Datasets:

RainChow
/

PinpointQA

	{
	"scene_id": "06bd2cf800",
	"dataset": "scannetpp",
	"small_items": [
	{
	"object_id": 53,
	"label": "power strip",
	"centroid": [
	2.1471,
	0.8852,
	0.1297
	],
	"nearby_objects": [
	{
	"object_id": 52,
	"label": "cables",
	"centroid": [
	2.1818,
	0.4051,
	0.1106
	],
	"centroid_distance_m": 0.4817,
	"spatial_3d": {
	"edge_distance_cm": 23.64,
	"center_distance_cm": 48.17,
	"nearest_point_small": [
	2.1944,
	0.7921,
	0.1381
	],
	"nearest_point_nearby": [
	2.2,
	0.5593,
	0.0975
	],
	"direction_unit_vector": [
	0.0721,
	-0.9966,
	-0.0395
	],
	"vertical_relation": "same_level",
	"vertical_offset_cm": 1.9,
	"horizontal_distance_cm": 48.13
	}
	},
	{
	"object_id": 40,
	"label": "pillow",
	"centroid": [
	2.2977,
	0.8711,
	0.7177
	],
	"centroid_distance_m": 0.6071,
	"spatial_3d": {
	"edge_distance_cm": 39.6,
	"center_distance_cm": 60.71,
	"nearest_point_small": [
	2.2029,
	0.8741,
	0.1417
	],
	"nearest_point_nearby": [
	2.3093,
	1.0143,
	0.4965
	],
	"direction_unit_vector": [
	0.2481,
	-0.0231,
	0.9685
	],
	"vertical_relation": "below",
	"vertical_offset_cm": -58.8,
	"horizontal_distance_cm": 15.13
	}
	},
	{
	"object_id": 36,
	"label": "sofa chair",
	"centroid": [
	1.703,
	0.715,
	0.6027
	],
	"centroid_distance_m": 0.6708,
	"spatial_3d": {
	"edge_distance_cm": 0.25,
	"center_distance_cm": 67.08,
	"nearest_point_small": [
	2.0693,
	0.9208,
	0.1428
	],
	"nearest_point_nearby": [
	2.0679,
	0.9219,
	0.1445
	],
	"direction_unit_vector": [
	-0.6621,
	-0.2537,
	0.7052
	],
	"vertical_relation": "below",
	"vertical_offset_cm": -47.3,
	"horizontal_distance_cm": 47.56
	}
	},
	{
	"object_id": 15,
	"label": "pillow",
	"centroid": [
	2.331,
	0.3893,
	0.7632
	],
	"centroid_distance_m": 0.8253,
	"spatial_3d": {
	"edge_distance_cm": 51.6,
	"center_distance_cm": 82.53,
	"nearest_point_small": [
	2.1998,
	0.7969,
	0.1474
	],
	"nearest_point_nearby": [
	2.391,
	0.5609,
	0.5646
	],
	"direction_unit_vector": [
	0.2229,
	-0.6009,
	0.7676
	],
	"vertical_relation": "below",
	"vertical_offset_cm": -63.35,
	"horizontal_distance_cm": 52.89
	}
	}
	]
	},
	{
	"object_id": 2,
	"label": "cable",
	"centroid": [
	2.0547,
	2.7227,
	0.1446
	],
	"nearby_objects": [
	{
	"object_id": 1,
	"label": "stool",
	"centroid": [
	2.2191,
	2.5241,
	0.3646
	],
	"centroid_distance_m": 0.339,
	"spatial_3d": {
	"edge_distance_cm": 0.27,
	"center_distance_cm": 33.9,
	"nearest_point_small": [
	2.1594,
	2.7325,
	0.125
	],
	"nearest_point_nearby": [
	2.1605,
	2.7305,
	0.1236
	],
	"direction_unit_vector": [
	0.4851,
	-0.586,
	0.6491
	],
	"vertical_relation": "below",
	"vertical_offset_cm": -22.0,
	"horizontal_distance_cm": 25.79
	}
	},
	{
	"object_id": 58,
	"label": "box",
	"centroid": [
	1.637,
	2.5427,
	0.3047
	],
	"centroid_distance_m": 0.4822,
	"spatial_3d": {
	"edge_distance_cm": 13.29,
	"center_distance_cm": 48.22,
	"nearest_point_small": [
	1.7778,
	2.6957,
	0.2002
	],
	"nearest_point_nearby": [
	1.6819,
	2.6056,
	0.1812
	],
	"direction_unit_vector": [
	-0.8663,
	-0.3733,
	0.3321
	],
	"vertical_relation": "below",
	"vertical_offset_cm": -16.01,
	"horizontal_distance_cm": 45.48
	}
	},
	{
	"object_id": 84,
	"label": "object",
	"centroid": [
	2.1243,
	2.5622,
	0.6113
	],
	"centroid_distance_m": 0.4984,
	"spatial_3d": {
	"edge_distance_cm": 31.29,
	"center_distance_cm": 49.84,
	"nearest_point_small": [
	2.1403,
	2.7261,
	0.1644
	],
	"nearest_point_nearby": [
	2.153,
	2.667,
	0.4715
	],
	"direction_unit_vector": [
	0.1397,
	-0.3219,
	0.9364
	],
	"vertical_relation": "below",
	"vertical_offset_cm": -46.67,
	"horizontal_distance_cm": 17.49
	}
	},
	{
	"object_id": 82,
	"label": "canister",
	"centroid": [
	2.294,
	2.5254,
	0.6415
	],
	"centroid_distance_m": 0.5858,
	"spatial_3d": {
	"edge_distance_cm": 32.99,
	"center_distance_cm": 58.58,
	"nearest_point_small": [
	2.2915,
	2.7372,
	0.1525
	],
	"nearest_point_nearby": [
	2.2813,
	2.6623,
	0.4736
	],
	"direction_unit_vector": [
	0.4085,
	-0.3369,
