Datasets:

RainChow
/

PinpointQA

	{
	"scene_id": "0d2ee665be",
	"dataset": "scannetpp",
	"small_items": [
	{
	"object_id": 21,
	"label": "bottle",
	"centroid": [
	3.3243,
	0.8976,
	1.1062
	],
	"nearby_objects": [
	{
	"object_id": 18,
	"label": "kitchen utensil",
	"centroid": [
	3.5658,
	0.8164,
	1.3338
	],
	"centroid_distance_m": 0.3416,
	"spatial_3d": {
	"edge_distance_cm": 16.94,
	"center_distance_cm": 34.16,
	"nearest_point_small": [
	3.3477,
	0.8767,
	1.2168
	],
	"nearest_point_nearby": [
	3.5034,
	0.8394,
	1.2719
	],
	"direction_unit_vector": [
	0.7069,
	-0.2377,
	0.6662
	],
	"vertical_relation": "below",
	"vertical_offset_cm": -22.76,
	"horizontal_distance_cm": 25.48
	}
	},
	{
	"object_id": 22,
	"label": "scissors",
	"centroid": [
	3.415,
	0.8438,
	1.4558
	],
	"centroid_distance_m": 0.3651,
	"spatial_3d": {
	"edge_distance_cm": 17.67,
	"center_distance_cm": 36.51,
	"nearest_point_small": [
	3.3448,
	0.8819,
	1.2222
	],
	"nearest_point_nearby": [
	3.438,
	0.8422,
	1.367
	],
	"direction_unit_vector": [
	0.2482,
	-0.1474,
	0.9574
	],
	"vertical_relation": "below",
	"vertical_offset_cm": -34.95,
	"horizontal_distance_cm": 10.54
	}
	},
	{
	"object_id": 79,
	"label": "box",
	"centroid": [
	2.9094,
	0.7464,
	0.8004
	],
	"centroid_distance_m": 0.5372,
	"spatial_3d": {
	"edge_distance_cm": 34.14,
	"center_distance_cm": 53.72,
	"nearest_point_small": [
	3.2977,
	0.8727,
	1.0281
	],
	"nearest_point_nearby": [
	2.986,
	0.8034,
	0.9072
	],
	"direction_unit_vector": [
	-0.7724,
	-0.2815,
	-0.5693
	],
	"vertical_relation": "above",
	"vertical_offset_cm": 30.58,
	"horizontal_distance_cm": 44.17
	}
	},
	{
	"object_id": 77,
	"label": "instant pot",
	"centroid": [
	2.7453,
	0.8367,
	1.1684
	],
	"centroid_distance_m": 0.5855,
	"spatial_3d": {
	"edge_distance_cm": 44.94,
	"center_distance_cm": 58.55,
	"nearest_point_small": [
	3.2969,
	0.8706,
	1.0439
	],
	"nearest_point_nearby": [
	2.8564,
	0.7825,
	1.0576
	],
	"direction_unit_vector": [
	-0.9889,
	-0.1041,
	0.1062
	],
	"vertical_relation": "below",
	"vertical_offset_cm": -6.22,
	"horizontal_distance_cm": 58.22
	}
	},
	{
	"object_id": 17,
	"label": "mug",
	"centroid": [
	3.7009,
	1.4111,
	1.0953
	],
	"centroid_distance_m": 0.6369,
	"spatial_3d": {
	"edge_distance_cm": 55.09,
	"center_distance_cm": 63.69,
	"nearest_point_small": [
	3.3716,
	0.9126,
	1.0629
	],
	"nearest_point_nearby": [
	3.6855,
	1.3633,
	1.1055
	],
	"direction_unit_vector": [
	0.5913,
	0.8062,
	-0.0172
	],
	"vertical_relation": "same_level",
	"vertical_offset_cm": 1.09,
	"horizontal_distance_cm": 63.68
	}
	},
	{
	"object_id": 27,
	"label": "kitchen counter",
	"centroid": [
	3.5562,
	1.5253,
	1.0045
	],
	"centroid_distance_m": 0.6768,
	"spatial_3d": {
	"edge_distance_cm": 0.27,
	"center_distance_cm": 67.68,
	"nearest_point_small": [
	3.3,
	0.907,
	1.0215
	],
	"nearest_point_nearby": [
	3.2989,
	0.9072,
	1.019
	],
	"direction_unit_vector": [
	0.3426,
	0.9274,
	-0.1503
	],
	"vertical_relation": "above",
	"vertical_offset_cm": 10.17,
	"horizontal_distance_cm": 66.91
	}
	},
	{
	"object_id": 10,
	"label": "kitchen utensil",
	"centroid": [
	3.8129,
	1.3777,
	1.2051
	],
	"centroid_distance_m": 0.6921,
	"spatial_3d": {
	"edge_distance_cm": 61.13,
	"center_distance_cm": 69.21,
	"nearest_point_small": [
	3.3716,
	0.9126,
	1.0629
	],
	"nearest_point_nearby": [
	3.7896,
	1.3572,
	1.0971
	],
	"direction_unit_vector": [
	0.7059,
	0.6937,
	0.1429
	],
	"vertical_relation": "below",
	"vertical_offset_cm": -9.89,
	"horizontal_distance_cm": 68.5
	}
	},
	{
	"object_id": 81,
	"label": "salad spinner",
	"centroid": [
	2.7047,
	0.826,
	0.7624
	],
	"centroid_distance_m": 0.7122,
	"spatial_3d": {
	"edge_distance_cm": 53.72,
	"center_distance_cm": 71.22,
	"nearest_point_small": [
	3.2989,
	0.8993,
	1.0174
	],
	"nearest_point_nearby": [
	2.8262,
	0.8149,
	0.7764
	],
	"direction_unit_vector": [
	-0.87,
	-0.1005,
	-0.4827
	],
	"vertical_relation": "above",
	"vertical_offset_cm": 34.38,
	"horizontal_distance_cm": 62.38
	}
	},
	{
	"object_id": 28,
	"label": "kitchen cabinet",
	"centroid": [
	3.2398,
	1.4324,
	0.5848
	],
	"centroid_distance_m": 0.7517,
	"spatial_3d": {
	"edge_distance_cm": 18.7,
	"center_distance_cm": 75.17,
	"nearest_point_small": [
	3.2937,
	0.9192,
	1.0437
	],
	"nearest_point_nearby": [
	3.1222,
	0.9424,
	0.9731
	],
	"direction_unit_vector": [
	-0.1124,
	0.7114,
	-0.6937
	],
	"vertical_relation": "above",
	"vertical_offset_cm": 52.14,
	"horizontal_distance_cm": 54.14
	}
	},
	{
	"object_id": 16,
	"label": "mug",
	"centroid": [
	3.4932,
	1.6309,
	1.097
	],
	"centroid_distance_m": 0.7525,
	"spatial_3d": {
	"edge_distance_cm": 66.9,
	"center_distance_cm": 75.25,
	"nearest_point_small": [
	3.352,
	0.9222,
	1.0737
	],
	"nearest_point_nearby": [
	3.4832,
	1.5768,
	1.1157
	],
	"direction_unit_vector": [
	0.2244,
	0.9744,
	-0.0123
	],
	"vertical_relation": "same_level",
	"vertical_offset_cm": 0.92,
	"horizontal_distance_cm": 75.25
	}
	},
	{
	"object_id": 20,
	"label": "kitchen utensil",
	"centroid": [
	3.8255,
	1.4598,
	1.1532
	],
	"centroid_distance_m": 0.7546,
	"spatial_3d": {
	"edge_distance_cm": 67.09,
	"center_distance_cm": 75.46,
	"nearest_point_small": [
	3.3726,
	0.9128,
	1.0453
	],
	"nearest_point_nearby": [
	3.7949,
	1.4331,
	1.0768
	],
	"direction_unit_vector": [
	0.6641,
	0.745,
	0.0623
	],
	"vertical_relation": "same_level",
	"vertical_offset_cm": -4.7,
	"horizontal_distance_cm": 75.32
	}
	},
	{
	"object_id": 78,
	"label": "shelf",
	"centroid": [
	2.761,
	0.8503,
	0.5682
	],
	"centroid_distance_m": 0.7804,
	"spatial_3d": {
	"edge_distance_cm": 26.48,
	"center_distance_cm": 78.04,
	"nearest_point_small": [
	3.2937,
	0.9192,
	1.0437
	],
	"nearest_point_nearby": [
	3.0305,
	0.9094,
	1.0168
	],
	"direction_unit_vector": [
	-0.7218,
	-0.0606,
	-0.6894
	],
	"vertical_relation": "above",
	"vertical_offset_cm": 53.8,
	"horizontal_distance_cm": 56.53
	}
	},
	{
	"object_id": 19,
	"label": "kitchen utensil",
	"centroid": [
	3.8608,
	1.5545,
	1.172
	],
	"centroid_distance_m": 0.8507,
	"spatial_3d": {
	"edge_distance_cm": 76.48,
	"center_distance_cm": 85.07,
	"nearest_point_small": [
	3.3731,
	0.9102,
	1.0738
	],
	"nearest_point_nearby": [
	3.8529,
	1.5013,
	1.147
	],
	"direction_unit_vector": [
	0.6307,
	0.7722,
	0.0774
	],
	"vertical_relation": "below",
	"vertical_offset_cm": -6.58,
	"horizontal_distance_cm": 84.81
	}
	},
	{
	"object_id": 83,
	"label": "pan",
	"centroid": [
	2.8355,
	0.7694,
	0.414
	],
	"centroid_distance_m": 0.8571,
	"spatial_3d": {
	"edge_distance_cm": 69.97,
	"center_distance_cm": 85.71,
	"nearest_point_small": [
	3.3006,
	0.8891,
	1.0176
	],
	"nearest_point_nearby": [
	2.9243,
	0.8143,
	0.4325
	],
	"direction_unit_vector": [
	-0.5704,
	-0.1496,
	-0.8077
	],
	"vertical_relation": "above",
	"vertical_offset_cm": 69.22,
	"horizontal_distance_cm": 50.54
	}
	},
	{
	"object_id": 80,
	"label": "toaster",
	"centroid": [
	2.5162,
	0.941,
	0.8054
	],
	"centroid_distance_m": 0.8634,
	"spatial_3d": {
	"edge_distance_cm": 72.14,
	"center_distance_cm": 86.34,
	"nearest_point_small": [
	3.2937,
	0.9192,
	1.0437
	],
	"nearest_point_nearby": [
	2.6143,
	1.0289,
	0.8275
	],
	"direction_unit_vector": [
	-0.936,
	0.0502,
	-0.3485
	],
	"vertical_relation": "above",
	"vertical_offset_cm": 30.09,
	"horizontal_distance_cm": 80.93
	}
	},
	{
	"object_id": 89,
	"label": "SPLIT",
	"centroid": [
	2.4259,
	0.7203,
	1.1056
	],
	"centroid_distance_m": 0.9157,
	"spatial_3d": {
	"edge_distance_cm": 77.0,
	"center_distance_cm": 91.57,
	"nearest_point_small": [
	3.3066,
	0.8649,
	1.1143
	],
	"nearest_point_nearby": [
	2.5857,
	0.6413,
	1.2669
	],
	"direction_unit_vector": [
	-0.9811,
	-0.1936,
	-0.0007
	],
	"vertical_relation": "same_level",
	"vertical_offset_cm": 0.07,
	"horizontal_distance_cm": 91.57
	}
	},
	{
	"object_id": 82,
	"label": "pan",
	"centroid": [
	2.6142,
	0.8333,
	0.437
	],
	"centroid_distance_m": 0.9779,
	"spatial_3d": {
	"edge_distance_cm": 71.37,
	"center_distance_cm": 97.79,
	"nearest_point_small": [
	3.2989,
	0.8993,
	1.0174
	],
	"nearest_point_nearby": [
	2.8309,
	1.0206,
	0.4922
	],
	"direction_unit_vector": [
	-0.7262,
	-0.0658,
	-0.6843
	],
	"vertical_relation": "above",
	"vertical_offset_cm": 66.92,
	"horizontal_distance_cm": 71.31
	}
	}
	]
	},
	{
	"object_id": 22,
	"label": "scissors",
	"centroid": [
	3.415,
	0.8438,
	1.4558
	],
	"nearby_objects": [
	{
	"object_id": 18,
	"label": "kitchen utensil",
	"centroid": [
	3.5658,
	0.8164,
	1.3338
	],
	"centroid_distance_m": 0.1959,
	"spatial_3d": {
	"edge_distance_cm": 6.5,
	"center_distance_cm": 19.59,
	"nearest_point_small": [
	3.444,
	0.838,
	1.3727
	],
	"nearest_point_nearby": [
	3.4975,
	0.8438,
	1.3362
	],
	"direction_unit_vector": [
	0.7701,
	-0.1398,
	-0.6225
	],
	"vertical_relation": "above",
	"vertical_offset_cm": 12.19,
	"horizontal_distance_cm": 15.33
	}
	},
	{
	"object_id": 21,
	"label": "bottle",
	"centroid": [
	3.3243,
	0.8976,
	1.1062
	],
	"centroid_distance_m": 0.3651,
	"spatial_3d": {
	"edge_distance_cm": 17.67,
	"center_distance_cm": 36.51,
	"nearest_point_small": [
	3.438,
	0.8422,
	1.367
	],
	"nearest_point_nearby": [
	3.3448,
	0.8819,
	1.2222
	],
	"direction_unit_vector": [
	-0.2482,
	0.1474,
	-0.9574
	],
	"vertical_relation": "above",
	"vertical_offset_cm": 34.95,
	"horizontal_distance_cm": 10.54
	}
	},
	{
