{
 "spatial code schema": {
  "objects": {
   "<object class>": [
    {
     "3D oriented bounding box": {
      "3D oriented bounding box center coordinates": {
       "components": [
        "x",
        "y",
        "height above floor"
       ],
       "unit": "meters",
       "description": "center of the 3D oriented bounding box in the shared room coordinate system"
      },
      "3D oriented bounding box dimensions": {
       "components": [
        "dimension 1",
        "dimension 2",
        "dimension 3"
       ],
       "unit": "meters",
       "description": "full lengths of the 3D oriented bounding box along the corresponding orientation unit vectors"
      },
      "3D oriented bounding box orientation unit vectors": {
       "components": [
        [
         "x",
         "y",
         "height"
        ],
        [
         "x",
         "y",
         "height"
        ],
        [
         "x",
         "y",
         "height"
        ]
       ],
       "unit": null,
       "description": "three perpendicular directions corresponding in order to the three 3D oriented bounding box dimensions"
      }
     },
     "first visible time": {
      "unit": "seconds",
      "description": "earliest time at which this object instance is visibly observed"
     }
    }
   ]
  },
  "room": {
   "floor boundary polygons": [
    {
     "outer boundary coordinates": {
      "components": [
       [
        "x",
        "y"
       ],
       [
        "x",
        "y"
       ]
      ],
      "unit": "meters",
      "description": "ordered vertices enclosing one floor region"
     },
     "interior hole boundary coordinates": {
      "components": [
       [
        [
         "x",
         "y"
        ],
        [
         "x",
         "y"
        ]
       ]
      ],
      "unit": "meters",
      "description": "ordered boundaries enclosing regions excluded from the floor area"
     }
    }
   ]
  }
 },
 "objects": {
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   {
    "3D oriented bounding box": {
     "3D oriented bounding box center coordinates": [
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      3.7,
      1.04
     ],
     "3D oriented bounding box dimensions": [
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      2.0,
      0.06
     ],
     "3D oriented bounding box orientation unit vectors": [
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       0.15,
       0.0
      ],
      [
       0.0,
       0.0,
       1.0
      ],
      [
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       -0.99,
       0.0
      ]
     ]
    },
    "first visible time": 7.0
   },
   {
    "3D oriented bounding box": {
     "3D oriented bounding box center coordinates": [
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      4.54,
      1.02
     ],
     "3D oriented bounding box dimensions": [
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      2.0,
      0.11
     ],
     "3D oriented bounding box orientation unit vectors": [
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       0.97,
       0.0
      ],
      [
       0.0,
       0.0,
       1.0
      ],
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       0.24,
       0.0
      ]
     ]
    },
    "first visible time": 7.0
   },
   {
    "3D oriented bounding box": {
     "3D oriented bounding box center coordinates": [
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      5.9,
      1.0
     ],
     "3D oriented bounding box dimensions": [
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      1.97,
      0.02
     ],
     "3D oriented bounding box orientation unit vectors": [
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       -0.98,
       0.0
      ],
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       0.0,
       1.0
      ],
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       -0.21,
       0.0
      ]
     ]
    },
    "first visible time": 7.0
   },
   {
    "3D oriented bounding box": {
     "3D oriented bounding box center coordinates": [
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      1.03
     ],
     "3D oriented bounding box dimensions": [
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      2.06,
      0.1
     ],
     "3D oriented bounding box orientation unit vectors": [
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       -0.98,
       0.0
      ],
      [
       0.0,
       0.0,
       1.0
      ],
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       -0.2,
       0.0
      ]
     ]
    },
    "first visible time": 7.0
   },
   {
    "3D oriented bounding box": {
     "3D oriented bounding box center coordinates": [
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      4.95,
      1.06
     ],
     "3D oriented bounding box dimensions": [
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      2.11,
      0.21
     ],
     "3D oriented bounding box orientation unit vectors": [
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       0.19,
       0.0
      ],
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       0.0,
       1.0
      ],
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       -0.98,
       0.0
      ]
     ]
    },
    "first visible time": 7.0
   }
  ],
  "tv": [
   {
    "3D oriented bounding box": {
     "3D oriented bounding box center coordinates": [
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      2.76,
      1.73
     ],
     "3D oriented bounding box dimensions": [
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      0.11,
      0.62
     ],
     "3D oriented bounding box orientation unit vectors": [
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       -0.69,
       -0.05
      ],
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       0.72,
       -0.17
      ],
      [
       0.15,
       -0.09,
       -0.98
      ]
     ]
    },
    "first visible time": 11.0
   }
  ],
  "chair": [
   {
    "3D oriented bounding box": {
     "3D oriented bounding box center coordinates": [
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      3.84,
      0.76
     ],
     "3D oriented bounding box dimensions": [
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      0.73,
      0.25
     ],
