diff --git a/experiments/caches/spatial codes/metric/tracking/selective/Center Sigma 15/64/compact/13c3e046d7.json b/experiments/caches/spatial codes/metric/tracking/selective/Center Sigma 15/64/compact/13c3e046d7.json
new file mode 100644
index 0000000000000000000000000000000000000000..ec74e777a8fb7eb61b6f676d13b74ea753fd3f71
--- /dev/null
+++ b/experiments/caches/spatial codes/metric/tracking/selective/Center Sigma 15/64/compact/13c3e046d7.json	
@@ -0,0 +1,574 @@
+{
+ "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"
+     }
+    }
+   ]
+  },
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+       [
+        "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"
+     }
+    }
+   ]
+  }
+ },
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+      1.49
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+     ],
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+       0.0,
+       1.0
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+    "first visible time": 3.33
+   }
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+     ],
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+   }
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+       1.0
+      ]
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+   },
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+      0.05,
+      2.39
+     ],
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+      0.02,
+      0.2
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+       0.0,
+       1.0
+      ]
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+   },
+   {
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+      0.01,
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+     ],
+     "3D oriented bounding box dimensions": [
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+      0.02,
+      0.2
+     ],
+     "3D oriented bounding box orientation unit vectors": [
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+       0.99,
+       0.0
+      ],
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+       0.12,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 0.17
+   }
+  ]
+ },
+ "room": {
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+      -1.48
+     ],
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+     ],
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+     ],
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+     ],
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+      0.92
+     ],
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+      1.42
+     ],
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+      1.72,
+      1.42
+     ],
+     [
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+      1.52
+     ],
+     [
+      1.62,
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+     ],
+     [
+      -1.78,
+      1.62
+     ],
+     [
+      -1.78,
+      1.52
+     ],
+     [
+      -1.88,
+      1.42
+     ],
+     [
+      -1.98,
+      1.42
+     ]
+    ],
+    "interior hole boundary coordinates": []
+   }
+  ]
+ }
+}
\ No newline at end of file
diff --git a/experiments/caches/spatial codes/metric/tracking/selective/Center Sigma 15/64/compact/21d970d8de.json b/experiments/caches/spatial codes/metric/tracking/selective/Center Sigma 15/64/compact/21d970d8de.json
new file mode 100644
index 0000000000000000000000000000000000000000..2c9e42b2f4937579e7e8e105ecdcb2e97f210049
--- /dev/null
+++ b/experiments/caches/spatial codes/metric/tracking/selective/Center Sigma 15/64/compact/21d970d8de.json	
@@ -0,0 +1,1178 @@
+{
+ "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": {
+  "ceiling light": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
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+      0.93
+     ],
+     "3D oriented bounding box dimensions": [
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+      ]
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+   },
+   {
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+      3.48
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+       0.0,
+       1.0
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+    "first visible time": 1.5
+   },
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+      4.87
+     ],
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+     "3D oriented bounding box orientation unit vectors": [
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+       0.0,
+       1.0
+      ]
+     ]
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+    "first visible time": 9.83
+   },
+   {
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+      -1.37,
+      6.0
+     ],
+     "3D oriented bounding box dimensions": [
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+       1.0
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+   },
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+      -1.11,
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+     ],
+     "3D oriented bounding box dimensions": [
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+      0.01,
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+     ],
+     "3D oriented bounding box orientation unit vectors": [
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+       0.0
+      ],
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+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 7.33
+   },
+   {
+    "3D oriented bounding box": {