	"object_id": 10,
	"label": "kitchen utensil",
	"centroid": [
	3.8129,
	1.3777,
	1.2051
	],
	"centroid_distance_m": 0.7115,
	"spatial_3d": {
	"edge_distance_cm": 63.76,
	"center_distance_cm": 71.15,
	"nearest_point_small": [
	3.4386,
	0.8433,
	1.3726
	],
	"nearest_point_nearby": [
	3.822,
	1.3483,
	1.3058
	],
	"direction_unit_vector": [
	0.5593,
	0.7504,
	-0.3523
	],
	"vertical_relation": "above",
	"vertical_offset_cm": 25.07,
	"horizontal_distance_cm": 66.59
	}
	},
	{
	"object_id": 77,
	"label": "instant pot",
	"centroid": [
	2.7453,
	0.8367,
	1.1684
	],
	"centroid_distance_m": 0.7287,
	"spatial_3d": {
	"edge_distance_cm": 54.65,
	"center_distance_cm": 72.87,
	"nearest_point_small": [
	3.3719,
	0.8493,
	1.4673
	],
	"nearest_point_nearby": [
	2.8789,
	0.7842,
	1.2407
	],
	"direction_unit_vector": [
	-0.9189,
	-0.0098,
	-0.3943
	],
	"vertical_relation": "above",
	"vertical_offset_cm": 28.73,
	"horizontal_distance_cm": 66.97
	}
	},
	{
	"object_id": 17,
	"label": "mug",
	"centroid": [
	3.7009,
	1.4111,
	1.0953
	],
	"centroid_distance_m": 0.7304,
	"spatial_3d": {
	"edge_distance_cm": 63.34,
	"center_distance_cm": 73.04,
	"nearest_point_small": [
	3.438,
	0.8422,
	1.367
	],
	"nearest_point_nearby": [
	3.6855,
	1.3633,
	1.1055
	],
	"direction_unit_vector": [
	0.3915,
	0.7766,
	-0.4935
	],
	"vertical_relation": "above",
	"vertical_offset_cm": 36.05,
	"horizontal_distance_cm": 63.53
	}
	},
	{
	"object_id": 20,
	"label": "kitchen utensil",
	"centroid": [
	3.8255,
	1.4598,
	1.1532
	],
	"centroid_distance_m": 0.7997,
	"spatial_3d": {
	"edge_distance_cm": 72.9,
	"center_distance_cm": 79.97,
	"nearest_point_small": [
	3.4386,
	0.8433,
	1.3726
	],
	"nearest_point_nearby": [
	3.8439,
	1.447,
	1.3208
	],
	"direction_unit_vector": [
	0.5134,
	0.7703,
	-0.3783
	],
	"vertical_relation": "above",
	"vertical_offset_cm": 30.25,
	"horizontal_distance_cm": 74.03
	}
	},
	{
	"object_id": 27,
	"label": "kitchen counter",
	"centroid": [
	3.5562,
	1.5253,
	1.0045
	],
	"centroid_distance_m": 0.8294,
	"spatial_3d": {
	"edge_distance_cm": 31.32,
	"center_distance_cm": 82.94,
	"nearest_point_small": [
	3.438,
	0.8422,
	1.367
	],
	"nearest_point_nearby": [
	3.4485,
	0.8652,
	1.0548
	],
	"direction_unit_vector": [
	0.1703,
	0.8216,
	-0.5441
	],
	"vertical_relation": "above",
	"vertical_offset_cm": 45.13,
	"horizontal_distance_cm": 69.59
	}
	},
	{
	"object_id": 79,
	"label": "box",
	"centroid": [
	2.9094,
	0.7464,
	0.8004
	],
	"centroid_distance_m": 0.8335,
	"spatial_3d": {
	"edge_distance_cm": 64.23,
	"center_distance_cm": 83.35,
	"nearest_point_small": [
	3.4312,
	0.833,
	1.3704
	],
	"nearest_point_nearby": [
	2.9839,
	0.7924,
	0.9111
	],
	"direction_unit_vector": [
	-0.6066,
	-0.1169,
	-0.7863
	],
	"vertical_relation": "above",
	"vertical_offset_cm": 65.54,
	"horizontal_distance_cm": 51.49
	}
	},
	{
	"object_id": 25,
	"label": "kitchen cabinet",
	"centroid": [
	3.6138,
	1.5169,
	1.9627
	],
	"centroid_distance_m": 0.8658,
	"spatial_3d": {
	"edge_distance_cm": 10.59,
	"center_distance_cm": 86.58,
	"nearest_point_small": [
	3.4176,
	0.8459,
	1.5122
	],
	"nearest_point_nearby": [
	3.4139,
	0.8373,
	1.6177
	],
	"direction_unit_vector": [
	0.2296,
	0.7774,
	0.5856
	],
	"vertical_relation": "below",
	"vertical_offset_cm": -50.7,
	"horizontal_distance_cm": 70.18
	}
	},
	{
	"object_id": 16,
	"label": "mug",
	"centroid": [
	3.4932,
	1.6309,
	1.097
	],
	"centroid_distance_m": 0.8685,
	"spatial_3d": {
	"edge_distance_cm": 77.7,
	"center_distance_cm": 86.85,
	"nearest_point_small": [
	3.4355,
	0.8453,
	1.374
	],
	"nearest_point_nearby": [
	3.4902,
	1.5774,
	1.1196
	],
	"direction_unit_vector": [
	0.09,
	0.9062,
	-0.4131
	],
	"vertical_relation": "above",
	"vertical_offset_cm": 35.88,
	"horizontal_distance_cm": 79.1
	}
	},
	{
	"object_id": 19,
	"label": "kitchen utensil",
	"centroid": [
	3.8608,
	1.5545,
	1.172
	],
	"centroid_distance_m": 0.8856,
	"spatial_3d": {
	"edge_distance_cm": 80.89,
	"center_distance_cm": 88.56,
	"nearest_point_small": [
	3.438,
	0.8422,
	1.367
	],
	"nearest_point_nearby": [
	3.8573,
	1.4989,
	1.1497
	],
	"direction_unit_vector": [
	0.5035,
	0.8024,
	-0.3204
	],
	"vertical_relation": "above",
	"vertical_offset_cm": 28.37,
	"horizontal_distance_cm": 83.89
	}
	},
	{
	"object_id": 86,
	"label": "microwave",
	"centroid": [
	3.573,
	1.7436,
	1.8195
	],
	"centroid_distance_m": 0.9833,
	"spatial_3d": {
	"edge_distance_cm": 64.91,
	"center_distance_cm": 98.33,
	"nearest_point_small": [
	3.4064,
	0.8519,
	1.507
	],
	"nearest_point_nearby": [
	3.4957,
	1.4685,
	1.6892
	],
	"direction_unit_vector": [
	0.1608,
	0.9151,
	0.3699
	],
	"vertical_relation": "below",
	"vertical_offset_cm": -36.37,
	"horizontal_distance_cm": 91.36
	}
	},
	{
	"object_id": 81,
	"label": "salad spinner",
	"centroid": [
	2.7047,
	0.826,
	0.7624
	],
	"centroid_distance_m": 0.9927,
	"spatial_3d": {
	"edge_distance_cm": 84.68,
	"center_distance_cm": 99.27,
	"nearest_point_small": [
	3.4312,
	0.833,
	1.3704
	],
	"nearest_point_nearby": [
	2.8262,
	0.8064,
	0.7784
	],
	"direction_unit_vector": [
	-0.7155,
	-0.0179,
	-0.6984
	],
	"vertical_relation": "above",
	"vertical_offset_cm": 69.33,
	"horizontal_distance_cm": 71.05
	}
	}
	]
	},
	{
	"object_id": 42,
	"label": "keyboard",
	"centroid": [
	1.4567,
	4.1952,
	0.8586
	],
	"nearby_objects": [
	{
	"object_id": 31,
	"label": "bluetooth speaker",
	"centroid": [
	1.4334,
	4.2312,
	1.0268
	],
	"centroid_distance_m": 0.1736,
	"spatial_3d": {
	"edge_distance_cm": 8.13,
	"center_distance_cm": 17.36,
	"nearest_point_small": [
	1.4349,
	4.3012,
	0.9344
	],
	"nearest_point_nearby": [
	1.4277,
	4.2411,
	0.9887
	],
	"direction_unit_vector": [
	-0.1342,
	0.2072,
	0.969
	],
	"vertical_relation": "below",
	"vertical_offset_cm": -16.82,
	"horizontal_distance_cm": 4.28
	}
	},
	{
	"object_id": 65,
	"label": "receipt",
	"centroid": [
	1.4109,
	3.9885,
	0.8404
	],
	"centroid_distance_m": 0.2125,
	"spatial_3d": {
	"edge_distance_cm": 7.24,
	"center_distance_cm": 21.25,
	"nearest_point_small": [
	1.4531,
	4.1164,
	0.8477
	],
	"nearest_point_nearby": [
	1.4407,
	4.0453,
	0.8527
	],
	"direction_unit_vector": [
	-0.2154,
	-0.9727,
	-0.086
	],
	"vertical_relation": "same_level",
	"vertical_offset_cm": 1.83,
	"horizontal_distance_cm": 21.18
	}
	},
	{
	"object_id": 66,
	"label": "pen",
	"centroid": [
	1.603,
	3.9684,
	0.8369
	],
	"centroid_distance_m": 0.2708,
	"spatial_3d": {
	"edge_distance_cm": 6.55,
	"center_distance_cm": 27.08,
	"nearest_point_small": [
	1.6185,
	4.0869,
	0.8428
	],
	"nearest_point_nearby": [
	1.6069,
	4.0227,
	0.837
	],
	"direction_unit_vector": [
	0.5403,
	-0.8376,
	-0.0801
	],
	"vertical_relation": "same_level",
	"vertical_offset_cm": 2.17,
	"horizontal_distance_cm": 27.0
	}
	},
	{
	"object_id": 34,
	"label": "table",
	"centroid": [
	1.5119,
	3.9396,
	0.7625
	],
	"centroid_distance_m": 0.2786,
	"spatial_3d": {
	"edge_distance_cm": 0.23,
	"center_distance_cm": 27.86,
	"nearest_point_small": [
	1.6569,
	4.0852,
	0.8334
	],
	"nearest_point_nearby": [
	1.6583,
	4.087,
	0.8341
	],
	"direction_unit_vector": [
	0.198,
	-0.9175,
	-0.3449
	],
	"vertical_relation": "above",
	"vertical_offset_cm": 9.61,
	"horizontal_distance_cm": 26.15
	}
	},
	{
	"object_id": 67,
	"label": "eraser",
	"centroid": [
	1.6162,
	3.9443,
	0.8397
	],
	"centroid_distance_m": 0.2979,
	"spatial_3d": {
	"edge_distance_cm": 10.88,
	"center_distance_cm": 29.79,
	"nearest_point_small": [
	1.6412,
	4.0811,
	0.8477
	],
	"nearest_point_nearby": [
	1.6258,
	3.9737,
	0.8391
	],
	"direction_unit_vector": [
	0.5354,
	-0.8422,
	-0.0636
	],
	"vertical_relation": "same_level",
	"vertical_offset_cm": 1.9,
	"horizontal_distance_cm": 29.73
	}
	},
	{
	"object_id": 55,
	"label": "object",
	"centroid": [
	1.1831,
	4.0571,
	0.8618
	],
	"centroid_distance_m": 0.3065,
	"spatial_3d": {
	"edge_distance_cm": 0.3,
	"center_distance_cm": 30.65,
	"nearest_point_small": [
	1.2324,
	4.1621,
	0.8553
	],
	"nearest_point_nearby": [
	1.2321,
	4.1592,
	0.8545
	],
	"direction_unit_vector": [
	-0.8926,
	-0.4507,
	0.0103
	],
	"vertical_relation": "same_level",
	"vertical_offset_cm": -0.32,
	"horizontal_distance_cm": 30.65
	}
	},
	{
	"object_id": 32,
	"label": "monitor",
	"centroid": [
	1.4188,
	4.2512,
	1.1668
	],
	"centroid_distance_m": 0.3155,
	"spatial_3d": {
	"edge_distance_cm": 0.27,
	"center_distance_cm": 31.55,
	"nearest_point_small": [
	1.4542,
	4.3038,
	0.9417
	],
	"nearest_point_nearby": [
	1.4536,
	4.304,
	0.9443
	],
	"direction_unit_vector": [
	-0.1202,
	0.1774,
	0.9768
	],
	"vertical_relation": "below",
	"vertical_offset_cm": -30.82,
	"horizontal_distance_cm": 6.76
	}
	},
	{
	"object_id": 56,
	"label": "object",
	"centroid": [
	1.1536,
	4.0336,
	0.8584
	],
	"centroid_distance_m": 0.3435,
	"spatial_3d": {
	"edge_distance_cm": 1.72,
	"center_distance_cm": 34.35,
	"nearest_point_small": [
	1.2389,
	4.1494,
	0.8398
	],
	"nearest_point_nearby": [
	1.2371,
	4.1349,
	0.849
	],
	"direction_unit_vector": [
	-0.8824,
	-0.4705,
	-0.0008
	],
	"vertical_relation": "same_level",
	"vertical_offset_cm": 0.03,
	"horizontal_distance_cm": 34.35
	}
	},
	{
	"object_id": 60,
	"label": "sculpture",
	"centroid": [
	1.1405,
	4.405,
	0.8921
	],
	"centroid_distance_m": 0.3809,
	"spatial_3d": {
	"edge_distance_cm": 11.53,
	"center_distance_cm": 38.09,
	"nearest_point_small": [
	1.2529,
	4.3178,
