+    "distance": "1.82 meters",
+    "closeness rank": 2
+   },
+   "bed": {
+    "distance": "2.25 meters",
+    "closeness rank": 3
+   },
+   "sofa": {
+    "distance": "2.25 meters",
+    "closeness rank": 4
+   },
+   "stool": {
+    "distance": "2.91 meters",
+    "closeness rank": 5
+   }
+  }
+ },
+ "appearance order": ["sofa", "table", "fireplace", "bed", "tv", "stool"]
+}
\ No newline at end of file
diff --git a/data/spatial codes/sam3+depth-anything-3/metric/tracking/uniform/64/explicit/47204566.json b/data/spatial codes/sam3+depth-anything-3/metric/tracking/uniform/64/explicit/47204566.json
new file mode 100644
index 0000000000000000000000000000000000000000..85248d5c4fbf81068afb21683b1ff9af4eccef38
--- /dev/null
+++ b/data/spatial codes/sam3+depth-anything-3/metric/tracking/uniform/64/explicit/47204566.json	
@@ -0,0 +1,87 @@
+{
+ "objects": {
+  "chair": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "0.16 meters",
+      "y coordinate": "1.17 meters",
+      "height above floor": "0.01 meters"
+     },
+     "longest dimension": "0.65 meters"
+    }
+   ]
+  },
+  "toilet": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "1.14 meters",
+      "y coordinate": "1.46 meters",
+      "height above floor": "1.12 meters"
+     },
+     "longest dimension": "0.48 meters"
+    }
+   ]
+  },
+  "tv": {
+   "count": 2,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "0.74 meters",
+      "y coordinate": "0.69 meters",
+      "height above floor": "-0.4 meters"
+     },
+     "longest dimension": "0.52 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "0.7 meters",
+      "y coordinate": "0.7 meters",
+      "height above floor": "-0.41 meters"
+     },
+     "longest dimension": "0.52 meters"
+    }
+   ]
+  }
+ },
+ "room": {
+  "floor area": "9.9 square meters"
+ },
+ "closest classes distance meters from": {
+  "chair": {
+   "tv": {
+    "distance": "0.57 meters",
+    "closeness rank": 1
+   },
+   "toilet": {
+    "distance": "1.3 meters",
+    "closeness rank": 2
+   }
+  },
+  "toilet": {
+   "chair": {
+    "distance": "1.3 meters",
+    "closeness rank": 1
+   },
+   "tv": {
+    "distance": "1.47 meters",
+    "closeness rank": 2
+   }
+  },
+  "tv": {
+   "chair": {
+    "distance": "0.57 meters",
+    "closeness rank": 1
+   },
+   "toilet": {
+    "distance": "1.47 meters",
+    "closeness rank": 2
+   }
+  }
+ },
+ "appearance order": ["tv", "toilet", "chair"]
+}
\ No newline at end of file
diff --git a/data/spatial codes/sam3+depth-anything-3/metric/tracking/uniform/64/explicit/47204578.json b/data/spatial codes/sam3+depth-anything-3/metric/tracking/uniform/64/explicit/47204578.json
new file mode 100644
index 0000000000000000000000000000000000000000..27f79729a0b6fef1c63c36bab4164d676da4197d
--- /dev/null
+++ b/data/spatial codes/sam3+depth-anything-3/metric/tracking/uniform/64/explicit/47204578.json	
@@ -0,0 +1,236 @@
+{
+ "objects": {
+  "bed": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "0.69 meters",
+      "y coordinate": "-0.51 meters",
+      "height above floor": "0.01 meters"
+     },
+     "longest dimension": "1.05 meters"
+    }
+   ]
+  },
+  "fireplace": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "0.46 meters",
+      "y coordinate": "-0.48 meters",
+      "height above floor": "0.02 meters"
+     },
+     "longest dimension": "1.26 meters"
+    }
+   ]
+  },
+  "sofa": {
+   "count": 2,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "0.92 meters",
+      "y coordinate": "-1.51 meters",
+      "height above floor": "2.35 meters"
+     },
+     "longest dimension": "2.96 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "0.66 meters",
+      "y coordinate": "-0.53 meters",
+      "height above floor": "0.02 meters"
+     },
+     "longest dimension": "1.05 meters"
+    }
+   ]
+  },
+  "stool": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "1.68 meters",
+      "y coordinate": "-0.51 meters",
+      "height above floor": "2.68 meters"
+     },
+     "longest dimension": "0.79 meters"
+    }
+   ]
+  },
+  "table": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "1.68 meters",
+      "y coordinate": "-0.54 meters",
+      "height above floor": "2.7 meters"
+     },
+     "longest dimension": "0.8 meters"
+    }
+   ]
+  },
+  "tv": {
+   "count": 2,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "0.39 meters",
+      "y coordinate": "-0.89 meters",
+      "height above floor": "0.01 meters"
+     },
+     "longest dimension": "1.14 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "0.47 meters",
+      "y coordinate": "-0.51 meters",
+      "height above floor": "0.01 meters"
+     },
+     "longest dimension": "1.17 meters"
+    }
+   ]
+  }
+ },
+ "room": {
+  "floor area": "17.9 square meters"
+ },
+ "closest classes distance meters from": {
+  "bed": {
+   "fireplace": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "tv": {
+    "distance": "0.0 meters",
+    "closeness rank": 2
+   },
+   "sofa": {
+    "distance": "1.6 meters",
+    "closeness rank": 3
+   },
+   "table": {
+    "distance": "2.45 meters",
+    "closeness rank": 4
+   },
+   "stool": {
+    "distance": "2.49 meters",
+    "closeness rank": 5
+   }
+  },
+  "fireplace": {
+   "bed": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "tv": {
+    "distance": "0.0 meters",
+    "closeness rank": 2
+   },
+   "sofa": {
+    "distance": "1.56 meters",
+    "closeness rank": 3
+   },
+   "table": {
+    "distance": "2.45 meters",
+    "closeness rank": 4
+   },
+   "stool": {
+    "distance": "2.49 meters",
+    "closeness rank": 5
+   }
+  },
+  "sofa": {
+   "table": {
+    "distance": "0.15 meters",
+    "closeness rank": 1
+   },
+   "stool": {
+    "distance": "0.2 meters",
+    "closeness rank": 2
+   },
+   "fireplace": {
+    "distance": "1.56 meters",
+    "closeness rank": 3
+   },
+   "tv": {
+    "distance": "1.57 meters",
+    "closeness rank": 4
+   },
+   "bed": {
+    "distance": "1.6 meters",
+    "closeness rank": 5
+   }
+  },
+  "stool": {
+   "table": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "sofa": {
+    "distance": "0.2 meters",
+    "closeness rank": 2
+   },
+   "tv": {
+    "distance": "2.46 meters",
+    "closeness rank": 3
+   },
+   "bed": {
+    "distance": "2.49 meters",
+    "closeness rank": 4
+   },
+   "fireplace": {
+    "distance": "2.49 meters",
+    "closeness rank": 5
+   }
+  },
+  "table": {
+   "stool": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "sofa": {
+    "distance": "0.15 meters",
+    "closeness rank": 2
+   },
+   "tv": {
+    "distance": "2.43 meters",
+    "closeness rank": 3
+   },
+   "bed": {
+    "distance": "2.45 meters",
+    "closeness rank": 4
+   },
+   "fireplace": {
+    "distance": "2.45 meters",
+    "closeness rank": 5
+   }
+  },
+  "tv": {
+   "bed": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "fireplace": {
+    "distance": "0.0 meters",
+    "closeness rank": 2
+   },
+   "sofa": {
+    "distance": "1.57 meters",
+    "closeness rank": 3
+   },
+   "table": {
+    "distance": "2.43 meters",
+    "closeness rank": 4
+   },
+   "stool": {
+    "distance": "2.46 meters",
+    "closeness rank": 5
+   }
+  }
+ },
+ "appearance order": ["tv", "sofa", "table", "fireplace", "bed", "stool"]
+}
\ No newline at end of file
diff --git a/data/spatial codes/sam3+depth-anything-3/metric/tracking/uniform/64/explicit/47204607.json b/data/spatial codes/sam3+depth-anything-3/metric/tracking/uniform/64/explicit/47204607.json
new file mode 100644
index 0000000000000000000000000000000000000000..26e2a558f0e6577d3cac6bb35bfceab79a3427f0
--- /dev/null
+++ b/data/spatial codes/sam3+depth-anything-3/metric/tracking/uniform/64/explicit/47204607.json	
@@ -0,0 +1,347 @@
+{
+ "objects": {
+  "bathtub": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-2.48 meters",
+      "y coordinate": "1.17 meters",
+      "height above floor": "0.05 meters"
+     },
+     "longest dimension": "1.09 meters"
+    }
+   ]
+  },
+  "chair": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-2.78 meters",
+      "y coordinate": "0.5 meters",
+      "height above floor": "0.08 meters"
+     },
+     "longest dimension": "1.8 meters"
+    }
+   ]
+  },
+  "sofa": {
+   "count": 2,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-0.04 meters",
+      "y coordinate": "1.0 meters",
+      "height above floor": "0.13 meters"
+     },
+     "longest dimension": "1.17 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-1.38 meters",
+      "y coordinate": "-0.59 meters",
+      "height above floor": "-0.01 meters"
+     },
+     "longest dimension": "0.9 meters"
+    }
+   ]
+  },
+  "stool": {
+   "count": 3,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "0.64 meters",
+      "y coordinate": "0.41 meters",
+      "height above floor": "-0.17 meters"
+     },
+     "longest dimension": "0.48 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "0.82 meters",
+      "y coordinate": "0.37 meters",
+      "height above floor": "0.08 meters"
+     },
+     "longest dimension": "0.51 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "0.97 meters",
+      "y coordinate": "0.46 meters",
+      "height above floor": "0.13 meters"
+     },
+     "longest dimension": "0.57 meters"
+    }
+   ]
+  },
+  "table": {
+   "count": 6,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-1.01 meters",
+      "y coordinate": "-0.19 meters",
+      "height above floor": "-0.01 meters"
+     },
+     "longest dimension": "0.86 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-3.36 meters",
+      "y coordinate": "2.13 meters",
+      "height above floor": "0.09 meters"
+     },
+     "longest dimension": "0.6 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "0.64 meters",
+      "y coordinate": "0.41 meters",
+      "height above floor": "-0.17 meters"
+     },
+     "longest dimension": "0.48 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "0.72 meters",
+      "y coordinate": "0.55 meters",
+      "height above floor": "-0.12 meters"
+     },
+     "longest dimension": "0.55 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "0.86 meters",
+      "y coordinate": "0.67 meters",
+      "height above floor": "0.12 meters"
+     },
+     "longest dimension": "0.59 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-1.29 meters",
+      "y coordinate": "-0.18 meters",
+      "height above floor": "-0.04 meters"
+     },
+     "longest dimension": "0.85 meters"
+    }
+   ]
+  },
+  "toilet": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-2.73 meters",
+      "y coordinate": "0.19 meters",
+      "height above floor": "0.04 meters"
+     },
+     "longest dimension": "1.8 meters"
+    }
+   ]
+  },
+  "tv": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "0.4 meters",
+      "y coordinate": "-1.24 meters",
+      "height above floor": "0.27 meters"
+     },
+     "longest dimension": "0.91 meters"
+    }
+   ]
+  }
+ },
+ "room": {
+  "floor area": "24.3 square meters"
+ },
+ "closest classes distance meters from": {
+  "bathtub": {
+   "sofa": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "chair": {
+    "distance": "0.01 meters",
+    "closeness rank": 2
+   },
+   "toilet": {
+    "distance": "0.01 meters",
+    "closeness rank": 3
+   },
+   "stool": {
+    "distance": "0.36 meters",
+    "closeness rank": 4
+   },
+   "table": {
+    "distance": "1.02 meters",
+    "closeness rank": 5
+   },
+   "tv": {
+    "distance": "1.63 meters",
+    "closeness rank": 6
+   }
+  },
+  "chair": {
+   "sofa": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "toilet": {
+    "distance": "0.0 meters",
+    "closeness rank": 2
+   },
+   "bathtub": {
+    "distance": "0.01 meters",
+    "closeness rank": 3
+   },
+   "stool": {
+    "distance": "0.54 meters",
+    "closeness rank": 4
+   },
+   "table": {
+    "distance": "0.97 meters",
+    "closeness rank": 5
+   },
+   "tv": {
+    "distance": "1.74 meters",
+    "closeness rank": 6
+   }
+  },
+  "sofa": {
+   "bathtub": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "chair": {
+    "distance": "0.0 meters",
+    "closeness rank": 2
+   },
+   "toilet": {
+    "distance": "0.0 meters",
+    "closeness rank": 3
+   },
+   "stool": {
+    "distance": "0.35 meters",
+    "closeness rank": 4
+   },
+   "table": {
+    "distance": "0.99 meters",
+    "closeness rank": 5
+   },
+   "tv": {
+    "distance": "1.63 meters",
+    "closeness rank": 6
+   }
+  },
+  "stool": {
+   "sofa": {
+    "distance": "0.35 meters",
+    "closeness rank": 1
+   },
+   "bathtub": {
+    "distance": "0.36 meters",
+    "closeness rank": 2
+   },
+   "toilet": {
+    "distance": "0.37 meters",
+    "closeness rank": 3
+   },
+   "chair": {
+    "distance": "0.54 meters",
+    "closeness rank": 4
+   },
+   "tv": {
+    "distance": "1.08 meters",
+    "closeness rank": 5
+   },
+   "table": {
+    "distance": "1.34 meters",
+    "closeness rank": 6
+   }
+  },
+  "table": {
+   "chair": {
+    "distance": "0.97 meters",
+    "closeness rank": 1
+   },
+   "sofa": {
+    "distance": "0.99 meters",
+    "closeness rank": 2
+   },
+   "toilet": {
+    "distance": "1.01 meters",
+    "closeness rank": 3
+   },
+   "bathtub": {
+    "distance": "1.02 meters",
+    "closeness rank": 4
+   },
+   "tv": {
+    "distance": "1.27 meters",
+    "closeness rank": 5
+   },
+   "stool": {
+    "distance": "1.34 meters",
+    "closeness rank": 6
+   }
+  },
+  "toilet": {
+   "chair": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "sofa": {
+    "distance": "0.0 meters",
+    "closeness rank": 2
+   },
+   "bathtub": {
+    "distance": "0.01 meters",
+    "closeness rank": 3
+   },
+   "stool": {
+    "distance": "0.37 meters",
+    "closeness rank": 4
+   },
+   "table": {
+    "distance": "1.01 meters",
+    "closeness rank": 5
+   },
+   "tv": {
+    "distance": "1.66 meters",
+    "closeness rank": 6
+   }
+  },
+  "tv": {
+   "stool": {
+    "distance": "1.08 meters",
+    "closeness rank": 1
+   },
+   "table": {
+    "distance": "1.27 meters",
+    "closeness rank": 2
+   },
+   "bathtub": {
+    "distance": "1.63 meters",
+    "closeness rank": 3
+   },
+   "sofa": {
+    "distance": "1.63 meters",
+    "closeness rank": 4
+   },
+   "toilet": {
+    "distance": "1.66 meters",
+    "closeness rank": 5
+   },
+   "chair": {
+    "distance": "1.74 meters",
+    "closeness rank": 6
+   }
+  }
+ },
+ "appearance order": ["table", "bathtub", "sofa", "stool", "toilet", "tv", "chair"]
+}
\ No newline at end of file
diff --git a/data/spatial codes/sam3+depth-anything-3/metric/tracking/uniform/64/explicit/47331063.json b/data/spatial codes/sam3+depth-anything-3/metric/tracking/uniform/64/explicit/47331063.json
new file mode 100644
index 0000000000000000000000000000000000000000..c036478ce2f34d5910284029ae3495c34649fb75
--- /dev/null
+++ b/data/spatial codes/sam3+depth-anything-3/metric/tracking/uniform/64/explicit/47331063.json	
@@ -0,0 +1,378 @@
+{
+ "objects": {
+  "bed": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-0.66 meters",
+      "y coordinate": "1.08 meters",
+      "height above floor": "0.06 meters"
+     },
+     "longest dimension": "0.96 meters"
+    }
+   ]
+  },
+  "chair": {
+   "count": 2,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-0.31 meters",
+      "y coordinate": "-0.46 meters",
+      "height above floor": "-0.02 meters"
+     },
+     "longest dimension": "0.44 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-0.56 meters",
+      "y coordinate": "-0.22 meters",
+      "height above floor": "0.39 meters"
+     },
+     "longest dimension": "0.38 meters"
+    }
+   ]
+  },
+  "dishwasher": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-0.63 meters",
+      "y coordinate": "-1.71 meters",
+      "height above floor": "0.16 meters"
+     },
+     "longest dimension": "0.38 meters"
+    }
+   ]
+  },
+  "refrigerator": {
+   "count": 2,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-0.23 meters",
+      "y coordinate": "-1.91 meters",
+      "height above floor": "0.66 meters"
+     },
+     "longest dimension": "0.99 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-0.18 meters",
+      "y coordinate": "-1.92 meters",
+      "height above floor": "0.65 meters"
+     },
+     "longest dimension": "0.87 meters"
+    }
+   ]
+  },
+  "stool": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-0.34 meters",
+      "y coordinate": "-1.53 meters",
+      "height above floor": "0.0 meters"
+     },
+     "longest dimension": "0.36 meters"
+    }
+   ]
+  },
+  "stove": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-0.82 meters",
+      "y coordinate": "-1.86 meters",
+      "height above floor": "0.4 meters"
+     },
+     "longest dimension": "0.49 meters"
+    }
+   ]
+  },
+  "table": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-1.66 meters",
+      "y coordinate": "0.38 meters",
+      "height above floor": "0.27 meters"
+     },
+     "longest dimension": "0.35 meters"
+    }
+   ]
+  },
+  "tv": {
+   "count": 2,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "1.08 meters",
+      "y coordinate": "0.29 meters",
+      "height above floor": "0.81 meters"
+     },
+     "longest dimension": "0.77 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "0.51 meters",
+      "y coordinate": "-0.77 meters",
+      "height above floor": "0.56 meters"
+     },
+     "longest dimension": "0.49 meters"
+    }
+   ]
+  }
+ },
+ "room": {
+  "floor area": "12.5 square meters"
+ },
+ "closest classes distance meters from": {
+  "bed": {
+   "tv": {
+    "distance": "0.35 meters",
+    "closeness rank": 1
+   },
+   "table": {
+    "distance": "0.58 meters",
+    "closeness rank": 2
+   },
+   "chair": {
+    "distance": "0.66 meters",
+    "closeness rank": 3
+   },
+   "stool": {
+    "distance": "1.46 meters",
+    "closeness rank": 4
+   },
+   "refrigerator": {
+    "distance": "2.23 meters",
+    "closeness rank": 5
+   },
+   "dishwasher": {
+    "distance": "2.25 meters",
+    "closeness rank": 6
+   },
+   "stove": {
+    "distance": "2.31 meters",
+    "closeness rank": 7
+   }
+  },
+  "chair": {
+   "table": {
+    "distance": "0.38 meters",
+    "closeness rank": 1
+   },
+   "stool": {
+    "distance": "0.46 meters",
+    "closeness rank": 2
+   },
+   "bed": {
+    "distance": "0.66 meters",
+    "closeness rank": 3
+   },
+   "dishwasher": {
+    "distance": "1.11 meters",
+    "closeness rank": 4
+   },
+   "tv": {
+    "distance": "1.15 meters",
+    "closeness rank": 5
+   },
+   "refrigerator": {
+    "distance": "1.2 meters",
+    "closeness rank": 6
+   },
+   "stove": {
+    "distance": "1.23 meters",
+    "closeness rank": 7
+   }
+  },
+  "dishwasher": {
+   "refrigerator": {
+    "distance": "0.09 meters",
+    "closeness rank": 1
+   },
+   "stove": {
+    "distance": "0.16 meters",
+    "closeness rank": 2
+   },
+   "stool": {
+    "distance": "0.34 meters",
+    "closeness rank": 3
+   },
+   "table": {
+    "distance": "1.01 meters",
+    "closeness rank": 4
+   },
+   "chair": {
+    "distance": "1.11 meters",
+    "closeness rank": 5
+   },
+   "bed": {
+    "distance": "2.25 meters",
+    "closeness rank": 6
+   },
+   "tv": {
+    "distance": "2.29 meters",
+    "closeness rank": 7
+   }
+  },
+  "refrigerator": {
+   "stove": {
+    "distance": "0.04 meters",
+    "closeness rank": 1
+   },
+   "dishwasher": {
+    "distance": "0.09 meters",
+    "closeness rank": 2
+   },
+   "stool": {
+    "distance": "0.25 meters",
+    "closeness rank": 3
+   },
+   "table": {
+    "distance": "0.99 meters",
+    "closeness rank": 4
+   },
+   "chair": {
+    "distance": "1.2 meters",
+    "closeness rank": 5
+   },
+   "tv": {
+    "distance": "2.2 meters",
+    "closeness rank": 6
+   },
+   "bed": {
+    "distance": "2.23 meters",
+    "closeness rank": 7
+   }
+  },
+  "stool": {
+   "refrigerator": {
+    "distance": "0.25 meters",
+    "closeness rank": 1
+   },
+   "dishwasher": {
+    "distance": "0.34 meters",
+    "closeness rank": 2
+   },
+   "table": {
+    "distance": "0.39 meters",
+    "closeness rank": 3
+   },
+   "chair": {
+    "distance": "0.46 meters",
+    "closeness rank": 4
+   },
+   "stove": {
+    "distance": "0.52 meters",
+    "closeness rank": 5
+   },
+   "bed": {
+    "distance": "1.46 meters",
+    "closeness rank": 6
+   },
+   "tv": {
+    "distance": "1.6 meters",
+    "closeness rank": 7
+   }
+  },
+  "stove": {
+   "refrigerator": {
+    "distance": "0.04 meters",
+    "closeness rank": 1
+   },
+   "dishwasher": {
+    "distance": "0.16 meters",
+    "closeness rank": 2
+   },
+   "stool": {
+    "distance": "0.52 meters",
+    "closeness rank": 3
+   },
+   "table": {
+    "distance": "1.08 meters",
+    "closeness rank": 4
+   },
+   "chair": {
+    "distance": "1.23 meters",
+    "closeness rank": 5
+   },
+   "bed": {
+    "distance": "2.31 meters",
+    "closeness rank": 6
+   },
+   "tv": {
+    "distance": "2.34 meters",
+    "closeness rank": 7
+   }
+  },
+  "table": {
+   "chair": {
+    "distance": "0.38 meters",
+    "closeness rank": 1
+   },
+   "stool": {
+    "distance": "0.39 meters",
+    "closeness rank": 2
+   },
+   "bed": {
+    "distance": "0.58 meters",
+    "closeness rank": 3
+   },
+   "tv": {
+    "distance": "0.68 meters",
+    "closeness rank": 4
+   },
+   "refrigerator": {
+    "distance": "0.99 meters",
+    "closeness rank": 5
+   },
+   "dishwasher": {
+    "distance": "1.01 meters",
+    "closeness rank": 6
+   },
+   "stove": {
+    "distance": "1.08 meters",
+    "closeness rank": 7
+   }
+  },
+  "tv": {
+   "bed": {
+    "distance": "0.35 meters",
+    "closeness rank": 1
+   },
+   "table": {
+    "distance": "0.68 meters",
+    "closeness rank": 2
+   },
+   "chair": {
+    "distance": "1.15 meters",
+    "closeness rank": 3
+   },
+   "stool": {
+    "distance": "1.6 meters",
+    "closeness rank": 4
+   },
+   "refrigerator": {
+    "distance": "2.2 meters",
+    "closeness rank": 5
+   },
+   "dishwasher": {
+    "distance": "2.29 meters",
+    "closeness rank": 6
+   },
+   "stove": {
+    "distance": "2.34 meters",
+    "closeness rank": 7
+   }
+  }
+ },
+ "appearance order": ["bed", "tv", "table", "chair", "stool", "refrigerator", "dishwasher", "stove"]
+}
\ No newline at end of file
diff --git a/data/spatial codes/sam3+depth-anything-3/metric/tracking/uniform/64/explicit/47331654.json b/data/spatial codes/sam3+depth-anything-3/metric/tracking/uniform/64/explicit/47331654.json
new file mode 100644
index 0000000000000000000000000000000000000000..f62e7933910971eb461610d6442a039c60277157
--- /dev/null
+++ b/data/spatial codes/sam3+depth-anything-3/metric/tracking/uniform/64/explicit/47331654.json	
@@ -0,0 +1,236 @@
+{
+ "objects": {
+  "chair": {
+   "count": 2,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-0.53 meters",
+      "y coordinate": "0.16 meters",
+      "height above floor": "-0.24 meters"
+     },
+     "longest dimension": "0.66 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "0.01 meters",
+      "y coordinate": "0.99 meters",
+      "height above floor": "-0.15 meters"
+     },
+     "longest dimension": "0.74 meters"
+    }
+   ]
+  },
+  "refrigerator": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "0.51 meters",
+      "y coordinate": "0.39 meters",
+      "height above floor": "0.23 meters"
+     },
+     "longest dimension": "1.23 meters"
+    }
+   ]
+  },
+  "stool": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "0.91 meters",
+      "y coordinate": "-0.68 meters",
+      "height above floor": "-0.5 meters"
+     },
+     "longest dimension": "0.27 meters"
+    }
+   ]
+  },
+  "stove": {
+   "count": 2,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-0.91 meters",
+      "y coordinate": "-1.0 meters",
+      "height above floor": "-0.35 meters"
+     },
+     "longest dimension": "0.76 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-1.05 meters",
+      "y coordinate": "-1.13 meters",
+      "height above floor": "-0.04 meters"
+     },
+     "longest dimension": "0.47 meters"
+    }
+   ]
+  },
+  "table": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-0.52 meters",
+      "y coordinate": "0.44 meters",
+      "height above floor": "-0.04 meters"
+     },
+     "longest dimension": "0.84 meters"
+    }
+   ]
+  },
+  "washer": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-0.48 meters",
+      "y coordinate": "-1.49 meters",
+      "height above floor": "-0.36 meters"
+     },
+     "longest dimension": "0.75 meters"
+    }
+   ]
+  }
+ },
+ "room": {
+  "floor area": "11.5 square meters"
+ },
+ "closest classes distance meters from": {
+  "chair": {
+   "table": {
+    "distance": "0.1 meters",
+    "closeness rank": 1
+   },
+   "refrigerator": {
+    "distance": "0.83 meters",
+    "closeness rank": 2
+   },
+   "stove": {
+    "distance": "0.91 meters",
+    "closeness rank": 3
+   },
+   "washer": {
+    "distance": "1.25 meters",
+    "closeness rank": 4
+   },
+   "stool": {
+    "distance": "1.43 meters",
+    "closeness rank": 5
+   }
+  },
+  "refrigerator": {
+   "table": {
+    "distance": "0.52 meters",
+    "closeness rank": 1
+   },
+   "stool": {
+    "distance": "0.8 meters",
+    "closeness rank": 2
+   },
+   "chair": {
+    "distance": "0.83 meters",
+    "closeness rank": 3
+   },
+   "stove": {
+    "distance": "1.96 meters",
+    "closeness rank": 4
+   },
+   "washer": {
+    "distance": "1.96 meters",
+    "closeness rank": 5
+   }
+  },
+  "stool": {
+   "washer": {
+    "distance": "0.09 meters",
+    "closeness rank": 1
+   },
+   "stove": {
+    "distance": "0.23 meters",
+    "closeness rank": 2
+   },
+   "refrigerator": {
+    "distance": "0.8 meters",
+    "closeness rank": 3
+   },
+   "chair": {
+    "distance": "1.43 meters",
+    "closeness rank": 4
+   },
+   "table": {
+    "distance": "1.51 meters",
+    "closeness rank": 5
+   }
+  },
+  "stove": {
+   "washer": {
+    "distance": "0.07 meters",
+    "closeness rank": 1
+   },
+   "stool": {
+    "distance": "0.23 meters",
+    "closeness rank": 2
+   },
+   "table": {
+    "distance": "0.9 meters",
+    "closeness rank": 3
+   },
+   "chair": {
+    "distance": "0.91 meters",
+    "closeness rank": 4
+   },
+   "refrigerator": {
+    "distance": "1.96 meters",
+    "closeness rank": 5
+   }
+  },
+  "table": {
+   "chair": {
+    "distance": "0.1 meters",
+    "closeness rank": 1
+   },
+   "refrigerator": {
+    "distance": "0.52 meters",
+    "closeness rank": 2
+   },
+   "stove": {
+    "distance": "0.9 meters",
+    "closeness rank": 3
+   },
+   "washer": {
+    "distance": "1.3 meters",
+    "closeness rank": 4
+   },
+   "stool": {
+    "distance": "1.51 meters",
+    "closeness rank": 5
+   }
+  },
+  "washer": {
+   "stove": {
+    "distance": "0.07 meters",
+    "closeness rank": 1
+   },
+   "stool": {
+    "distance": "0.09 meters",
+    "closeness rank": 2
+   },
+   "chair": {
+    "distance": "1.25 meters",
+    "closeness rank": 3
+   },
+   "table": {
+    "distance": "1.3 meters",
+    "closeness rank": 4
+   },
+   "refrigerator": {
+    "distance": "1.96 meters",
+    "closeness rank": 5
+   }
+  }
+ },
+ "appearance order": ["chair", "stool", "stove", "washer", "table", "refrigerator"]
+}
\ No newline at end of file
diff --git a/data/spatial codes/sam3+depth-anything-3/metric/tracking/uniform/64/explicit/47331990.json b/data/spatial codes/sam3+depth-anything-3/metric/tracking/uniform/64/explicit/47331990.json
new file mode 100644
index 0000000000000000000000000000000000000000..06e207858b4d9171c31263d6133109ac5a3fbe75
--- /dev/null
+++ b/data/spatial codes/sam3+depth-anything-3/metric/tracking/uniform/64/explicit/47331990.json	
@@ -0,0 +1,236 @@
+{
+ "objects": {
+  "bathtub": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "1.77 meters",
+      "y coordinate": "0.35 meters",
+      "height above floor": "-0.17 meters"
+     },
+     "longest dimension": "0.34 meters"
+    }
+   ]
+  },
+  "bed": {
+   "count": 2,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "0.4 meters",
+      "y coordinate": "-0.98 meters",
+      "height above floor": "0.03 meters"
+     },
+     "longest dimension": "0.75 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "0.39 meters",
+      "y coordinate": "-2.49 meters",
+      "height above floor": "1.16 meters"
+     },
+     "longest dimension": "1.57 meters"
+    }
+   ]
+  },
+  "sofa": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-3.3 meters",
+      "y coordinate": "3.52 meters",
+      "height above floor": "-0.05 meters"
+     },
+     "longest dimension": "1.64 meters"
+    }
+   ]
+  },
+  "stove": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "0.31 meters",
+      "y coordinate": "0.87 meters",
+      "height above floor": "0.46 meters"
+     },
+     "longest dimension": "0.35 meters"
+    }
+   ]
+  },
+  "table": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-0.71 meters",
+      "y coordinate": "1.57 meters",
+      "height above floor": "-0.46 meters"
+     },
+     "longest dimension": "0.62 meters"
+    }
+   ]
+  },
+  "tv": {
+   "count": 2,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "0.34 meters",
+      "y coordinate": "0.79 meters",
+      "height above floor": "0.23 meters"
+     },
+     "longest dimension": "0.95 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "0.75 meters",
+      "y coordinate": "1.16 meters",
+      "height above floor": "1.35 meters"
+     },
+     "longest dimension": "1.03 meters"
+    }
+   ]
+  }
+ },
+ "room": {
+  "floor area": "14.2 square meters"
+ },
+ "closest classes distance meters from": {
+  "bathtub": {
+   "bed": {
+    "distance": "0.58 meters",
+    "closeness rank": 1
+   },
+   "tv": {
+    "distance": "1.04 meters",
+    "closeness rank": 2
+   },
+   "stove": {
+    "distance": "1.32 meters",
+    "closeness rank": 3
+   },
+   "table": {
+    "distance": "2.44 meters",
+    "closeness rank": 4
+   },
+   "sofa": {
+    "distance": "5.43 meters",
+    "closeness rank": 5
+   }
+  },
+  "bed": {
+   "bathtub": {
+    "distance": "0.58 meters",
+    "closeness rank": 1
+   },
+   "tv": {
+    "distance": "1.21 meters",
+    "closeness rank": 2
+   },
+   "stove": {
+    "distance": "1.37 meters",
+    "closeness rank": 3
+   },
+   "table": {
+    "distance": "2.18 meters",
+    "closeness rank": 4
+   },
+   "sofa": {
+    "distance": "4.74 meters",
+    "closeness rank": 5
+   }
+  },
+  "sofa": {
+   "table": {
+    "distance": "2.34 meters",
+    "closeness rank": 1
+   },
+   "tv": {
+    "distance": "3.68 meters",
+    "closeness rank": 2
+   },
+   "stove": {
+    "distance": "3.8 meters",
+    "closeness rank": 3
+   },
+   "bed": {
+    "distance": "4.74 meters",
+    "closeness rank": 4
+   },
+   "bathtub": {
+    "distance": "5.43 meters",
+    "closeness rank": 5
+   }
+  },
+  "stove": {
+   "tv": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "table": {
+    "distance": "1.21 meters",
+    "closeness rank": 2
+   },
+   "bathtub": {
+    "distance": "1.32 meters",
+    "closeness rank": 3
+   },
+   "bed": {
+    "distance": "1.37 meters",
+    "closeness rank": 4
+   },
+   "sofa": {
+    "distance": "3.8 meters",
+    "closeness rank": 5
+   }
+  },
+  "table": {
+   "tv": {
+    "distance": "0.98 meters",
+    "closeness rank": 1
+   },
+   "stove": {
+    "distance": "1.21 meters",
+    "closeness rank": 2
+   },
+   "bed": {
+    "distance": "2.18 meters",
+    "closeness rank": 3
+   },
+   "sofa": {
+    "distance": "2.34 meters",
+    "closeness rank": 4
+   },
+   "bathtub": {
+    "distance": "2.44 meters",
+    "closeness rank": 5
+   }
+  },
+  "tv": {
+   "stove": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "table": {
+    "distance": "0.98 meters",
+    "closeness rank": 2
+   },
+   "bathtub": {
+    "distance": "1.04 meters",
+    "closeness rank": 3
+   },
+   "bed": {
+    "distance": "1.21 meters",
+    "closeness rank": 4
+   },
+   "sofa": {
+    "distance": "3.68 meters",
+    "closeness rank": 5
+   }
+  }
+ },
+ "appearance order": ["bed", "tv", "bathtub", "stove", "sofa", "table"]
+}
\ No newline at end of file
diff --git a/data/spatial codes/sam3+depth-anything-3/metric/tracking/uniform/64/explicit/47332005.json b/data/spatial codes/sam3+depth-anything-3/metric/tracking/uniform/64/explicit/47332005.json
new file mode 100644
index 0000000000000000000000000000000000000000..6918c3185872911c1e6c8d4d539cab15bd1bd975
--- /dev/null
+++ b/data/spatial codes/sam3+depth-anything-3/metric/tracking/uniform/64/explicit/47332005.json	
@@ -0,0 +1,189 @@
+{
+ "objects": {
+  "bathtub": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "1.14 meters",
+      "y coordinate": "-0.84 meters",
+      "height above floor": "0.0 meters"
+     },
+     "longest dimension": "0.3 meters"
+    }
+   ]
+  },
+  "chair": {
+   "count": 2,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "5.0 meters",
+      "y coordinate": "-3.91 meters",
+      "height above floor": "1.03 meters"
+     },
+     "longest dimension": "0.78 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "4.68 meters",
+      "y coordinate": "-5.22 meters",
+      "height above floor": "0.78 meters"
+     },
+     "longest dimension": "1.03 meters"
+    }
+   ]
+  },
+  "sofa": {
+   "count": 2,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "2.76 meters",
+      "y coordinate": "-2.87 meters",
+      "height above floor": "0.54 meters"
+     },
+     "longest dimension": "1.95 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "3.56 meters",
+      "y coordinate": "-4.53 meters",
+      "height above floor": "0.47 meters"
+     },
+     "longest dimension": "1.15 meters"
+    }
+   ]
+  },
+  "table": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-0.04 meters",
+      "y coordinate": "-0.79 meters",
+      "height above floor": "0.31 meters"
+     },
+     "longest dimension": "1.14 meters"
+    }
+   ]
+  },
+  "toilet": {
+   "count": 2,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-0.63 meters",
+      "y coordinate": "-0.63 meters",
+      "height above floor": "0.54 meters"
+     },
+     "longest dimension": "0.67 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-0.62 meters",
+      "y coordinate": "-0.59 meters",
+      "height above floor": "0.49 meters"
+     },
+     "longest dimension": "0.66 meters"
+    }
+   ]
+  }
+ },
+ "room": {
+  "floor area": "7.6 square meters"
+ },
+ "closest classes distance meters from": {
+  "bathtub": {
+   "toilet": {
+    "distance": "0.01 meters",
+    "closeness rank": 1
+   },
+   "table": {
+    "distance": "0.27 meters",
+    "closeness rank": 2
+   },
+   "sofa": {
+    "distance": "2.49 meters",
+    "closeness rank": 3
+   },
+   "chair": {
+    "distance": "4.59 meters",
+    "closeness rank": 4
+   }
+  },
+  "chair": {
+   "sofa": {
+    "distance": "2.04 meters",
+    "closeness rank": 1
+   },
+   "bathtub": {
+    "distance": "4.59 meters",
+    "closeness rank": 2
+   },
+   "table": {
+    "distance": "5.16 meters",
+    "closeness rank": 3
+   },
+   "toilet": {
+    "distance": "6.04 meters",
+    "closeness rank": 4
+   }
+  },
+  "sofa": {
+   "chair": {
+    "distance": "2.04 meters",
+    "closeness rank": 1
+   },
+   "bathtub": {
+    "distance": "2.49 meters",
+    "closeness rank": 2
+   },
+   "table": {
+    "distance": "3.02 meters",
+    "closeness rank": 3
+   },
+   "toilet": {
+    "distance": "3.92 meters",
+    "closeness rank": 4
+   }
+  },
+  "table": {
+   "toilet": {
+    "distance": "0.03 meters",
+    "closeness rank": 1
+   },
+   "bathtub": {
+    "distance": "0.27 meters",
+    "closeness rank": 2
+   },
+   "sofa": {
+    "distance": "3.02 meters",
+    "closeness rank": 3
+   },
+   "chair": {
+    "distance": "5.16 meters",
+    "closeness rank": 4
+   }
+  },
+  "toilet": {
+   "bathtub": {
+    "distance": "0.01 meters",
+    "closeness rank": 1
+   },
+   "table": {
+    "distance": "0.03 meters",
+    "closeness rank": 2
+   },
+   "sofa": {
+    "distance": "3.92 meters",
+    "closeness rank": 3
+   },
+   "chair": {
+    "distance": "6.04 meters",
+    "closeness rank": 4
+   }
+  }
+ },
+ "appearance order": ["table", "toilet", "chair", "sofa", "bathtub"]
+}
\ No newline at end of file
diff --git a/data/spatial codes/sam3+depth-anything-3/metric/tracking/uniform/64/explicit/47332899.json b/data/spatial codes/sam3+depth-anything-3/metric/tracking/uniform/64/explicit/47332899.json
new file mode 100644
index 0000000000000000000000000000000000000000..825a892cdca499c6d8ab49dcacf14ae7de52440d
--- /dev/null
+++ b/data/spatial codes/sam3+depth-anything-3/metric/tracking/uniform/64/explicit/47332899.json	
@@ -0,0 +1,228 @@
+{
+ "objects": {
+  "bathtub": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-1.63 meters",
+      "y coordinate": "0.03 meters",
+      "height above floor": "0.46 meters"
+     },
+     "longest dimension": "1.5 meters"
+    }
+   ]
+  },
+  "bed": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-1.16 meters",
+      "y coordinate": "0.34 meters",
+      "height above floor": "-0.26 meters"
+     },
+     "longest dimension": "1.75 meters"
+    }
+   ]
+  },
+  "chair": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-0.92 meters",
+      "y coordinate": "0.39 meters",
+      "height above floor": "-0.05 meters"
+     },
+     "longest dimension": "1.88 meters"
+    }
+   ]
+  },
+  "stool": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-1.5 meters",
+      "y coordinate": "-0.99 meters",
+      "height above floor": "-0.32 meters"
+     },
+     "longest dimension": "0.33 meters"
+    }
+   ]
+  },
+  "table": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-1.26 meters",
+      "y coordinate": "-1.33 meters",
+      "height above floor": "-0.1 meters"
+     },
+     "longest dimension": "0.86 meters"
+    }
+   ]
+  },
+  "tv": {
+   "count": 2,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-1.25 meters",
+      "y coordinate": "-1.66 meters",
+      "height above floor": "0.2 meters"
+     },
+     "longest dimension": "0.66 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "4.35 meters",
+      "y coordinate": "0.34 meters",
+      "height above floor": "0.69 meters"
+     },
+     "longest dimension": "0.58 meters"
+    }
+   ]
+  }
+ },
+ "room": {
+  "floor area": "12.9 square meters"
+ },
+ "closest classes distance meters from": {
+  "bathtub": {
+   "bed": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "chair": {
+    "distance": "0.0 meters",
+    "closeness rank": 2
+   },
+   "stool": {
+    "distance": "0.67 meters",
+    "closeness rank": 3
+   },
+   "table": {
+    "distance": "1.12 meters",
+    "closeness rank": 4
+   },
+   "tv": {
+    "distance": "1.51 meters",
+    "closeness rank": 5
+   }
+  },
+  "bed": {
+   "bathtub": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "chair": {
+    "distance": "0.0 meters",
+    "closeness rank": 2
+   },
+   "stool": {
+    "distance": "0.67 meters",
+    "closeness rank": 3
+   },
+   "table": {
+    "distance": "1.14 meters",
+    "closeness rank": 4
+   },
+   "tv": {
+    "distance": "1.54 meters",
+    "closeness rank": 5
+   }
+  },
+  "chair": {
+   "bathtub": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "bed": {
+    "distance": "0.0 meters",
+    "closeness rank": 2
+   },
+   "stool": {
+    "distance": "0.67 meters",
+    "closeness rank": 3
+   },
+   "table": {
+    "distance": "1.12 meters",
+    "closeness rank": 4
+   },
+   "tv": {
+    "distance": "1.51 meters",
+    "closeness rank": 5
+   }
+  },
+  "stool": {
+   "table": {
+    "distance": "0.17 meters",
+    "closeness rank": 1
+   },
+   "bathtub": {
+    "distance": "0.67 meters",
+    "closeness rank": 2
+   },
+   "bed": {
+    "distance": "0.67 meters",
+    "closeness rank": 3
+   },
+   "chair": {
+    "distance": "0.67 meters",
+    "closeness rank": 4
+   },
+   "tv": {
+    "distance": "0.67 meters",
+    "closeness rank": 5
+   }
+  },
+  "table": {
+   "tv": {
+    "distance": "0.05 meters",
+    "closeness rank": 1
+   },
+   "stool": {
+    "distance": "0.17 meters",
+    "closeness rank": 2
+   },
+   "bathtub": {
+    "distance": "1.12 meters",
+    "closeness rank": 3
+   },
+   "chair": {
+    "distance": "1.12 meters",
+    "closeness rank": 4
+   },
+   "bed": {
+    "distance": "1.14 meters",
+    "closeness rank": 5
+   }
+  },
+  "tv": {
+   "table": {
+    "distance": "0.05 meters",
+    "closeness rank": 1
+   },
+   "stool": {
+    "distance": "0.67 meters",
+    "closeness rank": 2
+   },
+   "bathtub": {
+    "distance": "1.51 meters",
+    "closeness rank": 3
+   },
+   "chair": {
+    "distance": "1.51 meters",
+    "closeness rank": 4
+   },
+   "bed": {
+    "distance": "1.54 meters",
+    "closeness rank": 5
+   }
+  }
+ },
+ "appearance order": ["bed", "stool", "bathtub", "table", "tv", "chair"]
+}
\ No newline at end of file
diff --git a/data/spatial codes/sam3+depth-anything-3/metric/tracking/uniform/64/explicit/47332901.json b/data/spatial codes/sam3+depth-anything-3/metric/tracking/uniform/64/explicit/47332901.json
new file mode 100644
index 0000000000000000000000000000000000000000..5c33bc32be4f4af968b6ad41cb381902ebd419f2
--- /dev/null
+++ b/data/spatial codes/sam3+depth-anything-3/metric/tracking/uniform/64/explicit/47332901.json	
@@ -0,0 +1,103 @@
+{
+ "objects": {
+  "refrigerator": {
+   "count": 2,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "1.35 meters",
+      "y coordinate": "-1.26 meters",
+      "height above floor": "1.31 meters"
+     },
+     "longest dimension": "0.61 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "1.2 meters",
+      "y coordinate": "-0.79 meters",
+      "height above floor": "1.33 meters"
+     },
+     "longest dimension": "1.51 meters"
+    }
+   ]
+  },
+  "stove": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-0.71 meters",
+      "y coordinate": "-0.84 meters",
+      "height above floor": "0.44 meters"
+     },
+     "longest dimension": "0.73 meters"
+    }
+   ]
+  },
+  "table": {
+   "count": 3,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "1.35 meters",
+      "y coordinate": "-1.45 meters",
+      "height above floor": "-0.01 meters"
+     },
+     "longest dimension": "0.88 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "0.63 meters",
+      "y coordinate": "-2.01 meters",
+      "height above floor": "0.71 meters"
+     },
+     "longest dimension": "0.79 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "1.19 meters",
+      "y coordinate": "-2.41 meters",
+      "height above floor": "0.4 meters"
+     },
+     "longest dimension": "0.36 meters"
+    }
+   ]
+  }
+ },
+ "room": {
+  "floor area": "9.4 square meters"
+ },
+ "closest classes distance meters from": {
+  "refrigerator": {
+   "table": {
+    "distance": "0.46 meters",
+    "closeness rank": 1
+   },
+   "stove": {
+    "distance": "1.8 meters",
+    "closeness rank": 2
+   }
+  },
+  "stove": {
+   "table": {
+    "distance": "1.14 meters",
+    "closeness rank": 1
+   },
+   "refrigerator": {
+    "distance": "1.8 meters",
+    "closeness rank": 2
+   }
+  },
+  "table": {
+   "refrigerator": {
+    "distance": "0.46 meters",
+    "closeness rank": 1
+   },
+   "stove": {
+    "distance": "1.14 meters",
+    "closeness rank": 2
+   }
+  }
+ },
+ "appearance order": ["refrigerator", "table", "stove"]
+}
\ No newline at end of file
diff --git a/data/spatial codes/sam3+depth-anything-3/metric/tracking/uniform/64/explicit/47333436.json b/data/spatial codes/sam3+depth-anything-3/metric/tracking/uniform/64/explicit/47333436.json
new file mode 100644
index 0000000000000000000000000000000000000000..c8ab19f4b44706b13f65de4d12c5526f22b577c3
--- /dev/null
+++ b/data/spatial codes/sam3+depth-anything-3/metric/tracking/uniform/64/explicit/47333436.json	
@@ -0,0 +1,181 @@
+{
+ "objects": {
+  "bed": {
+   "count": 2,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "1.16 meters",
+      "y coordinate": "-1.22 meters",
+      "height above floor": "-0.02 meters"
+     },
+     "longest dimension": "1.2 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "0.67 meters",
+      "y coordinate": "-1.08 meters",
+      "height above floor": "-0.05 meters"
+     },
+     "longest dimension": "0.72 meters"
+    }
+   ]
+  },
+  "chair": {
+   "count": 2,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "2.4 meters",
+      "y coordinate": "-0.65 meters",
+      "height above floor": "0.22 meters"
+     },
+     "longest dimension": "1.28 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "2.1 meters",
+      "y coordinate": "-2.22 meters",
+      "height above floor": "0.5 meters"
+     },
+     "longest dimension": "0.4 meters"
+    }
+   ]
+  },
+  "sofa": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "2.4 meters",
+      "y coordinate": "-0.65 meters",
+      "height above floor": "0.22 meters"
+     },
+     "longest dimension": "1.28 meters"
+    }
+   ]
+  },
+  "table": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "2.28 meters",
+      "y coordinate": "-2.12 meters",
+      "height above floor": "0.64 meters"
+     },
+     "longest dimension": "0.15 meters"
+    }
+   ]
+  },
+  "tv": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-0.28 meters",
+      "y coordinate": "-1.29 meters",
+      "height above floor": "0.31 meters"
+     },
+     "longest dimension": "0.9 meters"
+    }
+   ]
+  }
+ },
+ "room": {
+  "floor area": "13.2 square meters"
+ },
+ "closest classes distance meters from": {
+  "bed": {
+   "chair": {
+    "distance": "0.25 meters",
+    "closeness rank": 1
+   },
+   "sofa": {
+    "distance": "0.26 meters",
+    "closeness rank": 2
+   },
+   "tv": {
+    "distance": "0.91 meters",
+    "closeness rank": 3
+   },
+   "table": {
+    "distance": "1.22 meters",
+    "closeness rank": 4
+   }
+  },
+  "chair": {
+   "sofa": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "bed": {
+    "distance": "0.25 meters",
+    "closeness rank": 2
+   },
+   "table": {
+    "distance": "0.74 meters",
+    "closeness rank": 3
+   },
+   "tv": {
+    "distance": "2.14 meters",
+    "closeness rank": 4
+   }
+  },
+  "sofa": {
+   "chair": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "bed": {
+    "distance": "0.26 meters",
+    "closeness rank": 2
+   },
+   "table": {
+    "distance": "0.74 meters",
+    "closeness rank": 3
+   },
+   "tv": {
+    "distance": "2.14 meters",
+    "closeness rank": 4
+   }
+  },
+  "table": {
+   "chair": {
+    "distance": "0.74 meters",
+    "closeness rank": 1
+   },
+   "sofa": {
+    "distance": "0.74 meters",
+    "closeness rank": 2
+   },
+   "bed": {
+    "distance": "1.22 meters",
+    "closeness rank": 3
+   },
+   "tv": {
+    "distance": "2.36 meters",
+    "closeness rank": 4
+   }
+  },
+  "tv": {
+   "bed": {
+    "distance": "0.91 meters",
+    "closeness rank": 1
+   },
+   "chair": {
+    "distance": "2.14 meters",
+    "closeness rank": 2
+   },
+   "sofa": {
+    "distance": "2.14 meters",
+    "closeness rank": 3
+   },
+   "table": {
+    "distance": "2.36 meters",
+    "closeness rank": 4
+   }
+  }
+ },
+ "appearance order": ["tv", "chair", "bed", "table", "sofa"]
+}
\ No newline at end of file
diff --git a/data/spatial codes/sam3+depth-anything-3/metric/tracking/uniform/64/explicit/47334238.json b/data/spatial codes/sam3+depth-anything-3/metric/tracking/uniform/64/explicit/47334238.json
new file mode 100644
index 0000000000000000000000000000000000000000..0069409a2898b4cc4f66188c009a89c777f2bd0f
--- /dev/null
+++ b/data/spatial codes/sam3+depth-anything-3/metric/tracking/uniform/64/explicit/47334238.json	
@@ -0,0 +1,182 @@
+{
+ "objects": {
+  "chair": {
+   "count": 6,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-0.65 meters",
+      "y coordinate": "1.48 meters",
+      "height above floor": "0.17 meters"
+     },
+     "longest dimension": "0.94 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "1.66 meters",
+      "y coordinate": "0.64 meters",
+      "height above floor": "0.34 meters"
+     },
+     "longest dimension": "0.56 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "2.01 meters",
+      "y coordinate": "-0.79 meters",
+      "height above floor": "-0.03 meters"
+     },
+     "longest dimension": "0.76 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "0.68 meters",
+      "y coordinate": "-0.22 meters",
+      "height above floor": "0.18 meters"
+     },
+     "longest dimension": "0.65 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-0.92 meters",
+      "y coordinate": "1.49 meters",
+      "height above floor": "0.26 meters"
+     },
+     "longest dimension": "0.68 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-0.52 meters",
+      "y coordinate": "1.28 meters",
+      "height above floor": "0.01 meters"
+     },
+     "longest dimension": "0.83 meters"
+    }
+   ]
+  },
+  "sofa": {
+   "count": 2,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-0.66 meters",
+      "y coordinate": "1.48 meters",
+      "height above floor": "0.18 meters"
+     },
+     "longest dimension": "0.9 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-0.92 meters",
+      "y coordinate": "1.49 meters",
+      "height above floor": "0.26 meters"
+     },
+     "longest dimension": "0.68 meters"
+    }
+   ]
+  },
+  "stool": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "0.8 meters",
+      "y coordinate": "3.45 meters",
+      "height above floor": "-0.05 meters"
+     },
+     "longest dimension": "0.43 meters"
+    }
+   ]
+  },
+  "table": {
+   "count": 3,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "1.56 meters",
+      "y coordinate": "-0.74 meters",
+      "height above floor": "0.27 meters"
+     },
+     "longest dimension": "1.22 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-0.52 meters",
+      "y coordinate": "0.03 meters",
+      "height above floor": "0.1 meters"
+     },
+     "longest dimension": "0.8 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "1.14 meters",
+      "y coordinate": "0.2 meters",
+      "height above floor": "0.23 meters"
+     },
+     "longest dimension": "0.9 meters"
+    }
+   ]
+  }
+ },
+ "room": {
+  "floor area": "23.3 square meters"
+ },
+ "closest classes distance meters from": {
+  "chair": {
+   "sofa": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "table": {
+    "distance": "1.79 meters",
+    "closeness rank": 2
+   },
+   "stool": {
+    "distance": "2.12 meters",
+    "closeness rank": 3
+   }
+  },
+  "sofa": {
+   "chair": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "table": {
+    "distance": "1.79 meters",
+    "closeness rank": 2
+   },
+   "stool": {
+    "distance": "2.13 meters",
+    "closeness rank": 3
+   }
+  },
+  "stool": {
+   "chair": {
+    "distance": "2.12 meters",
+    "closeness rank": 1
+   },
+   "sofa": {
+    "distance": "2.13 meters",
+    "closeness rank": 2
+   },
+   "table": {
+    "distance": "3.24 meters",
+    "closeness rank": 3
+   }
+  },
+  "table": {
+   "chair": {
+    "distance": "1.79 meters",
+    "closeness rank": 1
+   },
+   "sofa": {
+    "distance": "1.79 meters",
+    "closeness rank": 2
+   },
+   "stool": {
+    "distance": "3.24 meters",
+    "closeness rank": 3
+   }
+  }
+ },
+ "appearance order": ["chair", "table", "sofa", "stool"]
+}
\ No newline at end of file
diff --git a/data/spatial codes/sam3+depth-anything-3/metric/tracking/uniform/64/explicit/47334362.json b/data/spatial codes/sam3+depth-anything-3/metric/tracking/uniform/64/explicit/47334362.json
new file mode 100644
index 0000000000000000000000000000000000000000..a0f95652eecd08504f583eee2e9b61798baeae85
--- /dev/null
+++ b/data/spatial codes/sam3+depth-anything-3/metric/tracking/uniform/64/explicit/47334362.json	
@@ -0,0 +1,158 @@
+{
+ "objects": {
+  "bed": {
+   "count": 3,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-1.05 meters",
+      "y coordinate": "-1.04 meters",
+      "height above floor": "0.15 meters"
+     },
+     "longest dimension": "1.25 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-1.08 meters",
+      "y coordinate": "0.92 meters",
+      "height above floor": "-0.06 meters"
+     },
+     "longest dimension": "1.21 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-1.37 meters",
+      "y coordinate": "-0.65 meters",
+      "height above floor": "0.1 meters"
+     },
+     "longest dimension": "0.69 meters"
+    }
+   ]
+  },
+  "sofa": {
+   "count": 4,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-1.51 meters",
+      "y coordinate": "-0.17 meters",
+      "height above floor": "0.07 meters"
+     },
+     "longest dimension": "1.17 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "0.51 meters",
+      "y coordinate": "-0.23 meters",
+      "height above floor": "-0.13 meters"
+     },
+     "longest dimension": "1.1 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-0.05 meters",
+      "y coordinate": "-0.9 meters",
+      "height above floor": "0.01 meters"
+     },
+     "longest dimension": "0.66 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-1.48 meters",
+      "y coordinate": "-0.19 meters",
+      "height above floor": "0.07 meters"
+     },
+     "longest dimension": "0.78 meters"
+    }
+   ]
+  },
+  "table": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-0.3 meters",
+      "y coordinate": "1.05 meters",
+      "height above floor": "-0.23 meters"
+     },
+     "longest dimension": "0.52 meters"
+    }
+   ]
+  },
+  "tv": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "0.23 meters",
+      "y coordinate": "0.99 meters",
+      "height above floor": "0.12 meters"
+     },
+     "longest dimension": "0.9 meters"
+    }
+   ]
+  }
+ },
+ "room": {
+  "floor area": "16.5 square meters"
+ },
+ "closest classes distance meters from": {
+  "bed": {
+   "sofa": {
+    "distance": "0.18 meters",
+    "closeness rank": 1
+   },
+   "table": {
+    "distance": "1.8 meters",
+    "closeness rank": 2
+   },
+   "tv": {
+    "distance": "2.08 meters",
+    "closeness rank": 3
+   }
+  },
+  "sofa": {
+   "table": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "tv": {
+    "distance": "0.15 meters",
+    "closeness rank": 2
+   },
+   "bed": {
+    "distance": "0.18 meters",
+    "closeness rank": 3
+   }
+  },
+  "table": {
+   "sofa": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "tv": {
+    "distance": "0.15 meters",
+    "closeness rank": 2
+   },
+   "bed": {
+    "distance": "1.8 meters",
+    "closeness rank": 3
+   }
+  },
+  "tv": {
+   "sofa": {
+    "distance": "0.15 meters",
+    "closeness rank": 1
+   },
+   "table": {
+    "distance": "0.15 meters",
+    "closeness rank": 2
+   },
+   "bed": {
+    "distance": "2.08 meters",
+    "closeness rank": 3
+   }
+  }
+ },
+ "appearance order": ["bed", "sofa", "tv", "table"]
+}
\ No newline at end of file
diff --git a/data/spatial codes/sam3+depth-anything-3/metric/tracking/uniform/64/explicit/5942004064.json b/data/spatial codes/sam3+depth-anything-3/metric/tracking/uniform/64/explicit/5942004064.json
new file mode 100644
index 0000000000000000000000000000000000000000..d55f1909c36b965a6ac7ea62c47ee12f288470cb
--- /dev/null
+++ b/data/spatial codes/sam3+depth-anything-3/metric/tracking/uniform/64/explicit/5942004064.json	
@@ -0,0 +1,2587 @@
+{
+ "objects": {
+  "basket": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "2.85 meters",
+      "y coordinate": "-2.09 meters",
+      "height above floor": "2.89 meters"
+     },
+     "longest dimension": "0.26 meters"
+    }
+   ]
+  },
+  "bed": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "1.84 meters",
+      "y coordinate": "-1.41 meters",
+      "height above floor": "1.91 meters"
+     },
+     "longest dimension": "1.56 meters"
+    }
+   ]
+  },
+  "bookshelf": {
+   "count": 2,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "2.07 meters",
+      "y coordinate": "-1.39 meters",
+      "height above floor": "0.1 meters"
+     },
+     "longest dimension": "0.18 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "1.81 meters",
+      "y coordinate": "-1.6 meters",
+      "height above floor": "0.08 meters"
+     },
+     "longest dimension": "0.18 meters"
+    }
+   ]
+  },
+  "ceiling light": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "1.6 meters",
+      "y coordinate": "-3.63 meters",
+      "height above floor": "1.18 meters"
+     },
+     "longest dimension": "0.16 meters"
+    }
+   ]
+  },
+  "chair": {
+   "count": 2,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "0.45 meters",
+      "y coordinate": "0.15 meters",
+      "height above floor": "2.72 meters"
+     },
+     "longest dimension": "0.61 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-0.08 meters",
+      "y coordinate": "1.02 meters",
+      "height above floor": "1.27 meters"
+     },
+     "longest dimension": "0.62 meters"
+    }
+   ]
+  },
+  "clock": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "0.03 meters",
+      "y coordinate": "-0.21 meters",
+      "height above floor": "3.53 meters"
+     },
+     "longest dimension": "0.05 meters"
+    }
+   ]
+  },
+  "crate": {
+   "count": 2,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "1.94 meters",
+      "y coordinate": "-1.51 meters",
+      "height above floor": "0.09 meters"
+     },
+     "longest dimension": "0.28 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "2.15 meters",
+      "y coordinate": "-1.32 meters",
+      "height above floor": "0.11 meters"
+     },
+     "longest dimension": "0.2 meters"
+    }
+   ]
+  },
+  "cup": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-0.55 meters",
+      "y coordinate": "1.24 meters",
+      "height above floor": "1.08 meters"
+     },
+     "longest dimension": "0.25 meters"
+    }
+   ]
+  },
+  "cushion": {
+   "count": 5,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-0.67 meters",
+      "y coordinate": "1.55 meters",
+      "height above floor": "0.06 meters"
+     },
+     "longest dimension": "0.64 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "0.02 meters",
+      "y coordinate": "1.09 meters",
+      "height above floor": "0.5 meters"
+     },
+     "longest dimension": "1.44 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "1.38 meters",
+      "y coordinate": "-1.04 meters",
+      "height above floor": "3.31 meters"
+     },
+     "longest dimension": "0.49 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "0.18 meters",
+      "y coordinate": "0.6 meters",
+      "height above floor": "0.24 meters"
+     },
+     "longest dimension": "0.45 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-0.85 meters",
+      "y coordinate": "1.89 meters",
+      "height above floor": "0.33 meters"
+     },
+     "longest dimension": "0.38 meters"
+    }
+   ]
+  },
+  "cutting board": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "0.46 meters",
+      "y coordinate": "-0.19 meters",
+      "height above floor": "3.18 meters"
+     },
+     "longest dimension": "0.42 meters"
+    }
+   ]
+  },
+  "door": {
+   "count": 7,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "1.54 meters",
+      "y coordinate": "-2.78 meters",
+      "height above floor": "1.77 meters"
+     },
+     "longest dimension": "0.64 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "2.39 meters",
+      "y coordinate": "-3.0 meters",
+      "height above floor": "1.42 meters"
+     },
+     "longest dimension": "0.97 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-0.94 meters",
+      "y coordinate": "0.35 meters",
+      "height above floor": "2.54 meters"
+     },
+     "longest dimension": "0.89 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "1.8 meters",
+      "y coordinate": "-2.66 meters",
+      "height above floor": "1.87 meters"
+     },
+     "longest dimension": "0.8 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-1.94 meters",
+      "y coordinate": "1.91 meters",
+      "height above floor": "2.09 meters"
+     },
+     "longest dimension": "2.01 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "2.16 meters",
+      "y coordinate": "-2.51 meters",
+      "height above floor": "0.42 meters"
+     },
+     "longest dimension": "1.61 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "1.12 meters",
+      "y coordinate": "-1.67 meters",
+      "height above floor": "0.27 meters"
+     },
+     "longest dimension": "1.32 meters"
+    }
+   ]
+  },
+  "kettle": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-0.2 meters",
+      "y coordinate": "0.48 meters",
+      "height above floor": "3.0 meters"
+     },
+     "longest dimension": "0.17 meters"
+    }
+   ]
+  },
+  "laptop": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "0.24 meters",
+      "y coordinate": "0.04 meters",
+      "height above floor": "3.14 meters"
+     },
+     "longest dimension": "0.36 meters"
+    }
+   ]
+  },
+  "pillow": {
+   "count": 3,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-0.17 meters",
+      "y coordinate": "1.22 meters",
+      "height above floor": "0.34 meters"
+     },
+     "longest dimension": "1.54 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "1.38 meters",
+      "y coordinate": "-1.04 meters",
+      "height above floor": "3.31 meters"
+     },
+     "longest dimension": "0.49 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-0.85 meters",
+      "y coordinate": "1.89 meters",
+      "height above floor": "0.33 meters"
+     },
+     "longest dimension": "0.39 meters"
+    }
+   ]
+  },
+  "plant": {
+   "count": 8,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-1.7 meters",
+      "y coordinate": "1.7 meters",
+      "height above floor": "0.74 meters"
+     },
+     "longest dimension": "0.69 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-1.56 meters",
+      "y coordinate": "1.91 meters",
+      "height above floor": "1.19 meters"
+     },
+     "longest dimension": "0.39 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "0.25 meters",
+      "y coordinate": "0.14 meters",
+      "height above floor": "0.13 meters"
+     },
+     "longest dimension": "0.91 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "0.44 meters",
+      "y coordinate": "-0.63 meters",
+      "height above floor": "2.92 meters"
+     },
+     "longest dimension": "0.42 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-1.0 meters",
+      "y coordinate": "1.35 meters",
+      "height above floor": "1.37 meters"
+     },
+     "longest dimension": "0.31 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-1.72 meters",
+      "y coordinate": "1.75 meters",
+      "height above floor": "0.73 meters"
+     },
+     "longest dimension": "0.7 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-1.02 meters",
+      "y coordinate": "1.32 meters",
+      "height above floor": "1.09 meters"
+     },
+     "longest dimension": "0.25 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "0.42 meters",
+      "y coordinate": "-0.68 meters",
+      "height above floor": "2.99 meters"
+     },
+     "longest dimension": "0.41 meters"
+    }
+   ]
+  },
+  "power strip": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-0.22 meters",
+      "y coordinate": "0.74 meters",
+      "height above floor": "-0.04 meters"
+     },
+     "longest dimension": "0.3 meters"
+    }
+   ]
+  },
+  "sofa": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "0.09 meters",
+      "y coordinate": "0.74 meters",
+      "height above floor": "0.31 meters"
+     },
+     "longest dimension": "1.49 meters"
+    }
+   ]
+  },
+  "table": {
+   "count": 3,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "0.86 meters",
+      "y coordinate": "-0.27 meters",
+      "height above floor": "3.02 meters"
+     },
+     "longest dimension": "0.72 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-0.66 meters",
+      "y coordinate": "1.41 meters",
+      "height above floor": "1.47 meters"
+     },
+     "longest dimension": "0.89 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-0.48 meters",
+      "y coordinate": "1.16 meters",
+      "height above floor": "1.27 meters"
+     },
+     "longest dimension": "0.97 meters"
+    }
+   ]
+  },
+  "table lamp": {
+   "count": 2,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-1.61 meters",
+      "y coordinate": "1.61 meters",
+      "height above floor": "0.2 meters"
+     },
+     "longest dimension": "0.3 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-0.17 meters",
+      "y coordinate": "0.24 meters",
+      "height above floor": "3.46 meters"
+     },
+     "longest dimension": "0.58 meters"
+    }
+   ]
+  },
+  "telephone": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "2.58 meters",
+      "y coordinate": "-3.29 meters",
+      "height above floor": "1.22 meters"
+     },
+     "longest dimension": "0.29 meters"
+    }
+   ]
+  },
+  "toilet": {
+   "count": 2,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "3.01 meters",
+      "y coordinate": "-3.19 meters",
+      "height above floor": "2.01 meters"
+     },
+     "longest dimension": "0.54 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "3.03 meters",
+      "y coordinate": "-2.94 meters",
+      "height above floor": "1.69 meters"
+     },
+     "longest dimension": "0.36 meters"
+    }
+   ]
+  },
+  "trash can": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "3.4 meters",
+      "y coordinate": "-2.65 meters",
+      "height above floor": "2.0 meters"
+     },
+     "longest dimension": "0.24 meters"
+    }
+   ]
+  },
+  "tv": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "0.68 meters",
+      "y coordinate": "-0.38 meters",
+      "height above floor": "0.01 meters"
+     },
+     "longest dimension": "0.95 meters"
+    }
+   ]
+  }
+ },
+ "room": {
+  "floor area": "22.2 square meters"
+ },
+ "closest classes distance meters from": {
+  "basket": {
+   "toilet": {
+    "distance": "0.73 meters",
+    "closeness rank": 1
+   },
+   "bed": {
+    "distance": "0.85 meters",
+    "closeness rank": 2
+   },
+   "trash can": {
+    "distance": "0.97 meters",
+    "closeness rank": 3
+   },
+   "door": {
+    "distance": "1.32 meters",
+    "closeness rank": 4
+   },
+   "telephone": {
+    "distance": "1.81 meters",
+    "closeness rank": 5
+   },
+   "ceiling light": {
+    "distance": "2.39 meters",
+    "closeness rank": 6
+   },
+   "table": {
+    "distance": "2.4 meters",
+    "closeness rank": 7
+   },
+   "crate": {
+    "distance": "2.71 meters",
+    "closeness rank": 8
+   },
+   "bookshelf": {
+    "distance": "2.73 meters",
+    "closeness rank": 9
+   },
+   "chair": {
+    "distance": "2.8 meters",
+    "closeness rank": 10
+   },
+   "cutting board": {
+    "distance": "2.9 meters",
+    "closeness rank": 11
+   },
+   "laptop": {
+    "distance": "3.07 meters",
+    "closeness rank": 12
+   },
+   "clock": {
+    "distance": "3.31 meters",
+    "closeness rank": 13
+   },
+   "tv": {
+    "distance": "3.63 meters",
+    "closeness rank": 14
+   },
+   "kettle": {
+    "distance": "3.84 meters",
+    "closeness rank": 15
+   },
+   "sofa": {
+    "distance": "4.14 meters",
+    "closeness rank": 16
+   },
+   "pillow": {
+    "distance": "4.4 meters",
+    "closeness rank": 17
+   },
+   "cushion": {
+    "distance": "4.59 meters",
+    "closeness rank": 18
+   },
+   "power strip": {
+    "distance": "4.84 meters",
+    "closeness rank": 19
+   },
+   "cup": {
+    "distance": "4.87 meters",
+    "closeness rank": 20
+   },
+   "plant": {
+    "distance": "6.04 meters",
+    "closeness rank": 21
+   },
+   "table lamp": {
+    "distance": "6.17 meters",
+    "closeness rank": 22
+   }
+  },
+  "bed": {
+   "cushion": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "pillow": {
+    "distance": "0.0 meters",
+    "closeness rank": 2
+   },
+   "sofa": {
+    "distance": "0.0 meters",
+    "closeness rank": 3
+   },
+   "plant": {
+    "distance": "0.31 meters",
+    "closeness rank": 4
+   },
+   "table": {
+    "distance": "0.44 meters",
+    "closeness rank": 5
+   },
+   "door": {
+    "distance": "0.5 meters",
+    "closeness rank": 6
+   },
+   "power strip": {
+    "distance": "0.5 meters",
+    "closeness rank": 7
+   },
+   "cup": {
+    "distance": "0.51 meters",
+    "closeness rank": 8
+   },
+   "table lamp": {
+    "distance": "0.56 meters",
+    "closeness rank": 9
+   },
+   "chair": {
+    "distance": "0.84 meters",
+    "closeness rank": 10
+   },
+   "basket": {
+    "distance": "0.85 meters",
+    "closeness rank": 11
+   },
+   "cutting board": {
+    "distance": "0.94 meters",
+    "closeness rank": 12
+   },
+   "toilet": {
+    "distance": "0.99 meters",
+    "closeness rank": 13
+   },
+   "laptop": {
+    "distance": "1.09 meters",
+    "closeness rank": 14
+   },
+   "tv": {
+    "distance": "1.18 meters",
+    "closeness rank": 15
+   },
+   "crate": {
+    "distance": "1.3 meters",
+    "closeness rank": 16
+   },
+   "bookshelf": {
+    "distance": "1.31 meters",
+    "closeness rank": 17
+   },
+   "clock": {
+    "distance": "1.35 meters",
+    "closeness rank": 18
+   },
+   "trash can": {
+    "distance": "1.46 meters",
+    "closeness rank": 19
+   },
+   "telephone": {
+    "distance": "1.49 meters",
+    "closeness rank": 20
+   },
+   "kettle": {
+    "distance": "1.86 meters",
+    "closeness rank": 21
+   },
+   "ceiling light": {
+    "distance": "1.94 meters",
+    "closeness rank": 22
+   }
+  },
+  "bookshelf": {
+   "crate": {
+    "distance": "0.01 meters",
+    "closeness rank": 1
+   },
+   "door": {
+    "distance": "0.52 meters",
+    "closeness rank": 2
+   },
+   "bed": {
+    "distance": "1.31 meters",
+    "closeness rank": 3
+   },
+   "tv": {
+    "distance": "1.36 meters",
+    "closeness rank": 4
+   },
+   "toilet": {
+    "distance": "2.09 meters",
+    "closeness rank": 5
+   },
+   "telephone": {
+    "distance": "2.11 meters",
+    "closeness rank": 6
+   },
+   "ceiling light": {
+    "distance": "2.44 meters",
+    "closeness rank": 7
+   },
+   "trash can": {
+    "distance": "2.52 meters",
+    "closeness rank": 8
+   },
+   "sofa": {
+    "distance": "2.54 meters",
+    "closeness rank": 9
+   },
+   "cushion": {
+    "distance": "2.68 meters",
+    "closeness rank": 10
+   },
+   "pillow": {
+    "distance": "2.68 meters",
+    "closeness rank": 11
+   },
+   "basket": {
+    "distance": "2.73 meters",
+    "closeness rank": 12
+   },
+   "power strip": {
+    "distance": "2.98 meters",
+    "closeness rank": 13
+   },
+   "chair": {
+    "distance": "3.15 meters",
+    "closeness rank": 14
+   },
+   "table": {
+    "distance": "3.15 meters",
+    "closeness rank": 15
+   },
+   "cutting board": {
+    "distance": "3.41 meters",
+    "closeness rank": 16
+   },
+   "laptop": {
+    "distance": "3.57 meters",
+    "closeness rank": 17
+   },
+   "cup": {
+    "distance": "3.67 meters",
+    "closeness rank": 18
+   },
+   "kettle": {
+    "distance": "4.04 meters",
+    "closeness rank": 19
+   },
+   "clock": {
+    "distance": "4.06 meters",
+    "closeness rank": 20
+   },
+   "table lamp": {
+    "distance": "4.56 meters",
+    "closeness rank": 21
+   },
+   "plant": {
+    "distance": "4.71 meters",
+    "closeness rank": 22
+   }
+  },
+  "ceiling light": {
+   "door": {
+    "distance": "0.03 meters",
+    "closeness rank": 1
+   },
+   "telephone": {
+    "distance": "0.87 meters",
+    "closeness rank": 2
+   },
+   "toilet": {
+    "distance": "1.55 meters",
+    "closeness rank": 3
+   },
+   "bed": {
+    "distance": "1.94 meters",
+    "closeness rank": 4
+   },
+   "trash can": {
+    "distance": "2.13 meters",
+    "closeness rank": 5
+   },
+   "crate": {
+    "distance": "2.23 meters",
+    "closeness rank": 6
+   },
+   "basket": {
+    "distance": "2.39 meters",
+    "closeness rank": 7
+   },
+   "bookshelf": {
+    "distance": "2.44 meters",
+    "closeness rank": 8
+   },
+   "tv": {
+    "distance": "3.3 meters",
+    "closeness rank": 9
+   },
+   "table": {
+    "distance": "3.61 meters",
+    "closeness rank": 10
+   },
+   "chair": {
+    "distance": "3.9 meters",
+    "closeness rank": 11
+   },
+   "cutting board": {
+    "distance": "3.96 meters",
+    "closeness rank": 12
+   },
+   "laptop": {
+    "distance": "4.12 meters",
+    "closeness rank": 13
+   },
+   "sofa": {
+    "distance": "4.28 meters",
+    "closeness rank": 14
+   },
+   "clock": {
+    "distance": "4.35 meters",
+    "closeness rank": 15
+   },
+   "cushion": {
+    "distance": "4.46 meters",
+    "closeness rank": 16
+   },
+   "pillow": {
+    "distance": "4.46 meters",
+    "closeness rank": 17
+   },
+   "power strip": {
+    "distance": "4.72 meters",
+    "closeness rank": 18
+   },
+   "kettle": {
+    "distance": "4.78 meters",
+    "closeness rank": 19
+   },
+   "cup": {
+    "distance": "5.16 meters",
+    "closeness rank": 20
+   },
+   "table lamp": {
+    "distance": "6.06 meters",
+    "closeness rank": 21
+   },
+   "plant": {
+    "distance": "6.1 meters",
+    "closeness rank": 22
+   }
+  },
+  "chair": {
+   "laptop": {
+    "distance": "0.13 meters",
+    "closeness rank": 1
+   },
+   "table": {
+    "distance": "0.16 meters",
+    "closeness rank": 2
+   },
+   "cutting board": {
+    "distance": "0.25 meters",
+    "closeness rank": 3
+   },
+   "kettle": {
+    "distance": "0.45 meters",
+    "closeness rank": 4
+   },
+   "door": {
+    "distance": "0.55 meters",
+    "closeness rank": 5
+   },
+   "clock": {
+    "distance": "0.61 meters",
+    "closeness rank": 6
+   },
+   "bed": {
+    "distance": "0.84 meters",
+    "closeness rank": 7
+   },
+   "sofa": {
+    "distance": "1.89 meters",
+    "closeness rank": 8
+   },
+   "cup": {
+    "distance": "1.9 meters",
+    "closeness rank": 9
+   },
+   "pillow": {
+    "distance": "1.99 meters",
+    "closeness rank": 10
+   },
+   "tv": {
+    "distance": "2.49 meters",
+    "closeness rank": 11
+   },
+   "cushion": {
+    "distance": "2.51 meters",
+    "closeness rank": 12
+   },
+   "power strip": {
+    "distance": "2.58 meters",
+    "closeness rank": 13
+   },
+   "basket": {
+    "distance": "2.8 meters",
+    "closeness rank": 14
+   },
+   "plant": {
+    "distance": "2.88 meters",
+    "closeness rank": 15
+   },
+   "bookshelf": {
+    "distance": "3.15 meters",
+    "closeness rank": 16
+   },
+   "crate": {
+    "distance": "3.16 meters",
+    "closeness rank": 17
+   },
+   "table lamp": {
+    "distance": "3.21 meters",
+    "closeness rank": 18
+   },
+   "toilet": {
+    "distance": "3.38 meters",
+    "closeness rank": 19
+   },
+   "trash can": {
+    "distance": "3.7 meters",
+    "closeness rank": 20
+   },
+   "ceiling light": {
+    "distance": "3.9 meters",
+    "closeness rank": 21
+   },
+   "telephone": {
+    "distance": "3.91 meters",
+    "closeness rank": 22
+   }
+  },
+  "clock": {
+   "laptop": {
+    "distance": "0.35 meters",
+    "closeness rank": 1
+   },
+   "cutting board": {
+    "distance": "0.38 meters",
+    "closeness rank": 2
+   },
+   "chair": {
+    "distance": "0.61 meters",
+    "closeness rank": 3
+   },
+   "table": {
+    "distance": "0.63 meters",
+    "closeness rank": 4
+   },
+   "door": {
+    "distance": "0.76 meters",
+    "closeness rank": 5
+   },
+   "kettle": {
+    "distance": "0.86 meters",
+    "closeness rank": 6
+   },
+   "bed": {
+    "distance": "1.35 meters",
+    "closeness rank": 7
+   },
+   "cup": {
+    "distance": "2.86 meters",
+    "closeness rank": 8
+   },
+   "sofa": {
+    "distance": "2.97 meters",
+    "closeness rank": 9
+   },
+   "pillow": {
+    "distance": "3.06 meters",
+    "closeness rank": 10
+   },
+   "basket": {
+    "distance": "3.31 meters",
+    "closeness rank": 11
+   },
+   "tv": {
+    "distance": "3.5 meters",
+    "closeness rank": 12
+   },
+   "cushion": {
+    "distance": "3.58 meters",
+    "closeness rank": 13
+   },
+   "plant": {
+    "distance": "3.61 meters",
+    "closeness rank": 14
+   },
+   "power strip": {
+    "distance": "3.62 meters",
+    "closeness rank": 15
+   },
+   "toilet": {
+    "distance": "3.94 meters",
+    "closeness rank": 16
+   },
+   "crate": {
+    "distance": "4.04 meters",
+    "closeness rank": 17
+   },
+   "bookshelf": {
+    "distance": "4.06 meters",
+    "closeness rank": 18
+   },
+   "table lamp": {
+    "distance": "4.07 meters",
+    "closeness rank": 19
+   },
+   "ceiling light": {
+    "distance": "4.35 meters",
+    "closeness rank": 20
+   },
+   "trash can": {
+    "distance": "4.37 meters",
+    "closeness rank": 21
+   },
+   "telephone": {
+    "distance": "4.5 meters",
+    "closeness rank": 22
+   }
+  },
+  "crate": {
+   "bookshelf": {
+    "distance": "0.01 meters",
+    "closeness rank": 1
+   },
+   "door": {
+    "distance": "0.46 meters",
+    "closeness rank": 2
+   },
+   "bed": {
+    "distance": "1.3 meters",
+    "closeness rank": 3
+   },
+   "tv": {
+    "distance": "1.35 meters",
+    "closeness rank": 4
+   },
+   "telephone": {
+    "distance": "2.01 meters",
+    "closeness rank": 5
+   },
+   "toilet": {
+    "distance": "2.07 meters",
+    "closeness rank": 6
+   },
+   "ceiling light": {
+    "distance": "2.23 meters",
+    "closeness rank": 7
+   },
+   "trash can": {
+    "distance": "2.5 meters",
+    "closeness rank": 8
+   },
+   "sofa": {
+    "distance": "2.57 meters",
+    "closeness rank": 9
+   },
+   "cushion": {
+    "distance": "2.68 meters",
+    "closeness rank": 10
+   },
+   "pillow": {
+    "distance": "2.68 meters",
+    "closeness rank": 11
+   },
+   "basket": {
+    "distance": "2.71 meters",
+    "closeness rank": 12
+   },
+   "power strip": {
+    "distance": "2.98 meters",
+    "closeness rank": 13
+   },
+   "chair": {
+    "distance": "3.16 meters",
+    "closeness rank": 14
+   },
+   "table": {
+    "distance": "3.16 meters",
+    "closeness rank": 15
+   },
+   "cutting board": {
+    "distance": "3.4 meters",
+    "closeness rank": 16
+   },
+   "laptop": {
+    "distance": "3.56 meters",
+    "closeness rank": 17
+   },
+   "cup": {
+    "distance": "3.68 meters",
+    "closeness rank": 18
+   },
+   "clock": {
+    "distance": "4.04 meters",
+    "closeness rank": 19
+   },
+   "kettle": {
+    "distance": "4.04 meters",
+    "closeness rank": 20
+   },
+   "table lamp": {
+    "distance": "4.53 meters",
+    "closeness rank": 21
+   },
+   "plant": {
+    "distance": "4.7 meters",
+    "closeness rank": 22
+   }
+  },
+  "cup": {
+   "pillow": {
+    "distance": "0.48 meters",
+    "closeness rank": 1
+   },
+   "sofa": {
+    "distance": "0.48 meters",
+    "closeness rank": 2
+   },
+   "bed": {
+    "distance": "0.51 meters",
+    "closeness rank": 3
+   },
+   "cushion": {
+    "distance": "0.91 meters",
+    "closeness rank": 4
+   },
+   "power strip": {
+    "distance": "1.1 meters",
+    "closeness rank": 5
+   },
+   "plant": {
+    "distance": "1.11 meters",
+    "closeness rank": 6
+   },
+   "table lamp": {
+    "distance": "1.3 meters",
+    "closeness rank": 7
+   },
+   "door": {
+    "distance": "1.71 meters",
+    "closeness rank": 8
+   },
+   "tv": {
+    "distance": "1.83 meters",
+    "closeness rank": 9
+   },
+   "chair": {
+    "distance": "1.9 meters",
+    "closeness rank": 10
+   },
+   "kettle": {
+    "distance": "2.03 meters",
+    "closeness rank": 11
+   },
+   "laptop": {
+    "distance": "2.3 meters",
+    "closeness rank": 12
+   },
+   "table": {
+    "distance": "2.44 meters",
+    "closeness rank": 13
+   },
+   "cutting board": {
+    "distance": "2.52 meters",
+    "closeness rank": 14
+   },
+   "clock": {
+    "distance": "2.86 meters",
+    "closeness rank": 15
+   },
+   "bookshelf": {
+    "distance": "3.67 meters",
+    "closeness rank": 16
+   },
+   "crate": {
+    "distance": "3.68 meters",
+    "closeness rank": 17
+   },
+   "basket": {
+    "distance": "4.87 meters",
+    "closeness rank": 18
+   },
+   "toilet": {
+    "distance": "5.01 meters",
+    "closeness rank": 19
+   },
+   "ceiling light": {
+    "distance": "5.16 meters",
+    "closeness rank": 20
+   },
+   "telephone": {
+    "distance": "5.28 meters",
+    "closeness rank": 21
+   },
+   "trash can": {
+    "distance": "5.45 meters",
+    "closeness rank": 22
+   }
+  },
+  "cushion": {
+   "bed": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "pillow": {
+    "distance": "0.0 meters",
+    "closeness rank": 2
+   },
+   "sofa": {
+    "distance": "0.0 meters",
+    "closeness rank": 3
+   },
+   "power strip": {
+    "distance": "0.03 meters",
+    "closeness rank": 4
+   },
+   "table lamp": {
+    "distance": "0.5 meters",
+    "closeness rank": 5
+   },
+   "plant": {
+    "distance": "0.53 meters",
+    "closeness rank": 6
+   },
+   "tv": {
+    "distance": "0.63 meters",
+    "closeness rank": 7
+   },
+   "cup": {
+    "distance": "0.91 meters",
+    "closeness rank": 8
+   },
+   "chair": {
+    "distance": "2.51 meters",
+    "closeness rank": 9
+   },
+   "door": {
+    "distance": "2.57 meters",
+    "closeness rank": 10
+   },
+   "bookshelf": {
+    "distance": "2.68 meters",
+    "closeness rank": 11
+   },
+   "crate": {
+    "distance": "2.68 meters",
+    "closeness rank": 12
+   },
+   "kettle": {
+    "distance": "2.89 meters",
+    "closeness rank": 13
+   },
+   "table": {
+    "distance": "3.02 meters",
+    "closeness rank": 14
+   },
+   "laptop": {
+    "distance": "3.03 meters",
+    "closeness rank": 15
+   },
+   "cutting board": {
+    "distance": "3.04 meters",
+    "closeness rank": 16
+   },
+   "clock": {
+    "distance": "3.58 meters",
+    "closeness rank": 17
+   },
+   "toilet": {
+    "distance": "4.43 meters",
+    "closeness rank": 18
+   },
+   "ceiling light": {
+    "distance": "4.46 meters",
+    "closeness rank": 19
+   },
+   "telephone": {
+    "distance": "4.56 meters",
+    "closeness rank": 20
+   },
+   "basket": {
+    "distance": "4.59 meters",
+    "closeness rank": 21
+   },
+   "trash can": {
+    "distance": "4.9 meters",
+    "closeness rank": 22
+   }
+  },
+  "cutting board": {
+   "table": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "laptop": {
+    "distance": "0.1 meters",
+    "closeness rank": 2
+   },
+   "chair": {
+    "distance": "0.25 meters",
+    "closeness rank": 3
+   },
+   "clock": {
+    "distance": "0.38 meters",
+    "closeness rank": 4
+   },
+   "kettle": {
+    "distance": "0.89 meters",
+    "closeness rank": 5
+   },
+   "bed": {
+    "distance": "0.94 meters",
+    "closeness rank": 6
+   },
+   "door": {
+    "distance": "1.0 meters",
+    "closeness rank": 7
+   },
+   "sofa": {
+    "distance": "2.43 meters",
+    "closeness rank": 8
+   },
+   "cup": {
+    "distance": "2.52 meters",
+    "closeness rank": 9
+   },
+   "pillow": {
+    "distance": "2.56 meters",
+    "closeness rank": 10
+   },
+   "basket": {
+    "distance": "2.9 meters",
+    "closeness rank": 11
+   },
+   "tv": {
+    "distance": "2.93 meters",
+    "closeness rank": 12
+   },
+   "cushion": {
+    "distance": "3.04 meters",
+    "closeness rank": 13
+   },
+   "power strip": {
+    "distance": "3.13 meters",
+    "closeness rank": 14
+   },
+   "crate": {
+    "distance": "3.4 meters",
+    "closeness rank": 15
+   },
+   "bookshelf": {
+    "distance": "3.41 meters",
+    "closeness rank": 16
+   },
+   "plant": {
+    "distance": "3.5 meters",
+    "closeness rank": 17
+   },
+   "toilet": {
+    "distance": "3.52 meters",
+    "closeness rank": 18
+   },
+   "table lamp": {
+    "distance": "3.84 meters",
+    "closeness rank": 19
+   },
+   "trash can": {
+    "distance": "3.88 meters",
+    "closeness rank": 20
+   },
+   "ceiling light": {
+    "distance": "3.96 meters",
+    "closeness rank": 21
+   },
+   "telephone": {
+    "distance": "4.02 meters",
+    "closeness rank": 22
+   }
+  },
+  "door": {
+   "ceiling light": {
+    "distance": "0.03 meters",
+    "closeness rank": 1
+   },
+   "kettle": {
+    "distance": "0.06 meters",
+    "closeness rank": 2
+   },
+   "telephone": {
+    "distance": "0.19 meters",
+    "closeness rank": 3
+   },
+   "toilet": {
+    "distance": "0.41 meters",
+    "closeness rank": 4
+   },
+   "crate": {
+    "distance": "0.46 meters",
+    "closeness rank": 5
+   },
+   "bed": {
+    "distance": "0.5 meters",
+    "closeness rank": 6
+   },
+   "bookshelf": {
+    "distance": "0.52 meters",
+    "closeness rank": 7
+   },
+   "chair": {
+    "distance": "0.55 meters",
+    "closeness rank": 8
+   },
+   "laptop": {
+    "distance": "0.55 meters",
+    "closeness rank": 9
+   },
+   "trash can": {
+    "distance": "0.62 meters",
+    "closeness rank": 10
+   },
+   "clock": {
+    "distance": "0.76 meters",
+    "closeness rank": 11
+   },
+   "table": {
+    "distance": "0.89 meters",
+    "closeness rank": 12
+   },
+   "cutting board": {
+    "distance": "1.0 meters",
+    "closeness rank": 13
+   },
+   "basket": {
+    "distance": "1.32 meters",
+    "closeness rank": 14
+   },
+   "tv": {
+    "distance": "1.64 meters",
+    "closeness rank": 15
+   },
+   "cup": {
+    "distance": "1.71 meters",
+    "closeness rank": 16
+   },
+   "pillow": {
+    "distance": "2.06 meters",
+    "closeness rank": 17
+   },
+   "sofa": {
+    "distance": "2.06 meters",
+    "closeness rank": 18
+   },
+   "plant": {
+    "distance": "2.41 meters",
+    "closeness rank": 19
+   },
+   "cushion": {
+    "distance": "2.57 meters",
+    "closeness rank": 20
+   },
+   "power strip": {
+    "distance": "2.6 meters",
+    "closeness rank": 21
+   },
+   "table lamp": {
+    "distance": "2.87 meters",
+    "closeness rank": 22
+   }
+  },
+  "kettle": {
+   "door": {
+    "distance": "0.06 meters",
+    "closeness rank": 1
+   },
+   "laptop": {
+    "distance": "0.42 meters",
+    "closeness rank": 2
+   },
+   "chair": {
+    "distance": "0.45 meters",
+    "closeness rank": 3
+   },
+   "table": {
+    "distance": "0.77 meters",
+    "closeness rank": 4
+   },
+   "clock": {
+    "distance": "0.86 meters",
+    "closeness rank": 5
+   },
+   "cutting board": {
+    "distance": "0.89 meters",
+    "closeness rank": 6
+   },
+   "bed": {
+    "distance": "1.86 meters",
+    "closeness rank": 7
+   },
+   "cup": {
+    "distance": "2.03 meters",
+    "closeness rank": 8
+   },
+   "pillow": {
+    "distance": "2.35 meters",
+    "closeness rank": 9
+   },
+   "sofa": {
+    "distance": "2.35 meters",
+    "closeness rank": 10
+   },
+   "plant": {
+    "distance": "2.77 meters",
+    "closeness rank": 11
+   },
+   "cushion": {
+    "distance": "2.89 meters",
+    "closeness rank": 12
+   },
+   "power strip": {
+    "distance": "2.95 meters",
+    "closeness rank": 13
+   },
+   "tv": {
+    "distance": "3.08 meters",
+    "closeness rank": 14
+   },
+   "table lamp": {
+    "distance": "3.24 meters",
+    "closeness rank": 15
+   },
+   "basket": {
+    "distance": "3.84 meters",
+    "closeness rank": 16
+   },
+   "bookshelf": {
+    "distance": "4.04 meters",
+    "closeness rank": 17
+   },
+   "crate": {
+    "distance": "4.04 meters",
+    "closeness rank": 18
+   },
+   "toilet": {
+    "distance": "4.43 meters",
+    "closeness rank": 19
+   },
+   "ceiling light": {
+    "distance": "4.78 meters",
+    "closeness rank": 20
+   },
+   "trash can": {
+    "distance": "4.8 meters",
+    "closeness rank": 21
+   },
+   "telephone": {
+    "distance": "4.9 meters",
+    "closeness rank": 22
+   }
+  },
+  "laptop": {
+   "table": {
+    "distance": "0.07 meters",
+    "closeness rank": 1
+   },
+   "cutting board": {
+    "distance": "0.1 meters",
+    "closeness rank": 2
+   },
+   "chair": {
+    "distance": "0.13 meters",
+    "closeness rank": 3
+   },
+   "clock": {
+    "distance": "0.35 meters",
+    "closeness rank": 4
+   },
+   "kettle": {
+    "distance": "0.42 meters",
+    "closeness rank": 5
+   },
+   "door": {
+    "distance": "0.55 meters",
+    "closeness rank": 6
+   },
+   "bed": {
+    "distance": "1.09 meters",
+    "closeness rank": 7
+   },
+   "cup": {
+    "distance": "2.3 meters",
+    "closeness rank": 8
+   },
+   "sofa": {
+    "distance": "2.42 meters",
+    "closeness rank": 9
+   },
+   "pillow": {
+    "distance": "2.48 meters",
+    "closeness rank": 10
+   },
+   "tv": {
+    "distance": "3.01 meters",
+    "closeness rank": 11
+   },
+   "cushion": {
+    "distance": "3.03 meters",
+    "closeness rank": 12
+   },
+   "basket": {
+    "distance": "3.07 meters",
+    "closeness rank": 13
+   },
+   "power strip": {
+    "distance": "3.08 meters",
+    "closeness rank": 14
+   },
+   "plant": {
+    "distance": "3.17 meters",
+    "closeness rank": 15
+   },
+   "crate": {
+    "distance": "3.56 meters",
+    "closeness rank": 16
+   },
+   "bookshelf": {
+    "distance": "3.57 meters",
+    "closeness rank": 17
+   },
+   "table lamp": {
+    "distance": "3.58 meters",
+    "closeness rank": 18
+   },
+   "toilet": {
+    "distance": "3.7 meters",
+    "closeness rank": 19
+   },
+   "trash can": {
+    "distance": "4.06 meters",
+    "closeness rank": 20
+   },
+   "ceiling light": {
+    "distance": "4.12 meters",
+    "closeness rank": 21
+   },
+   "telephone": {
+    "distance": "4.2 meters",
+    "closeness rank": 22
+   }
+  },
+  "pillow": {
+   "bed": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "cushion": {
+    "distance": "0.0 meters",
+    "closeness rank": 2
+   },
+   "sofa": {
+    "distance": "0.0 meters",
+    "closeness rank": 3
+   },
+   "power strip": {
+    "distance": "0.05 meters",
+    "closeness rank": 4
+   },
+   "cup": {
+    "distance": "0.48 meters",
+    "closeness rank": 5
+   },
+   "tv": {
+    "distance": "0.63 meters",
+    "closeness rank": 6
+   },
+   "plant": {
+    "distance": "0.89 meters",
+    "closeness rank": 7
+   },
+   "table lamp": {
+    "distance": "0.97 meters",
+    "closeness rank": 8
+   },
+   "chair": {
+    "distance": "1.99 meters",
+    "closeness rank": 9
+   },
+   "door": {
+    "distance": "2.06 meters",
+    "closeness rank": 10
+   },
+   "kettle": {
+    "distance": "2.35 meters",
+    "closeness rank": 11
+   },
+   "laptop": {
+    "distance": "2.48 meters",
+    "closeness rank": 12
+   },
+   "table": {
+    "distance": "2.52 meters",
+    "closeness rank": 13
+   },
+   "cutting board": {
+    "distance": "2.56 meters",
+    "closeness rank": 14
+   },
+   "bookshelf": {
+    "distance": "2.68 meters",
+    "closeness rank": 15
+   },
+   "crate": {
+    "distance": "2.68 meters",
+    "closeness rank": 16
+   },
+   "clock": {
+    "distance": "3.06 meters",
+    "closeness rank": 17
+   },
+   "toilet": {
+    "distance": "4.36 meters",
+    "closeness rank": 18
+   },
+   "basket": {
+    "distance": "4.4 meters",
+    "closeness rank": 19
+   },
+   "ceiling light": {
+    "distance": "4.46 meters",
+    "closeness rank": 20
+   },
+   "telephone": {
+    "distance": "4.56 meters",
+    "closeness rank": 21
+   },
+   "trash can": {
+    "distance": "4.8 meters",
+    "closeness rank": 22
+   }
+  },
+  "plant": {
+   "table lamp": {
+    "distance": "0.13 meters",
+    "closeness rank": 1
+   },
+   "bed": {
+    "distance": "0.31 meters",
+    "closeness rank": 2
+   },
+   "sofa": {
+    "distance": "0.32 meters",
+    "closeness rank": 3
+   },
+   "cushion": {
+    "distance": "0.53 meters",
+    "closeness rank": 4
+   },
+   "pillow": {
+    "distance": "0.89 meters",
+    "closeness rank": 5
+   },
+   "cup": {
+    "distance": "1.11 meters",
+    "closeness rank": 6
+   },
+   "power strip": {
+    "distance": "1.51 meters",
+    "closeness rank": 7
+   },
+   "door": {
+    "distance": "2.41 meters",
+    "closeness rank": 8
+   },
+   "tv": {
+    "distance": "2.67 meters",
+    "closeness rank": 9
+   },
+   "kettle": {
+    "distance": "2.77 meters",
+    "closeness rank": 10
+   },
+   "chair": {
+    "distance": "2.88 meters",
+    "closeness rank": 11
+   },
+   "laptop": {
+    "distance": "3.17 meters",
+    "closeness rank": 12
+   },
+   "table": {
+    "distance": "3.39 meters",
+    "closeness rank": 13
+   },
+   "cutting board": {
+    "distance": "3.5 meters",
+    "closeness rank": 14
+   },
+   "clock": {
+    "distance": "3.61 meters",
+    "closeness rank": 15
+   },
+   "crate": {
+    "distance": "4.7 meters",
+    "closeness rank": 16
+   },
+   "bookshelf": {
+    "distance": "4.71 meters",
+    "closeness rank": 17
+   },
+   "basket": {
+    "distance": "6.04 meters",
+    "closeness rank": 18
+   },
+   "ceiling light": {
+    "distance": "6.1 meters",
+    "closeness rank": 19
+   },
+   "toilet": {
+    "distance": "6.17 meters",
+    "closeness rank": 20
+   },
+   "telephone": {
+    "distance": "6.36 meters",
+    "closeness rank": 21
+   },
+   "trash can": {
+    "distance": "6.63 meters",
+    "closeness rank": 22
+   }
+  },
+  "power strip": {
+   "sofa": {
+    "distance": "0.01 meters",
+    "closeness rank": 1
+   },
+   "cushion": {
+    "distance": "0.03 meters",
+    "closeness rank": 2
+   },
+   "pillow": {
+    "distance": "0.05 meters",
+    "closeness rank": 3
+   },
+   "bed": {
+    "distance": "0.5 meters",
+    "closeness rank": 4
+   },
+   "tv": {
+    "distance": "0.93 meters",
+    "closeness rank": 5
+   },
+   "cup": {
+    "distance": "1.1 meters",
+    "closeness rank": 6
+   },
+   "table lamp": {
+    "distance": "1.34 meters",
+    "closeness rank": 7
+   },
+   "plant": {
+    "distance": "1.51 meters",
+    "closeness rank": 8
+   },
+   "chair": {
+    "distance": "2.58 meters",
+    "closeness rank": 9
+   },
+   "door": {
+    "distance": "2.6 meters",
+    "closeness rank": 10
+   },
+   "kettle": {
+    "distance": "2.95 meters",
+    "closeness rank": 11
+   },
+   "bookshelf": {
+    "distance": "2.98 meters",
+    "closeness rank": 12
+   },
+   "crate": {
+    "distance": "2.98 meters",
+    "closeness rank": 13
+   },
+   "laptop": {
+    "distance": "3.08 meters",
+    "closeness rank": 14
+   },
+   "table": {
+    "distance": "3.1 meters",
+    "closeness rank": 15
+   },
+   "cutting board": {
+    "distance": "3.13 meters",
+    "closeness rank": 16
+   },
+   "clock": {
+    "distance": "3.62 meters",
+    "closeness rank": 17
+   },
+   "toilet": {
+    "distance": "4.71 meters",
+    "closeness rank": 18
+   },
+   "ceiling light": {
+    "distance": "4.72 meters",
+    "closeness rank": 19
+   },
+   "basket": {
+    "distance": "4.84 meters",
+    "closeness rank": 20
+   },
+   "telephone": {
+    "distance": "4.84 meters",
+    "closeness rank": 21
+   },
+   "trash can": {
+    "distance": "5.18 meters",
+    "closeness rank": 22
+   }
+  },
+  "sofa": {
+   "bed": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "cushion": {
+    "distance": "0.0 meters",
+    "closeness rank": 2
+   },
+   "pillow": {
+    "distance": "0.0 meters",
+    "closeness rank": 3
+   },
+   "power strip": {
+    "distance": "0.01 meters",
+    "closeness rank": 4
+   },
+   "plant": {
+    "distance": "0.32 meters",
+    "closeness rank": 5
+   },
+   "table lamp": {
+    "distance": "0.45 meters",
+    "closeness rank": 6
+   },
+   "cup": {
+    "distance": "0.48 meters",
+    "closeness rank": 7
+   },
+   "tv": {
+    "distance": "0.54 meters",
+    "closeness rank": 8
+   },
+   "chair": {
+    "distance": "1.89 meters",
+    "closeness rank": 9
+   },
+   "door": {
+    "distance": "2.06 meters",
+    "closeness rank": 10
+   },
+   "kettle": {
+    "distance": "2.35 meters",
+    "closeness rank": 11
+   },
+   "table": {
+    "distance": "2.41 meters",
+    "closeness rank": 12
+   },
+   "laptop": {
+    "distance": "2.42 meters",
+    "closeness rank": 13
+   },
+   "cutting board": {
+    "distance": "2.43 meters",
+    "closeness rank": 14
+   },
+   "bookshelf": {
+    "distance": "2.54 meters",
+    "closeness rank": 15
+   },
+   "crate": {
+    "distance": "2.57 meters",
+    "closeness rank": 16
+   },
+   "clock": {
+    "distance": "2.97 meters",
+    "closeness rank": 17
+   },
+   "toilet": {
+    "distance": "4.1 meters",
+    "closeness rank": 18
+   },
+   "basket": {
+    "distance": "4.14 meters",
+    "closeness rank": 19
+   },
+   "ceiling light": {
+    "distance": "4.28 meters",
+    "closeness rank": 20
+   },
+   "telephone": {
+    "distance": "4.33 meters",
+    "closeness rank": 21
+   },
+   "trash can": {
+    "distance": "4.55 meters",
+    "closeness rank": 22
+   }
+  },
+  "table": {
+   "cutting board": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "laptop": {
+    "distance": "0.07 meters",
+    "closeness rank": 2
+   },
+   "chair": {
+    "distance": "0.16 meters",
+    "closeness rank": 3
+   },
+   "bed": {
+    "distance": "0.44 meters",
+    "closeness rank": 4
+   },
+   "clock": {
+    "distance": "0.63 meters",
+    "closeness rank": 5
+   },
+   "kettle": {
+    "distance": "0.77 meters",
+    "closeness rank": 6
+   },
+   "door": {
+    "distance": "0.89 meters",
+    "closeness rank": 7
+   },
+   "basket": {
+    "distance": "2.4 meters",
+    "closeness rank": 8
+   },
+   "sofa": {
+    "distance": "2.41 meters",
+    "closeness rank": 9
+   },
+   "cup": {
+    "distance": "2.44 meters",
+    "closeness rank": 10
+   },
+   "pillow": {
+    "distance": "2.52 meters",
+    "closeness rank": 11
+   },
+   "tv": {
+    "distance": "2.91 meters",
+    "closeness rank": 12
+   },
+   "cushion": {
+    "distance": "3.02 meters",
+    "closeness rank": 13
+   },
+   "toilet": {
+    "distance": "3.08 meters",
+    "closeness rank": 14
+   },
+   "power strip": {
+    "distance": "3.1 meters",
+    "closeness rank": 15
+   },
+   "bookshelf": {
+    "distance": "3.15 meters",
+    "closeness rank": 16
+   },
+   "crate": {
+    "distance": "3.16 meters",
+    "closeness rank": 17
+   },
+   "plant": {
+    "distance": "3.39 meters",
+    "closeness rank": 18
+   },
+   "trash can": {
+    "distance": "3.39 meters",
+    "closeness rank": 19
+   },
+   "ceiling light": {
+    "distance": "3.61 meters",
+    "closeness rank": 20
+   },
+   "telephone": {
+    "distance": "3.63 meters",
+    "closeness rank": 21
+   },
+   "table lamp": {
+    "distance": "3.75 meters",
+    "closeness rank": 22
+   }
+  },
+  "table lamp": {
+   "plant": {
+    "distance": "0.13 meters",
+    "closeness rank": 1
+   },
+   "sofa": {
+    "distance": "0.45 meters",
+    "closeness rank": 2
+   },
+   "cushion": {
+    "distance": "0.5 meters",
+    "closeness rank": 3
+   },
+   "bed": {
+    "distance": "0.56 meters",
+    "closeness rank": 4
+   },
+   "pillow": {
+    "distance": "0.97 meters",
+    "closeness rank": 5
+   },
+   "cup": {
+    "distance": "1.3 meters",
+    "closeness rank": 6
+   },
+   "power strip": {
+    "distance": "1.34 meters",
+    "closeness rank": 7
+   },
+   "tv": {
+    "distance": "2.49 meters",
+    "closeness rank": 8
+   },
+   "door": {
+    "distance": "2.87 meters",
+    "closeness rank": 9
+   },
+   "chair": {
+    "distance": "3.21 meters",
+    "closeness rank": 10
+   },
+   "kettle": {
+    "distance": "3.24 meters",
+    "closeness rank": 11
+   },
+   "laptop": {
+    "distance": "3.58 meters",
+    "closeness rank": 12
+   },
+   "table": {
+    "distance": "3.75 meters",
+    "closeness rank": 13
+   },
+   "cutting board": {
+    "distance": "3.84 meters",
+    "closeness rank": 14
+   },
+   "clock": {
+    "distance": "4.07 meters",
+    "closeness rank": 15
+   },
+   "crate": {
+    "distance": "4.53 meters",
+    "closeness rank": 16
+   },
+   "bookshelf": {
+    "distance": "4.56 meters",
+    "closeness rank": 17
+   },
+   "ceiling light": {
+    "distance": "6.06 meters",
+    "closeness rank": 18
+   },
+   "basket": {
+    "distance": "6.17 meters",
+    "closeness rank": 19
+   },
+   "toilet": {
+    "distance": "6.17 meters",
+    "closeness rank": 20
+   },
+   "telephone": {
+    "distance": "6.3 meters",
+    "closeness rank": 21
+   },
+   "trash can": {
+    "distance": "6.64 meters",
+    "closeness rank": 22
+   }
+  },
+  "telephone": {
+   "door": {
+    "distance": "0.19 meters",
+    "closeness rank": 1
+   },
+   "toilet": {
+    "distance": "0.75 meters",
+    "closeness rank": 2
+   },
+   "ceiling light": {
+    "distance": "0.87 meters",
+    "closeness rank": 3
+   },
+   "trash can": {
+    "distance": "1.14 meters",
+    "closeness rank": 4
+   },
+   "bed": {
+    "distance": "1.49 meters",
+    "closeness rank": 5
+   },
+   "basket": {
+    "distance": "1.81 meters",
+    "closeness rank": 6
+   },
+   "crate": {
+    "distance": "2.01 meters",
+    "closeness rank": 7
+   },
+   "bookshelf": {
+    "distance": "2.11 meters",
+    "closeness rank": 8
+   },
+   "tv": {
+    "distance": "3.3 meters",
+    "closeness rank": 9
+   },
+   "table": {
+    "distance": "3.63 meters",
+    "closeness rank": 10
+   },
+   "chair": {
+    "distance": "3.91 meters",
+    "closeness rank": 11
+   },
+   "cutting board": {
+    "distance": "4.02 meters",
+    "closeness rank": 12
+   },
+   "laptop": {
+    "distance": "4.2 meters",
+    "closeness rank": 13
+   },
+   "sofa": {
+    "distance": "4.33 meters",
+    "closeness rank": 14
+   },
+   "clock": {
+    "distance": "4.5 meters",
+    "closeness rank": 15
+   },
+   "cushion": {
+    "distance": "4.56 meters",
+    "closeness rank": 16
+   },
+   "pillow": {
+    "distance": "4.56 meters",
+    "closeness rank": 17
+   },
+   "power strip": {
+    "distance": "4.84 meters",
+    "closeness rank": 18
+   },
+   "kettle": {
+    "distance": "4.9 meters",
+    "closeness rank": 19
+   },
+   "cup": {
+    "distance": "5.28 meters",
+    "closeness rank": 20
+   },
+   "table lamp": {
+    "distance": "6.3 meters",
+    "closeness rank": 21
+   },
+   "plant": {
+    "distance": "6.36 meters",
+    "closeness rank": 22
+   }
+  },
+  "toilet": {
+   "trash can": {
+    "distance": "0.28 meters",
+    "closeness rank": 1
+   },
+   "door": {
+    "distance": "0.41 meters",
+    "closeness rank": 2
+   },
+   "basket": {
+    "distance": "0.73 meters",
+    "closeness rank": 3
+   },
+   "telephone": {
+    "distance": "0.75 meters",
+    "closeness rank": 4
+   },
+   "bed": {
+    "distance": "0.99 meters",
+    "closeness rank": 5
+   },
+   "ceiling light": {
+    "distance": "1.55 meters",
+    "closeness rank": 6
+   },
+   "crate": {
+    "distance": "2.07 meters",
+    "closeness rank": 7
+   },
+   "bookshelf": {
+    "distance": "2.09 meters",
+    "closeness rank": 8
+   },
+   "table": {
+    "distance": "3.08 meters",
+    "closeness rank": 9
+   },
+   "tv": {
+    "distance": "3.26 meters",
+    "closeness rank": 10
+   },
+   "chair": {
+    "distance": "3.38 meters",
+    "closeness rank": 11
+   },
+   "cutting board": {
+    "distance": "3.52 meters",
+    "closeness rank": 12
+   },
+   "laptop": {
+    "distance": "3.7 meters",
+    "closeness rank": 13
+   },
+   "clock": {
+    "distance": "3.94 meters",
+    "closeness rank": 14
+   },
+   "sofa": {
+    "distance": "4.1 meters",
+    "closeness rank": 15
+   },
+   "pillow": {
+    "distance": "4.36 meters",
+    "closeness rank": 16
+   },
+   "cushion": {
+    "distance": "4.43 meters",
+    "closeness rank": 17
+   },
+   "kettle": {
+    "distance": "4.43 meters",
+    "closeness rank": 18
+   },
+   "power strip": {
+    "distance": "4.71 meters",
+    "closeness rank": 19
+   },
+   "cup": {
+    "distance": "5.01 meters",
+    "closeness rank": 20
+   },
+   "plant": {
+    "distance": "6.17 meters",
+    "closeness rank": 21
+   },
+   "table lamp": {
+    "distance": "6.17 meters",
+    "closeness rank": 22
+   }
+  },
+  "trash can": {
+   "toilet": {
+    "distance": "0.28 meters",
+    "closeness rank": 1
+   },
+   "door": {
+    "distance": "0.62 meters",
+    "closeness rank": 2
+   },
+   "basket": {
+    "distance": "0.97 meters",
+    "closeness rank": 3
+   },
+   "telephone": {
+    "distance": "1.14 meters",
+    "closeness rank": 4
+   },
+   "bed": {
+    "distance": "1.46 meters",
+    "closeness rank": 5
+   },
+   "ceiling light": {
+    "distance": "2.13 meters",
+    "closeness rank": 6
+   },
+   "crate": {
+    "distance": "2.5 meters",
+    "closeness rank": 7
+   },
+   "bookshelf": {
+    "distance": "2.52 meters",
+    "closeness rank": 8
+   },
+   "table": {
+    "distance": "3.39 meters",
+    "closeness rank": 9
+   },
+   "chair": {
+    "distance": "3.7 meters",
+    "closeness rank": 10
+   },
+   "tv": {
+    "distance": "3.73 meters",
+    "closeness rank": 11
+   },
+   "cutting board": {
+    "distance": "3.88 meters",
+    "closeness rank": 12
+   },
+   "laptop": {
+    "distance": "4.06 meters",
+    "closeness rank": 13
+   },
+   "clock": {
+    "distance": "4.37 meters",
+    "closeness rank": 14
+   },
+   "sofa": {
+    "distance": "4.55 meters",
+    "closeness rank": 15
+   },
+   "kettle": {
+    "distance": "4.8 meters",
+    "closeness rank": 16
+   },
+   "pillow": {
+    "distance": "4.8 meters",
+    "closeness rank": 17
+   },
+   "cushion": {
+    "distance": "4.9 meters",
+    "closeness rank": 18
+   },
+   "power strip": {
+    "distance": "5.18 meters",
+    "closeness rank": 19
+   },
+   "cup": {
+    "distance": "5.45 meters",
+    "closeness rank": 20
+   },
+   "plant": {
+    "distance": "6.63 meters",
+    "closeness rank": 21
+   },
+   "table lamp": {
+    "distance": "6.64 meters",
+    "closeness rank": 22
+   }
+  },
+  "tv": {
+   "sofa": {
+    "distance": "0.54 meters",
+    "closeness rank": 1
+   },
+   "cushion": {
+    "distance": "0.63 meters",
+    "closeness rank": 2
+   },
+   "pillow": {
+    "distance": "0.63 meters",
+    "closeness rank": 3
+   },
+   "power strip": {
+    "distance": "0.93 meters",
+    "closeness rank": 4
+   },
+   "bed": {
+    "distance": "1.18 meters",
+    "closeness rank": 5
+   },
+   "crate": {
+    "distance": "1.35 meters",
+    "closeness rank": 6
+   },
+   "bookshelf": {
+    "distance": "1.36 meters",
+    "closeness rank": 7
+   },
+   "door": {
+    "distance": "1.64 meters",
+    "closeness rank": 8
+   },
+   "cup": {
+    "distance": "1.83 meters",
+    "closeness rank": 9
+   },
+   "chair": {
+    "distance": "2.49 meters",
+    "closeness rank": 10
+   },
+   "table lamp": {
+    "distance": "2.49 meters",
+    "closeness rank": 11
+   },
+   "plant": {
+    "distance": "2.67 meters",
+    "closeness rank": 12
+   },
+   "table": {
+    "distance": "2.91 meters",
+    "closeness rank": 13
+   },
+   "cutting board": {
+    "distance": "2.93 meters",
+    "closeness rank": 14
+   },
+   "laptop": {
+    "distance": "3.01 meters",
+    "closeness rank": 15
+   },
+   "kettle": {
+    "distance": "3.08 meters",
+    "closeness rank": 16
+   },
+   "toilet": {
+    "distance": "3.26 meters",
+    "closeness rank": 17
+   },
+   "ceiling light": {
+    "distance": "3.3 meters",
+    "closeness rank": 18
+   },
+   "telephone": {
+    "distance": "3.3 meters",
+    "closeness rank": 19
+   },
+   "clock": {
+    "distance": "3.5 meters",
+    "closeness rank": 20
+   },
+   "basket": {
+    "distance": "3.63 meters",
+    "closeness rank": 21
+   },
+   "trash can": {
+    "distance": "3.73 meters",
+    "closeness rank": 22
+   }
+  }
+ },
+ "appearance order": ["door", "toilet", "trash can", "basket", "ceiling light", "plant", "table", "bed", "pillow", "cushion", "chair", "tv", "crate", "sofa", "kettle", "laptop", "table lamp", "clock", "cutting board", "power strip", "cup", "bookshelf", "telephone"]
+}
\ No newline at end of file
diff --git a/data/spatial codes/sam3+depth-anything-3/metric/tracking/uniform/64/explicit/7831862f02.json b/data/spatial codes/sam3+depth-anything-3/metric/tracking/uniform/64/explicit/7831862f02.json
new file mode 100644
index 0000000000000000000000000000000000000000..94410a98a46d7c8a6bc67fb29819e330a0951689
--- /dev/null
+++ b/data/spatial codes/sam3+depth-anything-3/metric/tracking/uniform/64/explicit/7831862f02.json	
@@ -0,0 +1,960 @@
+{
+ "objects": {
+  "ceiling light": {
+   "count": 9,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "1.73 meters",
+      "y coordinate": "2.53 meters",
+      "height above floor": "1.73 meters"
+     },
+     "longest dimension": "0.87 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-0.87 meters",
+      "y coordinate": "2.54 meters",
+      "height above floor": "1.82 meters"
+     },
+     "longest dimension": "0.61 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "1.86 meters",
+      "y coordinate": "2.72 meters",
+      "height above floor": "1.76 meters"
+     },
+     "longest dimension": "0.85 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-0.75 meters",
+      "y coordinate": "4.02 meters",
+      "height above floor": "1.7 meters"
+     },
+     "longest dimension": "0.98 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "1.92 meters",
+      "y coordinate": "2.82 meters",
+      "height above floor": "1.79 meters"
+     },
+     "longest dimension": "0.7 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "1.52 meters",
+      "y coordinate": "2.45 meters",
+      "height above floor": "1.62 meters"
+     },
+     "longest dimension": "0.46 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-0.78 meters",
+      "y coordinate": "4.25 meters",
+      "height above floor": "1.57 meters"
+     },
+     "longest dimension": "0.49 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "1.55 meters",
+      "y coordinate": "2.3 meters",
+      "height above floor": "1.64 meters"
+     },
+     "longest dimension": "0.46 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "1.69 meters",
+      "y coordinate": "2.63 meters",
+      "height above floor": "2.42 meters"
+     },
+     "longest dimension": "0.33 meters"
+    }
+   ]
+  },
+  "chair": {
+   "count": 13,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "2.17 meters",
+      "y coordinate": "4.59 meters",
+      "height above floor": "-0.05 meters"
+     },
+     "longest dimension": "0.84 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-0.17 meters",
+      "y coordinate": "2.22 meters",
+      "height above floor": "-0.09 meters"
+     },
+     "longest dimension": "0.66 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "0.74 meters",
+      "y coordinate": "0.4 meters",
+      "height above floor": "0.0 meters"
+     },
+     "longest dimension": "0.77 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-1.6 meters",
+      "y coordinate": "2.97 meters",
+      "height above floor": "-0.05 meters"
+     },
+     "longest dimension": "0.79 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "0.21 meters",
+      "y coordinate": "1.75 meters",
+      "height above floor": "-0.12 meters"
+     },
+     "longest dimension": "0.82 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-1.49 meters",
+      "y coordinate": "3.48 meters",
+      "height above floor": "0.02 meters"
+     },
+     "longest dimension": "0.99 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-2.58 meters",
+      "y coordinate": "2.26 meters",
+      "height above floor": "0.03 meters"
+     },
+     "longest dimension": "0.55 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-1.31 meters",
+      "y coordinate": "3.43 meters",
+      "height above floor": "-0.04 meters"
+     },
+     "longest dimension": "0.83 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "2.44 meters",
+      "y coordinate": "4.6 meters",
+      "height above floor": "0.0 meters"
+     },
+     "longest dimension": "0.78 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "0.03 meters",
+      "y coordinate": "2.22 meters",
+      "height above floor": "-0.08 meters"
+     },
+     "longest dimension": "0.79 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-1.34 meters",
+      "y coordinate": "4.1 meters",
+      "height above floor": "-0.04 meters"
+     },
+     "longest dimension": "0.87 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "1.87 meters",
+      "y coordinate": "3.05 meters",
+      "height above floor": "-0.12 meters"
+     },
+     "longest dimension": "0.86 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-1.31 meters",
+      "y coordinate": "4.28 meters",
+      "height above floor": "-0.04 meters"
+     },
+     "longest dimension": "0.77 meters"
+    }
+   ]
+  },
+  "crate": {
+   "count": 3,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "1.97 meters",
+      "y coordinate": "1.47 meters",
+      "height above floor": "0.05 meters"
+     },
+     "longest dimension": "0.36 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "2.02 meters",
+      "y coordinate": "1.47 meters",
+      "height above floor": "-0.3 meters"
+     },
+     "longest dimension": "0.39 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-1.4 meters",
+      "y coordinate": "0.78 meters",
+      "height above floor": "-0.21 meters"
+     },
+     "longest dimension": "0.32 meters"
+    }
+   ]
+  },
+  "cushion": {
+   "count": 23,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "2.22 meters",
+      "y coordinate": "4.52 meters",
+      "height above floor": "-0.01 meters"
+     },
+     "longest dimension": "0.8 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-0.12 meters",
+      "y coordinate": "2.24 meters",
+      "height above floor": "-0.09 meters"
+     },
+     "longest dimension": "0.6 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-1.71 meters",
+      "y coordinate": "2.87 meters",
+      "height above floor": "-0.01 meters"
+     },
+     "longest dimension": "0.75 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-2.58 meters",
+      "y coordinate": "2.26 meters",
+      "height above floor": "0.03 meters"
+     },
+     "longest dimension": "0.55 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "1.68 meters",
+      "y coordinate": "2.28 meters",
+      "height above floor": "-0.02 meters"
+     },
+     "longest dimension": "0.48 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-1.66 meters",
+      "y coordinate": "4.69 meters",
+      "height above floor": "0.28 meters"
+     },
+     "longest dimension": "0.81 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-1.4 meters",
+      "y coordinate": "2.09 meters",
+      "height above floor": "0.02 meters"
+     },
+     "longest dimension": "0.58 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-1.77 meters",
+      "y coordinate": "3.79 meters",
+      "height above floor": "0.01 meters"
+     },
+     "longest dimension": "0.58 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-0.79 meters",
+      "y coordinate": "4.45 meters",
+      "height above floor": "-0.05 meters"
+     },
+     "longest dimension": "0.52 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-0.53 meters",
+      "y coordinate": "4.56 meters",
+      "height above floor": "-0.05 meters"
+     },
+     "longest dimension": "0.54 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-0.54 meters",
+      "y coordinate": "4.6 meters",
+      "height above floor": "-0.04 meters"
+     },
+     "longest dimension": "0.53 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-0.65 meters",
+      "y coordinate": "1.63 meters",
+      "height above floor": "0.01 meters"
+     },
+     "longest dimension": "0.31 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "0.56 meters",
+      "y coordinate": "2.31 meters",
+      "height above floor": "-0.03 meters"
+     },
+     "longest dimension": "0.44 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-0.16 meters",
+      "y coordinate": "2.14 meters",
+      "height above floor": "-0.08 meters"
+     },
+     "longest dimension": "0.63 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-1.14 meters",
+      "y coordinate": "1.82 meters",
+      "height above floor": "0.07 meters"
+     },
+     "longest dimension": "0.32 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-1.39 meters",
+      "y coordinate": "2.04 meters",
+      "height above floor": "0.02 meters"
+     },
+     "longest dimension": "0.29 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "0.25 meters",
+      "y coordinate": "2.94 meters",
+      "height above floor": "-0.01 meters"
+     },
+     "longest dimension": "0.35 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "0.01 meters",
+      "y coordinate": "3.15 meters",
+      "height above floor": "0.01 meters"
+     },
+     "longest dimension": "0.32 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "0.87 meters",
+      "y coordinate": "2.63 meters",
+      "height above floor": "0.01 meters"
+     },
+     "longest dimension": "0.29 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "0.29 meters",
+      "y coordinate": "2.97 meters",
+      "height above floor": "0.0 meters"
+     },
+     "longest dimension": "0.35 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "1.14 meters",
+      "y coordinate": "2.47 meters",
+      "height above floor": "0.01 meters"
+     },
+     "longest dimension": "0.29 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "0.34 meters",
+      "y coordinate": "2.96 meters",
+      "height above floor": "0.01 meters"
+     },
+     "longest dimension": "0.3 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-0.87 meters",
+      "y coordinate": "1.84 meters",
+      "height above floor": "0.02 meters"
+     },
+     "longest dimension": "0.29 meters"
+    }
+   ]
+  },
+  "door": {
+   "count": 2,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "3.49 meters",
+      "y coordinate": "3.64 meters",
+      "height above floor": "0.33 meters"
+     },
+     "longest dimension": "1.26 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "1.95 meters",
+      "y coordinate": "6.22 meters",
+      "height above floor": "1.02 meters"
+     },
+     "longest dimension": "3.48 meters"
+    }
+   ]
+  },
+  "pillow": {
+   "count": 4,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "0.75 meters",
+      "y coordinate": "0.41 meters",
+      "height above floor": "0.04 meters"
+     },
+     "longest dimension": "0.78 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "0.02 meters",
+      "y coordinate": "3.05 meters",
+      "height above floor": "-0.01 meters"
+     },
+     "longest dimension": "0.95 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-0.87 meters",
+      "y coordinate": "1.84 meters",
+      "height above floor": "0.02 meters"
+     },
+     "longest dimension": "0.29 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-1.37 meters",
+      "y coordinate": "2.14 meters",
+      "height above floor": "0.01 meters"
+     },
+     "longest dimension": "0.32 meters"
+    }
+   ]
+  },
+  "power strip": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-0.22 meters",
+      "y coordinate": "7.1 meters",
+      "height above floor": "-0.35 meters"
+     },
+     "longest dimension": "0.18 meters"
+    }
+   ]
+  },
+  "sofa": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "1.26 meters",
+      "y coordinate": "3.78 meters",
+      "height above floor": "-0.13 meters"
+     },
+     "longest dimension": "0.52 meters"
+    }
+   ]
+  },
+  "table": {
+   "count": 8,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "0.41 meters",
+      "y coordinate": "6.14 meters",
+      "height above floor": "0.49 meters"
+     },
+     "longest dimension": "0.67 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-0.71 meters",
+      "y coordinate": "2.97 meters",
+      "height above floor": "-0.06 meters"
+     },
+     "longest dimension": "0.55 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "2.03 meters",
+      "y coordinate": "1.65 meters",
+      "height above floor": "0.13 meters"
+     },
+     "longest dimension": "0.86 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "0.16 meters",
+      "y coordinate": "3.17 meters",
+      "height above floor": "-0.13 meters"
+     },
+     "longest dimension": "1.9 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-0.81 meters",
+      "y coordinate": "3.92 meters",
+      "height above floor": "-0.03 meters"
+     },
+     "longest dimension": "0.45 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-0.52 meters",
+      "y coordinate": "5.06 meters",
+      "height above floor": "0.0 meters"
+     },
+     "longest dimension": "0.44 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-2.34 meters",
+      "y coordinate": "2.88 meters",
+      "height above floor": "-0.0 meters"
+     },
+     "longest dimension": "0.34 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-2.77 meters",
+      "y coordinate": "1.43 meters",
+      "height above floor": "-0.2 meters"
+     },
+     "longest dimension": "0.45 meters"
+    }
+   ]
+  },
+  "whiteboard": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-0.36 meters",
+      "y coordinate": "-0.2 meters",
+      "height above floor": "1.39 meters"
+     },
+     "longest dimension": "3.06 meters"
+    }
+   ]
+  }
+ },
+ "room": {
+  "floor area": "38.5 square meters"
+ },
+ "closest classes distance meters from": {
+  "ceiling light": {
+   "whiteboard": {
+    "distance": "0.93 meters",
+    "closeness rank": 1
+   },
+   "door": {
+    "distance": "0.95 meters",
+    "closeness rank": 2
+   },
+   "table": {
+    "distance": "1.33 meters",
+    "closeness rank": 3
+   },
+   "chair": {
+    "distance": "1.41 meters",
+    "closeness rank": 4
+   },
+   "cushion": {
+    "distance": "1.41 meters",
+    "closeness rank": 5
+   },
+   "crate": {
+    "distance": "1.58 meters",
+    "closeness rank": 6
+   },
+   "sofa": {
+    "distance": "1.81 meters",
+    "closeness rank": 7
+   },
+   "pillow": {
+    "distance": "2.37 meters",
+    "closeness rank": 8
+   },
+   "power strip": {
+    "distance": "3.22 meters",
+    "closeness rank": 9
+   }
+  },
+  "chair": {
+   "cushion": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "table": {
+    "distance": "0.13 meters",
+    "closeness rank": 2
+   },
+   "sofa": {
+    "distance": "0.37 meters",
+    "closeness rank": 3
+   },
+   "whiteboard": {
+    "distance": "0.54 meters",
+    "closeness rank": 4
+   },
+   "door": {
+    "distance": "0.7 meters",
+    "closeness rank": 5
+   },
+   "crate": {
+    "distance": "0.99 meters",
+    "closeness rank": 6
+   },
+   "pillow": {
+    "distance": "1.2 meters",
+    "closeness rank": 7
+   },
+   "ceiling light": {
+    "distance": "1.41 meters",
+    "closeness rank": 8
+   },
+   "power strip": {
+    "distance": "3.01 meters",
+    "closeness rank": 9
+   }
+  },
+  "crate": {
+   "table": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "door": {
+    "distance": "0.18 meters",
+    "closeness rank": 2
+   },
+   "whiteboard": {
+    "distance": "0.35 meters",
+    "closeness rank": 3
+   },
+   "cushion": {
+    "distance": "0.88 meters",
+    "closeness rank": 4
+   },
+   "pillow": {
+    "distance": "0.93 meters",
+    "closeness rank": 5
+   },
+   "chair": {
+    "distance": "0.99 meters",
+    "closeness rank": 6
+   },
+   "ceiling light": {
+    "distance": "1.58 meters",
+    "closeness rank": 7
+   },
+   "sofa": {
+    "distance": "1.92 meters",
+    "closeness rank": 8
+   },
+   "power strip": {
+    "distance": "5.68 meters",
+    "closeness rank": 9
+   }
+  },
+  "cushion": {
+   "chair": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "pillow": {
+    "distance": "0.04 meters",
+    "closeness rank": 2
+   },
+   "table": {
+    "distance": "0.12 meters",
+    "closeness rank": 3
+   },
+   "sofa": {
+    "distance": "0.52 meters",
+    "closeness rank": 4
+   },
+   "whiteboard": {
+    "distance": "0.52 meters",
+    "closeness rank": 5
+   },
+   "door": {
+    "distance": "0.67 meters",
+    "closeness rank": 6
+   },
+   "crate": {
+    "distance": "0.88 meters",
+    "closeness rank": 7
+   },
+   "ceiling light": {
+    "distance": "1.41 meters",
+    "closeness rank": 8
+   },
+   "power strip": {
+    "distance": "2.66 meters",
+    "closeness rank": 9
+   }
+  },
+  "door": {
+   "whiteboard": {
+    "distance": "0.01 meters",
+    "closeness rank": 1
+   },
+   "crate": {
+    "distance": "0.18 meters",
+    "closeness rank": 2
+   },
+   "table": {
+    "distance": "0.34 meters",
+    "closeness rank": 3
+   },
+   "pillow": {
+    "distance": "0.65 meters",
+    "closeness rank": 4
+   },
+   "cushion": {
+    "distance": "0.67 meters",
+    "closeness rank": 5
+   },
+   "chair": {
+    "distance": "0.7 meters",
+    "closeness rank": 6
+   },
+   "ceiling light": {
+    "distance": "0.95 meters",
+    "closeness rank": 7
+   },
+   "sofa": {
+    "distance": "1.66 meters",
+    "closeness rank": 8
+   },
+   "power strip": {
+    "distance": "4.81 meters",
+    "closeness rank": 9
+   }
+  },
+  "pillow": {
+   "cushion": {
+    "distance": "0.04 meters",
+    "closeness rank": 1
+   },
+   "door": {
+    "distance": "0.65 meters",
+    "closeness rank": 2
+   },
+   "whiteboard": {
+    "distance": "0.79 meters",
+    "closeness rank": 3
+   },
+   "crate": {
+    "distance": "0.93 meters",
+    "closeness rank": 4
+   },
+   "table": {
+    "distance": "0.95 meters",
+    "closeness rank": 5
+   },
+   "chair": {
+    "distance": "1.2 meters",
+    "closeness rank": 6
+   },
+   "ceiling light": {
+    "distance": "2.37 meters",
+    "closeness rank": 7
+   },
+   "sofa": {
+    "distance": "2.63 meters",
+    "closeness rank": 8
+   },
+   "power strip": {
+    "distance": "6.09 meters",
+    "closeness rank": 9
+   }
+  },
+  "power strip": {
+   "table": {
+    "distance": "0.74 meters",
+    "closeness rank": 1
+   },
+   "whiteboard": {
+    "distance": "1.38 meters",
+    "closeness rank": 2
+   },
+   "cushion": {
+    "distance": "2.66 meters",
+    "closeness rank": 3
+   },
+   "chair": {
+    "distance": "3.01 meters",
+    "closeness rank": 4
+   },
+   "ceiling light": {
+    "distance": "3.22 meters",
+    "closeness rank": 5
+   },
+   "sofa": {
+    "distance": "3.35 meters",
+    "closeness rank": 6
+   },
+   "door": {
+    "distance": "4.81 meters",
+    "closeness rank": 7
+   },
+   "crate": {
+    "distance": "5.68 meters",
+    "closeness rank": 8
+   },
+   "pillow": {
+    "distance": "6.09 meters",
+    "closeness rank": 9
+   }
+  },
+  "sofa": {
+   "chair": {
+    "distance": "0.37 meters",
+    "closeness rank": 1
+   },
+   "cushion": {
+    "distance": "0.52 meters",
+    "closeness rank": 2
+   },
+   "whiteboard": {
+    "distance": "0.63 meters",
+    "closeness rank": 3
+   },
+   "table": {
+    "distance": "1.32 meters",
+    "closeness rank": 4
+   },
+   "door": {
+    "distance": "1.66 meters",
+    "closeness rank": 5
+   },
+   "ceiling light": {
+    "distance": "1.81 meters",
+    "closeness rank": 6
+   },
+   "crate": {
+    "distance": "1.92 meters",
+    "closeness rank": 7
+   },
+   "pillow": {
+    "distance": "2.63 meters",
+    "closeness rank": 8
+   },
+   "power strip": {
+    "distance": "3.35 meters",
+    "closeness rank": 9
+   }
+  },
+  "table": {
+   "crate": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "whiteboard": {
+    "distance": "0.04 meters",
+    "closeness rank": 2
+   },
+   "cushion": {
+    "distance": "0.12 meters",
+    "closeness rank": 3
+   },
+   "chair": {
+    "distance": "0.13 meters",
+    "closeness rank": 4
+   },
+   "door": {
+    "distance": "0.34 meters",
+    "closeness rank": 5
+   },
+   "power strip": {
+    "distance": "0.74 meters",
+    "closeness rank": 6
+   },
+   "pillow": {
+    "distance": "0.95 meters",
+    "closeness rank": 7
+   },
+   "sofa": {
+    "distance": "1.32 meters",
+    "closeness rank": 8
+   },
+   "ceiling light": {
+    "distance": "1.33 meters",
+    "closeness rank": 9
+   }
+  },
+  "whiteboard": {
+   "door": {
+    "distance": "0.01 meters",
+    "closeness rank": 1
+   },
+   "table": {
+    "distance": "0.04 meters",
+    "closeness rank": 2
+   },
+   "crate": {
+    "distance": "0.35 meters",
+    "closeness rank": 3
+   },
+   "cushion": {
+    "distance": "0.52 meters",
+    "closeness rank": 4
+   },
+   "chair": {
+    "distance": "0.54 meters",
+    "closeness rank": 5
+   },
+   "sofa": {
+    "distance": "0.63 meters",
+    "closeness rank": 6
+   },
+   "pillow": {
+    "distance": "0.79 meters",
+    "closeness rank": 7
+   },
+   "ceiling light": {
+    "distance": "0.93 meters",
+    "closeness rank": 8
+   },
+   "power strip": {
+    "distance": "1.38 meters",
+    "closeness rank": 9
+   }
+  }
+ },
+ "appearance order": ["chair", "table", "ceiling light", "cushion", "door", "whiteboard", "pillow", "crate", "sofa", "power strip"]
+}
\ No newline at end of file
diff --git a/data/spatial codes/sam3+depth-anything-3/metric/tracking/uniform/64/explicit/7bc286c1b6.json b/data/spatial codes/sam3+depth-anything-3/metric/tracking/uniform/64/explicit/7bc286c1b6.json
new file mode 100644
index 0000000000000000000000000000000000000000..2bff75e14770a71d7bfae32a44b5dce676e6fd9f
--- /dev/null
+++ b/data/spatial codes/sam3+depth-anything-3/metric/tracking/uniform/64/explicit/7bc286c1b6.json	
@@ -0,0 +1,260 @@
+{
+ "objects": {
+  "ceiling light": {
+   "count": 2,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-1.56 meters",
+      "y coordinate": "-0.68 meters",
+      "height above floor": "-0.45 meters"
+     },
+     "longest dimension": "0.06 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-1.98 meters",
+      "y coordinate": "-0.6 meters",
+      "height above floor": "-0.63 meters"
+     },
+     "longest dimension": "0.06 meters"
+    }
+   ]
+  },
+  "door": {
+   "count": 3,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-0.53 meters",
+      "y coordinate": "1.0 meters",
+      "height above floor": "-1.17 meters"
+     },
+     "longest dimension": "1.09 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "0.21 meters",
+      "y coordinate": "1.17 meters",
+      "height above floor": "0.0 meters"
+     },
+     "longest dimension": "0.76 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "0.39 meters",
+      "y coordinate": "1.34 meters",
+      "height above floor": "-0.01 meters"
+     },
+     "longest dimension": "0.78 meters"
+    }
+   ]
+  },
+  "table": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-0.01 meters",
+      "y coordinate": "0.94 meters",
+      "height above floor": "0.02 meters"
+     },
+     "longest dimension": "0.81 meters"
+    }
+   ]
+  },
+  "toilet": {
+   "count": 2,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "0.23 meters",
+      "y coordinate": "1.43 meters",
+      "height above floor": "-0.66 meters"
+     },
+     "longest dimension": "0.51 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "0.31 meters",
+      "y coordinate": "1.37 meters",
+      "height above floor": "-0.7 meters"
+     },
+     "longest dimension": "0.4 meters"
+    }
+   ]
+  },
+  "trash can": {
+   "count": 2,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-0.41 meters",
+      "y coordinate": "1.64 meters",
+      "height above floor": "-0.07 meters"
+     },
+     "longest dimension": "0.29 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-0.41 meters",
+      "y coordinate": "1.67 meters",
+      "height above floor": "-0.06 meters"
+     },
+     "longest dimension": "0.28 meters"
+    }
+   ]
+  },
+  "whiteboard": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "0.6 meters",
+      "y coordinate": "0.23 meters",
+      "height above floor": "-0.68 meters"
+     },
+     "longest dimension": "0.27 meters"
+    }
+   ]
+  }
+ },
+ "room": {
+  "floor area": "8.4 square meters"
+ },
+ "closest classes distance meters from": {
+  "ceiling light": {
+   "whiteboard": {
+    "distance": "0.34 meters",
+    "closeness rank": 1
+   },
+   "door": {
+    "distance": "1.11 meters",
+    "closeness rank": 2
+   },
+   "trash can": {
+    "distance": "1.7 meters",
+    "closeness rank": 3
+   },
+   "table": {
+    "distance": "1.94 meters",
+    "closeness rank": 4
+   },
+   "toilet": {
+    "distance": "2.64 meters",
+    "closeness rank": 5
+   }
+  },
+  "door": {
+   "toilet": {
+    "distance": "0.56 meters",
+    "closeness rank": 1
+   },
+   "whiteboard": {
+    "distance": "0.8 meters",
+    "closeness rank": 2
+   },
+   "table": {
+    "distance": "0.84 meters",
+    "closeness rank": 3
+   },
+   "trash can": {
+    "distance": "0.88 meters",
+    "closeness rank": 4
+   },
+   "ceiling light": {
+    "distance": "1.11 meters",
+    "closeness rank": 5
+   }
+  },
+  "table": {
+   "trash can": {
+    "distance": "0.49 meters",
+    "closeness rank": 1
+   },
+   "toilet": {
+    "distance": "0.64 meters",
+    "closeness rank": 2
+   },
+   "whiteboard": {
+    "distance": "0.69 meters",
+    "closeness rank": 3
+   },
+   "door": {
+    "distance": "0.84 meters",
+    "closeness rank": 4
+   },
+   "ceiling light": {
+    "distance": "1.94 meters",
+    "closeness rank": 5
+   }
+  },
+  "toilet": {
+   "whiteboard": {
+    "distance": "0.5 meters",
+    "closeness rank": 1
+   },
+   "door": {
+    "distance": "0.56 meters",
+    "closeness rank": 2
+   },
+   "trash can": {
+    "distance": "0.61 meters",
+    "closeness rank": 3
+   },
+   "table": {
+    "distance": "0.64 meters",
+    "closeness rank": 4
+   },
+   "ceiling light": {
+    "distance": "2.64 meters",
+    "closeness rank": 5
+   }
+  },
+  "trash can": {
+   "table": {
+    "distance": "0.49 meters",
+    "closeness rank": 1
+   },
+   "toilet": {
+    "distance": "0.61 meters",
+    "closeness rank": 2
+   },
+   "door": {
+    "distance": "0.88 meters",
+    "closeness rank": 3
+   },
+   "whiteboard": {
+    "distance": "1.3 meters",
+    "closeness rank": 4
+   },
+   "ceiling light": {
+    "distance": "1.7 meters",
+    "closeness rank": 5
+   }
+  },
+  "whiteboard": {
+   "ceiling light": {
+    "distance": "0.34 meters",
+    "closeness rank": 1
+   },
+   "toilet": {
+    "distance": "0.5 meters",
+    "closeness rank": 2
+   },
+   "table": {
+    "distance": "0.69 meters",
+    "closeness rank": 3
+   },
+   "door": {
+    "distance": "0.8 meters",
+    "closeness rank": 4
+   },
+   "trash can": {
+    "distance": "1.3 meters",
+    "closeness rank": 5
+   }
+  }
+ },
+ "appearance order": ["toilet", "door", "trash can", "table", "whiteboard", "ceiling light"]
+}
\ No newline at end of file
diff --git a/data/spatial codes/sam3+depth-anything-3/metric/tracking/uniform/64/explicit/99fa5c25e1.json b/data/spatial codes/sam3+depth-anything-3/metric/tracking/uniform/64/explicit/99fa5c25e1.json
new file mode 100644
index 0000000000000000000000000000000000000000..a7d4ad8235dfb842b4f4cb11c744534db27ed5ac
--- /dev/null
+++ b/data/spatial codes/sam3+depth-anything-3/metric/tracking/uniform/64/explicit/99fa5c25e1.json	
@@ -0,0 +1,839 @@
+{
+ "objects": {
+  "bucket": {
+   "count": 2,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "0.63 meters",
+      "y coordinate": "-1.61 meters",
+      "height above floor": "-0.58 meters"
+     },
+     "longest dimension": "0.29 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "1.21 meters",
+      "y coordinate": "2.4 meters",
+      "height above floor": "-0.69 meters"
+     },
+     "longest dimension": "0.27 meters"
+    }
+   ]
+  },
+  "ceiling light": {
+   "count": 12,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-0.07 meters",
+      "y coordinate": "1.09 meters",
+      "height above floor": "0.48 meters"
+     },
+     "longest dimension": "0.13 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "3.33 meters",
+      "y coordinate": "10.85 meters",
+      "height above floor": "4.03 meters"
+     },
+     "longest dimension": "0.77 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-0.99 meters",
+      "y coordinate": "7.48 meters",
+      "height above floor": "2.8 meters"
+     },
+     "longest dimension": "0.36 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "1.01 meters",
+      "y coordinate": "7.08 meters",
+      "height above floor": "2.32 meters"
+     },
+     "longest dimension": "0.34 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "1.74 meters",
+      "y coordinate": "5.89 meters",
+      "height above floor": "2.65 meters"
+     },
+     "longest dimension": "0.19 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-3.34 meters",
+      "y coordinate": "5.56 meters",
+      "height above floor": "2.7 meters"
+     },
+     "longest dimension": "0.41 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "2.78 meters",
+      "y coordinate": "12.0 meters",
+      "height above floor": "4.0 meters"
+     },
+     "longest dimension": "0.57 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-2.77 meters",
+      "y coordinate": "5.04 meters",
+      "height above floor": "1.99 meters"
+     },
+     "longest dimension": "0.95 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-2.27 meters",
+      "y coordinate": "8.59 meters",
+      "height above floor": "2.68 meters"
+     },
+     "longest dimension": "1.09 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-5.97 meters",
+      "y coordinate": "5.94 meters",
+      "height above floor": "3.99 meters"
+     },
+     "longest dimension": "0.23 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "4.6 meters",
+      "y coordinate": "9.33 meters",
+      "height above floor": "3.09 meters"
+     },
+     "longest dimension": "0.48 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-4.22 meters",
+      "y coordinate": "7.13 meters",
+      "height above floor": "2.55 meters"
+     },
+     "longest dimension": "0.46 meters"
+    }
+   ]
+  },
+  "chair": {
+   "count": 3,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "2.89 meters",
+      "y coordinate": "0.77 meters",
+      "height above floor": "-0.12 meters"
+     },
+     "longest dimension": "0.8 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "3.63 meters",
+      "y coordinate": "2.24 meters",
+      "height above floor": "0.03 meters"
+     },
+     "longest dimension": "1.1 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "4.14 meters",
+      "y coordinate": "3.41 meters",
+      "height above floor": "-0.33 meters"
+     },
+     "longest dimension": "0.39 meters"
+    }
+   ]
+  },
+  "crate": {
+   "count": 5,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "2.92 meters",
+      "y coordinate": "-0.34 meters",
+      "height above floor": "0.34 meters"
+     },
+     "longest dimension": "0.33 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "3.39 meters",
+      "y coordinate": "-0.07 meters",
+      "height above floor": "0.33 meters"
+     },
+     "longest dimension": "0.27 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "2.45 meters",
+      "y coordinate": "-0.7 meters",
+      "height above floor": "0.18 meters"
+     },
+     "longest dimension": "0.4 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "4.13 meters",
+      "y coordinate": "0.34 meters",
+      "height above floor": "0.22 meters"
+     },
+     "longest dimension": "0.48 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "3.25 meters",
+      "y coordinate": "-0.14 meters",
+      "height above floor": "0.41 meters"
+     },
+     "longest dimension": "0.13 meters"
+    }
+   ]
+  },
+  "cup": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "1.03 meters",
+      "y coordinate": "-1.02 meters",
+      "height above floor": "0.03 meters"
+     },
+     "longest dimension": "0.24 meters"
+    }
+   ]
+  },
+  "door": {
+   "count": 5,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "1.82 meters",
+      "y coordinate": "1.89 meters",
+      "height above floor": "0.33 meters"
+     },
+     "longest dimension": "1.14 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "0.34 meters",
+      "y coordinate": "0.97 meters",
+      "height above floor": "0.38 meters"
+     },
+     "longest dimension": "1.05 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-0.88 meters",
+      "y coordinate": "-0.04 meters",
+      "height above floor": "0.38 meters"
+     },
+     "longest dimension": "1.46 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "2.91 meters",
+      "y coordinate": "2.73 meters",
+      "height above floor": "0.31 meters"
+     },
+     "longest dimension": "0.88 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "0.77 meters",
+      "y coordinate": "1.31 meters",
+      "height above floor": "0.22 meters"
+     },
+     "longest dimension": "1.61 meters"
+    }
+   ]
+  },
+  "keyboard": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "0.96 meters",
+      "y coordinate": "0.49 meters",
+      "height above floor": "0.35 meters"
+     },
+     "longest dimension": "0.24 meters"
+    }
+   ]
+  },
+  "monitor": {
+   "count": 4,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "3.67 meters",
+      "y coordinate": "2.93 meters",
+      "height above floor": "0.22 meters"
+     },
+     "longest dimension": "0.69 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "1.01 meters",
+      "y coordinate": "0.5 meters",
+      "height above floor": "0.58 meters"
+     },
+     "longest dimension": "0.26 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "3.69 meters",
+      "y coordinate": "2.99 meters",
+      "height above floor": "0.4 meters"
+     },
+     "longest dimension": "0.27 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "5.61 meters",
+      "y coordinate": "4.49 meters",
+      "height above floor": "0.56 meters"
+     },
+     "longest dimension": "0.35 meters"
+    }
+   ]
+  },
+  "table": {
+   "count": 2,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "2.16 meters",
+      "y coordinate": "1.55 meters",
+      "height above floor": "-0.33 meters"
+     },
+     "longest dimension": "0.63 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "3.31 meters",
+      "y coordinate": "0.66 meters",
+      "height above floor": "0.02 meters"
+     },
+     "longest dimension": "1.13 meters"
+    }
+   ]
+  },
+  "trash can": {
+   "count": 2,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "4.11 meters",
+      "y coordinate": "1.02 meters",
+      "height above floor": "0.12 meters"
+     },
+     "longest dimension": "0.58 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "4.29 meters",
+      "y coordinate": "0.9 meters",
+      "height above floor": "0.13 meters"
+     },
+     "longest dimension": "0.07 meters"
+    }
+   ]
+  },
+  "whiteboard": {
+   "count": 2,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "1.88 meters",
+      "y coordinate": "1.89 meters",
+      "height above floor": "0.1 meters"
+     },
+     "longest dimension": "0.59 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "3.67 meters",
+      "y coordinate": "2.93 meters",
+      "height above floor": "0.22 meters"
+     },
+     "longest dimension": "0.69 meters"
+    }
+   ]
+  }
+ },
+ "room": {
+  "floor area": "25.2 square meters"
+ },
+ "closest classes distance meters from": {
+  "bucket": {
+   "cup": {
+    "distance": "0.78 meters",
+    "closeness rank": 1
+   },
+   "keyboard": {
+    "distance": "2.12 meters",
+    "closeness rank": 2
+   },
+   "crate": {
+    "distance": "2.48 meters",
+    "closeness rank": 3
+   },
+   "chair": {
+    "distance": "2.76 meters",
+    "closeness rank": 4
+   },
+   "ceiling light": {
+    "distance": "2.82 meters",
+    "closeness rank": 5
+   },
+   "table": {
+    "distance": "3.23 meters",
+    "closeness rank": 6
+   },
+   "door": {
+    "distance": "3.33 meters",
+    "closeness rank": 7
+   },
+   "whiteboard": {
+    "distance": "3.54 meters",
+    "closeness rank": 8
+   },
+   "trash can": {
+    "distance": "4.01 meters",
+    "closeness rank": 9
+   },
+   "monitor": {
+    "distance": "5.06 meters",
+    "closeness rank": 10
+   }
+  },
+  "ceiling light": {
+   "keyboard": {
+    "distance": "1.15 meters",
+    "closeness rank": 1
+   },
+   "door": {
+    "distance": "1.69 meters",
+    "closeness rank": 2
+   },
+   "whiteboard": {
+    "distance": "1.86 meters",
+    "closeness rank": 3
+   },
+   "table": {
+    "distance": "2.08 meters",
+    "closeness rank": 4
+   },
+   "cup": {
+    "distance": "2.32 meters",
+    "closeness rank": 5
+   },
+   "chair": {
+    "distance": "2.66 meters",
+    "closeness rank": 6
+   },
+   "bucket": {
+    "distance": "2.82 meters",
+    "closeness rank": 7
+   },
+   "crate": {
+    "distance": "3.16 meters",
+    "closeness rank": 8
+   },
+   "monitor": {
+    "distance": "3.77 meters",
+    "closeness rank": 9
+   },
+   "trash can": {
+    "distance": "3.84 meters",
+    "closeness rank": 10
+   }
+  },
+  "chair": {
+   "crate": {
+    "distance": "0.75 meters",
+    "closeness rank": 1
+   },
+   "trash can": {
+    "distance": "0.75 meters",
+    "closeness rank": 2
+   },
+   "table": {
+    "distance": "0.84 meters",
+    "closeness rank": 3
+   },
+   "door": {
+    "distance": "1.26 meters",
+    "closeness rank": 4
+   },
+   "whiteboard": {
+    "distance": "1.35 meters",
+    "closeness rank": 5
+   },
+   "keyboard": {
+    "distance": "1.58 meters",
+    "closeness rank": 6
+   },
+   "monitor": {
+    "distance": "1.85 meters",
+    "closeness rank": 7
+   },
+   "cup": {
+    "distance": "2.07 meters",
+    "closeness rank": 8
+   },
+   "ceiling light": {
+    "distance": "2.66 meters",
+    "closeness rank": 9
+   },
+   "bucket": {
+    "distance": "2.76 meters",
+    "closeness rank": 10
+   }
+  },
+  "crate": {
+   "trash can": {
+    "distance": "0.72 meters",
+    "closeness rank": 1
+   },
+   "chair": {
+    "distance": "0.75 meters",
+    "closeness rank": 2
+   },
+   "cup": {
+    "distance": "1.79 meters",
+    "closeness rank": 3
+   },
+   "keyboard": {
+    "distance": "1.91 meters",
+    "closeness rank": 4
+   },
+   "table": {
+    "distance": "1.99 meters",
+    "closeness rank": 5
+   },
+   "door": {
+    "distance": "2.31 meters",
+    "closeness rank": 6
+   },
+   "whiteboard": {
+    "distance": "2.35 meters",
+    "closeness rank": 7
+   },
+   "monitor": {
+    "distance": "2.46 meters",
+    "closeness rank": 8
+   },
+   "bucket": {
+    "distance": "2.48 meters",
+    "closeness rank": 9
+   },
+   "ceiling light": {
+    "distance": "3.16 meters",
+    "closeness rank": 10
+   }
+  },
+  "cup": {
+   "bucket": {
+    "distance": "0.78 meters",
+    "closeness rank": 1
+   },
+   "keyboard": {
+    "distance": "1.37 meters",
+    "closeness rank": 2
+   },
+   "crate": {
+    "distance": "1.79 meters",
+    "closeness rank": 3
+   },
+   "chair": {
+    "distance": "2.07 meters",
+    "closeness rank": 4
+   },
+   "ceiling light": {
+    "distance": "2.32 meters",
+    "closeness rank": 5
+   },
+   "table": {
+    "distance": "2.52 meters",
+    "closeness rank": 6
+   },
+   "door": {
+    "distance": "2.63 meters",
+    "closeness rank": 7
+   },
+   "whiteboard": {
+    "distance": "2.77 meters",
+    "closeness rank": 8
+   },
+   "trash can": {
+    "distance": "3.32 meters",
+    "closeness rank": 9
+   },
+   "monitor": {
+    "distance": "4.32 meters",
+    "closeness rank": 10
+   }
+  },
+  "door": {
+   "whiteboard": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "table": {
+    "distance": "0.07 meters",
+    "closeness rank": 2
+   },
+   "monitor": {
+    "distance": "1.2 meters",
+    "closeness rank": 3
+   },
+   "chair": {
+    "distance": "1.26 meters",
+    "closeness rank": 4
+   },
+   "keyboard": {
+    "distance": "1.32 meters",
+    "closeness rank": 5
+   },
+   "ceiling light": {
+    "distance": "1.69 meters",
+    "closeness rank": 6
+   },
+   "trash can": {
+    "distance": "1.72 meters",
+    "closeness rank": 7
+   },
+   "crate": {
+    "distance": "2.31 meters",
+    "closeness rank": 8
+   },
+   "cup": {
+    "distance": "2.63 meters",
+    "closeness rank": 9
+   },
+   "bucket": {
+    "distance": "3.33 meters",
+    "closeness rank": 10
+   }
+  },
+  "keyboard": {
+   "ceiling light": {
+    "distance": "1.15 meters",
+    "closeness rank": 1
+   },
+   "door": {
+    "distance": "1.32 meters",
+    "closeness rank": 2
+   },
+   "cup": {
+    "distance": "1.37 meters",
+    "closeness rank": 3
+   },
+   "table": {
+    "distance": "1.45 meters",
+    "closeness rank": 4
+   },
+   "whiteboard": {
+    "distance": "1.46 meters",
+    "closeness rank": 5
+   },
+   "chair": {
+    "distance": "1.58 meters",
+    "closeness rank": 6
+   },
+   "crate": {
+    "distance": "1.91 meters",
+    "closeness rank": 7
+   },
+   "bucket": {
+    "distance": "2.12 meters",
+    "closeness rank": 8
+   },
+   "trash can": {
+    "distance": "2.86 meters",
+    "closeness rank": 9
+   },
+   "monitor": {
+    "distance": "3.31 meters",
+    "closeness rank": 10
+   }
+  },
+  "monitor": {
+   "door": {
+    "distance": "1.2 meters",
+    "closeness rank": 1
+   },
+   "whiteboard": {
+    "distance": "1.28 meters",
+    "closeness rank": 2
+   },
+   "trash can": {
+    "distance": "1.41 meters",
+    "closeness rank": 3
+   },
+   "table": {
+    "distance": "1.49 meters",
+    "closeness rank": 4
+   },
+   "chair": {
+    "distance": "1.85 meters",
+    "closeness rank": 5
+   },
+   "crate": {
+    "distance": "2.46 meters",
+    "closeness rank": 6
+   },
+   "keyboard": {
+    "distance": "3.31 meters",
+    "closeness rank": 7
+   },
+   "ceiling light": {
+    "distance": "3.77 meters",
+    "closeness rank": 8
+   },
+   "cup": {
+    "distance": "4.32 meters",
+    "closeness rank": 9
+   },
+   "bucket": {
+    "distance": "5.06 meters",
+    "closeness rank": 10
+   }
+  },
+  "table": {
+   "door": {
+    "distance": "0.07 meters",
+    "closeness rank": 1
+   },
+   "whiteboard": {
+    "distance": "0.13 meters",
+    "closeness rank": 2
+   },
+   "chair": {
+    "distance": "0.84 meters",
+    "closeness rank": 3
+   },
+   "keyboard": {
+    "distance": "1.45 meters",
+    "closeness rank": 4
+   },
+   "monitor": {
+    "distance": "1.49 meters",
+    "closeness rank": 5
+   },
+   "trash can": {
+    "distance": "1.5 meters",
+    "closeness rank": 6
+   },
+   "crate": {
+    "distance": "1.99 meters",
+    "closeness rank": 7
+   },
+   "ceiling light": {
+    "distance": "2.08 meters",
+    "closeness rank": 8
+   },
+   "cup": {
+    "distance": "2.52 meters",
+    "closeness rank": 9
+   },
+   "bucket": {
+    "distance": "3.23 meters",
+    "closeness rank": 10
+   }
+  },
+  "trash can": {
+   "crate": {
+    "distance": "0.72 meters",
+    "closeness rank": 1
+   },
+   "chair": {
+    "distance": "0.75 meters",
+    "closeness rank": 2
+   },
+   "monitor": {
+    "distance": "1.41 meters",
+    "closeness rank": 3
+   },
+   "table": {
+    "distance": "1.5 meters",
+    "closeness rank": 4
+   },
+   "door": {
+    "distance": "1.72 meters",
+    "closeness rank": 5
+   },
+   "whiteboard": {
+    "distance": "1.84 meters",
+    "closeness rank": 6
+   },
+   "keyboard": {
+    "distance": "2.86 meters",
+    "closeness rank": 7
+   },
+   "cup": {
+    "distance": "3.32 meters",
+    "closeness rank": 8
+   },
+   "ceiling light": {
+    "distance": "3.84 meters",
+    "closeness rank": 9
+   },
+   "bucket": {
+    "distance": "4.01 meters",
+    "closeness rank": 10
+   }
+  },
+  "whiteboard": {
+   "door": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "table": {
+    "distance": "0.13 meters",
+    "closeness rank": 2
+   },
+   "monitor": {
+    "distance": "1.28 meters",
+    "closeness rank": 3
+   },
+   "chair": {
+    "distance": "1.35 meters",
+    "closeness rank": 4
+   },
+   "keyboard": {
+    "distance": "1.46 meters",
+    "closeness rank": 5
+   },
+   "trash can": {
+    "distance": "1.84 meters",
+    "closeness rank": 6
+   },
+   "ceiling light": {
+    "distance": "1.86 meters",
+    "closeness rank": 7
+   },
+   "crate": {
+    "distance": "2.35 meters",
+    "closeness rank": 8
+   },
+   "cup": {
+    "distance": "2.77 meters",
+    "closeness rank": 9
+   },
+   "bucket": {
+    "distance": "3.54 meters",
+    "closeness rank": 10
+   }
+  }
+ },
+ "appearance order": ["chair", "ceiling light", "table", "trash can", "monitor", "door", "whiteboard", "bucket", "crate", "cup", "keyboard"]
+}
\ No newline at end of file
diff --git a/data/spatial codes/sam3+depth-anything-3/metric/tracking/uniform/64/explicit/a980334473.json b/data/spatial codes/sam3+depth-anything-3/metric/tracking/uniform/64/explicit/a980334473.json
new file mode 100644
index 0000000000000000000000000000000000000000..4f9b1b0813f49fca65c40a2a87ec6f19134b5647
--- /dev/null
+++ b/data/spatial codes/sam3+depth-anything-3/metric/tracking/uniform/64/explicit/a980334473.json	
@@ -0,0 +1,663 @@
+{
+ "objects": {
+  "ceiling light": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "0.68 meters",
+      "y coordinate": "-0.9 meters",
+      "height above floor": "-0.02 meters"
+     },
+     "longest dimension": "0.26 meters"
+    }
+   ]
+  },
+  "chair": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "0.72 meters",
+      "y coordinate": "0.93 meters",
+      "height above floor": "-0.13 meters"
+     },
+     "longest dimension": "0.47 meters"
+    }
+   ]
+  },
+  "door": {
+   "count": 2,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "0.15 meters",
+      "y coordinate": "0.54 meters",
+      "height above floor": "1.02 meters"
+     },
+     "longest dimension": "1.53 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "0.2 meters",
+      "y coordinate": "1.01 meters",
+      "height above floor": "1.0 meters"
+     },
+     "longest dimension": "0.91 meters"
+    }
+   ]
+  },
+  "exhaust fan": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "0.79 meters",
+      "y coordinate": "0.01 meters",
+      "height above floor": "-0.46 meters"
+     },
+     "longest dimension": "1.24 meters"
+    }
+   ]
+  },
+  "keyboard": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-0.92 meters",
+      "y coordinate": "0.46 meters",
+      "height above floor": "0.13 meters"
+     },
+     "longest dimension": "0.09 meters"
+    }
+   ]
+  },
+  "laptop": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-0.79 meters",
+      "y coordinate": "0.7 meters",
+      "height above floor": "-0.0 meters"
+     },
+     "longest dimension": "0.72 meters"
+    }
+   ]
+  },
+  "power strip": {
+   "count": 2,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "0.43 meters",
+      "y coordinate": "0.74 meters",
+      "height above floor": "-0.72 meters"
+     },
+     "longest dimension": "1.57 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-0.52 meters",
+      "y coordinate": "0.79 meters",
+      "height above floor": "-0.69 meters"
+     },
+     "longest dimension": "0.26 meters"
+    }
+   ]
+  },
+  "printer": {
+   "count": 3,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-0.67 meters",
+      "y coordinate": "0.9 meters",
+      "height above floor": "0.29 meters"
+     },
+     "longest dimension": "1.02 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-0.79 meters",
+      "y coordinate": "0.72 meters",
+      "height above floor": "-0.0 meters"
+     },
+     "longest dimension": "0.78 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-0.14 meters",
+      "y coordinate": "0.78 meters",
+      "height above floor": "-0.54 meters"
+     },
+     "longest dimension": "0.28 meters"
+    }
+   ]
+  },
+  "table": {
+   "count": 2,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-0.14 meters",
+      "y coordinate": "0.84 meters",
+      "height above floor": "-0.24 meters"
+     },
+     "longest dimension": "0.65 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "1.17 meters",
+      "y coordinate": "0.81 meters",
+      "height above floor": "0.03 meters"
+     },
+     "longest dimension": "1.0 meters"
+    }
+   ]
+  },
+  "trash can": {
+   "count": 2,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "0.89 meters",
+      "y coordinate": "1.27 meters",
+      "height above floor": "0.53 meters"
+     },
+     "longest dimension": "0.46 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "0.88 meters",
+      "y coordinate": "1.29 meters",
+      "height above floor": "0.49 meters"
+     },
+     "longest dimension": "0.46 meters"
+    }
+   ]
+  },
+  "whiteboard": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-0.72 meters",
+      "y coordinate": "0.54 meters",
+      "height above floor": "0.03 meters"
+     },
+     "longest dimension": "0.68 meters"
+    }
+   ]
+  }
+ },
+ "room": {
+  "floor area": "9.8 square meters"
+ },
+ "closest classes distance meters from": {
+  "ceiling light": {
+   "exhaust fan": {
+    "distance": "0.64 meters",
+    "closeness rank": 1
+   },
+   "laptop": {
+    "distance": "1.41 meters",
+    "closeness rank": 2
+   },
+   "whiteboard": {
+    "distance": "1.48 meters",
+    "closeness rank": 3
+   },
+   "door": {
+    "distance": "1.52 meters",
+    "closeness rank": 4
+   },
+   "printer": {
+    "distance": "1.55 meters",
+    "closeness rank": 5
+   },
+   "chair": {
+    "distance": "1.67 meters",
+    "closeness rank": 6
+   },
+   "table": {
+    "distance": "1.71 meters",
+    "closeness rank": 7
+   },
+   "power strip": {
+    "distance": "1.73 meters",
+    "closeness rank": 8
+   },
+   "keyboard": {
+    "distance": "2.02 meters",
+    "closeness rank": 9
+   },
+   "trash can": {
+    "distance": "2.08 meters",
+    "closeness rank": 10
+   }
+  },
+  "chair": {
+   "printer": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "table": {
+    "distance": "0.01 meters",
+    "closeness rank": 2
+   },
+   "laptop": {
+    "distance": "0.33 meters",
+    "closeness rank": 3
+   },
+   "whiteboard": {
+    "distance": "0.41 meters",
+    "closeness rank": 4
+   },
+   "power strip": {
+    "distance": "0.44 meters",
+    "closeness rank": 5
+   },
+   "trash can": {
+    "distance": "0.44 meters",
+    "closeness rank": 6
+   },
+   "exhaust fan": {
+    "distance": "0.81 meters",
+    "closeness rank": 7
+   },
+   "door": {
+    "distance": "1.1 meters",
+    "closeness rank": 8
+   },
+   "keyboard": {
+    "distance": "1.54 meters",
+    "closeness rank": 9
+   },
+   "ceiling light": {
+    "distance": "1.67 meters",
+    "closeness rank": 10
+   }
+  },
+  "door": {
+   "trash can": {
+    "distance": "0.48 meters",
+    "closeness rank": 1
+   },
+   "printer": {
+    "distance": "0.64 meters",
+    "closeness rank": 2
+   },
+   "table": {
+    "distance": "0.67 meters",
+    "closeness rank": 3
+   },
+   "exhaust fan": {
+    "distance": "0.73 meters",
+    "closeness rank": 4
+   },
+   "whiteboard": {
+    "distance": "0.87 meters",
+    "closeness rank": 5
+   },
+   "laptop": {
+    "distance": "0.88 meters",
+    "closeness rank": 6
+   },
+   "chair": {
+    "distance": "1.1 meters",
+    "closeness rank": 7
+   },
+   "keyboard": {
+    "distance": "1.13 meters",
+    "closeness rank": 8
+   },
+   "ceiling light": {
+    "distance": "1.52 meters",
+    "closeness rank": 9
+   },
+   "power strip": {
+    "distance": "1.73 meters",
+    "closeness rank": 10
+   }
+  },
+  "exhaust fan": {
+   "laptop": {
+    "distance": "0.32 meters",
+    "closeness rank": 1
+   },
+   "whiteboard": {
+    "distance": "0.41 meters",
+    "closeness rank": 2
+   },
+   "printer": {
+    "distance": "0.43 meters",
+    "closeness rank": 3
+   },
+   "keyboard": {
+    "distance": "0.49 meters",
+    "closeness rank": 4
+   },
+   "ceiling light": {
+    "distance": "0.64 meters",
+    "closeness rank": 5
+   },
+   "power strip": {
+    "distance": "0.68 meters",
+    "closeness rank": 6
+   },
+   "door": {
+    "distance": "0.73 meters",
+    "closeness rank": 7
+   },
+   "table": {
+    "distance": "0.8 meters",
+    "closeness rank": 8
+   },
+   "chair": {
+    "distance": "0.81 meters",
+    "closeness rank": 9
+   },
+   "trash can": {
+    "distance": "1.4 meters",
+    "closeness rank": 10
+   }
+  },
+  "keyboard": {
+   "laptop": {
+    "distance": "0.01 meters",
+    "closeness rank": 1
+   },
+   "printer": {
+    "distance": "0.09 meters",
+    "closeness rank": 2
+   },
+   "whiteboard": {
+    "distance": "0.23 meters",
+    "closeness rank": 3
+   },
+   "exhaust fan": {
+    "distance": "0.49 meters",
+    "closeness rank": 4
+   },
+   "table": {
+    "distance": "0.69 meters",
+    "closeness rank": 5
+   },
+   "power strip": {
+    "distance": "0.85 meters",
+    "closeness rank": 6
+   },
+   "door": {
+    "distance": "1.13 meters",
+    "closeness rank": 7
+   },
+   "chair": {
+    "distance": "1.54 meters",
+    "closeness rank": 8
+   },
+   "trash can": {
+    "distance": "1.88 meters",
+    "closeness rank": 9
+   },
+   "ceiling light": {
+    "distance": "2.02 meters",
+    "closeness rank": 10
+   }
+  },
+  "laptop": {
+   "printer": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "whiteboard": {
+    "distance": "0.0 meters",
+    "closeness rank": 2
+   },
+   "keyboard": {
+    "distance": "0.01 meters",
+    "closeness rank": 3
+   },
+   "table": {
+    "distance": "0.04 meters",
+    "closeness rank": 4
+   },
+   "power strip": {
+    "distance": "0.06 meters",
+    "closeness rank": 5
+   },
+   "exhaust fan": {
+    "distance": "0.32 meters",
+    "closeness rank": 6
+   },
+   "chair": {
+    "distance": "0.33 meters",
+    "closeness rank": 7
+   },
+   "trash can": {
+    "distance": "0.43 meters",
+    "closeness rank": 8
+   },
+   "door": {
+    "distance": "0.88 meters",
+    "closeness rank": 9
+   },
+   "ceiling light": {
+    "distance": "1.41 meters",
+    "closeness rank": 10
+   }
+  },
+  "power strip": {
+   "printer": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "laptop": {
+    "distance": "0.06 meters",
+    "closeness rank": 2
+   },
+   "table": {
+    "distance": "0.06 meters",
+    "closeness rank": 3
+   },
+   "whiteboard": {
+    "distance": "0.23 meters",
+    "closeness rank": 4
+   },
+   "chair": {
+    "distance": "0.44 meters",
+    "closeness rank": 5
+   },
+   "exhaust fan": {
+    "distance": "0.68 meters",
+    "closeness rank": 6
+   },
+   "keyboard": {
+    "distance": "0.85 meters",
+    "closeness rank": 7
+   },
+   "trash can": {
+    "distance": "1.2 meters",
+    "closeness rank": 8
+   },
+   "ceiling light": {
+    "distance": "1.73 meters",
+    "closeness rank": 9
+   },
+   "door": {
+    "distance": "1.73 meters",
+    "closeness rank": 10
+   }
+  },
+  "printer": {
+   "chair": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "laptop": {
+    "distance": "0.0 meters",
+    "closeness rank": 2
+   },
+   "power strip": {
+    "distance": "0.0 meters",
+    "closeness rank": 3
+   },
+   "table": {
+    "distance": "0.0 meters",
+    "closeness rank": 4
+   },
+   "whiteboard": {
+    "distance": "0.01 meters",
+    "closeness rank": 5
+   },
+   "keyboard": {
+    "distance": "0.09 meters",
+    "closeness rank": 6
+   },
+   "exhaust fan": {
+    "distance": "0.43 meters",
+    "closeness rank": 7
+   },
+   "trash can": {
+    "distance": "0.55 meters",
+    "closeness rank": 8
+   },
+   "door": {
+    "distance": "0.64 meters",
+    "closeness rank": 9
+   },
+   "ceiling light": {
+    "distance": "1.55 meters",
+    "closeness rank": 10
+   }
+  },
+  "table": {
+   "printer": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "whiteboard": {
+    "distance": "0.0 meters",
+    "closeness rank": 2
+   },
+   "chair": {
+    "distance": "0.01 meters",
+    "closeness rank": 3
+   },
+   "laptop": {
+    "distance": "0.04 meters",
+    "closeness rank": 4
+   },
+   "power strip": {
+    "distance": "0.06 meters",
+    "closeness rank": 5
+   },
+   "trash can": {
+    "distance": "0.3 meters",
+    "closeness rank": 6
+   },
+   "door": {
+    "distance": "0.67 meters",
+    "closeness rank": 7
+   },
+   "keyboard": {
+    "distance": "0.69 meters",
+    "closeness rank": 8
+   },
+   "exhaust fan": {
+    "distance": "0.8 meters",
+    "closeness rank": 9
+   },
+   "ceiling light": {
+    "distance": "1.71 meters",
+    "closeness rank": 10
+   }
+  },
+  "trash can": {
+   "table": {
+    "distance": "0.3 meters",
+    "closeness rank": 1
+   },
+   "whiteboard": {
+    "distance": "0.35 meters",
+    "closeness rank": 2
+   },
+   "laptop": {
+    "distance": "0.43 meters",
+    "closeness rank": 3
+   },
+   "chair": {
+    "distance": "0.44 meters",
+    "closeness rank": 4
+   },
+   "door": {
+    "distance": "0.48 meters",
+    "closeness rank": 5
+   },
+   "printer": {
+    "distance": "0.55 meters",
+    "closeness rank": 6
+   },
+   "power strip": {
+    "distance": "1.2 meters",
+    "closeness rank": 7
+   },
+   "exhaust fan": {
+    "distance": "1.4 meters",
+    "closeness rank": 8
+   },
+   "keyboard": {
+    "distance": "1.88 meters",
+    "closeness rank": 9
+   },
+   "ceiling light": {
+    "distance": "2.08 meters",
+    "closeness rank": 10
+   }
+  },
+  "whiteboard": {
+   "laptop": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "table": {
+    "distance": "0.0 meters",
+    "closeness rank": 2
+   },
+   "printer": {
+    "distance": "0.01 meters",
+    "closeness rank": 3
+   },
+   "keyboard": {
+    "distance": "0.23 meters",
+    "closeness rank": 4
+   },
+   "power strip": {
+    "distance": "0.23 meters",
+    "closeness rank": 5
+   },
+   "trash can": {
+    "distance": "0.35 meters",
+    "closeness rank": 6
+   },
+   "chair": {
+    "distance": "0.41 meters",
+    "closeness rank": 7
+   },
+   "exhaust fan": {
+    "distance": "0.41 meters",
+    "closeness rank": 8
+   },
+   "door": {
+    "distance": "0.87 meters",
+    "closeness rank": 9
+   },
+   "ceiling light": {
+    "distance": "1.48 meters",
+    "closeness rank": 10
+   }
+  }
+ },
+ "appearance order": ["printer", "power strip", "table", "exhaust fan", "chair", "trash can", "ceiling light", "door", "laptop", "whiteboard", "keyboard"]
+}
\ No newline at end of file
diff --git a/data/spatial codes/sam3+depth-anything-3/metric/tracking/uniform/64/explicit/bde1e479ad.json b/data/spatial codes/sam3+depth-anything-3/metric/tracking/uniform/64/explicit/bde1e479ad.json
new file mode 100644
index 0000000000000000000000000000000000000000..5497cd30e36e596c6c9109301cadba9a6cfc55a3
--- /dev/null
+++ b/data/spatial codes/sam3+depth-anything-3/metric/tracking/uniform/64/explicit/bde1e479ad.json	
@@ -0,0 +1,1239 @@
+{
+ "objects": {
+  "ceiling light": {
+   "count": 8,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "1.97 meters",
+      "y coordinate": "-1.29 meters",
+      "height above floor": "2.09 meters"
+     },
+     "longest dimension": "1.01 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-4.28 meters",
+      "y coordinate": "-1.94 meters",
+      "height above floor": "2.15 meters"
+     },
+     "longest dimension": "1.13 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "1.01 meters",
+      "y coordinate": "-4.45 meters",
+      "height above floor": "2.09 meters"
+     },
+     "longest dimension": "2.0 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-1.89 meters",
+      "y coordinate": "-4.67 meters",
+      "height above floor": "2.12 meters"
+     },
+     "longest dimension": "0.79 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-0.0 meters",
+      "y coordinate": "-2.99 meters",
+      "height above floor": "2.15 meters"
+     },
+     "longest dimension": "1.21 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-3.03 meters",
+      "y coordinate": "-3.32 meters",
+      "height above floor": "2.13 meters"
+     },
+     "longest dimension": "1.06 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "3.19 meters",
+      "y coordinate": "-2.7 meters",
+      "height above floor": "2.08 meters"
+     },
+     "longest dimension": "1.11 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-0.61 meters",
+      "y coordinate": "-6.14 meters",
+      "height above floor": "2.09 meters"
+     },
+     "longest dimension": "0.81 meters"
+    }
+   ]
+  },
+  "chair": {
+   "count": 43,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-0.39 meters",
+      "y coordinate": "0.13 meters",
+      "height above floor": "-0.03 meters"
+     },
+     "longest dimension": "0.85 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-1.68 meters",
+      "y coordinate": "-3.46 meters",
+      "height above floor": "-0.26 meters"
+     },
+     "longest dimension": "0.57 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "1.7 meters",
+      "y coordinate": "-3.54 meters",
+      "height above floor": "-0.25 meters"
+     },
+     "longest dimension": "0.49 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "1.77 meters",
+      "y coordinate": "-2.78 meters",
+      "height above floor": "-0.26 meters"
+     },
+     "longest dimension": "0.55 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "2.44 meters",
+      "y coordinate": "-1.74 meters",
+      "height above floor": "-0.05 meters"
+     },
+     "longest dimension": "0.46 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-0.02 meters",
+      "y coordinate": "-2.65 meters",
+      "height above floor": "-0.29 meters"
+     },
+     "longest dimension": "0.66 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-3.22 meters",
+      "y coordinate": "-2.31 meters",
+      "height above floor": "-0.08 meters"
+     },
+     "longest dimension": "0.53 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "0.94 meters",
+      "y coordinate": "-1.52 meters",
+      "height above floor": "-0.06 meters"
+     },
+     "longest dimension": "0.38 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-3.86 meters",
+      "y coordinate": "-2.58 meters",
+      "height above floor": "0.0 meters"
+     },
+     "longest dimension": "0.41 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-0.17 meters",
+      "y coordinate": "-2.59 meters",
+      "height above floor": "-0.1 meters"
+     },
+     "longest dimension": "0.56 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-2.03 meters",
+      "y coordinate": "-3.83 meters",
+      "height above floor": "0.29 meters"
+     },
+     "longest dimension": "0.54 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-0.06 meters",
+      "y coordinate": "-0.84 meters",
+      "height above floor": "-0.02 meters"
+     },
+     "longest dimension": "0.4 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "3.78 meters",
+      "y coordinate": "-2.61 meters",
+      "height above floor": "-0.2 meters"
+     },
+     "longest dimension": "0.88 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "0.57 meters",
+      "y coordinate": "-3.17 meters",
+      "height above floor": "-0.03 meters"
+     },
+     "longest dimension": "0.37 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-0.15 meters",
+      "y coordinate": "-2.49 meters",
+      "height above floor": "0.02 meters"
+     },
+     "longest dimension": "0.35 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "0.55 meters",
+      "y coordinate": "-3.17 meters",
+      "height above floor": "-0.02 meters"
+     },
+     "longest dimension": "0.38 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "1.54 meters",
+      "y coordinate": "-0.97 meters",
+      "height above floor": "-0.14 meters"
+     },
+     "longest dimension": "0.54 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-0.62 meters",
+      "y coordinate": "-0.07 meters",
+      "height above floor": "-0.22 meters"
+     },
+     "longest dimension": "0.58 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-2.42 meters",
+      "y coordinate": "-3.22 meters",
+      "height above floor": "-0.27 meters"
+     },
+     "longest dimension": "0.71 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "1.07 meters",
+      "y coordinate": "-0.89 meters",
+      "height above floor": "-0.25 meters"
+     },
+     "longest dimension": "0.53 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "0.63 meters",
+      "y coordinate": "1.07 meters",
+      "height above floor": "-0.06 meters"
+     },
+     "longest dimension": "0.6 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-2.87 meters",
+      "y coordinate": "-4.56 meters",
+      "height above floor": "-0.03 meters"
+     },
+     "longest dimension": "0.36 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-4.11 meters",
+      "y coordinate": "-1.39 meters",
+      "height above floor": "-0.02 meters"
+     },
+     "longest dimension": "0.35 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "2.36 meters",
+      "y coordinate": "-1.68 meters",
+      "height above floor": "0.01 meters"
+     },
+     "longest dimension": "0.4 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "1.66 meters",
+      "y coordinate": "-3.72 meters",
+      "height above floor": "-0.12 meters"
+     },
+     "longest dimension": "0.75 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-3.73 meters",
+      "y coordinate": "-2.68 meters",
+      "height above floor": "-0.1 meters"
+     },
+     "longest dimension": "0.59 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-3.64 meters",
+      "y coordinate": "-3.78 meters",
+      "height above floor": "0.01 meters"
+     },
+     "longest dimension": "0.64 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-2.09 meters",
+      "y coordinate": "-4.29 meters",
+      "height above floor": "0.36 meters"
+     },
+     "longest dimension": "0.6 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-2.65 meters",
+      "y coordinate": "-4.65 meters",
+      "height above floor": "0.46 meters"
+     },
+     "longest dimension": "0.53 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "0.24 meters",
+      "y coordinate": "0.72 meters",
+      "height above floor": "-0.03 meters"
+     },
+     "longest dimension": "0.47 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "0.82 meters",
+      "y coordinate": "-0.07 meters",
+      "height above floor": "0.0 meters"
+     },
+     "longest dimension": "0.43 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-0.96 meters",
+      "y coordinate": "-1.61 meters",
+      "height above floor": "-0.05 meters"
+     },
+     "longest dimension": "0.38 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "2.48 meters",
+      "y coordinate": "-1.67 meters",
+      "height above floor": "-0.0 meters"
+     },
+     "longest dimension": "0.44 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "2.77 meters",
+      "y coordinate": "-1.36 meters",
+      "height above floor": "-0.1 meters"
+     },
+     "longest dimension": "0.47 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "1.22 meters",
+      "y coordinate": "0.35 meters",
+      "height above floor": "-0.01 meters"
+     },
+     "longest dimension": "0.38 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-0.09 meters",
+      "y coordinate": "-2.57 meters",
+      "height above floor": "-0.29 meters"
+     },
+     "longest dimension": "0.66 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "1.78 meters",
+      "y coordinate": "-3.79 meters",
+      "height above floor": "-0.06 meters"
+     },
+     "longest dimension": "0.59 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-0.43 meters",
+      "y coordinate": "-1.23 meters",
+      "height above floor": "-0.01 meters"
+     },
+     "longest dimension": "0.62 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "1.84 meters",
+      "y coordinate": "-0.22 meters",
+      "height above floor": "-0.24 meters"
+     },
+     "longest dimension": "0.68 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-2.83 meters",
+      "y coordinate": "-4.62 meters",
+      "height above floor": "-0.01 meters"
+     },
+     "longest dimension": "0.38 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-0.72 meters",
+      "y coordinate": "-6.41 meters",
+      "height above floor": "1.13 meters"
+     },
+     "longest dimension": "0.58 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "0.17 meters",
+      "y coordinate": "1.53 meters",
+      "height above floor": "-0.15 meters"
+     },
+     "longest dimension": "0.39 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "2.44 meters",
+      "y coordinate": "-1.71 meters",
+      "height above floor": "0.01 meters"
+     },
+     "longest dimension": "0.38 meters"
+    }
+   ]
+  },
+  "clock": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-3.36 meters",
+      "y coordinate": "-4.31 meters",
+      "height above floor": "1.87 meters"
+     },
+     "longest dimension": "0.27 meters"
+    }
+   ]
+  },
+  "door": {
+   "count": 2,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-2.01 meters",
+      "y coordinate": "-5.95 meters",
+      "height above floor": "0.46 meters"
+     },
+     "longest dimension": "1.71 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "3.3 meters",
+      "y coordinate": "-0.84 meters",
+      "height above floor": "0.56 meters"
+     },
+     "longest dimension": "0.95 meters"
+    }
+   ]
+  },
+  "exhaust fan": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "0.51 meters",
+      "y coordinate": "-1.38 meters",
+      "height above floor": "1.63 meters"
+     },
+     "longest dimension": "0.57 meters"
+    }
+   ]
+  },
+  "microwave": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "4.31 meters",
+      "y coordinate": "-2.51 meters",
+      "height above floor": "0.68 meters"
+     },
+     "longest dimension": "1.01 meters"
+    }
+   ]
+  },
+  "power strip": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "2.97 meters",
+      "y coordinate": "-2.22 meters",
+      "height above floor": "0.03 meters"
+     },
+     "longest dimension": "0.27 meters"
+    }
+   ]
+  },
+  "table": {
+   "count": 22,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-2.28 meters",
+      "y coordinate": "-4.72 meters",
+      "height above floor": "-0.01 meters"
+     },
+     "longest dimension": "0.91 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "0.85 meters",
+      "y coordinate": "-3.4 meters",
+      "height above floor": "-0.01 meters"
+     },
+     "longest dimension": "0.95 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-3.31 meters",
+      "y coordinate": "-1.29 meters",
+      "height above floor": "-0.0 meters"
+     },
+     "longest dimension": "1.11 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "3.1 meters",
+      "y coordinate": "-2.11 meters",
+      "height above floor": "-0.01 meters"
+     },
+     "longest dimension": "0.96 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "1.47 meters",
+      "y coordinate": "-1.89 meters",
+      "height above floor": "-0.01 meters"
+     },
+     "longest dimension": "0.97 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "0.89 meters",
+      "y coordinate": "-3.43 meters",
+      "height above floor": "-0.01 meters"
+     },
+     "longest dimension": "1.08 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-3.72 meters",
+      "y coordinate": "-1.71 meters",
+      "height above floor": "0.01 meters"
+     },
+     "longest dimension": "0.71 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-0.45 meters",
+      "y coordinate": "-0.19 meters",
+      "height above floor": "0.02 meters"
+     },
+     "longest dimension": "0.97 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "0.88 meters",
+      "y coordinate": "-1.84 meters",
+      "height above floor": "-0.0 meters"
+     },
+     "longest dimension": "0.64 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "0.47 meters",
+      "y coordinate": "-0.81 meters",
+      "height above floor": "-0.01 meters"
+     },
+     "longest dimension": "1.02 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-0.43 meters",
+      "y coordinate": "-5.81 meters",
+      "height above floor": "-0.06 meters"
+     },
+     "longest dimension": "1.22 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-0.39 meters",
+      "y coordinate": "1.25 meters",
+      "height above floor": "0.06 meters"
+     },
+     "longest dimension": "0.46 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-0.12 meters",
+      "y coordinate": "1.4 meters",
+      "height above floor": "0.05 meters"
+     },
+     "longest dimension": "1.1 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "1.27 meters",
+      "y coordinate": "-1.75 meters",
+      "height above floor": "-0.01 meters"
+     },
+     "longest dimension": "0.69 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-4.34 meters",
+      "y coordinate": "-2.2 meters",
+      "height above floor": "0.02 meters"
+     },
+     "longest dimension": "0.93 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "0.17 meters",
+      "y coordinate": "-2.62 meters",
+      "height above floor": "-0.02 meters"
+     },
+     "longest dimension": "1.15 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-2.19 meters",
+      "y coordinate": "-3.28 meters",
+      "height above floor": "-0.02 meters"
+     },
+     "longest dimension": "1.18 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-4.29 meters",
+      "y coordinate": "-2.17 meters",
+      "height above floor": "-0.01 meters"
+     },
+     "longest dimension": "1.09 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "0.18 meters",
+      "y coordinate": "-1.2 meters",
+      "height above floor": "-0.0 meters"
+     },
+     "longest dimension": "1.25 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "1.08 meters",
+      "y coordinate": "-0.18 meters",
+      "height above floor": "0.01 meters"
+     },
+     "longest dimension": "1.02 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "2.62 meters",
+      "y coordinate": "-2.51 meters",
+      "height above floor": "-0.02 meters"
+     },
+     "longest dimension": "0.96 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-1.38 meters",
+      "y coordinate": "-3.86 meters",
+      "height above floor": "-0.03 meters"
+     },
+     "longest dimension": "1.13 meters"
+    }
+   ]
+  },
+  "trash can": {
+   "count": 2,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-1.09 meters",
+      "y coordinate": "-6.36 meters",
+      "height above floor": "-0.5 meters"
+     },
+     "longest dimension": "0.31 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-1.86 meters",
+      "y coordinate": "-6.72 meters",
+      "height above floor": "0.96 meters"
+     },
+     "longest dimension": "0.32 meters"
+    }
+   ]
+  },
+  "tv": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "4.09 meters",
+      "y coordinate": "-1.75 meters",
+      "height above floor": "0.67 meters"
+     },
+     "longest dimension": "1.52 meters"
+    }
+   ]
+  },
+  "whiteboard": {
+   "count": 7,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-3.44 meters",
+      "y coordinate": "-4.84 meters",
+      "height above floor": "1.11 meters"
+     },
+     "longest dimension": "1.08 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "1.5 meters",
+      "y coordinate": "-5.23 meters",
+      "height above floor": "-0.04 meters"
+     },
+     "longest dimension": "2.35 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "1.51 meters",
+      "y coordinate": "-5.19 meters",
+      "height above floor": "1.29 meters"
+     },
+     "longest dimension": "2.38 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "3.05 meters",
+      "y coordinate": "-3.83 meters",
+      "height above floor": "0.94 meters"
+     },
+     "longest dimension": "1.49 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-3.11 meters",
+      "y coordinate": "-4.76 meters",
+      "height above floor": "0.64 meters"
+     },
+     "longest dimension": "1.9 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-4.24 meters",
+      "y coordinate": "-3.47 meters",
+      "height above floor": "1.3 meters"
+     },
+     "longest dimension": "3.43 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "3.76 meters",
+      "y coordinate": "-3.2 meters",
+      "height above floor": "0.31 meters"
+     },
+     "longest dimension": "0.28 meters"
+    }
+   ]
+  }
+ },
+ "room": {
+  "floor area": "57.4 square meters"
+ },
+ "closest classes distance meters from": {
+  "ceiling light": {
+   "exhaust fan": {
+    "distance": "1.05 meters",
+    "closeness rank": 1
+   },
+   "tv": {
+    "distance": "1.23 meters",
+    "closeness rank": 2
+   },
+   "chair": {
+    "distance": "2.04 meters",
+    "closeness rank": 3
+   },
+   "microwave": {
+    "distance": "2.14 meters",
+    "closeness rank": 4
+   },
+   "power strip": {
+    "distance": "2.14 meters",
+    "closeness rank": 5
+   },
+   "whiteboard": {
+    "distance": "2.14 meters",
+    "closeness rank": 6
+   },
+   "table": {
+    "distance": "2.42 meters",
+    "closeness rank": 7
+   },
+   "clock": {
+    "distance": "5.91 meters",
+    "closeness rank": 8
+   },
+   "door": {
+    "distance": "6.01 meters",
+    "closeness rank": 9
+   },
+   "trash can": {
+    "distance": "6.04 meters",
+    "closeness rank": 10
+   }
+  },
+  "chair": {
+   "table": {
+    "distance": "0.1 meters",
+    "closeness rank": 1
+   },
+   "exhaust fan": {
+    "distance": "1.78 meters",
+    "closeness rank": 2
+   },
+   "whiteboard": {
+    "distance": "1.81 meters",
+    "closeness rank": 3
+   },
+   "power strip": {
+    "distance": "2.02 meters",
+    "closeness rank": 4
+   },
+   "ceiling light": {
+    "distance": "2.04 meters",
+    "closeness rank": 5
+   },
+   "tv": {
+    "distance": "2.17 meters",
+    "closeness rank": 6
+   },
+   "clock": {
+    "distance": "2.5 meters",
+    "closeness rank": 7
+   },
+   "door": {
+    "distance": "2.73 meters",
+    "closeness rank": 8
+   },
+   "microwave": {
+    "distance": "3.22 meters",
+    "closeness rank": 9
+   },
+   "trash can": {
+    "distance": "3.25 meters",
+    "closeness rank": 10
+   }
+  },
+  "clock": {
+   "whiteboard": {
+    "distance": "0.42 meters",
+    "closeness rank": 1
+   },
+   "door": {
+    "distance": "1.11 meters",
+    "closeness rank": 2
+   },
+   "table": {
+    "distance": "2.07 meters",
+    "closeness rank": 3
+   },
+   "chair": {
+    "distance": "2.5 meters",
+    "closeness rank": 4
+   },
+   "trash can": {
+    "distance": "3.26 meters",
+    "closeness rank": 5
+   },
+   "exhaust fan": {
+    "distance": "4.63 meters",
+    "closeness rank": 6
+   },
+   "ceiling light": {
+    "distance": "5.91 meters",
+    "closeness rank": 7
+   },
+   "power strip": {
+    "distance": "6.76 meters",
+    "closeness rank": 8
+   },
+   "tv": {
+    "distance": "7.52 meters",
+    "closeness rank": 9
+   },
+   "microwave": {
+    "distance": "7.88 meters",
+    "closeness rank": 10
+   }
+  },
+  "door": {
+   "whiteboard": {
+    "distance": "0.39 meters",
+    "closeness rank": 1
+   },
+   "trash can": {
+    "distance": "0.44 meters",
+    "closeness rank": 2
+   },
+   "clock": {
+    "distance": "1.11 meters",
+    "closeness rank": 3
+   },
+   "table": {
+    "distance": "1.28 meters",
+    "closeness rank": 4
+   },
+   "chair": {
+    "distance": "2.73 meters",
+    "closeness rank": 5
+   },
+   "exhaust fan": {
+    "distance": "4.91 meters",
+    "closeness rank": 6
+   },
+   "ceiling light": {
+    "distance": "6.01 meters",
+    "closeness rank": 7
+   },
+   "power strip": {
+    "distance": "6.05 meters",
+    "closeness rank": 8
+   },
+   "microwave": {
+    "distance": "7.07 meters",
+    "closeness rank": 9
+   },
+   "tv": {
+    "distance": "7.18 meters",
+    "closeness rank": 10
+   }
+  },
+  "exhaust fan": {
+   "ceiling light": {
+    "distance": "1.05 meters",
+    "closeness rank": 1
+   },
+   "table": {
+    "distance": "1.62 meters",
+    "closeness rank": 2
+   },
+   "chair": {
+    "distance": "1.78 meters",
+    "closeness rank": 3
+   },
+   "power strip": {
+    "distance": "2.81 meters",
+    "closeness rank": 4
+   },
+   "tv": {
+    "distance": "2.87 meters",
+    "closeness rank": 5
+   },
+   "whiteboard": {
+    "distance": "3.4 meters",
+    "closeness rank": 6
+   },
+   "microwave": {
+    "distance": "3.78 meters",
+    "closeness rank": 7
+   },
+   "clock": {
+    "distance": "4.63 meters",
+    "closeness rank": 8
+   },
+   "door": {
+    "distance": "4.91 meters",
+    "closeness rank": 9
+   },
+   "trash can": {
+    "distance": "5.3 meters",
+    "closeness rank": 10
+   }
+  },
+  "microwave": {
+   "tv": {
+    "distance": "0.08 meters",
+    "closeness rank": 1
+   },
+   "power strip": {
+    "distance": "1.2 meters",
+    "closeness rank": 2
+   },
+   "whiteboard": {
+    "distance": "1.42 meters",
+    "closeness rank": 3
+   },
+   "ceiling light": {
+    "distance": "2.14 meters",
+    "closeness rank": 4
+   },
+   "table": {
+    "distance": "2.89 meters",
+    "closeness rank": 5
+   },
+   "chair": {
+    "distance": "3.22 meters",
+    "closeness rank": 6
+   },
+   "exhaust fan": {
+    "distance": "3.78 meters",
+    "closeness rank": 7
+   },
+   "trash can": {
+    "distance": "6.5 meters",
+    "closeness rank": 8
+   },
+   "door": {
+    "distance": "7.07 meters",
+    "closeness rank": 9
+   },
+   "clock": {
+    "distance": "7.88 meters",
+    "closeness rank": 10
+   }
+  },
+  "power strip": {
+   "tv": {
+    "distance": "0.89 meters",
+    "closeness rank": 1
+   },
+   "microwave": {
+    "distance": "1.2 meters",
+    "closeness rank": 2
+   },
+   "table": {
+    "distance": "1.62 meters",
+    "closeness rank": 3
+   },
+   "whiteboard": {
+    "distance": "1.74 meters",
+    "closeness rank": 4
+   },
+   "chair": {
+    "distance": "2.02 meters",
+    "closeness rank": 5
+   },
+   "ceiling light": {
+    "distance": "2.14 meters",
+    "closeness rank": 6
+   },
+   "exhaust fan": {
+    "distance": "2.81 meters",
+    "closeness rank": 7
+   },
+   "trash can": {
+    "distance": "5.56 meters",
+    "closeness rank": 8
+   },
+   "door": {
+    "distance": "6.05 meters",
+    "closeness rank": 9
+   },
+   "clock": {
+    "distance": "6.76 meters",
+    "closeness rank": 10
+   }
+  },
+  "table": {
+   "chair": {
+    "distance": "0.1 meters",
+    "closeness rank": 1
+   },
+   "whiteboard": {
+    "distance": "1.11 meters",
+    "closeness rank": 2
+   },
+   "door": {
+    "distance": "1.28 meters",
+    "closeness rank": 3
+   },
+   "exhaust fan": {
+    "distance": "1.62 meters",
+    "closeness rank": 4
+   },
+   "power strip": {
+    "distance": "1.62 meters",
+    "closeness rank": 5
+   },
+   "trash can": {
+    "distance": "1.98 meters",
+    "closeness rank": 6
+   },
+   "clock": {
+    "distance": "2.07 meters",
+    "closeness rank": 7
+   },
+   "ceiling light": {
+    "distance": "2.42 meters",
+    "closeness rank": 8
+   },
+   "tv": {
+    "distance": "2.71 meters",
+    "closeness rank": 9
+   },
+   "microwave": {
+    "distance": "2.89 meters",
+    "closeness rank": 10
+   }
+  },
+  "trash can": {
+   "door": {
+    "distance": "0.44 meters",
+    "closeness rank": 1
+   },
+   "whiteboard": {
+    "distance": "1.93 meters",
+    "closeness rank": 2
+   },
+   "table": {
+    "distance": "1.98 meters",
+    "closeness rank": 3
+   },
+   "chair": {
+    "distance": "3.25 meters",
+    "closeness rank": 4
+   },
+   "clock": {
+    "distance": "3.26 meters",
+    "closeness rank": 5
+   },
+   "exhaust fan": {
+    "distance": "5.3 meters",
+    "closeness rank": 6
+   },
+   "power strip": {
+    "distance": "5.56 meters",
+    "closeness rank": 7
+   },
+   "ceiling light": {
+    "distance": "6.04 meters",
+    "closeness rank": 8
+   },
+   "microwave": {
+    "distance": "6.5 meters",
+    "closeness rank": 9
+   },
+   "tv": {
+    "distance": "6.64 meters",
+    "closeness rank": 10
+   }
+  },
+  "tv": {
+   "microwave": {
+    "distance": "0.08 meters",
+    "closeness rank": 1
+   },
+   "power strip": {
+    "distance": "0.89 meters",
+    "closeness rank": 2
+   },
+   "ceiling light": {
+    "distance": "1.23 meters",
+    "closeness rank": 3
+   },
+   "whiteboard": {
+    "distance": "1.57 meters",
+    "closeness rank": 4
+   },
+   "chair": {
+    "distance": "2.17 meters",
+    "closeness rank": 5
+   },
+   "table": {
+    "distance": "2.71 meters",
+    "closeness rank": 6
+   },
+   "exhaust fan": {
+    "distance": "2.87 meters",
+    "closeness rank": 7
+   },
+   "trash can": {
+    "distance": "6.64 meters",
+    "closeness rank": 8
+   },
+   "door": {
+    "distance": "7.18 meters",
+    "closeness rank": 9
+   },
+   "clock": {
+    "distance": "7.52 meters",
+    "closeness rank": 10
+   }
+  },
+  "whiteboard": {
+   "door": {
+    "distance": "0.39 meters",
+    "closeness rank": 1
+   },
+   "clock": {
+    "distance": "0.42 meters",
+    "closeness rank": 2
+   },
+   "table": {
+    "distance": "1.11 meters",
+    "closeness rank": 3
+   },
+   "microwave": {
+    "distance": "1.42 meters",
+    "closeness rank": 4
+   },
+   "tv": {
+    "distance": "1.57 meters",
+    "closeness rank": 5
+   },
+   "power strip": {
+    "distance": "1.74 meters",
+    "closeness rank": 6
+   },
+   "chair": {
+    "distance": "1.81 meters",
+    "closeness rank": 7
+   },
+   "trash can": {
+    "distance": "1.93 meters",
+    "closeness rank": 8
+   },
+   "ceiling light": {
+    "distance": "2.14 meters",
+    "closeness rank": 9
+   },
+   "exhaust fan": {
+    "distance": "3.4 meters",
+    "closeness rank": 10
+   }
+  }
+ },
+ "appearance order": ["chair", "table", "trash can", "whiteboard", "ceiling light", "door", "clock", "power strip", "tv", "microwave", "exhaust fan"]
+}
\ No newline at end of file
diff --git a/data/spatial codes/sam3+depth-anything-3/metric/tracking/uniform/64/explicit/e398684d27.json b/data/spatial codes/sam3+depth-anything-3/metric/tracking/uniform/64/explicit/e398684d27.json
new file mode 100644
index 0000000000000000000000000000000000000000..e3f693a8edce5376664f2d81f4f93739ed97dc82
--- /dev/null
+++ b/data/spatial codes/sam3+depth-anything-3/metric/tracking/uniform/64/explicit/e398684d27.json	
@@ -0,0 +1,489 @@
+{
+ "objects": {
+  "ceiling light": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-1.7 meters",
+      "y coordinate": "-1.63 meters",
+      "height above floor": "0.49 meters"
+     },
+     "longest dimension": "1.22 meters"
+    }
+   ]
+  },
+  "crate": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-2.01 meters",
+      "y coordinate": "1.58 meters",
+      "height above floor": "0.27 meters"
+     },
+     "longest dimension": "0.28 meters"
+    }
+   ]
+  },
+  "door": {
+   "count": 8,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-1.64 meters",
+      "y coordinate": "1.04 meters",
+      "height above floor": "0.01 meters"
+     },
+     "longest dimension": "0.79 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "0.2 meters",
+      "y coordinate": "0.02 meters",
+      "height above floor": "1.21 meters"
+     },
+     "longest dimension": "0.81 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-0.42 meters",
+      "y coordinate": "0.19 meters",
+      "height above floor": "-0.01 meters"
+     },
+     "longest dimension": "0.53 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-1.39 meters",
+      "y coordinate": "-1.01 meters",
+      "height above floor": "-0.75 meters"
+     },
+     "longest dimension": "2.11 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-2.03 meters",
+      "y coordinate": "0.95 meters",
+      "height above floor": "0.0 meters"
+     },
+     "longest dimension": "0.69 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-1.83 meters",
+      "y coordinate": "0.29 meters",
+      "height above floor": "1.16 meters"
+     },
+     "longest dimension": "0.66 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "0.11 meters",
+      "y coordinate": "0.39 meters",
+      "height above floor": "0.04 meters"
+     },
+     "longest dimension": "1.14 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-2.34 meters",
+      "y coordinate": "0.7 meters",
+      "height above floor": "0.95 meters"
+     },
+     "longest dimension": "0.97 meters"
+    }
+   ]
+  },
+  "exhaust fan": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-1.4 meters",
+      "y coordinate": "-0.31 meters",
+      "height above floor": "1.33 meters"
+     },
+     "longest dimension": "0.33 meters"
+    }
+   ]
+  },
+  "monitor": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-0.27 meters",
+      "y coordinate": "-0.7 meters",
+      "height above floor": "-0.16 meters"
+     },
+     "longest dimension": "0.39 meters"
+    }
+   ]
+  },
+  "paper bag": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-1.41 meters",
+      "y coordinate": "-0.36 meters",
+      "height above floor": "1.32 meters"
+     },
+     "longest dimension": "0.36 meters"
+    }
+   ]
+  },
+  "refrigerator": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-2.29 meters",
+      "y coordinate": "0.64 meters",
+      "height above floor": "0.73 meters"
+     },
+     "longest dimension": "1.01 meters"
+    }
+   ]
+  },
+  "tv": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-0.27 meters",
+      "y coordinate": "-0.69 meters",
+      "height above floor": "-0.16 meters"
+     },
+     "longest dimension": "0.39 meters"
+    }
+   ]
+  },
+  "whiteboard": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "0.2 meters",
+      "y coordinate": "0.02 meters",
+      "height above floor": "1.21 meters"
+     },
+     "longest dimension": "0.79 meters"
+    }
+   ]
+  }
+ },
+ "room": {
+  "floor area": "14.2 square meters"
+ },
+ "closest classes distance meters from": {
+  "ceiling light": {
+   "paper bag": {
+    "distance": "1.43 meters",
+    "closeness rank": 1
+   },
+   "monitor": {
+    "distance": "1.44 meters",
+    "closeness rank": 2
+   },
+   "tv": {
+    "distance": "1.44 meters",
+    "closeness rank": 3
+   },
+   "exhaust fan": {
+    "distance": "1.51 meters",
+    "closeness rank": 4
+   },
+   "door": {
+    "distance": "1.6 meters",
+    "closeness rank": 5
+   },
+   "refrigerator": {
+    "distance": "1.62 meters",
+    "closeness rank": 6
+   },
+   "whiteboard": {
+    "distance": "1.68 meters",
+    "closeness rank": 7
+   },
+   "crate": {
+    "distance": "2.96 meters",
+    "closeness rank": 8
+   }
+  },
+  "crate": {
+   "door": {
+    "distance": "0.35 meters",
+    "closeness rank": 1
+   },
+   "refrigerator": {
+    "distance": "0.68 meters",
+    "closeness rank": 2
+   },
+   "exhaust fan": {
+    "distance": "2.04 meters",
+    "closeness rank": 3
+   },
+   "paper bag": {
+    "distance": "2.18 meters",
+    "closeness rank": 4
+   },
+   "whiteboard": {
+    "distance": "2.63 meters",
+    "closeness rank": 5
+   },
+   "monitor": {
+    "distance": "2.65 meters",
+    "closeness rank": 6
+   },
+   "tv": {
+    "distance": "2.65 meters",
+    "closeness rank": 7
+   },
+   "ceiling light": {
+    "distance": "2.96 meters",
+    "closeness rank": 8
+   }
+  },
+  "door": {
+   "refrigerator": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "exhaust fan": {
+    "distance": "0.33 meters",
+    "closeness rank": 2
+   },
+   "whiteboard": {
+    "distance": "0.34 meters",
+    "closeness rank": 3
+   },
+   "crate": {
+    "distance": "0.35 meters",
+    "closeness rank": 4
+   },
+   "paper bag": {
+    "distance": "0.58 meters",
+    "closeness rank": 5
+   },
+   "monitor": {
+    "distance": "1.59 meters",
+    "closeness rank": 6
+   },
+   "tv": {
+    "distance": "1.59 meters",
+    "closeness rank": 7
+   },
+   "ceiling light": {
+    "distance": "1.6 meters",
+    "closeness rank": 8
+   }
+  },
+  "exhaust fan": {
+   "paper bag": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "door": {
+    "distance": "0.33 meters",
+    "closeness rank": 2
+   },
+   "whiteboard": {
+    "distance": "0.85 meters",
+    "closeness rank": 3
+   },
+   "refrigerator": {
+    "distance": "1.07 meters",
+    "closeness rank": 4
+   },
+   "ceiling light": {
+    "distance": "1.51 meters",
+    "closeness rank": 5
+   },
+   "monitor": {
+    "distance": "1.59 meters",
+    "closeness rank": 6
+   },
+   "tv": {
+    "distance": "1.59 meters",
+    "closeness rank": 7
+   },
+   "crate": {
+    "distance": "2.04 meters",
+    "closeness rank": 8
+   }
+  },
+  "monitor": {
+   "tv": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "refrigerator": {
+    "distance": "0.56 meters",
+    "closeness rank": 2
+   },
+   "whiteboard": {
+    "distance": "0.93 meters",
+    "closeness rank": 3
+   },
+   "ceiling light": {
+    "distance": "1.44 meters",
+    "closeness rank": 4
+   },
+   "door": {
+    "distance": "1.59 meters",
+    "closeness rank": 5
+   },
+   "exhaust fan": {
+    "distance": "1.59 meters",
+    "closeness rank": 6
+   },
+   "paper bag": {
+    "distance": "1.7 meters",
+    "closeness rank": 7
+   },
+   "crate": {
+    "distance": "2.65 meters",
+    "closeness rank": 8
+   }
+  },
+  "paper bag": {
+   "exhaust fan": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "door": {
+    "distance": "0.58 meters",
+    "closeness rank": 2
+   },
+   "refrigerator": {
+    "distance": "1.15 meters",
+    "closeness rank": 3
+   },
+   "whiteboard": {
+    "distance": "1.27 meters",
+    "closeness rank": 4
+   },
+   "ceiling light": {
+    "distance": "1.43 meters",
+    "closeness rank": 5
+   },
+   "monitor": {
+    "distance": "1.7 meters",
+    "closeness rank": 6
+   },
+   "tv": {
+    "distance": "1.7 meters",
+    "closeness rank": 7
+   },
+   "crate": {
+    "distance": "2.18 meters",
+    "closeness rank": 8
+   }
+  },
+  "refrigerator": {
+   "door": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "monitor": {
+    "distance": "0.56 meters",
+    "closeness rank": 2
+   },
+   "tv": {
+    "distance": "0.56 meters",
+    "closeness rank": 3
+   },
+   "crate": {
+    "distance": "0.68 meters",
+    "closeness rank": 4
+   },
+   "exhaust fan": {
+    "distance": "1.07 meters",
+    "closeness rank": 5
+   },
+   "paper bag": {
+    "distance": "1.15 meters",
+    "closeness rank": 6
+   },
+   "whiteboard": {
+    "distance": "1.23 meters",
+    "closeness rank": 7
+   },
+   "ceiling light": {
+    "distance": "1.62 meters",
+    "closeness rank": 8
+   }
+  },
+  "tv": {
+   "monitor": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "refrigerator": {
+    "distance": "0.56 meters",
+    "closeness rank": 2
+   },
+   "whiteboard": {
+    "distance": "0.94 meters",
+    "closeness rank": 3
+   },
+   "ceiling light": {
+    "distance": "1.44 meters",
+    "closeness rank": 4
+   },
+   "door": {
+    "distance": "1.59 meters",
+    "closeness rank": 5
+   },
+   "exhaust fan": {
+    "distance": "1.59 meters",
+    "closeness rank": 6
+   },
+   "paper bag": {
+    "distance": "1.7 meters",
+    "closeness rank": 7
+   },
+   "crate": {
+    "distance": "2.65 meters",
+    "closeness rank": 8
+   }
+  },
+  "whiteboard": {
+   "door": {
+    "distance": "0.34 meters",
+    "closeness rank": 1
+   },
+   "exhaust fan": {
+    "distance": "0.85 meters",
+    "closeness rank": 2
+   },
+   "monitor": {
+    "distance": "0.93 meters",
+    "closeness rank": 3
+   },
+   "tv": {
+    "distance": "0.94 meters",
+    "closeness rank": 4
+   },
+   "refrigerator": {
+    "distance": "1.23 meters",
+    "closeness rank": 5
+   },
+   "paper bag": {
+    "distance": "1.27 meters",
+    "closeness rank": 6
+   },
+   "ceiling light": {
+    "distance": "1.68 meters",
+    "closeness rank": 7
+   },
+   "crate": {
+    "distance": "2.63 meters",
+    "closeness rank": 8
+   }
+  }
+ },
+ "appearance order": ["door", "monitor", "tv", "ceiling light", "crate", "refrigerator", "whiteboard", "exhaust fan", "paper bag"]
+}
\ No newline at end of file
diff --git a/data/spatial codes/sam3+depth-anything-3/metric/tracking/uniform/64/explicit/f9f95681fd.json b/data/spatial codes/sam3+depth-anything-3/metric/tracking/uniform/64/explicit/f9f95681fd.json
new file mode 100644
index 0000000000000000000000000000000000000000..2d82df774ebbddb813fcb08c4c8d40e048bb9feb
--- /dev/null
+++ b/data/spatial codes/sam3+depth-anything-3/metric/tracking/uniform/64/explicit/f9f95681fd.json	
@@ -0,0 +1,925 @@
+{
+ "objects": {
+  "basket": {
+   "count": 2,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-0.51 meters",
+      "y coordinate": "0.9 meters",
+      "height above floor": "-1.8 meters"
+     },
+     "longest dimension": "0.23 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-0.7 meters",
+      "y coordinate": "1.39 meters",
+      "height above floor": "-1.17 meters"
+     },
+     "longest dimension": "0.19 meters"
+    }
+   ]
+  },
+  "bowl": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-0.52 meters",
+      "y coordinate": "1.49 meters",
+      "height above floor": "-1.07 meters"
+     },
+     "longest dimension": "0.2 meters"
+    }
+   ]
+  },
+  "ceiling light": {
+   "count": 2,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "0.15 meters",
+      "y coordinate": "-0.54 meters",
+      "height above floor": "-0.49 meters"
+     },
+     "longest dimension": "0.23 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-0.45 meters",
+      "y coordinate": "-0.52 meters",
+      "height above floor": "-1.6 meters"
+     },
+     "longest dimension": "0.1 meters"
+    }
+   ]
+  },
+  "cup": {
+   "count": 3,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-0.46 meters",
+      "y coordinate": "0.89 meters",
+      "height above floor": "-1.56 meters"
+     },
+     "longest dimension": "0.08 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "0.08 meters",
+      "y coordinate": "0.79 meters",
+      "height above floor": "-1.83 meters"
+     },
+     "longest dimension": "0.13 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-0.02 meters",
+      "y coordinate": "0.82 meters",
+      "height above floor": "-1.77 meters"
+     },
+     "longest dimension": "0.15 meters"
+    }
+   ]
+  },
+  "cutting board": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-0.62 meters",
+      "y coordinate": "1.33 meters",
+      "height above floor": "-0.87 meters"
+     },
+     "longest dimension": "0.4 meters"
+    }
+   ]
+  },
+  "door": {
+   "count": 5,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "0.3 meters",
+      "y coordinate": "1.2 meters",
+      "height above floor": "-0.0 meters"
+     },
+     "longest dimension": "0.89 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "0.36 meters",
+      "y coordinate": "0.71 meters",
+      "height above floor": "-0.01 meters"
+     },
+     "longest dimension": "1.19 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-0.52 meters",
+      "y coordinate": "0.11 meters",
+      "height above floor": "-0.63 meters"
+     },
+     "longest dimension": "0.73 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "0.89 meters",
+      "y coordinate": "1.23 meters",
+      "height above floor": "-0.6 meters"
+     },
+     "longest dimension": "0.57 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-0.55 meters",
+      "y coordinate": "-0.32 meters",
+      "height above floor": "-0.62 meters"
+     },
+     "longest dimension": "0.55 meters"
+    }
+   ]
+  },
+  "exhaust fan": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "0.55 meters",
+      "y coordinate": "-0.55 meters",
+      "height above floor": "-1.0 meters"
+     },
+     "longest dimension": "0.14 meters"
+    }
+   ]
+  },
+  "kettle": {
+   "count": 2,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-0.23 meters",
+      "y coordinate": "0.77 meters",
+      "height above floor": "-1.55 meters"
+     },
+     "longest dimension": "0.21 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-0.25 meters",
+      "y coordinate": "0.79 meters",
+      "height above floor": "-1.53 meters"
+     },
+     "longest dimension": "0.19 meters"
+    }
+   ]
+  },
+  "microwave": {
+   "count": 2,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-0.63 meters",
+      "y coordinate": "0.68 meters",
+      "height above floor": "-1.54 meters"
+     },
+     "longest dimension": "0.53 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "1.06 meters",
+      "y coordinate": "0.67 meters",
+      "height above floor": "-0.67 meters"
+     },
+     "longest dimension": "0.49 meters"
+    }
+   ]
+  },
+  "power strip": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-0.76 meters",
+      "y coordinate": "0.92 meters",
+      "height above floor": "-1.4 meters"
+     },
+     "longest dimension": "0.1 meters"
+    }
+   ]
+  },
+  "printer": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-0.63 meters",
+      "y coordinate": "0.68 meters",
+      "height above floor": "-1.54 meters"
+     },
+     "longest dimension": "0.53 meters"
+    }
+   ]
+  },
+  "trash can": {
+   "count": 2,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-0.09 meters",
+      "y coordinate": "1.42 meters",
+      "height above floor": "-0.41 meters"
+     },
+     "longest dimension": "0.39 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "0.38 meters",
+      "y coordinate": "1.52 meters",
+      "height above floor": "-1.58 meters"
+     },
+     "longest dimension": "0.29 meters"
+    }
+   ]
+  },
+  "whiteboard": {
+   "count": 2,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "1.03 meters",
+      "y coordinate": "-0.21 meters",
+      "height above floor": "-1.21 meters"
+     },
+     "longest dimension": "0.82 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "0.39 meters",
+      "y coordinate": "0.29 meters",
+      "height above floor": "-0.0 meters"
+     },
+     "longest dimension": "0.91 meters"
+    }
+   ]
+  }
+ },
+ "room": {
+  "floor area": "5.5 square meters"
+ },
+ "closest classes distance meters from": {
+  "basket": {
+   "microwave": {
+    "distance": "0.13 meters",
+    "closeness rank": 1
+   },
+   "printer": {
+    "distance": "0.14 meters",
+    "closeness rank": 2
+   },
+   "cup": {
+    "distance": "0.15 meters",
+    "closeness rank": 3
+   },
+   "kettle": {
+    "distance": "0.28 meters",
+    "closeness rank": 4
+   },
+   "power strip": {
+    "distance": "0.36 meters",
+    "closeness rank": 5
+   },
+   "door": {
+    "distance": "0.77 meters",
+    "closeness rank": 6
+   },
+   "bowl": {
+    "distance": "0.81 meters",
+    "closeness rank": 7
+   },
+   "cutting board": {
+    "distance": "0.87 meters",
+    "closeness rank": 8
+   },
+   "whiteboard": {
+    "distance": "1.11 meters",
+    "closeness rank": 9
+   },
+   "trash can": {
+    "distance": "1.26 meters",
+    "closeness rank": 10
+   },
+   "exhaust fan": {
+    "distance": "1.89 meters",
+    "closeness rank": 11
+   },
+   "ceiling light": {
+    "distance": "1.94 meters",
+    "closeness rank": 12
+   }
+  },
+  "bowl": {
+   "cutting board": {
+    "distance": "0.03 meters",
+    "closeness rank": 1
+   },
+   "door": {
+    "distance": "0.38 meters",
+    "closeness rank": 2
+   },
+   "trash can": {
+    "distance": "0.43 meters",
+    "closeness rank": 3
+   },
+   "microwave": {
+    "distance": "0.6 meters",
+    "closeness rank": 4
+   },
+   "printer": {
+    "distance": "0.6 meters",
+    "closeness rank": 5
+   },
+   "power strip": {
+    "distance": "0.61 meters",
+    "closeness rank": 6
+   },
+   "cup": {
+    "distance": "0.68 meters",
+    "closeness rank": 7
+   },
+   "kettle": {
+    "distance": "0.74 meters",
+    "closeness rank": 8
+   },
+   "basket": {
+    "distance": "0.81 meters",
+    "closeness rank": 9
+   },
+   "whiteboard": {
+    "distance": "1.21 meters",
+    "closeness rank": 10
+   },
+   "ceiling light": {
+    "distance": "2.14 meters",
+    "closeness rank": 11
+   },
+   "exhaust fan": {
+    "distance": "2.25 meters",
+    "closeness rank": 12
+   }
+  },
+  "ceiling light": {
+   "door": {
+    "distance": "0.38 meters",
+    "closeness rank": 1
+   },
+   "exhaust fan": {
+    "distance": "0.53 meters",
+    "closeness rank": 2
+   },
+   "whiteboard": {
+    "distance": "0.78 meters",
+    "closeness rank": 3
+   },
+   "printer": {
+    "distance": "1.42 meters",
+    "closeness rank": 4
+   },
+   "kettle": {
+    "distance": "1.63 meters",
+    "closeness rank": 5
+   },
+   "microwave": {
+    "distance": "1.64 meters",
+    "closeness rank": 6
+   },
+   "trash can": {
+    "distance": "1.72 meters",
+    "closeness rank": 7
+   },
+   "cup": {
+    "distance": "1.78 meters",
+    "closeness rank": 8
+   },
+   "cutting board": {
+    "distance": "1.85 meters",
+    "closeness rank": 9
+   },
+   "power strip": {
+    "distance": "1.86 meters",
+    "closeness rank": 10
+   },
+   "basket": {
+    "distance": "1.94 meters",
+    "closeness rank": 11
+   },
+   "bowl": {
+    "distance": "2.14 meters",
+    "closeness rank": 12
+   }
+  },
+  "cup": {
+   "microwave": {
+    "distance": "0.04 meters",
+    "closeness rank": 1
+   },
+   "printer": {
+    "distance": "0.04 meters",
+    "closeness rank": 2
+   },
+   "kettle": {
+    "distance": "0.13 meters",
+    "closeness rank": 3
+   },
+   "basket": {
+    "distance": "0.15 meters",
+    "closeness rank": 4
+   },
+   "power strip": {
+    "distance": "0.27 meters",
+    "closeness rank": 5
+   },
+   "door": {
+    "distance": "0.64 meters",
+    "closeness rank": 6
+   },
+   "bowl": {
+    "distance": "0.68 meters",
+    "closeness rank": 7
+   },
+   "cutting board": {
+    "distance": "0.68 meters",
+    "closeness rank": 8
+   },
+   "whiteboard": {
+    "distance": "0.91 meters",
+    "closeness rank": 9
+   },
+   "trash can": {
+    "distance": "1.06 meters",
+    "closeness rank": 10
+   },
+   "exhaust fan": {
+    "distance": "1.77 meters",
+    "closeness rank": 11
+   },
+   "ceiling light": {
+    "distance": "1.78 meters",
+    "closeness rank": 12
+   }
+  },
+  "cutting board": {
+   "bowl": {
+    "distance": "0.03 meters",
+    "closeness rank": 1
+   },
+   "door": {
+    "distance": "0.1 meters",
+    "closeness rank": 2
+   },
+   "trash can": {
+    "distance": "0.36 meters",
+    "closeness rank": 3
+   },
+   "microwave": {
+    "distance": "0.52 meters",
+    "closeness rank": 4
+   },
+   "printer": {
+    "distance": "0.52 meters",
+    "closeness rank": 5
+   },
+   "power strip": {
+    "distance": "0.56 meters",
+    "closeness rank": 6
+   },
+   "cup": {
+    "distance": "0.68 meters",
+    "closeness rank": 7
+   },
+   "kettle": {
+    "distance": "0.73 meters",
+    "closeness rank": 8
+   },
+   "basket": {
+    "distance": "0.87 meters",
+    "closeness rank": 9
+   },
+   "whiteboard": {
+    "distance": "0.9 meters",
+    "closeness rank": 10
+   },
+   "ceiling light": {
+    "distance": "1.85 meters",
+    "closeness rank": 11
+   },
+   "exhaust fan": {
+    "distance": "2.0 meters",
+    "closeness rank": 12
+   }
+  },
+  "door": {
+   "whiteboard": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "cutting board": {
+    "distance": "0.1 meters",
+    "closeness rank": 2
+   },
+   "trash can": {
+    "distance": "0.19 meters",
+    "closeness rank": 3
+   },
+   "printer": {
+    "distance": "0.26 meters",
+    "closeness rank": 4
+   },
+   "microwave": {
+    "distance": "0.32 meters",
+    "closeness rank": 5
+   },
+   "bowl": {
+    "distance": "0.38 meters",
+    "closeness rank": 6
+   },
+   "ceiling light": {
+    "distance": "0.38 meters",
+    "closeness rank": 7
+   },
+   "power strip": {
+    "distance": "0.52 meters",
+    "closeness rank": 8
+   },
+   "exhaust fan": {
+    "distance": "0.57 meters",
+    "closeness rank": 9
+   },
+   "cup": {
+    "distance": "0.64 meters",
+    "closeness rank": 10
+   },
+   "kettle": {
+    "distance": "0.66 meters",
+    "closeness rank": 11
+   },
+   "basket": {
+    "distance": "0.77 meters",
+    "closeness rank": 12
+   }
+  },
+  "exhaust fan": {
+   "ceiling light": {
+    "distance": "0.53 meters",
+    "closeness rank": 1
+   },
+   "door": {
+    "distance": "0.57 meters",
+    "closeness rank": 2
+   },
+   "whiteboard": {
+    "distance": "0.62 meters",
+    "closeness rank": 3
+   },
+   "printer": {
+    "distance": "1.34 meters",
+    "closeness rank": 4
+   },
+   "kettle": {
+    "distance": "1.56 meters",
+    "closeness rank": 5
+   },
+   "microwave": {
+    "distance": "1.68 meters",
+    "closeness rank": 6
+   },
+   "cup": {
+    "distance": "1.77 meters",
+    "closeness rank": 7
+   },
+   "basket": {
+    "distance": "1.89 meters",
+    "closeness rank": 8
+   },
+   "trash can": {
+    "distance": "1.92 meters",
+    "closeness rank": 9
+   },
+   "power strip": {
+    "distance": "1.94 meters",
+    "closeness rank": 10
+   },
+   "cutting board": {
+    "distance": "2.0 meters",
+    "closeness rank": 11
+   },
+   "bowl": {
+    "distance": "2.25 meters",
+    "closeness rank": 12
+   }
+  },
+  "kettle": {
+   "cup": {
+    "distance": "0.13 meters",
+    "closeness rank": 1
+   },
+   "microwave": {
+    "distance": "0.21 meters",
+    "closeness rank": 2
+   },
+   "printer": {
+    "distance": "0.21 meters",
+    "closeness rank": 3
+   },
+   "basket": {
+    "distance": "0.28 meters",
+    "closeness rank": 4
+   },
+   "power strip": {
+    "distance": "0.45 meters",
+    "closeness rank": 5
+   },
+   "door": {
+    "distance": "0.66 meters",
+    "closeness rank": 6
+   },
+   "cutting board": {
+    "distance": "0.73 meters",
+    "closeness rank": 7
+   },
+   "bowl": {
+    "distance": "0.74 meters",
+    "closeness rank": 8
+   },
+   "whiteboard": {
+    "distance": "0.86 meters",
+    "closeness rank": 9
+   },
+   "trash can": {
+    "distance": "1.04 meters",
+    "closeness rank": 10
+   },
+   "exhaust fan": {
+    "distance": "1.56 meters",
+    "closeness rank": 11
+   },
+   "ceiling light": {
+    "distance": "1.63 meters",
+    "closeness rank": 12
+   }
+  },
+  "microwave": {
+   "printer": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "power strip": {
+    "distance": "0.02 meters",
+    "closeness rank": 2
+   },
+   "cup": {
+    "distance": "0.04 meters",
+    "closeness rank": 3
+   },
+   "basket": {
+    "distance": "0.13 meters",
+    "closeness rank": 4
+   },
+   "kettle": {
+    "distance": "0.21 meters",
+    "closeness rank": 5
+   },
+   "door": {
+    "distance": "0.32 meters",
+    "closeness rank": 6
+   },
+   "cutting board": {
+    "distance": "0.52 meters",
+    "closeness rank": 7
+   },
+   "bowl": {
+    "distance": "0.6 meters",
+    "closeness rank": 8
+   },
+   "whiteboard": {
+    "distance": "0.71 meters",
+    "closeness rank": 9
+   },
+   "trash can": {
+    "distance": "0.96 meters",
+    "closeness rank": 10
+   },
+   "ceiling light": {
+    "distance": "1.64 meters",
+    "closeness rank": 11
+   },
+   "exhaust fan": {
+    "distance": "1.68 meters",
+    "closeness rank": 12
+   }
+  },
+  "power strip": {
+   "printer": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "microwave": {
+    "distance": "0.02 meters",
+    "closeness rank": 2
+   },
+   "cup": {
+    "distance": "0.27 meters",
+    "closeness rank": 3
+   },
+   "basket": {
+    "distance": "0.36 meters",
+    "closeness rank": 4
+   },
+   "kettle": {
+    "distance": "0.45 meters",
+    "closeness rank": 5
+   },
+   "door": {
+    "distance": "0.52 meters",
+    "closeness rank": 6
+   },
+   "cutting board": {
+    "distance": "0.56 meters",
+    "closeness rank": 7
+   },
+   "bowl": {
+    "distance": "0.61 meters",
+    "closeness rank": 8
+   },
+   "whiteboard": {
+    "distance": "0.86 meters",
+    "closeness rank": 9
+   },
+   "trash can": {
+    "distance": "1.03 meters",
+    "closeness rank": 10
+   },
+   "ceiling light": {
+    "distance": "1.86 meters",
+    "closeness rank": 11
+   },
+   "exhaust fan": {
+    "distance": "1.94 meters",
+    "closeness rank": 12
+   }
+  },
+  "printer": {
+   "microwave": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "power strip": {
+    "distance": "0.0 meters",
+    "closeness rank": 2
+   },
+   "cup": {
+    "distance": "0.04 meters",
+    "closeness rank": 3
+   },
+   "basket": {
+    "distance": "0.14 meters",
+    "closeness rank": 4
+   },
+   "kettle": {
+    "distance": "0.21 meters",
+    "closeness rank": 5
+   },
+   "whiteboard": {
+    "distance": "0.24 meters",
+    "closeness rank": 6
+   },
+   "door": {
+    "distance": "0.26 meters",
+    "closeness rank": 7
+   },
+   "cutting board": {
+    "distance": "0.52 meters",
+    "closeness rank": 8
+   },
+   "bowl": {
+    "distance": "0.6 meters",
+    "closeness rank": 9
+   },
+   "trash can": {
+    "distance": "0.96 meters",
+    "closeness rank": 10
+   },
+   "exhaust fan": {
+    "distance": "1.34 meters",
+    "closeness rank": 11
+   },
+   "ceiling light": {
+    "distance": "1.42 meters",
+    "closeness rank": 12
+   }
+  },
+  "trash can": {
+   "door": {
+    "distance": "0.19 meters",
+    "closeness rank": 1
+   },
+   "cutting board": {
+    "distance": "0.36 meters",
+    "closeness rank": 2
+   },
+   "bowl": {
+    "distance": "0.43 meters",
+    "closeness rank": 3
+   },
+   "whiteboard": {
+    "distance": "0.93 meters",
+    "closeness rank": 4
+   },
+   "microwave": {
+    "distance": "0.96 meters",
+    "closeness rank": 5
+   },
+   "printer": {
+    "distance": "0.96 meters",
+    "closeness rank": 6
+   },
+   "power strip": {
+    "distance": "1.03 meters",
+    "closeness rank": 7
+   },
+   "kettle": {
+    "distance": "1.04 meters",
+    "closeness rank": 8
+   },
+   "cup": {
+    "distance": "1.06 meters",
+    "closeness rank": 9
+   },
+   "basket": {
+    "distance": "1.26 meters",
+    "closeness rank": 10
+   },
+   "ceiling light": {
+    "distance": "1.72 meters",
+    "closeness rank": 11
+   },
+   "exhaust fan": {
+    "distance": "1.92 meters",
+    "closeness rank": 12
+   }
+  },
+  "whiteboard": {
+   "door": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "printer": {