	0.8483
	],
	"vertical_relation": "below",
	"vertical_offset_cm": -49.69,
	"horizontal_distance_cm": 31.02
	}
	},
	{
	"object_id": 85,
	"label": "box",
	"centroid": [
	1.4498,
	2.5077,
	0.324
	],
	"centroid_distance_m": 0.6665,
	"spatial_3d": {
	"edge_distance_cm": 26.22,
	"center_distance_cm": 66.65,
	"nearest_point_small": [
	1.7778,
	2.6957,
	0.2002
	],
	"nearest_point_nearby": [
	1.5789,
	2.5267,
	0.1745
	],
	"direction_unit_vector": [
	-0.9075,
	-0.3225,
	0.2692
	],
	"vertical_relation": "below",
	"vertical_offset_cm": -17.94,
	"horizontal_distance_cm": 64.19
	}
	},
	{
	"object_id": 30,
	"label": "basket",
	"centroid": [
	1.6477,
	2.5448,
	0.7415
	],
	"centroid_distance_m": 0.7441,
	"spatial_3d": {
	"edge_distance_cm": 46.79,
	"center_distance_cm": 74.41,
	"nearest_point_small": [
	1.7822,
	2.7023,
	0.2092
	],
	"nearest_point_nearby": [
	1.7023,
	2.6758,
	0.6694
	],
	"direction_unit_vector": [
	-0.547,
	-0.2391,
	0.8023
	],
	"vertical_relation": "below",
	"vertical_offset_cm": -59.7,
	"horizontal_distance_cm": 44.42
	}
	},
	{
	"object_id": 68,
	"label": "object",
	"centroid": [
	1.4155,
	2.5176,
	0.488
	],
	"centroid_distance_m": 0.7541,
	"spatial_3d": {
	"edge_distance_cm": 33.94,
	"center_distance_cm": 75.41,
	"nearest_point_small": [
	1.7738,
	2.7002,
	0.2036
	],
	"nearest_point_nearby": [
	1.53,
	2.6307,
	0.4293
	],
	"direction_unit_vector": [
	-0.8477,
	-0.272,
	0.4555
	],
	"vertical_relation": "below",
	"vertical_offset_cm": -34.35,
	"horizontal_distance_cm": 67.13
	}
	},
	{
	"object_id": 74,
	"label": "power adapter",
	"centroid": [
	2.8063,
	2.6171,
	0.1613
	],
	"centroid_distance_m": 0.7591,
	"spatial_3d": {
	"edge_distance_cm": 43.73,
	"center_distance_cm": 75.91,
	"nearest_point_small": [
	2.3195,
	2.7288,
	0.1345
	],
	"nearest_point_nearby": [
	2.74,
	2.6099,
	0.1508
	],
	"direction_unit_vector": [
	0.99,
	-0.1392,
	0.022
	],
	"vertical_relation": "same_level",
	"vertical_offset_cm": -1.67,
	"horizontal_distance_cm": 75.9
	}
	},
	{
	"object_id": 44,
	"label": "cables",
	"centroid": [
	2.8519,
	2.595,
	0.1331
	],
	"centroid_distance_m": 0.8075,
	"spatial_3d": {
	"edge_distance_cm": 17.48,
	"center_distance_cm": 80.75,
	"nearest_point_small": [
	2.3195,
	2.7288,
	0.1345
	],
	"nearest_point_nearby": [
	2.4883,
	2.6833,
	0.1362
	],
	"direction_unit_vector": [
	0.9873,
	-0.1581,
	-0.0142
	],
	"vertical_relation": "same_level",
	"vertical_offset_cm": 1.15,
	"horizontal_distance_cm": 80.74
	}
	},
	{
	"object_id": 29,
	"label": "basket",
	"centroid": [
	1.499,
	2.5346,
	0.751
	],
	"centroid_distance_m": 0.8438,
	"spatial_3d": {
	"edge_distance_cm": 54.59,
	"center_distance_cm": 84.38,
	"nearest_point_small": [
	1.7832,
	2.6967,
	0.2078
	],
	"nearest_point_nearby": [
	1.5898,
	2.4861,
	0.6729
	],
	"direction_unit_vector": [
	-0.6585,
	-0.223,
	0.7188
	],
	"vertical_relation": "below",
	"vertical_offset_cm": -60.65,
	"horizontal_distance_cm": 58.66
	}
	},
	{
	"object_id": 16,
	"label": "power adapter",
	"centroid": [
	2.9087,
	2.615,
	0.1767
	],
	"centroid_distance_m": 0.8614,
	"spatial_3d": {
	"edge_distance_cm": 56.48,
	"center_distance_cm": 86.14,
	"nearest_point_small": [
	2.3195,
	2.7288,
	0.1345
	],
	"nearest_point_nearby": [
	2.8764,
	2.638,
	0.159
	],
	"direction_unit_vector": [
	0.9915,
	-0.125,
	0.0373
	],
	"vertical_relation": "same_level",
	"vertical_offset_cm": -3.22,
	"horizontal_distance_cm": 86.08
	}
	},
	{
	"object_id": 42,
	"label": "power strip",
	"centroid": [
	2.9098,
	2.5744,
	0.151
	],
	"centroid_distance_m": 0.8679,
	"spatial_3d": {
	"edge_distance_cm": 40.41,
	"center_distance_cm": 86.79,
	"nearest_point_small": [
	2.3195,
	2.7288,
	0.1345
	],
	"nearest_point_nearby": [
	2.7119,
	2.6325,
	0.1285
	],
	"direction_unit_vector": [
	0.9853,
	-0.1708,
	0.0075
	],
	"vertical_relation": "same_level",
	"vertical_offset_cm": -0.65,
	"horizontal_distance_cm": 86.79
	}
	},
	{
	"object_id": 43,
	"label": "power adapter",
	"centroid": [
	2.9756,
