Datasets:

RainChow
/

PinpointQA

	{
	"scene_id": "07ff1c45bb",
	"dataset": "scannetpp",
	"small_items": [
	{
	"object_id": 153,
	"label": "bottle",
	"centroid": [
	3.6369,
	0.5105,
	0.8314
	],
	"nearby_objects": [
	{
	"object_id": 175,
	"label": "whiteboard eraser",
	"centroid": [
	3.6127,
	0.4242,
	0.7743
	],
	"centroid_distance_m": 0.1063,
	"spatial_3d": {
	"edge_distance_cm": 3.98,
	"center_distance_cm": 10.63,
	"nearest_point_small": [
	3.6391,
	0.4825,
	0.7486
	],
	"nearest_point_nearby": [
	3.6243,
	0.4459,
	0.754
	],
	"direction_unit_vector": [
	-0.228,
	-0.8115,
	-0.538
	],
	"vertical_relation": "above",
	"vertical_offset_cm": 5.72,
	"horizontal_distance_cm": 8.96
	}
	},
	{
	"object_id": 174,
	"label": "paper",
	"centroid": [
	3.8283,
	0.591,
	0.7468
	],
	"centroid_distance_m": 0.2243,
	"spatial_3d": {
	"edge_distance_cm": 0.82,
	"center_distance_cm": 22.43,
	"nearest_point_small": [
	3.6669,
	0.5294,
	0.7426
	],
	"nearest_point_nearby": [
	3.6669,
	0.5376,
	0.7425
	],
	"direction_unit_vector": [
	0.8535,
	0.3591,
	-0.3775
	],
	"vertical_relation": "above",
	"vertical_offset_cm": 8.47,
	"horizontal_distance_cm": 20.77
	}
	},
	{
	"object_id": 154,
	"label": "object",
	"centroid": [
	3.6686,
	0.2439,
	0.7454
	],
	"centroid_distance_m": 0.2819,
	"spatial_3d": {
	"edge_distance_cm": 16.34,
	"center_distance_cm": 28.19,
	"nearest_point_small": [
	3.6442,
	0.4818,
	0.7475
	],
	"nearest_point_nearby": [
	3.6486,
	0.3185,
	0.7471
	],
	"direction_unit_vector": [
	0.1123,
	-0.9456,
	-0.3053
	],
	"vertical_relation": "above",
	"vertical_offset_cm": 8.61,
	"horizontal_distance_cm": 26.84
	}
	},
	{
	"object_id": 155,
	"label": "object",
	"centroid": [
	3.8119,
	0.2571,
	0.7752
	],
	"centroid_distance_m": 0.3131,
	"spatial_3d": {
	"edge_distance_cm": 20.35,
	"center_distance_cm": 31.31,
	"nearest_point_small": [
	3.6442,
	0.4818,
	0.7475
	],
	"nearest_point_nearby": [
	3.7385,
	0.3015,
	0.7471
	],
	"direction_unit_vector": [
	0.559,
	-0.8094,
	-0.1798
	],
	"vertical_relation": "above",
	"vertical_offset_cm": 5.63,
	"horizontal_distance_cm": 30.8
	}
	},
	{
	"object_id": 152,
	"label": "cabinet",
	"centroid": [
	3.9337,
	0.6185,
	0.4819
	],
	"centroid_distance_m": 0.4711,
	"spatial_3d": {
	"edge_distance_cm": 0.27,
	"center_distance_cm": 47.11,
	"nearest_point_small": [
	3.627,
	0.4883,
	0.7457
	],
	"nearest_point_nearby": [
	3.6261,
	0.4864,
	0.7441
	],
	"direction_unit_vector": [
	0.63,
	0.2292,
	-0.742
	],
	"vertical_relation": "above",
	"vertical_offset_cm": 34.96,
	"horizontal_distance_cm": 31.58
	}
	},
	{
	"object_id": 173,
	"label": "pen",
	"centroid": [
	4.1036,
	0.5573,
	0.7527
	],
	"centroid_distance_m": 0.4756,
	"spatial_3d": {
	"edge_distance_cm": 37.65,
	"center_distance_cm": 47.56,
	"nearest_point_small": [
	3.6669,
	0.5294,
	0.7426
	],
	"nearest_point_nearby": [