+    "distance": "0.24 meters",
+    "closeness rank": 2
+   },
+   "exhaust fan": {
+    "distance": "0.62 meters",
+    "closeness rank": 3
+   },
+   "microwave": {
+    "distance": "0.71 meters",
+    "closeness rank": 4
+   },
+   "ceiling light": {
+    "distance": "0.78 meters",
+    "closeness rank": 5
+   },
+   "kettle": {
+    "distance": "0.86 meters",
+    "closeness rank": 6
+   },
+   "power strip": {
+    "distance": "0.86 meters",
+    "closeness rank": 7
+   },
+   "cutting board": {
+    "distance": "0.9 meters",
+    "closeness rank": 8
+   },
+   "cup": {
+    "distance": "0.91 meters",
+    "closeness rank": 9
+   },
+   "trash can": {
+    "distance": "0.93 meters",
+    "closeness rank": 10
+   },
+   "basket": {
+    "distance": "1.11 meters",
+    "closeness rank": 11
+   },
+   "bowl": {
+    "distance": "1.21 meters",
+    "closeness rank": 12
+   }
+  }
+ },
+ "appearance order": ["door", "kettle", "trash can", "basket", "cutting board", "bowl", "cup", "microwave", "printer", "power strip", "ceiling light", "whiteboard", "exhaust fan"]
+}
\ No newline at end of file
diff --git a/data/spatial codes/sam3+depth-anything-3/metric/tracking/uniform/64/explicit/fb5a96b1a2.json b/data/spatial codes/sam3+depth-anything-3/metric/tracking/uniform/64/explicit/fb5a96b1a2.json
new file mode 100644
index 0000000000000000000000000000000000000000..aa6b3b6e5d8a2e3aab612363d9164cbec43c13cc
--- /dev/null
+++ b/data/spatial codes/sam3+depth-anything-3/metric/tracking/uniform/64/explicit/fb5a96b1a2.json	
@@ -0,0 +1,2127 @@
+{
+ "objects": {
+  "bed": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-1.8 meters",
+      "y coordinate": "1.68 meters",
+      "height above floor": "-0.03 meters"
+     },
+     "longest dimension": "2.09 meters"
+    }
+   ]
+  },
+  "bookshelf": {
+   "count": 2,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-1.33 meters",
+      "y coordinate": "4.52 meters",
+      "height above floor": "0.63 meters"
+     },
+     "longest dimension": "1.49 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-1.67 meters",
+      "y coordinate": "4.51 meters",
+      "height above floor": "0.52 meters"
+     },
+     "longest dimension": "1.76 meters"
+    }
+   ]
+  },
+  "ceiling light": {
+   "count": 17,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-2.32 meters",
+      "y coordinate": "-0.29 meters",
+      "height above floor": "1.75 meters"
+     },
+     "longest dimension": "1.09 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-2.47 meters",
+      "y coordinate": "1.54 meters",
+      "height above floor": "1.79 meters"
+     },
+     "longest dimension": "0.17 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-1.37 meters",
+      "y coordinate": "3.09 meters",
+      "height above floor": "1.83 meters"
+     },
+     "longest dimension": "0.29 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "1.06 meters",
+      "y coordinate": "2.85 meters",
+      "height above floor": "1.82 meters"
+     },
+     "longest dimension": "0.18 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "1.13 meters",
+      "y coordinate": "2.77 meters",
+      "height above floor": "1.81 meters"
+     },
+     "longest dimension": "0.18 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-3.1 meters",
+      "y coordinate": "1.76 meters",
+      "height above floor": "1.75 meters"
+     },
+     "longest dimension": "0.2 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-1.81 meters",
+      "y coordinate": "1.5 meters",
+      "height above floor": "1.74 meters"
+     },
+     "longest dimension": "0.28 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "1.16 meters",
+      "y coordinate": "0.04 meters",
+      "height above floor": "1.83 meters"
+     },
+     "longest dimension": "0.21 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-4.31 meters",
+      "y coordinate": "0.89 meters",
+      "height above floor": "1.77 meters"
+     },
+     "longest dimension": "0.16 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "0.55 meters",
+      "y coordinate": "3.4 meters",
+      "height above floor": "1.76 meters"
+     },
+     "longest dimension": "0.46 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-3.08 meters",
+      "y coordinate": "1.73 meters",
+      "height above floor": "1.74 meters"
+     },
+     "longest dimension": "0.19 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-1.22 meters",
+      "y coordinate": "3.99 meters",
+      "height above floor": "1.8 meters"
+     },
+     "longest dimension": "0.25 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-3.13 meters",
+      "y coordinate": "3.3 meters",
+      "height above floor": "1.73 meters"
+     },
+     "longest dimension": "0.29 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "1.51 meters",
+      "y coordinate": "2.93 meters",
+      "height above floor": "1.69 meters"
+     },
+     "longest dimension": "0.24 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-4.33 meters",
+      "y coordinate": "0.79 meters",
+      "height above floor": "1.85 meters"
+     },
+     "longest dimension": "0.21 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-1.81 meters",
+      "y coordinate": "1.49 meters",
+      "height above floor": "1.64 meters"
+     },
+     "longest dimension": "0.11 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-1.62 meters",
+      "y coordinate": "-0.79 meters",
+      "height above floor": "1.14 meters"
+     },
+     "longest dimension": "0.12 meters"
+    }
+   ]
+  },
+  "chair": {
+   "count": 19,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "0.46 meters",
+      "y coordinate": "-0.24 meters",
+      "height above floor": "-0.25 meters"
+     },
+     "longest dimension": "0.81 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-0.37 meters",
+      "y coordinate": "1.11 meters",
+      "height above floor": "0.03 meters"
+     },
+     "longest dimension": "0.68 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-0.11 meters",
+      "y coordinate": "1.85 meters",
+      "height above floor": "-0.06 meters"
+     },
+     "longest dimension": "0.39 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-2.58 meters",
+      "y coordinate": "1.36 meters",
+      "height above floor": "-0.15 meters"
+     },
+     "longest dimension": "0.71 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-1.17 meters",
+      "y coordinate": "0.71 meters",
+      "height above floor": "-0.07 meters"
+     },
+     "longest dimension": "0.47 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-1.3 meters",
+      "y coordinate": "-0.53 meters",
+      "height above floor": "-0.15 meters"
+     },
+     "longest dimension": "0.62 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-0.43 meters",
+      "y coordinate": "1.06 meters",
+      "height above floor": "-0.03 meters"
+     },
+     "longest dimension": "0.97 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-1.11 meters",
+      "y coordinate": "4.02 meters",
+      "height above floor": "-0.18 meters"
+     },
+     "longest dimension": "0.73 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-4.24 meters",
+      "y coordinate": "0.5 meters",
+      "height above floor": "-0.17 meters"
+     },
+     "longest dimension": "0.75 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-0.07 meters",
+      "y coordinate": "3.73 meters",
+      "height above floor": "-0.14 meters"
+     },
+     "longest dimension": "0.66 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-4.09 meters",
+      "y coordinate": "1.44 meters",
+      "height above floor": "-0.12 meters"
+     },
+     "longest dimension": "0.96 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-2.55 meters",
+      "y coordinate": "1.49 meters",
+      "height above floor": "-0.07 meters"
+     },
+     "longest dimension": "0.54 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-0.61 meters",
+      "y coordinate": "-0.72 meters",
+      "height above floor": "-0.14 meters"
+     },
+     "longest dimension": "0.55 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "1.06 meters",
+      "y coordinate": "3.19 meters",
+      "height above floor": "-0.13 meters"
+     },
+     "longest dimension": "0.67 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "1.05 meters",
+      "y coordinate": "1.67 meters",
+      "height above floor": "-0.15 meters"
+     },
+     "longest dimension": "1.21 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "0.7 meters",
+      "y coordinate": "2.59 meters",
+      "height above floor": "-0.17 meters"
+     },
+     "longest dimension": "0.73 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "0.98 meters",
+      "y coordinate": "1.67 meters",
+      "height above floor": "-0.18 meters"
+     },
+     "longest dimension": "0.93 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-2.44 meters",
+      "y coordinate": "1.56 meters",
+      "height above floor": "-0.03 meters"
+     },
+     "longest dimension": "0.64 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "1.07 meters",
+      "y coordinate": "1.62 meters",
+      "height above floor": "-0.03 meters"
+     },
+     "longest dimension": "0.44 meters"
+    }
+   ]
+  },
+  "computer mouse": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-1.23 meters",
+      "y coordinate": "1.6 meters",
+      "height above floor": "0.02 meters"
+     },
+     "longest dimension": "0.08 meters"
+    }
+   ]
+  },
+  "cushion": {
+   "count": 5,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-4.02 meters",
+      "y coordinate": "0.54 meters",
+      "height above floor": "-0.27 meters"
+     },
+     "longest dimension": "0.5 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "0.39 meters",
+      "y coordinate": "-0.19 meters",
+      "height above floor": "-0.34 meters"
+     },
+     "longest dimension": "0.54 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-1.2 meters",
+      "y coordinate": "3.9 meters",
+      "height above floor": "-0.26 meters"
+     },
+     "longest dimension": "0.49 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-1.17 meters",
+      "y coordinate": "3.9 meters",
+      "height above floor": "-0.26 meters"
+     },
+     "longest dimension": "0.44 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-3.87 meters",
+      "y coordinate": "1.33 meters",
+      "height above floor": "-0.27 meters"
+     },
+     "longest dimension": "0.52 meters"
+    }
+   ]
+  },
+  "door": {
+   "count": 4,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "0.8 meters",
+      "y coordinate": "-0.89 meters",
+      "height above floor": "0.47 meters"
+     },
+     "longest dimension": "1.11 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-2.18 meters",
+      "y coordinate": "4.45 meters",
+      "height above floor": "0.78 meters"
+     },
+     "longest dimension": "0.9 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-2.18 meters",
+      "y coordinate": "4.46 meters",
+      "height above floor": "-0.11 meters"
+     },
+     "longest dimension": "0.9 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-3.94 meters",
+      "y coordinate": "-0.71 meters",
+      "height above floor": "0.43 meters"
+     },
+     "longest dimension": "2.38 meters"
+    }
+   ]
+  },
+  "keyboard": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "0.24 meters",
+      "y coordinate": "-0.91 meters",
+      "height above floor": "0.38 meters"
+     },
+     "longest dimension": "0.17 meters"
+    }
+   ]
+  },
+  "laptop": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "1.18 meters",
+      "y coordinate": "0.08 meters",
+      "height above floor": "-0.02 meters"
+     },
+     "longest dimension": "0.67 meters"
+    }
+   ]
+  },
+  "monitor": {
+   "count": 2,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-1.31 meters",
+      "y coordinate": "-0.53 meters",
+      "height above floor": "-0.15 meters"
+     },
+     "longest dimension": "0.62 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-4.01 meters",
+      "y coordinate": "2.57 meters",
+      "height above floor": "0.4 meters"
+     },
+     "longest dimension": "1.18 meters"
+    }
+   ]
+  },
+  "plant": {
+   "count": 2,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "1.89 meters",
+      "y coordinate": "1.4 meters",
+      "height above floor": "1.63 meters"
+     },
+     "longest dimension": "0.31 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "1.63 meters",
+      "y coordinate": "2.86 meters",
+      "height above floor": "0.98 meters"
+     },
+     "longest dimension": "0.12 meters"
+    }
+   ]
+  },
+  "power strip": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-1.82 meters",
+      "y coordinate": "0.76 meters",
+      "height above floor": "0.09 meters"
+     },
+     "longest dimension": "0.17 meters"
+    }
+   ]
+  },
+  "refrigerator": {
+   "count": 3,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-2.18 meters",
+      "y coordinate": "4.45 meters",
+      "height above floor": "0.6 meters"
+     },
+     "longest dimension": "1.34 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-4.38 meters",
+      "y coordinate": "0.02 meters",
+      "height above floor": "0.18 meters"
+     },
+     "longest dimension": "1.39 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-2.09 meters",
+      "y coordinate": "-0.75 meters",
+      "height above floor": "0.45 meters"
+     },
+     "longest dimension": "1.54 meters"
+    }
+   ]
+  },
+  "table": {
+   "count": 3,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-1.71 meters",
+      "y coordinate": "0.92 meters",
+      "height above floor": "-0.01 meters"
+     },
+     "longest dimension": "1.5 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-0.3 meters",
+      "y coordinate": "2.21 meters",
+      "height above floor": "-0.03 meters"
+     },
+     "longest dimension": "1.29 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "0.31 meters",
+      "y coordinate": "-0.63 meters",
+      "height above floor": "0.19 meters"
+     },
+     "longest dimension": "0.62 meters"
+    }
+   ]
+  },
+  "table lamp": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "0.33 meters",
+      "y coordinate": "-0.68 meters",
+      "height above floor": "0.32 meters"
+     },
+     "longest dimension": "0.52 meters"
+    }
+   ]
+  },
+  "telephone": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "0.3 meters",
+      "y coordinate": "-0.89 meters",
+      "height above floor": "0.4 meters"
+     },
+     "longest dimension": "0.31 meters"
+    }
+   ]
+  },
+  "trash can": {
+   "count": 2,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-0.09 meters",
+      "y coordinate": "-0.6 meters",
+      "height above floor": "-0.37 meters"
+     },
+     "longest dimension": "0.55 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-2.19 meters",
+      "y coordinate": "-0.71 meters",
+      "height above floor": "-0.49 meters"
+     },
+     "longest dimension": "0.31 meters"
+    }
+   ]
+  },
+  "tv": {
+   "count": 4,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-4.01 meters",
+      "y coordinate": "2.57 meters",
+      "height above floor": "0.4 meters"
+     },
+     "longest dimension": "1.17 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-2.58 meters",
+      "y coordinate": "4.27 meters",
+      "height above floor": "0.4 meters"
+     },
+     "longest dimension": "0.78 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-3.96 meters",
+      "y coordinate": "2.57 meters",
+      "height above floor": "0.44 meters"
+     },
+     "longest dimension": "1.38 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-3.66 meters",
+      "y coordinate": "2.97 meters",
+      "height above floor": "0.39 meters"
+     },
+     "longest dimension": "0.79 meters"
+    }
+   ]
+  },
+  "whiteboard": {
+   "count": 7,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "1.33 meters",
+      "y coordinate": "2.01 meters",
+      "height above floor": "0.61 meters"
+     },
+     "longest dimension": "1.69 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-1.15 meters",
+      "y coordinate": "-0.86 meters",
+      "height above floor": "1.14 meters"
+     },
+     "longest dimension": "1.19 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-0.68 meters",
+      "y coordinate": "-0.98 meters",
+      "height above floor": "0.81 meters"
+     },
+     "longest dimension": "2.22 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-4.79 meters",
+      "y coordinate": "0.82 meters",
+      "height above floor": "1.01 meters"
+     },
+     "longest dimension": "2.18 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "1.21 meters",
+      "y coordinate": "-0.43 meters",
+      "height above floor": "0.4 meters"
+     },
+     "longest dimension": "0.79 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "1.39 meters",
+      "y coordinate": "-0.06 meters",
+      "height above floor": "0.49 meters"
+     },
+     "longest dimension": "1.22 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "1.45 meters",
+      "y coordinate": "1.28 meters",
+      "height above floor": "0.73 meters"
+     },
+     "longest dimension": "1.25 meters"
+    }
+   ]
+  }
+ },
+ "room": {
+  "floor area": "36.5 square meters"
+ },
+ "closest classes distance meters from": {
+  "bed": {
+   "table": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "refrigerator": {
+    "distance": "0.12 meters",
+    "closeness rank": 2
+   },
+   "bookshelf": {
+    "distance": "0.13 meters",
+    "closeness rank": 3
+   },
+   "monitor": {
+    "distance": "0.15 meters",
+    "closeness rank": 4
+   },
+   "power strip": {
+    "distance": "0.21 meters",
+    "closeness rank": 5
+   },
+   "computer mouse": {
+    "distance": "0.24 meters",
+    "closeness rank": 6
+   },
+   "cushion": {
+    "distance": "0.42 meters",
+    "closeness rank": 7
+   },
+   "door": {
+    "distance": "0.76 meters",
+    "closeness rank": 8
+   },
+   "trash can": {
+    "distance": "1.56 meters",
+    "closeness rank": 9
+   },
+   "chair": {
+    "distance": "1.6 meters",
+    "closeness rank": 10
+   },
+   "tv": {
+    "distance": "1.62 meters",
+    "closeness rank": 11
+   },
+   "table lamp": {
+    "distance": "1.77 meters",
+    "closeness rank": 12
+   },
+   "whiteboard": {
+    "distance": "1.98 meters",
+    "closeness rank": 13
+   },
+   "telephone": {
+    "distance": "1.99 meters",
+    "closeness rank": 14
+   },
+   "laptop": {
+    "distance": "2.0 meters",
+    "closeness rank": 15
+   },
+   "ceiling light": {
+    "distance": "2.02 meters",
+    "closeness rank": 16
+   },
+   "keyboard": {
+    "distance": "2.04 meters",
+    "closeness rank": 17
+   },
+   "plant": {
+    "distance": "3.12 meters",
+    "closeness rank": 18
+   }
+  },
+  "bookshelf": {
+   "refrigerator": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "door": {
+    "distance": "0.02 meters",
+    "closeness rank": 2
+   },
+   "monitor": {
+    "distance": "0.11 meters",
+    "closeness rank": 3
+   },
+   "bed": {
+    "distance": "0.13 meters",
+    "closeness rank": 4
+   },
+   "ceiling light": {
+    "distance": "1.61 meters",
+    "closeness rank": 5
+   },
+   "table": {
+    "distance": "1.61 meters",
+    "closeness rank": 6
+   },
+   "tv": {
+    "distance": "1.74 meters",
+    "closeness rank": 7
+   },
+   "cushion": {
+    "distance": "2.31 meters",
+    "closeness rank": 8
+   },
+   "computer mouse": {
+    "distance": "2.66 meters",
+    "closeness rank": 9
+   },
+   "whiteboard": {
+    "distance": "2.75 meters",
+    "closeness rank": 10
+   },
+   "power strip": {
+    "distance": "3.49 meters",
+    "closeness rank": 11
+   },
+   "plant": {
+    "distance": "4.1 meters",
+    "closeness rank": 12
+   },
+   "chair": {
+    "distance": "4.39 meters",
+    "closeness rank": 13
+   },
+   "laptop": {
+    "distance": "4.39 meters",
+    "closeness rank": 14
+   },
+   "trash can": {
+    "distance": "4.98 meters",
+    "closeness rank": 15
+   },
+   "table lamp": {
+    "distance": "4.99 meters",
+    "closeness rank": 16
+   },
+   "telephone": {
+    "distance": "5.26 meters",
+    "closeness rank": 17
+   },
+   "keyboard": {
+    "distance": "5.31 meters",
+    "closeness rank": 18
+   }
+  },
+  "ceiling light": {
+   "monitor": {
+    "distance": "1.07 meters",
+    "closeness rank": 1
+   },
+   "tv": {
+    "distance": "1.08 meters",
+    "closeness rank": 2
+   },
+   "refrigerator": {
+    "distance": "1.48 meters",
+    "closeness rank": 3
+   },
+   "door": {
+    "distance": "1.52 meters",
+    "closeness rank": 4
+   },
+   "bookshelf": {
+    "distance": "1.61 meters",
+    "closeness rank": 5
+   },
+   "table": {
+    "distance": "1.79 meters",
+    "closeness rank": 6
+   },
+   "power strip": {
+    "distance": "1.89 meters",
+    "closeness rank": 7
+   },
+   "bed": {
+    "distance": "2.02 meters",
+    "closeness rank": 8
+   },
+   "cushion": {
+    "distance": "2.2 meters",
+    "closeness rank": 9
+   },
+   "table lamp": {
+    "distance": "2.61 meters",
+    "closeness rank": 10
+   },
+   "computer mouse": {
+    "distance": "2.7 meters",
+    "closeness rank": 11
+   },
+   "telephone": {
+    "distance": "2.74 meters",
+    "closeness rank": 12
+   },
+   "trash can": {
+    "distance": "2.78 meters",
+    "closeness rank": 13
+   },
+   "keyboard": {
+    "distance": "2.79 meters",
+    "closeness rank": 14
+   },
+   "chair": {
+    "distance": "2.96 meters",
+    "closeness rank": 15
+   },
+   "laptop": {
+    "distance": "3.63 meters",
+    "closeness rank": 16
+   },
+   "whiteboard": {
+    "distance": "3.88 meters",
+    "closeness rank": 17
+   },
+   "plant": {
+    "distance": "4.22 meters",
+    "closeness rank": 18
+   }
+  },
+  "chair": {
+   "laptop": {
+    "distance": "0.1 meters",
+    "closeness rank": 1
+   },
+   "monitor": {
+    "distance": "0.13 meters",
+    "closeness rank": 2
+   },
+   "cushion": {
+    "distance": "0.15 meters",
+    "closeness rank": 3
+   },
+   "door": {
+    "distance": "0.26 meters",
+    "closeness rank": 4
+   },
+   "trash can": {
+    "distance": "0.26 meters",
+    "closeness rank": 5
+   },
+   "table lamp": {
+    "distance": "0.29 meters",
+    "closeness rank": 6
+   },
+   "refrigerator": {
+    "distance": "0.35 meters",
+    "closeness rank": 7
+   },
+   "telephone": {
+    "distance": "0.52 meters",
+    "closeness rank": 8
+   },
+   "keyboard": {
+    "distance": "0.58 meters",
+    "closeness rank": 9
+   },
+   "whiteboard": {
+    "distance": "1.25 meters",
+    "closeness rank": 10
+   },
+   "bed": {
+    "distance": "1.6 meters",
+    "closeness rank": 11
+   },
+   "table": {
+    "distance": "1.63 meters",
+    "closeness rank": 12
+   },
+   "computer mouse": {
+    "distance": "2.15 meters",
+    "closeness rank": 13
+   },
+   "power strip": {
+    "distance": "2.18 meters",
+    "closeness rank": 14
+   },
+   "plant": {
+    "distance": "2.32 meters",
+    "closeness rank": 15
+   },
+   "ceiling light": {
+    "distance": "2.96 meters",
+    "closeness rank": 16
+   },
+   "bookshelf": {
+    "distance": "4.39 meters",
+    "closeness rank": 17
+   },
+   "tv": {
+    "distance": "4.85 meters",
+    "closeness rank": 18
+   }
+  },
+  "computer mouse": {
+   "monitor": {
+    "distance": "0.05 meters",
+    "closeness rank": 1
+   },
+   "table": {
+    "distance": "0.06 meters",
+    "closeness rank": 2
+   },
+   "bed": {
+    "distance": "0.24 meters",
+    "closeness rank": 3
+   },
+   "cushion": {
+    "distance": "0.82 meters",
+    "closeness rank": 4
+   },
+   "power strip": {
+    "distance": "0.95 meters",
+    "closeness rank": 5
+   },
+   "chair": {
+    "distance": "2.15 meters",
+    "closeness rank": 6
+   },
+   "door": {
+    "distance": "2.34 meters",
+    "closeness rank": 7
+   },
+   "trash can": {
+    "distance": "2.38 meters",
+    "closeness rank": 8
+   },
+   "laptop": {
+    "distance": "2.42 meters",
+    "closeness rank": 9
+   },
+   "whiteboard": {
+    "distance": "2.5 meters",
+    "closeness rank": 10
+   },
+   "table lamp": {
+    "distance": "2.54 meters",
+    "closeness rank": 11
+   },
+   "tv": {
+    "distance": "2.61 meters",
+    "closeness rank": 12
+   },
+   "bookshelf": {
+    "distance": "2.66 meters",
+    "closeness rank": 13
+   },
+   "ceiling light": {
+    "distance": "2.7 meters",
+    "closeness rank": 14
+   },
+   "refrigerator": {
+    "distance": "2.73 meters",
+    "closeness rank": 15
+   },
+   "telephone": {
+    "distance": "2.78 meters",
+    "closeness rank": 16
+   },
+   "keyboard": {
+    "distance": "2.83 meters",
+    "closeness rank": 17
+   },
+   "plant": {
+    "distance": "3.45 meters",
+    "closeness rank": 18
+   }
+  },
+  "cushion": {
+   "laptop": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "monitor": {
+    "distance": "0.0 meters",
+    "closeness rank": 2
+   },
+   "chair": {
+    "distance": "0.15 meters",
+    "closeness rank": 3
+   },
+   "refrigerator": {
+    "distance": "0.31 meters",
+    "closeness rank": 4
+   },
+   "table": {
+    "distance": "0.34 meters",
+    "closeness rank": 5
+   },
+   "whiteboard": {
+    "distance": "0.38 meters",
+    "closeness rank": 6
+   },
+   "bed": {
+    "distance": "0.42 meters",
+    "closeness rank": 7
+   },
+   "computer mouse": {
+    "distance": "0.82 meters",
+    "closeness rank": 8
+   },
+   "door": {
+    "distance": "1.03 meters",
+    "closeness rank": 9
+   },
+   "table lamp": {
+    "distance": "1.04 meters",
+    "closeness rank": 10
+   },
+   "power strip": {
+    "distance": "1.13 meters",
+    "closeness rank": 11
+   },
+   "trash can": {
+    "distance": "1.15 meters",
+    "closeness rank": 12
+   },
+   "telephone": {
+    "distance": "1.3 meters",
+    "closeness rank": 13
+   },
+   "tv": {
+    "distance": "1.35 meters",
+    "closeness rank": 14
+   },
+   "keyboard": {
+    "distance": "1.36 meters",
+    "closeness rank": 15
+   },
+   "plant": {
+    "distance": "1.72 meters",
+    "closeness rank": 16
+   },
+   "ceiling light": {
+    "distance": "2.2 meters",
+    "closeness rank": 17
+   },
+   "bookshelf": {
+    "distance": "2.31 meters",
+    "closeness rank": 18
+   }
+  },
+  "door": {
+   "refrigerator": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "bookshelf": {
+    "distance": "0.02 meters",
+    "closeness rank": 2
+   },
+   "table lamp": {
+    "distance": "0.2 meters",
+    "closeness rank": 3
+   },
+   "chair": {
+    "distance": "0.26 meters",
+    "closeness rank": 4
+   },
+   "monitor": {
+    "distance": "0.27 meters",
+    "closeness rank": 5
+   },
+   "telephone": {
+    "distance": "0.35 meters",
+    "closeness rank": 6
+   },
+   "keyboard": {
+    "distance": "0.46 meters",
+    "closeness rank": 7
+   },
+   "laptop": {
+    "distance": "0.75 meters",
+    "closeness rank": 8
+   },
+   "bed": {
+    "distance": "0.76 meters",
+    "closeness rank": 9
+   },
+   "trash can": {
+    "distance": "0.8 meters",
+    "closeness rank": 10
+   },
+   "table": {
+    "distance": "0.94 meters",
+    "closeness rank": 11
+   },
+   "cushion": {
+    "distance": "1.03 meters",
+    "closeness rank": 12
+   },
+   "whiteboard": {
+    "distance": "1.28 meters",
+    "closeness rank": 13
+   },
+   "power strip": {
+    "distance": "1.42 meters",
+    "closeness rank": 14
+   },
+   "ceiling light": {
+    "distance": "1.52 meters",
+    "closeness rank": 15
+   },
+   "tv": {
+    "distance": "1.74 meters",
+    "closeness rank": 16
+   },
+   "plant": {
+    "distance": "2.16 meters",
+    "closeness rank": 17
+   },
+   "computer mouse": {
+    "distance": "2.34 meters",
+    "closeness rank": 18
+   }
+  },
+  "keyboard": {
+   "table lamp": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "telephone": {
+    "distance": "0.0 meters",
+    "closeness rank": 2
+   },
+   "door": {
+    "distance": "0.46 meters",
+    "closeness rank": 3
+   },
+   "refrigerator": {
+    "distance": "0.5 meters",
+    "closeness rank": 4
+   },
+   "chair": {
+    "distance": "0.58 meters",
+    "closeness rank": 5
+   },
+   "trash can": {
+    "distance": "0.63 meters",
+    "closeness rank": 6
+   },
+   "laptop": {
+    "distance": "1.12 meters",
+    "closeness rank": 7
+   },
+   "monitor": {
+    "distance": "1.16 meters",
+    "closeness rank": 8
+   },
+   "cushion": {
+    "distance": "1.36 meters",
+    "closeness rank": 9
+   },
+   "bed": {
+    "distance": "2.04 meters",
+    "closeness rank": 10
+   },
+   "whiteboard": {
+    "distance": "2.14 meters",
+    "closeness rank": 11
+   },
+   "table": {
+    "distance": "2.24 meters",
+    "closeness rank": 12
+   },
+   "power strip": {
+    "distance": "2.56 meters",
+    "closeness rank": 13
+   },
+   "ceiling light": {
+    "distance": "2.79 meters",
+    "closeness rank": 14
+   },
+   "computer mouse": {
+    "distance": "2.83 meters",
+    "closeness rank": 15
+   },
+   "plant": {
+    "distance": "2.83 meters",
+    "closeness rank": 16
+   },
+   "bookshelf": {
+    "distance": "5.31 meters",
+    "closeness rank": 17
+   },
+   "tv": {
+    "distance": "5.32 meters",
+    "closeness rank": 18
+   }
+  },
+  "laptop": {
+   "cushion": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "monitor": {
+    "distance": "0.0 meters",
+    "closeness rank": 2
+   },
+   "chair": {
+    "distance": "0.1 meters",
+    "closeness rank": 3
+   },
+   "door": {
+    "distance": "0.75 meters",
+    "closeness rank": 4
+   },
+   "table lamp": {
+    "distance": "0.76 meters",
+    "closeness rank": 5
+   },
+   "refrigerator": {
+    "distance": "0.78 meters",
+    "closeness rank": 6
+   },
+   "whiteboard": {
+    "distance": "0.81 meters",
+    "closeness rank": 7
+   },
+   "telephone": {
+    "distance": "1.03 meters",
+    "closeness rank": 8
+   },
+   "keyboard": {
+    "distance": "1.12 meters",
+    "closeness rank": 9
+   },
+   "trash can": {
+    "distance": "1.2 meters",
+    "closeness rank": 10
+   },
+   "table": {
+    "distance": "1.84 meters",
+    "closeness rank": 11
+   },
+   "plant": {
+    "distance": "1.86 meters",
+    "closeness rank": 12
+   },
+   "bed": {
+    "distance": "2.0 meters",
+    "closeness rank": 13
+   },
+   "computer mouse": {
+    "distance": "2.42 meters",
+    "closeness rank": 14
+   },
+   "power strip": {
+    "distance": "2.68 meters",
+    "closeness rank": 15
+   },
+   "ceiling light": {
+    "distance": "3.63 meters",
+    "closeness rank": 16
+   },
+   "bookshelf": {
+    "distance": "4.39 meters",
+    "closeness rank": 17
+   },
+   "tv": {
+    "distance": "5.12 meters",
+    "closeness rank": 18
+   }
+  },
+  "monitor": {
+   "cushion": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "laptop": {
+    "distance": "0.0 meters",
+    "closeness rank": 2
+   },
+   "tv": {
+    "distance": "0.02 meters",
+    "closeness rank": 3
+   },
+   "computer mouse": {
+    "distance": "0.05 meters",
+    "closeness rank": 4
+   },
+   "bookshelf": {
+    "distance": "0.11 meters",
+    "closeness rank": 5
+   },
+   "chair": {
+    "distance": "0.13 meters",
+    "closeness rank": 6
+   },
+   "table": {
+    "distance": "0.14 meters",
+    "closeness rank": 7
+   },
+   "bed": {
+    "distance": "0.15 meters",
+    "closeness rank": 8
+   },
+   "whiteboard": {
+    "distance": "0.2 meters",
+    "closeness rank": 9
+   },
+   "door": {
+    "distance": "0.27 meters",
+    "closeness rank": 10
+   },
+   "refrigerator": {
+    "distance": "0.54 meters",
+    "closeness rank": 11
+   },
+   "trash can": {
+    "distance": "0.77 meters",
+    "closeness rank": 12
+   },
+   "table lamp": {
+    "distance": "0.8 meters",
+    "closeness rank": 13
+   },
+   "power strip": {
+    "distance": "1.03 meters",
+    "closeness rank": 14
+   },
+   "ceiling light": {
+    "distance": "1.07 meters",
+    "closeness rank": 15
+   },
+   "telephone": {
+    "distance": "1.07 meters",
+    "closeness rank": 16
+   },
+   "keyboard": {
+    "distance": "1.16 meters",
+    "closeness rank": 17
+   },
+   "plant": {
+    "distance": "1.58 meters",
+    "closeness rank": 18
+   }
+  },
+  "plant": {
+   "whiteboard": {
+    "distance": "0.6 meters",
+    "closeness rank": 1
+   },
+   "monitor": {
+    "distance": "1.58 meters",
+    "closeness rank": 2
+   },
+   "cushion": {
+    "distance": "1.72 meters",
+    "closeness rank": 3
+   },
+   "laptop": {
+    "distance": "1.86 meters",
+    "closeness rank": 4
+   },
+   "door": {
+    "distance": "2.16 meters",
+    "closeness rank": 5
+   },
+   "chair": {
+    "distance": "2.32 meters",
+    "closeness rank": 6
+   },
+   "refrigerator": {
+    "distance": "2.32 meters",
+    "closeness rank": 7
+   },
+   "table lamp": {
+    "distance": "2.55 meters",
+    "closeness rank": 8
+   },
+   "table": {
+    "distance": "2.67 meters",
+    "closeness rank": 9
+   },
+   "telephone": {
+    "distance": "2.71 meters",
+    "closeness rank": 10
+   },
+   "keyboard": {
+    "distance": "2.83 meters",
+    "closeness rank": 11
+   },
+   "bed": {
+    "distance": "3.12 meters",
+    "closeness rank": 12
+   },
+   "trash can": {
+    "distance": "3.2 meters",
+    "closeness rank": 13
+   },
+   "computer mouse": {
+    "distance": "3.45 meters",
+    "closeness rank": 14
+   },
+   "power strip": {
+    "distance": "4.0 meters",
+    "closeness rank": 15
+   },
+   "bookshelf": {
+    "distance": "4.1 meters",
+    "closeness rank": 16
+   },
+   "ceiling light": {
+    "distance": "4.22 meters",
+    "closeness rank": 17
+   },
+   "tv": {
+    "distance": "5.62 meters",
+    "closeness rank": 18
+   }
+  },
+  "power strip": {
+   "table": {
+    "distance": "0.01 meters",
+    "closeness rank": 1
+   },
+   "bed": {
+    "distance": "0.21 meters",
+    "closeness rank": 2
+   },
+   "computer mouse": {
+    "distance": "0.95 meters",
+    "closeness rank": 3
+   },
+   "monitor": {
+    "distance": "1.03 meters",
+    "closeness rank": 4
+   },
+   "cushion": {
+    "distance": "1.13 meters",
+    "closeness rank": 5
+   },
+   "door": {
+    "distance": "1.42 meters",
+    "closeness rank": 6
+   },
+   "ceiling light": {
+    "distance": "1.89 meters",
+    "closeness rank": 7
+   },
+   "trash can": {
+    "distance": "2.03 meters",
+    "closeness rank": 8
+   },
+   "chair": {
+    "distance": "2.18 meters",
+    "closeness rank": 9
+   },
+   "table lamp": {
+    "distance": "2.3 meters",
+    "closeness rank": 10
+   },
+   "telephone": {
+    "distance": "2.5 meters",
+    "closeness rank": 11
+   },
+   "refrigerator": {
+    "distance": "2.55 meters",
+    "closeness rank": 12
+   },
+   "keyboard": {
+    "distance": "2.56 meters",
+    "closeness rank": 13
+   },
+   "tv": {
+    "distance": "2.66 meters",
+    "closeness rank": 14
+   },
+   "laptop": {
+    "distance": "2.68 meters",
+    "closeness rank": 15
+   },
+   "whiteboard": {
+    "distance": "3.22 meters",
+    "closeness rank": 16
+   },
+   "bookshelf": {
+    "distance": "3.49 meters",
+    "closeness rank": 17
+   },
+   "plant": {
+    "distance": "4.0 meters",
+    "closeness rank": 18
+   }
+  },
+  "refrigerator": {
+   "bookshelf": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "door": {
+    "distance": "0.0 meters",
+    "closeness rank": 2
+   },
+   "bed": {
+    "distance": "0.12 meters",
+    "closeness rank": 3
+   },
+   "table lamp": {
+    "distance": "0.26 meters",
+    "closeness rank": 4
+   },
+   "cushion": {
+    "distance": "0.31 meters",
+    "closeness rank": 5
+   },
+   "chair": {
+    "distance": "0.35 meters",
+    "closeness rank": 6
+   },
+   "telephone": {
+    "distance": "0.38 meters",
+    "closeness rank": 7
+   },
+   "keyboard": {
+    "distance": "0.5 meters",
+    "closeness rank": 8
+   },
+   "monitor": {
+    "distance": "0.54 meters",
+    "closeness rank": 9
+   },
+   "laptop": {
+    "distance": "0.78 meters",
+    "closeness rank": 10
+   },
+   "trash can": {
+    "distance": "0.88 meters",
+    "closeness rank": 11
+   },
+   "ceiling light": {
+    "distance": "1.48 meters",
+    "closeness rank": 12
+   },
+   "tv": {
+    "distance": "1.69 meters",
+    "closeness rank": 13
+   },
+   "whiteboard": {
+    "distance": "1.83 meters",
+    "closeness rank": 14
+   },
+   "table": {
+    "distance": "1.92 meters",
+    "closeness rank": 15
+   },
+   "plant": {
+    "distance": "2.32 meters",
+    "closeness rank": 16
+   },
+   "power strip": {
+    "distance": "2.55 meters",
+    "closeness rank": 17
+   },
+   "computer mouse": {
+    "distance": "2.73 meters",
+    "closeness rank": 18
+   }
+  },
+  "table": {
+   "bed": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "power strip": {
+    "distance": "0.01 meters",
+    "closeness rank": 2
+   },
+   "computer mouse": {
+    "distance": "0.06 meters",
+    "closeness rank": 3
+   },
+   "monitor": {
+    "distance": "0.14 meters",
+    "closeness rank": 4
+   },
+   "cushion": {
+    "distance": "0.34 meters",
+    "closeness rank": 5
+   },
+   "door": {
+    "distance": "0.94 meters",
+    "closeness rank": 6
+   },
+   "whiteboard": {
+    "distance": "1.48 meters",
+    "closeness rank": 7
+   },
+   "bookshelf": {
+    "distance": "1.61 meters",
+    "closeness rank": 8
+   },
+   "chair": {
+    "distance": "1.63 meters",
+    "closeness rank": 9
+   },
+   "trash can": {
+    "distance": "1.71 meters",
+    "closeness rank": 10
+   },
+   "ceiling light": {
+    "distance": "1.79 meters",
+    "closeness rank": 11
+   },
+   "laptop": {
+    "distance": "1.84 meters",
+    "closeness rank": 12
+   },
+   "refrigerator": {
+    "distance": "1.92 meters",
+    "closeness rank": 13
+   },
+   "tv": {
+    "distance": "1.96 meters",
+    "closeness rank": 14
+   },
+   "table lamp": {
+    "distance": "1.98 meters",
+    "closeness rank": 15
+   },
+   "telephone": {
+    "distance": "2.18 meters",
+    "closeness rank": 16
+   },
+   "keyboard": {
+    "distance": "2.24 meters",
+    "closeness rank": 17
+   },
+   "plant": {
+    "distance": "2.67 meters",
+    "closeness rank": 18
+   }
+  },
+  "table lamp": {
+   "keyboard": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "telephone": {
+    "distance": "0.0 meters",
+    "closeness rank": 2
+   },
+   "door": {
+    "distance": "0.2 meters",
+    "closeness rank": 3
+   },
+   "refrigerator": {
+    "distance": "0.26 meters",
+    "closeness rank": 4
+   },
+   "chair": {
+    "distance": "0.29 meters",
+    "closeness rank": 5
+   },
+   "trash can": {
+    "distance": "0.33 meters",
+    "closeness rank": 6
+   },
+   "laptop": {
+    "distance": "0.76 meters",
+    "closeness rank": 7
+   },
+   "monitor": {
+    "distance": "0.8 meters",
+    "closeness rank": 8
+   },
+   "cushion": {
+    "distance": "1.04 meters",
+    "closeness rank": 9
+   },
+   "bed": {
+    "distance": "1.77 meters",
+    "closeness rank": 10
+   },
+   "whiteboard": {
+    "distance": "1.79 meters",
+    "closeness rank": 11
+   },
+   "table": {
+    "distance": "1.98 meters",
+    "closeness rank": 12
+   },
+   "power strip": {
+    "distance": "2.3 meters",
+    "closeness rank": 13
+   },
+   "computer mouse": {
+    "distance": "2.54 meters",
+    "closeness rank": 14
+   },
+   "plant": {
+    "distance": "2.55 meters",
+    "closeness rank": 15
+   },
+   "ceiling light": {
+    "distance": "2.61 meters",
+    "closeness rank": 16
+   },
+   "bookshelf": {
+    "distance": "4.99 meters",
+    "closeness rank": 17
+   },
+   "tv": {
+    "distance": "5.07 meters",
+    "closeness rank": 18
+   }
+  },
+  "telephone": {
+   "keyboard": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "table lamp": {
+    "distance": "0.0 meters",
+    "closeness rank": 2
+   },
+   "door": {
+    "distance": "0.35 meters",
+    "closeness rank": 3
+   },
+   "refrigerator": {
+    "distance": "0.38 meters",
+    "closeness rank": 4
+   },
+   "chair": {
+    "distance": "0.52 meters",
+    "closeness rank": 5
+   },
+   "trash can": {
+    "distance": "0.56 meters",
+    "closeness rank": 6
+   },
+   "laptop": {
+    "distance": "1.03 meters",
+    "closeness rank": 7
+   },
+   "monitor": {
+    "distance": "1.07 meters",
+    "closeness rank": 8
+   },
+   "cushion": {
+    "distance": "1.3 meters",
+    "closeness rank": 9
+   },
+   "bed": {
+    "distance": "1.99 meters",
+    "closeness rank": 10
+   },
+   "whiteboard": {
+    "distance": "2.03 meters",
+    "closeness rank": 11
+   },
+   "table": {
+    "distance": "2.18 meters",
+    "closeness rank": 12
+   },
+   "power strip": {
+    "distance": "2.5 meters",
+    "closeness rank": 13
+   },
+   "plant": {
+    "distance": "2.71 meters",
+    "closeness rank": 14
+   },
+   "ceiling light": {
+    "distance": "2.74 meters",
+    "closeness rank": 15
+   },
+   "computer mouse": {
+    "distance": "2.78 meters",
+    "closeness rank": 16
+   },
+   "bookshelf": {
+    "distance": "5.26 meters",
+    "closeness rank": 17
+   },
+   "tv": {
+    "distance": "5.26 meters",
+    "closeness rank": 18
+   }
+  },
+  "trash can": {
+   "chair": {
+    "distance": "0.26 meters",
+    "closeness rank": 1
+   },
+   "table lamp": {
+    "distance": "0.33 meters",
+    "closeness rank": 2
+   },
+   "telephone": {
+    "distance": "0.56 meters",
+    "closeness rank": 3
+   },
+   "keyboard": {
+    "distance": "0.63 meters",
+    "closeness rank": 4
+   },
+   "monitor": {
+    "distance": "0.77 meters",
+    "closeness rank": 5
+   },
+   "door": {
+    "distance": "0.8 meters",
+    "closeness rank": 6
+   },
+   "refrigerator": {
+    "distance": "0.88 meters",
+    "closeness rank": 7
+   },
+   "cushion": {
+    "distance": "1.15 meters",
+    "closeness rank": 8
+   },
+   "laptop": {
+    "distance": "1.2 meters",
+    "closeness rank": 9
+   },
+   "bed": {
+    "distance": "1.56 meters",
+    "closeness rank": 10
+   },
+   "table": {
+    "distance": "1.71 meters",
+    "closeness rank": 11
+   },
+   "power strip": {
+    "distance": "2.03 meters",
+    "closeness rank": 12
+   },
+   "whiteboard": {
+    "distance": "2.27 meters",
+    "closeness rank": 13
+   },
+   "computer mouse": {
+    "distance": "2.38 meters",
+    "closeness rank": 14
+   },
+   "ceiling light": {
+    "distance": "2.78 meters",
+    "closeness rank": 15
+   },
+   "plant": {
+    "distance": "3.2 meters",
+    "closeness rank": 16
+   },
+   "tv": {
+    "distance": "4.82 meters",
+    "closeness rank": 17
+   },
+   "bookshelf": {
+    "distance": "4.98 meters",
+    "closeness rank": 18
+   }
+  },
+  "tv": {
+   "monitor": {
+    "distance": "0.02 meters",
+    "closeness rank": 1
+   },
+   "ceiling light": {
+    "distance": "1.08 meters",
+    "closeness rank": 2
+   },
+   "cushion": {
+    "distance": "1.35 meters",
+    "closeness rank": 3
+   },
+   "bed": {
+    "distance": "1.62 meters",
+    "closeness rank": 4
+   },
+   "refrigerator": {
+    "distance": "1.69 meters",
+    "closeness rank": 5
+   },
+   "bookshelf": {
+    "distance": "1.74 meters",
+    "closeness rank": 6
+   },
+   "door": {
+    "distance": "1.74 meters",
+    "closeness rank": 7
+   },
+   "table": {
+    "distance": "1.96 meters",
+    "closeness rank": 8
+   },
+   "computer mouse": {
+    "distance": "2.61 meters",
+    "closeness rank": 9
+   },
+   "power strip": {
+    "distance": "2.66 meters",
+    "closeness rank": 10
+   },
+   "whiteboard": {
+    "distance": "4.61 meters",
+    "closeness rank": 11
+   },
+   "trash can": {
+    "distance": "4.82 meters",
+    "closeness rank": 12
+   },
+   "chair": {
+    "distance": "4.85 meters",
+    "closeness rank": 13
+   },
+   "table lamp": {
+    "distance": "5.07 meters",
+    "closeness rank": 14
+   },
+   "laptop": {
+    "distance": "5.12 meters",
+    "closeness rank": 15
+   },
+   "telephone": {
+    "distance": "5.26 meters",
+    "closeness rank": 16
+   },
+   "keyboard": {
+    "distance": "5.32 meters",
+    "closeness rank": 17
+   },
+   "plant": {
+    "distance": "5.62 meters",
+    "closeness rank": 18
+   }
+  },
+  "whiteboard": {
+   "monitor": {
+    "distance": "0.2 meters",
+    "closeness rank": 1
+   },
+   "cushion": {
+    "distance": "0.38 meters",
+    "closeness rank": 2
+   },
+   "plant": {
+    "distance": "0.6 meters",
+    "closeness rank": 3
+   },
+   "laptop": {
+    "distance": "0.81 meters",
+    "closeness rank": 4
+   },
+   "chair": {
+    "distance": "1.25 meters",
+    "closeness rank": 5
+   },
+   "door": {
+    "distance": "1.28 meters",
+    "closeness rank": 6
+   },
+   "table": {
+    "distance": "1.48 meters",
+    "closeness rank": 7
+   },
+   "table lamp": {
+    "distance": "1.79 meters",
+    "closeness rank": 8
+   },
+   "refrigerator": {
+    "distance": "1.83 meters",
+    "closeness rank": 9
+   },
+   "bed": {
+    "distance": "1.98 meters",
+    "closeness rank": 10
+   },
+   "telephone": {
+    "distance": "2.03 meters",
+    "closeness rank": 11
+   },
+   "keyboard": {
+    "distance": "2.14 meters",
+    "closeness rank": 12
+   },
+   "trash can": {
+    "distance": "2.27 meters",
+    "closeness rank": 13
+   },
+   "computer mouse": {
+    "distance": "2.5 meters",
+    "closeness rank": 14
+   },
+   "bookshelf": {
+    "distance": "2.75 meters",
+    "closeness rank": 15
+   },
+   "power strip": {
+    "distance": "3.22 meters",
+    "closeness rank": 16
+   },
+   "ceiling light": {
+    "distance": "3.88 meters",
+    "closeness rank": 17
+   },
+   "tv": {
+    "distance": "4.61 meters",
+    "closeness rank": 18
+   }
+  }
+ },
+ "appearance order": ["chair", "ceiling light", "whiteboard", "bookshelf", "table", "tv", "power strip", "door", "refrigerator", "trash can", "cushion", "computer mouse", "laptop", "keyboard", "telephone", "monitor", "bed", "plant", "table lamp"]
+}
\ No newline at end of file
diff --git a/data/spatial codes/sam3+depth-anything-3/metric/tracking/uniform/64/explicit/scene0030_02.json b/data/spatial codes/sam3+depth-anything-3/metric/tracking/uniform/64/explicit/scene0030_02.json
new file mode 100644
index 0000000000000000000000000000000000000000..75b46810545c365ebdc3b7c58b0041c1f0f5026a
--- /dev/null
+++ b/data/spatial codes/sam3+depth-anything-3/metric/tracking/uniform/64/explicit/scene0030_02.json	
@@ -0,0 +1,617 @@
+{
+ "objects": {
+  "bookshelf": {
+   "count": 5,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "2.84 meters",
+      "y coordinate": "-1.61 meters",
+      "height above floor": "-0.03 meters"
+     },
+     "longest dimension": "1.07 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "4.99 meters",
+      "y coordinate": "0.29 meters",
+      "height above floor": "-0.03 meters"
+     },
+     "longest dimension": "1.66 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "4.7 meters",
+      "y coordinate": "-0.11 meters",
+      "height above floor": "0.48 meters"
+     },
+     "longest dimension": "1.95 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "2.09 meters",
+      "y coordinate": "-2.61 meters",
+      "height above floor": "-0.09 meters"
+     },
+     "longest dimension": "1.01 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "2.28 meters",
+      "y coordinate": "4.11 meters",
+      "height above floor": "0.0 meters"
+     },
+     "longest dimension": "0.93 meters"
+    }
+   ]
+  },
+  "chair": {
+   "count": 13,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-0.99 meters",
+      "y coordinate": "0.22 meters",
+      "height above floor": "-0.26 meters"
+     },
+     "longest dimension": "1.21 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "0.95 meters",
+      "y coordinate": "-2.11 meters",
+      "height above floor": "-0.22 meters"
+     },
+     "longest dimension": "0.7 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "3.57 meters",
+      "y coordinate": "0.91 meters",
+      "height above floor": "-0.18 meters"
+     },
+     "longest dimension": "0.52 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "1.01 meters",
+      "y coordinate": "0.62 meters",
+      "height above floor": "-0.12 meters"
+     },
+     "longest dimension": "0.66 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "2.12 meters",
+      "y coordinate": "-0.04 meters",
+      "height above floor": "-0.16 meters"
+     },
+     "longest dimension": "0.65 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "0.58 meters",
+      "y coordinate": "0.32 meters",
+      "height above floor": "-0.12 meters"
+     },
+     "longest dimension": "0.42 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "2.41 meters",
+      "y coordinate": "-1.0 meters",
+      "height above floor": "-0.27 meters"
+     },
+     "longest dimension": "0.62 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "0.46 meters",
+      "y coordinate": "1.53 meters",
+      "height above floor": "-0.17 meters"
+     },
+     "longest dimension": "0.82 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "1.55 meters",
+      "y coordinate": "0.89 meters",
+      "height above floor": "-0.23 meters"
+     },
+     "longest dimension": "0.67 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "0.27 meters",
+      "y coordinate": "-0.72 meters",
+      "height above floor": "-0.16 meters"
+     },
+     "longest dimension": "0.63 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "0.68 meters",
+      "y coordinate": "-1.09 meters",
+      "height above floor": "-0.18 meters"
+     },
+     "longest dimension": "0.47 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "1.78 meters",
+      "y coordinate": "1.49 meters",
+      "height above floor": "-0.23 meters"
+     },
+     "longest dimension": "0.62 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-0.13 meters",
+      "y coordinate": "1.16 meters",
+      "height above floor": "-0.02 meters"
+     },
+     "longest dimension": "0.52 meters"
+    }
+   ]
+  },
+  "clock": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-0.01 meters",
+      "y coordinate": "2.41 meters",
+      "height above floor": "1.46 meters"
+     },
+     "longest dimension": "0.25 meters"
+    }
+   ]
+  },
+  "door": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "2.66 meters",
+      "y coordinate": "-2.25 meters",
+      "height above floor": "0.12 meters"
+     },
+     "longest dimension": "1.32 meters"
+    }
+   ]
+  },
+  "pillow": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-0.64 meters",
+      "y coordinate": "0.36 meters",
+      "height above floor": "-0.19 meters"
+     },
+     "longest dimension": "0.4 meters"
+    }
+   ]
+  },
+  "sofa": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-0.96 meters",
+      "y coordinate": "0.2 meters",
+      "height above floor": "-0.24 meters"
+     },
+     "longest dimension": "1.2 meters"
+    }
+   ]
+  },
+  "table": {
+   "count": 5,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "0.23 meters",
+      "y coordinate": "0.82 meters",
+      "height above floor": "-0.0 meters"
+     },
+     "longest dimension": "1.6 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "1.74 meters",
+      "y coordinate": "-0.79 meters",
+      "height above floor": "0.01 meters"
+     },
+     "longest dimension": "1.25 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "3.59 meters",
+      "y coordinate": "0.61 meters",
+      "height above floor": "-0.06 meters"
+     },
+     "longest dimension": "1.32 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "0.51 meters",
+      "y coordinate": "-1.54 meters",
+      "height above floor": "-0.03 meters"
+     },
+     "longest dimension": "1.39 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "1.95 meters",
+      "y coordinate": "2.06 meters",
+      "height above floor": "-0.03 meters"
+     },
+     "longest dimension": "1.27 meters"
+    }
+   ]
+  },
+  "trash bin": {
+   "count": 2,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "1.38 meters",
+      "y coordinate": "-2.65 meters",
+      "height above floor": "-0.45 meters"
+     },
+     "longest dimension": "0.65 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "1.25 meters",
+      "y coordinate": "-2.45 meters",
+      "height above floor": "-0.39 meters"
+     },
+     "longest dimension": "0.41 meters"
+    }
+   ]
+  },
+  "window": {
+   "count": 3,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "4.58 meters",
+      "y coordinate": "2.06 meters",
+      "height above floor": "0.34 meters"
+     },
+     "longest dimension": "2.37 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "3.0 meters",
+      "y coordinate": "3.71 meters",
+      "height above floor": "0.46 meters"
+     },
+     "longest dimension": "1.52 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "4.24 meters",
+      "y coordinate": "2.38 meters",
+      "height above floor": "0.4 meters"
+     },
+     "longest dimension": "0.65 meters"
+    }
+   ]
+  }
+ },
+ "room": {
+  "floor area": "31.2 square meters"
+ },
+ "closest classes distance meters from": {
+  "bookshelf": {
+   "door": {
+    "distance": "0.17 meters",
+    "closeness rank": 1
+   },
+   "trash bin": {
+    "distance": "1.67 meters",
+    "closeness rank": 2
+   },
+   "table": {
+    "distance": "2.87 meters",
+    "closeness rank": 3
+   },
+   "window": {
+    "distance": "2.9 meters",
+    "closeness rank": 4
+   },
+   "sofa": {
+    "distance": "3.57 meters",
+    "closeness rank": 5
+   },
+   "chair": {
+    "distance": "3.58 meters",
+    "closeness rank": 6
+   },
+   "pillow": {
+    "distance": "3.75 meters",
+    "closeness rank": 7
+   },
+   "clock": {
+    "distance": "4.91 meters",
+    "closeness rank": 8
+   }
+  },
+  "chair": {
+   "pillow": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "sofa": {
+    "distance": "0.0 meters",
+    "closeness rank": 2
+   },
+   "table": {
+    "distance": "0.35 meters",
+    "closeness rank": 3
+   },
+   "clock": {
+    "distance": "2.11 meters",
+    "closeness rank": 4
+   },
+   "trash bin": {
+    "distance": "2.94 meters",
+    "closeness rank": 5
+   },
+   "bookshelf": {
+    "distance": "3.58 meters",
+    "closeness rank": 6
+   },
+   "door": {
+    "distance": "3.85 meters",
+    "closeness rank": 7
+   },
+   "window": {
+    "distance": "4.83 meters",
+    "closeness rank": 8
+   }
+  },
+  "clock": {
+   "table": {
+    "distance": "1.68 meters",
+    "closeness rank": 1
+   },
+   "chair": {
+    "distance": "2.11 meters",
+    "closeness rank": 2
+   },
+   "sofa": {
+    "distance": "2.12 meters",
+    "closeness rank": 3
+   },
+   "pillow": {
+    "distance": "2.47 meters",
+    "closeness rank": 4
+   },
+   "window": {
+    "distance": "3.51 meters",
+    "closeness rank": 5
+   },
+   "bookshelf": {
+    "distance": "4.91 meters",
+    "closeness rank": 6
+   },
+   "trash bin": {
+    "distance": "5.24 meters",
+    "closeness rank": 7
+   },
+   "door": {
+    "distance": "5.3 meters",
+    "closeness rank": 8
+   }
+  },
+  "door": {
+   "bookshelf": {
+    "distance": "0.17 meters",
+    "closeness rank": 1
+   },
+   "trash bin": {
+    "distance": "0.88 meters",
+    "closeness rank": 2
+   },
+   "table": {
+    "distance": "3.27 meters",
+    "closeness rank": 3
+   },
+   "sofa": {
+    "distance": "3.84 meters",
+    "closeness rank": 4
+   },
+   "chair": {
+    "distance": "3.85 meters",
+    "closeness rank": 5
+   },
+   "pillow": {
+    "distance": "4.02 meters",
+    "closeness rank": 6
+   },
+   "window": {
+    "distance": "4.05 meters",
+    "closeness rank": 7
+   },
+   "clock": {
+    "distance": "5.3 meters",
+    "closeness rank": 8
+   }
+  },
+  "pillow": {
+   "chair": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "sofa": {
+    "distance": "0.0 meters",
+    "closeness rank": 2
+   },
+   "table": {
+    "distance": "0.35 meters",
+    "closeness rank": 3
+   },
+   "clock": {
+    "distance": "2.47 meters",
+    "closeness rank": 4
+   },
+   "trash bin": {
+    "distance": "3.18 meters",
+    "closeness rank": 5
+   },
+   "bookshelf": {
+    "distance": "3.75 meters",
+    "closeness rank": 6
+   },
+   "door": {
+    "distance": "4.02 meters",
+    "closeness rank": 7
+   },
+   "window": {
+    "distance": "4.83 meters",
+    "closeness rank": 8
+   }
+  },
+  "sofa": {
+   "chair": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "pillow": {
+    "distance": "0.0 meters",
+    "closeness rank": 2
+   },
+   "table": {
+    "distance": "0.35 meters",
+    "closeness rank": 3
+   },
+   "clock": {
+    "distance": "2.12 meters",
+    "closeness rank": 4
+   },
+   "trash bin": {
+    "distance": "2.95 meters",
+    "closeness rank": 5
+   },
+   "bookshelf": {
+    "distance": "3.57 meters",
+    "closeness rank": 6
+   },
+   "door": {
+    "distance": "3.84 meters",
+    "closeness rank": 7
+   },
+   "window": {
+    "distance": "4.83 meters",
+    "closeness rank": 8
+   }
+  },
+  "table": {
+   "chair": {
+    "distance": "0.35 meters",
+    "closeness rank": 1
+   },
+   "pillow": {
+    "distance": "0.35 meters",
+    "closeness rank": 2
+   },
+   "sofa": {
+    "distance": "0.35 meters",
+    "closeness rank": 3
+   },
+   "clock": {
+    "distance": "1.68 meters",
+    "closeness rank": 4
+   },
+   "trash bin": {
+    "distance": "2.7 meters",
+    "closeness rank": 5
+   },
+   "window": {
+    "distance": "2.71 meters",
+    "closeness rank": 6
+   },
+   "bookshelf": {
+    "distance": "2.87 meters",
+    "closeness rank": 7
+   },
+   "door": {
+    "distance": "3.27 meters",
+    "closeness rank": 8
+   }
+  },
+  "trash bin": {
+   "door": {
+    "distance": "0.88 meters",
+    "closeness rank": 1
+   },
+   "bookshelf": {
+    "distance": "1.67 meters",
+    "closeness rank": 2
+   },
+   "table": {
+    "distance": "2.7 meters",
+    "closeness rank": 3
+   },
+   "chair": {
+    "distance": "2.94 meters",
+    "closeness rank": 4
+   },
+   "sofa": {
+    "distance": "2.95 meters",
+    "closeness rank": 5
+   },
+   "pillow": {
+    "distance": "3.18 meters",
+    "closeness rank": 6
+   },
+   "clock": {
+    "distance": "5.24 meters",
+    "closeness rank": 7
+   },
+   "window": {
+    "distance": "5.53 meters",
+    "closeness rank": 8
+   }
+  },
+  "window": {
+   "table": {
+    "distance": "2.71 meters",
+    "closeness rank": 1
+   },
+   "bookshelf": {
+    "distance": "2.9 meters",
+    "closeness rank": 2
+   },
+   "clock": {
+    "distance": "3.51 meters",
+    "closeness rank": 3
+   },
+   "door": {
+    "distance": "4.05 meters",
+    "closeness rank": 4
+   },
+   "chair": {
+    "distance": "4.83 meters",
+    "closeness rank": 5
+   },
+   "pillow": {
+    "distance": "4.83 meters",
+    "closeness rank": 6
+   },
+   "sofa": {
+    "distance": "4.83 meters",
+    "closeness rank": 7
+   },
+   "trash bin": {
+    "distance": "5.53 meters",
+    "closeness rank": 8
+   }
+  }
+ },
+ "appearance order": ["chair", "table", "clock", "window", "sofa", "bookshelf", "door", "trash bin", "pillow"]
+}
\ No newline at end of file
diff --git a/data/spatial codes/sam3+depth-anything-3/metric/tracking/uniform/64/explicit/scene0095_01.json b/data/spatial codes/sam3+depth-anything-3/metric/tracking/uniform/64/explicit/scene0095_01.json
new file mode 100644
index 0000000000000000000000000000000000000000..f9047059e8772b4dc8b749c3e637cbc8bdb82c3b
--- /dev/null
+++ b/data/spatial codes/sam3+depth-anything-3/metric/tracking/uniform/64/explicit/scene0095_01.json	
@@ -0,0 +1,1372 @@
+{
+ "objects": {
+  "chair": {
+   "count": 9,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "0.17 meters",
+      "y coordinate": "1.05 meters",
+      "height above floor": "5.34 meters"
+     },
+     "longest dimension": "0.42 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-0.0 meters",
+      "y coordinate": "1.66 meters",
+      "height above floor": "5.3 meters"
+     },
+     "longest dimension": "0.76 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-0.22 meters",
+      "y coordinate": "2.12 meters",
+      "height above floor": "1.56 meters"
+     },
+     "longest dimension": "0.34 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-0.03 meters",
+      "y coordinate": "2.01 meters",
+      "height above floor": "3.04 meters"
+     },
+     "longest dimension": "0.58 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-0.12 meters",
+      "y coordinate": "0.98 meters",
+      "height above floor": "3.48 meters"
+     },
+     "longest dimension": "0.47 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "0.54 meters",
+      "y coordinate": "0.73 meters",
+      "height above floor": "3.68 meters"
+     },
+     "longest dimension": "0.56 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "0.19 meters",
+      "y coordinate": "1.76 meters",
+      "height above floor": "0.9 meters"
+     },
+     "longest dimension": "0.47 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "0.54 meters",
+      "y coordinate": "0.67 meters",
+      "height above floor": "4.72 meters"
+     },
+     "longest dimension": "0.51 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-0.05 meters",
+      "y coordinate": "2.08 meters",
+      "height above floor": "4.18 meters"
+     },
+     "longest dimension": "1.6 meters"
+    }
+   ]
+  },
+  "computer mouse": {
+   "count": 5,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "0.3 meters",
+      "y coordinate": "0.78 meters",
+      "height above floor": "1.07 meters"
+     },
+     "longest dimension": "0.11 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "0.28 meters",
+      "y coordinate": "0.79 meters",
+      "height above floor": "2.5 meters"
+     },
+     "longest dimension": "0.18 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "0.03 meters",
+      "y coordinate": "1.46 meters",
+      "height above floor": "1.09 meters"
+     },
+     "longest dimension": "0.1 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "0.25 meters",
+      "y coordinate": "0.76 meters",
+      "height above floor": "4.4 meters"
+     },
+     "longest dimension": "0.09 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "0.06 meters",
+      "y coordinate": "1.2 meters",
+      "height above floor": "4.98 meters"
+     },
+     "longest dimension": "0.1 meters"
+    }
+   ]
+  },
+  "door": {
+   "count": 5,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "0.68 meters",
+      "y coordinate": "0.58 meters",
+      "height above floor": "0.01 meters"
+     },
+     "longest dimension": "0.69 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "0.55 meters",
+      "y coordinate": "1.01 meters",
+      "height above floor": "-0.01 meters"
+     },
+     "longest dimension": "0.51 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "0.84 meters",
+      "y coordinate": "0.24 meters",
+      "height above floor": "-0.0 meters"
+     },
+     "longest dimension": "0.56 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "0.43 meters",
+      "y coordinate": "1.43 meters",
+      "height above floor": "-0.02 meters"
+     },
+     "longest dimension": "0.54 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-0.08 meters",
+      "y coordinate": "0.21 meters",
+      "height above floor": "7.01 meters"
+     },
+     "longest dimension": "0.91 meters"
+    }
+   ]
+  },
+  "keyboard": {
+   "count": 9,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "0.21 meters",
+      "y coordinate": "1.03 meters",
+      "height above floor": "1.06 meters"
+     },
+     "longest dimension": "0.39 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "0.24 meters",
+      "y coordinate": "0.93 meters",
+      "height above floor": "1.53 meters"
+     },
+     "longest dimension": "0.37 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-0.07 meters",
+      "y coordinate": "1.71 meters",
+      "height above floor": "1.12 meters"
+     },
+     "longest dimension": "0.39 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "0.24 meters",
+      "y coordinate": "0.85 meters",
+      "height above floor": "2.89 meters"
+     },
+     "longest dimension": "0.37 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "0.24 meters",
+      "y coordinate": "0.91 meters",
+      "height above floor": "2.19 meters"
+     },
+     "longest dimension": "0.39 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "0.23 meters",
+      "y coordinate": "0.97 meters",
+      "height above floor": "1.61 meters"
+     },
+     "longest dimension": "0.4 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-0.15 meters",
+      "y coordinate": "1.79 meters",
+      "height above floor": "2.63 meters"
+     },
+     "longest dimension": "0.35 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "0.17 meters",
+      "y coordinate": "0.94 meters",
+      "height above floor": "3.59 meters"
+     },
+     "longest dimension": "0.3 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "0.09 meters",
+      "y coordinate": "1.06 meters",
+      "height above floor": "4.85 meters"
+     },
+     "longest dimension": "0.24 meters"
+    }
+   ]
+  },
+  "lamp": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-0.64 meters",
+      "y coordinate": "0.79 meters",
+      "height above floor": "7.06 meters"
+     },
+     "longest dimension": "0.2 meters"
+    }
+   ]
+  },
+  "monitor": {
+   "count": 19,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-0.18 meters",
+      "y coordinate": "1.29 meters",
+      "height above floor": "1.26 meters"
+     },
+     "longest dimension": "0.71 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-0.32 meters",
+      "y coordinate": "1.5 meters",
+      "height above floor": "4.81 meters"
+     },
+     "longest dimension": "0.57 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-0.27 meters",
+      "y coordinate": "1.44 meters",
+      "height above floor": "4.76 meters"
+     },
+     "longest dimension": "0.53 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "0.01 meters",
+      "y coordinate": "0.99 meters",
+      "height above floor": "1.57 meters"
+     },
+     "longest dimension": "0.44 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-0.13 meters",
+      "y coordinate": "0.99 meters",
+      "height above floor": "4.27 meters"
+     },
+     "longest dimension": "0.48 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-0.09 meters",
+      "y coordinate": "1.02 meters",
+      "height above floor": "4.18 meters"
+     },
+     "longest dimension": "0.44 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-0.29 meters",
+      "y coordinate": "1.51 meters",
+      "height above floor": "2.58 meters"
+     },
+     "longest dimension": "0.55 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-0.05 meters",
+      "y coordinate": "0.92 meters",
+      "height above floor": "4.66 meters"
+     },
+     "longest dimension": "0.31 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-0.09 meters",
+      "y coordinate": "1.02 meters",
+      "height above floor": "2.86 meters"
+     },
+     "longest dimension": "0.46 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-0.03 meters",
+      "y coordinate": "1.05 meters",
+      "height above floor": "2.1 meters"
+     },
+     "longest dimension": "0.47 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-0.03 meters",
+      "y coordinate": "1.03 meters",
+      "height above floor": "1.53 meters"
+     },
+     "longest dimension": "0.45 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-0.09 meters",
+      "y coordinate": "1.0 meters",
+      "height above floor": "3.48 meters"
+     },
+     "longest dimension": "0.51 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-0.12 meters",
+      "y coordinate": "0.96 meters",
+      "height above floor": "4.14 meters"
+     },
+     "longest dimension": "0.49 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-0.05 meters",
+      "y coordinate": "1.02 meters",
+      "height above floor": "1.17 meters"
+     },
+     "longest dimension": "0.41 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-0.3 meters",
+      "y coordinate": "1.52 meters",
+      "height above floor": "1.32 meters"
+     },
+     "longest dimension": "0.47 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-0.13 meters",
+      "y coordinate": "0.98 meters",
+      "height above floor": "2.68 meters"
+     },
+     "longest dimension": "0.48 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "0.2 meters",
+      "y coordinate": "1.7 meters",
+      "height above floor": "0.86 meters"
+     },
+     "longest dimension": "0.51 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "0.2 meters",
+      "y coordinate": "1.1 meters",
+      "height above floor": "0.67 meters"
+     },
+     "longest dimension": "0.29 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-0.14 meters",
+      "y coordinate": "1.0 meters",
+      "height above floor": "3.33 meters"
+     },
+     "longest dimension": "0.46 meters"
+    }
+   ]
+  },
+  "plant": {
+   "count": 2,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-0.81 meters",
+      "y coordinate": "3.04 meters",
+      "height above floor": "1.62 meters"
+     },
+     "longest dimension": "0.22 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-0.79 meters",
+      "y coordinate": "3.17 meters",
+      "height above floor": "1.45 meters"
+     },
+     "longest dimension": "0.09 meters"
+    }
+   ]
+  },
+  "printer": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-0.18 meters",
+      "y coordinate": "1.32 meters",
+      "height above floor": "2.9 meters"
+     },
+     "longest dimension": "1.34 meters"
+    }
+   ]
+  },
+  "radiator": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-0.26 meters",
+      "y coordinate": "2.87 meters",
+      "height above floor": "1.3 meters"
+     },
+     "longest dimension": "0.65 meters"
+    }
+   ]
+  },
+  "sofa": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-0.29 meters",
+      "y coordinate": "1.34 meters",
+      "height above floor": "6.82 meters"
+     },
+     "longest dimension": "0.61 meters"
+    }
+   ]
+  },
+  "table": {
+   "count": 6,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "0.3 meters",
+      "y coordinate": "0.84 meters",
+      "height above floor": "1.29 meters"
+     },
+     "longest dimension": "0.85 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-0.1 meters",
+      "y coordinate": "1.63 meters",
+      "height above floor": "4.26 meters"
+     },
+     "longest dimension": "0.81 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-0.15 meters",
+      "y coordinate": "1.78 meters",
+      "height above floor": "3.19 meters"
+     },
+     "longest dimension": "1.64 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "0.29 meters",
+      "y coordinate": "0.83 meters",
+      "height above floor": "2.17 meters"
+     },
+     "longest dimension": "1.34 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-0.12 meters",
+      "y coordinate": "1.63 meters",
+      "height above floor": "4.23 meters"
+     },
+     "longest dimension": "1.14 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-0.09 meters",
+      "y coordinate": "1.68 meters",
+      "height above floor": "2.13 meters"
+     },
+     "longest dimension": "1.94 meters"
+    }
+   ]
+  },
+  "telephone": {
+   "count": 2,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "0.24 meters",
+      "y coordinate": "0.55 meters",
+      "height above floor": "3.53 meters"
+     },
+     "longest dimension": "0.18 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "0.34 meters",
+      "y coordinate": "0.41 meters",
+      "height above floor": "4.67 meters"
+     },
+     "longest dimension": "0.3 meters"
+    }
+   ]
+  },
+  "tv": {
+   "count": 3,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-0.05 meters",
+      "y coordinate": "1.04 meters",
+      "height above floor": "2.09 meters"
+     },
+     "longest dimension": "0.45 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-0.11 meters",
+      "y coordinate": "1.0 meters",
+      "height above floor": "3.43 meters"
+     },
+     "longest dimension": "0.47 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-0.12 meters",
+      "y coordinate": "1.0 meters",
+      "height above floor": "3.49 meters"
+     },
+     "longest dimension": "0.49 meters"
+    }
+   ]
+  },
+  "window": {
+   "count": 3,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-0.8 meters",
+      "y coordinate": "2.99 meters",
+      "height above floor": "1.39 meters"
+     },
+     "longest dimension": "0.79 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-0.87 meters",
+      "y coordinate": "2.72 meters",
+      "height above floor": "0.93 meters"
+     },
+     "longest dimension": "0.72 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-0.87 meters",
+      "y coordinate": "2.79 meters",
+      "height above floor": "5.2 meters"
+     },
+     "longest dimension": "0.51 meters"
+    }
+   ]
+  }
+ },
+ "room": {
+  "floor area": "6.6 square meters"
+ },
+ "closest classes distance meters from": {
+  "chair": {
+   "table": {
+    "distance": "0.01 meters",
+    "closeness rank": 1
+   },
+   "keyboard": {
+    "distance": "0.06 meters",
+    "closeness rank": 2
+   },
+   "computer mouse": {
+    "distance": "0.12 meters",
+    "closeness rank": 3
+   },
+   "monitor": {
+    "distance": "0.24 meters",
+    "closeness rank": 4
+   },
+   "door": {
+    "distance": "0.75 meters",
+    "closeness rank": 5
+   },
+   "window": {
+    "distance": "0.83 meters",
+    "closeness rank": 6
+   },
+   "printer": {
+    "distance": "0.89 meters",
+    "closeness rank": 7
+   },
+   "tv": {
+    "distance": "0.9 meters",
+    "closeness rank": 8
+   },
+   "radiator": {
+    "distance": "0.91 meters",
+    "closeness rank": 9
+   },
+   "plant": {
+    "distance": "1.08 meters",
+    "closeness rank": 10
+   },
+   "sofa": {
+    "distance": "1.42 meters",
+    "closeness rank": 11
+   },
+   "telephone": {
+    "distance": "1.53 meters",
+    "closeness rank": 12
+   },
+   "lamp": {
+    "distance": "1.56 meters",
+    "closeness rank": 13
+   }
+  },
+  "computer mouse": {
+   "table": {
+    "distance": "0.02 meters",
+    "closeness rank": 1
+   },
+   "keyboard": {
+    "distance": "0.06 meters",
+    "closeness rank": 2
+   },
+   "chair": {
+    "distance": "0.12 meters",
+    "closeness rank": 3
+   },
+   "monitor": {
+    "distance": "0.12 meters",
+    "closeness rank": 4
+   },
+   "tv": {
+    "distance": "0.87 meters",
+    "closeness rank": 5
+   },
+   "door": {
+    "distance": "1.01 meters",
+    "closeness rank": 6
+   },
+   "radiator": {
+    "distance": "1.41 meters",
+    "closeness rank": 7
+   },
+   "window": {
+    "distance": "1.5 meters",
+    "closeness rank": 8
+   },
+   "plant": {
+    "distance": "1.8 meters",
+    "closeness rank": 9
+   },
+   "printer": {
+    "distance": "2.06 meters",
+    "closeness rank": 10
+   },
+   "telephone": {
+    "distance": "2.36 meters",
+    "closeness rank": 11
+   },
+   "sofa": {
+    "distance": "5.68 meters",
+    "closeness rank": 12
+   },
+   "lamp": {
+    "distance": "5.74 meters",
+    "closeness rank": 13
+   }
+  },
+  "door": {
+   "chair": {
+    "distance": "0.75 meters",
+    "closeness rank": 1
+   },
+   "table": {
+    "distance": "0.93 meters",
+    "closeness rank": 2
+   },
+   "computer mouse": {
+    "distance": "1.01 meters",
+    "closeness rank": 3
+   },
+   "keyboard": {
+    "distance": "1.03 meters",
+    "closeness rank": 4
+   },
+   "monitor": {
+    "distance": "1.19 meters",
+    "closeness rank": 5
+   },
+   "tv": {
+    "distance": "1.97 meters",
+    "closeness rank": 6
+   },
+   "window": {
+    "distance": "2.48 meters",
+    "closeness rank": 7
+   },
+   "radiator": {
+    "distance": "2.49 meters",
+    "closeness rank": 8
+   },
+   "plant": {
+    "distance": "2.95 meters",
+    "closeness rank": 9
+   },
+   "printer": {
+    "distance": "3.3 meters",
+    "closeness rank": 10
+   },
+   "telephone": {
+    "distance": "3.45 meters",
+    "closeness rank": 11
+   },
+   "sofa": {
+    "distance": "6.8 meters",
+    "closeness rank": 12
+   },
+   "lamp": {
+    "distance": "6.85 meters",
+    "closeness rank": 13
+   }
+  },
+  "keyboard": {
+   "table": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "chair": {
+    "distance": "0.06 meters",
+    "closeness rank": 2
+   },
+   "computer mouse": {
+    "distance": "0.06 meters",
+    "closeness rank": 3
+   },
+   "monitor": {
+    "distance": "0.08 meters",
+    "closeness rank": 4
+   },
+   "printer": {
+    "distance": "0.52 meters",
+    "closeness rank": 5
+   },
+   "tv": {
+    "distance": "0.67 meters",
+    "closeness rank": 6
+   },
+   "door": {
+    "distance": "1.03 meters",
+    "closeness rank": 7
+   },
+   "window": {
+    "distance": "1.24 meters",
+    "closeness rank": 8
+   },
+   "radiator": {
+    "distance": "1.31 meters",
+    "closeness rank": 9
+   },
+   "telephone": {
+    "distance": "1.38 meters",
+    "closeness rank": 10
+   },
+   "plant": {
+    "distance": "1.49 meters",
+    "closeness rank": 11
+   },
+   "sofa": {
+    "distance": "4.04 meters",
+    "closeness rank": 12
+   },
+   "lamp": {
+    "distance": "4.14 meters",
+    "closeness rank": 13
+   }
+  },
+  "lamp": {
+   "sofa": {
+    "distance": "0.25 meters",
+    "closeness rank": 1
+   },
+   "chair": {
+    "distance": "1.56 meters",
+    "closeness rank": 2
+   },
+   "printer": {
+    "distance": "3.32 meters",
+    "closeness rank": 3
+   },
+   "telephone": {
+    "distance": "3.35 meters",
+    "closeness rank": 4
+   },
+   "keyboard": {
+    "distance": "4.14 meters",
+    "closeness rank": 5
+   },
+   "tv": {
+    "distance": "4.48 meters",
+    "closeness rank": 6
+   },
+   "table": {
+    "distance": "4.57 meters",
+    "closeness rank": 7
+   },
+   "window": {
+    "distance": "5.29 meters",
+    "closeness rank": 8
+   },
+   "plant": {
+    "distance": "5.43 meters",
+    "closeness rank": 9
+   },
+   "monitor": {
+    "distance": "5.5 meters",
+    "closeness rank": 10
+   },
+   "radiator": {
+    "distance": "5.53 meters",
+    "closeness rank": 11
+   },
+   "computer mouse": {
+    "distance": "5.74 meters",
+    "closeness rank": 12
+   },
+   "door": {
+    "distance": "6.85 meters",
+    "closeness rank": 13
+   }
+  },
+  "monitor": {
+   "table": {
+    "distance": "0.07 meters",
+    "closeness rank": 1
+   },
+   "keyboard": {
+    "distance": "0.08 meters",
+    "closeness rank": 2
+   },
+   "computer mouse": {
+    "distance": "0.12 meters",
+    "closeness rank": 3
+   },
+   "chair": {
+    "distance": "0.24 meters",
+    "closeness rank": 4
+   },
+   "tv": {
+    "distance": "0.63 meters",
+    "closeness rank": 5
+   },
+   "radiator": {
+    "distance": "1.16 meters",
+    "closeness rank": 6
+   },
+   "door": {
+    "distance": "1.19 meters",
+    "closeness rank": 7
+   },
+   "window": {
+    "distance": "1.23 meters",
+    "closeness rank": 8
+   },
+   "plant": {
+    "distance": "1.48 meters",
+    "closeness rank": 9
+   },
+   "printer": {
+    "distance": "1.85 meters",
+    "closeness rank": 10
+   },
+   "telephone": {
+    "distance": "2.26 meters",
+    "closeness rank": 11
+   },
+   "sofa": {
+    "distance": "5.47 meters",
+    "closeness rank": 12
+   },
+   "lamp": {
+    "distance": "5.5 meters",
+    "closeness rank": 13
+   }
+  },
+  "plant": {
+   "window": {
+    "distance": "0.01 meters",
+    "closeness rank": 1
+   },
+   "radiator": {
+    "distance": "0.4 meters",
+    "closeness rank": 2
+   },
+   "chair": {
+    "distance": "1.08 meters",
+    "closeness rank": 3
+   },
+   "table": {
+    "distance": "1.21 meters",
+    "closeness rank": 4
+   },
+   "monitor": {
+    "distance": "1.48 meters",
+    "closeness rank": 5
+   },
+   "keyboard": {
+    "distance": "1.49 meters",
+    "closeness rank": 6
+   },
+   "computer mouse": {
+    "distance": "1.8 meters",
+    "closeness rank": 7
+   },
+   "tv": {
+    "distance": "2.06 meters",
+    "closeness rank": 8
+   },
+   "printer": {
+    "distance": "2.17 meters",
+    "closeness rank": 9
+   },
+   "door": {
+    "distance": "2.95 meters",
+    "closeness rank": 10
+   },
+   "telephone": {
+    "distance": "3.13 meters",
+    "closeness rank": 11
+   },
+   "sofa": {
+    "distance": "5.23 meters",
+    "closeness rank": 12
+   },
+   "lamp": {
+    "distance": "5.43 meters",
+    "closeness rank": 13
+   }
+  },
+  "printer": {
+   "keyboard": {
+    "distance": "0.52 meters",
+    "closeness rank": 1
+   },
+   "telephone": {
+    "distance": "0.87 meters",
+    "closeness rank": 2
+   },
+   "chair": {
+    "distance": "0.89 meters",
+    "closeness rank": 3
+   },
+   "tv": {
+    "distance": "0.9 meters",
+    "closeness rank": 4
+   },
+   "table": {
+    "distance": "0.96 meters",
+    "closeness rank": 5
+   },
+   "monitor": {
+    "distance": "1.85 meters",
+    "closeness rank": 6
+   },
+   "window": {
+    "distance": "1.95 meters",
+    "closeness rank": 7
+   },
+   "computer mouse": {
+    "distance": "2.06 meters",
+    "closeness rank": 8
+   },
+   "radiator": {
+    "distance": "2.1 meters",
+    "closeness rank": 9
+   },
+   "plant": {
+    "distance": "2.17 meters",
+    "closeness rank": 10
+   },
+   "sofa": {
+    "distance": "3.26 meters",
+    "closeness rank": 11
+   },
+   "door": {
+    "distance": "3.3 meters",
+    "closeness rank": 12
+   },
+   "lamp": {
+    "distance": "3.32 meters",
+    "closeness rank": 13
+   }
+  },
+  "radiator": {
+   "window": {
+    "distance": "0.12 meters",
+    "closeness rank": 1
+   },
+   "plant": {
+    "distance": "0.4 meters",
+    "closeness rank": 2
+   },
+   "table": {
+    "distance": "0.81 meters",
+    "closeness rank": 3
+   },
+   "chair": {
+    "distance": "0.91 meters",
+    "closeness rank": 4
+   },
+   "monitor": {
+    "distance": "1.16 meters",
+    "closeness rank": 5
+   },
+   "keyboard": {
+    "distance": "1.31 meters",
+    "closeness rank": 6
+   },
+   "computer mouse": {
+    "distance": "1.41 meters",
+    "closeness rank": 7
+   },
+   "tv": {
+    "distance": "1.8 meters",
+    "closeness rank": 8
+   },
+   "printer": {
+    "distance": "2.1 meters",
+    "closeness rank": 9
+   },
+   "door": {
+    "distance": "2.49 meters",
+    "closeness rank": 10
+   },
+   "telephone": {
+    "distance": "2.98 meters",
+    "closeness rank": 11
+   },
+   "sofa": {
+    "distance": "5.34 meters",
+    "closeness rank": 12
+   },
+   "lamp": {
+    "distance": "5.53 meters",
+    "closeness rank": 13
+   }
+  },
+  "sofa": {
+   "lamp": {
+    "distance": "0.25 meters",
+    "closeness rank": 1
+   },
+   "chair": {
+    "distance": "1.42 meters",
+    "closeness rank": 2
+   },
+   "printer": {
+    "distance": "3.26 meters",
+    "closeness rank": 3
+   },
+   "telephone": {
+    "distance": "3.29 meters",
+    "closeness rank": 4
+   },
+   "keyboard": {
+    "distance": "4.04 meters",
+    "closeness rank": 5
+   },
+   "tv": {
+    "distance": "4.43 meters",
+    "closeness rank": 6
+   },
+   "table": {
+    "distance": "4.46 meters",
+    "closeness rank": 7
+   },
+   "window": {
+    "distance": "5.11 meters",
+    "closeness rank": 8
+   },
+   "plant": {
+    "distance": "5.23 meters",
+    "closeness rank": 9
+   },
+   "radiator": {
+    "distance": "5.34 meters",
+    "closeness rank": 10
+   },
+   "monitor": {
+    "distance": "5.47 meters",
+    "closeness rank": 11
+   },
+   "computer mouse": {
+    "distance": "5.68 meters",
+    "closeness rank": 12
+   },
+   "door": {
+    "distance": "6.8 meters",
+    "closeness rank": 13
+   }
+  },
+  "table": {
+   "keyboard": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "chair": {
+    "distance": "0.01 meters",
+    "closeness rank": 2
+   },
+   "computer mouse": {
+    "distance": "0.02 meters",
+    "closeness rank": 3
+   },
+   "monitor": {
+    "distance": "0.07 meters",
+    "closeness rank": 4
+   },
+   "tv": {
+    "distance": "0.15 meters",
+    "closeness rank": 5
+   },
+   "radiator": {
+    "distance": "0.81 meters",
+    "closeness rank": 6
+   },
+   "window": {
+    "distance": "0.9 meters",
+    "closeness rank": 7
+   },
+   "door": {
+    "distance": "0.93 meters",
+    "closeness rank": 8
+   },
+   "printer": {
+    "distance": "0.96 meters",
+    "closeness rank": 9
+   },
+   "plant": {
+    "distance": "1.21 meters",
+    "closeness rank": 10
+   },
+   "telephone": {
+    "distance": "1.68 meters",
+    "closeness rank": 11
+   },
+   "sofa": {
+    "distance": "4.46 meters",
+    "closeness rank": 12
+   },
+   "lamp": {
+    "distance": "4.57 meters",
+    "closeness rank": 13
+   }
+  },
+  "telephone": {
+   "printer": {
+    "distance": "0.87 meters",
+    "closeness rank": 1
+   },
+   "tv": {
+    "distance": "1.23 meters",
+    "closeness rank": 2
+   },
+   "keyboard": {
+    "distance": "1.38 meters",
+    "closeness rank": 3
+   },
+   "chair": {
+    "distance": "1.53 meters",
+    "closeness rank": 4
+   },
+   "table": {
+    "distance": "1.68 meters",
+    "closeness rank": 5
+   },
+   "monitor": {
+    "distance": "2.26 meters",
+    "closeness rank": 6
+   },
+   "computer mouse": {
+    "distance": "2.36 meters",
+    "closeness rank": 7
+   },
+   "window": {
+    "distance": "2.89 meters",
+    "closeness rank": 8
+   },
+   "radiator": {
+    "distance": "2.98 meters",
+    "closeness rank": 9
+   },
+   "plant": {
+    "distance": "3.13 meters",
+    "closeness rank": 10
+   },
+   "sofa": {
+    "distance": "3.29 meters",
+    "closeness rank": 11
+   },
+   "lamp": {
+    "distance": "3.35 meters",
+    "closeness rank": 12
+   },
+   "door": {
+    "distance": "3.45 meters",
+    "closeness rank": 13
+   }
+  },
+  "tv": {
+   "table": {
+    "distance": "0.15 meters",
+    "closeness rank": 1
+   },
+   "monitor": {
+    "distance": "0.63 meters",
+    "closeness rank": 2
+   },
+   "keyboard": {
+    "distance": "0.67 meters",
+    "closeness rank": 3
+   },
+   "computer mouse": {
+    "distance": "0.87 meters",
+    "closeness rank": 4
+   },
+   "chair": {
+    "distance": "0.9 meters",
+    "closeness rank": 5
+   },
+   "printer": {
+    "distance": "0.9 meters",
+    "closeness rank": 6
+   },
+   "telephone": {
+    "distance": "1.23 meters",
+    "closeness rank": 7
+   },
+   "radiator": {
+    "distance": "1.8 meters",
+    "closeness rank": 8
+   },
+   "window": {
+    "distance": "1.82 meters",
+    "closeness rank": 9
+   },
+   "door": {
+    "distance": "1.97 meters",
+    "closeness rank": 10
+   },
+   "plant": {
+    "distance": "2.06 meters",
+    "closeness rank": 11
+   },
+   "sofa": {
+    "distance": "4.43 meters",
+    "closeness rank": 12
+   },
+   "lamp": {
+    "distance": "4.48 meters",
+    "closeness rank": 13
+   }
+  },
+  "window": {
+   "plant": {
+    "distance": "0.01 meters",
+    "closeness rank": 1
+   },
+   "radiator": {
+    "distance": "0.12 meters",
+    "closeness rank": 2
+   },
+   "chair": {
+    "distance": "0.83 meters",
+    "closeness rank": 3
+   },
+   "table": {
+    "distance": "0.9 meters",
+    "closeness rank": 4
+   },
+   "monitor": {
+    "distance": "1.23 meters",
+    "closeness rank": 5
+   },
+   "keyboard": {
+    "distance": "1.24 meters",
+    "closeness rank": 6
+   },
+   "computer mouse": {
+    "distance": "1.5 meters",
+    "closeness rank": 7
+   },
+   "tv": {
+    "distance": "1.82 meters",
+    "closeness rank": 8
+   },
+   "printer": {
+    "distance": "1.95 meters",
+    "closeness rank": 9
+   },
+   "door": {
+    "distance": "2.48 meters",
+    "closeness rank": 10
+   },
+   "telephone": {
+    "distance": "2.89 meters",
+    "closeness rank": 11
+   },
+   "sofa": {
+    "distance": "5.11 meters",
+    "closeness rank": 12
+   },
+   "lamp": {
+    "distance": "5.29 meters",
+    "closeness rank": 13
+   }
+  }
+ },
+ "appearance order": ["door", "keyboard", "radiator", "window", "chair", "table", "computer mouse", "monitor", "plant", "telephone", "sofa", "lamp", "printer", "tv"]
+}
\ No newline at end of file
diff --git a/data/spatial codes/sam3+depth-anything-3/metric/tracking/uniform/64/explicit/scene0164_02.json b/data/spatial codes/sam3+depth-anything-3/metric/tracking/uniform/64/explicit/scene0164_02.json
new file mode 100644
index 0000000000000000000000000000000000000000..e6aee5d5f89597a88e85f53ab55b77b612ff5a3e
--- /dev/null
+++ b/data/spatial codes/sam3+depth-anything-3/metric/tracking/uniform/64/explicit/scene0164_02.json	
@@ -0,0 +1,584 @@
+{
+ "objects": {
+  "backpack": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-2.34 meters",
+      "y coordinate": "0.94 meters",
+      "height above floor": "-0.05 meters"
+     },
+     "longest dimension": "0.43 meters"
+    }
+   ]
+  },
+  "counter": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "0.62 meters",
+      "y coordinate": "0.41 meters",
+      "height above floor": "-1.13 meters"
+     },
+     "longest dimension": "0.92 meters"
+    }
+   ]
+  },
+  "door": {
+   "count": 9,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "0.32 meters",
+      "y coordinate": "-0.35 meters",
+      "height above floor": "-1.77 meters"
+     },
+     "longest dimension": "0.64 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-0.79 meters",
+      "y coordinate": "0.62 meters",
+      "height above floor": "0.04 meters"
+     },
+     "longest dimension": "0.88 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-0.15 meters",
+      "y coordinate": "-0.42 meters",
+      "height above floor": "0.41 meters"
+     },
+     "longest dimension": "0.61 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-0.51 meters",
+      "y coordinate": "0.66 meters",
+      "height above floor": "-1.4 meters"
+     },
+     "longest dimension": "0.7 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "0.21 meters",
+      "y coordinate": "0.88 meters",
+      "height above floor": "-1.43 meters"
+     },
+     "longest dimension": "0.54 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "0.21 meters",
+      "y coordinate": "0.83 meters",
+      "height above floor": "0.15 meters"
+     },
+     "longest dimension": "0.55 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "0.36 meters",
+      "y coordinate": "-0.39 meters",
+      "height above floor": "0.41 meters"
+     },
+     "longest dimension": "0.62 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "0.47 meters",
+      "y coordinate": "0.89 meters",
+      "height above floor": "-0.14 meters"
+     },
+     "longest dimension": "0.56 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-0.95 meters",
+      "y coordinate": "-0.42 meters",
+      "height above floor": "-1.78 meters"
+     },
+     "longest dimension": "0.64 meters"
+    }
+   ]
+  },
+  "microwave": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "0.75 meters",
+      "y coordinate": "0.25 meters",
+      "height above floor": "-1.66 meters"
+     },
+     "longest dimension": "0.53 meters"
+    }
+   ]
+  },
+  "mirror": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "1.13 meters",
+      "y coordinate": "-0.25 meters",
+      "height above floor": "-0.64 meters"
+     },
+     "longest dimension": "0.22 meters"
+    }
+   ]
+  },
+  "oven": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-0.49 meters",
+      "y coordinate": "0.72 meters",
+      "height above floor": "-1.4 meters"
+     },
+     "longest dimension": "0.82 meters"
+    }
+   ]
+  },
+  "refrigerator": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-0.76 meters",
+      "y coordinate": "0.3 meters",
+      "height above floor": "0.07 meters"
+     },
+     "longest dimension": "1.21 meters"
+    }
+   ]
+  },
+  "towel": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-0.26 meters",
+      "y coordinate": "0.58 meters",
+      "height above floor": "-1.35 meters"
+     },
+     "longest dimension": "0.42 meters"
+    }
+   ]
+  },
+  "trash bin": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-1.38 meters",
+      "y coordinate": "0.95 meters",
+      "height above floor": "-0.96 meters"
+     },
+     "longest dimension": "0.33 meters"
+    }
+   ]
+  },
+  "window": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "1.13 meters",
+      "y coordinate": "-0.23 meters",
+      "height above floor": "-0.63 meters"
+     },
+     "longest dimension": "0.35 meters"
+    }
+   ]
+  }
+ },
+ "room": {
+  "floor area": "5.8 square meters"
+ },
+ "closest classes distance meters from": {
+  "backpack": {
+   "trash bin": {
+    "distance": "0.97 meters",
+    "closeness rank": 1
+   },
+   "refrigerator": {
+    "distance": "1.22 meters",
+    "closeness rank": 2
+   },
+   "door": {
+    "distance": "1.31 meters",
+    "closeness rank": 3
+   },
+   "counter": {
+    "distance": "1.7 meters",
+    "closeness rank": 4
+   },
+   "oven": {
+    "distance": "1.82 meters",
+    "closeness rank": 5
+   },
+   "towel": {
+    "distance": "2.12 meters",
+    "closeness rank": 6
+   },
+   "microwave": {
+    "distance": "3.13 meters",
+    "closeness rank": 7
+   },
+   "window": {
+    "distance": "3.52 meters",
+    "closeness rank": 8
+   },
+   "mirror": {
+    "distance": "3.55 meters",
+    "closeness rank": 9
+   }
+  },
+  "counter": {
+   "refrigerator": {
+    "distance": "0.05 meters",
+    "closeness rank": 1
+   },
+   "oven": {
+    "distance": "0.09 meters",
+    "closeness rank": 2
+   },
+   "door": {
+    "distance": "0.13 meters",
+    "closeness rank": 3
+   },
+   "towel": {
+    "distance": "0.22 meters",
+    "closeness rank": 4
+   },
+   "microwave": {
+    "distance": "0.25 meters",
+    "closeness rank": 5
+   },
+   "window": {
+    "distance": "0.69 meters",
+    "closeness rank": 6
+   },
+   "trash bin": {
+    "distance": "0.74 meters",
+    "closeness rank": 7
+   },
+   "mirror": {
+    "distance": "0.77 meters",
+    "closeness rank": 8
+   },
+   "backpack": {
+    "distance": "1.7 meters",
+    "closeness rank": 9
+   }
+  },
+  "door": {
+   "refrigerator": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "counter": {
+    "distance": "0.13 meters",
+    "closeness rank": 2
+   },
+   "trash bin": {
+    "distance": "1.19 meters",
+    "closeness rank": 3
+   },
+   "backpack": {
+    "distance": "1.31 meters",
+    "closeness rank": 4
+   },
+   "window": {
+    "distance": "1.34 meters",
+    "closeness rank": 5
+   },
+   "oven": {
+    "distance": "1.39 meters",
+    "closeness rank": 6
+   },
+   "towel": {
+    "distance": "1.39 meters",
+    "closeness rank": 7
+   },
+   "mirror": {
+    "distance": "1.4 meters",
+    "closeness rank": 8
+   },
+   "microwave": {
+    "distance": "1.99 meters",
+    "closeness rank": 9
+   }
+  },
+  "microwave": {
+   "counter": {
+    "distance": "0.25 meters",
+    "closeness rank": 1
+   },
+   "oven": {
+    "distance": "0.63 meters",
+    "closeness rank": 2
+   },
+   "towel": {
+    "distance": "0.76 meters",
+    "closeness rank": 3
+   },
+   "window": {
+    "distance": "0.91 meters",
+    "closeness rank": 4
+   },
+   "mirror": {
+    "distance": "1.0 meters",
+    "closeness rank": 5
+   },
+   "refrigerator": {
+    "distance": "1.98 meters",
+    "closeness rank": 6
+   },
+   "door": {
+    "distance": "1.99 meters",
+    "closeness rank": 7
+   },
+   "trash bin": {
+    "distance": "2.0 meters",
+    "closeness rank": 8
+   },
+   "backpack": {
+    "distance": "3.13 meters",
+    "closeness rank": 9
+   }
+  },
+  "mirror": {
+   "window": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "counter": {
+    "distance": "0.77 meters",
+    "closeness rank": 2
+   },
+   "microwave": {
+    "distance": "1.0 meters",
+    "closeness rank": 3
+   },
+   "door": {
+    "distance": "1.4 meters",
+    "closeness rank": 4
+   },
+   "oven": {
+    "distance": "1.49 meters",
+    "closeness rank": 5
+   },
+   "towel": {
+    "distance": "1.57 meters",
+    "closeness rank": 6
+   },
+   "refrigerator": {
+    "distance": "1.72 meters",
+    "closeness rank": 7
+   },
+   "trash bin": {
+    "distance": "2.65 meters",
+    "closeness rank": 8
+   },
+   "backpack": {
+    "distance": "3.55 meters",
+    "closeness rank": 9
+   }
+  },
+  "oven": {
+   "towel": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "counter": {
+    "distance": "0.09 meters",
+    "closeness rank": 2
+   },
+   "microwave": {
+    "distance": "0.63 meters",
+    "closeness rank": 3
+   },
+   "trash bin": {
+    "distance": "0.64 meters",
+    "closeness rank": 4
+   },
+   "refrigerator": {
+    "distance": "1.36 meters",
+    "closeness rank": 5
+   },
+   "door": {
+    "distance": "1.39 meters",
+    "closeness rank": 6
+   },
+   "window": {
+    "distance": "1.43 meters",
+    "closeness rank": 7
+   },
+   "mirror": {
+    "distance": "1.49 meters",
+    "closeness rank": 8
+   },
+   "backpack": {
+    "distance": "1.82 meters",
+    "closeness rank": 9
+   }
+  },
+  "refrigerator": {
+   "door": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "counter": {
+    "distance": "0.05 meters",
+    "closeness rank": 2
+   },
+   "trash bin": {
+    "distance": "0.96 meters",
+    "closeness rank": 3
+   },
+   "backpack": {
+    "distance": "1.22 meters",
+    "closeness rank": 4
+   },
+   "towel": {
+    "distance": "1.35 meters",
+    "closeness rank": 5
+   },
+   "oven": {
+    "distance": "1.36 meters",
+    "closeness rank": 6
+   },
+   "window": {
+    "distance": "1.69 meters",
+    "closeness rank": 7
+   },
+   "mirror": {
+    "distance": "1.72 meters",
+    "closeness rank": 8
+   },
+   "microwave": {
+    "distance": "1.98 meters",
+    "closeness rank": 9
+   }
+  },
+  "towel": {
+   "oven": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "counter": {
+    "distance": "0.22 meters",
+    "closeness rank": 2
+   },
+   "microwave": {
+    "distance": "0.76 meters",
+    "closeness rank": 3
+   },
+   "trash bin": {
+    "distance": "0.96 meters",
+    "closeness rank": 4
+   },
+   "refrigerator": {
+    "distance": "1.35 meters",
+    "closeness rank": 5
+   },
+   "door": {
+    "distance": "1.39 meters",
+    "closeness rank": 6
+   },
+   "window": {
+    "distance": "1.52 meters",
+    "closeness rank": 7
+   },
+   "mirror": {
+    "distance": "1.57 meters",
+    "closeness rank": 8
+   },
+   "backpack": {
+    "distance": "2.12 meters",
+    "closeness rank": 9
+   }
+  },
+  "trash bin": {
+   "oven": {
+    "distance": "0.64 meters",
+    "closeness rank": 1
+   },
+   "counter": {
+    "distance": "0.74 meters",
+    "closeness rank": 2
+   },
+   "refrigerator": {
+    "distance": "0.96 meters",
+    "closeness rank": 3
+   },
+   "towel": {
+    "distance": "0.96 meters",
+    "closeness rank": 4
+   },
+   "backpack": {
+    "distance": "0.97 meters",
+    "closeness rank": 5
+   },
+   "door": {
+    "distance": "1.19 meters",
+    "closeness rank": 6
+   },
+   "microwave": {
+    "distance": "2.0 meters",
+    "closeness rank": 7
+   },
+   "window": {
+    "distance": "2.61 meters",
+    "closeness rank": 8
+   },
+   "mirror": {
+    "distance": "2.65 meters",
+    "closeness rank": 9
+   }
+  },
+  "window": {
+   "mirror": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "counter": {
+    "distance": "0.69 meters",
+    "closeness rank": 2
+   },
+   "microwave": {
+    "distance": "0.91 meters",
+    "closeness rank": 3
+   },
+   "door": {
+    "distance": "1.34 meters",
+    "closeness rank": 4
+   },
+   "oven": {
+    "distance": "1.43 meters",
+    "closeness rank": 5
+   },
+   "towel": {
+    "distance": "1.52 meters",
+    "closeness rank": 6
+   },
+   "refrigerator": {
+    "distance": "1.69 meters",
+    "closeness rank": 7
+   },
+   "trash bin": {
+    "distance": "2.61 meters",
+    "closeness rank": 8
+   },
+   "backpack": {
+    "distance": "3.52 meters",
+    "closeness rank": 9
+   }
+  }
+ },
+ "appearance order": ["door", "towel", "counter", "microwave", "oven", "mirror", "refrigerator", "window", "backpack", "trash bin"]
+}
\ No newline at end of file
diff --git a/data/spatial codes/sam3+depth-anything-3/metric/tracking/uniform/64/explicit/scene0207_02.json b/data/spatial codes/sam3+depth-anything-3/metric/tracking/uniform/64/explicit/scene0207_02.json
new file mode 100644
index 0000000000000000000000000000000000000000..54f26f25f7b55e2a4f2f414c80b136a70eff82e8
--- /dev/null
+++ b/data/spatial codes/sam3+depth-anything-3/metric/tracking/uniform/64/explicit/scene0207_02.json	
@@ -0,0 +1,2762 @@
+{
+ "objects": {
+  "backpack": {
+   "count": 3,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-1.03 meters",
+      "y coordinate": "-0.13 meters",
+      "height above floor": "0.09 meters"
+     },
+     "longest dimension": "0.39 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-0.27 meters",
+      "y coordinate": "-0.48 meters",
+      "height above floor": "-0.13 meters"
+     },
+     "longest dimension": "0.37 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-1.08 meters",
+      "y coordinate": "1.23 meters",
+      "height above floor": "-0.01 meters"
+     },
+     "longest dimension": "0.47 meters"
+    }
+   ]
+  },
+  "bed": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "1.39 meters",
+      "y coordinate": "1.17 meters",
+      "height above floor": "0.0 meters"
+     },
+     "longest dimension": "1.48 meters"
+    }
+   ]
+  },
+  "bookshelf": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "0.03 meters",
+      "y coordinate": "2.02 meters",
+      "height above floor": "0.9 meters"
+     },
+     "longest dimension": "0.96 meters"
+    }
+   ]
+  },
+  "chair": {
+   "count": 3,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-0.56 meters",
+      "y coordinate": "0.57 meters",
+      "height above floor": "-0.12 meters"
+     },
+     "longest dimension": "0.7 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-0.54 meters",
+      "y coordinate": "0.6 meters",
+      "height above floor": "-0.1 meters"
+     },
+     "longest dimension": "0.83 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-1.84 meters",
+      "y coordinate": "0.82 meters",
+      "height above floor": "0.12 meters"
+     },
+     "longest dimension": "0.36 meters"
+    }
+   ]
+  },
+  "closet": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "2.22 meters",
+      "y coordinate": "-0.33 meters",
+      "height above floor": "0.72 meters"
+     },
+     "longest dimension": "2.03 meters"
+    }
+   ]
+  },
+  "counter": {
+   "count": 2,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "0.11 meters",
+      "y coordinate": "-1.15 meters",
+      "height above floor": "0.53 meters"
+     },
+     "longest dimension": "0.63 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-0.14 meters",
+      "y coordinate": "-2.57 meters",
+      "height above floor": "0.71 meters"
+     },
+     "longest dimension": "0.53 meters"
+    }
+   ]
+  },
+  "door": {
+   "count": 7,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "1.29 meters",
+      "y coordinate": "-3.92 meters",
+      "height above floor": "1.0 meters"
+     },
+     "longest dimension": "1.37 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "1.54 meters",
+      "y coordinate": "-0.36 meters",
+      "height above floor": "0.47 meters"
+     },
+     "longest dimension": "1.26 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-0.37 meters",
+      "y coordinate": "-1.75 meters",
+      "height above floor": "1.58 meters"
+     },
+     "longest dimension": "0.8 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "3.48 meters",
+      "y coordinate": "-1.53 meters",
+      "height above floor": "1.46 meters"
+     },
+     "longest dimension": "0.66 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "3.08 meters",
+      "y coordinate": "-1.38 meters",
+      "height above floor": "0.21 meters"
+     },
+     "longest dimension": "0.52 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-0.14 meters",
+      "y coordinate": "-2.91 meters",
+      "height above floor": "1.69 meters"
+     },
+     "longest dimension": "0.43 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "0.61 meters",
+      "y coordinate": "-3.81 meters",
+      "height above floor": "0.68 meters"
+     },
+     "longest dimension": "0.92 meters"
+    }
+   ]
+  },
+  "keyboard": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "0.21 meters",
+      "y coordinate": "0.97 meters",
+      "height above floor": "0.12 meters"
+     },
+     "longest dimension": "0.24 meters"
+    }
+   ]
+  },
+  "mattress": {
+   "count": 2,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "1.45 meters",
+      "y coordinate": "1.26 meters",
+      "height above floor": "0.04 meters"
+     },
+     "longest dimension": "1.52 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "1.37 meters",
+      "y coordinate": "0.78 meters",
+      "height above floor": "-0.09 meters"
+     },
+     "longest dimension": "1.39 meters"
+    }
+   ]
+  },
+  "microwave": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "1.77 meters",
+      "y coordinate": "-3.4 meters",
+      "height above floor": "0.92 meters"
+     },
+     "longest dimension": "0.36 meters"
+    }
+   ]
+  },
+  "mirror": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "3.55 meters",
+      "y coordinate": "-1.04 meters",
+      "height above floor": "1.23 meters"
+     },
+     "longest dimension": "0.91 meters"
+    }
+   ]
+  },
+  "monitor": {
+   "count": 3,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "0.42 meters",
+      "y coordinate": "1.12 meters",
+      "height above floor": "0.46 meters"
+     },
+     "longest dimension": "0.4 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "0.31 meters",
+      "y coordinate": "1.02 meters",
+      "height above floor": "0.23 meters"
+     },
+     "longest dimension": "0.31 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "0.68 meters",
+      "y coordinate": "2.41 meters",
+      "height above floor": "0.16 meters"
+     },
+     "longest dimension": "0.63 meters"
+    }
+   ]
+  },
+  "nightstand": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "0.75 meters",
+      "y coordinate": "1.76 meters",
+      "height above floor": "-0.46 meters"
+     },
+     "longest dimension": "0.46 meters"
+    }
+   ]
+  },
+  "oven": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "0.28 meters",
+      "y coordinate": "-3.21 meters",
+      "height above floor": "0.66 meters"
+     },
+     "longest dimension": "0.69 meters"
+    }
+   ]
+  },
+  "pillow": {
+   "count": 3,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "1.48 meters",
+      "y coordinate": "2.03 meters",
+      "height above floor": "0.03 meters"
+     },
+     "longest dimension": "0.6 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "1.99 meters",
+      "y coordinate": "1.43 meters",
+      "height above floor": "0.17 meters"
+     },
+     "longest dimension": "0.13 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "1.21 meters",
+      "y coordinate": "2.22 meters",
+      "height above floor": "-0.03 meters"
+     },
+     "longest dimension": "0.04 meters"
+    }
+   ]
+  },
+  "printer": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "0.29 meters",
+      "y coordinate": "1.61 meters",
+      "height above floor": "0.2 meters"
+     },
+     "longest dimension": "0.34 meters"
+    }
+   ]
+  },
+  "refrigerator": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "0.44 meters",
+      "y coordinate": "-3.66 meters",
+      "height above floor": "1.09 meters"
+     },
+     "longest dimension": "1.3 meters"
+    }
+   ]
+  },
+  "sofa": {
+   "count": 2,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-1.13 meters",
+      "y coordinate": "0.06 meters",
+      "height above floor": "-0.09 meters"
+     },
+     "longest dimension": "1.47 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-0.83 meters",
+      "y coordinate": "-0.16 meters",
+      "height above floor": "-0.06 meters"
+     },
+     "longest dimension": "1.18 meters"
+    }
+   ]
+  },
+  "table": {
+   "count": 3,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "0.44 meters",
+      "y coordinate": "0.42 meters",
+      "height above floor": "0.14 meters"
+     },
+     "longest dimension": "1.43 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "0.23 meters",
+      "y coordinate": "0.78 meters",
+      "height above floor": "0.11 meters"
+     },
+     "longest dimension": "1.06 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "1.6 meters",
+      "y coordinate": "-3.24 meters",
+      "height above floor": "0.72 meters"
+     },
+     "longest dimension": "0.88 meters"
+    }
+   ]
+  },
+  "telephone": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-0.31 meters",
+      "y coordinate": "1.86 meters",
+      "height above floor": "0.02 meters"
+     },
+     "longest dimension": "0.34 meters"
+    }
+   ]
+  },
+  "towel": {
+   "count": 2,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "1.99 meters",
+      "y coordinate": "-2.65 meters",
+      "height above floor": "0.77 meters"
+     },
+     "longest dimension": "0.58 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "0.27 meters",
+      "y coordinate": "-2.98 meters",
+      "height above floor": "0.54 meters"
+     },
+     "longest dimension": "0.34 meters"
+    }
+   ]
+  },
+  "trash bin": {
+   "count": 2,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "1.88 meters",
+      "y coordinate": "0.28 meters",
+      "height above floor": "-0.01 meters"
+     },
+     "longest dimension": "0.62 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "0.18 meters",
+      "y coordinate": "-1.35 meters",
+      "height above floor": "-0.08 meters"
+     },
+     "longest dimension": "0.36 meters"
+    }
+   ]
+  },
+  "tv": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "0.42 meters",
+      "y coordinate": "1.12 meters",
+      "height above floor": "0.46 meters"
+     },
+     "longest dimension": "0.4 meters"
+    }
+   ]
+  },
+  "window": {
+   "count": 3,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-0.71 meters",
+      "y coordinate": "1.88 meters",
+      "height above floor": "0.42 meters"
+     },
+     "longest dimension": "0.81 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "0.71 meters",
+      "y coordinate": "2.46 meters",
+      "height above floor": "0.79 meters"
+     },
+     "longest dimension": "1.31 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-0.75 meters",
+      "y coordinate": "1.82 meters",
+      "height above floor": "0.22 meters"
+     },
+     "longest dimension": "0.79 meters"
+    }
+   ]
+  }
+ },
+ "room": {
+  "floor area": "28.2 square meters"
+ },
+ "closest classes distance meters from": {
+  "backpack": {
+   "sofa": {
+    "distance": "0.03 meters",
+    "closeness rank": 1
+   },
+   "chair": {
+    "distance": "0.38 meters",
+    "closeness rank": 2
+   },
+   "counter": {
+    "distance": "1.09 meters",
+    "closeness rank": 3
+   },
+   "table": {
+    "distance": "1.23 meters",
+    "closeness rank": 4
+   },
+   "keyboard": {
+    "distance": "1.46 meters",
+    "closeness rank": 5
+   },
+   "monitor": {
+    "distance": "1.69 meters",
+    "closeness rank": 6
+   },
+   "tv": {
+    "distance": "1.69 meters",
+    "closeness rank": 7
+   },
+   "window": {
+    "distance": "1.75 meters",
+    "closeness rank": 8
+   },
+   "telephone": {
+    "distance": "1.98 meters",
+    "closeness rank": 9
+   },
+   "printer": {
+    "distance": "2.0 meters",
+    "closeness rank": 10
+   },
+   "bookshelf": {
+    "distance": "2.02 meters",
+    "closeness rank": 11
+   },
+   "bed": {
+    "distance": "2.34 meters",
+    "closeness rank": 12
+   },
+   "nightstand": {
+    "distance": "2.35 meters",
+    "closeness rank": 13
+   },
+   "closet": {
+    "distance": "2.37 meters",
+    "closeness rank": 14
+   },
+   "mattress": {
+    "distance": "2.42 meters",
+    "closeness rank": 15
+   },
+   "trash bin": {
+    "distance": "2.69 meters",
+    "closeness rank": 16
+   },
+   "door": {
+    "distance": "2.72 meters",
+    "closeness rank": 17
+   },
+   "oven": {
+    "distance": "2.73 meters",
+    "closeness rank": 18
+   },
+   "pillow": {
+    "distance": "2.95 meters",
+    "closeness rank": 19
+   },
+   "refrigerator": {
+    "distance": "3.65 meters",
+    "closeness rank": 20
+   },
+   "towel": {
+    "distance": "3.69 meters",
+    "closeness rank": 21
+   },
+   "microwave": {
+    "distance": "4.13 meters",
+    "closeness rank": 22
+   },
+   "mirror": {
+    "distance": "4.41 meters",
+    "closeness rank": 23
+   }
+  },
+  "bed": {
+   "mattress": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "pillow": {
+    "distance": "0.03 meters",
+    "closeness rank": 2
+   },
+   "trash bin": {
+    "distance": "0.16 meters",
+    "closeness rank": 3
+   },
+   "nightstand": {
+    "distance": "0.19 meters",
+    "closeness rank": 4
+   },
+   "table": {
+    "distance": "0.53 meters",
+    "closeness rank": 5
+   },
+   "closet": {
+    "distance": "0.63 meters",
+    "closeness rank": 6
+   },
+   "printer": {
+    "distance": "0.66 meters",
+    "closeness rank": 7
+   },
+   "bookshelf": {
+    "distance": "0.84 meters",
+    "closeness rank": 8
+   },
+   "monitor": {
+    "distance": "0.89 meters",
+    "closeness rank": 9
+   },
+   "tv": {
+    "distance": "0.89 meters",
+    "closeness rank": 10
+   },
+   "keyboard": {
+    "distance": "1.0 meters",
+    "closeness rank": 11
+   },
+   "telephone": {
+    "distance": "1.32 meters",
+    "closeness rank": 12
+   },
+   "window": {
+    "distance": "1.49 meters",
+    "closeness rank": 13
+   },
+   "chair": {
+    "distance": "1.59 meters",
+    "closeness rank": 14
+   },
+   "door": {
+    "distance": "1.91 meters",
+    "closeness rank": 15
+   },
+   "counter": {
+    "distance": "1.93 meters",
+    "closeness rank": 16
+   },
+   "sofa": {
+    "distance": "2.13 meters",
+    "closeness rank": 17
+   },
+   "backpack": {
+    "distance": "2.34 meters",
+    "closeness rank": 18
+   },
+   "mirror": {
+    "distance": "2.34 meters",
+    "closeness rank": 19
+   },
+   "towel": {
+    "distance": "3.07 meters",
+    "closeness rank": 20
+   },
+   "oven": {
+    "distance": "3.46 meters",
+    "closeness rank": 21
+   },
+   "microwave": {
+    "distance": "3.79 meters",
+    "closeness rank": 22
+   },
+   "refrigerator": {
+    "distance": "4.14 meters",
+    "closeness rank": 23
+   }
+  },
+  "bookshelf": {
+   "window": {
+    "distance": "0.12 meters",
+    "closeness rank": 1
+   },
+   "printer": {
+    "distance": "0.26 meters",
+    "closeness rank": 2
+   },
+   "telephone": {
+    "distance": "0.27 meters",
+    "closeness rank": 3
+   },
+   "table": {
+    "distance": "0.45 meters",
+    "closeness rank": 4
+   },
+   "tv": {
+    "distance": "0.59 meters",
+    "closeness rank": 5
+   },
+   "monitor": {
+    "distance": "0.6 meters",
+    "closeness rank": 6
+   },
+   "nightstand": {
+    "distance": "0.72 meters",
+    "closeness rank": 7
+   },
+   "bed": {
+    "distance": "0.84 meters",
+    "closeness rank": 8
+   },
+   "keyboard": {
+    "distance": "0.84 meters",
+    "closeness rank": 9
+   },
+   "mattress": {
+    "distance": "0.84 meters",
+    "closeness rank": 10
+   },
+   "chair": {
+    "distance": "0.95 meters",
+    "closeness rank": 11
+   },
+   "pillow": {
+    "distance": "0.95 meters",
+    "closeness rank": 12
+   },
+   "sofa": {
+    "distance": "1.36 meters",
+    "closeness rank": 13
+   },
+   "backpack": {
+    "distance": "2.02 meters",
+    "closeness rank": 14
+   },
+   "trash bin": {
+    "distance": "2.13 meters",
+    "closeness rank": 15
+   },
+   "closet": {
+    "distance": "2.45 meters",
+    "closeness rank": 16
+   },
+   "counter": {
+    "distance": "2.79 meters",
+    "closeness rank": 17
+   },
+   "door": {
+    "distance": "3.59 meters",
+    "closeness rank": 18
+   },
+   "mirror": {
+    "distance": "4.18 meters",
+    "closeness rank": 19
+   },
+   "oven": {
+    "distance": "4.55 meters",
+    "closeness rank": 20
+   },
+   "towel": {
+    "distance": "4.83 meters",
+    "closeness rank": 21
+   },
+   "refrigerator": {
+    "distance": "5.4 meters",
+    "closeness rank": 22
+   },
+   "microwave": {
+    "distance": "5.46 meters",
+    "closeness rank": 23
+   }
+  },
+  "chair": {
+   "sofa": {
+    "distance": "0.03 meters",
+    "closeness rank": 1
+   },
+   "backpack": {
+    "distance": "0.38 meters",
+    "closeness rank": 2
+   },
+   "table": {
+    "distance": "0.5 meters",
+    "closeness rank": 3
+   },
+   "keyboard": {
+    "distance": "0.62 meters",
+    "closeness rank": 4
+   },
+   "monitor": {
+    "distance": "0.88 meters",
+    "closeness rank": 5
+   },
+   "tv": {
+    "distance": "0.89 meters",
+    "closeness rank": 6
+   },
+   "window": {
+    "distance": "0.94 meters",
+    "closeness rank": 7
+   },
+   "bookshelf": {
+    "distance": "0.95 meters",
+    "closeness rank": 8
+   },
+   "telephone": {
+    "distance": "0.98 meters",
+    "closeness rank": 9
+   },
+   "printer": {
+    "distance": "1.03 meters",
+    "closeness rank": 10
+   },
+   "nightstand": {
+    "distance": "1.43 meters",
+    "closeness rank": 11
+   },
+   "counter": {
+    "distance": "1.5 meters",
+    "closeness rank": 12
+   },
+   "bed": {
+    "distance": "1.59 meters",
+    "closeness rank": 13
+   },
+   "mattress": {
+    "distance": "1.64 meters",
+    "closeness rank": 14
+   },
+   "closet": {
+    "distance": "1.94 meters",
+    "closeness rank": 15
+   },
+   "pillow": {
+    "distance": "2.06 meters",
+    "closeness rank": 16
+   },
+   "trash bin": {
+    "distance": "2.08 meters",
+    "closeness rank": 17
+   },
+   "door": {
+    "distance": "2.61 meters",
+    "closeness rank": 18
+   },
+   "oven": {
+    "distance": "3.14 meters",
+    "closeness rank": 19
+   },
+   "towel": {
+    "distance": "3.74 meters",
+    "closeness rank": 20
+   },
+   "refrigerator": {
+    "distance": "4.03 meters",
+    "closeness rank": 21
+   },
+   "mirror": {
+    "distance": "4.05 meters",
+    "closeness rank": 22
+   },
+   "microwave": {
+    "distance": "4.31 meters",
+    "closeness rank": 23
+   }
+  },
+  "closet": {
+   "door": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "towel": {
+    "distance": "0.35 meters",
+    "closeness rank": 2
+   },
+   "trash bin": {
+    "distance": "0.55 meters",
+    "closeness rank": 3
+   },
+   "bed": {
+    "distance": "0.63 meters",
+    "closeness rank": 4
+   },
+   "mattress": {
+    "distance": "0.7 meters",
+    "closeness rank": 5
+   },
+   "table": {
+    "distance": "0.87 meters",
+    "closeness rank": 6
+   },
+   "mirror": {
+    "distance": "0.97 meters",
+    "closeness rank": 7
+   },
+   "counter": {
+    "distance": "0.99 meters",
+    "closeness rank": 8
+   },
+   "microwave": {
+    "distance": "1.0 meters",
+    "closeness rank": 9
+   },
+   "oven": {
+    "distance": "1.5 meters",
+    "closeness rank": 10
+   },
+   "monitor": {
+    "distance": "1.55 meters",
+    "closeness rank": 11
+   },
+   "tv": {
+    "distance": "1.56 meters",
+    "closeness rank": 12
+   },
+   "refrigerator": {
+    "distance": "1.65 meters",
+    "closeness rank": 13
+   },
+   "keyboard": {
+    "distance": "1.68 meters",
+    "closeness rank": 14
+   },
+   "chair": {
+    "distance": "1.94 meters",
+    "closeness rank": 15
+   },
+   "sofa": {
+    "distance": "1.99 meters",
+    "closeness rank": 16
+   },
+   "printer": {
+    "distance": "2.11 meters",
+    "closeness rank": 17
+   },
+   "nightstand": {
+    "distance": "2.12 meters",
+    "closeness rank": 18
+   },
+   "pillow": {
+    "distance": "2.15 meters",
+    "closeness rank": 19
+   },
+   "backpack": {
+    "distance": "2.37 meters",
+    "closeness rank": 20
+   },
+   "bookshelf": {
+    "distance": "2.45 meters",
+    "closeness rank": 21
+   },
+   "telephone": {
+    "distance": "2.77 meters",
+    "closeness rank": 22
+   },
+   "window": {
+    "distance": "2.91 meters",
+    "closeness rank": 23
+   }
+  },
+  "counter": {
+   "table": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "sofa": {
+    "distance": "0.67 meters",
+    "closeness rank": 2
+   },
+   "closet": {
+    "distance": "0.99 meters",
+    "closeness rank": 3
+   },
+   "backpack": {
+    "distance": "1.09 meters",
+    "closeness rank": 4
+   },
+   "door": {
+    "distance": "1.11 meters",
+    "closeness rank": 5
+   },
+   "oven": {
+    "distance": "1.24 meters",
+    "closeness rank": 6
+   },
+   "chair": {
+    "distance": "1.5 meters",
+    "closeness rank": 7
+   },
+   "keyboard": {
+    "distance": "1.9 meters",
+    "closeness rank": 8
+   },
+   "bed": {
+    "distance": "1.93 meters",
+    "closeness rank": 9
+   },
+   "monitor": {
+    "distance": "1.95 meters",
+    "closeness rank": 10
+   },
+   "towel": {
+    "distance": "1.95 meters",
+    "closeness rank": 11
+   },
+   "tv": {
+    "distance": "1.96 meters",
+    "closeness rank": 12
+   },
+   "mattress": {
+    "distance": "2.06 meters",
+    "closeness rank": 13
+   },
+   "trash bin": {
+    "distance": "2.1 meters",
+    "closeness rank": 14
+   },
+   "refrigerator": {
+    "distance": "2.11 meters",
+    "closeness rank": 15
+   },
+   "microwave": {
+    "distance": "2.39 meters",
+    "closeness rank": 16
+   },
+   "printer": {
+    "distance": "2.55 meters",
+    "closeness rank": 17
+   },
+   "bookshelf": {
+    "distance": "2.79 meters",
+    "closeness rank": 18
+   },
+   "nightstand": {
+    "distance": "2.86 meters",
+    "closeness rank": 19
+   },
+   "telephone": {
+    "distance": "2.9 meters",
+    "closeness rank": 20
+   },
+   "window": {
+    "distance": "2.95 meters",
+    "closeness rank": 21
+   },
+   "mirror": {
+    "distance": "3.1 meters",
+    "closeness rank": 22
+   },
+   "pillow": {
+    "distance": "3.17 meters",
+    "closeness rank": 23
+   }
+  },
+  "door": {
+   "closet": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "microwave": {
+    "distance": "0.16 meters",
+    "closeness rank": 2
+   },
+   "refrigerator": {
+    "distance": "0.23 meters",
+    "closeness rank": 3
+   },
+   "oven": {
+    "distance": "0.88 meters",
+    "closeness rank": 4
+   },
+   "towel": {
+    "distance": "1.06 meters",
+    "closeness rank": 5
+   },
+   "counter": {
+    "distance": "1.11 meters",
+    "closeness rank": 6
+   },
+   "table": {
+    "distance": "1.15 meters",
+    "closeness rank": 7
+   },
+   "mirror": {
+    "distance": "1.69 meters",
+    "closeness rank": 8
+   },
+   "trash bin": {
+    "distance": "1.71 meters",
+    "closeness rank": 9
+   },
+   "bed": {
+    "distance": "1.91 meters",
+    "closeness rank": 10
+   },
+   "mattress": {
+    "distance": "1.98 meters",
+    "closeness rank": 11
+   },
+   "sofa": {
+    "distance": "2.13 meters",
+    "closeness rank": 12
+   },
+   "monitor": {
+    "distance": "2.6 meters",
+    "closeness rank": 13
+   },
+   "tv": {
+    "distance": "2.6 meters",
+    "closeness rank": 14
+   },
+   "chair": {
+    "distance": "2.61 meters",
+    "closeness rank": 15
+   },
+   "keyboard": {
+    "distance": "2.69 meters",
+    "closeness rank": 16
+   },
+   "backpack": {
+    "distance": "2.72 meters",
+    "closeness rank": 17
+   },
+   "printer": {
+    "distance": "3.23 meters",
+    "closeness rank": 18
+   },
+   "nightstand": {
+    "distance": "3.37 meters",
+    "closeness rank": 19
+   },
+   "pillow": {
+    "distance": "3.43 meters",
+    "closeness rank": 20
+   },
+   "bookshelf": {
+    "distance": "3.59 meters",
+    "closeness rank": 21
+   },
+   "telephone": {
+    "distance": "3.79 meters",
+    "closeness rank": 22
+   },
+   "window": {
+    "distance": "3.9 meters",
+    "closeness rank": 23
+   }
+  },
+  "keyboard": {
+   "table": {
+    "distance": "0.05 meters",
+    "closeness rank": 1
+   },
+   "tv": {
+    "distance": "0.22 meters",
+    "closeness rank": 2
+   },
+   "monitor": {
+    "distance": "0.23 meters",
+    "closeness rank": 3
+   },
+   "printer": {
+    "distance": "0.42 meters",
+    "closeness rank": 4
+   },
+   "chair": {
+    "distance": "0.62 meters",
+    "closeness rank": 5
+   },
+   "nightstand": {
+    "distance": "0.8 meters",
+    "closeness rank": 6
+   },
+   "bookshelf": {
+    "distance": "0.84 meters",
+    "closeness rank": 7
+   },
+   "telephone": {
+    "distance": "0.87 meters",
+    "closeness rank": 8
+   },
+   "bed": {
+    "distance": "1.0 meters",
+    "closeness rank": 9
+   },
+   "mattress": {
+    "distance": "1.0 meters",
+    "closeness rank": 10
+   },
+   "window": {
+    "distance": "1.01 meters",
+    "closeness rank": 11
+   },
+   "sofa": {
+    "distance": "1.24 meters",
+    "closeness rank": 12
+   },
+   "pillow": {
+    "distance": "1.35 meters",
+    "closeness rank": 13
+   },
+   "backpack": {
+    "distance": "1.46 meters",
+    "closeness rank": 14
+   },
+   "trash bin": {
+    "distance": "1.59 meters",
+    "closeness rank": 15
+   },
+   "closet": {
+    "distance": "1.68 meters",
+    "closeness rank": 16
+   },
+   "counter": {
+    "distance": "1.9 meters",
+    "closeness rank": 17
+   },
+   "door": {
+    "distance": "2.69 meters",
+    "closeness rank": 18
+   },
+   "mirror": {
+    "distance": "3.67 meters",
+    "closeness rank": 19
+   },
+   "oven": {
+    "distance": "3.67 meters",
+    "closeness rank": 20
+   },
+   "towel": {
+    "distance": "3.88 meters",
+    "closeness rank": 21
+   },
+   "refrigerator": {
+    "distance": "4.51 meters",
+    "closeness rank": 22
+   },
+   "microwave": {
+    "distance": "4.52 meters",
+    "closeness rank": 23
+   }
+  },
+  "mattress": {
+   "bed": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "pillow": {
+    "distance": "0.03 meters",
+    "closeness rank": 2
+   },
+   "nightstand": {
+    "distance": "0.2 meters",
+    "closeness rank": 3
+   },
+   "trash bin": {
+    "distance": "0.2 meters",
+    "closeness rank": 4
+   },
+   "table": {
+    "distance": "0.52 meters",
+    "closeness rank": 5
+   },
+   "printer": {
+    "distance": "0.66 meters",
+    "closeness rank": 6
+   },
+   "closet": {
+    "distance": "0.7 meters",
+    "closeness rank": 7
+   },
+   "bookshelf": {
+    "distance": "0.84 meters",
+    "closeness rank": 8
+   },
+   "monitor": {
+    "distance": "0.89 meters",
+    "closeness rank": 9
+   },
+   "tv": {
+    "distance": "0.89 meters",
+    "closeness rank": 10
+   },
+   "keyboard": {
+    "distance": "1.0 meters",
+    "closeness rank": 11
+   },
+   "telephone": {
+    "distance": "1.33 meters",
+    "closeness rank": 12
+   },
+   "window": {
+    "distance": "1.49 meters",
+    "closeness rank": 13
+   },
+   "chair": {
+    "distance": "1.64 meters",
+    "closeness rank": 14
+   },
+   "door": {
+    "distance": "1.98 meters",
+    "closeness rank": 15
+   },
+   "counter": {
+    "distance": "2.06 meters",
+    "closeness rank": 16
+   },
+   "sofa": {
+    "distance": "2.27 meters",
+    "closeness rank": 17
+   },
+   "mirror": {
+    "distance": "2.36 meters",
+    "closeness rank": 18
+   },
+   "backpack": {
+    "distance": "2.42 meters",
+    "closeness rank": 19
+   },
+   "towel": {
+    "distance": "3.12 meters",
+    "closeness rank": 20
+   },
+   "oven": {
+    "distance": "3.59 meters",
+    "closeness rank": 21
+   },
+   "microwave": {
+    "distance": "3.84 meters",
+    "closeness rank": 22
+   },
+   "refrigerator": {
+    "distance": "4.25 meters",
+    "closeness rank": 23
+   }
+  },
+  "microwave": {
+   "door": {
+    "distance": "0.16 meters",
+    "closeness rank": 1
+   },
+   "towel": {
+    "distance": "0.54 meters",
+    "closeness rank": 2
+   },
+   "closet": {
+    "distance": "1.0 meters",
+    "closeness rank": 3
+   },
+   "refrigerator": {
+    "distance": "1.11 meters",
+    "closeness rank": 4
+   },
+   "oven": {
+    "distance": "1.32 meters",
+    "closeness rank": 5
+   },
+   "counter": {
+    "distance": "2.39 meters",
+    "closeness rank": 6
+   },
+   "table": {
+    "distance": "2.47 meters",
+    "closeness rank": 7
+   },
+   "mirror": {
+    "distance": "2.59 meters",
+    "closeness rank": 8
+   },
+   "trash bin": {
+    "distance": "3.54 meters",
+    "closeness rank": 9
+   },
+   "sofa": {
+    "distance": "3.56 meters",
+    "closeness rank": 10
+   },
+   "bed": {
+    "distance": "3.79 meters",
+    "closeness rank": 11
+   },
+   "mattress": {
+    "distance": "3.84 meters",
+    "closeness rank": 12
+   },
+   "backpack": {
+    "distance": "4.13 meters",
+    "closeness rank": 13
+   },
+   "chair": {
+    "distance": "4.31 meters",
+    "closeness rank": 14
+   },
+   "monitor": {
+    "distance": "4.46 meters",
+    "closeness rank": 15
+   },
+   "tv": {
+    "distance": "4.47 meters",
+    "closeness rank": 16
+   },
+   "keyboard": {
+    "distance": "4.52 meters",
+    "closeness rank": 17
+   },
+   "printer": {
+    "distance": "5.09 meters",
+    "closeness rank": 18
+   },
+   "nightstand": {
+    "distance": "5.26 meters",
+    "closeness rank": 19
+   },
+   "pillow": {
+    "distance": "5.28 meters",
+    "closeness rank": 20
+   },
+   "bookshelf": {
+    "distance": "5.46 meters",
+    "closeness rank": 21
+   },
+   "telephone": {
+    "distance": "5.62 meters",
+    "closeness rank": 22
+   },
+   "window": {
+    "distance": "5.72 meters",
+    "closeness rank": 23
+   }
+  },
+  "mirror": {
+   "closet": {
+    "distance": "0.97 meters",
+    "closeness rank": 1
+   },
+   "door": {
+    "distance": "1.69 meters",
+    "closeness rank": 2
+   },
+   "trash bin": {
+    "distance": "1.82 meters",
+    "closeness rank": 3
+   },
+   "towel": {
+    "distance": "2.0 meters",
+    "closeness rank": 4
+   },
+   "bed": {
+    "distance": "2.34 meters",
+    "closeness rank": 5
+   },
+   "mattress": {
+    "distance": "2.36 meters",
+    "closeness rank": 6
+   },
+   "microwave": {
+    "distance": "2.59 meters",
+    "closeness rank": 7
+   },
+   "table": {
+    "distance": "2.89 meters",
+    "closeness rank": 8
+   },
+   "counter": {
+    "distance": "3.1 meters",
+    "closeness rank": 9
+   },
+   "pillow": {
+    "distance": "3.36 meters",
+    "closeness rank": 10
+   },
+   "monitor": {
+    "distance": "3.49 meters",
+    "closeness rank": 11
+   },
+   "tv": {
+    "distance": "3.5 meters",
+    "closeness rank": 12
+   },
+   "keyboard": {
+    "distance": "3.67 meters",
+    "closeness rank": 13
+   },
+   "oven": {
+    "distance": "3.75 meters",
+    "closeness rank": 14
+   },
+   "refrigerator": {
+    "distance": "3.82 meters",
+    "closeness rank": 15
+   },
+   "nightstand": {
+    "distance": "3.83 meters",
+    "closeness rank": 16
+   },
+   "printer": {
+    "distance": "3.92 meters",
+    "closeness rank": 17
+   },
+   "sofa": {
+    "distance": "3.96 meters",
+    "closeness rank": 18
+   },
+   "chair": {
+    "distance": "4.05 meters",
+    "closeness rank": 19
+   },
+   "bookshelf": {
+    "distance": "4.18 meters",
+    "closeness rank": 20
+   },
+   "backpack": {
+    "distance": "4.41 meters",
+    "closeness rank": 21
+   },
+   "telephone": {
+    "distance": "4.67 meters",
+    "closeness rank": 22
+   },
+   "window": {
+    "distance": "4.81 meters",
+    "closeness rank": 23
+   }
+  },
+  "monitor": {
+   "tv": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "table": {
+    "distance": "0.17 meters",
+    "closeness rank": 2
+   },
+   "keyboard": {
+    "distance": "0.23 meters",
+    "closeness rank": 3
+   },
+   "printer": {
+    "distance": "0.26 meters",
+    "closeness rank": 4
+   },
+   "bookshelf": {
+    "distance": "0.6 meters",
+    "closeness rank": 5
+   },
+   "nightstand": {
+    "distance": "0.75 meters",
+    "closeness rank": 6
+   },
+   "telephone": {
+    "distance": "0.84 meters",
+    "closeness rank": 7
+   },
+   "chair": {
+    "distance": "0.88 meters",
+    "closeness rank": 8
+   },
+   "bed": {
+    "distance": "0.89 meters",
+    "closeness rank": 9
+   },
+   "mattress": {
+    "distance": "0.89 meters",
+    "closeness rank": 10
+   },
+   "window": {
+    "distance": "0.97 meters",
+    "closeness rank": 11
+   },
+   "pillow": {
+    "distance": "1.18 meters",
+    "closeness rank": 12
+   },
+   "trash bin": {
+    "distance": "1.46 meters",
+    "closeness rank": 13
+   },
+   "sofa": {
+    "distance": "1.49 meters",
+    "closeness rank": 14
+   },
+   "closet": {
+    "distance": "1.55 meters",
+    "closeness rank": 15
+   },
+   "backpack": {
+    "distance": "1.69 meters",
+    "closeness rank": 16
+   },
+   "counter": {
+    "distance": "1.95 meters",
+    "closeness rank": 17
+   },
+   "door": {
+    "distance": "2.6 meters",
+    "closeness rank": 18
+   },
+   "mirror": {
+    "distance": "3.49 meters",
+    "closeness rank": 19
+   },
+   "oven": {
+    "distance": "3.72 meters",
+    "closeness rank": 20
+   },
+   "towel": {
+    "distance": "3.81 meters",
+    "closeness rank": 21
+   },
+   "microwave": {
+    "distance": "4.46 meters",
+    "closeness rank": 22
+   },
+   "refrigerator": {
+    "distance": "4.53 meters",
+    "closeness rank": 23
+   }
+  },
+  "nightstand": {
+   "bed": {
+    "distance": "0.19 meters",
+    "closeness rank": 1
+   },
+   "mattress": {
+    "distance": "0.2 meters",
+    "closeness rank": 2
+   },
+   "printer": {
+    "distance": "0.37 meters",
+    "closeness rank": 3
+   },
+   "pillow": {
+    "distance": "0.45 meters",
+    "closeness rank": 4
+   },
+   "table": {
+    "distance": "0.58 meters",
+    "closeness rank": 5
+   },
+   "bookshelf": {
+    "distance": "0.72 meters",
+    "closeness rank": 6
+   },
+   "tv": {
+    "distance": "0.74 meters",
+    "closeness rank": 7
+   },
+   "monitor": {
+    "distance": "0.75 meters",
+    "closeness rank": 8
+   },
+   "keyboard": {
+    "distance": "0.8 meters",
+    "closeness rank": 9
+   },
+   "telephone": {
+    "distance": "0.89 meters",
+    "closeness rank": 10
+   },
+   "window": {
+    "distance": "1.07 meters",
+    "closeness rank": 11
+   },
+   "chair": {
+    "distance": "1.43 meters",
+    "closeness rank": 12
+   },
+   "trash bin": {
+    "distance": "1.65 meters",
+    "closeness rank": 13
+   },
+   "sofa": {
+    "distance": "1.91 meters",
+    "closeness rank": 14
+   },
+   "closet": {
+    "distance": "2.12 meters",
+    "closeness rank": 15
+   },
+   "backpack": {
+    "distance": "2.35 meters",
+    "closeness rank": 16
+   },
+   "counter": {
+    "distance": "2.86 meters",
+    "closeness rank": 17
+   },
+   "door": {
+    "distance": "3.37 meters",
+    "closeness rank": 18
+   },
+   "mirror": {
+    "distance": "3.83 meters",
+    "closeness rank": 19
+   },
+   "towel": {
+    "distance": "4.57 meters",
+    "closeness rank": 20
+   },
+   "oven": {
+    "distance": "4.58 meters",
+    "closeness rank": 21
+   },
+   "microwave": {
+    "distance": "5.26 meters",
+    "closeness rank": 22
+   },
+   "refrigerator": {
+    "distance": "5.39 meters",
+    "closeness rank": 23
+   }
+  },
+  "oven": {
+   "refrigerator": {
+    "distance": "0.24 meters",
+    "closeness rank": 1
+   },
+   "door": {
+    "distance": "0.88 meters",
+    "closeness rank": 2
+   },
+   "counter": {
+    "distance": "1.24 meters",
+    "closeness rank": 3
+   },
+   "microwave": {
+    "distance": "1.32 meters",
+    "closeness rank": 4
+   },
+   "table": {
+    "distance": "1.4 meters",
+    "closeness rank": 5
+   },
+   "closet": {
+    "distance": "1.5 meters",
+    "closeness rank": 6
+   },
+   "towel": {
+    "distance": "1.64 meters",
+    "closeness rank": 7
+   },
+   "sofa": {
+    "distance": "2.25 meters",
+    "closeness rank": 8
+   },
+   "backpack": {
+    "distance": "2.73 meters",
+    "closeness rank": 9
+   },
+   "chair": {
+    "distance": "3.14 meters",
+    "closeness rank": 10
+   },
+   "bed": {
+    "distance": "3.46 meters",
+    "closeness rank": 11
+   },
+   "trash bin": {
+    "distance": "3.51 meters",
+    "closeness rank": 12
+   },
+   "mattress": {
+    "distance": "3.59 meters",
+    "closeness rank": 13
+   },
+   "keyboard": {
+    "distance": "3.67 meters",
+    "closeness rank": 14
+   },
+   "monitor": {
+    "distance": "3.72 meters",
+    "closeness rank": 15
+   },
+   "tv": {
+    "distance": "3.73 meters",
+    "closeness rank": 16
+   },
+   "mirror": {
+    "distance": "3.75 meters",
+    "closeness rank": 17
+   },
+   "printer": {
+    "distance": "4.32 meters",
+    "closeness rank": 18
+   },
+   "bookshelf": {
+    "distance": "4.55 meters",
+    "closeness rank": 19
+   },
+   "nightstand": {
+    "distance": "4.58 meters",
+    "closeness rank": 20
+   },
+   "telephone": {
+    "distance": "4.66 meters",
+    "closeness rank": 21
+   },
+   "window": {
+    "distance": "4.67 meters",
+    "closeness rank": 22
+   },
+   "pillow": {
+    "distance": "4.87 meters",
+    "closeness rank": 23
+   }
+  },
+  "pillow": {
+   "bed": {
+    "distance": "0.03 meters",
+    "closeness rank": 1
+   },
+   "mattress": {
+    "distance": "0.03 meters",
+    "closeness rank": 2
+   },
+   "nightstand": {
+    "distance": "0.45 meters",
+    "closeness rank": 3
+   },
+   "printer": {
+    "distance": "0.89 meters",
+    "closeness rank": 4
+   },
+   "bookshelf": {
+    "distance": "0.95 meters",
+    "closeness rank": 5
+   },
+   "table": {
+    "distance": "1.14 meters",
+    "closeness rank": 6
+   },
+   "monitor": {
+    "distance": "1.18 meters",
+    "closeness rank": 7
+   },
+   "tv": {
+    "distance": "1.18 meters",
+    "closeness rank": 8
+   },
+   "keyboard": {
+    "distance": "1.35 meters",
+    "closeness rank": 9
+   },
+   "trash bin": {
+    "distance": "1.48 meters",
+    "closeness rank": 10
+   },
+   "telephone": {
+    "distance": "1.53 meters",
+    "closeness rank": 11
+   },
+   "window": {
+    "distance": "1.68 meters",
+    "closeness rank": 12
+   },
+   "chair": {
+    "distance": "2.06 meters",
+    "closeness rank": 13
+   },
+   "closet": {
+    "distance": "2.15 meters",
+    "closeness rank": 14
+   },
+   "sofa": {
+    "distance": "2.6 meters",
+    "closeness rank": 15
+   },
+   "backpack": {
+    "distance": "2.95 meters",
+    "closeness rank": 16
+   },
+   "counter": {
+    "distance": "3.17 meters",
+    "closeness rank": 17
+   },
+   "mirror": {
+    "distance": "3.36 meters",
+    "closeness rank": 18
+   },
+   "door": {
+    "distance": "3.43 meters",
+    "closeness rank": 19
+   },
+   "towel": {
+    "distance": "4.57 meters",
+    "closeness rank": 20
+   },
+   "oven": {
+    "distance": "4.87 meters",
+    "closeness rank": 21
+   },
+   "microwave": {
+    "distance": "5.28 meters",
+    "closeness rank": 22
+   },
+   "refrigerator": {
+    "distance": "5.62 meters",
+    "closeness rank": 23
+   }
+  },
+  "printer": {
+   "table": {
+    "distance": "0.15 meters",
+    "closeness rank": 1
+   },
+   "bookshelf": {
+    "distance": "0.26 meters",
+    "closeness rank": 2
+   },
+   "monitor": {
+    "distance": "0.26 meters",
+    "closeness rank": 3
+   },
+   "tv": {
+    "distance": "0.26 meters",
+    "closeness rank": 4
+   },
+   "nightstand": {
+    "distance": "0.37 meters",
+    "closeness rank": 5
+   },
+   "keyboard": {
+    "distance": "0.42 meters",
+    "closeness rank": 6
+   },
+   "telephone": {
+    "distance": "0.46 meters",
+    "closeness rank": 7
+   },
+   "window": {
+    "distance": "0.62 meters",
+    "closeness rank": 8
+   },
+   "bed": {
+    "distance": "0.66 meters",
+    "closeness rank": 9
+   },
+   "mattress": {
+    "distance": "0.66 meters",
+    "closeness rank": 10
+   },
+   "pillow": {
+    "distance": "0.89 meters",
+    "closeness rank": 11
+   },
+   "chair": {
+    "distance": "1.03 meters",
+    "closeness rank": 12
+   },
+   "sofa": {
+    "distance": "1.55 meters",
+    "closeness rank": 13
+   },
+   "trash bin": {
+    "distance": "1.78 meters",
+    "closeness rank": 14
+   },
+   "backpack": {
+    "distance": "2.0 meters",
+    "closeness rank": 15
+   },
+   "closet": {
+    "distance": "2.11 meters",
+    "closeness rank": 16
+   },
+   "counter": {
+    "distance": "2.55 meters",
+    "closeness rank": 17
+   },
+   "door": {
+    "distance": "3.23 meters",
+    "closeness rank": 18
+   },
+   "mirror": {
+    "distance": "3.92 meters",
+    "closeness rank": 19
+   },
+   "oven": {
+    "distance": "4.32 meters",
+    "closeness rank": 20
+   },
+   "towel": {
+    "distance": "4.43 meters",
+    "closeness rank": 21
+   },
+   "microwave": {
+    "distance": "5.09 meters",
+    "closeness rank": 22
+   },
+   "refrigerator": {
+    "distance": "5.16 meters",
+    "closeness rank": 23
+   }
+  },
+  "refrigerator": {
+   "door": {
+    "distance": "0.23 meters",
+    "closeness rank": 1
+   },
+   "oven": {
+    "distance": "0.24 meters",
+    "closeness rank": 2
+   },
+   "microwave": {
+    "distance": "1.11 meters",
+    "closeness rank": 3
+   },
+   "closet": {
+    "distance": "1.65 meters",
+    "closeness rank": 4
+   },
+   "towel": {
+    "distance": "1.65 meters",
+    "closeness rank": 5
+   },
+   "counter": {
+    "distance": "2.11 meters",
+    "closeness rank": 6
+   },
+   "table": {
+    "distance": "2.24 meters",
+    "closeness rank": 7
+   },
+   "sofa": {
+    "distance": "3.16 meters",
+    "closeness rank": 8
+   },
+   "backpack": {
+    "distance": "3.65 meters",
+    "closeness rank": 9
+   },
+   "mirror": {
+    "distance": "3.82 meters",
+    "closeness rank": 10
+   },
+   "chair": {
+    "distance": "4.03 meters",
+    "closeness rank": 11
+   },
+   "trash bin": {
+    "distance": "4.09 meters",
+    "closeness rank": 12
+   },
+   "bed": {
+    "distance": "4.14 meters",
+    "closeness rank": 13
+   },
+   "mattress": {
+    "distance": "4.25 meters",
+    "closeness rank": 14
+   },
+   "keyboard": {
+    "distance": "4.51 meters",
+    "closeness rank": 15
+   },
+   "monitor": {
+    "distance": "4.53 meters",
+    "closeness rank": 16
+   },
+   "tv": {
+    "distance": "4.54 meters",
+    "closeness rank": 17
+   },
+   "printer": {
+    "distance": "5.16 meters",
+    "closeness rank": 18
+   },
+   "nightstand": {
+    "distance": "5.39 meters",
+    "closeness rank": 19
+   },
+   "bookshelf": {
+    "distance": "5.4 meters",
+    "closeness rank": 20
+   },
+   "telephone": {
+    "distance": "5.54 meters",
+    "closeness rank": 21
+   },
+   "window": {
+    "distance": "5.54 meters",
+    "closeness rank": 22
+   },
+   "pillow": {
+    "distance": "5.62 meters",
+    "closeness rank": 23
+   }
+  },
+  "sofa": {
+   "backpack": {
+    "distance": "0.03 meters",
+    "closeness rank": 1
+   },
+   "chair": {
+    "distance": "0.03 meters",
+    "closeness rank": 2
+   },
+   "counter": {
+    "distance": "0.67 meters",
+    "closeness rank": 3
+   },
+   "table": {
+    "distance": "0.73 meters",
+    "closeness rank": 4
+   },
+   "window": {
+    "distance": "0.97 meters",
+    "closeness rank": 5
+   },
+   "keyboard": {
+    "distance": "1.24 meters",
+    "closeness rank": 6
+   },
+   "telephone": {
+    "distance": "1.27 meters",
+    "closeness rank": 7
+   },
+   "bookshelf": {
+    "distance": "1.36 meters",
+    "closeness rank": 8
+   },
+   "monitor": {
+    "distance": "1.49 meters",
+    "closeness rank": 9
+   },
+   "tv": {
+    "distance": "1.49 meters",
+    "closeness rank": 10
+   },
+   "printer": {
+    "distance": "1.55 meters",
+    "closeness rank": 11
+   },
+   "nightstand": {
+    "distance": "1.91 meters",
+    "closeness rank": 12
+   },
+   "closet": {
+    "distance": "1.99 meters",
+    "closeness rank": 13
+   },
+   "bed": {
+    "distance": "2.13 meters",
+    "closeness rank": 14
+   },
+   "door": {
+    "distance": "2.13 meters",
+    "closeness rank": 15
+   },
+   "oven": {
+    "distance": "2.25 meters",
+    "closeness rank": 16
+   },
+   "mattress": {
+    "distance": "2.27 meters",
+    "closeness rank": 17
+   },
+   "trash bin": {
+    "distance": "2.44 meters",
+    "closeness rank": 18
+   },
+   "pillow": {
+    "distance": "2.6 meters",
+    "closeness rank": 19
+   },
+   "towel": {
+    "distance": "3.11 meters",
+    "closeness rank": 20
+   },
+   "refrigerator": {
+    "distance": "3.16 meters",
+    "closeness rank": 21
+   },
+   "microwave": {
+    "distance": "3.56 meters",
+    "closeness rank": 22
+   },
+   "mirror": {
+    "distance": "3.96 meters",
+    "closeness rank": 23
+   }
+  },
+  "table": {
+   "counter": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "keyboard": {
+    "distance": "0.05 meters",
+    "closeness rank": 2
+   },
+   "printer": {
+    "distance": "0.15 meters",
+    "closeness rank": 3
+   },
+   "tv": {
+    "distance": "0.16 meters",
+    "closeness rank": 4
+   },
+   "monitor": {
+    "distance": "0.17 meters",
+    "closeness rank": 5
+   },
+   "telephone": {
+    "distance": "0.19 meters",
+    "closeness rank": 6
+   },
+   "window": {
+    "distance": "0.35 meters",
+    "closeness rank": 7
+   },
+   "bookshelf": {
+    "distance": "0.45 meters",
+    "closeness rank": 8
+   },
+   "chair": {
+    "distance": "0.5 meters",
+    "closeness rank": 9
+   },
+   "mattress": {
+    "distance": "0.52 meters",
+    "closeness rank": 10
+   },
+   "bed": {
+    "distance": "0.53 meters",
+    "closeness rank": 11
+   },
+   "nightstand": {
+    "distance": "0.58 meters",
+    "closeness rank": 12
+   },
+   "sofa": {
+    "distance": "0.73 meters",
+    "closeness rank": 13
+   },
+   "closet": {
+    "distance": "0.87 meters",
+    "closeness rank": 14
+   },
+   "trash bin": {
+    "distance": "0.92 meters",
+    "closeness rank": 15
+   },
+   "pillow": {
+    "distance": "1.14 meters",
+    "closeness rank": 16
+   },
+   "door": {
+    "distance": "1.15 meters",
+    "closeness rank": 17
+   },
+   "backpack": {
+    "distance": "1.23 meters",
+    "closeness rank": 18
+   },
+   "oven": {
+    "distance": "1.4 meters",
+    "closeness rank": 19
+   },
+   "towel": {
+    "distance": "2.01 meters",
+    "closeness rank": 20
+   },
+   "refrigerator": {
+    "distance": "2.24 meters",
+    "closeness rank": 21
+   },
+   "microwave": {
+    "distance": "2.47 meters",
+    "closeness rank": 22
+   },
+   "mirror": {
+    "distance": "2.89 meters",
+    "closeness rank": 23
+   }
+  },
+  "telephone": {
+   "window": {
+    "distance": "0.07 meters",
+    "closeness rank": 1
+   },
+   "table": {
+    "distance": "0.19 meters",
+    "closeness rank": 2
+   },
+   "bookshelf": {
+    "distance": "0.27 meters",
+    "closeness rank": 3
+   },
+   "printer": {
+    "distance": "0.46 meters",
+    "closeness rank": 4
+   },
+   "monitor": {
+    "distance": "0.84 meters",
+    "closeness rank": 5
+   },
+   "tv": {
+    "distance": "0.84 meters",
+    "closeness rank": 6
+   },
+   "keyboard": {
+    "distance": "0.87 meters",
+    "closeness rank": 7
+   },
+   "nightstand": {
+    "distance": "0.89 meters",
+    "closeness rank": 8
+   },
+   "chair": {
+    "distance": "0.98 meters",
+    "closeness rank": 9
+   },
+   "sofa": {
+    "distance": "1.27 meters",
+    "closeness rank": 10
+   },
+   "bed": {
+    "distance": "1.32 meters",
+    "closeness rank": 11
+   },
+   "mattress": {
+    "distance": "1.33 meters",
+    "closeness rank": 12
+   },
+   "pillow": {
+    "distance": "1.53 meters",
+    "closeness rank": 13
+   },
+   "backpack": {
+    "distance": "1.98 meters",
+    "closeness rank": 14
+   },
+   "trash bin": {
+    "distance": "2.54 meters",
+    "closeness rank": 15
+   },
+   "closet": {
+    "distance": "2.77 meters",
+    "closeness rank": 16
+   },
+   "counter": {
+    "distance": "2.9 meters",
+    "closeness rank": 17
+   },
+   "door": {
+    "distance": "3.79 meters",
+    "closeness rank": 18
+   },
+   "oven": {
+    "distance": "4.66 meters",
+    "closeness rank": 19
+   },
+   "mirror": {
+    "distance": "4.67 meters",
+    "closeness rank": 20
+   },
+   "towel": {
+    "distance": "4.98 meters",
+    "closeness rank": 21
+   },
+   "refrigerator": {
+    "distance": "5.54 meters",
+    "closeness rank": 22
+   },
+   "microwave": {
+    "distance": "5.62 meters",
+    "closeness rank": 23
+   }
+  },
+  "towel": {
+   "closet": {
+    "distance": "0.35 meters",
+    "closeness rank": 1
+   },
+   "microwave": {
+    "distance": "0.54 meters",
+    "closeness rank": 2
+   },
+   "door": {
+    "distance": "1.06 meters",
+    "closeness rank": 3
+   },
+   "oven": {
+    "distance": "1.64 meters",
+    "closeness rank": 4
+   },
+   "refrigerator": {
+    "distance": "1.65 meters",
+    "closeness rank": 5
+   },
+   "counter": {
+    "distance": "1.95 meters",
+    "closeness rank": 6
+   },
+   "mirror": {
+    "distance": "2.0 meters",
+    "closeness rank": 7
+   },
+   "table": {
+    "distance": "2.01 meters",
+    "closeness rank": 8
+   },
+   "trash bin": {
+    "distance": "2.79 meters",
+    "closeness rank": 9
+   },
+   "bed": {
+    "distance": "3.07 meters",
+    "closeness rank": 10
+   },
+   "sofa": {
+    "distance": "3.11 meters",
+    "closeness rank": 11
+   },
+   "mattress": {
+    "distance": "3.12 meters",
+    "closeness rank": 12
+   },
+   "backpack": {
+    "distance": "3.69 meters",
+    "closeness rank": 13
+   },
+   "chair": {
+    "distance": "3.74 meters",
+    "closeness rank": 14
+   },
+   "monitor": {
+    "distance": "3.81 meters",
+    "closeness rank": 15
+   },
+   "tv": {
+    "distance": "3.82 meters",
+    "closeness rank": 16
+   },
+   "keyboard": {
+    "distance": "3.88 meters",
+    "closeness rank": 17
+   },
+   "printer": {
+    "distance": "4.43 meters",
+    "closeness rank": 18
+   },
+   "nightstand": {
+    "distance": "4.57 meters",
+    "closeness rank": 19
+   },
+   "pillow": {
+    "distance": "4.57 meters",
+    "closeness rank": 20
+   },
+   "bookshelf": {
+    "distance": "4.83 meters",
+    "closeness rank": 21
+   },
+   "telephone": {
+    "distance": "4.98 meters",
+    "closeness rank": 22
+   },
+   "window": {
+    "distance": "5.1 meters",
+    "closeness rank": 23
+   }
+  },
+  "trash bin": {
+   "bed": {
+    "distance": "0.16 meters",
+    "closeness rank": 1
+   },
+   "mattress": {
+    "distance": "0.2 meters",
+    "closeness rank": 2
+   },
+   "closet": {
+    "distance": "0.55 meters",
+    "closeness rank": 3
+   },
+   "table": {
+    "distance": "0.92 meters",
+    "closeness rank": 4
+   },
+   "monitor": {
+    "distance": "1.46 meters",
+    "closeness rank": 5
+   },
+   "tv": {
+    "distance": "1.47 meters",
+    "closeness rank": 6
+   },
+   "pillow": {
+    "distance": "1.48 meters",
+    "closeness rank": 7
+   },
+   "keyboard": {
+    "distance": "1.59 meters",
+    "closeness rank": 8
+   },
+   "nightstand": {
+    "distance": "1.65 meters",
+    "closeness rank": 9
+   },
+   "door": {
+    "distance": "1.71 meters",
+    "closeness rank": 10
+   },
+   "printer": {
+    "distance": "1.78 meters",
+    "closeness rank": 11
+   },
+   "mirror": {
+    "distance": "1.82 meters",
+    "closeness rank": 12
+   },
+   "chair": {
+    "distance": "2.08 meters",
+    "closeness rank": 13
+   },
+   "counter": {
+    "distance": "2.1 meters",
+    "closeness rank": 14
+   },
+   "bookshelf": {
+    "distance": "2.13 meters",
+    "closeness rank": 15
+   },
+   "sofa": {
+    "distance": "2.44 meters",
+    "closeness rank": 16
+   },
+   "telephone": {
+    "distance": "2.54 meters",
+    "closeness rank": 17
+   },
+   "backpack": {
+    "distance": "2.69 meters",
+    "closeness rank": 18
+   },
+   "window": {
+    "distance": "2.71 meters",
+    "closeness rank": 19
+   },
+   "towel": {
+    "distance": "2.79 meters",
+    "closeness rank": 20
+   },
+   "oven": {
+    "distance": "3.51 meters",
+    "closeness rank": 21
+   },
+   "microwave": {
+    "distance": "3.54 meters",
+    "closeness rank": 22
+   },
+   "refrigerator": {
+    "distance": "4.09 meters",
+    "closeness rank": 23
+   }
+  },
+  "tv": {
+   "monitor": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "table": {
+    "distance": "0.16 meters",
+    "closeness rank": 2
+   },
+   "keyboard": {
+    "distance": "0.22 meters",
+    "closeness rank": 3
+   },
+   "printer": {
+    "distance": "0.26 meters",
+    "closeness rank": 4
+   },
+   "bookshelf": {
+    "distance": "0.59 meters",
+    "closeness rank": 5
+   },
+   "nightstand": {
+    "distance": "0.74 meters",
+    "closeness rank": 6
+   },
+   "telephone": {
+    "distance": "0.84 meters",
+    "closeness rank": 7
+   },
+   "bed": {
+    "distance": "0.89 meters",
+    "closeness rank": 8
+   },
+   "chair": {
+    "distance": "0.89 meters",
+    "closeness rank": 9
+   },
+   "mattress": {
+    "distance": "0.89 meters",
+    "closeness rank": 10
+   },
+   "window": {
+    "distance": "0.98 meters",
+    "closeness rank": 11
+   },
+   "pillow": {
+    "distance": "1.18 meters",
+    "closeness rank": 12
+   },
+   "trash bin": {
+    "distance": "1.47 meters",
+    "closeness rank": 13
+   },
+   "sofa": {
+    "distance": "1.49 meters",
+    "closeness rank": 14
+   },
+   "closet": {
+    "distance": "1.56 meters",
+    "closeness rank": 15
+   },
+   "backpack": {
+    "distance": "1.69 meters",
+    "closeness rank": 16
+   },
+   "counter": {
+    "distance": "1.96 meters",
+    "closeness rank": 17
+   },
+   "door": {
+    "distance": "2.6 meters",
+    "closeness rank": 18
+   },
+   "mirror": {
+    "distance": "3.5 meters",
+    "closeness rank": 19
+   },
+   "oven": {
+    "distance": "3.73 meters",
+    "closeness rank": 20
+   },
+   "towel": {
+    "distance": "3.82 meters",
+    "closeness rank": 21
+   },
+   "microwave": {
+    "distance": "4.47 meters",
+    "closeness rank": 22
+   },
+   "refrigerator": {
+    "distance": "4.54 meters",
+    "closeness rank": 23
+   }
+  },
+  "window": {
+   "telephone": {
+    "distance": "0.07 meters",
+    "closeness rank": 1
+   },
+   "bookshelf": {
+    "distance": "0.12 meters",
+    "closeness rank": 2
+   },
+   "table": {
+    "distance": "0.35 meters",
+    "closeness rank": 3
+   },
+   "printer": {
+    "distance": "0.62 meters",
+    "closeness rank": 4
+   },
+   "chair": {
+    "distance": "0.94 meters",
+    "closeness rank": 5
+   },
+   "monitor": {
+    "distance": "0.97 meters",
+    "closeness rank": 6
+   },
+   "sofa": {
+    "distance": "0.97 meters",
+    "closeness rank": 7
+   },
+   "tv": {
+    "distance": "0.98 meters",
+    "closeness rank": 8
+   },
+   "keyboard": {
+    "distance": "1.01 meters",
+    "closeness rank": 9
+   },
+   "nightstand": {
+    "distance": "1.07 meters",
+    "closeness rank": 10
+   },
+   "bed": {
+    "distance": "1.49 meters",
+    "closeness rank": 11
+   },
+   "mattress": {
+    "distance": "1.49 meters",
+    "closeness rank": 12
+   },
+   "pillow": {
+    "distance": "1.68 meters",
+    "closeness rank": 13
+   },
+   "backpack": {
+    "distance": "1.75 meters",
+    "closeness rank": 14
+   },
+   "trash bin": {
+    "distance": "2.71 meters",
+    "closeness rank": 15
+   },
+   "closet": {
+    "distance": "2.91 meters",
+    "closeness rank": 16
+   },
+   "counter": {
+    "distance": "2.95 meters",
+    "closeness rank": 17
+   },
+   "door": {
+    "distance": "3.9 meters",
+    "closeness rank": 18
+   },
+   "oven": {
+    "distance": "4.67 meters",
+    "closeness rank": 19
+   },
+   "mirror": {
+    "distance": "4.81 meters",
+    "closeness rank": 20
+   },
+   "towel": {
+    "distance": "5.1 meters",
+    "closeness rank": 21
+   },
+   "refrigerator": {
+    "distance": "5.54 meters",
+    "closeness rank": 22
+   },
+   "microwave": {
+    "distance": "5.72 meters",
+    "closeness rank": 23
+   }
+  }
+ },
+ "appearance order": ["bed", "mattress", "pillow", "table", "trash bin", "keyboard", "monitor", "tv", "printer", "telephone", "bookshelf", "window", "backpack", "chair", "sofa", "towel", "nightstand", "closet", "door", "counter", "refrigerator", "oven", "mirror", "microwave"]
+}
\ No newline at end of file
diff --git a/data/spatial codes/sam3+depth-anything-3/metric/tracking/uniform/64/explicit/scene0221_01.json b/data/spatial codes/sam3+depth-anything-3/metric/tracking/uniform/64/explicit/scene0221_01.json
new file mode 100644
index 0000000000000000000000000000000000000000..4e3ed6d9602510e1c2940d35803e025a061bf700
--- /dev/null
+++ b/data/spatial codes/sam3+depth-anything-3/metric/tracking/uniform/64/explicit/scene0221_01.json	
@@ -0,0 +1,2324 @@
+{
+ "objects": {
+  "bed": {
+   "count": 3,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-0.92 meters",
+      "y coordinate": "0.5 meters",
+      "height above floor": "0.01 meters"
+     },
+     "longest dimension": "1.33 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-3.13 meters",
+      "y coordinate": "1.31 meters",
+      "height above floor": "-0.01 meters"
+     },
+     "longest dimension": "1.77 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-2.42 meters",
+      "y coordinate": "0.56 meters",
+      "height above floor": "-0.09 meters"
+     },
+     "longest dimension": "1.37 meters"
+    }
+   ]
+  },
+  "chair": {
+   "count": 2,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-0.96 meters",
+      "y coordinate": "-0.96 meters",
+      "height above floor": "0.11 meters"
+     },
+     "longest dimension": "0.76 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "0.48 meters",
+      "y coordinate": "-1.03 meters",
+      "height above floor": "0.13 meters"
+     },
+     "longest dimension": "0.74 meters"
+    }
+   ]
+  },
+  "clock": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-5.57 meters",
+      "y coordinate": "0.25 meters",
+      "height above floor": "0.81 meters"
+     },
+     "longest dimension": "0.16 meters"
+    }
+   ]
+  },
+  "computer mouse": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-2.34 meters",
+      "y coordinate": "-0.71 meters",
+      "height above floor": "0.18 meters"
+     },
+     "longest dimension": "0.13 meters"
+    }
+   ]
+  },
+  "counter": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-4.38 meters",
+      "y coordinate": "1.38 meters",
+      "height above floor": "0.27 meters"
+     },
+     "longest dimension": "0.74 meters"
+    }
+   ]
+  },
+  "door": {
+   "count": 2,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-6.55 meters",
+      "y coordinate": "1.2 meters",
+      "height above floor": "0.43 meters"
+     },
+     "longest dimension": "1.75 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-4.02 meters",
+      "y coordinate": "-0.57 meters",
+      "height above floor": "0.29 meters"
+     },
+     "longest dimension": "0.96 meters"
+    }
+   ]
+  },
+  "keyboard": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-2.77 meters",
+      "y coordinate": "1.15 meters",
+      "height above floor": "0.02 meters"
+     },
+     "longest dimension": "0.22 meters"
+    }
+   ]
+  },
+  "lamp": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-1.56 meters",
+      "y coordinate": "1.95 meters",
+      "height above floor": "0.02 meters"
+     },
+     "longest dimension": "0.32 meters"
+    }
+   ]
+  },
+  "mattress": {
+   "count": 3,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-0.92 meters",
+      "y coordinate": "0.5 meters",
+      "height above floor": "0.01 meters"
+     },
+     "longest dimension": "1.32 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-2.96 meters",
+      "y coordinate": "1.25 meters",
+      "height above floor": "0.01 meters"
+     },
+     "longest dimension": "1.33 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-0.02 meters",
+      "y coordinate": "1.49 meters",
+      "height above floor": "-0.02 meters"
+     },
+     "longest dimension": "0.5 meters"
+    }
+   ]
+  },
+  "microwave": {
+   "count": 2,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-4.6 meters",
+      "y coordinate": "1.57 meters",
+      "height above floor": "0.36 meters"
+     },
+     "longest dimension": "0.23 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-4.31 meters",
+      "y coordinate": "2.25 meters",
+      "height above floor": "0.38 meters"
+     },
+     "longest dimension": "0.4 meters"
+    }
+   ]
+  },
+  "mirror": {
+   "count": 2,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-4.63 meters",
+      "y coordinate": "2.17 meters",
+      "height above floor": "0.57 meters"
+     },
+     "longest dimension": "0.71 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-1.72 meters",
+      "y coordinate": "-0.66 meters",
+      "height above floor": "0.62 meters"
+     },
+     "longest dimension": "0.66 meters"
+    }
+   ]
+  },
+  "monitor": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-1.59 meters",
+      "y coordinate": "-0.66 meters",
+      "height above floor": "0.42 meters"
+     },
+     "longest dimension": "0.75 meters"
+    }
+   ]
+  },
+  "nightstand": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-1.6 meters",
+      "y coordinate": "1.76 meters",
+      "height above floor": "-0.22 meters"
+     },
+     "longest dimension": "0.59 meters"
+    }
+   ]
+  },
+  "pillow": {
+   "count": 7,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-0.51 meters",
+      "y coordinate": "1.52 meters",
+      "height above floor": "0.17 meters"
+     },
+     "longest dimension": "0.55 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-2.66 meters",
+      "y coordinate": "1.92 meters",
+      "height above floor": "0.15 meters"
+     },
+     "longest dimension": "0.53 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-0.15 meters",
+      "y coordinate": "1.62 meters",
+      "height above floor": "0.18 meters"
+     },
+     "longest dimension": "0.44 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-1.08 meters",
+      "y coordinate": "1.82 meters",
+      "height above floor": "0.21 meters"
+     },
+     "longest dimension": "0.44 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-3.02 meters",
+      "y coordinate": "2.2 meters",
+      "height above floor": "0.17 meters"
+     },
+     "longest dimension": "0.37 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-2.17 meters",
+      "y coordinate": "2.05 meters",
+      "height above floor": "0.17 meters"
+     },
+     "longest dimension": "0.4 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-2.43 meters",
+      "y coordinate": "1.97 meters",
+      "height above floor": "0.17 meters"
+     },
+     "longest dimension": "0.57 meters"
+    }
+   ]
+  },
+  "printer": {
+   "count": 2,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-4.31 meters",
+      "y coordinate": "2.25 meters",
+      "height above floor": "0.38 meters"
+     },
+     "longest dimension": "0.4 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-4.65 meters",
+      "y coordinate": "2.07 meters",
+      "height above floor": "0.53 meters"
+     },
+     "longest dimension": "0.48 meters"
+    }
+   ]
+  },
+  "radiator": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-4.02 meters",
+      "y coordinate": "2.42 meters",
+      "height above floor": "0.03 meters"
+     },
+     "longest dimension": "0.46 meters"
+    }
+   ]
+  },
+  "table": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-0.18 meters",
+      "y coordinate": "-0.91 meters",
+      "height above floor": "0.09 meters"
+     },
+     "longest dimension": "0.7 meters"
+    }
+   ]
+  },
+  "telephone": {
+   "count": 2,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-3.01 meters",
+      "y coordinate": "0.99 meters",
+      "height above floor": "0.03 meters"
+     },
+     "longest dimension": "0.62 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-2.62 meters",
+      "y coordinate": "-0.63 meters",
+      "height above floor": "0.17 meters"
+     },
+     "longest dimension": "0.17 meters"
+    }
+   ]
+  },
+  "towel": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-5.57 meters",
+      "y coordinate": "0.25 meters",
+      "height above floor": "0.81 meters"
+     },
+     "longest dimension": "0.16 meters"
+    }
+   ]
+  },
+  "trash bin": {
+   "count": 2,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-4.66 meters",
+      "y coordinate": "1.21 meters",
+      "height above floor": "-0.36 meters"
+     },
+     "longest dimension": "0.3 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-3.05 meters",
+      "y coordinate": "-0.1 meters",
+      "height above floor": "-0.29 meters"
+     },
+     "longest dimension": "0.32 meters"
+    }
+   ]
+  },
+  "tv": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-1.59 meters",
+      "y coordinate": "-0.66 meters",
+      "height above floor": "0.42 meters"
+     },
+     "longest dimension": "0.76 meters"
+    }
+   ]
+  },
+  "window": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-0.52 meters",
+      "y coordinate": "1.93 meters",
+      "height above floor": "0.82 meters"
+     },
+     "longest dimension": "0.81 meters"
+    }
+   ]
+  }
+ },
+ "room": {
+  "floor area": "23.9 square meters"
+ },
+ "closest classes distance meters from": {
+  "bed": {
+   "mattress": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "pillow": {
+    "distance": "0.03 meters",
+    "closeness rank": 2
+   },
+   "nightstand": {
+    "distance": "0.22 meters",
+    "closeness rank": 3
+   },
+   "window": {
+    "distance": "0.65 meters",
+    "closeness rank": 4
+   },
+   "lamp": {
+    "distance": "0.67 meters",
+    "closeness rank": 5
+   },
+   "counter": {
+    "distance": "0.68 meters",
+    "closeness rank": 6
+   },
+   "table": {
+    "distance": "0.68 meters",
+    "closeness rank": 7
+   },
+   "chair": {
+    "distance": "0.69 meters",
+    "closeness rank": 8
+   },
+   "monitor": {
+    "distance": "0.85 meters",
+    "closeness rank": 9
+   },
+   "tv": {
+    "distance": "0.85 meters",
+    "closeness rank": 10
+   },
+   "telephone": {
+    "distance": "1.28 meters",
+    "closeness rank": 11
+   },
+   "keyboard": {
+    "distance": "1.31 meters",
+    "closeness rank": 12
+   },
+   "computer mouse": {
+    "distance": "1.47 meters",
+    "closeness rank": 13
+   },
+   "radiator": {
+    "distance": "2.97 meters",
+    "closeness rank": 14
+   },
+   "printer": {
+    "distance": "3.11 meters",
+    "closeness rank": 15
+   },
+   "trash bin": {
+    "distance": "3.16 meters",
+    "closeness rank": 16
+   },
+   "microwave": {
+    "distance": "3.2 meters",
+    "closeness rank": 17
+   },
+   "mirror": {
+    "distance": "3.45 meters",
+    "closeness rank": 18
+   },
+   "clock": {
+    "distance": "4.22 meters",
+    "closeness rank": 19
+   },
+   "towel": {
+    "distance": "4.22 meters",
+    "closeness rank": 20
+   },
+   "door": {
+    "distance": "5.12 meters",
+    "closeness rank": 21
+   }
+  },
+  "chair": {
+   "monitor": {
+    "distance": "0.2 meters",
+    "closeness rank": 1
+   },
+   "tv": {
+    "distance": "0.2 meters",
+    "closeness rank": 2
+   },
+   "counter": {
+    "distance": "0.22 meters",
+    "closeness rank": 3
+   },
+   "table": {
+    "distance": "0.23 meters",
+    "closeness rank": 4
+   },
+   "mattress": {
+    "distance": "0.67 meters",
+    "closeness rank": 5
+   },
+   "bed": {
+    "distance": "0.69 meters",
+    "closeness rank": 6
+   },
+   "computer mouse": {
+    "distance": "1.0 meters",
+    "closeness rank": 7
+   },
+   "pillow": {
+    "distance": "1.99 meters",
+    "closeness rank": 8
+   },
+   "nightstand": {
+    "distance": "2.13 meters",
+    "closeness rank": 9
+   },
+   "telephone": {
+    "distance": "2.23 meters",
+    "closeness rank": 10
+   },
+   "keyboard": {
+    "distance": "2.32 meters",
+    "closeness rank": 11
+   },
+   "lamp": {
+    "distance": "2.38 meters",
+    "closeness rank": 12
+   },
+   "window": {
+    "distance": "2.52 meters",
+    "closeness rank": 13
+   },
+   "trash bin": {
+    "distance": "3.83 meters",
+    "closeness rank": 14
+   },
+   "microwave": {
+    "distance": "3.96 meters",
+    "closeness rank": 15
+   },
+   "radiator": {
+    "distance": "4.02 meters",
+    "closeness rank": 16
+   },
+   "mirror": {
+    "distance": "4.14 meters",
+    "closeness rank": 17
+   },
+   "printer": {
+    "distance": "4.16 meters",
+    "closeness rank": 18
+   },
+   "clock": {
+    "distance": "4.4 meters",
+    "closeness rank": 19
+   },
+   "towel": {
+    "distance": "4.4 meters",
+    "closeness rank": 20
+   },
+   "door": {
+    "distance": "5.56 meters",
+    "closeness rank": 21
+   }
+  },
+  "clock": {
+   "towel": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "door": {
+    "distance": "1.14 meters",
+    "closeness rank": 2
+   },
+   "mirror": {
+    "distance": "1.37 meters",
+    "closeness rank": 3
+   },
+   "counter": {
+    "distance": "1.44 meters",
+    "closeness rank": 4
+   },
+   "trash bin": {
+    "distance": "1.57 meters",
+    "closeness rank": 5
+   },
+   "microwave": {
+    "distance": "1.59 meters",
+    "closeness rank": 6
+   },
+   "printer": {
+    "distance": "2.24 meters",
+    "closeness rank": 7
+   },
+   "radiator": {
+    "distance": "2.51 meters",
+    "closeness rank": 8
+   },
+   "telephone": {
+    "distance": "2.61 meters",
+    "closeness rank": 9
+   },
+   "keyboard": {
+    "distance": "2.91 meters",
+    "closeness rank": 10
+   },
+   "computer mouse": {
+    "distance": "3.27 meters",
+    "closeness rank": 11
+   },
+   "tv": {
+    "distance": "3.49 meters",
+    "closeness rank": 12
+   },
+   "monitor": {
+    "distance": "3.51 meters",
+    "closeness rank": 13
+   },
+   "nightstand": {
+    "distance": "3.8 meters",
+    "closeness rank": 14
+   },
+   "bed": {
+    "distance": "4.22 meters",
+    "closeness rank": 15
+   },
+   "mattress": {
+    "distance": "4.23 meters",
+    "closeness rank": 16
+   },
+   "lamp": {
+    "distance": "4.28 meters",
+    "closeness rank": 17
+   },
+   "chair": {
+    "distance": "4.4 meters",
+    "closeness rank": 18
+   },
+   "pillow": {
+    "distance": "4.9 meters",
+    "closeness rank": 19
+   },
+   "window": {
+    "distance": "4.96 meters",
+    "closeness rank": 20
+   },
+   "table": {
+    "distance": "5.11 meters",
+    "closeness rank": 21
+   }
+  },
+  "computer mouse": {
+   "tv": {
+    "distance": "0.13 meters",
+    "closeness rank": 1
+   },
+   "monitor": {
+    "distance": "0.16 meters",
+    "closeness rank": 2
+   },
+   "chair": {
+    "distance": "1.0 meters",
+    "closeness rank": 3
+   },
+   "mattress": {
+    "distance": "1.46 meters",
+    "closeness rank": 4
+   },
+   "bed": {
+    "distance": "1.47 meters",
+    "closeness rank": 5
+   },
+   "telephone": {
+    "distance": "1.6 meters",
+    "closeness rank": 6
+   },
+   "table": {
+    "distance": "1.73 meters",
+    "closeness rank": 7
+   },
+   "counter": {
+    "distance": "1.74 meters",
+    "closeness rank": 8
+   },
+   "keyboard": {
+    "distance": "1.76 meters",
+    "closeness rank": 9
+   },
+   "nightstand": {
+    "distance": "2.37 meters",
+    "closeness rank": 10
+   },
+   "lamp": {
+    "distance": "2.59 meters",
+    "closeness rank": 11
+   },
+   "pillow": {
+    "distance": "2.64 meters",
+    "closeness rank": 12
+   },
+   "trash bin": {
+    "distance": "2.83 meters",
+    "closeness rank": 13
+   },
+   "microwave": {
+    "distance": "3.01 meters",
+    "closeness rank": 14
+   },
+   "window": {
+    "distance": "3.04 meters",
+    "closeness rank": 15
+   },
+   "mirror": {
+    "distance": "3.13 meters",
+    "closeness rank": 16
+   },
+   "clock": {
+    "distance": "3.27 meters",
+    "closeness rank": 17
+   },
+   "towel": {
+    "distance": "3.27 meters",
+    "closeness rank": 18
+   },
+   "radiator": {
+    "distance": "3.3 meters",
+    "closeness rank": 19
+   },
+   "printer": {
+    "distance": "3.41 meters",
+    "closeness rank": 20
+   },
+   "door": {
+    "distance": "4.42 meters",
+    "closeness rank": 21
+   }
+  },
+  "counter": {
+   "table": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "microwave": {
+    "distance": "0.07 meters",
+    "closeness rank": 2
+   },
+   "chair": {
+    "distance": "0.22 meters",
+    "closeness rank": 3
+   },
+   "mirror": {
+    "distance": "0.23 meters",
+    "closeness rank": 4
+   },
+   "printer": {
+    "distance": "0.45 meters",
+    "closeness rank": 5
+   },
+   "trash bin": {
+    "distance": "0.5 meters",
+    "closeness rank": 6
+   },
+   "radiator": {
+    "distance": "0.51 meters",
+    "closeness rank": 7
+   },
+   "bed": {
+    "distance": "0.68 meters",
+    "closeness rank": 8
+   },
+   "mattress": {
+    "distance": "0.69 meters",
+    "closeness rank": 9
+   },
+   "monitor": {
+    "distance": "0.81 meters",
+    "closeness rank": 10
+   },
+   "tv": {
+    "distance": "0.81 meters",
+    "closeness rank": 11
+   },
+   "telephone": {
+    "distance": "1.14 meters",
+    "closeness rank": 12
+   },
+   "keyboard": {
+    "distance": "1.39 meters",
+    "closeness rank": 13
+   },
+   "clock": {
+    "distance": "1.44 meters",
+    "closeness rank": 14
+   },
+   "towel": {
+    "distance": "1.44 meters",
+    "closeness rank": 15
+   },
+   "computer mouse": {
+    "distance": "1.74 meters",
+    "closeness rank": 16
+   },
+   "door": {
+    "distance": "1.83 meters",
+    "closeness rank": 17
+   },
+   "nightstand": {
+    "distance": "2.0 meters",
+    "closeness rank": 18
+   },
+   "pillow": {
+    "distance": "2.04 meters",
+    "closeness rank": 19
+   },
+   "window": {
+    "distance": "2.5 meters",
+    "closeness rank": 20
+   },
+   "lamp": {
+    "distance": "2.54 meters",
+    "closeness rank": 21
+   }
+  },
+  "door": {
+   "clock": {
+    "distance": "1.14 meters",
+    "closeness rank": 1
+   },
+   "towel": {
+    "distance": "1.14 meters",
+    "closeness rank": 2
+   },
+   "mirror": {
+    "distance": "1.5 meters",
+    "closeness rank": 3
+   },
+   "trash bin": {
+    "distance": "1.66 meters",
+    "closeness rank": 4
+   },
+   "microwave": {
+    "distance": "1.71 meters",
+    "closeness rank": 5
+   },
+   "counter": {
+    "distance": "1.83 meters",
+    "closeness rank": 6
+   },
+   "printer": {
+    "distance": "2.1 meters",
+    "closeness rank": 7
+   },
+   "radiator": {
+    "distance": "2.44 meters",
+    "closeness rank": 8
+   },
+   "telephone": {
+    "distance": "3.35 meters",
+    "closeness rank": 9
+   },
+   "keyboard": {
+    "distance": "3.62 meters",
+    "closeness rank": 10
+   },
+   "nightstand": {
+    "distance": "4.26 meters",
+    "closeness rank": 11
+   },
+   "computer mouse": {
+    "distance": "4.42 meters",
+    "closeness rank": 12
+   },
+   "tv": {
+    "distance": "4.7 meters",
+    "closeness rank": 13
+   },
+   "monitor": {
+    "distance": "4.71 meters",
+    "closeness rank": 14
+   },
+   "lamp": {
+    "distance": "4.79 meters",
+    "closeness rank": 15
+   },
+   "bed": {
+    "distance": "5.12 meters",
+    "closeness rank": 16
+   },
+   "mattress": {
+    "distance": "5.14 meters",
+    "closeness rank": 17
+   },
+   "chair": {
+    "distance": "5.56 meters",
+    "closeness rank": 18
+   },
+   "window": {
+    "distance": "5.57 meters",
+    "closeness rank": 19
+   },
+   "pillow": {
+    "distance": "5.59 meters",
+    "closeness rank": 20
+   },
+   "table": {
+    "distance": "6.28 meters",
+    "closeness rank": 21
+   }
+  },
+  "keyboard": {
+   "telephone": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "nightstand": {
+    "distance": "0.79 meters",
+    "closeness rank": 2
+   },
+   "lamp": {
+    "distance": "1.2 meters",
+    "closeness rank": 3
+   },
+   "bed": {
+    "distance": "1.31 meters",
+    "closeness rank": 4
+   },
+   "mattress": {
+    "distance": "1.34 meters",
+    "closeness rank": 5
+   },
+   "counter": {
+    "distance": "1.39 meters",
+    "closeness rank": 6
+   },
+   "radiator": {
+    "distance": "1.6 meters",
+    "closeness rank": 7
+   },
+   "trash bin": {
+    "distance": "1.68 meters",
+    "closeness rank": 8
+   },
+   "microwave": {
+    "distance": "1.71 meters",
+    "closeness rank": 9
+   },
+   "printer": {
+    "distance": "1.75 meters",
+    "closeness rank": 10
+   },
+   "computer mouse": {
+    "distance": "1.76 meters",
+    "closeness rank": 11
+   },
+   "pillow": {
+    "distance": "1.84 meters",
+    "closeness rank": 12
+   },
+   "tv": {
+    "distance": "1.91 meters",
+    "closeness rank": 13
+   },
+   "monitor": {
+    "distance": "1.92 meters",
+    "closeness rank": 14
+   },
+   "mirror": {
+    "distance": "1.97 meters",
+    "closeness rank": 15
+   },
+   "window": {
+    "distance": "1.99 meters",
+    "closeness rank": 16
+   },
+   "chair": {
+    "distance": "2.32 meters",
+    "closeness rank": 17
+   },
+   "table": {
+    "distance": "2.9 meters",
+    "closeness rank": 18
+   },
+   "clock": {
+    "distance": "2.91 meters",
+    "closeness rank": 19
+   },
+   "towel": {
+    "distance": "2.91 meters",
+    "closeness rank": 20
+   },
+   "door": {
+    "distance": "3.62 meters",
+    "closeness rank": 21
+   }
+  },
+  "lamp": {
+   "nightstand": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "mattress": {
+    "distance": "0.54 meters",
+    "closeness rank": 2
+   },
+   "bed": {
+    "distance": "0.67 meters",
+    "closeness rank": 3
+   },
+   "pillow": {
+    "distance": "0.68 meters",
+    "closeness rank": 4
+   },
+   "window": {
+    "distance": "0.75 meters",
+    "closeness rank": 5
+   },
+   "telephone": {
+    "distance": "1.15 meters",
+    "closeness rank": 6
+   },
+   "keyboard": {
+    "distance": "1.2 meters",
+    "closeness rank": 7
+   },
+   "radiator": {
+    "distance": "2.35 meters",
+    "closeness rank": 8
+   },
+   "tv": {
+    "distance": "2.36 meters",
+    "closeness rank": 9
+   },
+   "monitor": {
+    "distance": "2.37 meters",
+    "closeness rank": 10
+   },
+   "chair": {
+    "distance": "2.38 meters",
+    "closeness rank": 11
+   },
+   "printer": {
+    "distance": "2.5 meters",
+    "closeness rank": 12
+   },
+   "counter": {
+    "distance": "2.54 meters",
+    "closeness rank": 13
+   },
+   "computer mouse": {
+    "distance": "2.59 meters",
+    "closeness rank": 14
+   },
+   "table": {
+    "distance": "2.69 meters",
+    "closeness rank": 15
+   },
+   "microwave": {
+    "distance": "2.83 meters",
+    "closeness rank": 16
+   },
+   "trash bin": {
+    "distance": "2.9 meters",
+    "closeness rank": 17
+   },
+   "mirror": {
+    "distance": "2.97 meters",
+    "closeness rank": 18
+   },
+   "clock": {
+    "distance": "4.28 meters",
+    "closeness rank": 19
+   },
+   "towel": {
+    "distance": "4.28 meters",
+    "closeness rank": 20
+   },
+   "door": {
+    "distance": "4.79 meters",
+    "closeness rank": 21
+   }
+  },
+  "mattress": {
+   "bed": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "pillow": {
+    "distance": "0.02 meters",
+    "closeness rank": 2
+   },
+   "nightstand": {
+    "distance": "0.18 meters",
+    "closeness rank": 3
+   },
+   "lamp": {
+    "distance": "0.54 meters",
+    "closeness rank": 4
+   },
+   "window": {
+    "distance": "0.65 meters",
+    "closeness rank": 5
+   },
+   "chair": {
+    "distance": "0.67 meters",
+    "closeness rank": 6
+   },
+   "counter": {
+    "distance": "0.69 meters",
+    "closeness rank": 7
+   },
+   "table": {
+    "distance": "0.69 meters",
+    "closeness rank": 8
+   },
+   "monitor": {
+    "distance": "0.85 meters",
+    "closeness rank": 9
+   },
+   "tv": {
+    "distance": "0.85 meters",
+    "closeness rank": 10
+   },
+   "telephone": {
+    "distance": "1.31 meters",
+    "closeness rank": 11
+   },
+   "keyboard": {
+    "distance": "1.34 meters",
+    "closeness rank": 12
+   },
+   "computer mouse": {
+    "distance": "1.46 meters",
+    "closeness rank": 13
+   },
+   "radiator": {
+    "distance": "2.94 meters",
+    "closeness rank": 14
+   },
+   "printer": {
+    "distance": "3.06 meters",
+    "closeness rank": 15
+   },
+   "trash bin": {
+    "distance": "3.18 meters",
+    "closeness rank": 16
+   },
+   "microwave": {
+    "distance": "3.24 meters",
+    "closeness rank": 17
+   },
+   "mirror": {
+    "distance": "3.48 meters",
+    "closeness rank": 18
+   },
+   "clock": {
+    "distance": "4.23 meters",
+    "closeness rank": 19
+   },
+   "towel": {
+    "distance": "4.23 meters",
+    "closeness rank": 20
+   },
+   "door": {
+    "distance": "5.14 meters",
+    "closeness rank": 21
+   }
+  },
+  "microwave": {
+   "mirror": {
+    "distance": "0.03 meters",
+    "closeness rank": 1
+   },
+   "counter": {
+    "distance": "0.07 meters",
+    "closeness rank": 2
+   },
+   "printer": {
+    "distance": "0.45 meters",
+    "closeness rank": 3
+   },
+   "trash bin": {
+    "distance": "0.58 meters",
+    "closeness rank": 4
+   },
+   "radiator": {
+    "distance": "0.66 meters",
+    "closeness rank": 5
+   },
+   "telephone": {
+    "distance": "1.47 meters",
+    "closeness rank": 6
+   },
+   "clock": {
+    "distance": "1.59 meters",
+    "closeness rank": 7
+   },
+   "towel": {
+    "distance": "1.59 meters",
+    "closeness rank": 8
+   },
+   "door": {
+    "distance": "1.71 meters",
+    "closeness rank": 9
+   },
+   "keyboard": {
+    "distance": "1.71 meters",
+    "closeness rank": 10
+   },
+   "nightstand": {
+    "distance": "2.29 meters",
+    "closeness rank": 11
+   },
+   "lamp": {
+    "distance": "2.83 meters",
+    "closeness rank": 12
+   },
+   "computer mouse": {
+    "distance": "3.01 meters",
+    "closeness rank": 13
+   },
+   "bed": {
+    "distance": "3.2 meters",
+    "closeness rank": 14
+   },
+   "mattress": {
+    "distance": "3.24 meters",
+    "closeness rank": 15
+   },
+   "tv": {
+    "distance": "3.25 meters",
+    "closeness rank": 16
+   },
+   "monitor": {
+    "distance": "3.26 meters",
+    "closeness rank": 17
+   },
+   "window": {
+    "distance": "3.6 meters",
+    "closeness rank": 18
+   },
+   "pillow": {
+    "distance": "3.62 meters",
+    "closeness rank": 19
+   },
+   "chair": {
+    "distance": "3.96 meters",
+    "closeness rank": 20
+   },
+   "table": {
+    "distance": "4.61 meters",
+    "closeness rank": 21
+   }
+  },
+  "mirror": {
+   "microwave": {
+    "distance": "0.03 meters",
+    "closeness rank": 1
+   },
+   "printer": {
+    "distance": "0.14 meters",
+    "closeness rank": 2
+   },
+   "counter": {
+    "distance": "0.23 meters",
+    "closeness rank": 3
+   },
+   "radiator": {
+    "distance": "0.54 meters",
+    "closeness rank": 4
+   },
+   "trash bin": {
+    "distance": "0.71 meters",
+    "closeness rank": 5
+   },
+   "clock": {
+    "distance": "1.37 meters",
+    "closeness rank": 6
+   },
+   "towel": {
+    "distance": "1.37 meters",
+    "closeness rank": 7
+   },
+   "door": {
+    "distance": "1.5 meters",
+    "closeness rank": 8
+   },
+   "telephone": {
+    "distance": "1.73 meters",
+    "closeness rank": 9
+   },
+   "keyboard": {
+    "distance": "1.97 meters",
+    "closeness rank": 10
+   },
+   "nightstand": {
+    "distance": "2.44 meters",
+    "closeness rank": 11
+   },
+   "lamp": {
+    "distance": "2.97 meters",
+    "closeness rank": 12
+   },
+   "computer mouse": {
+    "distance": "3.13 meters",
+    "closeness rank": 13
+   },
+   "tv": {
+    "distance": "3.37 meters",
+    "closeness rank": 14
+   },
+   "monitor": {
+    "distance": "3.38 meters",
+    "closeness rank": 15
+   },
+   "bed": {
+    "distance": "3.45 meters",
+    "closeness rank": 16
+   },
+   "mattress": {
+    "distance": "3.48 meters",
+    "closeness rank": 17
+   },
+   "window": {
+    "distance": "3.65 meters",
+    "closeness rank": 18
+   },
+   "pillow": {
+    "distance": "3.79 meters",
+    "closeness rank": 19
+   },
+   "chair": {
+    "distance": "4.14 meters",
+    "closeness rank": 20
+   },
+   "table": {
+    "distance": "4.8 meters",
+    "closeness rank": 21
+   }
+  },
+  "monitor": {
+   "tv": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "computer mouse": {
+    "distance": "0.16 meters",
+    "closeness rank": 2
+   },
+   "chair": {
+    "distance": "0.2 meters",
+    "closeness rank": 3
+   },
+   "counter": {
+    "distance": "0.81 meters",
+    "closeness rank": 4
+   },
+   "table": {
+    "distance": "0.83 meters",
+    "closeness rank": 5
+   },
+   "bed": {
+    "distance": "0.85 meters",
+    "closeness rank": 6
+   },
+   "mattress": {
+    "distance": "0.85 meters",
+    "closeness rank": 7
+   },
+   "telephone": {
+    "distance": "1.8 meters",
+    "closeness rank": 8
+   },
+   "keyboard": {
+    "distance": "1.92 meters",
+    "closeness rank": 9
+   },
+   "nightstand": {
+    "distance": "2.14 meters",
+    "closeness rank": 10
+   },
+   "pillow": {
+    "distance": "2.14 meters",
+    "closeness rank": 11
+   },
+   "lamp": {
+    "distance": "2.37 meters",
+    "closeness rank": 12
+   },
+   "window": {
+    "distance": "2.61 meters",
+    "closeness rank": 13
+   },
+   "trash bin": {
+    "distance": "3.11 meters",
+    "closeness rank": 14
+   },
+   "microwave": {
+    "distance": "3.26 meters",
+    "closeness rank": 15
+   },
+   "mirror": {
+    "distance": "3.38 meters",
+    "closeness rank": 16
+   },
+   "clock": {
+    "distance": "3.51 meters",
+    "closeness rank": 17
+   },
+   "towel": {
+    "distance": "3.51 meters",
+    "closeness rank": 18
+   },
+   "radiator": {
+    "distance": "3.52 meters",
+    "closeness rank": 19
+   },
+   "printer": {
+    "distance": "3.61 meters",
+    "closeness rank": 20
+   },
+   "door": {
+    "distance": "4.71 meters",
+    "closeness rank": 21
+   }
+  },
+  "nightstand": {
+   "lamp": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "mattress": {
+    "distance": "0.18 meters",
+    "closeness rank": 2
+   },
+   "bed": {
+    "distance": "0.22 meters",
+    "closeness rank": 3
+   },
+   "pillow": {
+    "distance": "0.23 meters",
+    "closeness rank": 4
+   },
+   "window": {
+    "distance": "0.63 meters",
+    "closeness rank": 5
+   },
+   "telephone": {
+    "distance": "0.73 meters",
+    "closeness rank": 6
+   },
+   "keyboard": {
+    "distance": "0.79 meters",
+    "closeness rank": 7
+   },
+   "radiator": {
+    "distance": "1.84 meters",
+    "closeness rank": 8
+   },
+   "printer": {
+    "distance": "1.97 meters",
+    "closeness rank": 9
+   },
+   "counter": {
+    "distance": "2.0 meters",
+    "closeness rank": 10
+   },
+   "chair": {
+    "distance": "2.13 meters",
+    "closeness rank": 11
+   },
+   "monitor": {
+    "distance": "2.14 meters",
+    "closeness rank": 12
+   },
+   "tv": {
+    "distance": "2.14 meters",
+    "closeness rank": 13
+   },
+   "microwave": {
+    "distance": "2.29 meters",
+    "closeness rank": 14
+   },
+   "table": {
+    "distance": "2.34 meters",
+    "closeness rank": 15
+   },
+   "computer mouse": {
+    "distance": "2.37 meters",
+    "closeness rank": 16
+   },
+   "trash bin": {
+    "distance": "2.39 meters",
+    "closeness rank": 17
+   },
+   "mirror": {
+    "distance": "2.44 meters",
+    "closeness rank": 18
+   },
+   "clock": {
+    "distance": "3.8 meters",
+    "closeness rank": 19
+   },
+   "towel": {
+    "distance": "3.8 meters",
+    "closeness rank": 20
+   },
+   "door": {
+    "distance": "4.26 meters",
+    "closeness rank": 21
+   }
+  },
+  "pillow": {
+   "mattress": {
+    "distance": "0.02 meters",
+    "closeness rank": 1
+   },
+   "bed": {
+    "distance": "0.03 meters",
+    "closeness rank": 2
+   },
+   "nightstand": {
+    "distance": "0.23 meters",
+    "closeness rank": 3
+   },
+   "window": {
+    "distance": "0.27 meters",
+    "closeness rank": 4
+   },
+   "lamp": {
+    "distance": "0.68 meters",
+    "closeness rank": 5
+   },
+   "telephone": {
+    "distance": "1.8 meters",
+    "closeness rank": 6
+   },
+   "keyboard": {
+    "distance": "1.84 meters",
+    "closeness rank": 7
+   },
+   "chair": {
+    "distance": "1.99 meters",
+    "closeness rank": 8
+   },
+   "table": {
+    "distance": "2.03 meters",
+    "closeness rank": 9
+   },
+   "counter": {
+    "distance": "2.04 meters",
+    "closeness rank": 10
+   },
+   "monitor": {
+    "distance": "2.14 meters",
+    "closeness rank": 11
+   },
+   "tv": {
+    "distance": "2.15 meters",
+    "closeness rank": 12
+   },
+   "computer mouse": {
+    "distance": "2.64 meters",
+    "closeness rank": 13
+   },
+   "radiator": {
+    "distance": "3.23 meters",
+    "closeness rank": 14
+   },
+   "printer": {
+    "distance": "3.33 meters",
+    "closeness rank": 15
+   },
+   "microwave": {
+    "distance": "3.62 meters",
+    "closeness rank": 16
+   },
+   "trash bin": {
+    "distance": "3.68 meters",
+    "closeness rank": 17
+   },
+   "mirror": {
+    "distance": "3.79 meters",
+    "closeness rank": 18
+   },
+   "clock": {
+    "distance": "4.9 meters",
+    "closeness rank": 19
+   },
+   "towel": {
+    "distance": "4.9 meters",
+    "closeness rank": 20
+   },
+   "door": {
+    "distance": "5.59 meters",
+    "closeness rank": 21
+   }
+  },
+  "printer": {
+   "mirror": {
+    "distance": "0.14 meters",
+    "closeness rank": 1
+   },
+   "radiator": {
+    "distance": "0.15 meters",
+    "closeness rank": 2
+   },
+   "counter": {
+    "distance": "0.45 meters",
+    "closeness rank": 3
+   },
+   "microwave": {
+    "distance": "0.45 meters",
+    "closeness rank": 4
+   },
+   "trash bin": {
+    "distance": "1.06 meters",
+    "closeness rank": 5
+   },
+   "telephone": {
+    "distance": "1.64 meters",
+    "closeness rank": 6
+   },
+   "keyboard": {
+    "distance": "1.75 meters",
+    "closeness rank": 7
+   },
+   "nightstand": {
+    "distance": "1.97 meters",
+    "closeness rank": 8
+   },
+   "door": {
+    "distance": "2.1 meters",
+    "closeness rank": 9
+   },
+   "clock": {
+    "distance": "2.24 meters",
+    "closeness rank": 10
+   },
+   "towel": {
+    "distance": "2.24 meters",
+    "closeness rank": 11
+   },
+   "lamp": {
+    "distance": "2.5 meters",
+    "closeness rank": 12
+   },
+   "mattress": {
+    "distance": "3.06 meters",
+    "closeness rank": 13
+   },
+   "bed": {
+    "distance": "3.11 meters",
+    "closeness rank": 14
+   },
+   "window": {
+    "distance": "3.22 meters",
+    "closeness rank": 15
+   },
+   "pillow": {
+    "distance": "3.33 meters",
+    "closeness rank": 16
+   },
+   "computer mouse": {
+    "distance": "3.41 meters",
+    "closeness rank": 17
+   },
+   "tv": {
+    "distance": "3.6 meters",
+    "closeness rank": 18
+   },
+   "monitor": {
+    "distance": "3.61 meters",
+    "closeness rank": 19
+   },
+   "chair": {
+    "distance": "4.16 meters",
+    "closeness rank": 20
+   },
+   "table": {
+    "distance": "4.76 meters",
+    "closeness rank": 21
+   }
+  },
+  "radiator": {
+   "printer": {
+    "distance": "0.15 meters",
+    "closeness rank": 1
+   },
+   "counter": {
+    "distance": "0.51 meters",
+    "closeness rank": 2
+   },
+   "mirror": {
+    "distance": "0.54 meters",
+    "closeness rank": 3
+   },
+   "microwave": {
+    "distance": "0.66 meters",
+    "closeness rank": 4
+   },
+   "trash bin": {
+    "distance": "1.04 meters",
+    "closeness rank": 5
+   },
+   "telephone": {
+    "distance": "1.49 meters",
+    "closeness rank": 6
+   },
+   "keyboard": {
+    "distance": "1.6 meters",
+    "closeness rank": 7
+   },
+   "nightstand": {
+    "distance": "1.84 meters",
+    "closeness rank": 8
+   },
+   "lamp": {
+    "distance": "2.35 meters",
+    "closeness rank": 9
+   },
+   "door": {
+    "distance": "2.44 meters",
+    "closeness rank": 10
+   },
+   "clock": {
+    "distance": "2.51 meters",
+    "closeness rank": 11
+   },
+   "towel": {
+    "distance": "2.51 meters",
+    "closeness rank": 12
+   },
+   "mattress": {
+    "distance": "2.94 meters",
+    "closeness rank": 13
+   },
+   "bed": {
+    "distance": "2.97 meters",
+    "closeness rank": 14
+   },
+   "window": {
+    "distance": "3.15 meters",
+    "closeness rank": 15
+   },
+   "pillow": {
+    "distance": "3.23 meters",
+    "closeness rank": 16
+   },
+   "computer mouse": {
+    "distance": "3.3 meters",
+    "closeness rank": 17
+   },
+   "monitor": {
+    "distance": "3.52 meters",
+    "closeness rank": 18
+   },
+   "tv": {
+    "distance": "3.52 meters",
+    "closeness rank": 19
+   },
+   "chair": {
+    "distance": "4.02 meters",
+    "closeness rank": 20
+   },
+   "table": {
+    "distance": "4.63 meters",
+    "closeness rank": 21
+   }
+  },
+  "table": {
+   "counter": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "chair": {
+    "distance": "0.23 meters",
+    "closeness rank": 2
+   },
+   "bed": {
+    "distance": "0.68 meters",
+    "closeness rank": 3
+   },
+   "mattress": {
+    "distance": "0.69 meters",
+    "closeness rank": 4
+   },
+   "tv": {
+    "distance": "0.82 meters",
+    "closeness rank": 5
+   },
+   "monitor": {
+    "distance": "0.83 meters",
+    "closeness rank": 6
+   },
+   "computer mouse": {
+    "distance": "1.73 meters",
+    "closeness rank": 7
+   },
+   "pillow": {
+    "distance": "2.03 meters",
+    "closeness rank": 8
+   },
+   "nightstand": {
+    "distance": "2.34 meters",
+    "closeness rank": 9
+   },
+   "window": {
+    "distance": "2.5 meters",
+    "closeness rank": 10
+   },
+   "lamp": {
+    "distance": "2.69 meters",
+    "closeness rank": 11
+   },
+   "telephone": {
+    "distance": "2.84 meters",
+    "closeness rank": 12
+   },
+   "keyboard": {
+    "distance": "2.9 meters",
+    "closeness rank": 13
+   },
+   "trash bin": {
+    "distance": "4.49 meters",
+    "closeness rank": 14
+   },
+   "microwave": {
+    "distance": "4.61 meters",
+    "closeness rank": 15
+   },
+   "radiator": {
+    "distance": "4.63 meters",
+    "closeness rank": 16
+   },
+   "printer": {
+    "distance": "4.76 meters",
+    "closeness rank": 17
+   },
+   "mirror": {
+    "distance": "4.8 meters",
+    "closeness rank": 18
+   },
+   "clock": {
+    "distance": "5.11 meters",
+    "closeness rank": 19
+   },
+   "towel": {
+    "distance": "5.11 meters",
+    "closeness rank": 20
+   },
+   "door": {
+    "distance": "6.28 meters",
+    "closeness rank": 21
+   }
+  },
+  "telephone": {
+   "keyboard": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "nightstand": {
+    "distance": "0.73 meters",
+    "closeness rank": 2
+   },
+   "counter": {
+    "distance": "1.14 meters",
+    "closeness rank": 3
+   },
+   "lamp": {
+    "distance": "1.15 meters",
+    "closeness rank": 4
+   },
+   "bed": {
+    "distance": "1.28 meters",
+    "closeness rank": 5
+   },
+   "mattress": {
+    "distance": "1.31 meters",
+    "closeness rank": 6
+   },
+   "trash bin": {
+    "distance": "1.42 meters",
+    "closeness rank": 7
+   },
+   "microwave": {
+    "distance": "1.47 meters",
+    "closeness rank": 8
+   },
+   "radiator": {
+    "distance": "1.49 meters",
+    "closeness rank": 9
+   },
+   "computer mouse": {
+    "distance": "1.6 meters",
+    "closeness rank": 10
+   },
+   "printer": {
+    "distance": "1.64 meters",
+    "closeness rank": 11
+   },
+   "mirror": {
+    "distance": "1.73 meters",
+    "closeness rank": 12
+   },
+   "monitor": {
+    "distance": "1.8 meters",
+    "closeness rank": 13
+   },
+   "pillow": {
+    "distance": "1.8 meters",
+    "closeness rank": 14
+   },
+   "tv": {
+    "distance": "1.8 meters",
+    "closeness rank": 15
+   },
+   "window": {
+    "distance": "1.95 meters",
+    "closeness rank": 16
+   },
+   "chair": {
+    "distance": "2.23 meters",
+    "closeness rank": 17
+   },
+   "clock": {
+    "distance": "2.61 meters",
+    "closeness rank": 18
+   },
+   "towel": {
+    "distance": "2.61 meters",
+    "closeness rank": 19
+   },
+   "table": {
+    "distance": "2.84 meters",
+    "closeness rank": 20
+   },
+   "door": {
+    "distance": "3.35 meters",
+    "closeness rank": 21
+   }
+  },
+  "towel": {
+   "clock": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "door": {
+    "distance": "1.14 meters",
+    "closeness rank": 2
+   },
+   "mirror": {
+    "distance": "1.37 meters",
+    "closeness rank": 3
+   },
+   "counter": {
+    "distance": "1.44 meters",
+    "closeness rank": 4
+   },
+   "trash bin": {
+    "distance": "1.57 meters",
+    "closeness rank": 5
+   },
+   "microwave": {
+    "distance": "1.59 meters",
+    "closeness rank": 6
+   },
+   "printer": {
+    "distance": "2.24 meters",
+    "closeness rank": 7
+   },
+   "radiator": {
+    "distance": "2.51 meters",
+    "closeness rank": 8
+   },
+   "telephone": {
+    "distance": "2.61 meters",
+    "closeness rank": 9
+   },
+   "keyboard": {
+    "distance": "2.91 meters",
+    "closeness rank": 10
+   },
+   "computer mouse": {
+    "distance": "3.27 meters",
+    "closeness rank": 11
+   },
+   "tv": {
+    "distance": "3.49 meters",
+    "closeness rank": 12
+   },
+   "monitor": {
+    "distance": "3.51 meters",
+    "closeness rank": 13
+   },
+   "nightstand": {
+    "distance": "3.8 meters",
+    "closeness rank": 14
+   },
+   "bed": {
+    "distance": "4.22 meters",
+    "closeness rank": 15
+   },
+   "mattress": {
+    "distance": "4.23 meters",
+    "closeness rank": 16
+   },
+   "lamp": {
+    "distance": "4.28 meters",
+    "closeness rank": 17
+   },
+   "chair": {
+    "distance": "4.4 meters",
+    "closeness rank": 18
+   },
+   "pillow": {
+    "distance": "4.9 meters",
+    "closeness rank": 19
+   },
+   "window": {
+    "distance": "4.96 meters",
+    "closeness rank": 20
+   },
+   "table": {
+    "distance": "5.11 meters",
+    "closeness rank": 21
+   }
+  },
+  "trash bin": {
+   "counter": {
+    "distance": "0.5 meters",
+    "closeness rank": 1
+   },
+   "microwave": {
+    "distance": "0.58 meters",
+    "closeness rank": 2
+   },
+   "mirror": {
+    "distance": "0.71 meters",
+    "closeness rank": 3
+   },
+   "radiator": {
+    "distance": "1.04 meters",
+    "closeness rank": 4
+   },
+   "printer": {
+    "distance": "1.06 meters",
+    "closeness rank": 5
+   },
+   "telephone": {
+    "distance": "1.42 meters",
+    "closeness rank": 6
+   },
+   "clock": {
+    "distance": "1.57 meters",
+    "closeness rank": 7
+   },
+   "towel": {
+    "distance": "1.57 meters",
+    "closeness rank": 8
+   },
+   "door": {
+    "distance": "1.66 meters",
+    "closeness rank": 9
+   },
+   "keyboard": {
+    "distance": "1.68 meters",
+    "closeness rank": 10
+   },
+   "nightstand": {
+    "distance": "2.39 meters",
+    "closeness rank": 11
+   },
+   "computer mouse": {
+    "distance": "2.83 meters",
+    "closeness rank": 12
+   },
+   "lamp": {
+    "distance": "2.9 meters",
+    "closeness rank": 13
+   },
+   "tv": {
+    "distance": "3.1 meters",
+    "closeness rank": 14
+   },
+   "monitor": {
+    "distance": "3.11 meters",
+    "closeness rank": 15
+   },
+   "bed": {
+    "distance": "3.16 meters",
+    "closeness rank": 16
+   },
+   "mattress": {
+    "distance": "3.18 meters",
+    "closeness rank": 17
+   },
+   "pillow": {
+    "distance": "3.68 meters",
+    "closeness rank": 18
+   },
+   "window": {
+    "distance": "3.77 meters",
+    "closeness rank": 19
+   },
+   "chair": {
+    "distance": "3.83 meters",
+    "closeness rank": 20
+   },
+   "table": {
+    "distance": "4.49 meters",
+    "closeness rank": 21
+   }
+  },
+  "tv": {
+   "monitor": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "computer mouse": {
+    "distance": "0.13 meters",
+    "closeness rank": 2
+   },
+   "chair": {
+    "distance": "0.2 meters",
+    "closeness rank": 3
+   },
+   "counter": {
+    "distance": "0.81 meters",
+    "closeness rank": 4
+   },
+   "table": {
+    "distance": "0.82 meters",
+    "closeness rank": 5
+   },
+   "bed": {
+    "distance": "0.85 meters",
+    "closeness rank": 6
+   },
+   "mattress": {
+    "distance": "0.85 meters",
+    "closeness rank": 7
+   },
+   "telephone": {
+    "distance": "1.8 meters",
+    "closeness rank": 8
+   },
+   "keyboard": {
+    "distance": "1.91 meters",
+    "closeness rank": 9
+   },
+   "nightstand": {
+    "distance": "2.14 meters",
+    "closeness rank": 10
+   },
+   "pillow": {
+    "distance": "2.15 meters",
+    "closeness rank": 11
+   },
+   "lamp": {
+    "distance": "2.36 meters",
+    "closeness rank": 12
+   },
+   "window": {
+    "distance": "2.61 meters",
+    "closeness rank": 13
+   },
+   "trash bin": {
+    "distance": "3.1 meters",
+    "closeness rank": 14
+   },
+   "microwave": {
+    "distance": "3.25 meters",
+    "closeness rank": 15
+   },
+   "mirror": {
+    "distance": "3.37 meters",
+    "closeness rank": 16
+   },
+   "clock": {
+    "distance": "3.49 meters",
+    "closeness rank": 17
+   },
+   "towel": {
+    "distance": "3.49 meters",
+    "closeness rank": 18
+   },
+   "radiator": {
+    "distance": "3.52 meters",
+    "closeness rank": 19
+   },
+   "printer": {
+    "distance": "3.6 meters",
+    "closeness rank": 20
+   },
+   "door": {
+    "distance": "4.7 meters",
+    "closeness rank": 21
+   }
+  },
+  "window": {
+   "pillow": {
+    "distance": "0.27 meters",
+    "closeness rank": 1
+   },
+   "nightstand": {
+    "distance": "0.63 meters",
+    "closeness rank": 2
+   },
+   "bed": {
+    "distance": "0.65 meters",
+    "closeness rank": 3
+   },
+   "mattress": {
+    "distance": "0.65 meters",
+    "closeness rank": 4
+   },
+   "lamp": {
+    "distance": "0.75 meters",
+    "closeness rank": 5
+   },
+   "telephone": {
+    "distance": "1.95 meters",
+    "closeness rank": 6
+   },
+   "keyboard": {
+    "distance": "1.99 meters",
+    "closeness rank": 7
+   },
+   "counter": {
+    "distance": "2.5 meters",
+    "closeness rank": 8
+   },
+   "table": {
+    "distance": "2.5 meters",
+    "closeness rank": 9
+   },
+   "chair": {
+    "distance": "2.52 meters",
+    "closeness rank": 10
+   },
+   "monitor": {
+    "distance": "2.61 meters",
+    "closeness rank": 11
+   },
+   "tv": {
+    "distance": "2.61 meters",
+    "closeness rank": 12
+   },
+   "computer mouse": {
+    "distance": "3.04 meters",
+    "closeness rank": 13
+   },
+   "radiator": {
+    "distance": "3.15 meters",
+    "closeness rank": 14
+   },
+   "printer": {
+    "distance": "3.22 meters",
+    "closeness rank": 15
+   },
+   "microwave": {
+    "distance": "3.6 meters",
+    "closeness rank": 16
+   },
+   "mirror": {
+    "distance": "3.65 meters",
+    "closeness rank": 17
+   },
+   "trash bin": {
+    "distance": "3.77 meters",
+    "closeness rank": 18
+   },
+   "clock": {
+    "distance": "4.96 meters",
+    "closeness rank": 19
+   },
+   "towel": {
+    "distance": "4.96 meters",
+    "closeness rank": 20
+   },
+   "door": {
+    "distance": "5.57 meters",
+    "closeness rank": 21
+   }
+  }
+ },
+ "appearance order": ["door", "telephone", "trash bin", "counter", "microwave", "mirror", "printer", "mattress", "pillow", "bed", "nightstand", "keyboard", "table", "lamp", "window", "radiator", "tv", "chair", "monitor", "computer mouse", "clock", "towel"]
+}
\ No newline at end of file
diff --git a/data/spatial codes/sam3+depth-anything-3/metric/tracking/uniform/64/explicit/scene0304_00.json b/data/spatial codes/sam3+depth-anything-3/metric/tracking/uniform/64/explicit/scene0304_00.json
new file mode 100644
index 0000000000000000000000000000000000000000..25d19b2d5cf97f4976b3962c3dc7b3fc36205c8f
--- /dev/null
+++ b/data/spatial codes/sam3+depth-anything-3/metric/tracking/uniform/64/explicit/scene0304_00.json	
@@ -0,0 +1,268 @@
+{
+ "objects": {
+  "backpack": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "0.19 meters",
+      "y coordinate": "-0.01 meters",
+      "height above floor": "0.6 meters"
+     },
+     "longest dimension": "0.48 meters"
+    }
+   ]
+  },
+  "door": {
+   "count": 3,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "0.7 meters",
+      "y coordinate": "-0.18 meters",
+      "height above floor": "0.29 meters"
+     },
+     "longest dimension": "1.03 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-1.08 meters",
+      "y coordinate": "3.65 meters",
+      "height above floor": "-1.1 meters"
+     },
+     "longest dimension": "1.64 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "0.41 meters",
+      "y coordinate": "0.27 meters",
+      "height above floor": "0.01 meters"
+     },
+     "longest dimension": "0.34 meters"
+    }
+   ]
+  },
+  "plant": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "1.35 meters",
+      "y coordinate": "-2.37 meters",
+      "height above floor": "0.01 meters"
+     },
+     "longest dimension": "0.33 meters"
+    }
+   ]
+  },
+  "table": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-0.08 meters",
+      "y coordinate": "0.94 meters",
+      "height above floor": "0.42 meters"
+     },
+     "longest dimension": "1.21 meters"
+    }
+   ]
+  },
+  "trash bin": {
+   "count": 3,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-1.28 meters",
+      "y coordinate": "3.66 meters",
+      "height above floor": "-1.09 meters"
+     },
+     "longest dimension": "1.91 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "1.49 meters",
+      "y coordinate": "-1.48 meters",
+      "height above floor": "0.28 meters"
+     },
+     "longest dimension": "0.93 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "1.03 meters",
+      "y coordinate": "-0.43 meters",
+      "height above floor": "-1.13 meters"
+     },
+     "longest dimension": "0.64 meters"
+    }
+   ]
+  },
+  "window": {
+   "count": 3,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-1.5 meters",
+      "y coordinate": "4.35 meters",
+      "height above floor": "0.09 meters"
+     },
+     "longest dimension": "1.73 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-0.36 meters",
+      "y coordinate": "1.15 meters",
+      "height above floor": "-1.16 meters"
+     },
+     "longest dimension": "2.33 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-1.47 meters",
+      "y coordinate": "3.52 meters",
+      "height above floor": "1.74 meters"
+     },
+     "longest dimension": "0.93 meters"
+    }
+   ]
+  }
+ },
+ "room": {
+  "floor area": "14.7 square meters"
+ },
+ "closest classes distance meters from": {
+  "backpack": {
+   "door": {
+    "distance": "0.01 meters",
+    "closeness rank": 1
+   },
+   "table": {
+    "distance": "0.01 meters",
+    "closeness rank": 2
+   },
+   "trash bin": {
+    "distance": "1.12 meters",
+    "closeness rank": 3
+   },
+   "plant": {
+    "distance": "2.23 meters",
+    "closeness rank": 4
+   },
+   "window": {
+    "distance": "3.99 meters",
+    "closeness rank": 5
+   }
+  },
+  "door": {
+   "table": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "backpack": {
+    "distance": "0.01 meters",
+    "closeness rank": 2
+   },
+   "trash bin": {
+    "distance": "0.85 meters",
+    "closeness rank": 3
+   },
+   "plant": {
+    "distance": "2.18 meters",
+    "closeness rank": 4
+   },
+   "window": {
+    "distance": "3.57 meters",
+    "closeness rank": 5
+   }
+  },
+  "plant": {
+   "table": {
+    "distance": "2.16 meters",
+    "closeness rank": 1
+   },
+   "door": {
+    "distance": "2.18 meters",
+    "closeness rank": 2
+   },
+   "trash bin": {
+    "distance": "2.2 meters",
+    "closeness rank": 3
+   },
+   "backpack": {
+    "distance": "2.23 meters",
+    "closeness rank": 4
+   },
+   "window": {
+    "distance": "6.75 meters",
+    "closeness rank": 5
+   }
+  },
+  "table": {
+   "door": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "backpack": {
+    "distance": "0.01 meters",
+    "closeness rank": 2
+   },
+   "trash bin": {
+    "distance": "0.72 meters",
+    "closeness rank": 3
+   },
+   "plant": {
+    "distance": "2.16 meters",
+    "closeness rank": 4
+   },
+   "window": {
+    "distance": "2.96 meters",
+    "closeness rank": 5
+   }
+  },
+  "trash bin": {
+   "window": {
+    "distance": "0.25 meters",
+    "closeness rank": 1
+   },
+   "table": {
+    "distance": "0.72 meters",
+    "closeness rank": 2
+   },
+   "door": {
+    "distance": "0.85 meters",
+    "closeness rank": 3
+   },
+   "backpack": {
+    "distance": "1.12 meters",
+    "closeness rank": 4
+   },
+   "plant": {
+    "distance": "2.2 meters",
+    "closeness rank": 5
+   }
+  },
+  "window": {
+   "trash bin": {
+    "distance": "0.25 meters",
+    "closeness rank": 1
+   },
+   "table": {
+    "distance": "2.96 meters",
+    "closeness rank": 2
+   },
+   "door": {
+    "distance": "3.57 meters",
+    "closeness rank": 3
+   },
+   "backpack": {
+    "distance": "3.99 meters",
+    "closeness rank": 4
+   },
+   "plant": {
+    "distance": "6.75 meters",
+    "closeness rank": 5
+   }
+  }
+ },
+ "appearance order": ["door", "trash bin", "window", "backpack", "table", "plant"]
+}
\ No newline at end of file
diff --git a/data/spatial codes/sam3+depth-anything-3/metric/tracking/uniform/64/explicit/scene0328_00.json b/data/spatial codes/sam3+depth-anything-3/metric/tracking/uniform/64/explicit/scene0328_00.json
new file mode 100644
index 0000000000000000000000000000000000000000..460cc6295b6dddb2830bce05968af89c941d477d
--- /dev/null
+++ b/data/spatial codes/sam3+depth-anything-3/metric/tracking/uniform/64/explicit/scene0328_00.json	
@@ -0,0 +1,514 @@
+{
+ "objects": {
+  "counter": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "0.2 meters",
+      "y coordinate": "1.33 meters",
+      "height above floor": "0.0 meters"
+     },
+     "longest dimension": "1.54 meters"
+    }
+   ]
+  },
+  "door": {
+   "count": 15,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-0.71 meters",
+      "y coordinate": "0.42 meters",
+      "height above floor": "-0.3 meters"
+     },
+     "longest dimension": "0.76 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "0.23 meters",
+      "y coordinate": "-0.54 meters",
+      "height above floor": "0.28 meters"
+     },
+     "longest dimension": "0.91 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "0.79 meters",
+      "y coordinate": "-0.52 meters",
+      "height above floor": "-0.19 meters"
+     },
+     "longest dimension": "1.12 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "2.14 meters",
+      "y coordinate": "1.0 meters",
+      "height above floor": "0.82 meters"
+     },
+     "longest dimension": "0.79 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "0.5 meters",
+      "y coordinate": "1.3 meters",
+      "height above floor": "0.69 meters"
+     },
+     "longest dimension": "0.52 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "0.79 meters",
+      "y coordinate": "-0.53 meters",
+      "height above floor": "-0.54 meters"
+     },
+     "longest dimension": "0.73 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "0.26 meters",
+      "y coordinate": "1.32 meters",
+      "height above floor": "0.67 meters"
+     },
+     "longest dimension": "0.82 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "1.79 meters",
+      "y coordinate": "1.03 meters",
+      "height above floor": "0.85 meters"
+     },
+     "longest dimension": "0.81 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-1.09 meters",
+      "y coordinate": "-0.1 meters",
+      "height above floor": "0.6 meters"
+     },
+     "longest dimension": "0.55 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-1.14 meters",
+      "y coordinate": "-0.55 meters",
+      "height above floor": "0.59 meters"
+     },
+     "longest dimension": "0.58 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "0.46 meters",
+      "y coordinate": "1.08 meters",
+      "height above floor": "-0.3 meters"
+     },
+     "longest dimension": "0.62 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-0.92 meters",
+      "y coordinate": "1.04 meters",
+      "height above floor": "0.76 meters"
+     },
+     "longest dimension": "0.65 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-0.82 meters",
+      "y coordinate": "1.36 meters",
+      "height above floor": "0.72 meters"
+     },
+     "longest dimension": "0.56 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-0.96 meters",
+      "y coordinate": "0.42 meters",
+      "height above floor": "0.63 meters"
+     },
+     "longest dimension": "0.51 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-0.01 meters",
+      "y coordinate": "1.37 meters",
+      "height above floor": "0.7 meters"
+     },
+     "longest dimension": "0.48 meters"
+    }
+   ]
+  },
+  "lamp": {
+   "count": 4,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "0.84 meters",
+      "y coordinate": "0.59 meters",
+      "height above floor": "1.44 meters"
+     },
+     "longest dimension": "0.17 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "0.6 meters",
+      "y coordinate": "0.61 meters",
+      "height above floor": "1.43 meters"
+     },
+     "longest dimension": "0.08 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "0.38 meters",
+      "y coordinate": "0.66 meters",
+      "height above floor": "1.42 meters"
+     },
+     "longest dimension": "0.07 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "0.08 meters",
+      "y coordinate": "0.7 meters",
+      "height above floor": "1.44 meters"
+     },
+     "longest dimension": "0.08 meters"
+    }
+   ]
+  },
+  "microwave": {
+   "count": 2,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-0.96 meters",
+      "y coordinate": "0.41 meters",
+      "height above floor": "0.66 meters"
+     },
+     "longest dimension": "0.52 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-1.0 meters",
+      "y coordinate": "0.45 meters",
+      "height above floor": "0.66 meters"
+     },
+     "longest dimension": "0.65 meters"
+    }
+   ]
+  },
+  "mirror": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "1.03 meters",
+      "y coordinate": "1.48 meters",
+      "height above floor": "0.58 meters"
+     },
+     "longest dimension": "0.6 meters"
+    }
+   ]
+  },
+  "oven": {
+   "count": 3,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-0.71 meters",
+      "y coordinate": "0.48 meters",
+      "height above floor": "-0.35 meters"
+     },
+     "longest dimension": "0.73 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-0.96 meters",
+      "y coordinate": "0.45 meters",
+      "height above floor": "0.66 meters"
+     },
+     "longest dimension": "0.59 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-0.97 meters",
+      "y coordinate": "0.47 meters",
+      "height above floor": "0.67 meters"
+     },
+     "longest dimension": "0.66 meters"
+    }
+   ]
+  },
+  "plant": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "0.51 meters",
+      "y coordinate": "1.5 meters",
+      "height above floor": "0.27 meters"
+     },
+     "longest dimension": "0.19 meters"
+    }
+   ]
+  },
+  "refrigerator": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "1.18 meters",
+      "y coordinate": "-0.59 meters",
+      "height above floor": "-0.09 meters"
+     },
+     "longest dimension": "1.05 meters"
+    }
+   ]
+  }
+ },
+ "room": {
+  "floor area": "9.8 square meters"
+ },
+ "closest classes distance meters from": {
+  "counter": {
+   "door": {
+    "distance": "0.07 meters",
+    "closeness rank": 1
+   },
+   "oven": {
+    "distance": "0.08 meters",
+    "closeness rank": 2
+   },
+   "plant": {
+    "distance": "0.18 meters",
+    "closeness rank": 3
+   },
+   "mirror": {
+    "distance": "0.24 meters",
+    "closeness rank": 4
+   },
+   "microwave": {
+    "distance": "0.51 meters",
+    "closeness rank": 5
+   },
+   "refrigerator": {
+    "distance": "0.56 meters",
+    "closeness rank": 6
+   },
+   "lamp": {
+    "distance": "1.46 meters",
+    "closeness rank": 7
+   }
+  },
+  "door": {
+   "oven": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "counter": {
+    "distance": "0.07 meters",
+    "closeness rank": 2
+   },
+   "microwave": {
+    "distance": "0.57 meters",
+    "closeness rank": 3
+   },
+   "plant": {
+    "distance": "1.34 meters",
+    "closeness rank": 4
+   },
+   "mirror": {
+    "distance": "1.38 meters",
+    "closeness rank": 5
+   },
+   "refrigerator": {
+    "distance": "1.45 meters",
+    "closeness rank": 6
+   },
+   "lamp": {
+    "distance": "2.07 meters",
+    "closeness rank": 7
+   }
+  },
+  "lamp": {
+   "mirror": {
+    "distance": "1.03 meters",
+    "closeness rank": 1
+   },
+   "refrigerator": {
+    "distance": "1.38 meters",
+    "closeness rank": 2
+   },
+   "plant": {
+    "distance": "1.45 meters",
+    "closeness rank": 3
+   },
+   "counter": {
+    "distance": "1.46 meters",
+    "closeness rank": 4
+   },
+   "microwave": {
+    "distance": "1.83 meters",
+    "closeness rank": 5
+   },
+   "oven": {
+    "distance": "2.06 meters",
+    "closeness rank": 6
+   },
+   "door": {
+    "distance": "2.07 meters",
+    "closeness rank": 7
+   }
+  },
+  "microwave": {
+   "counter": {
+    "distance": "0.51 meters",
+    "closeness rank": 1
+   },
+   "oven": {
+    "distance": "0.56 meters",
+    "closeness rank": 2
+   },
+   "door": {
+    "distance": "0.57 meters",
+    "closeness rank": 3
+   },
+   "mirror": {
+    "distance": "1.22 meters",
+    "closeness rank": 4
+   },
+   "plant": {
+    "distance": "1.48 meters",
+    "closeness rank": 5
+   },
+   "refrigerator": {
+    "distance": "1.68 meters",
+    "closeness rank": 6
+   },
+   "lamp": {
+    "distance": "1.83 meters",
+    "closeness rank": 7
+   }
+  },
+  "mirror": {
+   "counter": {
+    "distance": "0.24 meters",
+    "closeness rank": 1
+   },
+   "plant": {
+    "distance": "0.26 meters",
+    "closeness rank": 2
+   },
+   "refrigerator": {
+    "distance": "0.99 meters",
+    "closeness rank": 3
+   },
+   "lamp": {
+    "distance": "1.03 meters",
+    "closeness rank": 4
+   },
+   "microwave": {
+    "distance": "1.22 meters",
+    "closeness rank": 5
+   },
+   "door": {
+    "distance": "1.38 meters",
+    "closeness rank": 6
+   },
+   "oven": {
+    "distance": "1.38 meters",
+    "closeness rank": 7
+   }
+  },
+  "oven": {
+   "door": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "counter": {
+    "distance": "0.08 meters",
+    "closeness rank": 2
+   },
+   "microwave": {
+    "distance": "0.56 meters",
+    "closeness rank": 3
+   },
+   "plant": {
+    "distance": "1.33 meters",
+    "closeness rank": 4
+   },
+   "mirror": {
+    "distance": "1.38 meters",
+    "closeness rank": 5
+   },
+   "refrigerator": {
+    "distance": "1.45 meters",
+    "closeness rank": 6
+   },
+   "lamp": {
+    "distance": "2.06 meters",
+    "closeness rank": 7
+   }
+  },
+  "plant": {
+   "counter": {
+    "distance": "0.18 meters",
+    "closeness rank": 1
+   },
+   "mirror": {
+    "distance": "0.26 meters",
+    "closeness rank": 2
+   },
+   "oven": {
+    "distance": "1.33 meters",
+    "closeness rank": 3
+   },
+   "door": {
+    "distance": "1.34 meters",
+    "closeness rank": 4
+   },
+   "lamp": {
+    "distance": "1.45 meters",
+    "closeness rank": 5
+   },
+   "microwave": {
+    "distance": "1.48 meters",
+    "closeness rank": 6
+   },
+   "refrigerator": {
+    "distance": "1.98 meters",
+    "closeness rank": 7
+   }
+  },
+  "refrigerator": {
+   "counter": {
+    "distance": "0.56 meters",
+    "closeness rank": 1
+   },
+   "mirror": {
+    "distance": "0.99 meters",
+    "closeness rank": 2
+   },
+   "lamp": {
+    "distance": "1.38 meters",
+    "closeness rank": 3
+   },
+   "door": {
+    "distance": "1.45 meters",
+    "closeness rank": 4
+   },
+   "oven": {
+    "distance": "1.45 meters",
+    "closeness rank": 5
+   },
+   "microwave": {
+    "distance": "1.68 meters",
+    "closeness rank": 6
+   },
+   "plant": {
+    "distance": "1.98 meters",
+    "closeness rank": 7
+   }
+  }
+ },
+ "appearance order": ["door", "microwave", "oven", "refrigerator", "plant", "lamp", "counter", "mirror"]
+}
\ No newline at end of file
diff --git a/data/spatial codes/sam3+depth-anything-3/metric/tracking/uniform/64/explicit/scene0356_00.json b/data/spatial codes/sam3+depth-anything-3/metric/tracking/uniform/64/explicit/scene0356_00.json
new file mode 100644
index 0000000000000000000000000000000000000000..6b11198cc21825c7b009bc978f207d3f4edda273
--- /dev/null
+++ b/data/spatial codes/sam3+depth-anything-3/metric/tracking/uniform/64/explicit/scene0356_00.json	
@@ -0,0 +1,616 @@
+{
+ "objects": {
+  "bed": {
+   "count": 3,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "1.2 meters",
+      "y coordinate": "-0.98 meters",
+      "height above floor": "0.15 meters"
+     },
+     "longest dimension": "1.49 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "1.14 meters",
+      "y coordinate": "-0.85 meters",
+      "height above floor": "0.17 meters"
+     },
+     "longest dimension": "1.58 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-0.34 meters",
+      "y coordinate": "1.15 meters",
+      "height above floor": "-0.04 meters"
+     },
+     "longest dimension": "0.51 meters"
+    }
+   ]
+  },
+  "chair": {
+   "count": 2,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "1.38 meters",
+      "y coordinate": "-0.93 meters",
+      "height above floor": "-0.95 meters"
+     },
+     "longest dimension": "0.68 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "1.39 meters",
+      "y coordinate": "-0.97 meters",
+      "height above floor": "-0.89 meters"
+     },
+     "longest dimension": "0.66 meters"
+    }
+   ]