	2.5882,
	0.1677
	],
	"centroid_distance_m": 0.931,
	"spatial_3d": {
	"edge_distance_cm": 64.03,
	"center_distance_cm": 93.1,
	"nearest_point_small": [
	2.3195,
	2.7288,
	0.1345
	],
	"nearest_point_nearby": [
	2.942,
	2.5816,
	0.1619
	],
	"direction_unit_vector": [
	0.9892,
	-0.1444,
	0.0249
	],
	"vertical_relation": "same_level",
	"vertical_offset_cm": -2.31,
	"horizontal_distance_cm": 93.07
	}
	},
	{
	"object_id": 28,
	"label": "basket",
	"centroid": [
	1.3626,
	2.5723,
	0.762
	],
	"centroid_distance_m": 0.9396,
	"spatial_3d": {
	"edge_distance_cm": 59.35,
	"center_distance_cm": 93.96,
	"nearest_point_small": [
	1.777,
	2.7004,
	0.2062
	],
	"nearest_point_nearby": [
	1.4395,
	2.5445,
	0.6687
	],
	"direction_unit_vector": [
	-0.7365,
	-0.16,
	0.6572
	],
	"vertical_relation": "below",
	"vertical_offset_cm": -61.75,
	"horizontal_distance_cm": 70.82
	}
	}
	]
	},
	{
	"object_id": 42,
	"label": "power strip",
	"centroid": [
	2.9098,
	2.5744,
	0.151
	],
	"nearby_objects": [
	{
	"object_id": 16,
	"label": "power adapter",
	"centroid": [
	2.9087,
	2.615,
	0.1767
	],
	"centroid_distance_m": 0.048,
	"spatial_3d": {
	"edge_distance_cm": 0.26,
	"center_distance_cm": 4.8,
	"nearest_point_small": [
	2.8932,
	2.6174,
	0.1419
	],
	"nearest_point_nearby": [
	2.8933,
	2.62,
	0.1426
	],
	"direction_unit_vector": [
	-0.0225,
	0.8447,
	0.5348
	],
	"vertical_relation": "same_level",
	"vertical_offset_cm": -2.57,
	"horizontal_distance_cm": 4.06
	}
	},
	{
	"object_id": 44,
	"label": "cables",
	"centroid": [
	2.8519,
	2.595,
	0.1331
	],
	"centroid_distance_m": 0.064,
	"spatial_3d": {
	"edge_distance_cm": 0.24,
	"center_distance_cm": 6.4,
	"nearest_point_small": [
	2.742,
	2.6418,
	0.124
	],
	"nearest_point_nearby": [
	2.7441,
	2.6421,
	0.125
	],
	"direction_unit_vector": [
	-0.9042,
	0.322,
	-0.2805
	],
	"vertical_relation": "same_level",
	"vertical_offset_cm": 1.8,
	"horizontal_distance_cm": 6.14
	}
	},
	{
	"object_id": 43,
	"label": "power adapter",
	"centroid": [
	2.9756,
	2.5882,
	0.1677
	],
	"centroid_distance_m": 0.0692,
	"spatial_3d": {
	"edge_distance_cm": 0.34,
	"center_distance_cm": 6.92,
	"nearest_point_small": [
	2.9815,
	2.5791,
	0.1602
	],
	"nearest_point_nearby": [
	2.9786,
	2.579,
	0.1618
	],
	"direction_unit_vector": [
	0.9499,
	0.1995,
	0.2408
	],
	"vertical_relation": "same_level",
	"vertical_offset_cm": -1.67,
	"horizontal_distance_cm": 6.72
	}
	},
	{
	"object_id": 74,
	"label": "power adapter",
	"centroid": [
	2.8063,
	2.6171,
	0.1613
	],
	"centroid_distance_m": 0.1125,
	"spatial_3d": {
	"edge_distance_cm": 0.25,
	"center_distance_cm": 11.25,
	"nearest_point_small": [
	2.8463,
	2.5917,
	0.1685
	],
	"nearest_point_nearby": [
	2.8448,
	2.5924,
	0.1666
	],
	"direction_unit_vector": [
	-0.9209,
	0.3791,
	0.0912
	],
	"vertical_relation": "same_level",
	"vertical_offset_cm": -1.03,
	"horizontal_distance_cm": 11.2
	}
	},
	{
	"object_id": 17,
	"label": "heater",
	"centroid": [
	3.3373,
	2.6751,
	0.6203
	],
	"centroid_distance_m": 0.6427,
	"spatial_3d": {
	"edge_distance_cm": 12.11,
	"center_distance_cm": 64.27,
	"nearest_point_small": [
	3.0049,
	2.5966,
	0.1599
	],
	"nearest_point_nearby": [
	3.0013,
	2.6528,
	0.2671
	],
	"direction_unit_vector": [
	0.6651,
	0.1566,
	0.7301
	],
	"vertical_relation": "below",
	"vertical_offset_cm": -46.92,
	"horizontal_distance_cm": 43.91
	}
	},
	{
	"object_id": 9,
	"label": "chair",
	"centroid": [
	3.0603,
	2.1121,
	0.6248
	],
	"centroid_distance_m": 0.6789,
	"spatial_3d": {
	"edge_distance_cm": 21.89,
	"center_distance_cm": 67.89,
	"nearest_point_small": [
	2.9931,
	2.5275,
	0.1653
	],
	"nearest_point_nearby": [
	2.9709,
	2.3146,
	0.1197
	],
	"direction_unit_vector": [
	0.2217,
	-0.6811,
	0.6979
	],
	"vertical_relation": "below",
	"vertical_offset_cm": -47.38,
	"horizontal_distance_cm": 48.62
	}
	},
	{
	"object_id": 1,
	"label": "stool",
	"centroid": [
	2.2191,
	2.5241,
	0.3646
	],
	"centroid_distance_m": 0.7247,
	"spatial_3d": {
