{
  "scene_id": "02c2ddee2a",
  "dataset": "scannetpp",
  "small_items": [
    {
      "object_id": 9,
      "label": "toothbrush",
      "centroid": [
        1.0614,
        0.5382,
        1.4808
      ],
      "nearby_objects": [
        {
          "object_id": 7,
          "label": "toothpaste bottle",
          "centroid": [
            1.1337,
            0.5019,
            1.4703
          ],
          "centroid_distance_m": 0.0815,
          "spatial_3d": {
            "edge_distance_cm": 0.23,
            "center_distance_cm": 8.15,
            "nearest_point_small": [
              1.1249,
              0.5161,
              1.4306
            ],
            "nearest_point_nearby": [
              1.1235,
              0.5146,
              1.4316
            ],
            "direction_unit_vector": [
              0.8864,
              -0.4447,
              -0.1289
            ],
            "vertical_relation": "same_level",
            "vertical_offset_cm": 1.05,
            "horizontal_distance_cm": 8.08
          }
        },
        {
          "object_id": 8,
          "label": "toothpaste bottle",
          "centroid": [
            1.1212,
            0.4706,
            1.4741
          ],
          "centroid_distance_m": 0.0905,
          "spatial_3d": {
            "edge_distance_cm": 0.32,
            "center_distance_cm": 9.05,
            "nearest_point_small": [
              1.0986,
              0.492,
              1.4544
            ],
            "nearest_point_nearby": [
              1.1016,
              0.4932,
              1.4541
            ],
            "direction_unit_vector": [
              0.6605,
              -0.7472,
              -0.0731
            ],
            "vertical_relation": "same_level",
            "vertical_offset_cm": 0.66,
            "horizontal_distance_cm": 9.02
          }
        },
        {
          "object_id": 5,
          "label": "bathroom box",
          "centroid": [
            1.0797,
            0.516,
            1.3853
          ],
          "centroid_distance_m": 0.0997,
          "spatial_3d": {
            "edge_distance_cm": 0.24,
            "center_distance_cm": 9.97,
            "nearest_point_small": [
              1.0796,
              0.5276,
              1.4276
            ],
            "nearest_point_nearby": [
              1.0795,
              0.528,
              1.4253
            ],
            "direction_unit_vector": [
              0.183,
              -0.2226,
              -0.9576
            ],
            "vertical_relation": "above",
            "vertical_offset_cm": 9.54,
            "horizontal_distance_cm": 2.87
          }
        },
        {
          "object_id": 6,
          "label": "objects",
          "centroid": [
            1.0067,
            0.4531,
            1.4566
          ],
          "centroid_distance_m": 0.104,
          "spatial_3d": {
            "edge_distance_cm": 5.72,
            "center_distance_cm": 10.4,
            "nearest_point_small": [
              1.0645,
              0.5217,
              1.4534
            ],
            "nearest_point_nearby": [
              1.0322,
              0.4777,
              1.4362
            ],
            "direction_unit_vector": [
              -0.526,
              -0.818,
              -0.2325
            ],
            "vertical_relation": "same_level",
            "vertical_offset_cm": 2.42,
            "horizontal_distance_cm": 10.11
          }
        },
        {
          "object_id": 16,
          "label": "bathroom shelf",
          "centroid": [
            0.8746,
            0.5614,
            1.5655
          ],
          "centroid_distance_m": 0.2064,
          "spatial_3d": {
            "edge_distance_cm": 10.81,
            "center_distance_cm": 20.64,
            "nearest_point_small": [
              1.0386,
              0.5531,
              1.5106
            ],
            "nearest_point_nearby": [
              0.9411,
              0.5601,
              1.5566
            ],
            "direction_unit_vector": [
              -0.905,
              0.1125,
              0.4103
            ],
            "vertical_relation": "below",
            "vertical_offset_cm": -8.47,
            "horizontal_distance_cm": 18.82
          }
        },
        {
          "object_id": 73,
          "label": "soap dispenser",
          "centroid": [
            0.8032,
            0.5048,
            1.4218
          ],
          "centroid_distance_m": 0.267,
          "spatial_3d": {
            "edge_distance_cm": 20.8,
            "center_distance_cm": 26.7,
            "nearest_point_small": [
              1.0393,
              0.5449,
              1.5001
            ],
            "nearest_point_nearby": [
