diff --git a/data/spatial codes/ground truth/compact/scene0550_00.json b/data/spatial codes/ground truth/compact/scene0550_00.json
new file mode 100644
index 0000000000000000000000000000000000000000..4f42db6feaaa1b969c95f0e4433a29b61e6a8db3
--- /dev/null
+++ b/data/spatial codes/ground truth/compact/scene0550_00.json	
@@ -0,0 +1,288 @@
+{
+ "spatial code schema": {
+  "objects": {
+   "<object class>": [
+    {
+     "3D oriented bounding box": {
+      "3D oriented bounding box center coordinates": {
+       "components": [
+        "x",
+        "y",
+        "height above floor"
+       ],
+       "unit": "meters",
+       "description": "center of the 3D oriented bounding box in the shared room coordinate system"
+      },
+      "3D oriented bounding box dimensions": {
+       "components": [
+        "dimension 1",
+        "dimension 2",
+        "dimension 3"
+       ],
+       "unit": "meters",
+       "description": "full lengths of the 3D oriented bounding box along the corresponding orientation unit vectors"
+      },
+      "3D oriented bounding box orientation unit vectors": {
+       "components": [
+        [
+         "x",
+         "y",
+         "height"
+        ],
+        [
+         "x",
+         "y",
+         "height"
+        ],
+        [
+         "x",
+         "y",
+         "height"
+        ]
+       ],
+       "unit": null,
+       "description": "three perpendicular directions corresponding in order to the three 3D oriented bounding box dimensions"
+      }
+     },
+     "first visible time": {
+      "unit": "seconds",
+      "description": "earliest time at which this object instance is visibly observed"
+     }
+    }
+   ]
+  },
+  "room": {
+   "floor boundary polygons": [
+    {
+     "outer boundary coordinates": {
+      "components": [
+       [
+        "x",
+        "y"
+       ],
+       [
+        "x",
+        "y"
+       ]
+      ],
+      "unit": "meters",
+      "description": "ordered vertices enclosing one floor region"
+     },
+     "interior hole boundary coordinates": {
+      "components": [
+       [
+        [
+         "x",
+         "y"
+        ],
+        [
+         "x",
+         "y"
+        ]
+       ]
+      ],
+      "unit": "meters",
+      "description": "ordered boundaries enclosing regions excluded from the floor area"
+     }
+    }
+   ]
+  }
+ },
+ "objects": {
+  "window": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -0.19,
+      -1.21,
+      1.36
+     ],
+     "3D oriented bounding box dimensions": [
+      1.16,
+      1.19,
+      0.46
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       1.0,
+       -0.03,
+       -0.02
+      ],
+      [
+       -0.02,
+       -0.04,
+       -1.0
+      ],
+      [
+       0.03,
+       1.0,
+       -0.04
+      ]
+     ]
+    },
+    "first visible time": null
+   }
+  ],
+  "mirror": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -1.24,
+      -0.11,
+      1.43
+     ],
+     "3D oriented bounding box dimensions": [
+      0.76,
+      0.88,
+      0.23
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.05,
+       1.0,
+       0.03
+      ],
+      [
+       -0.12,
+       -0.03,
+       0.99
+      ],
+      [
+       0.99,
+       -0.05,
+       0.12
+      ]
+     ]
+    },
+    "first visible time": null
+   }
+  ],
+  "radiator": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -0.1,
+      -0.91,
+      0.43
+     ],
+     "3D oriented bounding box dimensions": [
+      1.02,
+      0.64,
+      0.26
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       1.0,
+       0.02,
+       0.05
+      ],
+      [
+       -0.05,
+       -0.07,
+       1.0
+      ],
+      [
+       0.03,
+       -1.0,
+       -0.07
+      ]
+     ]
+    },
+    "first visible time": null
+   }
+  ],
+  "trash bin": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -0.06,
+      -0.8,
+      0.37
+     ],
+     "3D oriented bounding box dimensions": [
+      0.65,
+      0.33,
+      0.47
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       -0.14,
+       0.08,
+       -0.99
+      ],
+      [
+       0.09,
+       0.99,
+       0.07
+      ],
+      [
+       0.99,
+       -0.08,
+       -0.14
+      ]
+     ]
+    },
+    "first visible time": null
+   }
+  ],
+  "door": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -0.48,
+      1.6,
+      0.95
+     ],
+     "3D oriented bounding box dimensions": [
+      1.87,
+      0.7,
+      0.07
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.04,
+       0.02,
+       1.0
+      ],
+      [
+       -1.0,
+       -0.06,
+       0.04
+      ],
+      [
+       0.06,
+       -1.0,
+       0.01
+      ]
+     ]
+    },
+    "first visible time": null
+   }
+  ]
+ },
+ "room": {
+  "floor boundary polygons": [
+   {
+    "outer boundary coordinates": [
+     [
+      -1.3,
+      -1.16
+     ],
+     [
+      1.3,
+      -1.16
+     ],
+     [
+      1.3,
+      1.43
+     ],
+     [
+      -1.3,
+      1.43
+     ]
+    ],
+    "interior hole boundary coordinates": []
+   }
+  ]
+ }
+}
\ No newline at end of file
diff --git a/data/spatial codes/ground truth/compact/scene0553_00.json b/data/spatial codes/ground truth/compact/scene0553_00.json
new file mode 100644
index 0000000000000000000000000000000000000000..05cd3a600ddff643dba067d4b4c35231a961ae01
--- /dev/null
+++ b/data/spatial codes/ground truth/compact/scene0553_00.json	
@@ -0,0 +1,254 @@
+{
+ "spatial code schema": {
+  "objects": {
+   "<object class>": [
+    {
+     "3D oriented bounding box": {
+      "3D oriented bounding box center coordinates": {
+       "components": [
+        "x",
+        "y",
+        "height above floor"
+       ],
+       "unit": "meters",
+       "description": "center of the 3D oriented bounding box in the shared room coordinate system"
+      },
+      "3D oriented bounding box dimensions": {
+       "components": [
+        "dimension 1",
+        "dimension 2",
+        "dimension 3"
+       ],
+       "unit": "meters",
+       "description": "full lengths of the 3D oriented bounding box along the corresponding orientation unit vectors"
+      },
+      "3D oriented bounding box orientation unit vectors": {
+       "components": [
+        [
+         "x",
+         "y",
+         "height"
+        ],
+        [
+         "x",
+         "y",
+         "height"
+        ],
+        [
+         "x",
+         "y",
+         "height"
+        ]
+       ],
+       "unit": null,
+       "description": "three perpendicular directions corresponding in order to the three 3D oriented bounding box dimensions"
+      }
+     },
+     "first visible time": {
+      "unit": "seconds",
+      "description": "earliest time at which this object instance is visibly observed"
+     }
+    }
+   ]
+  },
+  "room": {
+   "floor boundary polygons": [
+    {
+     "outer boundary coordinates": {
+      "components": [
+       [
+        "x",
+        "y"
+       ],
+       [
+        "x",
+        "y"
+       ]
+      ],
+      "unit": "meters",
+      "description": "ordered vertices enclosing one floor region"
+     },
+     "interior hole boundary coordinates": {
+      "components": [
+       [
+        [
+         "x",
+         "y"
+        ],
+        [
+         "x",
+         "y"
+        ]
+       ]
+      ],
+      "unit": "meters",
+      "description": "ordered boundaries enclosing regions excluded from the floor area"
+     }
+    }
+   ]
+  }
+ },
+ "objects": {
+  "backpack": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      1.24,
+      0.6,
+      1.37
+     ],
+     "3D oriented bounding box dimensions": [
+      0.85,
+      0.44,
+      0.3
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.0,
+       0.0,
+       1.0
+      ],
+      [
+       0.32,
+       -0.95,
+       0.0
+      ],
+      [
+       0.95,
+       0.32,
+       0.0
+      ]
+     ]
+    },
+    "first visible time": null
+   }
+  ],
+  "mirror": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      0.48,
+      -0.9,
+      1.53
+     ],
+     "3D oriented bounding box dimensions": [
+      0.96,
+      0.59,
+      0.08
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       -0.02,
+       -0.04,
+       1.0
+      ],
+      [
+       0.95,
+       0.3,
+       0.03
+      ],
+      [
+       -0.3,
+       0.95,
+       0.04
+      ]
+     ]
+    },
+    "first visible time": null
+   }
+  ],
+  "trash bin": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      0.01,
+      0.92,
+      0.74
+     ],
+     "3D oriented bounding box dimensions": [
+      1.06,
+      0.26,
+      0.44
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       -0.02,
+       0.04,
+       -1.0
+      ],
+      [
+       0.33,
+       -0.94,
+       -0.04
+      ],
+      [
+       -0.94,
+       -0.33,
+       0.01
+      ]
+     ]
+    },
+    "first visible time": null
+   }
+  ],
+  "door": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      1.38,
+      0.58,
+      1.01
+     ],
+     "3D oriented bounding box dimensions": [
+      1.58,
+      1.88,
+      0.1
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       -0.29,
+       0.95,
+       0.09
+      ],
+      [
+       0.05,
+       -0.08,
+       1.0
+      ],
+      [
+       0.96,
+       0.29,
+       -0.02
+      ]
+     ]
+    },
+    "first visible time": null
+   }
+  ]
+ },
+ "room": {
+  "floor boundary polygons": [
+   {
+    "outer boundary coordinates": [
+     [
+      -1.12,
+      -1.18
+     ],
+     [
+      1.2,
+      -1.18
+     ],
+     [
+      1.2,
+      1.14
+     ],
+     [
+      -1.12,
+      1.14
+     ]
+    ],
+    "interior hole boundary coordinates": []
+   }
+  ]
+ }
+}
\ No newline at end of file
diff --git a/data/spatial codes/ground truth/compact/scene0565_00.json b/data/spatial codes/ground truth/compact/scene0565_00.json
new file mode 100644
index 0000000000000000000000000000000000000000..dec16d6d854eb20cd22932c3ecfc40213fa3f243
--- /dev/null
+++ b/data/spatial codes/ground truth/compact/scene0565_00.json	
@@ -0,0 +1,806 @@
+{
+ "spatial code schema": {
+  "objects": {
+   "<object class>": [
+    {
+     "3D oriented bounding box": {
+      "3D oriented bounding box center coordinates": {
+       "components": [
+        "x",
+        "y",
+        "height above floor"
+       ],
+       "unit": "meters",
+       "description": "center of the 3D oriented bounding box in the shared room coordinate system"
+      },
+      "3D oriented bounding box dimensions": {
+       "components": [
+        "dimension 1",
+        "dimension 2",
+        "dimension 3"
+       ],
+       "unit": "meters",
+       "description": "full lengths of the 3D oriented bounding box along the corresponding orientation unit vectors"
+      },
+      "3D oriented bounding box orientation unit vectors": {
+       "components": [
+        [
+         "x",
+         "y",
+         "height"
+        ],
+        [
+         "x",
+         "y",
+         "height"
+        ],
+        [
+         "x",
+         "y",
+         "height"
+        ]
+       ],
+       "unit": null,
+       "description": "three perpendicular directions corresponding in order to the three 3D oriented bounding box dimensions"
+      }
+     },
+     "first visible time": {
+      "unit": "seconds",
+      "description": "earliest time at which this object instance is visibly observed"
+     }
+    }
+   ]
+  },
+  "room": {
+   "floor boundary polygons": [
+    {
+     "outer boundary coordinates": {
+      "components": [
+       [
+        "x",
+        "y"
+       ],
+       [
+        "x",
+        "y"
+       ]
+      ],
+      "unit": "meters",
+      "description": "ordered vertices enclosing one floor region"
+     },
+     "interior hole boundary coordinates": {
+      "components": [
+       [
+        [
+         "x",
+         "y"
+        ],
+        [
+         "x",
+         "y"
+        ]
+       ]
+      ],
+      "unit": "meters",
+      "description": "ordered boundaries enclosing regions excluded from the floor area"
+     }
+    }
+   ]
+  }
+ },
+ "objects": {
+  "chair": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      1.77,
+      0.35,
+      0.62
+     ],
+     "3D oriented bounding box dimensions": [
+      1.11,
+      0.58,
+      0.57
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       -0.04,
+       0.17,
+       0.98
+      ],
+      [
+       -0.7,
+       -0.71,
+       0.1
+      ],
+      [
+       0.72,
+       -0.68,
+       0.15
+      ]
+     ]
+    },
+    "first visible time": null
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -1.94,
+      -0.14,
+      0.72
+     ],
+     "3D oriented bounding box dimensions": [
+      1.16,
+      0.56,
+      0.48
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.38,
+       -0.37,
+       0.85
+      ],
+      [
+       -0.2,
+       0.86,
+       0.47
+      ],
+      [
+       -0.9,
+       -0.34,
+       0.26
+      ]
+     ]
+    },
+    "first visible time": null
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      1.42,
+      0.84,
+      0.56
+     ],
+     "3D oriented bounding box dimensions": [
+      0.92,
+      0.65,
+      0.58
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.0,
+       -0.09,
+       1.0
+      ],
+      [
+       0.9,
+       -0.42,
+       -0.04
+      ],
+      [
+       0.43,
+       0.9,
+       0.08
+      ]
+     ]
+    },
+    "first visible time": null
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -2.97,
+      0.15,
+      0.72
+     ],
+     "3D oriented bounding box dimensions": [
+      1.06,
+      0.49,
+      0.44
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.17,
+       -0.28,
+       -0.94
+      ],
+      [
+       -0.95,
+       0.22,
+       -0.24
+      ],
+      [
+       0.28,
+       0.93,
+       -0.23
+      ]
+     ]
+    },
+    "first visible time": null
+   }
+  ],
+  "window": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      1.17,
+      -2.1,
+      1.25
+     ],
+     "3D oriented bounding box dimensions": [
+      0.63,
+      0.98,
+      0.17
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       -0.02,
+       -0.02,
+       1.0
+      ],
+      [
+       0.99,
+       0.11,
+       0.02
+      ],
+      [
+       -0.11,
+       0.99,
+       0.02
+      ]
+     ]
+    },
+    "first visible time": null
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -0.75,
+      -2.31,
+      1.32
+     ],
+     "3D oriented bounding box dimensions": [
+      1.24,
+      0.82,
+      0.23
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.99,
+       0.16,
+       -0.05
+      ],
+      [
+       -0.09,
+       0.27,
+       -0.96
+      ],
+      [
+       -0.13,
+       0.95,
+       0.28
+      ]
+     ]
+    },
+    "first visible time": null
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -1.86,
+      -2.47,
+      1.41
+     ],
+     "3D oriented bounding box dimensions": [
+      1.2,
+      0.83,
+      0.16
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       1.0,
+       0.06,
+       0.03
+      ],
+      [
+       0.03,
+       0.02,
+       -1.0
+      ],
+      [
+       -0.06,
+       1.0,
+       0.02
+      ]
+     ]
+    },
+    "first visible time": null
+   }
+  ],
+  "monitor": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -0.17,
+      1.02,
+      0.4
+     ],
+     "3D oriented bounding box dimensions": [
+      0.58,
+      0.44,
+      0.19
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       -0.7,
+       -0.71,
+       0.09
+      ],
+      [
+       -0.13,
+       0.25,
+       0.96
+      ],
+      [
+       -0.7,
+       0.66,
+       -0.27
+      ]
+     ]
+    },
+    "first visible time": null
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -1.69,
+      0.18,
+      1.39
+     ],
+     "3D oriented bounding box dimensions": [
+      0.59,
+      0.48,
+      0.18
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.99,
+       0.12,
+       -0.06
+      ],
+      [
+       0.08,
+       -0.24,
+       0.97
+      ],
+      [
+       0.1,
+       -0.96,
+       -0.24
+      ]
+     ]
+    },
+    "first visible time": null
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -1.42,
+      0.34,
+      0.5
+     ],
+     "3D oriented bounding box dimensions": [
+      0.57,
+      0.57,
+      0.18
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       -0.1,
+       0.99,
+       0.06
+      ],
+      [
+       -0.27,
+       0.03,
+       -0.96
+      ],
+      [
+       -0.96,
+       -0.11,
+       0.26
+      ]
+     ]
+    },
+    "first visible time": null
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      2.45,
+      0.75,
+      1.08
+     ],
+     "3D oriented bounding box dimensions": [
+      0.44,
+      0.44,
+      0.15
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.05,
+       -1.0,
+       -0.06
+      ],
+      [
+       0.13,
+       0.06,
+       -0.99
+      ],
+      [
+       0.99,
+       0.04,
+       0.14
+      ]
+     ]
+    },
+    "first visible time": null
+   }
+  ],
+  "printer": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      2.65,
+      -0.56,
+      1.03
+     ],
+     "3D oriented bounding box dimensions": [
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+      0.59,
+      0.42
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.99,
+       0.12,
+       0.03
+      ],
+      [
+       -0.12,
+       0.99,
+       0.02
+      ],
+      [
+       -0.02,
+       -0.02,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": null
+   },
+   {
+    "3D oriented bounding box": {
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+      0.24,
+      1.02
+     ],
+     "3D oriented bounding box dimensions": [
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+      0.5,
+      0.37
+     ],
+     "3D oriented bounding box orientation unit vectors": [
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+       -0.1,
+       -0.01
+      ],
+      [
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+       0.99,
+       0.02
+      ],
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+       0.02,
+       -1.0
+      ]
+     ]
+    },
+    "first visible time": null
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
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+      -0.56,
+      1.03
+     ],
+     "3D oriented bounding box dimensions": [
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+      0.59,
+      0.42
+     ],
+     "3D oriented bounding box orientation unit vectors": [
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+       0.12,
+       0.03
+      ],
+      [
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+       0.99,
+       0.02
+      ],
+      [
+       -0.02,
+       -0.02,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": null
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
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+      0.24,
+      1.02
+     ],
+     "3D oriented bounding box dimensions": [
+      0.54,
+      0.5,
+      0.37
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
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+       -0.1,
+       -0.01
+      ],
+      [
+       -0.1,
+       0.99,
+       0.02
+      ],
+      [
+       0.01,
+       0.02,
+       -1.0
+      ]
+     ]
+    },
+    "first visible time": null
+   }
+  ],
+  "keyboard": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      2.27,
+      0.73,
+      0.87
+     ],
+     "3D oriented bounding box dimensions": [
+      0.49,
+      0.04,
+      0.19
+     ],
+     "3D oriented bounding box orientation unit vectors": [
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+       -1.0,
+       -0.05
+      ],
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+       0.08,
+       0.05,
+       -1.0
+      ],
+      [
+       1.0,
+       -0.03,
+       0.08
+      ]
+     ]
+    },
+    "first visible time": null
+   }
+  ],
+  "trash bin": [
+   {
+    "3D oriented bounding box": {
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+      -1.93,
+      0.44
+     ],
+     "3D oriented bounding box dimensions": [
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+      0.69,
+      0.27
+     ],
+     "3D oriented bounding box orientation unit vectors": [
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+       0.09,
+       -0.05
+      ],
+      [
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+       -0.04,
+       -1.0
+      ],
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+       0.99,
+       -0.04
+      ]
+     ]
+    },
+    "first visible time": null
+   }
+  ],
+  "door": [
+   {
+    "3D oriented bounding box": {
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+      3.08,
+      -1.13,
+      0.8
+     ],
+     "3D oriented bounding box dimensions": [
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+      0.54,
+      0.12
+     ],
+     "3D oriented bounding box orientation unit vectors": [
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+       -0.04,
+       1.0
+      ],
+      [
+       -0.07,
+       1.0,
+       0.04
+      ],
+      [
+       -1.0,
+       -0.07,
+       0.02
+      ]
+     ]
+    },
+    "first visible time": null
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      0.42,
+      -2.2,
+      0.88
+     ],
+     "3D oriented bounding box dimensions": [
+      1.65,
+      0.72,
+      0.14
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       -0.19,
+       0.03,
+       -0.98
+      ],
+      [
+       0.98,
+       0.04,
+       -0.19
+      ],
+      [
+       0.03,
+       -1.0,
+       -0.03
+      ]
+     ]
+    },
+    "first visible time": null
+   }
+  ],
+  "table": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -2.03,
+      -0.04,
+      0.69
+     ],
+     "3D oriented bounding box dimensions": [
+      1.2,
+      1.05,
+      0.62
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.97,
+       0.22,
+       -0.07
+      ],
+      [
+       0.07,
+       0.01,
+       1.0
+      ],
+      [
+       0.22,
+       -0.98,
+       0.0
+      ]
+     ]
+    },
+    "first visible time": null
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      2.5,
+      0.29,
+      0.53
+     ],
+     "3D oriented bounding box dimensions": [
+      0.8,
+      0.81,
+      2.32
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.02,
+       0.02,
+       -1.0
+      ],
+      [
+       1.0,
+       0.09,
+       0.02
+      ],
+      [
+       0.09,
+       -1.0,
+       -0.02
+      ]
+     ]
+    },
+    "first visible time": null
+   }
+  ]
+ },
+ "room": {
+  "floor boundary polygons": [
+   {
+    "outer boundary coordinates": [
+     [
+      -2.59,
+      -2.62
+     ],
+     [
+      2.12,
+      -2.62
+     ],
+     [
+      2.12,
+      2.09
+     ],
+     [
+      -2.59,
+      2.09
+     ]
+    ],
+    "interior hole boundary coordinates": []
+   }
+  ]
+ }
+}
\ No newline at end of file
diff --git a/data/spatial codes/ground truth/compact/scene0568_02.json b/data/spatial codes/ground truth/compact/scene0568_02.json
new file mode 100644
index 0000000000000000000000000000000000000000..f1190aefe8ebb67ddd6295190fa83354d06a35cb
--- /dev/null
+++ b/data/spatial codes/ground truth/compact/scene0568_02.json	
@@ -0,0 +1,450 @@
+{
+ "spatial code schema": {
+  "objects": {
+   "<object class>": [
+    {
+     "3D oriented bounding box": {
+      "3D oriented bounding box center coordinates": {
+       "components": [
+        "x",
+        "y",
+        "height above floor"
+       ],
+       "unit": "meters",
+       "description": "center of the 3D oriented bounding box in the shared room coordinate system"
+      },
+      "3D oriented bounding box dimensions": {
+       "components": [
+        "dimension 1",
+        "dimension 2",
+        "dimension 3"
+       ],
+       "unit": "meters",
+       "description": "full lengths of the 3D oriented bounding box along the corresponding orientation unit vectors"
+      },
+      "3D oriented bounding box orientation unit vectors": {
+       "components": [
+        [
+         "x",
+         "y",
+         "height"
+        ],
+        [
+         "x",
+         "y",
+         "height"
+        ],
+        [
+         "x",
+         "y",
+         "height"
+        ]
+       ],
+       "unit": null,
+       "description": "three perpendicular directions corresponding in order to the three 3D oriented bounding box dimensions"
+      }
+     },
+     "first visible time": {
+      "unit": "seconds",
+      "description": "earliest time at which this object instance is visibly observed"
+     }
+    }
+   ]
+  },
+  "room": {
+   "floor boundary polygons": [
+    {
+     "outer boundary coordinates": {
+      "components": [
+       [
+        "x",
+        "y"
+       ],
+       [
+        "x",
+        "y"
+       ]
+      ],
+      "unit": "meters",
+      "description": "ordered vertices enclosing one floor region"
+     },
+     "interior hole boundary coordinates": {
+      "components": [
+       [
+        [
+         "x",
+         "y"
+        ],
+        [
+         "x",
+         "y"
+        ]
+       ]
+      ],
+      "unit": "meters",
+      "description": "ordered boundaries enclosing regions excluded from the floor area"
+     }
+    }
+   ]
+  }
+ },
+ "objects": {
+  "chair": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
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+      -2.7,
+      0.45
+     ],
+     "3D oriented bounding box dimensions": [
+      0.53,
+      0.53,
+      0.67
+     ],
+     "3D oriented bounding box orientation unit vectors": [
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+       0.33,
+       -0.94,
+       -0.02
+      ],
+      [
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+       -0.33,
+       -0.06
+      ],
+      [
+       0.05,
+       0.03,
+       -1.0
+      ]
+     ]
+    },
+    "first visible time": 2.0
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
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+      -2.22,
+      0.42
+     ],
+     "3D oriented bounding box dimensions": [
+      0.84,
+      0.6,
+      0.36
+     ],
+     "3D oriented bounding box orientation unit vectors": [
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+       0.76,
+       0.12,
+       -0.64
+      ],
+      [
+       -0.11,
+       0.99,
+       0.06
+      ],
+      [
+       0.65,
+       0.03,
+       0.76
+      ]
+     ]
+    },
+    "first visible time": 2.0
+   },
+   {
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+      2.8,
+      0.43
+     ],
+     "3D oriented bounding box dimensions": [
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+      0.53,
+      0.31
+     ],
+     "3D oriented bounding box orientation unit vectors": [
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+       -1.0,
+       0.02
+      ],
+      [
+       -0.04,
+       0.03,
+       1.0
+      ],
+      [
+       -1.0,
+       0.08,
+       -0.04
+      ]
+     ]
+    },
+    "first visible time": 2.0
+   },
+   {
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+     "3D oriented bounding box center coordinates": [
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+      2.27,
+      0.47
+     ],
+     "3D oriented bounding box dimensions": [
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+      0.24,
+      0.5
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
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+       0.28,
+       -0.07
+      ],
+      [
+       0.2,
+       0.47,
+       -0.86
+      ],
+      [
+       -0.21,
+       -0.84,
+       -0.5
+      ]
+     ]
+    },
+    "first visible time": 2.0
+   }
+  ],
+  "sofa": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
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+      -0.28,
+      0.79
+     ],
+     "3D oriented bounding box dimensions": [
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+      0.85,
+      1.55
+     ],
+     "3D oriented bounding box orientation unit vectors": [
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+       -0.31,
+       -0.06
+      ],
+      [
+       0.06,
+       0.0,
+       -1.0
+      ],
+      [
+       0.31,
+       -0.95,
+       0.02
+      ]
+     ]
+    },
+    "first visible time": 1.0
+   }
+  ],
+  "bookshelf": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
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+      -3.24,
+      0.9
+     ],
+     "3D oriented bounding box dimensions": [
+      1.52,
+      1.56,
+      0.45
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
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+       -0.14,
+       -0.08
+      ],
+      [
+       0.06,
+       0.14,
+       -0.99
+      ],
+      [
+       0.15,
+       -0.98,
+       -0.13
+      ]
+     ]
+    },
+    "first visible time": 3.0
+   }
+  ],
+  "tv": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      2.05,
+      2.36,
+      1.25
+     ],
+     "3D oriented bounding box dimensions": [
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+      0.72,
+      0.21
+     ],
+     "3D oriented bounding box orientation unit vectors": [
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+       -0.16,
+       -0.02
+      ],
+      [
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+       -0.11,
+       -0.99
+      ],
+      [
+       0.16,
+       -0.98,
+       0.12
+      ]
+     ]
+    },
+    "first visible time": 5.0
+   }
+  ],
+  "radiator": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
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+      2.99,
+      0.23
+     ],
+     "3D oriented bounding box dimensions": [
+      1.93,
+      0.21,
+      0.11
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       -0.96,
+       -0.29,
+       -0.03
+      ],
+      [
+       -0.03,
+       -0.03,
+       1.0
+      ],
+      [
+       -0.29,
+       0.96,
+       0.02
+      ]
+     ]
+    },
+    "first visible time": 4.0
+   }
+  ],
+  "table": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      3.31,
+      1.15,
+      0.69
+     ],
+     "3D oriented bounding box dimensions": [
+      1.36,
+      0.73,
+      0.3
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.96,
+       0.28,
+       0.08
+      ],
+      [
+       0.28,
+       -0.96,
+       -0.06
+      ],
+      [
+       0.06,
+       0.08,
+       -1.0
+      ]
+     ]
+    },
+    "first visible time": 0.0
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -0.47,
+      2.85,
+      0.45
+     ],
+     "3D oriented bounding box dimensions": [
+      0.55,
+      0.83,
+      0.55
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.06,
+       -0.04,
+       -1.0
+      ],
+      [
+       0.29,
+       -0.96,
+       0.06
+      ],
+      [
+       -0.96,
+       -0.29,
+       -0.04
+      ]
+     ]
+    },
+    "first visible time": 0.0
+   }
+  ]
+ },
+ "room": {
+  "floor boundary polygons": [
+   {
+    "outer boundary coordinates": [
+     [
+      -2.39,
+      -3.14
+     ],
+     [
+      3.45,
+      -3.14
+     ],
+     [
+      3.45,
+      2.71
+     ],
+     [
+      -2.39,
+      2.71
+     ]
+    ],
+    "interior hole boundary coordinates": []
+   }
+  ]
+ }
+}
\ No newline at end of file
diff --git a/data/spatial codes/ground truth/compact/scene0574_01.json b/data/spatial codes/ground truth/compact/scene0574_01.json
new file mode 100644
index 0000000000000000000000000000000000000000..5bb76567c02f7f3eb378c0241d8890e45a366773
--- /dev/null
+++ b/data/spatial codes/ground truth/compact/scene0574_01.json	
@@ -0,0 +1,382 @@
+{
+ "spatial code schema": {
+  "objects": {
+   "<object class>": [
+    {
+     "3D oriented bounding box": {
+      "3D oriented bounding box center coordinates": {
+       "components": [
+        "x",
+        "y",
+        "height above floor"
+       ],
+       "unit": "meters",
+       "description": "center of the 3D oriented bounding box in the shared room coordinate system"
+      },
+      "3D oriented bounding box dimensions": {
+       "components": [
+        "dimension 1",
+        "dimension 2",
+        "dimension 3"
+       ],
+       "unit": "meters",
+       "description": "full lengths of the 3D oriented bounding box along the corresponding orientation unit vectors"
+      },
+      "3D oriented bounding box orientation unit vectors": {
+       "components": [
+        [
+         "x",
+         "y",
+         "height"
+        ],
+        [
+         "x",
+         "y",
+         "height"
+        ],
+        [
+         "x",
+         "y",
+         "height"
+        ]
+       ],
+       "unit": null,
+       "description": "three perpendicular directions corresponding in order to the three 3D oriented bounding box dimensions"
+      }
+     },
+     "first visible time": {
+      "unit": "seconds",
+      "description": "earliest time at which this object instance is visibly observed"
+     }
+    }
+   ]
+  },
+  "room": {
+   "floor boundary polygons": [
+    {
+     "outer boundary coordinates": {
+      "components": [
+       [
+        "x",
+        "y"
+       ],
+       [
+        "x",
+        "y"
+       ]
+      ],
+      "unit": "meters",
+      "description": "ordered vertices enclosing one floor region"
+     },
+     "interior hole boundary coordinates": {
+      "components": [
+       [
+        [
+         "x",
+         "y"
+        ],
+        [
+         "x",
+         "y"
+        ]
+       ]
+      ],
+      "unit": "meters",
+      "description": "ordered boundaries enclosing regions excluded from the floor area"
+     }
+    }
+   ]
+  }
+ },
+ "objects": {
+  "towel": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -0.36,
+      -0.88,
+      0.92
+     ],
+     "3D oriented bounding box dimensions": [
+      0.4,
+      0.41,
+      0.26
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       -1.0,
+       0.05,
+       0.0
+      ],
+      [
+       0.05,
+       1.0,
+       0.02
+      ],
+      [
+       0.0,
+       0.02,
+       -1.0
+      ]
+     ]
+    },
+    "first visible time": null
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      0.64,
+      -1.03,
+      1.16
+     ],
+     "3D oriented bounding box dimensions": [
+      0.43,
+      0.23,
+      0.14
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.12,
+       -0.1,
+       -0.99
+      ],
+      [
+       -0.62,
+       0.77,
+       -0.15
+      ],
+      [
+       0.77,
+       0.63,
+       0.04
+      ]
+     ]
+    },
+    "first visible time": null
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
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+      -0.7,
+      1.17
+     ],
+     "3D oriented bounding box dimensions": [
+      0.39,
+      0.21,
+      0.14
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.03,
+       0.12,
+       -0.99
+      ],
+      [
+       -0.09,
+       -0.99,
+       -0.12
+      ],
+      [
+       -0.99,
+       0.1,
+       -0.02
+      ]
+     ]
+    },
+    "first visible time": null
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
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+      -0.87,
+      1.19
+     ],
+     "3D oriented bounding box dimensions": [
+      0.39,
+      0.16,
+      0.14
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       -0.19,
+       0.06,
+       -0.98
+      ],
+      [
+       0.48,
+       0.87,
+       -0.04
+      ],
+      [
+       0.85,
+       -0.48,
+       -0.2
+      ]
+     ]
+    },
+    "first visible time": null
+   }
+  ],
+  "mirror": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      0.1,
+      -1.2,
+      1.04
+     ],
+     "3D oriented bounding box dimensions": [
+      1.29,
+      0.42,
+      0.09
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       -0.99,
+       -0.01,
+       -0.13
+      ],
+      [
+       -0.13,
+       0.25,
+       0.96
+      ],
+      [
+       0.02,
+       0.97,
+       -0.25
+      ]
+     ]
+    },
+    "first visible time": null
+   }
+  ],
+  "trash bin": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      0.6,
+      -0.58,
+      0.18
+     ],
+     "3D oriented bounding box dimensions": [
+      0.37,
+      0.32,
+      0.23
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       -0.04,
+       -0.99,
+       -0.1
+      ],
+      [
+       -0.02,
+       0.1,
+       -0.99
+      ],
+      [
+       1.0,
+       -0.04,
+       -0.03
+      ]
+     ]
+    },
+    "first visible time": null
+   }
+  ],
+  "door": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -0.94,
+      0.76,
+      0.77
+     ],
+     "3D oriented bounding box dimensions": [
+      1.14,
+      0.85,
+      0.06
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.06,
+       0.01,
+       1.0
+      ],
+      [
+       1.0,
+       0.08,
+       -0.06
+      ],
+      [
+       -0.08,
+       1.0,
+       -0.01
+      ]
+     ]
+    },
+    "first visible time": null
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      0.8,
+      -0.14,
+      1.01
+     ],
+     "3D oriented bounding box dimensions": [
+      1.94,
+      0.59,
+      0.06
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       -0.01,
+       0.03,
+       -1.0
+      ],
+      [
+       -0.03,
+       1.0,
+       0.03
+      ],
+      [
+       1.0,
+       0.03,
+       0.0
+      ]
+     ]
+    },
+    "first visible time": null
+   }
+  ]
+ },
+ "room": {
+  "floor boundary polygons": [
+   {
+    "outer boundary coordinates": [
+     [
+      -1.21,
+      -1.22
+     ],
+     [
+      0.79,
+      -1.22
+     ],
+     [
+      0.79,
+      0.78
+     ],
+     [
+      -1.21,
+      0.78
+     ]
+    ],
+    "interior hole boundary coordinates": []
+   }
+  ]
+ }
+}
\ No newline at end of file
diff --git a/data/spatial codes/ground truth/compact/scene0575_01.json b/data/spatial codes/ground truth/compact/scene0575_01.json
new file mode 100644
index 0000000000000000000000000000000000000000..5d547fc8f55ccb915475b1f958d1c83d5b3e1420
--- /dev/null
+++ b/data/spatial codes/ground truth/compact/scene0575_01.json	
@@ -0,0 +1,642 @@
+{
+ "spatial code schema": {
+  "objects": {
+   "<object class>": [
+    {
+     "3D oriented bounding box": {
+      "3D oriented bounding box center coordinates": {
+       "components": [
+        "x",
+        "y",
+        "height above floor"
+       ],
+       "unit": "meters",
+       "description": "center of the 3D oriented bounding box in the shared room coordinate system"
+      },
+      "3D oriented bounding box dimensions": {
+       "components": [
+        "dimension 1",
+        "dimension 2",
+        "dimension 3"
+       ],
+       "unit": "meters",
+       "description": "full lengths of the 3D oriented bounding box along the corresponding orientation unit vectors"
+      },
+      "3D oriented bounding box orientation unit vectors": {
+       "components": [
+        [
+         "x",
+         "y",
+         "height"
+        ],
+        [
+         "x",
+         "y",
+         "height"
+        ],
+        [
+         "x",
+         "y",
+         "height"
+        ]
+       ],
+       "unit": null,
+       "description": "three perpendicular directions corresponding in order to the three 3D oriented bounding box dimensions"
+      }
+     },
+     "first visible time": {
+      "unit": "seconds",
+      "description": "earliest time at which this object instance is visibly observed"
+     }
+    }
+   ]
+  },
+  "room": {
+   "floor boundary polygons": [
+    {
+     "outer boundary coordinates": {
+      "components": [
+       [
+        "x",
+        "y"
+       ],
+       [
+        "x",
+        "y"
+       ]
+      ],
+      "unit": "meters",
+      "description": "ordered vertices enclosing one floor region"
+     },
+     "interior hole boundary coordinates": {
+      "components": [
+       [
+        [
+         "x",
+         "y"
+        ],
+        [
+         "x",
+         "y"
+        ]
+       ]
+      ],
+      "unit": "meters",
+      "description": "ordered boundaries enclosing regions excluded from the floor area"
+     }
+    }
+   ]
+  }
+ },
+ "objects": {
+  "chair": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -0.06,
+      0.84,
+      0.6
+     ],
+     "3D oriented bounding box dimensions": [
+      0.7,
+      0.71,
+      1.04
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.86,
+       0.5,
+       0.02
+      ],
+      [
+       0.5,
+       -0.86,
+       -0.06
+      ],
+      [
+       -0.02,
+       0.06,
+       -1.0
+      ]
+     ]
+    },
+    "first visible time": null
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -0.73,
+      0.83,
+      0.6
+     ],
+     "3D oriented bounding box dimensions": [
+      1.09,
+      0.75,
+      0.67
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.02,
+       -0.05,
+       1.0
+      ],
+      [
+       0.17,
+       -0.98,
+       -0.05
+      ],
+      [
+       0.98,
+       0.17,
+       -0.01
+      ]
+     ]
+    },
+    "first visible time": null
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      1.4,
+      0.34,
+      0.54
+     ],
+     "3D oriented bounding box dimensions": [
+      0.67,
+      0.66,
+      0.95
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.89,
+       -0.45,
+       0.0
+      ],
+      [
+       0.45,
+       0.89,
+       0.05
+      ],
+      [
+       -0.02,
+       -0.05,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": null
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      0.85,
+      -1.46,
+      0.64
+     ],
+     "3D oriented bounding box dimensions": [
+      0.66,
+      1.13,
+      0.63
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       -0.99,
+       0.08,
+       -0.09
+      ],
+      [
+       -0.09,
+       0.0,
+       1.0
+      ],
+      [
+       0.08,
+       1.0,
+       0.01
+      ]
+     ]
+    },
+    "first visible time": null
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      0.69,
+      0.62,
+      0.59
+     ],
+     "3D oriented bounding box dimensions": [
+      0.69,
+      1.12,
+      0.67
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.51,
+       0.86,
+       0.0
+      ],
+      [
+       0.08,
+       -0.05,
+       1.0
+      ],
+      [
+       0.85,
+       -0.51,
+       -0.09
+      ]
+     ]
+    },
+    "first visible time": null
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -1.78,
+      -0.79,
+      0.6
+     ],
+     "3D oriented bounding box dimensions": [
+      0.69,
+      1.06,
+      0.65
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       -0.93,
+       -0.35,
+       0.06
+      ],
+      [
+       -0.08,
+       0.03,
+       -1.0
+      ],
+      [
+       0.35,
+       -0.94,
+       -0.06
+      ]
+     ]
+    },
+    "first visible time": null
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -0.82,
+      -1.09,
+      0.63
+     ],
+     "3D oriented bounding box dimensions": [
+      0.64,
+      1.11,
+      0.53
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       -0.69,
+       -0.72,
+       0.05
+      ],
+      [
+       -0.04,
+       -0.03,
+       -1.0
+      ],
+      [
+       0.72,
+       -0.69,
+       0.0
+      ]
+     ]
+    },
+    "first visible time": null
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      1.83,
+      -0.6,
+      0.59
+     ],
+     "3D oriented bounding box dimensions": [
+      0.61,
+      1.08,
+      0.65
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       -0.42,
+       0.9,
+       -0.13
+      ],
+      [
+       0.06,
+       -0.11,
+       -0.99
+      ],
+      [
+       -0.9,
+       -0.43,
+       -0.01
+      ]
+     ]
+    },
+    "first visible time": null
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -0.02,
+      -1.29,
+      0.61
+     ],
+     "3D oriented bounding box dimensions": [
+      0.6,
+      1.07,
+      0.58
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       -0.96,
+       -0.27,
+       -0.02
+      ],
+      [
+       0.04,
+       -0.07,
+       -1.0
+      ],
+      [
+       0.27,
+       -0.96,
+       0.08
+      ]
+     ]
+    },
+    "first visible time": null
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -1.45,
+      1.61,
+      0.52
+     ],
+     "3D oriented bounding box dimensions": [
+      0.63,
+      0.94,
+      0.59
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       -0.98,
+       -0.22,
+       0.0
+      ],
+      [
+       0.02,
+       -0.07,
+       -1.0
+      ],
+      [
+       0.22,
+       -0.97,
+       0.08
+      ]
+     ]
+    },
+    "first visible time": null
+   }
+  ],
+  "window": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      1.19,
+      1.65,
+      0.93
+     ],
+     "3D oriented bounding box dimensions": [
+      2.46,
+      1.69,
+      0.57
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.98,
+       -0.22,
+       0.01
+      ],
+      [
+       -0.04,
+       -0.11,
+       0.99
+      ],
+      [
+       -0.22,
+       -0.97,
+       -0.12
+      ]
+     ]
+    },
+    "first visible time": null
+   }
+  ],
+  "tv": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -2.4,
+      1.24,
+      1.5
+     ],
+     "3D oriented bounding box dimensions": [
+      1.36,
+      0.88,
+      0.23
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       -0.26,
+       -0.97,
+       0.03
+      ],
+      [
+       -0.05,
+       0.04,
+       1.0
+      ],
+      [
+       -0.97,
+       0.25,
+       -0.06
+      ]
+     ]
+    },
+    "first visible time": null
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -2.68,
+      0.13,
+      1.39
+     ],
+     "3D oriented bounding box dimensions": [
+      0.63,
+      0.65,
+      0.27
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.24,
+       0.96,
+       -0.14
+      ],
+      [
+       0.19,
+       -0.19,
+       -0.96
+      ],
+      [
+       -0.95,
+       0.2,
+       -0.22
+      ]
+     ]
+    },
+    "first visible time": null
+   }
+  ],
+  "trash bin": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      2.78,
+      -0.44,
+      0.35
+     ],
+     "3D oriented bounding box dimensions": [
+      0.51,
+      0.26,
+      0.43
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.25,
+       0.97,
+       -0.06
+      ],
+      [
+       -0.96,
+       0.26,
+       0.07
+      ],
+      [
+       0.08,
+       0.04,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": null
+   }
+  ],
+  "door": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      2.7,
+      1.15,
+      1.23
+     ],
+     "3D oriented bounding box dimensions": [
+      2.13,
+      1.15,
+      0.21
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.0,
+       0.01,
+       -1.0
+      ],
+      [
+       0.93,
+       -0.37,
+       -0.01
+      ],
+      [
+       -0.37,
+       -0.93,
+       -0.01
+      ]
+     ]
+    },
+    "first visible time": null
+   }
+  ],
+  "table": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      0.13,
+      -0.06,
+      0.48
+     ],
+     "3D oriented bounding box dimensions": [
+      2.65,
+      1.13,
+      0.8
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.98,
+       -0.21,
+       0.01
+      ],
+      [
+       -0.21,
+       -0.98,
+       -0.05
+      ],
+      [
+       0.03,
+       0.05,
+       -1.0
+      ]
+     ]
+    },
+    "first visible time": null
+   }
+  ]
+ },
+ "room": {
+  "floor boundary polygons": [
+   {
+    "outer boundary coordinates": [
+     [
+      -2.23,
+      -2.26
+     ],
+     [
+      2.37,
+      -2.26
+     ],
+     [
+      2.37,
+      2.34
+     ],
+     [
+      -2.23,
+      2.34
+     ]
+    ],
+    "interior hole boundary coordinates": []
+   }
+  ]
+ }
+}
\ No newline at end of file
diff --git a/data/spatial codes/ground truth/compact/scene0580_01.json b/data/spatial codes/ground truth/compact/scene0580_01.json
new file mode 100644
index 0000000000000000000000000000000000000000..3de90219440d160e42e9ef9ff36fd0a9d3d38475
--- /dev/null
+++ b/data/spatial codes/ground truth/compact/scene0580_01.json	
@@ -0,0 +1,622 @@
+{
+ "spatial code schema": {
+  "objects": {
+   "<object class>": [
+    {
+     "3D oriented bounding box": {
+      "3D oriented bounding box center coordinates": {
+       "components": [
+        "x",
+        "y",
+        "height above floor"
+       ],
+       "unit": "meters",
+       "description": "center of the 3D oriented bounding box in the shared room coordinate system"
+      },
+      "3D oriented bounding box dimensions": {
+       "components": [
+        "dimension 1",
+        "dimension 2",
+        "dimension 3"
+       ],
+       "unit": "meters",
+       "description": "full lengths of the 3D oriented bounding box along the corresponding orientation unit vectors"
+      },
+      "3D oriented bounding box orientation unit vectors": {
+       "components": [
+        [
+         "x",
+         "y",
+         "height"
+        ],
+        [
+         "x",
+         "y",
+         "height"
+        ],
+        [
+         "x",
+         "y",
+         "height"
+        ]
+       ],
+       "unit": null,
+       "description": "three perpendicular directions corresponding in order to the three 3D oriented bounding box dimensions"
+      }
+     },
+     "first visible time": {
+      "unit": "seconds",
+      "description": "earliest time at which this object instance is visibly observed"
+     }
+    }
+   ]
+  },
+  "room": {
+   "floor boundary polygons": [
+    {
+     "outer boundary coordinates": {
+      "components": [
+       [
+        "x",
+        "y"
+       ],
+       [
+        "x",
+        "y"
+       ]
+      ],
+      "unit": "meters",
+      "description": "ordered vertices enclosing one floor region"
+     },
+     "interior hole boundary coordinates": {
+      "components": [
+       [
+        [
+         "x",
+         "y"
+        ],
+        [
+         "x",
+         "y"
+        ]
+       ]
+      ],
+      "unit": "meters",
+      "description": "ordered boundaries enclosing regions excluded from the floor area"
+     }
+    }
+   ]
+  }
+ },
+ "objects": {
+  "bed": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -0.11,
+      0.61,
+      0.72
+     ],
+     "3D oriented bounding box dimensions": [
+      1.49,
+      2.23,
+      0.99
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       -0.82,
+       0.57,
+       0.06
+      ],
+      [
+       0.57,
+       0.82,
+       -0.02
+      ],
+      [
+       -0.06,
+       0.02,
+       -1.0
+      ]
+     ]
+    },
+    "first visible time": 4.0
+   }
+  ],
+  "chair": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      1.33,
+      0.55,
+      0.53
+     ],
+     "3D oriented bounding box dimensions": [
+      0.93,
+      0.61,
+      0.57
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.15,
+       0.04,
+       0.99
+      ],
+      [
+       0.59,
+       0.8,
+       -0.12
+      ],
+      [
+       -0.79,
+       0.6,
+       0.1
+      ]
+     ]
+    },
+    "first visible time": 6.0
+   }
+  ],
+  "window": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      1.2,
+      -0.44,
+      1.14
+     ],
+     "3D oriented bounding box dimensions": [
+      1.89,
+      0.36,
+      2.06
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.56,
+       0.83,
+       -0.07
+      ],
+      [
+       -0.82,
+       0.56,
+       0.1
+      ],
+      [
+       0.12,
+       0.0,
+       0.99
+      ]
+     ]
+    },
+    "first visible time": 8.0
+   }
+  ],
+  "bookshelf": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      0.2,
+      -1.46,
+      1.16
+     ],
+     "3D oriented bounding box dimensions": [
+      2.02,
+      0.32,
+      0.6
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       -0.09,
+       0.02,
+       -1.0
+      ],
+      [
+       -0.81,
+       0.59,
+       0.09
+      ],
+      [
+       0.58,
+       0.81,
+       -0.04
+      ]
+     ]
+    },
+    "first visible time": 9.0
+   }
+  ],
+  "pillow": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      0.07,
+      1.3,
+      0.86
+     ],
+     "3D oriented bounding box dimensions": [
+      0.65,
+      0.48,
+      0.12
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.91,
+       -0.41,
+       -0.03
+      ],
+      [
+       0.41,
+       0.91,
+       0.1
+      ],
+      [
+       -0.01,
+       -0.1,
+       0.99
+      ]
+     ]
+    },
+    "first visible time": 0.0
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      0.58,
+      0.95,
+      0.81
+     ],
+     "3D oriented bounding box dimensions": [
+      0.48,
+      0.72,
+      0.13
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       -0.62,
+       -0.78,
+       -0.03
+      ],
+      [
+       -0.78,
+       0.62,
+       0.09
+      ],
+      [
+       -0.05,
+       0.08,
+       -1.0
+      ]
+     ]
+    },
+    "first visible time": 0.0
+   }
+  ],
+  "lamp": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -0.36,
+      1.82,
+      1.21
+     ],
+     "3D oriented bounding box dimensions": [
+      0.79,
+      0.44,
+      0.58
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.11,
+       0.27,
+       -0.96
+      ],
+      [
+       0.68,
+       0.68,
+       0.27
+      ],
+      [
+       0.72,
+       -0.69,
+       -0.11
+      ]
+     ]
+    },
+    "first visible time": 2.0
+   }
+  ],
+  "nightstand": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -0.45,
+      1.75,
+      0.66
+     ],
+     "3D oriented bounding box dimensions": [
+      0.69,
+      0.55,
+      0.36
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.51,
+       0.52,
+       0.68
+      ],
+      [
+       0.78,
+       -0.62,
+       -0.1
+      ],
+      [
+       0.37,
+       0.58,
+       -0.72
+      ]
+     ]
+    },
+    "first visible time": 1.0
+   }
+  ],
+  "backpack": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -0.69,
+      1.25,
+      0.46
+     ],
+     "3D oriented bounding box dimensions": [
+      0.49,
+      0.29,
+      0.41
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       -0.72,
+       0.32,
+       -0.61
+      ],
+      [
+       -0.69,
+       -0.29,
+       0.66
+      ],
+      [
+       0.04,
+       0.9,
+       0.43
+      ]
+     ]
+    },
+    "first visible time": 5.0
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      1.35,
+      0.64,
+      0.72
+     ],
+     "3D oriented bounding box dimensions": [
+      0.44,
+      0.37,
+      0.15
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.46,
+       0.63,
+       0.63
+      ],
+      [
+       -0.81,
+       0.58,
+       0.02
+      ],
+      [
+       -0.36,
+       -0.52,
+       0.78
+      ]
+     ]
+    },
+    "first visible time": 5.0
+   }
+  ],
+  "mirror": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -0.8,
+      -1.06,
+      1.58
+     ],
+     "3D oriented bounding box dimensions": [
+      0.95,
+      1.03,
+      0.25
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.81,
+       -0.58,
+       -0.14
+      ],
+      [
+       0.09,
+       -0.11,
+       0.99
+      ],
+      [
+       -0.59,
+       -0.81,
+       -0.04
+      ]
+     ]
+    },
+    "first visible time": 10.0
+   }
+  ],
+  "trash bin": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -0.19,
+      -1.46,
+      0.37
+     ],
+     "3D oriented bounding box dimensions": [
+      0.31,
+      0.25,
+      0.18
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.02,
+       0.95,
+       -0.32
+      ],
+      [
+       -0.94,
+       0.13,
+       0.32
+      ],
+      [
+       0.34,
+       0.29,
+       0.89
+      ]
+     ]
+    },
+    "first visible time": 11.0
+   }
+  ],
+  "door": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -1.18,
+      1.01,
+      1.4
+     ],
+     "3D oriented bounding box dimensions": [
+      2.1,
+      1.01,
+      0.07
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.19,
+       0.04,
+       0.98
+      ],
+      [
+       -0.56,
+       -0.81,
+       0.15
+      ],
+      [
+       0.8,
+       -0.58,
+       -0.13
+      ]
+     ]
+    },
+    "first visible time": 3.0
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -1.77,
+      0.13,
+      1.42
+     ],
+     "3D oriented bounding box dimensions": [
+      2.01,
+      1.03,
+      0.19
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.08,
+       -0.07,
+       0.99
+      ],
+      [
+       0.48,
+       0.88,
+       0.03
+      ],
+      [
+       -0.88,
+       0.47,
+       0.11
+      ]
+     ]
+    },
+    "first visible time": 3.0
+   }
+  ],
+  "table": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      0.93,
+      -0.05,
+      0.44
+     ],
+     "3D oriented bounding box dimensions": [
+      0.63,
+      0.51,
+      0.48
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       -0.09,
+       0.07,
+       -0.99
+      ],
+      [
+       0.98,
+       -0.19,
+       -0.1
+      ],
+      [
+       -0.2,
+       -0.98,
+       -0.05
+      ]
+     ]
+    },
+    "first visible time": 7.0
+   }
+  ]
+ },
+ "room": {
+  "floor boundary polygons": [
+   {
+    "outer boundary coordinates": [
+     [
+      -1.62,
+      -1.31
+     ],
+     [
+      1.42,
+      -1.31
+     ],
+     [
+      1.42,
+      1.74
+     ],
+     [
+      -1.62,
+      1.74
+     ]
+    ],
+    "interior hole boundary coordinates": []
+   }
+  ]
+ }
+}
\ No newline at end of file
diff --git a/data/spatial codes/ground truth/compact/scene0591_01.json b/data/spatial codes/ground truth/compact/scene0591_01.json
new file mode 100644
index 0000000000000000000000000000000000000000..b973a3e89cb5b13276d4adcf282bb24f1798c04f
--- /dev/null
+++ b/data/spatial codes/ground truth/compact/scene0591_01.json	
@@ -0,0 +1,848 @@
+{
+ "spatial code schema": {
+  "objects": {
+   "<object class>": [
+    {
+     "3D oriented bounding box": {
+      "3D oriented bounding box center coordinates": {
+       "components": [
+        "x",
+        "y",
+        "height above floor"
+       ],
+       "unit": "meters",
+       "description": "center of the 3D oriented bounding box in the shared room coordinate system"
+      },
+      "3D oriented bounding box dimensions": {
+       "components": [
+        "dimension 1",
+        "dimension 2",
+        "dimension 3"
+       ],
+       "unit": "meters",
+       "description": "full lengths of the 3D oriented bounding box along the corresponding orientation unit vectors"
+      },
+      "3D oriented bounding box orientation unit vectors": {
+       "components": [
+        [
+         "x",
+         "y",
+         "height"
+        ],
+        [
+         "x",
+         "y",
+         "height"
+        ],
+        [
+         "x",
+         "y",
+         "height"
+        ]
+       ],
+       "unit": null,
+       "description": "three perpendicular directions corresponding in order to the three 3D oriented bounding box dimensions"
+      }
+     },
+     "first visible time": {
+      "unit": "seconds",
+      "description": "earliest time at which this object instance is visibly observed"
+     }
+    }
+   ]
+  },
+  "room": {
+   "floor boundary polygons": [
+    {
+     "outer boundary coordinates": {
+      "components": [
+       [
+        "x",
+        "y"
+       ],
+       [
+        "x",
+        "y"
+       ]
+      ],
+      "unit": "meters",
+      "description": "ordered vertices enclosing one floor region"
+     },
+     "interior hole boundary coordinates": {
+      "components": [
+       [
+        [
+         "x",
+         "y"
+        ],
+        [
+         "x",
+         "y"
+        ]
+       ]
+      ],
+      "unit": "meters",
+      "description": "ordered boundaries enclosing regions excluded from the floor area"
+     }
+    }
+   ]
+  }
+ },
+ "objects": {
+  "chair": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      1.1,
+      -0.53,
+      0.55
+     ],
+     "3D oriented bounding box dimensions": [
+      0.91,
+      0.37,
+      0.47
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.01,
+       -0.28,
+       -0.96
+      ],
+      [
+       -0.57,
+       0.79,
+       -0.24
+      ],
+      [
+       0.82,
+       0.55,
+       -0.15
+      ]
+     ]
+    },
+    "first visible time": 7.0
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      1.13,
+      1.22,
+      0.64
+     ],
+     "3D oriented bounding box dimensions": [
+      0.55,
+      1.01,
+      0.48
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.97,
+       0.24,
+       -0.1
+      ],
+      [
+       -0.08,
+       -0.09,
+       -0.99
+      ],
+      [
+       -0.25,
+       0.97,
+       -0.07
+      ]
+     ]
+    },
+    "first visible time": 7.0
+   }
+  ],
+  "sofa": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -1.36,
+      0.84,
+      0.5
+     ],
+     "3D oriented bounding box dimensions": [
+      0.88,
+      1.53,
+      0.68
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.25,
+       -0.96,
+       -0.1
+      ],
+      [
+       -0.97,
+       -0.24,
+       -0.1
+      ],
+      [
+       0.07,
+       0.12,
+       -0.99
+      ]
+     ]
+    },
+    "first visible time": 4.0
+   }
+  ],
+  "window": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      2.59,
+      0.79,
+      1.48
+     ],
+     "3D oriented bounding box dimensions": [
+      1.02,
+      3.46,
+      1.23
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.97,
+       0.24,
+       0.0
+      ],
+      [
+       -0.24,
+       0.97,
+       0.05
+      ],
+      [
+       0.02,
+       -0.05,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 0.0
+   }
+  ],
+  "pillow": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -1.17,
+      1.01,
+      0.67
+     ],
+     "3D oriented bounding box dimensions": [
+      0.52,
+      0.12,
+      0.43
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       -0.94,
+       -0.33,
+       -0.1
+      ],
+      [
+       0.27,
+       -0.89,
+       0.37
+      ],
+      [
+       -0.21,
+       0.32,
+       0.92
+      ]
+     ]
+    },
+    "first visible time": 10.0
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -1.71,
+      0.64,
+      0.6
+     ],
+     "3D oriented bounding box dimensions": [
+      0.42,
+      0.46,
+      0.15
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.92,
+       0.02,
+       -0.38
+      ],
+      [
+       -0.11,
+       0.98,
+       -0.19
+      ],
+      [
+       0.37,
+       0.22,
+       0.9
+      ]
+     ]
+    },
+    "first visible time": 10.0
+   }
+  ],
+  "monitor": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      1.14,
+      0.17,
+      1.08
+     ],
+     "3D oriented bounding box dimensions": [
+      0.82,
+      0.14,
+      0.37
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       -0.99,
+       -0.15,
+       0.02
+      ],
+      [
+       -0.12,
+       0.88,
+       0.45
+      ],
+      [
+       -0.09,
+       0.44,
+       -0.89
+      ]
+     ]
+    },
+    "first visible time": 6.0
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      1.01,
+      0.55,
+      1.04
+     ],
+     "3D oriented bounding box dimensions": [
+      0.4,
+      0.65,
+      0.14
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.0,
+       -0.1,
+       1.0
+      ],
+      [
+       1.0,
+       -0.05,
+       -0.01
+      ],
+      [
+       0.05,
+       0.99,
+       0.09
+      ]
+     ]
+    },
+    "first visible time": 6.0
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      1.5,
+      0.64,
+      1.01
+     ],
+     "3D oriented bounding box dimensions": [
+      0.63,
+      0.15,
+      0.44
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.95,
+       0.31,
+       -0.02
+      ],
+      [
+       -0.31,
+       0.95,
+       0.02
+      ],
+      [
+       0.03,
+       -0.01,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 6.0
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      0.64,
+      0.02,
+      1.05
+     ],
+     "3D oriented bounding box dimensions": [
+      0.47,
+      0.38,
+      0.1
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       -0.83,
+       -0.56,
+       -0.01
+      ],
+      [
+       0.0,
+       0.03,
+       -1.0
+      ],
+      [
+       0.56,
+       -0.83,
+       -0.03
+      ]
+     ]
+    },
+    "first visible time": 6.0
+   }
+  ],
+  "plant": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      1.92,
+      1.77,
+      1.19
+     ],
+     "3D oriented bounding box dimensions": [
+      0.59,
+      0.36,
+      0.2
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.42,
+       -0.25,
+       -0.87
+      ],
+      [
+       0.52,
+       -0.73,
+       0.45
+      ],
+      [
+       -0.75,
+       -0.64,
+       -0.18
+      ]
+     ]
+    },
+    "first visible time": 5.0
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      2.4,
+      0.78,
+      1.13
+     ],
+     "3D oriented bounding box dimensions": [
+      0.44,
+      0.31,
+      0.29
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.99,
+       -0.16,
+       -0.03
+      ],
+      [
+       -0.12,
+       -0.58,
+       -0.8
+      ],
+      [
+       0.11,
+       0.8,
+       -0.59
+      ]
+     ]
+    },
+    "first visible time": 5.0
+   }
+  ],
+  "keyboard": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      1.42,
+      0.86,
+      0.8
+     ],
+     "3D oriented bounding box dimensions": [
+      0.49,
+      0.19,
+      0.02
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.96,
+       0.29,
+       -0.02
+      ],
+      [
+       -0.29,
+       0.96,
+       -0.05
+      ],
+      [
+       0.0,
+       0.05,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 8.0
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      1.1,
+      -0.04,
+      0.84
+     ],
+     "3D oriented bounding box dimensions": [
+      0.45,
+      0.2,
+      0.03
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.99,
+       0.17,
+       0.03
+      ],
+      [
+       0.17,
+       -0.99,
+       -0.04
+      ],
+      [
+       0.02,
+       0.04,
+       -1.0
+      ]
+     ]
+    },
+    "first visible time": 8.0
+   }
+  ],
+  "backpack": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      1.99,
+      -0.8,
+      0.26
+     ],
+     "3D oriented bounding box dimensions": [
+      0.47,
+      0.43,
+      0.23
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       -0.14,
+       -0.99,
+       -0.04
+      ],
+      [
+       -0.99,
+       0.14,
+       -0.01
+      ],
+      [
+       0.02,
+       0.04,
+       -1.0
+      ]
+     ]
+    },
+    "first visible time": 9.0
+   }
+  ],
+  "telephone": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      1.95,
+      0.62,
+      0.81
+     ],
+     "3D oriented bounding box dimensions": [
+      0.26,
+      0.34,
+      0.09
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       -0.65,
+       0.73,
+       -0.2
+      ],
+      [
+       -0.72,
+       -0.68,
+       -0.16
+      ],
+      [
+       -0.25,
+       0.04,
+       0.97
+      ]
+     ]
+    },
+    "first visible time": 2.0
+   }
+  ],
+  "trash bin": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      1.73,
+      2.02,
+      0.24
+     ],
+     "3D oriented bounding box dimensions": [
+      0.36,
+      0.3,
+      0.3
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       -0.95,
+       -0.32,
+       0.02
+      ],
+      [
+       -0.02,
+       0.0,
+       -1.0
+      ],
+      [
+       0.32,
+       -0.95,
+       -0.01
+      ]
+     ]
+    },
+    "first visible time": 1.0
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -1.55,
+      -1.45,
+      0.26
+     ],
+     "3D oriented bounding box dimensions": [
+      0.34,
+      0.37,
+      0.31
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       -0.24,
+       0.97,
+       0.0
+      ],
+      [
+       0.97,
+       0.24,
+       -0.04
+      ],
+      [
+       -0.04,
+       0.0,
+       -1.0
+      ]
+     ]
+    },
+    "first visible time": 1.0
+   }
+  ],
+  "computer mouse": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      1.13,
+      0.85,
+      0.82
+     ],
+     "3D oriented bounding box dimensions": [
+      0.11,
+      0.07,
+      0.04
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.37,
+       -0.93,
+       -0.02
+      ],
+      [
+       -0.93,
+       -0.37,
+       0.01
+      ],
+      [
+       -0.01,
+       0.01,
+       -1.0
+      ]
+     ]
+    },
+    "first visible time": 12.0
+   }
+  ],
+  "door": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -2.46,
+      -0.73,
+      1.19
+     ],
+     "3D oriented bounding box dimensions": [
+      2.18,
+      1.2,
+      0.09
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       -0.06,
+       0.01,
+       1.0
+      ],
+      [
+       0.3,
+       -0.95,
+       0.03
+      ],
+      [
+       0.95,
+       0.3,
+       0.05
+      ]
+     ]
+    },
+    "first visible time": 11.0
+   }
+  ],
+  "table": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      1.27,
+      -0.17,
+      0.79
+     ],
+     "3D oriented bounding box dimensions": [
+      2.07,
+      1.25,
+      0.28
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.95,
+       0.31,
+       -0.01
+      ],
+      [
+       0.3,
+       -0.93,
+       -0.23
+      ],
+      [
+       -0.08,
+       0.21,
+       -0.97
+      ]
+     ]
+    },
+    "first visible time": 3.0
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      1.03,
+      0.87,
+      0.55
+     ],
+     "3D oriented bounding box dimensions": [
+      0.86,
+      2.36,
+      1.16
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.08,
+       0.05,
+       -1.0
+      ],
+      [
+       0.97,
+       0.22,
+       0.09
+      ],
+      [
+       0.23,
+       -0.97,
+       -0.03
+      ]
+     ]
+    },
+    "first visible time": 3.0
+   }
+  ]
+ },
+ "room": {
+  "floor boundary polygons": [
+   {
+    "outer boundary coordinates": [
+     [
+      -1.98,
+      -1.99
+     ],
+     [
+      2.24,
+      -1.99
+     ],
+     [
+      2.24,
+      2.23
+     ],
+     [
+      -1.98,
+      2.23
+     ]
+    ],
+    "interior hole boundary coordinates": []
+   }
+  ]
+ }
+}
\ No newline at end of file
diff --git a/data/spatial codes/ground truth/compact/scene0593_00.json b/data/spatial codes/ground truth/compact/scene0593_00.json
new file mode 100644
index 0000000000000000000000000000000000000000..a66ff9b760c3c3fa8b7626dfa145ab36641cf844
--- /dev/null
+++ b/data/spatial codes/ground truth/compact/scene0593_00.json	
@@ -0,0 +1,486 @@
+{
+ "spatial code schema": {
+  "objects": {
+   "<object class>": [
+    {
+     "3D oriented bounding box": {
+      "3D oriented bounding box center coordinates": {
+       "components": [
+        "x",
+        "y",
+        "height above floor"
+       ],
+       "unit": "meters",
+       "description": "center of the 3D oriented bounding box in the shared room coordinate system"
+      },
+      "3D oriented bounding box dimensions": {
+       "components": [
+        "dimension 1",
+        "dimension 2",
+        "dimension 3"
+       ],
+       "unit": "meters",
+       "description": "full lengths of the 3D oriented bounding box along the corresponding orientation unit vectors"
+      },
+      "3D oriented bounding box orientation unit vectors": {
+       "components": [
+        [
+         "x",
+         "y",
+         "height"
+        ],
+        [
+         "x",
+         "y",
+         "height"
+        ],
+        [
+         "x",
+         "y",
+         "height"
+        ]
+       ],
+       "unit": null,
+       "description": "three perpendicular directions corresponding in order to the three 3D oriented bounding box dimensions"
+      }
+     },
+     "first visible time": {
+      "unit": "seconds",
+      "description": "earliest time at which this object instance is visibly observed"
+     }
+    }
+   ]
+  },
+  "room": {
+   "floor boundary polygons": [
+    {
+     "outer boundary coordinates": {
+      "components": [
+       [
+        "x",
+        "y"
+       ],
+       [
+        "x",
+        "y"
+       ]
+      ],
+      "unit": "meters",
+      "description": "ordered vertices enclosing one floor region"
+     },
+     "interior hole boundary coordinates": {
+      "components": [
+       [
+        [
+         "x",
+         "y"
+        ],
+        [
+         "x",
+         "y"
+        ]
+       ]
+      ],
+      "unit": "meters",
+      "description": "ordered boundaries enclosing regions excluded from the floor area"
+     }
+    }
+   ]
+  }
+ },
+ "objects": {
+  "sofa": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      2.23,
+      -0.18,
+      0.42
+     ],
+     "3D oriented bounding box dimensions": [
+      1.82,
+      0.72,
+      0.81
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.02,
+       1.0,
+       0.02
+      ],
+      [
+       0.1,
+       0.02,
+       -0.99
+      ],
+      [
+       -0.99,
+       0.02,
+       -0.1
+      ]
+     ]
+    },
+    "first visible time": 0.0
+   }
+  ],
+  "window": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -2.81,
+      1.03,
+      1.62
+     ],
+     "3D oriented bounding box dimensions": [
+      1.58,
+      1.19,
+      0.42
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.05,
+       0.02,
+       1.0
+      ],
+      [
+       0.0,
+       -1.0,
+       0.02
+      ],
+      [
+       1.0,
+       0.0,
+       -0.05
+      ]
+     ]
+    },
+    "first visible time": 2.0
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -2.9,
+      -0.4,
+      1.29
+     ],
+     "3D oriented bounding box dimensions": [
+      1.02,
+      1.27,
+      0.32
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.11,
+       0.07,
+       -0.99
+      ],
+      [
+       0.12,
+       0.99,
+       0.09
+      ],
+      [
+       0.99,
+       -0.12,
+       0.1
+      ]
+     ]
+    },
+    "first visible time": 2.0
+   }
+  ],
+  "printer": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -1.52,
+      1.83,
+      1.22
+     ],
+     "3D oriented bounding box dimensions": [
+      0.49,
+      0.54,
+      0.32
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       -0.99,
+       0.03,
+       0.14
+      ],
+      [
+       0.08,
+       0.93,
+       0.37
+      ],
+      [
+       -0.12,
+       0.38,
+       -0.92
+      ]
+     ]
+    },
+    "first visible time": 4.0
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -1.52,
+      1.83,
+      1.22
+     ],
+     "3D oriented bounding box dimensions": [
+      0.49,
+      0.54,
+      0.32
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       -0.99,
+       0.03,
+       0.14
+      ],
+      [
+       0.08,
+       0.93,
+       0.37
+      ],
+      [
+       -0.12,
+       0.38,
+       -0.92
+      ]
+     ]
+    },
+    "first visible time": 4.0
+   }
+  ],
+  "backpack": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      2.24,
+      0.24,
+      0.66
+     ],
+     "3D oriented bounding box dimensions": [
+      0.54,
+      0.46,
+      0.24
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       -0.88,
+       -0.26,
+       -0.4
+      ],
+      [
+       0.2,
+       -0.96,
+       0.18
+      ],
+      [
+       -0.43,
+       0.08,
+       0.9
+      ]
+     ]
+    },
+    "first visible time": 1.0
+   }
+  ],
+  "fan": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -0.95,
+      1.19,
+      0.67
+     ],
+     "3D oriented bounding box dimensions": [
+      1.24,
+      0.54,
+      0.44
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.05,
+       0.08,
+       -1.0
+      ],
+      [
+       -0.94,
+       -0.34,
+       -0.07
+      ],
+      [
+       -0.34,
+       0.94,
+       0.06
+      ]
+     ]
+    },
+    "first visible time": 5.0
+   }
+  ],
+  "trash bin": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -2.35,
+      -1.04,
+      0.42
+     ],
+     "3D oriented bounding box dimensions": [
+      0.37,
+      0.31,
+      0.39
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.12,
+       0.11,
+       0.99
+      ],
+      [
+       0.97,
+       -0.24,
+       -0.09
+      ],
+      [
+       0.23,
+       0.96,
+       -0.14
+      ]
+     ]
+    },
+    "first visible time": 3.0
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -2.42,
+      1.4,
+      0.7
+     ],
+     "3D oriented bounding box dimensions": [
+      0.6,
+      0.98,
+      0.78
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       -0.13,
+       -0.99,
+       -0.03
+      ],
+      [
+       -0.13,
+       0.04,
+       -0.99
+      ],
+      [
+       0.98,
+       -0.13,
+       -0.14
+      ]
+     ]
+    },
+    "first visible time": 3.0
+   }
+  ],
+  "door": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      2.2,
+      1.8,
+      0.85
+     ],
+     "3D oriented bounding box dimensions": [
+      1.52,
+      0.94,
+      0.18
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       -0.07,
+       -0.02,
+       -1.0
+      ],
+      [
+       0.99,
+       -0.14,
+       -0.06
+      ],
+      [
+       -0.14,
+       -0.99,
+       0.03
+      ]
+     ]
+    },
+    "first visible time": 6.0
+   }
+  ],
+  "table": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      2.3,
+      -1.51,
+      0.59
+     ],
+     "3D oriented bounding box dimensions": [
+      0.44,
+      1.08,
+      0.48
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       -0.98,
+       0.16,
+       -0.14
+      ],
+      [
+       -0.06,
+       -0.83,
+       -0.55
+      ],
+      [
+       -0.21,
+       -0.53,
+       0.82
+      ]
+     ]
+    },
+    "first visible time": 7.0
+   }
+  ]
+ },
+ "room": {
+  "floor boundary polygons": [
+   {
+    "outer boundary coordinates": [
+     [
+      -1.95,
+      -2.13
+     ],
+     [
+      2.6,
+      -2.13
+     ],
+     [
+      2.6,
+      2.42
+     ],
+     [
+      -1.95,
+      2.42
+     ]
+    ],
+    "interior hole boundary coordinates": []
+   }
+  ]
+ }
+}
\ No newline at end of file
diff --git a/data/spatial codes/ground truth/compact/scene0598_02.json b/data/spatial codes/ground truth/compact/scene0598_02.json
new file mode 100644
index 0000000000000000000000000000000000000000..d6a3f8fbb3b87002de122f4abf84a0f2fac8e639
--- /dev/null
+++ b/data/spatial codes/ground truth/compact/scene0598_02.json	
@@ -0,0 +1,184 @@
+{
+ "spatial code schema": {
+  "objects": {
+   "<object class>": [
+    {
+     "3D oriented bounding box": {
+      "3D oriented bounding box center coordinates": {
+       "components": [
+        "x",
+        "y",
+        "height above floor"
+       ],
+       "unit": "meters",
+       "description": "center of the 3D oriented bounding box in the shared room coordinate system"
+      },
+      "3D oriented bounding box dimensions": {
+       "components": [
+        "dimension 1",
+        "dimension 2",
+        "dimension 3"
+       ],
+       "unit": "meters",
+       "description": "full lengths of the 3D oriented bounding box along the corresponding orientation unit vectors"
+      },
+      "3D oriented bounding box orientation unit vectors": {
+       "components": [
+        [
+         "x",
+         "y",
+         "height"
+        ],
+        [
+         "x",
+         "y",
+         "height"
+        ],
+        [
+         "x",
+         "y",
+         "height"
+        ]
+       ],
+       "unit": null,
+       "description": "three perpendicular directions corresponding in order to the three 3D oriented bounding box dimensions"
+      }
+     },
+     "first visible time": {
+      "unit": "seconds",
+      "description": "earliest time at which this object instance is visibly observed"
+     }
+    }
+   ]
+  },
+  "room": {
+   "floor boundary polygons": [
+    {
+     "outer boundary coordinates": {
+      "components": [
+       [
+        "x",
+        "y"
+       ],
+       [
+        "x",
+        "y"
+       ]
+      ],
+      "unit": "meters",
+      "description": "ordered vertices enclosing one floor region"
+     },
+     "interior hole boundary coordinates": {
+      "components": [
+       [
+        [
+         "x",
+         "y"
+        ],
+        [
+         "x",
+         "y"
+        ]
+       ]
+      ],
+      "unit": "meters",
+      "description": "ordered boundaries enclosing regions excluded from the floor area"
+     }
+    }
+   ]
+  }
+ },
+ "objects": {
+  "bookshelf": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -0.69,
+      -0.87,
+      1.36
+     ],
+     "3D oriented bounding box dimensions": [
+      3.96,
+      2.42,
+      0.79
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.99,
+       -0.08,
+       -0.06
+      ],
+      [
+       -0.05,
+       0.09,
+       -0.99
+      ],
+      [
+       0.09,
+       0.99,
+       0.08
+      ]
+     ]
+    },
+    "first visible time": null
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -0.06,
+      0.65,
+      1.31
+     ],
+     "3D oriented bounding box dimensions": [
+      2.93,
+      2.29,
+      0.43
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       -1.0,
+       0.08,
+       0.03
+      ],
+      [
+       0.03,
+       -0.02,
+       1.0
+      ],
+      [
+       0.08,
+       1.0,
+       0.02
+      ]
+     ]
+    },
+    "first visible time": null
+   }
+  ]
+ },
+ "room": {
+  "floor boundary polygons": [
+   {
+    "outer boundary coordinates": [
+     [
+      -2.24,
+      -1.67
+     ],
+     [
+      1.71,
+      -1.67
+     ],
+     [
+      1.71,
+      2.28
+     ],
+     [
+      -2.24,
+      2.28
+     ]
+    ],
+    "interior hole boundary coordinates": []
+   }
+  ]
+ }
+}
\ No newline at end of file
diff --git a/data/spatial codes/ground truth/compact/scene0608_00.json b/data/spatial codes/ground truth/compact/scene0608_00.json
new file mode 100644
index 0000000000000000000000000000000000000000..b6ccbdab11b3444020ebd99f2da6a674c7289427
--- /dev/null
+++ b/data/spatial codes/ground truth/compact/scene0608_00.json	
@@ -0,0 +1,716 @@
+{
+ "spatial code schema": {
+  "objects": {
+   "<object class>": [
+    {
+     "3D oriented bounding box": {
+      "3D oriented bounding box center coordinates": {
+       "components": [
+        "x",
+        "y",
+        "height above floor"
+       ],
+       "unit": "meters",
+       "description": "center of the 3D oriented bounding box in the shared room coordinate system"
+      },
+      "3D oriented bounding box dimensions": {
+       "components": [
+        "dimension 1",
+        "dimension 2",
+        "dimension 3"
+       ],
+       "unit": "meters",
+       "description": "full lengths of the 3D oriented bounding box along the corresponding orientation unit vectors"
+      },
+      "3D oriented bounding box orientation unit vectors": {
+       "components": [
+        [
+         "x",
+         "y",
+         "height"
+        ],
+        [
+         "x",
+         "y",
+         "height"
+        ],
+        [
+         "x",
+         "y",
+         "height"
+        ]
+       ],
+       "unit": null,
+       "description": "three perpendicular directions corresponding in order to the three 3D oriented bounding box dimensions"
+      }
+     },
+     "first visible time": {
+      "unit": "seconds",
+      "description": "earliest time at which this object instance is visibly observed"
+     }
+    }
+   ]
+  },
+  "room": {
+   "floor boundary polygons": [
+    {
+     "outer boundary coordinates": {
+      "components": [
+       [
+        "x",
+        "y"
+       ],
+       [
+        "x",
+        "y"
+       ]
+      ],
+      "unit": "meters",
+      "description": "ordered vertices enclosing one floor region"
+     },
+     "interior hole boundary coordinates": {
+      "components": [
+       [
+        [
+         "x",
+         "y"
+        ],
+        [
+         "x",
+         "y"
+        ]
+       ]
+      ],
+      "unit": "meters",
+      "description": "ordered boundaries enclosing regions excluded from the floor area"
+     }
+    }
+   ]
+  }
+ },
+ "objects": {
+  "chair": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      0.97,
+      -0.89,
+      0.71
+     ],
+     "3D oriented bounding box dimensions": [
+      1.15,
+      0.74,
+      1.2
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.46,
+       0.89,
+       -0.05
+      ],
+      [
+       0.11,
+       -0.11,
+       -0.99
+      ],
+      [
+       -0.88,
+       0.45,
+       -0.15
+      ]
+     ]
+    },
+    "first visible time": 5.0
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      0.18,
+      -1.91,
+      0.96
+     ],
+     "3D oriented bounding box dimensions": [
+      1.21,
+      1.23,
+      0.53
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       -0.27,
+       0.67,
+       -0.69
+      ],
+      [
+       0.94,
+       0.33,
+       -0.05
+      ],
+      [
+       0.2,
+       -0.67,
+       -0.72
+      ]
+     ]
+    },
+    "first visible time": 5.0
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      1.22,
+      0.68,
+      0.58
+     ],
+     "3D oriented bounding box dimensions": [
+      0.76,
+      0.84,
+      1.5
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       -0.01,
+       -1.0,
+       0.05
+      ],
+      [
+       -0.21,
+       0.05,
+       0.98
+      ],
+      [
+       -0.98,
+       0.0,
+       -0.21
+      ]
+     ]
+    },
+    "first visible time": 5.0
+   }
+  ],
+  "sofa": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -1.6,
+      -0.6,
+      0.84
+     ],
+     "3D oriented bounding box dimensions": [
+      2.34,
+      1.14,
+      0.73
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.16,
+       0.99,
+       -0.07
+      ],
+      [
+       -0.96,
+       0.17,
+       0.24
+      ],
+      [
+       0.24,
+       0.03,
+       0.97
+      ]
+     ]
+    },
+    "first visible time": 6.0
+   }
+  ],
+  "window": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -0.39,
+      2.18,
+      1.8
+     ],
+     "3D oriented bounding box dimensions": [
+      1.51,
+      1.36,
+      0.28
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.99,
+       -0.12,
+       0.06
+      ],
+      [
+       -0.06,
+       -0.01,
+       1.0
+      ],
+      [
+       -0.12,
+       -0.99,
+       -0.02
+      ]
+     ]
+    },
+    "first visible time": 0.0
+   }
+  ],
+  "pillow": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -1.44,
+      -0.19,
+      0.84
+     ],
+     "3D oriented bounding box dimensions": [
+      0.47,
+      0.44,
+      0.14
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.11,
+       -0.99,
+       -0.07
+      ],
+      [
+       0.99,
+       0.11,
+       -0.04
+      ],
+      [
+       0.05,
+       -0.07,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 7.0
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -1.98,
+      -1.08,
+      1.27
+     ],
+     "3D oriented bounding box dimensions": [
+      0.37,
+      0.15,
+      0.41
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.99,
+       -0.1,
+       0.08
+      ],
+      [
+       0.08,
+       0.03,
+       -1.0
+      ],
+      [
+       0.1,
+       0.99,
+       0.04
+      ]
+     ]
+    },
+    "first visible time": 7.0
+   }
+  ],
+  "lamp": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      0.93,
+      -1.81,
+      1.24
+     ],
+     "3D oriented bounding box dimensions": [
+      0.65,
+      0.28,
+      0.41
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       -0.51,
+       -0.32,
+       -0.8
+      ],
+      [
+       -0.74,
+       0.63,
+       0.23
+      ],
+      [
+       0.43,
+       0.71,
+       -0.56
+      ]
+     ]
+    },
+    "first visible time": 9.0
+   }
+  ],
+  "tv": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -1.06,
+      1.35,
+      1.51
+     ],
+     "3D oriented bounding box dimensions": [
+      0.81,
+      1.25,
+      0.23
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       -0.01,
+       0.05,
+       -1.0
+      ],
+      [
+       -0.78,
+       -0.62,
+       -0.03
+      ],
+      [
+       -0.62,
+       0.78,
+       0.04
+      ]
+     ]
+    },
+    "first visible time": 1.0
+   }
+  ],
+  "plant": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      0.26,
+      1.59,
+      1.07
+     ],
+     "3D oriented bounding box dimensions": [
+      0.77,
+      0.32,
+      0.21
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.28,
+       0.01,
+       -0.96
+      ],
+      [
+       -0.82,
+       -0.53,
+       -0.24
+      ],
+      [
+       -0.51,
+       0.85,
+       -0.14
+      ]
+     ]
+    },
+    "first visible time": 3.0
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -1.02,
+      1.58,
+      2.06
+     ],
+     "3D oriented bounding box dimensions": [
+      0.49,
+      0.93,
+      0.44
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.37,
+       -0.34,
+       -0.87
+      ],
+      [
+       0.27,
+       0.93,
+       -0.24
+      ],
+      [
+       0.89,
+       -0.15,
+       0.44
+      ]
+     ]
+    },
+    "first visible time": 3.0
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      1.45,
+      1.37,
+      1.35
+     ],
+     "3D oriented bounding box dimensions": [
+      1.93,
+      0.69,
+      0.8
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       -0.13,
+       -0.21,
+       0.97
+      ],
+      [
+       0.44,
+       0.86,
+       0.24
+      ],
+      [
+       -0.89,
+       0.46,
+       -0.02
+      ]
+     ]
+    },
+    "first visible time": 3.0
+   }
+  ],
+  "clock": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      2.35,
+      1.64,
+      1.96
+     ],
+     "3D oriented bounding box dimensions": [
+      0.49,
+      0.54,
+      0.08
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.97,
+       -0.23,
+       -0.02
+      ],
+      [
+       0.0,
+       0.07,
+       -1.0
+      ],
+      [
+       0.23,
+       0.97,
+       0.07
+      ]
+     ]
+    },
+    "first visible time": 10.0
+   }
+  ],
+  "guitar": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      0.69,
+      1.16,
+      0.71
+     ],
+     "3D oriented bounding box dimensions": [
+      1.05,
+      0.39,
+      0.15
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.51,
+       0.05,
+       0.86
+      ],
+      [
+       -0.34,
+       0.93,
+       0.15
+      ],
+      [
+       -0.79,
+       -0.37,
+       0.49
+      ]
+     ]
+    },
+    "first visible time": 4.0
+   }
+  ],
+  "door": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -2.19,
+      -2.29,
+      1.89
+     ],
+     "3D oriented bounding box dimensions": [
+      1.03,
+      1.41,
+      0.08
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       -0.06,
+       0.81,
+       -0.58
+      ],
+      [
+       0.05,
+       0.58,
+       0.81
+      ],
+      [
+       1.0,
+       0.02,
+       -0.08
+      ]
+     ]
+    },
+    "first visible time": 8.0
+   }
+  ],
+  "table": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -0.29,
+      -0.43,
+      0.53
+     ],
+     "3D oriented bounding box dimensions": [
+      1.03,
+      0.65,
+      0.43
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       -0.05,
+       -1.0,
+       0.05
+      ],
+      [
+       -1.0,
+       0.05,
+       0.06
+      ],
+      [
+       -0.06,
+       -0.05,
+       -1.0
+      ]
+     ]
+    },
+    "first visible time": 2.0
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      0.1,
+      1.69,
+      0.56
+     ],
+     "3D oriented bounding box dimensions": [
+      0.53,
+      1.01,
+      0.68
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       -0.05,
+       0.01,
+       -1.0
+      ],
+      [
+       0.98,
+       -0.19,
+       -0.05
+      ],
+      [
+       -0.19,
+       -0.98,
+       0.0
+      ]
+     ]
+    },
+    "first visible time": 2.0
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      0.94,
+      -1.59,
+      0.95
+     ],
+     "3D oriented bounding box dimensions": [
+      0.6,
+      0.61,
+      0.29
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.78,
+       -0.16,
+       0.61
+      ],
+      [
+       -0.55,
+       -0.63,
+       0.54
+      ],
+      [
+       0.3,
+       -0.76,
+       -0.58
+      ]
+     ]
+    },
+    "first visible time": 2.0
+   }
+  ]
+ },
+ "room": {
+  "floor boundary polygons": [
+   {
+    "outer boundary coordinates": [
+     [
+      -2.01,
+      -3.05
+     ],
+     [
+      2.7,
+      -3.05
+     ],
+     [
+      2.7,
+      1.66
+     ],
+     [
+      -2.01,
+      1.66
+     ]
+    ],
+    "interior hole boundary coordinates": []
+   }
+  ]
+ }
+}
\ No newline at end of file
diff --git a/data/spatial codes/ground truth/compact/scene0616_01.json b/data/spatial codes/ground truth/compact/scene0616_01.json
new file mode 100644
index 0000000000000000000000000000000000000000..83f774ff7725c7b9a6833cf782e26eed5ac04328
--- /dev/null
+++ b/data/spatial codes/ground truth/compact/scene0616_01.json	
@@ -0,0 +1,644 @@
+{
+ "spatial code schema": {
+  "objects": {
+   "<object class>": [
+    {
+     "3D oriented bounding box": {
+      "3D oriented bounding box center coordinates": {
+       "components": [
+        "x",
+        "y",
+        "height above floor"
+       ],
+       "unit": "meters",
+       "description": "center of the 3D oriented bounding box in the shared room coordinate system"
+      },
+      "3D oriented bounding box dimensions": {
+       "components": [
+        "dimension 1",
+        "dimension 2",
+        "dimension 3"
+       ],
+       "unit": "meters",
+       "description": "full lengths of the 3D oriented bounding box along the corresponding orientation unit vectors"
+      },
+      "3D oriented bounding box orientation unit vectors": {
+       "components": [
+        [
+         "x",
+         "y",
+         "height"
+        ],
+        [
+         "x",
+         "y",
+         "height"
+        ],
+        [
+         "x",
+         "y",
+         "height"
+        ]
+       ],
+       "unit": null,
+       "description": "three perpendicular directions corresponding in order to the three 3D oriented bounding box dimensions"
+      }
+     },
+     "first visible time": {
+      "unit": "seconds",
+      "description": "earliest time at which this object instance is visibly observed"
+     }
+    }
+   ]
+  },
+  "room": {
+   "floor boundary polygons": [
+    {
+     "outer boundary coordinates": {
+      "components": [
+       [
+        "x",
+        "y"
+       ],
+       [
+        "x",
+        "y"
+       ]
+      ],
+      "unit": "meters",
+      "description": "ordered vertices enclosing one floor region"
+     },
+     "interior hole boundary coordinates": {
+      "components": [
+       [
+        [
+         "x",
+         "y"
+        ],
+        [
+         "x",
+         "y"
+        ]
+       ]
+      ],
+      "unit": "meters",
+      "description": "ordered boundaries enclosing regions excluded from the floor area"
+     }
+    }
+   ]
+  }
+ },
+ "objects": {
+  "chair": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      0.4,
+      -1.57,
+      0.7
+     ],
+     "3D oriented bounding box dimensions": [
+      0.55,
+      0.76,
+      0.62
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.06,
+       -1.0,
+       0.04
+      ],
+      [
+       0.0,
+       -0.04,
+       -1.0
+      ],
+      [
+       1.0,
+       0.06,
+       0.0
+      ]
+     ]
+    },
+    "first visible time": null
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -0.17,
+      -1.67,
+      0.77
+     ],
+     "3D oriented bounding box dimensions": [
+      0.61,
+      0.59,
+      0.63
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       -0.06,
+       1.0,
+       0.04
+      ],
+      [
+       0.18,
+       -0.03,
+       0.98
+      ],
+      [
+       0.98,
+       0.07,
+       -0.17
+      ]
+     ]
+    },
+    "first visible time": null
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      0.45,
+      -0.65,
+      0.76
+     ],
+     "3D oriented bounding box dimensions": [
+      0.49,
+      0.23,
+      0.64
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.44,
+       0.89,
+       -0.08
+      ],
+      [
+       0.4,
+       -0.27,
+       -0.87
+      ],
+      [
+       -0.8,
+       0.35,
+       -0.48
+      ]
+     ]
+    },
+    "first visible time": null
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -0.53,
+      0.8,
+      0.77
+     ],
+     "3D oriented bounding box dimensions": [
+      0.66,
+      0.54,
+      0.26
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.86,
+       -0.07,
+       -0.51
+      ],
+      [
+       0.0,
+       0.99,
+       -0.14
+      ],
+      [
+       0.52,
+       0.12,
+       0.85
+      ]
+     ]
+    },
+    "first visible time": null
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -0.96,
+      0.15,
+      0.72
+     ],
+     "3D oriented bounding box dimensions": [
+      0.45,
+      0.47,
+      0.09
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.47,
+       -0.88,
+       0.03
+      ],
+      [
+       -0.88,
+       -0.47,
+       -0.01
+      ],
+      [
+       0.02,
+       -0.02,
+       -1.0
+      ]
+     ]
+    },
+    "first visible time": null
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      0.93,
+      1.43,
+      0.71
+     ],
+     "3D oriented bounding box dimensions": [
+      1.07,
+      0.78,
+      1.12
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       -0.68,
+       0.73,
+       -0.01
+      ],
+      [
+       0.07,
+       0.06,
+       -1.0
+      ],
+      [
+       -0.73,
+       -0.68,
+       -0.1
+      ]
+     ]
+    },
+    "first visible time": null
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      1.61,
+      0.71,
+      0.73
+     ],
+     "3D oriented bounding box dimensions": [
+      1.01,
+      0.99,
+      0.8
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.68,
+       -0.74,
+       0.0
+      ],
+      [
+       0.74,
+       0.68,
+       0.04
+      ],
+      [
+       -0.02,
+       -0.03,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": null
+   }
+  ],
+  "window": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -1.96,
+      -0.79,
+      1.83
+     ],
+     "3D oriented bounding box dimensions": [
+      1.31,
+      1.43,
+      0.32
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       -0.67,
+       0.74,
+       -0.01
+      ],
+      [
+       0.03,
+       0.04,
+       1.0
+      ],
+      [
+       0.74,
+       0.67,
+       -0.05
+      ]
+     ]
+    },
+    "first visible time": null
+   }
+  ],
+  "lamp": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      0.63,
+      -2.54,
+      1.39
+     ],
+     "3D oriented bounding box dimensions": [
+      0.2,
+      0.62,
+      0.43
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.24,
+       0.97,
+       -0.05
+      ],
+      [
+       -0.08,
+       0.08,
+       0.99
+      ],
+      [
+       0.97,
+       -0.23,
+       0.1
+      ]
+     ]
+    },
+    "first visible time": null
+   }
+  ],
+  "radiator": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -0.99,
+      -1.38,
+      0.74
+     ],
+     "3D oriented bounding box dimensions": [
+      4.74,
+      0.74,
+      0.24
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.67,
+       -0.74,
+       -0.03
+      ],
+      [
+       0.04,
+       0.0,
+       1.0
+      ],
+      [
+       -0.74,
+       -0.68,
+       0.03
+      ]
+     ]
+    },
+    "first visible time": null
+   }
+  ],
+  "trash bin": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      2.35,
+      0.21,
+      0.55
+     ],
+     "3D oriented bounding box dimensions": [
+      0.41,
+      0.42,
+      0.3
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.17,
+       0.01,
+       -0.99
+      ],
+      [
+       0.74,
+       -0.67,
+       0.12
+      ],
+      [
+       -0.66,
+       -0.75,
+       -0.12
+      ]
+     ]
+    },
+    "first visible time": null
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      2.58,
+      -0.07,
+      0.52
+     ],
+     "3D oriented bounding box dimensions": [
+      0.42,
+      0.32,
+      0.37
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.7,
+       -0.72,
+       -0.02
+      ],
+      [
+       0.72,
+       0.7,
+       -0.03
+      ],
+      [
+       0.03,
+       0.01,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": null
+   }
+  ],
+  "door": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      0.71,
+      2.54,
+      1.49
+     ],
+     "3D oriented bounding box dimensions": [
+      1.34,
+      0.37,
+      2.3
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       -0.67,
+       0.74,
+       -0.05
+      ],
+      [
+       -0.74,
+       -0.67,
+       -0.02
+      ],
+      [
+       -0.05,
+       0.02,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": null
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      2.5,
+      -1.5,
+      1.38
+     ],
+     "3D oriented bounding box dimensions": [
+      1.01,
+      2.11,
+      0.05
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.75,
+       0.66,
+       -0.07
+      ],
+      [
+       0.1,
+       -0.01,
+       1.0
+      ],
+      [
+       0.66,
+       -0.75,
+       -0.07
+      ]
+     ]
+    },
+    "first visible time": null
+   }
+  ],
+  "table": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      0.67,
+      -2.35,
+      0.74
+     ],
+     "3D oriented bounding box dimensions": [
+      1.06,
+      1.02,
+      1.01
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.28,
+       0.94,
+       -0.18
+      ],
+      [
+       0.3,
+       -0.26,
+       -0.92
+      ],
+      [
+       -0.91,
+       0.2,
+       -0.36
+      ]
+     ]
+    },
+    "first visible time": null
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -0.7,
+      -0.52,
+      0.67
+     ],
+     "3D oriented bounding box dimensions": [
+      1.05,
+      1.06,
+      0.7
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.86,
+       -0.51,
+       -0.02
+      ],
+      [
+       0.51,
+       0.86,
+       -0.02
+      ],
+      [
+       0.03,
+       0.01,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": null
+   }
+  ]
+ },
+ "room": {
+  "floor boundary polygons": [
+   {
+    "outer boundary coordinates": [
+     [
+      -1.93,
+      -2.4
+     ],
+     [
+      2.64,
+      -2.4
+     ],
+     [
+      2.64,
+      2.17
+     ],
+     [
+      -1.93,
+      2.17
+     ]
+    ],
+    "interior hole boundary coordinates": []
+   }
+  ]
+ }
+}
\ No newline at end of file
diff --git a/data/spatial codes/ground truth/compact/scene0621_00.json b/data/spatial codes/ground truth/compact/scene0621_00.json
new file mode 100644
index 0000000000000000000000000000000000000000..2231683d48c89dec4f4a3333e2d77b9ec120b648
--- /dev/null
+++ b/data/spatial codes/ground truth/compact/scene0621_00.json	
@@ -0,0 +1,1180 @@
+{
+ "spatial code schema": {
+  "objects": {
+   "<object class>": [
+    {
+     "3D oriented bounding box": {
+      "3D oriented bounding box center coordinates": {
+       "components": [
+        "x",
+        "y",
+        "height above floor"
+       ],
+       "unit": "meters",
+       "description": "center of the 3D oriented bounding box in the shared room coordinate system"
+      },
+      "3D oriented bounding box dimensions": {
+       "components": [
+        "dimension 1",
+        "dimension 2",
+        "dimension 3"
+       ],
+       "unit": "meters",
+       "description": "full lengths of the 3D oriented bounding box along the corresponding orientation unit vectors"
+      },
+      "3D oriented bounding box orientation unit vectors": {
+       "components": [
+        [
+         "x",
+         "y",
+         "height"
+        ],
+        [
+         "x",
+         "y",
+         "height"
+        ],
+        [
+         "x",
+         "y",
+         "height"
+        ]
+       ],
+       "unit": null,
+       "description": "three perpendicular directions corresponding in order to the three 3D oriented bounding box dimensions"
+      }
+     },
+     "first visible time": {
+      "unit": "seconds",
+      "description": "earliest time at which this object instance is visibly observed"
+     }
+    }
+   ]
+  },
+  "room": {
+   "floor boundary polygons": [
+    {
+     "outer boundary coordinates": {
+      "components": [
+       [
+        "x",
+        "y"
+       ],
+       [
+        "x",
+        "y"
+       ]
+      ],
+      "unit": "meters",
+      "description": "ordered vertices enclosing one floor region"
+     },
+     "interior hole boundary coordinates": {
+      "components": [
+       [
+        [
+         "x",
+         "y"
+        ],
+        [
+         "x",
+         "y"
+        ]
+       ]
+      ],
+      "unit": "meters",
+      "description": "ordered boundaries enclosing regions excluded from the floor area"
+     }
+    }
+   ]
+  }
+ },
+ "objects": {
+  "chair": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -1.04,
+      -2.45,
+      0.7
+     ],
+     "3D oriented bounding box dimensions": [
+      0.48,
+      0.6,
+      0.5
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.99,
+       0.13,
+       0.03
+      ],
+      [
+       0.13,
+       -0.99,
+       -0.1
+      ],
+      [
+       0.02,
+       0.1,
+       -0.99
+      ]
+     ]
+    },
+    "first visible time": null
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -1.59,
+      1.06,
+      0.64
+     ],
+     "3D oriented bounding box dimensions": [
+      0.52,
+      0.58,
+      0.49
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.96,
+       0.18,
+       0.21
+      ],
+      [
+       -0.2,
+       0.98,
+       0.04
+      ],
+      [
+       -0.2,
+       -0.08,
+       0.98
+      ]
+     ]
+    },
+    "first visible time": null
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      4.0,
+      1.78,
+      0.69
+     ],
+     "3D oriented bounding box dimensions": [
+      0.48,
+      0.67,
+      0.37
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       -0.48,
+       0.88,
+       0.02
+      ],
+      [
+       -0.64,
+       -0.33,
+       -0.7
+      ],
+      [
+       -0.61,
+       -0.34,
+       0.72
+      ]
+     ]
+    },
+    "first visible time": null
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      1.11,
+      -1.59,
+      0.49
+     ],
+     "3D oriented bounding box dimensions": [
+      0.75,
+      0.64,
+      0.56
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.11,
+       -0.12,
+       -0.99
+      ],
+      [
+       -0.5,
+       0.85,
+       -0.16
+      ],
+      [
+       0.86,
+       0.51,
+       0.03
+      ]
+     ]
+    },
+    "first visible time": null
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      0.04,
+      -2.13,
+      0.56
+     ],
+     "3D oriented bounding box dimensions": [
+      0.66,
+      0.45,
+      0.37
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       -0.3,
+       0.72,
+       -0.62
+      ],
+      [
+       -0.91,
+       -0.41,
+       -0.04
+      ],
+      [
+       -0.29,
+       0.55,
+       0.78
+      ]
+     ]
+    },
+    "first visible time": null
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -2.33,
+      0.81,
+      0.58
+     ],
+     "3D oriented bounding box dimensions": [
+      0.69,
+      0.38,
+      0.47
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       -0.3,
+       0.73,
+       0.62
+      ],
+      [
+       -0.32,
+       0.54,
+       -0.78
+      ],
+      [
+       -0.9,
+       -0.43,
+       0.07
+      ]
+     ]
+    },
+    "first visible time": null
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -2.02,
+      -1.17,
+      0.48
+     ],
+     "3D oriented bounding box dimensions": [
+      0.47,
+      0.51,
+      0.12
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.92,
+       0.37,
+       -0.09
+      ],
+      [
+       -0.37,
+       0.93,
+       -0.01
+      ],
+      [
+       0.08,
+       0.05,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": null
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -1.95,
+      -0.51,
+      0.54
+     ],
+     "3D oriented bounding box dimensions": [
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+      0.62,
+      0.33
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       -0.58,
+       0.82,
+       -0.04
+      ],
+      [
+       0.7,
+       0.52,
+       0.49
+      ],
+      [
+       0.42,
+       0.25,
+       -0.87
+      ]
+     ]
+    },
+    "first visible time": null
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -2.72,
+      -0.08,
+      0.55
+     ],
+     "3D oriented bounding box dimensions": [
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+      0.55,
+      0.39
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
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+       -0.05,
+       -0.99
+      ],
+      [
+       -0.14,
+       -0.99,
+       0.03
+      ],
+      [
+       -0.98,
+       0.14,
+       -0.13
+      ]
+     ]
+    },
+    "first visible time": null
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -2.98,
+      -1.05,
+      0.77
+     ],
+     "3D oriented bounding box dimensions": [
+      0.48,
+      0.55,
+      0.44
+     ],
+     "3D oriented bounding box orientation unit vectors": [
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+       -0.6,
+       -0.8,
+       0.04
+      ],
+      [
+       -0.78,
+       0.6,
+       0.14
+      ],
+      [
+       -0.14,
+       0.05,
+       -0.99
+      ]
+     ]
+    },
+    "first visible time": null
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      0.26,
+      -0.23,
+      0.49
+     ],
+     "3D oriented bounding box dimensions": [
+      0.48,
+      0.67,
+      0.34
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       -0.49,
+       0.87,
+       -0.01
+      ],
+      [
+       -0.7,
+       -0.4,
+       -0.59
+      ],
+      [
+       -0.52,
+       -0.28,
+       0.81
+      ]
+     ]
+    },
+    "first visible time": null
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -0.02,
+      -1.01,
+      0.63
+     ],
+     "3D oriented bounding box dimensions": [
+      0.57,
+      0.49,
+      0.46
+     ],
+     "3D oriented bounding box orientation unit vectors": [
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+       1.0,
+       0.05
+      ],
+      [
+       1.0,
+       0.03,
+       0.0
+      ],
+      [
+       0.0,
+       0.05,
+       -1.0
+      ]
+     ]
+    },
+    "first visible time": null
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
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+      -0.59,
+      0.73
+     ],
+     "3D oriented bounding box dimensions": [
+      0.21,
+      0.38,
+      0.11
+     ],
+     "3D oriented bounding box orientation unit vectors": [
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+       -0.36,
+       -0.6
+      ],
+      [
+       0.14,
+       0.91,
+       -0.38
+      ],
+      [
+       0.69,
+       0.19,
+       0.7
+      ]
+     ]
+    },
+    "first visible time": null
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -0.53,
+      0.16,
+      0.63
+     ],
+     "3D oriented bounding box dimensions": [
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+      0.47,
+      0.49
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.98,
+       0.2,
+       -0.09
+      ],
+      [
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+       0.08,
+       0.99
+      ],
+      [
+       0.2,
+       -0.98,
+       0.07
+      ]
+     ]
+    },
+    "first visible time": null
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
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+      1.32,
+      0.52
+     ],
+     "3D oriented bounding box dimensions": [
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+      0.5,
+      0.34
+     ],
+     "3D oriented bounding box orientation unit vectors": [
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+       -0.32,
+       0.61
+      ],
+      [
+       0.34,
+       -0.94,
+       -0.08
+      ],
+      [
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+       0.15,
+       0.79
+      ]
+     ]
+    },
+    "first visible time": null
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
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+      0.88,
+      0.53
+     ],
+     "3D oriented bounding box dimensions": [
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+      0.75,
+      0.37
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
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+       -0.41,
+       -0.18
+      ],
+      [
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+       0.8,
+       -0.55
+      ],
+      [
+       0.37,
+       -0.44,
+       -0.82
+      ]
+     ]
+    },
+    "first visible time": null
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
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+      1.8,
+      0.6
+     ],
+     "3D oriented bounding box dimensions": [
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+      0.49,
+      0.37
+     ],
+     "3D oriented bounding box orientation unit vectors": [
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+       0.02,
+       0.63
+      ],
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+       0.94,
+       0.25
+      ],
+      [
+       -0.59,
+       -0.34,
+       0.74
+      ]
+     ]
+    },
+    "first visible time": null
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
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+      2.28,
+      0.75
+     ],
+     "3D oriented bounding box dimensions": [
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+      0.65,
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+     ],
+     "3D oriented bounding box orientation unit vectors": [
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+       0.93,
+       0.11
+      ],
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+       -0.17,
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+      ],
+      [
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+       -0.31,
+       0.71
+      ]
+     ]
+    },
+    "first visible time": null
+   },
+   {
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+      2.68,
+      0.84
+     ],
+     "3D oriented bounding box dimensions": [
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+      0.46,
+      0.5
+     ],
+     "3D oriented bounding box orientation unit vectors": [
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+       0.99,
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+      ],
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+       0.02,
+       -0.03
+      ]
+     ]
+    },
+    "first visible time": null
+   },
+   {
+    "3D oriented bounding box": {
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+      2.34,
+      0.65
+     ],
+     "3D oriented bounding box dimensions": [
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+      0.52,
+      0.32
+     ],
+     "3D oriented bounding box orientation unit vectors": [
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+       0.31,
+       -0.55
+      ],
+      [
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+       0.95,
+       0.11
+      ],
+      [
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+       0.08,
+       0.83
+      ]
+     ]
+    },
+    "first visible time": null
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
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+      1.75,
+      0.6
+     ],
+     "3D oriented bounding box dimensions": [
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+      0.66,
+      0.33
+     ],
+     "3D oriented bounding box orientation unit vectors": [
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+       -0.9,
+       -0.07
+      ],
+      [
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+       0.4,
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+      ],
+      [
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+       0.17,
+       0.86
+      ]
+     ]
+    },
+    "first visible time": null
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
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+      1.75,
+      0.63
+     ],
+     "3D oriented bounding box dimensions": [
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+      0.36,
+      0.61
+     ],
+     "3D oriented bounding box orientation unit vectors": [
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+       -0.23,
+       -0.08
+      ],
+      [
+       0.18,
+       -0.48,
+       -0.86
+      ],
+      [
+       0.16,
+       -0.84,
+       0.51
+      ]
+     ]
+    },
+    "first visible time": null
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      3.46,
+      -0.56,
+      0.73
+     ],
+     "3D oriented bounding box dimensions": [
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+      0.66,
+      0.35
+     ],
+     "3D oriented bounding box orientation unit vectors": [
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+       0.4,
+       -0.92,
+       -0.01
+      ],
+      [
+       0.68,
+       0.29,
+       0.67
+      ],
+      [
+       -0.61,
+       -0.27,
+       0.74
+      ]
+     ]
+    },
+    "first visible time": null
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      2.94,
+      -0.26,
+      0.57
+     ],
+     "3D oriented bounding box dimensions": [
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+      0.63,
+      0.48
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       -0.2,
+       0.06,
+       0.98
+      ],
+      [
+       -0.87,
+       -0.48,
+       -0.14
+      ],
+      [
+       0.46,
+       -0.88,
+       0.15
+      ]
+     ]
+    },
+    "first visible time": null
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      2.32,
+      -0.01,
+      0.59
+     ],
+     "3D oriented bounding box dimensions": [
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+      0.67,
+      0.35
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       -0.9,
+       -0.44,
+       -0.1
+      ],
+      [
+       0.42,
+       -0.77,
+       -0.48
+      ],
+      [
+       0.14,
+       -0.47,
+       0.87
+      ]
+     ]
+    },
+    "first visible time": null
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      1.71,
+      -0.26,
+      0.48
+     ],
+     "3D oriented bounding box dimensions": [
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+      0.85,
+      0.57
+     ],
+     "3D oriented bounding box orientation unit vectors": [
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+       0.61,
+       0.07
+      ],
+      [
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+       -0.08,
+       -0.99
+      ],
+      [
+       -0.59,
+       0.79,
+       -0.15
+      ]
+     ]
+    },
+    "first visible time": null
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
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+      -0.96,
+      0.7
+     ],
+     "3D oriented bounding box dimensions": [
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+      0.55,
+      0.47
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.07,
+       -1.0,
+       -0.01
+      ],
+      [
+       -0.24,
+       -0.03,
+       0.97
+      ],
+      [
+       -0.97,
+       -0.07,
+       -0.24
+      ]
+     ]
+    },
+    "first visible time": null
+   }
+  ],
+  "door": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -2.24,
+      -2.8,
+      0.76
+     ],
+     "3D oriented bounding box dimensions": [
+      1.03,
+      1.07,
+      0.28
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       -1.0,
+       -0.04,
+       0.05
+      ],
+      [
+       -0.05,
+       0.04,
+       -1.0
+      ],
+      [
+       0.04,
+       -1.0,
+       -0.04
+      ]
+     ]
+    },
+    "first visible time": null
+   }
+  ],
+  "table": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      2.71,
+      2.11,
+      0.89
+     ],
+     "3D oriented bounding box dimensions": [
+      0.91,
+      1.14,
+      0.06
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       -0.27,
+       0.96,
+       0.12
+      ],
+      [
+       -0.96,
+       -0.26,
+       -0.08
+      ],
+      [
+       -0.05,
+       -0.13,
+       0.99
+      ]
+     ]
+    },
+    "first visible time": null
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      2.28,
+      -0.61,
+      0.83
+     ],
+     "3D oriented bounding box dimensions": [
+      1.2,
+      1.06,
+      0.09
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       -0.89,
+       -0.44,
+       -0.07
+      ],
+      [
+       0.43,
+       -0.9,
+       0.09
+      ],
+      [
+       -0.11,
+       0.05,
+       0.99
+      ]
+     ]
+    },
+    "first visible time": null
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -0.25,
+      -0.39,
+      0.72
+     ],
+     "3D oriented bounding box dimensions": [
+      1.26,
+      1.22,
+      0.1
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       -0.27,
+       0.96,
+       0.0
+      ],
+      [
+       -0.96,
+       -0.27,
+       0.02
+      ],
+      [
+       0.02,
+       0.01,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": null
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -2.32,
+      -0.66,
+      0.84
+     ],
+     "3D oriented bounding box dimensions": [
+      1.19,
+      1.18,
+      0.13
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.9,
+       0.42,
+       -0.12
+      ],
+      [
+       0.41,
+       -0.91,
+       -0.04
+      ],
+      [
+       -0.12,
+       -0.01,
+       -0.99
+      ]
+     ]
+    },
+    "first visible time": null
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      0.72,
+      1.39,
+      0.78
+     ],
+     "3D oriented bounding box dimensions": [
+      1.23,
+      0.99,
+      0.08
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       -0.94,
+       -0.33,
+       -0.03
+      ],
+      [
+       0.33,
+       -0.94,
+       -0.1
+      ],
+      [
+       0.01,
+       -0.11,
+       0.99
+      ]
+     ]
+    },
+    "first visible time": null
+   }
+  ]
+ },
+ "room": {
+  "floor boundary polygons": [
+   {
+    "outer boundary coordinates": [
+     [
+      -2.52,
+      -2.88
+     ],
+     [
+      3.06,
+      -2.88
+     ],
+     [
+      3.06,
+      2.7
+     ],
+     [
+      -2.52,
+      2.7
+     ]
+    ],
+    "interior hole boundary coordinates": []
+   }
+  ]
+ }
+}
\ No newline at end of file
diff --git a/data/spatial codes/ground truth/compact/scene0629_01.json b/data/spatial codes/ground truth/compact/scene0629_01.json
new file mode 100644
index 0000000000000000000000000000000000000000..50f296b488572da7edaecb0dbe44402456f8bc11
--- /dev/null
+++ b/data/spatial codes/ground truth/compact/scene0629_01.json	
@@ -0,0 +1,386 @@
+{
+ "spatial code schema": {
+  "objects": {
+   "<object class>": [
+    {
+     "3D oriented bounding box": {
+      "3D oriented bounding box center coordinates": {
+       "components": [
+        "x",
+        "y",
+        "height above floor"
+       ],
+       "unit": "meters",
+       "description": "center of the 3D oriented bounding box in the shared room coordinate system"
+      },
+      "3D oriented bounding box dimensions": {
+       "components": [
+        "dimension 1",
+        "dimension 2",
+        "dimension 3"
+       ],
+       "unit": "meters",
+       "description": "full lengths of the 3D oriented bounding box along the corresponding orientation unit vectors"
+      },
+      "3D oriented bounding box orientation unit vectors": {
+       "components": [
+        [
+         "x",
+         "y",
+         "height"
+        ],
+        [
+         "x",
+         "y",
+         "height"
+        ],
+        [
+         "x",
+         "y",
+         "height"
+        ]
+       ],
+       "unit": null,
+       "description": "three perpendicular directions corresponding in order to the three 3D oriented bounding box dimensions"
+      }
+     },
+     "first visible time": {
+      "unit": "seconds",
+      "description": "earliest time at which this object instance is visibly observed"
+     }
+    }
+   ]
+  },
+  "room": {
+   "floor boundary polygons": [
+    {
+     "outer boundary coordinates": {
+      "components": [
+       [
+        "x",
+        "y"
+       ],
+       [
+        "x",
+        "y"
+       ]
+      ],
+      "unit": "meters",
+      "description": "ordered vertices enclosing one floor region"
+     },
+     "interior hole boundary coordinates": {
+      "components": [
+       [
+        [
+         "x",
+         "y"
+        ],
+        [
+         "x",
+         "y"
+        ]
+       ]
+      ],
+      "unit": "meters",
+      "description": "ordered boundaries enclosing regions excluded from the floor area"
+     }
+    }
+   ]
+  }
+ },
+ "objects": {
+  "bed": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      2.52,
+      0.07,
+      0.79
+     ],
+     "3D oriented bounding box dimensions": [
+      2.03,
+      1.54,
+      0.29
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       -0.09,
+       -1.0,
+       0.01
+      ],
+      [
+       -0.28,
+       0.01,
+       -0.96
+      ],
+      [
+       0.96,
+       -0.09,
+       -0.28
+      ]
+     ]
+    },
+    "first visible time": null
+   }
+  ],
+  "chair": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      2.22,
+      2.5,
+      0.57
+     ],
+     "3D oriented bounding box dimensions": [
+      0.82,
+      0.85,
+      0.53
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       -0.01,
+       0.08,
+       -1.0
+      ],
+      [
+       0.94,
+       -0.35,
+       -0.03
+      ],
+      [
+       -0.35,
+       -0.93,
+       -0.07
+      ]
+     ]
+    },
+    "first visible time": null
+   }
+  ],
+  "plant": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      2.55,
+      1.55,
+      0.85
+     ],
+     "3D oriented bounding box dimensions": [
+      0.66,
+      0.42,
+      0.48
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       -0.09,
+       0.05,
+       -0.99
+      ],
+      [
+       -0.97,
+       -0.22,
+       0.08
+      ],
+      [
+       -0.21,
+       0.97,
+       0.07
+      ]
+     ]
+    },
+    "first visible time": null
+   }
+  ],
+  "mirror": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      0.76,
+      1.59,
+      0.99
+     ],
+     "3D oriented bounding box dimensions": [
+      1.66,
+      0.71,
+      0.26
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       -0.04,
+       -0.01,
+       -1.0
+      ],
+      [
+       -0.99,
+       0.13,
+       0.04
+      ],
+      [
+       0.13,
+       0.99,
+       -0.01
+      ]
+     ]
+    },
+    "first visible time": null
+   }
+  ],
+  "door": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      0.31,
+      -2.19,
+      1.08
+     ],
+     "3D oriented bounding box dimensions": [
+      1.98,
+      0.76,
+      0.07
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       -0.01,
+       0.02,
+       -1.0
+      ],
+      [
+       -1.0,
+       -0.04,
+       0.01
+      ],
+      [
+       -0.04,
+       1.0,
+       0.02
+      ]
+     ]
+    },
+    "first visible time": null
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      0.0,
+      1.96,
+      1.22
+     ],
+     "3D oriented bounding box dimensions": [
+      0.88,
+      2.0,
+      0.23
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.84,
+       -0.53,
+       -0.15
+      ],
+      [
+       -0.11,
+       0.1,
+       -0.99
+      ],
+      [
+       0.54,
+       0.84,
+       0.02
+      ]
+     ]
+    },
+    "first visible time": null
+   }
+  ],
+  "table": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      2.34,
+      2.3,
+      0.88
+     ],
+     "3D oriented bounding box dimensions": [
+      0.62,
+      0.89,
+      0.12
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       -0.99,
+       0.04,
+       -0.15
+      ],
+      [
+       0.03,
+       1.0,
+       0.08
+      ],
+      [
+       0.15,
+       0.07,
+       -0.99
+      ]
+     ]
+    },
+    "first visible time": null
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      2.5,
+      1.53,
+      0.39
+     ],
+     "3D oriented bounding box dimensions": [
+      0.59,
+      0.58,
+      0.56
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.01,
+       -0.05,
+       1.0
+      ],
+      [
+       1.0,
+       0.07,
+       -0.01
+      ],
+      [
+       -0.07,
+       1.0,
+       0.05
+      ]
+     ]
+    },
+    "first visible time": null
+   }
+  ]
+ },
+ "room": {
+  "floor boundary polygons": [
+   {
+    "outer boundary coordinates": [
+     [
+      -2.44,
+      -1.8
+     ],
+     [
+      2.46,
+      -1.8
+     ],
+     [
+      2.46,
+      3.09
+     ],
+     [
+      -2.44,
+      3.09
+     ]
+    ],
+    "interior hole boundary coordinates": []
+   }
+  ]
+ }
+}
\ No newline at end of file
diff --git a/data/spatial codes/ground truth/compact/scene0633_00.json b/data/spatial codes/ground truth/compact/scene0633_00.json
new file mode 100644
index 0000000000000000000000000000000000000000..525e1b08fbaa63cf898b43b20b0d5dea2505e707
--- /dev/null
+++ b/data/spatial codes/ground truth/compact/scene0633_00.json	
@@ -0,0 +1,322 @@
+{
+ "spatial code schema": {
+  "objects": {
+   "<object class>": [
+    {
+     "3D oriented bounding box": {
+      "3D oriented bounding box center coordinates": {
+       "components": [
+        "x",
+        "y",
+        "height above floor"
+       ],
+       "unit": "meters",
+       "description": "center of the 3D oriented bounding box in the shared room coordinate system"
+      },
+      "3D oriented bounding box dimensions": {
+       "components": [
+        "dimension 1",
+        "dimension 2",
+        "dimension 3"
+       ],
+       "unit": "meters",
+       "description": "full lengths of the 3D oriented bounding box along the corresponding orientation unit vectors"
+      },
+      "3D oriented bounding box orientation unit vectors": {
+       "components": [
+        [
+         "x",
+         "y",
+         "height"
+        ],
+        [
+         "x",
+         "y",
+         "height"
+        ],
+        [
+         "x",
+         "y",
+         "height"
+        ]
+       ],
+       "unit": null,
+       "description": "three perpendicular directions corresponding in order to the three 3D oriented bounding box dimensions"
+      }
+     },
+     "first visible time": {
+      "unit": "seconds",
+      "description": "earliest time at which this object instance is visibly observed"
+     }
+    }
+   ]
+  },
+  "room": {
+   "floor boundary polygons": [
+    {
+     "outer boundary coordinates": {
+      "components": [
+       [
+        "x",
+        "y"
+       ],
+       [
+        "x",
+        "y"
+       ]
+      ],
+      "unit": "meters",
+      "description": "ordered vertices enclosing one floor region"
+     },
+     "interior hole boundary coordinates": {
+      "components": [
+       [
+        [
+         "x",
+         "y"
+        ],
+        [
+         "x",
+         "y"
+        ]
+       ]
+      ],
+      "unit": "meters",
+      "description": "ordered boundaries enclosing regions excluded from the floor area"
+     }
+    }
+   ]
+  }
+ },
+ "objects": {
+  "chair": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -1.08,
+      -0.54,
+      0.54
+     ],
+     "3D oriented bounding box dimensions": [
+      1.15,
+      0.46,
+      0.82
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.75,
+       0.26,
+       -0.61
+      ],
+      [
+       -0.58,
+       -0.18,
+       -0.8
+      ],
+      [
+       -0.32,
+       0.95,
+       0.02
+      ]
+     ]
+    },
+    "first visible time": null
+   }
+  ],
+  "window": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -1.13,
+      0.45,
+      1.1
+     ],
+     "3D oriented bounding box dimensions": [
+      0.82,
+      0.42,
+      0.11
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       -0.14,
+       -0.19,
+       -0.97
+      ],
+      [
+       -0.41,
+       -0.88,
+       0.23
+      ],
+      [
+       -0.9,
+       0.43,
+       0.04
+      ]
+     ]
+    },
+    "first visible time": null
+   }
+  ],
+  "pillow": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -1.21,
+      -0.54,
+      0.57
+     ],
+     "3D oriented bounding box dimensions": [
+      0.49,
+      0.43,
+      0.13
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.2,
+       -0.98,
+       0.01
+      ],
+      [
+       0.56,
+       0.11,
+       -0.82
+      ],
+      [
+       0.81,
+       0.17,
+       0.57
+      ]
+     ]
+    },
+    "first visible time": null
+   }
+  ],
+  "lamp": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -1.49,
+      -0.58,
+      1.36
+     ],
+     "3D oriented bounding box dimensions": [
+      0.26,
+      0.34,
+      0.15
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       -0.19,
+       -0.07,
+       0.98
+      ],
+      [
+       0.16,
+       -0.99,
+       -0.04
+      ],
+      [
+       0.97,
+       0.15,
+       0.2
+      ]
+     ]
+    },
+    "first visible time": null
+   }
+  ],
+  "clock": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      1.09,
+      0.92,
+      1.86
+     ],
+     "3D oriented bounding box dimensions": [
+      0.25,
+      0.25,
+      0.07
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.0,
+       0.03,
+       1.0
+      ],
+      [
+       0.87,
+       -0.49,
+       0.01
+      ],
+      [
+       0.49,
+       0.87,
+       -0.03
+      ]
+     ]
+    },
+    "first visible time": null
+   }
+  ],
+  "table": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -1.06,
+      0.35,
+      0.42
+     ],
+     "3D oriented bounding box dimensions": [
+      0.4,
+      0.73,
+      0.5
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       -0.87,
+       0.49,
+       0.04
+      ],
+      [
+       -0.03,
+       0.04,
+       -1.0
+      ],
+      [
+       -0.49,
+       -0.87,
+       -0.02
+      ]
+     ]
+    },
+    "first visible time": null
+   }
+  ]
+ },
+ "room": {
+  "floor boundary polygons": [
+   {
+    "outer boundary coordinates": [
+     [
+      -1.17,
+      -1.46
+     ],
+     [
+      1.71,
+      -1.46
+     ],
+     [
+      1.71,
+      1.41
+     ],
+     [
+      -1.17,
+      1.41
+     ]
+    ],
+    "interior hole boundary coordinates": []
+   }
+  ]
+ }
+}
\ No newline at end of file
diff --git a/data/spatial codes/ground truth/compact/scene0643_00.json b/data/spatial codes/ground truth/compact/scene0643_00.json
new file mode 100644
index 0000000000000000000000000000000000000000..42694ed2d6facbd8d6778a1f0cd387ada70b5e2f
--- /dev/null
+++ b/data/spatial codes/ground truth/compact/scene0643_00.json	
@@ -0,0 +1,778 @@
+{
+ "spatial code schema": {
+  "objects": {
+   "<object class>": [
+    {
+     "3D oriented bounding box": {
+      "3D oriented bounding box center coordinates": {
+       "components": [
+        "x",
+        "y",
+        "height above floor"
+       ],
+       "unit": "meters",
+       "description": "center of the 3D oriented bounding box in the shared room coordinate system"
+      },
+      "3D oriented bounding box dimensions": {
+       "components": [
+        "dimension 1",
+        "dimension 2",
+        "dimension 3"
+       ],
+       "unit": "meters",
+       "description": "full lengths of the 3D oriented bounding box along the corresponding orientation unit vectors"
+      },
+      "3D oriented bounding box orientation unit vectors": {
+       "components": [
+        [
+         "x",
+         "y",
+         "height"
+        ],
+        [
+         "x",
+         "y",
+         "height"
+        ],
+        [
+         "x",
+         "y",
+         "height"
+        ]
+       ],
+       "unit": null,
+       "description": "three perpendicular directions corresponding in order to the three 3D oriented bounding box dimensions"
+      }
+     },
+     "first visible time": {
+      "unit": "seconds",
+      "description": "earliest time at which this object instance is visibly observed"
+     }
+    }
+   ]
+  },
+  "room": {
+   "floor boundary polygons": [
+    {
+     "outer boundary coordinates": {
+      "components": [
+       [
+        "x",
+        "y"
+       ],
+       [
+        "x",
+        "y"
+       ]
+      ],
+      "unit": "meters",
+      "description": "ordered vertices enclosing one floor region"
+     },
+     "interior hole boundary coordinates": {
+      "components": [
+       [
+        [
+         "x",
+         "y"
+        ],
+        [
+         "x",
+         "y"
+        ]
+       ]
+      ],
+      "unit": "meters",
+      "description": "ordered boundaries enclosing regions excluded from the floor area"
+     }
+    }
+   ]
+  }
+ },
+ "objects": {
+  "chair": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      1.74,
+      -0.5,
+      0.59
+     ],
+     "3D oriented bounding box dimensions": [
+      0.94,
+      0.62,
+      0.52
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.03,
+       -0.05,
+       1.0
+      ],
+      [
+       0.95,
+       0.31,
+       -0.01
+      ],
+      [
+       -0.3,
+       0.95,
+       0.06
+      ]
+     ]
+    },
+    "first visible time": 4.0
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -1.46,
+      -0.71,
+      0.61
+     ],
+     "3D oriented bounding box dimensions": [
+      0.66,
+      1.01,
+      0.55
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       -0.07,
+       1.0,
+       0.01
+      ],
+      [
+       -0.07,
+       0.0,
+       -1.0
+      ],
+      [
+       -1.0,
+       -0.07,
+       0.07
+      ]
+     ]
+    },
+    "first visible time": 4.0
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      0.18,
+      0.56,
+      0.57
+     ],
+     "3D oriented bounding box dimensions": [
+      0.53,
+      0.9,
+      0.53
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.32,
+       -0.93,
+       0.16
+      ],
+      [
+       -0.02,
+       -0.18,
+       -0.98
+      ],
+      [
+       0.95,
+       0.31,
+       -0.07
+      ]
+     ]
+    },
+    "first visible time": 4.0
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -0.7,
+      0.24,
+      0.55
+     ],
+     "3D oriented bounding box dimensions": [
+      0.56,
+      0.96,
+      0.65
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       -0.93,
+       -0.35,
+       -0.14
+      ],
+      [
+       0.17,
+       -0.06,
+       -0.98
+      ],
+      [
+       0.34,
+       -0.93,
+       0.12
+      ]
+     ]
+    },
+    "first visible time": 4.0
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      1.23,
+      0.68,
+      0.61
+     ],
+     "3D oriented bounding box dimensions": [
+      0.46,
+      0.45,
+      0.93
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.22,
+       -0.97,
+       0.0
+      ],
+      [
+       -0.97,
+       -0.22,
+       0.05
+      ],
+      [
+       -0.05,
+       -0.01,
+       -1.0
+      ]
+     ]
+    },
+    "first visible time": 4.0
+   }
+  ],
+  "window": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -2.54,
+      -0.01,
+      2.57
+     ],
+     "3D oriented bounding box dimensions": [
+      0.73,
+      0.5,
+      0.43
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       -0.48,
+       0.84,
+       0.26
+      ],
+      [
+       -0.63,
+       -0.53,
+       0.57
+      ],
+      [
+       0.61,
+       0.11,
+       0.78
+      ]
+     ]
+    },
+    "first visible time": 8.0
+   }
+  ],
+  "bookshelf": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      0.16,
+      1.01,
+      1.22
+     ],
+     "3D oriented bounding box dimensions": [
+      0.87,
+      2.22,
+      0.44
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       -0.96,
+       -0.29,
+       0.01
+      ],
+      [
+       0.0,
+       -0.03,
+       -1.0
+      ],
+      [
+       0.29,
+       -0.96,
+       0.03
+      ]
+     ]
+    },
+    "first visible time": 6.0
+   }
+  ],
+  "refrigerator": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      0.28,
+      -1.17,
+      0.62
+     ],
+     "3D oriented bounding box dimensions": [
+      0.58,
+      0.97,
+      0.46
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.95,
+       0.3,
+       -0.01
+      ],
+      [
+       0.2,
+       -0.59,
+       0.78
+      ],
+      [
+       0.23,
+       -0.75,
+       -0.62
+      ]
+     ]
+    },
+    "first visible time": 3.0
+   }
+  ],
+  "monitor": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      1.25,
+      1.26,
+      1.14
+     ],
+     "3D oriented bounding box dimensions": [
+      0.37,
+      0.57,
+      0.05
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.01,
+       -0.12,
+       -0.99
+      ],
+      [
+       0.99,
+       0.14,
+       -0.01
+      ],
+      [
+       0.14,
+       -0.98,
+       0.12
+      ]
+     ]
+    },
+    "first visible time": 5.0
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -0.79,
+      0.87,
+      1.11
+     ],
+     "3D oriented bounding box dimensions": [
+      0.6,
+      0.54,
+      0.21
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.97,
+       0.26,
+       0.0
+      ],
+      [
+       -0.03,
+       0.09,
+       1.0
+      ],
+      [
+       0.26,
+       -0.96,
+       0.09
+      ]
+     ]
+    },
+    "first visible time": 5.0
+   }
+  ],
+  "keyboard": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -1.22,
+      -1.51,
+      0.85
+     ],
+     "3D oriented bounding box dimensions": [
+      0.54,
+      0.32,
+      0.04
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.89,
+       0.46,
+       0.01
+      ],
+      [
+       0.46,
+       -0.89,
+       0.03
+      ],
+      [
+       0.03,
+       -0.02,
+       -1.0
+      ]
+     ]
+    },
+    "first visible time": 9.0
+   }
+  ],
+  "telephone": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      0.48,
+      -1.46,
+      0.93
+     ],
+     "3D oriented bounding box dimensions": [
+      0.26,
+      0.11,
+      0.2
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       -0.58,
+       0.81,
+       -0.14
+      ],
+      [
+       -0.14,
+       0.07,
+       0.99
+      ],
+      [
+       0.81,
+       0.59,
+       0.08
+      ]
+     ]
+    },
+    "first visible time": 1.0
+   }
+  ],
+  "trash bin": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      2.16,
+      0.29,
+      0.33
+     ],
+     "3D oriented bounding box dimensions": [
+      0.45,
+      0.3,
+      0.4
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.35,
+       -0.92,
+       -0.19
+      ],
+      [
+       -0.92,
+       -0.31,
+       -0.24
+      ],
+      [
+       0.16,
+       0.26,
+       -0.95
+      ]
+     ]
+    },
+    "first visible time": 0.0
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      2.26,
+      -0.07,
+      0.31
+     ],
+     "3D oriented bounding box dimensions": [
+      0.44,
+      0.41,
+      0.28
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       -0.27,
+       0.96,
+       -0.01
+      ],
+      [
+       0.11,
+       0.02,
+       -0.99
+      ],
+      [
+       -0.96,
+       -0.27,
+       -0.11
+      ]
+     ]
+    },
+    "first visible time": 0.0
+   }
+  ],
+  "door": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -2.07,
+      -0.09,
+      1.17
+     ],
+     "3D oriented bounding box dimensions": [
+      2.11,
+      0.16,
+      0.9
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.0,
+       -0.01,
+       1.0
+      ],
+      [
+       0.57,
+       0.82,
+       0.01
+      ],
+      [
+       -0.82,
+       0.57,
+       0.01
+      ]
+     ]
+    },
+    "first visible time": 7.0
+   }
+  ],
+  "table": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -0.89,
+      0.56,
+      0.53
+     ],
+     "3D oriented bounding box dimensions": [
+      1.61,
+      0.83,
+      0.76
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       -0.97,
+       -0.25,
+       -0.03
+      ],
+      [
+       0.03,
+       0.01,
+       -1.0
+      ],
+      [
+       0.25,
+       -0.97,
+       -0.01
+      ]
+     ]
+    },
+    "first visible time": 2.0
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -1.18,
+      -1.64,
+      0.57
+     ],
+     "3D oriented bounding box dimensions": [
+      1.65,
+      0.91,
+      0.74
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       -0.97,
+       -0.23,
+       0.0
+      ],
+      [
+       0.22,
+       -0.95,
+       0.19
+      ],
+      [
+       -0.04,
+       0.19,
+       0.98
+      ]
+     ]
+    },
+    "first visible time": 2.0
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      1.28,
+      1.11,
+      0.53
+     ],
+     "3D oriented bounding box dimensions": [
+      1.61,
+      0.79,
+      0.84
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       -0.98,
+       -0.21,
+       -0.02
+      ],
+      [
+       -0.21,
+       0.98,
+       -0.01
+      ],
+      [
+       0.02,
+       -0.01,
+       -1.0
+      ]
+     ]
+    },
+    "first visible time": 2.0
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      1.92,
+      -0.88,
+      0.77
+     ],
+     "3D oriented bounding box dimensions": [
+      0.81,
+      1.64,
+      0.68
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.24,
+       -0.97,
+       0.1
+      ],
+      [
+       -0.89,
+       -0.18,
+       0.43
+      ],
+      [
+       -0.4,
+       -0.19,
+       -0.9
+      ]
+     ]
+    },
+    "first visible time": 2.0
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -1.48,
+      0.42,
+      0.86
+     ],
+     "3D oriented bounding box dimensions": [
+      0.27,
+      0.1,
+      0.05
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.97,
+       -0.14,
+       -0.2
+      ],
+      [
+       -0.13,
+       -0.99,
+       0.07
+      ],
+      [
+       -0.2,
+       -0.04,
+       -0.98
+      ]
+     ]
+    },
+    "first visible time": 2.0
+   }
+  ]
+ },
+ "room": {
+  "floor boundary polygons": [
+   {
+    "outer boundary coordinates": [
+     [
+      -2.54,
+      -2.28
+     ],
+     [
+      1.51,
+      -2.28
+     ],
+     [
+      1.51,
+      1.77
+     ],
+     [
+      -2.54,
+      1.77
+     ]
+    ],
+    "interior hole boundary coordinates": []
+   }
+  ]
+ }
+}
\ No newline at end of file
diff --git a/data/spatial codes/ground truth/compact/scene0645_00.json b/data/spatial codes/ground truth/compact/scene0645_00.json
new file mode 100644
index 0000000000000000000000000000000000000000..fce37ba84d09aa3193379941e69f95c8daedc181
--- /dev/null
+++ b/data/spatial codes/ground truth/compact/scene0645_00.json	
@@ -0,0 +1,1524 @@
+{
+ "spatial code schema": {
+  "objects": {
+   "<object class>": [
+    {
+     "3D oriented bounding box": {
+      "3D oriented bounding box center coordinates": {
+       "components": [
+        "x",
+        "y",
+        "height above floor"
+       ],
+       "unit": "meters",
+       "description": "center of the 3D oriented bounding box in the shared room coordinate system"
+      },
+      "3D oriented bounding box dimensions": {
+       "components": [
+        "dimension 1",
+        "dimension 2",
+        "dimension 3"
+       ],
+       "unit": "meters",
+       "description": "full lengths of the 3D oriented bounding box along the corresponding orientation unit vectors"
+      },
+      "3D oriented bounding box orientation unit vectors": {
+       "components": [
+        [
+         "x",
+         "y",
+         "height"
+        ],
+        [
+         "x",
+         "y",
+         "height"
+        ],
+        [
+         "x",
+         "y",
+         "height"
+        ]
+       ],
+       "unit": null,
+       "description": "three perpendicular directions corresponding in order to the three 3D oriented bounding box dimensions"
+      }
+     },
+     "first visible time": {
+      "unit": "seconds",
+      "description": "earliest time at which this object instance is visibly observed"
+     }
+    }
+   ]
+  },
+  "room": {
+   "floor boundary polygons": [
+    {
+     "outer boundary coordinates": {
+      "components": [
+       [
+        "x",
+        "y"
+       ],
+       [
+        "x",
+        "y"
+       ]
+      ],
+      "unit": "meters",
+      "description": "ordered vertices enclosing one floor region"
+     },
+     "interior hole boundary coordinates": {
+      "components": [
+       [
+        [
+         "x",
+         "y"
+        ],
+        [
+         "x",
+         "y"
+        ]
+       ]
+      ],
+      "unit": "meters",
+      "description": "ordered boundaries enclosing regions excluded from the floor area"
+     }
+    }
+   ]
+  }
+ },
+ "objects": {
+  "bed": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -1.03,
+      -2.23,
+      1.12
+     ],
+     "3D oriented bounding box dimensions": [
+      1.73,
+      2.47,
+      1.16
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       -0.75,
+       0.63,
+       -0.19
+      ],
+      [
+       -0.65,
+       -0.67,
+       0.35
+      ],
+      [
+       0.1,
+       0.39,
+       0.92
+      ]
+     ]
+    },
+    "first visible time": 4.0
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -2.73,
+      -0.67,
+      1.25
+     ],
+     "3D oriented bounding box dimensions": [
+      1.86,
+      2.45,
+      1.09
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       -0.75,
+       0.57,
+       0.34
+      ],
+      [
+       0.52,
+       0.82,
+       -0.23
+      ],
+      [
+       -0.41,
+       0.0,
+       -0.91
+      ]
+     ]
+    },
+    "first visible time": 4.0
+   }
+  ],
+  "chair": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      1.69,
+      1.08,
+      1.04
+     ],
+     "3D oriented bounding box dimensions": [
+      0.6,
+      0.94,
+      0.62
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       -0.07,
+       -1.0,
+       0.01
+      ],
+      [
+       0.12,
+       -0.02,
+       -0.99
+      ],
+      [
+       0.99,
+       -0.07,
+       0.12
+      ]
+     ]
+    },
+    "first visible time": 7.0
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -0.87,
+      3.21,
+      1.09
+     ],
+     "3D oriented bounding box dimensions": [
+      0.77,
+      1.24,
+      0.63
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       -1.0,
+       -0.03,
+       0.02
+      ],
+      [
+       0.0,
+       -0.47,
+       -0.88
+      ],
+      [
+       0.03,
+       -0.88,
+       0.47
+      ]
+     ]
+    },
+    "first visible time": 7.0
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -2.41,
+      2.2,
+      1.1
+     ],
+     "3D oriented bounding box dimensions": [
+      1.33,
+      0.7,
+      0.84
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       -0.62,
+       0.36,
+       0.7
+      ],
+      [
+       -0.5,
+       0.5,
+       -0.71
+      ],
+      [
+       -0.6,
+       -0.79,
+       -0.13
+      ]
+     ]
+    },
+    "first visible time": 7.0
+   }
+  ],
+  "sofa": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      0.85,
+      2.45,
+      1.11
+     ],
+     "3D oriented bounding box dimensions": [
+      2.03,
+      1.05,
+      0.94
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.76,
+       -0.65,
+       0.0
+      ],
+      [
+       -0.04,
+       -0.04,
+       -1.0
+      ],
+      [
+       0.65,
+       0.76,
+       -0.05
+      ]
+     ]
+    },
+    "first visible time": 9.0
+   }
+  ],
+  "window": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -3.41,
+      2.92,
+      1.66
+     ],
+     "3D oriented bounding box dimensions": [
+      0.43,
+      0.59,
+      0.21
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.27,
+       -0.92,
+       0.29
+      ],
+      [
+       0.36,
+       -0.18,
+       -0.92
+      ],
+      [
+       0.89,
+       0.35,
+       0.28
+      ]
+     ]
+    },
+    "first visible time": 6.0
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -3.61,
+      0.16,
+      1.99
+     ],
+     "3D oriented bounding box dimensions": [
+      0.7,
+      1.92,
+      0.46
+     ],
+     "3D oriented bounding box orientation unit vectors": [
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+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      2.34,
+      1.36,
+      1.02
+     ],
+     "3D oriented bounding box dimensions": [
+      0.65,
+      0.8,
+      1.18
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       -0.65,
+       -0.76,
+       0.01
+      ],
+      [
+       0.0,
+       -0.01,
+       -1.0
+      ],
+      [
+       0.76,
+       -0.65,
+       0.0
+      ]
+     ]
+    },
+    "first visible time": 8.0
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -1.43,
+      2.94,
+      0.91
+     ],
+     "3D oriented bounding box dimensions": [
+      0.64,
+      0.49,
+      0.32
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       -0.02,
+       -0.04,
+       -1.0
+      ],
+      [
+       0.99,
+       -0.15,
+       -0.01
+      ],
+      [
+       -0.15,
+       -0.99,
+       0.04
+      ]
+     ]
+    },
+    "first visible time": 8.0
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      0.08,
+      1.43,
+      0.87
+     ],
+     "3D oriented bounding box dimensions": [
+      0.72,
+      1.25,
+      0.46
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       -0.64,
+       -0.77,
+       0.07
+      ],
+      [
+       -0.77,
+       0.63,
+       -0.13
+      ],
+      [
+       0.06,
+       -0.13,
+       -0.99
+      ]
+     ]
+    },
+    "first visible time": 8.0
+   }
+  ]
+ },
+ "room": {
+  "floor boundary polygons": [
+   {
+    "outer boundary coordinates": [
+     [
+      -2.77,
+      -3.35
+     ],
+     [
+      3.82,
+      -3.35
+     ],
+     [
+      3.82,
+      3.24
+     ],
+     [
+      -2.77,
+      3.24
+     ]
+    ],
+    "interior hole boundary coordinates": []
+   }
+  ]
+ }
+}
\ No newline at end of file
diff --git a/data/spatial codes/ground truth/compact/scene0647_00.json b/data/spatial codes/ground truth/compact/scene0647_00.json
new file mode 100644
index 0000000000000000000000000000000000000000..c275d59b5adcf8cc8e0034531acb3ffcba54b932
--- /dev/null
+++ b/data/spatial codes/ground truth/compact/scene0647_00.json	
@@ -0,0 +1,450 @@
+{
+ "spatial code schema": {
+  "objects": {
+   "<object class>": [
+    {
+     "3D oriented bounding box": {
+      "3D oriented bounding box center coordinates": {
+       "components": [
+        "x",
+        "y",
+        "height above floor"
+       ],
+       "unit": "meters",
+       "description": "center of the 3D oriented bounding box in the shared room coordinate system"
+      },
+      "3D oriented bounding box dimensions": {
+       "components": [
+        "dimension 1",
+        "dimension 2",
+        "dimension 3"
+       ],
+       "unit": "meters",
+       "description": "full lengths of the 3D oriented bounding box along the corresponding orientation unit vectors"
+      },
+      "3D oriented bounding box orientation unit vectors": {
+       "components": [
+        [
+         "x",
+         "y",
+         "height"
+        ],
+        [
+         "x",
+         "y",
+         "height"
+        ],
+        [
+         "x",
+         "y",
+         "height"
+        ]
+       ],
+       "unit": null,
+       "description": "three perpendicular directions corresponding in order to the three 3D oriented bounding box dimensions"
+      }
+     },
+     "first visible time": {
+      "unit": "seconds",
+      "description": "earliest time at which this object instance is visibly observed"
+     }
+    }
+   ]
+  },
+  "room": {
+   "floor boundary polygons": [
+    {
+     "outer boundary coordinates": {
+      "components": [
+       [
+        "x",
+        "y"
+       ],
+       [
+        "x",
+        "y"
+       ]
+      ],
+      "unit": "meters",
+      "description": "ordered vertices enclosing one floor region"
+     },
+     "interior hole boundary coordinates": {
+      "components": [
+       [
+        [
+         "x",
+         "y"
+        ],
+        [
+         "x",
+         "y"
+        ]
+       ]
+      ],
+      "unit": "meters",
+      "description": "ordered boundaries enclosing regions excluded from the floor area"
+     }
+    }
+   ]
+  }
+ },
+ "objects": {
+  "chair": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -1.67,
+      1.02,
+      0.48
+     ],
+     "3D oriented bounding box dimensions": [
+      0.55,
+      0.53,
+      0.89
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       -0.09,
+       0.99,
+       0.06
+      ],
+      [
+       -0.99,
+       -0.1,
+       0.08
+      ],
+      [
+       0.09,
+       -0.05,
+       0.99
+      ]
+     ]
+    },
+    "first visible time": null
+   }
+  ],
+  "sofa": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -3.31,
+      -0.95,
+      0.58
+     ],
+     "3D oriented bounding box dimensions": [
+      1.56,
+      0.89,
+      0.63
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       -0.69,
+       0.73,
+       0.04
+      ],
+      [
+       -0.07,
+       -0.01,
+       -1.0
+      ],
+      [
+       -0.72,
+       -0.69,
+       0.06
+      ]
+     ]
+    },
+    "first visible time": null
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -3.29,
+      -0.02,
+      0.58
+     ],
+     "3D oriented bounding box dimensions": [
+      1.6,
+      1.05,
+      0.39
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       -0.68,
+       -0.73,
+       0.05
+      ],
+      [
+       0.49,
+       -0.51,
+       -0.71
+      ],
+      [
+       0.54,
+       -0.46,
+       0.71
+      ]
+     ]
+    },
+    "first visible time": null
+   }
+  ],
+  "tv": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      1.61,
+      2.95,
+      1.61
+     ],
+     "3D oriented bounding box dimensions": [
+      1.37,
+      0.61,
+      0.24
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.65,
+       -0.76,
+       -0.09
+      ],
+      [
+       0.06,
+       -0.07,
+       1.0
+      ],
+      [
+       -0.76,
+       -0.65,
+       0.0
+      ]
+     ]
+    },
+    "first visible time": null
+   }
+  ],
+  "backpack": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -2.39,
+      0.68,
+      0.25
+     ],
+     "3D oriented bounding box dimensions": [
+      0.4,
+      0.44,
+      0.35
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.56,
+       -0.82,
+       -0.12
+      ],
+      [
+       -0.83,
+       -0.56,
+       -0.02
+      ],
+      [
+       -0.05,
+       0.11,
+       -0.99
+      ]
+     ]
+    },
+    "first visible time": null
+   }
+  ],
+  "door": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      0.45,
+      -2.51,
+      1.03
+     ],
+     "3D oriented bounding box dimensions": [
+      1.6,
+      1.05,
+      0.07
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       -0.03,
+       0.09,
+       1.0
+      ],
+      [
+       0.75,
+       0.66,
+       -0.04
+      ],
+      [
+       -0.66,
+       0.75,
+       -0.09
+      ]
+     ]
+    },
+    "first visible time": null
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -0.68,
+      2.49,
+      1.01
+     ],
+     "3D oriented bounding box dimensions": [
+      1.3,
+      1.9,
+      0.12
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.81,
+       0.58,
+       0.09
+      ],
+      [
+       0.06,
+       0.08,
+       -1.0
+      ],
+      [
+       -0.58,
+       0.81,
+       0.03
+      ]
+     ]
+    },
+    "first visible time": null
+   }
+  ],
+  "table": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      0.59,
+      2.82,
+      1.06
+     ],
+     "3D oriented bounding box dimensions": [
+      0.71,
+      0.71,
+      0.06
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.67,
+       -0.74,
+       -0.05
+      ],
+      [
+       0.74,
+       0.67,
+       0.03
+      ],
+      [
+       0.01,
+       -0.06,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": null
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -2.84,
+      -0.49,
+      0.43
+     ],
+     "3D oriented bounding box dimensions": [
+      0.88,
+      0.93,
+      0.72
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.71,
+       -0.7,
+       -0.06
+      ],
+      [
+       0.7,
+       0.71,
+       -0.04
+      ],
+      [
+       0.07,
+       -0.02,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": null
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -1.12,
+      -2.74,
+      0.8
+     ],
+     "3D oriented bounding box dimensions": [
+      0.66,
+      0.69,
+      1.06
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.88,
+       0.43,
+       0.22
+      ],
+      [
+       -0.32,
+       0.86,
+       -0.39
+      ],
+      [
+       -0.35,
+       0.27,
+       0.89
+      ]
+     ]
+    },
+    "first visible time": null
+   }
+  ]
+ },
+ "room": {
+  "floor boundary polygons": [
+   {
+    "outer boundary coordinates": [
+     [
+      -2.97,
+      -2.48
+     ],
+     [
+      2.61,
+      -2.48
+     ],
+     [
+      2.61,
+      3.1
+     ],
+     [
+      -2.97,
+      3.1
+     ]
+    ],
+    "interior hole boundary coordinates": []
+   }
+  ]
+ }
+}
\ No newline at end of file
diff --git a/data/spatial codes/ground truth/compact/scene0648_00.json b/data/spatial codes/ground truth/compact/scene0648_00.json
new file mode 100644
index 0000000000000000000000000000000000000000..0fadad33681d2fcb310ccad7ad3df1ee63aec6a5
--- /dev/null
+++ b/data/spatial codes/ground truth/compact/scene0648_00.json	
@@ -0,0 +1,814 @@
+{
+ "spatial code schema": {
+  "objects": {
+   "<object class>": [
+    {
+     "3D oriented bounding box": {
+      "3D oriented bounding box center coordinates": {
+       "components": [
+        "x",
+        "y",
+        "height above floor"
+       ],
+       "unit": "meters",
+       "description": "center of the 3D oriented bounding box in the shared room coordinate system"
+      },
+      "3D oriented bounding box dimensions": {
+       "components": [
+        "dimension 1",
+        "dimension 2",
+        "dimension 3"
+       ],
+       "unit": "meters",
+       "description": "full lengths of the 3D oriented bounding box along the corresponding orientation unit vectors"
+      },
+      "3D oriented bounding box orientation unit vectors": {
+       "components": [
+        [
+         "x",
+         "y",
+         "height"
+        ],
+        [
+         "x",
+         "y",
+         "height"
+        ],
+        [
+         "x",
+         "y",
+         "height"
+        ]
+       ],
+       "unit": null,
+       "description": "three perpendicular directions corresponding in order to the three 3D oriented bounding box dimensions"
+      }
+     },
+     "first visible time": {
+      "unit": "seconds",
+      "description": "earliest time at which this object instance is visibly observed"
+     }
+    }
+   ]
+  },
+  "room": {
+   "floor boundary polygons": [
+    {
+     "outer boundary coordinates": {
+      "components": [
+       [
+        "x",
+        "y"
+       ],
+       [
+        "x",
+        "y"
+       ]
+      ],
+      "unit": "meters",
+      "description": "ordered vertices enclosing one floor region"
+     },
+     "interior hole boundary coordinates": {
+      "components": [
+       [
+        [
+         "x",
+         "y"
+        ],
+        [
+         "x",
+         "y"
+        ]
+       ]
+      ],
+      "unit": "meters",
+      "description": "ordered boundaries enclosing regions excluded from the floor area"
+     }
+    }
+   ]
+  }
+ },
+ "objects": {
+  "bed": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -0.84,
+      1.24,
+      1.23
+     ],
+     "3D oriented bounding box dimensions": [
+      2.25,
+      0.66,
+      1.19
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       -0.92,
+       -0.4,
+       0.02
+      ],
+      [
+       -0.17,
+       0.33,
+       -0.93
+      ],
+      [
+       0.36,
+       -0.85,
+       -0.37
+      ]
+     ]
+    },
+    "first visible time": 4.0
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -0.36,
+      -0.78,
+      0.88
+     ],
+     "3D oriented bounding box dimensions": [
+      1.07,
+      2.52,
+      1.2
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.92,
+       0.39,
+       -0.02
+      ],
+      [
+       -0.39,
+       0.91,
+       -0.18
+      ],
+      [
+       -0.05,
+       0.17,
+       0.98
+      ]
+     ]
+    },
+    "first visible time": 4.0
+   }
+  ],
+  "chair": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      0.93,
+      -0.54,
+      0.47
+     ],
+     "3D oriented bounding box dimensions": [
+      0.79,
+      0.74,
+      0.74
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       -0.03,
+       -0.02,
+       1.0
+      ],
+      [
+       0.4,
+       -0.91,
+       0.0
+      ],
+      [
+       0.91,
+       0.4,
+       0.04
+      ]
+     ]
+    },
+    "first visible time": 3.0
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -0.72,
+      0.6,
+      0.5
+     ],
+     "3D oriented bounding box dimensions": [
+      0.42,
+      0.87,
+      0.53
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.79,
+       -0.6,
+       0.13
+      ],
+      [
+       0.12,
+       -0.06,
+       -0.99
+      ],
+      [
+       0.6,
+       0.8,
+       0.03
+      ]
+     ]
+    },
+    "first visible time": 3.0
+   }
+  ],
+  "window": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -1.89,
+      -0.01,
+      1.58
+     ],
+     "3D oriented bounding box dimensions": [
+      1.37,
+      1.37,
+      0.6
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       -0.41,
+       0.91,
+       -0.01
+      ],
+      [
+       0.02,
+       0.02,
+       1.0
+      ],
+      [
+       0.91,
+       0.41,
+       -0.02
+      ]
+     ]
+    },
+    "first visible time": null
+   }
+  ],
+  "bookshelf": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      0.32,
+      1.7,
+      1.5
+     ],
+     "3D oriented bounding box dimensions": [
+      1.14,
+      0.82,
+      0.39
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.05,
+       0.02,
+       -1.0
+      ],
+      [
+       -0.4,
+       0.92,
+       0.0
+      ],
+      [
+       0.92,
+       0.4,
+       0.06
+      ]
+     ]
+    },
+    "first visible time": 7.0
+   }
+  ],
+  "pillow": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -1.59,
+      0.96,
+      1.37
+     ],
+     "3D oriented bounding box dimensions": [
+      0.73,
+      0.13,
+      0.43
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.32,
+       -0.94,
+       -0.09
+      ],
+      [
+       0.6,
+       0.13,
+       0.79
+      ],
+      [
+       -0.73,
+       -0.31,
+       0.61
+      ]
+     ]
+    },
+    "first visible time": 1.0
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -0.22,
+      -1.19,
+      1.42
+     ],
+     "3D oriented bounding box dimensions": [
+      0.46,
+      0.5,
+      0.14
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       -0.23,
+       0.44,
+       -0.87
+      ],
+      [
+       0.95,
+       0.28,
+       -0.11
+      ],
+      [
+       0.19,
+       -0.85,
+       -0.48
+      ]
+     ]
+    },
+    "first visible time": 1.0
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      0.11,
+      -1.28,
+      1.45
+     ],
+     "3D oriented bounding box dimensions": [
+      0.62,
+      0.4,
+      0.2
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.32,
+       0.71,
+       -0.62
+      ],
+      [
+       0.92,
+       -0.39,
+       0.02
+      ],
+      [
+       -0.23,
+       -0.58,
+       -0.78
+      ]
+     ]
+    },
+    "first visible time": 1.0
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      0.24,
+      -1.38,
+      1.35
+     ],
+     "3D oriented bounding box dimensions": [
+      0.17,
+      0.42,
+      0.12
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       -0.55,
+       0.52,
+       0.65
+      ],
+      [
+       -0.03,
+       0.77,
+       -0.64
+      ],
+      [
+       -0.83,
+       -0.37,
+       -0.41
+      ]
+     ]
+    },
+    "first visible time": 1.0
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      0.29,
+      -1.54,
+      1.28
+     ],
+     "3D oriented bounding box dimensions": [
+      0.3,
+      0.16,
+      0.11
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       -0.1,
+       -0.8,
+       0.59
+      ],
+      [
+       0.9,
+       -0.33,
+       -0.28
+      ],
+      [
+       0.42,
+       0.51,
+       0.75
+      ]
+     ]
+    },
+    "first visible time": 1.0
+   }
+  ],
+  "lamp": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -1.43,
+      0.67,
+      1.39
+     ],
+     "3D oriented bounding box dimensions": [
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+      0.18,
+      0.12
+     ],
+     "3D oriented bounding box orientation unit vectors": [
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+       -0.83,
+       -0.47,
+       -0.28
+      ],
+      [
+       0.21,
+       0.19,
+       -0.96
+      ],
+      [
+       0.51,
+       -0.86,
+       -0.06
+      ]
+     ]
+    },
+    "first visible time": 2.0
+   }
+  ],
+  "plant": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      0.82,
+      -1.14,
+      1.71
+     ],
+     "3D oriented bounding box dimensions": [
+      0.2,
+      0.29,
+      0.22
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       -0.09,
+       0.96,
+       -0.25
+      ],
+      [
+       0.18,
+       0.26,
+       0.95
+      ],
+      [
+       0.98,
+       0.04,
+       -0.2
+      ]
+     ]
+    },
+    "first visible time": null
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      1.34,
+      -0.94,
+      1.68
+     ],
+     "3D oriented bounding box dimensions": [
+      0.28,
+      0.16,
+      0.14
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.12,
+       0.05,
+       -0.99
+      ],
+      [
+       -0.5,
+       -0.86,
+       -0.1
+      ],
+      [
+       -0.86,
+       0.51,
+       -0.07
+      ]
+     ]
+    },
+    "first visible time": null
+   }
+  ],
+  "backpack": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      0.43,
+      -0.73,
+      0.3
+     ],
+     "3D oriented bounding box dimensions": [
+      0.49,
+      0.4,
+      0.29
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.15,
+       0.01,
+       0.99
+      ],
+      [
+       -0.93,
+       -0.33,
+       0.15
+      ],
+      [
+       0.33,
+       -0.94,
+       -0.04
+      ]
+     ]
+    },
+    "first visible time": null
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -0.11,
+      0.94,
+      0.3
+     ],
+     "3D oriented bounding box dimensions": [
+      0.49,
+      0.36,
+      0.3
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       -0.25,
+       0.15,
+       0.96
+      ],
+      [
+       -0.84,
+       -0.53,
+       -0.14
+      ],
+      [
+       0.49,
+       -0.84,
+       0.26
+      ]
+     ]
+    },
+    "first visible time": null
+   }
+  ],
+  "closet": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      1.74,
+      -0.61,
+      1.17
+     ],
+     "3D oriented bounding box dimensions": [
+      2.17,
+      0.94,
+      0.43
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       -0.01,
+       0.02,
+       1.0
+      ],
+      [
+       -0.46,
+       0.89,
+       -0.03
+      ],
+      [
+       -0.89,
+       -0.46,
+       0.0
+      ]
+     ]
+    },
+    "first visible time": null
+   }
+  ],
+  "fan": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      0.22,
+      -0.48,
+      0.66
+     ],
+     "3D oriented bounding box dimensions": [
+      1.16,
+      0.47,
+      0.16
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.02,
+       0.04,
+       -1.0
+      ],
+      [
+       -0.18,
+       0.98,
+       0.04
+      ],
+      [
+       0.98,
+       0.18,
+       0.03
+      ]
+     ]
+    },
+    "first visible time": 5.0
+   }
+  ],
+  "door": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      1.76,
+      0.37,
+      0.52
+     ],
+     "3D oriented bounding box dimensions": [
+      0.7,
+      0.81,
+      0.2
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       -0.37,
+       0.93,
+       0.0
+      ],
+      [
+       -0.2,
+       -0.08,
+       0.98
+      ],
+      [
+       0.91,
+       0.36,
+       0.22
+      ]
+     ]
+    },
+    "first visible time": 6.0
+   }
+  ],
+  "table": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      0.98,
+      -0.99,
+      0.88
+     ],
+     "3D oriented bounding box dimensions": [
+      1.25,
+      1.56,
+      0.73
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.92,
+       0.38,
+       0.0
+      ],
+      [
+       0.02,
+       -0.05,
+       -1.0
+      ],
+      [
+       -0.38,
+       0.92,
+       -0.06
+      ]
+     ]
+    },
+    "first visible time": 0.0
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -1.26,
+      0.58,
+      0.48
+     ],
+     "3D oriented bounding box dimensions": [
+      1.11,
+      0.73,
+      0.77
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       -0.33,
+       0.94,
+       0.04
+      ],
+      [
+       -0.94,
+       -0.33,
+       0.04
+      ],
+      [
+       0.05,
+       -0.03,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 0.0
+   }
+  ]
+ },
+ "room": {
+  "floor boundary polygons": [
+   {
+    "outer boundary coordinates": [
+     [
+      -1.81,
+      -1.53
+     ],
+     [
+      1.55,
+      -1.53
+     ],
+     [
+      1.55,
+      1.82
+     ],
+     [
+      -1.81,
+      1.82
+     ]
+    ],
+    "interior hole boundary coordinates": []
+   }
+  ]
+ }
+}
\ No newline at end of file
diff --git a/data/spatial codes/ground truth/compact/scene0651_02.json b/data/spatial codes/ground truth/compact/scene0651_02.json
new file mode 100644
index 0000000000000000000000000000000000000000..3b647a5c31aa31d2747be925e0bb5037af3208b2
--- /dev/null
+++ b/data/spatial codes/ground truth/compact/scene0651_02.json	
@@ -0,0 +1,450 @@
+{
+ "spatial code schema": {
+  "objects": {
+   "<object class>": [
+    {
+     "3D oriented bounding box": {
+      "3D oriented bounding box center coordinates": {
+       "components": [
+        "x",
+        "y",
+        "height above floor"
+       ],
+       "unit": "meters",
+       "description": "center of the 3D oriented bounding box in the shared room coordinate system"
+      },
+      "3D oriented bounding box dimensions": {
+       "components": [
+        "dimension 1",
+        "dimension 2",
+        "dimension 3"
+       ],
+       "unit": "meters",
+       "description": "full lengths of the 3D oriented bounding box along the corresponding orientation unit vectors"
+      },
+      "3D oriented bounding box orientation unit vectors": {
+       "components": [
+        [
+         "x",
+         "y",
+         "height"
+        ],
+        [
+         "x",
+         "y",
+         "height"
+        ],
+        [
+         "x",
+         "y",
+         "height"
+        ]
+       ],
+       "unit": null,
+       "description": "three perpendicular directions corresponding in order to the three 3D oriented bounding box dimensions"
+      }
+     },
+     "first visible time": {
+      "unit": "seconds",
+      "description": "earliest time at which this object instance is visibly observed"
+     }
+    }
+   ]
+  },
+  "room": {
+   "floor boundary polygons": [
+    {
+     "outer boundary coordinates": {
+      "components": [
+       [
+        "x",
+        "y"
+       ],
+       [
+        "x",
+        "y"
+       ]
+      ],
+      "unit": "meters",
+      "description": "ordered vertices enclosing one floor region"
+     },
+     "interior hole boundary coordinates": {
+      "components": [
+       [
+        [
+         "x",
+         "y"
+        ],
+        [
+         "x",
+         "y"
+        ]
+       ]
+      ],
+      "unit": "meters",
+      "description": "ordered boundaries enclosing regions excluded from the floor area"
+     }
+    }
+   ]
+  }
+ },
+ "objects": {
+  "chair": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      0.87,
+      -0.73,
+      0.49
+     ],
+     "3D oriented bounding box dimensions": [
+      0.87,
+      0.61,
+      0.75
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.06,
+       -0.06,
+       -1.0
+      ],
+      [
+       0.44,
+       -0.9,
+       0.08
+      ],
+      [
+       -0.9,
+       -0.44,
+       -0.03
+      ]
+     ]
+    },
+    "first visible time": null
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -0.11,
+      -1.47,
+      0.51
+     ],
+     "3D oriented bounding box dimensions": [
+      0.66,
+      0.87,
+      0.61
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       -0.45,
+       0.89,
+       -0.01
+      ],
+      [
+       0.01,
+       -0.01,
+       -1.0
+      ],
+      [
+       -0.89,
+       -0.45,
+       0.0
+      ]
+     ]
+    },
+    "first visible time": null
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      0.07,
+      -0.74,
+      0.5
+     ],
+     "3D oriented bounding box dimensions": [
+      0.9,
+      0.63,
+      0.52
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       -0.03,
+       0.08,
+       1.0
+      ],
+      [
+       -0.47,
+       0.88,
+       -0.08
+      ],
+      [
+       -0.88,
+       -0.47,
+       0.01
+      ]
+     ]
+    },
+    "first visible time": null
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      0.51,
+      -1.53,
+      0.55
+     ],
+     "3D oriented bounding box dimensions": [
+      0.58,
+      0.63,
+      0.84
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       -0.81,
+       -0.58,
+       0.01
+      ],
+      [
+       0.57,
+       -0.81,
+       -0.16
+      ],
+      [
+       0.1,
+       -0.12,
+       0.99
+      ]
+     ]
+    },
+    "first visible time": null
+   }
+  ],
+  "sofa": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -0.04,
+      -3.1,
+      0.59
+     ],
+     "3D oriented bounding box dimensions": [
+      1.18,
+      1.39,
+      0.45
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.52,
+       -0.75,
+       0.4
+      ],
+      [
+       -0.82,
+       -0.57,
+       -0.01
+      ],
+      [
+       0.24,
+       -0.33,
+       -0.91
+      ]
+     ]
+    },
+    "first visible time": null
+   }
+  ],
+  "counter": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -0.75,
+      2.2,
+      1.04
+     ],
+     "3D oriented bounding box dimensions": [
+      2.21,
+      1.77,
+      0.24
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       -0.9,
+       -0.44,
+       -0.05
+      ],
+      [
+       0.44,
+       -0.9,
+       -0.01
+      ],
+      [
+       -0.04,
+       -0.03,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": null
+   }
+  ],
+  "refrigerator": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      0.36,
+      1.42,
+      0.89
+     ],
+     "3D oriented bounding box dimensions": [
+      1.55,
+      0.74,
+      0.69
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       -0.01,
+       0.04,
+       1.0
+      ],
+      [
+       0.88,
+       0.47,
+       -0.01
+      ],
+      [
+       -0.47,
+       0.88,
+       -0.04
+      ]
+     ]
+    },
+    "first visible time": null
+   }
+  ],
+  "trash bin": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -1.61,
+      1.26,
+      0.18
+     ],
+     "3D oriented bounding box dimensions": [
+      0.29,
+      0.43,
+      0.33
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.89,
+       0.45,
+       0.0
+      ],
+      [
+       -0.45,
+       0.89,
+       0.08
+      ],
+      [
+       0.03,
+       -0.07,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": null
+   }
+  ],
+  "table": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -0.81,
+      -2.28,
+      0.28
+     ],
+     "3D oriented bounding box dimensions": [
+      0.7,
+      0.57,
+      0.39
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       -0.87,
+       -0.5,
+       0.02
+      ],
+      [
+       0.5,
+       -0.87,
+       0.02
+      ],
+      [
+       0.01,
+       0.03,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": null
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      0.3,
+      -1.11,
+      0.45
+     ],
+     "3D oriented bounding box dimensions": [
+      0.92,
+      0.76,
+      0.96
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.87,
+       0.5,
+       0.0
+      ],
+      [
+       0.0,
+       -0.01,
+       -1.0
+      ],
+      [
+       -0.5,
+       0.87,
+       -0.01
+      ]
+     ]
+    },
+    "first visible time": null
+   }
+  ]
+ },
+ "room": {
+  "floor boundary polygons": [
+   {
+    "outer boundary coordinates": [
+     [
+      -1.95,
+      -2.14
+     ],
+     [
+      2.04,
+      -2.14
+     ],
+     [
+      2.04,
+      1.85
+     ],
+     [
+      -1.95,
+      1.85
+     ]
+    ],
+    "interior hole boundary coordinates": []
+   }
+  ]
+ }
+}
\ No newline at end of file
diff --git a/data/spatial codes/ground truth/compact/scene0653_00.json b/data/spatial codes/ground truth/compact/scene0653_00.json
new file mode 100644
index 0000000000000000000000000000000000000000..8b9ac3dc220ee3584a99a1e673d45c5421a05e53
--- /dev/null
+++ b/data/spatial codes/ground truth/compact/scene0653_00.json	
@@ -0,0 +1,1128 @@
+{
+ "spatial code schema": {
+  "objects": {
+   "<object class>": [
+    {
+     "3D oriented bounding box": {
+      "3D oriented bounding box center coordinates": {
+       "components": [
+        "x",
+        "y",
+        "height above floor"
+       ],
+       "unit": "meters",
+       "description": "center of the 3D oriented bounding box in the shared room coordinate system"
+      },
+      "3D oriented bounding box dimensions": {
+       "components": [
+        "dimension 1",
+        "dimension 2",
+        "dimension 3"
+       ],
+       "unit": "meters",
+       "description": "full lengths of the 3D oriented bounding box along the corresponding orientation unit vectors"
+      },
+      "3D oriented bounding box orientation unit vectors": {
+       "components": [
+        [
+         "x",
+         "y",
+         "height"
+        ],
+        [
+         "x",
+         "y",
+         "height"
+        ],
+        [
+         "x",
+         "y",
+         "height"
+        ]
+       ],
+       "unit": null,
+       "description": "three perpendicular directions corresponding in order to the three 3D oriented bounding box dimensions"
+      }
+     },
+     "first visible time": {
+      "unit": "seconds",
+      "description": "earliest time at which this object instance is visibly observed"
+     }
+    }
+   ]
+  },
+  "room": {
+   "floor boundary polygons": [
+    {
+     "outer boundary coordinates": {
+      "components": [
+       [
+        "x",
+        "y"
+       ],
+       [
+        "x",
+        "y"
+       ]
+      ],
+      "unit": "meters",
+      "description": "ordered vertices enclosing one floor region"
+     },
+     "interior hole boundary coordinates": {
+      "components": [
+       [
+        [
+         "x",
+         "y"
+        ],
+        [
+         "x",
+         "y"
+        ]
+       ]
+      ],
+      "unit": "meters",
+      "description": "ordered boundaries enclosing regions excluded from the floor area"
+     }
+    }
+   ]
+  }
+ },
+ "objects": {
+  "chair": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -1.43,
+      -1.28,
+      0.8
+     ],
+     "3D oriented bounding box dimensions": [
+      1.09,
+      0.68,
+      0.53
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       -0.05,
+       0.07,
+       1.0
+      ],
+      [
+       -0.18,
+       -0.98,
+       0.06
+      ],
+      [
+       0.98,
+       -0.18,
+       0.06
+      ]
+     ]
+    },
+    "first visible time": 3.0
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      2.04,
+      -1.08,
+      0.73
+     ],
+     "3D oriented bounding box dimensions": [
+      0.59,
+      0.63,
+      1.0
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       -0.3,
+       -0.95,
+       0.13
+      ],
+      [
+       -0.95,
+       0.28,
+       -0.13
+      ],
+      [
+       0.08,
+       -0.16,
+       -0.98
+      ]
+     ]
+    },
+    "first visible time": 3.0
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -1.07,
+      2.11,
+      0.69
+     ],
+     "3D oriented bounding box dimensions": [
+      0.56,
+      0.88,
+      0.64
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       -0.98,
+       -0.19,
+       0.1
+      ],
+      [
+       -0.12,
+       0.13,
+       -0.98
+      ],
+      [
+       0.18,
+       -0.97,
+       -0.15
+      ]
+     ]
+    },
+    "first visible time": 3.0
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -1.5,
+      0.73,
+      0.63
+     ],
+     "3D oriented bounding box dimensions": [
+      0.68,
+      0.45,
+      1.02
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       -0.37,
+       0.93,
+       0.03
+      ],
+      [
+       -0.92,
+       -0.36,
+       -0.13
+      ],
+      [
+       -0.11,
+       -0.07,
+       0.99
+      ]
+     ]
+    },
+    "first visible time": 3.0
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -0.09,
+      -2.4,
+      0.76
+     ],
+     "3D oriented bounding box dimensions": [
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+     "3D oriented bounding box orientation unit vectors": [
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+    "first visible time": 3.0
+   },
+   {
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+     "3D oriented bounding box orientation unit vectors": [
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+       1.0
+      ]
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+    },
+    "first visible time": 3.0
+   },
+   {
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+     ],
+     "3D oriented bounding box dimensions": [
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+     ],
+     "3D oriented bounding box orientation unit vectors": [
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+       -0.08,
+       -0.99
+      ]
+     ]
+    },
+    "first visible time": 3.0
+   },
+   {
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+     "3D oriented bounding box center coordinates": [
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+      0.64,
+      0.63
+     ],
+     "3D oriented bounding box dimensions": [
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+     "3D oriented bounding box orientation unit vectors": [
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+       0.95,
+       -0.04
+      ],
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+       -0.21,
+       -0.82
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+       -0.23,
+       0.57
+      ]
+     ]
+    },
+    "first visible time": 3.0
+   }
+  ],
+  "window": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
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+      1.19,
+      2.0
+     ],
+     "3D oriented bounding box dimensions": [
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+      2.12,
+      0.51
+     ],
+     "3D oriented bounding box orientation unit vectors": [
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+       -0.08,
+       -0.99
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+       0.98,
+       -0.07
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+       0.16,
+       -0.09
+      ]
+     ]
+    },
+    "first visible time": 7.0
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
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+      -1.65,
+      2.19
+     ],
+     "3D oriented bounding box dimensions": [
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+      2.26,
+      2.24
+     ],
+     "3D oriented bounding box orientation unit vectors": [
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+       -0.13,
+       -0.02
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+      ],
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+       0.99,
+       -0.04
+      ]
+     ]
+    },
+    "first visible time": 7.0
+   }
+  ],
+  "monitor": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
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+      1.91,
+      1.17
+     ],
+     "3D oriented bounding box dimensions": [
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+      0.64,
+      0.3
+     ],
+     "3D oriented bounding box orientation unit vectors": [
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+       -0.01,
+       1.0
+      ],
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+       0.86,
+       0.02
+      ],
+      [
+       -0.86,
+       -0.51,
+       0.02
+      ]
+     ]
+    },
+    "first visible time": 1.0
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -1.34,
+      -0.32,
+      1.21
+     ],
+     "3D oriented bounding box dimensions": [
+      0.58,
+      0.33,
+      0.14
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
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+       0.11,
+       0.95
+      ],
+      [
+       -0.96,
+       0.02,
+       0.28
+      ],
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+       0.01,
+       -0.99,
+       0.11
+      ]
+     ]
+    },
+    "first visible time": 1.0
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
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+      -1.02,
+      1.26
+     ],
+     "3D oriented bounding box dimensions": [
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+      0.45,
+      0.1
+     ],
+     "3D oriented bounding box orientation unit vectors": [
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+       0.83,
+       -0.11
+      ],
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+       -0.03,
+       -0.99
+      ],
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+       0.56,
+       0.11
+      ]
+     ]
+    },
+    "first visible time": 1.0
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      2.03,
+      -2.18,
+      1.27
+     ],
+     "3D oriented bounding box dimensions": [
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+      0.2,
+      0.46
+     ],
+     "3D oriented bounding box orientation unit vectors": [
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+       0.98,
+       0.19,
+       0.06
+      ],
+      [
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+       0.95,
+       -0.25
+      ],
+      [
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+       0.24,
+       0.97
+      ]
+     ]
+    },
+    "first visible time": 1.0
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      2.45,
+      -2.04,
+      1.3
+     ],
+     "3D oriented bounding box dimensions": [
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+      0.5,
+      0.18
+     ],
+     "3D oriented bounding box orientation unit vectors": [
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+       -0.7,
+       0.08
+      ],
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+       -0.25,
+       -0.96
+      ],
+      [
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+       -0.67,
+       0.27
+      ]
+     ]
+    },
+    "first visible time": 1.0
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      1.88,
+      0.11,
+      1.09
+     ],
+     "3D oriented bounding box dimensions": [
+      0.59,
+      0.39,
+      0.07
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       -0.97,
+       -0.22,
+       -0.11
+      ],
+      [
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+       -0.11,
+       -0.98
+      ],
+      [
+       0.2,
+       -0.97,
+       0.14
+      ]
+     ]
+    },
+    "first visible time": 1.0
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      1.32,
+      1.56,
+      1.09
+     ],
+     "3D oriented bounding box dimensions": [
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+      0.65,
+      0.5
+     ],
+     "3D oriented bounding box orientation unit vectors": [
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+       1.0,
+       0.05
+      ],
+      [
+       1.0,
+       -0.02,
+       -0.07
+      ],
+      [
+       -0.07,
+       0.05,
+       -1.0
+      ]
+     ]
+    },
+    "first visible time": 1.0
+   }
+  ],
+  "keyboard": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -1.35,
+      -0.95,
+      0.97
+     ],
+     "3D oriented bounding box dimensions": [
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+      0.05,
+      0.16
+     ],
+     "3D oriented bounding box orientation unit vectors": [
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+       -0.62,
+       0.0
+      ],
+      [
+       0.07,
+       0.08,
+       0.99
+      ],
+      [
+       -0.62,
+       -0.78,
+       0.1
+      ]
+     ]
+    },
+    "first visible time": 2.0
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      1.9,
+      -1.76,
+      1.0
+     ],
+     "3D oriented bounding box dimensions": [
+      0.41,
+      0.28,
+      0.04
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       -1.0,
+       0.02,
+       -0.05
+      ],
+      [
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+       -0.98,
+       0.17
+      ],
+      [
+       -0.04,
+       0.17,
+       0.98
+      ]
+     ]
+    },
+    "first visible time": 2.0
+   }
+  ],
+  "backpack": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
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+      1.48,
+      0.29
+     ],
+     "3D oriented bounding box dimensions": [
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+      0.35,
+      0.37
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       -0.15,
+       0.04,
+       0.99
+      ],
+      [
+       0.3,
+       -0.95,
+       0.08
+      ],
+      [
+       0.94,
+       0.31,
+       0.13
+      ]
+     ]
+    },
+    "first visible time": 4.0
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      0.92,
+      0.28,
+      0.33
+     ],
+     "3D oriented bounding box dimensions": [
+      0.43,
+      0.41,
+      0.3
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.07,
+       0.08,
+       0.99
+      ],
+      [
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+       -0.9,
+       0.05
+      ],
+      [
+       0.9,
+       0.43,
+       -0.1
+      ]
+     ]
+    },
+    "first visible time": 4.0
+   }
+  ],
+  "clock": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -1.85,
+      -0.14,
+      2.46
+     ],
+     "3D oriented bounding box dimensions": [
+      0.36,
+      0.36,
+      0.06
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       -0.06,
+       -0.51,
+       -0.86
+      ],
+      [
+       0.06,
+       -0.86,
+       0.51
+      ],
+      [
+       -1.0,
+       -0.02,
+       0.08
+      ]
+     ]
+    },
+    "first visible time": 8.0
+   }
+  ],
+  "trash bin": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      0.15,
+      2.71,
+      0.44
+     ],
+     "3D oriented bounding box dimensions": [
+      0.53,
+      0.31,
+      0.41
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.23,
+       -0.07,
+       0.97
+      ],
+      [
+       -0.96,
+       -0.15,
+       0.22
+      ],
+      [
+       0.13,
+       -0.99,
+       -0.1
+      ]
+     ]
+    },
+    "first visible time": 5.0
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -0.13,
+      2.7,
+      0.42
+     ],
+     "3D oriented bounding box dimensions": [
+      0.51,
+      0.4,
+      0.36
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       -0.07,
+       -0.12,
+       0.99
+      ],
+      [
+       -0.1,
+       0.99,
+       0.11
+      ],
+      [
+       -0.99,
+       -0.1,
+       -0.08
+      ]
+     ]
+    },
+    "first visible time": 5.0
+   }
+  ],
+  "door": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      2.19,
+      2.54,
+      2.02
+     ],
+     "3D oriented bounding box dimensions": [
+      0.38,
+      1.01,
+      0.14
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.15,
+       -0.55,
+       0.82
+      ],
+      [
+       -0.02,
+       0.83,
+       0.56
+      ],
+      [
+       -0.99,
+       -0.1,
+       0.11
+      ]
+     ]
+    },
+    "first visible time": 6.0
+   }
+  ],
+  "table": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -2.0,
+      1.84,
+      0.6
+     ],
+     "3D oriented bounding box dimensions": [
+      0.81,
+      0.84,
+      1.5
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.96,
+       0.17,
+       -0.21
+      ],
+      [
+       0.21,
+       0.03,
+       0.98
+      ],
+      [
+       0.17,
+       -0.99,
+       0.0
+      ]
+     ]
+    },
+    "first visible time": 0.0
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -1.17,
+      -0.85,
+      0.6
+     ],
+     "3D oriented bounding box dimensions": [
+      0.74,
+      1.52,
+      0.72
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.13,
+       -0.99,
+       0.08
+      ],
+      [
+       -0.99,
+       -0.12,
+       0.09
+      ],
+      [
+       -0.08,
+       -0.09,
+       -0.99
+      ]
+     ]
+    },
+    "first visible time": 0.0
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      1.92,
+      -0.08,
+      0.58
+     ],
+     "3D oriented bounding box dimensions": [
+      0.67,
+      0.71,
+      1.48
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       -0.16,
+       0.99,
+       -0.02
+      ],
+      [
+       0.13,
+       0.0,
+       -0.99
+      ],
+      [
+       -0.98,
+       -0.16,
+       -0.13
+      ]
+     ]
+    },
+    "first visible time": 0.0
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -1.24,
+      -0.24,
+      0.55
+     ],
+     "3D oriented bounding box dimensions": [
+      1.53,
+      0.86,
+      0.62
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.99,
+       0.11,
+       -0.07
+      ],
+      [
+       -0.04,
+       -0.29,
+       -0.96
+      ],
+      [
+       -0.13,
+       0.95,
+       -0.28
+      ]
+     ]
+    },
+    "first visible time": 0.0
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      2.18,
+      -2.26,
+      0.72
+     ],
+     "3D oriented bounding box dimensions": [
+      0.82,
+      0.75,
+      1.55
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       -0.17,
+       0.98,
+       -0.13
+      ],
+      [
+       0.08,
+       -0.12,
+       -0.99
+      ],
+      [
+       -0.98,
+       -0.18,
+       -0.06
+      ]
+     ]
+    },
+    "first visible time": 0.0
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      1.62,
+      1.5,
+      0.7
+     ],
+     "3D oriented bounding box dimensions": [
+      0.75,
+      1.6,
+      0.72
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       -0.11,
+       0.99,
+       0.02
+      ],
+      [
+       0.94,
+       0.1,
+       0.31
+      ],
+      [
+       0.31,
+       0.05,
+       -0.95
+      ]
+     ]
+    },
+    "first visible time": 0.0
+   }
+  ]
+ },
+ "room": {
+  "floor boundary polygons": [
+   {
+    "outer boundary coordinates": [
+     [
+      -2.42,
+      -2.61
+     ],
+     [
+      2.78,
+      -2.61
+     ],
+     [
+      2.78,
+      2.58
+     ],
+     [
+      -2.42,
+      2.58
+     ]
+    ],
+    "interior hole boundary coordinates": []
+   }
+  ]
+ }
+}
\ No newline at end of file
diff --git a/data/spatial codes/ground truth/compact/scene0658_00.json b/data/spatial codes/ground truth/compact/scene0658_00.json
new file mode 100644
index 0000000000000000000000000000000000000000..712b8e2733c077dd0bca0b618f9871214c629497
--- /dev/null
+++ b/data/spatial codes/ground truth/compact/scene0658_00.json	
@@ -0,0 +1,322 @@
+{
+ "spatial code schema": {
+  "objects": {
+   "<object class>": [
+    {
+     "3D oriented bounding box": {
+      "3D oriented bounding box center coordinates": {
+       "components": [
+        "x",
+        "y",
+        "height above floor"
+       ],
+       "unit": "meters",
+       "description": "center of the 3D oriented bounding box in the shared room coordinate system"
+      },
+      "3D oriented bounding box dimensions": {
+       "components": [
+        "dimension 1",
+        "dimension 2",
+        "dimension 3"
+       ],
+       "unit": "meters",
+       "description": "full lengths of the 3D oriented bounding box along the corresponding orientation unit vectors"
+      },
+      "3D oriented bounding box orientation unit vectors": {
+       "components": [
+        [
+         "x",
+         "y",
+         "height"
+        ],
+        [
+         "x",
+         "y",
+         "height"
+        ],
+        [
+         "x",
+         "y",
+         "height"
+        ]
+       ],
+       "unit": null,
+       "description": "three perpendicular directions corresponding in order to the three 3D oriented bounding box dimensions"
+      }
+     },
+     "first visible time": {
+      "unit": "seconds",
+      "description": "earliest time at which this object instance is visibly observed"
+     }
+    }
+   ]
+  },
+  "room": {
+   "floor boundary polygons": [
+    {
+     "outer boundary coordinates": {
+      "components": [
+       [
+        "x",
+        "y"
+       ],
+       [
+        "x",
+        "y"
+       ]
+      ],
+      "unit": "meters",
+      "description": "ordered vertices enclosing one floor region"
+     },
+     "interior hole boundary coordinates": {
+      "components": [
+       [
+        [
+         "x",
+         "y"
+        ],
+        [
+         "x",
+         "y"
+        ]
+       ]
+      ],
+      "unit": "meters",
+      "description": "ordered boundaries enclosing regions excluded from the floor area"
+     }
+    }
+   ]
+  }
+ },
+ "objects": {
+  "bed": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      0.68,
+      -1.22,
+      0.67
+     ],
+     "3D oriented bounding box dimensions": [
+      2.38,
+      1.06,
+      1.7
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.96,
+       -0.26,
+       0.12
+      ],
+      [
+       0.11,
+       -0.03,
+       -0.99
+      ],
+      [
+       0.26,
+       0.96,
+       0.0
+      ]
+     ]
+    },
+    "first visible time": null
+   }
+  ],
+  "chair": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      1.51,
+      0.41,
+      0.71
+     ],
+     "3D oriented bounding box dimensions": [
+      1.07,
+      0.62,
+      0.61
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       -0.36,
+       0.02,
+       0.93
+      ],
+      [
+       0.91,
+       0.21,
+       0.34
+      ],
+      [
+       -0.19,
+       0.98,
+       -0.1
+      ]
+     ]
+    },
+    "first visible time": null
+   }
+  ],
+  "window": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      2.12,
+      -0.55,
+      1.38
+     ],
+     "3D oriented bounding box dimensions": [
+      2.14,
+      1.31,
+      0.41
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       -0.33,
+       -0.92,
+       0.2
+      ],
+      [
+       0.13,
+       0.16,
+       0.98
+      ],
+      [
+       -0.93,
+       0.35,
+       0.07
+      ]
+     ]
+    },
+    "first visible time": null
+   }
+  ],
+  "lamp": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      2.09,
+      0.75,
+      1.42
+     ],
+     "3D oriented bounding box dimensions": [
+      0.35,
+      0.42,
+      0.22
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.9,
+       0.43,
+       0.05
+      ],
+      [
+       0.43,
+       -0.89,
+       -0.14
+      ],
+      [
+       -0.01,
+       0.14,
+       -0.99
+      ]
+     ]
+    },
+    "first visible time": null
+   }
+  ],
+  "trash bin": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      1.21,
+      0.82,
+      0.39
+     ],
+     "3D oriented bounding box dimensions": [
+      0.39,
+      0.44,
+      0.34
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       -0.97,
+       0.23,
+       -0.01
+      ],
+      [
+       -0.23,
+       -0.97,
+       -0.02
+      ],
+      [
+       -0.02,
+       -0.02,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": null
+   }
+  ],
+  "table": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      1.57,
+      0.63,
+      0.61
+     ],
+     "3D oriented bounding box dimensions": [
+      0.81,
+      1.51,
+      0.73
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       -0.02,
+       -0.03,
+       -1.0
+      ],
+      [
+       0.77,
+       -0.63,
+       0.0
+      ],
+      [
+       -0.63,
+       -0.77,
+       0.03
+      ]
+     ]
+    },
+    "first visible time": null
+   }
+  ]
+ },
+ "room": {
+  "floor boundary polygons": [
+   {
+    "outer boundary coordinates": [
+     [
+      -1.73,
+      -2.01
+     ],
+     [
+      2.11,
+      -2.01
+     ],
+     [
+      2.11,
+      1.83
+     ],
+     [
+      -1.73,
+      1.83
+     ]
+    ],
+    "interior hole boundary coordinates": []
+   }
+  ]
+ }
+}
\ No newline at end of file
diff --git a/data/spatial codes/ground truth/compact/scene0663_00.json b/data/spatial codes/ground truth/compact/scene0663_00.json
new file mode 100644
index 0000000000000000000000000000000000000000..4b0add2f7d12064d5c0f53838cd9e5a1216f53bc
--- /dev/null
+++ b/data/spatial codes/ground truth/compact/scene0663_00.json	
@@ -0,0 +1,744 @@
+{
+ "spatial code schema": {
+  "objects": {
+   "<object class>": [
+    {
+     "3D oriented bounding box": {
+      "3D oriented bounding box center coordinates": {
+       "components": [
+        "x",
+        "y",
+        "height above floor"
+       ],
+       "unit": "meters",
+       "description": "center of the 3D oriented bounding box in the shared room coordinate system"
+      },
+      "3D oriented bounding box dimensions": {
+       "components": [
+        "dimension 1",
+        "dimension 2",
+        "dimension 3"
+       ],
+       "unit": "meters",
+       "description": "full lengths of the 3D oriented bounding box along the corresponding orientation unit vectors"
+      },
+      "3D oriented bounding box orientation unit vectors": {
+       "components": [
+        [
+         "x",
+         "y",
+         "height"
+        ],
+        [
+         "x",
+         "y",
+         "height"
+        ],
+        [
+         "x",
+         "y",
+         "height"
+        ]
+       ],
+       "unit": null,
+       "description": "three perpendicular directions corresponding in order to the three 3D oriented bounding box dimensions"
+      }
+     },
+     "first visible time": {
+      "unit": "seconds",
+      "description": "earliest time at which this object instance is visibly observed"
+     }
+    }
+   ]
+  },
+  "room": {
+   "floor boundary polygons": [
+    {
+     "outer boundary coordinates": {
+      "components": [
+       [
+        "x",
+        "y"
+       ],
+       [
+        "x",
+        "y"
+       ]
+      ],
+      "unit": "meters",
+      "description": "ordered vertices enclosing one floor region"
+     },
+     "interior hole boundary coordinates": {
+      "components": [
+       [
+        [
+         "x",
+         "y"
+        ],
+        [
+         "x",
+         "y"
+        ]
+       ]
+      ],
+      "unit": "meters",
+      "description": "ordered boundaries enclosing regions excluded from the floor area"
+     }
+    }
+   ]
+  }
+ },
+ "objects": {
+  "chair": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      1.15,
+      0.06,
+      0.69
+     ],
+     "3D oriented bounding box dimensions": [
+      1.07,
+      0.67,
+      0.57
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.03,
+       0.01,
+       1.0
+      ],
+      [
+       0.42,
+       -0.91,
+       0.0
+      ],
+      [
+       0.91,
+       0.42,
+       -0.03
+      ]
+     ]
+    },
+    "first visible time": null
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -0.38,
+      0.3,
+      0.79
+     ],
+     "3D oriented bounding box dimensions": [
+      0.72,
+      0.83,
+      0.58
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.4,
+       -0.46,
+       0.79
+      ],
+      [
+       -0.02,
+       -0.87,
+       -0.49
+      ],
+      [
+       0.91,
+       0.18,
+       -0.36
+      ]
+     ]
+    },
+    "first visible time": null
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -1.41,
+      0.17,
+      0.76
+     ],
+     "3D oriented bounding box dimensions": [
+      0.67,
+      1.07,
+      0.47
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       -0.75,
+       0.64,
+       0.19
+      ],
+      [
+       0.31,
+       0.59,
+       -0.74
+      ],
+      [
+       -0.59,
+       -0.5,
+       -0.64
+      ]
+     ]
+    },
+    "first visible time": null
+   }
+  ],
+  "window": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      2.28,
+      0.55,
+      1.95
+     ],
+     "3D oriented bounding box dimensions": [
+      2.02,
+      2.31,
+      0.49
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.03,
+       -0.02,
+       -1.0
+      ],
+      [
+       -0.25,
+       0.97,
+       -0.03
+      ],
+      [
+       0.97,
+       0.25,
+       0.03
+      ]
+     ]
+    },
+    "first visible time": null
+   }
+  ],
+  "monitor": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      1.57,
+      -0.99,
+      1.18
+     ],
+     "3D oriented bounding box dimensions": [
+      0.42,
+      0.22,
+      0.67
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.03,
+       -0.2,
+       0.98
+      ],
+      [
+       0.34,
+       -0.92,
+       -0.2
+      ],
+      [
+       0.94,
+       0.34,
+       0.04
+      ]
+     ]
+    },
+    "first visible time": null
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -1.48,
+      0.99,
+      1.19
+     ],
+     "3D oriented bounding box dimensions": [
+      0.59,
+      0.53,
+      0.15
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       -0.96,
+       -0.27,
+       0.1
+      ],
+      [
+       -0.14,
+       0.15,
+       -0.98
+      ],
+      [
+       0.25,
+       -0.95,
+       -0.18
+      ]
+     ]
+    },
+    "first visible time": null
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      1.09,
+      -1.07,
+      1.1
+     ],
+     "3D oriented bounding box dimensions": [
+      0.49,
+      0.18,
+      0.6
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       -0.01,
+       -0.13,
+       0.99
+      ],
+      [
+       -0.18,
+       0.98,
+       0.12
+      ],
+      [
+       -0.98,
+       -0.17,
+       -0.03
+      ]
+     ]
+    },
+    "first visible time": null
+   }
+  ],
+  "keyboard": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -1.48,
+      0.74,
+      0.94
+     ],
+     "3D oriented bounding box dimensions": [
+      0.46,
+      0.2,
+      0.04
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       -0.95,
+       -0.29,
+       0.07
+      ],
+      [
+       -0.3,
+       0.95,
+       -0.07
+      ],
+      [
+       -0.05,
+       -0.08,
+       -1.0
+      ]
+     ]
+    },
+    "first visible time": null
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      1.23,
+      -0.67,
+      0.87
+     ],
+     "3D oriented bounding box dimensions": [
+      0.44,
+      0.19,
+      0.03
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       -0.97,
+       -0.24,
+       -0.02
+      ],
+      [
+       0.23,
+       -0.97,
+       0.03
+      ],
+      [
+       -0.03,
+       0.03,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": null
+   }
+  ],
+  "backpack": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -0.36,
+      -0.94,
+      0.91
+     ],
+     "3D oriented bounding box dimensions": [
+      0.49,
+      0.43,
+      0.18
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       -0.99,
+       -0.13,
+       0.01
+      ],
+      [
+       -0.09,
+       0.65,
+       -0.75
+      ],
+      [
+       0.09,
+       -0.75,
+       -0.66
+      ]
+     ]
+    },
+    "first visible time": null
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -0.35,
+      -0.63,
+      0.33
+     ],
+     "3D oriented bounding box dimensions": [
+      0.38,
+      0.24,
+      0.53
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.34,
+       0.64,
+       -0.69
+      ],
+      [
+       0.34,
+       -0.77,
+       -0.54
+      ],
+      [
+       -0.88,
+       -0.05,
+       -0.48
+      ]
+     ]
+    },
+    "first visible time": null
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      0.01,
+      -0.44,
+      0.32
+     ],
+     "3D oriented bounding box dimensions": [
+      0.5,
+      0.25,
+      0.43
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.08,
+       0.42,
+       -0.9
+      ],
+      [
+       -0.69,
+       -0.63,
+       -0.36
+      ],
+      [
+       -0.72,
+       0.65,
+       0.24
+      ]
+     ]
+    },
+    "first visible time": null
+   }
+  ],
+  "telephone": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -0.1,
+      -1.31,
+      0.85
+     ],
+     "3D oriented bounding box dimensions": [
+      0.49,
+      0.07,
+      0.34
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       -0.98,
+       -0.17,
+       0.07
+      ],
+      [
+       -0.07,
+       0.0,
+       -1.0
+      ],
+      [
+       0.17,
+       -0.99,
+       -0.01
+      ]
+     ]
+    },
+    "first visible time": null
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -1.02,
+      1.02,
+      0.95
+     ],
+     "3D oriented bounding box dimensions": [
+      0.25,
+      0.21,
+      0.1
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.24,
+       0.86,
+       0.45
+      ],
+      [
+       -0.95,
+       0.12,
+       0.28
+      ],
+      [
+       0.19,
+       -0.5,
+       0.85
+      ]
+     ]
+    },
+    "first visible time": null
+   }
+  ],
+  "trash bin": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -0.88,
+      -1.2,
+      0.38
+     ],
+     "3D oriented bounding box dimensions": [
+      0.39,
+      0.5,
+      0.29
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       -0.03,
+       -0.09,
+       -0.99
+      ],
+      [
+       -0.92,
+       -0.39,
+       0.07
+      ],
+      [
+       -0.39,
+       0.92,
+       -0.07
+      ]
+     ]
+    },
+    "first visible time": null
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -2.06,
+      -0.21,
+      0.47
+     ],
+     "3D oriented bounding box dimensions": [
+      0.38,
+      0.24,
+      0.36
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.19,
+       -0.03,
+       0.98
+      ],
+      [
+       0.09,
+       -0.99,
+       -0.05
+      ],
+      [
+       0.98,
+       0.1,
+       -0.19
+      ]
+     ]
+    },
+    "first visible time": null
+   }
+  ],
+  "door": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -2.16,
+      -1.11,
+      1.26
+     ],
+     "3D oriented bounding box dimensions": [
+      1.96,
+      1.14,
+      0.14
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.06,
+       0.04,
+       1.0
+      ],
+      [
+       -0.12,
+       0.99,
+       -0.03
+      ],
+      [
+       -0.99,
+       -0.12,
+       0.06
+      ]
+     ]
+    },
+    "first visible time": null
+   }
+  ],
+  "table": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      1.43,
+      -0.05,
+      0.6
+     ],
+     "3D oriented bounding box dimensions": [
+      2.19,
+      0.87,
+      1.58
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.25,
+       -0.97,
+       -0.01
+      ],
+      [
+       -0.03,
+       0.0,
+       -1.0
+      ],
+      [
+       0.97,
+       0.25,
+       -0.02
+      ]
+     ]
+    },
+    "first visible time": null
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -1.43,
+      0.4,
+      0.6
+     ],
+     "3D oriented bounding box dimensions": [
+      2.15,
+      0.79,
+      1.56
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       -0.97,
+       -0.22,
+       0.05
+      ],
+      [
+       -0.06,
+       0.02,
+       -1.0
+      ],
+      [
+       0.22,
+       -0.97,
+       -0.04
+      ]
+     ]
+    },
+    "first visible time": null
+   }
+  ]
+ },
+ "room": {
+  "floor boundary polygons": [
+   {
+    "outer boundary coordinates": [
+     [
+      -1.78,
+      -1.84
+     ],
+     [
+      1.97,
+      -1.84
+     ],
+     [
+      1.97,
+      1.91
+     ],
+     [
+      -1.78,
+      1.91
+     ]
+    ],
+    "interior hole boundary coordinates": []
+   }
+  ]
+ }
+}
\ No newline at end of file
diff --git a/data/spatial codes/ground truth/compact/scene0664_02.json b/data/spatial codes/ground truth/compact/scene0664_02.json
new file mode 100644
index 0000000000000000000000000000000000000000..f6171be778fe12aa03d48a8049da3a44ec269785
--- /dev/null
+++ b/data/spatial codes/ground truth/compact/scene0664_02.json	
@@ -0,0 +1,320 @@
+{
+ "spatial code schema": {
+  "objects": {
+   "<object class>": [
+    {
+     "3D oriented bounding box": {
+      "3D oriented bounding box center coordinates": {
+       "components": [
+        "x",
+        "y",
+        "height above floor"
+       ],
+       "unit": "meters",
+       "description": "center of the 3D oriented bounding box in the shared room coordinate system"
+      },
+      "3D oriented bounding box dimensions": {
+       "components": [
+        "dimension 1",
+        "dimension 2",
+        "dimension 3"
+       ],
+       "unit": "meters",
+       "description": "full lengths of the 3D oriented bounding box along the corresponding orientation unit vectors"
+      },
+      "3D oriented bounding box orientation unit vectors": {
+       "components": [
+        [
+         "x",
+         "y",
+         "height"
+        ],
+        [
+         "x",
+         "y",
+         "height"
+        ],
+        [
+         "x",
