{
 "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": [
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      -1.53,
      0.95
     ],
     "3D oriented bounding box dimensions": [
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      0.69,
      1.86
     ],
     "3D oriented bounding box orientation unit vectors": [
      [
       0.21,
       0.98,
       0.0
      ],
      [
       -0.98,
       0.21,
       0.0
      ],
      [
       0.0,
       0.0,
       1.0
      ]
     ]
    },
    "first visible time": null
   }
  ],
  "dishwasher": [
   {
    "3D oriented bounding box": {
     "3D oriented bounding box center coordinates": [
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      -1.03,
      0.47
     ],
     "3D oriented bounding box dimensions": [
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      0.58,
      0.91
     ],
     "3D oriented bounding box orientation unit vectors": [
      [
       0.21,
       0.98,
       0.0
      ],
      [
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       0.21,
       0.0
      ],
      [
       0.0,
       0.0,
       1.0
      ]
     ]
    },
    "first visible time": null
   }
  ],
  "washer": [
   {
    "3D oriented bounding box": {
     "3D oriented bounding box center coordinates": [
      -4.75,
      0.26,
      0.46
     ],
     "3D oriented bounding box dimensions": [
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      0.62,
      0.89
     ],
     "3D oriented bounding box orientation unit vectors": [
      [
       0.97,
       -0.23,
       0.0
      ],
      [
       0.23,
       0.97,
       0.0
      ],
      [
       0.0,
       0.0,
       1.0
      ]
     ]
    },
    "first visible time": null
   }
  ],
  "chair": [
   {
    "3D oriented bounding box": {
     "3D oriented bounding box center coordinates": [
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      2.27,
      0.45
     ],
     "3D oriented bounding box dimensions": [
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      0.44,
      0.89
     ],
     "3D oriented bounding box orientation unit vectors": [
      [
       -0.2,
       -0.98,
       0.0
      ],
      [
       0.98,
       -0.2,
       0.0
      ],
      [
       0.0,
       0.0,
       1.0
      ]
     ]
    },
    "first visible time": null
   },
   {
    "3D oriented bounding box": {
     "3D oriented bounding box center coordinates": [
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      1.2,
      0.44
     ],
     "3D oriented bounding box dimensions": [
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      0.43,
      0.89
     ],
     "3D oriented bounding box orientation unit vectors": [
      [
       0.1,
       0.99,
       0.0
      ],
      [
       -0.99,
       0.1,
       0.0
      ],
      [
       0.0,
       0.0,
       1.0
      ]
     ]
    },
    "first visible time": null
   },
   {
    "3D oriented bounding box": {
     "3D oriented bounding box center coordinates": [
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      1.65,
      0.44
     ],
     "3D oriented bounding box dimensions": [
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      0.43,
      0.87
     ],
     "3D oriented bounding box orientation unit vectors": [
      [
       -0.99,
       0.11,
       0.0
      ],
      [
       -0.11,
       -0.99,
       0.0
      ],
      [
       0.0,
       0.0,
       1.0
      ]
     ]
    },
    "first visible time": null
   }
  ],
  "table": [
   {
    "3D oriented bounding box": {
     "3D oriented bounding box center coordinates": [
      -3.36,
      1.65,
      0.38
     ],
     "3D oriented bounding box dimensions": [
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      1.05,
      0.76
     ],
     "3D oriented bounding box orientation unit vectors": [
      [
       -0.98,
       0.21,
       0.0
      ],
      [
       -0.21,
       -0.98,
       0.0
      ],
      [
       0.0,
       0.0,
       1.0
      ]
     ]
    },
    "first visible time": null
   }
  ]
 },
 "room": {
  "floor boundary polygons": [
   {
    "outer boundary coordinates": [
     [
      -5.26,
      -3.43
     ],
     [
      -1.07,
      -3.43
     ],
     [
      -1.07,
      0.76
     ],
     [
      -5.26,
      0.76
     ]
    ],
    "interior hole boundary coordinates": []
   }
  ]
 }
}