              0.8408,
              0.5122,
              1.4473
            ],
            "direction_unit_vector": [
              -0.9673,
              -0.1249,
              -0.2208
            ],
            "vertical_relation": "above",
            "vertical_offset_cm": 5.9,
            "horizontal_distance_cm": 26.04
          }
        },
        {
          "object_id": 10,
          "label": "object",
          "centroid": [
            0.8218,
            0.541,
            1.6155
          ],
          "centroid_distance_m": 0.2749,
          "spatial_3d": {
            "edge_distance_cm": 20.84,
            "center_distance_cm": 27.49,
            "nearest_point_small": [
              1.0386,
              0.5531,
              1.5106
            ],
            "nearest_point_nearby": [
              0.8486,
              0.5323,
              1.5937
            ],
            "direction_unit_vector": [
              -0.8716,
              0.0102,
              0.4901
            ],
            "vertical_relation": "below",
            "vertical_offset_cm": -13.48,
            "horizontal_distance_cm": 23.96
          }
        },
        {
          "object_id": 39,
          "label": "towel holder",
          "centroid": [
            0.8655,
            0.6673,
            1.2896
          ],
          "centroid_distance_m": 0.3027,
          "spatial_3d": {
            "edge_distance_cm": 21.6,
            "center_distance_cm": 30.27,
            "nearest_point_small": [
              1.0796,
              0.5276,
              1.4276
            ],
            "nearest_point_nearby": [
              0.9307,
              0.6321,
              1.3113
            ],
            "direction_unit_vector": [
              -0.6474,
              0.4265,
              -0.6316
            ],
            "vertical_relation": "above",
            "vertical_offset_cm": 19.12,
            "horizontal_distance_cm": 23.47
          }
        },
        {
          "object_id": 91,
          "label": "SPLIT",
          "centroid": [
            0.9812,
            0.7012,
            1.1409
          ],
          "centroid_distance_m": 0.3854,
          "spatial_3d": {
            "edge_distance_cm": 22.06,
            "center_distance_cm": 38.54,
            "nearest_point_small": [
              1.0796,
              0.5276,
              1.4276
            ],
            "nearest_point_nearby": [
              0.9651,
              0.6565,
              1.29
            ],
            "direction_unit_vector": [
              -0.2081,
              0.4231,
              -0.8819
            ],
            "vertical_relation": "above",
            "vertical_offset_cm": 33.99,
            "horizontal_distance_cm": 18.17
          }
        },
        {
          "object_id": 17,
          "label": "bathroom shelf",
          "centroid": [
            0.8514,
            0.554,
            1.8234
          ],
          "centroid_distance_m": 0.4022,
          "spatial_3d": {
            "edge_distance_cm": 31.39,
            "center_distance_cm": 40.22,
            "nearest_point_small": [
              1.0442,
              0.55,
              1.5159
            ],
            "nearest_point_nearby": [
              0.939,
              0.5629,
              1.8114
            ],
            "direction_unit_vector": [
              -0.5222,
              0.0395,
              0.8519
            ],
            "vertical_relation": "below",
            "vertical_offset_cm": -34.26,
            "horizontal_distance_cm": 21.06
          }
        },
        {
          "object_id": 90,
          "label": "object",
          "centroid": [
            0.8993,
            0.5505,
            1.8583
          ],
          "centroid_distance_m": 0.411,
          "spatial_3d": {
            "edge_distance_cm": 35.68,
            "center_distance_cm": 41.1,
            "nearest_point_small": [
              1.0442,
              0.55,
              1.5159
            ],
            "nearest_point_nearby": [
              0.9134,
              0.5288,
              1.8472
            ],
            "direction_unit_vector": [
              -0.3944,
              0.03,
              0.9184
            ],
            "vertical_relation": "below",
            "vertical_offset_cm": -37.75,
            "horizontal_distance_cm": 16.26
          }
        },
        {
          "object_id": 71,
          "label": "towel",
          "centroid": [
            0.9246,
            0.7012,
            1.1018
          ],
          "centroid_distance_m": 0.4346,
          "spatial_3d": {
            "edge_distance_cm": 26.31,
            "center_distance_cm": 43.46,
            "nearest_point_small": [