	0.8567
	],
	"nearest_point_nearby": [
	1.1649,
	4.3894,
	0.8358
	],
	"direction_unit_vector": [
	-0.83,
	0.5508,
	0.0878
	],
	"vertical_relation": "same_level",
	"vertical_offset_cm": -3.35,
	"horizontal_distance_cm": 37.94
	}
	},
	{
	"object_id": 62,
	"label": "bottle",
	"centroid": [
	1.0653,
	4.3237,
	0.9282
	],
	"centroid_distance_m": 0.4178,
	"spatial_3d": {
	"edge_distance_cm": 16.57,
	"center_distance_cm": 41.78,
	"nearest_point_small": [
	1.2482,
	4.302,
	0.8571
	],
	"nearest_point_nearby": [
	1.0846,
	4.3285,
	0.8584
	],
	"direction_unit_vector": [
	-0.9368,
	0.3076,
	0.1665
	],
	"vertical_relation": "below",
	"vertical_offset_cm": -6.96,
	"horizontal_distance_cm": 41.2
	}
	},
	{
	"object_id": 58,
	"label": "paper",
	"centroid": [
	1.9055,
	4.0532,
	0.859
	],
	"centroid_distance_m": 0.4707,
	"spatial_3d": {
	"edge_distance_cm": 15.28,
	"center_distance_cm": 47.07,
	"nearest_point_small": [
	1.6641,
	4.0956,
	0.8502
	],
	"nearest_point_nearby": [
	1.8115,
	4.0566,
	0.8589
	],
	"direction_unit_vector": [
	0.9534,
	-0.3018,
	0.0008
	],
	"vertical_relation": "same_level",
	"vertical_offset_cm": -0.04,
	"horizontal_distance_cm": 47.07
	}
	},
	{
	"object_id": 68,
	"label": "mouse",
	"centroid": [
	1.7859,
	3.8476,
	0.8526
	],
	"centroid_distance_m": 0.4788,
	"spatial_3d": {
	"edge_distance_cm": 21.1,
	"center_distance_cm": 47.88,
	"nearest_point_small": [
	1.66,
	4.0828,
	0.8469
	],
	"nearest_point_nearby": [
	1.7654,
	3.9001,
	0.8452
	],
	"direction_unit_vector": [
	0.6875,
	-0.7261,
	-0.0126
	],
	"vertical_relation": "same_level",
	"vertical_offset_cm": 0.6,
	"horizontal_distance_cm": 47.88
	}
	},
	{
	"object_id": 52,
	"label": "laptop",
	"centroid": [
	1.977,
	4.1159,
	0.9185
	],
	"centroid_distance_m": 0.5297,
	"spatial_3d": {
	"edge_distance_cm": 11.03,
	"center_distance_cm": 52.97,
	"nearest_point_small": [
	1.6641,
	4.0956,
	0.8502
	],
	"nearest_point_nearby": [
	1.7713,
	4.0721,
	0.8394
	],
	"direction_unit_vector": [
	0.9822,
	-0.1498,
	0.113
	],
	"vertical_relation": "below",
	"vertical_offset_cm": -5.99,
	"horizontal_distance_cm": 52.63
	}
	},
	{
	"object_id": 57,
	"label": "monitor light",
	"centroid": [
	1.4581,
	4.2106,
	1.4123
	],
	"centroid_distance_m": 0.5538,
	"spatial_3d": {
	"edge_distance_cm": 45.22,
	"center_distance_cm": 55.38,
	"nearest_point_small": [
	1.4564,
	4.3174,
	0.9447
	],
	"nearest_point_nearby": [
	1.4446,
	4.2447,
	1.3909
	],
	"direction_unit_vector": [
	0.0025,
	0.0277,
	0.9996
	],
	"vertical_relation": "below",
	"vertical_offset_cm": -55.36,
	"horizontal_distance_cm": 1.54
	}
	},
	{
	"object_id": 61,
	"label": "sculpture",
	"centroid": [
	0.9507,
	4.4213,
	0.9348
	],
	"centroid_distance_m": 0.5594,
	"spatial_3d": {
	"edge_distance_cm": 24.88,
	"center_distance_cm": 55.94,
	"nearest_point_small": [
	1.2529,
	4.3178,
	0.8567
	],
	"nearest_point_nearby": [
	1.0241,
	4.4142,
	0.8412
	],
	"direction_unit_vector": [
	-0.9045,
	0.4041,
	0.1362
	],
	"vertical_relation": "below",
	"vertical_offset_cm": -7.62,
	"horizontal_distance_cm": 55.42
	}
	},
	{
	"object_id": 63,
	"label": "paper",
	"centroid": [
	0.8928,
	4.0627,
	0.8689
	],
	"centroid_distance_m": 0.5793,
	"spatial_3d": {
	"edge_distance_cm": 21.19,
	"center_distance_cm": 57.93,
	"nearest_point_small": [
	1.232,
	4.2023,
	0.852
	],
	"nearest_point_nearby": [
	1.0208,
	4.2066,
	0.8699
	],
	"direction_unit_vector": [
	-0.9733,
	-0.2287,
	0.0177
	],
	"vertical_relation": "same_level",
	"vertical_offset_cm": -1.02,
	"horizontal_distance_cm": 57.92
	}
	},
	{
	"object_id": 33,
	"label": "desk lamp",
	"centroid": [
	1.0137,
	4.3732,
	1.2303
	],
	"centroid_distance_m": 0.605,
	"spatial_3d": {
	"edge_distance_cm": 24.54,
	"center_distance_cm": 60.5,
	"nearest_point_small": [
	1.2509,
	4.3123,
	0.8572
	],
	"nearest_point_nearby": [
	1.0143,
	4.3761,
	0.8442
	],
	"direction_unit_vector": [
	-0.7322,
	0.2942,
	0.6143
	],
	"vertical_relation": "below",
	"vertical_offset_cm": -37.16,
	"horizontal_distance_cm": 47.74
	}
	},
	{
	"object_id": 64,
	"label": "toilet paper",
	"centroid": [
	0.8394,
	4.1332,
	0.9346
	],
	"centroid_distance_m": 0.6251,
	"spatial_3d": {
	"edge_distance_cm": 33.63,
	"center_distance_cm": 62.51,
	"nearest_point_small": [
	1.2284,
	4.1573,
	0.8451
	],
	"nearest_point_nearby": [
	0.8947,
	4.124,
	0.8697
	],
	"direction_unit_vector": [
	-0.9876,
	-0.0993,
	0.1215
	],
	"vertical_relation": "below",
	"vertical_offset_cm": -7.6,
	"horizontal_distance_cm": 62.04
	}
	},
	{
	"object_id": 35,
	"label": "office chair",
	"centroid": [
	1.1893,
	3.6489,
	0.6943
	],
	"centroid_distance_m": 0.63,
	"spatial_3d": {
	"edge_distance_cm": 32.53,
	"center_distance_cm": 63.0,
	"nearest_point_small": [
	1.3059,
	4.1377,
	0.8325
	],
	"nearest_point_nearby": [
	1.2721,
	3.9333,
	0.5817
	],
	"direction_unit_vector": [
	-0.4244,
	-0.8671,
	-0.2608
	],
	"vertical_relation": "above",
	"vertical_offset_cm": 16.43,
	"horizontal_distance_cm": 60.82
	}
	},
	{
	"object_id": 69,
	"label": "mousepad",
	"centroid": [
	2.0013,
	3.6893,
	0.8379
	],
	"centroid_distance_m": 0.7436,
	"spatial_3d": {
	"edge_distance_cm": 33.08,
	"center_distance_cm": 74.36,
	"nearest_point_small": [
	1.66,
	4.0828,
	0.8469
	],
	"nearest_point_nearby": [
	1.9121,
	3.8687,
	0.8418
	],
	"direction_unit_vector": [
	0.7323,
	-0.6804,
	-0.0279
	],
	"vertical_relation": "same_level",
	"vertical_offset_cm": 2.08,
	"horizontal_distance_cm": 74.33
	}
	},
	{
	"object_id": 98,
	"label": "box",
	"centroid": [
	2.3677,
	3.991,
	0.67
	],
	"centroid_distance_m": 0.9525,
	"spatial_3d": {
	"edge_distance_cm": 61.2,
	"center_distance_cm": 95.25,
	"nearest_point_small": [
	1.6614,
	4.0883,
	0.8422
	],
	"nearest_point_nearby": [
	2.2366,
	3.917,
	0.7224
	],
	"direction_unit_vector": [
	0.9565,
	-0.2144,
	-0.198
	],
	"vertical_relation": "above",
	"vertical_offset_cm": 18.86,
	"horizontal_distance_cm": 93.36
	}
	}
	]
	},
	{
	"object_id": 62,
	"label": "bottle",
	"centroid": [
	1.0653,
	4.3237,
	0.9282
	],
	"nearby_objects": [
	{
	"object_id": 60,
	"label": "sculpture",
	"centroid": [
	1.1405,
	4.405,
	0.8921
	],
	"centroid_distance_m": 0.1165,
	"spatial_3d": {
	"edge_distance_cm": 5.76,
	"center_distance_cm": 11.65,
	"nearest_point_small": [
	1.075,
	4.3525,
	0.8403
	],
	"nearest_point_nearby": [
	1.1056,
	4.3995,
	0.8272
	],
	"direction_unit_vector": [
	0.6459,
	0.6977,
	-0.3099
	],
	"vertical_relation": "same_level",
	"vertical_offset_cm": 3.61,
	"horizontal_distance_cm": 11.08
	}
	},
	{
	"object_id": 61,
	"label": "sculpture",
	"centroid": [
	0.9507,
	4.4213,
	0.9348
	],
	"centroid_distance_m": 0.1506,
	"spatial_3d": {
	"edge_distance_cm": 7.65,
	"center_distance_cm": 15.06,
	"nearest_point_small": [
	1.0719,
	4.3546,
	0.8428
	],
	"nearest_point_nearby": [
	1.0241,
	4.4142,
	0.8412
	],
	"direction_unit_vector": [
	-0.7607,
	0.6476,
	0.0438
	],
	"vertical_relation": "same_level",
	"vertical_offset_cm": -0.66,
	"horizontal_distance_cm": 15.05
	}
	},
	{
	"object_id": 64,
	"label": "toilet paper",
	"centroid": [
	0.8394,
	4.1332,
	0.9346
	],
	"centroid_distance_m": 0.2956,
	"spatial_3d": {
	"edge_distance_cm": 21.77,
	"center_distance_cm": 29.56,
	"nearest_point_small": [
	1.0429,
	4.3196,
	0.9507
	],
	"nearest_point_nearby": [
	0.8688,
	4.189,
	0.9572
	],
	"direction_unit_vector": [
	-0.7642,
	-0.6446,
	0.0217
	],
	"vertical_relation": "same_level",
	"vertical_offset_cm": -0.64,
	"horizontal_distance_cm": 29.56
	}
	},
	{
	"object_id": 55,
	"label": "object",
	"centroid": [
	1.1831,
	4.0571,
	0.8618
	],
	"centroid_distance_m": 0.299,
	"spatial_3d": {
	"edge_distance_cm": 15.01,
	"center_distance_cm": 29.9,
	"nearest_point_small": [
	1.0723,
	4.3106,
	0.8601
	],
	"nearest_point_nearby": [
	1.1485,
	4.1814,
	0.8657
	],
	"direction_unit_vector": [
	0.3941,
	-0.8918,
	-0.2221
	],
	"vertical_relation": "above",
	"vertical_offset_cm": 6.64,
	"horizontal_distance_cm": 29.15
	}
	},
	{
	"object_id": 33,
	"label": "desk lamp",
	"centroid": [
	1.0137,
	4.3732,
	1.2303
	],
	"centroid_distance_m": 0.3104,
	"spatial_3d": {
	"edge_distance_cm": 6.0,
	"center_distance_cm": 31.04,
	"nearest_point_small": [
	1.0407,
	4.3223,
	0.8438
	],
	"nearest_point_nearby": [
	1.0143,
	4.3761,
	0.8442
	],
	"direction_unit_vector": [
	-0.166,
	0.1593,
	0.9732
	],
	"vertical_relation": "below",
	"vertical_offset_cm": -30.21,
	"horizontal_distance_cm": 7.14
	}
	},
	{
	"object_id": 56,
	"label": "object",
	"centroid": [
	1.1536,
	4.0336,
	0.8584
	],
	"centroid_distance_m": 0.3112,
	"spatial_3d": {
	"edge_distance_cm": 15.35,
	"center_distance_cm": 31.12,
	"nearest_point_small": [
	1.0632,
	4.3078,
	0.8944
	],
	"nearest_point_nearby": [
	1.0728,
	4.1547,
	0.8982
	],
	"direction_unit_vector": [
	0.2837,
	-0.9323,
	-0.2244
	],
	"vertical_relation": "above",
	"vertical_offset_cm": 6.98,
	"horizontal_distance_cm": 30.33
	}
	},
	{
	"object_id": 63,
	"label": "paper",
	"centroid": [
	0.8928,
	4.0627,
	0.8689
	],
	"centroid_distance_m": 0.3184,
	"spatial_3d": {
	"edge_distance_cm": 9.51,
	"center_distance_cm": 31.84,
	"nearest_point_small": [
	1.0478,
	4.3126,
	0.8599
	],
	"nearest_point_nearby": [
	1.0034,
	4.2285,
	0.8633
	],
	"direction_unit_vector": [
	-0.5417,
	-0.8197,
	-0.1863
	],
	"vertical_relation": "above",
	"vertical_offset_cm": 5.93,
	"horizontal_distance_cm": 31.28
	}
	},
	{
	"object_id": 31,