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+      -1.28,
+      6.02
+     ],
+     "3D oriented bounding box dimensions": [
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+      0.01,
+      0.27
+     ],
+     "3D oriented bounding box orientation unit vectors": [
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+       0.0,
+       1.0
+      ]
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+    },
+    "first visible time": 0.83
+   },
+   {
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+      -1.4,
+      0.92
+     ],
+     "3D oriented bounding box dimensions": [
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+      0.01,
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+     "3D oriented bounding box orientation unit vectors": [
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+       1.0,
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+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 1.5
+   }
+  ],
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+   {
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+      0.84,
+      3.6
+     ],
+     "3D oriented bounding box dimensions": [
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+      0.38
+     ],
+     "3D oriented bounding box orientation unit vectors": [
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+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 0.0
+   },
+   {
+    "3D oriented bounding box": {
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+      1.08,
+      2.34
+     ],
+     "3D oriented bounding box dimensions": [
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+      0.77,
+      0.41
+     ],
+     "3D oriented bounding box orientation unit vectors": [
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+      ],
+      [
+       0.09,
+       1.0,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 0.0
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      3.67,
+      0.7,
+      1.35
+     ],
+     "3D oriented bounding box dimensions": [
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+      0.28,
+      1.07
+     ],
+     "3D oriented bounding box orientation unit vectors": [
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+       -0.12,
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+      ],
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+       0.99,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 0.5
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
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+      0.63,
+      1.23
+     ],
+     "3D oriented bounding box dimensions": [
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+      0.47,
+      0.39
+     ],
+     "3D oriented bounding box orientation unit vectors": [
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+       1.0
+      ]
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+    },
+    "first visible time": 0.83
+   },
+   {
+    "3D oriented bounding box": {
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+      1.31,
+      6.28
+     ],
+     "3D oriented bounding box dimensions": [
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+      0.49,
+      1.07
+     ],
+     "3D oriented bounding box orientation unit vectors": [
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+      [
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+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 0.67
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      2.76,
+      0.73,
+      6.42
+     ],
+     "3D oriented bounding box dimensions": [
+      0.2,
+      0.17,
+      0.45
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
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+       -0.04,
+       0.0
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+      [
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+       1.0,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 8.17
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -1.44,
+      0.91,
+      6.22
+     ],
+     "3D oriented bounding box dimensions": [
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+      0.07,
+      0.36
+     ],
+     "3D oriented bounding box orientation unit vectors": [
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+       0.0
+      ],
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+       0.98,
+       0.0
+      ],
+      [
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+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 9.83
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      1.75,
+      0.45,
+      7.33
+     ],
+     "3D oriented bounding box dimensions": [
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+      0.14,
+      0.01
+     ],
+     "3D oriented bounding box orientation unit vectors": [
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+       -0.02,
+       0.0
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+      [
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+       1.0,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 10.33
+   }
+  ],
+  "clock": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      1.4,
+      -1.11,
+      -0.03
+     ],
+     "3D oriented bounding box dimensions": [
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+      0.27,
+      0.03
+     ],
+     "3D oriented bounding box orientation unit vectors": [