              1.0796,
              0.5276,
              1.4276
            ],
            "nearest_point_nearby": [
              0.9805,
              0.6818,
              1.239
            ],
            "direction_unit_vector": [
              -0.3148,
              0.3751,
              -0.8719
            ],
            "vertical_relation": "above",
            "vertical_offset_cm": 37.89,
            "horizontal_distance_cm": 21.29
          }
        },
        {
          "object_id": 48,
          "label": "remove",
          "centroid": [
            1.415,
            0.3147,
            1.7903
          ],
          "centroid_distance_m": 0.5204,
          "spatial_3d": {
            "edge_distance_cm": 6.05,
            "center_distance_cm": 52.04,
            "nearest_point_small": [
              1.0986,
              0.492,
              1.4544
            ],
            "nearest_point_nearby": [
              1.1142,
              0.4395,
              1.4285
            ],
            "direction_unit_vector": [
              0.6795,
              -0.4295,
              0.5949
            ],
            "vertical_relation": "below",
            "vertical_offset_cm": -30.96,
            "horizontal_distance_cm": 41.83
          }
        },
        {
          "object_id": 66,
          "label": "tap",
          "centroid": [
            1.2483,
            0.6441,
            0.9832
          ],
          "centroid_distance_m": 0.5419,
          "spatial_3d": {
            "edge_distance_cm": 40.41,
            "center_distance_cm": 54.19,
            "nearest_point_small": [
              1.1313,
              0.5201,
              1.4284
            ],
            "nearest_point_nearby": [
              1.2236,
              0.6014,
              1.0435
            ],
            "direction_unit_vector": [
              0.3448,
              0.1955,
              -0.9181
            ],
            "vertical_relation": "above",
            "vertical_offset_cm": 49.75,
            "horizontal_distance_cm": 21.48
          }
        },
        {
          "object_id": 18,
          "label": "light",
          "centroid": [
            1.0776,
            0.5418,
            2.0755
          ],
          "centroid_distance_m": 0.5949,
          "spatial_3d": {
            "edge_distance_cm": 55.25,
            "center_distance_cm": 59.49,
            "nearest_point_small": [
              1.0522,
              0.5508,
              1.5186
            ],
            "nearest_point_nearby": [
              1.062,
              0.5346,
              2.0707
            ],
            "direction_unit_vector": [
              0.0271,
              0.0061,
              0.9996
            ],
            "vertical_relation": "below",
            "vertical_offset_cm": -59.47,
            "horizontal_distance_cm": 1.65
          }
        },
        {
          "object_id": 64,
          "label": "power outlets",
          "centroid": [
            1.6315,
            0.5574,
            1.1579
          ],
          "centroid_distance_m": 0.6554,
          "spatial_3d": {
            "edge_distance_cm": 50.84,
            "center_distance_cm": 65.54,
            "nearest_point_small": [
              1.1396,
              0.5139,
              1.4316
            ],
            "nearest_point_nearby": [
              1.5922,
              0.5589,
              1.2044
            ],
            "direction_unit_vector": [
              0.8698,
              0.0293,
              -0.4926
            ],
            "vertical_relation": "above",
            "vertical_offset_cm": 32.28,
            "horizontal_distance_cm": 57.03
          }
        },
        {
          "object_id": 19,
          "label": "light",
          "centroid": [
            1.3682,
            0.5121,
            2.07
          ],
          "centroid_distance_m": 0.6649,
          "spatial_3d": {
            "edge_distance_cm": 61.99,
            "center_distance_cm": 66.49,
            "nearest_point_small": [
              1.0522,
              0.5508,
              1.5186
            ],
            "nearest_point_nearby": [
              1.3452,
              0.5125,
              2.0635
            ],
            "direction_unit_vector": [
              0.4614,
              -0.0392,
              0.8863
            ],
            "vertical_relation": "below",
            "vertical_offset_cm": -58.93,
            "horizontal_distance_cm": 30.79
          }
        },
        {
          "object_id": 34,
          "label": "sink",
          "centroid": [
            1.2779,
            0.7709,
            0.8622
          ],
          "centroid_distance_m": 0.6954,
          "spatial_3d": {
            "edge_distance_cm": 48.66,