+  },
+  "door": {
+   "count": 4,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "0.03 meters",
+      "y coordinate": "1.34 meters",
+      "height above floor": "-0.36 meters"
+     },
+     "longest dimension": "1.02 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "0.35 meters",
+      "y coordinate": "0.3 meters",
+      "height above floor": "0.65 meters"
+     },
+     "longest dimension": "0.93 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "0.18 meters",
+      "y coordinate": "0.8 meters",
+      "height above floor": "0.25 meters"
+     },
+     "longest dimension": "1.16 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "0.22 meters",
+      "y coordinate": "1.36 meters",
+      "height above floor": "-0.46 meters"
+     },
+     "longest dimension": "1.27 meters"
+    }
+   ]
+  },
+  "mattress": {
+   "count": 2,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "1.17 meters",
+      "y coordinate": "-0.99 meters",
+      "height above floor": "0.2 meters"
+     },
+     "longest dimension": "1.47 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-0.41 meters",
+      "y coordinate": "1.1 meters",
+      "height above floor": "-0.02 meters"
+     },
+     "longest dimension": "0.31 meters"
+    }
+   ]
+  },
+  "mirror": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-0.21 meters",
+      "y coordinate": "1.21 meters",
+      "height above floor": "-0.22 meters"
+     },
+     "longest dimension": "0.84 meters"
+    }
+   ]
+  },
+  "plant": {
+   "count": 2,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "1.64 meters",
+      "y coordinate": "-2.48 meters",
+      "height above floor": "-0.41 meters"
+     },
+     "longest dimension": "0.66 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "1.57 meters",
+      "y coordinate": "-2.34 meters",
+      "height above floor": "0.14 meters"
+     },
+     "longest dimension": "0.38 meters"
+    }
+   ]
+  },
+  "table": {
+   "count": 2,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "1.15 meters",
+      "y coordinate": "-0.96 meters",
+      "height above floor": "-1.19 meters"
+     },
+     "longest dimension": "0.7 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-0.34 meters",
+      "y coordinate": "1.15 meters",
+      "height above floor": "-0.48 meters"
+     },
+     "longest dimension": "0.36 meters"
+    }
+   ]
+  },
+  "telephone": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-0.4 meters",
+      "y coordinate": "1.11 meters",
+      "height above floor": "-1.3 meters"
+     },
+     "longest dimension": "0.17 meters"
+    }
+   ]
+  },
+  "trash bin": {
+   "count": 3,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "1.07 meters",
+      "y coordinate": "-1.17 meters",
+      "height above floor": "-1.15 meters"
+     },
+     "longest dimension": "0.37 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "1.14 meters",
+      "y coordinate": "-1.52 meters",
+      "height above floor": "-1.09 meters"
+     },
+     "longest dimension": "0.33 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "1.23 meters",
+      "y coordinate": "-1.78 meters",
+      "height above floor": "-1.08 meters"
+     },
+     "longest dimension": "0.29 meters"
+    }
+   ]
+  },
+  "window": {
+   "count": 2,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "1.6 meters",
+      "y coordinate": "-2.34 meters",
+      "height above floor": "-0.32 meters"
+     },
+     "longest dimension": "1.54 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "1.6 meters",
+      "y coordinate": "-2.38 meters",
+      "height above floor": "-0.28 meters"
+     },
+     "longest dimension": "1.61 meters"
+    }
+   ]
+  }
+ },
+ "room": {
+  "floor area": "7.4 square meters"
+ },
+ "closest classes distance meters from": {
+  "bed": {
+   "mattress": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "door": {
+    "distance": "0.17 meters",
+    "closeness rank": 2
+   },
+   "telephone": {
+    "distance": "0.27 meters",
+    "closeness rank": 3
+   },
+   "window": {
+    "distance": "0.34 meters",
+    "closeness rank": 4
+   },
+   "mirror": {
+    "distance": "0.4 meters",
+    "closeness rank": 5
+   },
+   "plant": {
+    "distance": "0.45 meters",
+    "closeness rank": 6
+   },
+   "chair": {
+    "distance": "0.69 meters",
+    "closeness rank": 7
+   },
+   "table": {
+    "distance": "0.84 meters",
+    "closeness rank": 8
+   },
+   "trash bin": {
+    "distance": "0.97 meters",
+    "closeness rank": 9
+   }
+  },
+  "chair": {
+   "table": {
+    "distance": "0.02 meters",
+    "closeness rank": 1
+   },
+   "trash bin": {
+    "distance": "0.16 meters",
+    "closeness rank": 2
+   },
+   "bed": {
+    "distance": "0.69 meters",
+    "closeness rank": 3
+   },
+   "window": {
+    "distance": "0.7 meters",
+    "closeness rank": 4
+   },
+   "mattress": {
+    "distance": "0.71 meters",
+    "closeness rank": 5
+   },
+   "plant": {
+    "distance": "0.82 meters",
+    "closeness rank": 6
+   },
+   "door": {
+    "distance": "2.12 meters",
+    "closeness rank": 7
+   },
+   "mirror": {
+    "distance": "2.61 meters",
+    "closeness rank": 8
+   },
+   "telephone": {
+    "distance": "2.62 meters",
+    "closeness rank": 9
+   }
+  },
+  "door": {
+   "mirror": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "bed": {
+    "distance": "0.17 meters",
+    "closeness rank": 2
+   },
+   "telephone": {
+    "distance": "0.56 meters",
+    "closeness rank": 3
+   },
+   "mattress": {
+    "distance": "0.8 meters",
+    "closeness rank": 4
+   },
+   "table": {
+    "distance": "2.01 meters",
+    "closeness rank": 5
+   },
+   "chair": {
+    "distance": "2.12 meters",
+    "closeness rank": 6
+   },
+   "trash bin": {
+    "distance": "2.23 meters",
+    "closeness rank": 7
+   },
+   "plant": {
+    "distance": "2.94 meters",
+    "closeness rank": 8
+   },
+   "window": {
+    "distance": "2.95 meters",
+    "closeness rank": 9
+   }
+  },
+  "mattress": {
+   "bed": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "window": {
+    "distance": "0.29 meters",
+    "closeness rank": 2
+   },
+   "plant": {
+    "distance": "0.41 meters",
+    "closeness rank": 3
+   },
+   "chair": {
+    "distance": "0.71 meters",
+    "closeness rank": 4
+   },
+   "door": {
+    "distance": "0.8 meters",
+    "closeness rank": 5
+   },
+   "table": {
+    "distance": "0.85 meters",
+    "closeness rank": 6
+   },
+   "trash bin": {
+    "distance": "0.99 meters",
+    "closeness rank": 7
+   },
+   "mirror": {
+    "distance": "1.57 meters",
+    "closeness rank": 8
+   },
+   "telephone": {
+    "distance": "2.14 meters",
+    "closeness rank": 9
+   }
+  },
+  "mirror": {
+   "door": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "bed": {
+    "distance": "0.4 meters",
+    "closeness rank": 2
+   },
+   "telephone": {
+    "distance": "0.78 meters",
+    "closeness rank": 3
+   },
+   "mattress": {
+    "distance": "1.57 meters",
+    "closeness rank": 4
+   },
+   "table": {
+    "distance": "2.49 meters",
+    "closeness rank": 5
+   },
+   "chair": {
+    "distance": "2.61 meters",
+    "closeness rank": 6
+   },
+   "trash bin": {
+    "distance": "2.66 meters",
+    "closeness rank": 7
+   },
+   "plant": {
+    "distance": "3.61 meters",
+    "closeness rank": 8
+   },
+   "window": {
+    "distance": "3.68 meters",
+    "closeness rank": 9
+   }
+  },
+  "plant": {
+   "window": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "mattress": {
+    "distance": "0.41 meters",
+    "closeness rank": 2
+   },
+   "bed": {
+    "distance": "0.45 meters",
+    "closeness rank": 3
+   },
+   "chair": {
+    "distance": "0.82 meters",
+    "closeness rank": 4
+   },
+   "trash bin": {
+    "distance": "0.96 meters",
+    "closeness rank": 5
+   },
+   "table": {
+    "distance": "1.03 meters",
+    "closeness rank": 6
+   },
+   "door": {
+    "distance": "2.94 meters",
+    "closeness rank": 7
+   },
+   "mirror": {
+    "distance": "3.61 meters",
+    "closeness rank": 8
+   },
+   "telephone": {
+    "distance": "3.75 meters",
+    "closeness rank": 9
+   }
+  },
+  "table": {
+   "trash bin": {
+    "distance": "0.01 meters",
+    "closeness rank": 1
+   },
+   "chair": {
+    "distance": "0.02 meters",
+    "closeness rank": 2
+   },
+   "bed": {
+    "distance": "0.84 meters",
+    "closeness rank": 3
+   },
+   "mattress": {
+    "distance": "0.85 meters",
+    "closeness rank": 4
+   },
+   "window": {
+    "distance": "0.9 meters",
+    "closeness rank": 5
+   },
+   "plant": {
+    "distance": "1.03 meters",
+    "closeness rank": 6
+   },
+   "door": {
+    "distance": "2.01 meters",
+    "closeness rank": 7
+   },
+   "telephone": {
+    "distance": "2.46 meters",
+    "closeness rank": 8
+   },
+   "mirror": {
+    "distance": "2.49 meters",
+    "closeness rank": 9
+   }
+  },
+  "telephone": {
+   "bed": {
+    "distance": "0.27 meters",
+    "closeness rank": 1
+   },
+   "door": {
+    "distance": "0.56 meters",
+    "closeness rank": 2
+   },
+   "mirror": {
+    "distance": "0.78 meters",
+    "closeness rank": 3
+   },
+   "mattress": {
+    "distance": "2.14 meters",
+    "closeness rank": 4
+   },
+   "table": {
+    "distance": "2.46 meters",
+    "closeness rank": 5
+   },
+   "chair": {
+    "distance": "2.62 meters",
+    "closeness rank": 6
+   },
+   "trash bin": {
+    "distance": "2.62 meters",
+    "closeness rank": 7
+   },
+   "window": {
+    "distance": "3.73 meters",
+    "closeness rank": 8
+   },
+   "plant": {
+    "distance": "3.75 meters",
+    "closeness rank": 9
+   }
+  },
+  "trash bin": {
+   "table": {
+    "distance": "0.01 meters",
+    "closeness rank": 1
+   },
+   "chair": {
+    "distance": "0.16 meters",
+    "closeness rank": 2
+   },
+   "window": {
+    "distance": "0.85 meters",
+    "closeness rank": 3
+   },
+   "plant": {
+    "distance": "0.96 meters",
+    "closeness rank": 4
+   },
+   "bed": {
+    "distance": "0.97 meters",
+    "closeness rank": 5
+   },
+   "mattress": {
+    "distance": "0.99 meters",
+    "closeness rank": 6
+   },
+   "door": {
+    "distance": "2.23 meters",
+    "closeness rank": 7
+   },
+   "telephone": {
+    "distance": "2.62 meters",
+    "closeness rank": 8
+   },
+   "mirror": {
+    "distance": "2.66 meters",
+    "closeness rank": 9
+   }
+  },
+  "window": {
+   "plant": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "mattress": {
+    "distance": "0.29 meters",
+    "closeness rank": 2
+   },
+   "bed": {
+    "distance": "0.34 meters",
+    "closeness rank": 3
+   },
+   "chair": {
+    "distance": "0.7 meters",
+    "closeness rank": 4
+   },
+   "trash bin": {
+    "distance": "0.85 meters",
+    "closeness rank": 5
+   },
+   "table": {
+    "distance": "0.9 meters",
+    "closeness rank": 6
+   },
+   "door": {
+    "distance": "2.95 meters",
+    "closeness rank": 7
+   },
+   "mirror": {
+    "distance": "3.68 meters",
+    "closeness rank": 8
+   },
+   "telephone": {
+    "distance": "3.73 meters",
+    "closeness rank": 9
+   }
+  }
+ },
+ "appearance order": ["chair", "plant", "window", "table", "trash bin", "bed", "mattress", "door", "mirror", "telephone"]
+}
\ No newline at end of file
diff --git a/data/spatial codes/sam3+depth-anything-3/metric/tracking/uniform/64/explicit/scene0357_01.json b/data/spatial codes/sam3+depth-anything-3/metric/tracking/uniform/64/explicit/scene0357_01.json
new file mode 100644
index 0000000000000000000000000000000000000000..31ac5e22ee3f2e51c7e88c7c4465e17b34c3a706
--- /dev/null
+++ b/data/spatial codes/sam3+depth-anything-3/metric/tracking/uniform/64/explicit/scene0357_01.json	
@@ -0,0 +1,323 @@
+{
+ "objects": {
+  "backpack": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-0.06 meters",
+      "y coordinate": "1.12 meters",
+      "height above floor": "-0.94 meters"
+     },
+     "longest dimension": "0.42 meters"
+    }
+   ]
+  },
+  "clock": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "0.12 meters",
+      "y coordinate": "-0.18 meters",
+      "height above floor": "1.44 meters"
+     },
+     "longest dimension": "0.1 meters"
+    }
+   ]
+  },
+  "closet": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "0.68 meters",
+      "y coordinate": "-0.01 meters",
+      "height above floor": "-0.21 meters"
+     },
+     "longest dimension": "1.7 meters"
+    }
+   ]
+  },
+  "door": {
+   "count": 3,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "1.17 meters",
+      "y coordinate": "0.62 meters",
+      "height above floor": "0.89 meters"
+     },
+     "longest dimension": "1.05 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "0.93 meters",
+      "y coordinate": "0.48 meters",
+      "height above floor": "-0.86 meters"
+     },
+     "longest dimension": "1.52 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "0.66 meters",
+      "y coordinate": "-0.03 meters",
+      "height above floor": "-0.51 meters"
+     },
+     "longest dimension": "1.79 meters"
+    }
+   ]
+  },
+  "table": {
+   "count": 2,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-0.18 meters",
+      "y coordinate": "0.85 meters",
+      "height above floor": "0.1 meters"
+     },
+     "longest dimension": "0.6 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-0.17 meters",
+      "y coordinate": "0.81 meters",
+      "height above floor": "0.47 meters"
+     },
+     "longest dimension": "0.55 meters"
+    }
+   ]
+  },
+  "towel": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-0.65 meters",
+      "y coordinate": "0.42 meters",
+      "height above floor": "0.4 meters"
+     },
+     "longest dimension": "0.23 meters"
+    }
+   ]
+  },
+  "window": {
+   "count": 3,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-0.19 meters",
+      "y coordinate": "-0.22 meters",
+      "height above floor": "-1.95 meters"
+     },
+     "longest dimension": "0.67 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "0.31 meters",
+      "y coordinate": "-0.26 meters",
+      "height above floor": "-1.9 meters"
+     },
+     "longest dimension": "0.65 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "0.08 meters",
+      "y coordinate": "-0.2 meters",
+      "height above floor": "-2.03 meters"
+     },
+     "longest dimension": "0.49 meters"
+    }
+   ]
+  }
+ },
+ "room": {
+  "floor area": "6.5 square meters"
+ },
+ "closest classes distance meters from": {
+  "backpack": {
+   "closet": {
+    "distance": "0.5 meters",
+    "closeness rank": 1
+   },
+   "table": {
+    "distance": "0.75 meters",
+    "closeness rank": 2
+   },
+   "window": {
+    "distance": "1.19 meters",
+    "closeness rank": 3
+   },
+   "towel": {
+    "distance": "1.28 meters",
+    "closeness rank": 4
+   },
+   "door": {
+    "distance": "1.79 meters",
+    "closeness rank": 5
+   },
+   "clock": {
+    "distance": "2.43 meters",
+    "closeness rank": 6
+   }
+  },
+  "clock": {
+   "door": {
+    "distance": "1.1 meters",
+    "closeness rank": 1
+   },
+   "towel": {
+    "distance": "1.24 meters",
+    "closeness rank": 2
+   },
+   "table": {
+    "distance": "1.33 meters",
+    "closeness rank": 3
+   },
+   "closet": {
+    "distance": "1.49 meters",
+    "closeness rank": 4
+   },
+   "backpack": {
+    "distance": "2.43 meters",
+    "closeness rank": 5
+   },
+   "window": {
+    "distance": "3.37 meters",
+    "closeness rank": 6
+   }
+  },
+  "closet": {
+   "backpack": {
+    "distance": "0.5 meters",
+    "closeness rank": 1
+   },
+   "door": {
+    "distance": "0.55 meters",
+    "closeness rank": 2
+   },
+   "table": {
+    "distance": "0.74 meters",
+    "closeness rank": 3
+   },
+   "window": {
+    "distance": "0.76 meters",
+    "closeness rank": 4
+   },
+   "towel": {
+    "distance": "1.28 meters",
+    "closeness rank": 5
+   },
+   "clock": {
+    "distance": "1.49 meters",
+    "closeness rank": 6
+   }
+  },
+  "door": {
+   "closet": {
+    "distance": "0.55 meters",
+    "closeness rank": 1
+   },
+   "clock": {
+    "distance": "1.1 meters",
+    "closeness rank": 2
+   },
+   "table": {
+    "distance": "1.25 meters",
+    "closeness rank": 3
+   },
+   "towel": {
+    "distance": "1.7 meters",
+    "closeness rank": 4
+   },
+   "backpack": {
+    "distance": "1.79 meters",
+    "closeness rank": 5
+   },
+   "window": {
+    "distance": "2.81 meters",
+    "closeness rank": 6
+   }
+  },
+  "table": {
+   "towel": {
+    "distance": "0.35 meters",
+    "closeness rank": 1
+   },
+   "closet": {
+    "distance": "0.74 meters",
+    "closeness rank": 2
+   },
+   "backpack": {
+    "distance": "0.75 meters",
+    "closeness rank": 3
+   },
+   "door": {
+    "distance": "1.25 meters",
+    "closeness rank": 4
+   },
+   "clock": {
+    "distance": "1.33 meters",
+    "closeness rank": 5
+   },
+   "window": {
+    "distance": "2.13 meters",
+    "closeness rank": 6
+   }
+  },
+  "towel": {
+   "table": {
+    "distance": "0.35 meters",
+    "closeness rank": 1
+   },
+   "clock": {
+    "distance": "1.24 meters",
+    "closeness rank": 2
+   },
+   "backpack": {
+    "distance": "1.28 meters",
+    "closeness rank": 3
+   },
+   "closet": {
+    "distance": "1.28 meters",
+    "closeness rank": 4
+   },
+   "door": {
+    "distance": "1.7 meters",
+    "closeness rank": 5
+   },
+   "window": {
+    "distance": "2.33 meters",
+    "closeness rank": 6
+   }
+  },
+  "window": {
+   "closet": {
+    "distance": "0.76 meters",
+    "closeness rank": 1
+   },
+   "backpack": {
+    "distance": "1.19 meters",
+    "closeness rank": 2
+   },
+   "table": {
+    "distance": "2.13 meters",
+    "closeness rank": 3
+   },
+   "towel": {
+    "distance": "2.33 meters",
+    "closeness rank": 4
+   },
+   "door": {
+    "distance": "2.81 meters",
+    "closeness rank": 5
+   },
+   "clock": {
+    "distance": "3.37 meters",
+    "closeness rank": 6
+   }
+  }
+ },
+ "appearance order": ["table", "door", "closet", "backpack", "window", "towel", "clock"]
+}
\ No newline at end of file
diff --git a/data/spatial codes/sam3+depth-anything-3/metric/tracking/uniform/64/explicit/scene0412_00.json b/data/spatial codes/sam3+depth-anything-3/metric/tracking/uniform/64/explicit/scene0412_00.json
new file mode 100644
index 0000000000000000000000000000000000000000..ac8190cf157d26e8eb7db8e5af00380386e81d68
--- /dev/null
+++ b/data/spatial codes/sam3+depth-anything-3/metric/tracking/uniform/64/explicit/scene0412_00.json	
@@ -0,0 +1,324 @@
+{
+ "objects": {
+  "counter": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "0.79 meters",
+      "y coordinate": "1.08 meters",
+      "height above floor": "3.27 meters"
+     },
+     "longest dimension": "1.39 meters"
+    }
+   ]
+  },
+  "door": {
+   "count": 8,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "0.97 meters",
+      "y coordinate": "0.54 meters",
+      "height above floor": "5.16 meters"
+     },
+     "longest dimension": "1.0 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "0.38 meters",
+      "y coordinate": "-3.31 meters",
+      "height above floor": "0.3 meters"
+     },
+     "longest dimension": "1.1 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "0.16 meters",
+      "y coordinate": "-2.0 meters",
+      "height above floor": "-0.09 meters"
+     },
+     "longest dimension": "0.4 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "0.6 meters",
+      "y coordinate": "-1.22 meters",
+      "height above floor": "-0.01 meters"
+     },
+     "longest dimension": "0.67 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "0.37 meters",
+      "y coordinate": "-2.25 meters",
+      "height above floor": "1.26 meters"
+     },
+     "longest dimension": "1.24 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "0.5 meters",
+      "y coordinate": "-1.93 meters",
+      "height above floor": "-0.03 meters"
+     },
+     "longest dimension": "0.6 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "0.73 meters",
+      "y coordinate": "-1.14 meters",
+      "height above floor": "-0.02 meters"
+     },
+     "longest dimension": "0.72 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "0.66 meters",
+      "y coordinate": "-0.22 meters",
+      "height above floor": "5.13 meters"
+     },
+     "longest dimension": "1.38 meters"
+    }
+   ]
+  },
+  "radiator": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "0.24 meters",
+      "y coordinate": "-0.56 meters",
+      "height above floor": "-0.11 meters"
+     },
+     "longest dimension": "1.8 meters"
+    }
+   ]
+  },
+  "refrigerator": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "0.44 meters",
+      "y coordinate": "-1.35 meters",
+      "height above floor": "-0.01 meters"
+     },
+     "longest dimension": "1.06 meters"
+    }
+   ]
+  },
+  "table": {
+   "count": 3,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "0.03 meters",
+      "y coordinate": "0.46 meters",
+      "height above floor": "0.6 meters"
+     },
+     "longest dimension": "2.21 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "0.81 meters",
+      "y coordinate": "-0.17 meters",
+      "height above floor": "2.59 meters"
+     },
+     "longest dimension": "0.58 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "0.73 meters",
+      "y coordinate": "-0.2 meters",
+      "height above floor": "3.1 meters"
+     },
+     "longest dimension": "0.54 meters"
+    }
+   ]
+  },
+  "trash bin": {
+   "count": 5,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "0.91 meters",
+      "y coordinate": "0.7 meters",
+      "height above floor": "1.05 meters"
+     },
+     "longest dimension": "0.46 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "1.04 meters",
+      "y coordinate": "-0.03 meters",
+      "height above floor": "0.46 meters"
+     },
+     "longest dimension": "0.59 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "0.54 meters",
+      "y coordinate": "-2.86 meters",
+      "height above floor": "-0.4 meters"
+     },
+     "longest dimension": "0.77 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "1.03 meters",
+      "y coordinate": "0.97 meters",
+      "height above floor": "1.43 meters"
+     },
+     "longest dimension": "0.62 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "0.66 meters",
+      "y coordinate": "1.34 meters",
+      "height above floor": "1.37 meters"
+     },
+     "longest dimension": "0.42 meters"
+    }
+   ]
+  }
+ },
+ "room": {
+  "floor area": "11.2 square meters"
+ },
+ "closest classes distance meters from": {
+  "counter": {
+   "table": {
+    "distance": "0.41 meters",
+    "closeness rank": 1
+   },
+   "trash bin": {
+    "distance": "0.71 meters",
+    "closeness rank": 2
+   },
+   "door": {
+    "distance": "1.28 meters",
+    "closeness rank": 3
+   },
+   "radiator": {
+    "distance": "2.45 meters",
+    "closeness rank": 4
+   },
+   "refrigerator": {
+    "distance": "2.6 meters",
+    "closeness rank": 5
+   }
+  },
+  "door": {
+   "counter": {
+    "distance": "1.28 meters",
+    "closeness rank": 1
+   },
+   "trash bin": {
+    "distance": "2.7 meters",
+    "closeness rank": 2
+   },
+   "table": {
+    "distance": "3.23 meters",
+    "closeness rank": 3
+   },
+   "refrigerator": {
+    "distance": "5.17 meters",
+    "closeness rank": 4
+   },
+   "radiator": {
+    "distance": "5.25 meters",
+    "closeness rank": 5
+   }
+  },
+  "radiator": {
+   "refrigerator": {
+    "distance": "0.04 meters",
+    "closeness rank": 1
+   },
+   "table": {
+    "distance": "0.35 meters",
+    "closeness rank": 2
+   },
+   "trash bin": {
+    "distance": "1.47 meters",
+    "closeness rank": 3
+   },
+   "counter": {
+    "distance": "2.45 meters",
+    "closeness rank": 4
+   },
+   "door": {
+    "distance": "5.25 meters",
+    "closeness rank": 5
+   }
+  },
+  "refrigerator": {
+   "radiator": {
+    "distance": "0.04 meters",
+    "closeness rank": 1
+   },
+   "table": {
+    "distance": "0.65 meters",
+    "closeness rank": 2
+   },
+   "trash bin": {
+    "distance": "1.66 meters",
+    "closeness rank": 3
+   },
+   "counter": {
+    "distance": "2.6 meters",
+    "closeness rank": 4
+   },
+   "door": {
+    "distance": "5.17 meters",
+    "closeness rank": 5
+   }
+  },
+  "table": {
+   "trash bin": {
+    "distance": "0.04 meters",
+    "closeness rank": 1
+   },
+   "radiator": {
+    "distance": "0.35 meters",
+    "closeness rank": 2
+   },
+   "counter": {
+    "distance": "0.41 meters",
+    "closeness rank": 3
+   },
+   "refrigerator": {
+    "distance": "0.65 meters",
+    "closeness rank": 4
+   },
+   "door": {
+    "distance": "3.23 meters",
+    "closeness rank": 5
+   }
+  },
+  "trash bin": {
+   "table": {
+    "distance": "0.04 meters",
+    "closeness rank": 1
+   },
+   "counter": {
+    "distance": "0.71 meters",
+    "closeness rank": 2
+   },
+   "radiator": {
+    "distance": "1.47 meters",
+    "closeness rank": 3
+   },
+   "refrigerator": {
+    "distance": "1.66 meters",
+    "closeness rank": 4
+   },
+   "door": {
+    "distance": "2.7 meters",
+    "closeness rank": 5
+   }
+  }
+ },
+ "appearance order": ["door", "counter", "trash bin", "table", "refrigerator", "radiator"]
+}
\ No newline at end of file
diff --git a/data/spatial codes/sam3+depth-anything-3/metric/tracking/uniform/64/explicit/scene0426_00.json b/data/spatial codes/sam3+depth-anything-3/metric/tracking/uniform/64/explicit/scene0426_00.json
new file mode 100644
index 0000000000000000000000000000000000000000..25fdac30f3ec8a3ecf2e3fee748610cd7a82b68f
--- /dev/null
+++ b/data/spatial codes/sam3+depth-anything-3/metric/tracking/uniform/64/explicit/scene0426_00.json	
@@ -0,0 +1,1354 @@
+{
+ "objects": {
+  "backpack": {
+   "count": 3,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-0.12 meters",
+      "y coordinate": "-0.91 meters",
+      "height above floor": "-0.15 meters"
+     },
+     "longest dimension": "0.56 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-0.21 meters",
+      "y coordinate": "-1.12 meters",
+      "height above floor": "0.28 meters"
+     },
+     "longest dimension": "0.5 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-1.0 meters",
+      "y coordinate": "0.25 meters",
+      "height above floor": "-0.01 meters"
+     },
+     "longest dimension": "0.55 meters"
+    }
+   ]
+  },
+  "bed": {
+   "count": 2,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "0.46 meters",
+      "y coordinate": "0.53 meters",
+      "height above floor": "-0.05 meters"
+     },
+     "longest dimension": "0.93 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "0.31 meters",
+      "y coordinate": "0.76 meters",
+      "height above floor": "-0.05 meters"
+     },
+     "longest dimension": "1.17 meters"
+    }
+   ]
+  },
+  "chair": {
+   "count": 2,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "0.49 meters",
+      "y coordinate": "-1.38 meters",
+      "height above floor": "-0.01 meters"
+     },
+     "longest dimension": "0.59 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-0.94 meters",
+      "y coordinate": "-0.02 meters",
+      "height above floor": "-0.14 meters"
+     },
+     "longest dimension": "0.46 meters"
+    }
+   ]
+  },
+  "computer mouse": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-0.67 meters",
+      "y coordinate": "-1.06 meters",
+      "height above floor": "0.16 meters"
+     },
+     "longest dimension": "0.09 meters"
+    }
+   ]
+  },
+  "door": {
+   "count": 4,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "0.02 meters",
+      "y coordinate": "-1.96 meters",
+      "height above floor": "0.47 meters"
+     },
+     "longest dimension": "1.34 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-1.63 meters",
+      "y coordinate": "0.04 meters",
+      "height above floor": "0.29 meters"
+     },
+     "longest dimension": "1.14 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-1.33 meters",
+      "y coordinate": "0.45 meters",
+      "height above floor": "0.59 meters"
+     },
+     "longest dimension": "1.05 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-0.95 meters",
+      "y coordinate": "1.07 meters",
+      "height above floor": "0.57 meters"
+     },
+     "longest dimension": "1.12 meters"
+    }
+   ]
+  },
+  "keyboard": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "1.98 meters",
+      "y coordinate": "0.48 meters",
+      "height above floor": "0.21 meters"
+     },
+     "longest dimension": "0.76 meters"
+    }
+   ]
+  },
+  "lamp": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-0.96 meters",
+      "y coordinate": "0.61 meters",
+      "height above floor": "0.94 meters"
+     },
+     "longest dimension": "0.8 meters"
+    }
+   ]
+  },
+  "mattress": {
+   "count": 4,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "0.48 meters",
+      "y coordinate": "0.54 meters",
+      "height above floor": "-0.03 meters"
+     },
+     "longest dimension": "0.85 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "0.43 meters",
+      "y coordinate": "1.3 meters",
+      "height above floor": "0.13 meters"
+     },
+     "longest dimension": "1.19 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-0.77 meters",
+      "y coordinate": "0.09 meters",
+      "height above floor": "-0.14 meters"
+     },
+     "longest dimension": "0.47 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "0.79 meters",
+      "y coordinate": "0.41 meters",
+      "height above floor": "0.01 meters"
+     },
+     "longest dimension": "0.59 meters"
+    }
+   ]
+  },
+  "monitor": {
+   "count": 2,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-1.04 meters",
+      "y coordinate": "-0.95 meters",
+      "height above floor": "0.54 meters"
+     },
+     "longest dimension": "0.84 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "2.0 meters",
+      "y coordinate": "0.88 meters",
+      "height above floor": "0.35 meters"
+     },
+     "longest dimension": "0.37 meters"
+    }
+   ]
+  },
+  "piano": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "1.98 meters",
+      "y coordinate": "0.48 meters",
+      "height above floor": "0.21 meters"
+     },
+     "longest dimension": "0.76 meters"
+    }
+   ]
+  },
+  "pillow": {
+   "count": 5,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "0.7 meters",
+      "y coordinate": "1.19 meters",
+      "height above floor": "0.08 meters"
+     },
+     "longest dimension": "1.21 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-1.05 meters",
+      "y coordinate": "-0.95 meters",
+      "height above floor": "0.55 meters"
+     },
+     "longest dimension": "0.84 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "1.39 meters",
+      "y coordinate": "1.32 meters",
+      "height above floor": "0.16 meters"
+     },
+     "longest dimension": "0.78 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "0.39 meters",
+      "y coordinate": "1.84 meters",
+      "height above floor": "0.44 meters"
+     },
+     "longest dimension": "0.76 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "0.65 meters",
+      "y coordinate": "1.22 meters",
+      "height above floor": "0.14 meters"
+     },
+     "longest dimension": "0.62 meters"
+    }
+   ]
+  },
+  "table": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "1.5 meters",
+      "y coordinate": "0.08 meters",
+      "height above floor": "0.15 meters"
+     },
+     "longest dimension": "1.14 meters"
+    }
+   ]
+  },
+  "towel": {
+   "count": 2,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "0.42 meters",
+      "y coordinate": "1.3 meters",
+      "height above floor": "0.13 meters"
+     },
+     "longest dimension": "1.21 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-0.84 meters",
+      "y coordinate": "0.09 meters",
+      "height above floor": "-0.1 meters"
+     },
+     "longest dimension": "0.36 meters"
+    }
+   ]
+  },
+  "trash bin": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "1.22 meters",
+      "y coordinate": "-0.3 meters",
+      "height above floor": "0.55 meters"
+     },
+     "longest dimension": "0.78 meters"
+    }
+   ]
+  },
+  "tv": {
+   "count": 3,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-1.04 meters",
+      "y coordinate": "-0.95 meters",
+      "height above floor": "0.54 meters"
+     },
+     "longest dimension": "0.85 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "1.64 meters",
+      "y coordinate": "0.08 meters",
+      "height above floor": "0.33 meters"
+     },
+     "longest dimension": "0.39 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "2.01 meters",
+      "y coordinate": "0.88 meters",
+      "height above floor": "0.35 meters"
+     },
+     "longest dimension": "0.37 meters"
+    }
+   ]
+  },
+  "window": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "1.44 meters",
+      "y coordinate": "1.58 meters",
+      "height above floor": "0.6 meters"
+     },
+     "longest dimension": "0.88 meters"
+    }
+   ]
+  }
+ },
+ "room": {
+  "floor area": "11.9 square meters"
+ },
+ "closest classes distance meters from": {
+  "backpack": {
+   "chair": {
+    "distance": "0.29 meters",
+    "closeness rank": 1
+   },
+   "computer mouse": {
+    "distance": "0.38 meters",
+    "closeness rank": 2
+   },
+   "lamp": {
+    "distance": "0.58 meters",
+    "closeness rank": 3
+   },
+   "monitor": {
+    "distance": "0.58 meters",
+    "closeness rank": 4
+   },
+   "tv": {
+    "distance": "0.59 meters",
+    "closeness rank": 5
+   },
+   "door": {
+    "distance": "0.76 meters",
+    "closeness rank": 6
+   },
+   "trash bin": {
+    "distance": "1.25 meters",
+    "closeness rank": 7
+   },
+   "bed": {
+    "distance": "1.34 meters",
+    "closeness rank": 8
+   },
+   "mattress": {
+    "distance": "1.34 meters",
+    "closeness rank": 9
+   },
+   "table": {
+    "distance": "1.49 meters",
+    "closeness rank": 10
+   },
+   "pillow": {
+    "distance": "1.73 meters",
+    "closeness rank": 11
+   },
+   "towel": {
+    "distance": "1.75 meters",
+    "closeness rank": 12
+   },
+   "keyboard": {
+    "distance": "2.08 meters",
+    "closeness rank": 13
+   },
+   "piano": {
+    "distance": "2.09 meters",
+    "closeness rank": 14
+   },
+   "window": {
+    "distance": "2.83 meters",
+    "closeness rank": 15
+   }
+  },
+  "bed": {
+   "mattress": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "pillow": {
+    "distance": "0.0 meters",
+    "closeness rank": 2
+   },
+   "towel": {
+    "distance": "0.0 meters",
+    "closeness rank": 3
+   },
+   "table": {
+    "distance": "0.39 meters",
+    "closeness rank": 4
+   },
+   "door": {
+    "distance": "0.62 meters",
+    "closeness rank": 5
+   },
+   "trash bin": {
+    "distance": "0.65 meters",
+    "closeness rank": 6
+   },
+   "window": {
+    "distance": "0.65 meters",
+    "closeness rank": 7
+   },
+   "piano": {
+    "distance": "0.72 meters",
+    "closeness rank": 8
+   },
+   "keyboard": {
+    "distance": "0.73 meters",
+    "closeness rank": 9
+   },
+   "monitor": {
+    "distance": "0.74 meters",
+    "closeness rank": 10
+   },
+   "lamp": {
+    "distance": "0.9 meters",
+    "closeness rank": 11
+   },
+   "chair": {
+    "distance": "1.33 meters",
+    "closeness rank": 12
+   },
+   "backpack": {
+    "distance": "1.34 meters",
+    "closeness rank": 13
+   },
+   "computer mouse": {
+    "distance": "1.76 meters",
+    "closeness rank": 14
+   },
+   "tv": {
+    "distance": "1.92 meters",
+    "closeness rank": 15
+   }
+  },
+  "chair": {
+   "lamp": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "backpack": {
+    "distance": "0.29 meters",
+    "closeness rank": 2
+   },
+   "door": {
+    "distance": "0.47 meters",
+    "closeness rank": 3
+   },
+   "computer mouse": {
+    "distance": "0.89 meters",
+    "closeness rank": 4
+   },
+   "trash bin": {
+    "distance": "0.91 meters",
+    "closeness rank": 5
+   },
+   "monitor": {
+    "distance": "0.98 meters",
+    "closeness rank": 6
+   },
+   "tv": {
+    "distance": "0.99 meters",
+    "closeness rank": 7
+   },
+   "table": {
+    "distance": "1.26 meters",
+    "closeness rank": 8
+   },
+   "bed": {
+    "distance": "1.33 meters",
+    "closeness rank": 9
+   },
+   "mattress": {
+    "distance": "1.38 meters",
+    "closeness rank": 10
+   },
+   "pillow": {
+    "distance": "1.71 meters",
+    "closeness rank": 11
+   },
+   "towel": {
+    "distance": "1.74 meters",
+    "closeness rank": 12
+   },
+   "keyboard": {
+    "distance": "1.78 meters",
+    "closeness rank": 13
+   },
+   "piano": {
+    "distance": "1.78 meters",
+    "closeness rank": 14
+   },
+   "window": {
+    "distance": "2.75 meters",
+    "closeness rank": 15
+   }
+  },
+  "computer mouse": {
+   "monitor": {
+    "distance": "0.14 meters",
+    "closeness rank": 1
+   },
+   "tv": {
+    "distance": "0.15 meters",
+    "closeness rank": 2
+   },
+   "backpack": {
+    "distance": "0.38 meters",
+    "closeness rank": 3
+   },
+   "door": {
+    "distance": "0.78 meters",
+    "closeness rank": 4
+   },
+   "chair": {
+    "distance": "0.89 meters",
+    "closeness rank": 5
+   },
+   "lamp": {
+    "distance": "1.33 meters",
+    "closeness rank": 6
+   },
+   "bed": {
+    "distance": "1.76 meters",
+    "closeness rank": 7
+   },
+   "mattress": {
+    "distance": "1.76 meters",
+    "closeness rank": 8
+   },
+   "trash bin": {
+    "distance": "1.79 meters",
+    "closeness rank": 9
+   },
+   "table": {
+    "distance": "2.01 meters",
+    "closeness rank": 10
+   },
+   "pillow": {
+    "distance": "2.16 meters",
+    "closeness rank": 11
+   },
+   "towel": {
+    "distance": "2.18 meters",
+    "closeness rank": 12
+   },
+   "keyboard": {
+    "distance": "2.6 meters",
+    "closeness rank": 13
+   },
+   "piano": {
+    "distance": "2.6 meters",
+    "closeness rank": 14
+   },
+   "window": {
+    "distance": "3.22 meters",
+    "closeness rank": 15
+   }
+  },
+  "door": {
+   "chair": {
+    "distance": "0.47 meters",
+    "closeness rank": 1
+   },
+   "towel": {
+    "distance": "0.56 meters",
+    "closeness rank": 2
+   },
+   "bed": {
+    "distance": "0.62 meters",
+    "closeness rank": 3
+   },
+   "pillow": {
+    "distance": "0.62 meters",
+    "closeness rank": 4
+   },
+   "lamp": {
+    "distance": "0.68 meters",
+    "closeness rank": 5
+   },
+   "monitor": {
+    "distance": "0.69 meters",
+    "closeness rank": 6
+   },
+   "tv": {
+    "distance": "0.69 meters",
+    "closeness rank": 7
+   },
+   "mattress": {
+    "distance": "0.73 meters",
+    "closeness rank": 8
+   },
+   "backpack": {
+    "distance": "0.76 meters",
+    "closeness rank": 9
+   },
+   "computer mouse": {
+    "distance": "0.78 meters",
+    "closeness rank": 10
+   },
+   "window": {
+    "distance": "1.75 meters",
+    "closeness rank": 11
+   },
+   "trash bin": {
+    "distance": "1.85 meters",
+    "closeness rank": 12
+   },
+   "table": {
+    "distance": "2.21 meters",
+    "closeness rank": 13
+   },
+   "keyboard": {
+    "distance": "2.64 meters",
+    "closeness rank": 14
+   },
+   "piano": {
+    "distance": "2.64 meters",
+    "closeness rank": 15
+   }
+  },
+  "keyboard": {
+   "piano": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "table": {
+    "distance": "0.05 meters",
+    "closeness rank": 2
+   },
+   "monitor": {
+    "distance": "0.13 meters",
+    "closeness rank": 3
+   },
+   "trash bin": {
+    "distance": "0.56 meters",
+    "closeness rank": 4
+   },
+   "pillow": {
+    "distance": "0.7 meters",
+    "closeness rank": 5
+   },
+   "bed": {
+    "distance": "0.73 meters",
+    "closeness rank": 6
+   },
+   "towel": {
+    "distance": "0.73 meters",
+    "closeness rank": 7
+   },
+   "window": {
+    "distance": "0.73 meters",
+    "closeness rank": 8
+   },
+   "mattress": {
+    "distance": "0.96 meters",
+    "closeness rank": 9
+   },
+   "chair": {
+    "distance": "1.78 meters",
+    "closeness rank": 10
+   },
+   "lamp": {
+    "distance": "1.85 meters",
+    "closeness rank": 11
+   },
+   "backpack": {
+    "distance": "2.08 meters",
+    "closeness rank": 12
+   },
+   "computer mouse": {
+    "distance": "2.6 meters",
+    "closeness rank": 13
+   },
+   "door": {
+    "distance": "2.64 meters",
+    "closeness rank": 14
+   },
+   "tv": {
+    "distance": "2.79 meters",
+    "closeness rank": 15
+   }
+  },
+  "lamp": {
+   "chair": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "backpack": {
+    "distance": "0.58 meters",
+    "closeness rank": 2
+   },
+   "door": {
+    "distance": "0.68 meters",
+    "closeness rank": 3
+   },
+   "mattress": {
+    "distance": "0.82 meters",
+    "closeness rank": 4
+   },
+   "bed": {
+    "distance": "0.9 meters",
+    "closeness rank": 5
+   },
+   "trash bin": {
+    "distance": "0.97 meters",
+    "closeness rank": 6
+   },
+   "towel": {
+    "distance": "1.08 meters",
+    "closeness rank": 7
+   },
+   "pillow": {
+    "distance": "1.12 meters",
+    "closeness rank": 8
+   },
+   "tv": {
+    "distance": "1.31 meters",
+    "closeness rank": 9
+   },
+   "computer mouse": {
+    "distance": "1.33 meters",
+    "closeness rank": 10
+   },
+   "monitor": {
+    "distance": "1.33 meters",
+    "closeness rank": 11
+   },
+   "table": {
+    "distance": "1.35 meters",
+    "closeness rank": 12
+   },
+   "keyboard": {
+    "distance": "1.85 meters",
+    "closeness rank": 13
+   },
+   "piano": {
+    "distance": "1.85 meters",
+    "closeness rank": 14
+   },
+   "window": {
+    "distance": "2.24 meters",
+    "closeness rank": 15
+   }
+  },
+  "mattress": {
+   "bed": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "pillow": {
+    "distance": "0.06 meters",
+    "closeness rank": 2
+   },
+   "towel": {
+    "distance": "0.06 meters",
+    "closeness rank": 3
+   },
+   "table": {
+    "distance": "0.49 meters",
+    "closeness rank": 4
+   },
+   "trash bin": {
+    "distance": "0.7 meters",
+    "closeness rank": 5
+   },
+   "door": {
+    "distance": "0.73 meters",
+    "closeness rank": 6
+   },
+   "lamp": {
+    "distance": "0.82 meters",
+    "closeness rank": 7
+   },
+   "monitor": {
+    "distance": "0.91 meters",
+    "closeness rank": 8
+   },
+   "keyboard": {
+    "distance": "0.96 meters",
+    "closeness rank": 9
+   },
+   "piano": {
+    "distance": "0.96 meters",
+    "closeness rank": 10
+   },
+   "window": {
+    "distance": "1.01 meters",
+    "closeness rank": 11
+   },
+   "backpack": {
+    "distance": "1.34 meters",
+    "closeness rank": 12
+   },
+   "chair": {
+    "distance": "1.38 meters",
+    "closeness rank": 13
+   },
+   "computer mouse": {
+    "distance": "1.76 meters",
+    "closeness rank": 14
+   },
+   "tv": {
+    "distance": "1.92 meters",
+    "closeness rank": 15
+   }
+  },
+  "monitor": {
+   "tv": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "table": {
+    "distance": "0.02 meters",
+    "closeness rank": 2
+   },
+   "piano": {
+    "distance": "0.12 meters",
+    "closeness rank": 3
+   },
+   "keyboard": {
+    "distance": "0.13 meters",
+    "closeness rank": 4
+   },
+   "computer mouse": {
+    "distance": "0.14 meters",
+    "closeness rank": 5
+   },
+   "trash bin": {
+    "distance": "0.38 meters",
+    "closeness rank": 6
+   },
+   "backpack": {
+    "distance": "0.58 meters",
+    "closeness rank": 7
+   },
+   "door": {
+    "distance": "0.69 meters",
+    "closeness rank": 8
+   },
+   "pillow": {
+    "distance": "0.69 meters",
+    "closeness rank": 9
+   },
+   "towel": {
+    "distance": "0.73 meters",
+    "closeness rank": 10
+   },
+   "bed": {
+    "distance": "0.74 meters",
+    "closeness rank": 11
+   },
+   "mattress": {
+    "distance": "0.91 meters",
+    "closeness rank": 12
+   },
+   "chair": {
+    "distance": "0.98 meters",
+    "closeness rank": 13
+   },
+   "window": {
+    "distance": "1.22 meters",
+    "closeness rank": 14
+   },
+   "lamp": {
+    "distance": "1.33 meters",
+    "closeness rank": 15
+   }
+  },
+  "piano": {
+   "keyboard": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "table": {
+    "distance": "0.04 meters",
+    "closeness rank": 2
+   },
+   "monitor": {
+    "distance": "0.12 meters",
+    "closeness rank": 3
+   },
+   "trash bin": {
+    "distance": "0.56 meters",
+    "closeness rank": 4
+   },
+   "pillow": {
+    "distance": "0.69 meters",
+    "closeness rank": 5
+   },
+   "bed": {
+    "distance": "0.72 meters",
+    "closeness rank": 6
+   },
+   "towel": {
+    "distance": "0.73 meters",
+    "closeness rank": 7
+   },
+   "window": {
+    "distance": "0.73 meters",
+    "closeness rank": 8
+   },
+   "mattress": {
+    "distance": "0.96 meters",
+    "closeness rank": 9
+   },
+   "chair": {
+    "distance": "1.78 meters",
+    "closeness rank": 10
+   },
+   "lamp": {
+    "distance": "1.85 meters",
+    "closeness rank": 11
+   },
+   "backpack": {
+    "distance": "2.09 meters",
+    "closeness rank": 12
+   },
+   "computer mouse": {
+    "distance": "2.6 meters",
+    "closeness rank": 13
+   },
+   "door": {
+    "distance": "2.64 meters",
+    "closeness rank": 14
+   },
+   "tv": {
+    "distance": "2.8 meters",
+    "closeness rank": 15
+   }
+  },
+  "pillow": {
+   "bed": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "towel": {
+    "distance": "0.0 meters",
+    "closeness rank": 2
+   },
+   "mattress": {
+    "distance": "0.06 meters",
+    "closeness rank": 3
+   },
+   "table": {
+    "distance": "0.33 meters",
+    "closeness rank": 4
+   },
+   "window": {
+    "distance": "0.48 meters",
+    "closeness rank": 5
+   },
+   "door": {
+    "distance": "0.62 meters",
+    "closeness rank": 6
+   },
+   "trash bin": {
+    "distance": "0.67 meters",
+    "closeness rank": 7
+   },
+   "monitor": {
+    "distance": "0.69 meters",
+    "closeness rank": 8
+   },
+   "piano": {
+    "distance": "0.69 meters",
+    "closeness rank": 9
+   },
+   "keyboard": {
+    "distance": "0.7 meters",
+    "closeness rank": 10
+   },
+   "lamp": {
+    "distance": "1.12 meters",
+    "closeness rank": 11
+   },
+   "chair": {
+    "distance": "1.71 meters",
+    "closeness rank": 12
+   },
+   "backpack": {
+    "distance": "1.73 meters",
+    "closeness rank": 13
+   },
+   "computer mouse": {
+    "distance": "2.16 meters",
+    "closeness rank": 14
+   },
+   "tv": {
+    "distance": "2.33 meters",
+    "closeness rank": 15
+   }
+  },
+  "table": {
+   "monitor": {
+    "distance": "0.02 meters",
+    "closeness rank": 1
+   },
+   "trash bin": {
+    "distance": "0.03 meters",
+    "closeness rank": 2
+   },
+   "piano": {
+    "distance": "0.04 meters",
+    "closeness rank": 3
+   },
+   "keyboard": {
+    "distance": "0.05 meters",
+    "closeness rank": 4
+   },
+   "pillow": {
+    "distance": "0.33 meters",
+    "closeness rank": 5
+   },
+   "towel": {
+    "distance": "0.38 meters",
+    "closeness rank": 6
+   },
+   "bed": {
+    "distance": "0.39 meters",
+    "closeness rank": 7
+   },
+   "mattress": {
+    "distance": "0.49 meters",
+    "closeness rank": 8
+   },
+   "window": {
+    "distance": "0.66 meters",
+    "closeness rank": 9
+   },
+   "chair": {
+    "distance": "1.26 meters",
+    "closeness rank": 10
+   },
+   "lamp": {
+    "distance": "1.35 meters",
+    "closeness rank": 11
+   },
+   "backpack": {
+    "distance": "1.49 meters",
+    "closeness rank": 12
+   },
+   "computer mouse": {
+    "distance": "2.01 meters",
+    "closeness rank": 13
+   },
+   "door": {
+    "distance": "2.21 meters",
+    "closeness rank": 14
+   },
+   "tv": {
+    "distance": "2.21 meters",
+    "closeness rank": 15
+   }
+  },
+  "towel": {
+   "bed": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "pillow": {
+    "distance": "0.0 meters",
+    "closeness rank": 2
+   },
+   "mattress": {
+    "distance": "0.06 meters",
+    "closeness rank": 3
+   },
+   "table": {
+    "distance": "0.38 meters",
+    "closeness rank": 4
+   },
+   "window": {
+    "distance": "0.49 meters",
+    "closeness rank": 5
+   },
+   "door": {
+    "distance": "0.56 meters",
+    "closeness rank": 6
+   },
+   "trash bin": {
+    "distance": "0.72 meters",
+    "closeness rank": 7
+   },
+   "keyboard": {
+    "distance": "0.73 meters",
+    "closeness rank": 8
+   },
+   "monitor": {
+    "distance": "0.73 meters",
+    "closeness rank": 9
+   },
+   "piano": {
+    "distance": "0.73 meters",
+    "closeness rank": 10
+   },
+   "lamp": {
+    "distance": "1.08 meters",
+    "closeness rank": 11
+   },
+   "chair": {
+    "distance": "1.74 meters",
+    "closeness rank": 12
+   },
+   "backpack": {
+    "distance": "1.75 meters",
+    "closeness rank": 13
+   },
+   "computer mouse": {
+    "distance": "2.18 meters",
+    "closeness rank": 14
+   },
+   "tv": {
+    "distance": "2.33 meters",
+    "closeness rank": 15
+   }
+  },
+  "trash bin": {
+   "table": {
+    "distance": "0.03 meters",
+    "closeness rank": 1
+   },
+   "monitor": {
+    "distance": "0.38 meters",
+    "closeness rank": 2
+   },
+   "keyboard": {
+    "distance": "0.56 meters",
+    "closeness rank": 3
+   },
+   "piano": {
+    "distance": "0.56 meters",
+    "closeness rank": 4
+   },
+   "bed": {
+    "distance": "0.65 meters",
+    "closeness rank": 5
+   },
+   "pillow": {
+    "distance": "0.67 meters",
+    "closeness rank": 6
+   },
+   "mattress": {
+    "distance": "0.7 meters",
+    "closeness rank": 7
+   },
+   "towel": {
+    "distance": "0.72 meters",
+    "closeness rank": 8
+   },
+   "chair": {
+    "distance": "0.91 meters",
+    "closeness rank": 9
+   },
+   "lamp": {
+    "distance": "0.97 meters",
+    "closeness rank": 10
+   },
+   "backpack": {
+    "distance": "1.25 meters",
+    "closeness rank": 11
+   },
+   "window": {
+    "distance": "1.54 meters",
+    "closeness rank": 12
+   },
+   "computer mouse": {
+    "distance": "1.79 meters",
+    "closeness rank": 13
+   },
+   "door": {
+    "distance": "1.85 meters",
+    "closeness rank": 14
+   },
+   "tv": {
+    "distance": "1.96 meters",
+    "closeness rank": 15
+   }
+  },
+  "tv": {
+   "monitor": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "computer mouse": {
+    "distance": "0.15 meters",
+    "closeness rank": 2
+   },
+   "backpack": {
+    "distance": "0.59 meters",
+    "closeness rank": 3
+   },
+   "door": {
+    "distance": "0.69 meters",
+    "closeness rank": 4
+   },
+   "chair": {
+    "distance": "0.99 meters",
+    "closeness rank": 5
+   },
+   "lamp": {
+    "distance": "1.31 meters",
+    "closeness rank": 6
+   },
+   "bed": {
+    "distance": "1.92 meters",
+    "closeness rank": 7
+   },
+   "mattress": {
+    "distance": "1.92 meters",
+    "closeness rank": 8
+   },
+   "trash bin": {
+    "distance": "1.96 meters",
+    "closeness rank": 9
+   },
+   "table": {
+    "distance": "2.21 meters",
+    "closeness rank": 10
+   },
+   "pillow": {
+    "distance": "2.33 meters",
+    "closeness rank": 11
+   },
+   "towel": {
+    "distance": "2.33 meters",
+    "closeness rank": 12
+   },
+   "keyboard": {
+    "distance": "2.79 meters",
+    "closeness rank": 13
+   },
+   "piano": {
+    "distance": "2.8 meters",
+    "closeness rank": 14
+   },
+   "window": {
+    "distance": "3.39 meters",
+    "closeness rank": 15
+   }
+  },
+  "window": {
+   "pillow": {
+    "distance": "0.48 meters",
+    "closeness rank": 1
+   },
+   "towel": {
+    "distance": "0.49 meters",
+    "closeness rank": 2
+   },
+   "bed": {
+    "distance": "0.65 meters",
+    "closeness rank": 3
+   },
+   "table": {
+    "distance": "0.66 meters",
+    "closeness rank": 4
+   },
+   "keyboard": {
+    "distance": "0.73 meters",
+    "closeness rank": 5
+   },
+   "piano": {
+    "distance": "0.73 meters",
+    "closeness rank": 6
+   },
+   "mattress": {
+    "distance": "1.01 meters",
+    "closeness rank": 7
+   },
+   "monitor": {
+    "distance": "1.22 meters",
+    "closeness rank": 8
+   },
+   "trash bin": {
+    "distance": "1.54 meters",
+    "closeness rank": 9
+   },
+   "door": {
+    "distance": "1.75 meters",
+    "closeness rank": 10
+   },
+   "lamp": {
+    "distance": "2.24 meters",
+    "closeness rank": 11
+   },
+   "chair": {
+    "distance": "2.75 meters",
+    "closeness rank": 12
+   },
+   "backpack": {
+    "distance": "2.83 meters",
+    "closeness rank": 13
+   },
+   "computer mouse": {
+    "distance": "3.22 meters",
+    "closeness rank": 14
+   },
+   "tv": {
+    "distance": "3.39 meters",
+    "closeness rank": 15
+   }
+  }
+ },
+ "appearance order": ["keyboard", "mattress", "monitor", "piano", "table", "tv", "bed", "pillow", "trash bin", "chair", "door", "backpack", "computer mouse", "lamp", "towel", "window"]
+}
\ No newline at end of file
diff --git a/data/spatial codes/sam3+depth-anything-3/metric/tracking/uniform/64/explicit/scene0435_02.json b/data/spatial codes/sam3+depth-anything-3/metric/tracking/uniform/64/explicit/scene0435_02.json
new file mode 100644
index 0000000000000000000000000000000000000000..25a482b584e7ffb6d92695d3f74383c6f3fffdbd
--- /dev/null
+++ b/data/spatial codes/sam3+depth-anything-3/metric/tracking/uniform/64/explicit/scene0435_02.json	
@@ -0,0 +1,1330 @@
+{
+ "objects": {
+  "backpack": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-0.58 meters",
+      "y coordinate": "1.37 meters",
+      "height above floor": "-0.42 meters"
+     },
+     "longest dimension": "0.36 meters"
+    }
+   ]
+  },
+  "bed": {
+   "count": 2,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "0.38 meters",
+      "y coordinate": "1.25 meters",
+      "height above floor": "-0.02 meters"
+     },
+     "longest dimension": "2.04 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "2.28 meters",
+      "y coordinate": "2.13 meters",
+      "height above floor": "-0.09 meters"
+     },
+     "longest dimension": "2.03 meters"
+    }
+   ]
+  },
+  "chair": {
+   "count": 2,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "1.38 meters",
+      "y coordinate": "-0.04 meters",
+      "height above floor": "-0.08 meters"
+     },
+     "longest dimension": "0.9 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-0.81 meters",
+      "y coordinate": "1.27 meters",
+      "height above floor": "-0.24 meters"
+     },
+     "longest dimension": "1.03 meters"
+    }
+   ]
+  },
+  "door": {
+   "count": 2,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "5.23 meters",
+      "y coordinate": "1.26 meters",
+      "height above floor": "-0.25 meters"
+     },
+     "longest dimension": "0.7 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "6.35 meters",
+      "y coordinate": "2.55 meters",
+      "height above floor": "-0.05 meters"
+     },
+     "longest dimension": "1.13 meters"
+    }
+   ]
+  },
+  "lamp": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "1.26 meters",
+      "y coordinate": "2.66 meters",
+      "height above floor": "0.62 meters"
+     },
+     "longest dimension": "0.43 meters"
+    }
+   ]
+  },
+  "mattress": {
+   "count": 3,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "0.35 meters",
+      "y coordinate": "0.86 meters",
+      "height above floor": "-0.12 meters"
+     },
+     "longest dimension": "1.61 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "2.38 meters",
+      "y coordinate": "1.95 meters",
+      "height above floor": "-0.04 meters"
+     },
+     "longest dimension": "1.79 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "0.53 meters",
+      "y coordinate": "0.66 meters",
+      "height above floor": "-0.13 meters"
+     },
+     "longest dimension": "0.59 meters"
+    }
+   ]
+  },
+  "mirror": {
+   "count": 2,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "2.78 meters",
+      "y coordinate": "-0.07 meters",
+      "height above floor": "0.57 meters"
+     },
+     "longest dimension": "0.72 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "1.78 meters",
+      "y coordinate": "-0.72 meters",
+      "height above floor": "0.73 meters"
+     },
+     "longest dimension": "0.8 meters"
+    }
+   ]
+  },
+  "monitor": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "2.78 meters",
+      "y coordinate": "-0.07 meters",
+      "height above floor": "0.57 meters"
+     },
+     "longest dimension": "0.71 meters"
+    }
+   ]
+  },
+  "nightstand": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "1.32 meters",
+      "y coordinate": "2.53 meters",
+      "height above floor": "-0.27 meters"
+     },
+     "longest dimension": "0.72 meters"
+    }
+   ]
+  },
+  "pillow": {
+   "count": 8,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-0.01 meters",
+      "y coordinate": "2.03 meters",
+      "height above floor": "0.15 meters"
+     },
+     "longest dimension": "0.5 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "0.6 meters",
+      "y coordinate": "2.28 meters",
+      "height above floor": "0.16 meters"
+     },
+     "longest dimension": "0.53 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "2.02 meters",
+      "y coordinate": "2.88 meters",
+      "height above floor": "0.19 meters"
+     },
+     "longest dimension": "0.59 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-0.01 meters",
+      "y coordinate": "1.99 meters",
+      "height above floor": "0.03 meters"
+     },
+     "longest dimension": "0.52 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "2.58 meters",
+      "y coordinate": "3.13 meters",
+      "height above floor": "0.21 meters"
+     },
+     "longest dimension": "0.39 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "2.21 meters",
+      "y coordinate": "2.88 meters",
+      "height above floor": "0.08 meters"
+     },
+     "longest dimension": "0.52 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "0.75 meters",
+      "y coordinate": "2.3 meters",
+      "height above floor": "0.04 meters"
+     },
+     "longest dimension": "0.51 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-1.24 meters",
+      "y coordinate": "1.32 meters",
+      "height above floor": "-0.08 meters"
+     },
+     "longest dimension": "0.27 meters"
+    }
+   ]
+  },
+  "sofa": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-0.81 meters",
+      "y coordinate": "1.26 meters",
+      "height above floor": "-0.24 meters"
+     },
+     "longest dimension": "1.03 meters"
+    }
+   ]
+  },
+  "table": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "2.0 meters",
+      "y coordinate": "-0.1 meters",
+      "height above floor": "-0.03 meters"
+     },
+     "longest dimension": "1.19 meters"
+    }
+   ]
+  },
+  "telephone": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "1.47 meters",
+      "y coordinate": "2.74 meters",
+      "height above floor": "0.04 meters"
+     },
+     "longest dimension": "0.29 meters"
+    }
+   ]
+  },
+  "towel": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "1.99 meters",
+      "y coordinate": "-0.15 meters",
+      "height above floor": "0.04 meters"
+     },
+     "longest dimension": "0.27 meters"
+    }
+   ]
+  },
+  "trash bin": {
+   "count": 2,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "1.89 meters",
+      "y coordinate": "-0.02 meters",
+      "height above floor": "-0.48 meters"
+     },
+     "longest dimension": "0.34 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "2.56 meters",
+      "y coordinate": "0.06 meters",
+      "height above floor": "-0.01 meters"
+     },
+     "longest dimension": "0.11 meters"
+    }
+   ]
+  },
+  "tv": {
+   "count": 2,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "2.78 meters",
+      "y coordinate": "-0.07 meters",
+      "height above floor": "0.57 meters"
+     },
+     "longest dimension": "0.72 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "2.72 meters",
+      "y coordinate": "-0.09 meters",
+      "height above floor": "0.42 meters"
+     },
+     "longest dimension": "0.7 meters"
+    }
+   ]
+  }
+ },
+ "room": {
+  "floor area": "19.4 square meters"
+ },
+ "closest classes distance meters from": {
+  "backpack": {
+   "sofa": {
+    "distance": "0.01 meters",
+    "closeness rank": 1
+   },
+   "bed": {
+    "distance": "0.26 meters",
+    "closeness rank": 2
+   },
+   "mattress": {
+    "distance": "0.36 meters",
+    "closeness rank": 3
+   },
+   "pillow": {
+    "distance": "0.65 meters",
+    "closeness rank": 4
+   },
+   "nightstand": {
+    "distance": "1.7 meters",
+    "closeness rank": 5
+   },
+   "chair": {
+    "distance": "2.12 meters",
+    "closeness rank": 6
+   },
+   "lamp": {
+    "distance": "2.15 meters",
+    "closeness rank": 7
+   },
+   "telephone": {
+    "distance": "2.17 meters",
+    "closeness rank": 8
+   },
+   "table": {
+    "distance": "2.36 meters",
+    "closeness rank": 9
+   },
+   "trash bin": {
+    "distance": "2.62 meters",
+    "closeness rank": 10
+   },
+   "towel": {
+    "distance": "2.84 meters",
+    "closeness rank": 11
+   },
+   "mirror": {
+    "distance": "3.41 meters",
+    "closeness rank": 12
+   },
+   "tv": {
+    "distance": "3.41 meters",
+    "closeness rank": 13
+   },
+   "monitor": {
+    "distance": "3.42 meters",
+    "closeness rank": 14
+   },
+   "door": {
+    "distance": "5.43 meters",
+    "closeness rank": 15
+   }
+  },
+  "bed": {
+   "mattress": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "pillow": {
+    "distance": "0.0 meters",
+    "closeness rank": 2
+   },
+   "backpack": {
+    "distance": "0.26 meters",
+    "closeness rank": 3
+   },
+   "nightstand": {
+    "distance": "0.27 meters",
+    "closeness rank": 4
+   },
+   "sofa": {
+    "distance": "0.44 meters",
+    "closeness rank": 5
+   },
+   "lamp": {
+    "distance": "0.64 meters",
+    "closeness rank": 6
+   },
+   "telephone": {
+    "distance": "0.69 meters",
+    "closeness rank": 7
+   },
+   "chair": {
+    "distance": "0.77 meters",
+    "closeness rank": 8
+   },
+   "table": {
+    "distance": "1.05 meters",
+    "closeness rank": 9
+   },
+   "trash bin": {
+    "distance": "1.06 meters",
+    "closeness rank": 10
+   },
+   "towel": {
+    "distance": "1.18 meters",
+    "closeness rank": 11
+   },
+   "mirror": {
+    "distance": "1.62 meters",
+    "closeness rank": 12
+   },
+   "monitor": {
+    "distance": "1.62 meters",
+    "closeness rank": 13
+   },
+   "tv": {
+    "distance": "1.62 meters",
+    "closeness rank": 14
+   },
+   "door": {
+    "distance": "3.62 meters",
+    "closeness rank": 15
+   }
+  },
+  "chair": {
+   "table": {
+    "distance": "0.02 meters",
+    "closeness rank": 1
+   },
+   "trash bin": {
+    "distance": "0.24 meters",
+    "closeness rank": 2
+   },
+   "towel": {
+    "distance": "0.28 meters",
+    "closeness rank": 3
+   },
+   "bed": {
+    "distance": "0.77 meters",
+    "closeness rank": 4
+   },
+   "mattress": {
+    "distance": "0.77 meters",
+    "closeness rank": 5
+   },
+   "mirror": {
+    "distance": "0.88 meters",
+    "closeness rank": 6
+   },
+   "monitor": {
+    "distance": "0.88 meters",
+    "closeness rank": 7
+   },
+   "tv": {
+    "distance": "0.88 meters",
+    "closeness rank": 8
+   },
+   "backpack": {
+    "distance": "2.12 meters",
+    "closeness rank": 9
+   },
+   "sofa": {
+    "distance": "2.12 meters",
+    "closeness rank": 10
+   },
+   "pillow": {
+    "distance": "2.21 meters",
+    "closeness rank": 11
+   },
+   "nightstand": {
+    "distance": "2.22 meters",
+    "closeness rank": 12
+   },
+   "telephone": {
+    "distance": "2.44 meters",
+    "closeness rank": 13
+   },
+   "lamp": {
+    "distance": "2.5 meters",
+    "closeness rank": 14
+   },
+   "door": {
+    "distance": "3.59 meters",
+    "closeness rank": 15
+   }
+  },
+  "door": {
+   "tv": {
+    "distance": "2.19 meters",
+    "closeness rank": 1
+   },
+   "mirror": {
+    "distance": "2.2 meters",
+    "closeness rank": 2
+   },
+   "monitor": {
+    "distance": "2.2 meters",
+    "closeness rank": 3
+   },
+   "table": {
+    "distance": "3.1 meters",
+    "closeness rank": 4
+   },
+   "towel": {
+    "distance": "3.16 meters",
+    "closeness rank": 5
+   },
+   "trash bin": {
+    "distance": "3.23 meters",
+    "closeness rank": 6
+   },
+   "chair": {
+    "distance": "3.59 meters",
+    "closeness rank": 7
+   },
+   "nightstand": {
+    "distance": "3.6 meters",
+    "closeness rank": 8
+   },
+   "bed": {
+    "distance": "3.62 meters",
+    "closeness rank": 9
+   },
+   "mattress": {
+    "distance": "3.66 meters",
+    "closeness rank": 10
+   },
+   "telephone": {
+    "distance": "3.72 meters",
+    "closeness rank": 11
+   },
+   "lamp": {
+    "distance": "3.92 meters",
+    "closeness rank": 12
+   },
+   "pillow": {
+    "distance": "4.79 meters",
+    "closeness rank": 13
+   },
+   "backpack": {
+    "distance": "5.43 meters",
+    "closeness rank": 14
+   },
+   "sofa": {
+    "distance": "5.72 meters",
+    "closeness rank": 15
+   }
+  },
+  "lamp": {
+   "telephone": {
+    "distance": "0.43 meters",
+    "closeness rank": 1
+   },
+   "nightstand": {
+    "distance": "0.52 meters",
+    "closeness rank": 2
+   },
+   "bed": {
+    "distance": "0.64 meters",
+    "closeness rank": 3
+   },
+   "pillow": {
+    "distance": "1.03 meters",
+    "closeness rank": 4
+   },
+   "mattress": {
+    "distance": "1.18 meters",
+    "closeness rank": 5
+   },
+   "backpack": {
+    "distance": "2.15 meters",
+    "closeness rank": 6
+   },
+   "sofa": {
+    "distance": "2.17 meters",
+    "closeness rank": 7
+   },
+   "chair": {
+    "distance": "2.5 meters",
+    "closeness rank": 8
+   },
+   "table": {
+    "distance": "2.73 meters",
+    "closeness rank": 9
+   },
+   "towel": {
+    "distance": "2.8 meters",
+    "closeness rank": 10
+   },
+   "trash bin": {
+    "distance": "2.81 meters",
+    "closeness rank": 11
+   },
+   "mirror": {
+    "distance": "3.04 meters",
+    "closeness rank": 12
+   },
+   "monitor": {
+    "distance": "3.04 meters",
+    "closeness rank": 13
+   },
+   "tv": {
+    "distance": "3.04 meters",
+    "closeness rank": 14
+   },
+   "door": {
+    "distance": "3.92 meters",
+    "closeness rank": 15
+   }
+  },
+  "mattress": {
+   "bed": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "pillow": {
+    "distance": "0.09 meters",
+    "closeness rank": 2
+   },
+   "backpack": {
+    "distance": "0.36 meters",
+    "closeness rank": 3
+   },
+   "sofa": {
+    "distance": "0.43 meters",
+    "closeness rank": 4
+   },
+   "nightstand": {
+    "distance": "0.74 meters",
+    "closeness rank": 5
+   },
+   "chair": {
+    "distance": "0.77 meters",
+    "closeness rank": 6
+   },
+   "table": {
+    "distance": "1.05 meters",
+    "closeness rank": 7
+   },
+   "trash bin": {
+    "distance": "1.06 meters",
+    "closeness rank": 8
+   },
+   "telephone": {
+    "distance": "1.14 meters",
+    "closeness rank": 9
+   },
+   "lamp": {
+    "distance": "1.18 meters",
+    "closeness rank": 10
+   },
+   "towel": {
+    "distance": "1.2 meters",
+    "closeness rank": 11
+   },
+   "mirror": {
+    "distance": "1.65 meters",
+    "closeness rank": 12
+   },
+   "monitor": {
+    "distance": "1.65 meters",
+    "closeness rank": 13
+   },
+   "tv": {
+    "distance": "1.65 meters",
+    "closeness rank": 14
+   },
+   "door": {
+    "distance": "3.66 meters",
+    "closeness rank": 15
+   }
+  },
+  "mirror": {
+   "monitor": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "tv": {
+    "distance": "0.0 meters",
+    "closeness rank": 2
+   },
+   "table": {
+    "distance": "0.39 meters",
+    "closeness rank": 3
+   },
+   "towel": {
+    "distance": "0.39 meters",
+    "closeness rank": 4
+   },
+   "trash bin": {
+    "distance": "0.71 meters",
+    "closeness rank": 5
+   },
+   "chair": {
+    "distance": "0.88 meters",
+    "closeness rank": 6
+   },
+   "bed": {
+    "distance": "1.62 meters",
+    "closeness rank": 7
+   },
+   "mattress": {
+    "distance": "1.65 meters",
+    "closeness rank": 8
+   },
+   "door": {
+    "distance": "2.2 meters",
+    "closeness rank": 9
+   },
+   "nightstand": {
+    "distance": "2.85 meters",
+    "closeness rank": 10
+   },
+   "telephone": {
+    "distance": "2.93 meters",
+    "closeness rank": 11
+   },
+   "lamp": {
+    "distance": "3.04 meters",
+    "closeness rank": 12
+   },
+   "pillow": {
+    "distance": "3.11 meters",
+    "closeness rank": 13
+   },
+   "backpack": {
+    "distance": "3.41 meters",
+    "closeness rank": 14
+   },
+   "sofa": {
+    "distance": "3.46 meters",
+    "closeness rank": 15
+   }
+  },
+  "monitor": {
+   "mirror": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "tv": {
+    "distance": "0.0 meters",
+    "closeness rank": 2
+   },
+   "table": {
+    "distance": "0.39 meters",
+    "closeness rank": 3
+   },
+   "towel": {
+    "distance": "0.39 meters",
+    "closeness rank": 4
+   },
+   "trash bin": {
+    "distance": "0.71 meters",
+    "closeness rank": 5
+   },
+   "chair": {
+    "distance": "0.88 meters",
+    "closeness rank": 6
+   },
+   "bed": {
+    "distance": "1.62 meters",
+    "closeness rank": 7
+   },
+   "mattress": {
+    "distance": "1.65 meters",
+    "closeness rank": 8
+   },
+   "door": {
+    "distance": "2.2 meters",
+    "closeness rank": 9
+   },
+   "nightstand": {
+    "distance": "2.86 meters",
+    "closeness rank": 10
+   },
+   "telephone": {
+    "distance": "2.93 meters",
+    "closeness rank": 11
+   },
+   "lamp": {
+    "distance": "3.04 meters",
+    "closeness rank": 12
+   },
+   "pillow": {
+    "distance": "3.11 meters",
+    "closeness rank": 13
+   },
+   "backpack": {
+    "distance": "3.42 meters",
+    "closeness rank": 14
+   },
+   "sofa": {
+    "distance": "3.46 meters",
+    "closeness rank": 15
+   }
+  },
+  "nightstand": {
+   "telephone": {
+    "distance": "0.01 meters",
+    "closeness rank": 1
+   },
+   "bed": {
+    "distance": "0.27 meters",
+    "closeness rank": 2
+   },
+   "lamp": {
+    "distance": "0.52 meters",
+    "closeness rank": 3
+   },
+   "mattress": {
+    "distance": "0.74 meters",
+    "closeness rank": 4
+   },
+   "pillow": {
+    "distance": "0.75 meters",
+    "closeness rank": 5
+   },
+   "backpack": {
+    "distance": "1.7 meters",
+    "closeness rank": 6
+   },
+   "sofa": {
+    "distance": "1.91 meters",
+    "closeness rank": 7
+   },
+   "chair": {
+    "distance": "2.22 meters",
+    "closeness rank": 8
+   },
+   "trash bin": {
+    "distance": "2.38 meters",
+    "closeness rank": 9
+   },
+   "table": {
+    "distance": "2.44 meters",
+    "closeness rank": 10
+   },
+   "towel": {
+    "distance": "2.53 meters",
+    "closeness rank": 11
+   },
+   "mirror": {
+    "distance": "2.85 meters",
+    "closeness rank": 12
+   },
+   "monitor": {
+    "distance": "2.86 meters",
+    "closeness rank": 13
+   },
+   "tv": {
+    "distance": "2.86 meters",
+    "closeness rank": 14
+   },
+   "door": {
+    "distance": "3.6 meters",
+    "closeness rank": 15
+   }
+  },
+  "pillow": {
+   "bed": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "mattress": {
+    "distance": "0.09 meters",
+    "closeness rank": 2
+   },
+   "sofa": {
+    "distance": "0.6 meters",
+    "closeness rank": 3
+   },
+   "backpack": {
+    "distance": "0.65 meters",
+    "closeness rank": 4
+   },
+   "nightstand": {
+    "distance": "0.75 meters",
+    "closeness rank": 5
+   },
+   "lamp": {
+    "distance": "1.03 meters",
+    "closeness rank": 6
+   },
+   "telephone": {
+    "distance": "1.18 meters",
+    "closeness rank": 7
+   },
+   "chair": {
+    "distance": "2.21 meters",
+    "closeness rank": 8
+   },
+   "table": {
+    "distance": "2.48 meters",
+    "closeness rank": 9
+   },
+   "trash bin": {
+    "distance": "2.57 meters",
+    "closeness rank": 10
+   },
+   "towel": {
+    "distance": "2.68 meters",
+    "closeness rank": 11
+   },
+   "mirror": {
+    "distance": "3.11 meters",
+    "closeness rank": 12
+   },
+   "monitor": {
+    "distance": "3.11 meters",
+    "closeness rank": 13
+   },
+   "tv": {
+    "distance": "3.11 meters",
+    "closeness rank": 14
+   },
+   "door": {
+    "distance": "4.79 meters",
+    "closeness rank": 15
+   }
+  },
+  "sofa": {
+   "backpack": {
+    "distance": "0.01 meters",
+    "closeness rank": 1
+   },
+   "mattress": {
+    "distance": "0.43 meters",
+    "closeness rank": 2
+   },
+   "bed": {
+    "distance": "0.44 meters",
+    "closeness rank": 3
+   },
+   "pillow": {
+    "distance": "0.6 meters",
+    "closeness rank": 4
+   },
+   "nightstand": {
+    "distance": "1.91 meters",
+    "closeness rank": 5
+   },
+   "chair": {
+    "distance": "2.12 meters",
+    "closeness rank": 6
+   },
+   "lamp": {
+    "distance": "2.17 meters",
+    "closeness rank": 7
+   },
+   "table": {
+    "distance": "2.28 meters",
+    "closeness rank": 8
+   },
+   "telephone": {
+    "distance": "2.35 meters",
+    "closeness rank": 9
+   },
+   "trash bin": {
+    "distance": "2.73 meters",
+    "closeness rank": 10
+   },
+   "towel": {
+    "distance": "2.88 meters",
+    "closeness rank": 11
+   },
+   "mirror": {
+    "distance": "3.46 meters",
+    "closeness rank": 12
+   },
+   "monitor": {
+    "distance": "3.46 meters",
+    "closeness rank": 13
+   },
+   "tv": {
+    "distance": "3.46 meters",
+    "closeness rank": 14
+   },
+   "door": {
+    "distance": "5.72 meters",
+    "closeness rank": 15
+   }
+  },
+  "table": {
+   "towel": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "chair": {
+    "distance": "0.02 meters",
+    "closeness rank": 2
+   },
+   "trash bin": {
+    "distance": "0.1 meters",
+    "closeness rank": 3
+   },
+   "mirror": {
+    "distance": "0.39 meters",
+    "closeness rank": 4
+   },
+   "monitor": {
+    "distance": "0.39 meters",
+    "closeness rank": 5
+   },
+   "tv": {
+    "distance": "0.39 meters",
+    "closeness rank": 6
+   },
+   "bed": {
+    "distance": "1.05 meters",
+    "closeness rank": 7
+   },
+   "mattress": {
+    "distance": "1.05 meters",
+    "closeness rank": 8
+   },
+   "sofa": {
+    "distance": "2.28 meters",
+    "closeness rank": 9
+   },
+   "backpack": {
+    "distance": "2.36 meters",
+    "closeness rank": 10
+   },
+   "nightstand": {
+    "distance": "2.44 meters",
+    "closeness rank": 11
+   },
+   "pillow": {
+    "distance": "2.48 meters",
+    "closeness rank": 12
+   },
+   "telephone": {
+    "distance": "2.57 meters",
+    "closeness rank": 13
+   },
+   "lamp": {
+    "distance": "2.73 meters",
+    "closeness rank": 14
+   },
+   "door": {
+    "distance": "3.1 meters",
+    "closeness rank": 15
+   }
+  },
+  "telephone": {
+   "nightstand": {
+    "distance": "0.01 meters",
+    "closeness rank": 1
+   },
+   "lamp": {
+    "distance": "0.43 meters",
+    "closeness rank": 2
+   },
+   "bed": {
+    "distance": "0.69 meters",
+    "closeness rank": 3
+   },
+   "mattress": {
+    "distance": "1.14 meters",
+    "closeness rank": 4
+   },
+   "pillow": {
+    "distance": "1.18 meters",
+    "closeness rank": 5
+   },
+   "backpack": {
+    "distance": "2.17 meters",
+    "closeness rank": 6
+   },
+   "sofa": {
+    "distance": "2.35 meters",
+    "closeness rank": 7
+   },
+   "chair": {
+    "distance": "2.44 meters",
+    "closeness rank": 8
+   },
+   "table": {
+    "distance": "2.57 meters",
+    "closeness rank": 9
+   },
+   "trash bin": {
+    "distance": "2.59 meters",
+    "closeness rank": 10
+   },
+   "towel": {
+    "distance": "2.65 meters",
+    "closeness rank": 11
+   },
+   "mirror": {
+    "distance": "2.93 meters",
+    "closeness rank": 12
+   },
+   "monitor": {
+    "distance": "2.93 meters",
+    "closeness rank": 13
+   },
+   "tv": {
+    "distance": "2.93 meters",
+    "closeness rank": 14
+   },
+   "door": {
+    "distance": "3.72 meters",
+    "closeness rank": 15
+   }
+  },
+  "towel": {
+   "table": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "trash bin": {
+    "distance": "0.27 meters",
+    "closeness rank": 2
+   },
+   "chair": {
+    "distance": "0.28 meters",
+    "closeness rank": 3
+   },
+   "mirror": {
+    "distance": "0.39 meters",
+    "closeness rank": 4
+   },
+   "monitor": {
+    "distance": "0.39 meters",
+    "closeness rank": 5
+   },
+   "tv": {
+    "distance": "0.39 meters",
+    "closeness rank": 6
+   },
+   "bed": {
+    "distance": "1.18 meters",
+    "closeness rank": 7
+   },
+   "mattress": {
+    "distance": "1.2 meters",
+    "closeness rank": 8
+   },
+   "nightstand": {
+    "distance": "2.53 meters",
+    "closeness rank": 9
+   },
+   "telephone": {
+    "distance": "2.65 meters",
+    "closeness rank": 10
+   },
+   "pillow": {
+    "distance": "2.68 meters",
+    "closeness rank": 11
+   },
+   "lamp": {
+    "distance": "2.8 meters",
+    "closeness rank": 12
+   },
+   "backpack": {
+    "distance": "2.84 meters",
+    "closeness rank": 13
+   },
+   "sofa": {
+    "distance": "2.88 meters",
+    "closeness rank": 14
+   },
+   "door": {
+    "distance": "3.16 meters",
+    "closeness rank": 15
+   }
+  },
+  "trash bin": {
+   "table": {
+    "distance": "0.1 meters",
+    "closeness rank": 1
+   },
+   "chair": {
+    "distance": "0.24 meters",
+    "closeness rank": 2
+   },
+   "towel": {
+    "distance": "0.27 meters",
+    "closeness rank": 3
+   },
+   "tv": {
+    "distance": "0.7 meters",
+    "closeness rank": 4
+   },
+   "mirror": {
+    "distance": "0.71 meters",
+    "closeness rank": 5
+   },
+   "monitor": {
+    "distance": "0.71 meters",
+    "closeness rank": 6
+   },
+   "bed": {
+    "distance": "1.06 meters",
+    "closeness rank": 7
+   },
+   "mattress": {
+    "distance": "1.06 meters",
+    "closeness rank": 8
+   },
+   "nightstand": {
+    "distance": "2.38 meters",
+    "closeness rank": 9
+   },
+   "pillow": {
+    "distance": "2.57 meters",
+    "closeness rank": 10
+   },
+   "telephone": {
+    "distance": "2.59 meters",
+    "closeness rank": 11
+   },
+   "backpack": {
+    "distance": "2.62 meters",
+    "closeness rank": 12
+   },
+   "sofa": {
+    "distance": "2.73 meters",
+    "closeness rank": 13
+   },
+   "lamp": {
+    "distance": "2.81 meters",
+    "closeness rank": 14
+   },
+   "door": {
+    "distance": "3.23 meters",
+    "closeness rank": 15
+   }
+  },
+  "tv": {
+   "mirror": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "monitor": {
+    "distance": "0.0 meters",
+    "closeness rank": 2
+   },
+   "table": {
+    "distance": "0.39 meters",
+    "closeness rank": 3
+   },
+   "towel": {
+    "distance": "0.39 meters",
+    "closeness rank": 4
+   },
+   "trash bin": {
+    "distance": "0.7 meters",
+    "closeness rank": 5
+   },
+   "chair": {
+    "distance": "0.88 meters",
+    "closeness rank": 6
+   },
+   "bed": {
+    "distance": "1.62 meters",
+    "closeness rank": 7
+   },
+   "mattress": {
+    "distance": "1.65 meters",
+    "closeness rank": 8
+   },
+   "door": {
+    "distance": "2.19 meters",
+    "closeness rank": 9
+   },
+   "nightstand": {
+    "distance": "2.86 meters",
+    "closeness rank": 10
+   },
+   "telephone": {
+    "distance": "2.93 meters",
+    "closeness rank": 11
+   },
+   "lamp": {
+    "distance": "3.04 meters",
+    "closeness rank": 12
+   },
+   "pillow": {
+    "distance": "3.11 meters",
+    "closeness rank": 13
+   },
+   "backpack": {
+    "distance": "3.41 meters",
+    "closeness rank": 14
+   },
+   "sofa": {
+    "distance": "3.46 meters",
+    "closeness rank": 15
+   }
+  }
+ },
+ "appearance order": ["chair", "lamp", "table", "trash bin", "mattress", "mirror", "bed", "pillow", "sofa", "backpack", "nightstand", "telephone", "door", "tv", "monitor", "towel"]
+}
\ No newline at end of file
diff --git a/data/spatial codes/sam3+depth-anything-3/metric/tracking/uniform/64/explicit/scene0575_01.json b/data/spatial codes/sam3+depth-anything-3/metric/tracking/uniform/64/explicit/scene0575_01.json
new file mode 100644
index 0000000000000000000000000000000000000000..4daf188070a3069f8b52be5e4997083b470f6ac0
--- /dev/null
+++ b/data/spatial codes/sam3+depth-anything-3/metric/tracking/uniform/64/explicit/scene0575_01.json	
@@ -0,0 +1,403 @@
+{
+ "objects": {
+  "chair": {
+   "count": 11,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-0.15 meters",
+      "y coordinate": "2.08 meters",
+      "height above floor": "1.94 meters"
+     },
+     "longest dimension": "0.63 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "0.08 meters",
+      "y coordinate": "1.63 meters",
+      "height above floor": "1.08 meters"
+     },
+     "longest dimension": "0.82 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-0.51 meters",
+      "y coordinate": "2.03 meters",
+      "height above floor": "2.05 meters"
+     },
+     "longest dimension": "0.69 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "0.73 meters",
+      "y coordinate": "-0.03 meters",
+      "height above floor": "2.92 meters"
+     },
+     "longest dimension": "0.72 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-0.41 meters",
+      "y coordinate": "2.14 meters",
+      "height above floor": "1.95 meters"
+     },
+     "longest dimension": "0.66 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "0.88 meters",
+      "y coordinate": "-0.55 meters",
+      "height above floor": "0.89 meters"
+     },
+     "longest dimension": "0.77 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "1.13 meters",
+      "y coordinate": "-1.03 meters",
+      "height above floor": "2.63 meters"
+     },
+     "longest dimension": "0.84 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "0.49 meters",
+      "y coordinate": "-0.09 meters",
+      "height above floor": "0.8 meters"
+     },
+     "longest dimension": "1.17 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "0.48 meters",
+      "y coordinate": "0.68 meters",
+      "height above floor": "2.97 meters"
+     },
+     "longest dimension": "0.71 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "0.76 meters",
+      "y coordinate": "-0.49 meters",
+      "height above floor": "0.9 meters"
+     },
+     "longest dimension": "0.51 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "1.23 meters",
+      "y coordinate": "-1.18 meters",
+      "height above floor": "0.55 meters"
+     },
+     "longest dimension": "0.45 meters"
+    }
+   ]
+  },
+  "computer mouse": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-0.02 meters",
+      "y coordinate": "1.29 meters",
+      "height above floor": "1.99 meters"
+     },
+     "longest dimension": "0.21 meters"
+    }
+   ]
+  },
+  "door": {
+   "count": 2,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-0.8 meters",
+      "y coordinate": "2.33 meters",
+      "height above floor": "0.01 meters"
+     },
+     "longest dimension": "1.64 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-0.56 meters",
+      "y coordinate": "2.48 meters",
+      "height above floor": "-0.0 meters"
+     },
+     "longest dimension": "1.27 meters"
+    }
+   ]
+  },
+  "monitor": {
+   "count": 2,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "0.98 meters",
+      "y coordinate": "-2.33 meters",
+      "height above floor": "0.94 meters"
+     },
+     "longest dimension": "1.22 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "0.97 meters",
+      "y coordinate": "-2.3 meters",
+      "height above floor": "2.46 meters"
+     },
+     "longest dimension": "1.23 meters"
+    }
+   ]
+  },
+  "table": {
+   "count": 2,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "0.59 meters",
+      "y coordinate": "0.06 meters",
+      "height above floor": "1.79 meters"
+     },
+     "longest dimension": "1.16 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-0.27 meters",
+      "y coordinate": "1.32 meters",
+      "height above floor": "-0.03 meters"
+     },
+     "longest dimension": "1.03 meters"
+    }
+   ]
+  },
+  "trash bin": {
+   "count": 2,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-0.3 meters",
+      "y coordinate": "3.03 meters",
+      "height above floor": "1.48 meters"
+     },
+     "longest dimension": "0.4 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-0.25 meters",
+      "y coordinate": "3.03 meters",
+      "height above floor": "1.51 meters"
+     },
+     "longest dimension": "0.41 meters"
+    }
+   ]
+  },
+  "tv": {
+   "count": 2,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "0.98 meters",
+      "y coordinate": "-2.33 meters",
+      "height above floor": "0.93 meters"
+     },
+     "longest dimension": "1.23 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "0.97 meters",
+      "y coordinate": "-2.3 meters",
+      "height above floor": "2.47 meters"
+     },
+     "longest dimension": "1.24 meters"
+    }
+   ]
+  }
+ },
+ "room": {
+  "floor area": "11.7 square meters"
+ },
+ "closest classes distance meters from": {
+  "chair": {
+   "table": {
+    "distance": "0.15 meters",
+    "closeness rank": 1
+   },
+   "computer mouse": {
+    "distance": "0.58 meters",
+    "closeness rank": 2
+   },
+   "door": {
+    "distance": "1.37 meters",
+    "closeness rank": 3
+   },
+   "trash bin": {
+    "distance": "1.68 meters",
+    "closeness rank": 4
+   },
+   "tv": {
+    "distance": "2.91 meters",
+    "closeness rank": 5
+   },
+   "monitor": {
+    "distance": "2.93 meters",
+    "closeness rank": 6
+   }
+  },
+  "computer mouse": {
+   "table": {
+    "distance": "0.05 meters",
+    "closeness rank": 1
+   },
+   "chair": {
+    "distance": "0.58 meters",
+    "closeness rank": 2
+   },
+   "trash bin": {
+    "distance": "1.61 meters",
+    "closeness rank": 3
+   },
+   "door": {
+    "distance": "2.04 meters",
+    "closeness rank": 4
+   },
+   "tv": {
+    "distance": "3.61 meters",
+    "closeness rank": 5
+   },
+   "monitor": {
+    "distance": "3.63 meters",
+    "closeness rank": 6
+   }
+  },
+  "door": {
+   "trash bin": {
+    "distance": "1.27 meters",
+    "closeness rank": 1
+   },
+   "chair": {
+    "distance": "1.37 meters",
+    "closeness rank": 2
+   },
+   "table": {
+    "distance": "1.43 meters",
+    "closeness rank": 3
+   },
+   "computer mouse": {
+    "distance": "2.04 meters",
+    "closeness rank": 4
+   },
+   "tv": {
+    "distance": "4.53 meters",
+    "closeness rank": 5
+   },
+   "monitor": {
+    "distance": "4.55 meters",
+    "closeness rank": 6
+   }
+  },
+  "monitor": {
+   "tv": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "table": {
+    "distance": "1.45 meters",
+    "closeness rank": 2
+   },
+   "chair": {
+    "distance": "2.93 meters",
+    "closeness rank": 3
+   },
+   "computer mouse": {
+    "distance": "3.63 meters",
+    "closeness rank": 4
+   },
+   "door": {
+    "distance": "4.55 meters",
+    "closeness rank": 5
+   },
+   "trash bin": {
+    "distance": "5.24 meters",
+    "closeness rank": 6
+   }
+  },
+  "table": {
+   "computer mouse": {
+    "distance": "0.05 meters",
+    "closeness rank": 1
+   },
+   "chair": {
+    "distance": "0.15 meters",
+    "closeness rank": 2
+   },
+   "trash bin": {
+    "distance": "1.29 meters",
+    "closeness rank": 3
+   },
+   "door": {
+    "distance": "1.43 meters",
+    "closeness rank": 4
+   },
+   "tv": {
+    "distance": "1.44 meters",
+    "closeness rank": 5
+   },
+   "monitor": {
+    "distance": "1.45 meters",
+    "closeness rank": 6
+   }
+  },
+  "trash bin": {
+   "door": {
+    "distance": "1.27 meters",
+    "closeness rank": 1
+   },
+   "table": {
+    "distance": "1.29 meters",
+    "closeness rank": 2
+   },
+   "computer mouse": {
+    "distance": "1.61 meters",
+    "closeness rank": 3
+   },
+   "chair": {
+    "distance": "1.68 meters",
+    "closeness rank": 4
+   },
+   "monitor": {
+    "distance": "5.24 meters",
+    "closeness rank": 5
+   },
+   "tv": {
+    "distance": "5.24 meters",
+    "closeness rank": 6
+   }
+  },
+  "tv": {
+   "monitor": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "table": {
+    "distance": "1.44 meters",
+    "closeness rank": 2
+   },
+   "chair": {
+    "distance": "2.91 meters",
+    "closeness rank": 3
+   },
+   "computer mouse": {
+    "distance": "3.61 meters",
+    "closeness rank": 4
+   },
+   "door": {
+    "distance": "4.53 meters",
+    "closeness rank": 5
+   },
+   "trash bin": {
+    "distance": "5.24 meters",
+    "closeness rank": 6
+   }
+  }
+ },
+ "appearance order": ["chair", "door", "table", "trash bin", "tv", "monitor", "computer mouse"]
+}
\ No newline at end of file
diff --git a/data/spatial codes/sam3+depth-anything-3/metric/tracking/uniform/64/explicit/scene0580_01.json b/data/spatial codes/sam3+depth-anything-3/metric/tracking/uniform/64/explicit/scene0580_01.json
new file mode 100644
index 0000000000000000000000000000000000000000..60207238a55c44480b4169466742a86cdfa9edea
--- /dev/null
+++ b/data/spatial codes/sam3+depth-anything-3/metric/tracking/uniform/64/explicit/scene0580_01.json	
@@ -0,0 +1,1258 @@
+{
+ "objects": {
+  "backpack": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-0.42 meters",
+      "y coordinate": "1.94 meters",
+      "height above floor": "0.1 meters"
+     },
+     "longest dimension": "0.37 meters"
+    }
+   ]
+  },
+  "bed": {
+   "count": 2,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-0.74 meters",
+      "y coordinate": "0.15 meters",
+      "height above floor": "0.09 meters"
+     },
+     "longest dimension": "1.1 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "0.08 meters",
+      "y coordinate": "0.35 meters",
+      "height above floor": "-0.03 meters"
+     },
+     "longest dimension": "0.61 meters"
+    }
+   ]
+  },
+  "bookshelf": {
+   "count": 2,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-1.45 meters",
+      "y coordinate": "1.12 meters",
+      "height above floor": "0.48 meters"
+     },
+     "longest dimension": "1.35 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "1.28 meters",
+      "y coordinate": "0.47 meters",
+      "height above floor": "-0.24 meters"
+     },
+     "longest dimension": "0.93 meters"
+    }
+   ]
+  },
+  "chair": {
+   "count": 2,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "0.03 meters",
+      "y coordinate": "1.5 meters",
+      "height above floor": "-0.08 meters"
+     },
+     "longest dimension": "0.39 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-0.05 meters",
+      "y coordinate": "2.2 meters",
+      "height above floor": "0.06 meters"
+     },
+     "longest dimension": "0.96 meters"
+    }
+   ]
+  },
+  "clock": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "1.21 meters",
+      "y coordinate": "0.02 meters",
+      "height above floor": "-0.11 meters"
+     },
+     "longest dimension": "0.11 meters"
+    }
+   ]
+  },
+  "closet": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-1.13 meters",
+      "y coordinate": "-0.45 meters",
+      "height above floor": "0.74 meters"
+     },
+     "longest dimension": "1.62 meters"
+    }
+   ]
+  },
+  "door": {
+   "count": 3,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "0.19 meters",
+      "y coordinate": "-0.62 meters",
+      "height above floor": "-0.11 meters"
+     },
+     "longest dimension": "1.09 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-1.11 meters",
+      "y coordinate": "-0.48 meters",
+      "height above floor": "0.72 meters"
+     },
+     "longest dimension": "1.63 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-0.41 meters",
+      "y coordinate": "-1.2 meters",
+      "height above floor": "0.62 meters"
+     },
+     "longest dimension": "1.73 meters"
+    }
+   ]
+  },
+  "fan": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "0.07 meters",
+      "y coordinate": "0.47 meters",
+      "height above floor": "1.87 meters"
+     },
+     "longest dimension": "1.01 meters"
+    }
+   ]
+  },
+  "lamp": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-1.64 meters",
+      "y coordinate": "0.38 meters",
+      "height above floor": "0.84 meters"
+     },
+     "longest dimension": "0.77 meters"
+    }
+   ]
+  },
+  "mattress": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-0.74 meters",
+      "y coordinate": "0.15 meters",
+      "height above floor": "0.09 meters"
+     },
+     "longest dimension": "1.1 meters"
+    }
+   ]
+  },
+  "mirror": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "0.82 meters",
+      "y coordinate": "-0.62 meters",
+      "height above floor": "0.55 meters"
+     },
+     "longest dimension": "0.82 meters"
+    }
+   ]
+  },
+  "nightstand": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-1.74 meters",
+      "y coordinate": "0.38 meters",
+      "height above floor": "0.13 meters"
+     },
+     "longest dimension": "0.53 meters"
+    }
+   ]
+  },
+  "pillow": {
+   "count": 2,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-0.66 meters",
+      "y coordinate": "1.4 meters",
+      "height above floor": "0.17 meters"
+     },
+     "longest dimension": "0.36 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-1.25 meters",
+      "y coordinate": "0.75 meters",
+      "height above floor": "0.31 meters"
+     },
+     "longest dimension": "0.6 meters"
+    }
+   ]
+  },
+  "table": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "0.23 meters",
+      "y coordinate": "-0.45 meters",
+      "height above floor": "-0.04 meters"
+     },
+     "longest dimension": "1.13 meters"
+    }
+   ]
+  },
+  "trash bin": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "0.09 meters",
+      "y coordinate": "-1.01 meters",
+      "height above floor": "-0.28 meters"
+     },
+     "longest dimension": "0.37 meters"
+    }
+   ]
+  },
+  "window": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "0.87 meters",
+      "y coordinate": "1.43 meters",
+      "height above floor": "0.6 meters"
+     },
+     "longest dimension": "0.88 meters"
+    }
+   ]
+  }
+ },
+ "room": {
+  "floor area": "10.5 square meters"
+ },
+ "closest classes distance meters from": {
+  "backpack": {
+   "bookshelf": {
+    "distance": "0.26 meters",
+    "closeness rank": 1
+   },
+   "pillow": {
+    "distance": "0.33 meters",
+    "closeness rank": 2
+   },
+   "bed": {
+    "distance": "0.39 meters",
+    "closeness rank": 3
+   },
+   "chair": {
+    "distance": "0.41 meters",
+    "closeness rank": 4
+   },
+   "mattress": {
+    "distance": "0.46 meters",
+    "closeness rank": 5
+   },
+   "window": {
+    "distance": "0.85 meters",
+    "closeness rank": 6
+   },
+   "nightstand": {
+    "distance": "1.65 meters",
+    "closeness rank": 7
+   },
+   "lamp": {
+    "distance": "1.75 meters",
+    "closeness rank": 8
+   },
+   "closet": {
+    "distance": "1.92 meters",
+    "closeness rank": 9
+   },
+   "door": {
+    "distance": "2.06 meters",
+    "closeness rank": 10
+   },
+   "table": {
+    "distance": "2.07 meters",
+    "closeness rank": 11
+   },
+   "fan": {
+    "distance": "2.18 meters",
+    "closeness rank": 12
+   },
+   "clock": {
+    "distance": "2.38 meters",
+    "closeness rank": 13
+   },
+   "mirror": {
+    "distance": "2.61 meters",
+    "closeness rank": 14
+   },
+   "trash bin": {
+    "distance": "2.77 meters",
+    "closeness rank": 15
+   }
+  },
+  "bed": {
+   "mattress": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "pillow": {
+    "distance": "0.0 meters",
+    "closeness rank": 2
+   },
+   "window": {
+    "distance": "0.0 meters",
+    "closeness rank": 3
+   },
+   "nightstand": {
+    "distance": "0.03 meters",
+    "closeness rank": 4
+   },
+   "bookshelf": {
+    "distance": "0.12 meters",
+    "closeness rank": 5
+   },
+   "lamp": {
+    "distance": "0.23 meters",
+    "closeness rank": 6
+   },
+   "chair": {
+    "distance": "0.32 meters",
+    "closeness rank": 7
+   },
+   "door": {
+    "distance": "0.36 meters",
+    "closeness rank": 8
+   },
+   "table": {
+    "distance": "0.36 meters",
+    "closeness rank": 9
+   },
+   "backpack": {
+    "distance": "0.39 meters",
+    "closeness rank": 10
+   },
+   "closet": {
+    "distance": "0.5 meters",
+    "closeness rank": 11
+   },
+   "trash bin": {
+    "distance": "0.68 meters",
+    "closeness rank": 12
+   },
+   "mirror": {
+    "distance": "0.78 meters",
+    "closeness rank": 13
+   },
+   "clock": {
+    "distance": "1.0 meters",
+    "closeness rank": 14
+   },
+   "fan": {
+    "distance": "1.71 meters",
+    "closeness rank": 15
+   }
+  },
+  "bookshelf": {
+   "table": {
+    "distance": "0.01 meters",
+    "closeness rank": 1
+   },
+   "pillow": {
+    "distance": "0.03 meters",
+    "closeness rank": 2
+   },
+   "bed": {
+    "distance": "0.12 meters",
+    "closeness rank": 3
+   },
+   "nightstand": {
+    "distance": "0.13 meters",
+    "closeness rank": 4
+   },
+   "lamp": {
+    "distance": "0.19 meters",
+    "closeness rank": 5
+   },
+   "mattress": {
+    "distance": "0.23 meters",
+    "closeness rank": 6
+   },
+   "door": {
+    "distance": "0.24 meters",
+    "closeness rank": 7
+   },
+   "backpack": {
+    "distance": "0.26 meters",
+    "closeness rank": 8
+   },
+   "mirror": {
+    "distance": "0.47 meters",
+    "closeness rank": 9
+   },
+   "clock": {
+    "distance": "0.63 meters",
+    "closeness rank": 10
+   },
+   "chair": {
+    "distance": "0.74 meters",
+    "closeness rank": 11
+   },
+   "trash bin": {
+    "distance": "0.81 meters",
+    "closeness rank": 12
+   },
+   "window": {
+    "distance": "0.92 meters",
+    "closeness rank": 13
+   },
+   "closet": {
+    "distance": "0.93 meters",
+    "closeness rank": 14
+   },
+   "fan": {
+    "distance": "1.76 meters",
+    "closeness rank": 15
+   }
+  },
+  "chair": {
+   "fan": {
+    "distance": "0.01 meters",
+    "closeness rank": 1
+   },
+   "window": {
+    "distance": "0.09 meters",
+    "closeness rank": 2
+   },
+   "bed": {
+    "distance": "0.32 meters",
+    "closeness rank": 3
+   },
+   "mattress": {
+    "distance": "0.32 meters",
+    "closeness rank": 4
+   },
+   "backpack": {
+    "distance": "0.41 meters",
+    "closeness rank": 5
+   },
+   "pillow": {
+    "distance": "0.48 meters",
+    "closeness rank": 6
+   },
+   "bookshelf": {
+    "distance": "0.74 meters",
+    "closeness rank": 7
+   },
+   "closet": {
+    "distance": "0.99 meters",
+    "closeness rank": 8
+   },
+   "door": {
+    "distance": "1.14 meters",
+    "closeness rank": 9
+   },
+   "table": {
+    "distance": "1.15 meters",
+    "closeness rank": 10
+   },
+   "nightstand": {
+    "distance": "1.39 meters",
+    "closeness rank": 11
+   },
+   "clock": {
+    "distance": "1.46 meters",
+    "closeness rank": 12
+   },
+   "mirror": {
+    "distance": "1.64 meters",
+    "closeness rank": 13
+   },
+   "lamp": {
+    "distance": "1.73 meters",
+    "closeness rank": 14
+   },
+   "trash bin": {
+    "distance": "2.1 meters",
+    "closeness rank": 15
+   }
+  },
+  "clock": {
+   "door": {
+    "distance": "0.06 meters",
+    "closeness rank": 1
+   },
+   "table": {
+    "distance": "0.09 meters",
+    "closeness rank": 2
+   },
+   "closet": {
+    "distance": "0.57 meters",
+    "closeness rank": 3
+   },
+   "bookshelf": {
+    "distance": "0.63 meters",
+    "closeness rank": 4
+   },
+   "mirror": {
+    "distance": "0.81 meters",
+    "closeness rank": 5
+   },
+   "nightstand": {
+    "distance": "0.96 meters",
+    "closeness rank": 6
+   },
+   "bed": {
+    "distance": "1.0 meters",
+    "closeness rank": 7
+   },
+   "mattress": {
+    "distance": "1.02 meters",
+    "closeness rank": 8
+   },
+   "window": {
+    "distance": "1.26 meters",
+    "closeness rank": 9
+   },
+   "trash bin": {
+    "distance": "1.35 meters",
+    "closeness rank": 10
+   },
+   "pillow": {
+    "distance": "1.45 meters",
+    "closeness rank": 11
+   },
+   "chair": {
+    "distance": "1.46 meters",
+    "closeness rank": 12
+   },
+   "fan": {
+    "distance": "2.0 meters",
+    "closeness rank": 13
+   },
+   "backpack": {
+    "distance": "2.38 meters",
+    "closeness rank": 14
+   },
+   "lamp": {
+    "distance": "2.81 meters",
+    "closeness rank": 15
+   }
+  },
+  "closet": {
+   "door": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "nightstand": {
+    "distance": "0.01 meters",
+    "closeness rank": 2
+   },
+   "table": {
+    "distance": "0.3 meters",
+    "closeness rank": 3
+   },
+   "bed": {
+    "distance": "0.5 meters",
+    "closeness rank": 4
+   },
+   "lamp": {
+    "distance": "0.5 meters",
+    "closeness rank": 5
+   },
+   "mattress": {
+    "distance": "0.51 meters",
+    "closeness rank": 6
+   },
+   "clock": {
+    "distance": "0.57 meters",
+    "closeness rank": 7
+   },
+   "window": {
+    "distance": "0.65 meters",
+    "closeness rank": 8
+   },
+   "bookshelf": {
+    "distance": "0.93 meters",
+    "closeness rank": 9
+   },
+   "chair": {
+    "distance": "0.99 meters",
+    "closeness rank": 10
+   },
+   "fan": {
+    "distance": "1.05 meters",
+    "closeness rank": 11
+   },
+   "pillow": {
+    "distance": "1.17 meters",
+    "closeness rank": 12
+   },
+   "trash bin": {
+    "distance": "1.22 meters",
+    "closeness rank": 13
+   },
+   "mirror": {
+    "distance": "1.24 meters",
+    "closeness rank": 14
+   },
+   "backpack": {
+    "distance": "1.92 meters",
+    "closeness rank": 15
+   }
+  },
+  "door": {
+   "closet": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "table": {
+    "distance": "0.0 meters",
+    "closeness rank": 2
+   },
+   "trash bin": {
+    "distance": "0.03 meters",
+    "closeness rank": 3
+   },
+   "clock": {
+    "distance": "0.06 meters",
+    "closeness rank": 4
+   },
+   "mirror": {
+    "distance": "0.17 meters",
+    "closeness rank": 5
+   },
+   "bookshelf": {
+    "distance": "0.24 meters",
+    "closeness rank": 6
+   },
+   "bed": {
+    "distance": "0.36 meters",
+    "closeness rank": 7
+   },
+   "mattress": {
+    "distance": "0.37 meters",
+    "closeness rank": 8
+   },
+   "nightstand": {
+    "distance": "0.5 meters",
+    "closeness rank": 9
+   },
+   "lamp": {
+    "distance": "0.52 meters",
+    "closeness rank": 10
+   },
+   "window": {
+    "distance": "0.97 meters",
+    "closeness rank": 11
+   },
+   "pillow": {
+    "distance": "1.08 meters",
+    "closeness rank": 12
+   },
+   "chair": {
+    "distance": "1.14 meters",
+    "closeness rank": 13
+   },
+   "fan": {
+    "distance": "1.37 meters",
+    "closeness rank": 14
+   },
+   "backpack": {
+    "distance": "2.06 meters",
+    "closeness rank": 15
+   }
+  },
+  "fan": {
+   "chair": {
+    "distance": "0.01 meters",
+    "closeness rank": 1
+   },
+   "closet": {
+    "distance": "1.05 meters",
+    "closeness rank": 2
+   },
+   "mirror": {
+    "distance": "1.08 meters",
+    "closeness rank": 3
+   },
+   "window": {
+    "distance": "1.3 meters",
+    "closeness rank": 4
+   },
+   "door": {
+    "distance": "1.37 meters",
+    "closeness rank": 5
+   },
+   "nightstand": {
+    "distance": "1.5 meters",
+    "closeness rank": 6
+   },
+   "lamp": {
+    "distance": "1.65 meters",
+    "closeness rank": 7
+   },
+   "table": {
+    "distance": "1.7 meters",
+    "closeness rank": 8
+   },
+   "bed": {
+    "distance": "1.71 meters",
+    "closeness rank": 9
+   },
+   "mattress": {
+    "distance": "1.71 meters",
+    "closeness rank": 10
+   },
+   "bookshelf": {
+    "distance": "1.76 meters",
+    "closeness rank": 11
+   },
+   "pillow": {
+    "distance": "1.81 meters",
+    "closeness rank": 12
+   },
+   "clock": {
+    "distance": "2.0 meters",
+    "closeness rank": 13
+   },
+   "backpack": {
+    "distance": "2.18 meters",
+    "closeness rank": 14
+   },
+   "trash bin": {
+    "distance": "2.23 meters",
+    "closeness rank": 15
+   }
+  },
+  "lamp": {
+   "nightstand": {
+    "distance": "0.01 meters",
+    "closeness rank": 1
+   },
+   "bookshelf": {
+    "distance": "0.19 meters",
+    "closeness rank": 2
+   },
+   "mattress": {
+    "distance": "0.22 meters",
+    "closeness rank": 3
+   },
+   "bed": {
+    "distance": "0.23 meters",
+    "closeness rank": 4
+   },
+   "closet": {
+    "distance": "0.5 meters",
+    "closeness rank": 5
+   },
+   "door": {
+    "distance": "0.52 meters",
+    "closeness rank": 6
+   },
+   "pillow": {
+    "distance": "0.82 meters",
+    "closeness rank": 7
+   },
+   "window": {
+    "distance": "1.55 meters",
+    "closeness rank": 8
+   },
+   "fan": {
+    "distance": "1.65 meters",
+    "closeness rank": 9
+   },
+   "chair": {
+    "distance": "1.73 meters",
+    "closeness rank": 10
+   },
+   "backpack": {
+    "distance": "1.75 meters",
+    "closeness rank": 11
+   },
+   "table": {
+    "distance": "1.97 meters",
+    "closeness rank": 12
+   },
+   "trash bin": {
+    "distance": "2.3 meters",
+    "closeness rank": 13
+   },
+   "mirror": {
+    "distance": "2.41 meters",
+    "closeness rank": 14
+   },
+   "clock": {
+    "distance": "2.81 meters",
+    "closeness rank": 15
+   }
+  },
+  "mattress": {
+   "bed": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "pillow": {
+    "distance": "0.0 meters",
+    "closeness rank": 2
+   },
+   "window": {
+    "distance": "0.0 meters",
+    "closeness rank": 3
+   },
+   "nightstand": {
+    "distance": "0.03 meters",
+    "closeness rank": 4
+   },
+   "lamp": {
+    "distance": "0.22 meters",
+    "closeness rank": 5
+   },
+   "bookshelf": {
+    "distance": "0.23 meters",
+    "closeness rank": 6
+   },
+   "chair": {
+    "distance": "0.32 meters",
+    "closeness rank": 7
+   },
+   "table": {
+    "distance": "0.36 meters",
+    "closeness rank": 8
+   },
+   "door": {
+    "distance": "0.37 meters",
+    "closeness rank": 9
+   },
+   "backpack": {
+    "distance": "0.46 meters",
+    "closeness rank": 10
+   },
+   "closet": {
+    "distance": "0.51 meters",
+    "closeness rank": 11
+   },
+   "trash bin": {
+    "distance": "0.68 meters",
+    "closeness rank": 12
+   },
+   "mirror": {
+    "distance": "0.79 meters",
+    "closeness rank": 13
+   },
+   "clock": {
+    "distance": "1.02 meters",
+    "closeness rank": 14
+   },
+   "fan": {
+    "distance": "1.71 meters",
+    "closeness rank": 15
+   }
+  },
+  "mirror": {
+   "table": {
+    "distance": "0.08 meters",
+    "closeness rank": 1
+   },
+   "door": {
+    "distance": "0.17 meters",
+    "closeness rank": 2
+   },
+   "bookshelf": {
+    "distance": "0.47 meters",
+    "closeness rank": 3
+   },
+   "trash bin": {
+    "distance": "0.56 meters",
+    "closeness rank": 4
+   },
+   "bed": {
+    "distance": "0.78 meters",
+    "closeness rank": 5
+   },
+   "mattress": {
+    "distance": "0.79 meters",
+    "closeness rank": 6
+   },
+   "clock": {
+    "distance": "0.81 meters",
+    "closeness rank": 7
+   },
+   "fan": {
+    "distance": "1.08 meters",
+    "closeness rank": 8
+   },
+   "closet": {
+    "distance": "1.24 meters",
+    "closeness rank": 9
+   },
+   "nightstand": {
+    "distance": "1.37 meters",
+    "closeness rank": 10
+   },
+   "window": {
+    "distance": "1.39 meters",
+    "closeness rank": 11
+   },
+   "pillow": {
+    "distance": "1.44 meters",
+    "closeness rank": 12
+   },
+   "chair": {
+    "distance": "1.64 meters",
+    "closeness rank": 13
+   },
+   "lamp": {
+    "distance": "2.41 meters",
+    "closeness rank": 14
+   },
+   "backpack": {
+    "distance": "2.61 meters",
+    "closeness rank": 15
+   }
+  },
+  "nightstand": {
+   "closet": {
+    "distance": "0.01 meters",
+    "closeness rank": 1
+   },
+   "lamp": {
+    "distance": "0.01 meters",
+    "closeness rank": 2
+   },
+   "bed": {
+    "distance": "0.03 meters",
+    "closeness rank": 3
+   },
+   "mattress": {
+    "distance": "0.03 meters",
+    "closeness rank": 4
+   },
+   "bookshelf": {
+    "distance": "0.13 meters",
+    "closeness rank": 5
+   },
+   "door": {
+    "distance": "0.5 meters",
+    "closeness rank": 6
+   },
+   "pillow": {
+    "distance": "0.62 meters",
+    "closeness rank": 7
+   },
+   "window": {
+    "distance": "0.68 meters",
+    "closeness rank": 8
+   },
+   "table": {
+    "distance": "0.87 meters",
+    "closeness rank": 9
+   },
+   "clock": {
+    "distance": "0.96 meters",
+    "closeness rank": 10
+   },
+   "mirror": {
+    "distance": "1.37 meters",
+    "closeness rank": 11
+   },
+   "chair": {
+    "distance": "1.39 meters",
+    "closeness rank": 12
+   },
+   "fan": {
+    "distance": "1.5 meters",
+    "closeness rank": 13
+   },
+   "backpack": {
+    "distance": "1.65 meters",
+    "closeness rank": 14
+   },
+   "trash bin": {
+    "distance": "2.18 meters",
+    "closeness rank": 15
+   }
+  },
+  "pillow": {
+   "bed": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "mattress": {
+    "distance": "0.0 meters",
+    "closeness rank": 2
+   },
+   "bookshelf": {
+    "distance": "0.03 meters",
+    "closeness rank": 3
+   },
+   "window": {
+    "distance": "0.05 meters",
+    "closeness rank": 4
+   },
+   "backpack": {
+    "distance": "0.33 meters",
+    "closeness rank": 5
+   },
+   "chair": {
+    "distance": "0.48 meters",
+    "closeness rank": 6
+   },
+   "nightstand": {
+    "distance": "0.62 meters",
+    "closeness rank": 7
+   },
+   "lamp": {
+    "distance": "0.82 meters",
+    "closeness rank": 8
+   },
+   "table": {
+    "distance": "1.03 meters",
+    "closeness rank": 9
+   },
+   "door": {
+    "distance": "1.08 meters",
+    "closeness rank": 10
+   },
+   "closet": {
+    "distance": "1.17 meters",
+    "closeness rank": 11
+   },
+   "mirror": {
+    "distance": "1.44 meters",
+    "closeness rank": 12
+   },
+   "clock": {
+    "distance": "1.45 meters",
+    "closeness rank": 13
+   },
+   "trash bin": {
+    "distance": "1.53 meters",
+    "closeness rank": 14
+   },
+   "fan": {
+    "distance": "1.81 meters",
+    "closeness rank": 15
+   }
+  },
+  "table": {
+   "door": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "bookshelf": {
+    "distance": "0.01 meters",
+    "closeness rank": 2
+   },
+   "mirror": {
+    "distance": "0.08 meters",
+    "closeness rank": 3
+   },
+   "clock": {
+    "distance": "0.09 meters",
+    "closeness rank": 4
+   },
+   "trash bin": {
+    "distance": "0.28 meters",
+    "closeness rank": 5
+   },
+   "closet": {
+    "distance": "0.3 meters",
+    "closeness rank": 6
+   },
+   "bed": {
+    "distance": "0.36 meters",
+    "closeness rank": 7
+   },
+   "mattress": {
+    "distance": "0.36 meters",
+    "closeness rank": 8
+   },
+   "nightstand": {
+    "distance": "0.87 meters",
+    "closeness rank": 9
+   },
+   "window": {
+    "distance": "0.88 meters",
+    "closeness rank": 10
+   },
+   "pillow": {
+    "distance": "1.03 meters",
+    "closeness rank": 11
+   },
+   "chair": {
+    "distance": "1.15 meters",
+    "closeness rank": 12
+   },
+   "fan": {
+    "distance": "1.7 meters",
+    "closeness rank": 13
+   },
+   "lamp": {
+    "distance": "1.97 meters",
+    "closeness rank": 14
+   },
+   "backpack": {
+    "distance": "2.07 meters",
+    "closeness rank": 15
+   }
+  },
+  "trash bin": {
+   "door": {
+    "distance": "0.03 meters",
+    "closeness rank": 1
+   },
+   "table": {
+    "distance": "0.28 meters",
+    "closeness rank": 2
+   },
+   "mirror": {
+    "distance": "0.56 meters",
+    "closeness rank": 3
+   },
+   "bed": {
+    "distance": "0.68 meters",
+    "closeness rank": 4
+   },
+   "mattress": {
+    "distance": "0.68 meters",
+    "closeness rank": 5
+   },
+   "bookshelf": {
+    "distance": "0.81 meters",
+    "closeness rank": 6
+   },
+   "closet": {
+    "distance": "1.22 meters",
+    "closeness rank": 7
+   },
+   "clock": {
+    "distance": "1.35 meters",
+    "closeness rank": 8
+   },
+   "pillow": {
+    "distance": "1.53 meters",
+    "closeness rank": 9
+   },
+   "window": {
+    "distance": "1.56 meters",
+    "closeness rank": 10
+   },
+   "chair": {
+    "distance": "2.1 meters",
+    "closeness rank": 11
+   },
+   "nightstand": {
+    "distance": "2.18 meters",
+    "closeness rank": 12
+   },
+   "fan": {
+    "distance": "2.23 meters",
+    "closeness rank": 13
+   },
+   "lamp": {
+    "distance": "2.3 meters",
+    "closeness rank": 14
+   },
+   "backpack": {
+    "distance": "2.77 meters",
+    "closeness rank": 15
+   }
+  },
+  "window": {
+   "bed": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "mattress": {
+    "distance": "0.0 meters",
+    "closeness rank": 2
+   },
+   "pillow": {
+    "distance": "0.05 meters",
+    "closeness rank": 3
+   },
+   "chair": {
+    "distance": "0.09 meters",
+    "closeness rank": 4
+   },
+   "closet": {
+    "distance": "0.65 meters",
+    "closeness rank": 5
+   },
+   "nightstand": {
+    "distance": "0.68 meters",
+    "closeness rank": 6
+   },
+   "backpack": {
+    "distance": "0.85 meters",
+    "closeness rank": 7
+   },
+   "table": {
+    "distance": "0.88 meters",
+    "closeness rank": 8
+   },
+   "bookshelf": {
+    "distance": "0.92 meters",
+    "closeness rank": 9
+   },
+   "door": {
+    "distance": "0.97 meters",
+    "closeness rank": 10
+   },
+   "clock": {
+    "distance": "1.26 meters",
+    "closeness rank": 11
+   },
+   "fan": {
+    "distance": "1.3 meters",
+    "closeness rank": 12
+   },
+   "mirror": {
+    "distance": "1.39 meters",
+    "closeness rank": 13
+   },
+   "lamp": {
+    "distance": "1.55 meters",
+    "closeness rank": 14
+   },
+   "trash bin": {
+    "distance": "1.56 meters",
+    "closeness rank": 15
+   }
+  }
+ },
+ "appearance order": ["bed", "door", "mattress", "nightstand", "pillow", "lamp", "backpack", "bookshelf", "chair", "trash bin", "table", "window", "fan", "clock", "closet", "mirror"]
+}
\ No newline at end of file
diff --git a/data/spatial codes/sam3+depth-anything-3/metric/tracking/uniform/64/explicit/scene0593_00.json b/data/spatial codes/sam3+depth-anything-3/metric/tracking/uniform/64/explicit/scene0593_00.json
new file mode 100644
index 0000000000000000000000000000000000000000..8177a970eabcddbc9a78e4d6d29c88b620cd6e10
--- /dev/null
+++ b/data/spatial codes/sam3+depth-anything-3/metric/tracking/uniform/64/explicit/scene0593_00.json	
@@ -0,0 +1,1433 @@
+{
+ "objects": {
+  "backpack": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "0.71 meters",
+      "y coordinate": "-0.02 meters",
+      "height above floor": "-4.41 meters"
+     },
+     "longest dimension": "0.38 meters"
+    }
+   ]
+  },
+  "bookshelf": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "0.39 meters",
+      "y coordinate": "0.55 meters",
+      "height above floor": "-2.33 meters"
+     },
+     "longest dimension": "1.88 meters"
+    }
+   ]
+  },
+  "chair": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "0.92 meters",
+      "y coordinate": "1.68 meters",
+      "height above floor": "-3.64 meters"
+     },
+     "longest dimension": "0.13 meters"
+    }
+   ]
+  },
+  "closet": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "1.19 meters",
+      "y coordinate": "-0.99 meters",
+      "height above floor": "-2.64 meters"
+     },
+     "longest dimension": "1.15 meters"
+    }
+   ]
+  },
+  "door": {
+   "count": 6,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "0.86 meters",
+      "y coordinate": "-1.61 meters",
+      "height above floor": "-4.36 meters"
+     },
+     "longest dimension": "1.43 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "0.55 meters",
+      "y coordinate": "1.15 meters",
+      "height above floor": "-1.39 meters"
+     },
+     "longest dimension": "0.54 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "0.23 meters",
+      "y coordinate": "-1.53 meters",
+      "height above floor": "-0.64 meters"
+     },
+     "longest dimension": "0.51 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "0.21 meters",
+      "y coordinate": "-1.53 meters",
+      "height above floor": "-0.32 meters"
+     },
+     "longest dimension": "0.58 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "0.6 meters",
+      "y coordinate": "1.78 meters",
+      "height above floor": "-2.9 meters"
+     },
+     "longest dimension": "0.51 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "1.1 meters",
+      "y coordinate": "-1.02 meters",
+      "height above floor": "-2.34 meters"
+     },
+     "longest dimension": "0.68 meters"
+    }
+   ]
+  },
+  "fan": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "0.64 meters",
+      "y coordinate": "-0.77 meters",
+      "height above floor": "-1.35 meters"
+     },
+     "longest dimension": "0.5 meters"
+    }
+   ]
+  },
+  "lamp": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-0.41 meters",
+      "y coordinate": "-0.11 meters",
+      "height above floor": "-4.91 meters"
+     },
+     "longest dimension": "0.17 meters"
+    }
+   ]
+  },
+  "mirror": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "0.23 meters",
+      "y coordinate": "-1.53 meters",
+      "height above floor": "-0.64 meters"
+     },
+     "longest dimension": "0.51 meters"
+    }
+   ]
+  },
+  "monitor": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-0.06 meters",
+      "y coordinate": "1.3 meters",
+      "height above floor": "-1.86 meters"
+     },
+     "longest dimension": "0.27 meters"
+    }
+   ]
+  },
+  "printer": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "0.36 meters",
+      "y coordinate": "1.16 meters",
+      "height above floor": "-1.39 meters"
+     },
+     "longest dimension": "0.78 meters"
+    }
+   ]
+  },
+  "sofa": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "0.85 meters",
+      "y coordinate": "0.12 meters",
+      "height above floor": "-4.32 meters"
+     },
+     "longest dimension": "1.53 meters"
+    }
+   ]
+  },
+  "table": {
+   "count": 2,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "0.91 meters",
+      "y coordinate": "0.29 meters",
+      "height above floor": "0.04 meters"
+     },
+     "longest dimension": "1.39 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "0.52 meters",
+      "y coordinate": "1.58 meters",
+      "height above floor": "-3.72 meters"
+     },
+     "longest dimension": "0.65 meters"
+    }
+   ]
+  },
+  "telephone": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "0.64 meters",
+      "y coordinate": "0.35 meters",
+      "height above floor": "0.21 meters"
+     },
+     "longest dimension": "0.17 meters"
+    }
+   ]
+  },
+  "towel": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-0.19 meters",
+      "y coordinate": "0.34 meters",
+      "height above floor": "-2.19 meters"
+     },
+     "longest dimension": "0.28 meters"
+    }
+   ]
+  },
+  "trash bin": {
+   "count": 2,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "0.97 meters",
+      "y coordinate": "-0.7 meters",
+      "height above floor": "-0.05 meters"
+     },
+     "longest dimension": "0.93 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "0.81 meters",
+      "y coordinate": "1.54 meters",
+      "height above floor": "-0.14 meters"
+     },
+     "longest dimension": "0.39 meters"
+    }
+   ]
+  },
+  "washing machine": {
+   "count": 2,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "0.51 meters",
+      "y coordinate": "1.23 meters",
+      "height above floor": "-0.84 meters"
+     },
+     "longest dimension": "0.9 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "0.44 meters",
+      "y coordinate": "1.15 meters",
+      "height above floor": "-1.25 meters"
+     },
+     "longest dimension": "0.65 meters"
+    }
+   ]
+  },
+  "window": {
+   "count": 3,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-0.09 meters",
+      "y coordinate": "0.44 meters",
+      "height above floor": "-2.31 meters"
+     },
+     "longest dimension": "1.8 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "0.19 meters",
+      "y coordinate": "0.86 meters",
+      "height above floor": "0.59 meters"
+     },
+     "longest dimension": "0.86 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "0.57 meters",
+      "y coordinate": "-0.35 meters",
+      "height above floor": "0.62 meters"
+     },
+     "longest dimension": "1.04 meters"
+    }
+   ]
+  }
+ },
+ "room": {
+  "floor area": "8.1 square meters"
+ },
+ "closest classes distance meters from": {
+  "backpack": {
+   "sofa": {
+    "distance": "0.03 meters",
+    "closeness rank": 1
+   },
+   "lamp": {
+    "distance": "1.02 meters",
+    "closeness rank": 2
+   },
+   "bookshelf": {
+    "distance": "1.36 meters",
+    "closeness rank": 3
+   },
+   "door": {
+    "distance": "1.42 meters",
+    "closeness rank": 4
+   },
+   "chair": {
+    "distance": "1.64 meters",
+    "closeness rank": 5
+   },
+   "window": {
+    "distance": "1.73 meters",
+    "closeness rank": 6
+   },
+   "closet": {
+    "distance": "1.8 meters",
+    "closeness rank": 7
+   },
+   "towel": {
+    "distance": "2.22 meters",
+    "closeness rank": 8
+   },
+   "monitor": {
+    "distance": "2.68 meters",
+    "closeness rank": 9
+   },
+   "printer": {
+    "distance": "2.81 meters",
+    "closeness rank": 10
+   },
+   "fan": {
+    "distance": "2.85 meters",
+    "closeness rank": 11
+   },
+   "washing machine": {
+    "distance": "3.39 meters",
+    "closeness rank": 12
+   },
+   "mirror": {
+    "distance": "3.78 meters",
+    "closeness rank": 13
+   },
+   "trash bin": {
+    "distance": "4.14 meters",
+    "closeness rank": 14
+   },
+   "table": {
+    "distance": "4.22 meters",
+    "closeness rank": 15
+   },
+   "telephone": {
+    "distance": "4.38 meters",
+    "closeness rank": 16
+   }
+  },
+  "bookshelf": {
+   "mirror": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "window": {
+    "distance": "0.0 meters",
+    "closeness rank": 2
+   },
+   "trash bin": {
+    "distance": "0.12 meters",
+    "closeness rank": 3
+   },
+   "towel": {
+    "distance": "0.24 meters",
+    "closeness rank": 4
+   },
+   "monitor": {
+    "distance": "0.37 meters",
+    "closeness rank": 5
+   },
+   "fan": {
+    "distance": "0.49 meters",
+    "closeness rank": 6
+   },
+   "printer": {
+    "distance": "0.6 meters",
+    "closeness rank": 7
+   },
+   "table": {
+    "distance": "0.7 meters",
+    "closeness rank": 8
+   },
+   "chair": {
+    "distance": "0.83 meters",
+    "closeness rank": 9
+   },
+   "closet": {
+    "distance": "1.09 meters",
+    "closeness rank": 10
+   },
+   "sofa": {
+    "distance": "1.16 meters",
+    "closeness rank": 11
+   },
+   "washing machine": {
+    "distance": "1.19 meters",
+    "closeness rank": 12
+   },
+   "backpack": {
+    "distance": "1.36 meters",
+    "closeness rank": 13
+   },
+   "telephone": {
+    "distance": "1.43 meters",
+    "closeness rank": 14
+   },
+   "door": {
+    "distance": "1.94 meters",
+    "closeness rank": 15
+   },
+   "lamp": {
+    "distance": "2.04 meters",
+    "closeness rank": 16
+   }
+  },
+  "chair": {
+   "sofa": {
+    "distance": "0.8 meters",
+    "closeness rank": 1
+   },
+   "bookshelf": {
+    "distance": "0.83 meters",
+    "closeness rank": 2
+   },
+   "window": {
+    "distance": "1.5 meters",
+    "closeness rank": 3
+   },
+   "backpack": {
+    "distance": "1.64 meters",
+    "closeness rank": 4
+   },
+   "monitor": {
+    "distance": "1.93 meters",
+    "closeness rank": 5
+   },
+   "printer": {
+    "distance": "2.1 meters",
+    "closeness rank": 6
+   },
+   "towel": {
+    "distance": "2.14 meters",
+    "closeness rank": 7
+   },
+   "lamp": {
+    "distance": "2.55 meters",
+    "closeness rank": 8
+   },
+   "washing machine": {
+    "distance": "2.61 meters",
+    "closeness rank": 9
+   },
+   "closet": {
+    "distance": "2.76 meters",
+    "closeness rank": 10
+   },
+   "fan": {
+    "distance": "3.08 meters",
+    "closeness rank": 11
+   },
+   "door": {
+    "distance": "3.17 meters",
+    "closeness rank": 12
+   },
+   "table": {
+    "distance": "3.63 meters",
+    "closeness rank": 13
+   },
+   "telephone": {
+    "distance": "3.98 meters",
+    "closeness rank": 14
+   },
+   "trash bin": {
+    "distance": "4.15 meters",
+    "closeness rank": 15
+   },
+   "mirror": {
+    "distance": "4.27 meters",
+    "closeness rank": 16
+   }
+  },
+  "closet": {
+   "fan": {
+    "distance": "1.03 meters",
+    "closeness rank": 1
+   },
+   "bookshelf": {
+    "distance": "1.09 meters",
+    "closeness rank": 2
+   },
+   "window": {
+    "distance": "1.12 meters",
+    "closeness rank": 3
+   },
+   "door": {
+    "distance": "1.31 meters",
+    "closeness rank": 4
+   },
+   "sofa": {
+    "distance": "1.5 meters",
+    "closeness rank": 5
+   },
+   "towel": {
+    "distance": "1.6 meters",
+    "closeness rank": 6
+   },
+   "backpack": {
+    "distance": "1.8 meters",
+    "closeness rank": 7
+   },
+   "mirror": {
+    "distance": "1.94 meters",
+    "closeness rank": 8
+   },
+   "trash bin": {
+    "distance": "2.34 meters",
+    "closeness rank": 9
+   },
+   "printer": {
+    "distance": "2.42 meters",
+    "closeness rank": 10
+   },
+   "monitor": {
+    "distance": "2.53 meters",
+    "closeness rank": 11
+   },
+   "table": {
+    "distance": "2.56 meters",
+    "closeness rank": 12
+   },
+   "lamp": {
+    "distance": "2.58 meters",
+    "closeness rank": 13
+   },
+   "washing machine": {
+    "distance": "2.66 meters",
+    "closeness rank": 14
+   },
+   "chair": {
+    "distance": "2.76 meters",
+    "closeness rank": 15
+   },
+   "telephone": {
+    "distance": "3.0 meters",
+    "closeness rank": 16
+   }
+  },
+  "door": {
+   "sofa": {
+    "distance": "1.15 meters",
+    "closeness rank": 1
+   },
+   "closet": {
+    "distance": "1.31 meters",
+    "closeness rank": 2
+   },
+   "backpack": {
+    "distance": "1.42 meters",
+    "closeness rank": 3
+   },
+   "lamp": {
+    "distance": "1.73 meters",
+    "closeness rank": 4
+   },
+   "bookshelf": {
+    "distance": "1.94 meters",
+    "closeness rank": 5
+   },
+   "window": {
+    "distance": "2.13 meters",
+    "closeness rank": 6
+   },
+   "fan": {
+    "distance": "2.56 meters",
+    "closeness rank": 7
+   },
+   "towel": {
+    "distance": "2.61 meters",
+    "closeness rank": 8
+   },
+   "chair": {
+    "distance": "3.17 meters",
+    "closeness rank": 9
+   },
+   "mirror": {
+    "distance": "3.2 meters",
+    "closeness rank": 10
+   },
+   "printer": {
+    "distance": "3.58 meters",
+    "closeness rank": 11
+   },
+   "monitor": {
+    "distance": "3.59 meters",
+    "closeness rank": 12
+   },
+   "trash bin": {
+    "distance": "3.81 meters",
+    "closeness rank": 13
+   },
+   "washing machine": {
+    "distance": "4.02 meters",
+    "closeness rank": 14
+   },
+   "table": {
+    "distance": "4.09 meters",
+    "closeness rank": 15
+   },
+   "telephone": {
+    "distance": "4.48 meters",
+    "closeness rank": 16
+   }
+  },
+  "fan": {
+   "washing machine": {
+    "distance": "0.12 meters",
+    "closeness rank": 1
+   },
+   "table": {
+    "distance": "0.46 meters",
+    "closeness rank": 2
+   },
+   "printer": {
+    "distance": "0.48 meters",
+    "closeness rank": 3
+   },
+   "bookshelf": {
+    "distance": "0.49 meters",
+    "closeness rank": 4
+   },
+   "mirror": {
+    "distance": "0.72 meters",
+    "closeness rank": 5
+   },
+   "trash bin": {
+    "distance": "1.01 meters",
+    "closeness rank": 6
+   },
+   "closet": {
+    "distance": "1.03 meters",
+    "closeness rank": 7
+   },
+   "telephone": {
+    "distance": "1.11 meters",
+    "closeness rank": 8
+   },
+   "monitor": {
+    "distance": "1.12 meters",
+    "closeness rank": 9
+   },
+   "window": {
+    "distance": "1.13 meters",
+    "closeness rank": 10
+   },
+   "towel": {
+    "distance": "1.43 meters",
+    "closeness rank": 11
+   },
+   "door": {
+    "distance": "2.56 meters",
+    "closeness rank": 12
+   },
+   "sofa": {
+    "distance": "2.62 meters",
+    "closeness rank": 13
+   },
+   "backpack": {
+    "distance": "2.85 meters",
+    "closeness rank": 14
+   },
+   "chair": {
+    "distance": "3.08 meters",
+    "closeness rank": 15
+   },
+   "lamp": {
+    "distance": "3.59 meters",
+    "closeness rank": 16
+   }
+  },
+  "lamp": {
+   "backpack": {
+    "distance": "1.02 meters",
+    "closeness rank": 1
+   },
+   "sofa": {
+    "distance": "1.02 meters",
+    "closeness rank": 2
+   },
+   "door": {
+    "distance": "1.73 meters",
+    "closeness rank": 3
+   },
+   "bookshelf": {
+    "distance": "2.04 meters",
+    "closeness rank": 4
+   },
+   "window": {
+    "distance": "2.34 meters",
+    "closeness rank": 5
+   },
+   "chair": {
+    "distance": "2.55 meters",
+    "closeness rank": 6
+   },
+   "closet": {
+    "distance": "2.58 meters",
+    "closeness rank": 7
+   },
+   "towel": {
+    "distance": "2.63 meters",
+    "closeness rank": 8
+   },
+   "monitor": {
+    "distance": "3.23 meters",
+    "closeness rank": 9
+   },
+   "printer": {
+    "distance": "3.52 meters",
+    "closeness rank": 10
+   },
+   "fan": {
+    "distance": "3.59 meters",
+    "closeness rank": 11
+   },
+   "washing machine": {
+    "distance": "4.1 meters",
+    "closeness rank": 12
+   },
+   "mirror": {
+    "distance": "4.39 meters",
+    "closeness rank": 13
+   },
+   "trash bin": {
+    "distance": "4.88 meters",
+    "closeness rank": 14
+   },
+   "table": {
+    "distance": "4.99 meters",
+    "closeness rank": 15
+   },
+   "telephone": {
+    "distance": "5.13 meters",
+    "closeness rank": 16
+   }
+  },
+  "mirror": {
+   "bookshelf": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "trash bin": {
+    "distance": "0.63 meters",
+    "closeness rank": 2
+   },
+   "fan": {
+    "distance": "0.72 meters",
+    "closeness rank": 3
+   },
+   "table": {
+    "distance": "1.31 meters",
+    "closeness rank": 4
+   },
+   "telephone": {
+    "distance": "1.89 meters",
+    "closeness rank": 5
+   },
+   "closet": {
+    "distance": "1.94 meters",
+    "closeness rank": 6
+   },
+   "window": {
+    "distance": "2.07 meters",
+    "closeness rank": 7
+   },
+   "towel": {
+    "distance": "2.29 meters",
+    "closeness rank": 8
+   },
+   "printer": {
+    "distance": "2.6 meters",
+    "closeness rank": 9
+   },
+   "washing machine": {
+    "distance": "2.6 meters",
+    "closeness rank": 10
+   },
+   "monitor": {
+    "distance": "2.97 meters",
+    "closeness rank": 11
+   },
+   "door": {
+    "distance": "3.2 meters",
+    "closeness rank": 12
+   },
+   "sofa": {
+    "distance": "3.52 meters",
+    "closeness rank": 13
+   },
+   "backpack": {
+    "distance": "3.78 meters",
+    "closeness rank": 14
+   },
+   "chair": {
+    "distance": "4.27 meters",
+    "closeness rank": 15
+   },
+   "lamp": {
+    "distance": "4.39 meters",
+    "closeness rank": 16
+   }
+  },
+  "monitor": {
+   "printer": {
+    "distance": "0.19 meters",
+    "closeness rank": 1
+   },
+   "window": {
+    "distance": "0.27 meters",
+    "closeness rank": 2
+   },
+   "bookshelf": {
+    "distance": "0.37 meters",
+    "closeness rank": 3
+   },
+   "washing machine": {
+    "distance": "0.74 meters",
+    "closeness rank": 4
+   },
+   "towel": {
+    "distance": "0.8 meters",
+    "closeness rank": 5
+   },
+   "fan": {
+    "distance": "1.12 meters",
+    "closeness rank": 6
+   },
+   "table": {
+    "distance": "1.81 meters",
+    "closeness rank": 7
+   },
+   "chair": {
+    "distance": "1.93 meters",
+    "closeness rank": 8
+   },
+   "telephone": {
+    "distance": "2.18 meters",
+    "closeness rank": 9
+   },
+   "sofa": {
+    "distance": "2.23 meters",
+    "closeness rank": 10
+   },
+   "closet": {
+    "distance": "2.53 meters",
+    "closeness rank": 11
+   },
+   "trash bin": {
+    "distance": "2.58 meters",
+    "closeness rank": 12
+   },
+   "backpack": {
+    "distance": "2.68 meters",
+    "closeness rank": 13
+   },
+   "mirror": {
+    "distance": "2.97 meters",
+    "closeness rank": 14
+   },
+   "lamp": {
+    "distance": "3.23 meters",
+    "closeness rank": 15
+   },
+   "door": {
+    "distance": "3.59 meters",
+    "closeness rank": 16
+   }
+  },
+  "printer": {
+   "washing machine": {
+    "distance": "0.06 meters",
+    "closeness rank": 1
+   },
+   "monitor": {
+    "distance": "0.19 meters",
+    "closeness rank": 2
+   },
+   "fan": {
+    "distance": "0.48 meters",
+    "closeness rank": 3
+   },
+   "bookshelf": {
+    "distance": "0.6 meters",
+    "closeness rank": 4
+   },
+   "window": {
+    "distance": "0.62 meters",
+    "closeness rank": 5
+   },
+   "towel": {
+    "distance": "0.97 meters",
+    "closeness rank": 6
+   },
+   "table": {
+    "distance": "1.09 meters",
+    "closeness rank": 7
+   },
+   "telephone": {
+    "distance": "1.46 meters",
+    "closeness rank": 8
+   },
+   "trash bin": {
+    "distance": "1.98 meters",
+    "closeness rank": 9
+   },
+   "chair": {
+    "distance": "2.1 meters",
+    "closeness rank": 10
+   },
+   "closet": {
+    "distance": "2.42 meters",
+    "closeness rank": 11
+   },
+   "sofa": {
+    "distance": "2.45 meters",
+    "closeness rank": 12
+   },
+   "mirror": {
+    "distance": "2.6 meters",
+    "closeness rank": 13
+   },
+   "backpack": {
+    "distance": "2.81 meters",
+    "closeness rank": 14
+   },
+   "lamp": {
+    "distance": "3.52 meters",
+    "closeness rank": 15
+   },
+   "door": {
+    "distance": "3.58 meters",
+    "closeness rank": 16
+   }
+  },
+  "sofa": {
+   "backpack": {
+    "distance": "0.03 meters",
+    "closeness rank": 1
+   },
+   "chair": {
+    "distance": "0.8 meters",
+    "closeness rank": 2
+   },
+   "lamp": {
+    "distance": "1.02 meters",
+    "closeness rank": 3
+   },
+   "door": {
+    "distance": "1.15 meters",
+    "closeness rank": 4
+   },
+   "bookshelf": {
+    "distance": "1.16 meters",
+    "closeness rank": 5
+   },
+   "closet": {
+    "distance": "1.5 meters",
+    "closeness rank": 6
+   },
+   "window": {
+    "distance": "1.59 meters",
+    "closeness rank": 7
+   },
+   "towel": {
+    "distance": "2.09 meters",
+    "closeness rank": 8
+   },
+   "monitor": {
+    "distance": "2.23 meters",
+    "closeness rank": 9
+   },
+   "printer": {
+    "distance": "2.45 meters",
+    "closeness rank": 10
+   },
+   "fan": {
+    "distance": "2.62 meters",
+    "closeness rank": 11
+   },
+   "washing machine": {
+    "distance": "3.04 meters",
+    "closeness rank": 12
+   },
+   "mirror": {
+    "distance": "3.52 meters",
+    "closeness rank": 13
+   },
+   "trash bin": {
+    "distance": "3.94 meters",
+    "closeness rank": 14
+   },
+   "table": {
+    "distance": "4.02 meters",
+    "closeness rank": 15
+   },
+   "telephone": {
+    "distance": "4.19 meters",
+    "closeness rank": 16
+   }
+  },
+  "table": {
+   "telephone": {
+    "distance": "0.06 meters",
+    "closeness rank": 1
+   },
+   "trash bin": {
+    "distance": "0.2 meters",
+    "closeness rank": 2
+   },
+   "fan": {
+    "distance": "0.46 meters",
+    "closeness rank": 3
+   },
+   "washing machine": {
+    "distance": "0.62 meters",
+    "closeness rank": 4
+   },
+   "bookshelf": {
+    "distance": "0.7 meters",
+    "closeness rank": 5
+   },
+   "printer": {
+    "distance": "1.09 meters",
+    "closeness rank": 6
+   },
+   "mirror": {
+    "distance": "1.31 meters",
+    "closeness rank": 7
+   },
+   "monitor": {
+    "distance": "1.81 meters",
+    "closeness rank": 8
+   },
+   "window": {
+    "distance": "2.25 meters",
+    "closeness rank": 9
+   },
+   "towel": {
+    "distance": "2.3 meters",
+    "closeness rank": 10
+   },
+   "closet": {
+    "distance": "2.56 meters",
+    "closeness rank": 11
+   },
+   "chair": {
+    "distance": "3.63 meters",
+    "closeness rank": 12
+   },
+   "sofa": {
+    "distance": "4.02 meters",
+    "closeness rank": 13
+   },
+   "door": {
+    "distance": "4.09 meters",
+    "closeness rank": 14
+   },
+   "backpack": {
+    "distance": "4.22 meters",
+    "closeness rank": 15
+   },
+   "lamp": {
+    "distance": "4.99 meters",
+    "closeness rank": 16
+   }
+  },
+  "telephone": {
+   "table": {
+    "distance": "0.06 meters",
+    "closeness rank": 1
+   },
+   "trash bin": {
+    "distance": "0.92 meters",
+    "closeness rank": 2
+   },
+   "fan": {
+    "distance": "1.11 meters",
+    "closeness rank": 3
+   },
+   "washing machine": {
+    "distance": "1.13 meters",
+    "closeness rank": 4
+   },
+   "bookshelf": {
+    "distance": "1.43 meters",
+    "closeness rank": 5
+   },
+   "printer": {
+    "distance": "1.46 meters",
+    "closeness rank": 6
+   },
+   "mirror": {
+    "distance": "1.89 meters",
+    "closeness rank": 7
+   },
+   "monitor": {
+    "distance": "2.18 meters",
+    "closeness rank": 8
+   },
+   "window": {
+    "distance": "2.4 meters",
+    "closeness rank": 9
+   },
+   "towel": {
+    "distance": "2.45 meters",
+    "closeness rank": 10
+   },
+   "closet": {
+    "distance": "3.0 meters",
+    "closeness rank": 11
+   },
+   "chair": {
+    "distance": "3.98 meters",
+    "closeness rank": 12
+   },
+   "sofa": {
+    "distance": "4.19 meters",
+    "closeness rank": 13
+   },
+   "backpack": {
+    "distance": "4.38 meters",
+    "closeness rank": 14
+   },
+   "door": {
+    "distance": "4.48 meters",
+    "closeness rank": 15
+   },
+   "lamp": {
+    "distance": "5.13 meters",
+    "closeness rank": 16
+   }
+  },
+  "towel": {
+   "window": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "bookshelf": {
+    "distance": "0.24 meters",
+    "closeness rank": 2
+   },
+   "monitor": {
+    "distance": "0.8 meters",
+    "closeness rank": 3
+   },
+   "printer": {
+    "distance": "0.97 meters",
+    "closeness rank": 4
+   },
+   "fan": {
+    "distance": "1.43 meters",
+    "closeness rank": 5
+   },
+   "washing machine": {
+    "distance": "1.44 meters",
+    "closeness rank": 6
+   },
+   "closet": {
+    "distance": "1.6 meters",
+    "closeness rank": 7
+   },
+   "sofa": {
+    "distance": "2.09 meters",
+    "closeness rank": 8
+   },
+   "chair": {
+    "distance": "2.14 meters",
+    "closeness rank": 9
+   },
+   "backpack": {
+    "distance": "2.22 meters",
+    "closeness rank": 10
+   },
+   "mirror": {
+    "distance": "2.29 meters",
+    "closeness rank": 11
+   },
+   "table": {
+    "distance": "2.3 meters",
+    "closeness rank": 12
+   },
+   "trash bin": {
+    "distance": "2.38 meters",
+    "closeness rank": 13
+   },
+   "telephone": {
+    "distance": "2.45 meters",
+    "closeness rank": 14
+   },
+   "door": {
+    "distance": "2.61 meters",
+    "closeness rank": 15
+   },
+   "lamp": {
+    "distance": "2.63 meters",
+    "closeness rank": 16
+   }
+  },
+  "trash bin": {
+   "bookshelf": {
+    "distance": "0.12 meters",
+    "closeness rank": 1
+   },
+   "table": {
+    "distance": "0.2 meters",
+    "closeness rank": 2
+   },
+   "mirror": {
+    "distance": "0.63 meters",
+    "closeness rank": 3
+   },
+   "telephone": {
+    "distance": "0.92 meters",
+    "closeness rank": 4
+   },
+   "fan": {
+    "distance": "1.01 meters",
+    "closeness rank": 5
+   },
+   "washing machine": {
+    "distance": "1.85 meters",
+    "closeness rank": 6
+   },
+   "printer": {
+    "distance": "1.98 meters",
+    "closeness rank": 7
+   },
+   "window": {
+    "distance": "2.23 meters",
+    "closeness rank": 8
+   },
+   "closet": {
+    "distance": "2.34 meters",
+    "closeness rank": 9
+   },
+   "towel": {
+    "distance": "2.38 meters",
+    "closeness rank": 10
+   },
+   "monitor": {
+    "distance": "2.58 meters",
+    "closeness rank": 11
+   },
+   "door": {
+    "distance": "3.81 meters",
+    "closeness rank": 12
+   },
+   "sofa": {
+    "distance": "3.94 meters",
+    "closeness rank": 13
+   },
+   "backpack": {
+    "distance": "4.14 meters",
+    "closeness rank": 14
+   },
+   "chair": {
+    "distance": "4.15 meters",
+    "closeness rank": 15
+   },
+   "lamp": {
+    "distance": "4.88 meters",
+    "closeness rank": 16
+   }
+  },
+  "washing machine": {
+   "printer": {
+    "distance": "0.06 meters",
+    "closeness rank": 1
+   },
+   "fan": {
+    "distance": "0.12 meters",
+    "closeness rank": 2
+   },
+   "table": {
+    "distance": "0.62 meters",
+    "closeness rank": 3
+   },
+   "monitor": {
+    "distance": "0.74 meters",
+    "closeness rank": 4
+   },
+   "telephone": {
+    "distance": "1.13 meters",
+    "closeness rank": 5
+   },
+   "bookshelf": {
+    "distance": "1.19 meters",
+    "closeness rank": 6
+   },
+   "window": {
+    "distance": "1.22 meters",
+    "closeness rank": 7
+   },
+   "towel": {
+    "distance": "1.44 meters",
+    "closeness rank": 8
+   },
+   "trash bin": {
+    "distance": "1.85 meters",
+    "closeness rank": 9
+   },
+   "mirror": {
+    "distance": "2.6 meters",
+    "closeness rank": 10
+   },
+   "chair": {
+    "distance": "2.61 meters",
+    "closeness rank": 11
+   },
+   "closet": {
+    "distance": "2.66 meters",
+    "closeness rank": 12
+   },
+   "sofa": {
+    "distance": "3.04 meters",
+    "closeness rank": 13
+   },
+   "backpack": {
+    "distance": "3.39 meters",
+    "closeness rank": 14
+   },
+   "door": {
+    "distance": "4.02 meters",
+    "closeness rank": 15
+   },
+   "lamp": {
+    "distance": "4.1 meters",
+    "closeness rank": 16
+   }
+  },
+  "window": {
+   "bookshelf": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "towel": {
+    "distance": "0.0 meters",
+    "closeness rank": 2
+   },
+   "monitor": {
+    "distance": "0.27 meters",
+    "closeness rank": 3
+   },
+   "printer": {
+    "distance": "0.62 meters",
+    "closeness rank": 4
+   },
+   "closet": {
+    "distance": "1.12 meters",
+    "closeness rank": 5
+   },
+   "fan": {
+    "distance": "1.13 meters",
+    "closeness rank": 6
+   },
+   "washing machine": {
+    "distance": "1.22 meters",
+    "closeness rank": 7
+   },
+   "chair": {
+    "distance": "1.5 meters",
+    "closeness rank": 8
+   },
+   "sofa": {
+    "distance": "1.59 meters",
+    "closeness rank": 9
+   },
+   "backpack": {
+    "distance": "1.73 meters",
+    "closeness rank": 10
+   },
+   "mirror": {
+    "distance": "2.07 meters",
+    "closeness rank": 11
+   },
+   "door": {
+    "distance": "2.13 meters",
+    "closeness rank": 12
+   },
+   "trash bin": {
+    "distance": "2.23 meters",
+    "closeness rank": 13
+   },
+   "table": {
+    "distance": "2.25 meters",
+    "closeness rank": 14
+   },
+   "lamp": {
+    "distance": "2.34 meters",
+    "closeness rank": 15
+   },
+   "telephone": {
+    "distance": "2.4 meters",
+    "closeness rank": 16
+   }
+  }
+ },
+ "appearance order": ["window", "monitor", "printer", "door", "trash bin", "washing machine", "table", "telephone", "fan", "mirror", "towel", "sofa", "backpack", "bookshelf", "closet", "lamp", "chair"]
+}
\ No newline at end of file
diff --git a/data/spatial codes/sam3+depth-anything-3/metric/tracking/uniform/64/explicit/scene0647_00.json b/data/spatial codes/sam3+depth-anything-3/metric/tracking/uniform/64/explicit/scene0647_00.json
new file mode 100644
index 0000000000000000000000000000000000000000..7c233454170366dd3b7a71142cd7fa73af532d67
--- /dev/null
+++ b/data/spatial codes/sam3+depth-anything-3/metric/tracking/uniform/64/explicit/scene0647_00.json	
@@ -0,0 +1,497 @@
+{
+ "objects": {
+  "backpack": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "1.01 meters",
+      "y coordinate": "1.04 meters",
+      "height above floor": "4.16 meters"
+     },
+     "longest dimension": "0.44 meters"
+    }
+   ]
+  },
+  "chair": {
+   "count": 2,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "0.63 meters",
+      "y coordinate": "1.76 meters",
+      "height above floor": "3.97 meters"
+     },
+     "longest dimension": "0.76 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "0.72 meters",
+      "y coordinate": "0.39 meters",
+      "height above floor": "4.5 meters"
+     },
+     "longest dimension": "0.63 meters"
+    }
+   ]
+  },
+  "door": {
+   "count": 3,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-0.22 meters",
+      "y coordinate": "3.12 meters",
+      "height above floor": "4.62 meters"
+     },
+     "longest dimension": "1.55 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "0.09 meters",
+      "y coordinate": "1.07 meters",
+      "height above floor": "0.03 meters"
+     },
+     "longest dimension": "1.45 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-0.32 meters",
+      "y coordinate": "1.99 meters",
+      "height above floor": "0.0 meters"
+     },
+     "longest dimension": "1.72 meters"
+    }
+   ]
+  },
+  "fan": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-0.71 meters",
+      "y coordinate": "-0.23 meters",
+      "height above floor": "1.08 meters"
+     },
+     "longest dimension": "0.78 meters"
+    }
+   ]
+  },
+  "lamp": {
+   "count": 3,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-0.73 meters",
+      "y coordinate": "-0.18 meters",
+      "height above floor": "1.06 meters"
+     },
+     "longest dimension": "0.55 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-0.73 meters",
+      "y coordinate": "-0.23 meters",
+      "height above floor": "1.09 meters"
+     },
+     "longest dimension": "0.81 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-1.65 meters",
+      "y coordinate": "4.28 meters",
+      "height above floor": "3.55 meters"
+     },
+     "longest dimension": "0.27 meters"
+    }
+   ]
+  },
+  "monitor": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-1.4 meters",
+      "y coordinate": "5.29 meters",
+      "height above floor": "3.55 meters"
+     },
+     "longest dimension": "1.23 meters"
+    }
+   ]
+  },
+  "sofa": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "1.16 meters",
+      "y coordinate": "-0.63 meters",
+      "height above floor": "3.55 meters"
+     },
+     "longest dimension": "2.1 meters"
+    }
+   ]
+  },
+  "table": {
+   "count": 4,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-0.06 meters",
+      "y coordinate": "3.38 meters",
+      "height above floor": "1.7 meters"
+     },
+     "longest dimension": "2.11 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "0.85 meters",
+      "y coordinate": "-0.07 meters",
+      "height above floor": "3.57 meters"
+     },
+     "longest dimension": "0.98 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-0.55 meters",
+      "y coordinate": "4.49 meters",
+      "height above floor": "3.88 meters"
+     },
+     "longest dimension": "0.69 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "0.6 meters",
+      "y coordinate": "-0.42 meters",
+      "height above floor": "1.05 meters"
+     },
+     "longest dimension": "0.78 meters"
+    }
+   ]
+  },
+  "tv": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-1.39 meters",
+      "y coordinate": "5.29 meters",
+      "height above floor": "3.55 meters"
+     },
+     "longest dimension": "1.23 meters"
+    }
+   ]
+  }
+ },
+ "room": {
+  "floor area": "16.8 square meters"
+ },
+ "closest classes distance meters from": {
+  "backpack": {
+   "sofa": {
+    "distance": "0.22 meters",
+    "closeness rank": 1
+   },
+   "chair": {
+    "distance": "0.26 meters",
+    "closeness rank": 2
+   },
+   "door": {
+    "distance": "1.81 meters",
+    "closeness rank": 3
+   },
+   "table": {
+    "distance": "2.37 meters",
+    "closeness rank": 4
+   },
+   "lamp": {
+    "distance": "3.36 meters",
+    "closeness rank": 5
+   },
+   "fan": {
+    "distance": "3.41 meters",
+    "closeness rank": 6
+   },
+   "monitor": {
+    "distance": "4.57 meters",
+    "closeness rank": 7
+   },
+   "tv": {
+    "distance": "4.57 meters",
+    "closeness rank": 8
+   }
+  },
+  "chair": {
+   "backpack": {
+    "distance": "0.26 meters",
+    "closeness rank": 1
+   },
+   "sofa": {
+    "distance": "0.8 meters",
+    "closeness rank": 2
+   },
+   "door": {
+    "distance": "0.99 meters",
+    "closeness rank": 3
+   },
+   "table": {
+    "distance": "1.78 meters",
+    "closeness rank": 4
+   },
+   "fan": {
+    "distance": "3.1 meters",
+    "closeness rank": 5
+   },
+   "lamp": {
+    "distance": "3.15 meters",
+    "closeness rank": 6
+   },
+   "monitor": {
+    "distance": "3.59 meters",
+    "closeness rank": 7
+   },
+   "tv": {
+    "distance": "3.59 meters",
+    "closeness rank": 8
+   }
+  },
+  "door": {
+   "chair": {
+    "distance": "0.99 meters",
+    "closeness rank": 1
+   },
+   "fan": {
+    "distance": "1.46 meters",
+    "closeness rank": 2
+   },
+   "backpack": {
+    "distance": "1.81 meters",
+    "closeness rank": 3
+   },
+   "monitor": {
+    "distance": "1.83 meters",
+    "closeness rank": 4
+   },
+   "tv": {
+    "distance": "1.83 meters",
+    "closeness rank": 5
+   },
+   "sofa": {
+    "distance": "2.22 meters",
+    "closeness rank": 6
+   },
+   "table": {
+    "distance": "2.25 meters",
+    "closeness rank": 7
+   },
+   "lamp": {
+    "distance": "4.24 meters",
+    "closeness rank": 8
+   }
+  },
+  "fan": {
+   "lamp": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "tv": {
+    "distance": "0.59 meters",
+    "closeness rank": 2
+   },
+   "monitor": {
+    "distance": "0.64 meters",
+    "closeness rank": 3
+   },
+   "door": {
+    "distance": "1.46 meters",
+    "closeness rank": 4
+   },
+   "table": {
+    "distance": "1.73 meters",
+    "closeness rank": 5
+   },
+   "sofa": {
+    "distance": "2.11 meters",
+    "closeness rank": 6
+   },
+   "chair": {
+    "distance": "3.1 meters",
+    "closeness rank": 7
+   },
+   "backpack": {
+    "distance": "3.41 meters",
+    "closeness rank": 8
+   }
+  },
+  "lamp": {
+   "fan": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "table": {
+    "distance": "1.68 meters",
+    "closeness rank": 2
+   },
+   "sofa": {
+    "distance": "2.19 meters",
+    "closeness rank": 3
+   },
+   "chair": {
+    "distance": "3.15 meters",
+    "closeness rank": 4
+   },
+   "backpack": {
+    "distance": "3.36 meters",
+    "closeness rank": 5
+   },
+   "door": {
+    "distance": "4.24 meters",
+    "closeness rank": 6
+   },
+   "tv": {
+    "distance": "5.53 meters",
+    "closeness rank": 7
+   },
+   "monitor": {
+    "distance": "5.56 meters",
+    "closeness rank": 8
+   }
+  },
+  "monitor": {
+   "tv": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "fan": {
+    "distance": "0.64 meters",
+    "closeness rank": 2
+   },
+   "door": {
+    "distance": "1.83 meters",
+    "closeness rank": 3
+   },
+   "table": {
+    "distance": "1.86 meters",
+    "closeness rank": 4
+   },
+   "chair": {
+    "distance": "3.59 meters",
+    "closeness rank": 5
+   },
+   "backpack": {
+    "distance": "4.57 meters",
+    "closeness rank": 6
+   },
+   "sofa": {
+    "distance": "5.0 meters",
+    "closeness rank": 7
+   },
+   "lamp": {
+    "distance": "5.56 meters",
+    "closeness rank": 8
+   }
+  },
+  "sofa": {
+   "backpack": {
+    "distance": "0.22 meters",
+    "closeness rank": 1
+   },
+   "chair": {
+    "distance": "0.8 meters",
+    "closeness rank": 2
+   },
+   "fan": {
+    "distance": "2.11 meters",
+    "closeness rank": 3
+   },
+   "table": {
+    "distance": "2.18 meters",
+    "closeness rank": 4
+   },
+   "lamp": {
+    "distance": "2.19 meters",
+    "closeness rank": 5
+   },
+   "door": {
+    "distance": "2.22 meters",
+    "closeness rank": 6
+   },
+   "monitor": {
+    "distance": "5.0 meters",
+    "closeness rank": 7
+   },
+   "tv": {
+    "distance": "5.0 meters",
+    "closeness rank": 8
+   }
+  },
+  "table": {
+   "lamp": {
+    "distance": "1.68 meters",
+    "closeness rank": 1
+   },
+   "fan": {
+    "distance": "1.73 meters",
+    "closeness rank": 2
+   },
+   "chair": {
+    "distance": "1.78 meters",
+    "closeness rank": 3
+   },
+   "monitor": {
+    "distance": "1.86 meters",
+    "closeness rank": 4
+   },
+   "tv": {
+    "distance": "1.86 meters",
+    "closeness rank": 5
+   },
+   "sofa": {
+    "distance": "2.18 meters",
+    "closeness rank": 6
+   },
+   "door": {
+    "distance": "2.25 meters",
+    "closeness rank": 7
+   },
+   "backpack": {
+    "distance": "2.37 meters",
+    "closeness rank": 8
+   }
+  },
+  "tv": {
+   "monitor": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "fan": {
+    "distance": "0.59 meters",
+    "closeness rank": 2
+   },
+   "door": {
+    "distance": "1.83 meters",
+    "closeness rank": 3
+   },
+   "table": {
+    "distance": "1.86 meters",
+    "closeness rank": 4
+   },
+   "chair": {
+    "distance": "3.59 meters",
+    "closeness rank": 5
+   },
+   "backpack": {
+    "distance": "4.57 meters",
+    "closeness rank": 6
+   },
+   "sofa": {
+    "distance": "5.0 meters",
+    "closeness rank": 7
+   },
+   "lamp": {
+    "distance": "5.53 meters",
+    "closeness rank": 8
+   }
+  }
+ },
+ "appearance order": ["door", "table", "lamp", "fan", "sofa", "backpack", "chair", "tv", "monitor"]
+}
\ No newline at end of file
diff --git a/data/spatial codes/sam3+depth-anything-3/metric/tracking/uniform/64/explicit/scene0648_00.json b/data/spatial codes/sam3+depth-anything-3/metric/tracking/uniform/64/explicit/scene0648_00.json
new file mode 100644
index 0000000000000000000000000000000000000000..a24825eb2be2ec03e8214812342f99d9aae15ef0
--- /dev/null
+++ b/data/spatial codes/sam3+depth-anything-3/metric/tracking/uniform/64/explicit/scene0648_00.json	
@@ -0,0 +1,2507 @@
+{
+ "objects": {
+  "backpack": {
+   "count": 2,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-0.84 meters",
+      "y coordinate": "-0.39 meters",
+      "height above floor": "-0.81 meters"
+     },
+     "longest dimension": "0.42 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "0.44 meters",
+      "y coordinate": "0.48 meters",
+      "height above floor": "-0.89 meters"
+     },
+     "longest dimension": "0.41 meters"
+    }
+   ]
+  },
+  "bed": {
+   "count": 3,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-0.23 meters",
+      "y coordinate": "0.39 meters",
+      "height above floor": "-0.09 meters"
+     },
+     "longest dimension": "1.34 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "0.72 meters",
+      "y coordinate": "0.53 meters",
+      "height above floor": "-0.45 meters"
+     },
+     "longest dimension": "0.87 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "0.29 meters",
+      "y coordinate": "1.3 meters",
+      "height above floor": "0.11 meters"
+     },
+     "longest dimension": "1.14 meters"
+    }
+   ]
+  },
+  "bookshelf": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-0.79 meters",
+      "y coordinate": "-1.4 meters",
+      "height above floor": "-0.11 meters"
+     },
+     "longest dimension": "0.85 meters"
+    }
+   ]
+  },
+  "chair": {
+   "count": 3,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-0.41 meters",
+      "y coordinate": "-0.85 meters",
+      "height above floor": "-0.74 meters"
+     },
+     "longest dimension": "0.56 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "0.1 meters",
+      "y coordinate": "0.9 meters",
+      "height above floor": "-0.52 meters"
+     },
+     "longest dimension": "0.33 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-0.59 meters",
+      "y coordinate": "-0.33 meters",
+      "height above floor": "-0.29 meters"
+     },
+     "longest dimension": "0.63 meters"
+    }
+   ]
+  },
+  "clock": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "1.25 meters",
+      "y coordinate": "0.04 meters",
+      "height above floor": "-0.06 meters"
+     },
+     "longest dimension": "0.14 meters"
+    }
+   ]
+  },
+  "computer mouse": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "0.13 meters",
+      "y coordinate": "1.23 meters",
+      "height above floor": "-0.22 meters"
+     },
+     "longest dimension": "0.17 meters"
+    }
+   ]
+  },
+  "door": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-0.62 meters",
+      "y coordinate": "1.63 meters",
+      "height above floor": "0.05 meters"
+     },
+     "longest dimension": "1.04 meters"
+    }
+   ]
+  },
+  "fan": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-0.59 meters",
+      "y coordinate": "-0.33 meters",
+      "height above floor": "-0.29 meters"
+     },
+     "longest dimension": "0.65 meters"
+    }
+   ]
+  },
+  "keyboard": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-0.21 meters",
+      "y coordinate": "1.08 meters",
+      "height above floor": "-0.19 meters"
+     },
+     "longest dimension": "0.25 meters"
+    }
+   ]
+  },
+  "lamp": {
+   "count": 2,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-0.68 meters",
+      "y coordinate": "-0.17 meters",
+      "height above floor": "-0.21 meters"
+     },
+     "longest dimension": "0.5 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-1.13 meters",
+      "y coordinate": "-0.89 meters",
+      "height above floor": "-0.02 meters"
+     },
+     "longest dimension": "0.24 meters"
+    }
+   ]
+  },
+  "mattress": {
+   "count": 3,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-0.46 meters",
+      "y coordinate": "0.24 meters",
+      "height above floor": "-0.02 meters"
+     },
+     "longest dimension": "1.06 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "0.64 meters",
+      "y coordinate": "0.72 meters",
+      "height above floor": "-0.15 meters"
+     },
+     "longest dimension": "0.85 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "0.29 meters",
+      "y coordinate": "1.3 meters",
+      "height above floor": "0.11 meters"
+     },
+     "longest dimension": "1.14 meters"
+    }
+   ]
+  },
+  "mirror": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-0.69 meters",
+      "y coordinate": "-0.11 meters",
+      "height above floor": "-0.2 meters"
+     },
+     "longest dimension": "0.44 meters"
+    }
+   ]
+  },
+  "monitor": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-0.26 meters",
+      "y coordinate": "1.13 meters",
+      "height above floor": "-0.08 meters"
+     },
+     "longest dimension": "0.28 meters"
+    }
+   ]
+  },
+  "nightstand": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-1.01 meters",
+      "y coordinate": "-0.6 meters",
+      "height above floor": "-0.6 meters"
+     },
+     "longest dimension": "0.42 meters"
+    }
+   ]
+  },
+  "pillow": {
+   "count": 3,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "0.22 meters",
+      "y coordinate": "1.52 meters",
+      "height above floor": "0.31 meters"
+     },
+     "longest dimension": "0.67 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-1.19 meters",
+      "y coordinate": "-0.23 meters",
+      "height above floor": "0.3 meters"
+     },
+     "longest dimension": "0.41 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-1.17 meters",
+      "y coordinate": "-0.47 meters",
+      "height above floor": "0.22 meters"
+     },
+     "longest dimension": "0.39 meters"
+    }
+   ]
+  },
+  "plant": {
+   "count": 3,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-0.67 meters",
+      "y coordinate": "-1.55 meters",
+      "height above floor": "0.24 meters"
+     },
+     "longest dimension": "0.18 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-0.94 meters",
+      "y coordinate": "-1.17 meters",
+      "height above floor": "0.41 meters"
+     },
+     "longest dimension": "0.18 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-0.7 meters",
+      "y coordinate": "-1.6 meters",
+      "height above floor": "0.23 meters"
+     },
+     "longest dimension": "0.24 meters"
+    }
+   ]
+  },
+  "radiator": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-0.45 meters",
+      "y coordinate": "1.6 meters",
+      "height above floor": "-0.12 meters"
+     },
+     "longest dimension": "0.61 meters"
+    }
+   ]
+  },
+  "sofa": {
+   "count": 2,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-0.85 meters",
+      "y coordinate": "-0.24 meters",
+      "height above floor": "-0.19 meters"
+     },
+     "longest dimension": "0.9 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-0.39 meters",
+      "y coordinate": "0.1 meters",
+      "height above floor": "-0.67 meters"
+     },
+     "longest dimension": "0.4 meters"
+    }
+   ]
+  },
+  "table": {
+   "count": 2,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "0.0 meters",
+      "y coordinate": "0.63 meters",
+      "height above floor": "-0.07 meters"
+     },
+     "longest dimension": "1.13 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-0.65 meters",
+      "y coordinate": "-1.14 meters",
+      "height above floor": "-0.6 meters"
+     },
+     "longest dimension": "0.79 meters"
+    }
+   ]
+  },
+  "telephone": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-0.44 meters",
+      "y coordinate": "1.72 meters",
+      "height above floor": "0.15 meters"
+     },
+     "longest dimension": "0.28 meters"
+    }
+   ]
+  },
+  "towel": {
+   "count": 2,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-0.47 meters",
+      "y coordinate": "0.91 meters",
+      "height above floor": "0.25 meters"
+     },
+     "longest dimension": "0.23 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-0.5 meters",
+      "y coordinate": "-1.91 meters",
+      "height above floor": "-0.33 meters"
+     },
+     "longest dimension": "0.57 meters"
+    }
+   ]
+  },
+  "tv": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-0.26 meters",
+      "y coordinate": "1.13 meters",
+      "height above floor": "-0.08 meters"
+     },
+     "longest dimension": "0.28 meters"
+    }
+   ]
+  },
+  "window": {
+   "count": 2,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-0.56 meters",
+      "y coordinate": "1.8 meters",
+      "height above floor": "0.62 meters"
+     },
+     "longest dimension": "1.07 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-1.61 meters",
+      "y coordinate": "-0.76 meters",
+      "height above floor": "0.71 meters"
+     },
+     "longest dimension": "0.84 meters"
+    }
+   ]
+  }
+ },
+ "room": {
+  "floor area": "11.0 square meters"
+ },
+ "closest classes distance meters from": {
+  "backpack": {
+   "fan": {
+    "distance": "0.04 meters",
+    "closeness rank": 1
+   },
+   "nightstand": {
+    "distance": "0.06 meters",
+    "closeness rank": 2
+   },
+   "lamp": {
+    "distance": "0.19 meters",
+    "closeness rank": 3
+   },
+   "bed": {
+    "distance": "0.25 meters",
+    "closeness rank": 4
+   },
+   "chair": {
+    "distance": "0.25 meters",
+    "closeness rank": 5
+   },
+   "mattress": {
+    "distance": "0.25 meters",
+    "closeness rank": 6
+   },
+   "sofa": {
+    "distance": "0.25 meters",
+    "closeness rank": 7
+   },
+   "bookshelf": {
+    "distance": "0.46 meters",
+    "closeness rank": 8
+   },
+   "mirror": {
+    "distance": "0.46 meters",
+    "closeness rank": 9
+   },
+   "door": {
+    "distance": "0.96 meters",
+    "closeness rank": 10
+   },
+   "plant": {
+    "distance": "1.28 meters",
+    "closeness rank": 11
+   },
+   "table": {
+    "distance": "1.3 meters",
+    "closeness rank": 12
+   },
+   "towel": {
+    "distance": "1.32 meters",
+    "closeness rank": 13
+   },
+   "keyboard": {
+    "distance": "1.55 meters",
+    "closeness rank": 14
+   },
+   "monitor": {
+    "distance": "1.58 meters",
+    "closeness rank": 15
+   },
+   "tv": {
+    "distance": "1.58 meters",
+    "closeness rank": 16
+   },
+   "computer mouse": {
+    "distance": "1.84 meters",
+    "closeness rank": 17
+   },
+   "radiator": {
+    "distance": "1.86 meters",
+    "closeness rank": 18
+   },
+   "window": {
+    "distance": "2.08 meters",
+    "closeness rank": 19
+   },
+   "clock": {
+    "distance": "2.14 meters",
+    "closeness rank": 20
+   },
+   "telephone": {
+    "distance": "2.17 meters",
+    "closeness rank": 21
+   },
+   "pillow": {
+    "distance": "2.21 meters",
+    "closeness rank": 22
+   }
+  },
+  "bed": {
+   "chair": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "lamp": {
+    "distance": "0.0 meters",
+    "closeness rank": 2
+   },
+   "mattress": {
+    "distance": "0.0 meters",
+    "closeness rank": 3
+   },
+   "mirror": {
+    "distance": "0.0 meters",
+    "closeness rank": 4
+   },
+   "sofa": {
+    "distance": "0.0 meters",
+    "closeness rank": 5
+   },
+   "table": {
+    "distance": "0.0 meters",
+    "closeness rank": 6
+   },
+   "towel": {
+    "distance": "0.01 meters",
+    "closeness rank": 7
+   },
+   "nightstand": {
+    "distance": "0.07 meters",
+    "closeness rank": 8
+   },
+   "fan": {
+    "distance": "0.11 meters",
+    "closeness rank": 9
+   },
+   "backpack": {
+    "distance": "0.25 meters",
+    "closeness rank": 10
+   },
+   "bookshelf": {
+    "distance": "0.36 meters",
+    "closeness rank": 11
+   },
+   "door": {
+    "distance": "0.39 meters",
+    "closeness rank": 12
+   },
+   "monitor": {
+    "distance": "0.39 meters",
+    "closeness rank": 13
+   },
+   "tv": {
+    "distance": "0.39 meters",
+    "closeness rank": 14
+   },
+   "keyboard": {
+    "distance": "0.41 meters",
+    "closeness rank": 15
+   },
+   "computer mouse": {
+    "distance": "0.59 meters",
+    "closeness rank": 16
+   },
+   "pillow": {
+    "distance": "0.77 meters",
+    "closeness rank": 17
+   },
+   "window": {
+    "distance": "0.78 meters",
+    "closeness rank": 18
+   },
+   "radiator": {
+    "distance": "0.84 meters",
+    "closeness rank": 19
+   },
+   "telephone": {
+    "distance": "0.97 meters",
+    "closeness rank": 20
+   },
+   "plant": {
+    "distance": "1.07 meters",
+    "closeness rank": 21
+   },
+   "clock": {
+    "distance": "1.27 meters",
+    "closeness rank": 22
+   }
+  },
+  "bookshelf": {
+   "plant": {
+    "distance": "0.07 meters",
+    "closeness rank": 1
+   },
+   "nightstand": {
+    "distance": "0.21 meters",
+    "closeness rank": 2
+   },
+   "chair": {
+    "distance": "0.31 meters",
+    "closeness rank": 3
+   },
+   "mattress": {
+    "distance": "0.35 meters",
+    "closeness rank": 4
+   },
+   "bed": {
+    "distance": "0.36 meters",
+    "closeness rank": 5
+   },
+   "sofa": {
+    "distance": "0.4 meters",
+    "closeness rank": 6
+   },
+   "backpack": {
+    "distance": "0.46 meters",
+    "closeness rank": 7
+   },
+   "fan": {
+    "distance": "0.57 meters",
+    "closeness rank": 8
+   },
+   "lamp": {
+    "distance": "0.57 meters",
+    "closeness rank": 9
+   },
+   "mirror": {
+    "distance": "0.68 meters",
+    "closeness rank": 10
+   },
+   "door": {
+    "distance": "1.2 meters",
+    "closeness rank": 11
+   },
+   "towel": {
+    "distance": "1.6 meters",
+    "closeness rank": 12
+   },
+   "table": {
+    "distance": "1.75 meters",
+    "closeness rank": 13
+   },
+   "keyboard": {
+    "distance": "2.03 meters",
+    "closeness rank": 14
+   },
+   "monitor": {
+    "distance": "2.05 meters",
+    "closeness rank": 15
+   },
+   "tv": {
+    "distance": "2.06 meters",
+    "closeness rank": 16
+   },
+   "clock": {
+    "distance": "2.33 meters",
+    "closeness rank": 17
+   },
+   "radiator": {
+    "distance": "2.34 meters",
+    "closeness rank": 18
+   },
+   "computer mouse": {
+    "distance": "2.35 meters",
+    "closeness rank": 19
+   },
+   "window": {
+    "distance": "2.38 meters",
+    "closeness rank": 20
+   },
+   "telephone": {
+    "distance": "2.61 meters",
+    "closeness rank": 21
+   },
+   "pillow": {
+    "distance": "2.62 meters",
+    "closeness rank": 22
+   }
+  },
+  "chair": {
+   "bed": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "sofa": {
+    "distance": "0.0 meters",
+    "closeness rank": 2
+   },
+   "table": {
+    "distance": "0.0 meters",
+    "closeness rank": 3
+   },
+   "towel": {
+    "distance": "0.02 meters",
+    "closeness rank": 4
+   },
+   "mattress": {
+    "distance": "0.04 meters",
+    "closeness rank": 5
+   },
+   "nightstand": {
+    "distance": "0.15 meters",
+    "closeness rank": 6
+   },
+   "backpack": {
+    "distance": "0.25 meters",
+    "closeness rank": 7
+   },
+   "fan": {
+    "distance": "0.25 meters",
+    "closeness rank": 8
+   },
+   "door": {
+    "distance": "0.29 meters",
+    "closeness rank": 9
+   },
+   "bookshelf": {
+    "distance": "0.31 meters",
+    "closeness rank": 10
+   },
+   "monitor": {
+    "distance": "0.32 meters",
+    "closeness rank": 11
+   },
+   "tv": {
+    "distance": "0.32 meters",
+    "closeness rank": 12
+   },
+   "lamp": {
+    "distance": "0.35 meters",
+    "closeness rank": 13
+   },
+   "keyboard": {
+    "distance": "0.41 meters",
+    "closeness rank": 14
+   },
+   "computer mouse": {
+    "distance": "0.59 meters",
+    "closeness rank": 15
+   },
+   "mirror": {
+    "distance": "0.6 meters",
+    "closeness rank": 16
+   },
+   "pillow": {
+    "distance": "0.72 meters",
+    "closeness rank": 17
+   },
+   "radiator": {
+    "distance": "0.86 meters",
+    "closeness rank": 18
+   },
+   "telephone": {
+    "distance": "0.9 meters",
+    "closeness rank": 19
+   },
+   "plant": {
+    "distance": "0.95 meters",
+    "closeness rank": 20
+   },
+   "window": {
+    "distance": "1.07 meters",
+    "closeness rank": 21
+   },
+   "clock": {
+    "distance": "1.24 meters",
+    "closeness rank": 22
+   }
+  },
+  "clock": {
+   "table": {
+    "distance": "0.17 meters",
+    "closeness rank": 1
+   },
+   "chair": {
+    "distance": "1.24 meters",
+    "closeness rank": 2
+   },
+   "bed": {
+    "distance": "1.27 meters",
+    "closeness rank": 3
+   },
+   "sofa": {
+    "distance": "1.33 meters",
+    "closeness rank": 4
+   },
+   "mattress": {
+    "distance": "1.34 meters",
+    "closeness rank": 5
+   },
+   "towel": {
+    "distance": "1.47 meters",
+    "closeness rank": 6
+   },
+   "door": {
+    "distance": "1.48 meters",
+    "closeness rank": 7
+   },
+   "computer mouse": {
+    "distance": "1.56 meters",
+    "closeness rank": 8
+   },
+   "fan": {
+    "distance": "1.59 meters",
+    "closeness rank": 9
+   },
+   "lamp": {
+    "distance": "1.59 meters",
+    "closeness rank": 10
+   },
+   "pillow": {
+    "distance": "1.7 meters",
+    "closeness rank": 11
+   },
+   "keyboard": {
+    "distance": "1.72 meters",
+    "closeness rank": 12
+   },
+   "mirror": {
+    "distance": "1.73 meters",
+    "closeness rank": 13
+   },
+   "monitor": {
+    "distance": "1.82 meters",
+    "closeness rank": 14
+   },
+   "tv": {
+    "distance": "1.82 meters",
+    "closeness rank": 15
+   },
+   "backpack": {
+    "distance": "2.14 meters",
+    "closeness rank": 16
+   },
+   "nightstand": {
+    "distance": "2.22 meters",
+    "closeness rank": 17
+   },
+   "radiator": {
+    "distance": "2.26 meters",
+    "closeness rank": 18
+   },
+   "telephone": {
+    "distance": "2.31 meters",
+    "closeness rank": 19
+   },
+   "bookshelf": {
+    "distance": "2.33 meters",
+    "closeness rank": 20
+   },
+   "plant": {
+    "distance": "2.4 meters",
+    "closeness rank": 21
+   },
+   "window": {
+    "distance": "2.5 meters",
+    "closeness rank": 22
+   }
+  },
+  "computer mouse": {
+   "table": {
+    "distance": "0.06 meters",
+    "closeness rank": 1
+   },
+   "door": {
+    "distance": "0.1 meters",
+    "closeness rank": 2
+   },
+   "keyboard": {
+    "distance": "0.15 meters",
+    "closeness rank": 3
+   },
+   "monitor": {
+    "distance": "0.22 meters",
+    "closeness rank": 4
+   },
+   "tv": {
+    "distance": "0.22 meters",
+    "closeness rank": 5
+   },
+   "pillow": {
+    "distance": "0.39 meters",
+    "closeness rank": 6
+   },
+   "towel": {
+    "distance": "0.49 meters",
+    "closeness rank": 7
+   },
+   "radiator": {
+    "distance": "0.54 meters",
+    "closeness rank": 8
+   },
+   "bed": {
+    "distance": "0.59 meters",
+    "closeness rank": 9
+   },
+   "chair": {
+    "distance": "0.59 meters",
+    "closeness rank": 10
+   },
+   "mattress": {
+    "distance": "0.59 meters",
+    "closeness rank": 11
+   },
+   "sofa": {
+    "distance": "0.59 meters",
+    "closeness rank": 12
+   },
+   "telephone": {
+    "distance": "0.66 meters",
+    "closeness rank": 13
+   },
+   "window": {
+    "distance": "0.88 meters",
+    "closeness rank": 14
+   },
+   "lamp": {
+    "distance": "1.25 meters",
+    "closeness rank": 15
+   },
+   "mirror": {
+    "distance": "1.28 meters",
+    "closeness rank": 16
+   },
+   "fan": {
+    "distance": "1.44 meters",
+    "closeness rank": 17
+   },
+   "clock": {
+    "distance": "1.56 meters",
+    "closeness rank": 18
+   },
+   "backpack": {
+    "distance": "1.84 meters",
+    "closeness rank": 19
+   },
+   "nightstand": {
+    "distance": "1.99 meters",
+    "closeness rank": 20
+   },
+   "bookshelf": {
+    "distance": "2.35 meters",
+    "closeness rank": 21
+   },
+   "plant": {
+    "distance": "2.79 meters",
+    "closeness rank": 22
+   }
+  },
+  "door": {
+   "radiator": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "telephone": {
+    "distance": "0.01 meters",
+    "closeness rank": 2
+   },
+   "table": {
+    "distance": "0.03 meters",
+    "closeness rank": 3
+   },
+   "window": {
+    "distance": "0.03 meters",
+    "closeness rank": 4
+   },
+   "computer mouse": {
+    "distance": "0.1 meters",
+    "closeness rank": 5
+   },
+   "chair": {
+    "distance": "0.29 meters",
+    "closeness rank": 6
+   },
+   "keyboard": {
+    "distance": "0.33 meters",
+    "closeness rank": 7
+   },
+   "mattress": {
+    "distance": "0.38 meters",
+    "closeness rank": 8
+   },
+   "pillow": {
+    "distance": "0.38 meters",
+    "closeness rank": 9
+   },
+   "bed": {
+    "distance": "0.39 meters",
+    "closeness rank": 10
+   },
+   "monitor": {
+    "distance": "0.42 meters",
+    "closeness rank": 11
+   },
+   "tv": {
+    "distance": "0.42 meters",
+    "closeness rank": 12
+   },
+   "sofa": {
+    "distance": "0.53 meters",
+    "closeness rank": 13
+   },
+   "towel": {
+    "distance": "0.55 meters",
+    "closeness rank": 14
+   },
+   "lamp": {
+    "distance": "0.63 meters",
+    "closeness rank": 15
+   },
+   "fan": {
+    "distance": "0.72 meters",
+    "closeness rank": 16
+   },
+   "mirror": {
+    "distance": "0.75 meters",
+    "closeness rank": 17
+   },
+   "backpack": {
+    "distance": "0.96 meters",
+    "closeness rank": 18
+   },
+   "bookshelf": {
+    "distance": "1.2 meters",
+    "closeness rank": 19
+   },
+   "nightstand": {
+    "distance": "1.23 meters",
+    "closeness rank": 20
+   },
+   "clock": {
+    "distance": "1.48 meters",
+    "closeness rank": 21
+   },
+   "plant": {
+    "distance": "1.84 meters",
+    "closeness rank": 22
+   }
+  },
+  "fan": {
+   "lamp": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "backpack": {
+    "distance": "0.04 meters",
+    "closeness rank": 2
+   },
+   "bed": {
+    "distance": "0.11 meters",
+    "closeness rank": 3
+   },
+   "mattress": {
+    "distance": "0.11 meters",
+    "closeness rank": 4
+   },
+   "mirror": {
+    "distance": "0.11 meters",
+    "closeness rank": 5
+   },
+   "sofa": {
+    "distance": "0.11 meters",
+    "closeness rank": 6
+   },
+   "chair": {
+    "distance": "0.25 meters",
+    "closeness rank": 7
+   },
+   "nightstand": {
+    "distance": "0.3 meters",
+    "closeness rank": 8
+   },
+   "bookshelf": {
+    "distance": "0.57 meters",
+    "closeness rank": 9
+   },
+   "door": {
+    "distance": "0.72 meters",
+    "closeness rank": 10
+   },
+   "towel": {
+    "distance": "0.74 meters",
+    "closeness rank": 11
+   },
+   "table": {
+    "distance": "0.81 meters",
+    "closeness rank": 12
+   },
+   "plant": {
+    "distance": "1.12 meters",
+    "closeness rank": 13
+   },
+   "keyboard": {
+    "distance": "1.17 meters",
+    "closeness rank": 14
+   },
+   "monitor": {
+    "distance": "1.23 meters",
+    "closeness rank": 15
+   },
+   "tv": {
+    "distance": "1.23 meters",
+    "closeness rank": 16
+   },
+   "computer mouse": {
+    "distance": "1.44 meters",
+    "closeness rank": 17
+   },
+   "clock": {
+    "distance": "1.59 meters",
+    "closeness rank": 18
+   },
+   "radiator": {
+    "distance": "1.63 meters",
+    "closeness rank": 19
+   },
+   "pillow": {
+    "distance": "1.74 meters",
+    "closeness rank": 20
+   },
+   "window": {
+    "distance": "1.79 meters",
+    "closeness rank": 21
+   },
+   "telephone": {
+    "distance": "1.84 meters",
+    "closeness rank": 22
+   }
+  },
+  "keyboard": {
+   "monitor": {
+    "distance": "0.02 meters",
+    "closeness rank": 1
+   },
+   "tv": {
+    "distance": "0.02 meters",
+    "closeness rank": 2
+   },
+   "table": {
+    "distance": "0.03 meters",
+    "closeness rank": 3
+   },
+   "computer mouse": {
+    "distance": "0.15 meters",
+    "closeness rank": 4
+   },
+   "towel": {
+    "distance": "0.26 meters",
+    "closeness rank": 5
+   },
+   "door": {
+    "distance": "0.33 meters",
+    "closeness rank": 6
+   },
+   "mattress": {
+    "distance": "0.38 meters",
+    "closeness rank": 7
+   },
+   "sofa": {
+    "distance": "0.4 meters",
+    "closeness rank": 8
+   },
+   "bed": {
+    "distance": "0.41 meters",
+    "closeness rank": 9
+   },
+   "chair": {
+    "distance": "0.41 meters",
+    "closeness rank": 10
+   },
+   "radiator": {
+    "distance": "0.48 meters",
+    "closeness rank": 11
+   },
+   "pillow": {
+    "distance": "0.49 meters",
+    "closeness rank": 12
+   },
+   "telephone": {
+    "distance": "0.59 meters",
+    "closeness rank": 13
+   },
+   "window": {
+    "distance": "0.82 meters",
+    "closeness rank": 14
+   },
+   "lamp": {
+    "distance": "0.95 meters",
+    "closeness rank": 15
+   },
+   "mirror": {
+    "distance": "0.98 meters",
+    "closeness rank": 16
+   },
+   "fan": {
+    "distance": "1.17 meters",
+    "closeness rank": 17
+   },
+   "backpack": {
+    "distance": "1.55 meters",
+    "closeness rank": 18
+   },
+   "nightstand": {
+    "distance": "1.66 meters",
+    "closeness rank": 19
+   },
+   "clock": {
+    "distance": "1.72 meters",
+    "closeness rank": 20
+   },
+   "bookshelf": {
+    "distance": "2.03 meters",
+    "closeness rank": 21
+   },
+   "plant": {
+    "distance": "2.53 meters",
+    "closeness rank": 22
+   }
+  },
+  "lamp": {
+   "bed": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "fan": {
+    "distance": "0.0 meters",
+    "closeness rank": 2
+   },
+   "mattress": {
+    "distance": "0.0 meters",
+    "closeness rank": 3
+   },
+   "mirror": {
+    "distance": "0.0 meters",
+    "closeness rank": 4
+   },
+   "sofa": {
+    "distance": "0.0 meters",
+    "closeness rank": 5
+   },
+   "backpack": {
+    "distance": "0.19 meters",
+    "closeness rank": 6
+   },
+   "nightstand": {
+    "distance": "0.3 meters",
+    "closeness rank": 7
+   },
+   "chair": {
+    "distance": "0.35 meters",
+    "closeness rank": 8
+   },
+   "towel": {
+    "distance": "0.54 meters",
+    "closeness rank": 9
+   },
+   "bookshelf": {
+    "distance": "0.57 meters",
+    "closeness rank": 10
+   },
+   "door": {
+    "distance": "0.63 meters",
+    "closeness rank": 11
+   },
+   "table": {
+    "distance": "0.68 meters",
+    "closeness rank": 12
+   },
+   "keyboard": {
+    "distance": "0.95 meters",
+    "closeness rank": 13
+   },
+   "monitor": {
+    "distance": "0.99 meters",
+    "closeness rank": 14
+   },
+   "tv": {
+    "distance": "0.99 meters",
+    "closeness rank": 15
+   },
+   "plant": {
+    "distance": "1.17 meters",
+    "closeness rank": 16
+   },
+   "computer mouse": {
+    "distance": "1.25 meters",
+    "closeness rank": 17
+   },
+   "radiator": {
+    "distance": "1.37 meters",
+    "closeness rank": 18
+   },
+   "window": {
+    "distance": "1.54 meters",
+    "closeness rank": 19
+   },
+   "pillow": {
+    "distance": "1.55 meters",
+    "closeness rank": 20
+   },
+   "clock": {
+    "distance": "1.59 meters",
+    "closeness rank": 21
+   },
+   "telephone": {
+    "distance": "1.61 meters",
+    "closeness rank": 22
+   }
+  },
+  "mattress": {
+   "bed": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "lamp": {
+    "distance": "0.0 meters",
+    "closeness rank": 2
+   },
+   "mirror": {
+    "distance": "0.0 meters",
+    "closeness rank": 3
+   },
+   "sofa": {
+    "distance": "0.0 meters",
+    "closeness rank": 4
+   },
+   "towel": {
+    "distance": "0.0 meters",
+    "closeness rank": 5
+   },
+   "chair": {
+    "distance": "0.04 meters",
+    "closeness rank": 6
+   },
+   "table": {
+    "distance": "0.05 meters",
+    "closeness rank": 7
+   },
+   "nightstand": {
+    "distance": "0.07 meters",
+    "closeness rank": 8
+   },
+   "fan": {
+    "distance": "0.11 meters",
+    "closeness rank": 9
+   },
+   "backpack": {
+    "distance": "0.25 meters",
+    "closeness rank": 10
+   },
+   "bookshelf": {
+    "distance": "0.35 meters",
+    "closeness rank": 11
+   },
+   "door": {
+    "distance": "0.38 meters",
+    "closeness rank": 12
+   },
+   "keyboard": {
+    "distance": "0.38 meters",
+    "closeness rank": 13
+   },
+   "monitor": {
+    "distance": "0.42 meters",
+    "closeness rank": 14
+   },
+   "tv": {
+    "distance": "0.42 meters",
+    "closeness rank": 15
+   },
+   "computer mouse": {
+    "distance": "0.59 meters",
+    "closeness rank": 16
+   },
+   "pillow": {
+    "distance": "0.84 meters",
+    "closeness rank": 17
+   },
+   "radiator": {
+    "distance": "0.95 meters",
+    "closeness rank": 18
+   },
+   "plant": {
+    "distance": "1.03 meters",
+    "closeness rank": 19
+   },
+   "telephone": {
+    "distance": "1.03 meters",
+    "closeness rank": 20
+   },
+   "window": {
+    "distance": "1.2 meters",
+    "closeness rank": 21
+   },
+   "clock": {
+    "distance": "1.34 meters",
+    "closeness rank": 22
+   }
+  },
+  "mirror": {
+   "bed": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "lamp": {
+    "distance": "0.0 meters",
+    "closeness rank": 2
+   },
+   "mattress": {
+    "distance": "0.0 meters",
+    "closeness rank": 3
+   },
+   "sofa": {
+    "distance": "0.0 meters",
+    "closeness rank": 4
+   },
+   "fan": {
+    "distance": "0.11 meters",
+    "closeness rank": 5
+   },
+   "nightstand": {
+    "distance": "0.36 meters",
+    "closeness rank": 6
+   },
+   "backpack": {
+    "distance": "0.46 meters",
+    "closeness rank": 7
+   },
+   "towel": {
+    "distance": "0.56 meters",
+    "closeness rank": 8
+   },
+   "chair": {
+    "distance": "0.6 meters",
+    "closeness rank": 9
+   },
+   "bookshelf": {
+    "distance": "0.68 meters",
+    "closeness rank": 10
+   },
+   "table": {
+    "distance": "0.71 meters",
+    "closeness rank": 11
+   },
+   "door": {
+    "distance": "0.75 meters",
+    "closeness rank": 12
+   },
+   "keyboard": {
+    "distance": "0.98 meters",
+    "closeness rank": 13
+   },
+   "monitor": {
+    "distance": "1.02 meters",
+    "closeness rank": 14
+   },
+   "tv": {
+    "distance": "1.02 meters",
+    "closeness rank": 15
+   },
+   "computer mouse": {
+    "distance": "1.28 meters",
+    "closeness rank": 16
+   },
+   "plant": {
+    "distance": "1.28 meters",
+    "closeness rank": 17
+   },
+   "radiator": {
+    "distance": "1.4 meters",
+    "closeness rank": 18
+   },
+   "pillow": {
+    "distance": "1.56 meters",
+    "closeness rank": 19
+   },
+   "window": {
+    "distance": "1.56 meters",
+    "closeness rank": 20
+   },
+   "telephone": {
+    "distance": "1.62 meters",
+    "closeness rank": 21
+   },
+   "clock": {
+    "distance": "1.73 meters",
+    "closeness rank": 22
+   }
+  },
+  "monitor": {
+   "tv": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "keyboard": {
+    "distance": "0.02 meters",
+    "closeness rank": 2
+   },
+   "table": {
+    "distance": "0.06 meters",
+    "closeness rank": 3
+   },
+   "computer mouse": {
+    "distance": "0.22 meters",
+    "closeness rank": 4
+   },
+   "towel": {
+    "distance": "0.27 meters",
+    "closeness rank": 5
+   },
+   "chair": {
+    "distance": "0.32 meters",
+    "closeness rank": 6
+   },
+   "sofa": {
+    "distance": "0.35 meters",
+    "closeness rank": 7
+   },
+   "pillow": {
+    "distance": "0.36 meters",
+    "closeness rank": 8
+   },
+   "bed": {
+    "distance": "0.39 meters",
+    "closeness rank": 9
+   },
+   "door": {
+    "distance": "0.42 meters",
+    "closeness rank": 10
+   },
+   "mattress": {
+    "distance": "0.42 meters",
+    "closeness rank": 11
+   },
+   "radiator": {
+    "distance": "0.44 meters",
+    "closeness rank": 12
+   },
+   "telephone": {
+    "distance": "0.51 meters",
+    "closeness rank": 13
+   },
+   "window": {
+    "distance": "0.73 meters",
+    "closeness rank": 14
+   },
+   "lamp": {
+    "distance": "0.99 meters",
+    "closeness rank": 15
+   },
+   "mirror": {
+    "distance": "1.02 meters",
+    "closeness rank": 16
+   },
+   "fan": {
+    "distance": "1.23 meters",
+    "closeness rank": 17
+   },
+   "backpack": {
+    "distance": "1.58 meters",
+    "closeness rank": 18
+   },
+   "nightstand": {
+    "distance": "1.68 meters",
+    "closeness rank": 19
+   },
+   "clock": {
+    "distance": "1.82 meters",
+    "closeness rank": 20
+   },
+   "bookshelf": {
+    "distance": "2.05 meters",
+    "closeness rank": 21
+   },
+   "plant": {
+    "distance": "2.55 meters",
+    "closeness rank": 22
+   }
+  },
+  "nightstand": {
+   "backpack": {
+    "distance": "0.06 meters",
+    "closeness rank": 1
+   },
+   "bed": {
+    "distance": "0.07 meters",
+    "closeness rank": 2
+   },
+   "mattress": {
+    "distance": "0.07 meters",
+    "closeness rank": 3
+   },
+   "sofa": {
+    "distance": "0.1 meters",
+    "closeness rank": 4
+   },
+   "chair": {
+    "distance": "0.15 meters",
+    "closeness rank": 5
+   },
+   "bookshelf": {
+    "distance": "0.21 meters",
+    "closeness rank": 6
+   },
+   "fan": {
+    "distance": "0.3 meters",
+    "closeness rank": 7
+   },
+   "lamp": {
+    "distance": "0.3 meters",
+    "closeness rank": 8
+   },
+   "mirror": {
+    "distance": "0.36 meters",
+    "closeness rank": 9
+   },
+   "plant": {
+    "distance": "1.01 meters",
+    "closeness rank": 10
+   },
+   "door": {
+    "distance": "1.23 meters",
+    "closeness rank": 11
+   },
+   "towel": {
+    "distance": "1.31 meters",
+    "closeness rank": 12
+   },
+   "table": {
+    "distance": "1.44 meters",
+    "closeness rank": 13
+   },
+   "keyboard": {
+    "distance": "1.66 meters",
+    "closeness rank": 14
+   },
+   "monitor": {
+    "distance": "1.68 meters",
+    "closeness rank": 15
+   },
+   "tv": {
+    "distance": "1.68 meters",
+    "closeness rank": 16
+   },
+   "radiator": {
+    "distance": "1.94 meters",
+    "closeness rank": 17
+   },
+   "computer mouse": {
+    "distance": "1.99 meters",
+    "closeness rank": 18
+   },
+   "window": {
+    "distance": "2.02 meters",
+    "closeness rank": 19
+   },
+   "clock": {
+    "distance": "2.22 meters",
+    "closeness rank": 20
+   },
+   "telephone": {
+    "distance": "2.23 meters",
+    "closeness rank": 21
+   },
+   "pillow": {
+    "distance": "2.28 meters",
+    "closeness rank": 22
+   }
+  },
+  "pillow": {
+   "table": {
+    "distance": "0.35 meters",
+    "closeness rank": 1
+   },
+   "monitor": {
+    "distance": "0.36 meters",
+    "closeness rank": 2
+   },
+   "tv": {
+    "distance": "0.36 meters",
+    "closeness rank": 3
+   },
+   "door": {
+    "distance": "0.38 meters",
+    "closeness rank": 4
+   },
+   "computer mouse": {
+    "distance": "0.39 meters",
+    "closeness rank": 5
+   },
+   "telephone": {
+    "distance": "0.41 meters",
+    "closeness rank": 6
+   },
+   "radiator": {
+    "distance": "0.44 meters",
+    "closeness rank": 7
+   },
+   "keyboard": {
+    "distance": "0.49 meters",
+    "closeness rank": 8
+   },
+   "window": {
+    "distance": "0.52 meters",
+    "closeness rank": 9
+   },
+   "towel": {
+    "distance": "0.69 meters",
+    "closeness rank": 10
+   },
+   "chair": {
+    "distance": "0.72 meters",
+    "closeness rank": 11
+   },
+   "bed": {
+    "distance": "0.77 meters",
+    "closeness rank": 12
+   },
+   "sofa": {
+    "distance": "0.78 meters",
+    "closeness rank": 13
+   },
+   "mattress": {
+    "distance": "0.84 meters",
+    "closeness rank": 14
+   },
+   "lamp": {
+    "distance": "1.55 meters",
+    "closeness rank": 15
+   },
+   "mirror": {
+    "distance": "1.56 meters",
+    "closeness rank": 16
+   },
+   "clock": {
+    "distance": "1.7 meters",
+    "closeness rank": 17
+   },
+   "fan": {
+    "distance": "1.74 meters",
+    "closeness rank": 18
+   },
+   "backpack": {
+    "distance": "2.21 meters",
+    "closeness rank": 19
+   },
+   "nightstand": {
+    "distance": "2.28 meters",
+    "closeness rank": 20
+   },
+   "bookshelf": {
+    "distance": "2.62 meters",
+    "closeness rank": 21
+   },
+   "plant": {
+    "distance": "3.0 meters",
+    "closeness rank": 22
+   }
+  },
+  "plant": {
+   "bookshelf": {
+    "distance": "0.07 meters",
+    "closeness rank": 1
+   },
+   "chair": {
+    "distance": "0.95 meters",
+    "closeness rank": 2
+   },
+   "nightstand": {
+    "distance": "1.01 meters",
+    "closeness rank": 3
+   },
+   "mattress": {
+    "distance": "1.03 meters",
+    "closeness rank": 4
+   },
+   "bed": {
+    "distance": "1.07 meters",
+    "closeness rank": 5
+   },
+   "sofa": {
+    "distance": "1.08 meters",
+    "closeness rank": 6
+   },
+   "fan": {
+    "distance": "1.12 meters",
+    "closeness rank": 7
+   },
+   "lamp": {
+    "distance": "1.17 meters",
+    "closeness rank": 8
+   },
+   "backpack": {
+    "distance": "1.28 meters",
+    "closeness rank": 9
+   },
+   "mirror": {
+    "distance": "1.28 meters",
+    "closeness rank": 10
+   },
+   "door": {
+    "distance": "1.84 meters",
+    "closeness rank": 11
+   },
+   "towel": {
+    "distance": "2.0 meters",
+    "closeness rank": 12
+   },
+   "table": {
+    "distance": "2.08 meters",
+    "closeness rank": 13
+   },
+   "clock": {
+    "distance": "2.4 meters",
+    "closeness rank": 14
+   },
+   "keyboard": {
+    "distance": "2.53 meters",
+    "closeness rank": 15
+   },
+   "monitor": {
+    "distance": "2.55 meters",
+    "closeness rank": 16
+   },
+   "tv": {
+    "distance": "2.55 meters",
+    "closeness rank": 17
+   },
+   "computer mouse": {
+    "distance": "2.79 meters",
+    "closeness rank": 18
+   },
+   "window": {
+    "distance": "2.86 meters",
+    "closeness rank": 19
+   },
+   "radiator": {
+    "distance": "2.93 meters",
+    "closeness rank": 20
+   },
+   "pillow": {
+    "distance": "3.0 meters",
+    "closeness rank": 21
+   },
+   "telephone": {
+    "distance": "3.12 meters",
+    "closeness rank": 22
+   }
+  },
+  "radiator": {
+   "door": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "telephone": {
+    "distance": "0.07 meters",
+    "closeness rank": 2
+   },
+   "window": {
+    "distance": "0.27 meters",
+    "closeness rank": 3
+   },
+   "table": {
+    "distance": "0.41 meters",
+    "closeness rank": 4
+   },
+   "monitor": {
+    "distance": "0.44 meters",
+    "closeness rank": 5
+   },
+   "pillow": {
+    "distance": "0.44 meters",
+    "closeness rank": 6
+   },
+   "tv": {
+    "distance": "0.44 meters",
+    "closeness rank": 7
+   },
+   "keyboard": {
+    "distance": "0.48 meters",
+    "closeness rank": 8
+   },
+   "computer mouse": {
+    "distance": "0.54 meters",
+    "closeness rank": 9
+   },
+   "towel": {
+    "distance": "0.59 meters",
+    "closeness rank": 10
+   },
+   "sofa": {
+    "distance": "0.83 meters",
+    "closeness rank": 11
+   },
+   "bed": {
+    "distance": "0.84 meters",
+    "closeness rank": 12
+   },
+   "chair": {
+    "distance": "0.86 meters",
+    "closeness rank": 13
+   },
+   "mattress": {
+    "distance": "0.95 meters",
+    "closeness rank": 14
+   },
+   "lamp": {
+    "distance": "1.37 meters",
+    "closeness rank": 15
+   },
+   "mirror": {
+    "distance": "1.4 meters",
+    "closeness rank": 16
+   },
+   "fan": {
+    "distance": "1.63 meters",
+    "closeness rank": 17
+   },
+   "backpack": {
+    "distance": "1.86 meters",
+    "closeness rank": 18
+   },
+   "nightstand": {
+    "distance": "1.94 meters",
+    "closeness rank": 19
+   },
+   "clock": {
+    "distance": "2.26 meters",
+    "closeness rank": 20
+   },
+   "bookshelf": {
+    "distance": "2.34 meters",
+    "closeness rank": 21
+   },
+   "plant": {
+    "distance": "2.93 meters",
+    "closeness rank": 22
+   }
+  },
+  "sofa": {
+   "bed": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "chair": {
+    "distance": "0.0 meters",
+    "closeness rank": 2
+   },
+   "lamp": {
+    "distance": "0.0 meters",
+    "closeness rank": 3
+   },
+   "mattress": {
+    "distance": "0.0 meters",
+    "closeness rank": 4
+   },
+   "mirror": {
+    "distance": "0.0 meters",
+    "closeness rank": 5
+   },
+   "towel": {
+    "distance": "0.0 meters",
+    "closeness rank": 6
+   },
+   "table": {
+    "distance": "0.01 meters",
+    "closeness rank": 7
+   },
+   "nightstand": {
+    "distance": "0.1 meters",
+    "closeness rank": 8
+   },
+   "fan": {
+    "distance": "0.11 meters",
+    "closeness rank": 9
+   },
+   "backpack": {
+    "distance": "0.25 meters",
+    "closeness rank": 10
+   },
+   "monitor": {
+    "distance": "0.35 meters",
+    "closeness rank": 11
+   },
+   "tv": {
+    "distance": "0.35 meters",
+    "closeness rank": 12
+   },
+   "bookshelf": {
+    "distance": "0.4 meters",
+    "closeness rank": 13
+   },
+   "keyboard": {
+    "distance": "0.4 meters",
+    "closeness rank": 14
+   },
+   "door": {
+    "distance": "0.53 meters",
+    "closeness rank": 15
+   },
+   "computer mouse": {
+    "distance": "0.59 meters",
+    "closeness rank": 16
+   },
+   "pillow": {
+    "distance": "0.78 meters",
+    "closeness rank": 17
+   },
+   "radiator": {
+    "distance": "0.83 meters",
+    "closeness rank": 18
+   },
+   "telephone": {
+    "distance": "0.91 meters",
+    "closeness rank": 19
+   },
+   "window": {
+    "distance": "0.97 meters",
+    "closeness rank": 20
+   },
+   "plant": {
+    "distance": "1.08 meters",
+    "closeness rank": 21
+   },
+   "clock": {
+    "distance": "1.33 meters",
+    "closeness rank": 22
+   }
+  },
+  "table": {
+   "bed": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "chair": {
+    "distance": "0.0 meters",
+    "closeness rank": 2
+   },
+   "sofa": {
+    "distance": "0.01 meters",
+    "closeness rank": 3
+   },
+   "towel": {
+    "distance": "0.01 meters",
+    "closeness rank": 4
+   },
+   "door": {
+    "distance": "0.03 meters",
+    "closeness rank": 5
+   },
+   "keyboard": {
+    "distance": "0.03 meters",
+    "closeness rank": 6
+   },
+   "mattress": {
+    "distance": "0.05 meters",
+    "closeness rank": 7
+   },
+   "tv": {
+    "distance": "0.05 meters",
+    "closeness rank": 8
+   },
+   "computer mouse": {
+    "distance": "0.06 meters",
+    "closeness rank": 9
+   },
+   "monitor": {
+    "distance": "0.06 meters",
+    "closeness rank": 10
+   },
+   "clock": {
+    "distance": "0.17 meters",
+    "closeness rank": 11
+   },
+   "pillow": {
+    "distance": "0.35 meters",
+    "closeness rank": 12
+   },
+   "radiator": {
+    "distance": "0.41 meters",
+    "closeness rank": 13
+   },
+   "telephone": {
+    "distance": "0.49 meters",
+    "closeness rank": 14
+   },
+   "lamp": {
+    "distance": "0.68 meters",
+    "closeness rank": 15
+   },
+   "mirror": {
+    "distance": "0.71 meters",
+    "closeness rank": 16
+   },
+   "window": {
+    "distance": "0.73 meters",
+    "closeness rank": 17
+   },
+   "fan": {
+    "distance": "0.81 meters",
+    "closeness rank": 18
+   },
+   "backpack": {
+    "distance": "1.3 meters",
+    "closeness rank": 19
+   },
+   "nightstand": {
+    "distance": "1.44 meters",
+    "closeness rank": 20
+   },
+   "bookshelf": {
+    "distance": "1.75 meters",
+    "closeness rank": 21
+   },
+   "plant": {
+    "distance": "2.08 meters",
+    "closeness rank": 22
+   }
+  },
+  "telephone": {
+   "door": {
+    "distance": "0.01 meters",
+    "closeness rank": 1
+   },
+   "radiator": {
+    "distance": "0.07 meters",
+    "closeness rank": 2
+   },
+   "window": {
+    "distance": "0.08 meters",
+    "closeness rank": 3
+   },
+   "pillow": {
+    "distance": "0.41 meters",
+    "closeness rank": 4
+   },
+   "table": {
+    "distance": "0.49 meters",
+    "closeness rank": 5
+   },
+   "monitor": {
+    "distance": "0.51 meters",
+    "closeness rank": 6
+   },
+   "tv": {
+    "distance": "0.51 meters",
+    "closeness rank": 7
+   },
+   "keyboard": {
+    "distance": "0.59 meters",
+    "closeness rank": 8
+   },
+   "computer mouse": {
+    "distance": "0.66 meters",
+    "closeness rank": 9
+   },
+   "towel": {
+    "distance": "0.66 meters",
+    "closeness rank": 10
+   },
+   "chair": {
+    "distance": "0.9 meters",
+    "closeness rank": 11
+   },
+   "sofa": {
+    "distance": "0.91 meters",
+    "closeness rank": 12
+   },
+   "bed": {
+    "distance": "0.97 meters",
+    "closeness rank": 13
+   },
+   "mattress": {
+    "distance": "1.03 meters",
+    "closeness rank": 14
+   },
+   "lamp": {
+    "distance": "1.61 meters",
+    "closeness rank": 15
+   },
+   "mirror": {
+    "distance": "1.62 meters",
+    "closeness rank": 16
+   },
+   "fan": {
+    "distance": "1.84 meters",
+    "closeness rank": 17
+   },
+   "backpack": {
+    "distance": "2.17 meters",
+    "closeness rank": 18
+   },
+   "nightstand": {
+    "distance": "2.23 meters",
+    "closeness rank": 19
+   },
+   "clock": {
+    "distance": "2.31 meters",
+    "closeness rank": 20
+   },
+   "bookshelf": {
+    "distance": "2.61 meters",
+    "closeness rank": 21
+   },
+   "plant": {
+    "distance": "3.12 meters",
+    "closeness rank": 22
+   }
+  },
+  "towel": {
+   "mattress": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "sofa": {
+    "distance": "0.0 meters",
+    "closeness rank": 2
+   },
+   "bed": {
+    "distance": "0.01 meters",
+    "closeness rank": 3
+   },
+   "table": {
+    "distance": "0.01 meters",
+    "closeness rank": 4
+   },
+   "chair": {
+    "distance": "0.02 meters",
+    "closeness rank": 5
+   },
+   "keyboard": {
+    "distance": "0.26 meters",
+    "closeness rank": 6
+   },
+   "monitor": {
+    "distance": "0.27 meters",
+    "closeness rank": 7
+   },
+   "tv": {
+    "distance": "0.27 meters",
+    "closeness rank": 8
+   },
+   "computer mouse": {
+    "distance": "0.49 meters",
+    "closeness rank": 9
+   },
+   "lamp": {
+    "distance": "0.54 meters",
+    "closeness rank": 10
+   },
+   "door": {
+    "distance": "0.55 meters",
+    "closeness rank": 11
+   },
+   "mirror": {
+    "distance": "0.56 meters",
+    "closeness rank": 12
+   },
+   "radiator": {
+    "distance": "0.59 meters",
+    "closeness rank": 13
+   },
+   "telephone": {
+    "distance": "0.66 meters",
+    "closeness rank": 14
+   },
+   "window": {
+    "distance": "0.68 meters",
+    "closeness rank": 15
+   },
+   "pillow": {
+    "distance": "0.69 meters",
+    "closeness rank": 16
+   },
+   "fan": {
+    "distance": "0.74 meters",
+    "closeness rank": 17
+   },
+   "nightstand": {
+    "distance": "1.31 meters",
+    "closeness rank": 18
+   },
+   "backpack": {
+    "distance": "1.32 meters",
+    "closeness rank": 19
+   },
+   "clock": {
+    "distance": "1.47 meters",
+    "closeness rank": 20
+   },
+   "bookshelf": {
+    "distance": "1.6 meters",
+    "closeness rank": 21
+   },
+   "plant": {
+    "distance": "2.0 meters",
+    "closeness rank": 22
+   }
+  },
+  "tv": {
+   "monitor": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "keyboard": {
+    "distance": "0.02 meters",
+    "closeness rank": 2
+   },
+   "table": {
+    "distance": "0.05 meters",
+    "closeness rank": 3
+   },
+   "computer mouse": {
+    "distance": "0.22 meters",
+    "closeness rank": 4
+   },
+   "towel": {
+    "distance": "0.27 meters",
+    "closeness rank": 5
+   },
+   "chair": {
+    "distance": "0.32 meters",
+    "closeness rank": 6
+   },
+   "sofa": {
+    "distance": "0.35 meters",
+    "closeness rank": 7
+   },
+   "pillow": {
+    "distance": "0.36 meters",
+    "closeness rank": 8
+   },
+   "bed": {
+    "distance": "0.39 meters",
+    "closeness rank": 9
+   },
+   "door": {
+    "distance": "0.42 meters",
+    "closeness rank": 10
+   },
+   "mattress": {
+    "distance": "0.42 meters",
+    "closeness rank": 11
+   },
+   "radiator": {
+    "distance": "0.44 meters",
+    "closeness rank": 12
+   },
+   "telephone": {
+    "distance": "0.51 meters",
+    "closeness rank": 13
+   },
+   "window": {
+    "distance": "0.73 meters",
+    "closeness rank": 14
+   },
+   "lamp": {
+    "distance": "0.99 meters",
+    "closeness rank": 15
+   },
+   "mirror": {
+    "distance": "1.02 meters",
+    "closeness rank": 16
+   },
+   "fan": {
+    "distance": "1.23 meters",
+    "closeness rank": 17
+   },
+   "backpack": {
+    "distance": "1.58 meters",
+    "closeness rank": 18
+   },
+   "nightstand": {
+    "distance": "1.68 meters",
+    "closeness rank": 19
+   },
+   "clock": {
+    "distance": "1.82 meters",
+    "closeness rank": 20
+   },
+   "bookshelf": {
+    "distance": "2.06 meters",
+    "closeness rank": 21
+   },
+   "plant": {
+    "distance": "2.55 meters",
+    "closeness rank": 22
+   }
+  },
+  "window": {
+   "door": {
+    "distance": "0.03 meters",
+    "closeness rank": 1
+   },
+   "telephone": {
+    "distance": "0.08 meters",
+    "closeness rank": 2
+   },
+   "radiator": {
+    "distance": "0.27 meters",
+    "closeness rank": 3
+   },
+   "pillow": {
+    "distance": "0.52 meters",
+    "closeness rank": 4
+   },
+   "towel": {
+    "distance": "0.68 meters",
+    "closeness rank": 5
+   },
+   "monitor": {
+    "distance": "0.73 meters",
+    "closeness rank": 6
+   },
+   "table": {
+    "distance": "0.73 meters",
+    "closeness rank": 7
+   },
+   "tv": {
+    "distance": "0.73 meters",
+    "closeness rank": 8
+   },
+   "bed": {
+    "distance": "0.78 meters",
+    "closeness rank": 9
+   },
+   "keyboard": {
+    "distance": "0.82 meters",
+    "closeness rank": 10
+   },
+   "computer mouse": {
+    "distance": "0.88 meters",
+    "closeness rank": 11
+   },
+   "sofa": {
+    "distance": "0.97 meters",
+    "closeness rank": 12
+   },
+   "chair": {
+    "distance": "1.07 meters",
+    "closeness rank": 13
+   },
+   "mattress": {
+    "distance": "1.2 meters",
+    "closeness rank": 14
+   },
+   "lamp": {
+    "distance": "1.54 meters",
+    "closeness rank": 15
+   },
+   "mirror": {
+    "distance": "1.56 meters",
+    "closeness rank": 16
+   },
+   "fan": {
+    "distance": "1.79 meters",
+    "closeness rank": 17
+   },
+   "nightstand": {
+    "distance": "2.02 meters",
+    "closeness rank": 18
+   },
+   "backpack": {
+    "distance": "2.08 meters",
+    "closeness rank": 19
+   },
+   "bookshelf": {
+    "distance": "2.38 meters",
+    "closeness rank": 20
+   },
+   "clock": {
+    "distance": "2.5 meters",
+    "closeness rank": 21
+   },
+   "plant": {
+    "distance": "2.86 meters",
+    "closeness rank": 22
+   }
+  }
+ },
+ "appearance order": ["bed", "mattress", "table", "towel", "chair", "pillow", "backpack", "nightstand", "door", "lamp", "window", "monitor", "tv", "fan", "sofa", "plant", "bookshelf", "mirror", "telephone", "computer mouse", "keyboard", "radiator", "clock"]
+}
\ No newline at end of file
diff --git a/data/spatial codes/sam3+depth-anything-3/metric/tracking/uniform/64/explicit/scene0663_00.json b/data/spatial codes/sam3+depth-anything-3/metric/tracking/uniform/64/explicit/scene0663_00.json
new file mode 100644
index 0000000000000000000000000000000000000000..f63156e6825b87d4313fbe8a0336c5bb06636272
--- /dev/null
+++ b/data/spatial codes/sam3+depth-anything-3/metric/tracking/uniform/64/explicit/scene0663_00.json	
@@ -0,0 +1,1068 @@
+{
+ "objects": {
+  "backpack": {
+   "count": 4,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "0.56 meters",
+      "y coordinate": "0.41 meters",
+      "height above floor": "0.39 meters"
+     },
+     "longest dimension": "0.37 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "1.16 meters",
+      "y coordinate": "-0.01 meters",
+      "height above floor": "0.81 meters"
+     },
+     "longest dimension": "0.45 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "0.69 meters",
+      "y coordinate": "0.19 meters",
+      "height above floor": "0.45 meters"
+     },
+     "longest dimension": "0.25 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "1.11 meters",
+      "y coordinate": "0.39 meters",
+      "height above floor": "0.71 meters"
+     },
+     "longest dimension": "0.43 meters"
+    }
+   ]
+  },
+  "chair": {
+   "count": 3,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "0.91 meters",
+      "y coordinate": "-1.36 meters",
+      "height above floor": "1.04 meters"
+     },
+     "longest dimension": "0.63 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "0.85 meters",
+      "y coordinate": "0.05 meters",
+      "height above floor": "1.49 meters"
+     },
+     "longest dimension": "0.68 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "0.43 meters",
+      "y coordinate": "1.37 meters",
+      "height above floor": "1.48 meters"
+     },
+     "longest dimension": "0.54 meters"
+    }
+   ]
+  },
+  "computer mouse": {
+   "count": 3,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "0.85 meters",
+      "y coordinate": "-0.76 meters",
+      "height above floor": "0.39 meters"
+     },
+     "longest dimension": "0.09 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "0.59 meters",
+      "y coordinate": "0.89 meters",
+      "height above floor": "2.03 meters"
+     },
+     "longest dimension": "0.1 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "0.36 meters",
+      "y coordinate": "1.92 meters",
+      "height above floor": "2.16 meters"
+     },
+     "longest dimension": "0.14 meters"
+    }
+   ]
+  },
+  "door": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-0.03 meters",
+      "y coordinate": "2.14 meters",
+      "height above floor": "0.56 meters"
+     },
+     "longest dimension": "1.67 meters"
+    }
+   ]
+  },
+  "keyboard": {
+   "count": 2,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "0.9 meters",
+      "y coordinate": "-1.07 meters",
+      "height above floor": "0.33 meters"
+     },
+     "longest dimension": "0.4 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "0.53 meters",
+      "y coordinate": "1.18 meters",
+      "height above floor": "2.06 meters"
+     },
+     "longest dimension": "0.41 meters"
+    }
+   ]
+  },
+  "mirror": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-0.13 meters",
+      "y coordinate": "0.1 meters",
+      "height above floor": "-0.18 meters"
+     },
+     "longest dimension": "0.85 meters"
+    }
+   ]
+  },
+  "monitor": {
+   "count": 3,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "0.61 meters",
+      "y coordinate": "-0.9 meters",
+      "height above floor": "-0.03 meters"
+     },
+     "longest dimension": "0.5 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "0.69 meters",
+      "y coordinate": "-1.41 meters",
+      "height above floor": "-0.01 meters"
+     },
+     "longest dimension": "0.5 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "0.24 meters",
+      "y coordinate": "1.1 meters",
+      "height above floor": "2.36 meters"
+     },
+     "longest dimension": "0.57 meters"
+    }
+   ]
+  },
+  "piano": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "0.95 meters",
+      "y coordinate": "-1.29 meters",
+      "height above floor": "1.06 meters"
+     },
+     "longest dimension": "0.7 meters"
+    }
+   ]
+  },
+  "plant": {
+   "count": 2,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "0.8 meters",
+      "y coordinate": "-2.43 meters",
+      "height above floor": "1.63 meters"
+     },
+     "longest dimension": "1.7 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "0.88 meters",
+      "y coordinate": "-2.43 meters",
+      "height above floor": "1.88 meters"
+     },
+     "longest dimension": "0.09 meters"
+    }
+   ]
+  },
+  "table": {
+   "count": 3,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "0.42 meters",
+      "y coordinate": "1.75 meters",
+      "height above floor": "1.17 meters"
+     },
+     "longest dimension": "0.68 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "0.85 meters",
+      "y coordinate": "-0.31 meters",
+      "height above floor": "0.2 meters"
+     },
+     "longest dimension": "0.89 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "0.91 meters",
+      "y coordinate": "-1.01 meters",
+      "height above floor": "0.31 meters"
+     },
+     "longest dimension": "1.06 meters"
+    }
+   ]
+  },
+  "telephone": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "0.57 meters",
+      "y coordinate": "0.72 meters",
+      "height above floor": "2.24 meters"
+     },
+     "longest dimension": "0.21 meters"
+    }
+   ]
+  },
+  "trash bin": {
+   "count": 2,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "0.93 meters",
+      "y coordinate": "0.52 meters",
+      "height above floor": "0.48 meters"
+     },
+     "longest dimension": "0.43 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "1.41 meters",
+      "y coordinate": "-1.52 meters",
+      "height above floor": "1.67 meters"
+     },
+     "longest dimension": "0.49 meters"
+    }
+   ]
+  },
+  "tv": {
+   "count": 2,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "0.61 meters",
+      "y coordinate": "-0.9 meters",
+      "height above floor": "-0.03 meters"
+     },
+     "longest dimension": "0.5 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "0.69 meters",
+      "y coordinate": "-1.41 meters",
+      "height above floor": "-0.01 meters"
+     },
+     "longest dimension": "0.5 meters"
+    }
+   ]
+  },
+  "window": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "0.68 meters",
+      "y coordinate": "-2.47 meters",
+      "height above floor": "1.2 meters"
+     },
+     "longest dimension": "1.5 meters"
+    }
+   ]
+  }
+ },
+ "room": {
+  "floor area": "12.0 square meters"
+ },
+ "closest classes distance meters from": {
+  "backpack": {
+   "trash bin": {
+    "distance": "0.07 meters",
+    "closeness rank": 1
+   },
+   "mirror": {
+    "distance": "0.48 meters",
+    "closeness rank": 2
+   },
+   "chair": {
+    "distance": "0.99 meters",
+    "closeness rank": 3
+   },
+   "tv": {
+    "distance": "1.0 meters",
+    "closeness rank": 4
+   },
+   "monitor": {
+    "distance": "1.01 meters",
+    "closeness rank": 5
+   },
+   "computer mouse": {
+    "distance": "1.02 meters",
+    "closeness rank": 6
+   },
+   "table": {
+    "distance": "1.14 meters",
+    "closeness rank": 7
+   },
+   "keyboard": {
+    "distance": "1.16 meters",
+    "closeness rank": 8
+   },
+   "piano": {
+    "distance": "1.46 meters",
+    "closeness rank": 9
+   },
+   "door": {
+    "distance": "1.6 meters",
+    "closeness rank": 10
+   },
+   "telephone": {
+    "distance": "1.63 meters",
+    "closeness rank": 11
+   },
+   "window": {
+    "distance": "2.63 meters",
+    "closeness rank": 12
+   },
+   "plant": {
+    "distance": "2.66 meters",
+    "closeness rank": 13
+   }
+  },
+  "chair": {
+   "piano": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "table": {
+    "distance": "0.17 meters",
+    "closeness rank": 2
+   },
+   "keyboard": {
+    "distance": "0.33 meters",
+    "closeness rank": 3
+   },
+   "computer mouse": {
+    "distance": "0.43 meters",
+    "closeness rank": 4
+   },
+   "telephone": {
+    "distance": "0.53 meters",
+    "closeness rank": 5
+   },
+   "monitor": {
+    "distance": "0.7 meters",
+    "closeness rank": 6
+   },
+   "tv": {
+    "distance": "0.7 meters",
+    "closeness rank": 7
+   },
+   "mirror": {
+    "distance": "0.77 meters",
+    "closeness rank": 8
+   },
+   "window": {
+    "distance": "0.89 meters",
+    "closeness rank": 9
+   },
+   "door": {
+    "distance": "0.93 meters",
+    "closeness rank": 10
+   },
+   "plant": {
+    "distance": "0.93 meters",
+    "closeness rank": 11
+   },
+   "trash bin": {
+    "distance": "0.98 meters",
+    "closeness rank": 12
+   },
+   "backpack": {
+    "distance": "0.99 meters",
+    "closeness rank": 13
+   }
+  },
+  "computer mouse": {
+   "keyboard": {
+    "distance": "0.07 meters",
+    "closeness rank": 1
+   },
+   "monitor": {
+    "distance": "0.26 meters",
+    "closeness rank": 2
+   },
+   "tv": {
+    "distance": "0.26 meters",
+    "closeness rank": 3
+   },
+   "chair": {
+    "distance": "0.43 meters",
+    "closeness rank": 4
+   },
+   "piano": {
+    "distance": "0.63 meters",
+    "closeness rank": 5
+   },
+   "mirror": {
+    "distance": "0.97 meters",
+    "closeness rank": 6
+   },
+   "backpack": {
+    "distance": "1.02 meters",
+    "closeness rank": 7
+   },
+   "trash bin": {
+    "distance": "1.06 meters",
+    "closeness rank": 8
+   },
+   "window": {
+    "distance": "1.55 meters",
+    "closeness rank": 9
+   },
+   "plant": {
+    "distance": "1.59 meters",
+    "closeness rank": 10
+   },
+   "table": {
+    "distance": "1.83 meters",
+    "closeness rank": 11
+   },
+   "telephone": {
+    "distance": "2.22 meters",
+    "closeness rank": 12
+   },
+   "door": {
+    "distance": "2.96 meters",
+    "closeness rank": 13
+   }
+  },
+  "door": {
+   "table": {
+    "distance": "0.1 meters",
+    "closeness rank": 1
+   },
+   "mirror": {
+    "distance": "0.32 meters",
+    "closeness rank": 2
+   },
+   "chair": {
+    "distance": "0.93 meters",
+    "closeness rank": 3
+   },
+   "trash bin": {
+    "distance": "1.26 meters",
+    "closeness rank": 4
+   },
+   "backpack": {
+    "distance": "1.6 meters",
+    "closeness rank": 5
+   },
+   "telephone": {
+    "distance": "1.85 meters",
+    "closeness rank": 6
+   },
+   "monitor": {
+    "distance": "2.87 meters",
+    "closeness rank": 7
+   },
+   "tv": {
+    "distance": "2.87 meters",
+    "closeness rank": 8
+   },
+   "computer mouse": {
+    "distance": "2.96 meters",
+    "closeness rank": 9
+   },
+   "keyboard": {
+    "distance": "3.1 meters",
+    "closeness rank": 10
+   },
+   "piano": {
+    "distance": "3.16 meters",
+    "closeness rank": 11
+   },
+   "window": {
+    "distance": "4.53 meters",
+    "closeness rank": 12
+   },
+   "plant": {
+    "distance": "4.57 meters",
+    "closeness rank": 13
+   }
+  },
+  "keyboard": {
+   "computer mouse": {
+    "distance": "0.07 meters",
+    "closeness rank": 1
+   },
+   "tv": {
+    "distance": "0.18 meters",
+    "closeness rank": 2
+   },
+   "monitor": {
+    "distance": "0.19 meters",
+    "closeness rank": 3
+   },
+   "chair": {
+    "distance": "0.33 meters",
+    "closeness rank": 4
+   },
+   "piano": {
+    "distance": "0.42 meters",
+    "closeness rank": 5
+   },
+   "mirror": {
+    "distance": "1.05 meters",
+    "closeness rank": 6
+   },
+   "window": {
+    "distance": "1.06 meters",
+    "closeness rank": 7
+   },
+   "plant": {
+    "distance": "1.11 meters",
+    "closeness rank": 8
+   },
+   "backpack": {
+    "distance": "1.16 meters",
+    "closeness rank": 9
+   },
+   "trash bin": {
+    "distance": "1.2 meters",
+    "closeness rank": 10
+   },
+   "table": {
+    "distance": "1.93 meters",
+    "closeness rank": 11
+   },
+   "telephone": {
+    "distance": "2.33 meters",
+    "closeness rank": 12
+   },
+   "door": {
+    "distance": "3.1 meters",
+    "closeness rank": 13
+   }
+  },
+  "mirror": {
+   "window": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "plant": {
+    "distance": "0.13 meters",
+    "closeness rank": 2
+   },
+   "table": {
+    "distance": "0.24 meters",
+    "closeness rank": 3
+   },
+   "door": {
+    "distance": "0.32 meters",
+    "closeness rank": 4
+   },
+   "backpack": {
+    "distance": "0.48 meters",
+    "closeness rank": 5
+   },
+   "monitor": {
+    "distance": "0.64 meters",
+    "closeness rank": 6
+   },
+   "tv": {
+    "distance": "0.64 meters",
+    "closeness rank": 7
+   },
+   "chair": {
+    "distance": "0.77 meters",
+    "closeness rank": 8
+   },
+   "trash bin": {
+    "distance": "0.8 meters",
+    "closeness rank": 9
+   },
+   "piano": {
+    "distance": "0.81 meters",
+    "closeness rank": 10
+   },
+   "computer mouse": {
+    "distance": "0.97 meters",
+    "closeness rank": 11
+   },
+   "keyboard": {
+    "distance": "1.05 meters",
+    "closeness rank": 12
+   },
+   "telephone": {
+    "distance": "1.39 meters",
+    "closeness rank": 13
+   }
+  },
+  "monitor": {
+   "tv": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "keyboard": {
+    "distance": "0.19 meters",
+    "closeness rank": 2
+   },
+   "computer mouse": {
+    "distance": "0.26 meters",
+    "closeness rank": 3
+   },
+   "mirror": {
+    "distance": "0.64 meters",
+    "closeness rank": 4
+   },
+   "chair": {
+    "distance": "0.7 meters",
+    "closeness rank": 5
+   },
+   "piano": {
+    "distance": "0.82 meters",
+    "closeness rank": 6
+   },
+   "backpack": {
+    "distance": "1.01 meters",
+    "closeness rank": 7
+   },
+   "trash bin": {
+    "distance": "1.13 meters",
+    "closeness rank": 8
+   },
+   "window": {
+    "distance": "1.23 meters",
+    "closeness rank": 9
+   },
+   "plant": {
+    "distance": "1.29 meters",
+    "closeness rank": 10
+   },
+   "table": {
+    "distance": "2.16 meters",
+    "closeness rank": 11
+   },
+   "telephone": {
+    "distance": "2.52 meters",
+    "closeness rank": 12
+   },
+   "door": {
+    "distance": "2.87 meters",
+    "closeness rank": 13
+   }
+  },
+  "piano": {
+   "chair": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "window": {
+    "distance": "0.0 meters",
+    "closeness rank": 2
+   },
+   "plant": {
+    "distance": "0.12 meters",
+    "closeness rank": 3
+   },
+   "keyboard": {
+    "distance": "0.42 meters",
+    "closeness rank": 4
+   },
+   "computer mouse": {
+    "distance": "0.63 meters",
+    "closeness rank": 5
+   },
+   "mirror": {
+    "distance": "0.81 meters",
+    "closeness rank": 6
+   },
+   "monitor": {
+    "distance": "0.82 meters",
+    "closeness rank": 7
+   },
+   "tv": {
+    "distance": "0.83 meters",
+    "closeness rank": 8
+   },
+   "table": {
+    "distance": "0.88 meters",
+    "closeness rank": 9
+   },
+   "telephone": {
+    "distance": "1.26 meters",
+    "closeness rank": 10
+   },
+   "backpack": {
+    "distance": "1.46 meters",
+    "closeness rank": 11
+   },
+   "trash bin": {
+    "distance": "1.46 meters",
+    "closeness rank": 12
+   },
+   "door": {
+    "distance": "3.16 meters",
+    "closeness rank": 13
+   }
+  },
+  "plant": {
+   "window": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "piano": {
+    "distance": "0.12 meters",
+    "closeness rank": 2
+   },
+   "mirror": {
+    "distance": "0.13 meters",
+    "closeness rank": 3
+   },
+   "chair": {
+    "distance": "0.93 meters",
+    "closeness rank": 4
+   },
+   "keyboard": {
+    "distance": "1.11 meters",
+    "closeness rank": 5
+   },
+   "monitor": {
+    "distance": "1.29 meters",
+    "closeness rank": 6
+   },
+   "tv": {
+    "distance": "1.29 meters",
+    "closeness rank": 7
+   },
+   "computer mouse": {
+    "distance": "1.59 meters",
+    "closeness rank": 8
+   },
+   "table": {
+    "distance": "2.64 meters",
+    "closeness rank": 9
+   },
+   "backpack": {
+    "distance": "2.66 meters",
+    "closeness rank": 10
+   },
+   "trash bin": {
+    "distance": "2.72 meters",
+    "closeness rank": 11
+   },
+   "telephone": {
+    "distance": "3.04 meters",
+    "closeness rank": 12
+   },
+   "door": {
+    "distance": "4.57 meters",
+    "closeness rank": 13
+   }
+  },
+  "table": {
+   "telephone": {
+    "distance": "0.05 meters",
+    "closeness rank": 1
+   },
+   "door": {
+    "distance": "0.1 meters",
+    "closeness rank": 2
+   },
+   "chair": {
+    "distance": "0.17 meters",
+    "closeness rank": 3
+   },
+   "mirror": {
+    "distance": "0.24 meters",
+    "closeness rank": 4
+   },
+   "piano": {
+    "distance": "0.88 meters",
+    "closeness rank": 5
+   },
+   "trash bin": {
+    "distance": "1.03 meters",
+    "closeness rank": 6
+   },
+   "backpack": {
+    "distance": "1.14 meters",
+    "closeness rank": 7
+   },
+   "computer mouse": {
+    "distance": "1.83 meters",
+    "closeness rank": 8
+   },
+   "keyboard": {
+    "distance": "1.93 meters",
+    "closeness rank": 9
+   },
+   "tv": {
+    "distance": "2.15 meters",
+    "closeness rank": 10
+   },
+   "monitor": {
+    "distance": "2.16 meters",
+    "closeness rank": 11
+   },
+   "window": {
+    "distance": "2.55 meters",
+    "closeness rank": 12
+   },
+   "plant": {
+    "distance": "2.64 meters",
+    "closeness rank": 13
+   }
+  },
+  "telephone": {
+   "table": {
+    "distance": "0.05 meters",
+    "closeness rank": 1
+   },
+   "chair": {
+    "distance": "0.53 meters",
+    "closeness rank": 2
+   },
+   "piano": {
+    "distance": "1.26 meters",
+    "closeness rank": 3
+   },
+   "mirror": {
+    "distance": "1.39 meters",
+    "closeness rank": 4
+   },
+   "backpack": {
+    "distance": "1.63 meters",
+    "closeness rank": 5
+   },
+   "trash bin": {
+    "distance": "1.66 meters",
+    "closeness rank": 6
+   },
+   "door": {
+    "distance": "1.85 meters",
+    "closeness rank": 7
+   },
+   "computer mouse": {
+    "distance": "2.22 meters",
+    "closeness rank": 8
+   },
+   "keyboard": {
+    "distance": "2.33 meters",
+    "closeness rank": 9
+   },
+   "tv": {
+    "distance": "2.51 meters",
+    "closeness rank": 10
+   },
+   "monitor": {
+    "distance": "2.52 meters",
+    "closeness rank": 11
+   },
+   "window": {
+    "distance": "2.96 meters",
+    "closeness rank": 12
+   },
+   "plant": {
+    "distance": "3.04 meters",
+    "closeness rank": 13
+   }
+  },
+  "trash bin": {
+   "backpack": {
+    "distance": "0.07 meters",
+    "closeness rank": 1
+   },
+   "mirror": {
+    "distance": "0.8 meters",