+         "y",
+         "height"
+        ]
+       ],
+       "unit": null,
+       "description": "three perpendicular directions corresponding in order to the three 3D oriented bounding box dimensions"
+      }
+     },
+     "first visible time": {
+      "unit": "seconds",
+      "description": "earliest time at which this object instance is visibly observed"
+     }
+    }
+   ]
+  },
+  "room": {
+   "floor boundary polygons": [
+    {
+     "outer boundary coordinates": {
+      "components": [
+       [
+        "x",
+        "y"
+       ],
+       [
+        "x",
+        "y"
+       ]
+      ],
+      "unit": "meters",
+      "description": "ordered vertices enclosing one floor region"
+     },
+     "interior hole boundary coordinates": {
+      "components": [
+       [
+        [
+         "x",
+         "y"
+        ],
+        [
+         "x",
+         "y"
+        ]
+       ]
+      ],
+      "unit": "meters",
+      "description": "ordered boundaries enclosing regions excluded from the floor area"
+     }
+    }
+   ]
+  }
+ },
+ "objects": {
+  "counter": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -1.09,
+      0.16,
+      0.82
+     ],
+     "3D oriented bounding box dimensions": [
+      0.59,
+      0.34,
+      1.35
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       -0.99,
+       0.16,
+       0.02
+      ],
+      [
+       -0.02,
+       0.0,
+       -1.0
+      ],
+      [
+       -0.16,
+       -0.99,
+       0.0
+      ]
+     ]
+    },
+    "first visible time": null
+   }
+  ],
+  "towel": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      0.9,
+      0.43,
+      1.33
+     ],
+     "3D oriented bounding box dimensions": [
+      0.52,
+      0.26,
+      0.06
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       -0.03,
+       -0.02,
+       -1.0
+      ],
+      [
+       -0.97,
+       0.23,
+       0.02
+      ],
+      [
+       0.23,
+       0.97,
+       -0.03
+      ]
+     ]
+    },
+    "first visible time": null
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      0.77,
+      0.45,
+      1.01
+     ],
+     "3D oriented bounding box dimensions": [
+      1.11,
+      0.04,
+      0.13
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.06,
+       0.0,
+       1.0
+      ],
+      [
+       0.16,
+       0.99,
+       -0.01
+      ],
+      [
+       -0.99,
+       0.16,
+       0.06
+      ]
+     ]
+    },
+    "first visible time": null
+   }
+  ],
+  "mirror": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -1.34,
+      0.35,
+      1.12
+     ],
+     "3D oriented bounding box dimensions": [
+      1.03,
+      0.2,
+      0.05
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       -0.16,
+       -0.98,
+       -0.12
+      ],
+      [
+       0.02,
+       0.12,
+       -0.99
+      ],
+      [
+       0.99,
+       -0.16,
+       0.0
+      ]
+     ]
+    },
+    "first visible time": null
+   }
+  ],
+  "trash bin": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -0.61,
+      -0.66,
+      0.19
+     ],
+     "3D oriented bounding box dimensions": [
+      0.33,
+      0.31,
+      0.14
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       -0.01,
+       0.01,
+       -1.0
+      ],
+      [
+       -0.98,
+       0.21,
+       0.02
+      ],
+      [
+       0.21,
+       0.98,
+       0.0
+      ]
+     ]
+    },
+    "first visible time": null
+   }
+  ],
+  "door": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -0.24,
+      0.87,
+      1.02
+     ],
+     "3D oriented bounding box dimensions": [
+      2.01,
+      0.86,
+      0.08
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       -0.03,
+       -0.01,
+       1.0
+      ],
+      [
+       -0.99,
+       0.12,
+       -0.03
+      ],
+      [
+       -0.12,
+       -0.99,
+       -0.02
+      ]
+     ]
+    },
+    "first visible time": null
+   }
+  ]
+ },
+ "room": {
+  "floor boundary polygons": [
+   {
+    "outer boundary coordinates": [
+     [
+      -2.15,
+      -0.81
+     ],
+     [
+      -0.22,
+      -0.81
+     ],
+     [
+      -0.22,
+      1.12
+     ],
+     [
+      -2.15,
+      1.12
+     ]
+    ],
+    "interior hole boundary coordinates": []
+   }
+  ]
+ }
+}
\ No newline at end of file
diff --git a/data/spatial codes/ground truth/compact/scene0665_00.json b/data/spatial codes/ground truth/compact/scene0665_00.json
new file mode 100644
index 0000000000000000000000000000000000000000..4f72972b38926256c46e0cda7ac8cf6c4a91b86f
--- /dev/null
+++ b/data/spatial codes/ground truth/compact/scene0665_00.json	
@@ -0,0 +1,1020 @@
+{
+ "spatial code schema": {
+  "objects": {
+   "<object class>": [
+    {
+     "3D oriented bounding box": {
+      "3D oriented bounding box center coordinates": {
+       "components": [
+        "x",
+        "y",
+        "height above floor"
+       ],
+       "unit": "meters",
+       "description": "center of the 3D oriented bounding box in the shared room coordinate system"
+      },
+      "3D oriented bounding box dimensions": {
+       "components": [
+        "dimension 1",
+        "dimension 2",
+        "dimension 3"
+       ],
+       "unit": "meters",
+       "description": "full lengths of the 3D oriented bounding box along the corresponding orientation unit vectors"
+      },
+      "3D oriented bounding box orientation unit vectors": {
+       "components": [
+        [
+         "x",
+         "y",
+         "height"
+        ],
+        [
+         "x",
+         "y",
+         "height"
+        ],
+        [
+         "x",
+         "y",
+         "height"
+        ]
+       ],
+       "unit": null,
+       "description": "three perpendicular directions corresponding in order to the three 3D oriented bounding box dimensions"
+      }
+     },
+     "first visible time": {
+      "unit": "seconds",
+      "description": "earliest time at which this object instance is visibly observed"
+     }
+    }
+   ]
+  },
+  "room": {
+   "floor boundary polygons": [
+    {
+     "outer boundary coordinates": {
+      "components": [
+       [
+        "x",
+        "y"
+       ],
+       [
+        "x",
+        "y"
+       ]
+      ],
+      "unit": "meters",
+      "description": "ordered vertices enclosing one floor region"
+     },
+     "interior hole boundary coordinates": {
+      "components": [
+       [
+        [
+         "x",
+         "y"
+        ],
+        [
+         "x",
+         "y"
+        ]
+       ]
+      ],
+      "unit": "meters",
+      "description": "ordered boundaries enclosing regions excluded from the floor area"
+     }
+    }
+   ]
+  }
+ },
+ "objects": {
+  "chair": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -0.18,
+      -0.72,
+      0.55
+     ],
+     "3D oriented bounding box dimensions": [
+      0.83,
+      0.66,
+      0.63
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.03,
+       0.01,
+       -1.0
+      ],
+      [
+       -0.47,
+       -0.88,
+       -0.02
+      ],
+      [
+       -0.88,
+       0.47,
+       -0.02
+      ]
+     ]
+    },
+    "first visible time": null
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      0.47,
+      -0.96,
+      0.55
+     ],
+     "3D oriented bounding box dimensions": [
+      0.83,
+      0.62,
+      0.59
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       -0.04,
+       -0.01,
+       -1.0
+      ],
+      [
+       -0.91,
+       0.4,
+       0.03
+      ],
+      [
+       0.4,
+       0.91,
+       -0.02
+      ]
+     ]
+    },
+    "first visible time": null
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -1.26,
+      -0.54,
+      0.56
+     ],
+     "3D oriented bounding box dimensions": [
+      0.8,
+      0.67,
+      0.73
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.03,
+       0.07,
+       -1.0
+      ],
+      [
+       0.66,
+       0.74,
+       0.07
+      ],
+      [
+       0.75,
+       -0.66,
+       -0.03
+      ]
+     ]
+    },
+    "first visible time": null
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -2.93,
+      1.19,
+      0.63
+     ],
+     "3D oriented bounding box dimensions": [
+      0.88,
+      0.65,
+      0.61
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       -0.04,
+       -0.02,
+       1.0
+      ],
+      [
+       -0.92,
+       0.4,
+       -0.03
+      ],
+      [
+       -0.39,
+       -0.92,
+       -0.03
+      ]
+     ]
+    },
+    "first visible time": null
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      2.77,
+      2.03,
+      0.99
+     ],
+     "3D oriented bounding box dimensions": [
+      0.52,
+      0.43,
+      0.51
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       -0.93,
+       -0.36,
+       -0.01
+      ],
+      [
+       -0.05,
+       0.1,
+       0.99
+      ],
+      [
+       -0.36,
+       0.93,
+       -0.11
+      ]
+     ]
+    },
+    "first visible time": null
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      2.31,
+      1.05,
+      0.98
+     ],
+     "3D oriented bounding box dimensions": [
+      0.55,
+      0.51,
+      0.39
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.93,
+       0.35,
+       0.06
+      ],
+      [
+       0.35,
+       -0.94,
+       0.01
+      ],
+      [
+       0.06,
+       0.02,
+       -1.0
+      ]
+     ]
+    },
+    "first visible time": null
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -0.66,
+      -2.15,
+      0.76
+     ],
+     "3D oriented bounding box dimensions": [
+      0.31,
+      0.46,
+      0.62
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       -0.03,
+       -0.32,
+       -0.95
+      ],
+      [
+       -0.33,
+       -0.89,
+       0.31
+      ],
+      [
+       -0.94,
+       0.32,
+       -0.08
+      ]
+     ]
+    },
+    "first visible time": null
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -0.74,
+      2.5,
+      0.79
+     ],
+     "3D oriented bounding box dimensions": [
+      0.52,
+      0.66,
+      0.32
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       -0.48,
+       -0.88,
+       0.0
+      ],
+      [
+       0.75,
+       -0.41,
+       -0.53
+      ],
+      [
+       0.46,
+       -0.25,
+       0.85
+      ]
+     ]
+    },
+    "first visible time": null
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      1.02,
+      2.18,
+      1.01
+     ],
+     "3D oriented bounding box dimensions": [
+      0.52,
+      0.31,
+      0.11
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       -0.32,
+       -0.95,
+       0.07
+      ],
+      [
+       -0.46,
+       0.09,
+       -0.88
+      ],
+      [
+       0.83,
+       -0.31,
+       -0.47
+      ]
+     ]
+    },
+    "first visible time": null
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      0.0,
+      1.36,
+      0.94
+     ],
+     "3D oriented bounding box dimensions": [
+      0.41,
+      0.52,
+      0.5
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       -0.02,
+       -0.09,
+       1.0
+      ],
+      [
+       -0.02,
+       1.0,
+       0.09
+      ],
+      [
+       -1.0,
+       -0.02,
+       -0.02
+      ]
+     ]
+    },
+    "first visible time": null
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      0.53,
+      3.14,
+      0.98
+     ],
+     "3D oriented bounding box dimensions": [
+      0.54,
+      0.3,
+      0.12
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.93,
+       -0.35,
+       0.07
+      ],
+      [
+       0.05,
+       0.32,
+       0.94
+      ],
+      [
+       -0.35,
+       -0.88,
+       0.32
+      ]
+     ]
+    },
+    "first visible time": null
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -0.14,
+      -2.24,
+      0.53
+     ],
+     "3D oriented bounding box dimensions": [
+      0.82,
+      0.61,
+      0.61
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.02,
+       -0.02,
+       -1.0
+      ],
+      [
+       0.37,
+       0.93,
+       -0.01
+      ],
+      [
+       0.93,
+       -0.37,
+       0.02
+      ]
+     ]
+    },
+    "first visible time": null
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      4.06,
+      1.62,
+      1.22
+     ],
+     "3D oriented bounding box dimensions": [
+      0.3,
+      0.1,
+      0.06
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       -0.07,
+       0.99,
+       -0.11
+      ],
+      [
+       0.83,
+       0.12,
+       0.55
+      ],
+      [
+       0.56,
+       -0.06,
+       -0.83
+      ]
+     ]
+    },
+    "first visible time": null
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -2.3,
+      2.46,
+      0.81
+     ],
+     "3D oriented bounding box dimensions": [
+      0.44,
+      0.62,
+      0.4
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       -0.12,
+       -0.04,
+       -0.99
+      ],
+      [
+       0.78,
+       0.61,
+       -0.12
+      ],
+      [
+       0.61,
+       -0.79,
+       -0.04
+      ]
+     ]
+    },
+    "first visible time": null
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -1.89,
+      3.32,
+      0.82
+     ],
+     "3D oriented bounding box dimensions": [
+      0.41,
+      0.57,
+      0.51
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       -0.01,
+       0.02,
+       1.0
+      ],
+      [
+       0.11,
+       -0.99,
+       0.02
+      ],
+      [
+       0.99,
+       0.11,
+       0.0
+      ]
+     ]
+    },
+    "first visible time": null
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      2.89,
+      -1.96,
+      0.56
+     ],
+     "3D oriented bounding box dimensions": [
+      0.52,
+      0.38,
+      0.23
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       -0.89,
+       -0.46,
+       0.03
+      ],
+      [
+       0.03,
+       0.01,
+       1.0
+      ],
+      [
+       -0.46,
+       0.89,
+       0.0
+      ]
+     ]
+    },
+    "first visible time": null
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -1.3,
+      -1.28,
+      0.64
+     ],
+     "3D oriented bounding box dimensions": [
+      0.7,
+      0.97,
+      0.52
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.3,
+       0.95,
+       -0.12
+      ],
+      [
+       0.51,
+       -0.26,
+       -0.82
+      ],
+      [
+       -0.8,
+       0.19,
+       -0.56
+      ]
+     ]
+    },
+    "first visible time": null
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -2.1,
+      -1.18,
+      0.93
+     ],
+     "3D oriented bounding box dimensions": [
+      0.7,
+      0.14,
+      0.08
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       -0.89,
+       0.45,
+       -0.04
+      ],
+      [
+       0.37,
+       0.68,
+       -0.63
+      ],
+      [
+       -0.26,
+       -0.57,
+       -0.78
+      ]
+     ]
+    },
+    "first visible time": null
+   }
+  ],
+  "door": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
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+      -3.58,
+      1.05
+     ],
+     "3D oriented bounding box dimensions": [
+      1.93,
+      0.93,
+      0.12
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       -0.06,
+       -0.05,
+       1.0
+      ],
+      [
+       0.91,
+       -0.41,
+       0.04
+      ],
+      [
+       0.4,
+       0.91,
+       0.07
+      ]
+     ]
+    },
+    "first visible time": null
+   }
+  ],
+  "table": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      3.02,
+      -2.2,
+      0.64
+     ],
+     "3D oriented bounding box dimensions": [
+      1.11,
+      0.91,
+      1.24
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.89,
+       0.45,
+       -0.01
+      ],
+      [
+       -0.45,
+       0.89,
+       0.04
+      ],
+      [
+       0.03,
+       -0.03,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": null
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -1.46,
+      4.06,
+      0.84
+     ],
+     "3D oriented bounding box dimensions": [
+      0.49,
+      0.37,
+      0.26
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.32,
+       0.95,
+       -0.03
+      ],
+      [
+       -0.19,
+       0.03,
+       -0.98
+      ],
+      [
+       -0.93,
+       0.32,
+       0.19
+      ]
+     ]
+    },
+    "first visible time": null
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -2.51,
+      2.55,
+      0.84
+     ],
+     "3D oriented bounding box dimensions": [
+      1.09,
+      1.25,
+      0.81
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       -0.43,
+       -0.9,
+       -0.04
+      ],
+      [
+       0.05,
+       0.02,
+       -1.0
+      ],
+      [
+       0.9,
+       -0.43,
+       0.04
+      ]
+     ]
+    },
+    "first visible time": null
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -2.1,
+      3.45,
+      0.86
+     ],
+     "3D oriented bounding box dimensions": [
+      1.24,
+      1.13,
+      0.85
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.05,
+       -0.02,
+       -1.0
+      ],
+      [
+       0.42,
+       0.91,
+       0.0
+      ],
+      [
+       0.91,
+       -0.42,
+       0.06
+      ]
+     ]
+    },
+    "first visible time": null
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -0.12,
+      -1.49,
+      0.51
+     ],
+     "3D oriented bounding box dimensions": [
+      1.51,
+      1.02,
+      0.73
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       -0.94,
+       0.33,
+       0.01
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+       -0.01,
+       1.0
+      ]
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+   },
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+      -0.76,
+      0.55
+     ],
+     "3D oriented bounding box dimensions": [
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+      1.26,
+      0.77
+     ],
+     "3D oriented bounding box orientation unit vectors": [
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+       0.36,
+       0.0
+      ],
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+       -0.93,
+       0.01
+      ],
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+       0.01,
+       1.0
+      ]
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+    "first visible time": null
+   },
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+      2.24,
+      1.05
+     ],
+     "3D oriented bounding box dimensions": [
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+      1.88,
+      0.14
+     ],
+     "3D oriented bounding box orientation unit vectors": [
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+       0.09,
+       0.01
+      ],
+      [
+       -0.09,
+       1.0,
+       0.01
+      ],
+      [
+       0.0,
+       -0.01,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": null
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
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+      1.2,
+      0.54
+     ],
+     "3D oriented bounding box dimensions": [
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+      0.81,
+      0.71
+     ],
+     "3D oriented bounding box orientation unit vectors": [
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+       -0.9,
+       -0.01
+      ],
+      [
+       0.9,
+       -0.44,
+       0.01
+      ],
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+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": null
+   },
+   {
+    "3D oriented bounding box": {
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+      1.22,
+      1.16
+     ],
+     "3D oriented bounding box dimensions": [
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+      1.89,
+      0.11
+     ],
+     "3D oriented bounding box orientation unit vectors": [
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+       1.0,
+       -0.05,
+       0.04
+      ],
+      [
+       -0.05,
+       -1.0,
+       0.01
+      ],
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+       0.04,
+       -0.01,
+       -1.0
+      ]
+     ]
+    },
+    "first visible time": null
+   }
+  ]
+ },
+ "room": {
+  "floor boundary polygons": [
+   {
+    "outer boundary coordinates": [
+     [
+      -3.04,
+      -3.04
+     ],
+     [
+      3.79,
+      -3.04
+     ],
+     [
+      3.79,
+      3.79
+     ],
+     [
+      -3.04,
+      3.79
+     ]
+    ],
+    "interior hole boundary coordinates": []
+   }
+  ]
+ }
+}
\ No newline at end of file
diff --git a/data/spatial codes/ground truth/compact/scene0671_01.json b/data/spatial codes/ground truth/compact/scene0671_01.json
new file mode 100644
index 0000000000000000000000000000000000000000..caa86b5b32ed71b4850579c3663b7eb8a4b7a035
--- /dev/null
+++ b/data/spatial codes/ground truth/compact/scene0671_01.json	
@@ -0,0 +1,448 @@
+{
+ "spatial code schema": {
+  "objects": {
+   "<object class>": [
+    {
+     "3D oriented bounding box": {
+      "3D oriented bounding box center coordinates": {
+       "components": [
+        "x",
+        "y",
+        "height above floor"
+       ],
+       "unit": "meters",
+       "description": "center of the 3D oriented bounding box in the shared room coordinate system"
+      },
+      "3D oriented bounding box dimensions": {
+       "components": [
+        "dimension 1",
+        "dimension 2",
+        "dimension 3"
+       ],
+       "unit": "meters",
+       "description": "full lengths of the 3D oriented bounding box along the corresponding orientation unit vectors"
+      },
+      "3D oriented bounding box orientation unit vectors": {
+       "components": [
+        [
+         "x",
+         "y",
+         "height"
+        ],
+        [
+         "x",
+         "y",
+         "height"
+        ],
+        [
+         "x",
+         "y",
+         "height"
+        ]
+       ],
+       "unit": null,
+       "description": "three perpendicular directions corresponding in order to the three 3D oriented bounding box dimensions"
+      }
+     },
+     "first visible time": {
+      "unit": "seconds",
+      "description": "earliest time at which this object instance is visibly observed"
+     }
+    }
+   ]
+  },
+  "room": {
+   "floor boundary polygons": [
+    {
+     "outer boundary coordinates": {
+      "components": [
+       [
+        "x",
+        "y"
+       ],
+       [
+        "x",
+        "y"
+       ]
+      ],
+      "unit": "meters",
+      "description": "ordered vertices enclosing one floor region"
+     },
+     "interior hole boundary coordinates": {
+      "components": [
+       [
+        [
+         "x",
+         "y"
+        ],
+        [
+         "x",
+         "y"
+        ]
+       ]
+      ],
+      "unit": "meters",
+      "description": "ordered boundaries enclosing regions excluded from the floor area"
+     }
+    }
+   ]
+  }
+ },
+ "objects": {
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+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
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+      0.11,
+      0.43
+     ],
+     "3D oriented bounding box dimensions": [
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+      0.78,
+      0.47
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+     "3D oriented bounding box orientation unit vectors": [
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+       0.91,
+       0.04
+      ],
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+       -0.09,
+       0.99
+      ],
+      [
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+       0.41,
+       0.12
+      ]
+     ]
+    },
+    "first visible time": null
+   },
+   {
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+      0.32,
+      0.6
+     ],
+     "3D oriented bounding box dimensions": [
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+      0.54,
+      0.21
+     ],
+     "3D oriented bounding box orientation unit vectors": [
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+       -0.27,
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+       -0.74,
+       -0.65
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+       -0.62,
+       0.76
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+      0.53,
+      0.64
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+      0.46,
+      0.17
+     ],
+     "3D oriented bounding box orientation unit vectors": [
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+       0.55,
+       0.83
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+       -0.35,
+       0.09
+      ],
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+       -0.76,
+       0.55
+      ]
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+   },
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+      0.41,
+      0.64
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+     "3D oriented bounding box dimensions": [
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+      0.48,
+      0.2
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+     "3D oriented bounding box orientation unit vectors": [
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+       0.25,
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+       0.53,
+       0.84
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+       -0.81,
+       0.54
+      ]
+     ]
+    },
+    "first visible time": null
+   }
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+  "pillow": [
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+    "3D oriented bounding box": {
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+      -0.7,
+      0.54
+     ],
+     "3D oriented bounding box dimensions": [
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+      0.4,
+      0.16
+     ],
+     "3D oriented bounding box orientation unit vectors": [
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+       0.95,
+       0.31,
+       -0.03
+      ],
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+       -0.94,
+       -0.14
+      ],
+      [
+       -0.07,
+       0.12,
+       -0.99
+      ]
+     ]
+    },
+    "first visible time": null
+   },
+   {
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+     "3D oriented bounding box center coordinates": [
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+      -0.88,
+      0.51
+     ],
+     "3D oriented bounding box dimensions": [
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+      0.45,
+      0.2
+     ],
+     "3D oriented bounding box orientation unit vectors": [
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+       -0.24,
+       -0.04
+      ],
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+       -0.95,
+       -0.21
+      ],
+      [
+       0.02,
+       -0.21,
+       0.98
+      ]
+     ]
+    },
+    "first visible time": null
+   }
+  ],
+  "plant": [
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+    "3D oriented bounding box": {
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+      -0.16,
+      1.0
+     ],
+     "3D oriented bounding box dimensions": [
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+      0.35,
+      0.23
+     ],
+     "3D oriented bounding box orientation unit vectors": [
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+       0.08,
+       0.98
+      ],
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+       0.17,
+       0.15
+      ],
+      [
+       -0.16,
+       0.98,
+       -0.11
+      ]
+     ]
+    },
+    "first visible time": null
+   }
+  ],
+  "backpack": [
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+    "3D oriented bounding box": {
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+      -0.8,
+      0.71
+     ],
+     "3D oriented bounding box dimensions": [
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+      0.56,
+      0.23
+     ],
+     "3D oriented bounding box orientation unit vectors": [
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+       0.99,
+       0.1
+      ],
+      [
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+       -0.1,
+       0.99
+      ],
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+       1.0,
+       -0.05,
+       -0.05
+      ]
+     ]
+    },
+    "first visible time": null
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
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+      0.64,
+      0.65
+     ],
+     "3D oriented bounding box dimensions": [
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+      0.21,
+      0.24
+     ],
+     "3D oriented bounding box orientation unit vectors": [
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+       -0.51,
+       0.04,
+       0.86
+      ],
+      [
+       0.11,
+       0.99,
+       0.03
+      ],
+      [
+       -0.85,
+       0.11,
+       -0.51
+      ]
+     ]
+    },
+    "first visible time": null
+   }
+  ],
+  "table": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      0.64,
+      -0.13,
+      0.54
+     ],
+     "3D oriented bounding box dimensions": [
+      2.17,
+      0.77,
+      0.99
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.95,
+       0.28,
+       -0.12
+      ],
+      [
+       0.12,
+       0.02,
+       0.99
+      ],
+      [
+       0.28,
+       -0.96,
+       -0.02
+      ]
+     ]
+    },
+    "first visible time": null
+   }
+  ]
+ },
+ "room": {
+  "floor boundary polygons": [
+   {
+    "outer boundary coordinates": [
+     [
+      -1.55,
+      -1.84
+     ],
+     [
+      1.57,
+      -1.84
+     ],
+     [
+      1.57,
+      1.28
+     ],
+     [
+      -1.55,
+      1.28
+     ]
+    ],
+    "interior hole boundary coordinates": []
+   }
+  ]
+ }
+}
\ No newline at end of file
diff --git a/data/spatial codes/ground truth/compact/scene0684_01.json b/data/spatial codes/ground truth/compact/scene0684_01.json
new file mode 100644
index 0000000000000000000000000000000000000000..3ddf27c1545e6f106ef1376d77ff2c679892a3b3
--- /dev/null
+++ b/data/spatial codes/ground truth/compact/scene0684_01.json	
@@ -0,0 +1,320 @@
+{
+ "spatial code schema": {
+  "objects": {
+   "<object class>": [
+    {
+     "3D oriented bounding box": {
+      "3D oriented bounding box center coordinates": {
+       "components": [
+        "x",
+        "y",
+        "height above floor"
+       ],
+       "unit": "meters",
+       "description": "center of the 3D oriented bounding box in the shared room coordinate system"
+      },
+      "3D oriented bounding box dimensions": {
+       "components": [
+        "dimension 1",
+        "dimension 2",
+        "dimension 3"
+       ],
+       "unit": "meters",
+       "description": "full lengths of the 3D oriented bounding box along the corresponding orientation unit vectors"
+      },
+      "3D oriented bounding box orientation unit vectors": {
+       "components": [
+        [
+         "x",
+         "y",
+         "height"
+        ],
+        [
+         "x",
+         "y",
+         "height"
+        ],
+        [
+         "x",
+         "y",
+         "height"
+        ]
+       ],
+       "unit": null,
+       "description": "three perpendicular directions corresponding in order to the three 3D oriented bounding box dimensions"
+      }
+     },
+     "first visible time": {
+      "unit": "seconds",
+      "description": "earliest time at which this object instance is visibly observed"
+     }
+    }
+   ]
+  },
+  "room": {
+   "floor boundary polygons": [
+    {
+     "outer boundary coordinates": {
+      "components": [
+       [
+        "x",
+        "y"
+       ],
+       [
+        "x",
+        "y"
+       ]
+      ],
+      "unit": "meters",
+      "description": "ordered vertices enclosing one floor region"
+     },
+     "interior hole boundary coordinates": {
+      "components": [
+       [
+        [
+         "x",
+         "y"
+        ],
+        [
+         "x",
+         "y"
+        ]
+       ]
+      ],
+      "unit": "meters",
+      "description": "ordered boundaries enclosing regions excluded from the floor area"
+     }
+    }
+   ]
+  }
+ },
+ "objects": {
+  "chair": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -0.2,
+      0.93,
+      0.46
+     ],
+     "3D oriented bounding box dimensions": [
+      0.55,
+      0.61,
+      0.89
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       -0.44,
+       0.89,
+       -0.05
+      ],
+      [
+       -0.9,
+       -0.44,
+       0.01
+      ],
+      [
+       -0.02,
+       0.05,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": null
+   }
+  ],
+  "window": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      1.02,
+      0.58,
+      1.11
+     ],
+     "3D oriented bounding box dimensions": [
+      0.32,
+      0.15,
+      0.04
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       -0.01,
+       0.88,
+       0.48
+      ],
+      [
+       -0.08,
+       0.48,
+       -0.87
+      ],
+      [
+       -1.0,
+       -0.05,
+       0.07
+      ]
+     ]
+    },
+    "first visible time": null
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      1.03,
+      1.13,
+      1.11
+     ],
+     "3D oriented bounding box dimensions": [
+      0.7,
+      0.12,
+      0.1
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.0,
+       -0.99,
+       -0.13
+      ],
+      [
+       -0.08,
+       -0.12,
+       0.99
+      ],
+      [
+       -1.0,
+       0.01,
+       -0.08
+      ]
+     ]
+    },
+    "first visible time": null
+   }
+  ],
+  "telephone": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      0.62,
+      1.4,
+      0.87
+     ],
+     "3D oriented bounding box dimensions": [
+      0.21,
+      0.29,
+      0.11
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       -0.48,
+       -0.02,
+       -0.87
+      ],
+      [
+       0.25,
+       -0.96,
+       -0.11
+      ],
+      [
+       -0.84,
+       -0.28,
+       0.47
+      ]
+     ]
+    },
+    "first visible time": null
+   }
+  ],
+  "door": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -0.25,
+      -1.19,
+      0.53
+     ],
+     "3D oriented bounding box dimensions": [
+      1.0,
+      0.87,
+      0.12
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.07,
+       0.03,
+       -1.0
+      ],
+      [
+       1.0,
+       -0.07,
+       0.07
+      ],
+      [
+       -0.07,
+       -1.0,
+       -0.03
+      ]
+     ]
+    },
+    "first visible time": null
+   }
+  ],
+  "table": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      0.63,
+      0.89,
+      0.55
+     ],
+     "3D oriented bounding box dimensions": [
+      0.75,
+      0.75,
+      1.49
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       -1.0,
+       -0.01,
+       -0.04
+      ],
+      [
+       0.04,
+       -0.17,
+       -0.99
+      ],
+      [
+       0.0,
+       -0.99,
+       0.17
+      ]
+     ]
+    },
+    "first visible time": null
+   }
+  ]
+ },
+ "room": {
+  "floor boundary polygons": [
+   {
+    "outer boundary coordinates": [
+     [
+      -1.22,
+      -1.86
+     ],
+     [
+      1.27,
+      -1.86
+     ],
+     [
+      1.27,
+      0.63
+     ],
+     [
+      -1.22,
+      0.63
+     ]
+    ],
+    "interior hole boundary coordinates": []
+   }
+  ]
+ }
+}
\ No newline at end of file
diff --git a/data/spatial codes/ground truth/compact/scene0685_00.json b/data/spatial codes/ground truth/compact/scene0685_00.json
new file mode 100644
index 0000000000000000000000000000000000000000..e1e8cf6fdf3313eef7c50699d64c8ebfee99b003
--- /dev/null
+++ b/data/spatial codes/ground truth/compact/scene0685_00.json	
@@ -0,0 +1,284 @@
+{
+ "spatial code schema": {
+  "objects": {
+   "<object class>": [
+    {
+     "3D oriented bounding box": {
+      "3D oriented bounding box center coordinates": {
+       "components": [
+        "x",
+        "y",
+        "height above floor"
+       ],
+       "unit": "meters",
+       "description": "center of the 3D oriented bounding box in the shared room coordinate system"
+      },
+      "3D oriented bounding box dimensions": {
+       "components": [
+        "dimension 1",
+        "dimension 2",
+        "dimension 3"
+       ],
+       "unit": "meters",
+       "description": "full lengths of the 3D oriented bounding box along the corresponding orientation unit vectors"
+      },
+      "3D oriented bounding box orientation unit vectors": {
+       "components": [
+        [
+         "x",
+         "y",
+         "height"
+        ],
+        [
+         "x",
+         "y",
+         "height"
+        ],
+        [
+         "x",
+         "y",
+         "height"
+        ]
+       ],
+       "unit": null,
+       "description": "three perpendicular directions corresponding in order to the three 3D oriented bounding box dimensions"
+      }
+     },
+     "first visible time": {
+      "unit": "seconds",
+      "description": "earliest time at which this object instance is visibly observed"
+     }
+    }
+   ]
+  },
+  "room": {
+   "floor boundary polygons": [
+    {
+     "outer boundary coordinates": {
+      "components": [
+       [
+        "x",
+        "y"
+       ],
+       [
+        "x",
+        "y"
+       ]
+      ],
+      "unit": "meters",
+      "description": "ordered vertices enclosing one floor region"
+     },
+     "interior hole boundary coordinates": {
+      "components": [
+       [
+        [
+         "x",
+         "y"
+        ],
+        [
+         "x",
+         "y"
+        ]
+       ]
+      ],
+      "unit": "meters",
+      "description": "ordered boundaries enclosing regions excluded from the floor area"
+     }
+    }
+   ]
+  }
+ },
+ "objects": {
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+    "3D oriented bounding box": {
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+      -0.67,
+      0.63
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+      0.88,
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+     "3D oriented bounding box orientation unit vectors": [
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+      ],
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+      ],
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+       0.0,
+       -0.06
+      ]
+     ]
+    },
+    "first visible time": null
+   },
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+      0.92,
+      0.32
+     ],
+     "3D oriented bounding box dimensions": [
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+      0.39,
+      0.26
+     ],
+     "3D oriented bounding box orientation unit vectors": [
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+       0.98,
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+      ],
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+       0.14,
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+       0.13,
+       0.05
+      ]
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+    },
+    "first visible time": null
+   }
+  ],
+  "door": [
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+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
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+      0.22,
+      1.31
+     ],
+     "3D oriented bounding box dimensions": [
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+      1.13,
+      0.07
+     ],
+     "3D oriented bounding box orientation unit vectors": [
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+       -0.01,
+       -0.02,
+       -1.0
+      ],
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+       0.99,
+       -0.02
+      ],
+      [
+       0.99,
+       -0.14,
+       -0.01
+      ]
+     ]
+    },
+    "first visible time": null
+   }
+  ],
+  "table": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
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+      -0.75,
+      0.43
+     ],
+     "3D oriented bounding box dimensions": [
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+      0.94,
+      0.75
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+     "3D oriented bounding box orientation unit vectors": [
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+       -0.12,
+       0.0
+      ],
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+       -0.05
+      ],
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+       0.01,
+       0.05,
+       1.0
+      ]
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+    },
+    "first visible time": null
+   },
+   {
+    "3D oriented bounding box": {
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+      -0.87,
+      0.42
+     ],
+     "3D oriented bounding box dimensions": [
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+      0.73,
+      0.54
+     ],
+     "3D oriented bounding box orientation unit vectors": [
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+       -0.09,
+       0.04
+      ],
+      [
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+       -0.11,
+       -0.99
+      ],
+      [
+       0.09,
+       0.99,
+       -0.1
+      ]
+     ]
+    },
+    "first visible time": null
+   }
+  ]
+ },
+ "room": {
+  "floor boundary polygons": [
+   {
+    "outer boundary coordinates": [
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+      -1.47,
+      -1.89
+     ],
+     [
+      2.18,
+      -1.89
+     ],
+     [
+      2.18,
+      1.75
+     ],
+     [
+      -1.47,
+      1.75
+     ]
+    ],
+    "interior hole boundary coordinates": []
+   }
+  ]
+ }
+}
\ No newline at end of file
diff --git a/data/spatial codes/ground truth/compact/scene0686_00.json b/data/spatial codes/ground truth/compact/scene0686_00.json
new file mode 100644
index 0000000000000000000000000000000000000000..76104f7d49bb8533b29c32c221ce331c37485a11
--- /dev/null
+++ b/data/spatial codes/ground truth/compact/scene0686_00.json	
@@ -0,0 +1,186 @@
+{
+ "spatial code schema": {
+  "objects": {
+   "<object class>": [
+    {
+     "3D oriented bounding box": {
+      "3D oriented bounding box center coordinates": {
+       "components": [
+        "x",
+        "y",
+        "height above floor"
+       ],
+       "unit": "meters",
+       "description": "center of the 3D oriented bounding box in the shared room coordinate system"
+      },
+      "3D oriented bounding box dimensions": {
+       "components": [
+        "dimension 1",
+        "dimension 2",
+        "dimension 3"
+       ],
+       "unit": "meters",
+       "description": "full lengths of the 3D oriented bounding box along the corresponding orientation unit vectors"
+      },
+      "3D oriented bounding box orientation unit vectors": {
+       "components": [
+        [
+         "x",
+         "y",
+         "height"
+        ],
+        [
+         "x",
+         "y",
+         "height"
+        ],
+        [
+         "x",
+         "y",
+         "height"
+        ]
+       ],
+       "unit": null,
+       "description": "three perpendicular directions corresponding in order to the three 3D oriented bounding box dimensions"
+      }
+     },
+     "first visible time": {
+      "unit": "seconds",
+      "description": "earliest time at which this object instance is visibly observed"
+     }
+    }
+   ]
+  },
+  "room": {
+   "floor boundary polygons": [
+    {
+     "outer boundary coordinates": {
+      "components": [
+       [
+        "x",
+        "y"
+       ],
+       [
+        "x",
+        "y"
+       ]
+      ],
+      "unit": "meters",
+      "description": "ordered vertices enclosing one floor region"
+     },
+     "interior hole boundary coordinates": {
+      "components": [
+       [
+        [
+         "x",
+         "y"
+        ],
+        [
+         "x",
+         "y"
+        ]
+       ]
+      ],
+      "unit": "meters",
+      "description": "ordered boundaries enclosing regions excluded from the floor area"
+     }
+    }
+   ]
+  }
+ },
+ "objects": {
+  "mirror": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
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+      1.12,
+      1.16
+     ],
+     "3D oriented bounding box dimensions": [
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+      0.75,
+      0.12
+     ],
+     "3D oriented bounding box orientation unit vectors": [
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+       0.99,
+       0.02
+      ],
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+       0.02,
+       -1.0
+      ],
+      [
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+       0.1,
+       0.0
+      ]
+     ]
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+    "first visible time": null
+   }
+  ],
+  "trash bin": [
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+    "3D oriented bounding box": {
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+      1.34,
+      0.5
+     ],
+     "3D oriented bounding box dimensions": [
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+      0.21,
+      0.98
+     ],
+     "3D oriented bounding box orientation unit vectors": [
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+       0.15,
+       -0.01
+      ],
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+       0.96,
+       -0.22
+      ],
+      [
+       -0.02,
+       -0.22,
+       -0.97
+      ]
+     ]
+    },
+    "first visible time": null
+   }
+  ]
+ },
+ "room": {
+  "floor boundary polygons": [
+   {
+    "outer boundary coordinates": [
+     [
+      -1.16,
+      -1.62
+     ],
+     [
+      1.94,
+      -1.62
+     ],
+     [
+      1.94,
+      1.48
+     ],
+     [
+      -1.16,
+      1.48
+     ]
+    ],
+    "interior hole boundary coordinates": []
+   }
+  ]
+ }
+}
\ No newline at end of file
diff --git a/data/spatial codes/ground truth/compact/scene0693_00.json b/data/spatial codes/ground truth/compact/scene0693_00.json
new file mode 100644
index 0000000000000000000000000000000000000000..dd203bf1f4e7d7d86828c46ff681c9daa4f709f2
--- /dev/null
+++ b/data/spatial codes/ground truth/compact/scene0693_00.json	
@@ -0,0 +1,352 @@
+{
+ "spatial code schema": {
+  "objects": {
+   "<object class>": [
+    {
+     "3D oriented bounding box": {
+      "3D oriented bounding box center coordinates": {
+       "components": [
+        "x",
+        "y",
+        "height above floor"
+       ],
+       "unit": "meters",
+       "description": "center of the 3D oriented bounding box in the shared room coordinate system"
+      },
+      "3D oriented bounding box dimensions": {
+       "components": [
+        "dimension 1",
+        "dimension 2",
+        "dimension 3"
+       ],
+       "unit": "meters",
+       "description": "full lengths of the 3D oriented bounding box along the corresponding orientation unit vectors"
+      },
+      "3D oriented bounding box orientation unit vectors": {
+       "components": [
+        [
+         "x",
+         "y",
+         "height"
+        ],
+        [
+         "x",
+         "y",
+         "height"
+        ],
+        [
+         "x",
+         "y",
+         "height"
+        ]
+       ],
+       "unit": null,
+       "description": "three perpendicular directions corresponding in order to the three 3D oriented bounding box dimensions"
+      }
+     },
+     "first visible time": {
+      "unit": "seconds",
+      "description": "earliest time at which this object instance is visibly observed"
+     }
+    }
+   ]
+  },
+  "room": {
+   "floor boundary polygons": [
+    {
+     "outer boundary coordinates": {
+      "components": [
+       [
+        "x",
+        "y"
+       ],
+       [
+        "x",
+        "y"
+       ]
+      ],
+      "unit": "meters",
+      "description": "ordered vertices enclosing one floor region"
+     },
+     "interior hole boundary coordinates": {
+      "components": [
+       [
+        [
+         "x",
+         "y"
+        ],
+        [
+         "x",
+         "y"
+        ]
+       ]
+      ],
+      "unit": "meters",
+      "description": "ordered boundaries enclosing regions excluded from the floor area"
+     }
+    }
+   ]
+  }
+ },
+ "objects": {
+  "window": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
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+      -0.56,
+      1.59
+     ],
+     "3D oriented bounding box dimensions": [
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+      0.21,
+      0.03
+     ],
+     "3D oriented bounding box orientation unit vectors": [
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+       -1.0,
+       -0.03
+      ],
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+       -0.02,
+       1.0
+      ],
+      [
+       -1.0,
+       0.04,
+       -0.08
+      ]
+     ]
+    },
+    "first visible time": null
+   }
+  ],
+  "towel": [
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+      0.46,
+      0.79
+     ],
+     "3D oriented bounding box dimensions": [
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+      0.67,
+      0.77
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+       1.0,
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+       0.0,
+       0.99
+      ]
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+    },
+    "first visible time": null
+   }
+  ],
+  "mirror": [
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+    "3D oriented bounding box": {
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+      -0.22,
+      0.87
+     ],
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+      1.62,
+      0.1
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+       0.07,
+       0.0
+      ]
+     ]
+    },
+    "first visible time": null
+   },
+   {
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+      -1.09,
+      1.18
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+     "3D oriented bounding box dimensions": [
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+      0.37,
+      0.06
+     ],
+     "3D oriented bounding box orientation unit vectors": [
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+       -0.01,
+       0.06
+      ],
+      [
+       0.06,
+       0.04,
+       1.0
+      ],
+      [
+       -0.01,
+       1.0,
+       -0.04
+      ]
+     ]
+    },
+    "first visible time": null
+   },
+   {
+    "3D oriented bounding box": {
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+      -1.11,
+      1.12
+     ],
+     "3D oriented bounding box dimensions": [
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+      0.34,
+      0.07
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.04,
+       -0.02,
+       -1.0
+      ],
+      [
+       1.0,
+       0.05,
+       0.04
+      ],
+      [
+       0.05,
+       -1.0,
+       0.02
+      ]
+     ]
+    },
+    "first visible time": null
+   }
+  ],
+  "trash bin": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
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+      0.25,
+      0.14
+     ],
+     "3D oriented bounding box dimensions": [
+      0.26,
+      0.24,
+      0.14
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       -0.06,
+       0.09,
+       0.99
+      ],
+      [
+       1.0,
+       -0.05,
+       0.07
+      ],
+      [
+       0.05,
+       0.99,
+       -0.09
+      ]
+     ]
+    },
+    "first visible time": null
+   }
+  ],
+  "door": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      1.05,
+      -0.74,
+      0.54
+     ],
+     "3D oriented bounding box dimensions": [
+      1.05,
+      0.7,
+      0.12
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.01,
+       -0.01,
+       1.0
+      ],
+      [
+       -0.07,
+       1.0,
+       0.01
+      ],
+      [
+       -1.0,
+       -0.07,
+       0.01
+      ]
+     ]
+    },
+    "first visible time": null
+   }
+  ]
+ },
+ "room": {
+  "floor boundary polygons": [
+   {
+    "outer boundary coordinates": [
+     [
+      -0.92,
+      -0.99
+     ],
+     [
+      1.07,
+      -0.99
+     ],
+     [
+      1.07,
+      0.99
+     ],
+     [
+      -0.92,
+      0.99
+     ]
+    ],
+    "interior hole boundary coordinates": []
+   }
+  ]
+ }
+}
\ No newline at end of file
diff --git a/data/spatial codes/ground truth/compact/scene0695_00.json b/data/spatial codes/ground truth/compact/scene0695_00.json
new file mode 100644
index 0000000000000000000000000000000000000000..b7d46e499a7d89a1d7ce1b93f710604c08ccdd85
--- /dev/null
+++ b/data/spatial codes/ground truth/compact/scene0695_00.json	
@@ -0,0 +1,524 @@
+{
+ "spatial code schema": {
+  "objects": {
+   "<object class>": [
+    {
+     "3D oriented bounding box": {
+      "3D oriented bounding box center coordinates": {
+       "components": [
+        "x",
+        "y",
+        "height above floor"
+       ],
+       "unit": "meters",
+       "description": "center of the 3D oriented bounding box in the shared room coordinate system"
+      },
+      "3D oriented bounding box dimensions": {
+       "components": [
+        "dimension 1",
+        "dimension 2",
+        "dimension 3"
+       ],
+       "unit": "meters",
+       "description": "full lengths of the 3D oriented bounding box along the corresponding orientation unit vectors"
+      },
+      "3D oriented bounding box orientation unit vectors": {
+       "components": [
+        [
+         "x",
+         "y",
+         "height"
+        ],
+        [
+         "x",
+         "y",
+         "height"
+        ],
+        [
+         "x",
+         "y",
+         "height"
+        ]
+       ],
+       "unit": null,
+       "description": "three perpendicular directions corresponding in order to the three 3D oriented bounding box dimensions"
+      }
+     },
+     "first visible time": {
+      "unit": "seconds",
+      "description": "earliest time at which this object instance is visibly observed"
+     }
+    }
+   ]
+  },
+  "room": {
+   "floor boundary polygons": [
+    {
+     "outer boundary coordinates": {
+      "components": [
+       [
+        "x",
+        "y"
+       ],
+       [
+        "x",
+        "y"
+       ]
+      ],
+      "unit": "meters",
+      "description": "ordered vertices enclosing one floor region"
+     },
+     "interior hole boundary coordinates": {
+      "components": [
+       [
+        [
+         "x",
+         "y"
+        ],
+        [
+         "x",
+         "y"
+        ]
+       ]
+      ],
+      "unit": "meters",
+      "description": "ordered boundaries enclosing regions excluded from the floor area"
+     }
+    }
+   ]
+  }
+ },
+ "objects": {
+  "bed": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
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+      -0.8,
+      0.9
+     ],
+     "3D oriented bounding box dimensions": [
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+      1.3,
+      0.79
+     ],
+     "3D oriented bounding box orientation unit vectors": [
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+       0.99,
+       -0.08,
+       -0.07
+      ],
+      [
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+       -0.83,
+       0.56
+      ],
+      [
+       -0.11,
+       -0.56,
+       -0.82
+      ]
+     ]
+    },
+    "first visible time": null
+   }
+  ],
+  "chair": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
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+      0.18,
+      0.59
+     ],
+     "3D oriented bounding box dimensions": [
+      0.65,
+      0.93,
+      0.57
+     ],
+     "3D oriented bounding box orientation unit vectors": [
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+       0.79,
+       -0.08
+      ],
+      [
+       0.08,
+       -0.04,
+       -1.0
+      ],
+      [
+       -0.79,
+       -0.61,
+       -0.05
+      ]
+     ]
+    },
+    "first visible time": 6.0
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
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+      0.39,
+      0.8
+     ],
+     "3D oriented bounding box dimensions": [
+      0.32,
+      0.59,
+      0.48
+     ],
+     "3D oriented bounding box orientation unit vectors": [
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+       -0.97,
+       0.19
+      ],
+      [
+       0.99,
+       0.15,
+       -0.06
+      ],
+      [
+       0.03,
+       0.2,
+       0.98
+      ]
+     ]
+    },
+    "first visible time": 6.0
+   }
+  ],
+  "window": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      2.03,
+      -0.58,
+      1.34
+     ],
+     "3D oriented bounding box dimensions": [
+      0.87,
+      1.51,
+      0.19
+     ],
+     "3D oriented bounding box orientation unit vectors": [
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+       0.43,
+       -0.9,
+       0.04
+      ],
+      [
+       0.0,
+       0.05,
+       1.0
+      ],
+      [
+       -0.9,
+       -0.43,
+       0.03
+      ]
+     ]
+    },
+    "first visible time": 4.0
+   }
+  ],
+  "bookshelf": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
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+      0.95,
+      0.57
+     ],
+     "3D oriented bounding box dimensions": [
+      1.0,
+      0.58,
+      0.76
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.98,
+       -0.2,
+       -0.02
+      ],
+      [
+       0.2,
+       0.98,
+       0.09
+      ],
+      [
+       0.0,
+       -0.1,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 7.0
+   }
+  ],
+  "pillow": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -1.43,
+      -0.77,
+      1.09
+     ],
+     "3D oriented bounding box dimensions": [
+      0.68,
+      0.44,
+      0.09
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.22,
+       0.97,
+       -0.12
+      ],
+      [
+       -0.95,
+       0.24,
+       0.18
+      ],
+      [
+       0.2,
+       0.07,
+       0.98
+      ]
+     ]
+    },
+    "first visible time": null
+   }
+  ],
+  "monitor": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      0.22,
+      1.1,
+      1.12
+     ],
+     "3D oriented bounding box dimensions": [
+      0.41,
+      0.36,
+      0.08
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.98,
+       -0.2,
+       0.06
+      ],
+      [
+       0.05,
+       -0.07,
+       -1.0
+      ],
+      [
+       0.2,
+       0.98,
+       -0.06
+      ]
+     ]
+    },
+    "first visible time": 2.0
+   }
+  ],
+  "lamp": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      0.94,
+      -1.35,
+      0.99
+     ],
+     "3D oriented bounding box dimensions": [
+      1.63,
+      0.29,
+      0.36
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       -0.06,
+       0.1,
+       0.99
+      ],
+      [
+       -0.12,
+       -0.99,
+       0.09
+      ],
+      [
+       0.99,
+       -0.11,
+       0.07
+      ]
+     ]
+    },
+    "first visible time": 0.0
+   }
+  ],
+  "backpack": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -0.95,
+      -0.36,
+      0.32
+     ],
+     "3D oriented bounding box dimensions": [
+      0.34,
+      0.48,
+      0.31
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       -0.77,
+       0.07,
+       0.64
+      ],
+      [
+       0.34,
+       -0.8,
+       0.5
+      ],
+      [
+       0.54,
+       0.6,
+       0.59
+      ]
+     ]
+    },
+    "first visible time": 8.0
+   }
+  ],
+  "trash bin": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      2.05,
+      -1.3,
+      0.39
+     ],
+     "3D oriented bounding box dimensions": [
+      0.39,
+      0.37,
+      0.39
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       1.0,
+       0.02,
+       0.06
+      ],
+      [
+       -0.02,
+       1.0,
+       -0.04
+      ],
+      [
+       -0.06,
+       0.04,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 5.0
+   }
+  ],
+  "door": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -1.59,
+      0.78,
+      1.17
+     ],
+     "3D oriented bounding box dimensions": [
+      1.91,
+      0.57,
+      0.27
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.02,
+       0.0,
+       1.0
+      ],
+      [
+       -0.88,
+       -0.47,
+       0.02
+      ],
+      [
+       0.47,
+       -0.88,
+       -0.01
+      ]
+     ]
+    },
+    "first visible time": 3.0
+   }
+  ],
+  "table": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -0.15,
+      0.96,
+      0.6
+     ],
+     "3D oriented bounding box dimensions": [
+      1.24,
+      0.84,
+      0.66
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.99,
+       -0.16,
+       -0.05
+      ],
+      [
+       -0.05,
+       0.02,
+       -1.0
+      ],
+      [
+       0.16,
+       0.99,
+       0.01
+      ]
+     ]
+    },
+    "first visible time": 1.0
+   }
+  ]
+ },
+ "room": {
+  "floor boundary polygons": [
+   {
+    "outer boundary coordinates": [
+     [
+      -1.59,
+      -1.67
+     ],
+     [
+      1.58,
+      -1.67
+     ],
+     [
+      1.58,
+      1.5
+     ],
+     [
+      -1.59,
+      1.5
+     ]
+    ],
+    "interior hole boundary coordinates": []
+   }
+  ]
+ }
+}
\ No newline at end of file
diff --git a/data/spatial codes/ground truth/compact/scene0696_01.json b/data/spatial codes/ground truth/compact/scene0696_01.json
new file mode 100644
index 0000000000000000000000000000000000000000..2d276a3fbad86b3164a1261ee34777035afafe22
--- /dev/null
+++ b/data/spatial codes/ground truth/compact/scene0696_01.json	
@@ -0,0 +1,742 @@
+{
+ "spatial code schema": {
+  "objects": {
+   "<object class>": [
+    {
+     "3D oriented bounding box": {
+      "3D oriented bounding box center coordinates": {
+       "components": [
+        "x",
+        "y",
+        "height above floor"
+       ],
+       "unit": "meters",
+       "description": "center of the 3D oriented bounding box in the shared room coordinate system"
+      },
+      "3D oriented bounding box dimensions": {
+       "components": [
+        "dimension 1",
+        "dimension 2",
+        "dimension 3"
+       ],
+       "unit": "meters",
+       "description": "full lengths of the 3D oriented bounding box along the corresponding orientation unit vectors"
+      },
+      "3D oriented bounding box orientation unit vectors": {
+       "components": [
+        [
+         "x",
+         "y",
+         "height"
+        ],
+        [
+         "x",
+         "y",
+         "height"
+        ],
+        [
+         "x",
+         "y",
+         "height"
+        ]
+       ],
+       "unit": null,
+       "description": "three perpendicular directions corresponding in order to the three 3D oriented bounding box dimensions"
+      }
+     },
+     "first visible time": {
+      "unit": "seconds",
+      "description": "earliest time at which this object instance is visibly observed"
+     }
+    }
+   ]
+  },
+  "room": {
+   "floor boundary polygons": [
+    {
+     "outer boundary coordinates": {
+      "components": [
+       [
+        "x",
+        "y"
+       ],
+       [
+        "x",
+        "y"
+       ]
+      ],
+      "unit": "meters",
+      "description": "ordered vertices enclosing one floor region"
+     },
+     "interior hole boundary coordinates": {
+      "components": [
+       [
+        [
+         "x",
+         "y"
+        ],
+        [
+         "x",
+         "y"
+        ]
+       ]
+      ],
+      "unit": "meters",
+      "description": "ordered boundaries enclosing regions excluded from the floor area"
+     }
+    }
+   ]
+  }
+ },
+ "objects": {
+  "mattress": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      0.66,
+      -1.75,
+      0.56
+     ],
+     "3D oriented bounding box dimensions": [
+      1.03,
+      1.91,
+      0.35
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.02,
+       -0.26,
+       0.97
+      ],
+      [
+       -1.0,
+       -0.02,
+       0.02
+      ],
+      [
+       0.01,
+       -0.97,
+       -0.26
+      ]
+     ]
+    },
+    "first visible time": null
+   }
+  ],
+  "chair": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -0.44,
+      -0.62,
+      0.54
+     ],
+     "3D oriented bounding box dimensions": [
+      0.53,
+      0.88,
+      0.5
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.16,
+       0.99,
+       0.0
+      ],
+      [
+       0.05,
+       -0.01,
+       -1.0
+      ],
+      [
+       -0.99,
+       0.16,
+       -0.06
+      ]
+     ]
+    },
+    "first visible time": null
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -0.42,
+      0.29,
+      0.58
+     ],
+     "3D oriented bounding box dimensions": [
+      0.59,
+      0.5,
+      0.9
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.07,
+       -1.0,
+       0.01
+      ],
+      [
+       -1.0,
+       -0.07,
+       -0.06
+      ],
+      [
+       0.06,
+       -0.01,
+       -1.0
+      ]
+     ]
+    },
+    "first visible time": null
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -0.48,
+      -0.11,
+      0.54
+     ],
+     "3D oriented bounding box dimensions": [
+      0.51,
+      0.52,
+      0.84
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       -0.01,
+       -1.0,
+       -0.02
+      ],
+      [
+       -1.0,
+       0.01,
+       -0.02
+      ],
+      [
+       0.02,
+       0.02,
+       -1.0
+      ]
+     ]
+    },
+    "first visible time": null
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -0.47,
+      0.76,
+      0.54
+     ],
+     "3D oriented bounding box dimensions": [
+      0.84,
+      0.48,
+      0.53
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       -0.05,
+       0.08,
+       1.0
+      ],
+      [
+       1.0,
+       -0.02,
+       0.05
+      ],
+      [
+       0.02,
+       1.0,
+       -0.08
+      ]
+     ]
+    },
+    "first visible time": null
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -0.53,
+      1.22,
+      0.56
+     ],
+     "3D oriented bounding box dimensions": [
+      0.48,
+      0.85,
+      0.45
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.03,
+       -1.0,
+       -0.03
+      ],
+      [
+       -0.16,
+       -0.03,
+       0.99
+      ],
+      [
+       -0.99,
+       -0.03,
+       -0.16
+      ]
+     ]
+    },
+    "first visible time": null
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      1.21,
+      1.07,
+      0.8
+     ],
+     "3D oriented bounding box dimensions": [
+      0.43,
+      0.29,
+      0.19
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       -0.15,
+       0.99,
+       0.04
+      ],
+      [
+       -0.51,
+       -0.04,
+       -0.86
+      ],
+      [
+       -0.85,
+       -0.14,
+       0.51
+      ]
+     ]
+    },
+    "first visible time": null
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      1.03,
+      0.12,
+      0.69
+     ],
+     "3D oriented bounding box dimensions": [
+      0.4,
+      0.59,
+      0.27
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       -0.26,
+       -0.96,
+       -0.06
+      ],
+      [
+       0.7,
+       -0.23,
+       0.68
+      ],
+      [
+       -0.67,
+       0.14,
+       0.73
+      ]
+     ]
+    },
+    "first visible time": null
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      0.89,
+      -0.54,
+      0.57
+     ],
+     "3D oriented bounding box dimensions": [
+      0.82,
+      0.47,
+      0.47
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.07,
+       -0.06,
+       1.0
+      ],
+      [
+       0.92,
+       -0.39,
+       -0.09
+      ],
+      [
+       0.4,
+       0.92,
+       0.03
+      ]
+     ]
+    },
+    "first visible time": null
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -0.04,
+      -1.1,
+      0.53
+     ],
+     "3D oriented bounding box dimensions": [
+      0.58,
+      0.39,
+      0.83
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.84,
+       -0.54,
+       -0.04
+      ],
+      [
+       -0.54,
+       -0.83,
+       -0.09
+      ],
+      [
+       0.02,
+       0.09,
+       -1.0
+      ]
+     ]
+    },
+    "first visible time": null
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -1.05,
+      2.27,
+      0.78
+     ],
+     "3D oriented bounding box dimensions": [
+      0.63,
+      1.24,
+      0.44
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       -1.0,
+       0.06,
+       -0.03
+      ],
+      [
+       0.01,
+       -0.37,
+       -0.93
+      ],
+      [
+       -0.06,
+       -0.93,
+       0.37
+      ]
+     ]
+    },
+    "first visible time": null
+   }
+  ],
+  "sofa": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      0.21,
+      2.28,
+      0.68
+     ],
+     "3D oriented bounding box dimensions": [
+      1.92,
+      1.12,
+      0.42
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.99,
+       -0.16,
+       -0.03
+      ],
+      [
+       0.16,
+       0.87,
+       0.47
+      ],
+      [
+       -0.05,
+       -0.46,
+       0.88
+      ]
+     ]
+    },
+    "first visible time": null
+   }
+  ],
+  "pillow": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      0.32,
+      2.69,
+      0.97
+     ],
+     "3D oriented bounding box dimensions": [
+      0.43,
+      0.54,
+      0.15
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.1,
+       0.52,
+       0.85
+      ],
+      [
+       0.98,
+       0.07,
+       -0.16
+      ],
+      [
+       -0.14,
+       0.85,
+       -0.5
+      ]
+     ]
+    },
+    "first visible time": null
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -0.23,
+      1.38,
+      0.9
+     ],
+     "3D oriented bounding box dimensions": [
+      0.56,
+      0.58,
+      0.14
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       -1.0,
+       -0.02,
+       -0.04
+      ],
+      [
+       -0.01,
+       0.99,
+       -0.1
+      ],
+      [
+       0.04,
+       -0.1,
+       -0.99
+      ]
+     ]
+    },
+    "first visible time": null
+   }
+  ],
+  "tv": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      2.2,
+      -0.1,
+      1.4
+     ],
+     "3D oriented bounding box dimensions": [
+      0.53,
+      0.51,
+      0.45
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       -0.98,
+       0.21,
+       -0.02
+      ],
+      [
+       0.21,
+       0.98,
+       -0.04
+      ],
+      [
+       0.01,
+       -0.04,
+       -1.0
+      ]
+     ]
+    },
+    "first visible time": null
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      2.01,
+      -0.51,
+      1.4
+     ],
+     "3D oriented bounding box dimensions": [
+      0.45,
+      0.63,
+      0.2
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.07,
+       -0.08,
+       0.99
+      ],
+      [
+       0.01,
+       1.0,
+       0.08
+      ],
+      [
+       -1.0,
+       0.0,
+       0.07
+      ]
+     ]
+    },
+    "first visible time": null
+   }
+  ],
+  "radiator": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      0.21,
+      2.88,
+      1.0
+     ],
+     "3D oriented bounding box dimensions": [
+      1.72,
+      0.47,
+      0.15
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       -1.0,
+       0.08,
+       0.02
+      ],
+      [
+       -0.02,
+       -0.03,
+       -1.0
+      ],
+      [
+       -0.08,
+       -1.0,
+       0.03
+      ]
+     ]
+    },
+    "first visible time": null
+   }
+  ],
+  "door": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -1.01,
+      -2.62,
+      1.11
+     ],
+     "3D oriented bounding box dimensions": [
+      1.05,
+      2.02,
+      0.25
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       -0.95,
+       0.31,
+       0.04
+      ],
+      [
+       -0.05,
+       -0.01,
+       -1.0
+      ],
+      [
+       -0.31,
+       -0.95,
+       0.02
+      ]
+     ]
+    },
+    "first visible time": null
+   }
+  ],
+  "table": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      0.19,
+      0.26,
+      0.81
+     ],
+     "3D oriented bounding box dimensions": [
+      2.8,
+      1.53,
+      0.74
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.01,
+       -1.0,
+       -0.02
+      ],
+      [
+       -0.88,
+       0.0,
+       -0.47
+      ],
+      [
+       0.47,
+       0.02,
+       -0.88
+      ]
+     ]
+    },
+    "first visible time": null
+   }
+  ]
+ },
+ "room": {
+  "floor boundary polygons": [
+   {
+    "outer boundary coordinates": [
+     [
+      -2.6,
+      -2.43
+     ],
+     [
+      2.59,
+      -2.43
+     ],
+     [
+      2.59,
+      2.77
+     ],
+     [
+      -2.6,
+      2.77
+     ]
+    ],
+    "interior hole boundary coordinates": []
+   }
+  ]
+ }
+}
\ No newline at end of file
diff --git a/data/spatial codes/ground truth/compact/scene0697_01.json b/data/spatial codes/ground truth/compact/scene0697_01.json
new file mode 100644
index 0000000000000000000000000000000000000000..da8abf0f8a59b4d10799c322317e06cea69bdd7a
--- /dev/null
+++ b/data/spatial codes/ground truth/compact/scene0697_01.json	
@@ -0,0 +1,584 @@
+{
+ "spatial code schema": {
+  "objects": {
+   "<object class>": [
+    {
+     "3D oriented bounding box": {
+      "3D oriented bounding box center coordinates": {
+       "components": [
+        "x",
+        "y",
+        "height above floor"
+       ],
+       "unit": "meters",
+       "description": "center of the 3D oriented bounding box in the shared room coordinate system"
+      },
+      "3D oriented bounding box dimensions": {
+       "components": [
+        "dimension 1",
+        "dimension 2",
+        "dimension 3"
+       ],
+       "unit": "meters",
+       "description": "full lengths of the 3D oriented bounding box along the corresponding orientation unit vectors"
+      },
+      "3D oriented bounding box orientation unit vectors": {
+       "components": [
+        [
+         "x",
+         "y",
+         "height"
+        ],
+        [
+         "x",
+         "y",
+         "height"
+        ],
+        [
+         "x",
+         "y",
+         "height"
+        ]
+       ],
+       "unit": null,
+       "description": "three perpendicular directions corresponding in order to the three 3D oriented bounding box dimensions"
+      }
+     },
+     "first visible time": {
+      "unit": "seconds",
+      "description": "earliest time at which this object instance is visibly observed"
+     }
+    }
+   ]
+  },
+  "room": {
+   "floor boundary polygons": [
+    {
+     "outer boundary coordinates": {
+      "components": [
+       [
+        "x",
+        "y"
+       ],
+       [
+        "x",
+        "y"
+       ]
+      ],
+      "unit": "meters",
+      "description": "ordered vertices enclosing one floor region"
+     },
+     "interior hole boundary coordinates": {
+      "components": [
+       [
+        [
+         "x",
+         "y"
+        ],
+        [
+         "x",
+         "y"
+        ]
+       ]
+      ],
+      "unit": "meters",
+      "description": "ordered boundaries enclosing regions excluded from the floor area"
+     }
+    }
+   ]
+  }
+ },
+ "objects": {
+  "bed": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -0.03,
+      0.75,
+      0.71
+     ],
+     "3D oriented bounding box dimensions": [
+      2.09,
+      1.21,
+      2.3
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.45,
+       0.89,
+       -0.03
+      ],
+      [
+       -0.07,
+       0.01,
+       -1.0
+      ],
+      [
+       -0.89,
+       0.45,
+       0.07
+      ]
+     ]
+    },
+    "first visible time": 3.0
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -0.6,
+      -0.86,
+      0.26
+     ],
+     "3D oriented bounding box dimensions": [
+      1.56,
+      2.07,
+      0.13
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.46,
+       0.89,
+       -0.06
+      ],
+      [
+       -0.89,
+       0.46,
+       0.01
+      ],
+      [
+       0.04,
+       0.05,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 3.0
+   }
+  ],
+  "window": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -0.44,
+      -2.03,
+      1.55
+     ],
+     "3D oriented bounding box dimensions": [
+      1.28,
+      2.59,
+      0.27
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       -0.52,
+       0.85,
+       0.0
+      ],
+      [
+       -0.02,
+       -0.01,
+       -1.0
+      ],
+      [
+       -0.85,
+       -0.52,
+       0.02
+      ]
+     ]
+    },
+    "first visible time": 4.0
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -0.87,
+      -1.57,
+      1.51
+     ],
+     "3D oriented bounding box dimensions": [
+      0.32,
+      2.5,
+      0.07
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       -1.0,
+       0.01,
+       0.01
+      ],
+      [
+       0.01,
+       0.04,
+       1.0
+      ],
+      [
+       0.01,
+       1.0,
+       -0.04
+      ]
+     ]
+    },
+    "first visible time": 4.0
+   }
+  ],
+  "pillow": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -1.17,
+      -0.3,
+      0.41
+     ],
+     "3D oriented bounding box dimensions": [
+      0.86,
+      0.56,
+      0.24
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.47,
+       0.88,
+       0.03
+      ],
+      [
+       -0.64,
+       0.32,
+       0.7
+      ],
+      [
+       0.6,
+       -0.35,
+       0.72
+      ]
+     ]
+    },
+    "first visible time": 0.0
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -0.6,
+      1.17,
+      0.97
+     ],
+     "3D oriented bounding box dimensions": [
+      0.51,
+      0.65,
+      0.13
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.78,
+       -0.62,
+       -0.1
+      ],
+      [
+       -0.62,
+       -0.78,
+       -0.03
+      ],
+      [
+       -0.07,
+       0.08,
+       -0.99
+      ]
+     ]
+    },
+    "first visible time": 0.0
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -0.9,
+      0.76,
+      0.98
+     ],
+     "3D oriented bounding box dimensions": [
+      0.53,
+      0.13,
+      0.76
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       -0.94,
+       0.33,
+       0.08
+      ],
+      [
+       -0.06,
+       0.08,
+       -1.0
+      ],
+      [
+       -0.33,
+       -0.94,
+       -0.05
+      ]
+     ]
+    },
+    "first visible time": 0.0
+   }
+  ],
+  "lamp": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -1.33,
+      0.15,
+      1.26
+     ],
+     "3D oriented bounding box dimensions": [
+      0.63,
+      0.3,
+      0.28
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       -0.35,
+       0.25,
+       -0.9
+      ],
+      [
+       0.88,
+       0.41,
+       -0.23
+      ],
+      [
+       0.31,
+       -0.88,
+       -0.37
+      ]
+     ]
+    },
+    "first visible time": 5.0
+   }
+  ],
+  "tv": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      1.17,
+      -1.36,
+      1.88
+     ],
+     "3D oriented bounding box dimensions": [
+      0.96,
+      0.57,
+      0.04
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       -0.57,
+       -0.82,
+       0.01
+      ],
+      [
+       -0.02,
+       0.03,
+       1.0
+      ],
+      [
+       -0.82,
+       0.57,
+       -0.04
+      ]
+     ]
+    },
+    "first visible time": 6.0
+   }
+  ],
+  "nightstand": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -1.36,
+      0.0,
+      0.6
+     ],
+     "3D oriented bounding box dimensions": [
+      0.85,
+      0.67,
+      0.37
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.19,
+       -0.04,
+       -0.98
+      ],
+      [
+       -0.42,
+       -0.91,
+       -0.05
+      ],
+      [
+       -0.89,
+       0.42,
+       -0.19
+      ]
+     ]
+    },
+    "first visible time": 1.0
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -0.36,
+      2.06,
+      0.52
+     ],
+     "3D oriented bounding box dimensions": [
+      0.67,
+      0.7,
+      0.44
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.0,
+       0.07,
+       -1.0
+      ],
+      [
+       0.52,
+       0.85,
+       0.05
+      ],
+      [
+       0.86,
+       -0.52,
+       -0.04
+      ]
+     ]
+    },
+    "first visible time": 1.0
+   }
+  ],
+  "closet": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      0.46,
+      2.74,
+      0.9
+     ],
+     "3D oriented bounding box dimensions": [
+      1.5,
+      0.86,
+      0.11
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       -0.06,
+       -0.05,
+       1.0
+      ],
+      [
+       -0.51,
+       -0.86,
+       -0.07
+      ],
+      [
+       0.86,
+       -0.51,
+       0.03
+      ]
+     ]
+    },
+    "first visible time": 2.0
+   }
+  ],
+  "mirror": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      2.04,
+      1.52,
+      1.44
+     ],
+     "3D oriented bounding box dimensions": [
+      1.2,
+      0.89,
+      0.16
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.9,
+       -0.4,
+       0.16
+      ],
+      [
+       0.16,
+       -0.02,
+       -0.99
+      ],
+      [
+       0.4,
+       0.92,
+       0.05
+      ]
+     ]
+    },
+    "first visible time": 8.0
+   }
+  ],
+  "trash bin": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      1.19,
+      1.82,
+      0.25
+     ],
+     "3D oriented bounding box dimensions": [
+      0.26,
+      0.23,
+      0.13
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.03,
+       -1.0,
+       0.08
+      ],
+      [
+       -0.09,
+       0.07,
+       0.99
+      ],
+      [
+       -1.0,
+       -0.03,
+       -0.09
+      ]
+     ]
+    },
+    "first visible time": 7.0
+   }
+  ]
+ },
+ "room": {
+  "floor boundary polygons": [
+   {
+    "outer boundary coordinates": [
+     [
+      -1.9,
+      -1.86
+     ],
+     [
+      2.09,
+      -1.86
+     ],
+     [
+      2.09,
+      2.13
+     ],
+     [
+      -1.9,
+      2.13
+     ]
+    ],
+    "interior hole boundary coordinates": []
+   }
+  ]
+ }
+}
\ No newline at end of file
diff --git a/data/spatial codes/ground truth/compact/scene0699_00.json b/data/spatial codes/ground truth/compact/scene0699_00.json
new file mode 100644
index 0000000000000000000000000000000000000000..a7e84f59e3be48f66a85646a41356c2f10e2beeb
--- /dev/null
+++ b/data/spatial codes/ground truth/compact/scene0699_00.json	
@@ -0,0 +1,552 @@
+{
+ "spatial code schema": {
+  "objects": {
+   "<object class>": [
+    {
+     "3D oriented bounding box": {
+      "3D oriented bounding box center coordinates": {
+       "components": [
+        "x",
+        "y",
+        "height above floor"
+       ],
+       "unit": "meters",
+       "description": "center of the 3D oriented bounding box in the shared room coordinate system"
+      },
+      "3D oriented bounding box dimensions": {
+       "components": [
+        "dimension 1",
+        "dimension 2",
+        "dimension 3"
+       ],
+       "unit": "meters",
+       "description": "full lengths of the 3D oriented bounding box along the corresponding orientation unit vectors"
+      },
+      "3D oriented bounding box orientation unit vectors": {
+       "components": [
+        [
+         "x",
+         "y",
+         "height"
+        ],
+        [
+         "x",
+         "y",
+         "height"
+        ],
+        [
+         "x",
+         "y",
+         "height"
+        ]
+       ],
+       "unit": null,
+       "description": "three perpendicular directions corresponding in order to the three 3D oriented bounding box dimensions"
+      }
+     },
+     "first visible time": {
+      "unit": "seconds",
+      "description": "earliest time at which this object instance is visibly observed"
+     }
+    }
+   ]
+  },
+  "room": {
+   "floor boundary polygons": [
+    {
+     "outer boundary coordinates": {
+      "components": [
+       [
+        "x",
+        "y"
+       ],
+       [
+        "x",
+        "y"
+       ]
+      ],
+      "unit": "meters",
+      "description": "ordered vertices enclosing one floor region"
+     },
+     "interior hole boundary coordinates": {
+      "components": [
+       [
+        [
+         "x",
+         "y"
+        ],
+        [
+         "x",
+         "y"
+        ]
+       ]
+      ],
+      "unit": "meters",
+      "description": "ordered boundaries enclosing regions excluded from the floor area"
+     }
+    }
+   ]
+  }
+ },
+ "objects": {
+  "bed": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -1.17,
+      -0.89,
+      0.63
+     ],
+     "3D oriented bounding box dimensions": [
+      1.86,
+      0.93,
+      1.4
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       -0.27,
+       -0.95,
+       0.17
+      ],
+      [
+       0.02,
+       0.17,
+       0.99
+      ],
+      [
+       -0.96,
+       0.27,
+       -0.03
+      ]
+     ]
+    },
+    "first visible time": 2.0
+   }
+  ],
+  "chair": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      1.22,
+      -1.25,
+      0.69
+     ],
+     "3D oriented bounding box dimensions": [
+      0.44,
+      0.77,
+      0.57
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.98,
+       -0.18,
+       0.06
+      ],
+      [
+       -0.06,
+       -0.03,
+       1.0
+      ],
+      [
+       -0.18,
+       -0.98,
+       -0.04
+      ]
+     ]
+    },
+    "first visible time": 5.0
+   }
+  ],
+  "window": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -2.65,
+      0.23,
+      1.38
+     ],
+     "3D oriented bounding box dimensions": [
+      0.77,
+      0.96,
+      0.17
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       -0.13,
+       -0.01,
+       0.99
+      ],
+      [
+       -0.31,
+       -0.95,
+       -0.05
+      ],
+      [
+       0.94,
+       -0.32,
+       0.12
+      ]
+     ]
+    },
+    "first visible time": null
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      0.97,
+      -2.55,
+      1.09
+     ],
+     "3D oriented bounding box dimensions": [
+      0.29,
+      0.92,
+      0.29
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       -0.32,
+       -0.95,
+       0.07
+      ],
+      [
+       -0.94,
+       0.3,
+       -0.17
+      ],
+      [
+       0.14,
+       -0.12,
+       -0.98
+      ]
+     ]
+    },
+    "first visible time": null
+   }
+  ],
+  "pillow": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -1.58,
+      -1.3,
+      0.87
+     ],
+     "3D oriented bounding box dimensions": [
+      0.61,
+      0.45,
+      0.15
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.96,
+       -0.28,
+       0.06
+      ],
+      [
+       0.28,
+       0.96,
+       0.06
+      ],
+      [
+       -0.07,
+       -0.04,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 0.0
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -0.98,
+      -1.44,
+      0.87
+     ],
+     "3D oriented bounding box dimensions": [
+      0.72,
+      0.49,
+      0.18
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       -0.95,
+       0.28,
+       0.11
+      ],
+      [
+       -0.29,
+       -0.96,
+       -0.04
+      ],
+      [
+       0.1,
+       -0.07,
+       0.99
+      ]
+     ]
+    },
+    "first visible time": 0.0
+   }
+  ],
+  "nightstand": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -2.42,
+      -1.14,
+      0.52
+     ],
+     "3D oriented bounding box dimensions": [
+      0.8,
+      0.62,
+      0.77
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       -0.28,
+       -0.96,
+       -0.01
+      ],
+      [
+       -0.07,
+       0.03,
+       -1.0
+      ],
+      [
+       0.96,
+       -0.28,
+       -0.08
+      ]
+     ]
+    },
+    "first visible time": 1.0
+   }
+  ],
+  "backpack": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -0.05,
+      -1.29,
+      0.4
+     ],
+     "3D oriented bounding box dimensions": [
+      0.35,
+      0.46,
+      0.15
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.32,
+       0.95,
+       -0.01
+      ],
+      [
+       0.92,
+       -0.32,
+       -0.21
+      ],
+      [
+       -0.21,
+       0.06,
+       -0.98
+      ]
+     ]
+    },
+    "first visible time": 6.0
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      1.42,
+      -0.69,
+      0.53
+     ],
+     "3D oriented bounding box dimensions": [
+      0.54,
+      0.34,
+      0.29
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       -0.87,
+       0.08,
+       -0.49
+      ],
+      [
+       0.12,
+       0.99,
+       -0.05
+      ],
+      [
+       0.49,
+       -0.1,
+       -0.87
+      ]
+     ]
+    },
+    "first visible time": 6.0
+   }
+  ],
+  "closet": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      2.22,
+      1.25,
+      1.43
+     ],
+     "3D oriented bounding box dimensions": [
+      1.84,
+      1.63,
+      0.39
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.0,
+       0.07,
+       1.0
+      ],
+      [
+       -0.97,
+       0.24,
+       -0.02
+      ],
+      [
+       -0.24,
+       -0.97,
+       0.06
+      ]
+     ]
+    },
+    "first visible time": 7.0
+   }
+  ],
+  "door": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -0.11,
+      0.88,
+      1.07
+     ],
+     "3D oriented bounding box dimensions": [
+      0.81,
+      1.52,
+      0.13
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.78,
+       0.63,
+       0.0
+      ],
+      [
+       -0.01,
+       0.02,
+       1.0
+      ],
+      [
+       0.63,
+       -0.78,
+       0.02
+      ]
+     ]
+    },
+    "first visible time": 3.0
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -1.84,
+      1.58,
+      0.64
+     ],
+     "3D oriented bounding box dimensions": [
+      0.75,
+      0.65,
+      0.03
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       -0.98,
+       0.21,
+       -0.05
+      ],
+      [
+       0.04,
+       -0.06,
+       -1.0
+      ],
+      [
+       -0.21,
+       -0.98,
+       0.05
+      ]
+     ]
+    },
+    "first visible time": 3.0
+   }
+  ],
+  "table": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      1.02,
+      -1.87,
+      0.69
+     ],
+     "3D oriented bounding box dimensions": [
+      0.88,
+      0.82,
+      1.36
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       -0.26,
+       -0.96,
+       -0.02
+      ],
+      [
+       -0.01,
+       0.03,
+       -1.0
+      ],
+      [
+       0.96,
+       -0.26,
+       -0.02
+      ]
+     ]
+    },
+    "first visible time": 4.0
+   }
+  ]
+ },
+ "room": {
+  "floor boundary polygons": [
+   {
+    "outer boundary coordinates": [
+     [
+      -2.31,
+      -2.1
+     ],
+     [
+      2.21,
+      -2.1
+     ],
+     [
+      2.21,
+      2.42
+     ],
+     [
+      -2.31,
+      2.42
+     ]
+    ],
+    "interior hole boundary coordinates": []
+   }
+  ]
+ }
+}
\ No newline at end of file
diff --git a/data/spatial codes/ground truth/compact/scene0700_02.json b/data/spatial codes/ground truth/compact/scene0700_02.json
new file mode 100644
index 0000000000000000000000000000000000000000..e683944c7027757369fe1602eca380f4d903171d
--- /dev/null
+++ b/data/spatial codes/ground truth/compact/scene0700_02.json	
@@ -0,0 +1,650 @@
+{
+ "spatial code schema": {
+  "objects": {
+   "<object class>": [
+    {
+     "3D oriented bounding box": {
+      "3D oriented bounding box center coordinates": {
+       "components": [
+        "x",
+        "y",
+        "height above floor"
+       ],
+       "unit": "meters",
+       "description": "center of the 3D oriented bounding box in the shared room coordinate system"
+      },
+      "3D oriented bounding box dimensions": {
+       "components": [
+        "dimension 1",
+        "dimension 2",
+        "dimension 3"
+       ],
+       "unit": "meters",
+       "description": "full lengths of the 3D oriented bounding box along the corresponding orientation unit vectors"
+      },
+      "3D oriented bounding box orientation unit vectors": {
+       "components": [
+        [
+         "x",
+         "y",
+         "height"
+        ],
+        [
+         "x",
+         "y",
+         "height"
+        ],
+        [
+         "x",
+         "y",
+         "height"
+        ]
+       ],
+       "unit": null,
+       "description": "three perpendicular directions corresponding in order to the three 3D oriented bounding box dimensions"
+      }
+     },
+     "first visible time": {
+      "unit": "seconds",
+      "description": "earliest time at which this object instance is visibly observed"
+     }
+    }
+   ]
+  },
+  "room": {
+   "floor boundary polygons": [
+    {
+     "outer boundary coordinates": {
+      "components": [
+       [
+        "x",
+        "y"
+       ],
+       [
+        "x",
+        "y"
+       ]
+      ],
+      "unit": "meters",
+      "description": "ordered vertices enclosing one floor region"
+     },
+     "interior hole boundary coordinates": {
+      "components": [
+       [
+        [
+         "x",
+         "y"
+        ],
+        [
+         "x",
+         "y"
+        ]
+       ]
+      ],
+      "unit": "meters",
+      "description": "ordered boundaries enclosing regions excluded from the floor area"
+     }
+    }
+   ]
+  }
+ },
+ "objects": {
+  "chair": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      0.59,
+      0.36,
+      0.83
+     ],
+     "3D oriented bounding box dimensions": [
+      1.35,
+      0.68,
+      0.57
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.09,
+       0.0,
+       1.0
+      ],
+      [
+       0.4,
+       -0.91,
+       -0.04
+      ],
+      [
+       0.91,
+       0.41,
+       -0.08
+      ]
+     ]
+    },
+    "first visible time": null
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      1.77,
+      -0.28,
+      0.57
+     ],
+     "3D oriented bounding box dimensions": [
+      1.14,
+      0.77,
+      0.48
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.26,
+       -0.78,
+       0.57
+      ],
+      [
+       -0.91,
+       -0.39,
+       -0.13
+      ],
+      [
+       0.32,
+       -0.48,
+       -0.81
+      ]
+     ]
+    },
+    "first visible time": null
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      1.12,
+      -0.6,
+      0.63
+     ],
+     "3D oriented bounding box dimensions": [
+      0.54,
+      0.96,
+      0.5
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       -0.86,
+       -0.51,
+       -0.01
+      ],
+      [
+       -0.03,
+       0.06,
+       -1.0
+      ],
+      [
+       0.51,
+       -0.86,
+       -0.07
+      ]
+     ]
+    },
+    "first visible time": null
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -0.24,
+      0.3,
+      0.57
+     ],
+     "3D oriented bounding box dimensions": [
+      0.45,
+      0.31,
+      0.07
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.98,
+       0.21,
+       0.03
+      ],
+      [
+       0.21,
+       -0.97,
+       -0.13
+      ],
+      [
+       0.0,
+       0.13,
+       -0.99
+      ]
+     ]
+    },
+    "first visible time": null
+   }
+  ],
+  "window": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      2.45,
+      0.67,
+      1.42
+     ],
+     "3D oriented bounding box dimensions": [
+      2.53,
+      1.04,
+      0.34
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.19,
+       -0.96,
+       -0.2
+      ],
+      [
+       0.03,
+       -0.2,
+       0.98
+      ],
+      [
+       -0.98,
+       -0.19,
+       -0.01
+      ]
+     ]
+    },
+    "first visible time": null
+   }
+  ],
+  "monitor": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      0.71,
+      1.25,
+      1.13
+     ],
+     "3D oriented bounding box dimensions": [
+      0.58,
+      0.21,
+      0.48
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       -1.0,
+       -0.02,
+       0.02
+      ],
+      [
+       -0.02,
+       1.0,
+       -0.02
+      ],
+      [
+       -0.01,
+       -0.02,
+       -1.0
+      ]
+     ]
+    },
+    "first visible time": null
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      0.2,
+      1.18,
+      1.19
+     ],
+     "3D oriented bounding box dimensions": [
+      0.45,
+      0.41,
+      0.14
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       -0.8,
+       -0.6,
+       0.02
+      ],
+      [
+       -0.08,
+       0.07,
+       -0.99
+      ],
+      [
+       0.6,
+       -0.8,
+       -0.1
+      ]
+     ]
+    },
+    "first visible time": null
+   }
+  ],
+  "keyboard": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      0.36,
+      0.95,
+      0.91
+     ],
+     "3D oriented bounding box dimensions": [
+      0.47,
+      0.16,
+      0.03
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.85,
+       0.53,
+       0.0
+      ],
+      [
+       0.53,
+       -0.85,
+       -0.01
+      ],
+      [
+       0.0,
+       0.01,
+       -1.0
+      ]
+     ]
+    },
+    "first visible time": null
+   }
+  ],
+  "backpack": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      1.08,
+      -0.58,
+      0.84
+     ],
+     "3D oriented bounding box dimensions": [
+      0.25,
+      0.38,
+      0.47
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       -0.59,
+       0.33,
+       0.74
+      ],
+      [
+       -0.78,
+       -0.47,
+       -0.41
+      ],
+      [
+       0.21,
+       -0.82,
+       0.53
+      ]
+     ]
+    },
+    "first visible time": null
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      0.5,
+      -0.91,
+      0.39
+     ],
+     "3D oriented bounding box dimensions": [
+      0.5,
+      0.43,
+      0.19
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.22,
+       -0.47,
+       0.85
+      ],
+      [
+       -0.87,
+       -0.49,
+       -0.05
+      ],
+      [
+       0.44,
+       -0.73,
+       -0.52
+      ]
+     ]
+    },
+    "first visible time": null
+   }
+  ],
+  "radiator": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      2.14,
+      0.37,
+      0.46
+     ],
+     "3D oriented bounding box dimensions": [
+      1.51,
+      0.41,
+      0.09
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       -0.19,
+       0.98,
+       0.03
+      ],
+      [
+       -0.07,
+       0.01,
+       -1.0
+      ],
+      [
+       -0.98,
+       -0.19,
+       0.06
+      ]
+     ]
+    },
+    "first visible time": null
+   }
+  ],
+  "telephone": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      1.16,
+      1.11,
+      0.98
+     ],
+     "3D oriented bounding box dimensions": [
+      0.22,
+      0.16,
+      0.29
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.31,
+       0.17,
+       0.93
+      ],
+      [
+       0.65,
+       0.68,
+       -0.34
+      ],
+      [
+       -0.7,
+       0.71,
+       0.1
+      ]
+     ]
+    },
+    "first visible time": null
+   }
+  ],
+  "trash bin": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -0.94,
+      -1.07,
+      0.33
+     ],
+     "3D oriented bounding box dimensions": [
+      0.34,
+      0.32,
+      0.32
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.19,
+       -0.98,
+       0.0
+      ],
+      [
+       -0.98,
+       -0.18,
+       -0.01
+      ],
+      [
+       0.01,
+       0.0,
+       -1.0
+      ]
+     ]
+    },
+    "first visible time": null
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -0.64,
+      -1.1,
+      0.35
+     ],
+     "3D oriented bounding box dimensions": [
+      0.3,
+      0.36,
+      0.29
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.15,
+       -0.99,
+       0.02
+      ],
+      [
+       -0.02,
+       0.02,
+       1.0
+      ],
+      [
+       -0.99,
+       -0.15,
+       -0.02
+      ]
+     ]
+    },
+    "first visible time": null
+   }
+  ],
+  "door": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -2.61,
+      -0.45,
+      1.02
+     ],
+     "3D oriented bounding box dimensions": [
+      1.76,
+      1.71,
+      0.1
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       -0.16,
+       0.99,
+       -0.04
+      ],
+      [
+       -0.01,
+       0.03,
+       1.0
+      ],
+      [
+       0.99,
+       0.16,
+       0.01
+      ]
+     ]
+    },
+    "first visible time": null
+   }
+  ],
+  "table": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      0.46,
+      0.93,
+      0.59
+     ],
+     "3D oriented bounding box dimensions": [
+      1.05,
+      2.69,
+      0.86
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.25,
+       -0.97,
+       0.0
+      ],
+      [
+       -0.97,
+       -0.25,
+       -0.01
+      ],
+      [
+       0.01,
+       0.0,
+       -1.0
+      ]
+     ]
+    },
+    "first visible time": null
+   }
+  ]
+ },
+ "room": {
+  "floor boundary polygons": [
+   {
+    "outer boundary coordinates": [
+     [
+      -1.73,
+      -1.68
+     ],
+     [
+      1.79,
+      -1.68
+     ],
+     [
+      1.79,
+      1.85
+     ],
+     [
+      -1.73,
+      1.85
+     ]
+    ],
+    "interior hole boundary coordinates": []
+   }
+  ]
+ }
+}
\ No newline at end of file
diff --git a/data/spatial codes/ground truth/compact/scene0701_00.json b/data/spatial codes/ground truth/compact/scene0701_00.json
new file mode 100644
index 0000000000000000000000000000000000000000..ae1087eaeb1bbe69a8fa78181437be6e4fd8daa3
--- /dev/null
+++ b/data/spatial codes/ground truth/compact/scene0701_00.json	
@@ -0,0 +1,252 @@
+{
+ "spatial code schema": {
+  "objects": {
+   "<object class>": [
+    {
+     "3D oriented bounding box": {
+      "3D oriented bounding box center coordinates": {
+       "components": [
+        "x",
+        "y",
+        "height above floor"
+       ],
+       "unit": "meters",
+       "description": "center of the 3D oriented bounding box in the shared room coordinate system"
+      },
+      "3D oriented bounding box dimensions": {
+       "components": [
+        "dimension 1",
+        "dimension 2",
+        "dimension 3"
+       ],
+       "unit": "meters",
+       "description": "full lengths of the 3D oriented bounding box along the corresponding orientation unit vectors"
+      },
+      "3D oriented bounding box orientation unit vectors": {
+       "components": [
+        [
+         "x",
+         "y",
+         "height"
+        ],
+        [
+         "x",
+         "y",
+         "height"
+        ],
+        [
+         "x",
+         "y",
+         "height"
+        ]
+       ],
+       "unit": null,
+       "description": "three perpendicular directions corresponding in order to the three 3D oriented bounding box dimensions"
+      }
+     },
+     "first visible time": {
+      "unit": "seconds",
+      "description": "earliest time at which this object instance is visibly observed"
+     }
+    }
+   ]
+  },
+  "room": {
+   "floor boundary polygons": [
+    {
+     "outer boundary coordinates": {
+      "components": [
+       [
+        "x",
+        "y"
+       ],
+       [
+        "x",
+        "y"
+       ]
+      ],
+      "unit": "meters",
+      "description": "ordered vertices enclosing one floor region"
+     },
+     "interior hole boundary coordinates": {
+      "components": [
+       [
+        [
+         "x",
+         "y"
+        ],
+        [
+         "x",
+         "y"
+        ]
+       ]
+      ],
+      "unit": "meters",
+      "description": "ordered boundaries enclosing regions excluded from the floor area"
+     }
+    }
+   ]
+  }
+ },
+ "objects": {
+  "sofa": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -0.3,
+      0.1,
+      0.57
+     ],
+     "3D oriented bounding box dimensions": [
+      2.9,
+      3.84,
+      0.89
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.97,
+       -0.24,
+       -0.02
+      ],
+      [
+       -0.24,
+       -0.97,
+       0.04
+      ],
+      [
+       -0.03,
+       -0.03,
+       -1.0
+      ]
+     ]
+    },
+    "first visible time": null
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      1.32,
+      -0.47,
+      0.59
+     ],
+     "3D oriented bounding box dimensions": [
+      2.21,
+      1.14,
+      0.4
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       -0.25,
+       -0.97,
+       0.05
+      ],
+      [
+       0.71,
+       -0.15,
+       0.68
+      ],
+      [
+       -0.65,
+       0.21,
+       0.73
+      ]
+     ]
+    },
+    "first visible time": null
+   }
+  ],
+  "backpack": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      0.54,
+      -1.6,
+      0.79
+     ],
+     "3D oriented bounding box dimensions": [
+      0.42,
+      0.21,
+      0.59
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       -0.65,
+       -0.68,
+       0.35
+      ],
+      [
+       0.45,
+       -0.71,
+       -0.55
+      ],
+      [
+       0.62,
+       -0.2,
+       0.76
+      ]
+     ]
+    },
+    "first visible time": null
+   }
+  ],
+  "table": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      0.26,
+      -0.11,
+      0.33
+     ],
+     "3D oriented bounding box dimensions": [
+      1.19,
+      1.18,
+      0.47
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       1.0,
+       0.0,
+       -0.01
+      ],
+      [
+       0.0,
+       1.0,
+       -0.02
+      ],
+      [
+       0.01,
+       0.02,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": null
+   }
+  ]
+ },
+ "room": {
+  "floor boundary polygons": [
+   {
+    "outer boundary coordinates": [
+     [
+      -1.98,
+      -1.6
+     ],
+     [
+      1.76,
+      -1.6
+     ],
+     [
+      1.76,
+      2.15
+     ],
+     [
+      -1.98,
+      2.15
+     ]
+    ],
+    "interior hole boundary coordinates": []
+   }
+  ]
+ }
+}
\ No newline at end of file
diff --git a/data/spatial codes/ground truth/compact/scene0702_02.json b/data/spatial codes/ground truth/compact/scene0702_02.json
new file mode 100644
index 0000000000000000000000000000000000000000..3a6259ac09182395e4e7f96be78fdc689ed53e82
--- /dev/null
+++ b/data/spatial codes/ground truth/compact/scene0702_02.json	
@@ -0,0 +1,220 @@
+{
+ "spatial code schema": {
+  "objects": {
+   "<object class>": [
+    {
+     "3D oriented bounding box": {
+      "3D oriented bounding box center coordinates": {
+       "components": [
+        "x",
+        "y",
+        "height above floor"
+       ],
+       "unit": "meters",
+       "description": "center of the 3D oriented bounding box in the shared room coordinate system"
+      },
+      "3D oriented bounding box dimensions": {
+       "components": [
+        "dimension 1",
+        "dimension 2",
+        "dimension 3"
+       ],
+       "unit": "meters",
+       "description": "full lengths of the 3D oriented bounding box along the corresponding orientation unit vectors"
+      },
+      "3D oriented bounding box orientation unit vectors": {
+       "components": [
+        [
+         "x",
+         "y",
+         "height"
+        ],
+        [
+         "x",
+         "y",
+         "height"
+        ],
+        [
+         "x",
+         "y",
+         "height"
+        ]
+       ],
+       "unit": null,
+       "description": "three perpendicular directions corresponding in order to the three 3D oriented bounding box dimensions"
+      }
+     },
+     "first visible time": {
+      "unit": "seconds",
+      "description": "earliest time at which this object instance is visibly observed"
+     }
+    }
+   ]
+  },
+  "room": {
+   "floor boundary polygons": [
+    {
+     "outer boundary coordinates": {
+      "components": [
+       [
+        "x",
+        "y"
+       ],
+       [
+        "x",
+        "y"
+       ]
+      ],
+      "unit": "meters",
+      "description": "ordered vertices enclosing one floor region"
+     },
+     "interior hole boundary coordinates": {
+      "components": [
+       [
+        [
+         "x",
+         "y"
+        ],
+        [
+         "x",
+         "y"
+        ]
+       ]
+      ],
+      "unit": "meters",
+      "description": "ordered boundaries enclosing regions excluded from the floor area"
+     }
+    }
+   ]
+  }
+ },
+ "objects": {
+  "telephone": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -0.93,
+      0.2,
+      0.96
+     ],
+     "3D oriented bounding box dimensions": [
+      0.3,
+      0.11,
+      0.11
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       -0.03,
+       0.01,
+       -1.0
+      ],
+      [
+       -1.0,
+       -0.02,
+       0.03
+      ],
+      [
+       -0.02,
+       1.0,
+       0.01
+      ]
+     ]
+    },
+    "first visible time": null
+   }
+  ],
+  "trash bin": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -0.89,
+      -0.3,
+      0.15
+     ],
+     "3D oriented bounding box dimensions": [
+      0.19,
+      0.25,
+      0.3
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       -0.99,
+       0.0,
+       0.1
+      ],
+      [
+       -0.1,
+       0.07,
+       -0.99
+      ],
+      [
+       0.0,
+       -1.0,
+       -0.07
+      ]
+     ]
+    },
+    "first visible time": null
+   }
+  ],
+  "door": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -0.83,
+      0.57,
+      0.86
+     ],
+     "3D oriented bounding box dimensions": [
+      1.7,
+      0.68,
+      0.11
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.0,
+       -0.04,
+       1.0
+      ],
+      [
+       0.07,
+       1.0,
+       0.04
+      ],
+      [
+       -1.0,
+       0.07,
+       0.0
+      ]
+     ]
+    },
+    "first visible time": null
+   }
+  ]
+ },
+ "room": {
+  "floor boundary polygons": [
+   {
+    "outer boundary coordinates": [
+     [
+      -0.86,
+      -0.56
+     ],
+     [
+      0.68,
+      -0.56
+     ],
+     [
+      0.68,
+      0.98
+     ],
+     [
+      -0.86,
+      0.98
+     ]
+    ],
+    "interior hole boundary coordinates": []
+   }
+  ]
+ }
+}
\ No newline at end of file
diff --git a/data/spatial codes/ground truth/compact/scene0704_01.json b/data/spatial codes/ground truth/compact/scene0704_01.json
new file mode 100644
index 0000000000000000000000000000000000000000..b1b9a70cb69f7c636ef60f8c0d8a86b899002a98
--- /dev/null
+++ b/data/spatial codes/ground truth/compact/scene0704_01.json	
@@ -0,0 +1,382 @@
+{
+ "spatial code schema": {
+  "objects": {
+   "<object class>": [
+    {
+     "3D oriented bounding box": {
+      "3D oriented bounding box center coordinates": {
+       "components": [
+        "x",
+        "y",
+        "height above floor"
+       ],
+       "unit": "meters",
+       "description": "center of the 3D oriented bounding box in the shared room coordinate system"
+      },
+      "3D oriented bounding box dimensions": {
+       "components": [
+        "dimension 1",
+        "dimension 2",
+        "dimension 3"
+       ],
+       "unit": "meters",
+       "description": "full lengths of the 3D oriented bounding box along the corresponding orientation unit vectors"
+      },
+      "3D oriented bounding box orientation unit vectors": {
+       "components": [
+        [
+         "x",
+         "y",
+         "height"
+        ],
+        [
+         "x",
+         "y",
+         "height"
+        ],
+        [
+         "x",
+         "y",
+         "height"
+        ]
+       ],
+       "unit": null,
+       "description": "three perpendicular directions corresponding in order to the three 3D oriented bounding box dimensions"
+      }
+     },
+     "first visible time": {
+      "unit": "seconds",
+      "description": "earliest time at which this object instance is visibly observed"
+     }
+    }
+   ]
+  },
+  "room": {
+   "floor boundary polygons": [
+    {
+     "outer boundary coordinates": {
+      "components": [
+       [
+        "x",
+        "y"
+       ],
+       [
+        "x",
+        "y"
+       ]
+      ],
+      "unit": "meters",
+      "description": "ordered vertices enclosing one floor region"
+     },
+     "interior hole boundary coordinates": {
+      "components": [
+       [
+        [
+         "x",
+         "y"
+        ],
+        [
+         "x",
+         "y"
+        ]
+       ]
+      ],
+      "unit": "meters",
+      "description": "ordered boundaries enclosing regions excluded from the floor area"
+     }
+    }
+   ]
+  }
+ },
+ "objects": {
+  "counter": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      1.52,
+      0.73,
+      0.96
+     ],
+     "3D oriented bounding box dimensions": [
+      2.78,
+      1.71,
+      0.25
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.45,
+       -0.89,
+       -0.02
+      ],
+      [
+       -0.89,
+       -0.44,
+       -0.11
+      ],
+      [
+       0.09,
+       0.07,
+       -0.99
+      ]
+     ]
+    },
+    "first visible time": null
+   }
+  ],
+  "printer": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      1.45,
+      1.32,
+      1.07
+     ],
+     "3D oriented bounding box dimensions": [
+      0.48,
+      0.56,
+      0.34
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.76,
+       -0.65,
+       0.03
+      ],
+      [
+       0.65,
+       0.76,
+       -0.01
+      ],
+      [
+       -0.02,
+       0.03,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": null
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      1.45,
+      1.32,
+      1.07
+     ],
+     "3D oriented bounding box dimensions": [
+      0.48,
+      0.56,
+      0.34
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.76,
+       -0.65,
+       0.03
+      ],
+      [
+       0.65,
+       0.76,
+       -0.01
+      ],
+      [
+       -0.02,
+       0.03,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": null
+   }
+  ],
+  "trash bin": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      0.81,
+      1.98,
+      0.29
+     ],
+     "3D oriented bounding box dimensions": [
+      0.46,
+      0.4,
+      0.25
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       -0.62,
+       -0.78,
+       -0.12
+      ],
+      [
+       0.07,
+       0.1,
+       -0.99
+      ],
+      [
+       0.78,
+       -0.62,
+       0.0
+      ]
+     ]
+    },
+    "first visible time": null
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      1.13,
+      -0.63,
+      0.45
+     ],
+     "3D oriented bounding box dimensions": [
+      0.36,
+      0.69,
+      0.37
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.43,
+       0.9,
+       -0.04
+      ],
+      [
+       0.49,
+       -0.2,
+       0.85
+      ],
+      [
+       0.76,
+       -0.39,
+       -0.52
+      ]
+     ]
+    },
+    "first visible time": null
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -0.83,
+      -0.41,
+      0.23
+     ],
+     "3D oriented bounding box dimensions": [
+      0.39,
+      0.35,
+      0.36
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       -0.02,
+       -0.14,
+       -0.99
+      ],
+      [
+       0.75,
+       0.65,
+       -0.1
+      ],
+      [
+       0.66,
+       -0.74,
+       0.09
+      ]
+     ]
+    },
+    "first visible time": null
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      1.51,
+      -1.07,
+      0.48
+     ],
+     "3D oriented bounding box dimensions": [
+      0.61,
+      0.29,
+      0.57
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       -0.02,
+       0.12,
+       -0.99
+      ],
+      [
+       0.08,
+       0.99,
+       0.12
+      ],
+      [
+       1.0,
+       -0.07,
+       -0.03
+      ]
+     ]
+    },
+    "first visible time": null
+   }
+  ],
+  "table": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -0.64,
+      -0.89,
+      0.73
+     ],
+     "3D oriented bounding box dimensions": [
+      0.69,
+      0.98,
+      1.06
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       -0.43,
+       0.37,
+       0.83
+      ],
+      [
+       0.72,
+       0.69,
+       0.06
+      ],
+      [
+       -0.55,
+       0.62,
+       -0.56
+      ]
+     ]
+    },
+    "first visible time": null
+   }
+  ]
+ },
+ "room": {
+  "floor boundary polygons": [
+   {
+    "outer boundary coordinates": [
+     [
+      -1.96,
+      -2.0
+     ],
+     [
+      1.95,
+      -2.0
+     ],
+     [
+      1.95,
+      1.91
+     ],
+     [
+      -1.96,
+      1.91
+     ]
+    ],
+    "interior hole boundary coordinates": []
+   }
+  ]
+ }
+}
\ No newline at end of file
diff --git a/data/spatial codes/ground truth/explicit/09c1414f1b.json b/data/spatial codes/ground truth/explicit/09c1414f1b.json
new file mode 100644
index 0000000000000000000000000000000000000000..c339e28e9cf169ca3966238188e4adfef6342425
--- /dev/null
+++ b/data/spatial codes/ground truth/explicit/09c1414f1b.json	
@@ -0,0 +1,957 @@
+{
+ "spatial code schema": {
+  "objects": {
+   "<object class>": {
+    "count": {
+     "unit": null,
+     "description": "number of instances of this class in the compact spatial code (that schema's per-class oriented-box list length)"
+    },
+    "instances": [
+     {
+      "position": {
+       "x coordinate": {
+        "unit": "meters",
+        "description": "x coordinate of this instance's compact 3D oriented bounding box center"
+       },
+       "y coordinate": {
+        "unit": "meters",
+        "description": "y coordinate of this instance's compact 3D oriented bounding box center"
+       },
+       "height above floor": {
+        "unit": "meters",
+        "description": "height coordinate of this instance's compact 3D oriented bounding box center"
+       }
+      },
+      "longest dimension": {
+       "unit": "meters",
+       "description": "longest of this instance's compact 3D oriented bounding box dimensions"
+      }
+     }
+    ]
+   }
+  },
+  "room": {
+   "floor area": {
+    "unit": "square meters",
+    "description": "shoelace area of the compact spatial code's floor boundary polygons, with every interior hole subtracted"
+   }
+  },
+  "closest classes distance meters from": {
+   "<object class>": {
+    "<other object class>": {
+     "distance": {
+      "unit": "meters",
+      "description": "estimated distance in meters between an object of this class and an object of the other class"
+     },
+     "closeness rank": {
+      "unit": null,
+      "description": "1 = the nearest other class to this one, 2 = second-nearest, and so on; ranked by nearest-instance proximity, so use the rank (not the distance values) to compare which class is closest"
+     }
+    }
+   }
+  },
+  "appearance order": {
+   "unit": null,
+   "description": "class names ordered by earliest compact 'first visible time' across all of that class's instances"
+  }
+ },
+ "objects": {
+  "sofa": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "5.54 meters",
+      "y coordinate": "6.72 meters",
+      "height above floor": "0.45 meters"
+     },
+     "longest dimension": "2.82 meters"
+    }
+   ]
+  },
+  "bookshelf": {
+   "count": 2,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "9.65 meters",
+      "y coordinate": "4.9 meters",
+      "height above floor": "0.69 meters"
+     },
+     "longest dimension": "1.37 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "2.14 meters",
+      "y coordinate": "7.57 meters",
+      "height above floor": "0.63 meters"
+     },
+     "longest dimension": "1.23 meters"
+    }
+   ]
+  },
+  "refrigerator": {
+   "count": 2,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "3.31 meters",
+      "y coordinate": "0.65 meters",
+      "height above floor": "1.2 meters"
+     },
+     "longest dimension": "0.24 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "3.56 meters",
+      "y coordinate": "1.03 meters",
+      "height above floor": "0.83 meters"
+     },
+     "longest dimension": "1.66 meters"
+    }
+   ]
+  },
+  "pillow": {
+   "count": 2,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "6.04 meters",
+      "y coordinate": "7.81 meters",
+      "height above floor": "0.56 meters"
+     },
+     "longest dimension": "0.46 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "6.47 meters",
+      "y coordinate": "6.01 meters",
+      "height above floor": "0.61 meters"
+     },
+     "longest dimension": "0.61 meters"
+    }
+   ]
+  },
+  "blanket": {
+   "count": 3,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "6.62 meters",
+      "y coordinate": "7.18 meters",
+      "height above floor": "0.83 meters"
+     },
+     "longest dimension": "0.57 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "6.85 meters",
+      "y coordinate": "6.75 meters",
+      "height above floor": "0.79 meters"
+     },
+     "longest dimension": "0.35 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "5.53 meters",
+      "y coordinate": "5.83 meters",
+      "height above floor": "0.6 meters"
+     },
+     "longest dimension": "1.23 meters"
+    }
+   ]
+  },
+  "tv": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "4.66 meters",
+      "y coordinate": "8.2 meters",
+      "height above floor": "0.92 meters"
+     },
+     "longest dimension": "1.19 meters"
+    }
+   ]
+  },
+  "plant": {
+   "count": 5,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "1.86 meters",
+      "y coordinate": "7.49 meters",
+      "height above floor": "1.51 meters"
+     },
+     "longest dimension": "0.35 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "0.96 meters",
+      "y coordinate": "6.62 meters",
+      "height above floor": "0.58 meters"
+     },
+     "longest dimension": "0.67 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "1.95 meters",
+      "y coordinate": "5.49 meters",
+      "height above floor": "0.87 meters"
+     },
+     "longest dimension": "0.2 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "7.61 meters",
+      "y coordinate": "3.61 meters",
+      "height above floor": "0.4 meters"
+     },
+     "longest dimension": "0.5 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "2.94 meters",
+      "y coordinate": "0.53 meters",
+      "height above floor": "1.33 meters"
+     },
+     "longest dimension": "0.07 meters"
+    }
+   ]
+  },
+  "suitcase": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "2.69 meters",
+      "y coordinate": "3.97 meters",
+      "height above floor": "0.14 meters"
+     },
+     "longest dimension": "0.69 meters"
+    }
+   ]
+  },
+  "shoe rack": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "3.1 meters",
+      "y coordinate": "3.6 meters",
+      "height above floor": "0.29 meters"
+     },
+     "longest dimension": "0.83 meters"
+    }
+   ]
+  },
+  "trash can": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "2.04 meters",
+      "y coordinate": "1.86 meters",
+      "height above floor": "0.24 meters"
+     },
+     "longest dimension": "0.44 meters"
+    }
+   ]
+  },
+  "cutting board": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "1.54 meters",
+      "y coordinate": "2.17 meters",
+      "height above floor": "1.09 meters"
+     },
+     "longest dimension": "0.55 meters"
+    }
+   ]
+  },
+  "kettle": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "1.81 meters",
+      "y coordinate": "2.15 meters",
+      "height above floor": "1.02 meters"
+     },
+     "longest dimension": "0.22 meters"
+    }
+   ]
+  },
+  "microwave": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "2.94 meters",
+      "y coordinate": "0.56 meters",
+      "height above floor": "1.07 meters"
+     },
+     "longest dimension": "0.47 meters"
+    }
+   ]
+  }
+ },
+ "room": {
+  "floor area": "54.1 square meters"
+ },
+ "closest classes distance meters from": {
+  "sofa": {
+   "blanket": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "pillow": {
+    "distance": "0.0 meters",
+    "closeness rank": 2
+   },
+   "tv": {
+    "distance": "0.07 meters",
+    "closeness rank": 3
+   },
+   "bookshelf": {
+    "distance": "2.41 meters",
+    "closeness rank": 4
+   },
+   "shoe rack": {
+    "distance": "2.14 meters",
+    "closeness rank": 5
+   },
+   "suitcase": {
+    "distance": "2.22 meters",
+    "closeness rank": 6
+   },
+   "plant": {
+    "distance": "2.32 meters",
+    "closeness rank": 7
+   },
+   "refrigerator": {
+    "distance": "4.98 meters",
+    "closeness rank": 8
+   },
+   "trash can": {
+    "distance": "4.36 meters",
+    "closeness rank": 9
+   },
+   "kettle": {
+    "distance": "4.41 meters",
+    "closeness rank": 10
+   },
+   "cutting board": {
+    "distance": "4.41 meters",
+    "closeness rank": 11
+   },
+   "microwave": {
+    "distance": "5.07 meters",
+    "closeness rank": 12
+   }
+  },
+  "bookshelf": {
+   "plant": {
+    "distance": "7.39 meters",
+    "closeness rank": 1
+   },
+   "sofa": {
+    "distance": "2.41 meters",
+    "closeness rank": 2
+   },
+   "tv": {
+    "distance": "4.71 meters",
+    "closeness rank": 3
+   },
+   "pillow": {
+    "distance": "3.72 meters",
+    "closeness rank": 4
+   },
+   "blanket": {
+    "distance": "2.82 meters",
+    "closeness rank": 5
+   },
+   "suitcase": {
+    "distance": "6.01 meters",
+    "closeness rank": 6
+   },
+   "shoe rack": {
+    "distance": "5.59 meters",
+    "closeness rank": 7
+   },
+   "cutting board": {
+    "distance": "7.61 meters",
+    "closeness rank": 8
+   },
+   "kettle": {
+    "distance": "7.52 meters",
+    "closeness rank": 9
+   },
+   "trash can": {
+    "distance": "7.3 meters",
+    "closeness rank": 10
+   },
+   "refrigerator": {
+    "distance": "6.84 meters",
+    "closeness rank": 11
+   },
+   "microwave": {
+    "distance": "7.08 meters",
+    "closeness rank": 12
+   }
+  },
+  "refrigerator": {
+   "microwave": {
+    "distance": "0.07 meters",
+    "closeness rank": 1
+   },
+   "plant": {
+    "distance": "6.7 meters",
+    "closeness rank": 2
+   },
+   "trash can": {
+    "distance": "1.66 meters",
+    "closeness rank": 3
+   },
+   "kettle": {
+    "distance": "1.9 meters",
+    "closeness rank": 4
+   },
+   "cutting board": {
+    "distance": "1.94 meters",
+    "closeness rank": 5
+   },
+   "shoe rack": {
+    "distance": "2.56 meters",
+    "closeness rank": 6
+   },
+   "suitcase": {
+    "distance": "3.07 meters",
+    "closeness rank": 7
+   },
+   "sofa": {
+    "distance": "4.98 meters",
+    "closeness rank": 8
+   },
+   "blanket": {
+    "distance": "6.93 meters",
+    "closeness rank": 9
+   },
+   "pillow": {
+    "distance": "7.34 meters",
+    "closeness rank": 10
+   },
+   "bookshelf": {
+    "distance": "6.84 meters",
+    "closeness rank": 11
+   },
+   "tv": {
+    "distance": "6.96 meters",
+    "closeness rank": 12
+   }
+  },
+  "pillow": {
+   "blanket": {
+    "distance": "0.38 meters",
+    "closeness rank": 1
+   },
+   "sofa": {
+    "distance": "0.0 meters",
+    "closeness rank": 2
+   },
+   "tv": {
+    "distance": "0.65 meters",
+    "closeness rank": 3
+   },
+   "plant": {
+    "distance": "3.89 meters",
+    "closeness rank": 4
+   },
+   "bookshelf": {
+    "distance": "3.72 meters",
+    "closeness rank": 5
+   },
+   "shoe rack": {
+    "distance": "4.5 meters",
+    "closeness rank": 6
+   },
+   "suitcase": {
+    "distance": "4.54 meters",
+    "closeness rank": 7
+   },
+   "refrigerator": {
+    "distance": "7.34 meters",
+    "closeness rank": 8
+   },
+   "trash can": {
+    "distance": "6.73 meters",
+    "closeness rank": 9
+   },
+   "kettle": {
+    "distance": "6.74 meters",
+    "closeness rank": 10
+   },
+   "cutting board": {
+    "distance": "6.73 meters",
+    "closeness rank": 11
+   },
+   "microwave": {
+    "distance": "7.44 meters",
+    "closeness rank": 12
+   }
+  },
+  "blanket": {
+   "pillow": {
+    "distance": "0.38 meters",
+    "closeness rank": 1
+   },
+   "sofa": {
+    "distance": "0.0 meters",
+    "closeness rank": 2
+   },
+   "tv": {
+    "distance": "1.33 meters",
+    "closeness rank": 3
+   },
+   "shoe rack": {
+    "distance": "4.35 meters",
+    "closeness rank": 4
+   },
+   "plant": {
+    "distance": "4.36 meters",
+    "closeness rank": 5
+   },
+   "suitcase": {
+    "distance": "4.49 meters",
+    "closeness rank": 6
+   },
+   "bookshelf": {
+    "distance": "2.82 meters",
+    "closeness rank": 7
+   },
+   "refrigerator": {
+    "distance": "6.93 meters",
+    "closeness rank": 8
+   },
+   "trash can": {
+    "distance": "6.54 meters",
+    "closeness rank": 9
+   },
+   "kettle": {
+    "distance": "6.57 meters",
+    "closeness rank": 10
+   },
+   "cutting board": {
+    "distance": "6.58 meters",
+    "closeness rank": 11
+   },
+   "microwave": {
+    "distance": "7.06 meters",
+    "closeness rank": 12
+   }
+  },
+  "tv": {
+   "sofa": {
+    "distance": "0.07 meters",
+    "closeness rank": 1
+   },
+   "pillow": {
+    "distance": "0.65 meters",
+    "closeness rank": 2
+   },
+   "blanket": {
+    "distance": "1.33 meters",
+    "closeness rank": 3
+   },
+   "bookshelf": {
+    "distance": "4.71 meters",
+    "closeness rank": 4
+   },
+   "plant": {
+    "distance": "2.2 meters",
+    "closeness rank": 5
+   },
+   "suitcase": {
+    "distance": "3.94 meters",
+    "closeness rank": 6
+   },
+   "shoe rack": {
+    "distance": "4.07 meters",
+    "closeness rank": 7
+   },
+   "cutting board": {
+    "distance": "6.05 meters",
+    "closeness rank": 8
+   },
+   "kettle": {
+    "distance": "6.08 meters",
+    "closeness rank": 9
+   },
+   "trash can": {
+    "distance": "6.13 meters",
+    "closeness rank": 10
+   },
+   "refrigerator": {
+    "distance": "6.96 meters",
+    "closeness rank": 11
+   },
+   "microwave": {
+    "distance": "7.29 meters",
+    "closeness rank": 12
+   }
+  },
+  "plant": {
+   "microwave": {
+    "distance": "6.62 meters",
+    "closeness rank": 1
+   },
+   "bookshelf": {
+    "distance": "7.39 meters",
+    "closeness rank": 2
+   },
+   "refrigerator": {
+    "distance": "6.7 meters",
+    "closeness rank": 3
+   },
+   "suitcase": {
+    "distance": "3.35 meters",
+    "closeness rank": 4
+   },
+   "trash can": {
+    "distance": "5.38 meters",
+    "closeness rank": 5
+   },
+   "kettle": {
+    "distance": "5.08 meters",
+    "closeness rank": 6
+   },
+   "cutting board": {
+    "distance": "4.9 meters",
+    "closeness rank": 7
+   },
+   "shoe rack": {
+    "distance": "3.67 meters",
+    "closeness rank": 8
+   },
+   "sofa": {
+    "distance": "2.32 meters",
+    "closeness rank": 9
+   },
+   "blanket": {
+    "distance": "4.36 meters",
+    "closeness rank": 10
+   },
+   "tv": {
+    "distance": "2.2 meters",
+    "closeness rank": 11
+   },
+   "pillow": {
+    "distance": "3.89 meters",
+    "closeness rank": 12
+   }
+  },
+  "suitcase": {
+   "shoe rack": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "plant": {
+    "distance": "3.35 meters",
+    "closeness rank": 2
+   },
+   "trash can": {
+    "distance": "1.71 meters",
+    "closeness rank": 3
+   },
+   "sofa": {
+    "distance": "2.22 meters",
+    "closeness rank": 4
+   },
+   "cutting board": {
+    "distance": "1.76 meters",
+    "closeness rank": 5
+   },
+   "kettle": {
+    "distance": "1.78 meters",
+    "closeness rank": 6
+   },
+   "blanket": {
+    "distance": "4.49 meters",
+    "closeness rank": 7
+   },
+   "refrigerator": {
+    "distance": "3.07 meters",
+    "closeness rank": 8
+   },
+   "microwave": {
+    "distance": "3.01 meters",
+    "closeness rank": 9
+   },
+   "bookshelf": {
+    "distance": "6.01 meters",
+    "closeness rank": 10
+   },
+   "pillow": {
+    "distance": "4.54 meters",
+    "closeness rank": 11
+   },
+   "tv": {
+    "distance": "3.94 meters",
+    "closeness rank": 12
+   }
+  },
+  "shoe rack": {
+   "suitcase": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "trash can": {
+    "distance": "1.4 meters",
+    "closeness rank": 2
+   },
+   "kettle": {
+    "distance": "1.55 meters",
+    "closeness rank": 3
+   },
+   "cutting board": {
+    "distance": "1.57 meters",
+    "closeness rank": 4
+   },
+   "sofa": {
+    "distance": "2.14 meters",
+    "closeness rank": 5
+   },
+   "plant": {
+    "distance": "3.67 meters",
+    "closeness rank": 6
+   },
+   "blanket": {
+    "distance": "4.35 meters",
+    "closeness rank": 7
+   },
+   "refrigerator": {
+    "distance": "2.56 meters",
+    "closeness rank": 8
+   },
+   "microwave": {
+    "distance": "2.7 meters",
+    "closeness rank": 9
+   },
+   "pillow": {
+    "distance": "4.5 meters",
+    "closeness rank": 10
+   },
+   "bookshelf": {
+    "distance": "5.59 meters",
+    "closeness rank": 11
+   },
+   "tv": {
+    "distance": "4.07 meters",
+    "closeness rank": 12
+   }
+  },
+  "trash can": {
+   "kettle": {
+    "distance": "0.53 meters",
+    "closeness rank": 1
+   },
+   "cutting board": {
+    "distance": "0.54 meters",
+    "closeness rank": 2
+   },
+   "refrigerator": {
+    "distance": "1.66 meters",
+    "closeness rank": 3
+   },
+   "microwave": {
+    "distance": "1.33 meters",
+    "closeness rank": 4
+   },
+   "shoe rack": {
+    "distance": "1.4 meters",
+    "closeness rank": 5
+   },
+   "plant": {
+    "distance": "5.38 meters",
+    "closeness rank": 6
+   },
+   "suitcase": {
+    "distance": "1.71 meters",
+    "closeness rank": 7
+   },
+   "sofa": {
+    "distance": "4.36 meters",
+    "closeness rank": 8
+   },
+   "blanket": {
+    "distance": "6.54 meters",
+    "closeness rank": 9
+   },
+   "bookshelf": {
+    "distance": "7.3 meters",
+    "closeness rank": 10
+   },
+   "pillow": {
+    "distance": "6.73 meters",
+    "closeness rank": 11
+   },
+   "tv": {
+    "distance": "6.13 meters",
+    "closeness rank": 12
+   }
+  },
+  "cutting board": {
+   "kettle": {
+    "distance": "0.12 meters",
+    "closeness rank": 1
+   },
+   "trash can": {
+    "distance": "0.54 meters",
+    "closeness rank": 2
+   },
+   "shoe rack": {
+    "distance": "1.57 meters",
+    "closeness rank": 3
+   },
+   "refrigerator": {
+    "distance": "1.94 meters",
+    "closeness rank": 4
+   },
+   "microwave": {
+    "distance": "1.66 meters",
+    "closeness rank": 5
+   },
+   "suitcase": {
+    "distance": "1.76 meters",
+    "closeness rank": 6
+   },
+   "plant": {
+    "distance": "4.9 meters",
+    "closeness rank": 7
+   },
+   "sofa": {
+    "distance": "4.41 meters",
+    "closeness rank": 8
+   },
+   "blanket": {
+    "distance": "6.58 meters",
+    "closeness rank": 9
+   },
+   "bookshelf": {
+    "distance": "7.61 meters",
+    "closeness rank": 10
+   },
+   "pillow": {
+    "distance": "6.73 meters",
+    "closeness rank": 11
+   },
+   "tv": {
+    "distance": "6.05 meters",
+    "closeness rank": 12
+   }
+  },
+  "kettle": {
+   "cutting board": {
+    "distance": "0.12 meters",
+    "closeness rank": 1
+   },
+   "trash can": {
+    "distance": "0.53 meters",
+    "closeness rank": 2
+   },
+   "shoe rack": {
+    "distance": "1.55 meters",
+    "closeness rank": 3
+   },
+   "refrigerator": {
+    "distance": "1.9 meters",
+    "closeness rank": 4
+   },
+   "microwave": {
+    "distance": "1.71 meters",
+    "closeness rank": 5
+   },
+   "suitcase": {
+    "distance": "1.78 meters",
+    "closeness rank": 6
+   },
+   "plant": {
+    "distance": "5.08 meters",
+    "closeness rank": 7
+   },
+   "sofa": {
+    "distance": "4.41 meters",
+    "closeness rank": 8
+   },
+   "blanket": {
+    "distance": "6.57 meters",
+    "closeness rank": 9
+   },
+   "bookshelf": {
+    "distance": "7.52 meters",
+    "closeness rank": 10
+   },
+   "pillow": {
+    "distance": "6.74 meters",
+    "closeness rank": 11
+   },
+   "tv": {
+    "distance": "6.08 meters",
+    "closeness rank": 12
+   }
+  },
+  "microwave": {
+   "refrigerator": {
+    "distance": "0.07 meters",
+    "closeness rank": 1
+   },
+   "plant": {
+    "distance": "6.62 meters",
+    "closeness rank": 2
+   },
+   "trash can": {
+    "distance": "1.33 meters",
+    "closeness rank": 3
+   },
+   "cutting board": {
+    "distance": "1.66 meters",
+    "closeness rank": 4
+   },
+   "kettle": {
+    "distance": "1.71 meters",
+    "closeness rank": 5
+   },
+   "shoe rack": {
+    "distance": "2.7 meters",
+    "closeness rank": 6
+   },
+   "suitcase": {
+    "distance": "3.01 meters",
+    "closeness rank": 7
+   },
+   "sofa": {
+    "distance": "5.07 meters",
+    "closeness rank": 8
+   },
+   "blanket": {
+    "distance": "7.06 meters",
+    "closeness rank": 9
+   },
+   "pillow": {
+    "distance": "7.44 meters",
+    "closeness rank": 10
+   },
+   "bookshelf": {
+    "distance": "7.08 meters",
+    "closeness rank": 11
+   },
+   "tv": {
+    "distance": "7.29 meters",
+    "closeness rank": 12
+   }
+  }
+ },
+ "appearance order": ["tv", "suitcase", "sofa", "shoe rack", "plant", "bookshelf", "pillow", "blanket", "trash can", "refrigerator", "cutting board", "microwave", "kettle"]
+}
\ No newline at end of file
diff --git a/data/spatial codes/ground truth/explicit/0d2ee665be.json b/data/spatial codes/ground truth/explicit/0d2ee665be.json
new file mode 100644
index 0000000000000000000000000000000000000000..988d06cdeca3f59f93e3ff471b307cc49fdeb785
--- /dev/null
+++ b/data/spatial codes/ground truth/explicit/0d2ee665be.json	
@@ -0,0 +1,790 @@
+{
+ "spatial code schema": {
+  "objects": {
+   "<object class>": {
+    "count": {
+     "unit": null,
+     "description": "number of instances of this class in the compact spatial code (that schema's per-class oriented-box list length)"
+    },
+    "instances": [
+     {
+      "position": {
+       "x coordinate": {
+        "unit": "meters",
+        "description": "x coordinate of this instance's compact 3D oriented bounding box center"
+       },
+       "y coordinate": {
+        "unit": "meters",
+        "description": "y coordinate of this instance's compact 3D oriented bounding box center"
+       },
+       "height above floor": {
+        "unit": "meters",
+        "description": "height coordinate of this instance's compact 3D oriented bounding box center"
+       }
+      },
+      "longest dimension": {
+       "unit": "meters",
+       "description": "longest of this instance's compact 3D oriented bounding box dimensions"
+      }
+     }
+    ]
+   }
+  },
+  "room": {
+   "floor area": {
+    "unit": "square meters",
+    "description": "shoelace area of the compact spatial code's floor boundary polygons, with every interior hole subtracted"
+   }
+  },
+  "closest classes distance meters from": {
+   "<object class>": {
+    "<other object class>": {
+     "distance": {
+      "unit": "meters",
+      "description": "estimated distance in meters between an object of this class and an object of the other class"
+     },
+     "closeness rank": {
+      "unit": null,
+      "description": "1 = the nearest other class to this one, 2 = second-nearest, and so on; ranked by nearest-instance proximity, so use the rank (not the distance values) to compare which class is closest"
+     }
+    }
+   }
+  },
+  "appearance order": {
+   "unit": null,
+   "description": "class names ordered by earliest compact 'first visible time' across all of that class's instances"
+  }
+ },
+ "objects": {
+  "cutting board": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "3.66 meters",
+      "y coordinate": "2.01 meters",
+      "height above floor": "1.19 meters"
+     },
+     "longest dimension": "0.51 meters"
+    }
+   ]
+  },
+  "monitor": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "1.42 meters",
+      "y coordinate": "4.24 meters",
+      "height above floor": "1.17 meters"
+     },
+     "longest dimension": "0.55 meters"
+    }
+   ]
+  },
+  "table": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "1.47 meters",
+      "y coordinate": "4.06 meters",
+      "height above floor": "0.52 meters"
+     },
+     "longest dimension": "1.48 meters"
+    }
+   ]
+  },
+  "chair": {
+   "count": 2,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "1.2 meters",
+      "y coordinate": "3.73 meters",
+      "height above floor": "0.75 meters"
+     },
+     "longest dimension": "1.22 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "0.6 meters",
+      "y coordinate": "2.83 meters",
+      "height above floor": "0.54 meters"
+     },
+     "longest dimension": "0.78 meters"
+    }
+   ]
+  },
+  "keyboard": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "1.46 meters",
+      "y coordinate": "4.23 meters",
+      "height above floor": "0.93 meters"
+     },
+     "longest dimension": "0.45 meters"
+    }
+   ]
+  },
+  "door": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "6.64 meters",
+      "y coordinate": "2.46 meters",
+      "height above floor": "1.2 meters"
+     },
+     "longest dimension": "2.14 meters"
+    }
+   ]
+  },
+  "bed": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "1.23 meters",
+      "y coordinate": "1.69 meters",
+      "height above floor": "0.65 meters"
+     },
+     "longest dimension": "2.31 meters"
+    }
+   ]
+  },
+  "laptop": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "1.98 meters",
+      "y coordinate": "4.12 meters",
+      "height above floor": "0.95 meters"
+     },
+     "longest dimension": "0.42 meters"
+    }
+   ]
+  },
+  "trash can": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "2.46 meters",
+      "y coordinate": "3.75 meters",
+      "height above floor": "0.31 meters"
+     },
+     "longest dimension": "0.35 meters"
+    }
+   ]
+  },
+  "computer mouse": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "1.78 meters",
+      "y coordinate": "3.86 meters",
+      "height above floor": "0.89 meters"
+     },
+     "longest dimension": "0.12 meters"
+    }
+   ]
+  },
+  "pan": {
+   "count": 2,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "2.65 meters",
+      "y coordinate": "0.88 meters",
+      "height above floor": "0.49 meters"
+     },
+     "longest dimension": "0.47 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "2.79 meters",
+      "y coordinate": "0.83 meters",
+      "height above floor": "0.44 meters"
+     },
+     "longest dimension": "0.45 meters"
+    }
+   ]
+  },
+  "microwave": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "3.59 meters",
+      "y coordinate": "1.73 meters",
+      "height above floor": "1.86 meters"
+     },
+     "longest dimension": "0.55 meters"
+    }
+   ]
+  }
+ },
+ "room": {
+  "floor area": "15.6 square meters"
+ },
+ "closest classes distance meters from": {
+  "cutting board": {
+   "microwave": {
+    "distance": "0.33 meters",
+    "closeness rank": 1
+   },
+   "bed": {
+    "distance": "1.1 meters",
+    "closeness rank": 2
+   },
+   "pan": {
+    "distance": "1.23 meters",
+    "closeness rank": 3
+   },
+   "trash can": {
+    "distance": "1.86 meters",
+    "closeness rank": 4
+   },
+   "table": {
+    "distance": "2.08 meters",
+    "closeness rank": 5
+   },
+   "laptop": {
+    "distance": "2.24 meters",
+    "closeness rank": 6
+   },
+   "computer mouse": {
+    "distance": "2.35 meters",
+    "closeness rank": 7
+   },
+   "chair": {
+    "distance": "2.41 meters",
+    "closeness rank": 8
+   },
+   "door": {
+    "distance": "2.55 meters",
+    "closeness rank": 9
+   },
+   "keyboard": {
+    "distance": "2.66 meters",
+    "closeness rank": 10
+   },
+   "monitor": {
+    "distance": "2.68 meters",
+    "closeness rank": 11
+   }
+  },
+  "monitor": {
+   "chair": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "keyboard": {
+    "distance": "0.0 meters",
+    "closeness rank": 2
+   },
+   "table": {
+    "distance": "0.0 meters",
+    "closeness rank": 3
+   },
+   "laptop": {
+    "distance": "0.13 meters",
+    "closeness rank": 4
+   },
+   "computer mouse": {
+    "distance": "0.26 meters",
+    "closeness rank": 5
+   },
+   "trash can": {
+    "distance": "0.99 meters",
+    "closeness rank": 6
+   },
+   "bed": {
+    "distance": "1.86 meters",
+    "closeness rank": 7
+   },
+   "cutting board": {
+    "distance": "2.68 meters",
+    "closeness rank": 8
+   },
+   "microwave": {
+    "distance": "2.88 meters",
+    "closeness rank": 9
+   },
+   "pan": {
+    "distance": "3.18 meters",
+    "closeness rank": 10
+   },
+   "door": {
+    "distance": "5.14 meters",
+    "closeness rank": 11
+   }
+  },
+  "table": {
+   "chair": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "computer mouse": {
+    "distance": "0.0 meters",
+    "closeness rank": 2
+   },
+   "keyboard": {
+    "distance": "0.0 meters",
+    "closeness rank": 3
+   },
+   "laptop": {
+    "distance": "0.0 meters",
+    "closeness rank": 4
+   },
+   "monitor": {
+    "distance": "0.0 meters",
+    "closeness rank": 5
+   },
+   "trash can": {
+    "distance": "0.17 meters",
+    "closeness rank": 6
+   },
+   "bed": {
+    "distance": "1.42 meters",
+    "closeness rank": 7
+   },
+   "cutting board": {
+    "distance": "2.08 meters",
+    "closeness rank": 8
+   },
+   "microwave": {
+    "distance": "2.41 meters",
+    "closeness rank": 9
+   },
+   "pan": {
+    "distance": "2.49 meters",
+    "closeness rank": 10
+   },
+   "door": {
+    "distance": "4.6 meters",
+    "closeness rank": 11
+   }
+  },
+  "chair": {
+   "monitor": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "table": {
+    "distance": "0.0 meters",
+    "closeness rank": 2
+   },
+   "keyboard": {
+    "distance": "0.05 meters",
+    "closeness rank": 3
+   },
+   "computer mouse": {
+    "distance": "0.12 meters",
+    "closeness rank": 4
+   },
+   "laptop": {
+    "distance": "0.17 meters",
+    "closeness rank": 5
+   },
+   "bed": {
+    "distance": "0.28 meters",
+    "closeness rank": 6
+   },
+   "trash can": {
+    "distance": "0.7 meters",
+    "closeness rank": 7
+   },
+   "pan": {
+    "distance": "2.36 meters",
+    "closeness rank": 8
+   },
+   "cutting board": {
+    "distance": "2.41 meters",
+    "closeness rank": 9
+   },
+   "microwave": {
+    "distance": "2.65 meters",
+    "closeness rank": 10
+   },
+   "door": {
+    "distance": "5.13 meters",
+    "closeness rank": 11
+   }
+  },
+  "keyboard": {
+   "monitor": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "table": {
+    "distance": "0.0 meters",
+    "closeness rank": 2
+   },
+   "chair": {
+    "distance": "0.05 meters",
+    "closeness rank": 3
+   },
+   "laptop": {
+    "distance": "0.1 meters",
+    "closeness rank": 4
+   },
+   "computer mouse": {
+    "distance": "0.21 meters",
+    "closeness rank": 5
+   },
+   "trash can": {
+    "distance": "0.87 meters",
+    "closeness rank": 6
+   },
+   "bed": {
+    "distance": "1.89 meters",
+    "closeness rank": 7
+   },
+   "cutting board": {
+    "distance": "2.66 meters",
+    "closeness rank": 8
+   },
+   "microwave": {
+    "distance": "2.92 meters",
+    "closeness rank": 9
+   },
+   "pan": {
+    "distance": "3.13 meters",
+    "closeness rank": 10
+   },
+   "door": {
+    "distance": "5.15 meters",
+    "closeness rank": 11
+   }
+  },
+  "door": {
+   "cutting board": {
+    "distance": "2.55 meters",
+    "closeness rank": 1
+   },
+   "microwave": {
+    "distance": "2.76 meters",
+    "closeness rank": 2
+   },
+   "pan": {
+    "distance": "3.7 meters",
+    "closeness rank": 3
+   },
+   "bed": {
+    "distance": "4.03 meters",
+    "closeness rank": 4
+   },
+   "trash can": {
+    "distance": "4.19 meters",
+    "closeness rank": 5
+   },
+   "table": {
+    "distance": "4.6 meters",
+    "closeness rank": 6
+   },
+   "laptop": {
+    "distance": "4.66 meters",
+    "closeness rank": 7
+   },
+   "computer mouse": {
+    "distance": "4.96 meters",
+    "closeness rank": 8
+   },
+   "chair": {
+    "distance": "5.13 meters",
+    "closeness rank": 9
+   },
+   "monitor": {
+    "distance": "5.14 meters",
+    "closeness rank": 10
+   },
+   "keyboard": {
+    "distance": "5.15 meters",
+    "closeness rank": 11
+   }
+  },
+  "bed": {
+   "pan": {
+    "distance": "0.25 meters",
+    "closeness rank": 1
+   },
+   "chair": {
+    "distance": "0.28 meters",
+    "closeness rank": 2
+   },
+   "cutting board": {
+    "distance": "1.1 meters",
+    "closeness rank": 3
+   },
+   "table": {
+    "distance": "1.42 meters",
+    "closeness rank": 4
+   },
+   "microwave": {
+    "distance": "1.46 meters",
+    "closeness rank": 5
+   },
+   "trash can": {
+    "distance": "1.51 meters",
+    "closeness rank": 6
+   },
+   "computer mouse": {
+    "distance": "1.62 meters",
+    "closeness rank": 7
+   },
+   "laptop": {
+    "distance": "1.71 meters",
+    "closeness rank": 8
+   },
+   "monitor": {
+    "distance": "1.86 meters",
+    "closeness rank": 9
+   },
+   "keyboard": {
+    "distance": "1.89 meters",
+    "closeness rank": 10
+   },
+   "door": {
+    "distance": "4.03 meters",
+    "closeness rank": 11
+   }
+  },
+  "laptop": {
+   "table": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "computer mouse": {
+    "distance": "0.06 meters",
+    "closeness rank": 2
+   },
+   "monitor": {
+    "distance": "0.13 meters",
+    "closeness rank": 3
+   },
+   "keyboard": {
+    "distance": "0.1 meters",
+    "closeness rank": 4
+   },
+   "chair": {
+    "distance": "0.17 meters",
+    "closeness rank": 5
+   },
+   "trash can": {
+    "distance": "0.5 meters",
+    "closeness rank": 6
+   },
+   "bed": {
+    "distance": "1.71 meters",
+    "closeness rank": 7
+   },
+   "cutting board": {
+    "distance": "2.24 meters",
+    "closeness rank": 8
+   },
+   "microwave": {
+    "distance": "2.54 meters",
+    "closeness rank": 9
+   },
+   "pan": {
+    "distance": "2.9 meters",
+    "closeness rank": 10
+   },
+   "door": {
+    "distance": "4.66 meters",
+    "closeness rank": 11
+   }
+  },
+  "trash can": {
+   "table": {
+    "distance": "0.17 meters",
+    "closeness rank": 1
+   },
+   "laptop": {
+    "distance": "0.5 meters",
+    "closeness rank": 2
+   },
+   "computer mouse": {
+    "distance": "0.67 meters",
+    "closeness rank": 3
+   },
+   "chair": {
+    "distance": "0.7 meters",
+    "closeness rank": 4
+   },
+   "keyboard": {
+    "distance": "0.87 meters",
+    "closeness rank": 5
+   },
+   "monitor": {
+    "distance": "0.99 meters",
+    "closeness rank": 6
+   },
+   "bed": {
+    "distance": "1.51 meters",
+    "closeness rank": 7
+   },
+   "cutting board": {
+    "distance": "1.86 meters",
+    "closeness rank": 8
+   },
+   "microwave": {
+    "distance": "2.34 meters",
+    "closeness rank": 9
+   },
+   "pan": {
+    "distance": "2.47 meters",
+    "closeness rank": 10
+   },
+   "door": {
+    "distance": "4.19 meters",
+    "closeness rank": 11
+   }
+  },
+  "computer mouse": {
+   "table": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "laptop": {
+    "distance": "0.06 meters",
+    "closeness rank": 2
+   },
+   "chair": {
+    "distance": "0.12 meters",
+    "closeness rank": 3
+   },
+   "keyboard": {
+    "distance": "0.21 meters",
+    "closeness rank": 4
+   },
+   "monitor": {
+    "distance": "0.26 meters",
+    "closeness rank": 5
+   },
+   "trash can": {
+    "distance": "0.67 meters",
+    "closeness rank": 6
+   },
+   "bed": {
+    "distance": "1.62 meters",
+    "closeness rank": 7
+   },
+   "cutting board": {
+    "distance": "2.35 meters",
+    "closeness rank": 8
+   },
+   "microwave": {
+    "distance": "2.66 meters",
+    "closeness rank": 9
+   },
+   "pan": {
+    "distance": "2.84 meters",
+    "closeness rank": 10
+   },
+   "door": {
+    "distance": "4.96 meters",
+    "closeness rank": 11
+   }
+  },
+  "pan": {
+   "bed": {
+    "distance": "0.25 meters",
+    "closeness rank": 1
+   },
+   "cutting board": {
+    "distance": "1.23 meters",
+    "closeness rank": 2
+   },
+   "microwave": {
+    "distance": "1.37 meters",
+    "closeness rank": 3
+   },
+   "chair": {
+    "distance": "2.36 meters",
+    "closeness rank": 4
+   },
+   "trash can": {
+    "distance": "2.47 meters",
+    "closeness rank": 5
+   },
+   "table": {
+    "distance": "2.49 meters",
+    "closeness rank": 6
+   },
+   "laptop": {
+    "distance": "2.9 meters",
+    "closeness rank": 7
+   },
+   "computer mouse": {
+    "distance": "2.84 meters",
+    "closeness rank": 8
+   },
+   "keyboard": {
+    "distance": "3.13 meters",
+    "closeness rank": 9
+   },
+   "monitor": {
+    "distance": "3.18 meters",
+    "closeness rank": 10
+   },
+   "door": {
+    "distance": "3.7 meters",
+    "closeness rank": 11
+   }
+  },
+  "microwave": {
+   "cutting board": {
+    "distance": "0.33 meters",
+    "closeness rank": 1
+   },
+   "pan": {
+    "distance": "1.37 meters",
+    "closeness rank": 2
+   },
+   "bed": {
+    "distance": "1.46 meters",
+    "closeness rank": 3
+   },
+   "trash can": {
+    "distance": "2.34 meters",
+    "closeness rank": 4
+   },
+   "table": {
+    "distance": "2.41 meters",
+    "closeness rank": 5
+   },
+   "laptop": {
+    "distance": "2.54 meters",
+    "closeness rank": 6
+   },
+   "chair": {
+    "distance": "2.65 meters",
+    "closeness rank": 7
+   },
+   "computer mouse": {
+    "distance": "2.66 meters",
+    "closeness rank": 8
+   },
+   "door": {
+    "distance": "2.76 meters",
+    "closeness rank": 9
+   },
+   "monitor": {
+    "distance": "2.88 meters",
+    "closeness rank": 10
+   },
+   "keyboard": {
+    "distance": "2.92 meters",
+    "closeness rank": 11
+   }
+  }
+ },
+ "appearance order": ["table", "chair", "bed", "trash can", "computer mouse", "microwave", "pan", "door", "cutting board", "monitor", "keyboard", "laptop"]
+}
\ No newline at end of file
diff --git a/data/spatial codes/ground truth/explicit/13c3e046d7.json b/data/spatial codes/ground truth/explicit/13c3e046d7.json
new file mode 100644
index 0000000000000000000000000000000000000000..7444c61025435c39d510bce7428c753ace002038
--- /dev/null
+++ b/data/spatial codes/ground truth/explicit/13c3e046d7.json	
@@ -0,0 +1,135 @@
+{
+ "spatial code schema": {
+  "objects": {
+   "<object class>": {
+    "count": {
+     "unit": null,
+     "description": "number of instances of this class in the compact spatial code (that schema's per-class oriented-box list length)"
+    },
+    "instances": [
+     {
+      "position": {
+       "x coordinate": {
+        "unit": "meters",
+        "description": "x coordinate of this instance's compact 3D oriented bounding box center"
+       },
+       "y coordinate": {
+        "unit": "meters",
+        "description": "y coordinate of this instance's compact 3D oriented bounding box center"
+       },
+       "height above floor": {
+        "unit": "meters",
+        "description": "height coordinate of this instance's compact 3D oriented bounding box center"
+       }
+      },
+      "longest dimension": {
+       "unit": "meters",
+       "description": "longest of this instance's compact 3D oriented bounding box dimensions"
+      }
+     }
+    ]
+   }
+  },
+  "room": {
+   "floor area": {
+    "unit": "square meters",
+    "description": "shoelace area of the compact spatial code's floor boundary polygons, with every interior hole subtracted"
+   }
+  },
+  "closest classes distance meters from": {
+   "<object class>": {
+    "<other object class>": {
+     "distance": {
+      "unit": "meters",
+      "description": "estimated distance in meters between an object of this class and an object of the other class"
+     },
+     "closeness rank": {
+      "unit": null,
+      "description": "1 = the nearest other class to this one, 2 = second-nearest, and so on; ranked by nearest-instance proximity, so use the rank (not the distance values) to compare which class is closest"
+     }
+    }
+   }
+  },
+  "appearance order": {
+   "unit": null,
+   "description": "class names ordered by earliest compact 'first visible time' across all of that class's instances"
+  }
+ },
+ "objects": {
+  "door": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "1.68 meters",
+      "y coordinate": "0.47 meters",
+      "height above floor": "1.0 meters"
+     },
+     "longest dimension": "1.98 meters"
+    }
+   ]
+  },
+  "heater": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "0.18 meters",
+      "y coordinate": "1.37 meters",
+      "height above floor": "0.75 meters"
+     },
+     "longest dimension": "0.95 meters"
+    }
+   ]
+  },
+  "trash can": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "0.6 meters",
+      "y coordinate": "0.88 meters",
+      "height above floor": "0.34 meters"
+     },
+     "longest dimension": "0.68 meters"
+    }
+   ]
+  }
+ },
+ "room": {
+  "floor area": "22.8 square meters"
+ },
+ "closest classes distance meters from": {
+  "door": {
+   "trash can": {
+    "distance": "0.17 meters",
+    "closeness rank": 1
+   },
+   "heater": {
+    "distance": "0.82 meters",
+    "closeness rank": 2
+   }
+  },
+  "heater": {
+   "trash can": {
+    "distance": "0.14 meters",
+    "closeness rank": 1
+   },
+   "door": {
+    "distance": "0.82 meters",
+    "closeness rank": 2
+   }
+  },
+  "trash can": {
+   "heater": {
+    "distance": "0.14 meters",
+    "closeness rank": 1
+   },
+   "door": {
+    "distance": "0.17 meters",
+    "closeness rank": 2
+   }
+  }
+ },
+ "appearance order": ["door", "heater", "trash can"]
+}
\ No newline at end of file
diff --git a/data/spatial codes/ground truth/explicit/1ada7a0617.json b/data/spatial codes/ground truth/explicit/1ada7a0617.json
new file mode 100644
index 0000000000000000000000000000000000000000..362d6f46b70cf58315110ecfda692954410634c2
--- /dev/null
+++ b/data/spatial codes/ground truth/explicit/1ada7a0617.json	
@@ -0,0 +1,688 @@
+{
+ "spatial code schema": {
+  "objects": {
+   "<object class>": {
+    "count": {
+     "unit": null,
+     "description": "number of instances of this class in the compact spatial code (that schema's per-class oriented-box list length)"
+    },
+    "instances": [
+     {
+      "position": {
+       "x coordinate": {
+        "unit": "meters",
+        "description": "x coordinate of this instance's compact 3D oriented bounding box center"
+       },
+       "y coordinate": {
+        "unit": "meters",
+        "description": "y coordinate of this instance's compact 3D oriented bounding box center"
+       },
+       "height above floor": {
+        "unit": "meters",
+        "description": "height coordinate of this instance's compact 3D oriented bounding box center"
+       }
+      },
+      "longest dimension": {
+       "unit": "meters",
+       "description": "longest of this instance's compact 3D oriented bounding box dimensions"
+      }
+     }
+    ]
+   }
+  },
+  "room": {
+   "floor area": {
+    "unit": "square meters",
+    "description": "shoelace area of the compact spatial code's floor boundary polygons, with every interior hole subtracted"
+   }
+  },
+  "closest classes distance meters from": {
+   "<object class>": {
+    "<other object class>": {
+     "distance": {
+      "unit": "meters",
+      "description": "estimated distance in meters between an object of this class and an object of the other class"
+     },
+     "closeness rank": {
+      "unit": null,
+      "description": "1 = the nearest other class to this one, 2 = second-nearest, and so on; ranked by nearest-instance proximity, so use the rank (not the distance values) to compare which class is closest"
+     }
+    }
+   }
+  },
+  "appearance order": {
+   "unit": null,
+   "description": "class names ordered by earliest compact 'first visible time' across all of that class's instances"
+  }
+ },
+ "objects": {
+  "bucket": {
+   "count": 2,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "1.48 meters",
+      "y coordinate": "3.69 meters",
+      "height above floor": "0.16 meters"
+     },
+     "longest dimension": "0.31 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "1.81 meters",
+      "y coordinate": "3.7 meters",
+      "height above floor": "0.17 meters"
+     },
+     "longest dimension": "0.34 meters"
+    }
+   ]
+  },
+  "whiteboard": {
+   "count": 2,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "2.36 meters",
+      "y coordinate": "3.96 meters",
+      "height above floor": "1.5 meters"
+     },
+     "longest dimension": "2.41 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "2.96 meters",
+      "y coordinate": "0.46 meters",
+      "height above floor": "1.51 meters"
+     },
+     "longest dimension": "2.0 meters"
+    }
+   ]
+  },
+  "chair": {
+   "count": 4,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "1.57 meters",
+      "y coordinate": "0.53 meters",
+      "height above floor": "0.44 meters"
+     },
+     "longest dimension": "0.86 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "4.03 meters",
+      "y coordinate": "3.32 meters",
+      "height above floor": "0.57 meters"
+     },
+     "longest dimension": "1.15 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "3.9 meters",
+      "y coordinate": "1.67 meters",
+      "height above floor": "0.52 meters"
+     },
+     "longest dimension": "1.02 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "2.4 meters",
+      "y coordinate": "2.12 meters",
+      "height above floor": "0.51 meters"
+     },
+     "longest dimension": "1.02 meters"
+    }
+   ]
+  },
+  "heater": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "4.99 meters",
+      "y coordinate": "2.62 meters",
+      "height above floor": "0.32 meters"
+     },
+     "longest dimension": "3.62 meters"
+    }
+   ]
+  },
+  "keyboard": {
+   "count": 3,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "2.76 meters",
+      "y coordinate": "2.28 meters",
+      "height above floor": "0.74 meters"
+     },
+     "longest dimension": "0.46 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "4.02 meters",
+      "y coordinate": "2.78 meters",
+      "height above floor": "0.74 meters"
+     },
+     "longest dimension": "0.45 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "4.01 meters",
+      "y coordinate": "1.99 meters",
+      "height above floor": "0.75 meters"
+     },
+     "longest dimension": "0.44 meters"
+    }
+   ]
+  },
+  "monitor": {
+   "count": 4,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "3.95 meters",
+      "y coordinate": "2.22 meters",
+      "height above floor": "0.99 meters"
+     },
+     "longest dimension": "0.65 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "3.46 meters",
+      "y coordinate": "2.65 meters",
+      "height above floor": "1.0 meters"
+     },
+     "longest dimension": "0.63 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "3.0 meters",
+      "y coordinate": "2.06 meters",
+      "height above floor": "0.99 meters"
+     },
+     "longest dimension": "0.64 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "4.13 meters",
+      "y coordinate": "2.58 meters",
+      "height above floor": "0.97 meters"
+     },
+     "longest dimension": "0.61 meters"
+    }
+   ]
+  },
+  "computer tower": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "3.09 meters",
+      "y coordinate": "2.89 meters",
+      "height above floor": "0.18 meters"
+     },
+     "longest dimension": "0.35 meters"
+    }
+   ]
+  },
+  "telephone": {
+   "count": 2,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "4.56 meters",
+      "y coordinate": "2.65 meters",
+      "height above floor": "0.78 meters"
+     },
+     "longest dimension": "0.36 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "4.76 meters",
+      "y coordinate": "2.38 meters",
+      "height above floor": "0.76 meters"
+     },
+     "longest dimension": "0.29 meters"
+    }
+   ]
+  },
+  "computer mouse": {
+   "count": 4,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "2.94 meters",
+      "y coordinate": "1.78 meters",
+      "height above floor": "0.74 meters"
+     },
+     "longest dimension": "0.12 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "4.39 meters",
+      "y coordinate": "1.86 meters",
+      "height above floor": "0.75 meters"
+     },
+     "longest dimension": "0.13 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "3.69 meters",
+      "y coordinate": "3.02 meters",
+      "height above floor": "0.75 meters"
+     },
+     "longest dimension": "0.11 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "3.3 meters",
+      "y coordinate": "3.0 meters",
+      "height above floor": "0.56 meters"
+     },
+     "longest dimension": "0.11 meters"
+    }
+   ]
+  },
+  "door": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "0.23 meters",
+      "y coordinate": "2.74 meters",
+      "height above floor": "1.05 meters"
+     },
+     "longest dimension": "2.09 meters"
+    }
+   ]
+  }
+ },
+ "room": {
+  "floor area": "17.4 square meters"
+ },
+ "closest classes distance meters from": {
+  "bucket": {
+   "whiteboard": {
+    "distance": "0.54 meters",
+    "closeness rank": 1
+   },
+   "chair": {
+    "distance": "2.59 meters",
+    "closeness rank": 2
+   },
+   "computer tower": {
+    "distance": "1.47 meters",
+    "closeness rank": 3
+   },
+   "door": {
+    "distance": "1.16 meters",
+    "closeness rank": 4
+   },
+   "keyboard": {
+    "distance": "1.61 meters",
+    "closeness rank": 5
+   },
+   "computer mouse": {
+    "distance": "2.26 meters",
+    "closeness rank": 6
+   },
+   "monitor": {
+    "distance": "2.51 meters",
+    "closeness rank": 7
+   },
+   "telephone": {
+    "distance": "2.97 meters",
+    "closeness rank": 8
+   },
+   "heater": {
+    "distance": "2.68 meters",
+    "closeness rank": 9
+   }
+  },
+  "whiteboard": {
+   "chair": {
+    "distance": "2.04 meters",
+    "closeness rank": 1
+   },
+   "bucket": {
+    "distance": "0.54 meters",
+    "closeness rank": 2
+   },
+   "computer mouse": {
+    "distance": "1.12 meters",
+    "closeness rank": 3
+   },
+   "door": {
+    "distance": "1.1 meters",
+    "closeness rank": 4
+   },
+   "computer tower": {
+    "distance": "1.12 meters",
+    "closeness rank": 5
+   },
+   "heater": {
+    "distance": "1.12 meters",
+    "closeness rank": 6
+   },
+   "keyboard": {
+    "distance": "1.2 meters",
+    "closeness rank": 7
+   },
+   "monitor": {
+    "distance": "1.21 meters",
+    "closeness rank": 8
+   },
+   "telephone": {
+    "distance": "1.57 meters",
+    "closeness rank": 9
+   }
+  },
+  "chair": {
+   "keyboard": {
+    "distance": "1.48 meters",
+    "closeness rank": 1
+   },
+   "monitor": {
+    "distance": "2.22 meters",
+    "closeness rank": 2
+   },
+   "computer mouse": {
+    "distance": "1.39 meters",
+    "closeness rank": 3
+   },
+   "whiteboard": {
+    "distance": "2.04 meters",
+    "closeness rank": 4
+   },
+   "heater": {
+    "distance": "1.77 meters",
+    "closeness rank": 5
+   },
+   "telephone": {
+    "distance": "3.07 meters",
+    "closeness rank": 6
+   },
+   "computer tower": {
+    "distance": "2.21 meters",
+    "closeness rank": 7
+   },
+   "bucket": {
+    "distance": "2.59 meters",
+    "closeness rank": 8
+   },
+   "door": {
+    "distance": "1.65 meters",
+    "closeness rank": 9
+   }
+  },
+  "heater": {
+   "telephone": {
+    "distance": "0.17 meters",
+    "closeness rank": 1
+   },
+   "chair": {
+    "distance": "1.77 meters",
+    "closeness rank": 2
+   },
+   "monitor": {
+    "distance": "0.47 meters",
+    "closeness rank": 3
+   },
+   "computer mouse": {
+    "distance": "0.63 meters",
+    "closeness rank": 4
+   },
+   "keyboard": {
+    "distance": "0.64 meters",
+    "closeness rank": 5
+   },
+   "whiteboard": {
+    "distance": "1.12 meters",
+    "closeness rank": 6
+   },
+   "computer tower": {
+    "distance": "1.62 meters",
+    "closeness rank": 7
+   },
+   "bucket": {
+    "distance": "2.68 meters",
+    "closeness rank": 8
+   },
+   "door": {
+    "distance": "4.52 meters",
+    "closeness rank": 9
+   }
+  },
+  "keyboard": {
+   "chair": {
+    "distance": "1.48 meters",
+    "closeness rank": 1
+   },
+   "monitor": {
+    "distance": "0.66 meters",
+    "closeness rank": 2
+   },
+   "computer mouse": {
+    "distance": "0.24 meters",
+    "closeness rank": 3
+   },
+   "telephone": {
+    "distance": "1.43 meters",
+    "closeness rank": 4
+   },
+   "computer tower": {
+    "distance": "0.49 meters",
+    "closeness rank": 5
+   },
+   "heater": {
+    "distance": "0.64 meters",
+    "closeness rank": 6
+   },
+   "whiteboard": {
+    "distance": "1.2 meters",
+    "closeness rank": 7
+   },
+   "bucket": {
+    "distance": "1.61 meters",
+    "closeness rank": 8
+   },
+   "door": {
+    "distance": "2.25 meters",
+    "closeness rank": 9
+   }
+  },
+  "monitor": {
+   "chair": {
+    "distance": "2.22 meters",
+    "closeness rank": 1
+   },
+   "computer mouse": {
+    "distance": "0.74 meters",
+    "closeness rank": 2
+   },
+   "keyboard": {
+    "distance": "0.66 meters",
+    "closeness rank": 3
+   },
+   "telephone": {
+    "distance": "0.27 meters",
+    "closeness rank": 4
+   },
+   "computer tower": {
+    "distance": "0.86 meters",
+    "closeness rank": 5
+   },
+   "heater": {
+    "distance": "0.47 meters",
+    "closeness rank": 6
+   },
+   "whiteboard": {
+    "distance": "1.21 meters",
+    "closeness rank": 7
+   },
+   "bucket": {
+    "distance": "2.51 meters",
+    "closeness rank": 8
+   },
+   "door": {
+    "distance": "2.48 meters",
+    "closeness rank": 9
+   }
+  },
+  "computer tower": {
+   "computer mouse": {
+    "distance": "1.02 meters",
+    "closeness rank": 1
+   },
+   "monitor": {
+    "distance": "0.86 meters",
+    "closeness rank": 2
+   },
+   "chair": {
+    "distance": "2.21 meters",
+    "closeness rank": 3
+   },
+   "keyboard": {
+    "distance": "0.49 meters",
+    "closeness rank": 4
+   },
+   "bucket": {
+    "distance": "1.47 meters",
+    "closeness rank": 5
+   },
+   "whiteboard": {
+    "distance": "1.12 meters",
+    "closeness rank": 6
+   },
+   "telephone": {
+    "distance": "1.25 meters",
+    "closeness rank": 7
+   },
+   "heater": {
+    "distance": "1.62 meters",
+    "closeness rank": 8
+   },
+   "door": {
+    "distance": "2.68 meters",
+    "closeness rank": 9
+   }
+  },
+  "telephone": {
+   "monitor": {
+    "distance": "0.27 meters",
+    "closeness rank": 1
+   },
+   "keyboard": {
+    "distance": "1.43 meters",
+    "closeness rank": 2
+   },
+   "heater": {
+    "distance": "0.17 meters",
+    "closeness rank": 3
+   },
+   "chair": {
+    "distance": "3.07 meters",
+    "closeness rank": 4
+   },
+   "computer mouse": {
+    "distance": "1.6 meters",
+    "closeness rank": 5
+   },
+   "computer tower": {
+    "distance": "1.25 meters",
+    "closeness rank": 6
+   },
+   "whiteboard": {
+    "distance": "1.57 meters",
+    "closeness rank": 7
+   },
+   "bucket": {
+    "distance": "2.97 meters",
+    "closeness rank": 8
+   },
+   "door": {
+    "distance": "4.08 meters",
+    "closeness rank": 9
+   }
+  },
+  "computer mouse": {
+   "monitor": {
+    "distance": "0.74 meters",
+    "closeness rank": 1
+   },
+   "chair": {
+    "distance": "1.39 meters",
+    "closeness rank": 2
+   },
+   "keyboard": {
+    "distance": "0.24 meters",
+    "closeness rank": 3
+   },
+   "computer tower": {
+    "distance": "1.02 meters",
+    "closeness rank": 4
+   },
+   "telephone": {
+    "distance": "1.6 meters",
+    "closeness rank": 5
+   },
+   "heater": {
+    "distance": "0.63 meters",
+    "closeness rank": 6
+   },
+   "whiteboard": {
+    "distance": "1.12 meters",
+    "closeness rank": 7
+   },
+   "bucket": {
+    "distance": "2.26 meters",
+    "closeness rank": 8
+   },
+   "door": {
+    "distance": "2.58 meters",
+    "closeness rank": 9
+   }
+  },
+  "door": {
+   "whiteboard": {
+    "distance": "1.1 meters",
+    "closeness rank": 1
+   },
+   "bucket": {
+    "distance": "1.16 meters",
+    "closeness rank": 2
+   },
+   "chair": {
+    "distance": "1.65 meters",
+    "closeness rank": 3
+   },
+   "keyboard": {
+    "distance": "2.25 meters",
+    "closeness rank": 4
+   },
+   "monitor": {
+    "distance": "2.48 meters",
+    "closeness rank": 5
+   },
+   "computer mouse": {
+    "distance": "2.58 meters",
+    "closeness rank": 6
+   },
+   "computer tower": {
+    "distance": "2.68 meters",
+    "closeness rank": 7
+   },
+   "telephone": {
+    "distance": "4.08 meters",
+    "closeness rank": 8
+   },
+   "heater": {
+    "distance": "4.52 meters",
+    "closeness rank": 9
+   }
+  }
+ },
+ "appearance order": ["bucket", "whiteboard", "chair", "heater", "keyboard", "monitor", "computer tower", "telephone", "computer mouse", "door"]
+}
\ No newline at end of file
diff --git a/data/spatial codes/ground truth/explicit/21d970d8de.json b/data/spatial codes/ground truth/explicit/21d970d8de.json
new file mode 100644
index 0000000000000000000000000000000000000000..060d98548e27c053fc929a963892dda845c035e9
--- /dev/null
+++ b/data/spatial codes/ground truth/explicit/21d970d8de.json	
@@ -0,0 +1,692 @@
+{
+ "spatial code schema": {
+  "objects": {
+   "<object class>": {
+    "count": {
+     "unit": null,
+     "description": "number of instances of this class in the compact spatial code (that schema's per-class oriented-box list length)"
+    },
+    "instances": [
+     {
+      "position": {
+       "x coordinate": {
+        "unit": "meters",
+        "description": "x coordinate of this instance's compact 3D oriented bounding box center"
+       },
+       "y coordinate": {
+        "unit": "meters",
+        "description": "y coordinate of this instance's compact 3D oriented bounding box center"
+       },
+       "height above floor": {
+        "unit": "meters",
+        "description": "height coordinate of this instance's compact 3D oriented bounding box center"
+       }
+      },
+      "longest dimension": {
+       "unit": "meters",
+       "description": "longest of this instance's compact 3D oriented bounding box dimensions"
+      }
+     }
+    ]
+   }
+  },
+  "room": {
+   "floor area": {
+    "unit": "square meters",
+    "description": "shoelace area of the compact spatial code's floor boundary polygons, with every interior hole subtracted"
+   }
+  },
+  "closest classes distance meters from": {
+   "<object class>": {
+    "<other object class>": {
+     "distance": {
+      "unit": "meters",
+      "description": "estimated distance in meters between an object of this class and an object of the other class"
+     },
+     "closeness rank": {
+      "unit": null,
+      "description": "1 = the nearest other class to this one, 2 = second-nearest, and so on; ranked by nearest-instance proximity, so use the rank (not the distance values) to compare which class is closest"
+     }
+    }
+   }
+  },
+  "appearance order": {
+   "unit": null,
+   "description": "class names ordered by earliest compact 'first visible time' across all of that class's instances"
+  }
+ },
+ "objects": {
+  "whiteboard": {
+   "count": 3,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "3.5 meters",
+      "y coordinate": "1.13 meters",
+      "height above floor": "1.43 meters"
+     },
+     "longest dimension": "2.01 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "8.3 meters",
+      "y coordinate": "5.75 meters",
+      "height above floor": "1.75 meters"
+     },
+     "longest dimension": "2.22 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "8.02 meters",
+      "y coordinate": "3.88 meters",
+      "height above floor": "1.54 meters"
+     },
+     "longest dimension": "2.01 meters"
+    }
+   ]
+  },
+  "chair": {
+   "count": 40,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "4.31 meters",
+      "y coordinate": "8.11 meters",
+      "height above floor": "0.61 meters"
+     },
+     "longest dimension": "0.67 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "3.59 meters",
+      "y coordinate": "8.08 meters",
+      "height above floor": "0.66 meters"
+     },
+     "longest dimension": "0.53 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "5.52 meters",
+      "y coordinate": "7.53 meters",
+      "height above floor": "0.66 meters"
+     },
+     "longest dimension": "0.49 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "6.48 meters",
+      "y coordinate": "7.35 meters",
+      "height above floor": "0.66 meters"
+     },
+     "longest dimension": "0.48 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "2.58 meters",
+      "y coordinate": "8.28 meters",
+      "height above floor": "0.67 meters"
+     },
+     "longest dimension": "0.54 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "6.51 meters",
+      "y coordinate": "6.82 meters",
+      "height above floor": "0.58 meters"
+     },
+     "longest dimension": "0.65 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "6.26 meters",
+      "y coordinate": "5.87 meters",
+      "height above floor": "0.61 meters"
+     },
+     "longest dimension": "0.6 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "6.16 meters",
+      "y coordinate": "4.98 meters",
+      "height above floor": "0.57 meters"
+     },
+     "longest dimension": "0.66 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "5.99 meters",
+      "y coordinate": "4.49 meters",
+      "height above floor": "0.47 meters"
+     },
+     "longest dimension": "0.7 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "5.88 meters",
+      "y coordinate": "3.65 meters",
+      "height above floor": "0.44 meters"
+     },
+     "longest dimension": "0.86 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "5.45 meters",
+      "y coordinate": "2.35 meters",
+      "height above floor": "0.59 meters"
+     },
+     "longest dimension": "0.7 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "4.49 meters",
+      "y coordinate": "2.68 meters",
+      "height above floor": "0.66 meters"
+     },
+     "longest dimension": "0.54 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "4.69 meters",
+      "y coordinate": "3.48 meters",
+      "height above floor": "0.65 meters"
+     },
+     "longest dimension": "0.54 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "4.84 meters",
+      "y coordinate": "4.02 meters",
+      "height above floor": "0.66 meters"
+     },
+     "longest dimension": "0.52 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "4.93 meters",
+      "y coordinate": "4.67 meters",
+      "height above floor": "0.66 meters"
+     },
+     "longest dimension": "0.52 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "5.05 meters",
+      "y coordinate": "5.21 meters",
+      "height above floor": "0.66 meters"
+     },
+     "longest dimension": "0.54 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "5.04 meters",
+      "y coordinate": "5.93 meters",
+      "height above floor": "0.64 meters"
+     },
+     "longest dimension": "0.69 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "5.3 meters",
+      "y coordinate": "6.43 meters",
+      "height above floor": "0.67 meters"
+     },
+     "longest dimension": "0.51 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "3.39 meters",
+      "y coordinate": "2.67 meters",
+      "height above floor": "0.65 meters"
+     },
+     "longest dimension": "0.54 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "3.4 meters",
+      "y coordinate": "3.91 meters",
+      "height above floor": "0.65 meters"
+     },
+     "longest dimension": "0.53 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "3.85 meters",
+      "y coordinate": "4.89 meters",
+      "height above floor": "0.6 meters"
+     },
+     "longest dimension": "0.69 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "3.71 meters",
+      "y coordinate": "5.47 meters",
+      "height above floor": "0.66 meters"
+     },
+     "longest dimension": "0.53 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "3.87 meters",
+      "y coordinate": "6.5 meters",
+      "height above floor": "0.67 meters"
+     },
+     "longest dimension": "0.61 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "3.26 meters",
+      "y coordinate": "6.37 meters",
+      "height above floor": "0.67 meters"
+     },
+     "longest dimension": "0.54 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "2.93 meters",
+      "y coordinate": "5.25 meters",
+      "height above floor": "0.58 meters"
+     },
+     "longest dimension": "0.65 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "2.69 meters",
+      "y coordinate": "4.25 meters",
+      "height above floor": "0.56 meters"
+     },
+     "longest dimension": "0.69 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "2.44 meters",
+      "y coordinate": "3.35 meters",
+      "height above floor": "0.66 meters"
+     },
+     "longest dimension": "0.53 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "2.31 meters",
+      "y coordinate": "2.81 meters",
+      "height above floor": "0.66 meters"
+     },
+     "longest dimension": "0.54 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "1.29 meters",
+      "y coordinate": "3.01 meters",
+      "height above floor": "0.66 meters"
+     },
+     "longest dimension": "0.53 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "1.34 meters",
+      "y coordinate": "3.53 meters",
+      "height above floor": "0.61 meters"
+     },
+     "longest dimension": "0.7 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "1.5 meters",
+      "y coordinate": "4.21 meters",
+      "height above floor": "0.67 meters"
+     },
+     "longest dimension": "0.53 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "1.61 meters",
+      "y coordinate": "4.79 meters",
+      "height above floor": "0.66 meters"
+     },
+     "longest dimension": "0.52 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "1.79 meters",
+      "y coordinate": "5.39 meters",
+      "height above floor": "0.67 meters"
+     },
+     "longest dimension": "0.52 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "1.88 meters",
+      "y coordinate": "5.91 meters",
+      "height above floor": "0.65 meters"
+     },
+     "longest dimension": "0.54 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "2.02 meters",
+      "y coordinate": "6.59 meters",
+      "height above floor": "0.62 meters"
+     },
+     "longest dimension": "0.68 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "2.15 meters",
+      "y coordinate": "7.24 meters",
+      "height above floor": "0.64 meters"
+     },
+     "longest dimension": "0.78 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "2.38 meters",
+      "y coordinate": "7.76 meters",
+      "height above floor": "0.65 meters"
+     },
+     "longest dimension": "0.53 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "3.52 meters",
+      "y coordinate": "7.53 meters",
+      "height above floor": "0.53 meters"
+     },
+     "longest dimension": "0.75 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "7.37 meters",
+      "y coordinate": "2.68 meters",
+      "height above floor": "0.55 meters"
+     },
+     "longest dimension": "0.67 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "7.27 meters",
+      "y coordinate": "6.77 meters",
+      "height above floor": "0.6 meters"
+     },
+     "longest dimension": "0.5 meters"
+    }
+   ]
+  },
+  "tv": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "7.53 meters",
+      "y coordinate": "2.13 meters",
+      "height above floor": "1.8 meters"
+     },
+     "longest dimension": "1.26 meters"
+    }
+   ]
+  },
+  "telephone": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "7.63 meters",
+      "y coordinate": "7.64 meters",
+      "height above floor": "0.91 meters"
+     },
+     "longest dimension": "0.28 meters"
+    }
+   ]
+  },
+  "door": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "5.3 meters",
+      "y coordinate": "0.71 meters",
+      "height above floor": "1.06 meters"
+     },
+     "longest dimension": "2.12 meters"
+    }
+   ]
+  },
+  "ceiling light": {
+   "count": 12,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "5.95 meters",
+      "y coordinate": "6.94 meters",
+      "height above floor": "2.96 meters"
+     },
+     "longest dimension": "1.27 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "7.79 meters",
+      "y coordinate": "6.49 meters",
+      "height above floor": "2.95 meters"
+     },
+     "longest dimension": "1.22 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "4.11 meters",
+      "y coordinate": "7.35 meters",
+      "height above floor": "2.96 meters"
+     },
+     "longest dimension": "1.25 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "2.34 meters",
+      "y coordinate": "7.79 meters",
+      "height above floor": "2.95 meters"
+     },
+     "longest dimension": "1.24 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "1.73 meters",
+      "y coordinate": "5.28 meters",
+      "height above floor": "2.96 meters"
+     },
+     "longest dimension": "1.25 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "3.55 meters",
+      "y coordinate": "4.88 meters",
+      "height above floor": "2.97 meters"
+     },
+     "longest dimension": "1.32 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "5.34 meters",
+      "y coordinate": "4.36 meters",
+      "height above floor": "2.97 meters"
+     },
+     "longest dimension": "1.36 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "2.94 meters",
+      "y coordinate": "2.27 meters",
+      "height above floor": "2.97 meters"
+     },
+     "longest dimension": "1.4 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "1.1 meters",
+      "y coordinate": "2.73 meters",
+      "height above floor": "2.98 meters"
+     },
+     "longest dimension": "1.46 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "4.74 meters",
+      "y coordinate": "1.84 meters",
+      "height above floor": "2.97 meters"
+     },
+     "longest dimension": "1.4 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "6.54 meters",
+      "y coordinate": "1.35 meters",
+      "height above floor": "2.99 meters"
+     },
+     "longest dimension": "1.2 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "7.03 meters",
+      "y coordinate": "3.98 meters",
+      "height above floor": "3.09 meters"
+     },
+     "longest dimension": "2.47 meters"
+    }
+   ]
+  }
+ },
+ "room": {
+  "floor area": "54.9 square meters"
+ },
+ "closest classes distance meters from": {
+  "whiteboard": {
+   "ceiling light": {
+    "distance": "4.85 meters",
+    "closeness rank": 1
+   },
+   "tv": {
+    "distance": "2.53 meters",
+    "closeness rank": 2
+   },
+   "chair": {
+    "distance": "5.73 meters",
+    "closeness rank": 3
+   },
+   "door": {
+    "distance": "0.34 meters",
+    "closeness rank": 4
+   },
+   "telephone": {
+    "distance": "6.58 meters",
+    "closeness rank": 5
+   }
+  },
+  "chair": {
+   "whiteboard": {
+    "distance": "5.73 meters",
+    "closeness rank": 1
+   },
+   "tv": {
+    "distance": "5.93 meters",
+    "closeness rank": 2
+   },
+   "telephone": {
+    "distance": "2.89 meters",
+    "closeness rank": 3
+   },
+   "door": {
+    "distance": "6.08 meters",
+    "closeness rank": 4
+   },
+   "ceiling light": {
+    "distance": "2.13 meters",
+    "closeness rank": 5
+   }
+  },
+  "tv": {
+   "whiteboard": {
+    "distance": "2.53 meters",
+    "closeness rank": 1
+   },
+   "chair": {
+    "distance": "5.93 meters",
+    "closeness rank": 2
+   },
+   "ceiling light": {
+    "distance": "3.93 meters",
+    "closeness rank": 3
+   },
+   "door": {
+    "distance": "1.8 meters",
+    "closeness rank": 4
+   },
+   "telephone": {
+    "distance": "4.81 meters",
+    "closeness rank": 5
+   }
+  },
+  "telephone": {
+   "chair": {
+    "distance": "2.89 meters",
+    "closeness rank": 1
+   },
+   "whiteboard": {
+    "distance": "6.58 meters",
+    "closeness rank": 2
+   },
+   "ceiling light": {
+    "distance": "2.12 meters",
+    "closeness rank": 3
+   },
+   "tv": {
+    "distance": "4.81 meters",
+    "closeness rank": 4
+   },
+   "door": {
+    "distance": "7.13 meters",
+    "closeness rank": 5
+   }
+  },
+  "door": {
+   "whiteboard": {
+    "distance": "0.34 meters",
+    "closeness rank": 1
+   },
+   "ceiling light": {
+    "distance": "4.85 meters",
+    "closeness rank": 2
+   },
+   "chair": {
+    "distance": "6.08 meters",
+    "closeness rank": 3
+   },
+   "tv": {
+    "distance": "1.8 meters",
+    "closeness rank": 4
+   },
+   "telephone": {
+    "distance": "7.13 meters",
+    "closeness rank": 5
+   }
+  },
+  "ceiling light": {
+   "whiteboard": {
+    "distance": "4.85 meters",
+    "closeness rank": 1
+   },
+   "tv": {
+    "distance": "3.93 meters",
+    "closeness rank": 2
+   },
+   "door": {
+    "distance": "4.85 meters",
+    "closeness rank": 3
+   },
+   "chair": {
+    "distance": "2.13 meters",
+    "closeness rank": 4
+   },
+   "telephone": {
+    "distance": "2.12 meters",
+    "closeness rank": 5
+   }
+  }
+ },
+ "appearance order": ["whiteboard", "chair", "tv", "telephone", "door", "ceiling light"]
+}
\ No newline at end of file
diff --git a/data/spatial codes/ground truth/explicit/25f3b7a318.json b/data/spatial codes/ground truth/explicit/25f3b7a318.json
new file mode 100644
index 0000000000000000000000000000000000000000..22c76671cb562ec500b08b12a873c01522ffafd7
--- /dev/null
+++ b/data/spatial codes/ground truth/explicit/25f3b7a318.json	
@@ -0,0 +1,862 @@
+{
+ "spatial code schema": {
+  "objects": {
+   "<object class>": {
+    "count": {
+     "unit": null,
+     "description": "number of instances of this class in the compact spatial code (that schema's per-class oriented-box list length)"
+    },
+    "instances": [
+     {
+      "position": {
+       "x coordinate": {
+        "unit": "meters",
+        "description": "x coordinate of this instance's compact 3D oriented bounding box center"
+       },
+       "y coordinate": {
+        "unit": "meters",
+        "description": "y coordinate of this instance's compact 3D oriented bounding box center"
+       },
+       "height above floor": {
+        "unit": "meters",
+        "description": "height coordinate of this instance's compact 3D oriented bounding box center"
+       }
+      },
+      "longest dimension": {
+       "unit": "meters",
+       "description": "longest of this instance's compact 3D oriented bounding box dimensions"
+      }
+     }
+    ]
+   }
+  },
+  "room": {
+   "floor area": {
+    "unit": "square meters",
+    "description": "shoelace area of the compact spatial code's floor boundary polygons, with every interior hole subtracted"
+   }
+  },
+  "closest classes distance meters from": {
+   "<object class>": {
+    "<other object class>": {
+     "distance": {
+      "unit": "meters",
+      "description": "estimated distance in meters between an object of this class and an object of the other class"
+     },
+     "closeness rank": {
+      "unit": null,
+      "description": "1 = the nearest other class to this one, 2 = second-nearest, and so on; ranked by nearest-instance proximity, so use the rank (not the distance values) to compare which class is closest"
+     }
+    }
+   }
+  },
+  "appearance order": {
+   "unit": null,
+   "description": "class names ordered by earliest compact 'first visible time' across all of that class's instances"
+  }
+ },
+ "objects": {
+  "laptop": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "6.02 meters",
+      "y coordinate": "2.75 meters",
+      "height above floor": "0.97 meters"
+     },
+     "longest dimension": "0.43 meters"
+    }
+   ]
+  },
+  "heater": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "5.46 meters",
+      "y coordinate": "0.41 meters",
+      "height above floor": "0.44 meters"
+     },
+     "longest dimension": "0.88 meters"
+    }
+   ]
+  },
+  "chair": {
+   "count": 2,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "5.47 meters",
+      "y coordinate": "2.18 meters",
+      "height above floor": "0.68 meters"
+     },
+     "longest dimension": "1.3 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "4.73 meters",
+      "y coordinate": "2.57 meters",
+      "height above floor": "0.58 meters"
+     },
+     "longest dimension": "0.62 meters"
+    }
+   ]
+  },
+  "table": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "5.52 meters",
+      "y coordinate": "2.62 meters",
+      "height above floor": "0.74 meters"
+     },
+     "longest dimension": "1.53 meters"
+    }
+   ]
+  },
+  "door": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "0.1 meters",
+      "y coordinate": "2.08 meters",
+      "height above floor": "1.07 meters"
+     },
+     "longest dimension": "2.09 meters"
+    }
+   ]
+  },
+  "shoe rack": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "1.41 meters",
+      "y coordinate": "2.57 meters",
+      "height above floor": "0.41 meters"
+     },
+     "longest dimension": "0.7 meters"
+    }
+   ]
+  },
+  "shoes": {
+   "count": 10,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "1.64 meters",
+      "y coordinate": "2.54 meters",
+      "height above floor": "0.22 meters"
+     },
+     "longest dimension": "0.26 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "1.43 meters",
+      "y coordinate": "2.59 meters",
+      "height above floor": "0.21 meters"
+     },
+     "longest dimension": "0.29 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "1.23 meters",
+      "y coordinate": "2.48 meters",
+      "height above floor": "0.23 meters"
+     },
+     "longest dimension": "0.31 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "1.2 meters",
+      "y coordinate": "2.57 meters",
+      "height above floor": "0.46 meters"
+     },
+     "longest dimension": "0.27 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "1.42 meters",
+      "y coordinate": "2.6 meters",
+      "height above floor": "0.47 meters"
+     },
+     "longest dimension": "0.29 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "1.64 meters",
+      "y coordinate": "2.61 meters",
+      "height above floor": "0.48 meters"
+     },
+     "longest dimension": "0.31 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "1.65 meters",
+      "y coordinate": "2.61 meters",
+      "height above floor": "0.68 meters"
+     },
+     "longest dimension": "0.28 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "1.43 meters",
+      "y coordinate": "2.6 meters",
+      "height above floor": "0.67 meters"
+     },
+     "longest dimension": "0.3 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "1.21 meters",
+      "y coordinate": "2.58 meters",
+      "height above floor": "0.66 meters"
+     },
+     "longest dimension": "0.3 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "0.92 meters",
+      "y coordinate": "2.63 meters",
+      "height above floor": "0.18 meters"
+     },
+     "longest dimension": "0.3 meters"
+    }
+   ]
+  },
+  "basket": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "0.52 meters",
+      "y coordinate": "1.42 meters",
+      "height above floor": "1.23 meters"
+     },
+     "longest dimension": "0.33 meters"
+    }
+   ]
+  },
+  "bed": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "3.66 meters",
+      "y coordinate": "0.62 meters",
+      "height above floor": "0.29 meters"
+     },
+     "longest dimension": "2.16 meters"
+    }
+   ]
+  },
+  "blanket": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "4.31 meters",
+      "y coordinate": "0.69 meters",
+      "height above floor": "0.46 meters"
+     },
+     "longest dimension": "0.57 meters"
+    }
+   ]
+  },
+  "pillow": {
+   "count": 2,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "3.27 meters",
+      "y coordinate": "0.26 meters",
+      "height above floor": "0.49 meters"
+     },
+     "longest dimension": "0.55 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "2.84 meters",
+      "y coordinate": "0.63 meters",
+      "height above floor": "0.51 meters"
+     },
+     "longest dimension": "0.74 meters"
+    }
+   ]
+  },
+  "toilet": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "0.79 meters",
+      "y coordinate": "1.32 meters",
+      "height above floor": "0.39 meters"
+     },
+     "longest dimension": "0.55 meters"
+    }
+   ]
+  }
+ },
+ "room": {
+  "floor area": "16.9 square meters"
+ },
+ "closest classes distance meters from": {
+  "laptop": {
+   "table": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "chair": {
+    "distance": "0.26 meters",
+    "closeness rank": 2
+   },
+   "bed": {
+    "distance": "1.96 meters",
+    "closeness rank": 3
+   },
+   "heater": {
+    "distance": "2.03 meters",
+    "closeness rank": 4
+   },
+   "blanket": {
+    "distance": "2.23 meters",
+    "closeness rank": 5
+   },
+   "pillow": {
+    "distance": "3.25 meters",
+    "closeness rank": 6
+   },
+   "shoes": {
+    "distance": "4.1 meters",
+    "closeness rank": 7
+   },
+   "shoe rack": {
+    "distance": "4.08 meters",
+    "closeness rank": 8
+   },
+   "toilet": {
+    "distance": "4.96 meters",
+    "closeness rank": 9
+   },
+   "basket": {
+    "distance": "5.28 meters",
+    "closeness rank": 10
+   },
+   "door": {
+    "distance": "5.68 meters",
+    "closeness rank": 11
+   }
+  },
+  "heater": {
+   "bed": {
+    "distance": "0.3 meters",
+    "closeness rank": 1
+   },
+   "blanket": {
+    "distance": "0.46 meters",
+    "closeness rank": 2
+   },
+   "chair": {
+    "distance": "1.23 meters",
+    "closeness rank": 3
+   },
+   "pillow": {
+    "distance": "1.48 meters",
+    "closeness rank": 4
+   },
+   "table": {
+    "distance": "1.64 meters",
+    "closeness rank": 5
+   },
+   "laptop": {
+    "distance": "2.03 meters",
+    "closeness rank": 6
+   },
+   "shoe rack": {
+    "distance": "3.8 meters",
+    "closeness rank": 7
+   },
+   "shoes": {
+    "distance": "3.81 meters",
+    "closeness rank": 8
+   },
+   "toilet": {
+    "distance": "4.04 meters",
+    "closeness rank": 9
+   },
+   "basket": {
+    "distance": "4.51 meters",
+    "closeness rank": 10
+   },
+   "door": {
+    "distance": "5.0 meters",
+    "closeness rank": 11
+   }
+  },
+  "chair": {
+   "table": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "laptop": {
+    "distance": "0.26 meters",
+    "closeness rank": 2
+   },
+   "bed": {
+    "distance": "0.89 meters",
+    "closeness rank": 3
+   },
+   "blanket": {
+    "distance": "1.13 meters",
+    "closeness rank": 4
+   },
+   "heater": {
+    "distance": "1.23 meters",
+    "closeness rank": 5
+   },
+   "pillow": {
+    "distance": "2.07 meters",
+    "closeness rank": 6
+   },
+   "shoes": {
+    "distance": "3.09 meters",
+    "closeness rank": 7
+   },
+   "shoe rack": {
+    "distance": "3.09 meters",
+    "closeness rank": 8
+   },
+   "toilet": {
+    "distance": "3.84 meters",
+    "closeness rank": 9
+   },
+   "basket": {
+    "distance": "4.22 meters",
+    "closeness rank": 10
+   },
+   "door": {
+    "distance": "4.47 meters",
+    "closeness rank": 11
+   }
+  },
+  "table": {
+   "chair": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "laptop": {
+    "distance": "0.0 meters",
+    "closeness rank": 2
+   },
+   "bed": {
+    "distance": "0.99 meters",
+    "closeness rank": 3
+   },
+   "blanket": {
+    "distance": "1.25 meters",
+    "closeness rank": 4
+   },
+   "heater": {
+    "distance": "1.64 meters",
+    "closeness rank": 5
+   },
+   "pillow": {
+    "distance": "2.23 meters",
+    "closeness rank": 6
+   },
+   "shoes": {
+    "distance": "3.02 meters",
+    "closeness rank": 7
+   },
+   "shoe rack": {
+    "distance": "3.01 meters",
+    "closeness rank": 8
+   },
+   "toilet": {
+    "distance": "3.88 meters",
+    "closeness rank": 9
+   },
+   "basket": {
+    "distance": "4.24 meters",
+    "closeness rank": 10
+   },
+   "door": {
+    "distance": "4.63 meters",
+    "closeness rank": 11
+   }
+  },
+  "door": {
+   "basket": {
+    "distance": "0.35 meters",
+    "closeness rank": 1
+   },
+   "toilet": {
+    "distance": "0.39 meters",
+    "closeness rank": 2
+   },
+   "shoes": {
+    "distance": "0.7 meters",
+    "closeness rank": 3
+   },
+   "shoe rack": {
+    "distance": "0.96 meters",
+    "closeness rank": 4
+   },
+   "bed": {
+    "distance": "2.48 meters",
+    "closeness rank": 5
+   },
+   "pillow": {
+    "distance": "2.55 meters",
+    "closeness rank": 6
+   },
+   "blanket": {
+    "distance": "3.93 meters",
+    "closeness rank": 7
+   },
+   "chair": {
+    "distance": "4.47 meters",
+    "closeness rank": 8
+   },
+   "table": {
+    "distance": "4.63 meters",
+    "closeness rank": 9
+   },
+   "heater": {
+    "distance": "5.0 meters",
+    "closeness rank": 10
+   },
+   "laptop": {
+    "distance": "5.68 meters",
+    "closeness rank": 11
+   }
+  },
+  "shoe rack": {
+   "shoes": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "toilet": {
+    "distance": "0.84 meters",
+    "closeness rank": 2
+   },
+   "door": {
+    "distance": "0.96 meters",
+    "closeness rank": 3
+   },
+   "basket": {
+    "distance": "1.15 meters",
+    "closeness rank": 4
+   },
+   "bed": {
+    "distance": "1.59 meters",
+    "closeness rank": 5
+   },
+   "pillow": {
+    "distance": "2.34 meters",
+    "closeness rank": 6
+   },
+   "blanket": {
+    "distance": "2.82 meters",
+    "closeness rank": 7
+   },
+   "chair": {
+    "distance": "3.09 meters",
+    "closeness rank": 8
+   },
+   "table": {
+    "distance": "3.01 meters",
+    "closeness rank": 9
+   },
+   "heater": {
+    "distance": "3.8 meters",
+    "closeness rank": 10
+   },
+   "laptop": {
+    "distance": "4.08 meters",
+    "closeness rank": 11
+   }
+  },
+  "shoes": {
+   "shoe rack": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "door": {
+    "distance": "0.7 meters",
+    "closeness rank": 2
+   },
+   "toilet": {
+    "distance": "1.09 meters",
+    "closeness rank": 3
+   },
+   "basket": {
+    "distance": "1.58 meters",
+    "closeness rank": 4
+   },
+   "bed": {
+    "distance": "1.61 meters",
+    "closeness rank": 5
+   },
+   "pillow": {
+    "distance": "2.41 meters",
+    "closeness rank": 6
+   },
+   "blanket": {
+    "distance": "2.84 meters",
+    "closeness rank": 7
+   },
+   "chair": {
+    "distance": "3.09 meters",
+    "closeness rank": 8
+   },
+   "table": {
+    "distance": "3.02 meters",
+    "closeness rank": 9
+   },
+   "heater": {
+    "distance": "3.81 meters",
+    "closeness rank": 10
+   },
+   "laptop": {
+    "distance": "4.1 meters",
+    "closeness rank": 11
+   }
+  },
+  "basket": {
+   "door": {
+    "distance": "0.35 meters",
+    "closeness rank": 1
+   },
+   "toilet": {
+    "distance": "0.69 meters",
+    "closeness rank": 2
+   },
+   "shoe rack": {
+    "distance": "1.15 meters",
+    "closeness rank": 3
+   },
+   "shoes": {
+    "distance": "1.58 meters",
+    "closeness rank": 4
+   },
+   "bed": {
+    "distance": "2.13 meters",
+    "closeness rank": 5
+   },
+   "pillow": {
+    "distance": "2.64 meters",
+    "closeness rank": 6
+   },
+   "blanket": {
+    "distance": "3.49 meters",
+    "closeness rank": 7
+   },
+   "chair": {
+    "distance": "4.22 meters",
+    "closeness rank": 8
+   },
+   "table": {
+    "distance": "4.24 meters",
+    "closeness rank": 9
+   },
+   "heater": {
+    "distance": "4.51 meters",
+    "closeness rank": 10
+   },
+   "laptop": {
+    "distance": "5.28 meters",
+    "closeness rank": 11
+   }
+  },
+  "bed": {
+   "blanket": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "pillow": {
+    "distance": "0.0 meters",
+    "closeness rank": 2
+   },
+   "heater": {
+    "distance": "0.3 meters",
+    "closeness rank": 3
+   },
+   "chair": {
+    "distance": "0.89 meters",
+    "closeness rank": 4
+   },
+   "table": {
+    "distance": "0.99 meters",
+    "closeness rank": 5
+   },
+   "toilet": {
+    "distance": "1.6 meters",
+    "closeness rank": 6
+   },
+   "shoe rack": {
+    "distance": "1.59 meters",
+    "closeness rank": 7
+   },
+   "shoes": {
+    "distance": "1.61 meters",
+    "closeness rank": 8
+   },
+   "laptop": {
+    "distance": "1.96 meters",
+    "closeness rank": 9
+   },
+   "basket": {
+    "distance": "2.13 meters",
+    "closeness rank": 10
+   },
+   "door": {
+    "distance": "2.48 meters",
+    "closeness rank": 11
+   }
+  },
+  "blanket": {
+   "bed": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "heater": {
+    "distance": "0.46 meters",
+    "closeness rank": 2
+   },
+   "pillow": {
+    "distance": "0.57 meters",
+    "closeness rank": 3
+   },
+   "chair": {
+    "distance": "1.13 meters",
+    "closeness rank": 4
+   },
+   "table": {
+    "distance": "1.25 meters",
+    "closeness rank": 5
+   },
+   "laptop": {
+    "distance": "2.23 meters",
+    "closeness rank": 6
+   },
+   "shoe rack": {
+    "distance": "2.82 meters",
+    "closeness rank": 7
+   },
+   "shoes": {
+    "distance": "2.84 meters",
+    "closeness rank": 8
+   },
+   "toilet": {
+    "distance": "3.02 meters",
+    "closeness rank": 9
+   },
+   "basket": {
+    "distance": "3.49 meters",
+    "closeness rank": 10
+   },
+   "door": {
+    "distance": "3.93 meters",
+    "closeness rank": 11
+   }
+  },
+  "pillow": {
+   "bed": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "blanket": {
+    "distance": "0.57 meters",
+    "closeness rank": 2
+   },
+   "heater": {
+    "distance": "1.48 meters",
+    "closeness rank": 3
+   },
+   "toilet": {
+    "distance": "2.15 meters",
+    "closeness rank": 4
+   },
+   "shoe rack": {
+    "distance": "2.34 meters",
+    "closeness rank": 5
+   },
+   "shoes": {
+    "distance": "2.41 meters",
+    "closeness rank": 6
+   },
+   "table": {
+    "distance": "2.23 meters",
+    "closeness rank": 7
+   },
+   "chair": {
+    "distance": "2.07 meters",
+    "closeness rank": 8
+   },
+   "basket": {
+    "distance": "2.64 meters",
+    "closeness rank": 9
+   },
+   "door": {
+    "distance": "2.55 meters",
+    "closeness rank": 10
+   },
+   "laptop": {
+    "distance": "3.25 meters",
+    "closeness rank": 11
+   }
+  },
+  "toilet": {
+   "door": {
+    "distance": "0.39 meters",
+    "closeness rank": 1
+   },
+   "basket": {
+    "distance": "0.69 meters",
+    "closeness rank": 2
+   },
+   "shoes": {
+    "distance": "1.09 meters",
+    "closeness rank": 3
+   },
+   "shoe rack": {
+    "distance": "0.84 meters",
+    "closeness rank": 4
+   },
+   "bed": {
+    "distance": "1.6 meters",
+    "closeness rank": 5
+   },
+   "pillow": {
+    "distance": "2.15 meters",
+    "closeness rank": 6
+   },
+   "blanket": {
+    "distance": "3.02 meters",
+    "closeness rank": 7
+   },
+   "chair": {
+    "distance": "3.84 meters",
+    "closeness rank": 8
+   },
+   "table": {
+    "distance": "3.88 meters",
+    "closeness rank": 9
+   },
+   "heater": {
+    "distance": "4.04 meters",
+    "closeness rank": 10
+   },
+   "laptop": {
+    "distance": "4.96 meters",
+    "closeness rank": 11
+   }
+  }
+ },
+ "appearance order": ["pillow", "heater", "blanket", "bed", "shoes", "shoe rack", "door", "laptop", "toilet", "basket", "chair", "table"]
+}
\ No newline at end of file
diff --git a/data/spatial codes/ground truth/explicit/27dd4da69e.json b/data/spatial codes/ground truth/explicit/27dd4da69e.json
new file mode 100644
index 0000000000000000000000000000000000000000..472adbd69aca1f78b7b43459735d94b427b2fa38
--- /dev/null
+++ b/data/spatial codes/ground truth/explicit/27dd4da69e.json	
@@ -0,0 +1,1473 @@
+{
+ "spatial code schema": {
+  "objects": {
+   "<object class>": {
+    "count": {
+     "unit": null,
+     "description": "number of instances of this class in the compact spatial code (that schema's per-class oriented-box list length)"
+    },
+    "instances": [
+     {
+      "position": {
+       "x coordinate": {
+        "unit": "meters",
+        "description": "x coordinate of this instance's compact 3D oriented bounding box center"
+       },
+       "y coordinate": {
+        "unit": "meters",
+        "description": "y coordinate of this instance's compact 3D oriented bounding box center"
+       },
+       "height above floor": {
+        "unit": "meters",
+        "description": "height coordinate of this instance's compact 3D oriented bounding box center"
+       }
+      },
+      "longest dimension": {
+       "unit": "meters",
+       "description": "longest of this instance's compact 3D oriented bounding box dimensions"
+      }
+     }
+    ]
+   }
+  },
+  "room": {
+   "floor area": {
+    "unit": "square meters",
+    "description": "shoelace area of the compact spatial code's floor boundary polygons, with every interior hole subtracted"
+   }
+  },
+  "closest classes distance meters from": {
+   "<object class>": {
+    "<other object class>": {
+     "distance": {
+      "unit": "meters",
+      "description": "estimated distance in meters between an object of this class and an object of the other class"
+     },
+     "closeness rank": {
+      "unit": null,
+      "description": "1 = the nearest other class to this one, 2 = second-nearest, and so on; ranked by nearest-instance proximity, so use the rank (not the distance values) to compare which class is closest"
+     }
+    }
+   }
+  },
+  "appearance order": {
+   "unit": null,
+   "description": "class names ordered by earliest compact 'first visible time' across all of that class's instances"
+  }
+ },
+ "objects": {
+  "door": {
+   "count": 5,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "1.01 meters",
+      "y coordinate": "3.7 meters",
+      "height above floor": "1.04 meters"
+     },
+     "longest dimension": "2.0 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "7.98 meters",
+      "y coordinate": "4.54 meters",
+      "height above floor": "1.02 meters"
+     },
+     "longest dimension": "2.0 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "9.83 meters",
+      "y coordinate": "5.9 meters",
+      "height above floor": "1.0 meters"
+     },
+     "longest dimension": "1.97 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "0.16 meters",
+      "y coordinate": "4.36 meters",
+      "height above floor": "1.03 meters"
+     },
+     "longest dimension": "2.06 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "6.96 meters",
+      "y coordinate": "4.95 meters",
+      "height above floor": "1.06 meters"
+     },
+     "longest dimension": "2.11 meters"
+    }
+   ]
+  },
+  "tv": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "12.76 meters",
+      "y coordinate": "2.76 meters",
+      "height above floor": "1.73 meters"
+     },
+     "longest dimension": "1.08 meters"
+    }
+   ]
+  },
+  "chair": {
+   "count": 2,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "12.06 meters",
+      "y coordinate": "3.84 meters",
+      "height above floor": "0.76 meters"
+     },
+     "longest dimension": "0.73 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "11.51 meters",
+      "y coordinate": "3.65 meters",
+      "height above floor": "0.5 meters"
+     },
+     "longest dimension": "0.98 meters"
+    }
+   ]
+  },
+  "bed": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "10.08 meters",
+      "y coordinate": "3.82 meters",
+      "height above floor": "0.52 meters"
+     },
+     "longest dimension": "2.23 meters"
+    }
+   ]
+  },
+  "telephone": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "3.12 meters",
+      "y coordinate": "4.32 meters",
+      "height above floor": "1.4 meters"
+     },
+     "longest dimension": "0.28 meters"
+    }
+   ]
+  },
+  "crate": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "2.82 meters",
+      "y coordinate": "0.33 meters",
+      "height above floor": "0.97 meters"
+     },
+     "longest dimension": "0.32 meters"
+    }
+   ]
+  },
+  "monitor": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "12.2 meters",
+      "y coordinate": "4.58 meters",
+      "height above floor": "1.06 meters"
+     },
+     "longest dimension": "0.58 meters"
+    }
+   ]
+  },
+  "laptop": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "12.55 meters",
+      "y coordinate": "4.41 meters",
+      "height above floor": "0.84 meters"
+     },
+     "longest dimension": "0.33 meters"
+    }
+   ]
+  },
+  "suitcase": {
+   "count": 3,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "8.3 meters",
+      "y coordinate": "2.98 meters",
+      "height above floor": "0.39 meters"
+     },
+     "longest dimension": "0.66 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "8.27 meters",
+      "y coordinate": "3.45 meters",
+      "height above floor": "0.36 meters"
+     },
+     "longest dimension": "0.67 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "8.2 meters",
+      "y coordinate": "3.89 meters",
+      "height above floor": "0.28 meters"
+     },
+     "longest dimension": "0.52 meters"
+    }
+   ]
+  },
+  "trash can": {
+   "count": 2,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "2.45 meters",
+      "y coordinate": "2.0 meters",
+      "height above floor": "0.17 meters"
+     },
+     "longest dimension": "0.28 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "2.74 meters",
+      "y coordinate": "0.77 meters",
+      "height above floor": "0.37 meters"
+     },
+     "longest dimension": "0.73 meters"
+    }
+   ]
+  },
+  "microwave": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "4.12 meters",
+      "y coordinate": "2.46 meters",
+      "height above floor": "0.99 meters"
+     },
+     "longest dimension": "0.46 meters"
+    }
+   ]
+  },
+  "pan": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "3.49 meters",
+      "y coordinate": "3.94 meters",
+      "height above floor": "0.97 meters"
+     },
+     "longest dimension": "0.31 meters"
+    }
+   ]
+  },
+  "sofa": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "9.74 meters",
+      "y coordinate": "2.2 meters",
+      "height above floor": "0.42 meters"
+     },
+     "longest dimension": "1.74 meters"
+    }
+   ]
+  },
+  "power strip": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "3.83 meters",
+      "y coordinate": "4.22 meters",
+      "height above floor": "1.41 meters"
+     },
+     "longest dimension": "0.14 meters"
+    }
+   ]
+  },
+  "cutting board": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "3.45 meters",
+      "y coordinate": "4.12 meters",
+      "height above floor": "1.02 meters"
+     },
+     "longest dimension": "0.4 meters"
+    }
+   ]
+  },
+  "kettle": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "12.8 meters",
+      "y coordinate": "3.01 meters",
+      "height above floor": "0.55 meters"
+     },
+     "longest dimension": "0.26 meters"
+    }
+   ]
+  },
+  "basket": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "12.93 meters",
+      "y coordinate": "3.32 meters",
+      "height above floor": "0.54 meters"
+     },
+     "longest dimension": "0.46 meters"
+    }
+   ]
+  }
+ },
+ "room": {
+  "floor area": "34.2 square meters"
+ },
+ "closest classes distance meters from": {
+  "door": {
+   "suitcase": {
+    "distance": "6.02 meters",
+    "closeness rank": 1
+   },
+   "bed": {
+    "distance": "6.97 meters",
+    "closeness rank": 2
+   },
+   "telephone": {
+    "distance": "1.72 meters",
+    "closeness rank": 3
+   },
+   "cutting board": {
+    "distance": "1.79 meters",
+    "closeness rank": 4
+   },
+   "trash can": {
+    "distance": "1.83 meters",
+    "closeness rank": 5
+   },
+   "sofa": {
+    "distance": "7.01 meters",
+    "closeness rank": 6
+   },
+   "pan": {
+    "distance": "1.92 meters",
+    "closeness rank": 7
+   },
+   "chair": {
+    "distance": "9.69 meters",
+    "closeness rank": 8
+   },
+   "monitor": {
+    "distance": "9.93 meters",
+    "closeness rank": 9
+   },
+   "power strip": {
+    "distance": "2.36 meters",
+    "closeness rank": 10
+   },
+   "microwave": {
+    "distance": "2.68 meters",
+    "closeness rank": 11
+   },
+   "laptop": {
+    "distance": "10.4 meters",
+    "closeness rank": 12
+   },
+   "basket": {
+    "distance": "10.71 meters",
+    "closeness rank": 13
+   },
+   "crate": {
+    "distance": "3.56 meters",
+    "closeness rank": 14
+   },
+   "kettle": {
+    "distance": "10.69 meters",
+    "closeness rank": 15
+   },
+   "tv": {
+    "distance": "10.27 meters",
+    "closeness rank": 16
+   }
+  },
+  "tv": {
+   "kettle": {
+    "distance": "0.74 meters",
+    "closeness rank": 1
+   },
+   "basket": {
+    "distance": "0.77 meters",
+    "closeness rank": 2
+   },
+   "chair": {
+    "distance": "0.97 meters",
+    "closeness rank": 3
+   },
+   "laptop": {
+    "distance": "1.28 meters",
+    "closeness rank": 4
+   },
+   "bed": {
+    "distance": "1.64 meters",
+    "closeness rank": 5
+   },
+   "monitor": {
+    "distance": "1.68 meters",
+    "closeness rank": 6
+   },
+   "sofa": {
+    "distance": "1.93 meters",
+    "closeness rank": 7
+   },
+   "door": {
+    "distance": "10.27 meters",
+    "closeness rank": 8
+   },
+   "suitcase": {
+    "distance": "3.97 meters",
+    "closeness rank": 9
+   },
+   "microwave": {
+    "distance": "8.0 meters",
+    "closeness rank": 10
+   },
+   "power strip": {
+    "distance": "8.58 meters",
+    "closeness rank": 11
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+   "kettle": {
+    "distance": "9.1 meters",
+    "closeness rank": 16
+   }
+  },
+  "kettle": {
+   "basket": {
+    "distance": "0.04 meters",
+    "closeness rank": 1
+   },
+   "chair": {
+    "distance": "0.73 meters",
+    "closeness rank": 2
+   },
+   "tv": {
+    "distance": "0.74 meters",
+    "closeness rank": 3
+   },
+   "laptop": {
+    "distance": "1.16 meters",
+    "closeness rank": 4
+   },
+   "bed": {
+    "distance": "1.59 meters",
+    "closeness rank": 5
+   },
+   "monitor": {
+    "distance": "1.51 meters",
+    "closeness rank": 6
+   },
+   "sofa": {
+    "distance": "2.17 meters",
+    "closeness rank": 7
+   },
+   "door": {
+    "distance": "10.69 meters",
+    "closeness rank": 8
+   },
+   "suitcase": {
+    "distance": "4.17 meters",
+    "closeness rank": 9
+   },
+   "microwave": {
+    "distance": "8.37 meters",
+    "closeness rank": 10
+   },
+   "power strip": {
+    "distance": "8.89 meters",
+    "closeness rank": 11
+   },
+   "pan": {
+    "distance": "9.08 meters",
+    "closeness rank": 12
+   },
+   "cutting board": {
+    "distance": "9.1 meters",
+    "closeness rank": 13
+   },
+   "telephone": {
+    "distance": "9.62 meters",
+    "closeness rank": 14
+   },
+   "trash can": {
+    "distance": "10.14 meters",
+    "closeness rank": 15
+   },
+   "crate": {
+    "distance": "10.05 meters",
+    "closeness rank": 16
+   }
+  },
+  "basket": {
+   "kettle": {
+    "distance": "0.04 meters",
+    "closeness rank": 1
+   },
+   "chair": {
+    "distance": "0.45 meters",
+    "closeness rank": 2
+   },
+   "laptop": {
+    "distance": "0.8 meters",
+    "closeness rank": 3
+   },
+   "tv": {
+    "distance": "0.77 meters",
+    "closeness rank": 4
+   },
+   "monitor": {
+    "distance": "1.11 meters",
+    "closeness rank": 5
+   },
+   "bed": {
+    "distance": "1.55 meters",
+    "closeness rank": 6
+   },
+   "sofa": {
+    "distance": "2.28 meters",
+    "closeness rank": 7
+   },
+   "door": {
+    "distance": "10.71 meters",
+    "closeness rank": 8
+   },
+   "suitcase": {
+    "distance": "4.16 meters",
+    "closeness rank": 9
+   },
+   "microwave": {
+    "distance": "8.4 meters",
+    "closeness rank": 10
+   },
+   "power strip": {
+    "distance": "8.89 meters",
+    "closeness rank": 11
+   },
+   "cutting board": {
+    "distance": "9.1 meters",
+    "closeness rank": 12
+   },
+   "pan": {
+    "distance": "9.09 meters",
+    "closeness rank": 13
+   },
+   "telephone": {
+    "distance": "9.57 meters",
+    "closeness rank": 14
+   },
+   "trash can": {
+    "distance": "10.2 meters",
+    "closeness rank": 15
+   },
+   "crate": {
+    "distance": "10.16 meters",
+    "closeness rank": 16
+   }
+  }
+ },
+ "appearance order": ["power strip", "pan", "microwave", "cutting board", "trash can", "crate", "telephone", "door", "sofa", "bed", "suitcase", "tv", "laptop", "kettle", "monitor", "chair", "basket"]
+}
\ No newline at end of file
diff --git a/data/spatial codes/ground truth/explicit/286b55a2bf.json b/data/spatial codes/ground truth/explicit/286b55a2bf.json