            "center_distance_cm": 69.54,
            "nearest_point_small": [
              1.1313,
              0.5201,
              1.4284
            ],
            "nearest_point_nearby": [
              1.2676,
              0.766,
              1.0312
            ],
            "direction_unit_vector": [
              0.3113,
              0.3347,
              -0.8894
            ],
            "vertical_relation": "above",
            "vertical_offset_cm": 61.85,
            "horizontal_distance_cm": 31.78
          }
        },
        {
          "object_id": 23,
          "label": "bathroom hook",
          "centroid": [
            0.5261,
            0.4955,
            1.0339
          ],
          "centroid_distance_m": 0.6987,
          "spatial_3d": {
            "edge_distance_cm": 65.35,
            "center_distance_cm": 69.87,
            "nearest_point_small": [
              1.0745,
              0.5244,
              1.4344
            ],
            "nearest_point_nearby": [
              0.5472,
              0.4809,
              1.0508
            ],
            "direction_unit_vector": [
              -0.7662,
              -0.0611,
              -0.6396
            ],
            "vertical_relation": "above",
            "vertical_offset_cm": 44.69,
            "horizontal_distance_cm": 53.71
          }
        },
        {
          "object_id": 33,
          "label": "bathroom hook",
          "centroid": [
            0.3744,
            0.5068,
            1.0213
          ],
          "centroid_distance_m": 0.8271,
          "spatial_3d": {
            "edge_distance_cm": 78.19,
            "center_distance_cm": 82.71,
            "nearest_point_small": [
              1.0745,
              0.5244,
              1.4344
            ],
            "nearest_point_nearby": [
              0.3968,
              0.4959,
              1.0454
            ],
            "direction_unit_vector": [
              -0.8307,
              -0.0379,
              -0.5555
            ],
            "vertical_relation": "above",
            "vertical_offset_cm": 45.94,
            "horizontal_distance_cm": 68.78
          }
        },
        {
          "object_id": 20,
          "label": "light",
          "centroid": [
            1.6543,
            0.472,
            2.0736
          ],
          "centroid_distance_m": 0.841,
          "spatial_3d": {
            "edge_distance_cm": 79.95,
            "center_distance_cm": 84.1,
            "nearest_point_small": [
              1.0566,
              0.5494,
              1.5156
            ],
            "nearest_point_nearby": [
              1.625,
              0.4761,
              2.0731
            ],
            "direction_unit_vector": [
              0.7049,
              -0.0786,
              0.7049
            ],
            "vertical_relation": "below",
            "vertical_offset_cm": -59.29,
            "horizontal_distance_cm": 59.65
          }
        },
        {
          "object_id": 72,
          "label": "shampoo bottle",
          "centroid": [
            0.2095,
            0.5893,
            1.4095
          ],
          "centroid_distance_m": 0.8564,
          "spatial_3d": {
            "edge_distance_cm": 79.13,
            "center_distance_cm": 85.64,
            "nearest_point_small": [
              1.0383,
              0.5488,
              1.5039
            ],
            "nearest_point_nearby": [
              0.2507,
              0.5879,
              1.4375
            ],
            "direction_unit_vector": [
              -0.9947,
              0.0597,
              -0.0832
            ],
            "vertical_relation": "above",
            "vertical_offset_cm": 7.12,
            "horizontal_distance_cm": 85.35
          }
        },
        {
          "object_id": 1,
          "label": "shower cap",
          "centroid": [
            0.3931,
            0.5649,
            0.9434
          ],
          "centroid_distance_m": 0.8581,
          "spatial_3d": {
            "edge_distance_cm": 79.29,
            "center_distance_cm": 85.81,
            "nearest_point_small": [
              1.0757,
              0.5269,
              1.4326
            ],
            "nearest_point_nearby": [
              0.3971,
              0.5744,
              1.0253
            ],
            "direction_unit_vector": [
              -0.779,
              0.0312,
              -0.6263
            ],
            "vertical_relation": "above",
            "vertical_offset_cm": 53.74,
            "horizontal_distance_cm": 66.89
          }
        },
        {
          "object_id": 15,
          "label": "bathroom shelf",
          "centroid": [
            0.2347,
            0.7035,
