{
  "scene_id": "07b8312ea9",
  "dataset": "scannetpp",
  "small_items": [
    {
      "object_id": 44,
      "label": "backpack",
      "centroid": [
        4.1833,
        1.9173,
        0.2399
      ],
      "nearby_objects": [
        {
          "object_id": 69,
          "label": "bag",
          "centroid": [
            3.7762,
            2.2829,
            0.3314
          ],
          "centroid_distance_m": 0.5548,
          "spatial_3d": {
            "edge_distance_cm": 22.75,
            "center_distance_cm": 55.48,
            "nearest_point_small": [
              4.0455,
              1.9787,
              0.1145
            ],
            "nearest_point_nearby": [
              3.9129,
              2.1632,
              0.1032
            ],
            "direction_unit_vector": [
              -0.7338,
              0.6591,
              0.1648
            ],
            "vertical_relation": "below",
            "vertical_offset_cm": -9.14,
            "horizontal_distance_cm": 54.72
          }
        },
        {
          "object_id": 67,
          "label": "trash bag",
          "centroid": [
            3.6169,
            2.5205,
            0.1917
          ],
          "centroid_distance_m": 0.8289,
          "spatial_3d": {
            "edge_distance_cm": 53.47,
            "center_distance_cm": 82.89,
            "nearest_point_small": [
              4.134,
              2.0708,
              0.2874
            ],
            "nearest_point_nearby": [
              3.8409,
              2.5112,
              0.2104
            ],
            "direction_unit_vector": [
              -0.6833,
              0.7278,
              -0.0582
            ],
            "vertical_relation": "same_level",
            "vertical_offset_cm": 4.83,
            "horizontal_distance_cm": 82.75
          }
        },
        {
          "object_id": 19,
          "label": "REMOVE",
          "centroid": [
            3.5781,
            2.4815,
            0.3298
          ],
          "centroid_distance_m": 0.8323,
          "spatial_3d": {
            "edge_distance_cm": 68.83,
            "center_distance_cm": 83.23,
            "nearest_point_small": [
              4.134,
              2.0708,
              0.2874
            ],
            "nearest_point_nearby": [
              3.5798,
              2.4766,
              0.332
            ],
            "direction_unit_vector": [
              -0.7271,
              0.678,
              0.1079
            ],
            "vertical_relation": "below",
            "vertical_offset_cm": -8.98,
            "horizontal_distance_cm": 82.75
          }
        }
      ]
    },
    {
      "object_id": 57,
      "label": "cup",
      "centroid": [
        0.6762,
        2.4555,
        0.8862
      ],
      "nearby_objects": [
        {
          "object_id": 56,
          "label": "object",
          "centroid": [
            0.5855,
            2.2746,
            0.8511
          ],
          "centroid_distance_m": 0.2054,
          "spatial_3d": {
            "edge_distance_cm": 11.06,
            "center_distance_cm": 20.54,
            "nearest_point_small": [
              0.6545,
              2.4309,
              0.8493
            ],
            "nearest_point_nearby": [
              0.5997,
              2.3349,
              0.8487
            ],
            "direction_unit_vector": [
              -0.4416,
              -0.8807,
              -0.1712
            ],
            "vertical_relation": "same_level",
            "vertical_offset_cm": 3.52,
            "horizontal_distance_cm": 20.24
          }
        },
        {
          "object_id": 52,
          "label": "table",
          "centroid": [
            0.6637,
            2.1258,
            0.6139
          ],
          "centroid_distance_m": 0.4278,
          "spatial_3d": {
            "edge_distance_cm": 0.16,
            "center_distance_cm": 42.78,
            "nearest_point_small": [
              0.6416,
              2.44,
              0.8379
            ],
            "nearest_point_nearby": [
              0.6409,
              2.4392,
              0.8367
            ],
            "direction_unit_vector": [
              -0.0291,
              -0.7706,
              -0.6366
            ],
            "vertical_relation": "above",
            "vertical_offset_cm": 27.24,
            "horizontal_distance_cm": 32.99
          }
        },
        {
          "object_id": 59,
          "label": "window frame",
          "centroid": [
            0.3496,
            2.3915,
            1.5215
          ],
          "centroid_distance_m": 0.7172,
          "spatial_3d": {
            "edge_distance_cm": 23.92,
            "center_distance_cm": 71.72,
            "nearest_point_small": [
              0.6482,
              2.5048,
              0.9194
            ],
            "nearest_point_nearby": [
              0.5706,
              2.5953,
              1.1267
            ],
            "direction_unit_vector": [
              -0.4554,
              -0.0892,
              0.8858
            ],
            "vertical_relation": "below",
            "vertical_offset_cm": -63.53,
            "horizontal_distance_cm": 33.28
          }
        },
        {
          "object_id": 53,
          "label": "blanket",
          "centroid": [
            1.5599,
            2.7223,
            0.7107
          ],
          "centroid_distance_m": 0.9397,
          "spatial_3d": {
            "edge_distance_cm": 40.32,
            "center_distance_cm": 93.97,
            "nearest_point_small": [
              0.7029,
              2.4795,
              0.842
            ],
            "nearest_point_nearby": [
              1.0412,
              2.639,
              0.6914
            ],
            "direction_unit_vector": [
              0.9405,
              0.2839,
              -0.1868
            ],
            "vertical_relation": "above",
            "vertical_offset_cm": 17.55,
            "horizontal_distance_cm": 92.31
          }
        },
        {
          "object_id": 58,
          "label": "window",
          "centroid": [
            0.6522,
            2.6332,
            1.8201
          ],
          "centroid_distance_m": 0.9509,
          "spatial_3d": {
            "edge_distance_cm": 29.48,
            "center_distance_cm": 95.09,
            "nearest_point_small": [
              0.6482,
              2.5048,
              0.9194
            ],
            "nearest_point_nearby": [
              0.5843,
              2.5728,
              1.1991
            ],
            "direction_unit_vector": [
              -0.0252,
              0.1869,
              0.9821
            ],
            "vertical_relation": "below",
            "vertical_offset_cm": -93.39,
            "horizontal_distance_cm": 17.93
          }
        }
      ]
    }
  ]
}