     "3D oriented bounding box orientation unit vectors": [
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       0.01,
       0.06
      ],
      [
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       -0.22,
       0.97
      ],
      [
       0.03,
       -0.98,
       -0.22
      ]
     ]
    },
    "first visible time": 15.0
   },
   {
    "3D oriented bounding box": {
     "3D oriented bounding box center coordinates": [
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      3.65,
      0.5
     ],
     "3D oriented bounding box dimensions": [
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      0.98,
      0.46
     ],
     "3D oriented bounding box orientation unit vectors": [
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       0.96,
       0.0
      ],
      [
       0.0,
       0.0,
       1.0
      ],
      [
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       0.28,
       0.0
      ]
     ]
    },
    "first visible time": 15.0
   }
  ],
  "bed": [
   {
    "3D oriented bounding box": {
     "3D oriented bounding box center coordinates": [
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      3.82,
      0.52
     ],
     "3D oriented bounding box dimensions": [
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      1.04,
      1.0
     ],
     "3D oriented bounding box orientation unit vectors": [
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       -0.2,
       0.0
      ],
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       0.0,
       1.0
      ],
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       0.98,
       0.0
      ]
     ]
    },
    "first visible time": 9.0
   }
  ],
  "telephone": [
   {
    "3D oriented bounding box": {
     "3D oriented bounding box center coordinates": [
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      4.32,
      1.4
     ],
     "3D oriented bounding box dimensions": [
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      0.28,
      0.05
     ],
     "3D oriented bounding box orientation unit vectors": [
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       0.26,
       0.0
      ],
      [
       0.0,
       0.0,
       1.0
      ],
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       0.97,
       0.0
      ]
     ]
    },
    "first visible time": 6.0
   }
  ],
  "crate": [
   {
    "3D oriented bounding box": {
     "3D oriented bounding box center coordinates": [
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      0.33,
      0.97
     ],
     "3D oriented bounding box dimensions": [
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      0.13,
      0.15
     ],
     "3D oriented bounding box orientation unit vectors": [
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       0.14,
       0.0
      ],
      [
       0.0,
       0.0,
       1.0
      ],
      [
       0.14,
       -0.99,
       0.0
      ]
     ]
    },
    "first visible time": 5.0
   }
  ],
  "monitor": [
   {
    "3D oriented bounding box": {
     "3D oriented bounding box center coordinates": [
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      4.58,
      1.06
     ],
     "3D oriented bounding box dimensions": [
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      0.36,
      0.03
     ],
     "3D oriented bounding box orientation unit vectors": [
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       0.97,
       0.25,
       0.03
      ],
      [
       0.08,
       -0.19,
       -0.98
      ],
      [
       -0.24,
       0.95,
       -0.2
      ]
     ]
    },
    "first visible time": 14.0
   }
  ],
  "laptop": [
   {
    "3D oriented bounding box": {
     "3D oriented bounding box center coordinates": [
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      4.41,
      0.84
     ],
     "3D oriented bounding box dimensions": [
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      0.19,
      0.32
     ],
     "3D oriented bounding box orientation unit vectors": [
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       0.2,
       0.0
      ],
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       0.0,
       1.0
      ],
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       0.98,
       0.0
      ]
     ]
    },
    "first visible time": 12.0
   }
  ],
  "suitcase": [
   {
    "3D oriented bounding box": {
     "3D oriented bounding box center coordinates": [
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      0.39
     ],
     "3D oriented bounding box dimensions": [
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      0.66,
      0.28
     ],
     "3D oriented bounding box orientation unit vectors": [
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       0.0
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       0.2,
       0.0
      ]
     ]
    },
    "first visible time": 10.0
   },
   {
    "3D oriented bounding box": {
     "3D oriented bounding box center coordinates": [
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      3.45,
      0.36
     ],
     "3D oriented bounding box dimensions": [
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      0.67,
      0.23
     ],
     "3D oriented bounding box orientation unit vectors": [
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       0.0
      ],
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       0.0,
       1.0
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       0.0
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     ]
    },
    "first visible time": 10.0
   },
   {
    "3D oriented bounding box": {
     "3D oriented bounding box center coordinates": [
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      3.89,
      0.28
     ],
     "3D oriented bounding box dimensions": [
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     ],
     "3D oriented bounding box orientation unit vectors": [
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       0.0
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       0.0,
       1.0
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       0.54,
       0.0
      ]
     ]
    },
    "first visible time": 10.0
   }
  ],
  "trash can": [
   {
    "3D oriented bounding box": {
     "3D oriented bounding box center coordinates": [
