{
  "scene_id": "01ce24e652",
  "dataset": "scannetpp",
  "small_items": [
    {
      "object_id": 19,
      "label": "mouse",
      "centroid": [
        1.539,
        1.1395,
        0.7932
      ],
      "nearby_objects": [
        {
          "object_id": 20,
          "label": "keyboard",
          "centroid": [
            1.805,
            1.1136,
            0.793
          ],
          "centroid_distance_m": 0.2672,
          "spatial_3d": {
            "edge_distance_cm": 10.46,
            "center_distance_cm": 26.72,
            "nearest_point_small": [
              1.5695,
              1.1491,
              0.8009
            ],
            "nearest_point_nearby": [
              1.6738,
              1.1473,
              0.7933
            ],
            "direction_unit_vector": [
              0.9953,
              -0.0968,
              -0.0009
            ],
            "vertical_relation": "same_level",
            "vertical_offset_cm": 0.02,
            "horizontal_distance_cm": 26.72
          }
        },
        {
          "object_id": 21,
          "label": "laptop",
          "centroid": [
            1.797,
            1.2642,
            0.7969
          ],
          "centroid_distance_m": 0.2866,
          "spatial_3d": {
            "edge_distance_cm": 7.76,
            "center_distance_cm": 28.66,
            "nearest_point_small": [
              1.5685,
              1.1729,
              0.79
            ],
            "nearest_point_nearby": [
              1.6459,
              1.178,
              0.7907
            ],
            "direction_unit_vector": [
              0.9003,
              0.4351,
              0.0131
            ],
            "vertical_relation": "same_level",
            "vertical_offset_cm": -0.37,
            "horizontal_distance_cm": 28.65
          }
        },
        {
          "object_id": 17,
          "label": "chair",
          "centroid": [
            1.802,
            1.0121,
            0.6174
          ],
          "centroid_distance_m": 0.341,
          "spatial_3d": {
            "edge_distance_cm": 10.28,
            "center_distance_cm": 34.1,
            "nearest_point_small": [
              1.5382,
              1.097,
              0.79
            ],
            "nearest_point_nearby": [
              1.551,
              0.999,
              0.7616
            ],
            "direction_unit_vector": [
              0.7711,
              -0.3736,
              -0.5155
            ],
            "vertical_relation": "above",
            "vertical_offset_cm": 17.58,
            "horizontal_distance_cm": 29.22
          }
        },
        {
          "object_id": 18,
          "label": "jacket",
          "centroid": [
            1.8062,
            0.9413,
            0.702
          ],
          "centroid_distance_m": 0.3449,
          "spatial_3d": {
            "edge_distance_cm": 12.25,
            "center_distance_cm": 34.49,
            "nearest_point_small": [
              1.5488,
              1.0972,
              0.7998
            ],
            "nearest_point_nearby": [
              1.6028,
              0.9884,
              0.7837
            ],
            "direction_unit_vector": [
              0.7746,
              -0.5745,
              -0.2643
            ],
            "vertical_relation": "above",
            "vertical_offset_cm": 9.12,
            "horizontal_distance_cm": 33.26
          }
        },
        {
          "object_id": 28,
          "label": "table",
          "centroid": [
            1.8829,
            1.2938,
            0.7566
          ],
          "centroid_distance_m": 0.3787,
          "spatial_3d": {
            "edge_distance_cm": 0.17,
            "center_distance_cm": 37.87,
            "nearest_point_small": [
              1.5067,
              1.1259,
              0.787
            ],
            "nearest_point_nearby": [
              1.5069,
              1.1261,
              0.7853
            ],
            "direction_unit_vector": [
              0.908,
              0.4076,
              -0.0966
            ],
            "vertical_relation": "same_level",
            "vertical_offset_cm": 3.66,
            "horizontal_distance_cm": 37.69
          }
        },
        {
          "object_id": 23,
          "label": "paper bag",
          "centroid": [
            2.0327,
            1.371,
            0.8291
          ],
          "centroid_distance_m": 0.5465,
          "spatial_3d": {
            "edge_distance_cm": 41.59,
            "center_distance_cm": 54.65,
            "nearest_point_small": [
              1.5685,
              1.1729,
              0.79
            ],
            "nearest_point_nearby": [
              1.969,
              1.2754,
              0.8359
            ],
            "direction_unit_vector": [
              0.9034,
              0.4237,
              0.0657
            ],
