{
  "scene_id": "06bc6d1b24",
  "dataset": "scannetpp",
  "small_items": [
    {
      "object_id": 12,
      "label": "soap",
      "centroid": [
        1.6255,
        2.7247,
        1.2068
      ],
      "nearby_objects": [
        {
          "object_id": 9,
          "label": "tap",
          "centroid": [
            1.5108,
            2.6116,
            1.0495
          ],
          "centroid_distance_m": 0.2252,
          "spatial_3d": {
            "edge_distance_cm": 8.28,
            "center_distance_cm": 22.52,
            "nearest_point_small": [
              1.58,
              2.7164,
              1.0895
            ],
            "nearest_point_nearby": [
              1.5087,
              2.6746,
              1.095
            ],
            "direction_unit_vector": [
              -0.5094,
              -0.5022,
              -0.6988
            ],
            "vertical_relation": "above",
            "vertical_offset_cm": 15.73,
            "horizontal_distance_cm": 16.11
          }
        },
        {
          "object_id": 21,
          "label": "sink",
          "centroid": [
            1.5463,
            2.5108,
            0.8395
          ],
          "centroid_distance_m": 0.4324,
          "spatial_3d": {
            "edge_distance_cm": 10.37,
            "center_distance_cm": 43.24,
            "nearest_point_small": [
              1.6017,
              2.7856,
              1.0321
            ],
            "nearest_point_nearby": [
              1.5813,
              2.7797,
              0.9306
            ],
            "direction_unit_vector": [
              -0.1833,
              -0.4947,
              -0.8495
            ],
            "vertical_relation": "above",
            "vertical_offset_cm": 36.73,
            "horizontal_distance_cm": 22.81
          }
        },
        {
          "object_id": 16,
          "label": "paper towel dispenser",
          "centroid": [
            2.0543,
            2.6413,
            1.4274
          ],
          "centroid_distance_m": 0.4893,
          "spatial_3d": {
            "edge_distance_cm": 27.08,
            "center_distance_cm": 48.93,
            "nearest_point_small": [
              1.6968,
              2.7839,
              1.3489
            ],
            "nearest_point_nearby": [
              1.9676,
              2.7866,
              1.3528
            ],
            "direction_unit_vector": [
              0.8762,
              -0.1703,
              0.4508
            ],
            "vertical_relation": "below",
            "vertical_offset_cm": -22.05,
            "horizontal_distance_cm": 43.68
          }
        },
        {
          "object_id": 15,
          "label": "tiled wall",
          "centroid": [
            2.1323,
            2.6948,
            1.2118
          ],
          "centroid_distance_m": 0.5077,
          "spatial_3d": {
            "edge_distance_cm": 37.79,
            "center_distance_cm": 50.77,
            "nearest_point_small": [
              1.6968,
              2.7839,
              1.3489
            ],
            "nearest_point_nearby": [
              2.0636,
              2.8742,
              1.3621
            ],
            "direction_unit_vector": [
              0.9982,
              -0.0589,
              0.0098
            ],
            "vertical_relation": "same_level",
            "vertical_offset_cm": -0.5,
            "horizontal_distance_cm": 50.76
          }
        },
        {
          "object_id": 4,
          "label": "tiled wall",
          "centroid": [
            1.0141,
            2.5755,
            1.1969
          ],
          "centroid_distance_m": 0.6294,
          "spatial_3d": {
            "edge_distance_cm": 0.18,
            "center_distance_cm": 62.94,
            "nearest_point_small": [
              1.5661,
              2.748,
              1.22
            ],
            "nearest_point_nearby": [
              1.5666,
              2.7498,
              1.2202
            ],
            "direction_unit_vector": [
              -0.9714,
              -0.237,
              -0.0157
            ],
            "vertical_relation": "same_level",
            "vertical_offset_cm": 0.99,
            "horizontal_distance_cm": 62.93
          }
        },
        {
          "object_id": 8,
          "label": "pipe",
          "centroid": [
            1.5127,
            2.5877,
            0.5875
          ],
          "centroid_distance_m": 0.6442,
          "spatial_3d": {
            "edge_distance_cm": 38.89,
            "center_distance_cm": 64.42,
            "nearest_point_small": [
              1.6318,
              2.6924,
              1.0605
            ],
            "nearest_point_nearby": [
              1.5468,
              2.5638,
              0.7035
            ],
            "direction_unit_vector": [
              -0.1752,
              -0.2127,
              -0.9613
            ],
            "vertical_relation": "above",
            "vertical_offset_cm": 61.93,
            "horizontal_distance_cm": 17.75
          }
        },
        {
          "object_id": 1,
          "label": "soap dispenser",
          "centroid": [
            0.7703,
            2.4391,
            1.2202
          ],
          "centroid_distance_m": 0.9018,
          "spatial_3d": {
            "edge_distance_cm": 80.93,
            "center_distance_cm": 90.18,
            "nearest_point_small": [
              1.5554,
              2.7697,
              1.0964
            ],
            "nearest_point_nearby": [
              0.7956,
              2.491,
              1.0933
            ],
            "direction_unit_vector": [
              -0.9484,
              -0.3167,
              0.0149
            ],
            "vertical_relation": "same_level",
            "vertical_offset_cm": -1.34,
            "horizontal_distance_cm": 90.17
          }
        },
        {
          "object_id": 18,
          "label": "tiled wall",
          "centroid": [
            2.5599,
            2.6187,
            1.1767
          ],
          "centroid_distance_m": 0.9409,
          "spatial_3d": {
            "edge_distance_cm": 57.29,
            "center_distance_cm": 94.09,
            "nearest_point_small": [
              1.67,
              2.7025,
              1.1425
            ],
            "nearest_point_nearby": [
              2.2031,
              2.4928,
              1.1396
            ],
            "direction_unit_vector": [
              0.9931,
              -0.1127,
              -0.032
            ],
            "vertical_relation": "same_level",
            "vertical_offset_cm": 3.01,
            "horizontal_distance_cm": 94.04
          }
        },
        {
          "object_id": 5,
          "label": "wall lamp",
          "centroid": [
            1.4959,
            2.7294,
            2.1529
          ],
          "centroid_distance_m": 0.955,
          "spatial_3d": {
            "edge_distance_cm": 76.48,
            "center_distance_cm": 95.5,
            "nearest_point_small": [
              1.5951,
              2.7856,
              1.3674
            ],
            "nearest_point_nearby": [
              1.5984,
              2.7653,
              2.132
            ],
            "direction_unit_vector": [
              -0.1357,
              0.0049,
              0.9907
            ],
            "vertical_relation": "below",
            "vertical_offset_cm": -94.61,
            "horizontal_distance_cm": 12.97
          }
        },
        {
          "object_id": 13,
          "label": "trash can",
          "centroid": [
            1.1473,
            2.4327,
            0.4138
          ],
          "centroid_distance_m": 0.971,
          "spatial_3d": {
            "edge_distance_cm": 48.66,
            "center_distance_cm": 97.1,
            "nearest_point_small": [
              1.5945,
              2.7613,
              1.045
            ],
            "nearest_point_nearby": [
              1.2811,
              2.6387,
              0.6937
            ],
            "direction_unit_vector": [
              -0.4925,
              -0.3007,
              -0.8167
            ],
            "vertical_relation": "above",
            "vertical_offset_cm": 79.3,
            "horizontal_distance_cm": 56.03
          }
        }
      ]
    }
  ]
}