new file mode 100644
index 0000000000000000000000000000000000000000..234d461da803b280175bef217fcb539f445c4ee6
--- /dev/null
+++ b/data/spatial codes/ground truth/explicit/286b55a2bf.json	
@@ -0,0 +1,221 @@
+{
+ "spatial code schema": {
+  "objects": {
+   "<object class>": {
+    "count": {
+     "unit": null,
+     "description": "number of instances of this class in the compact spatial code (that schema's per-class oriented-box list length)"
+    },
+    "instances": [
+     {
+      "position": {
+       "x coordinate": {
+        "unit": "meters",
+        "description": "x coordinate of this instance's compact 3D oriented bounding box center"
+       },
+       "y coordinate": {
+        "unit": "meters",
+        "description": "y coordinate of this instance's compact 3D oriented bounding box center"
+       },
+       "height above floor": {
+        "unit": "meters",
+        "description": "height coordinate of this instance's compact 3D oriented bounding box center"
+       }
+      },
+      "longest dimension": {
+       "unit": "meters",
+       "description": "longest of this instance's compact 3D oriented bounding box dimensions"
+      }
+     }
+    ]
+   }
+  },
+  "room": {
+   "floor area": {
+    "unit": "square meters",
+    "description": "shoelace area of the compact spatial code's floor boundary polygons, with every interior hole subtracted"
+   }
+  },
+  "closest classes distance meters from": {
+   "<object class>": {
+    "<other object class>": {
+     "distance": {
+      "unit": "meters",
+      "description": "estimated distance in meters between an object of this class and an object of the other class"
+     },
+     "closeness rank": {
+      "unit": null,
+      "description": "1 = the nearest other class to this one, 2 = second-nearest, and so on; ranked by nearest-instance proximity, so use the rank (not the distance values) to compare which class is closest"
+     }
+    }
+   }
+  },
+  "appearance order": {
+   "unit": null,
+   "description": "class names ordered by earliest compact 'first visible time' across all of that class's instances"
+  }
+ },
+ "objects": {
+  "ceiling light": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "1.76 meters",
+      "y coordinate": "0.53 meters",
+      "height above floor": "2.33 meters"
+     },
+     "longest dimension": "0.37 meters"
+    }
+   ]
+  },
+  "exhaust fan": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "2.31 meters",
+      "y coordinate": "1.28 meters",
+      "height above floor": "2.16 meters"
+     },
+     "longest dimension": "0.12 meters"
+    }
+   ]
+  },
+  "toilet": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "2.28 meters",
+      "y coordinate": "0.87 meters",
+      "height above floor": "0.29 meters"
+     },
+     "longest dimension": "0.45 meters"
+    }
+   ]
+  },
+  "cup": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "1.61 meters",
+      "y coordinate": "0.09 meters",
+      "height above floor": "0.94 meters"
+     },
+     "longest dimension": "0.16 meters"
+    }
+   ]
+  },
+  "door": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "1.48 meters",
+      "y coordinate": "1.35 meters",
+      "height above floor": "1.05 meters"
+     },
+     "longest dimension": "2.1 meters"
+    }
+   ]
+  }
+ },
+ "room": {
+  "floor area": "3.3 square meters"
+ },
+ "closest classes distance meters from": {
+  "ceiling light": {
+   "door": {
+    "distance": "0.7 meters",
+    "closeness rank": 1
+   },
+   "exhaust fan": {
+    "distance": "0.84 meters",
+    "closeness rank": 2
+   },
+   "cup": {
+    "distance": "1.21 meters",
+    "closeness rank": 3
+   },
+   "toilet": {
+    "distance": "1.72 meters",
+    "closeness rank": 4
+   }
+  },
+  "exhaust fan": {
+   "door": {
+    "distance": "0.39 meters",
+    "closeness rank": 1
+   },
+   "ceiling light": {
+    "distance": "0.84 meters",
+    "closeness rank": 2
+   },
+   "toilet": {
+    "distance": "1.65 meters",
+    "closeness rank": 3
+   },
+   "cup": {
+    "distance": "1.7 meters",
+    "closeness rank": 4
+   }
+  },
+  "toilet": {
+   "door": {
+    "distance": "0.29 meters",
+    "closeness rank": 1
+   },
+   "cup": {
+    "distance": "0.91 meters",
+    "closeness rank": 2
+   },
+   "exhaust fan": {
+    "distance": "1.65 meters",
+    "closeness rank": 3
+   },
+   "ceiling light": {
+    "distance": "1.72 meters",
+    "closeness rank": 4
+   }
+  },
+  "cup": {
+   "toilet": {
+    "distance": "0.91 meters",
+    "closeness rank": 1
+   },
+   "door": {
+    "distance": "1.1 meters",
+    "closeness rank": 2
+   },
+   "ceiling light": {
+    "distance": "1.21 meters",
+    "closeness rank": 3
+   },
+   "exhaust fan": {
+    "distance": "1.7 meters",
+    "closeness rank": 4
+   }
+  },
+  "door": {
+   "toilet": {
+    "distance": "0.29 meters",
+    "closeness rank": 1
+   },
+   "exhaust fan": {
+    "distance": "0.39 meters",
+    "closeness rank": 2
+   },
+   "ceiling light": {
+    "distance": "0.7 meters",
+    "closeness rank": 3
+   },
+   "cup": {
+    "distance": "1.1 meters",
+    "closeness rank": 4
+   }
+  }
+ },
+ "appearance order": ["ceiling light", "exhaust fan", "toilet", "cup", "door"]
+}
\ No newline at end of file
diff --git a/data/spatial codes/ground truth/explicit/31a2c91c43.json b/data/spatial codes/ground truth/explicit/31a2c91c43.json
new file mode 100644
index 0000000000000000000000000000000000000000..e6d6115b4729a4311b937456ac6c9d8349c3d11b
--- /dev/null
+++ b/data/spatial codes/ground truth/explicit/31a2c91c43.json	
@@ -0,0 +1,135 @@
+{
+ "spatial code schema": {
+  "objects": {
+   "<object class>": {
+    "count": {
+     "unit": null,
+     "description": "number of instances of this class in the compact spatial code (that schema's per-class oriented-box list length)"
+    },
+    "instances": [
+     {
+      "position": {
+       "x coordinate": {
+        "unit": "meters",
+        "description": "x coordinate of this instance's compact 3D oriented bounding box center"
+       },
+       "y coordinate": {
+        "unit": "meters",
+        "description": "y coordinate of this instance's compact 3D oriented bounding box center"
+       },
+       "height above floor": {
+        "unit": "meters",
+        "description": "height coordinate of this instance's compact 3D oriented bounding box center"
+       }
+      },
+      "longest dimension": {
+       "unit": "meters",
+       "description": "longest of this instance's compact 3D oriented bounding box dimensions"
+      }
+     }
+    ]
+   }
+  },
+  "room": {
+   "floor area": {
+    "unit": "square meters",
+    "description": "shoelace area of the compact spatial code's floor boundary polygons, with every interior hole subtracted"
+   }
+  },
+  "closest classes distance meters from": {
+   "<object class>": {
+    "<other object class>": {
+     "distance": {
+      "unit": "meters",
+      "description": "estimated distance in meters between an object of this class and an object of the other class"
+     },
+     "closeness rank": {
+      "unit": null,
+      "description": "1 = the nearest other class to this one, 2 = second-nearest, and so on; ranked by nearest-instance proximity, so use the rank (not the distance values) to compare which class is closest"
+     }
+    }
+   }
+  },
+  "appearance order": {
+   "unit": null,
+   "description": "class names ordered by earliest compact 'first visible time' across all of that class's instances"
+  }
+ },
+ "objects": {
+  "ceiling light": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "1.65 meters",
+      "y coordinate": "1.56 meters",
+      "height above floor": "2.34 meters"
+     },
+     "longest dimension": "0.07 meters"
+    }
+   ]
+  },
+  "toilet": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "1.96 meters",
+      "y coordinate": "0.64 meters",
+      "height above floor": "0.29 meters"
+     },
+     "longest dimension": "0.71 meters"
+    }
+   ]
+  },
+  "door": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "0.51 meters",
+      "y coordinate": "0.91 meters",
+      "height above floor": "1.14 meters"
+     },
+     "longest dimension": "2.28 meters"
+    }
+   ]
+  }
+ },
+ "room": {
+  "floor area": "5.3 square meters"
+ },
+ "closest classes distance meters from": {
+  "ceiling light": {
+   "door": {
+    "distance": "1.04 meters",
+    "closeness rank": 1
+   },
+   "toilet": {
+    "distance": "1.89 meters",
+    "closeness rank": 2
+   }
+  },
+  "toilet": {
+   "door": {
+    "distance": "0.58 meters",
+    "closeness rank": 1
+   },
+   "ceiling light": {
+    "distance": "1.89 meters",
+    "closeness rank": 2
+   }
+  },
+  "door": {
+   "toilet": {
+    "distance": "0.58 meters",
+    "closeness rank": 1
+   },
+   "ceiling light": {
+    "distance": "1.04 meters",
+    "closeness rank": 2
+   }
+  }
+ },
+ "appearance order": ["ceiling light", "toilet", "door"]
+}
\ No newline at end of file
diff --git a/data/spatial codes/ground truth/explicit/3864514494.json b/data/spatial codes/ground truth/explicit/3864514494.json
new file mode 100644
index 0000000000000000000000000000000000000000..af00e46526e84cdfc1ab27f72ed1ae1f46bfad4a
--- /dev/null
+++ b/data/spatial codes/ground truth/explicit/3864514494.json	
@@ -0,0 +1,253 @@
+{
+ "spatial code schema": {
+  "objects": {
+   "<object class>": {
+    "count": {
+     "unit": null,
+     "description": "number of instances of this class in the compact spatial code (that schema's per-class oriented-box list length)"
+    },
+    "instances": [
+     {
+      "position": {
+       "x coordinate": {
+        "unit": "meters",
+        "description": "x coordinate of this instance's compact 3D oriented bounding box center"
+       },
+       "y coordinate": {
+        "unit": "meters",
+        "description": "y coordinate of this instance's compact 3D oriented bounding box center"
+       },
+       "height above floor": {
+        "unit": "meters",
+        "description": "height coordinate of this instance's compact 3D oriented bounding box center"
+       }
+      },
+      "longest dimension": {
+       "unit": "meters",
+       "description": "longest of this instance's compact 3D oriented bounding box dimensions"
+      }
+     }
+    ]
+   }
+  },
+  "room": {
+   "floor area": {
+    "unit": "square meters",
+    "description": "shoelace area of the compact spatial code's floor boundary polygons, with every interior hole subtracted"
+   }
+  },
+  "closest classes distance meters from": {
+   "<object class>": {
+    "<other object class>": {
+     "distance": {
+      "unit": "meters",
+      "description": "estimated distance in meters between an object of this class and an object of the other class"
+     },
+     "closeness rank": {
+      "unit": null,
+      "description": "1 = the nearest other class to this one, 2 = second-nearest, and so on; ranked by nearest-instance proximity, so use the rank (not the distance values) to compare which class is closest"
+     }
+    }
+   }
+  },
+  "appearance order": {
+   "unit": null,
+   "description": "class names ordered by earliest compact 'first visible time' across all of that class's instances"
+  }
+ },
+ "objects": {
+  "heater": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "4.74 meters",
+      "y coordinate": "0.89 meters",
+      "height above floor": "0.33 meters"
+     },
+     "longest dimension": "1.39 meters"
+    }
+   ]
+  },
+  "trash can": {
+   "count": 3,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "2.11 meters",
+      "y coordinate": "0.36 meters",
+      "height above floor": "0.32 meters"
+     },
+     "longest dimension": "0.83 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "4.53 meters",
+      "y coordinate": "1.55 meters",
+      "height above floor": "0.23 meters"
+     },
+     "longest dimension": "0.35 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "4.42 meters",
+      "y coordinate": "0.3 meters",
+      "height above floor": "0.37 meters"
+     },
+     "longest dimension": "0.73 meters"
+    }
+   ]
+  },
+  "cup": {
+   "count": 3,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "4.18 meters",
+      "y coordinate": "1.51 meters",
+      "height above floor": "0.92 meters"
+     },
+     "longest dimension": "0.13 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "2.84 meters",
+      "y coordinate": "1.84 meters",
+      "height above floor": "0.91 meters"
+     },
+     "longest dimension": "0.12 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "2.93 meters",
+      "y coordinate": "1.8 meters",
+      "height above floor": "0.91 meters"
+     },
+     "longest dimension": "0.09 meters"
+    }
+   ]
+  },
+  "microwave": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "2.82 meters",
+      "y coordinate": "1.7 meters",
+      "height above floor": "1.53 meters"
+     },
+     "longest dimension": "0.47 meters"
+    }
+   ]
+  },
+  "door": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "0.07 meters",
+      "y coordinate": "0.83 meters",
+      "height above floor": "1.06 meters"
+     },
+     "longest dimension": "2.11 meters"
+    }
+   ]
+  }
+ },
+ "room": {
+  "floor area": "8.8 square meters"
+ },
+ "closest classes distance meters from": {
+  "heater": {
+   "trash can": {
+    "distance": "1.57 meters",
+    "closeness rank": 1
+   },
+   "cup": {
+    "distance": "0.56 meters",
+    "closeness rank": 2
+   },
+   "microwave": {
+    "distance": "1.87 meters",
+    "closeness rank": 3
+   },
+   "door": {
+    "distance": "4.49 meters",
+    "closeness rank": 4
+   }
+  },
+  "trash can": {
+   "heater": {
+    "distance": "1.57 meters",
+    "closeness rank": 1
+   },
+   "cup": {
+    "distance": "1.96 meters",
+    "closeness rank": 2
+   },
+   "microwave": {
+    "distance": "1.29 meters",
+    "closeness rank": 3
+   },
+   "door": {
+    "distance": "1.57 meters",
+    "closeness rank": 4
+   }
+  },
+  "cup": {
+   "microwave": {
+    "distance": "1.2 meters",
+    "closeness rank": 1
+   },
+   "trash can": {
+    "distance": "1.96 meters",
+    "closeness rank": 2
+   },
+   "heater": {
+    "distance": "0.56 meters",
+    "closeness rank": 3
+   },
+   "door": {
+    "distance": "3.05 meters",
+    "closeness rank": 4
+   }
+  },
+  "microwave": {
+   "cup": {
+    "distance": "1.2 meters",
+    "closeness rank": 1
+   },
+   "trash can": {
+    "distance": "1.29 meters",
+    "closeness rank": 2
+   },
+   "heater": {
+    "distance": "1.87 meters",
+    "closeness rank": 3
+   },
+   "door": {
+    "distance": "2.49 meters",
+    "closeness rank": 4
+   }
+  },
+  "door": {
+   "trash can": {
+    "distance": "1.57 meters",
+    "closeness rank": 1
+   },
+   "microwave": {
+    "distance": "2.49 meters",
+    "closeness rank": 2
+   },
+   "cup": {
+    "distance": "3.05 meters",
+    "closeness rank": 3
+   },
+   "heater": {
+    "distance": "4.49 meters",
+    "closeness rank": 4
+   }
+  }
+ },
+ "appearance order": ["heater", "trash can", "cup", "microwave", "door"]
+}
\ No newline at end of file
diff --git a/data/spatial codes/ground truth/explicit/38d58a7a31.json b/data/spatial codes/ground truth/explicit/38d58a7a31.json
new file mode 100644
index 0000000000000000000000000000000000000000..9607276023b1322321a409ee3abb542229753961
--- /dev/null
+++ b/data/spatial codes/ground truth/explicit/38d58a7a31.json	
@@ -0,0 +1,1016 @@
+{
+ "spatial code schema": {
+  "objects": {
+   "<object class>": {
+    "count": {
+     "unit": null,
+     "description": "number of instances of this class in the compact spatial code (that schema's per-class oriented-box list length)"
+    },
+    "instances": [
+     {
+      "position": {
+       "x coordinate": {
+        "unit": "meters",
+        "description": "x coordinate of this instance's compact 3D oriented bounding box center"
+       },
+       "y coordinate": {
+        "unit": "meters",
+        "description": "y coordinate of this instance's compact 3D oriented bounding box center"
+       },
+       "height above floor": {
+        "unit": "meters",
+        "description": "height coordinate of this instance's compact 3D oriented bounding box center"
+       }
+      },
+      "longest dimension": {
+       "unit": "meters",
+       "description": "longest of this instance's compact 3D oriented bounding box dimensions"
+      }
+     }
+    ]
+   }
+  },
+  "room": {
+   "floor area": {
+    "unit": "square meters",
+    "description": "shoelace area of the compact spatial code's floor boundary polygons, with every interior hole subtracted"
+   }
+  },
+  "closest classes distance meters from": {
+   "<object class>": {
+    "<other object class>": {
+     "distance": {
+      "unit": "meters",
+      "description": "estimated distance in meters between an object of this class and an object of the other class"
+     },
+     "closeness rank": {
+      "unit": null,
+      "description": "1 = the nearest other class to this one, 2 = second-nearest, and so on; ranked by nearest-instance proximity, so use the rank (not the distance values) to compare which class is closest"
+     }
+    }
+   }
+  },
+  "appearance order": {
+   "unit": null,
+   "description": "class names ordered by earliest compact 'first visible time' across all of that class's instances"
+  }
+ },
+ "objects": {
+  "chair": {
+   "count": 36,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "1.02 meters",
+      "y coordinate": "6.62 meters",
+      "height above floor": "0.79 meters"
+     },
+     "longest dimension": "0.91 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "2.51 meters",
+      "y coordinate": "6.63 meters",
+      "height above floor": "0.54 meters"
+     },
+     "longest dimension": "0.77 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "3.89 meters",
+      "y coordinate": "4.47 meters",
+      "height above floor": "0.65 meters"
+     },
+     "longest dimension": "0.52 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "5.19 meters",
+      "y coordinate": "4.7 meters",
+      "height above floor": "0.58 meters"
+     },
+     "longest dimension": "0.65 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "6.82 meters",
+      "y coordinate": "4.02 meters",
+      "height above floor": "0.62 meters"
+     },
+     "longest dimension": "0.66 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "1.98 meters",
+      "y coordinate": "4.91 meters",
+      "height above floor": "0.61 meters"
+     },
+     "longest dimension": "0.52 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "1.77 meters",
+      "y coordinate": "7.53 meters",
+      "height above floor": "0.6 meters"
+     },
+     "longest dimension": "0.68 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "4.68 meters",
+      "y coordinate": "2.89 meters",
+      "height above floor": "0.65 meters"
+     },
+     "longest dimension": "0.49 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "4.27 meters",
+      "y coordinate": "3.5 meters",
+      "height above floor": "0.66 meters"
+     },
+     "longest dimension": "0.51 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "4.61 meters",
+      "y coordinate": "6.28 meters",
+      "height above floor": "0.66 meters"
+     },
+     "longest dimension": "0.57 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "6.06 meters",
+      "y coordinate": "5.91 meters",
+      "height above floor": "0.56 meters"
+     },
+     "longest dimension": "0.61 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "6.09 meters",
+      "y coordinate": "0.93 meters",
+      "height above floor": "0.49 meters"
+     },
+     "longest dimension": "0.87 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "0.93 meters",
+      "y coordinate": "6.01 meters",
+      "height above floor": "0.53 meters"
+     },
+     "longest dimension": "0.87 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "6.53 meters",
+      "y coordinate": "2.42 meters",
+      "height above floor": "0.64 meters"
+     },
+     "longest dimension": "0.49 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "3.08 meters",
+      "y coordinate": "6.61 meters",
+      "height above floor": "0.66 meters"
+     },
+     "longest dimension": "0.53 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "4.04 meters",
+      "y coordinate": "6.23 meters",
+      "height above floor": "0.47 meters"
+     },
+     "longest dimension": "0.81 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "1.14 meters",
+      "y coordinate": "7.17 meters",
+      "height above floor": "0.69 meters"
+     },
+     "longest dimension": "0.94 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "1.41 meters",
+      "y coordinate": "5.05 meters",
+      "height above floor": "0.48 meters"
+     },
+     "longest dimension": "0.76 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "5.52 meters",
+      "y coordinate": "6.22 meters",
+      "height above floor": "0.62 meters"
+     },
+     "longest dimension": "0.63 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "3.1 meters",
+      "y coordinate": "3.14 meters",
+      "height above floor": "0.49 meters"
+     },
+     "longest dimension": "0.86 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "4.67 meters",
+      "y coordinate": "4.33 meters",
+      "height above floor": "0.62 meters"
+     },
+     "longest dimension": "0.64 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "5.95 meters",
+      "y coordinate": "4.34 meters",
+      "height above floor": "0.49 meters"
+     },
+     "longest dimension": "0.87 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "5.82 meters",
+      "y coordinate": "2.41 meters",
+      "height above floor": "0.66 meters"
+     },
+     "longest dimension": "0.48 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "5.31 meters",
+      "y coordinate": "2.47 meters",
+      "height above floor": "0.66 meters"
+     },
+     "longest dimension": "0.53 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "7.05 meters",
+      "y coordinate": "3.35 meters",
+      "height above floor": "0.59 meters"
+     },
+     "longest dimension": "0.66 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "7.36 meters",
+      "y coordinate": "5.73 meters",
+      "height above floor": "0.66 meters"
+     },
+     "longest dimension": "0.51 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "6.81 meters",
+      "y coordinate": "6.11 meters",
+      "height above floor": "0.62 meters"
+     },
+     "longest dimension": "0.86 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "3.38 meters",
+      "y coordinate": "4.8 meters",
+      "height above floor": "0.6 meters"
+     },
+     "longest dimension": "0.64 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "2.41 meters",
+      "y coordinate": "2.04 meters",
+      "height above floor": "0.59 meters"
+     },
+     "longest dimension": "0.66 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "2.59 meters",
+      "y coordinate": "4.86 meters",
+      "height above floor": "0.61 meters"
+     },
+     "longest dimension": "0.64 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "2.46 meters",
+      "y coordinate": "2.8 meters",
+      "height above floor": "0.63 meters"
+     },
+     "longest dimension": "0.63 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "1.15 meters",
+      "y coordinate": "7.13 meters",
+      "height above floor": "0.75 meters"
+     },
+     "longest dimension": "0.59 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "1.2 meters",
+      "y coordinate": "7.25 meters",
+      "height above floor": "0.64 meters"
+     },
+     "longest dimension": "0.72 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "1.02 meters",
+      "y coordinate": "6.62 meters",
+      "height above floor": "0.81 meters"
+     },
+     "longest dimension": "0.87 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "1.09 meters",
+      "y coordinate": "6.6 meters",
+      "height above floor": "0.63 meters"
+     },
+     "longest dimension": "0.66 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "1.02 meters",
+      "y coordinate": "6.61 meters",
+      "height above floor": "0.43 meters"
+     },
+     "longest dimension": "0.54 meters"
+    }
+   ]
+  },
+  "table": {
+   "count": 8,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "2.83 meters",
+      "y coordinate": "6.27 meters",
+      "height above floor": "0.42 meters"
+     },
+     "longest dimension": "1.46 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "7.03 meters",
+      "y coordinate": "5.51 meters",
+      "height above floor": "0.42 meters"
+     },
+     "longest dimension": "1.46 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "5.58 meters",
+      "y coordinate": "5.79 meters",
+      "height above floor": "0.42 meters"
+     },
+     "longest dimension": "1.43 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "4.21 meters",
+      "y coordinate": "6.03 meters",
+      "height above floor": "0.42 meters"
+     },
+     "longest dimension": "1.46 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "6.76 meters",
+      "y coordinate": "3.84 meters",
+      "height above floor": "0.42 meters"
+     },
+     "longest dimension": "1.4 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "5.67 meters",
+      "y coordinate": "3.95 meters",
+      "height above floor": "0.41 meters"
+     },
+     "longest dimension": "1.46 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "1.57 meters",
+      "y coordinate": "4.57 meters",
+      "height above floor": "0.42 meters"
+     },
+     "longest dimension": "1.39 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "6.35 meters",
+      "y coordinate": "1.52 meters",
+      "height above floor": "0.42 meters"
+     },
+     "longest dimension": "1.28 meters"
+    }
+   ]
+  },
+  "ceiling light": {
+   "count": 10,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "3.71 meters",
+      "y coordinate": "1.26 meters",
+      "height above floor": "3.0 meters"
+     },
+     "longest dimension": "2.47 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "0.97 meters",
+      "y coordinate": "1.56 meters",
+      "height above floor": "3.02 meters"
+     },
+     "longest dimension": "0.91 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "4.51 meters",
+      "y coordinate": "6.58 meters",
+      "height above floor": "3.03 meters"
+     },
+     "longest dimension": "1.28 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "1.24 meters",
+      "y coordinate": "3.32 meters",
+      "height above floor": "3.03 meters"
+     },
+     "longest dimension": "1.16 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "4.21 meters",
+      "y coordinate": "4.76 meters",
+      "height above floor": "3.01 meters"
+     },
+     "longest dimension": "1.25 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "3.93 meters",
+      "y coordinate": "2.95 meters",
+      "height above floor": "2.99 meters"
+     },
+     "longest dimension": "1.24 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "6.14 meters",
+      "y coordinate": "0.77 meters",
+      "height above floor": "3.02 meters"
+     },
+     "longest dimension": "0.99 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "6.92 meters",
+      "y coordinate": "6.2 meters",
+      "height above floor": "3.01 meters"
+     },
+     "longest dimension": "1.4 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "6.65 meters",
+      "y coordinate": "4.37 meters",
+      "height above floor": "3.02 meters"
+     },
+     "longest dimension": "1.16 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "6.4 meters",
+      "y coordinate": "2.49 meters",
+      "height above floor": "3.01 meters"
+     },
+     "longest dimension": "1.48 meters"
+    }
+   ]
+  },
+  "door": {
+   "count": 2,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "0.15 meters",
+      "y coordinate": "2.47 meters",
+      "height above floor": "1.11 meters"
+     },
+     "longest dimension": "2.12 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "7.7 meters",
+      "y coordinate": "2.6 meters",
+      "height above floor": "1.27 meters"
+     },
+     "longest dimension": "2.43 meters"
+    }
+   ]
+  },
+  "heater": {
+   "count": 3,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "7.78 meters",
+      "y coordinate": "4.15 meters",
+      "height above floor": "0.35 meters"
+     },
+     "longest dimension": "1.52 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "8.0 meters",
+      "y coordinate": "5.91 meters",
+      "height above floor": "0.38 meters"
+     },
+     "longest dimension": "1.48 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "7.18 meters",
+      "y coordinate": "0.65 meters",
+      "height above floor": "0.38 meters"
+     },
+     "longest dimension": "1.09 meters"
+    }
+   ]
+  },
+  "trash can": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "0.52 meters",
+      "y coordinate": "4.04 meters",
+      "height above floor": "0.23 meters"
+     },
+     "longest dimension": "0.35 meters"
+    }
+   ]
+  },
+  "telephone": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "7.34 meters",
+      "y coordinate": "1.45 meters",
+      "height above floor": "0.97 meters"
+     },
+     "longest dimension": "0.25 meters"
+    }
+   ]
+  },
+  "keyboard": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "7.26 meters",
+      "y coordinate": "1.8 meters",
+      "height above floor": "0.96 meters"
+     },
+     "longest dimension": "0.49 meters"
+    }
+   ]
+  },
+  "whiteboard": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "0.44 meters",
+      "y coordinate": "4.46 meters",
+      "height above floor": "1.46 meters"
+     },
+     "longest dimension": "2.01 meters"
+    }
+   ]
+  },
+  "coat hanger": {
+   "count": 2,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "1.11 meters",
+      "y coordinate": "7.81 meters",
+      "height above floor": "0.94 meters"
+     },
+     "longest dimension": "1.74 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "0.42 meters",
+      "y coordinate": "1.62 meters",
+      "height above floor": "0.92 meters"
+     },
+     "longest dimension": "1.78 meters"
+    }
+   ]
+  }
+ },
+ "room": {
+  "floor area": "52.3 square meters"
+ },
+ "closest classes distance meters from": {
+  "chair": {
+   "coat hanger": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "table": {
+    "distance": "0.7 meters",
+    "closeness rank": 2
+   },
+   "heater": {
+    "distance": "6.0 meters",
+    "closeness rank": 3
+   },
+   "whiteboard": {
+    "distance": "0.87 meters",
+    "closeness rank": 4
+   },
+   "door": {
+    "distance": "2.74 meters",
+    "closeness rank": 5
+   },
+   "keyboard": {
+    "distance": "7.19 meters",
+    "closeness rank": 6
+   },
+   "trash can": {
+    "distance": "2.06 meters",
+    "closeness rank": 7
+   },
+   "telephone": {
+    "distance": "7.59 meters",
+    "closeness rank": 8
+   },
+   "ceiling light": {
+    "distance": "4.7 meters",
+    "closeness rank": 9
+   }
+  },
+  "table": {
+   "chair": {
+    "distance": "0.7 meters",
+    "closeness rank": 1
+   },
+   "heater": {
+    "distance": "3.9 meters",
+    "closeness rank": 2
+   },
+   "keyboard": {
+    "distance": "5.34 meters",
+    "closeness rank": 3
+   },
+   "trash can": {
+    "distance": "2.31 meters",
+    "closeness rank": 4
+   },
+   "telephone": {
+    "distance": "5.77 meters",
+    "closeness rank": 5
+   },
+   "whiteboard": {
+    "distance": "1.44 meters",
+    "closeness rank": 6
+   },
+   "door": {
+    "distance": "2.91 meters",
+    "closeness rank": 7
+   },
+   "coat hanger": {
+    "distance": "1.24 meters",
+    "closeness rank": 8
+   },
+   "ceiling light": {
+    "distance": "3.74 meters",
+    "closeness rank": 9
+   }
+  },
+  "ceiling light": {
+   "door": {
+    "distance": "1.91 meters",
+    "closeness rank": 1
+   },
+   "whiteboard": {
+    "distance": "2.59 meters",
+    "closeness rank": 2
+   },
+   "coat hanger": {
+    "distance": "5.24 meters",
+    "closeness rank": 3
+   },
+   "chair": {
+    "distance": "4.7 meters",
+    "closeness rank": 4
+   },
+   "keyboard": {
+    "distance": "2.65 meters",
+    "closeness rank": 5
+   },
+   "telephone": {
+    "distance": "2.8 meters",
+    "closeness rank": 6
+   },
+   "table": {
+    "distance": "3.74 meters",
+    "closeness rank": 7
+   },
+   "heater": {
+    "distance": "3.66 meters",
+    "closeness rank": 8
+   },
+   "trash can": {
+    "distance": "3.65 meters",
+    "closeness rank": 9
+   }
+  },
+  "door": {
+   "coat hanger": {
+    "distance": "3.5 meters",
+    "closeness rank": 1
+   },
+   "keyboard": {
+    "distance": "5.84 meters",
+    "closeness rank": 2
+   },
+   "heater": {
+    "distance": "6.03 meters",
+    "closeness rank": 3
+   },
+   "table": {
+    "distance": "2.91 meters",
+    "closeness rank": 4
+   },
+   "chair": {
+    "distance": "2.74 meters",
+    "closeness rank": 5
+   },
+   "telephone": {
+    "distance": "6.08 meters",
+    "closeness rank": 6
+   },
+   "whiteboard": {
+    "distance": "0.5 meters",
+    "closeness rank": 7
+   },
+   "trash can": {
+    "distance": "0.89 meters",
+    "closeness rank": 8
+   },
+   "ceiling light": {
+    "distance": "1.91 meters",
+    "closeness rank": 9
+   }
+  },
+  "heater": {
+   "table": {
+    "distance": "3.9 meters",
+    "closeness rank": 1
+   },
+   "door": {
+    "distance": "6.03 meters",
+    "closeness rank": 2
+   },
+   "chair": {
+    "distance": "6.0 meters",
+    "closeness rank": 3
+   },
+   "telephone": {
+    "distance": "1.92 meters",
+    "closeness rank": 4
+   },
+   "keyboard": {
+    "distance": "1.48 meters",
+    "closeness rank": 5
+   },
+   "ceiling light": {
+    "distance": "3.66 meters",
+    "closeness rank": 6
+   },
+   "coat hanger": {
+    "distance": "6.46 meters",
+    "closeness rank": 7
+   },
+   "trash can": {
+    "distance": "6.8 meters",
+    "closeness rank": 8
+   },
+   "whiteboard": {
+    "distance": "7.13 meters",
+    "closeness rank": 9
+   }
+  },
+  "trash can": {
+   "table": {
+    "distance": "2.31 meters",
+    "closeness rank": 1
+   },
+   "whiteboard": {
+    "distance": "0.34 meters",
+    "closeness rank": 2
+   },
+   "chair": {
+    "distance": "2.06 meters",
+    "closeness rank": 3
+   },
+   "door": {
+    "distance": "0.89 meters",
+    "closeness rank": 4
+   },
+   "coat hanger": {
+    "distance": "2.84 meters",
+    "closeness rank": 5
+   },
+   "ceiling light": {
+    "distance": "3.65 meters",
+    "closeness rank": 6
+   },
+   "keyboard": {
+    "distance": "6.77 meters",
+    "closeness rank": 7
+   },
+   "heater": {
+    "distance": "6.8 meters",
+    "closeness rank": 8
+   },
+   "telephone": {
+    "distance": "7.03 meters",
+    "closeness rank": 9
+   }
+  },
+  "telephone": {
+   "keyboard": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "table": {
+    "distance": "5.77 meters",
+    "closeness rank": 2
+   },
+   "heater": {
+    "distance": "1.92 meters",
+    "closeness rank": 3
+   },
+   "door": {
+    "distance": "6.08 meters",
+    "closeness rank": 4
+   },
+   "chair": {
+    "distance": "7.59 meters",
+    "closeness rank": 5
+   },
+   "ceiling light": {
+    "distance": "2.8 meters",
+    "closeness rank": 6
+   },
+   "coat hanger": {
+    "distance": "7.91 meters",
+    "closeness rank": 7
+   },
+   "trash can": {
+    "distance": "7.03 meters",
+    "closeness rank": 8
+   },
+   "whiteboard": {
+    "distance": "7.18 meters",
+    "closeness rank": 9
+   }
+  },
+  "keyboard": {
+   "telephone": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "door": {
+    "distance": "5.84 meters",
+    "closeness rank": 2
+   },
+   "table": {
+    "distance": "5.34 meters",
+    "closeness rank": 3
+   },
+   "chair": {
+    "distance": "7.19 meters",
+    "closeness rank": 4
+   },
+   "heater": {
+    "distance": "1.48 meters",
+    "closeness rank": 5
+   },
+   "ceiling light": {
+    "distance": "2.65 meters",
+    "closeness rank": 6
+   },
+   "coat hanger": {
+    "distance": "7.48 meters",
+    "closeness rank": 7
+   },
+   "trash can": {
+    "distance": "6.77 meters",
+    "closeness rank": 8
+   },
+   "whiteboard": {
+    "distance": "7.04 meters",
+    "closeness rank": 9
+   }
+  },
+  "whiteboard": {
+   "trash can": {
+    "distance": "0.34 meters",
+    "closeness rank": 1
+   },
+   "chair": {
+    "distance": "0.87 meters",
+    "closeness rank": 2
+   },
+   "table": {
+    "distance": "1.44 meters",
+    "closeness rank": 3
+   },
+   "door": {
+    "distance": "0.5 meters",
+    "closeness rank": 4
+   },
+   "ceiling light": {
+    "distance": "2.59 meters",
+    "closeness rank": 5
+   },
+   "coat hanger": {
+    "distance": "1.58 meters",
+    "closeness rank": 6
+   },
+   "keyboard": {
+    "distance": "7.04 meters",
+    "closeness rank": 7
+   },
+   "heater": {
+    "distance": "7.13 meters",
+    "closeness rank": 8
+   },
+   "telephone": {
+    "distance": "7.18 meters",
+    "closeness rank": 9
+   }
+  },
+  "coat hanger": {
+   "chair": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "door": {
+    "distance": "3.5 meters",
+    "closeness rank": 2
+   },
+   "ceiling light": {
+    "distance": "5.24 meters",
+    "closeness rank": 3
+   },
+   "table": {
+    "distance": "1.24 meters",
+    "closeness rank": 4
+   },
+   "whiteboard": {
+    "distance": "1.58 meters",
+    "closeness rank": 5
+   },
+   "trash can": {
+    "distance": "2.84 meters",
+    "closeness rank": 6
+   },
+   "keyboard": {
+    "distance": "7.48 meters",
+    "closeness rank": 7
+   },
+   "heater": {
+    "distance": "6.46 meters",
+    "closeness rank": 8
+   },
+   "telephone": {
+    "distance": "7.91 meters",
+    "closeness rank": 9
+   }
+  }
+ },
+ "appearance order": ["chair", "table", "ceiling light", "door", "heater", "trash can", "telephone", "keyboard", "whiteboard", "coat hanger"]
+}
\ No newline at end of file
diff --git a/data/spatial codes/ground truth/explicit/3db0a1c8f3.json b/data/spatial codes/ground truth/explicit/3db0a1c8f3.json
new file mode 100644
index 0000000000000000000000000000000000000000..c59f3dfd92039fc2a318396de705cbd3c4a36599
--- /dev/null
+++ b/data/spatial codes/ground truth/explicit/3db0a1c8f3.json	
@@ -0,0 +1,1664 @@
+{
+ "spatial code schema": {
+  "objects": {
+   "<object class>": {
+    "count": {
+     "unit": null,
+     "description": "number of instances of this class in the compact spatial code (that schema's per-class oriented-box list length)"
+    },
+    "instances": [
+     {
+      "position": {
+       "x coordinate": {
+        "unit": "meters",
+        "description": "x coordinate of this instance's compact 3D oriented bounding box center"
+       },
+       "y coordinate": {
+        "unit": "meters",
+        "description": "y coordinate of this instance's compact 3D oriented bounding box center"
+       },
+       "height above floor": {
+        "unit": "meters",
+        "description": "height coordinate of this instance's compact 3D oriented bounding box center"
+       }
+      },
+      "longest dimension": {
+       "unit": "meters",
+       "description": "longest of this instance's compact 3D oriented bounding box dimensions"
+      }
+     }
+    ]
+   }
+  },
+  "room": {
+   "floor area": {
+    "unit": "square meters",
+    "description": "shoelace area of the compact spatial code's floor boundary polygons, with every interior hole subtracted"
+   }
+  },
+  "closest classes distance meters from": {
+   "<object class>": {
+    "<other object class>": {
+     "distance": {
+      "unit": "meters",
+      "description": "estimated distance in meters between an object of this class and an object of the other class"
+     },
+     "closeness rank": {
+      "unit": null,
+      "description": "1 = the nearest other class to this one, 2 = second-nearest, and so on; ranked by nearest-instance proximity, so use the rank (not the distance values) to compare which class is closest"
+     }
+    }
+   }
+  },
+  "appearance order": {
+   "unit": null,
+   "description": "class names ordered by earliest compact 'first visible time' across all of that class's instances"
+  }
+ },
+ "objects": {
+  "heater": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "5.15 meters",
+      "y coordinate": "7.76 meters",
+      "height above floor": "0.28 meters"
+     },
+     "longest dimension": "0.97 meters"
+    }
+   ]
+  },
+  "refrigerator": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "7.76 meters",
+      "y coordinate": "5.42 meters",
+      "height above floor": "0.6 meters"
+     },
+     "longest dimension": "1.19 meters"
+    }
+   ]
+  },
+  "chair": {
+   "count": 4,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "4.95 meters",
+      "y coordinate": "7.26 meters",
+      "height above floor": "0.56 meters"
+     },
+     "longest dimension": "1.1 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "6.39 meters",
+      "y coordinate": "4.21 meters",
+      "height above floor": "0.51 meters"
+     },
+     "longest dimension": "0.99 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "4.79 meters",
+      "y coordinate": "1.67 meters",
+      "height above floor": "0.6 meters"
+     },
+     "longest dimension": "0.82 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "5.45 meters",
+      "y coordinate": "7.36 meters",
+      "height above floor": "0.72 meters"
+     },
+     "longest dimension": "0.6 meters"
+    }
+   ]
+  },
+  "sofa": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "7.29 meters",
+      "y coordinate": "3.42 meters",
+      "height above floor": "0.42 meters"
+     },
+     "longest dimension": "1.72 meters"
+    }
+   ]
+  },
+  "table": {
+   "count": 5,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "5.19 meters",
+      "y coordinate": "7.59 meters",
+      "height above floor": "0.45 meters"
+     },
+     "longest dimension": "1.22 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "6.4 meters",
+      "y coordinate": "4.88 meters",
+      "height above floor": "0.48 meters"
+     },
+     "longest dimension": "0.93 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "6.49 meters",
+      "y coordinate": "3.27 meters",
+      "height above floor": "0.2 meters"
+     },
+     "longest dimension": "1.0 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "4.84 meters",
+      "y coordinate": "1.92 meters",
+      "height above floor": "0.44 meters"
+     },
+     "longest dimension": "1.44 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "4.19 meters",
+      "y coordinate": "6.89 meters",
+      "height above floor": "0.25 meters"
+     },
+     "longest dimension": "1.26 meters"
+    }
+   ]
+  },
+  "ceiling light": {
+   "count": 3,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "10.08 meters",
+      "y coordinate": "4.44 meters",
+      "height above floor": "2.14 meters"
+     },
+     "longest dimension": "0.35 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "2.81 meters",
+      "y coordinate": "3.25 meters",
+      "height above floor": "2.22 meters"
+     },
+     "longest dimension": "0.35 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "6.55 meters",
+      "y coordinate": "3.71 meters",
+      "height above floor": "2.36 meters"
+     },
+     "longest dimension": "0.51 meters"
+    }
+   ]
+  },
+  "door": {
+   "count": 2,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "3.41 meters",
+      "y coordinate": "4.17 meters",
+      "height above floor": "1.01 meters"
+     },
+     "longest dimension": "1.99 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "3.28 meters",
+      "y coordinate": "5.35 meters",
+      "height above floor": "1.02 meters"
+     },
+     "longest dimension": "2.01 meters"
+    }
+   ]
+  },
+  "bed": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "2.93 meters",
+      "y coordinate": "1.23 meters",
+      "height above floor": "0.42 meters"
+     },
+     "longest dimension": "2.23 meters"
+    }
+   ]
+  },
+  "computer mouse": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "4.59 meters",
+      "y coordinate": "2.56 meters",
+      "height above floor": "0.42 meters"
+     },
+     "longest dimension": "0.12 meters"
+    }
+   ]
+  },
+  "keyboard": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "5.45 meters",
+      "y coordinate": "2.59 meters",
+      "height above floor": "0.37 meters"
+     },
+     "longest dimension": "0.44 meters"
+    }
+   ]
+  },
+  "tv": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "5.42 meters",
+      "y coordinate": "2.57 meters",
+      "height above floor": "0.63 meters"
+     },
+     "longest dimension": "0.85 meters"
+    }
+   ]
+  },
+  "printer": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "4.12 meters",
+      "y coordinate": "7.15 meters",
+      "height above floor": "0.59 meters"
+     },
+     "longest dimension": "0.49 meters"
+    }
+   ]
+  },
+  "kettle": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "7.03 meters",
+      "y coordinate": "7.65 meters",
+      "height above floor": "1.05 meters"
+     },
+     "longest dimension": "0.23 meters"
+    }
+   ]
+  },
+  "bowl": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "6.78 meters",
+      "y coordinate": "7.36 meters",
+      "height above floor": "0.96 meters"
+     },
+     "longest dimension": "0.29 meters"
+    }
+   ]
+  },
+  "cutting board": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "7.52 meters",
+      "y coordinate": "6.96 meters",
+      "height above floor": "1.12 meters"
+     },
+     "longest dimension": "0.45 meters"
+    }
+   ]
+  },
+  "basket": {
+   "count": 4,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "7.18 meters",
+      "y coordinate": "7.32 meters",
+      "height above floor": "0.99 meters"
+     },
+     "longest dimension": "0.37 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "11.02 meters",
+      "y coordinate": "3.55 meters",
+      "height above floor": "0.94 meters"
+     },
+     "longest dimension": "0.37 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "9.62 meters",
+      "y coordinate": "2.43 meters",
+      "height above floor": "0.18 meters"
+     },
+     "longest dimension": "0.36 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "9.89 meters",
+      "y coordinate": "2.52 meters",
+      "height above floor": "0.17 meters"
+     },
+     "longest dimension": "0.32 meters"
+    }
+   ]
+  },
+  "pan": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "7.3 meters",
+      "y coordinate": "6.45 meters",
+      "height above floor": "0.99 meters"
+     },
+     "longest dimension": "0.41 meters"
+    }
+   ]
+  },
+  "blanket": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "2.86 meters",
+      "y coordinate": "1.23 meters",
+      "height above floor": "0.48 meters"
+     },
+     "longest dimension": "2.38 meters"
+    }
+   ]
+  }
+ },
+ "room": {
+  "floor area": "57.6 square meters"
+ },
+ "closest classes distance meters from": {
+  "heater": {
+   "table": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "chair": {
+    "distance": "0.06 meters",
+    "closeness rank": 2
+   },
+   "printer": {
+    "distance": "0.51 meters",
+    "closeness rank": 3
+   },
+   "bowl": {
+    "distance": "1.2 meters",
+    "closeness rank": 4
+   },
+   "kettle": {
+    "distance": "1.43 meters",
+    "closeness rank": 5
+   },
+   "basket": {
+    "distance": "1.54 meters",
+    "closeness rank": 6
+   },
+   "cutting board": {
+    "distance": "2.0 meters",
+    "closeness rank": 7
+   },
+   "pan": {
+    "distance": "2.11 meters",
+    "closeness rank": 8
+   },
+   "door": {
+    "distance": "2.58 meters",
+    "closeness rank": 9
+   },
+   "refrigerator": {
+    "distance": "2.8 meters",
+    "closeness rank": 10
+   },
+   "sofa": {
+    "distance": "3.86 meters",
+    "closeness rank": 11
+   },
+   "ceiling light": {
+    "distance": "5.57 meters",
+    "closeness rank": 12
+   },
+   "tv": {
+    "distance": "4.66 meters",
+    "closeness rank": 13
+   },
+   "keyboard": {
+    "distance": "4.85 meters",
+    "closeness rank": 14
+   },
+   "computer mouse": {
+    "distance": "4.98 meters",
+    "closeness rank": 15
+   },
+   "bed": {
+    "distance": "5.36 meters",
+    "closeness rank": 16
+   },
+   "blanket": {
+    "distance": "5.36 meters",
+    "closeness rank": 17
+   }
+  },
+  "refrigerator": {
+   "table": {
+    "distance": "2.16 meters",
+    "closeness rank": 1
+   },
+   "pan": {
+    "distance": "0.56 meters",
+    "closeness rank": 2
+   },
+   "sofa": {
+    "distance": "0.62 meters",
+    "closeness rank": 3
+   },
+   "cutting board": {
+    "distance": "1.01 meters",
+    "closeness rank": 4
+   },
+   "chair": {
+    "distance": "2.21 meters",
+    "closeness rank": 5
+   },
+   "basket": {
+    "distance": "1.43 meters",
+    "closeness rank": 6
+   },
+   "bowl": {
+    "distance": "1.67 meters",
+    "closeness rank": 7
+   },
+   "ceiling light": {
+    "distance": "2.18 meters",
+    "closeness rank": 8
+   },
+   "kettle": {
+    "distance": "1.9 meters",
+    "closeness rank": 9
+   },
+   "heater": {
+    "distance": "2.8 meters",
+    "closeness rank": 10
+   },
+   "tv": {
+    "distance": "3.01 meters",
+    "closeness rank": 11
+   },
+   "keyboard": {
+    "distance": "3.05 meters",
+    "closeness rank": 12
+   },
+   "printer": {
+    "distance": "3.23 meters",
+    "closeness rank": 13
+   },
+   "door": {
+    "distance": "3.78 meters",
+    "closeness rank": 14
+   },
+   "computer mouse": {
+    "distance": "3.81 meters",
+    "closeness rank": 15
+   },
+   "blanket": {
+    "distance": "4.66 meters",
+    "closeness rank": 16
+   },
+   "bed": {
+    "distance": "4.69 meters",
+    "closeness rank": 17
+   }
+  },
+  "chair": {
+   "sofa": {
+    "distance": "3.09 meters",
+    "closeness rank": 1
+   },
+   "table": {
+    "distance": "0.0 meters",
+    "closeness rank": 2
+   },
+   "heater": {
+    "distance": "0.06 meters",
+    "closeness rank": 3
+   },
+   "printer": {
+    "distance": "0.27 meters",
+    "closeness rank": 4
+   },
+   "blanket": {
+    "distance": "4.64 meters",
+    "closeness rank": 5
+   },
+   "bed": {
+    "distance": "4.7 meters",
+    "closeness rank": 6
+   },
+   "tv": {
+    "distance": "3.74 meters",
+    "closeness rank": 7
+   },
+   "keyboard": {
+    "distance": "3.93 meters",
+    "closeness rank": 8
+   },
+   "computer mouse": {
+    "distance": "4.11 meters",
+    "closeness rank": 9
+   },
+   "bowl": {
+    "distance": "1.18 meters",
+    "closeness rank": 10
+   },
+   "refrigerator": {
+    "distance": "2.21 meters",
+    "closeness rank": 11
+   },
+   "kettle": {
+    "distance": "1.51 meters",
+    "closeness rank": 12
+   },
+   "ceiling light": {
+    "distance": "5.34 meters",
+    "closeness rank": 13
+   },
+   "basket": {
+    "distance": "1.54 meters",
+    "closeness rank": 14
+   },
+   "pan": {
+    "distance": "1.77 meters",
+    "closeness rank": 15
+   },
+   "cutting board": {
+    "distance": "1.87 meters",
+    "closeness rank": 16
+   },
+   "door": {
+    "distance": "1.94 meters",
+    "closeness rank": 17
+   }
+  },
+  "sofa": {
+   "chair": {
+    "distance": "3.09 meters",
+    "closeness rank": 1
+   },
+   "table": {
+    "distance": "3.2 meters",
+    "closeness rank": 2
+   },
+   "refrigerator": {
+    "distance": "0.62 meters",
+    "closeness rank": 3
+   },
+   "basket": {
+    "distance": "2.9 meters",
+    "closeness rank": 4
+   },
+   "keyboard": {
+    "distance": "1.46 meters",
+    "closeness rank": 5
+   },
+   "ceiling light": {
+    "distance": "2.4 meters",
+    "closeness rank": 6
+   },
+   "tv": {
+    "distance": "1.51 meters",
+    "closeness rank": 7
+   },
+   "pan": {
+    "distance": "2.02 meters",
+    "closeness rank": 8
+   },
+   "computer mouse": {
+    "distance": "2.32 meters",
+    "closeness rank": 9
+   },
+   "cutting board": {
+    "distance": "2.53 meters",
+    "closeness rank": 10
+   },
+   "door": {
+    "distance": "2.76 meters",
+    "closeness rank": 11
+   },
+   "bowl": {
+    "distance": "3.0 meters",
+    "closeness rank": 12
+   },
+   "blanket": {
+    "distance": "3.17 meters",
+    "closeness rank": 13
+   },
+   "bed": {
+    "distance": "3.19 meters",
+    "closeness rank": 14
+   },
+   "kettle": {
+    "distance": "3.31 meters",
+    "closeness rank": 15
+   },
+   "printer": {
+    "distance": "3.79 meters",
+    "closeness rank": 16
+   },
+   "heater": {
+    "distance": "3.86 meters",
+    "closeness rank": 17
+   }
+  },
+  "table": {
+   "chair": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "computer mouse": {
+    "distance": "4.4 meters",
+    "closeness rank": 2
+   },
+   "heater": {
+    "distance": "0.0 meters",
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+    "closeness rank": 11
+   },
+   "tv": {
+    "distance": "3.75 meters",
+    "closeness rank": 12
+   },
+   "door": {
+    "distance": "3.83 meters",
+    "closeness rank": 13
+   },
+   "keyboard": {
+    "distance": "3.9 meters",
+    "closeness rank": 14
+   },
+   "computer mouse": {
+    "distance": "4.51 meters",
+    "closeness rank": 15
+   },
+   "blanket": {
+    "distance": "5.48 meters",
+    "closeness rank": 16
+   },
+   "bed": {
+    "distance": "5.51 meters",
+    "closeness rank": 17
+   }
+  },
+  "blanket": {
+   "bed": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "chair": {
+    "distance": "4.64 meters",
+    "closeness rank": 2
+   },
+   "table": {
+    "distance": "4.97 meters",
+    "closeness rank": 3
+   },
+   "computer mouse": {
+    "distance": "0.93 meters",
+    "closeness rank": 4
+   },
+   "tv": {
+    "distance": "1.54 meters",
+    "closeness rank": 5
+   },
+   "keyboard": {
+    "distance": "1.56 meters",
+    "closeness rank": 6
+   },
+   "ceiling light": {
+    "distance": "6.71 meters",
+    "closeness rank": 7
+   },
+   "door": {
+    "distance": "1.78 meters",
+    "closeness rank": 8
+   },
+   "sofa": {
+    "distance": "3.17 meters",
+    "closeness rank": 9
+   },
+   "printer": {
+    "distance": "4.62 meters",
+    "closeness rank": 10
+   },
+   "refrigerator": {
+    "distance": "4.66 meters",
+    "closeness rank": 11
+   },
+   "pan": {
+    "distance": "5.48 meters",
+    "closeness rank": 12
+   },
+   "heater": {
+    "distance": "5.36 meters",
+    "closeness rank": 13
+   },
+   "basket": {
+    "distance": "6.11 meters",
+    "closeness rank": 14
+   },
+   "bowl": {
+    "distance": "5.96 meters",
+    "closeness rank": 15
+   },
+   "cutting board": {
+    "distance": "6.0 meters",
+    "closeness rank": 16
+   },
+   "kettle": {
+    "distance": "6.37 meters",
+    "closeness rank": 17
+   }
+  }
+ },
+ "appearance order": ["ceiling light", "keyboard", "basket", "tv", "table", "sofa", "refrigerator", "chair", "blanket", "pan", "door", "cutting board", "bed", "kettle", "heater", "bowl", "printer", "computer mouse"]
+}
\ No newline at end of file
diff --git a/data/spatial codes/ground truth/explicit/3e8bba0176.json b/data/spatial codes/ground truth/explicit/3e8bba0176.json
new file mode 100644
index 0000000000000000000000000000000000000000..bd4938e0c29d19ea57f4fee47ec3214e2f772126
--- /dev/null
+++ b/data/spatial codes/ground truth/explicit/3e8bba0176.json	
@@ -0,0 +1,696 @@
+{
+ "spatial code schema": {
+  "objects": {
+   "<object class>": {
+    "count": {
+     "unit": null,
+     "description": "number of instances of this class in the compact spatial code (that schema's per-class oriented-box list length)"
+    },
+    "instances": [
+     {
+      "position": {
+       "x coordinate": {
+        "unit": "meters",
+        "description": "x coordinate of this instance's compact 3D oriented bounding box center"
+       },
+       "y coordinate": {
+        "unit": "meters",
+        "description": "y coordinate of this instance's compact 3D oriented bounding box center"
+       },
+       "height above floor": {
+        "unit": "meters",
+        "description": "height coordinate of this instance's compact 3D oriented bounding box center"
+       }
+      },
+      "longest dimension": {
+       "unit": "meters",
+       "description": "longest of this instance's compact 3D oriented bounding box dimensions"
+      }
+     }
+    ]
+   }
+  },
+  "room": {
+   "floor area": {
+    "unit": "square meters",
+    "description": "shoelace area of the compact spatial code's floor boundary polygons, with every interior hole subtracted"
+   }
+  },
+  "closest classes distance meters from": {
+   "<object class>": {
+    "<other object class>": {
+     "distance": {
+      "unit": "meters",
+      "description": "estimated distance in meters between an object of this class and an object of the other class"
+     },
+     "closeness rank": {
+      "unit": null,
+      "description": "1 = the nearest other class to this one, 2 = second-nearest, and so on; ranked by nearest-instance proximity, so use the rank (not the distance values) to compare which class is closest"
+     }
+    }
+   }
+  },
+  "appearance order": {
+   "unit": null,
+   "description": "class names ordered by earliest compact 'first visible time' across all of that class's instances"
+  }
+ },
+ "objects": {
+  "coat hanger": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "1.2 meters",
+      "y coordinate": "0.42 meters",
+      "height above floor": "0.92 meters"
+     },
+     "longest dimension": "1.83 meters"
+    }
+   ]
+  },
+  "paper bag": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "2.16 meters",
+      "y coordinate": "2.35 meters",
+      "height above floor": "0.86 meters"
+     },
+     "longest dimension": "0.29 meters"
+    }
+   ]
+  },
+  "chair": {
+   "count": 5,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "3.19 meters",
+      "y coordinate": "3.13 meters",
+      "height above floor": "0.59 meters"
+     },
+     "longest dimension": "1.17 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "3.97 meters",
+      "y coordinate": "0.98 meters",
+      "height above floor": "0.59 meters"
+     },
+     "longest dimension": "1.18 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "1.52 meters",
+      "y coordinate": "0.46 meters",
+      "height above floor": "0.44 meters"
+     },
+     "longest dimension": "0.86 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "1.33 meters",
+      "y coordinate": "3.47 meters",
+      "height above floor": "0.43 meters"
+     },
+     "longest dimension": "0.86 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "2.01 meters",
+      "y coordinate": "0.53 meters",
+      "height above floor": "0.43 meters"
+     },
+     "longest dimension": "0.86 meters"
+    }
+   ]
+  },
+  "whiteboard": {
+   "count": 2,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "2.34 meters",
+      "y coordinate": "3.89 meters",
+      "height above floor": "1.55 meters"
+     },
+     "longest dimension": "2.43 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "2.45 meters",
+      "y coordinate": "0.3 meters",
+      "height above floor": "1.49 meters"
+     },
+     "longest dimension": "2.43 meters"
+    }
+   ]
+  },
+  "door": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "0.15 meters",
+      "y coordinate": "2.77 meters",
+      "height above floor": "1.05 meters"
+     },
+     "longest dimension": "2.1 meters"
+    }
+   ]
+  },
+  "trash can": {
+   "count": 2,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "0.8 meters",
+      "y coordinate": "3.57 meters",
+      "height above floor": "0.17 meters"
+     },
+     "longest dimension": "0.36 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "0.52 meters",
+      "y coordinate": "3.54 meters",
+      "height above floor": "0.17 meters"
+     },
+     "longest dimension": "0.33 meters"
+    }
+   ]
+  },
+  "monitor": {
+   "count": 4,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "3.17 meters",
+      "y coordinate": "2.43 meters",
+      "height above floor": "1.1 meters"
+     },
+     "longest dimension": "0.65 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "3.05 meters",
+      "y coordinate": "2.11 meters",
+      "height above floor": "1.07 meters"
+     },
+     "longest dimension": "0.64 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "3.7 meters",
+      "y coordinate": "2.07 meters",
+      "height above floor": "1.06 meters"
+     },
+     "longest dimension": "0.64 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "2.58 meters",
+      "y coordinate": "2.52 meters",
+      "height above floor": "1.1 meters"
+     },
+     "longest dimension": "0.66 meters"
+    }
+   ]
+  },
+  "keyboard": {
+   "count": 2,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "3.12 meters",
+      "y coordinate": "2.63 meters",
+      "height above floor": "0.83 meters"
+     },
+     "longest dimension": "0.28 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "3.13 meters",
+      "y coordinate": "1.85 meters",
+      "height above floor": "0.79 meters"
+     },
+     "longest dimension": "0.43 meters"
+    }
+   ]
+  },
+  "table": {
+   "count": 3,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "3.15 meters",
+      "y coordinate": "1.87 meters",
+      "height above floor": "0.76 meters"
+     },
+     "longest dimension": "1.61 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "3.07 meters",
+      "y coordinate": "2.71 meters",
+      "height above floor": "0.45 meters"
+     },
+     "longest dimension": "1.61 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "4.32 meters",
+      "y coordinate": "2.43 meters",
+      "height above floor": "0.45 meters"
+     },
+     "longest dimension": "1.66 meters"
+    }
+   ]
+  },
+  "ceiling light": {
+   "count": 4,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "1.46 meters",
+      "y coordinate": "1.09 meters",
+      "height above floor": "2.94 meters"
+     },
+     "longest dimension": "1.33 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "3.87 meters",
+      "y coordinate": "3.2 meters",
+      "height above floor": "2.94 meters"
+     },
+     "longest dimension": "1.38 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "1.29 meters",
+      "y coordinate": "2.91 meters",
+      "height above floor": "2.91 meters"
+     },
+     "longest dimension": "1.26 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "4.08 meters",
+      "y coordinate": "1.42 meters",
+      "height above floor": "2.92 meters"
+     },
+     "longest dimension": "1.35 meters"
+    }
+   ]
+  }
+ },
+ "room": {
+  "floor area": "17.9 square meters"
+ },
+ "closest classes distance meters from": {
+  "coat hanger": {
+   "chair": {
+    "distance": "1.88 meters",
+    "closeness rank": 1
+   },
+   "whiteboard": {
+    "distance": "1.58 meters",
+    "closeness rank": 2
+   },
+   "ceiling light": {
+    "distance": "0.99 meters",
+    "closeness rank": 3
+   },
+   "table": {
+    "distance": "1.28 meters",
+    "closeness rank": 4
+   },
+   "paper bag": {
+    "distance": "1.81 meters",
+    "closeness rank": 5
+   },
+   "door": {
+    "distance": "1.89 meters",
+    "closeness rank": 6
+   },
+   "monitor": {
+    "distance": "1.91 meters",
+    "closeness rank": 7
+   },
+   "keyboard": {
+    "distance": "1.94 meters",
+    "closeness rank": 8
+   },
+   "trash can": {
+    "distance": "2.8 meters",
+    "closeness rank": 9
+   }
+  },
+  "paper bag": {
+   "table": {
+    "distance": "0.15 meters",
+    "closeness rank": 1
+   },
+   "monitor": {
+    "distance": "0.57 meters",
+    "closeness rank": 2
+   },
+   "keyboard": {
+    "distance": "0.73 meters",
+    "closeness rank": 3
+   },
+   "chair": {
+    "distance": "0.81 meters",
+    "closeness rank": 4
+   },
+   "whiteboard": {
+    "distance": "1.36 meters",
+    "closeness rank": 5
+   },
+   "trash can": {
+    "distance": "1.63 meters",
+    "closeness rank": 6
+   },
+   "door": {
+    "distance": "1.79 meters",
+    "closeness rank": 7
+   },
+   "coat hanger": {
+    "distance": "1.81 meters",
+    "closeness rank": 8
+   },
+   "ceiling light": {
+    "distance": "1.9 meters",
+    "closeness rank": 9
+   }
+  },
+  "chair": {
+   "coat hanger": {
+    "distance": "1.88 meters",
+    "closeness rank": 1
+   },
+   "table": {
+    "distance": "0.0 meters",
+    "closeness rank": 2
+   },
+   "whiteboard": {
+    "distance": "0.0 meters",
+    "closeness rank": 3
+   },
+   "trash can": {
+    "distance": "1.7 meters",
+    "closeness rank": 4
+   },
+   "keyboard": {
+    "distance": "0.08 meters",
+    "closeness rank": 5
+   },
+   "monitor": {
+    "distance": "0.22 meters",
+    "closeness rank": 6
+   },
+   "paper bag": {
+    "distance": "0.81 meters",
+    "closeness rank": 7
+   },
+   "door": {
+    "distance": "1.46 meters",
+    "closeness rank": 8
+   },
+   "ceiling light": {
+    "distance": "2.31 meters",
+    "closeness rank": 9
+   }
+  },
+  "whiteboard": {
+   "chair": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "coat hanger": {
+    "distance": "1.58 meters",
+    "closeness rank": 2
+   },
+   "ceiling light": {
+    "distance": "1.37 meters",
+    "closeness rank": 3
+   },
+   "trash can": {
+    "distance": "0.77 meters",
+    "closeness rank": 4
+   },
+   "table": {
+    "distance": "0.86 meters",
+    "closeness rank": 5
+   },
+   "door": {
+    "distance": "1.08 meters",
+    "closeness rank": 6
+   },
+   "monitor": {
+    "distance": "1.1 meters",
+    "closeness rank": 7
+   },
+   "keyboard": {
+    "distance": "1.29 meters",
+    "closeness rank": 8
+   },
+   "paper bag": {
+    "distance": "1.36 meters",
+    "closeness rank": 9
+   }
+  },
+  "door": {
+   "trash can": {
+    "distance": "0.28 meters",
+    "closeness rank": 1
+   },
+   "chair": {
+    "distance": "1.46 meters",
+    "closeness rank": 2
+   },
+   "whiteboard": {
+    "distance": "1.08 meters",
+    "closeness rank": 3
+   },
+   "ceiling light": {
+    "distance": "1.19 meters",
+    "closeness rank": 4
+   },
+   "paper bag": {
+    "distance": "1.79 meters",
+    "closeness rank": 5
+   },
+   "coat hanger": {
+    "distance": "1.89 meters",
+    "closeness rank": 6
+   },
+   "monitor": {
+    "distance": "2.01 meters",
+    "closeness rank": 7
+   },
+   "table": {
+    "distance": "2.04 meters",
+    "closeness rank": 8
+   },
+   "keyboard": {
+    "distance": "2.7 meters",
+    "closeness rank": 9
+   }
+  },
+  "trash can": {
+   "chair": {
+    "distance": "1.7 meters",
+    "closeness rank": 1
+   },
+   "door": {
+    "distance": "0.28 meters",
+    "closeness rank": 2
+   },
+   "whiteboard": {
+    "distance": "0.77 meters",
+    "closeness rank": 3
+   },
+   "table": {
+    "distance": "1.97 meters",
+    "closeness rank": 4
+   },
+   "paper bag": {
+    "distance": "1.63 meters",
+    "closeness rank": 5
+   },
+   "monitor": {
+    "distance": "2.28 meters",
+    "closeness rank": 6
+   },
+   "keyboard": {
+    "distance": "2.27 meters",
+    "closeness rank": 7
+   },
+   "ceiling light": {
+    "distance": "2.93 meters",
+    "closeness rank": 8
+   },
+   "coat hanger": {
+    "distance": "2.8 meters",
+    "closeness rank": 9
+   }
+  },
+  "monitor": {
+   "table": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "keyboard": {
+    "distance": "0.03 meters",
+    "closeness rank": 2
+   },
+   "paper bag": {
+    "distance": "0.57 meters",
+    "closeness rank": 3
+   },
+   "chair": {
+    "distance": "0.22 meters",
+    "closeness rank": 4
+   },
+   "whiteboard": {
+    "distance": "1.1 meters",
+    "closeness rank": 5
+   },
+   "ceiling light": {
+    "distance": "1.86 meters",
+    "closeness rank": 6
+   },
+   "trash can": {
+    "distance": "2.28 meters",
+    "closeness rank": 7
+   },
+   "coat hanger": {
+    "distance": "1.91 meters",
+    "closeness rank": 8
+   },
+   "door": {
+    "distance": "2.01 meters",
+    "closeness rank": 9
+   }
+  },
+  "keyboard": {
+   "table": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "monitor": {
+    "distance": "0.03 meters",
+    "closeness rank": 2
+   },
+   "chair": {
+    "distance": "0.08 meters",
+    "closeness rank": 3
+   },
+   "paper bag": {
+    "distance": "0.73 meters",
+    "closeness rank": 4
+   },
+   "whiteboard": {
+    "distance": "1.29 meters",
+    "closeness rank": 5
+   },
+   "coat hanger": {
+    "distance": "1.94 meters",
+    "closeness rank": 6
+   },
+   "ceiling light": {
+    "distance": "2.29 meters",
+    "closeness rank": 7
+   },
+   "trash can": {
+    "distance": "2.27 meters",
+    "closeness rank": 8
+   },
+   "door": {
+    "distance": "2.7 meters",
+    "closeness rank": 9
+   }
+  },
+  "table": {
+   "chair": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "keyboard": {
+    "distance": "0.0 meters",
+    "closeness rank": 2
+   },
+   "monitor": {
+    "distance": "0.0 meters",
+    "closeness rank": 3
+   },
+   "paper bag": {
+    "distance": "0.15 meters",
+    "closeness rank": 4
+   },
+   "whiteboard": {
+    "distance": "0.86 meters",
+    "closeness rank": 5
+   },
+   "coat hanger": {
+    "distance": "1.28 meters",
+    "closeness rank": 6
+   },
+   "trash can": {
+    "distance": "1.97 meters",
+    "closeness rank": 7
+   },
+   "ceiling light": {
+    "distance": "1.93 meters",
+    "closeness rank": 8
+   },
+   "door": {
+    "distance": "2.04 meters",
+    "closeness rank": 9
+   }
+  },
+  "ceiling light": {
+   "whiteboard": {
+    "distance": "1.37 meters",
+    "closeness rank": 1
+   },
+   "coat hanger": {
+    "distance": "0.99 meters",
+    "closeness rank": 2
+   },
+   "door": {
+    "distance": "1.19 meters",
+    "closeness rank": 3
+   },
+   "monitor": {
+    "distance": "1.86 meters",
+    "closeness rank": 4
+   },
+   "chair": {
+    "distance": "2.31 meters",
+    "closeness rank": 5
+   },
+   "paper bag": {
+    "distance": "1.9 meters",
+    "closeness rank": 6
+   },
+   "table": {
+    "distance": "1.93 meters",
+    "closeness rank": 7
+   },
+   "keyboard": {
+    "distance": "2.29 meters",
+    "closeness rank": 8
+   },
+   "trash can": {
+    "distance": "2.93 meters",
+    "closeness rank": 9
+   }
+  }
+ },
+ "appearance order": ["coat hanger", "paper bag", "chair", "whiteboard", "door", "trash can", "monitor", "keyboard", "table", "ceiling light"]
+}
\ No newline at end of file
diff --git a/data/spatial codes/ground truth/explicit/3f15a9266d.json b/data/spatial codes/ground truth/explicit/3f15a9266d.json
new file mode 100644
index 0000000000000000000000000000000000000000..9f413e5349c6443c4eb679a5e4a05dda43ee6301
--- /dev/null
+++ b/data/spatial codes/ground truth/explicit/3f15a9266d.json	
@@ -0,0 +1,640 @@
+{
+ "spatial code schema": {
+  "objects": {
+   "<object class>": {
+    "count": {
+     "unit": null,
+     "description": "number of instances of this class in the compact spatial code (that schema's per-class oriented-box list length)"
+    },
+    "instances": [
+     {
+      "position": {
+       "x coordinate": {
+        "unit": "meters",
+        "description": "x coordinate of this instance's compact 3D oriented bounding box center"
+       },
+       "y coordinate": {
+        "unit": "meters",
+        "description": "y coordinate of this instance's compact 3D oriented bounding box center"
+       },
+       "height above floor": {
+        "unit": "meters",
+        "description": "height coordinate of this instance's compact 3D oriented bounding box center"
+       }
+      },
+      "longest dimension": {
+       "unit": "meters",
+       "description": "longest of this instance's compact 3D oriented bounding box dimensions"
+      }
+     }
+    ]
+   }
+  },
+  "room": {
+   "floor area": {
+    "unit": "square meters",
+    "description": "shoelace area of the compact spatial code's floor boundary polygons, with every interior hole subtracted"
+   }
+  },
+  "closest classes distance meters from": {
+   "<object class>": {
+    "<other object class>": {
+     "distance": {
+      "unit": "meters",
+      "description": "estimated distance in meters between an object of this class and an object of the other class"
+     },
+     "closeness rank": {
+      "unit": null,
+      "description": "1 = the nearest other class to this one, 2 = second-nearest, and so on; ranked by nearest-instance proximity, so use the rank (not the distance values) to compare which class is closest"
+     }
+    }
+   }
+  },
+  "appearance order": {
+   "unit": null,
+   "description": "class names ordered by earliest compact 'first visible time' across all of that class's instances"
+  }
+ },
+ "objects": {
+  "chair": {
+   "count": 4,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "0.82 meters",
+      "y coordinate": "1.23 meters",
+      "height above floor": "0.41 meters"
+     },
+     "longest dimension": "0.8 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "1.34 meters",
+      "y coordinate": "0.59 meters",
+      "height above floor": "0.52 meters"
+     },
+     "longest dimension": "1.04 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "2.6 meters",
+      "y coordinate": "1.11 meters",
+      "height above floor": "0.61 meters"
+     },
+     "longest dimension": "1.21 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "1.64 meters",
+      "y coordinate": "2.61 meters",
+      "height above floor": "0.41 meters"
+     },
+     "longest dimension": "0.8 meters"
+    }
+   ]
+  },
+  "door": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "0.13 meters",
+      "y coordinate": "2.23 meters",
+      "height above floor": "1.09 meters"
+     },
+     "longest dimension": "2.15 meters"
+    }
+   ]
+  },
+  "bookshelf": {
+   "count": 2,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "0.4 meters",
+      "y coordinate": "1.01 meters",
+      "height above floor": "1.05 meters"
+     },
+     "longest dimension": "2.08 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "0.6 meters",
+      "y coordinate": "2.98 meters",
+      "height above floor": "1.03 meters"
+     },
+     "longest dimension": "2.04 meters"
+    }
+   ]
+  },
+  "ceiling light": {
+   "count": 2,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "1.11 meters",
+      "y coordinate": "1.63 meters",
+      "height above floor": "2.53 meters"
+     },
+     "longest dimension": "1.19 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "2.96 meters",
+      "y coordinate": "1.72 meters",
+      "height above floor": "2.52 meters"
+     },
+     "longest dimension": "1.19 meters"
+    }
+   ]
+  },
+  "exhaust fan": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "2.04 meters",
+      "y coordinate": "1.66 meters",
+      "height above floor": "2.5 meters"
+     },
+     "longest dimension": "0.34 meters"
+    }
+   ]
+  },
+  "cup": {
+   "count": 3,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "2.75 meters",
+      "y coordinate": "2.94 meters",
+      "height above floor": "0.84 meters"
+     },
+     "longest dimension": "0.15 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "3.28 meters",
+      "y coordinate": "2.43 meters",
+      "height above floor": "0.78 meters"
+     },
+     "longest dimension": "0.26 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "3.74 meters",
+      "y coordinate": "1.59 meters",
+      "height above floor": "0.81 meters"
+     },
+     "longest dimension": "0.12 meters"
+    }
+   ]
+  },
+  "telephone": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "3.7 meters",
+      "y coordinate": "1.73 meters",
+      "height above floor": "0.82 meters"
+     },
+     "longest dimension": "0.24 meters"
+    }
+   ]
+  },
+  "computer mouse": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "3.24 meters",
+      "y coordinate": "0.78 meters",
+      "height above floor": "0.81 meters"
+     },
+     "longest dimension": "0.1 meters"
+    }
+   ]
+  },
+  "keyboard": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "3.26 meters",
+      "y coordinate": "1.1 meters",
+      "height above floor": "0.8 meters"
+     },
+     "longest dimension": "0.43 meters"
+    }
+   ]
+  },
+  "monitor": {
+   "count": 2,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "3.28 meters",
+      "y coordinate": "0.56 meters",
+      "height above floor": "1.23 meters"
+     },
+     "longest dimension": "0.56 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "3.49 meters",
+      "y coordinate": "1.1 meters",
+      "height above floor": "1.23 meters"
+     },
+     "longest dimension": "0.63 meters"
+    }
+   ]
+  }
+ },
+ "room": {
+  "floor area": "11.9 square meters"
+ },
+ "closest classes distance meters from": {
+  "chair": {
+   "bookshelf": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "keyboard": {
+    "distance": "1.86 meters",
+    "closeness rank": 2
+   },
+   "computer mouse": {
+    "distance": "2.04 meters",
+    "closeness rank": 3
+   },
+   "monitor": {
+    "distance": "2.0 meters",
+    "closeness rank": 4
+   },
+   "door": {
+    "distance": "0.53 meters",
+    "closeness rank": 5
+   },
+   "telephone": {
+    "distance": "2.43 meters",
+    "closeness rank": 6
+   },
+   "cup": {
+    "distance": "2.14 meters",
+    "closeness rank": 7
+   },
+   "ceiling light": {
+    "distance": "1.27 meters",
+    "closeness rank": 8
+   },
+   "exhaust fan": {
+    "distance": "1.89 meters",
+    "closeness rank": 9
+   }
+  },
+  "door": {
+   "bookshelf": {
+    "distance": "0.1 meters",
+    "closeness rank": 1
+   },
+   "chair": {
+    "distance": "0.53 meters",
+    "closeness rank": 2
+   },
+   "ceiling light": {
+    "distance": "0.69 meters",
+    "closeness rank": 3
+   },
+   "exhaust fan": {
+    "distance": "1.7 meters",
+    "closeness rank": 4
+   },
+   "cup": {
+    "distance": "2.49 meters",
+    "closeness rank": 5
+   },
+   "keyboard": {
+    "distance": "3.04 meters",
+    "closeness rank": 6
+   },
+   "computer mouse": {
+    "distance": "3.15 meters",
+    "closeness rank": 7
+   },
+   "monitor": {
+    "distance": "3.23 meters",
+    "closeness rank": 8
+   },
+   "telephone": {
+    "distance": "3.38 meters",
+    "closeness rank": 9
+   }
+  },
+  "bookshelf": {
+   "chair": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "door": {
+    "distance": "0.1 meters",
+    "closeness rank": 2
+   },
+   "ceiling light": {
+    "distance": "0.46 meters",
+    "closeness rank": 3
+   },
+   "exhaust fan": {
+    "distance": "1.34 meters",
+    "closeness rank": 4
+   },
+   "cup": {
+    "distance": "1.93 meters",
+    "closeness rank": 5
+   },
+   "monitor": {
+    "distance": "2.45 meters",
+    "closeness rank": 6
+   },
+   "computer mouse": {
+    "distance": "2.55 meters",
+    "closeness rank": 7
+   },
+   "keyboard": {
+    "distance": "2.57 meters",
+    "closeness rank": 8
+   },
+   "telephone": {
+    "distance": "2.65 meters",
+    "closeness rank": 9
+   }
+  },
+  "ceiling light": {
+   "exhaust fan": {
+    "distance": "0.46 meters",
+    "closeness rank": 1
+   },
+   "bookshelf": {
+    "distance": "0.46 meters",
+    "closeness rank": 2
+   },
+   "door": {
+    "distance": "0.69 meters",
+    "closeness rank": 3
+   },
+   "monitor": {
+    "distance": "1.87 meters",
+    "closeness rank": 4
+   },
+   "chair": {
+    "distance": "1.27 meters",
+    "closeness rank": 5
+   },
+   "telephone": {
+    "distance": "2.39 meters",
+    "closeness rank": 6
+   },
+   "keyboard": {
+    "distance": "2.0 meters",
+    "closeness rank": 7
+   },
+   "cup": {
+    "distance": "2.02 meters",
+    "closeness rank": 8
+   },
+   "computer mouse": {
+    "distance": "2.22 meters",
+    "closeness rank": 9
+   }
+  },
+  "exhaust fan": {
+   "ceiling light": {
+    "distance": "0.46 meters",
+    "closeness rank": 1
+   },
+   "chair": {
+    "distance": "1.89 meters",
+    "closeness rank": 2
+   },
+   "bookshelf": {
+    "distance": "1.34 meters",
+    "closeness rank": 3
+   },
+   "monitor": {
+    "distance": "1.64 meters",
+    "closeness rank": 4
+   },
+   "door": {
+    "distance": "1.7 meters",
+    "closeness rank": 5
+   },
+   "keyboard": {
+    "distance": "1.94 meters",
+    "closeness rank": 6
+   },
+   "cup": {
+    "distance": "1.97 meters",
+    "closeness rank": 7
+   },
+   "computer mouse": {
+    "distance": "2.05 meters",
+    "closeness rank": 8
+   },
+   "telephone": {
+    "distance": "2.13 meters",
+    "closeness rank": 9
+   }
+  },
+  "cup": {
+   "telephone": {
+    "distance": "1.34 meters",
+    "closeness rank": 1
+   },
+   "monitor": {
+    "distance": "2.11 meters",
+    "closeness rank": 2
+   },
+   "keyboard": {
+    "distance": "1.62 meters",
+    "closeness rank": 3
+   },
+   "chair": {
+    "distance": "2.14 meters",
+    "closeness rank": 4
+   },
+   "computer mouse": {
+    "distance": "2.09 meters",
+    "closeness rank": 5
+   },
+   "bookshelf": {
+    "distance": "1.93 meters",
+    "closeness rank": 6
+   },
+   "ceiling light": {
+    "distance": "2.02 meters",
+    "closeness rank": 7
+   },
+   "exhaust fan": {
+    "distance": "1.97 meters",
+    "closeness rank": 8
+   },
+   "door": {
+    "distance": "2.49 meters",
+    "closeness rank": 9
+   }
+  },
+  "telephone": {
+   "cup": {
+    "distance": "1.34 meters",
+    "closeness rank": 1
+   },
+   "monitor": {
+    "distance": "0.91 meters",
+    "closeness rank": 2
+   },
+   "keyboard": {
+    "distance": "0.43 meters",
+    "closeness rank": 3
+   },
+   "chair": {
+    "distance": "2.43 meters",
+    "closeness rank": 4
+   },
+   "computer mouse": {
+    "distance": "0.89 meters",
+    "closeness rank": 5
+   },
+   "ceiling light": {
+    "distance": "2.39 meters",
+    "closeness rank": 6
+   },
+   "exhaust fan": {
+    "distance": "2.13 meters",
+    "closeness rank": 7
+   },
+   "bookshelf": {
+    "distance": "2.65 meters",
+    "closeness rank": 8
+   },
+   "door": {
+    "distance": "3.38 meters",
+    "closeness rank": 9
+   }
+  },
+  "computer mouse": {
+   "keyboard": {
+    "distance": "0.07 meters",
+    "closeness rank": 1
+   },
+   "monitor": {
+    "distance": "0.24 meters",
+    "closeness rank": 2
+   },
+   "chair": {
+    "distance": "2.04 meters",
+    "closeness rank": 3
+   },
+   "cup": {
+    "distance": "2.09 meters",
+    "closeness rank": 4
+   },
+   "telephone": {
+    "distance": "0.89 meters",
+    "closeness rank": 5
+   },
+   "ceiling light": {
+    "distance": "2.22 meters",
+    "closeness rank": 6
+   },
+   "exhaust fan": {
+    "distance": "2.05 meters",
+    "closeness rank": 7
+   },
+   "bookshelf": {
+    "distance": "2.55 meters",
+    "closeness rank": 8
+   },
+   "door": {
+    "distance": "3.15 meters",
+    "closeness rank": 9
+   }
+  },
+  "keyboard": {
+   "computer mouse": {
+    "distance": "0.07 meters",
+    "closeness rank": 1
+   },
+   "chair": {
+    "distance": "1.86 meters",
+    "closeness rank": 2
+   },
+   "monitor": {
+    "distance": "0.24 meters",
+    "closeness rank": 3
+   },
+   "telephone": {
+    "distance": "0.43 meters",
+    "closeness rank": 4
+   },
+   "cup": {
+    "distance": "1.62 meters",
+    "closeness rank": 5
+   },
+   "ceiling light": {
+    "distance": "2.0 meters",
+    "closeness rank": 6
+   },
+   "exhaust fan": {
+    "distance": "1.94 meters",
+    "closeness rank": 7
+   },
+   "bookshelf": {
+    "distance": "2.57 meters",
+    "closeness rank": 8
+   },
+   "door": {
+    "distance": "3.04 meters",
+    "closeness rank": 9
+   }
+  },
+  "monitor": {
+   "keyboard": {
+    "distance": "0.24 meters",
+    "closeness rank": 1
+   },
+   "computer mouse": {
+    "distance": "0.24 meters",
+    "closeness rank": 2
+   },
+   "cup": {
+    "distance": "2.11 meters",
+    "closeness rank": 3
+   },
+   "chair": {
+    "distance": "2.0 meters",
+    "closeness rank": 4
+   },
+   "telephone": {
+    "distance": "0.91 meters",
+    "closeness rank": 5
+   },
+   "ceiling light": {
+    "distance": "1.87 meters",
+    "closeness rank": 6
+   },
+   "exhaust fan": {
+    "distance": "1.64 meters",
+    "closeness rank": 7
+   },
+   "bookshelf": {
+    "distance": "2.45 meters",
+    "closeness rank": 8
+   },
+   "door": {
+    "distance": "3.23 meters",
+    "closeness rank": 9
+   }
+  }
+ },
+ "appearance order": ["chair", "door", "bookshelf", "ceiling light", "exhaust fan", "cup", "telephone", "computer mouse", "keyboard", "monitor"]
+}
\ No newline at end of file
diff --git a/data/spatial codes/ground truth/explicit/40aec5fffa.json b/data/spatial codes/ground truth/explicit/40aec5fffa.json
new file mode 100644
index 0000000000000000000000000000000000000000..4385268e6670af295e4e9ec1f43b48544dcf2abe
--- /dev/null
+++ b/data/spatial codes/ground truth/explicit/40aec5fffa.json	
@@ -0,0 +1,174 @@
+{
+ "spatial code schema": {
+  "objects": {
+   "<object class>": {
+    "count": {
+     "unit": null,
+     "description": "number of instances of this class in the compact spatial code (that schema's per-class oriented-box list length)"
+    },
+    "instances": [
+     {
+      "position": {
+       "x coordinate": {
+        "unit": "meters",
+        "description": "x coordinate of this instance's compact 3D oriented bounding box center"
+       },
+       "y coordinate": {
+        "unit": "meters",
+        "description": "y coordinate of this instance's compact 3D oriented bounding box center"
+       },
+       "height above floor": {
+        "unit": "meters",
+        "description": "height coordinate of this instance's compact 3D oriented bounding box center"
+       }
+      },
+      "longest dimension": {
+       "unit": "meters",
+       "description": "longest of this instance's compact 3D oriented bounding box dimensions"
+      }
+     }
+    ]
+   }
+  },
+  "room": {
+   "floor area": {
+    "unit": "square meters",
+    "description": "shoelace area of the compact spatial code's floor boundary polygons, with every interior hole subtracted"
+   }
+  },
+  "closest classes distance meters from": {
+   "<object class>": {
+    "<other object class>": {
+     "distance": {
+      "unit": "meters",
+      "description": "estimated distance in meters between an object of this class and an object of the other class"
+     },
+     "closeness rank": {
+      "unit": null,
+      "description": "1 = the nearest other class to this one, 2 = second-nearest, and so on; ranked by nearest-instance proximity, so use the rank (not the distance values) to compare which class is closest"
+     }
+    }
+   }
+  },
+  "appearance order": {
+   "unit": null,
+   "description": "class names ordered by earliest compact 'first visible time' across all of that class's instances"
+  }
+ },
+ "objects": {
+  "refrigerator": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "3.92 meters",
+      "y coordinate": "1.49 meters",
+      "height above floor": "1.13 meters"
+     },
+     "longest dimension": "2.04 meters"
+    }
+   ]
+  },
+  "microwave": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "0.86 meters",
+      "y coordinate": "1.73 meters",
+      "height above floor": "0.93 meters"
+     },
+     "longest dimension": "0.53 meters"
+    }
+   ]
+  },
+  "door": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "0.1 meters",
+      "y coordinate": "0.79 meters",
+      "height above floor": "1.06 meters"
+     },
+     "longest dimension": "2.11 meters"
+    }
+   ]
+  },
+  "heater": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "4.77 meters",
+      "y coordinate": "0.98 meters",
+      "height above floor": "0.32 meters"
+     },
+     "longest dimension": "1.48 meters"
+    }
+   ]
+  }
+ },
+ "room": {
+  "floor area": "9.0 square meters"
+ },
+ "closest classes distance meters from": {
+  "refrigerator": {
+   "heater": {
+    "distance": "0.34 meters",
+    "closeness rank": 1
+   },
+   "microwave": {
+    "distance": "2.34 meters",
+    "closeness rank": 2
+   },
+   "door": {
+    "distance": "3.31 meters",
+    "closeness rank": 3
+   }
+  },
+  "microwave": {
+   "door": {
+    "distance": "0.51 meters",
+    "closeness rank": 1
+   },
+   "refrigerator": {
+    "distance": "2.34 meters",
+    "closeness rank": 2
+   },
+   "heater": {
+    "distance": "3.6 meters",
+    "closeness rank": 3
+   }
+  },
+  "door": {
+   "microwave": {
+    "distance": "0.51 meters",
+    "closeness rank": 1
+   },
+   "refrigerator": {
+    "distance": "3.31 meters",
+    "closeness rank": 2
+   },
+   "heater": {
+    "distance": "4.47 meters",
+    "closeness rank": 3
+   }
+  },
+  "heater": {
+   "refrigerator": {
+    "distance": "0.34 meters",
+    "closeness rank": 1
+   },
+   "microwave": {
+    "distance": "3.6 meters",
+    "closeness rank": 2
+   },
+   "door": {
+    "distance": "4.47 meters",
+    "closeness rank": 3
+   }
+  }
+ },
+ "appearance order": ["refrigerator", "microwave", "door", "heater"]
+}
\ No newline at end of file
diff --git a/data/spatial codes/ground truth/explicit/41069025.json b/data/spatial codes/ground truth/explicit/41069025.json
new file mode 100644
index 0000000000000000000000000000000000000000..6518239bce37ba868e818e22ed1e6c2290974200
--- /dev/null
+++ b/data/spatial codes/ground truth/explicit/41069025.json	
@@ -0,0 +1,253 @@
+{
+ "spatial code schema": {
+  "objects": {
+   "<object class>": {
+    "count": {
+     "unit": null,
+     "description": "number of instances of this class in the compact spatial code (that schema's per-class oriented-box list length)"
+    },
+    "instances": [
+     {
+      "position": {
+       "x coordinate": {
+        "unit": "meters",
+        "description": "x coordinate of this instance's compact 3D oriented bounding box center"
+       },
+       "y coordinate": {
+        "unit": "meters",
+        "description": "y coordinate of this instance's compact 3D oriented bounding box center"
+       },
+       "height above floor": {
+        "unit": "meters",
+        "description": "height coordinate of this instance's compact 3D oriented bounding box center"
+       }
+      },
+      "longest dimension": {
+       "unit": "meters",
+       "description": "longest of this instance's compact 3D oriented bounding box dimensions"
+      }
+     }
+    ]
+   }
+  },
+  "room": {
+   "floor area": {
+    "unit": "square meters",
+    "description": "shoelace area of the compact spatial code's floor boundary polygons, with every interior hole subtracted"
+   }
+  },
+  "closest classes distance meters from": {
+   "<object class>": {
+    "<other object class>": {
+     "distance": {
+      "unit": "meters",
+      "description": "estimated distance in meters between an object of this class and an object of the other class"
+     },
+     "closeness rank": {
+      "unit": null,
+      "description": "1 = the nearest other class to this one, 2 = second-nearest, and so on; ranked by nearest-instance proximity, so use the rank (not the distance values) to compare which class is closest"
+     }
+    }
+   }
+  },
+  "appearance order": {
+   "unit": null,
+   "description": "class names ordered by earliest compact 'first visible time' across all of that class's instances"
+  }
+ },
+ "objects": {
+  "stove": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-0.73 meters",
+      "y coordinate": "-0.93 meters",
+      "height above floor": "0.87 meters"
+     },
+     "longest dimension": "0.62 meters"
+    }
+   ]
+  },
+  "sofa": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-2.37 meters",
+      "y coordinate": "2.95 meters",
+      "height above floor": "0.42 meters"
+     },
+     "longest dimension": "1.73 meters"
+    }
+   ]
+  },
+  "table": {
+   "count": 4,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-2.9 meters",
+      "y coordinate": "0.57 meters",
+      "height above floor": "0.38 meters"
+     },
+     "longest dimension": "0.78 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-4.28 meters",
+      "y coordinate": "1.24 meters",
+      "height above floor": "0.4 meters"
+     },
+     "longest dimension": "1.22 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-3.01 meters",
+      "y coordinate": "2.06 meters",
+      "height above floor": "0.23 meters"
+     },
+     "longest dimension": "1.03 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-1.32 meters",
+      "y coordinate": "2.44 meters",
+      "height above floor": "0.23 meters"
+     },
+     "longest dimension": "0.52 meters"
+    }
+   ]
+  },
+  "chair": {
+   "count": 2,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-2.16 meters",
+      "y coordinate": "0.06 meters",
+      "height above floor": "0.4 meters"
+     },
+     "longest dimension": "0.79 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-3.5 meters",
+      "y coordinate": "0.84 meters",
+      "height above floor": "0.4 meters"
+     },
+     "longest dimension": "0.79 meters"
+    }
+   ]
+  },
+  "tv": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-3.85 meters",
+      "y coordinate": "0.82 meters",
+      "height above floor": "1.41 meters"
+     },
+     "longest dimension": "0.91 meters"
+    }
+   ]
+  }
+ },
+ "room": {
+  "floor area": "26.3 square meters"
+ },
+ "closest classes distance meters from": {
+  "stove": {
+   "chair": {
+    "distance": "1.2 meters",
+    "closeness rank": 1
+   },
+   "table": {
+    "distance": "1.98 meters",
+    "closeness rank": 2
+   },
+   "sofa": {
+    "distance": "3.06 meters",
+    "closeness rank": 3
+   },
+   "tv": {
+    "distance": "2.85 meters",
+    "closeness rank": 4
+   }
+  },
+  "sofa": {
+   "table": {
+    "distance": "1.18 meters",
+    "closeness rank": 1
+   },
+   "chair": {
+    "distance": "1.64 meters",
+    "closeness rank": 2
+   },
+   "tv": {
+    "distance": "2.11 meters",
+    "closeness rank": 3
+   },
+   "stove": {
+    "distance": "3.06 meters",
+    "closeness rank": 4
+   }
+  },
+  "table": {
+   "chair": {
+    "distance": "0.11 meters",
+    "closeness rank": 1
+   },
+   "sofa": {
+    "distance": "1.18 meters",
+    "closeness rank": 2
+   },
+   "tv": {
+    "distance": "0.58 meters",
+    "closeness rank": 3
+   },
+   "stove": {
+    "distance": "1.98 meters",
+    "closeness rank": 4
+   }
+  },
+  "chair": {
+   "table": {
+    "distance": "0.11 meters",
+    "closeness rank": 1
+   },
+   "tv": {
+    "distance": "1.26 meters",
+    "closeness rank": 2
+   },
+   "stove": {
+    "distance": "1.2 meters",
+    "closeness rank": 3
+   },
+   "sofa": {
+    "distance": "1.64 meters",
+    "closeness rank": 4
+   }
+  },
+  "tv": {
+   "table": {
+    "distance": "0.58 meters",
+    "closeness rank": 1
+   },
+   "chair": {
+    "distance": "1.26 meters",
+    "closeness rank": 2
+   },
+   "sofa": {
+    "distance": "2.11 meters",
+    "closeness rank": 3
+   },
+   "stove": {
+    "distance": "2.85 meters",
+    "closeness rank": 4
+   }
+  }
+ },
+ "appearance order": ["stove", "sofa", "table", "chair", "tv"]
+}
\ No newline at end of file
diff --git a/data/spatial codes/ground truth/explicit/41069043.json b/data/spatial codes/ground truth/explicit/41069043.json
new file mode 100644
index 0000000000000000000000000000000000000000..e671382330fb332f4ec1abedce712aae50db0501
--- /dev/null
+++ b/data/spatial codes/ground truth/explicit/41069043.json	
@@ -0,0 +1,143 @@
+{
+ "spatial code schema": {
+  "objects": {
+   "<object class>": {
+    "count": {
+     "unit": null,
+     "description": "number of instances of this class in the compact spatial code (that schema's per-class oriented-box list length)"
+    },
+    "instances": [
+     {
+      "position": {
+       "x coordinate": {
+        "unit": "meters",
+        "description": "x coordinate of this instance's compact 3D oriented bounding box center"
+       },
+       "y coordinate": {
+        "unit": "meters",
+        "description": "y coordinate of this instance's compact 3D oriented bounding box center"
+       },
+       "height above floor": {
+        "unit": "meters",
+        "description": "height coordinate of this instance's compact 3D oriented bounding box center"
+       }
+      },
+      "longest dimension": {
+       "unit": "meters",
+       "description": "longest of this instance's compact 3D oriented bounding box dimensions"
+      }
+     }
+    ]
+   }
+  },
+  "room": {
+   "floor area": {
+    "unit": "square meters",
+    "description": "shoelace area of the compact spatial code's floor boundary polygons, with every interior hole subtracted"
+   }
+  },
+  "closest classes distance meters from": {
+   "<object class>": {
+    "<other object class>": {
+     "distance": {
+      "unit": "meters",
+      "description": "estimated distance in meters between an object of this class and an object of the other class"
+     },
+     "closeness rank": {
+      "unit": null,
+      "description": "1 = the nearest other class to this one, 2 = second-nearest, and so on; ranked by nearest-instance proximity, so use the rank (not the distance values) to compare which class is closest"
+     }
+    }
+   }
+  },
+  "appearance order": {
+   "unit": null,
+   "description": "class names ordered by earliest compact 'first visible time' across all of that class's instances"
+  }
+ },
+ "objects": {
+  "bed": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-1.01 meters",
+      "y coordinate": "-1.46 meters",
+      "height above floor": "0.33 meters"
+     },
+     "longest dimension": "2.13 meters"
+    }
+   ]
+  },
+  "tv": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "1.17 meters",
+      "y coordinate": "-0.92 meters",
+      "height above floor": "1.2 meters"
+     },
+     "longest dimension": "0.71 meters"
+    }
+   ]
+  },
+  "table": {
+   "count": 2,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-1.7 meters",
+      "y coordinate": "-0.22 meters",
+      "height above floor": "0.25 meters"
+     },
+     "longest dimension": "0.52 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-1.92 meters",
+      "y coordinate": "-2.6 meters",
+      "height above floor": "0.25 meters"
+     },
+     "longest dimension": "0.5 meters"
+    }
+   ]
+  }
+ },
+ "room": {
+  "floor area": "16.3 square meters"
+ },
+ "closest classes distance meters from": {
+  "bed": {
+   "table": {
+    "distance": "0.18 meters",
+    "closeness rank": 1
+   },
+   "tv": {
+    "distance": "1.1 meters",
+    "closeness rank": 2
+   }
+  },
+  "tv": {
+   "bed": {
+    "distance": "1.1 meters",
+    "closeness rank": 1
+   },
+   "table": {
+    "distance": "2.68 meters",
+    "closeness rank": 2
+   }
+  },
+  "table": {
+   "bed": {
+    "distance": "0.18 meters",
+    "closeness rank": 1
+   },
+   "tv": {
+    "distance": "2.68 meters",
+    "closeness rank": 2
+   }
+  }
+ },
+ "appearance order": ["bed", "tv", "table"]
+}
\ No newline at end of file
diff --git a/data/spatial codes/ground truth/explicit/41069048.json b/data/spatial codes/ground truth/explicit/41069048.json
new file mode 100644
index 0000000000000000000000000000000000000000..2262e5ad71aea593f84d00daaa4b56f2e16d9a7d
--- /dev/null
+++ b/data/spatial codes/ground truth/explicit/41069048.json	
@@ -0,0 +1,104 @@
+{
+ "spatial code schema": {
+  "objects": {
+   "<object class>": {
+    "count": {
+     "unit": null,
+     "description": "number of instances of this class in the compact spatial code (that schema's per-class oriented-box list length)"
+    },
+    "instances": [
+     {
+      "position": {
+       "x coordinate": {
+        "unit": "meters",
+        "description": "x coordinate of this instance's compact 3D oriented bounding box center"
+       },
+       "y coordinate": {
+        "unit": "meters",
+        "description": "y coordinate of this instance's compact 3D oriented bounding box center"
+       },
+       "height above floor": {
+        "unit": "meters",
+        "description": "height coordinate of this instance's compact 3D oriented bounding box center"
+       }
+      },
+      "longest dimension": {
+       "unit": "meters",
+       "description": "longest of this instance's compact 3D oriented bounding box dimensions"
+      }
+     }
+    ]
+   }
+  },
+  "room": {
+   "floor area": {
+    "unit": "square meters",
+    "description": "shoelace area of the compact spatial code's floor boundary polygons, with every interior hole subtracted"
+   }
+  },
+  "closest classes distance meters from": {
+   "<object class>": {
+    "<other object class>": {
+     "distance": {
+      "unit": "meters",
+      "description": "estimated distance in meters between an object of this class and an object of the other class"
+     },
+     "closeness rank": {
+      "unit": null,
+      "description": "1 = the nearest other class to this one, 2 = second-nearest, and so on; ranked by nearest-instance proximity, so use the rank (not the distance values) to compare which class is closest"
+     }
+    }
+   }
+  },
+  "appearance order": {
+   "unit": null,
+   "description": "class names ordered by earliest compact 'first visible time' across all of that class's instances"
+  }
+ },
+ "objects": {
+  "bathtub": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-0.73 meters",
+      "y coordinate": "0.45 meters",
+      "height above floor": "0.28 meters"
+     },
+     "longest dimension": "1.63 meters"
+    }
+   ]
+  },
+  "toilet": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "0.42 meters",
+      "y coordinate": "0.44 meters",
+      "height above floor": "0.38 meters"
+     },
+     "longest dimension": "0.75 meters"
+    }
+   ]
+  }
+ },
+ "room": {
+  "floor area": "7.1 square meters"
+ },
+ "closest classes distance meters from": {
+  "bathtub": {
+   "toilet": {
+    "distance": "0.38 meters",
+    "closeness rank": 1
+   }
+  },
+  "toilet": {
+   "bathtub": {
+    "distance": "0.38 meters",
+    "closeness rank": 1
+   }
+  }
+ },
+ "appearance order": ["bathtub", "toilet"]
+}
\ No newline at end of file
diff --git a/data/spatial codes/ground truth/explicit/41125700.json b/data/spatial codes/ground truth/explicit/41125700.json
new file mode 100644
index 0000000000000000000000000000000000000000..5fc7e4f0732af3c5b46342431b1275a57986cc8f
--- /dev/null
+++ b/data/spatial codes/ground truth/explicit/41125700.json	
@@ -0,0 +1,222 @@
+{
+ "spatial code schema": {
+  "objects": {
+   "<object class>": {
+    "count": {
+     "unit": null,
+     "description": "number of instances of this class in the compact spatial code (that schema's per-class oriented-box list length)"
+    },
+    "instances": [
+     {
+      "position": {
+       "x coordinate": {
+        "unit": "meters",
+        "description": "x coordinate of this instance's compact 3D oriented bounding box center"
+       },
+       "y coordinate": {
+        "unit": "meters",
+        "description": "y coordinate of this instance's compact 3D oriented bounding box center"
+       },
+       "height above floor": {
+        "unit": "meters",
+        "description": "height coordinate of this instance's compact 3D oriented bounding box center"
+       }
+      },
+      "longest dimension": {
+       "unit": "meters",
+       "description": "longest of this instance's compact 3D oriented bounding box dimensions"
+      }
+     }
+    ]
+   }
+  },
+  "room": {
+   "floor area": {
+    "unit": "square meters",
+    "description": "shoelace area of the compact spatial code's floor boundary polygons, with every interior hole subtracted"
+   }
+  },
+  "closest classes distance meters from": {
+   "<object class>": {
+    "<other object class>": {
+     "distance": {
+      "unit": "meters",
+      "description": "estimated distance in meters between an object of this class and an object of the other class"
+     },
+     "closeness rank": {
+      "unit": null,
+      "description": "1 = the nearest other class to this one, 2 = second-nearest, and so on; ranked by nearest-instance proximity, so use the rank (not the distance values) to compare which class is closest"
+     }
+    }
+   }
+  },
+  "appearance order": {
+   "unit": null,
+   "description": "class names ordered by earliest compact 'first visible time' across all of that class's instances"
+  }
+ },
+ "objects": {
+  "stove": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "1.65 meters",
+      "y coordinate": "0.47 meters",
+      "height above floor": "0.85 meters"
+     },
+     "longest dimension": "0.6 meters"
+    }
+   ]
+  },
+  "sofa": {
+   "count": 2,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "0.74 meters",
+      "y coordinate": "3.19 meters",
+      "height above floor": "0.42 meters"
+     },
+     "longest dimension": "2.33 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "1.57 meters",
+      "y coordinate": "3.86 meters",
+      "height above floor": "0.22 meters"
+     },
+     "longest dimension": "0.81 meters"
+    }
+   ]
+  },
+  "table": {
+   "count": 3,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "1.87 meters",
+      "y coordinate": "2.81 meters",
+      "height above floor": "0.21 meters"
+     },
+     "longest dimension": "1.15 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "3.1 meters",
+      "y coordinate": "2.75 meters",
+      "height above floor": "0.2 meters"
+     },
+     "longest dimension": "0.98 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-1.08 meters",
+      "y coordinate": "2.69 meters",
+      "height above floor": "0.35 meters"
+     },
+     "longest dimension": "0.81 meters"
+    }
+   ]
+  },
+  "chair": {
+   "count": 4,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-1.36 meters",
+      "y coordinate": "3.12 meters",
+      "height above floor": "0.52 meters"
+     },
+     "longest dimension": "1.03 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-0.7 meters",
+      "y coordinate": "2.96 meters",
+      "height above floor": "0.52 meters"
+     },
+     "longest dimension": "1.03 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-0.71 meters",
+      "y coordinate": "2.29 meters",
+      "height above floor": "0.52 meters"
+     },
+     "longest dimension": "1.03 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-1.43 meters",
+      "y coordinate": "2.36 meters",
+      "height above floor": "0.5 meters"
+     },
+     "longest dimension": "1.0 meters"
+    }
+   ]
+  }
+ },
+ "room": {
+  "floor area": "30.9 square meters"
+ },
+ "closest classes distance meters from": {
+  "stove": {
+   "sofa": {
+    "distance": "1.44 meters",
+    "closeness rank": 1
+   },
+   "table": {
+    "distance": "1.56 meters",
+    "closeness rank": 2
+   },
+   "chair": {
+    "distance": "3.21 meters",
+    "closeness rank": 3
+   }
+  },
+  "sofa": {
+   "table": {
+    "distance": "0.03 meters",
+    "closeness rank": 1
+   },
+   "chair": {
+    "distance": "0.46 meters",
+    "closeness rank": 2
+   },
+   "stove": {
+    "distance": "1.44 meters",
+    "closeness rank": 3
+   }
+  },
+  "table": {
+   "chair": {
+    "distance": "2.17 meters",
+    "closeness rank": 1
+   },
+   "sofa": {
+    "distance": "0.03 meters",
+    "closeness rank": 2
+   },
+   "stove": {
+    "distance": "1.56 meters",
+    "closeness rank": 3
+   }
+  },
+  "chair": {
+   "table": {
+    "distance": "2.17 meters",
+    "closeness rank": 1
+   },
+   "sofa": {
+    "distance": "0.46 meters",
+    "closeness rank": 2
+   },
+   "stove": {
+    "distance": "3.21 meters",
+    "closeness rank": 3
+   }
+  }
+ },
+ "appearance order": ["stove", "sofa", "table", "chair"]
+}
\ No newline at end of file
diff --git a/data/spatial codes/ground truth/explicit/41125731.json b/data/spatial codes/ground truth/explicit/41125731.json
new file mode 100644
index 0000000000000000000000000000000000000000..e66692aa3ea4662b375ce0b1d361d8cea16d1206
--- /dev/null
+++ b/data/spatial codes/ground truth/explicit/41125731.json	
@@ -0,0 +1,88 @@
+{
+ "spatial code schema": {
+  "objects": {
+   "<object class>": {
+    "count": {
+     "unit": null,
+     "description": "number of instances of this class in the compact spatial code (that schema's per-class oriented-box list length)"
+    },
+    "instances": [
+     {
+      "position": {
+       "x coordinate": {
+        "unit": "meters",
+        "description": "x coordinate of this instance's compact 3D oriented bounding box center"
+       },
+       "y coordinate": {
+        "unit": "meters",
+        "description": "y coordinate of this instance's compact 3D oriented bounding box center"
+       },
+       "height above floor": {
+        "unit": "meters",
+        "description": "height coordinate of this instance's compact 3D oriented bounding box center"
+       }
+      },
+      "longest dimension": {
+       "unit": "meters",
+       "description": "longest of this instance's compact 3D oriented bounding box dimensions"
+      }
+     }
+    ]
+   }
+  },
+  "room": {
+   "floor area": {
+    "unit": "square meters",
+    "description": "shoelace area of the compact spatial code's floor boundary polygons, with every interior hole subtracted"
+   }
+  },
+  "closest classes distance meters from": {
+   "<object class>": {
+    "<other object class>": {
+     "distance": {
+      "unit": "meters",
+      "description": "estimated distance in meters between an object of this class and an object of the other class"
+     },
+     "closeness rank": {
+      "unit": null,
+      "description": "1 = the nearest other class to this one, 2 = second-nearest, and so on; ranked by nearest-instance proximity, so use the rank (not the distance values) to compare which class is closest"
+     }
+    }
+   }
+  },
+  "appearance order": {
+   "unit": null,
+   "description": "class names ordered by earliest compact 'first visible time' across all of that class's instances"
+  }
+ },
+ "objects": {
+  "bed": {
+   "count": 2,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-0.14 meters",
+      "y coordinate": "-2.15 meters",
+      "height above floor": "0.29 meters"
+     },
+     "longest dimension": "2.15 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "2.22 meters",
+      "y coordinate": "0.47 meters",
+      "height above floor": "0.28 meters"
+     },
+     "longest dimension": "2.09 meters"
+    }
+   ]
+  }
+ },
+ "room": {
+  "floor area": "23.6 square meters"
+ },
+ "closest classes distance meters from": {
+  "bed": {}
+ },
+ "appearance order": ["bed"]
+}
\ No newline at end of file
diff --git a/data/spatial codes/ground truth/explicit/41125760.json b/data/spatial codes/ground truth/explicit/41125760.json
new file mode 100644
index 0000000000000000000000000000000000000000..6bf1d344d02ca3d20cef73e63a95034d7e6cb4ab
--- /dev/null
+++ b/data/spatial codes/ground truth/explicit/41125760.json	
@@ -0,0 +1,104 @@
+{
+ "spatial code schema": {
+  "objects": {
+   "<object class>": {
+    "count": {
+     "unit": null,
+     "description": "number of instances of this class in the compact spatial code (that schema's per-class oriented-box list length)"
+    },
+    "instances": [
+     {
+      "position": {
+       "x coordinate": {
+        "unit": "meters",
+        "description": "x coordinate of this instance's compact 3D oriented bounding box center"
+       },
+       "y coordinate": {
+        "unit": "meters",
+        "description": "y coordinate of this instance's compact 3D oriented bounding box center"
+       },
+       "height above floor": {
+        "unit": "meters",
+        "description": "height coordinate of this instance's compact 3D oriented bounding box center"
+       }
+      },
+      "longest dimension": {
+       "unit": "meters",
+       "description": "longest of this instance's compact 3D oriented bounding box dimensions"
+      }
+     }
+    ]
+   }
+  },
+  "room": {
+   "floor area": {
+    "unit": "square meters",
+    "description": "shoelace area of the compact spatial code's floor boundary polygons, with every interior hole subtracted"
+   }
+  },
+  "closest classes distance meters from": {
+   "<object class>": {
+    "<other object class>": {
+     "distance": {
+      "unit": "meters",
+      "description": "estimated distance in meters between an object of this class and an object of the other class"
+     },
+     "closeness rank": {
+      "unit": null,
+      "description": "1 = the nearest other class to this one, 2 = second-nearest, and so on; ranked by nearest-instance proximity, so use the rank (not the distance values) to compare which class is closest"
+     }
+    }
+   }
+  },
+  "appearance order": {
+   "unit": null,
+   "description": "class names ordered by earliest compact 'first visible time' across all of that class's instances"
+  }
+ },
+ "objects": {
+  "toilet": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "0.05 meters",
+      "y coordinate": "-1.41 meters",
+      "height above floor": "0.4 meters"
+     },
+     "longest dimension": "0.8 meters"
+    }
+   ]
+  },
+  "bathtub": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-1.52 meters",
+      "y coordinate": "-1.1 meters",
+      "height above floor": "0.29 meters"
+     },
+     "longest dimension": "1.65 meters"
+    }
+   ]
+  }
+ },
+ "room": {
+  "floor area": "10.2 square meters"
+ },
+ "closest classes distance meters from": {
+  "toilet": {
+   "bathtub": {
+    "distance": "1.03 meters",
+    "closeness rank": 1
+   }
+  },
+  "bathtub": {
+   "toilet": {
+    "distance": "1.03 meters",
+    "closeness rank": 1
+   }
+  }
+ },
+ "appearance order": ["toilet", "bathtub"]
+}
\ No newline at end of file
diff --git a/data/spatial codes/ground truth/explicit/41142280.json b/data/spatial codes/ground truth/explicit/41142280.json
new file mode 100644
index 0000000000000000000000000000000000000000..3c650dce85940eb7f4133b6cbfa4c8c4555169d4
--- /dev/null
+++ b/data/spatial codes/ground truth/explicit/41142280.json	
@@ -0,0 +1,104 @@
+{
+ "spatial code schema": {
+  "objects": {
+   "<object class>": {
+    "count": {
+     "unit": null,
+     "description": "number of instances of this class in the compact spatial code (that schema's per-class oriented-box list length)"
+    },
+    "instances": [
+     {
+      "position": {
+       "x coordinate": {
+        "unit": "meters",
+        "description": "x coordinate of this instance's compact 3D oriented bounding box center"
+       },
+       "y coordinate": {
+        "unit": "meters",
+        "description": "y coordinate of this instance's compact 3D oriented bounding box center"
+       },
+       "height above floor": {
+        "unit": "meters",
+        "description": "height coordinate of this instance's compact 3D oriented bounding box center"
+       }
+      },
+      "longest dimension": {
+       "unit": "meters",
+       "description": "longest of this instance's compact 3D oriented bounding box dimensions"
+      }
+     }
+    ]
+   }
+  },
+  "room": {
+   "floor area": {
+    "unit": "square meters",
+    "description": "shoelace area of the compact spatial code's floor boundary polygons, with every interior hole subtracted"
+   }
+  },
+  "closest classes distance meters from": {
+   "<object class>": {
+    "<other object class>": {
+     "distance": {
+      "unit": "meters",
+      "description": "estimated distance in meters between an object of this class and an object of the other class"
+     },
+     "closeness rank": {
+      "unit": null,
+      "description": "1 = the nearest other class to this one, 2 = second-nearest, and so on; ranked by nearest-instance proximity, so use the rank (not the distance values) to compare which class is closest"
+     }
+    }
+   }
+  },
+  "appearance order": {
+   "unit": null,
+   "description": "class names ordered by earliest compact 'first visible time' across all of that class's instances"
+  }
+ },
+ "objects": {
+  "bathtub": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-0.09 meters",
+      "y coordinate": "-1.16 meters",
+      "height above floor": "0.28 meters"
+     },
+     "longest dimension": "1.67 meters"
+    }
+   ]
+  },
+  "toilet": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-0.69 meters",
+      "y coordinate": "-0.19 meters",
+      "height above floor": "0.39 meters"
+     },
+     "longest dimension": "0.78 meters"
+    }
+   ]
+  }
+ },
+ "room": {
+  "floor area": "8.0 square meters"
+ },
+ "closest classes distance meters from": {
+  "bathtub": {
+   "toilet": {
+    "distance": "0.37 meters",
+    "closeness rank": 1
+   }
+  },
+  "toilet": {
+   "bathtub": {
+    "distance": "0.37 meters",
+    "closeness rank": 1
+   }
+  }
+ },
+ "appearance order": ["bathtub", "toilet"]
+}
\ No newline at end of file
diff --git a/data/spatial codes/ground truth/explicit/41159504.json b/data/spatial codes/ground truth/explicit/41159504.json
new file mode 100644
index 0000000000000000000000000000000000000000..29f0aa5dcb2605b4386b92d35fb8dc8c6d2e6204
--- /dev/null
+++ b/data/spatial codes/ground truth/explicit/41159504.json	
@@ -0,0 +1,174 @@
+{
+ "spatial code schema": {
+  "objects": {
+   "<object class>": {
+    "count": {
+     "unit": null,
+     "description": "number of instances of this class in the compact spatial code (that schema's per-class oriented-box list length)"
+    },
+    "instances": [
+     {
+      "position": {
+       "x coordinate": {
+        "unit": "meters",
+        "description": "x coordinate of this instance's compact 3D oriented bounding box center"
+       },
+       "y coordinate": {
+        "unit": "meters",
+        "description": "y coordinate of this instance's compact 3D oriented bounding box center"
+       },
+       "height above floor": {
+        "unit": "meters",
+        "description": "height coordinate of this instance's compact 3D oriented bounding box center"
+       }
+      },
+      "longest dimension": {
+       "unit": "meters",
+       "description": "longest of this instance's compact 3D oriented bounding box dimensions"
+      }
+     }
+    ]
+   }
+  },
+  "room": {
+   "floor area": {
+    "unit": "square meters",
+    "description": "shoelace area of the compact spatial code's floor boundary polygons, with every interior hole subtracted"
+   }
+  },
+  "closest classes distance meters from": {
+   "<object class>": {
+    "<other object class>": {
+     "distance": {
+      "unit": "meters",
+      "description": "estimated distance in meters between an object of this class and an object of the other class"
+     },
+     "closeness rank": {
+      "unit": null,
+      "description": "1 = the nearest other class to this one, 2 = second-nearest, and so on; ranked by nearest-instance proximity, so use the rank (not the distance values) to compare which class is closest"
+     }
+    }
+   }
+  },
+  "appearance order": {
+   "unit": null,
+   "description": "class names ordered by earliest compact 'first visible time' across all of that class's instances"
+  }
+ },
+ "objects": {
+  "bathtub": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-0.19 meters",
+      "y coordinate": "2.46 meters",
+      "height above floor": "0.34 meters"
+     },
+     "longest dimension": "1.65 meters"
+    }
+   ]
+  },
+  "table": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "1.39 meters",
+      "y coordinate": "2.64 meters",
+      "height above floor": "0.37 meters"
+     },
+     "longest dimension": "0.71 meters"
+    }
+   ]
+  },
+  "toilet": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "1.48 meters",
+      "y coordinate": "3.65 meters",
+      "height above floor": "0.43 meters"
+     },
+     "longest dimension": "0.84 meters"
+    }
+   ]
+  },
+  "bed": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-0.11 meters",
+      "y coordinate": "-1.4 meters",
+      "height above floor": "0.29 meters"
+     },
+     "longest dimension": "2.81 meters"
+    }
+   ]
+  }
+ },
+ "room": {
+  "floor area": "19.8 square meters"
+ },
+ "closest classes distance meters from": {
+  "bathtub": {
+   "toilet": {
+    "distance": "0.81 meters",
+    "closeness rank": 1
+   },
+   "table": {
+    "distance": "0.82 meters",
+    "closeness rank": 2
+   },
+   "bed": {
+    "distance": "2.06 meters",
+    "closeness rank": 3
+   }
+  },
+  "table": {
+   "toilet": {
+    "distance": "0.57 meters",
+    "closeness rank": 1
+   },
+   "bathtub": {
+    "distance": "0.82 meters",
+    "closeness rank": 2
+   },
+   "bed": {
+    "distance": "3.11 meters",
+    "closeness rank": 3
+   }
+  },
+  "toilet": {
+   "table": {
+    "distance": "0.57 meters",
+    "closeness rank": 1
+   },
+   "bathtub": {
+    "distance": "0.81 meters",
+    "closeness rank": 2
+   },
+   "bed": {
+    "distance": "4.19 meters",
+    "closeness rank": 3
+   }
+  },
+  "bed": {
+   "bathtub": {
+    "distance": "2.06 meters",
+    "closeness rank": 1
+   },
+   "table": {
+    "distance": "3.11 meters",
+    "closeness rank": 2
+   },
+   "toilet": {
+    "distance": "4.19 meters",
+    "closeness rank": 3
+   }
+  }
+ },
+ "appearance order": ["bathtub", "table", "toilet", "bed"]
+}
\ No newline at end of file
diff --git a/data/spatial codes/ground truth/explicit/41159525.json b/data/spatial codes/ground truth/explicit/41159525.json
new file mode 100644
index 0000000000000000000000000000000000000000..20124feceb02b1552f919f9bcfd09d2e5cd1a138
--- /dev/null
+++ b/data/spatial codes/ground truth/explicit/41159525.json	
@@ -0,0 +1,237 @@
+{
+ "spatial code schema": {
+  "objects": {
+   "<object class>": {
+    "count": {
+     "unit": null,
+     "description": "number of instances of this class in the compact spatial code (that schema's per-class oriented-box list length)"
+    },
+    "instances": [
+     {
+      "position": {
+       "x coordinate": {
+        "unit": "meters",
+        "description": "x coordinate of this instance's compact 3D oriented bounding box center"
+       },
+       "y coordinate": {
+        "unit": "meters",
+        "description": "y coordinate of this instance's compact 3D oriented bounding box center"
+       },
+       "height above floor": {
+        "unit": "meters",
+        "description": "height coordinate of this instance's compact 3D oriented bounding box center"
+       }
+      },
+      "longest dimension": {
+       "unit": "meters",
+       "description": "longest of this instance's compact 3D oriented bounding box dimensions"
+      }
+     }
+    ]
+   }
+  },
+  "room": {
+   "floor area": {
+    "unit": "square meters",
+    "description": "shoelace area of the compact spatial code's floor boundary polygons, with every interior hole subtracted"
+   }
+  },
+  "closest classes distance meters from": {
+   "<object class>": {
+    "<other object class>": {
+     "distance": {
+      "unit": "meters",
+      "description": "estimated distance in meters between an object of this class and an object of the other class"
+     },
+     "closeness rank": {
+      "unit": null,
+      "description": "1 = the nearest other class to this one, 2 = second-nearest, and so on; ranked by nearest-instance proximity, so use the rank (not the distance values) to compare which class is closest"
+     }
+    }
+   }
+  },
+  "appearance order": {
+   "unit": null,
+   "description": "class names ordered by earliest compact 'first visible time' across all of that class's instances"
+  }
+ },
+ "objects": {
+  "stove": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "2.68 meters",
+      "y coordinate": "-1.36 meters",
+      "height above floor": "0.86 meters"
+     },
+     "longest dimension": "1.09 meters"
+    }
+   ]
+  },
+  "refrigerator": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "6.24 meters",
+      "y coordinate": "-1.24 meters",
+      "height above floor": "0.88 meters"
+     },
+     "longest dimension": "1.77 meters"
+    }
+   ]
+  },
+  "table": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "6.22 meters",
+      "y coordinate": "1.07 meters",
+      "height above floor": "0.38 meters"
+     },
+     "longest dimension": "1.75 meters"
+    }
+   ]
+  },
+  "stool": {
+   "count": 2,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "5.56 meters",
+      "y coordinate": "1.05 meters",
+      "height above floor": "0.25 meters"
+     },
+     "longest dimension": "1.59 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "6.97 meters",
+      "y coordinate": "1.18 meters",
+      "height above floor": "0.25 meters"
+     },
+     "longest dimension": "1.6 meters"
+    }
+   ]
+  },
+  "chair": {
+   "count": 2,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "6.26 meters",
+      "y coordinate": "0.21 meters",
+      "height above floor": "0.46 meters"
+     },
+     "longest dimension": "0.92 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "6.16 meters",
+      "y coordinate": "2.27 meters",
+      "height above floor": "0.45 meters"
+     },
+     "longest dimension": "0.89 meters"
+    }
+   ]
+  }
+ },
+ "room": {
+  "floor area": "29.5 square meters"
+ },
+ "closest classes distance meters from": {
+  "stove": {
+   "refrigerator": {
+    "distance": "2.5 meters",
+    "closeness rank": 1
+   },
+   "stool": {
+    "distance": "2.51 meters",
+    "closeness rank": 2
+   },
+   "table": {
+    "distance": "2.9 meters",
+    "closeness rank": 3
+   },
+   "chair": {
+    "distance": "2.99 meters",
+    "closeness rank": 4
+   }
+  },
+  "refrigerator": {
+   "chair": {
+    "distance": "0.83 meters",
+    "closeness rank": 1
+   },
+   "table": {
+    "distance": "1.02 meters",
+    "closeness rank": 2
+   },
+   "stool": {
+    "distance": "1.11 meters",
+    "closeness rank": 3
+   },
+   "stove": {
+    "distance": "2.5 meters",
+    "closeness rank": 4
+   }
+  },
+  "table": {
+   "chair": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "stool": {
+    "distance": "0.0 meters",
+    "closeness rank": 2
+   },
+   "refrigerator": {
+    "distance": "1.02 meters",
+    "closeness rank": 3
+   },
+   "stove": {
+    "distance": "2.9 meters",
+    "closeness rank": 4
+   }
+  },
+  "stool": {
+   "table": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "chair": {
+    "distance": "0.21 meters",
+    "closeness rank": 2
+   },
+   "refrigerator": {
+    "distance": "1.11 meters",
+    "closeness rank": 3
+   },
+   "stove": {
+    "distance": "2.51 meters",
+    "closeness rank": 4
+   }
+  },
+  "chair": {
+   "table": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "stool": {
+    "distance": "0.21 meters",
+    "closeness rank": 2
+   },
+   "refrigerator": {
+    "distance": "0.83 meters",
+    "closeness rank": 3
+   },
+   "stove": {
+    "distance": "2.99 meters",
+    "closeness rank": 4
+   }
+  }
+ },
+ "appearance order": ["stove", "refrigerator", "table", "stool", "chair"]
+}
\ No newline at end of file
diff --git a/data/spatial codes/ground truth/explicit/41159530.json b/data/spatial codes/ground truth/explicit/41159530.json
new file mode 100644
index 0000000000000000000000000000000000000000..97fa8eab338d6b6b5a1f947ddd54ecc1b211884e
--- /dev/null
+++ b/data/spatial codes/ground truth/explicit/41159530.json	
@@ -0,0 +1,80 @@
+{
+ "spatial code schema": {
+  "objects": {
+   "<object class>": {
+    "count": {
+     "unit": null,
+     "description": "number of instances of this class in the compact spatial code (that schema's per-class oriented-box list length)"
+    },
+    "instances": [
+     {
+      "position": {
+       "x coordinate": {
+        "unit": "meters",
+        "description": "x coordinate of this instance's compact 3D oriented bounding box center"
+       },
+       "y coordinate": {
+        "unit": "meters",
+        "description": "y coordinate of this instance's compact 3D oriented bounding box center"
+       },
+       "height above floor": {
+        "unit": "meters",
+        "description": "height coordinate of this instance's compact 3D oriented bounding box center"
+       }
+      },
+      "longest dimension": {
+       "unit": "meters",
+       "description": "longest of this instance's compact 3D oriented bounding box dimensions"
+      }
+     }
+    ]
+   }
+  },
+  "room": {
+   "floor area": {
+    "unit": "square meters",
+    "description": "shoelace area of the compact spatial code's floor boundary polygons, with every interior hole subtracted"
+   }
+  },
+  "closest classes distance meters from": {
+   "<object class>": {
+    "<other object class>": {
+     "distance": {
+      "unit": "meters",
+      "description": "estimated distance in meters between an object of this class and an object of the other class"
+     },
+     "closeness rank": {
+      "unit": null,
+      "description": "1 = the nearest other class to this one, 2 = second-nearest, and so on; ranked by nearest-instance proximity, so use the rank (not the distance values) to compare which class is closest"
+     }
+    }
+   }
+  },
+  "appearance order": {
+   "unit": null,
+   "description": "class names ordered by earliest compact 'first visible time' across all of that class's instances"
+  }
+ },
+ "objects": {
+  "table": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "1.01 meters",
+      "y coordinate": "-1.32 meters",
+      "height above floor": "0.38 meters"
+     },
+     "longest dimension": "0.81 meters"
+    }
+   ]
+  }
+ },
+ "room": {
+  "floor area": "24.7 square meters"
+ },
+ "closest classes distance meters from": {
+  "table": {}
+ },
+ "appearance order": ["table"]
+}
\ No newline at end of file
diff --git a/data/spatial codes/ground truth/explicit/41159541.json b/data/spatial codes/ground truth/explicit/41159541.json
new file mode 100644
index 0000000000000000000000000000000000000000..e0affed95045af454234f5eccef549dd66722a83
--- /dev/null
+++ b/data/spatial codes/ground truth/explicit/41159541.json	
@@ -0,0 +1,262 @@
+{
+ "spatial code schema": {
+  "objects": {
+   "<object class>": {
+    "count": {
+     "unit": null,
+     "description": "number of instances of this class in the compact spatial code (that schema's per-class oriented-box list length)"
+    },
+    "instances": [
+     {
+      "position": {
+       "x coordinate": {
+        "unit": "meters",
+        "description": "x coordinate of this instance's compact 3D oriented bounding box center"
+       },
+       "y coordinate": {
+        "unit": "meters",
+        "description": "y coordinate of this instance's compact 3D oriented bounding box center"
+       },
+       "height above floor": {
+        "unit": "meters",
+        "description": "height coordinate of this instance's compact 3D oriented bounding box center"
+       }
+      },
+      "longest dimension": {
+       "unit": "meters",
+       "description": "longest of this instance's compact 3D oriented bounding box dimensions"
+      }
+     }
+    ]
+   }
+  },
+  "room": {
+   "floor area": {
+    "unit": "square meters",
+    "description": "shoelace area of the compact spatial code's floor boundary polygons, with every interior hole subtracted"
+   }
+  },
+  "closest classes distance meters from": {
+   "<object class>": {
+    "<other object class>": {
+     "distance": {
+      "unit": "meters",
+      "description": "estimated distance in meters between an object of this class and an object of the other class"
+     },
+     "closeness rank": {
+      "unit": null,
+      "description": "1 = the nearest other class to this one, 2 = second-nearest, and so on; ranked by nearest-instance proximity, so use the rank (not the distance values) to compare which class is closest"
+     }
+    }
+   }
+  },
+  "appearance order": {
+   "unit": null,
+   "description": "class names ordered by earliest compact 'first visible time' across all of that class's instances"
+  }
+ },
+ "objects": {
+  "sofa": {
+   "count": 2,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "2.12 meters",
+      "y coordinate": "0.47 meters",
+      "height above floor": "0.4 meters"
+     },
+     "longest dimension": "2.08 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "3.72 meters",
+      "y coordinate": "-0.3 meters",
+      "height above floor": "0.44 meters"
+     },
+     "longest dimension": "0.89 meters"
+    }
+   ]
+  },
+  "table": {
+   "count": 3,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "0.35 meters",
+      "y coordinate": "-2.03 meters",
+      "height above floor": "0.42 meters"
+     },
+     "longest dimension": "3.49 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "3.88 meters",
+      "y coordinate": "-1.54 meters",
+      "height above floor": "0.26 meters"
+     },
+     "longest dimension": "0.55 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "3.47 meters",
+      "y coordinate": "-2.62 meters",
+      "height above floor": "0.3 meters"
+     },
+     "longest dimension": "0.61 meters"
+    }
+   ]
+  },
+  "chair": {
+   "count": 9,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "1.28 meters",
+      "y coordinate": "-1.29 meters",
+      "height above floor": "0.53 meters"
+     },
+     "longest dimension": "0.97 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "0.68 meters",
+      "y coordinate": "-1.5 meters",
+      "height above floor": "0.55 meters"
+     },
+     "longest dimension": "1.02 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "0.17 meters",
+      "y coordinate": "-1.59 meters",
+      "height above floor": "0.54 meters"
+     },
+     "longest dimension": "1.01 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "1.91 meters",
+      "y coordinate": "-1.32 meters",
+      "height above floor": "0.52 meters"
+     },
+     "longest dimension": "0.94 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "1.57 meters",
+      "y coordinate": "-2.34 meters",
+      "height above floor": "0.55 meters"
+     },
+     "longest dimension": "1.0 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "1.08 meters",
+      "y coordinate": "-2.54 meters",
+      "height above floor": "0.56 meters"
+     },
+     "longest dimension": "1.04 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "0.15 meters",
+      "y coordinate": "-2.71 meters",
+      "height above floor": "0.56 meters"
+     },
+     "longest dimension": "1.04 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-0.31 meters",
+      "y coordinate": "-2.69 meters",
+      "height above floor": "0.56 meters"
+     },
+     "longest dimension": "1.04 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-0.61 meters",
+      "y coordinate": "-3.61 meters",
+      "height above floor": "1.0 meters"
+     },
+     "longest dimension": "1.91 meters"
+    }
+   ]
+  },
+  "tv": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "3.48 meters",
+      "y coordinate": "-2.64 meters",
+      "height above floor": "0.91 meters"
+     },
+     "longest dimension": "1.14 meters"
+    }
+   ]
+  }
+ },
+ "room": {
+  "floor area": "43.2 square meters"
+ },
+ "closest classes distance meters from": {
+  "sofa": {
+   "table": {
+    "distance": "0.35 meters",
+    "closeness rank": 1
+   },
+   "chair": {
+    "distance": "0.56 meters",
+    "closeness rank": 2
+   },
+   "tv": {
+    "distance": "1.82 meters",
+    "closeness rank": 3
+   }
+  },
+  "table": {
+   "chair": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "tv": {
+    "distance": "0.91 meters",
+    "closeness rank": 2
+   },
+   "sofa": {
+    "distance": "0.35 meters",
+    "closeness rank": 3
+   }
+  },
+  "chair": {
+   "table": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "sofa": {
+    "distance": "0.56 meters",
+    "closeness rank": 2
+   },
+   "tv": {
+    "distance": "1.55 meters",
+    "closeness rank": 3
+   }
+  },
+  "tv": {
+   "table": {
+    "distance": "0.91 meters",
+    "closeness rank": 1
+   },
+   "chair": {
+    "distance": "1.55 meters",
+    "closeness rank": 2
+   },
+   "sofa": {
+    "distance": "1.82 meters",
+    "closeness rank": 3
+   }
+  }
+ },
+ "appearance order": ["sofa", "table", "chair", "tv"]
+}
\ No newline at end of file
diff --git a/data/spatial codes/ground truth/explicit/41159555.json b/data/spatial codes/ground truth/explicit/41159555.json
new file mode 100644
index 0000000000000000000000000000000000000000..f6750ec09620b2121053e71670d1fda5089d209b
--- /dev/null
+++ b/data/spatial codes/ground truth/explicit/41159555.json	
@@ -0,0 +1,80 @@
+{
+ "spatial code schema": {
+  "objects": {
+   "<object class>": {
+    "count": {
+     "unit": null,
+     "description": "number of instances of this class in the compact spatial code (that schema's per-class oriented-box list length)"
+    },
+    "instances": [
+     {
+      "position": {
+       "x coordinate": {
+        "unit": "meters",
+        "description": "x coordinate of this instance's compact 3D oriented bounding box center"
+       },
+       "y coordinate": {
+        "unit": "meters",
+        "description": "y coordinate of this instance's compact 3D oriented bounding box center"
+       },
+       "height above floor": {
+        "unit": "meters",
+        "description": "height coordinate of this instance's compact 3D oriented bounding box center"
+       }
+      },
+      "longest dimension": {
+       "unit": "meters",
+       "description": "longest of this instance's compact 3D oriented bounding box dimensions"
+      }
+     }
+    ]
+   }
+  },
+  "room": {
+   "floor area": {
+    "unit": "square meters",
+    "description": "shoelace area of the compact spatial code's floor boundary polygons, with every interior hole subtracted"
+   }
+  },
+  "closest classes distance meters from": {
+   "<object class>": {
+    "<other object class>": {
+     "distance": {
+      "unit": "meters",
+      "description": "estimated distance in meters between an object of this class and an object of the other class"
+     },
+     "closeness rank": {
+      "unit": null,
+      "description": "1 = the nearest other class to this one, 2 = second-nearest, and so on; ranked by nearest-instance proximity, so use the rank (not the distance values) to compare which class is closest"
+     }
+    }
+   }
+  },
+  "appearance order": {
+   "unit": null,
+   "description": "class names ordered by earliest compact 'first visible time' across all of that class's instances"
+  }
+ },
+ "objects": {
+  "bed": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "2.74 meters",
+      "y coordinate": "1.57 meters",
+      "height above floor": "0.3 meters"
+     },
+     "longest dimension": "2.1 meters"
+    }
+   ]
+  }
+ },
+ "room": {
+  "floor area": "28.4 square meters"
+ },
+ "closest classes distance meters from": {
+  "bed": {}
+ },
+ "appearance order": ["bed"]
+}
\ No newline at end of file
diff --git a/data/spatial codes/ground truth/explicit/41159572.json b/data/spatial codes/ground truth/explicit/41159572.json
new file mode 100644
index 0000000000000000000000000000000000000000..853bd834799da14c57d165c00a1fa3a7322c79d4
--- /dev/null
+++ b/data/spatial codes/ground truth/explicit/41159572.json	
@@ -0,0 +1,206 @@
+{
+ "spatial code schema": {
+  "objects": {
+   "<object class>": {
+    "count": {
+     "unit": null,
+     "description": "number of instances of this class in the compact spatial code (that schema's per-class oriented-box list length)"
+    },
+    "instances": [
+     {
+      "position": {
+       "x coordinate": {
+        "unit": "meters",
+        "description": "x coordinate of this instance's compact 3D oriented bounding box center"
+       },
+       "y coordinate": {
+        "unit": "meters",
+        "description": "y coordinate of this instance's compact 3D oriented bounding box center"
+       },
+       "height above floor": {
+        "unit": "meters",
+        "description": "height coordinate of this instance's compact 3D oriented bounding box center"
+       }
+      },
+      "longest dimension": {
+       "unit": "meters",
+       "description": "longest of this instance's compact 3D oriented bounding box dimensions"
+      }
+     }
+    ]
+   }
+  },
+  "room": {
+   "floor area": {
+    "unit": "square meters",
+    "description": "shoelace area of the compact spatial code's floor boundary polygons, with every interior hole subtracted"
+   }
+  },
+  "closest classes distance meters from": {
+   "<object class>": {
+    "<other object class>": {
+     "distance": {
+      "unit": "meters",
+      "description": "estimated distance in meters between an object of this class and an object of the other class"
+     },
+     "closeness rank": {
+      "unit": null,
+      "description": "1 = the nearest other class to this one, 2 = second-nearest, and so on; ranked by nearest-instance proximity, so use the rank (not the distance values) to compare which class is closest"
+     }
+    }
+   }
+  },
+  "appearance order": {
+   "unit": null,
+   "description": "class names ordered by earliest compact 'first visible time' across all of that class's instances"
+  }
+ },
+ "objects": {
+  "sofa": {
+   "count": 4,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-0.15 meters",
+      "y coordinate": "-1.59 meters",
+      "height above floor": "0.34 meters"
+     },
+     "longest dimension": "1.02 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-1.72 meters",
+      "y coordinate": "-3.71 meters",
+      "height above floor": "0.41 meters"
+     },
+     "longest dimension": "2.11 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-2.14 meters",
+      "y coordinate": "-0.75 meters",
+      "height above floor": "0.35 meters"
+     },
+     "longest dimension": "0.75 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-3.73 meters",
+      "y coordinate": "-4.37 meters",
+      "height above floor": "0.44 meters"
+     },
+     "longest dimension": "1.55 meters"
+    }
+   ]
+  },
+  "fireplace": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-3.18 meters",
+      "y coordinate": "-0.43 meters",
+      "height above floor": "0.53 meters"
+     },
+     "longest dimension": "2.24 meters"
+    }
+   ]
+  },
+  "table": {
+   "count": 2,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-2.66 meters",
+      "y coordinate": "-3.13 meters",
+      "height above floor": "0.22 meters"
+     },
+     "longest dimension": "1.07 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-2.64 meters",
+      "y coordinate": "-5.33 meters",
+      "height above floor": "0.27 meters"
+     },
+     "longest dimension": "0.72 meters"
+    }
+   ]
+  },
+  "stool": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-3.57 meters",
+      "y coordinate": "-3.45 meters",
+      "height above floor": "0.23 meters"
+     },
+     "longest dimension": "0.42 meters"
+    }
+   ]
+  }
+ },
+ "room": {
+  "floor area": "43.0 square meters"
+ },
+ "closest classes distance meters from": {
+  "sofa": {
+   "fireplace": {
+    "distance": "1.62 meters",
+    "closeness rank": 1
+   },
+   "stool": {
+    "distance": "3.17 meters",
+    "closeness rank": 2
+   },
+   "table": {
+    "distance": "1.9 meters",
+    "closeness rank": 3
+   }
+  },
+  "fireplace": {
+   "sofa": {
+    "distance": "1.62 meters",
+    "closeness rank": 1
+   },
+   "table": {
+    "distance": "1.15 meters",
+    "closeness rank": 2
+   },
+   "stool": {
+    "distance": "1.73 meters",
+    "closeness rank": 3
+   }
+  },
+  "table": {
+   "stool": {
+    "distance": "0.22 meters",
+    "closeness rank": 1
+   },
+   "sofa": {
+    "distance": "1.9 meters",
+    "closeness rank": 2
+   },
+   "fireplace": {
+    "distance": "1.15 meters",
+    "closeness rank": 3
+   }
+  },
+  "stool": {
+   "sofa": {
+    "distance": "3.17 meters",
+    "closeness rank": 1
+   },
+   "table": {
+    "distance": "0.22 meters",
+    "closeness rank": 2
+   },
+   "fireplace": {
+    "distance": "1.73 meters",
+    "closeness rank": 3
+   }
+  }
+ },
+ "appearance order": ["sofa", "fireplace", "table", "stool"]
+}
\ No newline at end of file
diff --git a/data/spatial codes/ground truth/explicit/41254246.json b/data/spatial codes/ground truth/explicit/41254246.json
new file mode 100644
index 0000000000000000000000000000000000000000..709de7ac120d91c350f33a65f373c28303ef7e66
--- /dev/null
+++ b/data/spatial codes/ground truth/explicit/41254246.json	
@@ -0,0 +1,80 @@
+{
+ "spatial code schema": {
+  "objects": {
+   "<object class>": {
+    "count": {
+     "unit": null,
+     "description": "number of instances of this class in the compact spatial code (that schema's per-class oriented-box list length)"
+    },
+    "instances": [
+     {
+      "position": {
+       "x coordinate": {
+        "unit": "meters",
+        "description": "x coordinate of this instance's compact 3D oriented bounding box center"
+       },
+       "y coordinate": {
+        "unit": "meters",
+        "description": "y coordinate of this instance's compact 3D oriented bounding box center"
+       },
+       "height above floor": {
+        "unit": "meters",
+        "description": "height coordinate of this instance's compact 3D oriented bounding box center"
+       }
+      },
+      "longest dimension": {
+       "unit": "meters",
+       "description": "longest of this instance's compact 3D oriented bounding box dimensions"
+      }
+     }
+    ]
+   }
+  },
+  "room": {
+   "floor area": {
+    "unit": "square meters",
+    "description": "shoelace area of the compact spatial code's floor boundary polygons, with every interior hole subtracted"
+   }
+  },
+  "closest classes distance meters from": {
+   "<object class>": {
+    "<other object class>": {
+     "distance": {
+      "unit": "meters",
+      "description": "estimated distance in meters between an object of this class and an object of the other class"
+     },
+     "closeness rank": {
+      "unit": null,
+      "description": "1 = the nearest other class to this one, 2 = second-nearest, and so on; ranked by nearest-instance proximity, so use the rank (not the distance values) to compare which class is closest"
+     }
+    }
+   }
+  },
+  "appearance order": {
+   "unit": null,
+   "description": "class names ordered by earliest compact 'first visible time' across all of that class's instances"
+  }
+ },
+ "objects": {
+  "bed": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "1.66 meters",
+      "y coordinate": "3.05 meters",
+      "height above floor": "0.27 meters"
+     },
+     "longest dimension": "2.1 meters"
+    }
+   ]
+  }
+ },
+ "room": {
+  "floor area": "14.6 square meters"
+ },
+ "closest classes distance meters from": {
+  "bed": {}
+ },
+ "appearance order": ["bed"]
+}
\ No newline at end of file
diff --git a/data/spatial codes/ground truth/explicit/41254386.json b/data/spatial codes/ground truth/explicit/41254386.json
new file mode 100644
index 0000000000000000000000000000000000000000..b4da3dd4fb11400ae6ded1e16fb169a949748052
--- /dev/null
+++ b/data/spatial codes/ground truth/explicit/41254386.json	
@@ -0,0 +1,104 @@
+{
+ "spatial code schema": {
+  "objects": {
+   "<object class>": {
+    "count": {
+     "unit": null,
+     "description": "number of instances of this class in the compact spatial code (that schema's per-class oriented-box list length)"
+    },
+    "instances": [
+     {
+      "position": {
+       "x coordinate": {
+        "unit": "meters",
+        "description": "x coordinate of this instance's compact 3D oriented bounding box center"
+       },
+       "y coordinate": {
+        "unit": "meters",
+        "description": "y coordinate of this instance's compact 3D oriented bounding box center"
+       },
+       "height above floor": {
+        "unit": "meters",
+        "description": "height coordinate of this instance's compact 3D oriented bounding box center"
+       }
+      },
+      "longest dimension": {
+       "unit": "meters",
+       "description": "longest of this instance's compact 3D oriented bounding box dimensions"
+      }
+     }
+    ]
+   }
+  },
+  "room": {
+   "floor area": {
+    "unit": "square meters",
+    "description": "shoelace area of the compact spatial code's floor boundary polygons, with every interior hole subtracted"
+   }
+  },
+  "closest classes distance meters from": {
+   "<object class>": {
+    "<other object class>": {
+     "distance": {
+      "unit": "meters",
+      "description": "estimated distance in meters between an object of this class and an object of the other class"
+     },
+     "closeness rank": {
+      "unit": null,
+      "description": "1 = the nearest other class to this one, 2 = second-nearest, and so on; ranked by nearest-instance proximity, so use the rank (not the distance values) to compare which class is closest"
+     }
+    }
+   }
+  },
+  "appearance order": {
+   "unit": null,
+   "description": "class names ordered by earliest compact 'first visible time' across all of that class's instances"
+  }
+ },
+ "objects": {
+  "bathtub": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "1.51 meters",
+      "y coordinate": "2.17 meters",
+      "height above floor": "0.28 meters"
+     },
+     "longest dimension": "1.69 meters"
+    }
+   ]
+  },
+  "toilet": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "0.69 meters",
+      "y coordinate": "3.02 meters",
+      "height above floor": "0.4 meters"
+     },
+     "longest dimension": "0.77 meters"
+    }
+   ]
+  }
+ },
+ "room": {
+  "floor area": "8.3 square meters"
+ },
+ "closest classes distance meters from": {
+  "bathtub": {
+   "toilet": {
+    "distance": "0.46 meters",
+    "closeness rank": 1
+   }
+  },
+  "toilet": {
+   "bathtub": {
+    "distance": "0.46 meters",
+    "closeness rank": 1
+   }
+  }
+ },
+ "appearance order": ["bathtub", "toilet"]
+}
\ No newline at end of file
diff --git a/data/spatial codes/ground truth/explicit/41254402.json b/data/spatial codes/ground truth/explicit/41254402.json
new file mode 100644
index 0000000000000000000000000000000000000000..59a0e913d5142df18493f79db690e9d537bf9fca
--- /dev/null
+++ b/data/spatial codes/ground truth/explicit/41254402.json	
@@ -0,0 +1,104 @@
+{
+ "spatial code schema": {
+  "objects": {
+   "<object class>": {
+    "count": {
+     "unit": null,
+     "description": "number of instances of this class in the compact spatial code (that schema's per-class oriented-box list length)"
+    },
+    "instances": [
+     {
+      "position": {
+       "x coordinate": {
+        "unit": "meters",
+        "description": "x coordinate of this instance's compact 3D oriented bounding box center"
+       },
+       "y coordinate": {
+        "unit": "meters",
+        "description": "y coordinate of this instance's compact 3D oriented bounding box center"
+       },
+       "height above floor": {
+        "unit": "meters",
+        "description": "height coordinate of this instance's compact 3D oriented bounding box center"
+       }
+      },
+      "longest dimension": {
+       "unit": "meters",
+       "description": "longest of this instance's compact 3D oriented bounding box dimensions"
+      }
+     }
+    ]
+   }
+  },
+  "room": {
+   "floor area": {
+    "unit": "square meters",
+    "description": "shoelace area of the compact spatial code's floor boundary polygons, with every interior hole subtracted"
+   }
+  },
+  "closest classes distance meters from": {
+   "<object class>": {
+    "<other object class>": {
+     "distance": {
+      "unit": "meters",
+      "description": "estimated distance in meters between an object of this class and an object of the other class"
+     },
+     "closeness rank": {
+      "unit": null,
+      "description": "1 = the nearest other class to this one, 2 = second-nearest, and so on; ranked by nearest-instance proximity, so use the rank (not the distance values) to compare which class is closest"
+     }
+    }
+   }
+  },
+  "appearance order": {
+   "unit": null,
+   "description": "class names ordered by earliest compact 'first visible time' across all of that class's instances"
+  }
+ },
+ "objects": {
+  "bed": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "2.93 meters",
+      "y coordinate": "-0.21 meters",
+      "height above floor": "0.31 meters"
+     },
+     "longest dimension": "1.96 meters"
+    }
+   ]
+  },
+  "table": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "1.78 meters",
+      "y coordinate": "-0.75 meters",
+      "height above floor": "0.44 meters"
+     },
+     "longest dimension": "0.88 meters"
+    }
+   ]
+  }
+ },
+ "room": {
+  "floor area": "11.4 square meters"
+ },
+ "closest classes distance meters from": {
+  "bed": {
+   "table": {
+    "distance": "0.03 meters",
+    "closeness rank": 1
+   }
+  },
+  "table": {
+   "bed": {
+    "distance": "0.03 meters",
+    "closeness rank": 1
+   }
+  }
+ },
+ "appearance order": ["bed", "table"]
+}
\ No newline at end of file
diff --git a/data/spatial codes/ground truth/explicit/41254432.json b/data/spatial codes/ground truth/explicit/41254432.json
new file mode 100644
index 0000000000000000000000000000000000000000..4b268be0c91915aa5060be48a7fe2bb08c53988d
--- /dev/null
+++ b/data/spatial codes/ground truth/explicit/41254432.json	
@@ -0,0 +1,143 @@
+{
+ "spatial code schema": {
+  "objects": {
+   "<object class>": {
+    "count": {
+     "unit": null,
+     "description": "number of instances of this class in the compact spatial code (that schema's per-class oriented-box list length)"
+    },
+    "instances": [
+     {
+      "position": {
+       "x coordinate": {
+        "unit": "meters",
+        "description": "x coordinate of this instance's compact 3D oriented bounding box center"
+       },
+       "y coordinate": {
+        "unit": "meters",
+        "description": "y coordinate of this instance's compact 3D oriented bounding box center"
+       },
+       "height above floor": {
+        "unit": "meters",
+        "description": "height coordinate of this instance's compact 3D oriented bounding box center"
+       }
+      },
+      "longest dimension": {
+       "unit": "meters",
+       "description": "longest of this instance's compact 3D oriented bounding box dimensions"
+      }
+     }
+    ]
+   }
+  },
+  "room": {
+   "floor area": {
+    "unit": "square meters",
+    "description": "shoelace area of the compact spatial code's floor boundary polygons, with every interior hole subtracted"
+   }
+  },
+  "closest classes distance meters from": {
+   "<object class>": {
+    "<other object class>": {
+     "distance": {
+      "unit": "meters",
+      "description": "estimated distance in meters between an object of this class and an object of the other class"
+     },
+     "closeness rank": {
+      "unit": null,
+      "description": "1 = the nearest other class to this one, 2 = second-nearest, and so on; ranked by nearest-instance proximity, so use the rank (not the distance values) to compare which class is closest"
+     }
+    }
+   }
+  },
+  "appearance order": {
+   "unit": null,
+   "description": "class names ordered by earliest compact 'first visible time' across all of that class's instances"
+  }
+ },
+ "objects": {
+  "sofa": {
+   "count": 2,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-3.31 meters",
+      "y coordinate": "-0.02 meters",
+      "height above floor": "0.37 meters"
+     },
+     "longest dimension": "1.77 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-5.04 meters",
+      "y coordinate": "-0.38 meters",
+      "height above floor": "0.38 meters"
+     },
+     "longest dimension": "1.49 meters"
+    }
+   ]
+  },
+  "tv": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-3.57 meters",
+      "y coordinate": "-2.27 meters",
+      "height above floor": "0.19 meters"
+     },
+     "longest dimension": "0.38 meters"
+    }
+   ]
+  },
+  "stove": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-3.28 meters",
+      "y coordinate": "2.54 meters",
+      "height above floor": "0.93 meters"
+     },
+     "longest dimension": "0.71 meters"
+    }
+   ]
+  }
+ },
+ "room": {
+  "floor area": "31.5 square meters"
+ },
+ "closest classes distance meters from": {
+  "sofa": {
+   "tv": {
+    "distance": "1.49 meters",
+    "closeness rank": 1
+   },
+   "stove": {
+    "distance": "1.59 meters",
+    "closeness rank": 2
+   }
+  },
+  "tv": {
+   "sofa": {
+    "distance": "1.49 meters",
+    "closeness rank": 1
+   },
+   "stove": {
+    "distance": "4.39 meters",
+    "closeness rank": 2
+   }
+  },
+  "stove": {
+   "sofa": {
+    "distance": "1.59 meters",
+    "closeness rank": 1
+   },
+   "tv": {
+    "distance": "4.39 meters",
+    "closeness rank": 2
+   }
+  }
+ },
+ "appearance order": ["sofa", "tv", "stove"]
+}
\ No newline at end of file
diff --git a/data/spatial codes/ground truth/explicit/42444950.json b/data/spatial codes/ground truth/explicit/42444950.json
new file mode 100644
index 0000000000000000000000000000000000000000..b8a6da6e5c9fb12ace5b7412b45ae59493608bb7
--- /dev/null
+++ b/data/spatial codes/ground truth/explicit/42444950.json	
@@ -0,0 +1,174 @@
+{
+ "spatial code schema": {
+  "objects": {
+   "<object class>": {
+    "count": {
+     "unit": null,
+     "description": "number of instances of this class in the compact spatial code (that schema's per-class oriented-box list length)"
+    },
+    "instances": [
+     {
+      "position": {
+       "x coordinate": {
+        "unit": "meters",
+        "description": "x coordinate of this instance's compact 3D oriented bounding box center"
+       },
+       "y coordinate": {
+        "unit": "meters",
+        "description": "y coordinate of this instance's compact 3D oriented bounding box center"
+       },
+       "height above floor": {
+        "unit": "meters",
+        "description": "height coordinate of this instance's compact 3D oriented bounding box center"
+       }
+      },
+      "longest dimension": {
+       "unit": "meters",
+       "description": "longest of this instance's compact 3D oriented bounding box dimensions"
+      }
+     }
+    ]
+   }
+  },
+  "room": {
+   "floor area": {
+    "unit": "square meters",
+    "description": "shoelace area of the compact spatial code's floor boundary polygons, with every interior hole subtracted"
+   }
+  },
+  "closest classes distance meters from": {
+   "<object class>": {
+    "<other object class>": {
+     "distance": {
+      "unit": "meters",
+      "description": "estimated distance in meters between an object of this class and an object of the other class"
+     },
+     "closeness rank": {
+      "unit": null,
+      "description": "1 = the nearest other class to this one, 2 = second-nearest, and so on; ranked by nearest-instance proximity, so use the rank (not the distance values) to compare which class is closest"
+     }
+    }
+   }
+  },
+  "appearance order": {
+   "unit": null,
+   "description": "class names ordered by earliest compact 'first visible time' across all of that class's instances"
+  }
+ },
+ "objects": {
+  "sofa": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-2.21 meters",
+      "y coordinate": "0.62 meters",
+      "height above floor": "0.36 meters"
+     },
+     "longest dimension": "1.81 meters"
+    }
+   ]
+  },
+  "table": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-0.41 meters",
+      "y coordinate": "3.0 meters",
+      "height above floor": "0.39 meters"
+     },
+     "longest dimension": "1.07 meters"
+    }
+   ]
+  },
+  "chair": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "0.09 meters",
+      "y coordinate": "3.65 meters",
+      "height above floor": "0.43 meters"
+     },
+     "longest dimension": "0.82 meters"
+    }
+   ]
+  },
+  "fireplace": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-3.65 meters",
+      "y coordinate": "1.66 meters",
+      "height above floor": "0.69 meters"
+     },
+     "longest dimension": "1.61 meters"
+    }
+   ]
+  }
+ },
+ "room": {
+  "floor area": "21.4 square meters"
+ },
+ "closest classes distance meters from": {
+  "sofa": {
+   "fireplace": {
+    "distance": "0.39 meters",
+    "closeness rank": 1
+   },
+   "table": {
+    "distance": "1.54 meters",
+    "closeness rank": 2
+   },
+   "chair": {
+    "distance": "2.58 meters",
+    "closeness rank": 3
+   }
+  },
+  "table": {
+   "chair": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "sofa": {
+    "distance": "1.54 meters",
+    "closeness rank": 2
+   },
+   "fireplace": {
+    "distance": "2.63 meters",
+    "closeness rank": 3
+   }
+  },
+  "chair": {
+   "table": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "sofa": {
+    "distance": "2.58 meters",
+    "closeness rank": 2
+   },
+   "fireplace": {
+    "distance": "3.54 meters",
+    "closeness rank": 3
+   }
+  },
+  "fireplace": {
+   "sofa": {
+    "distance": "0.39 meters",
+    "closeness rank": 1
+   },
+   "table": {
+    "distance": "2.63 meters",
+    "closeness rank": 2
+   },
+   "chair": {
+    "distance": "3.54 meters",
+    "closeness rank": 3
+   }
+  }
+ },
+ "appearance order": ["sofa", "table", "chair", "fireplace"]
+}
\ No newline at end of file
diff --git a/data/spatial codes/ground truth/explicit/42444954.json b/data/spatial codes/ground truth/explicit/42444954.json
new file mode 100644
index 0000000000000000000000000000000000000000..b43c32acde8e8e2c6036b8a8930c6effb0d3d3df
--- /dev/null
+++ b/data/spatial codes/ground truth/explicit/42444954.json	
@@ -0,0 +1,135 @@
+{
+ "spatial code schema": {
+  "objects": {
+   "<object class>": {
+    "count": {
+     "unit": null,
+     "description": "number of instances of this class in the compact spatial code (that schema's per-class oriented-box list length)"
+    },
+    "instances": [
+     {
+      "position": {
+       "x coordinate": {
+        "unit": "meters",
+        "description": "x coordinate of this instance's compact 3D oriented bounding box center"
+       },
+       "y coordinate": {
+        "unit": "meters",
+        "description": "y coordinate of this instance's compact 3D oriented bounding box center"
+       },
+       "height above floor": {
+        "unit": "meters",
+        "description": "height coordinate of this instance's compact 3D oriented bounding box center"
+       }
+      },
+      "longest dimension": {
+       "unit": "meters",
+       "description": "longest of this instance's compact 3D oriented bounding box dimensions"
+      }
+     }
+    ]
+   }
+  },
+  "room": {
+   "floor area": {
+    "unit": "square meters",
+    "description": "shoelace area of the compact spatial code's floor boundary polygons, with every interior hole subtracted"
+   }
+  },
+  "closest classes distance meters from": {
+   "<object class>": {
+    "<other object class>": {
+     "distance": {
+      "unit": "meters",
+      "description": "estimated distance in meters between an object of this class and an object of the other class"
+     },
+     "closeness rank": {
+      "unit": null,
+      "description": "1 = the nearest other class to this one, 2 = second-nearest, and so on; ranked by nearest-instance proximity, so use the rank (not the distance values) to compare which class is closest"
+     }
+    }
+   }
+  },
+  "appearance order": {
+   "unit": null,
+   "description": "class names ordered by earliest compact 'first visible time' across all of that class's instances"
+  }
+ },
+ "objects": {
+  "toilet": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "0.27 meters",
+      "y coordinate": "2.69 meters",
+      "height above floor": "0.37 meters"
+     },
+     "longest dimension": "0.73 meters"
+    }
+   ]
+  },
+  "bathtub": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-0.46 meters",
+      "y coordinate": "2.29 meters",
+      "height above floor": "0.28 meters"
+     },
+     "longest dimension": "1.58 meters"
+    }
+   ]
+  },
+  "refrigerator": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-0.62 meters",
+      "y coordinate": "-0.25 meters",
+      "height above floor": "0.66 meters"
+     },
+     "longest dimension": "1.31 meters"
+    }
+   ]
+  }
+ },
+ "room": {
+  "floor area": "7.5 square meters"
+ },
+ "closest classes distance meters from": {
+  "toilet": {
+   "bathtub": {
+    "distance": "0.1 meters",
+    "closeness rank": 1
+   },
+   "refrigerator": {
+    "distance": "2.41 meters",
+    "closeness rank": 2
+   }
+  },
+  "bathtub": {
+   "toilet": {
+    "distance": "0.1 meters",
+    "closeness rank": 1
+   },
+   "refrigerator": {
+    "distance": "1.48 meters",
+    "closeness rank": 2
+   }
+  },
+  "refrigerator": {
+   "bathtub": {
+    "distance": "1.48 meters",
+    "closeness rank": 1
+   },
+   "toilet": {
+    "distance": "2.41 meters",
+    "closeness rank": 2
+   }
+  }
+ },
+ "appearance order": ["toilet", "bathtub", "refrigerator"]
+}
\ No newline at end of file
diff --git a/data/spatial codes/ground truth/explicit/42444976.json b/data/spatial codes/ground truth/explicit/42444976.json
new file mode 100644
index 0000000000000000000000000000000000000000..8be7ca646d50219f8970aab3ca9feadd3e07d489
--- /dev/null
+++ b/data/spatial codes/ground truth/explicit/42444976.json	
@@ -0,0 +1,237 @@
+{
+ "spatial code schema": {
+  "objects": {
+   "<object class>": {
+    "count": {
+     "unit": null,
+     "description": "number of instances of this class in the compact spatial code (that schema's per-class oriented-box list length)"
+    },
+    "instances": [
+     {
+      "position": {
+       "x coordinate": {
+        "unit": "meters",
+        "description": "x coordinate of this instance's compact 3D oriented bounding box center"
+       },
+       "y coordinate": {
+        "unit": "meters",
+        "description": "y coordinate of this instance's compact 3D oriented bounding box center"
+       },
+       "height above floor": {
+        "unit": "meters",
+        "description": "height coordinate of this instance's compact 3D oriented bounding box center"
+       }
+      },
+      "longest dimension": {
+       "unit": "meters",
+       "description": "longest of this instance's compact 3D oriented bounding box dimensions"
+      }
+     }
+    ]
+   }
+  },
+  "room": {
+   "floor area": {
+    "unit": "square meters",
+    "description": "shoelace area of the compact spatial code's floor boundary polygons, with every interior hole subtracted"
+   }
+  },
+  "closest classes distance meters from": {
+   "<object class>": {
+    "<other object class>": {
+     "distance": {
+      "unit": "meters",
+      "description": "estimated distance in meters between an object of this class and an object of the other class"
+     },
+     "closeness rank": {
+      "unit": null,
+      "description": "1 = the nearest other class to this one, 2 = second-nearest, and so on; ranked by nearest-instance proximity, so use the rank (not the distance values) to compare which class is closest"
+     }
+    }
+   }
+  },
+  "appearance order": {
+   "unit": null,
+   "description": "class names ordered by earliest compact 'first visible time' across all of that class's instances"
+  }
+ },
+ "objects": {
+  "refrigerator": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-2.07 meters",
+      "y coordinate": "-1.53 meters",
+      "height above floor": "0.95 meters"
+     },
+     "longest dimension": "1.86 meters"
+    }
+   ]
+  },
+  "dishwasher": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-4.43 meters",
+      "y coordinate": "-1.03 meters",
+      "height above floor": "0.47 meters"
+     },
+     "longest dimension": "0.91 meters"
+    }
+   ]
+  },
+  "washer": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-4.75 meters",
+      "y coordinate": "0.26 meters",
+      "height above floor": "0.46 meters"
+     },
+     "longest dimension": "0.89 meters"
+    }
+   ]
+  },
+  "chair": {
+   "count": 3,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-4.03 meters",
+      "y coordinate": "2.27 meters",
+      "height above floor": "0.45 meters"
+     },
+     "longest dimension": "0.89 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-3.53 meters",
+      "y coordinate": "1.2 meters",
+      "height above floor": "0.44 meters"
+     },
+     "longest dimension": "0.89 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-3.04 meters",
+      "y coordinate": "1.65 meters",
+      "height above floor": "0.44 meters"
+     },
+     "longest dimension": "0.87 meters"
+    }
+   ]
+  },
+  "table": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-3.36 meters",
+      "y coordinate": "1.65 meters",
+      "height above floor": "0.38 meters"
+     },
+     "longest dimension": "1.05 meters"
+    }
+   ]
+  }
+ },
+ "room": {
+  "floor area": "17.6 square meters"
+ },
+ "closest classes distance meters from": {
+  "refrigerator": {
+   "dishwasher": {
+    "distance": "1.78 meters",
+    "closeness rank": 1
+   },
+   "table": {
+    "distance": "2.26 meters",
+    "closeness rank": 2
+   },
+   "chair": {
+    "distance": "2.93 meters",
+    "closeness rank": 3
+   },
+   "washer": {
+    "distance": "2.39 meters",
+    "closeness rank": 4
+   }
+  },
+  "dishwasher": {
+   "washer": {
+    "distance": "0.56 meters",
+    "closeness rank": 1
+   },
+   "chair": {
+    "distance": "2.42 meters",
+    "closeness rank": 2
+   },
+   "refrigerator": {
+    "distance": "1.78 meters",
+    "closeness rank": 3
+   },
+   "table": {
+    "distance": "2.0 meters",
+    "closeness rank": 4
+   }
+  },
+  "washer": {
+   "dishwasher": {
+    "distance": "0.56 meters",
+    "closeness rank": 1
+   },
+   "chair": {
+    "distance": "1.25 meters",
+    "closeness rank": 2
+   },
+   "table": {
+    "distance": "1.0 meters",
+    "closeness rank": 3
+   },
+   "refrigerator": {
+    "distance": "2.39 meters",
+    "closeness rank": 4
+   }
+  },
+  "chair": {
+   "table": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "washer": {
+    "distance": "1.25 meters",
+    "closeness rank": 2
+   },
+   "dishwasher": {
+    "distance": "2.42 meters",
+    "closeness rank": 3
+   },
+   "refrigerator": {
+    "distance": "2.93 meters",
+    "closeness rank": 4
+   }
+  },
+  "table": {
+   "chair": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "washer": {
+    "distance": "1.0 meters",
+    "closeness rank": 2
+   },
+   "dishwasher": {
+    "distance": "2.0 meters",
+    "closeness rank": 3
+   },
+   "refrigerator": {
+    "distance": "2.26 meters",
+    "closeness rank": 4
+   }
+  }
+ },
+ "appearance order": ["refrigerator", "dishwasher", "washer", "chair", "table"]
+}
\ No newline at end of file
diff --git a/data/spatial codes/ground truth/explicit/42445026.json b/data/spatial codes/ground truth/explicit/42445026.json
new file mode 100644
index 0000000000000000000000000000000000000000..351fdb21ef56853305b0bbd6e1838f483f26e31e
--- /dev/null
+++ b/data/spatial codes/ground truth/explicit/42445026.json	
@@ -0,0 +1,174 @@
+{
+ "spatial code schema": {
+  "objects": {
+   "<object class>": {
+    "count": {
+     "unit": null,
+     "description": "number of instances of this class in the compact spatial code (that schema's per-class oriented-box list length)"
+    },
+    "instances": [
+     {
+      "position": {
+       "x coordinate": {
+        "unit": "meters",
+        "description": "x coordinate of this instance's compact 3D oriented bounding box center"
+       },
+       "y coordinate": {
+        "unit": "meters",
+        "description": "y coordinate of this instance's compact 3D oriented bounding box center"
+       },
+       "height above floor": {
+        "unit": "meters",
+        "description": "height coordinate of this instance's compact 3D oriented bounding box center"
+       }
+      },
+      "longest dimension": {
+       "unit": "meters",
+       "description": "longest of this instance's compact 3D oriented bounding box dimensions"
+      }
+     }
+    ]
+   }
+  },
+  "room": {
+   "floor area": {
+    "unit": "square meters",
+    "description": "shoelace area of the compact spatial code's floor boundary polygons, with every interior hole subtracted"
+   }
+  },
+  "closest classes distance meters from": {
+   "<object class>": {
+    "<other object class>": {
+     "distance": {
+      "unit": "meters",
+      "description": "estimated distance in meters between an object of this class and an object of the other class"
+     },
+     "closeness rank": {
+      "unit": null,
+      "description": "1 = the nearest other class to this one, 2 = second-nearest, and so on; ranked by nearest-instance proximity, so use the rank (not the distance values) to compare which class is closest"
+     }
+    }
+   }
+  },
+  "appearance order": {
+   "unit": null,
+   "description": "class names ordered by earliest compact 'first visible time' across all of that class's instances"
+  }
+ },
+ "objects": {
+  "tv": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-0.59 meters",
+      "y coordinate": "2.85 meters",
+      "height above floor": "1.04 meters"
+     },
+     "longest dimension": "0.96 meters"
+    }
+   ]
+  },
+  "sofa": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "1.08 meters",
+      "y coordinate": "3.16 meters",
+      "height above floor": "0.42 meters"
+     },
+     "longest dimension": "1.56 meters"
+    }
+   ]
+  },
+  "table": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "1.43 meters",
+      "y coordinate": "1.48 meters",
+      "height above floor": "0.37 meters"
+     },
+     "longest dimension": "1.28 meters"
+    }
+   ]
+  },
+  "chair": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "1.57 meters",
+      "y coordinate": "1.65 meters",
+      "height above floor": "0.35 meters"
+     },
+     "longest dimension": "0.69 meters"
+    }
+   ]
+  }
+ },
+ "room": {
+  "floor area": "11.7 square meters"
+ },
+ "closest classes distance meters from": {
+  "tv": {
+   "sofa": {
+    "distance": "1.18 meters",
+    "closeness rank": 1
+   },
+   "table": {
+    "distance": "1.44 meters",
+    "closeness rank": 2
+   },
+   "chair": {
+    "distance": "1.79 meters",
+    "closeness rank": 3
+   }
+  },
+  "sofa": {
+   "chair": {
+    "distance": "0.49 meters",
+    "closeness rank": 1
+   },
+   "table": {
+    "distance": "0.63 meters",
+    "closeness rank": 2
+   },
+   "tv": {
+    "distance": "1.18 meters",
+    "closeness rank": 3
+   }
+  },
+  "table": {
+   "chair": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "sofa": {
+    "distance": "0.63 meters",
+    "closeness rank": 2
+   },
+   "tv": {
+    "distance": "1.44 meters",
+    "closeness rank": 3
+   }
+  },
+  "chair": {
+   "table": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "sofa": {
+    "distance": "0.49 meters",
+    "closeness rank": 2
+   },
+   "tv": {
+    "distance": "1.79 meters",
+    "closeness rank": 3
+   }
+  }
+ },
+ "appearance order": ["tv", "sofa", "table", "chair"]
+}
\ No newline at end of file
diff --git a/data/spatial codes/ground truth/explicit/42445031.json b/data/spatial codes/ground truth/explicit/42445031.json
new file mode 100644
index 0000000000000000000000000000000000000000..22aa187c9d607a5c345ab671acaf4864a03752ef
--- /dev/null
+++ b/data/spatial codes/ground truth/explicit/42445031.json	
@@ -0,0 +1,135 @@
+{
+ "spatial code schema": {
+  "objects": {
+   "<object class>": {
+    "count": {
+     "unit": null,
+     "description": "number of instances of this class in the compact spatial code (that schema's per-class oriented-box list length)"
+    },
+    "instances": [
+     {
+      "position": {
+       "x coordinate": {
+        "unit": "meters",
+        "description": "x coordinate of this instance's compact 3D oriented bounding box center"
+       },
+       "y coordinate": {
+        "unit": "meters",
+        "description": "y coordinate of this instance's compact 3D oriented bounding box center"
+       },
+       "height above floor": {
+        "unit": "meters",
+        "description": "height coordinate of this instance's compact 3D oriented bounding box center"
+       }
+      },
+      "longest dimension": {
+       "unit": "meters",
+       "description": "longest of this instance's compact 3D oriented bounding box dimensions"
+      }
+     }
+    ]
+   }
+  },
+  "room": {
+   "floor area": {
+    "unit": "square meters",
+    "description": "shoelace area of the compact spatial code's floor boundary polygons, with every interior hole subtracted"
+   }
+  },
+  "closest classes distance meters from": {
+   "<object class>": {
+    "<other object class>": {
+     "distance": {
+      "unit": "meters",
+      "description": "estimated distance in meters between an object of this class and an object of the other class"
+     },
+     "closeness rank": {
+      "unit": null,
+      "description": "1 = the nearest other class to this one, 2 = second-nearest, and so on; ranked by nearest-instance proximity, so use the rank (not the distance values) to compare which class is closest"
+     }
+    }
+   }
+  },
+  "appearance order": {
+   "unit": null,
+   "description": "class names ordered by earliest compact 'first visible time' across all of that class's instances"
+  }
+ },
+ "objects": {
+  "bed": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-1.43 meters",
+      "y coordinate": "3.52 meters",
+      "height above floor": "0.28 meters"
+     },
+     "longest dimension": "2.06 meters"
+    }
+   ]
+  },
+  "tv": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-1.32 meters",
+      "y coordinate": "1.8 meters",
+      "height above floor": "1.12 meters"
+     },
+     "longest dimension": "1.15 meters"
+    }
+   ]
+  },
+  "table": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "1.49 meters",
+      "y coordinate": "4.02 meters",
+      "height above floor": "0.36 meters"
+     },
+     "longest dimension": "1.05 meters"
+    }
+   ]
+  }
+ },
+ "room": {
+  "floor area": "19.2 square meters"
+ },
+ "closest classes distance meters from": {
+  "bed": {
+   "tv": {
+    "distance": "0.63 meters",
+    "closeness rank": 1
+   },
+   "table": {
+    "distance": "1.83 meters",
+    "closeness rank": 2
+   }
+  },
+  "tv": {
+   "bed": {
+    "distance": "0.63 meters",
+    "closeness rank": 1
+   },
+   "table": {
+    "distance": "2.56 meters",
+    "closeness rank": 2
+   }
+  },
+  "table": {
+   "bed": {
+    "distance": "1.83 meters",
+    "closeness rank": 1
+   },
+   "tv": {
+    "distance": "2.56 meters",
+    "closeness rank": 2
+   }
+  }
+ },
+ "appearance order": ["bed", "tv", "table"]
+}
\ No newline at end of file
diff --git a/data/spatial codes/ground truth/explicit/42445429.json b/data/spatial codes/ground truth/explicit/42445429.json
new file mode 100644
index 0000000000000000000000000000000000000000..e78f27b7cb946ab4200bae458525906a440911e0
--- /dev/null
+++ b/data/spatial codes/ground truth/explicit/42445429.json	
@@ -0,0 +1,135 @@
+{
+ "spatial code schema": {
+  "objects": {
+   "<object class>": {
+    "count": {
+     "unit": null,
+     "description": "number of instances of this class in the compact spatial code (that schema's per-class oriented-box list length)"
+    },
+    "instances": [
+     {
+      "position": {
+       "x coordinate": {
+        "unit": "meters",
+        "description": "x coordinate of this instance's compact 3D oriented bounding box center"
+       },
+       "y coordinate": {
+        "unit": "meters",
+        "description": "y coordinate of this instance's compact 3D oriented bounding box center"
+       },
+       "height above floor": {
+        "unit": "meters",
+        "description": "height coordinate of this instance's compact 3D oriented bounding box center"
+       }
+      },
+      "longest dimension": {
+       "unit": "meters",
+       "description": "longest of this instance's compact 3D oriented bounding box dimensions"
+      }
+     }
+    ]
+   }
+  },
+  "room": {
+   "floor area": {
+    "unit": "square meters",
+    "description": "shoelace area of the compact spatial code's floor boundary polygons, with every interior hole subtracted"
+   }
+  },
+  "closest classes distance meters from": {
+   "<object class>": {
+    "<other object class>": {
+     "distance": {
+      "unit": "meters",
+      "description": "estimated distance in meters between an object of this class and an object of the other class"
+     },
+     "closeness rank": {
+      "unit": null,
+      "description": "1 = the nearest other class to this one, 2 = second-nearest, and so on; ranked by nearest-instance proximity, so use the rank (not the distance values) to compare which class is closest"
+     }
+    }
+   }
+  },
+  "appearance order": {
+   "unit": null,
+   "description": "class names ordered by earliest compact 'first visible time' across all of that class's instances"
+  }
+ },
+ "objects": {
+  "sofa": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-3.04 meters",
+      "y coordinate": "-1.46 meters",
+      "height above floor": "0.42 meters"
+     },
+     "longest dimension": "1.9 meters"
+    }
+   ]
+  },
+  "table": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-3.43 meters",
+      "y coordinate": "-0.25 meters",
+      "height above floor": "0.21 meters"
+     },
+     "longest dimension": "0.56 meters"
+    }
+   ]
+  },
+  "tv": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-3.1 meters",
+      "y coordinate": "1.52 meters",
+      "height above floor": "1.0 meters"
+     },
+     "longest dimension": "1.08 meters"
+    }
+   ]
+  }
+ },
+ "room": {
+  "floor area": "16.2 square meters"
+ },
+ "closest classes distance meters from": {
+  "sofa": {
+   "table": {
+    "distance": "0.35 meters",
+    "closeness rank": 1
+   },
+   "tv": {
+    "distance": "2.38 meters",
+    "closeness rank": 2
+   }
+  },
+  "table": {
+   "sofa": {
+    "distance": "0.35 meters",
+    "closeness rank": 1
+   },
+   "tv": {
+    "distance": "1.51 meters",
+    "closeness rank": 2
+   }
+  },
+  "tv": {
+   "table": {
+    "distance": "1.51 meters",
+    "closeness rank": 1
+   },
+   "sofa": {
+    "distance": "2.38 meters",
+    "closeness rank": 2
+   }
+  }
+ },
+ "appearance order": ["sofa", "table", "tv"]
+}
\ No newline at end of file
diff --git a/data/spatial codes/ground truth/explicit/42445981.json b/data/spatial codes/ground truth/explicit/42445981.json
new file mode 100644
index 0000000000000000000000000000000000000000..586b7da5e501f0025d96df048ae15cce5a4b7208
--- /dev/null
+++ b/data/spatial codes/ground truth/explicit/42445981.json	
@@ -0,0 +1,238 @@
+{
+ "spatial code schema": {
+  "objects": {
+   "<object class>": {
+    "count": {
+     "unit": null,
+     "description": "number of instances of this class in the compact spatial code (that schema's per-class oriented-box list length)"
+    },
+    "instances": [
+     {
+      "position": {
+       "x coordinate": {
+        "unit": "meters",
+        "description": "x coordinate of this instance's compact 3D oriented bounding box center"
+       },
+       "y coordinate": {
+        "unit": "meters",
+        "description": "y coordinate of this instance's compact 3D oriented bounding box center"
+       },
+       "height above floor": {
+        "unit": "meters",
+        "description": "height coordinate of this instance's compact 3D oriented bounding box center"
+       }
+      },
+      "longest dimension": {
+       "unit": "meters",
+       "description": "longest of this instance's compact 3D oriented bounding box dimensions"
+      }
+     }
+    ]
+   }
+  },
+  "room": {
+   "floor area": {
+    "unit": "square meters",
+    "description": "shoelace area of the compact spatial code's floor boundary polygons, with every interior hole subtracted"
+   }
+  },
+  "closest classes distance meters from": {
+   "<object class>": {
+    "<other object class>": {
+     "distance": {
+      "unit": "meters",
+      "description": "estimated distance in meters between an object of this class and an object of the other class"
+     },
+     "closeness rank": {
+      "unit": null,
+      "description": "1 = the nearest other class to this one, 2 = second-nearest, and so on; ranked by nearest-instance proximity, so use the rank (not the distance values) to compare which class is closest"
+     }
+    }
+   }
+  },
+  "appearance order": {
+   "unit": null,
+   "description": "class names ordered by earliest compact 'first visible time' across all of that class's instances"
+  }
+ },
+ "objects": {
+  "sofa": {
+   "count": 2,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-2.38 meters",
+      "y coordinate": "1.73 meters",
+      "height above floor": "0.46 meters"
+     },
+     "longest dimension": "1.5 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-0.83 meters",
+      "y coordinate": "2.87 meters",
+      "height above floor": "0.52 meters"
+     },
+     "longest dimension": "2.08 meters"
+    }
+   ]
+  },
+  "table": {
+   "count": 4,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-3.55 meters",
+      "y coordinate": "2.57 meters",
+      "height above floor": "0.23 meters"
+     },
+     "longest dimension": "0.56 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-2.36 meters",
+      "y coordinate": "3.26 meters",
+      "height above floor": "0.23 meters"
+     },
+     "longest dimension": "0.91 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "0.0 meters",
+      "y coordinate": "2.49 meters",
+      "height above floor": "0.43 meters"
+     },
+     "longest dimension": "1.18 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "1.06 meters",
+      "y coordinate": "0.91 meters",
+      "height above floor": "0.28 meters"
+     },
+     "longest dimension": "0.57 meters"
+    }
+   ]
+  },
+  "tv": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-3.65 meters",
+      "y coordinate": "2.67 meters",
+      "height above floor": "0.93 meters"
+     },
+     "longest dimension": "1.0 meters"
+    }
+   ]
+  },
+  "chair": {
+   "count": 5,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-0.08 meters",
+      "y coordinate": "3.06 meters",
+      "height above floor": "0.5 meters"
+     },
+     "longest dimension": "0.88 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "0.34 meters",
+      "y coordinate": "2.72 meters",
+      "height above floor": "0.49 meters"
+     },
+     "longest dimension": "0.85 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "0.32 meters",
+      "y coordinate": "2.32 meters",
+      "height above floor": "0.49 meters"
+     },
+     "longest dimension": "0.86 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-0.12 meters",
+      "y coordinate": "1.98 meters",
+      "height above floor": "0.51 meters"
+     },
+     "longest dimension": "0.89 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "0.9 meters",
+      "y coordinate": "0.89 meters",
+      "height above floor": "0.32 meters"
+     },
+     "longest dimension": "0.52 meters"
+    }
+   ]
+  }
+ },
+ "room": {
+  "floor area": "20.0 square meters"
+ },
+ "closest classes distance meters from": {
+  "sofa": {
+   "table": {
+    "distance": "0.43 meters",
+    "closeness rank": 1
+   },
+   "chair": {
+    "distance": "1.47 meters",
+    "closeness rank": 2
+   },
+   "tv": {
+    "distance": "0.5 meters",
+    "closeness rank": 3
+   }
+  },
+  "table": {
+   "chair": {
+    "distance": "2.79 meters",
+    "closeness rank": 1
+   },
+   "sofa": {
+    "distance": "0.43 meters",
+    "closeness rank": 2
+   },
+   "tv": {
+    "distance": "0.23 meters",
+    "closeness rank": 3
+   }
+  },
+  "tv": {
+   "table": {
+    "distance": "0.23 meters",
+    "closeness rank": 1
+   },
+   "sofa": {
+    "distance": "0.5 meters",
+    "closeness rank": 2
+   },
+   "chair": {
+    "distance": "3.27 meters",
+    "closeness rank": 3
+   }
+  },
+  "chair": {
+   "table": {
+    "distance": "2.79 meters",
+    "closeness rank": 1
+   },
+   "sofa": {
+    "distance": "1.47 meters",
+    "closeness rank": 2
+   },
+   "tv": {
+    "distance": "3.27 meters",
+    "closeness rank": 3
+   }
+  }
+ },
+ "appearance order": ["sofa", "table", "tv", "chair"]
+}
\ No newline at end of file
diff --git a/data/spatial codes/ground truth/explicit/42445984.json b/data/spatial codes/ground truth/explicit/42445984.json
new file mode 100644
index 0000000000000000000000000000000000000000..63184a243bf574c76e9f10f6157af4f9e12fdf5e
--- /dev/null
+++ b/data/spatial codes/ground truth/explicit/42445984.json	
@@ -0,0 +1,223 @@
+{
+ "spatial code schema": {
+  "objects": {
+   "<object class>": {
+    "count": {
+     "unit": null,
+     "description": "number of instances of this class in the compact spatial code (that schema's per-class oriented-box list length)"
+    },
+    "instances": [
+     {
+      "position": {
+       "x coordinate": {
+        "unit": "meters",
+        "description": "x coordinate of this instance's compact 3D oriented bounding box center"
+       },
+       "y coordinate": {
+        "unit": "meters",
+        "description": "y coordinate of this instance's compact 3D oriented bounding box center"
+       },
+       "height above floor": {
+        "unit": "meters",
+        "description": "height coordinate of this instance's compact 3D oriented bounding box center"
+       }
+      },
+      "longest dimension": {
+       "unit": "meters",
+       "description": "longest of this instance's compact 3D oriented bounding box dimensions"
+      }
+     }
+    ]
+   }
+  },
+  "room": {
+   "floor area": {
+    "unit": "square meters",
+    "description": "shoelace area of the compact spatial code's floor boundary polygons, with every interior hole subtracted"
+   }
+  },
+  "closest classes distance meters from": {
+   "<object class>": {
+    "<other object class>": {
+     "distance": {
+      "unit": "meters",
+      "description": "estimated distance in meters between an object of this class and an object of the other class"
+     },
+     "closeness rank": {
+      "unit": null,
+      "description": "1 = the nearest other class to this one, 2 = second-nearest, and so on; ranked by nearest-instance proximity, so use the rank (not the distance values) to compare which class is closest"
+     }
+    }
+   }
+  },
+  "appearance order": {
+   "unit": null,
+   "description": "class names ordered by earliest compact 'first visible time' across all of that class's instances"
+  }
+ },
+ "objects": {
+  "table": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "2.51 meters",
+      "y coordinate": "0.99 meters",
+      "height above floor": "0.37 meters"
+     },
+     "longest dimension": "3.56 meters"
+    }
+   ]
+  },
+  "chair": {
+   "count": 12,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "2.28 meters",
+      "y coordinate": "-0.53 meters",
+      "height above floor": "0.45 meters"
+     },
+     "longest dimension": "0.89 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "2.23 meters",
+      "y coordinate": "0.08 meters",
+      "height above floor": "0.45 meters"
+     },
+     "longest dimension": "0.89 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "2.15 meters",
+      "y coordinate": "0.62 meters",
+      "height above floor": "0.45 meters"
+     },
+     "longest dimension": "0.89 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "2.15 meters",
+      "y coordinate": "1.2 meters",
+      "height above floor": "0.45 meters"
+     },
+     "longest dimension": "0.89 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "2.01 meters",
+      "y coordinate": "1.7 meters",
+      "height above floor": "0.45 meters"
+     },
+     "longest dimension": "0.89 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "2.88 meters",
+      "y coordinate": "-0.83 meters",
+      "height above floor": "0.47 meters"
+     },
+     "longest dimension": "0.93 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "3.31 meters",
+      "y coordinate": "-0.3 meters",
+      "height above floor": "0.47 meters"
+     },
+     "longest dimension": "0.93 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "3.07 meters",
+      "y coordinate": "0.49 meters",
+      "height above floor": "0.47 meters"
+     },
+     "longest dimension": "0.93 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "3.0 meters",
+      "y coordinate": "1.32 meters",
+      "height above floor": "0.47 meters"
+     },
+     "longest dimension": "0.94 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "1.45 meters",
+      "y coordinate": "-0.81 meters",
+      "height above floor": "0.48 meters"
+     },
+     "longest dimension": "0.92 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "1.54 meters",
+      "y coordinate": "-1.3 meters",
+      "height above floor": "0.48 meters"
+     },
+     "longest dimension": "0.92 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "2.86 meters",
+      "y coordinate": "2.54 meters",
+      "height above floor": "0.47 meters"
+     },
+     "longest dimension": "0.94 meters"
+    }
+   ]
+  },
+  "fireplace": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "4.1 meters",
+      "y coordinate": "1.31 meters",
+      "height above floor": "0.65 meters"
+     },
+     "longest dimension": "1.85 meters"
+    }
+   ]
+  }
+ },
+ "room": {
+  "floor area": "24.9 square meters"
+ },
+ "closest classes distance meters from": {
+  "table": {
+   "chair": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "fireplace": {
+    "distance": "0.61 meters",
+    "closeness rank": 2
+   }
+  },
+  "chair": {
+   "table": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "fireplace": {
+    "distance": "1.23 meters",
+    "closeness rank": 2
+   }
+  },
+  "fireplace": {
+   "chair": {
+    "distance": "1.23 meters",
+    "closeness rank": 1
+   },
+   "table": {
+    "distance": "0.61 meters",
+    "closeness rank": 2
+   }
+  }
+ },
+ "appearance order": ["table", "chair", "fireplace"]
+}
\ No newline at end of file
diff --git a/data/spatial codes/ground truth/explicit/42446049.json b/data/spatial codes/ground truth/explicit/42446049.json
new file mode 100644
index 0000000000000000000000000000000000000000..50ba61e82e3a07ad357f4586ab07575700610a97
--- /dev/null
+++ b/data/spatial codes/ground truth/explicit/42446049.json	
@@ -0,0 +1,135 @@
+{
+ "spatial code schema": {
+  "objects": {
+   "<object class>": {
+    "count": {
+     "unit": null,
+     "description": "number of instances of this class in the compact spatial code (that schema's per-class oriented-box list length)"
+    },
+    "instances": [
+     {
+      "position": {
+       "x coordinate": {
+        "unit": "meters",
+        "description": "x coordinate of this instance's compact 3D oriented bounding box center"
+       },
+       "y coordinate": {
+        "unit": "meters",
+        "description": "y coordinate of this instance's compact 3D oriented bounding box center"
+       },
+       "height above floor": {
+        "unit": "meters",
+        "description": "height coordinate of this instance's compact 3D oriented bounding box center"
+       }
+      },
+      "longest dimension": {
+       "unit": "meters",
+       "description": "longest of this instance's compact 3D oriented bounding box dimensions"
+      }
+     }
+    ]
+   }
+  },
+  "room": {
+   "floor area": {
+    "unit": "square meters",
+    "description": "shoelace area of the compact spatial code's floor boundary polygons, with every interior hole subtracted"
+   }
+  },
+  "closest classes distance meters from": {
+   "<object class>": {
+    "<other object class>": {
+     "distance": {
+      "unit": "meters",
+      "description": "estimated distance in meters between an object of this class and an object of the other class"
+     },
+     "closeness rank": {
+      "unit": null,
+      "description": "1 = the nearest other class to this one, 2 = second-nearest, and so on; ranked by nearest-instance proximity, so use the rank (not the distance values) to compare which class is closest"
+     }
+    }
+   }
+  },
+  "appearance order": {
+   "unit": null,
+   "description": "class names ordered by earliest compact 'first visible time' across all of that class's instances"
+  }
+ },
+ "objects": {
+  "refrigerator": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "0.81 meters",
+      "y coordinate": "0.69 meters",
+      "height above floor": "0.93 meters"
+     },
+     "longest dimension": "1.86 meters"
+    }
+   ]
+  },
+  "washer": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "2.41 meters",
+      "y coordinate": "0.78 meters",
+      "height above floor": "0.47 meters"
+     },
+     "longest dimension": "0.94 meters"
+    }
+   ]
+  },
+  "stove": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "2.29 meters",
+      "y coordinate": "-0.69 meters",
+      "height above floor": "0.93 meters"
+     },
+     "longest dimension": "0.89 meters"
+    }
+   ]
+  }
+ },
+ "room": {
+  "floor area": "10.6 square meters"
+ },
+ "closest classes distance meters from": {
+  "refrigerator": {
+   "washer": {
+    "distance": "0.97 meters",
+    "closeness rank": 1
+   },
+   "stove": {
+    "distance": "1.04 meters",
+    "closeness rank": 2
+   }
+  },
+  "washer": {
+   "stove": {
+    "distance": "0.85 meters",
+    "closeness rank": 1
+   },
+   "refrigerator": {
+    "distance": "0.97 meters",
+    "closeness rank": 2
+   }
+  },
+  "stove": {
+   "washer": {
+    "distance": "0.85 meters",
+    "closeness rank": 1
+   },
+   "refrigerator": {
+    "distance": "1.04 meters",
+    "closeness rank": 2
+   }
+  }
+ },
+ "appearance order": ["refrigerator", "washer", "stove"]
+}
\ No newline at end of file
diff --git a/data/spatial codes/ground truth/explicit/42446056.json b/data/spatial codes/ground truth/explicit/42446056.json
new file mode 100644
index 0000000000000000000000000000000000000000..ecf6b9b6eb63d0880d80213ab753972fa2fd0bc8
--- /dev/null
+++ b/data/spatial codes/ground truth/explicit/42446056.json	
@@ -0,0 +1,159 @@
+{
+ "spatial code schema": {
+  "objects": {
+   "<object class>": {
+    "count": {
+     "unit": null,
+     "description": "number of instances of this class in the compact spatial code (that schema's per-class oriented-box list length)"
+    },
+    "instances": [
+     {
+      "position": {
+       "x coordinate": {
+        "unit": "meters",
+        "description": "x coordinate of this instance's compact 3D oriented bounding box center"
+       },
+       "y coordinate": {
+        "unit": "meters",
+        "description": "y coordinate of this instance's compact 3D oriented bounding box center"
+       },
+       "height above floor": {
+        "unit": "meters",
+        "description": "height coordinate of this instance's compact 3D oriented bounding box center"
+       }
+      },
+      "longest dimension": {
+       "unit": "meters",
+       "description": "longest of this instance's compact 3D oriented bounding box dimensions"
+      }
+     }
+    ]
+   }
+  },
+  "room": {
+   "floor area": {
+    "unit": "square meters",
+    "description": "shoelace area of the compact spatial code's floor boundary polygons, with every interior hole subtracted"
+   }
+  },
+  "closest classes distance meters from": {
+   "<object class>": {
+    "<other object class>": {
+     "distance": {
+      "unit": "meters",
+      "description": "estimated distance in meters between an object of this class and an object of the other class"
+     },
+     "closeness rank": {
+      "unit": null,
+      "description": "1 = the nearest other class to this one, 2 = second-nearest, and so on; ranked by nearest-instance proximity, so use the rank (not the distance values) to compare which class is closest"
+     }
+    }
+   }
+  },
+  "appearance order": {
+   "unit": null,
+   "description": "class names ordered by earliest compact 'first visible time' across all of that class's instances"
+  }
+ },
+ "objects": {
+  "chair": {
+   "count": 3,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-1.17 meters",
+      "y coordinate": "1.2 meters",
+      "height above floor": "0.44 meters"
+     },
+     "longest dimension": "0.99 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-2.13 meters",
+      "y coordinate": "3.9 meters",
+      "height above floor": "0.26 meters"
+     },
+     "longest dimension": "0.5 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-1.22 meters",
+      "y coordinate": "3.59 meters",
+      "height above floor": "0.32 meters"
+     },
+     "longest dimension": "0.61 meters"
+    }
+   ]
+  },
+  "bed": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-2.66 meters",
+      "y coordinate": "1.16 meters",
+      "height above floor": "0.19 meters"
+     },
+     "longest dimension": "1.73 meters"
+    }
+   ]
+  },
+  "table": {
+   "count": 2,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-1.71 meters",
+      "y coordinate": "3.75 meters",
+      "height above floor": "0.2 meters"
+     },
+     "longest dimension": "0.49 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "0.63 meters",
+      "y coordinate": "3.18 meters",
+      "height above floor": "0.35 meters"
+     },
+     "longest dimension": "0.68 meters"
+    }
+   ]
+  }
+ },
+ "room": {
+  "floor area": "27.0 square meters"
+ },
+ "closest classes distance meters from": {
+  "chair": {
+   "table": {
+    "distance": "1.88 meters",
+    "closeness rank": 1
+   },
+   "bed": {
+    "distance": "0.26 meters",
+    "closeness rank": 2
+   }
+  },
+  "bed": {
+   "chair": {
+    "distance": "0.26 meters",
+    "closeness rank": 1
+   },
+   "table": {
+    "distance": "1.88 meters",
+    "closeness rank": 2
+   }
+  },
+  "table": {
+   "chair": {
+    "distance": "1.88 meters",
+    "closeness rank": 1
+   },
+   "bed": {
+    "distance": "1.88 meters",
+    "closeness rank": 2
+   }
+  }
+ },
+ "appearance order": ["chair", "bed", "table"]
+}
\ No newline at end of file
diff --git a/data/spatial codes/ground truth/explicit/42446103.json b/data/spatial codes/ground truth/explicit/42446103.json
new file mode 100644
index 0000000000000000000000000000000000000000..9c272cb6cf386caf4419c0cccef9f44f068ec699
--- /dev/null
+++ b/data/spatial codes/ground truth/explicit/42446103.json	
@@ -0,0 +1,308 @@
+{
+ "spatial code schema": {
+  "objects": {
+   "<object class>": {
+    "count": {
+     "unit": null,
+     "description": "number of instances of this class in the compact spatial code (that schema's per-class oriented-box list length)"
+    },
+    "instances": [
+     {
+      "position": {
+       "x coordinate": {
+        "unit": "meters",
+        "description": "x coordinate of this instance's compact 3D oriented bounding box center"
+       },
+       "y coordinate": {
+        "unit": "meters",
+        "description": "y coordinate of this instance's compact 3D oriented bounding box center"
+       },
+       "height above floor": {
+        "unit": "meters",
+        "description": "height coordinate of this instance's compact 3D oriented bounding box center"
+       }
+      },
+      "longest dimension": {
+       "unit": "meters",
+       "description": "longest of this instance's compact 3D oriented bounding box dimensions"
+      }
+     }
+    ]
+   }
+  },
+  "room": {
+   "floor area": {
+    "unit": "square meters",
+    "description": "shoelace area of the compact spatial code's floor boundary polygons, with every interior hole subtracted"
+   }
+  },
+  "closest classes distance meters from": {
+   "<object class>": {
+    "<other object class>": {
+     "distance": {
+      "unit": "meters",
+      "description": "estimated distance in meters between an object of this class and an object of the other class"
+     },
+     "closeness rank": {
+      "unit": null,
+      "description": "1 = the nearest other class to this one, 2 = second-nearest, and so on; ranked by nearest-instance proximity, so use the rank (not the distance values) to compare which class is closest"
+     }
+    }
+   }
+  },
+  "appearance order": {
+   "unit": null,
+   "description": "class names ordered by earliest compact 'first visible time' across all of that class's instances"
+  }
+ },
+ "objects": {
+  "stove": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-2.2 meters",
+      "y coordinate": "8.32 meters",
+      "height above floor": "0.91 meters"
+     },
+     "longest dimension": "1.58 meters"
+    }
+   ]
+  },
+  "sofa": {
+   "count": 2,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-3.62 meters",
+      "y coordinate": "3.07 meters",
+      "height above floor": "0.46 meters"
+     },
+     "longest dimension": "2.82 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-2.68 meters",
+      "y coordinate": "2.14 meters",
+      "height above floor": "0.41 meters"
+     },
+     "longest dimension": "1.01 meters"
+    }
+   ]
+  },
+  "table": {
+   "count": 2,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-0.13 meters",
+      "y coordinate": "3.56 meters",
+      "height above floor": "0.42 meters"
+     },
+     "longest dimension": "1.15 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "0.46 meters",
+      "y coordinate": "2.55 meters",
+      "height above floor": "0.37 meters"
+     },
+     "longest dimension": "0.7 meters"
+    }
+   ]
+  },
+  "chair": {
+   "count": 3,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-0.44 meters",
+      "y coordinate": "4.18 meters",
+      "height above floor": "0.47 meters"
+     },
+     "longest dimension": "0.91 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-0.84 meters",
+      "y coordinate": "3.2 meters",
+      "height above floor": "0.43 meters"
+     },
+     "longest dimension": "0.81 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-0.01 meters",
+      "y coordinate": "2.9 meters",
+      "height above floor": "0.45 meters"
+     },
+     "longest dimension": "0.86 meters"
+    }
+   ]
+  },
+  "tv": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "0.61 meters",
+      "y coordinate": "3.37 meters",
+      "height above floor": "1.65 meters"
+     },
+     "longest dimension": "0.88 meters"
+    }
+   ]
+  },
+  "stool": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-2.56 meters",
+      "y coordinate": "4.3 meters",
+      "height above floor": "0.22 meters"
+     },
+     "longest dimension": "0.44 meters"
+    }
+   ]
+  }
+ },
+ "room": {
+  "floor area": "38.7 square meters"
+ },
+ "closest classes distance meters from": {
+  "stove": {
+   "chair": {
+    "distance": "3.47 meters",
+    "closeness rank": 1
+   },
+   "stool": {
+    "distance": "3.52 meters",
+    "closeness rank": 2
+   },
+   "sofa": {
+    "distance": "3.52 meters",
+    "closeness rank": 3
+   },
+   "table": {
+    "distance": "3.89 meters",
+    "closeness rank": 4
+   },
+   "tv": {
+    "distance": "4.61 meters",
+    "closeness rank": 5
+   }
+  },
+  "sofa": {
+   "stool": {
+    "distance": "0.35 meters",
+    "closeness rank": 1
+   },
+   "chair": {
+    "distance": "1.5 meters",
+    "closeness rank": 2
+   },
+   "table": {
+    "distance": "1.54 meters",
+    "closeness rank": 3
+   },
+   "tv": {
+    "distance": "2.84 meters",
+    "closeness rank": 4
+   },
+   "stove": {
+    "distance": "3.52 meters",
+    "closeness rank": 5
+   }
+  },
+  "table": {
+   "chair": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "tv": {
+    "distance": "0.58 meters",
+    "closeness rank": 2
+   },
+   "sofa": {
+    "distance": "1.54 meters",
+    "closeness rank": 3
+   },
+   "stool": {
+    "distance": "1.75 meters",
+    "closeness rank": 4
+   },
+   "stove": {
+    "distance": "3.89 meters",
+    "closeness rank": 5
+   }
+  },
+  "chair": {
+   "table": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "tv": {
+    "distance": "0.88 meters",
+    "closeness rank": 2
+   },
+   "sofa": {
+    "distance": "1.5 meters",
+    "closeness rank": 3
+   },
+   "stool": {
+    "distance": "1.46 meters",
+    "closeness rank": 4
+   },
+   "stove": {
+    "distance": "3.47 meters",
+    "closeness rank": 5
+   }
+  },
+  "tv": {
+   "table": {
+    "distance": "0.58 meters",
+    "closeness rank": 1
+   },
+   "chair": {
+    "distance": "0.88 meters",
+    "closeness rank": 2
+   },
+   "sofa": {
+    "distance": "2.84 meters",
+    "closeness rank": 3
+   },
+   "stool": {
+    "distance": "3.13 meters",
+    "closeness rank": 4
+   },
+   "stove": {
+    "distance": "4.61 meters",
+    "closeness rank": 5
+   }
+  },
+  "stool": {
+   "sofa": {
+    "distance": "0.35 meters",
+    "closeness rank": 1
+   },
+   "chair": {
+    "distance": "1.46 meters",
+    "closeness rank": 2
+   },
+   "table": {
+    "distance": "1.75 meters",
+    "closeness rank": 3
+   },
+   "tv": {
+    "distance": "3.13 meters",
+    "closeness rank": 4
+   },
+   "stove": {
+    "distance": "3.52 meters",
+    "closeness rank": 5
+   }
+  }
+ },
+ "appearance order": ["stove", "sofa", "table", "chair", "tv", "stool"]
+}
\ No newline at end of file
diff --git a/data/spatial codes/ground truth/explicit/42446116.json b/data/spatial codes/ground truth/explicit/42446116.json
new file mode 100644
index 0000000000000000000000000000000000000000..bd08245dfbfa58a2c0c9684d19bf9347eeca8869
--- /dev/null
+++ b/data/spatial codes/ground truth/explicit/42446116.json	
@@ -0,0 +1,80 @@
+{
+ "spatial code schema": {
+  "objects": {
+   "<object class>": {
+    "count": {
+     "unit": null,
+     "description": "number of instances of this class in the compact spatial code (that schema's per-class oriented-box list length)"
+    },
+    "instances": [
+     {
+      "position": {
+       "x coordinate": {
+        "unit": "meters",
+        "description": "x coordinate of this instance's compact 3D oriented bounding box center"
+       },
+       "y coordinate": {
+        "unit": "meters",
+        "description": "y coordinate of this instance's compact 3D oriented bounding box center"
+       },
+       "height above floor": {
+        "unit": "meters",
+        "description": "height coordinate of this instance's compact 3D oriented bounding box center"
+       }
+      },
+      "longest dimension": {
+       "unit": "meters",
+       "description": "longest of this instance's compact 3D oriented bounding box dimensions"
+      }
+     }
+    ]
+   }
+  },
+  "room": {
+   "floor area": {
+    "unit": "square meters",
+    "description": "shoelace area of the compact spatial code's floor boundary polygons, with every interior hole subtracted"
+   }
+  },
+  "closest classes distance meters from": {
+   "<object class>": {
+    "<other object class>": {
+     "distance": {
+      "unit": "meters",
+      "description": "estimated distance in meters between an object of this class and an object of the other class"
+     },
+     "closeness rank": {
+      "unit": null,
+      "description": "1 = the nearest other class to this one, 2 = second-nearest, and so on; ranked by nearest-instance proximity, so use the rank (not the distance values) to compare which class is closest"
+     }
+    }
+   }
+  },
+  "appearance order": {
+   "unit": null,
+   "description": "class names ordered by earliest compact 'first visible time' across all of that class's instances"
+  }
+ },
+ "objects": {
+  "bed": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-0.79 meters",
+      "y coordinate": "2.54 meters",
+      "height above floor": "0.24 meters"
+     },
+     "longest dimension": "2.15 meters"
+    }
+   ]
+  }
+ },
+ "room": {
+  "floor area": "14.9 square meters"
+ },
+ "closest classes distance meters from": {
+  "bed": {}
+ },
+ "appearance order": ["bed"]
+}
\ No newline at end of file
diff --git a/data/spatial codes/ground truth/explicit/42446151.json b/data/spatial codes/ground truth/explicit/42446151.json
new file mode 100644
index 0000000000000000000000000000000000000000..ed1ddac22889c61060f95aa4a7d468247c6ca45d
--- /dev/null
+++ b/data/spatial codes/ground truth/explicit/42446151.json	
@@ -0,0 +1,261 @@
+{
+ "spatial code schema": {
+  "objects": {
+   "<object class>": {
+    "count": {
+     "unit": null,
+     "description": "number of instances of this class in the compact spatial code (that schema's per-class oriented-box list length)"
+    },
+    "instances": [
+     {
+      "position": {
+       "x coordinate": {
+        "unit": "meters",
+        "description": "x coordinate of this instance's compact 3D oriented bounding box center"
+       },
+       "y coordinate": {
+        "unit": "meters",
+        "description": "y coordinate of this instance's compact 3D oriented bounding box center"
+       },
+       "height above floor": {
+        "unit": "meters",
+        "description": "height coordinate of this instance's compact 3D oriented bounding box center"
+       }
+      },
+      "longest dimension": {
+       "unit": "meters",
+       "description": "longest of this instance's compact 3D oriented bounding box dimensions"
+      }
+     }
+    ]
+   }
+  },
+  "room": {
+   "floor area": {
+    "unit": "square meters",
+    "description": "shoelace area of the compact spatial code's floor boundary polygons, with every interior hole subtracted"
+   }
+  },
+  "closest classes distance meters from": {
+   "<object class>": {
+    "<other object class>": {
+     "distance": {
+      "unit": "meters",
+      "description": "estimated distance in meters between an object of this class and an object of the other class"
+     },
+     "closeness rank": {
+      "unit": null,
+      "description": "1 = the nearest other class to this one, 2 = second-nearest, and so on; ranked by nearest-instance proximity, so use the rank (not the distance values) to compare which class is closest"
+     }
+    }
+   }
+  },
+  "appearance order": {
+   "unit": null,
+   "description": "class names ordered by earliest compact 'first visible time' across all of that class's instances"
+  }
+ },
+ "objects": {
+  "sofa": {
+   "count": 4,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-1.68 meters",
+      "y coordinate": "2.84 meters",
+      "height above floor": "0.51 meters"
+     },
+     "longest dimension": "1.87 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-3.29 meters",
+      "y coordinate": "3.7 meters",
+      "height above floor": "0.53 meters"
+     },
+     "longest dimension": "1.15 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "0.29 meters",
+      "y coordinate": "4.96 meters",
+      "height above floor": "0.4 meters"
+     },
+     "longest dimension": "0.64 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "0.24 meters",
+      "y coordinate": "3.78 meters",
+      "height above floor": "0.46 meters"
+     },
+     "longest dimension": "0.82 meters"
+    }
+   ]
+  },
+  "stool": {
+   "count": 2,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-2.64 meters",
+      "y coordinate": "3.23 meters",
+      "height above floor": "0.19 meters"
+     },
+     "longest dimension": "0.36 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-2.98 meters",
+      "y coordinate": "5.6 meters",
+      "height above floor": "0.31 meters"
+     },
+     "longest dimension": "0.5 meters"
+    }
+   ]
+  },
+  "table": {
+   "count": 2,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-3.59 meters",
+      "y coordinate": "4.81 meters",
+      "height above floor": "0.28 meters"
+     },
+     "longest dimension": "0.98 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "0.32 meters",
+      "y coordinate": "6.08 meters",
+      "height above floor": "0.26 meters"
+     },
+     "longest dimension": "1.11 meters"
+    }
+   ]
+  },
+  "fireplace": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-1.57 meters",
+      "y coordinate": "6.48 meters",
+      "height above floor": "0.9 meters"
+     },
+     "longest dimension": "2.19 meters"
+    }
+   ]
+  },
+  "tv": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "0.24 meters",
+      "y coordinate": "5.96 meters",
+      "height above floor": "0.79 meters"
+     },
+     "longest dimension": "0.92 meters"
+    }
+   ]
+  }
+ },
+ "room": {
+  "floor area": "26.6 square meters"
+ },
+ "closest classes distance meters from": {
+  "sofa": {
+   "stool": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "table": {
+    "distance": "1.33 meters",
+    "closeness rank": 2
+   },
+   "tv": {
+    "distance": "2.28 meters",
+    "closeness rank": 3
+   },
+   "fireplace": {
+    "distance": "1.63 meters",
+    "closeness rank": 4
+   }
+  },
+  "stool": {
+   "sofa": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "table": {
+    "distance": "1.18 meters",
+    "closeness rank": 2
+   },
+   "fireplace": {
+    "distance": "2.22 meters",
+    "closeness rank": 3
+   },
+   "tv": {
+    "distance": "3.37 meters",
+    "closeness rank": 4
+   }
+  },
+  "table": {
+   "sofa": {
+    "distance": "1.33 meters",
+    "closeness rank": 1
+   },
+   "tv": {
+    "distance": "3.08 meters",
+    "closeness rank": 2
+   },
+   "fireplace": {
+    "distance": "1.11 meters",
+    "closeness rank": 3
+   },
+   "stool": {
+    "distance": "1.18 meters",
+    "closeness rank": 4
+   }
+  },
+  "fireplace": {
+   "table": {
+    "distance": "1.11 meters",
+    "closeness rank": 1
+   },
+   "stool": {
+    "distance": "2.22 meters",
+    "closeness rank": 2
+   },
+   "tv": {
+    "distance": "0.35 meters",
+    "closeness rank": 3
+   },
+   "sofa": {
+    "distance": "1.63 meters",
+    "closeness rank": 4
+   }
+  },
+  "tv": {
+   "table": {
+    "distance": "3.08 meters",
+    "closeness rank": 1
+   },
+   "fireplace": {
+    "distance": "0.35 meters",
+    "closeness rank": 2
+   },
+   "sofa": {
+    "distance": "2.28 meters",
+    "closeness rank": 3
+   },
+   "stool": {
+    "distance": "3.37 meters",
+    "closeness rank": 4
+   }
+  }
+ },
+ "appearance order": ["sofa", "stool", "table", "fireplace", "tv"]
+}
\ No newline at end of file
diff --git a/data/spatial codes/ground truth/explicit/42446167.json b/data/spatial codes/ground truth/explicit/42446167.json
new file mode 100644
index 0000000000000000000000000000000000000000..f617364ae08e70e94e651733fe1e14712aff00d3
--- /dev/null
+++ b/data/spatial codes/ground truth/explicit/42446167.json	
@@ -0,0 +1,174 @@
+{
+ "spatial code schema": {
+  "objects": {
+   "<object class>": {
+    "count": {
+     "unit": null,
+     "description": "number of instances of this class in the compact spatial code (that schema's per-class oriented-box list length)"
+    },
+    "instances": [
+     {
+      "position": {
+       "x coordinate": {
+        "unit": "meters",
+        "description": "x coordinate of this instance's compact 3D oriented bounding box center"
+       },
+       "y coordinate": {
+        "unit": "meters",
+        "description": "y coordinate of this instance's compact 3D oriented bounding box center"
+       },
+       "height above floor": {
+        "unit": "meters",
+        "description": "height coordinate of this instance's compact 3D oriented bounding box center"
+       }
+      },
+      "longest dimension": {
+       "unit": "meters",
+       "description": "longest of this instance's compact 3D oriented bounding box dimensions"
+      }
+     }
+    ]
+   }
+  },
+  "room": {
+   "floor area": {
+    "unit": "square meters",
