{
 "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": {
  "bed": [
   {
    "3D oriented bounding box": {
     "3D oriented bounding box center coordinates": [
      -3.37,
      1.85,
      0.33
     ],
     "3D oriented bounding box dimensions": [
      2.11,
      1.74,
      0.66
     ],
     "3D oriented bounding box orientation unit vectors": [
      [
       1.0,
       0.06,
       0.0
      ],
      [
       -0.06,
       1.0,
       0.0
      ],
      [
       0.0,
       0.0,
       1.0
      ]
     ]
    },
    "first visible time": null
   }
  ],
  "table": [
   {
    "3D oriented bounding box": {
     "3D oriented bounding box center coordinates": [
      -1.83,
      3.97,
      0.38
     ],
     "3D oriented bounding box dimensions": [
      0.49,
      1.45,
      0.76
     ],
     "3D oriented bounding box orientation unit vectors": [
      [
       0.0,
       -1.0,
       0.0
      ],
      [
       1.0,
       0.0,
       0.0
      ],
      [
       0.0,
       0.0,
       1.0
      ]
     ]
    },
    "first visible time": null
   }
  ],
  "toilet": [
   {
    "3D oriented bounding box": {
     "3D oriented bounding box center coordinates": [
      0.54,
      4.14,
      0.42
     ],
     "3D oriented bounding box dimensions": [
      0.59,
      0.47,
      0.82
     ],
     "3D oriented bounding box orientation unit vectors": [
      [
       -1.0,
       0.07,
       0.0
      ],
      [
       -0.07,
       -1.0,
       0.0
      ],
      [
       0.0,
       0.0,
       1.0
      ]
     ]
    },
    "first visible time": null
   }
  ],
  "tv": [
   {
    "3D oriented bounding box": {
     "3D oriented bounding box center coordinates": [
      -0.08,
      1.54,
      1.67
     ],
     "3D oriented bounding box dimensions": [
      0.06,
      0.58,
      0.36
     ],
     "3D oriented bounding box orientation unit vectors": [
      [
       -1.0,
       -0.07,
       0.0
      ],
      [
       0.07,
       -1.0,
       0.0
      ],
      [
       0.0,
       0.0,
       1.0
      ]
     ]
    },
    "first visible time": null
   }
  ]
 },
 "room": {
  "floor boundary polygons": [
   {
    "outer boundary coordinates": [
     [
      -4.48,
      -0.73
     ],
     [
      0.07,
      -0.73
     ],
     [
      0.07,
      3.82
     ],
     [
      -4.48,
      3.82
     ]
    ],
    "interior hole boundary coordinates": []
   }
  ]
 }
}