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      2.0,
      0.17
     ],
     "3D oriented bounding box dimensions": [
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      0.28,
      0.28
     ],
     "3D oriented bounding box orientation unit vectors": [
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       0.19,
       0.0
      ],
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       0.0,
       1.0
      ],
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       -0.98,
       0.0
      ]
     ]
    },
    "first visible time": 4.0
   },
   {
    "3D oriented bounding box": {
     "3D oriented bounding box center coordinates": [
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      0.77,
      0.37
     ],
     "3D oriented bounding box dimensions": [
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      0.32
     ],
     "3D oriented bounding box orientation unit vectors": [
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       0.66,
       0.0
      ],
      [
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       0.0,
       1.0
      ],
      [
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       0.75,
       0.0
      ]
     ]
    },
    "first visible time": 4.0
   }
  ],
  "microwave": [
   {
    "3D oriented bounding box": {
     "3D oriented bounding box center coordinates": [
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      2.46,
      0.99
     ],
     "3D oriented bounding box dimensions": [
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      0.25,
      0.41
     ],
     "3D oriented bounding box orientation unit vectors": [
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       1.0,
       0.0
      ],
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       0.0,
       1.0
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       0.0
      ]
     ]
    },
    "first visible time": 2.0
   }
  ],
  "pan": [
   {
    "3D oriented bounding box": {
     "3D oriented bounding box center coordinates": [
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      3.94,
      0.97
     ],
     "3D oriented bounding box dimensions": [
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      0.08,
      0.31
     ],
     "3D oriented bounding box orientation unit vectors": [
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       -0.1,
       -0.41
      ],
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       0.05,
       -0.91
      ],
      [
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       -0.99,
       0.0
      ]
     ]
    },
    "first visible time": 1.0
   }
  ],
  "sofa": [
   {
    "3D oriented bounding box": {
     "3D oriented bounding box center coordinates": [
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      2.2,
      0.42
     ],
     "3D oriented bounding box dimensions": [
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      0.87,
      0.24
     ],
     "3D oriented bounding box orientation unit vectors": [
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      ],
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       0.55
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       -0.83
      ]
     ]
    },
    "first visible time": 8.0
   }
  ],
  "power strip": [
   {
    "3D oriented bounding box": {
     "3D oriented bounding box center coordinates": [
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      4.22,
      1.41
     ],
     "3D oriented bounding box dimensions": [
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      0.05,
      0.04
     ],
     "3D oriented bounding box orientation unit vectors": [
      [
       1.0,
       0.08,
       0.0
      ],
      [
       0.0,
       0.0,
       1.0
      ],
      [
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       -1.0,
       0.0
      ]
     ]
    },
    "first visible time": 0.0
   }
  ],
  "cutting board": [
   {
    "3D oriented bounding box": {
     "3D oriented bounding box center coordinates": [
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      4.12,
      1.02
     ],
     "3D oriented bounding box dimensions": [
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      0.4,
      0.05
     ],
     "3D oriented bounding box orientation unit vectors": [
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       -0.15,
       0.34
      ],
      [
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       -0.35,
       -0.89
      ],
      [
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       -0.92,
       0.29
      ]
     ]
    },
    "first visible time": 3.0
   }
  ],
  "kettle": [
   {
    "3D oriented bounding box": {
     "3D oriented bounding box center coordinates": [
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      3.01,
      0.55
     ],
     "3D oriented bounding box dimensions": [
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      0.26,
      0.17
     ],
     "3D oriented bounding box orientation unit vectors": [
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       -0.75,
       0.0
      ],
      [
       0.0,
       0.0,
       1.0
      ],
      [
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       0.66,
       0.0
      ]
     ]
    },
    "first visible time": 13.0
   }
  ],
  "basket": [
   {
    "3D oriented bounding box": {
     "3D oriented bounding box center coordinates": [
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      3.32,
      0.54
     ],
     "3D oriented bounding box dimensions": [
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      0.24,
      0.3
     ],
     "3D oriented bounding box orientation unit vectors": [
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       -0.76,
       0.0
      ],
      [
       0.0,
       0.0,
       1.0
      ],
      [
       -0.76,
       -0.64,
       0.0
      ]
     ]
    },
    "first visible time": 16.0
   }
  ]
 },
 "room": {
  "floor boundary polygons": [
   {
    "outer boundary coordinates": [
     [
      3.85,
      0.8
     ],
     [
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      0.8
     ],
     [
      9.7,
      6.64
     ],
     [
      3.85,
      6.64
     ]
    ],
    "interior hole boundary coordinates": []
   }
  ]
 }
}