            "vertical_relation": "same_level",
            "vertical_offset_cm": -3.59,
            "horizontal_distance_cm": 54.53
          }
        },
        {
          "object_id": 22,
          "label": "headphone case",
          "centroid": [
            2.1687,
            1.1591,
            0.8088
          ],
          "centroid_distance_m": 0.6302,
          "spatial_3d": {
            "edge_distance_cm": 49.69,
            "center_distance_cm": 63.02,
            "nearest_point_small": [
              1.5695,
              1.1491,
              0.8009
            ],
            "nearest_point_nearby": [
              2.0661,
              1.1604,
              0.8147
            ],
            "direction_unit_vector": [
              0.9992,
              0.0311,
              0.0248
            ],
            "vertical_relation": "same_level",
            "vertical_offset_cm": -1.56,
            "horizontal_distance_cm": 63.0
          }
        },
        {
          "object_id": 10,
          "label": "power socket",
          "centroid": [
            1.6556,
            1.7231,
            1.1354
          ],
          "centroid_distance_m": 0.6865,
          "spatial_3d": {
            "edge_distance_cm": 61.64,
            "center_distance_cm": 68.65,
            "nearest_point_small": [
              1.5536,
              1.1818,
              0.7918
            ],
            "nearest_point_nearby": [
              1.5998,
              1.7139,
              1.0994
            ],
            "direction_unit_vector": [
              0.1699,
              0.8502,
              0.4984
            ],
            "vertical_relation": "below",
            "vertical_offset_cm": -34.22,
            "horizontal_distance_cm": 59.52
          }
        },
        {
          "object_id": 41,
          "label": "electrical duct",
          "centroid": [
            1.672,
            1.7428,
            1.1531
          ],
          "centroid_distance_m": 0.715,
          "spatial_3d": {
            "edge_distance_cm": 58.29,
            "center_distance_cm": 71.5,
            "nearest_point_small": [
              1.5378,
              1.1854,
              0.786
            ],
            "nearest_point_nearby": [
              1.5203,
              1.7208,
              1.0156
            ],
            "direction_unit_vector": [
              0.186,
              0.8439,
              0.5033
            ],
            "vertical_relation": "below",
            "vertical_offset_cm": -35.98,
            "horizontal_distance_cm": 61.78
          }
        },
        {
          "object_id": 1,
          "label": "object",
          "centroid": [
            1.169,
            1.6626,
            1.1503
          ],
          "centroid_distance_m": 0.7335,
          "spatial_3d": {
            "edge_distance_cm": 60.45,
            "center_distance_cm": 73.35,
            "nearest_point_small": [
              1.532,
              1.1825,
              0.7914
            ],
            "nearest_point_nearby": [
              1.2773,
              1.6492,
              1.0791
            ],
            "direction_unit_vector": [
              -0.5044,
              0.7131,
              0.4868
            ],
            "vertical_relation": "below",
            "vertical_offset_cm": -35.71,
            "horizontal_distance_cm": 64.07
          }
        },
        {
          "object_id": 35,
          "label": "chair",
          "centroid": [
            2.2089,
            0.8495,
            0.684
          ],
          "centroid_distance_m": 0.7381,
          "spatial_3d": {
            "edge_distance_cm": 53.66,
            "center_distance_cm": 73.81,
            "nearest_point_small": [
              1.5541,
              1.1041,
              0.7928
            ],
            "nearest_point_nearby": [
              2.0176,
              0.8386,
              0.7422
            ],
            "direction_unit_vector": [
              0.9076,
              -0.3929,
              -0.148
            ],
            "vertical_relation": "above",
            "vertical_offset_cm": 10.93,
            "horizontal_distance_cm": 73.0
          }
        },
        {
          "object_id": 13,
          "label": "coax outlet",
          "centroid": [
            1.8532,
            1.7204,
            1.1388
          ],
          "centroid_distance_m": 0.7454,
          "spatial_3d": {
            "edge_distance_cm": 67.93,
            "center_distance_cm": 74.54,
            "nearest_point_small": [
              1.5613,
              1.1807,
              0.7891
            ],
            "nearest_point_nearby": [
              1.8249,
              1.7263,
              1.0961
            ],
            "direction_unit_vector": [
              0.4215,
              0.7794,
              0.4636
            ],
            "vertical_relation": "below",
            "vertical_offset_cm": -34.56,
