{
  "scene_id": "10242d1eaf",
  "dataset": "scannetpp",
  "small_items": [
    {
      "object_id": 118,
      "label": "bottle",
      "centroid": [
        3.2007,
        3.4097,
        1.1398
      ],
      "nearby_objects": [
        {
          "object_id": 117,
          "label": "air fryer",
          "centroid": [
            3.0749,
            3.5736,
            1.1974
          ],
          "centroid_distance_m": 0.2145,
          "spatial_3d": {
            "edge_distance_cm": 0.24,
            "center_distance_cm": 21.45,
            "nearest_point_small": [
              3.1665,
              3.4115,
              1.0358
            ],
            "nearest_point_nearby": [
              3.1642,
              3.412,
              1.0357
            ],
            "direction_unit_vector": [
              -0.5864,
              0.7641,
              0.2688
            ],
            "vertical_relation": "below",
            "vertical_offset_cm": -5.76,
            "horizontal_distance_cm": 20.66
          }
        },
        {
          "object_id": 198,
          "label": "power strip",
          "centroid": [
            3.2787,
            3.1534,
            1.0701
          ],
          "centroid_distance_m": 0.2769,
          "spatial_3d": {
            "edge_distance_cm": 16.96,
            "center_distance_cm": 27.69,
            "nearest_point_small": [
              3.2477,
              3.378,
              1.0833
            ],
            "nearest_point_nearby": [
              3.2262,
              3.2101,
              1.0716
            ],
            "direction_unit_vector": [
              0.2816,
              -0.9259,
              -0.2518
            ],
            "vertical_relation": "above",
            "vertical_offset_cm": 6.97,
            "horizontal_distance_cm": 26.8
          }
        },
        {
          "object_id": 196,
          "label": "muffin",
          "centroid": [
            3.2506,
            3.6793,
            1.0955
          ],
          "centroid_distance_m": 0.2777,
          "spatial_3d": {
            "edge_distance_cm": 16.36,
            "center_distance_cm": 27.77,
            "nearest_point_small": [
              3.1989,
              3.4323,
              1.05
            ],
            "nearest_point_nearby": [
              3.1682,
              3.5931,
              1.0526
            ],
            "direction_unit_vector": [
              0.1796,
              0.9707,
              -0.1596
            ],
            "vertical_relation": "same_level",
            "vertical_offset_cm": 4.43,
            "horizontal_distance_cm": 27.41
          }
        },
        {
          "object_id": 119,
          "label": "plate",
          "centroid": [
            3.2214,
            3.7029,
            1.045
          ],
          "centroid_distance_m": 0.3088,
          "spatial_3d": {
            "edge_distance_cm": 11.48,
            "center_distance_cm": 30.88,
            "nearest_point_small": [
              3.222,
              3.4288,
              1.048
            ],
            "nearest_point_nearby": [
              3.2574,
              3.5379,
              1.0518
            ],
            "direction_unit_vector": [
              0.0671,
              0.9494,
              -0.3069
            ],
            "vertical_relation": "above",
            "vertical_offset_cm": 9.48,
            "horizontal_distance_cm": 29.39
          }
        },
        {
          "object_id": 197,
          "label": "basket",
          "centroid": [
            3.009,
            3.4432,
            1.3982
          ],
          "centroid_distance_m": 0.3235,
          "spatial_3d": {
            "edge_distance_cm": 14.47,
            "center_distance_cm": 32.35,
            "nearest_point_small": [
              3.1713,
              3.4018,
              1.2169
            ],
            "nearest_point_nearby": [
              3.1061,
              3.4113,
              1.3457
            ],
            "direction_unit_vector": [
              -0.5927,
              0.1036,
              0.7988
            ],
            "vertical_relation": "below",
            "vertical_offset_cm": -25.84,
            "horizontal_distance_cm": 19.46
          }
        },
        {
          "object_id": 195,
          "label": "muffin",
          "centroid": [
            3.1752,
            3.7324,
            1.0902
          ],
          "centroid_distance_m": 0.3274,
          "spatial_3d": {
            "edge_distance_cm": 25.16,
            "center_distance_cm": 32.74,
            "nearest_point_small": [
              3.198,
              3.4322,
              1.1116
            ],
            "nearest_point_nearby": [
              3.1683,
              3.682,
              1.1088
            ],
            "direction_unit_vector": [
              -0.078,
              0.9854,
              -0.1514
            ],
            "vertical_relation": "same_level",
            "vertical_offset_cm": 4.96,
            "horizontal_distance_cm": 32.36
          }
        },
        {
          "object_id": 115,
          "label": "microwave",
          "centroid": [
            3.5262,
            3.2655,
            1.1746
          ],
          "centroid_distance_m": 0.3578,
          "spatial_3d": {
            "edge_distance_cm": 22.52,
            "center_distance_cm": 35.78,
            "nearest_point_small": [
              3.2436,
              3.3753,
              1.2047
            ],
            "nearest_point_nearby": [
              3.4034,
              3.2638,
              1.3176
            ],
            "direction_unit_vector": [
              0.9099,
              -0.4033,
              0.0972
            ],
            "vertical_relation": "same_level",
            "vertical_offset_cm": -3.48,
            "horizontal_distance_cm": 35.61
          }
        },
        {
          "object_id": 116,
          "label": "waffle maker",
          "centroid": [
            3.5554,
            3.35,
            1.3821
          ],
          "centroid_distance_m": 0.4337,
          "spatial_3d": {
            "edge_distance_cm": 24.32,
            "center_distance_cm": 43.37,
            "nearest_point_small": [
              3.2436,
              3.3753,
              1.2047
            ],
            "nearest_point_nearby": [
              3.416,
              3.2539,
              1.3259
            ],
            "direction_unit_vector": [
              0.8179,
              -0.1379,
              0.5586
            ],
            "vertical_relation": "below",
            "vertical_offset_cm": -24.23,
            "horizontal_distance_cm": 35.97
          }
        },
        {
          "object_id": 121,
          "label": "basket",
          "centroid": [
            2.7051,
            3.3755,
            1.1301
          ],
          "centroid_distance_m": 0.4968,
          "spatial_3d": {
            "edge_distance_cm": 37.61,
            "center_distance_cm": 49.69,
            "nearest_point_small": [
              3.15,
              3.3816,
              1.0821
            ],
            "nearest_point_nearby": [
              2.7749,
              3.3887,
              1.1094
            ],
            "direction_unit_vector": [
              -0.9974,
              -0.0689,
              -0.0195
            ],
            "vertical_relation": "same_level",
            "vertical_offset_cm": 0.97,
            "horizontal_distance_cm": 49.68
          }
        },
        {
          "object_id": 120,
          "label": "plate",
          "centroid": [
            2.9498,
            3.8295,
            1.0461
          ],
          "centroid_distance_m": 0.4979,
          "spatial_3d": {
            "edge_distance_cm": 34.74,
            "center_distance_cm": 49.79,
            "nearest_point_small": [
              3.1785,
              3.425,
              1.058
            ],
            "nearest_point_nearby": [
              3.0093,
              3.7284,
              1.0548
            ],
            "direction_unit_vector": [
              -0.5039,
              0.843,
              -0.1881
            ],
            "vertical_relation": "above",
            "vertical_offset_cm": 9.37,
            "horizontal_distance_cm": 48.9
          }
        },
        {
          "object_id": 131,
          "label": "fruit",
          "centroid": [
            2.6007,
            3.4394,
            1.0386
          ],
          "centroid_distance_m": 0.6092,
          "spatial_3d": {
            "edge_distance_cm": 51.69,
            "center_distance_cm": 60.92,
            "nearest_point_small": [
              3.15,
              3.3816,
              1.0821
            ],
            "nearest_point_nearby": [
              2.6374,
              3.4399,
              1.0499
            ],
            "direction_unit_vector": [
              -0.9849,
              0.0487,
              -0.1661
            ],
            "vertical_relation": "above",
            "vertical_offset_cm": 10.12,
            "horizontal_distance_cm": 60.08
          }
        },
        {
          "object_id": 114,
          "label": "coffee maker",
          "centroid": [
            3.8119,
            3.491,
            1.1887
          ],
          "centroid_distance_m": 0.6184,
          "spatial_3d": {
            "edge_distance_cm": 47.95,
            "center_distance_cm": 61.84,
            "nearest_point_small": [
              3.2475,
              3.3965,
              1.0469
            ],
            "nearest_point_nearby": [
              3.7249,
              3.4382,
              1.0298
            ],
            "direction_unit_vector": [
              0.9882,
              0.1314,
              0.079
            ],
            "vertical_relation": "same_level",
            "vertical_offset_cm": -4.89,
            "horizontal_distance_cm": 61.65
          }
        },
        {
          "object_id": 132,
          "label": "plate",
          "centroid": [
            2.5814,
            3.4883,
            1.0196
          ],
          "centroid_distance_m": 0.6358,
          "spatial_3d": {
            "edge_distance_cm": 51.48,
            "center_distance_cm": 63.58,
            "nearest_point_small": [
              3.15,
              3.3816,
              1.0821
            ],
            "nearest_point_nearby": [
              2.6427,
              3.4525,
              1.031
            ],
            "direction_unit_vector": [
              -0.9742,
              0.1235,
              -0.189
            ],
            "vertical_relation": "above",
            "vertical_offset_cm": 12.02,
            "horizontal_distance_cm": 62.43
          }
        },
        {
          "object_id": 130,
          "label": "fruit",
          "centroid": [
            2.5542,
            3.4982,
            1.0439
          ],
          "centroid_distance_m": 0.6596,
          "spatial_3d": {
            "edge_distance_cm": 58.01,
            "center_distance_cm": 65.96,
            "nearest_point_small": [
              3.15,
              3.3816,
              1.0821
            ],
            "nearest_point_nearby": [
              2.5816,
              3.4944,
              1.0571
            ],
            "direction_unit_vector": [
              -0.9802,
              0.1341,