	"edge_distance_cm": 31.97,
	"center_distance_cm": 72.47,
	"nearest_point_small": [
	2.7119,
	2.6325,
	0.1285
	],
	"nearest_point_nearby": [
	2.3958,
	2.6804,
	0.1248
	],
	"direction_unit_vector": [
	-0.9531,
	-0.0695,
	0.2946
	],
	"vertical_relation": "below",
	"vertical_offset_cm": -21.35,
	"horizontal_distance_cm": 69.25
	}
	},
	{
	"object_id": 82,
	"label": "canister",
	"centroid": [
	2.294,
	2.5254,
	0.6415
	],
	"centroid_distance_m": 0.7888,
	"spatial_3d": {
	"edge_distance_cm": 48.05,
	"center_distance_cm": 78.88,
	"nearest_point_small": [
	2.7481,
	2.6349,
	0.1787
	],
	"nearest_point_nearby": [
	2.3716,
	2.5657,
	0.4692
	],
	"direction_unit_vector": [
	-0.7807,
	-0.0622,
	0.6217
	],
	"vertical_relation": "below",
	"vertical_offset_cm": -49.04,
	"horizontal_distance_cm": 61.78
	}
	},
	{
	"object_id": 92,
	"label": "carpet",
	"centroid": [
	2.6161,
	1.7974,
	0.1145
	],
	"centroid_distance_m": 0.8315,
	"spatial_3d": {
	"edge_distance_cm": 0.8,
	"center_distance_cm": 83.15,
	"nearest_point_small": [
	3.0167,
	2.5312,
	0.1241
	],
	"nearest_point_nearby": [
	3.0119,
	2.5256,
	0.127
	],
	"direction_unit_vector": [
	-0.3532,
	-0.9345,
	-0.0439
	],
	"vertical_relation": "same_level",
	"vertical_offset_cm": 3.65,
	"horizontal_distance_cm": 83.07
	}
	},
	{
	"object_id": 2,
	"label": "cable",
	"centroid": [
	2.0547,
	2.7227,
	0.1446
	],
	"centroid_distance_m": 0.8679,
	"spatial_3d": {
	"edge_distance_cm": 40.41,
	"center_distance_cm": 86.79,
	"nearest_point_small": [
	2.7119,
	2.6325,
	0.1285
	],
	"nearest_point_nearby": [
	2.3195,
	2.7288,
	0.1345
	],
	"direction_unit_vector": [
	-0.9853,
	0.1708,
	-0.0075
	],
	"vertical_relation": "same_level",
	"vertical_offset_cm": 0.65,
	"horizontal_distance_cm": 86.79
	}
	},
	{
	"object_id": 84,
	"label": "object",
	"centroid": [
	2.1243,
	2.5622,
	0.6113
	],
	"centroid_distance_m": 0.9105,
	"spatial_3d": {
	"edge_distance_cm": 65.31,
	"center_distance_cm": 91.05,
	"nearest_point_small": [
	2.7246,
	2.6491,
	0.1513
	],
	"nearest_point_nearby": [
	2.158,
	2.6649,
	0.4756
	],
	"direction_unit_vector": [
	-0.8627,
	-0.0134,
	0.5055
	],
	"vertical_relation": "below",
	"vertical_offset_cm": -46.03,
	"horizontal_distance_cm": 78.56
	}
	}
	]
	},
	{
	"object_id": 35,
	"label": "mouse",
	"centroid": [
	3.6698,
	1.803,
	0.8679
	],
	"nearby_objects": [
	{
	"object_id": 22,
	"label": "office table",
	"centroid": [
	3.6846,
	1.8868,
	0.776
	],
	"centroid_distance_m": 0.1252,
	"spatial_3d": {
	"edge_distance_cm": 0.23,
	"center_distance_cm": 12.52,
	"nearest_point_small": [
	3.6496,
	1.7846,
	0.8515
	],
	"nearest_point_nearby": [
	3.6479,
	1.7841,
	0.8499
	],
	"direction_unit_vector": [
	0.1184,
	0.6691,
	-0.7337
	],
	"vertical_relation": "above",
	"vertical_offset_cm": 9.18,
	"horizontal_distance_cm": 8.51
	}
	},
	{
	"object_id": 34,
	"label": "keyboard",
	"centroid": [
	3.6542,
	2.0467,
	0.8675
	],
	"centroid_distance_m": 0.2442,
	"spatial_3d": {
	"edge_distance_cm": 4.42,
	"center_distance_cm": 24.42,
	"nearest_point_small": [
	3.6541,
	1.831,
	0.8637
	],
	"nearest_point_nearby": [
	3.6422,
	1.8736,
	0.8634
	],
	"direction_unit_vector": [
	-0.064,
	0.998,
	-0.0016
	],
	"vertical_relation": "same_level",
	"vertical_offset_cm": 0.04,
	"horizontal_distance_cm": 24.42
	}
	},
	{
	"object_id": 24,
	"label": "monitor",
	"centroid": [
	3.7918,
	2.0484,
	1.1069
	],
	"centroid_distance_m": 0.3637,
	"spatial_3d": {
	"edge_distance_cm": 11.46,
	"center_distance_cm": 36.37,
	"nearest_point_small": [
	3.7442,
	1.8246,
	0.862
	],
	"nearest_point_nearby": [
	3.8161,
	1.834,
	0.9508
	],
	"direction_unit_vector": [
	0.3354,
	0.6748,
	0.6574
	],
	"vertical_relation": "below",
	"vertical_offset_cm": -23.91,
	"horizontal_distance_cm": 27.4
	}
	},
	{
	"object_id": 70,
	"label": "windowsill",
	"centroid": [
	3.9331,
	1.5853,
	1.066
	],
	"centroid_distance_m": 0.3949,
	"spatial_3d": {
	"edge_distance_cm": 26.22,
	"center_distance_cm": 39.49,
	"nearest_point_small": [