            "horizontal_distance_cm": 66.05
          }
        },
        {
          "object_id": 12,
          "label": "coax outlet",
          "centroid": [
            2.0985,
            1.7337,
            1.1384
          ],
          "centroid_distance_m": 0.8861,
          "spatial_3d": {
            "edge_distance_cm": 80.94,
            "center_distance_cm": 88.61,
            "nearest_point_small": [
              1.5674,
              1.1738,
              0.7931
            ],
            "nearest_point_nearby": [
              2.0659,
              1.7343,
              1.0972
            ],
            "direction_unit_vector": [
              0.6314,
              0.6705,
              0.3896
            ],
            "vertical_relation": "below",
            "vertical_offset_cm": -34.52,
            "horizontal_distance_cm": 81.61
          }
        },
        {
          "object_id": 24,
          "label": "laptop case",
          "centroid": [
            2.3346,
            1.5376,
            0.8284
          ],
          "centroid_distance_m": 0.8903,
          "spatial_3d": {
            "edge_distance_cm": 60.05,
            "center_distance_cm": 89.03,
            "nearest_point_small": [
              1.5685,
              1.1729,
              0.79
            ],
            "nearest_point_nearby": [
              2.1464,
              1.3308,
              0.832
            ],
            "direction_unit_vector": [
              0.8936,
              0.4472,
              0.0395
            ],
            "vertical_relation": "same_level",
            "vertical_offset_cm": -3.52,
            "horizontal_distance_cm": 88.96
          }
        }
      ]
    },
    {
      "object_id": 20,
      "label": "keyboard",
      "centroid": [
        1.805,
        1.1136,
        0.793
      ],
      "nearby_objects": [
        {
          "object_id": 21,
          "label": "laptop",
          "centroid": [
            1.797,
            1.2642,
            0.7969
          ],
          "centroid_distance_m": 0.1508,
          "spatial_3d": {
            "edge_distance_cm": 0.17,
            "center_distance_cm": 15.08,
            "nearest_point_small": [
              1.8947,
              1.1768,
              0.7937
            ],
            "nearest_point_nearby": [
              1.8953,
              1.1777,
              0.7949
            ],
            "direction_unit_vector": [
              -0.0527,
              0.9983,
              0.0264
            ],
            "vertical_relation": "same_level",
            "vertical_offset_cm": -0.4,
            "horizontal_distance_cm": 15.08
          }
        },
        {
          "object_id": 18,
          "label": "jacket",
          "centroid": [
            1.8062,
            0.9413,
            0.702
          ],
          "centroid_distance_m": 0.1948,
          "spatial_3d": {
            "edge_distance_cm": 5.16,
            "center_distance_cm": 19.48,
            "nearest_point_small": [
              1.8188,
              1.0508,
              0.7867
            ],
            "nearest_point_nearby": [
              1.8253,
              1.0003,
              0.7778
            ],
            "direction_unit_vector": [
              0.0063,
              -0.8844,
              -0.4668
            ],
            "vertical_relation": "above",
            "vertical_offset_cm": 9.09,
            "horizontal_distance_cm": 17.23
          }
        },
        {
          "object_id": 28,
          "label": "table",
          "centroid": [
            1.8829,
            1.2938,
            0.7566
          ],
          "centroid_distance_m": 0.1997,
          "spatial_3d": {
            "edge_distance_cm": 0.18,
            "center_distance_cm": 19.97,
            "nearest_point_small": [
              1.7138,
              1.1497,
              0.7924
            ],
            "nearest_point_nearby": [
              1.7133,
              1.1505,
              0.7909
            ],
            "direction_unit_vector": [
              0.3902,
              0.9026,
              -0.1821
            ],
            "vertical_relation": "same_level",
            "vertical_offset_cm": 3.64,
            "horizontal_distance_cm": 19.63
          }
        },
        {
          "object_id": 17,
          "label": "chair",
          "centroid": [
            1.802,
            1.0121,
            0.6174
          ],
          "centroid_distance_m": 0.2028,
          "spatial_3d": {
            "edge_distance_cm": 0.88,
            "center_distance_cm": 20.28,
            "nearest_point_small": [
              1.9237,
              1.057,
              0.7871
            ],
            "nearest_point_nearby": [
              1.9218,
              1.0565,
              0.7785
            ],
            "direction_unit_vector": [
              -0.0148,
              -0.5006,
              -0.8655