+    "closeness rank": 2
+   },
+   "chair": {
+    "distance": "0.98 meters",
+    "closeness rank": 3
+   },
+   "table": {
+    "distance": "1.03 meters",
+    "closeness rank": 4
+   },
+   "computer mouse": {
+    "distance": "1.06 meters",
+    "closeness rank": 5
+   },
+   "monitor": {
+    "distance": "1.13 meters",
+    "closeness rank": 6
+   },
+   "tv": {
+    "distance": "1.13 meters",
+    "closeness rank": 7
+   },
+   "keyboard": {
+    "distance": "1.2 meters",
+    "closeness rank": 8
+   },
+   "door": {
+    "distance": "1.26 meters",
+    "closeness rank": 9
+   },
+   "piano": {
+    "distance": "1.46 meters",
+    "closeness rank": 10
+   },
+   "telephone": {
+    "distance": "1.66 meters",
+    "closeness rank": 11
+   },
+   "window": {
+    "distance": "2.68 meters",
+    "closeness rank": 12
+   },
+   "plant": {
+    "distance": "2.72 meters",
+    "closeness rank": 13
+   }
+  },
+  "tv": {
+   "monitor": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "keyboard": {
+    "distance": "0.18 meters",
+    "closeness rank": 2
+   },
+   "computer mouse": {
+    "distance": "0.26 meters",
+    "closeness rank": 3
+   },
+   "mirror": {
+    "distance": "0.64 meters",
+    "closeness rank": 4
+   },
+   "chair": {
+    "distance": "0.7 meters",
+    "closeness rank": 5
+   },
+   "piano": {
+    "distance": "0.83 meters",
+    "closeness rank": 6
+   },
+   "backpack": {
+    "distance": "1.0 meters",
+    "closeness rank": 7
+   },
+   "trash bin": {
+    "distance": "1.13 meters",
+    "closeness rank": 8
+   },
+   "window": {
+    "distance": "1.23 meters",
+    "closeness rank": 9
+   },
+   "plant": {
+    "distance": "1.29 meters",
+    "closeness rank": 10
+   },
+   "table": {
+    "distance": "2.15 meters",
+    "closeness rank": 11
+   },
+   "telephone": {
+    "distance": "2.51 meters",
+    "closeness rank": 12
+   },
+   "door": {
+    "distance": "2.87 meters",
+    "closeness rank": 13
+   }
+  },
+  "window": {
+   "mirror": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "piano": {
+    "distance": "0.0 meters",
+    "closeness rank": 2
+   },
+   "plant": {
+    "distance": "0.0 meters",
+    "closeness rank": 3
+   },
+   "chair": {
+    "distance": "0.89 meters",
+    "closeness rank": 4
+   },
+   "keyboard": {
+    "distance": "1.06 meters",
+    "closeness rank": 5
+   },
+   "monitor": {
+    "distance": "1.23 meters",
+    "closeness rank": 6
+   },
+   "tv": {
+    "distance": "1.23 meters",
+    "closeness rank": 7
+   },
+   "computer mouse": {
+    "distance": "1.55 meters",
+    "closeness rank": 8
+   },
+   "table": {
+    "distance": "2.55 meters",
+    "closeness rank": 9
+   },
+   "backpack": {
+    "distance": "2.63 meters",
+    "closeness rank": 10
+   },
+   "trash bin": {
+    "distance": "2.68 meters",
+    "closeness rank": 11
+   },
+   "telephone": {
+    "distance": "2.96 meters",
+    "closeness rank": 12
+   },
+   "door": {
+    "distance": "4.53 meters",
+    "closeness rank": 13
+   }
+  }
+ },
+ "appearance order": ["chair", "window", "computer mouse", "keyboard", "monitor", "table", "tv", "piano", "plant", "mirror", "backpack", "door", "trash bin", "telephone"]
+}
\ No newline at end of file
diff --git a/data/spatial codes/sam3+depth-anything-3/metric/tracking/uniform/64/explicit/scene0684_01.json b/data/spatial codes/sam3+depth-anything-3/metric/tracking/uniform/64/explicit/scene0684_01.json
new file mode 100644
index 0000000000000000000000000000000000000000..93fd9af4b25bddaa0a4cd2e99604f81f8198766c
--- /dev/null
+++ b/data/spatial codes/sam3+depth-anything-3/metric/tracking/uniform/64/explicit/scene0684_01.json	
@@ -0,0 +1,457 @@
+{
+ "objects": {
+  "chair": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "0.53 meters",
+      "y coordinate": "0.39 meters",
+      "height above floor": "-0.17 meters"
+     },
+     "longest dimension": "0.66 meters"
+    }
+   ]
+  },
+  "door": {
+   "count": 2,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-0.98 meters",
+      "y coordinate": "-1.06 meters",
+      "height above floor": "-0.35 meters"
+     },
+     "longest dimension": "0.75 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-0.84 meters",
+      "y coordinate": "-1.16 meters",
+      "height above floor": "-0.46 meters"
+     },
+     "longest dimension": "0.91 meters"
+    }
+   ]
+  },
+  "mattress": {
+   "count": 2,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-0.76 meters",
+      "y coordinate": "-0.09 meters",
+      "height above floor": "-0.08 meters"
+     },
+     "longest dimension": "0.41 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-0.7 meters",
+      "y coordinate": "-0.17 meters",
+      "height above floor": "-0.23 meters"
+     },
+     "longest dimension": "0.37 meters"
+    }
+   ]
+  },
+  "radiator": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "0.78 meters",
+      "y coordinate": "0.4 meters",
+      "height above floor": "-0.63 meters"
+     },
+     "longest dimension": "0.51 meters"
+    }
+   ]
+  },
+  "table": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-0.29 meters",
+      "y coordinate": "0.61 meters",
+      "height above floor": "-0.0 meters"
+     },
+     "longest dimension": "1.13 meters"
+    }
+   ]
+  },
+  "telephone": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "0.17 meters",
+      "y coordinate": "1.18 meters",
+      "height above floor": "0.15 meters"
+     },
+     "longest dimension": "0.3 meters"
+    }
+   ]
+  },
+  "trash bin": {
+   "count": 2,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-1.0 meters",
+      "y coordinate": "-0.59 meters",
+      "height above floor": "-0.16 meters"
+     },
+     "longest dimension": "0.67 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-0.96 meters",
+      "y coordinate": "-0.55 meters",
+      "height above floor": "-0.2 meters"
+     },
+     "longest dimension": "0.75 meters"
+    }
+   ]
+  },
+  "washing machine": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-0.74 meters",
+      "y coordinate": "-0.09 meters",
+      "height above floor": "-0.1 meters"
+     },
+     "longest dimension": "0.42 meters"
+    }
+   ]
+  },
+  "window": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-0.54 meters",
+      "y coordinate": "1.06 meters",
+      "height above floor": "0.28 meters"
+     },
+     "longest dimension": "0.78 meters"
+    }
+   ]
+  }
+ },
+ "room": {
+  "floor area": "5.4 square meters"
+ },
+ "closest classes distance meters from": {
+  "chair": {
+   "table": {
+    "distance": "0.29 meters",
+    "closeness rank": 1
+   },
+   "radiator": {
+    "distance": "0.32 meters",
+    "closeness rank": 2
+   },
+   "telephone": {
+    "distance": "0.51 meters",
+    "closeness rank": 3
+   },
+   "washing machine": {
+    "distance": "0.92 meters",
+    "closeness rank": 4
+   },
+   "mattress": {
+    "distance": "0.93 meters",
+    "closeness rank": 5
+   },
+   "window": {
+    "distance": "1.01 meters",
+    "closeness rank": 6
+   },
+   "trash bin": {
+    "distance": "1.39 meters",
+    "closeness rank": 7
+   },
+   "door": {
+    "distance": "1.82 meters",
+    "closeness rank": 8
+   }
+  },
+  "door": {
+   "trash bin": {
+    "distance": "0.1 meters",
+    "closeness rank": 1
+   },
+   "washing machine": {
+    "distance": "0.69 meters",
+    "closeness rank": 2
+   },
+   "mattress": {
+    "distance": "0.7 meters",
+    "closeness rank": 3
+   },
+   "table": {
+    "distance": "1.31 meters",
+    "closeness rank": 4
+   },
+   "window": {
+    "distance": "1.73 meters",
+    "closeness rank": 5
+   },
+   "chair": {
+    "distance": "1.82 meters",
+    "closeness rank": 6
+   },
+   "radiator": {
+    "distance": "2.19 meters",
+    "closeness rank": 7
+   },
+   "telephone": {
+    "distance": "2.3 meters",
+    "closeness rank": 8
+   }
+  },
+  "mattress": {
+   "washing machine": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "trash bin": {
+    "distance": "0.21 meters",
+    "closeness rank": 2
+   },
+   "table": {
+    "distance": "0.27 meters",
+    "closeness rank": 3
+   },
+   "door": {
+    "distance": "0.7 meters",
+    "closeness rank": 4
+   },
+   "window": {
+    "distance": "0.76 meters",
+    "closeness rank": 5
+   },
+   "chair": {
+    "distance": "0.93 meters",
+    "closeness rank": 6
+   },
+   "telephone": {
+    "distance": "1.27 meters",
+    "closeness rank": 7
+   },
+   "radiator": {
+    "distance": "1.5 meters",
+    "closeness rank": 8
+   }
+  },
+  "radiator": {
+   "chair": {
+    "distance": "0.32 meters",
+    "closeness rank": 1
+   },
+   "table": {
+    "distance": "0.91 meters",
+    "closeness rank": 2
+   },
+   "telephone": {
+    "distance": "1.02 meters",
+    "closeness rank": 3
+   },
+   "washing machine": {
+    "distance": "1.49 meters",
+    "closeness rank": 4
+   },
+   "mattress": {
+    "distance": "1.5 meters",
+    "closeness rank": 5
+   },
+   "window": {
+    "distance": "1.58 meters",
+    "closeness rank": 6
+   },
+   "trash bin": {
+    "distance": "1.83 meters",
+    "closeness rank": 7
+   },
+   "door": {
+    "distance": "2.19 meters",
+    "closeness rank": 8
+   }
+  },
+  "table": {
+   "washing machine": {
+    "distance": "0.26 meters",
+    "closeness rank": 1
+   },
+   "mattress": {
+    "distance": "0.27 meters",
+    "closeness rank": 2
+   },
+   "chair": {
+    "distance": "0.29 meters",
+    "closeness rank": 3
+   },
+   "window": {
+    "distance": "0.31 meters",
+    "closeness rank": 4
+   },
+   "telephone": {
+    "distance": "0.37 meters",
+    "closeness rank": 5
+   },
+   "trash bin": {
+    "distance": "0.85 meters",
+    "closeness rank": 6
+   },
+   "radiator": {
+    "distance": "0.91 meters",
+    "closeness rank": 7
+   },
+   "door": {
+    "distance": "1.31 meters",
+    "closeness rank": 8
+   }
+  },
+  "telephone": {
+   "window": {
+    "distance": "0.33 meters",
+    "closeness rank": 1
+   },
+   "table": {
+    "distance": "0.37 meters",
+    "closeness rank": 2
+   },
+   "chair": {
+    "distance": "0.51 meters",
+    "closeness rank": 3
+   },
+   "radiator": {
+    "distance": "1.02 meters",
+    "closeness rank": 4
+   },
+   "washing machine": {
+    "distance": "1.26 meters",
+    "closeness rank": 5
+   },
+   "mattress": {
+    "distance": "1.27 meters",
+    "closeness rank": 6
+   },
+   "trash bin": {
+    "distance": "1.85 meters",
+    "closeness rank": 7
+   },
+   "door": {
+    "distance": "2.3 meters",
+    "closeness rank": 8
+   }
+  },
+  "trash bin": {
+   "door": {
+    "distance": "0.1 meters",
+    "closeness rank": 1
+   },
+   "washing machine": {
+    "distance": "0.2 meters",
+    "closeness rank": 2
+   },
+   "mattress": {
+    "distance": "0.21 meters",
+    "closeness rank": 3
+   },
+   "table": {
+    "distance": "0.85 meters",
+    "closeness rank": 4
+   },
+   "window": {
+    "distance": "1.23 meters",
+    "closeness rank": 5
+   },
+   "chair": {
+    "distance": "1.39 meters",
+    "closeness rank": 6
+   },
+   "radiator": {
+    "distance": "1.83 meters",
+    "closeness rank": 7
+   },
+   "telephone": {
+    "distance": "1.85 meters",
+    "closeness rank": 8
+   }
+  },
+  "washing machine": {
+   "mattress": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "trash bin": {
+    "distance": "0.2 meters",
+    "closeness rank": 2
+   },
+   "table": {
+    "distance": "0.26 meters",
+    "closeness rank": 3
+   },
+   "door": {
+    "distance": "0.69 meters",
+    "closeness rank": 4
+   },
+   "window": {
+    "distance": "0.75 meters",
+    "closeness rank": 5
+   },
+   "chair": {
+    "distance": "0.92 meters",
+    "closeness rank": 6
+   },
+   "telephone": {
+    "distance": "1.26 meters",
+    "closeness rank": 7
+   },
+   "radiator": {
+    "distance": "1.49 meters",
+    "closeness rank": 8
+   }
+  },
+  "window": {
+   "table": {
+    "distance": "0.31 meters",
+    "closeness rank": 1
+   },
+   "telephone": {
+    "distance": "0.33 meters",
+    "closeness rank": 2
+   },
+   "washing machine": {
+    "distance": "0.75 meters",
+    "closeness rank": 3
+   },
+   "mattress": {
+    "distance": "0.76 meters",
+    "closeness rank": 4
+   },
+   "chair": {
+    "distance": "1.01 meters",
+    "closeness rank": 5
+   },
+   "trash bin": {
+    "distance": "1.23 meters",
+    "closeness rank": 6
+   },
+   "radiator": {
+    "distance": "1.58 meters",
+    "closeness rank": 7
+   },
+   "door": {
+    "distance": "1.73 meters",
+    "closeness rank": 8
+   }
+  }
+ },
+ "appearance order": ["door", "trash bin", "table", "telephone", "window", "chair", "mattress", "washing machine", "radiator"]
+}
\ No newline at end of file
diff --git a/data/spatial codes/sam3+depth-anything-3/metric/tracking/uniform/64/explicit/scene0693_00.json b/data/spatial codes/sam3+depth-anything-3/metric/tracking/uniform/64/explicit/scene0693_00.json
new file mode 100644
index 0000000000000000000000000000000000000000..4d7acebc7710977755d3f23c1e8256beda54e447
--- /dev/null
+++ b/data/spatial codes/sam3+depth-anything-3/metric/tracking/uniform/64/explicit/scene0693_00.json	
@@ -0,0 +1,189 @@
+{
+ "objects": {
+  "door": {
+   "count": 2,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-0.79 meters",
+      "y coordinate": "0.83 meters",
+      "height above floor": "-0.03 meters"
+     },
+     "longest dimension": "0.89 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "0.65 meters",
+      "y coordinate": "0.59 meters",
+      "height above floor": "-0.18 meters"
+     },
+     "longest dimension": "0.5 meters"
+    }
+   ]
+  },
+  "mirror": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-0.8 meters",
+      "y coordinate": "0.84 meters",
+      "height above floor": "0.06 meters"
+     },
+     "longest dimension": "0.74 meters"
+    }
+   ]
+  },
+  "towel": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "0.47 meters",
+      "y coordinate": "-0.34 meters",
+      "height above floor": "0.2 meters"
+     },
+     "longest dimension": "0.62 meters"
+    }
+   ]
+  },
+  "trash bin": {
+   "count": 2,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-0.55 meters",
+      "y coordinate": "0.31 meters",
+      "height above floor": "-0.4 meters"
+     },
+     "longest dimension": "0.32 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-0.8 meters",
+      "y coordinate": "-0.1 meters",
+      "height above floor": "-0.49 meters"
+     },
+     "longest dimension": "0.16 meters"
+    }
+   ]
+  },
+  "window": {
+   "count": 2,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "0.58 meters",
+      "y coordinate": "-0.46 meters",
+      "height above floor": "0.46 meters"
+     },
+     "longest dimension": "1.05 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "1.21 meters",
+      "y coordinate": "0.55 meters",
+      "height above floor": "1.02 meters"
+     },
+     "longest dimension": "0.7 meters"
+    }
+   ]
+  }
+ },
+ "room": {
+  "floor area": "5.3 square meters"
+ },
+ "closest classes distance meters from": {
+  "door": {
+   "mirror": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "trash bin": {
+    "distance": "0.11 meters",
+    "closeness rank": 2
+   },
+   "window": {
+    "distance": "1.35 meters",
+    "closeness rank": 3
+   },
+   "towel": {
+    "distance": "1.43 meters",
+    "closeness rank": 4
+   }
+  },
+  "mirror": {
+   "door": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "trash bin": {
+    "distance": "0.22 meters",
+    "closeness rank": 2
+   },
+   "window": {
+    "distance": "1.43 meters",
+    "closeness rank": 3
+   },
+   "towel": {
+    "distance": "1.52 meters",
+    "closeness rank": 4
+   }
+  },
+  "towel": {
+   "window": {
+    "distance": "0.02 meters",
+    "closeness rank": 1
+   },
+   "trash bin": {
+    "distance": "1.07 meters",
+    "closeness rank": 2
+   },
+   "door": {
+    "distance": "1.43 meters",
+    "closeness rank": 3
+   },
+   "mirror": {
+    "distance": "1.52 meters",
+    "closeness rank": 4
+   }
+  },
+  "trash bin": {
+   "door": {
+    "distance": "0.11 meters",
+    "closeness rank": 1
+   },
+   "mirror": {
+    "distance": "0.22 meters",
+    "closeness rank": 2
+   },
+   "window": {
+    "distance": "0.96 meters",
+    "closeness rank": 3
+   },
+   "towel": {
+    "distance": "1.07 meters",
+    "closeness rank": 4
+   }
+  },
+  "window": {
+   "towel": {
+    "distance": "0.02 meters",
+    "closeness rank": 1
+   },
+   "trash bin": {
+    "distance": "0.96 meters",
+    "closeness rank": 2
+   },
+   "door": {
+    "distance": "1.35 meters",
+    "closeness rank": 3
+   },
+   "mirror": {
+    "distance": "1.43 meters",
+    "closeness rank": 4
+   }
+  }
+ },
+ "appearance order": ["door", "towel", "mirror", "window", "trash bin"]
+}
\ No newline at end of file
diff --git a/data/spatial codes/sam3+depth-anything-3/metric/tracking/uniform/64/explicit/scene0696_01.json b/data/spatial codes/sam3+depth-anything-3/metric/tracking/uniform/64/explicit/scene0696_01.json
new file mode 100644
index 0000000000000000000000000000000000000000..ce4f67fad55ecdfa4845f307a88f51c4955f642d
--- /dev/null
+++ b/data/spatial codes/sam3+depth-anything-3/metric/tracking/uniform/64/explicit/scene0696_01.json	
@@ -0,0 +1,2062 @@
+{
+ "objects": {
+  "bed": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-0.66 meters",
+      "y coordinate": "0.98 meters",
+      "height above floor": "-0.18 meters"
+     },
+     "longest dimension": "1.16 meters"
+    }
+   ]
+  },
+  "bookshelf": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "2.65 meters",
+      "y coordinate": "-1.54 meters",
+      "height above floor": "0.51 meters"
+     },
+     "longest dimension": "1.62 meters"
+    }
+   ]
+  },
+  "chair": {
+   "count": 14,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "3.19 meters",
+      "y coordinate": "0.56 meters",
+      "height above floor": "-0.14 meters"
+     },
+     "longest dimension": "1.45 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "2.3 meters",
+      "y coordinate": "0.21 meters",
+      "height above floor": "0.15 meters"
+     },
+     "longest dimension": "0.35 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "1.26 meters",
+      "y coordinate": "-0.0 meters",
+      "height above floor": "-0.03 meters"
+     },
+     "longest dimension": "0.57 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "2.03 meters",
+      "y coordinate": "-0.05 meters",
+      "height above floor": "-0.07 meters"
+     },
+     "longest dimension": "0.56 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "1.63 meters",
+      "y coordinate": "-0.06 meters",
+      "height above floor": "-0.15 meters"
+     },
+     "longest dimension": "0.57 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "1.69 meters",
+      "y coordinate": "-1.24 meters",
+      "height above floor": "-0.22 meters"
+     },
+     "longest dimension": "0.5 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-0.63 meters",
+      "y coordinate": "-0.27 meters",
+      "height above floor": "-0.05 meters"
+     },
+     "longest dimension": "0.82 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "0.83 meters",
+      "y coordinate": "0.12 meters",
+      "height above floor": "-0.21 meters"
+     },
+     "longest dimension": "0.49 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "2.06 meters",
+      "y coordinate": "1.51 meters",
+      "height above floor": "-0.33 meters"
+     },
+     "longest dimension": "0.73 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "1.94 meters",
+      "y coordinate": "-0.01 meters",
+      "height above floor": "-0.15 meters"
+     },
+     "longest dimension": "0.65 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "0.69 meters",
+      "y coordinate": "0.07 meters",
+      "height above floor": "-0.16 meters"
+     },
+     "longest dimension": "0.45 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "1.6 meters",
+      "y coordinate": "-0.08 meters",
+      "height above floor": "-0.01 meters"
+     },
+     "longest dimension": "0.38 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "0.56 meters",
+      "y coordinate": "1.9 meters",
+      "height above floor": "-0.01 meters"
+     },
+     "longest dimension": "0.35 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "0.37 meters",
+      "y coordinate": "0.04 meters",
+      "height above floor": "-0.2 meters"
+     },
+     "longest dimension": "0.65 meters"
+    }
+   ]
+  },
+  "closet": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "3.74 meters",
+      "y coordinate": "0.47 meters",
+      "height above floor": "0.67 meters"
+     },
+     "longest dimension": "0.99 meters"
+    }
+   ]
+  },
+  "computer mouse": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "2.04 meters",
+      "y coordinate": "-1.36 meters",
+      "height above floor": "0.62 meters"
+     },
+     "longest dimension": "0.09 meters"
+    }
+   ]
+  },
+  "door": {
+   "count": 5,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "0.58 meters",
+      "y coordinate": "2.66 meters",
+      "height above floor": "0.03 meters"
+     },
+     "longest dimension": "0.69 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "3.97 meters",
+      "y coordinate": "-0.65 meters",
+      "height above floor": "0.49 meters"
+     },
+     "longest dimension": "1.2 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "0.41 meters",
+      "y coordinate": "-1.08 meters",
+      "height above floor": "0.48 meters"
+     },
+     "longest dimension": "0.6 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "2.65 meters",
+      "y coordinate": "-1.44 meters",
+      "height above floor": "1.03 meters"
+     },
+     "longest dimension": "0.48 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "1.69 meters",
+      "y coordinate": "-1.24 meters",
+      "height above floor": "-0.19 meters"
+     },
+     "longest dimension": "0.58 meters"
+    }
+   ]
+  },
+  "mattress": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "3.21 meters",
+      "y coordinate": "1.28 meters",
+      "height above floor": "0.12 meters"
+     },
+     "longest dimension": "0.42 meters"
+    }
+   ]
+  },
+  "microwave": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "2.15 meters",
+      "y coordinate": "2.62 meters",
+      "height above floor": "0.46 meters"
+     },
+     "longest dimension": "0.52 meters"
+    }
+   ]
+  },
+  "mirror": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "1.97 meters",
+      "y coordinate": "-1.55 meters",
+      "height above floor": "0.99 meters"
+     },
+     "longest dimension": "0.34 meters"
+    }
+   ]
+  },
+  "monitor": {
+   "count": 2,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "1.59 meters",
+      "y coordinate": "2.7 meters",
+      "height above floor": "0.44 meters"
+     },
+     "longest dimension": "0.4 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "2.05 meters",
+      "y coordinate": "2.62 meters",
+      "height above floor": "0.46 meters"
+     },
+     "longest dimension": "0.46 meters"
+    }
+   ]
+  },
+  "pillow": {
+   "count": 3,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "3.21 meters",
+      "y coordinate": "1.29 meters",
+      "height above floor": "0.12 meters"
+     },
+     "longest dimension": "0.43 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "0.21 meters",
+      "y coordinate": "0.41 meters",
+      "height above floor": "0.07 meters"
+     },
+     "longest dimension": "0.51 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-1.05 meters",
+      "y coordinate": "1.01 meters",
+      "height above floor": "0.13 meters"
+     },
+     "longest dimension": "0.44 meters"
+    }
+   ]
+  },
+  "printer": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "1.78 meters",
+      "y coordinate": "-1.27 meters",
+      "height above floor": "0.67 meters"
+     },
+     "longest dimension": "0.5 meters"
+    }
+   ]
+  },
+  "radiator": {
+   "count": 2,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "1.28 meters",
+      "y coordinate": "-1.08 meters",
+      "height above floor": "0.04 meters"
+     },
+     "longest dimension": "0.94 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "3.54 meters",
+      "y coordinate": "1.39 meters",
+      "height above floor": "0.25 meters"
+     },
+     "longest dimension": "0.54 meters"
+    }
+   ]
+  },
+  "sofa": {
+   "count": 2,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "3.19 meters",
+      "y coordinate": "0.57 meters",
+      "height above floor": "-0.14 meters"
+     },
+     "longest dimension": "1.46 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-0.66 meters",
+      "y coordinate": "0.98 meters",
+      "height above floor": "-0.19 meters"
+     },
+     "longest dimension": "1.15 meters"
+    }
+   ]
+  },
+  "table": {
+   "count": 4,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "1.49 meters",
+      "y coordinate": "0.5 meters",
+      "height above floor": "0.01 meters"
+     },
+     "longest dimension": "1.97 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "2.49 meters",
+      "y coordinate": "1.21 meters",
+      "height above floor": "0.02 meters"
+     },
+     "longest dimension": "0.67 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "1.64 meters",
+      "y coordinate": "1.41 meters",
+      "height above floor": "-0.03 meters"
+     },
+     "longest dimension": "0.62 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "1.9 meters",
+      "y coordinate": "0.36 meters",
+      "height above floor": "0.01 meters"
+     },
+     "longest dimension": "0.85 meters"
+    }
+   ]
+  },
+  "telephone": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "1.58 meters",
+      "y coordinate": "-1.39 meters",
+      "height above floor": "0.29 meters"
+     },
+     "longest dimension": "0.2 meters"
+    }
+   ]
+  },
+  "towel": {
+   "count": 3,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "3.21 meters",
+      "y coordinate": "1.29 meters",
+      "height above floor": "0.12 meters"
+     },
+     "longest dimension": "0.43 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "0.21 meters",
+      "y coordinate": "0.41 meters",
+      "height above floor": "0.07 meters"
+     },
+     "longest dimension": "0.51 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "1.41 meters",
+      "y coordinate": "2.57 meters",
+      "height above floor": "0.15 meters"
+     },
+     "longest dimension": "1.32 meters"
+    }
+   ]
+  },
+  "trash bin": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-0.59 meters",
+      "y coordinate": "2.07 meters",
+      "height above floor": "-0.01 meters"
+     },
+     "longest dimension": "0.57 meters"
+    }
+   ]
+  },
+  "tv": {
+   "count": 2,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "1.59 meters",
+      "y coordinate": "2.7 meters",
+      "height above floor": "0.44 meters"
+     },
+     "longest dimension": "0.41 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "2.05 meters",
+      "y coordinate": "2.62 meters",
+      "height above floor": "0.46 meters"
+     },
+     "longest dimension": "0.46 meters"
+    }
+   ]
+  },
+  "window": {
+   "count": 2,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-1.23 meters",
+      "y coordinate": "0.73 meters",
+      "height above floor": "0.95 meters"
+     },
+     "longest dimension": "2.09 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "1.47 meters",
+      "y coordinate": "3.1 meters",
+      "height above floor": "0.79 meters"
+     },
+     "longest dimension": "1.34 meters"
+    }
+   ]
+  }
+ },
+ "room": {
+  "floor area": "25.8 square meters"
+ },
+ "closest classes distance meters from": {
+  "bed": {
+   "trash bin": {
+    "distance": "0.21 meters",
+    "closeness rank": 1
+   },
+   "table": {
+    "distance": "0.38 meters",
+    "closeness rank": 2
+   },
+   "window": {
+    "distance": "0.48 meters",
+    "closeness rank": 3
+   },
+   "door": {
+    "distance": "1.15 meters",
+    "closeness rank": 4
+   },
+   "mattress": {
+    "distance": "1.63 meters",
+    "closeness rank": 5
+   },
+   "monitor": {
+    "distance": "2.04 meters",
+    "closeness rank": 6
+   },
+   "tv": {
+    "distance": "2.04 meters",
+    "closeness rank": 7
+   },
+   "radiator": {
+    "distance": "2.12 meters",
+    "closeness rank": 8
+   },
+   "microwave": {
+    "distance": "2.32 meters",
+    "closeness rank": 9
+   },
+   "printer": {
+    "distance": "2.77 meters",
+    "closeness rank": 10
+   },
+   "telephone": {
+    "distance": "2.84 meters",
+    "closeness rank": 11
+   },
+   "computer mouse": {
+    "distance": "3.25 meters",
+    "closeness rank": 12
+   },
+   "mirror": {
+    "distance": "3.3 meters",
+    "closeness rank": 13
+   },
+   "chair": {
+    "distance": "3.39 meters",
+    "closeness rank": 14
+   },
+   "sofa": {
+    "distance": "3.39 meters",
+    "closeness rank": 15
+   },
+   "pillow": {
+    "distance": "3.41 meters",
+    "closeness rank": 16
+   },
+   "towel": {
+    "distance": "3.43 meters",
+    "closeness rank": 17
+   },
+   "bookshelf": {
+    "distance": "3.52 meters",
+    "closeness rank": 18
+   },
+   "closet": {
+    "distance": "3.98 meters",
+    "closeness rank": 19
+   }
+  },
+  "bookshelf": {
+   "computer mouse": {
+    "distance": "0.28 meters",
+    "closeness rank": 1
+   },
+   "mirror": {
+    "distance": "0.29 meters",
+    "closeness rank": 2
+   },
+   "printer": {
+    "distance": "0.58 meters",
+    "closeness rank": 3
+   },
+   "telephone": {
+    "distance": "0.73 meters",
+    "closeness rank": 4
+   },
+   "radiator": {
+    "distance": "0.92 meters",
+    "closeness rank": 5
+   },
+   "table": {
+    "distance": "1.51 meters",
+    "closeness rank": 6
+   },
+   "sofa": {
+    "distance": "1.68 meters",
+    "closeness rank": 7
+   },
+   "chair": {
+    "distance": "1.7 meters",
+    "closeness rank": 8
+   },
+   "closet": {
+    "distance": "2.04 meters",
+    "closeness rank": 9
+   },
+   "mattress": {
+    "distance": "2.47 meters",
+    "closeness rank": 10
+   },
+   "pillow": {
+    "distance": "2.49 meters",
+    "closeness rank": 11
+   },
+   "towel": {
+    "distance": "2.5 meters",
+    "closeness rank": 12
+   },
+   "bed": {
+    "distance": "3.52 meters",
+    "closeness rank": 13
+   },
+   "window": {
+    "distance": "3.91 meters",
+    "closeness rank": 14
+   },
+   "microwave": {
+    "distance": "3.93 meters",
+    "closeness rank": 15
+   },
+   "monitor": {
+    "distance": "4.04 meters",
+    "closeness rank": 16
+   },
+   "tv": {
+    "distance": "4.04 meters",
+    "closeness rank": 17
+   },
+   "door": {
+    "distance": "4.3 meters",
+    "closeness rank": 18
+   },
+   "trash bin": {
+    "distance": "4.37 meters",
+    "closeness rank": 19
+   }
+  },
+  "chair": {
+   "sofa": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "mattress": {
+    "distance": "0.01 meters",
+    "closeness rank": 2
+   },
+   "pillow": {
+    "distance": "0.01 meters",
+    "closeness rank": 3
+   },
+   "towel": {
+    "distance": "0.01 meters",
+    "closeness rank": 4
+   },
+   "closet": {
+    "distance": "0.33 meters",
+    "closeness rank": 5
+   },
+   "table": {
+    "distance": "0.99 meters",
+    "closeness rank": 6
+   },
+   "microwave": {
+    "distance": "1.14 meters",
+    "closeness rank": 7
+   },
+   "tv": {
+    "distance": "1.58 meters",
+    "closeness rank": 8
+   },
+   "monitor": {
+    "distance": "1.59 meters",
+    "closeness rank": 9
+   },
+   "bookshelf": {
+    "distance": "1.7 meters",
+    "closeness rank": 10
+   },
+   "computer mouse": {
+    "distance": "1.99 meters",
+    "closeness rank": 11
+   },
+   "printer": {
+    "distance": "2.1 meters",
+    "closeness rank": 12
+   },
+   "radiator": {
+    "distance": "2.1 meters",
+    "closeness rank": 13
+   },
+   "telephone": {
+    "distance": "2.2 meters",
+    "closeness rank": 14
+   },
+   "mirror": {
+    "distance": "2.23 meters",
+    "closeness rank": 15
+   },
+   "door": {
+    "distance": "2.48 meters",
+    "closeness rank": 16
+   },
+   "bed": {
+    "distance": "3.39 meters",
+    "closeness rank": 17
+   },
+   "trash bin": {
+    "distance": "3.52 meters",
+    "closeness rank": 18
+   },
+   "window": {
+    "distance": "4.25 meters",
+    "closeness rank": 19
+   }
+  },
+  "closet": {
+   "sofa": {
+    "distance": "0.31 meters",
+    "closeness rank": 1
+   },
+   "chair": {
+    "distance": "0.33 meters",
+    "closeness rank": 2
+   },
+   "mattress": {
+    "distance": "0.37 meters",
+    "closeness rank": 3
+   },
+   "pillow": {
+    "distance": "0.38 meters",
+    "closeness rank": 4
+   },
+   "towel": {
+    "distance": "0.41 meters",
+    "closeness rank": 5
+   },
+   "table": {
+    "distance": "1.48 meters",
+    "closeness rank": 6
+   },
+   "bookshelf": {
+    "distance": "2.04 meters",
+    "closeness rank": 7
+   },
+   "microwave": {
+    "distance": "2.1 meters",
+    "closeness rank": 8
+   },
+   "computer mouse": {
+    "distance": "2.34 meters",
+    "closeness rank": 9
+   },
+   "printer": {
+    "distance": "2.47 meters",
+    "closeness rank": 10
+   },
+   "tv": {
+    "distance": "2.48 meters",
+    "closeness rank": 11
+   },
+   "monitor": {
+    "distance": "2.49 meters",
+    "closeness rank": 12
+   },
+   "mirror": {
+    "distance": "2.51 meters",
+    "closeness rank": 13
+   },
+   "radiator": {
+    "distance": "2.58 meters",
+    "closeness rank": 14
+   },
+   "telephone": {
+    "distance": "2.62 meters",
+    "closeness rank": 15
+   },
+   "door": {
+    "distance": "3.31 meters",
+    "closeness rank": 16
+   },
+   "bed": {
+    "distance": "3.98 meters",
+    "closeness rank": 17
+   },
+   "trash bin": {
+    "distance": "4.14 meters",
+    "closeness rank": 18
+   },
+   "window": {
+    "distance": "4.75 meters",
+    "closeness rank": 19
+   }
+  },
+  "computer mouse": {
+   "printer": {
+    "distance": "0.17 meters",
+    "closeness rank": 1
+   },
+   "mirror": {
+    "distance": "0.25 meters",
+    "closeness rank": 2
+   },
+   "bookshelf": {
+    "distance": "0.28 meters",
+    "closeness rank": 3
+   },
+   "telephone": {
+    "distance": "0.44 meters",
+    "closeness rank": 4
+   },
+   "radiator": {
+    "distance": "0.52 meters",
+    "closeness rank": 5
+   },
+   "table": {
+    "distance": "1.54 meters",
+    "closeness rank": 6
+   },
+   "sofa": {
+    "distance": "1.98 meters",
+    "closeness rank": 7
+   },
+   "chair": {
+    "distance": "1.99 meters",
+    "closeness rank": 8
+   },
+   "closet": {
+    "distance": "2.34 meters",
+    "closeness rank": 9
+   },
+   "mattress": {
+    "distance": "2.63 meters",
+    "closeness rank": 10
+   },
+   "pillow": {
+    "distance": "2.64 meters",
+    "closeness rank": 11
+   },
+   "towel": {
+    "distance": "2.65 meters",
+    "closeness rank": 12
+   },
+   "bed": {
+    "distance": "3.25 meters",
+    "closeness rank": 13
+   },
+   "window": {
+    "distance": "3.5 meters",
+    "closeness rank": 14
+   },
+   "microwave": {
+    "distance": "3.84 meters",
+    "closeness rank": 15
+   },
+   "monitor": {
+    "distance": "3.93 meters",
+    "closeness rank": 16
+   },
+   "tv": {
+    "distance": "3.93 meters",
+    "closeness rank": 17
+   },
+   "trash bin": {
+    "distance": "4.14 meters",
+    "closeness rank": 18
+   },
+   "door": {
+    "distance": "4.15 meters",
+    "closeness rank": 19
+   }
+  },
+  "door": {
+   "mattress": {
+    "distance": "0.24 meters",
+    "closeness rank": 1
+   },
+   "tv": {
+    "distance": "0.61 meters",
+    "closeness rank": 2
+   },
+   "monitor": {
+    "distance": "0.62 meters",
+    "closeness rank": 3
+   },
+   "trash bin": {
+    "distance": "0.82 meters",
+    "closeness rank": 4
+   },
+   "table": {
+    "distance": "0.93 meters",
+    "closeness rank": 5
+   },
+   "microwave": {
+    "distance": "0.99 meters",
+    "closeness rank": 6
+   },
+   "bed": {
+    "distance": "1.15 meters",
+    "closeness rank": 7
+   },
+   "window": {
+    "distance": "1.52 meters",
+    "closeness rank": 8
+   },
+   "sofa": {
+    "distance": "2.44 meters",
+    "closeness rank": 9
+   },
+   "chair": {
+    "distance": "2.48 meters",
+    "closeness rank": 10
+   },
+   "pillow": {
+    "distance": "2.62 meters",
+    "closeness rank": 11
+   },
+   "towel": {
+    "distance": "2.63 meters",
+    "closeness rank": 12
+   },
+   "closet": {
+    "distance": "3.31 meters",
+    "closeness rank": 13
+   },
+   "radiator": {
+    "distance": "3.54 meters",
+    "closeness rank": 14
+   },
+   "printer": {
+    "distance": "3.91 meters",
+    "closeness rank": 15
+   },
+   "telephone": {
+    "distance": "4.02 meters",
+    "closeness rank": 16
+   },
+   "computer mouse": {
+    "distance": "4.15 meters",
+    "closeness rank": 17
+   },
+   "bookshelf": {
+    "distance": "4.3 meters",
+    "closeness rank": 18
+   },
+   "mirror": {
+    "distance": "4.32 meters",
+    "closeness rank": 19
+   }
+  },
+  "mattress": {
+   "pillow": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "towel": {
+    "distance": "0.0 meters",
+    "closeness rank": 2
+   },
+   "chair": {
+    "distance": "0.01 meters",
+    "closeness rank": 3
+   },
+   "sofa": {
+    "distance": "0.02 meters",
+    "closeness rank": 4
+   },
+   "microwave": {
+    "distance": "0.08 meters",
+    "closeness rank": 5
+   },
+   "monitor": {
+    "distance": "0.1 meters",
+    "closeness rank": 6
+   },
+   "tv": {
+    "distance": "0.11 meters",
+    "closeness rank": 7
+   },
+   "door": {
+    "distance": "0.24 meters",
+    "closeness rank": 8
+   },
+   "closet": {
+    "distance": "0.37 meters",
+    "closeness rank": 9
+   },
+   "table": {
+    "distance": "0.92 meters",
+    "closeness rank": 10
+   },
+   "trash bin": {
+    "distance": "1.42 meters",
+    "closeness rank": 11
+   },
+   "bed": {
+    "distance": "1.63 meters",
+    "closeness rank": 12
+   },
+   "window": {
+    "distance": "2.14 meters",
+    "closeness rank": 13
+   },
+   "bookshelf": {
+    "distance": "2.47 meters",
+    "closeness rank": 14
+   },
+   "computer mouse": {
+    "distance": "2.63 meters",
+    "closeness rank": 15
+   },
+   "radiator": {
+    "distance": "2.64 meters",
+    "closeness rank": 16
+   },
+   "printer": {
+    "distance": "2.69 meters",
+    "closeness rank": 17
+   },
+   "telephone": {
+    "distance": "2.8 meters",
+    "closeness rank": 18
+   },
+   "mirror": {
+    "distance": "2.86 meters",
+    "closeness rank": 19
+   }
+  },
+  "microwave": {
+   "monitor": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "tv": {
+    "distance": "0.0 meters",
+    "closeness rank": 2
+   },
+   "mattress": {
+    "distance": "0.08 meters",
+    "closeness rank": 3
+   },
+   "door": {
+    "distance": "0.99 meters",
+    "closeness rank": 4
+   },
+   "table": {
+    "distance": "1.08 meters",
+    "closeness rank": 5
+   },
+   "sofa": {
+    "distance": "1.13 meters",
+    "closeness rank": 6
+   },
+   "chair": {
+    "distance": "1.14 meters",
+    "closeness rank": 7
+   },
+   "pillow": {
+    "distance": "1.45 meters",
+    "closeness rank": 8
+   },
+   "towel": {
+    "distance": "1.45 meters",
+    "closeness rank": 9
+   },
+   "closet": {
+    "distance": "2.1 meters",
+    "closeness rank": 10
+   },
+   "trash bin": {
+    "distance": "2.18 meters",
+    "closeness rank": 11
+   },
+   "bed": {
+    "distance": "2.32 meters",
+    "closeness rank": 12
+   },
+   "window": {
+    "distance": "2.86 meters",
+    "closeness rank": 13
+   },
+   "radiator": {
+    "distance": "3.55 meters",
+    "closeness rank": 14
+   },
+   "printer": {
+    "distance": "3.75 meters",
+    "closeness rank": 15
+   },
+   "computer mouse": {
+    "distance": "3.84 meters",
+    "closeness rank": 16
+   },
+   "telephone": {
+    "distance": "3.85 meters",
+    "closeness rank": 17
+   },
+   "bookshelf": {
+    "distance": "3.93 meters",
+    "closeness rank": 18
+   },
+   "mirror": {
+    "distance": "4.06 meters",
+    "closeness rank": 19
+   }
+  },
+  "mirror": {
+   "printer": {
+    "distance": "0.09 meters",
+    "closeness rank": 1
+   },
+   "computer mouse": {
+    "distance": "0.25 meters",
+    "closeness rank": 2
+   },
+   "bookshelf": {
+    "distance": "0.29 meters",
+    "closeness rank": 3
+   },
+   "telephone": {
+    "distance": "0.58 meters",
+    "closeness rank": 4
+   },
+   "radiator": {
+    "distance": "0.6 meters",
+    "closeness rank": 5
+   },
+   "table": {
+    "distance": "1.83 meters",
+    "closeness rank": 6
+   },
+   "sofa": {
+    "distance": "2.22 meters",
+    "closeness rank": 7
+   },
+   "chair": {
+    "distance": "2.23 meters",
+    "closeness rank": 8
+   },
+   "closet": {
+    "distance": "2.51 meters",
+    "closeness rank": 9
+   },
+   "mattress": {
+    "distance": "2.86 meters",
+    "closeness rank": 10
+   },
+   "pillow": {
+    "distance": "2.87 meters",
+    "closeness rank": 11
+   },
+   "towel": {
+    "distance": "2.88 meters",
+    "closeness rank": 12
+   },
+   "bed": {
+    "distance": "3.3 meters",
+    "closeness rank": 13
+   },
+   "window": {
+    "distance": "3.38 meters",
+    "closeness rank": 14
+   },
+   "microwave": {
+    "distance": "4.06 meters",
+    "closeness rank": 15
+   },
+   "monitor": {
+    "distance": "4.15 meters",
+    "closeness rank": 16
+   },
+   "tv": {
+    "distance": "4.15 meters",
+    "closeness rank": 17
+   },
+   "trash bin": {
+    "distance": "4.25 meters",
+    "closeness rank": 18
+   },
+   "door": {
+    "distance": "4.32 meters",
+    "closeness rank": 19
+   }
+  },
+  "monitor": {
+   "microwave": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "tv": {
+    "distance": "0.0 meters",
+    "closeness rank": 2
+   },
+   "mattress": {
+    "distance": "0.1 meters",
+    "closeness rank": 3
+   },
+   "door": {
+    "distance": "0.62 meters",
+    "closeness rank": 4
+   },
+   "table": {
+    "distance": "1.08 meters",
+    "closeness rank": 5
+   },
+   "sofa": {
+    "distance": "1.56 meters",
+    "closeness rank": 6
+   },
+   "chair": {
+    "distance": "1.59 meters",
+    "closeness rank": 7
+   },
+   "pillow": {
+    "distance": "1.8 meters",
+    "closeness rank": 8
+   },
+   "towel": {
+    "distance": "1.81 meters",
+    "closeness rank": 9
+   },
+   "trash bin": {
+    "distance": "1.84 meters",
+    "closeness rank": 10
+   },
+   "bed": {
+    "distance": "2.04 meters",
+    "closeness rank": 11
+   },
+   "closet": {
+    "distance": "2.49 meters",
+    "closeness rank": 12
+   },
+   "window": {
+    "distance": "2.53 meters",
+    "closeness rank": 13
+   },
+   "radiator": {
+    "distance": "3.61 meters",
+    "closeness rank": 14
+   },
+   "printer": {
+    "distance": "3.83 meters",
+    "closeness rank": 15
+   },
+   "computer mouse": {
+    "distance": "3.93 meters",
+    "closeness rank": 16
+   },
+   "telephone": {
+    "distance": "3.93 meters",
+    "closeness rank": 17
+   },
+   "bookshelf": {
+    "distance": "4.04 meters",
+    "closeness rank": 18
+   },
+   "mirror": {
+    "distance": "4.15 meters",
+    "closeness rank": 19
+   }
+  },
+  "pillow": {
+   "mattress": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "towel": {
+    "distance": "0.0 meters",
+    "closeness rank": 2
+   },
+   "chair": {
+    "distance": "0.01 meters",
+    "closeness rank": 3
+   },
+   "sofa": {
+    "distance": "0.02 meters",
+    "closeness rank": 4
+   },
+   "closet": {
+    "distance": "0.38 meters",
+    "closeness rank": 5
+   },
+   "table": {
+    "distance": "1.28 meters",
+    "closeness rank": 6
+   },
+   "microwave": {
+    "distance": "1.45 meters",
+    "closeness rank": 7
+   },
+   "tv": {
+    "distance": "1.79 meters",
+    "closeness rank": 8
+   },
+   "monitor": {
+    "distance": "1.8 meters",
+    "closeness rank": 9
+   },
+   "bookshelf": {
+    "distance": "2.49 meters",
+    "closeness rank": 10
+   },
+   "door": {
+    "distance": "2.62 meters",
+    "closeness rank": 11
+   },
+   "computer mouse": {
+    "distance": "2.64 meters",
+    "closeness rank": 12
+   },
+   "radiator": {
+    "distance": "2.66 meters",
+    "closeness rank": 13
+   },
+   "printer": {
+    "distance": "2.7 meters",
+    "closeness rank": 14
+   },
+   "telephone": {
+    "distance": "2.81 meters",
+    "closeness rank": 15
+   },
+   "mirror": {
+    "distance": "2.87 meters",
+    "closeness rank": 16
+   },
+   "bed": {
+    "distance": "3.41 meters",
+    "closeness rank": 17
+   },
+   "trash bin": {
+    "distance": "3.53 meters",
+    "closeness rank": 18
+   },
+   "window": {
+    "distance": "4.21 meters",
+    "closeness rank": 19
+   }
+  },
+  "printer": {
+   "mirror": {
+    "distance": "0.09 meters",
+    "closeness rank": 1
+   },
+   "radiator": {
+    "distance": "0.13 meters",
+    "closeness rank": 2
+   },
+   "computer mouse": {
+    "distance": "0.17 meters",
+    "closeness rank": 3
+   },
+   "telephone": {
+    "distance": "0.31 meters",
+    "closeness rank": 4
+   },
+   "bookshelf": {
+    "distance": "0.58 meters",
+    "closeness rank": 5
+   },
+   "table": {
+    "distance": "1.49 meters",
+    "closeness rank": 6
+   },
+   "sofa": {
+    "distance": "2.09 meters",
+    "closeness rank": 7
+   },
+   "chair": {
+    "distance": "2.1 meters",
+    "closeness rank": 8
+   },
+   "closet": {
+    "distance": "2.47 meters",
+    "closeness rank": 9
+   },
+   "mattress": {
+    "distance": "2.69 meters",
+    "closeness rank": 10
+   },
+   "pillow": {
+    "distance": "2.7 meters",
+    "closeness rank": 11
+   },
+   "towel": {
+    "distance": "2.71 meters",
+    "closeness rank": 12
+   },
+   "bed": {
+    "distance": "2.77 meters",
+    "closeness rank": 13
+   },
+   "window": {
+    "distance": "2.89 meters",
+    "closeness rank": 14
+   },
+   "microwave": {
+    "distance": "3.75 meters",
+    "closeness rank": 15
+   },
+   "trash bin": {
+    "distance": "3.75 meters",
+    "closeness rank": 16
+   },
+   "monitor": {
+    "distance": "3.83 meters",
+    "closeness rank": 17
+   },
+   "tv": {
+    "distance": "3.84 meters",
+    "closeness rank": 18
+   },
+   "door": {
+    "distance": "3.91 meters",
+    "closeness rank": 19
+   }
+  },
+  "radiator": {
+   "printer": {
+    "distance": "0.13 meters",
+    "closeness rank": 1
+   },
+   "telephone": {
+    "distance": "0.17 meters",
+    "closeness rank": 2
+   },
+   "computer mouse": {
+    "distance": "0.52 meters",
+    "closeness rank": 3
+   },
+   "mirror": {
+    "distance": "0.6 meters",
+    "closeness rank": 4
+   },
+   "bookshelf": {
+    "distance": "0.92 meters",
+    "closeness rank": 5
+   },
+   "table": {
+    "distance": "1.16 meters",
+    "closeness rank": 6
+   },
+   "sofa": {
+    "distance": "2.07 meters",
+    "closeness rank": 7
+   },
+   "chair": {
+    "distance": "2.1 meters",
+    "closeness rank": 8
+   },
+   "bed": {
+    "distance": "2.12 meters",
+    "closeness rank": 9
+   },
+   "window": {
+    "distance": "2.38 meters",
+    "closeness rank": 10
+   },
+   "closet": {
+    "distance": "2.58 meters",
+    "closeness rank": 11
+   },
+   "mattress": {
+    "distance": "2.64 meters",
+    "closeness rank": 12
+   },
+   "pillow": {
+    "distance": "2.66 meters",
+    "closeness rank": 13
+   },
+   "towel": {
+    "distance": "2.66 meters",
+    "closeness rank": 14
+   },
+   "trash bin": {
+    "distance": "3.21 meters",
+    "closeness rank": 15
+   },
+   "door": {
+    "distance": "3.54 meters",
+    "closeness rank": 16
+   },
+   "microwave": {
+    "distance": "3.55 meters",
+    "closeness rank": 17
+   },
+   "monitor": {
+    "distance": "3.61 meters",
+    "closeness rank": 18
+   },
+   "tv": {
+    "distance": "3.61 meters",
+    "closeness rank": 19
+   }
+  },
+  "sofa": {
+   "chair": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "mattress": {
+    "distance": "0.02 meters",
+    "closeness rank": 2
+   },
+   "pillow": {
+    "distance": "0.02 meters",
+    "closeness rank": 3
+   },
+   "towel": {
+    "distance": "0.02 meters",
+    "closeness rank": 4
+   },
+   "closet": {
+    "distance": "0.31 meters",
+    "closeness rank": 5
+   },
+   "table": {
+    "distance": "0.98 meters",
+    "closeness rank": 6
+   },
+   "microwave": {
+    "distance": "1.13 meters",
+    "closeness rank": 7
+   },
+   "tv": {
+    "distance": "1.54 meters",
+    "closeness rank": 8
+   },
+   "monitor": {
+    "distance": "1.56 meters",
+    "closeness rank": 9
+   },
+   "bookshelf": {
+    "distance": "1.68 meters",
+    "closeness rank": 10
+   },
+   "computer mouse": {
+    "distance": "1.98 meters",
+    "closeness rank": 11
+   },
+   "radiator": {
+    "distance": "2.07 meters",
+    "closeness rank": 12
+   },
+   "printer": {
+    "distance": "2.09 meters",
+    "closeness rank": 13
+   },
+   "telephone": {
+    "distance": "2.19 meters",
+    "closeness rank": 14
+   },
+   "mirror": {
+    "distance": "2.22 meters",
+    "closeness rank": 15
+   },
+   "door": {
+    "distance": "2.44 meters",
+    "closeness rank": 16
+   },
+   "bed": {
+    "distance": "3.39 meters",
+    "closeness rank": 17
+   },
+   "trash bin": {
+    "distance": "3.49 meters",
+    "closeness rank": 18
+   },
+   "window": {
+    "distance": "4.2 meters",
+    "closeness rank": 19
+   }
+  },
+  "table": {
+   "bed": {
+    "distance": "0.38 meters",
+    "closeness rank": 1
+   },
+   "trash bin": {
+    "distance": "0.54 meters",
+    "closeness rank": 2
+   },
+   "mattress": {
+    "distance": "0.92 meters",
+    "closeness rank": 3
+   },
+   "door": {
+    "distance": "0.93 meters",
+    "closeness rank": 4
+   },
+   "sofa": {
+    "distance": "0.98 meters",
+    "closeness rank": 5
+   },
+   "chair": {
+    "distance": "0.99 meters",
+    "closeness rank": 6
+   },
+   "microwave": {
+    "distance": "1.08 meters",
+    "closeness rank": 7
+   },
+   "monitor": {
+    "distance": "1.08 meters",
+    "closeness rank": 8
+   },
+   "tv": {
+    "distance": "1.09 meters",
+    "closeness rank": 9
+   },
+   "radiator": {
+    "distance": "1.16 meters",
+    "closeness rank": 10
+   },
+   "window": {
+    "distance": "1.21 meters",
+    "closeness rank": 11
+   },
+   "pillow": {
+    "distance": "1.28 meters",
+    "closeness rank": 12
+   },
+   "towel": {
+    "distance": "1.28 meters",
+    "closeness rank": 13
+   },
+   "closet": {
+    "distance": "1.48 meters",
+    "closeness rank": 14
+   },
+   "telephone": {
+    "distance": "1.48 meters",
+    "closeness rank": 15
+   },
+   "printer": {
+    "distance": "1.49 meters",
+    "closeness rank": 16
+   },
+   "bookshelf": {
+    "distance": "1.51 meters",
+    "closeness rank": 17
+   },
+   "computer mouse": {
+    "distance": "1.54 meters",
+    "closeness rank": 18
+   },
+   "mirror": {
+    "distance": "1.83 meters",
+    "closeness rank": 19
+   }
+  },
+  "telephone": {
+   "radiator": {
+    "distance": "0.17 meters",
+    "closeness rank": 1
+   },
+   "printer": {
+    "distance": "0.31 meters",
+    "closeness rank": 2
+   },
+   "computer mouse": {
+    "distance": "0.44 meters",
+    "closeness rank": 3
+   },
+   "mirror": {
+    "distance": "0.58 meters",
+    "closeness rank": 4
+   },
+   "bookshelf": {
+    "distance": "0.73 meters",
+    "closeness rank": 5
+   },
+   "table": {
+    "distance": "1.48 meters",
+    "closeness rank": 6
+   },
+   "sofa": {
+    "distance": "2.19 meters",
+    "closeness rank": 7
+   },
+   "chair": {
+    "distance": "2.2 meters",
+    "closeness rank": 8
+   },
+   "closet": {
+    "distance": "2.62 meters",
+    "closeness rank": 9
+   },
+   "mattress": {
+    "distance": "2.8 meters",
+    "closeness rank": 10
+   },
+   "pillow": {
+    "distance": "2.81 meters",
+    "closeness rank": 11
+   },
+   "towel": {
+    "distance": "2.82 meters",
+    "closeness rank": 12
+   },
+   "bed": {
+    "distance": "2.84 meters",
+    "closeness rank": 13
+   },
+   "window": {
+    "distance": "3.06 meters",
+    "closeness rank": 14
+   },
+   "trash bin": {
+    "distance": "3.84 meters",
+    "closeness rank": 15
+   },
+   "microwave": {
+    "distance": "3.85 meters",
+    "closeness rank": 16
+   },
+   "monitor": {
+    "distance": "3.93 meters",
+    "closeness rank": 17
+   },
+   "tv": {
+    "distance": "3.93 meters",
+    "closeness rank": 18
+   },
+   "door": {
+    "distance": "4.02 meters",
+    "closeness rank": 19
+   }
+  },
+  "towel": {
+   "mattress": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "pillow": {
+    "distance": "0.0 meters",
+    "closeness rank": 2
+   },
+   "chair": {
+    "distance": "0.01 meters",
+    "closeness rank": 3
+   },
+   "sofa": {
+    "distance": "0.02 meters",
+    "closeness rank": 4
+   },
+   "closet": {
+    "distance": "0.41 meters",
+    "closeness rank": 5
+   },
+   "table": {
+    "distance": "1.28 meters",
+    "closeness rank": 6
+   },
+   "microwave": {
+    "distance": "1.45 meters",
+    "closeness rank": 7
+   },
+   "tv": {
+    "distance": "1.8 meters",
+    "closeness rank": 8
+   },
+   "monitor": {
+    "distance": "1.81 meters",
+    "closeness rank": 9
+   },
+   "bookshelf": {
+    "distance": "2.5 meters",
+    "closeness rank": 10
+   },
+   "door": {
+    "distance": "2.63 meters",
+    "closeness rank": 11
+   },
+   "computer mouse": {
+    "distance": "2.65 meters",
+    "closeness rank": 12
+   },
+   "radiator": {
+    "distance": "2.66 meters",
+    "closeness rank": 13
+   },
+   "printer": {
+    "distance": "2.71 meters",
+    "closeness rank": 14
+   },
+   "telephone": {
+    "distance": "2.82 meters",
+    "closeness rank": 15
+   },
+   "mirror": {
+    "distance": "2.88 meters",
+    "closeness rank": 16
+   },
+   "bed": {
+    "distance": "3.43 meters",
+    "closeness rank": 17
+   },
+   "trash bin": {
+    "distance": "3.55 meters",
+    "closeness rank": 18
+   },
+   "window": {
+    "distance": "4.23 meters",
+    "closeness rank": 19
+   }
+  },
+  "trash bin": {
+   "bed": {
+    "distance": "0.21 meters",
+    "closeness rank": 1
+   },
+   "window": {
+    "distance": "0.45 meters",
+    "closeness rank": 2
+   },
+   "table": {
+    "distance": "0.54 meters",
+    "closeness rank": 3
+   },
+   "door": {
+    "distance": "0.82 meters",
+    "closeness rank": 4
+   },
+   "mattress": {
+    "distance": "1.42 meters",
+    "closeness rank": 5
+   },
+   "monitor": {
+    "distance": "1.84 meters",
+    "closeness rank": 6
+   },
+   "tv": {
+    "distance": "1.84 meters",
+    "closeness rank": 7
+   },
+   "microwave": {
+    "distance": "2.18 meters",
+    "closeness rank": 8
+   },
+   "radiator": {
+    "distance": "3.21 meters",
+    "closeness rank": 9
+   },
+   "sofa": {
+    "distance": "3.49 meters",
+    "closeness rank": 10
+   },
+   "chair": {
+    "distance": "3.52 meters",
+    "closeness rank": 11
+   },
+   "pillow": {
+    "distance": "3.53 meters",
+    "closeness rank": 12
+   },
+   "towel": {
+    "distance": "3.55 meters",
+    "closeness rank": 13
+   },
+   "printer": {
+    "distance": "3.75 meters",
+    "closeness rank": 14
+   },
+   "telephone": {
+    "distance": "3.84 meters",
+    "closeness rank": 15
+   },
+   "closet": {
+    "distance": "4.14 meters",
+    "closeness rank": 16
+   },
+   "computer mouse": {
+    "distance": "4.14 meters",
+    "closeness rank": 17
+   },
+   "mirror": {
+    "distance": "4.25 meters",
+    "closeness rank": 18
+   },
+   "bookshelf": {
+    "distance": "4.37 meters",
+    "closeness rank": 19
+   }
+  },
+  "tv": {
+   "microwave": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "monitor": {
+    "distance": "0.0 meters",
+    "closeness rank": 2
+   },
+   "mattress": {
+    "distance": "0.11 meters",
+    "closeness rank": 3
+   },
+   "door": {
+    "distance": "0.61 meters",
+    "closeness rank": 4
+   },
+   "table": {
+    "distance": "1.09 meters",
+    "closeness rank": 5
+   },
+   "sofa": {
+    "distance": "1.54 meters",
+    "closeness rank": 6
+   },
+   "chair": {
+    "distance": "1.58 meters",
+    "closeness rank": 7
+   },
+   "pillow": {
+    "distance": "1.79 meters",
+    "closeness rank": 8
+   },
+   "towel": {
+    "distance": "1.8 meters",
+    "closeness rank": 9
+   },
+   "trash bin": {
+    "distance": "1.84 meters",
+    "closeness rank": 10
+   },
+   "bed": {
+    "distance": "2.04 meters",
+    "closeness rank": 11
+   },
+   "closet": {
+    "distance": "2.48 meters",
+    "closeness rank": 12
+   },
+   "window": {
+    "distance": "2.52 meters",
+    "closeness rank": 13
+   },
+   "radiator": {
+    "distance": "3.61 meters",
+    "closeness rank": 14
+   },
+   "printer": {
+    "distance": "3.84 meters",
+    "closeness rank": 15
+   },
+   "computer mouse": {
+    "distance": "3.93 meters",
+    "closeness rank": 16
+   },
+   "telephone": {
+    "distance": "3.93 meters",
+    "closeness rank": 17
+   },
+   "bookshelf": {
+    "distance": "4.04 meters",
+    "closeness rank": 18
+   },
+   "mirror": {
+    "distance": "4.15 meters",
+    "closeness rank": 19
+   }
+  },
+  "window": {
+   "trash bin": {
+    "distance": "0.45 meters",
+    "closeness rank": 1
+   },
+   "bed": {
+    "distance": "0.48 meters",
+    "closeness rank": 2
+   },
+   "table": {
+    "distance": "1.21 meters",
+    "closeness rank": 3
+   },
+   "door": {
+    "distance": "1.52 meters",
+    "closeness rank": 4
+   },
+   "mattress": {
+    "distance": "2.14 meters",
+    "closeness rank": 5
+   },
+   "radiator": {
+    "distance": "2.38 meters",
+    "closeness rank": 6
+   },
+   "tv": {
+    "distance": "2.52 meters",
+    "closeness rank": 7
+   },
+   "monitor": {
+    "distance": "2.53 meters",
+    "closeness rank": 8
+   },
+   "microwave": {
+    "distance": "2.86 meters",
+    "closeness rank": 9
+   },
+   "printer": {
+    "distance": "2.89 meters",
+    "closeness rank": 10
+   },
+   "telephone": {
+    "distance": "3.06 meters",
+    "closeness rank": 11
+   },
+   "mirror": {
+    "distance": "3.38 meters",
+    "closeness rank": 12
+   },
+   "computer mouse": {
+    "distance": "3.5 meters",
+    "closeness rank": 13
+   },
+   "bookshelf": {
+    "distance": "3.91 meters",
+    "closeness rank": 14
+   },
+   "sofa": {
+    "distance": "4.2 meters",
+    "closeness rank": 15
+   },
+   "pillow": {
+    "distance": "4.21 meters",
+    "closeness rank": 16
+   },
+   "towel": {
+    "distance": "4.23 meters",
+    "closeness rank": 17
+   },
+   "chair": {
+    "distance": "4.25 meters",
+    "closeness rank": 18
+   },
+   "closet": {
+    "distance": "4.75 meters",
+    "closeness rank": 19
+   }
+  }
+ },
+ "appearance order": ["chair", "sofa", "table", "mattress", "bookshelf", "door", "computer mouse", "printer", "telephone", "radiator", "pillow", "towel", "window", "bed", "monitor", "tv", "mirror", "trash bin", "microwave", "closet"]
+}
\ No newline at end of file
diff --git a/data/spatial codes/sam3+depth-anything-3/metric/tracking/uniform/64/explicit/scene0699_00.json b/data/spatial codes/sam3+depth-anything-3/metric/tracking/uniform/64/explicit/scene0699_00.json
new file mode 100644
index 0000000000000000000000000000000000000000..e2fc0ef25f87db9eb09d5c0bf271ec302a4270cf
--- /dev/null
+++ b/data/spatial codes/sam3+depth-anything-3/metric/tracking/uniform/64/explicit/scene0699_00.json	
@@ -0,0 +1,996 @@
+{
+ "objects": {
+  "backpack": {
+   "count": 2,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "1.68 meters",
+      "y coordinate": "-1.33 meters",
+      "height above floor": "-0.91 meters"
+     },
+     "longest dimension": "0.38 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "1.86 meters",
+      "y coordinate": "-1.57 meters",
+      "height above floor": "-0.68 meters"
+     },
+     "longest dimension": "0.36 meters"
+    }
+   ]
+  },
+  "bed": {
+   "count": 2,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "0.83 meters",
+      "y coordinate": "0.51 meters",
+      "height above floor": "-0.03 meters"
+     },
+     "longest dimension": "1.44 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "0.67 meters",
+      "y coordinate": "0.62 meters",
+      "height above floor": "-0.7 meters"
+     },
+     "longest dimension": "0.84 meters"
+    }
+   ]
+  },
+  "chair": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "1.55 meters",
+      "y coordinate": "-1.35 meters",
+      "height above floor": "-0.36 meters"
+     },
+     "longest dimension": "0.49 meters"
+    }
+   ]
+  },
+  "clock": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "0.0 meters",
+      "y coordinate": "2.15 meters",
+      "height above floor": "-1.16 meters"
+     },
+     "longest dimension": "0.15 meters"
+    }
+   ]
+  },
+  "closet": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "0.72 meters",
+      "y coordinate": "-1.74 meters",
+      "height above floor": "-2.71 meters"
+     },
+     "longest dimension": "1.91 meters"
+    }
+   ]
+  },
+  "door": {
+   "count": 2,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "0.67 meters",
+      "y coordinate": "-1.01 meters",
+      "height above floor": "-2.24 meters"
+     },
+     "longest dimension": "1.21 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "0.38 meters",
+      "y coordinate": "2.11 meters",
+      "height above floor": "-2.4 meters"
+     },
+     "longest dimension": "0.61 meters"
+    }
+   ]
+  },
+  "lamp": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "0.95 meters",
+      "y coordinate": "1.41 meters",
+      "height above floor": "-2.16 meters"
+     },
+     "longest dimension": "0.84 meters"
+    }
+   ]
+  },
+  "mattress": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "0.88 meters",
+      "y coordinate": "0.46 meters",
+      "height above floor": "-0.21 meters"
+     },
+     "longest dimension": "1.2 meters"
+    }
+   ]
+  },
+  "nightstand": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "0.42 meters",
+      "y coordinate": "1.98 meters",
+      "height above floor": "0.06 meters"
+     },
+     "longest dimension": "0.7 meters"
+    }
+   ]
+  },
+  "pillow": {
+   "count": 2,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "0.75 meters",
+      "y coordinate": "0.5 meters",
+      "height above floor": "0.22 meters"
+     },
+     "longest dimension": "0.59 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "0.53 meters",
+      "y coordinate": "1.06 meters",
+      "height above floor": "0.18 meters"
+     },
+     "longest dimension": "0.5 meters"
+    }
+   ]
+  },
+  "plant": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "1.2 meters",
+      "y coordinate": "-1.88 meters",
+      "height above floor": "0.49 meters"
+     },
+     "longest dimension": "0.36 meters"
+    }
+   ]
+  },
+  "radiator": {
+   "count": 2,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "0.32 meters",
+      "y coordinate": "2.18 meters",
+      "height above floor": "-1.13 meters"
+     },
+     "longest dimension": "1.27 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "1.81 meters",
+      "y coordinate": "-1.44 meters",
+      "height above floor": "-1.81 meters"
+     },
+     "longest dimension": "0.34 meters"
+    }
+   ]
+  },
+  "table": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "1.16 meters",
+      "y coordinate": "-1.02 meters",
+      "height above floor": "0.17 meters"
+     },
+     "longest dimension": "1.1 meters"
+    }
+   ]
+  },
+  "window": {
+   "count": 2,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-0.31 meters",
+      "y coordinate": "2.22 meters",
+      "height above floor": "-0.79 meters"
+     },
+     "longest dimension": "0.59 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "1.11 meters",
+      "y coordinate": "-1.4 meters",
+      "height above floor": "0.93 meters"
+     },
+     "longest dimension": "0.68 meters"
+    }
+   ]
+  }
+ },
+ "room": {
+  "floor area": "10.4 square meters"
+ },
+ "closest classes distance meters from": {
+  "backpack": {
+   "chair": {
+    "distance": "0.28 meters",
+    "closeness rank": 1
+   },
+   "table": {
+    "distance": "0.7 meters",
+    "closeness rank": 2
+   },
+   "closet": {
+    "distance": "1.16 meters",
+    "closeness rank": 3
+   },
+   "door": {
+    "distance": "1.16 meters",
+    "closeness rank": 4
+   },
+   "plant": {
+    "distance": "1.3 meters",
+    "closeness rank": 5
+   },
+   "bed": {
+    "distance": "1.68 meters",
+    "closeness rank": 6
+   },
+   "mattress": {
+    "distance": "1.85 meters",
+    "closeness rank": 7
+   },
+   "pillow": {
+    "distance": "2.01 meters",
+    "closeness rank": 8
+   },
+   "lamp": {
+    "distance": "2.78 meters",
+    "closeness rank": 9
+   },
+   "nightstand": {
+    "distance": "3.22 meters",
+    "closeness rank": 10
+   },
+   "radiator": {
+    "distance": "3.61 meters",
+    "closeness rank": 11
+   },
+   "clock": {
+    "distance": "3.68 meters",
+    "closeness rank": 12
+   },
+   "window": {
+    "distance": "3.88 meters",
+    "closeness rank": 13
+   }
+  },
+  "bed": {
+   "mattress": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "pillow": {
+    "distance": "0.01 meters",
+    "closeness rank": 2
+   },
+   "nightstand": {
+    "distance": "0.21 meters",
+    "closeness rank": 3
+   },
+   "radiator": {
+    "distance": "0.62 meters",
+    "closeness rank": 4
+   },
+   "clock": {
+    "distance": "0.75 meters",
+    "closeness rank": 5
+   },
+   "window": {
+    "distance": "0.92 meters",
+    "closeness rank": 6
+   },
+   "table": {
+    "distance": "0.98 meters",
+    "closeness rank": 7
+   },
+   "lamp": {
+    "distance": "1.17 meters",
+    "closeness rank": 8
+   },
+   "closet": {
+    "distance": "1.18 meters",
+    "closeness rank": 9
+   },
+   "chair": {
+    "distance": "1.46 meters",
+    "closeness rank": 10
+   },
+   "backpack": {
+    "distance": "1.68 meters",
+    "closeness rank": 11
+   },
+   "door": {
+    "distance": "1.89 meters",
+    "closeness rank": 12
+   },
+   "plant": {
+    "distance": "1.96 meters",
+    "closeness rank": 13
+   }
+  },
+  "chair": {
+   "table": {
+    "distance": "0.21 meters",
+    "closeness rank": 1
+   },
+   "backpack": {
+    "distance": "0.28 meters",
+    "closeness rank": 2
+   },
+   "plant": {
+    "distance": "0.73 meters",
+    "closeness rank": 3
+   },
+   "bed": {
+    "distance": "1.46 meters",
+    "closeness rank": 4
+   },
+   "closet": {
+    "distance": "1.57 meters",
+    "closeness rank": 5
+   },
+   "door": {
+    "distance": "1.57 meters",
+    "closeness rank": 6
+   },
+   "mattress": {
+    "distance": "1.59 meters",
+    "closeness rank": 7
+   },
+   "pillow": {
+    "distance": "1.6 meters",
+    "closeness rank": 8
+   },
+   "nightstand": {
+    "distance": "2.93 meters",
+    "closeness rank": 9
+   },
+   "lamp": {
+    "distance": "2.96 meters",
+    "closeness rank": 10
+   },
+   "radiator": {
+    "distance": "3.46 meters",
+    "closeness rank": 11
+   },
+   "clock": {
+    "distance": "3.58 meters",
+    "closeness rank": 12
+   },
+   "window": {
+    "distance": "3.73 meters",
+    "closeness rank": 13
+   }
+  },
+  "clock": {
+   "radiator": {
+    "distance": "0.01 meters",
+    "closeness rank": 1
+   },
+   "window": {
+    "distance": "0.09 meters",
+    "closeness rank": 2
+   },
+   "bed": {
+    "distance": "0.75 meters",
+    "closeness rank": 3
+   },
+   "mattress": {
+    "distance": "0.75 meters",
+    "closeness rank": 4
+   },
+   "nightstand": {
+    "distance": "1.07 meters",
+    "closeness rank": 5
+   },
+   "lamp": {
+    "distance": "1.31 meters",
+    "closeness rank": 6
+   },
+   "closet": {
+    "distance": "1.83 meters",
+    "closeness rank": 7
+   },
+   "pillow": {
+    "distance": "1.84 meters",
+    "closeness rank": 8
+   },
+   "door": {
+    "distance": "3.16 meters",
+    "closeness rank": 9
+   },
+   "table": {
+    "distance": "3.16 meters",
+    "closeness rank": 10
+   },
+   "chair": {
+    "distance": "3.58 meters",
+    "closeness rank": 11
+   },
+   "backpack": {
+    "distance": "3.68 meters",
+    "closeness rank": 12
+   },
+   "plant": {
+    "distance": "4.27 meters",
+    "closeness rank": 13
+   }
+  },
+  "closet": {
+   "door": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "lamp": {
+    "distance": "0.81 meters",
+    "closeness rank": 2
+   },
+   "backpack": {
+    "distance": "1.16 meters",
+    "closeness rank": 3
+   },
+   "bed": {
+    "distance": "1.18 meters",
+    "closeness rank": 4
+   },
+   "mattress": {
+    "distance": "1.27 meters",
+    "closeness rank": 5
+   },
+   "chair": {
+    "distance": "1.57 meters",
+    "closeness rank": 6
+   },
+   "radiator": {
+    "distance": "1.7 meters",
+    "closeness rank": 7
+   },
+   "pillow": {
+    "distance": "1.78 meters",
+    "closeness rank": 8
+   },
+   "clock": {
+    "distance": "1.83 meters",
+    "closeness rank": 9
+   },
+   "table": {
+    "distance": "1.88 meters",
+    "closeness rank": 10
+   },
+   "window": {
+    "distance": "2.03 meters",
+    "closeness rank": 11
+   },
+   "nightstand": {
+    "distance": "2.13 meters",
+    "closeness rank": 12
+   },
+   "plant": {
+    "distance": "2.45 meters",
+    "closeness rank": 13
+   }
+  },
+  "door": {
+   "closet": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "backpack": {
+    "distance": "1.16 meters",
+    "closeness rank": 2
+   },
+   "chair": {
+    "distance": "1.57 meters",
+    "closeness rank": 3
+   },
+   "table": {
+    "distance": "1.88 meters",
+    "closeness rank": 4
+   },
+   "bed": {
+    "distance": "1.89 meters",
+    "closeness rank": 5
+   },
+   "lamp": {
+    "distance": "1.95 meters",
+    "closeness rank": 6
+   },
+   "mattress": {
+    "distance": "2.04 meters",
+    "closeness rank": 7
+   },
+   "pillow": {
+    "distance": "2.47 meters",
+    "closeness rank": 8
+   },
+   "plant": {
+    "distance": "2.66 meters",
+    "closeness rank": 9
+   },
+   "radiator": {
+    "distance": "3.01 meters",
+    "closeness rank": 10
+   },
+   "clock": {
+    "distance": "3.16 meters",
+    "closeness rank": 11
+   },
+   "nightstand": {
+    "distance": "3.26 meters",
+    "closeness rank": 12
+   },
+   "window": {
+    "distance": "3.36 meters",
+    "closeness rank": 13
+   }
+  },
+  "lamp": {
+   "closet": {
+    "distance": "0.81 meters",
+    "closeness rank": 1
+   },
+   "radiator": {
+    "distance": "0.92 meters",
+    "closeness rank": 2
+   },
+   "bed": {
+    "distance": "1.17 meters",
+    "closeness rank": 3
+   },
+   "mattress": {
+    "distance": "1.2 meters",
+    "closeness rank": 4
+   },
+   "clock": {
+    "distance": "1.31 meters",
+    "closeness rank": 5
+   },
+   "window": {
+    "distance": "1.42 meters",
+    "closeness rank": 6
+   },
+   "door": {
+    "distance": "1.95 meters",
+    "closeness rank": 7
+   },
+   "nightstand": {
+    "distance": "2.06 meters",
+    "closeness rank": 8
+   },
+   "pillow": {
+    "distance": "2.18 meters",
+    "closeness rank": 9
+   },
+   "backpack": {
+    "distance": "2.78 meters",
+    "closeness rank": 10
+   },
+   "table": {
+    "distance": "2.79 meters",
+    "closeness rank": 11
+   },
+   "chair": {
+    "distance": "2.96 meters",
+    "closeness rank": 12
+   },
+   "plant": {
+    "distance": "3.93 meters",
+    "closeness rank": 13
+   }
+  },
+  "mattress": {
+   "bed": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "pillow": {
+    "distance": "0.02 meters",
+    "closeness rank": 2
+   },
+   "nightstand": {
+    "distance": "0.23 meters",
+    "closeness rank": 3
+   },
+   "radiator": {
+    "distance": "0.64 meters",
+    "closeness rank": 4
+   },
+   "clock": {
+    "distance": "0.75 meters",
+    "closeness rank": 5
+   },
+   "window": {
+    "distance": "0.93 meters",
+    "closeness rank": 6
+   },
+   "table": {
+    "distance": "1.11 meters",
+    "closeness rank": 7
+   },
+   "lamp": {
+    "distance": "1.2 meters",
+    "closeness rank": 8
+   },
+   "closet": {
+    "distance": "1.27 meters",
+    "closeness rank": 9
+   },
+   "chair": {
+    "distance": "1.59 meters",
+    "closeness rank": 10
+   },
+   "backpack": {
+    "distance": "1.85 meters",
+    "closeness rank": 11
+   },
+   "door": {
+    "distance": "2.04 meters",
+    "closeness rank": 12
+   },
+   "plant": {
+    "distance": "2.15 meters",
+    "closeness rank": 13
+   }
+  },
+  "nightstand": {
+   "radiator": {
+    "distance": "0.2 meters",
+    "closeness rank": 1
+   },
+   "bed": {
+    "distance": "0.21 meters",
+    "closeness rank": 2
+   },
+   "mattress": {
+    "distance": "0.23 meters",
+    "closeness rank": 3
+   },
+   "window": {
+    "distance": "0.64 meters",
+    "closeness rank": 4
+   },
+   "pillow": {
+    "distance": "0.82 meters",
+    "closeness rank": 5
+   },
+   "clock": {
+    "distance": "1.07 meters",
+    "closeness rank": 6
+   },
+   "lamp": {
+    "distance": "2.06 meters",
+    "closeness rank": 7
+   },
+   "closet": {
+    "distance": "2.13 meters",
+    "closeness rank": 8
+   },
+   "table": {
+    "distance": "2.41 meters",
+    "closeness rank": 9
+   },
+   "chair": {
+    "distance": "2.93 meters",
+    "closeness rank": 10
+   },
+   "backpack": {
+    "distance": "3.22 meters",
+    "closeness rank": 11
+   },
+   "door": {
+    "distance": "3.26 meters",
+    "closeness rank": 12
+   },
+   "plant": {
+    "distance": "3.41 meters",
+    "closeness rank": 13
+   }
+  },
+  "pillow": {
+   "bed": {
+    "distance": "0.01 meters",
+    "closeness rank": 1
+   },
+   "mattress": {
+    "distance": "0.02 meters",
+    "closeness rank": 2
+   },
+   "nightstand": {
+    "distance": "0.82 meters",
+    "closeness rank": 3
+   },
+   "table": {
+    "distance": "1.03 meters",
+    "closeness rank": 4
+   },
+   "radiator": {
+    "distance": "1.42 meters",
+    "closeness rank": 5
+   },
+   "chair": {
+    "distance": "1.6 meters",
+    "closeness rank": 6
+   },
+   "window": {
+    "distance": "1.75 meters",
+    "closeness rank": 7
+   },
+   "closet": {
+    "distance": "1.78 meters",
+    "closeness rank": 8
+   },
+   "clock": {
+    "distance": "1.84 meters",
+    "closeness rank": 9
+   },
+   "backpack": {
+    "distance": "2.01 meters",
+    "closeness rank": 10
+   },
+   "plant": {
+    "distance": "2.03 meters",
+    "closeness rank": 11
+   },
+   "lamp": {
+    "distance": "2.18 meters",
+    "closeness rank": 12
+   },
+   "door": {
+    "distance": "2.47 meters",
+    "closeness rank": 13
+   }
+  },
+  "plant": {
+   "table": {
+    "distance": "0.28 meters",
+    "closeness rank": 1
+   },
+   "chair": {
+    "distance": "0.73 meters",
+    "closeness rank": 2
+   },
+   "backpack": {
+    "distance": "1.3 meters",
+    "closeness rank": 3
+   },
+   "bed": {
+    "distance": "1.96 meters",
+    "closeness rank": 4
+   },
+   "pillow": {
+    "distance": "2.03 meters",
+    "closeness rank": 5
+   },
+   "mattress": {
+    "distance": "2.15 meters",
+    "closeness rank": 6
+   },
+   "closet": {
+    "distance": "2.45 meters",
+    "closeness rank": 7
+   },
+   "door": {
+    "distance": "2.66 meters",
+    "closeness rank": 8
+   },
+   "nightstand": {
+    "distance": "3.41 meters",
+    "closeness rank": 9
+   },
+   "lamp": {
+    "distance": "3.93 meters",
+    "closeness rank": 10
+   },
+   "radiator": {
+    "distance": "4.01 meters",
+    "closeness rank": 11
+   },
+   "clock": {
+    "distance": "4.27 meters",
+    "closeness rank": 12
+   },
+   "window": {
+    "distance": "4.3 meters",
+    "closeness rank": 13
+   }
+  },
+  "radiator": {
+   "clock": {
+    "distance": "0.01 meters",
+    "closeness rank": 1
+   },
+   "window": {
+    "distance": "0.09 meters",
+    "closeness rank": 2
+   },
+   "nightstand": {
+    "distance": "0.2 meters",
+    "closeness rank": 3
+   },
+   "bed": {
+    "distance": "0.62 meters",
+    "closeness rank": 4
+   },
+   "mattress": {
+    "distance": "0.64 meters",
+    "closeness rank": 5
+   },
+   "lamp": {
+    "distance": "0.92 meters",
+    "closeness rank": 6
+   },
+   "pillow": {
+    "distance": "1.42 meters",
+    "closeness rank": 7
+   },
+   "closet": {
+    "distance": "1.7 meters",
+    "closeness rank": 8
+   },
+   "table": {
+    "distance": "2.97 meters",
+    "closeness rank": 9
+   },
+   "door": {
+    "distance": "3.01 meters",
+    "closeness rank": 10
+   },
+   "chair": {
+    "distance": "3.46 meters",
+    "closeness rank": 11
+   },
+   "backpack": {
+    "distance": "3.61 meters",
+    "closeness rank": 12
+   },
+   "plant": {
+    "distance": "4.01 meters",
+    "closeness rank": 13
+   }
+  },
+  "table": {
+   "chair": {
+    "distance": "0.21 meters",
+    "closeness rank": 1
+   },
+   "plant": {
+    "distance": "0.28 meters",
+    "closeness rank": 2
+   },
+   "backpack": {
+    "distance": "0.7 meters",
+    "closeness rank": 3
+   },
+   "bed": {
+    "distance": "0.98 meters",
+    "closeness rank": 4
+   },
+   "pillow": {
+    "distance": "1.03 meters",
+    "closeness rank": 5
+   },
+   "mattress": {
+    "distance": "1.11 meters",
+    "closeness rank": 6
+   },
+   "closet": {
+    "distance": "1.88 meters",
+    "closeness rank": 7
+   },
+   "door": {
+    "distance": "1.88 meters",
+    "closeness rank": 8
+   },
+   "nightstand": {
+    "distance": "2.41 meters",
+    "closeness rank": 9
+   },
+   "lamp": {
+    "distance": "2.79 meters",
+    "closeness rank": 10
+   },
+   "radiator": {
+    "distance": "2.97 meters",
+    "closeness rank": 11
+   },
+   "clock": {
+    "distance": "3.16 meters",
+    "closeness rank": 12
+   },
+   "window": {
+    "distance": "3.23 meters",
+    "closeness rank": 13
+   }
+  },
+  "window": {
+   "clock": {
+    "distance": "0.09 meters",
+    "closeness rank": 1
+   },
+   "radiator": {
+    "distance": "0.09 meters",
+    "closeness rank": 2
+   },
+   "nightstand": {
+    "distance": "0.64 meters",
+    "closeness rank": 3
+   },
+   "bed": {
+    "distance": "0.92 meters",
+    "closeness rank": 4
+   },
+   "mattress": {
+    "distance": "0.93 meters",
+    "closeness rank": 5
+   },
+   "lamp": {
+    "distance": "1.42 meters",
+    "closeness rank": 6
+   },
+   "pillow": {
+    "distance": "1.75 meters",
+    "closeness rank": 7
+   },
+   "closet": {
+    "distance": "2.03 meters",
+    "closeness rank": 8
+   },
+   "table": {
+    "distance": "3.23 meters",
+    "closeness rank": 9
+   },
+   "door": {
+    "distance": "3.36 meters",
+    "closeness rank": 10
+   },
+   "chair": {
+    "distance": "3.73 meters",
+    "closeness rank": 11
+   },
+   "backpack": {
+    "distance": "3.88 meters",
+    "closeness rank": 12
+   },
+   "plant": {
+    "distance": "4.3 meters",
+    "closeness rank": 13
+   }
+  }
+ },
+ "appearance order": ["bed", "mattress", "pillow", "nightstand", "window", "radiator", "clock", "door", "lamp", "table", "chair", "plant", "backpack", "closet"]
+}
\ No newline at end of file
diff --git a/data/spatial codes/sam3+depth-anything-3/metric/tracking/uniform/96/explicit/13c3e046d7.json b/data/spatial codes/sam3+depth-anything-3/metric/tracking/uniform/96/explicit/13c3e046d7.json
new file mode 100644
index 0000000000000000000000000000000000000000..df224643361fb3ce8ed617df6d4aa0d390607a9d
--- /dev/null
+++ b/data/spatial codes/sam3+depth-anything-3/metric/tracking/uniform/96/explicit/13c3e046d7.json	
@@ -0,0 +1,189 @@
+{
+ "objects": {
+  "bucket": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-1.29 meters",
+      "y coordinate": "0.9 meters",
+      "height above floor": "-0.37 meters"
+     },
+     "longest dimension": "0.34 meters"
+    }
+   ]
+  },
+  "ceiling light": {
+   "count": 3,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-0.15 meters",
+      "y coordinate": "-1.24 meters",
+      "height above floor": "-2.49 meters"
+     },
+     "longest dimension": "1.28 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "1.08 meters",
+      "y coordinate": "-1.22 meters",
+      "height above floor": "-0.99 meters"
+     },
+     "longest dimension": "1.88 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "1.09 meters",
+      "y coordinate": "-1.24 meters",
+      "height above floor": "-1.27 meters"
+     },
+     "longest dimension": "2.05 meters"
+    }
+   ]
+  },
+  "door": {
+   "count": 2,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-0.84 meters",
+      "y coordinate": "-0.04 meters",
+      "height above floor": "0.03 meters"
+     },
+     "longest dimension": "1.05 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-0.1 meters",
+      "y coordinate": "0.28 meters",
+      "height above floor": "0.01 meters"
+     },
+     "longest dimension": "1.56 meters"
+    }
+   ]
+  },
+  "trash can": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-1.29 meters",
+      "y coordinate": "0.89 meters",
+      "height above floor": "-0.37 meters"
+     },
+     "longest dimension": "0.34 meters"
+    }
+   ]
+  },
+  "whiteboard": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "0.68 meters",
+      "y coordinate": "-0.59 meters",
+      "height above floor": "-2.9 meters"
+     },
+     "longest dimension": "1.29 meters"
+    }
+   ]
+  }
+ },
+ "room": {
+  "floor area": "16.8 square meters"
+ },
+ "closest classes distance meters from": {
+  "bucket": {
+   "trash can": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "door": {
+    "distance": "0.31 meters",
+    "closeness rank": 2
+   },
+   "ceiling light": {
+    "distance": "2.83 meters",
+    "closeness rank": 3
+   },
+   "whiteboard": {
+    "distance": "2.92 meters",
+    "closeness rank": 4
+   }
+  },
+  "ceiling light": {
+   "whiteboard": {
+    "distance": "0.4 meters",
+    "closeness rank": 1
+   },
+   "door": {
+    "distance": "2.6 meters",
+    "closeness rank": 2
+   },
+   "bucket": {
+    "distance": "2.83 meters",
+    "closeness rank": 3
+   },
+   "trash can": {
+    "distance": "2.83 meters",
+    "closeness rank": 4
+   }
+  },
+  "door": {
+   "bucket": {
+    "distance": "0.31 meters",
+    "closeness rank": 1
+   },
+   "trash can": {
+    "distance": "0.31 meters",
+    "closeness rank": 2
+   },
+   "ceiling light": {
+    "distance": "2.6 meters",
+    "closeness rank": 3
+   },
+   "whiteboard": {
+    "distance": "2.93 meters",
+    "closeness rank": 4
+   }
+  },
+  "trash can": {
+   "bucket": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "door": {
+    "distance": "0.31 meters",
+    "closeness rank": 2
+   },
+   "ceiling light": {
+    "distance": "2.83 meters",
+    "closeness rank": 3
+   },
+   "whiteboard": {
+    "distance": "2.91 meters",
+    "closeness rank": 4
+   }
+  },
+  "whiteboard": {
+   "ceiling light": {
+    "distance": "0.4 meters",
+    "closeness rank": 1
+   },
+   "trash can": {
+    "distance": "2.91 meters",
+    "closeness rank": 2
+   },
+   "bucket": {
+    "distance": "2.92 meters",
+    "closeness rank": 3
+   },
+   "door": {
+    "distance": "2.93 meters",
+    "closeness rank": 4
+   }
+  }
+ },
+ "appearance order": ["ceiling light", "whiteboard", "door", "bucket", "trash can"]
+}
\ No newline at end of file
diff --git a/data/spatial codes/sam3+depth-anything-3/metric/tracking/uniform/96/explicit/21d970d8de.json b/data/spatial codes/sam3+depth-anything-3/metric/tracking/uniform/96/explicit/21d970d8de.json
new file mode 100644
index 0000000000000000000000000000000000000000..188443a56d3d22d5798090f5735edaefdc4d3843
--- /dev/null
+++ b/data/spatial codes/sam3+depth-anything-3/metric/tracking/uniform/96/explicit/21d970d8de.json	
@@ -0,0 +1,1463 @@
+{
+ "objects": {
+  "ceiling light": {
+   "count": 12,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-1.18 meters",
+      "y coordinate": "-0.35 meters",
+      "height above floor": "2.96 meters"
+     },
+     "longest dimension": "2.15 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-1.73 meters",
+      "y coordinate": "3.3 meters",
+      "height above floor": "3.49 meters"
+     },
+     "longest dimension": "1.16 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-1.43 meters",
+      "y coordinate": "1.02 meters",
+      "height above floor": "0.95 meters"
+     },
+     "longest dimension": "1.08 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-1.2 meters",
+      "y coordinate": "-0.38 meters",
+      "height above floor": "1.0 meters"
+     },
+     "longest dimension": "1.04 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-1.76 meters",
+      "y coordinate": "2.93 meters",
+      "height above floor": "0.94 meters"
+     },
+     "longest dimension": "1.08 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-1.38 meters",
+      "y coordinate": "1.07 meters",
+      "height above floor": "3.57 meters"
+     },
+     "longest dimension": "0.51 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-1.15 meters",
+      "y coordinate": "-0.31 meters",
+      "height above floor": "3.88 meters"
+     },
+     "longest dimension": "2.28 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-1.7 meters",
+      "y coordinate": "2.91 meters",
+      "height above floor": "3.53 meters"
+     },
+     "longest dimension": "1.24 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-2.07 meters",
+      "y coordinate": "4.81 meters",
+      "height above floor": "0.94 meters"
+     },
+     "longest dimension": "1.12 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-1.01 meters",
+      "y coordinate": "-0.6 meters",
+      "height above floor": "5.95 meters"
+     },
+     "longest dimension": "1.08 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-1.59 meters",
+      "y coordinate": "3.02 meters",
+      "height above floor": "5.99 meters"
+     },
+     "longest dimension": "0.89 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-1.17 meters",
+      "y coordinate": "-0.43 meters",
+      "height above floor": "1.02 meters"
+     },
+     "longest dimension": "1.03 meters"
+    }
+   ]
+  },
+  "chair": {
+   "count": 54,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "0.81 meters",
+      "y coordinate": "1.13 meters",
+      "height above floor": "1.44 meters"
+     },
+     "longest dimension": "0.61 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "0.43 meters",
+      "y coordinate": "3.48 meters",
+      "height above floor": "5.05 meters"
+     },
+     "longest dimension": "0.48 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "0.22 meters",
+      "y coordinate": "4.26 meters",
+      "height above floor": "1.71 meters"
+     },
+     "longest dimension": "0.52 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "0.21 meters",
+      "y coordinate": "4.28 meters",
+      "height above floor": "1.83 meters"
+     },
+     "longest dimension": "0.42 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "0.75 meters",
+      "y coordinate": "1.32 meters",
+      "height above floor": "3.62 meters"
+     },
+     "longest dimension": "0.34 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "0.83 meters",
+      "y coordinate": "1.31 meters",
+      "height above floor": "5.96 meters"
+     },
+     "longest dimension": "0.51 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "0.8 meters",
+      "y coordinate": "1.36 meters",
+      "height above floor": "6.49 meters"
+     },
+     "longest dimension": "0.53 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "0.31 meters",
+      "y coordinate": "3.56 meters",
+      "height above floor": "2.56 meters"
+     },
+     "longest dimension": "0.34 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "0.41 meters",
+      "y coordinate": "3.25 meters",
+      "height above floor": "3.57 meters"
+     },
+     "longest dimension": "0.47 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "0.87 meters",
+      "y coordinate": "1.13 meters",
+      "height above floor": "1.49 meters"
+     },
+     "longest dimension": "0.56 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "0.76 meters",
+      "y coordinate": "1.19 meters",
+      "height above floor": "1.65 meters"
+     },
+     "longest dimension": "0.61 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "0.63 meters",
+      "y coordinate": "2.27 meters",
+      "height above floor": "4.04 meters"
+     },
+     "longest dimension": "0.48 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "0.65 meters",
+      "y coordinate": "3.01 meters",
+      "height above floor": "1.33 meters"
+     },
+     "longest dimension": "0.58 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-0.07 meters",
+      "y coordinate": "5.29 meters",
+      "height above floor": "1.37 meters"
+     },
+     "longest dimension": "0.3 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "0.76 meters",
+      "y coordinate": "1.15 meters",
+      "height above floor": "4.14 meters"
+     },
+     "longest dimension": "0.68 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "0.9 meters",
+      "y coordinate": "1.24 meters",
+      "height above floor": "3.75 meters"
+     },
+     "longest dimension": "0.51 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "0.33 meters",
+      "y coordinate": "4.19 meters",
+      "height above floor": "5.94 meters"
+     },
+     "longest dimension": "0.45 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "0.86 meters",
+      "y coordinate": "1.18 meters",
+      "height above floor": "2.77 meters"
+     },
+     "longest dimension": "0.58 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "0.3 meters",
+      "y coordinate": "4.25 meters",
+      "height above floor": "3.74 meters"
+     },
+     "longest dimension": "0.63 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "0.82 meters",
+      "y coordinate": "1.95 meters",
+      "height above floor": "1.6 meters"
+     },
+     "longest dimension": "0.46 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "0.82 meters",
+      "y coordinate": "2.21 meters",
+      "height above floor": "2.46 meters"
+     },
+     "longest dimension": "0.67 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "0.18 meters",
+      "y coordinate": "4.31 meters",
+      "height above floor": "1.84 meters"
+     },
+     "longest dimension": "0.36 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "0.64 meters",
+      "y coordinate": "3.12 meters",
+      "height above floor": "1.39 meters"
+     },
+     "longest dimension": "0.69 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "0.6 meters",
+      "y coordinate": "3.43 meters",
+      "height above floor": "2.51 meters"
+     },
+     "longest dimension": "0.59 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "0.33 meters",
+      "y coordinate": "4.22 meters",
+      "height above floor": "3.79 meters"
+     },
+     "longest dimension": "1.08 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "0.61 meters",
+      "y coordinate": "3.42 meters",
+      "height above floor": "5.02 meters"
+     },
+     "longest dimension": "0.53 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "0.42 meters",
+      "y coordinate": "3.45 meters",
+      "height above floor": "4.09 meters"
+     },
+     "longest dimension": "0.44 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "0.17 meters",
+      "y coordinate": "4.3 meters",
+      "height above floor": "2.73 meters"
+     },
+     "longest dimension": "0.3 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "0.79 meters",
+      "y coordinate": "1.26 meters",
+      "height above floor": "3.68 meters"
+     },
+     "longest dimension": "0.69 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-0.04 meters",
+      "y coordinate": "5.3 meters",
+      "height above floor": "1.84 meters"
+     },
+     "longest dimension": "0.38 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "0.5 meters",
+      "y coordinate": "2.29 meters",
+      "height above floor": "3.64 meters"
+     },
+     "longest dimension": "0.53 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "1.21 meters",
+      "y coordinate": "-0.63 meters",
+      "height above floor": "2.27 meters"
+     },
+     "longest dimension": "0.6 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "0.32 meters",
+      "y coordinate": "3.51 meters",
+      "height above floor": "2.59 meters"
+     },
+     "longest dimension": "0.37 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "0.29 meters",
+      "y coordinate": "4.27 meters",
+      "height above floor": "6.55 meters"
+     },
+     "longest dimension": "0.41 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "1.23 meters",
+      "y coordinate": "-0.52 meters",
+      "height above floor": "2.27 meters"
+     },
+     "longest dimension": "0.56 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "0.6 meters",
+      "y coordinate": "3.4 meters",
+      "height above floor": "2.48 meters"
+     },
+     "longest dimension": "0.61 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-0.04 meters",
+      "y coordinate": "5.32 meters",
+      "height above floor": "2.27 meters"
+     },
+     "longest dimension": "1.04 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "0.55 meters",
+      "y coordinate": "2.23 meters",
+      "height above floor": "2.41 meters"
+     },
+     "longest dimension": "0.37 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "0.8 meters",
+      "y coordinate": "1.05 meters",
+      "height above floor": "3.68 meters"
+     },
+     "longest dimension": "0.26 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "0.51 meters",
+      "y coordinate": "2.26 meters",
+      "height above floor": "3.01 meters"
+     },
+     "longest dimension": "0.38 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "0.58 meters",
+      "y coordinate": "2.35 meters",
+      "height above floor": "4.16 meters"
+     },
+     "longest dimension": "0.38 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "0.53 meters",
+      "y coordinate": "2.3 meters",
+      "height above floor": "5.34 meters"
+     },
+     "longest dimension": "0.42 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "0.55 meters",
+      "y coordinate": "2.24 meters",
+      "height above floor": "2.79 meters"
+     },
+     "longest dimension": "1.19 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "0.49 meters",
+      "y coordinate": "2.22 meters",
+      "height above floor": "2.5 meters"
+     },
+     "longest dimension": "0.4 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "0.47 meters",
+      "y coordinate": "2.24 meters",
+      "height above floor": "2.42 meters"
+     },
+     "longest dimension": "0.32 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "0.08 meters",
+      "y coordinate": "5.25 meters",
+      "height above floor": "6.51 meters"
+     },
+     "longest dimension": "0.4 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "0.68 meters",
+      "y coordinate": "2.3 meters",
+      "height above floor": "6.45 meters"
+     },
+     "longest dimension": "0.53 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "0.54 meters",
+      "y coordinate": "2.28 meters",
+      "height above floor": "4.16 meters"
+     },
+     "longest dimension": "0.38 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-0.01 meters",
+      "y coordinate": "5.36 meters",
+      "height above floor": "2.63 meters"
+     },
+     "longest dimension": "0.92 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "1.18 meters",
+      "y coordinate": "0.39 meters",
+      "height above floor": "5.98 meters"
+     },
+     "longest dimension": "0.79 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "0.69 meters",
+      "y coordinate": "2.32 meters",
+      "height above floor": "6.43 meters"
+     },
+     "longest dimension": "0.48 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "0.0 meters",
+      "y coordinate": "5.39 meters",
+      "height above floor": "4.18 meters"
+     },
+     "longest dimension": "0.71 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "0.33 meters",
+      "y coordinate": "3.4 meters",
+      "height above floor": "4.06 meters"
+     },
+     "longest dimension": "0.54 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "0.72 meters",
+      "y coordinate": "2.31 meters",
+      "height above floor": "6.42 meters"
+     },
+     "longest dimension": "0.49 meters"
+    }
+   ]
+  },
+  "clock": {
+   "count": 2,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-1.49 meters",
+      "y coordinate": "2.65 meters",
+      "height above floor": "0.05 meters"
+     },
+     "longest dimension": "0.27 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-1.47 meters",
+      "y coordinate": "2.66 meters",
+      "height above floor": "0.01 meters"
+     },
+     "longest dimension": "0.28 meters"
+    }
+   ]
+  },
+  "crate": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "1.44 meters",
+      "y coordinate": "-0.28 meters",
+      "height above floor": "0.4 meters"
+     },
+     "longest dimension": "0.31 meters"
+    }
+   ]
+  },
+  "door": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "0.36 meters",
+      "y coordinate": "0.71 meters",
+      "height above floor": "-0.03 meters"
+     },
+     "longest dimension": "1.6 meters"
+    }
+   ]
+  },
+  "exhaust fan": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-1.18 meters",
+      "y coordinate": "-0.35 meters",
+      "height above floor": "2.96 meters"
+     },
+     "longest dimension": "2.15 meters"
+    }
+   ]
+  },
+  "table": {
+   "count": 32,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-0.25 meters",
+      "y coordinate": "2.5 meters",
+      "height above floor": "-0.01 meters"
+     },
+     "longest dimension": "1.55 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "0.28 meters",
+      "y coordinate": "3.92 meters",
+      "height above floor": "2.52 meters"
+     },
+     "longest dimension": "0.66 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "0.41 meters",
+      "y coordinate": "2.94 meters",
+      "height above floor": "1.77 meters"
+     },
+     "longest dimension": "1.45 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "0.82 meters",
+      "y coordinate": "0.92 meters",
+      "height above floor": "5.11 meters"
+     },
+     "longest dimension": "1.11 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "0.07 meters",
+      "y coordinate": "5.06 meters",
+      "height above floor": "2.77 meters"
+     },
+     "longest dimension": "0.89 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "0.74 meters",
+      "y coordinate": "0.8 meters",
+      "height above floor": "1.63 meters"
+     },
+     "longest dimension": "0.88 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "0.39 meters",
+      "y coordinate": "3.83 meters",
+      "height above floor": "6.11 meters"
+     },
+     "longest dimension": "0.97 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "0.56 meters",
+      "y coordinate": "1.97 meters",
+      "height above floor": "1.63 meters"
+     },
+     "longest dimension": "0.83 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "0.72 meters",
+      "y coordinate": "0.86 meters",
+      "height above floor": "1.34 meters"
+     },
+     "longest dimension": "1.58 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "0.67 meters",
+      "y coordinate": "2.08 meters",
+      "height above floor": "6.28 meters"
+     },
+     "longest dimension": "1.01 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "0.74 meters",
+      "y coordinate": "0.88 meters",
+      "height above floor": "1.77 meters"
+     },
+     "longest dimension": "2.04 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "0.24 meters",
+      "y coordinate": "3.95 meters",
+      "height above floor": "1.51 meters"
+     },
+     "longest dimension": "0.82 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "0.49 meters",
+      "y coordinate": "3.02 meters",
+      "height above floor": "5.05 meters"
+     },
+     "longest dimension": "0.8 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "0.78 meters",
+      "y coordinate": "0.83 meters",
+      "height above floor": "3.12 meters"
+     },
+     "longest dimension": "0.43 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "0.55 meters",
+      "y coordinate": "1.96 meters",
+      "height above floor": "1.17 meters"
+     },
+     "longest dimension": "0.84 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "0.82 meters",
+      "y coordinate": "0.95 meters",
+      "height above floor": "3.93 meters"
+     },
+     "longest dimension": "0.8 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "0.42 meters",
+      "y coordinate": "2.94 meters",
+      "height above floor": "1.75 meters"
+     },
+     "longest dimension": "2.0 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "0.55 meters",
+      "y coordinate": "2.03 meters",
+      "height above floor": "1.27 meters"
+     },
+     "longest dimension": "0.71 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "0.41 meters",
+      "y coordinate": "2.94 meters",
+      "height above floor": "1.55 meters"
+     },
+     "longest dimension": "2.5 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "0.65 meters",
+      "y coordinate": "2.04 meters",
+      "height above floor": "5.45 meters"
+     },
+     "longest dimension": "0.64 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "0.41 meters",
+      "y coordinate": "2.89 meters",
+      "height above floor": "1.53 meters"
+     },
+     "longest dimension": "0.8 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "0.5 meters",
+      "y coordinate": "3.0 meters",
+      "height above floor": "5.0 meters"
+     },
+     "longest dimension": "0.74 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "0.15 meters",
+      "y coordinate": "4.96 meters",
+      "height above floor": "5.1 meters"
+     },
+     "longest dimension": "1.12 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "0.76 meters",
+      "y coordinate": "0.92 meters",
+      "height above floor": "2.27 meters"
+     },
+     "longest dimension": "1.76 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "0.92 meters",
+      "y coordinate": "0.58 meters",
+      "height above floor": "5.87 meters"
+     },
+     "longest dimension": "1.14 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "0.26 meters",
+      "y coordinate": "3.99 meters",
+      "height above floor": "2.52 meters"
+     },
+     "longest dimension": "1.19 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "0.07 meters",
+      "y coordinate": "4.89 meters",
+      "height above floor": "1.71 meters"
+     },
+     "longest dimension": "1.07 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "0.58 meters",
+      "y coordinate": "2.07 meters",
+      "height above floor": "2.13 meters"
+     },
+     "longest dimension": "1.65 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "0.67 meters",
+      "y coordinate": "1.99 meters",
+      "height above floor": "5.97 meters"
+     },
+     "longest dimension": "1.02 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "0.37 meters",
+      "y coordinate": "3.71 meters",
+      "height above floor": "4.69 meters"
+     },
+     "longest dimension": "3.19 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "0.19 meters",
+      "y coordinate": "4.88 meters",
+      "height above floor": "6.05 meters"
+     },
+     "longest dimension": "1.19 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "0.08 meters",
+      "y coordinate": "5.12 meters",
+      "height above floor": "3.1 meters"
+     },
+     "longest dimension": "1.72 meters"
+    }
+   ]
+  },
+  "telephone": {
+   "count": 2,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "0.78 meters",
+      "y coordinate": "0.36 meters",
+      "height above floor": "7.07 meters"
+     },
+     "longest dimension": "0.74 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "0.81 meters",
+      "y coordinate": "0.16 meters",
+      "height above floor": "7.02 meters"
+     },
+     "longest dimension": "0.3 meters"
+    }
+   ]
+  },
+  "trash can": {
+   "count": 2,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "1.39 meters",
+      "y coordinate": "-0.3 meters",
+      "height above floor": "0.47 meters"
+     },
+     "longest dimension": "0.37 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "1.4 meters",
+      "y coordinate": "-0.44 meters",
+      "height above floor": "0.56 meters"
+     },
+     "longest dimension": "0.35 meters"
+    }
+   ]
+  },
+  "tv": {
+   "count": 4,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "0.02 meters",
+      "y coordinate": "-1.07 meters",
+      "height above floor": "1.67 meters"
+     },
+     "longest dimension": "1.13 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "0.09 meters",
+      "y coordinate": "0.02 meters",
+      "height above floor": "7.11 meters"
+     },
+     "longest dimension": "1.52 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "0.11 meters",
+      "y coordinate": "-1.05 meters",
+      "height above floor": "1.98 meters"
+     },
+     "longest dimension": "1.06 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "0.0 meters",
+      "y coordinate": "-1.08 meters",
+      "height above floor": "2.03 meters"
+     },
+     "longest dimension": "1.11 meters"
+    }
+   ]
+  },
+  "whiteboard": {
+   "count": 6,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-0.02 meters",
+      "y coordinate": "2.17 meters",
+      "height above floor": "-0.01 meters"
+     },
+     "longest dimension": "1.85 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-0.25 meters",
+      "y coordinate": "2.5 meters",
+      "height above floor": "-0.01 meters"
+     },
+     "longest dimension": "1.56 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "0.34 meters",
+      "y coordinate": "-1.05 meters",
+      "height above floor": "3.3 meters"
+     },
+     "longest dimension": "1.87 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-0.2 meters",
+      "y coordinate": "2.0 meters",
+      "height above floor": "-0.03 meters"
+     },
+     "longest dimension": "1.85 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "0.25 meters",
+      "y coordinate": "-1.09 meters",
+      "height above floor": "2.94 meters"
+     },
+     "longest dimension": "1.04 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "0.29 meters",
+      "y coordinate": "-1.08 meters",
+      "height above floor": "3.03 meters"
+     },
+     "longest dimension": "1.71 meters"
+    }
+   ]
+  }
+ },
+ "room": {
+  "floor area": "25.8 square meters"
+ },
+ "closest classes distance meters from": {
+  "ceiling light": {
+   "exhaust fan": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "clock": {
+    "distance": "0.91 meters",
+    "closeness rank": 2
+   },
+   "whiteboard": {
+    "distance": "1.07 meters",
+    "closeness rank": 3
+   },
+   "tv": {
+    "distance": "1.1 meters",
+    "closeness rank": 4
+   },
+   "door": {
+    "distance": "1.15 meters",
+    "closeness rank": 5
+   },
+   "chair": {
+    "distance": "1.94 meters",
+    "closeness rank": 6
+   },
+   "telephone": {
+    "distance": "2.07 meters",
+    "closeness rank": 7
+   },
+   "table": {
+    "distance": "2.1 meters",
+    "closeness rank": 8
+   },
+   "trash can": {
+    "distance": "2.89 meters",
+    "closeness rank": 9
+   },
+   "crate": {
+    "distance": "2.92 meters",
+    "closeness rank": 10
+   }
+  },
+  "chair": {
+   "table": {
+    "distance": "0.09 meters",
+    "closeness rank": 1
+   },
+   "door": {
+    "distance": "1.36 meters",
+    "closeness rank": 2
+   },
+   "whiteboard": {
+    "distance": "1.44 meters",
+    "closeness rank": 3
+   },
+   "trash can": {
+    "distance": "1.72 meters",
+    "closeness rank": 4
+   },
+   "crate": {
+    "distance": "1.75 meters",
+    "closeness rank": 5
+   },
+   "telephone": {
+    "distance": "1.88 meters",
+    "closeness rank": 6
+   },
+   "ceiling light": {
+    "distance": "1.94 meters",
+    "closeness rank": 7
+   },
+   "tv": {
+    "distance": "2.18 meters",
+    "closeness rank": 8
+   },
+   "exhaust fan": {
+    "distance": "2.27 meters",
+    "closeness rank": 9
+   },
+   "clock": {
+    "distance": "2.41 meters",
+    "closeness rank": 10
+   }
+  },
+  "clock": {
+   "whiteboard": {
+    "distance": "0.45 meters",
+    "closeness rank": 1
+   },
+   "ceiling light": {
+    "distance": "0.91 meters",
+    "closeness rank": 2
+   },
+   "door": {
+    "distance": "1.76 meters",
+    "closeness rank": 3
+   },
+   "chair": {
+    "distance": "2.41 meters",
+    "closeness rank": 4
+   },
+   "table": {
+    "distance": "2.48 meters",
+    "closeness rank": 5
+   },
+   "exhaust fan": {
+    "distance": "3.62 meters",
+    "closeness rank": 6
+   },
+   "trash can": {
+    "distance": "3.94 meters",
+    "closeness rank": 7
+   },
+   "crate": {
+    "distance": "3.95 meters",
+    "closeness rank": 8
+   },
+   "tv": {
+    "distance": "4.05 meters",
+    "closeness rank": 9
+   },
+   "telephone": {
+    "distance": "7.51 meters",
+    "closeness rank": 10
+   }
+  },
+  "crate": {
+   "trash can": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "door": {
+    "distance": "0.86 meters",
+    "closeness rank": 2
+   },
+   "table": {
+    "distance": "1.41 meters",
+    "closeness rank": 3
+   },
+   "tv": {
+    "distance": "1.48 meters",
+    "closeness rank": 4
+   },
+   "chair": {
+    "distance": "1.75 meters",
+    "closeness rank": 5
+   },
+   "whiteboard": {
+    "distance": "2.11 meters",
+    "closeness rank": 6
+   },
+   "ceiling light": {
+    "distance": "2.92 meters",
+    "closeness rank": 7
+   },
+   "exhaust fan": {
+    "distance": "3.09 meters",
+    "closeness rank": 8
+   },
+   "clock": {
+    "distance": "3.95 meters",
+    "closeness rank": 9
+   },
+   "telephone": {
+    "distance": "6.39 meters",
+    "closeness rank": 10
+   }
+  },
+  "door": {
+   "whiteboard": {
+    "distance": "0.29 meters",
+    "closeness rank": 1
+   },
+   "crate": {
+    "distance": "0.86 meters",
+    "closeness rank": 2
+   },
+   "trash can": {
+    "distance": "0.86 meters",
+    "closeness rank": 3
+   },
+   "ceiling light": {
+    "distance": "1.15 meters",
+    "closeness rank": 4
+   },
+   "table": {
+    "distance": "1.3 meters",
+    "closeness rank": 5
+   },
+   "chair": {
+    "distance": "1.36 meters",
+    "closeness rank": 6
+   },
+   "clock": {
+    "distance": "1.76 meters",
+    "closeness rank": 7
+   },
+   "tv": {
+    "distance": "1.91 meters",
+    "closeness rank": 8
+   },
+   "exhaust fan": {
+    "distance": "2.57 meters",
+    "closeness rank": 9
+   },
+   "telephone": {
+    "distance": "6.92 meters",
+    "closeness rank": 10
+   }
+  },
+  "exhaust fan": {
+   "ceiling light": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "tv": {
+    "distance": "1.09 meters",
+    "closeness rank": 2
+   },
+   "table": {
+    "distance": "2.16 meters",
+    "closeness rank": 3
+   },
+   "chair": {
+    "distance": "2.27 meters",
+    "closeness rank": 4
+   },
+   "door": {
+    "distance": "2.57 meters",
+    "closeness rank": 5
+   },
+   "whiteboard": {
+    "distance": "2.92 meters",
+    "closeness rank": 6
+   },
+   "telephone": {
+    "distance": "3.08 meters",
+    "closeness rank": 7
+   },
+   "crate": {
+    "distance": "3.09 meters",
+    "closeness rank": 8
+   },
+   "trash can": {
+    "distance": "3.09 meters",
+    "closeness rank": 9
+   },
+   "clock": {
+    "distance": "3.62 meters",
+    "closeness rank": 10
+   }
+  },
+  "table": {
+   "chair": {
+    "distance": "0.09 meters",
+    "closeness rank": 1
+   },
+   "door": {
+    "distance": "1.3 meters",
+    "closeness rank": 2
+   },
+   "trash can": {
+    "distance": "1.38 meters",
+    "closeness rank": 3
+   },
+   "crate": {
+    "distance": "1.41 meters",
+    "closeness rank": 4
+   },
+   "whiteboard": {
+    "distance": "1.45 meters",
+    "closeness rank": 5
+   },
+   "tv": {
+    "distance": "1.72 meters",
+    "closeness rank": 6
+   },
+   "ceiling light": {
+    "distance": "2.1 meters",
+    "closeness rank": 7
+   },
+   "exhaust fan": {
+    "distance": "2.16 meters",
+    "closeness rank": 8
+   },
+   "clock": {
+    "distance": "2.48 meters",
+    "closeness rank": 9
+   },
+   "telephone": {
+    "distance": "2.56 meters",
+    "closeness rank": 10
+   }
+  },
+  "telephone": {
+   "chair": {
+    "distance": "1.88 meters",
+    "closeness rank": 1
+   },
+   "ceiling light": {
+    "distance": "2.07 meters",
+    "closeness rank": 2
+   },
+   "table": {
+    "distance": "2.56 meters",
+    "closeness rank": 3
+   },
+   "exhaust fan": {
+    "distance": "3.08 meters",
+    "closeness rank": 4
+   },
+   "tv": {
+    "distance": "4.72 meters",
+    "closeness rank": 5
+   },
+   "crate": {
+    "distance": "6.39 meters",
+    "closeness rank": 6
+   },
+   "trash can": {
+    "distance": "6.41 meters",
+    "closeness rank": 7
+   },
+   "door": {
+    "distance": "6.92 meters",
+    "closeness rank": 8
+   },
+   "whiteboard": {
+    "distance": "7.01 meters",
+    "closeness rank": 9
+   },
+   "clock": {
+    "distance": "7.51 meters",
+    "closeness rank": 10
+   }
+  },
+  "trash can": {
+   "crate": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "door": {
+    "distance": "0.86 meters",
+    "closeness rank": 2
+   },
+   "table": {
+    "distance": "1.38 meters",
+    "closeness rank": 3
+   },
+   "tv": {
+    "distance": "1.51 meters",
+    "closeness rank": 4
+   },
+   "chair": {
+    "distance": "1.72 meters",
+    "closeness rank": 5
+   },
+   "whiteboard": {
+    "distance": "2.11 meters",
+    "closeness rank": 6
+   },
+   "ceiling light": {
+    "distance": "2.89 meters",
+    "closeness rank": 7
+   },
+   "exhaust fan": {
+    "distance": "3.09 meters",
+    "closeness rank": 8
+   },
+   "clock": {
+    "distance": "3.94 meters",
+    "closeness rank": 9
+   },
+   "telephone": {
+    "distance": "6.41 meters",
+    "closeness rank": 10
+   }
+  },
+  "tv": {
+   "exhaust fan": {
+    "distance": "1.09 meters",
+    "closeness rank": 1
+   },
+   "ceiling light": {
+    "distance": "1.1 meters",
+    "closeness rank": 2
+   },
+   "crate": {
+    "distance": "1.48 meters",
+    "closeness rank": 3
+   },
+   "trash can": {
+    "distance": "1.51 meters",
+    "closeness rank": 4
+   },
+   "table": {
+    "distance": "1.72 meters",
+    "closeness rank": 5
+   },
+   "door": {
+    "distance": "1.91 meters",
+    "closeness rank": 6
+   },
+   "chair": {
+    "distance": "2.18 meters",
+    "closeness rank": 7
+   },
+   "whiteboard": {
+    "distance": "2.89 meters",
+    "closeness rank": 8
+   },
+   "clock": {
+    "distance": "4.05 meters",
+    "closeness rank": 9
+   },
+   "telephone": {
+    "distance": "4.72 meters",
+    "closeness rank": 10
+   }
+  },
+  "whiteboard": {
+   "door": {
+    "distance": "0.29 meters",
+    "closeness rank": 1
+   },
+   "clock": {
+    "distance": "0.45 meters",
+    "closeness rank": 2
+   },
+   "ceiling light": {
+    "distance": "1.07 meters",
+    "closeness rank": 3
+   },
+   "chair": {
+    "distance": "1.44 meters",
+    "closeness rank": 4
+   },
+   "table": {
+    "distance": "1.45 meters",
+    "closeness rank": 5
+   },
+   "crate": {
+    "distance": "2.11 meters",
+    "closeness rank": 6
+   },
+   "trash can": {
+    "distance": "2.11 meters",
+    "closeness rank": 7
+   },
+   "tv": {
+    "distance": "2.89 meters",
+    "closeness rank": 8
+   },
+   "exhaust fan": {
+    "distance": "2.92 meters",
+    "closeness rank": 9
+   },
+   "telephone": {
+    "distance": "7.01 meters",
+    "closeness rank": 10
+   }
+  }
+ },
+ "appearance order": ["chair", "table", "ceiling light", "tv", "whiteboard", "telephone", "door", "trash can", "exhaust fan", "clock", "crate"]
+}
\ No newline at end of file
diff --git a/data/spatial codes/sam3+depth-anything-3/metric/tracking/uniform/96/explicit/3e8bba0176.json b/data/spatial codes/sam3+depth-anything-3/metric/tracking/uniform/96/explicit/3e8bba0176.json
new file mode 100644
index 0000000000000000000000000000000000000000..55542999fe47f7cf5e209357c090dc5ebae62f40
--- /dev/null
+++ b/data/spatial codes/sam3+depth-anything-3/metric/tracking/uniform/96/explicit/3e8bba0176.json	
@@ -0,0 +1,2309 @@
+{
+ "objects": {
+  "basket": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "0.97 meters",
+      "y coordinate": "0.16 meters",
+      "height above floor": "0.29 meters"
+     },
+     "longest dimension": "0.28 meters"
+    }
+   ]
+  },
+  "ceiling light": {
+   "count": 5,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-1.41 meters",
+      "y coordinate": "-1.87 meters",
+      "height above floor": "-0.83 meters"
+     },
+     "longest dimension": "0.85 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-0.05 meters",
+      "y coordinate": "-1.28 meters",
+      "height above floor": "-1.44 meters"
+     },
+     "longest dimension": "0.17 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-0.96 meters",
+      "y coordinate": "0.98 meters",
+      "height above floor": "-0.51 meters"
+     },
+     "longest dimension": "1.19 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-0.92 meters",
+      "y coordinate": "-2.64 meters",
+      "height above floor": "1.11 meters"
+     },
+     "longest dimension": "0.55 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-1.3 meters",
+      "y coordinate": "-1.43 meters",
+      "height above floor": "-0.6 meters"
+     },
+     "longest dimension": "1.17 meters"
+    }
+   ]
+  },
+  "chair": {
+   "count": 5,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "0.7 meters",
+      "y coordinate": "-1.55 meters",
+      "height above floor": "1.64 meters"
+     },
+     "longest dimension": "0.76 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "1.15 meters",
+      "y coordinate": "0.36 meters",
+      "height above floor": "1.85 meters"
+     },
+     "longest dimension": "0.64 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "0.51 meters",
+      "y coordinate": "-1.08 meters",
+      "height above floor": "-0.75 meters"
+     },
+     "longest dimension": "0.38 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "1.2 meters",
+      "y coordinate": "0.79 meters",
+      "height above floor": "1.86 meters"
+     },
+     "longest dimension": "0.58 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "1.03 meters",
+      "y coordinate": "0.82 meters",
+      "height above floor": "1.88 meters"
+     },
+     "longest dimension": "0.42 meters"
+    }
+   ]
+  },
+  "computer mouse": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "0.67 meters",
+      "y coordinate": "-1.51 meters",
+      "height above floor": "0.51 meters"
+     },
+     "longest dimension": "0.1 meters"
+    }
+   ]
+  },
+  "cup": {
+   "count": 2,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "0.76 meters",
+      "y coordinate": "-0.26 meters",
+      "height above floor": "-0.35 meters"
+     },
+     "longest dimension": "0.11 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "0.76 meters",
+      "y coordinate": "-0.26 meters",
+      "height above floor": "-0.35 meters"
+     },
+     "longest dimension": "0.11 meters"
+    }
+   ]
+  },
+  "cushion": {
+   "count": 3,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "1.21 meters",
+      "y coordinate": "0.79 meters",
+      "height above floor": "1.83 meters"
+     },
+     "longest dimension": "0.61 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "0.64 meters",
+      "y coordinate": "-1.83 meters",
+      "height above floor": "0.09 meters"
+     },
+     "longest dimension": "0.29 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "0.89 meters",
+      "y coordinate": "-1.59 meters",
+      "height above floor": "1.44 meters"
+     },
+     "longest dimension": "0.43 meters"
+    }
+   ]
+  },
+  "door": {
+   "count": 4,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "0.77 meters",
+      "y coordinate": "1.94 meters",
+      "height above floor": "-0.55 meters"
+     },
+     "longest dimension": "1.79 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "0.38 meters",
+      "y coordinate": "1.57 meters",
+      "height above floor": "0.25 meters"
+     },
+     "longest dimension": "0.56 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-0.35 meters",
+      "y coordinate": "-2.66 meters",
+      "height above floor": "1.68 meters"
+     },
+     "longest dimension": "1.16 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "0.43 meters",
+      "y coordinate": "1.55 meters",
+      "height above floor": "0.89 meters"
+     },
+     "longest dimension": "1.05 meters"
+    }
+   ]
+  },
+  "exhaust fan": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-1.33 meters",
+      "y coordinate": "-1.38 meters",
+      "height above floor": "0.72 meters"
+     },
+     "longest dimension": "2.4 meters"
+    }
+   ]
+  },
+  "headphones": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "0.62 meters",
+      "y coordinate": "-1.34 meters",
+      "height above floor": "0.37 meters"
+     },
+     "longest dimension": "0.11 meters"
+    }
+   ]
+  },
+  "keyboard": {
+   "count": 3,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "0.77 meters",
+      "y coordinate": "-0.83 meters",
+      "height above floor": "0.57 meters"
+     },
+     "longest dimension": "0.39 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "0.64 meters",
+      "y coordinate": "-2.3 meters",
+      "height above floor": "-0.36 meters"
+     },
+     "longest dimension": "0.23 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "0.74 meters",
+      "y coordinate": "-0.94 meters",
+      "height above floor": "-0.18 meters"
+     },
+     "longest dimension": "0.25 meters"
+    }
+   ]
+  },
+  "laptop": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "0.8 meters",
+      "y coordinate": "-0.39 meters",
+      "height above floor": "-0.19 meters"
+     },
+     "longest dimension": "0.27 meters"
+    }
+   ]
+  },
+  "microwave": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-0.05 meters",
+      "y coordinate": "-2.72 meters",
+      "height above floor": "0.47 meters"
+     },
+     "longest dimension": "2.72 meters"
+    }
+   ]
+  },
+  "monitor": {
+   "count": 7,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "0.41 meters",
+      "y coordinate": "-0.87 meters",
+      "height above floor": "0.0 meters"
+     },
+     "longest dimension": "0.58 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "0.44 meters",
+      "y coordinate": "-0.79 meters",
+      "height above floor": "0.28 meters"
+     },
+     "longest dimension": "0.58 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "0.41 meters",
+      "y coordinate": "-0.85 meters",
+      "height above floor": "-0.02 meters"
+     },
+     "longest dimension": "0.58 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "0.47 meters",
+      "y coordinate": "-0.29 meters",
+      "height above floor": "-0.23 meters"
+     },
+     "longest dimension": "0.56 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "0.49 meters",
+      "y coordinate": "-0.36 meters",
+      "height above floor": "-0.14 meters"
+     },
+     "longest dimension": "0.58 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "0.34 meters",
+      "y coordinate": "-0.62 meters",
+      "height above floor": "0.39 meters"
+     },
+     "longest dimension": "0.55 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "0.79 meters",
+      "y coordinate": "-0.49 meters",
+      "height above floor": "-0.13 meters"
+     },
+     "longest dimension": "0.2 meters"
+    }
+   ]
+  },
+  "paper bag": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "0.82 meters",
+      "y coordinate": "0.07 meters",
+      "height above floor": "0.0 meters"
+     },
+     "longest dimension": "0.21 meters"
+    }
+   ]
+  },
+  "pillow": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "0.64 meters",
+      "y coordinate": "-1.83 meters",
+      "height above floor": "0.09 meters"
+     },
+     "longest dimension": "0.29 meters"
+    }
+   ]
+  },
+  "power strip": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "0.58 meters",
+      "y coordinate": "-2.44 meters",
+      "height above floor": "0.81 meters"
+     },
+     "longest dimension": "0.2 meters"
+    }
+   ]
+  },
+  "table": {
+   "count": 8,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "0.77 meters",
+      "y coordinate": "-0.85 meters",
+      "height above floor": "0.72 meters"
+     },
+     "longest dimension": "0.93 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "0.71 meters",
+      "y coordinate": "-2.03 meters",
+      "height above floor": "-0.14 meters"
+     },
+     "longest dimension": "0.71 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "0.68 meters",
+      "y coordinate": "-1.51 meters",
+      "height above floor": "-0.12 meters"
+     },
+     "longest dimension": "0.85 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "1.11 meters",
+      "y coordinate": "0.17 meters",
+      "height above floor": "0.31 meters"
+     },
+     "longest dimension": "1.05 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "0.79 meters",
+      "y coordinate": "-0.65 meters",
+      "height above floor": "-0.43 meters"
+     },
+     "longest dimension": "1.39 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "1.14 meters",
+      "y coordinate": "0.23 meters",
+      "height above floor": "-0.13 meters"
+     },
+     "longest dimension": "0.96 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "0.63 meters",
+      "y coordinate": "-2.17 meters",
+      "height above floor": "1.46 meters"
+     },
+     "longest dimension": "0.8 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "0.69 meters",
+      "y coordinate": "-1.24 meters",
+      "height above floor": "-0.29 meters"
+     },
+     "longest dimension": "1.13 meters"
+    }
+   ]
+  },
+  "telephone": {
+   "count": 4,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "0.64 meters",
+      "y coordinate": "-2.3 meters",
+      "height above floor": "-0.37 meters"
+     },
+     "longest dimension": "0.23 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "0.63 meters",
+      "y coordinate": "-2.16 meters",
+      "height above floor": "0.65 meters"
+     },
+     "longest dimension": "0.26 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "0.59 meters",
+      "y coordinate": "-2.17 meters",
+      "height above floor": "0.72 meters"
+     },
+     "longest dimension": "0.46 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "0.61 meters",
+      "y coordinate": "-2.28 meters",
+      "height above floor": "-0.39 meters"
+     },
+     "longest dimension": "0.32 meters"
+    }
+   ]
+  },
+  "trash can": {
+   "count": 2,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "1.59 meters",
+      "y coordinate": "1.06 meters",
+      "height above floor": "-1.2 meters"
+     },
+     "longest dimension": "0.31 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "1.62 meters",
+      "y coordinate": "1.35 meters",
+      "height above floor": "-1.17 meters"
+     },
+     "longest dimension": "0.33 meters"
+    }
+   ]
+  },
+  "tv": {
+   "count": 3,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "0.42 meters",
+      "y coordinate": "-0.87 meters",
+      "height above floor": "0.0 meters"
+     },
+     "longest dimension": "0.57 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "0.47 meters",
+      "y coordinate": "-0.29 meters",
+      "height above floor": "-0.23 meters"
+     },
+     "longest dimension": "0.57 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-0.05 meters",
+      "y coordinate": "-1.28 meters",
+      "height above floor": "-1.44 meters"
+     },
+     "longest dimension": "0.16 meters"
+    }
+   ]
+  },
+  "whiteboard": {
+   "count": 4,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "0.03 meters",
+      "y coordinate": "-1.0 meters",
+      "height above floor": "-1.5 meters"
+     },
+     "longest dimension": "1.12 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-0.69 meters",
+      "y coordinate": "-0.26 meters",
+      "height above floor": "1.96 meters"
+     },
+     "longest dimension": "2.81 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "0.27 meters",
+      "y coordinate": "0.08 meters",
+      "height above floor": "-1.48 meters"
+     },
+     "longest dimension": "1.56 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "0.1 meters",
+      "y coordinate": "-0.14 meters",
+      "height above floor": "-1.51 meters"
+     },
+     "longest dimension": "2.18 meters"
+    }
+   ]
+  }
+ },
+ "room": {
+  "floor area": "17.9 square meters"
+ },
+ "closest classes distance meters from": {
+  "basket": {
+   "door": {
+    "distance": "0.08 meters",
+    "closeness rank": 1
+   },
+   "paper bag": {
+    "distance": "0.08 meters",
+    "closeness rank": 2
+   },
+   "table": {
+    "distance": "0.16 meters",
+    "closeness rank": 3
+   },
+   "laptop": {
+    "distance": "0.42 meters",
+    "closeness rank": 4
+   },
+   "cup": {
+    "distance": "0.55 meters",
+    "closeness rank": 5
+   },
+   "monitor": {
+    "distance": "0.55 meters",
+    "closeness rank": 6
+   },
+   "tv": {
+    "distance": "0.55 meters",
+    "closeness rank": 7
+   },
+   "computer mouse": {
+    "distance": "0.68 meters",
+    "closeness rank": 8
+   },
+   "keyboard": {
+    "distance": "0.71 meters",
+    "closeness rank": 9
+   },
+   "cushion": {
+    "distance": "1.22 meters",
+    "closeness rank": 10
+   },
+   "headphones": {
+    "distance": "1.31 meters",
+    "closeness rank": 11
+   },
+   "chair": {
+    "distance": "1.46 meters",
+    "closeness rank": 12
+   },
+   "trash can": {
+    "distance": "1.53 meters",
+    "closeness rank": 13
+   },
+   "whiteboard": {
+    "distance": "1.6 meters",
+    "closeness rank": 14
+   },
+   "pillow": {
+    "distance": "1.72 meters",
+    "closeness rank": 15
+   },
+   "exhaust fan": {
+    "distance": "1.97 meters",
+    "closeness rank": 16
+   },
+   "ceiling light": {
+    "distance": "1.98 meters",
+    "closeness rank": 17
+   },
+   "telephone": {
+    "distance": "2.05 meters",
+    "closeness rank": 18
+   },
+   "power strip": {
+    "distance": "2.49 meters",
+    "closeness rank": 19
+   },
+   "microwave": {
+    "distance": "2.77 meters",
+    "closeness rank": 20
+   }
+  },
+  "ceiling light": {
+   "exhaust fan": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "whiteboard": {
+    "distance": "0.87 meters",
+    "closeness rank": 2
+   },
+   "microwave": {
+    "distance": "1.1 meters",
+    "closeness rank": 3
+   },
+   "door": {
+    "distance": "1.42 meters",
+    "closeness rank": 4
+   },
+   "tv": {
+    "distance": "1.59 meters",
+    "closeness rank": 5
+   },
+   "monitor": {
+    "distance": "1.61 meters",
+    "closeness rank": 6
+   },
+   "chair": {
+    "distance": "1.62 meters",
+    "closeness rank": 7
+   },
+   "headphones": {
+    "distance": "1.88 meters",
+    "closeness rank": 8
+   },
+   "paper bag": {
+    "distance": "1.88 meters",
+    "closeness rank": 9
+   },
+   "cushion": {
+    "distance": "1.92 meters",
+    "closeness rank": 10
+   },
+   "computer mouse": {
+    "distance": "1.95 meters",
+    "closeness rank": 11
+   },
+   "cup": {
+    "distance": "1.97 meters",
+    "closeness rank": 12
+   },
+   "pillow": {
+    "distance": "1.97 meters",
+    "closeness rank": 13
+   },
+   "basket": {
+    "distance": "1.98 meters",
+    "closeness rank": 14
+   },
+   "table": {
+    "distance": "2.0 meters",
+    "closeness rank": 15
+   },
+   "telephone": {
+    "distance": "2.01 meters",
+    "closeness rank": 16
+   },
+   "keyboard": {
+    "distance": "2.05 meters",
+    "closeness rank": 17
+   },
+   "laptop": {
+    "distance": "2.07 meters",
+    "closeness rank": 18
+   },
+   "power strip": {
+    "distance": "2.09 meters",
+    "closeness rank": 19
+   },
+   "trash can": {
+    "distance": "2.44 meters",
+    "closeness rank": 20
+   }
+  },
+  "chair": {
+   "cushion": {
+    "distance": "0.11 meters",
+    "closeness rank": 1
+   },
+   "whiteboard": {
+    "distance": "0.13 meters",
+    "closeness rank": 2
+   },
+   "table": {
+    "distance": "0.46 meters",
+    "closeness rank": 3
+   },
+   "telephone": {
+    "distance": "0.48 meters",
+    "closeness rank": 4
+   },
+   "power strip": {
+    "distance": "0.58 meters",
+    "closeness rank": 5
+   },
+   "computer mouse": {
+    "distance": "0.72 meters",
+    "closeness rank": 6
+   },
+   "keyboard": {
+    "distance": "0.81 meters",
+    "closeness rank": 7
+   },
+   "microwave": {
+    "distance": "0.84 meters",
+    "closeness rank": 8
+   },
+   "headphones": {
+    "distance": "0.91 meters",
+    "closeness rank": 9
+   },
+   "pillow": {
+    "distance": "0.94 meters",
+    "closeness rank": 10
+   },
+   "door": {
+    "distance": "1.1 meters",
+    "closeness rank": 11
+   },
+   "tv": {
+    "distance": "1.1 meters",
+    "closeness rank": 12
+   },
+   "monitor": {
+    "distance": "1.11 meters",
+    "closeness rank": 13
+   },
+   "basket": {
+    "distance": "1.46 meters",
+    "closeness rank": 14
+   },
+   "laptop": {
+    "distance": "1.6 meters",
+    "closeness rank": 15
+   },
+   "ceiling light": {
+    "distance": "1.62 meters",
+    "closeness rank": 16
+   },
+   "exhaust fan": {
+    "distance": "1.62 meters",
+    "closeness rank": 17
+   },
+   "paper bag": {
+    "distance": "1.69 meters",
+    "closeness rank": 18
+   },
+   "cup": {
+    "distance": "1.95 meters",
+    "closeness rank": 19
+   },
+   "trash can": {
+    "distance": "3.02 meters",
+    "closeness rank": 20
+   }
+  },
+  "computer mouse": {
+   "table": {
+    "distance": "0.01 meters",
+    "closeness rank": 1
+   },
+   "keyboard": {
+    "distance": "0.09 meters",
+    "closeness rank": 2
+   },
+   "headphones": {
+    "distance": "0.12 meters",
+    "closeness rank": 3
+   },
+   "tv": {
+    "distance": "0.13 meters",
+    "closeness rank": 4
+   },
+   "monitor": {
+    "distance": "0.14 meters",
+    "closeness rank": 5
+   },
+   "pillow": {
+    "distance": "0.29 meters",
+    "closeness rank": 6
+   },
+   "laptop": {
+    "distance": "0.43 meters",
+    "closeness rank": 7
+   },
+   "telephone": {
+    "distance": "0.48 meters",
+    "closeness rank": 8
+   },
+   "paper bag": {
+    "distance": "0.64 meters",
+    "closeness rank": 9
+   },
+   "basket": {
+    "distance": "0.68 meters",
+    "closeness rank": 10
+   },
+   "chair": {
+    "distance": "0.72 meters",
+    "closeness rank": 11
+   },
+   "cup": {
+    "distance": "0.78 meters",
+    "closeness rank": 12
+   },
+   "power strip": {
+    "distance": "0.9 meters",
+    "closeness rank": 13
+   },
+   "door": {
+    "distance": "0.92 meters",
+    "closeness rank": 14
+   },
+   "microwave": {
+    "distance": "1.22 meters",
+    "closeness rank": 15
+   },
+   "whiteboard": {
+    "distance": "1.48 meters",
+    "closeness rank": 16
+   },
+   "cushion": {
+    "distance": "1.73 meters",
+    "closeness rank": 17
+   },
+   "ceiling light": {
+    "distance": "1.95 meters",
+    "closeness rank": 18
+   },
+   "exhaust fan": {
+    "distance": "1.96 meters",
+    "closeness rank": 19
+   },
+   "trash can": {
+    "distance": "2.35 meters",
+    "closeness rank": 20
+   }
+  },
+  "cup": {
+   "laptop": {
+    "distance": "0.03 meters",
+    "closeness rank": 1
+   },
+   "paper bag": {
+    "distance": "0.29 meters",
+    "closeness rank": 2
+   },
+   "tv": {
+    "distance": "0.52 meters",
+    "closeness rank": 3
+   },
+   "monitor": {
+    "distance": "0.53 meters",
+    "closeness rank": 4
+   },
+   "basket": {
+    "distance": "0.55 meters",
+    "closeness rank": 5
+   },
+   "table": {
+    "distance": "0.55 meters",
+    "closeness rank": 6
+   },
+   "door": {
+    "distance": "0.71 meters",
+    "closeness rank": 7
+   },
+   "computer mouse": {
+    "distance": "0.78 meters",
+    "closeness rank": 8
+   },
+   "keyboard": {
+    "distance": "0.91 meters",
+    "closeness rank": 9
+   },
+   "whiteboard": {
+    "distance": "1.16 meters",
+    "closeness rank": 10
+   },
+   "headphones": {
+    "distance": "1.2 meters",
+    "closeness rank": 11
+   },
+   "pillow": {
+    "distance": "1.5 meters",
+    "closeness rank": 12
+   },
+   "trash can": {
+    "distance": "1.6 meters",
+    "closeness rank": 13
+   },
+   "telephone": {
+    "distance": "1.87 meters",
+    "closeness rank": 14
+   },
+   "chair": {
+    "distance": "1.95 meters",
+    "closeness rank": 15
+   },
+   "ceiling light": {
+    "distance": "1.97 meters",
+    "closeness rank": 16
+   },
+   "exhaust fan": {
+    "distance": "1.97 meters",
+    "closeness rank": 17
+   },
+   "cushion": {
+    "distance": "2.02 meters",
+    "closeness rank": 18
+   },
+   "power strip": {
+    "distance": "2.37 meters",
+    "closeness rank": 19
+   },
+   "microwave": {
+    "distance": "2.51 meters",
+    "closeness rank": 20
+   }
+  },
+  "cushion": {
+   "whiteboard": {
+    "distance": "0.08 meters",
+    "closeness rank": 1
+   },
+   "chair": {
+    "distance": "0.11 meters",
+    "closeness rank": 2
+   },
+   "door": {
+    "distance": "0.46 meters",
+    "closeness rank": 3
+   },
+   "table": {
+    "distance": "1.03 meters",
+    "closeness rank": 4
+   },
+   "basket": {
+    "distance": "1.22 meters",
+    "closeness rank": 5
+   },
+   "paper bag": {
+    "distance": "1.5 meters",
+    "closeness rank": 6
+   },
+   "keyboard": {
+    "distance": "1.59 meters",
+    "closeness rank": 7
+   },
+   "monitor": {
+    "distance": "1.71 meters",
+    "closeness rank": 8
+   },
+   "tv": {
+    "distance": "1.71 meters",
+    "closeness rank": 9
+   },
+   "computer mouse": {
+    "distance": "1.73 meters",
+    "closeness rank": 10
+   },
+   "laptop": {
+    "distance": "1.85 meters",
+    "closeness rank": 11
+   },
+   "ceiling light": {
+    "distance": "1.92 meters",
+    "closeness rank": 12
+   },
+   "exhaust fan": {
+    "distance": "1.93 meters",
+    "closeness rank": 13
+   },
+   "cup": {
+    "distance": "2.02 meters",
+    "closeness rank": 14
+   },
+   "headphones": {
+    "distance": "2.25 meters",
+    "closeness rank": 15
+   },
+   "trash can": {
+    "distance": "2.53 meters",
+    "closeness rank": 16
+   },
+   "pillow": {
+    "distance": "2.69 meters",
+    "closeness rank": 17
+   },
+   "telephone": {
+    "distance": "2.75 meters",
+    "closeness rank": 18
+   },
+   "power strip": {
+    "distance": "3.1 meters",
+    "closeness rank": 19
+   },
+   "microwave": {
+    "distance": "3.34 meters",
+    "closeness rank": 20
+   }
+  },
+  "door": {
+   "microwave": {
+    "distance": "0.01 meters",
+    "closeness rank": 1
+   },
+   "basket": {
+    "distance": "0.08 meters",
+    "closeness rank": 2
+   },
+   "paper bag": {
+    "distance": "0.23 meters",
+    "closeness rank": 3
+   },
+   "table": {
+    "distance": "0.29 meters",
+    "closeness rank": 4
+   },
+   "cushion": {
+    "distance": "0.46 meters",
+    "closeness rank": 5
+   },
+   "laptop": {
+    "distance": "0.59 meters",
+    "closeness rank": 6
+   },
+   "power strip": {
+    "distance": "0.63 meters",
+    "closeness rank": 7
+   },
+   "trash can": {
+    "distance": "0.64 meters",
+    "closeness rank": 8
+   },
+   "cup": {
+    "distance": "0.71 meters",
+    "closeness rank": 9
+   },
+   "whiteboard": {
+    "distance": "0.71 meters",
+    "closeness rank": 10
+   },
+   "telephone": {
+    "distance": "0.75 meters",
+    "closeness rank": 11
+   },
+   "monitor": {
+    "distance": "0.82 meters",
+    "closeness rank": 12
+   },
+   "tv": {
+    "distance": "0.83 meters",
+    "closeness rank": 13
+   },
+   "keyboard": {
+    "distance": "0.9 meters",
+    "closeness rank": 14
+   },
+   "computer mouse": {
+    "distance": "0.92 meters",
+    "closeness rank": 15
+   },
+   "chair": {
+    "distance": "1.1 meters",
+    "closeness rank": 16
+   },
+   "pillow": {
+    "distance": "1.2 meters",
+    "closeness rank": 17
+   },
+   "ceiling light": {
+    "distance": "1.42 meters",
+    "closeness rank": 18
+   },
+   "exhaust fan": {
+    "distance": "1.45 meters",
+    "closeness rank": 19
+   },
+   "headphones": {
+    "distance": "1.55 meters",
+    "closeness rank": 20
+   }
+  },
+  "exhaust fan": {
+   "ceiling light": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "whiteboard": {
+    "distance": "0.88 meters",
+    "closeness rank": 2
+   },
+   "microwave": {
+    "distance": "1.19 meters",
+    "closeness rank": 3
+   },
+   "door": {
+    "distance": "1.45 meters",
+    "closeness rank": 4
+   },
+   "tv": {
+    "distance": "1.59 meters",
+    "closeness rank": 5
+   },
+   "monitor": {
+    "distance": "1.6 meters",
+    "closeness rank": 6
+   },
+   "chair": {
+    "distance": "1.62 meters",
+    "closeness rank": 7
+   },
+   "paper bag": {
+    "distance": "1.88 meters",
+    "closeness rank": 8
+   },
+   "headphones": {
+    "distance": "1.89 meters",
+    "closeness rank": 9
+   },
+   "cushion": {
+    "distance": "1.93 meters",
+    "closeness rank": 10
+   },
+   "computer mouse": {
+    "distance": "1.96 meters",
+    "closeness rank": 11
+   },
+   "basket": {
+    "distance": "1.97 meters",
+    "closeness rank": 12
+   },
+   "cup": {
+    "distance": "1.97 meters",
+    "closeness rank": 13
+   },
+   "pillow": {
+    "distance": "1.98 meters",
+    "closeness rank": 14
+   },
+   "table": {
+    "distance": "2.0 meters",
+    "closeness rank": 15
+   },
+   "telephone": {
+    "distance": "2.04 meters",
+    "closeness rank": 16
+   },
+   "keyboard": {
+    "distance": "2.05 meters",
+    "closeness rank": 17
+   },
+   "laptop": {
+    "distance": "2.06 meters",
+    "closeness rank": 18
+   },
+   "power strip": {
+    "distance": "2.12 meters",
+    "closeness rank": 19
+   },
+   "trash can": {
+    "distance": "2.45 meters",
+    "closeness rank": 20
+   }
+  },
+  "headphones": {
+   "table": {
+    "distance": "0.1 meters",
+    "closeness rank": 1
+   },
+   "computer mouse": {
+    "distance": "0.12 meters",
+    "closeness rank": 2
+   },
+   "monitor": {
+    "distance": "0.26 meters",
+    "closeness rank": 3
+   },
+   "tv": {
+    "distance": "0.26 meters",
+    "closeness rank": 4
+   },
+   "keyboard": {
+    "distance": "0.29 meters",
+    "closeness rank": 5
+   },
+   "pillow": {
+    "distance": "0.35 meters",
+    "closeness rank": 6
+   },
+   "telephone": {
+    "distance": "0.73 meters",
+    "closeness rank": 7
+   },
+   "laptop": {
+    "distance": "0.88 meters",
+    "closeness rank": 8
+   },
+   "chair": {
+    "distance": "0.91 meters",
+    "closeness rank": 9
+   },
+   "power strip": {
+    "distance": "1.11 meters",
+    "closeness rank": 10
+   },
+   "cup": {
+    "distance": "1.2 meters",
+    "closeness rank": 11
+   },
+   "paper bag": {
+    "distance": "1.24 meters",
+    "closeness rank": 12
+   },
+   "basket": {
+    "distance": "1.31 meters",
+    "closeness rank": 13
+   },
+   "microwave": {
+    "distance": "1.38 meters",
+    "closeness rank": 14
+   },
+   "door": {
+    "distance": "1.55 meters",
+    "closeness rank": 15
+   },
+   "whiteboard": {
+    "distance": "1.57 meters",
+    "closeness rank": 16
+   },
+   "ceiling light": {
+    "distance": "1.88 meters",
+    "closeness rank": 17
+   },
+   "exhaust fan": {
+    "distance": "1.89 meters",
+    "closeness rank": 18
+   },
+   "cushion": {
+    "distance": "2.25 meters",
+    "closeness rank": 19
+   },
+   "trash can": {
+    "distance": "2.85 meters",
+    "closeness rank": 20
+   }
+  },
+  "keyboard": {
+   "table": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "computer mouse": {
+    "distance": "0.09 meters",
+    "closeness rank": 2
+   },
+   "monitor": {
+    "distance": "0.24 meters",
+    "closeness rank": 3
+   },
+   "tv": {
+    "distance": "0.24 meters",
+    "closeness rank": 4
+   },
+   "headphones": {
+    "distance": "0.29 meters",
+    "closeness rank": 5
+   },
+   "laptop": {
+    "distance": "0.56 meters",
+    "closeness rank": 6
+   },
+   "paper bag": {
+    "distance": "0.69 meters",
+    "closeness rank": 7
+   },
+   "basket": {
+    "distance": "0.71 meters",
+    "closeness rank": 8
+   },
+   "pillow": {
+    "distance": "0.74 meters",
+    "closeness rank": 9
+   },
+   "chair": {
+    "distance": "0.81 meters",
+    "closeness rank": 10
+   },
+   "door": {
+    "distance": "0.9 meters",
+    "closeness rank": 11
+   },
+   "cup": {
+    "distance": "0.91 meters",
+    "closeness rank": 12
+   },
+   "telephone": {
+    "distance": "0.95 meters",
+    "closeness rank": 13
+   },
+   "whiteboard": {
+    "distance": "1.34 meters",
+    "closeness rank": 14
+   },
+   "power strip": {
+    "distance": "1.39 meters",
+    "closeness rank": 15
+   },
+   "cushion": {
+    "distance": "1.59 meters",
+    "closeness rank": 16
+   },
+   "microwave": {
+    "distance": "1.73 meters",
+    "closeness rank": 17
+   },
+   "ceiling light": {
+    "distance": "2.05 meters",
+    "closeness rank": 18
+   },
+   "exhaust fan": {
+    "distance": "2.05 meters",
+    "closeness rank": 19
+   },
+   "trash can": {
+    "distance": "2.43 meters",
+    "closeness rank": 20
+   }
+  },
+  "laptop": {
+   "cup": {
+    "distance": "0.03 meters",
+    "closeness rank": 1
+   },
+   "paper bag": {
+    "distance": "0.17 meters",
+    "closeness rank": 2
+   },
+   "table": {
+    "distance": "0.22 meters",
+    "closeness rank": 3
+   },
+   "tv": {
+    "distance": "0.26 meters",
+    "closeness rank": 4
+   },
+   "monitor": {
+    "distance": "0.29 meters",
+    "closeness rank": 5
+   },
+   "basket": {
+    "distance": "0.42 meters",
+    "closeness rank": 6
+   },
+   "computer mouse": {
+    "distance": "0.43 meters",
+    "closeness rank": 7
+   },
+   "keyboard": {
+    "distance": "0.56 meters",
+    "closeness rank": 8
+   },
+   "door": {
+    "distance": "0.59 meters",
+    "closeness rank": 9
+   },
+   "headphones": {
+    "distance": "0.88 meters",
+    "closeness rank": 10
+   },
+   "pillow": {
+    "distance": "1.19 meters",
+    "closeness rank": 11
+   },
+   "whiteboard": {
+    "distance": "1.23 meters",
+    "closeness rank": 12
+   },
+   "chair": {
+    "distance": "1.6 meters",
+    "closeness rank": 13
+   },
+   "telephone": {
+    "distance": "1.6 meters",
+    "closeness rank": 14
+   },
+   "trash can": {
+    "distance": "1.69 meters",
+    "closeness rank": 15
+   },
+   "cushion": {
+    "distance": "1.85 meters",
+    "closeness rank": 16
+   },
+   "power strip": {
+    "distance": "2.05 meters",
+    "closeness rank": 17
+   },
+   "exhaust fan": {
+    "distance": "2.06 meters",
+    "closeness rank": 18
+   },
+   "ceiling light": {
+    "distance": "2.07 meters",
+    "closeness rank": 19
+   },
+   "microwave": {
+    "distance": "2.22 meters",
+    "closeness rank": 20
+   }
+  },
+  "microwave": {
+   "door": {
+    "distance": "0.01 meters",
+    "closeness rank": 1
+   },
+   "power strip": {
+    "distance": "0.22 meters",
+    "closeness rank": 2
+   },
+   "telephone": {
+    "distance": "0.44 meters",
+    "closeness rank": 3
+   },
+   "pillow": {
+    "distance": "0.8 meters",
+    "closeness rank": 4
+   },
+   "chair": {
+    "distance": "0.84 meters",
+    "closeness rank": 5
+   },
+   "ceiling light": {
+    "distance": "1.1 meters",
+    "closeness rank": 6
+   },
+   "exhaust fan": {
+    "distance": "1.19 meters",
+    "closeness rank": 7
+   },
+   "computer mouse": {
+    "distance": "1.22 meters",
+    "closeness rank": 8
+   },
+   "headphones": {
+    "distance": "1.38 meters",
+    "closeness rank": 9
+   },
+   "table": {
+    "distance": "1.47 meters",
+    "closeness rank": 10
+   },
+   "tv": {
+    "distance": "1.56 meters",
+    "closeness rank": 11
+   },
+   "monitor": {
+    "distance": "1.59 meters",
+    "closeness rank": 12
+   },
+   "whiteboard": {
+    "distance": "1.62 meters",
+    "closeness rank": 13
+   },
+   "keyboard": {
+    "distance": "1.73 meters",
+    "closeness rank": 14
+   },
+   "laptop": {
+    "distance": "2.22 meters",
+    "closeness rank": 15
+   },
+   "cup": {
+    "distance": "2.51 meters",
+    "closeness rank": 16
+   },
+   "paper bag": {
+    "distance": "2.68 meters",
+    "closeness rank": 17
+   },
+   "basket": {
+    "distance": "2.77 meters",
+    "closeness rank": 18
+   },
+   "cushion": {
+    "distance": "3.34 meters",
+    "closeness rank": 19
+   },
+   "trash can": {
+    "distance": "4.11 meters",
+    "closeness rank": 20
+   }
+  },
+  "monitor": {
+   "tv": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "computer mouse": {
+    "distance": "0.14 meters",
+    "closeness rank": 2
+   },
+   "table": {
+    "distance": "0.14 meters",
+    "closeness rank": 3
+   },
+   "keyboard": {
+    "distance": "0.24 meters",
+    "closeness rank": 4
+   },
+   "headphones": {
+    "distance": "0.26 meters",
+    "closeness rank": 5
+   },
+   "laptop": {
+    "distance": "0.29 meters",
+    "closeness rank": 6
+   },
+   "paper bag": {
+    "distance": "0.46 meters",
+    "closeness rank": 7
+   },
+   "cup": {
+    "distance": "0.53 meters",
+    "closeness rank": 8
+   },
+   "basket": {
+    "distance": "0.55 meters",
+    "closeness rank": 9
+   },
+   "pillow": {
+    "distance": "0.64 meters",
+    "closeness rank": 10
+   },
+   "door": {
+    "distance": "0.82 meters",
+    "closeness rank": 11
+   },
+   "telephone": {
+    "distance": "1.05 meters",
+    "closeness rank": 12
+   },
+   "chair": {
+    "distance": "1.11 meters",
+    "closeness rank": 13
+   },
+   "power strip": {
+    "distance": "1.43 meters",
+    "closeness rank": 14
+   },
+   "whiteboard": {
+    "distance": "1.45 meters",
+    "closeness rank": 15
+   },
+   "microwave": {
+    "distance": "1.59 meters",
+    "closeness rank": 16
+   },
+   "exhaust fan": {
+    "distance": "1.6 meters",
+    "closeness rank": 17
+   },
+   "ceiling light": {
+    "distance": "1.61 meters",
+    "closeness rank": 18
+   },
+   "cushion": {
+    "distance": "1.71 meters",
+    "closeness rank": 19
+   },
+   "trash can": {
+    "distance": "2.23 meters",
+    "closeness rank": 20
+   }
+  },
+  "paper bag": {
+   "basket": {
+    "distance": "0.08 meters",
+    "closeness rank": 1
+   },
+   "laptop": {
+    "distance": "0.17 meters",
+    "closeness rank": 2
+   },
+   "door": {
+    "distance": "0.23 meters",
+    "closeness rank": 3
+   },
+   "table": {
+    "distance": "0.23 meters",
+    "closeness rank": 4
+   },
+   "cup": {
+    "distance": "0.29 meters",
+    "closeness rank": 5
+   },
+   "monitor": {
+    "distance": "0.46 meters",
+    "closeness rank": 6
+   },
+   "tv": {
+    "distance": "0.46 meters",
+    "closeness rank": 7
+   },
+   "computer mouse": {
+    "distance": "0.64 meters",
+    "closeness rank": 8
+   },
+   "keyboard": {
+    "distance": "0.69 meters",
+    "closeness rank": 9
+   },
+   "headphones": {
+    "distance": "1.24 meters",
+    "closeness rank": 10
+   },
+   "whiteboard": {
+    "distance": "1.45 meters",
+    "closeness rank": 11
+   },
+   "trash can": {
+    "distance": "1.49 meters",
+    "closeness rank": 12
+   },
+   "cushion": {
+    "distance": "1.5 meters",
+    "closeness rank": 13
+   },
+   "pillow": {
+    "distance": "1.64 meters",
+    "closeness rank": 14
+   },
+   "chair": {
+    "distance": "1.69 meters",
+    "closeness rank": 15
+   },
+   "ceiling light": {
+    "distance": "1.88 meters",
+    "closeness rank": 16
+   },
+   "exhaust fan": {
+    "distance": "1.88 meters",
+    "closeness rank": 17
+   },
+   "telephone": {
+    "distance": "2.01 meters",
+    "closeness rank": 18
+   },
+   "power strip": {
+    "distance": "2.43 meters",
+    "closeness rank": 19
+   },
+   "microwave": {
+    "distance": "2.68 meters",
+    "closeness rank": 20
+   }
+  },
+  "pillow": {
+   "computer mouse": {
+    "distance": "0.29 meters",
+    "closeness rank": 1
+   },
+   "headphones": {
+    "distance": "0.35 meters",
+    "closeness rank": 2
+   },
+   "telephone": {
+    "distance": "0.4 meters",
+    "closeness rank": 3
+   },
+   "table": {
+    "distance": "0.51 meters",
+    "closeness rank": 4
+   },
+   "monitor": {
+    "distance": "0.64 meters",
+    "closeness rank": 5
+   },
+   "tv": {
+    "distance": "0.64 meters",
+    "closeness rank": 6
+   },
+   "power strip": {
+    "distance": "0.71 meters",
+    "closeness rank": 7
+   },
+   "keyboard": {
+    "distance": "0.74 meters",
+    "closeness rank": 8
+   },
+   "microwave": {
+    "distance": "0.8 meters",
+    "closeness rank": 9
+   },
+   "chair": {
+    "distance": "0.94 meters",
+    "closeness rank": 10
+   },
+   "laptop": {
+    "distance": "1.19 meters",
+    "closeness rank": 11
+   },
+   "door": {
+    "distance": "1.2 meters",
+    "closeness rank": 12
+   },
+   "cup": {
+    "distance": "1.5 meters",
+    "closeness rank": 13
+   },
+   "whiteboard": {
+    "distance": "1.59 meters",
+    "closeness rank": 14
+   },
+   "paper bag": {
+    "distance": "1.64 meters",
+    "closeness rank": 15
+   },
+   "basket": {
+    "distance": "1.72 meters",
+    "closeness rank": 16
+   },
+   "ceiling light": {
+    "distance": "1.97 meters",
+    "closeness rank": 17
+   },
+   "exhaust fan": {
+    "distance": "1.98 meters",
+    "closeness rank": 18
+   },
+   "cushion": {
+    "distance": "2.69 meters",
+    "closeness rank": 19
+   },
+   "trash can": {
+    "distance": "3.08 meters",
+    "closeness rank": 20
+   }
+  },
+  "power strip": {
+   "telephone": {
+    "distance": "0.08 meters",
+    "closeness rank": 1
+   },
+   "microwave": {
+    "distance": "0.22 meters",
+    "closeness rank": 2
+   },
+   "chair": {
+    "distance": "0.58 meters",
+    "closeness rank": 3
+   },
+   "door": {
+    "distance": "0.63 meters",
+    "closeness rank": 4
+   },
+   "pillow": {
+    "distance": "0.71 meters",
+    "closeness rank": 5
+   },
+   "computer mouse": {
+    "distance": "0.9 meters",
+    "closeness rank": 6
+   },
+   "headphones": {
+    "distance": "1.11 meters",
+    "closeness rank": 7
+   },
+   "table": {
+    "distance": "1.14 meters",
+    "closeness rank": 8
+   },
+   "keyboard": {
+    "distance": "1.39 meters",
+    "closeness rank": 9
+   },
+   "tv": {
+    "distance": "1.42 meters",
+    "closeness rank": 10
+   },
+   "monitor": {
+    "distance": "1.43 meters",
+    "closeness rank": 11
+   },
+   "whiteboard": {
+    "distance": "1.45 meters",
+    "closeness rank": 12
+   },
+   "laptop": {
+    "distance": "2.05 meters",
+    "closeness rank": 13
+   },
+   "ceiling light": {
+    "distance": "2.09 meters",
+    "closeness rank": 14
+   },
+   "exhaust fan": {
+    "distance": "2.12 meters",
+    "closeness rank": 15
+   },
+   "cup": {
+    "distance": "2.37 meters",
+    "closeness rank": 16
+   },
+   "paper bag": {
+    "distance": "2.43 meters",
+    "closeness rank": 17
+   },
+   "basket": {
+    "distance": "2.49 meters",
+    "closeness rank": 18
+   },
+   "cushion": {
+    "distance": "3.1 meters",
+    "closeness rank": 19
+   },
+   "trash can": {
+    "distance": "3.98 meters",
+    "closeness rank": 20
+   }
+  },
+  "table": {
+   "keyboard": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "computer mouse": {
+    "distance": "0.01 meters",
+    "closeness rank": 2
+   },
+   "headphones": {
+    "distance": "0.1 meters",
+    "closeness rank": 3
+   },
+   "monitor": {
+    "distance": "0.14 meters",
+    "closeness rank": 4
+   },
+   "tv": {
+    "distance": "0.15 meters",
+    "closeness rank": 5
+   },
+   "basket": {
+    "distance": "0.16 meters",
+    "closeness rank": 6
+   },
+   "laptop": {
+    "distance": "0.22 meters",
+    "closeness rank": 7
+   },
+   "paper bag": {
+    "distance": "0.23 meters",
+    "closeness rank": 8
+   },
+   "door": {
+    "distance": "0.29 meters",
+    "closeness rank": 9
+   },
+   "chair": {
+    "distance": "0.46 meters",
+    "closeness rank": 10
+   },
+   "pillow": {
+    "distance": "0.51 meters",
+    "closeness rank": 11
+   },
+   "cup": {
+    "distance": "0.55 meters",
+    "closeness rank": 12
+   },
+   "telephone": {
+    "distance": "0.7 meters",
+    "closeness rank": 13
+   },
+   "whiteboard": {
+    "distance": "1.01 meters",
+    "closeness rank": 14
+   },
+   "cushion": {
+    "distance": "1.03 meters",
+    "closeness rank": 15
+   },
+   "power strip": {
+    "distance": "1.14 meters",
+    "closeness rank": 16
+   },
+   "microwave": {
+    "distance": "1.47 meters",
+    "closeness rank": 17
+   },
+   "trash can": {
+    "distance": "1.99 meters",
+    "closeness rank": 18
+   },
+   "ceiling light": {
+    "distance": "2.0 meters",
+    "closeness rank": 19
+   },
+   "exhaust fan": {
+    "distance": "2.0 meters",
+    "closeness rank": 20
+   }
+  },
+  "telephone": {
+   "power strip": {
+    "distance": "0.08 meters",
+    "closeness rank": 1
+   },
+   "pillow": {
+    "distance": "0.4 meters",
+    "closeness rank": 2
+   },
+   "microwave": {
+    "distance": "0.44 meters",
+    "closeness rank": 3
+   },
+   "chair": {
+    "distance": "0.48 meters",
+    "closeness rank": 4
+   },
+   "computer mouse": {
+    "distance": "0.48 meters",
+    "closeness rank": 5
+   },
+   "table": {
+    "distance": "0.7 meters",
+    "closeness rank": 6
+   },
+   "headphones": {
+    "distance": "0.73 meters",
+    "closeness rank": 7
+   },
+   "door": {
+    "distance": "0.75 meters",
+    "closeness rank": 8
+   },
+   "keyboard": {
+    "distance": "0.95 meters",
+    "closeness rank": 9
+   },
+   "tv": {
+    "distance": "1.04 meters",
+    "closeness rank": 10
+   },
+   "monitor": {
+    "distance": "1.05 meters",
+    "closeness rank": 11
+   },
+   "whiteboard": {
+    "distance": "1.4 meters",
+    "closeness rank": 12
+   },
+   "laptop": {
+    "distance": "1.6 meters",
+    "closeness rank": 13
+   },
+   "cup": {
+    "distance": "1.87 meters",
+    "closeness rank": 14
+   },
+   "ceiling light": {
+    "distance": "2.01 meters",
+    "closeness rank": 15
+   },
+   "paper bag": {
+    "distance": "2.01 meters",
+    "closeness rank": 16
+   },
+   "exhaust fan": {
+    "distance": "2.04 meters",
+    "closeness rank": 17
+   },
+   "basket": {
+    "distance": "2.05 meters",
+    "closeness rank": 18
+   },
+   "cushion": {
+    "distance": "2.75 meters",
+    "closeness rank": 19
+   },
+   "trash can": {
+    "distance": "3.36 meters",
+    "closeness rank": 20
+   }
+  },
+  "trash can": {
+   "door": {
+    "distance": "0.64 meters",
+    "closeness rank": 1
+   },
+   "paper bag": {
+    "distance": "1.49 meters",
+    "closeness rank": 2
+   },
+   "basket": {
+    "distance": "1.53 meters",
+    "closeness rank": 3
+   },
+   "whiteboard": {
+    "distance": "1.53 meters",
+    "closeness rank": 4
+   },
+   "cup": {
+    "distance": "1.6 meters",
+    "closeness rank": 5
+   },
+   "laptop": {
+    "distance": "1.69 meters",
+    "closeness rank": 6
+   },
+   "table": {
+    "distance": "1.99 meters",
+    "closeness rank": 7
+   },
+   "tv": {
+    "distance": "2.22 meters",
+    "closeness rank": 8
+   },
+   "monitor": {
+    "distance": "2.23 meters",
+    "closeness rank": 9
+   },
+   "computer mouse": {
+    "distance": "2.35 meters",
+    "closeness rank": 10
+   },
+   "keyboard": {
+    "distance": "2.43 meters",
+    "closeness rank": 11
+   },
+   "ceiling light": {
+    "distance": "2.44 meters",
+    "closeness rank": 12
+   },
+   "exhaust fan": {
+    "distance": "2.45 meters",
+    "closeness rank": 13
+   },
+   "cushion": {
+    "distance": "2.53 meters",
+    "closeness rank": 14
+   },
+   "headphones": {
+    "distance": "2.85 meters",
+    "closeness rank": 15
+   },
+   "chair": {
+    "distance": "3.02 meters",
+    "closeness rank": 16
+   },
+   "pillow": {
+    "distance": "3.08 meters",
+    "closeness rank": 17
+   },
+   "telephone": {
+    "distance": "3.36 meters",
+    "closeness rank": 18
+   },
+   "power strip": {
+    "distance": "3.98 meters",
+    "closeness rank": 19
+   },
+   "microwave": {
+    "distance": "4.11 meters",
+    "closeness rank": 20
+   }
+  },
+  "tv": {
+   "monitor": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "computer mouse": {
+    "distance": "0.13 meters",
+    "closeness rank": 2
+   },
+   "table": {
+    "distance": "0.15 meters",
+    "closeness rank": 3
+   },
+   "keyboard": {
+    "distance": "0.24 meters",
+    "closeness rank": 4
+   },
+   "headphones": {
+    "distance": "0.26 meters",
+    "closeness rank": 5
+   },
+   "laptop": {
+    "distance": "0.26 meters",
+    "closeness rank": 6
+   },
+   "paper bag": {
+    "distance": "0.46 meters",
+    "closeness rank": 7
+   },
+   "cup": {
+    "distance": "0.52 meters",
+    "closeness rank": 8
+   },
+   "basket": {
+    "distance": "0.55 meters",
+    "closeness rank": 9
+   },
+   "pillow": {
+    "distance": "0.64 meters",
+    "closeness rank": 10
+   },
+   "door": {
+    "distance": "0.83 meters",
+    "closeness rank": 11
+   },
+   "telephone": {
+    "distance": "1.04 meters",
+    "closeness rank": 12
+   },
+   "chair": {
+    "distance": "1.1 meters",
+    "closeness rank": 13
+   },
+   "power strip": {
+    "distance": "1.42 meters",
+    "closeness rank": 14
+   },
+   "whiteboard": {
+    "distance": "1.46 meters",
+    "closeness rank": 15
+   },
+   "microwave": {
+    "distance": "1.56 meters",
+    "closeness rank": 16
+   },
+   "ceiling light": {
+    "distance": "1.59 meters",
+    "closeness rank": 17
+   },
+   "exhaust fan": {
+    "distance": "1.59 meters",
+    "closeness rank": 18
+   },
+   "cushion": {
+    "distance": "1.71 meters",
+    "closeness rank": 19
+   },
+   "trash can": {
+    "distance": "2.22 meters",
+    "closeness rank": 20
+   }
+  },
+  "whiteboard": {
+   "cushion": {
+    "distance": "0.08 meters",
+    "closeness rank": 1
+   },
+   "chair": {
+    "distance": "0.13 meters",
+    "closeness rank": 2
+   },
+   "door": {
+    "distance": "0.71 meters",
+    "closeness rank": 3
+   },
+   "ceiling light": {
+    "distance": "0.87 meters",
+    "closeness rank": 4
+   },
+   "exhaust fan": {
+    "distance": "0.88 meters",
+    "closeness rank": 5
+   },
+   "table": {
+    "distance": "1.01 meters",
+    "closeness rank": 6
+   },
+   "cup": {
+    "distance": "1.16 meters",
+    "closeness rank": 7
+   },
+   "laptop": {
+    "distance": "1.23 meters",
+    "closeness rank": 8
+   },
+   "keyboard": {
+    "distance": "1.34 meters",
+    "closeness rank": 9
+   },
+   "telephone": {
+    "distance": "1.4 meters",
+    "closeness rank": 10
+   },
+   "monitor": {
+    "distance": "1.45 meters",
+    "closeness rank": 11
+   },
+   "paper bag": {
+    "distance": "1.45 meters",
+    "closeness rank": 12
+   },
+   "power strip": {
+    "distance": "1.45 meters",
+    "closeness rank": 13
+   },
+   "tv": {
+    "distance": "1.46 meters",
+    "closeness rank": 14
+   },
+   "computer mouse": {
+    "distance": "1.48 meters",
+    "closeness rank": 15
+   },
+   "trash can": {
+    "distance": "1.53 meters",
+    "closeness rank": 16
+   },
+   "headphones": {
+    "distance": "1.57 meters",
+    "closeness rank": 17
+   },
+   "pillow": {
+    "distance": "1.59 meters",
+    "closeness rank": 18
+   },
+   "basket": {
+    "distance": "1.6 meters",
+    "closeness rank": 19
+   },
+   "microwave": {
+    "distance": "1.62 meters",
+    "closeness rank": 20
+   }
+  }
+ },
+ "appearance order": ["chair", "cushion", "keyboard", "table", "whiteboard", "telephone", "ceiling light", "door", "cup", "monitor", "trash can", "basket", "paper bag", "exhaust fan", "pillow", "tv", "headphones", "microwave", "computer mouse", "laptop", "power strip"]
+}
\ No newline at end of file
diff --git a/data/spatial codes/sam3+depth-anything-3/metric/tracking/uniform/96/explicit/3f15a9266d.json b/data/spatial codes/sam3+depth-anything-3/metric/tracking/uniform/96/explicit/3f15a9266d.json
new file mode 100644
index 0000000000000000000000000000000000000000..6fc060dbd368f4fedf258d3d1f66e055d3dcd4c3
--- /dev/null
+++ b/data/spatial codes/sam3+depth-anything-3/metric/tracking/uniform/96/explicit/3f15a9266d.json	
@@ -0,0 +1,1950 @@
+{
+ "objects": {
+  "bookshelf": {
+   "count": 3,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-1.48 meters",
+      "y coordinate": "1.12 meters",
+      "height above floor": "0.56 meters"
+     },
+     "longest dimension": "1.68 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-0.95 meters",
+      "y coordinate": "-0.87 meters",
+      "height above floor": "1.07 meters"
+     },
+     "longest dimension": "1.45 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-1.02 meters",
+      "y coordinate": "-0.57 meters",
+      "height above floor": "0.49 meters"
+     },
+     "longest dimension": "1.43 meters"
+    }
+   ]
+  },
+  "bucket": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-0.36 meters",
+      "y coordinate": "-1.04 meters",
+      "height above floor": "1.12 meters"
+     },
+     "longest dimension": "0.2 meters"
+    }
+   ]
+  },
+  "ceiling light": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "0.92 meters",
+      "y coordinate": "1.27 meters",
+      "height above floor": "1.98 meters"
+     },
+     "longest dimension": "0.67 meters"
+    }
+   ]
+  },
+  "chair": {
+   "count": 4,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "0.08 meters",
+      "y coordinate": "-0.72 meters",
+      "height above floor": "0.09 meters"
+     },
+     "longest dimension": "0.96 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-0.48 meters",
+      "y coordinate": "1.24 meters",
+      "height above floor": "0.01 meters"
+     },
+     "longest dimension": "0.61 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-0.69 meters",
+      "y coordinate": "-0.24 meters",
+      "height above floor": "0.0 meters"
+     },
+     "longest dimension": "0.67 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "0.79 meters",
+      "y coordinate": "0.09 meters",
+      "height above floor": "0.27 meters"
+     },
+     "longest dimension": "1.07 meters"
+    }
+   ]
+  },
+  "clock": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-0.19 meters",
+      "y coordinate": "1.97 meters",
+      "height above floor": "1.56 meters"
+     },
+     "longest dimension": "0.26 meters"
+    }
+   ]
+  },
+  "computer mouse": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "1.65 meters",
+      "y coordinate": "0.26 meters",
+      "height above floor": "0.33 meters"
+     },
+     "longest dimension": "0.1 meters"
+    }
+   ]
+  },
+  "computer tower": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "1.29 meters",
+      "y coordinate": "2.08 meters",
+      "height above floor": "0.41 meters"
+     },
+     "longest dimension": "0.22 meters"
+    }
+   ]
+  },
+  "crate": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "0.23 meters",
+      "y coordinate": "1.59 meters",
+      "height above floor": "-0.17 meters"
+     },
+     "longest dimension": "0.42 meters"
+    }
+   ]
+  },
+  "cup": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "0.34 meters",
+      "y coordinate": "1.93 meters",
+      "height above floor": "0.37 meters"
+     },
+     "longest dimension": "0.12 meters"
+    }
+   ]
+  },
+  "cushion": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-0.0 meters",
+      "y coordinate": "-0.51 meters",
+      "height above floor": "0.05 meters"
+     },
+     "longest dimension": "0.45 meters"
+    }
+   ]
+  },
+  "door": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-1.66 meters",
+      "y coordinate": "0.24 meters",
+      "height above floor": "0.65 meters"
+     },
+     "longest dimension": "1.88 meters"
+    }
+   ]
+  },
+  "exhaust fan": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "1.93 meters",
+      "y coordinate": "-0.21 meters",
+      "height above floor": "-0.38 meters"
+     },
+     "longest dimension": "0.49 meters"
+    }
+   ]
+  },
+  "keyboard": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "1.52 meters",
+      "y coordinate": "0.52 meters",
+      "height above floor": "0.33 meters"
+     },
+     "longest dimension": "0.52 meters"
+    }
+   ]
+  },
+  "microwave": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "0.46 meters",
+      "y coordinate": "1.95 meters",
+      "height above floor": "-0.2 meters"
+     },
+     "longest dimension": "0.4 meters"
+    }
+   ]
+  },
+  "monitor": {
+   "count": 4,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "1.82 meters",
+      "y coordinate": "0.09 meters",
+      "height above floor": "0.75 meters"
+     },
+     "longest dimension": "0.49 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "1.72 meters",
+      "y coordinate": "0.67 meters",
+      "height above floor": "0.75 meters"
+     },
+     "longest dimension": "0.57 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "1.74 meters",
+      "y coordinate": "0.7 meters",
+      "height above floor": "0.75 meters"
+     },
+     "longest dimension": "0.46 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "1.39 meters",
+      "y coordinate": "2.06 meters",
+      "height above floor": "0.58 meters"
+     },
+     "longest dimension": "0.23 meters"
+    }
+   ]
+  },
+  "table": {
+   "count": 2,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "0.17 meters",
+      "y coordinate": "1.32 meters",
+      "height above floor": "0.22 meters"
+     },
+     "longest dimension": "2.06 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "0.01 meters",
+      "y coordinate": "1.31 meters",
+      "height above floor": "0.21 meters"
+     },
+     "longest dimension": "1.2 meters"
+    }
+   ]
+  },
+  "telephone": {
+   "count": 2,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "1.66 meters",
+      "y coordinate": "1.26 meters",
+      "height above floor": "0.36 meters"
+     },
+     "longest dimension": "0.22 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "1.61 meters",
+      "y coordinate": "1.25 meters",
+      "height above floor": "0.36 meters"
+     },
+     "longest dimension": "0.22 meters"
+    }
+   ]
+  },
+  "trash can": {
+   "count": 3,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-0.94 meters",
+      "y coordinate": "1.22 meters",
+      "height above floor": "-0.17 meters"
+     },
+     "longest dimension": "0.36 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-1.0 meters",
+      "y coordinate": "1.29 meters",
+      "height above floor": "-0.16 meters"
+     },
+     "longest dimension": "0.34 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-0.73 meters",
+      "y coordinate": "1.58 meters",
+      "height above floor": "-0.12 meters"
+     },
+     "longest dimension": "0.35 meters"
+    }
+   ]
+  },
+  "tv": {
+   "count": 3,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-0.74 meters",
+      "y coordinate": "1.66 meters",
+      "height above floor": "1.09 meters"
+     },
+     "longest dimension": "0.67 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "1.82 meters",
+      "y coordinate": "0.09 meters",
+      "height above floor": "0.75 meters"
+     },
+     "longest dimension": "0.49 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "1.74 meters",
+      "y coordinate": "0.7 meters",
+      "height above floor": "0.75 meters"
+     },
+     "longest dimension": "0.46 meters"
+    }
+   ]
+  },
+  "whiteboard": {
+   "count": 2,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "0.71 meters",
+      "y coordinate": "-0.84 meters",
+      "height above floor": "1.06 meters"
+     },
+     "longest dimension": "2.46 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "0.79 meters",
+      "y coordinate": "-0.82 meters",
+      "height above floor": "1.03 meters"
+     },
+     "longest dimension": "2.32 meters"
+    }
+   ]
+  }
+ },
+ "room": {
+  "floor area": "12.0 square meters"
+ },
+ "closest classes distance meters from": {
+  "bookshelf": {
+   "trash can": {
+    "distance": "0.04 meters",
+    "closeness rank": 1
+   },
+   "door": {
+    "distance": "0.17 meters",
+    "closeness rank": 2
+   },
+   "tv": {
+    "distance": "0.2 meters",
+    "closeness rank": 3
+   },
+   "table": {
+    "distance": "0.84 meters",
+    "closeness rank": 4
+   },
+   "clock": {
+    "distance": "1.02 meters",
+    "closeness rank": 5
+   },
+   "crate": {
+    "distance": "1.26 meters",
+    "closeness rank": 6
+   },
+   "cup": {
+    "distance": "1.53 meters",
+    "closeness rank": 7
+   },
+   "microwave": {
+    "distance": "1.54 meters",
+    "closeness rank": 8
+   },
+   "ceiling light": {
+    "distance": "1.69 meters",
+    "closeness rank": 9
+   },
+   "cushion": {
+    "distance": "1.9 meters",
+    "closeness rank": 10
+   },
+   "chair": {
+    "distance": "1.91 meters",
+    "closeness rank": 11
+   },
+   "bucket": {
+    "distance": "2.36 meters",
+    "closeness rank": 12
+   },
+   "keyboard": {
+    "distance": "2.4 meters",
+    "closeness rank": 13
+   },
+   "computer tower": {
+    "distance": "2.43 meters",
+    "closeness rank": 14
+   },
+   "whiteboard": {
+    "distance": "2.65 meters",
+    "closeness rank": 15
+   },
+   "telephone": {
+    "distance": "2.66 meters",
+    "closeness rank": 16
+   },
+   "computer mouse": {
+    "distance": "2.82 meters",
+    "closeness rank": 17
+   },
+   "monitor": {
+    "distance": "3.01 meters",
+    "closeness rank": 18
+   },
+   "exhaust fan": {
+    "distance": "3.22 meters",
+    "closeness rank": 19
+   }
+  },
+  "bucket": {
+   "whiteboard": {
+    "distance": "0.31 meters",
+    "closeness rank": 1
+   },
+   "chair": {
+    "distance": "0.59 meters",
+    "closeness rank": 2
+   },
+   "cushion": {
+    "distance": "1.0 meters",
+    "closeness rank": 3
+   },
+   "door": {
+    "distance": "1.43 meters",
+    "closeness rank": 4
+   },
+   "monitor": {
+    "distance": "2.27 meters",
+    "closeness rank": 5
+   },
+   "table": {
+    "distance": "2.3 meters",
+    "closeness rank": 6
+   },
+   "bookshelf": {
+    "distance": "2.36 meters",
+    "closeness rank": 7
+   },
+   "keyboard": {
+    "distance": "2.37 meters",
+    "closeness rank": 8
+   },
+   "computer mouse": {
+    "distance": "2.4 meters",
+    "closeness rank": 9
+   },
+   "trash can": {
+    "distance": "2.46 meters",
+    "closeness rank": 10
+   },
+   "ceiling light": {
+    "distance": "2.5 meters",
+    "closeness rank": 11
+   },
+   "exhaust fan": {
+    "distance": "2.61 meters",
+    "closeness rank": 12
+   },
+   "tv": {
+    "distance": "2.63 meters",
+    "closeness rank": 13
+   },
+   "crate": {
+    "distance": "2.75 meters",
+    "closeness rank": 14
+   },
+   "clock": {
+    "distance": "2.97 meters",
+    "closeness rank": 15
+   },
+   "telephone": {
+    "distance": "3.0 meters",
+    "closeness rank": 16
+   },
+   "cup": {
+    "distance": "3.05 meters",
+    "closeness rank": 17
+   },
+   "microwave": {
+    "distance": "3.16 meters",
+    "closeness rank": 18
+   },
+   "computer tower": {
+    "distance": "3.47 meters",
+    "closeness rank": 19
+   }
+  },
+  "ceiling light": {
+   "clock": {
+    "distance": "0.96 meters",
+    "closeness rank": 1
+   },
+   "monitor": {
+    "distance": "1.14 meters",
+    "closeness rank": 2
+   },
+   "tv": {
+    "distance": "1.26 meters",
+    "closeness rank": 3
+   },
+   "whiteboard": {
+    "distance": "1.4 meters",
+    "closeness rank": 4
+   },
+   "computer tower": {
+    "distance": "1.56 meters",
+    "closeness rank": 5
+   },
+   "keyboard": {
+    "distance": "1.62 meters",
+    "closeness rank": 6
+   },
+   "telephone": {
+    "distance": "1.64 meters",
+    "closeness rank": 7
+   },
+   "table": {
+    "distance": "1.65 meters",
+    "closeness rank": 8
+   },
+   "computer mouse": {
+    "distance": "1.66 meters",
+    "closeness rank": 9
+   },
+   "cup": {
+    "distance": "1.66 meters",
+    "closeness rank": 10
+   },
+   "bookshelf": {
+    "distance": "1.69 meters",
+    "closeness rank": 11
+   },
+   "crate": {
+    "distance": "2.14 meters",
+    "closeness rank": 12
+   },
+   "microwave": {
+    "distance": "2.15 meters",
+    "closeness rank": 13
+   },
+   "chair": {
+    "distance": "2.34 meters",
+    "closeness rank": 14
+   },
+   "trash can": {
+    "distance": "2.43 meters",
+    "closeness rank": 15
+   },
+   "cushion": {
+    "distance": "2.46 meters",
+    "closeness rank": 16
+   },
+   "exhaust fan": {
+    "distance": "2.47 meters",
+    "closeness rank": 17
+   },
+   "door": {
+    "distance": "2.48 meters",
+    "closeness rank": 18
+   },
+   "bucket": {
+    "distance": "2.5 meters",
+    "closeness rank": 19
+   }
+  },
+  "chair": {
+   "cushion": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "whiteboard": {
+    "distance": "0.17 meters",
+    "closeness rank": 2
+   },
+   "bucket": {
+    "distance": "0.59 meters",
+    "closeness rank": 3
+   },
+   "door": {
+    "distance": "1.33 meters",
+    "closeness rank": 4
+   },
+   "table": {
+    "distance": "1.45 meters",
+    "closeness rank": 5
+   },
+   "keyboard": {
+    "distance": "1.47 meters",
+    "closeness rank": 6
+   },
+   "computer mouse": {
+    "distance": "1.52 meters",
+    "closeness rank": 7
+   },
+   "exhaust fan": {
+    "distance": "1.57 meters",
+    "closeness rank": 8
+   },
+   "monitor": {
+    "distance": "1.61 meters",
+    "closeness rank": 9
+   },
+   "trash can": {
+    "distance": "1.73 meters",
+    "closeness rank": 10
+   },
+   "crate": {
+    "distance": "1.74 meters",
+    "closeness rank": 11
+   },
+   "bookshelf": {
+    "distance": "1.91 meters",
+    "closeness rank": 12
+   },
+   "telephone": {
+    "distance": "2.08 meters",
+    "closeness rank": 13
+   },
+   "microwave": {
+    "distance": "2.18 meters",
+    "closeness rank": 14
+   },
+   "cup": {
+    "distance": "2.23 meters",
+    "closeness rank": 15
+   },
+   "tv": {
+    "distance": "2.28 meters",
+    "closeness rank": 16
+   },
+   "ceiling light": {
+    "distance": "2.34 meters",
+    "closeness rank": 17
+   },
+   "computer tower": {
+    "distance": "2.58 meters",
+    "closeness rank": 18
+   },
+   "clock": {
+    "distance": "2.69 meters",
+    "closeness rank": 19
+   }
+  },
+  "clock": {
+   "tv": {
+    "distance": "0.27 meters",
+    "closeness rank": 1
+   },
+   "ceiling light": {
+    "distance": "0.96 meters",
+    "closeness rank": 2
+   },
+   "bookshelf": {
+    "distance": "1.02 meters",
+    "closeness rank": 3
+   },
+   "cup": {
+    "distance": "1.13 meters",
+    "closeness rank": 4
+   },
+   "table": {
+    "distance": "1.18 meters",
+    "closeness rank": 5
+   },
+   "computer tower": {
+    "distance": "1.61 meters",
+    "closeness rank": 6
+   },
+   "microwave": {
+    "distance": "1.64 meters",
+    "closeness rank": 7
+   },
+   "crate": {
+    "distance": "1.7 meters",
+    "closeness rank": 8
+   },
+   "trash can": {
+    "distance": "1.78 meters",
+    "closeness rank": 9
+   },
+   "door": {
+    "distance": "2.04 meters",
+    "closeness rank": 10
+   },
+   "telephone": {
+    "distance": "2.12 meters",
+    "closeness rank": 11
+   },
+   "keyboard": {
+    "distance": "2.18 meters",
+    "closeness rank": 12
+   },
+   "monitor": {
+    "distance": "2.58 meters",
+    "closeness rank": 13
+   },
+   "computer mouse": {
+    "distance": "2.65 meters",
+    "closeness rank": 14
+   },
+   "chair": {
+    "distance": "2.69 meters",
+    "closeness rank": 15
+   },
+   "cushion": {
+    "distance": "2.7 meters",
+    "closeness rank": 16
+   },
+   "whiteboard": {
+    "distance": "2.88 meters",
+    "closeness rank": 17
+   },
+   "bucket": {
+    "distance": "2.97 meters",
+    "closeness rank": 18
+   },
+   "exhaust fan": {
+    "distance": "3.47 meters",
+    "closeness rank": 19
+   }
+  },
+  "computer mouse": {
+   "keyboard": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "table": {
+    "distance": "0.12 meters",
+    "closeness rank": 2
+   },
+   "monitor": {
+    "distance": "0.29 meters",
+    "closeness rank": 3
+   },
+   "whiteboard": {
+    "distance": "0.76 meters",
+    "closeness rank": 4
+   },
+   "exhaust fan": {
+    "distance": "0.83 meters",
+    "closeness rank": 5
+   },
+   "telephone": {
+    "distance": "0.86 meters",
+    "closeness rank": 6
+   },
+   "cushion": {
+    "distance": "1.51 meters",
+    "closeness rank": 7
+   },
+   "chair": {
+    "distance": "1.52 meters",
+    "closeness rank": 8
+   },
+   "ceiling light": {
+    "distance": "1.66 meters",
+    "closeness rank": 9
+   },
+   "computer tower": {
+    "distance": "1.69 meters",
+    "closeness rank": 10
+   },
+   "crate": {
+    "distance": "1.78 meters",
+    "closeness rank": 11
+   },
+   "microwave": {
+    "distance": "2.01 meters",
+    "closeness rank": 12
+   },
+   "cup": {
+    "distance": "2.02 meters",
+    "closeness rank": 13
+   },
+   "bucket": {
+    "distance": "2.4 meters",
+    "closeness rank": 14
+   },
+   "tv": {
+    "distance": "2.57 meters",
+    "closeness rank": 15
+   },
+   "trash can": {
+    "distance": "2.58 meters",
+    "closeness rank": 16
+   },
+   "clock": {
+    "distance": "2.65 meters",
+    "closeness rank": 17
+   },
+   "bookshelf": {
+    "distance": "2.82 meters",
+    "closeness rank": 18
+   },
+   "door": {
+    "distance": "3.06 meters",
+    "closeness rank": 19
+   }
+  },
+  "computer tower": {
+   "table": {
+    "distance": "0.05 meters",
+    "closeness rank": 1
+   },
+   "telephone": {
+    "distance": "0.71 meters",
+    "closeness rank": 2
+   },
+   "microwave": {
+    "distance": "0.79 meters",
+    "closeness rank": 3
+   },
+   "cup": {
+    "distance": "0.83 meters",
+    "closeness rank": 4
+   },
+   "crate": {
+    "distance": "1.13 meters",
+    "closeness rank": 5
+   },
+   "keyboard": {
+    "distance": "1.19 meters",
+    "closeness rank": 6
+   },
+   "ceiling light": {
+    "distance": "1.56 meters",
+    "closeness rank": 7
+   },
+   "clock": {
+    "distance": "1.61 meters",
+    "closeness rank": 8
+   },
+   "tv": {
+    "distance": "1.67 meters",
+    "closeness rank": 9
+   },
+   "computer mouse": {
+    "distance": "1.69 meters",
+    "closeness rank": 10
+   },
+   "monitor": {
+    "distance": "1.72 meters",
+    "closeness rank": 11
+   },
+   "trash can": {
+    "distance": "2.22 meters",
+    "closeness rank": 12
+   },
+   "exhaust fan": {
+    "distance": "2.35 meters",
+    "closeness rank": 13
+   },
+   "bookshelf": {
+    "distance": "2.43 meters",
+    "closeness rank": 14
+   },
+   "whiteboard": {
+    "distance": "2.43 meters",
+    "closeness rank": 15
+   },
+   "chair": {
+    "distance": "2.58 meters",
+    "closeness rank": 16
+   },
+   "cushion": {
+    "distance": "2.58 meters",
+    "closeness rank": 17
+   },
+   "door": {
+    "distance": "3.38 meters",
+    "closeness rank": 18
+   },
+   "bucket": {
+    "distance": "3.47 meters",
+    "closeness rank": 19
+   }
+  },
+  "crate": {
+   "table": {
+    "distance": "0.04 meters",
+    "closeness rank": 1
+   },
+   "microwave": {
+    "distance": "0.21 meters",
+    "closeness rank": 2
+   },
+   "cup": {
+    "distance": "0.57 meters",
+    "closeness rank": 3
+   },
+   "trash can": {
+    "distance": "0.99 meters",
+    "closeness rank": 4
+   },
+   "computer tower": {
+    "distance": "1.13 meters",
+    "closeness rank": 5
+   },
+   "tv": {
+    "distance": "1.21 meters",
+    "closeness rank": 6
+   },
+   "bookshelf": {
+    "distance": "1.26 meters",
+    "closeness rank": 7
+   },
+   "keyboard": {
+    "distance": "1.28 meters",
+    "closeness rank": 8
+   },
+   "telephone": {
+    "distance": "1.33 meters",
+    "closeness rank": 9
+   },
+   "clock": {
+    "distance": "1.7 meters",
+    "closeness rank": 10
+   },
+   "chair": {
+    "distance": "1.74 meters",
+    "closeness rank": 11
+   },
+   "cushion": {
+    "distance": "1.74 meters",
+    "closeness rank": 12
+   },
+   "computer mouse": {
+    "distance": "1.78 meters",
+    "closeness rank": 13
+   },
+   "monitor": {
+    "distance": "2.01 meters",
+    "closeness rank": 14
+   },
+   "ceiling light": {
+    "distance": "2.14 meters",
+    "closeness rank": 15
+   },
+   "door": {
+    "distance": "2.14 meters",
+    "closeness rank": 16
+   },
+   "exhaust fan": {
+    "distance": "2.24 meters",
+    "closeness rank": 17
+   },
+   "whiteboard": {
+    "distance": "2.28 meters",
+    "closeness rank": 18
+   },
+   "bucket": {
+    "distance": "2.75 meters",
+    "closeness rank": 19
+   }
+  },
+  "cup": {
+   "table": {
+    "distance": "0.19 meters",
+    "closeness rank": 1
+   },
+   "microwave": {
+    "distance": "0.45 meters",
+    "closeness rank": 2
+   },
+   "crate": {
+    "distance": "0.57 meters",
+    "closeness rank": 3
+   },
+   "computer tower": {
+    "distance": "0.83 meters",
+    "closeness rank": 4
+   },
+   "tv": {
+    "distance": "0.85 meters",
+    "closeness rank": 5
+   },
+   "clock": {
+    "distance": "1.13 meters",
+    "closeness rank": 6
+   },
+   "trash can": {
+    "distance": "1.35 meters",
+    "closeness rank": 7
+   },
+   "telephone": {
+    "distance": "1.36 meters",
+    "closeness rank": 8
+   },
+   "keyboard": {
+    "distance": "1.47 meters",
+    "closeness rank": 9
+   },
+   "bookshelf": {
+    "distance": "1.53 meters",
+    "closeness rank": 10
+   },
+   "ceiling light": {
+    "distance": "1.66 meters",
+    "closeness rank": 11
+   },
+   "computer mouse": {
+    "distance": "2.02 meters",
+    "closeness rank": 12
+   },
+   "monitor": {
+    "distance": "2.13 meters",
+    "closeness rank": 13
+   },
+   "chair": {
+    "distance": "2.23 meters",
+    "closeness rank": 14
+   },
+   "cushion": {
+    "distance": "2.23 meters",
+    "closeness rank": 15
+   },
+   "door": {
+    "distance": "2.5 meters",
+    "closeness rank": 16
+   },
+   "whiteboard": {
+    "distance": "2.57 meters",
+    "closeness rank": 17
+   },
+   "exhaust fan": {
+    "distance": "2.7 meters",
+    "closeness rank": 18
+   },
+   "bucket": {
+    "distance": "3.05 meters",
+    "closeness rank": 19
+   }
+  },
+  "cushion": {
+   "chair": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "whiteboard": {
+    "distance": "0.5 meters",
+    "closeness rank": 2
+   },
+   "bucket": {
+    "distance": "1.0 meters",
+    "closeness rank": 3
+   },
+   "door": {
+    "distance": "1.34 meters",
+    "closeness rank": 4
+   },
+   "table": {
+    "distance": "1.45 meters",
+    "closeness rank": 5
+   },
+   "keyboard": {
+    "distance": "1.46 meters",
+    "closeness rank": 6
+   },
+   "computer mouse": {
+    "distance": "1.51 meters",
+    "closeness rank": 7
+   },
+   "exhaust fan": {
+    "distance": "1.56 meters",
+    "closeness rank": 8
+   },
+   "monitor": {
+    "distance": "1.64 meters",
+    "closeness rank": 9
+   },
+   "trash can": {
+    "distance": "1.72 meters",
+    "closeness rank": 10
+   },
+   "crate": {
+    "distance": "1.74 meters",
+    "closeness rank": 11
+   },
+   "bookshelf": {
+    "distance": "1.9 meters",
+    "closeness rank": 12
+   },
+   "telephone": {
+    "distance": "2.08 meters",
+    "closeness rank": 13
+   },
+   "microwave": {
+    "distance": "2.18 meters",
+    "closeness rank": 14
+   },
+   "cup": {
+    "distance": "2.23 meters",
+    "closeness rank": 15
+   },
+   "tv": {
+    "distance": "2.27 meters",
+    "closeness rank": 16
+   },
+   "ceiling light": {
+    "distance": "2.46 meters",
+    "closeness rank": 17
+   },
+   "computer tower": {
+    "distance": "2.58 meters",
+    "closeness rank": 18
+   },
+   "clock": {
+    "distance": "2.7 meters",
+    "closeness rank": 19
+   }
+  },
+  "door": {
+   "bookshelf": {
+    "distance": "0.17 meters",
+    "closeness rank": 1
+   },
+   "trash can": {
+    "distance": "1.02 meters",
+    "closeness rank": 2
+   },
+   "tv": {
+    "distance": "1.24 meters",
+    "closeness rank": 3
+   },
+   "chair": {
+    "distance": "1.33 meters",
+    "closeness rank": 4
+   },
+   "cushion": {
+    "distance": "1.34 meters",
+    "closeness rank": 5
+   },
+   "bucket": {
+    "distance": "1.43 meters",
+    "closeness rank": 6
+   },
+   "table": {
+    "distance": "1.74 meters",
+    "closeness rank": 7
+   },
+   "whiteboard": {
+    "distance": "1.81 meters",
+    "closeness rank": 8
+   },
+   "clock": {
+    "distance": "2.04 meters",
+    "closeness rank": 9
+   },
+   "crate": {
+    "distance": "2.14 meters",
+    "closeness rank": 10
+   },
+   "ceiling light": {
+    "distance": "2.48 meters",
+    "closeness rank": 11
+   },
+   "cup": {
+    "distance": "2.5 meters",
+    "closeness rank": 12
+   },
+   "microwave": {
+    "distance": "2.5 meters",
+    "closeness rank": 13
+   },
+   "keyboard": {
+    "distance": "2.84 meters",
+    "closeness rank": 14
+   },
+   "computer mouse": {
+    "distance": "3.06 meters",
+    "closeness rank": 15
+   },
+   "monitor": {
+    "distance": "3.17 meters",
+    "closeness rank": 16
+   },
+   "exhaust fan": {
+    "distance": "3.23 meters",
+    "closeness rank": 17
+   },
+   "telephone": {
+    "distance": "3.3 meters",
+    "closeness rank": 18
+   },
+   "computer tower": {
+    "distance": "3.38 meters",
+    "closeness rank": 19
+   }
+  },
+  "exhaust fan": {
+   "keyboard": {
+    "distance": "0.79 meters",
+    "closeness rank": 1
+   },
+   "computer mouse": {
+    "distance": "0.83 meters",
+    "closeness rank": 2
+   },
+   "table": {
+    "distance": "0.94 meters",
+    "closeness rank": 3
+   },
+   "monitor": {
+    "distance": "0.96 meters",
+    "closeness rank": 4
+   },
+   "whiteboard": {
+    "distance": "0.97 meters",
+    "closeness rank": 5
+   },
+   "telephone": {
+    "distance": "1.54 meters",
+    "closeness rank": 6
+   },
+   "cushion": {
+    "distance": "1.56 meters",
+    "closeness rank": 7
+   },
+   "chair": {
+    "distance": "1.57 meters",
+    "closeness rank": 8
+   },
+   "crate": {
+    "distance": "2.24 meters",
+    "closeness rank": 9
+   },
+   "computer tower": {
+    "distance": "2.35 meters",
+    "closeness rank": 10
+   },
+   "ceiling light": {
+    "distance": "2.47 meters",
+    "closeness rank": 11
+   },
+   "microwave": {
+    "distance": "2.52 meters",
+    "closeness rank": 12
+   },
+   "bucket": {
+    "distance": "2.61 meters",
+    "closeness rank": 13
+   },
+   "cup": {
+    "distance": "2.7 meters",
+    "closeness rank": 14
+   },
+   "trash can": {
+    "distance": "2.96 meters",
+    "closeness rank": 15
+   },
+   "bookshelf": {
+    "distance": "3.22 meters",
+    "closeness rank": 16
+   },
+   "door": {
+    "distance": "3.23 meters",
+    "closeness rank": 17
+   },
+   "tv": {
+    "distance": "3.28 meters",
+    "closeness rank": 18
+   },
+   "clock": {
+    "distance": "3.47 meters",
+    "closeness rank": 19
+   }
+  },
+  "keyboard": {
+   "computer mouse": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "table": {
+    "distance": "0.01 meters",
+    "closeness rank": 2
+   },
+   "monitor": {
+    "distance": "0.33 meters",
+    "closeness rank": 3
+   },
+   "telephone": {
+    "distance": "0.41 meters",
+    "closeness rank": 4
+   },
+   "whiteboard": {
+    "distance": "0.66 meters",
+    "closeness rank": 5
+   },
+   "exhaust fan": {
+    "distance": "0.79 meters",
+    "closeness rank": 6
+   },
+   "computer tower": {
+    "distance": "1.19 meters",
+    "closeness rank": 7
+   },
+   "crate": {
+    "distance": "1.28 meters",
+    "closeness rank": 8
+   },
+   "cushion": {
+    "distance": "1.46 meters",
+    "closeness rank": 9
+   },
+   "chair": {
+    "distance": "1.47 meters",
+    "closeness rank": 10
+   },
+   "cup": {
+    "distance": "1.47 meters",
+    "closeness rank": 11
+   },
+   "microwave": {
+    "distance": "1.49 meters",
+    "closeness rank": 12
+   },
+   "ceiling light": {
+    "distance": "1.62 meters",
+    "closeness rank": 13
+   },
+   "tv": {
+    "distance": "2.07 meters",
+    "closeness rank": 14
+   },
+   "trash can": {
+    "distance": "2.15 meters",
+    "closeness rank": 15
+   },
+   "clock": {
+    "distance": "2.18 meters",
+    "closeness rank": 16
+   },
+   "bucket": {
+    "distance": "2.37 meters",
+    "closeness rank": 17
+   },
+   "bookshelf": {
+    "distance": "2.4 meters",
+    "closeness rank": 18
+   },
+   "door": {
+    "distance": "2.84 meters",
+    "closeness rank": 19
+   }
+  },
+  "microwave": {
+   "crate": {
+    "distance": "0.21 meters",
+    "closeness rank": 1
+   },
+   "cup": {
+    "distance": "0.45 meters",
+    "closeness rank": 2
+   },
+   "table": {
+    "distance": "0.46 meters",
+    "closeness rank": 3
+   },
+   "computer tower": {
+    "distance": "0.79 meters",
+    "closeness rank": 4
+   },
+   "tv": {
+    "distance": "1.22 meters",
+    "closeness rank": 5
+   },
+   "trash can": {
+    "distance": "1.28 meters",
+    "closeness rank": 6
+   },
+   "telephone": {
+    "distance": "1.31 meters",
+    "closeness rank": 7
+   },
+   "keyboard": {
+    "distance": "1.49 meters",
+    "closeness rank": 8
+   },
+   "bookshelf": {
+    "distance": "1.54 meters",
+    "closeness rank": 9
+   },
+   "clock": {
+    "distance": "1.64 meters",
+    "closeness rank": 10
+   },
+   "computer mouse": {
+    "distance": "2.01 meters",
+    "closeness rank": 11
+   },
+   "ceiling light": {
+    "distance": "2.15 meters",
+    "closeness rank": 12
+   },
+   "chair": {
+    "distance": "2.18 meters",
+    "closeness rank": 13
+   },
+   "cushion": {
+    "distance": "2.18 meters",
+    "closeness rank": 14
+   },
+   "monitor": {
+    "distance": "2.18 meters",
+    "closeness rank": 15
+   },
+   "door": {
+    "distance": "2.5 meters",
+    "closeness rank": 16
+   },
+   "exhaust fan": {
+    "distance": "2.52 meters",
+    "closeness rank": 17
+   },
+   "whiteboard": {
+    "distance": "2.62 meters",
+    "closeness rank": 18
+   },
+   "bucket": {
+    "distance": "3.16 meters",
+    "closeness rank": 19
+   }
+  },
+  "monitor": {
+   "computer mouse": {
+    "distance": "0.29 meters",
+    "closeness rank": 1
+   },
+   "keyboard": {
+    "distance": "0.33 meters",
+    "closeness rank": 2
+   },
+   "table": {
+    "distance": "0.45 meters",
+    "closeness rank": 3
+   },
+   "whiteboard": {
+    "distance": "0.47 meters",
+    "closeness rank": 4
+   },
+   "telephone": {
+    "distance": "0.9 meters",
+    "closeness rank": 5
+   },
+   "exhaust fan": {
+    "distance": "0.96 meters",
+    "closeness rank": 6
+   },
+   "ceiling light": {
+    "distance": "1.14 meters",
+    "closeness rank": 7
+   },
+   "chair": {
+    "distance": "1.61 meters",
+    "closeness rank": 8
+   },
+   "cushion": {
+    "distance": "1.64 meters",
+    "closeness rank": 9
+   },
+   "computer tower": {
+    "distance": "1.72 meters",
+    "closeness rank": 10
+   },
+   "crate": {
+    "distance": "2.01 meters",
+    "closeness rank": 11
+   },
+   "cup": {
+    "distance": "2.13 meters",
+    "closeness rank": 12
+   },
+   "microwave": {
+    "distance": "2.18 meters",
+    "closeness rank": 13
+   },
+   "bucket": {
+    "distance": "2.27 meters",
+    "closeness rank": 14
+   },
+   "clock": {
+    "distance": "2.58 meters",
+    "closeness rank": 15
+   },
+   "tv": {
+    "distance": "2.65 meters",
+    "closeness rank": 16
+   },
+   "trash can": {
+    "distance": "2.83 meters",
+    "closeness rank": 17
+   },
+   "bookshelf": {
+    "distance": "3.01 meters",
+    "closeness rank": 18
+   },
+   "door": {
+    "distance": "3.17 meters",
+    "closeness rank": 19
+   }
+  },
+  "table": {
+   "keyboard": {
+    "distance": "0.01 meters",
+    "closeness rank": 1
+   },
+   "crate": {
+    "distance": "0.04 meters",
+    "closeness rank": 2
+   },
+   "computer tower": {
+    "distance": "0.05 meters",
+    "closeness rank": 3
+   },
+   "computer mouse": {
+    "distance": "0.12 meters",
+    "closeness rank": 4
+   },
+   "cup": {
+    "distance": "0.19 meters",
+    "closeness rank": 5
+   },
+   "telephone": {
+    "distance": "0.41 meters",
+    "closeness rank": 6
+   },
+   "monitor": {
+    "distance": "0.45 meters",
+    "closeness rank": 7
+   },
+   "microwave": {
+    "distance": "0.46 meters",
+    "closeness rank": 8
+   },
+   "trash can": {
+    "distance": "0.63 meters",
+    "closeness rank": 9
+   },
+   "tv": {
+    "distance": "0.66 meters",
+    "closeness rank": 10
+   },
+   "bookshelf": {
+    "distance": "0.84 meters",
+    "closeness rank": 11
+   },
+   "whiteboard": {
+    "distance": "0.84 meters",
+    "closeness rank": 12
+   },
+   "exhaust fan": {
+    "distance": "0.94 meters",
+    "closeness rank": 13
+   },
+   "clock": {
+    "distance": "1.18 meters",
+    "closeness rank": 14
+   },
+   "chair": {
+    "distance": "1.45 meters",
+    "closeness rank": 15
+   },
+   "cushion": {
+    "distance": "1.45 meters",
+    "closeness rank": 16
+   },
+   "ceiling light": {
+    "distance": "1.65 meters",
+    "closeness rank": 17
+   },
+   "door": {
+    "distance": "1.74 meters",
+    "closeness rank": 18
+   },
+   "bucket": {
+    "distance": "2.3 meters",
+    "closeness rank": 19
+   }
+  },
+  "telephone": {
+   "keyboard": {
+    "distance": "0.41 meters",
+    "closeness rank": 1
+   },
+   "table": {
+    "distance": "0.41 meters",
+    "closeness rank": 2
+   },
+   "computer tower": {
+    "distance": "0.71 meters",
+    "closeness rank": 3
+   },
+   "computer mouse": {
+    "distance": "0.86 meters",
+    "closeness rank": 4
+   },
+   "monitor": {
+    "distance": "0.9 meters",
+    "closeness rank": 5
+   },
+   "microwave": {
+    "distance": "1.31 meters",
+    "closeness rank": 6
+   },
+   "crate": {
+    "distance": "1.33 meters",
+    "closeness rank": 7
+   },
+   "cup": {
+    "distance": "1.36 meters",
+    "closeness rank": 8
+   },
+   "exhaust fan": {
+    "distance": "1.54 meters",
+    "closeness rank": 9
+   },
+   "ceiling light": {
+    "distance": "1.64 meters",
+    "closeness rank": 10
+   },
+   "whiteboard": {
+    "distance": "1.65 meters",
+    "closeness rank": 11
+   },
+   "chair": {
+    "distance": "2.08 meters",
+    "closeness rank": 12
+   },
+   "cushion": {
+    "distance": "2.08 meters",
+    "closeness rank": 13
+   },
+   "clock": {
+    "distance": "2.12 meters",
+    "closeness rank": 14
+   },
+   "tv": {
+    "distance": "2.12 meters",
+    "closeness rank": 15
+   },
+   "trash can": {
+    "distance": "2.4 meters",
+    "closeness rank": 16
+   },
+   "bookshelf": {
+    "distance": "2.66 meters",
+    "closeness rank": 17
+   },
+   "bucket": {
+    "distance": "3.0 meters",
+    "closeness rank": 18
+   },
+   "door": {
+    "distance": "3.3 meters",
+    "closeness rank": 19
+   }
+  },
+  "trash can": {
+   "bookshelf": {
+    "distance": "0.04 meters",
+    "closeness rank": 1
+   },
+   "table": {
+    "distance": "0.63 meters",
+    "closeness rank": 2
+   },
+   "tv": {
+    "distance": "0.92 meters",
+    "closeness rank": 3
+   },
+   "crate": {
+    "distance": "0.99 meters",
+    "closeness rank": 4
+   },
+   "door": {
+    "distance": "1.02 meters",
+    "closeness rank": 5
+   },
+   "microwave": {
+    "distance": "1.28 meters",
+    "closeness rank": 6
+   },
+   "cup": {
+    "distance": "1.35 meters",
+    "closeness rank": 7
+   },
+   "cushion": {
+    "distance": "1.72 meters",
+    "closeness rank": 8
+   },
+   "chair": {
+    "distance": "1.73 meters",
+    "closeness rank": 9
+   },
+   "clock": {
+    "distance": "1.78 meters",
+    "closeness rank": 10
+   },
+   "keyboard": {
+    "distance": "2.15 meters",
+    "closeness rank": 11
+   },
+   "computer tower": {
+    "distance": "2.22 meters",
+    "closeness rank": 12
+   },
+   "telephone": {
+    "distance": "2.4 meters",
+    "closeness rank": 13
+   },
+   "ceiling light": {
+    "distance": "2.43 meters",
+    "closeness rank": 14
+   },
+   "bucket": {
+    "distance": "2.46 meters",
+    "closeness rank": 15
+   },
+   "whiteboard": {
+    "distance": "2.53 meters",
+    "closeness rank": 16
+   },
+   "computer mouse": {
+    "distance": "2.58 meters",
+    "closeness rank": 17
+   },
+   "monitor": {
+    "distance": "2.83 meters",
+    "closeness rank": 18
+   },
+   "exhaust fan": {
+    "distance": "2.96 meters",
+    "closeness rank": 19
+   }
+  },
+  "tv": {
+   "bookshelf": {
+    "distance": "0.2 meters",
+    "closeness rank": 1
+   },
+   "clock": {
+    "distance": "0.27 meters",
+    "closeness rank": 2
+   },
+   "table": {
+    "distance": "0.66 meters",
+    "closeness rank": 3
+   },
+   "cup": {
+    "distance": "0.85 meters",
+    "closeness rank": 4
+   },
+   "trash can": {
+    "distance": "0.92 meters",
+    "closeness rank": 5
+   },
+   "crate": {
+    "distance": "1.21 meters",
+    "closeness rank": 6
+   },
+   "microwave": {
+    "distance": "1.22 meters",
+    "closeness rank": 7
+   },
+   "door": {
+    "distance": "1.24 meters",
+    "closeness rank": 8
+   },
+   "ceiling light": {
+    "distance": "1.26 meters",
+    "closeness rank": 9
+   },
+   "computer tower": {
+    "distance": "1.67 meters",
+    "closeness rank": 10
+   },
+   "keyboard": {
+    "distance": "2.07 meters",
+    "closeness rank": 11
+   },
+   "telephone": {
+    "distance": "2.12 meters",
+    "closeness rank": 12
+   },
+   "cushion": {
+    "distance": "2.27 meters",
+    "closeness rank": 13
+   },
+   "chair": {
+    "distance": "2.28 meters",
+    "closeness rank": 14
+   },
+   "computer mouse": {
+    "distance": "2.57 meters",
+    "closeness rank": 15
+   },
+   "bucket": {
+    "distance": "2.63 meters",
+    "closeness rank": 16
+   },
+   "monitor": {
+    "distance": "2.65 meters",
+    "closeness rank": 17
+   },
+   "whiteboard": {
+    "distance": "2.86 meters",
+    "closeness rank": 18
+   },
+   "exhaust fan": {
+    "distance": "3.28 meters",
+    "closeness rank": 19
+   }
+  },
+  "whiteboard": {
+   "chair": {
+    "distance": "0.17 meters",
+    "closeness rank": 1
+   },
+   "bucket": {
+    "distance": "0.31 meters",
+    "closeness rank": 2
+   },
+   "monitor": {
+    "distance": "0.47 meters",
+    "closeness rank": 3
+   },
+   "cushion": {
+    "distance": "0.5 meters",
+    "closeness rank": 4
+   },
+   "keyboard": {
+    "distance": "0.66 meters",
+    "closeness rank": 5
+   },
+   "computer mouse": {
+    "distance": "0.76 meters",
+    "closeness rank": 6
+   },
+   "table": {
+    "distance": "0.84 meters",
+    "closeness rank": 7
+   },
+   "exhaust fan": {
+    "distance": "0.97 meters",
+    "closeness rank": 8
+   },
+   "ceiling light": {
+    "distance": "1.4 meters",
+    "closeness rank": 9
+   },
+   "telephone": {
+    "distance": "1.65 meters",
+    "closeness rank": 10
+   },
+   "door": {
+    "distance": "1.81 meters",
+    "closeness rank": 11
+   },
+   "crate": {
+    "distance": "2.28 meters",
+    "closeness rank": 12
+   },
+   "computer tower": {
+    "distance": "2.43 meters",
+    "closeness rank": 13
+   },
+   "trash can": {
+    "distance": "2.53 meters",
+    "closeness rank": 14
+   },
+   "cup": {
+    "distance": "2.57 meters",
+    "closeness rank": 15
+   },
+   "microwave": {
+    "distance": "2.62 meters",
+    "closeness rank": 16
+   },
+   "bookshelf": {
+    "distance": "2.65 meters",
+    "closeness rank": 17
+   },
+   "tv": {
+    "distance": "2.86 meters",
+    "closeness rank": 18
+   },
+   "clock": {
+    "distance": "2.88 meters",
+    "closeness rank": 19
+   }
+  }
+ },
+ "appearance order": ["chair", "telephone", "tv", "whiteboard", "computer mouse", "monitor", "bucket", "cushion", "door", "bookshelf", "trash can", "table", "crate", "cup", "clock", "ceiling light", "keyboard", "computer tower", "microwave", "exhaust fan"]
+}
\ No newline at end of file
diff --git a/data/spatial codes/sam3+depth-anything-3/metric/tracking/uniform/96/explicit/41125731.json b/data/spatial codes/sam3+depth-anything-3/metric/tracking/uniform/96/explicit/41125731.json
new file mode 100644
index 0000000000000000000000000000000000000000..15c73cc3fd0dcb59e25d076d06d193b3edbb4f08
--- /dev/null
+++ b/data/spatial codes/sam3+depth-anything-3/metric/tracking/uniform/96/explicit/41125731.json	
@@ -0,0 +1,48 @@
+{
+ "objects": {
+  "bed": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "0.93 meters",
+      "y coordinate": "1.87 meters",
+      "height above floor": "0.04 meters"
+     },
+     "longest dimension": "2.07 meters"
+    }
+   ]
+  },
+  "tv": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-0.36 meters",
+      "y coordinate": "0.05 meters",
+      "height above floor": "1.32 meters"
+     },
+     "longest dimension": "0.96 meters"
+    }
+   ]
+  }
+ },
+ "room": {
+  "floor area": "22.4 square meters"
+ },
+ "closest classes distance meters from": {
+  "bed": {
+   "tv": {
+    "distance": "1.73 meters",
+    "closeness rank": 1
+   }
+  },
+  "tv": {
+   "bed": {
+    "distance": "1.73 meters",
+    "closeness rank": 1
+   }
+  }
+ },
+ "appearance order": ["bed", "tv"]
+}
\ No newline at end of file
diff --git a/data/spatial codes/sam3+depth-anything-3/metric/tracking/uniform/96/explicit/41142280.json b/data/spatial codes/sam3+depth-anything-3/metric/tracking/uniform/96/explicit/41142280.json
new file mode 100644
index 0000000000000000000000000000000000000000..b4ea9abff38712feaa0a17e74d9c196fce76159e
--- /dev/null
+++ b/data/spatial codes/sam3+depth-anything-3/metric/tracking/uniform/96/explicit/41142280.json	
@@ -0,0 +1,134 @@
+{
+ "objects": {
+  "bathtub": {
+   "count": 3,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "1.22 meters",
+      "y coordinate": "0.89 meters",
+      "height above floor": "-1.55 meters"
+     },
+     "longest dimension": "0.6 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "0.89 meters",
+      "y coordinate": "1.0 meters",
+      "height above floor": "-0.63 meters"
+     },
+     "longest dimension": "1.08 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "0.8 meters",
+      "y coordinate": "0.41 meters",
+      "height above floor": "-1.91 meters"
+     },
+     "longest dimension": "0.61 meters"
+    }
+   ]
+  },
+  "chair": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-3.15 meters",
+      "y coordinate": "0.37 meters",
+      "height above floor": "-1.79 meters"
+     },
+     "longest dimension": "0.38 meters"
+    }
+   ]
+  },
+  "stool": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-3.15 meters",
+      "y coordinate": "0.38 meters",
+      "height above floor": "-1.79 meters"
+     },
+     "longest dimension": "0.38 meters"
+    }
+   ]
+  },
+  "toilet": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "0.31 meters",
+      "y coordinate": "0.84 meters",
+      "height above floor": "-0.16 meters"
+     },
+     "longest dimension": "0.64 meters"
+    }
+   ]
+  }
+ },
+ "room": {
+  "floor area": "6.2 square meters"
+ },
+ "closest classes distance meters from": {
+  "bathtub": {
+   "toilet": {
+    "distance": "1.01 meters",
+    "closeness rank": 1
+   },
+   "chair": {
+    "distance": "3.87 meters",
+    "closeness rank": 2
+   },
+   "stool": {
+    "distance": "3.87 meters",
+    "closeness rank": 3
+   }
+  },
+  "chair": {
+   "stool": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "toilet": {
+    "distance": "3.49 meters",
+    "closeness rank": 2
+   },
+   "bathtub": {
+    "distance": "3.87 meters",
+    "closeness rank": 3
+   }
+  },
+  "stool": {
+   "chair": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "toilet": {
+    "distance": "3.49 meters",
+    "closeness rank": 2
+   },
+   "bathtub": {
+    "distance": "3.87 meters",
+    "closeness rank": 3
+   }
+  },
+  "toilet": {
+   "bathtub": {
+    "distance": "1.01 meters",
+    "closeness rank": 1
+   },
+   "chair": {
+    "distance": "3.49 meters",
+    "closeness rank": 2
+   },
+   "stool": {
+    "distance": "3.49 meters",
+    "closeness rank": 3
+   }
+  }
+ },
+ "appearance order": ["bathtub", "toilet", "chair", "stool"]
+}
\ No newline at end of file
diff --git a/data/spatial codes/sam3+depth-anything-3/metric/tracking/uniform/96/explicit/41159541.json b/data/spatial codes/sam3+depth-anything-3/metric/tracking/uniform/96/explicit/41159541.json
new file mode 100644
index 0000000000000000000000000000000000000000..f09d3fb6a562f6ecb10647ef4d70ded38b3ff3ee
--- /dev/null
+++ b/data/spatial codes/sam3+depth-anything-3/metric/tracking/uniform/96/explicit/41159541.json	
@@ -0,0 +1,387 @@
+{
+ "objects": {
+  "bed": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-0.01 meters",
+      "y coordinate": "-1.37 meters",
+      "height above floor": "-0.02 meters"
+     },
+     "longest dimension": "1.13 meters"
+    }
+   ]
+  },
+  "chair": {
+   "count": 11,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "3.05 meters",
+      "y coordinate": "1.79 meters",
+      "height above floor": "-0.21 meters"
+     },
+     "longest dimension": "0.89 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "0.71 meters",
+      "y coordinate": "-0.36 meters",
+      "height above floor": "-0.03 meters"
+     },
+     "longest dimension": "0.61 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "0.73 meters",
+      "y coordinate": "-0.32 meters",
+      "height above floor": "-0.0 meters"
+     },
+     "longest dimension": "0.63 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "1.84 meters",
+      "y coordinate": "-1.41 meters",
+      "height above floor": "-0.07 meters"
+     },
+     "longest dimension": "0.7 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "1.13 meters",
+      "y coordinate": "0.13 meters",
+      "height above floor": "0.01 meters"
+     },
+     "longest dimension": "0.52 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "2.02 meters",
+      "y coordinate": "0.28 meters",
+      "height above floor": "-0.0 meters"
+     },
+     "longest dimension": "0.81 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "0.73 meters",
+      "y coordinate": "-2.86 meters",
+      "height above floor": "0.08 meters"
+     },
+     "longest dimension": "1.68 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "2.16 meters",
+      "y coordinate": "-0.96 meters",
+      "height above floor": "0.18 meters"
+     },
+     "longest dimension": "0.39 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "0.39 meters",
+      "y coordinate": "-0.64 meters",
+      "height above floor": "-0.17 meters"
+     },
+     "longest dimension": "0.74 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "1.13 meters",
+      "y coordinate": "-1.85 meters",
+      "height above floor": "-0.25 meters"
+     },
+     "longest dimension": "0.91 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "1.09 meters",
+      "y coordinate": "-1.96 meters",
+      "height above floor": "-0.14 meters"
+     },
+     "longest dimension": "0.89 meters"
+    }
+   ]
+  },
+  "sofa": {
+   "count": 2,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "1.45 meters",
+      "y coordinate": "1.65 meters",
+      "height above floor": "-0.33 meters"
+     },
+     "longest dimension": "1.67 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "3.04 meters",
+      "y coordinate": "1.77 meters",
+      "height above floor": "-0.22 meters"
+     },
+     "longest dimension": "0.89 meters"
+    }
+   ]
+  },
+  "stool": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "0.73 meters",
+      "y coordinate": "-2.86 meters",
+      "height above floor": "0.08 meters"
+     },
+     "longest dimension": "1.69 meters"
+    }
+   ]
+  },
+  "stove": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "2.13 meters",
+      "y coordinate": "-0.59 meters",
+      "height above floor": "0.04 meters"
+     },
+     "longest dimension": "0.39 meters"
+    }
+   ]
+  },
+  "table": {
+   "count": 3,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "2.07 meters",
+      "y coordinate": "-0.07 meters",
+      "height above floor": "-0.11 meters"
+     },
+     "longest dimension": "1.26 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "2.07 meters",
+      "y coordinate": "-0.1 meters",
+      "height above floor": "-0.09 meters"
+     },
+     "longest dimension": "1.11 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-0.2 meters",
+      "y coordinate": "-0.24 meters",
+      "height above floor": "-0.47 meters"
+     },
+     "longest dimension": "0.42 meters"
+    }
+   ]
+  },
+  "tv": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "3.74 meters",
+      "y coordinate": "-0.31 meters",
+      "height above floor": "0.16 meters"
+     },
+     "longest dimension": "0.88 meters"
+    }
+   ]
+  }
+ },
+ "room": {
+  "floor area": "32.0 square meters"
+ },
+ "closest classes distance meters from": {
+  "bed": {
+   "table": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "stool": {
+    "distance": "0.94 meters",
+    "closeness rank": 2
+   },
+   "stove": {
+    "distance": "1.57 meters",
+    "closeness rank": 3
+   },
+   "sofa": {
+    "distance": "1.61 meters",
+    "closeness rank": 4
+   },
+   "tv": {
+    "distance": "2.99 meters",
+    "closeness rank": 5
+   },
+   "chair": {
+    "distance": "3.02 meters",
+    "closeness rank": 6
+   }
+  },
+  "chair": {
+   "sofa": {
+    "distance": "0.3 meters",
+    "closeness rank": 1
+   },
+   "table": {
+    "distance": "1.26 meters",
+    "closeness rank": 2
+   },
+   "tv": {
+    "distance": "1.7 meters",
+    "closeness rank": 3
+   },
+   "stove": {
+    "distance": "1.85 meters",
+    "closeness rank": 4
+   },
+   "bed": {
+    "distance": "3.02 meters",
+    "closeness rank": 5
+   },
+   "stool": {
+    "distance": "4.18 meters",
+    "closeness rank": 6
+   }
+  },
+  "sofa": {
+   "chair": {
+    "distance": "0.3 meters",
+    "closeness rank": 1
+   },
+   "table": {
+    "distance": "0.77 meters",
+    "closeness rank": 2
+   },
+   "bed": {
+    "distance": "1.61 meters",
+    "closeness rank": 3
+   },
+   "stove": {
+    "distance": "1.66 meters",
+    "closeness rank": 4
+   },
+   "tv": {
+    "distance": "2.77 meters",
+    "closeness rank": 5
+   },
+   "stool": {
+    "distance": "3.31 meters",
+    "closeness rank": 6
+   }
+  },
+  "stool": {
+   "bed": {
+    "distance": "0.94 meters",
+    "closeness rank": 1
+   },
+   "table": {
+    "distance": "1.32 meters",
+    "closeness rank": 2
+   },
+   "stove": {
+    "distance": "2.13 meters",
+    "closeness rank": 3
+   },
+   "tv": {
+    "distance": "3.06 meters",
+    "closeness rank": 4
+   },
+   "sofa": {
+    "distance": "3.31 meters",
+    "closeness rank": 5
+   },
+   "chair": {
+    "distance": "4.18 meters",
+    "closeness rank": 6
+   }
+  },
+  "stove": {
+   "table": {
+    "distance": "0.09 meters",
+    "closeness rank": 1
+   },
+   "tv": {
+    "distance": "1.16 meters",
+    "closeness rank": 2
+   },
+   "bed": {
+    "distance": "1.57 meters",
+    "closeness rank": 3
+   },
+   "sofa": {
+    "distance": "1.66 meters",
+    "closeness rank": 4
+   },
+   "chair": {
+    "distance": "1.85 meters",
+    "closeness rank": 5
+   },
+   "stool": {
+    "distance": "2.13 meters",
+    "closeness rank": 6
+   }
+  },
+  "table": {
+   "bed": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "stove": {
+    "distance": "0.09 meters",
+    "closeness rank": 2
+   },
+   "sofa": {
+    "distance": "0.77 meters",
+    "closeness rank": 3
+   },
+   "tv": {
+    "distance": "0.96 meters",
+    "closeness rank": 4
+   },
+   "chair": {
+    "distance": "1.26 meters",
+    "closeness rank": 5
+   },
+   "stool": {
+    "distance": "1.32 meters",
+    "closeness rank": 6
+   }
+  },
+  "tv": {
+   "table": {
+    "distance": "0.96 meters",
+    "closeness rank": 1
+   },
+   "stove": {
+    "distance": "1.16 meters",
+    "closeness rank": 2
+   },
+   "chair": {
+    "distance": "1.7 meters",
+    "closeness rank": 3
+   },
+   "sofa": {
+    "distance": "2.77 meters",
+    "closeness rank": 4
+   },
+   "bed": {
+    "distance": "2.99 meters",
+    "closeness rank": 5
+   },
+   "stool": {
+    "distance": "3.06 meters",
+    "closeness rank": 6
+   }
+  }
+ },
+ "appearance order": ["chair", "table", "tv", "sofa", "stove", "stool", "bed"]
+}
\ No newline at end of file
diff --git a/data/spatial codes/sam3+depth-anything-3/metric/tracking/uniform/96/explicit/41254432.json b/data/spatial codes/sam3+depth-anything-3/metric/tracking/uniform/96/explicit/41254432.json
new file mode 100644
index 0000000000000000000000000000000000000000..5373453991013337ba4a140cadf8b3656ebe76b3
--- /dev/null
+++ b/data/spatial codes/sam3+depth-anything-3/metric/tracking/uniform/96/explicit/41254432.json	
@@ -0,0 +1,299 @@
+{
+ "objects": {
+  "bed": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-5.38 meters",
+      "y coordinate": "-3.47 meters",
+      "height above floor": "0.13 meters"
+     },
+     "longest dimension": "2.63 meters"
+    }
+   ]
+  },
+  "chair": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-1.21 meters",
+      "y coordinate": "-0.09 meters",
+      "height above floor": "-0.29 meters"
+     },
+     "longest dimension": "0.44 meters"
+    }
+   ]
+  },
+  "dishwasher": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-1.7 meters",
+      "y coordinate": "-3.14 meters",
+      "height above floor": "-0.05 meters"
+     },
+     "longest dimension": "0.78 meters"
+    }
+   ]
+  },
+  "sofa": {
+   "count": 3,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "1.79 meters",
+      "y coordinate": "-1.94 meters",
+      "height above floor": "-0.09 meters"
+     },
+     "longest dimension": "1.35 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "0.53 meters",
+      "y coordinate": "-1.86 meters",
+      "height above floor": "0.03 meters"
+     },
+     "longest dimension": "0.86 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "1.45 meters",
+      "y coordinate": "-1.62 meters",
+      "height above floor": "0.12 meters"
+     },
+     "longest dimension": "0.53 meters"
+    }
+   ]
+  },
+  "stool": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-1.27 meters",
+      "y coordinate": "-0.06 meters",
+      "height above floor": "-0.12 meters"
+     },
+     "longest dimension": "0.88 meters"
+    }
+   ]
+  },
+  "stove": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-0.43 meters",
+      "y coordinate": "-4.69 meters",
+      "height above floor": "-0.53 meters"
+     },
+     "longest dimension": "0.87 meters"
+    }
+   ]
+  },
+  "tv": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "0.5 meters",
+      "y coordinate": "0.45 meters",
+      "height above floor": "0.19 meters"
+     },
+     "longest dimension": "0.38 meters"
+    }
+   ]
+  }
+ },
+ "room": {
+  "floor area": "33.5 square meters"
+ },
+ "closest classes distance meters from": {
+  "bed": {
+   "dishwasher": {
+    "distance": "2.9 meters",
+    "closeness rank": 1
+   },
+   "sofa": {
+    "distance": "3.99 meters",
+    "closeness rank": 2
+   },
+   "chair": {
+    "distance": "4.17 meters",
+    "closeness rank": 3
+   },
+   "stool": {
+    "distance": "4.18 meters",
+    "closeness rank": 4
+   },
+   "stove": {
+    "distance": "4.58 meters",
+    "closeness rank": 5
+   },
+   "tv": {
+    "distance": "5.99 meters",
+    "closeness rank": 6
+   }
+  },
+  "chair": {
+   "stool": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "sofa": {
+    "distance": "1.1 meters",
+    "closeness rank": 2
+   },
+   "tv": {
+    "distance": "1.59 meters",
+    "closeness rank": 3
+   },
+   "dishwasher": {
+    "distance": "2.66 meters",
+    "closeness rank": 4
+   },
+   "stove": {
+    "distance": "4.0 meters",
+    "closeness rank": 5
+   },
+   "bed": {
+    "distance": "4.17 meters",
+    "closeness rank": 6
+   }
+  },
+  "dishwasher": {
+   "sofa": {
+    "distance": "1.44 meters",
+    "closeness rank": 1
+   },
+   "stove": {
+    "distance": "1.47 meters",
+    "closeness rank": 2
+   },
+   "chair": {
+    "distance": "2.66 meters",
+    "closeness rank": 3
+   },
+   "stool": {
+    "distance": "2.69 meters",
+    "closeness rank": 4
+   },
+   "bed": {
+    "distance": "2.9 meters",
+    "closeness rank": 5
+   },
+   "tv": {
+    "distance": "3.97 meters",
+    "closeness rank": 6
+   }
+  },
+  "sofa": {
+   "chair": {
+    "distance": "1.1 meters",
+    "closeness rank": 1
+   },
+   "stool": {
+    "distance": "1.11 meters",
+    "closeness rank": 2
+   },
+   "dishwasher": {
+    "distance": "1.44 meters",
+    "closeness rank": 3
+   },
+   "tv": {
+    "distance": "1.64 meters",
+    "closeness rank": 4
+   },
+   "stove": {
+    "distance": "2.08 meters",
+    "closeness rank": 5
+   },
+   "bed": {
+    "distance": "3.99 meters",
+    "closeness rank": 6
+   }
+  },
+  "stool": {
+   "chair": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "sofa": {
+    "distance": "1.11 meters",
+    "closeness rank": 2
+   },
+   "tv": {
+    "distance": "1.47 meters",
+    "closeness rank": 3
+   },
+   "dishwasher": {
+    "distance": "2.69 meters",
+    "closeness rank": 4
+   },
+   "stove": {
+    "distance": "4.02 meters",
+    "closeness rank": 5
+   },
+   "bed": {
+    "distance": "4.18 meters",
+    "closeness rank": 6
+   }
+  },
+  "stove": {
+   "dishwasher": {
+    "distance": "1.47 meters",
+    "closeness rank": 1
+   },
+   "sofa": {
+    "distance": "2.08 meters",
+    "closeness rank": 2
+   },
+   "chair": {
+    "distance": "4.0 meters",
+    "closeness rank": 3