	3.7442,
	1.8246,
	0.862
	],
	"nearest_point_nearby": [
	3.8829,
	1.7457,
	1.07
	],
	"direction_unit_vector": [
	0.6665,
	-0.5513,
	0.5018
	],
	"vertical_relation": "below",
	"vertical_offset_cm": -19.82,
	"horizontal_distance_cm": 34.16
	}
	},
	{
	"object_id": 46,
	"label": "remove",
	"centroid": [
	3.2376,
	1.545,
	0.8659
	],
	"centroid_distance_m": 0.5034,
	"spatial_3d": {
	"edge_distance_cm": 38.98,
	"center_distance_cm": 50.34,
	"nearest_point_small": [
	3.6381,
	1.7891,
	0.8652
	],
	"nearest_point_nearby": [
	3.2748,
	1.6484,
	0.8789
	],
	"direction_unit_vector": [
	-0.8586,
	-0.5126,
	-0.0039
	],
	"vertical_relation": "same_level",
	"vertical_offset_cm": 0.2,
	"horizontal_distance_cm": 50.34
	}
	},
	{
	"object_id": 88,
	"label": "object",
	"centroid": [
	3.7982,
	2.247,
	0.4871
	],
	"centroid_distance_m": 0.5988,
	"spatial_3d": {
	"edge_distance_cm": 42.85,
	"center_distance_cm": 59.88,
	"nearest_point_small": [
	3.7318,
	1.8291,
	0.8633
	],
	"nearest_point_nearby": [
	3.7567,
	2.1911,
	0.6354
	],
	"direction_unit_vector": [
	0.2144,
	0.7414,
	-0.6359
	],
	"vertical_relation": "above",
	"vertical_offset_cm": 38.07,
	"horizontal_distance_cm": 46.21
	}
	},
	{
	"object_id": 26,
	"label": "toy",
	"centroid": [
	3.5697,
	2.44,
	0.9438
	],
	"centroid_distance_m": 0.6493,
	"spatial_3d": {
	"edge_distance_cm": 59.26,
	"center_distance_cm": 64.93,
	"nearest_point_small": [
	3.6541,
	1.831,
	0.8637
	],
	"nearest_point_nearby": [
	3.5718,
	2.4165,
	0.9043
	],
	"direction_unit_vector": [
	-0.1541,
	0.9811,
	0.117
	],
	"vertical_relation": "below",
	"vertical_offset_cm": -7.6,
	"horizontal_distance_cm": 64.48
	}
	},
	{
	"object_id": 79,
	"label": "objects",
	"centroid": [
	3.669,
	2.4778,
	0.955
	],
	"centroid_distance_m": 0.6804,
	"spatial_3d": {
	"edge_distance_cm": 52.41,
	"center_distance_cm": 68.04,
	"nearest_point_small": [
	3.7204,
	1.8301,
	0.8637
	],
	"nearest_point_nearby": [
	3.7177,
	2.3542,
	0.8611
	],
	"direction_unit_vector": [
	-0.0012,
	0.9918,
	0.1281
	],
	"vertical_relation": "below",
	"vertical_offset_cm": -8.71,
	"horizontal_distance_cm": 67.48
	}
	},
	{
	"object_id": 9,
	"label": "chair",
	"centroid": [
	3.0603,
	2.1121,
	0.6248
	],
	"centroid_distance_m": 0.7253,
	"spatial_3d": {
	"edge_distance_cm": 36.98,
	"center_distance_cm": 72.53,
	"nearest_point_small": [
	3.646,
	1.808,
	0.8516
	],
	"nearest_point_nearby": [
	3.418,
	1.9065,
	0.5776
	],
	"direction_unit_vector": [
	-0.8403,
	0.4261,
	-0.3351
	],
	"vertical_relation": "above",
	"vertical_offset_cm": 24.31,
	"horizontal_distance_cm": 68.34
	}
	},
	{
	"object_id": 18,
	"label": "dustbin",
	"centroid": [
	3.7667,
	1.3306,
	0.3014
	],
	"centroid_distance_m": 0.744,
	"spatial_3d": {
	"edge_distance_cm": 54.57,
	"center_distance_cm": 74.4,
	"nearest_point_small": [
	3.705,
	1.7727,
	0.8477
	],
	"nearest_point_nearby": [
	3.7497,
	1.4784,
	0.3903
	],
	"direction_unit_vector": [
	0.1302,
	-0.635,
	-0.7614
	],
	"vertical_relation": "above",
	"vertical_offset_cm": 56.65,
	"horizontal_distance_cm": 48.23
	}
	},
	{
	"object_id": 83,
	"label": "stuffed toy",
	"centroid": [
	3.6143,
	2.672,
	0.9579
	],
	"centroid_distance_m": 0.8754,
	"spatial_3d": {
	"edge_distance_cm": 76.03,
	"center_distance_cm": 87.54,
	"nearest_point_small": [
	3.6541,
	1.831,
	0.8637
	],
	"nearest_point_nearby": [
	3.6682,
	2.5864,
	0.9492
	],
	"direction_unit_vector": [
	-0.0634,
	0.9927,
	0.1029
	],
	"vertical_relation": "below",
	"vertical_offset_cm": -9.01,
	"horizontal_distance_cm": 87.08
	}
	},
	{
	"object_id": 59,
	"label": "stuffed toy",
	"centroid": [
	3.8208,
	2.7,
	0.8826
	],
	"centroid_distance_m": 0.9097,
	"spatial_3d": {
	"edge_distance_cm": 78.74,
	"center_distance_cm": 90.97,
	"nearest_point_small": [
	3.7318,
	1.8291,
	0.8633
	],
	"nearest_point_nearby": [
	3.8278,
	2.6105,
	0.8476
	],
	"direction_unit_vector": [
	0.166,
	0.986,
	0.0162
	],
	"vertical_relation": "same_level",
	"vertical_offset_cm": -1.48,