              -0.1454
            ],
            "vertical_relation": "above",
            "vertical_offset_cm": 9.59,
            "horizontal_distance_cm": 65.26
          }
        },
        {
          "object_id": 126,
          "label": "orange",
          "centroid": [
            2.5118,
            3.5907,
            1.1368
          ],
          "centroid_distance_m": 0.7123,
          "spatial_3d": {
            "edge_distance_cm": 63.94,
            "center_distance_cm": 71.23,
            "nearest_point_small": [
              3.1513,
              3.3886,
              1.1581
            ],
            "nearest_point_nearby": [
              2.5372,
              3.5643,
              1.1286
            ],
            "direction_unit_vector": [
              -0.9672,
              0.2541,
              -0.0042
            ],
            "vertical_relation": "same_level",
            "vertical_offset_cm": 0.3,
            "horizontal_distance_cm": 71.23
          }
        },
        {
          "object_id": 127,
          "label": "orange",
          "centroid": [
            2.5002,
            3.6281,
            1.1342
          ],
          "centroid_distance_m": 0.7338,
          "spatial_3d": {
            "edge_distance_cm": 67.73,
            "center_distance_cm": 73.38,
            "nearest_point_small": [
              3.1565,
              3.4078,
              1.0796
            ],
            "nearest_point_nearby": [
              2.5158,
              3.6218,
              1.1291
            ],
            "direction_unit_vector": [
              -0.9547,
              0.2976,
              -0.0077
            ],
            "vertical_relation": "same_level",
            "vertical_offset_cm": 0.56,
            "horizontal_distance_cm": 73.38
          }
        },
        {
          "object_id": 122,
          "label": "basket",
          "centroid": [
            2.4959,
            3.6286,
            1.1008
          ],
          "centroid_distance_m": 0.739,
          "spatial_3d": {
            "edge_distance_cm": 62.31,
            "center_distance_cm": 73.9,
            "nearest_point_small": [
              3.1513,
              3.3886,
              1.1581
            ],
            "nearest_point_nearby": [
              2.5525,
              3.5574,
              1.124
            ],
            "direction_unit_vector": [
              -0.9537,
              0.2961,
              -0.0528
            ],
            "vertical_relation": "same_level",
            "vertical_offset_cm": 3.9,
            "horizontal_distance_cm": 73.8
          }
        },
        {
          "object_id": 128,
          "label": "orange",
          "centroid": [
            2.4809,
            3.5975,
            1.1452
          ],
          "centroid_distance_m": 0.7439,
          "spatial_3d": {
            "edge_distance_cm": 69.38,
            "center_distance_cm": 74.39,
            "nearest_point_small": [
              3.1513,
              3.3886,
              1.1581
            ],
            "nearest_point_nearby": [
              2.4864,
              3.5848,
              1.1325
            ],
            "direction_unit_vector": [
              -0.9676,
              0.2524,
              0.0072
            ],
            "vertical_relation": "same_level",
            "vertical_offset_cm": -0.54,
            "horizontal_distance_cm": 74.39
          }
        },
        {
          "object_id": 193,
          "label": "windowsill",
          "centroid": [
            2.4758,
            3.5243,
            1.0075
          ],
          "centroid_distance_m": 0.7458,
          "spatial_3d": {
            "edge_distance_cm": 45.29,
            "center_distance_cm": 74.58,
            "nearest_point_small": [
              3.1507,
              3.3805,
              1.076
            ],
            "nearest_point_nearby": [
              2.7041,
              3.4118,
              1.0077
            ],
            "direction_unit_vector": [
              -0.9721,
              0.1536,
              -0.1774
            ],
            "vertical_relation": "above",
            "vertical_offset_cm": 13.23,
            "horizontal_distance_cm": 73.39
          }
        },
        {
          "object_id": 129,
          "label": "orange",
          "centroid": [
            2.4397,
            3.5558,
            1.1347
          ],
          "centroid_distance_m": 0.7749,
          "spatial_3d": {
            "edge_distance_cm": 71.66,
            "center_distance_cm": 77.49,
            "nearest_point_small": [
              3.1513,
              3.3886,
              1.1581
            ],
            "nearest_point_nearby": [
              2.4572,
              3.5635,
              1.1258
            ],
            "direction_unit_vector": [
              -0.9821,
              0.1885,
              -0.0066
            ],
            "vertical_relation": "same_level",
            "vertical_offset_cm": 0.51,
            "horizontal_distance_cm": 77.49
          }
        },
        {
          "object_id": 194,
          "label": "kitchen towel",
          "centroid": [
            2.4328,
            3.6667,
            1.1572
          ],
          "centroid_distance_m": 0.81,
          "spatial_3d": {
            "edge_distance_cm": 69.15,
            "center_distance_cm": 81.0,
            "nearest_point_small": [
              3.1561,
              3.4014,
              1.1553
            ],
            "nearest_point_nearby": [
              2.5113,
              3.6509,
              1.1685
            ],
            "direction_unit_vector": [
              -0.9481,
              0.3173,
              0.0214
            ],
            "vertical_relation": "same_level",
            "vertical_offset_cm": -1.74,
            "horizontal_distance_cm": 80.98
          }
        },
        {
          "object_id": 75,
          "label": "kitchen cabinet",
          "centroid": [
            2.9268,
            4.0315,
            0.693
          ],
          "centroid_distance_m": 0.8132,
          "spatial_3d": {
            "edge_distance_cm": 33.35,
            "center_distance_cm": 81.32,
            "nearest_point_small": [
              3.221,
              3.428,
              1.0407
            ],
            "nearest_point_nearby": [
              3.3513,
              3.73,
              0.9854
            ],
            "direction_unit_vector": [
              -0.3368,
              0.7647,
              -0.5494
            ],
            "vertical_relation": "above",
            "vertical_offset_cm": 44.68,
            "horizontal_distance_cm": 67.95
          }
        },
        {
          "object_id": 113,
          "label": "blender",
          "centroid": [
            3.9454,
            3.8109,
            1.2046
          ],
          "centroid_distance_m": 0.8483,
          "spatial_3d": {
            "edge_distance_cm": 70.17,
            "center_distance_cm": 84.83,
            "nearest_point_small": [
              3.2442,
              3.4093,
              1.1722
            ],
            "nearest_point_nearby": [
              3.8485,
              3.7659,
              1.163
            ],
            "direction_unit_vector": [
              0.8778,
              0.4729,
              0.0764
            ],
            "vertical_relation": "below",
            "vertical_offset_cm": -6.48,
            "horizontal_distance_cm": 84.58
          }
        },
        {
          "object_id": 125,
          "label": "fruit",
          "centroid": [
            2.3533,
            3.6865,
            1.0478
          ],
          "centroid_distance_m": 0.8962,
          "spatial_3d": {
            "edge_distance_cm": 82.25,
            "center_distance_cm": 89.62,
            "nearest_point_small": [
              3.1565,
              3.4078,
              1.0796
            ],
            "nearest_point_nearby": [
              2.3772,
              3.6691,
              1.0502
            ],
            "direction_unit_vector": [
              -0.9456,
              0.3088,
              -0.1026
            ],
            "vertical_relation": "above",
            "vertical_offset_cm": 9.2,
            "horizontal_distance_cm": 89.14
          }
        },
        {
          "object_id": 203,
          "label": "object",
          "centroid": [
            3.9557,
            2.995,
            1.4317
          ],
          "centroid_distance_m": 0.9095,
          "spatial_3d": {
            "edge_distance_cm": 65.33,
            "center_distance_cm": 90.95,
            "nearest_point_small": [
              3.2436,
              3.3753,
              1.2047
            ],
            "nearest_point_nearby": [
              3.8063,
              3.1387,
              1.4373
            ],
            "direction_unit_vector": [
              0.8301,
              -0.456,
              0.3209
            ],
            "vertical_relation": "below",
            "vertical_offset_cm": -29.19,
            "horizontal_distance_cm": 86.14
          }
        },
        {
          "object_id": 202,
          "label": "object",
          "centroid": [
            4.0749,
            3.2673,
            1.4669
          ],
          "centroid_distance_m": 0.9442,
          "spatial_3d": {
            "edge_distance_cm": 84.61,
            "center_distance_cm": 94.42,
            "nearest_point_small": [
              3.2459,
              3.3815,
              1.2051
            ],
            "nearest_point_nearby": [
              4.0354,
              3.1657,
              1.4199
            ],
            "direction_unit_vector": [
              0.9259,
              -0.1509,
              0.3464
            ],
            "vertical_relation": "below",
            "vertical_offset_cm": -32.71,
            "horizontal_distance_cm": 88.57
          }
        },
        {
          "object_id": 137,
          "label": "kitchen counter",
          "centroid": [
            3.041,
            4.3792,
            1.0152
          ],
          "centroid_distance_m": 0.9904,
          "spatial_3d": {
            "edge_distance_cm": 0.24,
            "center_distance_cm": 99.04,
            "nearest_point_small": [
              3.1924,
              3.4259,
              1.0312
            ],
            "nearest_point_nearby": [
              3.1921,
              3.4269,
              1.029
            ],
            "direction_unit_vector": [
              -0.1613,
              0.9789,
              -0.1258
            ],
            "vertical_relation": "above",
            "vertical_offset_cm": 12.46,
            "horizontal_distance_cm": 98.25
          }
        }
      ]
    },
    {
      "object_id": 136,
      "label": "bottle",
      "centroid": [
        1.9594,
        4.1588,
        1.1223
      ],
      "nearby_objects": [
        {
          "object_id": 135,
          "label": "ice tray",
          "centroid": [
            2.0186,
            4.2071,
            1.046
          ],
          "centroid_distance_m": 0.108,
          "spatial_3d": {
            "edge_distance_cm": 0.27,
            "center_distance_cm": 10.8,
            "nearest_point_small": [
              1.9777,
              4.1747,
              1.0547
            ],
            "nearest_point_nearby": [
              1.9778,