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+       0.82,
+       0.0
+      ],
+      [
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+       0.57,
+       0.0
+      ],
+      [
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+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 1.5
+   }
+  ],
+  "crate": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -2.05,
+      1.45,
+      0.56
+     ],
+     "3D oriented bounding box dimensions": [
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+      0.22,
+      0.1
+     ],
+     "3D oriented bounding box orientation unit vectors": [
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+       1.0,
+       0.0
+      ],
+      [
+       -1.0,
+       0.06,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 8.5
+   }
+  ],
+  "door": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -0.68,
+      0.57,
+      -0.02
+     ],
+     "3D oriented bounding box dimensions": [
+      2.02,
+      0.89,
+      0.03
+     ],
+     "3D oriented bounding box orientation unit vectors": [
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+       1.0,
+       0.0
+      ],
+      [
+       -1.0,
+       0.08,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 1.33
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -0.67,
+      0.52,
+      -0.03
+     ],
+     "3D oriented bounding box dimensions": [
+      2.03,
+      0.96,
+      0.02
+     ],
+     "3D oriented bounding box orientation unit vectors": [
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+       1.0,
+       0.0
+      ],
+      [
+       -1.0,
+       0.09,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 3.33
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -0.68,
+      0.85,
+      -0.03
+     ],
+     "3D oriented bounding box dimensions": [
+      1.64,
+      1.13,
+      0.02
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
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+       0.82,
+       0.0
+      ],
+      [
+       -0.82,
+       -0.58,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 4.17
+   }
+  ],
+  "exhaust fan": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -1.66,
+      -1.21,
+      3.45
+     ],
+     "3D oriented bounding box dimensions": [
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+      0.09,
+      2.48
+     ],
+     "3D oriented bounding box orientation unit vectors": [
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+       1.0,
+       0.02,
+       0.0
+      ],
+      [
+       -0.02,
+       1.0,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 7.5
+   }
+  ],
+  "power strip": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -0.97,
+      0.79,
+      7.07
+     ],
+     "3D oriented bounding box dimensions": [
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+      0.06,
+      0.21
+     ],
+     "3D oriented bounding box orientation unit vectors": [
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+       0.22,
+       0.0
+      ],
+      [
+       -0.22,
+       0.98,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 5.83
+   }
+  ],
+  "table": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      1.54,
+      0.83,
+      2.77
+     ],
+     "3D oriented bounding box dimensions": [
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+      0.03,
+      2.26
+     ],
+     "3D oriented bounding box orientation unit vectors": [
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+       1.0,
+       -0.04,
+       0.0
+      ],
+      [
+       0.04,
+       1.0,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 0.0
+   }
+  ],
+  "telephone": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -1.27,
+      0.78,
+      7.07
+     ],
+     "3D oriented bounding box dimensions": [
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+      0.07,
+      0.13
+     ],
+     "3D oriented bounding box orientation unit vectors": [
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+       1.0,
+       0.0,
+       0.0
+      ],
+      [
+       0.0,
+       1.0,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 0.67
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
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+      0.75,
+      7.06
+     ],
+     "3D oriented bounding box dimensions": [
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+      0.07,
+      0.18
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       1.0,
+       0.06,
+       0.0
+      ],
+      [
+       -0.06,
+       1.0,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 3.5
+   }
+  ],
+  "trash can": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -1.99,
+      1.44,
+      0.47
+     ],
+     "3D oriented bounding box dimensions": [
+      0.38,
+      0.25,
+      0.23
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.49,
+       0.87,
+       0.0
+      ],
+      [
+       -0.87,
+       0.49,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 1.33
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -2.04,
+      1.44,
+      0.45
+     ],
+     "3D oriented bounding box dimensions": [
+      0.28,
+      0.24,
+      0.41
+     ],
+     "3D oriented bounding box orientation unit vectors": [
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+       0.99,
+       0.0
+      ],
+      [
+       -0.99,
+       0.14,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 1.0