	4.043,
	0.515,
	0.7465
	],
	"direction_unit_vector": [
	0.9813,
	0.0984,
	-0.1655
	],
	"vertical_relation": "above",
	"vertical_offset_cm": 7.87,
	"horizontal_distance_cm": 46.9
	}
	},
	{
	"object_id": 151,
	"label": "chair",
	"centroid": [
	3.1351,
	0.5707,
	0.4528
	],
	"centroid_distance_m": 0.6314,
	"spatial_3d": {
	"edge_distance_cm": 30.16,
	"center_distance_cm": 63.15,
	"nearest_point_small": [
	3.6181,
	0.4985,
	0.7467
	],
	"nearest_point_nearby": [
	3.3665,
	0.3389,
	0.7002
	],
	"direction_unit_vector": [
	-0.7946,
	0.0954,
	-0.5996
	],
	"vertical_relation": "above",
	"vertical_offset_cm": 37.86,
	"horizontal_distance_cm": 50.54
	}
	},
	{
	"object_id": 177,
	"label": "object",
	"centroid": [
	4.0473,
	0.5962,
	0.351
	],
	"centroid_distance_m": 0.6376,
	"spatial_3d": {
	"edge_distance_cm": 49.71,
	"center_distance_cm": 63.76,
	"nearest_point_small": [
	3.665,
	0.5184,
	0.7419
	],
	"nearest_point_nearby": [
	4.006,
	0.4734,
	0.3831
	],
	"direction_unit_vector": [
	0.6437,
	0.1344,
	-0.7534
	],
	"vertical_relation": "above",
	"vertical_offset_cm": 48.04,
	"horizontal_distance_cm": 41.93
	}
	},
	{
	"object_id": 178,
	"label": "object",
	"centroid": [
	4.151,
	0.4085,
	0.3914
	],
	"centroid_distance_m": 0.6843,
	"spatial_3d": {
	"edge_distance_cm": 56.78,
	"center_distance_cm": 68.43,
	"nearest_point_small": [
	3.665,
	0.5184,
	0.7419
	],
	"nearest_point_nearby": [
	4.1035,
	0.4176,
	0.3956
	],
	"direction_unit_vector": [
	0.7512,
	-0.1491,
	-0.643
	],
	"vertical_relation": "above",
	"vertical_offset_cm": 44.01,
	"horizontal_distance_cm": 52.41
	}
	},
	{
	"object_id": 179,
	"label": "object",
	"centroid": [
	4.1526,
	0.5433,
	0.3565
	],
	"centroid_distance_m": 0.7018,
	"spatial_3d": {
	"edge_distance_cm": 56.85,
	"center_distance_cm": 70.18,
	"nearest_point_small": [
	3.6669,
	0.5294,
	0.7426
	],
	"nearest_point_nearby": [
	4.1192,
	0.5081,
	0.3989
	],
	"direction_unit_vector": [
	0.7348,
	0.0468,
	-0.6767
	],
	"vertical_relation": "above",
	"vertical_offset_cm": 47.49,
	"horizontal_distance_cm": 51.67
	}
	},
	{
	"object_id": 180,
	"label": "object",
	"centroid": [
	4.1736,
	0.6172,
	0.3293
	],
	"centroid_distance_m": 0.7427,
	"spatial_3d": {
	"edge_distance_cm": 61.2,
	"center_distance_cm": 74.27,
	"nearest_point_small": [
	3.6669,
	0.5294,
	0.7426
	],
	"nearest_point_nearby": [
	4.1207,
	0.5789,
	0.3349
	],
	"direction_unit_vector": [
	0.7227,
	0.1437,
	-0.6761
	],
	"vertical_relation": "above",
	"vertical_offset_cm": 50.22,
	"horizontal_distance_cm": 54.72
	}
	},
	{
	"object_id": 176,
	"label": "crate",
	"centroid": [
	4.3776,
	0.6144,
	0.4779
	],
	"centroid_distance_m": 0.8274,
	"spatial_3d": {
	"edge_distance_cm": 59.11,
	"center_distance_cm": 82.74,
	"nearest_point_small": [
	3.665,
	0.5184,
	0.7419
	],
	"nearest_point_nearby": [
	4.2172,
	0.3561,