            ],
            "vertical_relation": "above",
            "vertical_offset_cm": 17.55,
            "horizontal_distance_cm": 10.16
          }
        },
        {
          "object_id": 19,
          "label": "mouse",
          "centroid": [
            1.539,
            1.1395,
            0.7932
          ],
          "centroid_distance_m": 0.2672,
          "spatial_3d": {
            "edge_distance_cm": 10.46,
            "center_distance_cm": 26.72,
            "nearest_point_small": [
              1.6738,
              1.1473,
              0.7933
            ],
            "nearest_point_nearby": [
              1.5695,
              1.1491,
              0.8009
            ],
            "direction_unit_vector": [
              -0.9953,
              0.0968,
              0.0009
            ],
            "vertical_relation": "same_level",
            "vertical_offset_cm": -0.02,
            "horizontal_distance_cm": 26.72
          }
        },
        {
          "object_id": 23,
          "label": "paper bag",
          "centroid": [
            2.0327,
            1.371,
            0.8291
          ],
          "centroid_distance_m": 0.3456,
          "spatial_3d": {
            "edge_distance_cm": 10.24,
            "center_distance_cm": 34.56,
            "nearest_point_small": [
              1.9286,
              1.1725,
              0.795
            ],
            "nearest_point_nearby": [
              1.9752,
              1.2637,
              0.7931
            ],
            "direction_unit_vector": [
              0.659,
              0.7448,
              0.1045
            ],
            "vertical_relation": "same_level",
            "vertical_offset_cm": -3.61,
            "horizontal_distance_cm": 34.37
          }
        },
        {
          "object_id": 22,
          "label": "headphone case",
          "centroid": [
            2.1687,
            1.1591,
            0.8088
          ],
          "centroid_distance_m": 0.3669,
          "spatial_3d": {
            "edge_distance_cm": 12.97,
            "center_distance_cm": 36.69,
            "nearest_point_small": [
              1.938,
              1.1602,
              0.7946
            ],
            "nearest_point_nearby": [
              2.0661,
              1.1604,
              0.8147
            ],
            "direction_unit_vector": [
              0.9914,
              0.1239,
              0.0432
            ],
            "vertical_relation": "same_level",
            "vertical_offset_cm": -1.59,
            "horizontal_distance_cm": 36.65
          }
        },
        {
          "object_id": 35,
          "label": "chair",
          "centroid": [
            2.2089,
            0.8495,
            0.684
          ],
          "centroid_distance_m": 0.4948,
          "spatial_3d": {
            "edge_distance_cm": 24.08,
            "center_distance_cm": 49.48,
            "nearest_point_small": [
              1.935,
              1.0601,
              0.7876
            ],
            "nearest_point_nearby": [
              2.0176,
              0.8386,
              0.7422
            ],
            "direction_unit_vector": [
              0.8164,
              -0.5338,
              -0.2203
            ],
            "vertical_relation": "above",
            "vertical_offset_cm": 10.9,
            "horizontal_distance_cm": 48.26
          }
        },
        {
          "object_id": 24,
          "label": "laptop case",
          "centroid": [
            2.3346,
            1.5376,
            0.8284
          ],
          "centroid_distance_m": 0.6794,
          "spatial_3d": {
            "edge_distance_cm": 26.08,
            "center_distance_cm": 67.94,
            "nearest_point_small": [
              1.935,
              1.1685,
              0.7951
            ],
            "nearest_point_nearby": [
              2.1534,
              1.3095,
              0.8163
            ],
            "direction_unit_vector": [
              0.7796,
              0.6241,
              0.0521
            ],
            "vertical_relation": "same_level",
            "vertical_offset_cm": -3.54,
            "horizontal_distance_cm": 67.84
          }
        },
        {
          "object_id": 13,
          "label": "coax outlet",
          "centroid": [
            1.8532,
            1.7204,
            1.1388
          ],
          "centroid_distance_m": 0.7001,
          "spatial_3d": {
            "edge_distance_cm": 62.7,
            "center_distance_cm": 70.01,
            "nearest_point_small": [
              1.8947,
              1.1768,
              0.7937
            ],
            "nearest_point_nearby": [
              1.8588,
              1.7105,
              1.1207
            ],
            "direction_unit_vector": [
              0.069,
              0.8668,
              0.4939
            ],
            "vertical_relation": "below",