	"label": "bluetooth speaker",
	"centroid": [
	1.4334,
	4.2312,
	1.0268
	],
	"centroid_distance_m": 0.3922,
	"spatial_3d": {
	"edge_distance_cm": 25.67,
	"center_distance_cm": 39.22,
	"nearest_point_small": [
	1.0829,
	4.3201,
	0.978
	],
	"nearest_point_nearby": [
	1.328,
	4.2576,
	1.0214
	],
	"direction_unit_vector": [
	0.9387,
	-0.236,
	0.2515
	],
	"vertical_relation": "below",
	"vertical_offset_cm": -9.86,
	"horizontal_distance_cm": 37.96
	}
	},
	{
	"object_id": 42,
	"label": "keyboard",
	"centroid": [
	1.4567,
	4.1952,
	0.8586
	],
	"centroid_distance_m": 0.4178,
	"spatial_3d": {
	"edge_distance_cm": 16.57,
	"center_distance_cm": 41.78,
	"nearest_point_small": [
	1.0846,
	4.3285,
	0.8584
	],
	"nearest_point_nearby": [
	1.2482,
	4.302,
	0.8571
	],
	"direction_unit_vector": [
	0.9368,
	-0.3076,
	-0.1665
	],
	"vertical_relation": "above",
	"vertical_offset_cm": 6.96,
	"horizontal_distance_cm": 41.2
	}
	},
	{
	"object_id": 32,
	"label": "monitor",
	"centroid": [
	1.4188,
	4.2512,
	1.1668
	],
	"centroid_distance_m": 0.4326,
	"spatial_3d": {
	"edge_distance_cm": 11.06,
	"center_distance_cm": 43.26,
	"nearest_point_small": [
	1.0645,
	4.3345,
	1.024
	],
	"nearest_point_nearby": [
	1.1532,
	4.3059,
	1.0835
	],
	"direction_unit_vector": [
	0.8171,
	-0.1677,
	0.5515
	],
	"vertical_relation": "below",
	"vertical_offset_cm": -23.86,
	"horizontal_distance_cm": 36.09
	}
	},
	{
	"object_id": 65,
	"label": "receipt",
	"centroid": [
	1.4109,
	3.9885,
	0.8404
	],
	"centroid_distance_m": 0.4895,
	"spatial_3d": {
	"edge_distance_cm": 43.14,
	"center_distance_cm": 48.95,
	"nearest_point_small": [
	1.077,
	4.3135,
	0.8358
	],
	"nearest_point_nearby": [
	1.3981,
	4.0255,
	0.837
	],
	"direction_unit_vector": [
	0.7061,
	-0.6849,
	-0.1795
	],
	"vertical_relation": "above",
	"vertical_offset_cm": 8.78,
	"horizontal_distance_cm": 48.15
	}
	},
	{
	"object_id": 34,
	"label": "table",
	"centroid": [
	1.5119,
	3.9396,
	0.7625
	],
	"centroid_distance_m": 0.6119,
	"spatial_3d": {
	"edge_distance_cm": 0.2,
	"center_distance_cm": 61.19,
	"nearest_point_small": [
	1.0407,
	4.3223,
	0.8438
	],
	"nearest_point_nearby": [
	1.0404,
	4.3242,
	0.8438
	],
	"direction_unit_vector": [
	0.7298,
	-0.6277,
	-0.2707
	],
	"vertical_relation": "above",
	"vertical_offset_cm": 16.57,
	"horizontal_distance_cm": 58.9
	}
	},
	{
	"object_id": 57,
	"label": "monitor light",
	"centroid": [
	1.4581,
	4.2106,
	1.4123
	],
	"centroid_distance_m": 0.6336,
	"spatial_3d": {
	"edge_distance_cm": 41.72,
	"center_distance_cm": 63.36,
	"nearest_point_small": [
	1.0645,
	4.3345,
	1.024
	],
	"nearest_point_nearby": [
	1.1842,
	4.2657,
	1.4176
	],
	"direction_unit_vector": [
	0.62,
	-0.1786,
	0.764
	],
	"vertical_relation": "below",
	"vertical_offset_cm": -48.41,
	"horizontal_distance_cm": 40.88
	}
	},
	{
	"object_id": 66,
	"label": "pen",
	"centroid": [
	1.603,
	3.9684,
	0.8369
	],
	"centroid_distance_m": 0.651,
	"spatial_3d": {
	"edge_distance_cm": 60.37,
	"center_distance_cm": 65.1,
	"nearest_point_small": [
	1.0811,
	4.3192,
	0.8359
	],
	"nearest_point_nearby": [
	1.6069,
	4.0227,
	0.837
	],
	"direction_unit_vector": [
	0.8261,
	-0.5459,
	-0.1402
	],
	"vertical_relation": "above",
	"vertical_offset_cm": 9.13,
	"horizontal_distance_cm": 64.46
	}
	},
	{
	"object_id": 67,
	"label": "eraser",
	"centroid": [
	1.6162,
	3.9443,
	0.8397
	],
	"centroid_distance_m": 0.6747,
	"spatial_3d": {
	"edge_distance_cm": 62.81,
	"center_distance_cm": 67.47,
	"nearest_point_small": [
	1.0811,
	4.3192,
	0.8359
	],
	"nearest_point_nearby": [
	1.6006,
	3.9662,
	0.8413
	],
	"direction_unit_vector": [
	0.8165,
	-0.5623,
	-0.1312
	],
	"vertical_relation": "above",
	"vertical_offset_cm": 8.85,
	"horizontal_distance_cm": 66.89
	}
	},
	{
	"object_id": 35,
	"label": "office chair",
	"centroid": [
	1.1893,
	3.6489,
	0.6943
	],
	"centroid_distance_m": 0.7249,
	"spatial_3d": {
	"edge_distance_cm": 37.96,
	"center_distance_cm": 72.49,
	"nearest_point_small": [
	1.056,
	4.3064,
	0.8354
	],
	"nearest_point_nearby": [
	0.9997,
	3.9504,
	0.7163
	],
	"direction_unit_vector": [
	0.1711,
	-0.9309,
	-0.3226
	],
	"vertical_relation": "above",
	"vertical_offset_cm": 23.39,
	"horizontal_distance_cm": 68.61
	}
	},
	{
	"object_id": 68,
	"label": "mouse",
	"centroid": [
	1.7859,
	3.8476,
	0.8526
	],
	"centroid_distance_m": 0.867,
	"spatial_3d": {
	"edge_distance_cm": 80.24,
	"center_distance_cm": 86.7,
	"nearest_point_small": [
	1.0819,
	4.3195,
	0.872
	],
	"nearest_point_nearby": [
	1.7654,
	3.9001,
	0.8452
	],
	"direction_unit_vector": [
	0.8311,
	-0.5492,
	-0.0872
	],
	"vertical_relation": "above",
	"vertical_offset_cm": 7.56,
	"horizontal_distance_cm": 86.37
	}
	},
	{
	"object_id": 58,
	"label": "paper",
	"centroid": [
	1.9055,
	4.0532,
	0.859
	],
	"centroid_distance_m": 0.8854,
	"spatial_3d": {
	"edge_distance_cm": 77.54,
	"center_distance_cm": 88.54,
	"nearest_point_small": [
	1.0848,
	4.3262,
	0.8837
	],
	"nearest_point_nearby": [
	1.8135,
	4.0623,
	0.8593
	],
	"direction_unit_vector": [
	0.949,
	-0.3056,
	-0.0781
	],
	"vertical_relation": "above",
	"vertical_offset_cm": 6.92,
	"horizontal_distance_cm": 88.27
	}
	},
	{
	"object_id": 52,
	"label": "laptop",
	"centroid": [
	1.977,
	4.1159,
	0.9185
	],
	"centroid_distance_m": 0.9352,
	"spatial_3d": {
	"edge_distance_cm": 73.26,
	"center_distance_cm": 93.52,
	"nearest_point_small": [
	1.084,
	4.3257,
	0.8356
	],
	"nearest_point_nearby": [
	1.7713,
	4.0721,
	0.8394
	],
	"direction_unit_vector": [
	0.9749,
	-0.2223,
	-0.0104
	],
	"vertical_relation": "same_level",
	"vertical_offset_cm": 0.97,
	"horizontal_distance_cm": 93.51
	}
	}
	]
	},
	{
	"object_id": 66,
	"label": "pen",
	"centroid": [
	1.603,
	3.9684,
	0.8369
	],
	"nearby_objects": [
	{
	"object_id": 67,
	"label": "eraser",
	"centroid": [
	1.6162,
	3.9443,
	0.8397
	],
	"centroid_distance_m": 0.0275,
	"spatial_3d": {
	"edge_distance_cm": 0.25,
	"center_distance_cm": 2.75,
	"nearest_point_small": [
	1.6019,
	3.9482,
	0.8389
	],
	"nearest_point_nearby": [
	1.601,
	3.95,
	0.8404
	],
	"direction_unit_vector": [
	0.4776,
	-0.8729,
	0.0994
	],
	"vertical_relation": "same_level",
	"vertical_offset_cm": -0.27,
	"horizontal_distance_cm": 2.74
	}
	},
	{
	"object_id": 34,
	"label": "table",
	"centroid": [
	1.5119,
	3.9396,
	0.7625
	],
	"centroid_distance_m": 0.1211,
	"spatial_3d": {
	"edge_distance_cm": 0.3,
	"center_distance_cm": 12.11,
	"nearest_point_small": [
	1.5959,
	3.9034,
	0.8338
	],
	"nearest_point_nearby": [
	1.5974,
	3.901,
	0.8328
	],
	"direction_unit_vector": [
	-0.7527,
	-0.2372,
	-0.6142
	],
	"vertical_relation": "above",
	"vertical_offset_cm": 7.44,
	"horizontal_distance_cm": 9.56
	}
	},
	{
	"object_id": 65,
	"label": "receipt",
	"centroid": [
	1.4109,
	3.9885,
	0.8404
	],
	"centroid_distance_m": 0.1932,
	"spatial_3d": {
	"edge_distance_cm": 12.56,
	"center_distance_cm": 19.32,
	"nearest_point_small": [
	1.5929,
	3.991,
	0.8322
	],
	"nearest_point_nearby": [
	1.4707,
	4.0165,
	0.8456
	],
	"direction_unit_vector": [
	-0.9944,
	0.1041,
	0.0176
	],
	"vertical_relation": "same_level",
	"vertical_offset_cm": -0.34,
	"horizontal_distance_cm": 19.32
	}
	},
	{
	"object_id": 68,
	"label": "mouse",
	"centroid": [
	1.7859,
	3.8476,
	0.8526
	],
	"centroid_distance_m": 0.2197,
	"spatial_3d": {
	"edge_distance_cm": 15.44,
	"center_distance_cm": 21.97,
	"nearest_point_small": [
	1.6286,
	3.9721,
	0.8399
	],
	"nearest_point_nearby": [
	1.7619,
	3.8942,
	0.8436
	],
	"direction_unit_vector": [
	0.8322,
	-0.5498,
	0.0713
	],
	"vertical_relation": "same_level",
	"vertical_offset_cm": -1.57,
	"horizontal_distance_cm": 21.92
	}
	},
	{
	"object_id": 42,
	"label": "keyboard",
	"centroid": [
	1.4567,
	4.1952,
	0.8586
	],
	"centroid_distance_m": 0.2708,
	"spatial_3d": {
	"edge_distance_cm": 6.55,
	"center_distance_cm": 27.08,
	"nearest_point_small": [
	1.6069,
	4.0227,
	0.837
	],
	"nearest_point_nearby": [
	1.6185,
	4.0869,
	0.8428
	],
	"direction_unit_vector": [
	-0.5403,
	0.8376,
	0.0801
	],
	"vertical_relation": "same_level",
	"vertical_offset_cm": -2.17,
	"horizontal_distance_cm": 27.0
	}
	},
	{
	"object_id": 58,
	"label": "paper",
	"centroid": [
	1.9055,
	4.0532,
	0.859
	],
	"centroid_distance_m": 0.3149,
	"spatial_3d": {
	"edge_distance_cm": 19.91,
	"center_distance_cm": 31.49,
	"nearest_point_small": [
	1.6299,
	3.9786,
	0.8345
	],
	"nearest_point_nearby": [
	1.8115,
	4.0566,
	0.8589
	],
	"direction_unit_vector": [
	0.9605,
	0.2693,
	0.0701
	],
	"vertical_relation": "same_level",
	"vertical_offset_cm": -2.21,
	"horizontal_distance_cm": 31.41
	}
	},
	{
	"object_id": 31,
	"label": "bluetooth speaker",
	"centroid": [
	1.4334,
	4.2312,
	1.0268
	],
	"centroid_distance_m": 0.3659,
	"spatial_3d": {
	"edge_distance_cm": 25.36,
	"center_distance_cm": 36.59,
	"nearest_point_small": [
	1.6069,
	4.0227,
	0.837
	],
	"nearest_point_nearby": [
	1.5046,
	4.1899,
	0.9978
	],
	"direction_unit_vector": [
	-0.4636,
	0.7182,
	0.5189
	],
	"vertical_relation": "below",
	"vertical_offset_cm": -18.99,
	"horizontal_distance_cm": 31.28
	}
	},
	{
	"object_id": 52,
	"label": "laptop",
	"centroid": [
	1.977,
	4.1159,
	0.9185
	],
	"centroid_distance_m": 0.4102,
	"spatial_3d": {
	"edge_distance_cm": 13.03,
	"center_distance_cm": 41.02,
	"nearest_point_small": [
	1.6301,
	3.9749,
	0.836
	],
	"nearest_point_nearby": [
	1.76,