              4.1749,
              1.052
            ],
            "direction_unit_vector": [
              0.5484,
              0.4466,
              -0.707
            ],
            "vertical_relation": "above",
            "vertical_offset_cm": 7.63,
            "horizontal_distance_cm": 7.64
          }
        },
        {
          "object_id": 191,
          "label": "food container",
          "centroid": [
            1.8304,
            4.2609,
            1.1455
          ],
          "centroid_distance_m": 0.1661,
          "spatial_3d": {
            "edge_distance_cm": 3.22,
            "center_distance_cm": 16.61,
            "nearest_point_small": [
              1.9121,
              4.2148,
              1.0418
            ],
            "nearest_point_nearby": [
              1.8899,
              4.2373,
              1.0482
            ],
            "direction_unit_vector": [
              -0.7767,
              0.6142,
              0.1395
            ],
            "vertical_relation": "same_level",
            "vertical_offset_cm": -2.32,
            "horizontal_distance_cm": 16.45
          }
        },
        {
          "object_id": 192,
          "label": "food container",
          "centroid": [
            1.7699,
            4.1812,
            1.2066
          ],
          "centroid_distance_m": 0.2086,
          "spatial_3d": {
            "edge_distance_cm": 8.11,
            "center_distance_cm": 20.86,
            "nearest_point_small": [
              1.9121,
              4.2148,
              1.0418
            ],
            "nearest_point_nearby": [
              1.8327,
              4.2011,
              1.0321
            ],
            "direction_unit_vector": [
              -0.9084,
              0.107,
              0.4041
            ],
            "vertical_relation": "below",
            "vertical_offset_cm": -8.43,
            "horizontal_distance_cm": 19.08
          }
        },
        {
          "object_id": 190,
          "label": "sink caddy",
          "centroid": [
            2.0007,
            4.4898,
            1.1167
          ],
          "centroid_distance_m": 0.3336,
          "spatial_3d": {
            "edge_distance_cm": 11.85,
            "center_distance_cm": 33.36,
            "nearest_point_small": [
              1.9609,
              4.2324,
              1.0539
            ],
            "nearest_point_nearby": [
              1.9271,
              4.3451,
              1.0401
            ],
            "direction_unit_vector": [
              0.1239,
              0.9922,
              -0.0167
            ],
            "vertical_relation": "same_level",
            "vertical_offset_cm": 0.56,
            "horizontal_distance_cm": 33.36
          }
        },
        {
          "object_id": 124,
          "label": "coaster",
          "centroid": [
            2.031,
            3.8363,
            1.0347
          ],
          "centroid_distance_m": 0.3418,
          "spatial_3d": {
            "edge_distance_cm": 18.04,
            "center_distance_cm": 34.18,
            "nearest_point_small": [
              2.0566,
              4.1099,
              1.045
            ],
            "nearest_point_nearby": [
              2.0078,
              3.9366,
              1.0332
            ],
            "direction_unit_vector": [
              0.2094,
              -0.9436,
              -0.2564
            ],
            "vertical_relation": "above",
            "vertical_offset_cm": 8.77,
            "horizontal_distance_cm": 33.04
          }
        },
        {
          "object_id": 134,
          "label": "jar",
          "centroid": [
            2.0144,
            3.8102,
            1.115
          ],
          "centroid_distance_m": 0.353,
          "spatial_3d": {
            "edge_distance_cm": 25.48,
            "center_distance_cm": 35.3,
            "nearest_point_small": [
              2.0706,
              4.1057,
              1.0467
            ],
            "nearest_point_nearby": [
              2.0264,
              3.8691,
              1.1305
            ],
            "direction_unit_vector": [
              0.1558,
              -0.9876,
              -0.0209
            ],
            "vertical_relation": "same_level",
            "vertical_offset_cm": 0.74,
            "horizontal_distance_cm": 35.29
          }
        },
        {
          "object_id": 133,
          "label": "jar",
          "centroid": [
            2.1931,
            3.7321,
            1.101
          ],
          "centroid_distance_m": 0.487,
          "spatial_3d": {
            "edge_distance_cm": 34.01,
            "center_distance_cm": 48.7,
            "nearest_point_small": [
              2.0775,
              4.105,
              1.0481
            ],
            "nearest_point_nearby": [
              2.1641,
              3.7766,
              1.0654
            ],
            "direction_unit_vector": [
              0.4798,
              -0.8763,
              -0.0439
            ],
            "vertical_relation": "same_level",
            "vertical_offset_cm": 2.14,
            "horizontal_distance_cm": 48.65
          }
        },
        {
          "object_id": 123,
          "label": "coaster",
          "centroid": [
            2.1971,
            3.7348,
            1.0269
          ],
          "centroid_distance_m": 0.4953,
          "spatial_3d": {
            "edge_distance_cm": 31.08,
            "center_distance_cm": 49.53,
            "nearest_point_small": [
              2.0775,
              4.105,
              1.0481
            ],
            "nearest_point_nearby": [
              2.1484,
              3.8051,
              1.008
            ],
            "direction_unit_vector": [
              0.4798,
              -0.856,
              -0.1926
            ],
            "vertical_relation": "above",
            "vertical_offset_cm": 9.54,
            "horizontal_distance_cm": 48.61
          }
        },
        {
          "object_id": 184,
          "label": "sink",
          "centroid": [
            2.2946,
            4.5863,
            1.0015
          ],
          "centroid_distance_m": 0.5565,
          "spatial_3d": {
            "edge_distance_cm": 7.9,
            "center_distance_cm": 55.65,
            "nearest_point_small": [
              1.9673,
              4.2292,
              1.053
            ],
            "nearest_point_nearby": [
              2.0122,
              4.2916,
              1.0352
            ],
            "direction_unit_vector": [
              0.6024,
              0.7681,
              -0.217
            ],
            "vertical_relation": "above",
            "vertical_offset_cm": 12.08,
            "horizontal_distance_cm": 54.32
          }
        },
        {
          "object_id": 185,
          "label": "faucet",
          "centroid": [
            2.2068,
            4.7121,
            1.0797
          ],
          "centroid_distance_m": 0.6075,
          "spatial_3d": {
            "edge_distance_cm": 49.18,
            "center_distance_cm": 60.75,
            "nearest_point_small": [
              1.9609,
              4.2324,
              1.0539
            ],
            "nearest_point_nearby": [
              2.1416,
              4.6883,
              1.0171
            ],
            "direction_unit_vector": [
              0.4072,
              0.9106,
              -0.0702
            ],
            "vertical_relation": "same_level",
            "vertical_offset_cm": 4.26,
            "horizontal_distance_cm": 60.6
          }
        },
        {
          "object_id": 125,
          "label": "fruit",
          "centroid": [
            2.3533,
            3.6865,
            1.0478
          ],
          "centroid_distance_m": 0.6195,
          "spatial_3d": {
            "edge_distance_cm": 45.58,
            "center_distance_cm": 61.95,
            "nearest_point_small": [
              2.0775,
              4.105,
              1.0481
            ],
            "nearest_point_nearby": [
              2.3287,
              3.7247,
              1.0519
            ],
            "direction_unit_vector": [
              0.6358,
              -0.7624,
              -0.1202
            ],
            "vertical_relation": "above",
            "vertical_offset_cm": 7.45,
            "horizontal_distance_cm": 61.5
          }
        },
        {
          "object_id": 194,
          "label": "kitchen towel",
          "centroid": [
            2.4328,
            3.6667,
            1.1572
          ],
          "centroid_distance_m": 0.6837,
          "spatial_3d": {
            "edge_distance_cm": 47.83,
            "center_distance_cm": 68.37,
            "nearest_point_small": [
              2.0775,
              4.105,
              1.0481
            ],
            "nearest_point_nearby": [
              2.3086,
              3.6987,
              1.1494
            ],
            "direction_unit_vector": [
              0.6923,
              -0.7198,
              0.051
            ],
            "vertical_relation": "same_level",
            "vertical_offset_cm": -3.48,
            "horizontal_distance_cm": 68.28
          }
        },
        {
          "object_id": 246,
          "label": "object",
          "centroid": [
            1.2847,
            4.3781,
            1.1058
          ],
          "centroid_distance_m": 0.7097,
          "spatial_3d": {
            "edge_distance_cm": 60.37,
            "center_distance_cm": 70.97,
            "nearest_point_small": [
              1.9121,
              4.2148,
              1.0418
            ],
            "nearest_point_nearby": [
              1.3271,
              4.3495,
              1.1061
            ],
            "direction_unit_vector": [
              -0.9508,
              0.309,
              -0.0233
            ],
            "vertical_relation": "same_level",
            "vertical_offset_cm": 1.65,
            "horizontal_distance_cm": 70.95
          }
        },
        {
          "object_id": 252,
          "label": "towel",
          "centroid": [
            1.537,
            4.724,
            1.0238
          ],
          "centroid_distance_m": 0.7125,
          "spatial_3d": {
            "edge_distance_cm": 55.23,
            "center_distance_cm": 71.25,
            "nearest_point_small": [
              1.9121,
              4.2148,
              1.0418
            ],
            "nearest_point_nearby": [
              1.5379,
              4.6206,
              1.0253
            ],
            "direction_unit_vector": [
              -0.5929,
              0.7933,
              -0.1382
            ],
            "vertical_relation": "above",
            "vertical_offset_cm": 9.85,
            "horizontal_distance_cm": 70.56
          }
        },
        {
          "object_id": 247,
          "label": "object",
          "centroid": [
            1.2532,
            4.3031,
            1.1932
          ],
          "centroid_distance_m": 0.7242,
          "spatial_3d": {
            "edge_distance_cm": 61.01,
            "center_distance_cm": 72.42,
            "nearest_point_small": [
              1.8971,
              4.1676,
              1.2171
            ],
            "nearest_point_nearby": [
              1.2986,
              4.286,
              1.2198