            "vertical_offset_cm": -34.58,
            "horizontal_distance_cm": 60.87
          }
        },
        {
          "object_id": 10,
          "label": "power socket",
          "centroid": [
            1.6556,
            1.7231,
            1.1354
          ],
          "centroid_distance_m": 0.7149,
          "spatial_3d": {
            "edge_distance_cm": 62.91,
            "center_distance_cm": 71.49,
            "nearest_point_small": [
              1.7213,
              1.1699,
              0.795
            ],
            "nearest_point_nearby": [
              1.6971,
              1.7196,
              1.1
            ],
            "direction_unit_vector": [
              -0.2089,
              0.8526,
              0.479
            ],
            "vertical_relation": "below",
            "vertical_offset_cm": -34.24,
            "horizontal_distance_cm": 62.75
          }
        },
        {
          "object_id": 41,
          "label": "electrical duct",
          "centroid": [
            1.672,
            1.7428,
            1.1531
          ],
          "centroid_distance_m": 0.737,
          "spatial_3d": {
            "edge_distance_cm": 59.68,
            "center_distance_cm": 73.7,
            "nearest_point_small": [
              1.8947,
              1.1768,
              0.7937
            ],
            "nearest_point_nearby": [
              1.8771,
              1.7305,
              1.0155
            ],
            "direction_unit_vector": [
              -0.1804,
              0.8537,
              0.4885
            ],
            "vertical_relation": "below",
            "vertical_offset_cm": -36.01,
            "horizontal_distance_cm": 64.31
          }
        },
        {
          "object_id": 12,
          "label": "coax outlet",
          "centroid": [
            2.0985,
            1.7337,
            1.1384
          ],
          "centroid_distance_m": 0.7681,
          "spatial_3d": {
            "edge_distance_cm": 65.19,
            "center_distance_cm": 76.81,
            "nearest_point_small": [
              1.9221,
              1.1753,
              0.7941
            ],
            "nearest_point_nearby": [
              2.0659,
              1.7343,
              1.0972
            ],
            "direction_unit_vector": [
              0.3822,
              0.8072,
              0.4497
            ],
            "vertical_relation": "below",
            "vertical_offset_cm": -34.54,
            "horizontal_distance_cm": 68.6
          }
        },
        {
          "object_id": 25,
          "label": "bag",
          "centroid": [
            2.642,
            1.3394,
            0.8449
          ],
          "centroid_distance_m": 0.8685,
          "spatial_3d": {
            "edge_distance_cm": 62.49,
            "center_distance_cm": 86.85,
            "nearest_point_small": [
              1.938,
              1.1602,
              0.7946
            ],
            "nearest_point_nearby": [
              2.5508,
              1.2822,
              0.8004
            ],
            "direction_unit_vector": [
              0.9638,
              0.2599,
              0.0598
            ],
            "vertical_relation": "below",
            "vertical_offset_cm": -5.19,
            "horizontal_distance_cm": 86.69
          }
        },
        {
          "object_id": 1,
          "label": "object",
          "centroid": [
            1.169,
            1.6626,
            1.1503
          ],
          "centroid_distance_m": 0.913,
          "spatial_3d": {
            "edge_distance_cm": 69.32,
            "center_distance_cm": 91.29,
            "nearest_point_small": [
              1.6798,
              1.1611,
              0.7951
            ],
            "nearest_point_nearby": [
              1.2807,
              1.6529,
              1.0768
            ],
            "direction_unit_vector": [
              -0.6966,
              0.6013,
              0.3914
            ],
            "vertical_relation": "below",
            "vertical_offset_cm": -35.73,
            "horizontal_distance_cm": 84.01
          }
        },
        {
          "object_id": 16,
          "label": "REMOVE",
          "centroid": [
            2.6367,
            0.7075,
            0.9554
          ],
          "centroid_distance_m": 0.9397,
          "spatial_3d": {
            "edge_distance_cm": 71.12,
            "center_distance_cm": 93.97,
            "nearest_point_small": [
              1.9401,
              1.0638,
              0.7871
            ],
            "nearest_point_nearby": [
              2.5371,
              0.7095,
              0.9416
            ],
            "direction_unit_vector": [
              0.8851,
              -0.4322,
              0.1728
            ],
            "vertical_relation": "below",
            "vertical_offset_cm": -16.24,
            "horizontal_distance_cm": 92.56