+    "description": "shoelace area of the compact spatial code's floor boundary polygons, with every interior hole subtracted"
+   }
+  },
+  "closest classes distance meters from": {
+   "<object class>": {
+    "<other object class>": {
+     "distance": {
+      "unit": "meters",
+      "description": "estimated distance in meters between an object of this class and an object of the other class"
+     },
+     "closeness rank": {
+      "unit": null,
+      "description": "1 = the nearest other class to this one, 2 = second-nearest, and so on; ranked by nearest-instance proximity, so use the rank (not the distance values) to compare which class is closest"
+     }
+    }
+   }
+  },
+  "appearance order": {
+   "unit": null,
+   "description": "class names ordered by earliest compact 'first visible time' across all of that class's instances"
+  }
+ },
+ "objects": {
+  "bed": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-3.37 meters",
+      "y coordinate": "1.85 meters",
+      "height above floor": "0.33 meters"
+     },
+     "longest dimension": "2.11 meters"
+    }
+   ]
+  },
+  "table": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-1.83 meters",
+      "y coordinate": "3.97 meters",
+      "height above floor": "0.38 meters"
+     },
+     "longest dimension": "1.45 meters"
+    }
+   ]
+  },
+  "toilet": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "0.54 meters",
+      "y coordinate": "4.14 meters",
+      "height above floor": "0.42 meters"
+     },
+     "longest dimension": "0.82 meters"
+    }
+   ]
+  },
+  "tv": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-0.08 meters",
+      "y coordinate": "1.54 meters",
+      "height above floor": "1.67 meters"
+     },
+     "longest dimension": "0.58 meters"
+    }
+   ]
+  }
+ },
+ "room": {
+  "floor area": "20.7 square meters"
+ },
+ "closest classes distance meters from": {
+  "bed": {
+   "table": {
+    "distance": "0.94 meters",
+    "closeness rank": 1
+   },
+   "tv": {
+    "distance": "2.33 meters",
+    "closeness rank": 2
+   },
+   "toilet": {
+    "distance": "3.07 meters",
+    "closeness rank": 3
+   }
+  },
+  "table": {
+   "bed": {
+    "distance": "0.94 meters",
+    "closeness rank": 1
+   },
+   "toilet": {
+    "distance": "1.33 meters",
+    "closeness rank": 2
+   },
+   "tv": {
+    "distance": "2.25 meters",
+    "closeness rank": 3
+   }
+  },
+  "toilet": {
+   "table": {
+    "distance": "1.33 meters",
+    "closeness rank": 1
+   },
+   "tv": {
+    "distance": "2.25 meters",
+    "closeness rank": 2
+   },
+   "bed": {
+    "distance": "3.07 meters",
+    "closeness rank": 3
+   }
+  },
+  "tv": {
+   "toilet": {
+    "distance": "2.25 meters",
+    "closeness rank": 1
+   },
+   "table": {
+    "distance": "2.25 meters",
+    "closeness rank": 2
+   },
+   "bed": {
+    "distance": "2.33 meters",
+    "closeness rank": 3
+   }
+  }
+ },
+ "appearance order": ["bed", "table", "toilet", "tv"]
+}
\ No newline at end of file
diff --git a/data/spatial codes/ground truth/explicit/42446517.json b/data/spatial codes/ground truth/explicit/42446517.json
new file mode 100644
index 0000000000000000000000000000000000000000..1780bfcbed4b6f299cfc0001c0a16e79a0a05c12
--- /dev/null
+++ b/data/spatial codes/ground truth/explicit/42446517.json	
@@ -0,0 +1,198 @@
+{
+ "spatial code schema": {
+  "objects": {
+   "<object class>": {
+    "count": {
+     "unit": null,
+     "description": "number of instances of this class in the compact spatial code (that schema's per-class oriented-box list length)"
+    },
+    "instances": [
+     {
+      "position": {
+       "x coordinate": {
+        "unit": "meters",
+        "description": "x coordinate of this instance's compact 3D oriented bounding box center"
+       },
+       "y coordinate": {
+        "unit": "meters",
+        "description": "y coordinate of this instance's compact 3D oriented bounding box center"
+       },
+       "height above floor": {
+        "unit": "meters",
+        "description": "height coordinate of this instance's compact 3D oriented bounding box center"
+       }
+      },
+      "longest dimension": {
+       "unit": "meters",
+       "description": "longest of this instance's compact 3D oriented bounding box dimensions"
+      }
+     }
+    ]
+   }
+  },
+  "room": {
+   "floor area": {
+    "unit": "square meters",
+    "description": "shoelace area of the compact spatial code's floor boundary polygons, with every interior hole subtracted"
+   }
+  },
+  "closest classes distance meters from": {
+   "<object class>": {
+    "<other object class>": {
+     "distance": {
+      "unit": "meters",
+      "description": "estimated distance in meters between an object of this class and an object of the other class"
+     },
+     "closeness rank": {
+      "unit": null,
+      "description": "1 = the nearest other class to this one, 2 = second-nearest, and so on; ranked by nearest-instance proximity, so use the rank (not the distance values) to compare which class is closest"
+     }
+    }
+   }
+  },
+  "appearance order": {
+   "unit": null,
+   "description": "class names ordered by earliest compact 'first visible time' across all of that class's instances"
+  }
+ },
+ "objects": {
+  "table": {
+   "count": 3,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "2.17 meters",
+      "y coordinate": "2.42 meters",
+      "height above floor": "0.37 meters"
+     },
+     "longest dimension": "1.03 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "3.2 meters",
+      "y coordinate": "0.36 meters",
+      "height above floor": "0.37 meters"
+     },
+     "longest dimension": "1.05 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "2.65 meters",
+      "y coordinate": "-0.14 meters",
+      "height above floor": "0.27 meters"
+     },
+     "longest dimension": "0.55 meters"
+    }
+   ]
+  },
+  "chair": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "3.04 meters",
+      "y coordinate": "0.82 meters",
+      "height above floor": "0.42 meters"
+     },
+     "longest dimension": "0.84 meters"
+    }
+   ]
+  },
+  "bed": {
+   "count": 2,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "1.6 meters",
+      "y coordinate": "0.33 meters",
+      "height above floor": "0.26 meters"
+     },
+     "longest dimension": "2.12 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "0.49 meters",
+      "y coordinate": "-0.27 meters",
+      "height above floor": "0.24 meters"
+     },
+     "longest dimension": "2.12 meters"
+    }
+   ]
+  },
+  "tv": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-0.36 meters",
+      "y coordinate": "1.24 meters",
+      "height above floor": "1.45 meters"
+     },
+     "longest dimension": "1.11 meters"
+    }
+   ]
+  }
+ },
+ "room": {
+  "floor area": "22.7 square meters"
+ },
+ "closest classes distance meters from": {
+  "table": {
+   "bed": {
+    "distance": "0.59 meters",
+    "closeness rank": 1
+   },
+   "chair": {
+    "distance": "0.89 meters",
+    "closeness rank": 2
+   },
+   "tv": {
+    "distance": "1.92 meters",
+    "closeness rank": 3
+   }
+  },
+  "chair": {
+   "table": {
+    "distance": "0.89 meters",
+    "closeness rank": 1
+   },
+   "bed": {
+    "distance": "0.6 meters",
+    "closeness rank": 2
+   },
+   "tv": {
+    "distance": "2.6 meters",
+    "closeness rank": 3
+   }
+  },
+  "bed": {
+   "table": {
+    "distance": "0.59 meters",
+    "closeness rank": 1
+   },
+   "chair": {
+    "distance": "0.6 meters",
+    "closeness rank": 2
+   },
+   "tv": {
+    "distance": "0.96 meters",
+    "closeness rank": 3
+   }
+  },
+  "tv": {
+   "bed": {
+    "distance": "0.96 meters",
+    "closeness rank": 1
+   },
+   "table": {
+    "distance": "1.92 meters",
+    "closeness rank": 2
+   },
+   "chair": {
+    "distance": "2.6 meters",
+    "closeness rank": 3
+   }
+  }
+ },
+ "appearance order": ["table", "chair", "bed", "tv"]
+}
\ No newline at end of file
diff --git a/data/spatial codes/ground truth/explicit/42446529.json b/data/spatial codes/ground truth/explicit/42446529.json
new file mode 100644
index 0000000000000000000000000000000000000000..78a65c28988f89517f5ba3b767e7efd8a1b1430f
--- /dev/null
+++ b/data/spatial codes/ground truth/explicit/42446529.json	
@@ -0,0 +1,135 @@
+{
+ "spatial code schema": {
+  "objects": {
+   "<object class>": {
+    "count": {
+     "unit": null,
+     "description": "number of instances of this class in the compact spatial code (that schema's per-class oriented-box list length)"
+    },
+    "instances": [
+     {
+      "position": {
+       "x coordinate": {
+        "unit": "meters",
+        "description": "x coordinate of this instance's compact 3D oriented bounding box center"
+       },
+       "y coordinate": {
+        "unit": "meters",
+        "description": "y coordinate of this instance's compact 3D oriented bounding box center"
+       },
+       "height above floor": {
+        "unit": "meters",
+        "description": "height coordinate of this instance's compact 3D oriented bounding box center"
+       }
+      },
+      "longest dimension": {
+       "unit": "meters",
+       "description": "longest of this instance's compact 3D oriented bounding box dimensions"
+      }
+     }
+    ]
+   }
+  },
+  "room": {
+   "floor area": {
+    "unit": "square meters",
+    "description": "shoelace area of the compact spatial code's floor boundary polygons, with every interior hole subtracted"
+   }
+  },
+  "closest classes distance meters from": {
+   "<object class>": {
+    "<other object class>": {
+     "distance": {
+      "unit": "meters",
+      "description": "estimated distance in meters between an object of this class and an object of the other class"
+     },
+     "closeness rank": {
+      "unit": null,
+      "description": "1 = the nearest other class to this one, 2 = second-nearest, and so on; ranked by nearest-instance proximity, so use the rank (not the distance values) to compare which class is closest"
+     }
+    }
+   }
+  },
+  "appearance order": {
+   "unit": null,
+   "description": "class names ordered by earliest compact 'first visible time' across all of that class's instances"
+  }
+ },
+ "objects": {
+  "bed": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "0.73 meters",
+      "y coordinate": "-0.3 meters",
+      "height above floor": "0.36 meters"
+     },
+     "longest dimension": "2.16 meters"
+    }
+   ]
+  },
+  "chair": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-2.72 meters",
+      "y coordinate": "0.35 meters",
+      "height above floor": "0.41 meters"
+     },
+     "longest dimension": "0.64 meters"
+    }
+   ]
+  },
+  "table": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-4.1 meters",
+      "y coordinate": "-0.64 meters",
+      "height above floor": "0.46 meters"
+     },
+     "longest dimension": "0.92 meters"
+    }
+   ]
+  }
+ },
+ "room": {
+  "floor area": "20.0 square meters"
+ },
+ "closest classes distance meters from": {
+  "bed": {
+   "chair": {
+    "distance": "2.39 meters",
+    "closeness rank": 1
+   },
+   "table": {
+    "distance": "3.71 meters",
+    "closeness rank": 2
+   }
+  },
+  "chair": {
+   "table": {
+    "distance": "1.14 meters",
+    "closeness rank": 1
+   },
+   "bed": {
+    "distance": "2.39 meters",
+    "closeness rank": 2
+   }
+  },
+  "table": {
+   "chair": {
+    "distance": "1.14 meters",
+    "closeness rank": 1
+   },
+   "bed": {
+    "distance": "3.71 meters",
+    "closeness rank": 2
+   }
+  }
+ },
+ "appearance order": ["bed", "chair", "table"]
+}
\ No newline at end of file
diff --git a/data/spatial codes/ground truth/explicit/42446535.json b/data/spatial codes/ground truth/explicit/42446535.json
new file mode 100644
index 0000000000000000000000000000000000000000..c6fb090db9c1501820704344114cfcaed74c0e03
--- /dev/null
+++ b/data/spatial codes/ground truth/explicit/42446535.json	
@@ -0,0 +1,104 @@
+{
+ "spatial code schema": {
+  "objects": {
+   "<object class>": {
+    "count": {
+     "unit": null,
+     "description": "number of instances of this class in the compact spatial code (that schema's per-class oriented-box list length)"
+    },
+    "instances": [
+     {
+      "position": {
+       "x coordinate": {
+        "unit": "meters",
+        "description": "x coordinate of this instance's compact 3D oriented bounding box center"
+       },
+       "y coordinate": {
+        "unit": "meters",
+        "description": "y coordinate of this instance's compact 3D oriented bounding box center"
+       },
+       "height above floor": {
+        "unit": "meters",
+        "description": "height coordinate of this instance's compact 3D oriented bounding box center"
+       }
+      },
+      "longest dimension": {
+       "unit": "meters",
+       "description": "longest of this instance's compact 3D oriented bounding box dimensions"
+      }
+     }
+    ]
+   }
+  },
+  "room": {
+   "floor area": {
+    "unit": "square meters",
+    "description": "shoelace area of the compact spatial code's floor boundary polygons, with every interior hole subtracted"
+   }
+  },
+  "closest classes distance meters from": {
+   "<object class>": {
+    "<other object class>": {
+     "distance": {
+      "unit": "meters",
+      "description": "estimated distance in meters between an object of this class and an object of the other class"
+     },
+     "closeness rank": {
+      "unit": null,
+      "description": "1 = the nearest other class to this one, 2 = second-nearest, and so on; ranked by nearest-instance proximity, so use the rank (not the distance values) to compare which class is closest"
+     }
+    }
+   }
+  },
+  "appearance order": {
+   "unit": null,
+   "description": "class names ordered by earliest compact 'first visible time' across all of that class's instances"
+  }
+ },
+ "objects": {
+  "toilet": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "0.36 meters",
+      "y coordinate": "0.55 meters",
+      "height above floor": "0.42 meters"
+     },
+     "longest dimension": "0.83 meters"
+    }
+   ]
+  },
+  "bathtub": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "0.83 meters",
+      "y coordinate": "-0.88 meters",
+      "height above floor": "0.28 meters"
+     },
+     "longest dimension": "1.55 meters"
+    }
+   ]
+  }
+ },
+ "room": {
+  "floor area": "10.2 square meters"
+ },
+ "closest classes distance meters from": {
+  "toilet": {
+   "bathtub": {
+    "distance": "0.93 meters",
+    "closeness rank": 1
+   }
+  },
+  "bathtub": {
+   "toilet": {
+    "distance": "0.93 meters",
+    "closeness rank": 1
+   }
+  }
+ },
+ "appearance order": ["toilet", "bathtub"]
+}
\ No newline at end of file
diff --git a/data/spatial codes/ground truth/explicit/42446541.json b/data/spatial codes/ground truth/explicit/42446541.json
new file mode 100644
index 0000000000000000000000000000000000000000..4f6207b3ec014698c8cbc3b5eb2000fa345bc6d2
--- /dev/null
+++ b/data/spatial codes/ground truth/explicit/42446541.json	
@@ -0,0 +1,324 @@
+{
+ "spatial code schema": {
+  "objects": {
+   "<object class>": {
+    "count": {
+     "unit": null,
+     "description": "number of instances of this class in the compact spatial code (that schema's per-class oriented-box list length)"
+    },
+    "instances": [
+     {
+      "position": {
+       "x coordinate": {
+        "unit": "meters",
+        "description": "x coordinate of this instance's compact 3D oriented bounding box center"
+       },
+       "y coordinate": {
+        "unit": "meters",
+        "description": "y coordinate of this instance's compact 3D oriented bounding box center"
+       },
+       "height above floor": {
+        "unit": "meters",
+        "description": "height coordinate of this instance's compact 3D oriented bounding box center"
+       }
+      },
+      "longest dimension": {
+       "unit": "meters",
+       "description": "longest of this instance's compact 3D oriented bounding box dimensions"
+      }
+     }
+    ]
+   }
+  },
+  "room": {
+   "floor area": {
+    "unit": "square meters",
+    "description": "shoelace area of the compact spatial code's floor boundary polygons, with every interior hole subtracted"
+   }
+  },
+  "closest classes distance meters from": {
+   "<object class>": {
+    "<other object class>": {
+     "distance": {
+      "unit": "meters",
+      "description": "estimated distance in meters between an object of this class and an object of the other class"
+     },
+     "closeness rank": {
+      "unit": null,
+      "description": "1 = the nearest other class to this one, 2 = second-nearest, and so on; ranked by nearest-instance proximity, so use the rank (not the distance values) to compare which class is closest"
+     }
+    }
+   }
+  },
+  "appearance order": {
+   "unit": null,
+   "description": "class names ordered by earliest compact 'first visible time' across all of that class's instances"
+  }
+ },
+ "objects": {
+  "washer": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-3.14 meters",
+      "y coordinate": "1.8 meters",
+      "height above floor": "0.5 meters"
+     },
+     "longest dimension": "0.9 meters"
+    }
+   ]
+  },
+  "refrigerator": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-2.86 meters",
+      "y coordinate": "2.35 meters",
+      "height above floor": "0.89 meters"
+     },
+     "longest dimension": "1.7 meters"
+    }
+   ]
+  },
+  "table": {
+   "count": 3,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-1.35 meters",
+      "y coordinate": "0.69 meters",
+      "height above floor": "0.43 meters"
+     },
+     "longest dimension": "0.94 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "2.16 meters",
+      "y coordinate": "-1.79 meters",
+      "height above floor": "0.2 meters"
+     },
+     "longest dimension": "0.61 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-3.55 meters",
+      "y coordinate": "-2.57 meters",
+      "height above floor": "0.49 meters"
+     },
+     "longest dimension": "1.02 meters"
+    }
+   ]
+  },
+  "chair": {
+   "count": 4,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-1.68 meters",
+      "y coordinate": "0.92 meters",
+      "height above floor": "0.61 meters"
+     },
+     "longest dimension": "1.1 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-1.6 meters",
+      "y coordinate": "0.23 meters",
+      "height above floor": "0.6 meters"
+     },
+     "longest dimension": "1.08 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-0.99 meters",
+      "y coordinate": "0.55 meters",
+      "height above floor": "0.6 meters"
+     },
+     "longest dimension": "1.09 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-1.12 meters",
+      "y coordinate": "1.21 meters",
+      "height above floor": "0.59 meters"
+     },
+     "longest dimension": "1.07 meters"
+    }
+   ]
+  },
+  "sofa": {
+   "count": 2,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-0.3 meters",
+      "y coordinate": "-0.71 meters",
+      "height above floor": "0.27 meters"
+     },
+     "longest dimension": "0.76 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-0.11 meters",
+      "y coordinate": "-1.73 meters",
+      "height above floor": "0.49 meters"
+     },
+     "longest dimension": "2.46 meters"
+    }
+   ]
+  },
+  "tv": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "1.15 meters",
+      "y coordinate": "0.26 meters",
+      "height above floor": "1.04 meters"
+     },
+     "longest dimension": "1.19 meters"
+    }
+   ]
+  }
+ },
+ "room": {
+  "floor area": "34.0 square meters"
+ },
+ "closest classes distance meters from": {
+  "washer": {
+   "refrigerator": {
+    "distance": "0.01 meters",
+    "closeness rank": 1
+   },
+   "chair": {
+    "distance": "1.1 meters",
+    "closeness rank": 2
+   },
+   "table": {
+    "distance": "1.27 meters",
+    "closeness rank": 3
+   },
+   "sofa": {
+    "distance": "2.97 meters",
+    "closeness rank": 4
+   },
+   "tv": {
+    "distance": "3.57 meters",
+    "closeness rank": 5
+   }
+  },
+  "refrigerator": {
+   "washer": {
+    "distance": "0.01 meters",
+    "closeness rank": 1
+   },
+   "chair": {
+    "distance": "1.14 meters",
+    "closeness rank": 2
+   },
+   "table": {
+    "distance": "1.29 meters",
+    "closeness rank": 3
+   },
+   "sofa": {
+    "distance": "3.12 meters",
+    "closeness rank": 4
+   },
+   "tv": {
+    "distance": "3.58 meters",
+    "closeness rank": 5
+   }
+  },
+  "table": {
+   "chair": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "sofa": {
+    "distance": "0.91 meters",
+    "closeness rank": 2
+   },
+   "washer": {
+    "distance": "1.27 meters",
+    "closeness rank": 3
+   },
+   "refrigerator": {
+    "distance": "1.29 meters",
+    "closeness rank": 4
+   },
+   "tv": {
+    "distance": "1.54 meters",
+    "closeness rank": 5
+   }
+  },
+  "chair": {
+   "table": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "sofa": {
+    "distance": "1.23 meters",
+    "closeness rank": 2
+   },
+   "washer": {
+    "distance": "1.1 meters",
+    "closeness rank": 3
+   },
+   "refrigerator": {
+    "distance": "1.14 meters",
+    "closeness rank": 4
+   },
+   "tv": {
+    "distance": "1.79 meters",
+    "closeness rank": 5
+   }
+  },
+  "sofa": {
+   "table": {
+    "distance": "0.91 meters",
+    "closeness rank": 1
+   },
+   "chair": {
+    "distance": "1.23 meters",
+    "closeness rank": 2
+   },
+   "tv": {
+    "distance": "1.3 meters",
+    "closeness rank": 3
+   },
+   "washer": {
+    "distance": "2.97 meters",
+    "closeness rank": 4
+   },
+   "refrigerator": {
+    "distance": "3.12 meters",
+    "closeness rank": 5
+   }
+  },
+  "tv": {
+   "chair": {
+    "distance": "1.79 meters",
+    "closeness rank": 1
+   },
+   "sofa": {
+    "distance": "1.3 meters",
+    "closeness rank": 2
+   },
+   "table": {
+    "distance": "1.54 meters",
+    "closeness rank": 3
+   },
+   "washer": {
+    "distance": "3.57 meters",
+    "closeness rank": 4
+   },
+   "refrigerator": {
+    "distance": "3.58 meters",
+    "closeness rank": 5
+   }
+  }
+ },
+ "appearance order": ["washer", "refrigerator", "table", "chair", "sofa", "tv"]
+}
\ No newline at end of file
diff --git a/data/spatial codes/ground truth/explicit/42897508.json b/data/spatial codes/ground truth/explicit/42897508.json
new file mode 100644
index 0000000000000000000000000000000000000000..fa7861750c55c6e26b7b6b0ecd66984ccee8898a
--- /dev/null
+++ b/data/spatial codes/ground truth/explicit/42897508.json	
@@ -0,0 +1,112 @@
+{
+ "spatial code schema": {
+  "objects": {
+   "<object class>": {
+    "count": {
+     "unit": null,
+     "description": "number of instances of this class in the compact spatial code (that schema's per-class oriented-box list length)"
+    },
+    "instances": [
+     {
+      "position": {
+       "x coordinate": {
+        "unit": "meters",
+        "description": "x coordinate of this instance's compact 3D oriented bounding box center"
+       },
+       "y coordinate": {
+        "unit": "meters",
+        "description": "y coordinate of this instance's compact 3D oriented bounding box center"
+       },
+       "height above floor": {
+        "unit": "meters",
+        "description": "height coordinate of this instance's compact 3D oriented bounding box center"
+       }
+      },
+      "longest dimension": {
+       "unit": "meters",
+       "description": "longest of this instance's compact 3D oriented bounding box dimensions"
+      }
+     }
+    ]
+   }
+  },
+  "room": {
+   "floor area": {
+    "unit": "square meters",
+    "description": "shoelace area of the compact spatial code's floor boundary polygons, with every interior hole subtracted"
+   }
+  },
+  "closest classes distance meters from": {
+   "<object class>": {
+    "<other object class>": {
+     "distance": {
+      "unit": "meters",
+      "description": "estimated distance in meters between an object of this class and an object of the other class"
+     },
+     "closeness rank": {
+      "unit": null,
+      "description": "1 = the nearest other class to this one, 2 = second-nearest, and so on; ranked by nearest-instance proximity, so use the rank (not the distance values) to compare which class is closest"
+     }
+    }
+   }
+  },
+  "appearance order": {
+   "unit": null,
+   "description": "class names ordered by earliest compact 'first visible time' across all of that class's instances"
+  }
+ },
+ "objects": {
+  "sofa": {
+   "count": 2,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "3.32 meters",
+      "y coordinate": "-0.75 meters",
+      "height above floor": "0.36 meters"
+     },
+     "longest dimension": "3.08 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "1.95 meters",
+      "y coordinate": "-0.13 meters",
+      "height above floor": "0.25 meters"
+     },
+     "longest dimension": "1.27 meters"
+    }
+   ]
+  },
+  "chair": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "4.77 meters",
+      "y coordinate": "0.65 meters",
+      "height above floor": "0.44 meters"
+     },
+     "longest dimension": "0.88 meters"
+    }
+   ]
+  }
+ },
+ "room": {
+  "floor area": "20.6 square meters"
+ },
+ "closest classes distance meters from": {
+  "sofa": {
+   "chair": {
+    "distance": "0.04 meters",
+    "closeness rank": 1
+   }
+  },
+  "chair": {
+   "sofa": {
+    "distance": "0.04 meters",
+    "closeness rank": 1
+   }
+  }
+ },
+ "appearance order": ["sofa", "chair"]
+}
\ No newline at end of file
diff --git a/data/spatial codes/ground truth/explicit/42897528.json b/data/spatial codes/ground truth/explicit/42897528.json
new file mode 100644
index 0000000000000000000000000000000000000000..70adc465b842cae63a2bf226d6d166ab0037a818
--- /dev/null
+++ b/data/spatial codes/ground truth/explicit/42897528.json	
@@ -0,0 +1,135 @@
+{
+ "spatial code schema": {
+  "objects": {
+   "<object class>": {
+    "count": {
+     "unit": null,
+     "description": "number of instances of this class in the compact spatial code (that schema's per-class oriented-box list length)"
+    },
+    "instances": [
+     {
+      "position": {
+       "x coordinate": {
+        "unit": "meters",
+        "description": "x coordinate of this instance's compact 3D oriented bounding box center"
+       },
+       "y coordinate": {
+        "unit": "meters",
+        "description": "y coordinate of this instance's compact 3D oriented bounding box center"
+       },
+       "height above floor": {
+        "unit": "meters",
+        "description": "height coordinate of this instance's compact 3D oriented bounding box center"
+       }
+      },
+      "longest dimension": {
+       "unit": "meters",
+       "description": "longest of this instance's compact 3D oriented bounding box dimensions"
+      }
+     }
+    ]
+   }
+  },
+  "room": {
+   "floor area": {
+    "unit": "square meters",
+    "description": "shoelace area of the compact spatial code's floor boundary polygons, with every interior hole subtracted"
+   }
+  },
+  "closest classes distance meters from": {
+   "<object class>": {
+    "<other object class>": {
+     "distance": {
+      "unit": "meters",
+      "description": "estimated distance in meters between an object of this class and an object of the other class"
+     },
+     "closeness rank": {
+      "unit": null,
+      "description": "1 = the nearest other class to this one, 2 = second-nearest, and so on; ranked by nearest-instance proximity, so use the rank (not the distance values) to compare which class is closest"
+     }
+    }
+   }
+  },
+  "appearance order": {
+   "unit": null,
+   "description": "class names ordered by earliest compact 'first visible time' across all of that class's instances"
+  }
+ },
+ "objects": {
+  "refrigerator": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "0.13 meters",
+      "y coordinate": "-1.29 meters",
+      "height above floor": "0.93 meters"
+     },
+     "longest dimension": "1.81 meters"
+    }
+   ]
+  },
+  "washer": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-0.11 meters",
+      "y coordinate": "0.93 meters",
+      "height above floor": "0.47 meters"
+     },
+     "longest dimension": "0.9 meters"
+    }
+   ]
+  },
+  "sofa": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "1.65 meters",
+      "y coordinate": "-2.52 meters",
+      "height above floor": "0.43 meters"
+     },
+     "longest dimension": "2.14 meters"
+    }
+   ]
+  }
+ },
+ "room": {
+  "floor area": "11.9 square meters"
+ },
+ "closest classes distance meters from": {
+  "refrigerator": {
+   "sofa": {
+    "distance": "0.57 meters",
+    "closeness rank": 1
+   },
+   "washer": {
+    "distance": "1.33 meters",
+    "closeness rank": 2
+   }
+  },
+  "washer": {
+   "refrigerator": {
+    "distance": "1.33 meters",
+    "closeness rank": 1
+   },
+   "sofa": {
+    "distance": "2.35 meters",
+    "closeness rank": 2
+   }
+  },
+  "sofa": {
+   "refrigerator": {
+    "distance": "0.57 meters",
+    "closeness rank": 1
+   },
+   "washer": {
+    "distance": "2.35 meters",
+    "closeness rank": 2
+   }
+  }
+ },
+ "appearance order": ["refrigerator", "washer", "sofa"]
+}
\ No newline at end of file
diff --git a/data/spatial codes/ground truth/explicit/42897538.json b/data/spatial codes/ground truth/explicit/42897538.json
new file mode 100644
index 0000000000000000000000000000000000000000..71777131fa882fd037af865a0310d3fc541c89d3
--- /dev/null
+++ b/data/spatial codes/ground truth/explicit/42897538.json	
@@ -0,0 +1,245 @@
+{
+ "spatial code schema": {
+  "objects": {
+   "<object class>": {
+    "count": {
+     "unit": null,
+     "description": "number of instances of this class in the compact spatial code (that schema's per-class oriented-box list length)"
+    },
+    "instances": [
+     {
+      "position": {
+       "x coordinate": {
+        "unit": "meters",
+        "description": "x coordinate of this instance's compact 3D oriented bounding box center"
+       },
+       "y coordinate": {
+        "unit": "meters",
+        "description": "y coordinate of this instance's compact 3D oriented bounding box center"
+       },
+       "height above floor": {
+        "unit": "meters",
+        "description": "height coordinate of this instance's compact 3D oriented bounding box center"
+       }
+      },
+      "longest dimension": {
+       "unit": "meters",
+       "description": "longest of this instance's compact 3D oriented bounding box dimensions"
+      }
+     }
+    ]
+   }
+  },
+  "room": {
+   "floor area": {
+    "unit": "square meters",
+    "description": "shoelace area of the compact spatial code's floor boundary polygons, with every interior hole subtracted"
+   }
+  },
+  "closest classes distance meters from": {
+   "<object class>": {
+    "<other object class>": {
+     "distance": {
+      "unit": "meters",
+      "description": "estimated distance in meters between an object of this class and an object of the other class"
+     },
+     "closeness rank": {
+      "unit": null,
+      "description": "1 = the nearest other class to this one, 2 = second-nearest, and so on; ranked by nearest-instance proximity, so use the rank (not the distance values) to compare which class is closest"
+     }
+    }
+   }
+  },
+  "appearance order": {
+   "unit": null,
+   "description": "class names ordered by earliest compact 'first visible time' across all of that class's instances"
+  }
+ },
+ "objects": {
+  "refrigerator": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-1.65 meters",
+      "y coordinate": "2.96 meters",
+      "height above floor": "0.98 meters"
+     },
+     "longest dimension": "1.83 meters"
+    }
+   ]
+  },
+  "sofa": {
+   "count": 2,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-2.78 meters",
+      "y coordinate": "1.61 meters",
+      "height above floor": "0.46 meters"
+     },
+     "longest dimension": "1.54 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "0.62 meters",
+      "y coordinate": "-1.51 meters",
+      "height above floor": "0.53 meters"
+     },
+     "longest dimension": "2.28 meters"
+    }
+   ]
+  },
+  "table": {
+   "count": 3,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-3.59 meters",
+      "y coordinate": "0.93 meters",
+      "height above floor": "0.27 meters"
+     },
+     "longest dimension": "0.58 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-0.22 meters",
+      "y coordinate": "-0.76 meters",
+      "height above floor": "0.32 meters"
+     },
+     "longest dimension": "0.93 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "0.03 meters",
+      "y coordinate": "1.78 meters",
+      "height above floor": "0.3 meters"
+     },
+     "longest dimension": "0.43 meters"
+    }
+   ]
+  },
+  "stool": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-2.06 meters",
+      "y coordinate": "-0.45 meters",
+      "height above floor": "0.27 meters"
+     },
+     "longest dimension": "0.67 meters"
+    }
+   ]
+  },
+  "tv": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "0.73 meters",
+      "y coordinate": "1.05 meters",
+      "height above floor": "0.89 meters"
+     },
+     "longest dimension": "1.26 meters"
+    }
+   ]
+  }
+ },
+ "room": {
+  "floor area": "29.1 square meters"
+ },
+ "closest classes distance meters from": {
+  "refrigerator": {
+   "sofa": {
+    "distance": "0.69 meters",
+    "closeness rank": 1
+   },
+   "table": {
+    "distance": "1.69 meters",
+    "closeness rank": 2
+   },
+   "tv": {
+    "distance": "2.06 meters",
+    "closeness rank": 3
+   },
+   "stool": {
+    "distance": "2.54 meters",
+    "closeness rank": 4
+   }
+  },
+  "sofa": {
+   "table": {
+    "distance": "0.01 meters",
+    "closeness rank": 1
+   },
+   "refrigerator": {
+    "distance": "0.69 meters",
+    "closeness rank": 2
+   },
+   "tv": {
+    "distance": "2.18 meters",
+    "closeness rank": 3
+   },
+   "stool": {
+    "distance": "1.15 meters",
+    "closeness rank": 4
+   }
+  },
+  "table": {
+   "sofa": {
+    "distance": "0.01 meters",
+    "closeness rank": 1
+   },
+   "tv": {
+    "distance": "3.45 meters",
+    "closeness rank": 2
+   },
+   "stool": {
+    "distance": "1.44 meters",
+    "closeness rank": 3
+   },
+   "refrigerator": {
+    "distance": "1.69 meters",
+    "closeness rank": 4
+   }
+  },
+  "stool": {
+   "table": {
+    "distance": "1.44 meters",
+    "closeness rank": 1
+   },
+   "sofa": {
+    "distance": "1.15 meters",
+    "closeness rank": 2
+   },
+   "refrigerator": {
+    "distance": "2.54 meters",
+    "closeness rank": 3
+   },
+   "tv": {
+    "distance": "2.64 meters",
+    "closeness rank": 4
+   }
+  },
+  "tv": {
+   "table": {
+    "distance": "3.45 meters",
+    "closeness rank": 1
+   },
+   "sofa": {
+    "distance": "2.18 meters",
+    "closeness rank": 2
+   },
+   "refrigerator": {
+    "distance": "2.06 meters",
+    "closeness rank": 3
+   },
+   "stool": {
+    "distance": "2.64 meters",
+    "closeness rank": 4
+   }
+  }
+ },
+ "appearance order": ["refrigerator", "sofa", "table", "stool", "tv"]
+}
\ No newline at end of file
diff --git a/data/spatial codes/ground truth/explicit/42897550.json b/data/spatial codes/ground truth/explicit/42897550.json
new file mode 100644
index 0000000000000000000000000000000000000000..1a5d79fe0863f23b4a0e18bbe9924f99ab4c4d04
--- /dev/null
+++ b/data/spatial codes/ground truth/explicit/42897550.json	
@@ -0,0 +1,104 @@
+{
+ "spatial code schema": {
+  "objects": {
+   "<object class>": {
+    "count": {
+     "unit": null,
+     "description": "number of instances of this class in the compact spatial code (that schema's per-class oriented-box list length)"
+    },
+    "instances": [
+     {
+      "position": {
+       "x coordinate": {
+        "unit": "meters",
+        "description": "x coordinate of this instance's compact 3D oriented bounding box center"
+       },
+       "y coordinate": {
+        "unit": "meters",
+        "description": "y coordinate of this instance's compact 3D oriented bounding box center"
+       },
+       "height above floor": {
+        "unit": "meters",
+        "description": "height coordinate of this instance's compact 3D oriented bounding box center"
+       }
+      },
+      "longest dimension": {
+       "unit": "meters",
+       "description": "longest of this instance's compact 3D oriented bounding box dimensions"
+      }
+     }
+    ]
+   }
+  },
+  "room": {
+   "floor area": {
+    "unit": "square meters",
+    "description": "shoelace area of the compact spatial code's floor boundary polygons, with every interior hole subtracted"
+   }
+  },
+  "closest classes distance meters from": {
+   "<object class>": {
+    "<other object class>": {
+     "distance": {
+      "unit": "meters",
+      "description": "estimated distance in meters between an object of this class and an object of the other class"
+     },
+     "closeness rank": {
+      "unit": null,
+      "description": "1 = the nearest other class to this one, 2 = second-nearest, and so on; ranked by nearest-instance proximity, so use the rank (not the distance values) to compare which class is closest"
+     }
+    }
+   }
+  },
+  "appearance order": {
+   "unit": null,
+   "description": "class names ordered by earliest compact 'first visible time' across all of that class's instances"
+  }
+ },
+ "objects": {
+  "toilet": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-0.57 meters",
+      "y coordinate": "-0.57 meters",
+      "height above floor": "0.22 meters"
+     },
+     "longest dimension": "0.55 meters"
+    }
+   ]
+  },
+  "bathtub": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "0.41 meters",
+      "y coordinate": "0.3 meters",
+      "height above floor": "0.29 meters"
+     },
+     "longest dimension": "1.61 meters"
+    }
+   ]
+  }
+ },
+ "room": {
+  "floor area": "9.4 square meters"
+ },
+ "closest classes distance meters from": {
+  "toilet": {
+   "bathtub": {
+    "distance": "0.61 meters",
+    "closeness rank": 1
+   }
+  },
+  "bathtub": {
+   "toilet": {
+    "distance": "0.61 meters",
+    "closeness rank": 1
+   }
+  }
+ },
+ "appearance order": ["toilet", "bathtub"]
+}
\ No newline at end of file
diff --git a/data/spatial codes/ground truth/explicit/42897554.json b/data/spatial codes/ground truth/explicit/42897554.json
new file mode 100644
index 0000000000000000000000000000000000000000..6c02c4a173ed6b5d4e8fdffb4c9b14b9be5c27d8
--- /dev/null
+++ b/data/spatial codes/ground truth/explicit/42897554.json	
@@ -0,0 +1,80 @@
+{
+ "spatial code schema": {
+  "objects": {
+   "<object class>": {
+    "count": {
+     "unit": null,
+     "description": "number of instances of this class in the compact spatial code (that schema's per-class oriented-box list length)"
+    },
+    "instances": [
+     {
+      "position": {
+       "x coordinate": {
+        "unit": "meters",
+        "description": "x coordinate of this instance's compact 3D oriented bounding box center"
+       },
+       "y coordinate": {
+        "unit": "meters",
+        "description": "y coordinate of this instance's compact 3D oriented bounding box center"
+       },
+       "height above floor": {
+        "unit": "meters",
+        "description": "height coordinate of this instance's compact 3D oriented bounding box center"
+       }
+      },
+      "longest dimension": {
+       "unit": "meters",
+       "description": "longest of this instance's compact 3D oriented bounding box dimensions"
+      }
+     }
+    ]
+   }
+  },
+  "room": {
+   "floor area": {
+    "unit": "square meters",
+    "description": "shoelace area of the compact spatial code's floor boundary polygons, with every interior hole subtracted"
+   }
+  },
+  "closest classes distance meters from": {
+   "<object class>": {
+    "<other object class>": {
+     "distance": {
+      "unit": "meters",
+      "description": "estimated distance in meters between an object of this class and an object of the other class"
+     },
+     "closeness rank": {
+      "unit": null,
+      "description": "1 = the nearest other class to this one, 2 = second-nearest, and so on; ranked by nearest-instance proximity, so use the rank (not the distance values) to compare which class is closest"
+     }
+    }
+   }
+  },
+  "appearance order": {
+   "unit": null,
+   "description": "class names ordered by earliest compact 'first visible time' across all of that class's instances"
+  }
+ },
+ "objects": {
+  "bed": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "3.78 meters",
+      "y coordinate": "1.74 meters",
+      "height above floor": "0.26 meters"
+     },
+     "longest dimension": "2.09 meters"
+    }
+   ]
+  }
+ },
+ "room": {
+  "floor area": "13.1 square meters"
+ },
+ "closest classes distance meters from": {
+  "bed": {}
+ },
+ "appearance order": ["bed"]
+}
\ No newline at end of file
diff --git a/data/spatial codes/ground truth/explicit/42897564.json b/data/spatial codes/ground truth/explicit/42897564.json
new file mode 100644
index 0000000000000000000000000000000000000000..ae4463329ab406055a2fbd32d488fd89b00a07db
--- /dev/null
+++ b/data/spatial codes/ground truth/explicit/42897564.json	
@@ -0,0 +1,222 @@
+{
+ "spatial code schema": {
+  "objects": {
+   "<object class>": {
+    "count": {
+     "unit": null,
+     "description": "number of instances of this class in the compact spatial code (that schema's per-class oriented-box list length)"
+    },
+    "instances": [
+     {
+      "position": {
+       "x coordinate": {
+        "unit": "meters",
+        "description": "x coordinate of this instance's compact 3D oriented bounding box center"
+       },
+       "y coordinate": {
+        "unit": "meters",
+        "description": "y coordinate of this instance's compact 3D oriented bounding box center"
+       },
+       "height above floor": {
+        "unit": "meters",
+        "description": "height coordinate of this instance's compact 3D oriented bounding box center"
+       }
+      },
+      "longest dimension": {
+       "unit": "meters",
+       "description": "longest of this instance's compact 3D oriented bounding box dimensions"
+      }
+     }
+    ]
+   }
+  },
+  "room": {
+   "floor area": {
+    "unit": "square meters",
+    "description": "shoelace area of the compact spatial code's floor boundary polygons, with every interior hole subtracted"
+   }
+  },
+  "closest classes distance meters from": {
+   "<object class>": {
+    "<other object class>": {
+     "distance": {
+      "unit": "meters",
+      "description": "estimated distance in meters between an object of this class and an object of the other class"
+     },
+     "closeness rank": {
+      "unit": null,
+      "description": "1 = the nearest other class to this one, 2 = second-nearest, and so on; ranked by nearest-instance proximity, so use the rank (not the distance values) to compare which class is closest"
+     }
+    }
+   }
+  },
+  "appearance order": {
+   "unit": null,
+   "description": "class names ordered by earliest compact 'first visible time' across all of that class's instances"
+  }
+ },
+ "objects": {
+  "chair": {
+   "count": 7,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "0.98 meters",
+      "y coordinate": "2.7 meters",
+      "height above floor": "0.48 meters"
+     },
+     "longest dimension": "0.97 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "1.68 meters",
+      "y coordinate": "2.47 meters",
+      "height above floor": "0.49 meters"
+     },
+     "longest dimension": "0.99 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "2.01 meters",
+      "y coordinate": "2.12 meters",
+      "height above floor": "0.49 meters"
+     },
+     "longest dimension": "0.97 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "2.11 meters",
+      "y coordinate": "1.32 meters",
+      "height above floor": "0.48 meters"
+     },
+     "longest dimension": "0.97 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "1.3 meters",
+      "y coordinate": "1.45 meters",
+      "height above floor": "0.51 meters"
+     },
+     "longest dimension": "1.01 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "0.97 meters",
+      "y coordinate": "1.86 meters",
+      "height above floor": "0.51 meters"
+     },
+     "longest dimension": "1.02 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-0.88 meters",
+      "y coordinate": "1.62 meters",
+      "height above floor": "0.44 meters"
+     },
+     "longest dimension": "0.87 meters"
+    }
+   ]
+  },
+  "table": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "3.08 meters",
+      "y coordinate": "1.79 meters",
+      "height above floor": "0.54 meters"
+     },
+     "longest dimension": "1.08 meters"
+    }
+   ]
+  },
+  "stool": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-0.01 meters",
+      "y coordinate": "-0.74 meters",
+      "height above floor": "0.26 meters"
+     },
+     "longest dimension": "0.71 meters"
+    }
+   ]
+  },
+  "refrigerator": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-1.67 meters",
+      "y coordinate": "-0.94 meters",
+      "height above floor": "0.46 meters"
+     },
+     "longest dimension": "0.93 meters"
+    }
+   ]
+  }
+ },
+ "room": {
+  "floor area": "16.9 square meters"
+ },
+ "closest classes distance meters from": {
+  "chair": {
+   "table": {
+    "distance": "1.26 meters",
+    "closeness rank": 1
+   },
+   "stool": {
+    "distance": "2.75 meters",
+    "closeness rank": 2
+   },
+   "refrigerator": {
+    "distance": "3.55 meters",
+    "closeness rank": 3
+   }
+  },
+  "table": {
+   "chair": {
+    "distance": "1.26 meters",
+    "closeness rank": 1
+   },
+   "stool": {
+    "distance": "3.49 meters",
+    "closeness rank": 2
+   },
+   "refrigerator": {
+    "distance": "5.04 meters",
+    "closeness rank": 3
+   }
+  },
+  "stool": {
+   "refrigerator": {
+    "distance": "0.94 meters",
+    "closeness rank": 1
+   },
+   "chair": {
+    "distance": "2.75 meters",
+    "closeness rank": 2
+   },
+   "table": {
+    "distance": "3.49 meters",
+    "closeness rank": 3
+   }
+  },
+  "refrigerator": {
+   "stool": {
+    "distance": "0.94 meters",
+    "closeness rank": 1
+   },
+   "chair": {
+    "distance": "3.55 meters",
+    "closeness rank": 2
+   },
+   "table": {
+    "distance": "5.04 meters",
+    "closeness rank": 3
+   }
+  }
+ },
+ "appearance order": ["chair", "table", "stool", "refrigerator"]
+}
\ No newline at end of file
diff --git a/data/spatial codes/ground truth/explicit/42897629.json b/data/spatial codes/ground truth/explicit/42897629.json
new file mode 100644
index 0000000000000000000000000000000000000000..7a185426869fe5184c3ef26b5c8abacd4cb0e08e
--- /dev/null
+++ b/data/spatial codes/ground truth/explicit/42897629.json	
@@ -0,0 +1,411 @@
+{
+ "spatial code schema": {
+  "objects": {
+   "<object class>": {
+    "count": {
+     "unit": null,
+     "description": "number of instances of this class in the compact spatial code (that schema's per-class oriented-box list length)"
+    },
+    "instances": [
+     {
+      "position": {
+       "x coordinate": {
+        "unit": "meters",
+        "description": "x coordinate of this instance's compact 3D oriented bounding box center"
+       },
+       "y coordinate": {
+        "unit": "meters",
+        "description": "y coordinate of this instance's compact 3D oriented bounding box center"
+       },
+       "height above floor": {
+        "unit": "meters",
+        "description": "height coordinate of this instance's compact 3D oriented bounding box center"
+       }
+      },
+      "longest dimension": {
+       "unit": "meters",
+       "description": "longest of this instance's compact 3D oriented bounding box dimensions"
+      }
+     }
+    ]
+   }
+  },
+  "room": {
+   "floor area": {
+    "unit": "square meters",
+    "description": "shoelace area of the compact spatial code's floor boundary polygons, with every interior hole subtracted"
+   }
+  },
+  "closest classes distance meters from": {
+   "<object class>": {
+    "<other object class>": {
+     "distance": {
+      "unit": "meters",
+      "description": "estimated distance in meters between an object of this class and an object of the other class"
+     },
+     "closeness rank": {
+      "unit": null,
+      "description": "1 = the nearest other class to this one, 2 = second-nearest, and so on; ranked by nearest-instance proximity, so use the rank (not the distance values) to compare which class is closest"
+     }
+    }
+   }
+  },
+  "appearance order": {
+   "unit": null,
+   "description": "class names ordered by earliest compact 'first visible time' across all of that class's instances"
+  }
+ },
+ "objects": {
+  "table": {
+   "count": 4,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "0.79 meters",
+      "y coordinate": "-3.2 meters",
+      "height above floor": "0.38 meters"
+     },
+     "longest dimension": "1.23 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "1.64 meters",
+      "y coordinate": "3.18 meters",
+      "height above floor": "0.49 meters"
+     },
+     "longest dimension": "3.03 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-1.75 meters",
+      "y coordinate": "1.79 meters",
+      "height above floor": "0.39 meters"
+     },
+     "longest dimension": "0.74 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "0.88 meters",
+      "y coordinate": "0.3 meters",
+      "height above floor": "0.43 meters"
+     },
+     "longest dimension": "0.75 meters"
+    }
+   ]
+  },
+  "chair": {
+   "count": 5,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "2.82 meters",
+      "y coordinate": "2.41 meters",
+      "height above floor": "0.5 meters"
+     },
+     "longest dimension": "0.99 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "2.24 meters",
+      "y coordinate": "2.45 meters",
+      "height above floor": "0.5 meters"
+     },
+     "longest dimension": "0.99 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "1.69 meters",
+      "y coordinate": "2.35 meters",
+      "height above floor": "0.51 meters"
+     },
+     "longest dimension": "1.0 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "1.13 meters",
+      "y coordinate": "2.21 meters",
+      "height above floor": "0.5 meters"
+     },
+     "longest dimension": "0.97 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "0.59 meters",
+      "y coordinate": "2.3 meters",
+      "height above floor": "0.52 meters"
+     },
+     "longest dimension": "1.0 meters"
+    }
+   ]
+  },
+  "refrigerator": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "4.65 meters",
+      "y coordinate": "1.36 meters",
+      "height above floor": "0.93 meters"
+     },
+     "longest dimension": "1.78 meters"
+    }
+   ]
+  },
+  "stove": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "4.63 meters",
+      "y coordinate": "4.46 meters",
+      "height above floor": "0.83 meters"
+     },
+     "longest dimension": "1.19 meters"
+    }
+   ]
+  },
+  "sofa": {
+   "count": 2,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-3.14 meters",
+      "y coordinate": "1.51 meters",
+      "height above floor": "0.47 meters"
+     },
+     "longest dimension": "2.22 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-2.01 meters",
+      "y coordinate": "4.16 meters",
+      "height above floor": "0.49 meters"
+     },
+     "longest dimension": "2.07 meters"
+    }
+   ]
+  },
+  "tv": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-4.53 meters",
+      "y coordinate": "4.61 meters",
+      "height above floor": "0.95 meters"
+     },
+     "longest dimension": "0.91 meters"
+    }
+   ]
+  },
+  "washer": {
+   "count": 2,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "4.3 meters",
+      "y coordinate": "-0.77 meters",
+      "height above floor": "0.46 meters"
+     },
+     "longest dimension": "0.88 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "4.92 meters",
+      "y coordinate": "-0.69 meters",
+      "height above floor": "0.46 meters"
+     },
+     "longest dimension": "0.88 meters"
+    }
+   ]
+  }
+ },
+ "room": {
+  "floor area": "50.1 square meters"
+ },
+ "closest classes distance meters from": {
+  "table": {
+   "chair": {
+    "distance": "4.86 meters",
+    "closeness rank": 1
+   },
+   "sofa": {
+    "distance": "4.41 meters",
+    "closeness rank": 2
+   },
+   "stove": {
+    "distance": "7.37 meters",
+    "closeness rank": 3
+   },
+   "refrigerator": {
+    "distance": "4.49 meters",
+    "closeness rank": 4
+   },
+   "washer": {
+    "distance": "3.21 meters",
+    "closeness rank": 5
+   },
+   "tv": {
+    "distance": "8.4 meters",
+    "closeness rank": 6
+   }
+  },
+  "chair": {
+   "table": {
+    "distance": "4.86 meters",
+    "closeness rank": 1
+   },
+   "refrigerator": {
+    "distance": "1.25 meters",
+    "closeness rank": 2
+   },
+   "stove": {
+    "distance": "1.78 meters",
+    "closeness rank": 3
+   },
+   "sofa": {
+    "distance": "4.42 meters",
+    "closeness rank": 4
+   },
+   "washer": {
+    "distance": "2.84 meters",
+    "closeness rank": 5
+   },
+   "tv": {
+    "distance": "6.74 meters",
+    "closeness rank": 6
+   }
+  },
+  "refrigerator": {
+   "washer": {
+    "distance": "1.23 meters",
+    "closeness rank": 1
+   },
+   "chair": {
+    "distance": "1.25 meters",
+    "closeness rank": 2
+   },
+   "table": {
+    "distance": "4.49 meters",
+    "closeness rank": 3
+   },
+   "stove": {
+    "distance": "2.01 meters",
+    "closeness rank": 4
+   },
+   "sofa": {
+    "distance": "5.96 meters",
+    "closeness rank": 5
+   },
+   "tv": {
+    "distance": "9.03 meters",
+    "closeness rank": 6
+   }
+  },
+  "stove": {
+   "table": {
+    "distance": "7.37 meters",
+    "closeness rank": 1
+   },
+   "chair": {
+    "distance": "1.78 meters",
+    "closeness rank": 2
+   },
+   "refrigerator": {
+    "distance": "2.01 meters",
+    "closeness rank": 3
+   },
+   "washer": {
+    "distance": "4.22 meters",
+    "closeness rank": 4
+   },
+   "sofa": {
+    "distance": "6.61 meters",
+    "closeness rank": 5
+   },
+   "tv": {
+    "distance": "8.79 meters",
+    "closeness rank": 6
+   }
+  },
+  "sofa": {
+   "table": {
+    "distance": "4.41 meters",
+    "closeness rank": 1
+   },
+   "chair": {
+    "distance": "4.42 meters",
+    "closeness rank": 2
+   },
+   "tv": {
+    "distance": "1.99 meters",
+    "closeness rank": 3
+   },
+   "stove": {
+    "distance": "6.61 meters",
+    "closeness rank": 4
+   },
+   "refrigerator": {
+    "distance": "5.96 meters",
+    "closeness rank": 5
+   },
+   "washer": {
+    "distance": "6.23 meters",
+    "closeness rank": 6
+   }
+  },
+  "tv": {
+   "sofa": {
+    "distance": "1.99 meters",
+    "closeness rank": 1
+   },
+   "table": {
+    "distance": "8.4 meters",
+    "closeness rank": 2
+   },
+   "chair": {
+    "distance": "6.74 meters",
+    "closeness rank": 3
+   },
+   "stove": {
+    "distance": "8.79 meters",
+    "closeness rank": 4
+   },
+   "refrigerator": {
+    "distance": "9.03 meters",
+    "closeness rank": 5
+   },
+   "washer": {
+    "distance": "9.6 meters",
+    "closeness rank": 6
+   }
+  },
+  "washer": {
+   "refrigerator": {
+    "distance": "1.23 meters",
+    "closeness rank": 1
+   },
+   "chair": {
+    "distance": "2.84 meters",
+    "closeness rank": 2
+   },
+   "table": {
+    "distance": "3.21 meters",
+    "closeness rank": 3
+   },
+   "stove": {
+    "distance": "4.22 meters",
+    "closeness rank": 4
+   },
+   "sofa": {
+    "distance": "6.23 meters",
+    "closeness rank": 5
+   },
+   "tv": {
+    "distance": "9.6 meters",
+    "closeness rank": 6
+   }
+  }
+ },
+ "appearance order": ["table", "chair", "refrigerator", "stove", "sofa", "tv", "washer"]
+}
\ No newline at end of file
diff --git a/data/spatial codes/ground truth/explicit/42897647.json b/data/spatial codes/ground truth/explicit/42897647.json
new file mode 100644
index 0000000000000000000000000000000000000000..93a15df40b0e9a4bc10212e761819acd8a8b68be
--- /dev/null
+++ b/data/spatial codes/ground truth/explicit/42897647.json	
@@ -0,0 +1,206 @@
+{
+ "spatial code schema": {
+  "objects": {
+   "<object class>": {
+    "count": {
+     "unit": null,
+     "description": "number of instances of this class in the compact spatial code (that schema's per-class oriented-box list length)"
+    },
+    "instances": [
+     {
+      "position": {
+       "x coordinate": {
+        "unit": "meters",
+        "description": "x coordinate of this instance's compact 3D oriented bounding box center"
+       },
+       "y coordinate": {
+        "unit": "meters",
+        "description": "y coordinate of this instance's compact 3D oriented bounding box center"
+       },
+       "height above floor": {
+        "unit": "meters",
+        "description": "height coordinate of this instance's compact 3D oriented bounding box center"
+       }
+      },
+      "longest dimension": {
+       "unit": "meters",
+       "description": "longest of this instance's compact 3D oriented bounding box dimensions"
+      }
+     }
+    ]
+   }
+  },
+  "room": {
+   "floor area": {
+    "unit": "square meters",
+    "description": "shoelace area of the compact spatial code's floor boundary polygons, with every interior hole subtracted"
+   }
+  },
+  "closest classes distance meters from": {
+   "<object class>": {
+    "<other object class>": {
+     "distance": {
+      "unit": "meters",
+      "description": "estimated distance in meters between an object of this class and an object of the other class"
+     },
+     "closeness rank": {
+      "unit": null,
+      "description": "1 = the nearest other class to this one, 2 = second-nearest, and so on; ranked by nearest-instance proximity, so use the rank (not the distance values) to compare which class is closest"
+     }
+    }
+   }
+  },
+  "appearance order": {
+   "unit": null,
+   "description": "class names ordered by earliest compact 'first visible time' across all of that class's instances"
+  }
+ },
+ "objects": {
+  "sofa": {
+   "count": 2,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "1.65 meters",
+      "y coordinate": "1.35 meters",
+      "height above floor": "0.53 meters"
+     },
+     "longest dimension": "2.36 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-1.07 meters",
+      "y coordinate": "2.62 meters",
+      "height above floor": "0.52 meters"
+     },
+     "longest dimension": "2.27 meters"
+    }
+   ]
+  },
+  "table": {
+   "count": 4,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "2.25 meters",
+      "y coordinate": "2.04 meters",
+      "height above floor": "0.31 meters"
+     },
+     "longest dimension": "0.51 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "2.35 meters",
+      "y coordinate": "3.64 meters",
+      "height above floor": "0.33 meters"
+     },
+     "longest dimension": "1.46 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-0.89 meters",
+      "y coordinate": "1.2 meters",
+      "height above floor": "0.44 meters"
+     },
+     "longest dimension": "0.77 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "0.27 meters",
+      "y coordinate": "-2.27 meters",
+      "height above floor": "0.48 meters"
+     },
+     "longest dimension": "2.34 meters"
+    }
+   ]
+  },
+  "tv": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "2.28 meters",
+      "y coordinate": "3.61 meters",
+      "height above floor": "0.96 meters"
+     },
+     "longest dimension": "1.13 meters"
+    }
+   ]
+  },
+  "chair": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-0.65 meters",
+      "y coordinate": "-1.53 meters",
+      "height above floor": "0.51 meters"
+     },
+     "longest dimension": "1.0 meters"
+    }
+   ]
+  }
+ },
+ "room": {
+  "floor area": "37.4 square meters"
+ },
+ "closest classes distance meters from": {
+  "sofa": {
+   "table": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "tv": {
+    "distance": "1.37 meters",
+    "closeness rank": 2
+   },
+   "chair": {
+    "distance": "2.29 meters",
+    "closeness rank": 3
+   }
+  },
+  "table": {
+   "sofa": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "tv": {
+    "distance": "0.88 meters",
+    "closeness rank": 2
+   },
+   "chair": {
+    "distance": "3.85 meters",
+    "closeness rank": 3
+   }
+  },
+  "tv": {
+   "table": {
+    "distance": "0.88 meters",
+    "closeness rank": 1
+   },
+   "sofa": {
+    "distance": "1.37 meters",
+    "closeness rank": 2
+   },
+   "chair": {
+    "distance": "5.44 meters",
+    "closeness rank": 3
+   }
+  },
+  "chair": {
+   "table": {
+    "distance": "3.85 meters",
+    "closeness rank": 1
+   },
+   "sofa": {
+    "distance": "2.29 meters",
+    "closeness rank": 2
+   },
+   "tv": {
+    "distance": "5.44 meters",
+    "closeness rank": 3
+   }
+  }
+ },
+ "appearance order": ["sofa", "table", "tv", "chair"]
+}
\ No newline at end of file
diff --git a/data/spatial codes/ground truth/explicit/42897688.json b/data/spatial codes/ground truth/explicit/42897688.json
new file mode 100644
index 0000000000000000000000000000000000000000..9e026cee1b35986dafce2b2bc29d59d913901423
--- /dev/null
+++ b/data/spatial codes/ground truth/explicit/42897688.json	
@@ -0,0 +1,182 @@
+{
+ "spatial code schema": {
+  "objects": {
+   "<object class>": {
+    "count": {
+     "unit": null,
+     "description": "number of instances of this class in the compact spatial code (that schema's per-class oriented-box list length)"
+    },
+    "instances": [
+     {
+      "position": {
+       "x coordinate": {
+        "unit": "meters",
+        "description": "x coordinate of this instance's compact 3D oriented bounding box center"
+       },
+       "y coordinate": {
+        "unit": "meters",
+        "description": "y coordinate of this instance's compact 3D oriented bounding box center"
+       },
+       "height above floor": {
+        "unit": "meters",
+        "description": "height coordinate of this instance's compact 3D oriented bounding box center"
+       }
+      },
+      "longest dimension": {
+       "unit": "meters",
+       "description": "longest of this instance's compact 3D oriented bounding box dimensions"
+      }
+     }
+    ]
+   }
+  },
+  "room": {
+   "floor area": {
+    "unit": "square meters",
+    "description": "shoelace area of the compact spatial code's floor boundary polygons, with every interior hole subtracted"
+   }
+  },
+  "closest classes distance meters from": {
+   "<object class>": {
+    "<other object class>": {
+     "distance": {
+      "unit": "meters",
+      "description": "estimated distance in meters between an object of this class and an object of the other class"
+     },
+     "closeness rank": {
+      "unit": null,
+      "description": "1 = the nearest other class to this one, 2 = second-nearest, and so on; ranked by nearest-instance proximity, so use the rank (not the distance values) to compare which class is closest"
+     }
+    }
+   }
+  },
+  "appearance order": {
+   "unit": null,
+   "description": "class names ordered by earliest compact 'first visible time' across all of that class's instances"
+  }
+ },
+ "objects": {
+  "bed": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "3.08 meters",
+      "y coordinate": "-0.67 meters",
+      "height above floor": "0.29 meters"
+     },
+     "longest dimension": "2.36 meters"
+    }
+   ]
+  },
+  "chair": {
+   "count": 2,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "4.93 meters",
+      "y coordinate": "-1.29 meters",
+      "height above floor": "0.44 meters"
+     },
+     "longest dimension": "0.83 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "3.43 meters",
+      "y coordinate": "-3.94 meters",
+      "height above floor": "0.46 meters"
+     },
+     "longest dimension": "0.87 meters"
+    }
+   ]
+  },
+  "stool": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "4.77 meters",
+      "y coordinate": "-3.22 meters",
+      "height above floor": "0.3 meters"
+     },
+     "longest dimension": "0.97 meters"
+    }
+   ]
+  },
+  "table": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "3.52 meters",
+      "y coordinate": "-4.71 meters",
+      "height above floor": "0.4 meters"
+     },
+     "longest dimension": "0.98 meters"
+    }
+   ]
+  }
+ },
+ "room": {
+  "floor area": "31.1 square meters"
+ },
+ "closest classes distance meters from": {
+  "bed": {
+   "chair": {
+    "distance": "0.55 meters",
+    "closeness rank": 1
+   },
+   "stool": {
+    "distance": "1.39 meters",
+    "closeness rank": 2
+   },
+   "table": {
+    "distance": "2.55 meters",
+    "closeness rank": 3
+   }
+  },
+  "chair": {
+   "table": {
+    "distance": "2.79 meters",
+    "closeness rank": 1
+   },
+   "bed": {
+    "distance": "0.55 meters",
+    "closeness rank": 2
+   },
+   "stool": {
+    "distance": "1.04 meters",
+    "closeness rank": 3
+   }
+  },
+  "stool": {
+   "table": {
+    "distance": "0.97 meters",
+    "closeness rank": 1
+   },
+   "chair": {
+    "distance": "1.04 meters",
+    "closeness rank": 2
+   },
+   "bed": {
+    "distance": "1.39 meters",
+    "closeness rank": 3
+   }
+  },
+  "table": {
+   "chair": {
+    "distance": "2.79 meters",
+    "closeness rank": 1
+   },
+   "stool": {
+    "distance": "0.97 meters",
+    "closeness rank": 2
+   },
+   "bed": {
+    "distance": "2.55 meters",
+    "closeness rank": 3
+   }
+  }
+ },
+ "appearance order": ["bed", "chair", "stool", "table"]
+}
\ No newline at end of file
diff --git a/data/spatial codes/ground truth/explicit/42897692.json b/data/spatial codes/ground truth/explicit/42897692.json
new file mode 100644
index 0000000000000000000000000000000000000000..99f12e84c380735abee30a4f9dc76d77f1f4a3fd
--- /dev/null
+++ b/data/spatial codes/ground truth/explicit/42897692.json	
@@ -0,0 +1,135 @@
+{
+ "spatial code schema": {
+  "objects": {
+   "<object class>": {
+    "count": {
+     "unit": null,
+     "description": "number of instances of this class in the compact spatial code (that schema's per-class oriented-box list length)"
+    },
+    "instances": [
+     {
+      "position": {
+       "x coordinate": {
+        "unit": "meters",
+        "description": "x coordinate of this instance's compact 3D oriented bounding box center"
+       },
+       "y coordinate": {
+        "unit": "meters",
+        "description": "y coordinate of this instance's compact 3D oriented bounding box center"
+       },
+       "height above floor": {
+        "unit": "meters",
+        "description": "height coordinate of this instance's compact 3D oriented bounding box center"
+       }
+      },
+      "longest dimension": {
+       "unit": "meters",
+       "description": "longest of this instance's compact 3D oriented bounding box dimensions"
+      }
+     }
+    ]
+   }
+  },
+  "room": {
+   "floor area": {
+    "unit": "square meters",
+    "description": "shoelace area of the compact spatial code's floor boundary polygons, with every interior hole subtracted"
+   }
+  },
+  "closest classes distance meters from": {
+   "<object class>": {
+    "<other object class>": {
+     "distance": {
+      "unit": "meters",
+      "description": "estimated distance in meters between an object of this class and an object of the other class"
+     },
+     "closeness rank": {
+      "unit": null,
+      "description": "1 = the nearest other class to this one, 2 = second-nearest, and so on; ranked by nearest-instance proximity, so use the rank (not the distance values) to compare which class is closest"
+     }
+    }
+   }
+  },
+  "appearance order": {
+   "unit": null,
+   "description": "class names ordered by earliest compact 'first visible time' across all of that class's instances"
+  }
+ },
+ "objects": {
+  "bed": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-0.55 meters",
+      "y coordinate": "2.98 meters",
+      "height above floor": "0.31 meters"
+     },
+     "longest dimension": "2.15 meters"
+    }
+   ]
+  },
+  "table": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "0.22 meters",
+      "y coordinate": "1.79 meters",
+      "height above floor": "0.32 meters"
+     },
+     "longest dimension": "0.6 meters"
+    }
+   ]
+  },
+  "stool": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-2.77 meters",
+      "y coordinate": "3.48 meters",
+      "height above floor": "0.29 meters"
+     },
+     "longest dimension": "0.98 meters"
+    }
+   ]
+  }
+ },
+ "room": {
+  "floor area": "32.3 square meters"
+ },
+ "closest classes distance meters from": {
+  "bed": {
+   "table": {
+    "distance": "0.1 meters",
+    "closeness rank": 1
+   },
+   "stool": {
+    "distance": "0.9 meters",
+    "closeness rank": 2
+   }
+  },
+  "table": {
+   "bed": {
+    "distance": "0.1 meters",
+    "closeness rank": 1
+   },
+   "stool": {
+    "distance": "2.69 meters",
+    "closeness rank": 2
+   }
+  },
+  "stool": {
+   "bed": {
+    "distance": "0.9 meters",
+    "closeness rank": 1
+   },
+   "table": {
+    "distance": "2.69 meters",
+    "closeness rank": 2
+   }
+  }
+ },
+ "appearance order": ["bed", "table", "stool"]
+}
\ No newline at end of file
diff --git a/data/spatial codes/ground truth/explicit/42898486.json b/data/spatial codes/ground truth/explicit/42898486.json
new file mode 100644
index 0000000000000000000000000000000000000000..18c8394c8afa34927d3bc5d2305dde3926b2bb43
--- /dev/null
+++ b/data/spatial codes/ground truth/explicit/42898486.json	
@@ -0,0 +1,253 @@
+{
+ "spatial code schema": {
+  "objects": {
+   "<object class>": {
+    "count": {
+     "unit": null,
+     "description": "number of instances of this class in the compact spatial code (that schema's per-class oriented-box list length)"
+    },
+    "instances": [
+     {
+      "position": {
+       "x coordinate": {
+        "unit": "meters",
+        "description": "x coordinate of this instance's compact 3D oriented bounding box center"
+       },
+       "y coordinate": {
+        "unit": "meters",
+        "description": "y coordinate of this instance's compact 3D oriented bounding box center"
+       },
+       "height above floor": {
+        "unit": "meters",
+        "description": "height coordinate of this instance's compact 3D oriented bounding box center"
+       }
+      },
+      "longest dimension": {
+       "unit": "meters",
+       "description": "longest of this instance's compact 3D oriented bounding box dimensions"
+      }
+     }
+    ]
+   }
+  },
+  "room": {
+   "floor area": {
+    "unit": "square meters",
+    "description": "shoelace area of the compact spatial code's floor boundary polygons, with every interior hole subtracted"
+   }
+  },
+  "closest classes distance meters from": {
+   "<object class>": {
+    "<other object class>": {
+     "distance": {
+      "unit": "meters",
+      "description": "estimated distance in meters between an object of this class and an object of the other class"
+     },
+     "closeness rank": {
+      "unit": null,
+      "description": "1 = the nearest other class to this one, 2 = second-nearest, and so on; ranked by nearest-instance proximity, so use the rank (not the distance values) to compare which class is closest"
+     }
+    }
+   }
+  },
+  "appearance order": {
+   "unit": null,
+   "description": "class names ordered by earliest compact 'first visible time' across all of that class's instances"
+  }
+ },
+ "objects": {
+  "sofa": {
+   "count": 2,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "2.53 meters",
+      "y coordinate": "1.51 meters",
+      "height above floor": "0.54 meters"
+     },
+     "longest dimension": "1.65 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "4.14 meters",
+      "y coordinate": "3.32 meters",
+      "height above floor": "0.52 meters"
+     },
+     "longest dimension": "2.13 meters"
+    }
+   ]
+  },
+  "table": {
+   "count": 3,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "2.9 meters",
+      "y coordinate": "3.28 meters",
+      "height above floor": "0.2 meters"
+     },
+     "longest dimension": "1.16 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "1.2 meters",
+      "y coordinate": "1.16 meters",
+      "height above floor": "0.29 meters"
+     },
+     "longest dimension": "0.58 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "4.63 meters",
+      "y coordinate": "1.84 meters",
+      "height above floor": "0.32 meters"
+     },
+     "longest dimension": "0.64 meters"
+    }
+   ]
+  },
+  "stool": {
+   "count": 2,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "0.5 meters",
+      "y coordinate": "1.93 meters",
+      "height above floor": "0.21 meters"
+     },
+     "longest dimension": "0.84 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "1.21 meters",
+      "y coordinate": "1.16 meters",
+      "height above floor": "0.24 meters"
+     },
+     "longest dimension": "0.49 meters"
+    }
+   ]
+  },
+  "fireplace": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-0.38 meters",
+      "y coordinate": "3.3 meters",
+      "height above floor": "0.55 meters"
+     },
+     "longest dimension": "1.39 meters"
+    }
+   ]
+  },
+  "tv": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-0.32 meters",
+      "y coordinate": "3.3 meters",
+      "height above floor": "1.64 meters"
+     },
+     "longest dimension": "0.98 meters"
+    }
+   ]
+  }
+ },
+ "room": {
+  "floor area": "34.6 square meters"
+ },
+ "closest classes distance meters from": {
+  "sofa": {
+   "table": {
+    "distance": "0.43 meters",
+    "closeness rank": 1
+   },
+   "stool": {
+    "distance": "0.85 meters",
+    "closeness rank": 2
+   },
+   "fireplace": {
+    "distance": "1.9 meters",
+    "closeness rank": 3
+   },
+   "tv": {
+    "distance": "2.23 meters",
+    "closeness rank": 4
+   }
+  },
+  "table": {
+   "stool": {
+    "distance": "1.75 meters",
+    "closeness rank": 1
+   },
+   "sofa": {
+    "distance": "0.43 meters",
+    "closeness rank": 2
+   },
+   "fireplace": {
+    "distance": "2.02 meters",
+    "closeness rank": 3
+   },
+   "tv": {
+    "distance": "2.46 meters",
+    "closeness rank": 4
+   }
+  },
+  "stool": {
+   "table": {
+    "distance": "1.75 meters",
+    "closeness rank": 1
+   },
+   "sofa": {
+    "distance": "0.85 meters",
+    "closeness rank": 2
+   },
+   "fireplace": {
+    "distance": "0.55 meters",
+    "closeness rank": 3
+   },
+   "tv": {
+    "distance": "1.23 meters",
+    "closeness rank": 4
+   }
+  },
+  "fireplace": {
+   "tv": {
+    "distance": "0.23 meters",
+    "closeness rank": 1
+   },
+   "stool": {
+    "distance": "0.55 meters",
+    "closeness rank": 2
+   },
+   "table": {
+    "distance": "2.02 meters",
+    "closeness rank": 3
+   },
+   "sofa": {
+    "distance": "1.9 meters",
+    "closeness rank": 4
+   }
+  },
+  "tv": {
+   "fireplace": {
+    "distance": "0.23 meters",
+    "closeness rank": 1
+   },
+   "stool": {
+    "distance": "1.23 meters",
+    "closeness rank": 2
+   },
+   "table": {
+    "distance": "2.46 meters",
+    "closeness rank": 3
+   },
+   "sofa": {
+    "distance": "2.23 meters",
+    "closeness rank": 4
+   }
+  }
+ },
+ "appearance order": ["sofa", "table", "stool", "fireplace", "tv"]
+}
\ No newline at end of file
diff --git a/data/spatial codes/ground truth/explicit/42898527.json b/data/spatial codes/ground truth/explicit/42898527.json
new file mode 100644
index 0000000000000000000000000000000000000000..e1d193db99d4aef8c26785784f1293d7c81437eb
--- /dev/null
+++ b/data/spatial codes/ground truth/explicit/42898527.json	
@@ -0,0 +1,229 @@
+{
+ "spatial code schema": {
+  "objects": {
+   "<object class>": {
+    "count": {
+     "unit": null,
+     "description": "number of instances of this class in the compact spatial code (that schema's per-class oriented-box list length)"
+    },
+    "instances": [
+     {
+      "position": {
+       "x coordinate": {
+        "unit": "meters",
+        "description": "x coordinate of this instance's compact 3D oriented bounding box center"
+       },
+       "y coordinate": {
+        "unit": "meters",
+        "description": "y coordinate of this instance's compact 3D oriented bounding box center"
+       },
+       "height above floor": {
+        "unit": "meters",
+        "description": "height coordinate of this instance's compact 3D oriented bounding box center"
+       }
+      },
+      "longest dimension": {
+       "unit": "meters",
+       "description": "longest of this instance's compact 3D oriented bounding box dimensions"
+      }
+     }
+    ]
+   }
+  },
+  "room": {
+   "floor area": {
+    "unit": "square meters",
+    "description": "shoelace area of the compact spatial code's floor boundary polygons, with every interior hole subtracted"
+   }
+  },
+  "closest classes distance meters from": {
+   "<object class>": {
+    "<other object class>": {
+     "distance": {
+      "unit": "meters",
+      "description": "estimated distance in meters between an object of this class and an object of the other class"
+     },
+     "closeness rank": {
+      "unit": null,
+      "description": "1 = the nearest other class to this one, 2 = second-nearest, and so on; ranked by nearest-instance proximity, so use the rank (not the distance values) to compare which class is closest"
+     }
+    }
+   }
+  },
+  "appearance order": {
+   "unit": null,
+   "description": "class names ordered by earliest compact 'first visible time' across all of that class's instances"
+  }
+ },
+ "objects": {
+  "stove": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-2.32 meters",
+      "y coordinate": "2.25 meters",
+      "height above floor": "0.98 meters"
+     },
+     "longest dimension": "0.59 meters"
+    }
+   ]
+  },
+  "washer": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-3.45 meters",
+      "y coordinate": "2.89 meters",
+      "height above floor": "0.5 meters"
+     },
+     "longest dimension": "0.91 meters"
+    }
+   ]
+  },
+  "dishwasher": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-3.46 meters",
+      "y coordinate": "3.58 meters",
+      "height above floor": "0.5 meters"
+     },
+     "longest dimension": "0.91 meters"
+    }
+   ]
+  },
+  "refrigerator": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-1.48 meters",
+      "y coordinate": "4.31 meters",
+      "height above floor": "0.93 meters"
+     },
+     "longest dimension": "1.84 meters"
+    }
+   ]
+  },
+  "chair": {
+   "count": 2,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "0.23 meters",
+      "y coordinate": "3.82 meters",
+      "height above floor": "0.49 meters"
+     },
+     "longest dimension": "0.98 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "0.42 meters",
+      "y coordinate": "3.03 meters",
+      "height above floor": "0.51 meters"
+     },
+     "longest dimension": "1.01 meters"
+    }
+   ]
+  }
+ },
+ "room": {
+  "floor area": "20.9 square meters"
+ },
+ "closest classes distance meters from": {
+  "stove": {
+   "washer": {
+    "distance": "0.63 meters",
+    "closeness rank": 1
+   },
+   "dishwasher": {
+    "distance": "1.07 meters",
+    "closeness rank": 2
+   },
+   "refrigerator": {
+    "distance": "1.42 meters",
+    "closeness rank": 3
+   },
+   "chair": {
+    "distance": "2.25 meters",
+    "closeness rank": 4
+   }
+  },
+  "washer": {
+   "dishwasher": {
+    "distance": "0.02 meters",
+    "closeness rank": 1
+   },
+   "stove": {
+    "distance": "0.63 meters",
+    "closeness rank": 2
+   },
+   "refrigerator": {
+    "distance": "1.55 meters",
+    "closeness rank": 3
+   },
+   "chair": {
+    "distance": "3.16 meters",
+    "closeness rank": 4
+   }
+  },
+  "dishwasher": {
+   "washer": {
+    "distance": "0.02 meters",
+    "closeness rank": 1
+   },
+   "stove": {
+    "distance": "1.07 meters",
+    "closeness rank": 2
+   },
+   "refrigerator": {
+    "distance": "1.36 meters",
+    "closeness rank": 3
+   },
+   "chair": {
+    "distance": "3.14 meters",
+    "closeness rank": 4
+   }
+  },
+  "refrigerator": {
+   "chair": {
+    "distance": "1.16 meters",
+    "closeness rank": 1
+   },
+   "dishwasher": {
+    "distance": "1.36 meters",
+    "closeness rank": 2
+   },
+   "stove": {
+    "distance": "1.42 meters",
+    "closeness rank": 3
+   },
+   "washer": {
+    "distance": "1.55 meters",
+    "closeness rank": 4
+   }
+  },
+  "chair": {
+   "refrigerator": {
+    "distance": "1.16 meters",
+    "closeness rank": 1
+   },
+   "stove": {
+    "distance": "2.25 meters",
+    "closeness rank": 2
+   },
+   "dishwasher": {
+    "distance": "3.14 meters",
+    "closeness rank": 3
+   },
+   "washer": {
+    "distance": "3.16 meters",
+    "closeness rank": 4
+   }
+  }
+ },
+ "appearance order": ["stove", "washer", "dishwasher", "refrigerator", "chair"]
+}
\ No newline at end of file
diff --git a/data/spatial codes/ground truth/explicit/42898544.json b/data/spatial codes/ground truth/explicit/42898544.json
new file mode 100644
index 0000000000000000000000000000000000000000..1f4be3da88870bdeba5ee1779deac148f5074976
--- /dev/null
+++ b/data/spatial codes/ground truth/explicit/42898544.json	
@@ -0,0 +1,135 @@
+{
+ "spatial code schema": {
+  "objects": {
+   "<object class>": {
+    "count": {
+     "unit": null,
+     "description": "number of instances of this class in the compact spatial code (that schema's per-class oriented-box list length)"
+    },
+    "instances": [
+     {
+      "position": {
+       "x coordinate": {
+        "unit": "meters",
+        "description": "x coordinate of this instance's compact 3D oriented bounding box center"
+       },
+       "y coordinate": {
+        "unit": "meters",
+        "description": "y coordinate of this instance's compact 3D oriented bounding box center"
+       },
+       "height above floor": {
+        "unit": "meters",
+        "description": "height coordinate of this instance's compact 3D oriented bounding box center"
+       }
+      },
+      "longest dimension": {
+       "unit": "meters",
+       "description": "longest of this instance's compact 3D oriented bounding box dimensions"
+      }
+     }
+    ]
+   }
+  },
+  "room": {
+   "floor area": {
+    "unit": "square meters",
+    "description": "shoelace area of the compact spatial code's floor boundary polygons, with every interior hole subtracted"
+   }
+  },
+  "closest classes distance meters from": {
+   "<object class>": {
+    "<other object class>": {
+     "distance": {
+      "unit": "meters",
+      "description": "estimated distance in meters between an object of this class and an object of the other class"
+     },
+     "closeness rank": {
+      "unit": null,
+      "description": "1 = the nearest other class to this one, 2 = second-nearest, and so on; ranked by nearest-instance proximity, so use the rank (not the distance values) to compare which class is closest"
+     }
+    }
+   }
+  },
+  "appearance order": {
+   "unit": null,
+   "description": "class names ordered by earliest compact 'first visible time' across all of that class's instances"
+  }
+ },
+ "objects": {
+  "bed": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "0.96 meters",
+      "y coordinate": "3.89 meters",
+      "height above floor": "0.38 meters"
+     },
+     "longest dimension": "1.98 meters"
+    }
+   ]
+  },
+  "table": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-1.17 meters",
+      "y coordinate": "4.54 meters",
+      "height above floor": "0.39 meters"
+     },
+     "longest dimension": "1.22 meters"
+    }
+   ]
+  },
+  "stool": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-0.84 meters",
+      "y coordinate": "4.27 meters",
+      "height above floor": "0.24 meters"
+     },
+     "longest dimension": "0.47 meters"
+    }
+   ]
+  }
+ },
+ "room": {
+  "floor area": "23.3 square meters"
+ },
+ "closest classes distance meters from": {
+  "bed": {
+   "stool": {
+    "distance": "0.66 meters",
+    "closeness rank": 1
+   },
+   "table": {
+    "distance": "1.06 meters",
+    "closeness rank": 2
+   }
+  },
+  "table": {
+   "stool": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "bed": {
+    "distance": "1.06 meters",
+    "closeness rank": 2
+   }
+  },
+  "stool": {
+   "table": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "bed": {
+    "distance": "0.66 meters",
+    "closeness rank": 2
+   }
+  }
+ },
+ "appearance order": ["bed", "table", "stool"]
+}
\ No newline at end of file
diff --git a/data/spatial codes/ground truth/explicit/42898581.json b/data/spatial codes/ground truth/explicit/42898581.json
new file mode 100644
index 0000000000000000000000000000000000000000..4804cbbf391d205cfdcccaa7176578f59c51bcf3
--- /dev/null
+++ b/data/spatial codes/ground truth/explicit/42898581.json	
@@ -0,0 +1,182 @@
+{
+ "spatial code schema": {
+  "objects": {
+   "<object class>": {
+    "count": {
+     "unit": null,
+     "description": "number of instances of this class in the compact spatial code (that schema's per-class oriented-box list length)"
+    },
+    "instances": [
+     {
+      "position": {
+       "x coordinate": {
+        "unit": "meters",
+        "description": "x coordinate of this instance's compact 3D oriented bounding box center"
+       },
+       "y coordinate": {
+        "unit": "meters",
+        "description": "y coordinate of this instance's compact 3D oriented bounding box center"
+       },
+       "height above floor": {
+        "unit": "meters",
+        "description": "height coordinate of this instance's compact 3D oriented bounding box center"
+       }
+      },
+      "longest dimension": {
+       "unit": "meters",
+       "description": "longest of this instance's compact 3D oriented bounding box dimensions"
+      }
+     }
+    ]
+   }
+  },
+  "room": {
+   "floor area": {
+    "unit": "square meters",
+    "description": "shoelace area of the compact spatial code's floor boundary polygons, with every interior hole subtracted"
+   }
+  },
+  "closest classes distance meters from": {
+   "<object class>": {
+    "<other object class>": {
+     "distance": {
+      "unit": "meters",
+      "description": "estimated distance in meters between an object of this class and an object of the other class"
+     },
+     "closeness rank": {
+      "unit": null,
+      "description": "1 = the nearest other class to this one, 2 = second-nearest, and so on; ranked by nearest-instance proximity, so use the rank (not the distance values) to compare which class is closest"
+     }
+    }
+   }
+  },
+  "appearance order": {
+   "unit": null,
+   "description": "class names ordered by earliest compact 'first visible time' across all of that class's instances"
+  }
+ },
+ "objects": {
+  "bed": {
+   "count": 2,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "0.83 meters",
+      "y coordinate": "3.92 meters",
+      "height above floor": "0.32 meters"
+     },
+     "longest dimension": "1.99 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "2.37 meters",
+      "y coordinate": "3.96 meters",
+      "height above floor": "0.32 meters"
+     },
+     "longest dimension": "1.99 meters"
+    }
+   ]
+  },
+  "table": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "3.47 meters",
+      "y coordinate": "2.94 meters",
+      "height above floor": "0.38 meters"
+     },
+     "longest dimension": "1.34 meters"
+    }
+   ]
+  },
+  "stool": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "3.17 meters",
+      "y coordinate": "2.93 meters",
+      "height above floor": "0.24 meters"
+     },
+     "longest dimension": "0.49 meters"
+    }
+   ]
+  },
+  "tv": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-0.36 meters",
+      "y coordinate": "3.88 meters",
+      "height above floor": "1.01 meters"
+     },
+     "longest dimension": "0.74 meters"
+    }
+   ]
+  }
+ },
+ "room": {
+  "floor area": "26.9 square meters"
+ },
+ "closest classes distance meters from": {
+  "bed": {
+   "stool": {
+    "distance": "1.3 meters",
+    "closeness rank": 1
+   },
+   "table": {
+    "distance": "1.15 meters",
+    "closeness rank": 2
+   },
+   "tv": {
+    "distance": "0.54 meters",
+    "closeness rank": 3
+   }
+  },
+  "table": {
+   "stool": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "bed": {
+    "distance": "1.15 meters",
+    "closeness rank": 2
+   },
+   "tv": {
+    "distance": "3.37 meters",
+    "closeness rank": 3
+   }
+  },
+  "stool": {
+   "table": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "bed": {
+    "distance": "1.3 meters",
+    "closeness rank": 2
+   },
+   "tv": {
+    "distance": "3.19 meters",
+    "closeness rank": 3
+   }
+  },
+  "tv": {
+   "bed": {
+    "distance": "0.54 meters",
+    "closeness rank": 1
+   },
+   "stool": {
+    "distance": "3.19 meters",
+    "closeness rank": 2
+   },
+   "table": {
+    "distance": "3.37 meters",
+    "closeness rank": 3
+   }
+  }
+ },
+ "appearance order": ["bed", "table", "stool", "tv"]
+}
\ No newline at end of file
diff --git a/data/spatial codes/ground truth/explicit/42898817.json b/data/spatial codes/ground truth/explicit/42898817.json
new file mode 100644
index 0000000000000000000000000000000000000000..4f666157bab1bcfe58bed5f132cf0fa01463a7bb
--- /dev/null
+++ b/data/spatial codes/ground truth/explicit/42898817.json	
@@ -0,0 +1,80 @@
+{
+ "spatial code schema": {
+  "objects": {
+   "<object class>": {
+    "count": {
+     "unit": null,
+     "description": "number of instances of this class in the compact spatial code (that schema's per-class oriented-box list length)"
+    },
+    "instances": [
+     {
+      "position": {
+       "x coordinate": {
+        "unit": "meters",
+        "description": "x coordinate of this instance's compact 3D oriented bounding box center"
+       },
+       "y coordinate": {
+        "unit": "meters",
+        "description": "y coordinate of this instance's compact 3D oriented bounding box center"
+       },
+       "height above floor": {
+        "unit": "meters",
+        "description": "height coordinate of this instance's compact 3D oriented bounding box center"
+       }
+      },
+      "longest dimension": {
+       "unit": "meters",
+       "description": "longest of this instance's compact 3D oriented bounding box dimensions"
+      }
+     }
+    ]
+   }
+  },
+  "room": {
+   "floor area": {
+    "unit": "square meters",
+    "description": "shoelace area of the compact spatial code's floor boundary polygons, with every interior hole subtracted"
+   }
+  },
+  "closest classes distance meters from": {
+   "<object class>": {
+    "<other object class>": {
+     "distance": {
+      "unit": "meters",
+      "description": "estimated distance in meters between an object of this class and an object of the other class"
+     },
+     "closeness rank": {
+      "unit": null,
+      "description": "1 = the nearest other class to this one, 2 = second-nearest, and so on; ranked by nearest-instance proximity, so use the rank (not the distance values) to compare which class is closest"
+     }
+    }
+   }
+  },
+  "appearance order": {
+   "unit": null,
+   "description": "class names ordered by earliest compact 'first visible time' across all of that class's instances"
+  }
+ },
+ "objects": {
+  "washer": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-2.16 meters",
+      "y coordinate": "0.14 meters",
+      "height above floor": "0.46 meters"
+     },
+     "longest dimension": "0.91 meters"
+    }
+   ]
+  }
+ },
+ "room": {
+  "floor area": "10.3 square meters"
+ },
+ "closest classes distance meters from": {
+  "washer": {}
+ },
+ "appearance order": ["washer"]
+}
\ No newline at end of file
diff --git a/data/spatial codes/ground truth/explicit/42898826.json b/data/spatial codes/ground truth/explicit/42898826.json
new file mode 100644
index 0000000000000000000000000000000000000000..def7c7d0bc3d256f2e3e9585356a413d2ddf27c7
--- /dev/null
+++ b/data/spatial codes/ground truth/explicit/42898826.json	
@@ -0,0 +1,104 @@
+{
+ "spatial code schema": {
+  "objects": {
+   "<object class>": {
+    "count": {
+     "unit": null,
+     "description": "number of instances of this class in the compact spatial code (that schema's per-class oriented-box list length)"
+    },
+    "instances": [
+     {
+      "position": {
+       "x coordinate": {
+        "unit": "meters",
+        "description": "x coordinate of this instance's compact 3D oriented bounding box center"
+       },
+       "y coordinate": {
+        "unit": "meters",
+        "description": "y coordinate of this instance's compact 3D oriented bounding box center"
+       },
+       "height above floor": {
+        "unit": "meters",
+        "description": "height coordinate of this instance's compact 3D oriented bounding box center"
+       }
+      },
+      "longest dimension": {
+       "unit": "meters",
+       "description": "longest of this instance's compact 3D oriented bounding box dimensions"
+      }
+     }
+    ]
+   }
+  },
+  "room": {
+   "floor area": {
+    "unit": "square meters",
+    "description": "shoelace area of the compact spatial code's floor boundary polygons, with every interior hole subtracted"
+   }
+  },
+  "closest classes distance meters from": {
+   "<object class>": {
+    "<other object class>": {
+     "distance": {
+      "unit": "meters",
+      "description": "estimated distance in meters between an object of this class and an object of the other class"
+     },
+     "closeness rank": {
+      "unit": null,
+      "description": "1 = the nearest other class to this one, 2 = second-nearest, and so on; ranked by nearest-instance proximity, so use the rank (not the distance values) to compare which class is closest"
+     }
+    }
+   }
+  },
+  "appearance order": {
+   "unit": null,
+   "description": "class names ordered by earliest compact 'first visible time' across all of that class's instances"
+  }
+ },
+ "objects": {
+  "bathtub": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-3.68 meters",
+      "y coordinate": "-0.16 meters",
+      "height above floor": "0.31 meters"
+     },
+     "longest dimension": "1.89 meters"
+    }
+   ]
+  },
+  "toilet": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-2.88 meters",
+      "y coordinate": "1.65 meters",
+      "height above floor": "0.4 meters"
+     },
+     "longest dimension": "0.81 meters"
+    }
+   ]
+  }
+ },
+ "room": {
+  "floor area": "14.8 square meters"
+ },
+ "closest classes distance meters from": {
+  "bathtub": {
+   "toilet": {
+    "distance": "0.63 meters",
+    "closeness rank": 1
+   }
+  },
+  "toilet": {
+   "bathtub": {
+    "distance": "0.63 meters",
+    "closeness rank": 1
+   }
+  }
+ },
+ "appearance order": ["bathtub", "toilet"]
+}
\ No newline at end of file
diff --git a/data/spatial codes/ground truth/explicit/42898849.json b/data/spatial codes/ground truth/explicit/42898849.json
new file mode 100644
index 0000000000000000000000000000000000000000..6851295bffe32ed73fbdce080ff2f601846f7e74
--- /dev/null
+++ b/data/spatial codes/ground truth/explicit/42898849.json	
@@ -0,0 +1,364 @@
+{
+ "spatial code schema": {
+  "objects": {
+   "<object class>": {
+    "count": {
+     "unit": null,
+     "description": "number of instances of this class in the compact spatial code (that schema's per-class oriented-box list length)"
+    },
+    "instances": [
+     {
+      "position": {
+       "x coordinate": {
+        "unit": "meters",
+        "description": "x coordinate of this instance's compact 3D oriented bounding box center"
+       },
+       "y coordinate": {
+        "unit": "meters",
+        "description": "y coordinate of this instance's compact 3D oriented bounding box center"
+       },
+       "height above floor": {
+        "unit": "meters",
+        "description": "height coordinate of this instance's compact 3D oriented bounding box center"
+       }
+      },
+      "longest dimension": {
+       "unit": "meters",
+       "description": "longest of this instance's compact 3D oriented bounding box dimensions"
+      }
+     }
+    ]
+   }
+  },
+  "room": {
+   "floor area": {
+    "unit": "square meters",
+    "description": "shoelace area of the compact spatial code's floor boundary polygons, with every interior hole subtracted"
+   }
+  },
+  "closest classes distance meters from": {
+   "<object class>": {
+    "<other object class>": {
+     "distance": {
+      "unit": "meters",
+      "description": "estimated distance in meters between an object of this class and an object of the other class"
+     },
+     "closeness rank": {
+      "unit": null,
+      "description": "1 = the nearest other class to this one, 2 = second-nearest, and so on; ranked by nearest-instance proximity, so use the rank (not the distance values) to compare which class is closest"
+     }
+    }
+   }
+  },
+  "appearance order": {
+   "unit": null,
+   "description": "class names ordered by earliest compact 'first visible time' across all of that class's instances"
+  }
+ },
+ "objects": {
+  "tv": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "4.77 meters",
+      "y coordinate": "7.09 meters",
+      "height above floor": "1.33 meters"
+     },
+     "longest dimension": "0.64 meters"
+    }
+   ]
+  },
+  "fireplace": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "4.88 meters",
+      "y coordinate": "5.23 meters",
+      "height above floor": "0.63 meters"
+     },
+     "longest dimension": "1.4 meters"
+    }
+   ]
+  },
+  "chair": {
+   "count": 8,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "2.97 meters",
+      "y coordinate": "1.4 meters",
+      "height above floor": "0.45 meters"
+     },
+     "longest dimension": "0.86 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "2.88 meters",
+      "y coordinate": "0.92 meters",
+      "height above floor": "0.29 meters"
+     },
+     "longest dimension": "0.54 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-1.73 meters",
+      "y coordinate": "4.52 meters",
+      "height above floor": "0.43 meters"
+     },
+     "longest dimension": "0.86 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-1.78 meters",
+      "y coordinate": "4.02 meters",
+      "height above floor": "0.43 meters"
+     },
+     "longest dimension": "0.86 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-2.18 meters",
+      "y coordinate": "4.92 meters",
+      "height above floor": "0.47 meters"
+     },
+     "longest dimension": "0.93 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-2.71 meters",
+      "y coordinate": "4.88 meters",
+      "height above floor": "0.47 meters"
+     },
+     "longest dimension": "0.94 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-3.34 meters",
+      "y coordinate": "4.86 meters",
+      "height above floor": "0.47 meters"
+     },
+     "longest dimension": "0.94 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-3.98 meters",
+      "y coordinate": "5.01 meters",
+      "height above floor": "0.51 meters"
+     },
+     "longest dimension": "1.02 meters"
+    }
+   ]
+  },
+  "sofa": {
+   "count": 2,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "3.28 meters",
+      "y coordinate": "3.62 meters",
+      "height above floor": "0.42 meters"
+     },
+     "longest dimension": "1.82 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "1.47 meters",
+      "y coordinate": "5.39 meters",
+      "height above floor": "0.44 meters"
+     },
+     "longest dimension": "2.28 meters"
+    }
+   ]
+  },
+  "table": {
+   "count": 4,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "2.07 meters",
+      "y coordinate": "3.45 meters",
+      "height above floor": "0.26 meters"
+     },
+     "longest dimension": "0.74 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "1.33 meters",
+      "y coordinate": "6.88 meters",
+      "height above floor": "0.28 meters"
+     },
+     "longest dimension": "0.62 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-3.07 meters",
+      "y coordinate": "4.3 meters",
+      "height above floor": "0.45 meters"
+     },
+     "longest dimension": "2.09 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-5.33 meters",
+      "y coordinate": "6.98 meters",
+      "height above floor": "0.14 meters"
+     },
+     "longest dimension": "0.46 meters"
+    }
+   ]
+  },
+  "stove": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-3.35 meters",
+      "y coordinate": "1.6 meters",
+      "height above floor": "0.79 meters"
+     },
+     "longest dimension": "0.89 meters"
+    }
+   ]
+  }
+ },
+ "room": {
+  "floor area": "73.0 square meters"
+ },
+ "closest classes distance meters from": {
+  "tv": {
+   "fireplace": {
+    "distance": "0.97 meters",
+    "closeness rank": 1
+   },
+   "sofa": {
+    "distance": "2.77 meters",
+    "closeness rank": 2
+   },
+   "table": {
+    "distance": "3.97 meters",
+    "closeness rank": 3
+   },
+   "chair": {
+    "distance": "5.4 meters",
+    "closeness rank": 4
+   },
+   "stove": {
+    "distance": "9.23 meters",
+    "closeness rank": 5
+   }
+  },
+  "fireplace": {
+   "sofa": {
+    "distance": "0.67 meters",
+    "closeness rank": 1
+   },
+   "tv": {
+    "distance": "0.97 meters",
+    "closeness rank": 2
+   },
+   "table": {
+    "distance": "2.31 meters",
+    "closeness rank": 3
+   },
+   "chair": {
+    "distance": "3.15 meters",
+    "closeness rank": 4
+   },
+   "stove": {
+    "distance": "7.93 meters",
+    "closeness rank": 5
+   }
+  },
+  "chair": {
+   "table": {
+    "distance": "1.45 meters",
+    "closeness rank": 1
+   },
+   "sofa": {
+    "distance": "1.44 meters",
+    "closeness rank": 2
+   },
+   "stove": {
+    "distance": "5.46 meters",
+    "closeness rank": 3
+   },
+   "fireplace": {
+    "distance": "3.15 meters",
+    "closeness rank": 4
+   },
+   "tv": {
+    "distance": "5.4 meters",
+    "closeness rank": 5
+   }
+  },
+  "sofa": {
+   "table": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "fireplace": {
+    "distance": "0.67 meters",
+    "closeness rank": 2
+   },
+   "chair": {
+    "distance": "1.44 meters",
+    "closeness rank": 3
+   },
+   "tv": {
+    "distance": "2.77 meters",
+    "closeness rank": 4
+   },
+   "stove": {
+    "distance": "5.59 meters",
+    "closeness rank": 5
+   }
+  },
+  "table": {
+   "chair": {
+    "distance": "1.45 meters",
+    "closeness rank": 1
+   },
+   "sofa": {
+    "distance": "0.0 meters",
+    "closeness rank": 2
+   },
+   "stove": {
+    "distance": "4.94 meters",
+    "closeness rank": 3
+   },
+   "fireplace": {
+    "distance": "2.31 meters",
+    "closeness rank": 4
+   },
+   "tv": {
+    "distance": "3.97 meters",
+    "closeness rank": 5
+   }
+  },
+  "stove": {
+   "table": {
+    "distance": "4.94 meters",
+    "closeness rank": 1
+   },
+   "chair": {
+    "distance": "5.46 meters",
+    "closeness rank": 2
+   },
+   "sofa": {
+    "distance": "5.59 meters",
+    "closeness rank": 3
+   },
+   "fireplace": {
+    "distance": "7.93 meters",
+    "closeness rank": 4
+   },
+   "tv": {
+    "distance": "9.23 meters",
+    "closeness rank": 5
+   }
+  }
+ },
+ "appearance order": ["tv", "fireplace", "chair", "sofa", "table", "stove"]
+}
\ No newline at end of file
diff --git a/data/spatial codes/ground truth/explicit/42898869.json b/data/spatial codes/ground truth/explicit/42898869.json
new file mode 100644
index 0000000000000000000000000000000000000000..4e8a5d4c601ce3c0973e71d167fd2bd19dff284a
--- /dev/null
+++ b/data/spatial codes/ground truth/explicit/42898869.json	
@@ -0,0 +1,112 @@
+{
+ "spatial code schema": {
+  "objects": {
+   "<object class>": {
+    "count": {
+     "unit": null,
+     "description": "number of instances of this class in the compact spatial code (that schema's per-class oriented-box list length)"
+    },
+    "instances": [
+     {
+      "position": {
+       "x coordinate": {
+        "unit": "meters",
+        "description": "x coordinate of this instance's compact 3D oriented bounding box center"
+       },
+       "y coordinate": {
+        "unit": "meters",
+        "description": "y coordinate of this instance's compact 3D oriented bounding box center"
+       },
+       "height above floor": {
+        "unit": "meters",
+        "description": "height coordinate of this instance's compact 3D oriented bounding box center"
+       }
+      },
+      "longest dimension": {
+       "unit": "meters",
+       "description": "longest of this instance's compact 3D oriented bounding box dimensions"
+      }
+     }
+    ]
+   }
+  },
+  "room": {
+   "floor area": {
+    "unit": "square meters",
+    "description": "shoelace area of the compact spatial code's floor boundary polygons, with every interior hole subtracted"
+   }
+  },
+  "closest classes distance meters from": {
+   "<object class>": {
+    "<other object class>": {
+     "distance": {
+      "unit": "meters",
+      "description": "estimated distance in meters between an object of this class and an object of the other class"
+     },
+     "closeness rank": {
+      "unit": null,
+      "description": "1 = the nearest other class to this one, 2 = second-nearest, and so on; ranked by nearest-instance proximity, so use the rank (not the distance values) to compare which class is closest"
+     }
+    }
+   }
+  },
+  "appearance order": {
+   "unit": null,
+   "description": "class names ordered by earliest compact 'first visible time' across all of that class's instances"
+  }
+ },
+ "objects": {
+  "sofa": {
+   "count": 2,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-0.02 meters",
+      "y coordinate": "3.87 meters",
+      "height above floor": "0.34 meters"
+     },
+     "longest dimension": "2.27 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-1.58 meters",
+      "y coordinate": "1.88 meters",
+      "height above floor": "0.34 meters"
+     },
+     "longest dimension": "2.25 meters"
+    }
+   ]
+  },
+  "tv": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-2.85 meters",
+      "y coordinate": "5.2 meters",
+      "height above floor": "0.96 meters"
+     },
+     "longest dimension": "0.78 meters"
+    }
+   ]
+  }
+ },
+ "room": {
+  "floor area": "20.2 square meters"
+ },
+ "closest classes distance meters from": {
+  "sofa": {
+   "tv": {
+    "distance": "2.16 meters",
+    "closeness rank": 1
+   }
+  },
+  "tv": {
+   "sofa": {
+    "distance": "2.16 meters",
+    "closeness rank": 1
+   }
+  }
+ },
+ "appearance order": ["sofa", "tv"]
+}
\ No newline at end of file
diff --git a/data/spatial codes/ground truth/explicit/42899461.json b/data/spatial codes/ground truth/explicit/42899461.json
new file mode 100644
index 0000000000000000000000000000000000000000..b781638e4a5062d41b9937896645bafbf56c449b
--- /dev/null
+++ b/data/spatial codes/ground truth/explicit/42899461.json	
@@ -0,0 +1,316 @@
+{
+ "spatial code schema": {
+  "objects": {
+   "<object class>": {
+    "count": {
+     "unit": null,
+     "description": "number of instances of this class in the compact spatial code (that schema's per-class oriented-box list length)"
+    },
+    "instances": [
+     {
+      "position": {
+       "x coordinate": {
+        "unit": "meters",
+        "description": "x coordinate of this instance's compact 3D oriented bounding box center"
+       },
+       "y coordinate": {
+        "unit": "meters",
+        "description": "y coordinate of this instance's compact 3D oriented bounding box center"
+       },
+       "height above floor": {
+        "unit": "meters",
+        "description": "height coordinate of this instance's compact 3D oriented bounding box center"
+       }
+      },
+      "longest dimension": {
+       "unit": "meters",
+       "description": "longest of this instance's compact 3D oriented bounding box dimensions"
+      }
+     }
+    ]
+   }
+  },
+  "room": {
+   "floor area": {
+    "unit": "square meters",
+    "description": "shoelace area of the compact spatial code's floor boundary polygons, with every interior hole subtracted"
+   }
+  },
+  "closest classes distance meters from": {
+   "<object class>": {
+    "<other object class>": {
+     "distance": {
+      "unit": "meters",
+      "description": "estimated distance in meters between an object of this class and an object of the other class"
+     },
+     "closeness rank": {
+      "unit": null,
+      "description": "1 = the nearest other class to this one, 2 = second-nearest, and so on; ranked by nearest-instance proximity, so use the rank (not the distance values) to compare which class is closest"
+     }
+    }
+   }
+  },
+  "appearance order": {
+   "unit": null,
+   "description": "class names ordered by earliest compact 'first visible time' across all of that class's instances"
+  }
+ },
+ "objects": {
+  "sofa": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "2.15 meters",
+      "y coordinate": "5.9 meters",
+      "height above floor": "0.48 meters"
+     },
+     "longest dimension": "2.37 meters"
+    }
+   ]
+  },
+  "table": {
+   "count": 3,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "1.44 meters",
+      "y coordinate": "7.21 meters",
+      "height above floor": "0.25 meters"
+     },
+     "longest dimension": "0.59 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-1.63 meters",
+      "y coordinate": "6.87 meters",
+      "height above floor": "0.23 meters"
+     },
+     "longest dimension": "0.63 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "1.71 meters",
+      "y coordinate": "4.06 meters",
+      "height above floor": "0.39 meters"
+     },
+     "longest dimension": "1.04 meters"
+    }
+   ]
+  },
+  "fireplace": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "0.45 meters",
+      "y coordinate": "7.6 meters",
+      "height above floor": "0.46 meters"
+     },
+     "longest dimension": "0.78 meters"
+    }
+   ]
+  },
+  "tv": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-1.59 meters",
+      "y coordinate": "6.87 meters",
+      "height above floor": "0.69 meters"
+     },
+     "longest dimension": "0.7 meters"
+    }
+   ]
+  },
+  "chair": {
+   "count": 4,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "2.42 meters",
+      "y coordinate": "4.24 meters",
+      "height above floor": "0.42 meters"
+     },
+     "longest dimension": "0.78 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "2.19 meters",
+      "y coordinate": "3.59 meters",
+      "height above floor": "0.42 meters"
+     },
+     "longest dimension": "0.78 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-0.64 meters",
+      "y coordinate": "4.77 meters",
+      "height above floor": "0.52 meters"
+     },
+     "longest dimension": "1.04 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-1.58 meters",
+      "y coordinate": "4.81 meters",
+      "height above floor": "0.52 meters"
+     },
+     "longest dimension": "1.04 meters"
+    }
+   ]
+  },
+  "stove": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-1.28 meters",
+      "y coordinate": "1.59 meters",
+      "height above floor": "0.88 meters"
+     },
+     "longest dimension": "0.55 meters"
+    }
+   ]
+  }
+ },
+ "room": {
+  "floor area": "38.3 square meters"
+ },
+ "closest classes distance meters from": {
+  "sofa": {
+   "table": {
+    "distance": "0.03 meters",
+    "closeness rank": 1
+   },
+   "chair": {
+    "distance": "0.13 meters",
+    "closeness rank": 2
+   },
+   "fireplace": {
+    "distance": "1.1 meters",
+    "closeness rank": 3
+   },
+   "tv": {
+    "distance": "3.13 meters",
+    "closeness rank": 4
+   },
+   "stove": {
+    "distance": "4.06 meters",
+    "closeness rank": 5
+   }
+  },
+  "table": {
+   "chair": {
+    "distance": "2.45 meters",
+    "closeness rank": 1
+   },
+   "sofa": {
+    "distance": "0.03 meters",
+    "closeness rank": 2
+   },
+   "tv": {
+    "distance": "2.44 meters",
+    "closeness rank": 3
+   },
+   "fireplace": {
+    "distance": "0.51 meters",
+    "closeness rank": 4
+   },
+   "stove": {
+    "distance": "5.71 meters",
+    "closeness rank": 5
+   }
+  },
+  "fireplace": {
+   "table": {
+    "distance": "0.51 meters",
+    "closeness rank": 1
+   },
+   "sofa": {
+    "distance": "1.1 meters",
+    "closeness rank": 2
+   },
+   "tv": {
+    "distance": "1.66 meters",
+    "closeness rank": 3
+   },
+   "chair": {
+    "distance": "3.12 meters",
+    "closeness rank": 4
+   },
+   "stove": {
+    "distance": "5.76 meters",
+    "closeness rank": 5
+   }
+  },
+  "tv": {
+   "table": {
+    "distance": "2.44 meters",
+    "closeness rank": 1
+   },
+   "chair": {
+    "distance": "4.06 meters",
+    "closeness rank": 2
+   },
+   "fireplace": {
+    "distance": "1.66 meters",
+    "closeness rank": 3
+   },
+   "sofa": {
+    "distance": "3.13 meters",
+    "closeness rank": 4
+   },
+   "stove": {
+    "distance": "4.74 meters",
+    "closeness rank": 5
+   }
+  },
+  "chair": {
+   "table": {
+    "distance": "2.45 meters",
+    "closeness rank": 1
+   },
+   "sofa": {
+    "distance": "0.13 meters",
+    "closeness rank": 2
+   },
+   "tv": {
+    "distance": "4.06 meters",
+    "closeness rank": 3
+   },
+   "fireplace": {
+    "distance": "3.12 meters",
+    "closeness rank": 4
+   },
+   "stove": {
+    "distance": "3.91 meters",
+    "closeness rank": 5
+   }
+  },
+  "stove": {
+   "chair": {
+    "distance": "3.91 meters",
+    "closeness rank": 1
+   },
+   "table": {
+    "distance": "5.71 meters",
+    "closeness rank": 2
+   },
+   "sofa": {
+    "distance": "4.06 meters",
+    "closeness rank": 3
+   },
+   "tv": {
+    "distance": "4.74 meters",
+    "closeness rank": 4
+   },
+   "fireplace": {
+    "distance": "5.76 meters",
+    "closeness rank": 5
+   }
+  }
+ },
+ "appearance order": ["sofa", "table", "fireplace", "tv", "chair", "stove"]
+}
\ No newline at end of file
diff --git a/data/spatial codes/ground truth/explicit/42899612.json b/data/spatial codes/ground truth/explicit/42899612.json
new file mode 100644
index 0000000000000000000000000000000000000000..c63ccfc93c33912a6f181c5fe6fe2c1e53a9f7db
--- /dev/null
+++ b/data/spatial codes/ground truth/explicit/42899612.json	
@@ -0,0 +1,198 @@
+{
+ "spatial code schema": {
+  "objects": {
+   "<object class>": {
+    "count": {
+     "unit": null,
+     "description": "number of instances of this class in the compact spatial code (that schema's per-class oriented-box list length)"
+    },
+    "instances": [
+     {
+      "position": {
+       "x coordinate": {
+        "unit": "meters",
+        "description": "x coordinate of this instance's compact 3D oriented bounding box center"
+       },
+       "y coordinate": {
+        "unit": "meters",
+        "description": "y coordinate of this instance's compact 3D oriented bounding box center"
+       },
+       "height above floor": {
+        "unit": "meters",
+        "description": "height coordinate of this instance's compact 3D oriented bounding box center"
+       }
+      },
+      "longest dimension": {
+       "unit": "meters",
+       "description": "longest of this instance's compact 3D oriented bounding box dimensions"
+      }
+     }
+    ]
+   }
+  },
+  "room": {
+   "floor area": {
+    "unit": "square meters",
+    "description": "shoelace area of the compact spatial code's floor boundary polygons, with every interior hole subtracted"
+   }
+  },
+  "closest classes distance meters from": {
+   "<object class>": {
+    "<other object class>": {
+     "distance": {
+      "unit": "meters",
+      "description": "estimated distance in meters between an object of this class and an object of the other class"
+     },
+     "closeness rank": {
+      "unit": null,
+      "description": "1 = the nearest other class to this one, 2 = second-nearest, and so on; ranked by nearest-instance proximity, so use the rank (not the distance values) to compare which class is closest"
+     }
+    }
+   }
+  },
+  "appearance order": {
+   "unit": null,
+   "description": "class names ordered by earliest compact 'first visible time' across all of that class's instances"
+  }
+ },
+ "objects": {
+  "bed": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "1.81 meters",
+      "y coordinate": "4.59 meters",
+      "height above floor": "0.32 meters"
+     },
+     "longest dimension": "2.15 meters"
+    }
+   ]
+  },
+  "table": {
+   "count": 3,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "3.08 meters",
+      "y coordinate": "5.29 meters",
+      "height above floor": "0.31 meters"
+     },
+     "longest dimension": "0.63 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "0.52 meters",
+      "y coordinate": "5.35 meters",
+      "height above floor": "0.34 meters"
+     },
+     "longest dimension": "0.68 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-2.71 meters",
+      "y coordinate": "2.98 meters",
+      "height above floor": "0.24 meters"
+     },
+     "longest dimension": "0.61 meters"
+    }
+   ]
+  },
+  "stool": {
+   "count": 2,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "1.9 meters",
+      "y coordinate": "2.14 meters",
+      "height above floor": "0.25 meters"
+     },
+     "longest dimension": "0.48 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-1.01 meters",
+      "y coordinate": "4.44 meters",
+      "height above floor": "0.21 meters"
+     },
+     "longest dimension": "0.65 meters"
+    }
+   ]
+  },
+  "chair": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-1.74 meters",
+      "y coordinate": "4.78 meters",
+      "height above floor": "0.44 meters"
+     },
+     "longest dimension": "0.87 meters"
+    }
+   ]
+  }
+ },
+ "room": {
+  "floor area": "28.6 square meters"
+ },
+ "closest classes distance meters from": {
+  "bed": {
+   "table": {
+    "distance": "0.06 meters",
+    "closeness rank": 1
+   },
+   "stool": {
+    "distance": "1.18 meters",
+    "closeness rank": 2
+   },
+   "chair": {
+    "distance": "2.05 meters",
+    "closeness rank": 3
+   }
+  },
+  "table": {
+   "bed": {
+    "distance": "0.06 meters",
+    "closeness rank": 1
+   },
+   "stool": {
+    "distance": "2.81 meters",
+    "closeness rank": 2
+   },
+   "chair": {
+    "distance": "4.1 meters",
+    "closeness rank": 3
+   }
+  },
+  "stool": {
+   "chair": {
+    "distance": "3.83 meters",
+    "closeness rank": 1
+   },
+   "table": {
+    "distance": "2.81 meters",
+    "closeness rank": 2
+   },
+   "bed": {
+    "distance": "1.18 meters",
+    "closeness rank": 3
+   }
+  },
+  "chair": {
+   "stool": {
+    "distance": "3.83 meters",
+    "closeness rank": 1
+   },
+   "table": {
+    "distance": "4.1 meters",
+    "closeness rank": 2
+   },
+   "bed": {
+    "distance": "2.05 meters",
+    "closeness rank": 3
+   }
+  }
+ },
+ "appearance order": ["bed", "table", "stool", "chair"]
+}
\ No newline at end of file
diff --git a/data/spatial codes/ground truth/explicit/42899617.json b/data/spatial codes/ground truth/explicit/42899617.json
new file mode 100644
index 0000000000000000000000000000000000000000..574f64cd3ce171ade0e59afd38f9eaf931f21de9
--- /dev/null
+++ b/data/spatial codes/ground truth/explicit/42899617.json	
@@ -0,0 +1,104 @@
+{
+ "spatial code schema": {
+  "objects": {
+   "<object class>": {
+    "count": {
+     "unit": null,
+     "description": "number of instances of this class in the compact spatial code (that schema's per-class oriented-box list length)"
+    },
+    "instances": [
+     {
+      "position": {
+       "x coordinate": {
+        "unit": "meters",
+        "description": "x coordinate of this instance's compact 3D oriented bounding box center"
+       },
+       "y coordinate": {
+        "unit": "meters",
+        "description": "y coordinate of this instance's compact 3D oriented bounding box center"
+       },
+       "height above floor": {
+        "unit": "meters",
+        "description": "height coordinate of this instance's compact 3D oriented bounding box center"
+       }
+      },
+      "longest dimension": {
+       "unit": "meters",
+       "description": "longest of this instance's compact 3D oriented bounding box dimensions"
+      }
+     }
+    ]
+   }
+  },
+  "room": {
+   "floor area": {
+    "unit": "square meters",
+    "description": "shoelace area of the compact spatial code's floor boundary polygons, with every interior hole subtracted"
+   }
+  },
+  "closest classes distance meters from": {
+   "<object class>": {
+    "<other object class>": {
+     "distance": {
+      "unit": "meters",
+      "description": "estimated distance in meters between an object of this class and an object of the other class"
+     },
+     "closeness rank": {
+      "unit": null,
+      "description": "1 = the nearest other class to this one, 2 = second-nearest, and so on; ranked by nearest-instance proximity, so use the rank (not the distance values) to compare which class is closest"
+     }
+    }
+   }
+  },
+  "appearance order": {
+   "unit": null,
+   "description": "class names ordered by earliest compact 'first visible time' across all of that class's instances"
+  }
+ },
+ "objects": {
+  "bathtub": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "2.15 meters",
+      "y coordinate": "-0.75 meters",
+      "height above floor": "0.29 meters"
+     },
+     "longest dimension": "1.74 meters"
+    }
+   ]
+  },
+  "toilet": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "3.61 meters",
+      "y coordinate": "-0.12 meters",
+      "height above floor": "0.49 meters"
+     },
+     "longest dimension": "0.98 meters"
+    }
+   ]
+  }
+ },
+ "room": {
+  "floor area": "9.1 square meters"
+ },
+ "closest classes distance meters from": {
+  "bathtub": {
+   "toilet": {
+    "distance": "0.3 meters",
+    "closeness rank": 1
+   }
+  },
+  "toilet": {
+   "bathtub": {
+    "distance": "0.3 meters",
+    "closeness rank": 1
+   }
+  }
+ },
+ "appearance order": ["bathtub", "toilet"]
+}
\ No newline at end of file
diff --git a/data/spatial codes/ground truth/explicit/42899685.json b/data/spatial codes/ground truth/explicit/42899685.json
new file mode 100644
index 0000000000000000000000000000000000000000..ed8ce0bbaea902b76d5d671600236581d337b731
--- /dev/null
+++ b/data/spatial codes/ground truth/explicit/42899685.json	
@@ -0,0 +1,403 @@
+{
+ "spatial code schema": {
+  "objects": {
+   "<object class>": {
+    "count": {
+     "unit": null,
+     "description": "number of instances of this class in the compact spatial code (that schema's per-class oriented-box list length)"
+    },
+    "instances": [
+     {
+      "position": {
+       "x coordinate": {
+        "unit": "meters",
+        "description": "x coordinate of this instance's compact 3D oriented bounding box center"
+       },
+       "y coordinate": {
+        "unit": "meters",
+        "description": "y coordinate of this instance's compact 3D oriented bounding box center"
+       },
+       "height above floor": {
+        "unit": "meters",
+        "description": "height coordinate of this instance's compact 3D oriented bounding box center"
+       }
+      },
+      "longest dimension": {
+       "unit": "meters",
+       "description": "longest of this instance's compact 3D oriented bounding box dimensions"
+      }
+     }
+    ]
+   }
+  },
+  "room": {
+   "floor area": {
+    "unit": "square meters",
+    "description": "shoelace area of the compact spatial code's floor boundary polygons, with every interior hole subtracted"
+   }
+  },
+  "closest classes distance meters from": {
+   "<object class>": {
+    "<other object class>": {
+     "distance": {
+      "unit": "meters",
+      "description": "estimated distance in meters between an object of this class and an object of the other class"
+     },
+     "closeness rank": {
+      "unit": null,
+      "description": "1 = the nearest other class to this one, 2 = second-nearest, and so on; ranked by nearest-instance proximity, so use the rank (not the distance values) to compare which class is closest"
+     }
+    }
+   }
+  },
+  "appearance order": {
+   "unit": null,
+   "description": "class names ordered by earliest compact 'first visible time' across all of that class's instances"
+  }
+ },
+ "objects": {
+  "washer": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "0.73 meters",
+      "y coordinate": "-2.61 meters",
+      "height above floor": "0.46 meters"
+     },
+     "longest dimension": "0.92 meters"
+    }
+   ]
+  },
+  "dishwasher": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "0.6 meters",
+      "y coordinate": "-2.03 meters",
+      "height above floor": "0.46 meters"
+     },
+     "longest dimension": "0.92 meters"
+    }
+   ]
+  },
+  "sofa": {
+   "count": 3,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "0.83 meters",
+      "y coordinate": "0.78 meters",
+      "height above floor": "0.4 meters"
+     },
+     "longest dimension": "1.46 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "1.67 meters",
+      "y coordinate": "2.23 meters",
+      "height above floor": "0.42 meters"
+     },
+     "longest dimension": "1.44 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-0.71 meters",
+      "y coordinate": "1.33 meters",
+      "height above floor": "0.46 meters"
+     },
+     "longest dimension": "1.29 meters"
+    }
+   ]
+  },
+  "table": {
+   "count": 3,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "0.53 meters",
+      "y coordinate": "2.11 meters",
+      "height above floor": "0.26 meters"
+     },
+     "longest dimension": "1.05 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "0.84 meters",
+      "y coordinate": "4.12 meters",
+      "height above floor": "0.3 meters"
+     },
+     "longest dimension": "1.01 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-2.26 meters",
+      "y coordinate": "3.57 meters",
+      "height above floor": "0.43 meters"
+     },
+     "longest dimension": "1.23 meters"
+    }
+   ]
+  },
+  "stool": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-0.07 meters",
+      "y coordinate": "2.13 meters",
+      "height above floor": "0.24 meters"
+     },
+     "longest dimension": "0.56 meters"
+    }
+   ]
+  },
+  "tv": {
+   "count": 2,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "0.92 meters",
+      "y coordinate": "4.07 meters",
+      "height above floor": "0.84 meters"
+     },
+     "longest dimension": "0.9 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-2.41 meters",
+      "y coordinate": "3.62 meters",
+      "height above floor": "0.99 meters"
+     },
+     "longest dimension": "0.51 meters"
+    }
+   ]
+  },
+  "chair": {
+   "count": 4,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-2.26 meters",
+      "y coordinate": "3.08 meters",
+      "height above floor": "0.44 meters"
+     },
+     "longest dimension": "0.77 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-0.97 meters",
+      "y coordinate": "-0.81 meters",
+      "height above floor": "0.49 meters"
+     },
+     "longest dimension": "0.87 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-0.49 meters",
+      "y coordinate": "-0.72 meters",
+      "height above floor": "0.49 meters"
+     },
+     "longest dimension": "0.87 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "0.57 meters",
+      "y coordinate": "-1.17 meters",
+      "height above floor": "0.48 meters"
+     },
+     "longest dimension": "0.86 meters"
+    }
+   ]
+  }
+ },
+ "room": {
+  "floor area": "36.2 square meters"
+ },
+ "closest classes distance meters from": {
+  "washer": {
+   "dishwasher": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "chair": {
+    "distance": "5.58 meters",
+    "closeness rank": 2
+   },
+   "sofa": {
+    "distance": "2.55 meters",
+    "closeness rank": 3
+   },
+   "table": {
+    "distance": "3.82 meters",
+    "closeness rank": 4
+   },
+   "stool": {
+    "distance": "4.21 meters",
+    "closeness rank": 5
+   },
+   "tv": {
+    "distance": "6.05 meters",
+    "closeness rank": 6
+   }
+  },
+  "dishwasher": {
+   "washer": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "chair": {
+    "distance": "5.01 meters",
+    "closeness rank": 2
+   },
+   "sofa": {
+    "distance": "1.94 meters",
+    "closeness rank": 3
+   },
+   "table": {
+    "distance": "3.2 meters",
+    "closeness rank": 4
+   },
+   "stool": {
+    "distance": "3.6 meters",
+    "closeness rank": 5
+   },
+   "tv": {
+    "distance": "5.46 meters",
+    "closeness rank": 6
+   }
+  },
+  "sofa": {
+   "stool": {
+    "distance": "0.62 meters",
+    "closeness rank": 1
+   },
+   "table": {
+    "distance": "0.29 meters",
+    "closeness rank": 2
+   },
+   "chair": {
+    "distance": "2.74 meters",
+    "closeness rank": 3
+   },
+   "tv": {
+    "distance": "2.14 meters",
+    "closeness rank": 4
+   },
+   "dishwasher": {
+    "distance": "1.94 meters",
+    "closeness rank": 5
+   },
+   "washer": {
+    "distance": "2.55 meters",
+    "closeness rank": 6
+   }
+  },
+  "table": {
+   "chair": {
+    "distance": "2.05 meters",
+    "closeness rank": 1
+   },
+   "tv": {
+    "distance": "1.11 meters",
+    "closeness rank": 2
+   },
+   "stool": {
+    "distance": "0.01 meters",
+    "closeness rank": 3
+   },
+   "sofa": {
+    "distance": "0.29 meters",
+    "closeness rank": 4
+   },
+   "dishwasher": {
+    "distance": "3.2 meters",
+    "closeness rank": 5
+   },
+   "washer": {
+    "distance": "3.82 meters",
+    "closeness rank": 6
+   }
+  },
+  "stool": {
+   "table": {
+    "distance": "0.01 meters",
+    "closeness rank": 1
+   },
+   "sofa": {
+    "distance": "0.62 meters",
+    "closeness rank": 2
+   },
+   "chair": {
+    "distance": "1.73 meters",
+    "closeness rank": 3
+   },
+   "tv": {
+    "distance": "1.76 meters",
+    "closeness rank": 4
+   },
+   "dishwasher": {
+    "distance": "3.6 meters",
+    "closeness rank": 5
+   },
+   "washer": {
+    "distance": "4.21 meters",
+    "closeness rank": 6
+   }
+  },
+  "tv": {
+   "table": {
+    "distance": "1.11 meters",
+    "closeness rank": 1
+   },
+   "chair": {
+    "distance": "2.52 meters",
+    "closeness rank": 2
+   },
+   "sofa": {
+    "distance": "2.14 meters",
+    "closeness rank": 3
+   },
+   "stool": {
+    "distance": "1.76 meters",
+    "closeness rank": 4
+   },
+   "dishwasher": {
+    "distance": "5.46 meters",
+    "closeness rank": 5
+   },
+   "washer": {
+    "distance": "6.05 meters",
+    "closeness rank": 6
+   }
+  },
+  "chair": {
+   "table": {
+    "distance": "2.05 meters",
+    "closeness rank": 1
+   },
+   "dishwasher": {
+    "distance": "5.01 meters",
+    "closeness rank": 2
+   },
+   "tv": {
+    "distance": "2.52 meters",
+    "closeness rank": 3
+   },
+   "sofa": {
+    "distance": "2.74 meters",
+    "closeness rank": 4
+   },
+   "washer": {
+    "distance": "5.58 meters",
+    "closeness rank": 5
+   },
+   "stool": {
+    "distance": "1.73 meters",
+    "closeness rank": 6
+   }
+  }
+ },
+ "appearance order": ["washer", "dishwasher", "sofa", "table", "stool", "tv", "chair"]
+}
\ No newline at end of file
diff --git a/data/spatial codes/ground truth/explicit/42899696.json b/data/spatial codes/ground truth/explicit/42899696.json
new file mode 100644
index 0000000000000000000000000000000000000000..7f59b1e49982d28e1dd0764f9905eac84643c2cc
--- /dev/null
+++ b/data/spatial codes/ground truth/explicit/42899696.json	
@@ -0,0 +1,229 @@
+{
+ "spatial code schema": {
+  "objects": {
+   "<object class>": {
+    "count": {
+     "unit": null,
+     "description": "number of instances of this class in the compact spatial code (that schema's per-class oriented-box list length)"
+    },
+    "instances": [
+     {
+      "position": {
+       "x coordinate": {
+        "unit": "meters",
+        "description": "x coordinate of this instance's compact 3D oriented bounding box center"
+       },
+       "y coordinate": {
+        "unit": "meters",
+        "description": "y coordinate of this instance's compact 3D oriented bounding box center"
+       },
+       "height above floor": {
+        "unit": "meters",
+        "description": "height coordinate of this instance's compact 3D oriented bounding box center"
+       }
+      },
+      "longest dimension": {
+       "unit": "meters",
+       "description": "longest of this instance's compact 3D oriented bounding box dimensions"
+      }
+     }
+    ]
+   }
+  },
+  "room": {
+   "floor area": {
+    "unit": "square meters",
+    "description": "shoelace area of the compact spatial code's floor boundary polygons, with every interior hole subtracted"
+   }
+  },
+  "closest classes distance meters from": {
+   "<object class>": {
+    "<other object class>": {
+     "distance": {
+      "unit": "meters",
+      "description": "estimated distance in meters between an object of this class and an object of the other class"
+     },
+     "closeness rank": {
+      "unit": null,
+      "description": "1 = the nearest other class to this one, 2 = second-nearest, and so on; ranked by nearest-instance proximity, so use the rank (not the distance values) to compare which class is closest"
+     }
+    }
+   }
+  },
+  "appearance order": {
+   "unit": null,
+   "description": "class names ordered by earliest compact 'first visible time' across all of that class's instances"
+  }
+ },
+ "objects": {
+  "bed": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "0.48 meters",
+      "y coordinate": "1.34 meters",
+      "height above floor": "0.45 meters"
+     },
+     "longest dimension": "2.06 meters"
+    }
+   ]
+  },
+  "table": {
+   "count": 2,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "0.84 meters",
+      "y coordinate": "0.09 meters",
+      "height above floor": "0.37 meters"
+     },
+     "longest dimension": "0.59 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "1.66 meters",
+      "y coordinate": "2.07 meters",
+      "height above floor": "0.37 meters"
+     },
+     "longest dimension": "0.63 meters"
+    }
+   ]
+  },
+  "sofa": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-4.29 meters",
+      "y coordinate": "3.94 meters",
+      "height above floor": "0.42 meters"
+     },
+     "longest dimension": "1.49 meters"
+    }
+   ]
+  },
+  "stool": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-3.9 meters",
+      "y coordinate": "2.98 meters",
+      "height above floor": "0.18 meters"
+     },
+     "longest dimension": "0.53 meters"
+    }
+   ]
+  },
+  "tv": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-0.83 meters",
+      "y coordinate": "3.62 meters",
+      "height above floor": "1.2 meters"
+     },
+     "longest dimension": "0.69 meters"
+    }
+   ]
+  }
+ },
+ "room": {
+  "floor area": "30.7 square meters"
+ },
+ "closest classes distance meters from": {
+  "bed": {
+   "table": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "tv": {
+    "distance": "1.36 meters",
+    "closeness rank": 2
+   },
+   "stool": {
+    "distance": "3.39 meters",
+    "closeness rank": 3
+   },
+   "sofa": {
+    "distance": "3.66 meters",
+    "closeness rank": 4
+   }
+  },
+  "table": {
+   "bed": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "tv": {
+    "distance": "3.35 meters",
+    "closeness rank": 2
+   },
+   "stool": {
+    "distance": "4.99 meters",
+    "closeness rank": 3
+   },
+   "sofa": {
+    "distance": "5.37 meters",
+    "closeness rank": 4
+   }
+  },
+  "sofa": {
+   "stool": {
+    "distance": "0.13 meters",
+    "closeness rank": 1
+   },
+   "tv": {
+    "distance": "2.47 meters",
+    "closeness rank": 2
+   },
+   "bed": {
+    "distance": "3.66 meters",
+    "closeness rank": 3
+   },
+   "table": {
+    "distance": "5.37 meters",
+    "closeness rank": 4
+   }
+  },
+  "stool": {
+   "sofa": {
+    "distance": "0.13 meters",
+    "closeness rank": 1
+   },
+   "tv": {
+    "distance": "2.69 meters",
+    "closeness rank": 2
+   },
+   "bed": {
+    "distance": "3.39 meters",
+    "closeness rank": 3
+   },
+   "table": {
+    "distance": "4.99 meters",
+    "closeness rank": 4
+   }
+  },
+  "tv": {
+   "bed": {
+    "distance": "1.36 meters",
+    "closeness rank": 1
+   },
+   "sofa": {
+    "distance": "2.47 meters",
+    "closeness rank": 2
+   },
+   "stool": {
+    "distance": "2.69 meters",
+    "closeness rank": 3
+   },
+   "table": {
+    "distance": "3.35 meters",
+    "closeness rank": 4
+   }
+  }
+ },
+ "appearance order": ["bed", "table", "sofa", "stool", "tv"]
+}
\ No newline at end of file
diff --git a/data/spatial codes/ground truth/explicit/42899698.json b/data/spatial codes/ground truth/explicit/42899698.json
new file mode 100644
index 0000000000000000000000000000000000000000..0988c46e29fac78716822bfa2521cbf752c08b64
--- /dev/null
+++ b/data/spatial codes/ground truth/explicit/42899698.json	
@@ -0,0 +1,104 @@
+{
+ "spatial code schema": {
+  "objects": {
+   "<object class>": {
+    "count": {
+     "unit": null,
+     "description": "number of instances of this class in the compact spatial code (that schema's per-class oriented-box list length)"
+    },
+    "instances": [
+     {
+      "position": {
+       "x coordinate": {
+        "unit": "meters",
+        "description": "x coordinate of this instance's compact 3D oriented bounding box center"
+       },
+       "y coordinate": {
+        "unit": "meters",
+        "description": "y coordinate of this instance's compact 3D oriented bounding box center"
+       },
+       "height above floor": {
+        "unit": "meters",
+        "description": "height coordinate of this instance's compact 3D oriented bounding box center"
+       }
+      },
+      "longest dimension": {
+       "unit": "meters",
+       "description": "longest of this instance's compact 3D oriented bounding box dimensions"
+      }
+     }
+    ]
+   }
+  },
+  "room": {
+   "floor area": {
+    "unit": "square meters",
+    "description": "shoelace area of the compact spatial code's floor boundary polygons, with every interior hole subtracted"
+   }
+  },
+  "closest classes distance meters from": {
+   "<object class>": {
+    "<other object class>": {
+     "distance": {
+      "unit": "meters",
+      "description": "estimated distance in meters between an object of this class and an object of the other class"
+     },
+     "closeness rank": {
+      "unit": null,
+      "description": "1 = the nearest other class to this one, 2 = second-nearest, and so on; ranked by nearest-instance proximity, so use the rank (not the distance values) to compare which class is closest"
+     }
+    }
+   }
+  },
+  "appearance order": {
+   "unit": null,
+   "description": "class names ordered by earliest compact 'first visible time' across all of that class's instances"
+  }
+ },
+ "objects": {
+  "bathtub": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "1.85 meters",
+      "y coordinate": "0.19 meters",
+      "height above floor": "0.26 meters"
+     },
+     "longest dimension": "1.69 meters"
+    }
+   ]
+  },
+  "toilet": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-0.73 meters",
+      "y coordinate": "-0.48 meters",
+      "height above floor": "0.4 meters"
+     },
+     "longest dimension": "0.78 meters"
+    }
+   ]
+  }
+ },
+ "room": {
+  "floor area": "12.2 square meters"
+ },
+ "closest classes distance meters from": {
+  "bathtub": {
+   "toilet": {
+    "distance": "1.43 meters",
+    "closeness rank": 1
+   }
+  },
+  "toilet": {
+   "bathtub": {
+    "distance": "1.43 meters",
+    "closeness rank": 1
+   }
+  }
+ },
+ "appearance order": ["bathtub", "toilet"]
+}
\ No newline at end of file
diff --git a/data/spatial codes/ground truth/explicit/42899712.json b/data/spatial codes/ground truth/explicit/42899712.json
new file mode 100644
index 0000000000000000000000000000000000000000..55ed56b62eb8f375891ac67349e4619e7a73bbbe
--- /dev/null
+++ b/data/spatial codes/ground truth/explicit/42899712.json	
@@ -0,0 +1,253 @@
+{
+ "spatial code schema": {
+  "objects": {
+   "<object class>": {
+    "count": {
+     "unit": null,
+     "description": "number of instances of this class in the compact spatial code (that schema's per-class oriented-box list length)"
+    },
+    "instances": [
+     {
+      "position": {
+       "x coordinate": {
+        "unit": "meters",
+        "description": "x coordinate of this instance's compact 3D oriented bounding box center"
+       },
+       "y coordinate": {
+        "unit": "meters",
+        "description": "y coordinate of this instance's compact 3D oriented bounding box center"
+       },
+       "height above floor": {
+        "unit": "meters",
+        "description": "height coordinate of this instance's compact 3D oriented bounding box center"
+       }
+      },
+      "longest dimension": {
+       "unit": "meters",
+       "description": "longest of this instance's compact 3D oriented bounding box dimensions"
+      }
+     }
+    ]
+   }
+  },
+  "room": {
+   "floor area": {
+    "unit": "square meters",
+    "description": "shoelace area of the compact spatial code's floor boundary polygons, with every interior hole subtracted"
+   }
+  },
+  "closest classes distance meters from": {
+   "<object class>": {
+    "<other object class>": {
+     "distance": {
+      "unit": "meters",
+      "description": "estimated distance in meters between an object of this class and an object of the other class"
+     },
+     "closeness rank": {
+      "unit": null,
+      "description": "1 = the nearest other class to this one, 2 = second-nearest, and so on; ranked by nearest-instance proximity, so use the rank (not the distance values) to compare which class is closest"
+     }
+    }
+   }
+  },
+  "appearance order": {
+   "unit": null,
+   "description": "class names ordered by earliest compact 'first visible time' across all of that class's instances"
+  }
+ },
+ "objects": {
+  "sofa": {
+   "count": 3,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "4.33 meters",
+      "y coordinate": "3.14 meters",
+      "height above floor": "0.58 meters"
+     },
+     "longest dimension": "2.41 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "3.32 meters",
+      "y coordinate": "3.86 meters",
+      "height above floor": "0.37 meters"
+     },
+     "longest dimension": "0.8 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "1.19 meters",
+      "y coordinate": "4.02 meters",
+      "height above floor": "0.55 meters"
+     },
+     "longest dimension": "0.91 meters"
+    }
+   ]
+  },
+  "table": {
+   "count": 2,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "0.96 meters",
+      "y coordinate": "2.69 meters",
+      "height above floor": "0.31 meters"
+     },
+     "longest dimension": "1.11 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "1.51 meters",
+      "y coordinate": "-0.49 meters",
+      "height above floor": "0.28 meters"
+     },
+     "longest dimension": "0.72 meters"
+    }
+   ]
+  },
+  "tv": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "0.99 meters",
+      "y coordinate": "2.81 meters",
+      "height above floor": "0.85 meters"
+     },
+     "longest dimension": "0.9 meters"
+    }
+   ]
+  },
+  "chair": {
+   "count": 2,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "3.87 meters",
+      "y coordinate": "1.12 meters",
+      "height above floor": "0.56 meters"
+     },
+     "longest dimension": "0.87 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "3.9 meters",
+      "y coordinate": "0.43 meters",
+      "height above floor": "0.56 meters"
+     },
+     "longest dimension": "0.87 meters"
+    }
+   ]
+  },
+  "stove": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "3.3 meters",
+      "y coordinate": "-1.75 meters",
+      "height above floor": "1.07 meters"
+     },
+     "longest dimension": "0.61 meters"
+    }
+   ]
+  }
+ },
+ "room": {
+  "floor area": "33.5 square meters"
+ },
+ "closest classes distance meters from": {
+  "sofa": {
+   "table": {
+    "distance": "1.65 meters",
+    "closeness rank": 1
+   },
+   "tv": {
+    "distance": "1.71 meters",
+    "closeness rank": 2
+   },
+   "chair": {
+    "distance": "0.43 meters",
+    "closeness rank": 3
+   },
+   "stove": {
+    "distance": "3.51 meters",
+    "closeness rank": 4
+   }
+  },
+  "table": {
+   "tv": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "sofa": {
+    "distance": "1.65 meters",
+    "closeness rank": 2
+   },
+   "stove": {
+    "distance": "4.22 meters",
+    "closeness rank": 3
+   },
+   "chair": {
+    "distance": "2.33 meters",
+    "closeness rank": 4
+   }
+  },
+  "tv": {
+   "table": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "sofa": {
+    "distance": "1.71 meters",
+    "closeness rank": 2
+   },
+   "chair": {
+    "distance": "2.74 meters",
+    "closeness rank": 3
+   },
+   "stove": {
+    "distance": "4.36 meters",
+    "closeness rank": 4
+   }
+  },
+  "chair": {
+   "sofa": {
+    "distance": "0.43 meters",
+    "closeness rank": 1
+   },
+   "stove": {
+    "distance": "2.23 meters",
+    "closeness rank": 2
+   },
+   "table": {
+    "distance": "2.33 meters",
+    "closeness rank": 3
+   },
+   "tv": {
+    "distance": "2.74 meters",
+    "closeness rank": 4
+   }
+  },
+  "stove": {
+   "table": {
+    "distance": "4.22 meters",
+    "closeness rank": 1
+   },
+   "chair": {
+    "distance": "2.23 meters",
+    "closeness rank": 2
+   },
+   "sofa": {
+    "distance": "3.51 meters",
+    "closeness rank": 3
+   },
+   "tv": {
+    "distance": "4.36 meters",
+    "closeness rank": 4
+   }
+  }
+ },
+ "appearance order": ["sofa", "table", "tv", "chair", "stove"]
+}
\ No newline at end of file
diff --git a/data/spatial codes/ground truth/explicit/42899720.json b/data/spatial codes/ground truth/explicit/42899720.json
new file mode 100644
index 0000000000000000000000000000000000000000..f3cdfc0ac26a9623b8feedb901a73dc912ec4b63
--- /dev/null
+++ b/data/spatial codes/ground truth/explicit/42899720.json	
@@ -0,0 +1,104 @@
+{
+ "spatial code schema": {
+  "objects": {
+   "<object class>": {
+    "count": {
+     "unit": null,
+     "description": "number of instances of this class in the compact spatial code (that schema's per-class oriented-box list length)"
+    },
+    "instances": [
+     {
+      "position": {
+       "x coordinate": {
+        "unit": "meters",
+        "description": "x coordinate of this instance's compact 3D oriented bounding box center"
+       },
+       "y coordinate": {
+        "unit": "meters",
+        "description": "y coordinate of this instance's compact 3D oriented bounding box center"
+       },
+       "height above floor": {
+        "unit": "meters",
+        "description": "height coordinate of this instance's compact 3D oriented bounding box center"
+       }
+      },
+      "longest dimension": {
+       "unit": "meters",
+       "description": "longest of this instance's compact 3D oriented bounding box dimensions"
+      }
+     }
+    ]
+   }
+  },
+  "room": {
+   "floor area": {
+    "unit": "square meters",
+    "description": "shoelace area of the compact spatial code's floor boundary polygons, with every interior hole subtracted"
+   }
+  },
+  "closest classes distance meters from": {
+   "<object class>": {
+    "<other object class>": {
+     "distance": {
+      "unit": "meters",
+      "description": "estimated distance in meters between an object of this class and an object of the other class"
+     },
+     "closeness rank": {
+      "unit": null,
+      "description": "1 = the nearest other class to this one, 2 = second-nearest, and so on; ranked by nearest-instance proximity, so use the rank (not the distance values) to compare which class is closest"
+     }
+    }
+   }
+  },
+  "appearance order": {
+   "unit": null,
+   "description": "class names ordered by earliest compact 'first visible time' across all of that class's instances"
+  }
+ },
+ "objects": {
+  "bed": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-0.5 meters",
+      "y coordinate": "-1.31 meters",
+      "height above floor": "0.35 meters"
+     },
+     "longest dimension": "2.3 meters"
+    }
+   ]
+  },
+  "toilet": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "1.27 meters",
+      "y coordinate": "1.04 meters",
+      "height above floor": "0.23 meters"
+     },
+     "longest dimension": "0.54 meters"
+    }
+   ]
+  }
+ },
+ "room": {
+  "floor area": "12.3 square meters"
+ },
+ "closest classes distance meters from": {
+  "bed": {
+   "toilet": {
+    "distance": "1.57 meters",
+    "closeness rank": 1
+   }
+  },
+  "toilet": {
+   "bed": {
+    "distance": "1.57 meters",
+    "closeness rank": 1
+   }
+  }
+ },
+ "appearance order": ["bed", "toilet"]
+}
\ No newline at end of file
diff --git a/data/spatial codes/ground truth/explicit/42899725.json b/data/spatial codes/ground truth/explicit/42899725.json
new file mode 100644
index 0000000000000000000000000000000000000000..e15dd5627d32e923aa196093fbcd3f328b45d368
--- /dev/null
+++ b/data/spatial codes/ground truth/explicit/42899725.json	
@@ -0,0 +1,104 @@
+{
+ "spatial code schema": {
+  "objects": {
+   "<object class>": {
+    "count": {
+     "unit": null,
+     "description": "number of instances of this class in the compact spatial code (that schema's per-class oriented-box list length)"
+    },
+    "instances": [
+     {
+      "position": {
+       "x coordinate": {
+        "unit": "meters",
+        "description": "x coordinate of this instance's compact 3D oriented bounding box center"
+       },
+       "y coordinate": {
+        "unit": "meters",
+        "description": "y coordinate of this instance's compact 3D oriented bounding box center"
+       },
+       "height above floor": {
+        "unit": "meters",
+        "description": "height coordinate of this instance's compact 3D oriented bounding box center"
+       }
+      },
+      "longest dimension": {
+       "unit": "meters",
+       "description": "longest of this instance's compact 3D oriented bounding box dimensions"
+      }
+     }
+    ]
+   }
+  },
+  "room": {
+   "floor area": {
+    "unit": "square meters",
+    "description": "shoelace area of the compact spatial code's floor boundary polygons, with every interior hole subtracted"
+   }
+  },
+  "closest classes distance meters from": {
+   "<object class>": {
+    "<other object class>": {
+     "distance": {
+      "unit": "meters",
+      "description": "estimated distance in meters between an object of this class and an object of the other class"
+     },
+     "closeness rank": {
+      "unit": null,
+      "description": "1 = the nearest other class to this one, 2 = second-nearest, and so on; ranked by nearest-instance proximity, so use the rank (not the distance values) to compare which class is closest"
+     }
+    }
+   }
+  },
+  "appearance order": {
+   "unit": null,
+   "description": "class names ordered by earliest compact 'first visible time' across all of that class's instances"
+  }
+ },
+ "objects": {
+  "bathtub": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-0.15 meters",
+      "y coordinate": "-0.62 meters",
+      "height above floor": "0.27 meters"
+     },
+     "longest dimension": "1.69 meters"
+    }
+   ]
+  },
+  "toilet": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "0.28 meters",
+      "y coordinate": "0.03 meters",
+      "height above floor": "0.22 meters"
+     },
+     "longest dimension": "0.55 meters"
+    }
+   ]
+  }
+ },
+ "room": {
+  "floor area": "6.1 square meters"
+ },
+ "closest classes distance meters from": {
+  "bathtub": {
+   "toilet": {
+    "distance": "0.14 meters",
+    "closeness rank": 1
+   }
+  },
+  "toilet": {
+   "bathtub": {
+    "distance": "0.14 meters",
+    "closeness rank": 1
+   }
+  }
+ },
+ "appearance order": ["bathtub", "toilet"]
+}
\ No newline at end of file
diff --git a/data/spatial codes/ground truth/explicit/42899729.json b/data/spatial codes/ground truth/explicit/42899729.json
new file mode 100644
index 0000000000000000000000000000000000000000..16888c4ceddb5eb5351ba6690c71ba673e8c3194
--- /dev/null
+++ b/data/spatial codes/ground truth/explicit/42899729.json	
@@ -0,0 +1,80 @@
+{
+ "spatial code schema": {
+  "objects": {
+   "<object class>": {
+    "count": {
+     "unit": null,
+     "description": "number of instances of this class in the compact spatial code (that schema's per-class oriented-box list length)"
+    },
+    "instances": [
+     {
+      "position": {
+       "x coordinate": {
+        "unit": "meters",
+        "description": "x coordinate of this instance's compact 3D oriented bounding box center"
+       },
+       "y coordinate": {
+        "unit": "meters",
+        "description": "y coordinate of this instance's compact 3D oriented bounding box center"
+       },
+       "height above floor": {
+        "unit": "meters",
+        "description": "height coordinate of this instance's compact 3D oriented bounding box center"
+       }
+      },
+      "longest dimension": {
+       "unit": "meters",
+       "description": "longest of this instance's compact 3D oriented bounding box dimensions"
+      }
+     }
+    ]
+   }
+  },
+  "room": {
+   "floor area": {
+    "unit": "square meters",
+    "description": "shoelace area of the compact spatial code's floor boundary polygons, with every interior hole subtracted"
+   }
+  },
+  "closest classes distance meters from": {
+   "<object class>": {
+    "<other object class>": {
+     "distance": {
+      "unit": "meters",
+      "description": "estimated distance in meters between an object of this class and an object of the other class"
+     },
+     "closeness rank": {
+      "unit": null,
+      "description": "1 = the nearest other class to this one, 2 = second-nearest, and so on; ranked by nearest-instance proximity, so use the rank (not the distance values) to compare which class is closest"
+     }
+    }
+   }
+  },
+  "appearance order": {
+   "unit": null,
+   "description": "class names ordered by earliest compact 'first visible time' across all of that class's instances"
+  }
+ },
+ "objects": {
+  "bed": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "0.94 meters",
+      "y coordinate": "-0.34 meters",
+      "height above floor": "0.35 meters"
+     },
+     "longest dimension": "2.1 meters"
+    }
+   ]
+  }
+ },
+ "room": {
+  "floor area": "23.1 square meters"
+ },
+ "closest classes distance meters from": {
+  "bed": {}
+ },
+ "appearance order": ["bed"]
+}
\ No newline at end of file
diff --git a/data/spatial codes/ground truth/explicit/42899739.json b/data/spatial codes/ground truth/explicit/42899739.json
new file mode 100644
index 0000000000000000000000000000000000000000..0f77a98b475e7af42c514ef1a60684670f59ad1f
--- /dev/null
+++ b/data/spatial codes/ground truth/explicit/42899739.json	
@@ -0,0 +1,80 @@
+{
+ "spatial code schema": {
+  "objects": {
+   "<object class>": {
+    "count": {
+     "unit": null,
+     "description": "number of instances of this class in the compact spatial code (that schema's per-class oriented-box list length)"
+    },
+    "instances": [
+     {
+      "position": {
+       "x coordinate": {
+        "unit": "meters",
+        "description": "x coordinate of this instance's compact 3D oriented bounding box center"
+       },
+       "y coordinate": {
+        "unit": "meters",
+        "description": "y coordinate of this instance's compact 3D oriented bounding box center"
+       },
+       "height above floor": {
+        "unit": "meters",
+        "description": "height coordinate of this instance's compact 3D oriented bounding box center"
+       }
+      },
+      "longest dimension": {
+       "unit": "meters",
+       "description": "longest of this instance's compact 3D oriented bounding box dimensions"
+      }
+     }
+    ]
+   }
+  },
+  "room": {
+   "floor area": {
+    "unit": "square meters",
+    "description": "shoelace area of the compact spatial code's floor boundary polygons, with every interior hole subtracted"
+   }
+  },
+  "closest classes distance meters from": {
+   "<object class>": {
+    "<other object class>": {
+     "distance": {
+      "unit": "meters",
+      "description": "estimated distance in meters between an object of this class and an object of the other class"
+     },
+     "closeness rank": {
+      "unit": null,
+      "description": "1 = the nearest other class to this one, 2 = second-nearest, and so on; ranked by nearest-instance proximity, so use the rank (not the distance values) to compare which class is closest"
+     }
+    }
+   }
+  },
+  "appearance order": {
+   "unit": null,
+   "description": "class names ordered by earliest compact 'first visible time' across all of that class's instances"
+  }
+ },
+ "objects": {
+  "bed": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "0.64 meters",
+      "y coordinate": "1.17 meters",
+      "height above floor": "0.29 meters"
+     },
+     "longest dimension": "2.26 meters"
+    }
+   ]
+  }
+ },
+ "room": {
+  "floor area": "22.9 square meters"
+ },
+ "closest classes distance meters from": {
+  "bed": {}
+ },
+ "appearance order": ["bed"]
+}
\ No newline at end of file
diff --git a/data/spatial codes/ground truth/explicit/44358436.json b/data/spatial codes/ground truth/explicit/44358436.json
new file mode 100644
index 0000000000000000000000000000000000000000..70fcc89639f296e5b3b77bc896225ad9886825ae
--- /dev/null
+++ b/data/spatial codes/ground truth/explicit/44358436.json	
@@ -0,0 +1,198 @@
+{
+ "spatial code schema": {
+  "objects": {
+   "<object class>": {
+    "count": {
+     "unit": null,
+     "description": "number of instances of this class in the compact spatial code (that schema's per-class oriented-box list length)"
+    },
+    "instances": [
+     {
+      "position": {
+       "x coordinate": {
+        "unit": "meters",
+        "description": "x coordinate of this instance's compact 3D oriented bounding box center"
+       },
+       "y coordinate": {
+        "unit": "meters",
+        "description": "y coordinate of this instance's compact 3D oriented bounding box center"
+       },
+       "height above floor": {
+        "unit": "meters",
+        "description": "height coordinate of this instance's compact 3D oriented bounding box center"
+       }
+      },
+      "longest dimension": {
+       "unit": "meters",
+       "description": "longest of this instance's compact 3D oriented bounding box dimensions"
+      }
+     }
+    ]
+   }
+  },
+  "room": {
+   "floor area": {
+    "unit": "square meters",
+    "description": "shoelace area of the compact spatial code's floor boundary polygons, with every interior hole subtracted"
+   }
+  },
+  "closest classes distance meters from": {
+   "<object class>": {
+    "<other object class>": {
+     "distance": {
+      "unit": "meters",
+      "description": "estimated distance in meters between an object of this class and an object of the other class"
+     },
+     "closeness rank": {
+      "unit": null,
+      "description": "1 = the nearest other class to this one, 2 = second-nearest, and so on; ranked by nearest-instance proximity, so use the rank (not the distance values) to compare which class is closest"
+     }
+    }
+   }
+  },
+  "appearance order": {
+   "unit": null,
+   "description": "class names ordered by earliest compact 'first visible time' across all of that class's instances"
+  }
+ },
+ "objects": {
+  "sofa": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "0.77 meters",
+      "y coordinate": "1.57 meters",
+      "height above floor": "0.35 meters"
+     },
+     "longest dimension": "1.12 meters"
+    }
+   ]
+  },
+  "table": {
+   "count": 2,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "1.08 meters",
+      "y coordinate": "2.92 meters",
+      "height above floor": "0.39 meters"
+     },
+     "longest dimension": "1.21 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "0.18 meters",
+      "y coordinate": "6.03 meters",
+      "height above floor": "0.39 meters"
+     },
+     "longest dimension": "1.59 meters"
+    }
+   ]
+  },
+  "chair": {
+   "count": 3,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "0.88 meters",
+      "y coordinate": "3.05 meters",
+      "height above floor": "0.41 meters"
+     },
+     "longest dimension": "0.78 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-0.27 meters",
+      "y coordinate": "3.41 meters",
+      "height above floor": "0.5 meters"
+     },
+     "longest dimension": "0.94 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "0.12 meters",
+      "y coordinate": "5.32 meters",
+      "height above floor": "0.61 meters"
+     },
+     "longest dimension": "1.18 meters"
+    }
+   ]
+  },
+  "tv": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "0.22 meters",
+      "y coordinate": "6.31 meters",
+      "height above floor": "1.03 meters"
+     },
+     "longest dimension": "0.44 meters"
+    }
+   ]
+  }
+ },
+ "room": {
+  "floor area": "13.7 square meters"
+ },
+ "closest classes distance meters from": {
+  "sofa": {
+   "table": {
+    "distance": "0.22 meters",
+    "closeness rank": 1
+   },
+   "chair": {
+    "distance": "0.54 meters",
+    "closeness rank": 2
+   },
+   "tv": {
+    "distance": "4.04 meters",
+    "closeness rank": 3
+   }
+  },
+  "table": {
+   "chair": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "sofa": {
+    "distance": "0.22 meters",
+    "closeness rank": 2
+   },
+   "tv": {
+    "distance": "2.73 meters",
+    "closeness rank": 3
+   }
+  },
+  "chair": {
+   "table": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "tv": {
+    "distance": "2.77 meters",
+    "closeness rank": 2
+   },
+   "sofa": {
+    "distance": "0.54 meters",
+    "closeness rank": 3
+   }
+  },
+  "tv": {
+   "table": {
+    "distance": "2.73 meters",
+    "closeness rank": 1
+   },
+   "chair": {
+    "distance": "2.77 meters",
+    "closeness rank": 2
+   },
+   "sofa": {
+    "distance": "4.04 meters",
+    "closeness rank": 3
+   }
+  }
+ },
+ "appearance order": ["sofa", "table", "chair", "tv"]
+}
\ No newline at end of file
diff --git a/data/spatial codes/ground truth/explicit/44358442.json b/data/spatial codes/ground truth/explicit/44358442.json
new file mode 100644
index 0000000000000000000000000000000000000000..7a1a96eb171ded9f0012d69d1dd85ff24d8698b2
--- /dev/null
+++ b/data/spatial codes/ground truth/explicit/44358442.json	
@@ -0,0 +1,143 @@
+{
+ "spatial code schema": {
+  "objects": {
+   "<object class>": {
+    "count": {
+     "unit": null,
+     "description": "number of instances of this class in the compact spatial code (that schema's per-class oriented-box list length)"
+    },
+    "instances": [
+     {
+      "position": {
+       "x coordinate": {
+        "unit": "meters",
+        "description": "x coordinate of this instance's compact 3D oriented bounding box center"
+       },
+       "y coordinate": {
+        "unit": "meters",
+        "description": "y coordinate of this instance's compact 3D oriented bounding box center"
+       },
+       "height above floor": {
+        "unit": "meters",
+        "description": "height coordinate of this instance's compact 3D oriented bounding box center"
+       }
+      },
+      "longest dimension": {
+       "unit": "meters",
+       "description": "longest of this instance's compact 3D oriented bounding box dimensions"
+      }
+     }
+    ]
+   }
+  },
+  "room": {
+   "floor area": {
+    "unit": "square meters",
+    "description": "shoelace area of the compact spatial code's floor boundary polygons, with every interior hole subtracted"
+   }
+  },
+  "closest classes distance meters from": {
+   "<object class>": {
+    "<other object class>": {
+     "distance": {
+      "unit": "meters",
+      "description": "estimated distance in meters between an object of this class and an object of the other class"
+     },
+     "closeness rank": {
+      "unit": null,
+      "description": "1 = the nearest other class to this one, 2 = second-nearest, and so on; ranked by nearest-instance proximity, so use the rank (not the distance values) to compare which class is closest"
+     }
+    }
+   }
+  },
+  "appearance order": {
+   "unit": null,
+   "description": "class names ordered by earliest compact 'first visible time' across all of that class's instances"
+  }
+ },
+ "objects": {
+  "sofa": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "1.37 meters",
+      "y coordinate": "-1.4 meters",
+      "height above floor": "0.41 meters"
+     },
+     "longest dimension": "2.21 meters"
+    }
+   ]
+  },
+  "table": {
+   "count": 2,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "2.31 meters",
+      "y coordinate": "-1.47 meters",
+      "height above floor": "0.35 meters"
+     },
+     "longest dimension": "0.7 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "3.33 meters",
+      "y coordinate": "-1.71 meters",
+      "height above floor": "0.35 meters"
+     },
+     "longest dimension": "1.57 meters"
+    }
+   ]
+  },
+  "chair": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "3.21 meters",
+      "y coordinate": "-1.25 meters",
+      "height above floor": "0.55 meters"
+     },
+     "longest dimension": "1.09 meters"
+    }
+   ]
+  }
+ },
+ "room": {
+  "floor area": "12.5 square meters"
+ },
+ "closest classes distance meters from": {
+  "sofa": {
+   "table": {
+    "distance": "0.2 meters",
+    "closeness rank": 1
+   },
+   "chair": {
+    "distance": "1.04 meters",
+    "closeness rank": 2
+   }
+  },
+  "table": {
+   "chair": {
+    "distance": "0.05 meters",
+    "closeness rank": 1
+   },
+   "sofa": {
+    "distance": "0.2 meters",
+    "closeness rank": 2
+   }
+  },
+  "chair": {
+   "table": {
+    "distance": "0.05 meters",
+    "closeness rank": 1
+   },
+   "sofa": {
+    "distance": "1.04 meters",
+    "closeness rank": 2
+   }
+  }
+ },
+ "appearance order": ["sofa", "table", "chair"]
+}
\ No newline at end of file
diff --git a/data/spatial codes/ground truth/explicit/44358451.json b/data/spatial codes/ground truth/explicit/44358451.json
new file mode 100644
index 0000000000000000000000000000000000000000..bac879b6bea623df303f27a05bae367fc3eb406c
--- /dev/null
+++ b/data/spatial codes/ground truth/explicit/44358451.json	
@@ -0,0 +1,88 @@
+{
+ "spatial code schema": {
+  "objects": {
+   "<object class>": {
+    "count": {
+     "unit": null,
+     "description": "number of instances of this class in the compact spatial code (that schema's per-class oriented-box list length)"
+    },
+    "instances": [
+     {
+      "position": {
+       "x coordinate": {
+        "unit": "meters",
+        "description": "x coordinate of this instance's compact 3D oriented bounding box center"
+       },
+       "y coordinate": {
+        "unit": "meters",
+        "description": "y coordinate of this instance's compact 3D oriented bounding box center"
+       },
+       "height above floor": {
+        "unit": "meters",
+        "description": "height coordinate of this instance's compact 3D oriented bounding box center"
+       }
+      },
+      "longest dimension": {
+       "unit": "meters",
+       "description": "longest of this instance's compact 3D oriented bounding box dimensions"
+      }
+     }
+    ]
+   }
+  },
+  "room": {
+   "floor area": {
+    "unit": "square meters",
+    "description": "shoelace area of the compact spatial code's floor boundary polygons, with every interior hole subtracted"
+   }
+  },
+  "closest classes distance meters from": {
+   "<object class>": {
+    "<other object class>": {
+     "distance": {
+      "unit": "meters",
+      "description": "estimated distance in meters between an object of this class and an object of the other class"
+     },
+     "closeness rank": {
+      "unit": null,
+      "description": "1 = the nearest other class to this one, 2 = second-nearest, and so on; ranked by nearest-instance proximity, so use the rank (not the distance values) to compare which class is closest"
+     }
+    }
+   }
+  },
+  "appearance order": {
+   "unit": null,
+   "description": "class names ordered by earliest compact 'first visible time' across all of that class's instances"
+  }
+ },
+ "objects": {
+  "washer": {
+   "count": 2,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "1.99 meters",
+      "y coordinate": "0.73 meters",
+      "height above floor": "0.42 meters"
+     },
+     "longest dimension": "0.85 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-0.12 meters",
+      "y coordinate": "-1.17 meters",
+      "height above floor": "0.42 meters"
+     },
+     "longest dimension": "0.84 meters"
+    }
+   ]
+  }
+ },
+ "room": {
+  "floor area": "10.6 square meters"
+ },
+ "closest classes distance meters from": {
+  "washer": {}
+ },
+ "appearance order": ["washer"]
+}
\ No newline at end of file
diff --git a/data/spatial codes/ground truth/explicit/44358499.json b/data/spatial codes/ground truth/explicit/44358499.json
new file mode 100644
index 0000000000000000000000000000000000000000..52829d9792aa906b02a5b30674177ed6ce9272fb
--- /dev/null
+++ b/data/spatial codes/ground truth/explicit/44358499.json	
@@ -0,0 +1,379 @@
+{
+ "spatial code schema": {
+  "objects": {
+   "<object class>": {
+    "count": {
+     "unit": null,
+     "description": "number of instances of this class in the compact spatial code (that schema's per-class oriented-box list length)"
+    },
+    "instances": [
+     {
+      "position": {
+       "x coordinate": {
+        "unit": "meters",
+        "description": "x coordinate of this instance's compact 3D oriented bounding box center"
+       },
+       "y coordinate": {
+        "unit": "meters",
+        "description": "y coordinate of this instance's compact 3D oriented bounding box center"
+       },
+       "height above floor": {
+        "unit": "meters",
+        "description": "height coordinate of this instance's compact 3D oriented bounding box center"
+       }
+      },
+      "longest dimension": {
+       "unit": "meters",
+       "description": "longest of this instance's compact 3D oriented bounding box dimensions"
+      }
+     }
+    ]
+   }
+  },
+  "room": {
+   "floor area": {
+    "unit": "square meters",
+    "description": "shoelace area of the compact spatial code's floor boundary polygons, with every interior hole subtracted"
+   }
+  },
+  "closest classes distance meters from": {
+   "<object class>": {
+    "<other object class>": {
+     "distance": {
+      "unit": "meters",
+      "description": "estimated distance in meters between an object of this class and an object of the other class"
+     },
+     "closeness rank": {
+      "unit": null,
+      "description": "1 = the nearest other class to this one, 2 = second-nearest, and so on; ranked by nearest-instance proximity, so use the rank (not the distance values) to compare which class is closest"
+     }
+    }
+   }
+  },
+  "appearance order": {
+   "unit": null,
+   "description": "class names ordered by earliest compact 'first visible time' across all of that class's instances"
+  }
+ },
+ "objects": {
+  "table": {
+   "count": 2,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-0.68 meters",
+      "y coordinate": "3.39 meters",
+      "height above floor": "0.27 meters"
+     },
+     "longest dimension": "0.48 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-2.89 meters",
+      "y coordinate": "0.81 meters",
+      "height above floor": "0.39 meters"
+     },
+     "longest dimension": "2.11 meters"
+    }
+   ]
+  },
+  "sofa": {
+   "count": 2,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "0.43 meters",
+      "y coordinate": "2.57 meters",
+      "height above floor": "0.43 meters"
+     },
+     "longest dimension": "2.35 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "1.44 meters",
+      "y coordinate": "2.89 meters",
+      "height above floor": "0.25 meters"
+     },
+     "longest dimension": "1.03 meters"
+    }
+   ]
+  },
+  "fireplace": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "0.86 meters",
+      "y coordinate": "5.13 meters",
+      "height above floor": "0.6 meters"
+     },
+     "longest dimension": "1.72 meters"
+    }
+   ]
+  },
+  "tv": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-0.6 meters",
+      "y coordinate": "6.0 meters",
+      "height above floor": "0.84 meters"
+     },
+     "longest dimension": "1.07 meters"
+    }
+   ]
+  },
+  "chair": {
+   "count": 4,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-2.16 meters",
+      "y coordinate": "0.63 meters",
+      "height above floor": "0.38 meters"
+     },
+     "longest dimension": "0.72 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-2.58 meters",
+      "y coordinate": "0.92 meters",
+      "height above floor": "0.39 meters"
+     },
+     "longest dimension": "0.74 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-2.98 meters",
+      "y coordinate": "1.18 meters",
+      "height above floor": "0.38 meters"
+     },
+     "longest dimension": "0.72 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-3.94 meters",
+      "y coordinate": "1.56 meters",
+      "height above floor": "0.42 meters"
+     },
+     "longest dimension": "0.8 meters"
+    }
+   ]
+  },
+  "washer": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-5.37 meters",
+      "y coordinate": "4.95 meters",
+      "height above floor": "0.49 meters"
+     },
+     "longest dimension": "0.91 meters"
+    }
+   ]
+  },
+  "dishwasher": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-4.84 meters",
+      "y coordinate": "4.64 meters",
+      "height above floor": "0.49 meters"
+     },
+     "longest dimension": "0.91 meters"
+    }
+   ]
+  }
+ },
+ "room": {
+  "floor area": "43.0 square meters"
+ },
+ "closest classes distance meters from": {
+  "table": {
+   "chair": {
+    "distance": "2.53 meters",
+    "closeness rank": 1
+   },
+   "sofa": {
+    "distance": "0.0 meters",
+    "closeness rank": 2
+   },
+   "fireplace": {
+    "distance": "1.64 meters",
+    "closeness rank": 3
+   },
+   "tv": {
+    "distance": "2.24 meters",
+    "closeness rank": 4
+   },
+   "dishwasher": {
+    "distance": "3.65 meters",
+    "closeness rank": 5
+   },
+   "washer": {
+    "distance": "4.25 meters",
+    "closeness rank": 6
+   }
+  },
+  "sofa": {
+   "table": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "fireplace": {
+    "distance": "0.87 meters",
+    "closeness rank": 2
+   },
+   "chair": {
+    "distance": "2.31 meters",
+    "closeness rank": 3
+   },
+   "tv": {
+    "distance": "2.35 meters",
+    "closeness rank": 4
+   },
+   "dishwasher": {
+    "distance": "4.05 meters",
+    "closeness rank": 5
+   },
+   "washer": {
+    "distance": "4.69 meters",
+    "closeness rank": 6
+   }
+  },
+  "fireplace": {
+   "tv": {
+    "distance": "0.39 meters",
+    "closeness rank": 1
+   },
+   "sofa": {
+    "distance": "0.87 meters",
+    "closeness rank": 2
+   },
+   "table": {
+    "distance": "1.64 meters",
+    "closeness rank": 3
+   },
+   "dishwasher": {
+    "distance": "4.41 meters",
+    "closeness rank": 4
+   },
+   "chair": {
+    "distance": "4.7 meters",
+    "closeness rank": 5
+   },
+   "washer": {
+    "distance": "4.92 meters",
+    "closeness rank": 6
+   }
+  },
+  "tv": {
+   "fireplace": {
+    "distance": "0.39 meters",
+    "closeness rank": 1
+   },
+   "table": {
+    "distance": "2.24 meters",
+    "closeness rank": 2
+   },
+   "sofa": {
+    "distance": "2.35 meters",
+    "closeness rank": 3
+   },
+   "dishwasher": {
+    "distance": "3.48 meters",
+    "closeness rank": 4
+   },
+   "washer": {
+    "distance": "3.91 meters",
+    "closeness rank": 5
+   },
+   "chair": {
+    "distance": "4.77 meters",
+    "closeness rank": 6
+   }
+  },
+  "chair": {
+   "table": {
+    "distance": "2.53 meters",
+    "closeness rank": 1
+   },
+   "sofa": {
+    "distance": "2.31 meters",
+    "closeness rank": 2
+   },
+   "dishwasher": {
+    "distance": "4.01 meters",
+    "closeness rank": 3
+   },
+   "washer": {
+    "distance": "4.57 meters",
+    "closeness rank": 4
+   },
+   "fireplace": {
+    "distance": "4.7 meters",
+    "closeness rank": 5
+   },
+   "tv": {
+    "distance": "4.77 meters",
+    "closeness rank": 6
+   }
+  },
+  "washer": {
+   "dishwasher": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "chair": {
+    "distance": "4.57 meters",
+    "closeness rank": 2
+   },
+   "table": {
+    "distance": "4.25 meters",
+    "closeness rank": 3
+   },
+   "tv": {
+    "distance": "3.91 meters",
+    "closeness rank": 4
+   },
+   "sofa": {
+    "distance": "4.69 meters",
+    "closeness rank": 5
+   },
+   "fireplace": {
+    "distance": "4.92 meters",
+    "closeness rank": 6
+   }
+  },
+  "dishwasher": {
+   "washer": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "chair": {
+    "distance": "4.01 meters",
+    "closeness rank": 2
+   },
+   "table": {
+    "distance": "3.65 meters",
+    "closeness rank": 3
+   },
+   "tv": {
+    "distance": "3.48 meters",
+    "closeness rank": 4
+   },
+   "sofa": {
+    "distance": "4.05 meters",
+    "closeness rank": 5
+   },
+   "fireplace": {
+    "distance": "4.41 meters",
+    "closeness rank": 6
+   }
+  }
+ },
+ "appearance order": ["table", "sofa", "fireplace", "tv", "chair", "washer", "dishwasher"]
+}
\ No newline at end of file
diff --git a/data/spatial codes/ground truth/explicit/44358518.json b/data/spatial codes/ground truth/explicit/44358518.json
new file mode 100644
index 0000000000000000000000000000000000000000..15a0192ff56dc8ae2155e581f33f1ad4a6d69650
--- /dev/null
+++ b/data/spatial codes/ground truth/explicit/44358518.json	
@@ -0,0 +1,253 @@
+{
+ "spatial code schema": {
+  "objects": {
+   "<object class>": {
+    "count": {
+     "unit": null,
+     "description": "number of instances of this class in the compact spatial code (that schema's per-class oriented-box list length)"
+    },
+    "instances": [
+     {
+      "position": {
+       "x coordinate": {
+        "unit": "meters",
+        "description": "x coordinate of this instance's compact 3D oriented bounding box center"
+       },
+       "y coordinate": {
+        "unit": "meters",
+        "description": "y coordinate of this instance's compact 3D oriented bounding box center"
+       },
+       "height above floor": {
+        "unit": "meters",
+        "description": "height coordinate of this instance's compact 3D oriented bounding box center"
+       }
+      },
+      "longest dimension": {
+       "unit": "meters",
+       "description": "longest of this instance's compact 3D oriented bounding box dimensions"
+      }
+     }
+    ]
+   }
+  },
+  "room": {
+   "floor area": {
+    "unit": "square meters",
+    "description": "shoelace area of the compact spatial code's floor boundary polygons, with every interior hole subtracted"
+   }
+  },
+  "closest classes distance meters from": {
+   "<object class>": {
+    "<other object class>": {
+     "distance": {
+      "unit": "meters",
+      "description": "estimated distance in meters between an object of this class and an object of the other class"
+     },
+     "closeness rank": {
+      "unit": null,
+      "description": "1 = the nearest other class to this one, 2 = second-nearest, and so on; ranked by nearest-instance proximity, so use the rank (not the distance values) to compare which class is closest"
+     }
+    }
+   }
+  },
+  "appearance order": {
+   "unit": null,
+   "description": "class names ordered by earliest compact 'first visible time' across all of that class's instances"
+  }
+ },
+ "objects": {
+  "sofa": {
+   "count": 2,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-0.44 meters",
+      "y coordinate": "1.6 meters",
+      "height above floor": "0.37 meters"
+     },
+     "longest dimension": "2.12 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-0.2 meters",
+      "y coordinate": "4.12 meters",
+      "height above floor": "0.38 meters"
+     },
+     "longest dimension": "1.69 meters"
+    }
+   ]
+  },
+  "table": {
+   "count": 2,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "0.63 meters",
+      "y coordinate": "2.96 meters",
+      "height above floor": "0.31 meters"
+     },
+     "longest dimension": "0.58 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-3.07 meters",
+      "y coordinate": "1.02 meters",
+      "height above floor": "0.36 meters"
+     },
+     "longest dimension": "1.25 meters"
+    }
+   ]
+  },
+  "chair": {
+   "count": 2,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-1.78 meters",
+      "y coordinate": "3.66 meters",
+      "height above floor": "0.69 meters"
+     },
+     "longest dimension": "1.36 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-2.6 meters",
+      "y coordinate": "1.46 meters",
+      "height above floor": "0.39 meters"
+     },
+     "longest dimension": "0.78 meters"
+    }
+   ]
+  },
+  "fireplace": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-3.11 meters",
+      "y coordinate": "3.28 meters",
+      "height above floor": "0.62 meters"
+     },
+     "longest dimension": "1.58 meters"
+    }
+   ]
+  },
+  "tv": {
+   "count": 2,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-1.9 meters",
+      "y coordinate": "4.91 meters",
+      "height above floor": "1.11 meters"
+     },
+     "longest dimension": "1.21 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-3.06 meters",
+      "y coordinate": "0.81 meters",
+      "height above floor": "0.92 meters"
+     },
+     "longest dimension": "0.58 meters"
+    }
+   ]
+  }
+ },
+ "room": {
+  "floor area": "26.4 square meters"
+ },
+ "closest classes distance meters from": {
+  "sofa": {
+   "table": {
+    "distance": "0.38 meters",
+    "closeness rank": 1
+   },
+   "chair": {
+    "distance": "0.74 meters",
+    "closeness rank": 2
+   },
+   "tv": {
+    "distance": "2.03 meters",
+    "closeness rank": 3
+   },
+   "fireplace": {
+    "distance": "1.31 meters",
+    "closeness rank": 4
+   }
+  },
+  "table": {
+   "tv": {
+    "distance": "2.4 meters",
+    "closeness rank": 1
+   },
+   "chair": {
+    "distance": "1.57 meters",
+    "closeness rank": 2
+   },
+   "sofa": {
+    "distance": "0.38 meters",
+    "closeness rank": 3
+   },
+   "fireplace": {
+    "distance": "2.69 meters",
+    "closeness rank": 4
+   }
+  },
+  "chair": {
+   "table": {
+    "distance": "1.57 meters",
+    "closeness rank": 1
+   },
+   "fireplace": {
+    "distance": "0.17 meters",
+    "closeness rank": 2
+   },
+   "sofa": {
+    "distance": "0.74 meters",
+    "closeness rank": 3
+   },
+   "tv": {
+    "distance": "0.44 meters",
+    "closeness rank": 4
+   }
+  },
+  "fireplace": {
+   "chair": {
+    "distance": "0.17 meters",
+    "closeness rank": 1
+   },
+   "tv": {
+    "distance": "0.81 meters",
+    "closeness rank": 2
+   },
+   "table": {
+    "distance": "2.69 meters",
+    "closeness rank": 3
+   },
+   "sofa": {
+    "distance": "1.31 meters",
+    "closeness rank": 4
+   }
+  },
+  "tv": {
+   "table": {
+    "distance": "2.4 meters",
+    "closeness rank": 1
+   },
+   "chair": {
+    "distance": "0.44 meters",
+    "closeness rank": 2
+   },
+   "sofa": {
+    "distance": "2.03 meters",
+    "closeness rank": 3
+   },
+   "fireplace": {
+    "distance": "0.81 meters",
+    "closeness rank": 4
+   }
+  }
+ },
+ "appearance order": ["sofa", "table", "chair", "fireplace", "tv"]
+}
\ No newline at end of file
diff --git a/data/spatial codes/ground truth/explicit/44358536.json b/data/spatial codes/ground truth/explicit/44358536.json
new file mode 100644
index 0000000000000000000000000000000000000000..b814ce91a58ec107aa026f89f35ac05e367c2e68
--- /dev/null
+++ b/data/spatial codes/ground truth/explicit/44358536.json	
@@ -0,0 +1,112 @@
+{
+ "spatial code schema": {
+  "objects": {
+   "<object class>": {
+    "count": {
+     "unit": null,
+     "description": "number of instances of this class in the compact spatial code (that schema's per-class oriented-box list length)"
+    },
+    "instances": [
+     {
+      "position": {
+       "x coordinate": {
+        "unit": "meters",
+        "description": "x coordinate of this instance's compact 3D oriented bounding box center"
+       },
+       "y coordinate": {
+        "unit": "meters",
+        "description": "y coordinate of this instance's compact 3D oriented bounding box center"
+       },
+       "height above floor": {
+        "unit": "meters",
+        "description": "height coordinate of this instance's compact 3D oriented bounding box center"
+       }
+      },
+      "longest dimension": {
+       "unit": "meters",
+       "description": "longest of this instance's compact 3D oriented bounding box dimensions"
+      }
+     }
+    ]
+   }
+  },
+  "room": {
+   "floor area": {
+    "unit": "square meters",
+    "description": "shoelace area of the compact spatial code's floor boundary polygons, with every interior hole subtracted"
+   }
+  },
+  "closest classes distance meters from": {
+   "<object class>": {
+    "<other object class>": {
+     "distance": {
+      "unit": "meters",
+      "description": "estimated distance in meters between an object of this class and an object of the other class"
+     },
+     "closeness rank": {
+      "unit": null,
+      "description": "1 = the nearest other class to this one, 2 = second-nearest, and so on; ranked by nearest-instance proximity, so use the rank (not the distance values) to compare which class is closest"
+     }
+    }
+   }
+  },
+  "appearance order": {
+   "unit": null,
+   "description": "class names ordered by earliest compact 'first visible time' across all of that class's instances"
+  }
+ },
+ "objects": {
+  "bathtub": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-1.63 meters",
+      "y coordinate": "3.75 meters",
+      "height above floor": "0.28 meters"
+     },
+     "longest dimension": "1.36 meters"
+    }
+   ]
+  },
+  "toilet": {
+   "count": 2,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-0.62 meters",
+      "y coordinate": "4.12 meters",
+      "height above floor": "0.21 meters"
+     },
+     "longest dimension": "0.63 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-0.07 meters",
+      "y coordinate": "4.12 meters",
+      "height above floor": "0.43 meters"
+     },
+     "longest dimension": "0.82 meters"
+    }
+   ]
+  }
+ },
+ "room": {
+  "floor area": "11.8 square meters"
+ },
+ "closest classes distance meters from": {
+  "bathtub": {
+   "toilet": {
+    "distance": "0.19 meters",
+    "closeness rank": 1
+   }
+  },
+  "toilet": {
+   "bathtub": {
+    "distance": "0.19 meters",
+    "closeness rank": 1
+   }
+  }
+ },
+ "appearance order": ["bathtub", "toilet"]
+}
\ No newline at end of file
diff --git a/data/spatial codes/ground truth/explicit/44358582.json b/data/spatial codes/ground truth/explicit/44358582.json
new file mode 100644
index 0000000000000000000000000000000000000000..5c88db1c02b8b64f155ce45bd090fb2ddddc5a16
--- /dev/null
+++ b/data/spatial codes/ground truth/explicit/44358582.json	
@@ -0,0 +1,80 @@
+{
+ "spatial code schema": {
+  "objects": {
+   "<object class>": {
+    "count": {
+     "unit": null,
+     "description": "number of instances of this class in the compact spatial code (that schema's per-class oriented-box list length)"
+    },
+    "instances": [
+     {
+      "position": {
+       "x coordinate": {
+        "unit": "meters",
+        "description": "x coordinate of this instance's compact 3D oriented bounding box center"
+       },
+       "y coordinate": {
+        "unit": "meters",
+        "description": "y coordinate of this instance's compact 3D oriented bounding box center"
+       },
+       "height above floor": {
+        "unit": "meters",
+        "description": "height coordinate of this instance's compact 3D oriented bounding box center"
+       }
+      },
+      "longest dimension": {
+       "unit": "meters",
+       "description": "longest of this instance's compact 3D oriented bounding box dimensions"
+      }
+     }
+    ]
+   }
+  },
+  "room": {
+   "floor area": {
+    "unit": "square meters",
+    "description": "shoelace area of the compact spatial code's floor boundary polygons, with every interior hole subtracted"
+   }
+  },
+  "closest classes distance meters from": {
+   "<object class>": {
+    "<other object class>": {
+     "distance": {
+      "unit": "meters",
+      "description": "estimated distance in meters between an object of this class and an object of the other class"
+     },
+     "closeness rank": {
+      "unit": null,
+      "description": "1 = the nearest other class to this one, 2 = second-nearest, and so on; ranked by nearest-instance proximity, so use the rank (not the distance values) to compare which class is closest"
+     }
+    }
+   }
+  },
+  "appearance order": {
+   "unit": null,
+   "description": "class names ordered by earliest compact 'first visible time' across all of that class's instances"
+  }
+ },
+ "objects": {
+  "bed": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "1.84 meters",
+      "y coordinate": "-1.96 meters",
+      "height above floor": "0.33 meters"
+     },
+     "longest dimension": "2.22 meters"
+    }
+   ]
+  }
+ },
+ "room": {
+  "floor area": "24.8 square meters"
+ },
+ "closest classes distance meters from": {
+  "bed": {}
+ },
+ "appearance order": ["bed"]
+}
\ No newline at end of file
diff --git a/data/spatial codes/ground truth/explicit/45260856.json b/data/spatial codes/ground truth/explicit/45260856.json
new file mode 100644
index 0000000000000000000000000000000000000000..a614a5ec2c5ed852e08e7a3d67d0251f4bb845d1
--- /dev/null
+++ b/data/spatial codes/ground truth/explicit/45260856.json	
@@ -0,0 +1,159 @@
+{
+ "spatial code schema": {
+  "objects": {
+   "<object class>": {
+    "count": {
+     "unit": null,
+     "description": "number of instances of this class in the compact spatial code (that schema's per-class oriented-box list length)"
+    },
+    "instances": [
+     {
+      "position": {
+       "x coordinate": {
+        "unit": "meters",
+        "description": "x coordinate of this instance's compact 3D oriented bounding box center"
+       },
+       "y coordinate": {
+        "unit": "meters",
+        "description": "y coordinate of this instance's compact 3D oriented bounding box center"
+       },
+       "height above floor": {
+        "unit": "meters",
+        "description": "height coordinate of this instance's compact 3D oriented bounding box center"
+       }
+      },
+      "longest dimension": {
+       "unit": "meters",
+       "description": "longest of this instance's compact 3D oriented bounding box dimensions"
+      }
+     }
+    ]
+   }
+  },
+  "room": {
+   "floor area": {
+    "unit": "square meters",
+    "description": "shoelace area of the compact spatial code's floor boundary polygons, with every interior hole subtracted"
+   }
+  },
+  "closest classes distance meters from": {
+   "<object class>": {
+    "<other object class>": {
+     "distance": {
+      "unit": "meters",
+      "description": "estimated distance in meters between an object of this class and an object of the other class"
+     },
+     "closeness rank": {
+      "unit": null,
+      "description": "1 = the nearest other class to this one, 2 = second-nearest, and so on; ranked by nearest-instance proximity, so use the rank (not the distance values) to compare which class is closest"
+     }
+    }
+   }
+  },
+  "appearance order": {
+   "unit": null,
+   "description": "class names ordered by earliest compact 'first visible time' across all of that class's instances"
+  }
+ },
+ "objects": {
+  "bed": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-3.18 meters",
+      "y coordinate": "-1.54 meters",
+      "height above floor": "0.4 meters"
+     },
+     "longest dimension": "2.05 meters"
+    }
+   ]
+  },
+  "chair": {
+   "count": 4,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-2.79 meters",
+      "y coordinate": "-3.76 meters",
+      "height above floor": "0.52 meters"
+     },
+     "longest dimension": "1.0 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-4.34 meters",
+      "y coordinate": "-3.83 meters",
+      "height above floor": "0.42 meters"
+     },
+     "longest dimension": "0.78 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-5.5 meters",
+      "y coordinate": "-2.81 meters",
+      "height above floor": "0.39 meters"
+     },
+     "longest dimension": "0.73 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-5.44 meters",
+      "y coordinate": "-0.15 meters",
+      "height above floor": "0.36 meters"
+     },
+     "longest dimension": "0.72 meters"
+    }
+   ]
+  },
+  "fireplace": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-3.46 meters",
+      "y coordinate": "-4.42 meters",
+      "height above floor": "0.73 meters"
+     },
+     "longest dimension": "1.53 meters"
+    }
+   ]
+  }
+ },
+ "room": {
+  "floor area": "27.5 square meters"
+ },
+ "closest classes distance meters from": {
+  "bed": {
+   "chair": {
+    "distance": "0.98 meters",
+    "closeness rank": 1
+   },
+   "fireplace": {
+    "distance": "1.87 meters",
+    "closeness rank": 2
+   }
+  },
+  "chair": {
+   "fireplace": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "bed": {
+    "distance": "0.98 meters",
+    "closeness rank": 2
+   }
+  },
+  "fireplace": {
+   "chair": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "bed": {
+    "distance": "1.87 meters",
+    "closeness rank": 2
+   }
+  }
+ },
+ "appearance order": ["bed", "chair", "fireplace"]
+}
\ No newline at end of file
diff --git a/data/spatial codes/ground truth/explicit/45260900.json b/data/spatial codes/ground truth/explicit/45260900.json
new file mode 100644
index 0000000000000000000000000000000000000000..ec0ea55cd56057800a8c3c9ebe3965d06cbd11a2
--- /dev/null
+++ b/data/spatial codes/ground truth/explicit/45260900.json	
@@ -0,0 +1,104 @@
+{
+ "spatial code schema": {
+  "objects": {
+   "<object class>": {
+    "count": {
+     "unit": null,
+     "description": "number of instances of this class in the compact spatial code (that schema's per-class oriented-box list length)"
+    },
+    "instances": [
+     {
+      "position": {
+       "x coordinate": {
+        "unit": "meters",
+        "description": "x coordinate of this instance's compact 3D oriented bounding box center"
+       },
+       "y coordinate": {
+        "unit": "meters",
+        "description": "y coordinate of this instance's compact 3D oriented bounding box center"
+       },
+       "height above floor": {
+        "unit": "meters",
+        "description": "height coordinate of this instance's compact 3D oriented bounding box center"
+       }
+      },
+      "longest dimension": {
+       "unit": "meters",
+       "description": "longest of this instance's compact 3D oriented bounding box dimensions"
+      }
+     }
+    ]
+   }
+  },
+  "room": {
+   "floor area": {
+    "unit": "square meters",
+    "description": "shoelace area of the compact spatial code's floor boundary polygons, with every interior hole subtracted"
+   }
+  },
+  "closest classes distance meters from": {
+   "<object class>": {
+    "<other object class>": {
+     "distance": {
+      "unit": "meters",
+      "description": "estimated distance in meters between an object of this class and an object of the other class"
+     },
+     "closeness rank": {
+      "unit": null,
+      "description": "1 = the nearest other class to this one, 2 = second-nearest, and so on; ranked by nearest-instance proximity, so use the rank (not the distance values) to compare which class is closest"
+     }
+    }
+   }
+  },
+  "appearance order": {
+   "unit": null,
+   "description": "class names ordered by earliest compact 'first visible time' across all of that class's instances"
+  }
+ },
+ "objects": {
+  "bathtub": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "2.38 meters",
+      "y coordinate": "-0.46 meters",
+      "height above floor": "0.33 meters"
+     },
+     "longest dimension": "1.72 meters"
+    }
+   ]
+  },
+  "toilet": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "3.52 meters",
+      "y coordinate": "-1.16 meters",
+      "height above floor": "0.43 meters"
+     },
+     "longest dimension": "0.82 meters"
+    }
+   ]
+  }
+ },
+ "room": {
+  "floor area": "8.4 square meters"
+ },
+ "closest classes distance meters from": {
+  "bathtub": {
+   "toilet": {
+    "distance": "0.28 meters",
+    "closeness rank": 1
+   }
+  },
+  "toilet": {
+   "bathtub": {
+    "distance": "0.28 meters",
+    "closeness rank": 1
+   }
+  }
+ },
+ "appearance order": ["bathtub", "toilet"]
+}
\ No newline at end of file
diff --git a/data/spatial codes/ground truth/explicit/45260905.json b/data/spatial codes/ground truth/explicit/45260905.json
new file mode 100644
index 0000000000000000000000000000000000000000..6815185d1e32ef5ac46bcec1e1ee24ddfeef76b7
--- /dev/null
+++ b/data/spatial codes/ground truth/explicit/45260905.json	
@@ -0,0 +1,198 @@
+{
+ "spatial code schema": {
+  "objects": {
+   "<object class>": {
+    "count": {
+     "unit": null,
+     "description": "number of instances of this class in the compact spatial code (that schema's per-class oriented-box list length)"
+    },
+    "instances": [
+     {
+      "position": {
+       "x coordinate": {
+        "unit": "meters",
+        "description": "x coordinate of this instance's compact 3D oriented bounding box center"
+       },
+       "y coordinate": {
+        "unit": "meters",
+        "description": "y coordinate of this instance's compact 3D oriented bounding box center"
+       },
+       "height above floor": {
+        "unit": "meters",
+        "description": "height coordinate of this instance's compact 3D oriented bounding box center"
+       }
+      },
+      "longest dimension": {
+       "unit": "meters",
+       "description": "longest of this instance's compact 3D oriented bounding box dimensions"
+      }
+     }
+    ]
+   }
+  },
+  "room": {
+   "floor area": {
+    "unit": "square meters",
+    "description": "shoelace area of the compact spatial code's floor boundary polygons, with every interior hole subtracted"
+   }
+  },
+  "closest classes distance meters from": {
+   "<object class>": {
+    "<other object class>": {
+     "distance": {
+      "unit": "meters",
+      "description": "estimated distance in meters between an object of this class and an object of the other class"
+     },
+     "closeness rank": {
+      "unit": null,
+      "description": "1 = the nearest other class to this one, 2 = second-nearest, and so on; ranked by nearest-instance proximity, so use the rank (not the distance values) to compare which class is closest"
+     }
+    }
+   }
+  },
+  "appearance order": {
+   "unit": null,
+   "description": "class names ordered by earliest compact 'first visible time' across all of that class's instances"
+  }
+ },
+ "objects": {
+  "sofa": {
+   "count": 3,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-2.33 meters",
+      "y coordinate": "-2.35 meters",
+      "height above floor": "0.42 meters"
+     },
+     "longest dimension": "2.46 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-3.95 meters",
+      "y coordinate": "-0.74 meters",
+      "height above floor": "0.44 meters"
+     },
+     "longest dimension": "1.41 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-5.57 meters",
+      "y coordinate": "-3.35 meters",
+      "height above floor": "0.54 meters"
+     },
+     "longest dimension": "1.07 meters"
+    }
+   ]
+  },
+  "table": {
+   "count": 2,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-3.76 meters",
+      "y coordinate": "-2.04 meters",
+      "height above floor": "0.21 meters"
+     },
+     "longest dimension": "0.9 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-5.1 meters",
+      "y coordinate": "-4.64 meters",
+      "height above floor": "0.41 meters"
+     },
+     "longest dimension": "1.31 meters"
+    }
+   ]
+  },
+  "fireplace": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-3.34 meters",
+      "y coordinate": "-4.61 meters",
+      "height above floor": "0.6 meters"
+     },
+     "longest dimension": "1.5 meters"
+    }
+   ]
+  },
+  "tv": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-5.04 meters",
+      "y coordinate": "-4.63 meters",
+      "height above floor": "1.08 meters"
+     },
+     "longest dimension": "0.96 meters"
+    }
+   ]
+  }
+ },
+ "room": {
+  "floor area": "32.9 square meters"
+ },
+ "closest classes distance meters from": {
+  "sofa": {
+   "table": {
+    "distance": "0.38 meters",
+    "closeness rank": 1
+   },
+   "tv": {
+    "distance": "1.89 meters",
+    "closeness rank": 2
+   },
+   "fireplace": {
+    "distance": "0.69 meters",
+    "closeness rank": 3
+   }
+  },
+  "table": {
+   "tv": {
+    "distance": "2.09 meters",
+    "closeness rank": 1
+   },
+   "fireplace": {
+    "distance": "1.43 meters",
+    "closeness rank": 2
+   },
+   "sofa": {
+    "distance": "0.38 meters",
+    "closeness rank": 3
+   }
+  },
+  "fireplace": {
+   "table": {
+    "distance": "1.43 meters",
+    "closeness rank": 1
+   },
+   "tv": {
+    "distance": "0.54 meters",
+    "closeness rank": 2
+   },
+   "sofa": {
+    "distance": "0.69 meters",
+    "closeness rank": 3
+   }
+  },
+  "tv": {
+   "table": {
+    "distance": "2.09 meters",
+    "closeness rank": 1
+   },
+   "fireplace": {
+    "distance": "0.54 meters",
+    "closeness rank": 2
+   },
+   "sofa": {
+    "distance": "1.89 meters",
+    "closeness rank": 3
+   }
+  }
+ },
+ "appearance order": ["sofa", "table", "fireplace", "tv"]
+}
\ No newline at end of file
diff --git a/data/spatial codes/ground truth/explicit/45260928.json b/data/spatial codes/ground truth/explicit/45260928.json
new file mode 100644
index 0000000000000000000000000000000000000000..1ec35a16ed648adaf668d38b22dc7cfdffd35a04
--- /dev/null
+++ b/data/spatial codes/ground truth/explicit/45260928.json	
@@ -0,0 +1,292 @@
+{
+ "spatial code schema": {
+  "objects": {
+   "<object class>": {
+    "count": {
+     "unit": null,
+     "description": "number of instances of this class in the compact spatial code (that schema's per-class oriented-box list length)"
+    },
+    "instances": [
+     {
+      "position": {
+       "x coordinate": {
+        "unit": "meters",
+        "description": "x coordinate of this instance's compact 3D oriented bounding box center"
+       },
+       "y coordinate": {
+        "unit": "meters",
+        "description": "y coordinate of this instance's compact 3D oriented bounding box center"
+       },
+       "height above floor": {
+        "unit": "meters",
+        "description": "height coordinate of this instance's compact 3D oriented bounding box center"
+       }
+      },
+      "longest dimension": {
+       "unit": "meters",
+       "description": "longest of this instance's compact 3D oriented bounding box dimensions"
+      }
+     }
+    ]
+   }
+  },
+  "room": {
+   "floor area": {
+    "unit": "square meters",
+    "description": "shoelace area of the compact spatial code's floor boundary polygons, with every interior hole subtracted"
+   }
+  },
+  "closest classes distance meters from": {
+   "<object class>": {
+    "<other object class>": {
+     "distance": {
+      "unit": "meters",
+      "description": "estimated distance in meters between an object of this class and an object of the other class"
+     },
+     "closeness rank": {
+      "unit": null,
+      "description": "1 = the nearest other class to this one, 2 = second-nearest, and so on; ranked by nearest-instance proximity, so use the rank (not the distance values) to compare which class is closest"
+     }
+    }
+   }
+  },
+  "appearance order": {
+   "unit": null,
+   "description": "class names ordered by earliest compact 'first visible time' across all of that class's instances"
+  }
+ },
+ "objects": {
+  "chair": {
+   "count": 2,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "4.39 meters",
+      "y coordinate": "0.74 meters",
+      "height above floor": "0.46 meters"
+     },
+     "longest dimension": "0.92 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "2.99 meters",
+      "y coordinate": "-2.77 meters",
+      "height above floor": "0.41 meters"
+     },
+     "longest dimension": "0.81 meters"
+    }
+   ]
+  },
+  "table": {
+   "count": 2,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "4.86 meters",
+      "y coordinate": "0.34 meters",
+      "height above floor": "0.39 meters"
+     },
+     "longest dimension": "1.17 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "2.7 meters",
+      "y coordinate": "-3.02 meters",
+      "height above floor": "0.39 meters"
+     },
+     "longest dimension": "1.53 meters"
+    }
+   ]
+  },
+  "tv": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "4.82 meters",
+      "y coordinate": "0.67 meters",
+      "height above floor": "0.94 meters"
+     },
+     "longest dimension": "0.47 meters"
+    }
+   ]
+  },
+  "fireplace": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "4.68 meters",
+      "y coordinate": "-1.48 meters",
+      "height above floor": "0.63 meters"
+     },
+     "longest dimension": "1.51 meters"
+    }
+   ]
+  },
+  "sofa": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "1.26 meters",
+      "y coordinate": "-1.31 meters",
+      "height above floor": "0.53 meters"
+     },
+     "longest dimension": "1.05 meters"
+    }
+   ]
+  },
+  "stool": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "1.5 meters",
+      "y coordinate": "-1.85 meters",
+      "height above floor": "0.26 meters"
+     },
+     "longest dimension": "0.51 meters"
+    }
+   ]
+  }
+ },
+ "room": {
+  "floor area": "25.2 square meters"
+ },
+ "closest classes distance meters from": {
+  "chair": {
+   "table": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "tv": {
+    "distance": "0.0 meters",
+    "closeness rank": 2
+   },
+   "fireplace": {
+    "distance": "1.17 meters",
+    "closeness rank": 3
+   },
+   "stool": {
+    "distance": "3.17 meters",
+    "closeness rank": 4
+   },
+   "sofa": {
+    "distance": "2.76 meters",
+    "closeness rank": 5
+   }
+  },
+  "table": {
+   "chair": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "tv": {
+    "distance": "0.0 meters",
+    "closeness rank": 2
+   },
+   "fireplace": {
+    "distance": "0.5 meters",
+    "closeness rank": 3
+   },
+   "stool": {
+    "distance": "3.17 meters",
+    "closeness rank": 4
+   },
+   "sofa": {
+    "distance": "2.85 meters",
+    "closeness rank": 5
+   }
+  },
+  "tv": {
+   "chair": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "table": {
+    "distance": "0.0 meters",
+    "closeness rank": 2
+   },
+   "fireplace": {
+    "distance": "1.19 meters",
+    "closeness rank": 3
+   },
+   "sofa": {
+    "distance": "3.54 meters",
+    "closeness rank": 4
+   },
+   "stool": {
+    "distance": "3.92 meters",
+    "closeness rank": 5
+   }
+  },
+  "fireplace": {
+   "table": {
+    "distance": "0.5 meters",
+    "closeness rank": 1
+   },
+   "chair": {
+    "distance": "1.17 meters",
+    "closeness rank": 2
+   },
+   "tv": {
+    "distance": "1.19 meters",
+    "closeness rank": 3
+   },
+   "sofa": {
+    "distance": "2.52 meters",
+    "closeness rank": 4
+   },
+   "stool": {
+    "distance": "2.68 meters",
+    "closeness rank": 5
+   }
+  },
+  "sofa": {
+   "stool": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "table": {
+    "distance": "2.85 meters",
+    "closeness rank": 2
+   },
+   "chair": {
+    "distance": "2.76 meters",
+    "closeness rank": 3
+   },
+   "fireplace": {
+    "distance": "2.52 meters",
+    "closeness rank": 4
+   },
+   "tv": {
+    "distance": "3.54 meters",
+    "closeness rank": 5
+   }
+  },
+  "stool": {
+   "sofa": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "table": {
+    "distance": "3.17 meters",
+    "closeness rank": 2
+   },
+   "chair": {
+    "distance": "3.17 meters",
+    "closeness rank": 3
+   },
+   "fireplace": {
+    "distance": "2.68 meters",
+    "closeness rank": 4
+   },
+   "tv": {
+    "distance": "3.92 meters",
+    "closeness rank": 5
+   }
+  }
+ },
+ "appearance order": ["chair", "table", "tv", "fireplace", "sofa", "stool"]
+}
\ No newline at end of file
diff --git a/data/spatial codes/ground truth/explicit/45261121.json b/data/spatial codes/ground truth/explicit/45261121.json
new file mode 100644
index 0000000000000000000000000000000000000000..0b4eb9ba2acd199ed08ef4e64dd0841d6e1280fe
--- /dev/null
+++ b/data/spatial codes/ground truth/explicit/45261121.json	
@@ -0,0 +1,284 @@
+{
+ "spatial code schema": {
+  "objects": {
+   "<object class>": {
+    "count": {
+     "unit": null,
+     "description": "number of instances of this class in the compact spatial code (that schema's per-class oriented-box list length)"
+    },
+    "instances": [
+     {
+      "position": {
+       "x coordinate": {
+        "unit": "meters",
+        "description": "x coordinate of this instance's compact 3D oriented bounding box center"
+       },
+       "y coordinate": {
+        "unit": "meters",
+        "description": "y coordinate of this instance's compact 3D oriented bounding box center"
+       },
+       "height above floor": {
+        "unit": "meters",
+        "description": "height coordinate of this instance's compact 3D oriented bounding box center"
+       }
+      },
+      "longest dimension": {
+       "unit": "meters",
+       "description": "longest of this instance's compact 3D oriented bounding box dimensions"
+      }
+     }
+    ]
+   }
+  },
+  "room": {
+   "floor area": {
+    "unit": "square meters",
+    "description": "shoelace area of the compact spatial code's floor boundary polygons, with every interior hole subtracted"
+   }
+  },
+  "closest classes distance meters from": {
+   "<object class>": {
+    "<other object class>": {
+     "distance": {
+      "unit": "meters",
+      "description": "estimated distance in meters between an object of this class and an object of the other class"
+     },
+     "closeness rank": {
+      "unit": null,
+      "description": "1 = the nearest other class to this one, 2 = second-nearest, and so on; ranked by nearest-instance proximity, so use the rank (not the distance values) to compare which class is closest"
+     }
+    }
+   }
+  },
+  "appearance order": {
+   "unit": null,
+   "description": "class names ordered by earliest compact 'first visible time' across all of that class's instances"
+  }
+ },
+ "objects": {
+  "table": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "1.1 meters",
+      "y coordinate": "-0.07 meters",
+      "height above floor": "0.45 meters"
+     },
+     "longest dimension": "1.25 meters"
+    }
+   ]
+  },
+  "chair": {
+   "count": 2,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "1.52 meters",
+      "y coordinate": "-0.06 meters",
+      "height above floor": "0.45 meters"
+     },
+     "longest dimension": "0.89 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "1.15 meters",
+      "y coordinate": "0.3 meters",
+      "height above floor": "0.45 meters"
+     },
+     "longest dimension": "0.89 meters"
+    }
+   ]
+  },
+  "refrigerator": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-0.47 meters",
+      "y coordinate": "1.88 meters",
+      "height above floor": "0.75 meters"
+     },
+     "longest dimension": "1.48 meters"
+    }
+   ]
+  },
+  "stove": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "0.1 meters",
+      "y coordinate": "-1.22 meters",
+      "height above floor": "0.81 meters"
+     },
+     "longest dimension": "1.0 meters"
+    }
+   ]
+  },
+  "tv": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "1.75 meters",
+      "y coordinate": "-2.15 meters",
+      "height above floor": "1.78 meters"
+     },
+     "longest dimension": "0.94 meters"
+    }
+   ]
+  },
+  "stool": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "1.96 meters",
+      "y coordinate": "-1.38 meters",
+      "height above floor": "0.32 meters"
+     },
+     "longest dimension": "0.64 meters"
+    }
+   ]
+  }
+ },
+ "room": {
+  "floor area": "21.5 square meters"
+ },
+ "closest classes distance meters from": {
+  "table": {
+   "chair": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "stool": {
+    "distance": "0.75 meters",
+    "closeness rank": 2
+   },
+   "stove": {
+    "distance": "0.81 meters",
+    "closeness rank": 3
+   },
+   "tv": {
+    "distance": "1.46 meters",
+    "closeness rank": 4
+   },
+   "refrigerator": {
+    "distance": "1.44 meters",
+    "closeness rank": 5
+   }
+  },
+  "chair": {
+   "table": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "stool": {
+    "distance": "0.92 meters",
+    "closeness rank": 2
+   },
+   "stove": {
+    "distance": "1.31 meters",
+    "closeness rank": 3
+   },
+   "refrigerator": {
+    "distance": "1.65 meters",
+    "closeness rank": 4
+   },
+   "tv": {
+    "distance": "1.67 meters",
+    "closeness rank": 5
+   }
+  },
+  "refrigerator": {
+   "table": {
+    "distance": "1.44 meters",
+    "closeness rank": 1
+   },
+   "chair": {
+    "distance": "1.65 meters",
+    "closeness rank": 2
+   },
+   "stove": {
+    "distance": "2.06 meters",
+    "closeness rank": 3
+   },
+   "stool": {
+    "distance": "3.45 meters",
+    "closeness rank": 4
+   },
+   "tv": {
+    "distance": "4.0 meters",
+    "closeness rank": 5
+   }
+  },
+  "stove": {
+   "table": {
+    "distance": "0.81 meters",
+    "closeness rank": 1
+   },
+   "stool": {
+    "distance": "1.11 meters",
+    "closeness rank": 2
+   },
+   "chair": {
+    "distance": "1.31 meters",
+    "closeness rank": 3
+   },
+   "tv": {
+    "distance": "1.48 meters",
+    "closeness rank": 4
+   },
+   "refrigerator": {
+    "distance": "2.06 meters",
+    "closeness rank": 5
+   }
+  },
+  "tv": {
+   "stool": {
+    "distance": "0.89 meters",
+    "closeness rank": 1
+   },
+   "table": {
+    "distance": "1.46 meters",
+    "closeness rank": 2
+   },
+   "stove": {
+    "distance": "1.48 meters",
+    "closeness rank": 3
+   },
+   "chair": {
+    "distance": "1.67 meters",
+    "closeness rank": 4
+   },
+   "refrigerator": {
+    "distance": "4.0 meters",
+    "closeness rank": 5
+   }
+  },
+  "stool": {
+   "table": {
+    "distance": "0.75 meters",
+    "closeness rank": 1
+   },
+   "tv": {
+    "distance": "0.89 meters",
+    "closeness rank": 2
+   },
+   "chair": {
+    "distance": "0.92 meters",
+    "closeness rank": 3
+   },
+   "stove": {
+    "distance": "1.11 meters",
+    "closeness rank": 4
+   },
+   "refrigerator": {
+    "distance": "3.45 meters",
+    "closeness rank": 5
+   }
+  }
+ },
+ "appearance order": ["table", "chair", "refrigerator", "stove", "tv", "stool"]
+}
\ No newline at end of file
diff --git a/data/spatial codes/ground truth/explicit/45261142.json b/data/spatial codes/ground truth/explicit/45261142.json
new file mode 100644
index 0000000000000000000000000000000000000000..656b86b4e81c6baea745c516ba0e9d89e4eb28a9
--- /dev/null
+++ b/data/spatial codes/ground truth/explicit/45261142.json	
@@ -0,0 +1,261 @@
+{
+ "spatial code schema": {
+  "objects": {
+   "<object class>": {
+    "count": {
+     "unit": null,
+     "description": "number of instances of this class in the compact spatial code (that schema's per-class oriented-box list length)"
+    },
+    "instances": [
+     {
+      "position": {
+       "x coordinate": {
+        "unit": "meters",
+        "description": "x coordinate of this instance's compact 3D oriented bounding box center"
+       },
+       "y coordinate": {
+        "unit": "meters",
+        "description": "y coordinate of this instance's compact 3D oriented bounding box center"
+       },
+       "height above floor": {
+        "unit": "meters",
+        "description": "height coordinate of this instance's compact 3D oriented bounding box center"
+       }
+      },
+      "longest dimension": {
+       "unit": "meters",
+       "description": "longest of this instance's compact 3D oriented bounding box dimensions"
+      }
+     }
+    ]
+   }
+  },
+  "room": {
+   "floor area": {
+    "unit": "square meters",
+    "description": "shoelace area of the compact spatial code's floor boundary polygons, with every interior hole subtracted"
+   }
+  },
+  "closest classes distance meters from": {
+   "<object class>": {
+    "<other object class>": {
+     "distance": {
+      "unit": "meters",
+      "description": "estimated distance in meters between an object of this class and an object of the other class"
+     },
+     "closeness rank": {
+      "unit": null,
+      "description": "1 = the nearest other class to this one, 2 = second-nearest, and so on; ranked by nearest-instance proximity, so use the rank (not the distance values) to compare which class is closest"
+     }
+    }
+   }
+  },
+  "appearance order": {
+   "unit": null,
+   "description": "class names ordered by earliest compact 'first visible time' across all of that class's instances"
+  }
+ },
+ "objects": {
+  "sofa": {
+   "count": 2,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "1.71 meters",
+      "y coordinate": "2.14 meters",
+      "height above floor": "0.41 meters"
+     },
+     "longest dimension": "2.08 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "2.16 meters",
+      "y coordinate": "4.5 meters",
+      "height above floor": "0.39 meters"
+     },
+     "longest dimension": "1.01 meters"
+    }
+   ]
+  },
+  "washer": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "2.33 meters",
+      "y coordinate": "3.55 meters",
+      "height above floor": "0.42 meters"
+     },
+     "longest dimension": "0.8 meters"
+    }
+   ]
+  },
+  "table": {
+   "count": 2,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-0.8 meters",
+      "y coordinate": "2.31 meters",
+      "height above floor": "0.37 meters"
+     },
+     "longest dimension": "2.01 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-0.85 meters",
+      "y coordinate": "4.34 meters",
+      "height above floor": "0.37 meters"
+     },
+     "longest dimension": "1.13 meters"
+    }
+   ]
+  },
+  "chair": {
+   "count": 4,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-0.84 meters",
+      "y coordinate": "3.17 meters",
+      "height above floor": "0.46 meters"
+     },
+     "longest dimension": "0.92 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-0.52 meters",
+      "y coordinate": "2.53 meters",
+      "height above floor": "0.46 meters"
+     },
+     "longest dimension": "0.92 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-1.08 meters",
+      "y coordinate": "2.62 meters",