	3.9835,
	0.8417
	],
	"direction_unit_vector": [
	0.9117,
	0.3596,
	0.1988
	],
	"vertical_relation": "below",
	"vertical_offset_cm": -8.15,
	"horizontal_distance_cm": 40.2
	}
	},
	{
	"object_id": 55,
	"label": "object",
	"centroid": [
	1.1831,
	4.0571,
	0.8618
	],
	"centroid_distance_m": 0.4299,
	"spatial_3d": {
	"edge_distance_cm": 37.48,
	"center_distance_cm": 42.99,
	"nearest_point_small": [
	1.5929,
	3.991,
	0.8322
	],
	"nearest_point_nearby": [
	1.223,
	4.0417,
	0.8652
	],
	"direction_unit_vector": [
	-0.9768,
	0.2064,
	0.0578
	],
	"vertical_relation": "same_level",
	"vertical_offset_cm": -2.49,
	"horizontal_distance_cm": 42.92
	}
	},
	{
	"object_id": 56,
	"label": "object",
	"centroid": [
	1.1536,
	4.0336,
	0.8584
	],
	"centroid_distance_m": 0.4547,
	"spatial_3d": {
	"edge_distance_cm": 33.85,
	"center_distance_cm": 45.47,
	"nearest_point_small": [
	1.5929,
	3.991,
	0.8322
	],
	"nearest_point_nearby": [
	1.2591,
	4.0441,
	0.8496
	],
	"direction_unit_vector": [
	-0.9885,
	0.1434,
	0.0471
	],
	"vertical_relation": "same_level",
	"vertical_offset_cm": -2.14,
	"horizontal_distance_cm": 45.42
	}
	},
	{
	"object_id": 32,
	"label": "monitor",
	"centroid": [
	1.4188,
	4.2512,
	1.1668
	],
	"centroid_distance_m": 0.472,
	"spatial_3d": {
	"edge_distance_cm": 20.63,
	"center_distance_cm": 47.2,
	"nearest_point_small": [
	1.6069,
	4.0227,
	0.837
	],
	"nearest_point_nearby": [
	1.508,
	4.1379,
	0.9767
	],
	"direction_unit_vector": [
	-0.3904,
	0.5992,
	0.6989
	],
	"vertical_relation": "below",
	"vertical_offset_cm": -32.98,
	"horizontal_distance_cm": 33.76
	}
	},
	{
	"object_id": 69,
	"label": "mousepad",
	"centroid": [
	2.0013,
	3.6893,
	0.8379
	],
	"centroid_distance_m": 0.4863,
	"spatial_3d": {
	"edge_distance_cm": 30.14,
	"center_distance_cm": 48.63,
	"nearest_point_small": [
	1.6301,
	3.9749,
	0.836
	],
	"nearest_point_nearby": [
	1.9121,
	3.8687,
	0.8418
	],
	"direction_unit_vector": [
	0.8189,
	-0.5739,
	0.0019
	],
	"vertical_relation": "same_level",
	"vertical_offset_cm": -0.09,
	"horizontal_distance_cm": 48.63
	}
	},
	{
	"object_id": 35,
	"label": "office chair",
	"centroid": [
	1.1893,
	3.6489,
	0.6943
	],
	"centroid_distance_m": 0.5418,
	"spatial_3d": {
	"edge_distance_cm": 19.16,
	"center_distance_cm": 54.18,
	"nearest_point_small": [
	1.5879,
	3.8954,
	0.8355
	],
	"nearest_point_nearby": [
	1.5254,
	3.745,
	0.7344
	],
	"direction_unit_vector": [
	-0.7636,
	-0.5896,
	-0.2632
	],
	"vertical_relation": "above",
	"vertical_offset_cm": 14.26,
	"horizontal_distance_cm": 52.27
	}
	},
	{
	"object_id": 60,
	"label": "sculpture",
	"centroid": [
	1.1405,
	4.405,
	0.8921
	],
	"centroid_distance_m": 0.6385,
	"spatial_3d": {
	"edge_distance_cm": 57.39,
	"center_distance_cm": 63.85,
	"nearest_point_small": [
	1.6069,
	4.0227,
	0.837
	],
	"nearest_point_nearby": [
	1.1686,
	4.3859,
	0.91
	],
	"direction_unit_vector": [
	-0.7244,
	0.6839,
	0.0864
	],
	"vertical_relation": "below",
	"vertical_offset_cm": -5.51,
	"horizontal_distance_cm": 63.61
	}
	},
	{
	"object_id": 57,
	"label": "monitor light",
	"centroid": [
	1.4581,
	4.2106,
	1.4123
	],
	"centroid_distance_m": 0.6408,
	"spatial_3d": {
	"edge_distance_cm": 58.63,
	"center_distance_cm": 64.08,
	"nearest_point_small": [
	1.6097,
	4.0186,
	0.8398
	],
	"nearest_point_nearby": [
	1.6572,
	4.168,
	1.4048
	],
	"direction_unit_vector": [
	-0.2262,
	0.378,
	0.8978
	],
	"vertical_relation": "below",
	"vertical_offset_cm": -57.53,
	"horizontal_distance_cm": 28.23
	}
	},
	{
	"object_id": 62,
	"label": "bottle",
	"centroid": [
	1.0653,
	4.3237,
	0.9282
	],
	"centroid_distance_m": 0.651,
	"spatial_3d": {
	"edge_distance_cm": 60.37,
	"center_distance_cm": 65.1,
	"nearest_point_small": [
	1.6069,
	4.0227,
	0.837
	],
	"nearest_point_nearby": [
	1.0811,
	4.3192,
	0.8359
	],
	"direction_unit_vector": [
	-0.8261,
	0.5459,
	0.1402
	],
	"vertical_relation": "below",
	"vertical_offset_cm": -9.13,
	"horizontal_distance_cm": 64.46
	}
	},
	{
	"object_id": 63,
	"label": "paper",
	"centroid": [
	0.8928,
	4.0627,
	0.8689
	],
	"centroid_distance_m": 0.7172,
	"spatial_3d": {
	"edge_distance_cm": 59.39,
	"center_distance_cm": 71.72,
	"nearest_point_small": [
	1.5929,
	3.991,
	0.8322
	],
	"nearest_point_nearby": [
	1.0072,
	4.08,
	0.8739
	],
	"direction_unit_vector": [
	-0.9903,
	0.1316,
	0.0445
	],
	"vertical_relation": "same_level",
	"vertical_offset_cm": -3.19,
	"horizontal_distance_cm": 71.65
	}
	},
	{
	"object_id": 98,
	"label": "box",
	"centroid": [
	2.3677,
	3.991,
	0.67
	],
	"centroid_distance_m": 0.783,
	"spatial_3d": {
	"edge_distance_cm": 61.94,
	"center_distance_cm": 78.3,
	"nearest_point_small": [
	1.6301,
	3.9749,
	0.836
	],
	"nearest_point_nearby": [
	2.2362,
	3.9115,
	0.7248
	],
	"direction_unit_vector": [
	0.9766,
	0.0289,
	-0.2132
	],
	"vertical_relation": "above",
	"vertical_offset_cm": 16.69,
	"horizontal_distance_cm": 76.5
	}
	},
	{
	"object_id": 64,
	"label": "toilet paper",
	"centroid": [
	0.8394,
	4.1332,
	0.9346
	],
	"centroid_distance_m": 0.7873,
	"spatial_3d": {
	"edge_distance_cm": 71.18,
	"center_distance_cm": 78.73,
	"nearest_point_small": [
	1.5929,
	3.991,
	0.8322
	],
	"nearest_point_nearby": [
	0.8947,
	4.124,
	0.8697
	],
	"direction_unit_vector": [
	-0.9699,
	0.2093,
	0.124
	],
	"vertical_relation": "below",
	"vertical_offset_cm": -9.77,
	"horizontal_distance_cm": 78.13
	}
	},
	{
	"object_id": 61,
	"label": "sculpture",
	"centroid": [
	0.9507,
	4.4213,
	0.9348
	],
	"centroid_distance_m": 0.8001,
	"spatial_3d": {
	"edge_distance_cm": 70.22,
	"center_distance_cm": 80.01,
	"nearest_point_small": [
	1.6069,
	4.0227,
	0.837
	],
	"nearest_point_nearby": [
	1.0241,
	4.4142,
	0.8412
	],
	"direction_unit_vector": [
	-0.8153,
	0.566,
	0.1223
	],
	"vertical_relation": "below",
	"vertical_offset_cm": -9.79,
	"horizontal_distance_cm": 79.41
	}
	},
	{
	"object_id": 33,
	"label": "desk lamp",
	"centroid": [
	1.0137,
	4.3732,
	1.2303
	],
	"centroid_distance_m": 0.816,
	"spatial_3d": {
	"edge_distance_cm": 69.0,
	"center_distance_cm": 81.6,
	"nearest_point_small": [
	1.6069,
	4.0227,
	0.837
	],
	"nearest_point_nearby": [
	1.0143,
	4.3761,
	0.8442
	],
	"direction_unit_vector": [
	-0.7222,
	0.4961,
	0.482
	],
	"vertical_relation": "below",
	"vertical_offset_cm": -39.33,
	"horizontal_distance_cm": 71.49
	}
	},
	{
	"object_id": 54,
	"label": "book shelf",
	"centroid": [
	2.5239,
	3.9369,
	1.1356
	],
	"centroid_distance_m": 0.9685,
	"spatial_3d": {
	"edge_distance_cm": 51.18,
	"center_distance_cm": 96.86,
	"nearest_point_small": [
	1.6301,
	3.9749,
	0.836
	],
	"nearest_point_nearby": [
	2.1288,
	3.8908,
	0.9146
	],
	"direction_unit_vector": [
	0.9507,
	-0.0325,
	0.3083
	],
	"vertical_relation": "below",
	"vertical_offset_cm": -29.86,
	"horizontal_distance_cm": 92.14
	}
	}
	]
	},
	{
	"object_id": 67,
	"label": "eraser",
	"centroid": [
	1.6162,
	3.9443,
	0.8397
	],
	"nearby_objects": [
	{
	"object_id": 66,
	"label": "pen",
	"centroid": [
	1.603,
	3.9684,
	0.8369
	],
	"centroid_distance_m": 0.0275,
	"spatial_3d": {
	"edge_distance_cm": 0.25,
	"center_distance_cm": 2.75,
	"nearest_point_small": [
	1.601,
	3.95,
	0.8404
	],
	"nearest_point_nearby": [
	1.6019,
	3.9482,
	0.8389
	],
	"direction_unit_vector": [
	-0.4776,
	0.8729,
	-0.0994
	],
	"vertical_relation": "same_level",
	"vertical_offset_cm": 0.27,
	"horizontal_distance_cm": 2.74
	}
	},
	{
	"object_id": 34,
	"label": "table",
	"centroid": [
	1.5119,
	3.9396,
	0.7625
	],
	"centroid_distance_m": 0.1298,
	"spatial_3d": {
	"edge_distance_cm": 0.27,
	"center_distance_cm": 12.98,
	"nearest_point_small": [
	1.6338,
	3.931,
	0.8359
	],
	"nearest_point_nearby": [
	1.635,
	3.9324,
	0.834
	],
	"direction_unit_vector": [
	-0.8035,
	-0.0363,
	-0.5942
	],
	"vertical_relation": "above",
	"vertical_offset_cm": 7.71,
	"horizontal_distance_cm": 10.44
	}
	},
	{
	"object_id": 68,
	"label": "mouse",
	"centroid": [
	1.7859,
	3.8476,
	0.8526
	],
	"centroid_distance_m": 0.1958,
	"spatial_3d": {
	"edge_distance_cm": 12.87,
	"center_distance_cm": 19.58,
	"nearest_point_small": [
	1.6324,
	3.9097,
	0.8423
	],
	"nearest_point_nearby": [
	1.7583,
	3.8831,
	0.8436
	],
	"direction_unit_vector": [
	0.8668,
	-0.4943,
	0.066
	],
	"vertical_relation": "same_level",
	"vertical_offset_cm": -1.29,
	"horizontal_distance_cm": 19.54
	}
	},
	{
	"object_id": 65,
	"label": "receipt",
	"centroid": [
	1.4109,
	3.9885,
	0.8404
	],
	"centroid_distance_m": 0.21,
	"spatial_3d": {
	"edge_distance_cm": 13.89,
	"center_distance_cm": 21.0,
	"nearest_point_small": [
	1.6006,
	3.9662,
	0.8413
	],
	"nearest_point_nearby": [
	1.4699,
	4.0132,
	0.8467
	],
	"direction_unit_vector": [
	-0.9777,
	0.2102,
	0.0032
	],
	"vertical_relation": "same_level",
	"vertical_offset_cm": -0.07,
	"horizontal_distance_cm": 21.0
	}
	},
	{
	"object_id": 42,
	"label": "keyboard",
	"centroid": [
	1.4567,
	4.1952,
	0.8586
	],
	"centroid_distance_m": 0.2979,
	"spatial_3d": {
	"edge_distance_cm": 10.88,
	"center_distance_cm": 29.79,
	"nearest_point_small": [
	1.6258,
	3.9737,
	0.8391
	],
	"nearest_point_nearby": [
	1.6412,
	4.0811,
	0.8477
	],
	"direction_unit_vector": [
	-0.5354,
	0.8422,
	0.0636
	],
	"vertical_relation": "same_level",
	"vertical_offset_cm": -1.9,
	"horizontal_distance_cm": 29.73
	}
	},
	{
	"object_id": 58,
	"label": "paper",
	"centroid": [
	1.9055,
	4.0532,
	0.859
	],