+   },
+   "stool": {
+    "distance": "4.02 meters",
+    "closeness rank": 4
+   },
+   "bed": {
+    "distance": "4.58 meters",
+    "closeness rank": 5
+   },
+   "tv": {
+    "distance": "4.72 meters",
+    "closeness rank": 6
+   }
+  },
+  "tv": {
+   "stool": {
+    "distance": "1.47 meters",
+    "closeness rank": 1
+   },
+   "chair": {
+    "distance": "1.59 meters",
+    "closeness rank": 2
+   },
+   "sofa": {
+    "distance": "1.64 meters",
+    "closeness rank": 3
+   },
+   "dishwasher": {
+    "distance": "3.97 meters",
+    "closeness rank": 4
+   },
+   "stove": {
+    "distance": "4.72 meters",
+    "closeness rank": 5
+   },
+   "bed": {
+    "distance": "5.99 meters",
+    "closeness rank": 6
+   }
+  }
+ },
+ "appearance order": ["sofa", "stool", "chair", "stove", "dishwasher", "tv", "bed"]
+}
\ No newline at end of file
diff --git a/data/spatial codes/sam3+depth-anything-3/metric/tracking/uniform/96/explicit/42444976.json b/data/spatial codes/sam3+depth-anything-3/metric/tracking/uniform/96/explicit/42444976.json
new file mode 100644
index 0000000000000000000000000000000000000000..5b1f11b40428e07a15b94314d5c373b9aa56b76b
--- /dev/null
+++ b/data/spatial codes/sam3+depth-anything-3/metric/tracking/uniform/96/explicit/42444976.json	
@@ -0,0 +1,370 @@
+{
+ "objects": {
+  "chair": {
+   "count": 3,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "1.4 meters",
+      "y coordinate": "-1.74 meters",
+      "height above floor": "-0.05 meters"
+     },
+     "longest dimension": "0.47 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "1.1 meters",
+      "y coordinate": "-2.13 meters",
+      "height above floor": "-0.03 meters"
+     },
+     "longest dimension": "0.51 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "1.41 meters",
+      "y coordinate": "-2.61 meters",
+      "height above floor": "-0.17 meters"
+     },
+     "longest dimension": "0.64 meters"
+    }
+   ]
+  },
+  "dishwasher": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "2.68 meters",
+      "y coordinate": "-0.24 meters",
+      "height above floor": "-0.23 meters"
+     },
+     "longest dimension": "0.78 meters"
+    }
+   ]
+  },
+  "refrigerator": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "0.56 meters",
+      "y coordinate": "0.86 meters",
+      "height above floor": "0.38 meters"
+     },
+     "longest dimension": "0.65 meters"
+    }
+   ]
+  },
+  "stool": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "1.6 meters",
+      "y coordinate": "-2.97 meters",
+      "height above floor": "-0.39 meters"
+     },
+     "longest dimension": "0.72 meters"
+    }
+   ]
+  },
+  "stove": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "2.04 meters",
+      "y coordinate": "0.43 meters",
+      "height above floor": "0.19 meters"
+     },
+     "longest dimension": "0.58 meters"
+    }
+   ]
+  },
+  "table": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "1.16 meters",
+      "y coordinate": "-2.18 meters",
+      "height above floor": "-0.01 meters"
+     },
+     "longest dimension": "0.94 meters"
+    }
+   ]
+  },
+  "tv": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-3.79 meters",
+      "y coordinate": "1.29 meters",
+      "height above floor": "0.36 meters"
+     },
+     "longest dimension": "0.71 meters"
+    }
+   ]
+  },
+  "washer": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "2.56 meters",
+      "y coordinate": "-1.14 meters",
+      "height above floor": "-0.14 meters"
+     },
+     "longest dimension": "0.81 meters"
+    }
+   ]
+  }
+ },
+ "room": {
+  "floor area": "16.8 square meters"
+ },
+ "closest classes distance meters from": {
+  "chair": {
+   "table": {
+    "distance": "0.05 meters",
+    "closeness rank": 1
+   },
+   "stool": {
+    "distance": "0.84 meters",
+    "closeness rank": 2
+   },
+   "washer": {
+    "distance": "0.88 meters",
+    "closeness rank": 3
+   },
+   "dishwasher": {
+    "distance": "1.85 meters",
+    "closeness rank": 4
+   },
+   "stove": {
+    "distance": "1.92 meters",
+    "closeness rank": 5
+   },
+   "refrigerator": {
+    "distance": "2.38 meters",
+    "closeness rank": 6
+   },
+   "tv": {
+    "distance": "5.33 meters",
+    "closeness rank": 7
+   }
+  },
+  "dishwasher": {
+   "stove": {
+    "distance": "0.3 meters",
+    "closeness rank": 1
+   },
+   "washer": {
+    "distance": "0.6 meters",
+    "closeness rank": 2
+   },
+   "refrigerator": {
+    "distance": "1.82 meters",
+    "closeness rank": 3
+   },
+   "chair": {
+    "distance": "1.85 meters",
+    "closeness rank": 4
+   },
+   "table": {
+    "distance": "2.03 meters",
+    "closeness rank": 5
+   },
+   "stool": {
+    "distance": "2.69 meters",
+    "closeness rank": 6
+   },
+   "tv": {
+    "distance": "5.97 meters",
+    "closeness rank": 7
+   }
+  },
+  "refrigerator": {
+   "stove": {
+    "distance": "0.93 meters",
+    "closeness rank": 1
+   },
+   "dishwasher": {
+    "distance": "1.82 meters",
+    "closeness rank": 2
+   },
+   "chair": {
+    "distance": "2.38 meters",
+    "closeness rank": 3
+   },
+   "table": {
+    "distance": "2.44 meters",
+    "closeness rank": 4
+   },
+   "washer": {
+    "distance": "2.47 meters",
+    "closeness rank": 5
+   },
+   "stool": {
+    "distance": "3.49 meters",
+    "closeness rank": 6
+   },
+   "tv": {
+    "distance": "3.73 meters",
+    "closeness rank": 7
+   }
+  },
+  "stool": {
+   "table": {
+    "distance": "0.29 meters",
+    "closeness rank": 1
+   },
+   "chair": {
+    "distance": "0.84 meters",
+    "closeness rank": 2
+   },
+   "washer": {
+    "distance": "1.55 meters",
+    "closeness rank": 3
+   },
+   "dishwasher": {
+    "distance": "2.69 meters",
+    "closeness rank": 4
+   },
+   "stove": {
+    "distance": "2.92 meters",
+    "closeness rank": 5
+   },
+   "refrigerator": {
+    "distance": "3.49 meters",
+    "closeness rank": 6
+   },
+   "tv": {
+    "distance": "6.22 meters",
+    "closeness rank": 7
+   }
+  },
+  "stove": {
+   "dishwasher": {
+    "distance": "0.3 meters",
+    "closeness rank": 1
+   },
+   "refrigerator": {
+    "distance": "0.93 meters",
+    "closeness rank": 2
+   },
+   "washer": {
+    "distance": "1.13 meters",
+    "closeness rank": 3
+   },
+   "chair": {
+    "distance": "1.92 meters",
+    "closeness rank": 4
+   },
+   "table": {
+    "distance": "2.08 meters",
+    "closeness rank": 5
+   },
+   "stool": {
+    "distance": "2.92 meters",
+    "closeness rank": 6
+   },
+   "tv": {
+    "distance": "5.16 meters",
+    "closeness rank": 7
+   }
+  },
+  "table": {
+   "chair": {
+    "distance": "0.05 meters",
+    "closeness rank": 1
+   },
+   "stool": {
+    "distance": "0.29 meters",
+    "closeness rank": 2
+   },
+   "washer": {
+    "distance": "1.03 meters",
+    "closeness rank": 3
+   },
+   "dishwasher": {
+    "distance": "2.03 meters",
+    "closeness rank": 4
+   },
+   "stove": {
+    "distance": "2.08 meters",
+    "closeness rank": 5
+   },
+   "refrigerator": {
+    "distance": "2.44 meters",
+    "closeness rank": 6
+   },
+   "tv": {
+    "distance": "5.02 meters",
+    "closeness rank": 7
+   }
+  },
+  "tv": {
+   "refrigerator": {
+    "distance": "3.73 meters",
+    "closeness rank": 1
+   },
+   "table": {
+    "distance": "5.02 meters",
+    "closeness rank": 2
+   },
+   "stove": {
+    "distance": "5.16 meters",
+    "closeness rank": 3
+   },
+   "chair": {
+    "distance": "5.33 meters",
+    "closeness rank": 4
+   },
+   "dishwasher": {
+    "distance": "5.97 meters",
+    "closeness rank": 5
+   },
+   "stool": {
+    "distance": "6.22 meters",
+    "closeness rank": 6
+   },
+   "washer": {
+    "distance": "6.3 meters",
+    "closeness rank": 7
+   }
+  },
+  "washer": {
+   "dishwasher": {
+    "distance": "0.6 meters",
+    "closeness rank": 1
+   },
+   "chair": {
+    "distance": "0.88 meters",
+    "closeness rank": 2
+   },
+   "table": {
+    "distance": "1.03 meters",
+    "closeness rank": 3
+   },
+   "stove": {
+    "distance": "1.13 meters",
+    "closeness rank": 4
+   },
+   "stool": {
+    "distance": "1.55 meters",
+    "closeness rank": 5
+   },
+   "refrigerator": {
+    "distance": "2.47 meters",
+    "closeness rank": 6
+   },
+   "tv": {
+    "distance": "6.3 meters",
+    "closeness rank": 7
+   }
+  }
+ },
+ "appearance order": ["washer", "refrigerator", "stove", "dishwasher", "chair", "stool", "table", "tv"]
+}
\ No newline at end of file
diff --git a/data/spatial codes/sam3+depth-anything-3/metric/tracking/uniform/96/explicit/42445026.json b/data/spatial codes/sam3+depth-anything-3/metric/tracking/uniform/96/explicit/42445026.json
new file mode 100644
index 0000000000000000000000000000000000000000..4d5880087c06500f3fa3457c1e8702fe4d8c105b
--- /dev/null
+++ b/data/spatial codes/sam3+depth-anything-3/metric/tracking/uniform/96/explicit/42445026.json	
@@ -0,0 +1,165 @@
+{
+ "objects": {
+  "bed": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "0.1 meters",
+      "y coordinate": "1.1 meters",
+      "height above floor": "1.46 meters"
+     },
+     "longest dimension": "0.82 meters"
+    }
+   ]
+  },
+  "chair": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "1.51 meters",
+      "y coordinate": "0.97 meters",
+      "height above floor": "1.92 meters"
+     },
+     "longest dimension": "0.74 meters"
+    }
+   ]
+  },
+  "sofa": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "0.1 meters",
+      "y coordinate": "1.1 meters",
+      "height above floor": "1.47 meters"
+     },
+     "longest dimension": "0.82 meters"
+    }
+   ]
+  },
+  "table": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "0.34 meters",
+      "y coordinate": "0.94 meters",
+      "height above floor": "0.14 meters"
+     },
+     "longest dimension": "0.83 meters"
+    }
+   ]
+  },
+  "tv": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "0.32 meters",
+      "y coordinate": "0.3 meters",
+      "height above floor": "0.01 meters"
+     },
+     "longest dimension": "0.71 meters"
+    }
+   ]
+  }
+ },
+ "room": {
+  "floor area": "9.7 square meters"
+ },
+ "closest classes distance meters from": {
+  "bed": {
+   "sofa": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "chair": {
+    "distance": "0.76 meters",
+    "closeness rank": 2
+   },
+   "table": {
+    "distance": "0.89 meters",
+    "closeness rank": 3
+   },
+   "tv": {
+    "distance": "1.43 meters",
+    "closeness rank": 4
+   }
+  },
+  "chair": {
+   "table": {
+    "distance": "0.09 meters",
+    "closeness rank": 1
+   },
+   "sofa": {
+    "distance": "0.74 meters",
+    "closeness rank": 2
+   },
+   "bed": {
+    "distance": "0.76 meters",
+    "closeness rank": 3
+   },
+   "tv": {
+    "distance": "0.85 meters",
+    "closeness rank": 4
+   }
+  },
+  "sofa": {
+   "bed": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "chair": {
+    "distance": "0.74 meters",
+    "closeness rank": 2
+   },
+   "table": {
+    "distance": "0.9 meters",
+    "closeness rank": 3
+   },
+   "tv": {
+    "distance": "1.44 meters",
+    "closeness rank": 4
+   }
+  },
+  "table": {
+   "chair": {
+    "distance": "0.09 meters",
+    "closeness rank": 1
+   },
+   "tv": {
+    "distance": "0.1 meters",
+    "closeness rank": 2
+   },
+   "bed": {
+    "distance": "0.89 meters",
+    "closeness rank": 3
+   },
+   "sofa": {
+    "distance": "0.9 meters",
+    "closeness rank": 4
+   }
+  },
+  "tv": {
+   "table": {
+    "distance": "0.1 meters",
+    "closeness rank": 1
+   },
+   "chair": {
+    "distance": "0.85 meters",
+    "closeness rank": 2
+   },
+   "bed": {
+    "distance": "1.43 meters",
+    "closeness rank": 3
+   },
+   "sofa": {
+    "distance": "1.44 meters",
+    "closeness rank": 4
+   }
+  }
+ },
+ "appearance order": ["tv", "bed", "sofa", "chair", "table"]
+}
\ No newline at end of file
diff --git a/data/spatial codes/sam3+depth-anything-3/metric/tracking/uniform/96/explicit/42445031.json b/data/spatial codes/sam3+depth-anything-3/metric/tracking/uniform/96/explicit/42445031.json
new file mode 100644
index 0000000000000000000000000000000000000000..47c030f0e494dceba1d95f00ea9f31f2d053ccb9
--- /dev/null
+++ b/data/spatial codes/sam3+depth-anything-3/metric/tracking/uniform/96/explicit/42445031.json	
@@ -0,0 +1,103 @@
+{
+ "objects": {
+  "bed": {
+   "count": 3,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "0.36 meters",
+      "y coordinate": "0.55 meters",
+      "height above floor": "-0.01 meters"
+     },
+     "longest dimension": "1.4 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "0.04 meters",
+      "y coordinate": "1.0 meters",
+      "height above floor": "0.04 meters"
+     },
+     "longest dimension": "0.86 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "1.0 meters",
+      "y coordinate": "-0.15 meters",
+      "height above floor": "0.06 meters"
+     },
+     "longest dimension": "0.28 meters"
+    }
+   ]
+  },
+  "table": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "0.61 meters",
+      "y coordinate": "-0.36 meters",
+      "height above floor": "-0.01 meters"
+     },
+     "longest dimension": "0.47 meters"
+    }
+   ]
+  },
+  "tv": {
+   "count": 2,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-0.7 meters",
+      "y coordinate": "1.63 meters",
+      "height above floor": "0.61 meters"
+     },
+     "longest dimension": "1.06 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-0.41 meters",
+      "y coordinate": "1.88 meters",
+      "height above floor": "0.37 meters"
+     },
+     "longest dimension": "0.54 meters"
+    }
+   ]
+  }
+ },
+ "room": {
+  "floor area": "13.9 square meters"
+ },
+ "closest classes distance meters from": {
+  "bed": {
+   "table": {
+    "distance": "0.04 meters",
+    "closeness rank": 1
+   },
+   "tv": {
+    "distance": "0.88 meters",
+    "closeness rank": 2
+   }
+  },
+  "table": {
+   "bed": {
+    "distance": "0.04 meters",
+    "closeness rank": 1
+   },
+   "tv": {
+    "distance": "2.24 meters",
+    "closeness rank": 2
+   }
+  },
+  "tv": {
+   "bed": {
+    "distance": "0.88 meters",
+    "closeness rank": 1
+   },
+   "table": {
+    "distance": "2.24 meters",
+    "closeness rank": 2
+   }
+  }
+ },
+ "appearance order": ["bed", "tv", "table"]
+}
\ No newline at end of file
diff --git a/data/spatial codes/sam3+depth-anything-3/metric/tracking/uniform/96/explicit/42445981.json b/data/spatial codes/sam3+depth-anything-3/metric/tracking/uniform/96/explicit/42445981.json
new file mode 100644
index 0000000000000000000000000000000000000000..fd6bdf766f9a2c4831d4d5bc059b092ae69853bc
--- /dev/null
+++ b/data/spatial codes/sam3+depth-anything-3/metric/tracking/uniform/96/explicit/42445981.json	
@@ -0,0 +1,237 @@
+{
+ "objects": {
+  "chair": {
+   "count": 5,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-0.5 meters",
+      "y coordinate": "-0.07 meters",
+      "height above floor": "-0.09 meters"
+     },
+     "longest dimension": "0.74 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-1.17 meters",
+      "y coordinate": "0.06 meters",
+      "height above floor": "-0.24 meters"
+     },
+     "longest dimension": "0.77 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-1.29 meters",
+      "y coordinate": "0.08 meters",
+      "height above floor": "0.04 meters"
+     },
+     "longest dimension": "0.35 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-1.25 meters",
+      "y coordinate": "0.08 meters",
+      "height above floor": "-0.07 meters"
+     },
+     "longest dimension": "0.6 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-0.43 meters",
+      "y coordinate": "1.19 meters",
+      "height above floor": "-0.25 meters"
+     },
+     "longest dimension": "0.42 meters"
+    }
+   ]
+  },
+  "sofa": {
+   "count": 3,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "0.72 meters",
+      "y coordinate": "-1.73 meters",
+      "height above floor": "-0.21 meters"
+     },
+     "longest dimension": "1.26 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-0.26 meters",
+      "y coordinate": "-0.8 meters",
+      "height above floor": "-0.12 meters"
+     },
+     "longest dimension": "0.98 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "0.47 meters",
+      "y coordinate": "-1.67 meters",
+      "height above floor": "-0.19 meters"
+     },
+     "longest dimension": "0.38 meters"
+    }
+   ]
+  },
+  "stool": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-0.21 meters",
+      "y coordinate": "-2.57 meters",
+      "height above floor": "-0.69 meters"
+     },
+     "longest dimension": "0.31 meters"
+    }
+   ]
+  },
+  "table": {
+   "count": 3,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-0.96 meters",
+      "y coordinate": "-0.37 meters",
+      "height above floor": "0.02 meters"
+     },
+     "longest dimension": "0.87 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-0.04 meters",
+      "y coordinate": "-2.77 meters",
+      "height above floor": "-0.35 meters"
+     },
+     "longest dimension": "0.85 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-1.07 meters",
+      "y coordinate": "-0.03 meters",
+      "height above floor": "0.03 meters"
+     },
+     "longest dimension": "0.46 meters"
+    }
+   ]
+  },
+  "tv": {
+   "count": 2,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "0.7 meters",
+      "y coordinate": "-0.57 meters",
+      "height above floor": "0.04 meters"
+     },
+     "longest dimension": "1.15 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "1.06 meters",
+      "y coordinate": "-3.54 meters",
+      "height above floor": "0.13 meters"
+     },
+     "longest dimension": "0.86 meters"
+    }
+   ]
+  }
+ },
+ "room": {
+  "floor area": "20.7 square meters"
+ },
+ "closest classes distance meters from": {
+  "chair": {
+   "table": {
+    "distance": "0.11 meters",
+    "closeness rank": 1
+   },
+   "sofa": {
+    "distance": "0.13 meters",
+    "closeness rank": 2
+   },
+   "tv": {
+    "distance": "0.97 meters",
+    "closeness rank": 3
+   },
+   "stool": {
+    "distance": "2.1 meters",
+    "closeness rank": 4
+   }
+  },
+  "sofa": {
+   "tv": {
+    "distance": "0.04 meters",
+    "closeness rank": 1
+   },
+   "table": {
+    "distance": "0.06 meters",
+    "closeness rank": 2
+   },
+   "chair": {
+    "distance": "0.13 meters",
+    "closeness rank": 3
+   },
+   "stool": {
+    "distance": "0.86 meters",
+    "closeness rank": 4
+   }
+  },
+  "stool": {
+   "sofa": {
+    "distance": "0.86 meters",
+    "closeness rank": 1
+   },
+   "tv": {
+    "distance": "1.78 meters",
+    "closeness rank": 2
+   },
+   "table": {
+    "distance": "2.08 meters",
+    "closeness rank": 3
+   },
+   "chair": {
+    "distance": "2.1 meters",
+    "closeness rank": 4
+   }
+  },
+  "table": {
+   "sofa": {
+    "distance": "0.06 meters",
+    "closeness rank": 1
+   },
+   "chair": {
+    "distance": "0.11 meters",
+    "closeness rank": 2
+   },
+   "tv": {
+    "distance": "1.16 meters",
+    "closeness rank": 3
+   },
+   "stool": {
+    "distance": "2.08 meters",
+    "closeness rank": 4
+   }
+  },
+  "tv": {
+   "sofa": {
+    "distance": "0.04 meters",
+    "closeness rank": 1
+   },
+   "chair": {
+    "distance": "0.97 meters",
+    "closeness rank": 2
+   },
+   "table": {
+    "distance": "1.16 meters",
+    "closeness rank": 3
+   },
+   "stool": {
+    "distance": "1.78 meters",
+    "closeness rank": 4
+   }
+  }
+ },
+ "appearance order": ["chair", "sofa", "table", "tv", "stool"]
+}
\ No newline at end of file
diff --git a/data/spatial codes/sam3+depth-anything-3/metric/tracking/uniform/96/explicit/42446517.json b/data/spatial codes/sam3+depth-anything-3/metric/tracking/uniform/96/explicit/42446517.json
new file mode 100644
index 0000000000000000000000000000000000000000..05007d7e1ed7d3034e56bc4f15ad4d7050869dde
--- /dev/null
+++ b/data/spatial codes/sam3+depth-anything-3/metric/tracking/uniform/96/explicit/42446517.json	
@@ -0,0 +1,174 @@
+{
+ "objects": {
+  "bed": {
+   "count": 7,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "0.82 meters",
+      "y coordinate": "0.83 meters",
+      "height above floor": "0.45 meters"
+     },
+     "longest dimension": "0.34 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-0.21 meters",
+      "y coordinate": "0.73 meters",
+      "height above floor": "0.4 meters"
+     },
+     "longest dimension": "0.9 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "0.36 meters",
+      "y coordinate": "0.86 meters",
+      "height above floor": "-0.15 meters"
+     },
+     "longest dimension": "1.09 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "0.51 meters",
+      "y coordinate": "0.85 meters",
+      "height above floor": "-0.14 meters"
+     },
+     "longest dimension": "0.94 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-0.47 meters",
+      "y coordinate": "0.58 meters",
+      "height above floor": "-0.96 meters"
+     },
+     "longest dimension": "0.97 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "0.31 meters",
+      "y coordinate": "0.78 meters",
+      "height above floor": "-0.76 meters"
+     },
+     "longest dimension": "0.95 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "0.25 meters",
+      "y coordinate": "0.8 meters",
+      "height above floor": "0.17 meters"
+     },
+     "longest dimension": "1.31 meters"
+    }
+   ]
+  },
+  "chair": {
+   "count": 2,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-1.89 meters",
+      "y coordinate": "0.29 meters",
+      "height above floor": "-0.02 meters"
+     },
+     "longest dimension": "0.64 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "2.34 meters",
+      "y coordinate": "0.47 meters",
+      "height above floor": "0.32 meters"
+     },
+     "longest dimension": "0.3 meters"
+    }
+   ]
+  },
+  "table": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-1.45 meters",
+      "y coordinate": "0.52 meters",
+      "height above floor": "1.34 meters"
+     },
+     "longest dimension": "0.6 meters"
+    }
+   ]
+  },
+  "tv": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "0.38 meters",
+      "y coordinate": "-0.09 meters",
+      "height above floor": "1.58 meters"
+     },
+     "longest dimension": "0.76 meters"
+    }
+   ]
+  }
+ },
+ "room": {
+  "floor area": "13.0 square meters"
+ },
+ "closest classes distance meters from": {
+  "bed": {
+   "tv": {
+    "distance": "0.98 meters",
+    "closeness rank": 1
+   },
+   "table": {
+    "distance": "1.6 meters",
+    "closeness rank": 2
+   },
+   "chair": {
+    "distance": "1.9 meters",
+    "closeness rank": 3
+   }
+  },
+  "chair": {
+   "table": {
+    "distance": "1.06 meters",
+    "closeness rank": 1
+   },
+   "bed": {
+    "distance": "1.9 meters",
+    "closeness rank": 2
+   },
+   "tv": {
+    "distance": "2.5 meters",
+    "closeness rank": 3
+   }
+  },
+  "table": {
+   "chair": {
+    "distance": "1.06 meters",
+    "closeness rank": 1
+   },
+   "tv": {
+    "distance": "1.58 meters",
+    "closeness rank": 2
+   },
+   "bed": {
+    "distance": "1.6 meters",
+    "closeness rank": 3
+   }
+  },
+  "tv": {
+   "bed": {
+    "distance": "0.98 meters",
+    "closeness rank": 1
+   },
+   "table": {
+    "distance": "1.58 meters",
+    "closeness rank": 2
+   },
+   "chair": {
+    "distance": "2.5 meters",
+    "closeness rank": 3
+   }
+  }
+ },
+ "appearance order": ["bed", "chair", "tv", "table"]
+}
\ No newline at end of file
diff --git a/data/spatial codes/sam3+depth-anything-3/metric/tracking/uniform/96/explicit/42446535.json b/data/spatial codes/sam3+depth-anything-3/metric/tracking/uniform/96/explicit/42446535.json
new file mode 100644
index 0000000000000000000000000000000000000000..80ae8e422a38077b6ec369944f0b05eb5fe7c79e
--- /dev/null
+++ b/data/spatial codes/sam3+depth-anything-3/metric/tracking/uniform/96/explicit/42446535.json	
@@ -0,0 +1,87 @@
+{
+ "objects": {
+  "bathtub": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "0.7 meters",
+      "y coordinate": "1.27 meters",
+      "height above floor": "-0.01 meters"
+     },
+     "longest dimension": "0.82 meters"
+    }
+   ]
+  },
+  "dishwasher": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-0.05 meters",
+      "y coordinate": "0.98 meters",
+      "height above floor": "1.44 meters"
+     },
+     "longest dimension": "0.76 meters"
+    }
+   ]
+  },
+  "toilet": {
+   "count": 2,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "0.96 meters",
+      "y coordinate": "1.24 meters",
+      "height above floor": "1.16 meters"
+     },
+     "longest dimension": "0.6 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "0.43 meters",
+      "y coordinate": "1.66 meters",
+      "height above floor": "0.5 meters"
+     },
+     "longest dimension": "0.26 meters"
+    }
+   ]
+  }
+ },
+ "room": {
+  "floor area": "6.0 square meters"
+ },
+ "closest classes distance meters from": {
+  "bathtub": {
+   "toilet": {
+    "distance": "0.95 meters",
+    "closeness rank": 1
+   },
+   "dishwasher": {
+    "distance": "1.43 meters",
+    "closeness rank": 2
+   }
+  },
+  "dishwasher": {
+   "toilet": {
+    "distance": "0.57 meters",
+    "closeness rank": 1
+   },
+   "bathtub": {
+    "distance": "1.43 meters",
+    "closeness rank": 2
+   }
+  },
+  "toilet": {
+   "dishwasher": {
+    "distance": "0.57 meters",
+    "closeness rank": 1
+   },
+   "bathtub": {
+    "distance": "0.95 meters",
+    "closeness rank": 2
+   }
+  }
+ },
+ "appearance order": ["bathtub", "toilet", "dishwasher"]
+}
\ No newline at end of file
diff --git a/data/spatial codes/sam3+depth-anything-3/metric/tracking/uniform/96/explicit/42897550.json b/data/spatial codes/sam3+depth-anything-3/metric/tracking/uniform/96/explicit/42897550.json
new file mode 100644
index 0000000000000000000000000000000000000000..71ee66abfb2fce1316918f5029903a693b8a83f4
--- /dev/null
+++ b/data/spatial codes/sam3+depth-anything-3/metric/tracking/uniform/96/explicit/42897550.json	
@@ -0,0 +1,79 @@
+{
+ "objects": {
+  "bathtub": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-0.05 meters",
+      "y coordinate": "-1.16 meters",
+      "height above floor": "-0.15 meters"
+     },
+     "longest dimension": "1.01 meters"
+    }
+   ]
+  },
+  "toilet": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-1.08 meters",
+      "y coordinate": "-0.33 meters",
+      "height above floor": "0.02 meters"
+     },
+     "longest dimension": "0.5 meters"
+    }
+   ]
+  },
+  "washer": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "0.02 meters",
+      "y coordinate": "-0.38 meters",
+      "height above floor": "-0.09 meters"
+     },
+     "longest dimension": "0.73 meters"
+    }
+   ]
+  }
+ },
+ "room": {
+  "floor area": "6.6 square meters"
+ },
+ "closest classes distance meters from": {
+  "bathtub": {
+   "washer": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "toilet": {
+    "distance": "0.72 meters",
+    "closeness rank": 2
+   }
+  },
+  "toilet": {
+   "bathtub": {
+    "distance": "0.72 meters",
+    "closeness rank": 1
+   },
+   "washer": {
+    "distance": "0.81 meters",
+    "closeness rank": 2
+   }
+  },
+  "washer": {
+   "bathtub": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "toilet": {
+    "distance": "0.81 meters",
+    "closeness rank": 2
+   }
+  }
+ },
+ "appearance order": ["bathtub", "toilet", "washer"]
+}
\ No newline at end of file
diff --git a/data/spatial codes/sam3+depth-anything-3/metric/tracking/uniform/96/explicit/42897629.json b/data/spatial codes/sam3+depth-anything-3/metric/tracking/uniform/96/explicit/42897629.json
new file mode 100644
index 0000000000000000000000000000000000000000..7a9391ba34b8f0f719624e4fda6017281012a877
--- /dev/null
+++ b/data/spatial codes/sam3+depth-anything-3/metric/tracking/uniform/96/explicit/42897629.json	
@@ -0,0 +1,482 @@
+{
+ "objects": {
+  "chair": {
+   "count": 9,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-0.2 meters",
+      "y coordinate": "-2.27 meters",
+      "height above floor": "-0.25 meters"
+     },
+     "longest dimension": "0.78 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "0.95 meters",
+      "y coordinate": "-1.53 meters",
+      "height above floor": "-0.24 meters"
+     },
+     "longest dimension": "0.78 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "3.57 meters",
+      "y coordinate": "-1.5 meters",
+      "height above floor": "-0.26 meters"
+     },
+     "longest dimension": "0.84 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "1.71 meters",
+      "y coordinate": "-1.66 meters",
+      "height above floor": "-0.07 meters"
+     },
+     "longest dimension": "0.65 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "0.72 meters",
+      "y coordinate": "-0.2 meters",
+      "height above floor": "-0.29 meters"
+     },
+     "longest dimension": "0.79 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "3.45 meters",
+      "y coordinate": "-1.46 meters",
+      "height above floor": "-0.25 meters"
+     },
+     "longest dimension": "0.73 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "2.72 meters",
+      "y coordinate": "-1.45 meters",
+      "height above floor": "-0.23 meters"
+     },
+     "longest dimension": "0.43 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "2.34 meters",
+      "y coordinate": "-1.49 meters",
+      "height above floor": "-0.27 meters"
+     },
+     "longest dimension": "0.71 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "0.66 meters",
+      "y coordinate": "-0.89 meters",
+      "height above floor": "-0.22 meters"
+     },
+     "longest dimension": "0.73 meters"
+    }
+   ]
+  },
+  "refrigerator": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "4.98 meters",
+      "y coordinate": "-2.45 meters",
+      "height above floor": "0.14 meters"
+     },
+     "longest dimension": "1.39 meters"
+    }
+   ]
+  },
+  "sofa": {
+   "count": 2,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-1.17 meters",
+      "y coordinate": "0.02 meters",
+      "height above floor": "-0.27 meters"
+     },
+     "longest dimension": "0.69 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-1.79 meters",
+      "y coordinate": "-1.3 meters",
+      "height above floor": "-0.23 meters"
+     },
+     "longest dimension": "0.82 meters"
+    }
+   ]
+  },
+  "stool": {
+   "count": 4,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-0.2 meters",
+      "y coordinate": "-2.27 meters",
+      "height above floor": "-0.25 meters"
+     },
+     "longest dimension": "0.77 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "0.95 meters",
+      "y coordinate": "-1.53 meters",
+      "height above floor": "-0.24 meters"
+     },
+     "longest dimension": "0.79 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "0.72 meters",
+      "y coordinate": "-0.2 meters",
+      "height above floor": "-0.29 meters"
+     },
+     "longest dimension": "0.79 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "0.6 meters",
+      "y coordinate": "-0.95 meters",
+      "height above floor": "-0.14 meters"
+     },
+     "longest dimension": "0.82 meters"
+    }
+   ]
+  },
+  "stove": {
+   "count": 2,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "4.02 meters",
+      "y coordinate": "1.47 meters",
+      "height above floor": "-0.68 meters"
+     },
+     "longest dimension": "1.55 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "5.18 meters",
+      "y coordinate": "0.28 meters",
+      "height above floor": "0.01 meters"
+     },
+     "longest dimension": "0.43 meters"
+    }
+   ]
+  },
+  "table": {
+   "count": 4,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "0.79 meters",
+      "y coordinate": "0.0 meters",
+      "height above floor": "0.03 meters"
+     },
+     "longest dimension": "0.84 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "0.77 meters",
+      "y coordinate": "-0.7 meters",
+      "height above floor": "-0.01 meters"
+     },
+     "longest dimension": "1.13 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "2.45 meters",
+      "y coordinate": "-1.33 meters",
+      "height above floor": "-0.01 meters"
+     },
+     "longest dimension": "0.52 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-0.2 meters",
+      "y coordinate": "-3.26 meters",
+      "height above floor": "-0.19 meters"
+     },
+     "longest dimension": "0.35 meters"
+    }
+   ]
+  },
+  "tv": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-0.08 meters",
+      "y coordinate": "1.65 meters",
+      "height above floor": "0.72 meters"
+     },
+     "longest dimension": "0.63 meters"
+    }
+   ]
+  },
+  "washer": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "3.94 meters",
+      "y coordinate": "-2.76 meters",
+      "height above floor": "-0.21 meters"
+     },
+     "longest dimension": "0.45 meters"
+    }
+   ]
+  }
+ },
+ "room": {
+  "floor area": "39.0 square meters"
+ },
+ "closest classes distance meters from": {
+  "chair": {
+   "stool": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "table": {
+    "distance": "1.0 meters",
+    "closeness rank": 2
+   },
+   "sofa": {
+    "distance": "2.05 meters",
+    "closeness rank": 3
+   },
+   "tv": {
+    "distance": "3.38 meters",
+    "closeness rank": 4
+   },
+   "stove": {
+    "distance": "3.62 meters",
+    "closeness rank": 5
+   },
+   "washer": {
+    "distance": "3.69 meters",
+    "closeness rank": 6
+   },
+   "refrigerator": {
+    "distance": "4.88 meters",
+    "closeness rank": 7
+   }
+  },
+  "refrigerator": {
+   "washer": {
+    "distance": "0.76 meters",
+    "closeness rank": 1
+   },
+   "table": {
+    "distance": "1.49 meters",
+    "closeness rank": 2
+   },
+   "stove": {
+    "distance": "2.98 meters",
+    "closeness rank": 3
+   },
+   "chair": {
+    "distance": "4.88 meters",
+    "closeness rank": 4
+   },
+   "stool": {
+    "distance": "4.88 meters",
+    "closeness rank": 5
+   },
+   "tv": {
+    "distance": "6.22 meters",
+    "closeness rank": 6
+   },
+   "sofa": {
+    "distance": "6.41 meters",
+    "closeness rank": 7
+   }
+  },
+  "sofa": {
+   "tv": {
+    "distance": "1.57 meters",
+    "closeness rank": 1
+   },
+   "table": {
+    "distance": "1.74 meters",
+    "closeness rank": 2
+   },
+   "chair": {
+    "distance": "2.05 meters",
+    "closeness rank": 3
+   },
+   "stool": {
+    "distance": "2.07 meters",
+    "closeness rank": 4
+   },
+   "stove": {
+    "distance": "3.21 meters",
+    "closeness rank": 5
+   },
+   "washer": {
+    "distance": "5.47 meters",
+    "closeness rank": 6
+   },
+   "refrigerator": {
+    "distance": "6.41 meters",
+    "closeness rank": 7
+   }
+  },
+  "stool": {
+   "chair": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "table": {
+    "distance": "1.0 meters",
+    "closeness rank": 2
+   },
+   "sofa": {
+    "distance": "2.07 meters",
+    "closeness rank": 3
+   },
+   "tv": {
+    "distance": "3.38 meters",
+    "closeness rank": 4
+   },
+   "stove": {
+    "distance": "3.68 meters",
+    "closeness rank": 5
+   },
+   "washer": {
+    "distance": "3.7 meters",
+    "closeness rank": 6
+   },
+   "refrigerator": {
+    "distance": "4.88 meters",
+    "closeness rank": 7
+   }
+  },
+  "stove": {
+   "table": {
+    "distance": "0.01 meters",
+    "closeness rank": 1
+   },
+   "tv": {
+    "distance": "2.54 meters",
+    "closeness rank": 2
+   },
+   "refrigerator": {
+    "distance": "2.98 meters",
+    "closeness rank": 3
+   },
+   "sofa": {
+    "distance": "3.21 meters",
+    "closeness rank": 4
+   },
+   "washer": {
+    "distance": "3.21 meters",
+    "closeness rank": 5
+   },
+   "chair": {
+    "distance": "3.62 meters",
+    "closeness rank": 6
+   },
+   "stool": {
+    "distance": "3.68 meters",
+    "closeness rank": 7
+   }
+  },
+  "table": {
+   "stove": {
+    "distance": "0.01 meters",
+    "closeness rank": 1
+   },
+   "chair": {
+    "distance": "1.0 meters",
+    "closeness rank": 2
+   },
+   "stool": {
+    "distance": "1.0 meters",
+    "closeness rank": 3
+   },
+   "washer": {
+    "distance": "1.19 meters",
+    "closeness rank": 4
+   },
+   "refrigerator": {
+    "distance": "1.49 meters",
+    "closeness rank": 5
+   },
+   "tv": {
+    "distance": "1.6 meters",
+    "closeness rank": 6
+   },
+   "sofa": {
+    "distance": "1.74 meters",
+    "closeness rank": 7
+   }
+  },
+  "tv": {
+   "sofa": {
+    "distance": "1.57 meters",
+    "closeness rank": 1
+   },
+   "table": {
+    "distance": "1.6 meters",
+    "closeness rank": 2
+   },
+   "stove": {
+    "distance": "2.54 meters",
+    "closeness rank": 3
+   },
+   "chair": {
+    "distance": "3.38 meters",
+    "closeness rank": 4
+   },
+   "stool": {
+    "distance": "3.38 meters",
+    "closeness rank": 5
+   },
+   "washer": {
+    "distance": "5.66 meters",
+    "closeness rank": 6
+   },
+   "refrigerator": {
+    "distance": "6.22 meters",
+    "closeness rank": 7
+   }
+  },
+  "washer": {
+   "refrigerator": {
+    "distance": "0.76 meters",
+    "closeness rank": 1
+   },
+   "table": {
+    "distance": "1.19 meters",
+    "closeness rank": 2
+   },
+   "stove": {
+    "distance": "3.21 meters",
+    "closeness rank": 3
+   },
+   "chair": {
+    "distance": "3.69 meters",
+    "closeness rank": 4
+   },
+   "stool": {
+    "distance": "3.7 meters",
+    "closeness rank": 5
+   },
+   "sofa": {
+    "distance": "5.47 meters",
+    "closeness rank": 6
+   },
+   "tv": {
+    "distance": "5.66 meters",
+    "closeness rank": 7
+   }
+  }
+ },
+ "appearance order": ["chair", "table", "stool", "refrigerator", "washer", "tv", "stove", "sofa"]
+}
\ No newline at end of file
diff --git a/data/spatial codes/sam3+depth-anything-3/metric/tracking/uniform/96/explicit/42897692.json b/data/spatial codes/sam3+depth-anything-3/metric/tracking/uniform/96/explicit/42897692.json
new file mode 100644
index 0000000000000000000000000000000000000000..9efd46f77535eb562f7aefddaf60f3fdd9a2bfd2
--- /dev/null
+++ b/data/spatial codes/sam3+depth-anything-3/metric/tracking/uniform/96/explicit/42897692.json	
@@ -0,0 +1,268 @@
+{
+ "objects": {
+  "bathtub": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-1.62 meters",
+      "y coordinate": "-0.81 meters",
+      "height above floor": "-0.09 meters"
+     },
+     "longest dimension": "0.73 meters"
+    }
+   ]
+  },
+  "bed": {
+   "count": 5,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-1.78 meters",
+      "y coordinate": "-1.0 meters",
+      "height above floor": "-0.14 meters"
+     },
+     "longest dimension": "1.32 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "0.45 meters",
+      "y coordinate": "-1.04 meters",
+      "height above floor": "-0.04 meters"
+     },
+     "longest dimension": "1.09 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-1.09 meters",
+      "y coordinate": "0.4 meters",
+      "height above floor": "-0.06 meters"
+     },
+     "longest dimension": "0.7 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-0.58 meters",
+      "y coordinate": "-0.69 meters",
+      "height above floor": "-0.26 meters"
+     },
+     "longest dimension": "1.19 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-3.18 meters",
+      "y coordinate": "-1.66 meters",
+      "height above floor": "0.43 meters"
+     },
+     "longest dimension": "1.64 meters"
+    }
+   ]
+  },
+  "stool": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "1.08 meters",
+      "y coordinate": "0.07 meters",
+      "height above floor": "-0.22 meters"
+     },
+     "longest dimension": "0.38 meters"
+    }
+   ]
+  },
+  "table": {
+   "count": 3,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "1.38 meters",
+      "y coordinate": "-0.45 meters",
+      "height above floor": "0.04 meters"
+     },
+     "longest dimension": "0.76 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-1.22 meters",
+      "y coordinate": "1.0 meters",
+      "height above floor": "-0.04 meters"
+     },
+     "longest dimension": "0.93 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "0.17 meters",
+      "y coordinate": "-0.53 meters",
+      "height above floor": "-0.37 meters"
+     },
+     "longest dimension": "0.68 meters"
+    }
+   ]
+  },
+  "toilet": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "1.08 meters",
+      "y coordinate": "0.07 meters",
+      "height above floor": "-0.22 meters"
+     },
+     "longest dimension": "0.38 meters"
+    }
+   ]
+  },
+  "tv": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "1.59 meters",
+      "y coordinate": "-0.47 meters",
+      "height above floor": "0.42 meters"
+     },
+     "longest dimension": "0.69 meters"
+    }
+   ]
+  }
+ },
+ "room": {
+  "floor area": "20.0 square meters"
+ },
+ "closest classes distance meters from": {
+  "bathtub": {
+   "bed": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "table": {
+    "distance": "1.11 meters",
+    "closeness rank": 2
+   },
+   "stool": {
+    "distance": "2.57 meters",
+    "closeness rank": 3
+   },
+   "toilet": {
+    "distance": "2.57 meters",
+    "closeness rank": 4
+   },
+   "tv": {
+    "distance": "2.86 meters",
+    "closeness rank": 5
+   }
+  },
+  "bed": {
+   "bathtub": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "table": {
+    "distance": "0.44 meters",
+    "closeness rank": 2
+   },
+   "stool": {
+    "distance": "2.56 meters",
+    "closeness rank": 3
+   },
+   "toilet": {
+    "distance": "2.56 meters",
+    "closeness rank": 4
+   },
+   "tv": {
+    "distance": "2.75 meters",
+    "closeness rank": 5
+   }
+  },
+  "stool": {
+   "toilet": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "table": {
+    "distance": "0.3 meters",
+    "closeness rank": 2
+   },
+   "tv": {
+    "distance": "0.65 meters",
+    "closeness rank": 3
+   },
+   "bed": {
+    "distance": "2.56 meters",
+    "closeness rank": 4
+   },
+   "bathtub": {
+    "distance": "2.57 meters",
+    "closeness rank": 5
+   }
+  },
+  "table": {
+   "tv": {
+    "distance": "0.01 meters",
+    "closeness rank": 1
+   },
+   "stool": {
+    "distance": "0.3 meters",
+    "closeness rank": 2
+   },
+   "toilet": {
+    "distance": "0.3 meters",
+    "closeness rank": 3
+   },
+   "bed": {
+    "distance": "0.44 meters",
+    "closeness rank": 4
+   },
+   "bathtub": {
+    "distance": "1.11 meters",
+    "closeness rank": 5
+   }
+  },
+  "toilet": {
+   "stool": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "table": {
+    "distance": "0.3 meters",
+    "closeness rank": 2
+   },
+   "tv": {
+    "distance": "0.65 meters",
+    "closeness rank": 3
+   },
+   "bed": {
+    "distance": "2.56 meters",
+    "closeness rank": 4
+   },
+   "bathtub": {
+    "distance": "2.57 meters",
+    "closeness rank": 5
+   }
+  },
+  "tv": {
+   "table": {
+    "distance": "0.01 meters",
+    "closeness rank": 1
+   },
+   "stool": {
+    "distance": "0.65 meters",
+    "closeness rank": 2
+   },
+   "toilet": {
+    "distance": "0.65 meters",
+    "closeness rank": 3
+   },
+   "bed": {
+    "distance": "2.75 meters",
+    "closeness rank": 4
+   },
+   "bathtub": {
+    "distance": "2.86 meters",
+    "closeness rank": 5
+   }
+  }
+ },
+ "appearance order": ["bed", "table", "bathtub", "stool", "toilet", "tv"]
+}
\ No newline at end of file
diff --git a/data/spatial codes/sam3+depth-anything-3/metric/tracking/uniform/96/explicit/42898486.json b/data/spatial codes/sam3+depth-anything-3/metric/tracking/uniform/96/explicit/42898486.json
new file mode 100644
index 0000000000000000000000000000000000000000..9a17befe13a2ad5d470a2feb0cd4bd893c407bf3
--- /dev/null
+++ b/data/spatial codes/sam3+depth-anything-3/metric/tracking/uniform/96/explicit/42898486.json	
@@ -0,0 +1,315 @@
+{
+ "objects": {
+  "bed": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-1.12 meters",
+      "y coordinate": "-3.09 meters",
+      "height above floor": "-0.04 meters"
+     },
+     "longest dimension": "1.04 meters"
+    }
+   ]
+  },
+  "chair": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-1.12 meters",
+      "y coordinate": "-3.09 meters",
+      "height above floor": "-0.04 meters"
+     },
+     "longest dimension": "0.99 meters"
+    }
+   ]
+  },
+  "fireplace": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-3.32 meters",
+      "y coordinate": "0.2 meters",
+      "height above floor": "0.19 meters"
+     },
+     "longest dimension": "0.58 meters"
+    }
+   ]
+  },
+  "sofa": {
+   "count": 3,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-3.48 meters",
+      "y coordinate": "-3.71 meters",
+      "height above floor": "-0.08 meters"
+     },
+     "longest dimension": "1.9 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-1.4 meters",
+      "y coordinate": "-1.97 meters",
+      "height above floor": "0.02 meters"
+     },
+     "longest dimension": "1.13 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-1.18 meters",
+      "y coordinate": "-2.99 meters",
+      "height above floor": "-0.0 meters"
+     },
+     "longest dimension": "0.91 meters"
+    }
+   ]
+  },
+  "stool": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-0.75 meters",
+      "y coordinate": "-1.19 meters",
+      "height above floor": "0.03 meters"
+     },
+     "longest dimension": "0.46 meters"
+    }
+   ]
+  },
+  "table": {
+   "count": 3,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-0.04 meters",
+      "y coordinate": "-3.61 meters",
+      "height above floor": "0.77 meters"
+     },
+     "longest dimension": "1.34 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-2.93 meters",
+      "y coordinate": "-2.54 meters",
+      "height above floor": "-0.12 meters"
+     },
+     "longest dimension": "0.95 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-2.04 meters",
+      "y coordinate": "-4.59 meters",
+      "height above floor": "-0.17 meters"
+     },
+     "longest dimension": "0.59 meters"
+    }
+   ]
+  },
+  "tv": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-3.08 meters",
+      "y coordinate": "-0.12 meters",
+      "height above floor": "1.22 meters"
+     },
+     "longest dimension": "1.0 meters"
+    }
+   ]
+  }
+ },
+ "room": {
+  "floor area": "34.2 square meters"
+ },
+ "closest classes distance meters from": {
+  "bed": {
+   "chair": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "sofa": {
+    "distance": "0.0 meters",
+    "closeness rank": 2
+   },
+   "stool": {
+    "distance": "0.31 meters",
+    "closeness rank": 3
+   },
+   "table": {
+    "distance": "0.66 meters",
+    "closeness rank": 4
+   },
+   "fireplace": {
+    "distance": "0.96 meters",
+    "closeness rank": 5
+   },
+   "tv": {
+    "distance": "1.06 meters",
+    "closeness rank": 6
+   }
+  },
+  "chair": {
+   "bed": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "sofa": {
+    "distance": "0.0 meters",
+    "closeness rank": 2
+   },
+   "stool": {
+    "distance": "0.55 meters",
+    "closeness rank": 3
+   },
+   "table": {
+    "distance": "0.55 meters",
+    "closeness rank": 4
+   },
+   "tv": {
+    "distance": "2.81 meters",
+    "closeness rank": 5
+   },
+   "fireplace": {
+    "distance": "2.93 meters",
+    "closeness rank": 6
+   }
+  },
+  "fireplace": {
+   "tv": {
+    "distance": "0.33 meters",
+    "closeness rank": 1
+   },
+   "bed": {
+    "distance": "0.96 meters",
+    "closeness rank": 2
+   },
+   "stool": {
+    "distance": "2.08 meters",
+    "closeness rank": 3
+   },
+   "table": {
+    "distance": "2.44 meters",
+    "closeness rank": 4
+   },
+   "chair": {
+    "distance": "2.93 meters",
+    "closeness rank": 5
+   },
+   "sofa": {
+    "distance": "3.08 meters",
+    "closeness rank": 6
+   }
+  },
+  "sofa": {
+   "bed": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "chair": {
+    "distance": "0.0 meters",
+    "closeness rank": 2
+   },
+   "table": {
+    "distance": "0.26 meters",
+    "closeness rank": 3
+   },
+   "stool": {
+    "distance": "0.93 meters",
+    "closeness rank": 4
+   },
+   "tv": {
+    "distance": "2.78 meters",
+    "closeness rank": 5
+   },
+   "fireplace": {
+    "distance": "3.08 meters",
+    "closeness rank": 6
+   }
+  },
+  "stool": {
+   "table": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "bed": {
+    "distance": "0.31 meters",
+    "closeness rank": 2
+   },
+   "chair": {
+    "distance": "0.55 meters",
+    "closeness rank": 3
+   },
+   "sofa": {
+    "distance": "0.93 meters",
+    "closeness rank": 4
+   },
+   "tv": {
+    "distance": "1.97 meters",
+    "closeness rank": 5
+   },
+   "fireplace": {
+    "distance": "2.08 meters",
+    "closeness rank": 6
+   }
+  },
+  "table": {
+   "stool": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "sofa": {
+    "distance": "0.26 meters",
+    "closeness rank": 2
+   },
+   "chair": {
+    "distance": "0.55 meters",
+    "closeness rank": 3
+   },
+   "bed": {
+    "distance": "0.66 meters",
+    "closeness rank": 4
+   },
+   "tv": {
+    "distance": "2.3 meters",
+    "closeness rank": 5
+   },
+   "fireplace": {
+    "distance": "2.44 meters",
+    "closeness rank": 6
+   }
+  },
+  "tv": {
+   "fireplace": {
+    "distance": "0.33 meters",
+    "closeness rank": 1
+   },
+   "bed": {
+    "distance": "1.06 meters",
+    "closeness rank": 2
+   },
+   "stool": {
+    "distance": "1.97 meters",
+    "closeness rank": 3
+   },
+   "table": {
+    "distance": "2.3 meters",
+    "closeness rank": 4
+   },
+   "sofa": {
+    "distance": "2.78 meters",
+    "closeness rank": 5
+   },
+   "chair": {
+    "distance": "2.81 meters",
+    "closeness rank": 6
+   }
+  }
+ },
+ "appearance order": ["sofa", "stool", "table", "fireplace", "tv", "bed", "chair"]
+}
\ No newline at end of file
diff --git a/data/spatial codes/sam3+depth-anything-3/metric/tracking/uniform/96/explicit/42898826.json b/data/spatial codes/sam3+depth-anything-3/metric/tracking/uniform/96/explicit/42898826.json
new file mode 100644
index 0000000000000000000000000000000000000000..cf9caaef98fa8f311856f5cbfd622fea3e8fea3d
--- /dev/null
+++ b/data/spatial codes/sam3+depth-anything-3/metric/tracking/uniform/96/explicit/42898826.json	
@@ -0,0 +1,64 @@
+{
+ "objects": {
+  "bathtub": {
+   "count": 2,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "0.47 meters",
+      "y coordinate": "-0.08 meters",
+      "height above floor": "-0.14 meters"
+     },
+     "longest dimension": "1.56 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "0.4 meters",
+      "y coordinate": "-0.03 meters",
+      "height above floor": "-0.15 meters"
+     },
+     "longest dimension": "1.21 meters"
+    }
+   ]
+  },
+  "toilet": {
+   "count": 2,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "0.3 meters",
+      "y coordinate": "-0.3 meters",
+      "height above floor": "-0.15 meters"
+     },
+     "longest dimension": "0.91 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-0.93 meters",
+      "y coordinate": "-1.22 meters",
+      "height above floor": "-0.16 meters"
+     },
+     "longest dimension": "0.79 meters"
+    }
+   ]
+  }
+ },
+ "room": {
+  "floor area": "11.6 square meters"
+ },
+ "closest classes distance meters from": {
+  "bathtub": {
+   "toilet": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   }
+  },
+  "toilet": {
+   "bathtub": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   }
+  }
+ },
+ "appearance order": ["bathtub", "toilet"]
+}
\ No newline at end of file
diff --git a/data/spatial codes/sam3+depth-anything-3/metric/tracking/uniform/96/explicit/42899612.json b/data/spatial codes/sam3+depth-anything-3/metric/tracking/uniform/96/explicit/42899612.json
new file mode 100644
index 0000000000000000000000000000000000000000..5ea2f0e73a2e3ecbe39e430c982a329b004c9d64
--- /dev/null
+++ b/data/spatial codes/sam3+depth-anything-3/metric/tracking/uniform/96/explicit/42899612.json	
@@ -0,0 +1,197 @@
+{
+ "objects": {
+  "bed": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "2.46 meters",
+      "y coordinate": "0.08 meters",
+      "height above floor": "0.11 meters"
+     },
+     "longest dimension": "1.68 meters"
+    }
+   ]
+  },
+  "chair": {
+   "count": 2,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-1.45 meters",
+      "y coordinate": "-0.32 meters",
+      "height above floor": "0.02 meters"
+     },
+     "longest dimension": "0.99 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-0.76 meters",
+      "y coordinate": "-0.42 meters",
+      "height above floor": "-0.03 meters"
+     },
+     "longest dimension": "0.53 meters"
+    }
+   ]
+  },
+  "fireplace": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "1.65 meters",
+      "y coordinate": "-4.98 meters",
+      "height above floor": "-0.46 meters"
+     },
+     "longest dimension": "0.29 meters"
+    }
+   ]
+  },
+  "stool": {
+   "count": 3,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-1.77 meters",
+      "y coordinate": "-0.32 meters",
+      "height above floor": "0.2 meters"
+     },
+     "longest dimension": "0.7 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-0.76 meters",
+      "y coordinate": "-0.42 meters",
+      "height above floor": "-0.03 meters"
+     },
+     "longest dimension": "0.53 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-1.97 meters",
+      "y coordinate": "-1.98 meters",
+      "height above floor": "0.1 meters"
+     },
+     "longest dimension": "0.54 meters"
+    }
+   ]
+  },
+  "table": {
+   "count": 2,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "2.72 meters",
+      "y coordinate": "1.43 meters",
+      "height above floor": "0.12 meters"
+     },
+     "longest dimension": "0.44 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-1.97 meters",
+      "y coordinate": "-1.98 meters",
+      "height above floor": "0.1 meters"
+     },
+     "longest dimension": "0.51 meters"
+    }
+   ]
+  }
+ },
+ "room": {
+  "floor area": "24.7 square meters"
+ },
+ "closest classes distance meters from": {
+  "bed": {
+   "table": {
+    "distance": "0.12 meters",
+    "closeness rank": 1
+   },
+   "chair": {
+    "distance": "1.5 meters",
+    "closeness rank": 2
+   },
+   "stool": {
+    "distance": "1.5 meters",
+    "closeness rank": 3
+   },
+   "fireplace": {
+    "distance": "3.78 meters",
+    "closeness rank": 4
+   }
+  },
+  "chair": {
+   "stool": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "table": {
+    "distance": "1.19 meters",
+    "closeness rank": 2
+   },
+   "bed": {
+    "distance": "1.5 meters",
+    "closeness rank": 3
+   },
+   "fireplace": {
+    "distance": "4.6 meters",
+    "closeness rank": 4
+   }
+  },
+  "fireplace": {
+   "bed": {
+    "distance": "3.78 meters",
+    "closeness rank": 1
+   },
+   "stool": {
+    "distance": "4.47 meters",
+    "closeness rank": 2
+   },
+   "chair": {
+    "distance": "4.6 meters",
+    "closeness rank": 3
+   },
+   "table": {
+    "distance": "5.22 meters",
+    "closeness rank": 4
+   }
+  },
+  "stool": {
+   "chair": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "table": {
+    "distance": "1.17 meters",
+    "closeness rank": 2
+   },
+   "bed": {
+    "distance": "1.5 meters",
+    "closeness rank": 3
+   },
+   "fireplace": {
+    "distance": "4.47 meters",
+    "closeness rank": 4
+   }
+  },
+  "table": {
+   "bed": {
+    "distance": "0.12 meters",
+    "closeness rank": 1
+   },
+   "stool": {
+    "distance": "1.17 meters",
+    "closeness rank": 2
+   },
+   "chair": {
+    "distance": "1.19 meters",
+    "closeness rank": 3
+   },
+   "fireplace": {
+    "distance": "5.22 meters",
+    "closeness rank": 4
+   }
+  }
+ },
+ "appearance order": ["bed", "chair", "stool", "fireplace", "table"]
+}
\ No newline at end of file
diff --git a/data/spatial codes/sam3+depth-anything-3/metric/tracking/uniform/96/explicit/44358499.json b/data/spatial codes/sam3+depth-anything-3/metric/tracking/uniform/96/explicit/44358499.json
new file mode 100644
index 0000000000000000000000000000000000000000..b6a99d7f0236829e6b019bbab5e21fc9e62cf684
--- /dev/null
+++ b/data/spatial codes/sam3+depth-anything-3/metric/tracking/uniform/96/explicit/44358499.json	
@@ -0,0 +1,703 @@
+{
+ "objects": {
+  "bed": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "0.7 meters",
+      "y coordinate": "1.07 meters",
+      "height above floor": "-0.07 meters"
+     },
+     "longest dimension": "0.78 meters"
+    }
+   ]
+  },
+  "chair": {
+   "count": 7,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "2.78 meters",
+      "y coordinate": "-2.69 meters",
+      "height above floor": "0.09 meters"
+     },
+     "longest dimension": "0.61 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "2.62 meters",
+      "y coordinate": "-3.76 meters",
+      "height above floor": "-0.01 meters"
+     },
+     "longest dimension": "0.57 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "3.71 meters",
+      "y coordinate": "-2.47 meters",
+      "height above floor": "-0.11 meters"
+     },
+     "longest dimension": "0.55 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "2.96 meters",
+      "y coordinate": "-2.31 meters",
+      "height above floor": "0.11 meters"
+     },
+     "longest dimension": "0.73 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "2.7 meters",
+      "y coordinate": "-3.86 meters",
+      "height above floor": "0.03 meters"
+     },
+     "longest dimension": "0.79 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "3.99 meters",
+      "y coordinate": "-2.72 meters",
+      "height above floor": "0.28 meters"
+     },
+     "longest dimension": "0.31 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "3.84 meters",
+      "y coordinate": "-2.82 meters",
+      "height above floor": "0.29 meters"
+     },
+     "longest dimension": "0.28 meters"
+    }
+   ]
+  },
+  "dishwasher": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-0.07 meters",
+      "y coordinate": "-5.16 meters",
+      "height above floor": "0.05 meters"
+     },
+     "longest dimension": "0.78 meters"
+    }
+   ]
+  },
+  "fireplace": {
+   "count": 2,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-1.34 meters",
+      "y coordinate": "1.18 meters",
+      "height above floor": "0.11 meters"
+     },
+     "longest dimension": "0.95 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-1.38 meters",
+      "y coordinate": "0.59 meters",
+      "height above floor": "-0.02 meters"
+     },
+     "longest dimension": "0.71 meters"
+    }
+   ]
+  },
+  "refrigerator": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-0.01 meters",
+      "y coordinate": "-5.11 meters",
+      "height above floor": "-0.06 meters"
+     },
+     "longest dimension": "0.81 meters"
+    }
+   ]
+  },
+  "sofa": {
+   "count": 3,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "0.46 meters",
+      "y coordinate": "-0.34 meters",
+      "height above floor": "-0.01 meters"
+     },
+     "longest dimension": "0.95 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "0.67 meters",
+      "y coordinate": "1.03 meters",
+      "height above floor": "-0.16 meters"
+     },
+     "longest dimension": "0.68 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "1.18 meters",
+      "y coordinate": "-0.52 meters",
+      "height above floor": "-0.03 meters"
+     },
+     "longest dimension": "1.28 meters"
+    }
+   ]
+  },
+  "stool": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "0.43 meters",
+      "y coordinate": "-0.73 meters",
+      "height above floor": "-0.03 meters"
+     },
+     "longest dimension": "0.57 meters"
+    }
+   ]
+  },
+  "stove": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "1.8 meters",
+      "y coordinate": "-6.36 meters",
+      "height above floor": "0.49 meters"
+     },
+     "longest dimension": "0.61 meters"
+    }
+   ]
+  },
+  "table": {
+   "count": 2,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "3.07 meters",
+      "y coordinate": "-0.74 meters",
+      "height above floor": "-0.02 meters"
+     },
+     "longest dimension": "0.7 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "0.43 meters",
+      "y coordinate": "-0.73 meters",
+      "height above floor": "-0.03 meters"
+     },
+     "longest dimension": "0.56 meters"
+    }
+   ]
+  },
+  "tv": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-1.98 meters",
+      "y coordinate": "-1.05 meters",
+      "height above floor": "0.35 meters"
+     },
+     "longest dimension": "1.04 meters"
+    }
+   ]
+  },
+  "washer": {
+   "count": 2,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-0.07 meters",
+      "y coordinate": "-5.16 meters",
+      "height above floor": "0.05 meters"
+     },
+     "longest dimension": "0.79 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-0.36 meters",
+      "y coordinate": "-5.72 meters",
+      "height above floor": "-0.02 meters"
+     },
+     "longest dimension": "0.73 meters"
+    }
+   ]
+  }
+ },
+ "room": {
+  "floor area": "42.5 square meters"
+ },
+ "closest classes distance meters from": {
+  "bed": {
+   "sofa": {
+    "distance": "0.78 meters",
+    "closeness rank": 1
+   },
+   "stool": {
+    "distance": "1.38 meters",
+    "closeness rank": 2
+   },
+   "fireplace": {
+    "distance": "1.45 meters",
+    "closeness rank": 3
+   },
+   "table": {
+    "distance": "2.54 meters",
+    "closeness rank": 4
+   },
+   "tv": {
+    "distance": "2.96 meters",
+    "closeness rank": 5
+   },
+   "chair": {
+    "distance": "3.61 meters",
+    "closeness rank": 6
+   },
+   "dishwasher": {
+    "distance": "5.78 meters",
+    "closeness rank": 7
+   },
+   "washer": {
+    "distance": "5.78 meters",
+    "closeness rank": 8
+   },
+   "refrigerator": {
+    "distance": "5.81 meters",
+    "closeness rank": 9
+   },
+   "stove": {
+    "distance": "6.89 meters",
+    "closeness rank": 10
+   }
+  },
+  "chair": {
+   "table": {
+    "distance": "0.03 meters",
+    "closeness rank": 1
+   },
+   "sofa": {
+    "distance": "2.44 meters",
+    "closeness rank": 2
+   },
+   "stool": {
+    "distance": "2.64 meters",
+    "closeness rank": 3
+   },
+   "stove": {
+    "distance": "3.19 meters",
+    "closeness rank": 4
+   },
+   "dishwasher": {
+    "distance": "3.33 meters",
+    "closeness rank": 5
+   },
+   "washer": {
+    "distance": "3.33 meters",
+    "closeness rank": 6
+   },
+   "refrigerator": {
+    "distance": "3.34 meters",
+    "closeness rank": 7
+   },
+   "bed": {
+    "distance": "3.61 meters",
+    "closeness rank": 8
+   },
+   "tv": {
+    "distance": "4.73 meters",
+    "closeness rank": 9
+   },
+   "fireplace": {
+    "distance": "5.25 meters",
+    "closeness rank": 10
+   }
+  },
+  "dishwasher": {
+   "refrigerator": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "washer": {
+    "distance": "0.0 meters",
+    "closeness rank": 2
+   },
+   "stove": {
+    "distance": "1.93 meters",
+    "closeness rank": 3
+   },
+   "table": {
+    "distance": "2.87 meters",
+    "closeness rank": 4
+   },
+   "chair": {
+    "distance": "3.33 meters",
+    "closeness rank": 5
+   },
+   "stool": {
+    "distance": "3.9 meters",
+    "closeness rank": 6
+   },
+   "tv": {
+    "distance": "3.98 meters",
+    "closeness rank": 7
+   },
+   "sofa": {
+    "distance": "4.28 meters",
+    "closeness rank": 8
+   },
+   "fireplace": {
+    "distance": "5.71 meters",
+    "closeness rank": 9
+   },
+   "bed": {
+    "distance": "5.78 meters",
+    "closeness rank": 10
+   }
+  },
+  "fireplace": {
+   "tv": {
+    "distance": "0.97 meters",
+    "closeness rank": 1
+   },
+   "bed": {
+    "distance": "1.45 meters",
+    "closeness rank": 2
+   },
+   "sofa": {
+    "distance": "1.94 meters",
+    "closeness rank": 3
+   },
+   "stool": {
+    "distance": "2.2 meters",
+    "closeness rank": 4
+   },
+   "table": {
+    "distance": "4.39 meters",
+    "closeness rank": 5
+   },
+   "chair": {
+    "distance": "5.25 meters",
+    "closeness rank": 6
+   },
+   "dishwasher": {
+    "distance": "5.71 meters",
+    "closeness rank": 7
+   },
+   "washer": {
+    "distance": "5.71 meters",
+    "closeness rank": 8
+   },
+   "refrigerator": {
+    "distance": "5.75 meters",
+    "closeness rank": 9
+   },
+   "stove": {
+    "distance": "7.42 meters",
+    "closeness rank": 10
+   }
+  },
+  "refrigerator": {
+   "dishwasher": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "washer": {
+    "distance": "0.0 meters",
+    "closeness rank": 2
+   },
+   "stove": {
+    "distance": "1.94 meters",
+    "closeness rank": 3
+   },
+   "table": {
+    "distance": "2.86 meters",
+    "closeness rank": 4
+   },
+   "chair": {
+    "distance": "3.34 meters",
+    "closeness rank": 5
+   },
+   "stool": {
+    "distance": "3.93 meters",
+    "closeness rank": 6
+   },
+   "tv": {
+    "distance": "4.01 meters",
+    "closeness rank": 7
+   },
+   "sofa": {
+    "distance": "4.31 meters",
+    "closeness rank": 8
+   },
+   "fireplace": {
+    "distance": "5.75 meters",
+    "closeness rank": 9
+   },
+   "bed": {
+    "distance": "5.81 meters",
+    "closeness rank": 10
+   }
+  },
+  "sofa": {
+   "stool": {
+    "distance": "0.03 meters",
+    "closeness rank": 1
+   },
+   "bed": {
+    "distance": "0.78 meters",
+    "closeness rank": 2
+   },
+   "table": {
+    "distance": "1.65 meters",
+    "closeness rank": 3
+   },
+   "fireplace": {
+    "distance": "1.94 meters",
+    "closeness rank": 4
+   },
+   "tv": {
+    "distance": "2.4 meters",
+    "closeness rank": 5
+   },
+   "chair": {
+    "distance": "2.44 meters",
+    "closeness rank": 6
+   },
+   "washer": {
+    "distance": "4.27 meters",
+    "closeness rank": 7
+   },
+   "dishwasher": {
+    "distance": "4.28 meters",
+    "closeness rank": 8
+   },
+   "refrigerator": {
+    "distance": "4.31 meters",
+    "closeness rank": 9
+   },
+   "stove": {
+    "distance": "5.31 meters",
+    "closeness rank": 10
+   }
+  },
+  "stool": {
+   "sofa": {
+    "distance": "0.03 meters",
+    "closeness rank": 1
+   },
+   "bed": {
+    "distance": "1.38 meters",
+    "closeness rank": 2
+   },
+   "table": {
+    "distance": "2.16 meters",
+    "closeness rank": 3
+   },
+   "fireplace": {
+    "distance": "2.2 meters",
+    "closeness rank": 4
+   },
+   "tv": {
+    "distance": "2.23 meters",
+    "closeness rank": 5
+   },
+   "chair": {
+    "distance": "2.64 meters",
+    "closeness rank": 6
+   },
+   "washer": {
+    "distance": "3.89 meters",
+    "closeness rank": 7
+   },
+   "dishwasher": {
+    "distance": "3.9 meters",
+    "closeness rank": 8
+   },
+   "refrigerator": {
+    "distance": "3.93 meters",
+    "closeness rank": 9
+   },
+   "stove": {
+    "distance": "5.12 meters",
+    "closeness rank": 10
+   }
+  },
+  "stove": {
+   "washer": {
+    "distance": "1.91 meters",
+    "closeness rank": 1
+   },
+   "dishwasher": {
+    "distance": "1.93 meters",
+    "closeness rank": 2
+   },
+   "refrigerator": {
+    "distance": "1.94 meters",
+    "closeness rank": 3
+   },
+   "table": {
+    "distance": "2.7 meters",
+    "closeness rank": 4
+   },
+   "chair": {
+    "distance": "3.19 meters",
+    "closeness rank": 5
+   },
+   "stool": {
+    "distance": "5.12 meters",
+    "closeness rank": 6
+   },
+   "sofa": {
+    "distance": "5.31 meters",
+    "closeness rank": 7
+   },
+   "tv": {
+    "distance": "5.82 meters",
+    "closeness rank": 8
+   },
+   "bed": {
+    "distance": "6.89 meters",
+    "closeness rank": 9
+   },
+   "fireplace": {
+    "distance": "7.42 meters",
+    "closeness rank": 10
+   }
+  },
+  "table": {
+   "chair": {
+    "distance": "0.03 meters",
+    "closeness rank": 1
+   },
+   "sofa": {
+    "distance": "1.65 meters",
+    "closeness rank": 2
+   },
+   "stool": {
+    "distance": "2.16 meters",
+    "closeness rank": 3
+   },
+   "bed": {
+    "distance": "2.54 meters",
+    "closeness rank": 4
+   },
+   "stove": {
+    "distance": "2.7 meters",
+    "closeness rank": 5
+   },
+   "refrigerator": {
+    "distance": "2.86 meters",
+    "closeness rank": 6
+   },
+   "dishwasher": {
+    "distance": "2.87 meters",
+    "closeness rank": 7
+   },
+   "washer": {
+    "distance": "2.87 meters",
+    "closeness rank": 8
+   },
+   "fireplace": {
+    "distance": "4.39 meters",
+    "closeness rank": 9
+   },
+   "tv": {
+    "distance": "4.7 meters",
+    "closeness rank": 10
+   }
+  },
+  "tv": {
+   "fireplace": {
+    "distance": "0.97 meters",
+    "closeness rank": 1
+   },
+   "stool": {
+    "distance": "2.23 meters",
+    "closeness rank": 2
+   },
+   "sofa": {
+    "distance": "2.4 meters",
+    "closeness rank": 3
+   },
+   "bed": {
+    "distance": "2.96 meters",
+    "closeness rank": 4
+   },
+   "dishwasher": {
+    "distance": "3.98 meters",
+    "closeness rank": 5
+   },
+   "washer": {
+    "distance": "3.98 meters",
+    "closeness rank": 6
+   },
+   "refrigerator": {
+    "distance": "4.01 meters",
+    "closeness rank": 7
+   },
+   "table": {
+    "distance": "4.7 meters",
+    "closeness rank": 8
+   },
+   "chair": {
+    "distance": "4.73 meters",
+    "closeness rank": 9
+   },
+   "stove": {
+    "distance": "5.82 meters",
+    "closeness rank": 10
+   }
+  },
+  "washer": {
+   "dishwasher": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "refrigerator": {
+    "distance": "0.0 meters",
+    "closeness rank": 2
+   },
+   "stove": {
+    "distance": "1.91 meters",
+    "closeness rank": 3
+   },
+   "table": {
+    "distance": "2.87 meters",
+    "closeness rank": 4
+   },
+   "chair": {
+    "distance": "3.33 meters",
+    "closeness rank": 5
+   },
+   "stool": {
+    "distance": "3.89 meters",
+    "closeness rank": 6
+   },
+   "tv": {
+    "distance": "3.98 meters",
+    "closeness rank": 7
+   },
+   "sofa": {
+    "distance": "4.27 meters",
+    "closeness rank": 8
+   },
+   "fireplace": {
+    "distance": "5.71 meters",
+    "closeness rank": 9
+   },
+   "bed": {
+    "distance": "5.78 meters",
+    "closeness rank": 10
+   }
+  }
+ },
+ "appearance order": ["table", "chair", "sofa", "tv", "fireplace", "stool", "bed", "stove", "dishwasher", "washer", "refrigerator"]
+}
\ No newline at end of file
diff --git a/data/spatial codes/sam3+depth-anything-3/metric/tracking/uniform/96/explicit/45260856.json b/data/spatial codes/sam3+depth-anything-3/metric/tracking/uniform/96/explicit/45260856.json
new file mode 100644
index 0000000000000000000000000000000000000000..e434d504061ae3a9aba993ae3c84064e168fdb51
--- /dev/null
+++ b/data/spatial codes/sam3+depth-anything-3/metric/tracking/uniform/96/explicit/45260856.json	
@@ -0,0 +1,260 @@
+{
+ "objects": {
+  "bed": {
+   "count": 3,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-1.23 meters",
+      "y coordinate": "3.64 meters",
+      "height above floor": "0.19 meters"
+     },
+     "longest dimension": "1.02 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-1.27 meters",
+      "y coordinate": "3.31 meters",
+      "height above floor": "0.28 meters"
+     },
+     "longest dimension": "1.15 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-2.64 meters",
+      "y coordinate": "4.31 meters",
+      "height above floor": "0.28 meters"
+     },
+     "longest dimension": "0.99 meters"
+    }
+   ]
+  },
+  "chair": {
+   "count": 4,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-4.07 meters",
+      "y coordinate": "2.85 meters",
+      "height above floor": "0.1 meters"
+     },
+     "longest dimension": "0.83 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-3.31 meters",
+      "y coordinate": "5.5 meters",
+      "height above floor": "0.01 meters"
+     },
+     "longest dimension": "0.63 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-4.14 meters",
+      "y coordinate": "4.5 meters",
+      "height above floor": "-0.05 meters"
+     },
+     "longest dimension": "0.78 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-0.69 meters",
+      "y coordinate": "5.54 meters",
+      "height above floor": "-0.01 meters"
+     },
+     "longest dimension": "0.73 meters"
+    }
+   ]
+  },
+  "fireplace": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "0.14 meters",
+      "y coordinate": "4.16 meters",
+      "height above floor": "0.23 meters"
+     },
+     "longest dimension": "2.24 meters"
+    }
+   ]
+  },
+  "sofa": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-4.17 meters",
+      "y coordinate": "4.32 meters",
+      "height above floor": "-0.08 meters"
+     },
+     "longest dimension": "0.57 meters"
+    }
+   ]
+  },
+  "stool": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-4.55 meters",
+      "y coordinate": "3.4 meters",
+      "height above floor": "-0.15 meters"
+     },
+     "longest dimension": "0.35 meters"
+    }
+   ]
+  },
+  "table": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-0.93 meters",
+      "y coordinate": "2.7 meters",
+      "height above floor": "-0.07 meters"
+     },
+     "longest dimension": "0.55 meters"
+    }
+   ]
+  }
+ },
+ "room": {
+  "floor area": "22.8 square meters"
+ },
+ "closest classes distance meters from": {
+  "bed": {
+   "chair": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "table": {
+    "distance": "0.04 meters",
+    "closeness rank": 2
+   },
+   "fireplace": {
+    "distance": "0.07 meters",
+    "closeness rank": 3
+   },
+   "sofa": {
+    "distance": "0.3 meters",
+    "closeness rank": 4
+   },
+   "stool": {
+    "distance": "0.38 meters",
+    "closeness rank": 5
+   }
+  },
+  "chair": {
+   "bed": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "fireplace": {
+    "distance": "0.07 meters",
+    "closeness rank": 2
+   },
+   "stool": {
+    "distance": "0.29 meters",
+    "closeness rank": 3
+   },
+   "sofa": {
+    "distance": "0.88 meters",
+    "closeness rank": 4
+   },
+   "table": {
+    "distance": "2.56 meters",
+    "closeness rank": 5
+   }
+  },
+  "fireplace": {
+   "stool": {
+    "distance": "0.01 meters",
+    "closeness rank": 1
+   },
+   "bed": {
+    "distance": "0.07 meters",
+    "closeness rank": 2
+   },
+   "chair": {
+    "distance": "0.07 meters",
+    "closeness rank": 3
+   },
+   "sofa": {
+    "distance": "0.41 meters",
+    "closeness rank": 4
+   },
+   "table": {
+    "distance": "1.0 meters",
+    "closeness rank": 5
+   }
+  },
+  "sofa": {
+   "bed": {
+    "distance": "0.3 meters",
+    "closeness rank": 1
+   },
+   "fireplace": {
+    "distance": "0.41 meters",
+    "closeness rank": 2
+   },
+   "chair": {
+    "distance": "0.88 meters",
+    "closeness rank": 3
+   },
+   "stool": {
+    "distance": "0.89 meters",
+    "closeness rank": 4
+   },
+   "table": {
+    "distance": "3.29 meters",
+    "closeness rank": 5
+   }
+  },
+  "stool": {
+   "fireplace": {
+    "distance": "0.01 meters",
+    "closeness rank": 1
+   },
+   "chair": {
+    "distance": "0.29 meters",
+    "closeness rank": 2
+   },
+   "bed": {
+    "distance": "0.38 meters",
+    "closeness rank": 3
+   },
+   "sofa": {
+    "distance": "0.89 meters",
+    "closeness rank": 4
+   },
+   "table": {
+    "distance": "3.41 meters",
+    "closeness rank": 5
+   }
+  },
+  "table": {
+   "bed": {
+    "distance": "0.04 meters",
+    "closeness rank": 1
+   },
+   "fireplace": {
+    "distance": "1.0 meters",
+    "closeness rank": 2
+   },
+   "chair": {
+    "distance": "2.56 meters",
+    "closeness rank": 3
+   },
+   "sofa": {
+    "distance": "3.29 meters",
+    "closeness rank": 4
+   },
+   "stool": {
+    "distance": "3.41 meters",
+    "closeness rank": 5
+   }
+  }
+ },
+ "appearance order": ["bed", "chair", "table", "fireplace", "stool", "sofa"]
+}
\ No newline at end of file
diff --git a/data/spatial codes/sam3+depth-anything-3/metric/tracking/uniform/96/explicit/45261150.json b/data/spatial codes/sam3+depth-anything-3/metric/tracking/uniform/96/explicit/45261150.json
new file mode 100644
index 0000000000000000000000000000000000000000..7c87faeaae2814690b29546e1926d785f20883b5
--- /dev/null
+++ b/data/spatial codes/sam3+depth-anything-3/metric/tracking/uniform/96/explicit/45261150.json	
@@ -0,0 +1,173 @@
+{
+ "objects": {
+  "bed": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-1.67 meters",
+      "y coordinate": "0.78 meters",
+      "height above floor": "-0.41 meters"
+     },
+     "longest dimension": "1.96 meters"
+    }
+   ]
+  },
+  "refrigerator": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "0.65 meters",
+      "y coordinate": "0.73 meters",
+      "height above floor": "-0.17 meters"
+     },
+     "longest dimension": "0.9 meters"
+    }
+   ]
+  },
+  "sofa": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-1.38 meters",
+      "y coordinate": "1.18 meters",
+      "height above floor": "0.0 meters"
+     },
+     "longest dimension": "0.95 meters"
+    }
+   ]
+  },
+  "table": {
+   "count": 2,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-0.79 meters",
+      "y coordinate": "0.81 meters",
+      "height above floor": "0.76 meters"
+     },
+     "longest dimension": "1.14 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "0.86 meters",
+      "y coordinate": "0.81 meters",
+      "height above floor": "0.58 meters"
+     },
+     "longest dimension": "0.84 meters"
+    }
+   ]
+  },
+  "tv": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-1.08 meters",
+      "y coordinate": "-0.36 meters",
+      "height above floor": "1.94 meters"
+     },
+     "longest dimension": "0.88 meters"
+    }
+   ]
+  }
+ },
+ "room": {
+  "floor area": "15.3 square meters"
+ },
+ "closest classes distance meters from": {
+  "bed": {
+   "sofa": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "table": {
+    "distance": "0.48 meters",
+    "closeness rank": 2
+   },
+   "refrigerator": {
+    "distance": "0.97 meters",
+    "closeness rank": 3
+   },
+   "tv": {
+    "distance": "2.05 meters",
+    "closeness rank": 4
+   }
+  },
+  "refrigerator": {
+   "table": {
+    "distance": "0.61 meters",
+    "closeness rank": 1
+   },
+   "bed": {
+    "distance": "0.97 meters",
+    "closeness rank": 2
+   },
+   "sofa": {
+    "distance": "1.4 meters",
+    "closeness rank": 3
+   },
+   "tv": {
+    "distance": "2.5 meters",
+    "closeness rank": 4
+   }
+  },
+  "sofa": {
+   "bed": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "table": {
+    "distance": "0.54 meters",
+    "closeness rank": 2
+   },
+   "refrigerator": {
+    "distance": "1.4 meters",
+    "closeness rank": 3
+   },
+   "tv": {
+    "distance": "2.23 meters",
+    "closeness rank": 4
+   }
+  },
+  "table": {
+   "bed": {
+    "distance": "0.48 meters",
+    "closeness rank": 1
+   },
+   "sofa": {
+    "distance": "0.54 meters",
+    "closeness rank": 2
+   },
+   "refrigerator": {
+    "distance": "0.61 meters",
+    "closeness rank": 3
+   },
+   "tv": {
+    "distance": "1.24 meters",
+    "closeness rank": 4
+   }
+  },
+  "tv": {
+   "table": {
+    "distance": "1.24 meters",
+    "closeness rank": 1
+   },
+   "bed": {
+    "distance": "2.05 meters",
+    "closeness rank": 2
+   },
+   "sofa": {
+    "distance": "2.23 meters",
+    "closeness rank": 3
+   },
+   "refrigerator": {
+    "distance": "2.5 meters",
+    "closeness rank": 4
+   }
+  }
+ },
+ "appearance order": ["sofa", "bed", "refrigerator", "tv", "table"]
+}
\ No newline at end of file
diff --git a/data/spatial codes/sam3+depth-anything-3/metric/tracking/uniform/96/explicit/45261182.json b/data/spatial codes/sam3+depth-anything-3/metric/tracking/uniform/96/explicit/45261182.json
new file mode 100644
index 0000000000000000000000000000000000000000..60e693e9091b96b3286de55a442b8578c36d0353
--- /dev/null
+++ b/data/spatial codes/sam3+depth-anything-3/metric/tracking/uniform/96/explicit/45261182.json	
@@ -0,0 +1,87 @@
+{
+ "objects": {
+  "bed": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "2.36 meters",
+      "y coordinate": "1.43 meters",
+      "height above floor": "1.27 meters"
+     },
+     "longest dimension": "1.45 meters"
+    }
+   ]
+  },
+  "table": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-0.48 meters",
+      "y coordinate": "1.39 meters",
+      "height above floor": "-0.65 meters"
+     },
+     "longest dimension": "0.33 meters"
+    }
+   ]
+  },
+  "toilet": {
+   "count": 2,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-0.5 meters",
+      "y coordinate": "1.4 meters",
+      "height above floor": "-0.0 meters"
+     },
+     "longest dimension": "0.68 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-0.5 meters",
+      "y coordinate": "1.4 meters",
+      "height above floor": "-0.06 meters"
+     },
+     "longest dimension": "0.87 meters"
+    }
+   ]
+  }
+ },
+ "room": {
+  "floor area": "6.0 square meters"
+ },
+ "closest classes distance meters from": {
+  "bed": {
+   "toilet": {
+    "distance": "2.21 meters",
+    "closeness rank": 1
+   },
+   "table": {
+    "distance": "2.79 meters",
+    "closeness rank": 2
+   }
+  },
+  "table": {
+   "toilet": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "bed": {
+    "distance": "2.79 meters",
+    "closeness rank": 2
+   }
+  },
+  "toilet": {
+   "table": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "bed": {
+    "distance": "2.21 meters",
+    "closeness rank": 2
+   }
+  }
+ },
+ "appearance order": ["toilet", "bed", "table"]
+}
\ No newline at end of file
diff --git a/data/spatial codes/sam3+depth-anything-3/metric/tracking/uniform/96/explicit/45662970.json b/data/spatial codes/sam3+depth-anything-3/metric/tracking/uniform/96/explicit/45662970.json
new file mode 100644
index 0000000000000000000000000000000000000000..6fe9401da56977f139315368cc12780c9a718f34
--- /dev/null
+++ b/data/spatial codes/sam3+depth-anything-3/metric/tracking/uniform/96/explicit/45662970.json	
@@ -0,0 +1,142 @@
+{
+ "objects": {
+  "chair": {
+   "count": 2,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "0.94 meters",
+      "y coordinate": "0.83 meters",
+      "height above floor": "-0.21 meters"
+     },
+     "longest dimension": "0.09 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "0.91 meters",
+      "y coordinate": "0.81 meters",
+      "height above floor": "-0.09 meters"
+     },
+     "longest dimension": "0.06 meters"
+    }
+   ]
+  },
+  "dishwasher": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "0.08 meters",
+      "y coordinate": "1.51 meters",
+      "height above floor": "0.44 meters"
+     },
+     "longest dimension": "0.79 meters"
+    }
+   ]
+  },
+  "toilet": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "0.31 meters",
+      "y coordinate": "1.08 meters",
+      "height above floor": "0.04 meters"
+     },
+     "longest dimension": "0.3 meters"
+    }
+   ]
+  },
+  "washer": {
+   "count": 3,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "0.42 meters",
+      "y coordinate": "1.17 meters",
+      "height above floor": "-0.13 meters"
+     },
+     "longest dimension": "0.55 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "0.07 meters",
+      "y coordinate": "1.35 meters",
+      "height above floor": "-0.91 meters"
+     },
+     "longest dimension": "0.65 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "0.08 meters",
+      "y coordinate": "1.51 meters",
+      "height above floor": "0.44 meters"
+     },
+     "longest dimension": "0.78 meters"
+    }
+   ]
+  }
+ },
+ "room": {
+  "floor area": "7.1 square meters"
+ },
+ "closest classes distance meters from": {
+  "chair": {
+   "washer": {
+    "distance": "0.39 meters",
+    "closeness rank": 1
+   },
+   "toilet": {
+    "distance": "0.53 meters",
+    "closeness rank": 2
+   },
+   "dishwasher": {
+    "distance": "0.99 meters",
+    "closeness rank": 3
+   }
+  },
+  "dishwasher": {
+   "toilet": {
+    "distance": "0.21 meters",
+    "closeness rank": 1
+   },
+   "washer": {
+    "distance": "0.22 meters",
+    "closeness rank": 2
+   },
+   "chair": {
+    "distance": "0.99 meters",
+    "closeness rank": 3
+   }
+  },
+  "toilet": {
+   "washer": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "dishwasher": {
+    "distance": "0.21 meters",
+    "closeness rank": 2
+   },
+   "chair": {
+    "distance": "0.53 meters",
+    "closeness rank": 3
+   }
+  },
+  "washer": {
+   "toilet": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "dishwasher": {
+    "distance": "0.22 meters",
+    "closeness rank": 2
+   },
+   "chair": {
+    "distance": "0.39 meters",
+    "closeness rank": 3
+   }
+  }
+ },
+ "appearance order": ["washer", "toilet", "dishwasher", "chair"]
+}
\ No newline at end of file
diff --git a/data/spatial codes/sam3+depth-anything-3/metric/tracking/uniform/96/explicit/45662987.json b/data/spatial codes/sam3+depth-anything-3/metric/tracking/uniform/96/explicit/45662987.json
new file mode 100644
index 0000000000000000000000000000000000000000..373f23f526166ea9493ec17922e55c72622cc52d
--- /dev/null
+++ b/data/spatial codes/sam3+depth-anything-3/metric/tracking/uniform/96/explicit/45662987.json	
@@ -0,0 +1,260 @@
+{
+ "objects": {
+  "chair": {
+   "count": 2,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "0.66 meters",
+      "y coordinate": "4.42 meters",
+      "height above floor": "-3.15 meters"
+     },
+     "longest dimension": "0.67 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "0.65 meters",
+      "y coordinate": "4.49 meters",
+      "height above floor": "-1.81 meters"
+     },
+     "longest dimension": "0.69 meters"
+    }
+   ]
+  },
+  "fireplace": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "0.57 meters",
+      "y coordinate": "2.12 meters",
+      "height above floor": "-0.02 meters"
+     },
+     "longest dimension": "0.93 meters"
+    }
+   ]
+  },
+  "sofa": {
+   "count": 3,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "0.6 meters",
+      "y coordinate": "0.81 meters",
+      "height above floor": "-1.41 meters"
+     },
+     "longest dimension": "0.57 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "0.6 meters",
+      "y coordinate": "1.58 meters",
+      "height above floor": "-4.2 meters"
+     },
+     "longest dimension": "0.91 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "0.54 meters",
+      "y coordinate": "0.67 meters",
+      "height above floor": "-2.64 meters"
+     },
+     "longest dimension": "1.83 meters"
+    }
+   ]
+  },
+  "stove": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "0.99 meters",
+      "y coordinate": "2.09 meters",
+      "height above floor": "-0.28 meters"
+     },
+     "longest dimension": "1.15 meters"
+    }
+   ]
+  },
+  "table": {
+   "count": 2,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "0.7 meters",
+      "y coordinate": "2.57 meters",
+      "height above floor": "-3.03 meters"
+     },
+     "longest dimension": "1.27 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "0.58 meters",
+      "y coordinate": "4.75 meters",
+      "height above floor": "-2.57 meters"
+     },
+     "longest dimension": "0.63 meters"
+    }
+   ]
+  },
+  "tv": {
+   "count": 2,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "0.11 meters",
+      "y coordinate": "3.66 meters",
+      "height above floor": "-0.26 meters"
+     },
+     "longest dimension": "1.01 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-0.1 meters",
+      "y coordinate": "3.58 meters",
+      "height above floor": "-0.25 meters"
+     },
+     "longest dimension": "1.34 meters"
+    }
+   ]
+  }
+ },
+ "room": {
+  "floor area": "25.5 square meters"
+ },
+ "closest classes distance meters from": {
+  "chair": {
+   "table": {
+    "distance": "0.91 meters",
+    "closeness rank": 1
+   },
+   "tv": {
+    "distance": "2.59 meters",
+    "closeness rank": 2
+   },
+   "stove": {
+    "distance": "2.94 meters",
+    "closeness rank": 3
+   },
+   "sofa": {
+    "distance": "3.36 meters",
+    "closeness rank": 4
+   },
+   "fireplace": {
+    "distance": "3.39 meters",
+    "closeness rank": 5
+   }
+  },
+  "fireplace": {
+   "stove": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "tv": {
+    "distance": "0.61 meters",
+    "closeness rank": 2
+   },
+   "sofa": {
+    "distance": "1.46 meters",
+    "closeness rank": 3
+   },
+   "table": {
+    "distance": "2.53 meters",
+    "closeness rank": 4
+   },
+   "chair": {
+    "distance": "3.39 meters",
+    "closeness rank": 5
+   }
+  },
+  "sofa": {
+   "stove": {
+    "distance": "1.03 meters",
+    "closeness rank": 1
+   },
+   "table": {
+    "distance": "1.1 meters",
+    "closeness rank": 2
+   },
+   "fireplace": {
+    "distance": "1.46 meters",
+    "closeness rank": 3
+   },
+   "tv": {
+    "distance": "2.54 meters",
+    "closeness rank": 4
+   },
+   "chair": {
+    "distance": "3.36 meters",
+    "closeness rank": 5
+   }
+  },
+  "stove": {
+   "fireplace": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "tv": {
+    "distance": "0.83 meters",
+    "closeness rank": 2
+   },
+   "sofa": {
+    "distance": "1.03 meters",
+    "closeness rank": 3
+   },
+   "table": {
+    "distance": "2.28 meters",
+    "closeness rank": 4
+   },
+   "chair": {
+    "distance": "2.94 meters",
+    "closeness rank": 5
+   }
+  },
+  "table": {
+   "chair": {
+    "distance": "0.91 meters",
+    "closeness rank": 1
+   },
+   "sofa": {
+    "distance": "1.1 meters",
+    "closeness rank": 2
+   },
+   "stove": {
+    "distance": "2.28 meters",
+    "closeness rank": 3
+   },
+   "tv": {
+    "distance": "2.52 meters",
+    "closeness rank": 4
+   },
+   "fireplace": {
+    "distance": "2.53 meters",
+    "closeness rank": 5
+   }
+  },
+  "tv": {
+   "fireplace": {
+    "distance": "0.61 meters",
+    "closeness rank": 1
+   },
+   "stove": {
+    "distance": "0.83 meters",
+    "closeness rank": 2
+   },
+   "table": {
+    "distance": "2.52 meters",
+    "closeness rank": 3
+   },
+   "sofa": {
+    "distance": "2.54 meters",
+    "closeness rank": 4
+   },
+   "chair": {
+    "distance": "2.59 meters",
+    "closeness rank": 5
+   }
+  }
+ },
+ "appearance order": ["sofa", "tv", "chair", "table", "fireplace", "stove"]
+}
\ No newline at end of file
diff --git a/data/spatial codes/sam3+depth-anything-3/metric/tracking/uniform/96/explicit/45663114.json b/data/spatial codes/sam3+depth-anything-3/metric/tracking/uniform/96/explicit/45663114.json
new file mode 100644
index 0000000000000000000000000000000000000000..30738a4177ff0369f3d24c54ac6943e9f35c17d3
--- /dev/null
+++ b/data/spatial codes/sam3+depth-anything-3/metric/tracking/uniform/96/explicit/45663114.json	
@@ -0,0 +1,87 @@
+{
+ "objects": {
+  "bathtub": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "2.11 meters",
+      "y coordinate": "0.92 meters",
+      "height above floor": "0.07 meters"
+     },
+     "longest dimension": "1.08 meters"
+    }
+   ]
+  },
+  "refrigerator": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-0.81 meters",
+      "y coordinate": "0.35 meters",
+      "height above floor": "-0.11 meters"
+     },
+     "longest dimension": "0.82 meters"
+    }
+   ]
+  },
+  "toilet": {
+   "count": 2,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "2.5 meters",
+      "y coordinate": "0.84 meters",
+      "height above floor": "1.07 meters"
+     },
+     "longest dimension": "0.76 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "0.81 meters",
+      "y coordinate": "0.57 meters",
+      "height above floor": "1.31 meters"
+     },
+     "longest dimension": "0.77 meters"
+    }
+   ]
+  }
+ },
+ "room": {
+  "floor area": "12.8 square meters"
+ },
+ "closest classes distance meters from": {
+  "bathtub": {
+   "toilet": {
+    "distance": "0.33 meters",
+    "closeness rank": 1
+   },
+   "refrigerator": {
+    "distance": "0.68 meters",
+    "closeness rank": 2
+   }
+  },
+  "refrigerator": {
+   "bathtub": {
+    "distance": "0.68 meters",
+    "closeness rank": 1
+   },
+   "toilet": {
+    "distance": "1.3 meters",
+    "closeness rank": 2
+   }
+  },
+  "toilet": {
+   "bathtub": {
+    "distance": "0.33 meters",
+    "closeness rank": 1
+   },
+   "refrigerator": {
+    "distance": "1.3 meters",
+    "closeness rank": 2
+   }
+  }
+ },
+ "appearance order": ["bathtub", "toilet", "refrigerator"]
+}
\ No newline at end of file
diff --git a/data/spatial codes/sam3+depth-anything-3/metric/tracking/uniform/96/explicit/47115460.json b/data/spatial codes/sam3+depth-anything-3/metric/tracking/uniform/96/explicit/47115460.json
new file mode 100644
index 0000000000000000000000000000000000000000..f05e6044e8c5f8f574b669d97bcb0bc0575732ff
--- /dev/null
+++ b/data/spatial codes/sam3+depth-anything-3/metric/tracking/uniform/96/explicit/47115460.json	
@@ -0,0 +1,197 @@
+{
+ "objects": {
+  "bed": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "0.1 meters",
+      "y coordinate": "1.08 meters",
+      "height above floor": "-0.19 meters"
+     },
+     "longest dimension": "0.64 meters"
+    }
+   ]
+  },
+  "chair": {
+   "count": 4,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "0.16 meters",
+      "y coordinate": "2.34 meters",
+      "height above floor": "-0.14 meters"
+     },
+     "longest dimension": "0.88 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "0.47 meters",
+      "y coordinate": "1.61 meters",
+      "height above floor": "-0.21 meters"
+     },
+     "longest dimension": "0.6 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "0.56 meters",
+      "y coordinate": "1.91 meters",
+      "height above floor": "-0.12 meters"
+     },
+     "longest dimension": "0.33 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-0.58 meters",
+      "y coordinate": "2.05 meters",
+      "height above floor": "0.06 meters"
+     },
+     "longest dimension": "1.02 meters"
+    }
+   ]
+  },
+  "refrigerator": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "0.17 meters",
+      "y coordinate": "4.1 meters",
+      "height above floor": "1.74 meters"
+     },
+     "longest dimension": "1.42 meters"
+    }
+   ]
+  },
+  "stove": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "2.2 meters",
+      "y coordinate": "3.27 meters",
+      "height above floor": "0.16 meters"
+     },
+     "longest dimension": "0.68 meters"
+    }
+   ]
+  },
+  "table": {
+   "count": 2,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "0.42 meters",
+      "y coordinate": "1.75 meters",
+      "height above floor": "-0.06 meters"
+     },
+     "longest dimension": "0.75 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "0.1 meters",
+      "y coordinate": "1.08 meters",
+      "height above floor": "-0.19 meters"
+     },
+     "longest dimension": "0.64 meters"
+    }
+   ]
+  }
+ },
+ "room": {
+  "floor area": "18.2 square meters"
+ },
+ "closest classes distance meters from": {
+  "bed": {
+   "table": {
+    "distance": "0.03 meters",
+    "closeness rank": 1
+   },
+   "chair": {
+    "distance": "0.64 meters",
+    "closeness rank": 2
+   },
+   "stove": {
+    "distance": "2.47 meters",
+    "closeness rank": 3
+   },
+   "refrigerator": {
+    "distance": "2.68 meters",
+    "closeness rank": 4
+   }
+  },
+  "chair": {
+   "table": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "bed": {
+    "distance": "0.64 meters",
+    "closeness rank": 2
+   },
+   "refrigerator": {
+    "distance": "1.65 meters",
+    "closeness rank": 3
+   },
+   "stove": {
+    "distance": "1.73 meters",
+    "closeness rank": 4
+   }
+  },
+  "refrigerator": {
+   "chair": {
+    "distance": "1.65 meters",
+    "closeness rank": 1
+   },
+   "table": {
+    "distance": "1.65 meters",
+    "closeness rank": 2
+   },
+   "stove": {
+    "distance": "2.09 meters",
+    "closeness rank": 3
+   },
+   "bed": {
+    "distance": "2.68 meters",
+    "closeness rank": 4
+   }
+  },
+  "stove": {
+   "table": {
+    "distance": "1.6 meters",
+    "closeness rank": 1
+   },
+   "chair": {
+    "distance": "1.73 meters",
+    "closeness rank": 2
+   },
+   "refrigerator": {
+    "distance": "2.09 meters",
+    "closeness rank": 3
+   },
+   "bed": {
+    "distance": "2.47 meters",
+    "closeness rank": 4
+   }
+  },
+  "table": {
+   "chair": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "bed": {
+    "distance": "0.03 meters",
+    "closeness rank": 2
+   },
+   "stove": {
+    "distance": "1.6 meters",
+    "closeness rank": 3
+   },
+   "refrigerator": {
+    "distance": "1.65 meters",
+    "closeness rank": 4
+   }
+  }
+ },
+ "appearance order": ["chair", "table", "bed", "stove", "refrigerator"]
+}
\ No newline at end of file
diff --git a/data/spatial codes/sam3+depth-anything-3/metric/tracking/uniform/96/explicit/47115525.json b/data/spatial codes/sam3+depth-anything-3/metric/tracking/uniform/96/explicit/47115525.json
new file mode 100644
index 0000000000000000000000000000000000000000..5d4f9890baa7ced91e0c64cc8e1fa5fbfbcb0a2e
--- /dev/null
+++ b/data/spatial codes/sam3+depth-anything-3/metric/tracking/uniform/96/explicit/47115525.json	
@@ -0,0 +1,236 @@
+{
+ "objects": {
+  "bed": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "1.15 meters",
+      "y coordinate": "-0.87 meters",
+      "height above floor": "0.19 meters"
+     },
+     "longest dimension": "1.15 meters"
+    }
+   ]
+  },
+  "fireplace": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "2.47 meters",
+      "y coordinate": "0.99 meters",
+      "height above floor": "0.15 meters"
+     },
+     "longest dimension": "0.92 meters"
+    }
+   ]
+  },
+  "sofa": {
+   "count": 3,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "0.22 meters",
+      "y coordinate": "-1.17 meters",
+      "height above floor": "0.08 meters"
+     },
+     "longest dimension": "0.89 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-0.68 meters",
+      "y coordinate": "0.41 meters",
+      "height above floor": "-0.01 meters"
+     },
+     "longest dimension": "1.47 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-0.67 meters",
+      "y coordinate": "0.51 meters",
+      "height above floor": "-0.04 meters"
+     },
+     "longest dimension": "1.8 meters"
+    }
+   ]
+  },
+  "table": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "0.68 meters",
+      "y coordinate": "0.73 meters",
+      "height above floor": "-0.0 meters"
+     },
+     "longest dimension": "1.11 meters"
+    }
+   ]
+  },
+  "toilet": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "2.55 meters",
+      "y coordinate": "-0.88 meters",
+      "height above floor": "0.12 meters"
+     },
+     "longest dimension": "0.31 meters"
+    }
+   ]
+  },
+  "tv": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "2.25 meters",
+      "y coordinate": "2.42 meters",
+      "height above floor": "0.83 meters"
+     },
+     "longest dimension": "0.72 meters"
+    }
+   ]
+  }
+ },
+ "room": {
+  "floor area": "21.4 square meters"
+ },
+ "closest classes distance meters from": {
+  "bed": {
+   "sofa": {
+    "distance": "0.09 meters",
+    "closeness rank": 1
+   },
+   "toilet": {
+    "distance": "0.81 meters",
+    "closeness rank": 2
+   },
+   "table": {
+    "distance": "0.92 meters",
+    "closeness rank": 3
+   },
+   "fireplace": {
+    "distance": "1.2 meters",
+    "closeness rank": 4
+   },
+   "tv": {
+    "distance": "2.56 meters",
+    "closeness rank": 5
+   }
+  },
+  "fireplace": {
+   "tv": {
+    "distance": "0.82 meters",
+    "closeness rank": 1
+   },
+   "sofa": {
+    "distance": "0.96 meters",
+    "closeness rank": 2
+   },
+   "bed": {
+    "distance": "1.2 meters",
+    "closeness rank": 3
+   },
+   "toilet": {
+    "distance": "1.32 meters",
+    "closeness rank": 4
+   },
+   "table": {
+    "distance": "1.41 meters",
+    "closeness rank": 5
+   }
+  },
+  "sofa": {
+   "bed": {
+    "distance": "0.09 meters",
+    "closeness rank": 1
+   },
+   "toilet": {
+    "distance": "0.78 meters",
+    "closeness rank": 2
+   },
+   "fireplace": {
+    "distance": "0.96 meters",
+    "closeness rank": 3
+   },
+   "table": {
+    "distance": "1.04 meters",
+    "closeness rank": 4
+   },
+   "tv": {
+    "distance": "2.39 meters",
+    "closeness rank": 5
+   }
+  },
+  "table": {
+   "bed": {
+    "distance": "0.92 meters",
+    "closeness rank": 1
+   },
+   "sofa": {
+    "distance": "1.04 meters",
+    "closeness rank": 2
+   },
+   "fireplace": {
+    "distance": "1.41 meters",
+    "closeness rank": 3
+   },
+   "tv": {
+    "distance": "1.92 meters",
+    "closeness rank": 4
+   },
+   "toilet": {
+    "distance": "2.14 meters",
+    "closeness rank": 5
+   }
+  },
+  "toilet": {
+   "sofa": {
+    "distance": "0.78 meters",
+    "closeness rank": 1
+   },
+   "bed": {
+    "distance": "0.81 meters",
+    "closeness rank": 2
+   },
+   "fireplace": {
+    "distance": "1.32 meters",
+    "closeness rank": 3
+   },
+   "table": {
+    "distance": "2.14 meters",
+    "closeness rank": 4
+   },
+   "tv": {
+    "distance": "2.96 meters",
+    "closeness rank": 5
+   }
+  },
+  "tv": {
+   "fireplace": {
+    "distance": "0.82 meters",
+    "closeness rank": 1
+   },
+   "table": {
+    "distance": "1.92 meters",
+    "closeness rank": 2
+   },
+   "sofa": {
+    "distance": "2.39 meters",
+    "closeness rank": 3
+   },
+   "bed": {
+    "distance": "2.56 meters",
+    "closeness rank": 4
+   },
+   "toilet": {
+    "distance": "2.96 meters",
+    "closeness rank": 5
+   }
+  }
+ },
+ "appearance order": ["sofa", "table", "fireplace", "bed", "tv", "toilet"]
+}
\ No newline at end of file
diff --git a/data/spatial codes/sam3+depth-anything-3/metric/tracking/uniform/96/explicit/47204566.json b/data/spatial codes/sam3+depth-anything-3/metric/tracking/uniform/96/explicit/47204566.json
new file mode 100644
index 0000000000000000000000000000000000000000..558003e4ced14955edcd2664a776bc3f977e2a27
--- /dev/null
+++ b/data/spatial codes/sam3+depth-anything-3/metric/tracking/uniform/96/explicit/47204566.json	
@@ -0,0 +1,87 @@
+{
+ "objects": {
+  "chair": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "1.31 meters",
+      "y coordinate": "0.58 meters",
+      "height above floor": "0.01 meters"
+     },
+     "longest dimension": "0.6 meters"
+    }
+   ]
+  },
+  "stool": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "1.41 meters",
+      "y coordinate": "0.66 meters",
+      "height above floor": "-0.01 meters"
+     },
+     "longest dimension": "0.53 meters"
+    }
+   ]
+  },
+  "tv": {
+   "count": 2,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "1.06 meters",
+      "y coordinate": "1.3 meters",
+      "height above floor": "-0.48 meters"
+     },
+     "longest dimension": "0.54 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "1.04 meters",
+      "y coordinate": "1.23 meters",
+      "height above floor": "-0.5 meters"
+     },
+     "longest dimension": "0.54 meters"
+    }
+   ]
+  }
+ },
+ "room": {
+  "floor area": "10.2 square meters"
+ },
+ "closest classes distance meters from": {
+  "chair": {
+   "stool": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "tv": {
+    "distance": "0.55 meters",
+    "closeness rank": 2
+   }
+  },
+  "stool": {
+   "chair": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "tv": {
+    "distance": "0.55 meters",
+    "closeness rank": 2
+   }
+  },
+  "tv": {
+   "chair": {
+    "distance": "0.55 meters",
+    "closeness rank": 1
+   },
+   "stool": {
+    "distance": "0.55 meters",
+    "closeness rank": 2
+   }
+  }
+ },
+ "appearance order": ["tv", "chair", "stool"]
+}
\ No newline at end of file
diff --git a/data/spatial codes/sam3+depth-anything-3/metric/tracking/uniform/96/explicit/47204578.json b/data/spatial codes/sam3+depth-anything-3/metric/tracking/uniform/96/explicit/47204578.json
new file mode 100644
index 0000000000000000000000000000000000000000..8d645445a30f816d3516c9136355f6fed7ea7767
--- /dev/null
+++ b/data/spatial codes/sam3+depth-anything-3/metric/tracking/uniform/96/explicit/47204578.json	
@@ -0,0 +1,299 @@
+{
+ "objects": {
+  "bed": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "0.26 meters",
+      "y coordinate": "2.48 meters",
+      "height above floor": "2.32 meters"
+     },
+     "longest dimension": "2.97 meters"
+    }
+   ]
+  },
+  "fireplace": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-0.32 meters",
+      "y coordinate": "2.02 meters",
+      "height above floor": "-0.0 meters"
+     },
+     "longest dimension": "1.23 meters"
+    }
+   ]
+  },
+  "sofa": {
+   "count": 2,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "0.26 meters",
+      "y coordinate": "2.47 meters",
+      "height above floor": "2.33 meters"
+     },
+     "longest dimension": "2.94 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-0.1 meters",
+      "y coordinate": "1.64 meters",
+      "height above floor": "0.0 meters"
+     },
+     "longest dimension": "1.19 meters"
+    }
+   ]
+  },
+  "stool": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "1.03 meters",
+      "y coordinate": "0.88 meters",
+      "height above floor": "-0.09 meters"
+     },
+     "longest dimension": "0.42 meters"
+    }
+   ]
+  },
+  "table": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "0.98 meters",
+      "y coordinate": "1.7 meters",
+      "height above floor": "2.67 meters"
+     },
+     "longest dimension": "0.67 meters"
+    }
+   ]
+  },
+  "toilet": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "1.01 meters",
+      "y coordinate": "0.99 meters",
+      "height above floor": "-0.0 meters"
+     },
+     "longest dimension": "0.38 meters"
+    }
+   ]
+  },
+  "tv": {
+   "count": 2,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-0.32 meters",
+      "y coordinate": "2.08 meters",
+      "height above floor": "-0.03 meters"
+     },
+     "longest dimension": "1.17 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-0.25 meters",
+      "y coordinate": "1.63 meters",
+      "height above floor": "0.0 meters"
+     },
+     "longest dimension": "1.28 meters"
+    }
+   ]
+  }
+ },
+ "room": {
+  "floor area": "17.5 square meters"
+ },
+ "closest classes distance meters from": {
+  "bed": {
+   "sofa": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "table": {
+    "distance": "0.15 meters",
+    "closeness rank": 2
+   },
+   "fireplace": {
+    "distance": "1.59 meters",
+    "closeness rank": 3
+   },
+   "tv": {
+    "distance": "1.59 meters",
+    "closeness rank": 4
+   },
+   "toilet": {
+    "distance": "2.29 meters",
+    "closeness rank": 5
+   },
+   "stool": {
+    "distance": "2.33 meters",
+    "closeness rank": 6
+   }
+  },
+  "fireplace": {
+   "tv": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "stool": {
+    "distance": "0.66 meters",
+    "closeness rank": 2
+   },
+   "toilet": {
+    "distance": "0.67 meters",
+    "closeness rank": 3
+   },
+   "bed": {
+    "distance": "1.59 meters",
+    "closeness rank": 4
+   },
+   "sofa": {
+    "distance": "1.59 meters",
+    "closeness rank": 5
+   },
+   "table": {
+    "distance": "2.45 meters",
+    "closeness rank": 6
+   }
+  },
+  "sofa": {
+   "bed": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "table": {
+    "distance": "0.01 meters",
+    "closeness rank": 2
+   },
+   "fireplace": {
+    "distance": "1.59 meters",
+    "closeness rank": 3
+   },
+   "tv": {
+    "distance": "1.59 meters",
+    "closeness rank": 4
+   },
+   "toilet": {
+    "distance": "2.29 meters",
+    "closeness rank": 5
+   },
+   "stool": {
+    "distance": "2.33 meters",
+    "closeness rank": 6
+   }
+  },
+  "stool": {
+   "toilet": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "fireplace": {
+    "distance": "0.66 meters",
+    "closeness rank": 2
+   },
+   "tv": {
+    "distance": "0.8 meters",
+    "closeness rank": 3
+   },
+   "bed": {
+    "distance": "2.33 meters",
+    "closeness rank": 4
+   },
+   "sofa": {
+    "distance": "2.33 meters",
+    "closeness rank": 5
+   },
+   "table": {
+    "distance": "2.52 meters",
+    "closeness rank": 6
+   }
+  },
+  "table": {
+   "sofa": {
+    "distance": "0.01 meters",
+    "closeness rank": 1
+   },
+   "bed": {
+    "distance": "0.15 meters",
+    "closeness rank": 2
+   },
+   "fireplace": {
+    "distance": "2.45 meters",
+    "closeness rank": 3
+   },
+   "tv": {
+    "distance": "2.45 meters",
+    "closeness rank": 4
+   },
+   "toilet": {
+    "distance": "2.47 meters",
+    "closeness rank": 5
+   },
+   "stool": {
+    "distance": "2.52 meters",
+    "closeness rank": 6
+   }
+  },
+  "toilet": {
+   "stool": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "fireplace": {
+    "distance": "0.67 meters",
+    "closeness rank": 2
+   },
+   "tv": {
+    "distance": "0.8 meters",
+    "closeness rank": 3
+   },
+   "bed": {
+    "distance": "2.29 meters",
+    "closeness rank": 4
+   },
+   "sofa": {
+    "distance": "2.29 meters",
+    "closeness rank": 5
+   },
+   "table": {
+    "distance": "2.47 meters",
+    "closeness rank": 6
+   }
+  },
+  "tv": {
+   "fireplace": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "stool": {
+    "distance": "0.8 meters",
+    "closeness rank": 2
+   },
+   "toilet": {
+    "distance": "0.8 meters",
+    "closeness rank": 3
+   },
+   "bed": {
+    "distance": "1.59 meters",
+    "closeness rank": 4
+   },
+   "sofa": {
+    "distance": "1.59 meters",
+    "closeness rank": 5
+   },
+   "table": {
+    "distance": "2.45 meters",
+    "closeness rank": 6
+   }
+  }
+ },
+ "appearance order": ["sofa", "tv", "stool", "table", "fireplace", "bed", "toilet"]
+}
\ No newline at end of file
diff --git a/data/spatial codes/sam3+depth-anything-3/metric/tracking/uniform/96/explicit/47204607.json b/data/spatial codes/sam3+depth-anything-3/metric/tracking/uniform/96/explicit/47204607.json
new file mode 100644
index 0000000000000000000000000000000000000000..29bd5be3fbc0d76fac11c2c83a59125b148a9ca4
--- /dev/null
+++ b/data/spatial codes/sam3+depth-anything-3/metric/tracking/uniform/96/explicit/47204607.json	
@@ -0,0 +1,260 @@
+{
+ "objects": {
+  "chair": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "0.56 meters",
+      "y coordinate": "3.78 meters",
+      "height above floor": "0.06 meters"
+     },
+     "longest dimension": "1.81 meters"
+    }
+   ]
+  },
+  "sofa": {
+   "count": 3,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-1.62 meters",
+      "y coordinate": "2.37 meters",
+      "height above floor": "0.12 meters"
+     },
+     "longest dimension": "1.19 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "0.59 meters",
+      "y coordinate": "3.88 meters",
+      "height above floor": "0.06 meters"
+     },
+     "longest dimension": "1.24 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-0.87 meters",
+      "y coordinate": "2.37 meters",
+      "height above floor": "0.12 meters"
+     },
+     "longest dimension": "0.72 meters"
+    }
+   ]
+  },
+  "stool": {
+   "count": 2,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "0.55 meters",
+      "y coordinate": "3.58 meters",
+      "height above floor": "0.06 meters"
+     },
+     "longest dimension": "1.85 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-2.62 meters",
+      "y coordinate": "2.96 meters",
+      "height above floor": "-0.13 meters"
+     },
+     "longest dimension": "0.48 meters"
+    }
+   ]
+  },
+  "table": {
+   "count": 3,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-1.01 meters",
+      "y coordinate": "3.8 meters",
+      "height above floor": "0.01 meters"
+     },
+     "longest dimension": "0.83 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-2.74 meters",
+      "y coordinate": "2.83 meters",
+      "height above floor": "0.04 meters"
+     },
+     "longest dimension": "0.63 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "1.59 meters",
+      "y coordinate": "1.98 meters",
+      "height above floor": "0.21 meters"
+     },
+     "longest dimension": "0.49 meters"
+    }
+   ]
+  },
+  "toilet": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "0.55 meters",
+      "y coordinate": "3.62 meters",
+      "height above floor": "0.05 meters"
+     },
+     "longest dimension": "1.86 meters"
+    }
+   ]
+  },
+  "tv": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-2.75 meters",
+      "y coordinate": "4.62 meters",
+      "height above floor": "0.25 meters"
+     },
+     "longest dimension": "0.95 meters"
+    }
+   ]
+  }
+ },
+ "room": {
+  "floor area": "25.7 square meters"
+ },
+ "closest classes distance meters from": {
+  "chair": {
+   "sofa": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "stool": {
+    "distance": "0.0 meters",
+    "closeness rank": 2
+   },
+   "toilet": {
+    "distance": "0.0 meters",
+    "closeness rank": 3
+   },
+   "table": {
+    "distance": "0.93 meters",
+    "closeness rank": 4
+   },
+   "tv": {
+    "distance": "1.95 meters",
+    "closeness rank": 5
+   }
+  },
+  "sofa": {
+   "chair": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "stool": {
+    "distance": "0.0 meters",
+    "closeness rank": 2
+   },
+   "toilet": {
+    "distance": "0.0 meters",
+    "closeness rank": 3
+   },
+   "table": {
+    "distance": "0.94 meters",
+    "closeness rank": 4
+   },
+   "tv": {
+    "distance": "1.72 meters",
+    "closeness rank": 5
+   }
+  },
+  "stool": {
+   "chair": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "sofa": {
+    "distance": "0.0 meters",
+    "closeness rank": 2
+   },
+   "toilet": {
+    "distance": "0.0 meters",
+    "closeness rank": 3
+   },
+   "table": {
+    "distance": "0.96 meters",
+    "closeness rank": 4
+   },
+   "tv": {
+    "distance": "1.65 meters",
+    "closeness rank": 5
+   }
+  },
+  "table": {
+   "chair": {
+    "distance": "0.93 meters",
+    "closeness rank": 1
+   },
+   "sofa": {
+    "distance": "0.94 meters",
+    "closeness rank": 2
+   },
+   "stool": {
+    "distance": "0.96 meters",
+    "closeness rank": 3
+   },
+   "toilet": {
+    "distance": "0.96 meters",
+    "closeness rank": 4
+   },
+   "tv": {
+    "distance": "1.32 meters",
+    "closeness rank": 5
+   }
+  },
+  "toilet": {
+   "chair": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "sofa": {
+    "distance": "0.0 meters",
+    "closeness rank": 2
+   },
+   "stool": {
+    "distance": "0.0 meters",
+    "closeness rank": 3
+   },
+   "table": {
+    "distance": "0.96 meters",
+    "closeness rank": 4
+   },
+   "tv": {
+    "distance": "1.65 meters",
+    "closeness rank": 5
+   }
+  },
+  "tv": {
+   "table": {
+    "distance": "1.32 meters",
+    "closeness rank": 1
+   },
+   "stool": {
+    "distance": "1.65 meters",
+    "closeness rank": 2
+   },
+   "toilet": {
+    "distance": "1.65 meters",
+    "closeness rank": 3
+   },
+   "sofa": {
+    "distance": "1.72 meters",
+    "closeness rank": 4
+   },
+   "chair": {
+    "distance": "1.95 meters",
+    "closeness rank": 5
+   }
+  }
+ },
+ "appearance order": ["table", "sofa", "stool", "toilet", "tv", "chair"]
+}
\ No newline at end of file
diff --git a/data/spatial codes/sam3+depth-anything-3/metric/tracking/uniform/96/explicit/47331063.json b/data/spatial codes/sam3+depth-anything-3/metric/tracking/uniform/96/explicit/47331063.json
new file mode 100644
index 0000000000000000000000000000000000000000..8be72e4864aff0f29976e4a4e47dda8940821b00
--- /dev/null
+++ b/data/spatial codes/sam3+depth-anything-3/metric/tracking/uniform/96/explicit/47331063.json	
@@ -0,0 +1,465 @@
+{
+ "objects": {
+  "bathtub": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "1.18 meters",
+      "y coordinate": "1.33 meters",
+      "height above floor": "0.34 meters"
+     },
+     "longest dimension": "0.47 meters"
+    }
+   ]
+  },
+  "bed": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-0.94 meters",
+      "y coordinate": "-0.82 meters",
+      "height above floor": "-0.02 meters"
+     },
+     "longest dimension": "1.23 meters"
+    }
+   ]
+  },
+  "chair": {
+   "count": 2,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "0.32 meters",
+      "y coordinate": "-1.06 meters",
+      "height above floor": "0.01 meters"
+     },
+     "longest dimension": "0.44 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "0.91 meters",
+      "y coordinate": "-1.91 meters",
+      "height above floor": "0.37 meters"
+     },
+     "longest dimension": "0.65 meters"
+    }
+   ]
+  },
+  "dishwasher": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "1.53 meters",
+      "y coordinate": "-1.26 meters",
+      "height above floor": "0.22 meters"
+     },
+     "longest dimension": "0.37 meters"
+    }
+   ]
+  },
+  "refrigerator": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "1.44 meters",
+      "y coordinate": "-1.88 meters",
+      "height above floor": "0.82 meters"
+     },
+     "longest dimension": "0.79 meters"
+    }
+   ]
+  },
+  "stool": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-0.1 meters",
+      "y coordinate": "1.17 meters",
+      "height above floor": "-0.23 meters"
+     },
+     "longest dimension": "0.38 meters"
+    }
+   ]
+  },
+  "stove": {
+   "count": 2,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "1.74 meters",
+      "y coordinate": "-1.38 meters",
+      "height above floor": "0.44 meters"
+     },
+     "longest dimension": "0.48 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "1.85 meters",
+      "y coordinate": "-1.22 meters",
+      "height above floor": "0.43 meters"
+     },
+     "longest dimension": "0.47 meters"
+    }
+   ]
+  },
+  "table": {
+   "count": 2,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "0.23 meters",
+      "y coordinate": "0.38 meters",
+      "height above floor": "0.28 meters"
+     },
+     "longest dimension": "0.74 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "0.16 meters",
+      "y coordinate": "-1.63 meters",
+      "height above floor": "0.31 meters"
+     },
+     "longest dimension": "0.67 meters"
+    }
+   ]
+  },
+  "tv": {
+   "count": 2,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-1.05 meters",
+      "y coordinate": "-1.76 meters",
+      "height above floor": "0.77 meters"
+     },
+     "longest dimension": "0.77 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "0.08 meters",
+      "y coordinate": "-1.9 meters",
+      "height above floor": "0.57 meters"
+     },
+     "longest dimension": "0.48 meters"
+    }
+   ]
+  }
+ },
+ "room": {
+  "floor area": "12.4 square meters"
+ },
+ "closest classes distance meters from": {
+  "bathtub": {
+   "table": {
+    "distance": "0.87 meters",
+    "closeness rank": 1
+   },
+   "stool": {
+    "distance": "0.98 meters",
+    "closeness rank": 2
+   },
+   "refrigerator": {
+    "distance": "1.15 meters",
+    "closeness rank": 3
+   },
+   "bed": {
+    "distance": "1.72 meters",
+    "closeness rank": 4
+   },
+   "chair": {
+    "distance": "2.25 meters",
+    "closeness rank": 5
+   },
+   "dishwasher": {
+    "distance": "2.33 meters",
+    "closeness rank": 6
+   },
+   "stove": {
+    "distance": "2.39 meters",
+    "closeness rank": 7
+   },
+   "tv": {
+    "distance": "3.52 meters",
+    "closeness rank": 8
+   }
+  },
+  "bed": {
+   "tv": {
+    "distance": "0.38 meters",
+    "closeness rank": 1
+   },
+   "chair": {
+    "distance": "0.65 meters",
+    "closeness rank": 2
+   },
+   "stool": {
+    "distance": "0.75 meters",
+    "closeness rank": 3
+   },
+   "table": {
+    "distance": "0.78 meters",
+    "closeness rank": 4
+   },
+   "refrigerator": {
+    "distance": "0.79 meters",
+    "closeness rank": 5
+   },
+   "bathtub": {
+    "distance": "1.72 meters",
+    "closeness rank": 6
+   },
+   "dishwasher": {
+    "distance": "2.21 meters",
+    "closeness rank": 7
+   },
+   "stove": {
+    "distance": "2.32 meters",
+    "closeness rank": 8
+   }
+  },
+  "chair": {
+   "table": {
+    "distance": "0.46 meters",
+    "closeness rank": 1
+   },
+   "bed": {
+    "distance": "0.65 meters",
+    "closeness rank": 2
+   },
+   "refrigerator": {
+    "distance": "0.89 meters",
+    "closeness rank": 3
+   },
+   "dishwasher": {
+    "distance": "1.07 meters",
+    "closeness rank": 4
+   },
+   "tv": {
+    "distance": "1.14 meters",
+    "closeness rank": 5
+   },
+   "stove": {
+    "distance": "1.2 meters",
+    "closeness rank": 6
+   },
+   "stool": {
+    "distance": "1.83 meters",
+    "closeness rank": 7
+   },
+   "bathtub": {
+    "distance": "2.25 meters",
+    "closeness rank": 8
+   }
+  },
+  "dishwasher": {
+   "refrigerator": {
+    "distance": "0.1 meters",
+    "closeness rank": 1
+   },
+   "stove": {
+    "distance": "0.15 meters",
+    "closeness rank": 2
+   },
+   "chair": {
+    "distance": "1.07 meters",
+    "closeness rank": 3
+   },
+   "table": {
+    "distance": "1.21 meters",
+    "closeness rank": 4
+   },
+   "bed": {
+    "distance": "2.21 meters",
+    "closeness rank": 5
+   },
+   "tv": {
+    "distance": "2.28 meters",
+    "closeness rank": 6
+   },
+   "bathtub": {
+    "distance": "2.33 meters",
+    "closeness rank": 7
+   },
+   "stool": {
+    "distance": "2.59 meters",
+    "closeness rank": 8
+   }
+  },
+  "refrigerator": {
+   "table": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "stove": {
+    "distance": "0.04 meters",
+    "closeness rank": 2
+   },
+   "dishwasher": {
+    "distance": "0.1 meters",
+    "closeness rank": 3
+   },
+   "stool": {
+    "distance": "0.71 meters",
+    "closeness rank": 4
+   },
+   "bed": {
+    "distance": "0.79 meters",
+    "closeness rank": 5
+   },
+   "chair": {
+    "distance": "0.89 meters",
+    "closeness rank": 6
+   },
+   "bathtub": {
+    "distance": "1.15 meters",
+    "closeness rank": 7
+   },
+   "tv": {
+    "distance": "2.11 meters",
+    "closeness rank": 8
+   }
+  },
+  "stool": {
+   "table": {
+    "distance": "0.63 meters",
+    "closeness rank": 1
+   },
+   "refrigerator": {
+    "distance": "0.71 meters",
+    "closeness rank": 2
+   },
+   "bed": {
+    "distance": "0.75 meters",
+    "closeness rank": 3
+   },
+   "bathtub": {
+    "distance": "0.98 meters",
+    "closeness rank": 4
+   },
+   "chair": {
+    "distance": "1.83 meters",
+    "closeness rank": 5
+   },
+   "dishwasher": {
+    "distance": "2.59 meters",
+    "closeness rank": 6
+   },
+   "stove": {
+    "distance": "2.72 meters",
+    "closeness rank": 7
+   },
+   "tv": {
+    "distance": "2.95 meters",
+    "closeness rank": 8
+   }
+  },
+  "stove": {
+   "refrigerator": {
+    "distance": "0.04 meters",
+    "closeness rank": 1
+   },
+   "dishwasher": {
+    "distance": "0.15 meters",
+    "closeness rank": 2
+   },
+   "chair": {
+    "distance": "1.2 meters",
+    "closeness rank": 3
+   },
+   "table": {
+    "distance": "1.3 meters",
+    "closeness rank": 4
+   },
+   "bed": {
+    "distance": "2.32 meters",
+    "closeness rank": 5
+   },
+   "tv": {
+    "distance": "2.33 meters",
+    "closeness rank": 6
+   },
+   "bathtub": {
+    "distance": "2.39 meters",
+    "closeness rank": 7
+   },
+   "stool": {
+    "distance": "2.72 meters",
+    "closeness rank": 8
+   }
+  },
+  "table": {
+   "refrigerator": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "chair": {
+    "distance": "0.46 meters",
+    "closeness rank": 2
+   },
+   "stool": {
+    "distance": "0.63 meters",
+    "closeness rank": 3
+   },
+   "bed": {
+    "distance": "0.78 meters",
+    "closeness rank": 4
+   },
+   "bathtub": {
+    "distance": "0.87 meters",
+    "closeness rank": 5
+   },
+   "dishwasher": {
+    "distance": "1.21 meters",
+    "closeness rank": 6
+   },
+   "stove": {
+    "distance": "1.3 meters",
+    "closeness rank": 7
+   },
+   "tv": {
+    "distance": "1.68 meters",
+    "closeness rank": 8
+   }
+  },
+  "tv": {
+   "bed": {
+    "distance": "0.38 meters",
+    "closeness rank": 1
+   },
+   "chair": {
+    "distance": "1.14 meters",
+    "closeness rank": 2
+   },
+   "table": {
+    "distance": "1.68 meters",
+    "closeness rank": 3
+   },
+   "refrigerator": {
+    "distance": "2.11 meters",
+    "closeness rank": 4
+   },
+   "dishwasher": {
+    "distance": "2.28 meters",
+    "closeness rank": 5
+   },
+   "stove": {
+    "distance": "2.33 meters",
+    "closeness rank": 6
+   },
+   "stool": {
+    "distance": "2.95 meters",
+    "closeness rank": 7
+   },
+   "bathtub": {
+    "distance": "3.52 meters",
+    "closeness rank": 8
+   }
+  }
+ },
+ "appearance order": ["bed", "tv", "table", "chair", "refrigerator", "stove", "dishwasher", "bathtub", "stool"]
+}
\ No newline at end of file
diff --git a/data/spatial codes/sam3+depth-anything-3/metric/tracking/uniform/96/explicit/47331654.json b/data/spatial codes/sam3+depth-anything-3/metric/tracking/uniform/96/explicit/47331654.json
new file mode 100644
index 0000000000000000000000000000000000000000..dc2491e8ffdca64dd3ab6c34b29cd7bd1b4f7e26
--- /dev/null
+++ b/data/spatial codes/sam3+depth-anything-3/metric/tracking/uniform/96/explicit/47331654.json	
@@ -0,0 +1,315 @@
+{
+ "objects": {
+  "bathtub": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "0.6 meters",
+      "y coordinate": "0.97 meters",
+      "height above floor": "0.07 meters"
+     },
+     "longest dimension": "0.68 meters"
+    }
+   ]
+  },
+  "chair": {
+   "count": 2,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "0.34 meters",
+      "y coordinate": "-0.11 meters",
+      "height above floor": "-0.25 meters"
+     },
+     "longest dimension": "0.65 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "0.3 meters",
+      "y coordinate": "-0.19 meters",
+      "height above floor": "-0.12 meters"
+     },
+     "longest dimension": "0.69 meters"
+    }
+   ]
+  },
+  "refrigerator": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-0.19 meters",
+      "y coordinate": "-1.25 meters",
+      "height above floor": "0.27 meters"
+     },
+     "longest dimension": "0.76 meters"
+    }
+   ]
+  },
+  "stool": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-1.11 meters",
+      "y coordinate": "-0.9 meters",
+      "height above floor": "-0.53 meters"
+     },
+     "longest dimension": "0.29 meters"
+    }
+   ]
+  },
+  "stove": {
+   "count": 2,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-0.46 meters",
+      "y coordinate": "0.75 meters",
+      "height above floor": "-0.09 meters"
+     },
+     "longest dimension": "0.77 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-0.36 meters",
+      "y coordinate": "0.97 meters",
+      "height above floor": "0.13 meters"
+     },
+     "longest dimension": "0.32 meters"
+    }
+   ]
+  },
+  "table": {
+   "count": 3,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "0.57 meters",
+      "y coordinate": "-0.57 meters",
+      "height above floor": "-0.03 meters"
+     },
+     "longest dimension": "0.52 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "1.19 meters",
+      "y coordinate": "-1.12 meters",
+      "height above floor": "-0.06 meters"
+     },
+     "longest dimension": "0.55 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "0.76 meters",
+      "y coordinate": "-1.55 meters",
+      "height above floor": "0.1 meters"
+     },
+     "longest dimension": "0.89 meters"
+    }
+   ]
+  },
+  "washer": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-1.03 meters",
+      "y coordinate": "0.66 meters",
+      "height above floor": "-0.2 meters"
+     },
+     "longest dimension": "0.75 meters"
+    }
+   ]
+  }
+ },
+ "room": {
+  "floor area": "11.7 square meters"
+ },
+ "closest classes distance meters from": {
+  "bathtub": {
+   "stove": {
+    "distance": "0.68 meters",
+    "closeness rank": 1
+   },
+   "table": {
+    "distance": "0.7 meters",
+    "closeness rank": 2
+   },
+   "chair": {
+    "distance": "0.8 meters",
+    "closeness rank": 3
+   },
+   "washer": {
+    "distance": "1.24 meters",
+    "closeness rank": 4
+   },
+   "refrigerator": {
+    "distance": "2.03 meters",
+    "closeness rank": 5
+   },
+   "stool": {
+    "distance": "2.28 meters",
+    "closeness rank": 6
+   }
+  },
+  "chair": {
+   "table": {
+    "distance": "0.06 meters",
+    "closeness rank": 1
+   },
+   "refrigerator": {
+    "distance": "0.49 meters",
+    "closeness rank": 2
+   },
+   "bathtub": {
+    "distance": "0.8 meters",
+    "closeness rank": 3
+   },
+   "stove": {
+    "distance": "0.91 meters",
+    "closeness rank": 4
+   },
+   "washer": {
+    "distance": "1.26 meters",
+    "closeness rank": 5
+   },
+   "stool": {
+    "distance": "1.5 meters",
+    "closeness rank": 6
+   }
+  },
+  "refrigerator": {
+   "chair": {
+    "distance": "0.49 meters",
+    "closeness rank": 1
+   },
+   "table": {
+    "distance": "0.52 meters",
+    "closeness rank": 2
+   },
+   "stool": {
+    "distance": "0.75 meters",
+    "closeness rank": 3
+   },
+   "stove": {
+    "distance": "1.93 meters",
+    "closeness rank": 4
+   },
+   "washer": {
+    "distance": "1.93 meters",
+    "closeness rank": 5
+   },
+   "bathtub": {
+    "distance": "2.03 meters",
+    "closeness rank": 6
+   }
+  },
+  "stool": {
+   "refrigerator": {
+    "distance": "0.75 meters",
+    "closeness rank": 1
+   },
+   "washer": {
+    "distance": "1.33 meters",
+    "closeness rank": 2
+   },
+   "stove": {
+    "distance": "1.49 meters",
+    "closeness rank": 3
+   },
+   "chair": {
+    "distance": "1.5 meters",
+    "closeness rank": 4
+   },
+   "table": {
+    "distance": "1.64 meters",
+    "closeness rank": 5
+   },
+   "bathtub": {
+    "distance": "2.28 meters",
+    "closeness rank": 6
+   }
+  },
+  "stove": {
+   "washer": {
+    "distance": "0.07 meters",
+    "closeness rank": 1
+   },
+   "bathtub": {
+    "distance": "0.68 meters",
+    "closeness rank": 2
+   },
+   "chair": {
+    "distance": "0.91 meters",
+    "closeness rank": 3
+   },
+   "table": {
+    "distance": "0.91 meters",
+    "closeness rank": 4
+   },
+   "stool": {
+    "distance": "1.49 meters",
+    "closeness rank": 5
+   },
+   "refrigerator": {
+    "distance": "1.93 meters",
+    "closeness rank": 6
+   }
+  },
+  "table": {
+   "chair": {
+    "distance": "0.06 meters",
+    "closeness rank": 1
+   },
+   "refrigerator": {
+    "distance": "0.52 meters",
+    "closeness rank": 2
+   },
+   "bathtub": {
+    "distance": "0.7 meters",
+    "closeness rank": 3
+   },
+   "stove": {
+    "distance": "0.91 meters",
+    "closeness rank": 4
+   },
+   "washer": {
+    "distance": "1.32 meters",
+    "closeness rank": 5
+   },
+   "stool": {
+    "distance": "1.64 meters",
+    "closeness rank": 6
+   }
+  },
+  "washer": {
+   "stove": {
+    "distance": "0.07 meters",
+    "closeness rank": 1
+   },
+   "bathtub": {
+    "distance": "1.24 meters",
+    "closeness rank": 2
+   },
+   "chair": {
+    "distance": "1.26 meters",
+    "closeness rank": 3
+   },
+   "table": {
+    "distance": "1.32 meters",
+    "closeness rank": 4
+   },
+   "stool": {
+    "distance": "1.33 meters",
+    "closeness rank": 5
+   },
+   "refrigerator": {
+    "distance": "1.93 meters",
+    "closeness rank": 6
+   }
+  }
+ },
+ "appearance order": ["chair", "stool", "stove", "washer", "bathtub", "table", "refrigerator"]
+}
\ No newline at end of file
diff --git a/data/spatial codes/sam3+depth-anything-3/metric/tracking/uniform/96/explicit/47331990.json b/data/spatial codes/sam3+depth-anything-3/metric/tracking/uniform/96/explicit/47331990.json
new file mode 100644
index 0000000000000000000000000000000000000000..480ceceb17ee1bf8b892c0cf5ee5ede8e0ef8dd9
--- /dev/null
+++ b/data/spatial codes/sam3+depth-anything-3/metric/tracking/uniform/96/explicit/47331990.json	
@@ -0,0 +1,307 @@
+{
+ "objects": {
+  "bathtub": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-0.44 meters",
+      "y coordinate": "1.97 meters",
+      "height above floor": "0.35 meters"
+     },
+     "longest dimension": "0.34 meters"
+    }
+   ]
+  },
+  "bed": {
+   "count": 3,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-1.73 meters",
+      "y coordinate": "0.9 meters",
+      "height above floor": "0.58 meters"
+     },
+     "longest dimension": "1.38 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-0.87 meters",
+      "y coordinate": "1.38 meters",
+      "height above floor": "0.38 meters"
+     },
+     "longest dimension": "0.82 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-1.86 meters",
+      "y coordinate": "0.15 meters",
+      "height above floor": "0.6 meters"
+     },
+     "longest dimension": "0.83 meters"
+    }
+   ]
+  },
+  "chair": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-0.33 meters",
+      "y coordinate": "1.74 meters",
+      "height above floor": "0.42 meters"
+     },
+     "longest dimension": "0.71 meters"
+    }
+   ]
+  },
+  "fireplace": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "0.46 meters",
+      "y coordinate": "0.81 meters",
+      "height above floor": "0.72 meters"
+     },
+     "longest dimension": "0.97 meters"
+    }
+   ]
+  },
+  "sofa": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-1.8 meters",
+      "y coordinate": "1.3 meters",
+      "height above floor": "0.35 meters"
+     },
+     "longest dimension": "1.25 meters"
+    }
+   ]
+  },
+  "table": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-2.67 meters",
+      "y coordinate": "-0.09 meters",
+      "height above floor": "1.33 meters"
+     },
+     "longest dimension": "2.18 meters"
+    }
+   ]
+  },
+  "tv": {
+   "count": 2,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "0.46 meters",
+      "y coordinate": "0.81 meters",
+      "height above floor": "0.72 meters"
+     },
+     "longest dimension": "0.95 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "0.67 meters",
+      "y coordinate": "1.31 meters",
+      "height above floor": "1.91 meters"
+     },
+     "longest dimension": "0.9 meters"
+    }
+   ]
+  }
+ },
+ "room": {
+  "floor area": "14.6 square meters"
+ },
+ "closest classes distance meters from": {
+  "bathtub": {
+   "chair": {
+    "distance": "0.07 meters",
+    "closeness rank": 1
+   },
+   "bed": {
+    "distance": "0.22 meters",
+    "closeness rank": 2
+   },
+   "table": {
+    "distance": "0.51 meters",
+    "closeness rank": 3
+   },
+   "sofa": {
+    "distance": "0.6 meters",
+    "closeness rank": 4
+   },
+   "fireplace": {
+    "distance": "0.99 meters",
+    "closeness rank": 5
+   },
+   "tv": {
+    "distance": "1.0 meters",
+    "closeness rank": 6
+   }
+  },
+  "bed": {
+   "sofa": {
+    "distance": "0.01 meters",
+    "closeness rank": 1
+   },
+   "chair": {
+    "distance": "0.07 meters",
+    "closeness rank": 2
+   },
+   "bathtub": {
+    "distance": "0.22 meters",
+    "closeness rank": 3
+   },
+   "table": {
+    "distance": "0.46 meters",
+    "closeness rank": 4
+   },
+   "fireplace": {
+    "distance": "0.55 meters",
+    "closeness rank": 5
+   },
+   "tv": {
+    "distance": "0.58 meters",
+    "closeness rank": 6
+   }
+  },
+  "chair": {
+   "bathtub": {
+    "distance": "0.07 meters",
+    "closeness rank": 1
+   },
+   "bed": {
+    "distance": "0.07 meters",
+    "closeness rank": 2
+   },
+   "table": {
+    "distance": "0.07 meters",
+    "closeness rank": 3
+   },
+   "fireplace": {
+    "distance": "0.45 meters",
+    "closeness rank": 4
+   },
+   "tv": {
+    "distance": "0.46 meters",
+    "closeness rank": 5
+   },
+   "sofa": {
+    "distance": "0.54 meters",
+    "closeness rank": 6
+   }
+  },
+  "fireplace": {
+   "tv": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "table": {
+    "distance": "0.17 meters",
+    "closeness rank": 2
+   },
+   "chair": {
+    "distance": "0.45 meters",
+    "closeness rank": 3
+   },
+   "bed": {
+    "distance": "0.55 meters",
+    "closeness rank": 4
+   },
+   "bathtub": {
+    "distance": "0.99 meters",
+    "closeness rank": 5
+   },
+   "sofa": {
+    "distance": "1.3 meters",
+    "closeness rank": 6
+   }
+  },
+  "sofa": {
+   "bed": {
+    "distance": "0.01 meters",
+    "closeness rank": 1
+   },
+   "table": {
+    "distance": "0.29 meters",
+    "closeness rank": 2
+   },
+   "chair": {
+    "distance": "0.54 meters",
+    "closeness rank": 3
+   },
+   "bathtub": {
+    "distance": "0.6 meters",
+    "closeness rank": 4
+   },
+   "fireplace": {
+    "distance": "1.3 meters",
+    "closeness rank": 5
+   },
+   "tv": {
+    "distance": "1.3 meters",
+    "closeness rank": 6
+   }
+  },
+  "table": {
+   "chair": {
+    "distance": "0.07 meters",
+    "closeness rank": 1
+   },
+   "fireplace": {
+    "distance": "0.17 meters",
+    "closeness rank": 2
+   },
+   "tv": {
+    "distance": "0.17 meters",
+    "closeness rank": 3
+   },
+   "sofa": {
+    "distance": "0.29 meters",
+    "closeness rank": 4
+   },
+   "bed": {
+    "distance": "0.46 meters",
+    "closeness rank": 5
+   },
+   "bathtub": {
+    "distance": "0.51 meters",
+    "closeness rank": 6
+   }
+  },
+  "tv": {
+   "fireplace": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "table": {
+    "distance": "0.17 meters",
+    "closeness rank": 2
+   },
+   "chair": {
+    "distance": "0.46 meters",
+    "closeness rank": 3
+   },
+   "bed": {
+    "distance": "0.58 meters",
+    "closeness rank": 4
+   },
+   "bathtub": {
+    "distance": "1.0 meters",
+    "closeness rank": 5
+   },
+   "sofa": {
+    "distance": "1.3 meters",
+    "closeness rank": 6
+   }
+  }
+ },
+ "appearance order": ["table", "bed", "sofa", "tv", "chair", "bathtub", "fireplace"]
+}
\ No newline at end of file
diff --git a/data/spatial codes/sam3+depth-anything-3/metric/tracking/uniform/96/explicit/47332005.json b/data/spatial codes/sam3+depth-anything-3/metric/tracking/uniform/96/explicit/47332005.json
new file mode 100644
index 0000000000000000000000000000000000000000..222e6c5c0fc4128ee92b88babd9287b02a6a0307
--- /dev/null
+++ b/data/spatial codes/sam3+depth-anything-3/metric/tracking/uniform/96/explicit/47332005.json	
@@ -0,0 +1,228 @@
+{
+ "objects": {
+  "chair": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-5.65 meters",
+      "y coordinate": "0.76 meters",
+      "height above floor": "0.9 meters"
+     },
+     "longest dimension": "0.55 meters"
+    }
+   ]
+  },
+  "dishwasher": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-0.61 meters",
+      "y coordinate": "1.27 meters",
+      "height above floor": "-0.12 meters"
+     },
+     "longest dimension": "0.66 meters"
+    }
+   ]
+  },
+  "refrigerator": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-0.23 meters",
+      "y coordinate": "1.07 meters",
+      "height above floor": "-1.71 meters"
+     },
+     "longest dimension": "0.64 meters"
+    }
+   ]
+  },
+  "sofa": {
+   "count": 2,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-4.53 meters",
+      "y coordinate": "1.39 meters",
+      "height above floor": "0.96 meters"
+     },
+     "longest dimension": "1.93 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-5.65 meters",
+      "y coordinate": "0.76 meters",
+      "height above floor": "0.9 meters"
+     },
+     "longest dimension": "0.55 meters"
+    }
+   ]
+  },
+  "table": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-1.94 meters",
+      "y coordinate": "1.74 meters",
+      "height above floor": "-0.52 meters"
+     },
+     "longest dimension": "1.85 meters"
+    }
+   ]
+  },
+  "toilet": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-0.62 meters",
+      "y coordinate": "1.05 meters",
+      "height above floor": "-0.06 meters"
+     },
+     "longest dimension": "0.4 meters"
+    }
+   ]
+  }
+ },
+ "room": {
+  "floor area": "9.0 square meters"
+ },
+ "closest classes distance meters from": {
+  "chair": {
+   "sofa": {
+    "distance": "0.78 meters",
+    "closeness rank": 1
+   },
+   "table": {
+    "distance": "3.79 meters",
+    "closeness rank": 2
+   },
+   "dishwasher": {
+    "distance": "4.64 meters",
+    "closeness rank": 3
+   },
+   "toilet": {
+    "distance": "4.66 meters",
+    "closeness rank": 4
+   },
+   "refrigerator": {
+    "distance": "5.48 meters",
+    "closeness rank": 5
+   }
+  },
+  "dishwasher": {
+   "toilet": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "refrigerator": {
+    "distance": "0.01 meters",
+    "closeness rank": 2
+   },
+   "table": {
+    "distance": "0.01 meters",
+    "closeness rank": 3
+   },
+   "sofa": {
+    "distance": "3.82 meters",
+    "closeness rank": 4
+   },
+   "chair": {
+    "distance": "4.64 meters",
+    "closeness rank": 5
+   }
+  },
+  "refrigerator": {
+   "dishwasher": {
+    "distance": "0.01 meters",
+    "closeness rank": 1
+   },
+   "table": {
+    "distance": "0.31 meters",
+    "closeness rank": 2
+   },
+   "toilet": {
+    "distance": "1.55 meters",
+    "closeness rank": 3
+   },
+   "sofa": {
+    "distance": "4.8 meters",
+    "closeness rank": 4
+   },
+   "chair": {
+    "distance": "5.48 meters",
+    "closeness rank": 5
+   }
+  },
+  "sofa": {
+   "chair": {
+    "distance": "0.78 meters",
+    "closeness rank": 1
+   },
+   "table": {
+    "distance": "3.01 meters",
+    "closeness rank": 2
+   },
+   "dishwasher": {
+    "distance": "3.82 meters",
+    "closeness rank": 3
+   },
+   "toilet": {
+    "distance": "3.83 meters",
+    "closeness rank": 4
+   },
+   "refrigerator": {
+    "distance": "4.8 meters",
+    "closeness rank": 5
+   }
+  },
+  "table": {
+   "dishwasher": {
+    "distance": "0.01 meters",
+    "closeness rank": 1
+   },
+   "toilet": {
+    "distance": "0.02 meters",
+    "closeness rank": 2
+   },
+   "refrigerator": {
+    "distance": "0.31 meters",
+    "closeness rank": 3
+   },
+   "sofa": {
+    "distance": "3.01 meters",
+    "closeness rank": 4
+   },
+   "chair": {
+    "distance": "3.79 meters",
+    "closeness rank": 5
+   }
+  },
+  "toilet": {
+   "dishwasher": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "table": {
+    "distance": "0.02 meters",
+    "closeness rank": 2
+   },
+   "refrigerator": {
+    "distance": "1.55 meters",
+    "closeness rank": 3
+   },
+   "sofa": {
+    "distance": "3.83 meters",
+    "closeness rank": 4
+   },
+   "chair": {
+    "distance": "4.66 meters",
+    "closeness rank": 5
+   }
+  }
+ },
+ "appearance order": ["table", "refrigerator", "dishwasher", "toilet", "chair", "sofa"]
+}
\ No newline at end of file
diff --git a/data/spatial codes/sam3+depth-anything-3/metric/tracking/uniform/96/explicit/47332899.json b/data/spatial codes/sam3+depth-anything-3/metric/tracking/uniform/96/explicit/47332899.json
new file mode 100644
index 0000000000000000000000000000000000000000..d4ce8f58c0369a3cde81c21003586fe698cd9d88
--- /dev/null
+++ b/data/spatial codes/sam3+depth-anything-3/metric/tracking/uniform/96/explicit/47332899.json	
@@ -0,0 +1,236 @@
+{
+ "objects": {
+  "bathtub": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-1.37 meters",
+      "y coordinate": "0.87 meters",
+      "height above floor": "0.12 meters"
+     },
+     "longest dimension": "1.9 meters"
+    }
+   ]
+  },
+  "bed": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-2.41 meters",
+      "y coordinate": "0.67 meters",
+      "height above floor": "0.4 meters"
+     },
+     "longest dimension": "1.6 meters"
+    }
+   ]
+  },
+  "chair": {
+   "count": 2,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-1.08 meters",
+      "y coordinate": "1.21 meters",
+      "height above floor": "0.1 meters"
+     },
+     "longest dimension": "1.87 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-1.5 meters",
+      "y coordinate": "0.75 meters",
+      "height above floor": "0.42 meters"
+     },
+     "longest dimension": "1.11 meters"
+    }
+   ]
+  },
+  "stool": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-2.45 meters",
+      "y coordinate": "-0.35 meters",
+      "height above floor": "-0.41 meters"
+     },
+     "longest dimension": "0.45 meters"
+    }
+   ]
+  },
+  "table": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-2.0 meters",
+      "y coordinate": "-0.68 meters",
+      "height above floor": "-0.07 meters"
+     },
+     "longest dimension": "1.18 meters"
+    }
+   ]
+  },
+  "tv": {
+   "count": 2,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-2.43 meters",
+      "y coordinate": "-1.04 meters",
+      "height above floor": "0.28 meters"
+     },
+     "longest dimension": "0.68 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "3.78 meters",
+      "y coordinate": "-0.8 meters",
+      "height above floor": "0.77 meters"
+     },
+     "longest dimension": "0.6 meters"
+    }
+   ]
+  }
+ },
+ "room": {
+  "floor area": "13.6 square meters"
+ },
+ "closest classes distance meters from": {
+  "bathtub": {
+   "bed": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "chair": {
+    "distance": "0.0 meters",
+    "closeness rank": 2
+   },
+   "stool": {
+    "distance": "0.75 meters",
+    "closeness rank": 3
+   },
+   "table": {
+    "distance": "1.2 meters",
+    "closeness rank": 4
+   },
+   "tv": {
+    "distance": "1.69 meters",
+    "closeness rank": 5
+   }
+  },
+  "bed": {
+   "bathtub": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "chair": {
+    "distance": "0.0 meters",
+    "closeness rank": 2
+   },
+   "stool": {
+    "distance": "0.67 meters",
+    "closeness rank": 3
+   },
+   "table": {
+    "distance": "1.12 meters",
+    "closeness rank": 4
+   },
+   "tv": {
+    "distance": "1.53 meters",
+    "closeness rank": 5
+   }
+  },
+  "chair": {
+   "bathtub": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "bed": {
+    "distance": "0.0 meters",
+    "closeness rank": 2
+   },
+   "stool": {
+    "distance": "0.67 meters",
+    "closeness rank": 3
+   },
+   "table": {
+    "distance": "1.13 meters",
+    "closeness rank": 4
+   },
+   "tv": {
+    "distance": "1.53 meters",
+    "closeness rank": 5
+   }
+  },
+  "stool": {
+   "table": {
+    "distance": "0.18 meters",
+    "closeness rank": 1
+   },
+   "bed": {
+    "distance": "0.67 meters",
+    "closeness rank": 2
+   },
+   "chair": {
+    "distance": "0.67 meters",
+    "closeness rank": 3
+   },
+   "tv": {
+    "distance": "0.69 meters",
+    "closeness rank": 4
+   },
+   "bathtub": {
+    "distance": "0.75 meters",
+    "closeness rank": 5
+   }
+  },
+  "table": {
+   "tv": {
+    "distance": "0.05 meters",
+    "closeness rank": 1
+   },
+   "stool": {
+    "distance": "0.18 meters",
+    "closeness rank": 2
+   },
+   "bed": {
+    "distance": "1.12 meters",
+    "closeness rank": 3
+   },
+   "chair": {
+    "distance": "1.13 meters",
+    "closeness rank": 4
+   },
+   "bathtub": {
+    "distance": "1.2 meters",
+    "closeness rank": 5
+   }
+  },
+  "tv": {
+   "table": {
+    "distance": "0.05 meters",
+    "closeness rank": 1
+   },
+   "stool": {
+    "distance": "0.69 meters",
+    "closeness rank": 2
+   },
+   "bed": {
+    "distance": "1.53 meters",
+    "closeness rank": 3
+   },
+   "chair": {
+    "distance": "1.53 meters",
+    "closeness rank": 4
+   },
+   "bathtub": {
+    "distance": "1.69 meters",
+    "closeness rank": 5
+   }
+  }
+ },
+ "appearance order": ["bed", "chair", "stool", "bathtub", "table", "tv"]
+}
\ No newline at end of file
diff --git a/data/spatial codes/sam3+depth-anything-3/metric/tracking/uniform/96/explicit/47332901.json b/data/spatial codes/sam3+depth-anything-3/metric/tracking/uniform/96/explicit/47332901.json
new file mode 100644
index 0000000000000000000000000000000000000000..2c7af3620c08e4ca48f877154c37a7fcd654df57
--- /dev/null
+++ b/data/spatial codes/sam3+depth-anything-3/metric/tracking/uniform/96/explicit/47332901.json	
@@ -0,0 +1,95 @@
+{
+ "objects": {
+  "refrigerator": {
+   "count": 2,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "0.09 meters",
+      "y coordinate": "0.56 meters",
+      "height above floor": "1.21 meters"
+     },
+     "longest dimension": "0.72 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-0.42 meters",
+      "y coordinate": "-1.83 meters",
+      "height above floor": "1.17 meters"
+     },
+     "longest dimension": "0.54 meters"
+    }
+   ]
+  },
+  "stove": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "0.03 meters",
+      "y coordinate": "-1.65 meters",
+      "height above floor": "0.66 meters"
+     },
+     "longest dimension": "0.73 meters"
+    }
+   ]
+  },
+  "table": {
+   "count": 2,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "0.55 meters",
+      "y coordinate": "-1.19 meters",
+      "height above floor": "0.02 meters"
+     },
+     "longest dimension": "1.05 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-1.13 meters",
+      "y coordinate": "0.18 meters",
+      "height above floor": "0.85 meters"
+     },
+     "longest dimension": "0.45 meters"
+    }
+   ]
+  }
+ },
+ "room": {
+  "floor area": "9.6 square meters"
+ },
+ "closest classes distance meters from": {
+  "refrigerator": {
+   "table": {
+    "distance": "0.55 meters",
+    "closeness rank": 1
+   },
+   "stove": {
+    "distance": "1.81 meters",
+    "closeness rank": 2
+   }
+  },
+  "stove": {
+   "table": {
+    "distance": "0.12 meters",
+    "closeness rank": 1
+   },
+   "refrigerator": {
+    "distance": "1.81 meters",
+    "closeness rank": 2
+   }
+  },
+  "table": {
+   "stove": {
+    "distance": "0.12 meters",
+    "closeness rank": 1
+   },
+   "refrigerator": {
+    "distance": "0.55 meters",
+    "closeness rank": 2
+   }
+  }
+ },
+ "appearance order": ["table", "refrigerator", "stove"]
+}
\ No newline at end of file
diff --git a/data/spatial codes/sam3+depth-anything-3/metric/tracking/uniform/96/explicit/47333436.json b/data/spatial codes/sam3+depth-anything-3/metric/tracking/uniform/96/explicit/47333436.json
new file mode 100644
index 0000000000000000000000000000000000000000..0dd088f42e90433c8b7851f1ff74231d11e7444a
--- /dev/null
+++ b/data/spatial codes/sam3+depth-anything-3/metric/tracking/uniform/96/explicit/47333436.json	
@@ -0,0 +1,173 @@
+{
+ "objects": {
+  "bed": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "0.17 meters",
+      "y coordinate": "0.88 meters",
+      "height above floor": "-0.19 meters"
+     },
+     "longest dimension": "1.11 meters"
+    }
+   ]
+  },
+  "chair": {
+   "count": 2,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-0.2 meters",
+      "y coordinate": "1.93 meters",
+      "height above floor": "0.06 meters"
+     },
+     "longest dimension": "0.88 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "1.68 meters",
+      "y coordinate": "1.15 meters",
+      "height above floor": "0.42 meters"
+     },
+     "longest dimension": "0.42 meters"
+    }
+   ]
+  },
+  "sofa": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "0.28 meters",
+      "y coordinate": "2.05 meters",
+      "height above floor": "0.11 meters"
+     },
+     "longest dimension": "1.32 meters"
+    }
+   ]
+  },
+  "table": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-0.96 meters",
+      "y coordinate": "-0.67 meters",
+      "height above floor": "0.83 meters"
+     },
+     "longest dimension": "0.45 meters"
+    }
+   ]
+  },
+  "tv": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-0.11 meters",
+      "y coordinate": "-0.69 meters",
+      "height above floor": "0.12 meters"
+     },
+     "longest dimension": "0.89 meters"
+    }
+   ]
+  }
+ },
+ "room": {
+  "floor area": "13.6 square meters"
+ },
+ "closest classes distance meters from": {
+  "bed": {
+   "chair": {
+    "distance": "0.14 meters",
+    "closeness rank": 1
+   },
+   "sofa": {
+    "distance": "0.14 meters",
+    "closeness rank": 2
+   },
+   "tv": {
+    "distance": "1.09 meters",
+    "closeness rank": 3
+   },
+   "table": {
+    "distance": "1.68 meters",
+    "closeness rank": 4
+   }
+  },
+  "chair": {
+   "sofa": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "bed": {
+    "distance": "0.14 meters",
+    "closeness rank": 2
+   },
+   "tv": {
+    "distance": "2.11 meters",
+    "closeness rank": 3
+   },
+   "table": {
+    "distance": "2.32 meters",
+    "closeness rank": 4
+   }
+  },
+  "sofa": {
+   "chair": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "bed": {
+    "distance": "0.14 meters",
+    "closeness rank": 2
+   },
+   "tv": {
+    "distance": "0.84 meters",
+    "closeness rank": 3
+   },
+   "table": {
+    "distance": "1.54 meters",
+    "closeness rank": 4
+   }
+  },
+  "table": {
+   "tv": {
+    "distance": "0.64 meters",
+    "closeness rank": 1
+   },
+   "sofa": {
+    "distance": "1.54 meters",
+    "closeness rank": 2
+   },
+   "bed": {
+    "distance": "1.68 meters",
+    "closeness rank": 3
+   },
+   "chair": {
+    "distance": "2.32 meters",
+    "closeness rank": 4
+   }
+  },
+  "tv": {
+   "table": {
+    "distance": "0.64 meters",
+    "closeness rank": 1
+   },
+   "sofa": {
+    "distance": "0.84 meters",
+    "closeness rank": 2
+   },
+   "bed": {
+    "distance": "1.09 meters",
+    "closeness rank": 3
+   },
+   "chair": {
+    "distance": "2.11 meters",
+    "closeness rank": 4
+   }
+  }
+ },
+ "appearance order": ["table", "tv", "chair", "sofa", "bed"]
+}
\ No newline at end of file
diff --git a/data/spatial codes/sam3+depth-anything-3/metric/tracking/uniform/96/explicit/47334238.json b/data/spatial codes/sam3+depth-anything-3/metric/tracking/uniform/96/explicit/47334238.json
new file mode 100644
index 0000000000000000000000000000000000000000..acf311e72440155c02a252853e29a7fb1706a070
--- /dev/null
+++ b/data/spatial codes/sam3+depth-anything-3/metric/tracking/uniform/96/explicit/47334238.json	
@@ -0,0 +1,300 @@
+{
+ "objects": {
+  "bed": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "1.28 meters",
+      "y coordinate": "-0.69 meters",
+      "height above floor": "0.24 meters"
+     },
+     "longest dimension": "0.68 meters"
+    }
+   ]
+  },
+  "chair": {
+   "count": 7,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-0.6 meters",
+      "y coordinate": "1.73 meters",
+      "height above floor": "0.06 meters"
+     },
+     "longest dimension": "1.33 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "1.02 meters",
+      "y coordinate": "-1.16 meters",
+      "height above floor": "0.03 meters"
+     },
+     "longest dimension": "0.67 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "0.78 meters",
+      "y coordinate": "2.3 meters",
+      "height above floor": "0.18 meters"
+     },
+     "longest dimension": "0.97 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "1.11 meters",
+      "y coordinate": "0.09 meters",
+      "height above floor": "0.12 meters"
+     },
+     "longest dimension": "0.76 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "1.96 meters",
+      "y coordinate": "-0.96 meters",
+      "height above floor": "-0.05 meters"
+     },
+     "longest dimension": "0.68 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "1.99 meters",
+      "y coordinate": "-0.97 meters",
+      "height above floor": "-0.04 meters"
+     },
+     "longest dimension": "0.76 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-1.6 meters",
+      "y coordinate": "0.33 meters",
+      "height above floor": "0.32 meters"
+     },
+     "longest dimension": "0.74 meters"
+    }
+   ]
+  },
+  "sofa": {
+   "count": 3,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "0.77 meters",
+      "y coordinate": "2.32 meters",
+      "height above floor": "0.2 meters"
+     },
+     "longest dimension": "0.92 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-0.74 meters",
+      "y coordinate": "0.94 meters",
+      "height above floor": "-0.16 meters"
+     },
+     "longest dimension": "1.12 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "0.76 meters",
+      "y coordinate": "2.34 meters",
+      "height above floor": "0.18 meters"
+     },
+     "longest dimension": "0.96 meters"
+    }
+   ]
+  },
+  "stool": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "3.01 meters",
+      "y coordinate": "3.36 meters",
+      "height above floor": "-0.17 meters"
+     },
+     "longest dimension": "0.45 meters"
+    }
+   ]
+  },
+  "table": {
+   "count": 3,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "1.49 meters",
+      "y coordinate": "-0.59 meters",
+      "height above floor": "0.23 meters"
+     },
+     "longest dimension": "1.03 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "0.07 meters",
+      "y coordinate": "0.97 meters",
+      "height above floor": "0.06 meters"
+     },
+     "longest dimension": "0.81 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "1.93 meters",
+      "y coordinate": "0.2 meters",
+      "height above floor": "0.15 meters"
+     },
+     "longest dimension": "0.74 meters"
+    }
+   ]
+  },
+  "tv": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-1.59 meters",
+      "y coordinate": "1.18 meters",
+      "height above floor": "0.51 meters"
+     },
+     "longest dimension": "0.34 meters"
+    }
+   ]
+  }
+ },
+ "room": {
+  "floor area": "22.6 square meters"
+ },
+ "closest classes distance meters from": {
+  "bed": {
+   "table": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "chair": {
+    "distance": "2.29 meters",
+    "closeness rank": 2
+   },
+   "sofa": {
+    "distance": "2.3 meters",
+    "closeness rank": 3
+   },
+   "tv": {
+    "distance": "3.02 meters",
+    "closeness rank": 4
+   },
+   "stool": {
+    "distance": "4.05 meters",
+    "closeness rank": 5
+   }
+  },
+  "chair": {
+   "sofa": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "tv": {
+    "distance": "0.63 meters",
+    "closeness rank": 2
+   },
+   "table": {
+    "distance": "2.28 meters",
+    "closeness rank": 3
+   },
+   "bed": {
+    "distance": "2.29 meters",
+    "closeness rank": 4
+   },
+   "stool": {
+    "distance": "3.01 meters",
+    "closeness rank": 5
+   }
+  },
+  "sofa": {
+   "chair": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "tv": {
+    "distance": "0.65 meters",
+    "closeness rank": 2
+   },
+   "table": {
+    "distance": "1.98 meters",
+    "closeness rank": 3
+   },
+   "stool": {
+    "distance": "2.13 meters",
+    "closeness rank": 4
+   },
+   "bed": {
+    "distance": "2.3 meters",
+    "closeness rank": 5
+   }
+  },
+  "stool": {
+   "sofa": {
+    "distance": "2.13 meters",
+    "closeness rank": 1
+   },
+   "chair": {
+    "distance": "3.01 meters",
+    "closeness rank": 2
+   },
+   "table": {
+    "distance": "3.53 meters",
+    "closeness rank": 3
+   },
+   "bed": {
+    "distance": "4.05 meters",
+    "closeness rank": 4
+   },
+   "tv": {
+    "distance": "4.91 meters",
+    "closeness rank": 5
+   }
+  },
+  "table": {
+   "bed": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "sofa": {
+    "distance": "1.98 meters",
+    "closeness rank": 2
+   },
+   "chair": {
+    "distance": "2.28 meters",
+    "closeness rank": 3
+   },
+   "tv": {
+    "distance": "3.08 meters",
+    "closeness rank": 4
+   },
+   "stool": {
+    "distance": "3.53 meters",
+    "closeness rank": 5
+   }
+  },
+  "tv": {
+   "chair": {
+    "distance": "0.63 meters",
+    "closeness rank": 1
+   },
+   "sofa": {
+    "distance": "0.65 meters",
+    "closeness rank": 2
+   },
+   "bed": {
+    "distance": "3.02 meters",
+    "closeness rank": 3
+   },
+   "table": {
+    "distance": "3.08 meters",
+    "closeness rank": 4
+   },
+   "stool": {
+    "distance": "4.91 meters",
+    "closeness rank": 5
+   }
+  }
+ },
+ "appearance order": ["bed", "chair", "table", "sofa", "tv", "stool"]
+}
\ No newline at end of file
diff --git a/data/spatial codes/sam3+depth-anything-3/metric/tracking/uniform/96/explicit/47334362.json b/data/spatial codes/sam3+depth-anything-3/metric/tracking/uniform/96/explicit/47334362.json
new file mode 100644
index 0000000000000000000000000000000000000000..78512707117ee7fe963a185fcbf5ad0eab092149
--- /dev/null
+++ b/data/spatial codes/sam3+depth-anything-3/metric/tracking/uniform/96/explicit/47334362.json	
@@ -0,0 +1,245 @@
+{
+ "objects": {
+  "bed": {
+   "count": 3,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-1.26 meters",
+      "y coordinate": "0.85 meters",
+      "height above floor": "-0.2 meters"
+     },
+     "longest dimension": "1.29 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "0.23 meters",
+      "y coordinate": "-0.28 meters",
+      "height above floor": "-0.32 meters"
+     },
+     "longest dimension": "1.65 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-1.06 meters",
+      "y coordinate": "1.15 meters",
+      "height above floor": "-0.09 meters"
+     },
+     "longest dimension": "0.98 meters"
+    }
+   ]
+  },
+  "sofa": {
+   "count": 6,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-1.2 meters",
+      "y coordinate": "0.81 meters",
+      "height above floor": "-0.23 meters"
+     },
+     "longest dimension": "1.14 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-0.68 meters",
+      "y coordinate": "-1.01 meters",
+      "height above floor": "-0.19 meters"
+     },
+     "longest dimension": "0.9 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-0.43 meters",
+      "y coordinate": "0.72 meters",
+      "height above floor": "-0.38 meters"
+     },
+     "longest dimension": "0.66 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-2.18 meters",
+      "y coordinate": "-0.14 meters",
+      "height above floor": "-0.04 meters"
+     },
+     "longest dimension": "0.7 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-2.38 meters",
+      "y coordinate": "-0.75 meters",
+      "height above floor": "0.23 meters"
+     },
+     "longest dimension": "0.61 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-2.36 meters",
+      "y coordinate": "-0.1 meters",
+      "height above floor": "0.5 meters"
+     },
+     "longest dimension": "0.38 meters"
+    }
+   ]
+  },
+  "table": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-2.17 meters",
+      "y coordinate": "-0.18 meters",
+      "height above floor": "-0.06 meters"
+     },
+     "longest dimension": "0.7 meters"
+    }
+   ]
+  },
+  "tv": {
+   "count": 2,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-2.28 meters",
+      "y coordinate": "0.29 meters",
+      "height above floor": "0.37 meters"
+     },
+     "longest dimension": "0.94 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-2.25 meters",
+      "y coordinate": "0.27 meters",
+      "height above floor": "0.39 meters"
+     },
+     "longest dimension": "0.92 meters"
+    }
+   ]
+  },
+  "washer": {
+   "count": 3,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-2.26 meters",
+      "y coordinate": "0.05 meters",
+      "height above floor": "0.03 meters"
+     },
+     "longest dimension": "0.04 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-2.29 meters",
+      "y coordinate": "-0.03 meters",
+      "height above floor": "0.03 meters"
+     },
+     "longest dimension": "0.04 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-2.31 meters",
+      "y coordinate": "-0.1 meters",
+      "height above floor": "0.03 meters"
+     },
+     "longest dimension": "0.04 meters"
+    }
+   ]
+  }
+ },
+ "room": {
+  "floor area": "18.7 square meters"
+ },
+ "closest classes distance meters from": {
+  "bed": {
+   "sofa": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "table": {
+    "distance": "0.11 meters",
+    "closeness rank": 2
+   },
+   "tv": {
+    "distance": "0.31 meters",
+    "closeness rank": 3
+   },
+   "washer": {
+    "distance": "0.7 meters",
+    "closeness rank": 4
+   }
+  },
+  "sofa": {
+   "bed": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "tv": {
+    "distance": "0.43 meters",
+    "closeness rank": 2
+   },
+   "table": {
+    "distance": "0.46 meters",
+    "closeness rank": 3
+   },
+   "washer": {
+    "distance": "0.81 meters",
+    "closeness rank": 4
+   }
+  },
+  "table": {
+   "washer": {
+    "distance": "0.03 meters",
+    "closeness rank": 1
+   },
+   "tv": {
+    "distance": "0.09 meters",
+    "closeness rank": 2
+   },
+   "bed": {
+    "distance": "0.11 meters",
+    "closeness rank": 3
+   },
+   "sofa": {
+    "distance": "0.46 meters",
+    "closeness rank": 4
+   }
+  },
+  "tv": {
+   "table": {
+    "distance": "0.09 meters",
+    "closeness rank": 1
+   },
+   "washer": {
+    "distance": "0.12 meters",
+    "closeness rank": 2
+   },
+   "bed": {
+    "distance": "0.31 meters",
+    "closeness rank": 3
+   },
+   "sofa": {
+    "distance": "0.43 meters",
+    "closeness rank": 4
+   }
+  },
+  "washer": {
+   "table": {
+    "distance": "0.03 meters",
+    "closeness rank": 1
+   },
+   "tv": {
+    "distance": "0.12 meters",
+    "closeness rank": 2
+   },
+   "bed": {
+    "distance": "0.7 meters",
+    "closeness rank": 3
+   },
+   "sofa": {
+    "distance": "0.81 meters",
+    "closeness rank": 4
+   }
+  }
+ },
+ "appearance order": ["bed", "sofa", "tv", "table", "washer"]
+}
\ No newline at end of file
diff --git a/data/spatial codes/sam3+depth-anything-3/metric/tracking/uniform/96/explicit/5942004064.json b/data/spatial codes/sam3+depth-anything-3/metric/tracking/uniform/96/explicit/5942004064.json
new file mode 100644
index 0000000000000000000000000000000000000000..a928bea2e2d38ce1349dd5b1c26fb048b970488d
--- /dev/null
+++ b/data/spatial codes/sam3+depth-anything-3/metric/tracking/uniform/96/explicit/5942004064.json	
@@ -0,0 +1,3009 @@
+{
+ "objects": {
+  "basket": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-0.7 meters",
+      "y coordinate": "1.04 meters",
+      "height above floor": "0.79 meters"
+     },
+     "longest dimension": "0.4 meters"
+    }
+   ]
+  },
+  "bed": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "0.52 meters",
+      "y coordinate": "-2.45 meters",
+      "height above floor": "1.54 meters"
+     },
+     "longest dimension": "2.8 meters"
+    }
+   ]
+  },
+  "blanket": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "1.58 meters",
+      "y coordinate": "-0.63 meters",
+      "height above floor": "1.55 meters"
+     },
+     "longest dimension": "1.64 meters"
+    }
+   ]
+  },
+  "bookshelf": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "2.01 meters",
+      "y coordinate": "-1.41 meters",
+      "height above floor": "-0.17 meters"
+     },
+     "longest dimension": "1.13 meters"
+    }
+   ]
+  },
+  "ceiling light": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-1.33 meters",
+      "y coordinate": "-0.62 meters",
+      "height above floor": "1.42 meters"
+     },
+     "longest dimension": "1.31 meters"
+    }
+   ]
+  },
+  "chair": {
+   "count": 2,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "0.46 meters",
+      "y coordinate": "0.17 meters",
+      "height above floor": "2.34 meters"
+     },
+     "longest dimension": "0.61 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-0.21 meters",
+      "y coordinate": "0.91 meters",
+      "height above floor": "0.86 meters"
+     },
+     "longest dimension": "0.54 meters"
+    }
+   ]
+  },
+  "clock": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-1.17 meters",
+      "y coordinate": "0.33 meters",
+      "height above floor": "-0.6 meters"
+     },
+     "longest dimension": "0.64 meters"
+    }
+   ]
+  },
+  "cup": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-0.72 meters",
+      "y coordinate": "1.08 meters",
+      "height above floor": "0.58 meters"
+     },
+     "longest dimension": "0.27 meters"
+    }
+   ]
+  },
+  "cushion": {
+   "count": 6,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-0.06 meters",
+      "y coordinate": "0.92 meters",
+      "height above floor": "0.1 meters"
+     },
+     "longest dimension": "1.12 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-0.34 meters",
+      "y coordinate": "0.88 meters",
+      "height above floor": "-0.36 meters"
+     },
+     "longest dimension": "1.52 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "1.58 meters",
+      "y coordinate": "-0.87 meters",
+      "height above floor": "2.93 meters"
+     },
+     "longest dimension": "0.68 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "0.1 meters",
+      "y coordinate": "0.53 meters",
+      "height above floor": "-0.14 meters"
+     },
+     "longest dimension": "0.45 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-1.17 meters",
+      "y coordinate": "1.63 meters",
+      "height above floor": "-0.12 meters"
+     },
+     "longest dimension": "0.39 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-0.27 meters",
+      "y coordinate": "1.0 meters",
+      "height above floor": "0.85 meters"
+     },
+     "longest dimension": "0.4 meters"
+    }
+   ]
+  },
+  "cutting board": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-0.91 meters",
+      "y coordinate": "1.3 meters",
+      "height above floor": "1.03 meters"
+     },
+     "longest dimension": "0.98 meters"
+    }
+   ]
+  },
+  "door": {
+   "count": 8,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "2.73 meters",
+      "y coordinate": "-3.13 meters",
+      "height above floor": "0.82 meters"
+     },
+     "longest dimension": "1.18 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "3.29 meters",
+      "y coordinate": "-3.26 meters",
+      "height above floor": "0.56 meters"
+     },
+     "longest dimension": "1.23 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "2.21 meters",
+      "y coordinate": "-3.19 meters",
+      "height above floor": "0.88 meters"
+     },
+     "longest dimension": "1.01 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "1.87 meters",
+      "y coordinate": "-1.42 meters",
+      "height above floor": "0.0 meters"
+     },
+     "longest dimension": "1.23 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-0.99 meters",
+      "y coordinate": "0.2 meters",
+      "height above floor": "2.2 meters"
+     },
+     "longest dimension": "1.08 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-0.81 meters",
+      "y coordinate": "0.06 meters",
+      "height above floor": "2.09 meters"
+     },
+     "longest dimension": "0.88 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-2.2 meters",
+      "y coordinate": "1.54 meters",
+      "height above floor": "1.74 meters"
+     },
+     "longest dimension": "1.79 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "3.48 meters",
+      "y coordinate": "-3.11 meters",
+      "height above floor": "0.44 meters"
+     },
+     "longest dimension": "1.63 meters"
+    }
+   ]
+  },
+  "heater": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "1.04 meters",
+      "y coordinate": "-0.51 meters",
+      "height above floor": "2.95 meters"
+     },
+     "longest dimension": "0.38 meters"
+    }
+   ]
+  },
+  "kettle": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-0.21 meters",
+      "y coordinate": "0.42 meters",
+      "height above floor": "2.66 meters"
+     },
+     "longest dimension": "0.16 meters"
+    }
+   ]
+  },
+  "laptop": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "0.28 meters",
+      "y coordinate": "0.02 meters",
+      "height above floor": "2.75 meters"
+     },
+     "longest dimension": "0.36 meters"
+    }
+   ]
+  },
+  "monitor": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "1.24 meters",
+      "y coordinate": "-1.09 meters",
+      "height above floor": "-0.53 meters"
+     },
+     "longest dimension": "1.32 meters"
+    }
+   ]
+  },
+  "pillow": {
+   "count": 4,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "1.58 meters",
+      "y coordinate": "-0.62 meters",
+      "height above floor": "1.53 meters"
+     },
+     "longest dimension": "1.61 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "1.58 meters",
+      "y coordinate": "-0.87 meters",
+      "height above floor": "2.93 meters"
+     },
+     "longest dimension": "0.68 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-1.17 meters",
+      "y coordinate": "1.63 meters",
+      "height above floor": "-0.12 meters"
+     },
+     "longest dimension": "0.4 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "0.1 meters",
+      "y coordinate": "0.53 meters",
+      "height above floor": "-0.14 meters"
+     },
+     "longest dimension": "0.45 meters"
+    }
+   ]
+  },
+  "plant": {
+   "count": 9,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-1.74 meters",
+      "y coordinate": "1.59 meters",
+      "height above floor": "0.75 meters"
+     },
+     "longest dimension": "0.56 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "0.55 meters",
+      "y coordinate": "-0.61 meters",
+      "height above floor": "2.57 meters"
+     },
+     "longest dimension": "0.42 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-1.84 meters",
+      "y coordinate": "1.43 meters",
+      "height above floor": "0.33 meters"
+     },
+     "longest dimension": "0.42 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-1.16 meters",
+      "y coordinate": "1.11 meters",
+      "height above floor": "0.98 meters"
+     },
+     "longest dimension": "0.29 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "0.3 meters",
+      "y coordinate": "0.12 meters",
+      "height above floor": "-0.27 meters"
+     },
+     "longest dimension": "0.97 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-1.15 meters",
+      "y coordinate": "1.15 meters",
+      "height above floor": "0.64 meters"
+     },
+     "longest dimension": "0.31 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-2.09 meters",
+      "y coordinate": "1.3 meters",
+      "height above floor": "0.48 meters"
+     },
+     "longest dimension": "0.62 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-1.92 meters",
+      "y coordinate": "1.4 meters",
+      "height above floor": "0.31 meters"
+     },
+     "longest dimension": "0.72 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-1.74 meters",
+      "y coordinate": "1.58 meters",
+      "height above floor": "-0.14 meters"
+     },
+     "longest dimension": "0.51 meters"
+    }
+   ]
+  },
+  "power strip": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "0.07 meters",
+      "y coordinate": "-0.25 meters",
+      "height above floor": "3.16 meters"
+     },
+     "longest dimension": "0.55 meters"
+    }
+   ]
+  },
+  "sofa": {
+   "count": 2,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-0.06 meters",
+      "y coordinate": "0.81 meters",
+      "height above floor": "-0.14 meters"
+     },
+     "longest dimension": "1.84 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "1.59 meters",
+      "y coordinate": "-0.62 meters",
+      "height above floor": "1.55 meters"
+     },
+     "longest dimension": "1.65 meters"
+    }
+   ]
+  },
+  "table": {
+   "count": 3,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-0.84 meters",
+      "y coordinate": "0.02 meters",
+      "height above floor": "2.41 meters"
+     },
+     "longest dimension": "1.7 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-0.52 meters",
+      "y coordinate": "0.97 meters",
+      "height above floor": "0.76 meters"
+     },
+     "longest dimension": "0.73 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-0.59 meters",
+      "y coordinate": "1.0 meters",
+      "height above floor": "1.03 meters"
+     },
+     "longest dimension": "0.83 meters"
+    }
+   ]
+  },
+  "table lamp": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-1.83 meters",
+      "y coordinate": "1.27 meters",
+      "height above floor": "-0.27 meters"
+     },
+     "longest dimension": "0.31 meters"
+    }
+   ]
+  },
+  "telephone": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "2.96 meters",
+      "y coordinate": "-2.87 meters",
+      "height above floor": "0.82 meters"
+     },
+     "longest dimension": "0.22 meters"
+    }
+   ]
+  },
+  "toilet": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "3.29 meters",
+      "y coordinate": "-2.12 meters",
+      "height above floor": "1.47 meters"
+     },
+     "longest dimension": "0.44 meters"
+    }
+   ]
+  },
+  "trash can": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "1.58 meters",
+      "y coordinate": "-0.62 meters",
+      "height above floor": "1.55 meters"
+     },
+     "longest dimension": "1.65 meters"
+    }
+   ]
+  },
+  "tv": {
+   "count": 2,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "0.77 meters",
+      "y coordinate": "-0.39 meters",
+      "height above floor": "-0.38 meters"
+     },
+     "longest dimension": "0.94 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "1.26 meters",
+      "y coordinate": "-1.09 meters",
+      "height above floor": "-0.52 meters"
+     },
+     "longest dimension": "1.32 meters"
+    }
+   ]
+  }
+ },
+ "room": {
+  "floor area": "20.1 square meters"
+ },
+ "closest classes distance meters from": {
+  "basket": {
+   "cutting board": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "cup": {
+    "distance": "0.01 meters",
+    "closeness rank": 2
+   },
+   "cushion": {
+    "distance": "0.5 meters",
+    "closeness rank": 3
+   },
+   "sofa": {
+    "distance": "0.5 meters",
+    "closeness rank": 4
+   },
+   "bed": {
+    "distance": "0.52 meters",
+    "closeness rank": 5
+   },
+   "plant": {
+    "distance": "0.67 meters",
+    "closeness rank": 6
+   },
+   "pillow": {
+    "distance": "1.0 meters",
+    "closeness rank": 7
+   },
+   "table lamp": {
+    "distance": "1.21 meters",
+    "closeness rank": 8
+   },
+   "clock": {
+    "distance": "1.32 meters",
+    "closeness rank": 9
+   },
+   "table": {
+    "distance": "1.37 meters",
+    "closeness rank": 10
+   },
+   "ceiling light": {
+    "distance": "1.64 meters",
+    "closeness rank": 11
+   },
+   "chair": {
+    "distance": "1.64 meters",
+    "closeness rank": 12
+   },
+   "kettle": {
+    "distance": "1.72 meters",
+    "closeness rank": 13
+   },
+   "tv": {
+    "distance": "1.82 meters",
+    "closeness rank": 14
+   },
+   "laptop": {
+    "distance": "2.01 meters",
+    "closeness rank": 15
+   },
+   "door": {
+    "distance": "2.12 meters",
+    "closeness rank": 16
+   },
+   "monitor": {
+    "distance": "2.22 meters",
+    "closeness rank": 17
+   },
+   "power strip": {
+    "distance": "2.43 meters",
+    "closeness rank": 18
+   },
+   "blanket": {
+    "distance": "2.49 meters",
+    "closeness rank": 19
+   },
+   "trash can": {
+    "distance": "2.49 meters",
+    "closeness rank": 20
+   },
+   "heater": {
+    "distance": "2.85 meters",
+    "closeness rank": 21
+   },
+   "bookshelf": {
+    "distance": "3.57 meters",
+    "closeness rank": 22
+   },
+   "toilet": {
+    "distance": "4.83 meters",
+    "closeness rank": 23
+   },
+   "telephone": {
+    "distance": "5.14 meters",
+    "closeness rank": 24
+   }
+  },
+  "bed": {
+   "blanket": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "cushion": {
+    "distance": "0.0 meters",
+    "closeness rank": 2
+   },
+   "pillow": {
+    "distance": "0.0 meters",
+    "closeness rank": 3
+   },
+   "sofa": {
+    "distance": "0.0 meters",
+    "closeness rank": 4
+   },
+   "trash can": {
+    "distance": "0.0 meters",
+    "closeness rank": 5
+   },
+   "cutting board": {
+    "distance": "0.23 meters",
+    "closeness rank": 6
+   },
+   "heater": {
+    "distance": "0.28 meters",
+    "closeness rank": 7
+   },
+   "table": {
+    "distance": "0.44 meters",
+    "closeness rank": 8
+   },
+   "cup": {
+    "distance": "0.48 meters",
+    "closeness rank": 9
+   },
+   "door": {
+    "distance": "0.48 meters",
+    "closeness rank": 10
+   },
+   "basket": {
+    "distance": "0.52 meters",
+    "closeness rank": 11
+   },
+   "table lamp": {
+    "distance": "0.59 meters",
+    "closeness rank": 12
+   },
+   "clock": {
+    "distance": "0.73 meters",
+    "closeness rank": 13
+   },
+   "plant": {
+    "distance": "0.73 meters",
+    "closeness rank": 14
+   },
+   "tv": {
+    "distance": "0.77 meters",
+    "closeness rank": 15
+   },
+   "chair": {
+    "distance": "0.86 meters",
+    "closeness rank": 16
+   },
+   "toilet": {
+    "distance": "0.9 meters",
+    "closeness rank": 17
+   },
+   "laptop": {
+    "distance": "1.09 meters",
+    "closeness rank": 18
+   },
+   "power strip": {
+    "distance": "1.11 meters",
+    "closeness rank": 19
+   },
+   "bookshelf": {
+    "distance": "1.24 meters",
+    "closeness rank": 20
+   },
+   "telephone": {
+    "distance": "1.41 meters",
+    "closeness rank": 21
+   },
+   "monitor": {
+    "distance": "1.51 meters",
+    "closeness rank": 22
+   },
+   "kettle": {
+    "distance": "1.87 meters",
+    "closeness rank": 23
+   },
+   "ceiling light": {
+    "distance": "2.18 meters",
+    "closeness rank": 24
+   }
+  },
+  "blanket": {
+   "bed": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "pillow": {
+    "distance": "0.0 meters",
+    "closeness rank": 2
+   },
+   "trash can": {
+    "distance": "0.0 meters",
+    "closeness rank": 3
+   },
+   "heater": {
+    "distance": "0.26 meters",
+    "closeness rank": 4
+   },
+   "table": {
+    "distance": "0.45 meters",
+    "closeness rank": 5
+   },
+   "chair": {
+    "distance": "0.87 meters",
+    "closeness rank": 6
+   },
+   "power strip": {
+    "distance": "1.09 meters",
+    "closeness rank": 7
+   },
+   "laptop": {
+    "distance": "1.1 meters",
+    "closeness rank": 8
+   },
+   "tv": {
+    "distance": "1.5 meters",
+    "closeness rank": 9
+   },
+   "door": {
+    "distance": "1.54 meters",
+    "closeness rank": 10
+   },
+   "monitor": {
+    "distance": "1.55 meters",
+    "closeness rank": 11
+   },
+   "bookshelf": {
+    "distance": "1.57 meters",
+    "closeness rank": 12
+   },
+   "sofa": {
+    "distance": "1.74 meters",
+    "closeness rank": 13
+   },
+   "cushion": {
+    "distance": "1.84 meters",
+    "closeness rank": 14
+   },
+   "kettle": {
+    "distance": "1.87 meters",
+    "closeness rank": 15
+   },
+   "cutting board": {
+    "distance": "2.12 meters",
+    "closeness rank": 16
+   },
+   "toilet": {
+    "distance": "2.22 meters",
+    "closeness rank": 17
+   },
+   "ceiling light": {
+    "distance": "2.48 meters",
+    "closeness rank": 18
+   },
+   "basket": {
+    "distance": "2.49 meters",
+    "closeness rank": 19
+   },
+   "cup": {
+    "distance": "2.58 meters",
+    "closeness rank": 20
+   },
+   "telephone": {
+    "distance": "2.65 meters",
+    "closeness rank": 21
+   },
+   "clock": {
+    "distance": "2.91 meters",
+    "closeness rank": 22
+   },
+   "plant": {
+    "distance": "3.64 meters",
+    "closeness rank": 23
+   },
+   "table lamp": {
+    "distance": "3.85 meters",
+    "closeness rank": 24
+   }
+  },
+  "bookshelf": {
+   "door": {
+    "distance": "0.24 meters",
+    "closeness rank": 1
+   },
+   "monitor": {
+    "distance": "0.6 meters",
+    "closeness rank": 2
+   },
+   "tv": {
+    "distance": "1.02 meters",
+    "closeness rank": 3
+   },
+   "bed": {
+    "distance": "1.24 meters",
+    "closeness rank": 4
+   },
+   "trash can": {
+    "distance": "1.27 meters",
+    "closeness rank": 5
+   },
+   "pillow": {
+    "distance": "1.56 meters",
+    "closeness rank": 6
+   },
+   "blanket": {
+    "distance": "1.57 meters",
+    "closeness rank": 7
+   },
+   "telephone": {
+    "distance": "1.84 meters",
+    "closeness rank": 8
+   },
+   "toilet": {
+    "distance": "1.84 meters",
+    "closeness rank": 9
+   },
+   "sofa": {
+    "distance": "2.51 meters",
+    "closeness rank": 10
+   },
+   "cushion": {
+    "distance": "2.65 meters",
+    "closeness rank": 11
+   },
+   "ceiling light": {
+    "distance": "3.04 meters",
+    "closeness rank": 12
+   },
+   "chair": {
+    "distance": "3.05 meters",
+    "closeness rank": 13
+   },
+   "table": {
+    "distance": "3.06 meters",
+    "closeness rank": 14
+   },
+   "clock": {
+    "distance": "3.08 meters",
+    "closeness rank": 15
+   },
+   "heater": {
+    "distance": "3.2 meters",
+    "closeness rank": 16
+   },
+   "cutting board": {
+    "distance": "3.36 meters",
+    "closeness rank": 17
+   },
+   "laptop": {
+    "distance": "3.46 meters",
+    "closeness rank": 18
+   },
+   "basket": {
+    "distance": "3.57 meters",
+    "closeness rank": 19
+   },
+   "cup": {
+    "distance": "3.59 meters",
+    "closeness rank": 20
+   },
+   "power strip": {
+    "distance": "3.79 meters",
+    "closeness rank": 21
+   },
+   "kettle": {
+    "distance": "3.93 meters",
+    "closeness rank": 22
+   },
+   "table lamp": {
+    "distance": "4.42 meters",
+    "closeness rank": 23
+   },
+   "plant": {
+    "distance": "4.64 meters",
+    "closeness rank": 24
+   }
+  },
+  "ceiling light": {
+   "table": {
+    "distance": "0.74 meters",
+    "closeness rank": 1
+   },
+   "door": {
+    "distance": "1.54 meters",
+    "closeness rank": 2
+   },
+   "cutting board": {
+    "distance": "1.62 meters",
+    "closeness rank": 3
+   },
+   "basket": {
+    "distance": "1.64 meters",
+    "closeness rank": 4
+   },
+   "chair": {
+    "distance": "1.67 meters",
+    "closeness rank": 5
+   },
+   "plant": {
+    "distance": "1.69 meters",
+    "closeness rank": 6
+   },
+   "kettle": {
+    "distance": "1.75 meters",
+    "closeness rank": 7
+   },
+   "cup": {
+    "distance": "1.76 meters",
+    "closeness rank": 8
+   },
+   "clock": {
+    "distance": "1.81 meters",
+    "closeness rank": 9
+   },
+   "monitor": {
+    "distance": "1.81 meters",
+    "closeness rank": 10
+   },
+   "laptop": {
+    "distance": "1.89 meters",
+    "closeness rank": 11
+   },
+   "power strip": {
+    "distance": "1.99 meters",
+    "closeness rank": 12
+   },
+   "sofa": {
+    "distance": "2.06 meters",
+    "closeness rank": 13
+   },
+   "table lamp": {
+    "distance": "2.06 meters",
+    "closeness rank": 14
+   },
+   "pillow": {
+    "distance": "2.17 meters",
+    "closeness rank": 15
+   },
+   "bed": {
+    "distance": "2.18 meters",
+    "closeness rank": 16
+   },
+   "cushion": {
+    "distance": "2.18 meters",
+    "closeness rank": 17
+   },
+   "tv": {
+    "distance": "2.19 meters",
+    "closeness rank": 18
+   },
+   "blanket": {
+    "distance": "2.48 meters",
+    "closeness rank": 19
+   },
+   "trash can": {
+    "distance": "2.48 meters",
+    "closeness rank": 20
+   },
+   "heater": {
+    "distance": "2.51 meters",
+    "closeness rank": 21
+   },
+   "bookshelf": {
+    "distance": "3.04 meters",
+    "closeness rank": 22
+   },
+   "toilet": {
+    "distance": "4.38 meters",
+    "closeness rank": 23
+   },
+   "telephone": {
+    "distance": "4.4 meters",
+    "closeness rank": 24
+   }
+  },
+  "chair": {
+   "laptop": {
+    "distance": "0.14 meters",
+    "closeness rank": 1
+   },
+   "table": {
+    "distance": "0.19 meters",
+    "closeness rank": 2
+   },
+   "kettle": {
+    "distance": "0.4 meters",
+    "closeness rank": 3
+   },
+   "monitor": {
+    "distance": "0.49 meters",
+    "closeness rank": 4
+   },
+   "power strip": {
+    "distance": "0.5 meters",
+    "closeness rank": 5
+   },
+   "heater": {
+    "distance": "0.69 meters",
+    "closeness rank": 6
+   },
+   "trash can": {
+    "distance": "0.85 meters",
+    "closeness rank": 7
+   },
+   "bed": {
+    "distance": "0.86 meters",
+    "closeness rank": 8
+   },
+   "blanket": {
+    "distance": "0.87 meters",
+    "closeness rank": 9
+   },
+   "door": {
+    "distance": "0.88 meters",
+    "closeness rank": 10
+   },
+   "pillow": {
+    "distance": "0.94 meters",
+    "closeness rank": 11
+   },
+   "cutting board": {
+    "distance": "1.39 meters",
+    "closeness rank": 12
+   },
+   "basket": {
+    "distance": "1.64 meters",
+    "closeness rank": 13
+   },
+   "ceiling light": {
+    "distance": "1.67 meters",
+    "closeness rank": 14
+   },
+   "sofa": {
+    "distance": "1.9 meters",
+    "closeness rank": 15
+   },
+   "cup": {
+    "distance": "1.91 meters",
+    "closeness rank": 16
+   },
+   "cushion": {
+    "distance": "1.92 meters",
+    "closeness rank": 17
+   },
+   "tv": {
+    "distance": "2.5 meters",
+    "closeness rank": 18
+   },
+   "plant": {
+    "distance": "2.61 meters",
+    "closeness rank": 19
+   },
+   "clock": {
+    "distance": "2.9 meters",
+    "closeness rank": 20
+   },
+   "bookshelf": {
+    "distance": "3.05 meters",
+    "closeness rank": 21
+   },
+   "table lamp": {
+    "distance": "3.24 meters",
+    "closeness rank": 22
+   },
+   "toilet": {
+    "distance": "3.35 meters",
+    "closeness rank": 23
+   },
+   "telephone": {
+    "distance": "3.87 meters",
+    "closeness rank": 24
+   }
+  },
+  "clock": {
+   "sofa": {
+    "distance": "0.48 meters",
+    "closeness rank": 1
+   },
+   "bed": {
+    "distance": "0.73 meters",
+    "closeness rank": 2
+   },
+   "table lamp": {
+    "distance": "0.73 meters",
+    "closeness rank": 3
+   },
+   "pillow": {
+    "distance": "0.77 meters",
+    "closeness rank": 4
+   },
+   "cushion": {
+    "distance": "0.89 meters",
+    "closeness rank": 5
+   },
+   "cutting board": {
+    "distance": "1.14 meters",
+    "closeness rank": 6
+   },
+   "tv": {
+    "distance": "1.2 meters",
+    "closeness rank": 7
+   },
+   "cup": {
+    "distance": "1.26 meters",
+    "closeness rank": 8
+   },
+   "basket": {
+    "distance": "1.32 meters",
+    "closeness rank": 9
+   },
+   "plant": {
+    "distance": "1.56 meters",
+    "closeness rank": 10
+   },
+   "ceiling light": {
+    "distance": "1.81 meters",
+    "closeness rank": 11
+   },
+   "monitor": {
+    "distance": "2.16 meters",
+    "closeness rank": 12
+   },
+   "door": {
+    "distance": "2.25 meters",
+    "closeness rank": 13
+   },
+   "table": {
+    "distance": "2.78 meters",
+    "closeness rank": 14
+   },
+   "chair": {
+    "distance": "2.9 meters",
+    "closeness rank": 15
+   },
+   "blanket": {
+    "distance": "2.91 meters",
+    "closeness rank": 16
+   },
+   "trash can": {
+    "distance": "2.91 meters",
+    "closeness rank": 17
+   },
+   "bookshelf": {
+    "distance": "3.08 meters",
+    "closeness rank": 18
+   },
+   "kettle": {
+    "distance": "3.25 meters",
+    "closeness rank": 19
+   },
+   "laptop": {
+    "distance": "3.38 meters",
+    "closeness rank": 20
+   },
+   "power strip": {
+    "distance": "3.82 meters",
+    "closeness rank": 21
+   },
+   "heater": {
+    "distance": "3.95 meters",
+    "closeness rank": 22
+   },
+   "toilet": {
+    "distance": "4.93 meters",
+    "closeness rank": 23
+   },
+   "telephone": {
+    "distance": "5.0 meters",
+    "closeness rank": 24
+   }
+  },
+  "cup": {
+   "basket": {
+    "distance": "0.01 meters",
+    "closeness rank": 1
+   },
+   "cutting board": {
+    "distance": "0.08 meters",
+    "closeness rank": 2
+   },
+   "cushion": {
+    "distance": "0.46 meters",
+    "closeness rank": 3
+   },
+   "sofa": {
+    "distance": "0.46 meters",
+    "closeness rank": 4
+   },
+   "bed": {
+    "distance": "0.48 meters",
+    "closeness rank": 5
+   },
+   "plant": {
+    "distance": "0.92 meters",
+    "closeness rank": 6
+   },
+   "pillow": {
+    "distance": "0.97 meters",
+    "closeness rank": 7
+   },
+   "clock": {
+    "distance": "1.26 meters",
+    "closeness rank": 8
+   },
+   "table lamp": {
+    "distance": "1.3 meters",
+    "closeness rank": 9
+   },
+   "table": {
+    "distance": "1.69 meters",
+    "closeness rank": 10
+   },
+   "ceiling light": {
+    "distance": "1.76 meters",
+    "closeness rank": 11
+   },
+   "tv": {
+    "distance": "1.79 meters",
+    "closeness rank": 12
+   },
+   "chair": {
+    "distance": "1.91 meters",
+    "closeness rank": 13
+   },
+   "kettle": {
+    "distance": "2.05 meters",
+    "closeness rank": 14
+   },
+   "laptop": {
+    "distance": "2.32 meters",
+    "closeness rank": 15
+   },
+   "door": {
+    "distance": "2.46 meters",
+    "closeness rank": 16
+   },
+   "monitor": {
+    "distance": "2.55 meters",
+    "closeness rank": 17
+   },
+   "blanket": {
+    "distance": "2.58 meters",
+    "closeness rank": 18
+   },
+   "trash can": {
+    "distance": "2.58 meters",
+    "closeness rank": 19
+   },
+   "power strip": {
+    "distance": "2.75 meters",
+    "closeness rank": 20
+   },
+   "heater": {
+    "distance": "3.09 meters",
+    "closeness rank": 21
+   },
+   "bookshelf": {
+    "distance": "3.59 meters",
+    "closeness rank": 22
+   },
+   "toilet": {
+    "distance": "4.91 meters",
+    "closeness rank": 23
+   },
+   "telephone": {
+    "distance": "5.21 meters",
+    "closeness rank": 24
+   }
+  },
+  "cushion": {
+   "bed": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "sofa": {
+    "distance": "0.0 meters",
+    "closeness rank": 2
+   },
+   "pillow": {
+    "distance": "0.01 meters",
+    "closeness rank": 3
+   },
+   "cutting board": {
+    "distance": "0.2 meters",
+    "closeness rank": 4
+   },
+   "cup": {
+    "distance": "0.46 meters",
+    "closeness rank": 5
+   },
+   "basket": {
+    "distance": "0.5 meters",
+    "closeness rank": 6
+   },
+   "tv": {
+    "distance": "0.77 meters",
+    "closeness rank": 7
+   },
+   "clock": {
+    "distance": "0.89 meters",
+    "closeness rank": 8
+   },
+   "plant": {
+    "distance": "1.02 meters",
+    "closeness rank": 9
+   },
+   "table lamp": {
+    "distance": "1.09 meters",
+    "closeness rank": 10
+   },
+   "trash can": {
+    "distance": "1.83 meters",
+    "closeness rank": 11
+   },
+   "blanket": {
+    "distance": "1.84 meters",
+    "closeness rank": 12
+   },
+   "door": {
+    "distance": "1.89 meters",
+    "closeness rank": 13
+   },
+   "chair": {
+    "distance": "1.92 meters",
+    "closeness rank": 14
+   },
+   "monitor": {
+    "distance": "1.93 meters",
+    "closeness rank": 15
+   },
+   "table": {
+    "distance": "2.09 meters",
+    "closeness rank": 16
+   },
+   "ceiling light": {
+    "distance": "2.18 meters",
+    "closeness rank": 17
+   },
+   "kettle": {
+    "distance": "2.37 meters",
+    "closeness rank": 18
+   },
+   "laptop": {
+    "distance": "2.44 meters",
+    "closeness rank": 19
+   },
+   "bookshelf": {
+    "distance": "2.65 meters",
+    "closeness rank": 20
+   },
+   "heater": {
+    "distance": "2.88 meters",
+    "closeness rank": 21
+   },
+   "power strip": {
+    "distance": "2.94 meters",
+    "closeness rank": 22
+   },
+   "toilet": {
+    "distance": "4.09 meters",
+    "closeness rank": 23
+   },
+   "telephone": {
+    "distance": "4.4 meters",
+    "closeness rank": 24
+   }
+  },
+  "cutting board": {
+   "basket": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "cup": {
+    "distance": "0.08 meters",
+    "closeness rank": 2
+   },
+   "cushion": {
+    "distance": "0.2 meters",
+    "closeness rank": 3
+   },
+   "sofa": {
+    "distance": "0.2 meters",
+    "closeness rank": 4
+   },
+   "plant": {
+    "distance": "0.21 meters",
+    "closeness rank": 5
+   },
+   "bed": {
+    "distance": "0.23 meters",
+    "closeness rank": 6
+   },
+   "table lamp": {
+    "distance": "0.67 meters",
+    "closeness rank": 7
+   },
+   "pillow": {
+    "distance": "0.74 meters",
+    "closeness rank": 8
+   },
+   "clock": {
+    "distance": "1.14 meters",
+    "closeness rank": 9
+   },
+   "table": {
+    "distance": "1.21 meters",
+    "closeness rank": 10
+   },
+   "chair": {
+    "distance": "1.39 meters",
+    "closeness rank": 11
+   },
+   "kettle": {
+    "distance": "1.56 meters",
+    "closeness rank": 12
+   },
+   "tv": {
+    "distance": "1.59 meters",
+    "closeness rank": 13
+   },
+   "ceiling light": {
+    "distance": "1.62 meters",
+    "closeness rank": 14
+   },
+   "laptop": {
+    "distance": "1.81 meters",
+    "closeness rank": 15
+   },
+   "door": {
+    "distance": "1.99 meters",
+    "closeness rank": 16
+   },
+   "monitor": {
+    "distance": "2.06 meters",
+    "closeness rank": 17
+   },
+   "blanket": {
+    "distance": "2.12 meters",
+    "closeness rank": 18
+   },
+   "trash can": {
+    "distance": "2.13 meters",
+    "closeness rank": 19
+   },
+   "power strip": {
+    "distance": "2.26 meters",
+    "closeness rank": 20
+   },
+   "heater": {
+    "distance": "2.53 meters",
+    "closeness rank": 21
+   },
+   "bookshelf": {
+    "distance": "3.36 meters",
+    "closeness rank": 22
+   },
+   "toilet": {
+    "distance": "4.48 meters",
+    "closeness rank": 23
+   },
+   "telephone": {
+    "distance": "4.85 meters",
+    "closeness rank": 24
+   }
+  },
+  "door": {
+   "telephone": {
+    "distance": "0.02 meters",
+    "closeness rank": 1
+   },
+   "monitor": {
+    "distance": "0.04 meters",
+    "closeness rank": 2
+   },
+   "table": {
+    "distance": "0.14 meters",
+    "closeness rank": 3
+   },
+   "tv": {
+    "distance": "0.18 meters",
+    "closeness rank": 4
+   },
+   "bookshelf": {
+    "distance": "0.24 meters",
+    "closeness rank": 5
+   },
+   "toilet": {
+    "distance": "0.44 meters",
+    "closeness rank": 6
+   },
+   "bed": {
+    "distance": "0.48 meters",
+    "closeness rank": 7
+   },
+   "trash can": {
+    "distance": "0.48 meters",
+    "closeness rank": 8
+   },
+   "kettle": {
+    "distance": "0.5 meters",
+    "closeness rank": 9
+   },
+   "power strip": {
+    "distance": "0.56 meters",
+    "closeness rank": 10
+   },
+   "laptop": {
+    "distance": "0.74 meters",
+    "closeness rank": 11
+   },
+   "chair": {
+    "distance": "0.88 meters",
+    "closeness rank": 12
+   },
+   "pillow": {
+    "distance": "1.52 meters",
+    "closeness rank": 13
+   },
+   "blanket": {
+    "distance": "1.54 meters",
+    "closeness rank": 14
+   },
+   "ceiling light": {
+    "distance": "1.54 meters",
+    "closeness rank": 15
+   },
+   "sofa": {
+    "distance": "1.66 meters",
+    "closeness rank": 16
+   },
+   "heater": {
+    "distance": "1.7 meters",
+    "closeness rank": 17
+   },
+   "cushion": {
+    "distance": "1.89 meters",
+    "closeness rank": 18
+   },
+   "cutting board": {
+    "distance": "1.99 meters",
+    "closeness rank": 19
+   },
+   "basket": {
+    "distance": "2.12 meters",
+    "closeness rank": 20
+   },
+   "clock": {
+    "distance": "2.25 meters",
+    "closeness rank": 21
+   },
+   "cup": {
+    "distance": "2.46 meters",
+    "closeness rank": 22
+   },
+   "plant": {
+    "distance": "2.79 meters",
+    "closeness rank": 23
+   },
+   "table lamp": {
+    "distance": "3.58 meters",
+    "closeness rank": 24
+   }
+  },
+  "heater": {
+   "table": {
+    "distance": "0.2 meters",
+    "closeness rank": 1
+   },
+   "blanket": {
+    "distance": "0.26 meters",
+    "closeness rank": 2
+   },
+   "bed": {
+    "distance": "0.28 meters",
+    "closeness rank": 3
+   },
+   "trash can": {
+    "distance": "0.35 meters",
+    "closeness rank": 4
+   },
+   "power strip": {
+    "distance": "0.66 meters",
+    "closeness rank": 5
+   },
+   "chair": {
+    "distance": "0.69 meters",
+    "closeness rank": 6
+   },
+   "laptop": {
+    "distance": "0.69 meters",
+    "closeness rank": 7
+   },
+   "pillow": {
+    "distance": "0.89 meters",
+    "closeness rank": 8
+   },
+   "monitor": {
+    "distance": "1.18 meters",
+    "closeness rank": 9
+   },
+   "kettle": {
+    "distance": "1.46 meters",
+    "closeness rank": 10
+   },
+   "door": {
+    "distance": "1.7 meters",
+    "closeness rank": 11
+   },
+   "ceiling light": {
+    "distance": "2.51 meters",
+    "closeness rank": 12
+   },
+   "cutting board": {
+    "distance": "2.53 meters",
+    "closeness rank": 13
+   },
+   "sofa": {
+    "distance": "2.84 meters",
+    "closeness rank": 14
+   },
+   "basket": {
+    "distance": "2.85 meters",
+    "closeness rank": 15
+   },
+   "cushion": {
+    "distance": "2.88 meters",
+    "closeness rank": 16
+   },
+   "toilet": {
+    "distance": "2.97 meters",
+    "closeness rank": 17
+   },
+   "cup": {
+    "distance": "3.09 meters",
+    "closeness rank": 18
+   },
+   "tv": {
+    "distance": "3.18 meters",
+    "closeness rank": 19
+   },
+   "bookshelf": {
+    "distance": "3.2 meters",
+    "closeness rank": 20
+   },
+   "telephone": {
+    "distance": "3.56 meters",
+    "closeness rank": 21
+   },
+   "plant": {
+    "distance": "3.84 meters",
+    "closeness rank": 22
+   },
+   "clock": {
+    "distance": "3.95 meters",
+    "closeness rank": 23
+   },
+   "table lamp": {
+    "distance": "4.45 meters",
+    "closeness rank": 24
+   }
+  },
+  "kettle": {
+   "table": {
+    "distance": "0.13 meters",
+    "closeness rank": 1
+   },
+   "chair": {
+    "distance": "0.4 meters",
+    "closeness rank": 2
+   },
+   "monitor": {
+    "distance": "0.41 meters",
+    "closeness rank": 3
+   },
+   "laptop": {
+    "distance": "0.42 meters",
+    "closeness rank": 4
+   },
+   "door": {
+    "distance": "0.5 meters",
+    "closeness rank": 5
+   },
+   "power strip": {
+    "distance": "0.63 meters",
+    "closeness rank": 6
+   },
+   "heater": {
+    "distance": "1.46 meters",
+    "closeness rank": 7
+   },
+   "cutting board": {
+    "distance": "1.56 meters",
+    "closeness rank": 8
+   },
+   "basket": {
+    "distance": "1.72 meters",
+    "closeness rank": 9
+   },
+   "ceiling light": {
+    "distance": "1.75 meters",
+    "closeness rank": 10
+   },
+   "trash can": {
+    "distance": "1.85 meters",
+    "closeness rank": 11
+   },
+   "bed": {
+    "distance": "1.87 meters",
+    "closeness rank": 12
+   },
+   "blanket": {
+    "distance": "1.87 meters",
+    "closeness rank": 13
+   },
+   "pillow": {
+    "distance": "1.97 meters",
+    "closeness rank": 14
+   },
+   "cup": {
+    "distance": "2.05 meters",
+    "closeness rank": 15
+   },
+   "cushion": {
+    "distance": "2.37 meters",
+    "closeness rank": 16
+   },
+   "sofa": {
+    "distance": "2.37 meters",
+    "closeness rank": 17
+   },
+   "plant": {
+    "distance": "2.51 meters",
+    "closeness rank": 18
+   },
+   "tv": {
+    "distance": "3.09 meters",
+    "closeness rank": 19
+   },
+   "clock": {
+    "distance": "3.25 meters",
+    "closeness rank": 20
+   },
+   "table lamp": {
+    "distance": "3.31 meters",
+    "closeness rank": 21
+   },
+   "bookshelf": {
+    "distance": "3.93 meters",
+    "closeness rank": 22
+   },
+   "toilet": {
+    "distance": "4.38 meters",
+    "closeness rank": 23
+   },
+   "telephone": {
+    "distance": "4.84 meters",
+    "closeness rank": 24
+   }
+  },
+  "laptop": {
+   "table": {
+    "distance": "0.12 meters",
+    "closeness rank": 1
+   },
+   "chair": {
+    "distance": "0.14 meters",
+    "closeness rank": 2
+   },
+   "monitor": {
+    "distance": "0.24 meters",
+    "closeness rank": 3
+   },
+   "power strip": {
+    "distance": "0.25 meters",
+    "closeness rank": 4
+   },
+   "kettle": {
+    "distance": "0.42 meters",
+    "closeness rank": 5
+   },
+   "heater": {
+    "distance": "0.69 meters",
+    "closeness rank": 6
+   },
+   "door": {
+    "distance": "0.74 meters",
+    "closeness rank": 7
+   },
+   "bed": {
+    "distance": "1.09 meters",
+    "closeness rank": 8
+   },
+   "trash can": {
+    "distance": "1.09 meters",
+    "closeness rank": 9
+   },
+   "blanket": {
+    "distance": "1.1 meters",
+    "closeness rank": 10
+   },
+   "pillow": {
+    "distance": "1.29 meters",
+    "closeness rank": 11
+   },
+   "cutting board": {
+    "distance": "1.81 meters",
+    "closeness rank": 12
+   },
+   "ceiling light": {
+    "distance": "1.89 meters",
+    "closeness rank": 13
+   },
+   "basket": {
+    "distance": "2.01 meters",
+    "closeness rank": 14
+   },
+   "cup": {
+    "distance": "2.32 meters",
+    "closeness rank": 15
+   },
+   "sofa": {
+    "distance": "2.42 meters",
+    "closeness rank": 16
+   },
+   "cushion": {
+    "distance": "2.44 meters",
+    "closeness rank": 17
+   },
+   "plant": {
+    "distance": "2.89 meters",
+    "closeness rank": 18
+   },
+   "tv": {
+    "distance": "3.03 meters",
+    "closeness rank": 19
+   },
+   "clock": {
+    "distance": "3.38 meters",
+    "closeness rank": 20
+   },
+   "bookshelf": {
+    "distance": "3.46 meters",
+    "closeness rank": 21
+   },
+   "table lamp": {
+    "distance": "3.61 meters",
+    "closeness rank": 22
+   },
+   "toilet": {
+    "distance": "3.65 meters",
+    "closeness rank": 23
+   },
+   "telephone": {
+    "distance": "4.14 meters",
+    "closeness rank": 24
+   }
+  },
+  "monitor": {
+   "door": {
+    "distance": "0.04 meters",
+    "closeness rank": 1
+   },
+   "tv": {
+    "distance": "0.18 meters",
+    "closeness rank": 2
+   },
+   "power strip": {
+    "distance": "0.19 meters",
+    "closeness rank": 3
+   },
+   "laptop": {
+    "distance": "0.24 meters",
+    "closeness rank": 4
+   },
+   "table": {
+    "distance": "0.38 meters",
+    "closeness rank": 5
+   },
+   "kettle": {
+    "distance": "0.41 meters",
+    "closeness rank": 6
+   },
+   "chair": {
+    "distance": "0.49 meters",
+    "closeness rank": 7
+   },
+   "bookshelf": {
+    "distance": "0.6 meters",
+    "closeness rank": 8
+   },
+   "heater": {
+    "distance": "1.18 meters",
+    "closeness rank": 9
+   },
+   "trash can": {
+    "distance": "1.48 meters",
+    "closeness rank": 10
+   },
+   "bed": {
+    "distance": "1.51 meters",
+    "closeness rank": 11
+   },
+   "blanket": {
+    "distance": "1.55 meters",
+    "closeness rank": 12
+   },
+   "pillow": {
+    "distance": "1.55 meters",
+    "closeness rank": 13
+   },
+   "sofa": {
+    "distance": "1.66 meters",
+    "closeness rank": 14
+   },
+   "ceiling light": {
+    "distance": "1.81 meters",
+    "closeness rank": 15
+   },
+   "cushion": {
+    "distance": "1.93 meters",
+    "closeness rank": 16
+   },
+   "cutting board": {
+    "distance": "2.06 meters",
+    "closeness rank": 17
+   },
+   "clock": {
+    "distance": "2.16 meters",
+    "closeness rank": 18
+   },
+   "basket": {
+    "distance": "2.22 meters",
+    "closeness rank": 19
+   },
+   "cup": {
+    "distance": "2.55 meters",
+    "closeness rank": 20
+   },
+   "toilet": {
+    "distance": "2.57 meters",
+    "closeness rank": 21
+   },
+   "telephone": {
+    "distance": "2.7 meters",
+    "closeness rank": 22
+   },
+   "plant": {
+    "distance": "3.01 meters",
+    "closeness rank": 23
+   },
+   "table lamp": {
+    "distance": "3.51 meters",
+    "closeness rank": 24
+   }
+  },
+  "pillow": {
+   "bed": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "blanket": {
+    "distance": "0.0 meters",
+    "closeness rank": 2
+   },
+   "sofa": {
+    "distance": "0.0 meters",
+    "closeness rank": 3
+   },
+   "trash can": {
+    "distance": "0.0 meters",
+    "closeness rank": 4
+   },
+   "cushion": {
+    "distance": "0.01 meters",
+    "closeness rank": 5
+   },
+   "tv": {
+    "distance": "0.55 meters",
+    "closeness rank": 6
+   },
+   "cutting board": {
+    "distance": "0.74 meters",
+    "closeness rank": 7
+   },
+   "table": {
+    "distance": "0.75 meters",
+    "closeness rank": 8
+   },
+   "clock": {
+    "distance": "0.77 meters",
+    "closeness rank": 9
+   },
+   "heater": {
+    "distance": "0.89 meters",
+    "closeness rank": 10
+   },
+   "chair": {
+    "distance": "0.94 meters",
+    "closeness rank": 11
+   },
+   "cup": {
+    "distance": "0.97 meters",
+    "closeness rank": 12
+   },
+   "basket": {
+    "distance": "1.0 meters",
+    "closeness rank": 13
+   },
+   "laptop": {
+    "distance": "1.29 meters",
+    "closeness rank": 14
+   },
+   "door": {
+    "distance": "1.52 meters",
+    "closeness rank": 15
+   },
+   "monitor": {
+    "distance": "1.55 meters",
+    "closeness rank": 16
+   },
+   "bookshelf": {
+    "distance": "1.56 meters",
+    "closeness rank": 17
+   },
+   "power strip": {
+    "distance": "1.59 meters",
+    "closeness rank": 18
+   },
+   "table lamp": {
+    "distance": "1.69 meters",
+    "closeness rank": 19
+   },
+   "plant": {
+    "distance": "1.89 meters",
+    "closeness rank": 20
+   },
+   "kettle": {
+    "distance": "1.97 meters",
+    "closeness rank": 21
+   },
+   "toilet": {
+    "distance": "2.15 meters",
+    "closeness rank": 22
+   },
+   "ceiling light": {
+    "distance": "2.17 meters",
+    "closeness rank": 23
+   },
+   "telephone": {
+    "distance": "2.58 meters",
+    "closeness rank": 24
+   }
+  },
+  "plant": {
+   "cutting board": {
+    "distance": "0.21 meters",
+    "closeness rank": 1
+   },
+   "sofa": {
+    "distance": "0.62 meters",
+    "closeness rank": 2
+   },
+   "basket": {
+    "distance": "0.67 meters",
+    "closeness rank": 3
+   },
+   "bed": {
+    "distance": "0.73 meters",
+    "closeness rank": 4
+   },
+   "table lamp": {
+    "distance": "0.75 meters",
+    "closeness rank": 5
+   },
+   "cup": {
+    "distance": "0.92 meters",
+    "closeness rank": 6
+   },
+   "cushion": {
+    "distance": "1.02 meters",
+    "closeness rank": 7
+   },
+   "clock": {
+    "distance": "1.56 meters",
+    "closeness rank": 8
+   },
+   "ceiling light": {
+    "distance": "1.69 meters",
+    "closeness rank": 9
+   },
+   "pillow": {
+    "distance": "1.89 meters",
+    "closeness rank": 10
+   },
+   "table": {
+    "distance": "2.14 meters",
+    "closeness rank": 11
+   },
+   "kettle": {
+    "distance": "2.51 meters",
+    "closeness rank": 12
+   },
+   "chair": {
+    "distance": "2.61 meters",
+    "closeness rank": 13
+   },
+   "tv": {
+    "distance": "2.78 meters",
+    "closeness rank": 14
+   },
+   "door": {
+    "distance": "2.79 meters",
+    "closeness rank": 15
+   },
+   "laptop": {
+    "distance": "2.89 meters",
+    "closeness rank": 16
+   },
+   "monitor": {
+    "distance": "3.01 meters",
+    "closeness rank": 17
+   },
+   "power strip": {
+    "distance": "3.23 meters",
+    "closeness rank": 18
+   },
+   "blanket": {
+    "distance": "3.64 meters",
+    "closeness rank": 19
+   },
+   "trash can": {
+    "distance": "3.64 meters",
+    "closeness rank": 20
+   },
+   "heater": {
+    "distance": "3.84 meters",
+    "closeness rank": 21
+   },
+   "bookshelf": {
+    "distance": "4.64 meters",
+    "closeness rank": 22
+   },
+   "toilet": {
+    "distance": "5.97 meters",
+    "closeness rank": 23
+   },
+   "telephone": {
+    "distance": "6.28 meters",
+    "closeness rank": 24
+   }
+  },
+  "power strip": {
+   "monitor": {
+    "distance": "0.19 meters",
+    "closeness rank": 1
+   },
+   "laptop": {
+    "distance": "0.25 meters",
+    "closeness rank": 2
+   },
+   "chair": {
+    "distance": "0.5 meters",
+    "closeness rank": 3
+   },
+   "table": {
+    "distance": "0.5 meters",
+    "closeness rank": 4
+   },
+   "door": {
+    "distance": "0.56 meters",
+    "closeness rank": 5
+   },
+   "kettle": {
+    "distance": "0.63 meters",
+    "closeness rank": 6
+   },
+   "heater": {
+    "distance": "0.66 meters",
+    "closeness rank": 7
+   },
+   "blanket": {
+    "distance": "1.09 meters",
+    "closeness rank": 8
+   },
+   "bed": {
+    "distance": "1.11 meters",
+    "closeness rank": 9
+   },
+   "trash can": {
+    "distance": "1.19 meters",
+    "closeness rank": 10
+   },
+   "pillow": {
+    "distance": "1.59 meters",
+    "closeness rank": 11
+   },
+   "ceiling light": {
+    "distance": "1.99 meters",
+    "closeness rank": 12
+   },
+   "cutting board": {
+    "distance": "2.26 meters",
+    "closeness rank": 13
+   },
+   "basket": {
+    "distance": "2.43 meters",
+    "closeness rank": 14
+   },
+   "cup": {
+    "distance": "2.75 meters",
+    "closeness rank": 15
+   },
+   "sofa": {
+    "distance": "2.92 meters",
+    "closeness rank": 16
+   },
+   "cushion": {
+    "distance": "2.94 meters",
+    "closeness rank": 17
+   },
+   "plant": {
+    "distance": "3.23 meters",
+    "closeness rank": 18
+   },
+   "tv": {
+    "distance": "3.5 meters",
+    "closeness rank": 19
+   },
+   "toilet": {
+    "distance": "3.75 meters",
+    "closeness rank": 20
+   },
+   "bookshelf": {
+    "distance": "3.79 meters",
+    "closeness rank": 21
+   },
+   "clock": {
+    "distance": "3.82 meters",
+    "closeness rank": 22
+   },
+   "table lamp": {
+    "distance": "3.98 meters",
+    "closeness rank": 23
+   },
+   "telephone": {
+    "distance": "4.24 meters",
+    "closeness rank": 24
+   }
+  },
+  "sofa": {
+   "bed": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "cushion": {
+    "distance": "0.0 meters",
+    "closeness rank": 2
+   },
+   "pillow": {
+    "distance": "0.0 meters",
+    "closeness rank": 3
+   },
+   "cutting board": {
+    "distance": "0.2 meters",
+    "closeness rank": 4
+   },
+   "table lamp": {
+    "distance": "0.45 meters",
+    "closeness rank": 5
+   },
+   "cup": {
+    "distance": "0.46 meters",
+    "closeness rank": 6
+   },
+   "clock": {
+    "distance": "0.48 meters",
+    "closeness rank": 7
+   },
+   "basket": {
+    "distance": "0.5 meters",
+    "closeness rank": 8
+   },
+   "tv": {
+    "distance": "0.5 meters",
+    "closeness rank": 9
+   },
+   "plant": {
+    "distance": "0.62 meters",
+    "closeness rank": 10
+   },
+   "door": {
+    "distance": "1.66 meters",
+    "closeness rank": 11
+   },
+   "monitor": {
+    "distance": "1.66 meters",
+    "closeness rank": 12
+   },
+   "trash can": {
+    "distance": "1.73 meters",
+    "closeness rank": 13
+   },
+   "blanket": {
+    "distance": "1.74 meters",
+    "closeness rank": 14
+   },
+   "chair": {
+    "distance": "1.9 meters",
+    "closeness rank": 15
+   },
+   "ceiling light": {
+    "distance": "2.06 meters",
+    "closeness rank": 16
+   },
+   "table": {
+    "distance": "2.08 meters",
+    "closeness rank": 17
+   },
+   "kettle": {
+    "distance": "2.37 meters",
+    "closeness rank": 18
+   },
+   "laptop": {
+    "distance": "2.42 meters",
+    "closeness rank": 19
+   },
+   "bookshelf": {
+    "distance": "2.51 meters",
+    "closeness rank": 20
+   },
+   "heater": {
+    "distance": "2.84 meters",
+    "closeness rank": 21
+   },
+   "power strip": {
+    "distance": "2.92 meters",
+    "closeness rank": 22
+   },
+   "toilet": {
+    "distance": "3.98 meters",
+    "closeness rank": 23
+   },
+   "telephone": {
+    "distance": "4.25 meters",
+    "closeness rank": 24
+   }
+  },
+  "table": {
+   "laptop": {
+    "distance": "0.12 meters",
+    "closeness rank": 1
+   },
+   "kettle": {
+    "distance": "0.13 meters",
+    "closeness rank": 2
+   },
+   "door": {
+    "distance": "0.14 meters",
+    "closeness rank": 3
+   },
+   "chair": {
+    "distance": "0.19 meters",
+    "closeness rank": 4
+   },
+   "heater": {
+    "distance": "0.2 meters",
+    "closeness rank": 5
+   },
+   "monitor": {
+    "distance": "0.38 meters",
+    "closeness rank": 6
+   },
+   "trash can": {
+    "distance": "0.43 meters",
+    "closeness rank": 7
+   },
+   "bed": {
+    "distance": "0.44 meters",
+    "closeness rank": 8
+   },
+   "blanket": {
+    "distance": "0.45 meters",
+    "closeness rank": 9
+   },
+   "power strip": {
+    "distance": "0.5 meters",
+    "closeness rank": 10
+   },
+   "ceiling light": {
+    "distance": "0.74 meters",
+    "closeness rank": 11
+   },
+   "pillow": {
+    "distance": "0.75 meters",
+    "closeness rank": 12
+   },
+   "cutting board": {
+    "distance": "1.21 meters",
+    "closeness rank": 13
+   },
+   "basket": {
+    "distance": "1.37 meters",
+    "closeness rank": 14
+   },
+   "cup": {
+    "distance": "1.69 meters",
+    "closeness rank": 15
+   },
+   "sofa": {
+    "distance": "2.08 meters",
+    "closeness rank": 16
+   },
+   "cushion": {
+    "distance": "2.09 meters",
+    "closeness rank": 17
+   },
+   "plant": {
+    "distance": "2.14 meters",
+    "closeness rank": 18
+   },
+   "tv": {
+    "distance": "2.75 meters",
+    "closeness rank": 19
+   },
+   "clock": {
+    "distance": "2.78 meters",
+    "closeness rank": 20
+   },
+   "table lamp": {
+    "distance": "2.84 meters",
+    "closeness rank": 21
+   },
+   "toilet": {
+    "distance": "3.05 meters",
+    "closeness rank": 22
+   },
+   "bookshelf": {
+    "distance": "3.06 meters",
+    "closeness rank": 23
+   },
+   "telephone": {
+    "distance": "3.58 meters",
+    "closeness rank": 24
+   }
+  },
+  "table lamp": {
+   "sofa": {
+    "distance": "0.45 meters",
+    "closeness rank": 1
+   },
+   "bed": {
+    "distance": "0.59 meters",
+    "closeness rank": 2
+   },
+   "cutting board": {
+    "distance": "0.67 meters",
+    "closeness rank": 3
+   },
+   "clock": {
+    "distance": "0.73 meters",
+    "closeness rank": 4
+   },
+   "plant": {
+    "distance": "0.75 meters",
+    "closeness rank": 5
+   },
+   "cushion": {
+    "distance": "1.09 meters",
+    "closeness rank": 6
+   },
+   "basket": {
+    "distance": "1.21 meters",
+    "closeness rank": 7
+   },
+   "cup": {
+    "distance": "1.3 meters",
+    "closeness rank": 8
+   },
+   "pillow": {
+    "distance": "1.69 meters",
+    "closeness rank": 9
+   },
+   "ceiling light": {
+    "distance": "2.06 meters",
+    "closeness rank": 10
+   },
+   "tv": {
+    "distance": "2.47 meters",
+    "closeness rank": 11
+   },
+   "table": {
+    "distance": "2.84 meters",
+    "closeness rank": 12
+   },
+   "chair": {
+    "distance": "3.24 meters",
+    "closeness rank": 13
+   },
+   "kettle": {
+    "distance": "3.31 meters",
+    "closeness rank": 14
+   },
+   "monitor": {
+    "distance": "3.51 meters",
+    "closeness rank": 15
+   },
+   "door": {
+    "distance": "3.58 meters",
+    "closeness rank": 16
+   },
+   "laptop": {
+    "distance": "3.61 meters",
+    "closeness rank": 17
+   },
+   "blanket": {
+    "distance": "3.85 meters",
+    "closeness rank": 18
+   },
+   "trash can": {
+    "distance": "3.85 meters",
+    "closeness rank": 19
+   },
+   "power strip": {
+    "distance": "3.98 meters",
+    "closeness rank": 20
+   },
+   "bookshelf": {
+    "distance": "4.42 meters",
+    "closeness rank": 21
+   },
+   "heater": {
+    "distance": "4.45 meters",
+    "closeness rank": 22
+   },
+   "toilet": {
+    "distance": "6.08 meters",
+    "closeness rank": 23
+   },
+   "telephone": {
+    "distance": "6.26 meters",
+    "closeness rank": 24
+   }
+  },
+  "telephone": {
+   "door": {
+    "distance": "0.02 meters",
+    "closeness rank": 1
+   },
+   "toilet": {
+    "distance": "0.53 meters",
+    "closeness rank": 2
+   },
+   "bed": {
+    "distance": "1.41 meters",
+    "closeness rank": 3
+   },
+   "trash can": {
+    "distance": "1.43 meters",
+    "closeness rank": 4
+   },
+   "bookshelf": {
+    "distance": "1.84 meters",
+    "closeness rank": 5
+   },
+   "pillow": {
+    "distance": "2.58 meters",
+    "closeness rank": 6
+   },
+   "blanket": {
+    "distance": "2.65 meters",
+    "closeness rank": 7
+   },
+   "monitor": {
+    "distance": "2.7 meters",
+    "closeness rank": 8
+   },
+   "tv": {
+    "distance": "2.97 meters",
+    "closeness rank": 9
+   },
+   "heater": {
+    "distance": "3.56 meters",
+    "closeness rank": 10
+   },
+   "table": {
+    "distance": "3.58 meters",
+    "closeness rank": 11
+   },
+   "chair": {
+    "distance": "3.87 meters",
+    "closeness rank": 12
+   },
+   "laptop": {
+    "distance": "4.14 meters",
+    "closeness rank": 13
+   },
+   "power strip": {
+    "distance": "4.24 meters",
+    "closeness rank": 14
+   },
+   "sofa": {
+    "distance": "4.25 meters",
+    "closeness rank": 15
+   },
+   "ceiling light": {
+    "distance": "4.4 meters",
+    "closeness rank": 16
+   },
+   "cushion": {
+    "distance": "4.4 meters",
+    "closeness rank": 17
+   },
+   "kettle": {
+    "distance": "4.84 meters",
+    "closeness rank": 18
+   },
+   "cutting board": {
+    "distance": "4.85 meters",
+    "closeness rank": 19
+   },
+   "clock": {
+    "distance": "5.0 meters",
+    "closeness rank": 20
+   },
+   "basket": {
+    "distance": "5.14 meters",
+    "closeness rank": 21
+   },
+   "cup": {
+    "distance": "5.21 meters",
+    "closeness rank": 22
+   },
+   "table lamp": {
+    "distance": "6.26 meters",
+    "closeness rank": 23
+   },
+   "plant": {
+    "distance": "6.28 meters",
+    "closeness rank": 24
+   }
+  },
+  "toilet": {
+   "door": {
+    "distance": "0.44 meters",
+    "closeness rank": 1
+   },
+   "telephone": {
+    "distance": "0.53 meters",
+    "closeness rank": 2
+   },
+   "bed": {
+    "distance": "0.9 meters",
+    "closeness rank": 3
+   },
+   "trash can": {
+    "distance": "0.94 meters",
+    "closeness rank": 4
+   },
+   "bookshelf": {
+    "distance": "1.84 meters",
+    "closeness rank": 5
+   },
+   "pillow": {
+    "distance": "2.15 meters",
+    "closeness rank": 6
+   },
+   "blanket": {
+    "distance": "2.22 meters",
+    "closeness rank": 7
+   },
+   "monitor": {
+    "distance": "2.57 meters",
+    "closeness rank": 8
+   },
+   "tv": {
+    "distance": "2.89 meters",
+    "closeness rank": 9
+   },
+   "heater": {
+    "distance": "2.97 meters",
+    "closeness rank": 10
+   },
+   "table": {
+    "distance": "3.05 meters",
+    "closeness rank": 11
+   },
+   "chair": {
+    "distance": "3.35 meters",
+    "closeness rank": 12
+   },
+   "laptop": {
+    "distance": "3.65 meters",
+    "closeness rank": 13
+   },
+   "power strip": {
+    "distance": "3.75 meters",
+    "closeness rank": 14
+   },
+   "sofa": {
+    "distance": "3.98 meters",
+    "closeness rank": 15
+   },
+   "cushion": {
+    "distance": "4.09 meters",
+    "closeness rank": 16
+   },
+   "ceiling light": {
+    "distance": "4.38 meters",
+    "closeness rank": 17
+   },
+   "kettle": {
+    "distance": "4.38 meters",
+    "closeness rank": 18
+   },
+   "cutting board": {
+    "distance": "4.48 meters",
+    "closeness rank": 19
+   },
+   "basket": {
+    "distance": "4.83 meters",
+    "closeness rank": 20
+   },
+   "cup": {
+    "distance": "4.91 meters",
+    "closeness rank": 21
+   },
+   "clock": {
+    "distance": "4.93 meters",
+    "closeness rank": 22
+   },
+   "plant": {
+    "distance": "5.97 meters",
+    "closeness rank": 23
+   },
+   "table lamp": {
+    "distance": "6.08 meters",
+    "closeness rank": 24
+   }
+  },
+  "trash can": {
+   "bed": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "blanket": {
+    "distance": "0.0 meters",
+    "closeness rank": 2
+   },
+   "pillow": {
+    "distance": "0.0 meters",
+    "closeness rank": 3
+   },
+   "heater": {
+    "distance": "0.35 meters",
+    "closeness rank": 4