          }
        },
        {
          "object_id": 11,
          "label": "power socket",
          "centroid": [
            2.4566,
            1.747,
            1.138
          ],
          "centroid_distance_m": 0.972,
          "spatial_3d": {
            "edge_distance_cm": 79.3,
            "center_distance_cm": 97.2,
            "nearest_point_small": [
              1.935,
              1.1685,
              0.7951
            ],
            "nearest_point_nearby": [
              2.3921,
              1.7374,
              1.1054
            ],
            "direction_unit_vector": [
              0.6704,
              0.6516,
              0.3549
            ],
            "vertical_relation": "below",
            "vertical_offset_cm": -34.5,
            "horizontal_distance_cm": 90.87
          }
        }
      ]
    },
    {
      "object_id": 22,
      "label": "headphone case",
      "centroid": [
        2.1687,
        1.1591,
        0.8088
      ],
      "nearby_objects": [
        {
          "object_id": 23,
          "label": "paper bag",
          "centroid": [
            2.0327,
            1.371,
            0.8291
          ],
          "centroid_distance_m": 0.2526,
          "spatial_3d": {
            "edge_distance_cm": 0.63,
            "center_distance_cm": 25.26,
            "nearest_point_small": [
              2.1025,
              1.2472,
              0.8126
            ],
            "nearest_point_nearby": [
              2.0972,
              1.2493,
              0.8153
            ],
            "direction_unit_vector": [
              -0.5382,
              0.839,
              0.0802
            ],
            "vertical_relation": "same_level",
            "vertical_offset_cm": -2.03,
            "horizontal_distance_cm": 25.18
          }
        },
        {
          "object_id": 28,
          "label": "table",
          "centroid": [
            1.8829,
            1.2938,
            0.7566
          ],
          "centroid_distance_m": 0.3203,
          "spatial_3d": {
            "edge_distance_cm": 0.19,
            "center_distance_cm": 32.03,
            "nearest_point_small": [
              2.1838,
              1.095,
              0.7764
            ],
            "nearest_point_nearby": [
              2.1846,
              1.0938,
              0.7752
            ],
            "direction_unit_vector": [
              -0.8924,
              0.4208,
              -0.163
            ],
            "vertical_relation": "above",
            "vertical_offset_cm": 5.22,
            "horizontal_distance_cm": 31.6
          }
        },
        {
          "object_id": 35,
          "label": "chair",
          "centroid": [
            2.2089,
            0.8495,
            0.684
          ],
          "centroid_distance_m": 0.3362,
          "spatial_3d": {
            "edge_distance_cm": 27.04,
            "center_distance_cm": 33.62,
            "nearest_point_small": [
              2.0858,
              1.0979,
              0.7866
            ],
            "nearest_point_nearby": [
              2.0241,
              0.8413,
              0.7283
            ],
            "direction_unit_vector": [
              0.1197,
              -0.9207,
              -0.3714
            ],
            "vertical_relation": "above",
            "vertical_offset_cm": 12.49,
            "horizontal_distance_cm": 31.22
          }
        },
        {
          "object_id": 20,
          "label": "keyboard",
          "centroid": [
            1.805,
            1.1136,
            0.793
          ],
          "centroid_distance_m": 0.3669,
          "spatial_3d": {
            "edge_distance_cm": 12.97,
            "center_distance_cm": 36.69,
            "nearest_point_small": [
              2.0661,
              1.1604,
              0.8147
            ],
            "nearest_point_nearby": [
              1.938,
              1.1602,
              0.7946
            ],
            "direction_unit_vector": [
              -0.9914,
              -0.1239,
              -0.0432
            ],
            "vertical_relation": "same_level",
            "vertical_offset_cm": 1.59,
            "horizontal_distance_cm": 36.65
          }
        },
        {
          "object_id": 21,
          "label": "laptop",
          "centroid": [
            1.797,
            1.2642,
            0.7969
          ],
          "centroid_distance_m": 0.3864,
          "spatial_3d": {
            "edge_distance_cm": 10.31,
            "center_distance_cm": 38.64,
            "nearest_point_small": [
              2.0688,
              1.1698,
              0.8116
            ],
            "nearest_point_nearby": [
              1.971,
              1.1948,
              0.791
            ],
            "direction_unit_vector": [
              -0.9618,
              0.272,
              -0.0307
            ],
            "vertical_relation": "same_level",