	"centroid_distance_m": 0.3097,
	"spatial_3d": {
	"edge_distance_cm": 19.93,
	"center_distance_cm": 30.97,
	"nearest_point_small": [
	1.6348,
	3.968,
	0.8339
	],
	"nearest_point_nearby": [
	1.8115,
	4.0566,
	0.8589
	],
	"direction_unit_vector": [
	0.9341,
	0.3514,
	0.0624
	],
	"vertical_relation": "same_level",
	"vertical_offset_cm": -1.93,
	"horizontal_distance_cm": 30.91
	}
	},
	{
	"object_id": 31,
	"label": "bluetooth speaker",
	"centroid": [
	1.4334,
	4.2312,
	1.0268
	],
	"centroid_distance_m": 0.3882,
	"spatial_3d": {
	"edge_distance_cm": 28.78,
	"center_distance_cm": 38.82,
	"nearest_point_small": [
	1.6041,
	3.9703,
	0.8406
	],
	"nearest_point_nearby": [
	1.5046,
	4.1899,
	0.9978
	],
	"direction_unit_vector": [
	-0.4708,
	0.7389,
	0.482
	],
	"vertical_relation": "below",
	"vertical_offset_cm": -18.71,
	"horizontal_distance_cm": 34.01
	}
	},
	{
	"object_id": 52,
	"label": "laptop",
	"centroid": [
	1.977,
	4.1159,
	0.9185
	],
	"centroid_distance_m": 0.4072,
	"spatial_3d": {
	"edge_distance_cm": 12.61,
	"center_distance_cm": 40.72,
	"nearest_point_small": [
	1.6367,
	3.9587,
	0.8324
	],
	"nearest_point_nearby": [
	1.76,
	3.9835,
	0.8417
	],
	"direction_unit_vector": [
	0.8861,
	0.4212,
	0.1935
	],
	"vertical_relation": "below",
	"vertical_offset_cm": -7.88,
	"horizontal_distance_cm": 39.95
	}
	},
	{
	"object_id": 55,
	"label": "object",
	"centroid": [
	1.1831,
	4.0571,
	0.8618
	],
	"centroid_distance_m": 0.4481,
	"spatial_3d": {
	"edge_distance_cm": 38.5,
	"center_distance_cm": 44.81,
	"nearest_point_small": [
	1.5988,
	3.9585,
	0.84
	],
	"nearest_point_nearby": [
	1.2217,
	4.0319,
	0.8652
	],
	"direction_unit_vector": [
	-0.9666,
	0.2517,
	0.0494
	],
	"vertical_relation": "same_level",
	"vertical_offset_cm": -2.21,
	"horizontal_distance_cm": 44.75
	}
	},
	{
	"object_id": 69,
	"label": "mousepad",
	"centroid": [
	2.0013,
	3.6893,
	0.8379
	],
	"centroid_distance_m": 0.4619,
	"spatial_3d": {
	"edge_distance_cm": 28.24,
	"center_distance_cm": 46.19,
	"nearest_point_small": [
	1.6324,
	3.9097,
	0.8423
	],
	"nearest_point_nearby": [
	1.9097,
	3.8563,
	0.8398
	],
	"direction_unit_vector": [
	0.8337,
	-0.5522,
	-0.0039
	],
	"vertical_relation": "same_level",
	"vertical_offset_cm": 0.18,
	"horizontal_distance_cm": 46.19
	}
	},
	{
	"object_id": 56,
	"label": "object",
	"centroid": [
	1.1536,
	4.0336,
	0.8584
	],
	"centroid_distance_m": 0.4715,
	"spatial_3d": {
	"edge_distance_cm": 34.86,
	"center_distance_cm": 47.15,
	"nearest_point_small": [
	1.5988,
	3.9585,
	0.84
	],
	"nearest_point_nearby": [
	1.2544,
	4.0122,
	0.8472
	],
	"direction_unit_vector": [
	-0.9811,
	0.1893,
	0.0396
	],
	"vertical_relation": "same_level",
	"vertical_offset_cm": -1.87,
	"horizontal_distance_cm": 47.11
	}
	},
	{
	"object_id": 32,
	"label": "monitor",
	"centroid": [
	1.4188,
	4.2512,
	1.1668
	],
	"centroid_distance_m": 0.49,
	"spatial_3d": {
	"edge_distance_cm": 23.56,
	"center_distance_cm": 49.0,
	"nearest_point_small": [
	1.6041,
	3.9703,
	0.8406
	],
	"nearest_point_nearby": [
	1.5069,
	4.1353,
	0.978
	],
	"direction_unit_vector": [
	-0.4029,
	0.6262,
	0.6675
	],
	"vertical_relation": "below",
	"vertical_offset_cm": -32.71,
	"horizontal_distance_cm": 36.49
	}
	},
	{
	"object_id": 35,
	"label": "office chair",
	"centroid": [
	1.1893,
	3.6489,
	0.6943
	],
	"centroid_distance_m": 0.5391,
	"spatial_3d": {
	"edge_distance_cm": 20.72,
	"center_distance_cm": 53.91,
	"nearest_point_small": [
	1.5959,
	3.9103,
	0.8376
	],
	"nearest_point_nearby": [
	1.5254,
	3.745,
	0.7344
	],
	"direction_unit_vector": [
	-0.7918,
	-0.548,
	-0.2696
	],
	"vertical_relation": "above",
	"vertical_offset_cm": 14.54,
	"horizontal_distance_cm": 51.91
	}
	},
	{
	"object_id": 57,
	"label": "monitor light",
	"centroid": [
	1.4581,
	4.2106,
	1.4123
	],
	"centroid_distance_m": 0.6509,
	"spatial_3d": {
	"edge_distance_cm": 59.66,
	"center_distance_cm": 65.09,
	"nearest_point_small": [
	1.6289,
	3.9703,
	0.8425
	],
	"nearest_point_nearby": [
	1.6642,
	4.1648,
	1.4054
	],
	"direction_unit_vector": [
	-0.2429,
	0.409,
	0.8796
	],
	"vertical_relation": "below",
	"vertical_offset_cm": -57.26,
	"horizontal_distance_cm": 30.96
	}
	},
	{
	"object_id": 60,
	"label": "sculpture",
	"centroid": [
	1.1405,
	4.405,
	0.8921
	],
	"centroid_distance_m": 0.6642,
	"spatial_3d": {
	"edge_distance_cm": 60.59,
	"center_distance_cm": 66.42,
	"nearest_point_small": [
	1.6041,
	3.9703,
	0.8406
	],
	"nearest_point_nearby": [
	1.1686,
	4.3859,
	0.91
	],
	"direction_unit_vector": [
	-0.7161,
	0.6935,
	0.0789
	],
	"vertical_relation": "below",
	"vertical_offset_cm": -5.24,
	"horizontal_distance_cm": 66.22
	}
	},
	{
	"object_id": 62,
	"label": "bottle",
	"centroid": [
	1.0653,
	4.3237,
	0.9282
	],
	"centroid_distance_m": 0.6747,
	"spatial_3d": {
	"edge_distance_cm": 62.81,
	"center_distance_cm": 67.47,
	"nearest_point_small": [
	1.6006,
	3.9662,
	0.8413
	],
	"nearest_point_nearby": [
	1.0811,
	4.3192,
	0.8359
	],
	"direction_unit_vector": [
	-0.8165,
	0.5623,
	0.1312
	],
	"vertical_relation": "below",
	"vertical_offset_cm": -8.85,
	"horizontal_distance_cm": 66.89
	}
	},
	{
	"object_id": 63,
	"label": "paper",
	"centroid": [
	0.8928,
	4.0627,
	0.8689
	],
	"centroid_distance_m": 0.7336,
	"spatial_3d": {
	"edge_distance_cm": 60.49,
	"center_distance_cm": 73.36,
	"nearest_point_small": [
	1.5988,
	3.9585,
	0.84
	],
	"nearest_point_nearby": [
	1.0072,
	4.08,
	0.8739
	],
	"direction_unit_vector": [
	-0.9861,
	0.1614,
	0.0398
	],
	"vertical_relation": "same_level",
	"vertical_offset_cm": -2.92,
	"horizontal_distance_cm": 73.3
	}
	},
	{
	"object_id": 98,
	"label": "box",
	"centroid": [
	2.3677,
	3.991,
	0.67
	],
	"centroid_distance_m": 0.7719,
	"spatial_3d": {
	"edge_distance_cm": 61.09,
	"center_distance_cm": 77.19,
	"nearest_point_small": [
	1.6367,
	3.9587,
	0.8324
	],
	"nearest_point_nearby": [
	2.2362,
	3.9115,
	0.7248
	],
	"direction_unit_vector": [
	0.9737,
	0.0605,
	-0.2198
	],
	"vertical_relation": "above",
	"vertical_offset_cm": 16.97,
	"horizontal_distance_cm": 75.3
	}
	},
	{
	"object_id": 64,
	"label": "toilet paper",
	"centroid": [
	0.8394,
	4.1332,
	0.9346
	],
	"centroid_distance_m": 0.8051,
	"spatial_3d": {
	"edge_distance_cm": 72.39,
	"center_distance_cm": 80.51,
	"nearest_point_small": [
	1.6006,
	3.9662,
	0.8413
	],
	"nearest_point_nearby": [
	0.8947,
	4.124,
	0.8697
	],
	"direction_unit_vector": [
	-0.9649,
	0.2346,
	0.1179
	],
	"vertical_relation": "below",
	"vertical_offset_cm": -9.49,
	"horizontal_distance_cm": 79.94
	}
	},
	{
	"object_id": 61,
	"label": "sculpture",
	"centroid": [
	0.9507,
	4.4213,
	0.9348
	],
	"centroid_distance_m": 0.8242,
	"spatial_3d": {
	"edge_distance_cm": 73.02,
	"center_distance_cm": 82.42,
	"nearest_point_small": [
	1.6006,
	3.9662,
	0.8413
	],
	"nearest_point_nearby": [
	1.0241,
	4.4142,
	0.8412
	],
	"direction_unit_vector": [
	-0.8074,
	0.5786,
	0.1154
	],
	"vertical_relation": "below",
	"vertical_offset_cm": -9.51,
	"horizontal_distance_cm": 81.87
	}
	},
	{
	"object_id": 33,
	"label": "desk lamp",
	"centroid": [
	1.0137,
	4.3732,
	1.2303
	],
	"centroid_distance_m": 0.8363,
	"spatial_3d": {
	"edge_distance_cm": 71.54,
	"center_distance_cm": 83.63,
	"nearest_point_small": [
	1.6006,
	3.9662,
	0.8413
	],
	"nearest_point_nearby": [
	1.0143,
	4.3761,
	0.8442
	],
	"direction_unit_vector": [
	-0.7204,
	0.5128,
	0.467
	],
	"vertical_relation": "below",
	"vertical_offset_cm": -39.06,
	"horizontal_distance_cm": 73.95
	}
	},
	{
	"object_id": 54,
	"label": "book shelf",
	"centroid": [
	2.5239,
	3.9369,
	1.1356
	],
	"centroid_distance_m": 0.9547,
	"spatial_3d": {
	"edge_distance_cm": 50.17,
	"center_distance_cm": 95.47,
	"nearest_point_small": [
	1.6328,
	3.915,
	0.8432
	],
	"nearest_point_nearby": [
	2.1288,
	3.8908,
	0.9146
	],
	"direction_unit_vector": [
	0.9507,
	-0.0078,
	0.3099
	],
	"vertical_relation": "below",
	"vertical_offset_cm": -29.59,
	"horizontal_distance_cm": 90.77
	}
	}
	]
	},
	{
	"object_id": 68,
	"label": "mouse",
	"centroid": [
	1.7859,
	3.8476,
	0.8526
	],
	"nearby_objects": [
	{
	"object_id": 67,
	"label": "eraser",
	"centroid": [
	1.6162,
	3.9443,
	0.8397
	],
	"centroid_distance_m": 0.1958,
	"spatial_3d": {
	"edge_distance_cm": 12.87,
	"center_distance_cm": 19.58,
	"nearest_point_small": [
	1.7583,
	3.8831,
	0.8436
	],
	"nearest_point_nearby": [
	1.6324,
	3.9097,
	0.8423
	],
	"direction_unit_vector": [
	-0.8668,
	0.4943,
	-0.066
	],
	"vertical_relation": "same_level",
	"vertical_offset_cm": 1.29,
	"horizontal_distance_cm": 19.54
	}
	},
	{
	"object_id": 66,
	"label": "pen",
	"centroid": [
	1.603,
	3.9684,
	0.8369
	],
	"centroid_distance_m": 0.2197,
	"spatial_3d": {
	"edge_distance_cm": 15.44,
	"center_distance_cm": 21.97,
	"nearest_point_small": [
	1.7619,
	3.8942,
	0.8436
	],
	"nearest_point_nearby": [
	1.6286,
	3.9721,
	0.8399
	],
	"direction_unit_vector": [
	-0.8322,
	0.5498,
	-0.0713
	],
	"vertical_relation": "same_level",
	"vertical_offset_cm": 1.57,
	"horizontal_distance_cm": 21.92
	}
	},
	{
	"object_id": 58,
	"label": "paper",
	"centroid": [
	1.9055,
	4.0532,
	0.859
	],
	"centroid_distance_m": 0.2379,
	"spatial_3d": {
	"edge_distance_cm": 12.03,
	"center_distance_cm": 23.79,
	"nearest_point_small": [
	1.8032,
	3.9119,
	0.8378
	],
	"nearest_point_nearby": [
	1.879,
	4.0031,
	0.8574
	],
	"direction_unit_vector": [