+   },
+   "table": {
+    "distance": "0.43 meters",
+    "closeness rank": 5
+   },
+   "door": {
+    "distance": "0.48 meters",
+    "closeness rank": 6
+   },
+   "chair": {
+    "distance": "0.85 meters",
+    "closeness rank": 7
+   },
+   "toilet": {
+    "distance": "0.94 meters",
+    "closeness rank": 8
+   },
+   "laptop": {
+    "distance": "1.09 meters",
+    "closeness rank": 9
+   },
+   "power strip": {
+    "distance": "1.19 meters",
+    "closeness rank": 10
+   },
+   "bookshelf": {
+    "distance": "1.27 meters",
+    "closeness rank": 11
+   },
+   "telephone": {
+    "distance": "1.43 meters",
+    "closeness rank": 12
+   },
+   "monitor": {
+    "distance": "1.48 meters",
+    "closeness rank": 13
+   },
+   "tv": {
+    "distance": "1.48 meters",
+    "closeness rank": 14
+   },
+   "sofa": {
+    "distance": "1.73 meters",
+    "closeness rank": 15
+   },
+   "cushion": {
+    "distance": "1.83 meters",
+    "closeness rank": 16
+   },
+   "kettle": {
+    "distance": "1.85 meters",
+    "closeness rank": 17
+   },
+   "cutting board": {
+    "distance": "2.13 meters",
+    "closeness rank": 18
+   },
+   "ceiling light": {
+    "distance": "2.48 meters",
+    "closeness rank": 19
+   },
+   "basket": {
+    "distance": "2.49 meters",
+    "closeness rank": 20
+   },
+   "cup": {
+    "distance": "2.58 meters",
+    "closeness rank": 21
+   },
+   "clock": {
+    "distance": "2.91 meters",
+    "closeness rank": 22
+   },
+   "plant": {
+    "distance": "3.64 meters",
+    "closeness rank": 23
+   },
+   "table lamp": {
+    "distance": "3.85 meters",
+    "closeness rank": 24
+   }
+  },
+  "tv": {
+   "door": {
+    "distance": "0.18 meters",
+    "closeness rank": 1
+   },
+   "monitor": {
+    "distance": "0.18 meters",
+    "closeness rank": 2
+   },
+   "sofa": {
+    "distance": "0.5 meters",
+    "closeness rank": 3
+   },
+   "pillow": {
+    "distance": "0.55 meters",
+    "closeness rank": 4
+   },
+   "bed": {
+    "distance": "0.77 meters",
+    "closeness rank": 5
+   },
+   "cushion": {
+    "distance": "0.77 meters",
+    "closeness rank": 6
+   },
+   "bookshelf": {
+    "distance": "1.02 meters",
+    "closeness rank": 7
+   },
+   "clock": {
+    "distance": "1.2 meters",
+    "closeness rank": 8
+   },
+   "trash can": {
+    "distance": "1.48 meters",
+    "closeness rank": 9
+   },
+   "blanket": {
+    "distance": "1.5 meters",
+    "closeness rank": 10
+   },
+   "cutting board": {
+    "distance": "1.59 meters",
+    "closeness rank": 11
+   },
+   "cup": {
+    "distance": "1.79 meters",
+    "closeness rank": 12
+   },
+   "basket": {
+    "distance": "1.82 meters",
+    "closeness rank": 13
+   },
+   "ceiling light": {
+    "distance": "2.19 meters",
+    "closeness rank": 14
+   },
+   "table lamp": {
+    "distance": "2.47 meters",
+    "closeness rank": 15
+   },
+   "chair": {
+    "distance": "2.5 meters",
+    "closeness rank": 16
+   },
+   "table": {
+    "distance": "2.75 meters",
+    "closeness rank": 17
+   },
+   "plant": {
+    "distance": "2.78 meters",
+    "closeness rank": 18
+   },
+   "toilet": {
+    "distance": "2.89 meters",
+    "closeness rank": 19
+   },
+   "telephone": {
+    "distance": "2.97 meters",
+    "closeness rank": 20
+   },
+   "laptop": {
+    "distance": "3.03 meters",
+    "closeness rank": 21
+   },
+   "kettle": {
+    "distance": "3.09 meters",
+    "closeness rank": 22
+   },
+   "heater": {
+    "distance": "3.18 meters",
+    "closeness rank": 23
+   },
+   "power strip": {
+    "distance": "3.5 meters",
+    "closeness rank": 24
+   }
+  }
+ },
+ "appearance order": ["door", "basket", "trash can", "toilet", "telephone", "plant", "ceiling light", "bed", "chair", "table", "pillow", "cushion", "heater", "table lamp", "laptop", "bookshelf", "tv", "sofa", "clock", "kettle", "power strip", "blanket", "cutting board", "monitor", "cup"]
+}
\ No newline at end of file
diff --git a/data/spatial codes/sam3+depth-anything-3/metric/tracking/uniform/96/explicit/7831862f02.json b/data/spatial codes/sam3+depth-anything-3/metric/tracking/uniform/96/explicit/7831862f02.json
new file mode 100644
index 0000000000000000000000000000000000000000..7042ea95cc4b92758413751c810af96ecca739ff
--- /dev/null
+++ b/data/spatial codes/sam3+depth-anything-3/metric/tracking/uniform/96/explicit/7831862f02.json	
@@ -0,0 +1,1357 @@
+{
+ "objects": {
+  "ceiling light": {
+   "count": 8,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "0.8 meters",
+      "y coordinate": "3.84 meters",
+      "height above floor": "2.36 meters"
+     },
+     "longest dimension": "2.07 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "1.14 meters",
+      "y coordinate": "3.28 meters",
+      "height above floor": "1.69 meters"
+     },
+     "longest dimension": "0.9 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "0.69 meters",
+      "y coordinate": "3.36 meters",
+      "height above floor": "2.37 meters"
+     },
+     "longest dimension": "2.04 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "0.98 meters",
+      "y coordinate": "3.53 meters",
+      "height above floor": "1.75 meters"
+     },
+     "longest dimension": "0.78 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "0.45 meters",
+      "y coordinate": "0.93 meters",
+      "height above floor": "1.79 meters"
+     },
+     "longest dimension": "0.56 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-1.3 meters",
+      "y coordinate": "1.66 meters",
+      "height above floor": "1.51 meters"
+     },
+     "longest dimension": "0.49 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-1.07 meters",
+      "y coordinate": "2.21 meters",
+      "height above floor": "2.36 meters"
+     },
+     "longest dimension": "1.16 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "1.12 meters",
+      "y coordinate": "3.12 meters",
+      "height above floor": "1.58 meters"
+     },
+     "longest dimension": "0.52 meters"
+    }
+   ]
+  },
+  "chair": {
+   "count": 15,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "2.9 meters",
+      "y coordinate": "1.81 meters",
+      "height above floor": "0.0 meters"
+     },
+     "longest dimension": "0.74 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "1.07 meters",
+      "y coordinate": "1.32 meters",
+      "height above floor": "-0.12 meters"
+     },
+     "longest dimension": "0.83 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-0.2 meters",
+      "y coordinate": "0.3 meters",
+      "height above floor": "-0.09 meters"
+     },
+     "longest dimension": "0.8 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "0.51 meters",
+      "y coordinate": "4.02 meters",
+      "height above floor": "-0.1 meters"
+     },
+     "longest dimension": "0.85 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "2.6 meters",
+      "y coordinate": "2.16 meters",
+      "height above floor": "-0.06 meters"
+     },
+     "longest dimension": "0.8 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-1.04 meters",
+      "y coordinate": "0.51 meters",
+      "height above floor": "-0.1 meters"
+     },
+     "longest dimension": "0.78 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "0.96 meters",
+      "y coordinate": "1.67 meters",
+      "height above floor": "-0.11 meters"
+     },
+     "longest dimension": "0.84 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "0.88 meters",
+      "y coordinate": "1.4 meters",
+      "height above floor": "-0.14 meters"
+     },
+     "longest dimension": "0.65 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "0.21 meters",
+      "y coordinate": "-0.81 meters",
+      "height above floor": "0.04 meters"
+     },
+     "longest dimension": "0.55 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "1.22 meters",
+      "y coordinate": "1.24 meters",
+      "height above floor": "-0.01 meters"
+     },
+     "longest dimension": "0.78 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "1.27 meters",
+      "y coordinate": "3.34 meters",
+      "height above floor": "-0.03 meters"
+     },
+     "longest dimension": "0.54 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "1.41 meters",
+      "y coordinate": "1.25 meters",
+      "height above floor": "0.12 meters"
+     },
+     "longest dimension": "0.48 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-0.32 meters",
+      "y coordinate": "-0.41 meters",
+      "height above floor": "-0.02 meters"
+     },
+     "longest dimension": "0.33 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-0.38 meters",
+      "y coordinate": "-1.28 meters",
+      "height above floor": "0.15 meters"
+     },
+     "longest dimension": "0.93 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "0.47 meters",
+      "y coordinate": "-2.53 meters",
+      "height above floor": "-0.05 meters"
+     },
+     "longest dimension": "0.67 meters"
+    }
+   ]
+  },
+  "crate": {
+   "count": 2,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "1.79 meters",
+      "y coordinate": "-0.3 meters",
+      "height above floor": "-0.24 meters"
+     },
+     "longest dimension": "0.65 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "1.52 meters",
+      "y coordinate": "1.03 meters",
+      "height above floor": "-0.28 meters"
+     },
+     "longest dimension": "0.7 meters"
+    }
+   ]
+  },
+  "cushion": {
+   "count": 25,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "0.92 meters",
+      "y coordinate": "1.58 meters",
+      "height above floor": "-0.1 meters"
+     },
+     "longest dimension": "0.79 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "2.89 meters",
+      "y coordinate": "1.81 meters",
+      "height above floor": "0.01 meters"
+     },
+     "longest dimension": "0.73 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "1.27 meters",
+      "y coordinate": "3.34 meters",
+      "height above floor": "-0.03 meters"
+     },
+     "longest dimension": "0.51 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "0.21 meters",
+      "y coordinate": "-0.81 meters",
+      "height above floor": "0.04 meters"
+     },
+     "longest dimension": "0.53 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "0.85 meters",
+      "y coordinate": "1.74 meters",
+      "height above floor": "-0.14 meters"
+     },
+     "longest dimension": "0.65 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-1.49 meters",
+      "y coordinate": "1.78 meters",
+      "height above floor": "-0.02 meters"
+     },
+     "longest dimension": "0.54 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-0.32 meters",
+      "y coordinate": "0.61 meters",
+      "height above floor": "-0.05 meters"
+     },
+     "longest dimension": "0.6 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "2.12 meters",
+      "y coordinate": "2.4 meters",
+      "height above floor": "-0.07 meters"
+     },
+     "longest dimension": "0.48 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-1.43 meters",
+      "y coordinate": "1.5 meters",
+      "height above floor": "0.27 meters"
+     },
+     "longest dimension": "0.51 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-0.43 meters",
+      "y coordinate": "0.9 meters",
+      "height above floor": "-0.18 meters"
+     },
+     "longest dimension": "0.55 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "0.86 meters",
+      "y coordinate": "0.36 meters",
+      "height above floor": "0.03 meters"
+     },
+     "longest dimension": "0.78 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "0.74 meters",
+      "y coordinate": "4.22 meters",
+      "height above floor": "0.08 meters"
+     },
+     "longest dimension": "0.42 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-1.06 meters",
+      "y coordinate": "0.79 meters",
+      "height above floor": "-0.07 meters"
+     },
+     "longest dimension": "0.71 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "0.16 meters",
+      "y coordinate": "1.9 meters",
+      "height above floor": "-0.03 meters"
+     },
+     "longest dimension": "0.3 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "0.08 meters",
+      "y coordinate": "1.89 meters",
+      "height above floor": "-0.01 meters"
+     },
+     "longest dimension": "0.29 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "0.84 meters",
+      "y coordinate": "3.96 meters",
+      "height above floor": "0.04 meters"
+     },
+     "longest dimension": "0.34 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-0.29 meters",
+      "y coordinate": "0.64 meters",
+      "height above floor": "-0.06 meters"
+     },
+     "longest dimension": "0.61 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "0.34 meters",
+      "y coordinate": "2.19 meters",
+      "height above floor": "0.03 meters"
+     },
+     "longest dimension": "0.3 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "1.33 meters",
+      "y coordinate": "0.88 meters",
+      "height above floor": "-0.0 meters"
+     },
+     "longest dimension": "0.3 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "0.36 meters",
+      "y coordinate": "2.09 meters",
+      "height above floor": "-0.02 meters"
+     },
+     "longest dimension": "0.33 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "0.66 meters",
+      "y coordinate": "0.25 meters",
+      "height above floor": "-0.01 meters"
+     },
+     "longest dimension": "0.37 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "1.53 meters",
+      "y coordinate": "1.08 meters",
+      "height above floor": "0.01 meters"
+     },
+     "longest dimension": "0.35 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "1.17 meters",
+      "y coordinate": "0.68 meters",
+      "height above floor": "-0.0 meters"
+     },
+     "longest dimension": "0.32 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "1.61 meters",
+      "y coordinate": "1.07 meters",
+      "height above floor": "0.01 meters"
+     },
+     "longest dimension": "0.35 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "0.11 meters",
+      "y coordinate": "1.9 meters",
+      "height above floor": "-0.03 meters"
+     },
+     "longest dimension": "0.33 meters"
+    }
+   ]
+  },
+  "door": {
+   "count": 4,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "2.04 meters",
+      "y coordinate": "-0.45 meters",
+      "height above floor": "1.12 meters"
+     },
+     "longest dimension": "3.82 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "0.62 meters",
+      "y coordinate": "5.35 meters",
+      "height above floor": "0.4 meters"
+     },
+     "longest dimension": "1.38 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "0.6 meters",
+      "y coordinate": "5.31 meters",
+      "height above floor": "1.02 meters"
+     },
+     "longest dimension": "2.58 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "3.92 meters",
+      "y coordinate": "1.96 meters",
+      "height above floor": "0.62 meters"
+     },
+     "longest dimension": "1.94 meters"
+    }
+   ]
+  },
+  "exhaust fan": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-1.3 meters",
+      "y coordinate": "1.66 meters",
+      "height above floor": "1.51 meters"
+     },
+     "longest dimension": "0.5 meters"
+    }
+   ]
+  },
+  "heater": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-0.4 meters",
+      "y coordinate": "6.0 meters",
+      "height above floor": "-0.09 meters"
+     },
+     "longest dimension": "1.13 meters"
+    }
+   ]
+  },
+  "pillow": {
+   "count": 10,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-1.78 meters",
+      "y coordinate": "0.59 meters",
+      "height above floor": "0.92 meters"
+     },
+     "longest dimension": "0.81 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "0.91 meters",
+      "y coordinate": "0.4 meters",
+      "height above floor": "0.03 meters"
+     },
+     "longest dimension": "0.76 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "0.66 meters",
+      "y coordinate": "0.26 meters",
+      "height above floor": "-0.01 meters"
+     },
+     "longest dimension": "0.36 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "0.09 meters",
+      "y coordinate": "1.89 meters",
+      "height above floor": "-0.01 meters"
+     },
+     "longest dimension": "0.29 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "0.57 meters",
+      "y coordinate": "2.29 meters",
+      "height above floor": "-0.01 meters"
+     },
+     "longest dimension": "0.37 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "0.95 meters",
+      "y coordinate": "0.44 meters",
+      "height above floor": "-0.01 meters"
+     },
+     "longest dimension": "0.32 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "0.78 meters",
+      "y coordinate": "0.43 meters",
+      "height above floor": "0.02 meters"
+     },
+     "longest dimension": "0.57 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "0.91 meters",
+      "y coordinate": "0.5 meters",
+      "height above floor": "-0.02 meters"
+     },
+     "longest dimension": "0.34 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "1.33 meters",
+      "y coordinate": "0.9 meters",
+      "height above floor": "-0.01 meters"
+     },
+     "longest dimension": "0.28 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "1.5 meters",
+      "y coordinate": "1.03 meters",
+      "height above floor": "0.01 meters"
+     },
+     "longest dimension": "0.31 meters"
+    }
+   ]
+  },
+  "plant": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "0.36 meters",
+      "y coordinate": "5.62 meters",
+      "height above floor": "-0.08 meters"
+     },
+     "longest dimension": "0.24 meters"
+    }
+   ]
+  },
+  "sofa": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-1.05 meters",
+      "y coordinate": "0.51 meters",
+      "height above floor": "-0.1 meters"
+     },
+     "longest dimension": "0.8 meters"
+    }
+   ]
+  },
+  "table": {
+   "count": 9,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-2.79 meters",
+      "y coordinate": "2.55 meters",
+      "height above floor": "0.3 meters"
+     },
+     "longest dimension": "0.94 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "1.74 meters",
+      "y coordinate": "-0.43 meters",
+      "height above floor": "-0.07 meters"
+     },
+     "longest dimension": "2.37 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "0.47 meters",
+      "y coordinate": "0.07 meters",
+      "height above floor": "-0.04 meters"
+     },
+     "longest dimension": "0.37 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-1.05 meters",
+      "y coordinate": "4.66 meters",
+      "height above floor": "0.02 meters"
+     },
+     "longest dimension": "0.31 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-0.87 meters",
+      "y coordinate": "1.33 meters",
+      "height above floor": "-0.04 meters"
+     },
+     "longest dimension": "0.44 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "0.9 meters",
+      "y coordinate": "2.13 meters",
+      "height above floor": "-0.04 meters"
+     },
+     "longest dimension": "0.45 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-1.08 meters",
+      "y coordinate": "4.67 meters",
+      "height above floor": "-0.04 meters"
+     },
+     "longest dimension": "0.38 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-4.87 meters",
+      "y coordinate": "-2.13 meters",
+      "height above floor": "-0.13 meters"
+     },
+     "longest dimension": "2.97 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "0.85 meters",
+      "y coordinate": "-0.68 meters",
+      "height above floor": "-0.16 meters"
+     },
+     "longest dimension": "0.54 meters"
+    }
+   ]
+  },
+  "trash can": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-0.24 meters",
+      "y coordinate": "3.58 meters",
+      "height above floor": "-0.08 meters"
+     },
+     "longest dimension": "0.52 meters"
+    }
+   ]
+  },
+  "whiteboard": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "3.2 meters",
+      "y coordinate": "0.63 meters",
+      "height above floor": "1.59 meters"
+     },
+     "longest dimension": "3.37 meters"
+    }
+   ]
+  }
+ },
+ "room": {
+  "floor area": "40.6 square meters"
+ },
+ "closest classes distance meters from": {
+  "ceiling light": {
+   "exhaust fan": {
+    "distance": "0.43 meters",
+    "closeness rank": 1
+   },
+   "door": {
+    "distance": "0.7 meters",
+    "closeness rank": 2
+   },
+   "whiteboard": {
+    "distance": "1.23 meters",
+    "closeness rank": 3
+   },
+   "sofa": {
+    "distance": "1.73 meters",
+    "closeness rank": 4
+   },
+   "heater": {
+    "distance": "1.87 meters",
+    "closeness rank": 5
+   },
+   "pillow": {
+    "distance": "1.9 meters",
+    "closeness rank": 6
+   },
+   "table": {
+    "distance": "1.94 meters",
+    "closeness rank": 7
+   },
+   "chair": {
+    "distance": "2.08 meters",
+    "closeness rank": 8
+   },
+   "cushion": {
+    "distance": "2.08 meters",
+    "closeness rank": 9
+   },
+   "trash can": {
+    "distance": "2.34 meters",
+    "closeness rank": 10
+   },
+   "crate": {
+    "distance": "2.42 meters",
+    "closeness rank": 11
+   },
+   "plant": {
+    "distance": "2.52 meters",
+    "closeness rank": 12
+   }
+  },
+  "chair": {
+   "cushion": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "sofa": {
+    "distance": "0.0 meters",
+    "closeness rank": 2
+   },
+   "table": {
+    "distance": "0.22 meters",
+    "closeness rank": 3
+   },
+   "trash can": {
+    "distance": "0.28 meters",
+    "closeness rank": 4
+   },
+   "pillow": {
+    "distance": "0.47 meters",
+    "closeness rank": 5
+   },
+   "whiteboard": {
+    "distance": "0.61 meters",
+    "closeness rank": 6
+   },
+   "door": {
+    "distance": "0.62 meters",
+    "closeness rank": 7
+   },
+   "crate": {
+    "distance": "0.96 meters",
+    "closeness rank": 8
+   },
+   "heater": {
+    "distance": "1.24 meters",
+    "closeness rank": 9
+   },
+   "plant": {
+    "distance": "1.31 meters",
+    "closeness rank": 10
+   },
+   "exhaust fan": {
+    "distance": "1.38 meters",
+    "closeness rank": 11
+   },
+   "ceiling light": {
+    "distance": "2.08 meters",
+    "closeness rank": 12
+   }
+  },
+  "crate": {
+   "table": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "whiteboard": {
+    "distance": "0.28 meters",
+    "closeness rank": 2
+   },
+   "door": {
+    "distance": "0.35 meters",
+    "closeness rank": 3
+   },
+   "chair": {
+    "distance": "0.96 meters",
+    "closeness rank": 4
+   },
+   "sofa": {
+    "distance": "1.03 meters",
+    "closeness rank": 5
+   },
+   "cushion": {
+    "distance": "1.23 meters",
+    "closeness rank": 6
+   },
+   "exhaust fan": {
+    "distance": "1.7 meters",
+    "closeness rank": 7
+   },
+   "pillow": {
+    "distance": "1.89 meters",
+    "closeness rank": 8
+   },
+   "trash can": {
+    "distance": "1.94 meters",
+    "closeness rank": 9
+   },
+   "ceiling light": {
+    "distance": "2.42 meters",
+    "closeness rank": 10
+   },
+   "plant": {
+    "distance": "2.73 meters",
+    "closeness rank": 11
+   },
+   "heater": {
+    "distance": "3.43 meters",
+    "closeness rank": 12
+   }
+  },
+  "cushion": {
+   "chair": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "sofa": {
+    "distance": "0.0 meters",
+    "closeness rank": 2
+   },
+   "table": {
+    "distance": "0.3 meters",
+    "closeness rank": 3
+   },
+   "trash can": {
+    "distance": "0.3 meters",
+    "closeness rank": 4
+   },
+   "pillow": {
+    "distance": "0.39 meters",
+    "closeness rank": 5
+   },
+   "whiteboard": {
+    "distance": "0.87 meters",
+    "closeness rank": 6
+   },
+   "door": {
+    "distance": "0.88 meters",
+    "closeness rank": 7
+   },
+   "crate": {
+    "distance": "1.23 meters",
+    "closeness rank": 8
+   },
+   "heater": {
+    "distance": "1.27 meters",
+    "closeness rank": 9
+   },
+   "plant": {
+    "distance": "1.36 meters",
+    "closeness rank": 10
+   },
+   "exhaust fan": {
+    "distance": "1.57 meters",
+    "closeness rank": 11
+   },
+   "ceiling light": {
+    "distance": "2.08 meters",
+    "closeness rank": 12
+   }
+  },
+  "door": {
+   "whiteboard": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "exhaust fan": {
+    "distance": "0.25 meters",
+    "closeness rank": 2
+   },
+   "table": {
+    "distance": "0.25 meters",
+    "closeness rank": 3
+   },
+   "crate": {
+    "distance": "0.35 meters",
+    "closeness rank": 4
+   },
+   "chair": {
+    "distance": "0.62 meters",
+    "closeness rank": 5
+   },
+   "sofa": {
+    "distance": "0.63 meters",
+    "closeness rank": 6
+   },
+   "ceiling light": {
+    "distance": "0.7 meters",
+    "closeness rank": 7
+   },
+   "cushion": {
+    "distance": "0.88 meters",
+    "closeness rank": 8
+   },
+   "plant": {
+    "distance": "1.26 meters",
+    "closeness rank": 9
+   },
+   "trash can": {
+    "distance": "1.67 meters",
+    "closeness rank": 10
+   },
+   "heater": {
+    "distance": "1.72 meters",
+    "closeness rank": 11
+   },
+   "pillow": {
+    "distance": "2.11 meters",
+    "closeness rank": 12
+   }
+  },
+  "exhaust fan": {
+   "door": {
+    "distance": "0.25 meters",
+    "closeness rank": 1
+   },
+   "ceiling light": {
+    "distance": "0.43 meters",
+    "closeness rank": 2
+   },
+   "pillow": {
+    "distance": "0.56 meters",
+    "closeness rank": 3
+   },
+   "whiteboard": {
+    "distance": "0.66 meters",
+    "closeness rank": 4
+   },
+   "sofa": {
+    "distance": "0.94 meters",
+    "closeness rank": 5
+   },
+   "chair": {
+    "distance": "1.38 meters",
+    "closeness rank": 6
+   },
+   "table": {
+    "distance": "1.47 meters",
+    "closeness rank": 7
+   },
+   "cushion": {
+    "distance": "1.57 meters",
+    "closeness rank": 8
+   },
+   "crate": {
+    "distance": "1.7 meters",
+    "closeness rank": 9
+   },
+   "trash can": {
+    "distance": "1.76 meters",
+    "closeness rank": 10
+   },
+   "plant": {
+    "distance": "2.36 meters",
+    "closeness rank": 11
+   },
+   "heater": {
+    "distance": "2.39 meters",
+    "closeness rank": 12
+   }
+  },
+  "heater": {
+   "whiteboard": {
+    "distance": "0.29 meters",
+    "closeness rank": 1
+   },
+   "plant": {
+    "distance": "0.73 meters",
+    "closeness rank": 2
+   },
+   "chair": {
+    "distance": "1.24 meters",
+    "closeness rank": 3
+   },
+   "cushion": {
+    "distance": "1.27 meters",
+    "closeness rank": 4
+   },
+   "table": {
+    "distance": "1.27 meters",
+    "closeness rank": 5
+   },
+   "door": {
+    "distance": "1.72 meters",
+    "closeness rank": 6
+   },
+   "ceiling light": {
+    "distance": "1.87 meters",
+    "closeness rank": 7
+   },
+   "sofa": {
+    "distance": "2.04 meters",
+    "closeness rank": 8
+   },
+   "trash can": {
+    "distance": "2.18 meters",
+    "closeness rank": 9
+   },
+   "exhaust fan": {
+    "distance": "2.39 meters",
+    "closeness rank": 10
+   },
+   "crate": {
+    "distance": "3.43 meters",
+    "closeness rank": 11
+   },
+   "pillow": {
+    "distance": "3.62 meters",
+    "closeness rank": 12
+   }
+  },
+  "pillow": {
+   "cushion": {
+    "distance": "0.39 meters",
+    "closeness rank": 1
+   },
+   "sofa": {
+    "distance": "0.4 meters",
+    "closeness rank": 2
+   },
+   "chair": {
+    "distance": "0.47 meters",
+    "closeness rank": 3
+   },
+   "exhaust fan": {
+    "distance": "0.56 meters",
+    "closeness rank": 4
+   },
+   "trash can": {
+    "distance": "1.01 meters",
+    "closeness rank": 5
+   },
+   "table": {
+    "distance": "1.82 meters",
+    "closeness rank": 6
+   },
+   "crate": {
+    "distance": "1.89 meters",
+    "closeness rank": 7
+   },
+   "ceiling light": {
+    "distance": "1.9 meters",
+    "closeness rank": 8
+   },
+   "door": {
+    "distance": "2.11 meters",
+    "closeness rank": 9
+   },
+   "whiteboard": {
+    "distance": "2.24 meters",
+    "closeness rank": 10
+   },
+   "plant": {
+    "distance": "3.28 meters",
+    "closeness rank": 11
+   },
+   "heater": {
+    "distance": "3.62 meters",
+    "closeness rank": 12
+   }
+  },
+  "plant": {
+   "heater": {
+    "distance": "0.73 meters",
+    "closeness rank": 1
+   },
+   "whiteboard": {
+    "distance": "1.22 meters",
+    "closeness rank": 2
+   },
+   "door": {
+    "distance": "1.26 meters",
+    "closeness rank": 3
+   },
+   "chair": {
+    "distance": "1.31 meters",
+    "closeness rank": 4
+   },
+   "cushion": {
+    "distance": "1.36 meters",
+    "closeness rank": 5
+   },
+   "sofa": {
+    "distance": "1.51 meters",
+    "closeness rank": 6
+   },
+   "table": {
+    "distance": "1.68 meters",
+    "closeness rank": 7
+   },
+   "trash can": {
+    "distance": "2.0 meters",
+    "closeness rank": 8
+   },
+   "exhaust fan": {
+    "distance": "2.36 meters",
+    "closeness rank": 9
+   },
+   "ceiling light": {
+    "distance": "2.52 meters",
+    "closeness rank": 10
+   },
+   "crate": {
+    "distance": "2.73 meters",
+    "closeness rank": 11
+   },
+   "pillow": {
+    "distance": "3.28 meters",
+    "closeness rank": 12
+   }
+  },
+  "sofa": {
+   "chair": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "cushion": {
+    "distance": "0.0 meters",
+    "closeness rank": 2
+   },
+   "pillow": {
+    "distance": "0.4 meters",
+    "closeness rank": 3
+   },
+   "trash can": {
+    "distance": "0.42 meters",
+    "closeness rank": 4
+   },
+   "whiteboard": {
+    "distance": "0.62 meters",
+    "closeness rank": 5
+   },
+   "door": {
+    "distance": "0.63 meters",
+    "closeness rank": 6
+   },
+   "exhaust fan": {
+    "distance": "0.94 meters",
+    "closeness rank": 7
+   },
+   "crate": {
+    "distance": "1.03 meters",
+    "closeness rank": 8
+   },
+   "table": {
+    "distance": "1.12 meters",
+    "closeness rank": 9
+   },
+   "plant": {
+    "distance": "1.51 meters",
+    "closeness rank": 10
+   },
+   "ceiling light": {
+    "distance": "1.73 meters",
+    "closeness rank": 11
+   },
+   "heater": {
+    "distance": "2.04 meters",
+    "closeness rank": 12
+   }
+  },
+  "table": {
+   "crate": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "chair": {
+    "distance": "0.22 meters",
+    "closeness rank": 2
+   },
+   "door": {
+    "distance": "0.25 meters",
+    "closeness rank": 3
+   },
+   "whiteboard": {
+    "distance": "0.26 meters",
+    "closeness rank": 4
+   },
+   "cushion": {
+    "distance": "0.3 meters",
+    "closeness rank": 5
+   },
+   "trash can": {
+    "distance": "1.05 meters",
+    "closeness rank": 6
+   },
+   "sofa": {
+    "distance": "1.12 meters",
+    "closeness rank": 7
+   },
+   "heater": {
+    "distance": "1.27 meters",
+    "closeness rank": 8
+   },
+   "exhaust fan": {
+    "distance": "1.47 meters",
+    "closeness rank": 9
+   },
+   "plant": {
+    "distance": "1.68 meters",
+    "closeness rank": 10
+   },
+   "pillow": {
+    "distance": "1.82 meters",
+    "closeness rank": 11
+   },
+   "ceiling light": {
+    "distance": "1.94 meters",
+    "closeness rank": 12
+   }
+  },
+  "trash can": {
+   "chair": {
+    "distance": "0.28 meters",
+    "closeness rank": 1
+   },
+   "cushion": {
+    "distance": "0.3 meters",
+    "closeness rank": 2
+   },
+   "sofa": {
+    "distance": "0.42 meters",
+    "closeness rank": 3
+   },
+   "pillow": {
+    "distance": "1.01 meters",
+    "closeness rank": 4
+   },
+   "table": {
+    "distance": "1.05 meters",
+    "closeness rank": 5
+   },
+   "whiteboard": {
+    "distance": "1.63 meters",
+    "closeness rank": 6
+   },
+   "door": {
+    "distance": "1.67 meters",
+    "closeness rank": 7
+   },
+   "exhaust fan": {
+    "distance": "1.76 meters",
+    "closeness rank": 8
+   },
+   "crate": {
+    "distance": "1.94 meters",
+    "closeness rank": 9
+   },
+   "plant": {
+    "distance": "2.0 meters",
+    "closeness rank": 10
+   },
+   "heater": {
+    "distance": "2.18 meters",
+    "closeness rank": 11
+   },
+   "ceiling light": {
+    "distance": "2.34 meters",
+    "closeness rank": 12
+   }
+  },
+  "whiteboard": {
+   "door": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "table": {
+    "distance": "0.26 meters",
+    "closeness rank": 2
+   },
+   "crate": {
+    "distance": "0.28 meters",
+    "closeness rank": 3
+   },
+   "heater": {
+    "distance": "0.29 meters",
+    "closeness rank": 4
+   },
+   "chair": {
+    "distance": "0.61 meters",
+    "closeness rank": 5
+   },
+   "sofa": {
+    "distance": "0.62 meters",
+    "closeness rank": 6
+   },
+   "exhaust fan": {
+    "distance": "0.66 meters",
+    "closeness rank": 7
+   },
+   "cushion": {
+    "distance": "0.87 meters",
+    "closeness rank": 8
+   },
+   "plant": {
+    "distance": "1.22 meters",
+    "closeness rank": 9
+   },
+   "ceiling light": {
+    "distance": "1.23 meters",
+    "closeness rank": 10
+   },
+   "trash can": {
+    "distance": "1.63 meters",
+    "closeness rank": 11
+   },
+   "pillow": {
+    "distance": "2.24 meters",
+    "closeness rank": 12
+   }
+  }
+ },
+ "appearance order": ["chair", "table", "cushion", "door", "heater", "plant", "ceiling light", "whiteboard", "pillow", "sofa", "trash can", "exhaust fan", "crate"]
+}
\ No newline at end of file
diff --git a/data/spatial codes/sam3+depth-anything-3/metric/tracking/uniform/96/explicit/7bc286c1b6.json b/data/spatial codes/sam3+depth-anything-3/metric/tracking/uniform/96/explicit/7bc286c1b6.json
new file mode 100644
index 0000000000000000000000000000000000000000..e1f70f9891883a3353a6d8429ca073e7fb263f16
--- /dev/null
+++ b/data/spatial codes/sam3+depth-anything-3/metric/tracking/uniform/96/explicit/7bc286c1b6.json	
@@ -0,0 +1,252 @@
+{
+ "objects": {
+  "ceiling light": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-1.51 meters",
+      "y coordinate": "-0.9 meters",
+      "height above floor": "0.56 meters"
+     },
+     "longest dimension": "0.09 meters"
+    }
+   ]
+  },
+  "door": {
+   "count": 5,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-1.53 meters",
+      "y coordinate": "-0.27 meters",
+      "height above floor": "-0.01 meters"
+     },
+     "longest dimension": "0.93 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-0.69 meters",
+      "y coordinate": "0.66 meters",
+      "height above floor": "-0.12 meters"
+     },
+     "longest dimension": "0.86 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-1.05 meters",
+      "y coordinate": "0.36 meters",
+      "height above floor": "0.78 meters"
+     },
+     "longest dimension": "0.67 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-0.06 meters",
+      "y coordinate": "0.7 meters",
+      "height above floor": "1.04 meters"
+     },
+     "longest dimension": "0.8 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "0.1 meters",
+      "y coordinate": "0.96 meters",
+      "height above floor": "1.03 meters"
+     },
+     "longest dimension": "0.72 meters"
+    }
+   ]
+  },
+  "exhaust fan": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-0.3 meters",
+      "y coordinate": "0.61 meters",
+      "height above floor": "1.22 meters"
+     },
+     "longest dimension": "0.15 meters"
+    }
+   ]
+  },
+  "toilet": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "0.1 meters",
+      "y coordinate": "1.18 meters",
+      "height above floor": "0.38 meters"
+     },
+     "longest dimension": "0.48 meters"
+    }
+   ]
+  },
+  "trash can": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-0.49 meters",
+      "y coordinate": "1.37 meters",
+      "height above floor": "0.91 meters"
+     },
+     "longest dimension": "0.31 meters"
+    }
+   ]
+  },
+  "whiteboard": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "0.52 meters",
+      "y coordinate": "0.07 meters",
+      "height above floor": "0.37 meters"
+     },
+     "longest dimension": "0.26 meters"
+    }
+   ]
+  }
+ },
+ "room": {
+  "floor area": "7.8 square meters"
+ },
+ "closest classes distance meters from": {
+  "ceiling light": {
+   "door": {
+    "distance": "0.29 meters",
+    "closeness rank": 1
+   },
+   "exhaust fan": {
+    "distance": "1.97 meters",
+    "closeness rank": 2
+   },
+   "trash can": {
+    "distance": "2.41 meters",
+    "closeness rank": 3
+   },
+   "whiteboard": {
+    "distance": "2.44 meters",
+    "closeness rank": 4
+   },
+   "toilet": {
+    "distance": "2.47 meters",
+    "closeness rank": 5
+   }
+  },
+  "door": {
+   "ceiling light": {
+    "distance": "0.29 meters",
+    "closeness rank": 1
+   },
+   "toilet": {
+    "distance": "1.15 meters",
+    "closeness rank": 2
+   },
+   "trash can": {
+    "distance": "1.15 meters",
+    "closeness rank": 3
+   },
+   "exhaust fan": {
+    "distance": "1.4 meters",
+    "closeness rank": 4
+   },
+   "whiteboard": {
+    "distance": "1.58 meters",
+    "closeness rank": 5
+   }
+  },
+  "exhaust fan": {
+   "trash can": {
+    "distance": "0.73 meters",
+    "closeness rank": 1
+   },
+   "toilet": {
+    "distance": "0.9 meters",
+    "closeness rank": 2
+   },
+   "whiteboard": {
+    "distance": "0.98 meters",
+    "closeness rank": 3
+   },
+   "door": {
+    "distance": "1.4 meters",
+    "closeness rank": 4
+   },
+   "ceiling light": {
+    "distance": "1.97 meters",
+    "closeness rank": 5
+   }
+  },
+  "toilet": {
+   "whiteboard": {
+    "distance": "0.47 meters",
+    "closeness rank": 1
+   },
+   "trash can": {
+    "distance": "0.58 meters",
+    "closeness rank": 2
+   },
+   "exhaust fan": {
+    "distance": "0.9 meters",
+    "closeness rank": 3
+   },
+   "door": {
+    "distance": "1.15 meters",
+    "closeness rank": 4
+   },
+   "ceiling light": {
+    "distance": "2.47 meters",
+    "closeness rank": 5
+   }
+  },
+  "trash can": {
+   "toilet": {
+    "distance": "0.58 meters",
+    "closeness rank": 1
+   },
+   "exhaust fan": {
+    "distance": "0.73 meters",
+    "closeness rank": 2
+   },
+   "door": {
+    "distance": "1.15 meters",
+    "closeness rank": 3
+   },
+   "whiteboard": {
+    "distance": "1.17 meters",
+    "closeness rank": 4
+   },
+   "ceiling light": {
+    "distance": "2.41 meters",
+    "closeness rank": 5
+   }
+  },
+  "whiteboard": {
+   "toilet": {
+    "distance": "0.47 meters",
+    "closeness rank": 1
+   },
+   "exhaust fan": {
+    "distance": "0.98 meters",
+    "closeness rank": 2
+   },
+   "trash can": {
+    "distance": "1.17 meters",
+    "closeness rank": 3
+   },
+   "door": {
+    "distance": "1.58 meters",
+    "closeness rank": 4
+   },
+   "ceiling light": {
+    "distance": "2.44 meters",
+    "closeness rank": 5
+   }
+  }
+ },
+ "appearance order": ["toilet", "door", "ceiling light", "whiteboard", "trash can", "exhaust fan"]
+}
\ No newline at end of file
diff --git a/data/spatial codes/sam3+depth-anything-3/metric/tracking/uniform/96/explicit/99fa5c25e1.json b/data/spatial codes/sam3+depth-anything-3/metric/tracking/uniform/96/explicit/99fa5c25e1.json
new file mode 100644
index 0000000000000000000000000000000000000000..62bfbdee545ee030b48a6cb91a23581c9fd15607
--- /dev/null
+++ b/data/spatial codes/sam3+depth-anything-3/metric/tracking/uniform/96/explicit/99fa5c25e1.json	
@@ -0,0 +1,950 @@
+{
+ "objects": {
+  "bucket": {
+   "count": 2,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-1.22 meters",
+      "y coordinate": "-0.19 meters",
+      "height above floor": "-0.58 meters"
+     },
+     "longest dimension": "0.27 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "2.73 meters",
+      "y coordinate": "-0.02 meters",
+      "height above floor": "-0.52 meters"
+     },
+     "longest dimension": "0.28 meters"
+    }
+   ]
+  },
+  "ceiling light": {
+   "count": 16,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "1.3 meters",
+      "y coordinate": "0.94 meters",
+      "height above floor": "0.65 meters"
+     },
+     "longest dimension": "0.15 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "6.47 meters",
+      "y coordinate": "1.76 meters",
+      "height above floor": "3.53 meters"
+     },
+     "longest dimension": "1.93 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "7.81 meters",
+      "y coordinate": "2.19 meters",
+      "height above floor": "4.08 meters"
+     },
+     "longest dimension": "1.32 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "6.52 meters",
+      "y coordinate": "5.41 meters",
+      "height above floor": "3.78 meters"
+     },
+     "longest dimension": "0.35 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "5.41 meters",
+      "y coordinate": "7.36 meters",
+      "height above floor": "3.96 meters"
+     },
+     "longest dimension": "0.7 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "7.36 meters",
+      "y coordinate": "2.12 meters",
+      "height above floor": "3.32 meters"
+     },
+     "longest dimension": "0.33 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "3.76 meters",
+      "y coordinate": "6.03 meters",
+      "height above floor": "4.03 meters"
+     },
+     "longest dimension": "0.38 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "9.13 meters",
+      "y coordinate": "-1.1 meters",
+      "height above floor": "3.33 meters"
+     },
+     "longest dimension": "0.37 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "7.14 meters",
+      "y coordinate": "8.85 meters",
+      "height above floor": "3.97 meters"
+     },
+     "longest dimension": "0.78 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "8.36 meters",
+      "y coordinate": "7.02 meters",
+      "height above floor": "4.01 meters"
+     },
+     "longest dimension": "0.47 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "8.17 meters",
+      "y coordinate": "3.17 meters",
+      "height above floor": "3.12 meters"
+     },
+     "longest dimension": "0.35 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "6.92 meters",
+      "y coordinate": "-2.78 meters",
+      "height above floor": "4.21 meters"
+     },
+     "longest dimension": "0.82 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "9.83 meters",
+      "y coordinate": "-2.07 meters",
+      "height above floor": "2.97 meters"
+     },
+     "longest dimension": "0.76 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "6.62 meters",
+      "y coordinate": "1.85 meters",
+      "height above floor": "2.9 meters"
+     },
+     "longest dimension": "0.5 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "7.87 meters",
+      "y coordinate": "3.8 meters",
+      "height above floor": "3.29 meters"
+     },
+     "longest dimension": "0.4 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "8.76 meters",
+      "y coordinate": "-1.32 meters",
+      "height above floor": "3.3 meters"
+     },
+     "longest dimension": "0.42 meters"
+    }
+   ]
+  },
+  "chair": {
+   "count": 4,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "3.11 meters",
+      "y coordinate": "-2.42 meters",
+      "height above floor": "0.22 meters"
+     },
+     "longest dimension": "0.84 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "1.55 meters",
+      "y coordinate": "-1.97 meters",
+      "height above floor": "-0.01 meters"
+     },
+     "longest dimension": "0.63 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "1.51 meters",
+      "y coordinate": "-2.06 meters",
+      "height above floor": "-0.22 meters"
+     },
+     "longest dimension": "0.88 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "2.83 meters",
+      "y coordinate": "0.29 meters",
+      "height above floor": "0.13 meters"
+     },
+     "longest dimension": "1.14 meters"
+    }
+   ]
+  },
+  "crate": {
+   "count": 4,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "1.02 meters",
+      "y coordinate": "-2.86 meters",
+      "height above floor": "0.28 meters"
+     },
+     "longest dimension": "0.28 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "0.91 meters",
+      "y coordinate": "-2.73 meters",
+      "height above floor": "0.27 meters"
+     },
+     "longest dimension": "0.18 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-0.57 meters",
+      "y coordinate": "-1.15 meters",
+      "height above floor": "0.25 meters"
+     },
+     "longest dimension": "0.29 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "0.04 meters",
+      "y coordinate": "-1.82 meters",
+      "height above floor": "0.11 meters"
+     },
+     "longest dimension": "0.26 meters"
+    }
+   ]
+  },
+  "cup": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-0.53 meters",
+      "y coordinate": "-0.55 meters",
+      "height above floor": "0.05 meters"
+     },
+     "longest dimension": "0.16 meters"
+    }
+   ]
+  },
+  "door": {
+   "count": 2,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "2.39 meters",
+      "y coordinate": "-0.78 meters",
+      "height above floor": "0.55 meters"
+     },
+     "longest dimension": "1.0 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "0.05 meters",
+      "y coordinate": "1.47 meters",
+      "height above floor": "0.56 meters"
+     },
+     "longest dimension": "1.42 meters"
+    }
+   ]
+  },
+  "headphones": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "1.4 meters",
+      "y coordinate": "-2.41 meters",
+      "height above floor": "0.04 meters"
+     },
+     "longest dimension": "0.15 meters"
+    }
+   ]
+  },
+  "keyboard": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "0.48 meters",
+      "y coordinate": "-1.36 meters",
+      "height above floor": "0.04 meters"
+     },
+     "longest dimension": "0.2 meters"
+    }
+   ]
+  },
+  "monitor": {
+   "count": 3,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "3.84 meters",
+      "y coordinate": "-2.36 meters",
+      "height above floor": "0.49 meters"
+     },
+     "longest dimension": "0.27 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "0.88 meters",
+      "y coordinate": "-0.26 meters",
+      "height above floor": "0.65 meters"
+     },
+     "longest dimension": "0.26 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "3.95 meters",
+      "y coordinate": "-2.38 meters",
+      "height above floor": "0.48 meters"
+     },
+     "longest dimension": "0.3 meters"
+    }
+   ]
+  },
+  "table": {
+   "count": 2,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "1.59 meters",
+      "y coordinate": "-2.44 meters",
+      "height above floor": "0.01 meters"
+     },
+     "longest dimension": "0.84 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "2.19 meters",
+      "y coordinate": "-1.13 meters",
+      "height above floor": "-0.02 meters"
+     },
+     "longest dimension": "0.63 meters"
+    }
+   ]
+  },
+  "trash can": {
+   "count": 3,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "2.09 meters",
+      "y coordinate": "-3.15 meters",
+      "height above floor": "-0.04 meters"
+     },
+     "longest dimension": "0.62 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "2.02 meters",
+      "y coordinate": "-2.9 meters",
+      "height above floor": "-0.41 meters"
+     },
+     "longest dimension": "0.61 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-1.22 meters",
+      "y coordinate": "-0.2 meters",
+      "height above floor": "-0.58 meters"
+     },
+     "longest dimension": "0.27 meters"
+    }
+   ]
+  },
+  "whiteboard": {
+   "count": 2,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "1.42 meters",
+      "y coordinate": "0.74 meters",
+      "height above floor": "0.64 meters"
+     },
+     "longest dimension": "0.81 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "1.05 meters",
+      "y coordinate": "-0.49 meters",
+      "height above floor": "0.31 meters"
+     },
+     "longest dimension": "0.4 meters"
+    }
+   ]
+  }
+ },
+ "room": {
+  "floor area": "26.4 square meters"
+ },
+ "closest classes distance meters from": {
+  "bucket": {
+   "table": {
+    "distance": "0.52 meters",
+    "closeness rank": 1
+   },
+   "crate": {
+    "distance": "0.53 meters",
+    "closeness rank": 2
+   },
+   "cup": {
+    "distance": "0.76 meters",
+    "closeness rank": 3
+   },
+   "keyboard": {
+    "distance": "1.87 meters",
+    "closeness rank": 4
+   },
+   "whiteboard": {
+    "distance": "2.19 meters",
+    "closeness rank": 5
+   },
+   "ceiling light": {
+    "distance": "2.81 meters",
+    "closeness rank": 6
+   },
+   "door": {
+    "distance": "3.31 meters",
+    "closeness rank": 7
+   },
+   "headphones": {
+    "distance": "3.33 meters",
+    "closeness rank": 8
+   },
+   "trash can": {
+    "distance": "4.06 meters",
+    "closeness rank": 9
+   },
+   "chair": {
+    "distance": "4.57 meters",
+    "closeness rank": 10
+   },
+   "monitor": {
+    "distance": "5.43 meters",
+    "closeness rank": 11
+   }
+  },
+  "ceiling light": {
+   "whiteboard": {
+    "distance": "0.19 meters",
+    "closeness rank": 1
+   },
+   "door": {
+    "distance": "1.65 meters",
+    "closeness rank": 2
+   },
+   "table": {
+    "distance": "2.11 meters",
+    "closeness rank": 3
+   },
+   "cup": {
+    "distance": "2.35 meters",
+    "closeness rank": 4
+   },
+   "keyboard": {
+    "distance": "2.36 meters",
+    "closeness rank": 5
+   },
+   "crate": {
+    "distance": "2.73 meters",
+    "closeness rank": 6
+   },
+   "bucket": {
+    "distance": "2.81 meters",
+    "closeness rank": 7
+   },
+   "headphones": {
+    "distance": "3.28 meters",
+    "closeness rank": 8
+   },
+   "chair": {
+    "distance": "3.55 meters",
+    "closeness rank": 9
+   },
+   "trash can": {
+    "distance": "3.85 meters",
+    "closeness rank": 10
+   },
+   "monitor": {
+    "distance": "4.08 meters",
+    "closeness rank": 11
+   }
+  },
+  "chair": {
+   "monitor": {
+    "distance": "0.55 meters",
+    "closeness rank": 1
+   },
+   "door": {
+    "distance": "0.95 meters",
+    "closeness rank": 2
+   },
+   "crate": {
+    "distance": "1.01 meters",
+    "closeness rank": 3
+   },
+   "trash can": {
+    "distance": "1.03 meters",
+    "closeness rank": 4
+   },
+   "whiteboard": {
+    "distance": "1.11 meters",
+    "closeness rank": 5
+   },
+   "headphones": {
+    "distance": "1.56 meters",
+    "closeness rank": 6
+   },
+   "table": {
+    "distance": "1.61 meters",
+    "closeness rank": 7
+   },
+   "cup": {
+    "distance": "2.56 meters",
+    "closeness rank": 8
+   },
+   "keyboard": {
+    "distance": "2.64 meters",
+    "closeness rank": 9
+   },
+   "ceiling light": {
+    "distance": "3.55 meters",
+    "closeness rank": 10
+   },
+   "bucket": {
+    "distance": "4.57 meters",
+    "closeness rank": 11
+   }
+  },
+  "crate": {
+   "table": {
+    "distance": "0.12 meters",
+    "closeness rank": 1
+   },
+   "cup": {
+    "distance": "0.35 meters",
+    "closeness rank": 2
+   },
+   "headphones": {
+    "distance": "0.49 meters",
+    "closeness rank": 3
+   },
+   "bucket": {
+    "distance": "0.53 meters",
+    "closeness rank": 4
+   },
+   "keyboard": {
+    "distance": "0.58 meters",
+    "closeness rank": 5
+   },
+   "trash can": {
+    "distance": "0.68 meters",
+    "closeness rank": 6
+   },
+   "chair": {
+    "distance": "1.01 meters",
+    "closeness rank": 7
+   },
+   "monitor": {
+    "distance": "1.16 meters",
+    "closeness rank": 8
+   },
+   "door": {
+    "distance": "1.25 meters",
+    "closeness rank": 9
+   },
+   "whiteboard": {
+    "distance": "1.34 meters",
+    "closeness rank": 10
+   },
+   "ceiling light": {
+    "distance": "2.73 meters",
+    "closeness rank": 11
+   }
+  },
+  "cup": {
+   "table": {
+    "distance": "0.01 meters",
+    "closeness rank": 1
+   },
+   "keyboard": {
+    "distance": "0.05 meters",
+    "closeness rank": 2
+   },
+   "crate": {
+    "distance": "0.35 meters",
+    "closeness rank": 3
+   },
+   "bucket": {
+    "distance": "0.76 meters",
+    "closeness rank": 4
+   },
+   "headphones": {
+    "distance": "1.22 meters",
+    "closeness rank": 5
+   },
+   "door": {
+    "distance": "1.77 meters",
+    "closeness rank": 6
+   },
+   "whiteboard": {
+    "distance": "1.92 meters",
+    "closeness rank": 7
+   },
+   "trash can": {
+    "distance": "1.99 meters",
+    "closeness rank": 8
+   },
+   "ceiling light": {
+    "distance": "2.35 meters",
+    "closeness rank": 9
+   },
+   "chair": {
+    "distance": "2.56 meters",
+    "closeness rank": 10
+   },
+   "monitor": {
+    "distance": "3.37 meters",
+    "closeness rank": 11
+   }
+  },
+  "door": {
+   "whiteboard": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "chair": {
+    "distance": "0.95 meters",
+    "closeness rank": 2
+   },
+   "crate": {
+    "distance": "1.25 meters",
+    "closeness rank": 3
+   },
+   "table": {
+    "distance": "1.59 meters",
+    "closeness rank": 4
+   },
+   "monitor": {
+    "distance": "1.61 meters",
+    "closeness rank": 5
+   },
+   "ceiling light": {
+    "distance": "1.65 meters",
+    "closeness rank": 6
+   },
+   "headphones": {
+    "distance": "1.67 meters",
+    "closeness rank": 7
+   },
+   "cup": {
+    "distance": "1.77 meters",
+    "closeness rank": 8
+   },
+   "keyboard": {
+    "distance": "1.79 meters",
+    "closeness rank": 9
+   },
+   "trash can": {
+    "distance": "1.82 meters",
+    "closeness rank": 10
+   },
+   "bucket": {
+    "distance": "3.31 meters",
+    "closeness rank": 11
+   }
+  },
+  "headphones": {
+   "table": {
+    "distance": "0.16 meters",
+    "closeness rank": 1
+   },
+   "crate": {
+    "distance": "0.49 meters",
+    "closeness rank": 2
+   },
+   "trash can": {
+    "distance": "0.68 meters",
+    "closeness rank": 3
+   },
+   "cup": {
+    "distance": "1.22 meters",
+    "closeness rank": 4
+   },
+   "keyboard": {
+    "distance": "1.33 meters",
+    "closeness rank": 5
+   },
+   "chair": {
+    "distance": "1.56 meters",
+    "closeness rank": 6
+   },
+   "door": {
+    "distance": "1.67 meters",
+    "closeness rank": 7
+   },
+   "whiteboard": {
+    "distance": "1.75 meters",
+    "closeness rank": 8
+   },
+   "monitor": {
+    "distance": "2.32 meters",
+    "closeness rank": 9
+   },
+   "ceiling light": {
+    "distance": "3.28 meters",
+    "closeness rank": 10
+   },
+   "bucket": {
+    "distance": "3.33 meters",
+    "closeness rank": 11
+   }
+  },
+  "keyboard": {
+   "table": {
+    "distance": "0.02 meters",
+    "closeness rank": 1
+   },
+   "cup": {
+    "distance": "0.05 meters",
+    "closeness rank": 2
+   },
+   "crate": {
+    "distance": "0.58 meters",
+    "closeness rank": 3
+   },
+   "headphones": {
+    "distance": "1.33 meters",
+    "closeness rank": 4
+   },
+   "door": {
+    "distance": "1.79 meters",
+    "closeness rank": 5
+   },
+   "bucket": {
+    "distance": "1.87 meters",
+    "closeness rank": 6
+   },
+   "whiteboard": {
+    "distance": "1.95 meters",
+    "closeness rank": 7
+   },
+   "trash can": {
+    "distance": "2.09 meters",
+    "closeness rank": 8
+   },
+   "ceiling light": {
+    "distance": "2.36 meters",
+    "closeness rank": 9
+   },
+   "chair": {
+    "distance": "2.64 meters",
+    "closeness rank": 10
+   },
+   "monitor": {
+    "distance": "3.44 meters",
+    "closeness rank": 11
+   }
+  },
+  "monitor": {
+   "chair": {
+    "distance": "0.55 meters",
+    "closeness rank": 1
+   },
+   "crate": {
+    "distance": "1.16 meters",
+    "closeness rank": 2
+   },
+   "door": {
+    "distance": "1.61 meters",
+    "closeness rank": 3
+   },
+   "whiteboard": {
+    "distance": "1.69 meters",
+    "closeness rank": 4
+   },
+   "trash can": {
+    "distance": "1.7 meters",
+    "closeness rank": 5
+   },
+   "headphones": {
+    "distance": "2.32 meters",
+    "closeness rank": 6
+   },
+   "table": {
+    "distance": "2.4 meters",
+    "closeness rank": 7
+   },
+   "cup": {
+    "distance": "3.37 meters",
+    "closeness rank": 8
+   },
+   "keyboard": {
+    "distance": "3.44 meters",
+    "closeness rank": 9
+   },
+   "ceiling light": {
+    "distance": "4.08 meters",
+    "closeness rank": 10
+   },
+   "bucket": {
+    "distance": "5.43 meters",
+    "closeness rank": 11
+   }
+  },
+  "table": {
+   "cup": {
+    "distance": "0.01 meters",
+    "closeness rank": 1
+   },
+   "keyboard": {
+    "distance": "0.02 meters",
+    "closeness rank": 2
+   },
+   "crate": {
+    "distance": "0.12 meters",
+    "closeness rank": 3
+   },
+   "headphones": {
+    "distance": "0.16 meters",
+    "closeness rank": 4
+   },
+   "bucket": {
+    "distance": "0.52 meters",
+    "closeness rank": 5
+   },
+   "trash can": {
+    "distance": "0.88 meters",
+    "closeness rank": 6
+   },
+   "door": {
+    "distance": "1.59 meters",
+    "closeness rank": 7
+   },
+   "chair": {
+    "distance": "1.61 meters",
+    "closeness rank": 8
+   },
+   "whiteboard": {
+    "distance": "1.66 meters",
+    "closeness rank": 9
+   },
+   "ceiling light": {
+    "distance": "2.11 meters",
+    "closeness rank": 10
+   },
+   "monitor": {
+    "distance": "2.4 meters",
+    "closeness rank": 11
+   }
+  },
+  "trash can": {
+   "crate": {
+    "distance": "0.68 meters",
+    "closeness rank": 1
+   },
+   "headphones": {
+    "distance": "0.68 meters",
+    "closeness rank": 2
+   },
+   "table": {
+    "distance": "0.88 meters",
+    "closeness rank": 3
+   },
+   "chair": {
+    "distance": "1.03 meters",
+    "closeness rank": 4
+   },
+   "monitor": {
+    "distance": "1.7 meters",
+    "closeness rank": 5
+   },
+   "door": {
+    "distance": "1.82 meters",
+    "closeness rank": 6
+   },
+   "whiteboard": {
+    "distance": "1.91 meters",
+    "closeness rank": 7
+   },
+   "cup": {
+    "distance": "1.99 meters",
+    "closeness rank": 8
+   },
+   "keyboard": {
+    "distance": "2.09 meters",
+    "closeness rank": 9
+   },
+   "ceiling light": {
+    "distance": "3.85 meters",
+    "closeness rank": 10
+   },
+   "bucket": {
+    "distance": "4.06 meters",
+    "closeness rank": 11
+   }
+  },
+  "whiteboard": {
+   "door": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "ceiling light": {
+    "distance": "0.19 meters",
+    "closeness rank": 2
+   },
+   "chair": {
+    "distance": "1.11 meters",
+    "closeness rank": 3
+   },
+   "crate": {
+    "distance": "1.34 meters",
+    "closeness rank": 4
+   },
+   "table": {
+    "distance": "1.66 meters",
+    "closeness rank": 5
+   },
+   "monitor": {
+    "distance": "1.69 meters",
+    "closeness rank": 6
+   },
+   "headphones": {
+    "distance": "1.75 meters",
+    "closeness rank": 7
+   },
+   "trash can": {
+    "distance": "1.91 meters",
+    "closeness rank": 8
+   },
+   "cup": {
+    "distance": "1.92 meters",
+    "closeness rank": 9
+   },
+   "keyboard": {
+    "distance": "1.95 meters",
+    "closeness rank": 10
+   },
+   "bucket": {
+    "distance": "2.19 meters",
+    "closeness rank": 11
+   }
+  }
+ },
+ "appearance order": ["chair", "trash can", "ceiling light", "monitor", "door", "crate", "table", "bucket", "cup", "whiteboard", "headphones", "keyboard"]
+}
\ No newline at end of file
diff --git a/data/spatial codes/sam3+depth-anything-3/metric/tracking/uniform/96/explicit/a980334473.json b/data/spatial codes/sam3+depth-anything-3/metric/tracking/uniform/96/explicit/a980334473.json
new file mode 100644
index 0000000000000000000000000000000000000000..a4d78de76436ad3eadcd27136e464c21a7a59e81
--- /dev/null
+++ b/data/spatial codes/sam3+depth-anything-3/metric/tracking/uniform/96/explicit/a980334473.json	
@@ -0,0 +1,410 @@
+{
+ "objects": {
+  "ceiling light": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-1.45 meters",
+      "y coordinate": "-0.38 meters",
+      "height above floor": "1.25 meters"
+     },
+     "longest dimension": "0.24 meters"
+    }
+   ]
+  },
+  "chair": {
+   "count": 2,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-0.24 meters",
+      "y coordinate": "0.22 meters",
+      "height above floor": "2.09 meters"
+     },
+     "longest dimension": "0.4 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "0.06 meters",
+      "y coordinate": "0.71 meters",
+      "height above floor": "1.33 meters"
+     },
+     "longest dimension": "0.52 meters"
+    }
+   ]
+  },
+  "door": {
+   "count": 3,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "0.15 meters",
+      "y coordinate": "-0.58 meters",
+      "height above floor": "0.75 meters"
+     },
+     "longest dimension": "1.26 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "0.35 meters",
+      "y coordinate": "-0.51 meters",
+      "height above floor": "0.85 meters"
+     },
+     "longest dimension": "1.49 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "0.48 meters",
+      "y coordinate": "-0.42 meters",
+      "height above floor": "0.69 meters"
+     },
+     "longest dimension": "1.2 meters"
+    }
+   ]
+  },
+  "power strip": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-0.33 meters",
+      "y coordinate": "1.09 meters",
+      "height above floor": "0.09 meters"
+     },
+     "longest dimension": "0.26 meters"
+    }
+   ]
+  },
+  "printer": {
+   "count": 2,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-0.02 meters",
+      "y coordinate": "0.44 meters",
+      "height above floor": "-0.19 meters"
+     },
+     "longest dimension": "0.81 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-0.24 meters",
+      "y coordinate": "0.22 meters",
+      "height above floor": "2.09 meters"
+     },
+     "longest dimension": "0.4 meters"
+    }
+   ]
+  },
+  "table": {
+   "count": 2,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-0.09 meters",
+      "y coordinate": "0.76 meters",
+      "height above floor": "0.49 meters"
+     },
+     "longest dimension": "0.63 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-0.1 meters",
+      "y coordinate": "0.79 meters",
+      "height above floor": "0.4 meters"
+     },
+     "longest dimension": "0.68 meters"
+    }
+   ]
+  },
+  "trash can": {
+   "count": 3,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-0.43 meters",
+      "y coordinate": "0.75 meters",
+      "height above floor": "2.35 meters"
+     },
+     "longest dimension": "0.48 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "0.67 meters",
+      "y coordinate": "0.3 meters",
+      "height above floor": "1.49 meters"
+     },
+     "longest dimension": "0.44 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "0.68 meters",
+      "y coordinate": "0.32 meters",
+      "height above floor": "1.51 meters"
+     },
+     "longest dimension": "0.45 meters"
+    }
+   ]
+  },
+  "whiteboard": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-1.44 meters",
+      "y coordinate": "0.55 meters",
+      "height above floor": "0.77 meters"
+     },
+     "longest dimension": "1.86 meters"
+    }
+   ]
+  }
+ },
+ "room": {
+  "floor area": "6.2 square meters"
+ },
+ "closest classes distance meters from": {
+  "ceiling light": {
+   "whiteboard": {
+    "distance": "0.57 meters",
+    "closeness rank": 1
+   },
+   "printer": {
+    "distance": "1.4 meters",
+    "closeness rank": 2
+   },
+   "door": {
+    "distance": "1.6 meters",
+    "closeness rank": 3
+   },
+   "chair": {
+    "distance": "1.66 meters",
+    "closeness rank": 4
+   },
+   "trash can": {
+    "distance": "1.68 meters",
+    "closeness rank": 5
+   },
+   "table": {
+    "distance": "1.72 meters",
+    "closeness rank": 6
+   },
+   "power strip": {
+    "distance": "2.03 meters",
+    "closeness rank": 7
+   }
+  },
+  "chair": {
+   "table": {
+    "distance": "0.02 meters",
+    "closeness rank": 1
+   },
+   "printer": {
+    "distance": "0.14 meters",
+    "closeness rank": 2
+   },
+   "whiteboard": {
+    "distance": "0.55 meters",
+    "closeness rank": 3
+   },
+   "trash can": {
+    "distance": "0.68 meters",
+    "closeness rank": 4
+   },
+   "door": {
+    "distance": "1.08 meters",
+    "closeness rank": 5
+   },
+   "power strip": {
+    "distance": "1.08 meters",
+    "closeness rank": 6
+   },
+   "ceiling light": {
+    "distance": "1.66 meters",
+    "closeness rank": 7
+   }
+  },
+  "door": {
+   "whiteboard": {
+    "distance": "0.03 meters",
+    "closeness rank": 1
+   },
+   "table": {
+    "distance": "0.67 meters",
+    "closeness rank": 2
+   },
+   "printer": {
+    "distance": "0.78 meters",
+    "closeness rank": 3
+   },
+   "chair": {
+    "distance": "1.08 meters",
+    "closeness rank": 4
+   },
+   "ceiling light": {
+    "distance": "1.6 meters",
+    "closeness rank": 5
+   },
+   "trash can": {
+    "distance": "1.69 meters",
+    "closeness rank": 6
+   },
+   "power strip": {
+    "distance": "1.73 meters",
+    "closeness rank": 7
+   }
+  },
+  "power strip": {
+   "whiteboard": {
+    "distance": "0.06 meters",
+    "closeness rank": 1
+   },
+   "table": {
+    "distance": "0.07 meters",
+    "closeness rank": 2
+   },
+   "printer": {
+    "distance": "0.65 meters",
+    "closeness rank": 3
+   },
+   "chair": {
+    "distance": "1.08 meters",
+    "closeness rank": 4
+   },
+   "door": {
+    "distance": "1.73 meters",
+    "closeness rank": 5
+   },
+   "ceiling light": {
+    "distance": "2.03 meters",
+    "closeness rank": 6
+   },
+   "trash can": {
+    "distance": "2.03 meters",
+    "closeness rank": 7
+   }
+  },
+  "printer": {
+   "table": {
+    "distance": "0.02 meters",
+    "closeness rank": 1
+   },
+   "chair": {
+    "distance": "0.14 meters",
+    "closeness rank": 2
+   },
+   "whiteboard": {
+    "distance": "0.15 meters",
+    "closeness rank": 3
+   },
+   "trash can": {
+    "distance": "0.48 meters",
+    "closeness rank": 4
+   },
+   "power strip": {
+    "distance": "0.65 meters",
+    "closeness rank": 5
+   },
+   "door": {
+    "distance": "0.78 meters",
+    "closeness rank": 6
+   },
+   "ceiling light": {
+    "distance": "1.4 meters",
+    "closeness rank": 7
+   }
+  },
+  "table": {
+   "chair": {
+    "distance": "0.02 meters",
+    "closeness rank": 1
+   },
+   "printer": {
+    "distance": "0.02 meters",
+    "closeness rank": 2
+   },
+   "power strip": {
+    "distance": "0.07 meters",
+    "closeness rank": 3
+   },
+   "whiteboard": {
+    "distance": "0.16 meters",
+    "closeness rank": 4
+   },
+   "trash can": {
+    "distance": "0.58 meters",
+    "closeness rank": 5
+   },
+   "door": {
+    "distance": "0.67 meters",
+    "closeness rank": 6
+   },
+   "ceiling light": {
+    "distance": "1.72 meters",
+    "closeness rank": 7
+   }
+  },
+  "trash can": {
+   "whiteboard": {
+    "distance": "0.05 meters",
+    "closeness rank": 1
+   },
+   "printer": {
+    "distance": "0.48 meters",
+    "closeness rank": 2
+   },
+   "table": {
+    "distance": "0.58 meters",
+    "closeness rank": 3
+   },
+   "chair": {
+    "distance": "0.68 meters",
+    "closeness rank": 4
+   },
+   "ceiling light": {
+    "distance": "1.68 meters",
+    "closeness rank": 5
+   },
+   "door": {
+    "distance": "1.69 meters",
+    "closeness rank": 6
+   },
+   "power strip": {
+    "distance": "2.03 meters",
+    "closeness rank": 7
+   }
+  },
+  "whiteboard": {
+   "door": {
+    "distance": "0.03 meters",
+    "closeness rank": 1
+   },
+   "trash can": {
+    "distance": "0.05 meters",
+    "closeness rank": 2
+   },
+   "power strip": {
+    "distance": "0.06 meters",
+    "closeness rank": 3
+   },
+   "printer": {
+    "distance": "0.15 meters",
+    "closeness rank": 4
+   },
+   "table": {
+    "distance": "0.16 meters",
+    "closeness rank": 5
+   },
+   "chair": {
+    "distance": "0.55 meters",
+    "closeness rank": 6
+   },
+   "ceiling light": {
+    "distance": "0.57 meters",
+    "closeness rank": 7
+   }
+  }
+ },
+ "appearance order": ["printer", "power strip", "table", "chair", "whiteboard", "trash can", "ceiling light", "door"]
+}
\ No newline at end of file
diff --git a/data/spatial codes/sam3+depth-anything-3/metric/tracking/uniform/96/explicit/bde1e479ad.json b/data/spatial codes/sam3+depth-anything-3/metric/tracking/uniform/96/explicit/bde1e479ad.json
new file mode 100644
index 0000000000000000000000000000000000000000..719f2ba36ed13d36adbaf6981e2b155c1603d160
--- /dev/null
+++ b/data/spatial codes/sam3+depth-anything-3/metric/tracking/uniform/96/explicit/bde1e479ad.json	
@@ -0,0 +1,1637 @@
+{
+ "objects": {
+  "ceiling light": {
+   "count": 15,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-0.5 meters",
+      "y coordinate": "0.1 meters",
+      "height above floor": "2.17 meters"
+     },
+     "longest dimension": "1.21 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-2.12 meters",
+      "y coordinate": "4.14 meters",
+      "height above floor": "2.11 meters"
+     },
+     "longest dimension": "1.13 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-2.42 meters",
+      "y coordinate": "2.87 meters",
+      "height above floor": "2.12 meters"
+     },
+     "longest dimension": "0.32 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "0.31 meters",
+      "y coordinate": "3.43 meters",
+      "height above floor": "2.13 meters"
+     },
+     "longest dimension": "1.17 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "0.37 meters",
+      "y coordinate": "5.37 meters",
+      "height above floor": "2.12 meters"
+     },
+     "longest dimension": "1.08 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-0.06 meters",
+      "y coordinate": "2.05 meters",
+      "height above floor": "2.17 meters"
+     },
+     "longest dimension": "0.71 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "2.82 meters",
+      "y coordinate": "2.93 meters",
+      "height above floor": "2.13 meters"
+     },
+     "longest dimension": "1.05 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "0.32 meters",
+      "y coordinate": "5.31 meters",
+      "height above floor": "2.09 meters"
+     },
+     "longest dimension": "2.25 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "0.09 meters",
+      "y coordinate": "2.21 meters",
+      "height above floor": "2.12 meters"
+     },
+     "longest dimension": "0.53 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "3.35 meters",
+      "y coordinate": "5.08 meters",
+      "height above floor": "2.11 meters"
+     },
+     "longest dimension": "0.51 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-0.53 meters",
+      "y coordinate": "0.24 meters",
+      "height above floor": "2.17 meters"
+     },
+     "longest dimension": "0.96 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "3.28 meters",
+      "y coordinate": "4.72 meters",
+      "height above floor": "2.13 meters"
+     },
+     "longest dimension": "0.99 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-2.54 meters",
+      "y coordinate": "2.38 meters",
+      "height above floor": "2.12 meters"
+     },
+     "longest dimension": "1.09 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-3.06 meters",
+      "y coordinate": "0.69 meters",
+      "height above floor": "2.15 meters"
+     },
+     "longest dimension": "1.13 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-0.01 meters",
+      "y coordinate": "2.34 meters",
+      "height above floor": "2.15 meters"
+     },
+     "longest dimension": "0.27 meters"
+    }
+   ]
+  },
+  "chair": {
+   "count": 51,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "2.3 meters",
+      "y coordinate": "0.17 meters",
+      "height above floor": "0.01 meters"
+     },
+     "longest dimension": "0.39 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "0.02 meters",
+      "y coordinate": "-0.71 meters",
+      "height above floor": "-0.2 meters"
+     },
+     "longest dimension": "0.6 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-0.08 meters",
+      "y coordinate": "2.14 meters",
+      "height above floor": "-0.22 meters"
+     },
+     "longest dimension": "0.56 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "1.68 meters",
+      "y coordinate": "2.3 meters",
+      "height above floor": "-0.23 meters"
+     },
+     "longest dimension": "0.54 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-1.95 meters",
+      "y coordinate": "3.25 meters",
+      "height above floor": "-0.21 meters"
+     },
+     "longest dimension": "0.61 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "0.29 meters",
+      "y coordinate": "4.14 meters",
+      "height above floor": "0.03 meters"
+     },
+     "longest dimension": "0.37 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "0.02 meters",
+      "y coordinate": "5.42 meters",
+      "height above floor": "-0.07 meters"
+     },
+     "longest dimension": "0.55 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "2.12 meters",
+      "y coordinate": "-0.9 meters",
+      "height above floor": "-0.06 meters"
+     },
+     "longest dimension": "0.76 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-2.71 meters",
+      "y coordinate": "1.64 meters",
+      "height above floor": "-0.03 meters"
+     },
+     "longest dimension": "0.39 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-2.91 meters",
+      "y coordinate": "0.91 meters",
+      "height above floor": "-0.21 meters"
+     },
+     "longest dimension": "0.73 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "1.43 meters",
+      "y coordinate": "1.69 meters",
+      "height above floor": "-0.14 meters"
+     },
+     "longest dimension": "0.41 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "0.3 meters",
+      "y coordinate": "4.11 meters",
+      "height above floor": "0.02 meters"
+     },
+     "longest dimension": "0.37 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "2.96 meters",
+      "y coordinate": "2.7 meters",
+      "height above floor": "-0.22 meters"
+     },
+     "longest dimension": "0.38 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "2.29 meters",
+      "y coordinate": "0.19 meters",
+      "height above floor": "-0.01 meters"
+     },
+     "longest dimension": "0.37 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-0.72 meters",
+      "y coordinate": "2.15 meters",
+      "height above floor": "-0.01 meters"
+     },
+     "longest dimension": "0.37 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "2.8 meters",
+      "y coordinate": "2.28 meters",
+      "height above floor": "0.05 meters"
+     },
+     "longest dimension": "0.24 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "0.39 meters",
+      "y coordinate": "4.13 meters",
+      "height above floor": "-0.11 meters"
+     },
+     "longest dimension": "0.58 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-1.63 meters",
+      "y coordinate": "1.32 meters",
+      "height above floor": "-0.07 meters"
+     },
+     "longest dimension": "0.58 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "0.88 meters",
+      "y coordinate": "-0.55 meters",
+      "height above floor": "-0.21 meters"
+     },
+     "longest dimension": "0.49 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "1.11 meters",
+      "y coordinate": "0.46 meters",
+      "height above floor": "-0.03 meters"
+     },
+     "longest dimension": "0.38 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-2.3 meters",
+      "y coordinate": "2.54 meters",
+      "height above floor": "0.03 meters"
+     },
+     "longest dimension": "0.39 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "2.77 meters",
+      "y coordinate": "0.11 meters",
+      "height above floor": "-0.0 meters"
+     },
+     "longest dimension": "0.51 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-2.76 meters",
+      "y coordinate": "1.65 meters",
+      "height above floor": "-0.04 meters"
+     },
+     "longest dimension": "0.52 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-2.83 meters",
+      "y coordinate": "3.55 meters",
+      "height above floor": "-0.25 meters"
+     },
+     "longest dimension": "0.45 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-1.89 meters",
+      "y coordinate": "3.35 meters",
+      "height above floor": "-0.24 meters"
+     },
+     "longest dimension": "0.43 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "1.41 meters",
+      "y coordinate": "-0.62 meters",
+      "height above floor": "-0.22 meters"
+     },
+     "longest dimension": "0.47 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "0.31 meters",
+      "y coordinate": "4.42 meters",
+      "height above floor": "-0.19 meters"
+     },
+     "longest dimension": "0.75 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-2.02 meters",
+      "y coordinate": "6.4 meters",
+      "height above floor": "-0.22 meters"
+     },
+     "longest dimension": "0.89 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-2.1 meters",
+      "y coordinate": "4.72 meters",
+      "height above floor": "0.05 meters"
+     },
+     "longest dimension": "0.33 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-0.42 meters",
+      "y coordinate": "3.48 meters",
+      "height above floor": "-0.21 meters"
+     },
+     "longest dimension": "0.72 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "1.41 meters",
+      "y coordinate": "-0.68 meters",
+      "height above floor": "-0.07 meters"
+     },
+     "longest dimension": "0.82 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-0.5 meters",
+      "y coordinate": "3.26 meters",
+      "height above floor": "-0.16 meters"
+     },
+     "longest dimension": "0.4 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-0.76 meters",
+      "y coordinate": "4.46 meters",
+      "height above floor": "-0.02 meters"
+     },
+     "longest dimension": "0.45 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-2.42 meters",
+      "y coordinate": "4.92 meters",
+      "height above floor": "-0.09 meters"
+     },
+     "longest dimension": "0.69 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "1.39 meters",
+      "y coordinate": "1.86 meters",
+      "height above floor": "-0.26 meters"
+     },
+     "longest dimension": "1.01 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-2.03 meters",
+      "y coordinate": "4.79 meters",
+      "height above floor": "0.05 meters"
+     },
+     "longest dimension": "0.45 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "0.2 meters",
+      "y coordinate": "4.17 meters",
+      "height above floor": "-0.04 meters"
+     },
+     "longest dimension": "0.39 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "2.5 meters",
+      "y coordinate": "1.14 meters",
+      "height above floor": "0.02 meters"
+     },
+     "longest dimension": "0.51 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-0.4 meters",
+      "y coordinate": "3.25 meters",
+      "height above floor": "-0.21 meters"
+     },
+     "longest dimension": "0.68 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-2.44 meters",
+      "y coordinate": "2.55 meters",
+      "height above floor": "0.02 meters"
+     },
+     "longest dimension": "0.43 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "1.41 meters",
+      "y coordinate": "1.64 meters",
+      "height above floor": "-0.03 meters"
+     },
+     "longest dimension": "0.36 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-2.25 meters",
+      "y coordinate": "1.45 meters",
+      "height above floor": "0.04 meters"
+     },
+     "longest dimension": "0.19 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-1.27 meters",
+      "y coordinate": "2.27 meters",
+      "height above floor": "-0.04 meters"
+     },
+     "longest dimension": "0.53 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-2.01 meters",
+      "y coordinate": "3.12 meters",
+      "height above floor": "-0.11 meters"
+     },
+     "longest dimension": "0.49 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "0.12 meters",
+      "y coordinate": "5.52 meters",
+      "height above floor": "-0.04 meters"
+     },
+     "longest dimension": "0.82 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-2.14 meters",
+      "y coordinate": "6.6 meters",
+      "height above floor": "-0.18 meters"
+     },
+     "longest dimension": "0.76 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-0.26 meters",
+      "y coordinate": "1.31 meters",
+      "height above floor": "-0.24 meters"
+     },
+     "longest dimension": "0.42 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "2.73 meters",
+      "y coordinate": "5.14 meters",
+      "height above floor": "-0.26 meters"
+     },
+     "longest dimension": "0.88 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "1.88 meters",
+      "y coordinate": "1.52 meters",
+      "height above floor": "-0.07 meters"
+     },
+     "longest dimension": "0.45 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-1.16 meters",
+      "y coordinate": "0.49 meters",
+      "height above floor": "-0.22 meters"
+     },
+     "longest dimension": "0.41 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "2.55 meters",
+      "y coordinate": "5.14 meters",
+      "height above floor": "-0.14 meters"
+     },
+     "longest dimension": "0.83 meters"
+    }
+   ]
+  },
+  "clock": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "3.43 meters",
+      "y coordinate": "1.47 meters",
+      "height above floor": "1.91 meters"
+     },
+     "longest dimension": "0.27 meters"
+    }
+   ]
+  },
+  "door": {
+   "count": 2,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "3.98 meters",
+      "y coordinate": "3.61 meters",
+      "height above floor": "0.34 meters"
+     },
+     "longest dimension": "1.69 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-3.21 meters",
+      "y coordinate": "4.76 meters",
+      "height above floor": "0.74 meters"
+     },
+     "longest dimension": "2.06 meters"
+    }
+   ]
+  },
+  "exhaust fan": {
+   "count": 2,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "2.09 meters",
+      "y coordinate": "-0.5 meters",
+      "height above floor": "2.14 meters"
+     },
+     "longest dimension": "1.12 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "2.51 meters",
+      "y coordinate": "1.32 meters",
+      "height above floor": "2.1 meters"
+     },
+     "longest dimension": "1.11 meters"
+    }
+   ]
+  },
+  "microwave": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-3.66 meters",
+      "y coordinate": "2.84 meters",
+      "height above floor": "0.22 meters"
+     },
+     "longest dimension": "0.97 meters"
+    }
+   ]
+  },
+  "power strip": {
+   "count": 2,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-1.89 meters",
+      "y coordinate": "5.54 meters",
+      "height above floor": "0.08 meters"
+     },
+     "longest dimension": "0.26 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "0.19 meters",
+      "y coordinate": "-0.07 meters",
+      "height above floor": "-0.64 meters"
+     },
+     "longest dimension": "0.28 meters"
+    }
+   ]
+  },
+  "table": {
+   "count": 29,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "1.42 meters",
+      "y coordinate": "-0.25 meters",
+      "height above floor": "0.02 meters"
+     },
+     "longest dimension": "0.73 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-0.32 meters",
+      "y coordinate": "1.33 meters",
+      "height above floor": "0.02 meters"
+     },
+     "longest dimension": "1.16 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-1.65 meters",
+      "y coordinate": "5.46 meters",
+      "height above floor": "0.03 meters"
+     },
+     "longest dimension": "1.17 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-0.04 meters",
+      "y coordinate": "3.48 meters",
+      "height above floor": "0.02 meters"
+     },
+     "longest dimension": "0.91 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "2.24 meters",
+      "y coordinate": "-0.46 meters",
+      "height above floor": "0.02 meters"
+     },
+     "longest dimension": "0.71 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-0.55 meters",
+      "y coordinate": "0.34 meters",
+      "height above floor": "0.04 meters"
+     },
+     "longest dimension": "1.11 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-3.09 meters",
+      "y coordinate": "0.88 meters",
+      "height above floor": "0.03 meters"
+     },
+     "longest dimension": "0.98 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-0.2 meters",
+      "y coordinate": "3.44 meters",
+      "height above floor": "0.01 meters"
+     },
+     "longest dimension": "0.88 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-0.31 meters",
+      "y coordinate": "2.5 meters",
+      "height above floor": "0.01 meters"
+     },
+     "longest dimension": "0.93 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "2.2 meters",
+      "y coordinate": "2.85 meters",
+      "height above floor": "0.0 meters"
+     },
+     "longest dimension": "1.68 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-0.03 meters",
+      "y coordinate": "2.5 meters",
+      "height above floor": "0.04 meters"
+     },
+     "longest dimension": "1.05 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "0.99 meters",
+      "y coordinate": "-0.22 meters",
+      "height above floor": "0.01 meters"
+     },
+     "longest dimension": "1.08 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-0.58 meters",
+      "y coordinate": "0.29 meters",
+      "height above floor": "0.03 meters"
+     },
+     "longest dimension": "1.15 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "0.13 meters",
+      "y coordinate": "4.55 meters",
+      "height above floor": "0.03 meters"
+     },
+     "longest dimension": "1.1 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "1.93 meters",
+      "y coordinate": "2.8 meters",
+      "height above floor": "0.0 meters"
+     },
+     "longest dimension": "2.07 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "1.13 meters",
+      "y coordinate": "-0.2 meters",
+      "height above floor": "0.01 meters"
+     },
+     "longest dimension": "0.91 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-2.55 meters",
+      "y coordinate": "1.96 meters",
+      "height above floor": "0.03 meters"
+     },
+     "longest dimension": "0.82 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-2.41 meters",
+      "y coordinate": "1.96 meters",
+      "height above floor": "0.03 meters"
+     },
+     "longest dimension": "0.34 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "2.03 meters",
+      "y coordinate": "-0.48 meters",
+      "height above floor": "0.02 meters"
+     },
+     "longest dimension": "0.72 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "0.03 meters",
+      "y coordinate": "4.49 meters",
+      "height above floor": "-0.0 meters"
+     },
+     "longest dimension": "1.15 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-0.93 meters",
+      "y coordinate": "4.77 meters",
+      "height above floor": "0.02 meters"
+     },
+     "longest dimension": "1.22 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-0.87 meters",
+      "y coordinate": "3.66 meters",
+      "height above floor": "0.04 meters"
+     },
+     "longest dimension": "0.52 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "0.1 meters",
+      "y coordinate": "3.5 meters",
+      "height above floor": "-0.02 meters"
+     },
+     "longest dimension": "1.2 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-1.67 meters",
+      "y coordinate": "1.66 meters",
+      "height above floor": "0.01 meters"
+     },
+     "longest dimension": "1.18 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-0.93 meters",
+      "y coordinate": "3.99 meters",
+      "height above floor": "0.02 meters"
+     },
+     "longest dimension": "0.45 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "0.11 meters",
+      "y coordinate": "4.4 meters",
+      "height above floor": "0.03 meters"
+     },
+     "longest dimension": "0.62 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-0.4 meters",
+      "y coordinate": "0.47 meters",
+      "height above floor": "-0.37 meters"
+     },
+     "longest dimension": "1.59 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-3.08 meters",
+      "y coordinate": "1.04 meters",
+      "height above floor": "0.06 meters"
+     },
+     "longest dimension": "1.07 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-3.33 meters",
+      "y coordinate": "1.14 meters",
+      "height above floor": "0.01 meters"
+     },
+     "longest dimension": "0.25 meters"
+    }
+   ]
+  },
+  "telephone": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "2.77 meters",
+      "y coordinate": "5.19 meters",
+      "height above floor": "-0.27 meters"
+     },
+     "longest dimension": "1.59 meters"
+    }
+   ]
+  },
+  "toilet": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "0.95 meters",
+      "y coordinate": "-0.15 meters",
+      "height above floor": "0.01 meters"
+     },
+     "longest dimension": "1.01 meters"
+    }
+   ]
+  },
+  "trash can": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "3.86 meters",
+      "y coordinate": "4.52 meters",
+      "height above floor": "-0.44 meters"
+     },
+     "longest dimension": "0.3 meters"
+    }
+   ]
+  },
+  "tv": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-2.87 meters",
+      "y coordinate": "6.06 meters",
+      "height above floor": "0.77 meters"
+     },
+     "longest dimension": "1.49 meters"
+    }
+   ]
+  },
+  "whiteboard": {
+   "count": 7,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "1.69 meters",
+      "y coordinate": "5.87 meters",
+      "height above floor": "1.27 meters"
+     },
+     "longest dimension": "2.11 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "3.62 meters",
+      "y coordinate": "2.01 meters",
+      "height above floor": "0.74 meters"
+     },
+     "longest dimension": "1.86 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-0.85 meters",
+      "y coordinate": "6.51 meters",
+      "height above floor": "1.0 meters"
+     },
+     "longest dimension": "1.59 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "1.46 meters",
+      "y coordinate": "6.0 meters",
+      "height above floor": "0.05 meters"
+     },
+     "longest dimension": "2.32 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "1.43 meters",
+      "y coordinate": "5.97 meters",
+      "height above floor": "1.35 meters"
+     },
+     "longest dimension": "2.37 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "3.41 meters",
+      "y coordinate": "1.22 meters",
+      "height above floor": "0.31 meters"
+     },
+     "longest dimension": "0.77 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "2.12 meters",
+      "y coordinate": "5.87 meters",
+      "height above floor": "-0.09 meters"
+     },
+     "longest dimension": "0.87 meters"
+    }
+   ]
+  }
+ },
+ "room": {
+  "floor area": "55.8 square meters"
+ },
+ "closest classes distance meters from": {
+  "ceiling light": {
+   "tv": {
+    "distance": "1.74 meters",
+    "closeness rank": 1
+   },
+   "chair": {
+    "distance": "2.02 meters",
+    "closeness rank": 2
+   },
+   "toilet": {
+    "distance": "2.08 meters",
+    "closeness rank": 3
+   },
+   "whiteboard": {
+    "distance": "2.1 meters",
+    "closeness rank": 4
+   },
+   "table": {
+    "distance": "2.11 meters",
+    "closeness rank": 5
+   },
+   "microwave": {
+    "distance": "2.33 meters",
+    "closeness rank": 6
+   },
+   "exhaust fan": {
+    "distance": "2.37 meters",
+    "closeness rank": 7
+   },
+   "power strip": {
+    "distance": "2.53 meters",
+    "closeness rank": 8
+   },
+   "clock": {
+    "distance": "3.39 meters",
+    "closeness rank": 9
+   },
+   "door": {
+    "distance": "4.04 meters",
+    "closeness rank": 10
+   },
+   "telephone": {
+    "distance": "4.26 meters",
+    "closeness rank": 11
+   },
+   "trash can": {
+    "distance": "4.92 meters",
+    "closeness rank": 12
+   }
+  },
+  "chair": {
+   "table": {
+    "distance": "0.03 meters",
+    "closeness rank": 1
+   },
+   "toilet": {
+    "distance": "0.03 meters",
+    "closeness rank": 2
+   },
+   "whiteboard": {
+    "distance": "0.03 meters",
+    "closeness rank": 3
+   },
+   "microwave": {
+    "distance": "0.7 meters",
+    "closeness rank": 4
+   },
+   "power strip": {
+    "distance": "1.02 meters",
+    "closeness rank": 5
+   },
+   "tv": {
+    "distance": "1.63 meters",
+    "closeness rank": 6
+   },
+   "door": {
+    "distance": "1.67 meters",
+    "closeness rank": 7
+   },
+   "ceiling light": {
+    "distance": "2.02 meters",
+    "closeness rank": 8
+   },
+   "exhaust fan": {
+    "distance": "2.07 meters",
+    "closeness rank": 9
+   },
+   "telephone": {
+    "distance": "2.12 meters",
+    "closeness rank": 10
+   },
+   "clock": {
+    "distance": "2.31 meters",
+    "closeness rank": 11
+   },
+   "trash can": {
+    "distance": "2.43 meters",
+    "closeness rank": 12
+   }
+  },
+  "clock": {
+   "exhaust fan": {
+    "distance": "0.75 meters",
+    "closeness rank": 1
+   },
+   "whiteboard": {
+    "distance": "1.42 meters",
+    "closeness rank": 2
+   },
+   "door": {
+    "distance": "1.75 meters",
+    "closeness rank": 3
+   },
+   "table": {
+    "distance": "2.09 meters",
+    "closeness rank": 4
+   },
+   "toilet": {
+    "distance": "2.28 meters",
+    "closeness rank": 5
+   },
+   "chair": {
+    "distance": "2.31 meters",
+    "closeness rank": 6
+   },
+   "ceiling light": {
+    "distance": "3.39 meters",
+    "closeness rank": 7
+   },
+   "trash can": {
+    "distance": "3.53 meters",
+    "closeness rank": 8
+   },
+   "telephone": {
+    "distance": "3.84 meters",
+    "closeness rank": 9
+   },
+   "power strip": {
+    "distance": "6.75 meters",
+    "closeness rank": 10
+   },
+   "microwave": {
+    "distance": "7.16 meters",
+    "closeness rank": 11
+   },
+   "tv": {
+    "distance": "7.53 meters",
+    "closeness rank": 12
+   }
+  },
+  "door": {
+   "whiteboard": {
+    "distance": "0.08 meters",
+    "closeness rank": 1
+   },
+   "trash can": {
+    "distance": "0.45 meters",
+    "closeness rank": 2
+   },
+   "telephone": {
+    "distance": "0.88 meters",
+    "closeness rank": 3
+   },
+   "table": {
+    "distance": "0.99 meters",
+    "closeness rank": 4
+   },
+   "exhaust fan": {
+    "distance": "1.3 meters",
+    "closeness rank": 5
+   },
+   "toilet": {
+    "distance": "1.31 meters",
+    "closeness rank": 6
+   },
+   "chair": {
+    "distance": "1.67 meters",
+    "closeness rank": 7
+   },
+   "clock": {
+    "distance": "1.75 meters",
+    "closeness rank": 8
+   },
+   "ceiling light": {
+    "distance": "4.04 meters",
+    "closeness rank": 9
+   },
+   "power strip": {
+    "distance": "6.0 meters",
+    "closeness rank": 10
+   },
+   "tv": {
+    "distance": "7.18 meters",
+    "closeness rank": 11
+   },
+   "microwave": {
+    "distance": "7.31 meters",
+    "closeness rank": 12
+   }
+  },
+  "exhaust fan": {
+   "clock": {
+    "distance": "0.75 meters",
+    "closeness rank": 1
+   },
+   "door": {
+    "distance": "1.3 meters",
+    "closeness rank": 2
+   },
+   "whiteboard": {
+    "distance": "1.66 meters",
+    "closeness rank": 3
+   },
+   "chair": {
+    "distance": "2.07 meters",
+    "closeness rank": 4
+   },
+   "table": {
+    "distance": "2.07 meters",
+    "closeness rank": 5
+   },
+   "toilet": {
+    "distance": "2.08 meters",
+    "closeness rank": 6
+   },
+   "ceiling light": {
+    "distance": "2.37 meters",
+    "closeness rank": 7
+   },
+   "telephone": {
+    "distance": "2.69 meters",
+    "closeness rank": 8
+   },
+   "trash can": {
+    "distance": "2.71 meters",
+    "closeness rank": 9
+   },
+   "power strip": {
+    "distance": "5.43 meters",
+    "closeness rank": 10
+   },
+   "tv": {
+    "distance": "6.19 meters",
+    "closeness rank": 11
+   },
+   "microwave": {
+    "distance": "6.25 meters",
+    "closeness rank": 12
+   }
+  },
+  "microwave": {
+   "chair": {
+    "distance": "0.7 meters",
+    "closeness rank": 1
+   },
+   "whiteboard": {
+    "distance": "1.33 meters",
+    "closeness rank": 2
+   },
+   "table": {
+    "distance": "1.85 meters",
+    "closeness rank": 3
+   },
+   "tv": {
+    "distance": "2.17 meters",
+    "closeness rank": 4
+   },
+   "ceiling light": {
+    "distance": "2.33 meters",
+    "closeness rank": 5
+   },
+   "power strip": {
+    "distance": "2.7 meters",
+    "closeness rank": 6
+   },
+   "toilet": {
+    "distance": "2.7 meters",
+    "closeness rank": 7
+   },
+   "exhaust fan": {
+    "distance": "6.25 meters",
+    "closeness rank": 8
+   },
+   "telephone": {
+    "distance": "6.25 meters",
+    "closeness rank": 9
+   },
+   "clock": {
+    "distance": "7.16 meters",
+    "closeness rank": 10
+   },
+   "door": {
+    "distance": "7.31 meters",
+    "closeness rank": 11
+   },
+   "trash can": {
+    "distance": "7.33 meters",
+    "closeness rank": 12
+   }
+  },
+  "power strip": {
+   "tv": {
+    "distance": "0.91 meters",
+    "closeness rank": 1
+   },
+   "chair": {
+    "distance": "1.02 meters",
+    "closeness rank": 2
+   },
+   "whiteboard": {
+    "distance": "1.44 meters",
+    "closeness rank": 3
+   },
+   "table": {
+    "distance": "1.48 meters",
+    "closeness rank": 4
+   },
+   "toilet": {
+    "distance": "1.7 meters",
+    "closeness rank": 5
+   },
+   "ceiling light": {
+    "distance": "2.53 meters",
+    "closeness rank": 6
+   },
+   "microwave": {
+    "distance": "2.7 meters",
+    "closeness rank": 7
+   },
+   "telephone": {
+    "distance": "4.25 meters",
+    "closeness rank": 8
+   },
+   "exhaust fan": {
+    "distance": "5.43 meters",
+    "closeness rank": 9
+   },
+   "trash can": {
+    "distance": "5.54 meters",
+    "closeness rank": 10
+   },
+   "door": {
+    "distance": "6.0 meters",
+    "closeness rank": 11
+   },
+   "clock": {
+    "distance": "6.75 meters",
+    "closeness rank": 12
+   }
+  },
+  "table": {
+   "toilet": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "whiteboard": {
+    "distance": "0.0 meters",
+    "closeness rank": 2
+   },
+   "chair": {
+    "distance": "0.03 meters",
+    "closeness rank": 3
+   },
+   "door": {
+    "distance": "0.99 meters",
+    "closeness rank": 4
+   },
+   "power strip": {
+    "distance": "1.48 meters",
+    "closeness rank": 5
+   },
+   "microwave": {
+    "distance": "1.85 meters",
+    "closeness rank": 6
+   },
+   "trash can": {
+    "distance": "1.85 meters",
+    "closeness rank": 7
+   },
+   "tv": {
+    "distance": "2.04 meters",
+    "closeness rank": 8
+   },
+   "exhaust fan": {
+    "distance": "2.07 meters",
+    "closeness rank": 9
+   },
+   "clock": {
+    "distance": "2.09 meters",
+    "closeness rank": 10
+   },
+   "ceiling light": {
+    "distance": "2.11 meters",
+    "closeness rank": 11
+   },
+   "telephone": {
+    "distance": "2.21 meters",
+    "closeness rank": 12
+   }
+  },
+  "telephone": {
+   "trash can": {
+    "distance": "0.31 meters",
+    "closeness rank": 1
+   },
+   "whiteboard": {
+    "distance": "0.37 meters",
+    "closeness rank": 2
+   },
+   "door": {
+    "distance": "0.88 meters",
+    "closeness rank": 3
+   },
+   "toilet": {
+    "distance": "1.81 meters",
+    "closeness rank": 4
+   },
+   "chair": {
+    "distance": "2.12 meters",
+    "closeness rank": 5
+   },
+   "table": {
+    "distance": "2.21 meters",
+    "closeness rank": 6
+   },
+   "exhaust fan": {
+    "distance": "2.69 meters",
+    "closeness rank": 7
+   },
+   "clock": {
+    "distance": "3.84 meters",
+    "closeness rank": 8
+   },
+   "power strip": {
+    "distance": "4.25 meters",
+    "closeness rank": 9
+   },
+   "ceiling light": {
+    "distance": "4.26 meters",
+    "closeness rank": 10
+   },
+   "tv": {
+    "distance": "5.37 meters",
+    "closeness rank": 11
+   },
+   "microwave": {
+    "distance": "6.25 meters",
+    "closeness rank": 12
+   }
+  },
+  "toilet": {
+   "table": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "whiteboard": {
+    "distance": "0.0 meters",
+    "closeness rank": 2
+   },
+   "chair": {
+    "distance": "0.03 meters",
+    "closeness rank": 3
+   },
+   "door": {
+    "distance": "1.31 meters",
+    "closeness rank": 4
+   },
+   "power strip": {
+    "distance": "1.7 meters",
+    "closeness rank": 5
+   },
+   "telephone": {
+    "distance": "1.81 meters",
+    "closeness rank": 6
+   },
+   "trash can": {
+    "distance": "2.01 meters",
+    "closeness rank": 7
+   },
+   "ceiling light": {
+    "distance": "2.08 meters",
+    "closeness rank": 8
+   },
+   "exhaust fan": {
+    "distance": "2.08 meters",
+    "closeness rank": 9
+   },
+   "clock": {
+    "distance": "2.28 meters",
+    "closeness rank": 10
+   },
+   "microwave": {
+    "distance": "2.7 meters",
+    "closeness rank": 11
+   },
+   "tv": {
+    "distance": "2.85 meters",
+    "closeness rank": 12
+   }
+  },
+  "trash can": {
+   "whiteboard": {
+    "distance": "0.25 meters",
+    "closeness rank": 1
+   },
+   "telephone": {
+    "distance": "0.31 meters",
+    "closeness rank": 2
+   },
+   "door": {
+    "distance": "0.45 meters",
+    "closeness rank": 3
+   },
+   "table": {
+    "distance": "1.85 meters",
+    "closeness rank": 4
+   },
+   "toilet": {
+    "distance": "2.01 meters",
+    "closeness rank": 5
+   },
+   "chair": {
+    "distance": "2.43 meters",
+    "closeness rank": 6
+   },
+   "exhaust fan": {
+    "distance": "2.71 meters",
+    "closeness rank": 7
+   },
+   "clock": {
+    "distance": "3.53 meters",
+    "closeness rank": 8
+   },
+   "ceiling light": {
+    "distance": "4.92 meters",
+    "closeness rank": 9
+   },
+   "power strip": {
+    "distance": "5.54 meters",
+    "closeness rank": 10
+   },
+   "tv": {
+    "distance": "6.71 meters",
+    "closeness rank": 11
+   },
+   "microwave": {
+    "distance": "7.33 meters",
+    "closeness rank": 12
+   }
+  },
+  "tv": {
+   "power strip": {
+    "distance": "0.91 meters",
+    "closeness rank": 1
+   },
+   "chair": {
+    "distance": "1.63 meters",
+    "closeness rank": 2
+   },
+   "ceiling light": {
+    "distance": "1.74 meters",
+    "closeness rank": 3
+   },
+   "whiteboard": {
+    "distance": "1.91 meters",
+    "closeness rank": 4
+   },
+   "table": {
+    "distance": "2.04 meters",
+    "closeness rank": 5
+   },
+   "microwave": {
+    "distance": "2.17 meters",
+    "closeness rank": 6
+   },
+   "toilet": {
+    "distance": "2.85 meters",
+    "closeness rank": 7
+   },
+   "telephone": {
+    "distance": "5.37 meters",
+    "closeness rank": 8
+   },
+   "exhaust fan": {
+    "distance": "6.19 meters",
+    "closeness rank": 9
+   },
+   "trash can": {
+    "distance": "6.71 meters",
+    "closeness rank": 10
+   },
+   "door": {
+    "distance": "7.18 meters",
+    "closeness rank": 11
+   },
+   "clock": {
+    "distance": "7.53 meters",
+    "closeness rank": 12
+   }
+  },
+  "whiteboard": {
+   "table": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "toilet": {
+    "distance": "0.0 meters",
+    "closeness rank": 2
+   },
+   "chair": {
+    "distance": "0.03 meters",
+    "closeness rank": 3
+   },
+   "door": {
+    "distance": "0.08 meters",
+    "closeness rank": 4
+   },
+   "trash can": {
+    "distance": "0.25 meters",
+    "closeness rank": 5
+   },
+   "telephone": {
+    "distance": "0.37 meters",
+    "closeness rank": 6
+   },
+   "microwave": {
+    "distance": "1.33 meters",
+    "closeness rank": 7
+   },
+   "clock": {
+    "distance": "1.42 meters",
+    "closeness rank": 8
+   },
+   "power strip": {
+    "distance": "1.44 meters",
+    "closeness rank": 9
+   },
+   "exhaust fan": {
+    "distance": "1.66 meters",
+    "closeness rank": 10
+   },
+   "tv": {
+    "distance": "1.91 meters",
+    "closeness rank": 11
+   },
+   "ceiling light": {
+    "distance": "2.1 meters",
+    "closeness rank": 12
+   }
+  }
+ },
+ "appearance order": ["table", "trash can", "ceiling light", "chair", "door", "whiteboard", "toilet", "clock", "tv", "power strip", "microwave", "telephone", "exhaust fan"]
+}
\ No newline at end of file
diff --git a/data/spatial codes/sam3+depth-anything-3/metric/tracking/uniform/96/explicit/e398684d27.json b/data/spatial codes/sam3+depth-anything-3/metric/tracking/uniform/96/explicit/e398684d27.json
new file mode 100644
index 0000000000000000000000000000000000000000..bd7c8edad6e4b0aa1563fc9ebd4fbfbfa2a5fbed
--- /dev/null
+++ b/data/spatial codes/sam3+depth-anything-3/metric/tracking/uniform/96/explicit/e398684d27.json	
@@ -0,0 +1,806 @@
+{
+ "objects": {
+  "basket": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "1.08 meters",
+      "y coordinate": "-1.01 meters",
+      "height above floor": "0.06 meters"
+     },
+     "longest dimension": "0.37 meters"
+    }
+   ]
+  },
+  "ceiling light": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "0.4 meters",
+      "y coordinate": "1.73 meters",
+      "height above floor": "-0.48 meters"
+     },
+     "longest dimension": "1.17 meters"
+    }
+   ]
+  },
+  "coat rack": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "0.75 meters",
+      "y coordinate": "-0.02 meters",
+      "height above floor": "-0.15 meters"
+     },
+     "longest dimension": "0.08 meters"
+    }
+   ]
+  },
+  "crate": {
+   "count": 2,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "2.2 meters",
+      "y coordinate": "-0.75 meters",
+      "height above floor": "-1.18 meters"
+     },
+     "longest dimension": "0.46 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "1.08 meters",
+      "y coordinate": "-1.01 meters",
+      "height above floor": "0.06 meters"
+     },
+     "longest dimension": "0.37 meters"
+    }
+   ]
+  },
+  "door": {
+   "count": 10,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "0.71 meters",
+      "y coordinate": "-0.43 meters",
+      "height above floor": "-1.18 meters"
+     },
+     "longest dimension": "0.72 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "1.89 meters",
+      "y coordinate": "-0.2 meters",
+      "height above floor": "-1.34 meters"
+     },
+     "longest dimension": "0.7 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-0.43 meters",
+      "y coordinate": "-0.93 meters",
+      "height above floor": "-0.41 meters"
+     },
+     "longest dimension": "0.97 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "0.35 meters",
+      "y coordinate": "-0.9 meters",
+      "height above floor": "-0.06 meters"
+     },
+     "longest dimension": "1.1 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "0.23 meters",
+      "y coordinate": "-0.87 meters",
+      "height above floor": "-0.06 meters"
+     },
+     "longest dimension": "1.03 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "2.01 meters",
+      "y coordinate": "-0.18 meters",
+      "height above floor": "-0.42 meters"
+     },
+     "longest dimension": "0.68 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "1.46 meters",
+      "y coordinate": "-0.49 meters",
+      "height above floor": "-0.14 meters"
+     },
+     "longest dimension": "0.69 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "2.04 meters",
+      "y coordinate": "-0.38 meters",
+      "height above floor": "-0.92 meters"
+     },
+     "longest dimension": "0.8 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "1.42 meters",
+      "y coordinate": "-0.11 meters",
+      "height above floor": "-0.09 meters"
+     },
+     "longest dimension": "0.71 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "1.32 meters",
+      "y coordinate": "0.0 meters",
+      "height above floor": "-0.21 meters"
+     },
+     "longest dimension": "0.72 meters"
+    }
+   ]
+  },
+  "headphones": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "1.77 meters",
+      "y coordinate": "-0.3 meters",
+      "height above floor": "-1.33 meters"
+     },
+     "longest dimension": "0.08 meters"
+    }
+   ]
+  },
+  "monitor": {
+   "count": 2,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "0.72 meters",
+      "y coordinate": "-0.43 meters",
+      "height above floor": "-1.17 meters"
+     },
+     "longest dimension": "0.71 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-0.4 meters",
+      "y coordinate": "0.36 meters",
+      "height above floor": "-1.47 meters"
+     },
+     "longest dimension": "0.39 meters"
+    }
+   ]
+  },
+  "paper bag": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "1.65 meters",
+      "y coordinate": "0.7 meters",
+      "height above floor": "-1.16 meters"
+     },
+     "longest dimension": "0.48 meters"
+    }
+   ]
+  },
+  "pillow": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "0.58 meters",
+      "y coordinate": "0.33 meters",
+      "height above floor": "0.03 meters"
+     },
+     "longest dimension": "0.4 meters"
+    }
+   ]
+  },
+  "refrigerator": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "1.41 meters",
+      "y coordinate": "-0.01 meters",
+      "height above floor": "-0.08 meters"
+     },
+     "longest dimension": "1.42 meters"
+    }
+   ]
+  },
+  "tv": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "0.73 meters",
+      "y coordinate": "-0.56 meters",
+      "height above floor": "-1.11 meters"
+     },
+     "longest dimension": "0.81 meters"
+    }
+   ]
+  },
+  "whiteboard": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-0.43 meters",
+      "y coordinate": "-0.93 meters",
+      "height above floor": "-0.4 meters"
+     },
+     "longest dimension": "1.01 meters"
+    }
+   ]
+  }
+ },
+ "room": {
+  "floor area": "14.1 square meters"
+ },
+ "closest classes distance meters from": {
+  "basket": {
+   "door": {
+    "distance": "0.17 meters",
+    "closeness rank": 1
+   },
+   "whiteboard": {
+    "distance": "0.6 meters",
+    "closeness rank": 2
+   },
+   "refrigerator": {
+    "distance": "0.73 meters",
+    "closeness rank": 3
+   },
+   "coat rack": {
+    "distance": "0.95 meters",
+    "closeness rank": 4
+   },
+   "monitor": {
+    "distance": "0.95 meters",
+    "closeness rank": 5
+   },
+   "tv": {
+    "distance": "0.97 meters",
+    "closeness rank": 6
+   },
+   "pillow": {
+    "distance": "1.21 meters",
+    "closeness rank": 7
+   },
+   "crate": {
+    "distance": "1.55 meters",
+    "closeness rank": 8
+   },
+   "headphones": {
+    "distance": "1.61 meters",
+    "closeness rank": 9
+   },
+   "paper bag": {
+    "distance": "1.86 meters",
+    "closeness rank": 10
+   },
+   "ceiling light": {
+    "distance": "2.72 meters",
+    "closeness rank": 11
+   }
+  },
+  "ceiling light": {
+   "paper bag": {
+    "distance": "1.33 meters",
+    "closeness rank": 1
+   },
+   "pillow": {
+    "distance": "1.37 meters",
+    "closeness rank": 2
+   },
+   "refrigerator": {
+    "distance": "1.55 meters",
+    "closeness rank": 3
+   },
+   "whiteboard": {
+    "distance": "1.62 meters",
+    "closeness rank": 4
+   },
+   "door": {
+    "distance": "1.66 meters",
+    "closeness rank": 5
+   },
+   "coat rack": {
+    "distance": "1.72 meters",
+    "closeness rank": 6
+   },
+   "monitor": {
+    "distance": "2.04 meters",
+    "closeness rank": 7
+   },
+   "tv": {
+    "distance": "2.18 meters",
+    "closeness rank": 8
+   },
+   "headphones": {
+    "distance": "2.42 meters",
+    "closeness rank": 9
+   },
+   "basket": {
+    "distance": "2.72 meters",
+    "closeness rank": 10
+   },
+   "crate": {
+    "distance": "2.87 meters",
+    "closeness rank": 11
+   }
+  },
+  "coat rack": {
+   "refrigerator": {
+    "distance": "0.27 meters",
+    "closeness rank": 1
+   },
+   "pillow": {
+    "distance": "0.29 meters",
+    "closeness rank": 2
+   },
+   "door": {
+    "distance": "0.31 meters",
+    "closeness rank": 3
+   },
+   "monitor": {
+    "distance": "0.87 meters",
+    "closeness rank": 4
+   },
+   "tv": {
+    "distance": "0.9 meters",
+    "closeness rank": 5
+   },
+   "basket": {
+    "distance": "0.95 meters",
+    "closeness rank": 6
+   },
+   "paper bag": {
+    "distance": "1.17 meters",
+    "closeness rank": 7
+   },
+   "whiteboard": {
+    "distance": "1.38 meters",
+    "closeness rank": 8
+   },
+   "headphones": {
+    "distance": "1.56 meters",
+    "closeness rank": 9
+   },
+   "ceiling light": {
+    "distance": "1.72 meters",
+    "closeness rank": 10
+   },
+   "crate": {
+    "distance": "1.83 meters",
+    "closeness rank": 11
+   }
+  },
+  "crate": {
+   "refrigerator": {
+    "distance": "0.07 meters",
+    "closeness rank": 1
+   },
+   "whiteboard": {
+    "distance": "0.4 meters",
+    "closeness rank": 2
+   },
+   "headphones": {
+    "distance": "0.5 meters",
+    "closeness rank": 3
+   },
+   "monitor": {
+    "distance": "0.73 meters",
+    "closeness rank": 4
+   },
+   "door": {
+    "distance": "0.74 meters",
+    "closeness rank": 5
+   },
+   "tv": {
+    "distance": "0.87 meters",
+    "closeness rank": 6
+   },
+   "paper bag": {
+    "distance": "1.32 meters",
+    "closeness rank": 7
+   },
+   "basket": {
+    "distance": "1.55 meters",
+    "closeness rank": 8
+   },
+   "coat rack": {
+    "distance": "1.83 meters",
+    "closeness rank": 9
+   },
+   "pillow": {
+    "distance": "2.1 meters",
+    "closeness rank": 10
+   },
+   "ceiling light": {
+    "distance": "2.87 meters",
+    "closeness rank": 11
+   }
+  },
+  "door": {
+   "monitor": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "refrigerator": {
+    "distance": "0.0 meters",
+    "closeness rank": 2
+   },
+   "tv": {
+    "distance": "0.0 meters",
+    "closeness rank": 3
+   },
+   "paper bag": {
+    "distance": "0.09 meters",
+    "closeness rank": 4
+   },
+   "pillow": {
+    "distance": "0.16 meters",
+    "closeness rank": 5
+   },
+   "basket": {
+    "distance": "0.17 meters",
+    "closeness rank": 6
+   },
+   "coat rack": {
+    "distance": "0.31 meters",
+    "closeness rank": 7
+   },
+   "whiteboard": {
+    "distance": "0.34 meters",
+    "closeness rank": 8
+   },
+   "headphones": {
+    "distance": "0.52 meters",
+    "closeness rank": 9
+   },
+   "crate": {
+    "distance": "0.74 meters",
+    "closeness rank": 10
+   },
+   "ceiling light": {
+    "distance": "1.66 meters",
+    "closeness rank": 11
+   }
+  },
+  "headphones": {
+   "refrigerator": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "crate": {
+    "distance": "0.5 meters",
+    "closeness rank": 2
+   },
+   "door": {
+    "distance": "0.52 meters",
+    "closeness rank": 3
+   },
+   "monitor": {
+    "distance": "0.52 meters",
+    "closeness rank": 4
+   },
+   "tv": {
+    "distance": "0.56 meters",
+    "closeness rank": 5
+   },
+   "paper bag": {
+    "distance": "0.85 meters",
+    "closeness rank": 6
+   },
+   "whiteboard": {
+    "distance": "1.03 meters",
+    "closeness rank": 7
+   },
+   "coat rack": {
+    "distance": "1.56 meters",
+    "closeness rank": 8
+   },
+   "basket": {
+    "distance": "1.61 meters",
+    "closeness rank": 9
+   },
+   "pillow": {
+    "distance": "1.81 meters",
+    "closeness rank": 10
+   },
+   "ceiling light": {
+    "distance": "2.42 meters",
+    "closeness rank": 11
+   }
+  },
+  "monitor": {
+   "door": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "tv": {
+    "distance": "0.0 meters",
+    "closeness rank": 2
+   },
+   "refrigerator": {
+    "distance": "0.36 meters",
+    "closeness rank": 3
+   },
+   "whiteboard": {
+    "distance": "0.51 meters",
+    "closeness rank": 4
+   },
+   "headphones": {
+    "distance": "0.52 meters",
+    "closeness rank": 5
+   },
+   "paper bag": {
+    "distance": "0.59 meters",
+    "closeness rank": 6
+   },
+   "crate": {
+    "distance": "0.73 meters",
+    "closeness rank": 7
+   },
+   "coat rack": {
+    "distance": "0.87 meters",
+    "closeness rank": 8
+   },
+   "basket": {
+    "distance": "0.95 meters",
+    "closeness rank": 9
+   },
+   "pillow": {
+    "distance": "1.18 meters",
+    "closeness rank": 10
+   },
+   "ceiling light": {
+    "distance": "2.04 meters",
+    "closeness rank": 11
+   }
+  },
+  "paper bag": {
+   "refrigerator": {
+    "distance": "0.02 meters",
+    "closeness rank": 1
+   },
+   "door": {
+    "distance": "0.09 meters",
+    "closeness rank": 2
+   },
+   "monitor": {
+    "distance": "0.59 meters",
+    "closeness rank": 3
+   },
+   "tv": {
+    "distance": "0.71 meters",
+    "closeness rank": 4
+   },
+   "headphones": {
+    "distance": "0.85 meters",
+    "closeness rank": 5
+   },
+   "coat rack": {
+    "distance": "1.17 meters",
+    "closeness rank": 6
+   },
+   "pillow": {
+    "distance": "1.21 meters",
+    "closeness rank": 7
+   },
+   "crate": {
+    "distance": "1.32 meters",
+    "closeness rank": 8
+   },
+   "ceiling light": {
+    "distance": "1.33 meters",
+    "closeness rank": 9
+   },
+   "whiteboard": {
+    "distance": "1.59 meters",
+    "closeness rank": 10
+   },
+   "basket": {
+    "distance": "1.86 meters",
+    "closeness rank": 11
+   }
+  },
+  "pillow": {
+   "refrigerator": {
+    "distance": "0.14 meters",
+    "closeness rank": 1
+   },
+   "door": {
+    "distance": "0.16 meters",
+    "closeness rank": 2
+   },
+   "coat rack": {
+    "distance": "0.29 meters",
+    "closeness rank": 3
+   },
+   "whiteboard": {
+    "distance": "1.1 meters",
+    "closeness rank": 4
+   },
+   "monitor": {
+    "distance": "1.18 meters",
+    "closeness rank": 5
+   },
+   "basket": {
+    "distance": "1.21 meters",
+    "closeness rank": 6
+   },
+   "paper bag": {
+    "distance": "1.21 meters",
+    "closeness rank": 7
+   },
+   "tv": {
+    "distance": "1.21 meters",
+    "closeness rank": 8
+   },
+   "ceiling light": {
+    "distance": "1.37 meters",
+    "closeness rank": 9
+   },
+   "headphones": {
+    "distance": "1.81 meters",
+    "closeness rank": 10
+   },
+   "crate": {
+    "distance": "2.1 meters",
+    "closeness rank": 11
+   }
+  },
+  "refrigerator": {
+   "door": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "headphones": {
+    "distance": "0.0 meters",
+    "closeness rank": 2
+   },
+   "paper bag": {
+    "distance": "0.02 meters",
+    "closeness rank": 3
+   },
+   "crate": {
+    "distance": "0.07 meters",
+    "closeness rank": 4
+   },
+   "pillow": {
+    "distance": "0.14 meters",
+    "closeness rank": 5
+   },
+   "coat rack": {
+    "distance": "0.27 meters",
+    "closeness rank": 6
+   },
+   "whiteboard": {
+    "distance": "0.35 meters",
+    "closeness rank": 7
+   },
+   "monitor": {
+    "distance": "0.36 meters",
+    "closeness rank": 8
+   },
+   "tv": {
+    "distance": "0.51 meters",
+    "closeness rank": 9
+   },
+   "basket": {
+    "distance": "0.73 meters",
+    "closeness rank": 10
+   },
+   "ceiling light": {
+    "distance": "1.55 meters",
+    "closeness rank": 11
+   }
+  },
+  "tv": {
+   "door": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "monitor": {
+    "distance": "0.0 meters",
+    "closeness rank": 2
+   },
+   "refrigerator": {
+    "distance": "0.51 meters",
+    "closeness rank": 3
+   },
+   "whiteboard": {
+    "distance": "0.52 meters",
+    "closeness rank": 4
+   },
+   "headphones": {
+    "distance": "0.56 meters",
+    "closeness rank": 5
+   },
+   "paper bag": {
+    "distance": "0.71 meters",
+    "closeness rank": 6
+   },
+   "crate": {
+    "distance": "0.87 meters",
+    "closeness rank": 7
+   },
+   "coat rack": {
+    "distance": "0.9 meters",
+    "closeness rank": 8
+   },
+   "basket": {
+    "distance": "0.97 meters",
+    "closeness rank": 9
+   },
+   "pillow": {
+    "distance": "1.21 meters",
+    "closeness rank": 10
+   },
+   "ceiling light": {
+    "distance": "2.18 meters",
+    "closeness rank": 11
+   }
+  },
+  "whiteboard": {
+   "door": {
+    "distance": "0.34 meters",
+    "closeness rank": 1
+   },
+   "refrigerator": {
+    "distance": "0.35 meters",
+    "closeness rank": 2
+   },
+   "crate": {
+    "distance": "0.4 meters",
+    "closeness rank": 3
+   },
+   "monitor": {
+    "distance": "0.51 meters",
+    "closeness rank": 4
+   },
+   "tv": {
+    "distance": "0.52 meters",
+    "closeness rank": 5
+   },
+   "basket": {
+    "distance": "0.6 meters",
+    "closeness rank": 6
+   },
+   "headphones": {
+    "distance": "1.03 meters",
+    "closeness rank": 7
+   },
+   "pillow": {
+    "distance": "1.1 meters",
+    "closeness rank": 8
+   },
+   "coat rack": {
+    "distance": "1.38 meters",
+    "closeness rank": 9
+   },
+   "paper bag": {
+    "distance": "1.59 meters",
+    "closeness rank": 10
+   },
+   "ceiling light": {
+    "distance": "1.62 meters",
+    "closeness rank": 11
+   }
+  }
+ },
+ "appearance order": ["door", "monitor", "tv", "whiteboard", "ceiling light", "crate", "pillow", "paper bag", "coat rack", "headphones", "refrigerator", "basket"]
+}
\ No newline at end of file
diff --git a/data/spatial codes/sam3+depth-anything-3/metric/tracking/uniform/96/explicit/f9f95681fd.json b/data/spatial codes/sam3+depth-anything-3/metric/tracking/uniform/96/explicit/f9f95681fd.json
new file mode 100644
index 0000000000000000000000000000000000000000..0d705518df86f52d5ea394740ece379fe1598e10
--- /dev/null
+++ b/data/spatial codes/sam3+depth-anything-3/metric/tracking/uniform/96/explicit/f9f95681fd.json	
@@ -0,0 +1,1028 @@
+{
+ "objects": {
+  "basket": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-0.07 meters",
+      "y coordinate": "-1.39 meters",
+      "height above floor": "-0.03 meters"
+     },
+     "longest dimension": "0.2 meters"
+    }
+   ]
+  },
+  "bowl": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "0.56 meters",
+      "y coordinate": "-0.84 meters",
+      "height above floor": "-0.52 meters"
+     },
+     "longest dimension": "0.21 meters"
+    }
+   ]
+  },
+  "ceiling light": {
+   "count": 2,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "0.3 meters",
+      "y coordinate": "-0.06 meters",
+      "height above floor": "1.56 meters"
+     },
+     "longest dimension": "0.26 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "0.3 meters",
+      "y coordinate": "-0.96 meters",
+      "height above floor": "1.5 meters"
+     },
+     "longest dimension": "0.12 meters"
+    }
+   ]
+  },
+  "cup": {
+   "count": 3,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-0.36 meters",
+      "y coordinate": "-1.0 meters",
+      "height above floor": "0.05 meters"
+     },
+     "longest dimension": "0.14 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-0.5 meters",
+      "y coordinate": "-0.97 meters",
+      "height above floor": "0.04 meters"
+     },
+     "longest dimension": "0.13 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "0.07 meters",
+      "y coordinate": "-1.18 meters",
+      "height above floor": "0.0 meters"
+     },
+     "longest dimension": "0.08 meters"
+    }
+   ]
+  },
+  "cutting board": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "0.73 meters",
+      "y coordinate": "-0.8 meters",
+      "height above floor": "-0.35 meters"
+     },
+     "longest dimension": "0.42 meters"
+    }
+   ]
+  },
+  "door": {
+   "count": 7,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "0.68 meters",
+      "y coordinate": "0.43 meters",
+      "height above floor": "0.26 meters"
+     },
+     "longest dimension": "1.29 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "0.6 meters",
+      "y coordinate": "0.47 meters",
+      "height above floor": "0.29 meters"
+     },
+     "longest dimension": "1.02 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "0.75 meters",
+      "y coordinate": "-0.56 meters",
+      "height above floor": "0.69 meters"
+     },
+     "longest dimension": "0.89 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "0.85 meters",
+      "y coordinate": "-0.48 meters",
+      "height above floor": "0.19 meters"
+     },
+     "longest dimension": "0.8 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-0.13 meters",
+      "y coordinate": "0.47 meters",
+      "height above floor": "-0.29 meters"
+     },
+     "longest dimension": "0.59 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "0.52 meters",
+      "y coordinate": "-1.14 meters",
+      "height above floor": "0.85 meters"
+     },
+     "longest dimension": "0.64 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "0.72 meters",
+      "y coordinate": "-0.59 meters",
+      "height above floor": "0.85 meters"
+     },
+     "longest dimension": "0.72 meters"
+    }
+   ]
+  },
+  "kettle": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-0.1 meters",
+      "y coordinate": "-1.03 meters",
+      "height above floor": "0.15 meters"
+     },
+     "longest dimension": "0.18 meters"
+    }
+   ]
+  },
+  "keyboard": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "0.17 meters",
+      "y coordinate": "-1.55 meters",
+      "height above floor": "0.25 meters"
+     },
+     "longest dimension": "0.25 meters"
+    }
+   ]
+  },
+  "laptop": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "0.17 meters",
+      "y coordinate": "-1.29 meters",
+      "height above floor": "0.15 meters"
+     },
+     "longest dimension": "0.49 meters"
+    }
+   ]
+  },
+  "microwave": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-0.44 meters",
+      "y coordinate": "0.55 meters",
+      "height above floor": "0.25 meters"
+     },
+     "longest dimension": "0.5 meters"
+    }
+   ]
+  },
+  "power strip": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "0.4 meters",
+      "y coordinate": "-1.29 meters",
+      "height above floor": "0.01 meters"
+     },
+     "longest dimension": "0.14 meters"
+    }
+   ]
+  },
+  "refrigerator": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "0.74 meters",
+      "y coordinate": "-0.57 meters",
+      "height above floor": "0.69 meters"
+     },
+     "longest dimension": "0.9 meters"
+    }
+   ]
+  },
+  "table": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-0.38 meters",
+      "y coordinate": "-0.89 meters",
+      "height above floor": "-0.33 meters"
+     },
+     "longest dimension": "1.25 meters"
+    }
+   ]
+  },
+  "trash can": {
+   "count": 2,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "0.7 meters",
+      "y coordinate": "-0.1 meters",
+      "height above floor": "-0.35 meters"
+     },
+     "longest dimension": "0.4 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-0.43 meters",
+      "y coordinate": "-0.59 meters",
+      "height above floor": "-0.66 meters"
+     },
+     "longest dimension": "0.29 meters"
+    }
+   ]
+  }
+ },
+ "room": {
+  "floor area": "5.9 square meters"
+ },
+ "closest classes distance meters from": {
+  "basket": {
+   "laptop": {
+    "distance": "0.14 meters",
+    "closeness rank": 1
+   },
+   "table": {
+    "distance": "0.19 meters",
+    "closeness rank": 2
+   },
+   "keyboard": {
+    "distance": "0.26 meters",
+    "closeness rank": 3
+   },
+   "kettle": {
+    "distance": "0.29 meters",
+    "closeness rank": 4
+   },
+   "cup": {
+    "distance": "0.33 meters",
+    "closeness rank": 5
+   },
+   "power strip": {
+    "distance": "0.36 meters",
+    "closeness rank": 6
+   },
+   "ceiling light": {
+    "distance": "0.4 meters",
+    "closeness rank": 7
+   },
+   "bowl": {
+    "distance": "0.8 meters",
+    "closeness rank": 8
+   },
+   "cutting board": {
+    "distance": "0.88 meters",
+    "closeness rank": 9
+   },
+   "door": {
+    "distance": "0.92 meters",
+    "closeness rank": 10
+   },
+   "refrigerator": {
+    "distance": "0.95 meters",
+    "closeness rank": 11
+   },
+   "trash can": {
+    "distance": "1.27 meters",
+    "closeness rank": 12
+   },
+   "microwave": {
+    "distance": "1.79 meters",
+    "closeness rank": 13
+   }
+  },
+  "bowl": {
+   "cutting board": {
+    "distance": "0.03 meters",
+    "closeness rank": 1
+   },
+   "door": {
+    "distance": "0.13 meters",
+    "closeness rank": 2
+   },
+   "refrigerator": {
+    "distance": "0.35 meters",
+    "closeness rank": 3
+   },
+   "table": {
+    "distance": "0.35 meters",
+    "closeness rank": 4
+   },
+   "trash can": {
+    "distance": "0.44 meters",
+    "closeness rank": 5
+   },
+   "laptop": {
+    "distance": "0.58 meters",
+    "closeness rank": 6
+   },
+   "power strip": {
+    "distance": "0.6 meters",
+    "closeness rank": 7
+   },
+   "kettle": {
+    "distance": "0.7 meters",
+    "closeness rank": 8
+   },
+   "basket": {
+    "distance": "0.8 meters",
+    "closeness rank": 9
+   },
+   "cup": {
+    "distance": "0.93 meters",
+    "closeness rank": 10
+   },
+   "keyboard": {
+    "distance": "0.97 meters",
+    "closeness rank": 11
+   },
+   "ceiling light": {
+    "distance": "1.22 meters",
+    "closeness rank": 12
+   },
+   "microwave": {
+    "distance": "1.68 meters",
+    "closeness rank": 13
+   }
+  },
+  "ceiling light": {
+   "cup": {
+    "distance": "0.26 meters",
+    "closeness rank": 1
+   },
+   "kettle": {
+    "distance": "0.33 meters",
+    "closeness rank": 2
+   },
+   "table": {
+    "distance": "0.36 meters",
+    "closeness rank": 3
+   },
+   "basket": {
+    "distance": "0.4 meters",
+    "closeness rank": 4
+   },
+   "laptop": {
+    "distance": "0.52 meters",
+    "closeness rank": 5
+   },
+   "keyboard": {
+    "distance": "0.56 meters",
+    "closeness rank": 6
+   },
+   "power strip": {
+    "distance": "0.82 meters",
+    "closeness rank": 7
+   },
+   "refrigerator": {
+    "distance": "1.1 meters",
+    "closeness rank": 8
+   },
+   "trash can": {
+    "distance": "1.2 meters",
+    "closeness rank": 9
+   },
+   "bowl": {
+    "distance": "1.22 meters",
+    "closeness rank": 10
+   },
+   "microwave": {
+    "distance": "1.22 meters",
+    "closeness rank": 11
+   },
+   "cutting board": {
+    "distance": "1.23 meters",
+    "closeness rank": 12
+   },
+   "door": {
+    "distance": "1.24 meters",
+    "closeness rank": 13
+   }
+  },
+  "cup": {
+   "table": {
+    "distance": "0.01 meters",
+    "closeness rank": 1
+   },
+   "kettle": {
+    "distance": "0.14 meters",
+    "closeness rank": 2
+   },
+   "ceiling light": {
+    "distance": "0.26 meters",
+    "closeness rank": 3
+   },
+   "basket": {
+    "distance": "0.33 meters",
+    "closeness rank": 4
+   },
+   "laptop": {
+    "distance": "0.48 meters",
+    "closeness rank": 5
+   },
+   "keyboard": {
+    "distance": "0.6 meters",
+    "closeness rank": 6
+   },
+   "power strip": {
+    "distance": "0.71 meters",
+    "closeness rank": 7
+   },
+   "bowl": {
+    "distance": "0.93 meters",
+    "closeness rank": 8
+   },
+   "cutting board": {
+    "distance": "0.99 meters",
+    "closeness rank": 9
+   },
+   "refrigerator": {
+    "distance": "1.0 meters",
+    "closeness rank": 10
+   },
+   "door": {
+    "distance": "1.01 meters",
+    "closeness rank": 11
+   },
+   "trash can": {
+    "distance": "1.16 meters",
+    "closeness rank": 12
+   },
+   "microwave": {
+    "distance": "1.44 meters",
+    "closeness rank": 13
+   }
+  },
+  "cutting board": {
+   "bowl": {
+    "distance": "0.03 meters",
+    "closeness rank": 1
+   },
+   "door": {
+    "distance": "0.03 meters",
+    "closeness rank": 2
+   },
+   "table": {
+    "distance": "0.24 meters",
+    "closeness rank": 3
+   },
+   "refrigerator": {
+    "distance": "0.29 meters",
+    "closeness rank": 4
+   },
+   "trash can": {
+    "distance": "0.35 meters",
+    "closeness rank": 5
+   },
+   "laptop": {
+    "distance": "0.53 meters",
+    "closeness rank": 6
+   },
+   "power strip": {
+    "distance": "0.57 meters",
+    "closeness rank": 7
+   },
+   "kettle": {
+    "distance": "0.71 meters",
+    "closeness rank": 8
+   },
+   "basket": {
+    "distance": "0.88 meters",
+    "closeness rank": 9
+   },
+   "keyboard": {
+    "distance": "0.93 meters",
+    "closeness rank": 10
+   },
+   "cup": {
+    "distance": "0.99 meters",
+    "closeness rank": 11
+   },
+   "ceiling light": {
+    "distance": "1.23 meters",
+    "closeness rank": 12
+   },
+   "microwave": {
+    "distance": "1.6 meters",
+    "closeness rank": 13
+   }
+  },
+  "door": {
+   "refrigerator": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "cutting board": {
+    "distance": "0.03 meters",
+    "closeness rank": 2
+   },
+   "trash can": {
+    "distance": "0.03 meters",
+    "closeness rank": 3
+   },
+   "bowl": {
+    "distance": "0.13 meters",
+    "closeness rank": 4
+   },
+   "table": {
+    "distance": "0.19 meters",
+    "closeness rank": 5
+   },
+   "microwave": {
+    "distance": "0.54 meters",
+    "closeness rank": 6
+   },
+   "laptop": {
+    "distance": "0.57 meters",
+    "closeness rank": 7
+   },
+   "power strip": {
+    "distance": "0.62 meters",
+    "closeness rank": 8
+   },
+   "kettle": {
+    "distance": "0.74 meters",
+    "closeness rank": 9
+   },
+   "basket": {
+    "distance": "0.92 meters",
+    "closeness rank": 10
+   },
+   "keyboard": {
+    "distance": "0.95 meters",
+    "closeness rank": 11
+   },
+   "cup": {
+    "distance": "1.01 meters",
+    "closeness rank": 12
+   },
+   "ceiling light": {
+    "distance": "1.24 meters",
+    "closeness rank": 13
+   }
+  },
+  "kettle": {
+   "table": {
+    "distance": "0.01 meters",
+    "closeness rank": 1
+   },
+   "cup": {
+    "distance": "0.14 meters",
+    "closeness rank": 2
+   },
+   "laptop": {
+    "distance": "0.21 meters",
+    "closeness rank": 3
+   },
+   "basket": {
+    "distance": "0.29 meters",
+    "closeness rank": 4
+   },
+   "ceiling light": {
+    "distance": "0.33 meters",
+    "closeness rank": 5
+   },
+   "keyboard": {
+    "distance": "0.44 meters",
+    "closeness rank": 6
+   },
+   "power strip": {
+    "distance": "0.45 meters",
+    "closeness rank": 7
+   },
+   "bowl": {
+    "distance": "0.7 meters",
+    "closeness rank": 8
+   },
+   "cutting board": {
+    "distance": "0.71 meters",
+    "closeness rank": 9
+   },
+   "refrigerator": {
+    "distance": "0.72 meters",
+    "closeness rank": 10
+   },
+   "door": {
+    "distance": "0.74 meters",
+    "closeness rank": 11
+   },
+   "trash can": {
+    "distance": "1.03 meters",
+    "closeness rank": 12
+   },
+   "microwave": {
+    "distance": "1.45 meters",
+    "closeness rank": 13
+   }
+  },
+  "keyboard": {
+   "laptop": {
+    "distance": "0.14 meters",
+    "closeness rank": 1
+   },
+   "basket": {
+    "distance": "0.26 meters",
+    "closeness rank": 2
+   },
+   "power strip": {
+    "distance": "0.33 meters",
+    "closeness rank": 3
+   },
+   "table": {
+    "distance": "0.39 meters",
+    "closeness rank": 4
+   },
+   "kettle": {
+    "distance": "0.44 meters",
+    "closeness rank": 5
+   },
+   "ceiling light": {
+    "distance": "0.56 meters",
+    "closeness rank": 6
+   },
+   "cup": {
+    "distance": "0.6 meters",
+    "closeness rank": 7
+   },
+   "refrigerator": {
+    "distance": "0.82 meters",
+    "closeness rank": 8
+   },
+   "cutting board": {
+    "distance": "0.93 meters",
+    "closeness rank": 9
+   },
+   "door": {
+    "distance": "0.95 meters",
+    "closeness rank": 10
+   },
+   "bowl": {
+    "distance": "0.97 meters",
+    "closeness rank": 11
+   },
+   "trash can": {
+    "distance": "1.35 meters",
+    "closeness rank": 12
+   },
+   "microwave": {
+    "distance": "1.95 meters",
+    "closeness rank": 13
+   }
+  },
+  "laptop": {
+   "table": {
+    "distance": "0.01 meters",
+    "closeness rank": 1
+   },
+   "power strip": {
+    "distance": "0.03 meters",
+    "closeness rank": 2
+   },
+   "basket": {
+    "distance": "0.14 meters",
+    "closeness rank": 3
+   },
+   "keyboard": {
+    "distance": "0.14 meters",
+    "closeness rank": 4
+   },
+   "kettle": {
+    "distance": "0.21 meters",
+    "closeness rank": 5
+   },
+   "cup": {
+    "distance": "0.48 meters",
+    "closeness rank": 6
+   },
+   "ceiling light": {
+    "distance": "0.52 meters",
+    "closeness rank": 7
+   },
+   "cutting board": {
+    "distance": "0.53 meters",
+    "closeness rank": 8
+   },
+   "door": {
+    "distance": "0.57 meters",
+    "closeness rank": 9
+   },
+   "bowl": {
+    "distance": "0.58 meters",
+    "closeness rank": 10
+   },
+   "refrigerator": {
+    "distance": "0.59 meters",
+    "closeness rank": 11
+   },
+   "trash can": {
+    "distance": "0.97 meters",
+    "closeness rank": 12
+   },
+   "microwave": {
+    "distance": "1.69 meters",
+    "closeness rank": 13
+   }
+  },
+  "microwave": {
+   "table": {
+    "distance": "0.02 meters",
+    "closeness rank": 1
+   },
+   "door": {
+    "distance": "0.54 meters",
+    "closeness rank": 2
+   },
+   "trash can": {
+    "distance": "0.65 meters",
+    "closeness rank": 3
+   },
+   "ceiling light": {
+    "distance": "1.22 meters",
+    "closeness rank": 4
+   },
+   "cup": {
+    "distance": "1.44 meters",
+    "closeness rank": 5
+   },
+   "kettle": {
+    "distance": "1.45 meters",
+    "closeness rank": 6
+   },
+   "refrigerator": {
+    "distance": "1.53 meters",
+    "closeness rank": 7
+   },
+   "cutting board": {
+    "distance": "1.6 meters",
+    "closeness rank": 8
+   },
+   "bowl": {
+    "distance": "1.68 meters",
+    "closeness rank": 9
+   },
+   "laptop": {
+    "distance": "1.69 meters",
+    "closeness rank": 10
+   },
+   "basket": {
+    "distance": "1.79 meters",
+    "closeness rank": 11
+   },
+   "power strip": {
+    "distance": "1.88 meters",
+    "closeness rank": 12
+   },
+   "keyboard": {
+    "distance": "1.95 meters",
+    "closeness rank": 13
+   }
+  },
+  "power strip": {
+   "laptop": {
+    "distance": "0.03 meters",
+    "closeness rank": 1
+   },
+   "table": {
+    "distance": "0.11 meters",
+    "closeness rank": 2
+   },
+   "keyboard": {
+    "distance": "0.33 meters",
+    "closeness rank": 3
+   },
+   "basket": {
+    "distance": "0.36 meters",
+    "closeness rank": 4
+   },
+   "kettle": {
+    "distance": "0.45 meters",
+    "closeness rank": 5
+   },
+   "cutting board": {
+    "distance": "0.57 meters",
+    "closeness rank": 6
+   },
+   "bowl": {
+    "distance": "0.6 meters",
+    "closeness rank": 7
+   },
+   "door": {
+    "distance": "0.62 meters",
+    "closeness rank": 8
+   },
+   "refrigerator": {
+    "distance": "0.66 meters",
+    "closeness rank": 9
+   },
+   "cup": {
+    "distance": "0.71 meters",
+    "closeness rank": 10
+   },
+   "ceiling light": {
+    "distance": "0.82 meters",
+    "closeness rank": 11
+   },
+   "trash can": {
+    "distance": "1.03 meters",
+    "closeness rank": 12
+   },
+   "microwave": {
+    "distance": "1.88 meters",
+    "closeness rank": 13
+   }
+  },
+  "refrigerator": {
+   "door": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "trash can": {
+    "distance": "0.17 meters",
+    "closeness rank": 2
+   },
+   "cutting board": {
+    "distance": "0.29 meters",
+    "closeness rank": 3
+   },
+   "table": {
+    "distance": "0.29 meters",
+    "closeness rank": 4
+   },
+   "bowl": {
+    "distance": "0.35 meters",
+    "closeness rank": 5
+   },
+   "laptop": {
+    "distance": "0.59 meters",
+    "closeness rank": 6
+   },
+   "power strip": {
+    "distance": "0.66 meters",
+    "closeness rank": 7
+   },
+   "kettle": {
+    "distance": "0.72 meters",
+    "closeness rank": 8
+   },
+   "keyboard": {
+    "distance": "0.82 meters",
+    "closeness rank": 9
+   },
+   "basket": {
+    "distance": "0.95 meters",
+    "closeness rank": 10
+   },
+   "cup": {
+    "distance": "1.0 meters",
+    "closeness rank": 11
+   },
+   "ceiling light": {
+    "distance": "1.1 meters",
+    "closeness rank": 12
+   },
+   "microwave": {
+    "distance": "1.53 meters",
+    "closeness rank": 13
+   }
+  },
+  "table": {
+   "cup": {
+    "distance": "0.01 meters",
+    "closeness rank": 1
+   },
+   "kettle": {
+    "distance": "0.01 meters",
+    "closeness rank": 2
+   },
+   "laptop": {
+    "distance": "0.01 meters",
+    "closeness rank": 3
+   },
+   "microwave": {
+    "distance": "0.02 meters",
+    "closeness rank": 4
+   },
+   "power strip": {
+    "distance": "0.11 meters",
+    "closeness rank": 5
+   },
+   "basket": {
+    "distance": "0.19 meters",
+    "closeness rank": 6
+   },
+   "door": {
+    "distance": "0.19 meters",
+    "closeness rank": 7
+   },
+   "cutting board": {
+    "distance": "0.24 meters",
+    "closeness rank": 8
+   },
+   "refrigerator": {
+    "distance": "0.29 meters",
+    "closeness rank": 9
+   },
+   "bowl": {
+    "distance": "0.35 meters",
+    "closeness rank": 10
+   },
+   "ceiling light": {
+    "distance": "0.36 meters",
+    "closeness rank": 11
+   },
+   "keyboard": {
+    "distance": "0.39 meters",
+    "closeness rank": 12
+   },
+   "trash can": {
+    "distance": "0.44 meters",
+    "closeness rank": 13
+   }
+  },
+  "trash can": {
+   "door": {
+    "distance": "0.03 meters",
+    "closeness rank": 1
+   },
+   "refrigerator": {
+    "distance": "0.17 meters",
+    "closeness rank": 2
+   },
+   "cutting board": {
+    "distance": "0.35 meters",
+    "closeness rank": 3
+   },
+   "bowl": {
+    "distance": "0.44 meters",
+    "closeness rank": 4
+   },
+   "table": {
+    "distance": "0.44 meters",
+    "closeness rank": 5
+   },
+   "microwave": {
+    "distance": "0.65 meters",
+    "closeness rank": 6
+   },
+   "laptop": {
+    "distance": "0.97 meters",
+    "closeness rank": 7
+   },
+   "kettle": {
+    "distance": "1.03 meters",
+    "closeness rank": 8
+   },
+   "power strip": {
+    "distance": "1.03 meters",
+    "closeness rank": 9
+   },
+   "cup": {
+    "distance": "1.16 meters",
+    "closeness rank": 10
+   },
+   "ceiling light": {
+    "distance": "1.2 meters",
+    "closeness rank": 11
+   },
+   "basket": {
+    "distance": "1.27 meters",
+    "closeness rank": 12
+   },
+   "keyboard": {
+    "distance": "1.35 meters",
+    "closeness rank": 13
+   }
+  }
+ },
+ "appearance order": ["door", "table", "trash can", "refrigerator", "ceiling light", "cutting board", "basket", "bowl", "cup", "kettle", "power strip", "laptop", "microwave", "keyboard"]
+}
\ No newline at end of file
diff --git a/data/spatial codes/sam3+depth-anything-3/metric/tracking/uniform/96/explicit/fb5a96b1a2.json b/data/spatial codes/sam3+depth-anything-3/metric/tracking/uniform/96/explicit/fb5a96b1a2.json
new file mode 100644
index 0000000000000000000000000000000000000000..81c591e435e01d47e19ed1498c6b9be1eae26d78
--- /dev/null
+++ b/data/spatial codes/sam3+depth-anything-3/metric/tracking/uniform/96/explicit/fb5a96b1a2.json	
@@ -0,0 +1,1865 @@
+{
+ "objects": {
+  "bookshelf": {
+   "count": 2,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "3.37 meters",
+      "y coordinate": "2.93 meters",
+      "height above floor": "0.78 meters"
+     },
+     "longest dimension": "1.12 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "1.66 meters",
+      "y coordinate": "3.37 meters",
+      "height above floor": "0.42 meters"
+     },
+     "longest dimension": "0.78 meters"
+    }
+   ]
+  },
+  "ceiling light": {
+   "count": 18,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "3.44 meters",
+      "y coordinate": "-0.03 meters",
+      "height above floor": "1.7 meters"
+     },
+     "longest dimension": "0.18 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "1.17 meters",
+      "y coordinate": "2.95 meters",
+      "height above floor": "1.74 meters"
+     },
+     "longest dimension": "0.18 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-0.81 meters",
+      "y coordinate": "0.05 meters",
+      "height above floor": "1.75 meters"
+     },
+     "longest dimension": "0.24 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "0.75 meters",
+      "y coordinate": "1.19 meters",
+      "height above floor": "1.78 meters"
+     },
+     "longest dimension": "0.17 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-0.14 meters",
+      "y coordinate": "-0.41 meters",
+      "height above floor": "1.72 meters"
+     },
+     "longest dimension": "0.2 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "2.39 meters",
+      "y coordinate": "1.85 meters",
+      "height above floor": "1.75 meters"
+     },
+     "longest dimension": "0.2 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "2.82 meters",
+      "y coordinate": "-2.14 meters",
+      "height above floor": "1.77 meters"
+     },
+     "longest dimension": "0.18 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "2.67 meters",
+      "y coordinate": "-1.05 meters",
+      "height above floor": "1.68 meters"
+     },
+     "longest dimension": "0.14 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "4.43 meters",
+      "y coordinate": "0.21 meters",
+      "height above floor": "1.84 meters"
+     },
+     "longest dimension": "0.18 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "4.26 meters",
+      "y coordinate": "0.94 meters",
+      "height above floor": "1.72 meters"
+     },
+     "longest dimension": "0.18 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "0.74 meters",
+      "y coordinate": "1.21 meters",
+      "height above floor": "1.81 meters"
+     },
+     "longest dimension": "0.17 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "4.0 meters",
+      "y coordinate": "-1.11 meters",
+      "height above floor": "1.81 meters"
+     },
+     "longest dimension": "0.19 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-1.18 meters",
+      "y coordinate": "1.74 meters",
+      "height above floor": "1.81 meters"
+     },
+     "longest dimension": "0.19 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "3.94 meters",
+      "y coordinate": "2.64 meters",
+      "height above floor": "1.19 meters"
+     },
+     "longest dimension": "0.09 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-0.14 meters",
+      "y coordinate": "-0.4 meters",
+      "height above floor": "1.74 meters"
+     },
+     "longest dimension": "0.16 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "1.18 meters",
+      "y coordinate": "2.99 meters",
+      "height above floor": "1.78 meters"
+     },
+     "longest dimension": "0.23 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "1.55 meters",
+      "y coordinate": "-1.44 meters",
+      "height above floor": "1.8 meters"
+     },
+     "longest dimension": "0.18 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "4.91 meters",
+      "y coordinate": "0.74 meters",
+      "height above floor": "1.61 meters"
+     },
+     "longest dimension": "0.14 meters"
+    }
+   ]
+  },
+  "chair": {
+   "count": 28,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "0.58 meters",
+      "y coordinate": "1.2 meters",
+      "height above floor": "0.03 meters"
+     },
+     "longest dimension": "0.47 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "3.29 meters",
+      "y coordinate": "2.39 meters",
+      "height above floor": "-0.16 meters"
+     },
+     "longest dimension": "0.77 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "2.07 meters",
+      "y coordinate": "-1.93 meters",
+      "height above floor": "-0.3 meters"
+     },
+     "longest dimension": "0.79 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "4.0 meters",
+      "y coordinate": "1.56 meters",
+      "height above floor": "-0.14 meters"
+     },
+     "longest dimension": "0.65 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "4.46 meters",
+      "y coordinate": "0.96 meters",
+      "height above floor": "-0.05 meters"
+     },
+     "longest dimension": "0.78 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "2.01 meters",
+      "y coordinate": "-0.39 meters",
+      "height above floor": "-0.04 meters"
+     },
+     "longest dimension": "0.61 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-0.62 meters",
+      "y coordinate": "1.98 meters",
+      "height above floor": "-0.11 meters"
+     },
+     "longest dimension": "0.97 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "0.96 meters",
+      "y coordinate": "-1.69 meters",
+      "height above floor": "-0.18 meters"
+     },
+     "longest dimension": "0.66 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-1.31 meters",
+      "y coordinate": "1.29 meters",
+      "height above floor": "-0.16 meters"
+     },
+     "longest dimension": "0.73 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "0.49 meters",
+      "y coordinate": "1.02 meters",
+      "height above floor": "-0.23 meters"
+     },
+     "longest dimension": "0.65 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "2.12 meters",
+      "y coordinate": "-0.38 meters",
+      "height above floor": "0.06 meters"
+     },
+     "longest dimension": "0.57 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "3.26 meters",
+      "y coordinate": "-1.37 meters",
+      "height above floor": "-0.15 meters"
+     },
+     "longest dimension": "0.89 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "1.52 meters",
+      "y coordinate": "1.13 meters",
+      "height above floor": "-0.06 meters"
+     },
+     "longest dimension": "0.73 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "3.27 meters",
+      "y coordinate": "2.42 meters",
+      "height above floor": "-0.17 meters"
+     },
+     "longest dimension": "0.88 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "0.43 meters",
+      "y coordinate": "-1.24 meters",
+      "height above floor": "-0.15 meters"
+     },
+     "longest dimension": "0.8 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "2.77 meters",
+      "y coordinate": "0.06 meters",
+      "height above floor": "-0.04 meters"
+     },
+     "longest dimension": "0.44 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "3.95 meters",
+      "y coordinate": "0.19 meters",
+      "height above floor": "-0.19 meters"
+     },
+     "longest dimension": "0.69 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "2.75 meters",
+      "y coordinate": "-1.97 meters",
+      "height above floor": "-0.2 meters"
+     },
+     "longest dimension": "0.67 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "2.85 meters",
+      "y coordinate": "-2.01 meters",
+      "height above floor": "-0.13 meters"
+     },
+     "longest dimension": "0.83 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "3.29 meters",
+      "y coordinate": "-1.42 meters",
+      "height above floor": "-0.05 meters"
+     },
+     "longest dimension": "0.64 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "0.37 meters",
+      "y coordinate": "-1.17 meters",
+      "height above floor": "-0.19 meters"
+     },
+     "longest dimension": "0.92 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "2.09 meters",
+      "y coordinate": "-0.36 meters",
+      "height above floor": "0.13 meters"
+     },
+     "longest dimension": "0.45 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "4.31 meters",
+      "y coordinate": "0.57 meters",
+      "height above floor": "-0.14 meters"
+     },
+     "longest dimension": "0.69 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "3.96 meters",
+      "y coordinate": "1.59 meters",
+      "height above floor": "-0.17 meters"
+     },
+     "longest dimension": "0.88 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "4.03 meters",
+      "y coordinate": "0.18 meters",
+      "height above floor": "-0.05 meters"
+     },
+     "longest dimension": "0.64 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "4.33 meters",
+      "y coordinate": "1.03 meters",
+      "height above floor": "0.06 meters"
+     },
+     "longest dimension": "0.55 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "4.59 meters",
+      "y coordinate": "0.5 meters",
+      "height above floor": "-0.05 meters"
+     },
+     "longest dimension": "0.58 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "4.0 meters",
+      "y coordinate": "0.18 meters",
+      "height above floor": "-0.1 meters"
+     },
+     "longest dimension": "0.68 meters"
+    }
+   ]
+  },
+  "computer mouse": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "1.75 meters",
+      "y coordinate": "0.55 meters",
+      "height above floor": "0.02 meters"
+     },
+     "longest dimension": "0.18 meters"
+    }
+   ]
+  },
+  "cushion": {
+   "count": 4,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "0.57 meters",
+      "y coordinate": "1.16 meters",
+      "height above floor": "-0.11 meters"
+     },
+     "longest dimension": "0.57 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-1.12 meters",
+      "y coordinate": "1.25 meters",
+      "height above floor": "-0.26 meters"
+     },
+     "longest dimension": "0.49 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "1.07 meters",
+      "y coordinate": "-1.59 meters",
+      "height above floor": "-0.28 meters"
+     },
+     "longest dimension": "0.49 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-0.55 meters",
+      "y coordinate": "1.79 meters",
+      "height above floor": "-0.26 meters"
+     },
+     "longest dimension": "0.47 meters"
+    }
+   ]
+  },
+  "door": {
+   "count": 4,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "3.97 meters",
+      "y coordinate": "2.61 meters",
+      "height above floor": "1.27 meters"
+     },
+     "longest dimension": "1.33 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "2.65 meters",
+      "y coordinate": "3.39 meters",
+      "height above floor": "-0.11 meters"
+     },
+     "longest dimension": "0.84 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-1.7 meters",
+      "y coordinate": "1.03 meters",
+      "height above floor": "0.34 meters"
+     },
+     "longest dimension": "1.83 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-1.72 meters",
+      "y coordinate": "1.03 meters",
+      "height above floor": "0.26 meters"
+     },
+     "longest dimension": "1.86 meters"
+    }
+   ]
+  },
+  "exhaust fan": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "2.26 meters",
+      "y coordinate": "0.59 meters",
+      "height above floor": "1.72 meters"
+     },
+     "longest dimension": "3.25 meters"
+    }
+   ]
+  },
+  "keyboard": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "1.53 meters",
+      "y coordinate": "-2.38 meters",
+      "height above floor": "0.37 meters"
+     },
+     "longest dimension": "0.18 meters"
+    }
+   ]
+  },
+  "laptop": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "1.55 meters",
+      "y coordinate": "-2.41 meters",
+      "height above floor": "0.4 meters"
+     },
+     "longest dimension": "0.25 meters"
+    }
+   ]
+  },
+  "monitor": {
+   "count": 3,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "0.05 meters",
+      "y coordinate": "2.94 meters",
+      "height above floor": "0.41 meters"
+     },
+     "longest dimension": "1.41 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "1.87 meters",
+      "y coordinate": "3.31 meters",
+      "height above floor": "0.38 meters"
+     },
+     "longest dimension": "1.4 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "1.84 meters",
+      "y coordinate": "0.71 meters",
+      "height above floor": "0.07 meters"
+     },
+     "longest dimension": "0.26 meters"
+    }
+   ]
+  },
+  "plant": {
+   "count": 2,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "4.57 meters",
+      "y coordinate": "1.53 meters",
+      "height above floor": "1.45 meters"
+     },
+     "longest dimension": "1.3 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "3.87 meters",
+      "y coordinate": "-1.9 meters",
+      "height above floor": "-0.24 meters"
+     },
+     "longest dimension": "0.65 meters"
+    }
+   ]
+  },
+  "refrigerator": {
+   "count": 2,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "2.65 meters",
+      "y coordinate": "3.39 meters",
+      "height above floor": "0.48 meters"
+     },
+     "longest dimension": "1.45 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-1.62 meters",
+      "y coordinate": "1.12 meters",
+      "height above floor": "0.42 meters"
+     },
+     "longest dimension": "1.21 meters"
+    }
+   ]
+  },
+  "table": {
+   "count": 2,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "3.04 meters",
+      "y coordinate": "0.65 meters",
+      "height above floor": "-0.01 meters"
+     },
+     "longest dimension": "1.03 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "0.77 meters",
+      "y coordinate": "0.04 meters",
+      "height above floor": "-0.01 meters"
+     },
+     "longest dimension": "1.16 meters"
+    }
+   ]
+  },
+  "telephone": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "1.59 meters",
+      "y coordinate": "-2.36 meters",
+      "height above floor": "0.42 meters"
+     },
+     "longest dimension": "0.22 meters"
+    }
+   ]
+  },
+  "trash can": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "1.41 meters",
+      "y coordinate": "-1.95 meters",
+      "height above floor": "-0.34 meters"
+     },
+     "longest dimension": "0.52 meters"
+    }
+   ]
+  },
+  "tv": {
+   "count": 3,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "0.05 meters",
+      "y coordinate": "2.94 meters",
+      "height above floor": "0.41 meters"
+     },
+     "longest dimension": "1.41 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "1.88 meters",
+      "y coordinate": "3.31 meters",
+      "height above floor": "0.38 meters"
+     },
+     "longest dimension": "1.4 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-0.67 meters",
+      "y coordinate": "2.16 meters",
+      "height above floor": "0.46 meters"
+     },
+     "longest dimension": "0.26 meters"
+    }
+   ]
+  },
+  "whiteboard": {
+   "count": 7,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "0.44 meters",
+      "y coordinate": "-1.63 meters",
+      "height above floor": "1.01 meters"
+     },
+     "longest dimension": "1.53 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "2.85 meters",
+      "y coordinate": "-2.3 meters",
+      "height above floor": "0.56 meters"
+     },
+     "longest dimension": "1.33 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "3.66 meters",
+      "y coordinate": "-1.4 meters",
+      "height above floor": "0.71 meters"
+     },
+     "longest dimension": "1.21 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-1.57 meters",
+      "y coordinate": "2.02 meters",
+      "height above floor": "0.74 meters"
+     },
+     "longest dimension": "1.55 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "0.68 meters",
+      "y coordinate": "-1.86 meters",
+      "height above floor": "0.9 meters"
+     },
+     "longest dimension": "2.22 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "3.91 meters",
+      "y coordinate": "-1.07 meters",
+      "height above floor": "0.64 meters"
+     },
+     "longest dimension": "1.26 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "3.15 meters",
+      "y coordinate": "-2.24 meters",
+      "height above floor": "0.59 meters"
+     },
+     "longest dimension": "1.14 meters"
+    }
+   ]
+  }
+ },
+ "room": {
+  "floor area": "35.4 square meters"
+ },
+ "closest classes distance meters from": {
+  "bookshelf": {
+   "refrigerator": {
+    "distance": "0.01 meters",
+    "closeness rank": 1
+   },
+   "door": {
+    "distance": "0.06 meters",
+    "closeness rank": 2
+   },
+   "chair": {
+    "distance": "0.13 meters",
+    "closeness rank": 3
+   },
+   "plant": {
+    "distance": "1.05 meters",
+    "closeness rank": 4
+   },
+   "exhaust fan": {
+    "distance": "1.68 meters",
+    "closeness rank": 5
+   },
+   "tv": {
+    "distance": "1.8 meters",
+    "closeness rank": 6
+   },
+   "monitor": {
+    "distance": "1.82 meters",
+    "closeness rank": 7
+   },
+   "table": {
+    "distance": "1.86 meters",
+    "closeness rank": 8
+   },
+   "computer mouse": {
+    "distance": "2.63 meters",
+    "closeness rank": 9
+   },
+   "ceiling light": {
+    "distance": "2.68 meters",
+    "closeness rank": 10
+   },
+   "cushion": {
+    "distance": "2.77 meters",
+    "closeness rank": 11
+   },
+   "trash can": {
+    "distance": "4.98 meters",
+    "closeness rank": 12
+   },
+   "whiteboard": {
+    "distance": "5.01 meters",
+    "closeness rank": 13
+   },
+   "telephone": {
+    "distance": "5.25 meters",
+    "closeness rank": 14
+   },
+   "laptop": {
+    "distance": "5.27 meters",
+    "closeness rank": 15
+   },
+   "keyboard": {
+    "distance": "5.3 meters",
+    "closeness rank": 16
+   }
+  },
+  "ceiling light": {
+   "exhaust fan": {
+    "distance": "0.46 meters",
+    "closeness rank": 1
+   },
+   "whiteboard": {
+    "distance": "0.95 meters",
+    "closeness rank": 2
+   },
+   "plant": {
+    "distance": "1.43 meters",
+    "closeness rank": 3
+   },
+   "door": {
+    "distance": "1.45 meters",
+    "closeness rank": 4
+   },
+   "chair": {
+    "distance": "1.51 meters",
+    "closeness rank": 5
+   },
+   "tv": {
+    "distance": "1.51 meters",
+    "closeness rank": 6
+   },
+   "monitor": {
+    "distance": "1.53 meters",
+    "closeness rank": 7
+   },
+   "telephone": {
+    "distance": "1.56 meters",
+    "closeness rank": 8
+   },
+   "keyboard": {
+    "distance": "1.6 meters",
+    "closeness rank": 9
+   },
+   "laptop": {
+    "distance": "1.6 meters",
+    "closeness rank": 10
+   },
+   "refrigerator": {
+    "distance": "1.6 meters",
+    "closeness rank": 11
+   },
+   "cushion": {
+    "distance": "1.65 meters",
+    "closeness rank": 12
+   },
+   "table": {
+    "distance": "1.65 meters",
+    "closeness rank": 13
+   },
+   "computer mouse": {
+    "distance": "1.7 meters",
+    "closeness rank": 14
+   },
+   "trash can": {
+    "distance": "1.97 meters",
+    "closeness rank": 15
+   },
+   "bookshelf": {
+    "distance": "2.68 meters",
+    "closeness rank": 16
+   }
+  },
+  "chair": {
+   "cushion": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "table": {
+    "distance": "0.08 meters",
+    "closeness rank": 2
+   },
+   "bookshelf": {
+    "distance": "0.13 meters",
+    "closeness rank": 3
+   },
+   "computer mouse": {
+    "distance": "0.49 meters",
+    "closeness rank": 4
+   },
+   "refrigerator": {
+    "distance": "0.62 meters",
+    "closeness rank": 5
+   },
+   "door": {
+    "distance": "1.21 meters",
+    "closeness rank": 6
+   },
+   "plant": {
+    "distance": "1.22 meters",
+    "closeness rank": 7
+   },
+   "exhaust fan": {
+    "distance": "1.36 meters",
+    "closeness rank": 8
+   },
+   "whiteboard": {
+    "distance": "1.46 meters",
+    "closeness rank": 9
+   },
+   "ceiling light": {
+    "distance": "1.51 meters",
+    "closeness rank": 10
+   },
+   "trash can": {
+    "distance": "1.51 meters",
+    "closeness rank": 11
+   },
+   "monitor": {
+    "distance": "1.62 meters",
+    "closeness rank": 12
+   },
+   "tv": {
+    "distance": "1.62 meters",
+    "closeness rank": 13
+   },
+   "laptop": {
+    "distance": "1.93 meters",
+    "closeness rank": 14
+   },
+   "telephone": {
+    "distance": "1.93 meters",
+    "closeness rank": 15
+   },
+   "keyboard": {
+    "distance": "1.97 meters",
+    "closeness rank": 16
+   }
+  },
+  "computer mouse": {
+   "table": {
+    "distance": "0.21 meters",
+    "closeness rank": 1
+   },
+   "chair": {
+    "distance": "0.49 meters",
+    "closeness rank": 2
+   },
+   "cushion": {
+    "distance": "0.83 meters",
+    "closeness rank": 3
+   },
+   "exhaust fan": {
+    "distance": "1.66 meters",
+    "closeness rank": 4
+   },
+   "ceiling light": {
+    "distance": "1.7 meters",
+    "closeness rank": 5
+   },
+   "trash can": {
+    "distance": "2.4 meters",
+    "closeness rank": 6
+   },
+   "whiteboard": {
+    "distance": "2.42 meters",
+    "closeness rank": 7
+   },
+   "monitor": {
+    "distance": "2.58 meters",
+    "closeness rank": 8
+   },
+   "tv": {
+    "distance": "2.6 meters",
+    "closeness rank": 9
+   },
+   "bookshelf": {
+    "distance": "2.63 meters",
+    "closeness rank": 10
+   },
+   "refrigerator": {
+    "distance": "2.7 meters",
+    "closeness rank": 11
+   },
+   "door": {
+    "distance": "2.79 meters",
+    "closeness rank": 12
+   },
+   "telephone": {
+    "distance": "2.81 meters",
+    "closeness rank": 13
+   },
+   "laptop": {
+    "distance": "2.82 meters",
+    "closeness rank": 14
+   },
+   "keyboard": {
+    "distance": "2.85 meters",
+    "closeness rank": 15
+   },
+   "plant": {
+    "distance": "3.01 meters",
+    "closeness rank": 16
+   }
+  },
+  "cushion": {
+   "chair": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "table": {
+    "distance": "0.09 meters",
+    "closeness rank": 2
+   },
+   "computer mouse": {
+    "distance": "0.83 meters",
+    "closeness rank": 3
+   },
+   "exhaust fan": {
+    "distance": "1.38 meters",
+    "closeness rank": 4
+   },
+   "whiteboard": {
+    "distance": "1.47 meters",
+    "closeness rank": 5
+   },
+   "trash can": {
+    "distance": "1.56 meters",
+    "closeness rank": 6
+   },
+   "ceiling light": {
+    "distance": "1.65 meters",
+    "closeness rank": 7
+   },
+   "monitor": {
+    "distance": "1.68 meters",
+    "closeness rank": 8
+   },
+   "tv": {
+    "distance": "1.68 meters",
+    "closeness rank": 9
+   },
+   "door": {
+    "distance": "1.98 meters",
+    "closeness rank": 10
+   },
+   "laptop": {
+    "distance": "1.99 meters",
+    "closeness rank": 11
+   },
+   "telephone": {
+    "distance": "1.99 meters",
+    "closeness rank": 12
+   },
+   "keyboard": {
+    "distance": "2.03 meters",
+    "closeness rank": 13
+   },
+   "refrigerator": {
+    "distance": "2.39 meters",
+    "closeness rank": 14
+   },
+   "bookshelf": {
+    "distance": "2.77 meters",
+    "closeness rank": 15
+   },
+   "plant": {
+    "distance": "3.04 meters",
+    "closeness rank": 16
+   }
+  },
+  "door": {
+   "bookshelf": {
+    "distance": "0.06 meters",
+    "closeness rank": 1
+   },
+   "plant": {
+    "distance": "0.11 meters",
+    "closeness rank": 2
+   },
+   "whiteboard": {
+    "distance": "0.53 meters",
+    "closeness rank": 3
+   },
+   "exhaust fan": {
+    "distance": "0.78 meters",
+    "closeness rank": 4
+   },
+   "refrigerator": {
+    "distance": "1.07 meters",
+    "closeness rank": 5
+   },
+   "chair": {
+    "distance": "1.21 meters",
+    "closeness rank": 6
+   },
+   "table": {
+    "distance": "1.31 meters",
+    "closeness rank": 7
+   },
+   "ceiling light": {
+    "distance": "1.45 meters",
+    "closeness rank": 8
+   },
+   "cushion": {
+    "distance": "1.98 meters",
+    "closeness rank": 9
+   },
+   "trash can": {
+    "distance": "2.34 meters",
+    "closeness rank": 10
+   },
+   "laptop": {
+    "distance": "2.57 meters",
+    "closeness rank": 11
+   },
+   "tv": {
+    "distance": "2.59 meters",
+    "closeness rank": 12
+   },
+   "monitor": {
+    "distance": "2.6 meters",
+    "closeness rank": 13
+   },
+   "keyboard": {
+    "distance": "2.62 meters",
+    "closeness rank": 14
+   },
+   "telephone": {
+    "distance": "2.65 meters",
+    "closeness rank": 15
+   },
+   "computer mouse": {
+    "distance": "2.79 meters",
+    "closeness rank": 16
+   }
+  },
+  "exhaust fan": {
+   "whiteboard": {
+    "distance": "0.14 meters",
+    "closeness rank": 1
+   },
+   "tv": {
+    "distance": "0.42 meters",
+    "closeness rank": 2
+   },
+   "monitor": {
+    "distance": "0.43 meters",
+    "closeness rank": 3
+   },
+   "ceiling light": {
+    "distance": "0.46 meters",
+    "closeness rank": 4
+   },
+   "door": {
+    "distance": "0.78 meters",
+    "closeness rank": 5
+   },
+   "chair": {
+    "distance": "1.36 meters",
+    "closeness rank": 6
+   },
+   "cushion": {
+    "distance": "1.38 meters",
+    "closeness rank": 7
+   },
+   "table": {
+    "distance": "1.53 meters",
+    "closeness rank": 8
+   },
+   "computer mouse": {
+    "distance": "1.66 meters",
+    "closeness rank": 9
+   },
+   "bookshelf": {
+    "distance": "1.68 meters",
+    "closeness rank": 10
+   },
+   "laptop": {
+    "distance": "1.74 meters",
+    "closeness rank": 11
+   },
+   "plant": {
+    "distance": "1.74 meters",
+    "closeness rank": 12
+   },
+   "keyboard": {
+    "distance": "1.75 meters",
+    "closeness rank": 13
+   },
+   "telephone": {
+    "distance": "1.75 meters",
+    "closeness rank": 14
+   },
+   "refrigerator": {
+    "distance": "1.99 meters",
+    "closeness rank": 15
+   },
+   "trash can": {
+    "distance": "2.01 meters",
+    "closeness rank": 16
+   }
+  },
+  "keyboard": {
+   "laptop": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "telephone": {
+    "distance": "0.0 meters",
+    "closeness rank": 2
+   },
+   "whiteboard": {
+    "distance": "0.1 meters",
+    "closeness rank": 3
+   },
+   "refrigerator": {
+    "distance": "0.46 meters",
+    "closeness rank": 4
+   },
+   "trash can": {
+    "distance": "0.64 meters",
+    "closeness rank": 5
+   },
+   "ceiling light": {
+    "distance": "1.6 meters",
+    "closeness rank": 6
+   },
+   "exhaust fan": {
+    "distance": "1.75 meters",
+    "closeness rank": 7
+   },
+   "chair": {
+    "distance": "1.97 meters",
+    "closeness rank": 8
+   },
+   "cushion": {
+    "distance": "2.03 meters",
+    "closeness rank": 9
+   },
+   "table": {
+    "distance": "2.26 meters",
+    "closeness rank": 10
+   },
+   "plant": {
+    "distance": "2.27 meters",
+    "closeness rank": 11
+   },
+   "door": {
+    "distance": "2.62 meters",
+    "closeness rank": 12
+   },
+   "computer mouse": {
+    "distance": "2.85 meters",
+    "closeness rank": 13
+   },
+   "bookshelf": {
+    "distance": "5.3 meters",
+    "closeness rank": 14
+   },
+   "monitor": {
+    "distance": "5.36 meters",
+    "closeness rank": 15
+   },
+   "tv": {
+    "distance": "5.36 meters",
+    "closeness rank": 16
+   }
+  },
+  "laptop": {
+   "keyboard": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "telephone": {
+    "distance": "0.0 meters",
+    "closeness rank": 2
+   },
+   "whiteboard": {
+    "distance": "0.13 meters",
+    "closeness rank": 3
+   },
+   "refrigerator": {
+    "distance": "0.38 meters",
+    "closeness rank": 4
+   },
+   "trash can": {
+    "distance": "0.6 meters",
+    "closeness rank": 5
+   },
+   "ceiling light": {
+    "distance": "1.6 meters",
+    "closeness rank": 6
+   },
+   "exhaust fan": {
+    "distance": "1.74 meters",
+    "closeness rank": 7
+   },
+   "chair": {
+    "distance": "1.93 meters",
+    "closeness rank": 8
+   },
+   "cushion": {
+    "distance": "1.99 meters",
+    "closeness rank": 9
+   },
+   "table": {
+    "distance": "2.21 meters",
+    "closeness rank": 10
+   },
+   "plant": {
+    "distance": "2.26 meters",
+    "closeness rank": 11
+   },
+   "door": {
+    "distance": "2.57 meters",
+    "closeness rank": 12
+   },
+   "computer mouse": {
+    "distance": "2.82 meters",
+    "closeness rank": 13
+   },
+   "bookshelf": {
+    "distance": "5.27 meters",
+    "closeness rank": 14
+   },
+   "monitor": {
+    "distance": "5.31 meters",
+    "closeness rank": 15
+   },
+   "tv": {
+    "distance": "5.31 meters",
+    "closeness rank": 16
+   }
+  },
+  "monitor": {
+   "tv": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "exhaust fan": {
+    "distance": "0.43 meters",
+    "closeness rank": 2
+   },
+   "ceiling light": {
+    "distance": "1.53 meters",
+    "closeness rank": 3
+   },
+   "chair": {
+    "distance": "1.62 meters",
+    "closeness rank": 4
+   },
+   "cushion": {
+    "distance": "1.68 meters",
+    "closeness rank": 5
+   },
+   "refrigerator": {
+    "distance": "1.71 meters",
+    "closeness rank": 6
+   },
+   "bookshelf": {
+    "distance": "1.82 meters",
+    "closeness rank": 7
+   },
+   "table": {
+    "distance": "1.93 meters",
+    "closeness rank": 8
+   },
+   "computer mouse": {
+    "distance": "2.58 meters",
+    "closeness rank": 9
+   },
+   "door": {
+    "distance": "2.6 meters",
+    "closeness rank": 10
+   },
+   "plant": {
+    "distance": "3.69 meters",
+    "closeness rank": 11
+   },
+   "whiteboard": {
+    "distance": "3.72 meters",
+    "closeness rank": 12
+   },
+   "trash can": {
+    "distance": "4.85 meters",
+    "closeness rank": 13
+   },
+   "laptop": {
+    "distance": "5.31 meters",
+    "closeness rank": 14
+   },
+   "telephone": {
+    "distance": "5.31 meters",
+    "closeness rank": 15
+   },
+   "keyboard": {
+    "distance": "5.36 meters",
+    "closeness rank": 16
+   }
+  },
+  "plant": {
+   "door": {
+    "distance": "0.11 meters",
+    "closeness rank": 1
+   },
+   "bookshelf": {
+    "distance": "1.05 meters",
+    "closeness rank": 2
+   },
+   "chair": {
+    "distance": "1.22 meters",
+    "closeness rank": 3
+   },
+   "ceiling light": {
+    "distance": "1.43 meters",
+    "closeness rank": 4
+   },
+   "exhaust fan": {
+    "distance": "1.74 meters",
+    "closeness rank": 5
+   },
+   "table": {
+    "distance": "1.74 meters",
+    "closeness rank": 6
+   },
+   "refrigerator": {
+    "distance": "1.92 meters",
+    "closeness rank": 7
+   },
+   "telephone": {
+    "distance": "2.19 meters",
+    "closeness rank": 8
+   },
+   "laptop": {
+    "distance": "2.26 meters",
+    "closeness rank": 9
+   },
+   "keyboard": {
+    "distance": "2.27 meters",
+    "closeness rank": 10
+   },
+   "whiteboard": {
+    "distance": "2.43 meters",
+    "closeness rank": 11
+   },
+   "trash can": {
+    "distance": "2.54 meters",
+    "closeness rank": 12
+   },
+   "computer mouse": {
+    "distance": "3.01 meters",
+    "closeness rank": 13
+   },
+   "cushion": {
+    "distance": "3.04 meters",
+    "closeness rank": 14
+   },
+   "tv": {
+    "distance": "3.67 meters",
+    "closeness rank": 15
+   },
+   "monitor": {
+    "distance": "3.69 meters",
+    "closeness rank": 16
+   }
+  },
+  "refrigerator": {
+   "bookshelf": {
+    "distance": "0.01 meters",
+    "closeness rank": 1
+   },
+   "whiteboard": {
+    "distance": "0.3 meters",
+    "closeness rank": 2
+   },
+   "telephone": {
+    "distance": "0.36 meters",
+    "closeness rank": 3
+   },
+   "laptop": {
+    "distance": "0.38 meters",
+    "closeness rank": 4
+   },
+   "keyboard": {
+    "distance": "0.46 meters",
+    "closeness rank": 5
+   },
+   "chair": {
+    "distance": "0.62 meters",
+    "closeness rank": 6
+   },
+   "trash can": {
+    "distance": "0.86 meters",
+    "closeness rank": 7
+   },
+   "door": {
+    "distance": "1.07 meters",
+    "closeness rank": 8
+   },
+   "ceiling light": {
+    "distance": "1.6 meters",
+    "closeness rank": 9
+   },
+   "tv": {
+    "distance": "1.7 meters",
+    "closeness rank": 10
+   },
+   "monitor": {
+    "distance": "1.71 meters",
+    "closeness rank": 11
+   },
+   "plant": {
+    "distance": "1.92 meters",
+    "closeness rank": 12
+   },
+   "exhaust fan": {
+    "distance": "1.99 meters",
+    "closeness rank": 13
+   },
+   "table": {
+    "distance": "2.3 meters",
+    "closeness rank": 14
+   },
+   "cushion": {
+    "distance": "2.39 meters",
+    "closeness rank": 15
+   },
+   "computer mouse": {
+    "distance": "2.7 meters",
+    "closeness rank": 16
+   }
+  },
+  "table": {
+   "chair": {
+    "distance": "0.08 meters",
+    "closeness rank": 1
+   },
+   "cushion": {
+    "distance": "0.09 meters",
+    "closeness rank": 2
+   },
+   "computer mouse": {
+    "distance": "0.21 meters",
+    "closeness rank": 3
+   },
+   "whiteboard": {
+    "distance": "1.13 meters",
+    "closeness rank": 4
+   },
+   "door": {
+    "distance": "1.31 meters",
+    "closeness rank": 5
+   },
+   "exhaust fan": {
+    "distance": "1.53 meters",
+    "closeness rank": 6
+   },
+   "ceiling light": {
+    "distance": "1.65 meters",
+    "closeness rank": 7
+   },
+   "trash can": {
+    "distance": "1.72 meters",
+    "closeness rank": 8
+   },
+   "plant": {
+    "distance": "1.74 meters",
+    "closeness rank": 9
+   },
+   "bookshelf": {
+    "distance": "1.86 meters",
+    "closeness rank": 10
+   },
+   "monitor": {
+    "distance": "1.93 meters",
+    "closeness rank": 11
+   },
+   "tv": {
+    "distance": "1.94 meters",
+    "closeness rank": 12
+   },
+   "laptop": {
+    "distance": "2.21 meters",
+    "closeness rank": 13
+   },
+   "telephone": {
+    "distance": "2.21 meters",
+    "closeness rank": 14
+   },
+   "keyboard": {
+    "distance": "2.26 meters",
+    "closeness rank": 15
+   },
+   "refrigerator": {
+    "distance": "2.3 meters",
+    "closeness rank": 16
+   }
+  },
+  "telephone": {
+   "keyboard": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "laptop": {
+    "distance": "0.0 meters",
+    "closeness rank": 2
+   },
+   "whiteboard": {
+    "distance": "0.16 meters",
+    "closeness rank": 3
+   },
+   "refrigerator": {
+    "distance": "0.36 meters",
+    "closeness rank": 4
+   },
+   "trash can": {
+    "distance": "0.62 meters",
+    "closeness rank": 5
+   },
+   "ceiling light": {
+    "distance": "1.56 meters",
+    "closeness rank": 6
+   },
+   "exhaust fan": {
+    "distance": "1.75 meters",
+    "closeness rank": 7
+   },
+   "chair": {
+    "distance": "1.93 meters",
+    "closeness rank": 8
+   },
+   "cushion": {
+    "distance": "1.99 meters",
+    "closeness rank": 9
+   },
+   "plant": {
+    "distance": "2.19 meters",
+    "closeness rank": 10
+   },
+   "table": {
+    "distance": "2.21 meters",
+    "closeness rank": 11
+   },
+   "door": {
+    "distance": "2.65 meters",
+    "closeness rank": 12
+   },
+   "computer mouse": {
+    "distance": "2.81 meters",
+    "closeness rank": 13
+   },
+   "bookshelf": {
+    "distance": "5.25 meters",
+    "closeness rank": 14
+   },
+   "monitor": {
+    "distance": "5.31 meters",
+    "closeness rank": 15
+   },
+   "tv": {
+    "distance": "5.31 meters",
+    "closeness rank": 16
+   }
+  },
+  "trash can": {
+   "laptop": {
+    "distance": "0.6 meters",
+    "closeness rank": 1
+   },
+   "telephone": {
+    "distance": "0.62 meters",
+    "closeness rank": 2
+   },
+   "keyboard": {
+    "distance": "0.64 meters",
+    "closeness rank": 3
+   },
+   "whiteboard": {
+    "distance": "0.65 meters",
+    "closeness rank": 4
+   },
+   "refrigerator": {
+    "distance": "0.86 meters",
+    "closeness rank": 5
+   },
+   "chair": {
+    "distance": "1.51 meters",
+    "closeness rank": 6
+   },
+   "cushion": {
+    "distance": "1.56 meters",
+    "closeness rank": 7
+   },
+   "table": {
+    "distance": "1.72 meters",
+    "closeness rank": 8
+   },
+   "ceiling light": {
+    "distance": "1.97 meters",
+    "closeness rank": 9
+   },
+   "exhaust fan": {
+    "distance": "2.01 meters",
+    "closeness rank": 10
+   },
+   "door": {
+    "distance": "2.34 meters",
+    "closeness rank": 11
+   },
+   "computer mouse": {
+    "distance": "2.4 meters",
+    "closeness rank": 12
+   },
+   "plant": {
+    "distance": "2.54 meters",
+    "closeness rank": 13
+   },
+   "monitor": {
+    "distance": "4.85 meters",
+    "closeness rank": 14
+   },
+   "tv": {
+    "distance": "4.85 meters",
+    "closeness rank": 15
+   },
+   "bookshelf": {
+    "distance": "4.98 meters",
+    "closeness rank": 16
+   }
+  },
+  "tv": {
+   "monitor": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "exhaust fan": {
+    "distance": "0.42 meters",
+    "closeness rank": 2
+   },
+   "ceiling light": {
+    "distance": "1.51 meters",
+    "closeness rank": 3
+   },
+   "chair": {
+    "distance": "1.62 meters",
+    "closeness rank": 4
+   },
+   "cushion": {
+    "distance": "1.68 meters",
+    "closeness rank": 5
+   },
+   "refrigerator": {
+    "distance": "1.7 meters",
+    "closeness rank": 6
+   },
+   "bookshelf": {
+    "distance": "1.8 meters",
+    "closeness rank": 7
+   },
+   "table": {
+    "distance": "1.94 meters",
+    "closeness rank": 8
+   },
+   "door": {
+    "distance": "2.59 meters",
+    "closeness rank": 9
+   },
+   "computer mouse": {
+    "distance": "2.6 meters",
+    "closeness rank": 10
+   },
+   "plant": {
+    "distance": "3.67 meters",
+    "closeness rank": 11
+   },
+   "whiteboard": {
+    "distance": "3.72 meters",
+    "closeness rank": 12
+   },
+   "trash can": {
+    "distance": "4.85 meters",
+    "closeness rank": 13
+   },
+   "laptop": {
+    "distance": "5.31 meters",
+    "closeness rank": 14
+   },
+   "telephone": {
+    "distance": "5.31 meters",
+    "closeness rank": 15
+   },
+   "keyboard": {
+    "distance": "5.36 meters",
+    "closeness rank": 16
+   }
+  },
+  "whiteboard": {
+   "keyboard": {
+    "distance": "0.1 meters",
+    "closeness rank": 1
+   },
+   "laptop": {
+    "distance": "0.13 meters",
+    "closeness rank": 2
+   },
+   "exhaust fan": {
+    "distance": "0.14 meters",
+    "closeness rank": 3
+   },
+   "telephone": {
+    "distance": "0.16 meters",
+    "closeness rank": 4
+   },
+   "refrigerator": {
+    "distance": "0.3 meters",
+    "closeness rank": 5
+   },
+   "door": {
+    "distance": "0.53 meters",
+    "closeness rank": 6
+   },
+   "trash can": {
+    "distance": "0.65 meters",
+    "closeness rank": 7
+   },
+   "ceiling light": {
+    "distance": "0.95 meters",
+    "closeness rank": 8
+   },
+   "table": {
+    "distance": "1.13 meters",
+    "closeness rank": 9
+   },
+   "chair": {
+    "distance": "1.46 meters",
+    "closeness rank": 10
+   },
+   "cushion": {
+    "distance": "1.47 meters",
+    "closeness rank": 11
+   },
+   "computer mouse": {
+    "distance": "2.42 meters",
+    "closeness rank": 12
+   },
+   "plant": {
+    "distance": "2.43 meters",
+    "closeness rank": 13
+   },
+   "monitor": {
+    "distance": "3.72 meters",
+    "closeness rank": 14
+   },
+   "tv": {
+    "distance": "3.72 meters",
+    "closeness rank": 15
+   },
+   "bookshelf": {
+    "distance": "5.01 meters",
+    "closeness rank": 16
+   }
+  }
+ },
+ "appearance order": ["chair", "ceiling light", "whiteboard", "plant", "table", "bookshelf", "tv", "monitor", "cushion", "refrigerator", "door", "keyboard", "telephone", "laptop", "trash can", "exhaust fan", "computer mouse"]
+}
\ No newline at end of file
diff --git a/data/spatial codes/sam3+depth-anything-3/metric/tracking/uniform/96/explicit/scene0030_02.json b/data/spatial codes/sam3+depth-anything-3/metric/tracking/uniform/96/explicit/scene0030_02.json
new file mode 100644
index 0000000000000000000000000000000000000000..ed03d11e077f7b4c378a54e13efb4b09cfb5fd76
--- /dev/null
+++ b/data/spatial codes/sam3+depth-anything-3/metric/tracking/uniform/96/explicit/scene0030_02.json	
@@ -0,0 +1,823 @@
+{
+ "objects": {
+  "bookshelf": {
+   "count": 5,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "1.71 meters",
+      "y coordinate": "-1.63 meters",
+      "height above floor": "-0.04 meters"
+     },
+     "longest dimension": "1.85 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "3.89 meters",
+      "y coordinate": "3.4 meters",
+      "height above floor": "-0.11 meters"
+     },
+     "longest dimension": "1.01 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "4.25 meters",
+      "y coordinate": "-1.36 meters",
+      "height above floor": "0.37 meters"
+     },
+     "longest dimension": "1.87 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "0.27 meters",
+      "y coordinate": "-2.25 meters",
+      "height above floor": "-0.04 meters"
+     },
+     "longest dimension": "1.0 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "3.79 meters",
+      "y coordinate": "-1.46 meters",
+      "height above floor": "0.57 meters"
+     },
+     "longest dimension": "1.93 meters"
+    }
+   ]
+  },
+  "chair": {
+   "count": 12,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-0.84 meters",
+      "y coordinate": "1.74 meters",
+      "height above floor": "-0.27 meters"
+     },
+     "longest dimension": "1.21 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "1.08 meters",
+      "y coordinate": "1.05 meters",
+      "height above floor": "-0.1 meters"
+     },
+     "longest dimension": "0.66 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "3.32 meters",
+      "y coordinate": "-0.0 meters",
+      "height above floor": "-0.11 meters"
+     },
+     "longest dimension": "0.55 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-0.46 meters",
+      "y coordinate": "-1.2 meters",
+      "height above floor": "-0.16 meters"
+     },
+     "longest dimension": "0.7 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-0.49 meters",
+      "y coordinate": "-1.22 meters",
+      "height above floor": "-0.19 meters"
+     },
+     "longest dimension": "0.65 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "0.5 meters",
+      "y coordinate": "1.05 meters",
+      "height above floor": "-0.14 meters"
+     },
+     "longest dimension": "0.44 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "0.33 meters",
+      "y coordinate": "2.04 meters",
+      "height above floor": "-0.12 meters"
+     },
+     "longest dimension": "0.53 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "1.09 meters",
+      "y coordinate": "2.06 meters",
+      "height above floor": "-0.21 meters"
+     },
+     "longest dimension": "0.79 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "1.34 meters",
+      "y coordinate": "-1.05 meters",
+      "height above floor": "-0.17 meters"
+     },
+     "longest dimension": "0.65 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "2.78 meters",
+      "y coordinate": "1.5 meters",
+      "height above floor": "-0.16 meters"
+     },
+     "longest dimension": "0.59 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "1.66 meters",
+      "y coordinate": "1.04 meters",
+      "height above floor": "-0.18 meters"
+     },
+     "longest dimension": "0.72 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "1.64 meters",
+      "y coordinate": "-0.01 meters",
+      "height above floor": "-0.22 meters"
+     },
+     "longest dimension": "0.67 meters"
+    }
+   ]
+  },
+  "clock": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "1.08 meters",
+      "y coordinate": "3.11 meters",
+      "height above floor": "1.46 meters"
+     },
+     "longest dimension": "0.25 meters"
+    }
+   ]
+  },
+  "door": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "0.91 meters",
+      "y coordinate": "-2.23 meters",
+      "height above floor": "0.19 meters"
+     },
+     "longest dimension": "1.38 meters"
+    }
+   ]
+  },
+  "keyboard": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "3.65 meters",
+      "y coordinate": "2.65 meters",
+      "height above floor": "-0.07 meters"
+     },
+     "longest dimension": "0.3 meters"
+    }
+   ]
+  },
+  "pillow": {
+   "count": 2,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-1.1 meters",
+      "y coordinate": "1.64 meters",
+      "height above floor": "-0.23 meters"
+     },
+     "longest dimension": "0.44 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-0.51 meters",
+      "y coordinate": "1.69 meters",
+      "height above floor": "-0.2 meters"
+     },
+     "longest dimension": "0.39 meters"
+    }
+   ]
+  },
+  "sofa": {
+   "count": 2,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-0.8 meters",
+      "y coordinate": "1.72 meters",
+      "height above floor": "-0.28 meters"
+     },
+     "longest dimension": "1.2 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-0.73 meters",
+      "y coordinate": "1.73 meters",
+      "height above floor": "-0.28 meters"
+     },
+     "longest dimension": "1.03 meters"
+    }
+   ]
+  },
+  "table": {
+   "count": 5,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "0.42 meters",
+      "y coordinate": "1.53 meters",
+      "height above floor": "-0.01 meters"
+     },
+     "longest dimension": "1.26 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "0.96 meters",
+      "y coordinate": "-0.58 meters",
+      "height above floor": "0.02 meters"
+     },
+     "longest dimension": "1.24 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "1.29 meters",
+      "y coordinate": "-0.42 meters",
+      "height above floor": "0.04 meters"
+     },
+     "longest dimension": "1.24 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "3.13 meters",
+      "y coordinate": "-0.23 meters",
+      "height above floor": "0.01 meters"
+     },
+     "longest dimension": "1.18 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-0.61 meters",
+      "y coordinate": "-0.25 meters",
+      "height above floor": "-0.02 meters"
+     },
+     "longest dimension": "1.13 meters"
+    }
+   ]
+  },
+  "telephone": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-0.21 meters",
+      "y coordinate": "-2.28 meters",
+      "height above floor": "0.37 meters"
+     },
+     "longest dimension": "0.12 meters"
+    }
+   ]
+  },
+  "trash bin": {
+   "count": 2,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-0.36 meters",
+      "y coordinate": "-2.04 meters",
+      "height above floor": "-0.4 meters"
+     },
+     "longest dimension": "0.41 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-0.35 meters",
+      "y coordinate": "-1.68 meters",
+      "height above floor": "-0.38 meters"
+     },
+     "longest dimension": "0.42 meters"
+    }
+   ]
+  },
+  "window": {
+   "count": 5,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "4.76 meters",
+      "y coordinate": "0.47 meters",
+      "height above floor": "0.38 meters"
+     },
+     "longest dimension": "2.39 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "4.25 meters",
+      "y coordinate": "2.82 meters",
+      "height above floor": "0.71 meters"
+     },
+     "longest dimension": "1.47 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "4.64 meters",
+      "y coordinate": "0.94 meters",
+      "height above floor": "0.38 meters"
+     },
+     "longest dimension": "0.58 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "4.77 meters",
+      "y coordinate": "0.18 meters",
+      "height above floor": "0.24 meters"
+     },
+     "longest dimension": "0.69 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "4.4 meters",
+      "y coordinate": "2.08 meters",
+      "height above floor": "0.35 meters"
+     },
+     "longest dimension": "0.21 meters"
+    }
+   ]
+  }
+ },
+ "room": {
+  "floor area": "31.9 square meters"
+ },
+ "closest classes distance meters from": {
+  "bookshelf": {
+   "door": {
+    "distance": "0.22 meters",
+    "closeness rank": 1
+   },
+   "telephone": {
+    "distance": "1.58 meters",
+    "closeness rank": 2
+   },
+   "trash bin": {
+    "distance": "1.58 meters",
+    "closeness rank": 3
+   },
+   "window": {
+    "distance": "2.21 meters",
+    "closeness rank": 4
+   },
+   "table": {
+    "distance": "2.86 meters",
+    "closeness rank": 5
+   },
+   "chair": {
+    "distance": "3.54 meters",
+    "closeness rank": 6
+   },
+   "sofa": {
+    "distance": "3.54 meters",
+    "closeness rank": 7
+   },
+   "pillow": {
+    "distance": "3.93 meters",
+    "closeness rank": 8
+   },
+   "keyboard": {
+    "distance": "3.98 meters",
+    "closeness rank": 9
+   },
+   "clock": {
+    "distance": "4.85 meters",
+    "closeness rank": 10
+   }
+  },
+  "chair": {
+   "pillow": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "sofa": {
+    "distance": "0.0 meters",
+    "closeness rank": 2
+   },
+   "table": {
+    "distance": "0.36 meters",
+    "closeness rank": 3
+   },
+   "clock": {
+    "distance": "2.08 meters",
+    "closeness rank": 4
+   },
+   "trash bin": {
+    "distance": "3.13 meters",
+    "closeness rank": 5
+   },
+   "bookshelf": {
+    "distance": "3.54 meters",
+    "closeness rank": 6
+   },
+   "telephone": {
+    "distance": "3.69 meters",
+    "closeness rank": 7
+   },
+   "door": {
+    "distance": "3.81 meters",
+    "closeness rank": 8
+   },
+   "keyboard": {
+    "distance": "4.1 meters",
+    "closeness rank": 9
+   },
+   "window": {
+    "distance": "4.79 meters",
+    "closeness rank": 10
+   }
+  },
+  "clock": {
+   "table": {
+    "distance": "1.65 meters",
+    "closeness rank": 1
+   },
+   "sofa": {
+    "distance": "2.07 meters",
+    "closeness rank": 2
+   },
+   "chair": {
+    "distance": "2.08 meters",
+    "closeness rank": 3
+   },
+   "keyboard": {
+    "distance": "2.85 meters",
+    "closeness rank": 4
+   },
+   "pillow": {
+    "distance": "2.91 meters",
+    "closeness rank": 5
+   },
+   "window": {
+    "distance": "3.49 meters",
+    "closeness rank": 6
+   },
+   "bookshelf": {
+    "distance": "4.85 meters",
+    "closeness rank": 7
+   },
+   "door": {
+    "distance": "5.28 meters",
+    "closeness rank": 8
+   },
+   "trash bin": {
+    "distance": "5.32 meters",
+    "closeness rank": 9
+   },
+   "telephone": {
+    "distance": "5.56 meters",
+    "closeness rank": 10
+   }
+  },
+  "door": {
+   "bookshelf": {
+    "distance": "0.22 meters",
+    "closeness rank": 1
+   },
+   "telephone": {
+    "distance": "0.69 meters",
+    "closeness rank": 2
+   },
+   "trash bin": {
+    "distance": "0.84 meters",
+    "closeness rank": 3
+   },
+   "table": {
+    "distance": "3.29 meters",
+    "closeness rank": 4
+   },
+   "sofa": {
+    "distance": "3.8 meters",
+    "closeness rank": 5
+   },
+   "chair": {
+    "distance": "3.81 meters",
+    "closeness rank": 6
+   },
+   "window": {
+    "distance": "3.97 meters",
+    "closeness rank": 7
+   },
+   "pillow": {
+    "distance": "4.02 meters",
+    "closeness rank": 8
+   },
+   "keyboard": {
+    "distance": "5.2 meters",
+    "closeness rank": 9
+   },
+   "clock": {
+    "distance": "5.28 meters",
+    "closeness rank": 10
+   }
+  },
+  "keyboard": {
+   "window": {
+    "distance": "0.99 meters",
+    "closeness rank": 1
+   },
+   "table": {
+    "distance": "2.05 meters",
+    "closeness rank": 2
+   },
+   "clock": {
+    "distance": "2.85 meters",
+    "closeness rank": 3
+   },
+   "bookshelf": {
+    "distance": "3.98 meters",
+    "closeness rank": 4
+   },
+   "chair": {
+    "distance": "4.1 meters",
+    "closeness rank": 5
+   },
+   "sofa": {
+    "distance": "4.1 meters",
+    "closeness rank": 6
+   },
+   "pillow": {
+    "distance": "4.73 meters",
+    "closeness rank": 7
+   },
+   "door": {
+    "distance": "5.2 meters",
+    "closeness rank": 8
+   },
+   "trash bin": {
+    "distance": "5.81 meters",
+    "closeness rank": 9
+   },
+   "telephone": {
+    "distance": "6.12 meters",
+    "closeness rank": 10
+   }
+  },
+  "pillow": {
+   "chair": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "sofa": {
+    "distance": "0.0 meters",
+    "closeness rank": 2
+   },
+   "table": {
+    "distance": "0.97 meters",
+    "closeness rank": 3
+   },
+   "clock": {
+    "distance": "2.91 meters",
+    "closeness rank": 4
+   },
+   "trash bin": {
+    "distance": "3.29 meters",
+    "closeness rank": 5
+   },
+   "telephone": {
+    "distance": "3.82 meters",
+    "closeness rank": 6
+   },
+   "bookshelf": {
+    "distance": "3.93 meters",
+    "closeness rank": 7
+   },
+   "door": {
+    "distance": "4.02 meters",
+    "closeness rank": 8
+   },
+   "keyboard": {
+    "distance": "4.73 meters",
+    "closeness rank": 9
+   },
+   "window": {
+    "distance": "5.42 meters",
+    "closeness rank": 10
+   }
+  },
+  "sofa": {
+   "chair": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "pillow": {
+    "distance": "0.0 meters",
+    "closeness rank": 2
+   },
+   "table": {
+    "distance": "0.36 meters",
+    "closeness rank": 3
+   },
+   "clock": {
+    "distance": "2.07 meters",
+    "closeness rank": 4
+   },
+   "trash bin": {
+    "distance": "3.14 meters",
+    "closeness rank": 5
+   },
+   "bookshelf": {
+    "distance": "3.54 meters",
+    "closeness rank": 6
+   },
+   "telephone": {
+    "distance": "3.69 meters",
+    "closeness rank": 7
+   },
+   "door": {
+    "distance": "3.8 meters",
+    "closeness rank": 8
+   },
+   "keyboard": {
+    "distance": "4.1 meters",
+    "closeness rank": 9
+   },
+   "window": {
+    "distance": "4.8 meters",
+    "closeness rank": 10
+   }
+  },
+  "table": {
+   "chair": {
+    "distance": "0.36 meters",
+    "closeness rank": 1
+   },
+   "sofa": {
+    "distance": "0.36 meters",
+    "closeness rank": 2
+   },
+   "pillow": {
+    "distance": "0.97 meters",
+    "closeness rank": 3
+   },
+   "clock": {
+    "distance": "1.65 meters",
+    "closeness rank": 4
+   },
+   "keyboard": {
+    "distance": "2.05 meters",
+    "closeness rank": 5
+   },
+   "window": {
+    "distance": "2.66 meters",
+    "closeness rank": 6
+   },
+   "trash bin": {
+    "distance": "2.84 meters",
+    "closeness rank": 7
+   },
+   "bookshelf": {
+    "distance": "2.86 meters",
+    "closeness rank": 8
+   },
+   "door": {
+    "distance": "3.29 meters",
+    "closeness rank": 9
+   },
+   "telephone": {
+    "distance": "3.3 meters",
+    "closeness rank": 10
+   }
+  },
+  "telephone": {
+   "trash bin": {
+    "distance": "0.66 meters",
+    "closeness rank": 1
+   },
+   "door": {
+    "distance": "0.69 meters",
+    "closeness rank": 2
+   },
+   "bookshelf": {
+    "distance": "1.58 meters",
+    "closeness rank": 3
+   },
+   "table": {
+    "distance": "3.3 meters",
+    "closeness rank": 4
+   },
+   "chair": {
+    "distance": "3.69 meters",
+    "closeness rank": 5
+   },
+   "sofa": {
+    "distance": "3.69 meters",
+    "closeness rank": 6
+   },
+   "pillow": {
+    "distance": "3.82 meters",
+    "closeness rank": 7
+   },
+   "window": {
+    "distance": "5.44 meters",
+    "closeness rank": 8
+   },
+   "clock": {
+    "distance": "5.56 meters",
+    "closeness rank": 9
+   },
+   "keyboard": {
+    "distance": "6.12 meters",
+    "closeness rank": 10
+   }
+  },
+  "trash bin": {
+   "telephone": {
+    "distance": "0.66 meters",
+    "closeness rank": 1
+   },
+   "door": {
+    "distance": "0.84 meters",
+    "closeness rank": 2
+   },
+   "bookshelf": {
+    "distance": "1.58 meters",
+    "closeness rank": 3
+   },
+   "table": {
+    "distance": "2.84 meters",
+    "closeness rank": 4
+   },
+   "chair": {
+    "distance": "3.13 meters",
+    "closeness rank": 5
+   },
+   "sofa": {
+    "distance": "3.14 meters",
+    "closeness rank": 6
+   },
+   "pillow": {
+    "distance": "3.29 meters",
+    "closeness rank": 7
+   },
+   "clock": {
+    "distance": "5.32 meters",
+    "closeness rank": 8
+   },
+   "window": {
+    "distance": "5.48 meters",
+    "closeness rank": 9
+   },
+   "keyboard": {
+    "distance": "5.81 meters",
+    "closeness rank": 10
+   }
+  },
+  "window": {
+   "keyboard": {
+    "distance": "0.99 meters",
+    "closeness rank": 1
+   },
+   "bookshelf": {
+    "distance": "2.21 meters",
+    "closeness rank": 2
+   },
+   "table": {
+    "distance": "2.66 meters",
+    "closeness rank": 3
+   },
+   "clock": {
+    "distance": "3.49 meters",
+    "closeness rank": 4
+   },
+   "door": {
+    "distance": "3.97 meters",
+    "closeness rank": 5
+   },
+   "chair": {
+    "distance": "4.79 meters",
+    "closeness rank": 6
+   },
+   "sofa": {
+    "distance": "4.8 meters",
+    "closeness rank": 7
+   },
+   "pillow": {
+    "distance": "5.42 meters",
+    "closeness rank": 8
+   },
+   "telephone": {
+    "distance": "5.44 meters",
+    "closeness rank": 9
+   },
+   "trash bin": {
+    "distance": "5.48 meters",
+    "closeness rank": 10
+   }
+  }
+ },
+ "appearance order": ["chair", "clock", "sofa", "table", "window", "bookshelf", "door", "trash bin", "telephone", "pillow", "keyboard"]
+}
\ No newline at end of file
diff --git a/data/spatial codes/sam3+depth-anything-3/metric/tracking/uniform/96/explicit/scene0095_01.json b/data/spatial codes/sam3+depth-anything-3/metric/tracking/uniform/96/explicit/scene0095_01.json
new file mode 100644
index 0000000000000000000000000000000000000000..89dd196ba56e471dc79de06f78e7d1874ff8b23b
--- /dev/null
+++ b/data/spatial codes/sam3+depth-anything-3/metric/tracking/uniform/96/explicit/scene0095_01.json	
@@ -0,0 +1,1078 @@
+{
+ "objects": {
+  "chair": {
+   "count": 9,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "0.26 meters",
+      "y coordinate": "1.1 meters",
+      "height above floor": "5.34 meters"
+     },
+     "longest dimension": "0.55 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-0.0 meters",
+      "y coordinate": "1.68 meters",
+      "height above floor": "5.38 meters"
+     },
+     "longest dimension": "0.46 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "0.37 meters",
+      "y coordinate": "1.23 meters",
+      "height above floor": "0.83 meters"
+     },
+     "longest dimension": "0.48 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "0.04 meters",
+      "y coordinate": "2.08 meters",
+      "height above floor": "2.36 meters"
+     },
+     "longest dimension": "0.49 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "0.53 meters",
+      "y coordinate": "0.75 meters",
+      "height above floor": "4.26 meters"
+     },
+     "longest dimension": "0.55 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "0.57 meters",
+      "y coordinate": "0.78 meters",
+      "height above floor": "1.68 meters"
+     },
+     "longest dimension": "0.54 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-0.12 meters",
+      "y coordinate": "2.4 meters",
+      "height above floor": "-0.31 meters"
+     },
+     "longest dimension": "0.89 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-0.21 meters",
+      "y coordinate": "2.14 meters",
+      "height above floor": "1.62 meters"
+     },
+     "longest dimension": "0.37 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-0.05 meters",
+      "y coordinate": "2.06 meters",
+      "height above floor": "3.1 meters"
+     },
+     "longest dimension": "0.44 meters"
+    }
+   ]
+  },
+  "computer mouse": {
+   "count": 4,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "0.05 meters",
+      "y coordinate": "1.45 meters",
+      "height above floor": "1.13 meters"
+     },
+     "longest dimension": "0.11 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "0.31 meters",
+      "y coordinate": "0.79 meters",
+      "height above floor": "1.12 meters"
+     },
+     "longest dimension": "0.1 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "0.27 meters",
+      "y coordinate": "0.86 meters",
+      "height above floor": "3.25 meters"
+     },
+     "longest dimension": "0.19 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "0.27 meters",
+      "y coordinate": "0.76 meters",
+      "height above floor": "4.49 meters"
+     },
+     "longest dimension": "0.09 meters"
+    }
+   ]
+  },
+  "door": {
+   "count": 5,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "0.49 meters",
+      "y coordinate": "0.96 meters",
+      "height above floor": "0.04 meters"
+     },
+     "longest dimension": "0.63 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "0.84 meters",
+      "y coordinate": "0.22 meters",
+      "height above floor": "0.05 meters"
+     },
+     "longest dimension": "0.56 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "0.62 meters",
+      "y coordinate": "0.58 meters",
+      "height above floor": "0.05 meters"
+     },
+     "longest dimension": "0.66 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "0.77 meters",
+      "y coordinate": "0.17 meters",
+      "height above floor": "0.06 meters"
+     },
+     "longest dimension": "0.56 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "0.36 meters",
+      "y coordinate": "1.38 meters",
+      "height above floor": "0.03 meters"
+     },
+     "longest dimension": "0.64 meters"
+    }
+   ]
+  },
+  "keyboard": {
+   "count": 7,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-0.14 meters",
+      "y coordinate": "1.77 meters",
+      "height above floor": "2.63 meters"
+     },
+     "longest dimension": "0.31 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "0.22 meters",
+      "y coordinate": "1.06 meters",
+      "height above floor": "1.1 meters"
+     },
+     "longest dimension": "0.38 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-0.06 meters",
+      "y coordinate": "1.73 meters",
+      "height above floor": "1.16 meters"
+     },
+     "longest dimension": "0.39 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-0.07 meters",
+      "y coordinate": "1.61 meters",
+      "height above floor": "5.06 meters"
+     },
+     "longest dimension": "0.36 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "0.25 meters",
+      "y coordinate": "0.94 meters",
+      "height above floor": "1.58 meters"
+     },
+     "longest dimension": "0.37 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "0.26 meters",
+      "y coordinate": "0.87 meters",
+      "height above floor": "2.95 meters"
+     },
+     "longest dimension": "0.36 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "0.21 meters",
+      "y coordinate": "0.95 meters",
+      "height above floor": "4.2 meters"
+     },
+     "longest dimension": "0.35 meters"
+    }
+   ]
+  },
+  "monitor": {
+   "count": 13,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-0.17 meters",
+      "y coordinate": "1.33 meters",
+      "height above floor": "1.33 meters"
+     },
+     "longest dimension": "0.7 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-0.29 meters",
+      "y coordinate": "1.53 meters",
+      "height above floor": "4.88 meters"
+     },
+     "longest dimension": "0.58 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-0.31 meters",
+      "y coordinate": "1.58 meters",
+      "height above floor": "4.89 meters"
+     },
+     "longest dimension": "0.47 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-0.09 meters",
+      "y coordinate": "0.97 meters",
+      "height above floor": "4.25 meters"
+     },
+     "longest dimension": "0.43 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-0.1 meters",
+      "y coordinate": "1.03 meters",
+      "height above floor": "3.6 meters"
+     },
+     "longest dimension": "0.47 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-0.1 meters",
+      "y coordinate": "1.03 meters",
+      "height above floor": "2.96 meters"
+     },
+     "longest dimension": "0.51 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "0.03 meters",
+      "y coordinate": "1.0 meters",
+      "height above floor": "1.62 meters"
+     },
+     "longest dimension": "0.45 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-0.06 meters",
+      "y coordinate": "1.0 meters",
+      "height above floor": "4.76 meters"
+     },
+     "longest dimension": "0.48 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-0.27 meters",
+      "y coordinate": "1.54 meters",
+      "height above floor": "4.92 meters"
+     },
+     "longest dimension": "0.46 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-0.09 meters",
+      "y coordinate": "1.03 meters",
+      "height above floor": "2.29 meters"
+     },
+     "longest dimension": "0.53 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-0.08 meters",
+      "y coordinate": "1.04 meters",
+      "height above floor": "1.66 meters"
+     },
+     "longest dimension": "0.48 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "0.22 meters",
+      "y coordinate": "1.71 meters",
+      "height above floor": "0.91 meters"
+     },
+     "longest dimension": "0.51 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-0.06 meters",
+      "y coordinate": "1.05 meters",
+      "height above floor": "2.24 meters"
+     },
+     "longest dimension": "0.44 meters"
+    }
+   ]
+  },
+  "pillow": {
+   "count": 2,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-0.04 meters",
+      "y coordinate": "0.9 meters",
+      "height above floor": "3.24 meters"
+     },
+     "longest dimension": "0.26 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-0.15 meters",
+      "y coordinate": "0.97 meters",
+      "height above floor": "4.16 meters"
+     },
+     "longest dimension": "0.43 meters"
+    }
+   ]
+  },
+  "plant": {
+   "count": 2,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-0.8 meters",
+      "y coordinate": "3.08 meters",
+      "height above floor": "0.95 meters"
+     },
+     "longest dimension": "0.25 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-0.83 meters",
+      "y coordinate": "2.97 meters",
+      "height above floor": "1.57 meters"
+     },
+     "longest dimension": "0.24 meters"
+    }
+   ]
+  },
+  "radiator": {
+   "count": 2,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-0.22 meters",
+      "y coordinate": "2.92 meters",
+      "height above floor": "1.42 meters"
+     },
+     "longest dimension": "0.64 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-0.25 meters",
+      "y coordinate": "2.91 meters",
+      "height above floor": "4.83 meters"
+     },
+     "longest dimension": "0.69 meters"
+    }
+   ]
+  },
+  "sofa": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-0.21 meters",
+      "y coordinate": "1.35 meters",
+      "height above floor": "7.02 meters"
+     },
+     "longest dimension": "0.71 meters"
+    }
+   ]
+  },
+  "table": {
+   "count": 8,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-0.02 meters",
+      "y coordinate": "1.59 meters",
+      "height above floor": "3.91 meters"
+     },
+     "longest dimension": "1.13 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-0.05 meters",
+      "y coordinate": "1.63 meters",
+      "height above floor": "4.24 meters"
+     },
+     "longest dimension": "0.79 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "0.32 meters",
+      "y coordinate": "0.83 meters",
+      "height above floor": "1.34 meters"
+     },
+     "longest dimension": "0.84 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-0.11 meters",
+      "y coordinate": "1.76 meters",
+      "height above floor": "3.01 meters"
+     },
+     "longest dimension": "1.06 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-0.1 meters",
+      "y coordinate": "1.66 meters",
+      "height above floor": "4.32 meters"
+     },
+     "longest dimension": "0.94 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-0.06 meters",
+      "y coordinate": "1.78 meters",
+      "height above floor": "1.14 meters"
+     },
+     "longest dimension": "0.69 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-0.13 meters",
+      "y coordinate": "1.86 meters",
+      "height above floor": "3.57 meters"
+     },
+     "longest dimension": "1.01 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "0.15 meters",
+      "y coordinate": "1.1 meters",
+      "height above floor": "2.6 meters"
+     },
+     "longest dimension": "0.65 meters"
+    }
+   ]
+  },
+  "trash bin": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-0.21 meters",
+      "y coordinate": "1.35 meters",
+      "height above floor": "7.02 meters"
+     },
+     "longest dimension": "0.71 meters"
+    }
+   ]
+  },
+  "window": {
+   "count": 3,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "0.21 meters",
+      "y coordinate": "-0.47 meters",
+      "height above floor": "4.29 meters"
+     },
+     "longest dimension": "1.12 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-0.78 meters",
+      "y coordinate": "3.04 meters",
+      "height above floor": "1.41 meters"
+     },
+     "longest dimension": "0.83 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-0.95 meters",
+      "y coordinate": "2.77 meters",
+      "height above floor": "5.44 meters"
+     },
+     "longest dimension": "0.71 meters"
+    }
+   ]
+  }
+ },
+ "room": {
+  "floor area": "7.1 square meters"
+ },
+ "closest classes distance meters from": {
+  "chair": {
+   "computer mouse": {
+    "distance": "0.22 meters",
+    "closeness rank": 1
+   },
+   "table": {
+    "distance": "0.22 meters",
+    "closeness rank": 2
+   },
+   "monitor": {
+    "distance": "0.37 meters",
+    "closeness rank": 3
+   },
+   "pillow": {
+    "distance": "0.75 meters",
+    "closeness rank": 4
+   },
+   "door": {
+    "distance": "0.84 meters",
+    "closeness rank": 5
+   },
+   "keyboard": {
+    "distance": "0.91 meters",
+    "closeness rank": 6
+   },
+   "window": {
+    "distance": "0.96 meters",
+    "closeness rank": 7
+   },
+   "radiator": {
+    "distance": "1.04 meters",
+    "closeness rank": 8
+   },
+   "plant": {
+    "distance": "1.13 meters",
+    "closeness rank": 9
+   },
+   "sofa": {
+    "distance": "1.54 meters",
+    "closeness rank": 10
+   },
+   "trash bin": {
+    "distance": "1.54 meters",
+    "closeness rank": 11
+   }
+  },
+  "computer mouse": {
+   "monitor": {
+    "distance": "0.12 meters",
+    "closeness rank": 1
+   },
+   "chair": {
+    "distance": "0.22 meters",
+    "closeness rank": 2
+   },
+   "table": {
+    "distance": "0.46 meters",
+    "closeness rank": 3
+   },
+   "door": {
+    "distance": "1.1 meters",
+    "closeness rank": 4
+   },
+   "keyboard": {
+    "distance": "1.26 meters",
+    "closeness rank": 5
+   },
+   "radiator": {
+    "distance": "1.36 meters",
+    "closeness rank": 6
+   },
+   "plant": {
+    "distance": "1.51 meters",
+    "closeness rank": 7
+   },
+   "pillow": {
+    "distance": "1.98 meters",
+    "closeness rank": 8
+   },
+   "window": {
+    "distance": "2.97 meters",
+    "closeness rank": 9
+   },
+   "trash bin": {
+    "distance": "5.67 meters",
+    "closeness rank": 10
+   },
+   "sofa": {
+    "distance": "5.68 meters",
+    "closeness rank": 11
+   }
+  },
+  "door": {
+   "chair": {
+    "distance": "0.84 meters",
+    "closeness rank": 1
+   },
+   "computer mouse": {
+    "distance": "1.1 meters",
+    "closeness rank": 2
+   },
+   "table": {
+    "distance": "1.11 meters",
+    "closeness rank": 3
+   },
+   "monitor": {
+    "distance": "1.13 meters",
+    "closeness rank": 4
+   },
+   "radiator": {
+    "distance": "2.13 meters",
+    "closeness rank": 5
+   },
+   "plant": {
+    "distance": "2.14 meters",
+    "closeness rank": 6
+   },
+   "keyboard": {
+    "distance": "2.5 meters",
+    "closeness rank": 7
+   },
+   "pillow": {
+    "distance": "3.03 meters",
+    "closeness rank": 8
+   },
+   "window": {
+    "distance": "3.61 meters",
+    "closeness rank": 9
+   },
+   "trash bin": {
+    "distance": "6.85 meters",
+    "closeness rank": 10
+   },
+   "sofa": {
+    "distance": "6.86 meters",
+    "closeness rank": 11
+   }
+  },
+  "keyboard": {
+   "table": {
+    "distance": "0.02 meters",
+    "closeness rank": 1
+   },
+   "pillow": {
+    "distance": "0.85 meters",
+    "closeness rank": 2
+   },
+   "chair": {
+    "distance": "0.91 meters",
+    "closeness rank": 3
+   },
+   "monitor": {
+    "distance": "1.1 meters",
+    "closeness rank": 4
+   },
+   "computer mouse": {
+    "distance": "1.26 meters",
+    "closeness rank": 5
+   },
+   "radiator": {
+    "distance": "1.29 meters",
+    "closeness rank": 6
+   },
+   "plant": {
+    "distance": "1.92 meters",
+    "closeness rank": 7
+   },
+   "window": {
+    "distance": "2.32 meters",
+    "closeness rank": 8
+   },
+   "door": {
+    "distance": "2.5 meters",
+    "closeness rank": 9
+   },
+   "trash bin": {
+    "distance": "4.04 meters",
+    "closeness rank": 10
+   },
+   "sofa": {
+    "distance": "4.05 meters",
+    "closeness rank": 11
+   }
+  },
+  "monitor": {
+   "table": {
+    "distance": "0.11 meters",
+    "closeness rank": 1
+   },
+   "computer mouse": {
+    "distance": "0.12 meters",
+    "closeness rank": 2
+   },
+   "chair": {
+    "distance": "0.37 meters",
+    "closeness rank": 3
+   },
+   "radiator": {
+    "distance": "1.07 meters",
+    "closeness rank": 4
+   },
+   "keyboard": {
+    "distance": "1.1 meters",
+    "closeness rank": 5
+   },
+   "door": {
+    "distance": "1.13 meters",
+    "closeness rank": 6
+   },
+   "plant": {
+    "distance": "1.25 meters",
+    "closeness rank": 7
+   },
+   "pillow": {
+    "distance": "1.76 meters",
+    "closeness rank": 8
+   },
+   "window": {
+    "distance": "2.54 meters",
+    "closeness rank": 9
+   },
+   "trash bin": {
+    "distance": "5.47 meters",
+    "closeness rank": 10
+   },
+   "sofa": {
+    "distance": "5.48 meters",
+    "closeness rank": 11
+   }
+  },
+  "pillow": {
+   "table": {
+    "distance": "0.22 meters",
+    "closeness rank": 1
+   },
+   "chair": {
+    "distance": "0.75 meters",
+    "closeness rank": 2
+   },
+   "keyboard": {
+    "distance": "0.85 meters",
+    "closeness rank": 3
+   },
+   "window": {
+    "distance": "1.3 meters",
+    "closeness rank": 4
+   },
+   "monitor": {
+    "distance": "1.76 meters",
+    "closeness rank": 5
+   },
+   "computer mouse": {
+    "distance": "1.98 meters",
+    "closeness rank": 6
+   },
+   "radiator": {
+    "distance": "2.41 meters",
+    "closeness rank": 7
+   },
+   "plant": {
+    "distance": "2.97 meters",
+    "closeness rank": 8
+   },
+   "door": {
+    "distance": "3.03 meters",
+    "closeness rank": 9
+   },
+   "trash bin": {
+    "distance": "3.43 meters",
+    "closeness rank": 10
+   },
+   "sofa": {
+    "distance": "3.44 meters",
+    "closeness rank": 11
+   }
+  },
+  "plant": {
+   "radiator": {
+    "distance": "0.28 meters",
+    "closeness rank": 1
+   },
+   "chair": {
+    "distance": "1.13 meters",
+    "closeness rank": 2
+   },
+   "monitor": {
+    "distance": "1.25 meters",
+    "closeness rank": 3
+   },
+   "computer mouse": {
+    "distance": "1.51 meters",
+    "closeness rank": 4
+   },
+   "keyboard": {
+    "distance": "1.92 meters",
+    "closeness rank": 5
+   },
+   "table": {
+    "distance": "2.05 meters",
+    "closeness rank": 6
+   },
+   "door": {
+    "distance": "2.14 meters",
+    "closeness rank": 7
+   },
+   "pillow": {
+    "distance": "2.97 meters",
+    "closeness rank": 8
+   },
+   "window": {
+    "distance": "4.32 meters",
+    "closeness rank": 9
+   },
+   "trash bin": {
+    "distance": "6.04 meters",
+    "closeness rank": 10
+   },
+   "sofa": {
+    "distance": "6.05 meters",
+    "closeness rank": 11
+   }
+  },
+  "radiator": {
+   "plant": {
+    "distance": "0.28 meters",
+    "closeness rank": 1
+   },
+   "chair": {
+    "distance": "1.04 meters",
+    "closeness rank": 2
+   },
+   "monitor": {
+    "distance": "1.07 meters",
+    "closeness rank": 3
+   },
+   "keyboard": {
+    "distance": "1.29 meters",
+    "closeness rank": 4
+   },
+   "computer mouse": {
+    "distance": "1.36 meters",
+    "closeness rank": 5
+   },
+   "table": {
+    "distance": "1.51 meters",
+    "closeness rank": 6
+   },
+   "door": {
+    "distance": "2.13 meters",
+    "closeness rank": 7
+   },
+   "pillow": {
+    "distance": "2.41 meters",
+    "closeness rank": 8
+   },
+   "window": {
+    "distance": "3.83 meters",
+    "closeness rank": 9
+   },
+   "trash bin": {
+    "distance": "5.32 meters",
+    "closeness rank": 10
+   },
+   "sofa": {
+    "distance": "5.33 meters",
+    "closeness rank": 11
+   }
+  },
+  "sofa": {
+   "trash bin": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "chair": {
+    "distance": "1.54 meters",
+    "closeness rank": 2
+   },
+   "table": {
+    "distance": "2.39 meters",
+    "closeness rank": 3
+   },
+   "window": {
+    "distance": "2.59 meters",
+    "closeness rank": 4
+   },
+   "pillow": {
+    "distance": "3.44 meters",
+    "closeness rank": 5
+   },
+   "keyboard": {
+    "distance": "4.05 meters",
+    "closeness rank": 6
+   },
+   "radiator": {
+    "distance": "5.33 meters",
+    "closeness rank": 7
+   },
+   "monitor": {
+    "distance": "5.48 meters",
+    "closeness rank": 8
+   },
+   "computer mouse": {
+    "distance": "5.68 meters",
+    "closeness rank": 9
+   },
+   "plant": {
+    "distance": "6.05 meters",
+    "closeness rank": 10
+   },
+   "door": {
+    "distance": "6.86 meters",
+    "closeness rank": 11
+   }
+  },
+  "table": {
+   "keyboard": {
+    "distance": "0.02 meters",
+    "closeness rank": 1
+   },
+   "monitor": {
+    "distance": "0.11 meters",
+    "closeness rank": 2
+   },
+   "chair": {
+    "distance": "0.22 meters",
+    "closeness rank": 3
+   },
+   "pillow": {
+    "distance": "0.22 meters",
+    "closeness rank": 4
+   },
+   "computer mouse": {
+    "distance": "0.46 meters",
+    "closeness rank": 5
+   },
+   "window": {
+    "distance": "1.09 meters",
+    "closeness rank": 6
+   },
+   "door": {
+    "distance": "1.11 meters",
+    "closeness rank": 7
+   },
+   "radiator": {
+    "distance": "1.51 meters",
+    "closeness rank": 8
+   },
+   "plant": {
+    "distance": "2.05 meters",
+    "closeness rank": 9
+   },
+   "trash bin": {
+    "distance": "2.38 meters",
+    "closeness rank": 10
+   },
+   "sofa": {
+    "distance": "2.39 meters",
+    "closeness rank": 11
+   }
+  },
+  "trash bin": {
+   "sofa": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "chair": {
+    "distance": "1.54 meters",
+    "closeness rank": 2
+   },
+   "table": {
+    "distance": "2.38 meters",
+    "closeness rank": 3
+   },
+   "window": {
+    "distance": "2.59 meters",
+    "closeness rank": 4
+   },
+   "pillow": {
+    "distance": "3.43 meters",
+    "closeness rank": 5
+   },
+   "keyboard": {
+    "distance": "4.04 meters",
+    "closeness rank": 6
+   },
+   "radiator": {
+    "distance": "5.32 meters",
+    "closeness rank": 7
+   },
+   "monitor": {
+    "distance": "5.47 meters",
+    "closeness rank": 8
+   },
+   "computer mouse": {
+    "distance": "5.67 meters",
+    "closeness rank": 9
+   },
+   "plant": {
+    "distance": "6.04 meters",
+    "closeness rank": 10
+   },
+   "door": {
+    "distance": "6.85 meters",
+    "closeness rank": 11
+   }
+  },
+  "window": {
+   "chair": {
+    "distance": "0.96 meters",
+    "closeness rank": 1
+   },
+   "table": {
+    "distance": "1.09 meters",
+    "closeness rank": 2
+   },
+   "pillow": {
+    "distance": "1.3 meters",
+    "closeness rank": 3
+   },
+   "keyboard": {
+    "distance": "2.32 meters",
+    "closeness rank": 4
+   },
+   "monitor": {
+    "distance": "2.54 meters",
+    "closeness rank": 5
+   },
+   "sofa": {
+    "distance": "2.59 meters",
+    "closeness rank": 6
+   },
+   "trash bin": {
+    "distance": "2.59 meters",
+    "closeness rank": 7
+   },
+   "computer mouse": {
+    "distance": "2.97 meters",
+    "closeness rank": 8
+   },
+   "door": {
+    "distance": "3.61 meters",
+    "closeness rank": 9
+   },
+   "radiator": {
+    "distance": "3.83 meters",
+    "closeness rank": 10
+   },
+   "plant": {