	0.6071
	],
	"direction_unit_vector": [
	0.8953,
	0.1256,
	-0.4273
	],
	"vertical_relation": "above",
	"vertical_offset_cm": 35.35,
	"horizontal_distance_cm": 74.8
	}
	},
	{
	"object_id": 163,
	"label": "object",
	"centroid": [
	4.5153,
	0.305,
	0.7928
	],
	"centroid_distance_m": 0.903,
	"spatial_3d": {
	"edge_distance_cm": 84.57,
	"center_distance_cm": 90.3,
	"nearest_point_small": [
	3.665,
	0.5184,
	0.7419
	],
	"nearest_point_nearby": [
	4.4906,
	0.3374,
	0.7683
	],
	"direction_unit_vector": [
	0.9728,
	-0.2275,
	-0.0428
	],
	"vertical_relation": "same_level",
	"vertical_offset_cm": 3.86,
	"horizontal_distance_cm": 90.22
	}
	},
	{
	"object_id": 149,
	"label": "chair",
	"centroid": [
	2.7313,
	0.6084,
	0.5417
	],
	"centroid_distance_m": 0.9558,
	"spatial_3d": {
	"edge_distance_cm": 67.65,
	"center_distance_cm": 95.58,
	"nearest_point_small": [
	3.6168,
	0.514,
	0.7568
	],
	"nearest_point_nearby": [
	2.9495,
	0.5864,
	0.6723
	],
	"direction_unit_vector": [
	-0.9474,
	0.1024,
	-0.3032
	],
	"vertical_relation": "above",
	"vertical_offset_cm": 28.98,
	"horizontal_distance_cm": 91.09
	}
	},
	{
	"object_id": 162,
	"label": "object",
	"centroid": [
	4.5941,
	0.5849,
	0.7799
	],
	"centroid_distance_m": 0.9615,
	"spatial_3d": {
	"edge_distance_cm": 91.71,
	"center_distance_cm": 96.15,
	"nearest_point_small": [
	3.6669,
	0.5294,
	0.7426
	],
	"nearest_point_nearby": [
	4.5836,
	0.5576,
	0.7426
	],
	"direction_unit_vector": [
	0.9956,
	0.0774,
	-0.0536
	],
	"vertical_relation": "above",
	"vertical_offset_cm": 5.15,
	"horizontal_distance_cm": 96.01
	}
	},
	{
	"object_id": 140,
	"label": "whiteboard",
	"centroid": [
	2.9625,
	0.3114,
	1.542
	],
	"centroid_distance_m": 0.9997,
	"spatial_3d": {
	"edge_distance_cm": 27.33,
	"center_distance_cm": 99.97,
	"nearest_point_small": [
	3.6458,
	0.4889,
	0.8804
	],
	"nearest_point_nearby": [
	3.595,
	0.2243,
	0.9262
	],
	"direction_unit_vector": [
	-0.6746,
	-0.1992,
	0.7108
	],
	"vertical_relation": "below",
	"vertical_offset_cm": -71.05,
	"horizontal_distance_cm": 70.32
	}
	}
	]
	},
	{
	"object_id": 173,
	"label": "pen",
	"centroid": [
	4.1036,
	0.5573,
	0.7527
	],
	"nearby_objects": [
	{
	"object_id": 174,
	"label": "paper",
	"centroid": [
	3.8283,
	0.591,
	0.7468
	],
	"centroid_distance_m": 0.2774,
	"spatial_3d": {
	"edge_distance_cm": 4.87,
	"center_distance_cm": 27.74,
	"nearest_point_small": [
	4.043,
	0.515,
	0.7465
	],
	"nearest_point_nearby": [
	3.9979,
	0.533,
	0.7457
	],
	"direction_unit_vector": [
	-0.9923,
	0.1217,
	-0.0214
	],
	"vertical_relation": "same_level",
	"vertical_offset_cm": 0.59,
	"horizontal_distance_cm": 27.73
	}
	},
	{
	"object_id": 152,
	"label": "cabinet",
	"centroid": [
	3.9337,
	0.6185,
	0.4819
	],
	"centroid_distance_m": 0.3255,
	"spatial_3d": {
	"edge_distance_cm": 0.21,
	"center_distance_cm": 32.55,