+      "height above floor": "0.46 meters"
+     },
+     "longest dimension": "0.91 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-1.14 meters",
+      "y coordinate": "2.08 meters",
+      "height above floor": "0.46 meters"
+     },
+     "longest dimension": "0.91 meters"
+    }
+   ]
+  },
+  "tv": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-0.88 meters",
+      "y coordinate": "4.44 meters",
+      "height above floor": "1.09 meters"
+     },
+     "longest dimension": "1.12 meters"
+    }
+   ]
+  }
+ },
+ "room": {
+  "floor area": "21.3 square meters"
+ },
+ "closest classes distance meters from": {
+  "sofa": {
+   "washer": {
+    "distance": "0.16 meters",
+    "closeness rank": 1
+   },
+   "chair": {
+    "distance": "1.25 meters",
+    "closeness rank": 2
+   },
+   "table": {
+    "distance": "0.95 meters",
+    "closeness rank": 3
+   },
+   "tv": {
+    "distance": "2.01 meters",
+    "closeness rank": 4
+   }
+  },
+  "washer": {
+   "sofa": {
+    "distance": "0.16 meters",
+    "closeness rank": 1
+   },
+   "chair": {
+    "distance": "2.33 meters",
+    "closeness rank": 2
+   },
+   "table": {
+    "distance": "2.32 meters",
+    "closeness rank": 3
+   },
+   "tv": {
+    "distance": "2.64 meters",
+    "closeness rank": 4
+   }
+  },
+  "table": {
+   "chair": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "tv": {
+    "distance": "0.68 meters",
+    "closeness rank": 2
+   },
+   "sofa": {
+    "distance": "0.95 meters",
+    "closeness rank": 3
+   },
+   "washer": {
+    "distance": "2.32 meters",
+    "closeness rank": 4
+   }
+  },
+  "chair": {
+   "table": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "tv": {
+    "distance": "0.6 meters",
+    "closeness rank": 2
+   },
+   "sofa": {
+    "distance": "1.25 meters",
+    "closeness rank": 3
+   },
+   "washer": {
+    "distance": "2.33 meters",
+    "closeness rank": 4
+   }
+  },
+  "tv": {
+   "table": {
+    "distance": "0.68 meters",
+    "closeness rank": 1
+   },
+   "chair": {
+    "distance": "0.6 meters",
+    "closeness rank": 2
+   },
+   "sofa": {
+    "distance": "2.01 meters",
+    "closeness rank": 3
+   },
+   "washer": {
+    "distance": "2.64 meters",
+    "closeness rank": 4
+   }
+  }
+ },
+ "appearance order": ["sofa", "washer", "table", "chair", "tv"]
+}
\ No newline at end of file
diff --git a/data/spatial codes/ground truth/explicit/45261150.json b/data/spatial codes/ground truth/explicit/45261150.json
new file mode 100644
index 0000000000000000000000000000000000000000..c6414b982ef91eb2e22ff552adfa5886750d9cad
--- /dev/null
+++ b/data/spatial codes/ground truth/explicit/45261150.json	
@@ -0,0 +1,104 @@
+{
+ "spatial code schema": {
+  "objects": {
+   "<object class>": {
+    "count": {
+     "unit": null,
+     "description": "number of instances of this class in the compact spatial code (that schema's per-class oriented-box list length)"
+    },
+    "instances": [
+     {
+      "position": {
+       "x coordinate": {
+        "unit": "meters",
+        "description": "x coordinate of this instance's compact 3D oriented bounding box center"
+       },
+       "y coordinate": {
+        "unit": "meters",
+        "description": "y coordinate of this instance's compact 3D oriented bounding box center"
+       },
+       "height above floor": {
+        "unit": "meters",
+        "description": "height coordinate of this instance's compact 3D oriented bounding box center"
+       }
+      },
+      "longest dimension": {
+       "unit": "meters",
+       "description": "longest of this instance's compact 3D oriented bounding box dimensions"
+      }
+     }
+    ]
+   }
+  },
+  "room": {
+   "floor area": {
+    "unit": "square meters",
+    "description": "shoelace area of the compact spatial code's floor boundary polygons, with every interior hole subtracted"
+   }
+  },
+  "closest classes distance meters from": {
+   "<object class>": {
+    "<other object class>": {
+     "distance": {
+      "unit": "meters",
+      "description": "estimated distance in meters between an object of this class and an object of the other class"
+     },
+     "closeness rank": {
+      "unit": null,
+      "description": "1 = the nearest other class to this one, 2 = second-nearest, and so on; ranked by nearest-instance proximity, so use the rank (not the distance values) to compare which class is closest"
+     }
+    }
+   }
+  },
+  "appearance order": {
+   "unit": null,
+   "description": "class names ordered by earliest compact 'first visible time' across all of that class's instances"
+  }
+ },
+ "objects": {
+  "bed": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "0.45 meters",
+      "y coordinate": "2.64 meters",
+      "height above floor": "0.34 meters"
+     },
+     "longest dimension": "2.05 meters"
+    }
+   ]
+  },
+  "tv": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "0.31 meters",
+      "y coordinate": "-0.41 meters",
+      "height above floor": "1.91 meters"
+     },
+     "longest dimension": "1.01 meters"
+    }
+   ]
+  }
+ },
+ "room": {
+  "floor area": "21.8 square meters"
+ },
+ "closest classes distance meters from": {
+  "bed": {
+   "tv": {
+    "distance": "2.18 meters",
+    "closeness rank": 1
+   }
+  },
+  "tv": {
+   "bed": {
+    "distance": "2.18 meters",
+    "closeness rank": 1
+   }
+  }
+ },
+ "appearance order": ["bed", "tv"]
+}
\ No newline at end of file
diff --git a/data/spatial codes/ground truth/explicit/45261182.json b/data/spatial codes/ground truth/explicit/45261182.json
new file mode 100644
index 0000000000000000000000000000000000000000..3335d58d3d5d1710dc6e25ce68fd5d702f029446
--- /dev/null
+++ b/data/spatial codes/ground truth/explicit/45261182.json	
@@ -0,0 +1,104 @@
+{
+ "spatial code schema": {
+  "objects": {
+   "<object class>": {
+    "count": {
+     "unit": null,
+     "description": "number of instances of this class in the compact spatial code (that schema's per-class oriented-box list length)"
+    },
+    "instances": [
+     {
+      "position": {
+       "x coordinate": {
+        "unit": "meters",
+        "description": "x coordinate of this instance's compact 3D oriented bounding box center"
+       },
+       "y coordinate": {
+        "unit": "meters",
+        "description": "y coordinate of this instance's compact 3D oriented bounding box center"
+       },
+       "height above floor": {
+        "unit": "meters",
+        "description": "height coordinate of this instance's compact 3D oriented bounding box center"
+       }
+      },
+      "longest dimension": {
+       "unit": "meters",
+       "description": "longest of this instance's compact 3D oriented bounding box dimensions"
+      }
+     }
+    ]
+   }
+  },
+  "room": {
+   "floor area": {
+    "unit": "square meters",
+    "description": "shoelace area of the compact spatial code's floor boundary polygons, with every interior hole subtracted"
+   }
+  },
+  "closest classes distance meters from": {
+   "<object class>": {
+    "<other object class>": {
+     "distance": {
+      "unit": "meters",
+      "description": "estimated distance in meters between an object of this class and an object of the other class"
+     },
+     "closeness rank": {
+      "unit": null,
+      "description": "1 = the nearest other class to this one, 2 = second-nearest, and so on; ranked by nearest-instance proximity, so use the rank (not the distance values) to compare which class is closest"
+     }
+    }
+   }
+  },
+  "appearance order": {
+   "unit": null,
+   "description": "class names ordered by earliest compact 'first visible time' across all of that class's instances"
+  }
+ },
+ "objects": {
+  "toilet": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "2.59 meters",
+      "y coordinate": "-0.06 meters",
+      "height above floor": "0.41 meters"
+     },
+     "longest dimension": "0.78 meters"
+    }
+   ]
+  },
+  "bed": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-0.43 meters",
+      "y coordinate": "1.75 meters",
+      "height above floor": "0.33 meters"
+     },
+     "longest dimension": "2.16 meters"
+    }
+   ]
+  }
+ },
+ "room": {
+  "floor area": "10.6 square meters"
+ },
+ "closest classes distance meters from": {
+  "toilet": {
+   "bed": {
+    "distance": "2.05 meters",
+    "closeness rank": 1
+   }
+  },
+  "bed": {
+   "toilet": {
+    "distance": "2.05 meters",
+    "closeness rank": 1
+   }
+  }
+ },
+ "appearance order": ["toilet", "bed"]
+}
\ No newline at end of file
diff --git a/data/spatial codes/ground truth/explicit/45261575.json b/data/spatial codes/ground truth/explicit/45261575.json
new file mode 100644
index 0000000000000000000000000000000000000000..25ad84ef9e28d3662174adb0493d83a61cc1df76
--- /dev/null
+++ b/data/spatial codes/ground truth/explicit/45261575.json	
@@ -0,0 +1,104 @@
+{
+ "spatial code schema": {
+  "objects": {
+   "<object class>": {
+    "count": {
+     "unit": null,
+     "description": "number of instances of this class in the compact spatial code (that schema's per-class oriented-box list length)"
+    },
+    "instances": [
+     {
+      "position": {
+       "x coordinate": {
+        "unit": "meters",
+        "description": "x coordinate of this instance's compact 3D oriented bounding box center"
+       },
+       "y coordinate": {
+        "unit": "meters",
+        "description": "y coordinate of this instance's compact 3D oriented bounding box center"
+       },
+       "height above floor": {
+        "unit": "meters",
+        "description": "height coordinate of this instance's compact 3D oriented bounding box center"
+       }
+      },
+      "longest dimension": {
+       "unit": "meters",
+       "description": "longest of this instance's compact 3D oriented bounding box dimensions"
+      }
+     }
+    ]
+   }
+  },
+  "room": {
+   "floor area": {
+    "unit": "square meters",
+    "description": "shoelace area of the compact spatial code's floor boundary polygons, with every interior hole subtracted"
+   }
+  },
+  "closest classes distance meters from": {
+   "<object class>": {
+    "<other object class>": {
+     "distance": {
+      "unit": "meters",
+      "description": "estimated distance in meters between an object of this class and an object of the other class"
+     },
+     "closeness rank": {
+      "unit": null,
+      "description": "1 = the nearest other class to this one, 2 = second-nearest, and so on; ranked by nearest-instance proximity, so use the rank (not the distance values) to compare which class is closest"
+     }
+    }
+   }
+  },
+  "appearance order": {
+   "unit": null,
+   "description": "class names ordered by earliest compact 'first visible time' across all of that class's instances"
+  }
+ },
+ "objects": {
+  "bed": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-3.09 meters",
+      "y coordinate": "-1.65 meters",
+      "height above floor": "0.27 meters"
+     },
+     "longest dimension": "2.0 meters"
+    }
+   ]
+  },
+  "tv": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-2.98 meters",
+      "y coordinate": "0.21 meters",
+      "height above floor": "0.99 meters"
+     },
+     "longest dimension": "0.73 meters"
+    }
+   ]
+  }
+ },
+ "room": {
+  "floor area": "13.8 square meters"
+ },
+ "closest classes distance meters from": {
+  "bed": {
+   "tv": {
+    "distance": "1.2 meters",
+    "closeness rank": 1
+   }
+  },
+  "tv": {
+   "bed": {
+    "distance": "1.2 meters",
+    "closeness rank": 1
+   }
+  }
+ },
+ "appearance order": ["bed", "tv"]
+}
\ No newline at end of file
diff --git a/data/spatial codes/ground truth/explicit/45261594.json b/data/spatial codes/ground truth/explicit/45261594.json
new file mode 100644
index 0000000000000000000000000000000000000000..938803271651c599bba7c72ed45bca2a644c810f
--- /dev/null
+++ b/data/spatial codes/ground truth/explicit/45261594.json	
@@ -0,0 +1,104 @@
+{
+ "spatial code schema": {
+  "objects": {
+   "<object class>": {
+    "count": {
+     "unit": null,
+     "description": "number of instances of this class in the compact spatial code (that schema's per-class oriented-box list length)"
+    },
+    "instances": [
+     {
+      "position": {
+       "x coordinate": {
+        "unit": "meters",
+        "description": "x coordinate of this instance's compact 3D oriented bounding box center"
+       },
+       "y coordinate": {
+        "unit": "meters",
+        "description": "y coordinate of this instance's compact 3D oriented bounding box center"
+       },
+       "height above floor": {
+        "unit": "meters",
+        "description": "height coordinate of this instance's compact 3D oriented bounding box center"
+       }
+      },
+      "longest dimension": {
+       "unit": "meters",
+       "description": "longest of this instance's compact 3D oriented bounding box dimensions"
+      }
+     }
+    ]
+   }
+  },
+  "room": {
+   "floor area": {
+    "unit": "square meters",
+    "description": "shoelace area of the compact spatial code's floor boundary polygons, with every interior hole subtracted"
+   }
+  },
+  "closest classes distance meters from": {
+   "<object class>": {
+    "<other object class>": {
+     "distance": {
+      "unit": "meters",
+      "description": "estimated distance in meters between an object of this class and an object of the other class"
+     },
+     "closeness rank": {
+      "unit": null,
+      "description": "1 = the nearest other class to this one, 2 = second-nearest, and so on; ranked by nearest-instance proximity, so use the rank (not the distance values) to compare which class is closest"
+     }
+    }
+   }
+  },
+  "appearance order": {
+   "unit": null,
+   "description": "class names ordered by earliest compact 'first visible time' across all of that class's instances"
+  }
+ },
+ "objects": {
+  "bathtub": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-2.23 meters",
+      "y coordinate": "0.9 meters",
+      "height above floor": "0.29 meters"
+     },
+     "longest dimension": "1.69 meters"
+    }
+   ]
+  },
+  "toilet": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-1.59 meters",
+      "y coordinate": "1.52 meters",
+      "height above floor": "0.37 meters"
+     },
+     "longest dimension": "0.75 meters"
+    }
+   ]
+  }
+ },
+ "room": {
+  "floor area": "5.4 square meters"
+ },
+ "closest classes distance meters from": {
+  "bathtub": {
+   "toilet": {
+    "distance": "0.18 meters",
+    "closeness rank": 1
+   }
+  },
+  "toilet": {
+   "bathtub": {
+    "distance": "0.18 meters",
+    "closeness rank": 1
+   }
+  }
+ },
+ "appearance order": ["bathtub", "toilet"]
+}
\ No newline at end of file
diff --git a/data/spatial codes/ground truth/explicit/45261620.json b/data/spatial codes/ground truth/explicit/45261620.json
new file mode 100644
index 0000000000000000000000000000000000000000..e73251fe1a98fac752a7abd72f0314fdbbb9e2a0
--- /dev/null
+++ b/data/spatial codes/ground truth/explicit/45261620.json	
@@ -0,0 +1,120 @@
+{
+ "spatial code schema": {
+  "objects": {
+   "<object class>": {
+    "count": {
+     "unit": null,
+     "description": "number of instances of this class in the compact spatial code (that schema's per-class oriented-box list length)"
+    },
+    "instances": [
+     {
+      "position": {
+       "x coordinate": {
+        "unit": "meters",
+        "description": "x coordinate of this instance's compact 3D oriented bounding box center"
+       },
+       "y coordinate": {
+        "unit": "meters",
+        "description": "y coordinate of this instance's compact 3D oriented bounding box center"
+       },
+       "height above floor": {
+        "unit": "meters",
+        "description": "height coordinate of this instance's compact 3D oriented bounding box center"
+       }
+      },
+      "longest dimension": {
+       "unit": "meters",
+       "description": "longest of this instance's compact 3D oriented bounding box dimensions"
+      }
+     }
+    ]
+   }
+  },
+  "room": {
+   "floor area": {
+    "unit": "square meters",
+    "description": "shoelace area of the compact spatial code's floor boundary polygons, with every interior hole subtracted"
+   }
+  },
+  "closest classes distance meters from": {
+   "<object class>": {
+    "<other object class>": {
+     "distance": {
+      "unit": "meters",
+      "description": "estimated distance in meters between an object of this class and an object of the other class"
+     },
+     "closeness rank": {
+      "unit": null,
+      "description": "1 = the nearest other class to this one, 2 = second-nearest, and so on; ranked by nearest-instance proximity, so use the rank (not the distance values) to compare which class is closest"
+     }
+    }
+   }
+  },
+  "appearance order": {
+   "unit": null,
+   "description": "class names ordered by earliest compact 'first visible time' across all of that class's instances"
+  }
+ },
+ "objects": {
+  "sofa": {
+   "count": 3,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-2.02 meters",
+      "y coordinate": "2.08 meters",
+      "height above floor": "0.35 meters"
+     },
+     "longest dimension": "2.86 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-1.01 meters",
+      "y coordinate": "1.18 meters",
+      "height above floor": "0.35 meters"
+     },
+     "longest dimension": "1.04 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "1.19 meters",
+      "y coordinate": "1.28 meters",
+      "height above floor": "0.33 meters"
+     },
+     "longest dimension": "1.15 meters"
+    }
+   ]
+  },
+  "tv": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-0.39 meters",
+      "y coordinate": "3.67 meters",
+      "height above floor": "1.38 meters"
+     },
+     "longest dimension": "1.21 meters"
+    }
+   ]
+  }
+ },
+ "room": {
+  "floor area": "20.1 square meters"
+ },
+ "closest classes distance meters from": {
+  "sofa": {
+   "tv": {
+    "distance": "0.63 meters",
+    "closeness rank": 1
+   }
+  },
+  "tv": {
+   "sofa": {
+    "distance": "0.63 meters",
+    "closeness rank": 1
+   }
+  }
+ },
+ "appearance order": ["sofa", "tv"]
+}
\ No newline at end of file
diff --git a/data/spatial codes/ground truth/explicit/45261637.json b/data/spatial codes/ground truth/explicit/45261637.json
new file mode 100644
index 0000000000000000000000000000000000000000..56da7e3e85ff1788e9cb171385256d95dd1fcda6
--- /dev/null
+++ b/data/spatial codes/ground truth/explicit/45261637.json	
@@ -0,0 +1,104 @@
+{
+ "spatial code schema": {
+  "objects": {
+   "<object class>": {
+    "count": {
+     "unit": null,
+     "description": "number of instances of this class in the compact spatial code (that schema's per-class oriented-box list length)"
+    },
+    "instances": [
+     {
+      "position": {
+       "x coordinate": {
+        "unit": "meters",
+        "description": "x coordinate of this instance's compact 3D oriented bounding box center"
+       },
+       "y coordinate": {
+        "unit": "meters",
+        "description": "y coordinate of this instance's compact 3D oriented bounding box center"
+       },
+       "height above floor": {
+        "unit": "meters",
+        "description": "height coordinate of this instance's compact 3D oriented bounding box center"
+       }
+      },
+      "longest dimension": {
+       "unit": "meters",
+       "description": "longest of this instance's compact 3D oriented bounding box dimensions"
+      }
+     }
+    ]
+   }
+  },
+  "room": {
+   "floor area": {
+    "unit": "square meters",
+    "description": "shoelace area of the compact spatial code's floor boundary polygons, with every interior hole subtracted"
+   }
+  },
+  "closest classes distance meters from": {
+   "<object class>": {
+    "<other object class>": {
+     "distance": {
+      "unit": "meters",
+      "description": "estimated distance in meters between an object of this class and an object of the other class"
+     },
+     "closeness rank": {
+      "unit": null,
+      "description": "1 = the nearest other class to this one, 2 = second-nearest, and so on; ranked by nearest-instance proximity, so use the rank (not the distance values) to compare which class is closest"
+     }
+    }
+   }
+  },
+  "appearance order": {
+   "unit": null,
+   "description": "class names ordered by earliest compact 'first visible time' across all of that class's instances"
+  }
+ },
+ "objects": {
+  "bed": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "0.04 meters",
+      "y coordinate": "3.88 meters",
+      "height above floor": "0.33 meters"
+     },
+     "longest dimension": "2.09 meters"
+    }
+   ]
+  },
+  "tv": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-0.9 meters",
+      "y coordinate": "1.77 meters",
+      "height above floor": "1.48 meters"
+     },
+     "longest dimension": "0.67 meters"
+    }
+   ]
+  }
+ },
+ "room": {
+  "floor area": "13.7 square meters"
+ },
+ "closest classes distance meters from": {
+  "bed": {
+   "tv": {
+    "distance": "1.24 meters",
+    "closeness rank": 1
+   }
+  },
+  "tv": {
+   "bed": {
+    "distance": "1.24 meters",
+    "closeness rank": 1
+   }
+  }
+ },
+ "appearance order": ["bed", "tv"]
+}
\ No newline at end of file
diff --git a/data/spatial codes/ground truth/explicit/45662924.json b/data/spatial codes/ground truth/explicit/45662924.json
new file mode 100644
index 0000000000000000000000000000000000000000..b350bbb28a30daea158af9f58776603f84d973d6
--- /dev/null
+++ b/data/spatial codes/ground truth/explicit/45662924.json	
@@ -0,0 +1,285 @@
+{
+ "spatial code schema": {
+  "objects": {
+   "<object class>": {
+    "count": {
+     "unit": null,
+     "description": "number of instances of this class in the compact spatial code (that schema's per-class oriented-box list length)"
+    },
+    "instances": [
+     {
+      "position": {
+       "x coordinate": {
+        "unit": "meters",
+        "description": "x coordinate of this instance's compact 3D oriented bounding box center"
+       },
+       "y coordinate": {
+        "unit": "meters",
+        "description": "y coordinate of this instance's compact 3D oriented bounding box center"
+       },
+       "height above floor": {
+        "unit": "meters",
+        "description": "height coordinate of this instance's compact 3D oriented bounding box center"
+       }
+      },
+      "longest dimension": {
+       "unit": "meters",
+       "description": "longest of this instance's compact 3D oriented bounding box dimensions"
+      }
+     }
+    ]
+   }
+  },
+  "room": {
+   "floor area": {
+    "unit": "square meters",
+    "description": "shoelace area of the compact spatial code's floor boundary polygons, with every interior hole subtracted"
+   }
+  },
+  "closest classes distance meters from": {
+   "<object class>": {
+    "<other object class>": {
+     "distance": {
+      "unit": "meters",
+      "description": "estimated distance in meters between an object of this class and an object of the other class"
+     },
+     "closeness rank": {
+      "unit": null,
+      "description": "1 = the nearest other class to this one, 2 = second-nearest, and so on; ranked by nearest-instance proximity, so use the rank (not the distance values) to compare which class is closest"
+     }
+    }
+   }
+  },
+  "appearance order": {
+   "unit": null,
+   "description": "class names ordered by earliest compact 'first visible time' across all of that class's instances"
+  }
+ },
+ "objects": {
+  "fireplace": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-2.28 meters",
+      "y coordinate": "4.37 meters",
+      "height above floor": "1.23 meters"
+     },
+     "longest dimension": "1.64 meters"
+    }
+   ]
+  },
+  "table": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-5.71 meters",
+      "y coordinate": "3.18 meters",
+      "height above floor": "0.38 meters"
+     },
+     "longest dimension": "1.9 meters"
+    }
+   ]
+  },
+  "chair": {
+   "count": 6,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-6.19 meters",
+      "y coordinate": "2.87 meters",
+      "height above floor": "0.39 meters"
+     },
+     "longest dimension": "0.79 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-5.44 meters",
+      "y coordinate": "2.79 meters",
+      "height above floor": "0.38 meters"
+     },
+     "longest dimension": "0.76 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-5.96 meters",
+      "y coordinate": "2.31 meters",
+      "height above floor": "0.4 meters"
+     },
+     "longest dimension": "0.79 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-5.29 meters",
+      "y coordinate": "3.3 meters",
+      "height above floor": "0.4 meters"
+     },
+     "longest dimension": "0.79 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-5.53 meters",
+      "y coordinate": "4.02 meters",
+      "height above floor": "0.4 meters"
+     },
+     "longest dimension": "0.79 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-5.95 meters",
+      "y coordinate": "3.5 meters",
+      "height above floor": "0.4 meters"
+     },
+     "longest dimension": "0.79 meters"
+    }
+   ]
+  },
+  "stool": {
+   "count": 4,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-3.82 meters",
+      "y coordinate": "3.3 meters",
+      "height above floor": "0.35 meters"
+     },
+     "longest dimension": "0.7 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-3.09 meters",
+      "y coordinate": "3.19 meters",
+      "height above floor": "0.35 meters"
+     },
+     "longest dimension": "0.7 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-2.3 meters",
+      "y coordinate": "3.09 meters",
+      "height above floor": "0.37 meters"
+     },
+     "longest dimension": "0.74 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-1.81 meters",
+      "y coordinate": "3.01 meters",
+      "height above floor": "0.37 meters"
+     },
+     "longest dimension": "0.74 meters"
+    }
+   ]
+  },
+  "stove": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-2.95 meters",
+      "y coordinate": "2.25 meters",
+      "height above floor": "0.9 meters"
+     },
+     "longest dimension": "0.77 meters"
+    }
+   ]
+  }
+ },
+ "room": {
+  "floor area": "40.3 square meters"
+ },
+ "closest classes distance meters from": {
+  "fireplace": {
+   "stool": {
+    "distance": "0.94 meters",
+    "closeness rank": 1
+   },
+   "stove": {
+    "distance": "1.73 meters",
+    "closeness rank": 2
+   },
+   "table": {
+    "distance": "2.04 meters",
+    "closeness rank": 3
+   },
+   "chair": {
+    "distance": "3.06 meters",
+    "closeness rank": 4
+   }
+  },
+  "table": {
+   "chair": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "stool": {
+    "distance": "1.2 meters",
+    "closeness rank": 2
+   },
+   "stove": {
+    "distance": "2.03 meters",
+    "closeness rank": 3
+   },
+   "fireplace": {
+    "distance": "2.04 meters",
+    "closeness rank": 4
+   }
+  },
+  "chair": {
+   "table": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "stool": {
+    "distance": "1.66 meters",
+    "closeness rank": 2
+   },
+   "stove": {
+    "distance": "2.56 meters",
+    "closeness rank": 3
+   },
+   "fireplace": {
+    "distance": "3.06 meters",
+    "closeness rank": 4
+   }
+  },
+  "stool": {
+   "stove": {
+    "distance": "0.74 meters",
+    "closeness rank": 1
+   },
+   "fireplace": {
+    "distance": "0.94 meters",
+    "closeness rank": 2
+   },
+   "chair": {
+    "distance": "1.66 meters",
+    "closeness rank": 3
+   },
+   "table": {
+    "distance": "1.2 meters",
+    "closeness rank": 4
+   }
+  },
+  "stove": {
+   "stool": {
+    "distance": "0.74 meters",
+    "closeness rank": 1
+   },
+   "fireplace": {
+    "distance": "1.73 meters",
+    "closeness rank": 2
+   },
+   "chair": {
+    "distance": "2.56 meters",
+    "closeness rank": 3
+   },
+   "table": {
+    "distance": "2.03 meters",
+    "closeness rank": 4
+   }
+  }
+ },
+ "appearance order": ["fireplace", "table", "chair", "stool", "stove"]
+}
\ No newline at end of file
diff --git a/data/spatial codes/ground truth/explicit/45662943.json b/data/spatial codes/ground truth/explicit/45662943.json
new file mode 100644
index 0000000000000000000000000000000000000000..b0e2761eebb89451613f6946bc4553e87b8abc44
--- /dev/null
+++ b/data/spatial codes/ground truth/explicit/45662943.json	
@@ -0,0 +1,229 @@
+{
+ "spatial code schema": {
+  "objects": {
+   "<object class>": {
+    "count": {
+     "unit": null,
+     "description": "number of instances of this class in the compact spatial code (that schema's per-class oriented-box list length)"
+    },
+    "instances": [
+     {
+      "position": {
+       "x coordinate": {
+        "unit": "meters",
+        "description": "x coordinate of this instance's compact 3D oriented bounding box center"
+       },
+       "y coordinate": {
+        "unit": "meters",
+        "description": "y coordinate of this instance's compact 3D oriented bounding box center"
+       },
+       "height above floor": {
+        "unit": "meters",
+        "description": "height coordinate of this instance's compact 3D oriented bounding box center"
+       }
+      },
+      "longest dimension": {
+       "unit": "meters",
+       "description": "longest of this instance's compact 3D oriented bounding box dimensions"
+      }
+     }
+    ]
+   }
+  },
+  "room": {
+   "floor area": {
+    "unit": "square meters",
+    "description": "shoelace area of the compact spatial code's floor boundary polygons, with every interior hole subtracted"
+   }
+  },
+  "closest classes distance meters from": {
+   "<object class>": {
+    "<other object class>": {
+     "distance": {
+      "unit": "meters",
+      "description": "estimated distance in meters between an object of this class and an object of the other class"
+     },
+     "closeness rank": {
+      "unit": null,
+      "description": "1 = the nearest other class to this one, 2 = second-nearest, and so on; ranked by nearest-instance proximity, so use the rank (not the distance values) to compare which class is closest"
+     }
+    }
+   }
+  },
+  "appearance order": {
+   "unit": null,
+   "description": "class names ordered by earliest compact 'first visible time' across all of that class's instances"
+  }
+ },
+ "objects": {
+  "bed": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "0.48 meters",
+      "y coordinate": "4.74 meters",
+      "height above floor": "0.29 meters"
+     },
+     "longest dimension": "2.31 meters"
+    }
+   ]
+  },
+  "table": {
+   "count": 2,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-0.34 meters",
+      "y coordinate": "5.96 meters",
+      "height above floor": "0.35 meters"
+     },
+     "longest dimension": "0.71 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-0.49 meters",
+      "y coordinate": "3.6 meters",
+      "height above floor": "0.36 meters"
+     },
+     "longest dimension": "0.71 meters"
+    }
+   ]
+  },
+  "tv": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "2.08 meters",
+      "y coordinate": "1.69 meters",
+      "height above floor": "1.32 meters"
+     },
+     "longest dimension": "0.75 meters"
+    }
+   ]
+  },
+  "fireplace": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "4.1 meters",
+      "y coordinate": "4.34 meters",
+      "height above floor": "0.7 meters"
+     },
+     "longest dimension": "1.61 meters"
+    }
+   ]
+  },
+  "chair": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-0.08 meters",
+      "y coordinate": "7.23 meters",
+      "height above floor": "0.39 meters"
+     },
+     "longest dimension": "1.02 meters"
+    }
+   ]
+  }
+ },
+ "room": {
+  "floor area": "41.2 square meters"
+ },
+ "closest classes distance meters from": {
+  "bed": {
+   "table": {
+    "distance": "0.04 meters",
+    "closeness rank": 1
+   },
+   "chair": {
+    "distance": "0.93 meters",
+    "closeness rank": 2
+   },
+   "tv": {
+    "distance": "2.13 meters",
+    "closeness rank": 3
+   },
+   "fireplace": {
+    "distance": "2.31 meters",
+    "closeness rank": 4
+   }
+  },
+  "table": {
+   "bed": {
+    "distance": "0.04 meters",
+    "closeness rank": 1
+   },
+   "chair": {
+    "distance": "0.49 meters",
+    "closeness rank": 2
+   },
+   "tv": {
+    "distance": "4.27 meters",
+    "closeness rank": 3
+   },
+   "fireplace": {
+    "distance": "4.12 meters",
+    "closeness rank": 4
+   }
+  },
+  "tv": {
+   "bed": {
+    "distance": "2.13 meters",
+    "closeness rank": 1
+   },
+   "fireplace": {
+    "distance": "2.24 meters",
+    "closeness rank": 2
+   },
+   "table": {
+    "distance": "4.27 meters",
+    "closeness rank": 3
+   },
+   "chair": {
+    "distance": "5.28 meters",
+    "closeness rank": 4
+   }
+  },
+  "fireplace": {
+   "tv": {
+    "distance": "2.24 meters",
+    "closeness rank": 1
+   },
+   "bed": {
+    "distance": "2.31 meters",
+    "closeness rank": 2
+   },
+   "chair": {
+    "distance": "4.0 meters",
+    "closeness rank": 3
+   },
+   "table": {
+    "distance": "4.12 meters",
+    "closeness rank": 4
+   }
+  },
+  "chair": {
+   "table": {
+    "distance": "0.49 meters",
+    "closeness rank": 1
+   },
+   "bed": {
+    "distance": "0.93 meters",
+    "closeness rank": 2
+   },
+   "fireplace": {
+    "distance": "4.0 meters",
+    "closeness rank": 3
+   },
+   "tv": {
+    "distance": "5.28 meters",
+    "closeness rank": 4
+   }
+  }
+ },
+ "appearance order": ["bed", "table", "tv", "fireplace", "chair"]
+}
\ No newline at end of file
diff --git a/data/spatial codes/ground truth/explicit/45662970.json b/data/spatial codes/ground truth/explicit/45662970.json
new file mode 100644
index 0000000000000000000000000000000000000000..d9d3d93d00a760e697860a2fa1c2d7b642a950ec
--- /dev/null
+++ b/data/spatial codes/ground truth/explicit/45662970.json	
@@ -0,0 +1,88 @@
+{
+ "spatial code schema": {
+  "objects": {
+   "<object class>": {
+    "count": {
+     "unit": null,
+     "description": "number of instances of this class in the compact spatial code (that schema's per-class oriented-box list length)"
+    },
+    "instances": [
+     {
+      "position": {
+       "x coordinate": {
+        "unit": "meters",
+        "description": "x coordinate of this instance's compact 3D oriented bounding box center"
+       },
+       "y coordinate": {
+        "unit": "meters",
+        "description": "y coordinate of this instance's compact 3D oriented bounding box center"
+       },
+       "height above floor": {
+        "unit": "meters",
+        "description": "height coordinate of this instance's compact 3D oriented bounding box center"
+       }
+      },
+      "longest dimension": {
+       "unit": "meters",
+       "description": "longest of this instance's compact 3D oriented bounding box dimensions"
+      }
+     }
+    ]
+   }
+  },
+  "room": {
+   "floor area": {
+    "unit": "square meters",
+    "description": "shoelace area of the compact spatial code's floor boundary polygons, with every interior hole subtracted"
+   }
+  },
+  "closest classes distance meters from": {
+   "<object class>": {
+    "<other object class>": {
+     "distance": {
+      "unit": "meters",
+      "description": "estimated distance in meters between an object of this class and an object of the other class"
+     },
+     "closeness rank": {
+      "unit": null,
+      "description": "1 = the nearest other class to this one, 2 = second-nearest, and so on; ranked by nearest-instance proximity, so use the rank (not the distance values) to compare which class is closest"
+     }
+    }
+   }
+  },
+  "appearance order": {
+   "unit": null,
+   "description": "class names ordered by earliest compact 'first visible time' across all of that class's instances"
+  }
+ },
+ "objects": {
+  "washer": {
+   "count": 2,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-1.9 meters",
+      "y coordinate": "0.74 meters",
+      "height above floor": "0.42 meters"
+     },
+     "longest dimension": "0.84 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-3.26 meters",
+      "y coordinate": "0.68 meters",
+      "height above floor": "0.42 meters"
+     },
+     "longest dimension": "0.85 meters"
+    }
+   ]
+  }
+ },
+ "room": {
+  "floor area": "10.4 square meters"
+ },
+ "closest classes distance meters from": {
+  "washer": {}
+ },
+ "appearance order": ["washer"]
+}
\ No newline at end of file
diff --git a/data/spatial codes/ground truth/explicit/45662987.json b/data/spatial codes/ground truth/explicit/45662987.json
new file mode 100644
index 0000000000000000000000000000000000000000..18891ae9d82b368c5222df45a9a216102683312d
--- /dev/null
+++ b/data/spatial codes/ground truth/explicit/45662987.json	
@@ -0,0 +1,245 @@
+{
+ "spatial code schema": {
+  "objects": {
+   "<object class>": {
+    "count": {
+     "unit": null,
+     "description": "number of instances of this class in the compact spatial code (that schema's per-class oriented-box list length)"
+    },
+    "instances": [
+     {
+      "position": {
+       "x coordinate": {
+        "unit": "meters",
+        "description": "x coordinate of this instance's compact 3D oriented bounding box center"
+       },
+       "y coordinate": {
+        "unit": "meters",
+        "description": "y coordinate of this instance's compact 3D oriented bounding box center"
+       },
+       "height above floor": {
+        "unit": "meters",
+        "description": "height coordinate of this instance's compact 3D oriented bounding box center"
+       }
+      },
+      "longest dimension": {
+       "unit": "meters",
+       "description": "longest of this instance's compact 3D oriented bounding box dimensions"
+      }
+     }
+    ]
+   }
+  },
+  "room": {
+   "floor area": {
+    "unit": "square meters",
+    "description": "shoelace area of the compact spatial code's floor boundary polygons, with every interior hole subtracted"
+   }
+  },
+  "closest classes distance meters from": {
+   "<object class>": {
+    "<other object class>": {
+     "distance": {
+      "unit": "meters",
+      "description": "estimated distance in meters between an object of this class and an object of the other class"
+     },
+     "closeness rank": {
+      "unit": null,
+      "description": "1 = the nearest other class to this one, 2 = second-nearest, and so on; ranked by nearest-instance proximity, so use the rank (not the distance values) to compare which class is closest"
+     }
+    }
+   }
+  },
+  "appearance order": {
+   "unit": null,
+   "description": "class names ordered by earliest compact 'first visible time' across all of that class's instances"
+  }
+ },
+ "objects": {
+  "sofa": {
+   "count": 2,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-2.1 meters",
+      "y coordinate": "-1.76 meters",
+      "height above floor": "0.44 meters"
+     },
+     "longest dimension": "2.11 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-4.33 meters",
+      "y coordinate": "0.43 meters",
+      "height above floor": "0.44 meters"
+     },
+     "longest dimension": "2.12 meters"
+    }
+   ]
+  },
+  "fireplace": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-3.94 meters",
+      "y coordinate": "-3.83 meters",
+      "height above floor": "0.6 meters"
+     },
+     "longest dimension": "1.65 meters"
+    }
+   ]
+  },
+  "tv": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-5.7 meters",
+      "y coordinate": "-3.63 meters",
+      "height above floor": "1.18 meters"
+     },
+     "longest dimension": "1.26 meters"
+    }
+   ]
+  },
+  "chair": {
+   "count": 2,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-6.53 meters",
+      "y coordinate": "-1.92 meters",
+      "height above floor": "0.36 meters"
+     },
+     "longest dimension": "0.83 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-6.46 meters",
+      "y coordinate": "-0.54 meters",
+      "height above floor": "0.37 meters"
+     },
+     "longest dimension": "0.76 meters"
+    }
+   ]
+  },
+  "table": {
+   "count": 2,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-6.71 meters",
+      "y coordinate": "-1.18 meters",
+      "height above floor": "0.29 meters"
+     },
+     "longest dimension": "0.58 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-4.41 meters",
+      "y coordinate": "-0.77 meters",
+      "height above floor": "0.2 meters"
+     },
+     "longest dimension": "1.35 meters"
+    }
+   ]
+  }
+ },
+ "room": {
+  "floor area": "36.2 square meters"
+ },
+ "closest classes distance meters from": {
+  "sofa": {
+   "table": {
+    "distance": "3.3 meters",
+    "closeness rank": 1
+   },
+   "chair": {
+    "distance": "2.96 meters",
+    "closeness rank": 2
+   },
+   "fireplace": {
+    "distance": "0.91 meters",
+    "closeness rank": 3
+   },
+   "tv": {
+    "distance": "2.62 meters",
+    "closeness rank": 4
+   }
+  },
+  "fireplace": {
+   "tv": {
+    "distance": "0.41 meters",
+    "closeness rank": 1
+   },
+   "sofa": {
+    "distance": "0.91 meters",
+    "closeness rank": 2
+   },
+   "chair": {
+    "distance": "1.99 meters",
+    "closeness rank": 3
+   },
+   "table": {
+    "distance": "2.73 meters",
+    "closeness rank": 4
+   }
+  },
+  "tv": {
+   "fireplace": {
+    "distance": "0.41 meters",
+    "closeness rank": 1
+   },
+   "chair": {
+    "distance": "1.14 meters",
+    "closeness rank": 2
+   },
+   "table": {
+    "distance": "1.97 meters",
+    "closeness rank": 3
+   },
+   "sofa": {
+    "distance": "2.62 meters",
+    "closeness rank": 4
+   }
+  },
+  "chair": {
+   "table": {
+    "distance": "0.06 meters",
+    "closeness rank": 1
+   },
+   "sofa": {
+    "distance": "2.96 meters",
+    "closeness rank": 2
+   },
+   "tv": {
+    "distance": "1.14 meters",
+    "closeness rank": 3
+   },
+   "fireplace": {
+    "distance": "1.99 meters",
+    "closeness rank": 4
+   }
+  },
+  "table": {
+   "chair": {
+    "distance": "0.06 meters",
+    "closeness rank": 1
+   },
+   "sofa": {
+    "distance": "3.3 meters",
+    "closeness rank": 2
+   },
+   "tv": {
+    "distance": "1.97 meters",
+    "closeness rank": 3
+   },
+   "fireplace": {
+    "distance": "2.73 meters",
+    "closeness rank": 4
+   }
+  }
+ },
+ "appearance order": ["sofa", "fireplace", "tv", "chair", "table"]
+}
\ No newline at end of file
diff --git a/data/spatial codes/ground truth/explicit/45663105.json b/data/spatial codes/ground truth/explicit/45663105.json
new file mode 100644
index 0000000000000000000000000000000000000000..6ec4b22eb6398f6db49ae501f0b81e8e18916ebe
--- /dev/null
+++ b/data/spatial codes/ground truth/explicit/45663105.json	
@@ -0,0 +1,112 @@
+{
+ "spatial code schema": {
+  "objects": {
+   "<object class>": {
+    "count": {
+     "unit": null,
+     "description": "number of instances of this class in the compact spatial code (that schema's per-class oriented-box list length)"
+    },
+    "instances": [
+     {
+      "position": {
+       "x coordinate": {
+        "unit": "meters",
+        "description": "x coordinate of this instance's compact 3D oriented bounding box center"
+       },
+       "y coordinate": {
+        "unit": "meters",
+        "description": "y coordinate of this instance's compact 3D oriented bounding box center"
+       },
+       "height above floor": {
+        "unit": "meters",
+        "description": "height coordinate of this instance's compact 3D oriented bounding box center"
+       }
+      },
+      "longest dimension": {
+       "unit": "meters",
+       "description": "longest of this instance's compact 3D oriented bounding box dimensions"
+      }
+     }
+    ]
+   }
+  },
+  "room": {
+   "floor area": {
+    "unit": "square meters",
+    "description": "shoelace area of the compact spatial code's floor boundary polygons, with every interior hole subtracted"
+   }
+  },
+  "closest classes distance meters from": {
+   "<object class>": {
+    "<other object class>": {
+     "distance": {
+      "unit": "meters",
+      "description": "estimated distance in meters between an object of this class and an object of the other class"
+     },
+     "closeness rank": {
+      "unit": null,
+      "description": "1 = the nearest other class to this one, 2 = second-nearest, and so on; ranked by nearest-instance proximity, so use the rank (not the distance values) to compare which class is closest"
+     }
+    }
+   }
+  },
+  "appearance order": {
+   "unit": null,
+   "description": "class names ordered by earliest compact 'first visible time' across all of that class's instances"
+  }
+ },
+ "objects": {
+  "stool": {
+   "count": 2,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "2.04 meters",
+      "y coordinate": "-2.19 meters",
+      "height above floor": "0.11 meters"
+     },
+     "longest dimension": "0.31 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "1.76 meters",
+      "y coordinate": "-2.28 meters",
+      "height above floor": "0.11 meters"
+     },
+     "longest dimension": "0.24 meters"
+    }
+   ]
+  },
+  "sofa": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-0.89 meters",
+      "y coordinate": "0.07 meters",
+      "height above floor": "0.53 meters"
+     },
+     "longest dimension": "1.54 meters"
+    }
+   ]
+  }
+ },
+ "room": {
+  "floor area": "26.1 square meters"
+ },
+ "closest classes distance meters from": {
+  "stool": {
+   "sofa": {
+    "distance": "2.8 meters",
+    "closeness rank": 1
+   }
+  },
+  "sofa": {
+   "stool": {
+    "distance": "2.8 meters",
+    "closeness rank": 1
+   }
+  }
+ },
+ "appearance order": ["stool", "sofa"]
+}
\ No newline at end of file
diff --git a/data/spatial codes/ground truth/explicit/45663114.json b/data/spatial codes/ground truth/explicit/45663114.json
new file mode 100644
index 0000000000000000000000000000000000000000..100ddfdc5bcb6dbb0c11272e7182d48fef0c62f5
--- /dev/null
+++ b/data/spatial codes/ground truth/explicit/45663114.json	
@@ -0,0 +1,104 @@
+{
+ "spatial code schema": {
+  "objects": {
+   "<object class>": {
+    "count": {
+     "unit": null,
+     "description": "number of instances of this class in the compact spatial code (that schema's per-class oriented-box list length)"
+    },
+    "instances": [
+     {
+      "position": {
+       "x coordinate": {
+        "unit": "meters",
+        "description": "x coordinate of this instance's compact 3D oriented bounding box center"
+       },
+       "y coordinate": {
+        "unit": "meters",
+        "description": "y coordinate of this instance's compact 3D oriented bounding box center"
+       },
+       "height above floor": {
+        "unit": "meters",
+        "description": "height coordinate of this instance's compact 3D oriented bounding box center"
+       }
+      },
+      "longest dimension": {
+       "unit": "meters",
+       "description": "longest of this instance's compact 3D oriented bounding box dimensions"
+      }
+     }
+    ]
+   }
+  },
+  "room": {
+   "floor area": {
+    "unit": "square meters",
+    "description": "shoelace area of the compact spatial code's floor boundary polygons, with every interior hole subtracted"
+   }
+  },
+  "closest classes distance meters from": {
+   "<object class>": {
+    "<other object class>": {
+     "distance": {
+      "unit": "meters",
+      "description": "estimated distance in meters between an object of this class and an object of the other class"
+     },
+     "closeness rank": {
+      "unit": null,
+      "description": "1 = the nearest other class to this one, 2 = second-nearest, and so on; ranked by nearest-instance proximity, so use the rank (not the distance values) to compare which class is closest"
+     }
+    }
+   }
+  },
+  "appearance order": {
+   "unit": null,
+   "description": "class names ordered by earliest compact 'first visible time' across all of that class's instances"
+  }
+ },
+ "objects": {
+  "bathtub": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "4.32 meters",
+      "y coordinate": "0.15 meters",
+      "height above floor": "0.27 meters"
+     },
+     "longest dimension": "1.67 meters"
+    }
+   ]
+  },
+  "toilet": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "4.77 meters",
+      "y coordinate": "1.02 meters",
+      "height above floor": "0.41 meters"
+     },
+     "longest dimension": "0.82 meters"
+    }
+   ]
+  }
+ },
+ "room": {
+  "floor area": "10.0 square meters"
+ },
+ "closest classes distance meters from": {
+  "bathtub": {
+   "toilet": {
+    "distance": "0.26 meters",
+    "closeness rank": 1
+   }
+  },
+  "toilet": {
+   "bathtub": {
+    "distance": "0.26 meters",
+    "closeness rank": 1
+   }
+  }
+ },
+ "appearance order": ["bathtub", "toilet"]
+}
\ No newline at end of file
diff --git a/data/spatial codes/ground truth/explicit/45663154.json b/data/spatial codes/ground truth/explicit/45663154.json
new file mode 100644
index 0000000000000000000000000000000000000000..e1304c9e1f034cdc1425f857995f3ce1ac1f2876
--- /dev/null
+++ b/data/spatial codes/ground truth/explicit/45663154.json	
@@ -0,0 +1,182 @@
+{
+ "spatial code schema": {
+  "objects": {
+   "<object class>": {
+    "count": {
+     "unit": null,
+     "description": "number of instances of this class in the compact spatial code (that schema's per-class oriented-box list length)"
+    },
+    "instances": [
+     {
+      "position": {
+       "x coordinate": {
+        "unit": "meters",
+        "description": "x coordinate of this instance's compact 3D oriented bounding box center"
+       },
+       "y coordinate": {
+        "unit": "meters",
+        "description": "y coordinate of this instance's compact 3D oriented bounding box center"
+       },
+       "height above floor": {
+        "unit": "meters",
+        "description": "height coordinate of this instance's compact 3D oriented bounding box center"
+       }
+      },
+      "longest dimension": {
+       "unit": "meters",
+       "description": "longest of this instance's compact 3D oriented bounding box dimensions"
+      }
+     }
+    ]
+   }
+  },
+  "room": {
+   "floor area": {
+    "unit": "square meters",
+    "description": "shoelace area of the compact spatial code's floor boundary polygons, with every interior hole subtracted"
+   }
+  },
+  "closest classes distance meters from": {
+   "<object class>": {
+    "<other object class>": {
+     "distance": {
+      "unit": "meters",
+      "description": "estimated distance in meters between an object of this class and an object of the other class"
+     },
+     "closeness rank": {
+      "unit": null,
+      "description": "1 = the nearest other class to this one, 2 = second-nearest, and so on; ranked by nearest-instance proximity, so use the rank (not the distance values) to compare which class is closest"
+     }
+    }
+   }
+  },
+  "appearance order": {
+   "unit": null,
+   "description": "class names ordered by earliest compact 'first visible time' across all of that class's instances"
+  }
+ },
+ "objects": {
+  "sofa": {
+   "count": 2,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "3.6 meters",
+      "y coordinate": "-0.11 meters",
+      "height above floor": "0.41 meters"
+     },
+     "longest dimension": "1.73 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "5.84 meters",
+      "y coordinate": "1.56 meters",
+      "height above floor": "0.39 meters"
+     },
+     "longest dimension": "2.45 meters"
+    }
+   ]
+  },
+  "tv": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "6.85 meters",
+      "y coordinate": "-1.64 meters",
+      "height above floor": "0.82 meters"
+     },
+     "longest dimension": "0.99 meters"
+    }
+   ]
+  },
+  "fireplace": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "7.38 meters",
+      "y coordinate": "-0.21 meters",
+      "height above floor": "0.92 meters"
+     },
+     "longest dimension": "1.81 meters"
+    }
+   ]
+  },
+  "table": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "7.4 meters",
+      "y coordinate": "1.54 meters",
+      "height above floor": "0.3 meters"
+     },
+     "longest dimension": "0.58 meters"
+    }
+   ]
+  }
+ },
+ "room": {
+  "floor area": "33.5 square meters"
+ },
+ "closest classes distance meters from": {
+  "sofa": {
+   "table": {
+    "distance": "2.99 meters",
+    "closeness rank": 1
+   },
+   "fireplace": {
+    "distance": "2.05 meters",
+    "closeness rank": 2
+   },
+   "tv": {
+    "distance": "2.26 meters",
+    "closeness rank": 3
+   }
+  },
+  "tv": {
+   "fireplace": {
+    "distance": "0.13 meters",
+    "closeness rank": 1
+   },
+   "sofa": {
+    "distance": "2.26 meters",
+    "closeness rank": 2
+   },
+   "table": {
+    "distance": "2.48 meters",
+    "closeness rank": 3
+   }
+  },
+  "fireplace": {
+   "tv": {
+    "distance": "0.13 meters",
+    "closeness rank": 1
+   },
+   "sofa": {
+    "distance": "2.05 meters",
+    "closeness rank": 2
+   },
+   "table": {
+    "distance": "0.66 meters",
+    "closeness rank": 3
+   }
+  },
+  "table": {
+   "sofa": {
+    "distance": "2.99 meters",
+    "closeness rank": 1
+   },
+   "fireplace": {
+    "distance": "0.66 meters",
+    "closeness rank": 2
+   },
+   "tv": {
+    "distance": "2.48 meters",
+    "closeness rank": 3
+   }
+  }
+ },
+ "appearance order": ["sofa", "tv", "fireplace", "table"]
+}
\ No newline at end of file
diff --git a/data/spatial codes/ground truth/explicit/45663164.json b/data/spatial codes/ground truth/explicit/45663164.json
new file mode 100644
index 0000000000000000000000000000000000000000..113475e19f6a81bea87680e03123280a7b5800be
--- /dev/null
+++ b/data/spatial codes/ground truth/explicit/45663164.json	
@@ -0,0 +1,221 @@
+{
+ "spatial code schema": {
+  "objects": {
+   "<object class>": {
+    "count": {
+     "unit": null,
+     "description": "number of instances of this class in the compact spatial code (that schema's per-class oriented-box list length)"
+    },
+    "instances": [
+     {
+      "position": {
+       "x coordinate": {
+        "unit": "meters",
+        "description": "x coordinate of this instance's compact 3D oriented bounding box center"
+       },
+       "y coordinate": {
+        "unit": "meters",
+        "description": "y coordinate of this instance's compact 3D oriented bounding box center"
+       },
+       "height above floor": {
+        "unit": "meters",
+        "description": "height coordinate of this instance's compact 3D oriented bounding box center"
+       }
+      },
+      "longest dimension": {
+       "unit": "meters",
+       "description": "longest of this instance's compact 3D oriented bounding box dimensions"
+      }
+     }
+    ]
+   }
+  },
+  "room": {
+   "floor area": {
+    "unit": "square meters",
+    "description": "shoelace area of the compact spatial code's floor boundary polygons, with every interior hole subtracted"
+   }
+  },
+  "closest classes distance meters from": {
+   "<object class>": {
+    "<other object class>": {
+     "distance": {
+      "unit": "meters",
+      "description": "estimated distance in meters between an object of this class and an object of the other class"
+     },
+     "closeness rank": {
+      "unit": null,
+      "description": "1 = the nearest other class to this one, 2 = second-nearest, and so on; ranked by nearest-instance proximity, so use the rank (not the distance values) to compare which class is closest"
+     }
+    }
+   }
+  },
+  "appearance order": {
+   "unit": null,
+   "description": "class names ordered by earliest compact 'first visible time' across all of that class's instances"
+  }
+ },
+ "objects": {
+  "chair": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "6.64 meters",
+      "y coordinate": "-0.74 meters",
+      "height above floor": "0.54 meters"
+     },
+     "longest dimension": "1.08 meters"
+    }
+   ]
+  },
+  "refrigerator": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "5.33 meters",
+      "y coordinate": "-2.62 meters",
+      "height above floor": "0.95 meters"
+     },
+     "longest dimension": "1.83 meters"
+    }
+   ]
+  },
+  "dishwasher": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "4.66 meters",
+      "y coordinate": "-2.67 meters",
+      "height above floor": "0.48 meters"
+     },
+     "longest dimension": "0.89 meters"
+    }
+   ]
+  },
+  "stove": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "2.47 meters",
+      "y coordinate": "-1.71 meters",
+      "height above floor": "0.91 meters"
+     },
+     "longest dimension": "0.63 meters"
+    }
+   ]
+  },
+  "tv": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "5.33 meters",
+      "y coordinate": "-2.55 meters",
+      "height above floor": "2.06 meters"
+     },
+     "longest dimension": "0.58 meters"
+    }
+   ]
+  }
+ },
+ "room": {
+  "floor area": "22.5 square meters"
+ },
+ "closest classes distance meters from": {
+  "chair": {
+   "refrigerator": {
+    "distance": "1.32 meters",
+    "closeness rank": 1
+   },
+   "tv": {
+    "distance": "1.87 meters",
+    "closeness rank": 2
+   },
+   "dishwasher": {
+    "distance": "1.84 meters",
+    "closeness rank": 3
+   },
+   "stove": {
+    "distance": "3.61 meters",
+    "closeness rank": 4
+   }
+  },
+  "refrigerator": {
+   "tv": {
+    "distance": "0.01 meters",
+    "closeness rank": 1
+   },
+   "dishwasher": {
+    "distance": "0.04 meters",
+    "closeness rank": 2
+   },
+   "chair": {
+    "distance": "1.32 meters",
+    "closeness rank": 3
+   },
+   "stove": {
+    "distance": "2.23 meters",
+    "closeness rank": 4
+   }
+  },
+  "dishwasher": {
+   "refrigerator": {
+    "distance": "0.04 meters",
+    "closeness rank": 1
+   },
+   "tv": {
+    "distance": "0.99 meters",
+    "closeness rank": 2
+   },
+   "stove": {
+    "distance": "1.67 meters",
+    "closeness rank": 3
+   },
+   "chair": {
+    "distance": "1.84 meters",
+    "closeness rank": 4
+   }
+  },
+  "stove": {
+   "dishwasher": {
+    "distance": "1.67 meters",
+    "closeness rank": 1
+   },
+   "refrigerator": {
+    "distance": "2.23 meters",
+    "closeness rank": 2
+   },
+   "tv": {
+    "distance": "2.59 meters",
+    "closeness rank": 3
+   },
+   "chair": {
+    "distance": "3.61 meters",
+    "closeness rank": 4
+   }
+  },
+  "tv": {
+   "refrigerator": {
+    "distance": "0.01 meters",
+    "closeness rank": 1
+   },
+   "dishwasher": {
+    "distance": "0.99 meters",
+    "closeness rank": 2
+   },
+   "chair": {
+    "distance": "1.87 meters",
+    "closeness rank": 3
+   },
+   "stove": {
+    "distance": "2.59 meters",
+    "closeness rank": 4
+   }
+  }
+ },
+ "appearance order": ["chair", "refrigerator", "dishwasher", "stove", "tv"]
+}
\ No newline at end of file
diff --git a/data/spatial codes/ground truth/explicit/45b0dac5e3.json b/data/spatial codes/ground truth/explicit/45b0dac5e3.json
new file mode 100644
index 0000000000000000000000000000000000000000..a43b163d8e56fc47fae3ff8519dae34e33a60a60
--- /dev/null
+++ b/data/spatial codes/ground truth/explicit/45b0dac5e3.json	
@@ -0,0 +1,221 @@
+{
+ "spatial code schema": {
+  "objects": {
+   "<object class>": {
+    "count": {
+     "unit": null,
+     "description": "number of instances of this class in the compact spatial code (that schema's per-class oriented-box list length)"
+    },
+    "instances": [
+     {
+      "position": {
+       "x coordinate": {
+        "unit": "meters",
+        "description": "x coordinate of this instance's compact 3D oriented bounding box center"
+       },
+       "y coordinate": {
+        "unit": "meters",
+        "description": "y coordinate of this instance's compact 3D oriented bounding box center"
+       },
+       "height above floor": {
+        "unit": "meters",
+        "description": "height coordinate of this instance's compact 3D oriented bounding box center"
+       }
+      },
+      "longest dimension": {
+       "unit": "meters",
+       "description": "longest of this instance's compact 3D oriented bounding box dimensions"
+      }
+     }
+    ]
+   }
+  },
+  "room": {
+   "floor area": {
+    "unit": "square meters",
+    "description": "shoelace area of the compact spatial code's floor boundary polygons, with every interior hole subtracted"
+   }
+  },
+  "closest classes distance meters from": {
+   "<object class>": {
+    "<other object class>": {
+     "distance": {
+      "unit": "meters",
+      "description": "estimated distance in meters between an object of this class and an object of the other class"
+     },
+     "closeness rank": {
+      "unit": null,
+      "description": "1 = the nearest other class to this one, 2 = second-nearest, and so on; ranked by nearest-instance proximity, so use the rank (not the distance values) to compare which class is closest"
+     }
+    }
+   }
+  },
+  "appearance order": {
+   "unit": null,
+   "description": "class names ordered by earliest compact 'first visible time' across all of that class's instances"
+  }
+ },
+ "objects": {
+  "ceiling light": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "1.69 meters",
+      "y coordinate": "1.1 meters",
+      "height above floor": "2.41 meters"
+     },
+     "longest dimension": "0.27 meters"
+    }
+   ]
+  },
+  "heater": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "0.15 meters",
+      "y coordinate": "1.44 meters",
+      "height above floor": "0.9 meters"
+     },
+     "longest dimension": "1.52 meters"
+    }
+   ]
+  },
+  "cup": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "1.45 meters",
+      "y coordinate": "0.21 meters",
+      "height above floor": "0.95 meters"
+     },
+     "longest dimension": "0.11 meters"
+    }
+   ]
+  },
+  "door": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "0.68 meters",
+      "y coordinate": "1.88 meters",
+      "height above floor": "1.03 meters"
+     },
+     "longest dimension": "2.06 meters"
+    }
+   ]
+  },
+  "toilet": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "1.7 meters",
+      "y coordinate": "1.61 meters",
+      "height above floor": "0.48 meters"
+     },
+     "longest dimension": "0.95 meters"
+    }
+   ]
+  }
+ },
+ "room": {
+  "floor area": "5.9 square meters"
+ },
+ "closest classes distance meters from": {
+  "ceiling light": {
+   "door": {
+    "distance": "0.84 meters",
+    "closeness rank": 1
+   },
+   "toilet": {
+    "distance": "1.41 meters",
+    "closeness rank": 2
+   },
+   "heater": {
+    "distance": "1.53 meters",
+    "closeness rank": 3
+   },
+   "cup": {
+    "distance": "1.55 meters",
+    "closeness rank": 4
+   }
+  },
+  "heater": {
+   "door": {
+    "distance": "0.1 meters",
+    "closeness rank": 1
+   },
+   "toilet": {
+    "distance": "1.22 meters",
+    "closeness rank": 2
+   },
+   "cup": {
+    "distance": "1.44 meters",
+    "closeness rank": 3
+   },
+   "ceiling light": {
+    "distance": "1.53 meters",
+    "closeness rank": 4
+   }
+  },
+  "cup": {
+   "toilet": {
+    "distance": "0.97 meters",
+    "closeness rank": 1
+   },
+   "heater": {
+    "distance": "1.44 meters",
+    "closeness rank": 2
+   },
+   "ceiling light": {
+    "distance": "1.55 meters",
+    "closeness rank": 3
+   },
+   "door": {
+    "distance": "1.59 meters",
+    "closeness rank": 4
+   }
+  },
+  "door": {
+   "heater": {
+    "distance": "0.1 meters",
+    "closeness rank": 1
+   },
+   "toilet": {
+    "distance": "0.34 meters",
+    "closeness rank": 2
+   },
+   "ceiling light": {
+    "distance": "0.84 meters",
+    "closeness rank": 3
+   },
+   "cup": {
+    "distance": "1.59 meters",
+    "closeness rank": 4
+   }
+  },
+  "toilet": {
+   "door": {
+    "distance": "0.34 meters",
+    "closeness rank": 1
+   },
+   "cup": {
+    "distance": "0.97 meters",
+    "closeness rank": 2
+   },
+   "heater": {
+    "distance": "1.22 meters",
+    "closeness rank": 3
+   },
+   "ceiling light": {
+    "distance": "1.41 meters",
+    "closeness rank": 4
+   }
+  }
+ },
+ "appearance order": ["toilet", "cup", "door", "heater", "ceiling light"]
+}
\ No newline at end of file
diff --git a/data/spatial codes/ground truth/explicit/47115460.json b/data/spatial codes/ground truth/explicit/47115460.json
new file mode 100644
index 0000000000000000000000000000000000000000..c215f174354b55f419878fa96bb43e686533d52e
--- /dev/null
+++ b/data/spatial codes/ground truth/explicit/47115460.json	
@@ -0,0 +1,143 @@
+{
+ "spatial code schema": {
+  "objects": {
+   "<object class>": {
+    "count": {
+     "unit": null,
+     "description": "number of instances of this class in the compact spatial code (that schema's per-class oriented-box list length)"
+    },
+    "instances": [
+     {
+      "position": {
+       "x coordinate": {
+        "unit": "meters",
+        "description": "x coordinate of this instance's compact 3D oriented bounding box center"
+       },
+       "y coordinate": {
+        "unit": "meters",
+        "description": "y coordinate of this instance's compact 3D oriented bounding box center"
+       },
+       "height above floor": {
+        "unit": "meters",
+        "description": "height coordinate of this instance's compact 3D oriented bounding box center"
+       }
+      },
+      "longest dimension": {
+       "unit": "meters",
+       "description": "longest of this instance's compact 3D oriented bounding box dimensions"
+      }
+     }
+    ]
+   }
+  },
+  "room": {
+   "floor area": {
+    "unit": "square meters",
+    "description": "shoelace area of the compact spatial code's floor boundary polygons, with every interior hole subtracted"
+   }
+  },
+  "closest classes distance meters from": {
+   "<object class>": {
+    "<other object class>": {
+     "distance": {
+      "unit": "meters",
+      "description": "estimated distance in meters between an object of this class and an object of the other class"
+     },
+     "closeness rank": {
+      "unit": null,
+      "description": "1 = the nearest other class to this one, 2 = second-nearest, and so on; ranked by nearest-instance proximity, so use the rank (not the distance values) to compare which class is closest"
+     }
+    }
+   }
+  },
+  "appearance order": {
+   "unit": null,
+   "description": "class names ordered by earliest compact 'first visible time' across all of that class's instances"
+  }
+ },
+ "objects": {
+  "stove": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-5.33 meters",
+      "y coordinate": "1.26 meters",
+      "height above floor": "0.93 meters"
+     },
+     "longest dimension": "0.6 meters"
+    }
+   ]
+  },
+  "table": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-3.23 meters",
+      "y coordinate": "-0.54 meters",
+      "height above floor": "0.37 meters"
+     },
+     "longest dimension": "0.89 meters"
+    }
+   ]
+  },
+  "chair": {
+   "count": 2,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-3.06 meters",
+      "y coordinate": "-0.14 meters",
+      "height above floor": "0.39 meters"
+     },
+     "longest dimension": "0.78 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-3.63 meters",
+      "y coordinate": "-0.61 meters",
+      "height above floor": "0.39 meters"
+     },
+     "longest dimension": "0.78 meters"
+    }
+   ]
+  }
+ },
+ "room": {
+  "floor area": "24.1 square meters"
+ },
+ "closest classes distance meters from": {
+  "stove": {
+   "chair": {
+    "distance": "2.03 meters",
+    "closeness rank": 1
+   },
+   "table": {
+    "distance": "2.08 meters",
+    "closeness rank": 2
+   }
+  },
+  "table": {
+   "chair": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "stove": {
+    "distance": "2.08 meters",
+    "closeness rank": 2
+   }
+  },
+  "chair": {
+   "table": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "stove": {
+    "distance": "2.03 meters",
+    "closeness rank": 2
+   }
+  }
+ },
+ "appearance order": ["stove", "table", "chair"]
+}
\ No newline at end of file
diff --git a/data/spatial codes/ground truth/explicit/47115469.json b/data/spatial codes/ground truth/explicit/47115469.json
new file mode 100644
index 0000000000000000000000000000000000000000..51eb5f8a15f1e25692dd9f8731abb892d74d7743
--- /dev/null
+++ b/data/spatial codes/ground truth/explicit/47115469.json	
@@ -0,0 +1,135 @@
+{
+ "spatial code schema": {
+  "objects": {
+   "<object class>": {
+    "count": {
+     "unit": null,
+     "description": "number of instances of this class in the compact spatial code (that schema's per-class oriented-box list length)"
+    },
+    "instances": [
+     {
+      "position": {
+       "x coordinate": {
+        "unit": "meters",
+        "description": "x coordinate of this instance's compact 3D oriented bounding box center"
+       },
+       "y coordinate": {
+        "unit": "meters",
+        "description": "y coordinate of this instance's compact 3D oriented bounding box center"
+       },
+       "height above floor": {
+        "unit": "meters",
+        "description": "height coordinate of this instance's compact 3D oriented bounding box center"
+       }
+      },
+      "longest dimension": {
+       "unit": "meters",
+       "description": "longest of this instance's compact 3D oriented bounding box dimensions"
+      }
+     }
+    ]
+   }
+  },
+  "room": {
+   "floor area": {
+    "unit": "square meters",
+    "description": "shoelace area of the compact spatial code's floor boundary polygons, with every interior hole subtracted"
+   }
+  },
+  "closest classes distance meters from": {
+   "<object class>": {
+    "<other object class>": {
+     "distance": {
+      "unit": "meters",
+      "description": "estimated distance in meters between an object of this class and an object of the other class"
+     },
+     "closeness rank": {
+      "unit": null,
+      "description": "1 = the nearest other class to this one, 2 = second-nearest, and so on; ranked by nearest-instance proximity, so use the rank (not the distance values) to compare which class is closest"
+     }
+    }
+   }
+  },
+  "appearance order": {
+   "unit": null,
+   "description": "class names ordered by earliest compact 'first visible time' across all of that class's instances"
+  }
+ },
+ "objects": {
+  "bathtub": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "3.3 meters",
+      "y coordinate": "0.46 meters",
+      "height above floor": "0.31 meters"
+     },
+     "longest dimension": "1.83 meters"
+    }
+   ]
+  },
+  "toilet": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "1.09 meters",
+      "y coordinate": "1.74 meters",
+      "height above floor": "0.21 meters"
+     },
+     "longest dimension": "0.61 meters"
+    }
+   ]
+  },
+  "stool": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "4.28 meters",
+      "y coordinate": "1.29 meters",
+      "height above floor": "0.23 meters"
+     },
+     "longest dimension": "0.66 meters"
+    }
+   ]
+  }
+ },
+ "room": {
+  "floor area": "15.3 square meters"
+ },
+ "closest classes distance meters from": {
+  "bathtub": {
+   "stool": {
+    "distance": "0.04 meters",
+    "closeness rank": 1
+   },
+   "toilet": {
+    "distance": "1.34 meters",
+    "closeness rank": 2
+   }
+  },
+  "toilet": {
+   "bathtub": {
+    "distance": "1.34 meters",
+    "closeness rank": 1
+   },
+   "stool": {
+    "distance": "2.65 meters",
+    "closeness rank": 2
+   }
+  },
+  "stool": {
+   "bathtub": {
+    "distance": "0.04 meters",
+    "closeness rank": 1
+   },
+   "toilet": {
+    "distance": "2.65 meters",
+    "closeness rank": 2
+   }
+  }
+ },
+ "appearance order": ["bathtub", "toilet", "stool"]
+}
\ No newline at end of file
diff --git a/data/spatial codes/ground truth/explicit/47115525.json b/data/spatial codes/ground truth/explicit/47115525.json
new file mode 100644
index 0000000000000000000000000000000000000000..5bad75872544ba7bfa7afa96fa6b17f8bce5dea2
--- /dev/null
+++ b/data/spatial codes/ground truth/explicit/47115525.json	
@@ -0,0 +1,182 @@
+{
+ "spatial code schema": {
+  "objects": {
+   "<object class>": {
+    "count": {
+     "unit": null,
+     "description": "number of instances of this class in the compact spatial code (that schema's per-class oriented-box list length)"
+    },
+    "instances": [
+     {
+      "position": {
+       "x coordinate": {
+        "unit": "meters",
+        "description": "x coordinate of this instance's compact 3D oriented bounding box center"
+       },
+       "y coordinate": {
+        "unit": "meters",
+        "description": "y coordinate of this instance's compact 3D oriented bounding box center"
+       },
+       "height above floor": {
+        "unit": "meters",
+        "description": "height coordinate of this instance's compact 3D oriented bounding box center"
+       }
+      },
+      "longest dimension": {
+       "unit": "meters",
+       "description": "longest of this instance's compact 3D oriented bounding box dimensions"
+      }
+     }
+    ]
+   }
+  },
+  "room": {
+   "floor area": {
+    "unit": "square meters",
+    "description": "shoelace area of the compact spatial code's floor boundary polygons, with every interior hole subtracted"
+   }
+  },
+  "closest classes distance meters from": {
+   "<object class>": {
+    "<other object class>": {
+     "distance": {
+      "unit": "meters",
+      "description": "estimated distance in meters between an object of this class and an object of the other class"
+     },
+     "closeness rank": {
+      "unit": null,
+      "description": "1 = the nearest other class to this one, 2 = second-nearest, and so on; ranked by nearest-instance proximity, so use the rank (not the distance values) to compare which class is closest"
+     }
+    }
+   }
+  },
+  "appearance order": {
+   "unit": null,
+   "description": "class names ordered by earliest compact 'first visible time' across all of that class's instances"
+  }
+ },
+ "objects": {
+  "sofa": {
+   "count": 2,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-1.96 meters",
+      "y coordinate": "1.06 meters",
+      "height above floor": "0.41 meters"
+     },
+     "longest dimension": "2.15 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "0.17 meters",
+      "y coordinate": "3.01 meters",
+      "height above floor": "0.4 meters"
+     },
+     "longest dimension": "2.11 meters"
+    }
+   ]
+  },
+  "table": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-1.88 meters",
+      "y coordinate": "2.61 meters",
+      "height above floor": "0.2 meters"
+     },
+     "longest dimension": "1.01 meters"
+    }
+   ]
+  },
+  "tv": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-2.76 meters",
+      "y coordinate": "4.88 meters",
+      "height above floor": "1.19 meters"
+     },
+     "longest dimension": "1.03 meters"
+    }
+   ]
+  },
+  "fireplace": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-1.34 meters",
+      "y coordinate": "4.67 meters",
+      "height above floor": "0.55 meters"
+     },
+     "longest dimension": "1.42 meters"
+    }
+   ]
+  }
+ },
+ "room": {
+  "floor area": "22.7 square meters"
+ },
+ "closest classes distance meters from": {
+  "sofa": {
+   "fireplace": {
+    "distance": "1.88 meters",
+    "closeness rank": 1
+   },
+   "table": {
+    "distance": "0.44 meters",
+    "closeness rank": 2
+   },
+   "tv": {
+    "distance": "2.39 meters",
+    "closeness rank": 3
+   }
+  },
+  "table": {
+   "sofa": {
+    "distance": "0.44 meters",
+    "closeness rank": 1
+   },
+   "fireplace": {
+    "distance": "1.02 meters",
+    "closeness rank": 2
+   },
+   "tv": {
+    "distance": "1.85 meters",
+    "closeness rank": 3
+   }
+  },
+  "tv": {
+   "fireplace": {
+    "distance": "0.35 meters",
+    "closeness rank": 1
+   },
+   "table": {
+    "distance": "1.85 meters",
+    "closeness rank": 2
+   },
+   "sofa": {
+    "distance": "2.39 meters",
+    "closeness rank": 3
+   }
+  },
+  "fireplace": {
+   "tv": {
+    "distance": "0.35 meters",
+    "closeness rank": 1
+   },
+   "sofa": {
+    "distance": "1.88 meters",
+    "closeness rank": 2
+   },
+   "table": {
+    "distance": "1.02 meters",
+    "closeness rank": 3
+   }
+  }
+ },
+ "appearance order": ["sofa", "table", "tv", "fireplace"]
+}
\ No newline at end of file
diff --git a/data/spatial codes/ground truth/explicit/47115543.json b/data/spatial codes/ground truth/explicit/47115543.json
new file mode 100644
index 0000000000000000000000000000000000000000..3dda52d16eead6e46d3d11e90ca0e4a1c21b8fb3
--- /dev/null
+++ b/data/spatial codes/ground truth/explicit/47115543.json	
@@ -0,0 +1,191 @@
+{
+ "spatial code schema": {
+  "objects": {
+   "<object class>": {
+    "count": {
+     "unit": null,
+     "description": "number of instances of this class in the compact spatial code (that schema's per-class oriented-box list length)"
+    },
+    "instances": [
+     {
+      "position": {
+       "x coordinate": {
+        "unit": "meters",
+        "description": "x coordinate of this instance's compact 3D oriented bounding box center"
+       },
+       "y coordinate": {
+        "unit": "meters",
+        "description": "y coordinate of this instance's compact 3D oriented bounding box center"
+       },
+       "height above floor": {
+        "unit": "meters",
+        "description": "height coordinate of this instance's compact 3D oriented bounding box center"
+       }
+      },
+      "longest dimension": {
+       "unit": "meters",
+       "description": "longest of this instance's compact 3D oriented bounding box dimensions"
+      }
+     }
+    ]
+   }
+  },
+  "room": {
+   "floor area": {
+    "unit": "square meters",
+    "description": "shoelace area of the compact spatial code's floor boundary polygons, with every interior hole subtracted"
+   }
+  },
+  "closest classes distance meters from": {
+   "<object class>": {
+    "<other object class>": {
+     "distance": {
+      "unit": "meters",
+      "description": "estimated distance in meters between an object of this class and an object of the other class"
+     },
+     "closeness rank": {
+      "unit": null,
+      "description": "1 = the nearest other class to this one, 2 = second-nearest, and so on; ranked by nearest-instance proximity, so use the rank (not the distance values) to compare which class is closest"
+     }
+    }
+   }
+  },
+  "appearance order": {
+   "unit": null,
+   "description": "class names ordered by earliest compact 'first visible time' across all of that class's instances"
+  }
+ },
+ "objects": {
+  "table": {
+   "count": 2,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "1.53 meters",
+      "y coordinate": "2.4 meters",
+      "height above floor": "0.41 meters"
+     },
+     "longest dimension": "1.8 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "2.94 meters",
+      "y coordinate": "4.2 meters",
+      "height above floor": "0.37 meters"
+     },
+     "longest dimension": "0.91 meters"
+    }
+   ]
+  },
+  "chair": {
+   "count": 6,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "1.17 meters",
+      "y coordinate": "2.05 meters",
+      "height above floor": "0.52 meters"
+     },
+     "longest dimension": "1.0 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "1.8 meters",
+      "y coordinate": "2.04 meters",
+      "height above floor": "0.52 meters"
+     },
+     "longest dimension": "1.0 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "1.16 meters",
+      "y coordinate": "2.92 meters",
+      "height above floor": "0.52 meters"
+     },
+     "longest dimension": "1.0 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "1.93 meters",
+      "y coordinate": "2.7 meters",
+      "height above floor": "0.52 meters"
+     },
+     "longest dimension": "1.0 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "0.07 meters",
+      "y coordinate": "4.18 meters",
+      "height above floor": "0.5 meters"
+     },
+     "longest dimension": "0.99 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "2.9 meters",
+      "y coordinate": "4.02 meters",
+      "height above floor": "0.49 meters"
+     },
+     "longest dimension": "0.97 meters"
+    }
+   ]
+  },
+  "tv": {
+   "count": 2,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "0.08 meters",
+      "y coordinate": "4.46 meters",
+      "height above floor": "1.11 meters"
+     },
+     "longest dimension": "0.54 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "2.92 meters",
+      "y coordinate": "4.32 meters",
+      "height above floor": "1.11 meters"
+     },
+     "longest dimension": "0.5 meters"
+    }
+   ]
+  }
+ },
+ "room": {
+  "floor area": "22.5 square meters"
+ },
+ "closest classes distance meters from": {
+  "table": {
+   "chair": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "tv": {
+    "distance": "1.44 meters",
+    "closeness rank": 2
+   }
+  },
+  "chair": {
+   "table": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "tv": {
+    "distance": "1.94 meters",
+    "closeness rank": 2
+   }
+  },
+  "tv": {
+   "chair": {
+    "distance": "1.94 meters",
+    "closeness rank": 1
+   },
+   "table": {
+    "distance": "1.44 meters",
+    "closeness rank": 2
+   }
+  }
+ },
+ "appearance order": ["table", "chair", "tv"]
+}
\ No newline at end of file
diff --git a/data/spatial codes/ground truth/explicit/47204552.json b/data/spatial codes/ground truth/explicit/47204552.json
new file mode 100644
index 0000000000000000000000000000000000000000..dae5be64f64f28880b5a99340ab4fe90343254f4
--- /dev/null
+++ b/data/spatial codes/ground truth/explicit/47204552.json	
@@ -0,0 +1,269 @@
+{
+ "spatial code schema": {
+  "objects": {
+   "<object class>": {
+    "count": {
+     "unit": null,
+     "description": "number of instances of this class in the compact spatial code (that schema's per-class oriented-box list length)"
+    },
+    "instances": [
+     {
+      "position": {
+       "x coordinate": {
+        "unit": "meters",
+        "description": "x coordinate of this instance's compact 3D oriented bounding box center"
+       },
+       "y coordinate": {
+        "unit": "meters",
+        "description": "y coordinate of this instance's compact 3D oriented bounding box center"
+       },
+       "height above floor": {
+        "unit": "meters",
+        "description": "height coordinate of this instance's compact 3D oriented bounding box center"
+       }
+      },
+      "longest dimension": {
+       "unit": "meters",
+       "description": "longest of this instance's compact 3D oriented bounding box dimensions"
+      }
+     }
+    ]
+   }
+  },
+  "room": {
+   "floor area": {
+    "unit": "square meters",
+    "description": "shoelace area of the compact spatial code's floor boundary polygons, with every interior hole subtracted"
+   }
+  },
+  "closest classes distance meters from": {
+   "<object class>": {
+    "<other object class>": {
+     "distance": {
+      "unit": "meters",
+      "description": "estimated distance in meters between an object of this class and an object of the other class"
+     },
+     "closeness rank": {
+      "unit": null,
+      "description": "1 = the nearest other class to this one, 2 = second-nearest, and so on; ranked by nearest-instance proximity, so use the rank (not the distance values) to compare which class is closest"
+     }
+    }
+   }
+  },
+  "appearance order": {
+   "unit": null,
+   "description": "class names ordered by earliest compact 'first visible time' across all of that class's instances"
+  }
+ },
+ "objects": {
+  "tv": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-5.05 meters",
+      "y coordinate": "2.77 meters",
+      "height above floor": "1.59 meters"
+     },
+     "longest dimension": "1.24 meters"
+    }
+   ]
+  },
+  "sofa": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-2.14 meters",
+      "y coordinate": "1.6 meters",
+      "height above floor": "0.39 meters"
+     },
+     "longest dimension": "1.86 meters"
+    }
+   ]
+  },
+  "stove": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-7.81 meters",
+      "y coordinate": "1.24 meters",
+      "height above floor": "0.89 meters"
+     },
+     "longest dimension": "0.69 meters"
+    }
+   ]
+  },
+  "chair": {
+   "count": 7,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-7.32 meters",
+      "y coordinate": "0.5 meters",
+      "height above floor": "0.41 meters"
+     },
+     "longest dimension": "0.83 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-6.81 meters",
+      "y coordinate": "0.52 meters",
+      "height above floor": "0.41 meters"
+     },
+     "longest dimension": "0.83 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-6.27 meters",
+      "y coordinate": "0.53 meters",
+      "height above floor": "0.41 meters"
+     },
+     "longest dimension": "0.83 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-3.71 meters",
+      "y coordinate": "0.7 meters",
+      "height above floor": "0.44 meters"
+     },
+     "longest dimension": "0.88 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-3.76 meters",
+      "y coordinate": "1.54 meters",
+      "height above floor": "0.44 meters"
+     },
+     "longest dimension": "0.88 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-4.56 meters",
+      "y coordinate": "1.4 meters",
+      "height above floor": "0.44 meters"
+     },
+     "longest dimension": "0.88 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-4.59 meters",
+      "y coordinate": "0.67 meters",
+      "height above floor": "0.44 meters"
+     },
+     "longest dimension": "0.88 meters"
+    }
+   ]
+  },
+  "table": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-4.16 meters",
+      "y coordinate": "1.04 meters",
+      "height above floor": "0.37 meters"
+     },
+     "longest dimension": "1.32 meters"
+    }
+   ]
+  }
+ },
+ "room": {
+  "floor area": "35.1 square meters"
+ },
+ "closest classes distance meters from": {
+  "tv": {
+   "chair": {
+    "distance": "2.39 meters",
+    "closeness rank": 1
+   },
+   "table": {
+    "distance": "1.22 meters",
+    "closeness rank": 2
+   },
+   "sofa": {
+    "distance": "1.81 meters",
+    "closeness rank": 3
+   },
+   "stove": {
+    "distance": "2.27 meters",
+    "closeness rank": 4
+   }
+  },
+  "sofa": {
+   "chair": {
+    "distance": "3.95 meters",
+    "closeness rank": 1
+   },
+   "table": {
+    "distance": "0.82 meters",
+    "closeness rank": 2
+   },
+   "tv": {
+    "distance": "1.81 meters",
+    "closeness rank": 3
+   },
+   "stove": {
+    "distance": "4.78 meters",
+    "closeness rank": 4
+   }
+  },
+  "stove": {
+   "chair": {
+    "distance": "0.33 meters",
+    "closeness rank": 1
+   },
+   "tv": {
+    "distance": "2.27 meters",
+    "closeness rank": 2
+   },
+   "table": {
+    "distance": "2.69 meters",
+    "closeness rank": 3
+   },
+   "sofa": {
+    "distance": "4.78 meters",
+    "closeness rank": 4
+   }
+  },
+  "chair": {
+   "table": {
+    "distance": "2.13 meters",
+    "closeness rank": 1
+   },
+   "stove": {
+    "distance": "0.33 meters",
+    "closeness rank": 2
+   },
+   "sofa": {
+    "distance": "3.95 meters",
+    "closeness rank": 3
+   },
+   "tv": {
+    "distance": "2.39 meters",
+    "closeness rank": 4
+   }
+  },
+  "table": {
+   "chair": {
+    "distance": "2.13 meters",
+    "closeness rank": 1
+   },
+   "sofa": {
+    "distance": "0.82 meters",
+    "closeness rank": 2
+   },
+   "tv": {
+    "distance": "1.22 meters",
+    "closeness rank": 3
+   },
+   "stove": {
+    "distance": "2.69 meters",
+    "closeness rank": 4
+   }
+  }
+ },
+ "appearance order": ["tv", "sofa", "stove", "chair", "table"]
+}
\ No newline at end of file
diff --git a/data/spatial codes/ground truth/explicit/47204566.json b/data/spatial codes/ground truth/explicit/47204566.json
new file mode 100644
index 0000000000000000000000000000000000000000..831235a03617fa78f3fab50c1a75e953b88f21c1
--- /dev/null
+++ b/data/spatial codes/ground truth/explicit/47204566.json	
@@ -0,0 +1,174 @@
+{
+ "spatial code schema": {
+  "objects": {
+   "<object class>": {
+    "count": {
+     "unit": null,
+     "description": "number of instances of this class in the compact spatial code (that schema's per-class oriented-box list length)"
+    },
+    "instances": [
+     {
+      "position": {
+       "x coordinate": {
+        "unit": "meters",
+        "description": "x coordinate of this instance's compact 3D oriented bounding box center"
+       },
+       "y coordinate": {
+        "unit": "meters",
+        "description": "y coordinate of this instance's compact 3D oriented bounding box center"
+       },
+       "height above floor": {
+        "unit": "meters",
+        "description": "height coordinate of this instance's compact 3D oriented bounding box center"
+       }
+      },
+      "longest dimension": {
+       "unit": "meters",
+       "description": "longest of this instance's compact 3D oriented bounding box dimensions"
+      }
+     }
+    ]
+   }
+  },
+  "room": {
+   "floor area": {
+    "unit": "square meters",
+    "description": "shoelace area of the compact spatial code's floor boundary polygons, with every interior hole subtracted"
+   }
+  },
+  "closest classes distance meters from": {
+   "<object class>": {
+    "<other object class>": {
+     "distance": {
+      "unit": "meters",
+      "description": "estimated distance in meters between an object of this class and an object of the other class"
+     },
+     "closeness rank": {
+      "unit": null,
+      "description": "1 = the nearest other class to this one, 2 = second-nearest, and so on; ranked by nearest-instance proximity, so use the rank (not the distance values) to compare which class is closest"
+     }
+    }
+   }
+  },
+  "appearance order": {
+   "unit": null,
+   "description": "class names ordered by earliest compact 'first visible time' across all of that class's instances"
+  }
+ },
+ "objects": {
+  "table": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "2.58 meters",
+      "y coordinate": "1.21 meters",
+      "height above floor": "0.38 meters"
+     },
+     "longest dimension": "2.73 meters"
+    }
+   ]
+  },
+  "chair": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "2.67 meters",
+      "y coordinate": "1.08 meters",
+      "height above floor": "0.39 meters"
+     },
+     "longest dimension": "0.79 meters"
+    }
+   ]
+  },
+  "tv": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "3.14 meters",
+      "y coordinate": "1.35 meters",
+      "height above floor": "0.98 meters"
+     },
+     "longest dimension": "0.53 meters"
+    }
+   ]
+  },
+  "stool": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "3.8 meters",
+      "y coordinate": "-0.26 meters",
+      "height above floor": "0.19 meters"
+     },
+     "longest dimension": "0.46 meters"
+    }
+   ]
+  }
+ },
+ "room": {
+  "floor area": "9.4 square meters"
+ },
+ "closest classes distance meters from": {
+  "table": {
+   "chair": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "tv": {
+    "distance": "0.0 meters",
+    "closeness rank": 2
+   },
+   "stool": {
+    "distance": "1.03 meters",
+    "closeness rank": 3
+   }
+  },
+  "chair": {
+   "table": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "tv": {
+    "distance": "0.14 meters",
+    "closeness rank": 2
+   },
+   "stool": {
+    "distance": "1.14 meters",
+    "closeness rank": 3
+   }
+  },
+  "tv": {
+   "table": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "chair": {
+    "distance": "0.14 meters",
+    "closeness rank": 2
+   },
+   "stool": {
+    "distance": "1.42 meters",
+    "closeness rank": 3
+   }
+  },
+  "stool": {
+   "table": {
+    "distance": "1.03 meters",
+    "closeness rank": 1
+   },
+   "chair": {
+    "distance": "1.14 meters",
+    "closeness rank": 2
+   },
+   "tv": {
+    "distance": "1.42 meters",
+    "closeness rank": 3
+   }
+  }
+ },
+ "appearance order": ["table", "chair", "tv", "stool"]
+}
\ No newline at end of file
diff --git a/data/spatial codes/ground truth/explicit/47204578.json b/data/spatial codes/ground truth/explicit/47204578.json
new file mode 100644
index 0000000000000000000000000000000000000000..fd8cacd9c256b41282fdf4de7993d83018148abd
--- /dev/null
+++ b/data/spatial codes/ground truth/explicit/47204578.json	
@@ -0,0 +1,182 @@
+{
+ "spatial code schema": {
+  "objects": {
+   "<object class>": {
+    "count": {
+     "unit": null,
+     "description": "number of instances of this class in the compact spatial code (that schema's per-class oriented-box list length)"
+    },
+    "instances": [
+     {
+      "position": {
+       "x coordinate": {
+        "unit": "meters",
+        "description": "x coordinate of this instance's compact 3D oriented bounding box center"
+       },
+       "y coordinate": {
+        "unit": "meters",
+        "description": "y coordinate of this instance's compact 3D oriented bounding box center"
+       },
+       "height above floor": {
+        "unit": "meters",
+        "description": "height coordinate of this instance's compact 3D oriented bounding box center"
+       }
+      },
+      "longest dimension": {
+       "unit": "meters",
+       "description": "longest of this instance's compact 3D oriented bounding box dimensions"
+      }
+     }
+    ]
+   }
+  },
+  "room": {
+   "floor area": {
+    "unit": "square meters",
+    "description": "shoelace area of the compact spatial code's floor boundary polygons, with every interior hole subtracted"
+   }
+  },
+  "closest classes distance meters from": {
+   "<object class>": {
+    "<other object class>": {
+     "distance": {
+      "unit": "meters",
+      "description": "estimated distance in meters between an object of this class and an object of the other class"
+     },
+     "closeness rank": {
+      "unit": null,
+      "description": "1 = the nearest other class to this one, 2 = second-nearest, and so on; ranked by nearest-instance proximity, so use the rank (not the distance values) to compare which class is closest"
+     }
+    }
+   }
+  },
+  "appearance order": {
+   "unit": null,
+   "description": "class names ordered by earliest compact 'first visible time' across all of that class's instances"
+  }
+ },
+ "objects": {
+  "sofa": {
+   "count": 2,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "5.45 meters",
+      "y coordinate": "2.22 meters",
+      "height above floor": "0.41 meters"
+     },
+     "longest dimension": "2.99 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "6.41 meters",
+      "y coordinate": "1.09 meters",
+      "height above floor": "0.25 meters"
+     },
+     "longest dimension": "1.19 meters"
+    }
+   ]
+  },
+  "table": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "3.65 meters",
+      "y coordinate": "2.3 meters",
+      "height above floor": "0.27 meters"
+     },
+     "longest dimension": "0.5 meters"
+    }
+   ]
+  },
+  "tv": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "4.08 meters",
+      "y coordinate": "-0.24 meters",
+      "height above floor": "1.17 meters"
+     },
+     "longest dimension": "1.25 meters"
+    }
+   ]
+  },
+  "stool": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "2.91 meters",
+      "y coordinate": "-0.37 meters",
+      "height above floor": "0.17 meters"
+     },
+     "longest dimension": "0.33 meters"
+    }
+   ]
+  }
+ },
+ "room": {
+  "floor area": "22.1 square meters"
+ },
+ "closest classes distance meters from": {
+  "sofa": {
+   "table": {
+    "distance": "0.06 meters",
+    "closeness rank": 1
+   },
+   "tv": {
+    "distance": "1.4 meters",
+    "closeness rank": 2
+   },
+   "stool": {
+    "distance": "2.11 meters",
+    "closeness rank": 3
+   }
+  },
+  "table": {
+   "sofa": {
+    "distance": "0.06 meters",
+    "closeness rank": 1
+   },
+   "tv": {
+    "distance": "2.26 meters",
+    "closeness rank": 2
+   },
+   "stool": {
+    "distance": "2.36 meters",
+    "closeness rank": 3
+   }
+  },
+  "tv": {
+   "stool": {
+    "distance": "0.75 meters",
+    "closeness rank": 1
+   },
+   "sofa": {
+    "distance": "1.4 meters",
+    "closeness rank": 2
+   },
+   "table": {
+    "distance": "2.26 meters",
+    "closeness rank": 3
+   }
+  },
+  "stool": {
+   "tv": {
+    "distance": "0.75 meters",
+    "closeness rank": 1
+   },
+   "sofa": {
+    "distance": "2.11 meters",
+    "closeness rank": 2
+   },
+   "table": {
+    "distance": "2.36 meters",
+    "closeness rank": 3
+   }
+  }
+ },
+ "appearance order": ["sofa", "table", "tv", "stool"]
+}
\ No newline at end of file
diff --git a/data/spatial codes/ground truth/explicit/47204607.json b/data/spatial codes/ground truth/explicit/47204607.json
new file mode 100644
index 0000000000000000000000000000000000000000..54053ad0e780b4c84da6d6afe10958c4729b3a70
--- /dev/null
+++ b/data/spatial codes/ground truth/explicit/47204607.json	
@@ -0,0 +1,167 @@
+{
+ "spatial code schema": {
+  "objects": {
+   "<object class>": {
+    "count": {
+     "unit": null,
+     "description": "number of instances of this class in the compact spatial code (that schema's per-class oriented-box list length)"
+    },
+    "instances": [
+     {
+      "position": {
+       "x coordinate": {
+        "unit": "meters",
+        "description": "x coordinate of this instance's compact 3D oriented bounding box center"
+       },
+       "y coordinate": {
+        "unit": "meters",
+        "description": "y coordinate of this instance's compact 3D oriented bounding box center"
+       },
+       "height above floor": {
+        "unit": "meters",
+        "description": "height coordinate of this instance's compact 3D oriented bounding box center"
+       }
+      },
+      "longest dimension": {
+       "unit": "meters",
+       "description": "longest of this instance's compact 3D oriented bounding box dimensions"
+      }
+     }
+    ]
+   }
+  },
+  "room": {
+   "floor area": {
+    "unit": "square meters",
+    "description": "shoelace area of the compact spatial code's floor boundary polygons, with every interior hole subtracted"
+   }
+  },
+  "closest classes distance meters from": {
+   "<object class>": {
+    "<other object class>": {
+     "distance": {
+      "unit": "meters",
+      "description": "estimated distance in meters between an object of this class and an object of the other class"
+     },
+     "closeness rank": {
+      "unit": null,
+      "description": "1 = the nearest other class to this one, 2 = second-nearest, and so on; ranked by nearest-instance proximity, so use the rank (not the distance values) to compare which class is closest"
+     }
+    }
+   }
+  },
+  "appearance order": {
+   "unit": null,
+   "description": "class names ordered by earliest compact 'first visible time' across all of that class's instances"
+  }
+ },
+ "objects": {
+  "sofa": {
+   "count": 2,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-1.52 meters",
+      "y coordinate": "2.02 meters",
+      "height above floor": "0.4 meters"
+     },
+     "longest dimension": "1.45 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "1.06 meters",
+      "y coordinate": "3.48 meters",
+      "height above floor": "0.4 meters"
+     },
+     "longest dimension": "2.43 meters"
+    }
+   ]
+  },
+  "table": {
+   "count": 4,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-0.93 meters",
+      "y coordinate": "3.94 meters",
+      "height above floor": "0.23 meters"
+     },
+     "longest dimension": "0.97 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-2.72 meters",
+      "y coordinate": "2.69 meters",
+      "height above floor": "0.28 meters"
+     },
+     "longest dimension": "0.72 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "1.8 meters",
+      "y coordinate": "4.88 meters",
+      "height above floor": "0.28 meters"
+     },
+     "longest dimension": "0.57 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "1.75 meters",
+      "y coordinate": "1.86 meters",
+      "height above floor": "0.28 meters"
+     },
+     "longest dimension": "0.56 meters"
+    }
+   ]
+  },
+  "tv": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-2.58 meters",
+      "y coordinate": "4.57 meters",
+      "height above floor": "0.82 meters"
+     },
+     "longest dimension": "1.25 meters"
+    }
+   ]
+  }
+ },
+ "room": {
+  "floor area": "30.6 square meters"
+ },
+ "closest classes distance meters from": {
+  "sofa": {
+   "table": {
+    "distance": "0.81 meters",
+    "closeness rank": 1
+   },
+   "tv": {
+    "distance": "1.51 meters",
+    "closeness rank": 2
+   }
+  },
+  "table": {
+   "sofa": {
+    "distance": "0.81 meters",
+    "closeness rank": 1
+   },
+   "tv": {
+    "distance": "0.92 meters",
+    "closeness rank": 2
+   }
+  },
+  "tv": {
+   "table": {
+    "distance": "0.92 meters",
+    "closeness rank": 1
+   },
+   "sofa": {
+    "distance": "1.51 meters",
+    "closeness rank": 2
+   }
+  }
+ },
+ "appearance order": ["sofa", "table", "tv"]
+}
\ No newline at end of file
diff --git a/data/spatial codes/ground truth/explicit/47331063.json b/data/spatial codes/ground truth/explicit/47331063.json
new file mode 100644
index 0000000000000000000000000000000000000000..29ce48833fb9d19344e6b7997d397163d5ef6cf1
--- /dev/null
+++ b/data/spatial codes/ground truth/explicit/47331063.json	
@@ -0,0 +1,300 @@
+{
+ "spatial code schema": {
+  "objects": {
+   "<object class>": {
+    "count": {
+     "unit": null,
+     "description": "number of instances of this class in the compact spatial code (that schema's per-class oriented-box list length)"
+    },
+    "instances": [
+     {
+      "position": {
+       "x coordinate": {
+        "unit": "meters",
+        "description": "x coordinate of this instance's compact 3D oriented bounding box center"
+       },
+       "y coordinate": {
+        "unit": "meters",
+        "description": "y coordinate of this instance's compact 3D oriented bounding box center"
+       },
+       "height above floor": {
+        "unit": "meters",
+        "description": "height coordinate of this instance's compact 3D oriented bounding box center"
+       }
+      },
+      "longest dimension": {
+       "unit": "meters",
+       "description": "longest of this instance's compact 3D oriented bounding box dimensions"
+      }
+     }
+    ]
+   }
+  },
+  "room": {
+   "floor area": {
+    "unit": "square meters",
+    "description": "shoelace area of the compact spatial code's floor boundary polygons, with every interior hole subtracted"
+   }
+  },
+  "closest classes distance meters from": {
+   "<object class>": {
+    "<other object class>": {
+     "distance": {
+      "unit": "meters",
+      "description": "estimated distance in meters between an object of this class and an object of the other class"
+     },
+     "closeness rank": {
+      "unit": null,
+      "description": "1 = the nearest other class to this one, 2 = second-nearest, and so on; ranked by nearest-instance proximity, so use the rank (not the distance values) to compare which class is closest"
+     }
+    }
+   }
+  },
+  "appearance order": {
+   "unit": null,
+   "description": "class names ordered by earliest compact 'first visible time' across all of that class's instances"
+  }
+ },
+ "objects": {
+  "bed": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "0.99 meters",
+      "y coordinate": "0.81 meters",
+      "height above floor": "0.24 meters"
+     },
+     "longest dimension": "2.17 meters"
+    }
+   ]
+  },
+  "tv": {
+   "count": 2,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "1.04 meters",
+      "y coordinate": "2.18 meters",
+      "height above floor": "1.24 meters"
+     },
+     "longest dimension": "0.98 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-0.34 meters",
+      "y coordinate": "2.26 meters",
+      "height above floor": "0.99 meters"
+     },
+     "longest dimension": "0.54 meters"
+    }
+   ]
+  },
+  "table": {
+   "count": 2,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-0.33 meters",
+      "y coordinate": "2.16 meters",
+      "height above floor": "0.4 meters"
+     },
+     "longest dimension": "0.83 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-0.62 meters",
+      "y coordinate": "0.17 meters",
+      "height above floor": "0.38 meters"
+     },
+     "longest dimension": "1.09 meters"
+    }
+   ]
+  },
+  "chair": {
+   "count": 2,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-0.42 meters",
+      "y coordinate": "1.3 meters",
+      "height above floor": "0.49 meters"
+     },
+     "longest dimension": "0.97 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-1.18 meters",
+      "y coordinate": "2.06 meters",
+      "height above floor": "0.5 meters"
+     },
+     "longest dimension": "0.95 meters"
+    }
+   ]
+  },
+  "refrigerator": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-1.99 meters",
+      "y coordinate": "2.27 meters",
+      "height above floor": "0.8 meters"
+     },
+     "longest dimension": "1.56 meters"
+    }
+   ]
+  },
+  "stove": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-2.04 meters",
+      "y coordinate": "1.65 meters",
+      "height above floor": "0.87 meters"
+     },
+     "longest dimension": "0.6 meters"
+    }
+   ]
+  }
+ },
+ "room": {
+  "floor area": "13.0 square meters"
+ },
+ "closest classes distance meters from": {
+  "bed": {
+   "table": {
+    "distance": "0.46 meters",
+    "closeness rank": 1
+   },
+   "tv": {
+    "distance": "0.52 meters",
+    "closeness rank": 2
+   },
+   "chair": {
+    "distance": "0.55 meters",
+    "closeness rank": 3
+   },
+   "refrigerator": {
+    "distance": "2.22 meters",
+    "closeness rank": 4
+   },
+   "stove": {
+    "distance": "2.32 meters",
+    "closeness rank": 5
+   }
+  },
+  "tv": {
+   "table": {
+    "distance": "0.7 meters",
+    "closeness rank": 1
+   },
+   "chair": {
+    "distance": "0.89 meters",
+    "closeness rank": 2
+   },
+   "bed": {
+    "distance": "0.52 meters",
+    "closeness rank": 3
+   },
+   "refrigerator": {
+    "distance": "1.79 meters",
+    "closeness rank": 4
+   },
+   "stove": {
+    "distance": "2.36 meters",
+    "closeness rank": 5
+   }
+  },
+  "table": {
+   "tv": {
+    "distance": "0.7 meters",
+    "closeness rank": 1
+   },
+   "chair": {
+    "distance": "0.11 meters",
+    "closeness rank": 2
+   },
+   "bed": {
+    "distance": "0.46 meters",
+    "closeness rank": 3
+   },
+   "refrigerator": {
+    "distance": "0.93 meters",
+    "closeness rank": 4
+   },
+   "stove": {
+    "distance": "1.13 meters",
+    "closeness rank": 5
+   }
+  },
+  "chair": {
+   "table": {
+    "distance": "0.11 meters",
+    "closeness rank": 1
+   },
+   "refrigerator": {
+    "distance": "0.61 meters",
+    "closeness rank": 2
+   },
+   "tv": {
+    "distance": "0.89 meters",
+    "closeness rank": 3
+   },
+   "stove": {
+    "distance": "0.92 meters",
+    "closeness rank": 4
+   },
+   "bed": {
+    "distance": "0.55 meters",
+    "closeness rank": 5
+   }
+  },
+  "refrigerator": {
+   "stove": {
+    "distance": "0.01 meters",
+    "closeness rank": 1
+   },
+   "chair": {
+    "distance": "0.61 meters",
+    "closeness rank": 2
+   },
+   "table": {
+    "distance": "0.93 meters",
+    "closeness rank": 3
+   },
+   "tv": {
+    "distance": "1.79 meters",
+    "closeness rank": 4
+   },
+   "bed": {
+    "distance": "2.22 meters",
+    "closeness rank": 5
+   }
+  },
+  "stove": {
+   "refrigerator": {
+    "distance": "0.01 meters",
+    "closeness rank": 1
+   },
+   "chair": {
+    "distance": "0.92 meters",
+    "closeness rank": 2
+   },
+   "table": {
+    "distance": "1.13 meters",
+    "closeness rank": 3
+   },
+   "tv": {
+    "distance": "2.36 meters",
+    "closeness rank": 4
+   },
+   "bed": {
+    "distance": "2.32 meters",
+    "closeness rank": 5
+   }
+  }
+ },
+ "appearance order": ["bed", "tv", "table", "chair", "refrigerator", "stove"]
+}
\ No newline at end of file
diff --git a/data/spatial codes/ground truth/explicit/47331068.json b/data/spatial codes/ground truth/explicit/47331068.json
new file mode 100644
index 0000000000000000000000000000000000000000..0551f10f487735e862f9f5c710ed241ca0c8ea62
--- /dev/null
+++ b/data/spatial codes/ground truth/explicit/47331068.json	
@@ -0,0 +1,135 @@
+{
+ "spatial code schema": {
+  "objects": {
+   "<object class>": {
+    "count": {
+     "unit": null,
+     "description": "number of instances of this class in the compact spatial code (that schema's per-class oriented-box list length)"
+    },
+    "instances": [
+     {
+      "position": {
+       "x coordinate": {
+        "unit": "meters",
+        "description": "x coordinate of this instance's compact 3D oriented bounding box center"
+       },
+       "y coordinate": {
+        "unit": "meters",
+        "description": "y coordinate of this instance's compact 3D oriented bounding box center"
+       },
+       "height above floor": {
+        "unit": "meters",
+        "description": "height coordinate of this instance's compact 3D oriented bounding box center"
+       }
+      },
+      "longest dimension": {
+       "unit": "meters",
+       "description": "longest of this instance's compact 3D oriented bounding box dimensions"
+      }
+     }
+    ]
+   }
+  },
+  "room": {
+   "floor area": {
+    "unit": "square meters",
+    "description": "shoelace area of the compact spatial code's floor boundary polygons, with every interior hole subtracted"
+   }
+  },
+  "closest classes distance meters from": {
+   "<object class>": {
+    "<other object class>": {
+     "distance": {
+      "unit": "meters",
+      "description": "estimated distance in meters between an object of this class and an object of the other class"
+     },
+     "closeness rank": {
+      "unit": null,
+      "description": "1 = the nearest other class to this one, 2 = second-nearest, and so on; ranked by nearest-instance proximity, so use the rank (not the distance values) to compare which class is closest"
+     }
+    }
+   }
+  },
+  "appearance order": {
+   "unit": null,
+   "description": "class names ordered by earliest compact 'first visible time' across all of that class's instances"
+  }
+ },
+ "objects": {
+  "table": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "0.12 meters",
+      "y coordinate": "0.63 meters",
+      "height above floor": "0.38 meters"
+     },
+     "longest dimension": "0.76 meters"
+    }
+   ]
+  },
+  "bathtub": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-1.01 meters",
+      "y coordinate": "0.64 meters",
+      "height above floor": "0.29 meters"
+     },
+     "longest dimension": "1.42 meters"
+    }
+   ]
+  },
+  "toilet": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-1.51 meters",
+      "y coordinate": "-0.34 meters",
+      "height above floor": "0.23 meters"
+     },
+     "longest dimension": "0.53 meters"
+    }
+   ]
+  }
+ },
+ "room": {
+  "floor area": "5.8 square meters"
+ },
+ "closest classes distance meters from": {
+  "table": {
+   "bathtub": {
+    "distance": "0.12 meters",
+    "closeness rank": 1
+   },
+   "toilet": {
+    "distance": "1.26 meters",
+    "closeness rank": 2
+   }
+  },
+  "bathtub": {
+   "table": {
+    "distance": "0.12 meters",
+    "closeness rank": 1
+   },
+   "toilet": {
+    "distance": "0.36 meters",
+    "closeness rank": 2
+   }
+  },
+  "toilet": {
+   "bathtub": {
+    "distance": "0.36 meters",
+    "closeness rank": 1
+   },
+   "table": {
+    "distance": "1.26 meters",
+    "closeness rank": 2
+   }
+  }
+ },
+ "appearance order": ["table", "bathtub", "toilet"]
+}
\ No newline at end of file
diff --git a/data/spatial codes/ground truth/explicit/47331262.json b/data/spatial codes/ground truth/explicit/47331262.json
new file mode 100644
index 0000000000000000000000000000000000000000..d6d2fad8d38f4c69681afb008cfce51aa47e9c76
--- /dev/null
+++ b/data/spatial codes/ground truth/explicit/47331262.json	
@@ -0,0 +1,238 @@
+{
+ "spatial code schema": {
+  "objects": {
+   "<object class>": {
+    "count": {
+     "unit": null,
+     "description": "number of instances of this class in the compact spatial code (that schema's per-class oriented-box list length)"
+    },
+    "instances": [
+     {
+      "position": {
+       "x coordinate": {
+        "unit": "meters",
+        "description": "x coordinate of this instance's compact 3D oriented bounding box center"
+       },
+       "y coordinate": {
+        "unit": "meters",
+        "description": "y coordinate of this instance's compact 3D oriented bounding box center"
+       },
+       "height above floor": {
+        "unit": "meters",
+        "description": "height coordinate of this instance's compact 3D oriented bounding box center"
+       }
+      },
+      "longest dimension": {
+       "unit": "meters",
+       "description": "longest of this instance's compact 3D oriented bounding box dimensions"
+      }
+     }
+    ]
+   }
+  },
+  "room": {
+   "floor area": {
+    "unit": "square meters",
+    "description": "shoelace area of the compact spatial code's floor boundary polygons, with every interior hole subtracted"
+   }
+  },
+  "closest classes distance meters from": {
+   "<object class>": {
+    "<other object class>": {
+     "distance": {
+      "unit": "meters",
+      "description": "estimated distance in meters between an object of this class and an object of the other class"
+     },
+     "closeness rank": {
+      "unit": null,
+      "description": "1 = the nearest other class to this one, 2 = second-nearest, and so on; ranked by nearest-instance proximity, so use the rank (not the distance values) to compare which class is closest"
+     }
+    }
+   }
+  },
+  "appearance order": {
+   "unit": null,
+   "description": "class names ordered by earliest compact 'first visible time' across all of that class's instances"
+  }
+ },
+ "objects": {
+  "sofa": {
+   "count": 3,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-2.15 meters",
+      "y coordinate": "1.75 meters",
+      "height above floor": "0.51 meters"
+     },
+     "longest dimension": "2.01 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-1.14 meters",
+      "y coordinate": "3.25 meters",
+      "height above floor": "0.51 meters"
+     },
+     "longest dimension": "1.0 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-0.2 meters",
+      "y coordinate": "3.32 meters",
+      "height above floor": "0.51 meters"
+     },
+     "longest dimension": "1.0 meters"
+    }
+   ]
+  },
+  "table": {
+   "count": 2,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-0.82 meters",
+      "y coordinate": "2.15 meters",
+      "height above floor": "0.25 meters"
+     },
+     "longest dimension": "1.12 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "0.67 meters",
+      "y coordinate": "-0.23 meters",
+      "height above floor": "0.39 meters"
+     },
+     "longest dimension": "1.39 meters"
+    }
+   ]
+  },
+  "tv": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "2.07 meters",
+      "y coordinate": "1.61 meters",
+      "height above floor": "0.73 meters"
+     },
+     "longest dimension": "0.96 meters"
+    }
+   ]
+  },
+  "chair": {
+   "count": 6,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "0.28 meters",
+      "y coordinate": "-0.06 meters",
+      "height above floor": "0.47 meters"
+     },
+     "longest dimension": "0.94 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "0.24 meters",
+      "y coordinate": "-0.59 meters",
+      "height above floor": "0.47 meters"
+     },
+     "longest dimension": "0.94 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "0.75 meters",
+      "y coordinate": "-0.93 meters",
+      "height above floor": "0.48 meters"
+     },
+     "longest dimension": "0.93 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "1.27 meters",
+      "y coordinate": "-0.49 meters",
+      "height above floor": "0.47 meters"
+     },
+     "longest dimension": "0.94 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "1.16 meters",
+      "y coordinate": "0.09 meters",
+      "height above floor": "0.47 meters"
+     },
+     "longest dimension": "0.94 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "0.75 meters",
+      "y coordinate": "0.8 meters",
+      "height above floor": "0.48 meters"
+     },
+     "longest dimension": "0.96 meters"
+    }
+   ]
+  }
+ },
+ "room": {
+  "floor area": "30.8 square meters"
+ },
+ "closest classes distance meters from": {
+  "sofa": {
+   "table": {
+    "distance": "0.26 meters",
+    "closeness rank": 1
+   },
+   "chair": {
+    "distance": "1.72 meters",
+    "closeness rank": 2
+   },
+   "tv": {
+    "distance": "2.74 meters",
+    "closeness rank": 3
+   }
+  },
+  "table": {
+   "chair": {
+    "distance": "1.45 meters",
+    "closeness rank": 1
+   },
+   "sofa": {
+    "distance": "0.26 meters",
+    "closeness rank": 2
+   },
+   "tv": {
+    "distance": "1.94 meters",
+    "closeness rank": 3
+   }
+  },
+  "tv": {
+   "chair": {
+    "distance": "1.51 meters",
+    "closeness rank": 1
+   },
+   "table": {
+    "distance": "1.94 meters",
+    "closeness rank": 2
+   },
+   "sofa": {
+    "distance": "2.74 meters",
+    "closeness rank": 3
+   }
+  },
+  "chair": {
+   "table": {
+    "distance": "1.45 meters",
+    "closeness rank": 1
+   },
+   "tv": {
+    "distance": "1.51 meters",
+    "closeness rank": 2
+   },
+   "sofa": {
+    "distance": "1.72 meters",
+    "closeness rank": 3
+   }
+  }
+ },
+ "appearance order": ["sofa", "table", "tv", "chair"]
+}
\ No newline at end of file
diff --git a/data/spatial codes/ground truth/explicit/47331316.json b/data/spatial codes/ground truth/explicit/47331316.json
new file mode 100644
index 0000000000000000000000000000000000000000..c8758bd6b632598723c9bb9210ee5fb75ddf3bee
--- /dev/null
+++ b/data/spatial codes/ground truth/explicit/47331316.json	
@@ -0,0 +1,174 @@
+{
+ "spatial code schema": {
+  "objects": {
+   "<object class>": {
+    "count": {
+     "unit": null,
+     "description": "number of instances of this class in the compact spatial code (that schema's per-class oriented-box list length)"
+    },
+    "instances": [
+     {
+      "position": {
+       "x coordinate": {
+        "unit": "meters",
+        "description": "x coordinate of this instance's compact 3D oriented bounding box center"
+       },
+       "y coordinate": {
+        "unit": "meters",
+        "description": "y coordinate of this instance's compact 3D oriented bounding box center"
+       },
+       "height above floor": {
+        "unit": "meters",
+        "description": "height coordinate of this instance's compact 3D oriented bounding box center"
+       }
+      },
+      "longest dimension": {
+       "unit": "meters",
+       "description": "longest of this instance's compact 3D oriented bounding box dimensions"
+      }
+     }
+    ]
+   }
+  },
+  "room": {
+   "floor area": {
+    "unit": "square meters",
+    "description": "shoelace area of the compact spatial code's floor boundary polygons, with every interior hole subtracted"
+   }
+  },
+  "closest classes distance meters from": {
+   "<object class>": {
+    "<other object class>": {
+     "distance": {
+      "unit": "meters",
+      "description": "estimated distance in meters between an object of this class and an object of the other class"
+     },
+     "closeness rank": {
+      "unit": null,
+      "description": "1 = the nearest other class to this one, 2 = second-nearest, and so on; ranked by nearest-instance proximity, so use the rank (not the distance values) to compare which class is closest"
+     }
+    }
+   }
+  },
+  "appearance order": {
+   "unit": null,
+   "description": "class names ordered by earliest compact 'first visible time' across all of that class's instances"
+  }
+ },
+ "objects": {
+  "sofa": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "0.33 meters",
+      "y coordinate": "1.62 meters",
+      "height above floor": "0.44 meters"
+     },
+     "longest dimension": "2.04 meters"
+    }
+   ]
+  },
+  "table": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-0.47 meters",
+      "y coordinate": "2.26 meters",
+      "height above floor": "0.27 meters"
+     },
+     "longest dimension": "0.73 meters"
+    }
+   ]
+  },
+  "stool": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-0.45 meters",
+      "y coordinate": "1.14 meters",
+      "height above floor": "0.22 meters"
+     },
+     "longest dimension": "0.63 meters"
+    }
+   ]
+  },
+  "tv": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-1.96 meters",
+      "y coordinate": "0.98 meters",
+      "height above floor": "1.51 meters"
+     },
+     "longest dimension": "0.8 meters"
+    }
+   ]
+  }
+ },
+ "room": {
+  "floor area": "18.4 square meters"
+ },
+ "closest classes distance meters from": {
+  "sofa": {
+   "table": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "stool": {
+    "distance": "0.06 meters",
+    "closeness rank": 2
+   },
+   "tv": {
+    "distance": "1.89 meters",
+    "closeness rank": 3
+   }
+  },
+  "table": {
+   "sofa": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "stool": {
+    "distance": "0.49 meters",
+    "closeness rank": 2
+   },
+   "tv": {
+    "distance": "1.8 meters",
+    "closeness rank": 3
+   }
+  },
+  "stool": {
+   "sofa": {
+    "distance": "0.06 meters",
+    "closeness rank": 1
+   },
+   "table": {
+    "distance": "0.49 meters",
+    "closeness rank": 2
+   },
+   "tv": {
+    "distance": "1.31 meters",
+    "closeness rank": 3
+   }
+  },
+  "tv": {
+   "stool": {
+    "distance": "1.31 meters",
+    "closeness rank": 1
+   },
+   "table": {
+    "distance": "1.8 meters",
+    "closeness rank": 2
+   },
+   "sofa": {
+    "distance": "1.89 meters",
+    "closeness rank": 3
+   }
+  }
+ },
+ "appearance order": ["sofa", "table", "stool", "tv"]
+}
\ No newline at end of file
diff --git a/data/spatial codes/ground truth/explicit/47331319.json b/data/spatial codes/ground truth/explicit/47331319.json
new file mode 100644
index 0000000000000000000000000000000000000000..039744239f8b17fc75a876dace381fcfa2f89dd9
--- /dev/null
+++ b/data/spatial codes/ground truth/explicit/47331319.json	
@@ -0,0 +1,151 @@
+{
+ "spatial code schema": {
+  "objects": {
+   "<object class>": {
+    "count": {
+     "unit": null,
+     "description": "number of instances of this class in the compact spatial code (that schema's per-class oriented-box list length)"
+    },
+    "instances": [
+     {
+      "position": {
+       "x coordinate": {
+        "unit": "meters",
+        "description": "x coordinate of this instance's compact 3D oriented bounding box center"
+       },
+       "y coordinate": {
+        "unit": "meters",
+        "description": "y coordinate of this instance's compact 3D oriented bounding box center"
+       },
+       "height above floor": {
+        "unit": "meters",
+        "description": "height coordinate of this instance's compact 3D oriented bounding box center"
+       }
+      },
+      "longest dimension": {
+       "unit": "meters",
+       "description": "longest of this instance's compact 3D oriented bounding box dimensions"
+      }
+     }
+    ]
+   }
+  },
+  "room": {
+   "floor area": {
+    "unit": "square meters",
+    "description": "shoelace area of the compact spatial code's floor boundary polygons, with every interior hole subtracted"
+   }
+  },
+  "closest classes distance meters from": {
+   "<object class>": {
+    "<other object class>": {
+     "distance": {
+      "unit": "meters",
+      "description": "estimated distance in meters between an object of this class and an object of the other class"
+     },
+     "closeness rank": {
+      "unit": null,
+      "description": "1 = the nearest other class to this one, 2 = second-nearest, and so on; ranked by nearest-instance proximity, so use the rank (not the distance values) to compare which class is closest"
+     }
+    }
+   }
+  },
+  "appearance order": {
+   "unit": null,
+   "description": "class names ordered by earliest compact 'first visible time' across all of that class's instances"
+  }
+ },
+ "objects": {
+  "refrigerator": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "2.45 meters",
+      "y coordinate": "0.35 meters",
+      "height above floor": "0.88 meters"
+     },
+     "longest dimension": "1.75 meters"
+    }
+   ]
+  },
+  "chair": {
+   "count": 3,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "3.06 meters",
+      "y coordinate": "0.02 meters",
+      "height above floor": "0.51 meters"
+     },
+     "longest dimension": "1.02 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "3.15 meters",
+      "y coordinate": "0.4 meters",
+      "height above floor": "0.51 meters"
+     },
+     "longest dimension": "1.02 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "3.51 meters",
+      "y coordinate": "-0.29 meters",
+      "height above floor": "0.51 meters"
+     },
+     "longest dimension": "1.02 meters"
+    }
+   ]
+  },
+  "stove": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "2.59 meters",
+      "y coordinate": "-1.54 meters",
+      "height above floor": "0.84 meters"
+     },
+     "longest dimension": "0.94 meters"
+    }
+   ]
+  }
+ },
+ "room": {
+  "floor area": "18.4 square meters"
+ },
+ "closest classes distance meters from": {
+  "refrigerator": {
+   "chair": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "stove": {
+    "distance": "1.11 meters",
+    "closeness rank": 2
+   }
+  },
+  "chair": {
+   "refrigerator": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "stove": {
+    "distance": "0.94 meters",
+    "closeness rank": 2
+   }
+  },
+  "stove": {
+   "chair": {
+    "distance": "0.94 meters",
+    "closeness rank": 1
+   },
+   "refrigerator": {
+    "distance": "1.11 meters",
+    "closeness rank": 2
+   }
+  }
+ },
+ "appearance order": ["refrigerator", "chair", "stove"]
+}
\ No newline at end of file
diff --git a/data/spatial codes/ground truth/explicit/47331331.json b/data/spatial codes/ground truth/explicit/47331331.json
new file mode 100644
index 0000000000000000000000000000000000000000..f790db0e6ae8cd2bcf31622c87b5381724c19a77
--- /dev/null
+++ b/data/spatial codes/ground truth/explicit/47331331.json	
@@ -0,0 +1,104 @@
+{
+ "spatial code schema": {
+  "objects": {
+   "<object class>": {
+    "count": {
+     "unit": null,
+     "description": "number of instances of this class in the compact spatial code (that schema's per-class oriented-box list length)"
+    },
+    "instances": [
+     {
+      "position": {
+       "x coordinate": {
+        "unit": "meters",
+        "description": "x coordinate of this instance's compact 3D oriented bounding box center"
+       },
+       "y coordinate": {
+        "unit": "meters",
+        "description": "y coordinate of this instance's compact 3D oriented bounding box center"
+       },
+       "height above floor": {
+        "unit": "meters",
+        "description": "height coordinate of this instance's compact 3D oriented bounding box center"
+       }
+      },
+      "longest dimension": {
+       "unit": "meters",
+       "description": "longest of this instance's compact 3D oriented bounding box dimensions"
+      }
+     }
+    ]
+   }
+  },
+  "room": {
+   "floor area": {
+    "unit": "square meters",
+    "description": "shoelace area of the compact spatial code's floor boundary polygons, with every interior hole subtracted"
+   }
+  },
+  "closest classes distance meters from": {
+   "<object class>": {
+    "<other object class>": {
+     "distance": {
+      "unit": "meters",
+      "description": "estimated distance in meters between an object of this class and an object of the other class"
+     },
+     "closeness rank": {
+      "unit": null,
+      "description": "1 = the nearest other class to this one, 2 = second-nearest, and so on; ranked by nearest-instance proximity, so use the rank (not the distance values) to compare which class is closest"
+     }
+    }
+   }
+  },
+  "appearance order": {
+   "unit": null,
+   "description": "class names ordered by earliest compact 'first visible time' across all of that class's instances"
+  }
+ },
+ "objects": {
+  "bed": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-1.41 meters",
+      "y coordinate": "1.07 meters",
+      "height above floor": "0.37 meters"
+     },
+     "longest dimension": "2.42 meters"
+    }
+   ]
+  },
+  "chair": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-2.77 meters",
+      "y coordinate": "0.81 meters",
+      "height above floor": "0.4 meters"
+     },
+     "longest dimension": "0.79 meters"
+    }
+   ]
+  }
+ },
+ "room": {
+  "floor area": "29.1 square meters"
+ },
+ "closest classes distance meters from": {
+  "bed": {
+   "chair": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   }
+  },
+  "chair": {
+   "bed": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   }
+  }
+ },
+ "appearance order": ["bed", "chair"]
+}
\ No newline at end of file
diff --git a/data/spatial codes/ground truth/explicit/47331336.json b/data/spatial codes/ground truth/explicit/47331336.json
new file mode 100644
index 0000000000000000000000000000000000000000..6e067a92c7312f926c2b29d0b8b1f93c32db7efd
--- /dev/null
+++ b/data/spatial codes/ground truth/explicit/47331336.json	
@@ -0,0 +1,80 @@
+{
+ "spatial code schema": {
+  "objects": {
+   "<object class>": {
+    "count": {
+     "unit": null,
+     "description": "number of instances of this class in the compact spatial code (that schema's per-class oriented-box list length)"
+    },
+    "instances": [
+     {
+      "position": {
+       "x coordinate": {
+        "unit": "meters",
+        "description": "x coordinate of this instance's compact 3D oriented bounding box center"
+       },
+       "y coordinate": {
+        "unit": "meters",
+        "description": "y coordinate of this instance's compact 3D oriented bounding box center"
+       },
+       "height above floor": {
+        "unit": "meters",
+        "description": "height coordinate of this instance's compact 3D oriented bounding box center"
+       }
+      },
+      "longest dimension": {
+       "unit": "meters",
+       "description": "longest of this instance's compact 3D oriented bounding box dimensions"
+      }
+     }
+    ]
+   }
+  },
+  "room": {
+   "floor area": {
+    "unit": "square meters",
+    "description": "shoelace area of the compact spatial code's floor boundary polygons, with every interior hole subtracted"
+   }
+  },
+  "closest classes distance meters from": {
+   "<object class>": {
+    "<other object class>": {
+     "distance": {
+      "unit": "meters",
+      "description": "estimated distance in meters between an object of this class and an object of the other class"
+     },
+     "closeness rank": {
+      "unit": null,
+      "description": "1 = the nearest other class to this one, 2 = second-nearest, and so on; ranked by nearest-instance proximity, so use the rank (not the distance values) to compare which class is closest"
+     }
+    }
+   }
+  },
+  "appearance order": {
+   "unit": null,
+   "description": "class names ordered by earliest compact 'first visible time' across all of that class's instances"
+  }
+ },
+ "objects": {
+  "toilet": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "1.29 meters",
+      "y coordinate": "0.76 meters",
+      "height above floor": "0.22 meters"
+     },
+     "longest dimension": "0.55 meters"
+    }
+   ]
+  }
+ },
+ "room": {
+  "floor area": "7.2 square meters"
+ },
+ "closest classes distance meters from": {
+  "toilet": {}
+ },
+ "appearance order": ["toilet"]
+}
\ No newline at end of file
diff --git a/data/spatial codes/ground truth/explicit/47331644.json b/data/spatial codes/ground truth/explicit/47331644.json
new file mode 100644
index 0000000000000000000000000000000000000000..9e4373077e59c8b98c0e3c2aae883bf0f2ea18a9
--- /dev/null
+++ b/data/spatial codes/ground truth/explicit/47331644.json	
@@ -0,0 +1,254 @@
+{
+ "spatial code schema": {
+  "objects": {
+   "<object class>": {
+    "count": {
+     "unit": null,
+     "description": "number of instances of this class in the compact spatial code (that schema's per-class oriented-box list length)"
+    },
+    "instances": [
+     {
+      "position": {
+       "x coordinate": {
+        "unit": "meters",
+        "description": "x coordinate of this instance's compact 3D oriented bounding box center"
+       },
+       "y coordinate": {
+        "unit": "meters",
+        "description": "y coordinate of this instance's compact 3D oriented bounding box center"
+       },
+       "height above floor": {
+        "unit": "meters",
+        "description": "height coordinate of this instance's compact 3D oriented bounding box center"
+       }
+      },
+      "longest dimension": {
+       "unit": "meters",
+       "description": "longest of this instance's compact 3D oriented bounding box dimensions"
+      }
+     }
+    ]
+   }
+  },
+  "room": {
+   "floor area": {
+    "unit": "square meters",
+    "description": "shoelace area of the compact spatial code's floor boundary polygons, with every interior hole subtracted"
+   }
+  },
+  "closest classes distance meters from": {
+   "<object class>": {
+    "<other object class>": {
+     "distance": {
+      "unit": "meters",
+      "description": "estimated distance in meters between an object of this class and an object of the other class"
+     },
+     "closeness rank": {
+      "unit": null,
+      "description": "1 = the nearest other class to this one, 2 = second-nearest, and so on; ranked by nearest-instance proximity, so use the rank (not the distance values) to compare which class is closest"
+     }
+    }
+   }
+  },
+  "appearance order": {
+   "unit": null,
+   "description": "class names ordered by earliest compact 'first visible time' across all of that class's instances"
+  }
+ },
+ "objects": {
+  "sofa": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-0.08 meters",
+      "y coordinate": "3.72 meters",
+      "height above floor": "0.38 meters"
+     },
+     "longest dimension": "1.96 meters"
+    }
+   ]
+  },
+  "stool": {
+   "count": 3,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-0.1 meters",
+      "y coordinate": "5.52 meters",
+      "height above floor": "0.18 meters"
+     },
+     "longest dimension": "0.37 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-0.35 meters",
+      "y coordinate": "-0.65 meters",
+      "height above floor": "0.22 meters"
+     },
+     "longest dimension": "0.96 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-1.53 meters",
+      "y coordinate": "1.3 meters",
+      "height above floor": "0.36 meters"
+     },
+     "longest dimension": "0.71 meters"
+    }
+   ]
+  },
+  "table": {
+   "count": 5,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-1.96 meters",
+      "y coordinate": "5.57 meters",
+      "height above floor": "0.27 meters"
+     },
+     "longest dimension": "0.85 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-2.81 meters",
+      "y coordinate": "3.25 meters",
+      "height above floor": "0.36 meters"
+     },
+     "longest dimension": "0.7 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-1.6 meters",
+      "y coordinate": "2.23 meters",
+      "height above floor": "0.35 meters"
+     },
+     "longest dimension": "1.29 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-1.03 meters",
+      "y coordinate": "1.23 meters",
+      "height above floor": "0.32 meters"
+     },
+     "longest dimension": "0.61 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-1.17 meters",
+      "y coordinate": "5.37 meters",
+      "height above floor": "0.29 meters"
+     },
+     "longest dimension": "0.59 meters"
+    }
+   ]
+  },
+  "chair": {
+   "count": 5,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-1.94 meters",
+      "y coordinate": "4.76 meters",
+      "height above floor": "0.49 meters"
+     },
+     "longest dimension": "0.98 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-1.23 meters",
+      "y coordinate": "1.96 meters",
+      "height above floor": "0.39 meters"
+     },
+     "longest dimension": "0.76 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-1.27 meters",
+      "y coordinate": "2.38 meters",
+      "height above floor": "0.39 meters"
+     },
+     "longest dimension": "0.76 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-1.93 meters",
+      "y coordinate": "2.4 meters",
+      "height above floor": "0.38 meters"
+     },
+     "longest dimension": "0.75 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-1.94 meters",
+      "y coordinate": "1.94 meters",
+      "height above floor": "0.38 meters"
+     },
+     "longest dimension": "0.74 meters"
+    }
+   ]
+  }
+ },
+ "room": {
+  "floor area": "23.4 square meters"
+ },
+ "closest classes distance meters from": {
+  "sofa": {
+   "chair": {
+    "distance": "0.66 meters",
+    "closeness rank": 1
+   },
+   "stool": {
+    "distance": "0.65 meters",
+    "closeness rank": 2
+   },
+   "table": {
+    "distance": "1.23 meters",
+    "closeness rank": 3
+   }
+  },
+  "stool": {
+   "table": {
+    "distance": "1.25 meters",
+    "closeness rank": 1
+   },
+   "chair": {
+    "distance": "1.34 meters",
+    "closeness rank": 2
+   },
+   "sofa": {
+    "distance": "0.65 meters",
+    "closeness rank": 3
+   }
+  },
+  "table": {
+   "chair": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "stool": {
+    "distance": "1.25 meters",
+    "closeness rank": 2
+   },
+   "sofa": {
+    "distance": "1.23 meters",
+    "closeness rank": 3
+   }
+  },
+  "chair": {
+   "table": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "stool": {
+    "distance": "1.34 meters",
+    "closeness rank": 2
+   },
+   "sofa": {
+    "distance": "0.66 meters",
+    "closeness rank": 3
+   }
+  }
+ },
+ "appearance order": ["sofa", "stool", "table", "chair"]
+}
\ No newline at end of file
diff --git a/data/spatial codes/ground truth/explicit/47331654.json b/data/spatial codes/ground truth/explicit/47331654.json
new file mode 100644
index 0000000000000000000000000000000000000000..4700088a897916acdd3d94e602e0bf1a0ca2e38c
--- /dev/null
+++ b/data/spatial codes/ground truth/explicit/47331654.json	
@@ -0,0 +1,229 @@
+{
+ "spatial code schema": {
+  "objects": {
+   "<object class>": {
+    "count": {
+     "unit": null,
+     "description": "number of instances of this class in the compact spatial code (that schema's per-class oriented-box list length)"
+    },
+    "instances": [
+     {
+      "position": {
+       "x coordinate": {
+        "unit": "meters",
+        "description": "x coordinate of this instance's compact 3D oriented bounding box center"
+       },
+       "y coordinate": {
+        "unit": "meters",
+        "description": "y coordinate of this instance's compact 3D oriented bounding box center"
+       },
+       "height above floor": {
+        "unit": "meters",
+        "description": "height coordinate of this instance's compact 3D oriented bounding box center"
+       }
+      },
+      "longest dimension": {
+       "unit": "meters",
+       "description": "longest of this instance's compact 3D oriented bounding box dimensions"
+      }
+     }
+    ]
+   }
+  },
+  "room": {
+   "floor area": {
+    "unit": "square meters",
+    "description": "shoelace area of the compact spatial code's floor boundary polygons, with every interior hole subtracted"
+   }
+  },
+  "closest classes distance meters from": {
+   "<object class>": {
+    "<other object class>": {
+     "distance": {
+      "unit": "meters",
+      "description": "estimated distance in meters between an object of this class and an object of the other class"
+     },
+     "closeness rank": {
+      "unit": null,
+      "description": "1 = the nearest other class to this one, 2 = second-nearest, and so on; ranked by nearest-instance proximity, so use the rank (not the distance values) to compare which class is closest"
+     }
+    }
+   }
+  },
+  "appearance order": {
+   "unit": null,
+   "description": "class names ordered by earliest compact 'first visible time' across all of that class's instances"
+  }
+ },
+ "objects": {
+  "washer": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-2.46 meters",
+      "y coordinate": "1.24 meters",
+      "height above floor": "0.43 meters"
+     },
+     "longest dimension": "0.86 meters"
+    }
+   ]
+  },
+  "stove": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-2.5 meters",
+      "y coordinate": "1.85 meters",
+      "height above floor": "0.75 meters"
+     },
+     "longest dimension": "0.62 meters"
+    }
+   ]
+  },
+  "chair": {
+   "count": 2,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-1.2 meters",
+      "y coordinate": "2.7 meters",
+      "height above floor": "0.39 meters"
+     },
+     "longest dimension": "0.77 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-0.18 meters",
+      "y coordinate": "2.97 meters",
+      "height above floor": "0.39 meters"
+     },
+     "longest dimension": "0.77 meters"
+    }
+   ]
+  },
+  "refrigerator": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "0.07 meters",
+      "y coordinate": "1.96 meters",
+      "height above floor": "0.69 meters"
+     },
+     "longest dimension": "1.36 meters"
+    }
+   ]
+  },
+  "stool": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-0.72 meters",
+      "y coordinate": "0.94 meters",
+      "height above floor": "0.13 meters"
+     },
+     "longest dimension": "0.25 meters"
+    }
+   ]
+  }
+ },
+ "room": {
+  "floor area": "14.3 square meters"
+ },
+ "closest classes distance meters from": {
+  "washer": {
+   "stove": {
+    "distance": "0.06 meters",
+    "closeness rank": 1
+   },
+   "chair": {
+    "distance": "1.16 meters",
+    "closeness rank": 2
+   },
+   "stool": {
+    "distance": "1.27 meters",
+    "closeness rank": 3
+   },
+   "refrigerator": {
+    "distance": "1.87 meters",
+    "closeness rank": 4
+   }
+  },
+  "stove": {
+   "washer": {
+    "distance": "0.06 meters",
+    "closeness rank": 1
+   },
+   "chair": {
+    "distance": "0.9 meters",
+    "closeness rank": 2
+   },
+   "stool": {
+    "distance": "1.66 meters",
+    "closeness rank": 3
+   },
+   "refrigerator": {
+    "distance": "1.94 meters",
+    "closeness rank": 4
+   }
+  },
+  "chair": {
+   "refrigerator": {
+    "distance": "0.5 meters",
+    "closeness rank": 1
+   },
+   "stove": {
+    "distance": "0.9 meters",
+    "closeness rank": 2
+   },
+   "washer": {
+    "distance": "1.16 meters",
+    "closeness rank": 3
+   },
+   "stool": {
+    "distance": "1.37 meters",
+    "closeness rank": 4
+   }
+  },
+  "refrigerator": {
+   "chair": {
+    "distance": "0.5 meters",
+    "closeness rank": 1
+   },
+   "stool": {
+    "distance": "0.69 meters",
+    "closeness rank": 2
+   },
+   "washer": {
+    "distance": "1.87 meters",
+    "closeness rank": 3
+   },
+   "stove": {
+    "distance": "1.94 meters",
+    "closeness rank": 4
+   }
+  },
+  "stool": {
+   "refrigerator": {
+    "distance": "0.69 meters",
+    "closeness rank": 1
+   },
+   "washer": {
+    "distance": "1.27 meters",
+    "closeness rank": 2
+   },
+   "chair": {
+    "distance": "1.37 meters",
+    "closeness rank": 3
+   },
+   "stove": {
+    "distance": "1.66 meters",
+    "closeness rank": 4
+   }
+  }
+ },
+ "appearance order": ["washer", "stove", "chair", "refrigerator", "stool"]
+}
\ No newline at end of file
diff --git a/data/spatial codes/ground truth/explicit/47331668.json b/data/spatial codes/ground truth/explicit/47331668.json
new file mode 100644
index 0000000000000000000000000000000000000000..67937fb252dfdd09cb6973a1ccbf3aa6238320b0
--- /dev/null
+++ b/data/spatial codes/ground truth/explicit/47331668.json	
@@ -0,0 +1,229 @@
+{
+ "spatial code schema": {
+  "objects": {
+   "<object class>": {
+    "count": {
+     "unit": null,
+     "description": "number of instances of this class in the compact spatial code (that schema's per-class oriented-box list length)"
+    },
+    "instances": [
+     {
+      "position": {
+       "x coordinate": {
+        "unit": "meters",
+        "description": "x coordinate of this instance's compact 3D oriented bounding box center"
+       },
+       "y coordinate": {
+        "unit": "meters",
+        "description": "y coordinate of this instance's compact 3D oriented bounding box center"
+       },
+       "height above floor": {
+        "unit": "meters",
+        "description": "height coordinate of this instance's compact 3D oriented bounding box center"
+       }
+      },
+      "longest dimension": {
+       "unit": "meters",
+       "description": "longest of this instance's compact 3D oriented bounding box dimensions"
+      }
+     }
+    ]
+   }
+  },
+  "room": {
+   "floor area": {
+    "unit": "square meters",
+    "description": "shoelace area of the compact spatial code's floor boundary polygons, with every interior hole subtracted"
+   }
+  },
+  "closest classes distance meters from": {
+   "<object class>": {
+    "<other object class>": {
+     "distance": {
+      "unit": "meters",
+      "description": "estimated distance in meters between an object of this class and an object of the other class"
+     },
+     "closeness rank": {
+      "unit": null,
+      "description": "1 = the nearest other class to this one, 2 = second-nearest, and so on; ranked by nearest-instance proximity, so use the rank (not the distance values) to compare which class is closest"
+     }
+    }
+   }
+  },
+  "appearance order": {
+   "unit": null,
+   "description": "class names ordered by earliest compact 'first visible time' across all of that class's instances"
+  }
+ },
+ "objects": {
+  "stool": {
+   "count": 2,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-1.21 meters",
+      "y coordinate": "0.93 meters",
+      "height above floor": "0.21 meters"
+     },
+     "longest dimension": "0.41 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-2.61 meters",
+      "y coordinate": "2.44 meters",
+      "height above floor": "0.19 meters"
+     },
+     "longest dimension": "0.79 meters"
+    }
+   ]
+  },
+  "bed": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-0.97 meters",
+      "y coordinate": "2.07 meters",
+      "height above floor": "0.24 meters"
+     },
+     "longest dimension": "2.01 meters"
+    }
+   ]
+  },
+  "tv": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-2.63 meters",
+      "y coordinate": "2.91 meters",
+      "height above floor": "0.87 meters"
+     },
+     "longest dimension": "0.51 meters"
+    }
+   ]
+  },
+  "table": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-2.73 meters",
+      "y coordinate": "1.74 meters",
+      "height above floor": "0.37 meters"
+     },
+     "longest dimension": "0.91 meters"
+    }
+   ]
+  },
+  "chair": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-2.37 meters",
+      "y coordinate": "1.54 meters",
+      "height above floor": "0.38 meters"
+     },
+     "longest dimension": "0.74 meters"
+    }
+   ]
+  }
+ },
+ "room": {
+  "floor area": "13.4 square meters"
+ },
+ "closest classes distance meters from": {
+  "stool": {
+   "bed": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "table": {
+    "distance": "1.07 meters",
+    "closeness rank": 2
+   },
+   "tv": {
+    "distance": "2.06 meters",
+    "closeness rank": 3
+   },
+   "chair": {
+    "distance": "0.75 meters",
+    "closeness rank": 4
+   }
+  },
+  "bed": {
+   "stool": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "chair": {
+    "distance": "0.61 meters",
+    "closeness rank": 2
+   },
+   "table": {
+    "distance": "0.91 meters",
+    "closeness rank": 3
+   },
+   "tv": {
+    "distance": "0.96 meters",
+    "closeness rank": 4
+   }
+  },
+  "tv": {
+   "stool": {
+    "distance": "2.06 meters",
+    "closeness rank": 1
+   },
+   "table": {
+    "distance": "0.57 meters",
+    "closeness rank": 2
+   },
+   "chair": {
+    "distance": "0.85 meters",
+    "closeness rank": 3
+   },
+   "bed": {
+    "distance": "0.96 meters",
+    "closeness rank": 4
+   }
+  },
+  "table": {
+   "chair": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "stool": {
+    "distance": "1.07 meters",
+    "closeness rank": 2
+   },
+   "tv": {
+    "distance": "0.57 meters",
+    "closeness rank": 3
+   },
+   "bed": {
+    "distance": "0.91 meters",
+    "closeness rank": 4
+   }
+  },
+  "chair": {
+   "table": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "stool": {
+    "distance": "0.75 meters",
+    "closeness rank": 2
+   },
+   "bed": {
+    "distance": "0.61 meters",
+    "closeness rank": 3
+   },
+   "tv": {
+    "distance": "0.85 meters",
+    "closeness rank": 4
+   }
+  }
+ },
+ "appearance order": ["stool", "bed", "tv", "table", "chair"]
+}
\ No newline at end of file
diff --git a/data/spatial codes/ground truth/explicit/47331970.json b/data/spatial codes/ground truth/explicit/47331970.json
new file mode 100644
index 0000000000000000000000000000000000000000..c2094d9207afdfff49a34eb25060ee5cc8462c6a
--- /dev/null
+++ b/data/spatial codes/ground truth/explicit/47331970.json	
@@ -0,0 +1,277 @@
+{
+ "spatial code schema": {
+  "objects": {
+   "<object class>": {
+    "count": {
+     "unit": null,
+     "description": "number of instances of this class in the compact spatial code (that schema's per-class oriented-box list length)"
+    },
+    "instances": [
+     {
+      "position": {
+       "x coordinate": {
+        "unit": "meters",
+        "description": "x coordinate of this instance's compact 3D oriented bounding box center"
+       },
+       "y coordinate": {
+        "unit": "meters",
+        "description": "y coordinate of this instance's compact 3D oriented bounding box center"
+       },
+       "height above floor": {
+        "unit": "meters",
+        "description": "height coordinate of this instance's compact 3D oriented bounding box center"
+       }
+      },
+      "longest dimension": {
+       "unit": "meters",
+       "description": "longest of this instance's compact 3D oriented bounding box dimensions"
+      }
+     }
+    ]
+   }
+  },
+  "room": {
+   "floor area": {
+    "unit": "square meters",
+    "description": "shoelace area of the compact spatial code's floor boundary polygons, with every interior hole subtracted"
+   }
+  },
+  "closest classes distance meters from": {
+   "<object class>": {
+    "<other object class>": {
+     "distance": {
+      "unit": "meters",
+      "description": "estimated distance in meters between an object of this class and an object of the other class"
+     },
+     "closeness rank": {
+      "unit": null,
+      "description": "1 = the nearest other class to this one, 2 = second-nearest, and so on; ranked by nearest-instance proximity, so use the rank (not the distance values) to compare which class is closest"
+     }
+    }
+   }
+  },
+  "appearance order": {
+   "unit": null,
+   "description": "class names ordered by earliest compact 'first visible time' across all of that class's instances"
+  }
+ },
+ "objects": {
+  "refrigerator": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-1.2 meters",
+      "y coordinate": "-0.76 meters",
+      "height above floor": "1.06 meters"
+     },
+     "longest dimension": "2.03 meters"
+    }
+   ]
+  },
+  "dishwasher": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-4.24 meters",
+      "y coordinate": "1.25 meters",
+      "height above floor": "0.49 meters"
+     },
+     "longest dimension": "0.84 meters"
+    }
+   ]
+  },
+  "table": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-2.62 meters",
+      "y coordinate": "2.21 meters",
+      "height above floor": "0.44 meters"
+     },
+     "longest dimension": "1.39 meters"
+    }
+   ]
+  },
+  "chair": {
+   "count": 5,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-2.9 meters",
+      "y coordinate": "2.58 meters",
+      "height above floor": "0.51 meters"
+     },
+     "longest dimension": "0.91 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-2.23 meters",
+      "y coordinate": "2.58 meters",
+      "height above floor": "0.51 meters"
+     },
+     "longest dimension": "0.92 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-2.18 meters",
+      "y coordinate": "1.77 meters",
+      "height above floor": "0.5 meters"
+     },
+     "longest dimension": "0.92 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-3.0 meters",
+      "y coordinate": "1.78 meters",
+      "height above floor": "0.51 meters"
+     },
+     "longest dimension": "0.91 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-1.62 meters",
+      "y coordinate": "3.47 meters",
+      "height above floor": "0.51 meters"
+     },
+     "longest dimension": "0.86 meters"
+    }
+   ]
+  },
+  "sofa": {
+   "count": 4,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-0.05 meters",
+      "y coordinate": "2.49 meters",
+      "height above floor": "0.45 meters"
+     },
+     "longest dimension": "1.89 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "0.52 meters",
+      "y coordinate": "4.9 meters",
+      "height above floor": "0.5 meters"
+     },
+     "longest dimension": "1.06 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-1.44 meters",
+      "y coordinate": "4.98 meters",
+      "height above floor": "0.43 meters"
+     },
+     "longest dimension": "1.27 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "2.17 meters",
+      "y coordinate": "0.8 meters",
+      "height above floor": "0.42 meters"
+     },
+     "longest dimension": "2.35 meters"
+    }
+   ]
+  }
+ },
+ "room": {
+  "floor area": "47.8 square meters"
+ },
+ "closest classes distance meters from": {
+  "refrigerator": {
+   "chair": {
+    "distance": "2.32 meters",
+    "closeness rank": 1
+   },
+   "sofa": {
+    "distance": "2.07 meters",
+    "closeness rank": 2
+   },
+   "table": {
+    "distance": "2.27 meters",
+    "closeness rank": 3
+   },
+   "dishwasher": {
+    "distance": "2.8 meters",
+    "closeness rank": 4
+   }
+  },
+  "dishwasher": {
+   "table": {
+    "distance": "0.77 meters",
+    "closeness rank": 1
+   },
+   "chair": {
+    "distance": "1.01 meters",
+    "closeness rank": 2
+   },
+   "refrigerator": {
+    "distance": "2.8 meters",
+    "closeness rank": 3
+   },
+   "sofa": {
+    "distance": "3.39 meters",
+    "closeness rank": 4
+   }
+  },
+  "table": {
+   "chair": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "dishwasher": {
+    "distance": "0.77 meters",
+    "closeness rank": 2
+   },
+   "sofa": {
+    "distance": "1.38 meters",
+    "closeness rank": 3
+   },
+   "refrigerator": {
+    "distance": "2.27 meters",
+    "closeness rank": 4
+   }
+  },
+  "chair": {
+   "table": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "sofa": {
+    "distance": "1.45 meters",
+    "closeness rank": 2
+   },
+   "dishwasher": {
+    "distance": "1.01 meters",
+    "closeness rank": 3
+   },
+   "refrigerator": {
+    "distance": "2.32 meters",
+    "closeness rank": 4
+   }
+  },
+  "sofa": {
+   "chair": {
+    "distance": "1.45 meters",
+    "closeness rank": 1
+   },
+   "table": {
+    "distance": "1.38 meters",
+    "closeness rank": 2
+   },
+   "refrigerator": {
+    "distance": "2.07 meters",
+    "closeness rank": 3
+   },
+   "dishwasher": {
+    "distance": "3.39 meters",
+    "closeness rank": 4
+   }
+  }
+ },
+ "appearance order": ["refrigerator", "dishwasher", "table", "chair", "sofa"]
+}
\ No newline at end of file
diff --git a/data/spatial codes/ground truth/explicit/47331972.json b/data/spatial codes/ground truth/explicit/47331972.json
new file mode 100644
index 0000000000000000000000000000000000000000..90552b31112691a90486c5b49bda3134a6e9c8db
--- /dev/null
+++ b/data/spatial codes/ground truth/explicit/47331972.json	
@@ -0,0 +1,474 @@
+{
+ "spatial code schema": {
+  "objects": {
+   "<object class>": {
+    "count": {
+     "unit": null,
+     "description": "number of instances of this class in the compact spatial code (that schema's per-class oriented-box list length)"
+    },
+    "instances": [
+     {
+      "position": {
+       "x coordinate": {
+        "unit": "meters",
+        "description": "x coordinate of this instance's compact 3D oriented bounding box center"
+       },
+       "y coordinate": {
+        "unit": "meters",
+        "description": "y coordinate of this instance's compact 3D oriented bounding box center"
+       },
+       "height above floor": {
+        "unit": "meters",
+        "description": "height coordinate of this instance's compact 3D oriented bounding box center"
+       }
+      },
+      "longest dimension": {
+       "unit": "meters",
+       "description": "longest of this instance's compact 3D oriented bounding box dimensions"
+      }
+     }
+    ]
+   }
+  },
+  "room": {
+   "floor area": {
+    "unit": "square meters",
+    "description": "shoelace area of the compact spatial code's floor boundary polygons, with every interior hole subtracted"
+   }
+  },
+  "closest classes distance meters from": {
+   "<object class>": {
+    "<other object class>": {
+     "distance": {
+      "unit": "meters",
+      "description": "estimated distance in meters between an object of this class and an object of the other class"
+     },
+     "closeness rank": {
+      "unit": null,
+      "description": "1 = the nearest other class to this one, 2 = second-nearest, and so on; ranked by nearest-instance proximity, so use the rank (not the distance values) to compare which class is closest"
+     }
+    }
+   }
+  },
+  "appearance order": {
+   "unit": null,
+   "description": "class names ordered by earliest compact 'first visible time' across all of that class's instances"
+  }
+ },
+ "objects": {
+  "sofa": {
+   "count": 3,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-0.06 meters",
+      "y coordinate": "4.13 meters",
+      "height above floor": "0.5 meters"
+     },
+     "longest dimension": "1.94 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "0.44 meters",
+      "y coordinate": "6.61 meters",
+      "height above floor": "0.54 meters"
+     },
+     "longest dimension": "1.13 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "2.2 meters",
+      "y coordinate": "2.45 meters",
+      "height above floor": "0.55 meters"
+     },
+     "longest dimension": "2.49 meters"
+    }
+   ]
+  },
+  "table": {
+   "count": 3,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-0.39 meters",
+      "y coordinate": "6.47 meters",
+      "height above floor": "0.43 meters"
+     },
+     "longest dimension": "0.99 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "1.27 meters",
+      "y coordinate": "4.28 meters",
+      "height above floor": "0.32 meters"
+     },
+     "longest dimension": "1.38 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-2.87 meters",
+      "y coordinate": "3.85 meters",
+      "height above floor": "0.39 meters"
+     },
+     "longest dimension": "1.27 meters"
+    }
+   ]
+  },
+  "fireplace": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "4.43 meters",
+      "y coordinate": "5.38 meters",
+      "height above floor": "0.85 meters"
+     },
+     "longest dimension": "1.44 meters"
+    }
+   ]
+  },
+  "tv": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "4.58 meters",
+      "y coordinate": "3.68 meters",
+      "height above floor": "1.77 meters"
+     },
+     "longest dimension": "1.41 meters"
+    }
+   ]
+  },
+  "chair": {
+   "count": 5,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-1.79 meters",
+      "y coordinate": "5.25 meters",
+      "height above floor": "0.53 meters"
+     },
+     "longest dimension": "0.9 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-3.06 meters",
+      "y coordinate": "4.24 meters",
+      "height above floor": "0.48 meters"
+     },
+     "longest dimension": "0.93 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-2.51 meters",
+      "y coordinate": "4.17 meters",
+      "height above floor": "0.48 meters"
+     },
+     "longest dimension": "0.93 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-3.25 meters",
+      "y coordinate": "3.48 meters",
+      "height above floor": "0.48 meters"
+     },
+     "longest dimension": "0.93 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-2.5 meters",
+      "y coordinate": "3.49 meters",
+      "height above floor": "0.48 meters"
+     },
+     "longest dimension": "0.93 meters"
+    }
+   ]
+  },
+  "dishwasher": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-4.39 meters",
+      "y coordinate": "2.81 meters",
+      "height above floor": "0.48 meters"
+     },
+     "longest dimension": "0.95 meters"
+    }
+   ]
+  },
+  "refrigerator": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-1.29 meters",
+      "y coordinate": "0.83 meters",
+      "height above floor": "1.13 meters"
+     },
+     "longest dimension": "2.02 meters"
+    }
+   ]
+  },
+  "bed": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-3.42 meters",
+      "y coordinate": "-1.2 meters",
+      "height above floor": "0.3 meters"
+     },
+     "longest dimension": "1.76 meters"
+    }
+   ]
+  }
+ },
+ "room": {
+  "floor area": "51.7 square meters"
+ },
+ "closest classes distance meters from": {
+  "sofa": {
+   "table": {
+    "distance": "0.9 meters",
+    "closeness rank": 1
+   },
+   "chair": {
+    "distance": "0.97 meters",
+    "closeness rank": 2
+   },
+   "tv": {
+    "distance": "3.16 meters",
+    "closeness rank": 3
+   },
+   "fireplace": {
+    "distance": "2.98 meters",
+    "closeness rank": 4
+   },
+   "refrigerator": {
+    "distance": "2.04 meters",
+    "closeness rank": 5
+   },
+   "dishwasher": {
+    "distance": "3.45 meters",
+    "closeness rank": 6
+   },
+   "bed": {
+    "distance": "4.45 meters",
+    "closeness rank": 7
+   }
+  },
+  "table": {
+   "chair": {
+    "distance": "0.91 meters",
+    "closeness rank": 1
+   },
+   "sofa": {
+    "distance": "0.9 meters",
+    "closeness rank": 2
+   },
+   "dishwasher": {
+    "distance": "4.45 meters",
+    "closeness rank": 3
+   },
+   "refrigerator": {
+    "distance": "4.25 meters",
+    "closeness rank": 4
+   },
+   "fireplace": {
+    "distance": "3.74 meters",
+    "closeness rank": 5
+   },
+   "tv": {
+    "distance": "4.65 meters",
+    "closeness rank": 6
+   },
+   "bed": {
+    "distance": "6.87 meters",
+    "closeness rank": 7
+   }
+  },
+  "fireplace": {
+   "tv": {
+    "distance": "0.51 meters",
+    "closeness rank": 1
+   },
+   "sofa": {
+    "distance": "2.98 meters",
+    "closeness rank": 2
+   },
+   "table": {
+    "distance": "3.74 meters",
+    "closeness rank": 3
+   },
+   "chair": {
+    "distance": "5.65 meters",
+    "closeness rank": 4
+   },
+   "refrigerator": {
+    "distance": "6.18 meters",
+    "closeness rank": 5
+   },
+   "dishwasher": {
+    "distance": "8.38 meters",
+    "closeness rank": 6
+   },
+   "bed": {
+    "distance": "8.66 meters",
+    "closeness rank": 7
+   }
+  },
+  "tv": {
+   "fireplace": {
+    "distance": "0.51 meters",
+    "closeness rank": 1
+   },
+   "sofa": {
+    "distance": "3.16 meters",
+    "closeness rank": 2
+   },
+   "table": {
+    "distance": "4.65 meters",
+    "closeness rank": 3
+   },
+   "refrigerator": {
+    "distance": "5.81 meters",
+    "closeness rank": 4
+   },
+   "chair": {
+    "distance": "6.11 meters",
+    "closeness rank": 5
+   },
+   "bed": {
+    "distance": "7.91 meters",
+    "closeness rank": 6
+   },
+   "dishwasher": {
+    "distance": "8.65 meters",
+    "closeness rank": 7
+   }
+  },
+  "chair": {
+   "table": {
+    "distance": "0.91 meters",
+    "closeness rank": 1
+   },
+   "dishwasher": {
+    "distance": "2.64 meters",
+    "closeness rank": 2
+   },
+   "sofa": {
+    "distance": "0.97 meters",
+    "closeness rank": 3
+   },
+   "refrigerator": {
+    "distance": "3.03 meters",
+    "closeness rank": 4
+   },
+   "bed": {
+    "distance": "5.33 meters",
+    "closeness rank": 5
+   },
+   "fireplace": {
+    "distance": "5.65 meters",
+    "closeness rank": 6
+   },
+   "tv": {
+    "distance": "6.11 meters",
+    "closeness rank": 7
+   }
+  },
+  "dishwasher": {
+   "chair": {
+    "distance": "2.64 meters",
+    "closeness rank": 1
+   },
+   "table": {
+    "distance": "4.45 meters",
+    "closeness rank": 2
+   },
+   "refrigerator": {
+    "distance": "2.85 meters",
+    "closeness rank": 3
+   },
+   "bed": {
+    "distance": "2.96 meters",
+    "closeness rank": 4
+   },
+   "sofa": {
+    "distance": "3.45 meters",
+    "closeness rank": 5
+   },
+   "fireplace": {
+    "distance": "8.38 meters",
+    "closeness rank": 6
+   },
+   "tv": {
+    "distance": "8.65 meters",
+    "closeness rank": 7
+   }
+  },
+  "refrigerator": {
+   "bed": {
+    "distance": "1.32 meters",
+    "closeness rank": 1
+   },
+   "sofa": {
+    "distance": "2.04 meters",
+    "closeness rank": 2
+   },
+   "chair": {
+    "distance": "3.03 meters",
+    "closeness rank": 3
+   },
+   "table": {
+    "distance": "4.25 meters",
+    "closeness rank": 4
+   },
+   "dishwasher": {
+    "distance": "2.85 meters",
+    "closeness rank": 5
+   },
+   "tv": {
+    "distance": "5.81 meters",
+    "closeness rank": 6
+   },
+   "fireplace": {
+    "distance": "6.18 meters",
+    "closeness rank": 7
+   }
+  },
+  "bed": {
+   "refrigerator": {
+    "distance": "1.32 meters",
+    "closeness rank": 1
+   },
+   "dishwasher": {
+    "distance": "2.96 meters",
+    "closeness rank": 2
+   },
+   "chair": {
+    "distance": "5.33 meters",
+    "closeness rank": 3
+   },
+   "table": {
+    "distance": "6.87 meters",
+    "closeness rank": 4
+   },
+   "sofa": {
+    "distance": "4.45 meters",
+    "closeness rank": 5
+   },
+   "tv": {
+    "distance": "7.91 meters",
+    "closeness rank": 6
+   },
+   "fireplace": {
+    "distance": "8.66 meters",
+    "closeness rank": 7
+   }
+  }
+ },
+ "appearance order": ["sofa", "table", "fireplace", "tv", "chair", "dishwasher", "refrigerator", "bed"]
+}
\ No newline at end of file
diff --git a/data/spatial codes/ground truth/explicit/47331990.json b/data/spatial codes/ground truth/explicit/47331990.json
new file mode 100644
index 0000000000000000000000000000000000000000..54040b2ef3e16e55c72e87b0849d2923b06c75e3
--- /dev/null
+++ b/data/spatial codes/ground truth/explicit/47331990.json	
@@ -0,0 +1,143 @@
+{
+ "spatial code schema": {
+  "objects": {
+   "<object class>": {
+    "count": {
+     "unit": null,
+     "description": "number of instances of this class in the compact spatial code (that schema's per-class oriented-box list length)"
+    },
+    "instances": [
+     {
+      "position": {
+       "x coordinate": {
+        "unit": "meters",
+        "description": "x coordinate of this instance's compact 3D oriented bounding box center"
+       },
+       "y coordinate": {
+        "unit": "meters",
+        "description": "y coordinate of this instance's compact 3D oriented bounding box center"
+       },
+       "height above floor": {
+        "unit": "meters",
+        "description": "height coordinate of this instance's compact 3D oriented bounding box center"
+       }
+      },
+      "longest dimension": {
+       "unit": "meters",
+       "description": "longest of this instance's compact 3D oriented bounding box dimensions"
+      }
+     }
+    ]
+   }
+  },
+  "room": {
+   "floor area": {
+    "unit": "square meters",
+    "description": "shoelace area of the compact spatial code's floor boundary polygons, with every interior hole subtracted"
+   }
+  },
+  "closest classes distance meters from": {
+   "<object class>": {
+    "<other object class>": {
+     "distance": {
+      "unit": "meters",
+      "description": "estimated distance in meters between an object of this class and an object of the other class"
+     },
+     "closeness rank": {
+      "unit": null,
+      "description": "1 = the nearest other class to this one, 2 = second-nearest, and so on; ranked by nearest-instance proximity, so use the rank (not the distance values) to compare which class is closest"
+     }
+    }
+   }
+  },
+  "appearance order": {
+   "unit": null,
+   "description": "class names ordered by earliest compact 'first visible time' across all of that class's instances"
+  }
+ },
+ "objects": {
+  "bed": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "3.47 meters",
+      "y coordinate": "0.91 meters",
+      "height above floor": "0.29 meters"
+     },
+     "longest dimension": "2.13 meters"
+    }
+   ]
+  },
+  "tv": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "0.97 meters",
+      "y coordinate": "1.53 meters",
+      "height above floor": "1.96 meters"
+     },
+     "longest dimension": "1.12 meters"
+    }
+   ]
+  },
+  "sofa": {
+   "count": 2,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "1.68 meters",
+      "y coordinate": "2.3 meters",
+      "height above floor": "0.36 meters"
+     },
+     "longest dimension": "0.68 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-2.0 meters",
+      "y coordinate": "-2.31 meters",
+      "height above floor": "0.41 meters"
+     },
+     "longest dimension": "3.04 meters"
+    }
+   ]
+  }
+ },
+ "room": {
+  "floor area": "22.3 square meters"
+ },
+ "closest classes distance meters from": {
+  "bed": {
+   "sofa": {
+    "distance": "0.86 meters",
+    "closeness rank": 1
+   },
+   "tv": {
+    "distance": "1.83 meters",
+    "closeness rank": 2
+   }
+  },
+  "tv": {
+   "sofa": {
+    "distance": "1.02 meters",
+    "closeness rank": 1
+   },
+   "bed": {
+    "distance": "1.83 meters",
+    "closeness rank": 2
+   }
+  },
+  "sofa": {
+   "bed": {
+    "distance": "0.86 meters",
+    "closeness rank": 1
+   },
+   "tv": {
+    "distance": "1.02 meters",
+    "closeness rank": 2
+   }
+  }
+ },
+ "appearance order": ["bed", "tv", "sofa"]
+}
\ No newline at end of file
diff --git a/data/spatial codes/ground truth/explicit/47332005.json b/data/spatial codes/ground truth/explicit/47332005.json
new file mode 100644
index 0000000000000000000000000000000000000000..68e7c2fdf4e31e4b18e1ab5cec84302d03229517
--- /dev/null
+++ b/data/spatial codes/ground truth/explicit/47332005.json	
@@ -0,0 +1,104 @@
+{
+ "spatial code schema": {
+  "objects": {
+   "<object class>": {
+    "count": {
+     "unit": null,
+     "description": "number of instances of this class in the compact spatial code (that schema's per-class oriented-box list length)"
+    },
+    "instances": [
+     {
+      "position": {
+       "x coordinate": {
+        "unit": "meters",
+        "description": "x coordinate of this instance's compact 3D oriented bounding box center"
+       },
+       "y coordinate": {
+        "unit": "meters",
+        "description": "y coordinate of this instance's compact 3D oriented bounding box center"
+       },
+       "height above floor": {
+        "unit": "meters",
+        "description": "height coordinate of this instance's compact 3D oriented bounding box center"
+       }
+      },
+      "longest dimension": {
+       "unit": "meters",
+       "description": "longest of this instance's compact 3D oriented bounding box dimensions"
+      }
+     }
+    ]
+   }
+  },
+  "room": {
+   "floor area": {
+    "unit": "square meters",
+    "description": "shoelace area of the compact spatial code's floor boundary polygons, with every interior hole subtracted"
+   }
+  },
+  "closest classes distance meters from": {
+   "<object class>": {
+    "<other object class>": {
+     "distance": {
+      "unit": "meters",
+      "description": "estimated distance in meters between an object of this class and an object of the other class"
+     },
+     "closeness rank": {
+      "unit": null,
+      "description": "1 = the nearest other class to this one, 2 = second-nearest, and so on; ranked by nearest-instance proximity, so use the rank (not the distance values) to compare which class is closest"
+     }
+    }
+   }
+  },
+  "appearance order": {
+   "unit": null,
+   "description": "class names ordered by earliest compact 'first visible time' across all of that class's instances"
+  }
+ },
+ "objects": {
+  "toilet": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "0.3 meters",
+      "y coordinate": "1.67 meters",
+      "height above floor": "0.47 meters"
+     },
+     "longest dimension": "0.84 meters"
+    }
+   ]
+  },
+  "sofa": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "1.75 meters",
+      "y coordinate": "-2.76 meters",
+      "height above floor": "0.42 meters"
+     },
+     "longest dimension": "1.03 meters"
+    }
+   ]
+  }
+ },
+ "room": {
+  "floor area": "15.6 square meters"
+ },
+ "closest classes distance meters from": {
+  "toilet": {
+   "sofa": {
+    "distance": "3.88 meters",
+    "closeness rank": 1
+   }
+  },
+  "sofa": {
+   "toilet": {
+    "distance": "3.88 meters",
+    "closeness rank": 1
+   }
+  }
+ },
+ "appearance order": ["toilet", "sofa"]
+}
\ No newline at end of file
diff --git a/data/spatial codes/ground truth/explicit/47332886.json b/data/spatial codes/ground truth/explicit/47332886.json
new file mode 100644
index 0000000000000000000000000000000000000000..76db3233f98e97538d2a65c0f2cc82c179c1af1f
--- /dev/null
+++ b/data/spatial codes/ground truth/explicit/47332886.json	
@@ -0,0 +1,190 @@
+{
+ "spatial code schema": {
+  "objects": {
+   "<object class>": {
+    "count": {
+     "unit": null,
+     "description": "number of instances of this class in the compact spatial code (that schema's per-class oriented-box list length)"
+    },
+    "instances": [
+     {
+      "position": {
+       "x coordinate": {
+        "unit": "meters",
+        "description": "x coordinate of this instance's compact 3D oriented bounding box center"
+       },
+       "y coordinate": {
+        "unit": "meters",
+        "description": "y coordinate of this instance's compact 3D oriented bounding box center"
+       },
+       "height above floor": {
+        "unit": "meters",
+        "description": "height coordinate of this instance's compact 3D oriented bounding box center"
+       }
+      },
+      "longest dimension": {
+       "unit": "meters",
+       "description": "longest of this instance's compact 3D oriented bounding box dimensions"
+      }
+     }
+    ]
+   }
+  },
+  "room": {
+   "floor area": {
+    "unit": "square meters",
+    "description": "shoelace area of the compact spatial code's floor boundary polygons, with every interior hole subtracted"
+   }
+  },
+  "closest classes distance meters from": {
+   "<object class>": {
+    "<other object class>": {
+     "distance": {
+      "unit": "meters",
+      "description": "estimated distance in meters between an object of this class and an object of the other class"
+     },
+     "closeness rank": {
+      "unit": null,
+      "description": "1 = the nearest other class to this one, 2 = second-nearest, and so on; ranked by nearest-instance proximity, so use the rank (not the distance values) to compare which class is closest"
+     }
+    }
+   }
+  },
+  "appearance order": {
+   "unit": null,
+   "description": "class names ordered by earliest compact 'first visible time' across all of that class's instances"
+  }
+ },
+ "objects": {
+  "bed": {
+   "count": 2,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "3.84 meters",
+      "y coordinate": "-0.44 meters",
+      "height above floor": "0.24 meters"
+     },
+     "longest dimension": "2.1 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "4.15 meters",
+      "y coordinate": "1.74 meters",
+      "height above floor": "0.25 meters"
+     },
+     "longest dimension": "2.11 meters"
+    }
+   ]
+  },
+  "table": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "4.75 meters",
+      "y coordinate": "0.5 meters",
+      "height above floor": "0.38 meters"
+     },
+     "longest dimension": "1.23 meters"
+    }
+   ]
+  },
+  "chair": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "4.26 meters",
+      "y coordinate": "0.79 meters",
+      "height above floor": "0.31 meters"
+     },
+     "longest dimension": "0.6 meters"
+    }
+   ]
+  },
+  "tv": {
+   "count": 2,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "4.81 meters",
+      "y coordinate": "0.44 meters",
+      "height above floor": "0.94 meters"
+     },
+     "longest dimension": "0.43 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "5.0 meters",
+      "y coordinate": "0.43 meters",
+      "height above floor": "0.94 meters"
+     },
+     "longest dimension": "0.43 meters"
+    }
+   ]
+  }
+ },
+ "room": {
+  "floor area": "21.5 square meters"
+ },
+ "closest classes distance meters from": {
+  "bed": {
+   "table": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "chair": {
+    "distance": "0.23 meters",
+    "closeness rank": 2
+   },
+   "tv": {
+    "distance": "0.41 meters",
+    "closeness rank": 3
+   }
+  },
+  "table": {
+   "bed": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "tv": {
+    "distance": "0.0 meters",
+    "closeness rank": 2
+   },
+   "chair": {
+    "distance": "0.03 meters",
+    "closeness rank": 3
+   }
+  },
+  "chair": {
+   "table": {
+    "distance": "0.03 meters",
+    "closeness rank": 1
+   },
+   "bed": {
+    "distance": "0.23 meters",
+    "closeness rank": 2
+   },
+   "tv": {
+    "distance": "0.39 meters",
+    "closeness rank": 3
+   }
+  },
+  "tv": {
+   "table": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "chair": {
+    "distance": "0.39 meters",
+    "closeness rank": 2
+   },
+   "bed": {
+    "distance": "0.41 meters",
+    "closeness rank": 3
+   }
+  }
+ },
+ "appearance order": ["bed", "table", "chair", "tv"]
+}
\ No newline at end of file
diff --git a/data/spatial codes/ground truth/explicit/47332899.json b/data/spatial codes/ground truth/explicit/47332899.json
new file mode 100644
index 0000000000000000000000000000000000000000..4f7eccd47c6e084b47c9088b2fbef5e20bfad0e8
--- /dev/null
+++ b/data/spatial codes/ground truth/explicit/47332899.json	
@@ -0,0 +1,174 @@
+{
+ "spatial code schema": {
+  "objects": {
+   "<object class>": {
+    "count": {
+     "unit": null,
+     "description": "number of instances of this class in the compact spatial code (that schema's per-class oriented-box list length)"
+    },
+    "instances": [
+     {
+      "position": {
+       "x coordinate": {
+        "unit": "meters",
+        "description": "x coordinate of this instance's compact 3D oriented bounding box center"
+       },
+       "y coordinate": {
+        "unit": "meters",
+        "description": "y coordinate of this instance's compact 3D oriented bounding box center"
+       },
+       "height above floor": {
+        "unit": "meters",
+        "description": "height coordinate of this instance's compact 3D oriented bounding box center"
+       }
+      },
+      "longest dimension": {
+       "unit": "meters",
+       "description": "longest of this instance's compact 3D oriented bounding box dimensions"
+      }
+     }
+    ]
+   }
+  },
+  "room": {
+   "floor area": {
+    "unit": "square meters",
+    "description": "shoelace area of the compact spatial code's floor boundary polygons, with every interior hole subtracted"
+   }
+  },
+  "closest classes distance meters from": {
+   "<object class>": {
+    "<other object class>": {
+     "distance": {
+      "unit": "meters",
+      "description": "estimated distance in meters between an object of this class and an object of the other class"
+     },
+     "closeness rank": {
+      "unit": null,
+      "description": "1 = the nearest other class to this one, 2 = second-nearest, and so on; ranked by nearest-instance proximity, so use the rank (not the distance values) to compare which class is closest"
+     }
+    }
+   }
+  },
+  "appearance order": {
+   "unit": null,
+   "description": "class names ordered by earliest compact 'first visible time' across all of that class's instances"
+  }
+ },
+ "objects": {
+  "bed": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-3.21 meters",
+      "y coordinate": "1.66 meters",
+      "height above floor": "0.81 meters"
+     },
+     "longest dimension": "2.07 meters"
+    }
+   ]
+  },
+  "table": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-3.42 meters",
+      "y coordinate": "-0.3 meters",
+      "height above floor": "0.35 meters"
+     },
+     "longest dimension": "1.23 meters"
+    }
+   ]
+  },
+  "tv": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-3.67 meters",
+      "y coordinate": "-0.47 meters",
+      "height above floor": "0.94 meters"
+     },
+     "longest dimension": "0.71 meters"
+    }
+   ]
+  },
+  "stool": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-3.79 meters",
+      "y coordinate": "0.32 meters",
+      "height above floor": "0.17 meters"
+     },
+     "longest dimension": "0.49 meters"
+    }
+   ]
+  }
+ },
+ "room": {
+  "floor area": "15.8 square meters"
+ },
+ "closest classes distance meters from": {
+  "bed": {
+   "stool": {
+    "distance": "0.72 meters",
+    "closeness rank": 1
+   },
+   "table": {
+    "distance": "1.23 meters",
+    "closeness rank": 2
+   },
+   "tv": {
+    "distance": "1.65 meters",
+    "closeness rank": 3
+   }
+  },
+  "table": {
+   "tv": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "stool": {
+    "distance": "0.19 meters",
+    "closeness rank": 2
+   },
+   "bed": {
+    "distance": "1.23 meters",
+    "closeness rank": 3
+   }
+  },
+  "tv": {
+   "table": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "stool": {
+    "distance": "0.7 meters",
+    "closeness rank": 2
+   },
+   "bed": {
+    "distance": "1.65 meters",
+    "closeness rank": 3
+   }
+  },
+  "stool": {
+   "table": {
+    "distance": "0.19 meters",
+    "closeness rank": 1
+   },
+   "tv": {
+    "distance": "0.7 meters",
+    "closeness rank": 2
+   },
+   "bed": {
+    "distance": "0.72 meters",
+    "closeness rank": 3
+   }
+  }
+ },
+ "appearance order": ["bed", "table", "tv", "stool"]
+}
\ No newline at end of file
diff --git a/data/spatial codes/ground truth/explicit/47332901.json b/data/spatial codes/ground truth/explicit/47332901.json
new file mode 100644
index 0000000000000000000000000000000000000000..34a96d8eb18910ed3fedfee66ed984516de3d4b5
--- /dev/null
+++ b/data/spatial codes/ground truth/explicit/47332901.json	
@@ -0,0 +1,143 @@
+{
+ "spatial code schema": {
+  "objects": {
+   "<object class>": {
+    "count": {
+     "unit": null,
+     "description": "number of instances of this class in the compact spatial code (that schema's per-class oriented-box list length)"
+    },
+    "instances": [
+     {
+      "position": {
+       "x coordinate": {
+        "unit": "meters",
+        "description": "x coordinate of this instance's compact 3D oriented bounding box center"
+       },
+       "y coordinate": {
+        "unit": "meters",
+        "description": "y coordinate of this instance's compact 3D oriented bounding box center"
+       },
+       "height above floor": {
+        "unit": "meters",
+        "description": "height coordinate of this instance's compact 3D oriented bounding box center"
+       }
+      },
+      "longest dimension": {
+       "unit": "meters",
+       "description": "longest of this instance's compact 3D oriented bounding box dimensions"
+      }
+     }
+    ]
+   }
+  },
+  "room": {
+   "floor area": {
+    "unit": "square meters",
+    "description": "shoelace area of the compact spatial code's floor boundary polygons, with every interior hole subtracted"
+   }
+  },
+  "closest classes distance meters from": {
+   "<object class>": {
+    "<other object class>": {
+     "distance": {
+      "unit": "meters",
+      "description": "estimated distance in meters between an object of this class and an object of the other class"
+     },
+     "closeness rank": {
+      "unit": null,
+      "description": "1 = the nearest other class to this one, 2 = second-nearest, and so on; ranked by nearest-instance proximity, so use the rank (not the distance values) to compare which class is closest"
+     }
+    }
+   }
+  },
+  "appearance order": {
+   "unit": null,
+   "description": "class names ordered by earliest compact 'first visible time' across all of that class's instances"
+  }
+ },
+ "objects": {
+  "stove": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-1.7 meters",
+      "y coordinate": "1.19 meters",
+      "height above floor": "0.75 meters"
+     },
+     "longest dimension": "0.73 meters"
+    }
+   ]
+  },
+  "table": {
+   "count": 2,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-1.48 meters",
+      "y coordinate": "3.58 meters",
+      "height above floor": "0.42 meters"
+     },
+     "longest dimension": "0.84 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "0.17 meters",
+      "y coordinate": "1.76 meters",
+      "height above floor": "0.39 meters"
+     },
+     "longest dimension": "0.87 meters"
+    }
+   ]
+  },
+  "refrigerator": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "0.14 meters",
+      "y coordinate": "3.02 meters",
+      "height above floor": "0.94 meters"
+     },
+     "longest dimension": "1.88 meters"
+    }
+   ]
+  }
+ },
+ "room": {
+  "floor area": "11.2 square meters"
+ },
+ "closest classes distance meters from": {
+  "stove": {
+   "table": {
+    "distance": "1.64 meters",
+    "closeness rank": 1
+   },
+   "refrigerator": {
+    "distance": "1.66 meters",
+    "closeness rank": 2
+   }
+  },
+  "table": {
+   "refrigerator": {
+    "distance": "0.44 meters",
+    "closeness rank": 1
+   },
+   "stove": {
+    "distance": "1.64 meters",
+    "closeness rank": 2
+   }
+  },
+  "refrigerator": {
+   "table": {
+    "distance": "0.44 meters",
+    "closeness rank": 1
+   },
+   "stove": {
+    "distance": "1.66 meters",
+    "closeness rank": 2
+   }
+  }
+ },
+ "appearance order": ["stove", "table", "refrigerator"]
+}
\ No newline at end of file
diff --git a/data/spatial codes/ground truth/explicit/47332908.json b/data/spatial codes/ground truth/explicit/47332908.json
new file mode 100644
index 0000000000000000000000000000000000000000..5ba6dd204794bfd8632a075b9e67131ad8e90b32
--- /dev/null
+++ b/data/spatial codes/ground truth/explicit/47332908.json	
@@ -0,0 +1,104 @@
+{
+ "spatial code schema": {
+  "objects": {
+   "<object class>": {
+    "count": {
+     "unit": null,
+     "description": "number of instances of this class in the compact spatial code (that schema's per-class oriented-box list length)"
+    },
+    "instances": [
+     {
+      "position": {
+       "x coordinate": {
+        "unit": "meters",
+        "description": "x coordinate of this instance's compact 3D oriented bounding box center"
+       },
+       "y coordinate": {
+        "unit": "meters",
+        "description": "y coordinate of this instance's compact 3D oriented bounding box center"
+       },
+       "height above floor": {
+        "unit": "meters",
+        "description": "height coordinate of this instance's compact 3D oriented bounding box center"
+       }
+      },
+      "longest dimension": {
+       "unit": "meters",
+       "description": "longest of this instance's compact 3D oriented bounding box dimensions"
+      }
+     }
+    ]
+   }
+  },
+  "room": {
+   "floor area": {
+    "unit": "square meters",
+    "description": "shoelace area of the compact spatial code's floor boundary polygons, with every interior hole subtracted"
+   }
+  },
+  "closest classes distance meters from": {
+   "<object class>": {
+    "<other object class>": {
+     "distance": {
+      "unit": "meters",
+      "description": "estimated distance in meters between an object of this class and an object of the other class"
+     },
+     "closeness rank": {
+      "unit": null,
+      "description": "1 = the nearest other class to this one, 2 = second-nearest, and so on; ranked by nearest-instance proximity, so use the rank (not the distance values) to compare which class is closest"
+     }
+    }
+   }
+  },
+  "appearance order": {
+   "unit": null,
+   "description": "class names ordered by earliest compact 'first visible time' across all of that class's instances"
+  }
+ },
+ "objects": {
+  "bathtub": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-0.39 meters",
+      "y coordinate": "1.93 meters",
+      "height above floor": "0.28 meters"
+     },
+     "longest dimension": "1.4 meters"
+    }
+   ]
+  },
+  "washer": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "0.21 meters",
+      "y coordinate": "1.45 meters",
+      "height above floor": "0.43 meters"
+     },
+     "longest dimension": "0.87 meters"
+    }
+   ]
+  }
+ },
+ "room": {
+  "floor area": "10.4 square meters"
+ },
+ "closest classes distance meters from": {
+  "bathtub": {
+   "washer": {
+    "distance": "0.22 meters",
+    "closeness rank": 1
+   }
+  },
+  "washer": {
+   "bathtub": {
+    "distance": "0.22 meters",
+    "closeness rank": 1
+   }
+  }
+ },
+ "appearance order": ["bathtub", "washer"]
+}
\ No newline at end of file
diff --git a/data/spatial codes/ground truth/explicit/47332918.json b/data/spatial codes/ground truth/explicit/47332918.json
new file mode 100644
index 0000000000000000000000000000000000000000..ac50bf20940a5e15e06c1b41452395a7bcf84117
--- /dev/null
+++ b/data/spatial codes/ground truth/explicit/47332918.json	
@@ -0,0 +1,198 @@
+{
+ "spatial code schema": {
+  "objects": {
+   "<object class>": {
+    "count": {
+     "unit": null,
+     "description": "number of instances of this class in the compact spatial code (that schema's per-class oriented-box list length)"
+    },
+    "instances": [
+     {
+      "position": {
+       "x coordinate": {
+        "unit": "meters",
+        "description": "x coordinate of this instance's compact 3D oriented bounding box center"
+       },
+       "y coordinate": {
+        "unit": "meters",
+        "description": "y coordinate of this instance's compact 3D oriented bounding box center"
+       },
+       "height above floor": {
+        "unit": "meters",
+        "description": "height coordinate of this instance's compact 3D oriented bounding box center"
+       }
+      },
+      "longest dimension": {
+       "unit": "meters",
+       "description": "longest of this instance's compact 3D oriented bounding box dimensions"
+      }
+     }
+    ]
+   }
+  },
+  "room": {
+   "floor area": {
+    "unit": "square meters",
+    "description": "shoelace area of the compact spatial code's floor boundary polygons, with every interior hole subtracted"
+   }
+  },
+  "closest classes distance meters from": {
+   "<object class>": {
+    "<other object class>": {
+     "distance": {
+      "unit": "meters",
+      "description": "estimated distance in meters between an object of this class and an object of the other class"
+     },
+     "closeness rank": {
+      "unit": null,
+      "description": "1 = the nearest other class to this one, 2 = second-nearest, and so on; ranked by nearest-instance proximity, so use the rank (not the distance values) to compare which class is closest"
+     }
+    }
+   }
+  },
+  "appearance order": {
+   "unit": null,
+   "description": "class names ordered by earliest compact 'first visible time' across all of that class's instances"
+  }
+ },
+ "objects": {
+  "bed": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-2.18 meters",
+      "y coordinate": "1.46 meters",
+      "height above floor": "0.25 meters"
+     },
+     "longest dimension": "2.09 meters"
+    }
+   ]
+  },
+  "table": {
+   "count": 2,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-4.36 meters",
+      "y coordinate": "0.02 meters",
+      "height above floor": "0.27 meters"
+     },
+     "longest dimension": "0.65 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-2.79 meters",
+      "y coordinate": "-0.7 meters",
+      "height above floor": "0.4 meters"
+     },
+     "longest dimension": "1.13 meters"
+    }
+   ]
+  },
+  "tv": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-4.51 meters",
+      "y coordinate": "0.08 meters",
+      "height above floor": "1.6 meters"
+     },
+     "longest dimension": "1.44 meters"
+    }
+   ]
+  },
+  "chair": {
+   "count": 3,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-3.47 meters",
+      "y coordinate": "-1.08 meters",
+      "height above floor": "0.45 meters"
+     },
+     "longest dimension": "0.89 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-3.03 meters",
+      "y coordinate": "-0.54 meters",
+      "height above floor": "0.46 meters"
+     },
+     "longest dimension": "0.85 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-2.57 meters",
+      "y coordinate": "-0.43 meters",
+      "height above floor": "0.46 meters"
+     },
+     "longest dimension": "0.85 meters"
+    }
+   ]
+  }
+ },
+ "room": {
+  "floor area": "16.0 square meters"
+ },
+ "closest classes distance meters from": {
+  "bed": {
+   "chair": {
+    "distance": "1.37 meters",
+    "closeness rank": 1
+   },
+   "table": {
+    "distance": "1.24 meters",
+    "closeness rank": 2
+   },
+   "tv": {
+    "distance": "1.73 meters",
+    "closeness rank": 3
+   }
+  },
+  "table": {
+   "chair": {
+    "distance": "0.66 meters",
+    "closeness rank": 1
+   },
+   "bed": {
+    "distance": "1.24 meters",
+    "closeness rank": 2
+   },
+   "tv": {
+    "distance": "0.7 meters",
+    "closeness rank": 3
+   }
+  },
+  "tv": {
+   "table": {
+    "distance": "0.7 meters",
+    "closeness rank": 1
+   },
+   "chair": {
+    "distance": "0.77 meters",
+    "closeness rank": 2
+   },
+   "bed": {
+    "distance": "1.73 meters",
+    "closeness rank": 3
+   }
+  },
+  "chair": {
+   "table": {
+    "distance": "0.66 meters",
+    "closeness rank": 1
+   },
+   "bed": {
+    "distance": "1.37 meters",
+    "closeness rank": 2
+   },
+   "tv": {
+    "distance": "0.77 meters",
+    "closeness rank": 3
+   }
+  }
+ },
+ "appearance order": ["bed", "table", "tv", "chair"]
+}
\ No newline at end of file
diff --git a/data/spatial codes/ground truth/explicit/47333436.json b/data/spatial codes/ground truth/explicit/47333436.json
new file mode 100644
index 0000000000000000000000000000000000000000..ecbe91fe594ff3d3acde6b8942e56c89249c69bc
--- /dev/null
+++ b/data/spatial codes/ground truth/explicit/47333436.json	
@@ -0,0 +1,104 @@
+{
+ "spatial code schema": {
+  "objects": {
+   "<object class>": {
+    "count": {
+     "unit": null,
+     "description": "number of instances of this class in the compact spatial code (that schema's per-class oriented-box list length)"
+    },
+    "instances": [
+     {
+      "position": {
+       "x coordinate": {
+        "unit": "meters",
+        "description": "x coordinate of this instance's compact 3D oriented bounding box center"
+       },
+       "y coordinate": {
+        "unit": "meters",
+        "description": "y coordinate of this instance's compact 3D oriented bounding box center"
+       },
+       "height above floor": {
+        "unit": "meters",
+        "description": "height coordinate of this instance's compact 3D oriented bounding box center"
+       }
+      },
+      "longest dimension": {
+       "unit": "meters",
+       "description": "longest of this instance's compact 3D oriented bounding box dimensions"
+      }
+     }
+    ]
+   }
+  },
+  "room": {
+   "floor area": {
+    "unit": "square meters",
+    "description": "shoelace area of the compact spatial code's floor boundary polygons, with every interior hole subtracted"
+   }
+  },
+  "closest classes distance meters from": {
+   "<object class>": {
+    "<other object class>": {
+     "distance": {
+      "unit": "meters",
+      "description": "estimated distance in meters between an object of this class and an object of the other class"
+     },
+     "closeness rank": {
+      "unit": null,
+      "description": "1 = the nearest other class to this one, 2 = second-nearest, and so on; ranked by nearest-instance proximity, so use the rank (not the distance values) to compare which class is closest"
+     }
+    }
+   }
+  },
+  "appearance order": {
+   "unit": null,
+   "description": "class names ordered by earliest compact 'first visible time' across all of that class's instances"
+  }
+ },
+ "objects": {
+  "bed": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "2.33 meters",
+      "y coordinate": "1.15 meters",
+      "height above floor": "0.17 meters"
+     },
+     "longest dimension": "2.23 meters"
+    }
+   ]
+  },
+  "tv": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "1.91 meters",
+      "y coordinate": "-0.81 meters",
+      "height above floor": "0.63 meters"
+     },
+     "longest dimension": "0.95 meters"
+    }
+   ]
+  }
+ },
+ "room": {
+  "floor area": "13.8 square meters"
+ },
+ "closest classes distance meters from": {
+  "bed": {
+   "tv": {
+    "distance": "0.82 meters",
+    "closeness rank": 1
+   }
+  },
+  "tv": {
+   "bed": {
+    "distance": "0.82 meters",
+    "closeness rank": 1
+   }
+  }
+ },
+ "appearance order": ["bed", "tv"]
+}
\ No newline at end of file
diff --git a/data/spatial codes/ground truth/explicit/47333441.json b/data/spatial codes/ground truth/explicit/47333441.json
new file mode 100644
index 0000000000000000000000000000000000000000..8cbe78712fc116367516d9f08434b54654ce338b
--- /dev/null
+++ b/data/spatial codes/ground truth/explicit/47333441.json	
@@ -0,0 +1,174 @@
+{
+ "spatial code schema": {
+  "objects": {
+   "<object class>": {
+    "count": {
+     "unit": null,
+     "description": "number of instances of this class in the compact spatial code (that schema's per-class oriented-box list length)"
+    },
+    "instances": [
+     {
+      "position": {
+       "x coordinate": {
+        "unit": "meters",
+        "description": "x coordinate of this instance's compact 3D oriented bounding box center"
+       },
+       "y coordinate": {
+        "unit": "meters",
+        "description": "y coordinate of this instance's compact 3D oriented bounding box center"
+       },
+       "height above floor": {
+        "unit": "meters",
+        "description": "height coordinate of this instance's compact 3D oriented bounding box center"
+       }
+      },
+      "longest dimension": {
+       "unit": "meters",
+       "description": "longest of this instance's compact 3D oriented bounding box dimensions"
+      }
+     }
+    ]
+   }
+  },
+  "room": {
+   "floor area": {
+    "unit": "square meters",
+    "description": "shoelace area of the compact spatial code's floor boundary polygons, with every interior hole subtracted"
+   }
+  },
+  "closest classes distance meters from": {
+   "<object class>": {
+    "<other object class>": {
+     "distance": {
+      "unit": "meters",
+      "description": "estimated distance in meters between an object of this class and an object of the other class"
+     },
+     "closeness rank": {
+      "unit": null,
+      "description": "1 = the nearest other class to this one, 2 = second-nearest, and so on; ranked by nearest-instance proximity, so use the rank (not the distance values) to compare which class is closest"
+     }
+    }
+   }
+  },
+  "appearance order": {
+   "unit": null,
+   "description": "class names ordered by earliest compact 'first visible time' across all of that class's instances"
+  }
+ },
+ "objects": {
+  "toilet": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "2.41 meters",
+      "y coordinate": "0.87 meters",
+      "height above floor": "0.37 meters"
+     },
+     "longest dimension": "0.75 meters"
+    }
+   ]
+  },
+  "chair": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "2.51 meters",
+      "y coordinate": "0.31 meters",
+      "height above floor": "0.39 meters"
+     },
+     "longest dimension": "0.78 meters"
+    }
+   ]
+  },
+  "washer": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "2.33 meters",
+      "y coordinate": "-0.41 meters",
+      "height above floor": "0.43 meters"
+     },
+     "longest dimension": "0.87 meters"
+    }
+   ]
+  },
+  "stool": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "1.84 meters",
+      "y coordinate": "-0.16 meters",
+      "height above floor": "0.07 meters"
+     },
+     "longest dimension": "0.4 meters"
+    }
+   ]
+  }
+ },
+ "room": {
+  "floor area": "12.3 square meters"
+ },
+ "closest classes distance meters from": {
+  "toilet": {
+   "chair": {
+    "distance": "0.14 meters",
+    "closeness rank": 1
+   },
+   "stool": {
+    "distance": "0.74 meters",
+    "closeness rank": 2
+   },
+   "washer": {
+    "distance": "0.82 meters",
+    "closeness rank": 3
+   }
+  },
+  "chair": {
+   "toilet": {
+    "distance": "0.14 meters",
+    "closeness rank": 1
+   },
+   "washer": {
+    "distance": "0.23 meters",
+    "closeness rank": 2
+   },
+   "stool": {
+    "distance": "0.29 meters",
+    "closeness rank": 3
+   }
+  },
+  "washer": {
+   "stool": {
+    "distance": "0.02 meters",
+    "closeness rank": 1
+   },
+   "chair": {
+    "distance": "0.23 meters",
+    "closeness rank": 2
+   },
+   "toilet": {
+    "distance": "0.82 meters",
+    "closeness rank": 3
+   }
+  },
+  "stool": {
+   "washer": {
+    "distance": "0.02 meters",
+    "closeness rank": 1
+   },
+   "chair": {
+    "distance": "0.29 meters",
+    "closeness rank": 2
+   },
+   "toilet": {
+    "distance": "0.74 meters",
+    "closeness rank": 3
+   }
+  }
+ },
+ "appearance order": ["toilet", "chair", "washer", "stool"]
+}
\ No newline at end of file
diff --git a/data/spatial codes/ground truth/explicit/47333457.json b/data/spatial codes/ground truth/explicit/47333457.json
new file mode 100644
index 0000000000000000000000000000000000000000..0fefc7fb37aeba81899f19fcfadb3dec35c54ca5
--- /dev/null
+++ b/data/spatial codes/ground truth/explicit/47333457.json	
@@ -0,0 +1,537 @@
+{
+ "spatial code schema": {
+  "objects": {
+   "<object class>": {
+    "count": {
+     "unit": null,
+     "description": "number of instances of this class in the compact spatial code (that schema's per-class oriented-box list length)"
+    },
+    "instances": [
+     {
+      "position": {
+       "x coordinate": {
+        "unit": "meters",
+        "description": "x coordinate of this instance's compact 3D oriented bounding box center"
+       },
+       "y coordinate": {
+        "unit": "meters",
+        "description": "y coordinate of this instance's compact 3D oriented bounding box center"
+       },
+       "height above floor": {
+        "unit": "meters",
+        "description": "height coordinate of this instance's compact 3D oriented bounding box center"
+       }
+      },
+      "longest dimension": {
+       "unit": "meters",
+       "description": "longest of this instance's compact 3D oriented bounding box dimensions"
+      }
+     }
+    ]
+   }
+  },
+  "room": {
+   "floor area": {
+    "unit": "square meters",
+    "description": "shoelace area of the compact spatial code's floor boundary polygons, with every interior hole subtracted"
+   }
+  },
+  "closest classes distance meters from": {
+   "<object class>": {
+    "<other object class>": {
+     "distance": {
+      "unit": "meters",
+      "description": "estimated distance in meters between an object of this class and an object of the other class"
+     },
+     "closeness rank": {
+      "unit": null,
+      "description": "1 = the nearest other class to this one, 2 = second-nearest, and so on; ranked by nearest-instance proximity, so use the rank (not the distance values) to compare which class is closest"
+     }
+    }
+   }
+  },
+  "appearance order": {
+   "unit": null,
+   "description": "class names ordered by earliest compact 'first visible time' across all of that class's instances"
+  }
+ },
+ "objects": {
+  "tv": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "1.11 meters",
+      "y coordinate": "1.87 meters",
+      "height above floor": "1.14 meters"
+     },
+     "longest dimension": "0.7 meters"
+    }
+   ]
+  },
+  "chair": {
+   "count": 5,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "1.26 meters",
+      "y coordinate": "2.37 meters",
+      "height above floor": "0.44 meters"
+     },
+     "longest dimension": "0.78 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "2.27 meters",
+      "y coordinate": "2.72 meters",
+      "height above floor": "0.32 meters"
+     },
+     "longest dimension": "0.52 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "1.82 meters",
+      "y coordinate": "2.92 meters",
+      "height above floor": "0.45 meters"
+     },
+     "longest dimension": "0.78 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "1.44 meters",
+      "y coordinate": "-2.74 meters",
+      "height above floor": "0.41 meters"
+     },
+     "longest dimension": "0.81 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "2.92 meters",
+      "y coordinate": "0.3 meters",
+      "height above floor": "0.43 meters"
+     },
+     "longest dimension": "0.77 meters"
+    }
+   ]
+  },
+  "table": {
+   "count": 3,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "1.31 meters",
+      "y coordinate": "2.9 meters",
+      "height above floor": "0.43 meters"
+     },
+     "longest dimension": "0.75 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "2.37 meters",
+      "y coordinate": "2.85 meters",
+      "height above floor": "0.31 meters"
+     },
+     "longest dimension": "0.59 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "3.48 meters",
+      "y coordinate": "-0.09 meters",
+      "height above floor": "0.47 meters"
+     },
+     "longest dimension": "0.84 meters"
+    }
+   ]
+  },
+  "bed": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "3.35 meters",
+      "y coordinate": "2.04 meters",
+      "height above floor": "0.29 meters"
+     },
+     "longest dimension": "1.91 meters"
+    }
+   ]
+  },
+  "refrigerator": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "3.57 meters",
+      "y coordinate": "0.73 meters",
+      "height above floor": "0.87 meters"
+     },
+     "longest dimension": "1.64 meters"
+    }
+   ]
+  },
+  "stove": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "2.84 meters",
+      "y coordinate": "-0.34 meters",
+      "height above floor": "0.83 meters"
+     },
+     "longest dimension": "0.66 meters"
+    }
+   ]
+  },
+  "toilet": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "2.03 meters",
+      "y coordinate": "-2.73 meters",
+      "height above floor": "0.39 meters"
+     },
+     "longest dimension": "0.78 meters"
+    }
+   ]
+  },
+  "washer": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "0.59 meters",
+      "y coordinate": "-2.52 meters",
+      "height above floor": "0.4 meters"
+     },
+     "longest dimension": "0.79 meters"
+    }
+   ]
+  },
+  "stool": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "1.02 meters",
+      "y coordinate": "-2.03 meters",
+      "height above floor": "0.11 meters"
+     },
+     "longest dimension": "0.36 meters"
+    }
+   ]
+  }
+ },
+ "room": {
+  "floor area": "20.7 square meters"
+ },
+ "closest classes distance meters from": {
+  "tv": {
+   "chair": {
+    "distance": "0.13 meters",
+    "closeness rank": 1
+   },
+   "table": {
+    "distance": "0.54 meters",
+    "closeness rank": 2
+   },
+   "bed": {
+    "distance": "1.56 meters",
+    "closeness rank": 3
+   },
+   "stove": {
+    "distance": "2.14 meters",
+    "closeness rank": 4
+   },
+   "refrigerator": {
+    "distance": "2.23 meters",
+    "closeness rank": 5
+   },
+   "stool": {
+    "distance": "3.5 meters",
+    "closeness rank": 6
+   },
+   "washer": {
+    "distance": "3.74 meters",
+    "closeness rank": 7
+   },
+   "toilet": {
+    "distance": "4.01 meters",
+    "closeness rank": 8
+   }
+  },
+  "chair": {
+   "table": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "stove": {
+    "distance": "2.44 meters",
+    "closeness rank": 2
+   },
+   "tv": {
+    "distance": "0.13 meters",
+    "closeness rank": 3
+   },
+   "toilet": {
+    "distance": "4.38 meters",
+    "closeness rank": 4
+   },
+   "refrigerator": {
+    "distance": "1.66 meters",
+    "closeness rank": 5
+   },
+   "washer": {
+    "distance": "4.15 meters",
+    "closeness rank": 6
+   },
+   "stool": {
+    "distance": "3.85 meters",
+    "closeness rank": 7
+   },
+   "bed": {
+    "distance": "0.78 meters",
+    "closeness rank": 8
+   }
+  },
+  "table": {
+   "chair": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "stove": {
+    "distance": "2.9 meters",
+    "closeness rank": 2
+   },
+   "bed": {
+    "distance": "0.89 meters",
+    "closeness rank": 3
+   },
+   "tv": {
+    "distance": "0.54 meters",
+    "closeness rank": 4
+   },
+   "refrigerator": {
+    "distance": "1.97 meters",
+    "closeness rank": 5
+   },
+   "toilet": {
+    "distance": "4.91 meters",
+    "closeness rank": 6
+   },
+   "stool": {
+    "distance": "4.39 meters",
+    "closeness rank": 7
+   },
+   "washer": {
+    "distance": "4.7 meters",
+    "closeness rank": 8
+   }
+  },
+  "bed": {
+   "refrigerator": {
+    "distance": "0.03 meters",
+    "closeness rank": 1
+   },
+   "table": {
+    "distance": "0.89 meters",
+    "closeness rank": 2
+   },
+   "chair": {
+    "distance": "0.78 meters",
+    "closeness rank": 3
+   },
+   "stove": {
+    "distance": "1.21 meters",
+    "closeness rank": 4
+   },
+   "tv": {
+    "distance": "1.56 meters",
+    "closeness rank": 5
+   },
+   "stool": {
+    "distance": "3.56 meters",
+    "closeness rank": 6
+   },
+   "toilet": {
+    "distance": "3.61 meters",
+    "closeness rank": 7
+   },
+   "washer": {
+    "distance": "3.98 meters",
+    "closeness rank": 8
+   }
+  },
+  "refrigerator": {
+   "bed": {
+    "distance": "0.03 meters",
+    "closeness rank": 1
+   },
+   "chair": {
+    "distance": "1.66 meters",
+    "closeness rank": 2
+   },
+   "table": {
+    "distance": "1.97 meters",
+    "closeness rank": 3
+   },
+   "stove": {
+    "distance": "0.54 meters",
+    "closeness rank": 4
+   },
+   "tv": {
+    "distance": "2.23 meters",
+    "closeness rank": 5
+   },
+   "toilet": {
+    "distance": "3.04 meters",
+    "closeness rank": 6
+   },
+   "stool": {
+    "distance": "3.12 meters",
+    "closeness rank": 7
+   },
+   "washer": {
+    "distance": "3.46 meters",
+    "closeness rank": 8
+   }
+  },
+  "stove": {
+   "chair": {
+    "distance": "2.44 meters",
+    "closeness rank": 1
+   },
+   "table": {
+    "distance": "2.9 meters",
+    "closeness rank": 2
+   },
+   "refrigerator": {
+    "distance": "0.54 meters",
+    "closeness rank": 3
+   },
+   "bed": {
+    "distance": "1.21 meters",
+    "closeness rank": 4
+   },
+   "toilet": {
+    "distance": "1.84 meters",
+    "closeness rank": 5
+   },
+   "stool": {
+    "distance": "2.08 meters",
+    "closeness rank": 6
+   },
+   "tv": {
+    "distance": "2.14 meters",
+    "closeness rank": 7
+   },
+   "washer": {
+    "distance": "2.44 meters",
+    "closeness rank": 8
+   }
+  },
+  "toilet": {
+   "chair": {
+    "distance": "4.38 meters",
+    "closeness rank": 1
+   },
+   "stool": {
+    "distance": "0.72 meters",
+    "closeness rank": 2
+   },
+   "washer": {
+    "distance": "0.87 meters",
+    "closeness rank": 3
+   },
+   "stove": {
+    "distance": "1.84 meters",
+    "closeness rank": 4
+   },
+   "table": {
+    "distance": "4.91 meters",
+    "closeness rank": 5
+   },
+   "refrigerator": {
+    "distance": "3.04 meters",
+    "closeness rank": 6
+   },
+   "bed": {
+    "distance": "3.61 meters",
+    "closeness rank": 7
+   },
+   "tv": {
+    "distance": "4.01 meters",
+    "closeness rank": 8
+   }
+  },
+  "washer": {
+   "stool": {
+    "distance": "0.14 meters",
+    "closeness rank": 1
+   },
+   "chair": {
+    "distance": "4.15 meters",
+    "closeness rank": 2
+   },
+   "toilet": {
+    "distance": "0.87 meters",
+    "closeness rank": 3
+   },
+   "stove": {
+    "distance": "2.44 meters",
+    "closeness rank": 4
+   },
+   "table": {
+    "distance": "4.7 meters",
+    "closeness rank": 5
+   },
+   "refrigerator": {
+    "distance": "3.46 meters",
+    "closeness rank": 6
+   },
+   "bed": {
+    "distance": "3.98 meters",
+    "closeness rank": 7
+   },
+   "tv": {
+    "distance": "3.74 meters",
+    "closeness rank": 8
+   }
+  },
+  "stool": {
+   "washer": {
+    "distance": "0.14 meters",
+    "closeness rank": 1
+   },
+   "chair": {
+    "distance": "3.85 meters",
+    "closeness rank": 2
+   },
+   "toilet": {
+    "distance": "0.72 meters",
+    "closeness rank": 3
+   },
+   "stove": {
+    "distance": "2.08 meters",
+    "closeness rank": 4
+   },
+   "table": {
+    "distance": "4.39 meters",
+    "closeness rank": 5
+   },
+   "refrigerator": {
+    "distance": "3.12 meters",
+    "closeness rank": 6
+   },
+   "bed": {
+    "distance": "3.56 meters",
+    "closeness rank": 7
+   },
+   "tv": {
+    "distance": "3.5 meters",
+    "closeness rank": 8
+   }
+  }
+ },
+ "appearance order": ["tv", "chair", "table", "bed", "refrigerator", "stove", "toilet", "washer", "stool"]
+}
\ No newline at end of file
diff --git a/data/spatial codes/ground truth/explicit/47333899.json b/data/spatial codes/ground truth/explicit/47333899.json
new file mode 100644
index 0000000000000000000000000000000000000000..c78456518a10a41391a08a4841023b355c3376a9
--- /dev/null
+++ b/data/spatial codes/ground truth/explicit/47333899.json	
@@ -0,0 +1,229 @@
+{
+ "spatial code schema": {
+  "objects": {
+   "<object class>": {
+    "count": {
+     "unit": null,
+     "description": "number of instances of this class in the compact spatial code (that schema's per-class oriented-box list length)"
+    },
+    "instances": [
+     {
+      "position": {
+       "x coordinate": {
+        "unit": "meters",
+        "description": "x coordinate of this instance's compact 3D oriented bounding box center"
+       },
+       "y coordinate": {
+        "unit": "meters",
+        "description": "y coordinate of this instance's compact 3D oriented bounding box center"
+       },
+       "height above floor": {
+        "unit": "meters",
+        "description": "height coordinate of this instance's compact 3D oriented bounding box center"
+       }
+      },
+      "longest dimension": {
+       "unit": "meters",
+       "description": "longest of this instance's compact 3D oriented bounding box dimensions"
+      }
+     }
+    ]
+   }
+  },
+  "room": {
+   "floor area": {
+    "unit": "square meters",
+    "description": "shoelace area of the compact spatial code's floor boundary polygons, with every interior hole subtracted"
+   }
+  },
+  "closest classes distance meters from": {
+   "<object class>": {
+    "<other object class>": {
+     "distance": {
+      "unit": "meters",
+      "description": "estimated distance in meters between an object of this class and an object of the other class"
+     },
+     "closeness rank": {
+      "unit": null,
+      "description": "1 = the nearest other class to this one, 2 = second-nearest, and so on; ranked by nearest-instance proximity, so use the rank (not the distance values) to compare which class is closest"
+     }
+    }
+   }
+  },
+  "appearance order": {
+   "unit": null,
+   "description": "class names ordered by earliest compact 'first visible time' across all of that class's instances"
+  }
+ },
+ "objects": {
+  "refrigerator": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-1.05 meters",
+      "y coordinate": "1.36 meters",
+      "height above floor": "0.9 meters"
+     },
+     "longest dimension": "1.65 meters"
+    }
+   ]
+  },
+  "chair": {
+   "count": 2,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-3.18 meters",
+      "y coordinate": "0.48 meters",
+      "height above floor": "0.47 meters"
+     },
+     "longest dimension": "0.74 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-1.66 meters",
+      "y coordinate": "0.17 meters",
+      "height above floor": "0.48 meters"
+     },
+     "longest dimension": "0.78 meters"
+    }
+   ]
+  },
+  "stove": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-2.39 meters",
+      "y coordinate": "1.35 meters",
+      "height above floor": "0.87 meters"
+     },
+     "longest dimension": "0.67 meters"
+    }
+   ]
+  },
+  "table": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-2.13 meters",
+      "y coordinate": "-0.14 meters",
+      "height above floor": "0.46 meters"
+     },
+     "longest dimension": "0.91 meters"
+    }
+   ]
+  },
+  "washer": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "2.0 meters",
+      "y coordinate": "0.43 meters",
+      "height above floor": "0.49 meters"
+     },
+     "longest dimension": "0.99 meters"
+    }
+   ]
+  }
+ },
+ "room": {
+  "floor area": "9.8 square meters"
+ },
+ "closest classes distance meters from": {
+  "refrigerator": {
+   "chair": {
+    "distance": "1.15 meters",
+    "closeness rank": 1
+   },
+   "stove": {
+    "distance": "0.79 meters",
+    "closeness rank": 2
+   },
+   "table": {
+    "distance": "0.98 meters",
+    "closeness rank": 3
+   },
+   "washer": {
+    "distance": "2.41 meters",
+    "closeness rank": 4
+   }
+  },
+  "chair": {
+   "table": {
+    "distance": "0.39 meters",
+    "closeness rank": 1
+   },
+   "stove": {
+    "distance": "0.54 meters",
+    "closeness rank": 2
+   },
+   "refrigerator": {
+    "distance": "1.15 meters",
+    "closeness rank": 3
+   },
+   "washer": {
+    "distance": "4.32 meters",
+    "closeness rank": 4
+   }
+  },
+  "stove": {
+   "chair": {
+    "distance": "0.54 meters",
+    "closeness rank": 1
+   },
+   "refrigerator": {
+    "distance": "0.79 meters",
+    "closeness rank": 2
+   },
+   "table": {
+    "distance": "0.9 meters",
+    "closeness rank": 3
+   },
+   "washer": {
+    "distance": "3.81 meters",
+    "closeness rank": 4
+   }
+  },
+  "table": {
+   "chair": {
+    "distance": "0.39 meters",
+    "closeness rank": 1
+   },
+   "stove": {
+    "distance": "0.9 meters",
+    "closeness rank": 2
+   },
+   "refrigerator": {
+    "distance": "0.98 meters",
+    "closeness rank": 3
+   },
+   "washer": {
+    "distance": "3.35 meters",
+    "closeness rank": 4
+   }
+  },
+  "washer": {
+   "refrigerator": {
+    "distance": "2.41 meters",
+    "closeness rank": 1
+   },
+   "chair": {
+    "distance": "4.32 meters",
+    "closeness rank": 2
+   },
+   "table": {
+    "distance": "3.35 meters",
+    "closeness rank": 3
+   },
+   "stove": {
+    "distance": "3.81 meters",
+    "closeness rank": 4
+   }
+  }
+ },
+ "appearance order": ["refrigerator", "chair", "stove", "table", "washer"]
+}
\ No newline at end of file
diff --git a/data/spatial codes/ground truth/explicit/47333918.json b/data/spatial codes/ground truth/explicit/47333918.json
new file mode 100644
index 0000000000000000000000000000000000000000..6c587f1da6776ad90bbb9e30bb7e4767ab9f08da