+    "distance": "4.32 meters",
+    "closeness rank": 11
+   }
+  }
+ },
+ "appearance order": ["door", "chair", "plant", "radiator", "table", "window", "computer mouse", "keyboard", "monitor", "sofa", "trash bin", "pillow"]
+}
\ No newline at end of file
diff --git a/data/spatial codes/sam3+depth-anything-3/metric/tracking/uniform/96/explicit/scene0164_02.json b/data/spatial codes/sam3+depth-anything-3/metric/tracking/uniform/96/explicit/scene0164_02.json
new file mode 100644
index 0000000000000000000000000000000000000000..ea4225c106d02450062a441af1950a360935e05d
--- /dev/null
+++ b/data/spatial codes/sam3+depth-anything-3/metric/tracking/uniform/96/explicit/scene0164_02.json	
@@ -0,0 +1,402 @@
+{
+ "objects": {
+  "backpack": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "1.88 meters",
+      "y coordinate": "1.38 meters",
+      "height above floor": "-0.42 meters"
+     },
+     "longest dimension": "0.42 meters"
+    }
+   ]
+  },
+  "counter": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-0.36 meters",
+      "y coordinate": "0.43 meters",
+      "height above floor": "-0.01 meters"
+     },
+     "longest dimension": "1.25 meters"
+    }
+   ]
+  },
+  "door": {
+   "count": 7,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "0.1 meters",
+      "y coordinate": "-0.02 meters",
+      "height above floor": "2.04 meters"
+     },
+     "longest dimension": "0.68 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "0.48 meters",
+      "y coordinate": "0.83 meters",
+      "height above floor": "-0.02 meters"
+     },
+     "longest dimension": "0.87 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-0.05 meters",
+      "y coordinate": "-0.29 meters",
+      "height above floor": "-0.14 meters"
+     },
+     "longest dimension": "0.58 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "0.57 meters",
+      "y coordinate": "0.2 meters",
+      "height above floor": "0.04 meters"
+     },
+     "longest dimension": "0.66 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-0.13 meters",
+      "y coordinate": "1.12 meters",
+      "height above floor": "1.63 meters"
+     },
+     "longest dimension": "0.54 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "0.58 meters",
+      "y coordinate": "0.98 meters",
+      "height above floor": "1.41 meters"
+     },
+     "longest dimension": "0.7 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-0.54 meters",
+      "y coordinate": "-0.35 meters",
+      "height above floor": "0.01 meters"
+     },
+     "longest dimension": "0.62 meters"
+    }
+   ]
+  },
+  "microwave": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-0.46 meters",
+      "y coordinate": "0.46 meters",
+      "height above floor": "2.03 meters"
+     },
+     "longest dimension": "0.52 meters"
+    }
+   ]
+  },
+  "oven": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "0.58 meters",
+      "y coordinate": "0.97 meters",
+      "height above floor": "1.41 meters"
+     },
+     "longest dimension": "0.7 meters"
+    }
+   ]
+  },
+  "refrigerator": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "0.49 meters",
+      "y coordinate": "0.46 meters",
+      "height above floor": "0.03 meters"
+     },
+     "longest dimension": "1.27 meters"
+    }
+   ]
+  },
+  "towel": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "0.36 meters",
+      "y coordinate": "0.88 meters",
+      "height above floor": "1.44 meters"
+     },
+     "longest dimension": "0.4 meters"
+    }
+   ]
+  },
+  "trash bin": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "1.25 meters",
+      "y coordinate": "1.35 meters",
+      "height above floor": "0.71 meters"
+     },
+     "longest dimension": "0.33 meters"
+    }
+   ]
+  }
+ },
+ "room": {
+  "floor area": "6.6 square meters"
+ },
+ "closest classes distance meters from": {
+  "backpack": {
+   "trash bin": {
+    "distance": "0.97 meters",
+    "closeness rank": 1
+   },
+   "refrigerator": {
+    "distance": "1.2 meters",
+    "closeness rank": 2
+   },
+   "counter": {
+    "distance": "1.69 meters",
+    "closeness rank": 3
+   },
+   "oven": {
+    "distance": "1.82 meters",
+    "closeness rank": 4
+   },
+   "towel": {
+    "distance": "2.11 meters",
+    "closeness rank": 5
+   },
+   "door": {
+    "distance": "2.86 meters",
+    "closeness rank": 6
+   },
+   "microwave": {
+    "distance": "3.11 meters",
+    "closeness rank": 7
+   }
+  },
+  "counter": {
+   "microwave": {
+    "distance": "0.03 meters",
+    "closeness rank": 1
+   },
+   "oven": {
+    "distance": "0.05 meters",
+    "closeness rank": 2
+   },
+   "refrigerator": {
+    "distance": "0.05 meters",
+    "closeness rank": 3
+   },
+   "towel": {
+    "distance": "0.19 meters",
+    "closeness rank": 4
+   },
+   "door": {
+    "distance": "0.43 meters",
+    "closeness rank": 5
+   },
+   "trash bin": {
+    "distance": "0.73 meters",
+    "closeness rank": 6
+   },
+   "backpack": {
+    "distance": "1.69 meters",
+    "closeness rank": 7
+   }
+  },
+  "door": {
+   "microwave": {
+    "distance": "0.14 meters",
+    "closeness rank": 1
+   },
+   "counter": {
+    "distance": "0.43 meters",
+    "closeness rank": 2
+   },
+   "oven": {
+    "distance": "0.56 meters",
+    "closeness rank": 3
+   },
+   "towel": {
+    "distance": "0.61 meters",
+    "closeness rank": 4
+   },
+   "trash bin": {
+    "distance": "1.76 meters",
+    "closeness rank": 5
+   },
+   "refrigerator": {
+    "distance": "1.79 meters",
+    "closeness rank": 6
+   },
+   "backpack": {
+    "distance": "2.86 meters",
+    "closeness rank": 7
+   }
+  },
+  "microwave": {
+   "counter": {
+    "distance": "0.03 meters",
+    "closeness rank": 1
+   },
+   "door": {
+    "distance": "0.14 meters",
+    "closeness rank": 2
+   },
+   "oven": {
+    "distance": "0.62 meters",
+    "closeness rank": 3
+   },
+   "towel": {
+    "distance": "0.77 meters",
+    "closeness rank": 4
+   },
+   "refrigerator": {
+    "distance": "1.96 meters",
+    "closeness rank": 5
+   },
+   "trash bin": {
+    "distance": "1.99 meters",
+    "closeness rank": 6
+   },
+   "backpack": {
+    "distance": "3.11 meters",
+    "closeness rank": 7
+   }
+  },
+  "oven": {
+   "towel": {
+    "distance": "0.01 meters",
+    "closeness rank": 1
+   },
+   "counter": {
+    "distance": "0.05 meters",
+    "closeness rank": 2
+   },
+   "door": {
+    "distance": "0.56 meters",
+    "closeness rank": 3
+   },
+   "microwave": {
+    "distance": "0.62 meters",
+    "closeness rank": 4
+   },
+   "trash bin": {
+    "distance": "0.66 meters",
+    "closeness rank": 5
+   },
+   "refrigerator": {
+    "distance": "1.34 meters",
+    "closeness rank": 6
+   },
+   "backpack": {
+    "distance": "1.82 meters",
+    "closeness rank": 7
+   }
+  },
+  "refrigerator": {
+   "counter": {
+    "distance": "0.05 meters",
+    "closeness rank": 1
+   },
+   "trash bin": {
+    "distance": "0.95 meters",
+    "closeness rank": 2
+   },
+   "backpack": {
+    "distance": "1.2 meters",
+    "closeness rank": 3
+   },
+   "towel": {
+    "distance": "1.31 meters",
+    "closeness rank": 4
+   },
+   "oven": {
+    "distance": "1.34 meters",
+    "closeness rank": 5
+   },
+   "door": {
+    "distance": "1.79 meters",
+    "closeness rank": 6
+   },
+   "microwave": {
+    "distance": "1.96 meters",
+    "closeness rank": 7
+   }
+  },
+  "towel": {
+   "oven": {
+    "distance": "0.01 meters",
+    "closeness rank": 1
+   },
+   "counter": {
+    "distance": "0.19 meters",
+    "closeness rank": 2
+   },
+   "door": {
+    "distance": "0.61 meters",
+    "closeness rank": 3
+   },
+   "microwave": {
+    "distance": "0.77 meters",
+    "closeness rank": 4
+   },
+   "trash bin": {
+    "distance": "0.97 meters",
+    "closeness rank": 5
+   },
+   "refrigerator": {
+    "distance": "1.31 meters",
+    "closeness rank": 6
+   },
+   "backpack": {
+    "distance": "2.11 meters",
+    "closeness rank": 7
+   }
+  },
+  "trash bin": {
+   "oven": {
+    "distance": "0.66 meters",
+    "closeness rank": 1
+   },
+   "counter": {
+    "distance": "0.73 meters",
+    "closeness rank": 2
+   },
+   "refrigerator": {
+    "distance": "0.95 meters",
+    "closeness rank": 3
+   },
+   "backpack": {
+    "distance": "0.97 meters",
+    "closeness rank": 4
+   },
+   "towel": {
+    "distance": "0.97 meters",
+    "closeness rank": 5
+   },
+   "door": {
+    "distance": "1.76 meters",
+    "closeness rank": 6
+   },
+   "microwave": {
+    "distance": "1.99 meters",
+    "closeness rank": 7
+   }
+  }
+ },
+ "appearance order": ["door", "towel", "oven", "microwave", "counter", "refrigerator", "backpack", "trash bin"]
+}
\ No newline at end of file
diff --git a/data/spatial codes/sam3+depth-anything-3/metric/tracking/uniform/96/explicit/scene0207_02.json b/data/spatial codes/sam3+depth-anything-3/metric/tracking/uniform/96/explicit/scene0207_02.json
new file mode 100644
index 0000000000000000000000000000000000000000..16aea6f6a2a3e0ed01c7cdb517888fea42469507
--- /dev/null
+++ b/data/spatial codes/sam3+depth-anything-3/metric/tracking/uniform/96/explicit/scene0207_02.json	
@@ -0,0 +1,2770 @@
+{
+ "objects": {
+  "backpack": {
+   "count": 3,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-0.04 meters",
+      "y coordinate": "1.15 meters",
+      "height above floor": "-0.09 meters"
+     },
+     "longest dimension": "0.86 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-0.87 meters",
+      "y coordinate": "0.89 meters",
+      "height above floor": "0.05 meters"
+     },
+     "longest dimension": "0.39 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "0.08 meters",
+      "y coordinate": "1.97 meters",
+      "height above floor": "0.13 meters"
+     },
+     "longest dimension": "0.49 meters"
+    }
+   ]
+  },
+  "bed": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "1.81 meters",
+      "y coordinate": "0.39 meters",
+      "height above floor": "-0.04 meters"
+     },
+     "longest dimension": "1.56 meters"
+    }
+   ]
+  },
+  "bookshelf": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "1.31 meters",
+      "y coordinate": "1.71 meters",
+      "height above floor": "1.2 meters"
+     },
+     "longest dimension": "1.08 meters"
+    }
+   ]
+  },
+  "chair": {
+   "count": 3,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-0.06 meters",
+      "y coordinate": "1.17 meters",
+      "height above floor": "-0.11 meters"
+     },
+     "longest dimension": "0.75 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-0.04 meters",
+      "y coordinate": "1.15 meters",
+      "height above floor": "-0.08 meters"
+     },
+     "longest dimension": "0.84 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-0.57 meters",
+      "y coordinate": "-2.74 meters",
+      "height above floor": "-0.0 meters"
+     },
+     "longest dimension": "0.79 meters"
+    }
+   ]
+  },
+  "closet": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "1.48 meters",
+      "y coordinate": "-1.74 meters",
+      "height above floor": "0.65 meters"
+     },
+     "longest dimension": "1.81 meters"
+    }
+   ]
+  },
+  "counter": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-0.67 meters",
+      "y coordinate": "-0.81 meters",
+      "height above floor": "0.26 meters"
+     },
+     "longest dimension": "0.69 meters"
+    }
+   ]
+  },
+  "door": {
+   "count": 8,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-1.66 meters",
+      "y coordinate": "-3.62 meters",
+      "height above floor": "0.33 meters"
+     },
+     "longest dimension": "1.45 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-0.28 meters",
+      "y coordinate": "-4.19 meters",
+      "height above floor": "0.72 meters"
+     },
+     "longest dimension": "1.51 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "0.36 meters",
+      "y coordinate": "-2.09 meters",
+      "height above floor": "0.02 meters"
+     },
+     "longest dimension": "0.99 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "0.11 meters",
+      "y coordinate": "-1.38 meters",
+      "height above floor": "0.07 meters"
+     },
+     "longest dimension": "1.03 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "0.07 meters",
+      "y coordinate": "-1.89 meters",
+      "height above floor": "0.93 meters"
+     },
+     "longest dimension": "0.79 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-1.47 meters",
+      "y coordinate": "-0.93 meters",
+      "height above floor": "1.27 meters"
+     },
+     "longest dimension": "0.83 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "1.52 meters",
+      "y coordinate": "-3.35 meters",
+      "height above floor": "0.99 meters"
+     },
+     "longest dimension": "0.78 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "1.41 meters",
+      "y coordinate": "-2.77 meters",
+      "height above floor": "-0.3 meters"
+     },
+     "longest dimension": "0.53 meters"
+    }
+   ]
+  },
+  "keyboard": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "0.8 meters",
+      "y coordinate": "0.87 meters",
+      "height above floor": "0.14 meters"
+     },
+     "longest dimension": "0.24 meters"
+    }
+   ]
+  },
+  "mattress": {
+   "count": 2,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "1.88 meters",
+      "y coordinate": "0.36 meters",
+      "height above floor": "-0.01 meters"
+     },
+     "longest dimension": "1.55 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "1.8 meters",
+      "y coordinate": "0.57 meters",
+      "height above floor": "-0.17 meters"
+     },
+     "longest dimension": "1.72 meters"
+    }
+   ]
+  },
+  "microwave": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-0.97 meters",
+      "y coordinate": "-3.5 meters",
+      "height above floor": "0.27 meters"
+     },
+     "longest dimension": "0.33 meters"
+    }
+   ]
+  },
+  "mirror": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "1.89 meters",
+      "y coordinate": "-2.91 meters",
+      "height above floor": "0.75 meters"
+     },
+     "longest dimension": "0.93 meters"
+    }
+   ]
+  },
+  "monitor": {
+   "count": 2,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "1.04 meters",
+      "y coordinate": "0.79 meters",
+      "height above floor": "0.46 meters"
+     },
+     "longest dimension": "0.37 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "0.91 meters",
+      "y coordinate": "0.83 meters",
+      "height above floor": "0.25 meters"
+     },
+     "longest dimension": "0.31 meters"
+    }
+   ]
+  },
+  "nightstand": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "1.76 meters",
+      "y coordinate": "1.18 meters",
+      "height above floor": "-0.37 meters"
+     },
+     "longest dimension": "0.51 meters"
+    }
+   ]
+  },
+  "oven": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-1.89 meters",
+      "y coordinate": "-2.34 meters",
+      "height above floor": "0.12 meters"
+     },
+     "longest dimension": "0.8 meters"
+    }
+   ]
+  },
+  "pillow": {
+   "count": 3,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "2.47 meters",
+      "y coordinate": "0.83 meters",
+      "height above floor": "0.1 meters"
+     },
+     "longest dimension": "0.58 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "2.45 meters",
+      "y coordinate": "0.06 meters",
+      "height above floor": "0.14 meters"
+     },
+     "longest dimension": "0.14 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "2.38 meters",
+      "y coordinate": "1.12 meters",
+      "height above floor": "0.09 meters"
+     },
+     "longest dimension": "0.17 meters"
+    }
+   ]
+  },
+  "printer": {
+   "count": 2,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "1.29 meters",
+      "y coordinate": "1.28 meters",
+      "height above floor": "0.29 meters"
+     },
+     "longest dimension": "0.35 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-0.97 meters",
+      "y coordinate": "-3.5 meters",
+      "height above floor": "0.27 meters"
+     },
+     "longest dimension": "0.33 meters"
+    }
+   ]
+  },
+  "refrigerator": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-2.11 meters",
+      "y coordinate": "-2.85 meters",
+      "height above floor": "0.49 meters"
+     },
+     "longest dimension": "1.32 meters"
+    }
+   ]
+  },
+  "sofa": {
+   "count": 2,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-0.75 meters",
+      "y coordinate": "0.92 meters",
+      "height above floor": "-0.1 meters"
+     },
+     "longest dimension": "1.57 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-0.76 meters",
+      "y coordinate": "0.84 meters",
+      "height above floor": "-0.11 meters"
+     },
+     "longest dimension": "1.23 meters"
+    }
+   ]
+  },
+  "table": {
+   "count": 3,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "0.63 meters",
+      "y coordinate": "0.25 meters",
+      "height above floor": "0.08 meters"
+     },
+     "longest dimension": "0.95 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-0.67 meters",
+      "y coordinate": "-0.81 meters",
+      "height above floor": "0.26 meters"
+     },
+     "longest dimension": "0.71 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-0.92 meters",
+      "y coordinate": "-3.2 meters",
+      "height above floor": "0.08 meters"
+     },
+     "longest dimension": "0.97 meters"
+    }
+   ]
+  },
+  "telephone": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "0.98 meters",
+      "y coordinate": "1.9 meters",
+      "height above floor": "0.23 meters"
+     },
+     "longest dimension": "0.34 meters"
+    }
+   ]
+  },
+  "towel": {
+   "count": 2,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-0.39 meters",
+      "y coordinate": "-3.13 meters",
+      "height above floor": "0.25 meters"
+     },
+     "longest dimension": "0.52 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-1.77 meters",
+      "y coordinate": "-2.15 meters",
+      "height above floor": "0.09 meters"
+     },
+     "longest dimension": "0.29 meters"
+    }
+   ]
+  },
+  "trash bin": {
+   "count": 3,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "1.6 meters",
+      "y coordinate": "-0.73 meters",
+      "height above floor": "-0.19 meters"
+     },
+     "longest dimension": "0.62 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-1.18 meters",
+      "y coordinate": "-0.94 meters",
+      "height above floor": "-0.07 meters"
+     },
+     "longest dimension": "0.6 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-0.81 meters",
+      "y coordinate": "-0.88 meters",
+      "height above floor": "-0.37 meters"
+     },
+     "longest dimension": "0.33 meters"
+    }
+   ]
+  },
+  "tv": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "1.04 meters",
+      "y coordinate": "0.79 meters",
+      "height above floor": "0.46 meters"
+     },
+     "longest dimension": "0.37 meters"
+    }
+   ]
+  },
+  "window": {
+   "count": 3,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "0.68 meters",
+      "y coordinate": "2.11 meters",
+      "height above floor": "0.57 meters"
+     },
+     "longest dimension": "0.72 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "2.19 meters",
+      "y coordinate": "1.58 meters",
+      "height above floor": "0.96 meters"
+     },
+     "longest dimension": "1.35 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "1.04 meters",
+      "y coordinate": "0.79 meters",
+      "height above floor": "0.46 meters"
+     },
+     "longest dimension": "0.37 meters"
+    }
+   ]
+  }
+ },
+ "room": {
+  "floor area": "28.4 square meters"
+ },
+ "closest classes distance meters from": {
+  "backpack": {
+   "chair": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "sofa": {
+    "distance": "0.03 meters",
+    "closeness rank": 2
+   },
+   "table": {
+    "distance": "0.49 meters",
+    "closeness rank": 3
+   },
+   "keyboard": {
+    "distance": "0.6 meters",
+    "closeness rank": 4
+   },
+   "counter": {
+    "distance": "0.82 meters",
+    "closeness rank": 5
+   },
+   "monitor": {
+    "distance": "0.86 meters",
+    "closeness rank": 6
+   },
+   "tv": {
+    "distance": "0.86 meters",
+    "closeness rank": 7
+   },
+   "bookshelf": {
+    "distance": "0.95 meters",
+    "closeness rank": 8
+   },
+   "window": {
+    "distance": "0.95 meters",
+    "closeness rank": 9
+   },
+   "printer": {
+    "distance": "0.96 meters",
+    "closeness rank": 10
+   },
+   "telephone": {
+    "distance": "0.97 meters",
+    "closeness rank": 11
+   },
+   "nightstand": {
+    "distance": "1.39 meters",
+    "closeness rank": 12
+   },
+   "bed": {
+    "distance": "1.57 meters",
+    "closeness rank": 13
+   },
+   "mattress": {
+    "distance": "1.63 meters",
+    "closeness rank": 14
+   },
+   "towel": {
+    "distance": "1.86 meters",
+    "closeness rank": 15
+   },
+   "pillow": {
+    "distance": "2.03 meters",
+    "closeness rank": 16
+   },
+   "trash bin": {
+    "distance": "2.08 meters",
+    "closeness rank": 17
+   },
+   "closet": {
+    "distance": "2.57 meters",
+    "closeness rank": 18
+   },
+   "oven": {
+    "distance": "3.08 meters",
+    "closeness rank": 19
+   },
+   "mirror": {
+    "distance": "4.0 meters",
+    "closeness rank": 20
+   },
+   "refrigerator": {
+    "distance": "4.01 meters",
+    "closeness rank": 21
+   },
+   "microwave": {
+    "distance": "4.27 meters",
+    "closeness rank": 22
+   },
+   "door": {
+    "distance": "4.58 meters",
+    "closeness rank": 23
+   }
+  },
+  "bed": {
+   "mattress": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "towel": {
+    "distance": "0.01 meters",
+    "closeness rank": 2
+   },
+   "pillow": {
+    "distance": "0.07 meters",
+    "closeness rank": 3
+   },
+   "trash bin": {
+    "distance": "0.19 meters",
+    "closeness rank": 4
+   },
+   "nightstand": {
+    "distance": "0.2 meters",
+    "closeness rank": 5
+   },
+   "table": {
+    "distance": "0.49 meters",
+    "closeness rank": 6
+   },
+   "printer": {
+    "distance": "0.66 meters",
+    "closeness rank": 7
+   },
+   "bookshelf": {
+    "distance": "0.88 meters",
+    "closeness rank": 8
+   },
+   "monitor": {
+    "distance": "0.88 meters",
+    "closeness rank": 9
+   },
+   "tv": {
+    "distance": "0.89 meters",
+    "closeness rank": 10
+   },
+   "keyboard": {
+    "distance": "1.0 meters",
+    "closeness rank": 11
+   },
+   "closet": {
+    "distance": "1.1 meters",
+    "closeness rank": 12
+   },
+   "counter": {
+    "distance": "1.19 meters",
+    "closeness rank": 13
+   },
+   "telephone": {
+    "distance": "1.33 meters",
+    "closeness rank": 14
+   },
+   "window": {
+    "distance": "1.54 meters",
+    "closeness rank": 15
+   },
+   "backpack": {
+    "distance": "1.57 meters",
+    "closeness rank": 16
+   },
+   "chair": {
+    "distance": "1.57 meters",
+    "closeness rank": 17
+   },
+   "sofa": {
+    "distance": "2.13 meters",
+    "closeness rank": 18
+   },
+   "mirror": {
+    "distance": "2.35 meters",
+    "closeness rank": 19
+   },
+   "oven": {
+    "distance": "3.48 meters",
+    "closeness rank": 20
+   },
+   "microwave": {
+    "distance": "3.81 meters",
+    "closeness rank": 21
+   },
+   "refrigerator": {
+    "distance": "4.17 meters",
+    "closeness rank": 22
+   },
+   "door": {
+    "distance": "4.29 meters",
+    "closeness rank": 23
+   }
+  },
+  "bookshelf": {
+   "window": {
+    "distance": "0.16 meters",
+    "closeness rank": 1
+   },
+   "telephone": {
+    "distance": "0.25 meters",
+    "closeness rank": 2
+   },
+   "printer": {
+    "distance": "0.29 meters",
+    "closeness rank": 3
+   },
+   "table": {
+    "distance": "0.46 meters",
+    "closeness rank": 4
+   },
+   "counter": {
+    "distance": "0.55 meters",
+    "closeness rank": 5
+   },
+   "monitor": {
+    "distance": "0.57 meters",
+    "closeness rank": 6
+   },
+   "tv": {
+    "distance": "0.57 meters",
+    "closeness rank": 7
+   },
+   "nightstand": {
+    "distance": "0.71 meters",
+    "closeness rank": 8
+   },
+   "keyboard": {
+    "distance": "0.84 meters",
+    "closeness rank": 9
+   },
+   "bed": {
+    "distance": "0.88 meters",
+    "closeness rank": 10
+   },
+   "mattress": {
+    "distance": "0.9 meters",
+    "closeness rank": 11
+   },
+   "backpack": {
+    "distance": "0.95 meters",
+    "closeness rank": 12
+   },
+   "chair": {
+    "distance": "0.95 meters",
+    "closeness rank": 13
+   },
+   "pillow": {
+    "distance": "0.95 meters",
+    "closeness rank": 14
+   },
+   "sofa": {
+    "distance": "1.39 meters",
+    "closeness rank": 15
+   },
+   "towel": {
+    "distance": "1.58 meters",
+    "closeness rank": 16
+   },
+   "trash bin": {
+    "distance": "2.15 meters",
+    "closeness rank": 17
+   },
+   "closet": {
+    "distance": "3.02 meters",
+    "closeness rank": 18
+   },
+   "mirror": {
+    "distance": "4.18 meters",
+    "closeness rank": 19
+   },
+   "oven": {
+    "distance": "4.52 meters",
+    "closeness rank": 20
+   },
+   "refrigerator": {
+    "distance": "5.42 meters",
+    "closeness rank": 21
+   },
+   "microwave": {
+    "distance": "5.46 meters",
+    "closeness rank": 22
+   },
+   "door": {
+    "distance": "5.86 meters",
+    "closeness rank": 23
+   }
+  },
+  "chair": {
+   "backpack": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "sofa": {
+    "distance": "0.01 meters",
+    "closeness rank": 2
+   },
+   "table": {
+    "distance": "0.49 meters",
+    "closeness rank": 3
+   },
+   "keyboard": {
+    "distance": "0.6 meters",
+    "closeness rank": 4
+   },
+   "counter": {
+    "distance": "0.82 meters",
+    "closeness rank": 5
+   },
+   "tv": {
+    "distance": "0.86 meters",
+    "closeness rank": 6
+   },
+   "monitor": {
+    "distance": "0.87 meters",
+    "closeness rank": 7
+   },
+   "bookshelf": {
+    "distance": "0.95 meters",
+    "closeness rank": 8
+   },
+   "window": {
+    "distance": "0.95 meters",
+    "closeness rank": 9
+   },
+   "telephone": {
+    "distance": "0.96 meters",
+    "closeness rank": 10
+   },
+   "printer": {
+    "distance": "0.97 meters",
+    "closeness rank": 11
+   },
+   "nightstand": {
+    "distance": "1.39 meters",
+    "closeness rank": 12
+   },
+   "bed": {
+    "distance": "1.57 meters",
+    "closeness rank": 13
+   },
+   "mattress": {
+    "distance": "1.63 meters",
+    "closeness rank": 14
+   },
+   "towel": {
+    "distance": "1.86 meters",
+    "closeness rank": 15
+   },
+   "pillow": {
+    "distance": "2.03 meters",
+    "closeness rank": 16
+   },
+   "trash bin": {
+    "distance": "2.09 meters",
+    "closeness rank": 17
+   },
+   "closet": {
+    "distance": "2.58 meters",
+    "closeness rank": 18
+   },
+   "oven": {
+    "distance": "3.12 meters",
+    "closeness rank": 19
+   },
+   "mirror": {
+    "distance": "4.01 meters",
+    "closeness rank": 20
+   },
+   "refrigerator": {
+    "distance": "4.05 meters",
+    "closeness rank": 21
+   },
+   "microwave": {
+    "distance": "4.3 meters",
+    "closeness rank": 22
+   },
+   "door": {
+    "distance": "4.62 meters",
+    "closeness rank": 23
+   }
+  },
+  "closet": {
+   "towel": {
+    "distance": "0.15 meters",
+    "closeness rank": 1
+   },
+   "trash bin": {
+    "distance": "0.67 meters",
+    "closeness rank": 2
+   },
+   "microwave": {
+    "distance": "0.73 meters",
+    "closeness rank": 3
+   },
+   "mirror": {
+    "distance": "0.81 meters",
+    "closeness rank": 4
+   },
+   "bed": {
+    "distance": "1.1 meters",
+    "closeness rank": 5
+   },
+   "mattress": {
+    "distance": "1.1 meters",
+    "closeness rank": 6
+   },
+   "door": {
+    "distance": "1.19 meters",
+    "closeness rank": 7
+   },
+   "table": {
+    "distance": "1.41 meters",
+    "closeness rank": 8
+   },
+   "oven": {
+    "distance": "1.42 meters",
+    "closeness rank": 9
+   },
+   "refrigerator": {
+    "distance": "1.44 meters",
+    "closeness rank": 10
+   },
+   "counter": {
+    "distance": "1.73 meters",
+    "closeness rank": 11
+   },
+   "monitor": {
+    "distance": "2.18 meters",
+    "closeness rank": 12
+   },
+   "tv": {
+    "distance": "2.18 meters",
+    "closeness rank": 13
+   },
+   "keyboard": {
+    "distance": "2.3 meters",
+    "closeness rank": 14
+   },
+   "pillow": {
+    "distance": "2.4 meters",
+    "closeness rank": 15
+   },
+   "sofa": {
+    "distance": "2.55 meters",
+    "closeness rank": 16
+   },
+   "backpack": {
+    "distance": "2.57 meters",
+    "closeness rank": 17
+   },
+   "nightstand": {
+    "distance": "2.57 meters",
+    "closeness rank": 18
+   },
+   "chair": {
+    "distance": "2.58 meters",
+    "closeness rank": 19
+   },
+   "printer": {
+    "distance": "2.68 meters",
+    "closeness rank": 20
+   },
+   "bookshelf": {
+    "distance": "3.02 meters",
+    "closeness rank": 21
+   },
+   "telephone": {
+    "distance": "3.37 meters",
+    "closeness rank": 22
+   },
+   "window": {
+    "distance": "3.57 meters",
+    "closeness rank": 23
+   }
+  },
+  "counter": {
+   "table": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "telephone": {
+    "distance": "0.29 meters",
+    "closeness rank": 2
+   },
+   "printer": {
+    "distance": "0.38 meters",
+    "closeness rank": 3
+   },
+   "window": {
+    "distance": "0.47 meters",
+    "closeness rank": 4
+   },
+   "bookshelf": {
+    "distance": "0.55 meters",
+    "closeness rank": 5
+   },
+   "keyboard": {
+    "distance": "0.59 meters",
+    "closeness rank": 6
+   },
+   "sofa": {
+    "distance": "0.6 meters",
+    "closeness rank": 7
+   },
+   "monitor": {
+    "distance": "0.63 meters",
+    "closeness rank": 8
+   },
+   "tv": {
+    "distance": "0.63 meters",
+    "closeness rank": 9
+   },
+   "nightstand": {
+    "distance": "0.75 meters",
+    "closeness rank": 10
+   },
+   "backpack": {
+    "distance": "0.82 meters",
+    "closeness rank": 11
+   },
+   "chair": {
+    "distance": "0.82 meters",
+    "closeness rank": 12
+   },
+   "oven": {
+    "distance": "1.07 meters",
+    "closeness rank": 13
+   },
+   "bed": {
+    "distance": "1.19 meters",
+    "closeness rank": 14
+   },
+   "mattress": {
+    "distance": "1.21 meters",
+    "closeness rank": 15
+   },
+   "pillow": {
+    "distance": "1.46 meters",
+    "closeness rank": 16
+   },
+   "closet": {
+    "distance": "1.73 meters",
+    "closeness rank": 17
+   },
+   "towel": {
+    "distance": "1.85 meters",
+    "closeness rank": 18
+   },
+   "refrigerator": {
+    "distance": "2.03 meters",
+    "closeness rank": 19
+   },
+   "trash bin": {
+    "distance": "2.12 meters",
+    "closeness rank": 20
+   },
+   "microwave": {
+    "distance": "2.34 meters",
+    "closeness rank": 21
+   },
+   "door": {
+    "distance": "2.6 meters",
+    "closeness rank": 22
+   },
+   "mirror": {
+    "distance": "3.05 meters",
+    "closeness rank": 23
+   }
+  },
+  "door": {
+   "microwave": {
+    "distance": "0.19 meters",
+    "closeness rank": 1
+   },
+   "refrigerator": {
+    "distance": "0.2 meters",
+    "closeness rank": 2
+   },
+   "towel": {
+    "distance": "0.96 meters",
+    "closeness rank": 3
+   },
+   "oven": {
+    "distance": "0.98 meters",
+    "closeness rank": 4
+   },
+   "closet": {
+    "distance": "1.19 meters",
+    "closeness rank": 5
+   },
+   "counter": {
+    "distance": "2.6 meters",
+    "closeness rank": 6
+   },
+   "mirror": {
+    "distance": "3.14 meters",
+    "closeness rank": 7
+   },
+   "sofa": {
+    "distance": "3.75 meters",
+    "closeness rank": 8
+   },
+   "trash bin": {
+    "distance": "4.05 meters",
+    "closeness rank": 9
+   },
+   "table": {
+    "distance": "4.16 meters",
+    "closeness rank": 10
+   },
+   "bed": {
+    "distance": "4.29 meters",
+    "closeness rank": 11
+   },
+   "mattress": {
+    "distance": "4.33 meters",
+    "closeness rank": 12
+   },
+   "backpack": {
+    "distance": "4.58 meters",
+    "closeness rank": 13
+   },
+   "chair": {
+    "distance": "4.62 meters",
+    "closeness rank": 14
+   },
+   "monitor": {
+    "distance": "4.86 meters",
+    "closeness rank": 15
+   },
+   "tv": {
+    "distance": "4.86 meters",
+    "closeness rank": 16
+   },
+   "keyboard": {
+    "distance": "4.9 meters",
+    "closeness rank": 17
+   },
+   "printer": {
+    "distance": "5.49 meters",
+    "closeness rank": 18
+   },
+   "nightstand": {
+    "distance": "5.67 meters",
+    "closeness rank": 19
+   },
+   "pillow": {
+    "distance": "5.77 meters",
+    "closeness rank": 20
+   },
+   "bookshelf": {
+    "distance": "5.86 meters",
+    "closeness rank": 21
+   },
+   "telephone": {
+    "distance": "5.98 meters",
+    "closeness rank": 22
+   },
+   "window": {
+    "distance": "6.11 meters",
+    "closeness rank": 23
+   }
+  },
+  "keyboard": {
+   "table": {
+    "distance": "0.04 meters",
+    "closeness rank": 1
+   },
+   "monitor": {
+    "distance": "0.23 meters",
+    "closeness rank": 2
+   },
+   "tv": {
+    "distance": "0.23 meters",
+    "closeness rank": 3
+   },
+   "printer": {
+    "distance": "0.42 meters",
+    "closeness rank": 4
+   },
+   "counter": {
+    "distance": "0.59 meters",
+    "closeness rank": 5
+   },
+   "backpack": {
+    "distance": "0.6 meters",
+    "closeness rank": 6
+   },
+   "chair": {
+    "distance": "0.6 meters",
+    "closeness rank": 7
+   },
+   "nightstand": {
+    "distance": "0.78 meters",
+    "closeness rank": 8
+   },
+   "bookshelf": {
+    "distance": "0.84 meters",
+    "closeness rank": 9
+   },
+   "telephone": {
+    "distance": "0.87 meters",
+    "closeness rank": 10
+   },
+   "bed": {
+    "distance": "1.0 meters",
+    "closeness rank": 11
+   },
+   "mattress": {
+    "distance": "1.0 meters",
+    "closeness rank": 12
+   },
+   "window": {
+    "distance": "1.05 meters",
+    "closeness rank": 13
+   },
+   "sofa": {
+    "distance": "1.23 meters",
+    "closeness rank": 14
+   },
+   "towel": {
+    "distance": "1.27 meters",
+    "closeness rank": 15
+   },
+   "pillow": {
+    "distance": "1.34 meters",
+    "closeness rank": 16
+   },
+   "trash bin": {
+    "distance": "1.6 meters",
+    "closeness rank": 17
+   },
+   "closet": {
+    "distance": "2.3 meters",
+    "closeness rank": 18
+   },
+   "oven": {
+    "distance": "3.62 meters",
+    "closeness rank": 19
+   },
+   "mirror": {
+    "distance": "3.65 meters",
+    "closeness rank": 20
+   },
+   "microwave": {
+    "distance": "4.51 meters",
+    "closeness rank": 21
+   },
+   "refrigerator": {
+    "distance": "4.52 meters",
+    "closeness rank": 22
+   },
+   "door": {
+    "distance": "4.9 meters",
+    "closeness rank": 23
+   }
+  },
+  "mattress": {
+   "bed": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "towel": {
+    "distance": "0.01 meters",
+    "closeness rank": 2
+   },
+   "pillow": {
+    "distance": "0.16 meters",
+    "closeness rank": 3
+   },
+   "trash bin": {
+    "distance": "0.18 meters",
+    "closeness rank": 4
+   },
+   "nightstand": {
+    "distance": "0.22 meters",
+    "closeness rank": 5
+   },
+   "table": {
+    "distance": "0.49 meters",
+    "closeness rank": 6
+   },
+   "printer": {
+    "distance": "0.66 meters",
+    "closeness rank": 7
+   },
+   "monitor": {
+    "distance": "0.88 meters",
+    "closeness rank": 8
+   },
+   "tv": {
+    "distance": "0.89 meters",
+    "closeness rank": 9
+   },
+   "bookshelf": {
+    "distance": "0.9 meters",
+    "closeness rank": 10
+   },
+   "keyboard": {
+    "distance": "1.0 meters",
+    "closeness rank": 11
+   },
+   "closet": {
+    "distance": "1.1 meters",
+    "closeness rank": 12
+   },
+   "counter": {
+    "distance": "1.21 meters",
+    "closeness rank": 13
+   },
+   "telephone": {
+    "distance": "1.35 meters",
+    "closeness rank": 14
+   },
+   "window": {
+    "distance": "1.55 meters",
+    "closeness rank": 15
+   },
+   "backpack": {
+    "distance": "1.63 meters",
+    "closeness rank": 16
+   },
+   "chair": {
+    "distance": "1.63 meters",
+    "closeness rank": 17
+   },
+   "sofa": {
+    "distance": "2.25 meters",
+    "closeness rank": 18
+   },
+   "mirror": {
+    "distance": "2.35 meters",
+    "closeness rank": 19
+   },
+   "oven": {
+    "distance": "3.55 meters",
+    "closeness rank": 20
+   },
+   "microwave": {
+    "distance": "3.84 meters",
+    "closeness rank": 21
+   },
+   "refrigerator": {
+    "distance": "4.24 meters",
+    "closeness rank": 22
+   },
+   "door": {
+    "distance": "4.33 meters",
+    "closeness rank": 23
+   }
+  },
+  "microwave": {
+   "door": {
+    "distance": "0.19 meters",
+    "closeness rank": 1
+   },
+   "towel": {
+    "distance": "0.44 meters",
+    "closeness rank": 2
+   },
+   "closet": {
+    "distance": "0.73 meters",
+    "closeness rank": 3
+   },
+   "refrigerator": {
+    "distance": "1.1 meters",
+    "closeness rank": 4
+   },
+   "oven": {
+    "distance": "1.36 meters",
+    "closeness rank": 5
+   },
+   "counter": {
+    "distance": "2.34 meters",
+    "closeness rank": 6
+   },
+   "mirror": {
+    "distance": "2.58 meters",
+    "closeness rank": 7
+   },
+   "trash bin": {
+    "distance": "3.53 meters",
+    "closeness rank": 8
+   },
+   "sofa": {
+    "distance": "3.54 meters",
+    "closeness rank": 9
+   },
+   "table": {
+    "distance": "3.76 meters",
+    "closeness rank": 10
+   },
+   "bed": {
+    "distance": "3.81 meters",
+    "closeness rank": 11
+   },
+   "mattress": {
+    "distance": "3.84 meters",
+    "closeness rank": 12
+   },
+   "backpack": {
+    "distance": "4.27 meters",
+    "closeness rank": 13
+   },
+   "chair": {
+    "distance": "4.3 meters",
+    "closeness rank": 14
+   },
+   "monitor": {
+    "distance": "4.46 meters",
+    "closeness rank": 15
+   },
+   "tv": {
+    "distance": "4.46 meters",
+    "closeness rank": 16
+   },
+   "keyboard": {
+    "distance": "4.51 meters",
+    "closeness rank": 17
+   },
+   "printer": {
+    "distance": "5.08 meters",
+    "closeness rank": 18
+   },
+   "nightstand": {
+    "distance": "5.23 meters",
+    "closeness rank": 19
+   },
+   "pillow": {
+    "distance": "5.28 meters",
+    "closeness rank": 20
+   },
+   "bookshelf": {
+    "distance": "5.46 meters",
+    "closeness rank": 21
+   },
+   "telephone": {
+    "distance": "5.6 meters",
+    "closeness rank": 22
+   },
+   "window": {
+    "distance": "5.75 meters",
+    "closeness rank": 23
+   }
+  },
+  "mirror": {
+   "closet": {
+    "distance": "0.81 meters",
+    "closeness rank": 1
+   },
+   "trash bin": {
+    "distance": "1.84 meters",
+    "closeness rank": 2
+   },
+   "towel": {
+    "distance": "2.08 meters",
+    "closeness rank": 3
+   },
+   "bed": {
+    "distance": "2.35 meters",
+    "closeness rank": 4
+   },
+   "mattress": {
+    "distance": "2.35 meters",
+    "closeness rank": 5
+   },
+   "microwave": {
+    "distance": "2.58 meters",
+    "closeness rank": 6
+   },
+   "table": {
+    "distance": "2.76 meters",
+    "closeness rank": 7
+   },
+   "counter": {
+    "distance": "3.05 meters",
+    "closeness rank": 8
+   },
+   "door": {
+    "distance": "3.14 meters",
+    "closeness rank": 9
+   },
+   "pillow": {
+    "distance": "3.37 meters",
+    "closeness rank": 10
+   },
+   "monitor": {
+    "distance": "3.44 meters",
+    "closeness rank": 11
+   },
+   "tv": {
+    "distance": "3.45 meters",
+    "closeness rank": 12
+   },
+   "keyboard": {
+    "distance": "3.65 meters",
+    "closeness rank": 13
+   },
+   "oven": {
+    "distance": "3.72 meters",
+    "closeness rank": 14
+   },
+   "refrigerator": {
+    "distance": "3.8 meters",
+    "closeness rank": 15
+   },
+   "nightstand": {
+    "distance": "3.83 meters",
+    "closeness rank": 16
+   },
+   "printer": {
+    "distance": "3.9 meters",
+    "closeness rank": 17
+   },
+   "sofa": {
+    "distance": "3.91 meters",
+    "closeness rank": 18
+   },
+   "backpack": {
+    "distance": "4.0 meters",
+    "closeness rank": 19
+   },
+   "chair": {
+    "distance": "4.01 meters",
+    "closeness rank": 20
+   },
+   "bookshelf": {
+    "distance": "4.18 meters",
+    "closeness rank": 21
+   },
+   "telephone": {
+    "distance": "4.65 meters",
+    "closeness rank": 22
+   },
+   "window": {
+    "distance": "4.84 meters",
+    "closeness rank": 23
+   }
+  },
+  "monitor": {
+   "tv": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "table": {
+    "distance": "0.19 meters",
+    "closeness rank": 2
+   },
+   "keyboard": {
+    "distance": "0.23 meters",
+    "closeness rank": 3
+   },
+   "printer": {
+    "distance": "0.24 meters",
+    "closeness rank": 4
+   },
+   "bookshelf": {
+    "distance": "0.57 meters",
+    "closeness rank": 5
+   },
+   "counter": {
+    "distance": "0.63 meters",
+    "closeness rank": 6
+   },
+   "nightstand": {
+    "distance": "0.71 meters",
+    "closeness rank": 7
+   },
+   "telephone": {
+    "distance": "0.82 meters",
+    "closeness rank": 8
+   },
+   "backpack": {
+    "distance": "0.86 meters",
+    "closeness rank": 9
+   },
+   "chair": {
+    "distance": "0.87 meters",
+    "closeness rank": 10
+   },
+   "bed": {
+    "distance": "0.88 meters",
+    "closeness rank": 11
+   },
+   "mattress": {
+    "distance": "0.88 meters",
+    "closeness rank": 12
+   },
+   "window": {
+    "distance": "1.02 meters",
+    "closeness rank": 13
+   },
+   "towel": {
+    "distance": "1.09 meters",
+    "closeness rank": 14
+   },
+   "pillow": {
+    "distance": "1.18 meters",
+    "closeness rank": 15
+   },
+   "trash bin": {
+    "distance": "1.45 meters",
+    "closeness rank": 16
+   },
+   "sofa": {
+    "distance": "1.5 meters",
+    "closeness rank": 17
+   },
+   "closet": {
+    "distance": "2.18 meters",
+    "closeness rank": 18
+   },
+   "mirror": {
+    "distance": "3.44 meters",
+    "closeness rank": 19
+   },
+   "oven": {
+    "distance": "3.68 meters",
+    "closeness rank": 20
+   },
+   "microwave": {
+    "distance": "4.46 meters",
+    "closeness rank": 21
+   },
+   "refrigerator": {
+    "distance": "4.53 meters",
+    "closeness rank": 22
+   },
+   "door": {
+    "distance": "4.86 meters",
+    "closeness rank": 23
+   }
+  },
+  "nightstand": {
+   "bed": {
+    "distance": "0.2 meters",
+    "closeness rank": 1
+   },
+   "mattress": {
+    "distance": "0.22 meters",
+    "closeness rank": 2
+   },
+   "printer": {
+    "distance": "0.35 meters",
+    "closeness rank": 3
+   },
+   "pillow": {
+    "distance": "0.45 meters",
+    "closeness rank": 4
+   },
+   "table": {
+    "distance": "0.47 meters",
+    "closeness rank": 5
+   },
+   "bookshelf": {
+    "distance": "0.71 meters",
+    "closeness rank": 6
+   },
+   "monitor": {
+    "distance": "0.71 meters",
+    "closeness rank": 7
+   },
+   "tv": {
+    "distance": "0.71 meters",
+    "closeness rank": 8
+   },
+   "counter": {
+    "distance": "0.75 meters",
+    "closeness rank": 9
+   },
+   "keyboard": {
+    "distance": "0.78 meters",
+    "closeness rank": 10
+   },
+   "telephone": {
+    "distance": "0.87 meters",
+    "closeness rank": 11
+   },
+   "window": {
+    "distance": "1.07 meters",
+    "closeness rank": 12
+   },
+   "towel": {
+    "distance": "1.13 meters",
+    "closeness rank": 13
+   },
+   "backpack": {
+    "distance": "1.39 meters",
+    "closeness rank": 14
+   },
+   "chair": {
+    "distance": "1.39 meters",
+    "closeness rank": 15
+   },
+   "trash bin": {
+    "distance": "1.61 meters",
+    "closeness rank": 16
+   },
+   "sofa": {
+    "distance": "1.9 meters",
+    "closeness rank": 17
+   },
+   "closet": {
+    "distance": "2.57 meters",
+    "closeness rank": 18
+   },
+   "mirror": {
+    "distance": "3.83 meters",
+    "closeness rank": 19
+   },
+   "oven": {
+    "distance": "4.53 meters",
+    "closeness rank": 20
+   },
+   "microwave": {
+    "distance": "5.23 meters",
+    "closeness rank": 21
+   },
+   "refrigerator": {
+    "distance": "5.37 meters",
+    "closeness rank": 22
+   },
+   "door": {
+    "distance": "5.67 meters",
+    "closeness rank": 23
+   }
+  },
+  "oven": {
+   "refrigerator": {
+    "distance": "0.28 meters",
+    "closeness rank": 1
+   },
+   "door": {
+    "distance": "0.98 meters",
+    "closeness rank": 2
+   },
+   "counter": {
+    "distance": "1.07 meters",
+    "closeness rank": 3
+   },
+   "microwave": {
+    "distance": "1.36 meters",
+    "closeness rank": 4
+   },
+   "closet": {
+    "distance": "1.42 meters",
+    "closeness rank": 5
+   },
+   "towel": {
+    "distance": "1.56 meters",
+    "closeness rank": 6
+   },
+   "sofa": {
+    "distance": "2.19 meters",
+    "closeness rank": 7
+   },
+   "table": {
+    "distance": "2.91 meters",
+    "closeness rank": 8
+   },
+   "backpack": {
+    "distance": "3.08 meters",
+    "closeness rank": 9
+   },
+   "chair": {
+    "distance": "3.12 meters",
+    "closeness rank": 10
+   },
+   "bed": {
+    "distance": "3.48 meters",
+    "closeness rank": 11
+   },
+   "trash bin": {
+    "distance": "3.48 meters",
+    "closeness rank": 12
+   },
+   "mattress": {
+    "distance": "3.55 meters",
+    "closeness rank": 13
+   },
+   "keyboard": {
+    "distance": "3.62 meters",
+    "closeness rank": 14
+   },
+   "monitor": {
+    "distance": "3.68 meters",
+    "closeness rank": 15
+   },
+   "tv": {
+    "distance": "3.68 meters",
+    "closeness rank": 16
+   },
+   "mirror": {
+    "distance": "3.72 meters",
+    "closeness rank": 17
+   },
+   "printer": {
+    "distance": "4.27 meters",
+    "closeness rank": 18
+   },
+   "bookshelf": {
+    "distance": "4.52 meters",
+    "closeness rank": 19
+   },
+   "nightstand": {
+    "distance": "4.53 meters",
+    "closeness rank": 20
+   },
+   "telephone": {
+    "distance": "4.61 meters",
+    "closeness rank": 21
+   },
+   "window": {
+    "distance": "4.62 meters",
+    "closeness rank": 22
+   },
+   "pillow": {
+    "distance": "4.83 meters",
+    "closeness rank": 23
+   }
+  },
+  "pillow": {
+   "bed": {
+    "distance": "0.07 meters",
+    "closeness rank": 1
+   },
+   "mattress": {
+    "distance": "0.16 meters",
+    "closeness rank": 2
+   },
+   "nightstand": {
+    "distance": "0.45 meters",
+    "closeness rank": 3
+   },
+   "towel": {
+    "distance": "0.74 meters",
+    "closeness rank": 4
+   },
+   "printer": {
+    "distance": "0.89 meters",
+    "closeness rank": 5
+   },
+   "bookshelf": {
+    "distance": "0.95 meters",
+    "closeness rank": 6
+   },
+   "table": {
+    "distance": "1.09 meters",
+    "closeness rank": 7
+   },
+   "monitor": {
+    "distance": "1.18 meters",
+    "closeness rank": 8
+   },
+   "tv": {
+    "distance": "1.18 meters",
+    "closeness rank": 9
+   },
+   "keyboard": {
+    "distance": "1.34 meters",
+    "closeness rank": 10
+   },
+   "counter": {
+    "distance": "1.46 meters",
+    "closeness rank": 11
+   },
+   "trash bin": {
+    "distance": "1.47 meters",
+    "closeness rank": 12
+   },
+   "telephone": {
+    "distance": "1.52 meters",
+    "closeness rank": 13
+   },
+   "window": {
+    "distance": "1.7 meters",
+    "closeness rank": 14
+   },
+   "backpack": {
+    "distance": "2.03 meters",
+    "closeness rank": 15
+   },
+   "chair": {
+    "distance": "2.03 meters",
+    "closeness rank": 16
+   },
+   "closet": {
+    "distance": "2.4 meters",
+    "closeness rank": 17
+   },
+   "sofa": {
+    "distance": "2.61 meters",
+    "closeness rank": 18
+   },
+   "mirror": {
+    "distance": "3.37 meters",
+    "closeness rank": 19
+   },
+   "oven": {
+    "distance": "4.83 meters",
+    "closeness rank": 20
+   },
+   "microwave": {
+    "distance": "5.28 meters",
+    "closeness rank": 21
+   },
+   "refrigerator": {
+    "distance": "5.63 meters",
+    "closeness rank": 22
+   },
+   "door": {
+    "distance": "5.77 meters",
+    "closeness rank": 23
+   }
+  },
+  "printer": {
+   "table": {
+    "distance": "0.02 meters",
+    "closeness rank": 1
+   },
+   "monitor": {
+    "distance": "0.24 meters",
+    "closeness rank": 2
+   },
+   "tv": {
+    "distance": "0.24 meters",
+    "closeness rank": 3
+   },
+   "bookshelf": {
+    "distance": "0.29 meters",
+    "closeness rank": 4
+   },
+   "nightstand": {
+    "distance": "0.35 meters",
+    "closeness rank": 5
+   },
+   "counter": {
+    "distance": "0.38 meters",
+    "closeness rank": 6
+   },
+   "keyboard": {
+    "distance": "0.42 meters",
+    "closeness rank": 7
+   },
+   "telephone": {
+    "distance": "0.46 meters",
+    "closeness rank": 8
+   },
+   "bed": {
+    "distance": "0.66 meters",
+    "closeness rank": 9
+   },
+   "mattress": {
+    "distance": "0.66 meters",
+    "closeness rank": 10
+   },
+   "window": {
+    "distance": "0.66 meters",
+    "closeness rank": 11
+   },
+   "pillow": {
+    "distance": "0.89 meters",
+    "closeness rank": 12
+   },
+   "backpack": {
+    "distance": "0.96 meters",
+    "closeness rank": 13
+   },
+   "chair": {
+    "distance": "0.97 meters",
+    "closeness rank": 14
+   },
+   "towel": {
+    "distance": "1.3 meters",
+    "closeness rank": 15
+   },
+   "sofa": {
+    "distance": "1.5 meters",
+    "closeness rank": 16
+   },
+   "trash bin": {
+    "distance": "1.79 meters",
+    "closeness rank": 17
+   },
+   "closet": {
+    "distance": "2.68 meters",
+    "closeness rank": 18
+   },
+   "mirror": {
+    "distance": "3.9 meters",
+    "closeness rank": 19
+   },
+   "oven": {
+    "distance": "4.27 meters",
+    "closeness rank": 20
+   },
+   "microwave": {
+    "distance": "5.08 meters",
+    "closeness rank": 21
+   },
+   "refrigerator": {
+    "distance": "5.15 meters",
+    "closeness rank": 22
+   },
+   "door": {
+    "distance": "5.49 meters",
+    "closeness rank": 23
+   }
+  },
+  "refrigerator": {
+   "door": {
+    "distance": "0.2 meters",
+    "closeness rank": 1
+   },
+   "oven": {
+    "distance": "0.28 meters",
+    "closeness rank": 2
+   },
+   "microwave": {
+    "distance": "1.1 meters",
+    "closeness rank": 3
+   },
+   "closet": {
+    "distance": "1.44 meters",
+    "closeness rank": 4
+   },
+   "towel": {
+    "distance": "1.5 meters",
+    "closeness rank": 5
+   },
+   "counter": {
+    "distance": "2.03 meters",
+    "closeness rank": 6
+   },
+   "sofa": {
+    "distance": "3.14 meters",
+    "closeness rank": 7
+   },
+   "table": {
+    "distance": "3.78 meters",
+    "closeness rank": 8
+   },
+   "mirror": {
+    "distance": "3.8 meters",
+    "closeness rank": 9
+   },
+   "backpack": {
+    "distance": "4.01 meters",
+    "closeness rank": 10
+   },
+   "chair": {
+    "distance": "4.05 meters",
+    "closeness rank": 11
+   },
+   "trash bin": {
+    "distance": "4.09 meters",
+    "closeness rank": 12
+   },
+   "bed": {
+    "distance": "4.17 meters",
+    "closeness rank": 13
+   },
+   "mattress": {
+    "distance": "4.24 meters",
+    "closeness rank": 14
+   },
+   "keyboard": {
+    "distance": "4.52 meters",
+    "closeness rank": 15
+   },
+   "monitor": {
+    "distance": "4.53 meters",
+    "closeness rank": 16
+   },
+   "tv": {
+    "distance": "4.54 meters",
+    "closeness rank": 17
+   },
+   "printer": {
+    "distance": "5.15 meters",
+    "closeness rank": 18
+   },
+   "nightstand": {
+    "distance": "5.37 meters",
+    "closeness rank": 19
+   },
+   "bookshelf": {
+    "distance": "5.42 meters",
+    "closeness rank": 20
+   },
+   "telephone": {
+    "distance": "5.54 meters",
+    "closeness rank": 21
+   },
+   "window": {
+    "distance": "5.57 meters",
+    "closeness rank": 22
+   },
+   "pillow": {
+    "distance": "5.63 meters",
+    "closeness rank": 23
+   }
+  },
+  "sofa": {
+   "chair": {
+    "distance": "0.01 meters",
+    "closeness rank": 1
+   },
+   "backpack": {
+    "distance": "0.03 meters",
+    "closeness rank": 2
+   },
+   "counter": {
+    "distance": "0.6 meters",
+    "closeness rank": 3
+   },
+   "window": {
+    "distance": "0.98 meters",
+    "closeness rank": 4
+   },
+   "table": {
+    "distance": "1.09 meters",
+    "closeness rank": 5
+   },
+   "keyboard": {
+    "distance": "1.23 meters",
+    "closeness rank": 6
+   },
+   "telephone": {
+    "distance": "1.28 meters",
+    "closeness rank": 7
+   },
+   "bookshelf": {
+    "distance": "1.39 meters",
+    "closeness rank": 8
+   },
+   "monitor": {
+    "distance": "1.5 meters",
+    "closeness rank": 9
+   },
+   "printer": {
+    "distance": "1.5 meters",
+    "closeness rank": 10
+   },
+   "tv": {
+    "distance": "1.5 meters",
+    "closeness rank": 11
+   },
+   "nightstand": {
+    "distance": "1.9 meters",
+    "closeness rank": 12
+   },
+   "bed": {
+    "distance": "2.13 meters",
+    "closeness rank": 13
+   },
+   "oven": {
+    "distance": "2.19 meters",
+    "closeness rank": 14
+   },
+   "mattress": {
+    "distance": "2.25 meters",
+    "closeness rank": 15
+   },
+   "towel": {
+    "distance": "2.37 meters",
+    "closeness rank": 16
+   },
+   "trash bin": {
+    "distance": "2.44 meters",
+    "closeness rank": 17
+   },
+   "closet": {
+    "distance": "2.55 meters",
+    "closeness rank": 18
+   },
+   "pillow": {
+    "distance": "2.61 meters",
+    "closeness rank": 19
+   },
+   "refrigerator": {
+    "distance": "3.14 meters",
+    "closeness rank": 20
+   },
+   "microwave": {
+    "distance": "3.54 meters",
+    "closeness rank": 21
+   },
+   "door": {
+    "distance": "3.75 meters",
+    "closeness rank": 22
+   },
+   "mirror": {
+    "distance": "3.91 meters",
+    "closeness rank": 23
+   }
+  },
+  "table": {
+   "counter": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "printer": {
+    "distance": "0.02 meters",
+    "closeness rank": 2
+   },
+   "keyboard": {
+    "distance": "0.04 meters",
+    "closeness rank": 3
+   },
+   "tv": {
+    "distance": "0.18 meters",
+    "closeness rank": 4
+   },
+   "monitor": {
+    "distance": "0.19 meters",
+    "closeness rank": 5
+   },
+   "telephone": {
+    "distance": "0.21 meters",
+    "closeness rank": 6
+   },
+   "window": {
+    "distance": "0.4 meters",
+    "closeness rank": 7
+   },
+   "bookshelf": {
+    "distance": "0.46 meters",
+    "closeness rank": 8
+   },
+   "nightstand": {
+    "distance": "0.47 meters",
+    "closeness rank": 9
+   },
+   "backpack": {
+    "distance": "0.49 meters",
+    "closeness rank": 10
+   },
+   "bed": {
+    "distance": "0.49 meters",
+    "closeness rank": 11
+   },
+   "chair": {
+    "distance": "0.49 meters",
+    "closeness rank": 12
+   },
+   "mattress": {
+    "distance": "0.49 meters",
+    "closeness rank": 13
+   },
+   "towel": {
+    "distance": "0.6 meters",
+    "closeness rank": 14
+   },
+   "trash bin": {
+    "distance": "0.78 meters",
+    "closeness rank": 15
+   },
+   "pillow": {
+    "distance": "1.09 meters",
+    "closeness rank": 16
+   },
+   "sofa": {
+    "distance": "1.09 meters",
+    "closeness rank": 17
+   },
+   "closet": {
+    "distance": "1.41 meters",
+    "closeness rank": 18
+   },
+   "mirror": {
+    "distance": "2.76 meters",
+    "closeness rank": 19
+   },
+   "oven": {
+    "distance": "2.91 meters",
+    "closeness rank": 20
+   },
+   "microwave": {
+    "distance": "3.76 meters",
+    "closeness rank": 21
+   },
+   "refrigerator": {
+    "distance": "3.78 meters",
+    "closeness rank": 22
+   },
+   "door": {
+    "distance": "4.16 meters",
+    "closeness rank": 23
+   }
+  },
+  "telephone": {
+   "window": {
+    "distance": "0.08 meters",
+    "closeness rank": 1
+   },
+   "table": {
+    "distance": "0.21 meters",
+    "closeness rank": 2
+   },
+   "bookshelf": {
+    "distance": "0.25 meters",
+    "closeness rank": 3
+   },
+   "counter": {
+    "distance": "0.29 meters",
+    "closeness rank": 4
+   },
+   "printer": {
+    "distance": "0.46 meters",
+    "closeness rank": 5
+   },
+   "monitor": {
+    "distance": "0.82 meters",
+    "closeness rank": 6
+   },
+   "tv": {
+    "distance": "0.82 meters",
+    "closeness rank": 7
+   },
+   "keyboard": {
+    "distance": "0.87 meters",
+    "closeness rank": 8
+   },
+   "nightstand": {
+    "distance": "0.87 meters",
+    "closeness rank": 9
+   },
+   "chair": {
+    "distance": "0.96 meters",
+    "closeness rank": 10
+   },
+   "backpack": {
+    "distance": "0.97 meters",
+    "closeness rank": 11
+   },
+   "sofa": {
+    "distance": "1.28 meters",
+    "closeness rank": 12
+   },
+   "bed": {
+    "distance": "1.33 meters",
+    "closeness rank": 13
+   },
+   "mattress": {
+    "distance": "1.35 meters",
+    "closeness rank": 14
+   },
+   "pillow": {
+    "distance": "1.52 meters",
+    "closeness rank": 15
+   },
+   "towel": {
+    "distance": "2.08 meters",
+    "closeness rank": 16
+   },
+   "trash bin": {
+    "distance": "2.54 meters",
+    "closeness rank": 17
+   },
+   "closet": {
+    "distance": "3.37 meters",
+    "closeness rank": 18
+   },
+   "oven": {
+    "distance": "4.61 meters",
+    "closeness rank": 19
+   },
+   "mirror": {
+    "distance": "4.65 meters",
+    "closeness rank": 20
+   },
+   "refrigerator": {
+    "distance": "5.54 meters",
+    "closeness rank": 21
+   },
+   "microwave": {
+    "distance": "5.6 meters",
+    "closeness rank": 22
+   },
+   "door": {
+    "distance": "5.98 meters",
+    "closeness rank": 23
+   }
+  },
+  "towel": {
+   "bed": {
+    "distance": "0.01 meters",
+    "closeness rank": 1
+   },
+   "mattress": {
+    "distance": "0.01 meters",
+    "closeness rank": 2
+   },
+   "trash bin": {
+    "distance": "0.12 meters",
+    "closeness rank": 3
+   },
+   "closet": {
+    "distance": "0.15 meters",
+    "closeness rank": 4
+   },
+   "microwave": {
+    "distance": "0.44 meters",
+    "closeness rank": 5
+   },
+   "table": {
+    "distance": "0.6 meters",
+    "closeness rank": 6
+   },
+   "pillow": {
+    "distance": "0.74 meters",
+    "closeness rank": 7
+   },
+   "door": {
+    "distance": "0.96 meters",
+    "closeness rank": 8
+   },
+   "monitor": {
+    "distance": "1.09 meters",
+    "closeness rank": 9
+   },
+   "tv": {
+    "distance": "1.1 meters",
+    "closeness rank": 10
+   },
+   "nightstand": {
+    "distance": "1.13 meters",
+    "closeness rank": 11
+   },
+   "keyboard": {
+    "distance": "1.27 meters",
+    "closeness rank": 12
+   },
+   "printer": {
+    "distance": "1.3 meters",
+    "closeness rank": 13
+   },
+   "refrigerator": {
+    "distance": "1.5 meters",
+    "closeness rank": 14
+   },
+   "oven": {
+    "distance": "1.56 meters",
+    "closeness rank": 15
+   },
+   "bookshelf": {
+    "distance": "1.58 meters",
+    "closeness rank": 16
+   },
+   "counter": {
+    "distance": "1.85 meters",
+    "closeness rank": 17
+   },
+   "backpack": {
+    "distance": "1.86 meters",
+    "closeness rank": 18
+   },
+   "chair": {
+    "distance": "1.86 meters",
+    "closeness rank": 19
+   },
+   "mirror": {
+    "distance": "2.08 meters",
+    "closeness rank": 20
+   },
+   "telephone": {
+    "distance": "2.08 meters",
+    "closeness rank": 21
+   },
+   "window": {
+    "distance": "2.28 meters",
+    "closeness rank": 22
+   },
+   "sofa": {
+    "distance": "2.37 meters",
+    "closeness rank": 23
+   }
+  },
+  "trash bin": {
+   "towel": {
+    "distance": "0.12 meters",
+    "closeness rank": 1
+   },
+   "mattress": {
+    "distance": "0.18 meters",
+    "closeness rank": 2
+   },
+   "bed": {
+    "distance": "0.19 meters",
+    "closeness rank": 3
+   },
+   "closet": {
+    "distance": "0.67 meters",
+    "closeness rank": 4
+   },
+   "table": {
+    "distance": "0.78 meters",
+    "closeness rank": 5
+   },
+   "monitor": {
+    "distance": "1.45 meters",
+    "closeness rank": 6
+   },
+   "tv": {
+    "distance": "1.46 meters",
+    "closeness rank": 7
+   },
+   "pillow": {
+    "distance": "1.47 meters",
+    "closeness rank": 8
+   },
+   "keyboard": {
+    "distance": "1.6 meters",
+    "closeness rank": 9
+   },
+   "nightstand": {
+    "distance": "1.61 meters",
+    "closeness rank": 10
+   },
+   "printer": {
+    "distance": "1.79 meters",
+    "closeness rank": 11
+   },
+   "mirror": {
+    "distance": "1.84 meters",
+    "closeness rank": 12
+   },
+   "backpack": {
+    "distance": "2.08 meters",
+    "closeness rank": 13
+   },
+   "chair": {
+    "distance": "2.09 meters",
+    "closeness rank": 14
+   },
+   "counter": {
+    "distance": "2.12 meters",
+    "closeness rank": 15
+   },
+   "bookshelf": {
+    "distance": "2.15 meters",
+    "closeness rank": 16
+   },
+   "sofa": {
+    "distance": "2.44 meters",
+    "closeness rank": 17
+   },
+   "telephone": {
+    "distance": "2.54 meters",
+    "closeness rank": 18
+   },
+   "window": {
+    "distance": "2.74 meters",
+    "closeness rank": 19
+   },
+   "oven": {
+    "distance": "3.48 meters",
+    "closeness rank": 20
+   },
+   "microwave": {
+    "distance": "3.53 meters",
+    "closeness rank": 21
+   },
+   "door": {
+    "distance": "4.05 meters",
+    "closeness rank": 22
+   },
+   "refrigerator": {
+    "distance": "4.09 meters",
+    "closeness rank": 23
+   }
+  },
+  "tv": {
+   "monitor": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "table": {
+    "distance": "0.18 meters",
+    "closeness rank": 2
+   },
+   "keyboard": {
+    "distance": "0.23 meters",
+    "closeness rank": 3
+   },
+   "printer": {
+    "distance": "0.24 meters",
+    "closeness rank": 4
+   },
+   "bookshelf": {
+    "distance": "0.57 meters",
+    "closeness rank": 5
+   },
+   "counter": {
+    "distance": "0.63 meters",
+    "closeness rank": 6
+   },
+   "nightstand": {
+    "distance": "0.71 meters",
+    "closeness rank": 7
+   },
+   "telephone": {
+    "distance": "0.82 meters",
+    "closeness rank": 8
+   },
+   "backpack": {
+    "distance": "0.86 meters",
+    "closeness rank": 9
+   },
+   "chair": {
+    "distance": "0.86 meters",
+    "closeness rank": 10
+   },
+   "bed": {
+    "distance": "0.89 meters",
+    "closeness rank": 11
+   },
+   "mattress": {
+    "distance": "0.89 meters",
+    "closeness rank": 12
+   },
+   "window": {
+    "distance": "1.02 meters",
+    "closeness rank": 13
+   },
+   "towel": {
+    "distance": "1.1 meters",
+    "closeness rank": 14
+   },
+   "pillow": {
+    "distance": "1.18 meters",
+    "closeness rank": 15
+   },
+   "trash bin": {
+    "distance": "1.46 meters",
+    "closeness rank": 16
+   },
+   "sofa": {
+    "distance": "1.5 meters",
+    "closeness rank": 17
+   },
+   "closet": {
+    "distance": "2.18 meters",
+    "closeness rank": 18
+   },
+   "mirror": {
+    "distance": "3.45 meters",
+    "closeness rank": 19
+   },
+   "oven": {
+    "distance": "3.68 meters",
+    "closeness rank": 20
+   },
+   "microwave": {
+    "distance": "4.46 meters",
+    "closeness rank": 21
+   },
+   "refrigerator": {
+    "distance": "4.54 meters",
+    "closeness rank": 22
+   },
+   "door": {
+    "distance": "4.86 meters",
+    "closeness rank": 23
+   }
+  },
+  "window": {
+   "telephone": {
+    "distance": "0.08 meters",
+    "closeness rank": 1
+   },
+   "bookshelf": {
+    "distance": "0.16 meters",
+    "closeness rank": 2
+   },
+   "table": {
+    "distance": "0.4 meters",
+    "closeness rank": 3
+   },
+   "counter": {
+    "distance": "0.47 meters",
+    "closeness rank": 4
+   },
+   "printer": {
+    "distance": "0.66 meters",
+    "closeness rank": 5
+   },
+   "backpack": {
+    "distance": "0.95 meters",
+    "closeness rank": 6
+   },
+   "chair": {
+    "distance": "0.95 meters",
+    "closeness rank": 7
+   },
+   "sofa": {
+    "distance": "0.98 meters",
+    "closeness rank": 8
+   },
+   "monitor": {
+    "distance": "1.02 meters",
+    "closeness rank": 9
+   },
+   "tv": {
+    "distance": "1.02 meters",
+    "closeness rank": 10
+   },
+   "keyboard": {
+    "distance": "1.05 meters",
+    "closeness rank": 11
+   },
+   "nightstand": {
+    "distance": "1.07 meters",
+    "closeness rank": 12
+   },
+   "bed": {
+    "distance": "1.54 meters",
+    "closeness rank": 13
+   },
+   "mattress": {
+    "distance": "1.55 meters",
+    "closeness rank": 14
+   },
+   "pillow": {
+    "distance": "1.7 meters",
+    "closeness rank": 15
+   },
+   "towel": {
+    "distance": "2.28 meters",
+    "closeness rank": 16
+   },
+   "trash bin": {
+    "distance": "2.74 meters",
+    "closeness rank": 17
+   },
+   "closet": {
+    "distance": "3.57 meters",
+    "closeness rank": 18
+   },
+   "oven": {
+    "distance": "4.62 meters",
+    "closeness rank": 19
+   },
+   "mirror": {
+    "distance": "4.84 meters",
+    "closeness rank": 20
+   },
+   "refrigerator": {
+    "distance": "5.57 meters",
+    "closeness rank": 21
+   },
+   "microwave": {
+    "distance": "5.75 meters",
+    "closeness rank": 22
+   },
+   "door": {
+    "distance": "6.11 meters",
+    "closeness rank": 23
+   }
+  }
+ },
+ "appearance order": ["bed", "mattress", "pillow", "trash bin", "monitor", "tv", "window", "keyboard", "table", "printer", "telephone", "bookshelf", "backpack", "chair", "sofa", "nightstand", "door", "closet", "counter", "refrigerator", "towel", "oven", "mirror", "microwave"]
+}
\ No newline at end of file
diff --git a/data/spatial codes/sam3+depth-anything-3/metric/tracking/uniform/96/explicit/scene0221_01.json b/data/spatial codes/sam3+depth-anything-3/metric/tracking/uniform/96/explicit/scene0221_01.json
new file mode 100644
index 0000000000000000000000000000000000000000..4ff79bdf5c3557499194cb9c1d8887ac964d8344
--- /dev/null
+++ b/data/spatial codes/sam3+depth-anything-3/metric/tracking/uniform/96/explicit/scene0221_01.json	
@@ -0,0 +1,1942 @@
+{
+ "objects": {
+  "bed": {
+   "count": 2,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-0.78 meters",
+      "y coordinate": "0.5 meters",
+      "height above floor": "-0.1 meters"
+     },
+     "longest dimension": "1.35 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-2.72 meters",
+      "y coordinate": "1.45 meters",
+      "height above floor": "-0.53 meters"
+     },
+     "longest dimension": "1.77 meters"
+    }
+   ]
+  },
+  "chair": {
+   "count": 2,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-0.99 meters",
+      "y coordinate": "-1.0 meters",
+      "height above floor": "0.14 meters"
+     },
+     "longest dimension": "0.72 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "0.43 meters",
+      "y coordinate": "-1.1 meters",
+      "height above floor": "0.33 meters"
+     },
+     "longest dimension": "0.78 meters"
+    }
+   ]
+  },
+  "clock": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-5.46 meters",
+      "y coordinate": "0.63 meters",
+      "height above floor": "-0.08 meters"
+     },
+     "longest dimension": "0.22 meters"
+    }
+   ]
+  },
+  "counter": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-4.1 meters",
+      "y coordinate": "1.69 meters",
+      "height above floor": "-0.52 meters"
+     },
+     "longest dimension": "0.76 meters"
+    }
+   ]
+  },
+  "door": {
+   "count": 2,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-6.3 meters",
+      "y coordinate": "1.61 meters",
+      "height above floor": "-0.73 meters"
+     },
+     "longest dimension": "1.74 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-3.96 meters",
+      "y coordinate": "-0.34 meters",
+      "height above floor": "-0.33 meters"
+     },
+     "longest dimension": "0.95 meters"
+    }
+   ]
+  },
+  "keyboard": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-2.51 meters",
+      "y coordinate": "1.26 meters",
+      "height above floor": "-0.46 meters"
+     },
+     "longest dimension": "0.21 meters"
+    }
+   ]
+  },
+  "lamp": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-1.41 meters",
+      "y coordinate": "2.08 meters",
+      "height above floor": "-0.02 meters"
+     },
+     "longest dimension": "0.75 meters"
+    }
+   ]
+  },
+  "mattress": {
+   "count": 3,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-0.77 meters",
+      "y coordinate": "0.5 meters",
+      "height above floor": "-0.1 meters"
+     },
+     "longest dimension": "1.34 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-2.74 meters",
+      "y coordinate": "1.36 meters",
+      "height above floor": "-0.5 meters"
+     },
+     "longest dimension": "1.33 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-2.07 meters",
+      "y coordinate": "0.66 meters",
+      "height above floor": "-0.46 meters"
+     },
+     "longest dimension": "1.18 meters"
+    }
+   ]
+  },
+  "microwave": {
+   "count": 2,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-4.35 meters",
+      "y coordinate": "1.86 meters",
+      "height above floor": "-0.48 meters"
+     },
+     "longest dimension": "0.24 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-4.0 meters",
+      "y coordinate": "2.51 meters",
+      "height above floor": "-0.45 meters"
+     },
+     "longest dimension": "0.41 meters"
+    }
+   ]
+  },
+  "mirror": {
+   "count": 2,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-4.63 meters",
+      "y coordinate": "2.31 meters",
+      "height above floor": "0.08 meters"
+     },
+     "longest dimension": "1.44 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-2.16 meters",
+      "y coordinate": "-0.8 meters",
+      "height above floor": "0.55 meters"
+     },
+     "longest dimension": "0.75 meters"
+    }
+   ]
+  },
+  "nightstand": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-1.3 meters",
+      "y coordinate": "1.79 meters",
+      "height above floor": "-0.54 meters"
+     },
+     "longest dimension": "0.66 meters"
+    }
+   ]
+  },
+  "pillow": {
+   "count": 6,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-0.27 meters",
+      "y coordinate": "1.49 meters",
+      "height above floor": "0.09 meters"
+     },
+     "longest dimension": "0.51 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-2.41 meters",
+      "y coordinate": "2.05 meters",
+      "height above floor": "-0.36 meters"
+     },
+     "longest dimension": "0.53 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "0.08 meters",
+      "y coordinate": "1.57 meters",
+      "height above floor": "0.16 meters"
+     },
+     "longest dimension": "0.4 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-0.84 meters",
+      "y coordinate": "1.85 meters",
+      "height above floor": "-0.01 meters"
+     },
+     "longest dimension": "0.45 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-2.7 meters",
+      "y coordinate": "2.36 meters",
+      "height above floor": "-0.38 meters"
+     },
+     "longest dimension": "0.53 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-1.87 meters",
+      "y coordinate": "2.11 meters",
+      "height above floor": "-0.27 meters"
+     },
+     "longest dimension": "0.38 meters"
+    }
+   ]
+  },
+  "printer": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-4.0 meters",
+      "y coordinate": "2.51 meters",
+      "height above floor": "-0.45 meters"
+     },
+     "longest dimension": "0.4 meters"
+    }
+   ]
+  },
+  "radiator": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "1.49 meters",
+      "y coordinate": "0.79 meters",
+      "height above floor": "0.15 meters"
+     },
+     "longest dimension": "0.76 meters"
+    }
+   ]
+  },
+  "sofa": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-1.97 meters",
+      "y coordinate": "1.19 meters",
+      "height above floor": "-0.4 meters"
+     },
+     "longest dimension": "0.71 meters"
+    }
+   ]
+  },
+  "table": {
+   "count": 2,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-0.12 meters",
+      "y coordinate": "-0.97 meters",
+      "height above floor": "0.23 meters"
+     },
+     "longest dimension": "0.7 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-2.07 meters",
+      "y coordinate": "0.67 meters",
+      "height above floor": "-0.46 meters"
+     },
+     "longest dimension": "1.23 meters"
+    }
+   ]
+  },
+  "telephone": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-2.5 meters",
+      "y coordinate": "1.25 meters",
+      "height above floor": "-0.43 meters"
+     },
+     "longest dimension": "0.4 meters"
+    }
+   ]
+  },
+  "towel": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-5.47 meters",
+      "y coordinate": "0.63 meters",
+      "height above floor": "-0.1 meters"
+     },
+     "longest dimension": "0.17 meters"
+    }
+   ]
+  },
+  "trash bin": {
+   "count": 2,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-4.33 meters",
+      "y coordinate": "1.42 meters",
+      "height above floor": "-1.15 meters"
+     },
+     "longest dimension": "0.27 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-2.83 meters",
+      "y coordinate": "0.03 meters",
+      "height above floor": "-0.72 meters"
+     },
+     "longest dimension": "0.32 meters"
+    }
+   ]
+  },
+  "tv": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-1.78 meters",
+      "y coordinate": "-0.62 meters",
+      "height above floor": "0.13 meters"
+     },
+     "longest dimension": "0.77 meters"
+    }
+   ]
+  }
+ },
+ "room": {
+  "floor area": "23.9 square meters"
+ },
+ "closest classes distance meters from": {
+  "bed": {
+   "mattress": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "pillow": {
+    "distance": "0.02 meters",
+    "closeness rank": 2
+   },
+   "nightstand": {
+    "distance": "0.16 meters",
+    "closeness rank": 3
+   },
+   "sofa": {
+    "distance": "0.18 meters",
+    "closeness rank": 4
+   },
+   "lamp": {
+    "distance": "0.6 meters",
+    "closeness rank": 5
+   },
+   "chair": {
+    "distance": "0.61 meters",
+    "closeness rank": 6
+   },
+   "table": {
+    "distance": "0.74 meters",
+    "closeness rank": 7
+   },
+   "counter": {
+    "distance": "0.77 meters",
+    "closeness rank": 8
+   },
+   "tv": {
+    "distance": "0.86 meters",
+    "closeness rank": 9
+   },
+   "mirror": {
+    "distance": "1.14 meters",
+    "closeness rank": 10
+   },
+   "radiator": {
+    "distance": "1.26 meters",
+    "closeness rank": 11
+   },
+   "telephone": {
+    "distance": "1.26 meters",
+    "closeness rank": 12
+   },
+   "keyboard": {
+    "distance": "1.31 meters",
+    "closeness rank": 13
+   },
+   "printer": {
+    "distance": "3.13 meters",
+    "closeness rank": 14
+   },
+   "trash bin": {
+    "distance": "3.13 meters",
+    "closeness rank": 15
+   },
+   "microwave": {
+    "distance": "3.22 meters",
+    "closeness rank": 16
+   },
+   "clock": {
+    "distance": "4.2 meters",
+    "closeness rank": 17
+   },
+   "towel": {
+    "distance": "4.21 meters",
+    "closeness rank": 18
+   },
+   "door": {
+    "distance": "5.11 meters",
+    "closeness rank": 19
+   }
+  },
+  "chair": {
+   "mirror": {
+    "distance": "0.08 meters",
+    "closeness rank": 1
+   },
+   "counter": {
+    "distance": "0.13 meters",
+    "closeness rank": 2
+   },
+   "tv": {
+    "distance": "0.2 meters",
+    "closeness rank": 3
+   },
+   "table": {
+    "distance": "0.22 meters",
+    "closeness rank": 4
+   },
+   "bed": {
+    "distance": "0.61 meters",
+    "closeness rank": 5
+   },
+   "mattress": {
+    "distance": "0.61 meters",
+    "closeness rank": 6
+   },
+   "sofa": {
+    "distance": "1.5 meters",
+    "closeness rank": 7
+   },
+   "pillow": {
+    "distance": "1.98 meters",
+    "closeness rank": 8
+   },
+   "nightstand": {
+    "distance": "2.06 meters",
+    "closeness rank": 9
+   },
+   "telephone": {
+    "distance": "2.29 meters",
+    "closeness rank": 10
+   },
+   "radiator": {
+    "distance": "2.31 meters",
+    "closeness rank": 11
+   },
+   "keyboard": {
+    "distance": "2.33 meters",
+    "closeness rank": 12
+   },
+   "lamp": {
+    "distance": "2.36 meters",
+    "closeness rank": 13
+   },
+   "trash bin": {
+    "distance": "3.8 meters",
+    "closeness rank": 14
+   },
+   "microwave": {
+    "distance": "3.99 meters",
+    "closeness rank": 15
+   },
+   "printer": {
+    "distance": "4.18 meters",
+    "closeness rank": 16
+   },
+   "clock": {
+    "distance": "4.39 meters",
+    "closeness rank": 17
+   },
+   "towel": {
+    "distance": "4.39 meters",
+    "closeness rank": 18
+   },
+   "door": {
+    "distance": "5.59 meters",
+    "closeness rank": 19
+   }
+  },
+  "clock": {
+   "towel": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "door": {
+    "distance": "1.11 meters",
+    "closeness rank": 2
+   },
+   "mirror": {
+    "distance": "1.2 meters",
+    "closeness rank": 3
+   },
+   "counter": {
+    "distance": "1.43 meters",
+    "closeness rank": 4
+   },
+   "trash bin": {
+    "distance": "1.55 meters",
+    "closeness rank": 5
+   },
+   "microwave": {
+    "distance": "1.59 meters",
+    "closeness rank": 6
+   },
+   "printer": {
+    "distance": "2.24 meters",
+    "closeness rank": 7
+   },
+   "telephone": {
+    "distance": "2.84 meters",
+    "closeness rank": 8
+   },
+   "keyboard": {
+    "distance": "2.95 meters",
+    "closeness rank": 9
+   },
+   "sofa": {
+    "distance": "3.36 meters",
+    "closeness rank": 10
+   },
+   "tv": {
+    "distance": "3.48 meters",
+    "closeness rank": 11
+   },
+   "nightstand": {
+    "distance": "3.76 meters",
+    "closeness rank": 12
+   },
+   "lamp": {
+    "distance": "4.15 meters",
+    "closeness rank": 13
+   },
+   "bed": {
+    "distance": "4.2 meters",
+    "closeness rank": 14
+   },
+   "mattress": {
+    "distance": "4.23 meters",
+    "closeness rank": 15
+   },
+   "chair": {
+    "distance": "4.39 meters",
+    "closeness rank": 16
+   },
+   "pillow": {
+    "distance": "4.9 meters",
+    "closeness rank": 17
+   },
+   "table": {
+    "distance": "5.13 meters",
+    "closeness rank": 18
+   },
+   "radiator": {
+    "distance": "6.82 meters",
+    "closeness rank": 19
+   }
+  },
+  "counter": {
+   "tv": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "mirror": {
+    "distance": "0.06 meters",
+    "closeness rank": 2
+   },
+   "microwave": {
+    "distance": "0.12 meters",
+    "closeness rank": 3
+   },
+   "chair": {
+    "distance": "0.13 meters",
+    "closeness rank": 4
+   },
+   "trash bin": {
+    "distance": "0.49 meters",
+    "closeness rank": 5
+   },
+   "mattress": {
+    "distance": "0.75 meters",
+    "closeness rank": 6
+   },
+   "bed": {
+    "distance": "0.77 meters",
+    "closeness rank": 7
+   },
+   "printer": {
+    "distance": "0.8 meters",
+    "closeness rank": 8
+   },
+   "table": {
+    "distance": "0.85 meters",
+    "closeness rank": 9
+   },
+   "sofa": {
+    "distance": "1.16 meters",
+    "closeness rank": 10
+   },
+   "telephone": {
+    "distance": "1.22 meters",
+    "closeness rank": 11
+   },
+   "keyboard": {
+    "distance": "1.31 meters",
+    "closeness rank": 12
+   },
+   "clock": {
+    "distance": "1.43 meters",
+    "closeness rank": 13
+   },
+   "towel": {
+    "distance": "1.43 meters",
+    "closeness rank": 14
+   },
+   "door": {
+    "distance": "1.84 meters",
+    "closeness rank": 15
+   },
+   "nightstand": {
+    "distance": "2.04 meters",
+    "closeness rank": 16
+   },
+   "pillow": {
+    "distance": "2.08 meters",
+    "closeness rank": 17
+   },
+   "lamp": {
+    "distance": "2.23 meters",
+    "closeness rank": 18
+   },
+   "radiator": {
+    "distance": "2.86 meters",
+    "closeness rank": 19
+   }
+  },
+  "door": {
+   "clock": {
+    "distance": "1.11 meters",
+    "closeness rank": 1
+   },
+   "towel": {
+    "distance": "1.14 meters",
+    "closeness rank": 2
+   },
+   "mirror": {
+    "distance": "1.46 meters",
+    "closeness rank": 3
+   },
+   "trash bin": {
+    "distance": "1.67 meters",
+    "closeness rank": 4
+   },
+   "microwave": {
+    "distance": "1.73 meters",
+    "closeness rank": 5
+   },
+   "counter": {
+    "distance": "1.84 meters",
+    "closeness rank": 6
+   },
+   "printer": {
+    "distance": "2.13 meters",
+    "closeness rank": 7
+   },
+   "telephone": {
+    "distance": "3.52 meters",
+    "closeness rank": 8
+   },
+   "keyboard": {
+    "distance": "3.66 meters",
+    "closeness rank": 9
+   },
+   "sofa": {
+    "distance": "4.11 meters",
+    "closeness rank": 10
+   },
+   "nightstand": {
+    "distance": "4.24 meters",
+    "closeness rank": 11
+   },
+   "lamp": {
+    "distance": "4.68 meters",
+    "closeness rank": 12
+   },
+   "tv": {
+    "distance": "4.71 meters",
+    "closeness rank": 13
+   },
+   "bed": {
+    "distance": "5.11 meters",
+    "closeness rank": 14
+   },
+   "mattress": {
+    "distance": "5.13 meters",
+    "closeness rank": 15
+   },
+   "chair": {
+    "distance": "5.59 meters",
+    "closeness rank": 16
+   },
+   "pillow": {
+    "distance": "5.6 meters",
+    "closeness rank": 17
+   },
+   "table": {
+    "distance": "6.3 meters",
+    "closeness rank": 18
+   },
+   "radiator": {
+    "distance": "7.73 meters",
+    "closeness rank": 19
+   }
+  },
+  "keyboard": {
+   "telephone": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "sofa": {
+    "distance": "0.29 meters",
+    "closeness rank": 2
+   },
+   "nightstand": {
+    "distance": "0.77 meters",
+    "closeness rank": 3
+   },
+   "lamp": {
+    "distance": "1.18 meters",
+    "closeness rank": 4
+   },
+   "bed": {
+    "distance": "1.31 meters",
+    "closeness rank": 5
+   },
+   "counter": {
+    "distance": "1.31 meters",
+    "closeness rank": 6
+   },
+   "mattress": {
+    "distance": "1.32 meters",
+    "closeness rank": 7
+   },
+   "trash bin": {
+    "distance": "1.7 meters",
+    "closeness rank": 8
+   },
+   "microwave": {
+    "distance": "1.75 meters",
+    "closeness rank": 9
+   },
+   "printer": {
+    "distance": "1.78 meters",
+    "closeness rank": 10
+   },
+   "pillow": {
+    "distance": "1.83 meters",
+    "closeness rank": 11
+   },
+   "tv": {
+    "distance": "1.93 meters",
+    "closeness rank": 12
+   },
+   "mirror": {
+    "distance": "2.01 meters",
+    "closeness rank": 13
+   },
+   "chair": {
+    "distance": "2.33 meters",
+    "closeness rank": 14
+   },
+   "table": {
+    "distance": "2.9 meters",
+    "closeness rank": 15
+   },
+   "clock": {
+    "distance": "2.95 meters",
+    "closeness rank": 16
+   },
+   "towel": {
+    "distance": "2.95 meters",
+    "closeness rank": 17
+   },
+   "door": {
+    "distance": "3.66 meters",
+    "closeness rank": 18
+   },
+   "radiator": {
+    "distance": "3.89 meters",
+    "closeness rank": 19
+   }
+  },
+  "lamp": {
+   "nightstand": {
+    "distance": "0.01 meters",
+    "closeness rank": 1
+   },
+   "mattress": {
+    "distance": "0.53 meters",
+    "closeness rank": 2
+   },
+   "bed": {
+    "distance": "0.6 meters",
+    "closeness rank": 3
+   },
+   "pillow": {
+    "distance": "0.64 meters",
+    "closeness rank": 4
+   },
+   "sofa": {
+    "distance": "0.7 meters",
+    "closeness rank": 5
+   },
+   "telephone": {
+    "distance": "1.13 meters",
+    "closeness rank": 6
+   },
+   "keyboard": {
+    "distance": "1.18 meters",
+    "closeness rank": 7
+   },
+   "counter": {
+    "distance": "2.23 meters",
+    "closeness rank": 8
+   },
+   "printer": {
+    "distance": "2.34 meters",
+    "closeness rank": 9
+   },
+   "chair": {
+    "distance": "2.36 meters",
+    "closeness rank": 10
+   },
+   "tv": {
+    "distance": "2.38 meters",
+    "closeness rank": 11
+   },
+   "microwave": {
+    "distance": "2.68 meters",
+    "closeness rank": 12
+   },
+   "mirror": {
+    "distance": "2.68 meters",
+    "closeness rank": 13
+   },
+   "table": {
+    "distance": "2.7 meters",
+    "closeness rank": 14
+   },
+   "radiator": {
+    "distance": "2.83 meters",
+    "closeness rank": 15
+   },
+   "trash bin": {
+    "distance": "2.85 meters",
+    "closeness rank": 16
+   },
+   "clock": {
+    "distance": "4.15 meters",
+    "closeness rank": 17
+   },
+   "towel": {
+    "distance": "4.15 meters",
+    "closeness rank": 18
+   },
+   "door": {
+    "distance": "4.68 meters",
+    "closeness rank": 19
+   }
+  },
+  "mattress": {
+   "bed": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "pillow": {
+    "distance": "0.01 meters",
+    "closeness rank": 2
+   },
+   "nightstand": {
+    "distance": "0.11 meters",
+    "closeness rank": 3
+   },
+   "sofa": {
+    "distance": "0.19 meters",
+    "closeness rank": 4
+   },
+   "lamp": {
+    "distance": "0.53 meters",
+    "closeness rank": 5
+   },
+   "chair": {
+    "distance": "0.61 meters",
+    "closeness rank": 6
+   },
+   "table": {
+    "distance": "0.71 meters",
+    "closeness rank": 7
+   },
+   "counter": {
+    "distance": "0.75 meters",
+    "closeness rank": 8
+   },
+   "tv": {
+    "distance": "0.85 meters",
+    "closeness rank": 9
+   },
+   "mirror": {
+    "distance": "1.14 meters",
+    "closeness rank": 10
+   },
+   "radiator": {
+    "distance": "1.26 meters",
+    "closeness rank": 11
+   },
+   "telephone": {
+    "distance": "1.28 meters",
+    "closeness rank": 12
+   },
+   "keyboard": {
+    "distance": "1.32 meters",
+    "closeness rank": 13
+   },
+   "printer": {
+    "distance": "3.09 meters",
+    "closeness rank": 14
+   },
+   "trash bin": {
+    "distance": "3.14 meters",
+    "closeness rank": 15
+   },
+   "microwave": {
+    "distance": "3.23 meters",
+    "closeness rank": 16
+   },
+   "clock": {
+    "distance": "4.23 meters",
+    "closeness rank": 17
+   },
+   "towel": {
+    "distance": "4.24 meters",
+    "closeness rank": 18
+   },
+   "door": {
+    "distance": "5.13 meters",
+    "closeness rank": 19
+   }
+  },
+  "microwave": {
+   "mirror": {
+    "distance": "0.05 meters",
+    "closeness rank": 1
+   },
+   "counter": {
+    "distance": "0.12 meters",
+    "closeness rank": 2
+   },
+   "printer": {
+    "distance": "0.44 meters",
+    "closeness rank": 3
+   },
+   "trash bin": {
+    "distance": "0.58 meters",
+    "closeness rank": 4
+   },
+   "clock": {
+    "distance": "1.59 meters",
+    "closeness rank": 5
+   },
+   "towel": {
+    "distance": "1.59 meters",
+    "closeness rank": 6
+   },
+   "telephone": {
+    "distance": "1.62 meters",
+    "closeness rank": 7
+   },
+   "door": {
+    "distance": "1.73 meters",
+    "closeness rank": 8
+   },
+   "keyboard": {
+    "distance": "1.75 meters",
+    "closeness rank": 9
+   },
+   "sofa": {
+    "distance": "2.21 meters",
+    "closeness rank": 10
+   },
+   "nightstand": {
+    "distance": "2.27 meters",
+    "closeness rank": 11
+   },
+   "lamp": {
+    "distance": "2.68 meters",
+    "closeness rank": 12
+   },
+   "bed": {
+    "distance": "3.22 meters",
+    "closeness rank": 13
+   },
+   "mattress": {
+    "distance": "3.23 meters",
+    "closeness rank": 14
+   },
+   "tv": {
+    "distance": "3.26 meters",
+    "closeness rank": 15
+   },
+   "pillow": {
+    "distance": "3.62 meters",
+    "closeness rank": 16
+   },
+   "chair": {
+    "distance": "3.99 meters",
+    "closeness rank": 17
+   },
+   "table": {
+    "distance": "4.63 meters",
+    "closeness rank": 18
+   },
+   "radiator": {
+    "distance": "5.8 meters",
+    "closeness rank": 19
+   }
+  },
+  "mirror": {
+   "microwave": {
+    "distance": "0.05 meters",
+    "closeness rank": 1
+   },
+   "counter": {
+    "distance": "0.06 meters",
+    "closeness rank": 2
+   },
+   "chair": {
+    "distance": "0.08 meters",
+    "closeness rank": 3
+   },
+   "tv": {
+    "distance": "0.11 meters",
+    "closeness rank": 4
+   },
+   "printer": {
+    "distance": "0.14 meters",
+    "closeness rank": 5
+   },
+   "table": {
+    "distance": "0.61 meters",
+    "closeness rank": 6
+   },
+   "trash bin": {
+    "distance": "0.7 meters",
+    "closeness rank": 7
+   },
+   "bed": {
+    "distance": "1.14 meters",
+    "closeness rank": 8
+   },
+   "mattress": {
+    "distance": "1.14 meters",
+    "closeness rank": 9
+   },
+   "clock": {
+    "distance": "1.2 meters",
+    "closeness rank": 10
+   },
+   "towel": {
+    "distance": "1.2 meters",
+    "closeness rank": 11
+   },
+   "door": {
+    "distance": "1.46 meters",
+    "closeness rank": 12
+   },
+   "sofa": {
+    "distance": "1.73 meters",
+    "closeness rank": 13
+   },
+   "telephone": {
+    "distance": "1.87 meters",
+    "closeness rank": 14
+   },
+   "keyboard": {
+    "distance": "2.01 meters",
+    "closeness rank": 15
+   },
+   "nightstand": {
+    "distance": "2.42 meters",
+    "closeness rank": 16
+   },
+   "pillow": {
+    "distance": "2.49 meters",
+    "closeness rank": 17
+   },
+   "lamp": {
+    "distance": "2.68 meters",
+    "closeness rank": 18
+   },
+   "radiator": {
+    "distance": "2.94 meters",
+    "closeness rank": 19
+   }
+  },
+  "nightstand": {
+   "lamp": {
+    "distance": "0.01 meters",
+    "closeness rank": 1
+   },
+   "mattress": {
+    "distance": "0.11 meters",
+    "closeness rank": 2
+   },
+   "pillow": {
+    "distance": "0.13 meters",
+    "closeness rank": 3
+   },
+   "bed": {
+    "distance": "0.16 meters",
+    "closeness rank": 4
+   },
+   "sofa": {
+    "distance": "0.39 meters",
+    "closeness rank": 5
+   },
+   "telephone": {
+    "distance": "0.7 meters",
+    "closeness rank": 6
+   },
+   "keyboard": {
+    "distance": "0.77 meters",
+    "closeness rank": 7
+   },
+   "printer": {
+    "distance": "1.97 meters",
+    "closeness rank": 8
+   },
+   "counter": {
+    "distance": "2.04 meters",
+    "closeness rank": 9
+   },
+   "chair": {
+    "distance": "2.06 meters",
+    "closeness rank": 10
+   },
+   "tv": {
+    "distance": "2.19 meters",
+    "closeness rank": 11
+   },
+   "microwave": {
+    "distance": "2.27 meters",
+    "closeness rank": 12
+   },
+   "table": {
+    "distance": "2.29 meters",
+    "closeness rank": 13
+   },
+   "radiator": {
+    "distance": "2.31 meters",
+    "closeness rank": 14
+   },
+   "trash bin": {
+    "distance": "2.37 meters",
+    "closeness rank": 15
+   },
+   "mirror": {
+    "distance": "2.42 meters",
+    "closeness rank": 16
+   },
+   "clock": {
+    "distance": "3.76 meters",
+    "closeness rank": 17
+   },
+   "towel": {
+    "distance": "3.76 meters",
+    "closeness rank": 18
+   },
+   "door": {
+    "distance": "4.24 meters",
+    "closeness rank": 19
+   }
+  },
+  "pillow": {
+   "mattress": {
+    "distance": "0.01 meters",
+    "closeness rank": 1
+   },
+   "bed": {
+    "distance": "0.02 meters",
+    "closeness rank": 2
+   },
+   "nightstand": {
+    "distance": "0.13 meters",
+    "closeness rank": 3
+   },
+   "lamp": {
+    "distance": "0.64 meters",
+    "closeness rank": 4
+   },
+   "sofa": {
+    "distance": "0.91 meters",
+    "closeness rank": 5
+   },
+   "radiator": {
+    "distance": "1.67 meters",
+    "closeness rank": 6
+   },
+   "telephone": {
+    "distance": "1.78 meters",
+    "closeness rank": 7
+   },
+   "keyboard": {
+    "distance": "1.83 meters",
+    "closeness rank": 8
+   },
+   "chair": {
+    "distance": "1.98 meters",
+    "closeness rank": 9
+   },
+   "table": {
+    "distance": "2.03 meters",
+    "closeness rank": 10
+   },
+   "counter": {
+    "distance": "2.08 meters",
+    "closeness rank": 11
+   },
+   "tv": {
+    "distance": "2.16 meters",
+    "closeness rank": 12
+   },
+   "mirror": {
+    "distance": "2.49 meters",
+    "closeness rank": 13
+   },
+   "printer": {
+    "distance": "3.34 meters",
+    "closeness rank": 14
+   },
+   "microwave": {
+    "distance": "3.62 meters",
+    "closeness rank": 15
+   },
+   "trash bin": {
+    "distance": "3.68 meters",
+    "closeness rank": 16
+   },
+   "clock": {
+    "distance": "4.9 meters",
+    "closeness rank": 17
+   },
+   "towel": {
+    "distance": "4.91 meters",
+    "closeness rank": 18
+   },
+   "door": {
+    "distance": "5.6 meters",
+    "closeness rank": 19
+   }
+  },
+  "printer": {
+   "mirror": {
+    "distance": "0.14 meters",
+    "closeness rank": 1
+   },
+   "microwave": {
+    "distance": "0.44 meters",
+    "closeness rank": 2
+   },
+   "counter": {
+    "distance": "0.8 meters",
+    "closeness rank": 3
+   },
+   "trash bin": {
+    "distance": "1.07 meters",
+    "closeness rank": 4
+   },
+   "telephone": {
+    "distance": "1.66 meters",
+    "closeness rank": 5
+   },
+   "keyboard": {
+    "distance": "1.78 meters",
+    "closeness rank": 6
+   },
+   "nightstand": {
+    "distance": "1.97 meters",
+    "closeness rank": 7
+   },
+   "door": {
+    "distance": "2.13 meters",
+    "closeness rank": 8
+   },
+   "sofa": {
+    "distance": "2.16 meters",
+    "closeness rank": 9
+   },
+   "clock": {
+    "distance": "2.24 meters",
+    "closeness rank": 10
+   },
+   "towel": {
+    "distance": "2.24 meters",
+    "closeness rank": 11
+   },
+   "lamp": {
+    "distance": "2.34 meters",
+    "closeness rank": 12
+   },
+   "mattress": {
+    "distance": "3.09 meters",
+    "closeness rank": 13
+   },
+   "bed": {
+    "distance": "3.13 meters",
+    "closeness rank": 14
+   },
+   "pillow": {
+    "distance": "3.34 meters",
+    "closeness rank": 15
+   },
+   "tv": {
+    "distance": "3.62 meters",
+    "closeness rank": 16
+   },
+   "chair": {
+    "distance": "4.18 meters",
+    "closeness rank": 17
+   },
+   "table": {
+    "distance": "4.77 meters",
+    "closeness rank": 18
+   },
+   "radiator": {
+    "distance": "5.58 meters",
+    "closeness rank": 19
+   }
+  },
+  "radiator": {
+   "bed": {
+    "distance": "1.26 meters",
+    "closeness rank": 1
+   },
+   "mattress": {
+    "distance": "1.26 meters",
+    "closeness rank": 2
+   },
+   "pillow": {
+    "distance": "1.67 meters",
+    "closeness rank": 3
+   },
+   "table": {
+    "distance": "1.82 meters",
+    "closeness rank": 4
+   },
+   "chair": {
+    "distance": "2.31 meters",
+    "closeness rank": 5
+   },
+   "nightstand": {
+    "distance": "2.31 meters",
+    "closeness rank": 6
+   },
+   "sofa": {
+    "distance": "2.73 meters",
+    "closeness rank": 7
+   },
+   "lamp": {
+    "distance": "2.83 meters",
+    "closeness rank": 8
+   },
+   "counter": {
+    "distance": "2.86 meters",
+    "closeness rank": 9
+   },
+   "tv": {
+    "distance": "2.89 meters",
+    "closeness rank": 10
+   },
+   "mirror": {
+    "distance": "2.94 meters",
+    "closeness rank": 11
+   },
+   "telephone": {
+    "distance": "3.84 meters",
+    "closeness rank": 12
+   },
+   "keyboard": {
+    "distance": "3.89 meters",
+    "closeness rank": 13
+   },
+   "printer": {
+    "distance": "5.58 meters",
+    "closeness rank": 14
+   },
+   "trash bin": {
+    "distance": "5.73 meters",
+    "closeness rank": 15
+   },
+   "microwave": {
+    "distance": "5.8 meters",
+    "closeness rank": 16
+   },
+   "clock": {
+    "distance": "6.82 meters",
+    "closeness rank": 17
+   },
+   "towel": {
+    "distance": "6.82 meters",
+    "closeness rank": 18
+   },
+   "door": {
+    "distance": "7.73 meters",
+    "closeness rank": 19
+   }
+  },
+  "sofa": {
+   "bed": {
+    "distance": "0.18 meters",
+    "closeness rank": 1
+   },
+   "mattress": {
+    "distance": "0.19 meters",
+    "closeness rank": 2
+   },
+   "telephone": {
+    "distance": "0.24 meters",
+    "closeness rank": 3
+   },
+   "keyboard": {
+    "distance": "0.29 meters",
+    "closeness rank": 4
+   },
+   "nightstand": {
+    "distance": "0.39 meters",
+    "closeness rank": 5
+   },
+   "lamp": {
+    "distance": "0.7 meters",
+    "closeness rank": 6
+   },
+   "pillow": {
+    "distance": "0.91 meters",
+    "closeness rank": 7
+   },
+   "counter": {
+    "distance": "1.16 meters",
+    "closeness rank": 8
+   },
+   "tv": {
+    "distance": "1.48 meters",
+    "closeness rank": 9
+   },
+   "chair": {
+    "distance": "1.5 meters",
+    "closeness rank": 10
+   },
+   "mirror": {
+    "distance": "1.73 meters",
+    "closeness rank": 11
+   },
+   "table": {
+    "distance": "1.94 meters",
+    "closeness rank": 12
+   },
+   "trash bin": {
+    "distance": "2.14 meters",
+    "closeness rank": 13
+   },
+   "printer": {
+    "distance": "2.16 meters",
+    "closeness rank": 14
+   },
+   "microwave": {
+    "distance": "2.21 meters",
+    "closeness rank": 15
+   },
+   "radiator": {
+    "distance": "2.73 meters",
+    "closeness rank": 16
+   },
+   "clock": {
+    "distance": "3.36 meters",
+    "closeness rank": 17
+   },
+   "towel": {
+    "distance": "3.36 meters",
+    "closeness rank": 18
+   },
+   "door": {
+    "distance": "4.11 meters",
+    "closeness rank": 19
+   }
+  },
+  "table": {
+   "chair": {
+    "distance": "0.22 meters",
+    "closeness rank": 1
+   },
+   "mirror": {
+    "distance": "0.61 meters",
+    "closeness rank": 2
+   },
+   "mattress": {
+    "distance": "0.71 meters",
+    "closeness rank": 3
+   },
+   "bed": {
+    "distance": "0.74 meters",
+    "closeness rank": 4
+   },
+   "tv": {
+    "distance": "0.84 meters",
+    "closeness rank": 5
+   },
+   "counter": {
+    "distance": "0.85 meters",
+    "closeness rank": 6
+   },
+   "radiator": {
+    "distance": "1.82 meters",
+    "closeness rank": 7
+   },
+   "sofa": {
+    "distance": "1.94 meters",
+    "closeness rank": 8
+   },
+   "pillow": {
+    "distance": "2.03 meters",
+    "closeness rank": 9
+   },
+   "nightstand": {
+    "distance": "2.29 meters",
+    "closeness rank": 10
+   },
+   "lamp": {
+    "distance": "2.7 meters",
+    "closeness rank": 11
+   },
+   "telephone": {
+    "distance": "2.86 meters",
+    "closeness rank": 12
+   },
+   "keyboard": {
+    "distance": "2.9 meters",
+    "closeness rank": 13
+   },
+   "trash bin": {
+    "distance": "4.46 meters",
+    "closeness rank": 14
+   },
+   "microwave": {
+    "distance": "4.63 meters",
+    "closeness rank": 15
+   },
+   "printer": {
+    "distance": "4.77 meters",
+    "closeness rank": 16
+   },
+   "clock": {
+    "distance": "5.13 meters",
+    "closeness rank": 17
+   },
+   "towel": {
+    "distance": "5.13 meters",
+    "closeness rank": 18
+   },
+   "door": {
+    "distance": "6.3 meters",
+    "closeness rank": 19
+   }
+  },
+  "telephone": {
+   "keyboard": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "sofa": {
+    "distance": "0.24 meters",
+    "closeness rank": 2
+   },
+   "nightstand": {
+    "distance": "0.7 meters",
+    "closeness rank": 3
+   },
+   "lamp": {
+    "distance": "1.13 meters",
+    "closeness rank": 4
+   },
+   "counter": {
+    "distance": "1.22 meters",
+    "closeness rank": 5
+   },
+   "bed": {
+    "distance": "1.26 meters",
+    "closeness rank": 6
+   },
+   "mattress": {
+    "distance": "1.28 meters",
+    "closeness rank": 7
+   },
+   "trash bin": {
+    "distance": "1.57 meters",
+    "closeness rank": 8
+   },
+   "microwave": {
+    "distance": "1.62 meters",
+    "closeness rank": 9
+   },
+   "printer": {
+    "distance": "1.66 meters",
+    "closeness rank": 10
+   },
+   "pillow": {
+    "distance": "1.78 meters",
+    "closeness rank": 11
+   },
+   "mirror": {
+    "distance": "1.87 meters",
+    "closeness rank": 12
+   },
+   "tv": {
+    "distance": "1.87 meters",
+    "closeness rank": 13
+   },
+   "chair": {
+    "distance": "2.29 meters",
+    "closeness rank": 14
+   },
+   "clock": {
+    "distance": "2.84 meters",
+    "closeness rank": 15
+   },
+   "towel": {
+    "distance": "2.84 meters",
+    "closeness rank": 16
+   },
+   "table": {
+    "distance": "2.86 meters",
+    "closeness rank": 17
+   },
+   "door": {
+    "distance": "3.52 meters",
+    "closeness rank": 18
+   },
+   "radiator": {
+    "distance": "3.84 meters",
+    "closeness rank": 19
+   }
+  },
+  "towel": {
+   "clock": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "door": {
+    "distance": "1.14 meters",
+    "closeness rank": 2
+   },
+   "mirror": {
+    "distance": "1.2 meters",
+    "closeness rank": 3
+   },
+   "counter": {
+    "distance": "1.43 meters",
+    "closeness rank": 4
+   },
+   "trash bin": {
+    "distance": "1.56 meters",
+    "closeness rank": 5
+   },
+   "microwave": {
+    "distance": "1.59 meters",
+    "closeness rank": 6
+   },
+   "printer": {
+    "distance": "2.24 meters",
+    "closeness rank": 7
+   },
+   "telephone": {
+    "distance": "2.84 meters",
+    "closeness rank": 8
+   },
+   "keyboard": {
+    "distance": "2.95 meters",
+    "closeness rank": 9
+   },
+   "sofa": {
+    "distance": "3.36 meters",
+    "closeness rank": 10
+   },
+   "tv": {
+    "distance": "3.48 meters",
+    "closeness rank": 11
+   },
+   "nightstand": {
+    "distance": "3.76 meters",
+    "closeness rank": 12
+   },
+   "lamp": {
+    "distance": "4.15 meters",
+    "closeness rank": 13
+   },
+   "bed": {
+    "distance": "4.21 meters",
+    "closeness rank": 14
+   },
+   "mattress": {
+    "distance": "4.24 meters",
+    "closeness rank": 15
+   },
+   "chair": {
+    "distance": "4.39 meters",
+    "closeness rank": 16
+   },
+   "pillow": {
+    "distance": "4.91 meters",
+    "closeness rank": 17
+   },
+   "table": {
+    "distance": "5.13 meters",
+    "closeness rank": 18
+   },
+   "radiator": {
+    "distance": "6.82 meters",
+    "closeness rank": 19
+   }
+  },
+  "trash bin": {
+   "counter": {
+    "distance": "0.49 meters",
+    "closeness rank": 1
+   },
+   "microwave": {
+    "distance": "0.58 meters",
+    "closeness rank": 2
+   },
+   "mirror": {
+    "distance": "0.7 meters",
+    "closeness rank": 3
+   },
+   "printer": {
+    "distance": "1.07 meters",
+    "closeness rank": 4
+   },
+   "clock": {
+    "distance": "1.55 meters",
+    "closeness rank": 5
+   },
+   "towel": {
+    "distance": "1.56 meters",
+    "closeness rank": 6
+   },
+   "telephone": {
+    "distance": "1.57 meters",
+    "closeness rank": 7
+   },
+   "door": {
+    "distance": "1.67 meters",
+    "closeness rank": 8
+   },
+   "keyboard": {
+    "distance": "1.7 meters",
+    "closeness rank": 9
+   },
+   "sofa": {
+    "distance": "2.14 meters",
+    "closeness rank": 10
+   },
+   "nightstand": {
+    "distance": "2.37 meters",
+    "closeness rank": 11
+   },
+   "lamp": {
+    "distance": "2.85 meters",
+    "closeness rank": 12
+   },
+   "tv": {
+    "distance": "3.08 meters",
+    "closeness rank": 13
+   },
+   "bed": {
+    "distance": "3.13 meters",
+    "closeness rank": 14
+   },
+   "mattress": {
+    "distance": "3.14 meters",
+    "closeness rank": 15
+   },
+   "pillow": {
+    "distance": "3.68 meters",
+    "closeness rank": 16
+   },
+   "chair": {
+    "distance": "3.8 meters",
+    "closeness rank": 17
+   },
+   "table": {
+    "distance": "4.46 meters",
+    "closeness rank": 18
+   },
+   "radiator": {
+    "distance": "5.73 meters",
+    "closeness rank": 19
+   }
+  },
+  "tv": {
+   "counter": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "mirror": {
+    "distance": "0.11 meters",
+    "closeness rank": 2
+   },
+   "chair": {
+    "distance": "0.2 meters",
+    "closeness rank": 3
+   },
+   "table": {
+    "distance": "0.84 meters",
+    "closeness rank": 4
+   },
+   "mattress": {
+    "distance": "0.85 meters",
+    "closeness rank": 5
+   },
+   "bed": {
+    "distance": "0.86 meters",
+    "closeness rank": 6
+   },
+   "sofa": {
+    "distance": "1.48 meters",
+    "closeness rank": 7
+   },
+   "telephone": {
+    "distance": "1.87 meters",
+    "closeness rank": 8
+   },
+   "keyboard": {
+    "distance": "1.93 meters",
+    "closeness rank": 9
+   },
+   "pillow": {
+    "distance": "2.16 meters",
+    "closeness rank": 10
+   },
+   "nightstand": {
+    "distance": "2.19 meters",
+    "closeness rank": 11
+   },
+   "lamp": {
+    "distance": "2.38 meters",
+    "closeness rank": 12
+   },
+   "radiator": {
+    "distance": "2.89 meters",
+    "closeness rank": 13
+   },
+   "trash bin": {
+    "distance": "3.08 meters",
+    "closeness rank": 14
+   },
+   "microwave": {
+    "distance": "3.26 meters",
+    "closeness rank": 15
+   },
+   "clock": {
+    "distance": "3.48 meters",
+    "closeness rank": 16
+   },
+   "towel": {
+    "distance": "3.48 meters",
+    "closeness rank": 17
+   },
+   "printer": {
+    "distance": "3.62 meters",
+    "closeness rank": 18
+   },
+   "door": {
+    "distance": "4.71 meters",
+    "closeness rank": 19
+   }
+  }
+ },
+ "appearance order": ["door", "telephone", "trash bin", "counter", "microwave", "mirror", "printer", "pillow", "bed", "nightstand", "mattress", "keyboard", "sofa", "lamp", "radiator", "table", "chair", "tv", "clock", "towel"]
+}
\ No newline at end of file
diff --git a/data/spatial codes/sam3+depth-anything-3/metric/tracking/uniform/96/explicit/scene0304_00.json b/data/spatial codes/sam3+depth-anything-3/metric/tracking/uniform/96/explicit/scene0304_00.json
new file mode 100644
index 0000000000000000000000000000000000000000..9e4414a0f5ffd221cdb44ab393bcaa76ffb93bb9
--- /dev/null
+++ b/data/spatial codes/sam3+depth-anything-3/metric/tracking/uniform/96/explicit/scene0304_00.json	
@@ -0,0 +1,260 @@
+{
+ "objects": {
+  "backpack": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-0.66 meters",
+      "y coordinate": "1.75 meters",
+      "height above floor": "0.27 meters"
+     },
+     "longest dimension": "0.44 meters"
+    }
+   ]
+  },
+  "door": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "1.2 meters",
+      "y coordinate": "-1.6 meters",
+      "height above floor": "-1.47 meters"
+     },
+     "longest dimension": "1.66 meters"
+    }
+   ]
+  },
+  "plant": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-1.56 meters",
+      "y coordinate": "4.28 meters",
+      "height above floor": "-0.4 meters"
+     },
+     "longest dimension": "0.31 meters"
+    }
+   ]
+  },
+  "table": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-0.12 meters",
+      "y coordinate": "0.86 meters",
+      "height above floor": "0.13 meters"
+     },
+     "longest dimension": "1.16 meters"
+    }
+   ]
+  },
+  "trash bin": {
+   "count": 3,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-0.94 meters",
+      "y coordinate": "3.7 meters",
+      "height above floor": "-0.17 meters"
+     },
+     "longest dimension": "0.91 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-0.51 meters",
+      "y coordinate": "2.66 meters",
+      "height above floor": "-1.57 meters"
+     },
+     "longest dimension": "0.67 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-0.41 meters",
+      "y coordinate": "2.66 meters",
+      "height above floor": "1.67 meters"
+     },
+     "longest dimension": "0.61 meters"
+    }
+   ]
+  },
+  "window": {
+   "count": 4,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-0.21 meters",
+      "y coordinate": "1.59 meters",
+      "height above floor": "-1.57 meters"
+     },
+     "longest dimension": "2.99 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "1.52 meters",
+      "y coordinate": "-2.44 meters",
+      "height above floor": "-0.22 meters"
+     },
+     "longest dimension": "1.81 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "1.23 meters",
+      "y coordinate": "-1.84 meters",
+      "height above floor": "1.18 meters"
+     },
+     "longest dimension": "1.54 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "1.52 meters",
+      "y coordinate": "-2.35 meters",
+      "height above floor": "-1.27 meters"
+     },
+     "longest dimension": "0.36 meters"
+    }
+   ]
+  }
+ },
+ "room": {
+  "floor area": "15.1 square meters"
+ },
+ "closest classes distance meters from": {
+  "backpack": {
+   "table": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "window": {
+    "distance": "1.39 meters",
+    "closeness rank": 2
+   },
+   "trash bin": {
+    "distance": "1.46 meters",
+    "closeness rank": 3
+   },
+   "plant": {
+    "distance": "2.26 meters",
+    "closeness rank": 4
+   },
+   "door": {
+    "distance": "3.6 meters",
+    "closeness rank": 5
+   }
+  },
+  "door": {
+   "window": {
+    "distance": "0.67 meters",
+    "closeness rank": 1
+   },
+   "table": {
+    "distance": "2.27 meters",
+    "closeness rank": 2
+   },
+   "backpack": {
+    "distance": "3.6 meters",
+    "closeness rank": 3
+   },
+   "trash bin": {
+    "distance": "5.41 meters",
+    "closeness rank": 4
+   },
+   "plant": {
+    "distance": "6.18 meters",
+    "closeness rank": 5
+   }
+  },
+  "plant": {
+   "trash bin": {
+    "distance": "0.62 meters",
+    "closeness rank": 1
+   },
+   "table": {
+    "distance": "2.16 meters",
+    "closeness rank": 2
+   },
+   "backpack": {
+    "distance": "2.26 meters",
+    "closeness rank": 3
+   },
+   "window": {
+    "distance": "2.48 meters",
+    "closeness rank": 4
+   },
+   "door": {
+    "distance": "6.18 meters",
+    "closeness rank": 5
+   }
+  },
+  "table": {
+   "backpack": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "window": {
+    "distance": "1.11 meters",
+    "closeness rank": 2
+   },
+   "trash bin": {
+    "distance": "1.37 meters",
+    "closeness rank": 3
+   },
+   "plant": {
+    "distance": "2.16 meters",
+    "closeness rank": 4
+   },
+   "door": {
+    "distance": "2.27 meters",
+    "closeness rank": 5
+   }
+  },
+  "trash bin": {
+   "plant": {
+    "distance": "0.62 meters",
+    "closeness rank": 1
+   },
+   "table": {
+    "distance": "1.37 meters",
+    "closeness rank": 2
+   },
+   "backpack": {
+    "distance": "1.46 meters",
+    "closeness rank": 3
+   },
+   "window": {
+    "distance": "1.86 meters",
+    "closeness rank": 4
+   },
+   "door": {
+    "distance": "5.41 meters",
+    "closeness rank": 5
+   }
+  },
+  "window": {
+   "door": {
+    "distance": "0.67 meters",
+    "closeness rank": 1
+   },
+   "table": {
+    "distance": "1.11 meters",
+    "closeness rank": 2
+   },
+   "backpack": {
+    "distance": "1.39 meters",
+    "closeness rank": 3
+   },
+   "trash bin": {
+    "distance": "1.86 meters",
+    "closeness rank": 4
+   },
+   "plant": {
+    "distance": "2.48 meters",
+    "closeness rank": 5
+   }
+  }
+ },
+ "appearance order": ["door", "window", "backpack", "trash bin", "plant", "table"]
+}
\ No newline at end of file
diff --git a/data/spatial codes/sam3+depth-anything-3/metric/tracking/uniform/96/explicit/scene0328_00.json b/data/spatial codes/sam3+depth-anything-3/metric/tracking/uniform/96/explicit/scene0328_00.json
new file mode 100644
index 0000000000000000000000000000000000000000..f8bcaa451d8a1a9256c810bc68bb2daab37b085a
--- /dev/null
+++ b/data/spatial codes/sam3+depth-anything-3/metric/tracking/uniform/96/explicit/scene0328_00.json	
@@ -0,0 +1,482 @@
+{
+ "objects": {
+  "counter": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-0.65 meters",
+      "y coordinate": "1.75 meters",
+      "height above floor": "-1.76 meters"
+     },
+     "longest dimension": "1.6 meters"
+    }
+   ]
+  },
+  "door": {
+   "count": 13,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-1.02 meters",
+      "y coordinate": "3.0 meters",
+      "height above floor": "-0.81 meters"
+     },
+     "longest dimension": "0.76 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-0.96 meters",
+      "y coordinate": "1.73 meters",
+      "height above floor": "0.03 meters"
+     },
+     "longest dimension": "0.86 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-1.4 meters",
+      "y coordinate": "1.65 meters",
+      "height above floor": "-1.88 meters"
+     },
+     "longest dimension": "0.55 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-0.34 meters",
+      "y coordinate": "1.17 meters",
+      "height above floor": "-0.03 meters"
+     },
+     "longest dimension": "0.81 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "0.07 meters",
+      "y coordinate": "1.69 meters",
+      "height above floor": "-0.07 meters"
+     },
+     "longest dimension": "0.8 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-1.62 meters",
+      "y coordinate": "1.92 meters",
+      "height above floor": "-1.85 meters"
+     },
+     "longest dimension": "0.56 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-0.74 meters",
+      "y coordinate": "0.26 meters",
+      "height above floor": "-1.76 meters"
+     },
+     "longest dimension": "0.82 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-0.54 meters",
+      "y coordinate": "-0.05 meters",
+      "height above floor": "-1.75 meters"
+     },
+     "longest dimension": "0.79 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-1.91 meters",
+      "y coordinate": "2.81 meters",
+      "height above floor": "-0.28 meters"
+     },
+     "longest dimension": "0.45 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-1.96 meters",
+      "y coordinate": "2.81 meters",
+      "height above floor": "0.26 meters"
+     },
+     "longest dimension": "0.59 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-1.83 meters",
+      "y coordinate": "2.28 meters",
+      "height above floor": "-1.86 meters"
+     },
+     "longest dimension": "0.54 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-2.01 meters",
+      "y coordinate": "2.6 meters",
+      "height above floor": "-1.79 meters"
+     },
+     "longest dimension": "0.57 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-1.96 meters",
+      "y coordinate": "2.74 meters",
+      "height above floor": "-0.78 meters"
+     },
+     "longest dimension": "0.52 meters"
+    }
+   ]
+  },
+  "microwave": {
+   "count": 2,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-1.96 meters",
+      "y coordinate": "2.73 meters",
+      "height above floor": "-0.87 meters"
+     },
+     "longest dimension": "0.66 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-2.01 meters",
+      "y coordinate": "2.74 meters",
+      "height above floor": "-0.82 meters"
+     },
+     "longest dimension": "0.66 meters"
+    }
+   ]
+  },
+  "mirror": {
+   "count": 3,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-1.03 meters",
+      "y coordinate": "1.21 meters",
+      "height above floor": "-2.1 meters"
+     },
+     "longest dimension": "0.61 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-2.09 meters",
+      "y coordinate": "2.61 meters",
+      "height above floor": "-1.75 meters"
+     },
+     "longest dimension": "0.55 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-1.88 meters",
+      "y coordinate": "2.37 meters",
+      "height above floor": "-1.88 meters"
+     },
+     "longest dimension": "0.41 meters"
+    }
+   ]
+  },
+  "oven": {
+   "count": 2,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-0.98 meters",
+      "y coordinate": "3.05 meters",
+      "height above floor": "-0.84 meters"
+     },
+     "longest dimension": "0.77 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-1.96 meters",
+      "y coordinate": "2.73 meters",
+      "height above floor": "-0.87 meters"
+     },
+     "longest dimension": "0.66 meters"
+    }
+   ]
+  },
+  "plant": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-0.96 meters",
+      "y coordinate": "1.74 meters",
+      "height above floor": "-2.04 meters"
+     },
+     "longest dimension": "0.19 meters"
+    }
+   ]
+  },
+  "refrigerator": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-1.1 meters",
+      "y coordinate": "3.01 meters",
+      "height above floor": "-0.86 meters"
+     },
+     "longest dimension": "0.88 meters"
+    }
+   ]
+  },
+  "towel": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-0.66 meters",
+      "y coordinate": "2.27 meters",
+      "height above floor": "-0.02 meters"
+     },
+     "longest dimension": "0.18 meters"
+    }
+   ]
+  }
+ },
+ "room": {
+  "floor area": "9.2 square meters"
+ },
+ "closest classes distance meters from": {
+  "counter": {
+   "towel": {
+    "distance": "0.06 meters",
+    "closeness rank": 1
+   },
+   "refrigerator": {
+    "distance": "0.08 meters",
+    "closeness rank": 2
+   },
+   "oven": {
+    "distance": "0.12 meters",
+    "closeness rank": 3
+   },
+   "door": {
+    "distance": "0.13 meters",
+    "closeness rank": 4
+   },
+   "plant": {
+    "distance": "0.18 meters",
+    "closeness rank": 5
+   },
+   "mirror": {
+    "distance": "0.27 meters",
+    "closeness rank": 6
+   },
+   "microwave": {
+    "distance": "0.55 meters",
+    "closeness rank": 7
+   }
+  },
+  "door": {
+   "oven": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "refrigerator": {
+    "distance": "0.0 meters",
+    "closeness rank": 2
+   },
+   "counter": {
+    "distance": "0.13 meters",
+    "closeness rank": 3
+   },
+   "microwave": {
+    "distance": "0.58 meters",
+    "closeness rank": 4
+   },
+   "towel": {
+    "distance": "0.94 meters",
+    "closeness rank": 5
+   },
+   "mirror": {
+    "distance": "1.21 meters",
+    "closeness rank": 6
+   },
+   "plant": {
+    "distance": "1.38 meters",
+    "closeness rank": 7
+   }
+  },
+  "microwave": {
+   "refrigerator": {
+    "distance": "0.49 meters",
+    "closeness rank": 1
+   },
+   "counter": {
+    "distance": "0.55 meters",
+    "closeness rank": 2
+   },
+   "oven": {
+    "distance": "0.56 meters",
+    "closeness rank": 3
+   },
+   "door": {
+    "distance": "0.58 meters",
+    "closeness rank": 4
+   },
+   "mirror": {
+    "distance": "1.17 meters",
+    "closeness rank": 5
+   },
+   "towel": {
+    "distance": "1.31 meters",
+    "closeness rank": 6
+   },
+   "plant": {
+    "distance": "1.51 meters",
+    "closeness rank": 7
+   }
+  },
+  "mirror": {
+   "plant": {
+    "distance": "0.23 meters",
+    "closeness rank": 1
+   },
+   "counter": {
+    "distance": "0.27 meters",
+    "closeness rank": 2
+   },
+   "towel": {
+    "distance": "0.77 meters",
+    "closeness rank": 3
+   },
+   "refrigerator": {
+    "distance": "0.85 meters",
+    "closeness rank": 4
+   },
+   "microwave": {
+    "distance": "1.17 meters",
+    "closeness rank": 5
+   },
+   "oven": {
+    "distance": "1.2 meters",
+    "closeness rank": 6
+   },
+   "door": {
+    "distance": "1.21 meters",
+    "closeness rank": 7
+   }
+  },
+  "oven": {
+   "door": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "refrigerator": {
+    "distance": "0.0 meters",
+    "closeness rank": 2
+   },
+   "counter": {
+    "distance": "0.12 meters",
+    "closeness rank": 3
+   },
+   "microwave": {
+    "distance": "0.56 meters",
+    "closeness rank": 4
+   },
+   "towel": {
+    "distance": "0.94 meters",
+    "closeness rank": 5
+   },
+   "mirror": {
+    "distance": "1.2 meters",
+    "closeness rank": 6
+   },
+   "plant": {
+    "distance": "1.36 meters",
+    "closeness rank": 7
+   }
+  },
+  "plant": {
+   "counter": {
+    "distance": "0.18 meters",
+    "closeness rank": 1
+   },
+   "mirror": {
+    "distance": "0.23 meters",
+    "closeness rank": 2
+   },
+   "refrigerator": {
+    "distance": "1.34 meters",
+    "closeness rank": 3
+   },
+   "oven": {
+    "distance": "1.36 meters",
+    "closeness rank": 4
+   },
+   "door": {
+    "distance": "1.38 meters",
+    "closeness rank": 5
+   },
+   "microwave": {
+    "distance": "1.51 meters",
+    "closeness rank": 6
+   },
+   "towel": {
+    "distance": "2.07 meters",
+    "closeness rank": 7
+   }
+  },
+  "refrigerator": {
+   "door": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "oven": {
+    "distance": "0.0 meters",
+    "closeness rank": 2
+   },
+   "counter": {
+    "distance": "0.08 meters",
+    "closeness rank": 3
+   },
+   "microwave": {
+    "distance": "0.49 meters",
+    "closeness rank": 4
+   },
+   "towel": {
+    "distance": "0.59 meters",
+    "closeness rank": 5
+   },
+   "mirror": {
+    "distance": "0.85 meters",
+    "closeness rank": 6
+   },
+   "plant": {
+    "distance": "1.34 meters",
+    "closeness rank": 7
+   }
+  },
+  "towel": {
+   "counter": {
+    "distance": "0.06 meters",
+    "closeness rank": 1
+   },
+   "refrigerator": {
+    "distance": "0.59 meters",
+    "closeness rank": 2
+   },
+   "mirror": {
+    "distance": "0.77 meters",
+    "closeness rank": 3
+   },
+   "door": {
+    "distance": "0.94 meters",
+    "closeness rank": 4
+   },
+   "oven": {
+    "distance": "0.94 meters",
+    "closeness rank": 5
+   },
+   "microwave": {
+    "distance": "1.31 meters",
+    "closeness rank": 6
+   },
+   "plant": {
+    "distance": "2.07 meters",
+    "closeness rank": 7
+   }
+  }
+ },
+ "appearance order": ["door", "microwave", "oven", "refrigerator", "plant", "towel", "mirror", "counter"]
+}
\ No newline at end of file
diff --git a/data/spatial codes/sam3+depth-anything-3/metric/tracking/uniform/96/explicit/scene0356_00.json b/data/spatial codes/sam3+depth-anything-3/metric/tracking/uniform/96/explicit/scene0356_00.json
new file mode 100644
index 0000000000000000000000000000000000000000..8fd44fb86889975f43b90e9d1f20a7bc872a80f6
--- /dev/null
+++ b/data/spatial codes/sam3+depth-anything-3/metric/tracking/uniform/96/explicit/scene0356_00.json	
@@ -0,0 +1,608 @@
+{
+ "objects": {
+  "bed": {
+   "count": 2,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "0.37 meters",
+      "y coordinate": "1.16 meters",
+      "height above floor": "0.08 meters"
+     },
+     "longest dimension": "1.47 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "0.85 meters",
+      "y coordinate": "-1.07 meters",
+      "height above floor": "-0.06 meters"
+     },
+     "longest dimension": "0.53 meters"
+    }
+   ]
+  },
+  "chair": {
+   "count": 3,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "0.37 meters",
+      "y coordinate": "1.59 meters",
+      "height above floor": "-0.92 meters"
+     },
+     "longest dimension": "0.7 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "0.36 meters",
+      "y coordinate": "1.61 meters",
+      "height above floor": "-0.88 meters"
+     },
+     "longest dimension": "0.67 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "1.07 meters",
+      "y coordinate": "-1.18 meters",
+      "height above floor": "-0.01 meters"
+     },
+     "longest dimension": "0.6 meters"
+    }
+   ]
+  },
+  "door": {
+   "count": 3,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "1.23 meters",
+      "y coordinate": "-0.98 meters",
+      "height above floor": "-0.37 meters"
+     },
+     "longest dimension": "1.07 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "0.92 meters",
+      "y coordinate": "-0.46 meters",
+      "height above floor": "0.26 meters"
+     },
+     "longest dimension": "1.22 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "0.7 meters",
+      "y coordinate": "-0.0 meters",
+      "height above floor": "0.61 meters"
+     },
+     "longest dimension": "0.91 meters"
+    }
+   ]
+  },
+  "mattress": {
+   "count": 2,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "0.22 meters",
+      "y coordinate": "1.43 meters",
+      "height above floor": "0.15 meters"
+     },
+     "longest dimension": "1.44 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "0.75 meters",
+      "y coordinate": "-1.08 meters",
+      "height above floor": "-0.03 meters"
+     },
+     "longest dimension": "0.33 meters"
+    }
+   ]
+  },
+  "mirror": {
+   "count": 2,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "1.12 meters",
+      "y coordinate": "-0.99 meters",
+      "height above floor": "-0.2 meters"
+     },
+     "longest dimension": "0.64 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "0.97 meters",
+      "y coordinate": "-1.08 meters",
+      "height above floor": "-0.18 meters"
+     },
+     "longest dimension": "0.89 meters"
+    }
+   ]
+  },
+  "plant": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-0.67 meters",
+      "y coordinate": "2.58 meters",
+      "height above floor": "-0.31 meters"
+     },
+     "longest dimension": "0.71 meters"
+    }
+   ]
+  },
+  "table": {
+   "count": 2,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "0.16 meters",
+      "y coordinate": "1.37 meters",
+      "height above floor": "-1.23 meters"
+     },
+     "longest dimension": "0.76 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "0.17 meters",
+      "y coordinate": "1.39 meters",
+      "height above floor": "-1.22 meters"
+     },
+     "longest dimension": "0.91 meters"
+    }
+   ]
+  },
+  "telephone": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "0.72 meters",
+      "y coordinate": "-1.2 meters",
+      "height above floor": "-1.34 meters"
+     },
+     "longest dimension": "0.18 meters"
+    }
+   ]
+  },
+  "trash bin": {
+   "count": 3,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-0.09 meters",
+      "y coordinate": "1.45 meters",
+      "height above floor": "-1.11 meters"
+     },
+     "longest dimension": "0.35 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-0.29 meters",
+      "y coordinate": "1.78 meters",
+      "height above floor": "-1.04 meters"
+     },
+     "longest dimension": "0.36 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-0.42 meters",
+      "y coordinate": "2.02 meters",
+      "height above floor": "-1.06 meters"
+     },
+     "longest dimension": "0.31 meters"
+    }
+   ]
+  },
+  "window": {
+   "count": 2,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-0.57 meters",
+      "y coordinate": "2.51 meters",
+      "height above floor": "-0.21 meters"
+     },
+     "longest dimension": "1.47 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-0.71 meters",
+      "y coordinate": "2.41 meters",
+      "height above floor": "-0.62 meters"
+     },
+     "longest dimension": "0.76 meters"
+    }
+   ]
+  }
+ },
+ "room": {
+  "floor area": "7.3 square meters"
+ },
+ "closest classes distance meters from": {
+  "bed": {
+   "mattress": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "window": {
+    "distance": "0.12 meters",
+    "closeness rank": 2
+   },
+   "plant": {
+    "distance": "0.17 meters",
+    "closeness rank": 3
+   },
+   "chair": {
+    "distance": "0.7 meters",
+    "closeness rank": 4
+   },
+   "table": {
+    "distance": "0.83 meters",
+    "closeness rank": 5
+   },
+   "trash bin": {
+    "distance": "0.96 meters",
+    "closeness rank": 6
+   },
+   "door": {
+    "distance": "1.56 meters",
+    "closeness rank": 7
+   },
+   "mirror": {
+    "distance": "1.56 meters",
+    "closeness rank": 8
+   },
+   "telephone": {
+    "distance": "2.2 meters",
+    "closeness rank": 9
+   }
+  },
+  "chair": {
+   "table": {
+    "distance": "0.02 meters",
+    "closeness rank": 1
+   },
+   "trash bin": {
+    "distance": "0.16 meters",
+    "closeness rank": 2
+   },
+   "window": {
+    "distance": "0.69 meters",
+    "closeness rank": 3
+   },
+   "bed": {
+    "distance": "0.7 meters",
+    "closeness rank": 4
+   },
+   "mattress": {
+    "distance": "0.72 meters",
+    "closeness rank": 5
+   },
+   "plant": {
+    "distance": "0.79 meters",
+    "closeness rank": 6
+   },
+   "door": {
+    "distance": "2.61 meters",
+    "closeness rank": 7
+   },
+   "mirror": {
+    "distance": "2.64 meters",
+    "closeness rank": 8
+   },
+   "telephone": {
+    "distance": "2.67 meters",
+    "closeness rank": 9
+   }
+  },
+  "door": {
+   "mirror": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "telephone": {
+    "distance": "0.54 meters",
+    "closeness rank": 2
+   },
+   "bed": {
+    "distance": "1.56 meters",
+    "closeness rank": 3
+   },
+   "mattress": {
+    "distance": "1.63 meters",
+    "closeness rank": 4
+   },
+   "table": {
+    "distance": "2.49 meters",
+    "closeness rank": 5
+   },
+   "chair": {
+    "distance": "2.61 meters",
+    "closeness rank": 6
+   },
+   "trash bin": {
+    "distance": "2.65 meters",
+    "closeness rank": 7
+   },
+   "plant": {
+    "distance": "3.61 meters",
+    "closeness rank": 8
+   },
+   "window": {
+    "distance": "3.7 meters",
+    "closeness rank": 9
+   }
+  },
+  "mattress": {
+   "bed": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "window": {
+    "distance": "0.18 meters",
+    "closeness rank": 2
+   },
+   "plant": {
+    "distance": "0.28 meters",
+    "closeness rank": 3
+   },
+   "chair": {
+    "distance": "0.72 meters",
+    "closeness rank": 4
+   },
+   "table": {
+    "distance": "0.85 meters",
+    "closeness rank": 5
+   },
+   "trash bin": {
+    "distance": "0.99 meters",
+    "closeness rank": 6
+   },
+   "mirror": {
+    "distance": "1.62 meters",
+    "closeness rank": 7
+   },
+   "door": {
+    "distance": "1.63 meters",
+    "closeness rank": 8
+   },
+   "telephone": {
+    "distance": "2.21 meters",
+    "closeness rank": 9
+   }
+  },
+  "mirror": {
+   "door": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "telephone": {
+    "distance": "0.79 meters",
+    "closeness rank": 2
+   },
+   "bed": {
+    "distance": "1.56 meters",
+    "closeness rank": 3
+   },
+   "mattress": {
+    "distance": "1.62 meters",
+    "closeness rank": 4
+   },
+   "table": {
+    "distance": "2.52 meters",
+    "closeness rank": 5
+   },
+   "chair": {
+    "distance": "2.64 meters",
+    "closeness rank": 6
+   },
+   "trash bin": {
+    "distance": "2.69 meters",
+    "closeness rank": 7
+   },
+   "plant": {
+    "distance": "3.6 meters",
+    "closeness rank": 8
+   },
+   "window": {
+    "distance": "3.69 meters",
+    "closeness rank": 9
+   }
+  },
+  "plant": {
+   "window": {
+    "distance": "0.01 meters",
+    "closeness rank": 1
+   },
+   "bed": {
+    "distance": "0.17 meters",
+    "closeness rank": 2
+   },
+   "mattress": {
+    "distance": "0.28 meters",
+    "closeness rank": 3
+   },
+   "chair": {
+    "distance": "0.79 meters",
+    "closeness rank": 4
+   },
+   "table": {
+    "distance": "0.85 meters",
+    "closeness rank": 5
+   },
+   "trash bin": {
+    "distance": "0.89 meters",
+    "closeness rank": 6
+   },
+   "mirror": {
+    "distance": "3.6 meters",
+    "closeness rank": 7
+   },
+   "door": {
+    "distance": "3.61 meters",
+    "closeness rank": 8
+   },
+   "telephone": {
+    "distance": "3.75 meters",
+    "closeness rank": 9
+   }
+  },
+  "table": {
+   "trash bin": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "chair": {
+    "distance": "0.02 meters",
+    "closeness rank": 2
+   },
+   "window": {
+    "distance": "0.71 meters",
+    "closeness rank": 3
+   },
+   "bed": {
+    "distance": "0.83 meters",
+    "closeness rank": 4
+   },
+   "mattress": {
+    "distance": "0.85 meters",
+    "closeness rank": 5
+   },
+   "plant": {
+    "distance": "0.85 meters",
+    "closeness rank": 6
+   },
+   "door": {
+    "distance": "2.49 meters",
+    "closeness rank": 7
+   },
+   "telephone": {
+    "distance": "2.51 meters",
+    "closeness rank": 8
+   },
+   "mirror": {
+    "distance": "2.52 meters",
+    "closeness rank": 9
+   }
+  },
+  "telephone": {
+   "door": {
+    "distance": "0.54 meters",
+    "closeness rank": 1
+   },
+   "mirror": {
+    "distance": "0.79 meters",
+    "closeness rank": 2
+   },
+   "bed": {
+    "distance": "2.2 meters",
+    "closeness rank": 3
+   },
+   "mattress": {
+    "distance": "2.21 meters",
+    "closeness rank": 4
+   },
+   "table": {
+    "distance": "2.51 meters",
+    "closeness rank": 5
+   },
+   "chair": {
+    "distance": "2.67 meters",
+    "closeness rank": 6
+   },
+   "trash bin": {
+    "distance": "2.69 meters",
+    "closeness rank": 7
+   },
+   "plant": {
+    "distance": "3.75 meters",
+    "closeness rank": 8
+   },
+   "window": {
+    "distance": "3.79 meters",
+    "closeness rank": 9
+   }
+  },
+  "trash bin": {
+   "table": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "chair": {
+    "distance": "0.16 meters",
+    "closeness rank": 2
+   },
+   "window": {
+    "distance": "0.86 meters",
+    "closeness rank": 3
+   },
+   "plant": {
+    "distance": "0.89 meters",
+    "closeness rank": 4
+   },
+   "bed": {
+    "distance": "0.96 meters",
+    "closeness rank": 5
+   },
+   "mattress": {
+    "distance": "0.99 meters",
+    "closeness rank": 6
+   },
+   "door": {
+    "distance": "2.65 meters",
+    "closeness rank": 7
+   },
+   "mirror": {
+    "distance": "2.69 meters",
+    "closeness rank": 8
+   },
+   "telephone": {
+    "distance": "2.69 meters",
+    "closeness rank": 9
+   }
+  },
+  "window": {
+   "plant": {
+    "distance": "0.01 meters",
+    "closeness rank": 1
+   },
+   "bed": {
+    "distance": "0.12 meters",
+    "closeness rank": 2
+   },
+   "mattress": {
+    "distance": "0.18 meters",
+    "closeness rank": 3
+   },
+   "chair": {
+    "distance": "0.69 meters",
+    "closeness rank": 4
+   },
+   "table": {
+    "distance": "0.71 meters",
+    "closeness rank": 5
+   },
+   "trash bin": {
+    "distance": "0.86 meters",
+    "closeness rank": 6
+   },
+   "mirror": {
+    "distance": "3.69 meters",
+    "closeness rank": 7
+   },
+   "door": {
+    "distance": "3.7 meters",
+    "closeness rank": 8
+   },
+   "telephone": {
+    "distance": "3.79 meters",
+    "closeness rank": 9
+   }
+  }
+ },
+ "appearance order": ["chair", "plant", "table", "window", "trash bin", "bed", "mattress", "door", "mirror", "telephone"]
+}
\ No newline at end of file
diff --git a/data/spatial codes/sam3+depth-anything-3/metric/tracking/uniform/96/explicit/scene0357_01.json b/data/spatial codes/sam3+depth-anything-3/metric/tracking/uniform/96/explicit/scene0357_01.json
new file mode 100644
index 0000000000000000000000000000000000000000..f090674841fef281c1bdbd13a2f1fda3e549ce1a
--- /dev/null
+++ b/data/spatial codes/sam3+depth-anything-3/metric/tracking/uniform/96/explicit/scene0357_01.json	
@@ -0,0 +1,315 @@
+{
+ "objects": {
+  "backpack": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-0.22 meters",
+      "y coordinate": "1.3 meters",
+      "height above floor": "1.38 meters"
+     },
+     "longest dimension": "0.41 meters"
+    }
+   ]
+  },
+  "closet": {
+   "count": 2,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-0.46 meters",
+      "y coordinate": "0.31 meters",
+      "height above floor": "0.44 meters"
+     },
+     "longest dimension": "1.95 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "0.18 meters",
+      "y coordinate": "0.37 meters",
+      "height above floor": "0.12 meters"
+     },
+     "longest dimension": "2.21 meters"
+    }
+   ]
+  },
+  "door": {
+   "count": 2,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-1.86 meters",
+      "y coordinate": "0.75 meters",
+      "height above floor": "-0.05 meters"
+     },
+     "longest dimension": "1.04 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-2.67 meters",
+      "y coordinate": "0.74 meters",
+      "height above floor": "1.6 meters"
+     },
+     "longest dimension": "0.96 meters"
+    }
+   ]
+  },
+  "plant": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "1.02 meters",
+      "y coordinate": "0.16 meters",
+      "height above floor": "1.49 meters"
+     },
+     "longest dimension": "0.07 meters"
+    }
+   ]
+  },
+  "table": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-1.28 meters",
+      "y coordinate": "0.96 meters",
+      "height above floor": "1.39 meters"
+     },
+     "longest dimension": "0.65 meters"
+    }
+   ]
+  },
+  "trash bin": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-1.13 meters",
+      "y coordinate": "0.9 meters",
+      "height above floor": "0.1 meters"
+     },
+     "longest dimension": "0.36 meters"
+    }
+   ]
+  },
+  "window": {
+   "count": 3,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "0.86 meters",
+      "y coordinate": "0.01 meters",
+      "height above floor": "1.67 meters"
+     },
+     "longest dimension": "0.67 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "1.04 meters",
+      "y coordinate": "0.06 meters",
+      "height above floor": "1.42 meters"
+     },
+     "longest dimension": "0.46 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "1.01 meters",
+      "y coordinate": "0.04 meters",
+      "height above floor": "1.42 meters"
+     },
+     "longest dimension": "0.49 meters"
+    }
+   ]
+  }
+ },
+ "room": {
+  "floor area": "8.7 square meters"
+ },
+ "closest classes distance meters from": {
+  "backpack": {
+   "closet": {
+    "distance": "0.53 meters",
+    "closeness rank": 1
+   },
+   "table": {
+    "distance": "0.74 meters",
+    "closeness rank": 2
+   },
+   "window": {
+    "distance": "1.2 meters",
+    "closeness rank": 3
+   },
+   "trash bin": {
+    "distance": "1.29 meters",
+    "closeness rank": 4
+   },
+   "plant": {
+    "distance": "1.45 meters",
+    "closeness rank": 5
+   },
+   "door": {
+    "distance": "1.8 meters",
+    "closeness rank": 6
+   }
+  },
+  "closet": {
+   "trash bin": {
+    "distance": "0.13 meters",
+    "closeness rank": 1
+   },
+   "table": {
+    "distance": "0.24 meters",
+    "closeness rank": 2
+   },
+   "backpack": {
+    "distance": "0.53 meters",
+    "closeness rank": 3
+   },
+   "door": {
+    "distance": "0.53 meters",
+    "closeness rank": 4
+   },
+   "plant": {
+    "distance": "0.73 meters",
+    "closeness rank": 5
+   },
+   "window": {
+    "distance": "0.75 meters",
+    "closeness rank": 6
+   }
+  },
+  "door": {
+   "trash bin": {
+    "distance": "0.2 meters",
+    "closeness rank": 1
+   },
+   "closet": {
+    "distance": "0.53 meters",
+    "closeness rank": 2
+   },
+   "table": {
+    "distance": "1.26 meters",
+    "closeness rank": 3
+   },
+   "backpack": {
+    "distance": "1.8 meters",
+    "closeness rank": 4
+   },
+   "window": {
+    "distance": "2.79 meters",
+    "closeness rank": 5
+   },
+   "plant": {
+    "distance": "2.93 meters",
+    "closeness rank": 6
+   }
+  },
+  "plant": {
+   "window": {
+    "distance": "0.09 meters",
+    "closeness rank": 1
+   },
+   "closet": {
+    "distance": "0.73 meters",
+    "closeness rank": 2
+   },
+   "backpack": {
+    "distance": "1.45 meters",
+    "closeness rank": 3
+   },
+   "table": {
+    "distance": "2.36 meters",
+    "closeness rank": 4
+   },
+   "trash bin": {
+    "distance": "2.47 meters",
+    "closeness rank": 5
+   },
+   "door": {
+    "distance": "2.93 meters",
+    "closeness rank": 6
+   }
+  },
+  "table": {
+   "closet": {
+    "distance": "0.24 meters",
+    "closeness rank": 1
+   },
+   "backpack": {
+    "distance": "0.74 meters",
+    "closeness rank": 2
+   },
+   "trash bin": {
+    "distance": "1.01 meters",
+    "closeness rank": 3
+   },
+   "door": {
+    "distance": "1.26 meters",
+    "closeness rank": 4
+   },
+   "window": {
+    "distance": "2.12 meters",
+    "closeness rank": 5
+   },
+   "plant": {
+    "distance": "2.36 meters",
+    "closeness rank": 6
+   }
+  },
+  "trash bin": {
+   "closet": {
+    "distance": "0.13 meters",
+    "closeness rank": 1
+   },
+   "door": {
+    "distance": "0.2 meters",
+    "closeness rank": 2
+   },
+   "table": {
+    "distance": "1.01 meters",
+    "closeness rank": 3
+   },
+   "backpack": {
+    "distance": "1.29 meters",
+    "closeness rank": 4
+   },
+   "window": {
+    "distance": "2.37 meters",
+    "closeness rank": 5
+   },
+   "plant": {
+    "distance": "2.47 meters",
+    "closeness rank": 6
+   }
+  },
+  "window": {
+   "plant": {
+    "distance": "0.09 meters",
+    "closeness rank": 1
+   },
+   "closet": {
+    "distance": "0.75 meters",
+    "closeness rank": 2
+   },
+   "backpack": {
+    "distance": "1.2 meters",
+    "closeness rank": 3
+   },
+   "table": {
+    "distance": "2.12 meters",
+    "closeness rank": 4
+   },
+   "trash bin": {
+    "distance": "2.37 meters",
+    "closeness rank": 5
+   },
+   "door": {
+    "distance": "2.79 meters",
+    "closeness rank": 6
+   }
+  }
+ },
+ "appearance order": ["table", "door", "closet", "backpack", "window", "plant", "trash bin"]
+}
\ No newline at end of file
diff --git a/data/spatial codes/sam3+depth-anything-3/metric/tracking/uniform/96/explicit/scene0412_00.json b/data/spatial codes/sam3+depth-anything-3/metric/tracking/uniform/96/explicit/scene0412_00.json
new file mode 100644
index 0000000000000000000000000000000000000000..ff262d08ef12e129c30980101bb0b858f67c6057
--- /dev/null
+++ b/data/spatial codes/sam3+depth-anything-3/metric/tracking/uniform/96/explicit/scene0412_00.json	
@@ -0,0 +1,711 @@
+{
+ "objects": {
+  "backpack": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "1.91 meters",
+      "y coordinate": "-0.67 meters",
+      "height above floor": "0.84 meters"
+     },
+     "longest dimension": "0.32 meters"
+    }
+   ]
+  },
+  "counter": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "2.82 meters",
+      "y coordinate": "-2.18 meters",
+      "height above floor": "0.84 meters"
+     },
+     "longest dimension": "1.22 meters"
+    }
+   ]
+  },
+  "door": {
+   "count": 4,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-0.08 meters",
+      "y coordinate": "2.07 meters",
+      "height above floor": "0.57 meters"
+     },
+     "longest dimension": "0.94 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "4.79 meters",
+      "y coordinate": "-1.1 meters",
+      "height above floor": "0.58 meters"
+     },
+     "longest dimension": "1.48 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "4.88 meters",
+      "y coordinate": "-1.53 meters",
+      "height above floor": "0.71 meters"
+     },
+     "longest dimension": "0.87 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-0.34 meters",
+      "y coordinate": "0.78 meters",
+      "height above floor": "0.96 meters"
+     },
+     "longest dimension": "0.31 meters"
+    }
+   ]
+  },
+  "microwave": {
+   "count": 2,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "3.75 meters",
+      "y coordinate": "-1.99 meters",
+      "height above floor": "0.9 meters"
+     },
+     "longest dimension": "0.37 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "3.74 meters",
+      "y coordinate": "-2.02 meters",
+      "height above floor": "1.14 meters"
+     },
+     "longest dimension": "0.16 meters"
+    }
+   ]
+  },
+  "mirror": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "3.8 meters",
+      "y coordinate": "-2.02 meters",
+      "height above floor": "0.93 meters"
+     },
+     "longest dimension": "0.39 meters"
+    }
+   ]
+  },
+  "radiator": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-0.37 meters",
+      "y coordinate": "-0.63 meters",
+      "height above floor": "0.68 meters"
+     },
+     "longest dimension": "0.95 meters"
+    }
+   ]
+  },
+  "refrigerator": {
+   "count": 2,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-0.32 meters",
+      "y coordinate": "-0.11 meters",
+      "height above floor": "0.76 meters"
+     },
+     "longest dimension": "1.22 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-0.3 meters",
+      "y coordinate": "0.02 meters",
+      "height above floor": "1.02 meters"
+     },
+     "longest dimension": "1.58 meters"
+    }
+   ]
+  },
+  "table": {
+   "count": 3,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "0.66 meters",
+      "y coordinate": "-0.98 meters",
+      "height above floor": "0.0 meters"
+     },
+     "longest dimension": "2.02 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "0.39 meters",
+      "y coordinate": "-1.57 meters",
+      "height above floor": "0.66 meters"
+     },
+     "longest dimension": "0.93 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "3.17 meters",
+      "y coordinate": "-0.91 meters",
+      "height above floor": "0.68 meters"
+     },
+     "longest dimension": "0.43 meters"
+    }
+   ]
+  },
+  "trash bin": {
+   "count": 5,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "0.84 meters",
+      "y coordinate": "-1.9 meters",
+      "height above floor": "0.55 meters"
+     },
+     "longest dimension": "0.45 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "0.26 meters",
+      "y coordinate": "-1.21 meters",
+      "height above floor": "0.32 meters"
+     },
+     "longest dimension": "0.62 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-0.67 meters",
+      "y coordinate": "1.59 meters",
+      "height above floor": "0.48 meters"
+     },
+     "longest dimension": "0.75 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "0.91 meters",
+      "y coordinate": "-2.44 meters",
+      "height above floor": "0.55 meters"
+     },
+     "longest dimension": "0.8 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "1.18 meters",
+      "y coordinate": "-2.15 meters",
+      "height above floor": "0.41 meters"
+     },
+     "longest dimension": "0.53 meters"
+    }
+   ]
+  },
+  "tv": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "4.81 meters",
+      "y coordinate": "-1.52 meters",
+      "height above floor": "1.26 meters"
+     },
+     "longest dimension": "0.55 meters"
+    }
+   ]
+  },
+  "window": {
+   "count": 2,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "0.81 meters",
+      "y coordinate": "-0.25 meters",
+      "height above floor": "0.96 meters"
+     },
+     "longest dimension": "0.67 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "1.67 meters",
+      "y coordinate": "-3.08 meters",
+      "height above floor": "1.1 meters"
+     },
+     "longest dimension": "0.69 meters"
+    }
+   ]
+  }
+ },
+ "room": {
+  "floor area": "17.7 square meters"
+ },
+ "closest classes distance meters from": {
+  "backpack": {
+   "window": {
+    "distance": "0.27 meters",
+    "closeness rank": 1
+   },
+   "table": {
+    "distance": "0.77 meters",
+    "closeness rank": 2
+   },
+   "counter": {
+    "distance": "1.28 meters",
+    "closeness rank": 3
+   },
+   "trash bin": {
+    "distance": "1.39 meters",
+    "closeness rank": 4
+   },
+   "microwave": {
+    "distance": "1.87 meters",
+    "closeness rank": 5
+   },
+   "mirror": {
+    "distance": "1.94 meters",
+    "closeness rank": 6
+   },
+   "refrigerator": {
+    "distance": "2.14 meters",
+    "closeness rank": 7
+   },
+   "radiator": {
+    "distance": "2.18 meters",
+    "closeness rank": 8
+   },
+   "tv": {
+    "distance": "2.69 meters",
+    "closeness rank": 9
+   },
+   "door": {
+    "distance": "3.06 meters",
+    "closeness rank": 10
+   }
+  },
+  "counter": {
+   "mirror": {
+    "distance": "0.01 meters",
+    "closeness rank": 1
+   },
+   "microwave": {
+    "distance": "0.16 meters",
+    "closeness rank": 2
+   },
+   "trash bin": {
+    "distance": "0.55 meters",
+    "closeness rank": 3
+   },
+   "table": {
+    "distance": "0.98 meters",
+    "closeness rank": 4
+   },
+   "window": {
+    "distance": "1.14 meters",
+    "closeness rank": 5
+   },
+   "backpack": {
+    "distance": "1.28 meters",
+    "closeness rank": 6
+   },
+   "tv": {
+    "distance": "1.29 meters",
+    "closeness rank": 7
+   },
+   "radiator": {
+    "distance": "2.24 meters",
+    "closeness rank": 8
+   },
+   "refrigerator": {
+    "distance": "2.41 meters",
+    "closeness rank": 9
+   },
+   "door": {
+    "distance": "4.3 meters",
+    "closeness rank": 10
+   }
+  },
+  "door": {
+   "table": {
+    "distance": "0.07 meters",
+    "closeness rank": 1
+   },
+   "refrigerator": {
+    "distance": "0.99 meters",
+    "closeness rank": 2
+   },
+   "window": {
+    "distance": "2.34 meters",
+    "closeness rank": 3
+   },
+   "radiator": {
+    "distance": "2.48 meters",
+    "closeness rank": 4
+   },
+   "backpack": {
+    "distance": "3.06 meters",
+    "closeness rank": 5
+   },
+   "trash bin": {
+    "distance": "3.82 meters",
+    "closeness rank": 6
+   },
+   "counter": {
+    "distance": "4.3 meters",
+    "closeness rank": 7
+   },
+   "microwave": {
+    "distance": "5.15 meters",
+    "closeness rank": 8
+   },
+   "mirror": {
+    "distance": "5.25 meters",
+    "closeness rank": 9
+   },
+   "tv": {
+    "distance": "5.56 meters",
+    "closeness rank": 10
+   }
+  },
+  "microwave": {
+   "mirror": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "counter": {
+    "distance": "0.16 meters",
+    "closeness rank": 2
+   },
+   "tv": {
+    "distance": "0.94 meters",
+    "closeness rank": 3
+   },
+   "window": {
+    "distance": "1.31 meters",
+    "closeness rank": 4
+   },
+   "backpack": {
+    "distance": "1.87 meters",
+    "closeness rank": 5
+   },
+   "table": {
+    "distance": "2.22 meters",
+    "closeness rank": 6
+   },
+   "trash bin": {
+    "distance": "2.72 meters",
+    "closeness rank": 7
+   },
+   "radiator": {
+    "distance": "4.17 meters",
+    "closeness rank": 8
+   },
+   "refrigerator": {
+    "distance": "4.22 meters",
+    "closeness rank": 9
+   },
+   "door": {
+    "distance": "5.15 meters",
+    "closeness rank": 10
+   }
+  },
+  "mirror": {
+   "microwave": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "counter": {
+    "distance": "0.01 meters",
+    "closeness rank": 2
+   },
+   "tv": {
+    "distance": "0.84 meters",
+    "closeness rank": 3
+   },
+   "window": {
+    "distance": "1.41 meters",
+    "closeness rank": 4
+   },
+   "backpack": {
+    "distance": "1.94 meters",
+    "closeness rank": 5
+   },
+   "table": {
+    "distance": "2.24 meters",
+    "closeness rank": 6
+   },
+   "trash bin": {
+    "distance": "2.63 meters",
+    "closeness rank": 7
+   },
+   "radiator": {
+    "distance": "4.15 meters",
+    "closeness rank": 8
+   },
+   "refrigerator": {
+    "distance": "4.22 meters",
+    "closeness rank": 9
+   },
+   "door": {
+    "distance": "5.25 meters",
+    "closeness rank": 10
+   }
+  },
+  "radiator": {
+   "refrigerator": {
+    "distance": "0.01 meters",
+    "closeness rank": 1
+   },
+   "table": {
+    "distance": "0.03 meters",
+    "closeness rank": 2
+   },
+   "window": {
+    "distance": "0.11 meters",
+    "closeness rank": 3
+   },
+   "trash bin": {
+    "distance": "1.44 meters",
+    "closeness rank": 4
+   },
+   "backpack": {
+    "distance": "2.18 meters",
+    "closeness rank": 5
+   },
+   "counter": {
+    "distance": "2.24 meters",
+    "closeness rank": 6
+   },
+   "door": {
+    "distance": "2.48 meters",
+    "closeness rank": 7
+   },
+   "mirror": {
+    "distance": "4.15 meters",
+    "closeness rank": 8
+   },
+   "microwave": {
+    "distance": "4.17 meters",
+    "closeness rank": 9
+   },
+   "tv": {
+    "distance": "5.18 meters",
+    "closeness rank": 10
+   }
+  },
+  "refrigerator": {
+   "radiator": {
+    "distance": "0.01 meters",
+    "closeness rank": 1
+   },
+   "table": {
+    "distance": "0.1 meters",
+    "closeness rank": 2
+   },
+   "window": {
+    "distance": "0.36 meters",
+    "closeness rank": 3
+   },
+   "door": {
+    "distance": "0.99 meters",
+    "closeness rank": 4
+   },
+   "trash bin": {
+    "distance": "1.64 meters",
+    "closeness rank": 5
+   },
+   "backpack": {
+    "distance": "2.14 meters",
+    "closeness rank": 6
+   },
+   "counter": {
+    "distance": "2.41 meters",
+    "closeness rank": 7
+   },
+   "microwave": {
+    "distance": "4.22 meters",
+    "closeness rank": 8
+   },
+   "mirror": {
+    "distance": "4.22 meters",
+    "closeness rank": 9
+   },
+   "tv": {
+    "distance": "5.15 meters",
+    "closeness rank": 10
+   }
+  },
+  "table": {
+   "radiator": {
+    "distance": "0.03 meters",
+    "closeness rank": 1
+   },
+   "door": {
+    "distance": "0.07 meters",
+    "closeness rank": 2
+   },
+   "trash bin": {
+    "distance": "0.09 meters",
+    "closeness rank": 3
+   },
+   "refrigerator": {
+    "distance": "0.1 meters",
+    "closeness rank": 4
+   },
+   "window": {
+    "distance": "0.3 meters",
+    "closeness rank": 5
+   },
+   "backpack": {
+    "distance": "0.77 meters",
+    "closeness rank": 6
+   },
+   "counter": {
+    "distance": "0.98 meters",
+    "closeness rank": 7
+   },
+   "microwave": {
+    "distance": "2.22 meters",
+    "closeness rank": 8
+   },
+   "mirror": {
+    "distance": "2.24 meters",
+    "closeness rank": 9
+   },
+   "tv": {
+    "distance": "3.29 meters",
+    "closeness rank": 10
+   }
+  },
+  "trash bin": {
+   "table": {
+    "distance": "0.09 meters",
+    "closeness rank": 1
+   },
+   "counter": {
+    "distance": "0.55 meters",
+    "closeness rank": 2
+   },
+   "window": {
+    "distance": "1.28 meters",
+    "closeness rank": 3
+   },
+   "backpack": {
+    "distance": "1.39 meters",
+    "closeness rank": 4
+   },
+   "radiator": {
+    "distance": "1.44 meters",
+    "closeness rank": 5
+   },
+   "refrigerator": {
+    "distance": "1.64 meters",
+    "closeness rank": 6
+   },
+   "mirror": {
+    "distance": "2.63 meters",
+    "closeness rank": 7
+   },
+   "microwave": {
+    "distance": "2.72 meters",
+    "closeness rank": 8
+   },
+   "door": {
+    "distance": "3.82 meters",
+    "closeness rank": 9
+   },
+   "tv": {
+    "distance": "3.92 meters",
+    "closeness rank": 10
+   }
+  },
+  "tv": {
+   "mirror": {
+    "distance": "0.84 meters",
+    "closeness rank": 1
+   },
+   "microwave": {
+    "distance": "0.94 meters",
+    "closeness rank": 2
+   },
+   "counter": {
+    "distance": "1.29 meters",
+    "closeness rank": 3
+   },
+   "window": {
+    "distance": "1.33 meters",
+    "closeness rank": 4
+   },
+   "backpack": {
+    "distance": "2.69 meters",
+    "closeness rank": 5
+   },
+   "table": {
+    "distance": "3.29 meters",
+    "closeness rank": 6
+   },
+   "trash bin": {
+    "distance": "3.92 meters",
+    "closeness rank": 7
+   },
+   "refrigerator": {
+    "distance": "5.15 meters",
+    "closeness rank": 8
+   },
+   "radiator": {
+    "distance": "5.18 meters",
+    "closeness rank": 9
+   },
+   "door": {
+    "distance": "5.56 meters",
+    "closeness rank": 10
+   }
+  },
+  "window": {
+   "radiator": {
+    "distance": "0.11 meters",
+    "closeness rank": 1
+   },
+   "backpack": {
+    "distance": "0.27 meters",
+    "closeness rank": 2
+   },
+   "table": {
+    "distance": "0.3 meters",
+    "closeness rank": 3
+   },
+   "refrigerator": {
+    "distance": "0.36 meters",
+    "closeness rank": 4
+   },
+   "counter": {
+    "distance": "1.14 meters",
+    "closeness rank": 5
+   },
+   "trash bin": {
+    "distance": "1.28 meters",
+    "closeness rank": 6
+   },
+   "microwave": {
+    "distance": "1.31 meters",
+    "closeness rank": 7
+   },
+   "tv": {
+    "distance": "1.33 meters",
+    "closeness rank": 8
+   },
+   "mirror": {
+    "distance": "1.41 meters",
+    "closeness rank": 9
+   },
+   "door": {
+    "distance": "2.34 meters",
+    "closeness rank": 10
+   }
+  }
+ },
+ "appearance order": ["door", "window", "counter", "table", "trash bin", "backpack", "refrigerator", "radiator", "mirror", "microwave", "tv"]
+}
\ No newline at end of file
diff --git a/data/spatial codes/sam3+depth-anything-3/metric/tracking/uniform/96/explicit/scene0426_00.json b/data/spatial codes/sam3+depth-anything-3/metric/tracking/uniform/96/explicit/scene0426_00.json
new file mode 100644
index 0000000000000000000000000000000000000000..825b7dc7f5f1971b9bc594648f7c3d4ae1bf7083
--- /dev/null
+++ b/data/spatial codes/sam3+depth-anything-3/metric/tracking/uniform/96/explicit/scene0426_00.json	
@@ -0,0 +1,1839 @@
+{
+ "objects": {
+  "backpack": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "0.97 meters",
+      "y coordinate": "0.62 meters",
+      "height above floor": "-0.28 meters"
+     },
+     "longest dimension": "0.44 meters"
+    }
+   ]
+  },
+  "bed": {
+   "count": 2,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-0.14 meters",
+      "y coordinate": "0.14 meters",
+      "height above floor": "-0.03 meters"
+     },
+     "longest dimension": "1.02 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-0.02 meters",
+      "y coordinate": "0.5 meters",
+      "height above floor": "-0.01 meters"
+     },
+     "longest dimension": "0.78 meters"
+    }
+   ]
+  },
+  "chair": {
+   "count": 4,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "1.84 meters",
+      "y coordinate": "0.11 meters",
+      "height above floor": "0.03 meters"
+     },
+     "longest dimension": "0.57 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "1.34 meters",
+      "y coordinate": "-1.46 meters",
+      "height above floor": "0.62 meters"
+     },
+     "longest dimension": "0.85 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-0.41 meters",
+      "y coordinate": "-1.04 meters",
+      "height above floor": "-0.07 meters"
+     },
+     "longest dimension": "0.69 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "0.38 meters",
+      "y coordinate": "-1.26 meters",
+      "height above floor": "-0.17 meters"
+     },
+     "longest dimension": "0.63 meters"
+    }
+   ]
+  },
+  "computer mouse": {
+   "count": 2,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-0.02 meters",
+      "y coordinate": "1.5 meters",
+      "height above floor": "0.13 meters"
+     },
+     "longest dimension": "0.07 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-0.21 meters",
+      "y coordinate": "1.52 meters",
+      "height above floor": "0.08 meters"
+     },
+     "longest dimension": "0.13 meters"
+    }
+   ]
+  },
+  "door": {
+   "count": 5,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "0.13 meters",
+      "y coordinate": "-1.81 meters",
+      "height above floor": "0.39 meters"
+     },
+     "longest dimension": "1.13 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-0.58 meters",
+      "y coordinate": "-1.3 meters",
+      "height above floor": "0.63 meters"
+     },
+     "longest dimension": "1.19 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "0.35 meters",
+      "y coordinate": "-2.0 meters",
+      "height above floor": "0.06 meters"
+     },
+     "longest dimension": "0.8 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-0.02 meters",
+      "y coordinate": "-1.71 meters",
+      "height above floor": "0.61 meters"
+     },
+     "longest dimension": "0.96 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "0.32 meters",
+      "y coordinate": "-1.98 meters",
+      "height above floor": "0.55 meters"
+     },
+     "longest dimension": "1.18 meters"
+    }
+   ]
+  },
+  "keyboard": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-0.05 meters",
+      "y coordinate": "1.63 meters",
+      "height above floor": "0.15 meters"
+     },
+     "longest dimension": "0.79 meters"
+    }
+   ]
+  },
+  "lamp": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-0.17 meters",
+      "y coordinate": "-1.28 meters",
+      "height above floor": "1.05 meters"
+     },
+     "longest dimension": "0.82 meters"
+    }
+   ]
+  },
+  "mattress": {
+   "count": 4,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-0.15 meters",
+      "y coordinate": "0.15 meters",
+      "height above floor": "0.0 meters"
+     },
+     "longest dimension": "0.84 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-0.83 meters",
+      "y coordinate": "0.05 meters",
+      "height above floor": "0.17 meters"
+     },
+     "longest dimension": "1.31 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "0.3 meters",
+      "y coordinate": "-1.22 meters",
+      "height above floor": "-0.04 meters"
+     },
+     "longest dimension": "0.44 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "0.06 meters",
+      "y coordinate": "0.44 meters",
+      "height above floor": "0.0 meters"
+     },
+     "longest dimension": "0.47 meters"
+    }
+   ]
+  },
+  "monitor": {
+   "count": 2,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "1.34 meters",
+      "y coordinate": "-1.48 meters",
+      "height above floor": "0.65 meters"
+     },
+     "longest dimension": "0.84 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "0.37 meters",
+      "y coordinate": "1.32 meters",
+      "height above floor": "0.28 meters"
+     },
+     "longest dimension": "0.36 meters"
+    }
+   ]
+  },
+  "nightstand": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "1.96 meters",
+      "y coordinate": "0.19 meters",
+      "height above floor": "0.1 meters"
+     },
+     "longest dimension": "0.47 meters"
+    }
+   ]
+  },
+  "piano": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-0.07 meters",
+      "y coordinate": "1.67 meters",
+      "height above floor": "0.15 meters"
+     },
+     "longest dimension": "0.76 meters"
+    }
+   ]
+  },
+  "pillow": {
+   "count": 7,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-0.23 meters",
+      "y coordinate": "0.61 meters",
+      "height above floor": "0.12 meters"
+     },
+     "longest dimension": "0.48 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-0.9 meters",
+      "y coordinate": "1.07 meters",
+      "height above floor": "0.15 meters"
+     },
+     "longest dimension": "0.67 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-1.42 meters",
+      "y coordinate": "0.06 meters",
+      "height above floor": "0.52 meters"
+     },
+     "longest dimension": "0.79 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-0.22 meters",
+      "y coordinate": "0.64 meters",
+      "height above floor": "0.08 meters"
+     },
+     "longest dimension": "0.47 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-0.87 meters",
+      "y coordinate": "-0.25 meters",
+      "height above floor": "0.21 meters"
+     },
+     "longest dimension": "0.43 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-1.06 meters",
+      "y coordinate": "-0.46 meters",
+      "height above floor": "0.25 meters"
+     },
+     "longest dimension": "0.61 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-0.77 meters",
+      "y coordinate": "1.35 meters",
+      "height above floor": "0.04 meters"
+     },
+     "longest dimension": "0.35 meters"
+    }
+   ]
+  },
+  "plant": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "1.12 meters",
+      "y coordinate": "-1.92 meters",
+      "height above floor": "0.34 meters"
+     },
+     "longest dimension": "0.16 meters"
+    }
+   ]
+  },
+  "sofa": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-0.9 meters",
+      "y coordinate": "1.07 meters",
+      "height above floor": "0.15 meters"
+     },
+     "longest dimension": "0.66 meters"
+    }
+   ]
+  },
+  "table": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "0.38 meters",
+      "y coordinate": "1.15 meters",
+      "height above floor": "0.1 meters"
+     },
+     "longest dimension": "1.2 meters"
+    }
+   ]
+  },
+  "towel": {
+   "count": 2,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-0.81 meters",
+      "y coordinate": "0.22 meters",
+      "height above floor": "0.18 meters"
+     },
+     "longest dimension": "1.24 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "0.3 meters",
+      "y coordinate": "-1.19 meters",
+      "height above floor": "-0.06 meters"
+     },
+     "longest dimension": "0.47 meters"
+    }
+   ]
+  },
+  "trash bin": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "1.32 meters",
+      "y coordinate": "-0.55 meters",
+      "height above floor": "-0.09 meters"
+     },
+     "longest dimension": "0.51 meters"
+    }
+   ]
+  },
+  "tv": {
+   "count": 3,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "1.41 meters",
+      "y coordinate": "-1.44 meters",
+      "height above floor": "0.6 meters"
+     },
+     "longest dimension": "0.86 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "1.34 meters",
+      "y coordinate": "-1.48 meters",
+      "height above floor": "0.65 meters"
+     },
+     "longest dimension": "0.84 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "0.37 meters",
+      "y coordinate": "1.32 meters",
+      "height above floor": "0.28 meters"
+     },
+     "longest dimension": "0.36 meters"
+    }
+   ]
+  },
+  "window": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-1.11 meters",
+      "y coordinate": "1.18 meters",
+      "height above floor": "0.79 meters"
+     },
+     "longest dimension": "0.99 meters"
+    }
+   ]
+  }
+ },
+ "room": {
+  "floor area": "12.4 square meters"
+ },
+ "closest classes distance meters from": {
+  "backpack": {
+   "table": {
+    "distance": "0.45 meters",
+    "closeness rank": 1
+   },
+   "chair": {
+    "distance": "0.56 meters",
+    "closeness rank": 2
+   },
+   "bed": {
+    "distance": "0.61 meters",
+    "closeness rank": 3
+   },
+   "mattress": {
+    "distance": "0.67 meters",
+    "closeness rank": 4
+   },
+   "nightstand": {
+    "distance": "0.81 meters",
+    "closeness rank": 5
+   },
+   "towel": {
+    "distance": "0.84 meters",
+    "closeness rank": 6
+   },
+   "pillow": {
+    "distance": "0.87 meters",
+    "closeness rank": 7
+   },
+   "trash bin": {
+    "distance": "0.88 meters",
+    "closeness rank": 8
+   },
+   "keyboard": {
+    "distance": "0.96 meters",
+    "closeness rank": 9
+   },
+   "piano": {
+    "distance": "0.96 meters",
+    "closeness rank": 10
+   },
+   "computer mouse": {
+    "distance": "1.18 meters",
+    "closeness rank": 11
+   },
+   "monitor": {
+    "distance": "1.61 meters",
+    "closeness rank": 12
+   },
+   "door": {
+    "distance": "1.66 meters",
+    "closeness rank": 13
+   },
+   "sofa": {
+    "distance": "1.66 meters",
+    "closeness rank": 14
+   },
+   "tv": {
+    "distance": "1.83 meters",
+    "closeness rank": 15
+   },
+   "lamp": {
+    "distance": "1.93 meters",
+    "closeness rank": 16
+   },
+   "window": {
+    "distance": "1.93 meters",
+    "closeness rank": 17
+   },
+   "plant": {
+    "distance": "2.39 meters",
+    "closeness rank": 18
+   }
+  },
+  "bed": {
+   "mattress": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "pillow": {
+    "distance": "0.0 meters",
+    "closeness rank": 2
+   },
+   "towel": {
+    "distance": "0.0 meters",
+    "closeness rank": 3
+   },
+   "table": {
+    "distance": "0.36 meters",
+    "closeness rank": 4
+   },
+   "sofa": {
+    "distance": "0.46 meters",
+    "closeness rank": 5
+   },
+   "backpack": {
+    "distance": "0.61 meters",
+    "closeness rank": 6
+   },
+   "computer mouse": {
+    "distance": "0.67 meters",
+    "closeness rank": 7
+   },
+   "keyboard": {
+    "distance": "0.67 meters",
+    "closeness rank": 8
+   },
+   "piano": {
+    "distance": "0.67 meters",
+    "closeness rank": 9
+   },
+   "trash bin": {
+    "distance": "0.68 meters",
+    "closeness rank": 10
+   },
+   "window": {
+    "distance": "0.73 meters",
+    "closeness rank": 11
+   },
+   "monitor": {
+    "distance": "0.76 meters",
+    "closeness rank": 12
+   },
+   "lamp": {
+    "distance": "0.82 meters",
+    "closeness rank": 13
+   },
+   "door": {
+    "distance": "0.85 meters",
+    "closeness rank": 14
+   },
+   "chair": {
+    "distance": "1.33 meters",
+    "closeness rank": 15
+   },
+   "nightstand": {
+    "distance": "1.39 meters",
+    "closeness rank": 16
+   },
+   "tv": {
+    "distance": "2.02 meters",
+    "closeness rank": 17
+   },
+   "plant": {
+    "distance": "2.08 meters",
+    "closeness rank": 18
+   }
+  },
+  "chair": {
+   "nightstand": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "door": {
+    "distance": "0.18 meters",
+    "closeness rank": 2
+   },
+   "trash bin": {
+    "distance": "0.39 meters",
+    "closeness rank": 3
+   },
+   "backpack": {
+    "distance": "0.56 meters",
+    "closeness rank": 4
+   },
+   "plant": {
+    "distance": "0.81 meters",
+    "closeness rank": 5
+   },
+   "lamp": {
+    "distance": "0.82 meters",
+    "closeness rank": 6
+   },
+   "tv": {
+    "distance": "0.86 meters",
+    "closeness rank": 7
+   },
+   "monitor": {
+    "distance": "0.94 meters",
+    "closeness rank": 8
+   },
+   "table": {
+    "distance": "1.32 meters",
+    "closeness rank": 9
+   },
+   "bed": {
+    "distance": "1.33 meters",
+    "closeness rank": 10
+   },
+   "mattress": {
+    "distance": "1.35 meters",
+    "closeness rank": 11
+   },
+   "towel": {
+    "distance": "1.66 meters",
+    "closeness rank": 12
+   },
+   "pillow": {
+    "distance": "1.69 meters",
+    "closeness rank": 13
+   },
+   "keyboard": {
+    "distance": "1.85 meters",
+    "closeness rank": 14
+   },
+   "piano": {
+    "distance": "1.85 meters",
+    "closeness rank": 15
+   },
+   "computer mouse": {
+    "distance": "2.09 meters",
+    "closeness rank": 16
+   },
+   "sofa": {
+    "distance": "2.55 meters",
+    "closeness rank": 17
+   },
+   "window": {
+    "distance": "2.81 meters",
+    "closeness rank": 18
+   }
+  },
+  "computer mouse": {
+   "keyboard": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "piano": {
+    "distance": "0.0 meters",
+    "closeness rank": 2
+   },
+   "table": {
+    "distance": "0.01 meters",
+    "closeness rank": 3
+   },
+   "monitor": {
+    "distance": "0.35 meters",
+    "closeness rank": 4
+   },
+   "towel": {
+    "distance": "0.65 meters",
+    "closeness rank": 5
+   },
+   "bed": {
+    "distance": "0.67 meters",
+    "closeness rank": 6
+   },
+   "pillow": {
+    "distance": "0.68 meters",
+    "closeness rank": 7
+   },
+   "sofa": {
+    "distance": "0.69 meters",
+    "closeness rank": 8
+   },
+   "window": {
+    "distance": "0.8 meters",
+    "closeness rank": 9
+   },
+   "mattress": {
+    "distance": "0.92 meters",
+    "closeness rank": 10
+   },
+   "backpack": {
+    "distance": "1.18 meters",
+    "closeness rank": 11
+   },
+   "trash bin": {
+    "distance": "1.71 meters",
+    "closeness rank": 12
+   },
+   "nightstand": {
+    "distance": "2.04 meters",
+    "closeness rank": 13
+   },
+   "chair": {
+    "distance": "2.09 meters",
+    "closeness rank": 14
+   },
+   "lamp": {
+    "distance": "2.79 meters",
+    "closeness rank": 15
+   },
+   "door": {
+    "distance": "2.97 meters",
+    "closeness rank": 16
+   },
+   "tv": {
+    "distance": "3.09 meters",
+    "closeness rank": 17
+   },
+   "plant": {
+    "distance": "3.56 meters",
+    "closeness rank": 18
+   }
+  },
+  "door": {
+   "lamp": {
+    "distance": "0.04 meters",
+    "closeness rank": 1
+   },
+   "chair": {
+    "distance": "0.18 meters",
+    "closeness rank": 2
+   },
+   "plant": {
+    "distance": "0.53 meters",
+    "closeness rank": 3
+   },
+   "nightstand": {
+    "distance": "0.61 meters",
+    "closeness rank": 4
+   },
+   "tv": {
+    "distance": "0.64 meters",
+    "closeness rank": 5
+   },
+   "monitor": {
+    "distance": "0.74 meters",
+    "closeness rank": 6
+   },
+   "trash bin": {
+    "distance": "0.77 meters",
+    "closeness rank": 7
+   },
+   "bed": {
+    "distance": "0.85 meters",
+    "closeness rank": 8
+   },
+   "mattress": {
+    "distance": "1.06 meters",
+    "closeness rank": 9
+   },
+   "towel": {
+    "distance": "1.37 meters",
+    "closeness rank": 10
+   },
+   "backpack": {
+    "distance": "1.66 meters",
+    "closeness rank": 11
+   },
+   "pillow": {
+    "distance": "1.93 meters",
+    "closeness rank": 12
+   },
+   "table": {
+    "distance": "2.26 meters",
+    "closeness rank": 13
+   },
+   "window": {
+    "distance": "2.43 meters",
+    "closeness rank": 14
+   },
+   "sofa": {
+    "distance": "2.46 meters",
+    "closeness rank": 15
+   },
+   "keyboard": {
+    "distance": "2.78 meters",
+    "closeness rank": 16
+   },
+   "piano": {
+    "distance": "2.78 meters",
+    "closeness rank": 17
+   },
+   "computer mouse": {
+    "distance": "2.97 meters",
+    "closeness rank": 18
+   }
+  },
+  "keyboard": {
+   "computer mouse": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "piano": {
+    "distance": "0.0 meters",
+    "closeness rank": 2
+   },
+   "table": {
+    "distance": "0.01 meters",
+    "closeness rank": 3
+   },
+   "monitor": {
+    "distance": "0.04 meters",
+    "closeness rank": 4
+   },
+   "sofa": {
+    "distance": "0.56 meters",
+    "closeness rank": 5
+   },
+   "window": {
+    "distance": "0.58 meters",
+    "closeness rank": 6
+   },
+   "towel": {
+    "distance": "0.65 meters",
+    "closeness rank": 7
+   },
+   "pillow": {
+    "distance": "0.66 meters",
+    "closeness rank": 8
+   },
+   "bed": {
+    "distance": "0.67 meters",
+    "closeness rank": 9
+   },
+   "mattress": {
+    "distance": "0.84 meters",
+    "closeness rank": 10
+   },
+   "backpack": {
+    "distance": "0.96 meters",
+    "closeness rank": 11
+   },
+   "trash bin": {
+    "distance": "1.68 meters",
+    "closeness rank": 12
+   },
+   "nightstand": {
+    "distance": "1.79 meters",
+    "closeness rank": 13
+   },
+   "chair": {
+    "distance": "1.85 meters",
+    "closeness rank": 14
+   },
+   "lamp": {
+    "distance": "2.7 meters",
+    "closeness rank": 15
+   },
+   "door": {
+    "distance": "2.78 meters",
+    "closeness rank": 16
+   },
+   "tv": {
+    "distance": "2.87 meters",
+    "closeness rank": 17
+   },
+   "plant": {
+    "distance": "3.37 meters",
+    "closeness rank": 18
+   }
+  },
+  "lamp": {
+   "door": {
+    "distance": "0.04 meters",
+    "closeness rank": 1
+   },
+   "bed": {
+    "distance": "0.82 meters",
+    "closeness rank": 2
+   },
+   "chair": {
+    "distance": "0.82 meters",
+    "closeness rank": 3
+   },
+   "mattress": {
+    "distance": "0.95 meters",
+    "closeness rank": 4
+   },
+   "towel": {
+    "distance": "1.34 meters",
+    "closeness rank": 5
+   },
+   "plant": {
+    "distance": "1.35 meters",
+    "closeness rank": 6
+   },
+   "tv": {
+    "distance": "1.36 meters",
+    "closeness rank": 7
+   },
+   "monitor": {
+    "distance": "1.38 meters",
+    "closeness rank": 8
+   },
+   "trash bin": {
+    "distance": "1.44 meters",
+    "closeness rank": 9
+   },
+   "pillow": {
+    "distance": "1.79 meters",
+    "closeness rank": 10
+   },
+   "backpack": {
+    "distance": "1.93 meters",
+    "closeness rank": 11
+   },
+   "table": {
+    "distance": "2.18 meters",
+    "closeness rank": 12
+   },
+   "nightstand": {
+    "distance": "2.26 meters",
+    "closeness rank": 13
+   },
+   "window": {
+    "distance": "2.28 meters",
+    "closeness rank": 14
+   },
+   "sofa": {
+    "distance": "2.39 meters",
+    "closeness rank": 15
+   },
+   "keyboard": {
+    "distance": "2.7 meters",
+    "closeness rank": 16
+   },
+   "piano": {
+    "distance": "2.7 meters",
+    "closeness rank": 17
+   },
+   "computer mouse": {
+    "distance": "2.79 meters",
+    "closeness rank": 18
+   }
+  },
+  "mattress": {
+   "bed": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "pillow": {
+    "distance": "0.02 meters",
+    "closeness rank": 2
+   },
+   "towel": {
+    "distance": "0.02 meters",
+    "closeness rank": 3
+   },
+   "table": {
+    "distance": "0.41 meters",
+    "closeness rank": 4
+   },
+   "sofa": {
+    "distance": "0.59 meters",
+    "closeness rank": 5
+   },
+   "backpack": {
+    "distance": "0.67 meters",
+    "closeness rank": 6
+   },
+   "trash bin": {
+    "distance": "0.73 meters",
+    "closeness rank": 7
+   },
+   "keyboard": {
+    "distance": "0.84 meters",
+    "closeness rank": 8
+   },
+   "piano": {
+    "distance": "0.85 meters",
+    "closeness rank": 9
+   },
+   "window": {
+    "distance": "0.86 meters",
+    "closeness rank": 10
+   },
+   "computer mouse": {
+    "distance": "0.92 meters",
+    "closeness rank": 11
+   },
+   "lamp": {
+    "distance": "0.95 meters",
+    "closeness rank": 12
+   },
+   "monitor": {
+    "distance": "1.05 meters",
+    "closeness rank": 13
+   },
+   "door": {
+    "distance": "1.06 meters",
+    "closeness rank": 14
+   },
+   "chair": {
+    "distance": "1.35 meters",
+    "closeness rank": 15
+   },
+   "nightstand": {
+    "distance": "1.39 meters",
+    "closeness rank": 16
+   },
+   "tv": {
+    "distance": "2.02 meters",
+    "closeness rank": 17
+   },
+   "plant": {
+    "distance": "2.08 meters",
+    "closeness rank": 18
+   }
+  },
+  "monitor": {
+   "tv": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "keyboard": {
+    "distance": "0.04 meters",
+    "closeness rank": 2
+   },
+   "piano": {
+    "distance": "0.05 meters",
+    "closeness rank": 3
+   },
+   "table": {
+    "distance": "0.16 meters",
+    "closeness rank": 4
+   },
+   "plant": {
+    "distance": "0.24 meters",
+    "closeness rank": 5
+   },
+   "sofa": {
+    "distance": "0.28 meters",
+    "closeness rank": 6
+   },
+   "window": {
+    "distance": "0.28 meters",
+    "closeness rank": 7
+   },
+   "computer mouse": {
+    "distance": "0.35 meters",
+    "closeness rank": 8
+   },
+   "trash bin": {
+    "distance": "0.62 meters",
+    "closeness rank": 9
+   },
+   "towel": {
+    "distance": "0.73 meters",
+    "closeness rank": 10
+   },
+   "door": {
+    "distance": "0.74 meters",
+    "closeness rank": 11
+   },
+   "bed": {
+    "distance": "0.76 meters",
+    "closeness rank": 12
+   },
+   "pillow": {
+    "distance": "0.78 meters",
+    "closeness rank": 13
+   },
+   "chair": {
+    "distance": "0.94 meters",
+    "closeness rank": 14
+   },
+   "mattress": {
+    "distance": "1.05 meters",
+    "closeness rank": 15
+   },
+   "nightstand": {
+    "distance": "1.31 meters",
+    "closeness rank": 16
+   },
+   "lamp": {
+    "distance": "1.38 meters",
+    "closeness rank": 17
+   },
+   "backpack": {
+    "distance": "1.61 meters",
+    "closeness rank": 18
+   }
+  },
+  "nightstand": {
+   "chair": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "door": {
+    "distance": "0.61 meters",
+    "closeness rank": 2
+   },
+   "trash bin": {
+    "distance": "0.71 meters",
+    "closeness rank": 3
+   },
+   "backpack": {
+    "distance": "0.81 meters",
+    "closeness rank": 4
+   },
+   "table": {
+    "distance": "1.26 meters",
+    "closeness rank": 5
+   },
+   "tv": {
+    "distance": "1.29 meters",
+    "closeness rank": 6
+   },
+   "monitor": {
+    "distance": "1.31 meters",
+    "closeness rank": 7
+   },
+   "bed": {
+    "distance": "1.39 meters",
+    "closeness rank": 8
+   },
+   "mattress": {
+    "distance": "1.39 meters",
+    "closeness rank": 9
+   },
+   "towel": {
+    "distance": "1.66 meters",
+    "closeness rank": 10
+   },
+   "pillow": {
+    "distance": "1.68 meters",
+    "closeness rank": 11
+   },
+   "keyboard": {
+    "distance": "1.79 meters",
+    "closeness rank": 12
+   },
+   "piano": {
+    "distance": "1.79 meters",
+    "closeness rank": 13
+   },
+   "computer mouse": {
+    "distance": "2.04 meters",
+    "closeness rank": 14
+   },
+   "plant": {
+    "distance": "2.14 meters",
+    "closeness rank": 15
+   },
+   "lamp": {
+    "distance": "2.26 meters",
+    "closeness rank": 16
+   },
+   "sofa": {
+    "distance": "2.54 meters",
+    "closeness rank": 17
+   },
+   "window": {
+    "distance": "2.77 meters",
+    "closeness rank": 18
+   }
+  },
+  "piano": {
+   "computer mouse": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "keyboard": {
+    "distance": "0.0 meters",
+    "closeness rank": 2
+   },
+   "table": {
+    "distance": "0.01 meters",
+    "closeness rank": 3
+   },
+   "monitor": {
+    "distance": "0.05 meters",
+    "closeness rank": 4
+   },
+   "sofa": {
+    "distance": "0.57 meters",
+    "closeness rank": 5
+   },
+   "window": {
+    "distance": "0.61 meters",
+    "closeness rank": 6
+   },
+   "towel": {
+    "distance": "0.65 meters",
+    "closeness rank": 7
+   },
+   "pillow": {
+    "distance": "0.66 meters",
+    "closeness rank": 8
+   },
+   "bed": {
+    "distance": "0.67 meters",
+    "closeness rank": 9
+   },
+   "mattress": {
+    "distance": "0.85 meters",
+    "closeness rank": 10
+   },
+   "backpack": {
+    "distance": "0.96 meters",
+    "closeness rank": 11
+   },
+   "trash bin": {
+    "distance": "1.68 meters",
+    "closeness rank": 12
+   },
+   "nightstand": {
+    "distance": "1.79 meters",
+    "closeness rank": 13
+   },
+   "chair": {
+    "distance": "1.85 meters",
+    "closeness rank": 14
+   },
+   "lamp": {
+    "distance": "2.7 meters",
+    "closeness rank": 15
+   },
+   "door": {
+    "distance": "2.78 meters",
+    "closeness rank": 16
+   },
+   "tv": {
+    "distance": "2.87 meters",
+    "closeness rank": 17
+   },
+   "plant": {
+    "distance": "3.37 meters",
+    "closeness rank": 18
+   }
+  },
+  "pillow": {
+   "bed": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "towel": {
+    "distance": "0.0 meters",
+    "closeness rank": 2
+   },
+   "mattress": {
+    "distance": "0.02 meters",
+    "closeness rank": 3
+   },
+   "table": {
+    "distance": "0.32 meters",
+    "closeness rank": 4
+   },
+   "sofa": {
+    "distance": "0.43 meters",
+    "closeness rank": 5
+   },
+   "keyboard": {
+    "distance": "0.66 meters",
+    "closeness rank": 6
+   },
+   "piano": {
+    "distance": "0.66 meters",
+    "closeness rank": 7
+   },
+   "computer mouse": {
+    "distance": "0.68 meters",
+    "closeness rank": 8
+   },
+   "window": {
+    "distance": "0.73 meters",
+    "closeness rank": 9
+   },
+   "monitor": {
+    "distance": "0.78 meters",
+    "closeness rank": 10
+   },
+   "backpack": {
+    "distance": "0.87 meters",
+    "closeness rank": 11
+   },
+   "trash bin": {
+    "distance": "0.87 meters",
+    "closeness rank": 12
+   },
+   "nightstand": {
+    "distance": "1.68 meters",
+    "closeness rank": 13
+   },
+   "chair": {
+    "distance": "1.69 meters",
+    "closeness rank": 14
+   },
+   "lamp": {
+    "distance": "1.79 meters",
+    "closeness rank": 15
+   },
+   "door": {
+    "distance": "1.93 meters",
+    "closeness rank": 16
+   },
+   "tv": {
+    "distance": "2.42 meters",
+    "closeness rank": 17
+   },
+   "plant": {
+    "distance": "2.7 meters",
+    "closeness rank": 18
+   }
+  },
+  "plant": {
+   "tv": {
+    "distance": "0.05 meters",
+    "closeness rank": 1
+   },
+   "monitor": {
+    "distance": "0.24 meters",
+    "closeness rank": 2
+   },
+   "door": {
+    "distance": "0.53 meters",
+    "closeness rank": 3
+   },
+   "chair": {
+    "distance": "0.81 meters",
+    "closeness rank": 4
+   },
+   "trash bin": {
+    "distance": "1.26 meters",
+    "closeness rank": 5
+   },
+   "lamp": {
+    "distance": "1.35 meters",
+    "closeness rank": 6
+   },
+   "bed": {
+    "distance": "2.08 meters",
+    "closeness rank": 7
+   },
+   "mattress": {
+    "distance": "2.08 meters",
+    "closeness rank": 8
+   },
+   "nightstand": {
+    "distance": "2.14 meters",
+    "closeness rank": 9
+   },
+   "backpack": {
+    "distance": "2.39 meters",
+    "closeness rank": 10
+   },
+   "towel": {
+    "distance": "2.57 meters",
+    "closeness rank": 11
+   },
+   "pillow": {
+    "distance": "2.7 meters",
+    "closeness rank": 12
+   },
+   "table": {
+    "distance": "2.76 meters",
+    "closeness rank": 13
+   },
+   "keyboard": {
+    "distance": "3.37 meters",
+    "closeness rank": 14
+   },
+   "piano": {
+    "distance": "3.37 meters",
+    "closeness rank": 15
+   },
+   "sofa": {
+    "distance": "3.49 meters",
+    "closeness rank": 16
+   },
+   "computer mouse": {
+    "distance": "3.56 meters",
+    "closeness rank": 17
+   },
+   "window": {
+    "distance": "3.63 meters",
+    "closeness rank": 18
+   }
+  },
+  "sofa": {
+   "window": {
+    "distance": "0.05 meters",
+    "closeness rank": 1
+   },
+   "monitor": {
+    "distance": "0.28 meters",
+    "closeness rank": 2
+   },
+   "table": {
+    "distance": "0.29 meters",
+    "closeness rank": 3
+   },
+   "pillow": {
+    "distance": "0.43 meters",
+    "closeness rank": 4
+   },
+   "towel": {
+    "distance": "0.45 meters",
+    "closeness rank": 5
+   },
+   "bed": {
+    "distance": "0.46 meters",
+    "closeness rank": 6
+   },
+   "keyboard": {
+    "distance": "0.56 meters",
+    "closeness rank": 7
+   },
+   "piano": {
+    "distance": "0.57 meters",
+    "closeness rank": 8
+   },
+   "mattress": {
+    "distance": "0.59 meters",
+    "closeness rank": 9
+   },
+   "trash bin": {
+    "distance": "0.62 meters",
+    "closeness rank": 10
+   },
+   "computer mouse": {
+    "distance": "0.69 meters",
+    "closeness rank": 11
+   },
+   "backpack": {
+    "distance": "1.66 meters",
+    "closeness rank": 12
+   },
+   "lamp": {
+    "distance": "2.39 meters",
+    "closeness rank": 13
+   },
+   "door": {
+    "distance": "2.46 meters",
+    "closeness rank": 14
+   },
+   "nightstand": {
+    "distance": "2.54 meters",
+    "closeness rank": 15
+   },
+   "chair": {
+    "distance": "2.55 meters",
+    "closeness rank": 16
+   },
+   "tv": {
+    "distance": "3.32 meters",
+    "closeness rank": 17
+   },
+   "plant": {
+    "distance": "3.49 meters",
+    "closeness rank": 18
+   }
+  },
+  "table": {
+   "computer mouse": {
+    "distance": "0.01 meters",
+    "closeness rank": 1
+   },
+   "keyboard": {
+    "distance": "0.01 meters",
+    "closeness rank": 2
+   },
+   "piano": {
+    "distance": "0.01 meters",
+    "closeness rank": 3
+   },
+   "monitor": {
+    "distance": "0.16 meters",
+    "closeness rank": 4
+   },
+   "sofa": {
+    "distance": "0.29 meters",
+    "closeness rank": 5
+   },
+   "pillow": {
+    "distance": "0.32 meters",
+    "closeness rank": 6
+   },
+   "towel": {
+    "distance": "0.32 meters",
+    "closeness rank": 7
+   },
+   "bed": {
+    "distance": "0.36 meters",
+    "closeness rank": 8
+   },
+   "mattress": {
+    "distance": "0.41 meters",
+    "closeness rank": 9
+   },
+   "window": {
+    "distance": "0.42 meters",
+    "closeness rank": 10
+   },
+   "backpack": {
+    "distance": "0.45 meters",
+    "closeness rank": 11
+   },
+   "nightstand": {
+    "distance": "1.26 meters",
+    "closeness rank": 12
+   },
+   "chair": {
+    "distance": "1.32 meters",
+    "closeness rank": 13
+   },
+   "trash bin": {
+    "distance": "1.42 meters",
+    "closeness rank": 14
+   },
+   "lamp": {
+    "distance": "2.18 meters",
+    "closeness rank": 15
+   },
+   "door": {
+    "distance": "2.26 meters",
+    "closeness rank": 16
+   },
+   "tv": {
+    "distance": "2.27 meters",
+    "closeness rank": 17
+   },
+   "plant": {
+    "distance": "2.76 meters",
+    "closeness rank": 18
+   }
+  },
+  "towel": {
+   "bed": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "pillow": {
+    "distance": "0.0 meters",
+    "closeness rank": 2
+   },
+   "mattress": {
+    "distance": "0.02 meters",
+    "closeness rank": 3
+   },
+   "table": {
+    "distance": "0.32 meters",
+    "closeness rank": 4
+   },
+   "trash bin": {
+    "distance": "0.44 meters",
+    "closeness rank": 5
+   },
+   "sofa": {
+    "distance": "0.45 meters",
+    "closeness rank": 6
+   },
+   "computer mouse": {
+    "distance": "0.65 meters",
+    "closeness rank": 7
+   },
+   "keyboard": {
+    "distance": "0.65 meters",
+    "closeness rank": 8
+   },
+   "piano": {
+    "distance": "0.65 meters",
+    "closeness rank": 9
+   },
+   "window": {
+    "distance": "0.68 meters",
+    "closeness rank": 10
+   },
+   "monitor": {
+    "distance": "0.73 meters",
+    "closeness rank": 11
+   },
+   "backpack": {
+    "distance": "0.84 meters",
+    "closeness rank": 12
+   },
+   "lamp": {
+    "distance": "1.34 meters",
+    "closeness rank": 13
+   },
+   "door": {
+    "distance": "1.37 meters",
+    "closeness rank": 14
+   },
+   "chair": {
+    "distance": "1.66 meters",
+    "closeness rank": 15
+   },
+   "nightstand": {
+    "distance": "1.66 meters",
+    "closeness rank": 16
+   },
+   "tv": {
+    "distance": "2.41 meters",
+    "closeness rank": 17
+   },
+   "plant": {
+    "distance": "2.57 meters",
+    "closeness rank": 18
+   }
+  },
+  "trash bin": {
+   "window": {
+    "distance": "0.24 meters",
+    "closeness rank": 1
+   },
+   "chair": {
+    "distance": "0.39 meters",
+    "closeness rank": 2
+   },
+   "towel": {
+    "distance": "0.44 meters",
+    "closeness rank": 3
+   },
+   "tv": {
+    "distance": "0.6 meters",
+    "closeness rank": 4
+   },
+   "monitor": {
+    "distance": "0.62 meters",
+    "closeness rank": 5
+   },
+   "sofa": {
+    "distance": "0.62 meters",
+    "closeness rank": 6
+   },
+   "bed": {
+    "distance": "0.68 meters",
+    "closeness rank": 7
+   },
+   "nightstand": {
+    "distance": "0.71 meters",
+    "closeness rank": 8
+   },
+   "mattress": {
+    "distance": "0.73 meters",
+    "closeness rank": 9
+   },
+   "door": {
+    "distance": "0.77 meters",
+    "closeness rank": 10
+   },
+   "pillow": {
+    "distance": "0.87 meters",
+    "closeness rank": 11
+   },
+   "backpack": {
+    "distance": "0.88 meters",
+    "closeness rank": 12
+   },
+   "plant": {
+    "distance": "1.26 meters",
+    "closeness rank": 13
+   },
+   "table": {
+    "distance": "1.42 meters",
+    "closeness rank": 14
+   },
+   "lamp": {
+    "distance": "1.44 meters",
+    "closeness rank": 15
+   },
+   "keyboard": {
+    "distance": "1.68 meters",
+    "closeness rank": 16
+   },
+   "piano": {
+    "distance": "1.68 meters",
+    "closeness rank": 17
+   },
+   "computer mouse": {
+    "distance": "1.71 meters",
+    "closeness rank": 18
+   }
+  },
+  "tv": {
+   "monitor": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "plant": {
+    "distance": "0.05 meters",
+    "closeness rank": 2
+   },
+   "trash bin": {
+    "distance": "0.6 meters",
+    "closeness rank": 3
+   },
+   "door": {
+    "distance": "0.64 meters",
+    "closeness rank": 4
+   },
+   "chair": {
+    "distance": "0.86 meters",
+    "closeness rank": 5
+   },
+   "nightstand": {
+    "distance": "1.29 meters",
+    "closeness rank": 6
+   },
+   "lamp": {
+    "distance": "1.36 meters",
+    "closeness rank": 7
+   },
+   "backpack": {
+    "distance": "1.83 meters",
+    "closeness rank": 8
+   },
+   "bed": {
+    "distance": "2.02 meters",
+    "closeness rank": 9
+   },
+   "mattress": {
+    "distance": "2.02 meters",
+    "closeness rank": 10
+   },
+   "table": {
+    "distance": "2.27 meters",
+    "closeness rank": 11
+   },
+   "towel": {
+    "distance": "2.41 meters",
+    "closeness rank": 12
+   },
+   "pillow": {
+    "distance": "2.42 meters",
+    "closeness rank": 13
+   },
+   "keyboard": {
+    "distance": "2.87 meters",
+    "closeness rank": 14
+   },
+   "piano": {
+    "distance": "2.87 meters",
+    "closeness rank": 15
+   },
+   "computer mouse": {
+    "distance": "3.09 meters",
+    "closeness rank": 16
+   },
+   "sofa": {
+    "distance": "3.32 meters",
+    "closeness rank": 17
+   },
+   "window": {
+    "distance": "3.51 meters",
+    "closeness rank": 18
+   }
+  },
+  "window": {
+   "sofa": {
+    "distance": "0.05 meters",
+    "closeness rank": 1
+   },
+   "trash bin": {
+    "distance": "0.24 meters",
+    "closeness rank": 2
+   },
+   "monitor": {
+    "distance": "0.28 meters",
+    "closeness rank": 3
+   },
+   "table": {
+    "distance": "0.42 meters",
+    "closeness rank": 4
+   },
+   "keyboard": {
+    "distance": "0.58 meters",
+    "closeness rank": 5
+   },
+   "piano": {
+    "distance": "0.61 meters",
+    "closeness rank": 6
+   },
+   "towel": {
+    "distance": "0.68 meters",
+    "closeness rank": 7
+   },
+   "bed": {
+    "distance": "0.73 meters",
+    "closeness rank": 8
+   },
+   "pillow": {
+    "distance": "0.73 meters",
+    "closeness rank": 9
+   },
+   "computer mouse": {
+    "distance": "0.8 meters",
+    "closeness rank": 10
+   },
+   "mattress": {
+    "distance": "0.86 meters",
+    "closeness rank": 11
+   },
+   "backpack": {
+    "distance": "1.93 meters",
+    "closeness rank": 12
+   },
+   "lamp": {
+    "distance": "2.28 meters",
+    "closeness rank": 13
+   },
+   "door": {
+    "distance": "2.43 meters",
+    "closeness rank": 14
+   },
+   "nightstand": {
+    "distance": "2.77 meters",
+    "closeness rank": 15
+   },
+   "chair": {
+    "distance": "2.81 meters",
+    "closeness rank": 16
+   },
+   "tv": {
+    "distance": "3.51 meters",
+    "closeness rank": 17
+   },
+   "plant": {
+    "distance": "3.63 meters",
+    "closeness rank": 18
+   }
+  }
+ },
+ "appearance order": ["keyboard", "mattress", "monitor", "piano", "pillow", "table", "tv", "bed", "computer mouse", "backpack", "chair", "door", "trash bin", "lamp", "towel", "window", "sofa", "nightstand", "plant"]
+}
\ No newline at end of file
diff --git a/data/spatial codes/sam3+depth-anything-3/metric/tracking/uniform/96/explicit/scene0435_02.json b/data/spatial codes/sam3+depth-anything-3/metric/tracking/uniform/96/explicit/scene0435_02.json
new file mode 100644
index 0000000000000000000000000000000000000000..aa22c9aa41119b706215254e4153ecdab002446a
--- /dev/null
+++ b/data/spatial codes/sam3+depth-anything-3/metric/tracking/uniform/96/explicit/scene0435_02.json	
@@ -0,0 +1,1338 @@
+{
+ "objects": {
+  "backpack": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "0.79 meters",
+      "y coordinate": "0.5 meters",
+      "height above floor": "-0.45 meters"
+     },
+     "longest dimension": "0.41 meters"
+    }
+   ]
+  },
+  "bed": {
+   "count": 2,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-1.67 meters",
+      "y coordinate": "0.25 meters",
+      "height above floor": "-0.01 meters"
+     },
+     "longest dimension": "2.06 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "0.18 meters",
+      "y coordinate": "1.34 meters",
+      "height above floor": "-0.06 meters"
+     },
+     "longest dimension": "2.15 meters"
+    }
+   ]
+  },
+  "chair": {
+   "count": 3,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-0.63 meters",
+      "y coordinate": "-0.96 meters",
+      "height above floor": "-0.06 meters"
+     },
+     "longest dimension": "0.69 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-2.9 meters",
+      "y coordinate": "0.25 meters",
+      "height above floor": "-0.2 meters"
+     },
+     "longest dimension": "1.04 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-1.37 meters",
+      "y coordinate": "-1.31 meters",
+      "height above floor": "-0.4 meters"
+     },
+     "longest dimension": "0.49 meters"
+    }
+   ]
+  },
+  "door": {
+   "count": 3,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-1.26 meters",
+      "y coordinate": "-2.07 meters",
+      "height above floor": "0.31 meters"
+     },
+     "longest dimension": "1.34 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "3.25 meters",
+      "y coordinate": "0.38 meters",
+      "height above floor": "-0.27 meters"
+     },
+     "longest dimension": "0.71 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "4.63 meters",
+      "y coordinate": "1.55 meters",
+      "height above floor": "-0.31 meters"
+     },
+     "longest dimension": "0.86 meters"
+    }
+   ]
+  },
+  "lamp": {
+   "count": 2,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-0.86 meters",
+      "y coordinate": "1.81 meters",
+      "height above floor": "0.52 meters"
+     },
+     "longest dimension": "0.72 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-0.62 meters",
+      "y coordinate": "-1.82 meters",
+      "height above floor": "0.64 meters"
+     },
+     "longest dimension": "0.73 meters"
+    }
+   ]
+  },
+  "mattress": {
+   "count": 2,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-1.56 meters",
+      "y coordinate": "0.04 meters",
+      "height above floor": "0.0 meters"
+     },
+     "longest dimension": "1.57 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "0.33 meters",
+      "y coordinate": "1.06 meters",
+      "height above floor": "-0.04 meters"
+     },
+     "longest dimension": "1.67 meters"
+    }
+   ]
+  },
+  "mirror": {
+   "count": 2,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "0.75 meters",
+      "y coordinate": "-0.98 meters",
+      "height above floor": "0.61 meters"
+     },
+     "longest dimension": "0.74 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-0.22 meters",
+      "y coordinate": "-1.6 meters",
+      "height above floor": "1.08 meters"
+     },
+     "longest dimension": "0.78 meters"
+    }
+   ]
+  },
+  "monitor": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "0.75 meters",
+      "y coordinate": "-0.98 meters",
+      "height above floor": "0.61 meters"
+     },
+     "longest dimension": "0.73 meters"
+    }
+   ]
+  },
+  "nightstand": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-0.79 meters",
+      "y coordinate": "1.58 meters",
+      "height above floor": "-0.3 meters"
+     },
+     "longest dimension": "0.72 meters"
+    }
+   ]
+  },
+  "pillow": {
+   "count": 7,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-2.14 meters",
+      "y coordinate": "1.05 meters",
+      "height above floor": "0.16 meters"
+     },
+     "longest dimension": "0.42 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-1.52 meters",
+      "y coordinate": "1.34 meters",
+      "height above floor": "0.14 meters"
+     },
+     "longest dimension": "0.54 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "0.74 meters",
+      "y coordinate": "-0.97 meters",
+      "height above floor": "0.63 meters"
+     },
+     "longest dimension": "0.71 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-0.07 meters",
+      "y coordinate": "1.97 meters",
+      "height above floor": "0.15 meters"
+     },
+     "longest dimension": "0.55 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-2.22 meters",
+      "y coordinate": "1.0 meters",
+      "height above floor": "0.03 meters"
+     },
+     "longest dimension": "0.65 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "0.01 meters",
+      "y coordinate": "1.94 meters",
+      "height above floor": "0.04 meters"
+     },
+     "longest dimension": "0.65 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-1.42 meters",
+      "y coordinate": "1.37 meters",
+      "height above floor": "0.01 meters"
+     },
+     "longest dimension": "0.25 meters"
+    }
+   ]
+  },
+  "sofa": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "0.34 meters",
+      "y coordinate": "0.55 meters",
+      "height above floor": "-0.23 meters"
+     },
+     "longest dimension": "1.0 meters"
+    }
+   ]
+  },
+  "table": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-0.05 meters",
+      "y coordinate": "-1.01 meters",
+      "height above floor": "0.02 meters"
+     },
+     "longest dimension": "1.2 meters"
+    }
+   ]
+  },
+  "telephone": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-0.63 meters",
+      "y coordinate": "1.83 meters",
+      "height above floor": "0.0 meters"
+     },
+     "longest dimension": "0.35 meters"
+    }
+   ]
+  },
+  "towel": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "0.33 meters",
+      "y coordinate": "1.07 meters",
+      "height above floor": "-0.04 meters"
+     },
+     "longest dimension": "1.67 meters"
+    }
+   ]
+  },
+  "trash bin": {
+   "count": 2,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-0.15 meters",
+      "y coordinate": "-0.95 meters",
+      "height above floor": "-0.38 meters"
+     },
+     "longest dimension": "0.29 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "0.51 meters",
+      "y coordinate": "-0.82 meters",
+      "height above floor": "0.04 meters"
+     },
+     "longest dimension": "0.11 meters"
+    }
+   ]
+  },
+  "tv": {
+   "count": 2,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "0.76 meters",
+      "y coordinate": "-0.98 meters",
+      "height above floor": "0.61 meters"
+     },
+     "longest dimension": "0.73 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "0.66 meters",
+      "y coordinate": "-1.03 meters",
+      "height above floor": "0.45 meters"
+     },
+     "longest dimension": "0.51 meters"
+    }
+   ]
+  }
+ },
+ "room": {
+  "floor area": "20.4 square meters"
+ },
+ "closest classes distance meters from": {
+  "backpack": {
+   "towel": {
+    "distance": "0.2 meters",
+    "closeness rank": 1
+   },
+   "sofa": {
+    "distance": "0.25 meters",
+    "closeness rank": 2
+   },
+   "bed": {
+    "distance": "0.3 meters",
+    "closeness rank": 3
+   },
+   "mattress": {
+    "distance": "0.55 meters",
+    "closeness rank": 4
+   },
+   "pillow": {
+    "distance": "0.62 meters",
+    "closeness rank": 5
+   },
+   "nightstand": {
+    "distance": "1.46 meters",
+    "closeness rank": 6
+   },
+   "mirror": {
+    "distance": "1.49 meters",
+    "closeness rank": 7
+   },
+   "monitor": {
+    "distance": "1.49 meters",
+    "closeness rank": 8
+   },
+   "tv": {
+    "distance": "1.49 meters",
+    "closeness rank": 9
+   },
+   "table": {
+    "distance": "1.51 meters",
+    "closeness rank": 10
+   },
+   "trash bin": {
+    "distance": "1.59 meters",
+    "closeness rank": 11
+   },
+   "telephone": {
+    "distance": "1.63 meters",
+    "closeness rank": 12
+   },
+   "chair": {
+    "distance": "1.82 meters",
+    "closeness rank": 13
+   },
+   "lamp": {
+    "distance": "1.99 meters",
+    "closeness rank": 14
+   },
+   "door": {
+    "distance": "2.74 meters",
+    "closeness rank": 15
+   }
+  },
+  "bed": {
+   "mattress": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "pillow": {
+    "distance": "0.0 meters",
+    "closeness rank": 2
+   },
+   "nightstand": {
+    "distance": "0.06 meters",
+    "closeness rank": 3
+   },
+   "backpack": {
+    "distance": "0.3 meters",
+    "closeness rank": 4
+   },
+   "lamp": {
+    "distance": "0.42 meters",
+    "closeness rank": 5
+   },
+   "telephone": {
+    "distance": "0.5 meters",
+    "closeness rank": 6
+   },
+   "chair": {
+    "distance": "0.76 meters",
+    "closeness rank": 7
+   },
+   "sofa": {
+    "distance": "0.84 meters",
+    "closeness rank": 8
+   },
+   "towel": {
+    "distance": "0.86 meters",
+    "closeness rank": 9
+   },
+   "trash bin": {
+    "distance": "1.01 meters",
+    "closeness rank": 10
+   },
+   "table": {
+    "distance": "1.05 meters",
+    "closeness rank": 11
+   },
+   "mirror": {
+    "distance": "1.63 meters",
+    "closeness rank": 12
+   },
+   "monitor": {
+    "distance": "1.63 meters",
+    "closeness rank": 13
+   },
+   "tv": {
+    "distance": "1.63 meters",
+    "closeness rank": 14
+   },
+   "door": {
+    "distance": "1.68 meters",
+    "closeness rank": 15
+   }
+  },
+  "chair": {
+   "table": {
+    "distance": "0.07 meters",
+    "closeness rank": 1
+   },
+   "trash bin": {
+    "distance": "0.24 meters",
+    "closeness rank": 2
+   },
+   "towel": {
+    "distance": "0.74 meters",
+    "closeness rank": 3
+   },
+   "bed": {
+    "distance": "0.76 meters",
+    "closeness rank": 4
+   },
+   "door": {
+    "distance": "0.76 meters",
+    "closeness rank": 5
+   },
+   "mattress": {
+    "distance": "0.76 meters",
+    "closeness rank": 6
+   },
+   "monitor": {
+    "distance": "0.91 meters",
+    "closeness rank": 7
+   },
+   "tv": {
+    "distance": "0.93 meters",
+    "closeness rank": 8
+   },
+   "mirror": {
+    "distance": "0.94 meters",
+    "closeness rank": 9
+   },
+   "sofa": {
+    "distance": "1.56 meters",
+    "closeness rank": 10
+   },
+   "backpack": {
+    "distance": "1.82 meters",
+    "closeness rank": 11
+   },
+   "pillow": {
+    "distance": "2.21 meters",
+    "closeness rank": 12
+   },
+   "nightstand": {
+    "distance": "2.22 meters",
+    "closeness rank": 13
+   },
+   "telephone": {
+    "distance": "2.46 meters",
+    "closeness rank": 14
+   },
+   "lamp": {
+    "distance": "2.5 meters",
+    "closeness rank": 15
+   }
+  },
+  "door": {
+   "table": {
+    "distance": "0.62 meters",
+    "closeness rank": 1
+   },
+   "chair": {
+    "distance": "0.76 meters",
+    "closeness rank": 2
+   },
+   "trash bin": {
+    "distance": "0.91 meters",
+    "closeness rank": 3
+   },
+   "tv": {
+    "distance": "1.44 meters",
+    "closeness rank": 4
+   },
+   "mirror": {
+    "distance": "1.45 meters",
+    "closeness rank": 5
+   },
+   "monitor": {
+    "distance": "1.45 meters",
+    "closeness rank": 6
+   },
+   "towel": {
+    "distance": "1.47 meters",
+    "closeness rank": 7
+   },
+   "bed": {
+    "distance": "1.68 meters",
+    "closeness rank": 8
+   },
+   "mattress": {
+    "distance": "1.68 meters",
+    "closeness rank": 9
+   },
+   "sofa": {
+    "distance": "2.72 meters",
+    "closeness rank": 10
+   },
+   "backpack": {
+    "distance": "2.74 meters",
+    "closeness rank": 11
+   },
+   "pillow": {
+    "distance": "3.06 meters",
+    "closeness rank": 12
+   },
+   "nightstand": {
+    "distance": "3.33 meters",
+    "closeness rank": 13
+   },
+   "telephone": {
+    "distance": "3.57 meters",
+    "closeness rank": 14
+   },
+   "lamp": {
+    "distance": "3.58 meters",
+    "closeness rank": 15
+   }
+  },
+  "lamp": {
+   "telephone": {
+    "distance": "0.11 meters",
+    "closeness rank": 1
+   },
+   "nightstand": {
+    "distance": "0.3 meters",
+    "closeness rank": 2
+   },
+   "bed": {
+    "distance": "0.42 meters",
+    "closeness rank": 3
+   },
+   "mattress": {
+    "distance": "0.45 meters",
+    "closeness rank": 4
+   },
+   "towel": {
+    "distance": "0.53 meters",
+    "closeness rank": 5
+   },
+   "pillow": {
+    "distance": "0.54 meters",
+    "closeness rank": 6
+   },
+   "sofa": {
+    "distance": "1.74 meters",
+    "closeness rank": 7
+   },
+   "backpack": {
+    "distance": "1.99 meters",
+    "closeness rank": 8
+   },
+   "chair": {
+    "distance": "2.5 meters",
+    "closeness rank": 9
+   },
+   "table": {
+    "distance": "2.73 meters",
+    "closeness rank": 10
+   },
+   "trash bin": {
+    "distance": "2.81 meters",
+    "closeness rank": 11
+   },
+   "tv": {
+    "distance": "2.97 meters",
+    "closeness rank": 12
+   },
+   "mirror": {
+    "distance": "3.07 meters",
+    "closeness rank": 13
+   },
+   "monitor": {
+    "distance": "3.07 meters",
+    "closeness rank": 14
+   },
+   "door": {
+    "distance": "3.58 meters",
+    "closeness rank": 15
+   }
+  },
+  "mattress": {
+   "bed": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "nightstand": {
+    "distance": "0.06 meters",
+    "closeness rank": 2
+   },
+   "pillow": {
+    "distance": "0.3 meters",
+    "closeness rank": 3
+   },
+   "lamp": {
+    "distance": "0.45 meters",
+    "closeness rank": 4
+   },
+   "telephone": {
+    "distance": "0.49 meters",
+    "closeness rank": 5
+   },
+   "backpack": {
+    "distance": "0.55 meters",
+    "closeness rank": 6
+   },
+   "chair": {
+    "distance": "0.76 meters",
+    "closeness rank": 7
+   },
+   "towel": {
+    "distance": "0.85 meters",
+    "closeness rank": 8
+   },
+   "sofa": {
+    "distance": "0.86 meters",
+    "closeness rank": 9
+   },
+   "trash bin": {
+    "distance": "1.04 meters",
+    "closeness rank": 10
+   },
+   "table": {
+    "distance": "1.05 meters",
+    "closeness rank": 11
+   },
+   "mirror": {
+    "distance": "1.63 meters",
+    "closeness rank": 12
+   },
+   "monitor": {
+    "distance": "1.63 meters",
+    "closeness rank": 13
+   },
+   "tv": {
+    "distance": "1.63 meters",
+    "closeness rank": 14
+   },
+   "door": {
+    "distance": "1.68 meters",
+    "closeness rank": 15
+   }
+  },
+  "mirror": {
+   "monitor": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "tv": {
+    "distance": "0.0 meters",
+    "closeness rank": 2
+   },
+   "towel": {
+    "distance": "0.13 meters",
+    "closeness rank": 3
+   },
+   "table": {
+    "distance": "0.4 meters",
+    "closeness rank": 4
+   },
+   "trash bin": {
+    "distance": "0.46 meters",
+    "closeness rank": 5
+   },
+   "chair": {
+    "distance": "0.94 meters",
+    "closeness rank": 6
+   },
+   "door": {
+    "distance": "1.45 meters",
+    "closeness rank": 7
+   },
+   "backpack": {
+    "distance": "1.49 meters",
+    "closeness rank": 8
+   },
+   "sofa": {
+    "distance": "1.55 meters",
+    "closeness rank": 9
+   },
+   "bed": {
+    "distance": "1.63 meters",
+    "closeness rank": 10
+   },
+   "mattress": {
+    "distance": "1.63 meters",
+    "closeness rank": 11
+   },
+   "nightstand": {
+    "distance": "2.88 meters",
+    "closeness rank": 12
+   },
+   "pillow": {
+    "distance": "2.89 meters",
+    "closeness rank": 13
+   },
+   "telephone": {
+    "distance": "2.95 meters",
+    "closeness rank": 14
+   },
+   "lamp": {
+    "distance": "3.07 meters",
+    "closeness rank": 15
+   }
+  },
+  "monitor": {
+   "mirror": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "tv": {
+    "distance": "0.0 meters",
+    "closeness rank": 2
+   },
+   "towel": {
+    "distance": "0.13 meters",
+    "closeness rank": 3
+   },
+   "table": {
+    "distance": "0.38 meters",
+    "closeness rank": 4
+   },
+   "trash bin": {
+    "distance": "0.47 meters",
+    "closeness rank": 5
+   },
+   "chair": {
+    "distance": "0.91 meters",
+    "closeness rank": 6
+   },
+   "door": {
+    "distance": "1.45 meters",
+    "closeness rank": 7
+   },
+   "backpack": {
+    "distance": "1.49 meters",
+    "closeness rank": 8
+   },
+   "sofa": {
+    "distance": "1.55 meters",
+    "closeness rank": 9
+   },
+   "bed": {
+    "distance": "1.63 meters",
+    "closeness rank": 10
+   },
+   "mattress": {
+    "distance": "1.63 meters",
+    "closeness rank": 11
+   },
+   "nightstand": {
+    "distance": "2.88 meters",
+    "closeness rank": 12
+   },
+   "pillow": {
+    "distance": "2.9 meters",
+    "closeness rank": 13
+   },
+   "telephone": {
+    "distance": "2.95 meters",
+    "closeness rank": 14
+   },
+   "lamp": {
+    "distance": "3.07 meters",
+    "closeness rank": 15
+   }
+  },
+  "nightstand": {
+   "telephone": {
+    "distance": "0.01 meters",
+    "closeness rank": 1
+   },
+   "bed": {
+    "distance": "0.06 meters",
+    "closeness rank": 2
+   },
+   "mattress": {
+    "distance": "0.06 meters",
+    "closeness rank": 3
+   },
+   "towel": {
+    "distance": "0.14 meters",
+    "closeness rank": 4
+   },
+   "pillow": {
+    "distance": "0.29 meters",
+    "closeness rank": 5
+   },
+   "lamp": {
+    "distance": "0.3 meters",
+    "closeness rank": 6
+   },
+   "sofa": {
+    "distance": "1.27 meters",
+    "closeness rank": 7
+   },
+   "backpack": {
+    "distance": "1.46 meters",
+    "closeness rank": 8
+   },
+   "chair": {
+    "distance": "2.22 meters",
+    "closeness rank": 9
+   },
+   "trash bin": {
+    "distance": "2.39 meters",
+    "closeness rank": 10
+   },
+   "table": {
+    "distance": "2.44 meters",
+    "closeness rank": 11
+   },
+   "mirror": {
+    "distance": "2.88 meters",
+    "closeness rank": 12
+   },
+   "monitor": {
+    "distance": "2.88 meters",
+    "closeness rank": 13
+   },
+   "tv": {
+    "distance": "2.88 meters",
+    "closeness rank": 14
+   },
+   "door": {
+    "distance": "3.33 meters",
+    "closeness rank": 15
+   }
+  },
+  "pillow": {
+   "bed": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "towel": {
+    "distance": "0.1 meters",
+    "closeness rank": 2
+   },
+   "telephone": {
+    "distance": "0.25 meters",
+    "closeness rank": 3
+   },
+   "nightstand": {
+    "distance": "0.29 meters",
+    "closeness rank": 4
+   },
+   "mattress": {
+    "distance": "0.3 meters",
+    "closeness rank": 5
+   },
+   "lamp": {
+    "distance": "0.54 meters",
+    "closeness rank": 6
+   },
+   "backpack": {
+    "distance": "0.62 meters",
+    "closeness rank": 7
+   },
+   "sofa": {
+    "distance": "1.4 meters",
+    "closeness rank": 8
+   },
+   "chair": {
+    "distance": "2.21 meters",
+    "closeness rank": 9
+   },
+   "table": {
+    "distance": "2.49 meters",
+    "closeness rank": 10
+   },
+   "trash bin": {
+    "distance": "2.57 meters",
+    "closeness rank": 11
+   },
+   "mirror": {
+    "distance": "2.89 meters",
+    "closeness rank": 12
+   },
+   "tv": {
+    "distance": "2.89 meters",
+    "closeness rank": 13
+   },
+   "monitor": {
+    "distance": "2.9 meters",
+    "closeness rank": 14
+   },
+   "door": {
+    "distance": "3.06 meters",
+    "closeness rank": 15
+   }
+  },
+  "sofa": {
+   "towel": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "backpack": {
+    "distance": "0.25 meters",
+    "closeness rank": 2
+   },
+   "bed": {
+    "distance": "0.84 meters",
+    "closeness rank": 3
+   },
+   "mattress": {
+    "distance": "0.86 meters",
+    "closeness rank": 4
+   },
+   "nightstand": {
+    "distance": "1.27 meters",
+    "closeness rank": 5
+   },
+   "table": {
+    "distance": "1.38 meters",
+    "closeness rank": 6
+   },
+   "pillow": {
+    "distance": "1.4 meters",
+    "closeness rank": 7
+   },
+   "trash bin": {
+    "distance": "1.41 meters",
+    "closeness rank": 8
+   },
+   "telephone": {
+    "distance": "1.44 meters",
+    "closeness rank": 9
+   },
+   "tv": {
+    "distance": "1.54 meters",
+    "closeness rank": 10
+   },
+   "mirror": {
+    "distance": "1.55 meters",
+    "closeness rank": 11
+   },
+   "monitor": {
+    "distance": "1.55 meters",
+    "closeness rank": 12
+   },
+   "chair": {
+    "distance": "1.56 meters",
+    "closeness rank": 13
+   },
+   "lamp": {
+    "distance": "1.74 meters",
+    "closeness rank": 14
+   },
+   "door": {
+    "distance": "2.72 meters",
+    "closeness rank": 15
+   }
+  },
+  "table": {
+   "trash bin": {
+    "distance": "0.05 meters",
+    "closeness rank": 1
+   },
+   "chair": {
+    "distance": "0.07 meters",
+    "closeness rank": 2
+   },
+   "towel": {
+    "distance": "0.23 meters",
+    "closeness rank": 3
+   },
+   "monitor": {
+    "distance": "0.38 meters",
+    "closeness rank": 4
+   },
+   "mirror": {
+    "distance": "0.4 meters",
+    "closeness rank": 5
+   },
+   "tv": {
+    "distance": "0.4 meters",
+    "closeness rank": 6
+   },
+   "door": {
+    "distance": "0.62 meters",
+    "closeness rank": 7
+   },
+   "bed": {
+    "distance": "1.05 meters",
+    "closeness rank": 8
+   },
+   "mattress": {
+    "distance": "1.05 meters",
+    "closeness rank": 9
+   },
+   "sofa": {
+    "distance": "1.38 meters",
+    "closeness rank": 10
+   },
+   "backpack": {
+    "distance": "1.51 meters",
+    "closeness rank": 11
+   },
+   "nightstand": {
+    "distance": "2.44 meters",
+    "closeness rank": 12
+   },
+   "pillow": {
+    "distance": "2.49 meters",
+    "closeness rank": 13
+   },
+   "telephone": {
+    "distance": "2.58 meters",
+    "closeness rank": 14
+   },
+   "lamp": {
+    "distance": "2.73 meters",
+    "closeness rank": 15
+   }
+  },
+  "telephone": {
+   "nightstand": {
+    "distance": "0.01 meters",
+    "closeness rank": 1
+   },
+   "lamp": {
+    "distance": "0.11 meters",
+    "closeness rank": 2
+   },
+   "towel": {
+    "distance": "0.19 meters",
+    "closeness rank": 3
+   },
+   "pillow": {
+    "distance": "0.25 meters",
+    "closeness rank": 4
+   },
+   "mattress": {
+    "distance": "0.49 meters",
+    "closeness rank": 5
+   },
+   "bed": {
+    "distance": "0.5 meters",
+    "closeness rank": 6
+   },
+   "sofa": {
+    "distance": "1.44 meters",
+    "closeness rank": 7
+   },
+   "backpack": {
+    "distance": "1.63 meters",
+    "closeness rank": 8
+   },
+   "chair": {
+    "distance": "2.46 meters",
+    "closeness rank": 9
+   },
+   "table": {
+    "distance": "2.58 meters",
+    "closeness rank": 10
+   },
+   "trash bin": {
+    "distance": "2.6 meters",
+    "closeness rank": 11
+   },
+   "mirror": {
+    "distance": "2.95 meters",
+    "closeness rank": 12
+   },
+   "monitor": {
+    "distance": "2.95 meters",
+    "closeness rank": 13
+   },
+   "tv": {
+    "distance": "2.96 meters",
+    "closeness rank": 14
+   },
+   "door": {
+    "distance": "3.57 meters",
+    "closeness rank": 15
+   }
+  },
+  "towel": {
+   "sofa": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "pillow": {
+    "distance": "0.1 meters",
+    "closeness rank": 2
+   },
+   "mirror": {
+    "distance": "0.13 meters",
+    "closeness rank": 3
+   },
+   "monitor": {
+    "distance": "0.13 meters",
+    "closeness rank": 4
+   },
+   "nightstand": {
+    "distance": "0.14 meters",
+    "closeness rank": 5
+   },
+   "tv": {
+    "distance": "0.14 meters",
+    "closeness rank": 6
+   },
+   "telephone": {
+    "distance": "0.19 meters",
+    "closeness rank": 7
+   },
+   "backpack": {
+    "distance": "0.2 meters",
+    "closeness rank": 8
+   },
+   "table": {
+    "distance": "0.23 meters",
+    "closeness rank": 9
+   },
+   "lamp": {
+    "distance": "0.53 meters",
+    "closeness rank": 10
+   },
+   "trash bin": {
+    "distance": "0.66 meters",
+    "closeness rank": 11
+   },
+   "chair": {
+    "distance": "0.74 meters",
+    "closeness rank": 12
+   },
+   "mattress": {
+    "distance": "0.85 meters",
+    "closeness rank": 13
+   },
+   "bed": {
+    "distance": "0.86 meters",
+    "closeness rank": 14
+   },
+   "door": {
+    "distance": "1.47 meters",
+    "closeness rank": 15
+   }
+  },
+  "trash bin": {
+   "table": {
+    "distance": "0.05 meters",
+    "closeness rank": 1
+   },
+   "chair": {
+    "distance": "0.24 meters",
+    "closeness rank": 2
+   },
+   "tv": {
+    "distance": "0.44 meters",
+    "closeness rank": 3
+   },
+   "mirror": {
+    "distance": "0.46 meters",
+    "closeness rank": 4
+   },
+   "monitor": {
+    "distance": "0.47 meters",
+    "closeness rank": 5
+   },
+   "towel": {
+    "distance": "0.66 meters",
+    "closeness rank": 6
+   },
+   "door": {
+    "distance": "0.91 meters",
+    "closeness rank": 7
+   },
+   "bed": {
+    "distance": "1.01 meters",
+    "closeness rank": 8
+   },
+   "mattress": {
+    "distance": "1.04 meters",
+    "closeness rank": 9
+   },
+   "sofa": {
+    "distance": "1.41 meters",
+    "closeness rank": 10
+   },
+   "backpack": {
+    "distance": "1.59 meters",
+    "closeness rank": 11
+   },
+   "nightstand": {
+    "distance": "2.39 meters",
+    "closeness rank": 12
+   },
+   "pillow": {
+    "distance": "2.57 meters",
+    "closeness rank": 13
+   },
+   "telephone": {
+    "distance": "2.6 meters",
+    "closeness rank": 14
+   },
+   "lamp": {
+    "distance": "2.81 meters",
+    "closeness rank": 15
+   }
+  },
+  "tv": {
+   "mirror": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "monitor": {
+    "distance": "0.0 meters",
+    "closeness rank": 2
+   },
+   "towel": {
+    "distance": "0.14 meters",
+    "closeness rank": 3
+   },
+   "table": {
+    "distance": "0.4 meters",
+    "closeness rank": 4
+   },
+   "trash bin": {
+    "distance": "0.44 meters",
+    "closeness rank": 5
+   },
+   "chair": {
+    "distance": "0.93 meters",
+    "closeness rank": 6
+   },
+   "door": {
+    "distance": "1.44 meters",
+    "closeness rank": 7
+   },
+   "backpack": {
+    "distance": "1.49 meters",
+    "closeness rank": 8
+   },
+   "sofa": {
+    "distance": "1.54 meters",
+    "closeness rank": 9
+   },
+   "bed": {
+    "distance": "1.63 meters",
+    "closeness rank": 10
+   },
+   "mattress": {
+    "distance": "1.63 meters",
+    "closeness rank": 11
+   },
+   "nightstand": {
+    "distance": "2.88 meters",
+    "closeness rank": 12
+   },
+   "pillow": {
+    "distance": "2.89 meters",
+    "closeness rank": 13
+   },
+   "telephone": {
+    "distance": "2.96 meters",
+    "closeness rank": 14
+   },
+   "lamp": {
+    "distance": "2.97 meters",
+    "closeness rank": 15
+   }
+  }
+ },
+ "appearance order": ["chair", "lamp", "trash bin", "tv", "table", "mirror", "door", "bed", "mattress", "pillow", "backpack", "nightstand", "telephone", "towel", "sofa", "monitor"]
+}
\ No newline at end of file
diff --git a/data/spatial codes/sam3+depth-anything-3/metric/tracking/uniform/96/explicit/scene0575_01.json b/data/spatial codes/sam3+depth-anything-3/metric/tracking/uniform/96/explicit/scene0575_01.json
new file mode 100644
index 0000000000000000000000000000000000000000..be0aaa705ca884b53895888de4b2f9908068398d
--- /dev/null
+++ b/data/spatial codes/sam3+depth-anything-3/metric/tracking/uniform/96/explicit/scene0575_01.json	
@@ -0,0 +1,458 @@
+{
+ "objects": {
+  "chair": {
+   "count": 10,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-1.97 meters",
+      "y coordinate": "1.6 meters",
+      "height above floor": "-0.01 meters"
+     },
+     "longest dimension": "0.67 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-1.43 meters",
+      "y coordinate": "2.75 meters",
+      "height above floor": "-0.02 meters"
+     },
+     "longest dimension": "0.63 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "0.51 meters",
+      "y coordinate": "1.06 meters",
+      "height above floor": "-0.05 meters"
+     },
+     "longest dimension": "0.61 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-1.11 meters",
+      "y coordinate": "-0.36 meters",
+      "height above floor": "0.01 meters"
+     },
+     "longest dimension": "0.74 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-1.43 meters",
+      "y coordinate": "2.63 meters",
+      "height above floor": "-0.12 meters"
+     },
+     "longest dimension": "0.67 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-1.46 meters",
+      "y coordinate": "0.11 meters",
+      "height above floor": "0.11 meters"
+     },
+     "longest dimension": "0.92 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-1.88 meters",
+      "y coordinate": "1.11 meters",
+      "height above floor": "-0.07 meters"
+     },
+     "longest dimension": "0.7 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "0.72 meters",
+      "y coordinate": "-0.1 meters",
+      "height above floor": "-0.02 meters"
+     },
+     "longest dimension": "0.88 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "0.22 meters",
+      "y coordinate": "1.72 meters",
+      "height above floor": "-0.11 meters"
+     },
+     "longest dimension": "0.71 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-0.22 meters",
+      "y coordinate": "2.54 meters",
+      "height above floor": "-0.14 meters"
+     },
+     "longest dimension": "0.7 meters"
+    }
+   ]
+  },
+  "computer mouse": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-1.05 meters",
+      "y coordinate": "2.0 meters",
+      "height above floor": "0.02 meters"
+     },
+     "longest dimension": "0.25 meters"
+    }
+   ]
+  },
+  "door": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-3.4 meters",
+      "y coordinate": "2.21 meters",
+      "height above floor": "-0.01 meters"
+     },
+     "longest dimension": "1.26 meters"
+    }
+   ]
+  },
+  "keyboard": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-1.03 meters",
+      "y coordinate": "1.96 meters",
+      "height above floor": "0.03 meters"
+     },
+     "longest dimension": "0.2 meters"
+    }
+   ]
+  },
+  "monitor": {
+   "count": 2,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-0.27 meters",
+      "y coordinate": "-1.8 meters",
+      "height above floor": "0.67 meters"
+     },
+     "longest dimension": "1.21 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "1.08 meters",