            "vertical_offset_cm": 1.19,
            "horizontal_distance_cm": 38.62
          }
        },
        {
          "object_id": 24,
          "label": "laptop case",
          "centroid": [
            2.3346,
            1.5376,
            0.8284
          ],
          "centroid_distance_m": 0.4138,
          "spatial_3d": {
            "edge_distance_cm": 1.92,
            "center_distance_cm": 41.38,
            "nearest_point_small": [
              2.1638,
              1.2848,
              0.8204
            ],
            "nearest_point_nearby": [
              2.1646,
              1.3035,
              0.8164
            ],
            "direction_unit_vector": [
              0.401,
              0.9148,
              0.0472
            ],
            "vertical_relation": "same_level",
            "vertical_offset_cm": -1.95,
            "horizontal_distance_cm": 41.33
          }
        },
        {
          "object_id": 18,
          "label": "jacket",
          "centroid": [
            1.8062,
            0.9413,
            0.702
          ],
          "centroid_distance_m": 0.4361,
          "spatial_3d": {
            "edge_distance_cm": 16.12,
            "center_distance_cm": 43.61,
            "nearest_point_small": [
              2.0839,
              1.0996,
              0.7874
            ],
            "nearest_point_nearby": [
              1.9594,
              1.024,
              0.7183
            ],
            "direction_unit_vector": [
              -0.8311,
              -0.4992,
              -0.2449
            ],
            "vertical_relation": "above",
            "vertical_offset_cm": 10.68,
            "horizontal_distance_cm": 42.28
          }
        },
        {
          "object_id": 17,
          "label": "chair",
          "centroid": [
            1.802,
            1.0121,
            0.6174
          ],
          "centroid_distance_m": 0.439,
          "spatial_3d": {
            "edge_distance_cm": 14.72,
            "center_distance_cm": 43.9,
            "nearest_point_small": [
              2.0778,
              1.1142,
              0.7827
            ],
            "nearest_point_nearby": [
              1.9367,
              1.0737,
              0.7714
            ],
            "direction_unit_vector": [
              -0.8354,
              -0.3348,
              -0.436
            ],
            "vertical_relation": "above",
            "vertical_offset_cm": 19.14,
            "horizontal_distance_cm": 39.51
          }
        },
        {
          "object_id": 25,
          "label": "bag",
          "centroid": [
            2.642,
            1.3394,
            0.8449
          ],
          "centroid_distance_m": 0.5078,
          "spatial_3d": {
            "edge_distance_cm": 28.12,
            "center_distance_cm": 50.78,
            "nearest_point_small": [
              2.2802,
              1.206,
              0.8085
            ],
            "nearest_point_nearby": [
              2.5508,
              1.2822,
              0.8004
            ],
            "direction_unit_vector": [
              0.9321,
              0.3551,
              0.071
            ],
            "vertical_relation": "same_level",
            "vertical_offset_cm": -3.61,
            "horizontal_distance_cm": 50.65
          }
        },
        {
          "object_id": 19,
          "label": "mouse",
          "centroid": [
            1.539,
            1.1395,
            0.7932
          ],
          "centroid_distance_m": 0.6302,
          "spatial_3d": {
            "edge_distance_cm": 49.69,
            "center_distance_cm": 63.02,
            "nearest_point_small": [
              2.0661,
              1.1604,
              0.8147
            ],
            "nearest_point_nearby": [
              1.5695,
              1.1491,
              0.8009
            ],
            "direction_unit_vector": [
              -0.9992,
              -0.0311,
              -0.0248
            ],
            "vertical_relation": "same_level",
            "vertical_offset_cm": 1.56,
            "horizontal_distance_cm": 63.0
          }
        },
        {
          "object_id": 12,
          "label": "coax outlet",
          "centroid": [
            2.0985,
            1.7337,
            1.1384
          ],
          "centroid_distance_m": 0.6661,
          "spatial_3d": {
            "edge_distance_cm": 52.83,
            "center_distance_cm": 66.61,
            "nearest_point_small": [
              2.1499,
              1.2835,
              0.8245
            ],
            "nearest_point_nearby": [
              2.1251,
              1.7327,
              1.1015
            ],
            "direction_unit_vector": [
              -0.1053,
              0.8626,
              0.4948
            ],
            "vertical_relation": "below",
            "vertical_offset_cm": -32.96,