	"nearest_point_small": [
	4.1287,
	0.5699,
	0.758
	],
	"nearest_point_nearby": [
	4.129,
	0.5683,
	0.7592
	],
	"direction_unit_vector": [
	-0.5219,
	0.188,
	-0.832
	],
	"vertical_relation": "above",
	"vertical_offset_cm": 27.08,
	"horizontal_distance_cm": 18.06
	}
	},
	{
	"object_id": 176,
	"label": "crate",
	"centroid": [
	4.3776,
	0.6144,
	0.4779
	],
	"centroid_distance_m": 0.3923,
	"spatial_3d": {
	"edge_distance_cm": 17.13,
	"center_distance_cm": 39.23,
	"nearest_point_small": [
	4.1571,
	0.5882,
	0.7479
	],
	"nearest_point_nearby": [
	4.2404,
	0.6402,
	0.6076
	],
	"direction_unit_vector": [
	0.6986,
	0.1457,
	-0.7005
	],
	"vertical_relation": "above",
	"vertical_offset_cm": 27.48,
	"horizontal_distance_cm": 28.0
	}
	},
	{
	"object_id": 178,
	"label": "object",
	"centroid": [
	4.151,
	0.4085,
	0.3914
	],
	"centroid_distance_m": 0.3936,
	"spatial_3d": {
	"edge_distance_cm": 35.37,
	"center_distance_cm": 39.36,
	"nearest_point_small": [
	4.0901,
	0.5514,
	0.7461
	],
	"nearest_point_nearby": [
	4.125,
	0.4992,
	0.398
	],
	"direction_unit_vector": [
	0.1204,
	-0.378,
	-0.9179
	],
	"vertical_relation": "above",
	"vertical_offset_cm": 36.13,
	"horizontal_distance_cm": 15.62
	}
	},
	{
	"object_id": 179,
	"label": "object",
	"centroid": [
	4.1526,
	0.5433,
	0.3565
	],
	"centroid_distance_m": 0.3995,
	"spatial_3d": {
	"edge_distance_cm": 35.11,
	"center_distance_cm": 39.95,
	"nearest_point_small": [
	4.0901,
	0.5514,
	0.7461
	],
	"nearest_point_nearby": [
	4.1192,
	0.5081,
	0.3989
	],
	"direction_unit_vector": [
	0.1227,
	-0.035,
	-0.9918
	],
	"vertical_relation": "above",
	"vertical_offset_cm": 39.62,
	"horizontal_distance_cm": 5.1
	}
	},
	{
	"object_id": 177,
	"label": "object",
	"centroid": [
	4.0473,
	0.5962,
	0.351
	],
	"centroid_distance_m": 0.4074,
	"spatial_3d": {
	"edge_distance_cm": 31.85,
	"center_distance_cm": 40.74,
	"nearest_point_small": [
	4.0508,
	0.5232,
	0.7456
	],
	"nearest_point_nearby": [
	4.1006,
	0.4513,
	0.4394
	],
	"direction_unit_vector": [
	-0.1381,
	0.0955,
	-0.9858
	],
	"vertical_relation": "above",
	"vertical_offset_cm": 40.17,
	"horizontal_distance_cm": 6.84
	}
	},
	{
	"object_id": 155,
	"label": "object",
	"centroid": [
	3.8119,
	0.2571,
	0.7752
	],
	"centroid_distance_m": 0.4192,
	"spatial_3d": {
	"edge_distance_cm": 25.52,
	"center_distance_cm": 41.92,
	"nearest_point_small": [
	4.043,
	0.515,
	0.7465
	],
	"nearest_point_nearby": [
	3.8975,
	0.3055,
	0.7556
	],
	"direction_unit_vector": [
	-0.6959,
	-0.7162,
	0.0536
	],
	"vertical_relation": "same_level",
	"vertical_offset_cm": -2.25,
	"horizontal_distance_cm": 41.86
	}
	},
	{
	"object_id": 180,
	"label": "object",
	"centroid": [
	4.1736,
	0.6172,
	0.3293
	],
	"centroid_distance_m": 0.4333,
	"spatial_3d": {
	"edge_distance_cm": 40.23,
	"center_distance_cm": 43.33,
	"nearest_point_small": [