	"horizontal_distance_cm": 90.96
	}
	},
	{
	"object_id": 87,
	"label": "objects",
	"centroid": [
	3.9726,
	0.9599,
	1.1106
	],
	"centroid_distance_m": 0.9282,
	"spatial_3d": {
	"edge_distance_cm": 80.34,
	"center_distance_cm": 92.82,
	"nearest_point_small": [
	3.705,
	1.7727,
	0.8477
	],
	"nearest_point_nearby": [
	3.9586,
	1.0478,
	1.0838
	],
	"direction_unit_vector": [
	0.3262,
	-0.9084,
	0.2615
	],
	"vertical_relation": "below",
	"vertical_offset_cm": -24.27,
	"horizontal_distance_cm": 89.59
	}
	},
	{
	"object_id": 90,
	"label": "window curtain",
	"centroid": [
	3.8296,
	2.115,
	1.7306
	],
	"centroid_distance_m": 0.9312,
	"spatial_3d": {
	"edge_distance_cm": 45.09,
	"center_distance_cm": 93.12,
	"nearest_point_small": [
	3.7172,
	1.8127,
	0.8758
	],
	"nearest_point_nearby": [
	3.8877,
	1.8553,
	1.291
	],
	"direction_unit_vector": [
	0.1715,
	0.335,
	0.9265
	],
	"vertical_relation": "below",
	"vertical_offset_cm": -86.28,
	"horizontal_distance_cm": 35.05
	}
	},
	{
	"object_id": 89,
	"label": "window",
	"centroid": [
	3.902,
	2.4231,
	1.5419
	],
	"centroid_distance_m": 0.9448,
	"spatial_3d": {
	"edge_distance_cm": 49.11,
	"center_distance_cm": 94.48,
	"nearest_point_small": [
	3.7442,
	1.8246,
	0.862
	],
	"nearest_point_nearby": [
	3.9486,
	1.9876,
	1.2777
	],
	"direction_unit_vector": [
	0.2457,
	0.6563,
	0.7134
	],
	"vertical_relation": "below",
	"vertical_offset_cm": -67.41,
	"horizontal_distance_cm": 66.21
	}
	},
	{
	"object_id": 20,
	"label": "window curtain",
	"centroid": [
	3.9554,
	1.4953,
	1.7152
	],
	"centroid_distance_m": 0.9457,
	"spatial_3d": {
	"edge_distance_cm": 53.94,
	"center_distance_cm": 94.57,
	"nearest_point_small": [
	3.7172,
	1.8127,
	0.8758
	],
	"nearest_point_nearby": [
	3.9392,
	1.7132,
	1.3572
	],
	"direction_unit_vector": [
	0.302,
	-0.3254,
	0.896
	],
	"vertical_relation": "below",
	"vertical_offset_cm": -84.74,
	"horizontal_distance_cm": 41.98
	}
	},
	{
	"object_id": 91,
	"label": "window",
	"centroid": [
	4.0177,
	1.1616,
	1.484
	],
	"centroid_distance_m": 0.955,
	"spatial_3d": {
	"edge_distance_cm": 41.35,
	"center_distance_cm": 95.5,
	"nearest_point_small": [
	3.731,
	1.818,
	0.869
	],
	"nearest_point_nearby": [
	3.9657,
	1.6533,
	1.1669
	],
	"direction_unit_vector": [
	0.3643,
	-0.6716,
	0.6451
	],
	"vertical_relation": "below",
	"vertical_offset_cm": -61.61,
	"horizontal_distance_cm": 72.97
	}
	},
	{
	"object_id": 94,
	"label": "REMOVE",
	"centroid": [
	4.0159,
	2.412,
	1.53
	],
	"centroid_distance_m": 0.9639,
	"spatial_3d": {
	"edge_distance_cm": 54.36,
	"center_distance_cm": 96.39,
	"nearest_point_small": [
	3.7442,
	1.8246,
	0.862
	],
	"nearest_point_nearby": [
	4.0265,
	2.0438,
	1.2716
	],
	"direction_unit_vector": [
	0.3591,
	0.6318,
	0.687
	],
	"vertical_relation": "below",
	"vertical_offset_cm": -66.21,
	"horizontal_distance_cm": 70.05
	}
	},
	{
	"object_id": 17,
	"label": "heater",
	"centroid": [
	3.3373,
	2.6751,
	0.6203
	],
	"centroid_distance_m": 0.9656,
	"spatial_3d": {
	"edge_distance_cm": 83.33,
	"center_distance_cm": 96.56,
	"nearest_point_small": [
	3.6541,
	1.831,
	0.8637
	],
	"nearest_point_nearby": [
	3.6768,
	2.6639,
	0.8488
	],
	"direction_unit_vector": [
	-0.3444,
	0.9031,
	-0.2564
	],
	"vertical_relation": "above",
	"vertical_offset_cm": 24.76,
	"horizontal_distance_cm": 93.33
	}
	},
	{
	"object_id": 93,
	"label": "REMOVE",
	"centroid": [
	4.0706,
	1.1974,
	1.5236
	],
	"centroid_distance_m": 0.9785,
	"spatial_3d": {
	"edge_distance_cm": 51.1,
	"center_distance_cm": 97.85,
	"nearest_point_small": [
	3.731,
	1.818,
	0.869
	],
	"nearest_point_nearby": [
	3.9971,
	1.583,
	1.2364
	],
	"direction_unit_vector": [
	0.4096,
	-0.619,
	0.6702
	],
	"vertical_relation": "below",
	"vertical_offset_cm": -65.57,
	"horizontal_distance_cm": 72.63
	}
	}
	]
	},
	{
	"object_id": 34,
	"label": "keyboard",
	"centroid": [
	3.6542,
	2.0467,
	0.8675
	],
	"nearby_objects": [
	{
	"object_id": 22,
	"label": "office table",
	"centroid": [
	3.6846,