--- /dev/null
+++ b/data/spatial codes/ground truth/explicit/47333918.json	
@@ -0,0 +1,143 @@
+{
+ "spatial code schema": {
+  "objects": {
+   "<object class>": {
+    "count": {
+     "unit": null,
+     "description": "number of instances of this class in the compact spatial code (that schema's per-class oriented-box list length)"
+    },
+    "instances": [
+     {
+      "position": {
+       "x coordinate": {
+        "unit": "meters",
+        "description": "x coordinate of this instance's compact 3D oriented bounding box center"
+       },
+       "y coordinate": {
+        "unit": "meters",
+        "description": "y coordinate of this instance's compact 3D oriented bounding box center"
+       },
+       "height above floor": {
+        "unit": "meters",
+        "description": "height coordinate of this instance's compact 3D oriented bounding box center"
+       }
+      },
+      "longest dimension": {
+       "unit": "meters",
+       "description": "longest of this instance's compact 3D oriented bounding box dimensions"
+      }
+     }
+    ]
+   }
+  },
+  "room": {
+   "floor area": {
+    "unit": "square meters",
+    "description": "shoelace area of the compact spatial code's floor boundary polygons, with every interior hole subtracted"
+   }
+  },
+  "closest classes distance meters from": {
+   "<object class>": {
+    "<other object class>": {
+     "distance": {
+      "unit": "meters",
+      "description": "estimated distance in meters between an object of this class and an object of the other class"
+     },
+     "closeness rank": {
+      "unit": null,
+      "description": "1 = the nearest other class to this one, 2 = second-nearest, and so on; ranked by nearest-instance proximity, so use the rank (not the distance values) to compare which class is closest"
+     }
+    }
+   }
+  },
+  "appearance order": {
+   "unit": null,
+   "description": "class names ordered by earliest compact 'first visible time' across all of that class's instances"
+  }
+ },
+ "objects": {
+  "stool": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "1.0 meters",
+      "y coordinate": "-0.59 meters",
+      "height above floor": "0.23 meters"
+     },
+     "longest dimension": "0.47 meters"
+    }
+   ]
+  },
+  "tv": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "1.02 meters",
+      "y coordinate": "-1.16 meters",
+      "height above floor": "1.98 meters"
+     },
+     "longest dimension": "0.47 meters"
+    }
+   ]
+  },
+  "table": {
+   "count": 2,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "2.21 meters",
+      "y coordinate": "0.17 meters",
+      "height above floor": "0.43 meters"
+     },
+     "longest dimension": "1.37 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "3.04 meters",
+      "y coordinate": "0.38 meters",
+      "height above floor": "0.5 meters"
+     },
+     "longest dimension": "0.99 meters"
+    }
+   ]
+  }
+ },
+ "room": {
+  "floor area": "14.2 square meters"
+ },
+ "closest classes distance meters from": {
+  "stool": {
+   "table": {
+    "distance": "0.52 meters",
+    "closeness rank": 1
+   },
+   "tv": {
+    "distance": "1.38 meters",
+    "closeness rank": 2
+   }
+  },
+  "tv": {
+   "stool": {
+    "distance": "1.38 meters",
+    "closeness rank": 1
+   },
+   "table": {
+    "distance": "1.53 meters",
+    "closeness rank": 2
+   }
+  },
+  "table": {
+   "stool": {
+    "distance": "0.52 meters",
+    "closeness rank": 1
+   },
+   "tv": {
+    "distance": "1.53 meters",
+    "closeness rank": 2
+   }
+  }
+ },
+ "appearance order": ["stool", "tv", "table"]
+}
\ No newline at end of file
diff --git a/data/spatial codes/ground truth/explicit/47333924.json b/data/spatial codes/ground truth/explicit/47333924.json
new file mode 100644
index 0000000000000000000000000000000000000000..8a04fa8c5a34a56d6426ceea8f0a8cd313cd303f
--- /dev/null
+++ b/data/spatial codes/ground truth/explicit/47333924.json	
@@ -0,0 +1,104 @@
+{
+ "spatial code schema": {
+  "objects": {
+   "<object class>": {
+    "count": {
+     "unit": null,
+     "description": "number of instances of this class in the compact spatial code (that schema's per-class oriented-box list length)"
+    },
+    "instances": [
+     {
+      "position": {
+       "x coordinate": {
+        "unit": "meters",
+        "description": "x coordinate of this instance's compact 3D oriented bounding box center"
+       },
+       "y coordinate": {
+        "unit": "meters",
+        "description": "y coordinate of this instance's compact 3D oriented bounding box center"
+       },
+       "height above floor": {
+        "unit": "meters",
+        "description": "height coordinate of this instance's compact 3D oriented bounding box center"
+       }
+      },
+      "longest dimension": {
+       "unit": "meters",
+       "description": "longest of this instance's compact 3D oriented bounding box dimensions"
+      }
+     }
+    ]
+   }
+  },
+  "room": {
+   "floor area": {
+    "unit": "square meters",
+    "description": "shoelace area of the compact spatial code's floor boundary polygons, with every interior hole subtracted"
+   }
+  },
+  "closest classes distance meters from": {
+   "<object class>": {
+    "<other object class>": {
+     "distance": {
+      "unit": "meters",
+      "description": "estimated distance in meters between an object of this class and an object of the other class"
+     },
+     "closeness rank": {
+      "unit": null,
+      "description": "1 = the nearest other class to this one, 2 = second-nearest, and so on; ranked by nearest-instance proximity, so use the rank (not the distance values) to compare which class is closest"
+     }
+    }
+   }
+  },
+  "appearance order": {
+   "unit": null,
+   "description": "class names ordered by earliest compact 'first visible time' across all of that class's instances"
+  }
+ },
+ "objects": {
+  "bathtub": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "1.15 meters",
+      "y coordinate": "1.4 meters",
+      "height above floor": "0.31 meters"
+     },
+     "longest dimension": "1.38 meters"
+    }
+   ]
+  },
+  "washer": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "1.53 meters",
+      "y coordinate": "0.31 meters",
+      "height above floor": "0.42 meters"
+     },
+     "longest dimension": "0.85 meters"
+    }
+   ]
+  }
+ },
+ "room": {
+  "floor area": "5.4 square meters"
+ },
+ "closest classes distance meters from": {
+  "bathtub": {
+   "washer": {
+    "distance": "0.53 meters",
+    "closeness rank": 1
+   }
+  },
+  "washer": {
+   "bathtub": {
+    "distance": "0.53 meters",
+    "closeness rank": 1
+   }
+  }
+ },
+ "appearance order": ["bathtub", "washer"]
+}
\ No newline at end of file
diff --git a/data/spatial codes/ground truth/explicit/47333932.json b/data/spatial codes/ground truth/explicit/47333932.json
new file mode 100644
index 0000000000000000000000000000000000000000..ad3581f56498aba32fc3c1ccefb89c46eba6e579
--- /dev/null
+++ b/data/spatial codes/ground truth/explicit/47333932.json	
@@ -0,0 +1,190 @@
+{
+ "spatial code schema": {
+  "objects": {
+   "<object class>": {
+    "count": {
+     "unit": null,
+     "description": "number of instances of this class in the compact spatial code (that schema's per-class oriented-box list length)"
+    },
+    "instances": [
+     {
+      "position": {
+       "x coordinate": {
+        "unit": "meters",
+        "description": "x coordinate of this instance's compact 3D oriented bounding box center"
+       },
+       "y coordinate": {
+        "unit": "meters",
+        "description": "y coordinate of this instance's compact 3D oriented bounding box center"
+       },
+       "height above floor": {
+        "unit": "meters",
+        "description": "height coordinate of this instance's compact 3D oriented bounding box center"
+       }
+      },
+      "longest dimension": {
+       "unit": "meters",
+       "description": "longest of this instance's compact 3D oriented bounding box dimensions"
+      }
+     }
+    ]
+   }
+  },
+  "room": {
+   "floor area": {
+    "unit": "square meters",
+    "description": "shoelace area of the compact spatial code's floor boundary polygons, with every interior hole subtracted"
+   }
+  },
+  "closest classes distance meters from": {
+   "<object class>": {
+    "<other object class>": {
+     "distance": {
+      "unit": "meters",
+      "description": "estimated distance in meters between an object of this class and an object of the other class"
+     },
+     "closeness rank": {
+      "unit": null,
+      "description": "1 = the nearest other class to this one, 2 = second-nearest, and so on; ranked by nearest-instance proximity, so use the rank (not the distance values) to compare which class is closest"
+     }
+    }
+   }
+  },
+  "appearance order": {
+   "unit": null,
+   "description": "class names ordered by earliest compact 'first visible time' across all of that class's instances"
+  }
+ },
+ "objects": {
+  "chair": {
+   "count": 3,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "1.09 meters",
+      "y coordinate": "1.0 meters",
+      "height above floor": "0.53 meters"
+     },
+     "longest dimension": "1.04 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "1.42 meters",
+      "y coordinate": "3.6 meters",
+      "height above floor": "0.56 meters"
+     },
+     "longest dimension": "1.1 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "2.71 meters",
+      "y coordinate": "2.52 meters",
+      "height above floor": "0.53 meters"
+     },
+     "longest dimension": "1.06 meters"
+    }
+   ]
+  },
+  "bed": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "1.47 meters",
+      "y coordinate": "2.17 meters",
+      "height above floor": "0.25 meters"
+     },
+     "longest dimension": "1.9 meters"
+    }
+   ]
+  },
+  "table": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "2.71 meters",
+      "y coordinate": "3.47 meters",
+      "height above floor": "0.4 meters"
+     },
+     "longest dimension": "1.13 meters"
+    }
+   ]
+  },
+  "stool": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "1.97 meters",
+      "y coordinate": "3.61 meters",
+      "height above floor": "0.23 meters"
+     },
+     "longest dimension": "0.43 meters"
+    }
+   ]
+  }
+ },
+ "room": {
+  "floor area": "17.7 square meters"
+ },
+ "closest classes distance meters from": {
+  "chair": {
+   "bed": {
+    "distance": "0.02 meters",
+    "closeness rank": 1
+   },
+   "stool": {
+    "distance": "2.04 meters",
+    "closeness rank": 2
+   },
+   "table": {
+    "distance": "1.87 meters",
+    "closeness rank": 3
+   }
+  },
+  "bed": {
+   "chair": {
+    "distance": "0.02 meters",
+    "closeness rank": 1
+   },
+   "table": {
+    "distance": "0.29 meters",
+    "closeness rank": 2
+   },
+   "stool": {
+    "distance": "0.38 meters",
+    "closeness rank": 3
+   }
+  },
+  "table": {
+   "stool": {
+    "distance": "0.04 meters",
+    "closeness rank": 1
+   },
+   "bed": {
+    "distance": "0.29 meters",
+    "closeness rank": 2
+   },
+   "chair": {
+    "distance": "1.87 meters",
+    "closeness rank": 3
+   }
+  },
+  "stool": {
+   "table": {
+    "distance": "0.04 meters",
+    "closeness rank": 1
+   },
+   "chair": {
+    "distance": "2.04 meters",
+    "closeness rank": 2
+   },
+   "bed": {
+    "distance": "0.38 meters",
+    "closeness rank": 3
+   }
+  }
+ },
+ "appearance order": ["chair", "bed", "table", "stool"]
+}
\ No newline at end of file
diff --git a/data/spatial codes/ground truth/explicit/47333940.json b/data/spatial codes/ground truth/explicit/47333940.json
new file mode 100644
index 0000000000000000000000000000000000000000..6fa6845bcd304b2daffe2f2efa3b1f81a37addc2
--- /dev/null
+++ b/data/spatial codes/ground truth/explicit/47333940.json	
@@ -0,0 +1,222 @@
+{
+ "spatial code schema": {
+  "objects": {
+   "<object class>": {
+    "count": {
+     "unit": null,
+     "description": "number of instances of this class in the compact spatial code (that schema's per-class oriented-box list length)"
+    },
+    "instances": [
+     {
+      "position": {
+       "x coordinate": {
+        "unit": "meters",
+        "description": "x coordinate of this instance's compact 3D oriented bounding box center"
+       },
+       "y coordinate": {
+        "unit": "meters",
+        "description": "y coordinate of this instance's compact 3D oriented bounding box center"
+       },
+       "height above floor": {
+        "unit": "meters",
+        "description": "height coordinate of this instance's compact 3D oriented bounding box center"
+       }
+      },
+      "longest dimension": {
+       "unit": "meters",
+       "description": "longest of this instance's compact 3D oriented bounding box dimensions"
+      }
+     }
+    ]
+   }
+  },
+  "room": {
+   "floor area": {
+    "unit": "square meters",
+    "description": "shoelace area of the compact spatial code's floor boundary polygons, with every interior hole subtracted"
+   }
+  },
+  "closest classes distance meters from": {
+   "<object class>": {
+    "<other object class>": {
+     "distance": {
+      "unit": "meters",
+      "description": "estimated distance in meters between an object of this class and an object of the other class"
+     },
+     "closeness rank": {
+      "unit": null,
+      "description": "1 = the nearest other class to this one, 2 = second-nearest, and so on; ranked by nearest-instance proximity, so use the rank (not the distance values) to compare which class is closest"
+     }
+    }
+   }
+  },
+  "appearance order": {
+   "unit": null,
+   "description": "class names ordered by earliest compact 'first visible time' across all of that class's instances"
+  }
+ },
+ "objects": {
+  "sofa": {
+   "count": 3,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-3.22 meters",
+      "y coordinate": "1.25 meters",
+      "height above floor": "0.5 meters"
+     },
+     "longest dimension": "1.87 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-3.39 meters",
+      "y coordinate": "2.61 meters",
+      "height above floor": "0.49 meters"
+     },
+     "longest dimension": "0.99 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "0.22 meters",
+      "y coordinate": "3.43 meters",
+      "height above floor": "0.52 meters"
+     },
+     "longest dimension": "0.95 meters"
+    }
+   ]
+  },
+  "table": {
+   "count": 4,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-3.01 meters",
+      "y coordinate": "3.37 meters",
+      "height above floor": "0.33 meters"
+     },
+     "longest dimension": "0.69 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-0.65 meters",
+      "y coordinate": "3.55 meters",
+      "height above floor": "0.13 meters"
+     },
+     "longest dimension": "0.42 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "0.48 meters",
+      "y coordinate": "2.54 meters",
+      "height above floor": "0.29 meters"
+     },
+     "longest dimension": "0.83 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "0.13 meters",
+      "y coordinate": "4.05 meters",
+      "height above floor": "0.37 meters"
+     },
+     "longest dimension": "0.82 meters"
+    }
+   ]
+  },
+  "tv": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "0.5 meters",
+      "y coordinate": "2.5 meters",
+      "height above floor": "0.89 meters"
+     },
+     "longest dimension": "0.96 meters"
+    }
+   ]
+  },
+  "chair": {
+   "count": 2,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "0.57 meters",
+      "y coordinate": "1.86 meters",
+      "height above floor": "0.47 meters"
+     },
+     "longest dimension": "0.85 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "0.63 meters",
+      "y coordinate": "1.4 meters",
+      "height above floor": "0.48 meters"
+     },
+     "longest dimension": "0.87 meters"
+    }
+   ]
+  }
+ },
+ "room": {
+  "floor area": "24.3 square meters"
+ },
+ "closest classes distance meters from": {
+  "sofa": {
+   "table": {
+    "distance": "0.86 meters",
+    "closeness rank": 1
+   },
+   "tv": {
+    "distance": "2.53 meters",
+    "closeness rank": 2
+   },
+   "chair": {
+    "distance": "2.48 meters",
+    "closeness rank": 3
+   }
+  },
+  "table": {
+   "tv": {
+    "distance": "2.83 meters",
+    "closeness rank": 1
+   },
+   "sofa": {
+    "distance": "0.86 meters",
+    "closeness rank": 2
+   },
+   "chair": {
+    "distance": "3.12 meters",
+    "closeness rank": 3
+   }
+  },
+  "tv": {
+   "chair": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "table": {
+    "distance": "2.83 meters",
+    "closeness rank": 2
+   },
+   "sofa": {
+    "distance": "2.53 meters",
+    "closeness rank": 3
+   }
+  },
+  "chair": {
+   "tv": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "table": {
+    "distance": "3.12 meters",
+    "closeness rank": 2
+   },
+   "sofa": {
+    "distance": "2.48 meters",
+    "closeness rank": 3
+   }
+  }
+ },
+ "appearance order": ["sofa", "table", "tv", "chair"]
+}
\ No newline at end of file
diff --git a/data/spatial codes/ground truth/explicit/47334096.json b/data/spatial codes/ground truth/explicit/47334096.json
new file mode 100644
index 0000000000000000000000000000000000000000..90c1009f80e3b3a3602b9f5298408353a259e2b3
--- /dev/null
+++ b/data/spatial codes/ground truth/explicit/47334096.json	
@@ -0,0 +1,316 @@
+{
+ "spatial code schema": {
+  "objects": {
+   "<object class>": {
+    "count": {
+     "unit": null,
+     "description": "number of instances of this class in the compact spatial code (that schema's per-class oriented-box list length)"
+    },
+    "instances": [
+     {
+      "position": {
+       "x coordinate": {
+        "unit": "meters",
+        "description": "x coordinate of this instance's compact 3D oriented bounding box center"
+       },
+       "y coordinate": {
+        "unit": "meters",
+        "description": "y coordinate of this instance's compact 3D oriented bounding box center"
+       },
+       "height above floor": {
+        "unit": "meters",
+        "description": "height coordinate of this instance's compact 3D oriented bounding box center"
+       }
+      },
+      "longest dimension": {
+       "unit": "meters",
+       "description": "longest of this instance's compact 3D oriented bounding box dimensions"
+      }
+     }
+    ]
+   }
+  },
+  "room": {
+   "floor area": {
+    "unit": "square meters",
+    "description": "shoelace area of the compact spatial code's floor boundary polygons, with every interior hole subtracted"
+   }
+  },
+  "closest classes distance meters from": {
+   "<object class>": {
+    "<other object class>": {
+     "distance": {
+      "unit": "meters",
+      "description": "estimated distance in meters between an object of this class and an object of the other class"
+     },
+     "closeness rank": {
+      "unit": null,
+      "description": "1 = the nearest other class to this one, 2 = second-nearest, and so on; ranked by nearest-instance proximity, so use the rank (not the distance values) to compare which class is closest"
+     }
+    }
+   }
+  },
+  "appearance order": {
+   "unit": null,
+   "description": "class names ordered by earliest compact 'first visible time' across all of that class's instances"
+  }
+ },
+ "objects": {
+  "table": {
+   "count": 2,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-0.9 meters",
+      "y coordinate": "5.15 meters",
+      "height above floor": "0.47 meters"
+     },
+     "longest dimension": "1.29 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-4.16 meters",
+      "y coordinate": "3.99 meters",
+      "height above floor": "0.24 meters"
+     },
+     "longest dimension": "1.68 meters"
+    }
+   ]
+  },
+  "chair": {
+   "count": 5,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-1.19 meters",
+      "y coordinate": "4.8 meters",
+      "height above floor": "0.56 meters"
+     },
+     "longest dimension": "0.95 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-1.27 meters",
+      "y coordinate": "5.37 meters",
+      "height above floor": "0.56 meters"
+     },
+     "longest dimension": "0.94 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-0.54 meters",
+      "y coordinate": "4.9 meters",
+      "height above floor": "0.56 meters"
+     },
+     "longest dimension": "0.94 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-0.6 meters",
+      "y coordinate": "5.47 meters",
+      "height above floor": "0.55 meters"
+     },
+     "longest dimension": "0.94 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-2.34 meters",
+      "y coordinate": "5.09 meters",
+      "height above floor": "1.11 meters"
+     },
+     "longest dimension": "1.08 meters"
+    }
+   ]
+  },
+  "stool": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-0.79 meters",
+      "y coordinate": "0.42 meters",
+      "height above floor": "0.31 meters"
+     },
+     "longest dimension": "0.76 meters"
+    }
+   ]
+  },
+  "sofa": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-1.78 meters",
+      "y coordinate": "3.0 meters",
+      "height above floor": "0.37 meters"
+     },
+     "longest dimension": "1.79 meters"
+    }
+   ]
+  },
+  "tv": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-4.2 meters",
+      "y coordinate": "3.51 meters",
+      "height above floor": "1.17 meters"
+     },
+     "longest dimension": "0.86 meters"
+    }
+   ]
+  },
+  "stove": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "0.58 meters",
+      "y coordinate": "4.24 meters",
+      "height above floor": "0.98 meters"
+     },
+     "longest dimension": "0.58 meters"
+    }
+   ]
+  }
+ },
+ "room": {
+  "floor area": "39.3 square meters"
+ },
+ "closest classes distance meters from": {
+  "table": {
+   "chair": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "tv": {
+    "distance": "2.68 meters",
+    "closeness rank": 2
+   },
+   "sofa": {
+    "distance": "0.79 meters",
+    "closeness rank": 3
+   },
+   "stove": {
+    "distance": "0.88 meters",
+    "closeness rank": 4
+   },
+   "stool": {
+    "distance": "3.71 meters",
+    "closeness rank": 5
+   }
+  },
+  "chair": {
+   "table": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "stove": {
+    "distance": "1.14 meters",
+    "closeness rank": 2
+   },
+   "sofa": {
+    "distance": "0.59 meters",
+    "closeness rank": 3
+   },
+   "tv": {
+    "distance": "2.43 meters",
+    "closeness rank": 4
+   },
+   "stool": {
+    "distance": "3.77 meters",
+    "closeness rank": 5
+   }
+  },
+  "stool": {
+   "sofa": {
+    "distance": "1.49 meters",
+    "closeness rank": 1
+   },
+   "stove": {
+    "distance": "3.44 meters",
+    "closeness rank": 2
+   },
+   "table": {
+    "distance": "3.71 meters",
+    "closeness rank": 3
+   },
+   "chair": {
+    "distance": "3.77 meters",
+    "closeness rank": 4
+   },
+   "tv": {
+    "distance": "3.92 meters",
+    "closeness rank": 5
+   }
+  },
+  "sofa": {
+   "table": {
+    "distance": "0.79 meters",
+    "closeness rank": 1
+   },
+   "chair": {
+    "distance": "0.59 meters",
+    "closeness rank": 2
+   },
+   "stool": {
+    "distance": "1.49 meters",
+    "closeness rank": 3
+   },
+   "stove": {
+    "distance": "1.77 meters",
+    "closeness rank": 4
+   },
+   "tv": {
+    "distance": "1.86 meters",
+    "closeness rank": 5
+   }
+  },
+  "tv": {
+   "table": {
+    "distance": "2.68 meters",
+    "closeness rank": 1
+   },
+   "chair": {
+    "distance": "2.43 meters",
+    "closeness rank": 2
+   },
+   "sofa": {
+    "distance": "1.86 meters",
+    "closeness rank": 3
+   },
+   "stool": {
+    "distance": "3.92 meters",
+    "closeness rank": 4
+   },
+   "stove": {
+    "distance": "4.49 meters",
+    "closeness rank": 5
+   }
+  },
+  "stove": {
+   "chair": {
+    "distance": "1.14 meters",
+    "closeness rank": 1
+   },
+   "table": {
+    "distance": "0.88 meters",
+    "closeness rank": 2
+   },
+   "sofa": {
+    "distance": "1.77 meters",
+    "closeness rank": 3
+   },
+   "stool": {
+    "distance": "3.44 meters",
+    "closeness rank": 4
+   },
+   "tv": {
+    "distance": "4.49 meters",
+    "closeness rank": 5
+   }
+  }
+ },
+ "appearance order": ["table", "chair", "stool", "sofa", "tv", "stove"]
+}
\ No newline at end of file
diff --git a/data/spatial codes/ground truth/explicit/47334103.json b/data/spatial codes/ground truth/explicit/47334103.json
new file mode 100644
index 0000000000000000000000000000000000000000..a2d5b57ec13eb12a6c4ef5c916f4340cce18bb72
--- /dev/null
+++ b/data/spatial codes/ground truth/explicit/47334103.json	
@@ -0,0 +1,308 @@
+{
+ "spatial code schema": {
+  "objects": {
+   "<object class>": {
+    "count": {
+     "unit": null,
+     "description": "number of instances of this class in the compact spatial code (that schema's per-class oriented-box list length)"
+    },
+    "instances": [
+     {
+      "position": {
+       "x coordinate": {
+        "unit": "meters",
+        "description": "x coordinate of this instance's compact 3D oriented bounding box center"
+       },
+       "y coordinate": {
+        "unit": "meters",
+        "description": "y coordinate of this instance's compact 3D oriented bounding box center"
+       },
+       "height above floor": {
+        "unit": "meters",
+        "description": "height coordinate of this instance's compact 3D oriented bounding box center"
+       }
+      },
+      "longest dimension": {
+       "unit": "meters",
+       "description": "longest of this instance's compact 3D oriented bounding box dimensions"
+      }
+     }
+    ]
+   }
+  },
+  "room": {
+   "floor area": {
+    "unit": "square meters",
+    "description": "shoelace area of the compact spatial code's floor boundary polygons, with every interior hole subtracted"
+   }
+  },
+  "closest classes distance meters from": {
+   "<object class>": {
+    "<other object class>": {
+     "distance": {
+      "unit": "meters",
+      "description": "estimated distance in meters between an object of this class and an object of the other class"
+     },
+     "closeness rank": {
+      "unit": null,
+      "description": "1 = the nearest other class to this one, 2 = second-nearest, and so on; ranked by nearest-instance proximity, so use the rank (not the distance values) to compare which class is closest"
+     }
+    }
+   }
+  },
+  "appearance order": {
+   "unit": null,
+   "description": "class names ordered by earliest compact 'first visible time' across all of that class's instances"
+  }
+ },
+ "objects": {
+  "stool": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-1.01 meters",
+      "y coordinate": "0.2 meters",
+      "height above floor": "0.19 meters"
+     },
+     "longest dimension": "0.66 meters"
+    }
+   ]
+  },
+  "tv": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "2.44 meters",
+      "y coordinate": "3.19 meters",
+      "height above floor": "1.1 meters"
+     },
+     "longest dimension": "0.9 meters"
+    }
+   ]
+  },
+  "sofa": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "1.61 meters",
+      "y coordinate": "0.83 meters",
+      "height above floor": "0.47 meters"
+     },
+     "longest dimension": "1.84 meters"
+    }
+   ]
+  },
+  "chair": {
+   "count": 5,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "3.83 meters",
+      "y coordinate": "1.13 meters",
+      "height above floor": "1.0 meters"
+     },
+     "longest dimension": "1.08 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "3.44 meters",
+      "y coordinate": "-0.78 meters",
+      "height above floor": "0.46 meters"
+     },
+     "longest dimension": "0.92 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "3.91 meters",
+      "y coordinate": "-0.78 meters",
+      "height above floor": "0.46 meters"
+     },
+     "longest dimension": "0.92 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "3.92 meters",
+      "y coordinate": "0.11 meters",
+      "height above floor": "0.47 meters"
+     },
+     "longest dimension": "0.94 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "3.32 meters",
+      "y coordinate": "0.1 meters",
+      "height above floor": "0.48 meters"
+     },
+     "longest dimension": "0.95 meters"
+    }
+   ]
+  },
+  "table": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "3.68 meters",
+      "y coordinate": "-0.35 meters",
+      "height above floor": "0.38 meters"
+     },
+     "longest dimension": "1.39 meters"
+    }
+   ]
+  },
+  "bathtub": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-1.65 meters",
+      "y coordinate": "0.88 meters",
+      "height above floor": "0.24 meters"
+     },
+     "longest dimension": "1.64 meters"
+    }
+   ]
+  }
+ },
+ "room": {
+  "floor area": "40.9 square meters"
+ },
+ "closest classes distance meters from": {
+  "stool": {
+   "bathtub": {
+    "distance": "0.07 meters",
+    "closeness rank": 1
+   },
+   "sofa": {
+    "distance": "1.46 meters",
+    "closeness rank": 2
+   },
+   "table": {
+    "distance": "3.7 meters",
+    "closeness rank": 3
+   },
+   "chair": {
+    "distance": "4.12 meters",
+    "closeness rank": 4
+   },
+   "tv": {
+    "distance": "3.95 meters",
+    "closeness rank": 5
+   }
+  },
+  "tv": {
+   "chair": {
+    "distance": "1.61 meters",
+    "closeness rank": 1
+   },
+   "sofa": {
+    "distance": "1.78 meters",
+    "closeness rank": 2
+   },
+   "table": {
+    "distance": "2.9 meters",
+    "closeness rank": 3
+   },
+   "bathtub": {
+    "distance": "3.51 meters",
+    "closeness rank": 4
+   },
+   "stool": {
+    "distance": "3.95 meters",
+    "closeness rank": 5
+   }
+  },
+  "sofa": {
+   "table": {
+    "distance": "0.77 meters",
+    "closeness rank": 1
+   },
+   "chair": {
+    "distance": "0.84 meters",
+    "closeness rank": 2
+   },
+   "stool": {
+    "distance": "1.46 meters",
+    "closeness rank": 3
+   },
+   "bathtub": {
+    "distance": "1.53 meters",
+    "closeness rank": 4
+   },
+   "tv": {
+    "distance": "1.78 meters",
+    "closeness rank": 5
+   }
+  },
+  "chair": {
+   "table": {
+    "distance": "0.38 meters",
+    "closeness rank": 1
+   },
+   "sofa": {
+    "distance": "0.84 meters",
+    "closeness rank": 2
+   },
+   "tv": {
+    "distance": "1.61 meters",
+    "closeness rank": 3
+   },
+   "stool": {
+    "distance": "4.12 meters",
+    "closeness rank": 4
+   },
+   "bathtub": {
+    "distance": "4.18 meters",
+    "closeness rank": 5
+   }
+  },
+  "table": {
+   "chair": {
+    "distance": "0.38 meters",
+    "closeness rank": 1
+   },
+   "sofa": {
+    "distance": "0.77 meters",
+    "closeness rank": 2
+   },
+   "tv": {
+    "distance": "2.9 meters",
+    "closeness rank": 3
+   },
+   "stool": {
+    "distance": "3.7 meters",
+    "closeness rank": 4
+   },
+   "bathtub": {
+    "distance": "3.96 meters",
+    "closeness rank": 5
+   }
+  },
+  "bathtub": {
+   "stool": {
+    "distance": "0.07 meters",
+    "closeness rank": 1
+   },
+   "sofa": {
+    "distance": "1.53 meters",
+    "closeness rank": 2
+   },
+   "tv": {
+    "distance": "3.51 meters",
+    "closeness rank": 3
+   },
+   "table": {
+    "distance": "3.96 meters",
+    "closeness rank": 4
+   },
+   "chair": {
+    "distance": "4.18 meters",
+    "closeness rank": 5
+   }
+  }
+ },
+ "appearance order": ["stool", "tv", "sofa", "chair", "table", "bathtub"]
+}
\ No newline at end of file
diff --git a/data/spatial codes/ground truth/explicit/47334107.json b/data/spatial codes/ground truth/explicit/47334107.json
new file mode 100644
index 0000000000000000000000000000000000000000..64409ece4e5b8471810514433922842eab7738d1
--- /dev/null
+++ b/data/spatial codes/ground truth/explicit/47334107.json	
@@ -0,0 +1,174 @@
+{
+ "spatial code schema": {
+  "objects": {
+   "<object class>": {
+    "count": {
+     "unit": null,
+     "description": "number of instances of this class in the compact spatial code (that schema's per-class oriented-box list length)"
+    },
+    "instances": [
+     {
+      "position": {
+       "x coordinate": {
+        "unit": "meters",
+        "description": "x coordinate of this instance's compact 3D oriented bounding box center"
+       },
+       "y coordinate": {
+        "unit": "meters",
+        "description": "y coordinate of this instance's compact 3D oriented bounding box center"
+       },
+       "height above floor": {
+        "unit": "meters",
+        "description": "height coordinate of this instance's compact 3D oriented bounding box center"
+       }
+      },
+      "longest dimension": {
+       "unit": "meters",
+       "description": "longest of this instance's compact 3D oriented bounding box dimensions"
+      }
+     }
+    ]
+   }
+  },
+  "room": {
+   "floor area": {
+    "unit": "square meters",
+    "description": "shoelace area of the compact spatial code's floor boundary polygons, with every interior hole subtracted"
+   }
+  },
+  "closest classes distance meters from": {
+   "<object class>": {
+    "<other object class>": {
+     "distance": {
+      "unit": "meters",
+      "description": "estimated distance in meters between an object of this class and an object of the other class"
+     },
+     "closeness rank": {
+      "unit": null,
+      "description": "1 = the nearest other class to this one, 2 = second-nearest, and so on; ranked by nearest-instance proximity, so use the rank (not the distance values) to compare which class is closest"
+     }
+    }
+   }
+  },
+  "appearance order": {
+   "unit": null,
+   "description": "class names ordered by earliest compact 'first visible time' across all of that class's instances"
+  }
+ },
+ "objects": {
+  "washer": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "1.19 meters",
+      "y coordinate": "1.7 meters",
+      "height above floor": "0.5 meters"
+     },
+     "longest dimension": "0.83 meters"
+    }
+   ]
+  },
+  "toilet": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "0.89 meters",
+      "y coordinate": "2.3 meters",
+      "height above floor": "0.3 meters"
+     },
+     "longest dimension": "0.54 meters"
+    }
+   ]
+  },
+  "bathtub": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-1.08 meters",
+      "y coordinate": "1.84 meters",
+      "height above floor": "0.38 meters"
+     },
+     "longest dimension": "1.61 meters"
+    }
+   ]
+  },
+  "sofa": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-0.6 meters",
+      "y coordinate": "-1.52 meters",
+      "height above floor": "0.47 meters"
+     },
+     "longest dimension": "2.03 meters"
+    }
+   ]
+  }
+ },
+ "room": {
+  "floor area": "17.3 square meters"
+ },
+ "closest classes distance meters from": {
+  "washer": {
+   "toilet": {
+    "distance": "0.16 meters",
+    "closeness rank": 1
+   },
+   "bathtub": {
+    "distance": "1.61 meters",
+    "closeness rank": 2
+   },
+   "sofa": {
+    "distance": "2.25 meters",
+    "closeness rank": 3
+   }
+  },
+  "toilet": {
+   "washer": {
+    "distance": "0.16 meters",
+    "closeness rank": 1
+   },
+   "bathtub": {
+    "distance": "1.38 meters",
+    "closeness rank": 2
+   },
+   "sofa": {
+    "distance": "2.82 meters",
+    "closeness rank": 3
+   }
+  },
+  "bathtub": {
+   "toilet": {
+    "distance": "1.38 meters",
+    "closeness rank": 1
+   },
+   "sofa": {
+    "distance": "1.58 meters",
+    "closeness rank": 2
+   },
+   "washer": {
+    "distance": "1.61 meters",
+    "closeness rank": 3
+   }
+  },
+  "sofa": {
+   "bathtub": {
+    "distance": "1.58 meters",
+    "closeness rank": 1
+   },
+   "washer": {
+    "distance": "2.25 meters",
+    "closeness rank": 2
+   },
+   "toilet": {
+    "distance": "2.82 meters",
+    "closeness rank": 3
+   }
+  }
+ },
+ "appearance order": ["washer", "toilet", "bathtub", "sofa"]
+}
\ No newline at end of file
diff --git a/data/spatial codes/ground truth/explicit/47334117.json b/data/spatial codes/ground truth/explicit/47334117.json
new file mode 100644
index 0000000000000000000000000000000000000000..93f5f4cdb234e8cbedc52647c4987d879805d79f
--- /dev/null
+++ b/data/spatial codes/ground truth/explicit/47334117.json	
@@ -0,0 +1,174 @@
+{
+ "spatial code schema": {
+  "objects": {
+   "<object class>": {
+    "count": {
+     "unit": null,
+     "description": "number of instances of this class in the compact spatial code (that schema's per-class oriented-box list length)"
+    },
+    "instances": [
+     {
+      "position": {
+       "x coordinate": {
+        "unit": "meters",
+        "description": "x coordinate of this instance's compact 3D oriented bounding box center"
+       },
+       "y coordinate": {
+        "unit": "meters",
+        "description": "y coordinate of this instance's compact 3D oriented bounding box center"
+       },
+       "height above floor": {
+        "unit": "meters",
+        "description": "height coordinate of this instance's compact 3D oriented bounding box center"
+       }
+      },
+      "longest dimension": {
+       "unit": "meters",
+       "description": "longest of this instance's compact 3D oriented bounding box dimensions"
+      }
+     }
+    ]
+   }
+  },
+  "room": {
+   "floor area": {
+    "unit": "square meters",
+    "description": "shoelace area of the compact spatial code's floor boundary polygons, with every interior hole subtracted"
+   }
+  },
+  "closest classes distance meters from": {
+   "<object class>": {
+    "<other object class>": {
+     "distance": {
+      "unit": "meters",
+      "description": "estimated distance in meters between an object of this class and an object of the other class"
+     },
+     "closeness rank": {
+      "unit": null,
+      "description": "1 = the nearest other class to this one, 2 = second-nearest, and so on; ranked by nearest-instance proximity, so use the rank (not the distance values) to compare which class is closest"
+     }
+    }
+   }
+  },
+  "appearance order": {
+   "unit": null,
+   "description": "class names ordered by earliest compact 'first visible time' across all of that class's instances"
+  }
+ },
+ "objects": {
+  "stool": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "4.24 meters",
+      "y coordinate": "0.61 meters",
+      "height above floor": "0.46 meters"
+     },
+     "longest dimension": "0.75 meters"
+    }
+   ]
+  },
+  "bed": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "3.14 meters",
+      "y coordinate": "-1.95 meters",
+      "height above floor": "0.38 meters"
+     },
+     "longest dimension": "2.16 meters"
+    }
+   ]
+  },
+  "chair": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "1.36 meters",
+      "y coordinate": "-2.78 meters",
+      "height above floor": "0.6 meters"
+     },
+     "longest dimension": "1.01 meters"
+    }
+   ]
+  },
+  "sofa": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-1.8 meters",
+      "y coordinate": "-0.07 meters",
+      "height above floor": "0.54 meters"
+     },
+     "longest dimension": "1.07 meters"
+    }
+   ]
+  }
+ },
+ "room": {
+  "floor area": "24.3 square meters"
+ },
+ "closest classes distance meters from": {
+  "stool": {
+   "bed": {
+    "distance": "1.37 meters",
+    "closeness rank": 1
+   },
+   "chair": {
+    "distance": "3.97 meters",
+    "closeness rank": 2
+   },
+   "sofa": {
+    "distance": "5.5 meters",
+    "closeness rank": 3
+   }
+  },
+  "bed": {
+   "chair": {
+    "distance": "0.65 meters",
+    "closeness rank": 1
+   },
+   "stool": {
+    "distance": "1.37 meters",
+    "closeness rank": 2
+   },
+   "sofa": {
+    "distance": "3.67 meters",
+    "closeness rank": 3
+   }
+  },
+  "chair": {
+   "bed": {
+    "distance": "0.65 meters",
+    "closeness rank": 1
+   },
+   "sofa": {
+    "distance": "3.12 meters",
+    "closeness rank": 2
+   },
+   "stool": {
+    "distance": "3.97 meters",
+    "closeness rank": 3
+   }
+  },
+  "sofa": {
+   "chair": {
+    "distance": "3.12 meters",
+    "closeness rank": 1
+   },
+   "bed": {
+    "distance": "3.67 meters",
+    "closeness rank": 2
+   },
+   "stool": {
+    "distance": "5.5 meters",
+    "closeness rank": 3
+   }
+  }
+ },
+ "appearance order": ["stool", "bed", "chair", "sofa"]
+}
\ No newline at end of file
diff --git a/data/spatial codes/ground truth/explicit/47334238.json b/data/spatial codes/ground truth/explicit/47334238.json
new file mode 100644
index 0000000000000000000000000000000000000000..3172f76071bde7b3a91706b6fcabfd18e2eb962c
--- /dev/null
+++ b/data/spatial codes/ground truth/explicit/47334238.json	
@@ -0,0 +1,230 @@
+{
+ "spatial code schema": {
+  "objects": {
+   "<object class>": {
+    "count": {
+     "unit": null,
+     "description": "number of instances of this class in the compact spatial code (that schema's per-class oriented-box list length)"
+    },
+    "instances": [
+     {
+      "position": {
+       "x coordinate": {
+        "unit": "meters",
+        "description": "x coordinate of this instance's compact 3D oriented bounding box center"
+       },
+       "y coordinate": {
+        "unit": "meters",
+        "description": "y coordinate of this instance's compact 3D oriented bounding box center"
+       },
+       "height above floor": {
+        "unit": "meters",
+        "description": "height coordinate of this instance's compact 3D oriented bounding box center"
+       }
+      },
+      "longest dimension": {
+       "unit": "meters",
+       "description": "longest of this instance's compact 3D oriented bounding box dimensions"
+      }
+     }
+    ]
+   }
+  },
+  "room": {
+   "floor area": {
+    "unit": "square meters",
+    "description": "shoelace area of the compact spatial code's floor boundary polygons, with every interior hole subtracted"
+   }
+  },
+  "closest classes distance meters from": {
+   "<object class>": {
+    "<other object class>": {
+     "distance": {
+      "unit": "meters",
+      "description": "estimated distance in meters between an object of this class and an object of the other class"
+     },
+     "closeness rank": {
+      "unit": null,
+      "description": "1 = the nearest other class to this one, 2 = second-nearest, and so on; ranked by nearest-instance proximity, so use the rank (not the distance values) to compare which class is closest"
+     }
+    }
+   }
+  },
+  "appearance order": {
+   "unit": null,
+   "description": "class names ordered by earliest compact 'first visible time' across all of that class's instances"
+  }
+ },
+ "objects": {
+  "table": {
+   "count": 2,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-1.14 meters",
+      "y coordinate": "2.62 meters",
+      "height above floor": "0.47 meters"
+     },
+     "longest dimension": "1.36 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "1.01 meters",
+      "y coordinate": "2.31 meters",
+      "height above floor": "0.36 meters"
+     },
+     "longest dimension": "0.73 meters"
+    }
+   ]
+  },
+  "chair": {
+   "count": 6,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-1.11 meters",
+      "y coordinate": "3.52 meters",
+      "height above floor": "0.55 meters"
+     },
+     "longest dimension": "0.96 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-1.74 meters",
+      "y coordinate": "2.83 meters",
+      "height above floor": "0.54 meters"
+     },
+     "longest dimension": "0.94 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-1.54 meters",
+      "y coordinate": "2.37 meters",
+      "height above floor": "0.54 meters"
+     },
+     "longest dimension": "0.94 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-1.21 meters",
+      "y coordinate": "1.69 meters",
+      "height above floor": "0.54 meters"
+     },
+     "longest dimension": "0.94 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-0.6 meters",
+      "y coordinate": "2.52 meters",
+      "height above floor": "0.55 meters"
+     },
+     "longest dimension": "0.95 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "2.23 meters",
+      "y coordinate": "3.36 meters",
+      "height above floor": "0.53 meters"
+     },
+     "longest dimension": "0.94 meters"
+    }
+   ]
+  },
+  "sofa": {
+   "count": 2,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "2.03 meters",
+      "y coordinate": "2.24 meters",
+      "height above floor": "0.55 meters"
+     },
+     "longest dimension": "1.66 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "1.17 meters",
+      "y coordinate": "1.03 meters",
+      "height above floor": "0.54 meters"
+     },
+     "longest dimension": "0.96 meters"
+    }
+   ]
+  },
+  "stool": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-0.1 meters",
+      "y coordinate": "-1.49 meters",
+      "height above floor": "0.2 meters"
+     },
+     "longest dimension": "0.41 meters"
+    }
+   ]
+  }
+ },
+ "room": {
+  "floor area": "27.1 square meters"
+ },
+ "closest classes distance meters from": {
+  "table": {
+   "chair": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "sofa": {
+    "distance": "1.68 meters",
+    "closeness rank": 2
+   },
+   "stool": {
+    "distance": "3.37 meters",
+    "closeness rank": 3
+   }
+  },
+  "chair": {
+   "table": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "sofa": {
+    "distance": "2.08 meters",
+    "closeness rank": 2
+   },
+   "stool": {
+    "distance": "4.44 meters",
+    "closeness rank": 3
+   }
+  },
+  "sofa": {
+   "chair": {
+    "distance": "2.08 meters",
+    "closeness rank": 1
+   },
+   "table": {
+    "distance": "1.68 meters",
+    "closeness rank": 2
+   },
+   "stool": {
+    "distance": "3.27 meters",
+    "closeness rank": 3
+   }
+  },
+  "stool": {
+   "sofa": {
+    "distance": "3.27 meters",
+    "closeness rank": 1
+   },
+   "chair": {
+    "distance": "4.44 meters",
+    "closeness rank": 2
+   },
+   "table": {
+    "distance": "3.37 meters",
+    "closeness rank": 3
+   }
+  }
+ },
+ "appearance order": ["table", "chair", "sofa", "stool"]
+}
\ No newline at end of file
diff --git a/data/spatial codes/ground truth/explicit/47334239.json b/data/spatial codes/ground truth/explicit/47334239.json
new file mode 100644
index 0000000000000000000000000000000000000000..c62b2ed0197602cf9dc28a0a12a6a943188a92bd
--- /dev/null
+++ b/data/spatial codes/ground truth/explicit/47334239.json	
@@ -0,0 +1,174 @@
+{
+ "spatial code schema": {
+  "objects": {
+   "<object class>": {
+    "count": {
+     "unit": null,
+     "description": "number of instances of this class in the compact spatial code (that schema's per-class oriented-box list length)"
+    },
+    "instances": [
+     {
+      "position": {
+       "x coordinate": {
+        "unit": "meters",
+        "description": "x coordinate of this instance's compact 3D oriented bounding box center"
+       },
+       "y coordinate": {
+        "unit": "meters",
+        "description": "y coordinate of this instance's compact 3D oriented bounding box center"
+       },
+       "height above floor": {
+        "unit": "meters",
+        "description": "height coordinate of this instance's compact 3D oriented bounding box center"
+       }
+      },
+      "longest dimension": {
+       "unit": "meters",
+       "description": "longest of this instance's compact 3D oriented bounding box dimensions"
+      }
+     }
+    ]
+   }
+  },
+  "room": {
+   "floor area": {
+    "unit": "square meters",
+    "description": "shoelace area of the compact spatial code's floor boundary polygons, with every interior hole subtracted"
+   }
+  },
+  "closest classes distance meters from": {
+   "<object class>": {
+    "<other object class>": {
+     "distance": {
+      "unit": "meters",
+      "description": "estimated distance in meters between an object of this class and an object of the other class"
+     },
+     "closeness rank": {
+      "unit": null,
+      "description": "1 = the nearest other class to this one, 2 = second-nearest, and so on; ranked by nearest-instance proximity, so use the rank (not the distance values) to compare which class is closest"
+     }
+    }
+   }
+  },
+  "appearance order": {
+   "unit": null,
+   "description": "class names ordered by earliest compact 'first visible time' across all of that class's instances"
+  }
+ },
+ "objects": {
+  "bathtub": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-1.56 meters",
+      "y coordinate": "0.79 meters",
+      "height above floor": "0.32 meters"
+     },
+     "longest dimension": "1.65 meters"
+    }
+   ]
+  },
+  "toilet": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-1.93 meters",
+      "y coordinate": "-0.82 meters",
+      "height above floor": "0.43 meters"
+     },
+     "longest dimension": "0.85 meters"
+    }
+   ]
+  },
+  "washer": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-1.11 meters",
+      "y coordinate": "-0.93 meters",
+      "height above floor": "0.42 meters"
+     },
+     "longest dimension": "0.83 meters"
+    }
+   ]
+  },
+  "stool": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "0.58 meters",
+      "y coordinate": "-0.71 meters",
+      "height above floor": "0.2 meters"
+     },
+     "longest dimension": "0.4 meters"
+    }
+   ]
+  }
+ },
+ "room": {
+  "floor area": "12.1 square meters"
+ },
+ "closest classes distance meters from": {
+  "bathtub": {
+   "toilet": {
+    "distance": "1.03 meters",
+    "closeness rank": 1
+   },
+   "washer": {
+    "distance": "1.08 meters",
+    "closeness rank": 2
+   },
+   "stool": {
+    "distance": "1.59 meters",
+    "closeness rank": 3
+   }
+  },
+  "toilet": {
+   "washer": {
+    "distance": "0.23 meters",
+    "closeness rank": 1
+   },
+   "bathtub": {
+    "distance": "1.03 meters",
+    "closeness rank": 2
+   },
+   "stool": {
+    "distance": "2.04 meters",
+    "closeness rank": 3
+   }
+  },
+  "washer": {
+   "toilet": {
+    "distance": "0.23 meters",
+    "closeness rank": 1
+   },
+   "bathtub": {
+    "distance": "1.08 meters",
+    "closeness rank": 2
+   },
+   "stool": {
+    "distance": "1.17 meters",
+    "closeness rank": 3
+   }
+  },
+  "stool": {
+   "washer": {
+    "distance": "1.17 meters",
+    "closeness rank": 1
+   },
+   "bathtub": {
+    "distance": "1.59 meters",
+    "closeness rank": 2
+   },
+   "toilet": {
+    "distance": "2.04 meters",
+    "closeness rank": 3
+   }
+  }
+ },
+ "appearance order": ["bathtub", "toilet", "washer", "stool"]
+}
\ No newline at end of file
diff --git a/data/spatial codes/ground truth/explicit/47334254.json b/data/spatial codes/ground truth/explicit/47334254.json
new file mode 100644
index 0000000000000000000000000000000000000000..66af787bf88fa080967b405ae40609e29c7abc09
--- /dev/null
+++ b/data/spatial codes/ground truth/explicit/47334254.json	
@@ -0,0 +1,159 @@
+{
+ "spatial code schema": {
+  "objects": {
+   "<object class>": {
+    "count": {
+     "unit": null,
+     "description": "number of instances of this class in the compact spatial code (that schema's per-class oriented-box list length)"
+    },
+    "instances": [
+     {
+      "position": {
+       "x coordinate": {
+        "unit": "meters",
+        "description": "x coordinate of this instance's compact 3D oriented bounding box center"
+       },
+       "y coordinate": {
+        "unit": "meters",
+        "description": "y coordinate of this instance's compact 3D oriented bounding box center"
+       },
+       "height above floor": {
+        "unit": "meters",
+        "description": "height coordinate of this instance's compact 3D oriented bounding box center"
+       }
+      },
+      "longest dimension": {
+       "unit": "meters",
+       "description": "longest of this instance's compact 3D oriented bounding box dimensions"
+      }
+     }
+    ]
+   }
+  },
+  "room": {
+   "floor area": {
+    "unit": "square meters",
+    "description": "shoelace area of the compact spatial code's floor boundary polygons, with every interior hole subtracted"
+   }
+  },
+  "closest classes distance meters from": {
+   "<object class>": {
+    "<other object class>": {
+     "distance": {
+      "unit": "meters",
+      "description": "estimated distance in meters between an object of this class and an object of the other class"
+     },
+     "closeness rank": {
+      "unit": null,
+      "description": "1 = the nearest other class to this one, 2 = second-nearest, and so on; ranked by nearest-instance proximity, so use the rank (not the distance values) to compare which class is closest"
+     }
+    }
+   }
+  },
+  "appearance order": {
+   "unit": null,
+   "description": "class names ordered by earliest compact 'first visible time' across all of that class's instances"
+  }
+ },
+ "objects": {
+  "stove": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-1.29 meters",
+      "y coordinate": "2.17 meters",
+      "height above floor": "0.88 meters"
+     },
+     "longest dimension": "0.58 meters"
+    }
+   ]
+  },
+  "table": {
+   "count": 2,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-3.41 meters",
+      "y coordinate": "1.32 meters",
+      "height above floor": "0.43 meters"
+     },
+     "longest dimension": "0.86 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-2.12 meters",
+      "y coordinate": "0.17 meters",
+      "height above floor": "0.38 meters"
+     },
+     "longest dimension": "0.93 meters"
+    }
+   ]
+  },
+  "chair": {
+   "count": 3,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-2.82 meters",
+      "y coordinate": "0.25 meters",
+      "height above floor": "0.43 meters"
+     },
+     "longest dimension": "0.86 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-2.15 meters",
+      "y coordinate": "0.45 meters",
+      "height above floor": "0.42 meters"
+     },
+     "longest dimension": "0.84 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-1.45 meters",
+      "y coordinate": "0.02 meters",
+      "height above floor": "0.42 meters"
+     },
+     "longest dimension": "0.84 meters"
+    }
+   ]
+  }
+ },
+ "room": {
+  "floor area": "13.1 square meters"
+ },
+ "closest classes distance meters from": {
+  "stove": {
+   "chair": {
+    "distance": "1.78 meters",
+    "closeness rank": 1
+   },
+   "table": {
+    "distance": "1.61 meters",
+    "closeness rank": 2
+   }
+  },
+  "table": {
+   "chair": {
+    "distance": "0.36 meters",
+    "closeness rank": 1
+   },
+   "stove": {
+    "distance": "1.61 meters",
+    "closeness rank": 2
+   }
+  },
+  "chair": {
+   "table": {
+    "distance": "0.36 meters",
+    "closeness rank": 1
+   },
+   "stove": {
+    "distance": "1.78 meters",
+    "closeness rank": 2
+   }
+  }
+ },
+ "appearance order": ["stove", "table", "chair"]
+}
\ No newline at end of file
diff --git a/data/spatial codes/ground truth/explicit/47334362.json b/data/spatial codes/ground truth/explicit/47334362.json
new file mode 100644
index 0000000000000000000000000000000000000000..194994c4dad797a99252f74aabfa00d7cd3a0ff7
--- /dev/null
+++ b/data/spatial codes/ground truth/explicit/47334362.json	
@@ -0,0 +1,151 @@
+{
+ "spatial code schema": {
+  "objects": {
+   "<object class>": {
+    "count": {
+     "unit": null,
+     "description": "number of instances of this class in the compact spatial code (that schema's per-class oriented-box list length)"
+    },
+    "instances": [
+     {
+      "position": {
+       "x coordinate": {
+        "unit": "meters",
+        "description": "x coordinate of this instance's compact 3D oriented bounding box center"
+       },
+       "y coordinate": {
+        "unit": "meters",
+        "description": "y coordinate of this instance's compact 3D oriented bounding box center"
+       },
+       "height above floor": {
+        "unit": "meters",
+        "description": "height coordinate of this instance's compact 3D oriented bounding box center"
+       }
+      },
+      "longest dimension": {
+       "unit": "meters",
+       "description": "longest of this instance's compact 3D oriented bounding box dimensions"
+      }
+     }
+    ]
+   }
+  },
+  "room": {
+   "floor area": {
+    "unit": "square meters",
+    "description": "shoelace area of the compact spatial code's floor boundary polygons, with every interior hole subtracted"
+   }
+  },
+  "closest classes distance meters from": {
+   "<object class>": {
+    "<other object class>": {
+     "distance": {
+      "unit": "meters",
+      "description": "estimated distance in meters between an object of this class and an object of the other class"
+     },
+     "closeness rank": {
+      "unit": null,
+      "description": "1 = the nearest other class to this one, 2 = second-nearest, and so on; ranked by nearest-instance proximity, so use the rank (not the distance values) to compare which class is closest"
+     }
+    }
+   }
+  },
+  "appearance order": {
+   "unit": null,
+   "description": "class names ordered by earliest compact 'first visible time' across all of that class's instances"
+  }
+ },
+ "objects": {
+  "sofa": {
+   "count": 3,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "1.22 meters",
+      "y coordinate": "2.29 meters",
+      "height above floor": "0.36 meters"
+     },
+     "longest dimension": "2.3 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "3.77 meters",
+      "y coordinate": "2.17 meters",
+      "height above floor": "0.36 meters"
+     },
+     "longest dimension": "2.06 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "2.59 meters",
+      "y coordinate": "0.51 meters",
+      "height above floor": "0.46 meters"
+     },
+     "longest dimension": "2.05 meters"
+    }
+   ]
+  },
+  "tv": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "2.5 meters",
+      "y coordinate": "3.28 meters",
+      "height above floor": "0.72 meters"
+     },
+     "longest dimension": "1.11 meters"
+    }
+   ]
+  },
+  "table": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-0.03 meters",
+      "y coordinate": "-0.77 meters",
+      "height above floor": "0.22 meters"
+     },
+     "longest dimension": "0.82 meters"
+    }
+   ]
+  }
+ },
+ "room": {
+  "floor area": "25.0 square meters"
+ },
+ "closest classes distance meters from": {
+  "sofa": {
+   "tv": {
+    "distance": "0.15 meters",
+    "closeness rank": 1
+   },
+   "table": {
+    "distance": "1.75 meters",
+    "closeness rank": 2
+   }
+  },
+  "tv": {
+   "sofa": {
+    "distance": "0.15 meters",
+    "closeness rank": 1
+   },
+   "table": {
+    "distance": "4.24 meters",
+    "closeness rank": 2
+   }
+  },
+  "table": {
+   "sofa": {
+    "distance": "1.75 meters",
+    "closeness rank": 1
+   },
+   "tv": {
+    "distance": "4.24 meters",
+    "closeness rank": 2
+   }
+  }
+ },
+ "appearance order": ["sofa", "tv", "table"]
+}
\ No newline at end of file
diff --git a/data/spatial codes/ground truth/explicit/47334372.json b/data/spatial codes/ground truth/explicit/47334372.json
new file mode 100644
index 0000000000000000000000000000000000000000..61d03603fb2fdd5dcd91aea93a162de6a94a7fec
--- /dev/null
+++ b/data/spatial codes/ground truth/explicit/47334372.json	
@@ -0,0 +1,104 @@
+{
+ "spatial code schema": {
+  "objects": {
+   "<object class>": {
+    "count": {
+     "unit": null,
+     "description": "number of instances of this class in the compact spatial code (that schema's per-class oriented-box list length)"
+    },
+    "instances": [
+     {
+      "position": {
+       "x coordinate": {
+        "unit": "meters",
+        "description": "x coordinate of this instance's compact 3D oriented bounding box center"
+       },
+       "y coordinate": {
+        "unit": "meters",
+        "description": "y coordinate of this instance's compact 3D oriented bounding box center"
+       },
+       "height above floor": {
+        "unit": "meters",
+        "description": "height coordinate of this instance's compact 3D oriented bounding box center"
+       }
+      },
+      "longest dimension": {
+       "unit": "meters",
+       "description": "longest of this instance's compact 3D oriented bounding box dimensions"
+      }
+     }
+    ]
+   }
+  },
+  "room": {
+   "floor area": {
+    "unit": "square meters",
+    "description": "shoelace area of the compact spatial code's floor boundary polygons, with every interior hole subtracted"
+   }
+  },
+  "closest classes distance meters from": {
+   "<object class>": {
+    "<other object class>": {
+     "distance": {
+      "unit": "meters",
+      "description": "estimated distance in meters between an object of this class and an object of the other class"
+     },
+     "closeness rank": {
+      "unit": null,
+      "description": "1 = the nearest other class to this one, 2 = second-nearest, and so on; ranked by nearest-instance proximity, so use the rank (not the distance values) to compare which class is closest"
+     }
+    }
+   }
+  },
+  "appearance order": {
+   "unit": null,
+   "description": "class names ordered by earliest compact 'first visible time' across all of that class's instances"
+  }
+ },
+ "objects": {
+  "bathtub": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-1.1 meters",
+      "y coordinate": "1.48 meters",
+      "height above floor": "0.29 meters"
+     },
+     "longest dimension": "1.34 meters"
+    }
+   ]
+  },
+  "washer": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-1.54 meters",
+      "y coordinate": "0.15 meters",
+      "height above floor": "0.42 meters"
+     },
+     "longest dimension": "0.84 meters"
+    }
+   ]
+  }
+ },
+ "room": {
+  "floor area": "7.8 square meters"
+ },
+ "closest classes distance meters from": {
+  "bathtub": {
+   "washer": {
+    "distance": "0.79 meters",
+    "closeness rank": 1
+   }
+  },
+  "washer": {
+   "bathtub": {
+    "distance": "0.79 meters",
+    "closeness rank": 1
+   }
+  }
+ },
+ "appearance order": ["bathtub", "washer"]
+}
\ No newline at end of file
diff --git a/data/spatial codes/ground truth/explicit/47334380.json b/data/spatial codes/ground truth/explicit/47334380.json
new file mode 100644
index 0000000000000000000000000000000000000000..247e2ff83d96e8782269378021870fdeb310f8a8
--- /dev/null
+++ b/data/spatial codes/ground truth/explicit/47334380.json	
@@ -0,0 +1,182 @@
+{
+ "spatial code schema": {
+  "objects": {
+   "<object class>": {
+    "count": {
+     "unit": null,
+     "description": "number of instances of this class in the compact spatial code (that schema's per-class oriented-box list length)"
+    },
+    "instances": [
+     {
+      "position": {
+       "x coordinate": {
+        "unit": "meters",
+        "description": "x coordinate of this instance's compact 3D oriented bounding box center"
+       },
+       "y coordinate": {
+        "unit": "meters",
+        "description": "y coordinate of this instance's compact 3D oriented bounding box center"
+       },
+       "height above floor": {
+        "unit": "meters",
+        "description": "height coordinate of this instance's compact 3D oriented bounding box center"
+       }
+      },
+      "longest dimension": {
+       "unit": "meters",
+       "description": "longest of this instance's compact 3D oriented bounding box dimensions"
+      }
+     }
+    ]
+   }
+  },
+  "room": {
+   "floor area": {
+    "unit": "square meters",
+    "description": "shoelace area of the compact spatial code's floor boundary polygons, with every interior hole subtracted"
+   }
+  },
+  "closest classes distance meters from": {
+   "<object class>": {
+    "<other object class>": {
+     "distance": {
+      "unit": "meters",
+      "description": "estimated distance in meters between an object of this class and an object of the other class"
+     },
+     "closeness rank": {
+      "unit": null,
+      "description": "1 = the nearest other class to this one, 2 = second-nearest, and so on; ranked by nearest-instance proximity, so use the rank (not the distance values) to compare which class is closest"
+     }
+    }
+   }
+  },
+  "appearance order": {
+   "unit": null,
+   "description": "class names ordered by earliest compact 'first visible time' across all of that class's instances"
+  }
+ },
+ "objects": {
+  "stove": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-1.48 meters",
+      "y coordinate": "1.04 meters",
+      "height above floor": "0.78 meters"
+     },
+     "longest dimension": "0.63 meters"
+    }
+   ]
+  },
+  "refrigerator": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-1.63 meters",
+      "y coordinate": "3.23 meters",
+      "height above floor": "0.79 meters"
+     },
+     "longest dimension": "1.58 meters"
+    }
+   ]
+  },
+  "table": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-0.15 meters",
+      "y coordinate": "2.6 meters",
+      "height above floor": "0.39 meters"
+     },
+     "longest dimension": "1.13 meters"
+    }
+   ]
+  },
+  "chair": {
+   "count": 2,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-0.53 meters",
+      "y coordinate": "2.5 meters",
+      "height above floor": "0.4 meters"
+     },
+     "longest dimension": "0.79 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-0.11 meters",
+      "y coordinate": "3.47 meters",
+      "height above floor": "0.37 meters"
+     },
+     "longest dimension": "0.73 meters"
+    }
+   ]
+  }
+ },
+ "room": {
+  "floor area": "10.8 square meters"
+ },
+ "closest classes distance meters from": {
+  "stove": {
+   "table": {
+    "distance": "1.21 meters",
+    "closeness rank": 1
+   },
+   "chair": {
+    "distance": "1.07 meters",
+    "closeness rank": 2
+   },
+   "refrigerator": {
+    "distance": "1.67 meters",
+    "closeness rank": 3
+   }
+  },
+  "refrigerator": {
+   "chair": {
+    "distance": "0.65 meters",
+    "closeness rank": 1
+   },
+   "table": {
+    "distance": "0.77 meters",
+    "closeness rank": 2
+   },
+   "stove": {
+    "distance": "1.67 meters",
+    "closeness rank": 3
+   }
+  },
+  "table": {
+   "chair": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "refrigerator": {
+    "distance": "0.77 meters",
+    "closeness rank": 2
+   },
+   "stove": {
+    "distance": "1.21 meters",
+    "closeness rank": 3
+   }
+  },
+  "chair": {
+   "table": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "refrigerator": {
+    "distance": "0.65 meters",
+    "closeness rank": 2
+   },
+   "stove": {
+    "distance": "1.07 meters",
+    "closeness rank": 3
+   }
+  }
+ },
+ "appearance order": ["stove", "refrigerator", "table", "chair"]
+}
\ No newline at end of file
diff --git a/data/spatial codes/ground truth/explicit/47429904.json b/data/spatial codes/ground truth/explicit/47429904.json
new file mode 100644
index 0000000000000000000000000000000000000000..00ba80a48132bfde7713377080df2377c42ec5ca
--- /dev/null
+++ b/data/spatial codes/ground truth/explicit/47429904.json	
@@ -0,0 +1,293 @@
+{
+ "spatial code schema": {
+  "objects": {
+   "<object class>": {
+    "count": {
+     "unit": null,
+     "description": "number of instances of this class in the compact spatial code (that schema's per-class oriented-box list length)"
+    },
+    "instances": [
+     {
+      "position": {
+       "x coordinate": {
+        "unit": "meters",
+        "description": "x coordinate of this instance's compact 3D oriented bounding box center"
+       },
+       "y coordinate": {
+        "unit": "meters",
+        "description": "y coordinate of this instance's compact 3D oriented bounding box center"
+       },
+       "height above floor": {
+        "unit": "meters",
+        "description": "height coordinate of this instance's compact 3D oriented bounding box center"
+       }
+      },
+      "longest dimension": {
+       "unit": "meters",
+       "description": "longest of this instance's compact 3D oriented bounding box dimensions"
+      }
+     }
+    ]
+   }
+  },
+  "room": {
+   "floor area": {
+    "unit": "square meters",
+    "description": "shoelace area of the compact spatial code's floor boundary polygons, with every interior hole subtracted"
+   }
+  },
+  "closest classes distance meters from": {
+   "<object class>": {
+    "<other object class>": {
+     "distance": {
+      "unit": "meters",
+      "description": "estimated distance in meters between an object of this class and an object of the other class"
+     },
+     "closeness rank": {
+      "unit": null,
+      "description": "1 = the nearest other class to this one, 2 = second-nearest, and so on; ranked by nearest-instance proximity, so use the rank (not the distance values) to compare which class is closest"
+     }
+    }
+   }
+  },
+  "appearance order": {
+   "unit": null,
+   "description": "class names ordered by earliest compact 'first visible time' across all of that class's instances"
+  }
+ },
+ "objects": {
+  "tv": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "1.82 meters",
+      "y coordinate": "2.95 meters",
+      "height above floor": "0.87 meters"
+     },
+     "longest dimension": "1.29 meters"
+    }
+   ]
+  },
+  "sofa": {
+   "count": 2,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-0.32 meters",
+      "y coordinate": "5.51 meters",
+      "height above floor": "0.42 meters"
+     },
+     "longest dimension": "2.85 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "1.13 meters",
+      "y coordinate": "4.78 meters",
+      "height above floor": "0.22 meters"
+     },
+     "longest dimension": "0.59 meters"
+    }
+   ]
+  },
+  "table": {
+   "count": 2,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-0.41 meters",
+      "y coordinate": "4.37 meters",
+      "height above floor": "0.25 meters"
+     },
+     "longest dimension": "1.49 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-1.24 meters",
+      "y coordinate": "2.06 meters",
+      "height above floor": "0.52 meters"
+     },
+     "longest dimension": "1.64 meters"
+    }
+   ]
+  },
+  "stool": {
+   "count": 2,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "0.71 meters",
+      "y coordinate": "4.23 meters",
+      "height above floor": "0.24 meters"
+     },
+     "longest dimension": "0.49 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-1.62 meters",
+      "y coordinate": "4.53 meters",
+      "height above floor": "0.3 meters"
+     },
+     "longest dimension": "0.47 meters"
+    }
+   ]
+  },
+  "chair": {
+   "count": 7,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-1.3 meters",
+      "y coordinate": "1.39 meters",
+      "height above floor": "0.64 meters"
+     },
+     "longest dimension": "1.04 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-1.79 meters",
+      "y coordinate": "1.7 meters",
+      "height above floor": "0.63 meters"
+     },
+     "longest dimension": "1.04 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-0.74 meters",
+      "y coordinate": "2.38 meters",
+      "height above floor": "0.65 meters"
+     },
+     "longest dimension": "1.04 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-1.39 meters",
+      "y coordinate": "2.83 meters",
+      "height above floor": "0.64 meters"
+     },
+     "longest dimension": "1.04 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-2.0 meters",
+      "y coordinate": "2.49 meters",
+      "height above floor": "0.63 meters"
+     },
+     "longest dimension": "1.04 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-2.27 meters",
+      "y coordinate": "4.63 meters",
+      "height above floor": "0.52 meters"
+     },
+     "longest dimension": "0.92 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-2.32 meters",
+      "y coordinate": "5.1 meters",
+      "height above floor": "0.52 meters"
+     },
+     "longest dimension": "0.92 meters"
+    }
+   ]
+  }
+ },
+ "room": {
+  "floor area": "36.8 square meters"
+ },
+ "closest classes distance meters from": {
+  "tv": {
+   "stool": {
+    "distance": "1.3 meters",
+    "closeness rank": 1
+   },
+   "sofa": {
+    "distance": "1.38 meters",
+    "closeness rank": 2
+   },
+   "table": {
+    "distance": "1.71 meters",
+    "closeness rank": 3
+   },
+   "chair": {
+    "distance": "2.33 meters",
+    "closeness rank": 4
+   }
+  },
+  "sofa": {
+   "stool": {
+    "distance": "0.06 meters",
+    "closeness rank": 1
+   },
+   "table": {
+    "distance": "0.18 meters",
+    "closeness rank": 2
+   },
+   "chair": {
+    "distance": "2.3 meters",
+    "closeness rank": 3
+   },
+   "tv": {
+    "distance": "1.38 meters",
+    "closeness rank": 4
+   }
+  },
+  "table": {
+   "chair": {
+    "distance": "1.87 meters",
+    "closeness rank": 1
+   },
+   "stool": {
+    "distance": "0.14 meters",
+    "closeness rank": 2
+   },
+   "sofa": {
+    "distance": "0.18 meters",
+    "closeness rank": 3
+   },
+   "tv": {
+    "distance": "1.71 meters",
+    "closeness rank": 4
+   }
+  },
+  "stool": {
+   "sofa": {
+    "distance": "0.06 meters",
+    "closeness rank": 1
+   },
+   "table": {
+    "distance": "0.14 meters",
+    "closeness rank": 2
+   },
+   "chair": {
+    "distance": "2.74 meters",
+    "closeness rank": 3
+   },
+   "tv": {
+    "distance": "1.3 meters",
+    "closeness rank": 4
+   }
+  },
+  "chair": {
+   "table": {
+    "distance": "1.87 meters",
+    "closeness rank": 1
+   },
+   "stool": {
+    "distance": "2.74 meters",
+    "closeness rank": 2
+   },
+   "sofa": {
+    "distance": "2.3 meters",
+    "closeness rank": 3
+   },
+   "tv": {
+    "distance": "2.33 meters",
+    "closeness rank": 4
+   }
+  }
+ },
+ "appearance order": ["tv", "sofa", "table", "stool", "chair"]
+}
\ No newline at end of file
diff --git a/data/spatial codes/ground truth/explicit/47429912.json b/data/spatial codes/ground truth/explicit/47429912.json
new file mode 100644
index 0000000000000000000000000000000000000000..744370513065145c12f3e434c0a0b7c93f5fed22
--- /dev/null
+++ b/data/spatial codes/ground truth/explicit/47429912.json	
@@ -0,0 +1,104 @@
+{
+ "spatial code schema": {
+  "objects": {
+   "<object class>": {
+    "count": {
+     "unit": null,
+     "description": "number of instances of this class in the compact spatial code (that schema's per-class oriented-box list length)"
+    },
+    "instances": [
+     {
+      "position": {
+       "x coordinate": {
+        "unit": "meters",
+        "description": "x coordinate of this instance's compact 3D oriented bounding box center"
+       },
+       "y coordinate": {
+        "unit": "meters",
+        "description": "y coordinate of this instance's compact 3D oriented bounding box center"
+       },
+       "height above floor": {
+        "unit": "meters",
+        "description": "height coordinate of this instance's compact 3D oriented bounding box center"
+       }
+      },
+      "longest dimension": {
+       "unit": "meters",
+       "description": "longest of this instance's compact 3D oriented bounding box dimensions"
+      }
+     }
+    ]
+   }
+  },
+  "room": {
+   "floor area": {
+    "unit": "square meters",
+    "description": "shoelace area of the compact spatial code's floor boundary polygons, with every interior hole subtracted"
+   }
+  },
+  "closest classes distance meters from": {
+   "<object class>": {
+    "<other object class>": {
+     "distance": {
+      "unit": "meters",
+      "description": "estimated distance in meters between an object of this class and an object of the other class"
+     },
+     "closeness rank": {
+      "unit": null,
+      "description": "1 = the nearest other class to this one, 2 = second-nearest, and so on; ranked by nearest-instance proximity, so use the rank (not the distance values) to compare which class is closest"
+     }
+    }
+   }
+  },
+  "appearance order": {
+   "unit": null,
+   "description": "class names ordered by earliest compact 'first visible time' across all of that class's instances"
+  }
+ },
+ "objects": {
+  "toilet": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "0.81 meters",
+      "y coordinate": "1.88 meters",
+      "height above floor": "0.22 meters"
+     },
+     "longest dimension": "0.53 meters"
+    }
+   ]
+  },
+  "bathtub": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-0.07 meters",
+      "y coordinate": "2.88 meters",
+      "height above floor": "0.28 meters"
+     },
+     "longest dimension": "1.93 meters"
+    }
+   ]
+  }
+ },
+ "room": {
+  "floor area": "8.4 square meters"
+ },
+ "closest classes distance meters from": {
+  "toilet": {
+   "bathtub": {
+    "distance": "0.45 meters",
+    "closeness rank": 1
+   }
+  },
+  "bathtub": {
+   "toilet": {
+    "distance": "0.45 meters",
+    "closeness rank": 1
+   }
+  }
+ },
+ "appearance order": ["toilet", "bathtub"]
+}
\ No newline at end of file
diff --git a/data/spatial codes/ground truth/explicit/47429922.json b/data/spatial codes/ground truth/explicit/47429922.json
new file mode 100644
index 0000000000000000000000000000000000000000..71d3ccee0702c4e7c03eb803a4b886b2b45f6c17
--- /dev/null
+++ b/data/spatial codes/ground truth/explicit/47429922.json	
@@ -0,0 +1,237 @@
+{
+ "spatial code schema": {
+  "objects": {
+   "<object class>": {
+    "count": {
+     "unit": null,
+     "description": "number of instances of this class in the compact spatial code (that schema's per-class oriented-box list length)"
+    },
+    "instances": [
+     {
+      "position": {
+       "x coordinate": {
+        "unit": "meters",
+        "description": "x coordinate of this instance's compact 3D oriented bounding box center"
+       },
+       "y coordinate": {
+        "unit": "meters",
+        "description": "y coordinate of this instance's compact 3D oriented bounding box center"
+       },
+       "height above floor": {
+        "unit": "meters",
+        "description": "height coordinate of this instance's compact 3D oriented bounding box center"
+       }
+      },
+      "longest dimension": {
+       "unit": "meters",
+       "description": "longest of this instance's compact 3D oriented bounding box dimensions"
+      }
+     }
+    ]
+   }
+  },
+  "room": {
+   "floor area": {
+    "unit": "square meters",
+    "description": "shoelace area of the compact spatial code's floor boundary polygons, with every interior hole subtracted"
+   }
+  },
+  "closest classes distance meters from": {
+   "<object class>": {
+    "<other object class>": {
+     "distance": {
+      "unit": "meters",
+      "description": "estimated distance in meters between an object of this class and an object of the other class"
+     },
+     "closeness rank": {
+      "unit": null,
+      "description": "1 = the nearest other class to this one, 2 = second-nearest, and so on; ranked by nearest-instance proximity, so use the rank (not the distance values) to compare which class is closest"
+     }
+    }
+   }
+  },
+  "appearance order": {
+   "unit": null,
+   "description": "class names ordered by earliest compact 'first visible time' across all of that class's instances"
+  }
+ },
+ "objects": {
+  "sofa": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "1.61 meters",
+      "y coordinate": "-2.84 meters",
+      "height above floor": "0.45 meters"
+     },
+     "longest dimension": "2.13 meters"
+    }
+   ]
+  },
+  "table": {
+   "count": 2,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "3.86 meters",
+      "y coordinate": "-2.94 meters",
+      "height above floor": "0.41 meters"
+     },
+     "longest dimension": "1.05 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "2.98 meters",
+      "y coordinate": "-0.7 meters",
+      "height above floor": "0.43 meters"
+     },
+     "longest dimension": "0.85 meters"
+    }
+   ]
+  },
+  "chair": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "3.34 meters",
+      "y coordinate": "-2.82 meters",
+      "height above floor": "0.53 meters"
+     },
+     "longest dimension": "1.01 meters"
+    }
+   ]
+  },
+  "stool": {
+   "count": 2,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "3.65 meters",
+      "y coordinate": "-2.02 meters",
+      "height above floor": "0.22 meters"
+     },
+     "longest dimension": "0.39 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "2.91 meters",
+      "y coordinate": "-0.8 meters",
+      "height above floor": "0.2 meters"
+     },
+     "longest dimension": "0.4 meters"
+    }
+   ]
+  },
+  "tv": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "3.59 meters",
+      "y coordinate": "-1.15 meters",
+      "height above floor": "1.5 meters"
+     },
+     "longest dimension": "0.8 meters"
+    }
+   ]
+  }
+ },
+ "room": {
+  "floor area": "15.2 square meters"
+ },
+ "closest classes distance meters from": {
+  "sofa": {
+   "chair": {
+    "distance": "0.92 meters",
+    "closeness rank": 1
+   },
+   "stool": {
+    "distance": "1.15 meters",
+    "closeness rank": 2
+   },
+   "table": {
+    "distance": "1.23 meters",
+    "closeness rank": 3
+   },
+   "tv": {
+    "distance": "1.57 meters",
+    "closeness rank": 4
+   }
+  },
+  "table": {
+   "chair": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "stool": {
+    "distance": "0.24 meters",
+    "closeness rank": 2
+   },
+   "tv": {
+    "distance": "1.19 meters",
+    "closeness rank": 3
+   },
+   "sofa": {
+    "distance": "1.23 meters",
+    "closeness rank": 4
+   }
+  },
+  "chair": {
+   "table": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "stool": {
+    "distance": "0.43 meters",
+    "closeness rank": 2
+   },
+   "sofa": {
+    "distance": "0.92 meters",
+    "closeness rank": 3
+   },
+   "tv": {
+    "distance": "1.23 meters",
+    "closeness rank": 4
+   }
+  },
+  "stool": {
+   "table": {
+    "distance": "0.24 meters",
+    "closeness rank": 1
+   },
+   "chair": {
+    "distance": "0.43 meters",
+    "closeness rank": 2
+   },
+   "tv": {
+    "distance": "0.95 meters",
+    "closeness rank": 3
+   },
+   "sofa": {
+    "distance": "1.15 meters",
+    "closeness rank": 4
+   }
+  },
+  "tv": {
+   "table": {
+    "distance": "1.19 meters",
+    "closeness rank": 1
+   },
+   "stool": {
+    "distance": "0.95 meters",
+    "closeness rank": 2
+   },
+   "chair": {
+    "distance": "1.23 meters",
+    "closeness rank": 3
+   },
+   "sofa": {
+    "distance": "1.57 meters",
+    "closeness rank": 4
+   }
+  }
+ },
+ "appearance order": ["sofa", "table", "chair", "stool", "tv"]
+}
\ No newline at end of file
diff --git a/data/spatial codes/ground truth/explicit/47429977.json b/data/spatial codes/ground truth/explicit/47429977.json
new file mode 100644
index 0000000000000000000000000000000000000000..7147a2256d000b3ccfb51ef7c762e89fdb90823f
--- /dev/null
+++ b/data/spatial codes/ground truth/explicit/47429977.json	
@@ -0,0 +1,379 @@
+{
+ "spatial code schema": {
+  "objects": {
+   "<object class>": {
+    "count": {
+     "unit": null,
+     "description": "number of instances of this class in the compact spatial code (that schema's per-class oriented-box list length)"
+    },
+    "instances": [
+     {
+      "position": {
+       "x coordinate": {
+        "unit": "meters",
+        "description": "x coordinate of this instance's compact 3D oriented bounding box center"
+       },
+       "y coordinate": {
+        "unit": "meters",
+        "description": "y coordinate of this instance's compact 3D oriented bounding box center"
+       },
+       "height above floor": {
+        "unit": "meters",
+        "description": "height coordinate of this instance's compact 3D oriented bounding box center"
+       }
+      },
+      "longest dimension": {
+       "unit": "meters",
+       "description": "longest of this instance's compact 3D oriented bounding box dimensions"
+      }
+     }
+    ]
+   }
+  },
+  "room": {
+   "floor area": {
+    "unit": "square meters",
+    "description": "shoelace area of the compact spatial code's floor boundary polygons, with every interior hole subtracted"
+   }
+  },
+  "closest classes distance meters from": {
+   "<object class>": {
+    "<other object class>": {
+     "distance": {
+      "unit": "meters",
+      "description": "estimated distance in meters between an object of this class and an object of the other class"
+     },
+     "closeness rank": {
+      "unit": null,
+      "description": "1 = the nearest other class to this one, 2 = second-nearest, and so on; ranked by nearest-instance proximity, so use the rank (not the distance values) to compare which class is closest"
+     }
+    }
+   }
+  },
+  "appearance order": {
+   "unit": null,
+   "description": "class names ordered by earliest compact 'first visible time' across all of that class's instances"
+  }
+ },
+ "objects": {
+  "sofa": {
+   "count": 2,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "2.77 meters",
+      "y coordinate": "2.62 meters",
+      "height above floor": "0.35 meters"
+     },
+     "longest dimension": "2.07 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "3.43 meters",
+      "y coordinate": "1.92 meters",
+      "height above floor": "0.35 meters"
+     },
+     "longest dimension": "0.73 meters"
+    }
+   ]
+  },
+  "table": {
+   "count": 2,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "2.54 meters",
+      "y coordinate": "1.71 meters",
+      "height above floor": "0.27 meters"
+     },
+     "longest dimension": "0.5 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "0.58 meters",
+      "y coordinate": "0.85 meters",
+      "height above floor": "0.41 meters"
+     },
+     "longest dimension": "0.75 meters"
+    }
+   ]
+  },
+  "stool": {
+   "count": 2,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "3.52 meters",
+      "y coordinate": "1.2 meters",
+      "height above floor": "0.25 meters"
+     },
+     "longest dimension": "0.46 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "1.45 meters",
+      "y coordinate": "2.86 meters",
+      "height above floor": "0.24 meters"
+     },
+     "longest dimension": "0.48 meters"
+    }
+   ]
+  },
+  "tv": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "2.91 meters",
+      "y coordinate": "0.64 meters",
+      "height above floor": "0.98 meters"
+     },
+     "longest dimension": "0.96 meters"
+    }
+   ]
+  },
+  "chair": {
+   "count": 3,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "0.97 meters",
+      "y coordinate": "0.8 meters",
+      "height above floor": "0.41 meters"
+     },
+     "longest dimension": "0.75 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "0.57 meters",
+      "y coordinate": "1.28 meters",
+      "height above floor": "0.41 meters"
+     },
+     "longest dimension": "0.75 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "0.29 meters",
+      "y coordinate": "0.8 meters",
+      "height above floor": "0.41 meters"
+     },
+     "longest dimension": "0.75 meters"
+    }
+   ]
+  },
+  "stove": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-1.16 meters",
+      "y coordinate": "1.55 meters",
+      "height above floor": "0.88 meters"
+     },
+     "longest dimension": "0.58 meters"
+    }
+   ]
+  },
+  "refrigerator": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-0.07 meters",
+      "y coordinate": "2.86 meters",
+      "height above floor": "0.57 meters"
+     },
+     "longest dimension": "1.14 meters"
+    }
+   ]
+  }
+ },
+ "room": {
+  "floor area": "19.3 square meters"
+ },
+ "closest classes distance meters from": {
+  "sofa": {
+   "stool": {
+    "distance": "0.34 meters",
+    "closeness rank": 1
+   },
+   "table": {
+    "distance": "0.17 meters",
+    "closeness rank": 2
+   },
+   "tv": {
+    "distance": "1.07 meters",
+    "closeness rank": 3
+   },
+   "chair": {
+    "distance": "1.15 meters",
+    "closeness rank": 4
+   },
+   "refrigerator": {
+    "distance": "1.47 meters",
+    "closeness rank": 5
+   },
+   "stove": {
+    "distance": "2.78 meters",
+    "closeness rank": 6
+   }
+  },
+  "table": {
+   "chair": {
+    "distance": "1.2 meters",
+    "closeness rank": 1
+   },
+   "sofa": {
+    "distance": "0.17 meters",
+    "closeness rank": 2
+   },
+   "stool": {
+    "distance": "0.62 meters",
+    "closeness rank": 3
+   },
+   "tv": {
+    "distance": "0.82 meters",
+    "closeness rank": 4
+   },
+   "stove": {
+    "distance": "3.21 meters",
+    "closeness rank": 5
+   },
+   "refrigerator": {
+    "distance": "2.05 meters",
+    "closeness rank": 6
+   }
+  },
+  "stool": {
+   "sofa": {
+    "distance": "0.34 meters",
+    "closeness rank": 1
+   },
+   "tv": {
+    "distance": "0.4 meters",
+    "closeness rank": 2
+   },
+   "table": {
+    "distance": "0.62 meters",
+    "closeness rank": 3
+   },
+   "refrigerator": {
+    "distance": "3.17 meters",
+    "closeness rank": 4
+   },
+   "chair": {
+    "distance": "1.98 meters",
+    "closeness rank": 5
+   },
+   "stove": {
+    "distance": "4.22 meters",
+    "closeness rank": 6
+   }
+  },
+  "tv": {
+   "stool": {
+    "distance": "0.4 meters",
+    "closeness rank": 1
+   },
+   "table": {
+    "distance": "0.82 meters",
+    "closeness rank": 2
+   },
+   "sofa": {
+    "distance": "1.07 meters",
+    "closeness rank": 3
+   },
+   "chair": {
+    "distance": "1.22 meters",
+    "closeness rank": 4
+   },
+   "refrigerator": {
+    "distance": "2.83 meters",
+    "closeness rank": 5
+   },
+   "stove": {
+    "distance": "3.4 meters",
+    "closeness rank": 6
+   }
+  },
+  "chair": {
+   "table": {
+    "distance": "1.2 meters",
+    "closeness rank": 1
+   },
+   "stove": {
+    "distance": "1.64 meters",
+    "closeness rank": 2
+   },
+   "refrigerator": {
+    "distance": "1.37 meters",
+    "closeness rank": 3
+   },
+   "sofa": {
+    "distance": "1.15 meters",
+    "closeness rank": 4
+   },
+   "tv": {
+    "distance": "1.22 meters",
+    "closeness rank": 5
+   },
+   "stool": {
+    "distance": "1.98 meters",
+    "closeness rank": 6
+   }
+  },
+  "stove": {
+   "refrigerator": {
+    "distance": "0.87 meters",
+    "closeness rank": 1
+   },
+   "chair": {
+    "distance": "1.64 meters",
+    "closeness rank": 2
+   },
+   "table": {
+    "distance": "3.21 meters",
+    "closeness rank": 3
+   },
+   "stool": {
+    "distance": "4.22 meters",
+    "closeness rank": 4
+   },
+   "sofa": {
+    "distance": "2.78 meters",
+    "closeness rank": 5
+   },
+   "tv": {
+    "distance": "3.4 meters",
+    "closeness rank": 6
+   }
+  },
+  "refrigerator": {
+   "stove": {
+    "distance": "0.87 meters",
+    "closeness rank": 1
+   },
+   "chair": {
+    "distance": "1.37 meters",
+    "closeness rank": 2
+   },
+   "stool": {
+    "distance": "3.17 meters",
+    "closeness rank": 3
+   },
+   "table": {
+    "distance": "2.05 meters",
+    "closeness rank": 4
+   },
+   "sofa": {
+    "distance": "1.47 meters",
+    "closeness rank": 5
+   },
+   "tv": {
+    "distance": "2.83 meters",
+    "closeness rank": 6
+   }
+  }
+ },
+ "appearance order": ["sofa", "table", "stool", "tv", "chair", "stove", "refrigerator"]
+}
\ No newline at end of file
diff --git a/data/spatial codes/ground truth/explicit/47429992.json b/data/spatial codes/ground truth/explicit/47429992.json
new file mode 100644
index 0000000000000000000000000000000000000000..3ce97fa5c7e71a819025bf1cb1b3621e70ef0743
--- /dev/null
+++ b/data/spatial codes/ground truth/explicit/47429992.json	
@@ -0,0 +1,143 @@
+{
+ "spatial code schema": {
+  "objects": {
+   "<object class>": {
+    "count": {
+     "unit": null,
+     "description": "number of instances of this class in the compact spatial code (that schema's per-class oriented-box list length)"
+    },
+    "instances": [
+     {
+      "position": {
+       "x coordinate": {
+        "unit": "meters",
+        "description": "x coordinate of this instance's compact 3D oriented bounding box center"
+       },
+       "y coordinate": {
+        "unit": "meters",
+        "description": "y coordinate of this instance's compact 3D oriented bounding box center"
+       },
+       "height above floor": {
+        "unit": "meters",
+        "description": "height coordinate of this instance's compact 3D oriented bounding box center"
+       }
+      },
+      "longest dimension": {
+       "unit": "meters",
+       "description": "longest of this instance's compact 3D oriented bounding box dimensions"
+      }
+     }
+    ]
+   }
+  },
+  "room": {
+   "floor area": {
+    "unit": "square meters",
+    "description": "shoelace area of the compact spatial code's floor boundary polygons, with every interior hole subtracted"
+   }
+  },
+  "closest classes distance meters from": {
+   "<object class>": {
+    "<other object class>": {
+     "distance": {
+      "unit": "meters",
+      "description": "estimated distance in meters between an object of this class and an object of the other class"
+     },
+     "closeness rank": {
+      "unit": null,
+      "description": "1 = the nearest other class to this one, 2 = second-nearest, and so on; ranked by nearest-instance proximity, so use the rank (not the distance values) to compare which class is closest"
+     }
+    }
+   }
+  },
+  "appearance order": {
+   "unit": null,
+   "description": "class names ordered by earliest compact 'first visible time' across all of that class's instances"
+  }
+ },
+ "objects": {
+  "table": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-2.26 meters",
+      "y coordinate": "4.08 meters",
+      "height above floor": "0.38 meters"
+     },
+     "longest dimension": "1.38 meters"
+    }
+   ]
+  },
+  "tv": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-2.68 meters",
+      "y coordinate": "4.19 meters",
+      "height above floor": "0.96 meters"
+     },
+     "longest dimension": "0.58 meters"
+    }
+   ]
+  },
+  "chair": {
+   "count": 2,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-2.76 meters",
+      "y coordinate": "3.42 meters",
+      "height above floor": "0.4 meters"
+     },
+     "longest dimension": "0.79 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-2.0 meters",
+      "y coordinate": "3.68 meters",
+      "height above floor": "0.36 meters"
+     },
+     "longest dimension": "0.72 meters"
+    }
+   ]
+  }
+ },
+ "room": {
+  "floor area": "16.3 square meters"
+ },
+ "closest classes distance meters from": {
+  "table": {
+   "chair": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "tv": {
+    "distance": "0.0 meters",
+    "closeness rank": 2
+   }
+  },
+  "tv": {
+   "table": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "chair": {
+    "distance": "0.27 meters",
+    "closeness rank": 2
+   }
+  },
+  "chair": {
+   "table": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "tv": {
+    "distance": "0.27 meters",
+    "closeness rank": 2
+   }
+  }
+ },
+ "appearance order": ["table", "tv", "chair"]
+}
\ No newline at end of file
diff --git a/data/spatial codes/ground truth/explicit/47429998.json b/data/spatial codes/ground truth/explicit/47429998.json
new file mode 100644
index 0000000000000000000000000000000000000000..5a3f6cfe79c6302d293c13975fa450eb77a46098
--- /dev/null
+++ b/data/spatial codes/ground truth/explicit/47429998.json	
@@ -0,0 +1,80 @@
+{
+ "spatial code schema": {
+  "objects": {
+   "<object class>": {
+    "count": {
+     "unit": null,
+     "description": "number of instances of this class in the compact spatial code (that schema's per-class oriented-box list length)"
+    },
+    "instances": [
+     {
+      "position": {
+       "x coordinate": {
+        "unit": "meters",
+        "description": "x coordinate of this instance's compact 3D oriented bounding box center"
+       },
+       "y coordinate": {
+        "unit": "meters",
+        "description": "y coordinate of this instance's compact 3D oriented bounding box center"
+       },
+       "height above floor": {
+        "unit": "meters",
+        "description": "height coordinate of this instance's compact 3D oriented bounding box center"
+       }
+      },
+      "longest dimension": {
+       "unit": "meters",
+       "description": "longest of this instance's compact 3D oriented bounding box dimensions"
+      }
+     }
+    ]
+   }
+  },
+  "room": {
+   "floor area": {
+    "unit": "square meters",
+    "description": "shoelace area of the compact spatial code's floor boundary polygons, with every interior hole subtracted"
+   }
+  },
+  "closest classes distance meters from": {
+   "<object class>": {
+    "<other object class>": {
+     "distance": {
+      "unit": "meters",
+      "description": "estimated distance in meters between an object of this class and an object of the other class"
+     },
+     "closeness rank": {
+      "unit": null,
+      "description": "1 = the nearest other class to this one, 2 = second-nearest, and so on; ranked by nearest-instance proximity, so use the rank (not the distance values) to compare which class is closest"
+     }
+    }
+   }
+  },
+  "appearance order": {
+   "unit": null,
+   "description": "class names ordered by earliest compact 'first visible time' across all of that class's instances"
+  }
+ },
+ "objects": {
+  "bed": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "3.1 meters",
+      "y coordinate": "-0.22 meters",
+      "height above floor": "0.33 meters"
+     },
+     "longest dimension": "2.21 meters"
+    }
+   ]
+  }
+ },
+ "room": {
+  "floor area": "9.2 square meters"
+ },
+ "closest classes distance meters from": {
+  "bed": {}
+ },
+ "appearance order": ["bed"]
+}
\ No newline at end of file
diff --git a/data/spatial codes/ground truth/explicit/47430007.json b/data/spatial codes/ground truth/explicit/47430007.json
new file mode 100644
index 0000000000000000000000000000000000000000..d6f3bfc925803e6fa4e31da53804e1e71d53dd85
--- /dev/null
+++ b/data/spatial codes/ground truth/explicit/47430007.json	
@@ -0,0 +1,135 @@
+{
+ "spatial code schema": {
+  "objects": {
+   "<object class>": {
+    "count": {
+     "unit": null,
+     "description": "number of instances of this class in the compact spatial code (that schema's per-class oriented-box list length)"
+    },
+    "instances": [
+     {
+      "position": {
+       "x coordinate": {
+        "unit": "meters",
+        "description": "x coordinate of this instance's compact 3D oriented bounding box center"
+       },
+       "y coordinate": {
+        "unit": "meters",
+        "description": "y coordinate of this instance's compact 3D oriented bounding box center"
+       },
+       "height above floor": {
+        "unit": "meters",
+        "description": "height coordinate of this instance's compact 3D oriented bounding box center"
+       }
+      },
+      "longest dimension": {
+       "unit": "meters",
+       "description": "longest of this instance's compact 3D oriented bounding box dimensions"
+      }
+     }
+    ]
+   }
+  },
+  "room": {
+   "floor area": {
+    "unit": "square meters",
+    "description": "shoelace area of the compact spatial code's floor boundary polygons, with every interior hole subtracted"
+   }
+  },
+  "closest classes distance meters from": {
+   "<object class>": {
+    "<other object class>": {
+     "distance": {
+      "unit": "meters",
+      "description": "estimated distance in meters between an object of this class and an object of the other class"
+     },
+     "closeness rank": {
+      "unit": null,
+      "description": "1 = the nearest other class to this one, 2 = second-nearest, and so on; ranked by nearest-instance proximity, so use the rank (not the distance values) to compare which class is closest"
+     }
+    }
+   }
+  },
+  "appearance order": {
+   "unit": null,
+   "description": "class names ordered by earliest compact 'first visible time' across all of that class's instances"
+  }
+ },
+ "objects": {
+  "bathtub": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "1.91 meters",
+      "y coordinate": "0.15 meters",
+      "height above floor": "0.29 meters"
+     },
+     "longest dimension": "1.68 meters"
+    }
+   ]
+  },
+  "toilet": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "0.82 meters",
+      "y coordinate": "0.55 meters",
+      "height above floor": "0.23 meters"
+     },
+     "longest dimension": "0.51 meters"
+    }
+   ]
+  },
+  "washer": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "0.78 meters",
+      "y coordinate": "-0.82 meters",
+      "height above floor": "0.45 meters"
+     },
+     "longest dimension": "0.84 meters"
+    }
+   ]
+  }
+ },
+ "room": {
+  "floor area": "10.5 square meters"
+ },
+ "closest classes distance meters from": {
+  "bathtub": {
+   "washer": {
+    "distance": "0.51 meters",
+    "closeness rank": 1
+   },
+   "toilet": {
+    "distance": "0.58 meters",
+    "closeness rank": 2
+   }
+  },
+  "toilet": {
+   "bathtub": {
+    "distance": "0.58 meters",
+    "closeness rank": 1
+   },
+   "washer": {
+    "distance": "0.89 meters",
+    "closeness rank": 2
+   }
+  },
+  "washer": {
+   "bathtub": {
+    "distance": "0.51 meters",
+    "closeness rank": 1
+   },
+   "toilet": {
+    "distance": "0.89 meters",
+    "closeness rank": 2
+   }
+  }
+ },
+ "appearance order": ["bathtub", "toilet", "washer"]
+}
\ No newline at end of file
diff --git a/data/spatial codes/ground truth/explicit/47430023.json b/data/spatial codes/ground truth/explicit/47430023.json
new file mode 100644
index 0000000000000000000000000000000000000000..604b98f43042105231490f9f7c9351456e50903a
--- /dev/null
+++ b/data/spatial codes/ground truth/explicit/47430023.json	
@@ -0,0 +1,230 @@
+{
+ "spatial code schema": {
+  "objects": {
+   "<object class>": {
+    "count": {
+     "unit": null,
+     "description": "number of instances of this class in the compact spatial code (that schema's per-class oriented-box list length)"
+    },
+    "instances": [
+     {
+      "position": {
+       "x coordinate": {
+        "unit": "meters",
+        "description": "x coordinate of this instance's compact 3D oriented bounding box center"
+       },
+       "y coordinate": {
+        "unit": "meters",
+        "description": "y coordinate of this instance's compact 3D oriented bounding box center"
+       },
+       "height above floor": {
+        "unit": "meters",
+        "description": "height coordinate of this instance's compact 3D oriented bounding box center"
+       }
+      },
+      "longest dimension": {
+       "unit": "meters",
+       "description": "longest of this instance's compact 3D oriented bounding box dimensions"
+      }
+     }
+    ]
+   }
+  },
+  "room": {
+   "floor area": {
+    "unit": "square meters",
+    "description": "shoelace area of the compact spatial code's floor boundary polygons, with every interior hole subtracted"
+   }
+  },
+  "closest classes distance meters from": {
+   "<object class>": {
+    "<other object class>": {
+     "distance": {
+      "unit": "meters",
+      "description": "estimated distance in meters between an object of this class and an object of the other class"
+     },
+     "closeness rank": {
+      "unit": null,
+      "description": "1 = the nearest other class to this one, 2 = second-nearest, and so on; ranked by nearest-instance proximity, so use the rank (not the distance values) to compare which class is closest"
+     }
+    }
+   }
+  },
+  "appearance order": {
+   "unit": null,
+   "description": "class names ordered by earliest compact 'first visible time' across all of that class's instances"
+  }
+ },
+ "objects": {
+  "sofa": {
+   "count": 2,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-1.0 meters",
+      "y coordinate": "-2.28 meters",
+      "height above floor": "0.49 meters"
+     },
+     "longest dimension": "2.11 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-0.03 meters",
+      "y coordinate": "-1.91 meters",
+      "height above floor": "0.49 meters"
+     },
+     "longest dimension": "0.72 meters"
+    }
+   ]
+  },
+  "table": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-2.75 meters",
+      "y coordinate": "-1.28 meters",
+      "height above floor": "0.5 meters"
+     },
+     "longest dimension": "1.4 meters"
+    }
+   ]
+  },
+  "chair": {
+   "count": 6,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-2.39 meters",
+      "y coordinate": "-1.17 meters",
+      "height above floor": "0.61 meters"
+     },
+     "longest dimension": "0.95 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-2.58 meters",
+      "y coordinate": "-1.7 meters",
+      "height above floor": "0.59 meters"
+     },
+     "longest dimension": "0.93 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-3.26 meters",
+      "y coordinate": "-0.74 meters",
+      "height above floor": "0.6 meters"
+     },
+     "longest dimension": "0.95 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-3.16 meters",
+      "y coordinate": "-1.41 meters",
+      "height above floor": "0.6 meters"
+     },
+     "longest dimension": "0.95 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "3.13 meters",
+      "y coordinate": "-1.17 meters",
+      "height above floor": "0.44 meters"
+     },
+     "longest dimension": "0.88 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "2.62 meters",
+      "y coordinate": "-0.93 meters",
+      "height above floor": "0.44 meters"
+     },
+     "longest dimension": "0.88 meters"
+    }
+   ]
+  },
+  "tv": {
+   "count": 2,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-1.57 meters",
+      "y coordinate": "0.99 meters",
+      "height above floor": "1.03 meters"
+     },
+     "longest dimension": "0.98 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "4.13 meters",
+      "y coordinate": "-1.47 meters",
+      "height above floor": "1.4 meters"
+     },
+     "longest dimension": "0.83 meters"
+    }
+   ]
+  }
+ },
+ "room": {
+  "floor area": "26.4 square meters"
+ },
+ "closest classes distance meters from": {
+  "sofa": {
+   "chair": {
+    "distance": "0.37 meters",
+    "closeness rank": 1
+   },
+   "table": {
+    "distance": "0.48 meters",
+    "closeness rank": 2
+   },
+   "tv": {
+    "distance": "2.31 meters",
+    "closeness rank": 3
+   }
+  },
+  "table": {
+   "chair": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "sofa": {
+    "distance": "0.48 meters",
+    "closeness rank": 2
+   },
+   "tv": {
+    "distance": "1.82 meters",
+    "closeness rank": 3
+   }
+  },
+  "chair": {
+   "table": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "sofa": {
+    "distance": "0.37 meters",
+    "closeness rank": 2
+   },
+   "tv": {
+    "distance": "1.38 meters",
+    "closeness rank": 3
+   }
+  },
+  "tv": {
+   "chair": {
+    "distance": "1.38 meters",
+    "closeness rank": 1
+   },
+   "table": {
+    "distance": "1.82 meters",
+    "closeness rank": 2
+   },
+   "sofa": {
+    "distance": "2.31 meters",
+    "closeness rank": 3
+   }
+  }
+ },
+ "appearance order": ["sofa", "table", "chair", "tv"]
+}
\ No newline at end of file
diff --git a/data/spatial codes/ground truth/explicit/47430034.json b/data/spatial codes/ground truth/explicit/47430034.json
new file mode 100644
index 0000000000000000000000000000000000000000..00b813333567c63d6105647611b52b425ff73dce
--- /dev/null
+++ b/data/spatial codes/ground truth/explicit/47430034.json	
@@ -0,0 +1,316 @@
+{
+ "spatial code schema": {
+  "objects": {
+   "<object class>": {
+    "count": {
+     "unit": null,
+     "description": "number of instances of this class in the compact spatial code (that schema's per-class oriented-box list length)"
+    },
+    "instances": [
+     {
+      "position": {
+       "x coordinate": {
+        "unit": "meters",
+        "description": "x coordinate of this instance's compact 3D oriented bounding box center"
+       },
+       "y coordinate": {
+        "unit": "meters",
+        "description": "y coordinate of this instance's compact 3D oriented bounding box center"
+       },
+       "height above floor": {
+        "unit": "meters",
+        "description": "height coordinate of this instance's compact 3D oriented bounding box center"
+       }
+      },
+      "longest dimension": {
+       "unit": "meters",
+       "description": "longest of this instance's compact 3D oriented bounding box dimensions"
+      }
+     }
+    ]
+   }
+  },
+  "room": {
+   "floor area": {
+    "unit": "square meters",
+    "description": "shoelace area of the compact spatial code's floor boundary polygons, with every interior hole subtracted"
+   }
+  },
+  "closest classes distance meters from": {
+   "<object class>": {
+    "<other object class>": {
+     "distance": {
+      "unit": "meters",
+      "description": "estimated distance in meters between an object of this class and an object of the other class"
+     },
+     "closeness rank": {
+      "unit": null,
+      "description": "1 = the nearest other class to this one, 2 = second-nearest, and so on; ranked by nearest-instance proximity, so use the rank (not the distance values) to compare which class is closest"
+     }
+    }
+   }
+  },
+  "appearance order": {
+   "unit": null,
+   "description": "class names ordered by earliest compact 'first visible time' across all of that class's instances"
+  }
+ },
+ "objects": {
+  "bed": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "1.68 meters",
+      "y coordinate": "-1.01 meters",
+      "height above floor": "0.79 meters"
+     },
+     "longest dimension": "2.05 meters"
+    }
+   ]
+  },
+  "table": {
+   "count": 3,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "0.85 meters",
+      "y coordinate": "-0.25 meters",
+      "height above floor": "0.38 meters"
+     },
+     "longest dimension": "0.74 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "2.08 meters",
+      "y coordinate": "1.63 meters",
+      "height above floor": "0.41 meters"
+     },
+     "longest dimension": "1.83 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-2.64 meters",
+      "y coordinate": "-1.02 meters",
+      "height above floor": "0.45 meters"
+     },
+     "longest dimension": "1.61 meters"
+    }
+   ]
+  },
+  "stool": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "0.82 meters",
+      "y coordinate": "-0.29 meters",
+      "height above floor": "0.24 meters"
+     },
+     "longest dimension": "0.46 meters"
+    }
+   ]
+  },
+  "tv": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "3.71 meters",
+      "y coordinate": "1.77 meters",
+      "height above floor": "1.32 meters"
+     },
+     "longest dimension": "0.8 meters"
+    }
+   ]
+  },
+  "chair": {
+   "count": 3,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "1.82 meters",
+      "y coordinate": "1.56 meters",
+      "height above floor": "0.52 meters"
+     },
+     "longest dimension": "0.99 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "2.34 meters",
+      "y coordinate": "1.52 meters",
+      "height above floor": "0.52 meters"
+     },
+     "longest dimension": "0.99 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-2.34 meters",
+      "y coordinate": "-0.72 meters",
+      "height above floor": "0.46 meters"
+     },
+     "longest dimension": "0.91 meters"
+    }
+   ]
+  },
+  "sofa": {
+   "count": 2,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "0.23 meters",
+      "y coordinate": "-0.49 meters",
+      "height above floor": "0.36 meters"
+     },
+     "longest dimension": "0.73 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-0.49 meters",
+      "y coordinate": "-1.22 meters",
+      "height above floor": "0.36 meters"
+     },
+     "longest dimension": "2.3 meters"
+    }
+   ]
+  }
+ },
+ "room": {
+  "floor area": "25.6 square meters"
+ },
+ "closest classes distance meters from": {
+  "bed": {
+   "sofa": {
+    "distance": "0.21 meters",
+    "closeness rank": 1
+   },
+   "table": {
+    "distance": "0.0 meters",
+    "closeness rank": 2
+   },
+   "stool": {
+    "distance": "0.07 meters",
+    "closeness rank": 3
+   },
+   "chair": {
+    "distance": "1.75 meters",
+    "closeness rank": 4
+   },
+   "tv": {
+    "distance": "2.42 meters",
+    "closeness rank": 5
+   }
+  },
+  "table": {
+   "bed": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "chair": {
+    "distance": "1.19 meters",
+    "closeness rank": 2
+   },
+   "stool": {
+    "distance": "0.0 meters",
+    "closeness rank": 3
+   },
+   "sofa": {
+    "distance": "0.06 meters",
+    "closeness rank": 4
+   },
+   "tv": {
+    "distance": "2.86 meters",
+    "closeness rank": 5
+   }
+  },
+  "stool": {
+   "table": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "bed": {
+    "distance": "0.07 meters",
+    "closeness rank": 2
+   },
+   "sofa": {
+    "distance": "0.14 meters",
+    "closeness rank": 3
+   },
+   "chair": {
+    "distance": "1.55 meters",
+    "closeness rank": 4
+   },
+   "tv": {
+    "distance": "3.12 meters",
+    "closeness rank": 5
+   }
+  },
+  "tv": {
+   "table": {
+    "distance": "2.86 meters",
+    "closeness rank": 1
+   },
+   "chair": {
+    "distance": "1.17 meters",
+    "closeness rank": 2
+   },
+   "bed": {
+    "distance": "2.42 meters",
+    "closeness rank": 3
+   },
+   "stool": {
+    "distance": "3.12 meters",
+    "closeness rank": 4
+   },
+   "sofa": {
+    "distance": "3.49 meters",
+    "closeness rank": 5
+   }
+  },
+  "chair": {
+   "table": {
+    "distance": "1.19 meters",
+    "closeness rank": 1
+   },
+   "sofa": {
+    "distance": "1.74 meters",
+    "closeness rank": 2
+   },
+   "tv": {
+    "distance": "1.17 meters",
+    "closeness rank": 3
+   },
+   "stool": {
+    "distance": "1.55 meters",
+    "closeness rank": 4
+   },
+   "bed": {
+    "distance": "1.75 meters",
+    "closeness rank": 5
+   }
+  },
+  "sofa": {
+   "bed": {
+    "distance": "0.21 meters",
+    "closeness rank": 1
+   },
+   "table": {
+    "distance": "0.06 meters",
+    "closeness rank": 2
+   },
+   "stool": {
+    "distance": "0.14 meters",
+    "closeness rank": 3
+   },
+   "chair": {
+    "distance": "1.74 meters",
+    "closeness rank": 4
+   },
+   "tv": {
+    "distance": "3.49 meters",
+    "closeness rank": 5
+   }
+  }
+ },
+ "appearance order": ["bed", "table", "stool", "tv", "chair", "sofa"]
+}
\ No newline at end of file
diff --git a/data/spatial codes/ground truth/explicit/47430038.json b/data/spatial codes/ground truth/explicit/47430038.json
new file mode 100644
index 0000000000000000000000000000000000000000..76c55aedfc79f8ae2a45c64dcd51aba850d6b963
--- /dev/null
+++ b/data/spatial codes/ground truth/explicit/47430038.json	
@@ -0,0 +1,198 @@
+{
+ "spatial code schema": {
+  "objects": {
+   "<object class>": {
+    "count": {
+     "unit": null,
+     "description": "number of instances of this class in the compact spatial code (that schema's per-class oriented-box list length)"
+    },
+    "instances": [
+     {
+      "position": {
+       "x coordinate": {
+        "unit": "meters",
+        "description": "x coordinate of this instance's compact 3D oriented bounding box center"
+       },
+       "y coordinate": {
+        "unit": "meters",
+        "description": "y coordinate of this instance's compact 3D oriented bounding box center"
+       },
+       "height above floor": {
+        "unit": "meters",
+        "description": "height coordinate of this instance's compact 3D oriented bounding box center"
+       }
+      },
+      "longest dimension": {
+       "unit": "meters",
+       "description": "longest of this instance's compact 3D oriented bounding box dimensions"
+      }
+     }
+    ]
+   }
+  },
+  "room": {
+   "floor area": {
+    "unit": "square meters",
+    "description": "shoelace area of the compact spatial code's floor boundary polygons, with every interior hole subtracted"
+   }
+  },
+  "closest classes distance meters from": {
+   "<object class>": {
+    "<other object class>": {
+     "distance": {
+      "unit": "meters",
+      "description": "estimated distance in meters between an object of this class and an object of the other class"
+     },
+     "closeness rank": {
+      "unit": null,
+      "description": "1 = the nearest other class to this one, 2 = second-nearest, and so on; ranked by nearest-instance proximity, so use the rank (not the distance values) to compare which class is closest"
+     }
+    }
+   }
+  },
+  "appearance order": {
+   "unit": null,
+   "description": "class names ordered by earliest compact 'first visible time' across all of that class's instances"
+  }
+ },
+ "objects": {
+  "refrigerator": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "0.51 meters",
+      "y coordinate": "2.66 meters",
+      "height above floor": "0.85 meters"
+     },
+     "longest dimension": "1.68 meters"
+    }
+   ]
+  },
+  "stove": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "1.15 meters",
+      "y coordinate": "0.37 meters",
+      "height above floor": "0.84 meters"
+     },
+     "longest dimension": "0.58 meters"
+    }
+   ]
+  },
+  "table": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "2.04 meters",
+      "y coordinate": "2.78 meters",
+      "height above floor": "0.36 meters"
+     },
+     "longest dimension": "0.72 meters"
+    }
+   ]
+  },
+  "chair": {
+   "count": 4,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "1.8 meters",
+      "y coordinate": "3.38 meters",
+      "height above floor": "0.36 meters"
+     },
+     "longest dimension": "0.73 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "1.81 meters",
+      "y coordinate": "2.55 meters",
+      "height above floor": "0.36 meters"
+     },
+     "longest dimension": "0.73 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "2.26 meters",
+      "y coordinate": "2.31 meters",
+      "height above floor": "0.36 meters"
+     },
+     "longest dimension": "0.73 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "2.39 meters",
+      "y coordinate": "3.07 meters",
+      "height above floor": "0.36 meters"
+     },
+     "longest dimension": "0.73 meters"
+    }
+   ]
+  }
+ },
+ "room": {
+  "floor area": "15.5 square meters"
+ },
+ "closest classes distance meters from": {
+  "refrigerator": {
+   "table": {
+    "distance": "0.63 meters",
+    "closeness rank": 1
+   },
+   "chair": {
+    "distance": "0.72 meters",
+    "closeness rank": 2
+   },
+   "stove": {
+    "distance": "1.55 meters",
+    "closeness rank": 3
+   }
+  },
+  "stove": {
+   "refrigerator": {
+    "distance": "1.55 meters",
+    "closeness rank": 1
+   },
+   "chair": {
+    "distance": "2.46 meters",
+    "closeness rank": 2
+   },
+   "table": {
+    "distance": "1.96 meters",
+    "closeness rank": 3
+   }
+  },
+  "table": {
+   "chair": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "refrigerator": {
+    "distance": "0.63 meters",
+    "closeness rank": 2
+   },
+   "stove": {
+    "distance": "1.96 meters",
+    "closeness rank": 3
+   }
+  },
+  "chair": {
+   "table": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "refrigerator": {
+    "distance": "0.72 meters",
+    "closeness rank": 2
+   },
+   "stove": {
+    "distance": "2.46 meters",
+    "closeness rank": 3
+   }
+  }
+ },
+ "appearance order": ["refrigerator", "stove", "table", "chair"]
+}
\ No newline at end of file
diff --git a/data/spatial codes/ground truth/explicit/47430048.json b/data/spatial codes/ground truth/explicit/47430048.json
new file mode 100644
index 0000000000000000000000000000000000000000..c1b8b875b24885cada589d75283a1aa41a7e0c36
--- /dev/null
+++ b/data/spatial codes/ground truth/explicit/47430048.json	
@@ -0,0 +1,135 @@
+{
+ "spatial code schema": {
+  "objects": {
+   "<object class>": {
+    "count": {
+     "unit": null,
+     "description": "number of instances of this class in the compact spatial code (that schema's per-class oriented-box list length)"
+    },
+    "instances": [
+     {
+      "position": {
+       "x coordinate": {
+        "unit": "meters",
+        "description": "x coordinate of this instance's compact 3D oriented bounding box center"
+       },
+       "y coordinate": {
+        "unit": "meters",
+        "description": "y coordinate of this instance's compact 3D oriented bounding box center"
+       },
+       "height above floor": {
+        "unit": "meters",
+        "description": "height coordinate of this instance's compact 3D oriented bounding box center"
+       }
+      },
+      "longest dimension": {
+       "unit": "meters",
+       "description": "longest of this instance's compact 3D oriented bounding box dimensions"
+      }
+     }
+    ]
+   }
+  },
+  "room": {
+   "floor area": {
+    "unit": "square meters",
+    "description": "shoelace area of the compact spatial code's floor boundary polygons, with every interior hole subtracted"
+   }
+  },
+  "closest classes distance meters from": {
+   "<object class>": {
+    "<other object class>": {
+     "distance": {
+      "unit": "meters",
+      "description": "estimated distance in meters between an object of this class and an object of the other class"
+     },
+     "closeness rank": {
+      "unit": null,
+      "description": "1 = the nearest other class to this one, 2 = second-nearest, and so on; ranked by nearest-instance proximity, so use the rank (not the distance values) to compare which class is closest"
+     }
+    }
+   }
+  },
+  "appearance order": {
+   "unit": null,
+   "description": "class names ordered by earliest compact 'first visible time' across all of that class's instances"
+  }
+ },
+ "objects": {
+  "bathtub": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "0.65 meters",
+      "y coordinate": "3.13 meters",
+      "height above floor": "0.28 meters"
+     },
+     "longest dimension": "1.35 meters"
+    }
+   ]
+  },
+  "washer": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "0.05 meters",
+      "y coordinate": "2.29 meters",
+      "height above floor": "0.42 meters"
+     },
+     "longest dimension": "0.81 meters"
+    }
+   ]
+  },
+  "toilet": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "0.08 meters",
+      "y coordinate": "1.02 meters",
+      "height above floor": "0.39 meters"
+     },
+     "longest dimension": "0.74 meters"
+    }
+   ]
+  }
+ },
+ "room": {
+  "floor area": "8.8 square meters"
+ },
+ "closest classes distance meters from": {
+  "bathtub": {
+   "washer": {
+    "distance": "0.3 meters",
+    "closeness rank": 1
+   },
+   "toilet": {
+    "distance": "1.47 meters",
+    "closeness rank": 2
+   }
+  },
+  "washer": {
+   "bathtub": {
+    "distance": "0.3 meters",
+    "closeness rank": 1
+   },
+   "toilet": {
+    "distance": "0.58 meters",
+    "closeness rank": 2
+   }
+  },
+  "toilet": {
+   "washer": {
+    "distance": "0.58 meters",
+    "closeness rank": 1
+   },
+   "bathtub": {
+    "distance": "1.47 meters",
+    "closeness rank": 2
+   }
+  }
+ },
+ "appearance order": ["bathtub", "washer", "toilet"]
+}
\ No newline at end of file
diff --git a/data/spatial codes/ground truth/explicit/47430422.json b/data/spatial codes/ground truth/explicit/47430422.json
new file mode 100644
index 0000000000000000000000000000000000000000..f2380696995199bacd9ce6140165bcc65b99b0f7
--- /dev/null
+++ b/data/spatial codes/ground truth/explicit/47430422.json	
@@ -0,0 +1,135 @@
+{
+ "spatial code schema": {
+  "objects": {
+   "<object class>": {
+    "count": {
+     "unit": null,
+     "description": "number of instances of this class in the compact spatial code (that schema's per-class oriented-box list length)"
+    },
+    "instances": [
+     {
+      "position": {
+       "x coordinate": {
+        "unit": "meters",
+        "description": "x coordinate of this instance's compact 3D oriented bounding box center"
+       },
+       "y coordinate": {
+        "unit": "meters",
+        "description": "y coordinate of this instance's compact 3D oriented bounding box center"
+       },
+       "height above floor": {
+        "unit": "meters",
+        "description": "height coordinate of this instance's compact 3D oriented bounding box center"
+       }
+      },
+      "longest dimension": {
+       "unit": "meters",
+       "description": "longest of this instance's compact 3D oriented bounding box dimensions"
+      }
+     }
+    ]
+   }
+  },
+  "room": {
+   "floor area": {
+    "unit": "square meters",
+    "description": "shoelace area of the compact spatial code's floor boundary polygons, with every interior hole subtracted"
+   }
+  },
+  "closest classes distance meters from": {
+   "<object class>": {
+    "<other object class>": {
+     "distance": {
+      "unit": "meters",
+      "description": "estimated distance in meters between an object of this class and an object of the other class"
+     },
+     "closeness rank": {
+      "unit": null,
+      "description": "1 = the nearest other class to this one, 2 = second-nearest, and so on; ranked by nearest-instance proximity, so use the rank (not the distance values) to compare which class is closest"
+     }
+    }
+   }
+  },
+  "appearance order": {
+   "unit": null,
+   "description": "class names ordered by earliest compact 'first visible time' across all of that class's instances"
+  }
+ },
+ "objects": {
+  "toilet": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "3.03 meters",
+      "y coordinate": "0.15 meters",
+      "height above floor": "0.23 meters"
+     },
+     "longest dimension": "0.56 meters"
+    }
+   ]
+  },
+  "washer": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "1.86 meters",
+      "y coordinate": "-0.5 meters",
+      "height above floor": "0.42 meters"
+     },
+     "longest dimension": "0.83 meters"
+    }
+   ]
+  },
+  "bathtub": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "3.44 meters",
+      "y coordinate": "1.17 meters",
+      "height above floor": "0.28 meters"
+     },
+     "longest dimension": "1.49 meters"
+    }
+   ]
+  }
+ },
+ "room": {
+  "floor area": "12.3 square meters"
+ },
+ "closest classes distance meters from": {
+  "toilet": {
+   "bathtub": {
+    "distance": "0.24 meters",
+    "closeness rank": 1
+   },
+   "washer": {
+    "distance": "0.84 meters",
+    "closeness rank": 2
+   }
+  },
+  "washer": {
+   "toilet": {
+    "distance": "0.84 meters",
+    "closeness rank": 1
+   },
+   "bathtub": {
+    "distance": "1.48 meters",
+    "closeness rank": 2
+   }
+  },
+  "bathtub": {
+   "toilet": {
+    "distance": "0.24 meters",
+    "closeness rank": 1
+   },
+   "washer": {
+    "distance": "1.48 meters",
+    "closeness rank": 2
+   }
+  }
+ },
+ "appearance order": ["toilet", "washer", "bathtub"]
+}
\ No newline at end of file
diff --git a/data/spatial codes/ground truth/explicit/47430468.json b/data/spatial codes/ground truth/explicit/47430468.json
new file mode 100644
index 0000000000000000000000000000000000000000..9dbb48e186c181baa43b3e1db25e590293e3ab96
--- /dev/null
+++ b/data/spatial codes/ground truth/explicit/47430468.json	
@@ -0,0 +1,387 @@
+{
+ "spatial code schema": {
+  "objects": {
+   "<object class>": {
+    "count": {
+     "unit": null,
+     "description": "number of instances of this class in the compact spatial code (that schema's per-class oriented-box list length)"
+    },
+    "instances": [
+     {
+      "position": {
+       "x coordinate": {
+        "unit": "meters",
+        "description": "x coordinate of this instance's compact 3D oriented bounding box center"
+       },
+       "y coordinate": {
+        "unit": "meters",
+        "description": "y coordinate of this instance's compact 3D oriented bounding box center"
+       },
+       "height above floor": {
+        "unit": "meters",
+        "description": "height coordinate of this instance's compact 3D oriented bounding box center"
+       }
+      },
+      "longest dimension": {
+       "unit": "meters",
+       "description": "longest of this instance's compact 3D oriented bounding box dimensions"
+      }
+     }
+    ]
+   }
+  },
+  "room": {
+   "floor area": {
+    "unit": "square meters",
+    "description": "shoelace area of the compact spatial code's floor boundary polygons, with every interior hole subtracted"
+   }
+  },
+  "closest classes distance meters from": {
+   "<object class>": {
+    "<other object class>": {
+     "distance": {
+      "unit": "meters",
+      "description": "estimated distance in meters between an object of this class and an object of the other class"
+     },
+     "closeness rank": {
+      "unit": null,
+      "description": "1 = the nearest other class to this one, 2 = second-nearest, and so on; ranked by nearest-instance proximity, so use the rank (not the distance values) to compare which class is closest"
+     }
+    }
+   }
+  },
+  "appearance order": {
+   "unit": null,
+   "description": "class names ordered by earliest compact 'first visible time' across all of that class's instances"
+  }
+ },
+ "objects": {
+  "sofa": {
+   "count": 3,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "1.43 meters",
+      "y coordinate": "0.87 meters",
+      "height above floor": "0.34 meters"
+     },
+     "longest dimension": "2.73 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "0.33 meters",
+      "y coordinate": "1.57 meters",
+      "height above floor": "0.35 meters"
+     },
+     "longest dimension": "1.02 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-1.52 meters",
+      "y coordinate": "1.23 meters",
+      "height above floor": "0.35 meters"
+     },
+     "longest dimension": "0.98 meters"
+    }
+   ]
+  },
+  "table": {
+   "count": 2,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "0.25 meters",
+      "y coordinate": "0.03 meters",
+      "height above floor": "0.23 meters"
+     },
+     "longest dimension": "0.98 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "0.08 meters",
+      "y coordinate": "3.43 meters",
+      "height above floor": "0.39 meters"
+     },
+     "longest dimension": "1.28 meters"
+    }
+   ]
+  },
+  "tv": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "0.61 meters",
+      "y coordinate": "-0.95 meters",
+      "height above floor": "1.21 meters"
+     },
+     "longest dimension": "1.0 meters"
+    }
+   ]
+  },
+  "stool": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-1.61 meters",
+      "y coordinate": "1.86 meters",
+      "height above floor": "0.15 meters"
+     },
+     "longest dimension": "0.41 meters"
+    }
+   ]
+  },
+  "chair": {
+   "count": 4,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-0.21 meters",
+      "y coordinate": "2.95 meters",
+      "height above floor": "0.52 meters"
+     },
+     "longest dimension": "1.04 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "0.29 meters",
+      "y coordinate": "2.92 meters",
+      "height above floor": "0.51 meters"
+     },
+     "longest dimension": "1.01 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "0.68 meters",
+      "y coordinate": "3.53 meters",
+      "height above floor": "0.51 meters"
+     },
+     "longest dimension": "1.01 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-0.42 meters",
+      "y coordinate": "3.48 meters",
+      "height above floor": "0.5 meters"
+     },
+     "longest dimension": "1.01 meters"
+    }
+   ]
+  },
+  "stove": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-3.05 meters",
+      "y coordinate": "3.78 meters",
+      "height above floor": "0.85 meters"
+     },
+     "longest dimension": "0.59 meters"
+    }
+   ]
+  },
+  "refrigerator": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-2.42 meters",
+      "y coordinate": "1.28 meters",
+      "height above floor": "1.03 meters"
+     },
+     "longest dimension": "2.01 meters"
+    }
+   ]
+  }
+ },
+ "room": {
+  "floor area": "38.0 square meters"
+ },
+ "closest classes distance meters from": {
+  "sofa": {
+   "stool": {
+    "distance": "1.63 meters",
+    "closeness rank": 1
+   },
+   "refrigerator": {
+    "distance": "1.56 meters",
+    "closeness rank": 2
+   },
+   "table": {
+    "distance": "0.15 meters",
+    "closeness rank": 3
+   },
+   "chair": {
+    "distance": "0.77 meters",
+    "closeness rank": 4
+   },
+   "tv": {
+    "distance": "0.58 meters",
+    "closeness rank": 5
+   },
+   "stove": {
+    "distance": "3.71 meters",
+    "closeness rank": 6
+   }
+  },
+  "table": {
+   "chair": {
+    "distance": "1.96 meters",
+    "closeness rank": 1
+   },
+   "sofa": {
+    "distance": "0.15 meters",
+    "closeness rank": 2
+   },
+   "tv": {
+    "distance": "0.71 meters",
+    "closeness rank": 3
+   },
+   "stool": {
+    "distance": "1.92 meters",
+    "closeness rank": 4
+   },
+   "refrigerator": {
+    "distance": "1.91 meters",
+    "closeness rank": 5
+   },
+   "stove": {
+    "distance": "4.25 meters",
+    "closeness rank": 6
+   }
+  },
+  "tv": {
+   "sofa": {
+    "distance": "0.58 meters",
+    "closeness rank": 1
+   },
+   "table": {
+    "distance": "0.71 meters",
+    "closeness rank": 2
+   },
+   "refrigerator": {
+    "distance": "2.84 meters",
+    "closeness rank": 3
+   },
+   "stool": {
+    "distance": "3.16 meters",
+    "closeness rank": 4
+   },
+   "chair": {
+    "distance": "3.51 meters",
+    "closeness rank": 5
+   },
+   "stove": {
+    "distance": "5.24 meters",
+    "closeness rank": 6
+   }
+  },
+  "stool": {
+   "sofa": {
+    "distance": "1.63 meters",
+    "closeness rank": 1
+   },
+   "refrigerator": {
+    "distance": "0.31 meters",
+    "closeness rank": 2
+   },
+   "chair": {
+    "distance": "1.16 meters",
+    "closeness rank": 3
+   },
+   "table": {
+    "distance": "1.92 meters",
+    "closeness rank": 4
+   },
+   "stove": {
+    "distance": "2.0 meters",
+    "closeness rank": 5
+   },
+   "tv": {
+    "distance": "3.16 meters",
+    "closeness rank": 6
+   }
+  },
+  "chair": {
+   "table": {
+    "distance": "1.96 meters",
+    "closeness rank": 1
+   },
+   "sofa": {
+    "distance": "0.77 meters",
+    "closeness rank": 2
+   },
+   "stool": {
+    "distance": "1.16 meters",
+    "closeness rank": 3
+   },
+   "refrigerator": {
+    "distance": "1.94 meters",
+    "closeness rank": 4
+   },
+   "stove": {
+    "distance": "2.16 meters",
+    "closeness rank": 5
+   },
+   "tv": {
+    "distance": "3.51 meters",
+    "closeness rank": 6
+   }
+  },
+  "stove": {
+   "refrigerator": {
+    "distance": "1.85 meters",
+    "closeness rank": 1
+   },
+   "stool": {
+    "distance": "2.0 meters",
+    "closeness rank": 2
+   },
+   "sofa": {
+    "distance": "3.71 meters",
+    "closeness rank": 3
+   },
+   "chair": {
+    "distance": "2.16 meters",
+    "closeness rank": 4
+   },
+   "table": {
+    "distance": "4.25 meters",
+    "closeness rank": 5
+   },
+   "tv": {
+    "distance": "5.24 meters",
+    "closeness rank": 6
+   }
+  },
+  "refrigerator": {
+   "sofa": {
+    "distance": "1.56 meters",
+    "closeness rank": 1
+   },
+   "stool": {
+    "distance": "0.31 meters",
+    "closeness rank": 2
+   },
+   "stove": {
+    "distance": "1.85 meters",
+    "closeness rank": 3
+   },
+   "table": {
+    "distance": "1.91 meters",
+    "closeness rank": 4
+   },
+   "chair": {
+    "distance": "1.94 meters",
+    "closeness rank": 5
+   },
+   "tv": {
+    "distance": "2.84 meters",
+    "closeness rank": 6
+   }
+  }
+ },
+ "appearance order": ["sofa", "table", "tv", "stool", "chair", "stove", "refrigerator"]
+}
\ No newline at end of file
diff --git a/data/spatial codes/ground truth/explicit/47430475.json b/data/spatial codes/ground truth/explicit/47430475.json
new file mode 100644
index 0000000000000000000000000000000000000000..9d0599ef26a0ced568f8c7d16da9e142c554f5f1
--- /dev/null
+++ b/data/spatial codes/ground truth/explicit/47430475.json	
@@ -0,0 +1,80 @@
+{
+ "spatial code schema": {
+  "objects": {
+   "<object class>": {
+    "count": {
+     "unit": null,
+     "description": "number of instances of this class in the compact spatial code (that schema's per-class oriented-box list length)"
+    },
+    "instances": [
+     {
+      "position": {
+       "x coordinate": {
+        "unit": "meters",
+        "description": "x coordinate of this instance's compact 3D oriented bounding box center"
+       },
+       "y coordinate": {
+        "unit": "meters",
+        "description": "y coordinate of this instance's compact 3D oriented bounding box center"
+       },
+       "height above floor": {
+        "unit": "meters",
+        "description": "height coordinate of this instance's compact 3D oriented bounding box center"
+       }
+      },
+      "longest dimension": {
+       "unit": "meters",
+       "description": "longest of this instance's compact 3D oriented bounding box dimensions"
+      }
+     }
+    ]
+   }
+  },
+  "room": {
+   "floor area": {
+    "unit": "square meters",
+    "description": "shoelace area of the compact spatial code's floor boundary polygons, with every interior hole subtracted"
+   }
+  },
+  "closest classes distance meters from": {
+   "<object class>": {
+    "<other object class>": {
+     "distance": {
+      "unit": "meters",
+      "description": "estimated distance in meters between an object of this class and an object of the other class"
+     },
+     "closeness rank": {
+      "unit": null,
+      "description": "1 = the nearest other class to this one, 2 = second-nearest, and so on; ranked by nearest-instance proximity, so use the rank (not the distance values) to compare which class is closest"
+     }
+    }
+   }
+  },
+  "appearance order": {
+   "unit": null,
+   "description": "class names ordered by earliest compact 'first visible time' across all of that class's instances"
+  }
+ },
+ "objects": {
+  "bed": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "0.3 meters",
+      "y coordinate": "0.87 meters",
+      "height above floor": "0.31 meters"
+     },
+     "longest dimension": "2.11 meters"
+    }
+   ]
+  }
+ },
+ "room": {
+  "floor area": "15.5 square meters"
+ },
+ "closest classes distance meters from": {
+  "bed": {}
+ },
+ "appearance order": ["bed"]
+}
\ No newline at end of file
diff --git a/data/spatial codes/ground truth/explicit/5748ce6f01.json b/data/spatial codes/ground truth/explicit/5748ce6f01.json
new file mode 100644
index 0000000000000000000000000000000000000000..70dc06b3303467713749b76e2c4e123708b08a36
--- /dev/null
+++ b/data/spatial codes/ground truth/explicit/5748ce6f01.json	
@@ -0,0 +1,332 @@
+{
+ "spatial code schema": {
+  "objects": {
+   "<object class>": {
+    "count": {
+     "unit": null,
+     "description": "number of instances of this class in the compact spatial code (that schema's per-class oriented-box list length)"
+    },
+    "instances": [
+     {
+      "position": {
+       "x coordinate": {
+        "unit": "meters",
+        "description": "x coordinate of this instance's compact 3D oriented bounding box center"
+       },
+       "y coordinate": {
+        "unit": "meters",
+        "description": "y coordinate of this instance's compact 3D oriented bounding box center"
+       },
+       "height above floor": {
+        "unit": "meters",
+        "description": "height coordinate of this instance's compact 3D oriented bounding box center"
+       }
+      },
+      "longest dimension": {
+       "unit": "meters",
+       "description": "longest of this instance's compact 3D oriented bounding box dimensions"
+      }
+     }
+    ]
+   }
+  },
+  "room": {
+   "floor area": {
+    "unit": "square meters",
+    "description": "shoelace area of the compact spatial code's floor boundary polygons, with every interior hole subtracted"
+   }
+  },
+  "closest classes distance meters from": {
+   "<object class>": {
+    "<other object class>": {
+     "distance": {
+      "unit": "meters",
+      "description": "estimated distance in meters between an object of this class and an object of the other class"
+     },
+     "closeness rank": {
+      "unit": null,
+      "description": "1 = the nearest other class to this one, 2 = second-nearest, and so on; ranked by nearest-instance proximity, so use the rank (not the distance values) to compare which class is closest"
+     }
+    }
+   }
+  },
+  "appearance order": {
+   "unit": null,
+   "description": "class names ordered by earliest compact 'first visible time' across all of that class's instances"
+  }
+ },
+ "objects": {
+  "whiteboard": {
+   "count": 2,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "2.07 meters",
+      "y coordinate": "0.38 meters",
+      "height above floor": "1.54 meters"
+     },
+     "longest dimension": "2.44 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "1.91 meters",
+      "y coordinate": "3.83 meters",
+      "height above floor": "1.69 meters"
+     },
+     "longest dimension": "0.93 meters"
+    }
+   ]
+  },
+  "ceiling light": {
+   "count": 2,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "0.87 meters",
+      "y coordinate": "2.48 meters",
+      "height above floor": "3.18 meters"
+     },
+     "longest dimension": "2.43 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "3.05 meters",
+      "y coordinate": "2.16 meters",
+      "height above floor": "2.78 meters"
+     },
+     "longest dimension": "2.44 meters"
+    }
+   ]
+  },
+  "cup": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "2.3 meters",
+      "y coordinate": "2.09 meters",
+      "height above floor": "0.8 meters"
+     },
+     "longest dimension": "0.15 meters"
+    }
+   ]
+  },
+  "chair": {
+   "count": 5,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "2.48 meters",
+      "y coordinate": "1.32 meters",
+      "height above floor": "0.48 meters"
+     },
+     "longest dimension": "0.94 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "3.21 meters",
+      "y coordinate": "3.3 meters",
+      "height above floor": "0.49 meters"
+     },
+     "longest dimension": "0.96 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "3.69 meters",
+      "y coordinate": "2.31 meters",
+      "height above floor": "0.45 meters"
+     },
+     "longest dimension": "0.88 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "2.19 meters",
+      "y coordinate": "3.43 meters",
+      "height above floor": "0.48 meters"
+     },
+     "longest dimension": "0.96 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "3.06 meters",
+      "y coordinate": "1.45 meters",
+      "height above floor": "0.48 meters"
+     },
+     "longest dimension": "0.93 meters"
+    }
+   ]
+  },
+  "door": {
+   "count": 2,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "0.12 meters",
+      "y coordinate": "1.25 meters",
+      "height above floor": "1.36 meters"
+     },
+     "longest dimension": "2.71 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "4.28 meters",
+      "y coordinate": "0.6 meters",
+      "height above floor": "1.37 meters"
+     },
+     "longest dimension": "2.73 meters"
+    }
+   ]
+  },
+  "table": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "2.6 meters",
+      "y coordinate": "2.35 meters",
+      "height above floor": "0.38 meters"
+     },
+     "longest dimension": "1.88 meters"
+    }
+   ]
+  }
+ },
+ "room": {
+  "floor area": "15.4 square meters"
+ },
+ "closest classes distance meters from": {
+  "whiteboard": {
+   "chair": {
+    "distance": "0.42 meters",
+    "closeness rank": 1
+   },
+   "door": {
+    "distance": "0.81 meters",
+    "closeness rank": 2
+   },
+   "ceiling light": {
+    "distance": "0.83 meters",
+    "closeness rank": 3
+   },
+   "table": {
+    "distance": "1.01 meters",
+    "closeness rank": 4
+   },
+   "cup": {
+    "distance": "1.63 meters",
+    "closeness rank": 5
+   }
+  },
+  "ceiling light": {
+   "door": {
+    "distance": "0.46 meters",
+    "closeness rank": 1
+   },
+   "whiteboard": {
+    "distance": "0.83 meters",
+    "closeness rank": 2
+   },
+   "chair": {
+    "distance": "1.73 meters",
+    "closeness rank": 3
+   },
+   "cup": {
+    "distance": "1.87 meters",
+    "closeness rank": 4
+   },
+   "table": {
+    "distance": "1.94 meters",
+    "closeness rank": 5
+   }
+  },
+  "cup": {
+   "table": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "chair": {
+    "distance": "0.34 meters",
+    "closeness rank": 2
+   },
+   "whiteboard": {
+    "distance": "1.63 meters",
+    "closeness rank": 3
+   },
+   "ceiling light": {
+    "distance": "1.87 meters",
+    "closeness rank": 4
+   },
+   "door": {
+    "distance": "2.01 meters",
+    "closeness rank": 5
+   }
+  },
+  "chair": {
+   "table": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "cup": {
+    "distance": "0.34 meters",
+    "closeness rank": 2
+   },
+   "whiteboard": {
+    "distance": "0.42 meters",
+    "closeness rank": 3
+   },
+   "door": {
+    "distance": "0.86 meters",
+    "closeness rank": 4
+   },
+   "ceiling light": {
+    "distance": "1.73 meters",
+    "closeness rank": 5
+   }
+  },
+  "door": {
+   "ceiling light": {
+    "distance": "0.46 meters",
+    "closeness rank": 1
+   },
+   "whiteboard": {
+    "distance": "0.81 meters",
+    "closeness rank": 2
+   },
+   "chair": {
+    "distance": "0.86 meters",
+    "closeness rank": 3
+   },
+   "table": {
+    "distance": "0.95 meters",
+    "closeness rank": 4
+   },
+   "cup": {
+    "distance": "2.01 meters",
+    "closeness rank": 5
+   }
+  },
+  "table": {
+   "chair": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "cup": {
+    "distance": "0.0 meters",
+    "closeness rank": 2
+   },
+   "door": {
+    "distance": "0.95 meters",
+    "closeness rank": 3
+   },
+   "whiteboard": {
+    "distance": "1.01 meters",
+    "closeness rank": 4
+   },
+   "ceiling light": {
+    "distance": "1.94 meters",
+    "closeness rank": 5
+   }
+  }
+ },
+ "appearance order": ["whiteboard", "ceiling light", "cup", "chair", "door", "table"]
+}
\ No newline at end of file
diff --git a/data/spatial codes/ground truth/explicit/578511c8a9.json b/data/spatial codes/ground truth/explicit/578511c8a9.json
new file mode 100644
index 0000000000000000000000000000000000000000..fa2e025b2faa12f5b8e36fd5b9dd12a3fac36b47
--- /dev/null
+++ b/data/spatial codes/ground truth/explicit/578511c8a9.json	
@@ -0,0 +1,1748 @@
+{
+ "spatial code schema": {
+  "objects": {
+   "<object class>": {
+    "count": {
+     "unit": null,
+     "description": "number of instances of this class in the compact spatial code (that schema's per-class oriented-box list length)"
+    },
+    "instances": [
+     {
+      "position": {
+       "x coordinate": {
+        "unit": "meters",
+        "description": "x coordinate of this instance's compact 3D oriented bounding box center"
+       },
+       "y coordinate": {
+        "unit": "meters",
+        "description": "y coordinate of this instance's compact 3D oriented bounding box center"
+       },
+       "height above floor": {
+        "unit": "meters",
+        "description": "height coordinate of this instance's compact 3D oriented bounding box center"
+       }
+      },
+      "longest dimension": {
+       "unit": "meters",
+       "description": "longest of this instance's compact 3D oriented bounding box dimensions"
+      }
+     }
+    ]
+   }
+  },
+  "room": {
+   "floor area": {
+    "unit": "square meters",
+    "description": "shoelace area of the compact spatial code's floor boundary polygons, with every interior hole subtracted"
+   }
+  },
+  "closest classes distance meters from": {
+   "<object class>": {
+    "<other object class>": {
+     "distance": {
+      "unit": "meters",
+      "description": "estimated distance in meters between an object of this class and an object of the other class"
+     },
+     "closeness rank": {
+      "unit": null,
+      "description": "1 = the nearest other class to this one, 2 = second-nearest, and so on; ranked by nearest-instance proximity, so use the rank (not the distance values) to compare which class is closest"
+     }
+    }
+   }
+  },
+  "appearance order": {
+   "unit": null,
+   "description": "class names ordered by earliest compact 'first visible time' across all of that class's instances"
+  }
+ },
+ "objects": {
+  "table": {
+   "count": 19,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "7.74 meters",
+      "y coordinate": "6.34 meters",
+      "height above floor": "0.71 meters"
+     },
+     "longest dimension": "1.2 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "10.14 meters",
+      "y coordinate": "4.78 meters",
+      "height above floor": "0.7 meters"
+     },
+     "longest dimension": "1.2 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "8.4 meters",
+      "y coordinate": "7.69 meters",
+      "height above floor": "0.71 meters"
+     },
+     "longest dimension": "2.01 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "7.97 meters",
+      "y coordinate": "4.84 meters",
+      "height above floor": "0.7 meters"
+     },
+     "longest dimension": "1.21 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "8.74 meters",
+      "y coordinate": "6.05 meters",
+      "height above floor": "0.73 meters"
+     },
+     "longest dimension": "1.23 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "5.1 meters",
+      "y coordinate": "7.67 meters",
+      "height above floor": "0.7 meters"
+     },
+     "longest dimension": "2.02 meters"
+    },
+    {
+     "position": {
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+     },
+     "longest dimension": "0.61 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "11.22 meters",
+      "y coordinate": "4.68 meters",
+      "height above floor": "3.33 meters"
+     },
+     "longest dimension": "0.62 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "11.02 meters",
+      "y coordinate": "6.48 meters",
+      "height above floor": "3.33 meters"
+     },
+     "longest dimension": "0.62 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "10.83 meters",
+      "y coordinate": "8.28 meters",
+      "height above floor": "3.34 meters"
+     },
+     "longest dimension": "0.61 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "10.64 meters",
+      "y coordinate": "10.07 meters",
+      "height above floor": "3.34 meters"
+     },
+     "longest dimension": "0.61 meters"
+    }
+   ]
+  },
+  "table lamp": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "4.14 meters",
+      "y coordinate": "1.07 meters",
+      "height above floor": "1.76 meters"
+     },
+     "longest dimension": "1.03 meters"
+    }
+   ]
+  }
+ },
+ "room": {
+  "floor area": "101.2 square meters"
+ },
+ "closest classes distance meters from": {
+  "table": {
+   "chair": {
+    "distance": "5.16 meters",
+    "closeness rank": 1
+   },
+   "computer mouse": {
+    "distance": "1.99 meters",
+    "closeness rank": 2
+   },
+   "computer tower": {
+    "distance": "5.17 meters",
+    "closeness rank": 3
+   },
+   "keyboard": {
+    "distance": "4.69 meters",
+    "closeness rank": 4
+   },
+   "monitor": {
+    "distance": "3.39 meters",
+    "closeness rank": 5
+   },
+   "table lamp": {
+    "distance": "5.35 meters",
+    "closeness rank": 6
+   },
+   "telephone": {
+    "distance": "3.26 meters",
+    "closeness rank": 7
+   },
+   "whiteboard": {
+    "distance": "0.38 meters",
+    "closeness rank": 8
+   },
+   "printer": {
+    "distance": "4.11 meters",
+    "closeness rank": 9
+   },
+   "kettle": {
+    "distance": "4.72 meters",
+    "closeness rank": 10
+   },
+   "exhaust fan": {
+    "distance": "6.38 meters",
+    "closeness rank": 11
+   },
+   "door": {
+    "distance": "4.44 meters",
+    "closeness rank": 12
+   },
+   "ceiling light": {
+    "distance": "5.72 meters",
+    "closeness rank": 13
+   }
+  },
+  "exhaust fan": {
+   "ceiling light": {
+    "distance": "0.53 meters",
+    "closeness rank": 1
+   },
+   "table lamp": {
+    "distance": "1.14 meters",
+    "closeness rank": 2
+   },
+   "whiteboard": {
+    "distance": "5.31 meters",
+    "closeness rank": 3
+   },
+   "table": {
+    "distance": "6.38 meters",
+    "closeness rank": 4
+   },
+   "chair": {
+    "distance": "7.44 meters",
+    "closeness rank": 5
+   },
+   "monitor": {
+    "distance": "9.43 meters",
+    "closeness rank": 6
+   },
+   "keyboard": {
+    "distance": "5.04 meters",
+    "closeness rank": 7
+   },
+   "computer tower": {
+    "distance": "3.71 meters",
+    "closeness rank": 8
+   },
+   "computer mouse": {
+    "distance": "4.46 meters",
+    "closeness rank": 9
+   },
+   "door": {
+    "distance": "9.38 meters",
+    "closeness rank": 10
+   },
+   "telephone": {
+    "distance": "9.87 meters",
+    "closeness rank": 11
+   },
+   "printer": {
+    "distance": "11.22 meters",
+    "closeness rank": 12
+   },
+   "kettle": {
+    "distance": "12.07 meters",
+    "closeness rank": 13
+   }
+  },
+  "monitor": {
+   "keyboard": {
+    "distance": "9.2 meters",
+    "closeness rank": 1
+   },
+   "table": {
+    "distance": "3.39 meters",
+    "closeness rank": 2
+   },
+   "computer tower": {
+    "distance": "9.45 meters",
+    "closeness rank": 3
+   },
+   "computer mouse": {
+    "distance": "5.94 meters",
+    "closeness rank": 4
+   },
+   "telephone": {
+    "distance": "0.56 meters",
+    "closeness rank": 5
+   },
+   "chair": {
+    "distance": "9.54 meters",
+    "closeness rank": 6
+   },
+   "whiteboard": {
+    "distance": "3.66 meters",
+    "closeness rank": 7
+   },
+   "printer": {
+    "distance": "2.45 meters",
+    "closeness rank": 8
+   },
+   "kettle": {
+    "distance": "3.13 meters",
+    "closeness rank": 9
+   },
+   "ceiling light": {
+    "distance": "8.92 meters",
+    "closeness rank": 10
+   },
+   "table lamp": {
+    "distance": "8.86 meters",
+    "closeness rank": 11
+   },
+   "door": {
+    "distance": "8.44 meters",
+    "closeness rank": 12
+   },
+   "exhaust fan": {
+    "distance": "9.43 meters",
+    "closeness rank": 13
+   }
+  },
+  "keyboard": {
+   "chair": {
+    "distance": "2.09 meters",
+    "closeness rank": 1
+   },
+   "computer mouse": {
+    "distance": "3.6 meters",
+    "closeness rank": 2
+   },
+   "monitor": {
+    "distance": "9.2 meters",
+    "closeness rank": 3
+   },
+   "table": {
+    "distance": "4.69 meters",
+    "closeness rank": 4
+   },
+   "computer tower": {
+    "distance": "1.33 meters",
+    "closeness rank": 5
+   },
+   "telephone": {
+    "distance": "9.12 meters",
+    "closeness rank": 6
+   },
+   "whiteboard": {
+    "distance": "4.8 meters",
+    "closeness rank": 7
+   },
+   "printer": {
+    "distance": "9.65 meters",
+    "closeness rank": 8
+   },
+   "kettle": {
+    "distance": "10.23 meters",
+    "closeness rank": 9
+   },
+   "table lamp": {
+    "distance": "3.63 meters",
+    "closeness rank": 10
+   },
+   "ceiling light": {
+    "distance": "4.4 meters",
+    "closeness rank": 11
+   },
+   "door": {
+    "distance": "3.14 meters",
+    "closeness rank": 12
+   },
+   "exhaust fan": {
+    "distance": "5.04 meters",
+    "closeness rank": 13
+   }
+  },
+  "computer tower": {
+   "chair": {
+    "distance": "3.84 meters",
+    "closeness rank": 1
+   },
+   "table": {
+    "distance": "5.17 meters",
+    "closeness rank": 2
+   },
+   "monitor": {
+    "distance": "9.45 meters",
+    "closeness rank": 3
+   },
+   "keyboard": {
+    "distance": "1.33 meters",
+    "closeness rank": 4
+   },
+   "computer mouse": {
+    "distance": "3.43 meters",
+    "closeness rank": 5
+   },
+   "telephone": {
+    "distance": "9.53 meters",
+    "closeness rank": 6
+   },
+   "whiteboard": {
+    "distance": "4.83 meters",
+    "closeness rank": 7
+   },
+   "ceiling light": {
+    "distance": "3.04 meters",
+    "closeness rank": 8
+   },
+   "door": {
+    "distance": "4.88 meters",
+    "closeness rank": 9
+   },
+   "table lamp": {
+    "distance": "2.37 meters",
+    "closeness rank": 10
+   },
+   "printer": {
+    "distance": "10.37 meters",
+    "closeness rank": 11
+   },
+   "kettle": {
+    "distance": "11.01 meters",
+    "closeness rank": 12
+   },
+   "exhaust fan": {
+    "distance": "3.71 meters",
+    "closeness rank": 13
+   }
+  },
+  "whiteboard": {
+   "table": {
+    "distance": "0.38 meters",
+    "closeness rank": 1
+   },
+   "kettle": {
+    "distance": "5.83 meters",
+    "closeness rank": 2
+   },
+   "table lamp": {
+    "distance": "4.42 meters",
+    "closeness rank": 3
+   },
+   "chair": {
+    "distance": "5.91 meters",
+    "closeness rank": 4
+   },
+   "printer": {
+    "distance": "5.14 meters",
+    "closeness rank": 5
+   },
+   "monitor": {
+    "distance": "3.66 meters",
+    "closeness rank": 6
+   },
+   "keyboard": {
+    "distance": "4.8 meters",
+    "closeness rank": 7
+   },
+   "computer tower": {
+    "distance": "4.83 meters",
+    "closeness rank": 8
+   },
+   "exhaust fan": {
+    "distance": "5.31 meters",
+    "closeness rank": 9
+   },
+   "ceiling light": {
+    "distance": "4.73 meters",
+    "closeness rank": 10
+   },
+   "computer mouse": {
+    "distance": "1.39 meters",
+    "closeness rank": 11
+   },
+   "telephone": {
+    "distance": "3.85 meters",
+    "closeness rank": 12
+   },
+   "door": {
+    "distance": "6.03 meters",
+    "closeness rank": 13
+   }
+  },
+  "door": {
+   "chair": {
+    "distance": "0.46 meters",
+    "closeness rank": 1
+   },
+   "ceiling light": {
+    "distance": "7.33 meters",
+    "closeness rank": 2
+   },
+   "table": {
+    "distance": "4.44 meters",
+    "closeness rank": 3
+   },
+   "computer tower": {
+    "distance": "4.88 meters",
+    "closeness rank": 4
+   },
+   "keyboard": {
+    "distance": "3.14 meters",
+    "closeness rank": 5
+   },
+   "computer mouse": {
+    "distance": "5.27 meters",
+    "closeness rank": 6
+   },
+   "monitor": {
+    "distance": "8.44 meters",
+    "closeness rank": 7
+   },
+   "whiteboard": {
+    "distance": "6.03 meters",
+    "closeness rank": 8
+   },
+   "printer": {
+    "distance": "7.88 meters",
+    "closeness rank": 9
+   },
+   "kettle": {
+    "distance": "8.3 meters",
+    "closeness rank": 10
+   },
+   "telephone": {
+    "distance": "8.4 meters",
+    "closeness rank": 11
+   },
+   "table lamp": {
+    "distance": "8.4 meters",
+    "closeness rank": 12
+   },
+   "exhaust fan": {
+    "distance": "9.38 meters",
+    "closeness rank": 13
+   }
+  },
+  "chair": {
+   "computer tower": {
+    "distance": "3.84 meters",
+    "closeness rank": 1
+   },
+   "keyboard": {
+    "distance": "2.09 meters",
+    "closeness rank": 2
+   },
+   "table": {
+    "distance": "5.16 meters",
+    "closeness rank": 3
+   },
+   "telephone": {
+    "distance": "9.19 meters",
+    "closeness rank": 4
+   },
+   "computer mouse": {
+    "distance": "5.25 meters",
+    "closeness rank": 5
+   },
+   "monitor": {
+    "distance": "9.54 meters",
+    "closeness rank": 6
+   },
+   "whiteboard": {
+    "distance": "5.91 meters",
+    "closeness rank": 7
+   },
+   "door": {
+    "distance": "0.46 meters",
+    "closeness rank": 8
+   },
+   "table lamp": {
+    "distance": "6.15 meters",
+    "closeness rank": 9
+   },
+   "printer": {
+    "distance": "9.07 meters",
+    "closeness rank": 10
+   },
+   "kettle": {
+    "distance": "9.53 meters",
+    "closeness rank": 11
+   },
+   "ceiling light": {
+    "distance": "6.72 meters",
+    "closeness rank": 12
+   },
+   "exhaust fan": {
+    "distance": "7.44 meters",
+    "closeness rank": 13
+   }
+  },
+  "computer mouse": {
+   "keyboard": {
+    "distance": "3.6 meters",
+    "closeness rank": 1
+   },
+   "table": {
+    "distance": "1.99 meters",
+    "closeness rank": 2
+   },
+   "chair": {
+    "distance": "5.25 meters",
+    "closeness rank": 3
+   },
+   "monitor": {
+    "distance": "5.94 meters",
+    "closeness rank": 4
+   },
+   "computer tower": {
+    "distance": "3.43 meters",
+    "closeness rank": 5
+   },
+   "whiteboard": {
+    "distance": "1.39 meters",
+    "closeness rank": 6
+   },
+   "telephone": {
+    "distance": "6.09 meters",
+    "closeness rank": 7
+   },
+   "ceiling light": {
+    "distance": "3.78 meters",
+    "closeness rank": 8
+   },
+   "door": {
+    "distance": "5.27 meters",
+    "closeness rank": 9
+   },
+   "table lamp": {
+    "distance": "3.33 meters",
+    "closeness rank": 10
+   },
+   "printer": {
+    "distance": "7.21 meters",
+    "closeness rank": 11
+   },
+   "kettle": {
+    "distance": "7.88 meters",
+    "closeness rank": 12
+   },
+   "exhaust fan": {
+    "distance": "4.46 meters",
+    "closeness rank": 13
+   }
+  },
+  "kettle": {
+   "whiteboard": {
+    "distance": "5.83 meters",
+    "closeness rank": 1
+   },
+   "printer": {
+    "distance": "0.59 meters",
+    "closeness rank": 2
+   },
+   "table": {
+    "distance": "4.72 meters",
+    "closeness rank": 3
+   },
+   "chair": {
+    "distance": "9.53 meters",
+    "closeness rank": 4
+   },
+   "monitor": {
+    "distance": "3.13 meters",
+    "closeness rank": 5
+   },
+   "keyboard": {
+    "distance": "10.23 meters",
+    "closeness rank": 6
+   },
+   "telephone": {
+    "distance": "2.42 meters",
+    "closeness rank": 7
+   },
+   "ceiling light": {
+    "distance": "11.38 meters",
+    "closeness rank": 8
+   },
+   "computer tower": {
+    "distance": "11.01 meters",
+    "closeness rank": 9
+   },
+   "computer mouse": {
+    "distance": "7.88 meters",
+    "closeness rank": 10
+   },
+   "door": {
+    "distance": "8.3 meters",
+    "closeness rank": 11
+   },
+   "table lamp": {
+    "distance": "11.25 meters",
+    "closeness rank": 12
+   },
+   "exhaust fan": {
+    "distance": "12.07 meters",
+    "closeness rank": 13
+   }
+  },
+  "telephone": {
+   "chair": {
+    "distance": "9.19 meters",
+    "closeness rank": 1
+   },
+   "table": {
+    "distance": "3.26 meters",
+    "closeness rank": 2
+   },
+   "keyboard": {
+    "distance": "9.12 meters",
+    "closeness rank": 3
+   },
+   "monitor": {
+    "distance": "0.56 meters",
+    "closeness rank": 4
+   },
+   "computer tower": {
+    "distance": "9.53 meters",
+    "closeness rank": 5
+   },
+   "computer mouse": {
+    "distance": "6.09 meters",
+    "closeness rank": 6
+   },
+   "printer": {
+    "distance": "1.74 meters",
+    "closeness rank": 7
+   },
+   "ceiling light": {
+    "distance": "9.3 meters",
+    "closeness rank": 8
+   },
+   "kettle": {
+    "distance": "2.42 meters",
+    "closeness rank": 9
+   },
+   "whiteboard": {
+    "distance": "3.85 meters",
+    "closeness rank": 10
+   },
+   "door": {
+    "distance": "8.4 meters",
+    "closeness rank": 11
+   },
+   "table lamp": {
+    "distance": "9.21 meters",
+    "closeness rank": 12
+   },
+   "exhaust fan": {
+    "distance": "9.87 meters",
+    "closeness rank": 13
+   }
+  },
+  "printer": {
+   "table": {
+    "distance": "4.11 meters",
+    "closeness rank": 1
+   },
+   "chair": {
+    "distance": "9.07 meters",
+    "closeness rank": 2
+   },
+   "kettle": {
+    "distance": "0.59 meters",
+    "closeness rank": 3
+   },
+   "whiteboard": {
+    "distance": "5.14 meters",
+    "closeness rank": 4
+   },
+   "monitor": {
+    "distance": "2.45 meters",
+    "closeness rank": 5
+   },
+   "keyboard": {
+    "distance": "9.65 meters",
+    "closeness rank": 6
+   },
+   "telephone": {
+    "distance": "1.74 meters",
+    "closeness rank": 7
+   },
+   "ceiling light": {
+    "distance": "10.56 meters",
+    "closeness rank": 8
+   },
+   "computer tower": {
+    "distance": "10.37 meters",
+    "closeness rank": 9
+   },
+   "computer mouse": {
+    "distance": "7.21 meters",
+    "closeness rank": 10
+   },
+   "door": {
+    "distance": "7.88 meters",
+    "closeness rank": 11
+   },
+   "table lamp": {
+    "distance": "10.49 meters",
+    "closeness rank": 12
+   },
+   "exhaust fan": {
+    "distance": "11.22 meters",
+    "closeness rank": 13
+   }
+  },
+  "ceiling light": {
+   "exhaust fan": {
+    "distance": "0.53 meters",
+    "closeness rank": 1
+   },
+   "table lamp": {
+    "distance": "1.07 meters",
+    "closeness rank": 2
+   },
+   "door": {
+    "distance": "7.33 meters",
+    "closeness rank": 3
+   },
+   "whiteboard": {
+    "distance": "4.73 meters",
+    "closeness rank": 4
+   },
+   "chair": {
+    "distance": "6.72 meters",
+    "closeness rank": 5
+   },
+   "monitor": {
+    "distance": "8.92 meters",
+    "closeness rank": 6
+   },
+   "printer": {
+    "distance": "10.56 meters",
+    "closeness rank": 7
+   },
+   "computer tower": {
+    "distance": "3.04 meters",
+    "closeness rank": 8
+   },
+   "table": {
+    "distance": "5.72 meters",
+    "closeness rank": 9
+   },
+   "telephone": {
+    "distance": "9.3 meters",
+    "closeness rank": 10
+   },
+   "keyboard": {
+    "distance": "4.4 meters",
+    "closeness rank": 11
+   },
+   "computer mouse": {
+    "distance": "3.78 meters",
+    "closeness rank": 12
+   },
+   "kettle": {
+    "distance": "11.38 meters",
+    "closeness rank": 13
+   }
+  },
+  "table lamp": {
+   "table": {
+    "distance": "5.35 meters",
+    "closeness rank": 1
+   },
+   "whiteboard": {
+    "distance": "4.42 meters",
+    "closeness rank": 2
+   },
+   "chair": {
+    "distance": "6.15 meters",
+    "closeness rank": 3
+   },
+   "ceiling light": {
+    "distance": "1.07 meters",
+    "closeness rank": 4
+   },
+   "exhaust fan": {
+    "distance": "1.14 meters",
+    "closeness rank": 5
+   },
+   "monitor": {
+    "distance": "8.86 meters",
+    "closeness rank": 6
+   },
+   "keyboard": {
+    "distance": "3.63 meters",
+    "closeness rank": 7
+   },
+   "computer tower": {
+    "distance": "2.37 meters",
+    "closeness rank": 8
+   },
+   "computer mouse": {
+    "distance": "3.33 meters",
+    "closeness rank": 9
+   },
+   "door": {
+    "distance": "8.4 meters",
+    "closeness rank": 10
+   },
+   "telephone": {
+    "distance": "9.21 meters",
+    "closeness rank": 11
+   },
+   "printer": {
+    "distance": "10.49 meters",
+    "closeness rank": 12
+   },
+   "kettle": {
+    "distance": "11.25 meters",
+    "closeness rank": 13
+   }
+  }
+ },
+ "appearance order": ["whiteboard", "table lamp", "table", "exhaust fan", "chair", "computer tower", "ceiling light", "monitor", "keyboard", "door", "computer mouse", "telephone", "printer", "kettle"]
+}
\ No newline at end of file
diff --git a/data/spatial codes/ground truth/explicit/5942004064.json b/data/spatial codes/ground truth/explicit/5942004064.json
new file mode 100644
index 0000000000000000000000000000000000000000..9f1f732818dfd8a3c0c85fdf8d8d884d0697c386
--- /dev/null
+++ b/data/spatial codes/ground truth/explicit/5942004064.json	
@@ -0,0 +1,989 @@
+{
+ "spatial code schema": {
+  "objects": {
+   "<object class>": {
+    "count": {
+     "unit": null,
+     "description": "number of instances of this class in the compact spatial code (that schema's per-class oriented-box list length)"
+    },
+    "instances": [
+     {
+      "position": {
+       "x coordinate": {
+        "unit": "meters",
+        "description": "x coordinate of this instance's compact 3D oriented bounding box center"
+       },
+       "y coordinate": {
+        "unit": "meters",
+        "description": "y coordinate of this instance's compact 3D oriented bounding box center"
+       },
+       "height above floor": {
+        "unit": "meters",
+        "description": "height coordinate of this instance's compact 3D oriented bounding box center"
+       }
+      },
+      "longest dimension": {
+       "unit": "meters",
+       "description": "longest of this instance's compact 3D oriented bounding box dimensions"
+      }
+     }
+    ]
+   }
+  },
+  "room": {
+   "floor area": {
+    "unit": "square meters",
+    "description": "shoelace area of the compact spatial code's floor boundary polygons, with every interior hole subtracted"
+   }
+  },
+  "closest classes distance meters from": {
+   "<object class>": {
+    "<other object class>": {
+     "distance": {
+      "unit": "meters",
+      "description": "estimated distance in meters between an object of this class and an object of the other class"
+     },
+     "closeness rank": {
+      "unit": null,
+      "description": "1 = the nearest other class to this one, 2 = second-nearest, and so on; ranked by nearest-instance proximity, so use the rank (not the distance values) to compare which class is closest"
+     }
+    }
+   }
+  },
+  "appearance order": {
+   "unit": null,
+   "description": "class names ordered by earliest compact 'first visible time' across all of that class's instances"
+  }
+ },
+ "objects": {
+  "door": {
+   "count": 4,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "0.36 meters",
+      "y coordinate": "3.37 meters",
+      "height above floor": "1.25 meters"
+     },
+     "longest dimension": "2.02 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "2.71 meters",
+      "y coordinate": "3.54 meters",
+      "height above floor": "1.24 meters"
+     },
+     "longest dimension": "2.01 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "1.76 meters",
+      "y coordinate": "2.3 meters",
+      "height above floor": "1.24 meters"
+     },
+     "longest dimension": "2.0 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "6.62 meters",
+      "y coordinate": "1.05 meters",
+      "height above floor": "1.26 meters"
+     },
+     "longest dimension": "2.05 meters"
+    }
+   ]
+  },
+  "sofa": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "6.37 meters",
+      "y coordinate": "3.47 meters",
+      "height above floor": "0.66 meters"
+     },
+     "longest dimension": "2.16 meters"
+    }
+   ]
+  },
+  "toilet": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "0.55 meters",
+      "y coordinate": "2.36 meters",
+      "height above floor": "0.63 meters"
+     },
+     "longest dimension": "1.05 meters"
+    }
+   ]
+  },
+  "pillow": {
+   "count": 4,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "7.18 meters",
+      "y coordinate": "3.43 meters",
+      "height above floor": "0.77 meters"
+     },
+     "longest dimension": "0.41 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "5.52 meters",
+      "y coordinate": "3.62 meters",
+      "height above floor": "0.8 meters"
+     },
+     "longest dimension": "0.42 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "3.1 meters",
+      "y coordinate": "0.51 meters",
+      "height above floor": "0.79 meters"
+     },
+     "longest dimension": "0.74 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "2.39 meters",
+      "y coordinate": "0.68 meters",
+      "height above floor": "0.77 meters"
+     },
+     "longest dimension": "0.75 meters"
+    }
+   ]
+  },
+  "chair": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "5.93 meters",
+      "y coordinate": "2.5 meters",
+      "height above floor": "0.63 meters"
+     },
+     "longest dimension": "0.78 meters"
+    }
+   ]
+  },
+  "heater": {
+   "count": 2,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "1.92 meters",
+      "y coordinate": "1.8 meters",
+      "height above floor": "0.56 meters"
+     },
+     "longest dimension": "0.72 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "7.65 meters",
+      "y coordinate": "2.8 meters",
+      "height above floor": "0.52 meters"
+     },
+     "longest dimension": "0.89 meters"
+    }
+   ]
+  },
+  "basket": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "1.8 meters",
+      "y coordinate": "1.73 meters",
+      "height above floor": "0.36 meters"
+     },
+     "longest dimension": "0.35 meters"
+    }
+   ]
+  },
+  "bed": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "2.85 meters",
+      "y coordinate": "1.43 meters",
+      "height above floor": "0.54 meters"
+     },
+     "longest dimension": "2.18 meters"
+    }
+   ]
+  },
+  "tv": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "4.3 meters",
+      "y coordinate": "3.92 meters",
+      "height above floor": "1.06 meters"
+     },
+     "longest dimension": "1.1 meters"
+    }
+   ]
+  },
+  "plant": {
+   "count": 6,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "5.08 meters",
+      "y coordinate": "3.67 meters",
+      "height above floor": "1.34 meters"
+     },
+     "longest dimension": "1.64 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "4.14 meters",
+      "y coordinate": "0.82 meters",
+      "height above floor": "1.44 meters"
+     },
+     "longest dimension": "0.6 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "4.31 meters",
+      "y coordinate": "0.75 meters",
+      "height above floor": "1.15 meters"
+     },
+     "longest dimension": "0.19 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "6.74 meters",
+      "y coordinate": "2.27 meters",
+      "height above floor": "1.22 meters"
+     },
+     "longest dimension": "0.49 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "7.54 meters",
+      "y coordinate": "2.86 meters",
+      "height above floor": "1.49 meters"
+     },
+     "longest dimension": "0.99 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "7.56 meters",
+      "y coordinate": "2.48 meters",
+      "height above floor": "1.24 meters"
+     },
+     "longest dimension": "0.66 meters"
+    }
+   ]
+  },
+  "table": {
+   "count": 2,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "4.71 meters",
+      "y coordinate": "0.49 meters",
+      "height above floor": "0.63 meters"
+     },
+     "longest dimension": "1.53 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "6.48 meters",
+      "y coordinate": "2.52 meters",
+      "height above floor": "0.62 meters"
+     },
+     "longest dimension": "0.76 meters"
+    }
+   ]
+  },
+  "ceiling light": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "5.06 meters",
+      "y coordinate": "2.1 meters",
+      "height above floor": "2.62 meters"
+     },
+     "longest dimension": "0.56 meters"
+    }
+   ]
+  },
+  "blanket": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "2.9 meters",
+      "y coordinate": "1.58 meters",
+      "height above floor": "0.54 meters"
+     },
+     "longest dimension": "1.89 meters"
+    }
+   ]
+  }
+ },
+ "room": {
+  "floor area": "26.5 square meters"
+ },
+ "closest classes distance meters from": {
+  "door": {
+   "basket": {
+    "distance": "1.17 meters",
+    "closeness rank": 1
+   },
+   "heater": {
+    "distance": "0.95 meters",
+    "closeness rank": 2
+   },
+   "toilet": {
+    "distance": "0.25 meters",
+    "closeness rank": 3
+   },
+   "bed": {
+    "distance": "1.14 meters",
+    "closeness rank": 4
+   },
+   "blanket": {
+    "distance": "1.23 meters",
+    "closeness rank": 5
+   },
+   "tv": {
+    "distance": "2.42 meters",
+    "closeness rank": 6
+   },
+   "table": {
+    "distance": "3.48 meters",
+    "closeness rank": 7
+   },
+   "plant": {
+    "distance": "2.9 meters",
+    "closeness rank": 8
+   },
+   "pillow": {
+    "distance": "5.62 meters",
+    "closeness rank": 9
+   },
+   "chair": {
+    "distance": "4.27 meters",
+    "closeness rank": 10
+   },
+   "ceiling light": {
+    "distance": "3.77 meters",
+    "closeness rank": 11
+   },
+   "sofa": {
+    "distance": "3.95 meters",
+    "closeness rank": 12
+   }
+  },
+  "sofa": {
+   "pillow": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "plant": {
+    "distance": "0.0 meters",
+    "closeness rank": 2
+   },
+   "heater": {
+    "distance": "3.31 meters",
+    "closeness rank": 3
+   },
+   "table": {
+    "distance": "1.57 meters",
+    "closeness rank": 4
+   },
+   "chair": {
+    "distance": "0.31 meters",
+    "closeness rank": 5
+   },
+   "tv": {
+    "distance": "0.53 meters",
+    "closeness rank": 6
+   },
+   "ceiling light": {
+    "distance": "1.56 meters",
+    "closeness rank": 7
+   },
+   "blanket": {
+    "distance": "1.93 meters",
+    "closeness rank": 8
+   },
+   "bed": {
+    "distance": "1.9 meters",
+    "closeness rank": 9
+   },
+   "door": {
+    "distance": "3.95 meters",
+    "closeness rank": 10
+   },
+   "basket": {
+    "distance": "3.64 meters",
+    "closeness rank": 11
+   },
+   "toilet": {
+    "distance": "4.32 meters",
+    "closeness rank": 12
+   }
+  },
+  "toilet": {
+   "door": {
+    "distance": "0.25 meters",
+    "closeness rank": 1
+   },
+   "basket": {
+    "distance": "0.73 meters",
+    "closeness rank": 2
+   },
+   "heater": {
+    "distance": "0.7 meters",
+    "closeness rank": 3
+   },
+   "bed": {
+    "distance": "0.95 meters",
+    "closeness rank": 4
+   },
+   "blanket": {
+    "distance": "1.03 meters",
+    "closeness rank": 5
+   },
+   "pillow": {
+    "distance": "5.99 meters",
+    "closeness rank": 6
+   },
+   "tv": {
+    "distance": "3.01 meters",
+    "closeness rank": 7
+   },
+   "plant": {
+    "distance": "3.42 meters",
+    "closeness rank": 8
+   },
+   "table": {
+    "distance": "3.27 meters",
+    "closeness rank": 9
+   },
+   "ceiling light": {
+    "distance": "4.13 meters",
+    "closeness rank": 10
+   },
+   "sofa": {
+    "distance": "4.32 meters",
+    "closeness rank": 11
+   },
+   "chair": {
+    "distance": "4.47 meters",
+    "closeness rank": 12
+   }
+  },
+  "pillow": {
+   "bed": {
+    "distance": "3.48 meters",
+    "closeness rank": 1
+   },
+   "blanket": {
+    "distance": "3.52 meters",
+    "closeness rank": 2
+   },
+   "plant": {
+    "distance": "1.16 meters",
+    "closeness rank": 3
+   },
+   "sofa": {
+    "distance": "0.0 meters",
+    "closeness rank": 4
+   },
+   "heater": {
+    "distance": "4.95 meters",
+    "closeness rank": 5
+   },
+   "table": {
+    "distance": "2.87 meters",
+    "closeness rank": 6
+   },
+   "tv": {
+    "distance": "2.18 meters",
+    "closeness rank": 7
+   },
+   "chair": {
+    "distance": "0.97 meters",
+    "closeness rank": 8
+   },
+   "basket": {
+    "distance": "5.28 meters",
+    "closeness rank": 9
+   },
+   "door": {
+    "distance": "5.62 meters",
+    "closeness rank": 10
+   },
+   "toilet": {
+    "distance": "5.99 meters",
+    "closeness rank": 11
+   },
+   "ceiling light": {
+    "distance": "2.63 meters",
+    "closeness rank": 12
+   }
+  },
+  "chair": {
+   "table": {
+    "distance": "1.2 meters",
+    "closeness rank": 1
+   },
+   "plant": {
+    "distance": "0.4 meters",
+    "closeness rank": 2
+   },
+   "sofa": {
+    "distance": "0.31 meters",
+    "closeness rank": 3
+   },
+   "pillow": {
+    "distance": "0.97 meters",
+    "closeness rank": 4
+   },
+   "door": {
+    "distance": "4.27 meters",
+    "closeness rank": 5
+   },
+   "heater": {
+    "distance": "3.32 meters",
+    "closeness rank": 6
+   },
+   "tv": {
+    "distance": "1.33 meters",
+    "closeness rank": 7
+   },
+   "ceiling light": {
+    "distance": "1.54 meters",
+    "closeness rank": 8
+   },
+   "blanket": {
+    "distance": "1.93 meters",
+    "closeness rank": 9
+   },
+   "bed": {
+    "distance": "1.93 meters",
+    "closeness rank": 10
+   },
+   "basket": {
+    "distance": "3.67 meters",
+    "closeness rank": 11
+   },
+   "toilet": {
+    "distance": "4.47 meters",
+    "closeness rank": 12
+   }
+  },
+  "heater": {
+   "basket": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "sofa": {
+    "distance": "3.31 meters",
+    "closeness rank": 2
+   },
+   "pillow": {
+    "distance": "4.95 meters",
+    "closeness rank": 3
+   },
+   "door": {
+    "distance": "0.95 meters",
+    "closeness rank": 4
+   },
+   "plant": {
+    "distance": "2.57 meters",
+    "closeness rank": 5
+   },
+   "bed": {
+    "distance": "0.12 meters",
+    "closeness rank": 6
+   },
+   "blanket": {
+    "distance": "0.19 meters",
+    "closeness rank": 7
+   },
+   "table": {
+    "distance": "1.96 meters",
+    "closeness rank": 8
+   },
+   "toilet": {
+    "distance": "0.7 meters",
+    "closeness rank": 9
+   },
+   "chair": {
+    "distance": "3.32 meters",
+    "closeness rank": 10
+   },
+   "tv": {
+    "distance": "2.49 meters",
+    "closeness rank": 11
+   },
+   "ceiling light": {
+    "distance": "3.13 meters",
+    "closeness rank": 12
+   }
+  },
+  "basket": {
+   "heater": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "door": {
+    "distance": "1.17 meters",
+    "closeness rank": 2
+   },
+   "bed": {
+    "distance": "0.1 meters",
+    "closeness rank": 3
+   },
+   "blanket": {
+    "distance": "0.18 meters",
+    "closeness rank": 4
+   },
+   "toilet": {
+    "distance": "0.73 meters",
+    "closeness rank": 5
+   },
+   "pillow": {
+    "distance": "5.28 meters",
+    "closeness rank": 6
+   },
+   "table": {
+    "distance": "2.23 meters",
+    "closeness rank": 7
+   },
+   "plant": {
+    "distance": "2.94 meters",
+    "closeness rank": 8
+   },
+   "tv": {
+    "distance": "2.72 meters",
+    "closeness rank": 9
+   },
+   "ceiling light": {
+    "distance": "3.53 meters",
+    "closeness rank": 10
+   },
+   "sofa": {
+    "distance": "3.64 meters",
+    "closeness rank": 11
+   },
+   "chair": {
+    "distance": "3.67 meters",
+    "closeness rank": 12
+   }
+  },
+  "bed": {
+   "blanket": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "pillow": {
+    "distance": "3.48 meters",
+    "closeness rank": 2
+   },
+   "basket": {
+    "distance": "0.1 meters",
+    "closeness rank": 3
+   },
+   "heater": {
+    "distance": "0.12 meters",
+    "closeness rank": 4
+   },
+   "door": {
+    "distance": "1.14 meters",
+    "closeness rank": 5
+   },
+   "table": {
+    "distance": "0.39 meters",
+    "closeness rank": 6
+   },
+   "plant": {
+    "distance": "1.35 meters",
+    "closeness rank": 7
+   },
+   "toilet": {
+    "distance": "0.95 meters",
+    "closeness rank": 8
+   },
+   "tv": {
+    "distance": "1.45 meters",
+    "closeness rank": 9
+   },
+   "sofa": {
+    "distance": "1.9 meters",
+    "closeness rank": 10
+   },
+   "ceiling light": {
+    "distance": "1.93 meters",
+    "closeness rank": 11
+   },
+   "chair": {
+    "distance": "1.93 meters",
+    "closeness rank": 12
+   }
+  },
+  "tv": {
+   "plant": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "pillow": {
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+    "closeness rank": 2
+   },
+   "sofa": {
+    "distance": "0.53 meters",
+    "closeness rank": 3
+   },
+   "door": {
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+    "closeness rank": 4
+   },
+   "chair": {
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+    "closeness rank": 5
+   },
+   "blanket": {
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+    "closeness rank": 6
+   },
+   "bed": {
+    "distance": "1.45 meters",
+    "closeness rank": 7
+   },
+   "table": {
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+    "closeness rank": 8
+   },
+   "ceiling light": {
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+    "closeness rank": 9
+   },
+   "heater": {
+    "distance": "2.49 meters",
+    "closeness rank": 10
+   },
+   "basket": {
+    "distance": "2.72 meters",
+    "closeness rank": 11
+   },
+   "toilet": {
+    "distance": "3.01 meters",
+    "closeness rank": 12
+   }
+  },
+  "plant": {
+   "pillow": {
+    "distance": "1.16 meters",
+    "closeness rank": 1
+   },
+   "sofa": {
+    "distance": "0.0 meters",
+    "closeness rank": 2
+   },
+   "tv": {
+    "distance": "0.0 meters",
+    "closeness rank": 3
+   },
+   "table": {
+    "distance": "1.69 meters",
+    "closeness rank": 4
+   },
+   "heater": {
+    "distance": "2.57 meters",
+    "closeness rank": 5
+   },
+   "chair": {
+    "distance": "0.4 meters",
+    "closeness rank": 6
+   },
+   "bed": {
+    "distance": "1.35 meters",
+    "closeness rank": 7
+   },
+   "blanket": {
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+    "closeness rank": 8
+   },
+   "ceiling light": {
+    "distance": "0.93 meters",
+    "closeness rank": 9
+   },
+   "door": {
+    "distance": "2.9 meters",
+    "closeness rank": 10
+   },
+   "basket": {
+    "distance": "2.94 meters",
+    "closeness rank": 11
+   },
+   "toilet": {
+    "distance": "3.42 meters",
+    "closeness rank": 12
+   }
+  },
+  "table": {
+   "chair": {
+    "distance": "1.2 meters",
+    "closeness rank": 1
+   },
+   "plant": {
+    "distance": "1.69 meters",
+    "closeness rank": 2
+   },
+   "sofa": {
+    "distance": "1.57 meters",
+    "closeness rank": 3
+   },
+   "pillow": {
+    "distance": "2.87 meters",
+    "closeness rank": 4
+   },
+   "bed": {
+    "distance": "0.39 meters",
+    "closeness rank": 5
+   },
+   "blanket": {
+    "distance": "0.41 meters",
+    "closeness rank": 6
+   },
+   "heater": {
+    "distance": "1.96 meters",
+    "closeness rank": 7
+   },
+   "door": {
+    "distance": "3.48 meters",
+    "closeness rank": 8
+   },
+   "tv": {
+    "distance": "2.17 meters",
+    "closeness rank": 9
+   },
+   "ceiling light": {
+    "distance": "1.64 meters",
+    "closeness rank": 10
+   },
+   "basket": {
+    "distance": "2.23 meters",
+    "closeness rank": 11
+   },
+   "toilet": {
+    "distance": "3.27 meters",
+    "closeness rank": 12
+   }
+  },
+  "ceiling light": {
+   "plant": {
+    "distance": "0.93 meters",
+    "closeness rank": 1
+   },
+   "door": {
+    "distance": "3.77 meters",
+    "closeness rank": 2
+   },
+   "chair": {
+    "distance": "1.54 meters",
+    "closeness rank": 3
+   },
+   "sofa": {
+    "distance": "1.56 meters",
+    "closeness rank": 4
+   },
+   "table": {
+    "distance": "1.64 meters",
+    "closeness rank": 5
+   },
+   "tv": {
+    "distance": "1.76 meters",
+    "closeness rank": 6
+   },
+   "pillow": {
+    "distance": "2.63 meters",
+    "closeness rank": 7
+   },
+   "bed": {
+    "distance": "1.93 meters",
+    "closeness rank": 8
+   },
+   "blanket": {
+    "distance": "2.0 meters",
+    "closeness rank": 9
+   },
+   "heater": {
+    "distance": "3.13 meters",
+    "closeness rank": 10
+   },
+   "basket": {
+    "distance": "3.53 meters",
+    "closeness rank": 11
+   },
+   "toilet": {
+    "distance": "4.13 meters",
+    "closeness rank": 12
+   }
+  },
+  "blanket": {
+   "bed": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "pillow": {
+    "distance": "3.52 meters",
+    "closeness rank": 2
+   },
+   "basket": {
+    "distance": "0.18 meters",
+    "closeness rank": 3
+   },
+   "heater": {
+    "distance": "0.19 meters",
+    "closeness rank": 4
+   },
+   "door": {
+    "distance": "1.23 meters",
+    "closeness rank": 5
+   },
+   "table": {
+    "distance": "0.41 meters",
+    "closeness rank": 6
+   },
+   "plant": {
+    "distance": "1.36 meters",
+    "closeness rank": 7
+   },
+   "toilet": {
+    "distance": "1.03 meters",
+    "closeness rank": 8
+   },
+   "tv": {
+    "distance": "1.45 meters",
+    "closeness rank": 9
+   },
+   "sofa": {
+    "distance": "1.93 meters",
+    "closeness rank": 10
+   },
+   "chair": {
+    "distance": "1.93 meters",
+    "closeness rank": 11
+   },
+   "ceiling light": {
+    "distance": "2.0 meters",
+    "closeness rank": 12
+   }
+  }
+ },
+ "appearance order": ["toilet", "door", "basket", "pillow", "blanket", "bed", "tv", "table", "sofa", "plant", "chair", "ceiling light", "heater"]
+}
\ No newline at end of file
diff --git a/data/spatial codes/ground truth/explicit/5eb31827b7.json b/data/spatial codes/ground truth/explicit/5eb31827b7.json
new file mode 100644
index 0000000000000000000000000000000000000000..4410bb01d64c89aab139721ff9ec54668062f49f
--- /dev/null
+++ b/data/spatial codes/ground truth/explicit/5eb31827b7.json	
@@ -0,0 +1,870 @@
+{
+ "spatial code schema": {
+  "objects": {
+   "<object class>": {
+    "count": {
+     "unit": null,
+     "description": "number of instances of this class in the compact spatial code (that schema's per-class oriented-box list length)"
+    },
+    "instances": [
+     {
+      "position": {
+       "x coordinate": {
+        "unit": "meters",
+        "description": "x coordinate of this instance's compact 3D oriented bounding box center"
+       },
+       "y coordinate": {
+        "unit": "meters",
+        "description": "y coordinate of this instance's compact 3D oriented bounding box center"
+       },
+       "height above floor": {
+        "unit": "meters",
+        "description": "height coordinate of this instance's compact 3D oriented bounding box center"
+       }
+      },
+      "longest dimension": {
+       "unit": "meters",
+       "description": "longest of this instance's compact 3D oriented bounding box dimensions"
+      }
+     }
+    ]
+   }
+  },
+  "room": {
+   "floor area": {
+    "unit": "square meters",
+    "description": "shoelace area of the compact spatial code's floor boundary polygons, with every interior hole subtracted"
+   }
+  },
+  "closest classes distance meters from": {
+   "<object class>": {
+    "<other object class>": {
+     "distance": {
+      "unit": "meters",
+      "description": "estimated distance in meters between an object of this class and an object of the other class"
+     },
+     "closeness rank": {
+      "unit": null,
+      "description": "1 = the nearest other class to this one, 2 = second-nearest, and so on; ranked by nearest-instance proximity, so use the rank (not the distance values) to compare which class is closest"
+     }
+    }
+   }
+  },
+  "appearance order": {
+   "unit": null,
+   "description": "class names ordered by earliest compact 'first visible time' across all of that class's instances"
+  }
+ },
+ "objects": {
+  "whiteboard": {
+   "count": 3,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "5.03 meters",
+      "y coordinate": "0.26 meters",
+      "height above floor": "0.63 meters"
+     },
+     "longest dimension": "0.86 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "4.92 meters",
+      "y coordinate": "0.09 meters",
+      "height above floor": "1.13 meters"
+     },
+     "longest dimension": "0.93 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "4.77 meters",
+      "y coordinate": "0.15 meters",
+      "height above floor": "0.64 meters"
+     },
+     "longest dimension": "1.2 meters"
+    }
+   ]
+  },
+  "table": {
+   "count": 2,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "2.57 meters",
+      "y coordinate": "1.72 meters",
+      "height above floor": "0.44 meters"
+     },
+     "longest dimension": "1.62 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "3.5 meters",
+      "y coordinate": "1.71 meters",
+      "height above floor": "0.45 meters"
+     },
+     "longest dimension": "1.61 meters"
+    }
+   ]
+  },
+  "bookshelf": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "4.76 meters",
+      "y coordinate": "2.56 meters",
+      "height above floor": "0.46 meters"
+     },
+     "longest dimension": "0.73 meters"
+    }
+   ]
+  },
+  "monitor": {
+   "count": 6,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "0.46 meters",
+      "y coordinate": "1.87 meters",
+      "height above floor": "1.1 meters"
+     },
+     "longest dimension": "0.56 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "0.31 meters",
+      "y coordinate": "1.73 meters",
+      "height above floor": "1.05 meters"
+     },
+     "longest dimension": "0.4 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "3.36 meters",
+      "y coordinate": "1.94 meters",
+      "height above floor": "1.18 meters"
+     },
+     "longest dimension": "0.56 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "2.72 meters",
+      "y coordinate": "1.51 meters",
+      "height above floor": "1.07 meters"
+     },
+     "longest dimension": "0.54 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "4.02 meters",
+      "y coordinate": "0.2 meters",
+      "height above floor": "0.3 meters"
+     },
+     "longest dimension": "0.63 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "3.31 meters",
+      "y coordinate": "1.42 meters",
+      "height above floor": "1.18 meters"
+     },
+     "longest dimension": "0.55 meters"
+    }
+   ]
+  },
+  "computer mouse": {
+   "count": 2,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "0.48 meters",
+      "y coordinate": "2.03 meters",
+      "height above floor": "0.86 meters"
+     },
+     "longest dimension": "0.08 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "2.38 meters",
+      "y coordinate": "1.47 meters",
+      "height above floor": "0.84 meters"
+     },
+     "longest dimension": "0.06 meters"
+    }
+   ]
+  },
+  "computer tower": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "0.26 meters",
+      "y coordinate": "1.1 meters",
+      "height above floor": "0.21 meters"
+     },
+     "longest dimension": "0.36 meters"
+    }
+   ]
+  },
+  "trash can": {
+   "count": 3,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "0.34 meters",
+      "y coordinate": "1.33 meters",
+      "height above floor": "0.22 meters"
+     },
+     "longest dimension": "0.39 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "0.71 meters",
+      "y coordinate": "2.42 meters",
+      "height above floor": "0.19 meters"
+     },
+     "longest dimension": "0.31 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "5.25 meters",
+      "y coordinate": "2.42 meters",
+      "height above floor": "0.19 meters"
+     },
+     "longest dimension": "0.34 meters"
+    }
+   ]
+  },
+  "door": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "0.76 meters",
+      "y coordinate": "0.12 meters",
+      "height above floor": "1.09 meters"
+     },
+     "longest dimension": "2.13 meters"
+    }
+   ]
+  },
+  "laptop": {
+   "count": 2,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "2.54 meters",
+      "y coordinate": "1.13 meters",
+      "height above floor": "0.93 meters"
+     },
+     "longest dimension": "0.39 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "3.55 meters",
+      "y coordinate": "2.29 meters",
+      "height above floor": "0.83 meters"
+     },
+     "longest dimension": "0.24 meters"
+    }
+   ]
+  },
+  "keyboard": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "3.58 meters",
+      "y coordinate": "1.59 meters",
+      "height above floor": "0.84 meters"
+     },
+     "longest dimension": "0.45 meters"
+    }
+   ]
+  },
+  "heater": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "5.38 meters",
+      "y coordinate": "1.47 meters",
+      "height above floor": "0.39 meters"
+     },
+     "longest dimension": "1.67 meters"
+    }
+   ]
+  },
+  "telephone": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "5.04 meters",
+      "y coordinate": "0.7 meters",
+      "height above floor": "0.05 meters"
+     },
+     "longest dimension": "0.2 meters"
+    }
+   ]
+  }
+ },
+ "room": {
+  "floor area": "14.2 square meters"
+ },
+ "closest classes distance meters from": {
+  "whiteboard": {
+   "monitor": {
+    "distance": "4.16 meters",
+    "closeness rank": 1
+   },
+   "telephone": {
+    "distance": "0.2 meters",
+    "closeness rank": 2
+   },
+   "heater": {
+    "distance": "0.23 meters",
+    "closeness rank": 3
+   },
+   "table": {
+    "distance": "1.63 meters",
+    "closeness rank": 4
+   },
+   "keyboard": {
+    "distance": "1.32 meters",
+    "closeness rank": 5
+   },
+   "laptop": {
+    "distance": "2.03 meters",
+    "closeness rank": 6
+   },
+   "trash can": {
+    "distance": "4.2 meters",
+    "closeness rank": 7
+   },
+   "bookshelf": {
+    "distance": "1.99 meters",
+    "closeness rank": 8
+   },
+   "computer mouse": {
+    "distance": "4.42 meters",
+    "closeness rank": 9
+   },
+   "door": {
+    "distance": "3.1 meters",
+    "closeness rank": 10
+   },
+   "computer tower": {
+    "distance": "4.25 meters",
+    "closeness rank": 11
+   }
+  },
+  "table": {
+   "computer mouse": {
+    "distance": "1.3 meters",
+    "closeness rank": 1
+   },
+   "keyboard": {
+    "distance": "0.06 meters",
+    "closeness rank": 2
+   },
+   "laptop": {
+    "distance": "0.0 meters",
+    "closeness rank": 3
+   },
+   "monitor": {
+    "distance": "1.13 meters",
+    "closeness rank": 4
+   },
+   "bookshelf": {
+    "distance": "1.17 meters",
+    "closeness rank": 5
+   },
+   "whiteboard": {
+    "distance": "1.63 meters",
+    "closeness rank": 6
+   },
+   "trash can": {
+    "distance": "1.27 meters",
+    "closeness rank": 7
+   },
+   "telephone": {
+    "distance": "1.79 meters",
+    "closeness rank": 8
+   },
+   "door": {
+    "distance": "1.23 meters",
+    "closeness rank": 9
+   },
+   "heater": {
+    "distance": "1.37 meters",
+    "closeness rank": 10
+   },
+   "computer tower": {
+    "distance": "1.73 meters",
+    "closeness rank": 11
+   }
+  },
+  "bookshelf": {
+   "trash can": {
+    "distance": "4.03 meters",
+    "closeness rank": 1
+   },
+   "heater": {
+    "distance": "0.33 meters",
+    "closeness rank": 2
+   },
+   "table": {
+    "distance": "1.17 meters",
+    "closeness rank": 3
+   },
+   "laptop": {
+    "distance": "2.12 meters",
+    "closeness rank": 4
+   },
+   "monitor": {
+    "distance": "3.76 meters",
+    "closeness rank": 5
+   },
+   "keyboard": {
+    "distance": "1.07 meters",
+    "closeness rank": 6
+   },
+   "telephone": {
+    "distance": "1.61 meters",
+    "closeness rank": 7
+   },
+   "whiteboard": {
+    "distance": "1.99 meters",
+    "closeness rank": 8
+   },
+   "computer mouse": {
+    "distance": "3.93 meters",
+    "closeness rank": 9
+   },
+   "door": {
+    "distance": "4.04 meters",
+    "closeness rank": 10
+   },
+   "computer tower": {
+    "distance": "4.26 meters",
+    "closeness rank": 11
+   }
+  },
+  "monitor": {
+   "computer mouse": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "laptop": {
+    "distance": "1.74 meters",
+    "closeness rank": 2
+   },
+   "table": {
+    "distance": "1.13 meters",
+    "closeness rank": 3
+   },
+   "whiteboard": {
+    "distance": "4.16 meters",
+    "closeness rank": 4
+   },
+   "keyboard": {
+    "distance": "2.64 meters",
+    "closeness rank": 5
+   },
+   "trash can": {
+    "distance": "0.56 meters",
+    "closeness rank": 6
+   },
+   "computer tower": {
+    "distance": "0.73 meters",
+    "closeness rank": 7
+   },
+   "telephone": {
+    "distance": "4.46 meters",
+    "closeness rank": 8
+   },
+   "heater": {
+    "distance": "3.87 meters",
+    "closeness rank": 9
+   },
+   "bookshelf": {
+    "distance": "3.76 meters",
+    "closeness rank": 10
+   },
+   "door": {
+    "distance": "1.38 meters",
+    "closeness rank": 11
+   }
+  },
+  "computer mouse": {
+   "monitor": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "table": {
+    "distance": "1.3 meters",
+    "closeness rank": 2
+   },
+   "laptop": {
+    "distance": "2.01 meters",
+    "closeness rank": 3
+   },
+   "trash can": {
+    "distance": "0.72 meters",
+    "closeness rank": 4
+   },
+   "computer tower": {
+    "distance": "0.94 meters",
+    "closeness rank": 5
+   },
+   "keyboard": {
+    "distance": "2.87 meters",
+    "closeness rank": 6
+   },
+   "door": {
+    "distance": "1.72 meters",
+    "closeness rank": 7
+   },
+   "whiteboard": {
+    "distance": "4.42 meters",
+    "closeness rank": 8
+   },
+   "bookshelf": {
+    "distance": "3.93 meters",
+    "closeness rank": 9
+   },
+   "telephone": {
+    "distance": "4.68 meters",
+    "closeness rank": 10
+   },
+   "heater": {
+    "distance": "4.08 meters",
+    "closeness rank": 11
+   }
+  },
+  "computer tower": {
+   "trash can": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "monitor": {
+    "distance": "0.73 meters",
+    "closeness rank": 2
+   },
+   "door": {
+    "distance": "0.82 meters",
+    "closeness rank": 3
+   },
+   "computer mouse": {
+    "distance": "0.94 meters",
+    "closeness rank": 4
+   },
+   "table": {
+    "distance": "1.73 meters",
+    "closeness rank": 5
+   },
+   "laptop": {
+    "distance": "2.02 meters",
+    "closeness rank": 6
+   },
+   "keyboard": {
+    "distance": "3.04 meters",
+    "closeness rank": 7
+   },
+   "whiteboard": {
+    "distance": "4.25 meters",
+    "closeness rank": 8
+   },
+   "bookshelf": {
+    "distance": "4.26 meters",
+    "closeness rank": 9
+   },
+   "telephone": {
+    "distance": "4.56 meters",
+    "closeness rank": 10
+   },
+   "heater": {
+    "distance": "4.82 meters",
+    "closeness rank": 11
+   }
+  },
+  "trash can": {
+   "computer tower": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "heater": {
+    "distance": "4.01 meters",
+    "closeness rank": 2
+   },
+   "bookshelf": {
+    "distance": "4.03 meters",
+    "closeness rank": 3
+   },
+   "monitor": {
+    "distance": "0.56 meters",
+    "closeness rank": 4
+   },
+   "computer mouse": {
+    "distance": "0.72 meters",
+    "closeness rank": 5
+   },
+   "door": {
+    "distance": "0.99 meters",
+    "closeness rank": 6
+   },
+   "table": {
+    "distance": "1.27 meters",
+    "closeness rank": 7
+   },
+   "laptop": {
+    "distance": "1.93 meters",
+    "closeness rank": 8
+   },
+   "telephone": {
+    "distance": "4.45 meters",
+    "closeness rank": 9
+   },
+   "keyboard": {
+    "distance": "2.89 meters",
+    "closeness rank": 10
+   },
+   "whiteboard": {
+    "distance": "4.2 meters",
+    "closeness rank": 11
+   }
+  },
+  "door": {
+   "computer tower": {
+    "distance": "0.82 meters",
+    "closeness rank": 1
+   },
+   "trash can": {
+    "distance": "0.99 meters",
+    "closeness rank": 2
+   },
+   "table": {
+    "distance": "1.23 meters",
+    "closeness rank": 3
+   },
+   "monitor": {
+    "distance": "1.38 meters",
+    "closeness rank": 4
+   },
+   "laptop": {
+    "distance": "1.43 meters",
+    "closeness rank": 5
+   },
+   "computer mouse": {
+    "distance": "1.72 meters",
+    "closeness rank": 6
+   },
+   "keyboard": {
+    "distance": "2.55 meters",
+    "closeness rank": 7
+   },
+   "whiteboard": {
+    "distance": "3.1 meters",
+    "closeness rank": 8
+   },
+   "telephone": {
+    "distance": "3.81 meters",
+    "closeness rank": 9
+   },
+   "bookshelf": {
+    "distance": "4.04 meters",
+    "closeness rank": 10
+   },
+   "heater": {
+    "distance": "4.08 meters",
+    "closeness rank": 11
+   }
+  },
+  "laptop": {
+   "monitor": {
+    "distance": "1.74 meters",
+    "closeness rank": 1
+   },
+   "table": {
+    "distance": "0.0 meters",
+    "closeness rank": 2
+   },
+   "computer mouse": {
+    "distance": "2.01 meters",
+    "closeness rank": 3
+   },
+   "keyboard": {
+    "distance": "0.72 meters",
+    "closeness rank": 4
+   },
+   "bookshelf": {
+    "distance": "2.12 meters",
+    "closeness rank": 5
+   },
+   "trash can": {
+    "distance": "1.93 meters",
+    "closeness rank": 6
+   },
+   "door": {
+    "distance": "1.43 meters",
+    "closeness rank": 7
+   },
+   "heater": {
+    "distance": "1.88 meters",
+    "closeness rank": 8
+   },
+   "whiteboard": {
+    "distance": "2.03 meters",
+    "closeness rank": 9
+   },
+   "computer tower": {
+    "distance": "2.02 meters",
+    "closeness rank": 10
+   },
+   "telephone": {
+    "distance": "2.39 meters",
+    "closeness rank": 11
+   }
+  },
+  "keyboard": {
+   "table": {
+    "distance": "0.06 meters",
+    "closeness rank": 1
+   },
+   "monitor": {
+    "distance": "2.64 meters",
+    "closeness rank": 2
+   },
+   "laptop": {
+    "distance": "0.72 meters",
+    "closeness rank": 3
+   },
+   "computer mouse": {
+    "distance": "2.87 meters",
+    "closeness rank": 4
+   },
+   "bookshelf": {
+    "distance": "1.07 meters",
+    "closeness rank": 5
+   },
+   "whiteboard": {
+    "distance": "1.32 meters",
+    "closeness rank": 6
+   },
+   "trash can": {
+    "distance": "2.89 meters",
+    "closeness rank": 7
+   },
+   "heater": {
+    "distance": "1.59 meters",
+    "closeness rank": 8
+   },
+   "telephone": {
+    "distance": "1.69 meters",
+    "closeness rank": 9
+   },
+   "door": {
+    "distance": "2.55 meters",
+    "closeness rank": 10
+   },
+   "computer tower": {
+    "distance": "3.04 meters",
+    "closeness rank": 11
+   }
+  },
+  "heater": {
+   "trash can": {
+    "distance": "4.01 meters",
+    "closeness rank": 1
+   },
+   "telephone": {
+    "distance": "0.18 meters",
+    "closeness rank": 2
+   },
+   "whiteboard": {
+    "distance": "0.23 meters",
+    "closeness rank": 3
+   },
+   "bookshelf": {
+    "distance": "0.33 meters",
+    "closeness rank": 4
+   },
+   "monitor": {
+    "distance": "3.87 meters",
+    "closeness rank": 5
+   },
+   "table": {
+    "distance": "1.37 meters",
+    "closeness rank": 6
+   },
+   "keyboard": {
+    "distance": "1.59 meters",
+    "closeness rank": 7
+   },
+   "laptop": {
+    "distance": "1.88 meters",
+    "closeness rank": 8
+   },
+   "computer mouse": {
+    "distance": "4.08 meters",
+    "closeness rank": 9
+   },
+   "door": {
+    "distance": "4.08 meters",
+    "closeness rank": 10
+   },
+   "computer tower": {
+    "distance": "4.82 meters",
+    "closeness rank": 11
+   }
+  },
+  "telephone": {
+   "heater": {
+    "distance": "0.18 meters",
+    "closeness rank": 1
+   },
+   "whiteboard": {
+    "distance": "0.2 meters",
+    "closeness rank": 2
+   },
+   "monitor": {
+    "distance": "4.46 meters",
+    "closeness rank": 3
+   },
+   "table": {
+    "distance": "1.79 meters",
+    "closeness rank": 4
+   },
+   "trash can": {
+    "distance": "4.45 meters",
+    "closeness rank": 5
+   },
+   "bookshelf": {
+    "distance": "1.61 meters",
+    "closeness rank": 6
+   },
+   "keyboard": {
+    "distance": "1.69 meters",
+    "closeness rank": 7
+   },
+   "laptop": {
+    "distance": "2.39 meters",
+    "closeness rank": 8
+   },
+   "computer mouse": {
+    "distance": "4.68 meters",
+    "closeness rank": 9
+   },
+   "door": {
+    "distance": "3.81 meters",
+    "closeness rank": 10
+   },
+   "computer tower": {
+    "distance": "4.56 meters",
+    "closeness rank": 11
+   }
+  }
+ },
+ "appearance order": ["whiteboard", "table", "bookshelf", "monitor", "computer mouse", "computer tower", "trash can", "door", "laptop", "keyboard", "heater", "telephone"]
+}
\ No newline at end of file
diff --git a/data/spatial codes/ground truth/explicit/5ee7c22ba0.json b/data/spatial codes/ground truth/explicit/5ee7c22ba0.json
new file mode 100644
index 0000000000000000000000000000000000000000..357807c2d1b370df88f9fdb4bd768beff28ea2fc
--- /dev/null
+++ b/data/spatial codes/ground truth/explicit/5ee7c22ba0.json	
@@ -0,0 +1,221 @@
+{
+ "spatial code schema": {
+  "objects": {
+   "<object class>": {
+    "count": {
+     "unit": null,
+     "description": "number of instances of this class in the compact spatial code (that schema's per-class oriented-box list length)"
+    },
+    "instances": [
+     {
+      "position": {
+       "x coordinate": {
+        "unit": "meters",
+        "description": "x coordinate of this instance's compact 3D oriented bounding box center"
+       },
+       "y coordinate": {
+        "unit": "meters",
+        "description": "y coordinate of this instance's compact 3D oriented bounding box center"
+       },
+       "height above floor": {
+        "unit": "meters",
+        "description": "height coordinate of this instance's compact 3D oriented bounding box center"
+       }
+      },
+      "longest dimension": {
+       "unit": "meters",
+       "description": "longest of this instance's compact 3D oriented bounding box dimensions"
+      }
+     }
+    ]
+   }
+  },
+  "room": {
+   "floor area": {
+    "unit": "square meters",
+    "description": "shoelace area of the compact spatial code's floor boundary polygons, with every interior hole subtracted"
+   }
+  },
+  "closest classes distance meters from": {
+   "<object class>": {
+    "<other object class>": {
+     "distance": {
+      "unit": "meters",
+      "description": "estimated distance in meters between an object of this class and an object of the other class"
+     },
+     "closeness rank": {
+      "unit": null,
+      "description": "1 = the nearest other class to this one, 2 = second-nearest, and so on; ranked by nearest-instance proximity, so use the rank (not the distance values) to compare which class is closest"
+     }
+    }
+   }
+  },
+  "appearance order": {
+   "unit": null,
+   "description": "class names ordered by earliest compact 'first visible time' across all of that class's instances"
+  }
+ },
+ "objects": {
+  "microwave": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "0.93 meters",
+      "y coordinate": "0.43 meters",
+      "height above floor": "0.97 meters"
+     },
+     "longest dimension": "0.48 meters"
+    }
+   ]
+  },
+  "refrigerator": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "1.18 meters",
+      "y coordinate": "2.13 meters",
+      "height above floor": "0.54 meters"
+     },
+     "longest dimension": "0.92 meters"
+    }
+   ]
+  },
+  "table": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "0.63 meters",
+      "y coordinate": "0.59 meters",
+      "height above floor": "0.45 meters"
+     },
+     "longest dimension": "1.24 meters"
+    }
+   ]
+  },
+  "door": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "1.98 meters",
+      "y coordinate": "2.42 meters",
+      "height above floor": "1.15 meters"
+     },
+     "longest dimension": "2.15 meters"
+    }
+   ]
+  },
+  "ceiling light": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "1.29 meters",
+      "y coordinate": "0.99 meters",
+      "height above floor": "2.53 meters"
+     },
+     "longest dimension": "1.59 meters"
+    }
+   ]
+  }
+ },
+ "room": {
+  "floor area": "6.2 square meters"
+ },
+ "closest classes distance meters from": {
+  "microwave": {
+   "table": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "refrigerator": {
+    "distance": "1.21 meters",
+    "closeness rank": 2
+   },
+   "ceiling light": {
+    "distance": "1.34 meters",
+    "closeness rank": 3
+   },
+   "door": {
+    "distance": "1.84 meters",
+    "closeness rank": 4
+   }
+  },
+  "refrigerator": {
+   "door": {
+    "distance": "0.07 meters",
+    "closeness rank": 1
+   },
+   "table": {
+    "distance": "0.92 meters",
+    "closeness rank": 2
+   },
+   "microwave": {
+    "distance": "1.21 meters",
+    "closeness rank": 3
+   },
+   "ceiling light": {
+    "distance": "1.45 meters",
+    "closeness rank": 4
+   }
+  },
+  "table": {
+   "microwave": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "refrigerator": {
+    "distance": "0.92 meters",
+    "closeness rank": 2
+   },
+   "ceiling light": {
+    "distance": "1.55 meters",
+    "closeness rank": 3
+   },
+   "door": {
+    "distance": "1.57 meters",
+    "closeness rank": 4
+   }
+  },
+  "door": {
+   "refrigerator": {
+    "distance": "0.07 meters",
+    "closeness rank": 1
+   },
+   "ceiling light": {
+    "distance": "0.66 meters",
+    "closeness rank": 2
+   },
+   "table": {
+    "distance": "1.57 meters",
+    "closeness rank": 3
+   },
+   "microwave": {
+    "distance": "1.84 meters",
+    "closeness rank": 4
+   }
+  },
+  "ceiling light": {
+   "door": {
+    "distance": "0.66 meters",
+    "closeness rank": 1
+   },
+   "microwave": {
+    "distance": "1.34 meters",
+    "closeness rank": 2
+   },
+   "refrigerator": {
+    "distance": "1.45 meters",
+    "closeness rank": 3
+   },
+   "table": {
+    "distance": "1.55 meters",
+    "closeness rank": 4
+   }
+  }
+ },
+ "appearance order": ["microwave", "refrigerator", "table", "door", "ceiling light"]
+}
\ No newline at end of file
diff --git a/data/spatial codes/ground truth/explicit/5f99900f09.json b/data/spatial codes/ground truth/explicit/5f99900f09.json
new file mode 100644
index 0000000000000000000000000000000000000000..a521f32408c377b34ec07e5c9c2b76358dc5ba46
--- /dev/null
+++ b/data/spatial codes/ground truth/explicit/5f99900f09.json	
@@ -0,0 +1,745 @@
+{
+ "spatial code schema": {
+  "objects": {
+   "<object class>": {
+    "count": {
+     "unit": null,
+     "description": "number of instances of this class in the compact spatial code (that schema's per-class oriented-box list length)"
+    },
+    "instances": [
+     {
+      "position": {
+       "x coordinate": {
+        "unit": "meters",
+        "description": "x coordinate of this instance's compact 3D oriented bounding box center"
+       },
+       "y coordinate": {
+        "unit": "meters",
+        "description": "y coordinate of this instance's compact 3D oriented bounding box center"
+       },
+       "height above floor": {
+        "unit": "meters",
+        "description": "height coordinate of this instance's compact 3D oriented bounding box center"
+       }
+      },
+      "longest dimension": {
+       "unit": "meters",
+       "description": "longest of this instance's compact 3D oriented bounding box dimensions"
+      }
+     }
+    ]
+   }
+  },
+  "room": {
+   "floor area": {
+    "unit": "square meters",
+    "description": "shoelace area of the compact spatial code's floor boundary polygons, with every interior hole subtracted"
+   }
+  },
+  "closest classes distance meters from": {
+   "<object class>": {
+    "<other object class>": {
+     "distance": {
+      "unit": "meters",
+      "description": "estimated distance in meters between an object of this class and an object of the other class"
+     },
+     "closeness rank": {
+      "unit": null,
+      "description": "1 = the nearest other class to this one, 2 = second-nearest, and so on; ranked by nearest-instance proximity, so use the rank (not the distance values) to compare which class is closest"
+     }
+    }
+   }
+  },
+  "appearance order": {
+   "unit": null,
+   "description": "class names ordered by earliest compact 'first visible time' across all of that class's instances"
+  }
+ },
+ "objects": {
+  "door": {
+   "count": 2,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "0.39 meters",
+      "y coordinate": "4.99 meters",
+      "height above floor": "1.36 meters"
+     },
+     "longest dimension": "2.68 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "1.97 meters",
+      "y coordinate": "5.58 meters",
+      "height above floor": "1.37 meters"
+     },
+     "longest dimension": "2.71 meters"
+    }
+   ]
+  },
+  "table": {
+   "count": 11,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "4.67 meters",
+      "y coordinate": "0.86 meters",
+      "height above floor": "0.63 meters"
+     },
+     "longest dimension": "1.83 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "10.08 meters",
+      "y coordinate": "3.97 meters",
+      "height above floor": "0.76 meters"
+     },
+     "longest dimension": "0.41 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "1.28 meters",
+      "y coordinate": "2.48 meters",
+      "height above floor": "0.47 meters"
+     },
+     "longest dimension": "0.91 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "9.43 meters",
+      "y coordinate": "4.17 meters",
+      "height above floor": "0.25 meters"
+     },
+     "longest dimension": "0.62 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "9.62 meters",
+      "y coordinate": "2.47 meters",
+      "height above floor": "0.26 meters"
+     },
+     "longest dimension": "0.62 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "7.6 meters",
+      "y coordinate": "4.32 meters",
+      "height above floor": "0.46 meters"
+     },
+     "longest dimension": "0.91 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "8.98 meters",
+      "y coordinate": "1.08 meters",
+      "height above floor": "0.77 meters"
+     },
+     "longest dimension": "0.43 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "10.11 meters",
+      "y coordinate": "2.18 meters",
+      "height above floor": "0.78 meters"
+     },
+     "longest dimension": "0.42 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "10.37 meters",
+      "y coordinate": "3.22 meters",
+      "height above floor": "0.78 meters"
+     },
+     "longest dimension": "0.45 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "6.9 meters",
+      "y coordinate": "1.12 meters",
+      "height above floor": "0.41 meters"
+     },
+     "longest dimension": "0.93 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "8.29 meters",
+      "y coordinate": "1.4 meters",
+      "height above floor": "0.76 meters"
+     },
+     "longest dimension": "0.42 meters"
+    }
+   ]
+  },
+  "printer": {
+   "count": 2,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "5.82 meters",
+      "y coordinate": "0.72 meters",
+      "height above floor": "0.94 meters"
+     },
+     "longest dimension": "0.54 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "5.29 meters",
+      "y coordinate": "0.89 meters",
+      "height above floor": "0.64 meters"
+     },
+     "longest dimension": "0.41 meters"
+    }
+   ]
+  },
+  "monitor": {
+   "count": 2,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "4.2 meters",
+      "y coordinate": "0.85 meters",
+      "height above floor": "1.3 meters"
+     },
+     "longest dimension": "0.71 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "4.2 meters",
+      "y coordinate": "1.16 meters",
+      "height above floor": "1.05 meters"
+     },
+     "longest dimension": "0.69 meters"
+    }
+   ]
+  },
+  "suitcase": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "3.34 meters",
+      "y coordinate": "4.5 meters",
+      "height above floor": "0.12 meters"
+     },
+     "longest dimension": "0.69 meters"
+    }
+   ]
+  },
+  "chair": {
+   "count": 14,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "1.93 meters",
+      "y coordinate": "2.45 meters",
+      "height above floor": "0.51 meters"
+     },
+     "longest dimension": "0.98 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "0.44 meters",
+      "y coordinate": "3.44 meters",
+      "height above floor": "0.52 meters"
+     },
+     "longest dimension": "0.74 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "7.82 meters",
+      "y coordinate": "4.8 meters",
+      "height above floor": "0.5 meters"
+     },
+     "longest dimension": "0.98 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "0.91 meters",
+      "y coordinate": "0.77 meters",
+      "height above floor": "0.63 meters"
+     },
+     "longest dimension": "0.67 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "0.36 meters",
+      "y coordinate": "1.35 meters",
+      "height above floor": "0.61 meters"
+     },
+     "longest dimension": "0.58 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "7.22 meters",
+      "y coordinate": "3.9 meters",
+      "height above floor": "0.5 meters"
+     },
+     "longest dimension": "0.98 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "1.35 meters",
+      "y coordinate": "2.99 meters",
+      "height above floor": "0.51 meters"
+     },
+     "longest dimension": "0.98 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "0.73 meters",
+      "y coordinate": "2.55 meters",
+      "height above floor": "0.51 meters"
+     },
+     "longest dimension": "0.98 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "6.27 meters",
+      "y coordinate": "1.06 meters",
+      "height above floor": "0.45 meters"
+     },
+     "longest dimension": "0.85 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "1.3 meters",
+      "y coordinate": "1.63 meters",
+      "height above floor": "0.52 meters"
+     },
+     "longest dimension": "0.98 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "8.08 meters",
+      "y coordinate": "4.14 meters",
+      "height above floor": "0.5 meters"
+     },
+     "longest dimension": "0.98 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "10.12 meters",
+      "y coordinate": "1.0 meters",
+      "height above floor": "0.43 meters"
+     },