            ],
            "direction_unit_vector": [
              -0.9751,
              0.1992,
              0.0979
            ],
            "vertical_relation": "below",
            "vertical_offset_cm": -7.09,
            "horizontal_distance_cm": 72.07
          }
        },
        {
          "object_id": 122,
          "label": "basket",
          "centroid": [
            2.4959,
            3.6286,
            1.1008
          ],
          "centroid_distance_m": 0.7547,
          "spatial_3d": {
            "edge_distance_cm": 51.42,
            "center_distance_cm": 75.47,
            "nearest_point_small": [
              2.0775,
              4.105,
              1.0481
            ],
            "nearest_point_nearby": [
              2.3628,
              3.6841,
              1.1247
            ],
            "direction_unit_vector": [
              0.711,
              -0.7027,
              -0.0285
            ],
            "vertical_relation": "same_level",
            "vertical_offset_cm": 2.15,
            "horizontal_distance_cm": 75.44
          }
        },
        {
          "object_id": 127,
          "label": "orange",
          "centroid": [
            2.5002,
            3.6281,
            1.1342
          ],
          "centroid_distance_m": 0.7578,
          "spatial_3d": {
            "edge_distance_cm": 61.38,
            "center_distance_cm": 75.78,
            "nearest_point_small": [
              2.0775,
              4.105,
              1.0481
            ],
            "nearest_point_nearby": [
              2.4912,
              3.6599,
              1.1348
            ],
            "direction_unit_vector": [
              0.7136,
              -0.7004,
              0.0156
            ],
            "vertical_relation": "same_level",
            "vertical_offset_cm": -1.18,
            "horizontal_distance_cm": 75.77
          }
        },
        {
          "object_id": 128,
          "label": "orange",
          "centroid": [
            2.4809,
            3.5975,
            1.1452
          ],
          "centroid_distance_m": 0.7665,
          "spatial_3d": {
            "edge_distance_cm": 63.55,
            "center_distance_cm": 76.65,
            "nearest_point_small": [
              2.0775,
              4.105,
              1.0481
            ],
            "nearest_point_nearby": [
              2.482,
              3.6239,
              1.1417
            ],
            "direction_unit_vector": [
              0.6803,
              -0.7323,
              0.0298
            ],
            "vertical_relation": "same_level",
            "vertical_offset_cm": -2.29,
            "horizontal_distance_cm": 76.62
          }
        },
        {
          "object_id": 129,
          "label": "orange",
          "centroid": [
            2.4397,
            3.5558,
            1.1347
          ],
          "centroid_distance_m": 0.771,
          "spatial_3d": {
            "edge_distance_cm": 65.37,
            "center_distance_cm": 77.1,
            "nearest_point_small": [
              2.0775,
              4.105,
              1.0481
            ],
            "nearest_point_nearby": [
              2.4333,
              3.5645,
              1.1406
            ],
            "direction_unit_vector": [
              0.6229,
              -0.7821,
              0.016
            ],
            "vertical_relation": "same_level",
            "vertical_offset_cm": -1.24,
            "horizontal_distance_cm": 77.09
          }
        },
        {
          "object_id": 243,
          "label": "basket",
          "centroid": [
            1.2143,
            4.3939,
            1.0823
          ],
          "centroid_distance_m": 0.7823,
          "spatial_3d": {
            "edge_distance_cm": 58.37,
            "center_distance_cm": 78.23,
            "nearest_point_small": [
              1.9121,
              4.2148,
              1.0418
            ],
            "nearest_point_nearby": [
              1.3447,
              4.3464,
              1.0801
            ],
            "direction_unit_vector": [
              -0.9524,
              0.3005,
              -0.0512
            ],
            "vertical_relation": "same_level",
            "vertical_offset_cm": 4.01,
            "horizontal_distance_cm": 78.13
          }
        },
        {
          "object_id": 126,
          "label": "orange",
          "centroid": [
            2.5118,
            3.5907,
            1.1368
          ],
          "centroid_distance_m": 0.7925,
          "spatial_3d": {
            "edge_distance_cm": 65.34,
            "center_distance_cm": 79.25,
            "nearest_point_small": [
              2.0775,
              4.105,
              1.0481
            ],
            "nearest_point_nearby": [
              2.4902,
              3.6042,
              1.1244
            ],
            "direction_unit_vector": [
              0.697,
              -0.7168,
              0.0183
            ],
            "vertical_relation": "same_level",
            "vertical_offset_cm": -1.45,
            "horizontal_distance_cm": 79.24
          }
        },
        {
          "object_id": 245,
          "label": "object",
          "centroid": [
            1.2032,
            4.3969,
            1.158
          ],
          "centroid_distance_m": 0.7936,
          "spatial_3d": {
            "edge_distance_cm": 60.77,
            "center_distance_cm": 79.36,
            "nearest_point_small": [
              1.8971,
              4.1676,
              1.2171
            ],
            "nearest_point_nearby": [
              1.302,
              4.2903,
              1.2067
            ],
            "direction_unit_vector": [
              -0.9529,
              0.3,
              0.045
            ],
            "vertical_relation": "same_level",
            "vertical_offset_cm": -3.57,
            "horizontal_distance_cm": 79.28
          }
        },
        {
          "object_id": 186,
          "label": "cutting board",
          "centroid": [
            2.2367,
            4.917,
            1.1483
          ],
          "centroid_distance_m": 0.8077,
          "spatial_3d": {
            "edge_distance_cm": 65.29,
            "center_distance_cm": 80.77,
            "nearest_point_small": [
              1.9609,
              4.2324,
              1.0539
            ],
            "nearest_point_nearby": [
              2.2118,
              4.8349,
              1.0353
            ],
            "direction_unit_vector": [
              0.3432,
              0.9387,
              0.0322
            ],
            "vertical_relation": "same_level",
            "vertical_offset_cm": -2.6,
            "horizontal_distance_cm": 80.73
          }
        },
        {
          "object_id": 193,
          "label": "windowsill",
          "centroid": [
            2.4758,
            3.5243,
            1.0075
          ],
          "centroid_distance_m": 0.8261,
          "spatial_3d": {
            "edge_distance_cm": 24.59,
            "center_distance_cm": 82.61,
            "nearest_point_small": [
              2.0775,
              4.105,
              1.0481
            ],
            "nearest_point_nearby": [
              2.1034,
              3.8632,
              1.0119
            ],
            "direction_unit_vector": [
              0.625,
              -0.7681,
              -0.139
            ],
            "vertical_relation": "above",
            "vertical_offset_cm": 11.48,
            "horizontal_distance_cm": 81.81
          }
        },
        {
          "object_id": 130,
          "label": "fruit",
          "centroid": [
            2.5542,
            3.4982,
            1.0439
          ],
          "centroid_distance_m": 0.8924,
          "spatial_3d": {
            "edge_distance_cm": 73.95,
            "center_distance_cm": 89.24,
            "nearest_point_small": [
              2.0775,
              4.105,
              1.0481
            ],
            "nearest_point_nearby": [
              2.5241,
              3.5156,
              1.0564
            ],
            "direction_unit_vector": [
              0.6665,
              -0.7403,
              -0.0879
            ],
            "vertical_relation": "above",
            "vertical_offset_cm": 7.84,
            "horizontal_distance_cm": 88.89
          }
        },
        {
          "object_id": 248,
          "label": "object",
          "centroid": [
            1.0743,
            4.3552,
            1.1203
          ],
          "centroid_distance_m": 0.9067,
          "spatial_3d": {
            "edge_distance_cm": 81.81,
            "center_distance_cm": 90.67,
            "nearest_point_small": [
              1.8971,
              4.1676,
              1.2171
            ],
            "nearest_point_nearby": [
              1.0985,
              4.3196,
              1.1263
            ],
            "direction_unit_vector": [
              -0.9763,
              0.2165,
              -0.0023
            ],
            "vertical_relation": "same_level",
            "vertical_offset_cm": 0.21,
            "horizontal_distance_cm": 90.67
          }
        },
        {
          "object_id": 132,
          "label": "plate",
          "centroid": [
            2.5814,
            3.4883,
            1.0196
          ],
          "centroid_distance_m": 0.9203,
          "spatial_3d": {
            "edge_distance_cm": 73.63,
            "center_distance_cm": 92.03,
            "nearest_point_small": [
              2.0775,
              4.105,
              1.0481
            ],
            "nearest_point_nearby": [
              2.4994,
              3.5023,
              1.0189
            ],
            "direction_unit_vector": [
              0.6758,
              -0.7286,
              -0.1116
            ],
            "vertical_relation": "above",
            "vertical_offset_cm": 10.27,
            "horizontal_distance_cm": 91.46
          }
        },
        {
          "object_id": 106,
          "label": "window",
          "centroid": [
            2.2891,
            3.5305,
            1.7162
          ],
          "centroid_distance_m": 0.9253,
          "spatial_3d": {
            "edge_distance_cm": 31.59,
            "center_distance_cm": 92.53,
            "nearest_point_small": [
              1.9444,
              4.1177,
              1.1007
            ],
            "nearest_point_nearby": [
              1.8809,
              3.8088,
              1.1189
            ],
            "direction_unit_vector": [
              0.3563,
              -0.6791,
              0.6418
            ],
            "vertical_relation": "below",
            "vertical_offset_cm": -59.39,
            "horizontal_distance_cm": 70.96
          }
        },
        {
          "object_id": 131,
          "label": "fruit",
          "centroid": [
            2.6007,
            3.4394,
            1.0386
          ],
          "centroid_distance_m": 0.9674,
          "spatial_3d": {
            "edge_distance_cm": 80.56,
            "center_distance_cm": 96.74,
            "nearest_point_small": [
              2.0775,
              4.105,
              1.0481
            ],
            "nearest_point_nearby": [
              2.5649,
              3.4636,
              1.055
            ],