	1.8868,
	0.776
	],
	"centroid_distance_m": 0.1867,
	"spatial_3d": {
	"edge_distance_cm": 0.24,
	"center_distance_cm": 18.67,
	"nearest_point_small": [
	3.6709,
	2.2178,
	0.8734
	],
	"nearest_point_nearby": [
	3.6703,
	2.2178,
	0.8711
	],
	"direction_unit_vector": [
	0.1631,
	-0.8565,
	-0.4898
	],
	"vertical_relation": "above",
	"vertical_offset_cm": 9.14,
	"horizontal_distance_cm": 16.28
	}
	},
	{
	"object_id": 35,
	"label": "mouse",
	"centroid": [
	3.6698,
	1.803,
	0.8679
	],
	"centroid_distance_m": 0.2442,
	"spatial_3d": {
	"edge_distance_cm": 4.42,
	"center_distance_cm": 24.42,
	"nearest_point_small": [
	3.6422,
	1.8736,
	0.8634
	],
	"nearest_point_nearby": [
	3.6541,
	1.831,
	0.8637
	],
	"direction_unit_vector": [
	0.064,
	-0.998,
	0.0016
	],
	"vertical_relation": "same_level",
	"vertical_offset_cm": -0.04,
	"horizontal_distance_cm": 24.42
	}
	},
	{
	"object_id": 24,
	"label": "monitor",
	"centroid": [
	3.7918,
	2.0484,
	1.1069
	],
	"centroid_distance_m": 0.2762,
	"spatial_3d": {
	"edge_distance_cm": 0.31,
	"center_distance_cm": 27.62,
	"nearest_point_small": [
	3.7326,
	2.0347,
	0.8554
	],
	"nearest_point_nearby": [
	3.7343,
	2.0323,
	0.8565
	],
	"direction_unit_vector": [
	0.4982,
	0.0063,
	0.8671
	],
	"vertical_relation": "below",
	"vertical_offset_cm": -23.95,
	"horizontal_distance_cm": 13.76
	}
	},
	{
	"object_id": 26,
	"label": "toy",
	"centroid": [
	3.5697,
	2.44,
	0.9438
	],
	"centroid_distance_m": 0.4095,
	"spatial_3d": {
	"edge_distance_cm": 21.65,
	"center_distance_cm": 40.95,
	"nearest_point_small": [
	3.5944,
	2.2037,
	0.8712
	],
	"nearest_point_nearby": [
	3.5718,
	2.4165,
	0.9043
	],
	"direction_unit_vector": [
	-0.2063,
	0.9606,
	0.1865
	],
	"vertical_relation": "below",
	"vertical_offset_cm": -7.64,
	"horizontal_distance_cm": 40.23
	}
	},
	{
	"object_id": 79,
	"label": "objects",
	"centroid": [
	3.669,
	2.4778,
	0.955
	],
	"centroid_distance_m": 0.4402,
	"spatial_3d": {
	"edge_distance_cm": 13.74,
	"center_distance_cm": 44.02,
	"nearest_point_small": [
	3.6997,
	2.2182,
	0.853
	],
	"nearest_point_nearby": [
	3.7177,
	2.3542,
	0.8611
	],
	"direction_unit_vector": [
	0.0336,
	0.9795,
	0.1988
	],
	"vertical_relation": "below",
	"vertical_offset_cm": -8.75,
	"horizontal_distance_cm": 43.14
	}
	},
	{
	"object_id": 88,
	"label": "object",
	"centroid": [
	3.7982,
	2.247,
	0.4871
	],
	"centroid_distance_m": 0.4533,
	"spatial_3d": {
	"edge_distance_cm": 21.45,
	"center_distance_cm": 45.33,
	"nearest_point_small": [
	3.7119,
	2.2031,
	0.8522
	],
	"nearest_point_nearby": [
	3.7088,
	2.2021,
	0.6378
	],
	"direction_unit_vector": [
	0.3177,
	0.4418,
	-0.839
	],
	"vertical_relation": "above",
	"vertical_offset_cm": 38.04,
	"horizontal_distance_cm": 24.67
	}
	},
	{
	"object_id": 70,
	"label": "windowsill",
	"centroid": [
	3.9331,
	1.5853,
	1.066
	],
	"centroid_distance_m": 0.5745,
	"spatial_3d": {
	"edge_distance_cm": 28.85,
	"center_distance_cm": 57.45,
	"nearest_point_small": [
	3.7299,
	1.8857,
	0.8695
	],
	"nearest_point_nearby": [
	3.8829,
	1.7457,
	1.07
	],
	"direction_unit_vector": [
	0.4854,
	-0.8031,
	0.3456
	],
	"vertical_relation": "below",
	"vertical_offset_cm": -19.86,
	"horizontal_distance_cm": 53.91
	}
	},
	{
	"object_id": 83,
	"label": "stuffed toy",
	"centroid": [
	3.6143,
	2.672,
	0.9579
	],
	"centroid_distance_m": 0.6331,
	"spatial_3d": {
	"edge_distance_cm": 37.63,
	"center_distance_cm": 63.31,
	"nearest_point_small": [
	3.6709,
	2.2178,
	0.8734
	],
	"nearest_point_nearby": [
	3.6682,
	2.5864,
	0.9492
	],
	"direction_unit_vector": [
	-0.063,
	0.9877,
	0.1429
	],
	"vertical_relation": "below",
	"vertical_offset_cm": -9.04,
	"horizontal_distance_cm": 62.66
	}
	},
	{
	"object_id": 9,
	"label": "chair",
	"centroid": [
	3.0603,
	2.1121,
	0.6248
	],
	"centroid_distance_m": 0.6449,
	"spatial_3d": {
	"edge_distance_cm": 29.54,
	"center_distance_cm": 64.49,
	"nearest_point_small": [
	3.5736,
	2.1824,
	0.8538
	],
	"nearest_point_nearby": [
	3.435,
