{
 "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 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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       0.97,
       0.0
      ]
     ]
    },
    "first visible time": 14.0
   }
  ],
  "refrigerator": [
   {
    "3D oriented bounding box": {
     "3D oriented bounding box center coordinates": [
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     ],
     "3D oriented bounding box dimensions": [
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     "3D oriented bounding box orientation unit vectors": [
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       0.93,
       0.0
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      ],
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       0.36,
       0.0
      ]
     ]
    },
    "first visible time": 6.0
   }
  ],
  "chair": [
   {
    "3D oriented bounding box": {
     "3D oriented bounding box center coordinates": [
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     ],
     "3D oriented bounding box dimensions": [
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     "3D oriented bounding box orientation unit vectors": [
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    "first visible time": 7.0
   },
   {
    "3D oriented bounding box": {
     "3D oriented bounding box center coordinates": [
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     "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
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     ]
    },
    "first visible time": 7.0
   },
   {
    "3D oriented bounding box": {
     "3D oriented bounding box center coordinates": [
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     "3D oriented bounding box dimensions": [
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     "3D oriented bounding box orientation unit vectors": [
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   },
   {
    "3D oriented bounding box": {
     "3D oriented bounding box center coordinates": [
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     "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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       0.0
      ]
     ]
    },
    "first visible time": 7.0
   }
  ],
  "sofa": [
   {
    "3D oriented bounding box": {
     "3D oriented bounding box center coordinates": [
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     ],
     "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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      ],
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       0.0
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     ]
    },
    "first visible time": 5.0
   }
  ],
  "table": [
   {
    "3D oriented bounding box": {
     "3D oriented bounding box center coordinates": [
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      7.59,
      0.45
     ],
     "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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    "first visible time": 4.0
   },
   {
    "3D oriented bounding box": {
     "3D oriented bounding box center coordinates": [
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     "3D oriented bounding box dimensions": [
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     "3D oriented bounding box orientation unit vectors": [
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     ]
    },
    "first visible time": 4.0
   },
   {
    "3D oriented bounding box": {
     "3D oriented bounding box center coordinates": [
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      3.27,
      0.2
     ],
     "3D oriented bounding box dimensions": [
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      0.41
     ],
     "3D oriented bounding box orientation unit vectors": [
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    "first visible time": 4.0
   },
   {
    "3D oriented bounding box": {
     "3D oriented bounding box center coordinates": [
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     "3D oriented bounding box dimensions": [
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     "3D oriented bounding box orientation unit vectors": [
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     ]
    },
    "first visible time": 4.0
   },
   {
    "3D oriented bounding box": {
     "3D oriented bounding box center coordinates": [
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      6.89,
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     ],
     "3D oriented bounding box dimensions": [
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      0.49,
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     ],
     "3D oriented bounding box orientation unit vectors": [
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      ],
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       0.29,
       0.0
      ]
     ]
    },
    "first visible time": 4.0
   }
  ],
  "ceiling light": [
   {
    "3D oriented bounding box": {
     "3D oriented bounding box center coordinates": [
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     ],
     "3D oriented bounding box dimensions": [
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     "3D oriented bounding box orientation unit vectors": [
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    "first visible time": 0.0
   },
   {
    "3D oriented bounding box": {
     "3D oriented bounding box center coordinates": [
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     "3D oriented bounding box dimensions": [
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     "3D oriented bounding box orientation unit vectors": [
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    "first visible time": 0.0
   },
   {
    "3D oriented bounding box": {
     "3D oriented bounding box center coordinates": [
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     "3D oriented bounding box dimensions": [
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     "3D oriented bounding box orientation unit vectors": [
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    },
    "first visible time": 0.0
   }
  ],
  "door": [
   {
    "3D oriented bounding box": {
     "3D oriented bounding box center coordinates": [
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     "3D oriented bounding box dimensions": [
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     "3D oriented bounding box orientation unit vectors": [
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    "first visible time": 10.0
   },
   {
    "3D oriented bounding box": {
     "3D oriented bounding box center coordinates": [
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     "3D oriented bounding box dimensions": [
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     "3D oriented bounding box orientation unit vectors": [
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    },
    "first visible time": 10.0
   }
  ],
  "bed": [
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     "3D oriented bounding box center coordinates": [
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     "3D oriented bounding box dimensions": [
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     "3D oriented bounding box orientation unit vectors": [
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    },
    "first visible time": 12.0
   }
  ],
  "computer mouse": [
   {
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     "3D oriented bounding box center coordinates": [
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     "3D oriented bounding box dimensions": [
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     "3D oriented bounding box orientation unit vectors": [
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    "first visible time": null
   }
  ],
  "keyboard": [
   {
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     "3D oriented bounding box center coordinates": [
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     "3D oriented bounding box dimensions": [
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     "3D oriented bounding box orientation unit vectors": [
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    "first visible time": 1.0
   }
  ],
  "tv": [
   {
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     "3D oriented bounding box center coordinates": [
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     "3D oriented bounding box dimensions": [
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     "3D oriented bounding box orientation unit vectors": [
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    },
    "first visible time": 3.0
   }
  ],
  "printer": [
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     "3D oriented bounding box center coordinates": [
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     "3D oriented bounding box dimensions": [
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     "3D oriented bounding box orientation unit vectors": [
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     ]
    },
    "first visible time": 16.0
   }
  ],
  "kettle": [
   {
    "3D oriented bounding box": {
     "3D oriented bounding box center coordinates": [
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     ],
     "3D oriented bounding box dimensions": [
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     "3D oriented bounding box orientation unit vectors": [
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    },
    "first visible time": 13.0
   }
  ],
  "bowl": [
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     "3D oriented bounding box dimensions": [
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     "3D oriented bounding box orientation unit vectors": [
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    },
    "first visible time": 15.0
   }
  ],
  "cutting board": [
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     "3D oriented bounding box dimensions": [
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     "3D oriented bounding box orientation unit vectors": [
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     ]
    },
    "first visible time": 11.0
   }
  ],
  "basket": [
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    "3D oriented bounding box": {
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     "3D oriented bounding box dimensions": [
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     "3D oriented bounding box orientation unit vectors": [
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    },
    "first visible time": 2.0
   },
   {
    "3D oriented bounding box": {
     "3D oriented bounding box center coordinates": [
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     "3D oriented bounding box dimensions": [
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     "3D oriented bounding box orientation unit vectors": [
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    },
    "first visible time": 2.0
   },
   {
    "3D oriented bounding box": {
     "3D oriented bounding box center coordinates": [
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     ],
     "3D oriented bounding box dimensions": [
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     ],
     "3D oriented bounding box orientation unit vectors": [
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    },
    "first visible time": 2.0
   },
   {
    "3D oriented bounding box": {
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     "3D oriented bounding box dimensions": [
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     "3D oriented bounding box orientation unit vectors": [
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    },
    "first visible time": 2.0
   }
  ],
  "pan": [
   {
    "3D oriented bounding box": {
     "3D oriented bounding box center coordinates": [
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     "3D oriented bounding box dimensions": [
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     "3D oriented bounding box orientation unit vectors": [
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    "first visible time": 9.0
   }
  ],
  "blanket": [
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    "3D oriented bounding box": {
     "3D oriented bounding box center coordinates": [
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     "3D oriented bounding box dimensions": [
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     "3D oriented bounding box orientation unit vectors": [
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    },
    "first visible time": 8.0
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 },
 "room": {
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   {
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     ],
     [
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     [
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    "interior hole boundary coordinates": []
   }
  ]
 }
}