            "direction_unit_vector": [
              0.6629,
              -0.7437,
              -0.0865
            ],
            "vertical_relation": "above",
            "vertical_offset_cm": 8.37,
            "horizontal_distance_cm": 96.37
          }
        },
        {
          "object_id": 107,
          "label": "window frame",
          "centroid": [
            2.2834,
            3.5261,
            1.7955
          ],
          "centroid_distance_m": 0.979,
          "spatial_3d": {
            "edge_distance_cm": 29.34,
            "center_distance_cm": 97.9,
            "nearest_point_small": [
              1.9426,
              4.1174,
              1.0882
            ],
            "nearest_point_nearby": [
              1.8714,
              3.8332,
              1.1043
            ],
            "direction_unit_vector": [
              0.3309,
              -0.6463,
              0.6876
            ],
            "vertical_relation": "below",
            "vertical_offset_cm": -67.32,
            "horizontal_distance_cm": 71.09
          }
        },
        {
          "object_id": 244,
          "label": "mirror",
          "centroid": [
            1.0081,
            4.4154,
            1.0638
          ],
          "centroid_distance_m": 0.9871,
          "spatial_3d": {
            "edge_distance_cm": 85.07,
            "center_distance_cm": 98.71,
            "nearest_point_small": [
              1.9121,
              4.2148,
              1.0418
            ],
            "nearest_point_nearby": [
              1.0737,
              4.3584,
              1.0499
            ],
            "direction_unit_vector": [
              -0.9638,
              0.2599,
              -0.0593
            ],
            "vertical_relation": "above",
            "vertical_offset_cm": 5.85,
            "horizontal_distance_cm": 98.53
          }
        },
        {
          "object_id": 92,
          "label": "kitchen cabinet",
          "centroid": [
            2.2436,
            4.6694,
            1.9238
          ],
          "centroid_distance_m": 0.9919,
          "spatial_3d": {
            "edge_distance_cm": 29.51,
            "center_distance_cm": 99.17,
            "nearest_point_small": [
              1.9483,
              4.1512,
              1.2279
            ],
            "nearest_point_nearby": [
              1.9976,
              4.2638,
              1.4961
            ],
            "direction_unit_vector": [
              0.2865,
              0.5149,
              0.808
            ],
            "vertical_relation": "below",
            "vertical_offset_cm": -80.13,
            "horizontal_distance_cm": 58.44
          }
        }
      ]
    },
    {
      "object_id": 187,
      "label": "cup",
      "centroid": [
        2.5596,
        5.2029,
        1.0868
      ],
      "nearby_objects": [
        {
          "object_id": 188,
          "label": "object",
          "centroid": [
            2.534,
            5.3209,
            1.0681
          ],
          "centroid_distance_m": 0.1222,
          "spatial_3d": {
            "edge_distance_cm": 3.83,
            "center_distance_cm": 12.22,
            "nearest_point_small": [
              2.5221,
              5.2216,
              1.0903
            ],
            "nearest_point_nearby": [
              2.4863,
              5.23,
              1.0796
            ],
            "direction_unit_vector": [
              -0.2098,
              0.9656,
              -0.1537
            ],
            "vertical_relation": "same_level",
            "vertical_offset_cm": 1.88,
            "horizontal_distance_cm": 12.07
          }
        },
        {
          "object_id": 189,
          "label": "object",
          "centroid": [
            2.7306,
            5.0444,
            1.0699
          ],
          "centroid_distance_m": 0.2338,
          "spatial_3d": {
            "edge_distance_cm": 4.53,
            "center_distance_cm": 23.38,
            "nearest_point_small": [
              2.5969,
              5.1676,
              1.1065
            ],
            "nearest_point_nearby": [
              2.6265,
              5.1333,
              1.1059
            ],
            "direction_unit_vector": [
              0.7314,
              -0.6781,
              -0.0723
            ],
            "vertical_relation": "same_level",
            "vertical_offset_cm": 1.69,
            "horizontal_distance_cm": 23.31
          }
        },
        {
          "object_id": 186,
          "label": "cutting board",
          "centroid": [
            2.2367,
            4.917,
            1.1483
          ],
          "centroid_distance_m": 0.4357,
          "spatial_3d": {
            "edge_distance_cm": 31.7,
            "center_distance_cm": 43.57,
            "nearest_point_small": [
              2.5193,
              5.1829,
              1.1006
            ],
            "nearest_point_nearby": [
              2.2987,
              4.9668,
              1.0292
            ],
            "direction_unit_vector": [
              -0.7413,
              -0.6562,
              0.1412
            ],
            "vertical_relation": "below",
            "vertical_offset_cm": -6.15,
            "horizontal_distance_cm": 43.13
          }
        },
        {
          "object_id": 253,
          "label": "towel radiator",
          "centroid": [
            2.0974,
            5.1957,
            1.0494
          ],
          "centroid_distance_m": 0.4638,
          "spatial_3d": {
            "edge_distance_cm": 31.92,
            "center_distance_cm": 46.37,
            "nearest_point_small": [
              2.519,
              5.2164,
              1.0947
            ],
            "nearest_point_nearby": [
              2.2388,
              5.3689,
              1.0848
            ],
            "direction_unit_vector": [
              -0.9966,
              -0.0155,
              -0.0806
            ],
            "vertical_relation": "same_level",
            "vertical_offset_cm": 3.74,
            "horizontal_distance_cm": 46.22
          }
        },
        {
          "object_id": 185,
          "label": "faucet",
          "centroid": [
            2.2068,
            4.7121,
            1.0797
          ],
          "centroid_distance_m": 0.6045,
          "spatial_3d": {
            "edge_distance_cm": 52.54,
            "center_distance_cm": 60.45,
            "nearest_point_small": [
              2.5193,
              5.1829,
              1.1006
            ],
            "nearest_point_nearby": [
              2.1921,
              4.779,
              1.0247
            ],
            "direction_unit_vector": [
              -0.5836,
              -0.8119,
              -0.0118
            ],
            "vertical_relation": "same_level",
            "vertical_offset_cm": 0.72,
            "horizontal_distance_cm": 60.45
          }
        },
        {
          "object_id": 74,
          "label": "kitchen cabinet",
          "centroid": [
            3.0306,
            5.213,
            0.671
          ],
          "centroid_distance_m": 0.6284,
          "spatial_3d": {
            "edge_distance_cm": 0.4,
            "center_distance_cm": 62.84,
            "nearest_point_small": [
              2.5864,
              5.171,
              1.0289
            ],
            "nearest_point_nearby": [
              2.5859,
              5.1718,
              1.0251
            ],
            "direction_unit_vector": [
              0.7496,
              0.0161,
              -0.6617
            ],
            "vertical_relation": "above",
            "vertical_offset_cm": 41.58,
            "horizontal_distance_cm": 47.12
          }
        },
        {
          "object_id": 258,
          "label": "stovetop",
          "centroid": [
            2.9017,
            5.7481,
            0.9606
          ],
          "centroid_distance_m": 0.6559,
          "spatial_3d": {
            "edge_distance_cm": 28.72,
            "center_distance_cm": 65.59,
            "nearest_point_small": [
              2.566,
              5.2432,
              1.0917
            ],
            "nearest_point_nearby": [
              2.6255,
              5.5098,
              1.0027
            ],
            "direction_unit_vector": [
              0.5216,
              0.8312,
              -0.1925
            ],
            "vertical_relation": "above",
            "vertical_offset_cm": 12.62,
            "horizontal_distance_cm": 64.37
          }
        },
        {
          "object_id": 184,
          "label": "sink",
          "centroid": [
            2.2946,
            4.5863,
            1.0015
          ],
          "centroid_distance_m": 0.6765,
          "spatial_3d": {
            "edge_distance_cm": 14.86,
            "center_distance_cm": 67.65,
            "nearest_point_small": [
              2.5509,
              5.1645,
              1.0614
            ],
            "nearest_point_nearby": [
              2.4708,
              5.0439,
              1.0279
            ],
            "direction_unit_vector": [
              -0.3916,
              -0.9114,
              -0.1261
            ],
            "vertical_relation": "above",
            "vertical_offset_cm": 8.53,
            "horizontal_distance_cm": 67.11
          }
        },
        {
          "object_id": 254,
          "label": "towel",
          "centroid": [
            2.1268,
            5.3145,
            1.6906
          ],
          "centroid_distance_m": 0.7511,
          "spatial_3d": {
            "edge_distance_cm": 56.75,
            "center_distance_cm": 75.11,
            "nearest_point_small": [
              2.5243,
              5.216,
              1.1084
            ],
            "nearest_point_nearby": [
              2.2324,
              5.3065,
              1.5866
            ],
            "direction_unit_vector": [
              -0.5762,
              0.1485,
              0.8037
            ],
            "vertical_relation": "below",
            "vertical_offset_cm": -60.37,
            "horizontal_distance_cm": 44.69
          }
        },
        {
          "object_id": 257,
          "label": "oven",
          "centroid": [
            3.2343,
            5.4333,
            0.6622
          ],
          "centroid_distance_m": 0.8298,
          "spatial_3d": {
            "edge_distance_cm": 48.15,
            "center_distance_cm": 82.98,
            "nearest_point_small": [
              2.5937,
              5.1925,
              1.0436
            ],
            "nearest_point_nearby": [
              3.0691,
              5.1704,
              0.971
            ],
            "direction_unit_vector": [
              0.813,
              0.2776,
              -0.5117
            ],
            "vertical_relation": "above",
            "vertical_offset_cm": 42.47,
            "horizontal_distance_cm": 71.29
          }
        },
        {
          "object_id": 190,
          "label": "sink caddy",
          "centroid": [
            2.0007,
            4.4898,
            1.1167
          ],
          "centroid_distance_m": 0.9065,
          "spatial_3d": {
            "edge_distance_cm": 60.02,
            "center_distance_cm": 90.65,
            "nearest_point_small": [
              2.5193,
              5.1829,
              1.1006