            "horizontal_distance_cm": 57.89
          }
        },
        {
          "object_id": 16,
          "label": "REMOVE",
          "centroid": [
            2.6367,
            0.7075,
            0.9554
          ],
          "centroid_distance_m": 0.6667,
          "spatial_3d": {
            "edge_distance_cm": 50.49,
            "center_distance_cm": 66.67,
            "nearest_point_small": [
              2.2549,
              1.1098,
              0.8188
            ],
            "nearest_point_nearby": [
              2.5371,
              0.7095,
              0.9416
            ],
            "direction_unit_vector": [
              0.7021,
              -0.6773,
              0.2198
            ],
            "vertical_relation": "below",
            "vertical_offset_cm": -14.65,
            "horizontal_distance_cm": 65.04
          }
        },
        {
          "object_id": 13,
          "label": "coax outlet",
          "centroid": [
            1.8532,
            1.7204,
            1.1388
          ],
          "centroid_distance_m": 0.7235,
          "spatial_3d": {
            "edge_distance_cm": 57.72,
            "center_distance_cm": 72.35,
            "nearest_point_small": [
              2.1284,
              1.2816,
              0.8201
            ],
            "nearest_point_nearby": [
              1.8875,
              1.7291,
              1.094
            ],
            "direction_unit_vector": [
              -0.436,
              0.7759,
              0.456
            ],
            "vertical_relation": "below",
            "vertical_offset_cm": -32.99,
            "horizontal_distance_cm": 64.39
          }
        },
        {
          "object_id": 11,
          "label": "power socket",
          "centroid": [
            2.4566,
            1.747,
            1.138
          ],
          "centroid_distance_m": 0.7327,
          "spatial_3d": {
            "edge_distance_cm": 57.54,
            "center_distance_cm": 73.27,
            "nearest_point_small": [
              2.2084,
              1.2705,
              0.8237
            ],
            "nearest_point_nearby": [
              2.3921,
              1.7374,
              1.1054
            ],
            "direction_unit_vector": [
              0.393,
              0.8024,
              0.4492
            ],
            "vertical_relation": "below",
            "vertical_offset_cm": -32.91,
            "horizontal_distance_cm": 65.47
          }
        },
        {
          "object_id": 27,
          "label": "chair",
          "centroid": [
            2.9009,
            1.3764,
            0.753
          ],
          "centroid_distance_m": 0.7658,
          "spatial_3d": {
            "edge_distance_cm": 51.57,
            "center_distance_cm": 76.58,
            "nearest_point_small": [
              2.2837,
              1.1861,
              0.8145
            ],
            "nearest_point_nearby": [
              2.7985,
              1.2124,
              0.8297
            ],
            "direction_unit_vector": [
              0.9561,
              0.2837,
              -0.0728
            ],
            "vertical_relation": "above",
            "vertical_offset_cm": 5.58,
            "horizontal_distance_cm": 76.38
          }
        },
        {
          "object_id": 10,
          "label": "power socket",
          "centroid": [
            1.6556,
            1.7231,
            1.1354
          ],
          "centroid_distance_m": 0.8295,
          "spatial_3d": {
            "edge_distance_cm": 65.67,
            "center_distance_cm": 82.95,
            "nearest_point_small": [
              2.1232,
              1.2795,
              0.8178
            ],
            "nearest_point_nearby": [
              1.7297,
              1.7252,
              1.0966
            ],
            "direction_unit_vector": [
              -0.6185,
              0.6801,
              0.3937
            ],
            "vertical_relation": "below",
            "vertical_offset_cm": -32.65,
            "horizontal_distance_cm": 76.25
          }
        },
        {
          "object_id": 41,
          "label": "electrical duct",
          "centroid": [
            1.672,
            1.7428,
            1.1531
          ],
          "centroid_distance_m": 0.8402,
          "spatial_3d": {
            "edge_distance_cm": 49.36,
            "center_distance_cm": 84.02,
            "nearest_point_small": [
              2.1499,
              1.2835,
              0.8245
            ],
            "nearest_point_nearby": [
              2.1485,
              1.7383,
              1.0161
            ],
            "direction_unit_vector": [
              -0.5912,
              0.6948,
              0.4097
            ],
            "vertical_relation": "below",
            "vertical_offset_cm": -34.42,
            "horizontal_distance_cm": 76.65
          }
        }
      ]
    }
  ]
}