	4.1471,
	0.5847,
	0.7451
	],
	"nearest_point_nearby": [
	4.1928,
	0.5636,
	0.346
	],
	"direction_unit_vector": [
	0.1616,
	0.1383,
	-0.9771
	],
	"vertical_relation": "above",
	"vertical_offset_cm": 42.34,
	"horizontal_distance_cm": 9.22
	}
	},
	{
	"object_id": 153,
	"label": "bottle",
	"centroid": [
	3.6369,
	0.5105,
	0.8314
	],
	"centroid_distance_m": 0.4756,
	"spatial_3d": {
	"edge_distance_cm": 37.65,
	"center_distance_cm": 47.56,
	"nearest_point_small": [
	4.043,
	0.515,
	0.7465
	],
	"nearest_point_nearby": [
	3.6669,
	0.5294,
	0.7426
	],
	"direction_unit_vector": [
	-0.9813,
	-0.0984,
	0.1655
	],
	"vertical_relation": "below",
	"vertical_offset_cm": -7.87,
	"horizontal_distance_cm": 46.9
	}
	},
	{
	"object_id": 163,
	"label": "object",
	"centroid": [
	4.5153,
	0.305,
	0.7928
	],
	"centroid_distance_m": 0.4846,
	"spatial_3d": {
	"edge_distance_cm": 39.68,
	"center_distance_cm": 48.46,
	"nearest_point_small": [
	4.1579,
	0.5876,
	0.7527
	],
	"nearest_point_nearby": [
	4.5098,
	0.4043,
	0.746
	],
	"direction_unit_vector": [
	0.8498,
	-0.5206,
	0.0828
	],
	"vertical_relation": "same_level",
	"vertical_offset_cm": -4.01,
	"horizontal_distance_cm": 48.29
	}
	},
	{
	"object_id": 162,
	"label": "object",
	"centroid": [
	4.5941,
	0.5849,
	0.7799
	],
	"centroid_distance_m": 0.4921,
	"spatial_3d": {
	"edge_distance_cm": 42.69,
	"center_distance_cm": 49.21,
	"nearest_point_small": [
	4.1579,
	0.5876,
	0.7527
	],
	"nearest_point_nearby": [
	4.5836,
	0.5576,
	0.7426
	],
	"direction_unit_vector": [
	0.9969,
	0.0562,
	0.0553
	],
	"vertical_relation": "same_level",
	"vertical_offset_cm": -2.72,
	"horizontal_distance_cm": 49.13
	}
	},
	{
	"object_id": 175,
	"label": "whiteboard eraser",
	"centroid": [
	3.6127,
	0.4242,
	0.7743
	],
	"centroid_distance_m": 0.5091,
	"spatial_3d": {
	"edge_distance_cm": 33.04,
	"center_distance_cm": 50.91,
	"nearest_point_small": [
	4.043,
	0.515,
	0.7465
	],
	"nearest_point_nearby": [
	3.7273,
	0.4177,
	0.7464
	],
	"direction_unit_vector": [
	-0.9643,
	-0.2613,
	0.0424
	],
	"vertical_relation": "same_level",
	"vertical_offset_cm": -2.16,
	"horizontal_distance_cm": 50.86
	}
	},
	{
	"object_id": 154,
	"label": "object",
	"centroid": [
	3.6686,
	0.2439,
	0.7454
	],
	"centroid_distance_m": 0.5362,
	"spatial_3d": {
	"edge_distance_cm": 40.29,
	"center_distance_cm": 53.62,
	"nearest_point_small": [
	4.043,
	0.515,
	0.7465
	],
	"nearest_point_nearby": [
	3.6931,
	0.3154,
	0.7447
	],
	"direction_unit_vector": [
	-0.8113,
	-0.5844,
	-0.0136
	],
	"vertical_relation": "same_level",
	"vertical_offset_cm": 0.73,
	"horizontal_distance_cm": 53.61
	}
	},
	{
	"object_id": 164,
	"label": "notebooks",
	"centroid": [
	4.6516,
	0.4354,
	0.9412
	],
	"centroid_distance_m": 0.5922,
	"spatial_3d": {
	"edge_distance_cm": 43.75,
	"center_distance_cm": 59.22,