	0.5026,
	0.8641,
	0.0269
	],
	"vertical_relation": "same_level",
	"vertical_offset_cm": -0.64,
	"horizontal_distance_cm": 23.79
	}
	},
	{
	"object_id": 69,
	"label": "mousepad",
	"centroid": [
	2.0013,
	3.6893,
	0.8379
	],
	"centroid_distance_m": 0.2677,
	"spatial_3d": {
	"edge_distance_cm": 10.22,
	"center_distance_cm": 26.77,
	"nearest_point_small": [
	1.8083,
	3.8616,
	0.8516
	],
	"nearest_point_nearby": [
	1.9097,
	3.8563,
	0.8398
	],
	"direction_unit_vector": [
	0.8046,
	-0.5913,
	-0.055
	],
	"vertical_relation": "same_level",
	"vertical_offset_cm": 1.47,
	"horizontal_distance_cm": 26.73
	}
	},
	{
	"object_id": 34,
	"label": "table",
	"centroid": [
	1.5119,
	3.9396,
	0.7625
	],
	"centroid_distance_m": 0.3028,
	"spatial_3d": {
	"edge_distance_cm": 0.26,
	"center_distance_cm": 30.28,
	"nearest_point_small": [
	1.8048,
	3.8545,
	0.8398
	],
	"nearest_point_nearby": [
	1.8066,
	3.855,
	0.838
	],
	"direction_unit_vector": [
	-0.905,
	0.3041,
	-0.2974
	],
	"vertical_relation": "above",
	"vertical_offset_cm": 9.01,
	"horizontal_distance_cm": 28.91
	}
	},
	{
	"object_id": 52,
	"label": "laptop",
	"centroid": [
	1.977,
	4.1159,
	0.9185
	],
	"centroid_distance_m": 0.3359,
	"spatial_3d": {
	"edge_distance_cm": 3.93,
	"center_distance_cm": 33.59,
	"nearest_point_small": [
	1.7969,
	3.9145,
	0.8419
	],
	"nearest_point_nearby": [
	1.8077,
	3.9514,
	0.834
	],
	"direction_unit_vector": [
	0.5689,
	0.7987,
	0.1961
	],
	"vertical_relation": "below",
	"vertical_offset_cm": -6.59,
	"horizontal_distance_cm": 32.94
	}
	},
	{
	"object_id": 65,
	"label": "receipt",
	"centroid": [
	1.4109,
	3.9885,
	0.8404
	],
	"centroid_distance_m": 0.4008,
	"spatial_3d": {
	"edge_distance_cm": 31.53,
	"center_distance_cm": 40.08,
	"nearest_point_small": [
	1.7619,
	3.8942,
	0.8436
	],
	"nearest_point_nearby": [
	1.4699,
	4.0132,
	0.8467
	],
	"direction_unit_vector": [
	-0.9356,
	0.3516,
	-0.0306
	],
	"vertical_relation": "same_level",
	"vertical_offset_cm": 1.23,
	"horizontal_distance_cm": 40.06
	}
	},
	{
	"object_id": 42,
	"label": "keyboard",
	"centroid": [
	1.4567,
	4.1952,
	0.8586
	],
	"centroid_distance_m": 0.4788,
	"spatial_3d": {
	"edge_distance_cm": 21.1,
	"center_distance_cm": 47.88,
	"nearest_point_small": [
	1.7654,
	3.9001,
	0.8452
	],
	"nearest_point_nearby": [
	1.66,
	4.0828,
	0.8469
	],
	"direction_unit_vector": [
	-0.6875,
	0.7261,
	0.0126
	],
	"vertical_relation": "same_level",
	"vertical_offset_cm": -0.6,
	"horizontal_distance_cm": 47.88
	}
	},
	{
	"object_id": 31,
	"label": "bluetooth speaker",
	"centroid": [
	1.4334,
	4.2312,
	1.0268
	],
	"centroid_distance_m": 0.5493,
	"spatial_3d": {
	"edge_distance_cm": 41.87,
	"center_distance_cm": 54.93,
	"nearest_point_small": [
	1.7654,
	3.9001,
	0.8452
	],
	"nearest_point_nearby": [
	1.5046,
	4.1899,
	0.9978
	],
	"direction_unit_vector": [
	-0.6417,
	0.6983,
	0.3171
	],
	"vertical_relation": "below",
	"vertical_offset_cm": -17.42,
	"horizontal_distance_cm": 52.1
	}
	},
	{
	"object_id": 98,
	"label": "box",
	"centroid": [
	2.3677,
	3.991,
	0.67
	],
	"centroid_distance_m": 0.6265,
	"spatial_3d": {
	"edge_distance_cm": 44.35,
	"center_distance_cm": 62.65,
	"nearest_point_small": [
	1.8075,
	3.8985,
	0.8378
	],
	"nearest_point_nearby": [
	2.2362,
	3.9115,
	0.7248
	],
	"direction_unit_vector": [
	0.9288,
	0.229,
	-0.2915
	],
	"vertical_relation": "above",
	"vertical_offset_cm": 18.26,
	"horizontal_distance_cm": 59.93
	}
	},
	{
	"object_id": 32,
	"label": "monitor",
	"centroid": [
	1.4188,
	4.2512,
	1.1668
	],
	"centroid_distance_m": 0.6296,
	"spatial_3d": {
	"edge_distance_cm": 37.39,
	"center_distance_cm": 62.96,
	"nearest_point_small": [
	1.7654,
	3.9001,
	0.8452
	],
	"nearest_point_nearby": [
	1.5069,
	4.1353,
	0.978
	],
	"direction_unit_vector": [
	-0.5831,
	0.6411,
	0.499
	],
	"vertical_relation": "below",
	"vertical_offset_cm": -31.42,
	"horizontal_distance_cm": 54.56
	}
	},
	{
	"object_id": 55,
	"label": "object",
	"centroid": [
	1.1831,
	4.0571,
	0.8618
	],
	"centroid_distance_m": 0.6382,
	"spatial_3d": {
	"edge_distance_cm": 55.5,
	"center_distance_cm": 63.82,
	"nearest_point_small": [
	1.7583,
	3.8831,
	0.8436
	],
	"nearest_point_nearby": [
	1.2113,
	3.9751,
	0.8629
	],
	"direction_unit_vector": [
	-0.9445,
	0.3283,
	0.0144
	],
	"vertical_relation": "same_level",
	"vertical_offset_cm": -0.92,
	"horizontal_distance_cm": 63.82
	}
	},
	{
	"object_id": 35,
	"label": "office chair",
	"centroid": [
	1.1893,
	3.6489,
	0.6943
	],
	"centroid_distance_m": 0.6484,
	"spatial_3d": {
	"edge_distance_cm": 25.6,
	"center_distance_cm": 64.84,
	"nearest_point_small": [
	1.7635,
	3.8135,
	0.8359
	],
	"nearest_point_nearby": [
	1.5468,
	3.7348,
	0.7246
	],
	"direction_unit_vector": [
	-0.9201,
	-0.3063,
	-0.2441
	],
	"vertical_relation": "above",
	"vertical_offset_cm": 15.83,
	"horizontal_distance_cm": 62.88
	}
	},
	{
	"object_id": 56,
	"label": "object",
	"centroid": [
	1.1536,
	4.0336,
	0.8584
	],
	"centroid_distance_m": 0.6592,
	"spatial_3d": {
	"edge_distance_cm": 51.78,
	"center_distance_cm": 65.92,
	"nearest_point_small": [
	1.7583,
	3.8831,
	0.8436
	],
	"nearest_point_nearby": [
	1.2502,
	3.9829,
	0.8505
	],
	"direction_unit_vector": [
	-0.9593,
	0.2822,
	0.0087
	],
	"vertical_relation": "same_level",
	"vertical_offset_cm": -0.57,
	"horizontal_distance_cm": 65.91
	}
	},
	{
	"object_id": 57,
	"label": "monitor light",
	"centroid": [
	1.4581,
	4.2106,
	1.4123
	],
	"centroid_distance_m": 0.7433,
	"spatial_3d": {
	"edge_distance_cm": 62.27,
	"center_distance_cm": 74.33,
	"nearest_point_small": [
	1.7852,
	3.8896,
	0.86
	],
	"nearest_point_nearby": [
	1.6642,
	4.1648,
	1.4054
	],
	"direction_unit_vector": [
	-0.441,
	0.4884,
	0.753
	],
	"vertical_relation": "below",
	"vertical_offset_cm": -55.97,
	"horizontal_distance_cm": 48.91
	}
	},
	{
	"object_id": 54,
	"label": "book shelf",
	"centroid": [
	2.5239,
	3.9369,
	1.1356
	],
	"centroid_distance_m": 0.7954,
	"spatial_3d": {
	"edge_distance_cm": 32.77,
	"center_distance_cm": 79.54,
	"nearest_point_small": [
	1.8082,
	3.859,
	0.8545
	],
	"nearest_point_nearby": [
	2.1288,
	3.8908,
	0.9146
	],
	"direction_unit_vector": [
	0.9278,
	0.1123,
	0.3557
	],
	"vertical_relation": "below",
	"vertical_offset_cm": -28.29,
	"horizontal_distance_cm": 74.34
	}
	},
	{
	"object_id": 97,
	"label": "box",
	"centroid": [
	2.6126,
	3.8145,
	0.9936
	],
	"centroid_distance_m": 0.8393,
	"spatial_3d": {
	"edge_distance_cm": 72.63,
	"center_distance_cm": 83.93,
	"nearest_point_small": [
	1.8081,
	3.8521,
	0.8514
	],
	"nearest_point_nearby": [
	2.5293,
	3.7851,
	0.9052
	],
	"direction_unit_vector": [
	0.985,
	-0.0394,
	0.1679
	],
	"vertical_relation": "below",
	"vertical_offset_cm": -14.09,
	"horizontal_distance_cm": 82.74
	}
	},
	{
	"object_id": 60,
	"label": "sculpture",
	"centroid": [
	1.1405,
	4.405,
	0.8921
	],
	"centroid_distance_m": 0.8537,
	"spatial_3d": {
	"edge_distance_cm": 77.23,
	"center_distance_cm": 85.37,
	"nearest_point_small": [
	1.7654,
	3.9001,
	0.8452
	],
	"nearest_point_nearby": [
	1.1686,
	4.3859,
	0.91
	],
	"direction_unit_vector": [
	-0.756,
	0.653,
	0.0462
	],
	"vertical_relation": "same_level",
	"vertical_offset_cm": -3.95,
	"horizontal_distance_cm": 85.28
	}
	},
	{
	"object_id": 62,
	"label": "bottle",
	"centroid": [
	1.0653,
	4.3237,
	0.9282
	],
	"centroid_distance_m": 0.867,
	"spatial_3d": {
	"edge_distance_cm": 80.24,
	"center_distance_cm": 86.7,
	"nearest_point_small": [
	1.7654,
	3.9001,
	0.8452
	],
	"nearest_point_nearby": [
	1.0819,
	4.3195,
	0.872
	],
	"direction_unit_vector": [
	-0.8311,
	0.5492,
	0.0872
	],
	"vertical_relation": "below",
	"vertical_offset_cm": -7.56,
	"horizontal_distance_cm": 86.37
	}
	},
	{
	"object_id": 53,
	"label": "trash can",
	"centroid": [
	2.4685,
	3.7343,
	0.3185
	],
	"centroid_distance_m": 0.8741,
	"spatial_3d": {
	"edge_distance_cm": 67.18,
	"center_distance_cm": 87.41,
	"nearest_point_small": [
	1.7981,
	3.8091,
	0.8348
	],
	"nearest_point_nearby": [
	2.3262,
	3.7097,
	0.4316
	],
	"direction_unit_vector": [
	0.7809,
	-0.1296,
	-0.611
	],
	"vertical_relation": "above",
	"vertical_offset_cm": 53.41,
	"horizontal_distance_cm": 69.2
	}
	},
	{
	"object_id": 63,
	"label": "paper",
	"centroid": [
	0.8928,
	4.0627,
	0.8689
	],
	"centroid_distance_m": 0.9188,
	"spatial_3d": {
	"edge_distance_cm": 77.7,
	"center_distance_cm": 91.88,
	"nearest_point_small": [
	1.7583,
	3.8831,
	0.8436
	],
	"nearest_point_nearby": [
	1.0072,
	4.08,
	0.8739
	],
	"direction_unit_vector": [
	-0.972,
	0.2342,
	0.0177
	],
	"vertical_relation": "same_level",
	"vertical_offset_cm": -1.63,
	"horizontal_distance_cm": 91.87
	}
	},
	{
	"object_id": 64,
	"label": "toilet paper",
	"centroid": [
	0.8394,
	4.1332,
	0.9346
	],
	"centroid_distance_m": 0.9921,
	"spatial_3d": {
	"edge_distance_cm": 89.7,
	"center_distance_cm": 99.21,
	"nearest_point_small": [
	1.7583,
	3.8831,
	0.8436
	],
	"nearest_point_nearby": [
	0.8947,
	4.124,
	0.8697
	],
	"direction_unit_vector": [
	-0.9541,
	0.2879,
	0.0826
	],
	"vertical_relation": "below",
	"vertical_offset_cm": -8.2,
	"horizontal_distance_cm": 98.87
	}
	}
	]
	},
	{
	"object_id": 69,
	"label": "mousepad",
	"centroid": [
	2.0013,
	3.6893,
	0.8379
	],
	"nearby_objects": [
	{
	"object_id": 68,
	"label": "mouse",
	"centroid": [
	1.7859,
	3.8476,
	0.8526
	],
	"centroid_distance_m": 0.2677,