+     "longest dimension": "0.83 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "7.39 meters",
+      "y coordinate": "0.96 meters",
+      "height above floor": "0.44 meters"
+     },
+     "longest dimension": "0.83 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "7.15 meters",
+      "y coordinate": "4.58 meters",
+      "height above floor": "0.5 meters"
+     },
+     "longest dimension": "0.98 meters"
+    }
+   ]
+  },
+  "whiteboard": {
+   "count": 3,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "0.18 meters",
+      "y coordinate": "2.71 meters",
+      "height above floor": "1.55 meters"
+     },
+     "longest dimension": "1.23 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "1.08 meters",
+      "y coordinate": "0.46 meters",
+      "height above floor": "1.64 meters"
+     },
+     "longest dimension": "1.85 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "0.13 meters",
+      "y coordinate": "1.48 meters",
+      "height above floor": "1.55 meters"
+     },
+     "longest dimension": "1.28 meters"
+    }
+   ]
+  },
+  "ceiling light": {
+   "count": 5,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "8.24 meters",
+      "y coordinate": "2.91 meters",
+      "height above floor": "2.5 meters"
+     },
+     "longest dimension": "3.67 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "5.19 meters",
+      "y coordinate": "3.0 meters",
+      "height above floor": "2.5 meters"
+     },
+     "longest dimension": "3.66 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "1.97 meters",
+      "y coordinate": "4.35 meters",
+      "height above floor": "2.79 meters"
+     },
+     "longest dimension": "1.22 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "1.93 meters",
+      "y coordinate": "3.12 meters",
+      "height above floor": "2.79 meters"
+     },
+     "longest dimension": "1.21 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "1.89 meters",
+      "y coordinate": "1.9 meters",
+      "height above floor": "2.79 meters"
+     },
+     "longest dimension": "1.21 meters"
+    }
+   ]
+  },
+  "refrigerator": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "5.68 meters",
+      "y coordinate": "5.0 meters",
+      "height above floor": "0.85 meters"
+     },
+     "longest dimension": "1.69 meters"
+    }
+   ]
+  }
+ },
+ "room": {
+  "floor area": "54.4 square meters"
+ },
+ "closest classes distance meters from": {
+  "door": {
+   "ceiling light": {
+    "distance": "5.03 meters",
+    "closeness rank": 1
+   },
+   "chair": {
+    "distance": "1.26 meters",
+    "closeness rank": 2
+   },
+   "suitcase": {
+    "distance": "1.55 meters",
+    "closeness rank": 3
+   },
+   "whiteboard": {
+    "distance": "1.16 meters",
+    "closeness rank": 4
+   },
+   "table": {
+    "distance": "3.74 meters",
+    "closeness rank": 5
+   },
+   "refrigerator": {
+    "distance": "3.13 meters",
+    "closeness rank": 6
+   },
+   "monitor": {
+    "distance": "4.39 meters",
+    "closeness rank": 7
+   },
+   "printer": {
+    "distance": "5.31 meters",
+    "closeness rank": 8
+   }
+  },
+  "table": {
+   "chair": {
+    "distance": "1.77 meters",
+    "closeness rank": 1
+   },
+   "monitor": {
+    "distance": "0.0 meters",
+    "closeness rank": 2
+   },
+   "printer": {
+    "distance": "0.01 meters",
+    "closeness rank": 3
+   },
+   "whiteboard": {
+    "distance": "3.41 meters",
+    "closeness rank": 4
+   },
+   "refrigerator": {
+    "distance": "2.51 meters",
+    "closeness rank": 5
+   },
+   "ceiling light": {
+    "distance": "1.77 meters",
+    "closeness rank": 6
+   },
+   "door": {
+    "distance": "3.74 meters",
+    "closeness rank": 7
+   },
+   "suitcase": {
+    "distance": "2.65 meters",
+    "closeness rank": 8
+   }
+  },
+  "printer": {
+   "chair": {
+    "distance": "3.52 meters",
+    "closeness rank": 1
+   },
+   "table": {
+    "distance": "0.01 meters",
+    "closeness rank": 2
+   },
+   "monitor": {
+    "distance": "1.04 meters",
+    "closeness rank": 3
+   },
+   "ceiling light": {
+    "distance": "1.51 meters",
+    "closeness rank": 4
+   },
+   "whiteboard": {
+    "distance": "5.13 meters",
+    "closeness rank": 5
+   },
+   "suitcase": {
+    "distance": "3.98 meters",
+    "closeness rank": 6
+   },
+   "refrigerator": {
+    "distance": "3.55 meters",
+    "closeness rank": 7
+   },
+   "door": {
+    "distance": "5.31 meters",
+    "closeness rank": 8
+   }
+  },
+  "monitor": {
+   "table": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "printer": {
+    "distance": "1.04 meters",
+    "closeness rank": 2
+   },
+   "ceiling light": {
+    "distance": "2.5 meters",
+    "closeness rank": 3
+   },
+   "chair": {
+    "distance": "2.04 meters",
+    "closeness rank": 4
+   },
+   "whiteboard": {
+    "distance": "3.47 meters",
+    "closeness rank": 5
+   },
+   "suitcase": {
+    "distance": "3.23 meters",
+    "closeness rank": 6
+   },
+   "refrigerator": {
+    "distance": "3.38 meters",
+    "closeness rank": 7
+   },
+   "door": {
+    "distance": "4.39 meters",
+    "closeness rank": 8
+   }
+  },
+  "suitcase": {
+   "door": {
+    "distance": "1.55 meters",
+    "closeness rank": 1
+   },
+   "refrigerator": {
+    "distance": "1.54 meters",
+    "closeness rank": 2
+   },
+   "chair": {
+    "distance": "1.69 meters",
+    "closeness rank": 3
+   },
+   "table": {
+    "distance": "2.65 meters",
+    "closeness rank": 4
+   },
+   "ceiling light": {
+    "distance": "3.49 meters",
+    "closeness rank": 5
+   },
+   "whiteboard": {
+    "distance": "3.03 meters",
+    "closeness rank": 6
+   },
+   "monitor": {
+    "distance": "3.23 meters",
+    "closeness rank": 7
+   },
+   "printer": {
+    "distance": "3.98 meters",
+    "closeness rank": 8
+   }
+  },
+  "chair": {
+   "printer": {
+    "distance": "3.52 meters",
+    "closeness rank": 1
+   },
+   "table": {
+    "distance": "1.77 meters",
+    "closeness rank": 2
+   },
+   "whiteboard": {
+    "distance": "0.95 meters",
+    "closeness rank": 3
+   },
+   "refrigerator": {
+    "distance": "3.21 meters",
+    "closeness rank": 4
+   },
+   "door": {
+    "distance": "1.26 meters",
+    "closeness rank": 5
+   },
+   "monitor": {
+    "distance": "2.04 meters",
+    "closeness rank": 6
+   },
+   "ceiling light": {
+    "distance": "4.31 meters",
+    "closeness rank": 7
+   },
+   "suitcase": {
+    "distance": "1.69 meters",
+    "closeness rank": 8
+   }
+  },
+  "whiteboard": {
+   "chair": {
+    "distance": "0.95 meters",
+    "closeness rank": 1
+   },
+   "table": {
+    "distance": "3.41 meters",
+    "closeness rank": 2
+   },
+   "ceiling light": {
+    "distance": "5.67 meters",
+    "closeness rank": 3
+   },
+   "door": {
+    "distance": "1.16 meters",
+    "closeness rank": 4
+   },
+   "monitor": {
+    "distance": "3.47 meters",
+    "closeness rank": 5
+   },
+   "suitcase": {
+    "distance": "3.03 meters",
+    "closeness rank": 6
+   },
+   "printer": {
+    "distance": "5.13 meters",
+    "closeness rank": 7
+   },
+   "refrigerator": {
+    "distance": "5.17 meters",
+    "closeness rank": 8
+   }
+  },
+  "ceiling light": {
+   "door": {
+    "distance": "5.03 meters",
+    "closeness rank": 1
+   },
+   "refrigerator": {
+    "distance": "1.01 meters",
+    "closeness rank": 2
+   },
+   "whiteboard": {
+    "distance": "5.67 meters",
+    "closeness rank": 3
+   },
+   "monitor": {
+    "distance": "2.5 meters",
+    "closeness rank": 4
+   },
+   "printer": {
+    "distance": "1.51 meters",
+    "closeness rank": 5
+   },
+   "chair": {
+    "distance": "4.31 meters",
+    "closeness rank": 6
+   },
+   "table": {
+    "distance": "1.77 meters",
+    "closeness rank": 7
+   },
+   "suitcase": {
+    "distance": "3.49 meters",
+    "closeness rank": 8
+   }
+  },
+  "refrigerator": {
+   "chair": {
+    "distance": "3.21 meters",
+    "closeness rank": 1
+   },
+   "ceiling light": {
+    "distance": "1.01 meters",
+    "closeness rank": 2
+   },
+   "table": {
+    "distance": "2.51 meters",
+    "closeness rank": 3
+   },
+   "suitcase": {
+    "distance": "1.54 meters",
+    "closeness rank": 4
+   },
+   "door": {
+    "distance": "3.13 meters",
+    "closeness rank": 5
+   },
+   "monitor": {
+    "distance": "3.38 meters",
+    "closeness rank": 6
+   },
+   "printer": {
+    "distance": "3.55 meters",
+    "closeness rank": 7
+   },
+   "whiteboard": {
+    "distance": "5.17 meters",
+    "closeness rank": 8
+   }
+  }
+ },
+ "appearance order": ["whiteboard", "table", "chair", "ceiling light", "suitcase", "door", "printer", "monitor", "refrigerator"]
+}
\ No newline at end of file
diff --git a/data/spatial codes/ground truth/explicit/6115eddb86.json b/data/spatial codes/ground truth/explicit/6115eddb86.json
new file mode 100644
index 0000000000000000000000000000000000000000..4a2b14ac79c2de8f9b3343011a5b49c4a3a0dbec
--- /dev/null
+++ b/data/spatial codes/ground truth/explicit/6115eddb86.json	
@@ -0,0 +1,719 @@
+{
+ "spatial code schema": {
+  "objects": {
+   "<object class>": {
+    "count": {
+     "unit": null,
+     "description": "number of instances of this class in the compact spatial code (that schema's per-class oriented-box list length)"
+    },
+    "instances": [
+     {
+      "position": {
+       "x coordinate": {
+        "unit": "meters",
+        "description": "x coordinate of this instance's compact 3D oriented bounding box center"
+       },
+       "y coordinate": {
+        "unit": "meters",
+        "description": "y coordinate of this instance's compact 3D oriented bounding box center"
+       },
+       "height above floor": {
+        "unit": "meters",
+        "description": "height coordinate of this instance's compact 3D oriented bounding box center"
+       }
+      },
+      "longest dimension": {
+       "unit": "meters",
+       "description": "longest of this instance's compact 3D oriented bounding box dimensions"
+      }
+     }
+    ]
+   }
+  },
+  "room": {
+   "floor area": {
+    "unit": "square meters",
+    "description": "shoelace area of the compact spatial code's floor boundary polygons, with every interior hole subtracted"
+   }
+  },
+  "closest classes distance meters from": {
+   "<object class>": {
+    "<other object class>": {
+     "distance": {
+      "unit": "meters",
+      "description": "estimated distance in meters between an object of this class and an object of the other class"
+     },
+     "closeness rank": {
+      "unit": null,
+      "description": "1 = the nearest other class to this one, 2 = second-nearest, and so on; ranked by nearest-instance proximity, so use the rank (not the distance values) to compare which class is closest"
+     }
+    }
+   }
+  },
+  "appearance order": {
+   "unit": null,
+   "description": "class names ordered by earliest compact 'first visible time' across all of that class's instances"
+  }
+ },
+ "objects": {
+  "chair": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "1.3 meters",
+      "y coordinate": "1.13 meters",
+      "height above floor": "0.4 meters"
+     },
+     "longest dimension": "0.8 meters"
+    }
+   ]
+  },
+  "sofa": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "0.75 meters",
+      "y coordinate": "2.91 meters",
+      "height above floor": "0.45 meters"
+     },
+     "longest dimension": "0.76 meters"
+    }
+   ]
+  },
+  "door": {
+   "count": 2,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "4.91 meters",
+      "y coordinate": "0.38 meters",
+      "height above floor": "1.06 meters"
+     },
+     "longest dimension": "2.13 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "6.28 meters",
+      "y coordinate": "0.87 meters",
+      "height above floor": "1.08 meters"
+     },
+     "longest dimension": "2.16 meters"
+    }
+   ]
+  },
+  "tv": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "2.65 meters",
+      "y coordinate": "0.4 meters",
+      "height above floor": "1.43 meters"
+     },
+     "longest dimension": "0.84 meters"
+    }
+   ]
+  },
+  "telephone": {
+   "count": 2,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "1.01 meters",
+      "y coordinate": "0.38 meters",
+      "height above floor": "0.9 meters"
+     },
+     "longest dimension": "0.3 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "0.86 meters",
+      "y coordinate": "0.92 meters",
+      "height above floor": "0.79 meters"
+     },
+     "longest dimension": "0.34 meters"
+    }
+   ]
+  },
+  "toilet": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "6.02 meters",
+      "y coordinate": "3.05 meters",
+      "height above floor": "0.48 meters"
+     },
+     "longest dimension": "0.78 meters"
+    }
+   ]
+  },
+  "table": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "0.96 meters",
+      "y coordinate": "1.1 meters",
+      "height above floor": "0.38 meters"
+     },
+     "longest dimension": "1.18 meters"
+    }
+   ]
+  },
+  "table lamp": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "0.87 meters",
+      "y coordinate": "0.8 meters",
+      "height above floor": "1.09 meters"
+     },
+     "longest dimension": "0.69 meters"
+    }
+   ]
+  },
+  "pillow": {
+   "count": 5,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "0.57 meters",
+      "y coordinate": "2.88 meters",
+      "height above floor": "0.62 meters"
+     },
+     "longest dimension": "0.4 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "3.13 meters",
+      "y coordinate": "3.77 meters",
+      "height above floor": "0.73 meters"
+     },
+     "longest dimension": "0.69 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "2.18 meters",
+      "y coordinate": "3.51 meters",
+      "height above floor": "0.69 meters"
+     },
+     "longest dimension": "0.75 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "3.1 meters",
+      "y coordinate": "3.51 meters",
+      "height above floor": "0.66 meters"
+     },
+     "longest dimension": "0.73 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "2.17 meters",
+      "y coordinate": "3.77 meters",
+      "height above floor": "0.74 meters"
+     },
+     "longest dimension": "0.69 meters"
+    }
+   ]
+  },
+  "bed": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "2.69 meters",
+      "y coordinate": "2.9 meters",
+      "height above floor": "0.46 meters"
+     },
+     "longest dimension": "2.14 meters"
+    }
+   ]
+  },
+  "blanket": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "2.7 meters",
+      "y coordinate": "2.3 meters",
+      "height above floor": "0.41 meters"
+     },
+     "longest dimension": "2.14 meters"
+    }
+   ]
+  }
+ },
+ "room": {
+  "floor area": "22.8 square meters"
+ },
+ "closest classes distance meters from": {
+  "chair": {
+   "table": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "telephone": {
+    "distance": "0.4 meters",
+    "closeness rank": 2
+   },
+   "table lamp": {
+    "distance": "0.14 meters",
+    "closeness rank": 3
+   },
+   "bed": {
+    "distance": "0.78 meters",
+    "closeness rank": 4
+   },
+   "blanket": {
+    "distance": "0.45 meters",
+    "closeness rank": 5
+   },
+   "tv": {
+    "distance": "1.03 meters",
+    "closeness rank": 6
+   },
+   "sofa": {
+    "distance": "1.08 meters",
+    "closeness rank": 7
+   },
+   "pillow": {
+    "distance": "1.31 meters",
+    "closeness rank": 8
+   },
+   "door": {
+    "distance": "2.74 meters",
+    "closeness rank": 9
+   },
+   "toilet": {
+    "distance": "4.37 meters",
+    "closeness rank": 10
+   }
+  },
+  "sofa": {
+   "pillow": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "bed": {
+    "distance": "0.49 meters",
+    "closeness rank": 2
+   },
+   "blanket": {
+    "distance": "0.59 meters",
+    "closeness rank": 3
+   },
+   "table": {
+    "distance": "0.86 meters",
+    "closeness rank": 4
+   },
+   "chair": {
+    "distance": "1.08 meters",
+    "closeness rank": 5
+   },
+   "telephone": {
+    "distance": "2.05 meters",
+    "closeness rank": 6
+   },
+   "table lamp": {
+    "distance": "1.69 meters",
+    "closeness rank": 7
+   },
+   "tv": {
+    "distance": "2.5 meters",
+    "closeness rank": 8
+   },
+   "door": {
+    "distance": "3.93 meters",
+    "closeness rank": 9
+   },
+   "toilet": {
+    "distance": "4.68 meters",
+    "closeness rank": 10
+   }
+  },
+  "door": {
+   "tv": {
+    "distance": "1.34 meters",
+    "closeness rank": 1
+   },
+   "toilet": {
+    "distance": "1.49 meters",
+    "closeness rank": 2
+   },
+   "bed": {
+    "distance": "1.59 meters",
+    "closeness rank": 3
+   },
+   "blanket": {
+    "distance": "1.62 meters",
+    "closeness rank": 4
+   },
+   "chair": {
+    "distance": "2.74 meters",
+    "closeness rank": 5
+   },
+   "table": {
+    "distance": "3.0 meters",
+    "closeness rank": 6
+   },
+   "pillow": {
+    "distance": "3.76 meters",
+    "closeness rank": 7
+   },
+   "telephone": {
+    "distance": "3.25 meters",
+    "closeness rank": 8
+   },
+   "table lamp": {
+    "distance": "3.46 meters",
+    "closeness rank": 9
+   },
+   "sofa": {
+    "distance": "3.93 meters",
+    "closeness rank": 10
+   }
+  },
+  "tv": {
+   "chair": {
+    "distance": "1.03 meters",
+    "closeness rank": 1
+   },
+   "table": {
+    "distance": "1.1 meters",
+    "closeness rank": 2
+   },
+   "telephone": {
+    "distance": "1.15 meters",
+    "closeness rank": 3
+   },
+   "table lamp": {
+    "distance": "1.31 meters",
+    "closeness rank": 4
+   },
+   "door": {
+    "distance": "1.34 meters",
+    "closeness rank": 5
+   },
+   "bed": {
+    "distance": "1.41 meters",
+    "closeness rank": 6
+   },
+   "blanket": {
+    "distance": "1.52 meters",
+    "closeness rank": 7
+   },
+   "sofa": {
+    "distance": "2.5 meters",
+    "closeness rank": 8
+   },
+   "pillow": {
+    "distance": "2.76 meters",
+    "closeness rank": 9
+   },
+   "toilet": {
+    "distance": "3.6 meters",
+    "closeness rank": 10
+   }
+  },
+  "telephone": {
+   "chair": {
+    "distance": "0.4 meters",
+    "closeness rank": 1
+   },
+   "table": {
+    "distance": "0.15 meters",
+    "closeness rank": 2
+   },
+   "table lamp": {
+    "distance": "0.0 meters",
+    "closeness rank": 3
+   },
+   "bed": {
+    "distance": "1.84 meters",
+    "closeness rank": 4
+   },
+   "blanket": {
+    "distance": "1.38 meters",
+    "closeness rank": 5
+   },
+   "tv": {
+    "distance": "1.15 meters",
+    "closeness rank": 6
+   },
+   "sofa": {
+    "distance": "2.05 meters",
+    "closeness rank": 7
+   },
+   "pillow": {
+    "distance": "2.2 meters",
+    "closeness rank": 8
+   },
+   "door": {
+    "distance": "3.25 meters",
+    "closeness rank": 9
+   },
+   "toilet": {
+    "distance": "5.16 meters",
+    "closeness rank": 10
+   }
+  },
+  "toilet": {
+   "door": {
+    "distance": "1.49 meters",
+    "closeness rank": 1
+   },
+   "blanket": {
+    "distance": "2.06 meters",
+    "closeness rank": 2
+   },
+   "bed": {
+    "distance": "2.07 meters",
+    "closeness rank": 3
+   },
+   "pillow": {
+    "distance": "4.86 meters",
+    "closeness rank": 4
+   },
+   "tv": {
+    "distance": "3.6 meters",
+    "closeness rank": 5
+   },
+   "chair": {
+    "distance": "4.37 meters",
+    "closeness rank": 6
+   },
+   "sofa": {
+    "distance": "4.68 meters",
+    "closeness rank": 7
+   },
+   "table": {
+    "distance": "4.83 meters",
+    "closeness rank": 8
+   },
+   "telephone": {
+    "distance": "5.16 meters",
+    "closeness rank": 9
+   },
+   "table lamp": {
+    "distance": "5.23 meters",
+    "closeness rank": 10
+   }
+  },
+  "table": {
+   "chair": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "table lamp": {
+    "distance": "0.0 meters",
+    "closeness rank": 2
+   },
+   "telephone": {
+    "distance": "0.15 meters",
+    "closeness rank": 3
+   },
+   "bed": {
+    "distance": "0.84 meters",
+    "closeness rank": 4
+   },
+   "blanket": {
+    "distance": "0.56 meters",
+    "closeness rank": 5
+   },
+   "sofa": {
+    "distance": "0.86 meters",
+    "closeness rank": 6
+   },
+   "tv": {
+    "distance": "1.1 meters",
+    "closeness rank": 7
+   },
+   "pillow": {
+    "distance": "1.05 meters",
+    "closeness rank": 8
+   },
+   "door": {
+    "distance": "3.0 meters",
+    "closeness rank": 9
+   },
+   "toilet": {
+    "distance": "4.83 meters",
+    "closeness rank": 10
+   }
+  },
+  "table lamp": {
+   "table": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "telephone": {
+    "distance": "0.0 meters",
+    "closeness rank": 2
+   },
+   "chair": {
+    "distance": "0.14 meters",
+    "closeness rank": 3
+   },
+   "bed": {
+    "distance": "1.43 meters",
+    "closeness rank": 4
+   },
+   "blanket": {
+    "distance": "1.26 meters",
+    "closeness rank": 5
+   },
+   "tv": {
+    "distance": "1.31 meters",
+    "closeness rank": 6
+   },
+   "sofa": {
+    "distance": "1.69 meters",
+    "closeness rank": 7
+   },
+   "pillow": {
+    "distance": "1.8 meters",
+    "closeness rank": 8
+   },
+   "door": {
+    "distance": "3.46 meters",
+    "closeness rank": 9
+   },
+   "toilet": {
+    "distance": "5.23 meters",
+    "closeness rank": 10
+   }
+  },
+  "pillow": {
+   "bed": {
+    "distance": "0.86 meters",
+    "closeness rank": 1
+   },
+   "sofa": {
+    "distance": "0.0 meters",
+    "closeness rank": 2
+   },
+   "blanket": {
+    "distance": "0.95 meters",
+    "closeness rank": 3
+   },
+   "table": {
+    "distance": "1.05 meters",
+    "closeness rank": 4
+   },
+   "chair": {
+    "distance": "1.31 meters",
+    "closeness rank": 5
+   },
+   "telephone": {
+    "distance": "2.2 meters",
+    "closeness rank": 6
+   },
+   "table lamp": {
+    "distance": "1.8 meters",
+    "closeness rank": 7
+   },
+   "toilet": {
+    "distance": "4.86 meters",
+    "closeness rank": 8
+   },
+   "tv": {
+    "distance": "2.76 meters",
+    "closeness rank": 9
+   },
+   "door": {
+    "distance": "3.76 meters",
+    "closeness rank": 10
+   }
+  },
+  "bed": {
+   "blanket": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "pillow": {
+    "distance": "0.86 meters",
+    "closeness rank": 2
+   },
+   "chair": {
+    "distance": "0.78 meters",
+    "closeness rank": 3
+   },
+   "sofa": {
+    "distance": "0.49 meters",
+    "closeness rank": 4
+   },
+   "table": {
+    "distance": "0.84 meters",
+    "closeness rank": 5
+   },
+   "telephone": {
+    "distance": "1.84 meters",
+    "closeness rank": 6
+   },
+   "table lamp": {
+    "distance": "1.43 meters",
+    "closeness rank": 7
+   },
+   "tv": {
+    "distance": "1.41 meters",
+    "closeness rank": 8
+   },
+   "door": {
+    "distance": "1.59 meters",
+    "closeness rank": 9
+   },
+   "toilet": {
+    "distance": "2.07 meters",
+    "closeness rank": 10
+   }
+  },
+  "blanket": {
+   "bed": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "chair": {
+    "distance": "0.45 meters",
+    "closeness rank": 2
+   },
+   "sofa": {
+    "distance": "0.59 meters",
+    "closeness rank": 3
+   },
+   "table": {
+    "distance": "0.56 meters",
+    "closeness rank": 4
+   },
+   "pillow": {
+    "distance": "0.95 meters",
+    "closeness rank": 5
+   },
+   "telephone": {
+    "distance": "1.38 meters",
+    "closeness rank": 6
+   },
+   "table lamp": {
+    "distance": "1.26 meters",
+    "closeness rank": 7
+   },
+   "tv": {
+    "distance": "1.52 meters",
+    "closeness rank": 8
+   },
+   "door": {
+    "distance": "1.62 meters",
+    "closeness rank": 9
+   },
+   "toilet": {
+    "distance": "2.06 meters",
+    "closeness rank": 10
+   }
+  }
+ },
+ "appearance order": ["chair", "sofa", "door", "tv", "telephone", "toilet", "table", "table lamp", "pillow", "bed", "blanket"]
+}
\ No newline at end of file
diff --git a/data/spatial codes/ground truth/explicit/7831862f02.json b/data/spatial codes/ground truth/explicit/7831862f02.json
new file mode 100644
index 0000000000000000000000000000000000000000..5af2f12cf2f38ef6a3a6255c46d2442ef5de95a7
--- /dev/null
+++ b/data/spatial codes/ground truth/explicit/7831862f02.json	
@@ -0,0 +1,222 @@
+{
+ "spatial code schema": {
+  "objects": {
+   "<object class>": {
+    "count": {
+     "unit": null,
+     "description": "number of instances of this class in the compact spatial code (that schema's per-class oriented-box list length)"
+    },
+    "instances": [
+     {
+      "position": {
+       "x coordinate": {
+        "unit": "meters",
+        "description": "x coordinate of this instance's compact 3D oriented bounding box center"
+       },
+       "y coordinate": {
+        "unit": "meters",
+        "description": "y coordinate of this instance's compact 3D oriented bounding box center"
+       },
+       "height above floor": {
+        "unit": "meters",
+        "description": "height coordinate of this instance's compact 3D oriented bounding box center"
+       }
+      },
+      "longest dimension": {
+       "unit": "meters",
+       "description": "longest of this instance's compact 3D oriented bounding box dimensions"
+      }
+     }
+    ]
+   }
+  },
+  "room": {
+   "floor area": {
+    "unit": "square meters",
+    "description": "shoelace area of the compact spatial code's floor boundary polygons, with every interior hole subtracted"
+   }
+  },
+  "closest classes distance meters from": {
+   "<object class>": {
+    "<other object class>": {
+     "distance": {
+      "unit": "meters",
+      "description": "estimated distance in meters between an object of this class and an object of the other class"
+     },
+     "closeness rank": {
+      "unit": null,
+      "description": "1 = the nearest other class to this one, 2 = second-nearest, and so on; ranked by nearest-instance proximity, so use the rank (not the distance values) to compare which class is closest"
+     }
+    }
+   }
+  },
+  "appearance order": {
+   "unit": null,
+   "description": "class names ordered by earliest compact 'first visible time' across all of that class's instances"
+  }
+ },
+ "objects": {
+  "door": {
+   "count": 4,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "1.95 meters",
+      "y coordinate": "6.16 meters",
+      "height above floor": "1.55 meters"
+     },
+     "longest dimension": "3.08 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "4.88 meters",
+      "y coordinate": "6.08 meters",
+      "height above floor": "1.56 meters"
+     },
+     "longest dimension": "3.07 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "5.45 meters",
+      "y coordinate": "5.92 meters",
+      "height above floor": "1.55 meters"
+     },
+     "longest dimension": "3.08 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "7.28 meters",
+      "y coordinate": "5.94 meters",
+      "height above floor": "1.55 meters"
+     },
+     "longest dimension": "3.09 meters"
+    }
+   ]
+  },
+  "chair": {
+   "count": 2,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "6.32 meters",
+      "y coordinate": "0.82 meters",
+      "height above floor": "0.38 meters"
+     },
+     "longest dimension": "0.77 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "6.37 meters",
+      "y coordinate": "0.22 meters",
+      "height above floor": "0.57 meters"
+     },
+     "longest dimension": "0.99 meters"
+    }
+   ]
+  },
+  "sofa": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "5.29 meters",
+      "y coordinate": "3.46 meters",
+      "height above floor": "0.38 meters"
+     },
+     "longest dimension": "1.08 meters"
+    }
+   ]
+  },
+  "ceiling light": {
+   "count": 3,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "3.76 meters",
+      "y coordinate": "4.82 meters",
+      "height above floor": "2.52 meters"
+     },
+     "longest dimension": "0.98 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "3.15 meters",
+      "y coordinate": "1.72 meters",
+      "height above floor": "2.56 meters"
+     },
+     "longest dimension": "1.1 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "5.16 meters",
+      "y coordinate": "2.47 meters",
+      "height above floor": "2.66 meters"
+     },
+     "longest dimension": "0.9 meters"
+    }
+   ]
+  }
+ },
+ "room": {
+  "floor area": "44.0 square meters"
+ },
+ "closest classes distance meters from": {
+  "door": {
+   "ceiling light": {
+    "distance": "0.76 meters",
+    "closeness rank": 1
+   },
+   "sofa": {
+    "distance": "2.37 meters",
+    "closeness rank": 2
+   },
+   "chair": {
+    "distance": "5.07 meters",
+    "closeness rank": 3
+   }
+  },
+  "chair": {
+   "ceiling light": {
+    "distance": "4.33 meters",
+    "closeness rank": 1
+   },
+   "sofa": {
+    "distance": "1.93 meters",
+    "closeness rank": 2
+   },
+   "door": {
+    "distance": "5.07 meters",
+    "closeness rank": 3
+   }
+  },
+  "sofa": {
+   "ceiling light": {
+    "distance": "1.93 meters",
+    "closeness rank": 1
+   },
+   "door": {
+    "distance": "2.37 meters",
+    "closeness rank": 2
+   },
+   "chair": {
+    "distance": "1.93 meters",
+    "closeness rank": 3
+   }
+  },
+  "ceiling light": {
+   "door": {
+    "distance": "0.76 meters",
+    "closeness rank": 1
+   },
+   "sofa": {
+    "distance": "1.93 meters",
+    "closeness rank": 2
+   },
+   "chair": {
+    "distance": "4.33 meters",
+    "closeness rank": 3
+   }
+  }
+ },
+ "appearance order": ["door", "chair", "sofa", "ceiling light"]
+}
\ No newline at end of file
diff --git a/data/spatial codes/ground truth/explicit/7b6477cb95.json b/data/spatial codes/ground truth/explicit/7b6477cb95.json
new file mode 100644
index 0000000000000000000000000000000000000000..de21ac7f62096343a312418c2779cc5ef36cdffc
--- /dev/null
+++ b/data/spatial codes/ground truth/explicit/7b6477cb95.json	
@@ -0,0 +1,1124 @@
+{
+ "spatial code schema": {
+  "objects": {
+   "<object class>": {
+    "count": {
+     "unit": null,
+     "description": "number of instances of this class in the compact spatial code (that schema's per-class oriented-box list length)"
+    },
+    "instances": [
+     {
+      "position": {
+       "x coordinate": {
+        "unit": "meters",
+        "description": "x coordinate of this instance's compact 3D oriented bounding box center"
+       },
+       "y coordinate": {
+        "unit": "meters",
+        "description": "y coordinate of this instance's compact 3D oriented bounding box center"
+       },
+       "height above floor": {
+        "unit": "meters",
+        "description": "height coordinate of this instance's compact 3D oriented bounding box center"
+       }
+      },
+      "longest dimension": {
+       "unit": "meters",
+       "description": "longest of this instance's compact 3D oriented bounding box dimensions"
+      }
+     }
+    ]
+   }
+  },
+  "room": {
+   "floor area": {
+    "unit": "square meters",
+    "description": "shoelace area of the compact spatial code's floor boundary polygons, with every interior hole subtracted"
+   }
+  },
+  "closest classes distance meters from": {
+   "<object class>": {
+    "<other object class>": {
+     "distance": {
+      "unit": "meters",
+      "description": "estimated distance in meters between an object of this class and an object of the other class"
+     },
+     "closeness rank": {
+      "unit": null,
+      "description": "1 = the nearest other class to this one, 2 = second-nearest, and so on; ranked by nearest-instance proximity, so use the rank (not the distance values) to compare which class is closest"
+     }
+    }
+   }
+  },
+  "appearance order": {
+   "unit": null,
+   "description": "class names ordered by earliest compact 'first visible time' across all of that class's instances"
+  }
+ },
+ "objects": {
+  "ceiling light": {
+   "count": 4,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "1.29 meters",
+      "y coordinate": "1.52 meters",
+      "height above floor": "2.98 meters"
+     },
+     "longest dimension": "1.33 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "3.89 meters",
+      "y coordinate": "1.1 meters",
+      "height above floor": "2.9 meters"
+     },
+     "longest dimension": "1.32 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "4.09 meters",
+      "y coordinate": "2.91 meters",
+      "height above floor": "2.92 meters"
+     },
+     "longest dimension": "1.3 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "1.55 meters",
+      "y coordinate": "3.33 meters",
+      "height above floor": "2.92 meters"
+     },
+     "longest dimension": "1.29 meters"
+    }
+   ]
+  },
+  "whiteboard": {
+   "count": 2,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "2.81 meters",
+      "y coordinate": "0.4 meters",
+      "height above floor": "1.61 meters"
+     },
+     "longest dimension": "2.02 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "2.77 meters",
+      "y coordinate": "4.02 meters",
+      "height above floor": "1.51 meters"
+     },
+     "longest dimension": "2.43 meters"
+    }
+   ]
+  },
+  "monitor": {
+   "count": 5,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "4.14 meters",
+      "y coordinate": "1.79 meters",
+      "height above floor": "1.01 meters"
+     },
+     "longest dimension": "0.64 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "3.54 meters",
+      "y coordinate": "1.89 meters",
+      "height above floor": "1.02 meters"
+     },
+     "longest dimension": "0.66 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "3.0 meters",
+      "y coordinate": "2.39 meters",
+      "height above floor": "0.98 meters"
+     },
+     "longest dimension": "0.63 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "3.56 meters",
+      "y coordinate": "2.39 meters",
+      "height above floor": "1.01 meters"
+     },
+     "longest dimension": "0.63 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "4.16 meters",
+      "y coordinate": "2.24 meters",
+      "height above floor": "1.01 meters"
+     },
+     "longest dimension": "0.64 meters"
+    }
+   ]
+  },
+  "heater": {
+   "count": 2,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "5.08 meters",
+      "y coordinate": "2.96 meters",
+      "height above floor": "0.33 meters"
+     },
+     "longest dimension": "1.46 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "4.73 meters",
+      "y coordinate": "0.73 meters",
+      "height above floor": "0.32 meters"
+     },
+     "longest dimension": "1.3 meters"
+    }
+   ]
+  },
+  "telephone": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "4.42 meters",
+      "y coordinate": "1.6 meters",
+      "height above floor": "0.78 meters"
+     },
+     "longest dimension": "0.4 meters"
+    }
+   ]
+  },
+  "power strip": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "2.91 meters",
+      "y coordinate": "2.02 meters",
+      "height above floor": "0.74 meters"
+     },
+     "longest dimension": "0.29 meters"
+    }
+   ]
+  },
+  "chair": {
+   "count": 4,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "2.29 meters",
+      "y coordinate": "2.2 meters",
+      "height above floor": "0.5 meters"
+     },
+     "longest dimension": "1.0 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "1.27 meters",
+      "y coordinate": "3.84 meters",
+      "height above floor": "0.48 meters"
+     },
+     "longest dimension": "0.95 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "3.58 meters",
+      "y coordinate": "1.14 meters",
+      "height above floor": "0.57 meters"
+     },
+     "longest dimension": "1.13 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "4.29 meters",
+      "y coordinate": "2.98 meters",
+      "height above floor": "0.56 meters"
+     },
+     "longest dimension": "1.11 meters"
+    }
+   ]
+  },
+  "table": {
+   "count": 3,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "2.71 meters",
+      "y coordinate": "2.23 meters",
+      "height above floor": "0.37 meters"
+     },
+     "longest dimension": "1.61 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "3.85 meters",
+      "y coordinate": "1.67 meters",
+      "height above floor": "0.39 meters"
+     },
+     "longest dimension": "1.63 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "3.96 meters",
+      "y coordinate": "2.42 meters",
+      "height above floor": "0.75 meters"
+     },
+     "longest dimension": "1.64 meters"
+    }
+   ]
+  },
+  "trash can": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "2.22 meters",
+      "y coordinate": "4.0 meters",
+      "height above floor": "0.17 meters"
+     },
+     "longest dimension": "0.33 meters"
+    }
+   ]
+  },
+  "door": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "0.17 meters",
+      "y coordinate": "1.65 meters",
+      "height above floor": "1.06 meters"
+     },
+     "longest dimension": "2.1 meters"
+    }
+   ]
+  },
+  "bookshelf": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "0.64 meters",
+      "y coordinate": "0.88 meters",
+      "height above floor": "0.99 meters"
+     },
+     "longest dimension": "1.97 meters"
+    }
+   ]
+  },
+  "keyboard": {
+   "count": 2,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "3.11 meters",
+      "y coordinate": "1.62 meters",
+      "height above floor": "0.77 meters"
+     },
+     "longest dimension": "0.43 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "4.1 meters",
+      "y coordinate": "2.56 meters",
+      "height above floor": "0.75 meters"
+     },
+     "longest dimension": "0.46 meters"
+    }
+   ]
+  },
+  "cup": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "3.46 meters",
+      "y coordinate": "1.62 meters",
+      "height above floor": "0.79 meters"
+     },
+     "longest dimension": "0.1 meters"
+    }
+   ]
+  },
+  "computer mouse": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "4.02 meters",
+      "y coordinate": "1.64 meters",
+      "height above floor": "0.78 meters"
+     },
+     "longest dimension": "0.13 meters"
+    }
+   ]
+  }
+ },
+ "room": {
+  "floor area": "18.4 square meters"
+ },
+ "closest classes distance meters from": {
+  "ceiling light": {
+   "whiteboard": {
+    "distance": "0.7 meters",
+    "closeness rank": 1
+   },
+   "bookshelf": {
+    "distance": "0.84 meters",
+    "closeness rank": 2
+   },
+   "door": {
+    "distance": "1.16 meters",
+    "closeness rank": 3
+   },
+   "monitor": {
+    "distance": "2.49 meters",
+    "closeness rank": 4
+   },
+   "chair": {
+    "distance": "1.68 meters",
+    "closeness rank": 5
+   },
+   "telephone": {
+    "distance": "2.96 meters",
+    "closeness rank": 6
+   },
+   "cup": {
+    "distance": "2.37 meters",
+    "closeness rank": 7
+   },
+   "computer mouse": {
+    "distance": "2.78 meters",
+    "closeness rank": 8
+   },
+   "table": {
+    "distance": "2.03 meters",
+    "closeness rank": 9
+   },
+   "keyboard": {
+    "distance": "2.05 meters",
+    "closeness rank": 10
+   },
+   "power strip": {
+    "distance": "2.2 meters",
+    "closeness rank": 11
+   },
+   "heater": {
+    "distance": "3.45 meters",
+    "closeness rank": 12
+   },
+   "trash can": {
+    "distance": "3.03 meters",
+    "closeness rank": 13
+   }
+  },
+  "whiteboard": {
+   "chair": {
+    "distance": "0.67 meters",
+    "closeness rank": 1
+   },
+   "trash can": {
+    "distance": "2.75 meters",
+    "closeness rank": 2
+   },
+   "bookshelf": {
+    "distance": "0.69 meters",
+    "closeness rank": 3
+   },
+   "ceiling light": {
+    "distance": "0.7 meters",
+    "closeness rank": 4
+   },
+   "table": {
+    "distance": "0.89 meters",
+    "closeness rank": 5
+   },
+   "heater": {
+    "distance": "1.91 meters",
+    "closeness rank": 6
+   },
+   "keyboard": {
+    "distance": "1.06 meters",
+    "closeness rank": 7
+   },
+   "monitor": {
+    "distance": "1.22 meters",
+    "closeness rank": 8
+   },
+   "cup": {
+    "distance": "1.25 meters",
+    "closeness rank": 9
+   },
+   "telephone": {
+    "distance": "1.27 meters",
+    "closeness rank": 10
+   },
+   "computer mouse": {
+    "distance": "1.35 meters",
+    "closeness rank": 11
+   },
+   "power strip": {
+    "distance": "1.6 meters",
+    "closeness rank": 12
+   },
+   "door": {
+    "distance": "1.78 meters",
+    "closeness rank": 13
+   }
+  },
+  "monitor": {
+   "table": {
+    "distance": "0.5 meters",
+    "closeness rank": 1
+   },
+   "telephone": {
+    "distance": "0.0 meters",
+    "closeness rank": 2
+   },
+   "keyboard": {
+    "distance": "0.54 meters",
+    "closeness rank": 3
+   },
+   "power strip": {
+    "distance": "0.82 meters",
+    "closeness rank": 4
+   },
+   "computer mouse": {
+    "distance": "0.04 meters",
+    "closeness rank": 5
+   },
+   "cup": {
+    "distance": "0.36 meters",
+    "closeness rank": 6
+   },
+   "chair": {
+    "distance": "1.14 meters",
+    "closeness rank": 7
+   },
+   "heater": {
+    "distance": "0.6 meters",
+    "closeness rank": 8
+   },
+   "whiteboard": {
+    "distance": "1.22 meters",
+    "closeness rank": 9
+   },
+   "trash can": {
+    "distance": "2.56 meters",
+    "closeness rank": 10
+   },
+   "ceiling light": {
+    "distance": "2.49 meters",
+    "closeness rank": 11
+   },
+   "bookshelf": {
+    "distance": "2.31 meters",
+    "closeness rank": 12
+   },
+   "door": {
+    "distance": "2.6 meters",
+    "closeness rank": 13
+   }
+  },
+  "heater": {
+   "table": {
+    "distance": "0.95 meters",
+    "closeness rank": 1
+   },
+   "telephone": {
+    "distance": "0.65 meters",
+    "closeness rank": 2
+   },
+   "chair": {
+    "distance": "1.67 meters",
+    "closeness rank": 3
+   },
+   "monitor": {
+    "distance": "0.6 meters",
+    "closeness rank": 4
+   },
+   "keyboard": {
+    "distance": "1.48 meters",
+    "closeness rank": 5
+   },
+   "computer mouse": {
+    "distance": "0.96 meters",
+    "closeness rank": 6
+   },
+   "whiteboard": {
+    "distance": "1.91 meters",
+    "closeness rank": 7
+   },
+   "cup": {
+    "distance": "1.37 meters",
+    "closeness rank": 8
+   },
+   "power strip": {
+    "distance": "1.76 meters",
+    "closeness rank": 9
+   },
+   "ceiling light": {
+    "distance": "3.45 meters",
+    "closeness rank": 10
+   },
+   "trash can": {
+    "distance": "2.81 meters",
+    "closeness rank": 11
+   },
+   "bookshelf": {
+    "distance": "3.44 meters",
+    "closeness rank": 12
+   },
+   "door": {
+    "distance": "4.48 meters",
+    "closeness rank": 13
+   }
+  },
+  "telephone": {
+   "monitor": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "table": {
+    "distance": "0.86 meters",
+    "closeness rank": 2
+   },
+   "computer mouse": {
+    "distance": "0.14 meters",
+    "closeness rank": 3
+   },
+   "chair": {
+    "distance": "1.53 meters",
+    "closeness rank": 4
+   },
+   "heater": {
+    "distance": "0.65 meters",
+    "closeness rank": 5
+   },
+   "keyboard": {
+    "distance": "0.9 meters",
+    "closeness rank": 6
+   },
+   "cup": {
+    "distance": "0.71 meters",
+    "closeness rank": 7
+   },
+   "power strip": {
+    "distance": "1.22 meters",
+    "closeness rank": 8
+   },
+   "whiteboard": {
+    "distance": "1.27 meters",
+    "closeness rank": 9
+   },
+   "ceiling light": {
+    "distance": "2.96 meters",
+    "closeness rank": 10
+   },
+   "trash can": {
+    "distance": "2.95 meters",
+    "closeness rank": 11
+   },
+   "bookshelf": {
+    "distance": "3.06 meters",
+    "closeness rank": 12
+   },
+   "door": {
+    "distance": "3.94 meters",
+    "closeness rank": 13
+   }
+  },
+  "power strip": {
+   "table": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "monitor": {
+    "distance": "0.82 meters",
+    "closeness rank": 2
+   },
+   "keyboard": {
+    "distance": "0.13 meters",
+    "closeness rank": 3
+   },
+   "chair": {
+    "distance": "0.16 meters",
+    "closeness rank": 4
+   },
+   "cup": {
+    "distance": "0.49 meters",
+    "closeness rank": 5
+   },
+   "computer mouse": {
+    "distance": "0.97 meters",
+    "closeness rank": 6
+   },
+   "telephone": {
+    "distance": "1.22 meters",
+    "closeness rank": 7
+   },
+   "whiteboard": {
+    "distance": "1.6 meters",
+    "closeness rank": 8
+   },
+   "heater": {
+    "distance": "1.76 meters",
+    "closeness rank": 9
+   },
+   "trash can": {
+    "distance": "1.86 meters",
+    "closeness rank": 10
+   },
+   "bookshelf": {
+    "distance": "1.89 meters",
+    "closeness rank": 11
+   },
+   "ceiling light": {
+    "distance": "2.2 meters",
+    "closeness rank": 12
+   },
+   "door": {
+    "distance": "2.49 meters",
+    "closeness rank": 13
+   }
+  },
+  "chair": {
+   "table": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "keyboard": {
+    "distance": "0.33 meters",
+    "closeness rank": 2
+   },
+   "cup": {
+    "distance": "0.79 meters",
+    "closeness rank": 3
+   },
+   "whiteboard": {
+    "distance": "0.67 meters",
+    "closeness rank": 4
+   },
+   "computer mouse": {
+    "distance": "1.27 meters",
+    "closeness rank": 5
+   },
+   "power strip": {
+    "distance": "0.16 meters",
+    "closeness rank": 6
+   },
+   "monitor": {
+    "distance": "1.14 meters",
+    "closeness rank": 7
+   },
+   "telephone": {
+    "distance": "1.53 meters",
+    "closeness rank": 8
+   },
+   "trash can": {
+    "distance": "1.17 meters",
+    "closeness rank": 9
+   },
+   "heater": {
+    "distance": "1.67 meters",
+    "closeness rank": 10
+   },
+   "bookshelf": {
+    "distance": "1.17 meters",
+    "closeness rank": 11
+   },
+   "door": {
+    "distance": "1.59 meters",
+    "closeness rank": 12
+   },
+   "ceiling light": {
+    "distance": "1.68 meters",
+    "closeness rank": 13
+   }
+  },
+  "table": {
+   "chair": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "computer mouse": {
+    "distance": "0.62 meters",
+    "closeness rank": 2
+   },
+   "cup": {
+    "distance": "0.2 meters",
+    "closeness rank": 3
+   },
+   "keyboard": {
+    "distance": "0.0 meters",
+    "closeness rank": 4
+   },
+   "monitor": {
+    "distance": "0.5 meters",
+    "closeness rank": 5
+   },
+   "power strip": {
+    "distance": "0.0 meters",
+    "closeness rank": 6
+   },
+   "telephone": {
+    "distance": "0.86 meters",
+    "closeness rank": 7
+   },
+   "heater": {
+    "distance": "0.95 meters",
+    "closeness rank": 8
+   },
+   "trash can": {
+    "distance": "0.88 meters",
+    "closeness rank": 9
+   },
+   "whiteboard": {
+    "distance": "0.89 meters",
+    "closeness rank": 10
+   },
+   "bookshelf": {
+    "distance": "1.11 meters",
+    "closeness rank": 11
+   },
+   "door": {
+    "distance": "1.95 meters",
+    "closeness rank": 12
+   },
+   "ceiling light": {
+    "distance": "2.03 meters",
+    "closeness rank": 13
+   }
+  },
+  "trash can": {
+   "chair": {
+    "distance": "1.17 meters",
+    "closeness rank": 1
+   },
+   "whiteboard": {
+    "distance": "2.75 meters",
+    "closeness rank": 2
+   },
+   "table": {
+    "distance": "0.88 meters",
+    "closeness rank": 3
+   },
+   "monitor": {
+    "distance": "2.56 meters",
+    "closeness rank": 4
+   },
+   "power strip": {
+    "distance": "1.86 meters",
+    "closeness rank": 5
+   },
+   "keyboard": {
+    "distance": "2.23 meters",
+    "closeness rank": 6
+   },
+   "cup": {
+    "distance": "2.54 meters",
+    "closeness rank": 7
+   },
+   "ceiling light": {
+    "distance": "3.03 meters",
+    "closeness rank": 8
+   },
+   "door": {
+    "distance": "2.5 meters",
+    "closeness rank": 9
+   },
+   "computer mouse": {
+    "distance": "2.8 meters",
+    "closeness rank": 10
+   },
+   "heater": {
+    "distance": "2.81 meters",
+    "closeness rank": 11
+   },
+   "telephone": {
+    "distance": "2.95 meters",
+    "closeness rank": 12
+   },
+   "bookshelf": {
+    "distance": "3.05 meters",
+    "closeness rank": 13
+   }
+  },
+  "door": {
+   "bookshelf": {
+    "distance": "0.03 meters",
+    "closeness rank": 1
+   },
+   "ceiling light": {
+    "distance": "1.16 meters",
+    "closeness rank": 2
+   },
+   "chair": {
+    "distance": "1.59 meters",
+    "closeness rank": 3
+   },
+   "whiteboard": {
+    "distance": "1.78 meters",
+    "closeness rank": 4
+   },
+   "table": {
+    "distance": "1.95 meters",
+    "closeness rank": 5
+   },
+   "power strip": {
+    "distance": "2.49 meters",
+    "closeness rank": 6
+   },
+   "trash can": {
+    "distance": "2.5 meters",
+    "closeness rank": 7
+   },
+   "monitor": {
+    "distance": "2.6 meters",
+    "closeness rank": 8
+   },
+   "keyboard": {
+    "distance": "2.8 meters",
+    "closeness rank": 9
+   },
+   "cup": {
+    "distance": "3.16 meters",
+    "closeness rank": 10
+   },
+   "computer mouse": {
+    "distance": "3.73 meters",
+    "closeness rank": 11
+   },
+   "telephone": {
+    "distance": "3.94 meters",
+    "closeness rank": 12
+   },
+   "heater": {
+    "distance": "4.48 meters",
+    "closeness rank": 13
+   }
+  },
+  "bookshelf": {
+   "door": {
+    "distance": "0.03 meters",
+    "closeness rank": 1
+   },
+   "whiteboard": {
+    "distance": "0.69 meters",
+    "closeness rank": 2
+   },
+   "ceiling light": {
+    "distance": "0.84 meters",
+    "closeness rank": 3
+   },
+   "table": {
+    "distance": "1.11 meters",
+    "closeness rank": 4
+   },
+   "chair": {
+    "distance": "1.17 meters",
+    "closeness rank": 5
+   },
+   "power strip": {
+    "distance": "1.89 meters",
+    "closeness rank": 6
+   },
+   "keyboard": {
+    "distance": "1.89 meters",
+    "closeness rank": 7
+   },
+   "monitor": {
+    "distance": "2.31 meters",
+    "closeness rank": 8
+   },
+   "cup": {
+    "distance": "2.3 meters",
+    "closeness rank": 9
+   },
+   "computer mouse": {
+    "distance": "2.89 meters",
+    "closeness rank": 10
+   },
+   "trash can": {
+    "distance": "3.05 meters",
+    "closeness rank": 11
+   },
+   "telephone": {
+    "distance": "3.06 meters",
+    "closeness rank": 12
+   },
+   "heater": {
+    "distance": "3.44 meters",
+    "closeness rank": 13
+   }
+  },
+  "keyboard": {
+   "table": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "chair": {
+    "distance": "0.33 meters",
+    "closeness rank": 2
+   },
+   "monitor": {
+    "distance": "0.54 meters",
+    "closeness rank": 3
+   },
+   "power strip": {
+    "distance": "0.13 meters",
+    "closeness rank": 4
+   },
+   "cup": {
+    "distance": "0.22 meters",
+    "closeness rank": 5
+   },
+   "heater": {
+    "distance": "1.48 meters",
+    "closeness rank": 6
+   },
+   "telephone": {
+    "distance": "0.9 meters",
+    "closeness rank": 7
+   },
+   "computer mouse": {
+    "distance": "0.74 meters",
+    "closeness rank": 8
+   },
+   "whiteboard": {
+    "distance": "1.06 meters",
+    "closeness rank": 9
+   },
+   "bookshelf": {
+    "distance": "1.89 meters",
+    "closeness rank": 10
+   },
+   "trash can": {
+    "distance": "2.23 meters",
+    "closeness rank": 11
+   },
+   "ceiling light": {
+    "distance": "2.05 meters",
+    "closeness rank": 12
+   },
+   "door": {
+    "distance": "2.8 meters",
+    "closeness rank": 13
+   }
+  },
+  "cup": {
+   "table": {
+    "distance": "0.2 meters",
+    "closeness rank": 1
+   },
+   "chair": {
+    "distance": "0.79 meters",
+    "closeness rank": 2
+   },
+   "monitor": {
+    "distance": "0.36 meters",
+    "closeness rank": 3
+   },
+   "keyboard": {
+    "distance": "0.22 meters",
+    "closeness rank": 4
+   },
+   "computer mouse": {
+    "distance": "0.46 meters",
+    "closeness rank": 5
+   },
+   "power strip": {
+    "distance": "0.49 meters",
+    "closeness rank": 6
+   },
+   "telephone": {
+    "distance": "0.71 meters",
+    "closeness rank": 7
+   },
+   "heater": {
+    "distance": "1.37 meters",
+    "closeness rank": 8
+   },
+   "whiteboard": {
+    "distance": "1.25 meters",
+    "closeness rank": 9
+   },
+   "ceiling light": {
+    "distance": "2.37 meters",
+    "closeness rank": 10
+   },
+   "bookshelf": {
+    "distance": "2.3 meters",
+    "closeness rank": 11
+   },
+   "trash can": {
+    "distance": "2.54 meters",
+    "closeness rank": 12
+   },
+   "door": {
+    "distance": "3.16 meters",
+    "closeness rank": 13
+   }
+  },
+  "computer mouse": {
+   "table": {
+    "distance": "0.62 meters",
+    "closeness rank": 1
+   },
+   "monitor": {
+    "distance": "0.04 meters",
+    "closeness rank": 2
+   },
+   "telephone": {
+    "distance": "0.14 meters",
+    "closeness rank": 3
+   },
+   "chair": {
+    "distance": "1.27 meters",
+    "closeness rank": 4
+   },
+   "cup": {
+    "distance": "0.46 meters",
+    "closeness rank": 5
+   },
+   "heater": {
+    "distance": "0.96 meters",
+    "closeness rank": 6
+   },
+   "keyboard": {
+    "distance": "0.74 meters",
+    "closeness rank": 7
+   },
+   "power strip": {
+    "distance": "0.97 meters",
+    "closeness rank": 8
+   },
+   "whiteboard": {
+    "distance": "1.35 meters",
+    "closeness rank": 9
+   },
+   "ceiling light": {
+    "distance": "2.78 meters",
+    "closeness rank": 10
+   },
+   "trash can": {
+    "distance": "2.8 meters",
+    "closeness rank": 11
+   },
+   "bookshelf": {
+    "distance": "2.89 meters",
+    "closeness rank": 12
+   },
+   "door": {
+    "distance": "3.73 meters",
+    "closeness rank": 13
+   }
+  }
+ },
+ "appearance order": ["ceiling light", "whiteboard", "monitor", "heater", "telephone", "power strip", "chair", "table", "trash can", "door", "bookshelf", "keyboard", "cup", "computer mouse"]
+}
\ No newline at end of file
diff --git a/data/spatial codes/ground truth/explicit/7bc286c1b6.json b/data/spatial codes/ground truth/explicit/7bc286c1b6.json
new file mode 100644
index 0000000000000000000000000000000000000000..77a77d3c601f88794ac93fcf7ad72936f17dfd66
--- /dev/null
+++ b/data/spatial codes/ground truth/explicit/7bc286c1b6.json	
@@ -0,0 +1,104 @@
+{
+ "spatial code schema": {
+  "objects": {
+   "<object class>": {
+    "count": {
+     "unit": null,
+     "description": "number of instances of this class in the compact spatial code (that schema's per-class oriented-box list length)"
+    },
+    "instances": [
+     {
+      "position": {
+       "x coordinate": {
+        "unit": "meters",
+        "description": "x coordinate of this instance's compact 3D oriented bounding box center"
+       },
+       "y coordinate": {
+        "unit": "meters",
+        "description": "y coordinate of this instance's compact 3D oriented bounding box center"
+       },
+       "height above floor": {
+        "unit": "meters",
+        "description": "height coordinate of this instance's compact 3D oriented bounding box center"
+       }
+      },
+      "longest dimension": {
+       "unit": "meters",
+       "description": "longest of this instance's compact 3D oriented bounding box dimensions"
+      }
+     }
+    ]
+   }
+  },
+  "room": {
+   "floor area": {
+    "unit": "square meters",
+    "description": "shoelace area of the compact spatial code's floor boundary polygons, with every interior hole subtracted"
+   }
+  },
+  "closest classes distance meters from": {
+   "<object class>": {
+    "<other object class>": {
+     "distance": {
+      "unit": "meters",
+      "description": "estimated distance in meters between an object of this class and an object of the other class"
+     },
+     "closeness rank": {
+      "unit": null,
+      "description": "1 = the nearest other class to this one, 2 = second-nearest, and so on; ranked by nearest-instance proximity, so use the rank (not the distance values) to compare which class is closest"
+     }
+    }
+   }
+  },
+  "appearance order": {
+   "unit": null,
+   "description": "class names ordered by earliest compact 'first visible time' across all of that class's instances"
+  }
+ },
+ "objects": {
+  "door": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "1.46 meters",
+      "y coordinate": "1.34 meters",
+      "height above floor": "1.06 meters"
+     },
+     "longest dimension": "2.12 meters"
+    }
+   ]
+  },
+  "toilet": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "2.31 meters",
+      "y coordinate": "0.82 meters",
+      "height above floor": "0.31 meters"
+     },
+     "longest dimension": "0.54 meters"
+    }
+   ]
+  }
+ },
+ "room": {
+  "floor area": "3.3 square meters"
+ },
+ "closest classes distance meters from": {
+  "door": {
+   "toilet": {
+    "distance": "0.34 meters",
+    "closeness rank": 1
+   }
+  },
+  "toilet": {
+   "door": {
+    "distance": "0.34 meters",
+    "closeness rank": 1
+   }
+  }
+ },
+ "appearance order": ["door", "toilet"]
+}
\ No newline at end of file
diff --git a/data/spatial codes/ground truth/explicit/825d228aec.json b/data/spatial codes/ground truth/explicit/825d228aec.json
new file mode 100644
index 0000000000000000000000000000000000000000..599828995d76eb1b84b97a508ab797424a047216
--- /dev/null
+++ b/data/spatial codes/ground truth/explicit/825d228aec.json	
@@ -0,0 +1,292 @@
+{
+ "spatial code schema": {
+  "objects": {
+   "<object class>": {
+    "count": {
+     "unit": null,
+     "description": "number of instances of this class in the compact spatial code (that schema's per-class oriented-box list length)"
+    },
+    "instances": [
+     {
+      "position": {
+       "x coordinate": {
+        "unit": "meters",
+        "description": "x coordinate of this instance's compact 3D oriented bounding box center"
+       },
+       "y coordinate": {
+        "unit": "meters",
+        "description": "y coordinate of this instance's compact 3D oriented bounding box center"
+       },
+       "height above floor": {
+        "unit": "meters",
+        "description": "height coordinate of this instance's compact 3D oriented bounding box center"
+       }
+      },
+      "longest dimension": {
+       "unit": "meters",
+       "description": "longest of this instance's compact 3D oriented bounding box dimensions"
+      }
+     }
+    ]
+   }
+  },
+  "room": {
+   "floor area": {
+    "unit": "square meters",
+    "description": "shoelace area of the compact spatial code's floor boundary polygons, with every interior hole subtracted"
+   }
+  },
+  "closest classes distance meters from": {
+   "<object class>": {
+    "<other object class>": {
+     "distance": {
+      "unit": "meters",
+      "description": "estimated distance in meters between an object of this class and an object of the other class"
+     },
+     "closeness rank": {
+      "unit": null,
+      "description": "1 = the nearest other class to this one, 2 = second-nearest, and so on; ranked by nearest-instance proximity, so use the rank (not the distance values) to compare which class is closest"
+     }
+    }
+   }
+  },
+  "appearance order": {
+   "unit": null,
+   "description": "class names ordered by earliest compact 'first visible time' across all of that class's instances"
+  }
+ },
+ "objects": {
+  "power strip": {
+   "count": 2,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "0.96 meters",
+      "y coordinate": "1.57 meters",
+      "height above floor": "0.03 meters"
+     },
+     "longest dimension": "0.36 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "2.67 meters",
+      "y coordinate": "1.46 meters",
+      "height above floor": "0.03 meters"
+     },
+     "longest dimension": "0.26 meters"
+    }
+   ]
+  },
+  "trash can": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "2.33 meters",
+      "y coordinate": "0.48 meters",
+      "height above floor": "0.16 meters"
+     },
+     "longest dimension": "0.37 meters"
+    }
+   ]
+  },
+  "printer": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "0.4 meters",
+      "y coordinate": "1.52 meters",
+      "height above floor": "0.59 meters"
+     },
+     "longest dimension": "1.17 meters"
+    }
+   ]
+  },
+  "door": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "1.49 meters",
+      "y coordinate": "0.06 meters",
+      "height above floor": "1.05 meters"
+     },
+     "longest dimension": "2.1 meters"
+    }
+   ]
+  },
+  "table": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "2.2 meters",
+      "y coordinate": "1.12 meters",
+      "height above floor": "0.65 meters"
+     },
+     "longest dimension": "2.54 meters"
+    }
+   ]
+  },
+  "exhaust fan": {
+   "count": 2,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "0.05 meters",
+      "y coordinate": "1.68 meters",
+      "height above floor": "2.48 meters"
+     },
+     "longest dimension": "0.15 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "0.03 meters",
+      "y coordinate": "0.54 meters",
+      "height above floor": "2.46 meters"
+     },
+     "longest dimension": "0.15 meters"
+    }
+   ]
+  }
+ },
+ "room": {
+  "floor area": "6.3 square meters"
+ },
+ "closest classes distance meters from": {
+  "power strip": {
+   "printer": {
+    "distance": "0.03 meters",
+    "closeness rank": 1
+   },
+   "table": {
+    "distance": "0.39 meters",
+    "closeness rank": 2
+   },
+   "trash can": {
+    "distance": "1.39 meters",
+    "closeness rank": 3
+   },
+   "door": {
+    "distance": "1.3 meters",
+    "closeness rank": 4
+   },
+   "exhaust fan": {
+    "distance": "2.46 meters",
+    "closeness rank": 5
+   }
+  },
+  "trash can": {
+   "table": {
+    "distance": "0.12 meters",
+    "closeness rank": 1
+   },
+   "door": {
+    "distance": "0.22 meters",
+    "closeness rank": 2
+   },
+   "power strip": {
+    "distance": "1.39 meters",
+    "closeness rank": 3
+   },
+   "printer": {
+    "distance": "1.57 meters",
+    "closeness rank": 4
+   },
+   "exhaust fan": {
+    "distance": "3.21 meters",
+    "closeness rank": 5
+   }
+  },
+  "printer": {
+   "power strip": {
+    "distance": "0.03 meters",
+    "closeness rank": 1
+   },
+   "table": {
+    "distance": "0.18 meters",
+    "closeness rank": 2
+   },
+   "door": {
+    "distance": "1.16 meters",
+    "closeness rank": 3
+   },
+   "exhaust fan": {
+    "distance": "1.27 meters",
+    "closeness rank": 4
+   },
+   "trash can": {
+    "distance": "1.57 meters",
+    "closeness rank": 5
+   }
+  },
+  "door": {
+   "table": {
+    "distance": "0.07 meters",
+    "closeness rank": 1
+   },
+   "trash can": {
+    "distance": "0.22 meters",
+    "closeness rank": 2
+   },
+   "exhaust fan": {
+    "distance": "1.47 meters",
+    "closeness rank": 3
+   },
+   "printer": {
+    "distance": "1.16 meters",
+    "closeness rank": 4
+   },
+   "power strip": {
+    "distance": "1.3 meters",
+    "closeness rank": 5
+   }
+  },
+  "table": {
+   "door": {
+    "distance": "0.07 meters",
+    "closeness rank": 1
+   },
+   "trash can": {
+    "distance": "0.12 meters",
+    "closeness rank": 2
+   },
+   "printer": {
+    "distance": "0.18 meters",
+    "closeness rank": 3
+   },
+   "power strip": {
+    "distance": "0.39 meters",
+    "closeness rank": 4
+   },
+   "exhaust fan": {
+    "distance": "1.77 meters",
+    "closeness rank": 5
+   }
+  },
+  "exhaust fan": {
+   "door": {
+    "distance": "1.47 meters",
+    "closeness rank": 1
+   },
+   "printer": {
+    "distance": "1.27 meters",
+    "closeness rank": 2
+   },
+   "table": {
+    "distance": "1.77 meters",
+    "closeness rank": 3
+   },
+   "power strip": {
+    "distance": "2.46 meters",
+    "closeness rank": 4
+   },
+   "trash can": {
+    "distance": "3.21 meters",
+    "closeness rank": 5
+   }
+  }
+ },
+ "appearance order": ["power strip", "trash can", "printer", "door", "table", "exhaust fan"]
+}
\ No newline at end of file
diff --git a/data/spatial codes/ground truth/explicit/9071e139d9.json b/data/spatial codes/ground truth/explicit/9071e139d9.json
new file mode 100644
index 0000000000000000000000000000000000000000..81efb7e99a908b8381304e74a6733e329410cc3b
--- /dev/null
+++ b/data/spatial codes/ground truth/explicit/9071e139d9.json	
@@ -0,0 +1,475 @@
+{
+ "spatial code schema": {
+  "objects": {
+   "<object class>": {
+    "count": {
+     "unit": null,
+     "description": "number of instances of this class in the compact spatial code (that schema's per-class oriented-box list length)"
+    },
+    "instances": [
+     {
+      "position": {
+       "x coordinate": {
+        "unit": "meters",
+        "description": "x coordinate of this instance's compact 3D oriented bounding box center"
+       },
+       "y coordinate": {
+        "unit": "meters",
+        "description": "y coordinate of this instance's compact 3D oriented bounding box center"
+       },
+       "height above floor": {
+        "unit": "meters",
+        "description": "height coordinate of this instance's compact 3D oriented bounding box center"
+       }
+      },
+      "longest dimension": {
+       "unit": "meters",
+       "description": "longest of this instance's compact 3D oriented bounding box dimensions"
+      }
+     }
+    ]
+   }
+  },
+  "room": {
+   "floor area": {
+    "unit": "square meters",
+    "description": "shoelace area of the compact spatial code's floor boundary polygons, with every interior hole subtracted"
+   }
+  },
+  "closest classes distance meters from": {
+   "<object class>": {
+    "<other object class>": {
+     "distance": {
+      "unit": "meters",
+      "description": "estimated distance in meters between an object of this class and an object of the other class"
+     },
+     "closeness rank": {
+      "unit": null,
+      "description": "1 = the nearest other class to this one, 2 = second-nearest, and so on; ranked by nearest-instance proximity, so use the rank (not the distance values) to compare which class is closest"
+     }
+    }
+   }
+  },
+  "appearance order": {
+   "unit": null,
+   "description": "class names ordered by earliest compact 'first visible time' across all of that class's instances"
+  }
+ },
+ "objects": {
+  "chair": {
+   "count": 5,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "2.81 meters",
+      "y coordinate": "2.67 meters",
+      "height above floor": "0.4 meters"
+     },
+     "longest dimension": "0.79 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "2.86 meters",
+      "y coordinate": "1.88 meters",
+      "height above floor": "0.39 meters"
+     },
+     "longest dimension": "0.78 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "2.18 meters",
+      "y coordinate": "2.77 meters",
+      "height above floor": "0.4 meters"
+     },
+     "longest dimension": "0.79 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "1.61 meters",
+      "y coordinate": "2.38 meters",
+      "height above floor": "0.4 meters"
+     },
+     "longest dimension": "0.79 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "2.29 meters",
+      "y coordinate": "1.82 meters",
+      "height above floor": "0.4 meters"
+     },
+     "longest dimension": "0.78 meters"
+    }
+   ]
+  },
+  "table": {
+   "count": 5,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "4.65 meters",
+      "y coordinate": "4.23 meters",
+      "height above floor": "0.23 meters"
+     },
+     "longest dimension": "0.74 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "8.21 meters",
+      "y coordinate": "3.21 meters",
+      "height above floor": "0.25 meters"
+     },
+     "longest dimension": "0.93 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "2.46 meters",
+      "y coordinate": "2.28 meters",
+      "height above floor": "0.39 meters"
+     },
+     "longest dimension": "1.84 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "6.67 meters",
+      "y coordinate": "4.29 meters",
+      "height above floor": "0.24 meters"
+     },
+     "longest dimension": "0.74 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "9.42 meters",
+      "y coordinate": "4.21 meters",
+      "height above floor": "0.28 meters"
+     },
+     "longest dimension": "0.78 meters"
+    }
+   ]
+  },
+  "sofa": {
+   "count": 5,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "9.43 meters",
+      "y coordinate": "3.11 meters",
+      "height above floor": "0.42 meters"
+     },
+     "longest dimension": "1.48 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "5.64 meters",
+      "y coordinate": "4.2 meters",
+      "height above floor": "0.25 meters"
+     },
+     "longest dimension": "1.34 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "8.98 meters",
+      "y coordinate": "1.54 meters",
+      "height above floor": "0.42 meters"
+     },
+     "longest dimension": "1.37 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "8.04 meters",
+      "y coordinate": "4.3 meters",
+      "height above floor": "0.43 meters"
+     },
+     "longest dimension": "2.06 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "6.76 meters",
+      "y coordinate": "3.26 meters",
+      "height above floor": "0.24 meters"
+     },
+     "longest dimension": "1.35 meters"
+    }
+   ]
+  },
+  "clock": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "0.17 meters",
+      "y coordinate": "3.19 meters",
+      "height above floor": "2.35 meters"
+     },
+     "longest dimension": "0.4 meters"
+    }
+   ]
+  },
+  "whiteboard": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "0.16 meters",
+      "y coordinate": "3.19 meters",
+      "height above floor": "1.54 meters"
+     },
+     "longest dimension": "1.88 meters"
+    }
+   ]
+  },
+  "door": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "8.32 meters",
+      "y coordinate": "0.32 meters",
+      "height above floor": "1.22 meters"
+     },
+     "longest dimension": "2.43 meters"
+    }
+   ]
+  },
+  "cushion": {
+   "count": 6,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "8.38 meters",
+      "y coordinate": "4.2 meters",
+      "height above floor": "0.55 meters"
+     },
+     "longest dimension": "0.48 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "8.33 meters",
+      "y coordinate": "4.39 meters",
+      "height above floor": "0.63 meters"
+     },
+     "longest dimension": "0.36 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "9.37 meters",
+      "y coordinate": "3.09 meters",
+      "height above floor": "0.58 meters"
+     },
+     "longest dimension": "0.41 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "9.52 meters",
+      "y coordinate": "3.14 meters",
+      "height above floor": "0.66 meters"
+     },
+     "longest dimension": "0.41 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "8.94 meters",
+      "y coordinate": "1.64 meters",
+      "height above floor": "0.54 meters"
+     },
+     "longest dimension": "0.47 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "9.09 meters",
+      "y coordinate": "1.46 meters",
+      "height above floor": "0.66 meters"
+     },
+     "longest dimension": "0.42 meters"
+    }
+   ]
+  }
+ },
+ "room": {
+  "floor area": "42.8 square meters"
+ },
+ "closest classes distance meters from": {
+  "chair": {
+   "table": {
+    "distance": "1.65 meters",
+    "closeness rank": 1
+   },
+   "whiteboard": {
+    "distance": "1.6 meters",
+    "closeness rank": 2
+   },
+   "clock": {
+    "distance": "2.73 meters",
+    "closeness rank": 3
+   },
+   "sofa": {
+    "distance": "5.5 meters",
+    "closeness rank": 4
+   },
+   "door": {
+    "distance": "4.79 meters",
+    "closeness rank": 5
+   },
+   "cushion": {
+    "distance": "5.2 meters",
+    "closeness rank": 6
+   }
+  },
+  "table": {
+   "chair": {
+    "distance": "1.65 meters",
+    "closeness rank": 1
+   },
+   "sofa": {
+    "distance": "3.8 meters",
+    "closeness rank": 2
+   },
+   "cushion": {
+    "distance": "3.13 meters",
+    "closeness rank": 3
+   },
+   "whiteboard": {
+    "distance": "3.48 meters",
+    "closeness rank": 4
+   },
+   "clock": {
+    "distance": "4.49 meters",
+    "closeness rank": 5
+   },
+   "door": {
+    "distance": "3.87 meters",
+    "closeness rank": 6
+   }
+  },
+  "sofa": {
+   "cushion": {
+    "distance": "0.54 meters",
+    "closeness rank": 1
+   },
+   "table": {
+    "distance": "3.8 meters",
+    "closeness rank": 2
+   },
+   "door": {
+    "distance": "1.15 meters",
+    "closeness rank": 3
+   },
+   "chair": {
+    "distance": "5.5 meters",
+    "closeness rank": 4
+   },
+   "whiteboard": {
+    "distance": "7.66 meters",
+    "closeness rank": 5
+   },
+   "clock": {
+    "distance": "8.52 meters",
+    "closeness rank": 6
+   }
+  },
+  "clock": {
+   "whiteboard": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "chair": {
+    "distance": "2.73 meters",
+    "closeness rank": 2
+   },
+   "table": {
+    "distance": "4.49 meters",
+    "closeness rank": 3
+   },
+   "sofa": {
+    "distance": "8.52 meters",
+    "closeness rank": 4
+   },
+   "door": {
+    "distance": "8.08 meters",
+    "closeness rank": 5
+   },
+   "cushion": {
+    "distance": "8.13 meters",
+    "closeness rank": 6
+   }
+  },
+  "whiteboard": {
+   "clock": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "chair": {
+    "distance": "1.6 meters",
+    "closeness rank": 2
+   },
+   "table": {
+    "distance": "3.48 meters",
+    "closeness rank": 3
+   },
+   "sofa": {
+    "distance": "7.66 meters",
+    "closeness rank": 4
+   },
+   "door": {
+    "distance": "7.85 meters",
+    "closeness rank": 5
+   },
+   "cushion": {
+    "distance": "7.98 meters",
+    "closeness rank": 6
+   }
+  },
+  "door": {
+   "sofa": {
+    "distance": "1.15 meters",
+    "closeness rank": 1
+   },
+   "cushion": {
+    "distance": "2.48 meters",
+    "closeness rank": 2
+   },
+   "table": {
+    "distance": "3.87 meters",
+    "closeness rank": 3
+   },
+   "chair": {
+    "distance": "4.79 meters",
+    "closeness rank": 4
+   },
+   "whiteboard": {
+    "distance": "7.85 meters",
+    "closeness rank": 5
+   },
+   "clock": {
+    "distance": "8.08 meters",
+    "closeness rank": 6
+   }
+  },
+  "cushion": {
+   "sofa": {
+    "distance": "0.54 meters",
+    "closeness rank": 1
+   },
+   "table": {
+    "distance": "3.13 meters",
+    "closeness rank": 2
+   },
+   "door": {
+    "distance": "2.48 meters",
+    "closeness rank": 3
+   },
+   "chair": {
+    "distance": "5.2 meters",
+    "closeness rank": 4
+   },
+   "whiteboard": {
+    "distance": "7.98 meters",
+    "closeness rank": 5
+   },
+   "clock": {
+    "distance": "8.13 meters",
+    "closeness rank": 6
+   }
+  }
+ },
+ "appearance order": ["chair", "table", "sofa", "clock", "whiteboard", "door", "cushion"]
+}
\ No newline at end of file
diff --git a/data/spatial codes/ground truth/explicit/99fa5c25e1.json b/data/spatial codes/ground truth/explicit/99fa5c25e1.json
new file mode 100644
index 0000000000000000000000000000000000000000..3973d76534e8e830bf901475743850a6773560aa
--- /dev/null
+++ b/data/spatial codes/ground truth/explicit/99fa5c25e1.json	
@@ -0,0 +1,128 @@
+{
+ "spatial code schema": {
+  "objects": {
+   "<object class>": {
+    "count": {
+     "unit": null,
+     "description": "number of instances of this class in the compact spatial code (that schema's per-class oriented-box list length)"
+    },
+    "instances": [
+     {
+      "position": {
+       "x coordinate": {
+        "unit": "meters",
+        "description": "x coordinate of this instance's compact 3D oriented bounding box center"
+       },
+       "y coordinate": {
+        "unit": "meters",
+        "description": "y coordinate of this instance's compact 3D oriented bounding box center"
+       },
+       "height above floor": {
+        "unit": "meters",
+        "description": "height coordinate of this instance's compact 3D oriented bounding box center"
+       }
+      },
+      "longest dimension": {
+       "unit": "meters",
+       "description": "longest of this instance's compact 3D oriented bounding box dimensions"
+      }
+     }
+    ]
+   }
+  },
+  "room": {
+   "floor area": {
+    "unit": "square meters",
+    "description": "shoelace area of the compact spatial code's floor boundary polygons, with every interior hole subtracted"
+   }
+  },
+  "closest classes distance meters from": {
+   "<object class>": {
+    "<other object class>": {
+     "distance": {
+      "unit": "meters",
+      "description": "estimated distance in meters between an object of this class and an object of the other class"
+     },
+     "closeness rank": {
+      "unit": null,
+      "description": "1 = the nearest other class to this one, 2 = second-nearest, and so on; ranked by nearest-instance proximity, so use the rank (not the distance values) to compare which class is closest"
+     }
+    }
+   }
+  },
+  "appearance order": {
+   "unit": null,
+   "description": "class names ordered by earliest compact 'first visible time' across all of that class's instances"
+  }
+ },
+ "objects": {
+  "chair": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "4.38 meters",
+      "y coordinate": "1.69 meters",
+      "height above floor": "0.55 meters"
+     },
+     "longest dimension": "1.1 meters"
+    }
+   ]
+  },
+  "bucket": {
+   "count": 4,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "0.98 meters",
+      "y coordinate": "1.04 meters",
+      "height above floor": "0.16 meters"
+     },
+     "longest dimension": "0.32 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "1.03 meters",
+      "y coordinate": "0.6 meters",
+      "height above floor": "0.15 meters"
+     },
+     "longest dimension": "0.31 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "3.85 meters",
+      "y coordinate": "4.4 meters",
+      "height above floor": "0.14 meters"
+     },
+     "longest dimension": "0.33 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "3.87 meters",
+      "y coordinate": "4.74 meters",
+      "height above floor": "0.22 meters"
+     },
+     "longest dimension": "0.31 meters"
+    }
+   ]
+  }
+ },
+ "room": {
+  "floor area": "27.2 square meters"
+ },
+ "closest classes distance meters from": {
+  "chair": {
+   "bucket": {
+    "distance": "2.77 meters",
+    "closeness rank": 1
+   }
+  },
+  "bucket": {
+   "chair": {
+    "distance": "2.77 meters",
+    "closeness rank": 1
+   }
+  }
+ },
+ "appearance order": ["chair", "bucket"]
+}
\ No newline at end of file
diff --git a/data/spatial codes/ground truth/explicit/a24f64f7fb.json b/data/spatial codes/ground truth/explicit/a24f64f7fb.json
new file mode 100644
index 0000000000000000000000000000000000000000..28496a4d24b05bfacf6fb4e4909dbece04f2b804
--- /dev/null
+++ b/data/spatial codes/ground truth/explicit/a24f64f7fb.json	
@@ -0,0 +1,347 @@
+{
+ "spatial code schema": {
+  "objects": {
+   "<object class>": {
+    "count": {
+     "unit": null,
+     "description": "number of instances of this class in the compact spatial code (that schema's per-class oriented-box list length)"
+    },
+    "instances": [
+     {
+      "position": {
+       "x coordinate": {
+        "unit": "meters",
+        "description": "x coordinate of this instance's compact 3D oriented bounding box center"
+       },
+       "y coordinate": {
+        "unit": "meters",
+        "description": "y coordinate of this instance's compact 3D oriented bounding box center"
+       },
+       "height above floor": {
+        "unit": "meters",
+        "description": "height coordinate of this instance's compact 3D oriented bounding box center"
+       }
+      },
+      "longest dimension": {
+       "unit": "meters",
+       "description": "longest of this instance's compact 3D oriented bounding box dimensions"
+      }
+     }
+    ]
+   }
+  },
+  "room": {
+   "floor area": {
+    "unit": "square meters",
+    "description": "shoelace area of the compact spatial code's floor boundary polygons, with every interior hole subtracted"
+   }
+  },
+  "closest classes distance meters from": {
+   "<object class>": {
+    "<other object class>": {
+     "distance": {
+      "unit": "meters",
+      "description": "estimated distance in meters between an object of this class and an object of the other class"
+     },
+     "closeness rank": {
+      "unit": null,
+      "description": "1 = the nearest other class to this one, 2 = second-nearest, and so on; ranked by nearest-instance proximity, so use the rank (not the distance values) to compare which class is closest"
+     }
+    }
+   }
+  },
+  "appearance order": {
+   "unit": null,
+   "description": "class names ordered by earliest compact 'first visible time' across all of that class's instances"
+  }
+ },
+ "objects": {
+  "monitor": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "1.04 meters",
+      "y coordinate": "1.04 meters",
+      "height above floor": "1.22 meters"
+     },
+     "longest dimension": "0.91 meters"
+    }
+   ]
+  },
+  "chair": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "1.83 meters",
+      "y coordinate": "1.43 meters",
+      "height above floor": "0.68 meters"
+     },
+     "longest dimension": "1.33 meters"
+    }
+   ]
+  },
+  "door": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "4.18 meters",
+      "y coordinate": "1.7 meters",
+      "height above floor": "1.04 meters"
+     },
+     "longest dimension": "2.07 meters"
+    }
+   ]
+  },
+  "table": {
+   "count": 2,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "1.14 meters",
+      "y coordinate": "1.12 meters",
+      "height above floor": "0.45 meters"
+     },
+     "longest dimension": "1.24 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "2.07 meters",
+      "y coordinate": "0.63 meters",
+      "height above floor": "0.4 meters"
+     },
+     "longest dimension": "0.8 meters"
+    }
+   ]
+  },
+  "ceiling light": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "2.09 meters",
+      "y coordinate": "1.51 meters",
+      "height above floor": "2.5 meters"
+     },
+     "longest dimension": "0.32 meters"
+    }
+   ]
+  },
+  "keyboard": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "1.29 meters",
+      "y coordinate": "1.12 meters",
+      "height above floor": "0.78 meters"
+     },
+     "longest dimension": "0.46 meters"
+    }
+   ]
+  },
+  "computer mouse": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "1.23 meters",
+      "y coordinate": "1.42 meters",
+      "height above floor": "0.79 meters"
+     },
+     "longest dimension": "0.11 meters"
+    }
+   ]
+  }
+ },
+ "room": {
+  "floor area": "10.1 square meters"
+ },
+ "closest classes distance meters from": {
+  "monitor": {
+   "table": {
+    "distance": "0.1 meters",
+    "closeness rank": 1
+   },
+   "keyboard": {
+    "distance": "0.2 meters",
+    "closeness rank": 2
+   },
+   "computer mouse": {
+    "distance": "0.28 meters",
+    "closeness rank": 3
+   },
+   "chair": {
+    "distance": "0.32 meters",
+    "closeness rank": 4
+   },
+   "ceiling light": {
+    "distance": "1.32 meters",
+    "closeness rank": 5
+   },
+   "door": {
+    "distance": "2.64 meters",
+    "closeness rank": 6
+   }
+  },
+  "chair": {
+   "keyboard": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "table": {
+    "distance": "0.0 meters",
+    "closeness rank": 2
+   },
+   "computer mouse": {
+    "distance": "0.13 meters",
+    "closeness rank": 3
+   },
+   "monitor": {
+    "distance": "0.32 meters",
+    "closeness rank": 4
+   },
+   "ceiling light": {
+    "distance": "1.07 meters",
+    "closeness rank": 5
+   },
+   "door": {
+    "distance": "1.46 meters",
+    "closeness rank": 6
+   }
+  },
+  "door": {
+   "chair": {
+    "distance": "1.46 meters",
+    "closeness rank": 1
+   },
+   "ceiling light": {
+    "distance": "1.47 meters",
+    "closeness rank": 2
+   },
+   "table": {
+    "distance": "1.51 meters",
+    "closeness rank": 3
+   },
+   "keyboard": {
+    "distance": "2.34 meters",
+    "closeness rank": 4
+   },
+   "computer mouse": {
+    "distance": "2.46 meters",
+    "closeness rank": 5
+   },
+   "monitor": {
+    "distance": "2.64 meters",
+    "closeness rank": 6
+   }
+  },
+  "table": {
+   "chair": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "computer mouse": {
+    "distance": "0.0 meters",
+    "closeness rank": 2
+   },
+   "keyboard": {
+    "distance": "0.0 meters",
+    "closeness rank": 3
+   },
+   "monitor": {
+    "distance": "0.1 meters",
+    "closeness rank": 4
+   },
+   "door": {
+    "distance": "1.51 meters",
+    "closeness rank": 5
+   },
+   "ceiling light": {
+    "distance": "1.62 meters",
+    "closeness rank": 6
+   }
+  },
+  "ceiling light": {
+   "chair": {
+    "distance": "1.07 meters",
+    "closeness rank": 1
+   },
+   "monitor": {
+    "distance": "1.32 meters",
+    "closeness rank": 2
+   },
+   "door": {
+    "distance": "1.47 meters",
+    "closeness rank": 3
+   },
+   "table": {
+    "distance": "1.62 meters",
+    "closeness rank": 4
+   },
+   "computer mouse": {
+    "distance": "1.7 meters",
+    "closeness rank": 5
+   },
+   "keyboard": {
+    "distance": "1.73 meters",
+    "closeness rank": 6
+   }
+  },
+  "keyboard": {
+   "chair": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "table": {
+    "distance": "0.0 meters",
+    "closeness rank": 2
+   },
+   "computer mouse": {
+    "distance": "0.02 meters",
+    "closeness rank": 3
+   },
+   "monitor": {
+    "distance": "0.2 meters",
+    "closeness rank": 4
+   },
+   "ceiling light": {
+    "distance": "1.73 meters",
+    "closeness rank": 5
+   },
+   "door": {
+    "distance": "2.34 meters",
+    "closeness rank": 6
+   }
+  },
+  "computer mouse": {
+   "table": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "keyboard": {
+    "distance": "0.02 meters",
+    "closeness rank": 2
+   },
+   "chair": {
+    "distance": "0.13 meters",
+    "closeness rank": 3
+   },
+   "monitor": {
+    "distance": "0.28 meters",
+    "closeness rank": 4
+   },
+   "ceiling light": {
+    "distance": "1.7 meters",
+    "closeness rank": 5
+   },
+   "door": {
+    "distance": "2.46 meters",
+    "closeness rank": 6
+   }
+  }
+ },
+ "appearance order": ["monitor", "chair", "door", "table", "ceiling light", "keyboard", "computer mouse"]
+}
\ No newline at end of file
diff --git a/data/spatial codes/ground truth/explicit/a8bf42d646.json b/data/spatial codes/ground truth/explicit/a8bf42d646.json
new file mode 100644
index 0000000000000000000000000000000000000000..85dce9213732d2953c34a58068983ff1e68e7072
--- /dev/null
+++ b/data/spatial codes/ground truth/explicit/a8bf42d646.json	
@@ -0,0 +1,269 @@
+{
+ "spatial code schema": {
+  "objects": {
+   "<object class>": {
+    "count": {
+     "unit": null,
+     "description": "number of instances of this class in the compact spatial code (that schema's per-class oriented-box list length)"
+    },
+    "instances": [
+     {
+      "position": {
+       "x coordinate": {
+        "unit": "meters",
+        "description": "x coordinate of this instance's compact 3D oriented bounding box center"
+       },
+       "y coordinate": {
+        "unit": "meters",
+        "description": "y coordinate of this instance's compact 3D oriented bounding box center"
+       },
+       "height above floor": {
+        "unit": "meters",
+        "description": "height coordinate of this instance's compact 3D oriented bounding box center"
+       }
+      },
+      "longest dimension": {
+       "unit": "meters",
+       "description": "longest of this instance's compact 3D oriented bounding box dimensions"
+      }
+     }
+    ]
+   }
+  },
+  "room": {
+   "floor area": {
+    "unit": "square meters",
+    "description": "shoelace area of the compact spatial code's floor boundary polygons, with every interior hole subtracted"
+   }
+  },
+  "closest classes distance meters from": {
+   "<object class>": {
+    "<other object class>": {
+     "distance": {
+      "unit": "meters",
+      "description": "estimated distance in meters between an object of this class and an object of the other class"
+     },
+     "closeness rank": {
+      "unit": null,
+      "description": "1 = the nearest other class to this one, 2 = second-nearest, and so on; ranked by nearest-instance proximity, so use the rank (not the distance values) to compare which class is closest"
+     }
+    }
+   }
+  },
+  "appearance order": {
+   "unit": null,
+   "description": "class names ordered by earliest compact 'first visible time' across all of that class's instances"
+  }
+ },
+ "objects": {
+  "trash can": {
+   "count": 3,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "6.4 meters",
+      "y coordinate": "0.99 meters",
+      "height above floor": "0.27 meters"
+     },
+     "longest dimension": "0.51 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "3.15 meters",
+      "y coordinate": "0.7 meters",
+      "height above floor": "0.28 meters"
+     },
+     "longest dimension": "0.54 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "4.97 meters",
+      "y coordinate": "7.23 meters",
+      "height above floor": "0.29 meters"
+     },
+     "longest dimension": "0.55 meters"
+    }
+   ]
+  },
+  "door": {
+   "count": 2,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "0.9 meters",
+      "y coordinate": "3.98 meters",
+      "height above floor": "1.07 meters"
+     },
+     "longest dimension": "2.14 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "3.99 meters",
+      "y coordinate": "1.2 meters",
+      "height above floor": "1.07 meters"
+     },
+     "longest dimension": "2.14 meters"
+    }
+   ]
+  },
+  "heater": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "7.13 meters",
+      "y coordinate": "5.5 meters",
+      "height above floor": "0.47 meters"
+     },
+     "longest dimension": "3.0 meters"
+    }
+   ]
+  },
+  "table": {
+   "count": 4,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "4.49 meters",
+      "y coordinate": "2.26 meters",
+      "height above floor": "0.42 meters"
+     },
+     "longest dimension": "0.84 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "7.65 meters",
+      "y coordinate": "1.67 meters",
+      "height above floor": "0.32 meters"
+     },
+     "longest dimension": "0.73 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "7.47 meters",
+      "y coordinate": "4.47 meters",
+      "height above floor": "0.56 meters"
+     },
+     "longest dimension": "2.01 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "4.98 meters",
+      "y coordinate": "2.77 meters",
+      "height above floor": "0.41 meters"
+     },
+     "longest dimension": "1.02 meters"
+    }
+   ]
+  },
+  "crate": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "5.49 meters",
+      "y coordinate": "2.38 meters",
+      "height above floor": "0.16 meters"
+     },
+     "longest dimension": "0.4 meters"
+    }
+   ]
+  }
+ },
+ "room": {
+  "floor area": "41.4 square meters"
+ },
+ "closest classes distance meters from": {
+  "trash can": {
+   "door": {
+    "distance": "4.99 meters",
+    "closeness rank": 1
+   },
+   "table": {
+    "distance": "1.62 meters",
+    "closeness rank": 2
+   },
+   "heater": {
+    "distance": "2.82 meters",
+    "closeness rank": 3
+   },
+   "crate": {
+    "distance": "1.24 meters",
+    "closeness rank": 4
+   }
+  },
+  "door": {
+   "trash can": {
+    "distance": "4.99 meters",
+    "closeness rank": 1
+   },
+   "table": {
+    "distance": "2.54 meters",
+    "closeness rank": 2
+   },
+   "crate": {
+    "distance": "3.68 meters",
+    "closeness rank": 3
+   },
+   "heater": {
+    "distance": "4.52 meters",
+    "closeness rank": 4
+   }
+  },
+  "heater": {
+   "table": {
+    "distance": "2.26 meters",
+    "closeness rank": 1
+   },
+   "trash can": {
+    "distance": "2.82 meters",
+    "closeness rank": 2
+   },
+   "crate": {
+    "distance": "3.18 meters",
+    "closeness rank": 3
+   },
+   "door": {
+    "distance": "4.52 meters",
+    "closeness rank": 4
+   }
+  },
+  "table": {
+   "crate": {
+    "distance": "0.42 meters",
+    "closeness rank": 1
+   },
+   "heater": {
+    "distance": "2.26 meters",
+    "closeness rank": 2
+   },
+   "door": {
+    "distance": "2.54 meters",
+    "closeness rank": 3
+   },
+   "trash can": {
+    "distance": "1.62 meters",
+    "closeness rank": 4
+   }
+  },
+  "crate": {
+   "table": {
+    "distance": "0.42 meters",
+    "closeness rank": 1
+   },
+   "door": {
+    "distance": "3.68 meters",
+    "closeness rank": 2
+   },
+   "trash can": {
+    "distance": "1.24 meters",
+    "closeness rank": 3
+   },
+   "heater": {
+    "distance": "3.18 meters",
+    "closeness rank": 4
+   }
+  }
+ },
+ "appearance order": ["trash can", "door", "heater", "table", "crate"]
+}
\ No newline at end of file
diff --git a/data/spatial codes/ground truth/explicit/a980334473.json b/data/spatial codes/ground truth/explicit/a980334473.json
new file mode 100644
index 0000000000000000000000000000000000000000..e4f7709f6eae534e4593edcd5e015033b1c1a0ce
--- /dev/null
+++ b/data/spatial codes/ground truth/explicit/a980334473.json	
@@ -0,0 +1,174 @@
+{
+ "spatial code schema": {
+  "objects": {
+   "<object class>": {
+    "count": {
+     "unit": null,
+     "description": "number of instances of this class in the compact spatial code (that schema's per-class oriented-box list length)"
+    },
+    "instances": [
+     {
+      "position": {
+       "x coordinate": {
+        "unit": "meters",
+        "description": "x coordinate of this instance's compact 3D oriented bounding box center"
+       },
+       "y coordinate": {
+        "unit": "meters",
+        "description": "y coordinate of this instance's compact 3D oriented bounding box center"
+       },
+       "height above floor": {
+        "unit": "meters",
+        "description": "height coordinate of this instance's compact 3D oriented bounding box center"
+       }
+      },
+      "longest dimension": {
+       "unit": "meters",
+       "description": "longest of this instance's compact 3D oriented bounding box dimensions"
+      }
+     }
+    ]
+   }
+  },
+  "room": {
+   "floor area": {
+    "unit": "square meters",
+    "description": "shoelace area of the compact spatial code's floor boundary polygons, with every interior hole subtracted"
+   }
+  },
+  "closest classes distance meters from": {
+   "<object class>": {
+    "<other object class>": {
+     "distance": {
+      "unit": "meters",
+      "description": "estimated distance in meters between an object of this class and an object of the other class"
+     },
+     "closeness rank": {
+      "unit": null,
+      "description": "1 = the nearest other class to this one, 2 = second-nearest, and so on; ranked by nearest-instance proximity, so use the rank (not the distance values) to compare which class is closest"
+     }
+    }
+   }
+  },
+  "appearance order": {
+   "unit": null,
+   "description": "class names ordered by earliest compact 'first visible time' across all of that class's instances"
+  }
+ },
+ "objects": {
+  "ceiling light": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "1.41 meters",
+      "y coordinate": "1.17 meters",
+      "height above floor": "2.64 meters"
+     },
+     "longest dimension": "1.62 meters"
+    }
+   ]
+  },
+  "chair": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "2.28 meters",
+      "y coordinate": "1.36 meters",
+      "height above floor": "0.41 meters"
+     },
+     "longest dimension": "0.82 meters"
+    }
+   ]
+  },
+  "table": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "2.23 meters",
+      "y coordinate": "1.13 meters",
+      "height above floor": "0.68 meters"
+     },
+     "longest dimension": "2.56 meters"
+    }
+   ]
+  },
+  "door": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "1.54 meters",
+      "y coordinate": "0.05 meters",
+      "height above floor": "1.06 meters"
+     },
+     "longest dimension": "2.1 meters"
+    }
+   ]
+  }
+ },
+ "room": {
+  "floor area": "6.3 square meters"
+ },
+ "closest classes distance meters from": {
+  "ceiling light": {
+   "door": {
+    "distance": "1.09 meters",
+    "closeness rank": 1
+   },
+   "table": {
+    "distance": "1.69 meters",
+    "closeness rank": 2
+   },
+   "chair": {
+    "distance": "1.77 meters",
+    "closeness rank": 3
+   }
+  },
+  "chair": {
+   "table": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "door": {
+    "distance": "1.02 meters",
+    "closeness rank": 2
+   },
+   "ceiling light": {
+    "distance": "1.77 meters",
+    "closeness rank": 3
+   }
+  },
+  "table": {
+   "chair": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "door": {
+    "distance": "0.2 meters",
+    "closeness rank": 2
+   },
+   "ceiling light": {
+    "distance": "1.69 meters",
+    "closeness rank": 3
+   }
+  },
+  "door": {
+   "table": {
+    "distance": "0.2 meters",
+    "closeness rank": 1
+   },
+   "chair": {
+    "distance": "1.02 meters",
+    "closeness rank": 2
+   },
+   "ceiling light": {
+    "distance": "1.09 meters",
+    "closeness rank": 3
+   }
+  }
+ },
+ "appearance order": ["ceiling light", "chair", "table", "door"]
+}
\ No newline at end of file
diff --git a/data/spatial codes/ground truth/explicit/ac48a9b736.json b/data/spatial codes/ground truth/explicit/ac48a9b736.json
new file mode 100644
index 0000000000000000000000000000000000000000..6b69db307e78dc6987b36086b52c22b41c023394
--- /dev/null
+++ b/data/spatial codes/ground truth/explicit/ac48a9b736.json	
@@ -0,0 +1,761 @@
+{
+ "spatial code schema": {
+  "objects": {
+   "<object class>": {
+    "count": {
+     "unit": null,
+     "description": "number of instances of this class in the compact spatial code (that schema's per-class oriented-box list length)"
+    },
+    "instances": [
+     {
+      "position": {
+       "x coordinate": {
+        "unit": "meters",
+        "description": "x coordinate of this instance's compact 3D oriented bounding box center"
+       },
+       "y coordinate": {
+        "unit": "meters",
+        "description": "y coordinate of this instance's compact 3D oriented bounding box center"
+       },
+       "height above floor": {
+        "unit": "meters",
+        "description": "height coordinate of this instance's compact 3D oriented bounding box center"
+       }
+      },
+      "longest dimension": {
+       "unit": "meters",
+       "description": "longest of this instance's compact 3D oriented bounding box dimensions"
+      }
+     }
+    ]
+   }
+  },
+  "room": {
+   "floor area": {
+    "unit": "square meters",
+    "description": "shoelace area of the compact spatial code's floor boundary polygons, with every interior hole subtracted"
+   }
+  },
+  "closest classes distance meters from": {
+   "<object class>": {
+    "<other object class>": {
+     "distance": {
+      "unit": "meters",
+      "description": "estimated distance in meters between an object of this class and an object of the other class"
+     },
+     "closeness rank": {
+      "unit": null,
+      "description": "1 = the nearest other class to this one, 2 = second-nearest, and so on; ranked by nearest-instance proximity, so use the rank (not the distance values) to compare which class is closest"
+     }
+    }
+   }
+  },
+  "appearance order": {
+   "unit": null,
+   "description": "class names ordered by earliest compact 'first visible time' across all of that class's instances"
+  }
+ },
+ "objects": {
+  "trash can": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "15.21 meters",
+      "y coordinate": "4.86 meters",
+      "height above floor": "0.29 meters"
+     },
+     "longest dimension": "0.57 meters"
+    }
+   ]
+  },
+  "chair": {
+   "count": 9,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "12.44 meters",
+      "y coordinate": "7.71 meters",
+      "height above floor": "0.47 meters"
+     },
+     "longest dimension": "0.93 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "8.71 meters",
+      "y coordinate": "12.22 meters",
+      "height above floor": "0.56 meters"
+     },
+     "longest dimension": "1.1 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "4.05 meters",
+      "y coordinate": "2.9 meters",
+      "height above floor": "0.53 meters"
+     },
+     "longest dimension": "1.04 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "3.42 meters",
+      "y coordinate": "4.55 meters",
+      "height above floor": "0.52 meters"
+     },
+     "longest dimension": "1.02 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "3.15 meters",
+      "y coordinate": "5.22 meters",
+      "height above floor": "0.46 meters"
+     },
+     "longest dimension": "0.9 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "2.92 meters",
+      "y coordinate": "10.06 meters",
+      "height above floor": "0.49 meters"
+     },
+     "longest dimension": "0.96 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "7.93 meters",
+      "y coordinate": "11.94 meters",
+      "height above floor": "0.49 meters"
+     },
+     "longest dimension": "0.96 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "2.28 meters",
+      "y coordinate": "6.44 meters",
+      "height above floor": "0.42 meters"
+     },
+     "longest dimension": "0.82 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "10.68 meters",
+      "y coordinate": "12.89 meters",
+      "height above floor": "0.45 meters"
+     },
+     "longest dimension": "0.88 meters"
+    }
+   ]
+  },
+  "table": {
+   "count": 8,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "1.28 meters",
+      "y coordinate": "9.61 meters",
+      "height above floor": "0.44 meters"
+     },
+     "longest dimension": "1.48 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "6.26 meters",
+      "y coordinate": "11.58 meters",
+      "height above floor": "0.56 meters"
+     },
+     "longest dimension": "2.02 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "8.04 meters",
+      "y coordinate": "12.49 meters",
+      "height above floor": "0.38 meters"
+     },
+     "longest dimension": "1.83 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "1.93 meters",
+      "y coordinate": "6.44 meters",
+      "height above floor": "0.38 meters"
+     },
+     "longest dimension": "1.22 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "4.75 meters",
+      "y coordinate": "1.54 meters",
+      "height above floor": "0.7 meters"
+     },
+     "longest dimension": "1.0 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "13.56 meters",
+      "y coordinate": "7.34 meters",
+      "height above floor": "0.39 meters"
+     },
+     "longest dimension": "1.81 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "4.22 meters",
+      "y coordinate": "3.91 meters",
+      "height above floor": "0.49 meters"
+     },
+     "longest dimension": "4.04 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "2.64 meters",
+      "y coordinate": "10.58 meters",
+      "height above floor": "0.39 meters"
+     },
+     "longest dimension": "1.81 meters"
+    }
+   ]
+  },
+  "door": {
+   "count": 3,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "9.48 meters",
+      "y coordinate": "13.73 meters",
+      "height above floor": "1.06 meters"
+     },
+     "longest dimension": "2.11 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "3.86 meters",
+      "y coordinate": "11.61 meters",
+      "height above floor": "1.13 meters"
+     },
+     "longest dimension": "2.23 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "15.24 meters",
+      "y coordinate": "5.81 meters",
+      "height above floor": "1.41 meters"
+     },
+     "longest dimension": "2.8 meters"
+    }
+   ]
+  },
+  "keyboard": {
+   "count": 6,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "4.45 meters",
+      "y coordinate": "2.96 meters",
+      "height above floor": "0.74 meters"
+     },
+     "longest dimension": "0.44 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "3.94 meters",
+      "y coordinate": "4.35 meters",
+      "height above floor": "0.74 meters"
+     },
+     "longest dimension": "0.49 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "3.76 meters",
+      "y coordinate": "4.96 meters",
+      "height above floor": "0.74 meters"
+     },
+     "longest dimension": "0.46 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "7.66 meters",
+      "y coordinate": "11.97 meters",
+      "height above floor": "0.75 meters"
+     },
+     "longest dimension": "0.44 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "13.33 meters",
+      "y coordinate": "7.42 meters",
+      "height above floor": "0.75 meters"
+     },
+     "longest dimension": "0.46 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "2.99 meters",
+      "y coordinate": "10.44 meters",
+      "height above floor": "0.75 meters"
+     },
+     "longest dimension": "0.45 meters"
+    }
+   ]
+  },
+  "monitor": {
+   "count": 9,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "7.41 meters",
+      "y coordinate": "12.28 meters",
+      "height above floor": "0.98 meters"
+     },
+     "longest dimension": "0.59 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "13.44 meters",
+      "y coordinate": "7.72 meters",
+      "height above floor": "0.98 meters"
+     },
+     "longest dimension": "0.58 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "4.02 meters",
+      "y coordinate": "5.11 meters",
+      "height above floor": "0.98 meters"
+     },
+     "longest dimension": "0.6 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "4.28 meters",
+      "y coordinate": "4.44 meters",
+      "height above floor": "0.99 meters"
+     },
+     "longest dimension": "0.56 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "4.46 meters",
+      "y coordinate": "3.81 meters",
+      "height above floor": "0.99 meters"
+     },
+     "longest dimension": "0.56 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "4.66 meters",
+      "y coordinate": "3.23 meters",
+      "height above floor": "0.98 meters"
+     },
+     "longest dimension": "0.56 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "4.75 meters",
+      "y coordinate": "2.69 meters",
+      "height above floor": "0.98 meters"
+     },
+     "longest dimension": "0.56 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "2.85 meters",
+      "y coordinate": "10.78 meters",
+      "height above floor": "0.99 meters"
+     },
+     "longest dimension": "0.58 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "7.94 meters",
+      "y coordinate": "12.47 meters",
+      "height above floor": "0.99 meters"
+     },
+     "longest dimension": "0.54 meters"
+    }
+   ]
+  },
+  "computer mouse": {
+   "count": 2,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "7.98 meters",
+      "y coordinate": "12.11 meters",
+      "height above floor": "0.75 meters"
+     },
+     "longest dimension": "0.12 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "3.4 meters",
+      "y coordinate": "10.46 meters",
+      "height above floor": "0.76 meters"
+     },
+     "longest dimension": "0.11 meters"
+    }
+   ]
+  },
+  "heater": {
+   "count": 4,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "3.48 meters",
+      "y coordinate": "1.86 meters",
+      "height above floor": "0.43 meters"
+     },
+     "longest dimension": "1.7 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "12.13 meters",
+      "y coordinate": "3.54 meters",
+      "height above floor": "0.42 meters"
+     },
+     "longest dimension": "1.7 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "14.3 meters",
+      "y coordinate": "4.34 meters",
+      "height above floor": "0.42 meters"
+     },
+     "longest dimension": "1.7 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "9.82 meters",
+      "y coordinate": "2.73 meters",
+      "height above floor": "0.37 meters"
+     },
+     "longest dimension": "1.61 meters"
+    }
+   ]
+  },
+  "whiteboard": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "2.18 meters",
+      "y coordinate": "4.66 meters",
+      "height above floor": "1.52 meters"
+     },
+     "longest dimension": "1.83 meters"
+    }
+   ]
+  }
+ },
+ "room": {
+  "floor area": "128.5 square meters"
+ },
+ "closest classes distance meters from": {
+  "trash can": {
+   "heater": {
+    "distance": "10.97 meters",
+    "closeness rank": 1
+   },
+   "door": {
+    "distance": "9.25 meters",
+    "closeness rank": 2
+   },
+   "table": {
+    "distance": "13.69 meters",
+    "closeness rank": 3
+   },
+   "keyboard": {
+    "distance": "10.43 meters",
+    "closeness rank": 4
+   },
+   "monitor": {
+    "distance": "10.21 meters",
+    "closeness rank": 5
+   },
+   "chair": {
+    "distance": "3.48 meters",
+    "closeness rank": 6
+   },
+   "computer mouse": {
+    "distance": "10.0 meters",
+    "closeness rank": 7
+   },
+   "whiteboard": {
+    "distance": "12.56 meters",
+    "closeness rank": 8
+   }
+  },
+  "chair": {
+   "computer mouse": {
+    "distance": "5.75 meters",
+    "closeness rank": 1
+   },
+   "keyboard": {
+    "distance": "8.61 meters",
+    "closeness rank": 2
+   },
+   "table": {
+    "distance": "10.12 meters",
+    "closeness rank": 3
+   },
+   "monitor": {
+    "distance": "6.06 meters",
+    "closeness rank": 4
+   },
+   "heater": {
+    "distance": "9.39 meters",
+    "closeness rank": 5
+   },
+   "whiteboard": {
+    "distance": "9.38 meters",
+    "closeness rank": 6
+   },
+   "door": {
+    "distance": "5.21 meters",
+    "closeness rank": 7
+   },
+   "trash can": {
+    "distance": "3.48 meters",
+    "closeness rank": 8
+   }
+  },
+  "table": {
+   "chair": {
+    "distance": "10.12 meters",
+    "closeness rank": 1
+   },
+   "computer mouse": {
+    "distance": "6.36 meters",
+    "closeness rank": 2
+   },
+   "keyboard": {
+    "distance": "6.41 meters",
+    "closeness rank": 3
+   },
+   "monitor": {
+    "distance": "5.67 meters",
+    "closeness rank": 4
+   },
+   "door": {
+    "distance": "7.4 meters",
+    "closeness rank": 5
+   },
+   "whiteboard": {
+    "distance": "3.49 meters",
+    "closeness rank": 6
+   },
+   "heater": {
+    "distance": "6.47 meters",
+    "closeness rank": 7
+   },
+   "trash can": {
+    "distance": "13.69 meters",
+    "closeness rank": 8
+   }
+  },
+  "door": {
+   "table": {
+    "distance": "7.4 meters",
+    "closeness rank": 1
+   },
+   "trash can": {
+    "distance": "9.25 meters",
+    "closeness rank": 2
+   },
+   "monitor": {
+    "distance": "1.18 meters",
+    "closeness rank": 3
+   },
+   "heater": {
+    "distance": "11.41 meters",
+    "closeness rank": 4
+   },
+   "keyboard": {
+    "distance": "10.62 meters",
+    "closeness rank": 5
+   },
+   "chair": {
+    "distance": "5.21 meters",
+    "closeness rank": 6
+   },
+   "computer mouse": {
+    "distance": "1.11 meters",
+    "closeness rank": 7
+   },
+   "whiteboard": {
+    "distance": "9.68 meters",
+    "closeness rank": 8
+   }
+  },
+  "keyboard": {
+   "chair": {
+    "distance": "8.61 meters",
+    "closeness rank": 1
+   },
+   "monitor": {
+    "distance": "9.27 meters",
+    "closeness rank": 2
+   },
+   "table": {
+    "distance": "6.41 meters",
+    "closeness rank": 3
+   },
+   "computer mouse": {
+    "distance": "9.53 meters",
+    "closeness rank": 4
+   },
+   "door": {
+    "distance": "10.62 meters",
+    "closeness rank": 5
+   },
+   "heater": {
+    "distance": "1.13 meters",
+    "closeness rank": 6
+   },
+   "whiteboard": {
+    "distance": "1.81 meters",
+    "closeness rank": 7
+   },
+   "trash can": {
+    "distance": "10.43 meters",
+    "closeness rank": 8
+   }
+  },
+  "monitor": {
+   "keyboard": {
+    "distance": "9.27 meters",
+    "closeness rank": 1
+   },
+   "table": {
+    "distance": "5.67 meters",
+    "closeness rank": 2
+   },
+   "chair": {
+    "distance": "6.06 meters",
+    "closeness rank": 3
+   },
+   "computer mouse": {
+    "distance": "0.28 meters",
+    "closeness rank": 4
+   },
+   "door": {
+    "distance": "1.18 meters",
+    "closeness rank": 5
+   },
+   "heater": {
+    "distance": "10.01 meters",
+    "closeness rank": 6
+   },
+   "whiteboard": {
+    "distance": "8.05 meters",
+    "closeness rank": 7
+   },
+   "trash can": {
+    "distance": "10.21 meters",
+    "closeness rank": 8
+   }
+  },
+  "computer mouse": {
+   "chair": {
+    "distance": "5.75 meters",
+    "closeness rank": 1
+   },
+   "table": {
+    "distance": "6.36 meters",
+    "closeness rank": 2
+   },
+   "keyboard": {
+    "distance": "9.53 meters",
+    "closeness rank": 3
+   },
+   "monitor": {
+    "distance": "0.28 meters",
+    "closeness rank": 4
+   },
+   "door": {
+    "distance": "1.11 meters",
+    "closeness rank": 5
+   },
+   "whiteboard": {
+    "distance": "8.5 meters",
+    "closeness rank": 6
+   },
+   "heater": {
+    "distance": "10.29 meters",
+    "closeness rank": 7
+   },
+   "trash can": {
+    "distance": "10.0 meters",
+    "closeness rank": 8
+   }
+  },
+  "heater": {
+   "trash can": {
+    "distance": "10.97 meters",
+    "closeness rank": 1
+   },
+   "table": {
+    "distance": "6.47 meters",
+    "closeness rank": 2
+   },
+   "chair": {
+    "distance": "9.39 meters",
+    "closeness rank": 3
+   },
+   "door": {
+    "distance": "11.41 meters",
+    "closeness rank": 4
+   },
+   "keyboard": {
+    "distance": "1.13 meters",
+    "closeness rank": 5
+   },
+   "monitor": {
+    "distance": "10.01 meters",
+    "closeness rank": 6
+   },
+   "whiteboard": {
+    "distance": "1.51 meters",
+    "closeness rank": 7
+   },
+   "computer mouse": {
+    "distance": "10.29 meters",
+    "closeness rank": 8
+   }
+  },
+  "whiteboard": {
+   "table": {
+    "distance": "3.49 meters",
+    "closeness rank": 1
+   },
+   "chair": {
+    "distance": "9.38 meters",
+    "closeness rank": 2
+   },
+   "heater": {
+    "distance": "1.51 meters",
+    "closeness rank": 3
+   },
+   "keyboard": {
+    "distance": "1.81 meters",
+    "closeness rank": 4
+   },
+   "monitor": {
+    "distance": "8.05 meters",
+    "closeness rank": 5
+   },
+   "computer mouse": {
+    "distance": "8.5 meters",
+    "closeness rank": 6
+   },
+   "door": {
+    "distance": "9.68 meters",
+    "closeness rank": 7
+   },
+   "trash can": {
+    "distance": "12.56 meters",
+    "closeness rank": 8
+   }
+  }
+ },
+ "appearance order": ["trash can", "chair", "table", "door", "keyboard", "monitor", "computer mouse", "heater", "whiteboard"]
+}
\ No newline at end of file
diff --git a/data/spatial codes/ground truth/explicit/acd95847c5.json b/data/spatial codes/ground truth/explicit/acd95847c5.json
new file mode 100644
index 0000000000000000000000000000000000000000..7e1f4d8ee2cb5c9b3b0cbddb6a0ab1bd3d25b892
--- /dev/null
+++ b/data/spatial codes/ground truth/explicit/acd95847c5.json	
@@ -0,0 +1,1267 @@
+{
+ "spatial code schema": {
+  "objects": {
+   "<object class>": {
+    "count": {
+     "unit": null,
+     "description": "number of instances of this class in the compact spatial code (that schema's per-class oriented-box list length)"
+    },
+    "instances": [
+     {
+      "position": {
+       "x coordinate": {
+        "unit": "meters",
+        "description": "x coordinate of this instance's compact 3D oriented bounding box center"
+       },
+       "y coordinate": {
+        "unit": "meters",
+        "description": "y coordinate of this instance's compact 3D oriented bounding box center"
+       },
+       "height above floor": {
+        "unit": "meters",
+        "description": "height coordinate of this instance's compact 3D oriented bounding box center"
+       }
+      },
+      "longest dimension": {
+       "unit": "meters",
+       "description": "longest of this instance's compact 3D oriented bounding box dimensions"
+      }
+     }
+    ]
+   }
+  },
+  "room": {
+   "floor area": {
+    "unit": "square meters",
+    "description": "shoelace area of the compact spatial code's floor boundary polygons, with every interior hole subtracted"
+   }
+  },
+  "closest classes distance meters from": {
+   "<object class>": {
+    "<other object class>": {
+     "distance": {
+      "unit": "meters",
+      "description": "estimated distance in meters between an object of this class and an object of the other class"
+     },
+     "closeness rank": {
+      "unit": null,
+      "description": "1 = the nearest other class to this one, 2 = second-nearest, and so on; ranked by nearest-instance proximity, so use the rank (not the distance values) to compare which class is closest"
+     }
+    }
+   }
+  },
+  "appearance order": {
+   "unit": null,
+   "description": "class names ordered by earliest compact 'first visible time' across all of that class's instances"
+  }
+ },
+ "objects": {
+  "computer tower": {
+   "count": 2,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "4.43 meters",
+      "y coordinate": "1.37 meters",
+      "height above floor": "0.24 meters"
+     },
+     "longest dimension": "0.54 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "3.16 meters",
+      "y coordinate": "2.79 meters",
+      "height above floor": "0.24 meters"
+     },
+     "longest dimension": "0.42 meters"
+    }
+   ]
+  },
+  "chair": {
+   "count": 4,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "2.0 meters",
+      "y coordinate": "1.27 meters",
+      "height above floor": "0.45 meters"
+     },
+     "longest dimension": "0.85 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "2.05 meters",
+      "y coordinate": "2.36 meters",
+      "height above floor": "0.51 meters"
+     },
+     "longest dimension": "0.96 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "3.81 meters",
+      "y coordinate": "0.96 meters",
+      "height above floor": "0.56 meters"
+     },
+     "longest dimension": "1.07 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "3.82 meters",
+      "y coordinate": "2.78 meters",
+      "height above floor": "0.5 meters"
+     },
+     "longest dimension": "0.98 meters"
+    }
+   ]
+  },
+  "door": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "0.1 meters",
+      "y coordinate": "2.58 meters",
+      "height above floor": "1.09 meters"
+     },
+     "longest dimension": "2.12 meters"
+    }
+   ]
+  },
+  "ceiling light": {
+   "count": 4,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "1.81 meters",
+      "y coordinate": "1.16 meters",
+      "height above floor": "2.78 meters"
+     },
+     "longest dimension": "1.31 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "1.78 meters",
+      "y coordinate": "2.73 meters",
+      "height above floor": "2.78 meters"
+     },
+     "longest dimension": "1.34 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "3.66 meters",
+      "y coordinate": "2.8 meters",
+      "height above floor": "2.74 meters"
+     },
+     "longest dimension": "1.3 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "3.7 meters",
+      "y coordinate": "1.21 meters",
+      "height above floor": "2.78 meters"
+     },
+     "longest dimension": "1.32 meters"
+    }
+   ]
+  },
+  "trash can": {
+   "count": 2,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "0.23 meters",
+      "y coordinate": "1.83 meters",
+      "height above floor": "0.18 meters"
+     },
+     "longest dimension": "0.33 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "0.25 meters",
+      "y coordinate": "1.55 meters",
+      "height above floor": "0.18 meters"
+     },
+     "longest dimension": "0.31 meters"
+    }
+   ]
+  },
+  "bookshelf": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "0.37 meters",
+      "y coordinate": "0.76 meters",
+      "height above floor": "1.35 meters"
+     },
+     "longest dimension": "2.63 meters"
+    }
+   ]
+  },
+  "power strip": {
+   "count": 2,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "0.35 meters",
+      "y coordinate": "1.01 meters",
+      "height above floor": "0.6 meters"
+     },
+     "longest dimension": "0.29 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "0.38 meters",
+      "y coordinate": "0.5 meters",
+      "height above floor": "0.6 meters"
+     },
+     "longest dimension": "0.35 meters"
+    }
+   ]
+  },
+  "whiteboard": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "1.77 meters",
+      "y coordinate": "0.17 meters",
+      "height above floor": "1.54 meters"
+     },
+     "longest dimension": "2.0 meters"
+    }
+   ]
+  },
+  "table": {
+   "count": 3,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "2.47 meters",
+      "y coordinate": "1.89 meters",
+      "height above floor": "0.4 meters"
+     },
+     "longest dimension": "1.86 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "3.79 meters",
+      "y coordinate": "1.49 meters",
+      "height above floor": "0.4 meters"
+     },
+     "longest dimension": "1.84 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "3.77 meters",
+      "y coordinate": "2.38 meters",
+      "height above floor": "0.4 meters"
+     },
+     "longest dimension": "1.81 meters"
+    }
+   ]
+  },
+  "keyboard": {
+   "count": 2,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "2.81 meters",
+      "y coordinate": "2.37 meters",
+      "height above floor": "0.75 meters"
+     },
+     "longest dimension": "0.44 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "4.09 meters",
+      "y coordinate": "1.41 meters",
+      "height above floor": "0.76 meters"
+     },
+     "longest dimension": "0.46 meters"
+    }
+   ]
+  },
+  "computer mouse": {
+   "count": 2,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "2.78 meters",
+      "y coordinate": "1.87 meters",
+      "height above floor": "0.77 meters"
+     },
+     "longest dimension": "0.11 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "4.37 meters",
+      "y coordinate": "1.43 meters",
+      "height above floor": "0.76 meters"
+     },
+     "longest dimension": "0.11 meters"
+    }
+   ]
+  },
+  "monitor": {
+   "count": 3,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "2.65 meters",
+      "y coordinate": "1.45 meters",
+      "height above floor": "0.98 meters"
+     },
+     "longest dimension": "0.47 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "4.05 meters",
+      "y coordinate": "1.65 meters",
+      "height above floor": "0.99 meters"
+     },
+     "longest dimension": "0.59 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "3.99 meters",
+      "y coordinate": "2.14 meters",
+      "height above floor": "1.0 meters"
+     },
+     "longest dimension": "0.56 meters"
+    }
+   ]
+  },
+  "telephone": {
+   "count": 2,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "4.34 meters",
+      "y coordinate": "1.76 meters",
+      "height above floor": "0.85 meters"
+     },
+     "longest dimension": "0.33 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "4.43 meters",
+      "y coordinate": "2.19 meters",
+      "height above floor": "0.84 meters"
+     },
+     "longest dimension": "0.29 meters"
+    }
+   ]
+  },
+  "laptop": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "3.95 meters",
+      "y coordinate": "2.51 meters",
+      "height above floor": "0.75 meters"
+     },
+     "longest dimension": "0.31 meters"
+    }
+   ]
+  },
+  "heater": {
+   "count": 2,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "4.84 meters",
+      "y coordinate": "3.17 meters",
+      "height above floor": "0.32 meters"
+     },
+     "longest dimension": "0.7 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "4.92 meters",
+      "y coordinate": "0.63 meters",
+      "height above floor": "0.35 meters"
+     },
+     "longest dimension": "0.9 meters"
+    }
+   ]
+  }
+ },
+ "room": {
+  "floor area": "18.1 square meters"
+ },
+ "closest classes distance meters from": {
+  "computer tower": {
+   "table": {
+    "distance": "0.83 meters",
+    "closeness rank": 1
+   },
+   "chair": {
+    "distance": "1.75 meters",
+    "closeness rank": 2
+   },
+   "telephone": {
+    "distance": "0.29 meters",
+    "closeness rank": 3
+   },
+   "computer mouse": {
+    "distance": "1.48 meters",
+    "closeness rank": 4
+   },
+   "monitor": {
+    "distance": "1.42 meters",
+    "closeness rank": 5
+   },
+   "keyboard": {
+    "distance": "1.48 meters",
+    "closeness rank": 6
+   },
+   "heater": {
+    "distance": "1.23 meters",
+    "closeness rank": 7
+   },
+   "laptop": {
+    "distance": "0.91 meters",
+    "closeness rank": 8
+   },
+   "whiteboard": {
+    "distance": "1.92 meters",
+    "closeness rank": 9
+   },
+   "ceiling light": {
+    "distance": "2.73 meters",
+    "closeness rank": 10
+   },
+   "trash can": {
+    "distance": "3.79 meters",
+    "closeness rank": 11
+   },
+   "bookshelf": {
+    "distance": "2.83 meters",
+    "closeness rank": 12
+   },
+   "door": {
+    "distance": "3.25 meters",
+    "closeness rank": 13
+   },
+   "power strip": {
+    "distance": "3.7 meters",
+    "closeness rank": 14
+   }
+  },
+  "chair": {
+   "laptop": {
+    "distance": "1.75 meters",
+    "closeness rank": 1
+   },
+   "table": {
+    "distance": "0.0 meters",
+    "closeness rank": 2
+   },
+   "keyboard": {
+    "distance": "0.75 meters",
+    "closeness rank": 3
+   },
+   "monitor": {
+    "distance": "0.2 meters",
+    "closeness rank": 4
+   },
+   "computer tower": {
+    "distance": "1.75 meters",
+    "closeness rank": 5
+   },
+   "computer mouse": {
+    "distance": "0.55 meters",
+    "closeness rank": 6
+   },
+   "telephone": {
+    "distance": "1.83 meters",
+    "closeness rank": 7
+   },
+   "heater": {
+    "distance": "2.64 meters",
+    "closeness rank": 8
+   },
+   "whiteboard": {
+    "distance": "0.69 meters",
+    "closeness rank": 9
+   },
+   "bookshelf": {
+    "distance": "1.01 meters",
+    "closeness rank": 10
+   },
+   "power strip": {
+    "distance": "1.11 meters",
+    "closeness rank": 11
+   },
+   "trash can": {
+    "distance": "1.29 meters",
+    "closeness rank": 12
+   },
+   "door": {
+    "distance": "1.59 meters",
+    "closeness rank": 13
+   },
+   "ceiling light": {
+    "distance": "1.59 meters",
+    "closeness rank": 14
+   }
+  },
+  "door": {
+   "trash can": {
+    "distance": "0.09 meters",
+    "closeness rank": 1
+   },
+   "bookshelf": {
+    "distance": "0.69 meters",
+    "closeness rank": 2
+   },
+   "power strip": {
+    "distance": "0.95 meters",
+    "closeness rank": 3
+   },
+   "chair": {
+    "distance": "1.59 meters",
+    "closeness rank": 4
+   },
+   "ceiling light": {
+    "distance": "1.62 meters",
+    "closeness rank": 5
+   },
+   "table": {
+    "distance": "1.89 meters",
+    "closeness rank": 6
+   },
+   "whiteboard": {
+    "distance": "2.01 meters",
+    "closeness rank": 7
+   },
+   "monitor": {
+    "distance": "2.44 meters",
+    "closeness rank": 8
+   },
+   "computer mouse": {
+    "distance": "2.59 meters",
+    "closeness rank": 9
+   },
+   "keyboard": {
+    "distance": "2.6 meters",
+    "closeness rank": 10
+   },
+   "computer tower": {
+    "distance": "3.25 meters",
+    "closeness rank": 11
+   },
+   "laptop": {
+    "distance": "3.67 meters",
+    "closeness rank": 12
+   },
+   "telephone": {
+    "distance": "4.03 meters",
+    "closeness rank": 13
+   },
+   "heater": {
+    "distance": "4.65 meters",
+    "closeness rank": 14
+   }
+  },
+  "ceiling light": {
+   "whiteboard": {
+    "distance": "0.69 meters",
+    "closeness rank": 1
+   },
+   "bookshelf": {
+    "distance": "1.1 meters",
+    "closeness rank": 2
+   },
+   "monitor": {
+    "distance": "1.43 meters",
+    "closeness rank": 3
+   },
+   "chair": {
+    "distance": "1.59 meters",
+    "closeness rank": 4
+   },
+   "door": {
+    "distance": "1.62 meters",
+    "closeness rank": 5
+   },
+   "telephone": {
+    "distance": "2.42 meters",
+    "closeness rank": 6
+   },
+   "table": {
+    "distance": "1.9 meters",
+    "closeness rank": 7
+   },
+   "keyboard": {
+    "distance": "1.92 meters",
+    "closeness rank": 8
+   },
+   "laptop": {
+    "distance": "2.43 meters",
+    "closeness rank": 9
+   },
+   "computer mouse": {
+    "distance": "1.96 meters",
+    "closeness rank": 10
+   },
+   "computer tower": {
+    "distance": "2.73 meters",
+    "closeness rank": 11
+   },
+   "heater": {
+    "distance": "3.39 meters",
+    "closeness rank": 12
+   },
+   "power strip": {
+    "distance": "2.35 meters",
+    "closeness rank": 13
+   },
+   "trash can": {
+    "distance": "2.68 meters",
+    "closeness rank": 14
+   }
+  },
+  "trash can": {
+   "bookshelf": {
+    "distance": "0.11 meters",
+    "closeness rank": 1
+   },
+   "door": {
+    "distance": "0.09 meters",
+    "closeness rank": 2
+   },
+   "power strip": {
+    "distance": "0.62 meters",
+    "closeness rank": 3
+   },
+   "chair": {
+    "distance": "1.29 meters",
+    "closeness rank": 4
+   },
+   "whiteboard": {
+    "distance": "1.48 meters",
+    "closeness rank": 5
+   },
+   "table": {
+    "distance": "1.65 meters",
+    "closeness rank": 6
+   },
+   "monitor": {
+    "distance": "2.18 meters",
+    "closeness rank": 7
+   },
+   "computer mouse": {
+    "distance": "2.4 meters",
+    "closeness rank": 8
+   },
+   "keyboard": {
+    "distance": "2.4 meters",
+    "closeness rank": 9
+   },
+   "ceiling light": {
+    "distance": "2.68 meters",
+    "closeness rank": 10
+   },
+   "computer tower": {
+    "distance": "3.79 meters",
+    "closeness rank": 11
+   },
+   "laptop": {
+    "distance": "3.5 meters",
+    "closeness rank": 12
+   },
+   "telephone": {
+    "distance": "3.83 meters",
+    "closeness rank": 13
+   },
+   "heater": {
+    "distance": "4.48 meters",
+    "closeness rank": 14
+   }
+  },
+  "bookshelf": {
+   "power strip": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "trash can": {
+    "distance": "0.11 meters",
+    "closeness rank": 2
+   },
+   "whiteboard": {
+    "distance": "0.17 meters",
+    "closeness rank": 3
+   },
+   "door": {
+    "distance": "0.69 meters",
+    "closeness rank": 4
+   },
+   "chair": {
+    "distance": "1.01 meters",
+    "closeness rank": 5
+   },
+   "ceiling light": {
+    "distance": "1.1 meters",
+    "closeness rank": 6
+   },
+   "table": {
+    "distance": "1.5 meters",
+    "closeness rank": 7
+   },
+   "monitor": {
+    "distance": "1.97 meters",
+    "closeness rank": 8
+   },
+   "computer mouse": {
+    "distance": "2.18 meters",
+    "closeness rank": 9
+   },
+   "keyboard": {
+    "distance": "2.3 meters",
+    "closeness rank": 10
+   },
+   "computer tower": {
+    "distance": "2.83 meters",
+    "closeness rank": 11
+   },
+   "laptop": {
+    "distance": "3.36 meters",
+    "closeness rank": 12
+   },
+   "telephone": {
+    "distance": "3.61 meters",
+    "closeness rank": 13
+   },
+   "heater": {
+    "distance": "4.18 meters",
+    "closeness rank": 14
+   }
+  },
+  "power strip": {
+   "bookshelf": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "trash can": {
+    "distance": "0.62 meters",
+    "closeness rank": 2
+   },
+   "whiteboard": {
+    "distance": "0.75 meters",
+    "closeness rank": 3
+   },
+   "door": {
+    "distance": "0.95 meters",
+    "closeness rank": 4
+   },
+   "chair": {
+    "distance": "1.11 meters",
+    "closeness rank": 5
+   },
+   "table": {
+    "distance": "1.6 meters",
+    "closeness rank": 6
+   },
+   "monitor": {
+    "distance": "2.09 meters",
+    "closeness rank": 7
+   },
+   "computer mouse": {
+    "distance": "2.38 meters",
+    "closeness rank": 8
+   },
+   "ceiling light": {
+    "distance": "2.35 meters",
+    "closeness rank": 9
+   },
+   "keyboard": {
+    "distance": "2.48 meters",
+    "closeness rank": 10
+   },
+   "computer tower": {
+    "distance": "3.7 meters",
+    "closeness rank": 11
+   },
+   "laptop": {
+    "distance": "3.6 meters",
+    "closeness rank": 12
+   },
+   "telephone": {
+    "distance": "3.76 meters",
+    "closeness rank": 13
+   },
+   "heater": {
+    "distance": "4.5 meters",
+    "closeness rank": 14
+   }
+  },
+  "whiteboard": {
+   "bookshelf": {
+    "distance": "0.17 meters",
+    "closeness rank": 1
+   },
+   "power strip": {
+    "distance": "0.75 meters",
+    "closeness rank": 2
+   },
+   "ceiling light": {
+    "distance": "0.69 meters",
+    "closeness rank": 3
+   },
+   "chair": {
+    "distance": "0.69 meters",
+    "closeness rank": 4
+   },
+   "table": {
+    "distance": "0.77 meters",
+    "closeness rank": 5
+   },
+   "monitor": {
+    "distance": "1.0 meters",
+    "closeness rank": 6
+   },
+   "trash can": {
+    "distance": "1.48 meters",
+    "closeness rank": 7
+   },
+   "keyboard": {
+    "distance": "1.58 meters",
+    "closeness rank": 8
+   },
+   "computer mouse": {
+    "distance": "1.61 meters",
+    "closeness rank": 9
+   },
+   "computer tower": {
+    "distance": "1.92 meters",
+    "closeness rank": 10
+   },
+   "telephone": {
+    "distance": "1.99 meters",
+    "closeness rank": 11
+   },
+   "door": {
+    "distance": "2.01 meters",
+    "closeness rank": 12
+   },
+   "heater": {
+    "distance": "3.11 meters",
+    "closeness rank": 13
+   },
+   "laptop": {
+    "distance": "2.41 meters",
+    "closeness rank": 14
+   }
+  },
+  "table": {
+   "chair": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "computer mouse": {
+    "distance": "0.0 meters",
+    "closeness rank": 2
+   },
+   "computer tower": {
+    "distance": "0.83 meters",
+    "closeness rank": 3
+   },
+   "keyboard": {
+    "distance": "0.0 meters",
+    "closeness rank": 4
+   },
+   "laptop": {
+    "distance": "0.56 meters",
+    "closeness rank": 5
+   },
+   "monitor": {
+    "distance": "0.0 meters",
+    "closeness rank": 6
+   },
+   "telephone": {
+    "distance": "0.83 meters",
+    "closeness rank": 7
+   },
+   "heater": {
+    "distance": "1.41 meters",
+    "closeness rank": 8
+   },
+   "whiteboard": {
+    "distance": "0.77 meters",
+    "closeness rank": 9
+   },
+   "bookshelf": {
+    "distance": "1.5 meters",
+    "closeness rank": 10
+   },
+   "power strip": {
+    "distance": "1.6 meters",
+    "closeness rank": 11
+   },
+   "trash can": {
+    "distance": "1.65 meters",
+    "closeness rank": 12
+   },
+   "door": {
+    "distance": "1.89 meters",
+    "closeness rank": 13
+   },
+   "ceiling light": {
+    "distance": "1.9 meters",
+    "closeness rank": 14
+   }
+  },
+  "keyboard": {
+   "computer mouse": {
+    "distance": "0.23 meters",
+    "closeness rank": 1
+   },
+   "monitor": {
+    "distance": "0.51 meters",
+    "closeness rank": 2
+   },
+   "table": {
+    "distance": "0.0 meters",
+    "closeness rank": 3
+   },
+   "chair": {
+    "distance": "0.75 meters",
+    "closeness rank": 4
+   },
+   "telephone": {
+    "distance": "1.27 meters",
+    "closeness rank": 5
+   },
+   "computer tower": {
+    "distance": "1.48 meters",
+    "closeness rank": 6
+   },
+   "heater": {
+    "distance": "1.65 meters",
+    "closeness rank": 7
+   },
+   "laptop": {
+    "distance": "0.9 meters",
+    "closeness rank": 8
+   },
+   "whiteboard": {
+    "distance": "1.58 meters",
+    "closeness rank": 9
+   },
+   "ceiling light": {
+    "distance": "1.92 meters",
+    "closeness rank": 10
+   },
+   "bookshelf": {
+    "distance": "2.3 meters",
+    "closeness rank": 11
+   },
+   "trash can": {
+    "distance": "2.4 meters",
+    "closeness rank": 12
+   },
+   "power strip": {
+    "distance": "2.48 meters",
+    "closeness rank": 13
+   },
+   "door": {
+    "distance": "2.6 meters",
+    "closeness rank": 14
+   }
+  },
+  "computer mouse": {
+   "keyboard": {
+    "distance": "0.23 meters",
+    "closeness rank": 1
+   },
+   "table": {
+    "distance": "0.0 meters",
+    "closeness rank": 2
+   },
+   "monitor": {
+    "distance": "0.2 meters",
+    "closeness rank": 3
+   },
+   "telephone": {
+    "distance": "1.35 meters",
+    "closeness rank": 4
+   },
+   "chair": {
+    "distance": "0.55 meters",
+    "closeness rank": 5
+   },
+   "computer tower": {
+    "distance": "1.48 meters",
+    "closeness rank": 6
+   },
+   "heater": {
+    "distance": "2.07 meters",
+    "closeness rank": 7
+   },
+   "laptop": {
+    "distance": "1.12 meters",
+    "closeness rank": 8
+   },
+   "whiteboard": {
+    "distance": "1.61 meters",
+    "closeness rank": 9
+   },
+   "ceiling light": {
+    "distance": "1.96 meters",
+    "closeness rank": 10
+   },
+   "bookshelf": {
+    "distance": "2.18 meters",
+    "closeness rank": 11
+   },
+   "trash can": {
+    "distance": "2.4 meters",
+    "closeness rank": 12
+   },
+   "power strip": {
+    "distance": "2.38 meters",
+    "closeness rank": 13
+   },
+   "door": {
+    "distance": "2.59 meters",
+    "closeness rank": 14
+   }
+  },
+  "monitor": {
+   "keyboard": {
+    "distance": "0.51 meters",
+    "closeness rank": 1
+   },
+   "table": {
+    "distance": "0.0 meters",
+    "closeness rank": 2
+   },
+   "telephone": {
+    "distance": "1.32 meters",
+    "closeness rank": 3
+   },
+   "computer mouse": {
+    "distance": "0.2 meters",
+    "closeness rank": 4
+   },
+   "chair": {
+    "distance": "0.2 meters",
+    "closeness rank": 5
+   },
+   "laptop": {
+    "distance": "1.3 meters",
+    "closeness rank": 6
+   },
+   "computer tower": {
+    "distance": "1.42 meters",
+    "closeness rank": 7
+   },
+   "heater": {
+    "distance": "2.28 meters",
+    "closeness rank": 8
+   },
+   "whiteboard": {
+    "distance": "1.0 meters",
+    "closeness rank": 9
+   },
+   "ceiling light": {
+    "distance": "1.43 meters",
+    "closeness rank": 10
+   },
+   "bookshelf": {
+    "distance": "1.97 meters",
+    "closeness rank": 11
+   },
+   "power strip": {
+    "distance": "2.09 meters",
+    "closeness rank": 12
+   },
+   "trash can": {
+    "distance": "2.18 meters",
+    "closeness rank": 13
+   },
+   "door": {
+    "distance": "2.44 meters",
+    "closeness rank": 14
+   }
+  },
+  "telephone": {
+   "monitor": {
+    "distance": "1.32 meters",
+    "closeness rank": 1
+   },
+   "table": {
+    "distance": "0.83 meters",
+    "closeness rank": 2
+   },
+   "keyboard": {
+    "distance": "1.27 meters",
+    "closeness rank": 3
+   },
+   "computer mouse": {
+    "distance": "1.35 meters",
+    "closeness rank": 4
+   },
+   "laptop": {
+    "distance": "0.53 meters",
+    "closeness rank": 5
+   },
+   "computer tower": {
+    "distance": "0.29 meters",
+    "closeness rank": 6
+   },
+   "chair": {
+    "distance": "1.83 meters",
+    "closeness rank": 7
+   },
+   "heater": {
+    "distance": "1.07 meters",
+    "closeness rank": 8
+   },
+   "ceiling light": {
+    "distance": "2.42 meters",
+    "closeness rank": 9
+   },
+   "whiteboard": {
+    "distance": "1.99 meters",
+    "closeness rank": 10
+   },
+   "bookshelf": {
+    "distance": "3.61 meters",
+    "closeness rank": 11
+   },
+   "power strip": {
+    "distance": "3.76 meters",
+    "closeness rank": 12
+   },
+   "trash can": {
+    "distance": "3.83 meters",
+    "closeness rank": 13
+   },
+   "door": {
+    "distance": "4.03 meters",
+    "closeness rank": 14
+   }
+  },
+  "laptop": {
+   "chair": {
+    "distance": "1.75 meters",
+    "closeness rank": 1
+   },
+   "table": {
+    "distance": "0.56 meters",
+    "closeness rank": 2
+   },
+   "monitor": {
+    "distance": "1.3 meters",
+    "closeness rank": 3
+   },
+   "telephone": {
+    "distance": "0.53 meters",
+    "closeness rank": 4
+   },
+   "computer tower": {
+    "distance": "0.91 meters",
+    "closeness rank": 5
+   },
+   "heater": {
+    "distance": "0.8 meters",
+    "closeness rank": 6
+   },
+   "keyboard": {
+    "distance": "0.9 meters",
+    "closeness rank": 7
+   },
+   "computer mouse": {
+    "distance": "1.12 meters",
+    "closeness rank": 8
+   },
+   "ceiling light": {
+    "distance": "2.43 meters",
+    "closeness rank": 9
+   },
+   "whiteboard": {
+    "distance": "2.41 meters",
+    "closeness rank": 10
+   },
+   "bookshelf": {
+    "distance": "3.36 meters",
+    "closeness rank": 11
+   },
+   "trash can": {
+    "distance": "3.5 meters",
+    "closeness rank": 12
+   },
+   "power strip": {
+    "distance": "3.6 meters",
+    "closeness rank": 13
+   },
+   "door": {
+    "distance": "3.67 meters",
+    "closeness rank": 14
+   }
+  },
+  "heater": {
+   "table": {
+    "distance": "1.41 meters",
+    "closeness rank": 1
+   },
+   "computer tower": {
+    "distance": "1.23 meters",
+    "closeness rank": 2
+   },
+   "computer mouse": {
+    "distance": "2.07 meters",
+    "closeness rank": 3
+   },
+   "telephone": {
+    "distance": "1.07 meters",
+    "closeness rank": 4
+   },
+   "keyboard": {
+    "distance": "1.65 meters",
+    "closeness rank": 5
+   },
+   "chair": {
+    "distance": "2.64 meters",
+    "closeness rank": 6
+   },
+   "monitor": {
+    "distance": "2.28 meters",
+    "closeness rank": 7
+   },
+   "laptop": {
+    "distance": "0.8 meters",
+    "closeness rank": 8
+   },
+   "whiteboard": {
+    "distance": "3.11 meters",
+    "closeness rank": 9
+   },
+   "ceiling light": {
+    "distance": "3.39 meters",
+    "closeness rank": 10
+   },
+   "bookshelf": {
+    "distance": "4.18 meters",
+    "closeness rank": 11
+   },
+   "power strip": {
+    "distance": "4.5 meters",
+    "closeness rank": 12
+   },
+   "trash can": {
+    "distance": "4.48 meters",
+    "closeness rank": 13
+   },
+   "door": {
+    "distance": "4.65 meters",
+    "closeness rank": 14
+   }
+  }
+ },
+ "appearance order": ["computer tower", "chair", "door", "ceiling light", "trash can", "bookshelf", "power strip", "whiteboard", "table", "keyboard", "computer mouse", "monitor", "telephone", "laptop", "heater"]
+}
\ No newline at end of file
diff --git a/data/spatial codes/ground truth/explicit/b0a08200c9.json b/data/spatial codes/ground truth/explicit/b0a08200c9.json
new file mode 100644
index 0000000000000000000000000000000000000000..a1acf938f1e777fd85a85e01a34b21b74eca90c3
--- /dev/null
+++ b/data/spatial codes/ground truth/explicit/b0a08200c9.json	
@@ -0,0 +1,642 @@
+{
+ "spatial code schema": {
+  "objects": {
+   "<object class>": {
+    "count": {
+     "unit": null,
+     "description": "number of instances of this class in the compact spatial code (that schema's per-class oriented-box list length)"
+    },
+    "instances": [
+     {
+      "position": {
+       "x coordinate": {
+        "unit": "meters",
+        "description": "x coordinate of this instance's compact 3D oriented bounding box center"
+       },
+       "y coordinate": {
+        "unit": "meters",
+        "description": "y coordinate of this instance's compact 3D oriented bounding box center"
+       },
+       "height above floor": {
+        "unit": "meters",
+        "description": "height coordinate of this instance's compact 3D oriented bounding box center"
+       }
+      },
+      "longest dimension": {
+       "unit": "meters",
+       "description": "longest of this instance's compact 3D oriented bounding box dimensions"
+      }
+     }
+    ]
+   }
+  },
+  "room": {
+   "floor area": {
+    "unit": "square meters",
+    "description": "shoelace area of the compact spatial code's floor boundary polygons, with every interior hole subtracted"
+   }
+  },
+  "closest classes distance meters from": {
+   "<object class>": {
+    "<other object class>": {
+     "distance": {
+      "unit": "meters",
+      "description": "estimated distance in meters between an object of this class and an object of the other class"
+     },
+     "closeness rank": {
+      "unit": null,
+      "description": "1 = the nearest other class to this one, 2 = second-nearest, and so on; ranked by nearest-instance proximity, so use the rank (not the distance values) to compare which class is closest"
+     }
+    }
+   }
+  },
+  "appearance order": {
+   "unit": null,
+   "description": "class names ordered by earliest compact 'first visible time' across all of that class's instances"
+  }
+ },
+ "objects": {
+  "computer tower": {
+   "count": 25,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "1.86 meters",
+      "y coordinate": "0.74 meters",
+      "height above floor": "1.02 meters"
+     },
+     "longest dimension": "0.55 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "3.15 meters",
+      "y coordinate": "0.7 meters",
+      "height above floor": "1.68 meters"
+     },
+     "longest dimension": "0.52 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "1.24 meters",
+      "y coordinate": "0.79 meters",
+      "height above floor": "1.01 meters"
+     },
+     "longest dimension": "0.56 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "2.95 meters",
+      "y coordinate": "0.86 meters",
+      "height above floor": "1.65 meters"
+     },
+     "longest dimension": "0.37 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "1.84 meters",
+      "y coordinate": "0.78 meters",
+      "height above floor": "0.3 meters"
+     },
+     "longest dimension": "0.48 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "1.24 meters",
+      "y coordinate": "0.68 meters",
+      "height above floor": "0.3 meters"
+     },
+     "longest dimension": "0.55 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "1.46 meters",
+      "y coordinate": "0.75 meters",
+      "height above floor": "0.3 meters"
+     },
+     "longest dimension": "0.48 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "1.64 meters",
+      "y coordinate": "0.76 meters",
+      "height above floor": "0.3 meters"
+     },
+     "longest dimension": "0.48 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "1.66 meters",
+      "y coordinate": "0.78 meters",
+      "height above floor": "1.0 meters"
+     },
+     "longest dimension": "0.48 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "1.46 meters",
+      "y coordinate": "0.84 meters",
+      "height above floor": "1.03 meters"
+     },
+     "longest dimension": "0.55 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "2.35 meters",
+      "y coordinate": "0.75 meters",
+      "height above floor": "1.62 meters"
+     },
+     "longest dimension": "0.51 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "2.77 meters",
+      "y coordinate": "0.83 meters",
+      "height above floor": "1.63 meters"
+     },
+     "longest dimension": "0.35 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "2.48 meters",
+      "y coordinate": "0.71 meters",
+      "height above floor": "0.31 meters"
+     },
+     "longest dimension": "0.49 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "2.62 meters",
+      "y coordinate": "0.69 meters",
+      "height above floor": "0.31 meters"
+     },
+     "longest dimension": "0.55 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "2.84 meters",
+      "y coordinate": "0.8 meters",
+      "height above floor": "0.31 meters"
+     },
+     "longest dimension": "0.45 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "3.12 meters",
+      "y coordinate": "0.74 meters",
+      "height above floor": "0.31 meters"
+     },
+     "longest dimension": "0.49 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "3.7 meters",
+      "y coordinate": "0.68 meters",
+      "height above floor": "0.3 meters"
+     },
+     "longest dimension": "0.56 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "4.13 meters",
+      "y coordinate": "0.64 meters",
+      "height above floor": "0.32 meters"
+     },
+     "longest dimension": "0.63 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "3.73 meters",
+      "y coordinate": "0.69 meters",
+      "height above floor": "1.03 meters"
+     },
+     "longest dimension": "0.71 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "3.98 meters",
+      "y coordinate": "0.81 meters",
+      "height above floor": "1.03 meters"
+     },
+     "longest dimension": "0.47 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "4.17 meters",
+      "y coordinate": "0.75 meters",
+      "height above floor": "1.03 meters"
+     },
+     "longest dimension": "0.49 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "4.4 meters",
+      "y coordinate": "0.7 meters",
+      "height above floor": "1.02 meters"
+     },
+     "longest dimension": "0.48 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "3.66 meters",
+      "y coordinate": "0.56 meters",
+      "height above floor": "1.69 meters"
+     },
+     "longest dimension": "0.46 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "3.88 meters",
+      "y coordinate": "0.75 meters",
+      "height above floor": "1.7 meters"
+     },
+     "longest dimension": "0.46 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "4.1 meters",
+      "y coordinate": "0.79 meters",
+      "height above floor": "1.68 meters"
+     },
+     "longest dimension": "0.43 meters"
+    }
+   ]
+  },
+  "chair": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "2.81 meters",
+      "y coordinate": "1.23 meters",
+      "height above floor": "0.45 meters"
+     },
+     "longest dimension": "0.79 meters"
+    }
+   ]
+  },
+  "computer mouse": {
+   "count": 3,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "2.49 meters",
+      "y coordinate": "0.96 meters",
+      "height above floor": "0.81 meters"
+     },
+     "longest dimension": "0.14 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "2.49 meters",
+      "y coordinate": "0.87 meters",
+      "height above floor": "0.81 meters"
+     },
+     "longest dimension": "0.12 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "2.4 meters",
+      "y coordinate": "0.89 meters",
+      "height above floor": "0.81 meters"
+     },
+     "longest dimension": "0.13 meters"
+    }
+   ]
+  },
+  "ceiling light": {
+   "count": 2,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "1.22 meters",
+      "y coordinate": "1.01 meters",
+      "height above floor": "2.86 meters"
+     },
+     "longest dimension": "1.38 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "3.78 meters",
+      "y coordinate": "0.93 meters",
+      "height above floor": "2.99 meters"
+     },
+     "longest dimension": "1.46 meters"
+    }
+   ]
+  },
+  "door": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "0.13 meters",
+      "y coordinate": "1.06 meters",
+      "height above floor": "1.06 meters"
+     },
+     "longest dimension": "2.12 meters"
+    }
+   ]
+  },
+  "keyboard": {
+   "count": 2,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "2.83 meters",
+      "y coordinate": "1.01 meters",
+      "height above floor": "0.81 meters"
+     },
+     "longest dimension": "0.44 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "2.84 meters",
+      "y coordinate": "0.9 meters",
+      "height above floor": "0.82 meters"
+     },
+     "longest dimension": "0.45 meters"
+    }
+   ]
+  },
+  "monitor": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "2.79 meters",
+      "y coordinate": "0.51 meters",
+      "height above floor": "1.05 meters"
+     },
+     "longest dimension": "0.66 meters"
+    }
+   ]
+  },
+  "heater": {
+   "count": 2,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "4.76 meters",
+      "y coordinate": "0.76 meters",
+      "height above floor": "0.36 meters"
+     },
+     "longest dimension": "0.88 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "1.82 meters",
+      "y coordinate": "1.76 meters",
+      "height above floor": "0.35 meters"
+     },
+     "longest dimension": "1.14 meters"
+    }
+   ]
+  }
+ },
+ "room": {
+  "floor area": "8.9 square meters"
+ },
+ "closest classes distance meters from": {
+  "computer tower": {
+   "chair": {
+    "distance": "0.54 meters",
+    "closeness rank": 1
+   },
+   "monitor": {
+    "distance": "0.35 meters",
+    "closeness rank": 2
+   },
+   "keyboard": {
+    "distance": "0.53 meters",
+    "closeness rank": 3
+   },
+   "computer mouse": {
+    "distance": "0.35 meters",
+    "closeness rank": 4
+   },
+   "heater": {
+    "distance": "2.26 meters",
+    "closeness rank": 5
+   },
+   "ceiling light": {
+    "distance": "1.0 meters",
+    "closeness rank": 6
+   },
+   "door": {
+    "distance": "0.9 meters",
+    "closeness rank": 7
+   }
+  },
+  "chair": {
+   "computer mouse": {
+    "distance": "0.09 meters",
+    "closeness rank": 1
+   },
+   "computer tower": {
+    "distance": "0.54 meters",
+    "closeness rank": 2
+   },
+   "keyboard": {
+    "distance": "0.0 meters",
+    "closeness rank": 3
+   },
+   "heater": {
+    "distance": "1.17 meters",
+    "closeness rank": 4
+   },
+   "monitor": {
+    "distance": "0.28 meters",
+    "closeness rank": 5
+   },
+   "ceiling light": {
+    "distance": "2.02 meters",
+    "closeness rank": 6
+   },
+   "door": {
+    "distance": "2.34 meters",
+    "closeness rank": 7
+   }
+  },
+  "computer mouse": {
+   "chair": {
+    "distance": "0.09 meters",
+    "closeness rank": 1
+   },
+   "keyboard": {
+    "distance": "0.07 meters",
+    "closeness rank": 2
+   },
+   "monitor": {
+    "distance": "0.19 meters",
+    "closeness rank": 3
+   },
+   "computer tower": {
+    "distance": "0.35 meters",
+    "closeness rank": 4
+   },
+   "heater": {
+    "distance": "1.81 meters",
+    "closeness rank": 5
+   },
+   "ceiling light": {
+    "distance": "2.08 meters",
+    "closeness rank": 6
+   },
+   "door": {
+    "distance": "2.15 meters",
+    "closeness rank": 7
+   }
+  },
+  "ceiling light": {
+   "computer tower": {
+    "distance": "1.0 meters",
+    "closeness rank": 1
+   },
+   "door": {
+    "distance": "1.01 meters",
+    "closeness rank": 2
+   },
+   "monitor": {
+    "distance": "1.53 meters",
+    "closeness rank": 3
+   },
+   "heater": {
+    "distance": "3.21 meters",
+    "closeness rank": 4
+   },
+   "keyboard": {
+    "distance": "2.01 meters",
+    "closeness rank": 5
+   },
+   "chair": {
+    "distance": "2.02 meters",
+    "closeness rank": 6
+   },
+   "computer mouse": {
+    "distance": "2.08 meters",
+    "closeness rank": 7
+   }
+  },
+  "door": {
+   "computer tower": {
+    "distance": "0.9 meters",
+    "closeness rank": 1
+   },
+   "ceiling light": {
+    "distance": "1.01 meters",
+    "closeness rank": 2
+   },
+   "heater": {
+    "distance": "3.19 meters",
+    "closeness rank": 3
+   },
+   "computer mouse": {
+    "distance": "2.15 meters",
+    "closeness rank": 4
+   },
+   "monitor": {
+    "distance": "2.29 meters",
+    "closeness rank": 5
+   },
+   "chair": {
+    "distance": "2.34 meters",
+    "closeness rank": 6
+   },
+   "keyboard": {
+    "distance": "2.42 meters",
+    "closeness rank": 7
+   }
+  },
+  "keyboard": {
+   "chair": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "computer mouse": {
+    "distance": "0.07 meters",
+    "closeness rank": 2
+   },
+   "monitor": {
+    "distance": "0.13 meters",
+    "closeness rank": 3
+   },
+   "computer tower": {
+    "distance": "0.53 meters",
+    "closeness rank": 4
+   },
+   "heater": {
+    "distance": "1.34 meters",
+    "closeness rank": 5
+   },
+   "ceiling light": {
+    "distance": "2.01 meters",
+    "closeness rank": 6
+   },
+   "door": {
+    "distance": "2.42 meters",
+    "closeness rank": 7
+   }
+  },
+  "monitor": {
+   "computer mouse": {
+    "distance": "0.19 meters",
+    "closeness rank": 1
+   },
+   "computer tower": {
+    "distance": "0.35 meters",
+    "closeness rank": 2
+   },
+   "keyboard": {
+    "distance": "0.13 meters",
+    "closeness rank": 3
+   },
+   "chair": {
+    "distance": "0.28 meters",
+    "closeness rank": 4
+   },
+   "heater": {
+    "distance": "1.33 meters",
+    "closeness rank": 5
+   },
+   "ceiling light": {
+    "distance": "1.53 meters",
+    "closeness rank": 6
+   },
+   "door": {
+    "distance": "2.29 meters",
+    "closeness rank": 7
+   }
+  },
+  "heater": {
+   "chair": {
+    "distance": "1.17 meters",
+    "closeness rank": 1
+   },
+   "computer tower": {
+    "distance": "2.26 meters",
+    "closeness rank": 2
+   },
+   "computer mouse": {
+    "distance": "1.81 meters",
+    "closeness rank": 3
+   },
+   "keyboard": {
+    "distance": "1.34 meters",
+    "closeness rank": 4
+   },
+   "monitor": {
+    "distance": "1.33 meters",
+    "closeness rank": 5
+   },
+   "door": {
+    "distance": "3.19 meters",
+    "closeness rank": 6
+   },
+   "ceiling light": {
+    "distance": "3.21 meters",
+    "closeness rank": 7
+   }
+  }
+ },
+ "appearance order": ["computer tower", "chair", "computer mouse", "ceiling light", "door", "keyboard", "monitor", "heater"]
+}
\ No newline at end of file
diff --git a/data/spatial codes/ground truth/explicit/bcd2436daf.json b/data/spatial codes/ground truth/explicit/bcd2436daf.json
new file mode 100644
index 0000000000000000000000000000000000000000..56954051a8997cba87c17c44d50831d0065ef4f2
--- /dev/null
+++ b/data/spatial codes/ground truth/explicit/bcd2436daf.json	
@@ -0,0 +1,347 @@
+{
+ "spatial code schema": {
+  "objects": {
+   "<object class>": {
+    "count": {
+     "unit": null,
+     "description": "number of instances of this class in the compact spatial code (that schema's per-class oriented-box list length)"
+    },
+    "instances": [
+     {
+      "position": {
+       "x coordinate": {
+        "unit": "meters",
+        "description": "x coordinate of this instance's compact 3D oriented bounding box center"
+       },
+       "y coordinate": {
+        "unit": "meters",
+        "description": "y coordinate of this instance's compact 3D oriented bounding box center"
+       },
+       "height above floor": {
+        "unit": "meters",
+        "description": "height coordinate of this instance's compact 3D oriented bounding box center"
+       }
+      },
+      "longest dimension": {
+       "unit": "meters",
+       "description": "longest of this instance's compact 3D oriented bounding box dimensions"
+      }
+     }
+    ]
+   }
+  },
+  "room": {
+   "floor area": {
+    "unit": "square meters",
+    "description": "shoelace area of the compact spatial code's floor boundary polygons, with every interior hole subtracted"
+   }
+  },
+  "closest classes distance meters from": {
+   "<object class>": {
+    "<other object class>": {
+     "distance": {
+      "unit": "meters",
+      "description": "estimated distance in meters between an object of this class and an object of the other class"
+     },
+     "closeness rank": {
+      "unit": null,
+      "description": "1 = the nearest other class to this one, 2 = second-nearest, and so on; ranked by nearest-instance proximity, so use the rank (not the distance values) to compare which class is closest"
+     }
+    }
+   }
+  },
+  "appearance order": {
+   "unit": null,
+   "description": "class names ordered by earliest compact 'first visible time' across all of that class's instances"
+  }
+ },
+ "objects": {
+  "shoes": {
+   "count": 2,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "0.68 meters",
+      "y coordinate": "2.46 meters",
+      "height above floor": "0.05 meters"
+     },
+     "longest dimension": "0.31 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "0.49 meters",
+      "y coordinate": "2.84 meters",
+      "height above floor": "0.07 meters"
+     },
+     "longest dimension": "0.31 meters"
+    }
+   ]
+  },
+  "heater": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "0.55 meters",
+      "y coordinate": "0.83 meters",
+      "height above floor": "0.42 meters"
+     },
+     "longest dimension": "1.1 meters"
+    }
+   ]
+  },
+  "pillow": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "2.13 meters",
+      "y coordinate": "2.93 meters",
+      "height above floor": "0.79 meters"
+     },
+     "longest dimension": "0.73 meters"
+    }
+   ]
+  },
+  "plant": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "1.71 meters",
+      "y coordinate": "3.24 meters",
+      "height above floor": "1.28 meters"
+     },
+     "longest dimension": "0.24 meters"
+    }
+   ]
+  },
+  "chair": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "0.41 meters",
+      "y coordinate": "2.8 meters",
+      "height above floor": "0.46 meters"
+     },
+     "longest dimension": "0.89 meters"
+    }
+   ]
+  },
+  "ceiling light": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "2.3 meters",
+      "y coordinate": "1.87 meters",
+      "height above floor": "2.35 meters"
+     },
+     "longest dimension": "0.59 meters"
+    }
+   ]
+  },
+  "bed": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "2.17 meters",
+      "y coordinate": "2.18 meters",
+      "height above floor": "0.56 meters"
+     },
+     "longest dimension": "2.45 meters"
+    }
+   ]
+  }
+ },
+ "room": {
+  "floor area": "12.0 square meters"
+ },
+ "closest classes distance meters from": {
+  "shoes": {
+   "chair": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "bed": {
+    "distance": "0.29 meters",
+    "closeness rank": 2
+   },
+   "heater": {
+    "distance": "0.97 meters",
+    "closeness rank": 3
+   },
+   "pillow": {
+    "distance": "1.17 meters",
+    "closeness rank": 4
+   },
+   "plant": {
+    "distance": "1.51 meters",
+    "closeness rank": 5
+   },
+   "ceiling light": {
+    "distance": "2.51 meters",
+    "closeness rank": 6
+   }
+  },
+  "heater": {
+   "bed": {
+    "distance": "0.64 meters",
+    "closeness rank": 1
+   },
+   "shoes": {
+    "distance": "0.97 meters",
+    "closeness rank": 2
+   },
+   "chair": {
+    "distance": "1.16 meters",
+    "closeness rank": 3
+   },
+   "pillow": {
+    "distance": "1.74 meters",
+    "closeness rank": 4
+   },
+   "plant": {
+    "distance": "2.14 meters",
+    "closeness rank": 5
+   },
+   "ceiling light": {
+    "distance": "2.06 meters",
+    "closeness rank": 6
+   }
+  },
+  "pillow": {
+   "bed": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "plant": {
+    "distance": "0.39 meters",
+    "closeness rank": 2
+   },
+   "chair": {
+    "distance": "1.02 meters",
+    "closeness rank": 3
+   },
+   "shoes": {
+    "distance": "1.17 meters",
+    "closeness rank": 4
+   },
+   "ceiling light": {
+    "distance": "1.51 meters",
+    "closeness rank": 5
+   },
+   "heater": {
+    "distance": "1.74 meters",
+    "closeness rank": 6
+   }
+  },
+  "plant": {
+   "bed": {
+    "distance": "0.1 meters",
+    "closeness rank": 1
+   },
+   "pillow": {
+    "distance": "0.39 meters",
+    "closeness rank": 2
+   },
+   "chair": {
+    "distance": "1.03 meters",
+    "closeness rank": 3
+   },
+   "shoes": {
+    "distance": "1.51 meters",
+    "closeness rank": 4
+   },
+   "ceiling light": {
+    "distance": "1.49 meters",
+    "closeness rank": 5
+   },
+   "heater": {
+    "distance": "2.14 meters",
+    "closeness rank": 6
+   }
+  },
+  "chair": {
+   "shoes": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "bed": {
+    "distance": "0.36 meters",
+    "closeness rank": 2
+   },
+   "plant": {
+    "distance": "1.03 meters",
+    "closeness rank": 3
+   },
+   "pillow": {
+    "distance": "1.02 meters",
+    "closeness rank": 4
+   },
+   "heater": {
+    "distance": "1.16 meters",
+    "closeness rank": 5
+   },
+   "ceiling light": {
+    "distance": "2.09 meters",
+    "closeness rank": 6
+   }
+  },
+  "ceiling light": {
+   "bed": {
+    "distance": "1.15 meters",
+    "closeness rank": 1
+   },
+   "plant": {
+    "distance": "1.49 meters",
+    "closeness rank": 2
+   },
+   "pillow": {
+    "distance": "1.51 meters",
+    "closeness rank": 3
+   },
+   "chair": {
+    "distance": "2.09 meters",
+    "closeness rank": 4
+   },
+   "heater": {
+    "distance": "2.06 meters",
+    "closeness rank": 5
+   },
+   "shoes": {
+    "distance": "2.51 meters",
+    "closeness rank": 6
+   }
+  },
+  "bed": {
+   "pillow": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "plant": {
+    "distance": "0.1 meters",
+    "closeness rank": 2
+   },
+   "shoes": {
+    "distance": "0.29 meters",
+    "closeness rank": 3
+   },
+   "chair": {
+    "distance": "0.36 meters",
+    "closeness rank": 4
+   },
+   "heater": {
+    "distance": "0.64 meters",
+    "closeness rank": 5
+   },
+   "ceiling light": {
+    "distance": "1.15 meters",
+    "closeness rank": 6
+   }
+  }
+ },
+ "appearance order": ["shoes", "heater", "pillow", "plant", "chair", "ceiling light", "bed"]
+}
\ No newline at end of file
diff --git a/data/spatial codes/ground truth/explicit/bde1e479ad.json b/data/spatial codes/ground truth/explicit/bde1e479ad.json
new file mode 100644
index 0000000000000000000000000000000000000000..be499d5c63bec41b2ae5f91546c10f4601fb3248
--- /dev/null
+++ b/data/spatial codes/ground truth/explicit/bde1e479ad.json	
@@ -0,0 +1,946 @@
+{
+ "spatial code schema": {
+  "objects": {
+   "<object class>": {
+    "count": {
+     "unit": null,
+     "description": "number of instances of this class in the compact spatial code (that schema's per-class oriented-box list length)"
+    },
+    "instances": [
+     {
+      "position": {
+       "x coordinate": {
+        "unit": "meters",
+        "description": "x coordinate of this instance's compact 3D oriented bounding box center"
+       },
+       "y coordinate": {
+        "unit": "meters",
+        "description": "y coordinate of this instance's compact 3D oriented bounding box center"
+       },
+       "height above floor": {
+        "unit": "meters",
+        "description": "height coordinate of this instance's compact 3D oriented bounding box center"
+       }
+      },
+      "longest dimension": {
+       "unit": "meters",
+       "description": "longest of this instance's compact 3D oriented bounding box dimensions"
+      }
+     }
+    ]
+   }
+  },
+  "room": {
+   "floor area": {
+    "unit": "square meters",
+    "description": "shoelace area of the compact spatial code's floor boundary polygons, with every interior hole subtracted"
+   }
+  },
+  "closest classes distance meters from": {
+   "<object class>": {
+    "<other object class>": {
+     "distance": {
+      "unit": "meters",
+      "description": "estimated distance in meters between an object of this class and an object of the other class"
+     },
+     "closeness rank": {
+      "unit": null,
+      "description": "1 = the nearest other class to this one, 2 = second-nearest, and so on; ranked by nearest-instance proximity, so use the rank (not the distance values) to compare which class is closest"
+     }
+    }
+   }
+  },
+  "appearance order": {
+   "unit": null,
+   "description": "class names ordered by earliest compact 'first visible time' across all of that class's instances"
+  }
+ },
+ "objects": {
+  "ceiling light": {
+   "count": 8,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "4.72 meters",
+      "y coordinate": "7.49 meters",
+      "height above floor": "3.03 meters"
+     },
+     "longest dimension": "1.24 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "5.12 meters",
+      "y coordinate": "4.78 meters",
+      "height above floor": "3.03 meters"
+     },
+     "longest dimension": "1.28 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "1.48 meters",
+      "y coordinate": "4.32 meters",
+      "height above floor": "3.04 meters"
+     },
+     "longest dimension": "2.47 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "1.7 meters",
+      "y coordinate": "1.72 meters",
+      "height above floor": "3.0 meters"
+     },
+     "longest dimension": "1.22 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "3.28 meters",
+      "y coordinate": "4.5 meters",
+      "height above floor": "3.02 meters"
+     },
+     "longest dimension": "1.25 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "6.92 meters",
+      "y coordinate": "5.04 meters",
+      "height above floor": "3.06 meters"
+     },
+     "longest dimension": "1.28 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "2.89 meters",
+      "y coordinate": "7.22 meters",
+      "height above floor": "3.03 meters"
+     },
+     "longest dimension": "1.22 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "7.26 meters",
+      "y coordinate": "2.48 meters",
+      "height above floor": "3.0 meters"
+     },
+     "longest dimension": "1.22 meters"
+    }
+   ]
+  },
+  "heater": {
+   "count": 3,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "1.82 meters",
+      "y coordinate": "0.72 meters",
+      "height above floor": "0.43 meters"
+     },
+     "longest dimension": "1.4 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "5.81 meters",
+      "y coordinate": "1.29 meters",
+      "height above floor": "0.43 meters"
+     },
+     "longest dimension": "0.89 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "7.26 meters",
+      "y coordinate": "1.4 meters",
+      "height above floor": "0.38 meters"
+     },
+     "longest dimension": "1.48 meters"
+    }
+   ]
+  },
+  "chair": {
+   "count": 47,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "2.62 meters",
+      "y coordinate": "3.07 meters",
+      "height above floor": "0.72 meters"
+     },
+     "longest dimension": "0.53 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "2.63 meters",
+      "y coordinate": "4.28 meters",
+      "height above floor": "0.63 meters"
+     },
+     "longest dimension": "0.7 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "4.41 meters",
+      "y coordinate": "8.04 meters",
+      "height above floor": "0.72 meters"
+     },
+     "longest dimension": "0.65 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "4.61 meters",
+      "y coordinate": "7.51 meters",
+      "height above floor": "0.66 meters"
+     },
+     "longest dimension": "0.69 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "6.2 meters",
+      "y coordinate": "1.77 meters",
+      "height above floor": "0.64 meters"
+     },
+     "longest dimension": "0.68 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "7.01 meters",
+      "y coordinate": "3.52 meters",
+      "height above floor": "0.55 meters"
+     },
+     "longest dimension": "0.99 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "6.95 meters",
+      "y coordinate": "4.29 meters",
+      "height above floor": "0.64 meters"
+     },
+     "longest dimension": "0.68 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "7.41 meters",
+      "y coordinate": "5.83 meters",
+      "height above floor": "0.65 meters"
+     },
+     "longest dimension": "0.55 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "7.26 meters",
+      "y coordinate": "1.91 meters",
+      "height above floor": "0.64 meters"
+     },
+     "longest dimension": "0.66 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "1.44 meters",
+      "y coordinate": "1.16 meters",
+      "height above floor": "0.7 meters"
+     },
+     "longest dimension": "0.57 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "5.86 meters",
+      "y coordinate": "4.27 meters",
+      "height above floor": "0.65 meters"
+     },
+     "longest dimension": "0.66 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "6.62 meters",
+      "y coordinate": "7.86 meters",
+      "height above floor": "0.62 meters"
+     },
+     "longest dimension": "0.77 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "3.06 meters",
+      "y coordinate": "1.35 meters",
+      "height above floor": "0.74 meters"
+     },
+     "longest dimension": "0.42 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "2.83 meters",
+      "y coordinate": "2.55 meters",
+      "height above floor": "0.67 meters"
+     },
+     "longest dimension": "0.58 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "4.84 meters",
+      "y coordinate": "4.64 meters",
+      "height above floor": "0.61 meters"
+     },
+     "longest dimension": "0.67 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "6.81 meters",
+      "y coordinate": "6.62 meters",
+      "height above floor": "0.52 meters"
+     },
+     "longest dimension": "1.02 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "3.7 meters",
+      "y coordinate": "3.84 meters",
+      "height above floor": "0.53 meters"
+     },
+     "longest dimension": "0.86 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "3.78 meters",
+      "y coordinate": "6.32 meters",
+      "height above floor": "0.52 meters"
+     },
+     "longest dimension": "0.97 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "5.65 meters",
+      "y coordinate": "7.04 meters",
+      "height above floor": "0.64 meters"
+     },
+     "longest dimension": "0.65 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "5.53 meters",
+      "y coordinate": "7.7 meters",
+      "height above floor": "0.52 meters"
+     },
+     "longest dimension": "0.84 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "4.02 meters",
+      "y coordinate": "2.11 meters",
+      "height above floor": "0.65 meters"
+     },
+     "longest dimension": "0.65 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "3.44 meters",
+      "y coordinate": "6.75 meters",
+      "height above floor": "0.62 meters"
+     },
+     "longest dimension": "0.7 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "4.97 meters",
+      "y coordinate": "3.51 meters",
+      "height above floor": "0.69 meters"
+     },
+     "longest dimension": "0.71 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "4.86 meters",
+      "y coordinate": "4.0 meters",
+      "height above floor": "0.51 meters"
+     },
+     "longest dimension": "0.82 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "1.73 meters",
+      "y coordinate": "3.44 meters",
+      "height above floor": "0.51 meters"
+     },
+     "longest dimension": "0.82 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "4.94 meters",
+      "y coordinate": "2.94 meters",
+      "height above floor": "0.53 meters"
+     },
+     "longest dimension": "0.8 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "0.91 meters",
+      "y coordinate": "6.22 meters",
+      "height above floor": "0.69 meters"
+     },
+     "longest dimension": "0.55 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "4.51 meters",
+      "y coordinate": "6.32 meters",
+      "height above floor": "0.61 meters"
+     },
+     "longest dimension": "0.75 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "4.42 meters",
+      "y coordinate": "2.46 meters",
+      "height above floor": "0.71 meters"
+     },
+     "longest dimension": "0.51 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "5.69 meters",
+      "y coordinate": "4.74 meters",
+      "height above floor": "0.68 meters"
+     },
+     "longest dimension": "0.53 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "3.8 meters",
+      "y coordinate": "2.98 meters",
+      "height above floor": "0.7 meters"
+     },
+     "longest dimension": "0.51 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "6.83 meters",
+      "y coordinate": "4.86 meters",
+      "height above floor": "0.63 meters"
+     },
+     "longest dimension": "0.7 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "3.61 meters",
+      "y coordinate": "4.46 meters",
+      "height above floor": "0.64 meters"
+     },
+     "longest dimension": "0.67 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "6.71 meters",
+      "y coordinate": "7.16 meters",
+      "height above floor": "0.71 meters"
+     },
+     "longest dimension": "0.52 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "4.64 meters",
+      "y coordinate": "1.55 meters",
+      "height above floor": "0.74 meters"
+     },
+     "longest dimension": "0.66 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "5.52 meters",
+      "y coordinate": "8.21 meters",
+      "height above floor": "0.69 meters"
+     },
+     "longest dimension": "0.75 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "5.3 meters",
+      "y coordinate": "1.73 meters",
+      "height above floor": "0.7 meters"
+     },
+     "longest dimension": "0.62 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "3.35 meters",
+      "y coordinate": "7.41 meters",
+      "height above floor": "0.67 meters"
+     },
+     "longest dimension": "0.67 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "3.35 meters",
+      "y coordinate": "7.93 meters",
+      "height above floor": "0.67 meters"
+     },
+     "longest dimension": "0.7 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "4.48 meters",
+      "y coordinate": "6.81 meters",
+      "height above floor": "0.72 meters"
+     },
+     "longest dimension": "0.53 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "5.25 meters",
+      "y coordinate": "2.33 meters",
+      "height above floor": "0.74 meters"
+     },
+     "longest dimension": "0.5 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "3.03 meters",
+      "y coordinate": "1.87 meters",
+      "height above floor": "0.82 meters"
+     },
+     "longest dimension": "0.44 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "5.8 meters",
+      "y coordinate": "6.48 meters",
+      "height above floor": "0.61 meters"
+     },
+     "longest dimension": "0.68 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "5.98 meters",
+      "y coordinate": "3.6 meters",
+      "height above floor": "0.57 meters"
+     },
+     "longest dimension": "0.72 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "6.14 meters",
+      "y coordinate": "3.05 meters",
+      "height above floor": "0.75 meters"
+     },
+     "longest dimension": "0.51 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "6.11 meters",
+      "y coordinate": "2.3 meters",
+      "height above floor": "0.71 meters"
+     },
+     "longest dimension": "0.55 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "7.23 meters",
+      "y coordinate": "2.56 meters",
+      "height above floor": "0.64 meters"
+     },
+     "longest dimension": "0.66 meters"
+    }
+   ]
+  },
+  "table": {
+   "count": 9,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "5.48 meters",
+      "y coordinate": "7.94 meters",
+      "height above floor": "0.46 meters"
+     },
+     "longest dimension": "1.21 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "6.52 meters",
+      "y coordinate": "7.01 meters",
+      "height above floor": "0.46 meters"
+     },
+     "longest dimension": "1.52 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "5.46 meters",
+      "y coordinate": "6.7 meters",
+      "height above floor": "0.46 meters"
+     },
+     "longest dimension": "1.22 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "0.8 meters",
+      "y coordinate": "6.57 meters",
+      "height above floor": "0.46 meters"
+     },
+     "longest dimension": "1.44 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "3.55 meters",
+      "y coordinate": "4.14 meters",
+      "height above floor": "0.45 meters"
+     },
+     "longest dimension": "1.22 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "2.44 meters",
+      "y coordinate": "4.02 meters",
+      "height above floor": "0.46 meters"
+     },
+     "longest dimension": "1.2 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "7.12 meters",
+      "y coordinate": "2.2 meters",
+      "height above floor": "0.46 meters"
+     },
+     "longest dimension": "1.22 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "7.02 meters",
+      "y coordinate": "3.38 meters",
+      "height above floor": "0.47 meters"
+     },
+     "longest dimension": "1.24 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "6.81 meters",
+      "y coordinate": "4.59 meters",
+      "height above floor": "0.46 meters"
+     },
+     "longest dimension": "1.21 meters"
+    }
+   ]
+  },
+  "clock": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "4.09 meters",
+      "y coordinate": "8.31 meters",
+      "height above floor": "2.76 meters"
+     },
+     "longest dimension": "0.31 meters"
+    }
+   ]
+  },
+  "whiteboard": {
+   "count": 3,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "0.62 meters",
+      "y coordinate": "4.64 meters",
+      "height above floor": "2.18 meters"
+     },
+     "longest dimension": "2.54 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "0.53 meters",
+      "y coordinate": "4.62 meters",
+      "height above floor": "0.83 meters"
+     },
+     "longest dimension": "2.53 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "3.73 meters",
+      "y coordinate": "8.27 meters",
+      "height above floor": "1.51 meters"
+     },
+     "longest dimension": "2.01 meters"
+    }
+   ]
+  },
+  "door": {
+   "count": 2,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "3.41 meters",
+      "y coordinate": "0.71 meters",
+      "height above floor": "1.31 meters"
+     },
+     "longest dimension": "2.45 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "1.91 meters",
+      "y coordinate": "8.03 meters",
+      "height above floor": "1.15 meters"
+     },
+     "longest dimension": "2.1 meters"
+    }
+   ]
+  },
+  "power strip": {
+   "count": 2,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "6.8 meters",
+      "y coordinate": "5.78 meters",
+      "height above floor": "0.12 meters"
+     },
+     "longest dimension": "0.31 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "2.26 meters",
+      "y coordinate": "1.69 meters",
+      "height above floor": "0.85 meters"
+     },
+     "longest dimension": "0.28 meters"
+    }
+   ]
+  }
+ },
+ "room": {
+  "floor area": "55.2 square meters"
+ },
+ "closest classes distance meters from": {
+  "ceiling light": {
+   "whiteboard": {
+    "distance": "3.18 meters",
+    "closeness rank": 1
+   },
+   "clock": {
+    "distance": "0.72 meters",
+    "closeness rank": 2
+   },
+   "door": {
+    "distance": "5.27 meters",
+    "closeness rank": 3
+   },
+   "chair": {
+    "distance": "4.53 meters",
+    "closeness rank": 4
+   },
+   "power strip": {
+    "distance": "3.19 meters",
+    "closeness rank": 5
+   },
+   "table": {
+    "distance": "2.11 meters",
+    "closeness rank": 6
+   },
+   "heater": {
+    "distance": "6.49 meters",
+    "closeness rank": 7
+   }
+  },
+  "heater": {
+   "chair": {
+    "distance": "1.53 meters",
+    "closeness rank": 1
+   },
+   "table": {
+    "distance": "6.79 meters",
+    "closeness rank": 2
+   },
+   "door": {
+    "distance": "0.31 meters",
+    "closeness rank": 3
+   },
+   "power strip": {
+    "distance": "6.25 meters",
+    "closeness rank": 4
+   },
+   "ceiling light": {
+    "distance": "6.49 meters",
+    "closeness rank": 5
+   },
+   "whiteboard": {
+    "distance": "2.76 meters",
+    "closeness rank": 6
+   },
+   "clock": {
+    "distance": "7.4 meters",
+    "closeness rank": 7
+   }
+  },
+  "chair": {
+   "table": {
+    "distance": "4.78 meters",
+    "closeness rank": 1
+   },
+   "whiteboard": {
+    "distance": "1.4 meters",
+    "closeness rank": 2
+   },
+   "heater": {
+    "distance": "1.53 meters",
+    "closeness rank": 3
+   },
+   "power strip": {
+    "distance": "4.6 meters",
+    "closeness rank": 4
+   },
+   "door": {
+    "distance": "1.07 meters",
+    "closeness rank": 5
+   },
+   "clock": {
+    "distance": "5.39 meters",
+    "closeness rank": 6
+   },
+   "ceiling light": {
+    "distance": "4.53 meters",
+    "closeness rank": 7
+   }
+  },
+  "table": {
+   "chair": {
+    "distance": "4.78 meters",
+    "closeness rank": 1
+   },
+   "heater": {
+    "distance": "6.79 meters",
+    "closeness rank": 2
+   },
+   "whiteboard": {
+    "distance": "4.25 meters",
+    "closeness rank": 3
+   },
+   "power strip": {
+    "distance": "1.79 meters",
+    "closeness rank": 4
+   },
+   "door": {
+    "distance": "5.74 meters",
+    "closeness rank": 5
+   },
+   "clock": {
+    "distance": "1.96 meters",
+    "closeness rank": 6
+   },
+   "ceiling light": {
+    "distance": "2.11 meters",
+    "closeness rank": 7
+   }
+  },
+  "clock": {
+   "whiteboard": {
+    "distance": "3.66 meters",
+    "closeness rank": 1
+   },
+   "ceiling light": {
+    "distance": "0.72 meters",
+    "closeness rank": 2
+   },
+   "chair": {
+    "distance": "5.39 meters",
+    "closeness rank": 3
+   },
+   "door": {
+    "distance": "6.39 meters",
+    "closeness rank": 4
+   },
+   "table": {
+    "distance": "1.96 meters",
+    "closeness rank": 5
+   },
+   "power strip": {
+    "distance": "4.31 meters",
+    "closeness rank": 6
+   },
+   "heater": {
+    "distance": "7.4 meters",
+    "closeness rank": 7
+   }
+  },
+  "whiteboard": {
+   "chair": {
+    "distance": "1.4 meters",
+    "closeness rank": 1
+   },
+   "clock": {
+    "distance": "3.66 meters",
+    "closeness rank": 2
+   },
+   "door": {
+    "distance": "2.4 meters",
+    "closeness rank": 3
+   },
+   "table": {
+    "distance": "4.25 meters",
+    "closeness rank": 4
+   },
+   "ceiling light": {
+    "distance": "3.18 meters",
+    "closeness rank": 5
+   },
+   "power strip": {
+    "distance": "5.19 meters",
+    "closeness rank": 6
+   },
+   "heater": {
+    "distance": "2.76 meters",
+    "closeness rank": 7
+   }
+  },
+  "door": {
+   "heater": {
+    "distance": "0.31 meters",
+    "closeness rank": 1
+   },
+   "whiteboard": {
+    "distance": "2.4 meters",
+    "closeness rank": 2
+   },
+   "chair": {
+    "distance": "1.07 meters",
+    "closeness rank": 3
+   },
+   "power strip": {
+    "distance": "4.83 meters",
+    "closeness rank": 4
+   },
+   "table": {
+    "distance": "5.74 meters",
+    "closeness rank": 5
+   },
+   "ceiling light": {
+    "distance": "5.27 meters",
+    "closeness rank": 6
+   },
+   "clock": {
+    "distance": "6.39 meters",
+    "closeness rank": 7
+   }
+  },
+  "power strip": {
+   "chair": {
+    "distance": "4.6 meters",
+    "closeness rank": 1
+   },
+   "table": {
+    "distance": "1.79 meters",
+    "closeness rank": 2
+   },
+   "heater": {
+    "distance": "6.25 meters",
+    "closeness rank": 3
+   },
+   "door": {
+    "distance": "4.83 meters",
+    "closeness rank": 4
+   },
+   "ceiling light": {
+    "distance": "3.19 meters",
+    "closeness rank": 5
+   },
+   "whiteboard": {
+    "distance": "5.19 meters",
+    "closeness rank": 6
+   },
+   "clock": {
+    "distance": "4.31 meters",
+    "closeness rank": 7
+   }
+  }
+ },
+ "appearance order": ["ceiling light", "heater", "chair", "table", "clock", "whiteboard", "door", "power strip"]
+}
\ No newline at end of file
diff --git a/data/spatial codes/ground truth/explicit/c49a8c6cff.json b/data/spatial codes/ground truth/explicit/c49a8c6cff.json
new file mode 100644
index 0000000000000000000000000000000000000000..0ac9dbae4e4b986f4fe9e1c1afd3246b95dda100
--- /dev/null
+++ b/data/spatial codes/ground truth/explicit/c49a8c6cff.json	
@@ -0,0 +1,1163 @@
+{
+ "spatial code schema": {
+  "objects": {
+   "<object class>": {
+    "count": {
+     "unit": null,
+     "description": "number of instances of this class in the compact spatial code (that schema's per-class oriented-box list length)"
+    },
+    "instances": [
+     {
+      "position": {
+       "x coordinate": {
+        "unit": "meters",
+        "description": "x coordinate of this instance's compact 3D oriented bounding box center"
+       },
+       "y coordinate": {
+        "unit": "meters",
+        "description": "y coordinate of this instance's compact 3D oriented bounding box center"
+       },
+       "height above floor": {
+        "unit": "meters",
+        "description": "height coordinate of this instance's compact 3D oriented bounding box center"
+       }
+      },
+      "longest dimension": {
+       "unit": "meters",
+       "description": "longest of this instance's compact 3D oriented bounding box dimensions"
+      }
+     }
+    ]
+   }
+  },
+  "room": {
+   "floor area": {
+    "unit": "square meters",
+    "description": "shoelace area of the compact spatial code's floor boundary polygons, with every interior hole subtracted"
+   }
+  },
+  "closest classes distance meters from": {
+   "<object class>": {
+    "<other object class>": {
+     "distance": {
+      "unit": "meters",
+      "description": "estimated distance in meters between an object of this class and an object of the other class"
+     },
+     "closeness rank": {
+      "unit": null,
+      "description": "1 = the nearest other class to this one, 2 = second-nearest, and so on; ranked by nearest-instance proximity, so use the rank (not the distance values) to compare which class is closest"
+     }
+    }
+   }
+  },
+  "appearance order": {
+   "unit": null,
+   "description": "class names ordered by earliest compact 'first visible time' across all of that class's instances"
+  }
+ },
+ "objects": {
+  "monitor": {
+   "count": 2,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "0.64 meters",
+      "y coordinate": "3.04 meters",
+      "height above floor": "0.99 meters"
+     },
+     "longest dimension": "0.7 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "1.23 meters",
+      "y coordinate": "2.98 meters",
+      "height above floor": "0.96 meters"
+     },
+     "longest dimension": "0.54 meters"
+    }
+   ]
+  },
+  "door": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "3.99 meters",
+      "y coordinate": "1.28 meters",
+      "height above floor": "1.04 meters"
+     },
+     "longest dimension": "2.06 meters"
+    }
+   ]
+  },
+  "bed": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "2.92 meters",
+      "y coordinate": "2.59 meters",
+      "height above floor": "0.51 meters"
+     },
+     "longest dimension": "2.25 meters"
+    }
+   ]
+  },
+  "chair": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "0.95 meters",
+      "y coordinate": "2.44 meters",
+      "height above floor": "0.63 meters"
+     },
+     "longest dimension": "1.24 meters"
+    }
+   ]
+  },
+  "plant": {
+   "count": 2,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "1.42 meters",
+      "y coordinate": "3.35 meters",
+      "height above floor": "1.64 meters"
+     },
+     "longest dimension": "0.4 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "0.7 meters",
+      "y coordinate": "3.17 meters",
+      "height above floor": "1.56 meters"
+     },
+     "longest dimension": "0.27 meters"
+    }
+   ]
+  },
+  "headphones": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "0.17 meters",
+      "y coordinate": "2.5 meters",
+      "height above floor": "1.02 meters"
+     },
+     "longest dimension": "0.28 meters"
+    }
+   ]
+  },
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+   "pillow": {
+    "distance": "2.58 meters",
+    "closeness rank": 11
+   },
+   "plant": {
+    "distance": "2.83 meters",
+    "closeness rank": 12
+   },
+   "ceiling light": {
+    "distance": "2.68 meters",
+    "closeness rank": 13
+   },
+   "door": {
+    "distance": "3.06 meters",
+    "closeness rank": 14
+   }
+  },
+  "heater": {
+   "shoes": {
+    "distance": "0.07 meters",
+    "closeness rank": 1
+   },
+   "chair": {
+    "distance": "0.48 meters",
+    "closeness rank": 2
+   },
+   "table": {
+    "distance": "0.49 meters",
+    "closeness rank": 3
+   },
+   "headphones": {
+    "distance": "0.88 meters",
+    "closeness rank": 4
+   },
+   "cup": {
+    "distance": "0.92 meters",
+    "closeness rank": 5
+   },
+   "keyboard": {
+    "distance": "1.05 meters",
+    "closeness rank": 6
+   },
+   "monitor": {
+    "distance": "1.17 meters",
+    "closeness rank": 7
+   },
+   "trash can": {
+    "distance": "1.23 meters",
+    "closeness rank": 8
+   },
+   "computer mouse": {
+    "distance": "1.24 meters",
+    "closeness rank": 9
+   },
+   "plant": {
+    "distance": "2.02 meters",
+    "closeness rank": 10
+   },
+   "bed": {
+    "distance": "1.9 meters",
+    "closeness rank": 11
+   },
+   "pillow": {
+    "distance": "2.29 meters",
+    "closeness rank": 12
+   },
+   "ceiling light": {
+    "distance": "2.51 meters",
+    "closeness rank": 13
+   },
+   "door": {
+    "distance": "3.31 meters",
+    "closeness rank": 14
+   }
+  },
+  "pillow": {
+   "bed": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "door": {
+    "distance": "0.14 meters",
+    "closeness rank": 2
+   },
+   "chair": {
+    "distance": "1.6 meters",
+    "closeness rank": 3
+   },
+   "table": {
+    "distance": "1.91 meters",
+    "closeness rank": 4
+   },
+   "ceiling light": {
+    "distance": "1.58 meters",
+    "closeness rank": 5
+   },
+   "monitor": {
+    "distance": "2.35 meters",
+    "closeness rank": 6
+   },
+   "computer mouse": {
+    "distance": "2.09 meters",
+    "closeness rank": 7
+   },
+   "trash can": {
+    "distance": "2.05 meters",
+    "closeness rank": 8
+   },
+   "shoes": {
+    "distance": "2.58 meters",
+    "closeness rank": 9
+   },
+   "keyboard": {
+    "distance": "2.36 meters",
+    "closeness rank": 10
+   },
+   "plant": {
+    "distance": "2.1 meters",
+    "closeness rank": 11
+   },
+   "heater": {
+    "distance": "2.29 meters",
+    "closeness rank": 12
+   },
+   "cup": {
+    "distance": "2.7 meters",
+    "closeness rank": 13
+   },
+   "headphones": {
+    "distance": "2.85 meters",
+    "closeness rank": 14
+   }
+  }
+ },
+ "appearance order": ["monitor", "door", "bed", "chair", "plant", "headphones", "table", "cup", "computer mouse", "keyboard", "trash can", "ceiling light", "shoes", "heater", "pillow"]
+}
\ No newline at end of file
diff --git a/data/spatial codes/ground truth/explicit/c4c04e6d6c.json b/data/spatial codes/ground truth/explicit/c4c04e6d6c.json
new file mode 100644
index 0000000000000000000000000000000000000000..ead9d4bf631a948772df12319e940a274877fa45
--- /dev/null
+++ b/data/spatial codes/ground truth/explicit/c4c04e6d6c.json	
@@ -0,0 +1,431 @@
+{
+ "spatial code schema": {
+  "objects": {
+   "<object class>": {
+    "count": {
+     "unit": null,
+     "description": "number of instances of this class in the compact spatial code (that schema's per-class oriented-box list length)"
+    },
+    "instances": [
+     {
+      "position": {
+       "x coordinate": {
+        "unit": "meters",
+        "description": "x coordinate of this instance's compact 3D oriented bounding box center"
+       },
+       "y coordinate": {
+        "unit": "meters",
+        "description": "y coordinate of this instance's compact 3D oriented bounding box center"
+       },
+       "height above floor": {
+        "unit": "meters",
+        "description": "height coordinate of this instance's compact 3D oriented bounding box center"
+       }
+      },
+      "longest dimension": {
+       "unit": "meters",
+       "description": "longest of this instance's compact 3D oriented bounding box dimensions"
+      }
+     }
+    ]
+   }
+  },
+  "room": {
+   "floor area": {
+    "unit": "square meters",
+    "description": "shoelace area of the compact spatial code's floor boundary polygons, with every interior hole subtracted"
+   }
+  },
+  "closest classes distance meters from": {
+   "<object class>": {
+    "<other object class>": {
+     "distance": {
+      "unit": "meters",
+      "description": "estimated distance in meters between an object of this class and an object of the other class"
+     },
+     "closeness rank": {
+      "unit": null,
+      "description": "1 = the nearest other class to this one, 2 = second-nearest, and so on; ranked by nearest-instance proximity, so use the rank (not the distance values) to compare which class is closest"
+     }
+    }
+   }
+  },
+  "appearance order": {
+   "unit": null,
+   "description": "class names ordered by earliest compact 'first visible time' across all of that class's instances"
+  }
+ },
+ "objects": {
+  "telephone": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "7.74 meters",
+      "y coordinate": "7.3 meters",
+      "height above floor": "1.63 meters"
+     },
+     "longest dimension": "0.21 meters"
+    }
+   ]
+  },
+  "door": {
+   "count": 3,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "7.97 meters",
+      "y coordinate": "0.18 meters",
+      "height above floor": "1.12 meters"
+     },
+     "longest dimension": "2.01 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "0.8 meters",
+      "y coordinate": "0.12 meters",
+      "height above floor": "1.11 meters"
+     },
+     "longest dimension": "2.01 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "0.69 meters",
+      "y coordinate": "7.23 meters",
+      "height above floor": "1.13 meters"
+     },
+     "longest dimension": "2.02 meters"
+    }
+   ]
+  },
+  "chair": {
+   "count": 36,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "6.31 meters",
+      "y coordinate": "2.98 meters",
+      "height above floor": "0.72 meters"
+     },
+     "longest dimension": "0.55 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "6.32 meters",
+      "y coordinate": "3.56 meters",
+      "height above floor": "0.55 meters"
+     },
+     "longest dimension": "0.98 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "3.21 meters",
+      "y coordinate": "3.66 meters",
+      "height above floor": "0.66 meters"
+     },
+     "longest dimension": "0.64 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "1.61 meters",
+      "y coordinate": "6.12 meters",
+      "height above floor": "0.66 meters"
+     },
+     "longest dimension": "0.67 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "0.55 meters",
+      "y coordinate": "1.4 meters",
+      "height above floor": "0.67 meters"
+     },
+     "longest dimension": "0.73 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "4.7 meters",
+      "y coordinate": "4.24 meters",
+      "height above floor": "0.62 meters"
+     },
+     "longest dimension": "0.67 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "3.07 meters",
+      "y coordinate": "1.24 meters",
+      "height above floor": "0.71 meters"
+     },
+     "longest dimension": "0.49 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "3.29 meters",
+      "y coordinate": "4.2 meters",
+      "height above floor": "0.58 meters"
+     },
+     "longest dimension": "0.87 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "7.45 meters",
+      "y coordinate": "5.33 meters",
+      "height above floor": "0.74 meters"
+     },
+     "longest dimension": "0.54 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "6.42 meters",
+      "y coordinate": "1.19 meters",
+      "height above floor": "0.75 meters"
+     },
+     "longest dimension": "0.44 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "7.32 meters",
+      "y coordinate": "4.88 meters",
+      "height above floor": "0.67 meters"
+     },
+     "longest dimension": "0.68 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "3.75 meters",
+      "y coordinate": "1.43 meters",
+      "height above floor": "0.71 meters"
+     },
+     "longest dimension": "0.49 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "3.1 meters",
+      "y coordinate": "2.49 meters",
+      "height above floor": "0.67 meters"
+     },
+     "longest dimension": "0.64 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "1.41 meters",
+      "y coordinate": "3.48 meters",
+      "height above floor": "0.57 meters"
+     },
+     "longest dimension": "0.79 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "1.7 meters",
+      "y coordinate": "4.12 meters",
+      "height above floor": "0.6 meters"
+     },
+     "longest dimension": "0.7 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "6.12 meters",
+      "y coordinate": "6.79 meters",
+      "height above floor": "0.73 meters"
+     },
+     "longest dimension": "0.53 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "3.28 meters",
+      "y coordinate": "6.15 meters",
+      "height above floor": "0.57 meters"
+     },
+     "longest dimension": "0.78 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "5.9 meters",
+      "y coordinate": "5.22 meters",
+      "height above floor": "0.64 meters"
+     },
+     "longest dimension": "0.7 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "7.54 meters",
+      "y coordinate": "1.52 meters",
+      "height above floor": "0.63 meters"
+     },
+     "longest dimension": "0.65 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "6.97 meters",
+      "y coordinate": "1.4 meters",
+      "height above floor": "0.61 meters"
+     },
+     "longest dimension": "0.71 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "4.7 meters",
+      "y coordinate": "4.94 meters",
+      "height above floor": "0.61 meters"
+     },
+     "longest dimension": "0.71 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "3.31 meters",
+      "y coordinate": "5.59 meters",
+      "height above floor": "0.62 meters"
+     },
+     "longest dimension": "0.86 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "2.59 meters",
+      "y coordinate": "0.87 meters",
+      "height above floor": "0.62 meters"
+     },
+     "longest dimension": "0.75 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "5.11 meters",
+      "y coordinate": "1.2 meters",
+      "height above floor": "0.73 meters"
+     },
+     "longest dimension": "0.46 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "1.64 meters",
+      "y coordinate": "4.78 meters",
+      "height above floor": "0.66 meters"
+     },
+     "longest dimension": "0.65 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "4.92 meters",
+      "y coordinate": "5.66 meters",
+      "height above floor": "0.54 meters"
+     },
+     "longest dimension": "0.86 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "5.24 meters",
+      "y coordinate": "6.95 meters",
+      "height above floor": "0.62 meters"
+     },
+     "longest dimension": "0.77 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "1.63 meters",
+      "y coordinate": "5.51 meters",
+      "height above floor": "0.66 meters"
+     },
+     "longest dimension": "0.71 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "4.3 meters",
+      "y coordinate": "1.3 meters",
+      "height above floor": "0.63 meters"
+     },
+     "longest dimension": "0.67 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "1.75 meters",
+      "y coordinate": "2.91 meters",
+      "height above floor": "0.72 meters"
+     },
+     "longest dimension": "0.51 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "5.69 meters",
+      "y coordinate": "1.23 meters",
+      "height above floor": "0.73 meters"
+     },
+     "longest dimension": "0.46 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "7.31 meters",
+      "y coordinate": "2.9 meters",
+      "height above floor": "0.58 meters"
+     },
+     "longest dimension": "0.76 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "6.2 meters",
+      "y coordinate": "2.39 meters",
+      "height above floor": "0.65 meters"
+     },
+     "longest dimension": "0.62 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "4.65 meters",
+      "y coordinate": "3.6 meters",
+      "height above floor": "0.66 meters"
+     },
+     "longest dimension": "0.66 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "4.79 meters",
+      "y coordinate": "2.39 meters",
+      "height above floor": "0.69 meters"
+     },
+     "longest dimension": "0.52 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "4.64 meters",
+      "y coordinate": "2.97 meters",
+      "height above floor": "0.67 meters"
+     },
+     "longest dimension": "0.68 meters"
+    }
+   ]
+  }
+ },
+ "room": {
+  "floor area": "67.1 square meters"
+ },
+ "closest classes distance meters from": {
+  "telephone": {
+   "chair": {
+    "distance": "4.26 meters",
+    "closeness rank": 1
+   },
+   "door": {
+    "distance": "6.43 meters",
+    "closeness rank": 2
+   }
+  },
+  "door": {
+   "chair": {
+    "distance": "2.0 meters",
+    "closeness rank": 1
+   },
+   "telephone": {
+    "distance": "6.43 meters",
+    "closeness rank": 2
+   }
+  },
+  "chair": {
+   "door": {
+    "distance": "2.0 meters",
+    "closeness rank": 1
+   },
+   "telephone": {
+    "distance": "4.26 meters",
+    "closeness rank": 2
+   }
+  }
+ },
+ "appearance order": ["telephone", "door", "chair"]
+}
\ No newline at end of file
diff --git a/data/spatial codes/ground truth/explicit/c50d2d1d42.json b/data/spatial codes/ground truth/explicit/c50d2d1d42.json
new file mode 100644
index 0000000000000000000000000000000000000000..0c00dec8a7fd884e1fd59881f80c17c9d7455b5f
--- /dev/null
+++ b/data/spatial codes/ground truth/explicit/c50d2d1d42.json	
@@ -0,0 +1,1021 @@
+{
+ "spatial code schema": {
+  "objects": {
+   "<object class>": {
+    "count": {
+     "unit": null,
+     "description": "number of instances of this class in the compact spatial code (that schema's per-class oriented-box list length)"
+    },
+    "instances": [
+     {
+      "position": {
+       "x coordinate": {
+        "unit": "meters",
+        "description": "x coordinate of this instance's compact 3D oriented bounding box center"
+       },
+       "y coordinate": {
+        "unit": "meters",
+        "description": "y coordinate of this instance's compact 3D oriented bounding box center"
+       },
+       "height above floor": {
+        "unit": "meters",
+        "description": "height coordinate of this instance's compact 3D oriented bounding box center"
+       }
+      },
+      "longest dimension": {
+       "unit": "meters",
+       "description": "longest of this instance's compact 3D oriented bounding box dimensions"
+      }
+     }
+    ]
+   }
+  },
+  "room": {
+   "floor area": {
+    "unit": "square meters",
+    "description": "shoelace area of the compact spatial code's floor boundary polygons, with every interior hole subtracted"
+   }
+  },
+  "closest classes distance meters from": {
+   "<object class>": {
+    "<other object class>": {
+     "distance": {
+      "unit": "meters",
+      "description": "estimated distance in meters between an object of this class and an object of the other class"
+     },
+     "closeness rank": {
+      "unit": null,
+      "description": "1 = the nearest other class to this one, 2 = second-nearest, and so on; ranked by nearest-instance proximity, so use the rank (not the distance values) to compare which class is closest"
+     }
+    }
+   }
+  },
+  "appearance order": {
+   "unit": null,
+   "description": "class names ordered by earliest compact 'first visible time' across all of that class's instances"
+  }
+ },
+ "objects": {
+  "trash can": {
+   "count": 2,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "1.31 meters",
+      "y coordinate": "0.82 meters",
+      "height above floor": "0.15 meters"
+     },
+     "longest dimension": "0.34 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "1.63 meters",
+      "y coordinate": "0.77 meters",
+      "height above floor": "0.17 meters"
+     },
+     "longest dimension": "0.34 meters"
+    }
+   ]
+  },
+  "heater": {
+   "count": 2,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "4.8 meters",
+      "y coordinate": "0.86 meters",
+      "height above floor": "0.34 meters"
+     },
+     "longest dimension": "1.31 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "5.06 meters",
+      "y coordinate": "3.0 meters",
+      "height above floor": "0.34 meters"
+     },
+     "longest dimension": "1.18 meters"
+    }
+   ]
+  },
+  "computer tower": {
+   "count": 3,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "3.07 meters",
+      "y coordinate": "1.66 meters",
+      "height above floor": "0.27 meters"
+     },
+     "longest dimension": "0.38 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "4.38 meters",
+      "y coordinate": "1.52 meters",
+      "height above floor": "0.22 meters"
+     },
+     "longest dimension": "0.44 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "4.64 meters",
+      "y coordinate": "2.69 meters",
+      "height above floor": "0.26 meters"
+     },
+     "longest dimension": "0.5 meters"
+    }
+   ]
+  },
+  "telephone": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "4.96 meters",
+      "y coordinate": "1.62 meters",
+      "height above floor": "0.92 meters"
+     },
+     "longest dimension": "0.3 meters"
+    }
+   ]
+  },
+  "monitor": {
+   "count": 6,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "4.46 meters",
+      "y coordinate": "2.19 meters",
+      "height above floor": "1.09 meters"
+     },
+     "longest dimension": "0.7 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "3.29 meters",
+      "y coordinate": "1.91 meters",
+      "height above floor": "1.0 meters"
+     },
+     "longest dimension": "0.64 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "3.88 meters",
+      "y coordinate": "1.97 meters",
+      "height above floor": "1.01 meters"
+     },
+     "longest dimension": "0.63 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "0.6 meters",
+      "y coordinate": "3.0 meters",
+      "height above floor": "2.44 meters"
+     },
+     "longest dimension": "0.61 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "3.88 meters",
+      "y coordinate": "2.23 meters",
+      "height above floor": "1.02 meters"
+     },
+     "longest dimension": "0.62 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "0.74 meters",
+      "y coordinate": "3.57 meters",
+      "height above floor": "2.42 meters"
+     },
+     "longest dimension": "0.42 meters"
+    }
+   ]
+  },
+  "headphones": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "4.36 meters",
+      "y coordinate": "2.71 meters",
+      "height above floor": "0.79 meters"
+     },
+     "longest dimension": "0.31 meters"
+    }
+   ]
+  },
+  "door": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "0.15 meters",
+      "y coordinate": "1.66 meters",
+      "height above floor": "1.05 meters"
+     },
+     "longest dimension": "2.11 meters"
+    }
+   ]
+  },
+  "ceiling light": {
+   "count": 4,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "1.61 meters",
+      "y coordinate": "3.31 meters",
+      "height above floor": "2.92 meters"
+     },
+     "longest dimension": "1.28 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "4.09 meters",
+      "y coordinate": "2.97 meters",
+      "height above floor": "2.92 meters"
+     },
+     "longest dimension": "1.31 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "3.81 meters",
+      "y coordinate": "1.13 meters",
+      "height above floor": "2.9 meters"
+     },
+     "longest dimension": "1.25 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "1.31 meters",
+      "y coordinate": "1.53 meters",
+      "height above floor": "2.91 meters"
+     },
+     "longest dimension": "1.29 meters"
+    }
+   ]
+  },
+  "chair": {
+   "count": 4,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "3.6 meters",
+      "y coordinate": "0.87 meters",
+      "height above floor": "0.55 meters"
+     },
+     "longest dimension": "1.09 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "2.65 meters",
+      "y coordinate": "3.04 meters",
+      "height above floor": "0.48 meters"
+     },
+     "longest dimension": "0.96 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "2.35 meters",
+      "y coordinate": "1.62 meters",
+      "height above floor": "0.54 meters"
+     },
+     "longest dimension": "1.07 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "4.29 meters",
+      "y coordinate": "3.23 meters",
+      "height above floor": "0.48 meters"
+     },
+     "longest dimension": "0.95 meters"
+    }
+   ]
+  },
+  "whiteboard": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "3.42 meters",
+      "y coordinate": "3.92 meters",
+      "height above floor": "1.49 meters"
+     },
+     "longest dimension": "2.02 meters"
+    }
+   ]
+  },
+  "keyboard": {
+   "count": 2,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "4.12 meters",
+      "y coordinate": "2.56 meters",
+      "height above floor": "0.77 meters"
+     },
+     "longest dimension": "0.47 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "3.79 meters",
+      "y coordinate": "1.6 meters",
+      "height above floor": "0.75 meters"
+     },
+     "longest dimension": "0.28 meters"
+    }
+   ]
+  },
+  "computer mouse": {
+   "count": 2,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "3.78 meters",
+      "y coordinate": "2.62 meters",
+      "height above floor": "0.79 meters"
+     },
+     "longest dimension": "0.15 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "4.06 meters",
+      "y coordinate": "1.6 meters",
+      "height above floor": "0.75 meters"
+     },
+     "longest dimension": "0.11 meters"
+    }
+   ]
+  },
+  "coat hanger": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "0.49 meters",
+      "y coordinate": "0.79 meters",
+      "height above floor": "1.8 meters"
+     },
+     "longest dimension": "0.31 meters"
+    }
+   ]
+  }
+ },
+ "room": {
+  "floor area": "18.0 square meters"
+ },
+ "closest classes distance meters from": {
+  "trash can": {
+   "chair": {
+    "distance": "1.61 meters",
+    "closeness rank": 1
+   },
+   "door": {
+    "distance": "1.04 meters",
+    "closeness rank": 2
+   },
+   "computer tower": {
+    "distance": "1.59 meters",
+    "closeness rank": 3
+   },
+   "coat hanger": {
+    "distance": "1.52 meters",
+    "closeness rank": 4
+   },
+   "monitor": {
+    "distance": "3.04 meters",
+    "closeness rank": 5
+   },
+   "keyboard": {
+    "distance": "2.96 meters",
+    "closeness rank": 6
+   },
+   "computer mouse": {
+    "distance": "2.88 meters",
+    "closeness rank": 7
+   },
+   "ceiling light": {
+    "distance": "2.93 meters",
+    "closeness rank": 8
+   },
+   "heater": {
+    "distance": "2.74 meters",
+    "closeness rank": 9
+   },
+   "headphones": {
+    "distance": "3.32 meters",
+    "closeness rank": 10
+   },
+   "telephone": {
+    "distance": "3.5 meters",
+    "closeness rank": 11
+   },
+   "whiteboard": {
+    "distance": "3.2 meters",
+    "closeness rank": 12
+   }
+  },
+  "heater": {
+   "computer tower": {
+    "distance": "1.06 meters",
+    "closeness rank": 1
+   },
+   "telephone": {
+    "distance": "0.32 meters",
+    "closeness rank": 2
+   },
+   "monitor": {
+    "distance": "0.56 meters",
+    "closeness rank": 3
+   },
+   "chair": {
+    "distance": "0.35 meters",
+    "closeness rank": 4
+   },
+   "headphones": {
+    "distance": "1.14 meters",
+    "closeness rank": 5
+   },
+   "keyboard": {
+    "distance": "0.99 meters",
+    "closeness rank": 6
+   },
+   "computer mouse": {
+    "distance": "1.35 meters",
+    "closeness rank": 7
+   },
+   "whiteboard": {
+    "distance": "1.88 meters",
+    "closeness rank": 8
+   },
+   "ceiling light": {
+    "distance": "3.48 meters",
+    "closeness rank": 9
+   },
+   "trash can": {
+    "distance": "2.74 meters",
+    "closeness rank": 10
+   },
+   "coat hanger": {
+    "distance": "4.12 meters",
+    "closeness rank": 11
+   },
+   "door": {
+    "distance": "4.54 meters",
+    "closeness rank": 12
+   }
+  },
+  "computer tower": {
+   "chair": {
+    "distance": "0.26 meters",
+    "closeness rank": 1
+   },
+   "heater": {
+    "distance": "1.06 meters",
+    "closeness rank": 2
+   },
+   "headphones": {
+    "distance": "1.4 meters",
+    "closeness rank": 3
+   },
+   "monitor": {
+    "distance": "1.16 meters",
+    "closeness rank": 4
+   },
+   "keyboard": {
+    "distance": "1.05 meters",
+    "closeness rank": 5
+   },
+   "computer mouse": {
+    "distance": "1.04 meters",
+    "closeness rank": 6
+   },
+   "telephone": {
+    "distance": "1.66 meters",
+    "closeness rank": 7
+   },
+   "whiteboard": {
+    "distance": "1.39 meters",
+    "closeness rank": 8
+   },
+   "trash can": {
+    "distance": "1.59 meters",
+    "closeness rank": 9
+   },
+   "ceiling light": {
+    "distance": "2.62 meters",
+    "closeness rank": 10
+   },
+   "door": {
+    "distance": "2.71 meters",
+    "closeness rank": 11
+   },
+   "coat hanger": {
+    "distance": "2.78 meters",
+    "closeness rank": 12
+   }
+  },
+  "telephone": {
+   "heater": {
+    "distance": "0.32 meters",
+    "closeness rank": 1
+   },
+   "monitor": {
+    "distance": "0.37 meters",
+    "closeness rank": 2
+   },
+   "computer tower": {
+    "distance": "1.66 meters",
+    "closeness rank": 3
+   },
+   "computer mouse": {
+    "distance": "1.33 meters",
+    "closeness rank": 4
+   },
+   "keyboard": {
+    "distance": "0.88 meters",
+    "closeness rank": 5
+   },
+   "headphones": {
+    "distance": "0.95 meters",
+    "closeness rank": 6
+   },
+   "chair": {
+    "distance": "0.9 meters",
+    "closeness rank": 7
+   },
+   "ceiling light": {
+    "distance": "3.46 meters",
+    "closeness rank": 8
+   },
+   "whiteboard": {
+    "distance": "2.01 meters",
+    "closeness rank": 9
+   },
+   "trash can": {
+    "distance": "3.5 meters",
+    "closeness rank": 10
+   },
+   "coat hanger": {
+    "distance": "4.33 meters",
+    "closeness rank": 11
+   },
+   "door": {
+    "distance": "4.52 meters",
+    "closeness rank": 12
+   }
+  },
+  "monitor": {
+   "keyboard": {
+    "distance": "0.15 meters",
+    "closeness rank": 1
+   },
+   "computer mouse": {
+    "distance": "0.43 meters",
+    "closeness rank": 2
+   },
+   "chair": {
+    "distance": "0.77 meters",
+    "closeness rank": 3
+   },
+   "headphones": {
+    "distance": "0.25 meters",
+    "closeness rank": 4
+   },
+   "computer tower": {
+    "distance": "1.16 meters",
+    "closeness rank": 5
+   },
+   "heater": {
+    "distance": "0.56 meters",
+    "closeness rank": 6
+   },
+   "telephone": {
+    "distance": "0.37 meters",
+    "closeness rank": 7
+   },
+   "ceiling light": {
+    "distance": "2.58 meters",
+    "closeness rank": 8
+   },
+   "door": {
+    "distance": "2.94 meters",
+    "closeness rank": 9
+   },
+   "whiteboard": {
+    "distance": "1.4 meters",
+    "closeness rank": 10
+   },
+   "trash can": {
+    "distance": "3.04 meters",
+    "closeness rank": 11
+   },
+   "coat hanger": {
+    "distance": "3.76 meters",
+    "closeness rank": 12
+   }
+  },
+  "headphones": {
+   "keyboard": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "chair": {
+    "distance": "1.31 meters",
+    "closeness rank": 2
+   },
+   "computer tower": {
+    "distance": "1.4 meters",
+    "closeness rank": 3
+   },
+   "monitor": {
+    "distance": "0.25 meters",
+    "closeness rank": 4
+   },
+   "computer mouse": {
+    "distance": "0.37 meters",
+    "closeness rank": 5
+   },
+   "heater": {
+    "distance": "1.14 meters",
+    "closeness rank": 6
+   },
+   "telephone": {
+    "distance": "0.95 meters",
+    "closeness rank": 7
+   },
+   "whiteboard": {
+    "distance": "0.91 meters",
+    "closeness rank": 8
+   },
+   "ceiling light": {
+    "distance": "2.73 meters",
+    "closeness rank": 9
+   },
+   "trash can": {
+    "distance": "3.32 meters",
+    "closeness rank": 10
+   },
+   "door": {
+    "distance": "3.93 meters",
+    "closeness rank": 11
+   },
+   "coat hanger": {
+    "distance": "4.13 meters",
+    "closeness rank": 12
+   }
+  },
+  "door": {
+   "coat hanger": {
+    "distance": "0.39 meters",
+    "closeness rank": 1
+   },
+   "monitor": {
+    "distance": "2.94 meters",
+    "closeness rank": 2
+   },
+   "trash can": {
+    "distance": "1.04 meters",
+    "closeness rank": 3
+   },
+   "ceiling light": {
+    "distance": "1.19 meters",
+    "closeness rank": 4
+   },
+   "chair": {
+    "distance": "1.97 meters",
+    "closeness rank": 5
+   },
+   "computer tower": {
+    "distance": "2.71 meters",
+    "closeness rank": 6
+   },
+   "whiteboard": {
+    "distance": "2.86 meters",
+    "closeness rank": 7
+   },
+   "keyboard": {
+    "distance": "3.39 meters",
+    "closeness rank": 8
+   },
+   "computer mouse": {
+    "distance": "3.47 meters",
+    "closeness rank": 9
+   },
+   "headphones": {
+    "distance": "3.93 meters",