+      "y coordinate": "-1.12 meters",
+      "height above floor": "0.65 meters"
+     },
+     "longest dimension": "1.24 meters"
+    }
+   ]
+  },
+  "table": {
+   "count": 2,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-0.61 meters",
+      "y coordinate": "0.47 meters",
+      "height above floor": "-0.01 meters"
+     },
+     "longest dimension": "1.06 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-2.96 meters",
+      "y coordinate": "1.29 meters",
+      "height above floor": "0.23 meters"
+     },
+     "longest dimension": "1.05 meters"
+    }
+   ]
+  },
+  "trash bin": {
+   "count": 2,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-2.25 meters",
+      "y coordinate": "3.2 meters",
+      "height above floor": "-0.47 meters"
+     },
+     "longest dimension": "0.4 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-2.22 meters",
+      "y coordinate": "3.18 meters",
+      "height above floor": "-0.48 meters"
+     },
+     "longest dimension": "0.4 meters"
+    }
+   ]
+  },
+  "tv": {
+   "count": 2,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-0.27 meters",
+      "y coordinate": "-1.8 meters",
+      "height above floor": "0.67 meters"
+     },
+     "longest dimension": "1.21 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "0.99 meters",
+      "y coordinate": "-1.15 meters",
+      "height above floor": "0.67 meters"
+     },
+     "longest dimension": "1.24 meters"
+    }
+   ]
+  }
+ },
+ "room": {
+  "floor area": "21.3 square meters"
+ },
+ "closest classes distance meters from": {
+  "chair": {
+   "table": {
+    "distance": "0.11 meters",
+    "closeness rank": 1
+   },
+   "computer mouse": {
+    "distance": "0.59 meters",
+    "closeness rank": 2
+   },
+   "keyboard": {
+    "distance": "0.62 meters",
+    "closeness rank": 3
+   },
+   "door": {
+    "distance": "0.97 meters",
+    "closeness rank": 4
+   },
+   "trash bin": {
+    "distance": "1.13 meters",
+    "closeness rank": 5
+   },
+   "monitor": {
+    "distance": "3.57 meters",
+    "closeness rank": 6
+   },
+   "tv": {
+    "distance": "3.58 meters",
+    "closeness rank": 7
+   }
+  },
+  "computer mouse": {
+   "keyboard": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "table": {
+    "distance": "0.01 meters",
+    "closeness rank": 2
+   },
+   "chair": {
+    "distance": "0.59 meters",
+    "closeness rank": 3
+   },
+   "trash bin": {
+    "distance": "1.54 meters",
+    "closeness rank": 4
+   },
+   "door": {
+    "distance": "2.01 meters",
+    "closeness rank": 5
+   },
+   "monitor": {
+    "distance": "3.56 meters",
+    "closeness rank": 6
+   },
+   "tv": {
+    "distance": "3.56 meters",
+    "closeness rank": 7
+   }
+  },
+  "door": {
+   "chair": {
+    "distance": "0.97 meters",
+    "closeness rank": 1
+   },
+   "trash bin": {
+    "distance": "1.27 meters",
+    "closeness rank": 2
+   },
+   "table": {
+    "distance": "1.45 meters",
+    "closeness rank": 3
+   },
+   "computer mouse": {
+    "distance": "2.01 meters",
+    "closeness rank": 4
+   },
+   "keyboard": {
+    "distance": "2.05 meters",
+    "closeness rank": 5
+   },
+   "monitor": {
+    "distance": "4.56 meters",
+    "closeness rank": 6
+   },
+   "tv": {
+    "distance": "4.57 meters",
+    "closeness rank": 7
+   }
+  },
+  "keyboard": {
+   "computer mouse": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "table": {
+    "distance": "0.02 meters",
+    "closeness rank": 2
+   },
+   "chair": {
+    "distance": "0.62 meters",
+    "closeness rank": 3
+   },
+   "trash bin": {
+    "distance": "1.54 meters",
+    "closeness rank": 4
+   },
+   "door": {
+    "distance": "2.05 meters",
+    "closeness rank": 5
+   },
+   "monitor": {
+    "distance": "3.61 meters",
+    "closeness rank": 6
+   },
+   "tv": {
+    "distance": "3.62 meters",
+    "closeness rank": 7
+   }
+  },
+  "monitor": {
+   "tv": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "table": {
+    "distance": "1.42 meters",
+    "closeness rank": 2
+   },
+   "computer mouse": {
+    "distance": "3.56 meters",
+    "closeness rank": 3
+   },
+   "chair": {
+    "distance": "3.57 meters",
+    "closeness rank": 4
+   },
+   "keyboard": {
+    "distance": "3.61 meters",
+    "closeness rank": 5
+   },
+   "door": {
+    "distance": "4.56 meters",
+    "closeness rank": 6
+   },
+   "trash bin": {
+    "distance": "5.28 meters",
+    "closeness rank": 7
+   }
+  },
+  "table": {
+   "computer mouse": {
+    "distance": "0.01 meters",
+    "closeness rank": 1
+   },
+   "keyboard": {
+    "distance": "0.02 meters",
+    "closeness rank": 2
+   },
+   "chair": {
+    "distance": "0.11 meters",
+    "closeness rank": 3
+   },
+   "trash bin": {
+    "distance": "1.29 meters",
+    "closeness rank": 4
+   },
+   "tv": {
+    "distance": "1.41 meters",
+    "closeness rank": 5
+   },
+   "monitor": {
+    "distance": "1.42 meters",
+    "closeness rank": 6
+   },
+   "door": {
+    "distance": "1.45 meters",
+    "closeness rank": 7
+   }
+  },
+  "trash bin": {
+   "chair": {
+    "distance": "1.13 meters",
+    "closeness rank": 1
+   },
+   "door": {
+    "distance": "1.27 meters",
+    "closeness rank": 2
+   },
+   "table": {
+    "distance": "1.29 meters",
+    "closeness rank": 3
+   },
+   "computer mouse": {
+    "distance": "1.54 meters",
+    "closeness rank": 4
+   },
+   "keyboard": {
+    "distance": "1.54 meters",
+    "closeness rank": 5
+   },
+   "monitor": {
+    "distance": "5.28 meters",
+    "closeness rank": 6
+   },
+   "tv": {
+    "distance": "5.28 meters",
+    "closeness rank": 7
+   }
+  },
+  "tv": {
+   "monitor": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "table": {
+    "distance": "1.41 meters",
+    "closeness rank": 2
+   },
+   "computer mouse": {
+    "distance": "3.56 meters",
+    "closeness rank": 3
+   },
+   "chair": {
+    "distance": "3.58 meters",
+    "closeness rank": 4
+   },
+   "keyboard": {
+    "distance": "3.62 meters",
+    "closeness rank": 5
+   },
+   "door": {
+    "distance": "4.57 meters",
+    "closeness rank": 6
+   },
+   "trash bin": {
+    "distance": "5.28 meters",
+    "closeness rank": 7
+   }
+  }
+ },
+ "appearance order": ["chair", "door", "table", "trash bin", "tv", "monitor", "computer mouse", "keyboard"]
+}
\ No newline at end of file
diff --git a/data/spatial codes/sam3+depth-anything-3/metric/tracking/uniform/96/explicit/scene0580_01.json b/data/spatial codes/sam3+depth-anything-3/metric/tracking/uniform/96/explicit/scene0580_01.json
new file mode 100644
index 0000000000000000000000000000000000000000..fec96f69f580b56b3a7d5b7e8b0a3bed42217e29
--- /dev/null
+++ b/data/spatial codes/sam3+depth-anything-3/metric/tracking/uniform/96/explicit/scene0580_01.json	
@@ -0,0 +1,1282 @@
+{
+ "objects": {
+  "backpack": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "1.78 meters",
+      "y coordinate": "-1.07 meters",
+      "height above floor": "-2.37 meters"
+     },
+     "longest dimension": "0.37 meters"
+    }
+   ]
+  },
+  "bed": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "1.17 meters",
+      "y coordinate": "-0.11 meters",
+      "height above floor": "-0.79 meters"
+     },
+     "longest dimension": "1.05 meters"
+    }
+   ]
+  },
+  "bookshelf": {
+   "count": 2,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "0.26 meters",
+      "y coordinate": "0.56 meters",
+      "height above floor": "-2.47 meters"
+     },
+     "longest dimension": "0.98 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-0.31 meters",
+      "y coordinate": "-0.03 meters",
+      "height above floor": "-2.44 meters"
+     },
+     "longest dimension": "0.1 meters"
+    }
+   ]
+  },
+  "chair": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "1.87 meters",
+      "y coordinate": "-0.82 meters",
+      "height above floor": "-2.29 meters"
+     },
+     "longest dimension": "0.66 meters"
+    }
+   ]
+  },
+  "closet": {
+   "count": 2,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "0.88 meters",
+      "y coordinate": "-0.41 meters",
+      "height above floor": "-0.0 meters"
+     },
+     "longest dimension": "1.49 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "0.08 meters",
+      "y coordinate": "0.26 meters",
+      "height above floor": "0.02 meters"
+     },
+     "longest dimension": "1.86 meters"
+    }
+   ]
+  },
+  "door": {
+   "count": 2,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "0.56 meters",
+      "y coordinate": "0.67 meters",
+      "height above floor": "-1.24 meters"
+     },
+     "longest dimension": "1.66 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "0.08 meters",
+      "y coordinate": "0.26 meters",
+      "height above floor": "0.02 meters"
+     },
+     "longest dimension": "1.86 meters"
+    }
+   ]
+  },
+  "fan": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-0.28 meters",
+      "y coordinate": "-1.42 meters",
+      "height above floor": "-1.35 meters"
+     },
+     "longest dimension": "1.16 meters"
+    }
+   ]
+  },
+  "lamp": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "1.71 meters",
+      "y coordinate": "-1.19 meters",
+      "height above floor": "-0.3 meters"
+     },
+     "longest dimension": "0.66 meters"
+    }
+   ]
+  },
+  "mattress": {
+   "count": 2,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "1.17 meters",
+      "y coordinate": "-0.11 meters",
+      "height above floor": "-0.79 meters"
+     },
+     "longest dimension": "1.06 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "1.17 meters",
+      "y coordinate": "-0.18 meters",
+      "height above floor": "-1.41 meters"
+     },
+     "longest dimension": "1.26 meters"
+    }
+   ]
+  },
+  "mirror": {
+   "count": 2,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "0.69 meters",
+      "y coordinate": "-0.62 meters",
+      "height above floor": "0.0 meters"
+     },
+     "longest dimension": "1.64 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-0.6 meters",
+      "y coordinate": "0.34 meters",
+      "height above floor": "-1.64 meters"
+     },
+     "longest dimension": "0.51 meters"
+    }
+   ]
+  },
+  "nightstand": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "1.93 meters",
+      "y coordinate": "-0.78 meters",
+      "height above floor": "-0.32 meters"
+     },
+     "longest dimension": "0.53 meters"
+    }
+   ]
+  },
+  "pillow": {
+   "count": 3,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "1.36 meters",
+      "y coordinate": "-0.89 meters",
+      "height above floor": "-2.64 meters"
+     },
+     "longest dimension": "0.81 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "1.64 meters",
+      "y coordinate": "-0.86 meters",
+      "height above floor": "-1.76 meters"
+     },
+     "longest dimension": "0.35 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "1.69 meters",
+      "y coordinate": "-0.87 meters",
+      "height above floor": "-0.85 meters"
+     },
+     "longest dimension": "0.45 meters"
+    }
+   ]
+  },
+  "table": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "0.19 meters",
+      "y coordinate": "0.66 meters",
+      "height above floor": "-0.86 meters"
+     },
+     "longest dimension": "0.57 meters"
+    }
+   ]
+  },
+  "towel": {
+   "count": 2,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "0.8 meters",
+      "y coordinate": "0.09 meters",
+      "height above floor": "-1.5 meters"
+     },
+     "longest dimension": "0.58 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "1.31 meters",
+      "y coordinate": "-0.3 meters",
+      "height above floor": "-1.41 meters"
+     },
+     "longest dimension": "1.05 meters"
+    }
+   ]
+  },
+  "trash bin": {
+   "count": 2,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "0.78 meters",
+      "y coordinate": "0.6 meters",
+      "height above floor": "-2.48 meters"
+     },
+     "longest dimension": "0.35 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "0.4 meters",
+      "y coordinate": "1.02 meters",
+      "height above floor": "-0.59 meters"
+     },
+     "longest dimension": "0.41 meters"
+    }
+   ]
+  },
+  "window": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "0.83 meters",
+      "y coordinate": "-0.19 meters",
+      "height above floor": "-2.74 meters"
+     },
+     "longest dimension": "0.94 meters"
+    }
+   ]
+  }
+ },
+ "room": {
+  "floor area": "9.9 square meters"
+ },
+ "closest classes distance meters from": {
+  "backpack": {
+   "chair": {
+    "distance": "0.03 meters",
+    "closeness rank": 1
+   },
+   "mirror": {
+    "distance": "0.03 meters",
+    "closeness rank": 2
+   },
+   "mattress": {
+    "distance": "0.38 meters",
+    "closeness rank": 3
+   },
+   "bed": {
+    "distance": "0.39 meters",
+    "closeness rank": 4
+   },
+   "pillow": {
+    "distance": "0.45 meters",
+    "closeness rank": 5
+   },
+   "window": {
+    "distance": "0.94 meters",
+    "closeness rank": 6
+   },
+   "towel": {
+    "distance": "1.3 meters",
+    "closeness rank": 7
+   },
+   "door": {
+    "distance": "1.57 meters",
+    "closeness rank": 8
+   },
+   "nightstand": {
+    "distance": "1.65 meters",
+    "closeness rank": 9
+   },
+   "trash bin": {
+    "distance": "1.66 meters",
+    "closeness rank": 10
+   },
+   "lamp": {
+    "distance": "1.74 meters",
+    "closeness rank": 11
+   },
+   "bookshelf": {
+    "distance": "1.95 meters",
+    "closeness rank": 12
+   },
+   "fan": {
+    "distance": "2.03 meters",
+    "closeness rank": 13
+   },
+   "table": {
+    "distance": "2.07 meters",
+    "closeness rank": 14
+   },
+   "closet": {
+    "distance": "2.3 meters",
+    "closeness rank": 15
+   }
+  },
+  "bed": {
+   "mattress": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "pillow": {
+    "distance": "0.0 meters",
+    "closeness rank": 2
+   },
+   "towel": {
+    "distance": "0.0 meters",
+    "closeness rank": 3
+   },
+   "trash bin": {
+    "distance": "0.24 meters",
+    "closeness rank": 4
+   },
+   "chair": {
+    "distance": "0.32 meters",
+    "closeness rank": 5
+   },
+   "bookshelf": {
+    "distance": "0.35 meters",
+    "closeness rank": 6
+   },
+   "door": {
+    "distance": "0.35 meters",
+    "closeness rank": 7
+   },
+   "table": {
+    "distance": "0.35 meters",
+    "closeness rank": 8
+   },
+   "window": {
+    "distance": "0.36 meters",
+    "closeness rank": 9
+   },
+   "backpack": {
+    "distance": "0.39 meters",
+    "closeness rank": 10
+   },
+   "nightstand": {
+    "distance": "0.42 meters",
+    "closeness rank": 11
+   },
+   "closet": {
+    "distance": "0.54 meters",
+    "closeness rank": 12
+   },
+   "mirror": {
+    "distance": "0.54 meters",
+    "closeness rank": 13
+   },
+   "lamp": {
+    "distance": "0.65 meters",
+    "closeness rank": 14
+   },
+   "fan": {
+    "distance": "1.78 meters",
+    "closeness rank": 15
+   }
+  },
+  "bookshelf": {
+   "door": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "trash bin": {
+    "distance": "0.2 meters",
+    "closeness rank": 2
+   },
+   "pillow": {
+    "distance": "0.23 meters",
+    "closeness rank": 3
+   },
+   "table": {
+    "distance": "0.27 meters",
+    "closeness rank": 4
+   },
+   "bed": {
+    "distance": "0.35 meters",
+    "closeness rank": 5
+   },
+   "mattress": {
+    "distance": "0.35 meters",
+    "closeness rank": 6
+   },
+   "nightstand": {
+    "distance": "0.36 meters",
+    "closeness rank": 7
+   },
+   "window": {
+    "distance": "0.68 meters",
+    "closeness rank": 8
+   },
+   "towel": {
+    "distance": "0.83 meters",
+    "closeness rank": 9
+   },
+   "mirror": {
+    "distance": "0.87 meters",
+    "closeness rank": 10
+   },
+   "fan": {
+    "distance": "1.28 meters",
+    "closeness rank": 11
+   },
+   "chair": {
+    "distance": "1.73 meters",
+    "closeness rank": 12
+   },
+   "backpack": {
+    "distance": "1.95 meters",
+    "closeness rank": 13
+   },
+   "closet": {
+    "distance": "2.47 meters",
+    "closeness rank": 14
+   },
+   "lamp": {
+    "distance": "2.75 meters",
+    "closeness rank": 15
+   }
+  },
+  "chair": {
+   "mirror": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "backpack": {
+    "distance": "0.03 meters",
+    "closeness rank": 2
+   },
+   "bed": {
+    "distance": "0.32 meters",
+    "closeness rank": 3
+   },
+   "mattress": {
+    "distance": "0.34 meters",
+    "closeness rank": 4
+   },
+   "pillow": {
+    "distance": "0.45 meters",
+    "closeness rank": 5
+   },
+   "window": {
+    "distance": "0.72 meters",
+    "closeness rank": 6
+   },
+   "towel": {
+    "distance": "1.06 meters",
+    "closeness rank": 7
+   },
+   "trash bin": {
+    "distance": "1.43 meters",
+    "closeness rank": 8
+   },
+   "door": {
+    "distance": "1.58 meters",
+    "closeness rank": 9
+   },
+   "nightstand": {
+    "distance": "1.59 meters",
+    "closeness rank": 10
+   },
+   "lamp": {
+    "distance": "1.71 meters",
+    "closeness rank": 11
+   },
+   "bookshelf": {
+    "distance": "1.73 meters",
+    "closeness rank": 12
+   },
+   "table": {
+    "distance": "1.85 meters",
+    "closeness rank": 13
+   },
+   "fan": {
+    "distance": "2.04 meters",
+    "closeness rank": 14
+   },
+   "closet": {
+    "distance": "2.16 meters",
+    "closeness rank": 15
+   }
+  },
+  "closet": {
+   "door": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "mirror": {
+    "distance": "0.0 meters",
+    "closeness rank": 2
+   },
+   "lamp": {
+    "distance": "0.5 meters",
+    "closeness rank": 3
+   },
+   "nightstand": {
+    "distance": "0.5 meters",
+    "closeness rank": 4
+   },
+   "bed": {
+    "distance": "0.54 meters",
+    "closeness rank": 5
+   },
+   "mattress": {
+    "distance": "0.54 meters",
+    "closeness rank": 6
+   },
+   "table": {
+    "distance": "1.01 meters",
+    "closeness rank": 7
+   },
+   "towel": {
+    "distance": "1.09 meters",
+    "closeness rank": 8
+   },
+   "fan": {
+    "distance": "1.11 meters",
+    "closeness rank": 9
+   },
+   "chair": {
+    "distance": "2.16 meters",
+    "closeness rank": 10
+   },
+   "backpack": {
+    "distance": "2.3 meters",
+    "closeness rank": 11
+   },
+   "trash bin": {
+    "distance": "2.33 meters",
+    "closeness rank": 12
+   },
+   "pillow": {
+    "distance": "2.42 meters",
+    "closeness rank": 13
+   },
+   "bookshelf": {
+    "distance": "2.47 meters",
+    "closeness rank": 14
+   },
+   "window": {
+    "distance": "2.68 meters",
+    "closeness rank": 15
+   }
+  },
+  "door": {
+   "bookshelf": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "closet": {
+    "distance": "0.0 meters",
+    "closeness rank": 2
+   },
+   "mirror": {
+    "distance": "0.0 meters",
+    "closeness rank": 3
+   },
+   "table": {
+    "distance": "0.0 meters",
+    "closeness rank": 4
+   },
+   "nightstand": {
+    "distance": "0.04 meters",
+    "closeness rank": 5
+   },
+   "trash bin": {
+    "distance": "0.05 meters",
+    "closeness rank": 6
+   },
+   "pillow": {
+    "distance": "0.1 meters",
+    "closeness rank": 7
+   },
+   "window": {
+    "distance": "0.13 meters",
+    "closeness rank": 8
+   },
+   "mattress": {
+    "distance": "0.34 meters",
+    "closeness rank": 9
+   },
+   "bed": {
+    "distance": "0.35 meters",
+    "closeness rank": 10
+   },
+   "towel": {
+    "distance": "0.39 meters",
+    "closeness rank": 11
+   },
+   "lamp": {
+    "distance": "0.52 meters",
+    "closeness rank": 12
+   },
+   "fan": {
+    "distance": "1.04 meters",
+    "closeness rank": 13
+   },
+   "backpack": {
+    "distance": "1.57 meters",
+    "closeness rank": 14
+   },
+   "chair": {
+    "distance": "1.58 meters",
+    "closeness rank": 15
+   }
+  },
+  "fan": {
+   "door": {
+    "distance": "1.04 meters",
+    "closeness rank": 1
+   },
+   "pillow": {
+    "distance": "1.06 meters",
+    "closeness rank": 2
+   },
+   "mirror": {
+    "distance": "1.1 meters",
+    "closeness rank": 3
+   },
+   "closet": {
+    "distance": "1.11 meters",
+    "closeness rank": 4
+   },
+   "window": {
+    "distance": "1.15 meters",
+    "closeness rank": 5
+   },
+   "bookshelf": {
+    "distance": "1.28 meters",
+    "closeness rank": 6
+   },
+   "lamp": {
+    "distance": "1.55 meters",
+    "closeness rank": 7
+   },
+   "towel": {
+    "distance": "1.7 meters",
+    "closeness rank": 8
+   },
+   "mattress": {
+    "distance": "1.71 meters",
+    "closeness rank": 9
+   },
+   "table": {
+    "distance": "1.75 meters",
+    "closeness rank": 10
+   },
+   "bed": {
+    "distance": "1.78 meters",
+    "closeness rank": 11
+   },
+   "nightstand": {
+    "distance": "1.87 meters",
+    "closeness rank": 12
+   },
+   "backpack": {
+    "distance": "2.03 meters",
+    "closeness rank": 13
+   },
+   "chair": {
+    "distance": "2.04 meters",
+    "closeness rank": 14
+   },
+   "trash bin": {
+    "distance": "2.32 meters",
+    "closeness rank": 15
+   }
+  },
+  "lamp": {
+   "nightstand": {
+    "distance": "0.01 meters",
+    "closeness rank": 1
+   },
+   "mirror": {
+    "distance": "0.49 meters",
+    "closeness rank": 2
+   },
+   "closet": {
+    "distance": "0.5 meters",
+    "closeness rank": 3
+   },
+   "door": {
+    "distance": "0.52 meters",
+    "closeness rank": 4
+   },
+   "bed": {
+    "distance": "0.65 meters",
+    "closeness rank": 5
+   },
+   "mattress": {
+    "distance": "0.76 meters",
+    "closeness rank": 6
+   },
+   "towel": {
+    "distance": "1.48 meters",
+    "closeness rank": 7
+   },
+   "fan": {
+    "distance": "1.55 meters",
+    "closeness rank": 8
+   },
+   "chair": {
+    "distance": "1.71 meters",
+    "closeness rank": 9
+   },
+   "backpack": {
+    "distance": "1.74 meters",
+    "closeness rank": 10
+   },
+   "table": {
+    "distance": "2.02 meters",
+    "closeness rank": 11
+   },
+   "pillow": {
+    "distance": "2.17 meters",
+    "closeness rank": 12
+   },
+   "window": {
+    "distance": "2.43 meters",
+    "closeness rank": 13
+   },
+   "trash bin": {
+    "distance": "2.6 meters",
+    "closeness rank": 14
+   },
+   "bookshelf": {
+    "distance": "2.75 meters",
+    "closeness rank": 15
+   }
+  },
+  "mattress": {
+   "bed": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "pillow": {
+    "distance": "0.0 meters",
+    "closeness rank": 2
+   },
+   "towel": {
+    "distance": "0.0 meters",
+    "closeness rank": 3
+   },
+   "trash bin": {
+    "distance": "0.19 meters",
+    "closeness rank": 4
+   },
+   "chair": {
+    "distance": "0.34 meters",
+    "closeness rank": 5
+   },
+   "door": {
+    "distance": "0.34 meters",
+    "closeness rank": 6
+   },
+   "bookshelf": {
+    "distance": "0.35 meters",
+    "closeness rank": 7
+   },
+   "table": {
+    "distance": "0.35 meters",
+    "closeness rank": 8
+   },
+   "window": {
+    "distance": "0.37 meters",
+    "closeness rank": 9
+   },
+   "backpack": {
+    "distance": "0.38 meters",
+    "closeness rank": 10
+   },
+   "nightstand": {
+    "distance": "0.43 meters",
+    "closeness rank": 11
+   },
+   "closet": {
+    "distance": "0.54 meters",
+    "closeness rank": 12
+   },
+   "mirror": {
+    "distance": "0.54 meters",
+    "closeness rank": 13
+   },
+   "lamp": {
+    "distance": "0.76 meters",
+    "closeness rank": 14
+   },
+   "fan": {
+    "distance": "1.71 meters",
+    "closeness rank": 15
+   }
+  },
+  "mirror": {
+   "chair": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "closet": {
+    "distance": "0.0 meters",
+    "closeness rank": 2
+   },
+   "door": {
+    "distance": "0.0 meters",
+    "closeness rank": 3
+   },
+   "backpack": {
+    "distance": "0.03 meters",
+    "closeness rank": 4
+   },
+   "table": {
+    "distance": "0.18 meters",
+    "closeness rank": 5
+   },
+   "nightstand": {
+    "distance": "0.44 meters",
+    "closeness rank": 6
+   },
+   "lamp": {
+    "distance": "0.49 meters",
+    "closeness rank": 7
+   },
+   "pillow": {
+    "distance": "0.51 meters",
+    "closeness rank": 8
+   },
+   "bed": {
+    "distance": "0.54 meters",
+    "closeness rank": 9
+   },
+   "mattress": {
+    "distance": "0.54 meters",
+    "closeness rank": 10
+   },
+   "towel": {
+    "distance": "0.86 meters",
+    "closeness rank": 11
+   },
+   "bookshelf": {
+    "distance": "0.87 meters",
+    "closeness rank": 12
+   },
+   "fan": {
+    "distance": "1.1 meters",
+    "closeness rank": 13
+   },
+   "window": {
+    "distance": "1.13 meters",
+    "closeness rank": 14
+   },
+   "trash bin": {
+    "distance": "1.17 meters",
+    "closeness rank": 15
+   }
+  },
+  "nightstand": {
+   "table": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "lamp": {
+    "distance": "0.01 meters",
+    "closeness rank": 2
+   },
+   "door": {
+    "distance": "0.04 meters",
+    "closeness rank": 3
+   },
+   "bookshelf": {
+    "distance": "0.36 meters",
+    "closeness rank": 4
+   },
+   "towel": {
+    "distance": "0.39 meters",
+    "closeness rank": 5
+   },
+   "bed": {
+    "distance": "0.42 meters",
+    "closeness rank": 6
+   },
+   "mattress": {
+    "distance": "0.43 meters",
+    "closeness rank": 7
+   },
+   "mirror": {
+    "distance": "0.44 meters",
+    "closeness rank": 8
+   },
+   "trash bin": {
+    "distance": "0.46 meters",
+    "closeness rank": 9
+   },
+   "closet": {
+    "distance": "0.5 meters",
+    "closeness rank": 10
+   },
+   "pillow": {
+    "distance": "0.59 meters",
+    "closeness rank": 11
+   },
+   "window": {
+    "distance": "1.03 meters",
+    "closeness rank": 12
+   },
+   "chair": {
+    "distance": "1.59 meters",
+    "closeness rank": 13
+   },
+   "backpack": {
+    "distance": "1.65 meters",
+    "closeness rank": 14
+   },
+   "fan": {
+    "distance": "1.87 meters",
+    "closeness rank": 15
+   }
+  },
+  "pillow": {
+   "bed": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "mattress": {
+    "distance": "0.0 meters",
+    "closeness rank": 2
+   },
+   "trash bin": {
+    "distance": "0.04 meters",
+    "closeness rank": 3
+   },
+   "window": {
+    "distance": "0.06 meters",
+    "closeness rank": 4
+   },
+   "door": {
+    "distance": "0.1 meters",
+    "closeness rank": 5
+   },
+   "bookshelf": {
+    "distance": "0.23 meters",
+    "closeness rank": 6
+   },
+   "backpack": {
+    "distance": "0.45 meters",
+    "closeness rank": 7
+   },
+   "chair": {
+    "distance": "0.45 meters",
+    "closeness rank": 8
+   },
+   "mirror": {
+    "distance": "0.51 meters",
+    "closeness rank": 9
+   },
+   "table": {
+    "distance": "0.54 meters",
+    "closeness rank": 10
+   },
+   "nightstand": {
+    "distance": "0.59 meters",
+    "closeness rank": 11
+   },
+   "towel": {
+    "distance": "0.66 meters",
+    "closeness rank": 12
+   },
+   "fan": {
+    "distance": "1.06 meters",
+    "closeness rank": 13
+   },
+   "lamp": {
+    "distance": "2.17 meters",
+    "closeness rank": 14
+   },
+   "closet": {
+    "distance": "2.42 meters",
+    "closeness rank": 15
+   }
+  },
+  "table": {
+   "door": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "nightstand": {
+    "distance": "0.0 meters",
+    "closeness rank": 2
+   },
+   "mirror": {
+    "distance": "0.18 meters",
+    "closeness rank": 3
+   },
+   "bookshelf": {
+    "distance": "0.27 meters",
+    "closeness rank": 4
+   },
+   "trash bin": {
+    "distance": "0.31 meters",
+    "closeness rank": 5
+   },
+   "bed": {
+    "distance": "0.35 meters",
+    "closeness rank": 6
+   },
+   "mattress": {
+    "distance": "0.35 meters",
+    "closeness rank": 7
+   },
+   "towel": {
+    "distance": "0.37 meters",
+    "closeness rank": 8
+   },
+   "pillow": {
+    "distance": "0.54 meters",
+    "closeness rank": 9
+   },
+   "window": {
+    "distance": "0.98 meters",
+    "closeness rank": 10
+   },
+   "closet": {
+    "distance": "1.01 meters",
+    "closeness rank": 11
+   },
+   "fan": {
+    "distance": "1.75 meters",
+    "closeness rank": 12
+   },
+   "chair": {
+    "distance": "1.85 meters",
+    "closeness rank": 13
+   },
+   "lamp": {
+    "distance": "2.02 meters",
+    "closeness rank": 14
+   },
+   "backpack": {
+    "distance": "2.07 meters",
+    "closeness rank": 15
+   }
+  },
+  "towel": {
+   "bed": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "mattress": {
+    "distance": "0.0 meters",
+    "closeness rank": 2
+   },
+   "table": {
+    "distance": "0.37 meters",
+    "closeness rank": 3
+   },
+   "door": {
+    "distance": "0.39 meters",
+    "closeness rank": 4
+   },
+   "nightstand": {
+    "distance": "0.39 meters",
+    "closeness rank": 5
+   },
+   "pillow": {
+    "distance": "0.66 meters",
+    "closeness rank": 6
+   },
+   "trash bin": {
+    "distance": "0.68 meters",
+    "closeness rank": 7
+   },
+   "bookshelf": {
+    "distance": "0.83 meters",
+    "closeness rank": 8
+   },
+   "mirror": {
+    "distance": "0.86 meters",
+    "closeness rank": 9
+   },
+   "window": {
+    "distance": "0.95 meters",
+    "closeness rank": 10
+   },
+   "chair": {
+    "distance": "1.06 meters",
+    "closeness rank": 11
+   },
+   "closet": {
+    "distance": "1.09 meters",
+    "closeness rank": 12
+   },
+   "backpack": {
+    "distance": "1.3 meters",
+    "closeness rank": 13
+   },
+   "lamp": {
+    "distance": "1.48 meters",
+    "closeness rank": 14
+   },
+   "fan": {
+    "distance": "1.7 meters",
+    "closeness rank": 15
+   }
+  },
+  "trash bin": {
+   "pillow": {
+    "distance": "0.04 meters",
+    "closeness rank": 1
+   },
+   "door": {
+    "distance": "0.05 meters",
+    "closeness rank": 2
+   },
+   "mattress": {
+    "distance": "0.19 meters",
+    "closeness rank": 3
+   },
+   "bookshelf": {
+    "distance": "0.2 meters",
+    "closeness rank": 4
+   },
+   "bed": {
+    "distance": "0.24 meters",
+    "closeness rank": 5
+   },
+   "table": {
+    "distance": "0.31 meters",
+    "closeness rank": 6
+   },
+   "nightstand": {
+    "distance": "0.46 meters",
+    "closeness rank": 7
+   },
+   "window": {
+    "distance": "0.52 meters",
+    "closeness rank": 8
+   },
+   "towel": {
+    "distance": "0.68 meters",
+    "closeness rank": 9
+   },
+   "mirror": {
+    "distance": "1.17 meters",
+    "closeness rank": 10
+   },
+   "chair": {
+    "distance": "1.43 meters",
+    "closeness rank": 11
+   },
+   "backpack": {
+    "distance": "1.66 meters",
+    "closeness rank": 12
+   },
+   "fan": {
+    "distance": "2.32 meters",
+    "closeness rank": 13
+   },
+   "closet": {
+    "distance": "2.33 meters",
+    "closeness rank": 14
+   },
+   "lamp": {
+    "distance": "2.6 meters",
+    "closeness rank": 15
+   }
+  },
+  "window": {
+   "pillow": {
+    "distance": "0.06 meters",
+    "closeness rank": 1
+   },
+   "door": {
+    "distance": "0.13 meters",
+    "closeness rank": 2
+   },
+   "bed": {
+    "distance": "0.36 meters",
+    "closeness rank": 3
+   },
+   "mattress": {
+    "distance": "0.37 meters",
+    "closeness rank": 4
+   },
+   "trash bin": {
+    "distance": "0.52 meters",
+    "closeness rank": 5
+   },
+   "bookshelf": {
+    "distance": "0.68 meters",
+    "closeness rank": 6
+   },
+   "chair": {
+    "distance": "0.72 meters",
+    "closeness rank": 7
+   },
+   "backpack": {
+    "distance": "0.94 meters",
+    "closeness rank": 8
+   },
+   "towel": {
+    "distance": "0.95 meters",
+    "closeness rank": 9
+   },
+   "table": {
+    "distance": "0.98 meters",
+    "closeness rank": 10
+   },
+   "nightstand": {
+    "distance": "1.03 meters",
+    "closeness rank": 11
+   },
+   "mirror": {
+    "distance": "1.13 meters",
+    "closeness rank": 12
+   },
+   "fan": {
+    "distance": "1.15 meters",
+    "closeness rank": 13
+   },
+   "lamp": {
+    "distance": "2.43 meters",
+    "closeness rank": 14
+   },
+   "closet": {
+    "distance": "2.68 meters",
+    "closeness rank": 15
+   }
+  }
+ },
+ "appearance order": ["bed", "door", "mattress", "nightstand", "lamp", "pillow", "towel", "trash bin", "mirror", "table", "window", "fan", "bookshelf", "backpack", "chair", "closet"]
+}
\ No newline at end of file
diff --git a/data/spatial codes/sam3+depth-anything-3/metric/tracking/uniform/96/explicit/scene0593_00.json b/data/spatial codes/sam3+depth-anything-3/metric/tracking/uniform/96/explicit/scene0593_00.json
new file mode 100644
index 0000000000000000000000000000000000000000..0600ca95c2ef3bfced1ab89fee5a8b61b2dffac5
--- /dev/null
+++ b/data/spatial codes/sam3+depth-anything-3/metric/tracking/uniform/96/explicit/scene0593_00.json	
@@ -0,0 +1,1481 @@
+{
+ "objects": {
+  "backpack": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "0.76 meters",
+      "y coordinate": "0.06 meters",
+      "height above floor": "-4.39 meters"
+     },
+     "longest dimension": "0.4 meters"
+    }
+   ]
+  },
+  "bookshelf": {
+   "count": 3,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "0.09 meters",
+      "y coordinate": "0.16 meters",
+      "height above floor": "-2.71 meters"
+     },
+     "longest dimension": "1.8 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "0.01 meters",
+      "y coordinate": "0.38 meters",
+      "height above floor": "-2.82 meters"
+     },
+     "longest dimension": "0.97 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-0.22 meters",
+      "y coordinate": "0.37 meters",
+      "height above floor": "-2.85 meters"
+     },
+     "longest dimension": "0.19 meters"
+    }
+   ]
+  },
+  "chair": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "0.88 meters",
+      "y coordinate": "-0.62 meters",
+      "height above floor": "-0.02 meters"
+     },
+     "longest dimension": "0.94 meters"
+    }
+   ]
+  },
+  "counter": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "1.13 meters",
+      "y coordinate": "-0.94 meters",
+      "height above floor": "-0.44 meters"
+     },
+     "longest dimension": "0.88 meters"
+    }
+   ]
+  },
+  "door": {
+   "count": 5,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "1.2 meters",
+      "y coordinate": "-1.48 meters",
+      "height above floor": "-4.31 meters"
+     },
+     "longest dimension": "1.36 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "0.26 meters",
+      "y coordinate": "1.16 meters",
+      "height above floor": "-1.37 meters"
+     },
+     "longest dimension": "0.5 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "0.32 meters",
+      "y coordinate": "-1.53 meters",
+      "height above floor": "-0.67 meters"
+     },
+     "longest dimension": "0.52 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "0.28 meters",
+      "y coordinate": "-1.54 meters",
+      "height above floor": "-0.35 meters"
+     },
+     "longest dimension": "0.59 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "1.21 meters",
+      "y coordinate": "-0.93 meters",
+      "height above floor": "-0.55 meters"
+     },
+     "longest dimension": "0.57 meters"
+    }
+   ]
+  },
+  "fan": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "0.66 meters",
+      "y coordinate": "-0.72 meters",
+      "height above floor": "-1.32 meters"
+     },
+     "longest dimension": "0.54 meters"
+    }
+   ]
+  },
+  "lamp": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-1.14 meters",
+      "y coordinate": "0.43 meters",
+      "height above floor": "0.09 meters"
+     },
+     "longest dimension": "0.58 meters"
+    }
+   ]
+  },
+  "monitor": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-0.34 meters",
+      "y coordinate": "1.2 meters",
+      "height above floor": "-1.88 meters"
+     },
+     "longest dimension": "0.28 meters"
+    }
+   ]
+  },
+  "printer": {
+   "count": 2,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "0.16 meters",
+      "y coordinate": "1.14 meters",
+      "height above floor": "-1.39 meters"
+     },
+     "longest dimension": "0.99 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "0.04 meters",
+      "y coordinate": "1.18 meters",
+      "height above floor": "-1.23 meters"
+     },
+     "longest dimension": "1.33 meters"
+    }
+   ]
+  },
+  "radiator": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "1.11 meters",
+      "y coordinate": "-0.91 meters",
+      "height above floor": "-2.33 meters"
+     },
+     "longest dimension": "0.9 meters"
+    }
+   ]
+  },
+  "sofa": {
+   "count": 2,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "0.85 meters",
+      "y coordinate": "0.38 meters",
+      "height above floor": "-4.3 meters"
+     },
+     "longest dimension": "1.43 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "0.71 meters",
+      "y coordinate": "0.54 meters",
+      "height above floor": "-4.42 meters"
+     },
+     "longest dimension": "1.25 meters"
+    }
+   ]
+  },
+  "table": {
+   "count": 3,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "0.66 meters",
+      "y coordinate": "0.35 meters",
+      "height above floor": "0.07 meters"
+     },
+     "longest dimension": "1.38 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "0.27 meters",
+      "y coordinate": "1.82 meters",
+      "height above floor": "-3.67 meters"
+     },
+     "longest dimension": "0.87 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "0.22 meters",
+      "y coordinate": "1.58 meters",
+      "height above floor": "-4.48 meters"
+     },
+     "longest dimension": "0.91 meters"
+    }
+   ]
+  },
+  "telephone": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-0.08 meters",
+      "y coordinate": "1.31 meters",
+      "height above floor": "-0.5 meters"
+     },
+     "longest dimension": "0.4 meters"
+    }
+   ]
+  },
+  "towel": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-0.32 meters",
+      "y coordinate": "0.23 meters",
+      "height above floor": "-2.26 meters"
+     },
+     "longest dimension": "0.21 meters"
+    }
+   ]
+  },
+  "trash bin": {
+   "count": 3,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "0.88 meters",
+      "y coordinate": "-0.63 meters",
+      "height above floor": "-0.02 meters"
+     },
+     "longest dimension": "0.95 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "0.82 meters",
+      "y coordinate": "-0.59 meters",
+      "height above floor": "0.01 meters"
+     },
+     "longest dimension": "0.96 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "0.39 meters",
+      "y coordinate": "1.57 meters",
+      "height above floor": "-0.1 meters"
+     },
+     "longest dimension": "0.41 meters"
+    }
+   ]
+  },
+  "washing machine": {
+   "count": 2,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "0.09 meters",
+      "y coordinate": "1.18 meters",
+      "height above floor": "-0.85 meters"
+     },
+     "longest dimension": "0.78 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "0.26 meters",
+      "y coordinate": "1.15 meters",
+      "height above floor": "-1.32 meters"
+     },
+     "longest dimension": "0.86 meters"
+    }
+   ]
+  },
+  "window": {
+   "count": 4,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-0.02 meters",
+      "y coordinate": "0.25 meters",
+      "height above floor": "-4.84 meters"
+     },
+     "longest dimension": "0.65 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-0.21 meters",
+      "y coordinate": "0.75 meters",
+      "height above floor": "-4.86 meters"
+     },
+     "longest dimension": "0.85 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "0.4 meters",
+      "y coordinate": "-0.38 meters",
+      "height above floor": "0.65 meters"
+     },
+     "longest dimension": "1.04 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-0.12 meters",
+      "y coordinate": "0.82 meters",
+      "height above floor": "0.6 meters"
+     },
+     "longest dimension": "1.0 meters"
+    }
+   ]
+  }
+ },
+ "room": {
+  "floor area": "8.3 square meters"
+ },
+ "closest classes distance meters from": {
+  "backpack": {
+   "sofa": {
+    "distance": "0.04 meters",
+    "closeness rank": 1
+   },
+   "window": {
+    "distance": "0.42 meters",
+    "closeness rank": 2
+   },
+   "bookshelf": {
+    "distance": "1.36 meters",
+    "closeness rank": 3
+   },
+   "door": {
+    "distance": "1.38 meters",
+    "closeness rank": 4
+   },
+   "radiator": {
+    "distance": "1.83 meters",
+    "closeness rank": 5
+   },
+   "towel": {
+    "distance": "2.19 meters",
+    "closeness rank": 6
+   },
+   "monitor": {
+    "distance": "2.65 meters",
+    "closeness rank": 7
+   },
+   "printer": {
+    "distance": "2.79 meters",
+    "closeness rank": 8
+   },
+   "fan": {
+    "distance": "2.86 meters",
+    "closeness rank": 9
+   },
+   "washing machine": {
+    "distance": "3.38 meters",
+    "closeness rank": 10
+   },
+   "telephone": {
+    "distance": "3.54 meters",
+    "closeness rank": 11
+   },
+   "counter": {
+    "distance": "3.56 meters",
+    "closeness rank": 12
+   },
+   "trash bin": {
+    "distance": "4.11 meters",
+    "closeness rank": 13
+   },
+   "chair": {
+    "distance": "4.15 meters",
+    "closeness rank": 14
+   },
+   "table": {
+    "distance": "4.21 meters",
+    "closeness rank": 15
+   },
+   "lamp": {
+    "distance": "4.68 meters",
+    "closeness rank": 16
+   }
+  },
+  "bookshelf": {
+   "towel": {
+    "distance": "0.26 meters",
+    "closeness rank": 1
+   },
+   "monitor": {
+    "distance": "0.41 meters",
+    "closeness rank": 2
+   },
+   "printer": {
+    "distance": "0.6 meters",
+    "closeness rank": 3
+   },
+   "radiator": {
+    "distance": "1.07 meters",
+    "closeness rank": 4
+   },
+   "fan": {
+    "distance": "1.13 meters",
+    "closeness rank": 5
+   },
+   "sofa": {
+    "distance": "1.16 meters",
+    "closeness rank": 6
+   },
+   "washing machine": {
+    "distance": "1.21 meters",
+    "closeness rank": 7
+   },
+   "backpack": {
+    "distance": "1.36 meters",
+    "closeness rank": 8
+   },
+   "telephone": {
+    "distance": "1.58 meters",
+    "closeness rank": 9
+   },
+   "counter": {
+    "distance": "1.84 meters",
+    "closeness rank": 10
+   },
+   "door": {
+    "distance": "1.91 meters",
+    "closeness rank": 11
+   },
+   "window": {
+    "distance": "1.96 meters",
+    "closeness rank": 12
+   },
+   "trash bin": {
+    "distance": "2.19 meters",
+    "closeness rank": 13
+   },
+   "table": {
+    "distance": "2.23 meters",
+    "closeness rank": 14
+   },
+   "chair": {
+    "distance": "2.24 meters",
+    "closeness rank": 15
+   },
+   "lamp": {
+    "distance": "2.6 meters",
+    "closeness rank": 16
+   }
+  },
+  "chair": {
+   "trash bin": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "counter": {
+    "distance": "0.12 meters",
+    "closeness rank": 2
+   },
+   "table": {
+    "distance": "0.19 meters",
+    "closeness rank": 3
+   },
+   "telephone": {
+    "distance": "0.65 meters",
+    "closeness rank": 4
+   },
+   "fan": {
+    "distance": "1.02 meters",
+    "closeness rank": 5
+   },
+   "washing machine": {
+    "distance": "1.85 meters",
+    "closeness rank": 6
+   },
+   "printer": {
+    "distance": "1.91 meters",
+    "closeness rank": 7
+   },
+   "radiator": {
+    "distance": "1.93 meters",
+    "closeness rank": 8
+   },
+   "lamp": {
+    "distance": "2.02 meters",
+    "closeness rank": 9
+   },
+   "bookshelf": {
+    "distance": "2.24 meters",
+    "closeness rank": 10
+   },
+   "towel": {
+    "distance": "2.43 meters",
+    "closeness rank": 11
+   },
+   "monitor": {
+    "distance": "2.6 meters",
+    "closeness rank": 12
+   },
+   "door": {
+    "distance": "3.83 meters",
+    "closeness rank": 13
+   },
+   "sofa": {
+    "distance": "3.97 meters",
+    "closeness rank": 14
+   },
+   "backpack": {
+    "distance": "4.15 meters",
+    "closeness rank": 15
+   },
+   "window": {
+    "distance": "4.79 meters",
+    "closeness rank": 16
+   }
+  },
+  "counter": {
+   "telephone": {
+    "distance": "0.01 meters",
+    "closeness rank": 1
+   },
+   "trash bin": {
+    "distance": "0.08 meters",
+    "closeness rank": 2
+   },
+   "chair": {
+    "distance": "0.12 meters",
+    "closeness rank": 3
+   },
+   "fan": {
+    "distance": "0.47 meters",
+    "closeness rank": 4
+   },
+   "table": {
+    "distance": "0.68 meters",
+    "closeness rank": 5
+   },
+   "radiator": {
+    "distance": "1.24 meters",
+    "closeness rank": 6
+   },
+   "bookshelf": {
+    "distance": "1.84 meters",
+    "closeness rank": 7
+   },
+   "towel": {
+    "distance": "2.19 meters",
+    "closeness rank": 8
+   },
+   "printer": {
+    "distance": "2.28 meters",
+    "closeness rank": 9
+   },
+   "washing machine": {
+    "distance": "2.29 meters",
+    "closeness rank": 10
+   },
+   "lamp": {
+    "distance": "2.47 meters",
+    "closeness rank": 11
+   },
+   "monitor": {
+    "distance": "2.69 meters",
+    "closeness rank": 12
+   },
+   "door": {
+    "distance": "3.12 meters",
+    "closeness rank": 13
+   },
+   "sofa": {
+    "distance": "3.32 meters",
+    "closeness rank": 14
+   },
+   "backpack": {
+    "distance": "3.56 meters",
+    "closeness rank": 15
+   },
+   "window": {
+    "distance": "4.25 meters",
+    "closeness rank": 16
+   }
+  },
+  "door": {
+   "sofa": {
+    "distance": "1.13 meters",
+    "closeness rank": 1
+   },
+   "radiator": {
+    "distance": "1.35 meters",
+    "closeness rank": 2
+   },
+   "backpack": {
+    "distance": "1.38 meters",
+    "closeness rank": 3
+   },
+   "window": {
+    "distance": "1.82 meters",
+    "closeness rank": 4
+   },
+   "bookshelf": {
+    "distance": "1.91 meters",
+    "closeness rank": 5
+   },
+   "fan": {
+    "distance": "2.48 meters",
+    "closeness rank": 6
+   },
+   "towel": {
+    "distance": "2.58 meters",
+    "closeness rank": 7
+   },
+   "telephone": {
+    "distance": "3.07 meters",
+    "closeness rank": 8
+   },
+   "counter": {
+    "distance": "3.12 meters",
+    "closeness rank": 9
+   },
+   "monitor": {
+    "distance": "3.55 meters",
+    "closeness rank": 10
+   },
+   "printer": {
+    "distance": "3.55 meters",
+    "closeness rank": 11
+   },
+   "trash bin": {
+    "distance": "3.8 meters",
+    "closeness rank": 12
+   },
+   "chair": {
+    "distance": "3.83 meters",
+    "closeness rank": 13
+   },
+   "washing machine": {
+    "distance": "4.0 meters",
+    "closeness rank": 14
+   },
+   "table": {
+    "distance": "4.08 meters",
+    "closeness rank": 15
+   },
+   "lamp": {
+    "distance": "4.83 meters",
+    "closeness rank": 16
+   }
+  },
+  "fan": {
+   "telephone": {
+    "distance": "0.46 meters",
+    "closeness rank": 1
+   },
+   "counter": {
+    "distance": "0.47 meters",
+    "closeness rank": 2
+   },
+   "radiator": {
+    "distance": "0.7 meters",
+    "closeness rank": 3
+   },
+   "trash bin": {
+    "distance": "0.99 meters",
+    "closeness rank": 4
+   },
+   "chair": {
+    "distance": "1.02 meters",
+    "closeness rank": 5
+   },
+   "bookshelf": {
+    "distance": "1.13 meters",
+    "closeness rank": 6
+   },
+   "table": {
+    "distance": "1.25 meters",
+    "closeness rank": 7
+   },
+   "towel": {
+    "distance": "1.43 meters",
+    "closeness rank": 8
+   },
+   "printer": {
+    "distance": "1.75 meters",
+    "closeness rank": 9
+   },
+   "washing machine": {
+    "distance": "1.83 meters",
+    "closeness rank": 10
+   },
+   "monitor": {
+    "distance": "2.06 meters",
+    "closeness rank": 11
+   },
+   "lamp": {
+    "distance": "2.4 meters",
+    "closeness rank": 12
+   },
+   "door": {
+    "distance": "2.48 meters",
+    "closeness rank": 13
+   },
+   "sofa": {
+    "distance": "2.61 meters",
+    "closeness rank": 14
+   },
+   "backpack": {
+    "distance": "2.86 meters",
+    "closeness rank": 15
+   },
+   "window": {
+    "distance": "3.55 meters",
+    "closeness rank": 16
+   }
+  },
+  "lamp": {
+   "table": {
+    "distance": "1.4 meters",
+    "closeness rank": 1
+   },
+   "telephone": {
+    "distance": "1.45 meters",
+    "closeness rank": 2
+   },
+   "washing machine": {
+    "distance": "1.46 meters",
+    "closeness rank": 3
+   },
+   "printer": {
+    "distance": "1.68 meters",
+    "closeness rank": 4
+   },
+   "trash bin": {
+    "distance": "1.99 meters",
+    "closeness rank": 5
+   },
+   "chair": {
+    "distance": "2.02 meters",
+    "closeness rank": 6
+   },
+   "monitor": {
+    "distance": "2.12 meters",
+    "closeness rank": 7
+   },
+   "fan": {
+    "distance": "2.4 meters",
+    "closeness rank": 8
+   },
+   "towel": {
+    "distance": "2.43 meters",
+    "closeness rank": 9
+   },
+   "counter": {
+    "distance": "2.47 meters",
+    "closeness rank": 10
+   },
+   "bookshelf": {
+    "distance": "2.6 meters",
+    "closeness rank": 11
+   },
+   "radiator": {
+    "distance": "3.27 meters",
+    "closeness rank": 12
+   },
+   "sofa": {
+    "distance": "4.49 meters",
+    "closeness rank": 13
+   },
+   "backpack": {
+    "distance": "4.68 meters",
+    "closeness rank": 14
+   },
+   "door": {
+    "distance": "4.83 meters",
+    "closeness rank": 15
+   },
+   "window": {
+    "distance": "4.96 meters",
+    "closeness rank": 16
+   }
+  },
+  "monitor": {
+   "printer": {
+    "distance": "0.16 meters",
+    "closeness rank": 1
+   },
+   "bookshelf": {
+    "distance": "0.41 meters",
+    "closeness rank": 2
+   },
+   "washing machine": {
+    "distance": "0.74 meters",
+    "closeness rank": 3
+   },
+   "towel": {
+    "distance": "0.81 meters",
+    "closeness rank": 4
+   },
+   "telephone": {
+    "distance": "1.07 meters",
+    "closeness rank": 5
+   },
+   "table": {
+    "distance": "1.81 meters",
+    "closeness rank": 6
+   },
+   "fan": {
+    "distance": "2.06 meters",
+    "closeness rank": 7
+   },
+   "lamp": {
+    "distance": "2.12 meters",
+    "closeness rank": 8
+   },
+   "sofa": {
+    "distance": "2.25 meters",
+    "closeness rank": 9
+   },
+   "radiator": {
+    "distance": "2.42 meters",
+    "closeness rank": 10
+   },
+   "trash bin": {
+    "distance": "2.55 meters",
+    "closeness rank": 11
+   },
+   "chair": {
+    "distance": "2.6 meters",
+    "closeness rank": 12
+   },
+   "backpack": {
+    "distance": "2.65 meters",
+    "closeness rank": 13
+   },
+   "counter": {
+    "distance": "2.69 meters",
+    "closeness rank": 14
+   },
+   "window": {
+    "distance": "2.9 meters",
+    "closeness rank": 15
+   },
+   "door": {
+    "distance": "3.55 meters",
+    "closeness rank": 16
+   }
+  },
+  "printer": {
+   "washing machine": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "monitor": {
+    "distance": "0.16 meters",
+    "closeness rank": 2
+   },
+   "telephone": {
+    "distance": "0.2 meters",
+    "closeness rank": 3
+   },
+   "bookshelf": {
+    "distance": "0.6 meters",
+    "closeness rank": 4
+   },
+   "table": {
+    "distance": "0.68 meters",
+    "closeness rank": 5
+   },
+   "towel": {
+    "distance": "0.98 meters",
+    "closeness rank": 6
+   },
+   "lamp": {
+    "distance": "1.68 meters",
+    "closeness rank": 7
+   },
+   "fan": {
+    "distance": "1.75 meters",
+    "closeness rank": 8
+   },
+   "trash bin": {
+    "distance": "1.88 meters",
+    "closeness rank": 9
+   },
+   "chair": {
+    "distance": "1.91 meters",
+    "closeness rank": 10
+   },
+   "radiator": {
+    "distance": "2.24 meters",
+    "closeness rank": 11
+   },
+   "counter": {
+    "distance": "2.28 meters",
+    "closeness rank": 12
+   },
+   "sofa": {
+    "distance": "2.44 meters",
+    "closeness rank": 13
+   },
+   "backpack": {
+    "distance": "2.79 meters",
+    "closeness rank": 14
+   },
+   "window": {
+    "distance": "3.21 meters",
+    "closeness rank": 15
+   },
+   "door": {
+    "distance": "3.55 meters",
+    "closeness rank": 16
+   }
+  },
+  "radiator": {
+   "fan": {
+    "distance": "0.7 meters",
+    "closeness rank": 1
+   },
+   "bookshelf": {
+    "distance": "1.07 meters",
+    "closeness rank": 2
+   },
+   "telephone": {
+    "distance": "1.21 meters",
+    "closeness rank": 3
+   },
+   "counter": {
+    "distance": "1.24 meters",
+    "closeness rank": 4
+   },
+   "door": {
+    "distance": "1.35 meters",
+    "closeness rank": 5
+   },
+   "towel": {
+    "distance": "1.5 meters",
+    "closeness rank": 6
+   },
+   "sofa": {
+    "distance": "1.53 meters",
+    "closeness rank": 7
+   },
+   "backpack": {
+    "distance": "1.83 meters",
+    "closeness rank": 8
+   },
+   "trash bin": {
+    "distance": "1.91 meters",
+    "closeness rank": 9
+   },
+   "chair": {
+    "distance": "1.93 meters",
+    "closeness rank": 10
+   },
+   "table": {
+    "distance": "2.14 meters",
+    "closeness rank": 11
+   },
+   "printer": {
+    "distance": "2.24 meters",
+    "closeness rank": 12
+   },
+   "monitor": {
+    "distance": "2.42 meters",
+    "closeness rank": 13
+   },
+   "washing machine": {
+    "distance": "2.47 meters",
+    "closeness rank": 14
+   },
+   "window": {
+    "distance": "2.55 meters",
+    "closeness rank": 15
+   },
+   "lamp": {
+    "distance": "3.27 meters",
+    "closeness rank": 16
+   }
+  },
+  "sofa": {
+   "backpack": {
+    "distance": "0.04 meters",
+    "closeness rank": 1
+   },
+   "window": {
+    "distance": "0.26 meters",
+    "closeness rank": 2
+   },
+   "door": {
+    "distance": "1.13 meters",
+    "closeness rank": 3
+   },
+   "bookshelf": {
+    "distance": "1.16 meters",
+    "closeness rank": 4
+   },
+   "radiator": {
+    "distance": "1.53 meters",
+    "closeness rank": 5
+   },
+   "towel": {
+    "distance": "2.09 meters",
+    "closeness rank": 6
+   },
+   "monitor": {
+    "distance": "2.25 meters",
+    "closeness rank": 7
+   },
+   "printer": {
+    "distance": "2.44 meters",
+    "closeness rank": 8
+   },
+   "fan": {
+    "distance": "2.61 meters",
+    "closeness rank": 9
+   },
+   "washing machine": {
+    "distance": "3.05 meters",
+    "closeness rank": 10
+   },
+   "telephone": {
+    "distance": "3.3 meters",
+    "closeness rank": 11
+   },
+   "counter": {
+    "distance": "3.32 meters",
+    "closeness rank": 12
+   },
+   "trash bin": {
+    "distance": "3.92 meters",
+    "closeness rank": 13
+   },
+   "chair": {
+    "distance": "3.97 meters",
+    "closeness rank": 14
+   },
+   "table": {
+    "distance": "4.03 meters",
+    "closeness rank": 15
+   },
+   "lamp": {
+    "distance": "4.49 meters",
+    "closeness rank": 16
+   }
+  },
+  "table": {
+   "trash bin": {
+    "distance": "0.18 meters",
+    "closeness rank": 1
+   },
+   "chair": {
+    "distance": "0.19 meters",
+    "closeness rank": 2
+   },
+   "telephone": {
+    "distance": "0.47 meters",
+    "closeness rank": 3
+   },
+   "washing machine": {
+    "distance": "0.63 meters",
+    "closeness rank": 4
+   },
+   "counter": {
+    "distance": "0.68 meters",
+    "closeness rank": 5
+   },
+   "printer": {
+    "distance": "0.68 meters",
+    "closeness rank": 6
+   },
+   "fan": {
+    "distance": "1.25 meters",
+    "closeness rank": 7
+   },
+   "lamp": {
+    "distance": "1.4 meters",
+    "closeness rank": 8
+   },
+   "monitor": {
+    "distance": "1.81 meters",
+    "closeness rank": 9
+   },
+   "radiator": {
+    "distance": "2.14 meters",
+    "closeness rank": 10
+   },
+   "bookshelf": {
+    "distance": "2.23 meters",
+    "closeness rank": 11
+   },
+   "towel": {
+    "distance": "2.35 meters",
+    "closeness rank": 12
+   },
+   "sofa": {
+    "distance": "4.03 meters",
+    "closeness rank": 13
+   },
+   "door": {
+    "distance": "4.08 meters",
+    "closeness rank": 14
+   },
+   "backpack": {
+    "distance": "4.21 meters",
+    "closeness rank": 15
+   },
+   "window": {
+    "distance": "4.82 meters",
+    "closeness rank": 16
+   }
+  },
+  "telephone": {
+   "counter": {
+    "distance": "0.01 meters",
+    "closeness rank": 1
+   },
+   "washing machine": {
+    "distance": "0.1 meters",
+    "closeness rank": 2
+   },
+   "printer": {
+    "distance": "0.2 meters",
+    "closeness rank": 3
+   },
+   "fan": {
+    "distance": "0.46 meters",
+    "closeness rank": 4
+   },
+   "table": {
+    "distance": "0.47 meters",
+    "closeness rank": 5
+   },
+   "trash bin": {
+    "distance": "0.61 meters",
+    "closeness rank": 6
+   },
+   "chair": {
+    "distance": "0.65 meters",
+    "closeness rank": 7
+   },
+   "monitor": {
+    "distance": "1.07 meters",
+    "closeness rank": 8
+   },
+   "radiator": {
+    "distance": "1.21 meters",
+    "closeness rank": 9
+   },
+   "lamp": {
+    "distance": "1.45 meters",
+    "closeness rank": 10
+   },
+   "bookshelf": {
+    "distance": "1.58 meters",
+    "closeness rank": 11
+   },
+   "towel": {
+    "distance": "1.88 meters",
+    "closeness rank": 12
+   },
+   "door": {
+    "distance": "3.07 meters",
+    "closeness rank": 13
+   },
+   "sofa": {
+    "distance": "3.3 meters",
+    "closeness rank": 14
+   },
+   "backpack": {
+    "distance": "3.54 meters",
+    "closeness rank": 15
+   },
+   "window": {
+    "distance": "4.23 meters",
+    "closeness rank": 16
+   }
+  },
+  "towel": {
+   "bookshelf": {
+    "distance": "0.26 meters",
+    "closeness rank": 1
+   },
+   "monitor": {
+    "distance": "0.81 meters",
+    "closeness rank": 2
+   },
+   "printer": {
+    "distance": "0.98 meters",
+    "closeness rank": 3
+   },
+   "fan": {
+    "distance": "1.43 meters",
+    "closeness rank": 4
+   },
+   "washing machine": {
+    "distance": "1.46 meters",
+    "closeness rank": 5
+   },
+   "radiator": {
+    "distance": "1.5 meters",
+    "closeness rank": 6
+   },
+   "telephone": {
+    "distance": "1.88 meters",
+    "closeness rank": 7
+   },
+   "sofa": {
+    "distance": "2.09 meters",
+    "closeness rank": 8
+   },
+   "backpack": {
+    "distance": "2.19 meters",
+    "closeness rank": 9
+   },
+   "counter": {
+    "distance": "2.19 meters",
+    "closeness rank": 10
+   },
+   "table": {
+    "distance": "2.35 meters",
+    "closeness rank": 11
+   },
+   "trash bin": {
+    "distance": "2.38 meters",
+    "closeness rank": 12
+   },
+   "chair": {
+    "distance": "2.43 meters",
+    "closeness rank": 13
+   },
+   "lamp": {
+    "distance": "2.43 meters",
+    "closeness rank": 14
+   },
+   "window": {
+    "distance": "2.54 meters",
+    "closeness rank": 15
+   },
+   "door": {
+    "distance": "2.58 meters",
+    "closeness rank": 16
+   }
+  },
+  "trash bin": {
+   "chair": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "counter": {
+    "distance": "0.08 meters",
+    "closeness rank": 2
+   },
+   "table": {
+    "distance": "0.18 meters",
+    "closeness rank": 3
+   },
+   "telephone": {
+    "distance": "0.61 meters",
+    "closeness rank": 4
+   },
+   "fan": {
+    "distance": "0.99 meters",
+    "closeness rank": 5
+   },
+   "washing machine": {
+    "distance": "1.82 meters",
+    "closeness rank": 6
+   },
+   "printer": {
+    "distance": "1.88 meters",
+    "closeness rank": 7
+   },
+   "radiator": {
+    "distance": "1.91 meters",
+    "closeness rank": 8
+   },
+   "lamp": {
+    "distance": "1.99 meters",
+    "closeness rank": 9
+   },
+   "bookshelf": {
+    "distance": "2.19 meters",
+    "closeness rank": 10
+   },
+   "towel": {
+    "distance": "2.38 meters",
+    "closeness rank": 11
+   },
+   "monitor": {
+    "distance": "2.55 meters",
+    "closeness rank": 12
+   },
+   "door": {
+    "distance": "3.8 meters",
+    "closeness rank": 13
+   },
+   "sofa": {
+    "distance": "3.92 meters",
+    "closeness rank": 14
+   },
+   "backpack": {
+    "distance": "4.11 meters",
+    "closeness rank": 15
+   },
+   "window": {
+    "distance": "4.74 meters",
+    "closeness rank": 16
+   }
+  },
+  "washing machine": {
+   "printer": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "telephone": {
+    "distance": "0.1 meters",
+    "closeness rank": 2
+   },
+   "table": {
+    "distance": "0.63 meters",
+    "closeness rank": 3
+   },
+   "monitor": {
+    "distance": "0.74 meters",
+    "closeness rank": 4
+   },
+   "bookshelf": {
+    "distance": "1.21 meters",
+    "closeness rank": 5
+   },
+   "lamp": {
+    "distance": "1.46 meters",
+    "closeness rank": 6
+   },
+   "towel": {
+    "distance": "1.46 meters",
+    "closeness rank": 7
+   },
+   "trash bin": {
+    "distance": "1.82 meters",
+    "closeness rank": 8
+   },
+   "fan": {
+    "distance": "1.83 meters",
+    "closeness rank": 9
+   },
+   "chair": {
+    "distance": "1.85 meters",
+    "closeness rank": 10
+   },
+   "counter": {
+    "distance": "2.29 meters",
+    "closeness rank": 11
+   },
+   "radiator": {
+    "distance": "2.47 meters",
+    "closeness rank": 12
+   },
+   "sofa": {
+    "distance": "3.05 meters",
+    "closeness rank": 13
+   },
+   "backpack": {
+    "distance": "3.38 meters",
+    "closeness rank": 14
+   },
+   "window": {
+    "distance": "3.83 meters",
+    "closeness rank": 15
+   },
+   "door": {
+    "distance": "4.0 meters",
+    "closeness rank": 16
+   }
+  },
+  "window": {
+   "sofa": {
+    "distance": "0.26 meters",
+    "closeness rank": 1
+   },
+   "backpack": {
+    "distance": "0.42 meters",
+    "closeness rank": 2
+   },
+   "door": {
+    "distance": "1.82 meters",
+    "closeness rank": 3
+   },
+   "bookshelf": {
+    "distance": "1.96 meters",
+    "closeness rank": 4
+   },
+   "towel": {
+    "distance": "2.54 meters",
+    "closeness rank": 5
+   },
+   "radiator": {
+    "distance": "2.55 meters",
+    "closeness rank": 6
+   },
+   "monitor": {
+    "distance": "2.9 meters",
+    "closeness rank": 7
+   },
+   "printer": {
+    "distance": "3.21 meters",
+    "closeness rank": 8
+   },
+   "fan": {
+    "distance": "3.55 meters",
+    "closeness rank": 9
+   },
+   "washing machine": {
+    "distance": "3.83 meters",
+    "closeness rank": 10
+   },
+   "telephone": {
+    "distance": "4.23 meters",
+    "closeness rank": 11
+   },
+   "counter": {
+    "distance": "4.25 meters",
+    "closeness rank": 12
+   },
+   "trash bin": {
+    "distance": "4.74 meters",
+    "closeness rank": 13
+   },
+   "chair": {
+    "distance": "4.79 meters",
+    "closeness rank": 14
+   },
+   "table": {
+    "distance": "4.82 meters",
+    "closeness rank": 15
+   },
+   "lamp": {
+    "distance": "4.96 meters",
+    "closeness rank": 16
+   }
+  }
+ },
+ "appearance order": ["sofa", "window", "monitor", "printer", "door", "trash bin", "washing machine", "table", "telephone", "chair", "fan", "towel", "backpack", "bookshelf", "radiator", "lamp", "counter"]
+}
\ No newline at end of file
diff --git a/data/spatial codes/sam3+depth-anything-3/metric/tracking/uniform/96/explicit/scene0647_00.json b/data/spatial codes/sam3+depth-anything-3/metric/tracking/uniform/96/explicit/scene0647_00.json
new file mode 100644
index 0000000000000000000000000000000000000000..a3a407b95aab3c95c80446168b58a5785911cc5c
--- /dev/null
+++ b/data/spatial codes/sam3+depth-anything-3/metric/tracking/uniform/96/explicit/scene0647_00.json	
@@ -0,0 +1,679 @@
+{
+ "objects": {
+  "backpack": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "2.85 meters",
+      "y coordinate": "1.34 meters",
+      "height above floor": "4.07 meters"
+     },
+     "longest dimension": "0.42 meters"
+    }
+   ]
+  },
+  "chair": {
+   "count": 2,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "2.06 meters",
+      "y coordinate": "1.11 meters",
+      "height above floor": "3.91 meters"
+     },
+     "longest dimension": "0.73 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "3.5 meters",
+      "y coordinate": "0.92 meters",
+      "height above floor": "4.4 meters"
+     },
+     "longest dimension": "0.6 meters"
+    }
+   ]
+  },
+  "clock": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "3.84 meters",
+      "y coordinate": "-0.54 meters",
+      "height above floor": "0.96 meters"
+     },
+     "longest dimension": "0.71 meters"
+    }
+   ]
+  },
+  "door": {
+   "count": 3,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "0.55 meters",
+      "y coordinate": "0.55 meters",
+      "height above floor": "4.58 meters"
+     },
+     "longest dimension": "1.54 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "3.14 meters",
+      "y coordinate": "0.5 meters",
+      "height above floor": "-0.01 meters"
+     },
+     "longest dimension": "2.3 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "1.68 meters",
+      "y coordinate": "0.19 meters",
+      "height above floor": "0.01 meters"
+     },
+     "longest dimension": "1.71 meters"
+    }
+   ]
+  },
+  "fan": {
+   "count": 2,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "3.84 meters",
+      "y coordinate": "-0.54 meters",
+      "height above floor": "0.96 meters"
+     },
+     "longest dimension": "0.71 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-1.17 meters",
+      "y coordinate": "-0.68 meters",
+      "height above floor": "3.53 meters"
+     },
+     "longest dimension": "0.24 meters"
+    }
+   ]
+  },
+  "lamp": {
+   "count": 2,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "3.84 meters",
+      "y coordinate": "-0.54 meters",
+      "height above floor": "0.96 meters"
+     },
+     "longest dimension": "0.71 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-0.98 meters",
+      "y coordinate": "-0.67 meters",
+      "height above floor": "3.51 meters"
+     },
+     "longest dimension": "0.34 meters"
+    }
+   ]
+  },
+  "monitor": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-1.74 meters",
+      "y coordinate": "-0.13 meters",
+      "height above floor": "3.47 meters"
+     },
+     "longest dimension": "1.04 meters"
+    }
+   ]
+  },
+  "pillow": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "4.72 meters",
+      "y coordinate": "1.18 meters",
+      "height above floor": "4.3 meters"
+     },
+     "longest dimension": "0.15 meters"
+    }
+   ]
+  },
+  "sofa": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "4.53 meters",
+      "y coordinate": "1.15 meters",
+      "height above floor": "3.28 meters"
+     },
+     "longest dimension": "2.17 meters"
+    }
+   ]
+  },
+  "table": {
+   "count": 4,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "0.43 meters",
+      "y coordinate": "0.7 meters",
+      "height above floor": "1.57 meters"
+     },
+     "longest dimension": "2.26 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "3.85 meters",
+      "y coordinate": "0.95 meters",
+      "height above floor": "3.44 meters"
+     },
+     "longest dimension": "0.86 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-0.85 meters",
+      "y coordinate": "0.48 meters",
+      "height above floor": "3.79 meters"
+     },
+     "longest dimension": "0.64 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "4.36 meters",
+      "y coordinate": "0.68 meters",
+      "height above floor": "0.97 meters"
+     },
+     "longest dimension": "0.79 meters"
+    }
+   ]
+  },
+  "tv": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-1.75 meters",
+      "y coordinate": "-0.28 meters",
+      "height above floor": "3.49 meters"
+     },
+     "longest dimension": "1.24 meters"
+    }
+   ]
+  }
+ },
+ "room": {
+  "floor area": "17.6 square meters"
+ },
+ "closest classes distance meters from": {
+  "backpack": {
+   "sofa": {
+    "distance": "0.25 meters",
+    "closeness rank": 1
+   },
+   "chair": {
+    "distance": "0.26 meters",
+    "closeness rank": 2
+   },
+   "pillow": {
+    "distance": "1.78 meters",
+    "closeness rank": 3
+   },
+   "door": {
+    "distance": "1.84 meters",
+    "closeness rank": 4
+   },
+   "table": {
+    "distance": "2.43 meters",
+    "closeness rank": 5
+   },
+   "fan": {
+    "distance": "3.37 meters",
+    "closeness rank": 6
+   },
+   "lamp": {
+    "distance": "3.37 meters",
+    "closeness rank": 7
+   },
+   "clock": {
+    "distance": "3.58 meters",
+    "closeness rank": 8
+   },
+   "monitor": {
+    "distance": "4.57 meters",
+    "closeness rank": 9
+   },
+   "tv": {
+    "distance": "4.57 meters",
+    "closeness rank": 10
+   }
+  },
+  "chair": {
+   "backpack": {
+    "distance": "0.26 meters",
+    "closeness rank": 1
+   },
+   "sofa": {
+    "distance": "0.84 meters",
+    "closeness rank": 2
+   },
+   "door": {
+    "distance": "1.0 meters",
+    "closeness rank": 3
+   },
+   "table": {
+    "distance": "1.71 meters",
+    "closeness rank": 4
+   },
+   "pillow": {
+    "distance": "2.37 meters",
+    "closeness rank": 5
+   },
+   "lamp": {
+    "distance": "3.15 meters",
+    "closeness rank": 6
+   },
+   "fan": {
+    "distance": "3.18 meters",
+    "closeness rank": 7
+   },
+   "clock": {
+    "distance": "3.38 meters",
+    "closeness rank": 8
+   },
+   "tv": {
+    "distance": "3.55 meters",
+    "closeness rank": 9
+   },
+   "monitor": {
+    "distance": "3.56 meters",
+    "closeness rank": 10
+   }
+  },
+  "clock": {
+   "fan": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "lamp": {
+    "distance": "0.0 meters",
+    "closeness rank": 2
+   },
+   "table": {
+    "distance": "1.8 meters",
+    "closeness rank": 3
+   },
+   "sofa": {
+    "distance": "2.34 meters",
+    "closeness rank": 4
+   },
+   "chair": {
+    "distance": "3.38 meters",
+    "closeness rank": 5
+   },
+   "backpack": {
+    "distance": "3.58 meters",
+    "closeness rank": 6
+   },
+   "pillow": {
+    "distance": "3.7 meters",
+    "closeness rank": 7
+   },
+   "door": {
+    "distance": "4.51 meters",
+    "closeness rank": 8
+   },
+   "tv": {
+    "distance": "5.75 meters",
+    "closeness rank": 9
+   },
+   "monitor": {
+    "distance": "5.77 meters",
+    "closeness rank": 10
+   }
+  },
+  "door": {
+   "chair": {
+    "distance": "1.0 meters",
+    "closeness rank": 1
+   },
+   "tv": {
+    "distance": "1.8 meters",
+    "closeness rank": 2
+   },
+   "backpack": {
+    "distance": "1.84 meters",
+    "closeness rank": 3
+   },
+   "monitor": {
+    "distance": "1.88 meters",
+    "closeness rank": 4
+   },
+   "sofa": {
+    "distance": "2.28 meters",
+    "closeness rank": 5
+   },
+   "table": {
+    "distance": "2.28 meters",
+    "closeness rank": 6
+   },
+   "pillow": {
+    "distance": "3.79 meters",
+    "closeness rank": 7
+   },
+   "lamp": {
+    "distance": "4.26 meters",
+    "closeness rank": 8
+   },
+   "fan": {
+    "distance": "4.32 meters",
+    "closeness rank": 9
+   },
+   "clock": {
+    "distance": "4.51 meters",
+    "closeness rank": 10
+   }
+  },
+  "fan": {
+   "clock": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "lamp": {
+    "distance": "0.0 meters",
+    "closeness rank": 2
+   },
+   "table": {
+    "distance": "1.77 meters",
+    "closeness rank": 3
+   },
+   "sofa": {
+    "distance": "2.14 meters",
+    "closeness rank": 4
+   },
+   "chair": {
+    "distance": "3.18 meters",
+    "closeness rank": 5
+   },
+   "backpack": {
+    "distance": "3.37 meters",
+    "closeness rank": 6
+   },
+   "pillow": {
+    "distance": "3.45 meters",
+    "closeness rank": 7
+   },
+   "door": {
+    "distance": "4.32 meters",
+    "closeness rank": 8
+   },
+   "tv": {
+    "distance": "5.7 meters",
+    "closeness rank": 9
+   },
+   "monitor": {
+    "distance": "5.71 meters",
+    "closeness rank": 10
+   }
+  },
+  "lamp": {
+   "clock": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "fan": {
+    "distance": "0.0 meters",
+    "closeness rank": 2
+   },
+   "table": {
+    "distance": "1.71 meters",
+    "closeness rank": 3
+   },
+   "sofa": {
+    "distance": "2.13 meters",
+    "closeness rank": 4
+   },
+   "chair": {
+    "distance": "3.15 meters",
+    "closeness rank": 5
+   },
+   "backpack": {
+    "distance": "3.37 meters",
+    "closeness rank": 6
+   },
+   "pillow": {
+    "distance": "3.44 meters",
+    "closeness rank": 7
+   },
+   "door": {
+    "distance": "4.26 meters",
+    "closeness rank": 8
+   },
+   "tv": {
+    "distance": "5.58 meters",
+    "closeness rank": 9
+   },
+   "monitor": {
+    "distance": "5.6 meters",
+    "closeness rank": 10
+   }
+  },
+  "monitor": {
+   "tv": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "table": {
+    "distance": "1.86 meters",
+    "closeness rank": 2
+   },
+   "door": {
+    "distance": "1.88 meters",
+    "closeness rank": 3
+   },
+   "chair": {
+    "distance": "3.56 meters",
+    "closeness rank": 4
+   },
+   "backpack": {
+    "distance": "4.57 meters",
+    "closeness rank": 5
+   },
+   "sofa": {
+    "distance": "5.03 meters",
+    "closeness rank": 6
+   },
+   "lamp": {
+    "distance": "5.6 meters",
+    "closeness rank": 7
+   },
+   "fan": {
+    "distance": "5.71 meters",
+    "closeness rank": 8
+   },
+   "clock": {
+    "distance": "5.77 meters",
+    "closeness rank": 9
+   },
+   "pillow": {
+    "distance": "6.54 meters",
+    "closeness rank": 10
+   }
+  },
+  "pillow": {
+   "sofa": {
+    "distance": "0.01 meters",
+    "closeness rank": 1
+   },
+   "backpack": {
+    "distance": "1.78 meters",
+    "closeness rank": 2
+   },
+   "chair": {
+    "distance": "2.37 meters",
+    "closeness rank": 3
+   },
+   "lamp": {
+    "distance": "3.44 meters",
+    "closeness rank": 4
+   },
+   "fan": {
+    "distance": "3.45 meters",
+    "closeness rank": 5
+   },
+   "table": {
+    "distance": "3.53 meters",
+    "closeness rank": 6
+   },
+   "clock": {
+    "distance": "3.7 meters",
+    "closeness rank": 7
+   },
+   "door": {
+    "distance": "3.79 meters",
+    "closeness rank": 8
+   },
+   "tv": {
+    "distance": "6.53 meters",
+    "closeness rank": 9
+   },
+   "monitor": {
+    "distance": "6.54 meters",
+    "closeness rank": 10
+   }
+  },
+  "sofa": {
+   "pillow": {
+    "distance": "0.01 meters",
+    "closeness rank": 1
+   },
+   "backpack": {
+    "distance": "0.25 meters",
+    "closeness rank": 2
+   },
+   "chair": {
+    "distance": "0.84 meters",
+    "closeness rank": 3
+   },
+   "lamp": {
+    "distance": "2.13 meters",
+    "closeness rank": 4
+   },
+   "fan": {
+    "distance": "2.14 meters",
+    "closeness rank": 5
+   },
+   "table": {
+    "distance": "2.23 meters",
+    "closeness rank": 6
+   },
+   "door": {
+    "distance": "2.28 meters",
+    "closeness rank": 7
+   },
+   "clock": {
+    "distance": "2.34 meters",
+    "closeness rank": 8
+   },
+   "tv": {
+    "distance": "5.01 meters",
+    "closeness rank": 9
+   },
+   "monitor": {
+    "distance": "5.03 meters",
+    "closeness rank": 10
+   }
+  },
+  "table": {
+   "chair": {
+    "distance": "1.71 meters",
+    "closeness rank": 1
+   },
+   "lamp": {
+    "distance": "1.71 meters",
+    "closeness rank": 2
+   },
+   "fan": {
+    "distance": "1.77 meters",
+    "closeness rank": 3
+   },
+   "clock": {
+    "distance": "1.8 meters",
+    "closeness rank": 4
+   },
+   "monitor": {
+    "distance": "1.86 meters",
+    "closeness rank": 5
+   },
+   "tv": {
+    "distance": "1.86 meters",
+    "closeness rank": 6
+   },
+   "sofa": {
+    "distance": "2.23 meters",
+    "closeness rank": 7
+   },
+   "door": {
+    "distance": "2.28 meters",
+    "closeness rank": 8
+   },
+   "backpack": {
+    "distance": "2.43 meters",
+    "closeness rank": 9
+   },
+   "pillow": {
+    "distance": "3.53 meters",
+    "closeness rank": 10
+   }
+  },
+  "tv": {
+   "monitor": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "door": {
+    "distance": "1.8 meters",
+    "closeness rank": 2
+   },
+   "table": {
+    "distance": "1.86 meters",
+    "closeness rank": 3
+   },
+   "chair": {
+    "distance": "3.55 meters",
+    "closeness rank": 4
+   },
+   "backpack": {
+    "distance": "4.57 meters",
+    "closeness rank": 5
+   },
+   "sofa": {
+    "distance": "5.01 meters",
+    "closeness rank": 6
+   },
+   "lamp": {
+    "distance": "5.58 meters",
+    "closeness rank": 7
+   },
+   "fan": {
+    "distance": "5.7 meters",
+    "closeness rank": 8
+   },
+   "clock": {
+    "distance": "5.75 meters",
+    "closeness rank": 9
+   },
+   "pillow": {
+    "distance": "6.53 meters",
+    "closeness rank": 10
+   }
+  }
+ },
+ "appearance order": ["door", "table", "lamp", "fan", "clock", "sofa", "backpack", "pillow", "chair", "tv", "monitor"]
+}
\ No newline at end of file
diff --git a/data/spatial codes/sam3+depth-anything-3/metric/tracking/uniform/96/explicit/scene0648_00.json b/data/spatial codes/sam3+depth-anything-3/metric/tracking/uniform/96/explicit/scene0648_00.json
new file mode 100644
index 0000000000000000000000000000000000000000..9b0e7c47f94ac04f1f50e01de56639ed44e6480c
--- /dev/null
+++ b/data/spatial codes/sam3+depth-anything-3/metric/tracking/uniform/96/explicit/scene0648_00.json	
@@ -0,0 +1,2324 @@
+{
+ "objects": {
+  "backpack": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "0.64 meters",
+      "y coordinate": "1.07 meters",
+      "height above floor": "-0.61 meters"
+     },
+     "longest dimension": "0.43 meters"
+    }
+   ]
+  },
+  "bed": {
+   "count": 4,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "0.96 meters",
+      "y coordinate": "0.24 meters",
+      "height above floor": "-2.38 meters"
+     },
+     "longest dimension": "0.66 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "1.21 meters",
+      "y coordinate": "0.32 meters",
+      "height above floor": "-1.23 meters"
+     },
+     "longest dimension": "0.82 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "1.02 meters",
+      "y coordinate": "0.52 meters",
+      "height above floor": "-0.61 meters"
+     },
+     "longest dimension": "0.9 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "1.61 meters",
+      "y coordinate": "0.26 meters",
+      "height above floor": "-2.5 meters"
+     },
+     "longest dimension": "0.73 meters"
+    }
+   ]
+  },
+  "bookshelf": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "0.19 meters",
+      "y coordinate": "0.15 meters",
+      "height above floor": "0.11 meters"
+     },
+     "longest dimension": "0.89 meters"
+    }
+   ]
+  },
+  "chair": {
+   "count": 2,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "0.08 meters",
+      "y coordinate": "0.73 meters",
+      "height above floor": "-0.58 meters"
+     },
+     "longest dimension": "0.55 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "1.16 meters",
+      "y coordinate": "0.85 meters",
+      "height above floor": "-2.11 meters"
+     },
+     "longest dimension": "0.37 meters"
+    }
+   ]
+  },
+  "clock": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "0.03 meters",
+      "y coordinate": "-0.15 meters",
+      "height above floor": "-2.45 meters"
+     },
+     "longest dimension": "0.15 meters"
+    }
+   ]
+  },
+  "door": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "0.49 meters",
+      "y coordinate": "0.78 meters",
+      "height above floor": "-2.46 meters"
+     },
+     "longest dimension": "0.71 meters"
+    }
+   ]
+  },
+  "fan": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "0.77 meters",
+      "y coordinate": "0.53 meters",
+      "height above floor": "-0.79 meters"
+     },
+     "longest dimension": "0.58 meters"
+    }
+   ]
+  },
+  "keyboard": {
+   "count": 2,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "1.56 meters",
+      "y coordinate": "0.65 meters",
+      "height above floor": "-1.98 meters"
+     },
+     "longest dimension": "0.23 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "1.69 meters",
+      "y coordinate": "0.62 meters",
+      "height above floor": "-1.99 meters"
+     },
+     "longest dimension": "0.23 meters"
+    }
+   ]
+  },
+  "lamp": {
+   "count": 2,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "0.78 meters",
+      "y coordinate": "0.5 meters",
+      "height above floor": "-0.78 meters"
+     },
+     "longest dimension": "0.4 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "0.81 meters",
+      "y coordinate": "0.41 meters",
+      "height above floor": "-0.94 meters"
+     },
+     "longest dimension": "0.4 meters"
+    }
+   ]
+  },
+  "mattress": {
+   "count": 4,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "1.02 meters",
+      "y coordinate": "0.53 meters",
+      "height above floor": "-0.62 meters"
+     },
+     "longest dimension": "0.9 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "0.96 meters",
+      "y coordinate": "0.24 meters",
+      "height above floor": "-2.38 meters"
+     },
+     "longest dimension": "0.66 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "1.56 meters",
+      "y coordinate": "0.31 meters",
+      "height above floor": "-2.49 meters"
+     },
+     "longest dimension": "0.81 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "1.64 meters",
+      "y coordinate": "0.37 meters",
+      "height above floor": "-2.46 meters"
+     },
+     "longest dimension": "0.79 meters"
+    }
+   ]
+  },
+  "mirror": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "1.0 meters",
+      "y coordinate": "0.52 meters",
+      "height above floor": "-0.81 meters"
+     },
+     "longest dimension": "0.52 meters"
+    }
+   ]
+  },
+  "monitor": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "1.67 meters",
+      "y coordinate": "0.58 meters",
+      "height above floor": "-1.97 meters"
+     },
+     "longest dimension": "0.27 meters"
+    }
+   ]
+  },
+  "nightstand": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "0.06 meters",
+      "y coordinate": "0.53 meters",
+      "height above floor": "-0.12 meters"
+     },
+     "longest dimension": "0.95 meters"
+    }
+   ]
+  },
+  "pillow": {
+   "count": 4,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "1.85 meters",
+      "y coordinate": "0.16 meters",
+      "height above floor": "-2.55 meters"
+     },
+     "longest dimension": "0.65 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "1.41 meters",
+      "y coordinate": "0.17 meters",
+      "height above floor": "-0.37 meters"
+     },
+     "longest dimension": "0.41 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "1.2 meters",
+      "y coordinate": "0.17 meters",
+      "height above floor": "-0.23 meters"
+     },
+     "longest dimension": "0.39 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "1.18 meters",
+      "y coordinate": "0.27 meters",
+      "height above floor": "0.04 meters"
+     },
+     "longest dimension": "0.37 meters"
+    }
+   ]
+  },
+  "plant": {
+   "count": 3,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "0.13 meters",
+      "y coordinate": "-0.27 meters",
+      "height above floor": "0.17 meters"
+     },
+     "longest dimension": "0.34 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "0.64 meters",
+      "y coordinate": "-0.25 meters",
+      "height above floor": "0.05 meters"
+     },
+     "longest dimension": "0.18 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "1.62 meters",
+      "y coordinate": "-0.58 meters",
+      "height above floor": "0.13 meters"
+     },
+     "longest dimension": "0.15 meters"
+    }
+   ]
+  },
+  "printer": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-0.02 meters",
+      "y coordinate": "-0.18 meters",
+      "height above floor": "-2.55 meters"
+     },
+     "longest dimension": "0.42 meters"
+    }
+   ]
+  },
+  "radiator": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "2.15 meters",
+      "y coordinate": "0.84 meters",
+      "height above floor": "-2.09 meters"
+     },
+     "longest dimension": "0.61 meters"
+    }
+   ]
+  },
+  "table": {
+   "count": 3,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "0.17 meters",
+      "y coordinate": "0.14 meters",
+      "height above floor": "0.13 meters"
+     },
+     "longest dimension": "0.92 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-0.07 meters",
+      "y coordinate": "0.57 meters",
+      "height above floor": "-0.2 meters"
+     },
+     "longest dimension": "0.53 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "1.39 meters",
+      "y coordinate": "0.67 meters",
+      "height above floor": "-2.08 meters"
+     },
+     "longest dimension": "0.41 meters"
+    }
+   ]
+  },
+  "telephone": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "2.33 meters",
+      "y coordinate": "0.59 meters",
+      "height above floor": "-2.21 meters"
+     },
+     "longest dimension": "0.28 meters"
+    }
+   ]
+  },
+  "towel": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "1.74 meters",
+      "y coordinate": "0.28 meters",
+      "height above floor": "-1.69 meters"
+     },
+     "longest dimension": "0.27 meters"
+    }
+   ]
+  },
+  "tv": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "0.0 meters",
+      "y coordinate": "-0.18 meters",
+      "height above floor": "-2.51 meters"
+     },
+     "longest dimension": "0.4 meters"
+    }
+   ]
+  },
+  "window": {
+   "count": 2,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "2.6 meters",
+      "y coordinate": "0.24 meters",
+      "height above floor": "-2.29 meters"
+     },
+     "longest dimension": "0.9 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "2.7 meters",
+      "y coordinate": "0.15 meters",
+      "height above floor": "-1.78 meters"
+     },
+     "longest dimension": "1.02 meters"
+    }
+   ]
+  }
+ },
+ "room": {
+  "floor area": "7.6 square meters"
+ },
+ "closest classes distance meters from": {
+  "backpack": {
+   "fan": {
+    "distance": "0.05 meters",
+    "closeness rank": 1
+   },
+   "nightstand": {
+    "distance": "0.06 meters",
+    "closeness rank": 2
+   },
+   "table": {
+    "distance": "0.09 meters",
+    "closeness rank": 3
+   },
+   "lamp": {
+    "distance": "0.19 meters",
+    "closeness rank": 4
+   },
+   "chair": {
+    "distance": "0.25 meters",
+    "closeness rank": 5
+   },
+   "mattress": {
+    "distance": "0.29 meters",
+    "closeness rank": 6
+   },
+   "mirror": {
+    "distance": "0.41 meters",
+    "closeness rank": 7
+   },
+   "bookshelf": {
+    "distance": "0.47 meters",
+    "closeness rank": 8
+   },
+   "plant": {
+    "distance": "1.29 meters",
+    "closeness rank": 9
+   },
+   "bed": {
+    "distance": "1.32 meters",
+    "closeness rank": 10
+   },
+   "towel": {
+    "distance": "1.32 meters",
+    "closeness rank": 11
+   },
+   "keyboard": {
+    "distance": "1.54 meters",
+    "closeness rank": 12
+   },
+   "door": {
+    "distance": "1.56 meters",
+    "closeness rank": 13
+   },
+   "monitor": {
+    "distance": "1.59 meters",
+    "closeness rank": 14
+   },
+   "radiator": {
+    "distance": "1.85 meters",
+    "closeness rank": 15
+   },
+   "window": {
+    "distance": "1.91 meters",
+    "closeness rank": 16
+   },
+   "clock": {
+    "distance": "2.12 meters",
+    "closeness rank": 17
+   },
+   "printer": {
+    "distance": "2.12 meters",
+    "closeness rank": 18
+   },
+   "tv": {
+    "distance": "2.13 meters",
+    "closeness rank": 19
+   },
+   "pillow": {
+    "distance": "2.19 meters",
+    "closeness rank": 20
+   },
+   "telephone": {
+    "distance": "2.2 meters",
+    "closeness rank": 21
+   }
+  },
+  "bed": {
+   "door": {
+    "distance": "0.13 meters",
+    "closeness rank": 1
+   },
+   "table": {
+    "distance": "0.13 meters",
+    "closeness rank": 2
+   },
+   "clock": {
+    "distance": "0.16 meters",
+    "closeness rank": 3
+   },
+   "printer": {
+    "distance": "0.16 meters",
+    "closeness rank": 4
+   },
+   "tv": {
+    "distance": "0.16 meters",
+    "closeness rank": 5
+   },
+   "pillow": {
+    "distance": "0.36 meters",
+    "closeness rank": 6
+   },
+   "keyboard": {
+    "distance": "0.41 meters",
+    "closeness rank": 7
+   },
+   "monitor": {
+    "distance": "0.41 meters",
+    "closeness rank": 8
+   },
+   "towel": {
+    "distance": "0.49 meters",
+    "closeness rank": 9
+   },
+   "mattress": {
+    "distance": "0.55 meters",
+    "closeness rank": 10
+   },
+   "fan": {
+    "distance": "0.63 meters",
+    "closeness rank": 11
+   },
+   "lamp": {
+    "distance": "0.64 meters",
+    "closeness rank": 12
+   },
+   "chair": {
+    "distance": "0.76 meters",
+    "closeness rank": 13
+   },
+   "radiator": {
+    "distance": "0.91 meters",
+    "closeness rank": 14
+   },
+   "telephone": {
+    "distance": "0.92 meters",
+    "closeness rank": 15
+   },
+   "window": {
+    "distance": "1.01 meters",
+    "closeness rank": 16
+   },
+   "nightstand": {
+    "distance": "1.08 meters",
+    "closeness rank": 17
+   },
+   "mirror": {
+    "distance": "1.25 meters",
+    "closeness rank": 18
+   },
+   "backpack": {
+    "distance": "1.32 meters",
+    "closeness rank": 19
+   },
+   "bookshelf": {
+    "distance": "1.38 meters",
+    "closeness rank": 20
+   },
+   "plant": {
+    "distance": "1.6 meters",
+    "closeness rank": 21
+   }
+  },
+  "bookshelf": {
+   "nightstand": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "table": {
+    "distance": "0.0 meters",
+    "closeness rank": 2
+   },
+   "plant": {
+    "distance": "0.06 meters",
+    "closeness rank": 3
+   },
+   "mattress": {
+    "distance": "0.36 meters",
+    "closeness rank": 4
+   },
+   "chair": {
+    "distance": "0.38 meters",
+    "closeness rank": 5
+   },
+   "backpack": {
+    "distance": "0.47 meters",
+    "closeness rank": 6
+   },
+   "lamp": {
+    "distance": "0.57 meters",
+    "closeness rank": 7
+   },
+   "fan": {
+    "distance": "0.58 meters",
+    "closeness rank": 8
+   },
+   "mirror": {
+    "distance": "0.69 meters",
+    "closeness rank": 9
+   },
+   "door": {
+    "distance": "1.15 meters",
+    "closeness rank": 10
+   },
+   "bed": {
+    "distance": "1.38 meters",
+    "closeness rank": 11
+   },
+   "towel": {
+    "distance": "1.6 meters",
+    "closeness rank": 12
+   },
+   "keyboard": {
+    "distance": "2.03 meters",
+    "closeness rank": 13
+   },
+   "monitor": {
+    "distance": "2.05 meters",
+    "closeness rank": 14
+   },
+   "window": {
+    "distance": "2.14 meters",
+    "closeness rank": 15
+   },
+   "radiator": {
+    "distance": "2.32 meters",
+    "closeness rank": 16
+   },
+   "clock": {
+    "distance": "2.34 meters",
+    "closeness rank": 17
+   },
+   "printer": {
+    "distance": "2.34 meters",
+    "closeness rank": 18
+   },
+   "tv": {
+    "distance": "2.34 meters",
+    "closeness rank": 19
+   },
+   "pillow": {
+    "distance": "2.6 meters",
+    "closeness rank": 20
+   },
+   "telephone": {
+    "distance": "2.64 meters",
+    "closeness rank": 21
+   }
+  },
+  "chair": {
+   "nightstand": {
+    "distance": "0.15 meters",
+    "closeness rank": 1
+   },
+   "table": {
+    "distance": "0.16 meters",
+    "closeness rank": 2
+   },
+   "backpack": {
+    "distance": "0.25 meters",
+    "closeness rank": 3
+   },
+   "fan": {
+    "distance": "0.3 meters",
+    "closeness rank": 4
+   },
+   "bookshelf": {
+    "distance": "0.38 meters",
+    "closeness rank": 5
+   },
+   "lamp": {
+    "distance": "0.38 meters",
+    "closeness rank": 6
+   },
+   "mattress": {
+    "distance": "0.62 meters",
+    "closeness rank": 7
+   },
+   "mirror": {
+    "distance": "0.63 meters",
+    "closeness rank": 8
+   },
+   "bed": {
+    "distance": "0.76 meters",
+    "closeness rank": 9
+   },
+   "door": {
+    "distance": "0.83 meters",
+    "closeness rank": 10
+   },
+   "plant": {
+    "distance": "1.03 meters",
+    "closeness rank": 11
+   },
+   "towel": {
+    "distance": "1.3 meters",
+    "closeness rank": 12
+   },
+   "keyboard": {
+    "distance": "1.64 meters",
+    "closeness rank": 13
+   },
+   "monitor": {
+    "distance": "1.7 meters",
+    "closeness rank": 14
+   },
+   "clock": {
+    "distance": "1.75 meters",
+    "closeness rank": 15
+   },
+   "printer": {
+    "distance": "1.75 meters",
+    "closeness rank": 16
+   },
+   "tv": {
+    "distance": "1.75 meters",
+    "closeness rank": 17
+   },
+   "window": {
+    "distance": "2.09 meters",
+    "closeness rank": 18
+   },
+   "radiator": {
+    "distance": "2.1 meters",
+    "closeness rank": 19
+   },
+   "pillow": {
+    "distance": "2.24 meters",
+    "closeness rank": 20
+   },
+   "telephone": {
+    "distance": "2.38 meters",
+    "closeness rank": 21
+   }
+  },
+  "clock": {
+   "printer": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "tv": {
+    "distance": "0.0 meters",
+    "closeness rank": 2
+   },
+   "bed": {
+    "distance": "0.16 meters",
+    "closeness rank": 3
+   },
+   "door": {
+    "distance": "0.7 meters",
+    "closeness rank": 4
+   },
+   "table": {
+    "distance": "0.72 meters",
+    "closeness rank": 5
+   },
+   "fan": {
+    "distance": "1.08 meters",
+    "closeness rank": 6
+   },
+   "lamp": {
+    "distance": "1.1 meters",
+    "closeness rank": 7
+   },
+   "mattress": {
+    "distance": "1.34 meters",
+    "closeness rank": 8
+   },
+   "towel": {
+    "distance": "1.46 meters",
+    "closeness rank": 9
+   },
+   "pillow": {
+    "distance": "1.68 meters",
+    "closeness rank": 10
+   },
+   "keyboard": {
+    "distance": "1.7 meters",
+    "closeness rank": 11
+   },
+   "chair": {
+    "distance": "1.75 meters",
+    "closeness rank": 12
+   },
+   "monitor": {
+    "distance": "1.77 meters",
+    "closeness rank": 13
+   },
+   "mirror": {
+    "distance": "1.78 meters",
+    "closeness rank": 14
+   },
+   "backpack": {
+    "distance": "2.12 meters",
+    "closeness rank": 15
+   },
+   "nightstand": {
+    "distance": "2.14 meters",
+    "closeness rank": 16
+   },
+   "radiator": {
+    "distance": "2.3 meters",
+    "closeness rank": 17
+   },
+   "bookshelf": {
+    "distance": "2.34 meters",
+    "closeness rank": 18
+   },
+   "telephone": {
+    "distance": "2.34 meters",
+    "closeness rank": 19
+   },
+   "window": {
+    "distance": "2.4 meters",
+    "closeness rank": 20
+   },
+   "plant": {
+    "distance": "2.43 meters",
+    "closeness rank": 21
+   }
+  },
+  "door": {
+   "table": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "bed": {
+    "distance": "0.13 meters",
+    "closeness rank": 2
+   },
+   "fan": {
+    "distance": "0.42 meters",
+    "closeness rank": 3
+   },
+   "lamp": {
+    "distance": "0.44 meters",
+    "closeness rank": 4
+   },
+   "clock": {
+    "distance": "0.7 meters",
+    "closeness rank": 5
+   },
+   "printer": {
+    "distance": "0.7 meters",
+    "closeness rank": 6
+   },
+   "tv": {
+    "distance": "0.7 meters",
+    "closeness rank": 7
+   },
+   "keyboard": {
+    "distance": "0.81 meters",
+    "closeness rank": 8
+   },
+   "mattress": {
+    "distance": "0.81 meters",
+    "closeness rank": 9
+   },
+   "chair": {
+    "distance": "0.83 meters",
+    "closeness rank": 10
+   },
+   "towel": {
+    "distance": "0.88 meters",
+    "closeness rank": 11
+   },
+   "monitor": {
+    "distance": "0.91 meters",
+    "closeness rank": 12
+   },
+   "nightstand": {
+    "distance": "0.93 meters",
+    "closeness rank": 13
+   },
+   "pillow": {
+    "distance": "0.97 meters",
+    "closeness rank": 14
+   },
+   "bookshelf": {
+    "distance": "1.15 meters",
+    "closeness rank": 15
+   },
+   "radiator": {
+    "distance": "1.33 meters",
+    "closeness rank": 16
+   },
+   "mirror": {
+    "distance": "1.42 meters",
+    "closeness rank": 17
+   },
+   "telephone": {
+    "distance": "1.44 meters",
+    "closeness rank": 18
+   },
+   "backpack": {
+    "distance": "1.56 meters",
+    "closeness rank": 19
+   },
+   "window": {
+    "distance": "1.56 meters",
+    "closeness rank": 20
+   },
+   "plant": {
+    "distance": "1.71 meters",
+    "closeness rank": 21
+   }
+  },
+  "fan": {
+   "lamp": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "backpack": {
+    "distance": "0.05 meters",
+    "closeness rank": 2
+   },
+   "mattress": {
+    "distance": "0.09 meters",
+    "closeness rank": 3
+   },
+   "mirror": {
+    "distance": "0.09 meters",
+    "closeness rank": 4
+   },
+   "nightstand": {
+    "distance": "0.27 meters",
+    "closeness rank": 5
+   },
+   "chair": {
+    "distance": "0.3 meters",
+    "closeness rank": 6
+   },
+   "table": {
+    "distance": "0.33 meters",
+    "closeness rank": 7
+   },
+   "door": {
+    "distance": "0.42 meters",
+    "closeness rank": 8
+   },
+   "bookshelf": {
+    "distance": "0.58 meters",
+    "closeness rank": 9
+   },
+   "bed": {
+    "distance": "0.63 meters",
+    "closeness rank": 10
+   },
+   "towel": {
+    "distance": "0.81 meters",
+    "closeness rank": 11
+   },
+   "clock": {
+    "distance": "1.08 meters",
+    "closeness rank": 12
+   },
+   "printer": {
+    "distance": "1.08 meters",
+    "closeness rank": 13
+   },
+   "tv": {
+    "distance": "1.08 meters",
+    "closeness rank": 14
+   },
+   "plant": {
+    "distance": "1.13 meters",
+    "closeness rank": 15
+   },
+   "keyboard": {
+    "distance": "1.15 meters",
+    "closeness rank": 16
+   },
+   "monitor": {
+    "distance": "1.21 meters",
+    "closeness rank": 17
+   },
+   "window": {
+    "distance": "1.56 meters",
+    "closeness rank": 18
+   },
+   "radiator": {
+    "distance": "1.61 meters",
+    "closeness rank": 19
+   },
+   "pillow": {
+    "distance": "1.75 meters",
+    "closeness rank": 20
+   },
+   "telephone": {
+    "distance": "1.87 meters",
+    "closeness rank": 21
+   }
+  },
+  "keyboard": {
+   "monitor": {
+    "distance": "0.02 meters",
+    "closeness rank": 1
+   },
+   "table": {
+    "distance": "0.09 meters",
+    "closeness rank": 2
+   },
+   "towel": {
+    "distance": "0.25 meters",
+    "closeness rank": 3
+   },
+   "bed": {
+    "distance": "0.41 meters",
+    "closeness rank": 4
+   },
+   "pillow": {
+    "distance": "0.47 meters",
+    "closeness rank": 5
+   },
+   "mattress": {
+    "distance": "0.5 meters",
+    "closeness rank": 6
+   },
+   "radiator": {
+    "distance": "0.53 meters",
+    "closeness rank": 7
+   },
+   "telephone": {
+    "distance": "0.63 meters",
+    "closeness rank": 8
+   },
+   "window": {
+    "distance": "0.8 meters",
+    "closeness rank": 9
+   },
+   "door": {
+    "distance": "0.81 meters",
+    "closeness rank": 10
+   },
+   "mirror": {
+    "distance": "0.96 meters",
+    "closeness rank": 11
+   },
+   "lamp": {
+    "distance": "1.14 meters",
+    "closeness rank": 12
+   },
+   "fan": {
+    "distance": "1.15 meters",
+    "closeness rank": 13
+   },
+   "backpack": {
+    "distance": "1.54 meters",
+    "closeness rank": 14
+   },
+   "chair": {
+    "distance": "1.64 meters",
+    "closeness rank": 15
+   },
+   "nightstand": {
+    "distance": "1.65 meters",
+    "closeness rank": 16
+   },
+   "clock": {
+    "distance": "1.7 meters",
+    "closeness rank": 17
+   },
+   "printer": {
+    "distance": "1.7 meters",
+    "closeness rank": 18
+   },
+   "tv": {
+    "distance": "1.7 meters",
+    "closeness rank": 19
+   },
+   "bookshelf": {
+    "distance": "2.03 meters",
+    "closeness rank": 20
+   },
+   "plant": {
+    "distance": "2.51 meters",
+    "closeness rank": 21
+   }
+  },
+  "lamp": {
+   "fan": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "mattress": {
+    "distance": "0.09 meters",
+    "closeness rank": 2
+   },
+   "mirror": {
+    "distance": "0.09 meters",
+    "closeness rank": 3
+   },
+   "backpack": {
+    "distance": "0.19 meters",
+    "closeness rank": 4
+   },
+   "nightstand": {
+    "distance": "0.27 meters",
+    "closeness rank": 5
+   },
+   "table": {
+    "distance": "0.33 meters",
+    "closeness rank": 6
+   },
+   "chair": {
+    "distance": "0.38 meters",
+    "closeness rank": 7
+   },
+   "door": {
+    "distance": "0.44 meters",
+    "closeness rank": 8
+   },
+   "bookshelf": {
+    "distance": "0.57 meters",
+    "closeness rank": 9
+   },
+   "bed": {
+    "distance": "0.64 meters",
+    "closeness rank": 10
+   },
+   "towel": {
+    "distance": "0.74 meters",
+    "closeness rank": 11
+   },
+   "clock": {
+    "distance": "1.1 meters",
+    "closeness rank": 12
+   },
+   "printer": {
+    "distance": "1.1 meters",
+    "closeness rank": 13
+   },
+   "tv": {
+    "distance": "1.1 meters",
+    "closeness rank": 14
+   },
+   "plant": {
+    "distance": "1.13 meters",
+    "closeness rank": 15
+   },
+   "keyboard": {
+    "distance": "1.14 meters",
+    "closeness rank": 16
+   },
+   "monitor": {
+    "distance": "1.19 meters",
+    "closeness rank": 17
+   },
+   "window": {
+    "distance": "1.54 meters",
+    "closeness rank": 18
+   },
+   "radiator": {
+    "distance": "1.6 meters",
+    "closeness rank": 19
+   },
+   "pillow": {
+    "distance": "1.71 meters",
+    "closeness rank": 20
+   },
+   "telephone": {
+    "distance": "1.84 meters",
+    "closeness rank": 21
+   }
+  },
+  "mattress": {
+   "mirror": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "towel": {
+    "distance": "0.02 meters",
+    "closeness rank": 2
+   },
+   "table": {
+    "distance": "0.04 meters",
+    "closeness rank": 3
+   },
+   "fan": {
+    "distance": "0.09 meters",
+    "closeness rank": 4
+   },
+   "lamp": {
+    "distance": "0.09 meters",
+    "closeness rank": 5
+   },
+   "nightstand": {
+    "distance": "0.13 meters",
+    "closeness rank": 6
+   },
+   "backpack": {
+    "distance": "0.29 meters",
+    "closeness rank": 7
+   },
+   "bookshelf": {
+    "distance": "0.36 meters",
+    "closeness rank": 8
+   },
+   "monitor": {
+    "distance": "0.49 meters",
+    "closeness rank": 9
+   },
+   "keyboard": {
+    "distance": "0.5 meters",
+    "closeness rank": 10
+   },
+   "bed": {
+    "distance": "0.55 meters",
+    "closeness rank": 11
+   },
+   "chair": {
+    "distance": "0.62 meters",
+    "closeness rank": 12
+   },
+   "door": {
+    "distance": "0.81 meters",
+    "closeness rank": 13
+   },
+   "window": {
+    "distance": "0.84 meters",
+    "closeness rank": 14
+   },
+   "pillow": {
+    "distance": "0.94 meters",
+    "closeness rank": 15
+   },
+   "radiator": {
+    "distance": "0.98 meters",
+    "closeness rank": 16
+   },
+   "plant": {
+    "distance": "1.03 meters",
+    "closeness rank": 17
+   },
+   "telephone": {
+    "distance": "1.12 meters",
+    "closeness rank": 18
+   },
+   "clock": {
+    "distance": "1.34 meters",
+    "closeness rank": 19
+   },
+   "printer": {
+    "distance": "1.34 meters",
+    "closeness rank": 20
+   },
+   "tv": {
+    "distance": "1.34 meters",
+    "closeness rank": 21
+   }
+  },
+  "mirror": {
+   "mattress": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "fan": {
+    "distance": "0.09 meters",
+    "closeness rank": 2
+   },
+   "lamp": {
+    "distance": "0.09 meters",
+    "closeness rank": 3
+   },
+   "nightstand": {
+    "distance": "0.35 meters",
+    "closeness rank": 4
+   },
+   "table": {
+    "distance": "0.38 meters",
+    "closeness rank": 5
+   },
+   "backpack": {
+    "distance": "0.41 meters",
+    "closeness rank": 6
+   },
+   "towel": {
+    "distance": "0.59 meters",
+    "closeness rank": 7
+   },
+   "chair": {
+    "distance": "0.63 meters",
+    "closeness rank": 8
+   },
+   "bookshelf": {
+    "distance": "0.69 meters",
+    "closeness rank": 9
+   },
+   "keyboard": {
+    "distance": "0.96 meters",
+    "closeness rank": 10
+   },
+   "monitor": {
+    "distance": "1.0 meters",
+    "closeness rank": 11
+   },
+   "bed": {
+    "distance": "1.25 meters",
+    "closeness rank": 12
+   },
+   "plant": {
+    "distance": "1.28 meters",
+    "closeness rank": 13
+   },
+   "window": {
+    "distance": "1.32 meters",
+    "closeness rank": 14
+   },
+   "radiator": {
+    "distance": "1.37 meters",
+    "closeness rank": 15
+   },
+   "door": {
+    "distance": "1.42 meters",
+    "closeness rank": 16
+   },
+   "pillow": {
+    "distance": "1.56 meters",
+    "closeness rank": 17
+   },
+   "telephone": {
+    "distance": "1.65 meters",
+    "closeness rank": 18
+   },
+   "clock": {
+    "distance": "1.78 meters",
+    "closeness rank": 19
+   },
+   "printer": {
+    "distance": "1.78 meters",
+    "closeness rank": 20
+   },
+   "tv": {
+    "distance": "1.78 meters",
+    "closeness rank": 21
+   }
+  },
+  "monitor": {
+   "keyboard": {
+    "distance": "0.02 meters",
+    "closeness rank": 1
+   },
+   "table": {
+    "distance": "0.2 meters",
+    "closeness rank": 2
+   },
+   "towel": {
+    "distance": "0.24 meters",
+    "closeness rank": 3
+   },
+   "pillow": {
+    "distance": "0.33 meters",
+    "closeness rank": 4
+   },
+   "bed": {
+    "distance": "0.41 meters",
+    "closeness rank": 5
+   },
+   "radiator": {
+    "distance": "0.47 meters",
+    "closeness rank": 6
+   },
+   "mattress": {
+    "distance": "0.49 meters",
+    "closeness rank": 7
+   },
+   "telephone": {
+    "distance": "0.54 meters",
+    "closeness rank": 8
+   },
+   "window": {
+    "distance": "0.72 meters",
+    "closeness rank": 9
+   },
+   "door": {
+    "distance": "0.91 meters",
+    "closeness rank": 10
+   },
+   "mirror": {
+    "distance": "1.0 meters",
+    "closeness rank": 11
+   },
+   "lamp": {
+    "distance": "1.19 meters",
+    "closeness rank": 12
+   },
+   "fan": {
+    "distance": "1.21 meters",
+    "closeness rank": 13
+   },
+   "backpack": {
+    "distance": "1.59 meters",
+    "closeness rank": 14
+   },
+   "nightstand": {
+    "distance": "1.68 meters",
+    "closeness rank": 15
+   },
+   "chair": {
+    "distance": "1.7 meters",
+    "closeness rank": 16
+   },
+   "clock": {
+    "distance": "1.77 meters",
+    "closeness rank": 17
+   },
+   "printer": {
+    "distance": "1.77 meters",
+    "closeness rank": 18
+   },
+   "tv": {
+    "distance": "1.77 meters",
+    "closeness rank": 19
+   },
+   "bookshelf": {
+    "distance": "2.05 meters",
+    "closeness rank": 20
+   },
+   "plant": {
+    "distance": "2.52 meters",
+    "closeness rank": 21
+   }
+  },
+  "nightstand": {
+   "bookshelf": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "table": {
+    "distance": "0.0 meters",
+    "closeness rank": 2
+   },
+   "backpack": {
+    "distance": "0.06 meters",
+    "closeness rank": 3
+   },
+   "plant": {
+    "distance": "0.07 meters",
+    "closeness rank": 4
+   },
+   "mattress": {
+    "distance": "0.13 meters",
+    "closeness rank": 5
+   },
+   "chair": {
+    "distance": "0.15 meters",
+    "closeness rank": 6
+   },
+   "fan": {
+    "distance": "0.27 meters",
+    "closeness rank": 7
+   },
+   "lamp": {
+    "distance": "0.27 meters",
+    "closeness rank": 8
+   },
+   "mirror": {
+    "distance": "0.35 meters",
+    "closeness rank": 9
+   },
+   "door": {
+    "distance": "0.93 meters",
+    "closeness rank": 10
+   },
+   "bed": {
+    "distance": "1.08 meters",
+    "closeness rank": 11
+   },
+   "towel": {
+    "distance": "1.32 meters",
+    "closeness rank": 12
+   },
+   "keyboard": {
+    "distance": "1.65 meters",
+    "closeness rank": 13
+   },
+   "monitor": {
+    "distance": "1.68 meters",
+    "closeness rank": 14
+   },
+   "window": {
+    "distance": "1.87 meters",
+    "closeness rank": 15
+   },
+   "radiator": {
+    "distance": "1.94 meters",
+    "closeness rank": 16
+   },
+   "clock": {
+    "distance": "2.14 meters",
+    "closeness rank": 17
+   },
+   "printer": {
+    "distance": "2.14 meters",
+    "closeness rank": 18
+   },
+   "tv": {
+    "distance": "2.14 meters",
+    "closeness rank": 19
+   },
+   "pillow": {
+    "distance": "2.27 meters",
+    "closeness rank": 20
+   },
+   "telephone": {
+    "distance": "2.27 meters",
+    "closeness rank": 21
+   }
+  },
+  "pillow": {
+   "monitor": {
+    "distance": "0.33 meters",
+    "closeness rank": 1
+   },
+   "bed": {
+    "distance": "0.36 meters",
+    "closeness rank": 2
+   },
+   "window": {
+    "distance": "0.39 meters",
+    "closeness rank": 3
+   },
+   "telephone": {
+    "distance": "0.44 meters",
+    "closeness rank": 4
+   },
+   "keyboard": {
+    "distance": "0.47 meters",
+    "closeness rank": 5
+   },
+   "radiator": {
+    "distance": "0.47 meters",
+    "closeness rank": 6
+   },
+   "table": {
+    "distance": "0.58 meters",
+    "closeness rank": 7
+   },
+   "towel": {
+    "distance": "0.64 meters",
+    "closeness rank": 8
+   },
+   "mattress": {
+    "distance": "0.94 meters",
+    "closeness rank": 9
+   },
+   "door": {
+    "distance": "0.97 meters",
+    "closeness rank": 10
+   },
+   "mirror": {
+    "distance": "1.56 meters",
+    "closeness rank": 11
+   },
+   "clock": {
+    "distance": "1.68 meters",
+    "closeness rank": 12
+   },
+   "printer": {
+    "distance": "1.68 meters",
+    "closeness rank": 13
+   },
+   "tv": {
+    "distance": "1.68 meters",
+    "closeness rank": 14
+   },
+   "lamp": {
+    "distance": "1.71 meters",
+    "closeness rank": 15
+   },
+   "fan": {
+    "distance": "1.75 meters",
+    "closeness rank": 16
+   },
+   "backpack": {
+    "distance": "2.19 meters",
+    "closeness rank": 17
+   },
+   "chair": {
+    "distance": "2.24 meters",
+    "closeness rank": 18
+   },
+   "nightstand": {
+    "distance": "2.27 meters",
+    "closeness rank": 19
+   },
+   "bookshelf": {
+    "distance": "2.6 meters",
+    "closeness rank": 20
+   },
+   "plant": {
+    "distance": "2.98 meters",
+    "closeness rank": 21
+   }
+  },
+  "plant": {
+   "bookshelf": {
+    "distance": "0.06 meters",
+    "closeness rank": 1
+   },
+   "table": {
+    "distance": "0.06 meters",
+    "closeness rank": 2
+   },
+   "nightstand": {
+    "distance": "0.07 meters",
+    "closeness rank": 3
+   },
+   "chair": {
+    "distance": "1.03 meters",
+    "closeness rank": 4
+   },
+   "mattress": {
+    "distance": "1.03 meters",
+    "closeness rank": 5
+   },
+   "fan": {
+    "distance": "1.13 meters",
+    "closeness rank": 6
+   },
+   "lamp": {
+    "distance": "1.13 meters",
+    "closeness rank": 7
+   },
+   "mirror": {
+    "distance": "1.28 meters",
+    "closeness rank": 8
+   },
+   "backpack": {
+    "distance": "1.29 meters",
+    "closeness rank": 9
+   },
+   "bed": {
+    "distance": "1.6 meters",
+    "closeness rank": 10
+   },
+   "door": {
+    "distance": "1.71 meters",
+    "closeness rank": 11
+   },
+   "towel": {
+    "distance": "2.01 meters",
+    "closeness rank": 12
+   },
+   "clock": {
+    "distance": "2.43 meters",
+    "closeness rank": 13
+   },
+   "printer": {
+    "distance": "2.43 meters",
+    "closeness rank": 14
+   },
+   "tv": {
+    "distance": "2.43 meters",
+    "closeness rank": 15
+   },
+   "keyboard": {
+    "distance": "2.51 meters",
+    "closeness rank": 16
+   },
+   "monitor": {
+    "distance": "2.52 meters",
+    "closeness rank": 17
+   },
+   "window": {
+    "distance": "2.6 meters",
+    "closeness rank": 18
+   },
+   "radiator": {
+    "distance": "2.91 meters",
+    "closeness rank": 19
+   },
+   "pillow": {
+    "distance": "2.98 meters",
+    "closeness rank": 20
+   },
+   "telephone": {
+    "distance": "3.12 meters",
+    "closeness rank": 21
+   }
+  },
+  "printer": {
+   "clock": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "tv": {
+    "distance": "0.0 meters",
+    "closeness rank": 2
+   },
+   "bed": {
+    "distance": "0.16 meters",
+    "closeness rank": 3
+   },
+   "door": {
+    "distance": "0.7 meters",
+    "closeness rank": 4
+   },
+   "table": {
+    "distance": "0.71 meters",
+    "closeness rank": 5
+   },
+   "fan": {
+    "distance": "1.08 meters",
+    "closeness rank": 6
+   },
+   "lamp": {
+    "distance": "1.1 meters",
+    "closeness rank": 7
+   },
+   "mattress": {
+    "distance": "1.34 meters",
+    "closeness rank": 8
+   },
+   "towel": {
+    "distance": "1.46 meters",
+    "closeness rank": 9
+   },
+   "pillow": {
+    "distance": "1.68 meters",
+    "closeness rank": 10
+   },
+   "keyboard": {
+    "distance": "1.7 meters",
+    "closeness rank": 11
+   },
+   "chair": {
+    "distance": "1.75 meters",
+    "closeness rank": 12
+   },
+   "monitor": {
+    "distance": "1.77 meters",
+    "closeness rank": 13
+   },
+   "mirror": {
+    "distance": "1.78 meters",
+    "closeness rank": 14
+   },
+   "backpack": {
+    "distance": "2.12 meters",
+    "closeness rank": 15
+   },
+   "nightstand": {
+    "distance": "2.14 meters",
+    "closeness rank": 16
+   },
+   "radiator": {
+    "distance": "2.3 meters",
+    "closeness rank": 17
+   },
+   "telephone": {
+    "distance": "2.33 meters",
+    "closeness rank": 18
+   },
+   "bookshelf": {
+    "distance": "2.34 meters",
+    "closeness rank": 19
+   },
+   "window": {
+    "distance": "2.39 meters",
+    "closeness rank": 20
+   },
+   "plant": {
+    "distance": "2.43 meters",
+    "closeness rank": 21
+   }
+  },
+  "radiator": {
+   "telephone": {
+    "distance": "0.07 meters",
+    "closeness rank": 1
+   },
+   "window": {
+    "distance": "0.24 meters",
+    "closeness rank": 2
+   },
+   "monitor": {
+    "distance": "0.47 meters",
+    "closeness rank": 3
+   },
+   "pillow": {
+    "distance": "0.47 meters",
+    "closeness rank": 4
+   },
+   "keyboard": {
+    "distance": "0.53 meters",
+    "closeness rank": 5
+   },
+   "towel": {
+    "distance": "0.55 meters",
+    "closeness rank": 6
+   },
+   "table": {
+    "distance": "0.71 meters",
+    "closeness rank": 7
+   },
+   "bed": {
+    "distance": "0.91 meters",
+    "closeness rank": 8
+   },
+   "mattress": {
+    "distance": "0.98 meters",
+    "closeness rank": 9
+   },
+   "door": {
+    "distance": "1.33 meters",
+    "closeness rank": 10
+   },
+   "mirror": {
+    "distance": "1.37 meters",
+    "closeness rank": 11
+   },
+   "lamp": {
+    "distance": "1.6 meters",
+    "closeness rank": 12
+   },
+   "fan": {
+    "distance": "1.61 meters",
+    "closeness rank": 13
+   },
+   "backpack": {
+    "distance": "1.85 meters",
+    "closeness rank": 14
+   },
+   "nightstand": {
+    "distance": "1.94 meters",
+    "closeness rank": 15
+   },
+   "chair": {
+    "distance": "2.1 meters",
+    "closeness rank": 16
+   },
+   "clock": {
+    "distance": "2.3 meters",
+    "closeness rank": 17
+   },
+   "printer": {
+    "distance": "2.3 meters",
+    "closeness rank": 18
+   },
+   "tv": {
+    "distance": "2.3 meters",
+    "closeness rank": 19
+   },
+   "bookshelf": {
+    "distance": "2.32 meters",
+    "closeness rank": 20
+   },
+   "plant": {
+    "distance": "2.91 meters",
+    "closeness rank": 21
+   }
+  },
+  "table": {
+   "bookshelf": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "door": {
+    "distance": "0.0 meters",
+    "closeness rank": 2
+   },
+   "nightstand": {
+    "distance": "0.0 meters",
+    "closeness rank": 3
+   },
+   "mattress": {
+    "distance": "0.04 meters",
+    "closeness rank": 4
+   },
+   "plant": {
+    "distance": "0.06 meters",
+    "closeness rank": 5
+   },
+   "backpack": {
+    "distance": "0.09 meters",
+    "closeness rank": 6
+   },
+   "keyboard": {
+    "distance": "0.09 meters",
+    "closeness rank": 7
+   },
+   "bed": {
+    "distance": "0.13 meters",
+    "closeness rank": 8
+   },
+   "chair": {
+    "distance": "0.16 meters",
+    "closeness rank": 9
+   },
+   "towel": {
+    "distance": "0.19 meters",
+    "closeness rank": 10
+   },
+   "monitor": {
+    "distance": "0.2 meters",
+    "closeness rank": 11
+   },
+   "fan": {
+    "distance": "0.33 meters",
+    "closeness rank": 12
+   },
+   "lamp": {
+    "distance": "0.33 meters",
+    "closeness rank": 13
+   },
+   "mirror": {
+    "distance": "0.38 meters",
+    "closeness rank": 14
+   },
+   "pillow": {
+    "distance": "0.58 meters",
+    "closeness rank": 15
+   },
+   "printer": {
+    "distance": "0.71 meters",
+    "closeness rank": 16
+   },
+   "radiator": {
+    "distance": "0.71 meters",
+    "closeness rank": 17
+   },
+   "tv": {
+    "distance": "0.71 meters",
+    "closeness rank": 18
+   },
+   "clock": {
+    "distance": "0.72 meters",
+    "closeness rank": 19
+   },
+   "telephone": {
+    "distance": "0.81 meters",
+    "closeness rank": 20
+   },
+   "window": {
+    "distance": "0.99 meters",
+    "closeness rank": 21
+   }
+  },
+  "telephone": {
+   "window": {
+    "distance": "0.03 meters",
+    "closeness rank": 1
+   },
+   "radiator": {
+    "distance": "0.07 meters",
+    "closeness rank": 2
+   },
+   "pillow": {
+    "distance": "0.44 meters",
+    "closeness rank": 3
+   },
+   "monitor": {
+    "distance": "0.54 meters",
+    "closeness rank": 4
+   },
+   "towel": {
+    "distance": "0.61 meters",
+    "closeness rank": 5
+   },
+   "keyboard": {
+    "distance": "0.63 meters",
+    "closeness rank": 6
+   },
+   "table": {
+    "distance": "0.81 meters",
+    "closeness rank": 7
+   },
+   "bed": {
+    "distance": "0.92 meters",
+    "closeness rank": 8
+   },
+   "mattress": {
+    "distance": "1.12 meters",
+    "closeness rank": 9
+   },
+   "door": {
+    "distance": "1.44 meters",
+    "closeness rank": 10
+   },
+   "mirror": {
+    "distance": "1.65 meters",
+    "closeness rank": 11
+   },
+   "lamp": {
+    "distance": "1.84 meters",
+    "closeness rank": 12
+   },
+   "fan": {
+    "distance": "1.87 meters",
+    "closeness rank": 13
+   },
+   "backpack": {
+    "distance": "2.2 meters",
+    "closeness rank": 14
+   },
+   "nightstand": {
+    "distance": "2.27 meters",
+    "closeness rank": 15
+   },
+   "printer": {
+    "distance": "2.33 meters",
+    "closeness rank": 16
+   },
+   "clock": {
+    "distance": "2.34 meters",
+    "closeness rank": 17
+   },
+   "tv": {
+    "distance": "2.34 meters",
+    "closeness rank": 18
+   },
+   "chair": {
+    "distance": "2.38 meters",
+    "closeness rank": 19
+   },
+   "bookshelf": {
+    "distance": "2.64 meters",
+    "closeness rank": 20
+   },
+   "plant": {
+    "distance": "3.12 meters",
+    "closeness rank": 21
+   }
+  },
+  "towel": {
+   "mattress": {
+    "distance": "0.02 meters",
+    "closeness rank": 1
+   },
+   "table": {
+    "distance": "0.19 meters",
+    "closeness rank": 2
+   },
+   "monitor": {
+    "distance": "0.24 meters",
+    "closeness rank": 3
+   },
+   "keyboard": {
+    "distance": "0.25 meters",
+    "closeness rank": 4
+   },
+   "window": {
+    "distance": "0.41 meters",
+    "closeness rank": 5
+   },
+   "bed": {
+    "distance": "0.49 meters",
+    "closeness rank": 6
+   },
+   "radiator": {
+    "distance": "0.55 meters",
+    "closeness rank": 7
+   },
+   "mirror": {
+    "distance": "0.59 meters",
+    "closeness rank": 8
+   },
+   "telephone": {
+    "distance": "0.61 meters",
+    "closeness rank": 9
+   },
+   "pillow": {
+    "distance": "0.64 meters",
+    "closeness rank": 10
+   },
+   "lamp": {
+    "distance": "0.74 meters",
+    "closeness rank": 11
+   },
+   "fan": {
+    "distance": "0.81 meters",
+    "closeness rank": 12
+   },
+   "door": {
+    "distance": "0.88 meters",
+    "closeness rank": 13
+   },
+   "chair": {
+    "distance": "1.3 meters",
+    "closeness rank": 14
+   },
+   "backpack": {
+    "distance": "1.32 meters",
+    "closeness rank": 15
+   },
+   "nightstand": {
+    "distance": "1.32 meters",
+    "closeness rank": 16
+   },
+   "clock": {
+    "distance": "1.46 meters",
+    "closeness rank": 17
+   },
+   "printer": {
+    "distance": "1.46 meters",
+    "closeness rank": 18
+   },
+   "tv": {
+    "distance": "1.47 meters",
+    "closeness rank": 19
+   },
+   "bookshelf": {
+    "distance": "1.6 meters",
+    "closeness rank": 20
+   },
+   "plant": {
+    "distance": "2.01 meters",
+    "closeness rank": 21
+   }
+  },
+  "tv": {
+   "clock": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "printer": {
+    "distance": "0.0 meters",
+    "closeness rank": 2
+   },
+   "bed": {
+    "distance": "0.16 meters",
+    "closeness rank": 3
+   },
+   "door": {
+    "distance": "0.7 meters",
+    "closeness rank": 4
+   },
+   "table": {
+    "distance": "0.71 meters",
+    "closeness rank": 5
+   },
+   "fan": {
+    "distance": "1.08 meters",
+    "closeness rank": 6
+   },
+   "lamp": {
+    "distance": "1.1 meters",
+    "closeness rank": 7
+   },
+   "mattress": {
+    "distance": "1.34 meters",
+    "closeness rank": 8
+   },
+   "towel": {
+    "distance": "1.47 meters",
+    "closeness rank": 9
+   },
+   "pillow": {
+    "distance": "1.68 meters",
+    "closeness rank": 10
+   },
+   "keyboard": {
+    "distance": "1.7 meters",
+    "closeness rank": 11
+   },
+   "chair": {
+    "distance": "1.75 meters",
+    "closeness rank": 12
+   },
+   "monitor": {
+    "distance": "1.77 meters",
+    "closeness rank": 13
+   },
+   "mirror": {
+    "distance": "1.78 meters",
+    "closeness rank": 14
+   },
+   "backpack": {
+    "distance": "2.13 meters",
+    "closeness rank": 15
+   },
+   "nightstand": {
+    "distance": "2.14 meters",
+    "closeness rank": 16
+   },
+   "radiator": {
+    "distance": "2.3 meters",
+    "closeness rank": 17
+   },
+   "bookshelf": {
+    "distance": "2.34 meters",
+    "closeness rank": 18
+   },
+   "telephone": {
+    "distance": "2.34 meters",
+    "closeness rank": 19
+   },
+   "window": {
+    "distance": "2.4 meters",
+    "closeness rank": 20
+   },
+   "plant": {
+    "distance": "2.43 meters",
+    "closeness rank": 21
+   }
+  },
+  "window": {
+   "telephone": {
+    "distance": "0.03 meters",
+    "closeness rank": 1
+   },
+   "radiator": {
+    "distance": "0.24 meters",
+    "closeness rank": 2
+   },
+   "pillow": {
+    "distance": "0.39 meters",
+    "closeness rank": 3
+   },
+   "towel": {
+    "distance": "0.41 meters",
+    "closeness rank": 4
+   },
+   "monitor": {
+    "distance": "0.72 meters",
+    "closeness rank": 5
+   },
+   "keyboard": {
+    "distance": "0.8 meters",
+    "closeness rank": 6
+   },
+   "mattress": {
+    "distance": "0.84 meters",
+    "closeness rank": 7
+   },
+   "table": {
+    "distance": "0.99 meters",
+    "closeness rank": 8
+   },
+   "bed": {
+    "distance": "1.01 meters",
+    "closeness rank": 9
+   },
+   "mirror": {
+    "distance": "1.32 meters",
+    "closeness rank": 10
+   },
+   "lamp": {
+    "distance": "1.54 meters",
+    "closeness rank": 11
+   },
+   "door": {
+    "distance": "1.56 meters",
+    "closeness rank": 12
+   },
+   "fan": {
+    "distance": "1.56 meters",
+    "closeness rank": 13
+   },
+   "nightstand": {
+    "distance": "1.87 meters",
+    "closeness rank": 14
+   },
+   "backpack": {
+    "distance": "1.91 meters",
+    "closeness rank": 15
+   },
+   "chair": {
+    "distance": "2.09 meters",
+    "closeness rank": 16
+   },
+   "bookshelf": {
+    "distance": "2.14 meters",
+    "closeness rank": 17
+   },
+   "printer": {
+    "distance": "2.39 meters",
+    "closeness rank": 18
+   },
+   "clock": {
+    "distance": "2.4 meters",
+    "closeness rank": 19
+   },
+   "tv": {
+    "distance": "2.4 meters",
+    "closeness rank": 20
+   },
+   "plant": {
+    "distance": "2.6 meters",
+    "closeness rank": 21
+   }
+  }
+ },
+ "appearance order": ["bed", "table", "window", "mattress", "pillow", "chair", "backpack", "door", "monitor", "lamp", "keyboard", "telephone", "towel", "plant", "fan", "nightstand", "bookshelf", "mirror", "radiator", "clock", "printer", "tv"]
+}
\ No newline at end of file
diff --git a/data/spatial codes/sam3+depth-anything-3/metric/tracking/uniform/96/explicit/scene0663_00.json b/data/spatial codes/sam3+depth-anything-3/metric/tracking/uniform/96/explicit/scene0663_00.json
new file mode 100644
index 0000000000000000000000000000000000000000..cdf5a18260111249365ca18c1988a8d017d387fc
--- /dev/null
+++ b/data/spatial codes/sam3+depth-anything-3/metric/tracking/uniform/96/explicit/scene0663_00.json	
@@ -0,0 +1,1322 @@
+{
+ "objects": {
+  "backpack": {
+   "count": 3,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-0.36 meters",
+      "y coordinate": "0.81 meters",
+      "height above floor": "0.05 meters"
+     },
+     "longest dimension": "0.38 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-0.69 meters",
+      "y coordinate": "0.31 meters",
+      "height above floor": "-0.44 meters"
+     },
+     "longest dimension": "0.48 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-0.37 meters",
+      "y coordinate": "0.57 meters",
+      "height above floor": "-0.4 meters"
+     },
+     "longest dimension": "0.38 meters"
+    }
+   ]
+  },
+  "chair": {
+   "count": 3,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-1.89 meters",
+      "y coordinate": "-0.23 meters",
+      "height above floor": "0.05 meters"
+     },
+     "longest dimension": "0.63 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-0.44 meters",
+      "y coordinate": "-0.36 meters",
+      "height above floor": "-0.12 meters"
+     },
+     "longest dimension": "0.49 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "0.76 meters",
+      "y coordinate": "-0.05 meters",
+      "height above floor": "-0.17 meters"
+     },
+     "longest dimension": "0.76 meters"
+    }
+   ]
+  },
+  "closet": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "0.59 meters",
+      "y coordinate": "1.63 meters",
+      "height above floor": "0.23 meters"
+     },
+     "longest dimension": "1.52 meters"
+    }
+   ]
+  },
+  "computer mouse": {
+   "count": 2,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-1.5 meters",
+      "y coordinate": "0.54 meters",
+      "height above floor": "0.0 meters"
+     },
+     "longest dimension": "0.08 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "0.51 meters",
+      "y coordinate": "-0.59 meters",
+      "height above floor": "0.01 meters"
+     },
+     "longest dimension": "0.09 meters"
+    }
+   ]
+  },
+  "door": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "1.46 meters",
+      "y coordinate": "1.13 meters",
+      "height above floor": "-0.01 meters"
+     },
+     "longest dimension": "1.07 meters"
+    }
+   ]
+  },
+  "keyboard": {
+   "count": 2,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-1.81 meters",
+      "y coordinate": "0.5 meters",
+      "height above floor": "0.0 meters"
+     },
+     "longest dimension": "0.4 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "0.81 meters",
+      "y coordinate": "-0.56 meters",
+      "height above floor": "0.01 meters"
+     },
+     "longest dimension": "0.4 meters"
+    }
+   ]
+  },
+  "lamp": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-2.21 meters",
+      "y coordinate": "-0.71 meters",
+      "height above floor": "0.15 meters"
+     },
+     "longest dimension": "0.18 meters"
+    }
+   ]
+  },
+  "mirror": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-3.0 meters",
+      "y coordinate": "-0.52 meters",
+      "height above floor": "0.59 meters"
+     },
+     "longest dimension": "1.39 meters"
+    }
+   ]
+  },
+  "monitor": {
+   "count": 2,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-1.71 meters",
+      "y coordinate": "0.91 meters",
+      "height above floor": "0.26 meters"
+     },
+     "longest dimension": "0.5 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-2.21 meters",
+      "y coordinate": "0.76 meters",
+      "height above floor": "0.27 meters"
+     },
+     "longest dimension": "0.5 meters"
+    }
+   ]
+  },
+  "plant": {
+   "count": 2,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-3.13 meters",
+      "y coordinate": "-0.18 meters",
+      "height above floor": "0.46 meters"
+     },
+     "longest dimension": "0.54 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-2.74 meters",
+      "y coordinate": "-1.29 meters",
+      "height above floor": "0.32 meters"
+     },
+     "longest dimension": "0.51 meters"
+    }
+   ]
+  },
+  "table": {
+   "count": 3,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "1.08 meters",
+      "y coordinate": "0.3 meters",
+      "height above floor": "-0.03 meters"
+     },
+     "longest dimension": "1.31 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-1.79 meters",
+      "y coordinate": "0.51 meters",
+      "height above floor": "-0.02 meters"
+     },
+     "longest dimension": "1.05 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-2.15 meters",
+      "y coordinate": "-0.46 meters",
+      "height above floor": "-0.0 meters"
+     },
+     "longest dimension": "1.47 meters"
+    }
+   ]
+  },
+  "telephone": {
+   "count": 2,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-2.34 meters",
+      "y coordinate": "-0.39 meters",
+      "height above floor": "0.11 meters"
+     },
+     "longest dimension": "0.28 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-2.24 meters",
+      "y coordinate": "-0.73 meters",
+      "height above floor": "0.11 meters"
+     },
+     "longest dimension": "0.34 meters"
+    }
+   ]
+  },
+  "towel": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-0.49 meters",
+      "y coordinate": "-0.07 meters",
+      "height above floor": "0.05 meters"
+     },
+     "longest dimension": "0.25 meters"
+    }
+   ]
+  },
+  "trash bin": {
+   "count": 2,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-0.15 meters",
+      "y coordinate": "0.84 meters",
+      "height above floor": "-0.35 meters"
+     },
+     "longest dimension": "0.76 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "1.15 meters",
+      "y coordinate": "0.32 meters",
+      "height above floor": "-0.42 meters"
+     },
+     "longest dimension": "0.49 meters"
+    }
+   ]
+  },
+  "tv": {
+   "count": 2,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-1.71 meters",
+      "y coordinate": "0.91 meters",
+      "height above floor": "0.26 meters"
+     },
+     "longest dimension": "0.5 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-2.21 meters",
+      "y coordinate": "0.76 meters",
+      "height above floor": "0.27 meters"
+     },
+     "longest dimension": "0.5 meters"
+    }
+   ]
+  },
+  "window": {
+   "count": 2,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-2.99 meters",
+      "y coordinate": "-0.53 meters",
+      "height above floor": "0.57 meters"
+     },
+     "longest dimension": "1.42 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-2.83 meters",
+      "y coordinate": "-0.73 meters",
+      "height above floor": "0.33 meters"
+     },
+     "longest dimension": "1.93 meters"
+    }
+   ]
+  }
+ },
+ "room": {
+  "floor area": "15.2 square meters"
+ },
+ "closest classes distance meters from": {
+  "backpack": {
+   "trash bin": {
+    "distance": "0.04 meters",
+    "closeness rank": 1
+   },
+   "closet": {
+    "distance": "0.29 meters",
+    "closeness rank": 2
+   },
+   "towel": {
+    "distance": "0.7 meters",
+    "closeness rank": 3
+   },
+   "chair": {
+    "distance": "0.96 meters",
+    "closeness rank": 4
+   },
+   "monitor": {
+    "distance": "0.99 meters",
+    "closeness rank": 5
+   },
+   "computer mouse": {
+    "distance": "1.0 meters",
+    "closeness rank": 6
+   },
+   "tv": {
+    "distance": "1.0 meters",
+    "closeness rank": 7
+   },
+   "keyboard": {
+    "distance": "1.14 meters",
+    "closeness rank": 8
+   },
+   "table": {
+    "distance": "1.15 meters",
+    "closeness rank": 9
+   },
+   "door": {
+    "distance": "1.61 meters",
+    "closeness rank": 10
+   },
+   "telephone": {
+    "distance": "1.75 meters",
+    "closeness rank": 11
+   },
+   "lamp": {
+    "distance": "2.18 meters",
+    "closeness rank": 12
+   },
+   "window": {
+    "distance": "2.61 meters",
+    "closeness rank": 13
+   },
+   "mirror": {
+    "distance": "2.63 meters",
+    "closeness rank": 14
+   },
+   "plant": {
+    "distance": "2.73 meters",
+    "closeness rank": 15
+   }
+  },
+  "chair": {
+   "telephone": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "table": {
+    "distance": "0.18 meters",
+    "closeness rank": 2
+   },
+   "keyboard": {
+    "distance": "0.31 meters",
+    "closeness rank": 3
+   },
+   "lamp": {
+    "distance": "0.38 meters",
+    "closeness rank": 4
+   },
+   "computer mouse": {
+    "distance": "0.41 meters",
+    "closeness rank": 5
+   },
+   "trash bin": {
+    "distance": "0.55 meters",
+    "closeness rank": 6
+   },
+   "monitor": {
+    "distance": "0.7 meters",
+    "closeness rank": 7
+   },
+   "tv": {
+    "distance": "0.7 meters",
+    "closeness rank": 8
+   },
+   "towel": {
+    "distance": "0.71 meters",
+    "closeness rank": 9
+   },
+   "window": {
+    "distance": "0.88 meters",
+    "closeness rank": 10
+   },
+   "mirror": {
+    "distance": "0.9 meters",
+    "closeness rank": 11
+   },
+   "door": {
+    "distance": "0.94 meters",
+    "closeness rank": 12
+   },
+   "backpack": {
+    "distance": "0.96 meters",
+    "closeness rank": 13
+   },
+   "plant": {
+    "distance": "0.99 meters",
+    "closeness rank": 14
+   },
+   "closet": {
+    "distance": "1.25 meters",
+    "closeness rank": 15
+   }
+  },
+  "closet": {
+   "door": {
+    "distance": "0.02 meters",
+    "closeness rank": 1
+   },
+   "trash bin": {
+    "distance": "0.24 meters",
+    "closeness rank": 2
+   },
+   "backpack": {
+    "distance": "0.29 meters",
+    "closeness rank": 3
+   },
+   "table": {
+    "distance": "0.98 meters",
+    "closeness rank": 4
+   },
+   "chair": {
+    "distance": "1.25 meters",
+    "closeness rank": 5
+   },
+   "towel": {
+    "distance": "1.26 meters",
+    "closeness rank": 6
+   },
+   "monitor": {
+    "distance": "1.34 meters",
+    "closeness rank": 7
+   },
+   "tv": {
+    "distance": "1.34 meters",
+    "closeness rank": 8
+   },
+   "computer mouse": {
+    "distance": "1.48 meters",
+    "closeness rank": 9
+   },
+   "keyboard": {
+    "distance": "1.61 meters",
+    "closeness rank": 10
+   },
+   "telephone": {
+    "distance": "2.27 meters",
+    "closeness rank": 11
+   },
+   "lamp": {
+    "distance": "2.72 meters",
+    "closeness rank": 12
+   },
+   "window": {
+    "distance": "3.04 meters",
+    "closeness rank": 13
+   },
+   "mirror": {
+    "distance": "3.06 meters",
+    "closeness rank": 14
+   },
+   "plant": {
+    "distance": "3.18 meters",
+    "closeness rank": 15
+   }
+  },
+  "computer mouse": {
+   "keyboard": {
+    "distance": "0.07 meters",
+    "closeness rank": 1
+   },
+   "tv": {
+    "distance": "0.25 meters",
+    "closeness rank": 2
+   },
+   "monitor": {
+    "distance": "0.26 meters",
+    "closeness rank": 3
+   },
+   "chair": {
+    "distance": "0.41 meters",
+    "closeness rank": 4
+   },
+   "telephone": {
+    "distance": "0.84 meters",
+    "closeness rank": 5
+   },
+   "backpack": {
+    "distance": "1.0 meters",
+    "closeness rank": 6
+   },
+   "towel": {
+    "distance": "1.05 meters",
+    "closeness rank": 7
+   },
+   "trash bin": {
+    "distance": "1.06 meters",
+    "closeness rank": 8
+   },
+   "lamp": {
+    "distance": "1.28 meters",
+    "closeness rank": 9
+   },
+   "closet": {
+    "distance": "1.48 meters",
+    "closeness rank": 10
+   },
+   "window": {
+    "distance": "1.54 meters",
+    "closeness rank": 11
+   },
+   "mirror": {
+    "distance": "1.55 meters",
+    "closeness rank": 12
+   },
+   "plant": {
+    "distance": "1.66 meters",
+    "closeness rank": 13
+   },
+   "table": {
+    "distance": "1.76 meters",
+    "closeness rank": 14
+   },
+   "door": {
+    "distance": "2.94 meters",
+    "closeness rank": 15
+   }
+  },
+  "door": {
+   "closet": {
+    "distance": "0.02 meters",
+    "closeness rank": 1
+   },
+   "table": {
+    "distance": "0.1 meters",
+    "closeness rank": 2
+   },
+   "trash bin": {
+    "distance": "0.32 meters",
+    "closeness rank": 3
+   },
+   "chair": {
+    "distance": "0.94 meters",
+    "closeness rank": 4
+   },
+   "backpack": {
+    "distance": "1.61 meters",
+    "closeness rank": 5
+   },
+   "towel": {
+    "distance": "2.0 meters",
+    "closeness rank": 6
+   },
+   "monitor": {
+    "distance": "2.85 meters",
+    "closeness rank": 7
+   },
+   "tv": {
+    "distance": "2.86 meters",
+    "closeness rank": 8
+   },
+   "computer mouse": {
+    "distance": "2.94 meters",
+    "closeness rank": 9
+   },
+   "keyboard": {
+    "distance": "3.08 meters",
+    "closeness rank": 10
+   },
+   "telephone": {
+    "distance": "3.56 meters",
+    "closeness rank": 11
+   },
+   "lamp": {
+    "distance": "3.94 meters",
+    "closeness rank": 12
+   },
+   "window": {
+    "distance": "4.52 meters",
+    "closeness rank": 13
+   },
+   "mirror": {
+    "distance": "4.54 meters",
+    "closeness rank": 14
+   },
+   "plant": {
+    "distance": "4.63 meters",
+    "closeness rank": 15
+   }
+  },
+  "keyboard": {
+   "computer mouse": {
+    "distance": "0.07 meters",
+    "closeness rank": 1
+   },
+   "monitor": {
+    "distance": "0.19 meters",
+    "closeness rank": 2
+   },
+   "tv": {
+    "distance": "0.19 meters",
+    "closeness rank": 3
+   },
+   "chair": {
+    "distance": "0.31 meters",
+    "closeness rank": 4
+   },
+   "telephone": {
+    "distance": "0.64 meters",
+    "closeness rank": 5
+   },
+   "lamp": {
+    "distance": "1.02 meters",
+    "closeness rank": 6
+   },
+   "window": {
+    "distance": "1.04 meters",
+    "closeness rank": 7
+   },
+   "mirror": {
+    "distance": "1.06 meters",
+    "closeness rank": 8
+   },
+   "backpack": {
+    "distance": "1.14 meters",
+    "closeness rank": 9
+   },
+   "towel": {
+    "distance": "1.17 meters",
+    "closeness rank": 10
+   },
+   "plant": {
+    "distance": "1.18 meters",
+    "closeness rank": 11
+   },
+   "trash bin": {
+    "distance": "1.21 meters",
+    "closeness rank": 12
+   },
+   "closet": {
+    "distance": "1.61 meters",
+    "closeness rank": 13
+   },
+   "table": {
+    "distance": "1.86 meters",
+    "closeness rank": 14
+   },
+   "door": {
+    "distance": "3.08 meters",
+    "closeness rank": 15
+   }
+  },
+  "lamp": {
+   "telephone": {
+    "distance": "0.17 meters",
+    "closeness rank": 1
+   },
+   "chair": {
+    "distance": "0.38 meters",
+    "closeness rank": 2
+   },
+   "window": {
+    "distance": "0.52 meters",
+    "closeness rank": 3
+   },
+   "mirror": {
+    "distance": "0.58 meters",
+    "closeness rank": 4
+   },
+   "plant": {
+    "distance": "0.81 meters",
+    "closeness rank": 5
+   },
+   "keyboard": {
+    "distance": "1.02 meters",
+    "closeness rank": 6
+   },
+   "computer mouse": {
+    "distance": "1.28 meters",
+    "closeness rank": 7
+   },
+   "monitor": {
+    "distance": "1.46 meters",
+    "closeness rank": 8
+   },
+   "tv": {
+    "distance": "1.46 meters",
+    "closeness rank": 9
+   },
+   "towel": {
+    "distance": "1.67 meters",
+    "closeness rank": 10
+   },
+   "table": {
+    "distance": "1.99 meters",
+    "closeness rank": 11
+   },
+   "backpack": {
+    "distance": "2.18 meters",
+    "closeness rank": 12
+   },
+   "trash bin": {
+    "distance": "2.23 meters",
+    "closeness rank": 13
+   },
+   "closet": {
+    "distance": "2.72 meters",
+    "closeness rank": 14
+   },
+   "door": {
+    "distance": "3.94 meters",
+    "closeness rank": 15
+   }
+  },
+  "mirror": {
+   "window": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "plant": {
+    "distance": "0.01 meters",
+    "closeness rank": 2
+   },
+   "telephone": {
+    "distance": "0.56 meters",
+    "closeness rank": 3
+   },
+   "lamp": {
+    "distance": "0.58 meters",
+    "closeness rank": 4
+   },
+   "chair": {
+    "distance": "0.9 meters",
+    "closeness rank": 5
+   },
+   "keyboard": {
+    "distance": "1.06 meters",
+    "closeness rank": 6
+   },
+   "monitor": {
+    "distance": "1.22 meters",
+    "closeness rank": 7
+   },
+   "tv": {
+    "distance": "1.23 meters",
+    "closeness rank": 8
+   },
+   "computer mouse": {
+    "distance": "1.55 meters",
+    "closeness rank": 9
+   },
+   "towel": {
+    "distance": "2.3 meters",
+    "closeness rank": 10
+   },
+   "table": {
+    "distance": "2.54 meters",
+    "closeness rank": 11
+   },
+   "backpack": {
+    "distance": "2.63 meters",
+    "closeness rank": 12
+   },
+   "trash bin": {
+    "distance": "2.69 meters",
+    "closeness rank": 13
+   },
+   "closet": {
+    "distance": "3.06 meters",
+    "closeness rank": 14
+   },
+   "door": {
+    "distance": "4.54 meters",
+    "closeness rank": 15
+   }
+  },
+  "monitor": {
+   "tv": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "keyboard": {
+    "distance": "0.19 meters",
+    "closeness rank": 2
+   },
+   "computer mouse": {
+    "distance": "0.26 meters",
+    "closeness rank": 3
+   },
+   "chair": {
+    "distance": "0.7 meters",
+    "closeness rank": 4
+   },
+   "backpack": {
+    "distance": "0.99 meters",
+    "closeness rank": 5
+   },
+   "telephone": {
+    "distance": "1.06 meters",
+    "closeness rank": 6
+   },
+   "trash bin": {
+    "distance": "1.11 meters",
+    "closeness rank": 7
+   },
+   "window": {
+    "distance": "1.21 meters",
+    "closeness rank": 8
+   },
+   "mirror": {
+    "distance": "1.22 meters",
+    "closeness rank": 9
+   },
+   "closet": {
+    "distance": "1.34 meters",
+    "closeness rank": 10
+   },
+   "towel": {
+    "distance": "1.34 meters",
+    "closeness rank": 11
+   },
+   "plant": {
+    "distance": "1.4 meters",
+    "closeness rank": 12
+   },
+   "lamp": {
+    "distance": "1.46 meters",
+    "closeness rank": 13
+   },
+   "table": {
+    "distance": "2.09 meters",
+    "closeness rank": 14
+   },
+   "door": {
+    "distance": "2.85 meters",
+    "closeness rank": 15
+   }
+  },
+  "plant": {
+   "window": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "mirror": {
+    "distance": "0.01 meters",
+    "closeness rank": 2
+   },
+   "telephone": {
+    "distance": "0.69 meters",
+    "closeness rank": 3
+   },
+   "lamp": {
+    "distance": "0.81 meters",
+    "closeness rank": 4
+   },
+   "chair": {
+    "distance": "0.99 meters",
+    "closeness rank": 5
+   },
+   "keyboard": {
+    "distance": "1.18 meters",
+    "closeness rank": 6
+   },
+   "monitor": {
+    "distance": "1.4 meters",
+    "closeness rank": 7
+   },
+   "tv": {
+    "distance": "1.41 meters",
+    "closeness rank": 8
+   },
+   "computer mouse": {
+    "distance": "1.66 meters",
+    "closeness rank": 9
+   },
+   "towel": {
+    "distance": "2.43 meters",
+    "closeness rank": 10
+   },
+   "backpack": {
+    "distance": "2.73 meters",
+    "closeness rank": 11
+   },
+   "trash bin": {
+    "distance": "2.8 meters",
+    "closeness rank": 12
+   },
+   "table": {
+    "distance": "2.83 meters",
+    "closeness rank": 13
+   },
+   "closet": {
+    "distance": "3.18 meters",
+    "closeness rank": 14
+   },
+   "door": {
+    "distance": "4.63 meters",
+    "closeness rank": 15
+   }
+  },
+  "table": {
+   "door": {
+    "distance": "0.1 meters",
+    "closeness rank": 1
+   },
+   "chair": {
+    "distance": "0.18 meters",
+    "closeness rank": 2
+   },
+   "towel": {
+    "distance": "0.32 meters",
+    "closeness rank": 3
+   },
+   "trash bin": {
+    "distance": "0.33 meters",
+    "closeness rank": 4
+   },
+   "closet": {
+    "distance": "0.98 meters",
+    "closeness rank": 5
+   },
+   "backpack": {
+    "distance": "1.15 meters",
+    "closeness rank": 6
+   },
+   "telephone": {
+    "distance": "1.73 meters",
+    "closeness rank": 7
+   },
+   "computer mouse": {
+    "distance": "1.76 meters",
+    "closeness rank": 8
+   },
+   "keyboard": {
+    "distance": "1.86 meters",
+    "closeness rank": 9
+   },
+   "lamp": {
+    "distance": "1.99 meters",
+    "closeness rank": 10
+   },
+   "monitor": {
+    "distance": "2.09 meters",
+    "closeness rank": 11
+   },
+   "tv": {
+    "distance": "2.09 meters",
+    "closeness rank": 12
+   },
+   "window": {
+    "distance": "2.5 meters",
+    "closeness rank": 13
+   },
+   "mirror": {
+    "distance": "2.54 meters",
+    "closeness rank": 14
+   },
+   "plant": {
+    "distance": "2.83 meters",
+    "closeness rank": 15
+   }
+  },
+  "telephone": {
+   "chair": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "lamp": {
+    "distance": "0.17 meters",
+    "closeness rank": 2
+   },
+   "window": {
+    "distance": "0.5 meters",
+    "closeness rank": 3
+   },
+   "mirror": {
+    "distance": "0.56 meters",
+    "closeness rank": 4
+   },
+   "keyboard": {
+    "distance": "0.64 meters",
+    "closeness rank": 5
+   },
+   "plant": {
+    "distance": "0.69 meters",
+    "closeness rank": 6
+   },
+   "computer mouse": {
+    "distance": "0.84 meters",
+    "closeness rank": 7
+   },
+   "monitor": {
+    "distance": "1.06 meters",
+    "closeness rank": 8
+   },
+   "tv": {
+    "distance": "1.06 meters",
+    "closeness rank": 9
+   },
+   "towel": {
+    "distance": "1.31 meters",
+    "closeness rank": 10
+   },
+   "table": {
+    "distance": "1.73 meters",
+    "closeness rank": 11
+   },
+   "backpack": {
+    "distance": "1.75 meters",
+    "closeness rank": 12
+   },
+   "trash bin": {
+    "distance": "1.8 meters",
+    "closeness rank": 13
+   },
+   "closet": {
+    "distance": "2.27 meters",
+    "closeness rank": 14
+   },
+   "door": {
+    "distance": "3.56 meters",
+    "closeness rank": 15
+   }
+  },
+  "towel": {
+   "table": {
+    "distance": "0.32 meters",
+    "closeness rank": 1
+   },
+   "backpack": {
+    "distance": "0.7 meters",
+    "closeness rank": 2
+   },
+   "trash bin": {
+    "distance": "0.7 meters",
+    "closeness rank": 3
+   },
+   "chair": {
+    "distance": "0.71 meters",
+    "closeness rank": 4
+   },
+   "computer mouse": {
+    "distance": "1.05 meters",
+    "closeness rank": 5
+   },
+   "keyboard": {
+    "distance": "1.17 meters",
+    "closeness rank": 6
+   },
+   "closet": {
+    "distance": "1.26 meters",
+    "closeness rank": 7
+   },
+   "telephone": {
+    "distance": "1.31 meters",
+    "closeness rank": 8
+   },
+   "monitor": {
+    "distance": "1.34 meters",
+    "closeness rank": 9
+   },
+   "tv": {
+    "distance": "1.36 meters",
+    "closeness rank": 10
+   },
+   "lamp": {
+    "distance": "1.67 meters",
+    "closeness rank": 11
+   },
+   "door": {
+    "distance": "2.0 meters",
+    "closeness rank": 12
+   },
+   "window": {
+    "distance": "2.27 meters",
+    "closeness rank": 13
+   },
+   "mirror": {
+    "distance": "2.3 meters",
+    "closeness rank": 14
+   },
+   "plant": {
+    "distance": "2.43 meters",
+    "closeness rank": 15
+   }
+  },
+  "trash bin": {
+   "backpack": {
+    "distance": "0.04 meters",
+    "closeness rank": 1
+   },
+   "closet": {
+    "distance": "0.24 meters",
+    "closeness rank": 2
+   },
+   "door": {
+    "distance": "0.32 meters",
+    "closeness rank": 3
+   },
+   "table": {
+    "distance": "0.33 meters",
+    "closeness rank": 4
+   },
+   "chair": {
+    "distance": "0.55 meters",
+    "closeness rank": 5
+   },
+   "towel": {
+    "distance": "0.7 meters",
+    "closeness rank": 6
+   },
+   "computer mouse": {
+    "distance": "1.06 meters",
+    "closeness rank": 7
+   },
+   "monitor": {
+    "distance": "1.11 meters",
+    "closeness rank": 8
+   },
+   "tv": {
+    "distance": "1.12 meters",
+    "closeness rank": 9
+   },
+   "keyboard": {
+    "distance": "1.21 meters",
+    "closeness rank": 10
+   },
+   "telephone": {
+    "distance": "1.8 meters",
+    "closeness rank": 11
+   },
+   "lamp": {
+    "distance": "2.23 meters",
+    "closeness rank": 12
+   },
+   "window": {
+    "distance": "2.67 meters",
+    "closeness rank": 13
+   },
+   "mirror": {
+    "distance": "2.69 meters",
+    "closeness rank": 14
+   },
+   "plant": {
+    "distance": "2.8 meters",
+    "closeness rank": 15
+   }
+  },
+  "tv": {
+   "monitor": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "keyboard": {
+    "distance": "0.19 meters",
+    "closeness rank": 2
+   },
+   "computer mouse": {
+    "distance": "0.25 meters",
+    "closeness rank": 3
+   },
+   "chair": {
+    "distance": "0.7 meters",
+    "closeness rank": 4
+   },
+   "backpack": {
+    "distance": "1.0 meters",
+    "closeness rank": 5
+   },
+   "telephone": {
+    "distance": "1.06 meters",
+    "closeness rank": 6
+   },
+   "trash bin": {
+    "distance": "1.12 meters",
+    "closeness rank": 7
+   },
+   "window": {
+    "distance": "1.22 meters",
+    "closeness rank": 8
+   },
+   "mirror": {
+    "distance": "1.23 meters",
+    "closeness rank": 9
+   },
+   "closet": {
+    "distance": "1.34 meters",
+    "closeness rank": 10
+   },
+   "towel": {
+    "distance": "1.36 meters",
+    "closeness rank": 11
+   },
+   "plant": {
+    "distance": "1.41 meters",
+    "closeness rank": 12
+   },
+   "lamp": {
+    "distance": "1.46 meters",
+    "closeness rank": 13
+   },
+   "table": {
+    "distance": "2.09 meters",
+    "closeness rank": 14
+   },
+   "door": {
+    "distance": "2.86 meters",
+    "closeness rank": 15
+   }
+  },
+  "window": {
+   "mirror": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "plant": {
+    "distance": "0.0 meters",
+    "closeness rank": 2
+   },
+   "telephone": {
+    "distance": "0.5 meters",
+    "closeness rank": 3
+   },
+   "lamp": {
+    "distance": "0.52 meters",
+    "closeness rank": 4
+   },
+   "chair": {
+    "distance": "0.88 meters",
+    "closeness rank": 5
+   },
+   "keyboard": {
+    "distance": "1.04 meters",
+    "closeness rank": 6
+   },
+   "monitor": {
+    "distance": "1.21 meters",
+    "closeness rank": 7
+   },
+   "tv": {
+    "distance": "1.22 meters",
+    "closeness rank": 8
+   },
+   "computer mouse": {
+    "distance": "1.54 meters",
+    "closeness rank": 9
+   },
+   "towel": {
+    "distance": "2.27 meters",
+    "closeness rank": 10
+   },
+   "table": {
+    "distance": "2.5 meters",
+    "closeness rank": 11
+   },
+   "backpack": {
+    "distance": "2.61 meters",
+    "closeness rank": 12
+   },
+   "trash bin": {
+    "distance": "2.67 meters",
+    "closeness rank": 13
+   },
+   "closet": {
+    "distance": "3.04 meters",
+    "closeness rank": 14
+   },
+   "door": {
+    "distance": "4.52 meters",
+    "closeness rank": 15
+   }
+  }
+ },
+ "appearance order": ["chair", "window", "computer mouse", "keyboard", "table", "telephone", "monitor", "tv", "mirror", "plant", "backpack", "trash bin", "door", "towel", "lamp", "closet"]
+}
\ No newline at end of file
diff --git a/data/spatial codes/sam3+depth-anything-3/metric/tracking/uniform/96/explicit/scene0684_01.json b/data/spatial codes/sam3+depth-anything-3/metric/tracking/uniform/96/explicit/scene0684_01.json
new file mode 100644
index 0000000000000000000000000000000000000000..358ca2c2bd58e52cdd5f4b8793db4b331ea3186c
--- /dev/null
+++ b/data/spatial codes/sam3+depth-anything-3/metric/tracking/uniform/96/explicit/scene0684_01.json	
@@ -0,0 +1,378 @@
+{
+ "objects": {
+  "chair": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "0.13 meters",
+      "y coordinate": "0.74 meters",
+      "height above floor": "0.03 meters"
+     },
+     "longest dimension": "0.67 meters"
+    }
+   ]
+  },
+  "door": {
+   "count": 2,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-1.12 meters",
+      "y coordinate": "-0.79 meters",
+      "height above floor": "0.15 meters"
+     },
+     "longest dimension": "0.8 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-0.94 meters",
+      "y coordinate": "-0.93 meters",
+      "height above floor": "-0.05 meters"
+     },
+     "longest dimension": "0.74 meters"
+    }
+   ]
+  },
+  "radiator": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-0.04 meters",
+      "y coordinate": "1.14 meters",
+      "height above floor": "-0.34 meters"
+     },
+     "longest dimension": "0.54 meters"
+    }
+   ]
+  },
+  "refrigerator": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-0.27 meters",
+      "y coordinate": "0.68 meters",
+      "height above floor": "0.46 meters"
+     },
+     "longest dimension": "0.67 meters"
+    }
+   ]
+  },
+  "table": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "0.54 meters",
+      "y coordinate": "0.02 meters",
+      "height above floor": "-0.05 meters"
+     },
+     "longest dimension": "1.12 meters"
+    }
+   ]
+  },
+  "telephone": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "1.07 meters",
+      "y coordinate": "0.53 meters",
+      "height above floor": "0.02 meters"
+     },
+     "longest dimension": "0.22 meters"
+    }
+   ]
+  },
+  "trash bin": {
+   "count": 2,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-0.49 meters",
+      "y coordinate": "-0.87 meters",
+      "height above floor": "-0.0 meters"
+     },
+     "longest dimension": "0.65 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-0.47 meters",
+      "y coordinate": "-0.8 meters",
+      "height above floor": "-0.04 meters"
+     },
+     "longest dimension": "0.75 meters"
+    }
+   ]
+  },
+  "window": {
+   "count": 2,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "1.17 meters",
+      "y coordinate": "-0.11 meters",
+      "height above floor": "0.07 meters"
+     },
+     "longest dimension": "0.81 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "1.34 meters",
+      "y coordinate": "-0.0 meters",
+      "height above floor": "0.1 meters"
+     },
+     "longest dimension": "0.51 meters"
+    }
+   ]
+  }
+ },
+ "room": {
+  "floor area": "5.8 square meters"
+ },
+ "closest classes distance meters from": {
+  "chair": {
+   "refrigerator": {
+    "distance": "0.21 meters",
+    "closeness rank": 1
+   },
+   "table": {
+    "distance": "0.3 meters",
+    "closeness rank": 2
+   },
+   "radiator": {
+    "distance": "0.35 meters",
+    "closeness rank": 3
+   },
+   "telephone": {
+    "distance": "0.58 meters",
+    "closeness rank": 4
+   },
+   "window": {
+    "distance": "1.01 meters",
+    "closeness rank": 5
+   },
+   "trash bin": {
+    "distance": "1.37 meters",
+    "closeness rank": 6
+   },
+   "door": {
+    "distance": "1.81 meters",
+    "closeness rank": 7
+   }
+  },
+  "door": {
+   "trash bin": {
+    "distance": "0.1 meters",
+    "closeness rank": 1
+   },
+   "table": {
+    "distance": "1.31 meters",
+    "closeness rank": 2
+   },
+   "refrigerator": {
+    "distance": "1.54 meters",
+    "closeness rank": 3
+   },
+   "window": {
+    "distance": "1.73 meters",
+    "closeness rank": 4
+   },
+   "chair": {
+    "distance": "1.81 meters",
+    "closeness rank": 5
+   },
+   "radiator": {
+    "distance": "2.14 meters",
+    "closeness rank": 6
+   },
+   "telephone": {
+    "distance": "2.32 meters",
+    "closeness rank": 7
+   }
+  },
+  "radiator": {
+   "chair": {
+    "distance": "0.35 meters",
+    "closeness rank": 1
+   },
+   "refrigerator": {
+    "distance": "0.55 meters",
+    "closeness rank": 2
+   },
+   "table": {
+    "distance": "0.91 meters",
+    "closeness rank": 3
+   },
+   "telephone": {
+    "distance": "1.16 meters",
+    "closeness rank": 4
+   },
+   "window": {
+    "distance": "1.62 meters",
+    "closeness rank": 5
+   },
+   "trash bin": {
+    "distance": "1.82 meters",
+    "closeness rank": 6
+   },
+   "door": {
+    "distance": "2.14 meters",
+    "closeness rank": 7
+   }
+  },
+  "refrigerator": {
+   "chair": {
+    "distance": "0.21 meters",
+    "closeness rank": 1
+   },
+   "radiator": {
+    "distance": "0.55 meters",
+    "closeness rank": 2
+   },
+   "table": {
+    "distance": "0.85 meters",
+    "closeness rank": 3
+   },
+   "telephone": {
+    "distance": "1.23 meters",
+    "closeness rank": 4
+   },
+   "trash bin": {
+    "distance": "1.35 meters",
+    "closeness rank": 5
+   },
+   "door": {
+    "distance": "1.54 meters",
+    "closeness rank": 6
+   },
+   "window": {
+    "distance": "1.57 meters",
+    "closeness rank": 7
+   }
+  },
+  "table": {
+   "telephone": {
+    "distance": "0.11 meters",
+    "closeness rank": 1
+   },
+   "chair": {
+    "distance": "0.3 meters",
+    "closeness rank": 2
+   },
+   "window": {
+    "distance": "0.34 meters",
+    "closeness rank": 3
+   },
+   "refrigerator": {
+    "distance": "0.85 meters",
+    "closeness rank": 4
+   },
+   "trash bin": {
+    "distance": "0.85 meters",
+    "closeness rank": 5
+   },
+   "radiator": {
+    "distance": "0.91 meters",
+    "closeness rank": 6
+   },
+   "door": {
+    "distance": "1.31 meters",
+    "closeness rank": 7
+   }
+  },
+  "telephone": {
+   "table": {
+    "distance": "0.11 meters",
+    "closeness rank": 1
+   },
+   "window": {
+    "distance": "0.32 meters",
+    "closeness rank": 2
+   },
+   "chair": {
+    "distance": "0.58 meters",
+    "closeness rank": 3
+   },
+   "radiator": {
+    "distance": "1.16 meters",
+    "closeness rank": 4
+   },
+   "refrigerator": {
+    "distance": "1.23 meters",
+    "closeness rank": 5
+   },
+   "trash bin": {
+    "distance": "1.85 meters",
+    "closeness rank": 6
+   },
+   "door": {
+    "distance": "2.32 meters",
+    "closeness rank": 7
+   }
+  },
+  "trash bin": {
+   "door": {
+    "distance": "0.1 meters",
+    "closeness rank": 1
+   },
+   "table": {
+    "distance": "0.85 meters",
+    "closeness rank": 2
+   },
+   "window": {
+    "distance": "1.2 meters",
+    "closeness rank": 3
+   },
+   "refrigerator": {
+    "distance": "1.35 meters",
+    "closeness rank": 4
+   },
+   "chair": {
+    "distance": "1.37 meters",
+    "closeness rank": 5
+   },
+   "radiator": {
+    "distance": "1.82 meters",
+    "closeness rank": 6
+   },
+   "telephone": {
+    "distance": "1.85 meters",
+    "closeness rank": 7
+   }
+  },
+  "window": {
+   "telephone": {
+    "distance": "0.32 meters",
+    "closeness rank": 1
+   },
+   "table": {
+    "distance": "0.34 meters",
+    "closeness rank": 2
+   },
+   "chair": {
+    "distance": "1.01 meters",
+    "closeness rank": 3
+   },
+   "trash bin": {
+    "distance": "1.2 meters",
+    "closeness rank": 4
+   },
+   "refrigerator": {
+    "distance": "1.57 meters",
+    "closeness rank": 5
+   },
+   "radiator": {
+    "distance": "1.62 meters",
+    "closeness rank": 6
+   },
+   "door": {
+    "distance": "1.73 meters",
+    "closeness rank": 7
+   }
+  }
+ },
+ "appearance order": ["door", "trash bin", "table", "telephone", "window", "chair", "refrigerator", "radiator"]
+}
\ No newline at end of file
diff --git a/data/spatial codes/sam3+depth-anything-3/metric/tracking/uniform/96/explicit/scene0693_00.json b/data/spatial codes/sam3+depth-anything-3/metric/tracking/uniform/96/explicit/scene0693_00.json
new file mode 100644
index 0000000000000000000000000000000000000000..56f12cf74bdb3e5362f92d169fc2fcbeb633fa3c
--- /dev/null
+++ b/data/spatial codes/sam3+depth-anything-3/metric/tracking/uniform/96/explicit/scene0693_00.json	
@@ -0,0 +1,221 @@
+{
+ "objects": {
+  "door": {
+   "count": 4,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "0.9 meters",
+      "y coordinate": "-0.0 meters",
+      "height above floor": "-0.93 meters"
+     },
+     "longest dimension": "0.5 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-0.0 meters",
+      "y coordinate": "1.21 meters",
+      "height above floor": "-0.86 meters"
+     },
+     "longest dimension": "1.05 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "0.89 meters",
+      "y coordinate": "-0.01 meters",
+      "height above floor": "-1.26 meters"
+     },
+     "longest dimension": "0.49 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "0.89 meters",
+      "y coordinate": "0.01 meters",
+      "height above floor": "-1.29 meters"
+     },
+     "longest dimension": "0.5 meters"
+    }
+   ]
+  },
+  "mirror": {
+   "count": 2,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-0.1 meters",
+      "y coordinate": "1.11 meters",
+      "height above floor": "-1.03 meters"
+     },
+     "longest dimension": "0.74 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "0.13 meters",
+      "y coordinate": "-0.08 meters",
+      "height above floor": "-1.49 meters"
+     },
+     "longest dimension": "0.76 meters"
+    }
+   ]
+  },
+  "towel": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "0.5 meters",
+      "y coordinate": "-0.16 meters",
+      "height above floor": "-0.02 meters"
+     },
+     "longest dimension": "0.62 meters"
+    }
+   ]
+  },
+  "trash bin": {
+   "count": 3,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "0.4 meters",
+      "y coordinate": "1.12 meters",
+      "height above floor": "-0.51 meters"
+     },
+     "longest dimension": "0.31 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "0.38 meters",
+      "y coordinate": "1.29 meters",
+      "height above floor": "-0.07 meters"
+     },
+     "longest dimension": "0.17 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "0.39 meters",
+      "y coordinate": "1.1 meters",
+      "height above floor": "-0.3 meters"
+     },
+     "longest dimension": "0.25 meters"
+    }
+   ]
+  },
+  "window": {
+   "count": 2,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "0.39 meters",
+      "y coordinate": "-0.39 meters",
+      "height above floor": "0.1 meters"
+     },
+     "longest dimension": "1.0 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "0.22 meters",
+      "y coordinate": "-1.1 meters",
+      "height above floor": "-0.99 meters"
+     },
+     "longest dimension": "0.69 meters"
+    }
+   ]
+  }
+ },
+ "room": {
+  "floor area": "3.7 square meters"
+ },
+ "closest classes distance meters from": {
+  "door": {
+   "towel": {
+    "distance": "0.72 meters",
+    "closeness rank": 1
+   },
+   "window": {
+    "distance": "0.82 meters",
+    "closeness rank": 2
+   },
+   "trash bin": {
+    "distance": "1.13 meters",
+    "closeness rank": 3
+   },
+   "mirror": {
+    "distance": "1.36 meters",
+    "closeness rank": 4
+   }
+  },
+  "mirror": {
+   "trash bin": {
+    "distance": "0.21 meters",
+    "closeness rank": 1
+   },
+   "door": {
+    "distance": "1.36 meters",
+    "closeness rank": 2
+   },
+   "window": {
+    "distance": "1.4 meters",
+    "closeness rank": 3
+   },
+   "towel": {
+    "distance": "1.5 meters",
+    "closeness rank": 4
+   }
+  },
+  "towel": {
+   "window": {
+    "distance": "0.01 meters",
+    "closeness rank": 1
+   },
+   "door": {
+    "distance": "0.72 meters",
+    "closeness rank": 2
+   },
+   "trash bin": {
+    "distance": "1.06 meters",
+    "closeness rank": 3
+   },
+   "mirror": {
+    "distance": "1.5 meters",
+    "closeness rank": 4
+   }
+  },
+  "trash bin": {
+   "mirror": {
+    "distance": "0.21 meters",
+    "closeness rank": 1
+   },
+   "window": {
+    "distance": "0.94 meters",
+    "closeness rank": 2
+   },
+   "towel": {
+    "distance": "1.06 meters",
+    "closeness rank": 3
+   },
+   "door": {
+    "distance": "1.13 meters",
+    "closeness rank": 4
+   }
+  },
+  "window": {
+   "towel": {
+    "distance": "0.01 meters",
+    "closeness rank": 1
+   },
+   "door": {
+    "distance": "0.82 meters",
+    "closeness rank": 2
+   },
+   "trash bin": {
+    "distance": "0.94 meters",
+    "closeness rank": 3
+   },
+   "mirror": {
+    "distance": "1.4 meters",
+    "closeness rank": 4
+   }
+  }
+ },
+ "appearance order": ["door", "mirror", "window", "towel", "trash bin"]
+}
\ No newline at end of file
diff --git a/data/spatial codes/sam3+depth-anything-3/metric/tracking/uniform/96/explicit/scene0696_01.json b/data/spatial codes/sam3+depth-anything-3/metric/tracking/uniform/96/explicit/scene0696_01.json
new file mode 100644
index 0000000000000000000000000000000000000000..a968ac93681f65aaad917709795a98358f54441a
--- /dev/null
+++ b/data/spatial codes/sam3+depth-anything-3/metric/tracking/uniform/96/explicit/scene0696_01.json	
@@ -0,0 +1,1919 @@
+{
+ "objects": {
+  "bed": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "0.14 meters",
+      "y coordinate": "2.71 meters",
+      "height above floor": "-0.24 meters"
+     },
+     "longest dimension": "1.11 meters"
+    }
+   ]
+  },
+  "bookshelf": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "0.05 meters",
+      "y coordinate": "-1.38 meters",
+      "height above floor": "0.58 meters"
+     },
+     "longest dimension": "1.34 meters"
+    }
+   ]
+  },
+  "chair": {
+   "count": 15,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "1.97 meters",
+      "y coordinate": "-0.58 meters",
+      "height above floor": "-0.15 meters"
+     },
+     "longest dimension": "1.38 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "1.33 meters",
+      "y coordinate": "0.05 meters",
+      "height above floor": "0.1 meters"
+     },
+     "longest dimension": "0.51 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "0.41 meters",
+      "y coordinate": "0.64 meters",
+      "height above floor": "-0.09 meters"
+     },
+     "longest dimension": "0.63 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "0.61 meters",
+      "y coordinate": "0.28 meters",
+      "height above floor": "-0.17 meters"
+     },
+     "longest dimension": "0.55 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "0.84 meters",
+      "y coordinate": "-0.03 meters",
+      "height above floor": "-0.12 meters"
+     },
+     "longest dimension": "0.64 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "0.85 meters",
+      "y coordinate": "-0.02 meters",
+      "height above floor": "-0.03 meters"
+     },
+     "longest dimension": "0.38 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "0.12 meters",
+      "y coordinate": "1.02 meters",
+      "height above floor": "-0.21 meters"
+     },
+     "longest dimension": "0.74 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "0.6 meters",
+      "y coordinate": "0.28 meters",
+      "height above floor": "-0.16 meters"
+     },
+     "longest dimension": "0.66 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "1.51 meters",
+      "y coordinate": "2.32 meters",
+      "height above floor": "-0.01 meters"
+     },
+     "longest dimension": "0.36 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "1.71 meters",
+      "y coordinate": "1.94 meters",
+      "height above floor": "-0.04 meters"
+     },
+     "longest dimension": "0.39 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "1.6 meters",
+      "y coordinate": "-0.17 meters",
+      "height above floor": "-0.17 meters"
+     },
+     "longest dimension": "0.47 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "1.84 meters",
+      "y coordinate": "1.46 meters",
+      "height above floor": "-0.28 meters"
+     },
+     "longest dimension": "0.49 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "0.59 meters",
+      "y coordinate": "0.34 meters",
+      "height above floor": "-0.07 meters"
+     },
+     "longest dimension": "0.46 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "2.13 meters",
+      "y coordinate": "0.91 meters",
+      "height above floor": "-0.26 meters"
+     },
+     "longest dimension": "0.59 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "1.92 meters",
+      "y coordinate": "-1.24 meters",
+      "height above floor": "0.11 meters"
+     },
+     "longest dimension": "0.39 meters"
+    }
+   ]
+  },
+  "closet": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "2.28 meters",
+      "y coordinate": "-1.07 meters",
+      "height above floor": "0.69 meters"
+     },
+     "longest dimension": "0.98 meters"
+    }
+   ]
+  },
+  "computer mouse": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-0.19 meters",
+      "y coordinate": "-0.88 meters",
+      "height above floor": "0.59 meters"
+     },
+     "longest dimension": "0.15 meters"
+    }
+   ]
+  },
+  "door": {
+   "count": 6,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "1.52 meters",
+      "y coordinate": "-1.85 meters",
+      "height above floor": "0.64 meters"
+     },
+     "longest dimension": "1.25 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "2.14 meters",
+      "y coordinate": "2.7 meters",
+      "height above floor": "0.03 meters"
+     },
+     "longest dimension": "0.69 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-0.95 meters",
+      "y coordinate": "0.6 meters",
+      "height above floor": "0.51 meters"
+     },
+     "longest dimension": "0.64 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-0.31 meters",
+      "y coordinate": "-0.49 meters",
+      "height above floor": "-0.23 meters"
+     },
+     "longest dimension": "0.65 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "0.09 meters",
+      "y coordinate": "-1.33 meters",
+      "height above floor": "0.99 meters"
+     },
+     "longest dimension": "0.47 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-0.08 meters",
+      "y coordinate": "-0.88 meters",
+      "height above floor": "-0.23 meters"
+     },
+     "longest dimension": "0.57 meters"
+    }
+   ]
+  },
+  "lamp": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-0.44 meters",
+      "y coordinate": "-0.86 meters",
+      "height above floor": "1.07 meters"
+     },
+     "longest dimension": "0.14 meters"
+    }
+   ]
+  },
+  "mattress": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "0.42 meters",
+      "y coordinate": "3.04 meters",
+      "height above floor": "-0.19 meters"
+     },
+     "longest dimension": "0.73 meters"
+    }
+   ]
+  },
+  "microwave": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "1.94 meters",
+      "y coordinate": "3.25 meters",
+      "height above floor": "0.66 meters"
+     },
+     "longest dimension": "0.46 meters"
+    }
+   ]
+  },
+  "monitor": {
+   "count": 2,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "2.8 meters",
+      "y coordinate": "2.04 meters",
+      "height above floor": "0.45 meters"
+     },
+     "longest dimension": "0.44 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "3.0 meters",
+      "y coordinate": "1.49 meters",
+      "height above floor": "0.5 meters"
+     },
+     "longest dimension": "0.49 meters"
+    }
+   ]
+  },
+  "pillow": {
+   "count": 3,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-0.18 meters",
+      "y coordinate": "3.02 meters",
+      "height above floor": "0.1 meters"
+     },
+     "longest dimension": "0.44 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "0.2 meters",
+      "y coordinate": "1.78 meters",
+      "height above floor": "0.04 meters"
+     },
+     "longest dimension": "0.51 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "1.17 meters",
+      "y coordinate": "2.97 meters",
+      "height above floor": "-0.11 meters"
+     },
+     "longest dimension": "0.35 meters"
+    }
+   ]
+  },
+  "printer": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-0.29 meters",
+      "y coordinate": "-0.52 meters",
+      "height above floor": "0.66 meters"
+     },
+     "longest dimension": "0.44 meters"
+    }
+   ]
+  },
+  "radiator": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "3.21 meters",
+      "y coordinate": "-0.17 meters",
+      "height above floor": "0.35 meters"
+     },
+     "longest dimension": "1.02 meters"
+    }
+   ]
+  },
+  "sofa": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "2.83 meters",
+      "y coordinate": "0.02 meters",
+      "height above floor": "-0.21 meters"
+     },
+     "longest dimension": "1.65 meters"
+    }
+   ]
+  },
+  "table": {
+   "count": 5,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "0.98 meters",
+      "y coordinate": "0.78 meters",
+      "height above floor": "0.01 meters"
+     },
+     "longest dimension": "2.0 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "2.09 meters",
+      "y coordinate": "0.38 meters",
+      "height above floor": "0.04 meters"
+     },
+     "longest dimension": "0.7 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "1.22 meters",
+      "y coordinate": "-0.09 meters",
+      "height above floor": "0.14 meters"
+     },
+     "longest dimension": "0.34 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "1.12 meters",
+      "y coordinate": "0.4 meters",
+      "height above floor": "-0.01 meters"
+     },
+     "longest dimension": "1.36 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "1.73 meters",
+      "y coordinate": "1.05 meters",
+      "height above floor": "-0.07 meters"
+     },
+     "longest dimension": "0.62 meters"
+    }
+   ]
+  },
+  "telephone": {
+   "count": 3,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-0.25 meters",
+      "y coordinate": "-0.96 meters",
+      "height above floor": "0.27 meters"
+     },
+     "longest dimension": "0.31 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-0.34 meters",
+      "y coordinate": "-0.65 meters",
+      "height above floor": "0.27 meters"
+     },
+     "longest dimension": "0.22 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-0.49 meters",
+      "y coordinate": "-0.51 meters",
+      "height above floor": "0.26 meters"
+     },
+     "longest dimension": "0.19 meters"
+    }
+   ]
+  },
+  "towel": {
+   "count": 3,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "2.6 meters",
+      "y coordinate": "-0.13 meters",
+      "height above floor": "0.15 meters"
+     },
+     "longest dimension": "0.4 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "0.14 meters",
+      "y coordinate": "1.71 meters",
+      "height above floor": "0.03 meters"
+     },
+     "longest dimension": "0.58 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "2.73 meters",
+      "y coordinate": "-0.33 meters",
+      "height above floor": "0.54 meters"
+     },
+     "longest dimension": "0.48 meters"
+    }
+   ]
+  },
+  "tv": {
+   "count": 2,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "2.8 meters",
+      "y coordinate": "2.04 meters",
+      "height above floor": "0.44 meters"
+     },
+     "longest dimension": "0.45 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "3.0 meters",
+      "y coordinate": "1.49 meters",
+      "height above floor": "0.5 meters"
+     },
+     "longest dimension": "0.49 meters"
+    }
+   ]
+  },
+  "window": {
+   "count": 2,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-0.48 meters",
+      "y coordinate": "3.04 meters",
+      "height above floor": "0.87 meters"
+     },
+     "longest dimension": "1.94 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "2.96 meters",
+      "y coordinate": "2.35 meters",
+      "height above floor": "0.81 meters"
+     },
+     "longest dimension": "1.36 meters"
+    }
+   ]
+  }
+ },
+ "room": {
+  "floor area": "24.3 square meters"
+ },
+ "closest classes distance meters from": {
+  "bed": {
+   "mattress": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "pillow": {
+    "distance": "0.02 meters",
+    "closeness rank": 2
+   },
+   "table": {
+    "distance": "0.39 meters",
+    "closeness rank": 3
+   },
+   "window": {
+    "distance": "0.44 meters",
+    "closeness rank": 4
+   },
+   "microwave": {
+    "distance": "1.24 meters",
+    "closeness rank": 5
+   },
+   "monitor": {
+    "distance": "2.05 meters",
+    "closeness rank": 6
+   },
+   "tv": {
+    "distance": "2.05 meters",
+    "closeness rank": 7
+   },
+   "printer": {
+    "distance": "2.53 meters",
+    "closeness rank": 8
+   },
+   "computer mouse": {
+    "distance": "3.02 meters",
+    "closeness rank": 9
+   },
+   "telephone": {
+    "distance": "3.02 meters",
+    "closeness rank": 10
+   },
+   "lamp": {
+    "distance": "3.21 meters",
+    "closeness rank": 11
+   },
+   "bookshelf": {
+    "distance": "3.31 meters",
+    "closeness rank": 12
+   },
+   "sofa": {
+    "distance": "3.36 meters",
+    "closeness rank": 13
+   },
+   "towel": {
+    "distance": "3.38 meters",
+    "closeness rank": 14
+   },
+   "chair": {
+    "distance": "3.4 meters",
+    "closeness rank": 15
+   },
+   "radiator": {
+    "distance": "3.71 meters",
+    "closeness rank": 16
+   },
+   "closet": {
+    "distance": "3.96 meters",
+    "closeness rank": 17
+   },
+   "door": {
+    "distance": "4.38 meters",
+    "closeness rank": 18
+   }
+  },
+  "bookshelf": {
+   "telephone": {
+    "distance": "0.19 meters",
+    "closeness rank": 1
+   },
+   "computer mouse": {
+    "distance": "0.26 meters",
+    "closeness rank": 2
+   },
+   "lamp": {
+    "distance": "0.47 meters",
+    "closeness rank": 3
+   },
+   "printer": {
+    "distance": "0.56 meters",
+    "closeness rank": 4
+   },
+   "door": {
+    "distance": "1.12 meters",
+    "closeness rank": 5
+   },
+   "table": {
+    "distance": "1.49 meters",
+    "closeness rank": 6
+   },
+   "chair": {
+    "distance": "1.66 meters",
+    "closeness rank": 7
+   },
+   "sofa": {
+    "distance": "1.67 meters",
+    "closeness rank": 8
+   },
+   "closet": {
+    "distance": "2.02 meters",
+    "closeness rank": 9
+   },
+   "towel": {
+    "distance": "2.37 meters",
+    "closeness rank": 10
+   },
+   "radiator": {
+    "distance": "2.53 meters",
+    "closeness rank": 11
+   },
+   "bed": {
+    "distance": "3.31 meters",
+    "closeness rank": 12
+   },
+   "mattress": {
+    "distance": "3.88 meters",
+    "closeness rank": 13
+   },
+   "window": {
+    "distance": "3.9 meters",
+    "closeness rank": 14
+   },
+   "pillow": {
+    "distance": "3.94 meters",
+    "closeness rank": 15
+   },
+   "monitor": {
+    "distance": "4.02 meters",
+    "closeness rank": 16
+   },
+   "tv": {
+    "distance": "4.02 meters",
+    "closeness rank": 17
+   },
+   "microwave": {
+    "distance": "4.7 meters",
+    "closeness rank": 18
+   }
+  },
+  "chair": {
+   "sofa": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "towel": {
+    "distance": "0.01 meters",
+    "closeness rank": 2
+   },
+   "radiator": {
+    "distance": "0.22 meters",
+    "closeness rank": 3
+   },
+   "closet": {
+    "distance": "0.34 meters",
+    "closeness rank": 4
+   },
+   "table": {
+    "distance": "0.69 meters",
+    "closeness rank": 5
+   },
+   "door": {
+    "distance": "0.8 meters",
+    "closeness rank": 6
+   },
+   "bookshelf": {
+    "distance": "1.66 meters",
+    "closeness rank": 7
+   },
+   "telephone": {
+    "distance": "1.9 meters",
+    "closeness rank": 8
+   },
+   "monitor": {
+    "distance": "1.91 meters",
+    "closeness rank": 9
+   },
+   "tv": {
+    "distance": "1.91 meters",
+    "closeness rank": 10
+   },
+   "computer mouse": {
+    "distance": "1.94 meters",
+    "closeness rank": 11
+   },
+   "printer": {
+    "distance": "2.1 meters",
+    "closeness rank": 12
+   },
+   "lamp": {
+    "distance": "2.39 meters",
+    "closeness rank": 13
+   },
+   "microwave": {
+    "distance": "3.36 meters",
+    "closeness rank": 14
+   },
+   "bed": {
+    "distance": "3.4 meters",
+    "closeness rank": 15
+   },
+   "mattress": {
+    "distance": "3.42 meters",
+    "closeness rank": 16
+   },
+   "pillow": {
+    "distance": "3.94 meters",
+    "closeness rank": 17
+   },
+   "window": {
+    "distance": "4.27 meters",
+    "closeness rank": 18
+   }
+  },
+  "closet": {
+   "radiator": {
+    "distance": "0.14 meters",
+    "closeness rank": 1
+   },
+   "sofa": {
+    "distance": "0.31 meters",
+    "closeness rank": 2
+   },
+   "chair": {
+    "distance": "0.34 meters",
+    "closeness rank": 3
+   },
+   "towel": {
+    "distance": "0.34 meters",
+    "closeness rank": 4
+   },
+   "door": {
+    "distance": "0.55 meters",
+    "closeness rank": 5
+   },
+   "table": {
+    "distance": "1.2 meters",
+    "closeness rank": 6
+   },
+   "bookshelf": {
+    "distance": "2.02 meters",
+    "closeness rank": 7
+   },
+   "computer mouse": {
+    "distance": "2.29 meters",
+    "closeness rank": 8
+   },
+   "telephone": {
+    "distance": "2.31 meters",
+    "closeness rank": 9
+   },
+   "printer": {
+    "distance": "2.46 meters",
+    "closeness rank": 10
+   },
+   "tv": {
+    "distance": "2.47 meters",
+    "closeness rank": 11
+   },
+   "monitor": {
+    "distance": "2.48 meters",
+    "closeness rank": 12
+   },
+   "lamp": {
+    "distance": "2.62 meters",
+    "closeness rank": 13
+   },
+   "microwave": {
+    "distance": "3.89 meters",
+    "closeness rank": 14
+   },
+   "bed": {
+    "distance": "3.96 meters",
+    "closeness rank": 15
+   },
+   "mattress": {
+    "distance": "3.98 meters",
+    "closeness rank": 16
+   },
+   "pillow": {
+    "distance": "4.46 meters",
+    "closeness rank": 17
+   },
+   "window": {
+    "distance": "4.74 meters",
+    "closeness rank": 18
+   }
+  },
+  "computer mouse": {
+   "printer": {
+    "distance": "0.15 meters",
+    "closeness rank": 1
+   },
+   "bookshelf": {
+    "distance": "0.26 meters",
+    "closeness rank": 2
+   },
+   "telephone": {
+    "distance": "0.29 meters",
+    "closeness rank": 3
+   },
+   "lamp": {
+    "distance": "0.48 meters",
+    "closeness rank": 4
+   },
+   "table": {
+    "distance": "1.49 meters",
+    "closeness rank": 5
+   },
+   "door": {
+    "distance": "1.74 meters",
+    "closeness rank": 6
+   },
+   "sofa": {
+    "distance": "1.91 meters",
+    "closeness rank": 7
+   },
+   "chair": {
+    "distance": "1.94 meters",
+    "closeness rank": 8
+   },
+   "closet": {
+    "distance": "2.29 meters",
+    "closeness rank": 9
+   },
+   "towel": {
+    "distance": "2.47 meters",
+    "closeness rank": 10
+   },
+   "radiator": {
+    "distance": "2.7 meters",
+    "closeness rank": 11
+   },
+   "bed": {
+    "distance": "3.02 meters",
+    "closeness rank": 12
+   },
+   "window": {
+    "distance": "3.49 meters",
+    "closeness rank": 13
+   },
+   "pillow": {
+    "distance": "3.6 meters",
+    "closeness rank": 14
+   },
+   "mattress": {
+    "distance": "3.64 meters",
+    "closeness rank": 15
+   },
+   "monitor": {
+    "distance": "3.9 meters",
+    "closeness rank": 16
+   },
+   "tv": {
+    "distance": "3.9 meters",
+    "closeness rank": 17
+   },
+   "microwave": {
+    "distance": "4.47 meters",
+    "closeness rank": 18
+   }
+  },
+  "door": {
+   "closet": {
+    "distance": "0.55 meters",
+    "closeness rank": 1
+   },
+   "sofa": {
+    "distance": "0.72 meters",
+    "closeness rank": 2
+   },
+   "chair": {
+    "distance": "0.8 meters",
+    "closeness rank": 3
+   },
+   "bookshelf": {
+    "distance": "1.12 meters",
+    "closeness rank": 4
+   },
+   "radiator": {
+    "distance": "1.26 meters",
+    "closeness rank": 5
+   },
+   "towel": {
+    "distance": "1.28 meters",
+    "closeness rank": 6
+   },
+   "table": {
+    "distance": "1.51 meters",
+    "closeness rank": 7
+   },
+   "telephone": {
+    "distance": "1.68 meters",
+    "closeness rank": 8
+   },
+   "computer mouse": {
+    "distance": "1.74 meters",
+    "closeness rank": 9
+   },
+   "lamp": {
+    "distance": "2.0 meters",
+    "closeness rank": 10
+   },
+   "printer": {
+    "distance": "2.01 meters",
+    "closeness rank": 11
+   },
+   "monitor": {
+    "distance": "3.49 meters",
+    "closeness rank": 12
+   },
+   "tv": {
+    "distance": "3.49 meters",
+    "closeness rank": 13
+   },
+   "bed": {
+    "distance": "4.38 meters",
+    "closeness rank": 14
+   },
+   "mattress": {
+    "distance": "4.52 meters",
+    "closeness rank": 15
+   },
+   "microwave": {
+    "distance": "4.72 meters",
+    "closeness rank": 16
+   },
+   "pillow": {
+    "distance": "4.87 meters",
+    "closeness rank": 17
+   },
+   "window": {
+    "distance": "5.14 meters",
+    "closeness rank": 18
+   }
+  },
+  "lamp": {
+   "printer": {
+    "distance": "0.43 meters",
+    "closeness rank": 1
+   },
+   "bookshelf": {
+    "distance": "0.47 meters",
+    "closeness rank": 2
+   },
+   "computer mouse": {
+    "distance": "0.48 meters",
+    "closeness rank": 3
+   },
+   "telephone": {
+    "distance": "0.75 meters",
+    "closeness rank": 4
+   },
+   "table": {
+    "distance": "1.97 meters",
+    "closeness rank": 5
+   },
+   "door": {
+    "distance": "2.0 meters",
+    "closeness rank": 6
+   },
+   "sofa": {
+    "distance": "2.36 meters",
+    "closeness rank": 7
+   },
+   "chair": {
+    "distance": "2.39 meters",
+    "closeness rank": 8
+   },
+   "closet": {
+    "distance": "2.62 meters",
+    "closeness rank": 9
+   },
+   "towel": {
+    "distance": "2.89 meters",
+    "closeness rank": 10
+   },
+   "radiator": {
+    "distance": "3.09 meters",
+    "closeness rank": 11
+   },
+   "bed": {
+    "distance": "3.21 meters",
+    "closeness rank": 12
+   },
+   "window": {
+    "distance": "3.5 meters",
+    "closeness rank": 13
+   },
+   "pillow": {
+    "distance": "3.75 meters",
+    "closeness rank": 14
+   },
+   "mattress": {
+    "distance": "3.86 meters",
+    "closeness rank": 15
+   },
+   "monitor": {
+    "distance": "4.21 meters",
+    "closeness rank": 16
+   },
+   "tv": {
+    "distance": "4.21 meters",
+    "closeness rank": 17
+   },
+   "microwave": {
+    "distance": "4.63 meters",
+    "closeness rank": 18
+   }
+  },
+  "mattress": {
+   "bed": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "pillow": {
+    "distance": "0.14 meters",
+    "closeness rank": 2
+   },
+   "table": {
+    "distance": "0.41 meters",
+    "closeness rank": 3
+   },
+   "window": {
+    "distance": "0.48 meters",
+    "closeness rank": 4
+   },
+   "microwave": {
+    "distance": "1.21 meters",
+    "closeness rank": 5
+   },
+   "monitor": {
+    "distance": "2.06 meters",
+    "closeness rank": 6
+   },
+   "tv": {
+    "distance": "2.06 meters",
+    "closeness rank": 7
+   },
+   "printer": {
+    "distance": "3.21 meters",
+    "closeness rank": 8
+   },
+   "sofa": {
+    "distance": "3.38 meters",
+    "closeness rank": 9
+   },
+   "towel": {
+    "distance": "3.39 meters",
+    "closeness rank": 10
+   },
+   "chair": {
+    "distance": "3.42 meters",
+    "closeness rank": 11
+   },
+   "computer mouse": {
+    "distance": "3.64 meters",
+    "closeness rank": 12
+   },
+   "telephone": {
+    "distance": "3.65 meters",
+    "closeness rank": 13
+   },
+   "radiator": {
+    "distance": "3.72 meters",
+    "closeness rank": 14
+   },
+   "lamp": {
+    "distance": "3.86 meters",
+    "closeness rank": 15
+   },
+   "bookshelf": {
+    "distance": "3.88 meters",
+    "closeness rank": 16
+   },
+   "closet": {
+    "distance": "3.98 meters",
+    "closeness rank": 17
+   },
+   "door": {
+    "distance": "4.52 meters",
+    "closeness rank": 18
+   }
+  },
+  "microwave": {
+   "table": {
+    "distance": "1.17 meters",
+    "closeness rank": 1
+   },
+   "mattress": {
+    "distance": "1.21 meters",
+    "closeness rank": 2
+   },
+   "monitor": {
+    "distance": "1.23 meters",
+    "closeness rank": 3
+   },
+   "tv": {
+    "distance": "1.23 meters",
+    "closeness rank": 4
+   },
+   "bed": {
+    "distance": "1.24 meters",
+    "closeness rank": 5
+   },
+   "window": {
+    "distance": "1.36 meters",
+    "closeness rank": 6
+   },
+   "pillow": {
+    "distance": "1.83 meters",
+    "closeness rank": 7
+   },
+   "sofa": {
+    "distance": "3.16 meters",
+    "closeness rank": 8
+   },
+   "towel": {
+    "distance": "3.26 meters",
+    "closeness rank": 9
+   },
+   "chair": {
+    "distance": "3.36 meters",
+    "closeness rank": 10
+   },
+   "radiator": {
+    "distance": "3.38 meters",
+    "closeness rank": 11
+   },
+   "closet": {
+    "distance": "3.89 meters",
+    "closeness rank": 12
+   },
+   "printer": {
+    "distance": "4.16 meters",
+    "closeness rank": 13
+   },
+   "computer mouse": {
+    "distance": "4.47 meters",
+    "closeness rank": 14
+   },
+   "telephone": {
+    "distance": "4.55 meters",
+    "closeness rank": 15
+   },
+   "lamp": {
+    "distance": "4.63 meters",
+    "closeness rank": 16
+   },
+   "bookshelf": {
+    "distance": "4.7 meters",
+    "closeness rank": 17
+   },
+   "door": {
+    "distance": "4.72 meters",
+    "closeness rank": 18
+   }
+  },
+  "monitor": {
+   "tv": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "table": {
+    "distance": "1.09 meters",
+    "closeness rank": 2
+   },
+   "microwave": {
+    "distance": "1.23 meters",
+    "closeness rank": 3
+   },
+   "sofa": {
+    "distance": "1.58 meters",
+    "closeness rank": 4
+   },
+   "radiator": {
+    "distance": "1.77 meters",
+    "closeness rank": 5
+   },
+   "towel": {
+    "distance": "1.81 meters",
+    "closeness rank": 6
+   },
+   "chair": {
+    "distance": "1.91 meters",
+    "closeness rank": 7
+   },
+   "bed": {
+    "distance": "2.05 meters",
+    "closeness rank": 8
+   },
+   "mattress": {
+    "distance": "2.06 meters",
+    "closeness rank": 9
+   },
+   "closet": {
+    "distance": "2.48 meters",
+    "closeness rank": 10
+   },
+   "window": {
+    "distance": "2.67 meters",
+    "closeness rank": 11
+   },
+   "pillow": {
+    "distance": "2.77 meters",
+    "closeness rank": 12
+   },
+   "door": {
+    "distance": "3.49 meters",
+    "closeness rank": 13
+   },
+   "printer": {
+    "distance": "3.83 meters",
+    "closeness rank": 14
+   },
+   "computer mouse": {
+    "distance": "3.9 meters",
+    "closeness rank": 15
+   },
+   "telephone": {
+    "distance": "3.98 meters",
+    "closeness rank": 16
+   },
+   "bookshelf": {
+    "distance": "4.02 meters",
+    "closeness rank": 17
+   },
+   "lamp": {
+    "distance": "4.21 meters",
+    "closeness rank": 18
+   }
+  },
+  "pillow": {
+   "bed": {
+    "distance": "0.02 meters",
+    "closeness rank": 1
+   },
+   "mattress": {
+    "distance": "0.14 meters",
+    "closeness rank": 2
+   },
+   "window": {
+    "distance": "0.16 meters",
+    "closeness rank": 3
+   },
+   "table": {
+    "distance": "0.85 meters",
+    "closeness rank": 4
+   },
+   "microwave": {
+    "distance": "1.83 meters",
+    "closeness rank": 5
+   },
+   "monitor": {
+    "distance": "2.77 meters",
+    "closeness rank": 6
+   },
+   "tv": {
+    "distance": "2.77 meters",
+    "closeness rank": 7
+   },
+   "printer": {
+    "distance": "3.1 meters",
+    "closeness rank": 8
+   },
+   "computer mouse": {
+    "distance": "3.6 meters",
+    "closeness rank": 9
+   },
+   "telephone": {
+    "distance": "3.63 meters",
+    "closeness rank": 10
+   },
+   "lamp": {
+    "distance": "3.75 meters",
+    "closeness rank": 11
+   },
+   "towel": {
+    "distance": "3.9 meters",
+    "closeness rank": 12
+   },
+   "sofa": {
+    "distance": "3.91 meters",
+    "closeness rank": 13
+   },
+   "bookshelf": {
+    "distance": "3.94 meters",
+    "closeness rank": 14
+   },
+   "chair": {
+    "distance": "3.94 meters",
+    "closeness rank": 15
+   },
+   "radiator": {
+    "distance": "4.2 meters",
+    "closeness rank": 16
+   },
+   "closet": {
+    "distance": "4.46 meters",
+    "closeness rank": 17
+   },
+   "door": {
+    "distance": "4.87 meters",
+    "closeness rank": 18
+   }
+  },
+  "printer": {
+   "computer mouse": {
+    "distance": "0.15 meters",
+    "closeness rank": 1
+   },
+   "telephone": {
+    "distance": "0.4 meters",
+    "closeness rank": 2
+   },
+   "lamp": {
+    "distance": "0.43 meters",
+    "closeness rank": 3
+   },
+   "bookshelf": {
+    "distance": "0.56 meters",
+    "closeness rank": 4
+   },
+   "table": {
+    "distance": "1.47 meters",
+    "closeness rank": 5
+   },
+   "door": {
+    "distance": "2.01 meters",
+    "closeness rank": 6
+   },
+   "sofa": {
+    "distance": "2.08 meters",
+    "closeness rank": 7
+   },
+   "chair": {
+    "distance": "2.1 meters",
+    "closeness rank": 8
+   },
+   "closet": {
+    "distance": "2.46 meters",
+    "closeness rank": 9
+   },
+   "bed": {
+    "distance": "2.53 meters",
+    "closeness rank": 10
+   },
+   "towel": {
+    "distance": "2.59 meters",
+    "closeness rank": 11
+   },
+   "radiator": {
+    "distance": "2.85 meters",
+    "closeness rank": 12
+   },
+   "window": {
+    "distance": "2.91 meters",
+    "closeness rank": 13
+   },
+   "pillow": {
+    "distance": "3.1 meters",
+    "closeness rank": 14
+   },
+   "mattress": {
+    "distance": "3.21 meters",
+    "closeness rank": 15
+   },
+   "monitor": {
+    "distance": "3.83 meters",
+    "closeness rank": 16
+   },
+   "tv": {
+    "distance": "3.83 meters",
+    "closeness rank": 17
+   },
+   "microwave": {
+    "distance": "4.16 meters",
+    "closeness rank": 18
+   }
+  },
+  "radiator": {
+   "towel": {
+    "distance": "0.07 meters",
+    "closeness rank": 1
+   },
+   "sofa": {
+    "distance": "0.11 meters",
+    "closeness rank": 2
+   },
+   "closet": {
+    "distance": "0.14 meters",
+    "closeness rank": 3
+   },
+   "chair": {
+    "distance": "0.22 meters",
+    "closeness rank": 4
+   },
+   "door": {
+    "distance": "1.26 meters",
+    "closeness rank": 5
+   },
+   "table": {
+    "distance": "1.33 meters",
+    "closeness rank": 6
+   },
+   "monitor": {
+    "distance": "1.77 meters",
+    "closeness rank": 7
+   },
+   "tv": {
+    "distance": "1.77 meters",
+    "closeness rank": 8
+   },
+   "bookshelf": {
+    "distance": "2.53 meters",
+    "closeness rank": 9
+   },
+   "computer mouse": {
+    "distance": "2.7 meters",
+    "closeness rank": 10
+   },
+   "telephone": {
+    "distance": "2.74 meters",
+    "closeness rank": 11
+   },
+   "printer": {
+    "distance": "2.85 meters",
+    "closeness rank": 12
+   },
+   "lamp": {
+    "distance": "3.09 meters",
+    "closeness rank": 13
+   },
+   "microwave": {
+    "distance": "3.38 meters",
+    "closeness rank": 14
+   },
+   "bed": {
+    "distance": "3.71 meters",
+    "closeness rank": 15
+   },
+   "mattress": {
+    "distance": "3.72 meters",
+    "closeness rank": 16
+   },
+   "pillow": {
+    "distance": "4.2 meters",
+    "closeness rank": 17
+   },
+   "window": {
+    "distance": "4.48 meters",
+    "closeness rank": 18
+   }
+  },
+  "sofa": {
+   "chair": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "towel": {
+    "distance": "0.01 meters",
+    "closeness rank": 2
+   },
+   "radiator": {
+    "distance": "0.11 meters",
+    "closeness rank": 3
+   },
+   "closet": {
+    "distance": "0.31 meters",
+    "closeness rank": 4
+   },
+   "table": {
+    "distance": "0.66 meters",
+    "closeness rank": 5
+   },
+   "door": {
+    "distance": "0.72 meters",
+    "closeness rank": 6
+   },
+   "monitor": {
+    "distance": "1.58 meters",
+    "closeness rank": 7
+   },
+   "tv": {
+    "distance": "1.58 meters",
+    "closeness rank": 8
+   },
+   "bookshelf": {
+    "distance": "1.67 meters",
+    "closeness rank": 9
+   },
+   "telephone": {
+    "distance": "1.88 meters",
+    "closeness rank": 10
+   },
+   "computer mouse": {
+    "distance": "1.91 meters",
+    "closeness rank": 11
+   },
+   "printer": {
+    "distance": "2.08 meters",
+    "closeness rank": 12
+   },
+   "lamp": {
+    "distance": "2.36 meters",
+    "closeness rank": 13
+   },
+   "microwave": {
+    "distance": "3.16 meters",
+    "closeness rank": 14
+   },
+   "bed": {
+    "distance": "3.36 meters",
+    "closeness rank": 15
+   },
+   "mattress": {
+    "distance": "3.38 meters",
+    "closeness rank": 16
+   },
+   "pillow": {
+    "distance": "3.91 meters",
+    "closeness rank": 17
+   },
+   "window": {
+    "distance": "4.22 meters",
+    "closeness rank": 18
+   }
+  },
+  "table": {
+   "bed": {
+    "distance": "0.39 meters",
+    "closeness rank": 1
+   },
+   "mattress": {
+    "distance": "0.41 meters",
+    "closeness rank": 2
+   },
+   "sofa": {
+    "distance": "0.66 meters",
+    "closeness rank": 3
+   },
+   "chair": {
+    "distance": "0.69 meters",
+    "closeness rank": 4
+   },
+   "pillow": {
+    "distance": "0.85 meters",
+    "closeness rank": 5
+   },
+   "towel": {
+    "distance": "1.02 meters",
+    "closeness rank": 6
+   },
+   "monitor": {
+    "distance": "1.09 meters",
+    "closeness rank": 7
+   },
+   "tv": {
+    "distance": "1.09 meters",
+    "closeness rank": 8
+   },
+   "microwave": {
+    "distance": "1.17 meters",
+    "closeness rank": 9
+   },
+   "closet": {
+    "distance": "1.2 meters",
+    "closeness rank": 10
+   },
+   "window": {
+    "distance": "1.23 meters",
+    "closeness rank": 11
+   },
+   "radiator": {
+    "distance": "1.33 meters",
+    "closeness rank": 12
+   },
+   "printer": {
+    "distance": "1.47 meters",
+    "closeness rank": 13
+   },
+   "telephone": {
+    "distance": "1.48 meters",
+    "closeness rank": 14
+   },
+   "bookshelf": {
+    "distance": "1.49 meters",
+    "closeness rank": 15
+   },
+   "computer mouse": {
+    "distance": "1.49 meters",
+    "closeness rank": 16
+   },
+   "door": {
+    "distance": "1.51 meters",
+    "closeness rank": 17
+   },
+   "lamp": {
+    "distance": "1.97 meters",
+    "closeness rank": 18
+   }
+  },
+  "telephone": {
+   "bookshelf": {
+    "distance": "0.19 meters",
+    "closeness rank": 1
+   },
+   "computer mouse": {
+    "distance": "0.29 meters",
+    "closeness rank": 2
+   },
+   "printer": {
+    "distance": "0.4 meters",
+    "closeness rank": 3
+   },
+   "lamp": {
+    "distance": "0.75 meters",
+    "closeness rank": 4
+   },
+   "table": {
+    "distance": "1.48 meters",
+    "closeness rank": 5
+   },
+   "door": {
+    "distance": "1.68 meters",
+    "closeness rank": 6
+   },
+   "sofa": {
+    "distance": "1.88 meters",
+    "closeness rank": 7
+   },
+   "chair": {
+    "distance": "1.9 meters",
+    "closeness rank": 8
+   },
+   "closet": {
+    "distance": "2.31 meters",
+    "closeness rank": 9
+   },
+   "towel": {
+    "distance": "2.49 meters",
+    "closeness rank": 10
+   },
+   "radiator": {
+    "distance": "2.74 meters",
+    "closeness rank": 11
+   },
+   "bed": {
+    "distance": "3.02 meters",
+    "closeness rank": 12
+   },
+   "window": {
+    "distance": "3.56 meters",
+    "closeness rank": 13
+   },
+   "pillow": {
+    "distance": "3.63 meters",
+    "closeness rank": 14
+   },
+   "mattress": {
+    "distance": "3.65 meters",
+    "closeness rank": 15
+   },
+   "monitor": {
+    "distance": "3.98 meters",
+    "closeness rank": 16
+   },
+   "tv": {
+    "distance": "3.99 meters",
+    "closeness rank": 17
+   },
+   "microwave": {
+    "distance": "4.55 meters",
+    "closeness rank": 18
+   }
+  },
+  "towel": {
+   "chair": {
+    "distance": "0.01 meters",
+    "closeness rank": 1
+   },
+   "sofa": {
+    "distance": "0.01 meters",
+    "closeness rank": 2
+   },
+   "radiator": {
+    "distance": "0.07 meters",
+    "closeness rank": 3
+   },
+   "closet": {
+    "distance": "0.34 meters",
+    "closeness rank": 4
+   },
+   "table": {
+    "distance": "1.02 meters",
+    "closeness rank": 5
+   },
+   "door": {
+    "distance": "1.28 meters",
+    "closeness rank": 6
+   },
+   "tv": {
+    "distance": "1.8 meters",
+    "closeness rank": 7
+   },
+   "monitor": {
+    "distance": "1.81 meters",
+    "closeness rank": 8
+   },
+   "bookshelf": {
+    "distance": "2.37 meters",
+    "closeness rank": 9
+   },
+   "computer mouse": {
+    "distance": "2.47 meters",
+    "closeness rank": 10
+   },
+   "telephone": {
+    "distance": "2.49 meters",
+    "closeness rank": 11
+   },
+   "printer": {
+    "distance": "2.59 meters",
+    "closeness rank": 12
+   },
+   "lamp": {
+    "distance": "2.89 meters",
+    "closeness rank": 13
+   },
+   "microwave": {
+    "distance": "3.26 meters",
+    "closeness rank": 14
+   },
+   "bed": {
+    "distance": "3.38 meters",
+    "closeness rank": 15
+   },
+   "mattress": {
+    "distance": "3.39 meters",
+    "closeness rank": 16
+   },
+   "pillow": {
+    "distance": "3.9 meters",
+    "closeness rank": 17
+   },
+   "window": {
+    "distance": "4.2 meters",
+    "closeness rank": 18
+   }
+  },
+  "tv": {
+   "monitor": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "table": {
+    "distance": "1.09 meters",
+    "closeness rank": 2
+   },
+   "microwave": {
+    "distance": "1.23 meters",
+    "closeness rank": 3
+   },
+   "sofa": {
+    "distance": "1.58 meters",
+    "closeness rank": 4
+   },
+   "radiator": {
+    "distance": "1.77 meters",
+    "closeness rank": 5
+   },
+   "towel": {
+    "distance": "1.8 meters",
+    "closeness rank": 6
+   },
+   "chair": {
+    "distance": "1.91 meters",
+    "closeness rank": 7
+   },
+   "bed": {
+    "distance": "2.05 meters",
+    "closeness rank": 8
+   },
+   "mattress": {
+    "distance": "2.06 meters",
+    "closeness rank": 9
+   },
+   "closet": {
+    "distance": "2.47 meters",
+    "closeness rank": 10
+   },
+   "window": {
+    "distance": "2.67 meters",
+    "closeness rank": 11
+   },
+   "pillow": {
+    "distance": "2.77 meters",
+    "closeness rank": 12
+   },
+   "door": {
+    "distance": "3.49 meters",
+    "closeness rank": 13
+   },
+   "printer": {
+    "distance": "3.83 meters",
+    "closeness rank": 14
+   },
+   "computer mouse": {
+    "distance": "3.9 meters",
+    "closeness rank": 15
+   },
+   "telephone": {
+    "distance": "3.99 meters",
+    "closeness rank": 16
+   },
+   "bookshelf": {
+    "distance": "4.02 meters",
+    "closeness rank": 17
+   },
+   "lamp": {
+    "distance": "4.21 meters",
+    "closeness rank": 18
+   }
+  },
+  "window": {
+   "pillow": {
+    "distance": "0.16 meters",
+    "closeness rank": 1
+   },
+   "bed": {
+    "distance": "0.44 meters",
+    "closeness rank": 2
+   },
+   "mattress": {
+    "distance": "0.48 meters",
+    "closeness rank": 3
+   },
+   "table": {
+    "distance": "1.23 meters",
+    "closeness rank": 4
+   },
+   "microwave": {
+    "distance": "1.36 meters",
+    "closeness rank": 5
+   },
+   "monitor": {
+    "distance": "2.67 meters",
+    "closeness rank": 6
+   },
+   "tv": {
+    "distance": "2.67 meters",
+    "closeness rank": 7
+   },
+   "printer": {
+    "distance": "2.91 meters",
+    "closeness rank": 8
+   },
+   "computer mouse": {
+    "distance": "3.49 meters",
+    "closeness rank": 9
+   },
+   "lamp": {
+    "distance": "3.5 meters",
+    "closeness rank": 10
+   },
+   "telephone": {
+    "distance": "3.56 meters",
+    "closeness rank": 11
+   },
+   "bookshelf": {
+    "distance": "3.9 meters",
+    "closeness rank": 12
+   },
+   "towel": {
+    "distance": "4.2 meters",
+    "closeness rank": 13
+   },
+   "sofa": {
+    "distance": "4.22 meters",
+    "closeness rank": 14
+   },
+   "chair": {
+    "distance": "4.27 meters",
+    "closeness rank": 15
+   },
+   "radiator": {
+    "distance": "4.48 meters",
+    "closeness rank": 16
+   },
+   "closet": {
+    "distance": "4.74 meters",
+    "closeness rank": 17
+   },
+   "door": {
+    "distance": "5.14 meters",
+    "closeness rank": 18
+   }
+  }
+ },
+ "appearance order": ["chair", "door", "sofa", "table", "towel", "bookshelf", "computer mouse", "printer", "telephone", "radiator", "pillow", "window", "bed", "microwave", "monitor", "tv", "mattress", "lamp", "closet"]
+}
\ No newline at end of file
diff --git a/data/spatial codes/sam3+depth-anything-3/metric/tracking/uniform/96/explicit/scene0699_00.json b/data/spatial codes/sam3+depth-anything-3/metric/tracking/uniform/96/explicit/scene0699_00.json
new file mode 100644
index 0000000000000000000000000000000000000000..f3cc65f4a785e29bcf820bc55a49e3c7b507b9fa
--- /dev/null
+++ b/data/spatial codes/sam3+depth-anything-3/metric/tracking/uniform/96/explicit/scene0699_00.json	
@@ -0,0 +1,901 @@
+{
+ "objects": {
+  "backpack": {
+   "count": 2,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "2.64 meters",
+      "y coordinate": "-2.29 meters",
+      "height above floor": "-0.22 meters"
+     },
+     "longest dimension": "0.35 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "2.68 meters",
+      "y coordinate": "-2.66 meters",
+      "height above floor": "-0.36 meters"
+     },
+     "longest dimension": "0.36 meters"
+    }
+   ]
+  },
+  "bed": {
+   "count": 2,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "1.01 meters",
+      "y coordinate": "-1.06 meters",
+      "height above floor": "0.04 meters"
+     },
+     "longest dimension": "1.38 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "0.63 meters",
+      "y coordinate": "-1.51 meters",
+      "height above floor": "-0.08 meters"
+     },
+     "longest dimension": "1.51 meters"
+    }
+   ]
+  },
+  "chair": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "2.2 meters",
+      "y coordinate": "-2.64 meters",
+      "height above floor": "-0.07 meters"
+     },
+     "longest dimension": "0.57 meters"
+    }
+   ]
+  },
+  "clock": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "0.39 meters",
+      "y coordinate": "0.6 meters",
+      "height above floor": "0.2 meters"
+     },
+     "longest dimension": "0.15 meters"
+    }
+   ]
+  },
+  "door": {
+   "count": 4,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "3.29 meters",
+      "y coordinate": "-1.22 meters",
+      "height above floor": "0.19 meters"
+     },
+     "longest dimension": "0.97 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "2.33 meters",
+      "y coordinate": "-0.45 meters",
+      "height above floor": "0.09 meters"
+     },
+     "longest dimension": "0.95 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "3.83 meters",
+      "y coordinate": "-2.49 meters",
+      "height above floor": "0.64 meters"
+     },
+     "longest dimension": "1.45 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "1.44 meters",
+      "y coordinate": "1.31 meters",
+      "height above floor": "-0.19 meters"
+     },
+     "longest dimension": "0.53 meters"
+    }
+   ]
+  },
+  "lamp": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "1.8 meters",
+      "y coordinate": "0.49 meters",
+      "height above floor": "-0.45 meters"
+     },
+     "longest dimension": "0.89 meters"
+    }
+   ]
+  },
+  "mattress": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "0.72 meters",
+      "y coordinate": "-1.4 meters",
+      "height above floor": "-0.04 meters"
+     },
+     "longest dimension": "1.29 meters"
+    }
+   ]
+  },
+  "nightstand": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-0.4 meters",
+      "y coordinate": "-0.44 meters",
+      "height above floor": "-0.14 meters"
+     },
+     "longest dimension": "0.7 meters"
+    }
+   ]
+  },
+  "pillow": {
+   "count": 2,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "0.45 meters",
+      "y coordinate": "-1.68 meters",
+      "height above floor": "0.05 meters"
+     },
+     "longest dimension": "0.61 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "0.05 meters",
+      "y coordinate": "-1.15 meters",
+      "height above floor": "0.05 meters"
+     },
+     "longest dimension": "0.54 meters"
+    }
+   ]
+  },
+  "plant": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "1.92 meters",
+      "y coordinate": "-3.65 meters",
+      "height above floor": "0.36 meters"
+     },
+     "longest dimension": "0.4 meters"
+    }
+   ]
+  },
+  "radiator": {
+   "count": 2,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-0.08 meters",
+      "y coordinate": "0.27 meters",
+      "height above floor": "0.12 meters"
+     },
+     "longest dimension": "0.69 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "3.39 meters",
+      "y coordinate": "-2.09 meters",
+      "height above floor": "-0.4 meters"
+     },
+     "longest dimension": "0.36 meters"
+    }
+   ]
+  },
+  "table": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "1.44 meters",
+      "y coordinate": "-2.83 meters",
+      "height above floor": "0.14 meters"
+     },
+     "longest dimension": "1.14 meters"
+    }
+   ]
+  },
+  "window": {
+   "count": 3,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-0.03 meters",
+      "y coordinate": "0.5 meters",
+      "height above floor": "0.5 meters"
+     },
+     "longest dimension": "0.52 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "1.24 meters",
+      "y coordinate": "-3.63 meters",
+      "height above floor": "0.31 meters"
+     },
+     "longest dimension": "0.66 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-0.19 meters",
+      "y coordinate": "0.4 meters",
+      "height above floor": "0.22 meters"
+     },
+     "longest dimension": "0.15 meters"
+    }
+   ]
+  }
+ },
+ "room": {
+  "floor area": "18.5 square meters"
+ },
+ "closest classes distance meters from": {
+  "backpack": {
+   "chair": {
+    "distance": "0.26 meters",
+    "closeness rank": 1
+   },
+   "table": {
+    "distance": "0.76 meters",
+    "closeness rank": 2
+   },
+   "door": {
+    "distance": "0.98 meters",
+    "closeness rank": 3
+   },
+   "plant": {
+    "distance": "1.3 meters",
+    "closeness rank": 4
+   },
+   "mattress": {
+    "distance": "1.68 meters",
+    "closeness rank": 5
+   },
+   "bed": {
+    "distance": "1.75 meters",
+    "closeness rank": 6
+   },
+   "pillow": {
+    "distance": "1.96 meters",
+    "closeness rank": 7
+   },
+   "lamp": {
+    "distance": "2.62 meters",
+    "closeness rank": 8
+   },
+   "nightstand": {
+    "distance": "3.11 meters",
+    "closeness rank": 9
+   },
+   "radiator": {
+    "distance": "3.45 meters",
+    "closeness rank": 10
+   },
+   "clock": {
+    "distance": "3.52 meters",
+    "closeness rank": 11
+   },
+   "window": {
+    "distance": "3.72 meters",
+    "closeness rank": 12
+   }
+  },
+  "bed": {
+   "mattress": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "chair": {
+    "distance": "0.04 meters",
+    "closeness rank": 2
+   },
+   "nightstand": {
+    "distance": "0.09 meters",
+    "closeness rank": 3
+   },
+   "pillow": {
+    "distance": "0.11 meters",
+    "closeness rank": 4
+   },
+   "radiator": {
+    "distance": "0.67 meters",
+    "closeness rank": 5
+   },
+   "clock": {
+    "distance": "0.74 meters",
+    "closeness rank": 6
+   },
+   "lamp": {
+    "distance": "0.79 meters",
+    "closeness rank": 7
+   },
+   "window": {
+    "distance": "0.95 meters",
+    "closeness rank": 8
+   },
+   "table": {
+    "distance": "1.18 meters",
+    "closeness rank": 9
+   },
+   "door": {
+    "distance": "1.64 meters",
+    "closeness rank": 10
+   },
+   "backpack": {
+    "distance": "1.75 meters",
+    "closeness rank": 11
+   },
+   "plant": {
+    "distance": "2.38 meters",
+    "closeness rank": 12
+   }
+  },
+  "chair": {
+   "bed": {
+    "distance": "0.04 meters",
+    "closeness rank": 1
+   },
+   "table": {
+    "distance": "0.23 meters",
+    "closeness rank": 2
+   },
+   "mattress": {
+    "distance": "0.24 meters",
+    "closeness rank": 3
+   },
+   "backpack": {
+    "distance": "0.26 meters",
+    "closeness rank": 4
+   },
+   "radiator": {
+    "distance": "0.6 meters",
+    "closeness rank": 5
+   },
+   "clock": {
+    "distance": "0.67 meters",
+    "closeness rank": 6
+   },
+   "plant": {
+    "distance": "0.75 meters",
+    "closeness rank": 7
+   },
+   "lamp": {
+    "distance": "0.84 meters",
+    "closeness rank": 8
+   },
+   "window": {
+    "distance": "0.91 meters",
+    "closeness rank": 9
+   },
+   "nightstand": {
+    "distance": "1.14 meters",
+    "closeness rank": 10
+   },
+   "pillow": {
+    "distance": "1.46 meters",
+    "closeness rank": 11
+   },
+   "door": {
+    "distance": "1.51 meters",
+    "closeness rank": 12
+   }
+  },
+  "clock": {
+   "radiator": {
+    "distance": "0.01 meters",
+    "closeness rank": 1
+   },
+   "window": {
+    "distance": "0.1 meters",
+    "closeness rank": 2
+   },
+   "chair": {
+    "distance": "0.67 meters",
+    "closeness rank": 3
+   },
+   "bed": {
+    "distance": "0.74 meters",
+    "closeness rank": 4
+   },
+   "mattress": {
+    "distance": "0.76 meters",
+    "closeness rank": 5
+   },
+   "nightstand": {
+    "distance": "1.1 meters",
+    "closeness rank": 6
+   },
+   "lamp": {
+    "distance": "1.32 meters",
+    "closeness rank": 7
+   },
+   "pillow": {
+    "distance": "1.86 meters",
+    "closeness rank": 8
+   },
+   "table": {
+    "distance": "3.12 meters",
+    "closeness rank": 9
+   },
+   "door": {
+    "distance": "3.15 meters",
+    "closeness rank": 10
+   },
+   "backpack": {
+    "distance": "3.52 meters",
+    "closeness rank": 11
+   },
+   "plant": {
+    "distance": "4.32 meters",
+    "closeness rank": 12
+   }
+  },
+  "door": {
+   "backpack": {
+    "distance": "0.98 meters",
+    "closeness rank": 1
+   },
+   "chair": {
+    "distance": "1.51 meters",
+    "closeness rank": 2
+   },
+   "bed": {
+    "distance": "1.64 meters",
+    "closeness rank": 3
+   },
+   "table": {
+    "distance": "1.88 meters",
+    "closeness rank": 4
+   },
+   "lamp": {
+    "distance": "1.93 meters",
+    "closeness rank": 5
+   },
+   "mattress": {
+    "distance": "1.99 meters",
+    "closeness rank": 6
+   },
+   "pillow": {
+    "distance": "2.49 meters",
+    "closeness rank": 7
+   },
+   "plant": {
+    "distance": "2.61 meters",
+    "closeness rank": 8
+   },
+   "radiator": {
+    "distance": "2.99 meters",
+    "closeness rank": 9
+   },
+   "clock": {
+    "distance": "3.15 meters",
+    "closeness rank": 10
+   },
+   "nightstand": {
+    "distance": "3.26 meters",
+    "closeness rank": 11
+   },
+   "window": {
+    "distance": "3.34 meters",
+    "closeness rank": 12
+   }
+  },
+  "lamp": {
+   "bed": {
+    "distance": "0.79 meters",
+    "closeness rank": 1
+   },
+   "chair": {
+    "distance": "0.84 meters",
+    "closeness rank": 2
+   },
+   "radiator": {
+    "distance": "0.94 meters",
+    "closeness rank": 3
+   },
+   "mattress": {
+    "distance": "1.2 meters",
+    "closeness rank": 4
+   },
+   "clock": {
+    "distance": "1.32 meters",
+    "closeness rank": 5
+   },
+   "window": {
+    "distance": "1.53 meters",
+    "closeness rank": 6
+   },
+   "door": {
+    "distance": "1.93 meters",
+    "closeness rank": 7
+   },
+   "nightstand": {
+    "distance": "2.09 meters",
+    "closeness rank": 8
+   },
+   "pillow": {
+    "distance": "2.22 meters",
+    "closeness rank": 9
+   },
+   "backpack": {
+    "distance": "2.62 meters",
+    "closeness rank": 10
+   },
+   "table": {
+    "distance": "2.8 meters",
+    "closeness rank": 11
+   },
+   "plant": {
+    "distance": "3.96 meters",
+    "closeness rank": 12
+   }
+  },
+  "mattress": {
+   "bed": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "pillow": {
+    "distance": "0.02 meters",
+    "closeness rank": 2
+   },
+   "nightstand": {
+    "distance": "0.09 meters",
+    "closeness rank": 3
+   },
+   "chair": {
+    "distance": "0.24 meters",
+    "closeness rank": 4
+   },
+   "radiator": {
+    "distance": "0.64 meters",
+    "closeness rank": 5
+   },
+   "clock": {
+    "distance": "0.76 meters",
+    "closeness rank": 6
+   },
+   "window": {
+    "distance": "0.94 meters",
+    "closeness rank": 7
+   },
+   "table": {
+    "distance": "1.07 meters",
+    "closeness rank": 8
+   },
+   "lamp": {
+    "distance": "1.2 meters",
+    "closeness rank": 9
+   },
+   "backpack": {
+    "distance": "1.68 meters",
+    "closeness rank": 10
+   },
+   "door": {
+    "distance": "1.99 meters",
+    "closeness rank": 11
+   },
+   "plant": {
+    "distance": "2.26 meters",
+    "closeness rank": 12
+   }
+  },
+  "nightstand": {
+   "bed": {
+    "distance": "0.09 meters",
+    "closeness rank": 1
+   },
+   "mattress": {
+    "distance": "0.09 meters",
+    "closeness rank": 2
+   },
+   "radiator": {
+    "distance": "0.24 meters",
+    "closeness rank": 3
+   },
+   "window": {
+    "distance": "0.65 meters",
+    "closeness rank": 4
+   },
+   "pillow": {
+    "distance": "0.79 meters",
+    "closeness rank": 5
+   },
+   "clock": {
+    "distance": "1.1 meters",
+    "closeness rank": 6
+   },
+   "chair": {
+    "distance": "1.14 meters",
+    "closeness rank": 7
+   },
+   "lamp": {
+    "distance": "2.09 meters",
+    "closeness rank": 8
+   },
+   "table": {
+    "distance": "2.34 meters",
+    "closeness rank": 9
+   },
+   "backpack": {
+    "distance": "3.11 meters",
+    "closeness rank": 10
+   },
+   "door": {
+    "distance": "3.26 meters",
+    "closeness rank": 11
+   },
+   "plant": {
+    "distance": "3.47 meters",
+    "closeness rank": 12
+   }
+  },
+  "pillow": {
+   "mattress": {
+    "distance": "0.02 meters",
+    "closeness rank": 1
+   },
+   "bed": {
+    "distance": "0.11 meters",
+    "closeness rank": 2
+   },
+   "nightstand": {
+    "distance": "0.79 meters",
+    "closeness rank": 3
+   },
+   "table": {
+    "distance": "0.98 meters",
+    "closeness rank": 4
+   },
+   "radiator": {
+    "distance": "1.41 meters",
+    "closeness rank": 5
+   },
+   "chair": {
+    "distance": "1.46 meters",
+    "closeness rank": 6
+   },
+   "window": {
+    "distance": "1.76 meters",
+    "closeness rank": 7
+   },
+   "clock": {
+    "distance": "1.86 meters",
+    "closeness rank": 8
+   },
+   "backpack": {
+    "distance": "1.96 meters",
+    "closeness rank": 9
+   },
+   "plant": {
+    "distance": "2.12 meters",
+    "closeness rank": 10
+   },
+   "lamp": {
+    "distance": "2.22 meters",
+    "closeness rank": 11
+   },
+   "door": {
+    "distance": "2.49 meters",
+    "closeness rank": 12
+   }
+  },
+  "plant": {
+   "table": {
+    "distance": "0.31 meters",
+    "closeness rank": 1
+   },
+   "chair": {
+    "distance": "0.75 meters",
+    "closeness rank": 2
+   },
+   "backpack": {
+    "distance": "1.3 meters",
+    "closeness rank": 3
+   },
+   "pillow": {
+    "distance": "2.12 meters",
+    "closeness rank": 4
+   },
+   "mattress": {
+    "distance": "2.26 meters",
+    "closeness rank": 5
+   },
+   "bed": {
+    "distance": "2.38 meters",
+    "closeness rank": 6
+   },
+   "door": {
+    "distance": "2.61 meters",
+    "closeness rank": 7
+   },
+   "nightstand": {
+    "distance": "3.47 meters",
+    "closeness rank": 8
+   },
+   "lamp": {
+    "distance": "3.96 meters",
+    "closeness rank": 9
+   },
+   "radiator": {
+    "distance": "4.07 meters",
+    "closeness rank": 10
+   },
+   "clock": {
+    "distance": "4.32 meters",
+    "closeness rank": 11
+   },
+   "window": {
+    "distance": "4.35 meters",
+    "closeness rank": 12
+   }
+  },
+  "radiator": {
+   "clock": {
+    "distance": "0.01 meters",
+    "closeness rank": 1
+   },
+   "window": {
+    "distance": "0.09 meters",
+    "closeness rank": 2
+   },
+   "nightstand": {
+    "distance": "0.24 meters",
+    "closeness rank": 3
+   },
+   "chair": {
+    "distance": "0.6 meters",
+    "closeness rank": 4
+   },
+   "mattress": {
+    "distance": "0.64 meters",
+    "closeness rank": 5
+   },
+   "bed": {
+    "distance": "0.67 meters",
+    "closeness rank": 6
+   },
+   "lamp": {
+    "distance": "0.94 meters",
+    "closeness rank": 7
+   },
+   "pillow": {
+    "distance": "1.41 meters",
+    "closeness rank": 8
+   },
+   "table": {
+    "distance": "2.92 meters",
+    "closeness rank": 9
+   },
+   "door": {
+    "distance": "2.99 meters",
+    "closeness rank": 10
+   },
+   "backpack": {
+    "distance": "3.45 meters",
+    "closeness rank": 11
+   },
+   "plant": {
+    "distance": "4.07 meters",
+    "closeness rank": 12
+   }
+  },
+  "table": {
+   "chair": {
+    "distance": "0.23 meters",
+    "closeness rank": 1
+   },
+   "plant": {
+    "distance": "0.31 meters",
+    "closeness rank": 2
+   },
+   "backpack": {
+    "distance": "0.76 meters",
+    "closeness rank": 3
+   },
+   "pillow": {
+    "distance": "0.98 meters",
+    "closeness rank": 4
+   },
+   "mattress": {
+    "distance": "1.07 meters",
+    "closeness rank": 5
+   },
+   "bed": {
+    "distance": "1.18 meters",
+    "closeness rank": 6
+   },
+   "door": {
+    "distance": "1.88 meters",
+    "closeness rank": 7
+   },
+   "nightstand": {
+    "distance": "2.34 meters",
+    "closeness rank": 8
+   },
+   "lamp": {
+    "distance": "2.8 meters",
+    "closeness rank": 9
+   },
+   "radiator": {
+    "distance": "2.92 meters",
+    "closeness rank": 10
+   },
+   "clock": {
+    "distance": "3.12 meters",
+    "closeness rank": 11
+   },
+   "window": {
+    "distance": "3.18 meters",
+    "closeness rank": 12
+   }
+  },
+  "window": {
+   "radiator": {
+    "distance": "0.09 meters",
+    "closeness rank": 1
+   },
+   "clock": {
+    "distance": "0.1 meters",
+    "closeness rank": 2
+   },
+   "nightstand": {
+    "distance": "0.65 meters",
+    "closeness rank": 3
+   },
+   "chair": {
+    "distance": "0.91 meters",
+    "closeness rank": 4
+   },
+   "mattress": {
+    "distance": "0.94 meters",
+    "closeness rank": 5
+   },
+   "bed": {
+    "distance": "0.95 meters",
+    "closeness rank": 6
+   },
+   "lamp": {
+    "distance": "1.53 meters",
+    "closeness rank": 7
+   },
+   "pillow": {
+    "distance": "1.76 meters",
+    "closeness rank": 8
+   },
+   "table": {
+    "distance": "3.18 meters",
+    "closeness rank": 9
+   },
+   "door": {
+    "distance": "3.34 meters",
+    "closeness rank": 10
+   },
+   "backpack": {
+    "distance": "3.72 meters",
+    "closeness rank": 11
+   },
+   "plant": {
+    "distance": "4.35 meters",
+    "closeness rank": 12
+   }
+  }
+ },
+ "appearance order": ["bed", "mattress", "pillow", "radiator", "window", "nightstand", "door", "lamp", "table", "chair", "plant", "backpack", "clock"]
+}
\ No newline at end of file
diff --git a/data/spatial codes/sam3+depth-anything-3/relative/tracking/uniform/32/explicit/41142280.json b/data/spatial codes/sam3+depth-anything-3/relative/tracking/uniform/32/explicit/41142280.json
new file mode 100644
index 0000000000000000000000000000000000000000..84a4b96257e96396d3685a78d334eb6d448703d5
--- /dev/null
+++ b/data/spatial codes/sam3+depth-anything-3/relative/tracking/uniform/32/explicit/41142280.json	
@@ -0,0 +1,64 @@
+{
+ "objects": {
+  "bathtub": {
+   "count": 3,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "0.84 meters",
+      "y coordinate": "0.3 meters",
+      "height above floor": "0.08 meters"
+     },
+     "longest dimension": "0.38 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "1.2 meters",
+      "y coordinate": "0.28 meters",
+      "height above floor": "0.69 meters"
+     },
+     "longest dimension": "0.8 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "1.19 meters",
+      "y coordinate": "0.64 meters",
+      "height above floor": "0.14 meters"
+     },
+     "longest dimension": "0.31 meters"
+    }
+   ]
+  },
+  "toilet": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "0.97 meters",
+      "y coordinate": "-0.19 meters",
+      "height above floor": "0.98 meters"
+     },
+     "longest dimension": "0.48 meters"
+    }
+   ]
+  }
+ },
+ "room": {
+  "floor area": "4.0 square meters"
+ },
+ "closest classes distance meters from": {
+  "bathtub": {
+   "toilet": {
+    "distance": "0.64 meters",
+    "closeness rank": 1
+   }
+  },
+  "toilet": {
+   "bathtub": {
+    "distance": "0.64 meters",
+    "closeness rank": 1
+   }
+  }
+ },
+ "appearance order": ["bathtub", "toilet"]
+}
\ No newline at end of file