{
 "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": {
  "refrigerator": [
   {
    "3D oriented bounding box": {
     "3D oriented bounding box center coordinates": [
      3.92,
      1.49,
      1.13
     ],
     "3D oriented bounding box dimensions": [
      0.85,
      2.04,
      0.44
     ],
     "3D oriented bounding box orientation unit vectors": [
      [
       0.73,
       0.69,
       0.0
      ],
      [
       0.0,
       0.0,
       1.0
      ],
      [
       0.69,
       -0.73,
       0.0
      ]
     ]
    },
    "first visible time": null
   }
  ],
  "microwave": [
   {
    "3D oriented bounding box": {
     "3D oriented bounding box center coordinates": [
      0.86,
      1.73,
      0.93
     ],
     "3D oriented bounding box dimensions": [
      0.53,
      0.33,
      0.4
     ],
     "3D oriented bounding box orientation unit vectors": [
      [
       -1.0,
       0.01,
       0.0
      ],
      [
       0.0,
       0.0,
       1.0
      ],
      [
       0.01,
       1.0,
       0.0
      ]
     ]
    },
    "first visible time": null
   }
  ],
  "door": [
   {
    "3D oriented bounding box": {
     "3D oriented bounding box center coordinates": [
      0.1,
      0.79,
      1.06
     ],
     "3D oriented bounding box dimensions": [
      0.96,
      2.11,
      0.13
     ],
     "3D oriented bounding box orientation unit vectors": [
      [
       -0.02,
       1.0,
       0.0
      ],
      [
       0.0,
       0.0,
       1.0
      ],
      [
       1.0,
       0.02,
       0.0
      ]
     ]
    },
    "first visible time": null
   }
  ],
  "heater": [
   {
    "3D oriented bounding box": {
     "3D oriented bounding box center coordinates": [
      4.77,
      0.98,
      0.32
     ],
     "3D oriented bounding box dimensions": [
      1.48,
      0.42,
      0.17
     ],
     "3D oriented bounding box orientation unit vectors": [
      [
       0.06,
       1.0,
       0.0
      ],
      [
       0.0,
       0.0,
       1.0
      ],
      [
       1.0,
       -0.06,
       0.0
      ]
     ]
    },
    "first visible time": null
   }
  ]
 },
 "room": {
  "floor boundary polygons": [
   {
    "outer boundary coordinates": [
     [
      1.12,
      -0.45
     ],
     [
      4.12,
      -0.45
     ],
     [
      4.12,
      2.56
     ],
     [
      1.12,
      2.56
     ]
    ],
    "interior hole boundary coordinates": []
   }
  ]
 }
}