	2.1522,
	0.5948
	],
	"direction_unit_vector": [
	-0.9209,
	0.1014,
	-0.3763
	],
	"vertical_relation": "above",
	"vertical_offset_cm": 24.27,
	"horizontal_distance_cm": 59.75
	}
	},
	{
	"object_id": 46,
	"label": "remove",
	"centroid": [
	3.2376,
	1.545,
	0.8659
	],
	"centroid_distance_m": 0.6521,
	"spatial_3d": {
	"edge_distance_cm": 41.26,
	"center_distance_cm": 65.21,
	"nearest_point_small": [
	3.6241,
	1.8661,
	0.8516
	],
	"nearest_point_nearby": [
	3.2748,
	1.6484,
	0.8789
	],
	"direction_unit_vector": [
	-0.6388,
	-0.7693,
	-0.0024
	],
	"vertical_relation": "same_level",
	"vertical_offset_cm": 0.16,
	"horizontal_distance_cm": 65.21
	}
	},
	{
	"object_id": 59,
	"label": "stuffed toy",
	"centroid": [
	3.8208,
	2.7,
	0.8826
	],
	"centroid_distance_m": 0.6744,
	"spatial_3d": {
	"edge_distance_cm": 41.27,
	"center_distance_cm": 67.44,
	"nearest_point_small": [
	3.6997,
	2.2182,
	0.853
	],
	"nearest_point_nearby": [
	3.8278,
	2.6105,
	0.8476
	],
	"direction_unit_vector": [
	0.247,
	0.9687,
	0.0225
	],
	"vertical_relation": "same_level",
	"vertical_offset_cm": -1.51,
	"horizontal_distance_cm": 67.42
	}
	},
	{
	"object_id": 17,
	"label": "heater",
	"centroid": [
	3.3373,
	2.6751,
	0.6203
	],
	"centroid_distance_m": 0.7459,
	"spatial_3d": {
	"edge_distance_cm": 44.63,
	"center_distance_cm": 74.59,
	"nearest_point_small": [
	3.6997,
	2.2182,
	0.853
	],
	"nearest_point_nearby": [
	3.6768,
	2.6639,
	0.8488
	],
	"direction_unit_vector": [
	-0.4249,
	0.8424,
	-0.3314
	],
	"vertical_relation": "above",
	"vertical_offset_cm": 24.72,
	"horizontal_distance_cm": 70.38
	}
	},
	{
	"object_id": 89,
	"label": "window",
	"centroid": [
	3.902,
	2.4231,
	1.5419
	],
	"centroid_distance_m": 0.8111,
	"spatial_3d": {
	"edge_distance_cm": 42.82,
	"center_distance_cm": 81.11,
	"nearest_point_small": [
	3.6839,
	2.2127,
	0.8734
	],
	"nearest_point_nearby": [
	3.9618,
	2.3641,
	1.1619
	],
	"direction_unit_vector": [
	0.3054,
	0.464,
	0.8315
	],
	"vertical_relation": "below",
	"vertical_offset_cm": -67.44,
	"horizontal_distance_cm": 45.06
	}
	},
	{
	"object_id": 94,
	"label": "REMOVE",
	"centroid": [
	4.0159,
	2.412,
	1.53
	],
	"centroid_distance_m": 0.8386,
	"spatial_3d": {
	"edge_distance_cm": 49.99,
	"center_distance_cm": 83.86,
	"nearest_point_small": [
	3.7388,
	2.0433,
	0.8562
	],
	"nearest_point_nearby": [
	4.0279,
	2.1011,
	1.2599
	],
	"direction_unit_vector": [
	0.4314,
	0.4356,
	0.79
	],
	"vertical_relation": "below",
	"vertical_offset_cm": -66.25,
	"horizontal_distance_cm": 51.41
	}
	},
	{
	"object_id": 90,
	"label": "window curtain",
	"centroid": [
	3.8296,
	2.115,
	1.7306
	],
	"centroid_distance_m": 0.8834,
	"spatial_3d": {
	"edge_distance_cm": 44.88,
	"center_distance_cm": 88.34,
	"nearest_point_small": [
	3.7203,
	1.9448,
	0.8734
	],
	"nearest_point_nearby": [
	3.8546,
	1.9347,
	1.3016
	],
	"direction_unit_vector": [
	0.1985,
	0.0773,
	0.977
	],
	"vertical_relation": "below",
	"vertical_offset_cm": -86.31,
	"horizontal_distance_cm": 18.82
	}
	},
	{
	"object_id": 72,
	"label": "window frame",
	"centroid": [
	3.9831,
	2.4733,
	1.6073
	],
	"centroid_distance_m": 0.9152,
	"spatial_3d": {
	"edge_distance_cm": 41.05,
	"center_distance_cm": 91.52,
	"nearest_point_small": [
	3.7119,
	2.2031,
	0.8522
	],
	"nearest_point_nearby": [
	3.9842,
	2.3623,
	1.115
	],
	"direction_unit_vector": [
	0.3594,
	0.4661,
	0.8084
	],
	"vertical_relation": "below",
	"vertical_offset_cm": -73.99,
	"horizontal_distance_cm": 53.87
	}
	},
	{
	"object_id": 18,
	"label": "dustbin",
	"centroid": [
	3.7667,
	1.3306,
	0.3014
	],
	"centroid_distance_m": 0.9197,
	"spatial_3d": {
	"edge_distance_cm": 61.44,
	"center_distance_cm": 91.97,
	"nearest_point_small": [
	3.6241,
	1.8661,
	0.8516
	],
	"nearest_point_nearby": [
	3.7338,
	1.4749,
	0.3908
	],
	"direction_unit_vector": [
	0.1223,
	-0.7786,
	-0.6155
	],
	"vertical_relation": "above",
	"vertical_offset_cm": 56.61,
	"horizontal_distance_cm": 72.49
	}
	}
	]
	}
	]
	}