	"spatial_3d": {
	"edge_distance_cm": 10.22,
	"center_distance_cm": 26.77,
	"nearest_point_small": [
	1.9097,
	3.8563,
	0.8398
	],
	"nearest_point_nearby": [
	1.8083,
	3.8616,
	0.8516
	],
	"direction_unit_vector": [
	-0.8046,
	0.5913,
	0.055
	],
	"vertical_relation": "same_level",
	"vertical_offset_cm": -1.47,
	"horizontal_distance_cm": 26.73
	}
	},
	{
	"object_id": 58,
	"label": "paper",
	"centroid": [
	1.9055,
	4.0532,
	0.859
	],
	"centroid_distance_m": 0.3769,
	"spatial_3d": {
	"edge_distance_cm": 7.99,
	"center_distance_cm": 37.69,
	"nearest_point_small": [
	1.9595,
	3.8877,
	0.8448
	],
	"nearest_point_nearby": [
	1.9326,
	3.9619,
	0.8572
	],
	"direction_unit_vector": [
	-0.2541,
	0.9655,
	0.0561
	],
	"vertical_relation": "same_level",
	"vertical_offset_cm": -2.11,
	"horizontal_distance_cm": 37.63
	}
	},
	{
	"object_id": 52,
	"label": "laptop",
	"centroid": [
	1.977,
	4.1159,
	0.9185
	],
	"centroid_distance_m": 0.4348,
	"spatial_3d": {
	"edge_distance_cm": 2.2,
	"center_distance_cm": 43.48,
	"nearest_point_small": [
	1.9768,
	3.8828,
	0.845
	],
	"nearest_point_nearby": [
	1.9951,
	3.8926,
	0.8524
	],
	"direction_unit_vector": [
	-0.0558,
	0.9811,
	0.1854
	],
	"vertical_relation": "below",
	"vertical_offset_cm": -8.06,
	"horizontal_distance_cm": 42.73
	}
	},
	{
	"object_id": 67,
	"label": "eraser",
	"centroid": [
	1.6162,
	3.9443,
	0.8397
	],
	"centroid_distance_m": 0.4619,
	"spatial_3d": {
	"edge_distance_cm": 28.24,
	"center_distance_cm": 46.19,
	"nearest_point_small": [
	1.9097,
	3.8563,
	0.8398
	],
	"nearest_point_nearby": [
	1.6324,
	3.9097,
	0.8423
	],
	"direction_unit_vector": [
	-0.8337,
	0.5522,
	0.0039
	],
	"vertical_relation": "same_level",
	"vertical_offset_cm": -0.18,
	"horizontal_distance_cm": 46.19
	}
	},
	{
	"object_id": 66,
	"label": "pen",
	"centroid": [
	1.603,
	3.9684,
	0.8369
	],
	"centroid_distance_m": 0.4863,
	"spatial_3d": {
	"edge_distance_cm": 30.14,
	"center_distance_cm": 48.63,
	"nearest_point_small": [
	1.9121,
	3.8687,
	0.8418
	],
	"nearest_point_nearby": [
	1.6301,
	3.9749,
	0.836
	],
	"direction_unit_vector": [
	-0.8189,
	0.5739,
	-0.0019
	],
	"vertical_relation": "same_level",
	"vertical_offset_cm": 0.09,
	"horizontal_distance_cm": 48.63
	}
	},
	{
	"object_id": 98,
	"label": "box",
	"centroid": [
	2.3677,
	3.991,
	0.67
	],
	"centroid_distance_m": 0.5035,
	"spatial_3d": {
	"edge_distance_cm": 17.6,
	"center_distance_cm": 50.35,
	"nearest_point_small": [
	2.146,
	3.8026,
	0.8338
	],
	"nearest_point_nearby": [
	2.2381,
	3.9072,
	0.7264
	],
	"direction_unit_vector": [
	0.7278,
	0.5993,
	-0.3334
	],
	"vertical_relation": "above",
	"vertical_offset_cm": 16.79,
	"horizontal_distance_cm": 47.47
	}
	},
	{
	"object_id": 34,
	"label": "table",
	"centroid": [
	1.5119,
	3.9396,
	0.7625
	],
	"centroid_distance_m": 0.5549,
	"spatial_3d": {
	"edge_distance_cm": 0.23,
	"center_distance_cm": 55.49,
	"nearest_point_small": [
	2.1179,
	3.6211,
	0.8316
	],
	"nearest_point_nearby": [
	2.1169,
	3.6191,
	0.832
	],
	"direction_unit_vector": [
	-0.882,
	0.4512,
	-0.1358
	],
	"vertical_relation": "above",
	"vertical_offset_cm": 7.53,
	"horizontal_distance_cm": 54.97
	}
	},
	{
	"object_id": 97,
	"label": "box",
	"centroid": [
	2.6126,
	3.8145,
	0.9936
	],
	"centroid_distance_m": 0.6432,
	"spatial_3d": {
	"edge_distance_cm": 38.83,
	"center_distance_cm": 64.32,
	"nearest_point_small": [
	2.146,
	3.8026,
	0.8338
	],
	"nearest_point_nearby": [
	2.5319,
	3.7831,
	0.8717
	],
	"direction_unit_vector": [
	0.9505,
	0.1947,
	0.242
	],
	"vertical_relation": "below",
	"vertical_offset_cm": -15.57,
	"horizontal_distance_cm": 62.4
	}
	},
	{
	"object_id": 54,
	"label": "book shelf",
	"centroid": [
	2.5239,
	3.9369,
	1.1356
	],
	"centroid_distance_m": 0.6504,
	"spatial_3d": {
	"edge_distance_cm": 8.29,
	"center_distance_cm": 65.04,
	"nearest_point_small": [
	2.1328,
	3.8103,
	0.8419
	],
	"nearest_point_nearby": [
	2.1622,
	3.8816,
	0.8114
	],
	"direction_unit_vector": [
	0.8035,
	0.3807,
	0.4577
	],
	"vertical_relation": "below",
	"vertical_offset_cm": -29.77,
	"horizontal_distance_cm": 57.83
	}
	},
	{
	"object_id": 65,
	"label": "receipt",
	"centroid": [
	1.4109,
	3.9885,
	0.8404
	],
	"centroid_distance_m": 0.6619,
	"spatial_3d": {
	"edge_distance_cm": 46.52,
	"center_distance_cm": 66.19,
	"nearest_point_small": [
	1.9121,
	3.8687,
	0.8418
	],
	"nearest_point_nearby": [
	1.4699,
	4.0132,
	0.8467
	],
	"direction_unit_vector": [
	-0.892,
	0.4521,
	0.0037
	],
	"vertical_relation": "same_level",
	"vertical_offset_cm": -0.25,
	"horizontal_distance_cm": 66.19
	}
	},
	{
	"object_id": 53,
	"label": "trash can",
	"centroid": [
	2.4685,
	3.7343,
	0.3185
	],
	"centroid_distance_m": 0.7001,
	"spatial_3d": {
	"edge_distance_cm": 44.31,
	"center_distance_cm": 70.01,
	"nearest_point_small": [
	2.137,
	3.7354,
	0.8325
	],
	"nearest_point_nearby": [
	2.3281,
	3.7077,
	0.4337
	],
	"direction_unit_vector": [
	0.6674,
	0.0643,
	-0.7419
	],
	"vertical_relation": "above",
	"vertical_offset_cm": 51.94,
	"horizontal_distance_cm": 46.94
	}
	},
	{
	"object_id": 42,
	"label": "keyboard",
	"centroid": [
	1.4567,
	4.1952,
	0.8586
	],
	"centroid_distance_m": 0.7436,
	"spatial_3d": {
	"edge_distance_cm": 33.08,
	"center_distance_cm": 74.36,
	"nearest_point_small": [
	1.9121,
	3.8687,
	0.8418
	],
	"nearest_point_nearby": [
	1.66,
	4.0828,
	0.8469
	],
	"direction_unit_vector": [
	-0.7323,
	0.6804,
	0.0279
	],
	"vertical_relation": "same_level",
	"vertical_offset_cm": -2.08,
	"horizontal_distance_cm": 74.33
	}
	},
	{
	"object_id": 31,
	"label": "bluetooth speaker",
	"centroid": [
	1.4334,
	4.2312,
	1.0268
	],
	"centroid_distance_m": 0.8074,
	"spatial_3d": {
	"edge_distance_cm": 54.19,
	"center_distance_cm": 80.74,
	"nearest_point_small": [
	1.9121,
	3.8687,
	0.8418
	],
	"nearest_point_nearby": [
	1.5046,
	4.1899,
	0.9978
	],
	"direction_unit_vector": [
	-0.7034,
	0.6712,
	0.234
	],
	"vertical_relation": "below",
	"vertical_offset_cm": -18.89,
	"horizontal_distance_cm": 78.5
	}
	},
	{
	"object_id": 35,
	"label": "office chair",
	"centroid": [
	1.1893,
	3.6489,
	0.6943
	],
	"centroid_distance_m": 0.8256,
	"spatial_3d": {
	"edge_distance_cm": 34.31,
	"center_distance_cm": 82.55,
	"nearest_point_small": [
	1.8661,
	3.6733,
	0.8343
	],
	"nearest_point_nearby": [
	1.5483,
	3.7334,
	0.7201
	],
	"direction_unit_vector": [
	-0.9836,
	-0.0489,
	-0.1739
	],
	"vertical_relation": "above",
	"vertical_offset_cm": 14.36,
	"horizontal_distance_cm": 81.3
	}
	},
	{
	"object_id": 32,
	"label": "monitor",
	"centroid": [
	1.4188,
	4.2512,
	1.1668
	],
	"centroid_distance_m": 0.8736,
	"spatial_3d": {
	"edge_distance_cm": 46.64,
	"center_distance_cm": 87.36,
	"nearest_point_small": [
	1.9149,
	3.8677,
	0.8484
	],
	"nearest_point_nearby": [
	1.6845,
	4.1962,
	1.0861
	],
	"direction_unit_vector": [
	-0.6668,
	0.6432,
	0.3765
	],
	"vertical_relation": "below",
	"vertical_offset_cm": -32.89,
	"horizontal_distance_cm": 80.93
	}
	},
	{
	"object_id": 55,
	"label": "object",
	"centroid": [
	1.1831,
	4.0571,
	0.8618
	],
	"centroid_distance_m": 0.8974,
	"spatial_3d": {
	"edge_distance_cm": 70.82,
	"center_distance_cm": 89.74,
	"nearest_point_small": [
	1.8788,
	3.7401,
	0.8357
	],
	"nearest_point_nearby": [
	1.2113,
	3.9751,
	0.8629
	],
	"direction_unit_vector": [
	-0.9117,
	0.4099,
	0.0267
	],
	"vertical_relation": "same_level",
	"vertical_offset_cm": -2.39,
	"horizontal_distance_cm": 89.7
	}
	},
	{
	"object_id": 56,
	"label": "object",
	"centroid": [
	1.1536,
	4.0336,
	0.8584
	],
	"centroid_distance_m": 0.9152,
	"spatial_3d": {
	"edge_distance_cm": 67.08,
	"center_distance_cm": 91.52,
	"nearest_point_small": [
	1.8788,
	3.7401,
	0.8357
	],
	"nearest_point_nearby": [
	1.2437,
	3.956,
	0.8336
	],
	"direction_unit_vector": [
	-0.9263,
	0.3762,
	0.0224
	],
	"vertical_relation": "same_level",
	"vertical_offset_cm": -2.05,
	"horizontal_distance_cm": 91.5
	}
	},
	{
	"object_id": 57,
	"label": "monitor light",
	"centroid": [
	1.4581,
	4.2106,
	1.4123
	],
	"centroid_distance_m": 0.9469,
	"spatial_3d": {
	"edge_distance_cm": 67.93,
	"center_distance_cm": 94.69,
	"nearest_point_small": [
	1.9149,
	3.8677,
	0.8484
	],
	"nearest_point_nearby": [
	1.6642,
	4.1648,
	1.4054
	],
	"direction_unit_vector": [
	-0.5736,
	0.5505,
	0.6066
	],
	"vertical_relation": "below",
	"vertical_offset_cm": -57.44,
	"horizontal_distance_cm": 75.29
	}
	},
	{
	"object_id": 99,
	"label": "box",
	"centroid": [
	2.3106,
	3.9661,
	1.6958
	],
	"centroid_distance_m": 0.953,
	"spatial_3d": {
	"edge_distance_cm": 67.78,
	"center_distance_cm": 95.3,
	"nearest_point_small": [
	2.1197,
	3.7854,
	0.8515
	],
	"nearest_point_nearby": [
	2.1718,
	3.9199,
	1.5138
	],
	"direction_unit_vector": [
	0.3245,
	0.2905,
	0.9002
	],
	"vertical_relation": "below",
	"vertical_offset_cm": -85.79,
	"horizontal_distance_cm": 41.51
	}
	},
	{
	"object_id": 100,
	"label": "books",
	"centroid": [
	2.8396,
	3.8351,
	1.3058
	],
	"centroid_distance_m": 0.9711,
	"spatial_3d": {
	"edge_distance_cm": 70.27,
	"center_distance_cm": 97.11,
	"nearest_point_small": [
	2.146,
	3.8026,
	0.8338
	],
	"nearest_point_nearby": [
	2.7587,
	3.8003,
	1.1777
	],
	"direction_unit_vector": [
	0.8633,
	0.1502,
	0.4819
	],
	"vertical_relation": "below",
	"vertical_offset_cm": -46.79,
	"horizontal_distance_cm": 85.09
	}
	}
	]
	}
	]
	}