	"nearest_point_small": [
	4.1548,
	0.5863,
	0.7589
	],
	"nearest_point_nearby": [
	4.5478,
	0.5205,
	0.9395
	],
	"direction_unit_vector": [
	0.9254,
	-0.2058,
	0.3184
	],
	"vertical_relation": "below",
	"vertical_offset_cm": -18.85,
	"horizontal_distance_cm": 56.14
	}
	},
	{
	"object_id": 161,
	"label": "object",
	"centroid": [
	4.6282,
	0.8531,
	0.7683
	],
	"centroid_distance_m": 0.6025,
	"spatial_3d": {
	"edge_distance_cm": 51.92,
	"center_distance_cm": 60.25,
	"nearest_point_small": [
	4.1579,
	0.5876,
	0.7527
	],
	"nearest_point_nearby": [
	4.6161,
	0.8302,
	0.7795
	],
	"direction_unit_vector": [
	0.8708,
	0.491,
	0.026
	],
	"vertical_relation": "same_level",
	"vertical_offset_cm": -1.56,
	"horizontal_distance_cm": 60.23
	}
	},
	{
	"object_id": 160,
	"label": "object",
	"centroid": [
	4.6806,
	1.183,
	0.7627
	],
	"centroid_distance_m": 0.8512,
	"spatial_3d": {
	"edge_distance_cm": 75.83,
	"center_distance_cm": 85.12,
	"nearest_point_small": [
	4.1571,
	0.5882,
	0.7479
	],
	"nearest_point_nearby": [
	4.6742,
	1.1427,
	0.7336
	],
	"direction_unit_vector": [
	0.6778,
	0.7351,
	0.0117
	],
	"vertical_relation": "same_level",
	"vertical_offset_cm": -1.0,
	"horizontal_distance_cm": 85.12
	}
	}
	]
	},
	{
	"object_id": 181,
	"label": "tv remote",
	"centroid": [
	3.0802,
	2.5215,
	0.7611
	],
	"nearby_objects": [
	{
	"object_id": 11,
	"label": "table",
	"centroid": [
	2.7842,
	2.5399,
	0.6815
	],
	"centroid_distance_m": 0.3071,
	"spatial_3d": {
	"edge_distance_cm": 0.26,
	"center_distance_cm": 30.71,
	"nearest_point_small": [
	3.0465,
	2.5457,
	0.7497
	],
	"nearest_point_nearby": [
	3.0488,
	2.5464,
	0.7488
	],
	"direction_unit_vector": [
	-0.964,
	0.0599,
	-0.2591
	],
	"vertical_relation": "above",
	"vertical_offset_cm": 7.96,
	"horizontal_distance_cm": 29.66
	}
	},
	{
	"object_id": 6,
	"label": "chair",
	"centroid": [
	3.1255,
	2.0158,
	0.5289
	],
	"centroid_distance_m": 0.5584,
	"spatial_3d": {
	"edge_distance_cm": 30.96,
	"center_distance_cm": 55.84,
	"nearest_point_small": [
	3.1547,
	2.4798,
	0.7499
	],
	"nearest_point_nearby": [
	3.1159,
	2.2812,
	0.5155
	],
	"direction_unit_vector": [
	0.0811,
	-0.9058,
	-0.4158
	],
	"vertical_relation": "above",
	"vertical_offset_cm": 23.22,
	"horizontal_distance_cm": 50.78
	}
	},
	{
	"object_id": 9,
	"label": "chair",
	"centroid": [
	2.8791,
	3.0641,
	0.6058
	],
	"centroid_distance_m": 0.5991,
	"spatial_3d": {
	"edge_distance_cm": 30.77,
	"center_distance_cm": 59.91,
	"nearest_point_small": [
	2.9747,
	2.5782,
	0.7493
	],
	"nearest_point_nearby": [
	2.9997,
	2.7677,
	0.5082
	],
	"direction_unit_vector": [
	-0.3356,
	0.9057,
	-0.2592
	],
	"vertical_relation": "above",
	"vertical_offset_cm": 15.53,
	"horizontal_distance_cm": 57.86
	}
	},
	{
	"object_id": 10,
	"label": "chair",
	"centroid": [
	3.49,
	2.9831,
	0.5203
	],