            ],
            "nearest_point_nearby": [
              2.1572,
              4.7084,
              1.0385
            ],
            "direction_unit_vector": [
              -0.6165,
              -0.7867,
              0.033
            ],
            "vertical_relation": "same_level",
            "vertical_offset_cm": -2.99,
            "horizontal_distance_cm": 90.6
          }
        },
        {
          "object_id": 183,
          "label": "kitchen utensils",
          "centroid": [
            3.0522,
            6.0153,
            1.1706
          ],
          "centroid_distance_m": 0.9537,
          "spatial_3d": {
            "edge_distance_cm": 84.73,
            "center_distance_cm": 95.37,
            "nearest_point_small": [
              2.5729,
              5.2418,
              1.0954
            ],
            "nearest_point_nearby": [
              3.0264,
              5.9574,
              1.0825
            ],
            "direction_unit_vector": [
              0.5165,
              0.8518,
              0.0879
            ],
            "vertical_relation": "below",
            "vertical_offset_cm": -8.38,
            "horizontal_distance_cm": 95.01
          }
        },
        {
          "object_id": 137,
          "label": "kitchen counter",
          "centroid": [
            3.041,
            4.3792,
            1.0152
          ],
          "centroid_distance_m": 0.9568,
          "spatial_3d": {
            "edge_distance_cm": 0.65,
            "center_distance_cm": 95.68,
            "nearest_point_small": [
              2.5801,
              5.2133,
              1.0312
            ],
            "nearest_point_nearby": [
              2.5806,
              5.2149,
              1.0249
            ],
            "direction_unit_vector": [
              0.5032,
              -0.8609,
              -0.0749
            ],
            "vertical_relation": "above",
            "vertical_offset_cm": 7.17,
            "horizontal_distance_cm": 95.41
          }
        },
        {
          "object_id": 93,
          "label": "range hood",
          "centroid": [
            2.9758,
            5.5324,
            1.89
          ],
          "centroid_distance_m": 0.9627,
          "spatial_3d": {
            "edge_distance_cm": 64.55,
            "center_distance_cm": 96.27,
            "nearest_point_small": [
              2.5923,
              5.2142,
              1.11
            ],
            "nearest_point_nearby": [
              2.688,
              5.3351,
              1.7368
            ],
            "direction_unit_vector": [
              0.4323,
              0.3423,
              0.8342
            ],
            "vertical_relation": "below",
            "vertical_offset_cm": -80.31,
            "horizontal_distance_cm": 53.09
          }
        }
      ]
    },
    {
      "object_id": 198,
      "label": "power strip",
      "centroid": [
        3.2787,
        3.1534,
        1.0701
      ],
      "nearby_objects": [
        {
          "object_id": 118,
          "label": "bottle",
          "centroid": [
            3.2007,
            3.4097,
            1.1398
          ],
          "centroid_distance_m": 0.2769,
          "spatial_3d": {
            "edge_distance_cm": 16.96,
            "center_distance_cm": 27.69,
            "nearest_point_small": [
              3.2262,
              3.2101,
              1.0716
            ],
            "nearest_point_nearby": [
              3.2477,
              3.378,
              1.0833
            ],
            "direction_unit_vector": [
              -0.2816,
              0.9259,
              0.2518
            ],
            "vertical_relation": "below",
            "vertical_offset_cm": -6.97,
            "horizontal_distance_cm": 26.8
          }
        },
        {
          "object_id": 115,
          "label": "microwave",
          "centroid": [
            3.5262,
            3.2655,
            1.1746
          ],
          "centroid_distance_m": 0.2912,
          "spatial_3d": {
            "edge_distance_cm": 0.27,
            "center_distance_cm": 29.12,
            "nearest_point_small": [
              3.3286,
              3.1108,
              1.0928
            ],
            "nearest_point_nearby": [
              3.3311,
              3.1119,
              1.0931
            ],
            "direction_unit_vector": [
              0.8503,
              0.3849,
              0.3589
            ],
            "vertical_relation": "below",
            "vertical_offset_cm": -10.45,
            "horizontal_distance_cm": 27.18
          }
        },
        {
          "object_id": 116,
          "label": "waffle maker",
          "centroid": [
            3.5554,
            3.35,
            1.3821
          ],
          "centroid_distance_m": 0.461,
          "spatial_3d": {
            "edge_distance_cm": 27.57,
            "center_distance_cm": 46.1,
            "nearest_point_small": [
              3.2934,
              3.1442,
              1.1044
            ],
            "nearest_point_nearby": [
              3.4277,
              3.2391,
              1.3257
            ],
            "direction_unit_vector": [
              0.6002,
              0.4264,
              0.6767
            ],
            "vertical_relation": "below",
            "vertical_offset_cm": -31.2,
            "horizontal_distance_cm": 33.94
          }
        },
        {
          "object_id": 117,
          "label": "air fryer",
          "centroid": [
            3.0749,
            3.5736,
            1.1974
          ],
          "centroid_distance_m": 0.4841,
          "spatial_3d": {
            "edge_distance_cm": 20.98,
            "center_distance_cm": 48.41,
            "nearest_point_small": [
              3.2265,
              3.2105,
              1.0664
            ],
            "nearest_point_nearby": [
              3.1621,
              3.4101,
              1.0738
            ],
            "direction_unit_vector": [
              -0.4208,
              0.8681,
              0.2631
            ],
            "vertical_relation": "below",
            "vertical_offset_cm": -12.74,
            "horizontal_distance_cm": 46.7
          }
        },
        {
          "object_id": 197,
          "label": "basket",
          "centroid": [
            3.009,
            3.4432,
            1.3982
          ],
          "centroid_distance_m": 0.5142,
          "spatial_3d": {
            "edge_distance_cm": 35.22,
            "center_distance_cm": 51.42,
            "nearest_point_small": [
              3.2192,
              3.1801,
              1.095
            ],
            "nearest_point_nearby": [
              3.0862,
              3.3817,
              1.3513
            ],
            "direction_unit_vector": [
              -0.5244,
              0.5638,
              0.6381
            ],
            "vertical_relation": "below",
            "vertical_offset_cm": -32.81,
            "horizontal_distance_cm": 39.59
          }
        },
        {
          "object_id": 196,
          "label": "muffin",
          "centroid": [
            3.2506,
            3.6793,
            1.0955
          ],
          "centroid_distance_m": 0.5273,
          "spatial_3d": {
            "edge_distance_cm": 38.72,
            "center_distance_cm": 52.73,
            "nearest_point_small": [
              3.2265,
              3.2105,
              1.0664
            ],
            "nearest_point_nearby": [
              3.1682,
              3.5931,
              1.0526
            ],
            "direction_unit_vector": [
              -0.0533,
              0.9974,
              0.0482
            ],
            "vertical_relation": "same_level",
            "vertical_offset_cm": -2.54,
            "horizontal_distance_cm": 52.67
          }
        },
        {
          "object_id": 119,
          "label": "plate",
          "centroid": [
            3.2214,
            3.7029,
            1.045
          ],
          "centroid_distance_m": 0.5531,
          "spatial_3d": {
            "edge_distance_cm": 32.65,
            "center_distance_cm": 55.31,
            "nearest_point_small": [
              3.2265,
              3.2105,
              1.0664
            ],
            "nearest_point_nearby": [
              3.2701,
              3.5337,
              1.0505
            ],
            "direction_unit_vector": [
              -0.1035,
              0.9936,
              -0.0453
            ],
            "vertical_relation": "same_level",
            "vertical_offset_cm": 2.5,
            "horizontal_distance_cm": 55.25
          }
        },
        {
          "object_id": 195,
          "label": "muffin",
          "centroid": [
            3.1752,
            3.7324,
            1.0902
          ],
          "centroid_distance_m": 0.5885,
          "spatial_3d": {
            "edge_distance_cm": 47.69,
            "center_distance_cm": 58.85,
            "nearest_point_small": [
              3.2262,
              3.2101,
              1.0716
            ],
            "nearest_point_nearby": [
              3.1683,
              3.682,
              1.1088
            ],
            "direction_unit_vector": [
              -0.1759,
              0.9838,
              0.0343
            ],
            "vertical_relation": "same_level",
            "vertical_offset_cm": -2.02,
            "horizontal_distance_cm": 58.82
          }
        },
        {
          "object_id": 121,
          "label": "basket",
          "centroid": [
            2.7051,
            3.3755,
            1.1301
          ],
          "centroid_distance_m": 0.618,
          "spatial_3d": {
            "edge_distance_cm": 46.59,
            "center_distance_cm": 61.8,
            "nearest_point_small": [
              3.2103,
              3.1696,
              1.0939
            ],
            "nearest_point_nearby": [
              2.7754,
              3.3307,
              1.1387
            ],
            "direction_unit_vector": [
              -0.9281,
              0.3595,
              0.0972
            ],
            "vertical_relation": "below",
            "vertical_offset_cm": -6.01,
            "horizontal_distance_cm": 61.51
          }
        },
        {
          "object_id": 114,
          "label": "coffee maker",
          "centroid": [
            3.8119,
            3.491,
            1.1887
          ],
          "centroid_distance_m": 0.6421,
          "spatial_3d": {
            "edge_distance_cm": 47.41,
            "center_distance_cm": 64.21,
            "nearest_point_small": [
              3.3489,
              3.1136,
              1.0553
            ],
            "nearest_point_nearby": [
              3.7492,
              3.3665,
              1.0316
            ],
            "direction_unit_vector": [
              0.8303,
              0.5258,
              0.1847
            ],
            "vertical_relation": "below",
            "vertical_offset_cm": -11.86,
            "horizontal_distance_cm": 63.11
          }
        },
        {
          "object_id": 131,
          "label": "fruit",
          "centroid": [
            2.6007,
            3.4394,
            1.0386
          ],
          "centroid_distance_m": 0.7365,
          "spatial_3d": {
            "edge_distance_cm": 62.6,