            1.2791
          ],
          "centroid_distance_m": 0.8669,
          "spatial_3d": {
            "edge_distance_cm": 74.27,
            "center_distance_cm": 86.69,
            "nearest_point_small": [
              1.039,
              0.5491,
              1.5001
            ],
            "nearest_point_nearby": [
              0.3351,
              0.6514,
              1.2867
            ],
            "direction_unit_vector": [
              -0.9537,
              0.1907,
              -0.2326
            ],
            "vertical_relation": "above",
            "vertical_offset_cm": 20.17,
            "horizontal_distance_cm": 84.31
          }
        },
        {
          "object_id": 32,
          "label": "bathroom hook",
          "centroid": [
            0.2204,
            0.5363,
            1.0355
          ],
          "centroid_distance_m": 0.9516,
          "spatial_3d": {
            "edge_distance_cm": 91.42,
            "center_distance_cm": 95.16,
            "nearest_point_small": [
              1.0586,
              0.5261,
              1.4609
            ],
            "nearest_point_nearby": [
              0.2439,
              0.5156,
              1.0464
            ],
            "direction_unit_vector": [
              -0.8838,
              -0.002,
              -0.4679
            ],
            "vertical_relation": "above",
            "vertical_offset_cm": 44.52,
            "horizontal_distance_cm": 84.1
          }
        },
        {
          "object_id": 38,
          "label": "towel",
          "centroid": [
            0.7649,
            0.797,
            0.6124
          ],
          "centroid_distance_m": 0.9534,
          "spatial_3d": {
            "edge_distance_cm": 86.65,
            "center_distance_cm": 95.34,
            "nearest_point_small": [
              1.0796,
              0.5276,
              1.4276
            ],
            "nearest_point_nearby": [
              0.7832,
              0.7256,
              0.6378
            ],
            "direction_unit_vector": [
              -0.3111,
              0.2715,
              -0.9108
            ],
            "vertical_relation": "above",
            "vertical_offset_cm": 86.84,
            "horizontal_distance_cm": 39.37
          }
        },
        {
          "object_id": 36,
          "label": "object",
          "centroid": [
            0.1244,
            0.6562,
            1.3081
          ],
          "centroid_distance_m": 0.9601,
          "spatial_3d": {
            "edge_distance_cm": 88.23,
            "center_distance_cm": 96.01,
            "nearest_point_small": [
              1.039,
              0.5491,
              1.5001
            ],
            "nearest_point_nearby": [
              0.1815,
              0.6416,
              1.3142
            ],
            "direction_unit_vector": [
              -0.976,
              0.123,
              -0.1798
            ],
            "vertical_relation": "above",
            "vertical_offset_cm": 17.26,
            "horizontal_distance_cm": 94.44
          }
        },
        {
          "object_id": 85,
          "label": "shower curtain rod",
          "centroid": [
            0.8041,
            1.2381,
            2.1121
          ],
          "centroid_distance_m": 0.9771,
          "spatial_3d": {
            "edge_distance_cm": 64.65,
            "center_distance_cm": 97.71,
            "nearest_point_small": [
              1.0442,
              0.55,
              1.5159
            ],
            "nearest_point_nearby": [
              0.7327,
              0.4631,
              2.0757
            ],
            "direction_unit_vector": [
              -0.2633,
              0.7164,
              0.6461
            ],
            "vertical_relation": "below",
            "vertical_offset_cm": -63.13,
            "horizontal_distance_cm": 74.58
          }
        },
        {
          "object_id": 11,
          "label": "object",
          "centroid": [
            2.0447,
            0.3632,
            1.447
          ],
          "centroid_distance_m": 0.9993,
          "spatial_3d": {
            "edge_distance_cm": 88.23,
            "center_distance_cm": 99.93,
            "nearest_point_small": [
              1.1396,
              0.5139,
              1.4316
            ],
            "nearest_point_nearby": [
              2.0086,
              0.3964,
              1.3333
            ],
            "direction_unit_vector": [
              0.984,
              -0.1751,
              -0.0338
            ],
            "vertical_relation": "same_level",
            "vertical_offset_cm": 3.38,
            "horizontal_distance_cm": 99.87
          }
        }
      ]
    }
  ]
}