+   }
+  ],
+  "tv": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
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+      -0.08,
+      1.85
+     ],
+     "3D oriented bounding box dimensions": [
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+      0.02,
+      1.23
+     ],
+     "3D oriented bounding box orientation unit vectors": [
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+       1.0,
+       0.0
+      ],
+      [
+       -1.0,
+       0.05,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 2.33
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -1.54,
+      0.17,
+      7.12
+     ],
+     "3D oriented bounding box dimensions": [
+      1.24,
+      1.69,
+      0.15
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       1.0,
+       0.08,
+       0.0
+      ],
+      [
+       -0.08,
+       1.0,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 9.67
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      1.54,
+      -0.03,
+      7.31
+     ],
+     "3D oriented bounding box dimensions": [
+      0.4,
+      0.32,
+      0.02
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.68,
+       0.73,
+       0.0
+      ],
+      [
+       -0.73,
+       0.68,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 10.33
+   }
+  ],
+  "whiteboard": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      0.93,
+      0.15,
+      -0.01
+     ],
+     "3D oriented bounding box dimensions": [
+      1.99,
+      1.12,
+      0.06
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       1.0,
+       -0.01,
+       0.0
+      ],
+      [
+       0.01,
+       1.0,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 0.33
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -2.35,
+      0.02,
+      5.42
+     ],
+     "3D oriented bounding box dimensions": [
+      0.15,
+      1.28,
+      1.75
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       1.0,
+       -0.05,
+       0.0
+      ],
+      [
+       0.05,
+       1.0,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 3.17
+   }
+  ]
+ },
+ "room": {
+  "floor boundary polygons": [
+   {
+    "outer boundary coordinates": [
+     [
+      -2.73,
+      -1.83
+     ],
+     [
+      4.77,
+      -1.83
+     ],
+     [
+      4.77,
+      1.57
+     ],
+     [
+      2.87,
+      1.57
+     ],
+     [
+      2.77,
+      1.67
+     ],
+     [
+      2.77,
+      1.77
+     ],
+     [
+      -2.73,
+      1.77
+     ]
+    ],
+    "interior hole boundary coordinates": []
+   }
+  ]
+ }
+}
\ No newline at end of file
diff --git a/experiments/caches/spatial codes/metric/tracking/selective/Center Sigma 15/64/compact/3e8bba0176.json b/experiments/caches/spatial codes/metric/tracking/selective/Center Sigma 15/64/compact/3e8bba0176.json
new file mode 100644
index 0000000000000000000000000000000000000000..a8704b2be56606ba756689d0485be9c54dfd8024
--- /dev/null
+++ b/experiments/caches/spatial codes/metric/tracking/selective/Center Sigma 15/64/compact/3e8bba0176.json	
@@ -0,0 +1,1956 @@
+{
+ "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": {
+  "ceiling light": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -2.26,
+      1.57,
+      2.28
+     ],
+     "3D oriented bounding box dimensions": [
+      0.22,
+      0.12,
+      1.39
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       -0.41,
+       0.91,
+       0.0
+      ],
+      [
+       -0.91,
+       -0.41,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 0.83
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -1.42,
+      0.59,
+      0.03
+     ],
+     "3D oriented bounding box dimensions": [
+      0.08,
+      0.03,
+      0.0
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.01,
+       1.0,
+       0.0
+      ],
+      [
+       -1.0,
+       0.01,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 8.67
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -1.23,
+      -1.12,
+      1.48
+     ],
+     "3D oriented bounding box dimensions": [
+      0.15,
+      0.01,
+      0.09
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       -0.09,
+       1.0,
+       0.0
+      ],
+      [
+       -1.0,
+       -0.09,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 9.17
+   }
+  ],
+  "chair": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -1.16,
+      2.21,
+      0.46
+     ],
+     "3D oriented bounding box dimensions": [
+      1.05,
+      0.41,
+      0.42
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.86,
+       0.5,
+       0.0
+      ],
+      [
+       -0.5,
+       0.86,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 0.33
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -0.74,
+      1.27,
+      2.29
+     ],
+     "3D oriented bounding box dimensions": [
+      0.42,
+      1.06,
+      0.15
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.86,
+       -0.51,
+       0.0
+      ],
+      [
+       0.51,
+       0.86,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 0.0
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      0.55,
+      0.51,
+      3.13
+     ],
+     "3D oriented bounding box dimensions": [
+      0.62,
+      1.12,
+      0.5
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.78,
+       0.62,
+       0.0
+      ],
+      [
+       -0.62,
+       0.78,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 3.83