            "center_distance_cm": 73.65,
            "nearest_point_small": [
              3.2265,
              3.2105,
              1.0664
            ],
            "nearest_point_nearby": [
              2.6336,
              3.408,
              1.0299
            ],
            "direction_unit_vector": [
              -0.9205,
              0.3884,
              -0.0427
            ],
            "vertical_relation": "same_level",
            "vertical_offset_cm": 3.14,
            "horizontal_distance_cm": 73.59
          }
        },
        {
          "object_id": 120,
          "label": "plate",
          "centroid": [
            2.9498,
            3.8295,
            1.0461
          ],
          "centroid_distance_m": 0.7522,
          "spatial_3d": {
            "edge_distance_cm": 56.16,
            "center_distance_cm": 75.22,
            "nearest_point_small": [
              3.2265,
              3.2105,
              1.0664
            ],
            "nearest_point_nearby": [
              3.0026,
              3.7254,
              1.0537
            ],
            "direction_unit_vector": [
              -0.4372,
              0.8988,
              -0.0318
            ],
            "vertical_relation": "same_level",
            "vertical_offset_cm": 2.39,
            "horizontal_distance_cm": 75.18
          }
        },
        {
          "object_id": 132,
          "label": "plate",
          "centroid": [
            2.5814,
            3.4883,
            1.0196
          ],
          "centroid_distance_m": 0.7752,
          "spatial_3d": {
            "edge_distance_cm": 63.3,
            "center_distance_cm": 77.52,
            "nearest_point_small": [
              3.2265,
              3.2105,
              1.0664
            ],
            "nearest_point_nearby": [
              2.6427,
              3.4525,
              1.031
            ],
            "direction_unit_vector": [
              -0.8995,
              0.432,
              -0.0651
            ],
            "vertical_relation": "above",
            "vertical_offset_cm": 5.05,
            "horizontal_distance_cm": 77.36
          }
        },
        {
          "object_id": 203,
          "label": "object",
          "centroid": [
            3.9557,
            2.995,
            1.4317
          ],
          "centroid_distance_m": 0.7837,
          "spatial_3d": {
            "edge_distance_cm": 58.23,
            "center_distance_cm": 78.37,
            "nearest_point_small": [
              3.3374,
              3.1161,
              1.0926
            ],
            "nearest_point_nearby": [
              3.8063,
              3.1387,
              1.4373
            ],
            "direction_unit_vector": [
              0.8639,
              -0.2021,
              0.4614
            ],
            "vertical_relation": "below",
            "vertical_offset_cm": -36.16,
            "horizontal_distance_cm": 69.53
          }
        },
        {
          "object_id": 130,
          "label": "fruit",
          "centroid": [
            2.5542,
            3.4982,
            1.0439
          ],
          "centroid_distance_m": 0.8028,
          "spatial_3d": {
            "edge_distance_cm": 70.24,
            "center_distance_cm": 80.28,
            "nearest_point_small": [
              3.2265,
              3.2105,
              1.0664
            ],
            "nearest_point_nearby": [
              2.5746,
              3.4717,
              1.0517
            ],
            "direction_unit_vector": [
              -0.9025,
              0.4295,
              -0.0326
            ],
            "vertical_relation": "same_level",
            "vertical_offset_cm": 2.62,
            "horizontal_distance_cm": 80.24
          }
        },
        {
          "object_id": 126,
          "label": "orange",
          "centroid": [
            2.5118,
            3.5907,
            1.1368
          ],
          "centroid_distance_m": 0.8854,
          "spatial_3d": {
            "edge_distance_cm": 77.68,
            "center_distance_cm": 88.54,
            "nearest_point_small": [
              3.2262,
              3.2101,
              1.0716
            ],
            "nearest_point_nearby": [
              2.5372,
              3.5643,
              1.1286
            ],
            "direction_unit_vector": [
              -0.8662,
              0.494,
              0.0754
            ],
            "vertical_relation": "below",
            "vertical_offset_cm": -6.68,
            "horizontal_distance_cm": 88.29
          }
        },
        {
          "object_id": 193,
          "label": "windowsill",
          "centroid": [
            2.4758,
            3.5243,
            1.0075
          ],
          "centroid_distance_m": 0.8866,
          "spatial_3d": {
            "edge_distance_cm": 56.29,
            "center_distance_cm": 88.66,
            "nearest_point_small": [
              3.2265,
              3.2105,
              1.0664
            ],
            "nearest_point_nearby": [
              2.7041,
              3.4118,
              1.0077
            ],
            "direction_unit_vector": [
              -0.9056,
              0.4183,
              -0.0706
            ],
            "vertical_relation": "above",
            "vertical_offset_cm": 6.26,
            "horizontal_distance_cm": 88.44
          }
        },
        {
          "object_id": 202,
          "label": "object",
          "centroid": [
            4.0749,
            3.2673,
            1.4669
          ],
          "centroid_distance_m": 0.8969,
          "spatial_3d": {
            "edge_distance_cm": 77.24,
            "center_distance_cm": 89.69,
            "nearest_point_small": [
              3.3374,
              3.1161,
              1.0926
            ],
            "nearest_point_nearby": [
              4.0354,
              3.1657,
              1.4199
            ],
            "direction_unit_vector": [
              0.8877,
              0.127,
              0.4425
            ],
            "vertical_relation": "below",
            "vertical_offset_cm": -39.68,
            "horizontal_distance_cm": 80.43
          }
        },
        {
          "object_id": 127,
          "label": "orange",
          "centroid": [
            2.5002,
            3.6281,
            1.1342
          ],
          "centroid_distance_m": 0.914,
          "spatial_3d": {
            "edge_distance_cm": 82.31,
            "center_distance_cm": 91.4,
            "nearest_point_small": [
              3.2262,
              3.2101,
              1.0716
            ],
            "nearest_point_nearby": [
              2.5158,
              3.6218,
              1.1291
            ],
            "direction_unit_vector": [
              -0.8517,
              0.5193,
              0.0701
            ],
            "vertical_relation": "below",
            "vertical_offset_cm": -6.41,
            "horizontal_distance_cm": 91.18
          }
        },
        {
          "object_id": 128,
          "label": "orange",
          "centroid": [
            2.4809,
            3.5975,
            1.1452
          ],
          "centroid_distance_m": 0.9161,
          "spatial_3d": {
            "edge_distance_cm": 83.15,
            "center_distance_cm": 91.61,
            "nearest_point_small": [
              3.2262,
              3.2101,
              1.0716
            ],
            "nearest_point_nearby": [
              2.4864,
              3.5848,
              1.1325
            ],
            "direction_unit_vector": [
              -0.8708,
              0.4848,
              0.082
            ],
            "vertical_relation": "below",
            "vertical_offset_cm": -7.51,
            "horizontal_distance_cm": 91.31
          }
        },
        {
          "object_id": 122,
          "label": "basket",
          "centroid": [
            2.4959,
            3.6286,
            1.1008
          ],
          "centroid_distance_m": 0.9162,
          "spatial_3d": {
            "edge_distance_cm": 75.79,
            "center_distance_cm": 91.62,
            "nearest_point_small": [
              3.2262,
              3.2101,
              1.0716
            ],
            "nearest_point_nearby": [
              2.5455,
              3.5393,
              1.1238
            ],
            "direction_unit_vector": [
              -0.8543,
              0.5187,
              0.0336
            ],
            "vertical_relation": "same_level",
            "vertical_offset_cm": -3.07,
            "horizontal_distance_cm": 91.57
          }
        },
        {
          "object_id": 129,
          "label": "orange",
          "centroid": [
            2.4397,
            3.5558,
            1.1347
          ],
          "centroid_distance_m": 0.9327,
          "spatial_3d": {
            "edge_distance_cm": 84.74,
            "center_distance_cm": 93.27,
            "nearest_point_small": [
              3.2262,
              3.2101,
              1.0716
            ],
            "nearest_point_nearby": [
              2.4536,
              3.5544,
              1.1242
            ],
            "direction_unit_vector": [
              -0.8995,
              0.4314,
              0.0693
            ],
            "vertical_relation": "below",
            "vertical_offset_cm": -6.46,
            "horizontal_distance_cm": 93.05
          }
        },
        {
          "object_id": 113,
          "label": "blender",
          "centroid": [
            3.9454,
            3.8109,
            1.2046
          ],
          "centroid_distance_m": 0.946,
          "spatial_3d": {
            "edge_distance_cm": 81.83,
            "center_distance_cm": 94.6,
            "nearest_point_small": [
              3.2955,
              3.1659,
              1.0807
            ],
            "nearest_point_nearby": [
              3.8526,
              3.7621,
              1.1423
            ],
            "direction_unit_vector": [
              0.7047,
              0.6951,
              0.1422
            ],
            "vertical_relation": "below",
            "vertical_offset_cm": -13.45,
            "horizontal_distance_cm": 93.64
          }
        },
        {
          "object_id": 194,
          "label": "kitchen towel",
          "centroid": [
            2.4328,
            3.6667,
            1.1572
          ],
          "centroid_distance_m": 0.9933,
          "spatial_3d": {
            "edge_distance_cm": 84.48,
            "center_distance_cm": 99.33,
            "nearest_point_small": [
              3.2262,
              3.2101,
              1.0716
            ],
            "nearest_point_nearby": [
              2.5097,
              3.6487,
              1.1614
            ],
            "direction_unit_vector": [
              -0.8516,
              0.5168,
              0.0877
            ],
            "vertical_relation": "below",
            "vertical_offset_cm": -8.71,
            "horizontal_distance_cm": 98.95
          }
        }
      ]
    },
    {
      "object_id": 208,
      "label": "cup",
      "centroid": [
        6.1064,
        3.4194,
        0.9877
      ],
      "nearby_objects": [
        {
          "object_id": 207,
          "label": "plate",
          "centroid": [
            6.4227,
            3.6153,