+    "closeness rank": 10
+   },
+   "telephone": {
+    "distance": "4.52 meters",
+    "closeness rank": 11
+   },
+   "heater": {
+    "distance": "4.54 meters",
+    "closeness rank": 12
+   }
+  },
+  "ceiling light": {
+   "monitor": {
+    "distance": "2.58 meters",
+    "closeness rank": 1
+   },
+   "whiteboard": {
+    "distance": "0.74 meters",
+    "closeness rank": 2
+   },
+   "coat hanger": {
+    "distance": "2.18 meters",
+    "closeness rank": 3
+   },
+   "door": {
+    "distance": "1.19 meters",
+    "closeness rank": 4
+   },
+   "chair": {
+    "distance": "2.76 meters",
+    "closeness rank": 5
+   },
+   "telephone": {
+    "distance": "3.46 meters",
+    "closeness rank": 6
+   },
+   "headphones": {
+    "distance": "2.73 meters",
+    "closeness rank": 7
+   },
+   "computer mouse": {
+    "distance": "2.4 meters",
+    "closeness rank": 8
+   },
+   "keyboard": {
+    "distance": "2.51 meters",
+    "closeness rank": 9
+   },
+   "computer tower": {
+    "distance": "2.62 meters",
+    "closeness rank": 10
+   },
+   "heater": {
+    "distance": "3.48 meters",
+    "closeness rank": 11
+   },
+   "trash can": {
+    "distance": "2.93 meters",
+    "closeness rank": 12
+   }
+  },
+  "chair": {
+   "computer tower": {
+    "distance": "0.26 meters",
+    "closeness rank": 1
+   },
+   "headphones": {
+    "distance": "1.31 meters",
+    "closeness rank": 2
+   },
+   "whiteboard": {
+    "distance": "1.64 meters",
+    "closeness rank": 3
+   },
+   "keyboard": {
+    "distance": "1.0 meters",
+    "closeness rank": 4
+   },
+   "monitor": {
+    "distance": "0.77 meters",
+    "closeness rank": 5
+   },
+   "computer mouse": {
+    "distance": "1.16 meters",
+    "closeness rank": 6
+   },
+   "heater": {
+    "distance": "0.35 meters",
+    "closeness rank": 7
+   },
+   "trash can": {
+    "distance": "1.61 meters",
+    "closeness rank": 8
+   },
+   "telephone": {
+    "distance": "0.9 meters",
+    "closeness rank": 9
+   },
+   "coat hanger": {
+    "distance": "2.65 meters",
+    "closeness rank": 10
+   },
+   "ceiling light": {
+    "distance": "2.76 meters",
+    "closeness rank": 11
+   },
+   "door": {
+    "distance": "1.97 meters",
+    "closeness rank": 12
+   }
+  },
+  "whiteboard": {
+   "chair": {
+    "distance": "1.64 meters",
+    "closeness rank": 1
+   },
+   "ceiling light": {
+    "distance": "0.74 meters",
+    "closeness rank": 2
+   },
+   "heater": {
+    "distance": "1.88 meters",
+    "closeness rank": 3
+   },
+   "computer tower": {
+    "distance": "1.39 meters",
+    "closeness rank": 4
+   },
+   "headphones": {
+    "distance": "0.91 meters",
+    "closeness rank": 5
+   },
+   "keyboard": {
+    "distance": "1.12 meters",
+    "closeness rank": 6
+   },
+   "computer mouse": {
+    "distance": "1.12 meters",
+    "closeness rank": 7
+   },
+   "monitor": {
+    "distance": "1.4 meters",
+    "closeness rank": 8
+   },
+   "telephone": {
+    "distance": "2.01 meters",
+    "closeness rank": 9
+   },
+   "door": {
+    "distance": "2.86 meters",
+    "closeness rank": 10
+   },
+   "trash can": {
+    "distance": "3.2 meters",
+    "closeness rank": 11
+   },
+   "coat hanger": {
+    "distance": "3.69 meters",
+    "closeness rank": 12
+   }
+  },
+  "keyboard": {
+   "headphones": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "computer mouse": {
+    "distance": "0.06 meters",
+    "closeness rank": 2
+   },
+   "monitor": {
+    "distance": "0.15 meters",
+    "closeness rank": 3
+   },
+   "chair": {
+    "distance": "1.0 meters",
+    "closeness rank": 4
+   },
+   "computer tower": {
+    "distance": "1.05 meters",
+    "closeness rank": 5
+   },
+   "heater": {
+    "distance": "0.99 meters",
+    "closeness rank": 6
+   },
+   "telephone": {
+    "distance": "0.88 meters",
+    "closeness rank": 7
+   },
+   "whiteboard": {
+    "distance": "1.12 meters",
+    "closeness rank": 8
+   },
+   "trash can": {
+    "distance": "2.96 meters",
+    "closeness rank": 9
+   },
+   "ceiling light": {
+    "distance": "2.51 meters",
+    "closeness rank": 10
+   },
+   "coat hanger": {
+    "distance": "3.78 meters",
+    "closeness rank": 11
+   },
+   "door": {
+    "distance": "3.39 meters",
+    "closeness rank": 12
+   }
+  },
+  "computer mouse": {
+   "keyboard": {
+    "distance": "0.06 meters",
+    "closeness rank": 1
+   },
+   "monitor": {
+    "distance": "0.43 meters",
+    "closeness rank": 2
+   },
+   "chair": {
+    "distance": "1.16 meters",
+    "closeness rank": 3
+   },
+   "computer tower": {
+    "distance": "1.04 meters",
+    "closeness rank": 4
+   },
+   "headphones": {
+    "distance": "0.37 meters",
+    "closeness rank": 5
+   },
+   "telephone": {
+    "distance": "1.33 meters",
+    "closeness rank": 6
+   },
+   "heater": {
+    "distance": "1.35 meters",
+    "closeness rank": 7
+   },
+   "whiteboard": {
+    "distance": "1.12 meters",
+    "closeness rank": 8
+   },
+   "ceiling light": {
+    "distance": "2.4 meters",
+    "closeness rank": 9
+   },
+   "trash can": {
+    "distance": "2.88 meters",
+    "closeness rank": 10
+   },
+   "door": {
+    "distance": "3.47 meters",
+    "closeness rank": 11
+   },
+   "coat hanger": {
+    "distance": "3.67 meters",
+    "closeness rank": 12
+   }
+  },
+  "coat hanger": {
+   "door": {
+    "distance": "0.39 meters",
+    "closeness rank": 1
+   },
+   "ceiling light": {
+    "distance": "2.18 meters",
+    "closeness rank": 2
+   },
+   "trash can": {
+    "distance": "1.52 meters",
+    "closeness rank": 3
+   },
+   "chair": {
+    "distance": "2.65 meters",
+    "closeness rank": 4
+   },
+   "monitor": {
+    "distance": "3.76 meters",
+    "closeness rank": 5
+   },
+   "computer tower": {
+    "distance": "2.78 meters",
+    "closeness rank": 6
+   },
+   "keyboard": {
+    "distance": "3.78 meters",
+    "closeness rank": 7
+   },
+   "computer mouse": {
+    "distance": "3.67 meters",
+    "closeness rank": 8
+   },
+   "whiteboard": {
+    "distance": "3.69 meters",
+    "closeness rank": 9
+   },
+   "headphones": {
+    "distance": "4.13 meters",
+    "closeness rank": 10
+   },
+   "heater": {
+    "distance": "4.12 meters",
+    "closeness rank": 11
+   },
+   "telephone": {
+    "distance": "4.33 meters",
+    "closeness rank": 12
+   }
+  }
+ },
+ "appearance order": ["trash can", "heater", "computer tower", "telephone", "monitor", "headphones", "door", "ceiling light", "chair", "whiteboard", "keyboard", "computer mouse", "coat hanger"]
+}
\ No newline at end of file
diff --git a/data/spatial codes/ground truth/explicit/c5439f4607.json b/data/spatial codes/ground truth/explicit/c5439f4607.json
new file mode 100644
index 0000000000000000000000000000000000000000..3df5accb70cab52933f02440cc37aca4b2a4227c
--- /dev/null
+++ b/data/spatial codes/ground truth/explicit/c5439f4607.json	
@@ -0,0 +1,214 @@
+{
+ "spatial code schema": {
+  "objects": {
+   "<object class>": {
+    "count": {
+     "unit": null,
+     "description": "number of instances of this class in the compact spatial code (that schema's per-class oriented-box list length)"
+    },
+    "instances": [
+     {
+      "position": {
+       "x coordinate": {
+        "unit": "meters",
+        "description": "x coordinate of this instance's compact 3D oriented bounding box center"
+       },
+       "y coordinate": {
+        "unit": "meters",
+        "description": "y coordinate of this instance's compact 3D oriented bounding box center"
+       },
+       "height above floor": {
+        "unit": "meters",
+        "description": "height coordinate of this instance's compact 3D oriented bounding box center"
+       }
+      },
+      "longest dimension": {
+       "unit": "meters",
+       "description": "longest of this instance's compact 3D oriented bounding box dimensions"
+      }
+     }
+    ]
+   }
+  },
+  "room": {
+   "floor area": {
+    "unit": "square meters",
+    "description": "shoelace area of the compact spatial code's floor boundary polygons, with every interior hole subtracted"
+   }
+  },
+  "closest classes distance meters from": {
+   "<object class>": {
+    "<other object class>": {
+     "distance": {
+      "unit": "meters",
+      "description": "estimated distance in meters between an object of this class and an object of the other class"
+     },
+     "closeness rank": {
+      "unit": null,
+      "description": "1 = the nearest other class to this one, 2 = second-nearest, and so on; ranked by nearest-instance proximity, so use the rank (not the distance values) to compare which class is closest"
+     }
+    }
+   }
+  },
+  "appearance order": {
+   "unit": null,
+   "description": "class names ordered by earliest compact 'first visible time' across all of that class's instances"
+  }
+ },
+ "objects": {
+  "door": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "1.64 meters",
+      "y coordinate": "0.08 meters",
+      "height above floor": "1.46 meters"
+     },
+     "longest dimension": "2.91 meters"
+    }
+   ]
+  },
+  "chair": {
+   "count": 3,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "2.63 meters",
+      "y coordinate": "2.83 meters",
+      "height above floor": "0.53 meters"
+     },
+     "longest dimension": "1.05 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "3.32 meters",
+      "y coordinate": "2.36 meters",
+      "height above floor": "0.43 meters"
+     },
+     "longest dimension": "0.85 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "5.2 meters",
+      "y coordinate": "2.46 meters",
+      "height above floor": "0.48 meters"
+     },
+     "longest dimension": "0.95 meters"
+    }
+   ]
+  },
+  "exhaust fan": {
+   "count": 3,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "4.62 meters",
+      "y coordinate": "1.85 meters",
+      "height above floor": "3.04 meters"
+     },
+     "longest dimension": "0.5 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "2.11 meters",
+      "y coordinate": "1.71 meters",
+      "height above floor": "3.04 meters"
+     },
+     "longest dimension": "0.84 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "0.95 meters",
+      "y coordinate": "1.77 meters",
+      "height above floor": "3.04 meters"
+     },
+     "longest dimension": "0.5 meters"
+    }
+   ]
+  },
+  "trash can": {
+   "count": 2,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "3.19 meters",
+      "y coordinate": "0.27 meters",
+      "height above floor": "0.16 meters"
+     },
+     "longest dimension": "0.32 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "4.03 meters",
+      "y coordinate": "0.3 meters",
+      "height above floor": "0.13 meters"
+     },
+     "longest dimension": "0.32 meters"
+    }
+   ]
+  }
+ },
+ "room": {
+  "floor area": "24.0 square meters"
+ },
+ "closest classes distance meters from": {
+  "door": {
+   "trash can": {
+    "distance": "0.5 meters",
+    "closeness rank": 1
+   },
+   "exhaust fan": {
+    "distance": "2.1 meters",
+    "closeness rank": 2
+   },
+   "chair": {
+    "distance": "2.01 meters",
+    "closeness rank": 3
+   }
+  },
+  "chair": {
+   "trash can": {
+    "distance": "1.96 meters",
+    "closeness rank": 1
+   },
+   "exhaust fan": {
+    "distance": "2.57 meters",
+    "closeness rank": 2
+   },
+   "door": {
+    "distance": "2.01 meters",
+    "closeness rank": 3
+   }
+  },
+  "exhaust fan": {
+   "door": {
+    "distance": "2.1 meters",
+    "closeness rank": 1
+   },
+   "chair": {
+    "distance": "2.57 meters",
+    "closeness rank": 2
+   },
+   "trash can": {
+    "distance": "3.17 meters",
+    "closeness rank": 3
+   }
+  },
+  "trash can": {
+   "door": {
+    "distance": "0.5 meters",
+    "closeness rank": 1
+   },
+   "chair": {
+    "distance": "1.96 meters",
+    "closeness rank": 2
+   },
+   "exhaust fan": {
+    "distance": "3.17 meters",
+    "closeness rank": 3
+   }
+  }
+ },
+ "appearance order": ["door", "chair", "exhaust fan", "trash can"]
+}
\ No newline at end of file
diff --git a/data/spatial codes/ground truth/explicit/cc5237fd77.json b/data/spatial codes/ground truth/explicit/cc5237fd77.json
new file mode 100644
index 0000000000000000000000000000000000000000..283a4589feeca4008108d2a7a16da3351bcd37ef
--- /dev/null
+++ b/data/spatial codes/ground truth/explicit/cc5237fd77.json	
@@ -0,0 +1,537 @@
+{
+ "spatial code schema": {
+  "objects": {
+   "<object class>": {
+    "count": {
+     "unit": null,
+     "description": "number of instances of this class in the compact spatial code (that schema's per-class oriented-box list length)"
+    },
+    "instances": [
+     {
+      "position": {
+       "x coordinate": {
+        "unit": "meters",
+        "description": "x coordinate of this instance's compact 3D oriented bounding box center"
+       },
+       "y coordinate": {
+        "unit": "meters",
+        "description": "y coordinate of this instance's compact 3D oriented bounding box center"
+       },
+       "height above floor": {
+        "unit": "meters",
+        "description": "height coordinate of this instance's compact 3D oriented bounding box center"
+       }
+      },
+      "longest dimension": {
+       "unit": "meters",
+       "description": "longest of this instance's compact 3D oriented bounding box dimensions"
+      }
+     }
+    ]
+   }
+  },
+  "room": {
+   "floor area": {
+    "unit": "square meters",
+    "description": "shoelace area of the compact spatial code's floor boundary polygons, with every interior hole subtracted"
+   }
+  },
+  "closest classes distance meters from": {
+   "<object class>": {
+    "<other object class>": {
+     "distance": {
+      "unit": "meters",
+      "description": "estimated distance in meters between an object of this class and an object of the other class"
+     },
+     "closeness rank": {
+      "unit": null,
+      "description": "1 = the nearest other class to this one, 2 = second-nearest, and so on; ranked by nearest-instance proximity, so use the rank (not the distance values) to compare which class is closest"
+     }
+    }
+   }
+  },
+  "appearance order": {
+   "unit": null,
+   "description": "class names ordered by earliest compact 'first visible time' across all of that class's instances"
+  }
+ },
+ "objects": {
+  "monitor": {
+   "count": 3,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "3.8 meters",
+      "y coordinate": "1.76 meters",
+      "height above floor": "1.19 meters"
+     },
+     "longest dimension": "0.76 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "2.58 meters",
+      "y coordinate": "3.14 meters",
+      "height above floor": "1.1 meters"
+     },
+     "longest dimension": "0.64 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "2.16 meters",
+      "y coordinate": "3.48 meters",
+      "height above floor": "1.06 meters"
+     },
+     "longest dimension": "0.8 meters"
+    }
+   ]
+  },
+  "door": {
+   "count": 2,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "0.5 meters",
+      "y coordinate": "0.91 meters",
+      "height above floor": "1.09 meters"
+     },
+     "longest dimension": "2.05 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "2.87 meters",
+      "y coordinate": "0.55 meters",
+      "height above floor": "1.06 meters"
+     },
+     "longest dimension": "2.03 meters"
+    }
+   ]
+  },
+  "chair": {
+   "count": 2,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "1.75 meters",
+      "y coordinate": "2.52 meters",
+      "height above floor": "0.49 meters"
+     },
+     "longest dimension": "0.89 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "3.19 meters",
+      "y coordinate": "1.98 meters",
+      "height above floor": "0.48 meters"
+     },
+     "longest dimension": "0.87 meters"
+    }
+   ]
+  },
+  "bookshelf": {
+   "count": 2,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "1.79 meters",
+      "y coordinate": "0.68 meters",
+      "height above floor": "1.06 meters"
+     },
+     "longest dimension": "2.03 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "0.63 meters",
+      "y coordinate": "2.23 meters",
+      "height above floor": "0.8 meters"
+     },
+     "longest dimension": "1.6 meters"
+    }
+   ]
+  },
+  "computer tower": {
+   "count": 2,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "2.72 meters",
+      "y coordinate": "3.03 meters",
+      "height above floor": "0.32 meters"
+     },
+     "longest dimension": "0.49 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "3.84 meters",
+      "y coordinate": "2.67 meters",
+      "height above floor": "1.05 meters"
+     },
+     "longest dimension": "0.53 meters"
+    }
+   ]
+  },
+  "suitcase": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "0.77 meters",
+      "y coordinate": "2.72 meters",
+      "height above floor": "0.24 meters"
+     },
+     "longest dimension": "0.38 meters"
+    }
+   ]
+  },
+  "laptop": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "3.67 meters",
+      "y coordinate": "1.34 meters",
+      "height above floor": "0.9 meters"
+     },
+     "longest dimension": "0.4 meters"
+    }
+   ]
+  },
+  "ceiling light": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "2.26 meters",
+      "y coordinate": "2.12 meters",
+      "height above floor": "2.52 meters"
+     },
+     "longest dimension": "0.32 meters"
+    }
+   ]
+  },
+  "keyboard": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "3.52 meters",
+      "y coordinate": "2.36 meters",
+      "height above floor": "0.88 meters"
+     },
+     "longest dimension": "0.42 meters"
+    }
+   ]
+  }
+ },
+ "room": {
+  "floor area": "11.4 square meters"
+ },
+ "closest classes distance meters from": {
+  "monitor": {
+   "laptop": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "chair": {
+    "distance": "1.47 meters",
+    "closeness rank": 2
+   },
+   "computer tower": {
+    "distance": "1.26 meters",
+    "closeness rank": 3
+   },
+   "keyboard": {
+    "distance": "0.26 meters",
+    "closeness rank": 4
+   },
+   "door": {
+    "distance": "2.0 meters",
+    "closeness rank": 5
+   },
+   "suitcase": {
+    "distance": "2.75 meters",
+    "closeness rank": 6
+   },
+   "bookshelf": {
+    "distance": "1.22 meters",
+    "closeness rank": 7
+   },
+   "ceiling light": {
+    "distance": "1.53 meters",
+    "closeness rank": 8
+   }
+  },
+  "door": {
+   "bookshelf": {
+    "distance": "0.19 meters",
+    "closeness rank": 1
+   },
+   "laptop": {
+    "distance": "1.98 meters",
+    "closeness rank": 2
+   },
+   "monitor": {
+    "distance": "2.0 meters",
+    "closeness rank": 3
+   },
+   "chair": {
+    "distance": "1.11 meters",
+    "closeness rank": 4
+   },
+   "ceiling light": {
+    "distance": "1.39 meters",
+    "closeness rank": 5
+   },
+   "suitcase": {
+    "distance": "1.64 meters",
+    "closeness rank": 6
+   },
+   "keyboard": {
+    "distance": "2.12 meters",
+    "closeness rank": 7
+   },
+   "computer tower": {
+    "distance": "2.09 meters",
+    "closeness rank": 8
+   }
+  },
+  "chair": {
+   "keyboard": {
+    "distance": "1.16 meters",
+    "closeness rank": 1
+   },
+   "laptop": {
+    "distance": "1.65 meters",
+    "closeness rank": 2
+   },
+   "monitor": {
+    "distance": "1.47 meters",
+    "closeness rank": 3
+   },
+   "bookshelf": {
+    "distance": "0.47 meters",
+    "closeness rank": 4
+   },
+   "suitcase": {
+    "distance": "0.4 meters",
+    "closeness rank": 5
+   },
+   "computer tower": {
+    "distance": "0.43 meters",
+    "closeness rank": 6
+   },
+   "door": {
+    "distance": "1.11 meters",
+    "closeness rank": 7
+   },
+   "ceiling light": {
+    "distance": "1.53 meters",
+    "closeness rank": 8
+   }
+  },
+  "bookshelf": {
+   "suitcase": {
+    "distance": "1.22 meters",
+    "closeness rank": 1
+   },
+   "door": {
+    "distance": "0.19 meters",
+    "closeness rank": 2
+   },
+   "chair": {
+    "distance": "0.47 meters",
+    "closeness rank": 3
+   },
+   "ceiling light": {
+    "distance": "1.17 meters",
+    "closeness rank": 4
+   },
+   "monitor": {
+    "distance": "1.22 meters",
+    "closeness rank": 5
+   },
+   "laptop": {
+    "distance": "1.3 meters",
+    "closeness rank": 6
+   },
+   "computer tower": {
+    "distance": "1.57 meters",
+    "closeness rank": 7
+   },
+   "keyboard": {
+    "distance": "1.83 meters",
+    "closeness rank": 8
+   }
+  },
+  "computer tower": {
+   "keyboard": {
+    "distance": "0.73 meters",
+    "closeness rank": 1
+   },
+   "monitor": {
+    "distance": "1.26 meters",
+    "closeness rank": 2
+   },
+   "chair": {
+    "distance": "0.43 meters",
+    "closeness rank": 3
+   },
+   "laptop": {
+    "distance": "1.58 meters",
+    "closeness rank": 4
+   },
+   "suitcase": {
+    "distance": "1.54 meters",
+    "closeness rank": 5
+   },
+   "bookshelf": {
+    "distance": "1.57 meters",
+    "closeness rank": 6
+   },
+   "ceiling light": {
+    "distance": "2.02 meters",
+    "closeness rank": 7
+   },
+   "door": {
+    "distance": "2.09 meters",
+    "closeness rank": 8
+   }
+  },
+  "suitcase": {
+   "bookshelf": {
+    "distance": "1.22 meters",
+    "closeness rank": 1
+   },
+   "chair": {
+    "distance": "0.4 meters",
+    "closeness rank": 2
+   },
+   "monitor": {
+    "distance": "2.75 meters",
+    "closeness rank": 3
+   },
+   "computer tower": {
+    "distance": "1.54 meters",
+    "closeness rank": 4
+   },
+   "door": {
+    "distance": "1.64 meters",
+    "closeness rank": 5
+   },
+   "ceiling light": {
+    "distance": "2.44 meters",
+    "closeness rank": 6
+   },
+   "keyboard": {
+    "distance": "2.53 meters",
+    "closeness rank": 7
+   },
+   "laptop": {
+    "distance": "2.89 meters",
+    "closeness rank": 8
+   }
+  },
+  "laptop": {
+   "monitor": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "chair": {
+    "distance": "1.65 meters",
+    "closeness rank": 2
+   },
+   "keyboard": {
+    "distance": "0.62 meters",
+    "closeness rank": 3
+   },
+   "door": {
+    "distance": "1.98 meters",
+    "closeness rank": 4
+   },
+   "computer tower": {
+    "distance": "1.58 meters",
+    "closeness rank": 5
+   },
+   "bookshelf": {
+    "distance": "1.3 meters",
+    "closeness rank": 6
+   },
+   "ceiling light": {
+    "distance": "1.98 meters",
+    "closeness rank": 7
+   },
+   "suitcase": {
+    "distance": "2.89 meters",
+    "closeness rank": 8
+   }
+  },
+  "ceiling light": {
+   "bookshelf": {
+    "distance": "1.17 meters",
+    "closeness rank": 1
+   },
+   "door": {
+    "distance": "1.39 meters",
+    "closeness rank": 2
+   },
+   "monitor": {
+    "distance": "1.53 meters",
+    "closeness rank": 3
+   },
+   "chair": {
+    "distance": "1.53 meters",
+    "closeness rank": 4
+   },
+   "computer tower": {
+    "distance": "2.02 meters",
+    "closeness rank": 5
+   },
+   "keyboard": {
+    "distance": "1.82 meters",
+    "closeness rank": 6
+   },
+   "laptop": {
+    "distance": "1.98 meters",
+    "closeness rank": 7
+   },
+   "suitcase": {
+    "distance": "2.44 meters",
+    "closeness rank": 8
+   }
+  },
+  "keyboard": {
+   "chair": {
+    "distance": "1.16 meters",
+    "closeness rank": 1
+   },
+   "computer tower": {
+    "distance": "0.73 meters",
+    "closeness rank": 2
+   },
+   "monitor": {
+    "distance": "0.26 meters",
+    "closeness rank": 3
+   },
+   "laptop": {
+    "distance": "0.62 meters",
+    "closeness rank": 4
+   },
+   "door": {
+    "distance": "2.12 meters",
+    "closeness rank": 5
+   },
+   "ceiling light": {
+    "distance": "1.82 meters",
+    "closeness rank": 6
+   },
+   "bookshelf": {
+    "distance": "1.83 meters",
+    "closeness rank": 7
+   },
+   "suitcase": {
+    "distance": "2.53 meters",
+    "closeness rank": 8
+   }
+  }
+ },
+ "appearance order": ["monitor", "door", "chair", "bookshelf", "computer tower", "suitcase", "laptop", "ceiling light", "keyboard"]
+}
\ No newline at end of file
diff --git a/data/spatial codes/ground truth/explicit/d755b3d9d8.json b/data/spatial codes/ground truth/explicit/d755b3d9d8.json
new file mode 100644
index 0000000000000000000000000000000000000000..695175033db555bf7a01b8ab5355d42d1efadd1e
--- /dev/null
+++ b/data/spatial codes/ground truth/explicit/d755b3d9d8.json	
@@ -0,0 +1,1235 @@
+{
+ "spatial code schema": {
+  "objects": {
+   "<object class>": {
+    "count": {
+     "unit": null,
+     "description": "number of instances of this class in the compact spatial code (that schema's per-class oriented-box list length)"
+    },
+    "instances": [
+     {
+      "position": {
+       "x coordinate": {
+        "unit": "meters",
+        "description": "x coordinate of this instance's compact 3D oriented bounding box center"
+       },
+       "y coordinate": {
+        "unit": "meters",
+        "description": "y coordinate of this instance's compact 3D oriented bounding box center"
+       },
+       "height above floor": {
+        "unit": "meters",
+        "description": "height coordinate of this instance's compact 3D oriented bounding box center"
+       }
+      },
+      "longest dimension": {
+       "unit": "meters",
+       "description": "longest of this instance's compact 3D oriented bounding box dimensions"
+      }
+     }
+    ]
+   }
+  },
+  "room": {
+   "floor area": {
+    "unit": "square meters",
+    "description": "shoelace area of the compact spatial code's floor boundary polygons, with every interior hole subtracted"
+   }
+  },
+  "closest classes distance meters from": {
+   "<object class>": {
+    "<other object class>": {
+     "distance": {
+      "unit": "meters",
+      "description": "estimated distance in meters between an object of this class and an object of the other class"
+     },
+     "closeness rank": {
+      "unit": null,
+      "description": "1 = the nearest other class to this one, 2 = second-nearest, and so on; ranked by nearest-instance proximity, so use the rank (not the distance values) to compare which class is closest"
+     }
+    }
+   }
+  },
+  "appearance order": {
+   "unit": null,
+   "description": "class names ordered by earliest compact 'first visible time' across all of that class's instances"
+  }
+ },
+ "objects": {
+  "chair": {
+   "count": 3,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "2.25 meters",
+      "y coordinate": "2.65 meters",
+      "height above floor": "0.55 meters"
+     },
+     "longest dimension": "1.1 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "3.28 meters",
+      "y coordinate": "2.95 meters",
+      "height above floor": "0.51 meters"
+     },
+     "longest dimension": "1.01 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "3.95 meters",
+      "y coordinate": "1.4 meters",
+      "height above floor": "0.57 meters"
+     },
+     "longest dimension": "1.12 meters"
+    }
+   ]
+  },
+  "door": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "0.14 meters",
+      "y coordinate": "1.79 meters",
+      "height above floor": "1.0 meters"
+     },
+     "longest dimension": "1.99 meters"
+    }
+   ]
+  },
+  "table": {
+   "count": 3,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "4.02 meters",
+      "y coordinate": "0.72 meters",
+      "height above floor": "0.41 meters"
+     },
+     "longest dimension": "1.21 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "2.33 meters",
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+    "closeness rank": 11
+   },
+   "whiteboard": {
+    "distance": "3.55 meters",
+    "closeness rank": 12
+   },
+   "printer": {
+    "distance": "4.37 meters",
+    "closeness rank": 13
+   },
+   "door": {
+    "distance": "4.51 meters",
+    "closeness rank": 14
+   }
+  },
+  "plant": {
+   "monitor": {
+    "distance": "0.99 meters",
+    "closeness rank": 1
+   },
+   "table": {
+    "distance": "0.79 meters",
+    "closeness rank": 2
+   },
+   "keyboard": {
+    "distance": "1.88 meters",
+    "closeness rank": 3
+   },
+   "chair": {
+    "distance": "1.51 meters",
+    "closeness rank": 4
+   },
+   "computer mouse": {
+    "distance": "1.21 meters",
+    "closeness rank": 5
+   },
+   "heater": {
+    "distance": "0.15 meters",
+    "closeness rank": 6
+   },
+   "telephone": {
+    "distance": "0.44 meters",
+    "closeness rank": 7
+   },
+   "ceiling light": {
+    "distance": "1.24 meters",
+    "closeness rank": 8
+   },
+   "whiteboard": {
+    "distance": "2.41 meters",
+    "closeness rank": 9
+   },
+   "laptop": {
+    "distance": "0.65 meters",
+    "closeness rank": 10
+   },
+   "shoes": {
+    "distance": "0.75 meters",
+    "closeness rank": 11
+   },
+   "cup": {
+    "distance": "1.29 meters",
+    "closeness rank": 12
+   },
+   "printer": {
+    "distance": "3.5 meters",
+    "closeness rank": 13
+   },
+   "door": {
+    "distance": "2.98 meters",
+    "closeness rank": 14
+   }
+  },
+  "whiteboard": {
+   "printer": {
+    "distance": "0.28 meters",
+    "closeness rank": 1
+   },
+   "monitor": {
+    "distance": "3.11 meters",
+    "closeness rank": 2
+   },
+   "table": {
+    "distance": "2.85 meters",
+    "closeness rank": 3
+   },
+   "keyboard": {
+    "distance": "0.47 meters",
+    "closeness rank": 4
+   },
+   "chair": {
+    "distance": "0.54 meters",
+    "closeness rank": 5
+   },
+   "ceiling light": {
+    "distance": "0.58 meters",
+    "closeness rank": 6
+   },
+   "plant": {
+    "distance": "2.41 meters",
+    "closeness rank": 7
+   },
+   "computer mouse": {
+    "distance": "2.78 meters",
+    "closeness rank": 8
+   },
+   "door": {
+    "distance": "1.32 meters",
+    "closeness rank": 9
+   },
+   "laptop": {
+    "distance": "1.99 meters",
+    "closeness rank": 10
+   },
+   "heater": {
+    "distance": "2.64 meters",
+    "closeness rank": 11
+   },
+   "cup": {
+    "distance": "3.07 meters",
+    "closeness rank": 12
+   },
+   "shoes": {
+    "distance": "3.16 meters",
+    "closeness rank": 13
+   },
+   "telephone": {
+    "distance": "3.55 meters",
+    "closeness rank": 14
+   }
+  },
+  "keyboard": {
+   "chair": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "monitor": {
+    "distance": "2.67 meters",
+    "closeness rank": 2
+   },
+   "table": {
+    "distance": "2.28 meters",
+    "closeness rank": 3
+   },
+   "computer mouse": {
+    "distance": "2.31 meters",
+    "closeness rank": 4
+   },
+   "plant": {
+    "distance": "1.88 meters",
+    "closeness rank": 5
+   },
+   "laptop": {
+    "distance": "1.2 meters",
+    "closeness rank": 6
+   },
+   "whiteboard": {
+    "distance": "0.47 meters",
+    "closeness rank": 7
+   },
+   "heater": {
+    "distance": "1.42 meters",
+    "closeness rank": 8
+   },
+   "printer": {
+    "distance": "1.59 meters",
+    "closeness rank": 9
+   },
+   "shoes": {
+    "distance": "2.34 meters",
+    "closeness rank": 10
+   },
+   "ceiling light": {
+    "distance": "1.73 meters",
+    "closeness rank": 11
+   },
+   "door": {
+    "distance": "2.16 meters",
+    "closeness rank": 12
+   },
+   "telephone": {
+    "distance": "2.91 meters",
+    "closeness rank": 13
+   },
+   "cup": {
+    "distance": "2.45 meters",
+    "closeness rank": 14
+   }
+  },
+  "laptop": {
+   "table": {
+    "distance": "1.56 meters",
+    "closeness rank": 1
+   },
+   "computer mouse": {
+    "distance": "1.85 meters",
+    "closeness rank": 2
+   },
+   "chair": {
+    "distance": "1.01 meters",
+    "closeness rank": 3
+   },
+   "monitor": {
+    "distance": "2.01 meters",
+    "closeness rank": 4
+   },
+   "keyboard": {
+    "distance": "1.2 meters",
+    "closeness rank": 5
+   },
+   "heater": {
+    "distance": "0.36 meters",
+    "closeness rank": 6
+   },
+   "plant": {
+    "distance": "0.65 meters",
+    "closeness rank": 7
+   },
+   "shoes": {
+    "distance": "1.13 meters",
+    "closeness rank": 8
+   },
+   "telephone": {
+    "distance": "1.73 meters",
+    "closeness rank": 9
+   },
+   "ceiling light": {
+    "distance": "1.71 meters",
+    "closeness rank": 10
+   },
+   "whiteboard": {
+    "distance": "1.99 meters",
+    "closeness rank": 11
+   },
+   "cup": {
+    "distance": "2.0 meters",
+    "closeness rank": 12
+   },
+   "printer": {
+    "distance": "3.15 meters",
+    "closeness rank": 13
+   },
+   "door": {
+    "distance": "3.62 meters",
+    "closeness rank": 14
+   }
+  }
+ },
+ "appearance order": ["printer", "table", "heater", "door", "cup", "computer mouse", "chair", "ceiling light", "shoes", "monitor", "telephone", "plant", "whiteboard", "keyboard", "laptop"]
+}
\ No newline at end of file
diff --git a/data/spatial codes/ground truth/explicit/e398684d27.json b/data/spatial codes/ground truth/explicit/e398684d27.json
new file mode 100644
index 0000000000000000000000000000000000000000..8dd0d810b199bc1fe0402bfed0f28b87f2b2ee83
--- /dev/null
+++ b/data/spatial codes/ground truth/explicit/e398684d27.json	
@@ -0,0 +1,135 @@
+{
+ "spatial code schema": {
+  "objects": {
+   "<object class>": {
+    "count": {
+     "unit": null,
+     "description": "number of instances of this class in the compact spatial code (that schema's per-class oriented-box list length)"
+    },
+    "instances": [
+     {
+      "position": {
+       "x coordinate": {
+        "unit": "meters",
+        "description": "x coordinate of this instance's compact 3D oriented bounding box center"
+       },
+       "y coordinate": {
+        "unit": "meters",
+        "description": "y coordinate of this instance's compact 3D oriented bounding box center"
+       },
+       "height above floor": {
+        "unit": "meters",
+        "description": "height coordinate of this instance's compact 3D oriented bounding box center"
+       }
+      },
+      "longest dimension": {
+       "unit": "meters",
+       "description": "longest of this instance's compact 3D oriented bounding box dimensions"
+      }
+     }
+    ]
+   }
+  },
+  "room": {
+   "floor area": {
+    "unit": "square meters",
+    "description": "shoelace area of the compact spatial code's floor boundary polygons, with every interior hole subtracted"
+   }
+  },
+  "closest classes distance meters from": {
+   "<object class>": {
+    "<other object class>": {
+     "distance": {
+      "unit": "meters",
+      "description": "estimated distance in meters between an object of this class and an object of the other class"
+     },
+     "closeness rank": {
+      "unit": null,
+      "description": "1 = the nearest other class to this one, 2 = second-nearest, and so on; ranked by nearest-instance proximity, so use the rank (not the distance values) to compare which class is closest"
+     }
+    }
+   }
+  },
+  "appearance order": {
+   "unit": null,
+   "description": "class names ordered by earliest compact 'first visible time' across all of that class's instances"
+  }
+ },
+ "objects": {
+  "ceiling light": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "1.78 meters",
+      "y coordinate": "1.36 meters",
+      "height above floor": "3.49 meters"
+     },
+     "longest dimension": "1.28 meters"
+    }
+   ]
+  },
+  "door": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "0.37 meters",
+      "y coordinate": "0.75 meters",
+      "height above floor": "1.05 meters"
+     },
+     "longest dimension": "2.1 meters"
+    }
+   ]
+  },
+  "monitor": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "0.41 meters",
+      "y coordinate": "2.21 meters",
+      "height above floor": "2.26 meters"
+     },
+     "longest dimension": "0.53 meters"
+    }
+   ]
+  }
+ },
+ "room": {
+  "floor area": "8.3 square meters"
+ },
+ "closest classes distance meters from": {
+  "ceiling light": {
+   "monitor": {
+    "distance": "1.38 meters",
+    "closeness rank": 1
+   },
+   "door": {
+    "distance": "1.51 meters",
+    "closeness rank": 2
+   }
+  },
+  "door": {
+   "monitor": {
+    "distance": "0.92 meters",
+    "closeness rank": 1
+   },
+   "ceiling light": {
+    "distance": "1.51 meters",
+    "closeness rank": 2
+   }
+  },
+  "monitor": {
+   "door": {
+    "distance": "0.92 meters",
+    "closeness rank": 1
+   },
+   "ceiling light": {
+    "distance": "1.38 meters",
+    "closeness rank": 2
+   }
+  }
+ },
+ "appearance order": ["ceiling light", "door", "monitor"]
+}
\ No newline at end of file
diff --git a/data/spatial codes/ground truth/explicit/e7af285f7d.json b/data/spatial codes/ground truth/explicit/e7af285f7d.json
new file mode 100644
index 0000000000000000000000000000000000000000..e4b7cadc6468f0f1c7fc50b1e17b6c9b64ca52fb
--- /dev/null
+++ b/data/spatial codes/ground truth/explicit/e7af285f7d.json	
@@ -0,0 +1,112 @@
+{
+ "spatial code schema": {
+  "objects": {
+   "<object class>": {
+    "count": {
+     "unit": null,
+     "description": "number of instances of this class in the compact spatial code (that schema's per-class oriented-box list length)"
+    },
+    "instances": [
+     {
+      "position": {
+       "x coordinate": {
+        "unit": "meters",
+        "description": "x coordinate of this instance's compact 3D oriented bounding box center"
+       },
+       "y coordinate": {
+        "unit": "meters",
+        "description": "y coordinate of this instance's compact 3D oriented bounding box center"
+       },
+       "height above floor": {
+        "unit": "meters",
+        "description": "height coordinate of this instance's compact 3D oriented bounding box center"
+       }
+      },
+      "longest dimension": {
+       "unit": "meters",
+       "description": "longest of this instance's compact 3D oriented bounding box dimensions"
+      }
+     }
+    ]
+   }
+  },
+  "room": {
+   "floor area": {
+    "unit": "square meters",
+    "description": "shoelace area of the compact spatial code's floor boundary polygons, with every interior hole subtracted"
+   }
+  },
+  "closest classes distance meters from": {
+   "<object class>": {
+    "<other object class>": {
+     "distance": {
+      "unit": "meters",
+      "description": "estimated distance in meters between an object of this class and an object of the other class"
+     },
+     "closeness rank": {
+      "unit": null,
+      "description": "1 = the nearest other class to this one, 2 = second-nearest, and so on; ranked by nearest-instance proximity, so use the rank (not the distance values) to compare which class is closest"
+     }
+    }
+   }
+  },
+  "appearance order": {
+   "unit": null,
+   "description": "class names ordered by earliest compact 'first visible time' across all of that class's instances"
+  }
+ },
+ "objects": {
+  "door": {
+   "count": 2,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "3.59 meters",
+      "y coordinate": "0.45 meters",
+      "height above floor": "1.03 meters"
+     },
+     "longest dimension": "2.07 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "4.44 meters",
+      "y coordinate": "0.88 meters",
+      "height above floor": "1.1 meters"
+     },
+     "longest dimension": "2.2 meters"
+    }
+   ]
+  },
+  "heater": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "2.31 meters",
+      "y coordinate": "0.81 meters",
+      "height above floor": "1.03 meters"
+     },
+     "longest dimension": "1.16 meters"
+    }
+   ]
+  }
+ },
+ "room": {
+  "floor area": "14.4 square meters"
+ },
+ "closest classes distance meters from": {
+  "door": {
+   "heater": {
+    "distance": "0.68 meters",
+    "closeness rank": 1
+   }
+  },
+  "heater": {
+   "door": {
+    "distance": "0.68 meters",
+    "closeness rank": 1
+   }
+  }
+ },
+ "appearance order": ["door", "heater"]
+}
\ No newline at end of file
diff --git a/data/spatial codes/ground truth/explicit/f2dc06b1d2.json b/data/spatial codes/ground truth/explicit/f2dc06b1d2.json
new file mode 100644
index 0000000000000000000000000000000000000000..a5467530ae6fb263118546bdaed1b7503526ec50
--- /dev/null
+++ b/data/spatial codes/ground truth/explicit/f2dc06b1d2.json	
@@ -0,0 +1,135 @@
+{
+ "spatial code schema": {
+  "objects": {
+   "<object class>": {
+    "count": {
+     "unit": null,
+     "description": "number of instances of this class in the compact spatial code (that schema's per-class oriented-box list length)"
+    },
+    "instances": [
+     {
+      "position": {
+       "x coordinate": {
+        "unit": "meters",
+        "description": "x coordinate of this instance's compact 3D oriented bounding box center"
+       },
+       "y coordinate": {
+        "unit": "meters",
+        "description": "y coordinate of this instance's compact 3D oriented bounding box center"
+       },
+       "height above floor": {
+        "unit": "meters",
+        "description": "height coordinate of this instance's compact 3D oriented bounding box center"
+       }
+      },
+      "longest dimension": {
+       "unit": "meters",
+       "description": "longest of this instance's compact 3D oriented bounding box dimensions"
+      }
+     }
+    ]
+   }
+  },
+  "room": {
+   "floor area": {
+    "unit": "square meters",
+    "description": "shoelace area of the compact spatial code's floor boundary polygons, with every interior hole subtracted"
+   }
+  },
+  "closest classes distance meters from": {
+   "<object class>": {
+    "<other object class>": {
+     "distance": {
+      "unit": "meters",
+      "description": "estimated distance in meters between an object of this class and an object of the other class"
+     },
+     "closeness rank": {
+      "unit": null,
+      "description": "1 = the nearest other class to this one, 2 = second-nearest, and so on; ranked by nearest-instance proximity, so use the rank (not the distance values) to compare which class is closest"
+     }
+    }
+   }
+  },
+  "appearance order": {
+   "unit": null,
+   "description": "class names ordered by earliest compact 'first visible time' across all of that class's instances"
+  }
+ },
+ "objects": {
+  "chair": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "0.42 meters",
+      "y coordinate": "0.97 meters",
+      "height above floor": "0.46 meters"
+     },
+     "longest dimension": "0.91 meters"
+    }
+   ]
+  },
+  "door": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "1.44 meters",
+      "y coordinate": "0.1 meters",
+      "height above floor": "1.06 meters"
+     },
+     "longest dimension": "2.12 meters"
+    }
+   ]
+  },
+  "table": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "3.07 meters",
+      "y coordinate": "1.06 meters",
+      "height above floor": "0.43 meters"
+     },
+     "longest dimension": "1.63 meters"
+    }
+   ]
+  }
+ },
+ "room": {
+  "floor area": "6.4 square meters"
+ },
+ "closest classes distance meters from": {
+  "chair": {
+   "door": {
+    "distance": "0.52 meters",
+    "closeness rank": 1
+   },
+   "table": {
+    "distance": "1.84 meters",
+    "closeness rank": 2
+   }
+  },
+  "door": {
+   "chair": {
+    "distance": "0.52 meters",
+    "closeness rank": 1
+   },
+   "table": {
+    "distance": "0.67 meters",
+    "closeness rank": 2
+   }
+  },
+  "table": {
+   "door": {
+    "distance": "0.67 meters",
+    "closeness rank": 1
+   },
+   "chair": {
+    "distance": "1.84 meters",
+    "closeness rank": 2
+   }
+  }
+ },
+ "appearance order": ["chair", "door", "table"]
+}
\ No newline at end of file
diff --git a/data/spatial codes/ground truth/explicit/f3685d06a9.json b/data/spatial codes/ground truth/explicit/f3685d06a9.json
new file mode 100644
index 0000000000000000000000000000000000000000..89e94fbd1c750b91099c601770ae10c7fcd4f3b2
--- /dev/null
+++ b/data/spatial codes/ground truth/explicit/f3685d06a9.json	
@@ -0,0 +1,128 @@
+{
+ "spatial code schema": {
+  "objects": {
+   "<object class>": {
+    "count": {
+     "unit": null,
+     "description": "number of instances of this class in the compact spatial code (that schema's per-class oriented-box list length)"
+    },
+    "instances": [
+     {
+      "position": {
+       "x coordinate": {
+        "unit": "meters",
+        "description": "x coordinate of this instance's compact 3D oriented bounding box center"
+       },
+       "y coordinate": {
+        "unit": "meters",
+        "description": "y coordinate of this instance's compact 3D oriented bounding box center"
+       },
+       "height above floor": {
+        "unit": "meters",
+        "description": "height coordinate of this instance's compact 3D oriented bounding box center"
+       }
+      },
+      "longest dimension": {
+       "unit": "meters",
+       "description": "longest of this instance's compact 3D oriented bounding box dimensions"
+      }
+     }
+    ]
+   }
+  },
+  "room": {
+   "floor area": {
+    "unit": "square meters",
+    "description": "shoelace area of the compact spatial code's floor boundary polygons, with every interior hole subtracted"
+   }
+  },
+  "closest classes distance meters from": {
+   "<object class>": {
+    "<other object class>": {
+     "distance": {
+      "unit": "meters",
+      "description": "estimated distance in meters between an object of this class and an object of the other class"
+     },
+     "closeness rank": {
+      "unit": null,
+      "description": "1 = the nearest other class to this one, 2 = second-nearest, and so on; ranked by nearest-instance proximity, so use the rank (not the distance values) to compare which class is closest"
+     }
+    }
+   }
+  },
+  "appearance order": {
+   "unit": null,
+   "description": "class names ordered by earliest compact 'first visible time' across all of that class's instances"
+  }
+ },
+ "objects": {
+  "toilet": {
+   "count": 2,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "2.37 meters",
+      "y coordinate": "0.68 meters",
+      "height above floor": "0.32 meters"
+     },
+     "longest dimension": "0.58 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "2.75 meters",
+      "y coordinate": "1.69 meters",
+      "height above floor": "0.48 meters"
+     },
+     "longest dimension": "0.75 meters"
+    }
+   ]
+  },
+  "door": {
+   "count": 3,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "1.12 meters",
+      "y coordinate": "2.67 meters",
+      "height above floor": "1.13 meters"
+     },
+     "longest dimension": "2.13 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "1.84 meters",
+      "y coordinate": "1.46 meters",
+      "height above floor": "1.04 meters"
+     },
+     "longest dimension": "1.98 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "1.74 meters",
+      "y coordinate": "1.17 meters",
+      "height above floor": "1.04 meters"
+     },
+     "longest dimension": "1.98 meters"
+    }
+   ]
+  }
+ },
+ "room": {
+  "floor area": "6.2 square meters"
+ },
+ "closest classes distance meters from": {
+  "toilet": {
+   "door": {
+    "distance": "1.13 meters",
+    "closeness rank": 1
+   }
+  },
+  "door": {
+   "toilet": {
+    "distance": "1.13 meters",
+    "closeness rank": 1
+   }
+  }
+ },
+ "appearance order": ["toilet", "door"]
+}
\ No newline at end of file
diff --git a/data/spatial codes/ground truth/explicit/f3d64c30f8.json b/data/spatial codes/ground truth/explicit/f3d64c30f8.json
new file mode 100644
index 0000000000000000000000000000000000000000..db1fe82123f5a6462fd1a0249cb203903f8b9c2a
--- /dev/null
+++ b/data/spatial codes/ground truth/explicit/f3d64c30f8.json	
@@ -0,0 +1,1546 @@
+{
+ "spatial code schema": {
+  "objects": {
+   "<object class>": {
+    "count": {
+     "unit": null,
+     "description": "number of instances of this class in the compact spatial code (that schema's per-class oriented-box list length)"
+    },
+    "instances": [
+     {
+      "position": {
+       "x coordinate": {
+        "unit": "meters",
+        "description": "x coordinate of this instance's compact 3D oriented bounding box center"
+       },
+       "y coordinate": {
+        "unit": "meters",
+        "description": "y coordinate of this instance's compact 3D oriented bounding box center"
+       },
+       "height above floor": {
+        "unit": "meters",
+        "description": "height coordinate of this instance's compact 3D oriented bounding box center"
+       }
+      },
+      "longest dimension": {
+       "unit": "meters",
+       "description": "longest of this instance's compact 3D oriented bounding box dimensions"
+      }
+     }
+    ]
+   }
+  },
+  "room": {
+   "floor area": {
+    "unit": "square meters",
+    "description": "shoelace area of the compact spatial code's floor boundary polygons, with every interior hole subtracted"
+   }
+  },
+  "closest classes distance meters from": {
+   "<object class>": {
+    "<other object class>": {
+     "distance": {
+      "unit": "meters",
+      "description": "estimated distance in meters between an object of this class and an object of the other class"
+     },
+     "closeness rank": {
+      "unit": null,
+      "description": "1 = the nearest other class to this one, 2 = second-nearest, and so on; ranked by nearest-instance proximity, so use the rank (not the distance values) to compare which class is closest"
+     }
+    }
+   }
+  },
+  "appearance order": {
+   "unit": null,
+   "description": "class names ordered by earliest compact 'first visible time' across all of that class's instances"
+  }
+ },
+ "objects": {
+  "crate": {
+   "count": 9,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "2.76 meters",
+      "y coordinate": "0.46 meters",
+      "height above floor": "0.65 meters"
+     },
+     "longest dimension": "0.69 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "4.76 meters",
+      "y coordinate": "0.63 meters",
+      "height above floor": "0.21 meters"
+     },
+     "longest dimension": "0.4 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "4.51 meters",
+      "y coordinate": "0.56 meters",
+      "height above floor": "0.23 meters"
+     },
+     "longest dimension": "0.35 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "3.74 meters",
+      "y coordinate": "0.56 meters",
+      "height above floor": "0.2 meters"
+     },
+     "longest dimension": "0.4 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "3.35 meters",
+      "y coordinate": "0.52 meters",
+      "height above floor": "0.21 meters"
+     },
+     "longest dimension": "0.41 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "2.92 meters",
+      "y coordinate": "0.49 meters",
+      "height above floor": "0.2 meters"
+     },
+     "longest dimension": "0.41 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "2.35 meters",
+      "y coordinate": "0.47 meters",
+      "height above floor": "0.21 meters"
+     },
+     "longest dimension": "0.39 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "2.35 meters",
+      "y coordinate": "0.47 meters",
+      "height above floor": "0.46 meters"
+     },
+     "longest dimension": "0.42 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "3.73 meters",
+      "y coordinate": "4.4 meters",
+      "height above floor": "0.24 meters"
+     },
+     "longest dimension": "0.39 meters"
+    }
+   ]
+  },
+  "chair": {
+   "count": 17,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "1.0 meters",
+      "y coordinate": "2.12 meters",
+      "height above floor": "0.78 meters"
+     },
+     "longest dimension": "0.46 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "1.65 meters",
+      "y coordinate": "1.56 meters",
+      "height above floor": "0.64 meters"
+     },
+     "longest dimension": "0.54 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "2.26 meters",
+      "y coordinate": "1.51 meters",
+      "height above floor": "0.62 meters"
+     },
+     "longest dimension": "0.52 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "2.11 meters",
+      "y coordinate": "3.16 meters",
+      "height above floor": "0.59 meters"
+     },
+     "longest dimension": "0.68 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "4.02 meters",
+      "y coordinate": "1.74 meters",
+      "height above floor": "0.65 meters"
+     },
+     "longest dimension": "0.55 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "3.52 meters",
+      "y coordinate": "1.64 meters",
+      "height above floor": "0.49 meters"
+     },
+     "longest dimension": "0.73 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "2.83 meters",
+      "y coordinate": "1.54 meters",
+      "height above floor": "0.67 meters"
+     },
+     "longest dimension": "0.56 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "4.19 meters",
+      "y coordinate": "4.44 meters",
+      "height above floor": "0.59 meters"
+     },
+     "longest dimension": "0.69 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "1.64 meters",
+      "y coordinate": "3.07 meters",
+      "height above floor": "0.62 meters"
+     },
+     "longest dimension": "0.63 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "3.45 meters",
+      "y coordinate": "3.15 meters",
+      "height above floor": "0.67 meters"
+     },
+     "longest dimension": "0.56 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "2.82 meters",
+      "y coordinate": "3.21 meters",
+      "height above floor": "0.59 meters"
+     },
+     "longest dimension": "0.66 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "1.69 meters",
+      "y coordinate": "0.5 meters",
+      "height above floor": "0.55 meters"
+     },
+     "longest dimension": "0.79 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "4.42 meters",
+      "y coordinate": "2.53 meters",
+      "height above floor": "0.66 meters"
+     },
+     "longest dimension": "0.54 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "4.04 meters",
+      "y coordinate": "3.23 meters",
+      "height above floor": "0.53 meters"
+     },
+     "longest dimension": "0.67 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "0.73 meters",
+      "y coordinate": "3.36 meters",
+      "height above floor": "0.66 meters"
+     },
+     "longest dimension": "0.7 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "0.73 meters",
+      "y coordinate": "3.34 meters",
+      "height above floor": "0.66 meters"
+     },
+     "longest dimension": "0.7 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "0.69 meters",
+      "y coordinate": "3.28 meters",
+      "height above floor": "0.6 meters"
+     },
+     "longest dimension": "0.7 meters"
+    }
+   ]
+  },
+  "table": {
+   "count": 7,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "2.68 meters",
+      "y coordinate": "2.33 meters",
+      "height above floor": "0.83 meters"
+     },
+     "longest dimension": "3.34 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "4.55 meters",
+      "y coordinate": "4.57 meters",
+      "height above floor": "0.93 meters"
+     },
+     "longest dimension": "0.96 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "4.52 meters",
+      "y coordinate": "4.48 meters",
+      "height above floor": "0.92 meters"
+     },
+     "longest dimension": "0.91 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "4.62 meters",
+      "y coordinate": "4.4 meters",
+      "height above floor": "0.72 meters"
+     },
+     "longest dimension": "1.2 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "4.67 meters",
+      "y coordinate": "4.35 meters",
+      "height above floor": "0.69 meters"
+     },
+     "longest dimension": "1.31 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "4.77 meters",
+      "y coordinate": "4.34 meters",
+      "height above floor": "0.71 meters"
+     },
+     "longest dimension": "1.24 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "4.54 meters",
+      "y coordinate": "4.54 meters",
+      "height above floor": "0.92 meters"
+     },
+     "longest dimension": "0.93 meters"
+    }
+   ]
+  },
+  "door": {
+   "count": 2,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "5.47 meters",
+      "y coordinate": "1.73 meters",
+      "height above floor": "1.12 meters"
+     },
+     "longest dimension": "2.11 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "4.11 meters",
+      "y coordinate": "4.65 meters",
+      "height above floor": "1.13 meters"
+     },
+     "longest dimension": "2.09 meters"
+    }
+   ]
+  },
+  "bookshelf": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "2.56 meters",
+      "y coordinate": "4.29 meters",
+      "height above floor": "0.49 meters"
+     },
+     "longest dimension": "0.83 meters"
+    }
+   ]
+  },
+  "ceiling light": {
+   "count": 2,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "4.13 meters",
+      "y coordinate": "2.57 meters",
+      "height above floor": "2.66 meters"
+     },
+     "longest dimension": "3.08 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "1.05 meters",
+      "y coordinate": "2.36 meters",
+      "height above floor": "2.7 meters"
+     },
+     "longest dimension": "3.08 meters"
+    }
+   ]
+  },
+  "power strip": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "5.27 meters",
+      "y coordinate": "3.01 meters",
+      "height above floor": "0.1 meters"
+     },
+     "longest dimension": "0.33 meters"
+    }
+   ]
+  },
+  "heater": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "0.16 meters",
+      "y coordinate": "1.91 meters",
+      "height above floor": "0.43 meters"
+     },
+     "longest dimension": "1.45 meters"
+    }
+   ]
+  },
+  "trash can": {
+   "count": 3,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "0.43 meters",
+      "y coordinate": "1.65 meters",
+      "height above floor": "0.26 meters"
+     },
+     "longest dimension": "0.36 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "0.44 meters",
+      "y coordinate": "1.97 meters",
+      "height above floor": "0.26 meters"
+     },
+     "longest dimension": "0.36 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "0.34 meters",
+      "y coordinate": "2.24 meters",
+      "height above floor": "0.25 meters"
+     },
+     "longest dimension": "0.33 meters"
+    }
+   ]
+  },
+  "clock": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "4.81 meters",
+      "y coordinate": "4.66 meters",
+      "height above floor": "1.79 meters"
+     },
+     "longest dimension": "0.3 meters"
+    }
+   ]
+  },
+  "whiteboard": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "2.41 meters",
+      "y coordinate": "4.55 meters",
+      "height above floor": "1.65 meters"
+     },
+     "longest dimension": "2.02 meters"
+    }
+   ]
+  },
+  "microwave": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "1.69 meters",
+      "y coordinate": "4.17 meters",
+      "height above floor": "1.05 meters"
+     },
+     "longest dimension": "0.62 meters"
+    }
+   ]
+  },
+  "cup": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "1.78 meters",
+      "y coordinate": "4.19 meters",
+      "height above floor": "1.21 meters"
+     },
+     "longest dimension": "0.13 meters"
+    }
+   ]
+  },
+  "bucket": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "3.06 meters",
+      "y coordinate": "4.38 meters",
+      "height above floor": "0.18 meters"
+     },
+     "longest dimension": "0.23 meters"
+    }
+   ]
+  },
+  "bowl": {
+   "count": 2,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "2.37 meters",
+      "y coordinate": "4.18 meters",
+      "height above floor": "0.56 meters"
+     },
+     "longest dimension": "0.13 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "2.36 meters",
+      "y coordinate": "4.22 meters",
+      "height above floor": "0.61 meters"
+     },
+     "longest dimension": "0.17 meters"
+    }
+   ]
+  },
+  "plant": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "2.2 meters",
+      "y coordinate": "2.38 meters",
+      "height above floor": "0.97 meters"
+     },
+     "longest dimension": "0.19 meters"
+    }
+   ]
+  }
+ },
+ "room": {
+  "floor area": "23.0 square meters"
+ },
+ "closest classes distance meters from": {
+  "crate": {
+   "door": {
+    "distance": "1.63 meters",
+    "closeness rank": 1
+   },
+   "chair": {
+    "distance": "1.85 meters",
+    "closeness rank": 2
+   },
+   "table": {
+    "distance": "0.35 meters",
+    "closeness rank": 3
+   },
+   "bucket": {
+    "distance": "3.5 meters",
+    "closeness rank": 4
+   },
+   "bookshelf": {
+    "distance": "3.08 meters",
+    "closeness rank": 5
+   },
+   "whiteboard": {
+    "distance": "2.87 meters",
+    "closeness rank": 6
+   },
+   "bowl": {
+    "distance": "3.33 meters",
+    "closeness rank": 7
+   },
+   "clock": {
+    "distance": "4.32 meters",
+    "closeness rank": 8
+   },
+   "microwave": {
+    "distance": "3.23 meters",
+    "closeness rank": 9
+   },
+   "plant": {
+    "distance": "1.61 meters",
+    "closeness rank": 10
+   },
+   "power strip": {
+    "distance": "3.11 meters",
+    "closeness rank": 11
+   },
+   "trash can": {
+    "distance": "2.12 meters",
+    "closeness rank": 12
+   },
+   "cup": {
+    "distance": "3.49 meters",
+    "closeness rank": 13
+   },
+   "ceiling light": {
+    "distance": "1.89 meters",
+    "closeness rank": 14
+   },
+   "heater": {
+    "distance": "1.95 meters",
+    "closeness rank": 15
+   }
+  },
+  "chair": {
+   "door": {
+    "distance": "3.21 meters",
+    "closeness rank": 1
+   },
+   "table": {
+    "distance": "0.0 meters",
+    "closeness rank": 2
+   },
+   "crate": {
+    "distance": "1.85 meters",
+    "closeness rank": 3
+   },
+   "heater": {
+    "distance": "0.42 meters",
+    "closeness rank": 4
+   },
+   "trash can": {
+    "distance": "0.49 meters",
+    "closeness rank": 5
+   },
+   "microwave": {
+    "distance": "1.64 meters",
+    "closeness rank": 6
+   },
+   "bookshelf": {
+    "distance": "2.04 meters",
+    "closeness rank": 7
+   },
+   "plant": {
+    "distance": "0.92 meters",
+    "closeness rank": 8
+   },
+   "whiteboard": {
+    "distance": "1.7 meters",
+    "closeness rank": 9
+   },
+   "bowl": {
+    "distance": "2.19 meters",
+    "closeness rank": 10
+   },
+   "power strip": {
+    "distance": "4.02 meters",
+    "closeness rank": 11
+   },
+   "clock": {
+    "distance": "4.31 meters",
+    "closeness rank": 12
+   },
+   "bucket": {
+    "distance": "2.77 meters",
+    "closeness rank": 13
+   },
+   "cup": {
+    "distance": "1.96 meters",
+    "closeness rank": 14
+   },
+   "ceiling light": {
+    "distance": "1.91 meters",
+    "closeness rank": 15
+   }
+  },
+  "table": {
+   "chair": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "door": {
+    "distance": "0.14 meters",
+    "closeness rank": 2
+   },
+   "plant": {
+    "distance": "0.0 meters",
+    "closeness rank": 3
+   },
+   "clock": {
+    "distance": "1.48 meters",
+    "closeness rank": 4
+   },
+   "crate": {
+    "distance": "0.35 meters",
+    "closeness rank": 5
+   },
+   "trash can": {
+    "distance": "0.57 meters",
+    "closeness rank": 6
+   },
+   "whiteboard": {
+    "distance": "0.73 meters",
+    "closeness rank": 7
+   },
+   "heater": {
+    "distance": "0.79 meters",
+    "closeness rank": 8
+   },
+   "microwave": {
+    "distance": "0.91 meters",
+    "closeness rank": 9
+   },
+   "power strip": {
+    "distance": "0.94 meters",
+    "closeness rank": 10
+   },
+   "bookshelf": {
+    "distance": "1.04 meters",
+    "closeness rank": 11
+   },
+   "bucket": {
+    "distance": "1.1 meters",
+    "closeness rank": 12
+   },
+   "bowl": {
+    "distance": "1.1 meters",
+    "closeness rank": 13
+   },
+   "cup": {
+    "distance": "1.17 meters",
+    "closeness rank": 14
+   },
+   "ceiling light": {
+    "distance": "1.24 meters",
+    "closeness rank": 15
+   }
+  },
+  "door": {
+   "chair": {
+    "distance": "3.21 meters",
+    "closeness rank": 1
+   },
+   "table": {
+    "distance": "0.14 meters",
+    "closeness rank": 2
+   },
+   "crate": {
+    "distance": "1.63 meters",
+    "closeness rank": 3
+   },
+   "clock": {
+    "distance": "1.87 meters",
+    "closeness rank": 4
+   },
+   "whiteboard": {
+    "distance": "2.13 meters",
+    "closeness rank": 5
+   },
+   "bucket": {
+    "distance": "2.53 meters",
+    "closeness rank": 6
+   },
+   "power strip": {
+    "distance": "0.62 meters",
+    "closeness rank": 7
+   },
+   "ceiling light": {
+    "distance": "0.64 meters",
+    "closeness rank": 8
+   },
+   "bookshelf": {
+    "distance": "2.46 meters",
+    "closeness rank": 9
+   },
+   "bowl": {
+    "distance": "2.87 meters",
+    "closeness rank": 10
+   },
+   "microwave": {
+    "distance": "3.13 meters",
+    "closeness rank": 11
+   },
+   "cup": {
+    "distance": "3.32 meters",
+    "closeness rank": 12
+   },
+   "plant": {
+    "distance": "2.52 meters",
+    "closeness rank": 13
+   },
+   "trash can": {
+    "distance": "3.88 meters",
+    "closeness rank": 14
+   },
+   "heater": {
+    "distance": "3.95 meters",
+    "closeness rank": 15
+   }
+  },
+  "bookshelf": {
+   "bowl": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "bucket": {
+    "distance": "0.07 meters",
+    "closeness rank": 2
+   },
+   "microwave": {
+    "distance": "0.32 meters",
+    "closeness rank": 3
+   },
+   "whiteboard": {
+    "distance": "0.14 meters",
+    "closeness rank": 4
+   },
+   "cup": {
+    "distance": "0.59 meters",
+    "closeness rank": 5
+   },
+   "chair": {
+    "distance": "2.04 meters",
+    "closeness rank": 6
+   },
+   "crate": {
+    "distance": "3.08 meters",
+    "closeness rank": 7
+   },
+   "door": {
+    "distance": "2.46 meters",
+    "closeness rank": 8
+   },
+   "table": {
+    "distance": "1.04 meters",
+    "closeness rank": 9
+   },
+   "plant": {
+    "distance": "1.54 meters",
+    "closeness rank": 10
+   },
+   "clock": {
+    "distance": "2.06 meters",
+    "closeness rank": 11
+   },
+   "ceiling light": {
+    "distance": "1.9 meters",
+    "closeness rank": 12
+   },
+   "trash can": {
+    "distance": "2.8 meters",
+    "closeness rank": 13
+   },
+   "power strip": {
+    "distance": "2.44 meters",
+    "closeness rank": 14
+   },
+   "heater": {
+    "distance": "2.44 meters",
+    "closeness rank": 15
+   }
+  },
+  "ceiling light": {
+   "door": {
+    "distance": "0.64 meters",
+    "closeness rank": 1
+   },
+   "whiteboard": {
+    "distance": "0.73 meters",
+    "closeness rank": 2
+   },
+   "clock": {
+    "distance": "0.91 meters",
+    "closeness rank": 3
+   },
+   "table": {
+    "distance": "1.24 meters",
+    "closeness rank": 4
+   },
+   "microwave": {
+    "distance": "1.48 meters",
+    "closeness rank": 5
+   },
+   "cup": {
+    "distance": "1.6 meters",
+    "closeness rank": 6
+   },
+   "chair": {
+    "distance": "1.91 meters",
+    "closeness rank": 7
+   },
+   "plant": {
+    "distance": "1.81 meters",
+    "closeness rank": 8
+   },
+   "crate": {
+    "distance": "1.89 meters",
+    "closeness rank": 9
+   },
+   "bookshelf": {
+    "distance": "1.9 meters",
+    "closeness rank": 10
+   },
+   "heater": {
+    "distance": "2.34 meters",
+    "closeness rank": 11
+   },
+   "trash can": {
+    "distance": "2.79 meters",
+    "closeness rank": 12
+   },
+   "bowl": {
+    "distance": "2.29 meters",
+    "closeness rank": 13
+   },
+   "bucket": {
+    "distance": "2.4 meters",
+    "closeness rank": 14
+   },
+   "power strip": {
+    "distance": "2.6 meters",
+    "closeness rank": 15
+   }
+  },
+  "power strip": {
+   "door": {
+    "distance": "0.62 meters",
+    "closeness rank": 1
+   },
+   "chair": {
+    "distance": "4.02 meters",
+    "closeness rank": 2
+   },
+   "table": {
+    "distance": "0.94 meters",
+    "closeness rank": 3
+   },
+   "crate": {
+    "distance": "3.11 meters",
+    "closeness rank": 4
+   },
+   "clock": {
+    "distance": "2.12 meters",
+    "closeness rank": 5
+   },
+   "bucket": {
+    "distance": "2.33 meters",
+    "closeness rank": 6
+   },
+   "bookshelf": {
+    "distance": "2.44 meters",
+    "closeness rank": 7
+   },
+   "whiteboard": {
+    "distance": "2.45 meters",
+    "closeness rank": 8
+   },
+   "ceiling light": {
+    "distance": "2.6 meters",
+    "closeness rank": 9
+   },
+   "bowl": {
+    "distance": "2.96 meters",
+    "closeness rank": 10
+   },
+   "plant": {
+    "distance": "3.06 meters",
+    "closeness rank": 11
+   },
+   "microwave": {
+    "distance": "3.41 meters",
+    "closeness rank": 12
+   },
+   "cup": {
+    "distance": "3.67 meters",
+    "closeness rank": 13
+   },
+   "trash can": {
+    "distance": "4.68 meters",
+    "closeness rank": 14
+   },
+   "heater": {
+    "distance": "5.05 meters",
+    "closeness rank": 15
+   }
+  },
+  "heater": {
+   "trash can": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "chair": {
+    "distance": "0.42 meters",
+    "closeness rank": 2
+   },
+   "table": {
+    "distance": "0.79 meters",
+    "closeness rank": 3
+   },
+   "microwave": {
+    "distance": "1.78 meters",
+    "closeness rank": 4
+   },
+   "plant": {
+    "distance": "1.88 meters",
+    "closeness rank": 5
+   },
+   "crate": {
+    "distance": "1.95 meters",
+    "closeness rank": 6
+   },
+   "ceiling light": {
+    "distance": "2.34 meters",
+    "closeness rank": 7
+   },
+   "cup": {
+    "distance": "2.2 meters",
+    "closeness rank": 8
+   },
+   "whiteboard": {
+    "distance": "2.24 meters",
+    "closeness rank": 9
+   },
+   "bookshelf": {
+    "distance": "2.44 meters",
+    "closeness rank": 10
+   },
+   "bowl": {
+    "distance": "2.57 meters",
+    "closeness rank": 11
+   },
+   "bucket": {
+    "distance": "3.23 meters",
+    "closeness rank": 12
+   },
+   "door": {
+    "distance": "3.95 meters",
+    "closeness rank": 13
+   },
+   "clock": {
+    "distance": "5.0 meters",
+    "closeness rank": 14
+   },
+   "power strip": {
+    "distance": "5.05 meters",
+    "closeness rank": 15
+   }
+  },
+  "trash can": {
+   "heater": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "chair": {
+    "distance": "0.49 meters",
+    "closeness rank": 2
+   },
+   "table": {
+    "distance": "0.57 meters",
+    "closeness rank": 3
+   },
+   "plant": {
+    "distance": "1.77 meters",
+    "closeness rank": 4
+   },
+   "microwave": {
+    "distance": "2.44 meters",
+    "closeness rank": 5
+   },
+   "crate": {
+    "distance": "2.12 meters",
+    "closeness rank": 6
+   },
+   "ceiling light": {
+    "distance": "2.79 meters",
+    "closeness rank": 7
+   },
+   "cup": {
+    "distance": "2.78 meters",
+    "closeness rank": 8
+   },
+   "whiteboard": {
+    "distance": "2.59 meters",
+    "closeness rank": 9
+   },
+   "bookshelf": {
+    "distance": "2.8 meters",
+    "closeness rank": 10
+   },
+   "bowl": {
+    "distance": "2.96 meters",
+    "closeness rank": 11
+   },
+   "bucket": {
+    "distance": "3.5 meters",
+    "closeness rank": 12
+   },
+   "door": {
+    "distance": "3.88 meters",
+    "closeness rank": 13
+   },
+   "power strip": {
+    "distance": "4.68 meters",
+    "closeness rank": 14
+   },
+   "clock": {
+    "distance": "5.2 meters",
+    "closeness rank": 15
+   }
+  },
+  "clock": {
+   "door": {
+    "distance": "1.87 meters",
+    "closeness rank": 1
+   },
+   "table": {
+    "distance": "1.48 meters",
+    "closeness rank": 2
+   },
+   "chair": {
+    "distance": "4.31 meters",
+    "closeness rank": 3
+   },
+   "ceiling light": {
+    "distance": "0.91 meters",
+    "closeness rank": 4
+   },
+   "whiteboard": {
+    "distance": "1.25 meters",
+    "closeness rank": 5
+   },
+   "crate": {
+    "distance": "4.32 meters",
+    "closeness rank": 6
+   },
+   "bookshelf": {
+    "distance": "2.06 meters",
+    "closeness rank": 7
+   },
+   "bucket": {
+    "distance": "2.13 meters",
+    "closeness rank": 8
+   },
+   "power strip": {
+    "distance": "2.12 meters",
+    "closeness rank": 9
+   },
+   "bowl": {
+    "distance": "2.56 meters",
+    "closeness rank": 10
+   },
+   "microwave": {
+    "distance": "2.78 meters",
+    "closeness rank": 11
+   },
+   "cup": {
+    "distance": "2.91 meters",
+    "closeness rank": 12
+   },
+   "plant": {
+    "distance": "3.32 meters",
+    "closeness rank": 13
+   },
+   "trash can": {
+    "distance": "5.2 meters",
+    "closeness rank": 14
+   },
+   "heater": {
+    "distance": "5.0 meters",
+    "closeness rank": 15
+   }
+  },
+  "whiteboard": {
+   "microwave": {
+    "distance": "0.01 meters",
+    "closeness rank": 1
+   },
+   "bookshelf": {
+    "distance": "0.14 meters",
+    "closeness rank": 2
+   },
+   "door": {
+    "distance": "2.13 meters",
+    "closeness rank": 3
+   },
+   "cup": {
+    "distance": "0.23 meters",
+    "closeness rank": 4
+   },
+   "bowl": {
+    "distance": "0.44 meters",
+    "closeness rank": 5
+   },
+   "chair": {
+    "distance": "1.7 meters",
+    "closeness rank": 6
+   },
+   "crate": {
+    "distance": "2.87 meters",
+    "closeness rank": 7
+   },
+   "ceiling light": {
+    "distance": "0.73 meters",
+    "closeness rank": 8
+   },
+   "table": {
+    "distance": "0.73 meters",
+    "closeness rank": 9
+   },
+   "bucket": {
+    "distance": "0.77 meters",
+    "closeness rank": 10
+   },
+   "clock": {
+    "distance": "1.25 meters",
+    "closeness rank": 11
+   },
+   "plant": {
+    "distance": "2.0 meters",
+    "closeness rank": 12
+   },
+   "heater": {
+    "distance": "2.24 meters",
+    "closeness rank": 13
+   },
+   "trash can": {
+    "distance": "2.59 meters",
+    "closeness rank": 14
+   },
+   "power strip": {
+    "distance": "2.45 meters",
+    "closeness rank": 15
+   }
+  },
+  "microwave": {
+   "cup": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "whiteboard": {
+    "distance": "0.01 meters",
+    "closeness rank": 2
+   },
+   "bookshelf": {
+    "distance": "0.32 meters",
+    "closeness rank": 3
+   },
+   "bowl": {
+    "distance": "0.46 meters",
+    "closeness rank": 4
+   },
+   "chair": {
+    "distance": "1.64 meters",
+    "closeness rank": 5
+   },
+   "table": {
+    "distance": "0.91 meters",
+    "closeness rank": 6
+   },
+   "bucket": {
+    "distance": "1.21 meters",
+    "closeness rank": 7
+   },
+   "ceiling light": {
+    "distance": "1.48 meters",
+    "closeness rank": 8
+   },
+   "plant": {
+    "distance": "1.5 meters",
+    "closeness rank": 9
+   },
+   "crate": {
+    "distance": "3.23 meters",
+    "closeness rank": 10
+   },
+   "door": {
+    "distance": "3.13 meters",
+    "closeness rank": 11
+   },
+   "heater": {
+    "distance": "1.78 meters",
+    "closeness rank": 12
+   },
+   "trash can": {
+    "distance": "2.44 meters",
+    "closeness rank": 13
+   },
+   "clock": {
+    "distance": "2.78 meters",
+    "closeness rank": 14
+   },
+   "power strip": {
+    "distance": "3.41 meters",
+    "closeness rank": 15
+   }
+  },
+  "cup": {
+   "microwave": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "whiteboard": {
+    "distance": "0.23 meters",
+    "closeness rank": 2
+   },
+   "bookshelf": {
+    "distance": "0.59 meters",
+    "closeness rank": 3
+   },
+   "bowl": {
+    "distance": "0.75 meters",
+    "closeness rank": 4
+   },
+   "chair": {
+    "distance": "1.96 meters",
+    "closeness rank": 5
+   },
+   "table": {
+    "distance": "1.17 meters",
+    "closeness rank": 6
+   },
+   "bucket": {
+    "distance": "1.47 meters",
+    "closeness rank": 7
+   },
+   "ceiling light": {
+    "distance": "1.6 meters",
+    "closeness rank": 8
+   },
+   "plant": {
+    "distance": "1.71 meters",
+    "closeness rank": 9
+   },
+   "door": {
+    "distance": "3.32 meters",
+    "closeness rank": 10
+   },
+   "crate": {
+    "distance": "3.49 meters",
+    "closeness rank": 11
+   },
+   "heater": {
+    "distance": "2.2 meters",
+    "closeness rank": 12
+   },
+   "trash can": {
+    "distance": "2.78 meters",
+    "closeness rank": 13
+   },
+   "clock": {
+    "distance": "2.91 meters",
+    "closeness rank": 14
+   },
+   "power strip": {
+    "distance": "3.67 meters",
+    "closeness rank": 15
+   }
+  },
+  "bucket": {
+   "bookshelf": {
+    "distance": "0.07 meters",
+    "closeness rank": 1
+   },
+   "crate": {
+    "distance": "3.5 meters",
+    "closeness rank": 2
+   },
+   "door": {
+    "distance": "2.53 meters",
+    "closeness rank": 3
+   },
+   "bowl": {
+    "distance": "0.63 meters",
+    "closeness rank": 4
+   },
+   "whiteboard": {
+    "distance": "0.77 meters",
+    "closeness rank": 5
+   },
+   "chair": {
+    "distance": "2.77 meters",
+    "closeness rank": 6
+   },
+   "microwave": {
+    "distance": "1.21 meters",
+    "closeness rank": 7
+   },
+   "table": {
+    "distance": "1.1 meters",
+    "closeness rank": 8
+   },
+   "cup": {
+    "distance": "1.47 meters",
+    "closeness rank": 9
+   },
+   "clock": {
+    "distance": "2.13 meters",
+    "closeness rank": 10
+   },
+   "plant": {
+    "distance": "2.11 meters",
+    "closeness rank": 11
+   },
+   "power strip": {
+    "distance": "2.33 meters",
+    "closeness rank": 12
+   },
+   "ceiling light": {
+    "distance": "2.4 meters",
+    "closeness rank": 13
+   },
+   "trash can": {
+    "distance": "3.5 meters",
+    "closeness rank": 14
+   },
+   "heater": {
+    "distance": "3.23 meters",
+    "closeness rank": 15
+   }
+  },
+  "bowl": {
+   "bookshelf": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "microwave": {
+    "distance": "0.46 meters",
+    "closeness rank": 2
+   },
+   "whiteboard": {
+    "distance": "0.44 meters",
+    "closeness rank": 3
+   },
+   "chair": {
+    "distance": "2.19 meters",
+    "closeness rank": 4
+   },
+   "bucket": {
+    "distance": "0.63 meters",
+    "closeness rank": 5
+   },
+   "cup": {
+    "distance": "0.75 meters",
+    "closeness rank": 6
+   },
+   "table": {
+    "distance": "1.1 meters",
+    "closeness rank": 7
+   },
+   "crate": {
+    "distance": "3.33 meters",
+    "closeness rank": 8
+   },
+   "door": {
+    "distance": "2.87 meters",
+    "closeness rank": 9
+   },
+   "plant": {
+    "distance": "1.69 meters",
+    "closeness rank": 10
+   },
+   "ceiling light": {
+    "distance": "2.29 meters",
+    "closeness rank": 11
+   },
+   "clock": {
+    "distance": "2.56 meters",
+    "closeness rank": 12
+   },
+   "trash can": {
+    "distance": "2.96 meters",
+    "closeness rank": 13
+   },
+   "heater": {
+    "distance": "2.57 meters",
+    "closeness rank": 14
+   },
+   "power strip": {
+    "distance": "2.96 meters",
+    "closeness rank": 15
+   }
+  },
+  "plant": {
+   "table": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "chair": {
+    "distance": "0.92 meters",
+    "closeness rank": 2
+   },
+   "microwave": {
+    "distance": "1.5 meters",
+    "closeness rank": 3
+   },
+   "bookshelf": {
+    "distance": "1.54 meters",
+    "closeness rank": 4
+   },
+   "trash can": {
+    "distance": "1.77 meters",
+    "closeness rank": 5
+   },
+   "crate": {
+    "distance": "1.61 meters",
+    "closeness rank": 6
+   },
+   "bowl": {
+    "distance": "1.69 meters",
+    "closeness rank": 7
+   },
+   "cup": {
+    "distance": "1.71 meters",
+    "closeness rank": 8
+   },
+   "ceiling light": {
+    "distance": "1.81 meters",
+    "closeness rank": 9
+   },
+   "heater": {
+    "distance": "1.88 meters",
+    "closeness rank": 10
+   },
+   "whiteboard": {
+    "distance": "2.0 meters",
+    "closeness rank": 11
+   },
+   "bucket": {
+    "distance": "2.11 meters",
+    "closeness rank": 12
+   },
+   "door": {
+    "distance": "2.52 meters",
+    "closeness rank": 13
+   },
+   "power strip": {
+    "distance": "3.06 meters",
+    "closeness rank": 14
+   },
+   "clock": {
+    "distance": "3.32 meters",
+    "closeness rank": 15
+   }
+  }
+ },
+ "appearance order": ["crate", "chair", "table", "door", "bookshelf", "ceiling light", "power strip", "heater", "trash can", "clock", "whiteboard", "microwave", "cup", "bucket", "bowl", "plant"]
+}
\ No newline at end of file
diff --git a/data/spatial codes/ground truth/explicit/f9f95681fd.json b/data/spatial codes/ground truth/explicit/f9f95681fd.json
new file mode 100644
index 0000000000000000000000000000000000000000..b7b80e7da8bb12d9e3f4f81b85eb18df600667c1
--- /dev/null
+++ b/data/spatial codes/ground truth/explicit/f9f95681fd.json	
@@ -0,0 +1,355 @@
+{
+ "spatial code schema": {
+  "objects": {
+   "<object class>": {
+    "count": {
+     "unit": null,
+     "description": "number of instances of this class in the compact spatial code (that schema's per-class oriented-box list length)"
+    },
+    "instances": [
+     {
+      "position": {
+       "x coordinate": {
+        "unit": "meters",
+        "description": "x coordinate of this instance's compact 3D oriented bounding box center"
+       },
+       "y coordinate": {
+        "unit": "meters",
+        "description": "y coordinate of this instance's compact 3D oriented bounding box center"
+       },
+       "height above floor": {
+        "unit": "meters",
+        "description": "height coordinate of this instance's compact 3D oriented bounding box center"
+       }
+      },
+      "longest dimension": {
+       "unit": "meters",
+       "description": "longest of this instance's compact 3D oriented bounding box dimensions"
+      }
+     }
+    ]
+   }
+  },
+  "room": {
+   "floor area": {
+    "unit": "square meters",
+    "description": "shoelace area of the compact spatial code's floor boundary polygons, with every interior hole subtracted"
+   }
+  },
+  "closest classes distance meters from": {
+   "<object class>": {
+    "<other object class>": {
+     "distance": {
+      "unit": "meters",
+      "description": "estimated distance in meters between an object of this class and an object of the other class"
+     },
+     "closeness rank": {
+      "unit": null,
+      "description": "1 = the nearest other class to this one, 2 = second-nearest, and so on; ranked by nearest-instance proximity, so use the rank (not the distance values) to compare which class is closest"
+     }
+    }
+   }
+  },
+  "appearance order": {
+   "unit": null,
+   "description": "class names ordered by earliest compact 'first visible time' across all of that class's instances"
+  }
+ },
+ "objects": {
+  "ceiling light": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "1.12 meters",
+      "y coordinate": "0.96 meters",
+      "height above floor": "2.35 meters"
+     },
+     "longest dimension": "1.27 meters"
+    }
+   ]
+  },
+  "exhaust fan": {
+   "count": 2,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "1.5 meters",
+      "y coordinate": "0.39 meters",
+      "height above floor": "2.4 meters"
+     },
+     "longest dimension": "0.13 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "0.79 meters",
+      "y coordinate": "1.6 meters",
+      "height above floor": "2.39 meters"
+     },
+     "longest dimension": "0.14 meters"
+    }
+   ]
+  },
+  "door": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "0.21 meters",
+      "y coordinate": "0.69 meters",
+      "height above floor": "1.05 meters"
+     },
+     "longest dimension": "2.11 meters"
+    }
+   ]
+  },
+  "refrigerator": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "1.08 meters",
+      "y coordinate": "0.14 meters",
+      "height above floor": "1.26 meters"
+     },
+     "longest dimension": "2.28 meters"
+    }
+   ]
+  },
+  "microwave": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "0.38 meters",
+      "y coordinate": "1.67 meters",
+      "height above floor": "1.04 meters"
+     },
+     "longest dimension": "0.52 meters"
+    }
+   ]
+  },
+  "cup": {
+   "count": 2,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "1.3 meters",
+      "y coordinate": "2.06 meters",
+      "height above floor": "0.9 meters"
+     },
+     "longest dimension": "0.14 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "1.99 meters",
+      "y coordinate": "0.57 meters",
+      "height above floor": "0.9 meters"
+     },
+     "longest dimension": "0.1 meters"
+    }
+   ]
+  },
+  "kettle": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "1.9 meters",
+      "y coordinate": "0.79 meters",
+      "height above floor": "0.98 meters"
+     },
+     "longest dimension": "0.24 meters"
+    }
+   ]
+  }
+ },
+ "room": {
+  "floor area": "3.5 square meters"
+ },
+ "closest classes distance meters from": {
+  "ceiling light": {
+   "door": {
+    "distance": "0.34 meters",
+    "closeness rank": 1
+   },
+   "refrigerator": {
+    "distance": "0.47 meters",
+    "closeness rank": 2
+   },
+   "exhaust fan": {
+    "distance": "0.55 meters",
+    "closeness rank": 3
+   },
+   "kettle": {
+    "distance": "1.23 meters",
+    "closeness rank": 4
+   },
+   "microwave": {
+    "distance": "1.35 meters",
+    "closeness rank": 5
+   },
+   "cup": {
+    "distance": "1.47 meters",
+    "closeness rank": 6
+   }
+  },
+  "exhaust fan": {
+   "refrigerator": {
+    "distance": "0.06 meters",
+    "closeness rank": 1
+   },
+   "ceiling light": {
+    "distance": "0.55 meters",
+    "closeness rank": 2
+   },
+   "door": {
+    "distance": "0.81 meters",
+    "closeness rank": 3
+   },
+   "microwave": {
+    "distance": "1.85 meters",
+    "closeness rank": 4
+   },
+   "kettle": {
+    "distance": "1.34 meters",
+    "closeness rank": 5
+   },
+   "cup": {
+    "distance": "2.12 meters",
+    "closeness rank": 6
+   }
+  },
+  "door": {
+   "refrigerator": {
+    "distance": "0.32 meters",
+    "closeness rank": 1
+   },
+   "ceiling light": {
+    "distance": "0.34 meters",
+    "closeness rank": 2
+   },
+   "microwave": {
+    "distance": "0.37 meters",
+    "closeness rank": 3
+   },
+   "exhaust fan": {
+    "distance": "0.81 meters",
+    "closeness rank": 4
+   },
+   "kettle": {
+    "distance": "1.46 meters",
+    "closeness rank": 5
+   },
+   "cup": {
+    "distance": "1.48 meters",
+    "closeness rank": 6
+   }
+  },
+  "refrigerator": {
+   "exhaust fan": {
+    "distance": "0.06 meters",
+    "closeness rank": 1
+   },
+   "door": {
+    "distance": "0.32 meters",
+    "closeness rank": 2
+   },
+   "ceiling light": {
+    "distance": "0.47 meters",
+    "closeness rank": 3
+   },
+   "cup": {
+    "distance": "0.76 meters",
+    "closeness rank": 4
+   },
+   "kettle": {
+    "distance": "0.58 meters",
+    "closeness rank": 5
+   },
+   "microwave": {
+    "distance": "1.34 meters",
+    "closeness rank": 6
+   }
+  },
+  "microwave": {
+   "door": {
+    "distance": "0.37 meters",
+    "closeness rank": 1
+   },
+   "cup": {
+    "distance": "0.68 meters",
+    "closeness rank": 2
+   },
+   "exhaust fan": {
+    "distance": "1.85 meters",
+    "closeness rank": 3
+   },
+   "refrigerator": {
+    "distance": "1.34 meters",
+    "closeness rank": 4
+   },
+   "ceiling light": {
+    "distance": "1.35 meters",
+    "closeness rank": 5
+   },
+   "kettle": {
+    "distance": "1.45 meters",
+    "closeness rank": 6
+   }
+  },
+  "cup": {
+   "kettle": {
+    "distance": "1.22 meters",
+    "closeness rank": 1
+   },
+   "refrigerator": {
+    "distance": "0.76 meters",
+    "closeness rank": 2
+   },
+   "microwave": {
+    "distance": "0.68 meters",
+    "closeness rank": 3
+   },
+   "ceiling light": {
+    "distance": "1.47 meters",
+    "closeness rank": 4
+   },
+   "door": {
+    "distance": "1.48 meters",
+    "closeness rank": 5
+   },
+   "exhaust fan": {
+    "distance": "2.12 meters",
+    "closeness rank": 6
+   }
+  },
+  "kettle": {
+   "cup": {
+    "distance": "1.22 meters",
+    "closeness rank": 1
+   },
+   "refrigerator": {
+    "distance": "0.58 meters",
+    "closeness rank": 2
+   },
+   "ceiling light": {
+    "distance": "1.23 meters",
+    "closeness rank": 3
+   },
+   "exhaust fan": {
+    "distance": "1.34 meters",
+    "closeness rank": 4
+   },
+   "microwave": {
+    "distance": "1.45 meters",
+    "closeness rank": 5
+   },
+   "door": {
+    "distance": "1.46 meters",
+    "closeness rank": 6
+   }
+  }
+ },
+ "appearance order": ["ceiling light", "exhaust fan", "door", "refrigerator", "microwave", "cup", "kettle"]
+}
\ No newline at end of file
diff --git a/data/spatial codes/ground truth/explicit/fb5a96b1a2.json b/data/spatial codes/ground truth/explicit/fb5a96b1a2.json
new file mode 100644
index 0000000000000000000000000000000000000000..fc05955bbcbdd8ee4492d0067220813c6e44f064
--- /dev/null
+++ b/data/spatial codes/ground truth/explicit/fb5a96b1a2.json	
@@ -0,0 +1,824 @@
+{
+ "spatial code schema": {
+  "objects": {
+   "<object class>": {
+    "count": {
+     "unit": null,
+     "description": "number of instances of this class in the compact spatial code (that schema's per-class oriented-box list length)"
+    },
+    "instances": [
+     {
+      "position": {
+       "x coordinate": {
+        "unit": "meters",
+        "description": "x coordinate of this instance's compact 3D oriented bounding box center"
+       },
+       "y coordinate": {
+        "unit": "meters",
+        "description": "y coordinate of this instance's compact 3D oriented bounding box center"
+       },
+       "height above floor": {
+        "unit": "meters",
+        "description": "height coordinate of this instance's compact 3D oriented bounding box center"
+       }
+      },
+      "longest dimension": {
+       "unit": "meters",
+       "description": "longest of this instance's compact 3D oriented bounding box dimensions"
+      }
+     }
+    ]
+   }
+  },
+  "room": {
+   "floor area": {
+    "unit": "square meters",
+    "description": "shoelace area of the compact spatial code's floor boundary polygons, with every interior hole subtracted"
+   }
+  },
+  "closest classes distance meters from": {
+   "<object class>": {
+    "<other object class>": {
+     "distance": {
+      "unit": "meters",
+      "description": "estimated distance in meters between an object of this class and an object of the other class"
+     },
+     "closeness rank": {
+      "unit": null,
+      "description": "1 = the nearest other class to this one, 2 = second-nearest, and so on; ranked by nearest-instance proximity, so use the rank (not the distance values) to compare which class is closest"
+     }
+    }
+   }
+  },
+  "appearance order": {
+   "unit": null,
+   "description": "class names ordered by earliest compact 'first visible time' across all of that class's instances"
+  }
+ },
+ "objects": {
+  "ceiling light": {
+   "count": 12,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "5.09 meters",
+      "y coordinate": "1.55 meters",
+      "height above floor": "2.62 meters"
+     },
+     "longest dimension": "0.29 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "3.15 meters",
+      "y coordinate": "1.05 meters",
+      "height above floor": "2.61 meters"
+     },
+     "longest dimension": "0.25 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "4.75 meters",
+      "y coordinate": "2.47 meters",
+      "height above floor": "2.62 meters"
+     },
+     "longest dimension": "0.26 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "2.37 meters",
+      "y coordinate": "1.3 meters",
+      "height above floor": "2.68 meters"
+     },
+     "longest dimension": "0.26 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "1.84 meters",
+      "y coordinate": "3.33 meters",
+      "height above floor": "2.62 meters"
+     },
+     "longest dimension": "0.26 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "0.97 meters",
+      "y coordinate": "4.98 meters",
+      "height above floor": "2.61 meters"
+     },
+     "longest dimension": "0.24 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "3.61 meters",
+      "y coordinate": "5.8 meters",
+      "height above floor": "2.62 meters"
+     },
+     "longest dimension": "0.31 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "4.23 meters",
+      "y coordinate": "4.0 meters",
+      "height above floor": "2.62 meters"
+     },
+     "longest dimension": "0.26 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "4.24 meters",
+      "y coordinate": "6.23 meters",
+      "height above floor": "2.64 meters"
+     },
+     "longest dimension": "0.31 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "4.85 meters",
+      "y coordinate": "5.36 meters",
+      "height above floor": "2.61 meters"
+     },
+     "longest dimension": "0.24 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "6.31 meters",
+      "y coordinate": "3.19 meters",
+      "height above floor": "2.63 meters"
+     },
+     "longest dimension": "0.27 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "2.53 meters",
+      "y coordinate": "2.18 meters",
+      "height above floor": "2.62 meters"
+     },
+     "longest dimension": "0.25 meters"
+    }
+   ]
+  },
+  "sofa": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "1.12 meters",
+      "y coordinate": "4.19 meters",
+      "height above floor": "0.43 meters"
+     },
+     "longest dimension": "0.76 meters"
+    }
+   ]
+  },
+  "chair": {
+   "count": 18,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "4.2 meters",
+      "y coordinate": "3.52 meters",
+      "height above floor": "0.55 meters"
+     },
+     "longest dimension": "0.93 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "3.09 meters",
+      "y coordinate": "2.78 meters",
+      "height above floor": "0.48 meters"
+     },
+     "longest dimension": "0.8 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "2.62 meters",
+      "y coordinate": "5.47 meters",
+      "height above floor": "0.55 meters"
+     },
+     "longest dimension": "0.93 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "3.23 meters",
+      "y coordinate": "0.98 meters",
+      "height above floor": "0.62 meters"
+     },
+     "longest dimension": "1.08 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "2.89 meters",
+      "y coordinate": "3.59 meters",
+      "height above floor": "0.63 meters"
+     },
+     "longest dimension": "1.09 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "3.86 meters",
+      "y coordinate": "1.14 meters",
+      "height above floor": "0.54 meters"
+     },
+     "longest dimension": "0.92 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "4.69 meters",
+      "y coordinate": "4.44 meters",
+      "height above floor": "0.55 meters"
+     },
+     "longest dimension": "0.93 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "1.92 meters",
+      "y coordinate": "5.18 meters",
+      "height above floor": "0.51 meters"
+     },
+     "longest dimension": "0.86 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "0.96 meters",
+      "y coordinate": "3.51 meters",
+      "height above floor": "0.54 meters"
+     },
+     "longest dimension": "0.92 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "2.68 meters",
+      "y coordinate": "1.02 meters",
+      "height above floor": "0.54 meters"
+     },
+     "longest dimension": "0.93 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "1.45 meters",
+      "y coordinate": "2.9 meters",
+      "height above floor": "0.54 meters"
+     },
+     "longest dimension": "0.92 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "5.57 meters",
+      "y coordinate": "6.04 meters",
+      "height above floor": "0.55 meters"
+     },
+     "longest dimension": "0.92 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "1.88 meters",
+      "y coordinate": "2.27 meters",
+      "height above floor": "0.54 meters"
+     },
+     "longest dimension": "0.92 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "6.04 meters",
+      "y coordinate": "5.29 meters",
+      "height above floor": "0.74 meters"
+     },
+     "longest dimension": "1.31 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "4.4 meters",
+      "y coordinate": "1.01 meters",
+      "height above floor": "0.49 meters"
+     },
+     "longest dimension": "0.8 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "3.26 meters",
+      "y coordinate": "4.23 meters",
+      "height above floor": "0.51 meters"
+     },
+     "longest dimension": "0.98 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "2.55 meters",
+      "y coordinate": "1.71 meters",
+      "height above floor": "0.54 meters"
+     },
+     "longest dimension": "0.92 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "4.96 meters",
+      "y coordinate": "1.48 meters",
+      "height above floor": "0.55 meters"
+     },
+     "longest dimension": "0.93 meters"
+    }
+   ]
+  },
+  "table": {
+   "count": 2,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "3.73 meters",
+      "y coordinate": "3.59 meters",
+      "height above floor": "0.51 meters"
+     },
+     "longest dimension": "3.23 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "1.15 meters",
+      "y coordinate": "4.73 meters",
+      "height above floor": "0.67 meters"
+     },
+     "longest dimension": "1.15 meters"
+    }
+   ]
+  },
+  "bookshelf": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "5.56 meters",
+      "y coordinate": "1.25 meters",
+      "height above floor": "1.08 meters"
+     },
+     "longest dimension": "1.99 meters"
+    }
+   ]
+  },
+  "whiteboard": {
+   "count": 3,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "1.82 meters",
+      "y coordinate": "5.53 meters",
+      "height above floor": "1.67 meters"
+     },
+     "longest dimension": "2.49 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "0.67 meters",
+      "y coordinate": "3.48 meters",
+      "height above floor": "1.15 meters"
+     },
+     "longest dimension": "1.68 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "1.43 meters",
+      "y coordinate": "1.96 meters",
+      "height above floor": "1.06 meters"
+     },
+     "longest dimension": "2.25 meters"
+    }
+   ]
+  },
+  "heater": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "6.33 meters",
+      "y coordinate": "6.07 meters",
+      "height above floor": "0.54 meters"
+     },
+     "longest dimension": "1.34 meters"
+    }
+   ]
+  },
+  "power strip": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "0.87 meters",
+      "y coordinate": "4.95 meters",
+      "height above floor": "0.11 meters"
+     },
+     "longest dimension": "0.23 meters"
+    }
+   ]
+  },
+  "telephone": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "1.02 meters",
+      "y coordinate": "4.92 meters",
+      "height above floor": "1.25 meters"
+     },
+     "longest dimension": "0.45 meters"
+    }
+   ]
+  },
+  "computer mouse": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "3.74 meters",
+      "y coordinate": "3.56 meters",
+      "height above floor": "0.83 meters"
+     },
+     "longest dimension": "0.11 meters"
+    }
+   ]
+  }
+ },
+ "room": {
+  "floor area": "34.6 square meters"
+ },
+ "closest classes distance meters from": {
+  "ceiling light": {
+   "whiteboard": {
+    "distance": "3.85 meters",
+    "closeness rank": 1
+   },
+   "bookshelf": {
+    "distance": "0.5 meters",
+    "closeness rank": 2
+   },
+   "telephone": {
+    "distance": "5.09 meters",
+    "closeness rank": 3
+   },
+   "table": {
+    "distance": "1.47 meters",
+    "closeness rank": 4
+   },
+   "chair": {
+    "distance": "2.38 meters",
+    "closeness rank": 5
+   },
+   "computer mouse": {
+    "distance": "2.81 meters",
+    "closeness rank": 6
+   },
+   "sofa": {
+    "distance": "4.72 meters",
+    "closeness rank": 7
+   },
+   "heater": {
+    "distance": "4.31 meters",
+    "closeness rank": 8
+   },
+   "power strip": {
+    "distance": "5.71 meters",
+    "closeness rank": 9
+   }
+  },
+  "sofa": {
+   "chair": {
+    "distance": "2.31 meters",
+    "closeness rank": 1
+   },
+   "table": {
+    "distance": "0.68 meters",
+    "closeness rank": 2
+   },
+   "whiteboard": {
+    "distance": "0.33 meters",
+    "closeness rank": 3
+   },
+   "power strip": {
+    "distance": "0.37 meters",
+    "closeness rank": 4
+   },
+   "telephone": {
+    "distance": "0.5 meters",
+    "closeness rank": 5
+   },
+   "ceiling light": {
+    "distance": "4.72 meters",
+    "closeness rank": 6
+   },
+   "computer mouse": {
+    "distance": "2.29 meters",
+    "closeness rank": 7
+   },
+   "bookshelf": {
+    "distance": "4.43 meters",
+    "closeness rank": 8
+   },
+   "heater": {
+    "distance": "4.75 meters",
+    "closeness rank": 9
+   }
+  },
+  "chair": {
+   "bookshelf": {
+    "distance": "1.24 meters",
+    "closeness rank": 1
+   },
+   "computer mouse": {
+    "distance": "0.02 meters",
+    "closeness rank": 2
+   },
+   "sofa": {
+    "distance": "2.31 meters",
+    "closeness rank": 3
+   },
+   "table": {
+    "distance": "0.0 meters",
+    "closeness rank": 4
+   },
+   "whiteboard": {
+    "distance": "1.6 meters",
+    "closeness rank": 5
+   },
+   "heater": {
+    "distance": "2.19 meters",
+    "closeness rank": 6
+   },
+   "telephone": {
+    "distance": "2.85 meters",
+    "closeness rank": 7
+   },
+   "power strip": {
+    "distance": "3.07 meters",
+    "closeness rank": 8
+   },
+   "ceiling light": {
+    "distance": "2.38 meters",
+    "closeness rank": 9
+   }
+  },
+  "table": {
+   "chair": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "computer mouse": {
+    "distance": "0.0 meters",
+    "closeness rank": 2
+   },
+   "sofa": {
+    "distance": "0.68 meters",
+    "closeness rank": 3
+   },
+   "telephone": {
+    "distance": "1.27 meters",
+    "closeness rank": 4
+   },
+   "power strip": {
+    "distance": "1.46 meters",
+    "closeness rank": 5
+   },
+   "whiteboard": {
+    "distance": "0.1 meters",
+    "closeness rank": 6
+   },
+   "ceiling light": {
+    "distance": "1.47 meters",
+    "closeness rank": 7
+   },
+   "bookshelf": {
+    "distance": "1.26 meters",
+    "closeness rank": 8
+   },
+   "heater": {
+    "distance": "1.8 meters",
+    "closeness rank": 9
+   }
+  },
+  "bookshelf": {
+   "chair": {
+    "distance": "1.24 meters",
+    "closeness rank": 1
+   },
+   "ceiling light": {
+    "distance": "0.5 meters",
+    "closeness rank": 2
+   },
+   "table": {
+    "distance": "1.26 meters",
+    "closeness rank": 3
+   },
+   "whiteboard": {
+    "distance": "3.47 meters",
+    "closeness rank": 4
+   },
+   "computer mouse": {
+    "distance": "2.68 meters",
+    "closeness rank": 5
+   },
+   "heater": {
+    "distance": "3.87 meters",
+    "closeness rank": 6
+   },
+   "sofa": {
+    "distance": "4.43 meters",
+    "closeness rank": 7
+   },
+   "telephone": {
+    "distance": "5.26 meters",
+    "closeness rank": 8
+   },
+   "power strip": {
+    "distance": "5.57 meters",
+    "closeness rank": 9
+   }
+  },
+  "whiteboard": {
+   "chair": {
+    "distance": "1.6 meters",
+    "closeness rank": 1
+   },
+   "telephone": {
+    "distance": "0.0 meters",
+    "closeness rank": 2
+   },
+   "sofa": {
+    "distance": "0.33 meters",
+    "closeness rank": 3
+   },
+   "table": {
+    "distance": "0.1 meters",
+    "closeness rank": 4
+   },
+   "ceiling light": {
+    "distance": "3.85 meters",
+    "closeness rank": 5
+   },
+   "power strip": {
+    "distance": "0.79 meters",
+    "closeness rank": 6
+   },
+   "computer mouse": {
+    "distance": "2.33 meters",
+    "closeness rank": 7
+   },
+   "bookshelf": {
+    "distance": "3.47 meters",
+    "closeness rank": 8
+   },
+   "heater": {
+    "distance": "2.87 meters",
+    "closeness rank": 9
+   }
+  },
+  "heater": {
+   "chair": {
+    "distance": "2.19 meters",
+    "closeness rank": 1
+   },
+   "table": {
+    "distance": "1.8 meters",
+    "closeness rank": 2
+   },
+   "ceiling light": {
+    "distance": "4.31 meters",
+    "closeness rank": 3
+   },
+   "whiteboard": {
+    "distance": "2.87 meters",
+    "closeness rank": 4
+   },
+   "computer mouse": {
+    "distance": "3.42 meters",
+    "closeness rank": 5
+   },
+   "bookshelf": {
+    "distance": "3.87 meters",
+    "closeness rank": 6
+   },
+   "sofa": {
+    "distance": "4.75 meters",
+    "closeness rank": 7
+   },
+   "telephone": {
+    "distance": "4.81 meters",
+    "closeness rank": 8
+   },
+   "power strip": {
+    "distance": "5.06 meters",
+    "closeness rank": 9
+   }
+  },
+  "power strip": {
+   "table": {
+    "distance": "1.46 meters",
+    "closeness rank": 1
+   },
+   "sofa": {
+    "distance": "0.37 meters",
+    "closeness rank": 2
+   },
+   "chair": {
+    "distance": "3.07 meters",
+    "closeness rank": 3
+   },
+   "whiteboard": {
+    "distance": "0.79 meters",
+    "closeness rank": 4
+   },
+   "telephone": {
+    "distance": "0.96 meters",
+    "closeness rank": 5
+   },
+   "ceiling light": {
+    "distance": "5.71 meters",
+    "closeness rank": 6
+   },
+   "computer mouse": {
+    "distance": "3.1 meters",
+    "closeness rank": 7
+   },
+   "heater": {
+    "distance": "5.06 meters",
+    "closeness rank": 8
+   },
+   "bookshelf": {
+    "distance": "5.57 meters",
+    "closeness rank": 9
+   }
+  },
+  "telephone": {
+   "table": {
+    "distance": "1.27 meters",
+    "closeness rank": 1
+   },
+   "whiteboard": {
+    "distance": "0.0 meters",
+    "closeness rank": 2
+   },
+   "sofa": {
+    "distance": "0.5 meters",
+    "closeness rank": 3
+   },
+   "chair": {
+    "distance": "2.85 meters",
+    "closeness rank": 4
+   },
+   "power strip": {
+    "distance": "0.96 meters",
+    "closeness rank": 5
+   },
+   "ceiling light": {
+    "distance": "5.09 meters",
+    "closeness rank": 6
+   },
+   "computer mouse": {
+    "distance": "2.79 meters",
+    "closeness rank": 7
+   },
+   "heater": {
+    "distance": "4.81 meters",
+    "closeness rank": 8
+   },
+   "bookshelf": {
+    "distance": "5.26 meters",
+    "closeness rank": 9
+   }
+  },
+  "computer mouse": {
+   "chair": {
+    "distance": "0.02 meters",
+    "closeness rank": 1
+   },
+   "table": {
+    "distance": "0.0 meters",
+    "closeness rank": 2
+   },
+   "ceiling light": {
+    "distance": "2.81 meters",
+    "closeness rank": 3
+   },
+   "sofa": {
+    "distance": "2.29 meters",
+    "closeness rank": 4
+   },
+   "whiteboard": {
+    "distance": "2.33 meters",
+    "closeness rank": 5
+   },
+   "bookshelf": {
+    "distance": "2.68 meters",
+    "closeness rank": 6
+   },
+   "telephone": {
+    "distance": "2.79 meters",
+    "closeness rank": 7
+   },
+   "power strip": {
+    "distance": "3.1 meters",
+    "closeness rank": 8
+   },
+   "heater": {
+    "distance": "3.42 meters",
+    "closeness rank": 9
+   }
+  }
+ },
+ "appearance order": ["ceiling light", "sofa", "chair", "table", "bookshelf", "whiteboard", "heater", "power strip", "telephone", "computer mouse"]
+}
\ No newline at end of file
diff --git a/data/spatial codes/ground truth/explicit/scene0025_01.json b/data/spatial codes/ground truth/explicit/scene0025_01.json
new file mode 100644
index 0000000000000000000000000000000000000000..2d13c0a51f529b368179acda1218898b617b6f80
--- /dev/null
+++ b/data/spatial codes/ground truth/explicit/scene0025_01.json	
@@ -0,0 +1,640 @@
+{
+ "spatial code schema": {
+  "objects": {
+   "<object class>": {
+    "count": {
+     "unit": null,
+     "description": "number of instances of this class in the compact spatial code (that schema's per-class oriented-box list length)"
+    },
+    "instances": [
+     {
+      "position": {
+       "x coordinate": {
+        "unit": "meters",
+        "description": "x coordinate of this instance's compact 3D oriented bounding box center"
+       },
+       "y coordinate": {
+        "unit": "meters",
+        "description": "y coordinate of this instance's compact 3D oriented bounding box center"
+       },
+       "height above floor": {
+        "unit": "meters",
+        "description": "height coordinate of this instance's compact 3D oriented bounding box center"
+       }
+      },
+      "longest dimension": {
+       "unit": "meters",
+       "description": "longest of this instance's compact 3D oriented bounding box dimensions"
+      }
+     }
+    ]
+   }
+  },
+  "room": {
+   "floor area": {
+    "unit": "square meters",
+    "description": "shoelace area of the compact spatial code's floor boundary polygons, with every interior hole subtracted"
+   }
+  },
+  "closest classes distance meters from": {
+   "<object class>": {
+    "<other object class>": {
+     "distance": {
+      "unit": "meters",
+      "description": "estimated distance in meters between an object of this class and an object of the other class"
+     },
+     "closeness rank": {
+      "unit": null,
+      "description": "1 = the nearest other class to this one, 2 = second-nearest, and so on; ranked by nearest-instance proximity, so use the rank (not the distance values) to compare which class is closest"
+     }
+    }
+   }
+  },
+  "appearance order": {
+   "unit": null,
+   "description": "class names ordered by earliest compact 'first visible time' across all of that class's instances"
+  }
+ },
+ "objects": {
+  "chair": {
+   "count": 2,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "0.92 meters",
+      "y coordinate": "-1.34 meters",
+      "height above floor": "0.57 meters"
+     },
+     "longest dimension": "1.12 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "1.09 meters",
+      "y coordinate": "0.72 meters",
+      "height above floor": "0.67 meters"
+     },
+     "longest dimension": "1.0 meters"
+    }
+   ]
+  },
+  "sofa": {
+   "count": 2,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-1.53 meters",
+      "y coordinate": "-0.91 meters",
+      "height above floor": "0.43 meters"
+     },
+     "longest dimension": "1.52 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-1.43 meters",
+      "y coordinate": "1.52 meters",
+      "height above floor": "0.43 meters"
+     },
+     "longest dimension": "1.39 meters"
+    }
+   ]
+  },
+  "window": {
+   "count": 3,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "3.02 meters",
+      "y coordinate": "0.74 meters",
+      "height above floor": "1.34 meters"
+     },
+     "longest dimension": "0.84 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "2.67 meters",
+      "y coordinate": "-0.71 meters",
+      "height above floor": "1.34 meters"
+     },
+     "longest dimension": "2.28 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-2.49 meters",
+      "y coordinate": "0.48 meters",
+      "height above floor": "2.74 meters"
+     },
+     "longest dimension": "1.1 meters"
+    }
+   ]
+  },
+  "pillow": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-1.82 meters",
+      "y coordinate": "1.6 meters",
+      "height above floor": "0.57 meters"
+     },
+     "longest dimension": "0.66 meters"
+    }
+   ]
+  },
+  "monitor": {
+   "count": 4,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "1.03 meters",
+      "y coordinate": "-0.4 meters",
+      "height above floor": "1.08 meters"
+     },
+     "longest dimension": "0.68 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "0.35 meters",
+      "y coordinate": "0.24 meters",
+      "height above floor": "1.03 meters"
+     },
+     "longest dimension": "0.61 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "1.58 meters",
+      "y coordinate": "-0.67 meters",
+      "height above floor": "1.11 meters"
+     },
+     "longest dimension": "0.57 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "0.95 meters",
+      "y coordinate": "0.04 meters",
+      "height above floor": "1.04 meters"
+     },
+     "longest dimension": "0.69 meters"
+    }
+   ]
+  },
+  "keyboard": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "0.91 meters",
+      "y coordinate": "0.33 meters",
+      "height above floor": "0.81 meters"
+     },
+     "longest dimension": "0.49 meters"
+    }
+   ]
+  },
+  "fan": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-1.64 meters",
+      "y coordinate": "-0.46 meters",
+      "height above floor": "0.62 meters"
+     },
+     "longest dimension": "0.96 meters"
+    }
+   ]
+  },
+  "telephone": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "1.64 meters",
+      "y coordinate": "0.01 meters",
+      "height above floor": "1.05 meters"
+     },
+     "longest dimension": "0.27 meters"
+    }
+   ]
+  },
+  "door": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-2.35 meters",
+      "y coordinate": "0.45 meters",
+      "height above floor": "1.17 meters"
+     },
+     "longest dimension": "2.13 meters"
+    }
+   ]
+  },
+  "table": {
+   "count": 2,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "0.89 meters",
+      "y coordinate": "0.32 meters",
+      "height above floor": "0.55 meters"
+     },
+     "longest dimension": "2.92 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "1.18 meters",
+      "y coordinate": "-0.75 meters",
+      "height above floor": "0.74 meters"
+     },
+     "longest dimension": "2.06 meters"
+    }
+   ]
+  }
+ },
+ "room": {
+  "floor area": "17.6 square meters"
+ },
+ "closest classes distance meters from": {
+  "chair": {
+   "table": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "keyboard": {
+    "distance": "0.88 meters",
+    "closeness rank": 2
+   },
+   "monitor": {
+    "distance": "0.31 meters",
+    "closeness rank": 3
+   },
+   "telephone": {
+    "distance": "0.91 meters",
+    "closeness rank": 4
+   },
+   "window": {
+    "distance": "2.07 meters",
+    "closeness rank": 5
+   },
+   "sofa": {
+    "distance": "1.17 meters",
+    "closeness rank": 6
+   },
+   "fan": {
+    "distance": "1.82 meters",
+    "closeness rank": 7
+   },
+   "pillow": {
+    "distance": "3.13 meters",
+    "closeness rank": 8
+   },
+   "door": {
+    "distance": "2.84 meters",
+    "closeness rank": 9
+   }
+  },
+  "sofa": {
+   "fan": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "pillow": {
+    "distance": "1.44 meters",
+    "closeness rank": 2
+   },
+   "door": {
+    "distance": "0.2 meters",
+    "closeness rank": 3
+   },
+   "table": {
+    "distance": "0.5 meters",
+    "closeness rank": 4
+   },
+   "chair": {
+    "distance": "1.17 meters",
+    "closeness rank": 5
+   },
+   "monitor": {
+    "distance": "1.59 meters",
+    "closeness rank": 6
+   },
+   "window": {
+    "distance": "3.74 meters",
+    "closeness rank": 7
+   },
+   "keyboard": {
+    "distance": "1.76 meters",
+    "closeness rank": 8
+   },
+   "telephone": {
+    "distance": "2.46 meters",
+    "closeness rank": 9
+   }
+  },
+  "window": {
+   "door": {
+    "distance": "3.9 meters",
+    "closeness rank": 1
+   },
+   "table": {
+    "distance": "0.43 meters",
+    "closeness rank": 2
+   },
+   "monitor": {
+    "distance": "1.55 meters",
+    "closeness rank": 3
+   },
+   "chair": {
+    "distance": "2.07 meters",
+    "closeness rank": 4
+   },
+   "telephone": {
+    "distance": "1.03 meters",
+    "closeness rank": 5
+   },
+   "fan": {
+    "distance": "3.97 meters",
+    "closeness rank": 6
+   },
+   "keyboard": {
+    "distance": "1.55 meters",
+    "closeness rank": 7
+   },
+   "sofa": {
+    "distance": "3.74 meters",
+    "closeness rank": 8
+   },
+   "pillow": {
+    "distance": "4.23 meters",
+    "closeness rank": 9
+   }
+  },
+  "pillow": {
+   "sofa": {
+    "distance": "1.44 meters",
+    "closeness rank": 1
+   },
+   "door": {
+    "distance": "0.3 meters",
+    "closeness rank": 2
+   },
+   "table": {
+    "distance": "1.21 meters",
+    "closeness rank": 3
+   },
+   "fan": {
+    "distance": "1.5 meters",
+    "closeness rank": 4
+   },
+   "window": {
+    "distance": "4.23 meters",
+    "closeness rank": 5
+   },
+   "monitor": {
+    "distance": "2.85 meters",
+    "closeness rank": 6
+   },
+   "chair": {
+    "distance": "3.13 meters",
+    "closeness rank": 7
+   },
+   "keyboard": {
+    "distance": "2.45 meters",
+    "closeness rank": 8
+   },
+   "telephone": {
+    "distance": "3.37 meters",
+    "closeness rank": 9
+   }
+  },
+  "monitor": {
+   "keyboard": {
+    "distance": "0.2 meters",
+    "closeness rank": 1
+   },
+   "table": {
+    "distance": "0.0 meters",
+    "closeness rank": 2
+   },
+   "telephone": {
+    "distance": "0.26 meters",
+    "closeness rank": 3
+   },
+   "chair": {
+    "distance": "0.31 meters",
+    "closeness rank": 4
+   },
+   "window": {
+    "distance": "1.55 meters",
+    "closeness rank": 5
+   },
+   "sofa": {
+    "distance": "1.59 meters",
+    "closeness rank": 6
+   },
+   "fan": {
+    "distance": "1.89 meters",
+    "closeness rank": 7
+   },
+   "pillow": {
+    "distance": "2.85 meters",
+    "closeness rank": 8
+   },
+   "door": {
+    "distance": "2.33 meters",
+    "closeness rank": 9
+   }
+  },
+  "keyboard": {
+   "monitor": {
+    "distance": "0.2 meters",
+    "closeness rank": 1
+   },
+   "table": {
+    "distance": "0.0 meters",
+    "closeness rank": 2
+   },
+   "chair": {
+    "distance": "0.88 meters",
+    "closeness rank": 3
+   },
+   "telephone": {
+    "distance": "0.45 meters",
+    "closeness rank": 4
+   },
+   "window": {
+    "distance": "1.55 meters",
+    "closeness rank": 5
+   },
+   "sofa": {
+    "distance": "1.76 meters",
+    "closeness rank": 6
+   },
+   "fan": {
+    "distance": "2.24 meters",
+    "closeness rank": 7
+   },
+   "pillow": {
+    "distance": "2.45 meters",
+    "closeness rank": 8
+   },
+   "door": {
+    "distance": "2.92 meters",
+    "closeness rank": 9
+   }
+  },
+  "fan": {
+   "sofa": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "door": {
+    "distance": "0.68 meters",
+    "closeness rank": 2
+   },
+   "table": {
+    "distance": "1.06 meters",
+    "closeness rank": 3
+   },
+   "window": {
+    "distance": "3.97 meters",
+    "closeness rank": 4
+   },
+   "pillow": {
+    "distance": "1.5 meters",
+    "closeness rank": 5
+   },
+   "monitor": {
+    "distance": "1.89 meters",
+    "closeness rank": 6
+   },
+   "chair": {
+    "distance": "1.82 meters",
+    "closeness rank": 7
+   },
+   "keyboard": {
+    "distance": "2.24 meters",
+    "closeness rank": 8
+   },
+   "telephone": {
+    "distance": "2.99 meters",
+    "closeness rank": 9
+   }
+  },
+  "telephone": {
+   "table": {
+    "distance": "0.05 meters",
+    "closeness rank": 1
+   },
+   "monitor": {
+    "distance": "0.26 meters",
+    "closeness rank": 2
+   },
+   "chair": {
+    "distance": "0.91 meters",
+    "closeness rank": 3
+   },
+   "keyboard": {
+    "distance": "0.45 meters",
+    "closeness rank": 4
+   },
+   "window": {
+    "distance": "1.03 meters",
+    "closeness rank": 5
+   },
+   "sofa": {
+    "distance": "2.46 meters",
+    "closeness rank": 6
+   },
+   "fan": {
+    "distance": "2.99 meters",
+    "closeness rank": 7
+   },
+   "pillow": {
+    "distance": "3.37 meters",
+    "closeness rank": 8
+   },
+   "door": {
+    "distance": "3.79 meters",
+    "closeness rank": 9
+   }
+  },
+  "door": {
+   "window": {
+    "distance": "3.9 meters",
+    "closeness rank": 1
+   },
+   "sofa": {
+    "distance": "0.2 meters",
+    "closeness rank": 2
+   },
+   "pillow": {
+    "distance": "0.3 meters",
+    "closeness rank": 3
+   },
+   "fan": {
+    "distance": "0.68 meters",
+    "closeness rank": 4
+   },
+   "table": {
+    "distance": "1.6 meters",
+    "closeness rank": 5
+   },
+   "monitor": {
+    "distance": "2.33 meters",
+    "closeness rank": 6
+   },
+   "chair": {
+    "distance": "2.84 meters",
+    "closeness rank": 7
+   },
+   "keyboard": {
+    "distance": "2.92 meters",
+    "closeness rank": 8
+   },
+   "telephone": {
+    "distance": "3.79 meters",
+    "closeness rank": 9
+   }
+  },
+  "table": {
+   "chair": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "keyboard": {
+    "distance": "0.0 meters",
+    "closeness rank": 2
+   },
+   "monitor": {
+    "distance": "0.0 meters",
+    "closeness rank": 3
+   },
+   "window": {
+    "distance": "0.43 meters",
+    "closeness rank": 4
+   },
+   "telephone": {
+    "distance": "0.05 meters",
+    "closeness rank": 5
+   },
+   "sofa": {
+    "distance": "0.5 meters",
+    "closeness rank": 6
+   },
+   "fan": {
+    "distance": "1.06 meters",
+    "closeness rank": 7
+   },
+   "pillow": {
+    "distance": "1.21 meters",
+    "closeness rank": 8
+   },
+   "door": {
+    "distance": "1.6 meters",
+    "closeness rank": 9
+   }
+  }
+ },
+ "appearance order": ["chair", "sofa", "window", "pillow", "monitor", "keyboard", "fan", "telephone", "door", "table"]
+}
\ No newline at end of file
diff --git a/data/spatial codes/ground truth/explicit/scene0030_02.json b/data/spatial codes/ground truth/explicit/scene0030_02.json
new file mode 100644
index 0000000000000000000000000000000000000000..acdec42f125ee373c9273d8388618a9bc1515f25
--- /dev/null
+++ b/data/spatial codes/ground truth/explicit/scene0030_02.json	
@@ -0,0 +1,563 @@
+{
+ "spatial code schema": {
+  "objects": {
+   "<object class>": {
+    "count": {
+     "unit": null,
+     "description": "number of instances of this class in the compact spatial code (that schema's per-class oriented-box list length)"
+    },
+    "instances": [
+     {
+      "position": {
+       "x coordinate": {
+        "unit": "meters",
+        "description": "x coordinate of this instance's compact 3D oriented bounding box center"
+       },
+       "y coordinate": {
+        "unit": "meters",
+        "description": "y coordinate of this instance's compact 3D oriented bounding box center"
+       },
+       "height above floor": {
+        "unit": "meters",
+        "description": "height coordinate of this instance's compact 3D oriented bounding box center"
+       }
+      },
+      "longest dimension": {
+       "unit": "meters",
+       "description": "longest of this instance's compact 3D oriented bounding box dimensions"
+      }
+     }
+    ]
+   }
+  },
+  "room": {
+   "floor area": {
+    "unit": "square meters",
+    "description": "shoelace area of the compact spatial code's floor boundary polygons, with every interior hole subtracted"
+   }
+  },
+  "closest classes distance meters from": {
+   "<object class>": {
+    "<other object class>": {
+     "distance": {
+      "unit": "meters",
+      "description": "estimated distance in meters between an object of this class and an object of the other class"
+     },
+     "closeness rank": {
+      "unit": null,
+      "description": "1 = the nearest other class to this one, 2 = second-nearest, and so on; ranked by nearest-instance proximity, so use the rank (not the distance values) to compare which class is closest"
+     }
+    }
+   }
+  },
+  "appearance order": {
+   "unit": null,
+   "description": "class names ordered by earliest compact 'first visible time' across all of that class's instances"
+  }
+ },
+ "objects": {
+  "chair": {
+   "count": 17,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-0.1 meters",
+      "y coordinate": "-1.6 meters",
+      "height above floor": "0.64 meters"
+     },
+     "longest dimension": "0.61 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-1.2 meters",
+      "y coordinate": "-0.52 meters",
+      "height above floor": "0.63 meters"
+     },
+     "longest dimension": "0.65 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-0.03 meters",
+      "y coordinate": "1.68 meters",
+      "height above floor": "0.74 meters"
+     },
+     "longest dimension": "0.52 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "0.4 meters",
+      "y coordinate": "1.18 meters",
+      "height above floor": "0.7 meters"
+     },
+     "longest dimension": "0.78 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "0.63 meters",
+      "y coordinate": "0.62 meters",
+      "height above floor": "0.82 meters"
+     },
+     "longest dimension": "0.53 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "1.23 meters",
+      "y coordinate": "0.36 meters",
+      "height above floor": "0.57 meters"
+     },
+     "longest dimension": "0.71 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "1.89 meters",
+      "y coordinate": "0.09 meters",
+      "height above floor": "0.57 meters"
+     },
+     "longest dimension": "0.84 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "2.31 meters",
+      "y coordinate": "0.59 meters",
+      "height above floor": "0.64 meters"
+     },
+     "longest dimension": "0.81 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "1.02 meters",
+      "y coordinate": "1.71 meters",
+      "height above floor": "0.56 meters"
+     },
+     "longest dimension": "0.97 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "0.48 meters",
+      "y coordinate": "2.27 meters",
+      "height above floor": "0.7 meters"
+     },
+     "longest dimension": "0.61 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-2.72 meters",
+      "y coordinate": "0.85 meters",
+      "height above floor": "0.61 meters"
+     },
+     "longest dimension": "0.82 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-0.58 meters",
+      "y coordinate": "-0.03 meters",
+      "height above floor": "0.63 meters"
+     },
+     "longest dimension": "0.74 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "0.71 meters",
+      "y coordinate": "-0.72 meters",
+      "height above floor": "0.74 meters"
+     },
+     "longest dimension": "0.56 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-1.39 meters",
+      "y coordinate": "1.79 meters",
+      "height above floor": "0.71 meters"
+     },
+     "longest dimension": "0.52 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-1.81 meters",
+      "y coordinate": "1.37 meters",
+      "height above floor": "0.59 meters"
+     },
+     "longest dimension": "0.68 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "0.68 meters",
+      "y coordinate": "-1.43 meters",
+      "height above floor": "0.69 meters"
+     },
+     "longest dimension": "0.57 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-0.48 meters",
+      "y coordinate": "3.18 meters",
+      "height above floor": "0.69 meters"
+     },
+     "longest dimension": "1.41 meters"
+    }
+   ]
+  },
+  "window": {
+   "count": 3,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "1.49 meters",
+      "y coordinate": "-2.97 meters",
+      "height above floor": "1.34 meters"
+     },
+     "longest dimension": "1.77 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "2.62 meters",
+      "y coordinate": "-1.76 meters",
+      "height above floor": "1.33 meters"
+     },
+     "longest dimension": "1.97 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "3.75 meters",
+      "y coordinate": "-0.28 meters",
+      "height above floor": "1.34 meters"
+     },
+     "longest dimension": "1.85 meters"
+    }
+   ]
+  },
+  "bookshelf": {
+   "count": 6,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-3.29 meters",
+      "y coordinate": "-0.16 meters",
+      "height above floor": "0.73 meters"
+     },
+     "longest dimension": "1.18 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-1.6 meters",
+      "y coordinate": "-1.34 meters",
+      "height above floor": "1.17 meters"
+     },
+     "longest dimension": "2.06 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-0.87 meters",
+      "y coordinate": "-1.92 meters",
+      "height above floor": "0.72 meters"
+     },
+     "longest dimension": "1.07 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-0.31 meters",
+      "y coordinate": "-2.62 meters",
+      "height above floor": "1.17 meters"
+     },
+     "longest dimension": "2.04 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "3.86 meters",
+      "y coordinate": "0.24 meters",
+      "height above floor": "0.77 meters"
+     },
+     "longest dimension": "0.93 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "0.51 meters",
+      "y coordinate": "-3.28 meters",
+      "height above floor": "1.14 meters"
+     },
+     "longest dimension": "2.0 meters"
+    }
+   ]
+  },
+  "clock": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "1.89 meters",
+      "y coordinate": "2.42 meters",
+      "height above floor": "2.47 meters"
+     },
+     "longest dimension": "0.53 meters"
+    }
+   ]
+  },
+  "trash bin": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-3.31 meters",
+      "y coordinate": "0.23 meters",
+      "height above floor": "0.36 meters"
+     },
+     "longest dimension": "0.67 meters"
+    }
+   ]
+  },
+  "door": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-2.67 meters",
+      "y coordinate": "-1.01 meters",
+      "height above floor": "0.98 meters"
+     },
+     "longest dimension": "1.69 meters"
+    }
+   ]
+  },
+  "table": {
+   "count": 6,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "1.15 meters",
+      "y coordinate": "1.09 meters",
+      "height above floor": "0.55 meters"
+     },
+     "longest dimension": "3.72 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-0.98 meters",
+      "y coordinate": "-0.13 meters",
+      "height above floor": "0.88 meters"
+     },
+     "longest dimension": "1.91 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "2.8 meters",
+      "y coordinate": "-0.62 meters",
+      "height above floor": "0.73 meters"
+     },
+     "longest dimension": "1.64 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "1.91 meters",
+      "y coordinate": "-1.68 meters",
+      "height above floor": "0.47 meters"
+     },
+     "longest dimension": "1.58 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "0.16 meters",
+      "y coordinate": "-1.49 meters",
+      "height above floor": "0.85 meters"
+     },
+     "longest dimension": "1.64 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-1.93 meters",
+      "y coordinate": "1.72 meters",
+      "height above floor": "0.53 meters"
+     },
+     "longest dimension": "1.63 meters"
+    }
+   ]
+  }
+ },
+ "room": {
+  "floor area": "33.2 square meters"
+ },
+ "closest classes distance meters from": {
+  "chair": {
+   "table": {
+    "distance": "0.8 meters",
+    "closeness rank": 1
+   },
+   "trash bin": {
+    "distance": "3.07 meters",
+    "closeness rank": 2
+   },
+   "bookshelf": {
+    "distance": "2.61 meters",
+    "closeness rank": 3
+   },
+   "door": {
+    "distance": "1.51 meters",
+    "closeness rank": 4
+   },
+   "window": {
+    "distance": "1.09 meters",
+    "closeness rank": 5
+   },
+   "clock": {
+    "distance": "4.27 meters",
+    "closeness rank": 6
+   }
+  },
+  "window": {
+   "bookshelf": {
+    "distance": "4.1 meters",
+    "closeness rank": 1
+   },
+   "table": {
+    "distance": "1.41 meters",
+    "closeness rank": 2
+   },
+   "chair": {
+    "distance": "1.09 meters",
+    "closeness rank": 3
+   },
+   "clock": {
+    "distance": "4.37 meters",
+    "closeness rank": 4
+   },
+   "door": {
+    "distance": "3.84 meters",
+    "closeness rank": 5
+   },
+   "trash bin": {
+    "distance": "5.38 meters",
+    "closeness rank": 6
+   }
+  },
+  "bookshelf": {
+   "table": {
+    "distance": "2.17 meters",
+    "closeness rank": 1
+   },
+   "trash bin": {
+    "distance": "0.0 meters",
+    "closeness rank": 2
+   },
+   "window": {
+    "distance": "4.1 meters",
+    "closeness rank": 3
+   },
+   "door": {
+    "distance": "0.08 meters",
+    "closeness rank": 4
+   },
+   "chair": {
+    "distance": "2.61 meters",
+    "closeness rank": 5
+   },
+   "clock": {
+    "distance": "5.19 meters",
+    "closeness rank": 6
+   }
+  },
+  "clock": {
+   "chair": {
+    "distance": "4.27 meters",
+    "closeness rank": 1
+   },
+   "table": {
+    "distance": "1.45 meters",
+    "closeness rank": 2
+   },
+   "bookshelf": {
+    "distance": "5.19 meters",
+    "closeness rank": 3
+   },
+   "window": {
+    "distance": "4.37 meters",
+    "closeness rank": 4
+   },
+   "trash bin": {
+    "distance": "5.42 meters",
+    "closeness rank": 5
+   },
+   "door": {
+    "distance": "5.46 meters",
+    "closeness rank": 6
+   }
+  },
+  "trash bin": {
+   "bookshelf": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "chair": {
+    "distance": "3.07 meters",
+    "closeness rank": 2
+   },
+   "door": {
+    "distance": "0.71 meters",
+    "closeness rank": 3
+   },
+   "table": {
+    "distance": "2.35 meters",
+    "closeness rank": 4
+   },
+   "window": {
+    "distance": "5.38 meters",
+    "closeness rank": 5
+   },
+   "clock": {
+    "distance": "5.42 meters",
+    "closeness rank": 6
+   }
+  },
+  "door": {
+   "bookshelf": {
+    "distance": "0.08 meters",
+    "closeness rank": 1
+   },
+   "trash bin": {
+    "distance": "0.71 meters",
+    "closeness rank": 2
+   },
+   "chair": {
+    "distance": "1.51 meters",
+    "closeness rank": 3
+   },
+   "table": {
+    "distance": "1.68 meters",
+    "closeness rank": 4
+   },
+   "window": {
+    "distance": "3.84 meters",
+    "closeness rank": 5
+   },
+   "clock": {
+    "distance": "5.46 meters",
+    "closeness rank": 6
+   }
+  },
+  "table": {
+   "bookshelf": {
+    "distance": "2.17 meters",
+    "closeness rank": 1
+   },
+   "chair": {
+    "distance": "0.8 meters",
+    "closeness rank": 2
+   },
+   "window": {
+    "distance": "1.41 meters",
+    "closeness rank": 3
+   },
+   "trash bin": {
+    "distance": "2.35 meters",
+    "closeness rank": 4
+   },
+   "door": {
+    "distance": "1.68 meters",
+    "closeness rank": 5
+   },
+   "clock": {
+    "distance": "1.45 meters",
+    "closeness rank": 6
+   }
+  }
+ },
+ "appearance order": ["table", "chair", "window", "bookshelf", "door", "trash bin", "clock"]
+}
\ No newline at end of file
diff --git a/data/spatial codes/ground truth/explicit/scene0046_01.json b/data/spatial codes/ground truth/explicit/scene0046_01.json
new file mode 100644
index 0000000000000000000000000000000000000000..626101be4025586c358fb808a9c8376a2a174396
--- /dev/null
+++ b/data/spatial codes/ground truth/explicit/scene0046_01.json	
@@ -0,0 +1,687 @@
+{
+ "spatial code schema": {
+  "objects": {
+   "<object class>": {
+    "count": {
+     "unit": null,
+     "description": "number of instances of this class in the compact spatial code (that schema's per-class oriented-box list length)"
+    },
+    "instances": [
+     {
+      "position": {
+       "x coordinate": {
+        "unit": "meters",
+        "description": "x coordinate of this instance's compact 3D oriented bounding box center"
+       },
+       "y coordinate": {
+        "unit": "meters",
+        "description": "y coordinate of this instance's compact 3D oriented bounding box center"
+       },
+       "height above floor": {
+        "unit": "meters",
+        "description": "height coordinate of this instance's compact 3D oriented bounding box center"
+       }
+      },
+      "longest dimension": {
+       "unit": "meters",
+       "description": "longest of this instance's compact 3D oriented bounding box dimensions"
+      }
+     }
+    ]
+   }
+  },
+  "room": {
+   "floor area": {
+    "unit": "square meters",
+    "description": "shoelace area of the compact spatial code's floor boundary polygons, with every interior hole subtracted"
+   }
+  },
+  "closest classes distance meters from": {
+   "<object class>": {
+    "<other object class>": {
+     "distance": {
+      "unit": "meters",
+      "description": "estimated distance in meters between an object of this class and an object of the other class"
+     },
+     "closeness rank": {
+      "unit": null,
+      "description": "1 = the nearest other class to this one, 2 = second-nearest, and so on; ranked by nearest-instance proximity, so use the rank (not the distance values) to compare which class is closest"
+     }
+    }
+   }
+  },
+  "appearance order": {
+   "unit": null,
+   "description": "class names ordered by earliest compact 'first visible time' across all of that class's instances"
+  }
+ },
+ "objects": {
+  "bed": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-0.64 meters",
+      "y coordinate": "0.73 meters",
+      "height above floor": "0.71 meters"
+     },
+     "longest dimension": "2.47 meters"
+    }
+   ]
+  },
+  "chair": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-1.29 meters",
+      "y coordinate": "-0.46 meters",
+      "height above floor": "0.63 meters"
+     },
+     "longest dimension": "0.88 meters"
+    }
+   ]
+  },
+  "lamp": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-1.9 meters",
+      "y coordinate": "-1.35 meters",
+      "height above floor": "0.19 meters"
+     },
+     "longest dimension": "0.35 meters"
+    }
+   ]
+  },
+  "towel": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "1.26 meters",
+      "y coordinate": "1.14 meters",
+      "height above floor": "0.74 meters"
+     },
+     "longest dimension": "0.53 meters"
+    }
+   ]
+  },
+  "tv": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-1.66 meters",
+      "y coordinate": "0.94 meters",
+      "height above floor": "1.49 meters"
+     },
+     "longest dimension": "0.51 meters"
+    }
+   ]
+  },
+  "nightstand": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-1.72 meters",
+      "y coordinate": "0.91 meters",
+      "height above floor": "0.68 meters"
+     },
+     "longest dimension": "0.58 meters"
+    }
+   ]
+  },
+  "backpack": {
+   "count": 2,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-1.75 meters",
+      "y coordinate": "-0.68 meters",
+      "height above floor": "0.37 meters"
+     },
+     "longest dimension": "0.47 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-1.9 meters",
+      "y coordinate": "0.35 meters",
+      "height above floor": "0.3 meters"
+     },
+     "longest dimension": "0.47 meters"
+    }
+   ]
+  },
+  "mirror": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "1.57 meters",
+      "y coordinate": "1.5 meters",
+      "height above floor": "1.71 meters"
+     },
+     "longest dimension": "0.7 meters"
+    }
+   ]
+  },
+  "trash bin": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "1.79 meters",
+      "y coordinate": "1.29 meters",
+      "height above floor": "0.34 meters"
+     },
+     "longest dimension": "0.28 meters"
+    }
+   ]
+  },
+  "door": {
+   "count": 2,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "2.75 meters",
+      "y coordinate": "-0.23 meters",
+      "height above floor": "1.23 meters"
+     },
+     "longest dimension": "1.99 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "1.04 meters",
+      "y coordinate": "0.48 meters",
+      "height above floor": "1.18 meters"
+     },
+     "longest dimension": "2.05 meters"
+    }
+   ]
+  },
+  "table": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-1.18 meters",
+      "y coordinate": "-1.14 meters",
+      "height above floor": "0.57 meters"
+     },
+     "longest dimension": "1.45 meters"
+    }
+   ]
+  }
+ },
+ "room": {
+  "floor area": "15.2 square meters"
+ },
+ "closest classes distance meters from": {
+  "bed": {
+   "backpack": {
+    "distance": "0.36 meters",
+    "closeness rank": 1
+   },
+   "nightstand": {
+    "distance": "0.0 meters",
+    "closeness rank": 2
+   },
+   "chair": {
+    "distance": "0.05 meters",
+    "closeness rank": 3
+   },
+   "tv": {
+    "distance": "0.08 meters",
+    "closeness rank": 4
+   },
+   "door": {
+    "distance": "1.33 meters",
+    "closeness rank": 5
+   },
+   "towel": {
+    "distance": "0.62 meters",
+    "closeness rank": 6
+   },
+   "table": {
+    "distance": "0.72 meters",
+    "closeness rank": 7
+   },
+   "mirror": {
+    "distance": "0.96 meters",
+    "closeness rank": 8
+   },
+   "lamp": {
+    "distance": "1.08 meters",
+    "closeness rank": 9
+   },
+   "trash bin": {
+    "distance": "1.15 meters",
+    "closeness rank": 10
+   }
+  },
+  "chair": {
+   "backpack": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "table": {
+    "distance": "0.03 meters",
+    "closeness rank": 2
+   },
+   "bed": {
+    "distance": "0.05 meters",
+    "closeness rank": 3
+   },
+   "lamp": {
+    "distance": "0.55 meters",
+    "closeness rank": 4
+   },
+   "nightstand": {
+    "distance": "0.82 meters",
+    "closeness rank": 5
+   },
+   "tv": {
+    "distance": "0.99 meters",
+    "closeness rank": 6
+   },
+   "door": {
+    "distance": "2.66 meters",
+    "closeness rank": 7
+   },
+   "towel": {
+    "distance": "2.45 meters",
+    "closeness rank": 8
+   },
+   "mirror": {
+    "distance": "2.84 meters",
+    "closeness rank": 9
+   },
+   "trash bin": {
+    "distance": "3.0 meters",
+    "closeness rank": 10
+   }
+  },
+  "lamp": {
+   "table": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "backpack": {
+    "distance": "0.3 meters",
+    "closeness rank": 2
+   },
+   "chair": {
+    "distance": "0.55 meters",
+    "closeness rank": 3
+   },
+   "bed": {
+    "distance": "1.08 meters",
+    "closeness rank": 4
+   },
+   "nightstand": {
+    "distance": "1.85 meters",
+    "closeness rank": 5
+   },
+   "tv": {
+    "distance": "2.21 meters",
+    "closeness rank": 6
+   },
+   "door": {
+    "distance": "3.72 meters",
+    "closeness rank": 7
+   },
+   "towel": {
+    "distance": "3.73 meters",
+    "closeness rank": 8
+   },
+   "mirror": {
+    "distance": "4.22 meters",
+    "closeness rank": 9
+   },
+   "trash bin": {
+    "distance": "4.22 meters",
+    "closeness rank": 10
+   }
+  },
+  "towel": {
+   "door": {
+    "distance": "0.82 meters",
+    "closeness rank": 1
+   },
+   "trash bin": {
+    "distance": "0.33 meters",
+    "closeness rank": 2
+   },
+   "mirror": {
+    "distance": "0.47 meters",
+    "closeness rank": 3
+   },
+   "bed": {
+    "distance": "0.62 meters",
+    "closeness rank": 4
+   },
+   "table": {
+    "distance": "2.4 meters",
+    "closeness rank": 5
+   },
+   "chair": {
+    "distance": "2.45 meters",
+    "closeness rank": 6
+   },
+   "tv": {
+    "distance": "2.61 meters",
+    "closeness rank": 7
+   },
+   "nightstand": {
+    "distance": "2.7 meters",
+    "closeness rank": 8
+   },
+   "backpack": {
+    "distance": "3.04 meters",
+    "closeness rank": 9
+   },
+   "lamp": {
+    "distance": "3.73 meters",
+    "closeness rank": 10
+   }
+  },
+  "tv": {
+   "bed": {
+    "distance": "0.08 meters",
+    "closeness rank": 1
+   },
+   "nightstand": {
+    "distance": "0.34 meters",
+    "closeness rank": 2
+   },
+   "backpack": {
+    "distance": "1.48 meters",
+    "closeness rank": 3
+   },
+   "chair": {
+    "distance": "0.99 meters",
+    "closeness rank": 4
+   },
+   "table": {
+    "distance": "1.66 meters",
+    "closeness rank": 5
+   },
+   "lamp": {
+    "distance": "2.21 meters",
+    "closeness rank": 6
+   },
+   "door": {
+    "distance": "3.32 meters",
+    "closeness rank": 7
+   },
+   "towel": {
+    "distance": "2.61 meters",
+    "closeness rank": 8
+   },
+   "mirror": {
+    "distance": "2.74 meters",
+    "closeness rank": 9
+   },
+   "trash bin": {
+    "distance": "3.26 meters",
+    "closeness rank": 10
+   }
+  },
+  "nightstand": {
+   "bed": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "backpack": {
+    "distance": "1.1 meters",
+    "closeness rank": 2
+   },
+   "tv": {
+    "distance": "0.34 meters",
+    "closeness rank": 3
+   },
+   "chair": {
+    "distance": "0.82 meters",
+    "closeness rank": 4
+   },
+   "table": {
+    "distance": "1.5 meters",
+    "closeness rank": 5
+   },
+   "lamp": {
+    "distance": "1.85 meters",
+    "closeness rank": 6
+   },
+   "door": {
+    "distance": "3.36 meters",
+    "closeness rank": 7
+   },
+   "towel": {
+    "distance": "2.7 meters",
+    "closeness rank": 8
+   },
+   "mirror": {
+    "distance": "2.89 meters",
+    "closeness rank": 9
+   },
+   "trash bin": {
+    "distance": "3.16 meters",
+    "closeness rank": 10
+   }
+  },
+  "backpack": {
+   "bed": {
+    "distance": "0.36 meters",
+    "closeness rank": 1
+   },
+   "chair": {
+    "distance": "0.0 meters",
+    "closeness rank": 2
+   },
+   "table": {
+    "distance": "0.0 meters",
+    "closeness rank": 3
+   },
+   "nightstand": {
+    "distance": "1.1 meters",
+    "closeness rank": 4
+   },
+   "lamp": {
+    "distance": "0.3 meters",
+    "closeness rank": 5
+   },
+   "tv": {
+    "distance": "1.48 meters",
+    "closeness rank": 6
+   },
+   "door": {
+    "distance": "3.37 meters",
+    "closeness rank": 7
+   },
+   "towel": {
+    "distance": "3.04 meters",
+    "closeness rank": 8
+   },
+   "mirror": {
+    "distance": "3.61 meters",
+    "closeness rank": 9
+   },
+   "trash bin": {
+    "distance": "3.68 meters",
+    "closeness rank": 10
+   }
+  },
+  "mirror": {
+   "towel": {
+    "distance": "0.47 meters",
+    "closeness rank": 1
+   },
+   "door": {
+    "distance": "0.8 meters",
+    "closeness rank": 2
+   },
+   "bed": {
+    "distance": "0.96 meters",
+    "closeness rank": 3
+   },
+   "trash bin": {
+    "distance": "0.91 meters",
+    "closeness rank": 4
+   },
+   "chair": {
+    "distance": "2.84 meters",
+    "closeness rank": 5
+   },
+   "tv": {
+    "distance": "2.74 meters",
+    "closeness rank": 6
+   },
+   "table": {
+    "distance": "2.9 meters",
+    "closeness rank": 7
+   },
+   "nightstand": {
+    "distance": "2.89 meters",
+    "closeness rank": 8
+   },
+   "backpack": {
+    "distance": "3.61 meters",
+    "closeness rank": 9
+   },
+   "lamp": {
+    "distance": "4.22 meters",
+    "closeness rank": 10
+   }
+  },
+  "trash bin": {
+   "towel": {
+    "distance": "0.33 meters",
+    "closeness rank": 1
+   },
+   "door": {
+    "distance": "0.87 meters",
+    "closeness rank": 2
+   },
+   "mirror": {
+    "distance": "0.91 meters",
+    "closeness rank": 3
+   },
+   "bed": {
+    "distance": "1.15 meters",
+    "closeness rank": 4
+   },
+   "table": {
+    "distance": "2.98 meters",
+    "closeness rank": 5
+   },
+   "chair": {
+    "distance": "3.0 meters",
+    "closeness rank": 6
+   },
+   "nightstand": {
+    "distance": "3.16 meters",
+    "closeness rank": 7
+   },
+   "tv": {
+    "distance": "3.26 meters",
+    "closeness rank": 8
+   },
+   "backpack": {
+    "distance": "3.68 meters",
+    "closeness rank": 9
+   },
+   "lamp": {
+    "distance": "4.22 meters",
+    "closeness rank": 10
+   }
+  },
+  "door": {
+   "towel": {
+    "distance": "0.82 meters",
+    "closeness rank": 1
+   },
+   "bed": {
+    "distance": "1.33 meters",
+    "closeness rank": 2
+   },
+   "mirror": {
+    "distance": "0.8 meters",
+    "closeness rank": 3
+   },
+   "trash bin": {
+    "distance": "0.87 meters",
+    "closeness rank": 4
+   },
+   "table": {
+    "distance": "2.37 meters",
+    "closeness rank": 5
+   },
+   "chair": {
+    "distance": "2.66 meters",
+    "closeness rank": 6
+   },
+   "tv": {
+    "distance": "3.32 meters",
+    "closeness rank": 7
+   },
+   "nightstand": {
+    "distance": "3.36 meters",
+    "closeness rank": 8
+   },
+   "backpack": {
+    "distance": "3.37 meters",
+    "closeness rank": 9
+   },
+   "lamp": {
+    "distance": "3.72 meters",
+    "closeness rank": 10
+   }
+  },
+  "table": {
+   "backpack": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "lamp": {
+    "distance": "0.0 meters",
+    "closeness rank": 2
+   },
+   "chair": {
+    "distance": "0.03 meters",
+    "closeness rank": 3
+   },
+   "bed": {
+    "distance": "0.72 meters",
+    "closeness rank": 4
+   },
+   "nightstand": {
+    "distance": "1.5 meters",
+    "closeness rank": 5
+   },
+   "tv": {
+    "distance": "1.66 meters",
+    "closeness rank": 6
+   },
+   "door": {
+    "distance": "2.37 meters",
+    "closeness rank": 7
+   },
+   "towel": {
+    "distance": "2.4 meters",
+    "closeness rank": 8
+   },
+   "mirror": {
+    "distance": "2.9 meters",
+    "closeness rank": 9
+   },
+   "trash bin": {
+    "distance": "2.98 meters",
+    "closeness rank": 10
+   }
+  }
+ },
+ "appearance order": ["tv", "nightstand", "chair", "bed", "backpack", "lamp", "door", "trash bin", "towel", "mirror", "table"]
+}
\ No newline at end of file
diff --git a/data/spatial codes/ground truth/explicit/scene0050_01.json b/data/spatial codes/ground truth/explicit/scene0050_01.json
new file mode 100644
index 0000000000000000000000000000000000000000..1115a88667acf3389f3699dd54cf5312152d0bce
--- /dev/null
+++ b/data/spatial codes/ground truth/explicit/scene0050_01.json	
@@ -0,0 +1,458 @@
+{
+ "spatial code schema": {
+  "objects": {
+   "<object class>": {
+    "count": {
+     "unit": null,
+     "description": "number of instances of this class in the compact spatial code (that schema's per-class oriented-box list length)"
+    },
+    "instances": [
+     {
+      "position": {
+       "x coordinate": {
+        "unit": "meters",
+        "description": "x coordinate of this instance's compact 3D oriented bounding box center"
+       },
+       "y coordinate": {
+        "unit": "meters",
+        "description": "y coordinate of this instance's compact 3D oriented bounding box center"
+       },
+       "height above floor": {
+        "unit": "meters",
+        "description": "height coordinate of this instance's compact 3D oriented bounding box center"
+       }
+      },
+      "longest dimension": {
+       "unit": "meters",
+       "description": "longest of this instance's compact 3D oriented bounding box dimensions"
+      }
+     }
+    ]
+   }
+  },
+  "room": {
+   "floor area": {
+    "unit": "square meters",
+    "description": "shoelace area of the compact spatial code's floor boundary polygons, with every interior hole subtracted"
+   }
+  },
+  "closest classes distance meters from": {
+   "<object class>": {
+    "<other object class>": {
+     "distance": {
+      "unit": "meters",
+      "description": "estimated distance in meters between an object of this class and an object of the other class"
+     },
+     "closeness rank": {
+      "unit": null,
+      "description": "1 = the nearest other class to this one, 2 = second-nearest, and so on; ranked by nearest-instance proximity, so use the rank (not the distance values) to compare which class is closest"
+     }
+    }
+   }
+  },
+  "appearance order": {
+   "unit": null,
+   "description": "class names ordered by earliest compact 'first visible time' across all of that class's instances"
+  }
+ },
+ "objects": {
+  "chair": {
+   "count": 2,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-0.16 meters",
+      "y coordinate": "1.24 meters",
+      "height above floor": "0.56 meters"
+     },
+     "longest dimension": "0.86 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "0.97 meters",
+      "y coordinate": "0.28 meters",
+      "height above floor": "0.54 meters"
+     },
+     "longest dimension": "1.25 meters"
+    }
+   ]
+  },
+  "sofa": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-1.35 meters",
+      "y coordinate": "0.6 meters",
+      "height above floor": "0.66 meters"
+     },
+     "longest dimension": "2.05 meters"
+    }
+   ]
+  },
+  "lamp": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "0.36 meters",
+      "y coordinate": "1.58 meters",
+      "height above floor": "1.17 meters"
+     },
+     "longest dimension": "0.42 meters"
+    }
+   ]
+  },
+  "printer": {
+   "count": 2,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "1.52 meters",
+      "y coordinate": "1.32 meters",
+      "height above floor": "1.0 meters"
+     },
+     "longest dimension": "0.51 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "1.52 meters",
+      "y coordinate": "1.32 meters",
+      "height above floor": "1.0 meters"
+     },
+     "longest dimension": "0.51 meters"
+    }
+   ]
+  },
+  "backpack": {
+   "count": 2,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-0.5 meters",
+      "y coordinate": "-0.44 meters",
+      "height above floor": "0.73 meters"
+     },
+     "longest dimension": "0.53 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-0.23 meters",
+      "y coordinate": "0.19 meters",
+      "height above floor": "0.68 meters"
+     },
+     "longest dimension": "0.48 meters"
+    }
+   ]
+  },
+  "piano": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-0.93 meters",
+      "y coordinate": "-1.82 meters",
+      "height above floor": "0.81 meters"
+     },
+     "longest dimension": "1.45 meters"
+    }
+   ]
+  },
+  "door": {
+   "count": 4,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-0.75 meters",
+      "y coordinate": "1.78 meters",
+      "height above floor": "1.2 meters"
+     },
+     "longest dimension": "2.03 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "1.35 meters",
+      "y coordinate": "-1.98 meters",
+      "height above floor": "1.19 meters"
+     },
+     "longest dimension": "2.16 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "1.83 meters",
+      "y coordinate": "0.53 meters",
+      "height above floor": "1.14 meters"
+     },
+     "longest dimension": "1.99 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "2.0 meters",
+      "y coordinate": "-0.41 meters",
+      "height above floor": "1.16 meters"
+     },
+     "longest dimension": "2.06 meters"
+    }
+   ]
+  },
+  "table": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "0.97 meters",
+      "y coordinate": "1.33 meters",
+      "height above floor": "0.63 meters"
+     },
+     "longest dimension": "1.56 meters"
+    }
+   ]
+  }
+ },
+ "room": {
+  "floor area": "14.8 square meters"
+ },
+ "closest classes distance meters from": {
+  "chair": {
+   "door": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "table": {
+    "distance": "0.0 meters",
+    "closeness rank": 2
+   },
+   "printer": {
+    "distance": "1.05 meters",
+    "closeness rank": 3
+   },
+   "sofa": {
+    "distance": "0.19 meters",
+    "closeness rank": 4
+   },
+   "lamp": {
+    "distance": "0.23 meters",
+    "closeness rank": 5
+   },
+   "backpack": {
+    "distance": "1.03 meters",
+    "closeness rank": 6
+   },
+   "piano": {
+    "distance": "2.01 meters",
+    "closeness rank": 7
+   }
+  },
+  "sofa": {
+   "backpack": {
+    "distance": "0.05 meters",
+    "closeness rank": 1
+   },
+   "door": {
+    "distance": "0.0 meters",
+    "closeness rank": 2
+   },
+   "chair": {
+    "distance": "0.19 meters",
+    "closeness rank": 3
+   },
+   "lamp": {
+    "distance": "0.96 meters",
+    "closeness rank": 4
+   },
+   "table": {
+    "distance": "0.98 meters",
+    "closeness rank": 5
+   },
+   "piano": {
+    "distance": "1.05 meters",
+    "closeness rank": 6
+   },
+   "printer": {
+    "distance": "2.11 meters",
+    "closeness rank": 7
+   }
+  },
+  "lamp": {
+   "door": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "table": {
+    "distance": "0.0 meters",
+    "closeness rank": 2
+   },
+   "chair": {
+    "distance": "0.23 meters",
+    "closeness rank": 3
+   },
+   "printer": {
+    "distance": "0.74 meters",
+    "closeness rank": 4
+   },
+   "sofa": {
+    "distance": "0.96 meters",
+    "closeness rank": 5
+   },
+   "backpack": {
+    "distance": "1.76 meters",
+    "closeness rank": 6
+   },
+   "piano": {
+    "distance": "2.92 meters",
+    "closeness rank": 7
+   }
+  },
+  "printer": {
+   "table": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "chair": {
+    "distance": "1.05 meters",
+    "closeness rank": 2
+   },
+   "door": {
+    "distance": "1.05 meters",
+    "closeness rank": 3
+   },
+   "lamp": {
+    "distance": "0.74 meters",
+    "closeness rank": 4
+   },
+   "backpack": {
+    "distance": "2.17 meters",
+    "closeness rank": 5
+   },
+   "sofa": {
+    "distance": "2.11 meters",
+    "closeness rank": 6
+   },
+   "piano": {
+    "distance": "3.01 meters",
+    "closeness rank": 7
+   }
+  },
+  "backpack": {
+   "sofa": {
+    "distance": "0.05 meters",
+    "closeness rank": 1
+   },
+   "chair": {
+    "distance": "1.03 meters",
+    "closeness rank": 2
+   },
+   "table": {
+    "distance": "1.26 meters",
+    "closeness rank": 3
+   },
+   "piano": {
+    "distance": "0.66 meters",
+    "closeness rank": 4
+   },
+   "door": {
+    "distance": "1.14 meters",
+    "closeness rank": 5
+   },
+   "lamp": {
+    "distance": "1.76 meters",
+    "closeness rank": 6
+   },
+   "printer": {
+    "distance": "2.17 meters",
+    "closeness rank": 7
+   }
+  },
+  "piano": {
+   "backpack": {
+    "distance": "0.66 meters",
+    "closeness rank": 1
+   },
+   "door": {
+    "distance": "1.89 meters",
+    "closeness rank": 2
+   },
+   "sofa": {
+    "distance": "1.05 meters",
+    "closeness rank": 3
+   },
+   "chair": {
+    "distance": "2.01 meters",
+    "closeness rank": 4
+   },
+   "table": {
+    "distance": "2.3 meters",
+    "closeness rank": 5
+   },
+   "lamp": {
+    "distance": "2.92 meters",
+    "closeness rank": 6
+   },
+   "printer": {
+    "distance": "3.01 meters",
+    "closeness rank": 7
+   }
+  },
+  "door": {
+   "chair": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "lamp": {
+    "distance": "0.0 meters",
+    "closeness rank": 2
+   },
+   "sofa": {
+    "distance": "0.0 meters",
+    "closeness rank": 3
+   },
+   "table": {
+    "distance": "0.07 meters",
+    "closeness rank": 4
+   },
+   "printer": {
+    "distance": "1.05 meters",
+    "closeness rank": 5
+   },
+   "piano": {
+    "distance": "1.89 meters",
+    "closeness rank": 6
+   },
+   "backpack": {
+    "distance": "1.14 meters",
+    "closeness rank": 7
+   }
+  },
+  "table": {
+   "chair": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "door": {
+    "distance": "0.07 meters",
+    "closeness rank": 2
+   },
+   "lamp": {
+    "distance": "0.0 meters",
+    "closeness rank": 3
+   },
+   "printer": {
+    "distance": "0.0 meters",
+    "closeness rank": 4
+   },
+   "backpack": {
+    "distance": "1.26 meters",
+    "closeness rank": 5
+   },
+   "sofa": {
+    "distance": "0.98 meters",
+    "closeness rank": 6
+   },
+   "piano": {
+    "distance": "2.3 meters",
+    "closeness rank": 7
+   }
+  }
+ },
+ "appearance order": ["sofa", "piano", "door", "backpack", "table", "chair", "lamp", "printer"]
+}
\ No newline at end of file
diff --git a/data/spatial codes/ground truth/explicit/scene0077_01.json b/data/spatial codes/ground truth/explicit/scene0077_01.json
new file mode 100644
index 0000000000000000000000000000000000000000..b4477895791cec6ae63083ed8fb4ac02ae8a0727
--- /dev/null
+++ b/data/spatial codes/ground truth/explicit/scene0077_01.json	
@@ -0,0 +1,332 @@
+{
+ "spatial code schema": {
+  "objects": {
+   "<object class>": {
+    "count": {
+     "unit": null,
+     "description": "number of instances of this class in the compact spatial code (that schema's per-class oriented-box list length)"
+    },
+    "instances": [
+     {
+      "position": {
+       "x coordinate": {
+        "unit": "meters",
+        "description": "x coordinate of this instance's compact 3D oriented bounding box center"
+       },
+       "y coordinate": {
+        "unit": "meters",
+        "description": "y coordinate of this instance's compact 3D oriented bounding box center"
+       },
+       "height above floor": {
+        "unit": "meters",
+        "description": "height coordinate of this instance's compact 3D oriented bounding box center"
+       }
+      },
+      "longest dimension": {
+       "unit": "meters",
+       "description": "longest of this instance's compact 3D oriented bounding box dimensions"
+      }
+     }
+    ]
+   }
+  },
+  "room": {
+   "floor area": {
+    "unit": "square meters",
+    "description": "shoelace area of the compact spatial code's floor boundary polygons, with every interior hole subtracted"
+   }
+  },
+  "closest classes distance meters from": {
+   "<object class>": {
+    "<other object class>": {
+     "distance": {
+      "unit": "meters",
+      "description": "estimated distance in meters between an object of this class and an object of the other class"
+     },
+     "closeness rank": {
+      "unit": null,
+      "description": "1 = the nearest other class to this one, 2 = second-nearest, and so on; ranked by nearest-instance proximity, so use the rank (not the distance values) to compare which class is closest"
+     }
+    }
+   }
+  },
+  "appearance order": {
+   "unit": null,
+   "description": "class names ordered by earliest compact 'first visible time' across all of that class's instances"
+  }
+ },
+ "objects": {
+  "window": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "1.77 meters",
+      "y coordinate": "-0.34 meters",
+      "height above floor": "1.93 meters"
+     },
+     "longest dimension": "1.34 meters"
+    }
+   ]
+  },
+  "counter": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "1.32 meters",
+      "y coordinate": "0.29 meters",
+      "height above floor": "0.93 meters"
+     },
+     "longest dimension": "2.52 meters"
+    }
+   ]
+  },
+  "printer": {
+   "count": 6,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "0.06 meters",
+      "y coordinate": "-0.83 meters",
+      "height above floor": "1.12 meters"
+     },
+     "longest dimension": "0.66 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "1.44 meters",
+      "y coordinate": "-0.53 meters",
+      "height above floor": "1.21 meters"
+     },
+     "longest dimension": "0.68 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "1.13 meters",
+      "y coordinate": "0.22 meters",
+      "height above floor": "1.07 meters"
+     },
+     "longest dimension": "0.62 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "0.06 meters",
+      "y coordinate": "-0.83 meters",
+      "height above floor": "1.12 meters"
+     },
+     "longest dimension": "0.66 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "1.44 meters",
+      "y coordinate": "-0.53 meters",
+      "height above floor": "1.21 meters"
+     },
+     "longest dimension": "0.68 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "1.13 meters",
+      "y coordinate": "0.22 meters",
+      "height above floor": "1.07 meters"
+     },
+     "longest dimension": "0.62 meters"
+    }
+   ]
+  },
+  "trash bin": {
+   "count": 2,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-2.12 meters",
+      "y coordinate": "-0.42 meters",
+      "height above floor": "0.21 meters"
+     },
+     "longest dimension": "0.49 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-1.04 meters",
+      "y coordinate": "0.68 meters",
+      "height above floor": "0.57 meters"
+     },
+     "longest dimension": "1.07 meters"
+    }
+   ]
+  },
+  "door": {
+   "count": 2,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-2.14 meters",
+      "y coordinate": "0.7 meters",
+      "height above floor": "0.7 meters"
+     },
+     "longest dimension": "1.33 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-1.54 meters",
+      "y coordinate": "-2.14 meters",
+      "height above floor": "0.67 meters"
+     },
+     "longest dimension": "1.14 meters"
+    }
+   ]
+  },
+  "table": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "0.04 meters",
+      "y coordinate": "-0.91 meters",
+      "height above floor": "0.49 meters"
+     },
+     "longest dimension": "1.25 meters"
+    }
+   ]
+  }
+ },
+ "room": {
+  "floor area": "11.0 square meters"
+ },
+ "closest classes distance meters from": {
+  "window": {
+   "printer": {
+    "distance": "0.95 meters",
+    "closeness rank": 1
+   },
+   "counter": {
+    "distance": "0.11 meters",
+    "closeness rank": 2
+   },
+   "table": {
+    "distance": "1.11 meters",
+    "closeness rank": 3
+   },
+   "trash bin": {
+    "distance": "3.34 meters",
+    "closeness rank": 4
+   },
+   "door": {
+    "distance": "3.21 meters",
+    "closeness rank": 5
+   }
+  },
+  "counter": {
+   "printer": {
+    "distance": "0.11 meters",
+    "closeness rank": 1
+   },
+   "window": {
+    "distance": "0.11 meters",
+    "closeness rank": 2
+   },
+   "table": {
+    "distance": "0.51 meters",
+    "closeness rank": 3
+   },
+   "trash bin": {
+    "distance": "2.08 meters",
+    "closeness rank": 4
+   },
+   "door": {
+    "distance": "2.43 meters",
+    "closeness rank": 5
+   }
+  },
+  "printer": {
+   "counter": {
+    "distance": "0.11 meters",
+    "closeness rank": 1
+   },
+   "table": {
+    "distance": "0.0 meters",
+    "closeness rank": 2
+   },
+   "window": {
+    "distance": "0.95 meters",
+    "closeness rank": 3
+   },
+   "trash bin": {
+    "distance": "1.82 meters",
+    "closeness rank": 4
+   },
+   "door": {
+    "distance": "1.72 meters",
+    "closeness rank": 5
+   }
+  },
+  "trash bin": {
+   "door": {
+    "distance": "0.31 meters",
+    "closeness rank": 1
+   },
+   "table": {
+    "distance": "1.36 meters",
+    "closeness rank": 2
+   },
+   "printer": {
+    "distance": "1.82 meters",
+    "closeness rank": 3
+   },
+   "counter": {
+    "distance": "2.08 meters",
+    "closeness rank": 4
+   },
+   "window": {
+    "distance": "3.34 meters",
+    "closeness rank": 5
+   }
+  },
+  "door": {
+   "trash bin": {
+    "distance": "0.31 meters",
+    "closeness rank": 1
+   },
+   "table": {
+    "distance": "1.43 meters",
+    "closeness rank": 2
+   },
+   "printer": {
+    "distance": "1.72 meters",
+    "closeness rank": 3
+   },
+   "counter": {
+    "distance": "2.43 meters",
+    "closeness rank": 4
+   },
+   "window": {
+    "distance": "3.21 meters",
+    "closeness rank": 5
+   }
+  },
+  "table": {
+   "printer": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "counter": {
+    "distance": "0.51 meters",
+    "closeness rank": 2
+   },
+   "window": {
+    "distance": "1.11 meters",
+    "closeness rank": 3
+   },
+   "trash bin": {
+    "distance": "1.36 meters",
+    "closeness rank": 4
+   },
+   "door": {
+    "distance": "1.43 meters",
+    "closeness rank": 5
+   }
+  }
+ },
+ "appearance order": ["window", "counter", "printer", "trash bin", "door", "table"]
+}
\ No newline at end of file
diff --git a/data/spatial codes/ground truth/explicit/scene0081_02.json b/data/spatial codes/ground truth/explicit/scene0081_02.json
new file mode 100644
index 0000000000000000000000000000000000000000..b4043fefb72303e071b16f24b9ed5a446ba77d90
--- /dev/null
+++ b/data/spatial codes/ground truth/explicit/scene0081_02.json	
@@ -0,0 +1,360 @@
+{
+ "spatial code schema": {
+  "objects": {
+   "<object class>": {
+    "count": {
+     "unit": null,
+     "description": "number of instances of this class in the compact spatial code (that schema's per-class oriented-box list length)"
+    },
+    "instances": [
+     {
+      "position": {
+       "x coordinate": {
+        "unit": "meters",
+        "description": "x coordinate of this instance's compact 3D oriented bounding box center"
+       },
+       "y coordinate": {
+        "unit": "meters",
+        "description": "y coordinate of this instance's compact 3D oriented bounding box center"
+       },
+       "height above floor": {
+        "unit": "meters",
+        "description": "height coordinate of this instance's compact 3D oriented bounding box center"
+       }
+      },
+      "longest dimension": {
+       "unit": "meters",
+       "description": "longest of this instance's compact 3D oriented bounding box dimensions"
+      }
+     }
+    ]
+   }
+  },
+  "room": {
+   "floor area": {
+    "unit": "square meters",
+    "description": "shoelace area of the compact spatial code's floor boundary polygons, with every interior hole subtracted"
+   }
+  },
+  "closest classes distance meters from": {
+   "<object class>": {
+    "<other object class>": {
+     "distance": {
+      "unit": "meters",
+      "description": "estimated distance in meters between an object of this class and an object of the other class"
+     },
+     "closeness rank": {
+      "unit": null,
+      "description": "1 = the nearest other class to this one, 2 = second-nearest, and so on; ranked by nearest-instance proximity, so use the rank (not the distance values) to compare which class is closest"
+     }
+    }
+   }
+  },
+  "appearance order": {
+   "unit": null,
+   "description": "class names ordered by earliest compact 'first visible time' across all of that class's instances"
+  }
+ },
+ "objects": {
+  "chair": {
+   "count": 27,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-0.08 meters",
+      "y coordinate": "-1.93 meters",
+      "height above floor": "0.69 meters"
+     },
+     "longest dimension": "0.66 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "1.41 meters",
+      "y coordinate": "2.74 meters",
+      "height above floor": "0.69 meters"
+     },
+     "longest dimension": "1.24 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-0.12 meters",
+      "y coordinate": "-2.53 meters",
+      "height above floor": "0.72 meters"
+     },
+     "longest dimension": "0.64 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-0.41 meters",
+      "y coordinate": "1.5 meters",
+      "height above floor": "0.6 meters"
+     },
+     "longest dimension": "0.64 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-0.9 meters",
+      "y coordinate": "0.3 meters",
+      "height above floor": "0.74 meters"
+     },
+     "longest dimension": "0.55 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "0.62 meters",
+      "y coordinate": "-2.92 meters",
+      "height above floor": "0.75 meters"
+     },
+     "longest dimension": "0.66 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-1.65 meters",
+      "y coordinate": "-1.86 meters",
+      "height above floor": "0.75 meters"
+     },
+     "longest dimension": "0.67 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-0.06 meters",
+      "y coordinate": "2.28 meters",
+      "height above floor": "0.57 meters"
+     },
+     "longest dimension": "0.65 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-1.62 meters",
+      "y coordinate": "0.76 meters",
+      "height above floor": "0.73 meters"
+     },
+     "longest dimension": "0.71 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "0.62 meters",
+      "y coordinate": "-0.89 meters",
+      "height above floor": "0.62 meters"
+     },
+     "longest dimension": "0.64 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-0.99 meters",
+      "y coordinate": "-0.94 meters",
+      "height above floor": "0.68 meters"
+     },
+     "longest dimension": "0.66 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-0.59 meters",
+      "y coordinate": "2.89 meters",
+      "height above floor": "0.59 meters"
+     },
+     "longest dimension": "0.65 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-1.43 meters",
+      "y coordinate": "2.48 meters",
+      "height above floor": "0.69 meters"
+     },
+     "longest dimension": "0.67 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-0.13 meters",
+      "y coordinate": "-3.08 meters",
+      "height above floor": "0.77 meters"
+     },
+     "longest dimension": "0.62 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-0.05 meters",
+      "y coordinate": "0.39 meters",
+      "height above floor": "0.59 meters"
+     },
+     "longest dimension": "0.62 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "1.43 meters",
+      "y coordinate": "-1.48 meters",
+      "height above floor": "0.77 meters"
+     },
+     "longest dimension": "0.49 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-1.43 meters",
+      "y coordinate": "-2.42 meters",
+      "height above floor": "0.78 meters"
+     },
+     "longest dimension": "0.66 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-1.46 meters",
+      "y coordinate": "-2.99 meters",
+      "height above floor": "0.84 meters"
+     },
+     "longest dimension": "0.63 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-1.47 meters",
+      "y coordinate": "1.23 meters",
+      "height above floor": "0.66 meters"
+     },
+     "longest dimension": "0.8 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-0.1 meters",
+      "y coordinate": "-3.6 meters",
+      "height above floor": "0.8 meters"
+     },
+     "longest dimension": "0.71 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "2.33 meters",
+      "y coordinate": "-0.83 meters",
+      "height above floor": "0.85 meters"
+     },
+     "longest dimension": "0.55 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "2.16 meters",
+      "y coordinate": "-2.85 meters",
+      "height above floor": "0.82 meters"
+     },
+     "longest dimension": "0.66 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "1.39 meters",
+      "y coordinate": "-2.32 meters",
+      "height above floor": "0.73 meters"
+     },
+     "longest dimension": "0.65 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "1.58 meters",
+      "y coordinate": "-4.13 meters",
+      "height above floor": "0.96 meters"
+     },
+     "longest dimension": "0.55 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "0.75 meters",
+      "y coordinate": "-4.41 meters",
+      "height above floor": "0.87 meters"
+     },
+     "longest dimension": "0.64 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-1.54 meters",
+      "y coordinate": "1.86 meters",
+      "height above floor": "0.82 meters"
+     },
+     "longest dimension": "0.62 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-0.29 meters",
+      "y coordinate": "4.2 meters",
+      "height above floor": "0.95 meters"
+     },
+     "longest dimension": "0.52 meters"
+    }
+   ]
+  },
+  "table": {
+   "count": 7,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "1.4 meters",
+      "y coordinate": "1.63 meters",
+      "height above floor": "0.58 meters"
+     },
+     "longest dimension": "1.8 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-0.84 meters",
+      "y coordinate": "-2.58 meters",
+      "height above floor": "0.65 meters"
+     },
+     "longest dimension": "2.22 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "1.41 meters",
+      "y coordinate": "-2.93 meters",
+      "height above floor": "0.66 meters"
+     },
+     "longest dimension": "0.96 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "1.44 meters",
+      "y coordinate": "-0.88 meters",
+      "height above floor": "0.53 meters"
+     },
+     "longest dimension": "0.94 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-0.65 meters",
+      "y coordinate": "2.33 meters",
+      "height above floor": "0.48 meters"
+     },
+     "longest dimension": "0.91 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-0.95 meters",
+      "y coordinate": "0.79 meters",
+      "height above floor": "0.54 meters"
+     },
+     "longest dimension": "0.95 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-0.78 meters",
+      "y coordinate": "4.29 meters",
+      "height above floor": "0.87 meters"
+     },
+     "longest dimension": "1.04 meters"
+    }
+   ]
+  }
+ },
+ "room": {
+  "floor area": "34.6 square meters"
+ },
+ "closest classes distance meters from": {
+  "chair": {
+   "table": {
+    "distance": "2.63 meters",
+    "closeness rank": 1
+   }
+  },
+  "table": {
+   "chair": {
+    "distance": "2.63 meters",
+    "closeness rank": 1
+   }
+  }
+ },
+ "appearance order": ["chair", "table"]
+}
\ No newline at end of file
diff --git a/data/spatial codes/ground truth/explicit/scene0086_02.json b/data/spatial codes/ground truth/explicit/scene0086_02.json
new file mode 100644
index 0000000000000000000000000000000000000000..85cb3f514d37ca1d20a4298f5147977086d15a17
--- /dev/null
+++ b/data/spatial codes/ground truth/explicit/scene0086_02.json	
@@ -0,0 +1,237 @@
+{
+ "spatial code schema": {
+  "objects": {
+   "<object class>": {
+    "count": {
+     "unit": null,
+     "description": "number of instances of this class in the compact spatial code (that schema's per-class oriented-box list length)"
+    },
+    "instances": [
+     {
+      "position": {
+       "x coordinate": {
+        "unit": "meters",
+        "description": "x coordinate of this instance's compact 3D oriented bounding box center"
+       },
+       "y coordinate": {
+        "unit": "meters",
+        "description": "y coordinate of this instance's compact 3D oriented bounding box center"
+       },
+       "height above floor": {
+        "unit": "meters",
+        "description": "height coordinate of this instance's compact 3D oriented bounding box center"
+       }
+      },
+      "longest dimension": {
+       "unit": "meters",
+       "description": "longest of this instance's compact 3D oriented bounding box dimensions"
+      }
+     }
+    ]
+   }
+  },
+  "room": {
+   "floor area": {
+    "unit": "square meters",
+    "description": "shoelace area of the compact spatial code's floor boundary polygons, with every interior hole subtracted"
+   }
+  },
+  "closest classes distance meters from": {
+   "<object class>": {
+    "<other object class>": {
+     "distance": {
+      "unit": "meters",
+      "description": "estimated distance in meters between an object of this class and an object of the other class"
+     },
+     "closeness rank": {
+      "unit": null,
+      "description": "1 = the nearest other class to this one, 2 = second-nearest, and so on; ranked by nearest-instance proximity, so use the rank (not the distance values) to compare which class is closest"
+     }
+    }
+   }
+  },
+  "appearance order": {
+   "unit": null,
+   "description": "class names ordered by earliest compact 'first visible time' across all of that class's instances"
+  }
+ },
+ "objects": {
+  "window": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "1.89 meters",
+      "y coordinate": "2.3 meters",
+      "height above floor": "0.86 meters"
+     },
+     "longest dimension": "1.56 meters"
+    }
+   ]
+  },
+  "plant": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-0.79 meters",
+      "y coordinate": "-1.68 meters",
+      "height above floor": "1.69 meters"
+     },
+     "longest dimension": "0.29 meters"
+    }
+   ]
+  },
+  "mirror": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-1.89 meters",
+      "y coordinate": "-1.96 meters",
+      "height above floor": "1.37 meters"
+     },
+     "longest dimension": "1.76 meters"
+    }
+   ]
+  },
+  "trash bin": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-1.07 meters",
+      "y coordinate": "-1.98 meters",
+      "height above floor": "0.86 meters"
+     },
+     "longest dimension": "1.01 meters"
+    }
+   ]
+  },
+  "door": {
+   "count": 3,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-2.59 meters",
+      "y coordinate": "0.18 meters",
+      "height above floor": "0.9 meters"
+     },
+     "longest dimension": "1.64 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-1.4 meters",
+      "y coordinate": "0.99 meters",
+      "height above floor": "0.71 meters"
+     },
+     "longest dimension": "1.4 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "0.06 meters",
+      "y coordinate": "0.12 meters",
+      "height above floor": "1.04 meters"
+     },
+     "longest dimension": "1.5 meters"
+    }
+   ]
+  }
+ },
+ "room": {
+  "floor area": "14.1 square meters"
+ },
+ "closest classes distance meters from": {
+  "window": {
+   "door": {
+    "distance": "3.36 meters",
+    "closeness rank": 1
+   },
+   "plant": {
+    "distance": "4.37 meters",
+    "closeness rank": 2
+   },
+   "mirror": {
+    "distance": "4.64 meters",
+    "closeness rank": 3
+   },
+   "trash bin": {
+    "distance": "4.67 meters",
+    "closeness rank": 4
+   }
+  },
+  "plant": {
+   "trash bin": {
+    "distance": "0.28 meters",
+    "closeness rank": 1
+   },
+   "mirror": {
+    "distance": "0.6 meters",
+    "closeness rank": 2
+   },
+   "door": {
+    "distance": "1.78 meters",
+    "closeness rank": 3
+   },
+   "window": {
+    "distance": "4.37 meters",
+    "closeness rank": 4
+   }
+  },
+  "mirror": {
+   "trash bin": {
+    "distance": "0.12 meters",
+    "closeness rank": 1
+   },
+   "plant": {
+    "distance": "0.6 meters",
+    "closeness rank": 2
+   },
+   "door": {
+    "distance": "1.09 meters",
+    "closeness rank": 3
+   },
+   "window": {
+    "distance": "4.64 meters",
+    "closeness rank": 4
+   }
+  },
+  "trash bin": {
+   "mirror": {
+    "distance": "0.12 meters",
+    "closeness rank": 1
+   },
+   "plant": {
+    "distance": "0.28 meters",
+    "closeness rank": 2
+   },
+   "door": {
+    "distance": "2.08 meters",
+    "closeness rank": 3
+   },
+   "window": {
+    "distance": "4.67 meters",
+    "closeness rank": 4
+   }
+  },
+  "door": {
+   "mirror": {
+    "distance": "1.09 meters",
+    "closeness rank": 1
+   },
+   "plant": {
+    "distance": "1.78 meters",
+    "closeness rank": 2
+   },
+   "trash bin": {
+    "distance": "2.08 meters",
+    "closeness rank": 3
+   },
+   "window": {
+    "distance": "3.36 meters",
+    "closeness rank": 4
+   }
+  }
+ },
+ "appearance order": ["window", "plant", "mirror", "trash bin", "door"]
+}
\ No newline at end of file
diff --git a/data/spatial codes/ground truth/explicit/scene0088_01.json b/data/spatial codes/ground truth/explicit/scene0088_01.json
new file mode 100644
index 0000000000000000000000000000000000000000..8305ab208ff2afc7ef4898e1c1fbf899984b5c3d
--- /dev/null
+++ b/data/spatial codes/ground truth/explicit/scene0088_01.json	
@@ -0,0 +1,373 @@
+{
+ "spatial code schema": {
+  "objects": {
+   "<object class>": {
+    "count": {
+     "unit": null,
+     "description": "number of instances of this class in the compact spatial code (that schema's per-class oriented-box list length)"
+    },
+    "instances": [
+     {
+      "position": {
+       "x coordinate": {
+        "unit": "meters",
+        "description": "x coordinate of this instance's compact 3D oriented bounding box center"
+       },
+       "y coordinate": {
+        "unit": "meters",
+        "description": "y coordinate of this instance's compact 3D oriented bounding box center"
+       },
+       "height above floor": {
+        "unit": "meters",
+        "description": "height coordinate of this instance's compact 3D oriented bounding box center"
+       }
+      },
+      "longest dimension": {
+       "unit": "meters",
+       "description": "longest of this instance's compact 3D oriented bounding box dimensions"
+      }
+     }
+    ]
+   }
+  },
+  "room": {
+   "floor area": {
+    "unit": "square meters",
+    "description": "shoelace area of the compact spatial code's floor boundary polygons, with every interior hole subtracted"
+   }
+  },
+  "closest classes distance meters from": {
+   "<object class>": {
+    "<other object class>": {
+     "distance": {
+      "unit": "meters",
+      "description": "estimated distance in meters between an object of this class and an object of the other class"
+     },
+     "closeness rank": {
+      "unit": null,
+      "description": "1 = the nearest other class to this one, 2 = second-nearest, and so on; ranked by nearest-instance proximity, so use the rank (not the distance values) to compare which class is closest"
+     }
+    }
+   }
+  },
+  "appearance order": {
+   "unit": null,
+   "description": "class names ordered by earliest compact 'first visible time' across all of that class's instances"
+  }
+ },
+ "objects": {
+  "chair": {
+   "count": 18,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-1.33 meters",
+      "y coordinate": "0.67 meters",
+      "height above floor": "0.72 meters"
+     },
+     "longest dimension": "0.57 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "2.16 meters",
+      "y coordinate": "-1.56 meters",
+      "height above floor": "0.74 meters"
+     },
+     "longest dimension": "0.77 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-1.09 meters",
+      "y coordinate": "1.39 meters",
+      "height above floor": "0.66 meters"
+     },
+     "longest dimension": "0.71 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-1.58 meters",
+      "y coordinate": "1.73 meters",
+      "height above floor": "0.74 meters"
+     },
+     "longest dimension": "0.84 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-0.93 meters",
+      "y coordinate": "2.55 meters",
+      "height above floor": "0.72 meters"
+     },
+     "longest dimension": "0.84 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-0.67 meters",
+      "y coordinate": "2.83 meters",
+      "height above floor": "0.71 meters"
+     },
+     "longest dimension": "0.72 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "0.27 meters",
+      "y coordinate": "2.64 meters",
+      "height above floor": "0.75 meters"
+     },
+     "longest dimension": "0.6 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "0.19 meters",
+      "y coordinate": "1.64 meters",
+      "height above floor": "0.67 meters"
+     },
+     "longest dimension": "0.71 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-0.1 meters",
+      "y coordinate": "0.55 meters",
+      "height above floor": "0.72 meters"
+     },
+     "longest dimension": "0.65 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "0.23 meters",
+      "y coordinate": "-0.61 meters",
+      "height above floor": "0.7 meters"
+     },
+     "longest dimension": "0.65 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "1.61 meters",
+      "y coordinate": "-0.88 meters",
+      "height above floor": "0.55 meters"
+     },
+     "longest dimension": "0.99 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "1.0 meters",
+      "y coordinate": "-0.87 meters",
+      "height above floor": "0.53 meters"
+     },
+     "longest dimension": "1.05 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "1.49 meters",
+      "y coordinate": "0.08 meters",
+      "height above floor": "0.81 meters"
+     },
+     "longest dimension": "0.53 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "1.83 meters",
+      "y coordinate": "0.67 meters",
+      "height above floor": "0.81 meters"
+     },
+     "longest dimension": "0.61 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "1.82 meters",
+      "y coordinate": "1.49 meters",
+      "height above floor": "0.87 meters"
+     },
+     "longest dimension": "0.56 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-0.91 meters",
+      "y coordinate": "-0.09 meters",
+      "height above floor": "0.67 meters"
+     },
+     "longest dimension": "0.73 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-1.33 meters",
+      "y coordinate": "-0.11 meters",
+      "height above floor": "0.76 meters"
+     },
+     "longest dimension": "0.81 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-1.73 meters",
+      "y coordinate": "-0.04 meters",
+      "height above floor": "0.75 meters"
+     },
+     "longest dimension": "0.75 meters"
+    }
+   ]
+  },
+  "window": {
+   "count": 2,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-1.36 meters",
+      "y coordinate": "2.87 meters",
+      "height above floor": "1.27 meters"
+     },
+     "longest dimension": "1.37 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "2.62 meters",
+      "y coordinate": "-1.06 meters",
+      "height above floor": "1.0 meters"
+     },
+     "longest dimension": "1.71 meters"
+    }
+   ]
+  },
+  "trash bin": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "0.6 meters",
+      "y coordinate": "-1.72 meters",
+      "height above floor": "0.32 meters"
+     },
+     "longest dimension": "0.4 meters"
+    }
+   ]
+  },
+  "door": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "2.92 meters",
+      "y coordinate": "-0.31 meters",
+      "height above floor": "0.85 meters"
+     },
+     "longest dimension": "1.48 meters"
+    }
+   ]
+  },
+  "table": {
+   "count": 2,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "0.74 meters",
+      "y coordinate": "0.73 meters",
+      "height above floor": "0.79 meters"
+     },
+     "longest dimension": "3.11 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-1.57 meters",
+      "y coordinate": "1.21 meters",
+      "height above floor": "0.66 meters"
+     },
+     "longest dimension": "0.56 meters"
+    }
+   ]
+  }
+ },
+ "room": {
+  "floor area": "18.7 square meters"
+ },
+ "closest classes distance meters from": {
+  "chair": {
+   "table": {
+    "distance": "0.23 meters",
+    "closeness rank": 1
+   },
+   "window": {
+    "distance": "1.3 meters",
+    "closeness rank": 2
+   },
+   "trash bin": {
+    "distance": "2.61 meters",
+    "closeness rank": 3
+   },
+   "door": {
+    "distance": "3.34 meters",
+    "closeness rank": 4
+   }
+  },
+  "window": {
+   "chair": {
+    "distance": "1.3 meters",
+    "closeness rank": 1
+   },
+   "door": {
+    "distance": "3.92 meters",
+    "closeness rank": 2
+   },
+   "table": {
+    "distance": "0.8 meters",
+    "closeness rank": 3
+   },
+   "trash bin": {
+    "distance": "4.2 meters",
+    "closeness rank": 4
+   }
+  },
+  "trash bin": {
+   "chair": {
+    "distance": "2.61 meters",
+    "closeness rank": 1
+   },
+   "table": {
+    "distance": "0.74 meters",
+    "closeness rank": 2
+   },
+   "window": {
+    "distance": "4.2 meters",
+    "closeness rank": 3
+   },
+   "door": {
+    "distance": "2.19 meters",
+    "closeness rank": 4
+   }
+  },
+  "door": {
+   "window": {
+    "distance": "3.92 meters",
+    "closeness rank": 1
+   },
+   "chair": {
+    "distance": "3.34 meters",
+    "closeness rank": 2
+   },
+   "table": {
+    "distance": "1.54 meters",
+    "closeness rank": 3
+   },
+   "trash bin": {
+    "distance": "2.19 meters",
+    "closeness rank": 4
+   }
+  },
+  "table": {
+   "chair": {
+    "distance": "0.23 meters",
+    "closeness rank": 1
+   },
+   "trash bin": {
+    "distance": "0.74 meters",
+    "closeness rank": 2
+   },
+   "window": {
+    "distance": "0.8 meters",
+    "closeness rank": 3
+   },
+   "door": {
+    "distance": "1.54 meters",
+    "closeness rank": 4
+   }
+  }
+ },
+ "appearance order": ["chair", "window", "trash bin", "door", "table"]
+}
\ No newline at end of file
diff --git a/data/spatial codes/ground truth/explicit/scene0095_01.json b/data/spatial codes/ground truth/explicit/scene0095_01.json
new file mode 100644
index 0000000000000000000000000000000000000000..e1157fab8929222197ec689698662b58ed4e84ac
--- /dev/null
+++ b/data/spatial codes/ground truth/explicit/scene0095_01.json	
@@ -0,0 +1,421 @@
+{
+ "spatial code schema": {
+  "objects": {
+   "<object class>": {
+    "count": {
+     "unit": null,
+     "description": "number of instances of this class in the compact spatial code (that schema's per-class oriented-box list length)"
+    },
+    "instances": [
+     {
+      "position": {
+       "x coordinate": {
+        "unit": "meters",
+        "description": "x coordinate of this instance's compact 3D oriented bounding box center"
+       },
+       "y coordinate": {
+        "unit": "meters",
+        "description": "y coordinate of this instance's compact 3D oriented bounding box center"
+       },
+       "height above floor": {
+        "unit": "meters",
+        "description": "height coordinate of this instance's compact 3D oriented bounding box center"
+       }
+      },
+      "longest dimension": {
+       "unit": "meters",
+       "description": "longest of this instance's compact 3D oriented bounding box dimensions"
+      }
+     }
+    ]
+   }
+  },
+  "room": {
+   "floor area": {
+    "unit": "square meters",
+    "description": "shoelace area of the compact spatial code's floor boundary polygons, with every interior hole subtracted"
+   }
+  },
+  "closest classes distance meters from": {
+   "<object class>": {
+    "<other object class>": {
+     "distance": {
+      "unit": "meters",
+      "description": "estimated distance in meters between an object of this class and an object of the other class"
+     },
+     "closeness rank": {
+      "unit": null,
+      "description": "1 = the nearest other class to this one, 2 = second-nearest, and so on; ranked by nearest-instance proximity, so use the rank (not the distance values) to compare which class is closest"
+     }
+    }
+   }
+  },
+  "appearance order": {
+   "unit": null,
+   "description": "class names ordered by earliest compact 'first visible time' across all of that class's instances"
+  }
+ },
+ "objects": {
+  "chair": {
+   "count": 17,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "2.15 meters",
+      "y coordinate": "-1.17 meters",
+      "height above floor": "0.6 meters"
+     },
+     "longest dimension": "0.61 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "2.29 meters",
+      "y coordinate": "-0.61 meters",
+      "height above floor": "0.62 meters"
+     },
+     "longest dimension": "0.63 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-1.52 meters",
+      "y coordinate": "-0.83 meters",
+      "height above floor": "0.69 meters"
+     },
+     "longest dimension": "0.55 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "3.22 meters",
+      "y coordinate": "-1.81 meters",
+      "height above floor": "0.62 meters"
+     },
+     "longest dimension": "0.69 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-0.39 meters",
+      "y coordinate": "0.69 meters",
+      "height above floor": "0.63 meters"
+     },
+     "longest dimension": "0.65 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-0.23 meters",
+      "y coordinate": "-1.08 meters",
+      "height above floor": "0.68 meters"
+     },
+     "longest dimension": "0.52 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "1.67 meters",
+      "y coordinate": "0.17 meters",
+      "height above floor": "0.61 meters"
+     },
+     "longest dimension": "0.68 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-0.95 meters",
+      "y coordinate": "0.68 meters",
+      "height above floor": "0.54 meters"
+     },
+     "longest dimension": "0.96 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-1.47 meters",
+      "y coordinate": "0.89 meters",
+      "height above floor": "0.64 meters"
+     },
+     "longest dimension": "0.67 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-0.87 meters",
+      "y coordinate": "-0.97 meters",
+      "height above floor": "0.67 meters"
+     },
+     "longest dimension": "0.61 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-2.13 meters",
+      "y coordinate": "0.48 meters",
+      "height above floor": "0.63 meters"
+     },
+     "longest dimension": "0.68 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "0.47 meters",
+      "y coordinate": "-1.28 meters",
+      "height above floor": "0.66 meters"
+     },
+     "longest dimension": "0.57 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "1.3 meters",
+      "y coordinate": "-1.5 meters",
+      "height above floor": "0.74 meters"
+     },
+     "longest dimension": "0.45 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-2.1 meters",
+      "y coordinate": "-0.3 meters",
+      "height above floor": "0.54 meters"
+     },
+     "longest dimension": "1.06 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "0.27 meters",
+      "y coordinate": "0.3 meters",
+      "height above floor": "0.6 meters"
+     },
+     "longest dimension": "1.17 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "0.94 meters",
+      "y coordinate": "0.26 meters",
+      "height above floor": "0.66 meters"
+     },
+     "longest dimension": "0.52 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "3.06 meters",
+      "y coordinate": "-2.35 meters",
+      "height above floor": "0.59 meters"
+     },
+     "longest dimension": "0.66 meters"
+    }
+   ]
+  },
+  "window": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "1.32 meters",
+      "y coordinate": "-2.33 meters",
+      "height above floor": "1.15 meters"
+     },
+     "longest dimension": "1.13 meters"
+    }
+   ]
+  },
+  "monitor": {
+   "count": 10,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "0.33 meters",
+      "y coordinate": "-0.11 meters",
+      "height above floor": "1.02 meters"
+     },
+     "longest dimension": "0.55 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "0.98 meters",
+      "y coordinate": "-0.33 meters",
+      "height above floor": "1.04 meters"
+     },
+     "longest dimension": "0.51 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-1.64 meters",
+      "y coordinate": "0.31 meters",
+      "height above floor": "1.02 meters"
+     },
+     "longest dimension": "0.53 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-0.38 meters",
+      "y coordinate": "0.03 meters",
+      "height above floor": "1.01 meters"
+     },
+     "longest dimension": "0.56 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "0.42 meters",
+      "y coordinate": "-0.75 meters",
+      "height above floor": "1.06 meters"
+     },
+     "longest dimension": "0.52 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-1.09 meters",
+      "y coordinate": "0.19 meters",
+      "height above floor": "1.02 meters"
+     },
+     "longest dimension": "0.55 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-1.83 meters",
+      "y coordinate": "-0.22 meters",
+      "height above floor": "1.05 meters"
+     },
+     "longest dimension": "0.54 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "1.64 meters",
+      "y coordinate": "-1.08 meters",
+      "height above floor": "1.07 meters"
+     },
+     "longest dimension": "0.52 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "1.52 meters",
+      "y coordinate": "-0.38 meters",
+      "height above floor": "0.99 meters"
+     },
+     "longest dimension": "0.61 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "1.84 meters",
+      "y coordinate": "-0.57 meters",
+      "height above floor": "1.03 meters"
+     },
+     "longest dimension": "0.66 meters"
+    }
+   ]
+  },
+  "radiator": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "1.36 meters",
+      "y coordinate": "-2.24 meters",
+      "height above floor": "0.42 meters"
+     },
+     "longest dimension": "0.69 meters"
+    }
+   ]
+  },
+  "table": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-0.01 meters",
+      "y coordinate": "-0.35 meters",
+      "height above floor": "0.63 meters"
+     },
+     "longest dimension": "4.37 meters"
+    }
+   ]
+  }
+ },
+ "room": {
+  "floor area": "24.7 square meters"
+ },
+ "closest classes distance meters from": {
+  "chair": {
+   "table": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "monitor": {
+    "distance": "1.57 meters",
+    "closeness rank": 2
+   },
+   "radiator": {
+    "distance": "0.69 meters",
+    "closeness rank": 3
+   },
+   "window": {
+    "distance": "0.66 meters",
+    "closeness rank": 4
+   }
+  },
+  "window": {
+   "radiator": {
+    "distance": "0.08 meters",
+    "closeness rank": 1
+   },
+   "table": {
+    "distance": "0.49 meters",
+    "closeness rank": 2
+   },
+   "chair": {
+    "distance": "0.66 meters",
+    "closeness rank": 3
+   },
+   "monitor": {
+    "distance": "1.59 meters",
+    "closeness rank": 4
+   }
+  },
+  "monitor": {
+   "table": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "chair": {
+    "distance": "1.57 meters",
+    "closeness rank": 2
+   },
+   "window": {
+    "distance": "1.59 meters",
+    "closeness rank": 3
+   },
+   "radiator": {
+    "distance": "1.82 meters",
+    "closeness rank": 4
+   }
+  },
+  "radiator": {
+   "window": {
+    "distance": "0.08 meters",
+    "closeness rank": 1
+   },
+   "chair": {
+    "distance": "0.69 meters",
+    "closeness rank": 2
+   },
+   "table": {
+    "distance": "0.57 meters",
+    "closeness rank": 3
+   },
+   "monitor": {
+    "distance": "1.82 meters",
+    "closeness rank": 4
+   }
+  },
+  "table": {
+   "chair": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "monitor": {
+    "distance": "0.0 meters",
+    "closeness rank": 2
+   },
+   "window": {
+    "distance": "0.49 meters",
+    "closeness rank": 3
+   },
+   "radiator": {
+    "distance": "0.57 meters",
+    "closeness rank": 4
+   }
+  }
+ },
+ "appearance order": ["chair", "window", "monitor", "radiator", "table"]
+}
\ No newline at end of file
diff --git a/data/spatial codes/ground truth/explicit/scene0100_00.json b/data/spatial codes/ground truth/explicit/scene0100_00.json
new file mode 100644
index 0000000000000000000000000000000000000000..dbf9b931c928079e5f619b4ff762ec4c8105451e
--- /dev/null
+++ b/data/spatial codes/ground truth/explicit/scene0100_00.json	
@@ -0,0 +1,174 @@
+{
+ "spatial code schema": {
+  "objects": {
+   "<object class>": {
+    "count": {
+     "unit": null,
+     "description": "number of instances of this class in the compact spatial code (that schema's per-class oriented-box list length)"
+    },
+    "instances": [
+     {
+      "position": {
+       "x coordinate": {
+        "unit": "meters",
+        "description": "x coordinate of this instance's compact 3D oriented bounding box center"
+       },
+       "y coordinate": {
+        "unit": "meters",
+        "description": "y coordinate of this instance's compact 3D oriented bounding box center"
+       },
+       "height above floor": {
+        "unit": "meters",
+        "description": "height coordinate of this instance's compact 3D oriented bounding box center"
+       }
+      },
+      "longest dimension": {
+       "unit": "meters",
+       "description": "longest of this instance's compact 3D oriented bounding box dimensions"
+      }
+     }
+    ]
+   }
+  },
+  "room": {
+   "floor area": {
+    "unit": "square meters",
+    "description": "shoelace area of the compact spatial code's floor boundary polygons, with every interior hole subtracted"
+   }
+  },
+  "closest classes distance meters from": {
+   "<object class>": {
+    "<other object class>": {
+     "distance": {
+      "unit": "meters",
+      "description": "estimated distance in meters between an object of this class and an object of the other class"
+     },
+     "closeness rank": {
+      "unit": null,
+      "description": "1 = the nearest other class to this one, 2 = second-nearest, and so on; ranked by nearest-instance proximity, so use the rank (not the distance values) to compare which class is closest"
+     }
+    }
+   }
+  },
+  "appearance order": {
+   "unit": null,
+   "description": "class names ordered by earliest compact 'first visible time' across all of that class's instances"
+  }
+ },
+ "objects": {
+  "window": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-1.27 meters",
+      "y coordinate": "0.12 meters",
+      "height above floor": "1.23 meters"
+     },
+     "longest dimension": "0.91 meters"
+    }
+   ]
+  },
+  "mirror": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-0.91 meters",
+      "y coordinate": "1.12 meters",
+      "height above floor": "1.02 meters"
+     },
+     "longest dimension": "0.98 meters"
+    }
+   ]
+  },
+  "trash bin": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-0.81 meters",
+      "y coordinate": "-0.65 meters",
+      "height above floor": "0.17 meters"
+     },
+     "longest dimension": "0.31 meters"
+    }
+   ]
+  },
+  "door": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "1.12 meters",
+      "y coordinate": "0.61 meters",
+      "height above floor": "0.89 meters"
+     },
+     "longest dimension": "1.73 meters"
+    }
+   ]
+  }
+ },
+ "room": {
+  "floor area": "5.4 square meters"
+ },
+ "closest classes distance meters from": {
+  "window": {
+   "mirror": {
+    "distance": "0.14 meters",
+    "closeness rank": 1
+   },
+   "trash bin": {
+    "distance": "0.91 meters",
+    "closeness rank": 2
+   },
+   "door": {
+    "distance": "2.07 meters",
+    "closeness rank": 3
+   }
+  },
+  "mirror": {
+   "window": {
+    "distance": "0.14 meters",
+    "closeness rank": 1
+   },
+   "trash bin": {
+    "distance": "1.32 meters",
+    "closeness rank": 2
+   },
+   "door": {
+    "distance": "1.98 meters",
+    "closeness rank": 3
+   }
+  },
+  "trash bin": {
+   "window": {
+    "distance": "0.91 meters",
+    "closeness rank": 1
+   },
+   "mirror": {
+    "distance": "1.32 meters",
+    "closeness rank": 2
+   },
+   "door": {
+    "distance": "1.85 meters",
+    "closeness rank": 3
+   }
+  },
+  "door": {
+   "trash bin": {
+    "distance": "1.85 meters",
+    "closeness rank": 1
+   },
+   "mirror": {
+    "distance": "1.98 meters",
+    "closeness rank": 2
+   },
+   "window": {
+    "distance": "2.07 meters",
+    "closeness rank": 3
+   }
+  }
+ },
+ "appearance order": ["window", "mirror", "trash bin", "door"]
+}
\ No newline at end of file
diff --git a/data/spatial codes/ground truth/explicit/scene0144_00.json b/data/spatial codes/ground truth/explicit/scene0144_00.json
new file mode 100644
index 0000000000000000000000000000000000000000..4f92412079fd8caa511063216ca4af4a4bab70e9
--- /dev/null
+++ b/data/spatial codes/ground truth/explicit/scene0144_00.json	
@@ -0,0 +1,513 @@
+{
+ "spatial code schema": {
+  "objects": {
+   "<object class>": {
+    "count": {
+     "unit": null,
+     "description": "number of instances of this class in the compact spatial code (that schema's per-class oriented-box list length)"
+    },
+    "instances": [
+     {
+      "position": {
+       "x coordinate": {
+        "unit": "meters",
+        "description": "x coordinate of this instance's compact 3D oriented bounding box center"
+       },
+       "y coordinate": {
+        "unit": "meters",
+        "description": "y coordinate of this instance's compact 3D oriented bounding box center"
+       },
+       "height above floor": {
+        "unit": "meters",
+        "description": "height coordinate of this instance's compact 3D oriented bounding box center"
+       }
+      },
+      "longest dimension": {
+       "unit": "meters",
+       "description": "longest of this instance's compact 3D oriented bounding box dimensions"
+      }
+     }
+    ]
+   }
+  },
+  "room": {
+   "floor area": {
+    "unit": "square meters",
+    "description": "shoelace area of the compact spatial code's floor boundary polygons, with every interior hole subtracted"
+   }
+  },
+  "closest classes distance meters from": {
+   "<object class>": {
+    "<other object class>": {
+     "distance": {
+      "unit": "meters",
+      "description": "estimated distance in meters between an object of this class and an object of the other class"
+     },
+     "closeness rank": {
+      "unit": null,
+      "description": "1 = the nearest other class to this one, 2 = second-nearest, and so on; ranked by nearest-instance proximity, so use the rank (not the distance values) to compare which class is closest"
+     }
+    }
+   }
+  },
+  "appearance order": {
+   "unit": null,
+   "description": "class names ordered by earliest compact 'first visible time' across all of that class's instances"
+  }
+ },
+ "objects": {
+  "bed": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-0.82 meters",
+      "y coordinate": "0.86 meters",
+      "height above floor": "0.82 meters"
+     },
+     "longest dimension": "2.25 meters"
+    }
+   ]
+  },
+  "chair": {
+   "count": 3,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "0.03 meters",
+      "y coordinate": "0.74 meters",
+      "height above floor": "0.69 meters"
+     },
+     "longest dimension": "0.75 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "0.81 meters",
+      "y coordinate": "0.63 meters",
+      "height above floor": "0.62 meters"
+     },
+     "longest dimension": "0.85 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "0.3 meters",
+      "y coordinate": "-1.4 meters",
+      "height above floor": "0.68 meters"
+     },
+     "longest dimension": "1.02 meters"
+    }
+   ]
+  },
+  "window": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-1.56 meters",
+      "y coordinate": "0.51 meters",
+      "height above floor": "1.55 meters"
+     },
+     "longest dimension": "2.01 meters"
+    }
+   ]
+  },
+  "pillow": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-0.88 meters",
+      "y coordinate": "1.71 meters",
+      "height above floor": "1.16 meters"
+     },
+     "longest dimension": "0.79 meters"
+    }
+   ]
+  },
+  "lamp": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "0.51 meters",
+      "y coordinate": "1.58 meters",
+      "height above floor": "1.25 meters"
+     },
+     "longest dimension": "0.62 meters"
+    }
+   ]
+  },
+  "printer": {
+   "count": 2,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-1.03 meters",
+      "y coordinate": "-0.51 meters",
+      "height above floor": "1.15 meters"
+     },
+     "longest dimension": "0.55 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-1.03 meters",
+      "y coordinate": "-0.51 meters",
+      "height above floor": "1.15 meters"
+     },
+     "longest dimension": "0.55 meters"
+    }
+   ]
+  },
+  "nightstand": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-1.15 meters",
+      "y coordinate": "-0.47 meters",
+      "height above floor": "0.66 meters"
+     },
+     "longest dimension": "0.78 meters"
+    }
+   ]
+  },
+  "door": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "1.71 meters",
+      "y coordinate": "-1.53 meters",
+      "height above floor": "0.82 meters"
+     },
+     "longest dimension": "1.16 meters"
+    }
+   ]
+  },
+  "table": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "0.52 meters",
+      "y coordinate": "1.41 meters",
+      "height above floor": "0.65 meters"
+     },
+     "longest dimension": "1.65 meters"
+    }
+   ]
+  }
+ },
+ "room": {
+  "floor area": "13.0 square meters"
+ },
+ "closest classes distance meters from": {
+  "bed": {
+   "chair": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "nightstand": {
+    "distance": "0.0 meters",
+    "closeness rank": 2
+   },
+   "pillow": {
+    "distance": "0.0 meters",
+    "closeness rank": 3
+   },
+   "printer": {
+    "distance": "0.02 meters",
+    "closeness rank": 4
+   },
+   "table": {
+    "distance": "0.0 meters",
+    "closeness rank": 5
+   },
+   "window": {
+    "distance": "0.0 meters",
+    "closeness rank": 6
+   },
+   "lamp": {
+    "distance": "0.29 meters",
+    "closeness rank": 7
+   },
+   "door": {
+    "distance": "1.97 meters",
+    "closeness rank": 8
+   }
+  },
+  "chair": {
+   "bed": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "table": {
+    "distance": "0.0 meters",
+    "closeness rank": 2
+   },
+   "lamp": {
+    "distance": "0.43 meters",
+    "closeness rank": 3
+   },
+   "pillow": {
+    "distance": "0.64 meters",
+    "closeness rank": 4
+   },
+   "printer": {
+    "distance": "1.05 meters",
+    "closeness rank": 5
+   },
+   "nightstand": {
+    "distance": "0.93 meters",
+    "closeness rank": 6
+   },
+   "door": {
+    "distance": "1.87 meters",
+    "closeness rank": 7
+   },
+   "window": {
+    "distance": "1.11 meters",
+    "closeness rank": 8
+   }
+  },
+  "window": {
+   "bed": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "nightstand": {
+    "distance": "0.01 meters",
+    "closeness rank": 2
+   },
+   "printer": {
+    "distance": "0.04 meters",
+    "closeness rank": 3
+   },
+   "pillow": {
+    "distance": "0.13 meters",
+    "closeness rank": 4
+   },
+   "table": {
+    "distance": "1.06 meters",
+    "closeness rank": 5
+   },
+   "chair": {
+    "distance": "1.11 meters",
+    "closeness rank": 6
+   },
+   "lamp": {
+    "distance": "1.65 meters",
+    "closeness rank": 7
+   },
+   "door": {
+    "distance": "3.08 meters",
+    "closeness rank": 8
+   }
+  },
+  "pillow": {
+   "bed": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "window": {
+    "distance": "0.13 meters",
+    "closeness rank": 2
+   },
+   "table": {
+    "distance": "0.3 meters",
+    "closeness rank": 3
+   },
+   "chair": {
+    "distance": "0.64 meters",
+    "closeness rank": 4
+   },
+   "lamp": {
+    "distance": "0.72 meters",
+    "closeness rank": 5
+   },
+   "printer": {
+    "distance": "1.74 meters",
+    "closeness rank": 6
+   },
+   "nightstand": {
+    "distance": "1.75 meters",
+    "closeness rank": 7
+   },
+   "door": {
+    "distance": "3.39 meters",
+    "closeness rank": 8
+   }
+  },
+  "lamp": {
+   "table": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "bed": {
+    "distance": "0.29 meters",
+    "closeness rank": 2
+   },
+   "chair": {
+    "distance": "0.43 meters",
+    "closeness rank": 3
+   },
+   "pillow": {
+    "distance": "0.72 meters",
+    "closeness rank": 4
+   },
+   "window": {
+    "distance": "1.65 meters",
+    "closeness rank": 5
+   },
+   "printer": {
+    "distance": "2.01 meters",
+    "closeness rank": 6
+   },
+   "nightstand": {
+    "distance": "2.02 meters",
+    "closeness rank": 7
+   },
+   "door": {
+    "distance": "2.59 meters",
+    "closeness rank": 8
+   }
+  },
+  "printer": {
+   "bed": {
+    "distance": "0.02 meters",
+    "closeness rank": 1
+   },
+   "nightstand": {
+    "distance": "0.0 meters",
+    "closeness rank": 2
+   },
+   "window": {
+    "distance": "0.04 meters",
+    "closeness rank": 3
+   },
+   "chair": {
+    "distance": "1.05 meters",
+    "closeness rank": 4
+   },
+   "table": {
+    "distance": "1.42 meters",
+    "closeness rank": 5
+   },
+   "pillow": {
+    "distance": "1.74 meters",
+    "closeness rank": 6
+   },
+   "lamp": {
+    "distance": "2.01 meters",
+    "closeness rank": 7
+   },
+   "door": {
+    "distance": "2.39 meters",
+    "closeness rank": 8
+   }
+  },
+  "nightstand": {
+   "bed": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "printer": {
+    "distance": "0.0 meters",
+    "closeness rank": 2
+   },
+   "window": {
+    "distance": "0.01 meters",
+    "closeness rank": 3
+   },
+   "chair": {
+    "distance": "0.93 meters",
+    "closeness rank": 4
+   },
+   "table": {
+    "distance": "1.35 meters",
+    "closeness rank": 5
+   },
+   "pillow": {
+    "distance": "1.75 meters",
+    "closeness rank": 6
+   },
+   "lamp": {
+    "distance": "2.02 meters",
+    "closeness rank": 7
+   },
+   "door": {
+    "distance": "2.58 meters",
+    "closeness rank": 8
+   }
+  },
+  "door": {
+   "chair": {
+    "distance": "1.87 meters",
+    "closeness rank": 1
+   },
+   "bed": {
+    "distance": "1.97 meters",
+    "closeness rank": 2
+   },
+   "table": {
+    "distance": "2.02 meters",
+    "closeness rank": 3
+   },
+   "printer": {
+    "distance": "2.39 meters",
+    "closeness rank": 4
+   },
+   "nightstand": {
+    "distance": "2.58 meters",
+    "closeness rank": 5
+   },
+   "lamp": {
+    "distance": "2.59 meters",
+    "closeness rank": 6
+   },
+   "window": {
+    "distance": "3.08 meters",
+    "closeness rank": 7
+   },
+   "pillow": {
+    "distance": "3.39 meters",
+    "closeness rank": 8
+   }
+  },
+  "table": {
+   "bed": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "chair": {
+    "distance": "0.0 meters",
+    "closeness rank": 2
+   },
+   "lamp": {
+    "distance": "0.0 meters",
+    "closeness rank": 3
+   },
+   "pillow": {
+    "distance": "0.3 meters",
+    "closeness rank": 4
+   },
+   "window": {
+    "distance": "1.06 meters",
+    "closeness rank": 5
+   },
+   "printer": {
+    "distance": "1.42 meters",
+    "closeness rank": 6
+   },
+   "nightstand": {
+    "distance": "1.35 meters",
+    "closeness rank": 7
+   },
+   "door": {
+    "distance": "2.02 meters",
+    "closeness rank": 8
+   }
+  }
+ },
+ "appearance order": ["bed", "chair", "window", "pillow", "lamp", "printer", "nightstand", "door", "table"]
+}
\ No newline at end of file
diff --git a/data/spatial codes/ground truth/explicit/scene0146_01.json b/data/spatial codes/ground truth/explicit/scene0146_01.json
new file mode 100644
index 0000000000000000000000000000000000000000..cabd1c59c0f65a40dfdea245709fb2cbeb772628
--- /dev/null
+++ b/data/spatial codes/ground truth/explicit/scene0146_01.json	
@@ -0,0 +1,174 @@
+{
+ "spatial code schema": {
+  "objects": {
+   "<object class>": {
+    "count": {
+     "unit": null,
+     "description": "number of instances of this class in the compact spatial code (that schema's per-class oriented-box list length)"
+    },
+    "instances": [
+     {
+      "position": {
+       "x coordinate": {
+        "unit": "meters",
+        "description": "x coordinate of this instance's compact 3D oriented bounding box center"
+       },
+       "y coordinate": {
+        "unit": "meters",
+        "description": "y coordinate of this instance's compact 3D oriented bounding box center"
+       },
+       "height above floor": {
+        "unit": "meters",
+        "description": "height coordinate of this instance's compact 3D oriented bounding box center"
+       }
+      },
+      "longest dimension": {
+       "unit": "meters",
+       "description": "longest of this instance's compact 3D oriented bounding box dimensions"
+      }
+     }
+    ]
+   }
+  },
+  "room": {
+   "floor area": {
+    "unit": "square meters",
+    "description": "shoelace area of the compact spatial code's floor boundary polygons, with every interior hole subtracted"
+   }
+  },
+  "closest classes distance meters from": {
+   "<object class>": {
+    "<other object class>": {
+     "distance": {
+      "unit": "meters",
+      "description": "estimated distance in meters between an object of this class and an object of the other class"
+     },
+     "closeness rank": {
+      "unit": null,
+      "description": "1 = the nearest other class to this one, 2 = second-nearest, and so on; ranked by nearest-instance proximity, so use the rank (not the distance values) to compare which class is closest"
+     }
+    }
+   }
+  },
+  "appearance order": {
+   "unit": null,
+   "description": "class names ordered by earliest compact 'first visible time' across all of that class's instances"
+  }
+ },
+ "objects": {
+  "backpack": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "1.38 meters",
+      "y coordinate": "-0.64 meters",
+      "height above floor": "1.37 meters"
+     },
+     "longest dimension": "0.58 meters"
+    }
+   ]
+  },
+  "mirror": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "0.36 meters",
+      "y coordinate": "0.93 meters",
+      "height above floor": "1.08 meters"
+     },
+     "longest dimension": "0.64 meters"
+    }
+   ]
+  },
+  "trash bin": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-1.31 meters",
+      "y coordinate": "-0.51 meters",
+      "height above floor": "0.57 meters"
+     },
+     "longest dimension": "1.14 meters"
+    }
+   ]
+  },
+  "door": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "1.56 meters",
+      "y coordinate": "-0.29 meters",
+      "height above floor": "1.27 meters"
+     },
+     "longest dimension": "0.79 meters"
+    }
+   ]
+  }
+ },
+ "room": {
+  "floor area": "5.3 square meters"
+ },
+ "closest classes distance meters from": {
+  "backpack": {
+   "door": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "mirror": {
+    "distance": "1.33 meters",
+    "closeness rank": 2
+   },
+   "trash bin": {
+    "distance": "2.29 meters",
+    "closeness rank": 3
+   }
+  },
+  "mirror": {
+   "door": {
+    "distance": "1.25 meters",
+    "closeness rank": 1
+   },
+   "backpack": {
+    "distance": "1.33 meters",
+    "closeness rank": 2
+   },
+   "trash bin": {
+    "distance": "1.7 meters",
+    "closeness rank": 3
+   }
+  },
+  "trash bin": {
+   "mirror": {
+    "distance": "1.7 meters",
+    "closeness rank": 1
+   },
+   "backpack": {
+    "distance": "2.29 meters",
+    "closeness rank": 2
+   },
+   "door": {
+    "distance": "2.57 meters",
+    "closeness rank": 3
+   }
+  },
+  "door": {
+   "backpack": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "mirror": {
+    "distance": "1.25 meters",
+    "closeness rank": 2
+   },
+   "trash bin": {
+    "distance": "2.57 meters",
+    "closeness rank": 3
+   }
+  }
+ },
+ "appearance order": ["backpack", "mirror", "trash bin", "door"]
+}
\ No newline at end of file