	"centroid_distance_m": 0.6626,
	"spatial_3d": {
	"edge_distance_cm": 32.05,
	"center_distance_cm": 66.26,
	"nearest_point_small": [
	3.1359,
	2.5156,
	0.7487
	],
	"nearest_point_nearby": [
	3.2228,
	2.6941,
	0.4971
	],
	"direction_unit_vector": [
	0.6185,
	0.6967,
	-0.3634
	],
	"vertical_relation": "above",
	"vertical_offset_cm": 24.08,
	"horizontal_distance_cm": 61.73
	}
	},
	{
	"object_id": 195,
	"label": "chair",
	"centroid": [
	2.559,
	2.0851,
	0.5844
	],
	"centroid_distance_m": 0.7024,
	"spatial_3d": {
	"edge_distance_cm": 50.78,
	"center_distance_cm": 70.24,
	"nearest_point_small": [
	2.9666,
	2.5428,
	0.7493
	],
	"nearest_point_nearby": [
	2.7875,
	2.0717,
	0.6874
	],
	"direction_unit_vector": [
	-0.7421,
	-0.6213,
	-0.2515
	],
	"vertical_relation": "above",
	"vertical_offset_cm": 17.67,
	"horizontal_distance_cm": 67.98
	}
	},
	{
	"object_id": 7,
	"label": "chair",
	"centroid": [
	3.8591,
	2.3356,
	0.5118
	],
	"centroid_distance_m": 0.8387,
	"spatial_3d": {
	"edge_distance_cm": 42.8,
	"center_distance_cm": 83.87,
	"nearest_point_small": [
	3.1646,
	2.4771,
	0.7528
	],
	"nearest_point_nearby": [
	3.4357,
	2.2744,
	0.4909
	],
	"direction_unit_vector": [
	0.9287,
	-0.2217,
	-0.2973
	],
	"vertical_relation": "above",
	"vertical_offset_cm": 24.93,
	"horizontal_distance_cm": 80.08
	}
	}
	]
	},
	{
	"object_id": 182,
	"label": "mug",
	"centroid": [
	1.7791,
	2.7139,
	0.8
	],
	"nearby_objects": [
	{
	"object_id": 4,
	"label": "chair",
	"centroid": [
	1.4789,
	2.7984,
	0.6211
	],
	"centroid_distance_m": 0.3595,
	"spatial_3d": {
	"edge_distance_cm": 15.16,
	"center_distance_cm": 35.95,
	"nearest_point_small": [
	1.7336,
	2.6996,
	0.7771
	],
	"nearest_point_nearby": [
	1.6002,
	2.7553,
	0.7315
	],
	"direction_unit_vector": [
	-0.835,
	0.2351,
	-0.4975
	],
	"vertical_relation": "above",
	"vertical_offset_cm": 17.89,
	"horizontal_distance_cm": 31.19
	}
	},
	{
	"object_id": 183,
	"label": "object",
	"centroid": [
	1.9272,
	3.4133,
	0.7034
	],
	"centroid_distance_m": 0.7214,
	"spatial_3d": {
	"edge_distance_cm": 46.0,
	"center_distance_cm": 72.14,
	"nearest_point_small": [
	1.7677,
	2.7515,
	0.7832
	],
	"nearest_point_nearby": [
	1.7043,
	3.2048,
	0.7373
	],
	"direction_unit_vector": [
	0.2053,
	0.9695,
	-0.1339
	],
	"vertical_relation": "above",
	"vertical_offset_cm": 9.66,
	"horizontal_distance_cm": 71.49
	}
	},
	{
	"object_id": 5,
	"label": "chair",
	"centroid": [
	2.033,
	1.9677,
	0.5496
	],
	"centroid_distance_m": 0.827,
	"spatial_3d": {
	"edge_distance_cm": 43.06,
	"center_distance_cm": 82.7,
	"nearest_point_small": [
	1.7797,
	2.6781,
	0.7498
	],
	"nearest_point_nearby": [
	1.8567,
	2.3571,
	0.4732
	],
	"direction_unit_vector": [
	0.3069,
	-0.9023,
	-0.3028
	],
	"vertical_relation": "above",
	"vertical_offset_cm": 25.04,
	"horizontal_distance_cm": 78.82
	}
	}
	]
	}
	]
	}