            0.9538
          ],
          "centroid_distance_m": 0.3736,
          "spatial_3d": {
            "edge_distance_cm": 16.93,
            "center_distance_cm": 37.36,
            "nearest_point_small": [
              6.1502,
              3.4467,
              0.9819
            ],
            "nearest_point_nearby": [
              6.2995,
              3.526,
              0.972
            ],
            "direction_unit_vector": [
              0.8467,
              0.5243,
              -0.0905
            ],
            "vertical_relation": "same_level",
            "vertical_offset_cm": 3.38,
            "horizontal_distance_cm": 37.2
          }
        },
        {
          "object_id": 209,
          "label": "fruits",
          "centroid": [
            6.4331,
            3.602,
            0.9853
          ],
          "centroid_distance_m": 0.3743,
          "spatial_3d": {
            "edge_distance_cm": 22.55,
            "center_distance_cm": 37.43,
            "nearest_point_small": [
              6.1525,
              3.4425,
              0.9837
            ],
            "nearest_point_nearby": [
              6.3601,
              3.5292,
              0.9686
            ],
            "direction_unit_vector": [
              0.8729,
              0.4878,
              -0.0064
            ],
            "vertical_relation": "same_level",
            "vertical_offset_cm": 0.24,
            "horizontal_distance_cm": 37.43
          }
        },
        {
          "object_id": 70,
          "label": "chair",
          "centroid": [
            5.9052,
            3.3879,
            0.6661
          ],
          "centroid_distance_m": 0.3806,
          "spatial_3d": {
            "edge_distance_cm": 14.89,
            "center_distance_cm": 38.06,
            "nearest_point_small": [
              6.0989,
              3.3605,
              0.9843
            ],
            "nearest_point_nearby": [
              6.0059,
              3.2617,
              0.9231
            ],
            "direction_unit_vector": [
              -0.5286,
              -0.0829,
              -0.8448
            ],
            "vertical_relation": "above",
            "vertical_offset_cm": 32.15,
            "horizontal_distance_cm": 20.36
          }
        },
        {
          "object_id": 73,
          "label": "table",
          "centroid": [
            6.3685,
            3.6292,
            0.6298
          ],
          "centroid_distance_m": 0.4907,
          "spatial_3d": {
            "edge_distance_cm": 0.3,
            "center_distance_cm": 49.07,
            "nearest_point_small": [
              6.0801,
              3.4263,
              0.9316
            ],
            "nearest_point_nearby": [
              6.0777,
              3.4274,
              0.9301
            ],
            "direction_unit_vector": [
              0.5342,
              0.4274,
              -0.7294
            ],
            "vertical_relation": "above",
            "vertical_offset_cm": 35.79,
            "horizontal_distance_cm": 33.57
          }
        },
        {
          "object_id": 6,
          "label": "chair",
          "centroid": [
            6.4179,
            3.0316,
            0.6585
          ],
          "centroid_distance_m": 0.5965,
          "spatial_3d": {
            "edge_distance_cm": 26.04,
            "center_distance_cm": 59.65,
            "nearest_point_small": [
              6.0989,
              3.3605,
              0.9843
            ],
            "nearest_point_nearby": [
              6.1472,
              3.1225,
              0.8905
            ],
            "direction_unit_vector": [
              0.5222,
              -0.6503,
              -0.5517
            ],
            "vertical_relation": "above",
            "vertical_offset_cm": 32.91,
            "horizontal_distance_cm": 49.75
          }
        },
        {
          "object_id": 206,
          "label": "tray",
          "centroid": [
            6.5307,
            3.8839,
            0.9465
          ],
          "centroid_distance_m": 0.6305,
          "spatial_3d": {
            "edge_distance_cm": 46.09,
            "center_distance_cm": 63.05,
            "nearest_point_small": [
              6.1351,
              3.4633,
              1.0105
            ],
            "nearest_point_nearby": [
              6.4023,
              3.8372,
              0.9761
            ],
            "direction_unit_vector": [
              0.673,
              0.7367,
              -0.0653
            ],
            "vertical_relation": "same_level",
            "vertical_offset_cm": 4.12,
            "horizontal_distance_cm": 62.91
          }
        },
        {
          "object_id": 72,
          "label": "chair",
          "centroid": [
            6.3515,
            4.1526,
            0.5821
          ],
          "centroid_distance_m": 0.873,
          "spatial_3d": {
            "edge_distance_cm": 46.64,
            "center_distance_cm": 87.3,
            "nearest_point_small": [
              6.1306,
              3.4572,
              0.9323
            ],
            "nearest_point_nearby": [
              6.3338,
              3.7659,
              0.6478
            ],
            "direction_unit_vector": [
              0.2807,
              0.8399,
              -0.4645
            ],
            "vertical_relation": "above",
            "vertical_offset_cm": 40.55,
            "horizontal_distance_cm": 77.31
          }
        },
        {
          "object_id": 71,
          "label": "chair",
          "centroid": [
            6.9441,
            3.753,
            0.678
          ],
          "centroid_distance_m": 0.9534,
          "spatial_3d": {
            "edge_distance_cm": 61.33,
            "center_distance_cm": 95.34,
            "nearest_point_small": [
              6.1493,
              3.439,
              0.9325
            ],
            "nearest_point_nearby": [
              6.6672,
              3.6065,
              0.6499
            ],
            "direction_unit_vector": [
              0.8787,
              0.3499,
              -0.3248
            ],
            "vertical_relation": "above",
            "vertical_offset_cm": 30.96,
            "horizontal_distance_cm": 90.17
          }
        }
      ]
    },
    {
      "object_id": 220,
      "label": "power adapter",
      "centroid": [
        4.4347,
        6.1412,
        0.3968
      ],
      "nearby_objects": [
        {
          "object_id": 219,
          "label": "power socket",
          "centroid": [
            4.4189,
            6.1264,
            0.4359
          ],
          "centroid_distance_m": 0.0446,
          "spatial_3d": {
            "edge_distance_cm": 0.25,
            "center_distance_cm": 4.46,
            "nearest_point_small": [
              4.416,
              6.1401,
              0.4173
            ],
            "nearest_point_nearby": [
              4.4143,
              6.1387,
              0.4184
            ],
            "direction_unit_vector": [
              -0.3535,
              -0.3304,
              0.8751
            ],
            "vertical_relation": "same_level",
            "vertical_offset_cm": -3.9,
            "horizontal_distance_cm": 2.16
          }
        },
        {
          "object_id": 221,
          "label": "box",
          "centroid": [
            4.2393,
            5.8185,
            0.4541
          ],
          "centroid_distance_m": 0.3816,
          "spatial_3d": {
            "edge_distance_cm": 18.01,
            "center_distance_cm": 38.16,
            "nearest_point_small": [
              4.4215,
              6.1338,
              0.4325
            ],
            "nearest_point_nearby": [
              4.322,
              5.9884,
              0.4697
            ],
            "direction_unit_vector": [
              -0.5121,
              -0.8457,
              0.15
            ],
            "vertical_relation": "below",
            "vertical_offset_cm": -5.73,
            "horizontal_distance_cm": 37.72
          }
        },
        {
          "object_id": 222,
          "label": "box",
          "centroid": [
            4.1849,
            5.7247,
            0.2798
          ],
          "centroid_distance_m": 0.4996,
          "spatial_3d": {
            "edge_distance_cm": 42.92,
            "center_distance_cm": 49.96,
            "nearest_point_small": [
              4.4297,
              6.1122,
              0.3515
            ],
            "nearest_point_nearby": [
              4.1995,
              5.75,
              0.3568
            ],
            "direction_unit_vector": [
              -0.5001,
              -0.8337,
              -0.2343
            ],
            "vertical_relation": "above",
            "vertical_offset_cm": 11.7,
            "horizontal_distance_cm": 48.57
          }
        },
        {
          "object_id": 95,
          "label": "power socket",
          "centroid": [
            4.3427,
            6.0304,
            1.2556
          ],
          "centroid_distance_m": 0.8707,
          "spatial_3d": {
            "edge_distance_cm": 78.62,
            "center_distance_cm": 87.07,
            "nearest_point_small": [
              4.4302,
              6.141,
              0.4418
            ],
            "nearest_point_nearby": [
              4.3561,
              6.0246,
              1.2158
            ],
            "direction_unit_vector": [
              -0.1056,
              -0.1272,
              0.9862
            ],
            "vertical_relation": "below",
            "vertical_offset_cm": -85.88,
            "horizontal_distance_cm": 14.4
          }
        },
        {
          "object_id": 22,
          "label": "trash can",
          "centroid": [
            4.8156,
            5.3614,
            0.5431
          ],
          "centroid_distance_m": 0.88,
          "spatial_3d": {
            "edge_distance_cm": 66.72,
            "center_distance_cm": 88.0,
            "nearest_point_small": [
              4.4457,
              6.1275,
              0.4377
            ],
            "nearest_point_nearby": [
              4.8387,
              5.6597,
              0.7056
            ],
            "direction_unit_vector": [
              0.4328,
              -0.886,
              0.1662
            ],
            "vertical_relation": "below",
            "vertical_offset_cm": -14.63,
            "horizontal_distance_cm": 86.78
          }
        },
        {
          "object_id": 96,
          "label": "power socket",
          "centroid": [
            4.3375,
            6.0337,
            1.3352
          ],
          "centroid_distance_m": 0.9495,
          "spatial_3d": {
            "edge_distance_cm": 79.71,
            "center_distance_cm": 94.95,
            "nearest_point_small": [
              4.4302,
              6.141,
              0.4418
            ],
            "nearest_point_nearby": [
              4.3097,
              6.0557,
              1.2251
            ],
            "direction_unit_vector": [
              -0.1023,
              -0.1131,
              0.9883
            ],
            "vertical_relation": "below",
            "vertical_offset_cm": -93.84,
            "horizontal_distance_cm": 14.48
          }
        }
      ]
    }
  ]
}