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -0.92,
+      1.51,
+      2.04
+     ],
+     "3D oriented bounding box dimensions": [
+      0.61,
+      0.34,
+      0.11
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       -0.44,
+       0.9,
+       0.0
+      ],
+      [
+       -0.9,
+       -0.44,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 1.83
+   }
+  ],
+  "computer mouse": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -1.01,
+      2.11,
+      1.5
+     ],
+     "3D oriented bounding box dimensions": [
+      0.08,
+      0.01,
+      0.11
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       -0.47,
+       0.88,
+       0.0
+      ],
+      [
+       -0.88,
+       -0.47,
+       0.0
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+       0.61,
+       0.0
+      ],
+      [
+       -0.61,
+       0.79,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 7.33
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      1.07,
+      0.33,
+      3.23
+     ],
+     "3D oriented bounding box dimensions": [
+      0.27,
+      0.38,
+      0.27
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.74,
+       0.67,
+       0.0
+      ],
+      [
+       -0.67,
+       0.74,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 9.83
+   }
+  ],
+  "tv": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -0.93,
+      1.44,
+      1.98
+     ],
+     "3D oriented bounding box dimensions": [
+      0.74,
+      0.34,
+      0.03
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       -0.58,
+       0.81,
+       0.0
+      ],
+      [
+       -0.81,
+       -0.58,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 4.83
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -2.17,
+      2.8,
+      1.18
+     ],
+     "3D oriented bounding box dimensions": [
+      0.76,
+      0.44,
+      1.63
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.99,
+       0.11,
+       0.0
+      ],
+      [
+       -0.11,
+       0.99,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 4.17
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -0.64,
+      0.99,
+      2.15
+     ],
+     "3D oriented bounding box dimensions": [
+      0.64,
+      0.4,
+      0.31
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       -0.22,
+       0.97,
+       0.0
+      ],
+      [
+       -0.97,
+       -0.22,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 4.83
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -1.24,
+      1.85,
+      1.54
+     ],
+     "3D oriented bounding box dimensions": [
+      0.59,
+      0.31,
+      0.07
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       -0.48,
+       0.87,
+       0.0
+      ],
+      [
+       -0.87,
+       -0.48,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 2.83
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -0.93,
+      1.45,
+      1.97
+     ],
+     "3D oriented bounding box dimensions": [
+      1.03,
+      0.35,
+      0.3
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       -0.68,
+       0.74,
+       0.0
+      ],
+      [
+       -0.74,
+       -0.68,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 7.17
+   }
+  ],
+  "whiteboard": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -0.87,
+      0.72,
+      2.82
+     ],
+     "3D oriented bounding box dimensions": [
+      2.31,
+      0.73,
+      0.04
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       -0.62,
+       0.79,
+       0.0
+      ],
+      [
+       -0.79,
+       -0.62,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 0.0
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -2.28,
+      2.72,
+      1.39
+     ],
+     "3D oriented bounding box dimensions": [
+      0.47,
+      0.04,
+      0.95
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.76,
+       0.65,
+       0.0
+      ],
+      [
+       -0.65,
+       0.76,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 2.17
+   }
+  ]
+ },
+ "room": {
+  "floor boundary polygons": [
+   {
+    "outer boundary coordinates": [
+     [
+      -3.26,
+      0.25
+     ],
+     [
+      -3.16,
+      0.25
+     ],
+     [
+      -2.76,
+      -0.15
+     ],
+     [
+      -2.46,
+      -0.15
+     ],
+     [
+      -2.36,
+      -0.25
+     ],
+     [
+      -2.36,
+      -0.35
+     ],
+     [
+      -2.16,
+      -0.55
+     ],
+     [
+      -2.16,
+      -0.65
+     ],
+     [
+      -2.06,
+      -0.75
+     ],
+     [
+      -2.06,
+      -1.25
+     ],
+     [
+      -1.86,
+      -1.45
+     ],
+     [
+      -1.86,
+      -1.55
+     ],
+     [
+      -1.36,
+      -2.05
+     ],
+     [
+      -1.36,
+      -2.15
+     ],
+     [
+      -0.26,
+      -2.15
+     ],
+     [
+      -0.26,
+      -2.05
+     ],
+     [
+      -0.06,
+      -1.85
+     ],
+     [
+      0.04,
+      -1.85
+     ],
+     [
+      0.24,
+      -1.65
+     ],
+     [
+      0.34,
+      -1.65
+     ],
+     [
+      0.54,
+      -1.45
+     ],
+     [
+      0.64,
+      -1.45
+     ],
+     [
+      0.94,
+      -1.15
+     ],
+     [
+      1.04,
+      -1.15
+     ],
+     [
+      1.34,
+      -0.85
+     ],
+     [
+      1.44,
+      -0.85
+     ],
+     [
+      1.64,
+      -0.65
+     ],
+     [
+      1.74,
+      -0.65
+     ],
+     [
+      1.74,
+      -0.05
+     ],
+     [
+      1.64,
+      -0.05
+     ],
+     [
+      1.54,
+      0.05
+     ],
+     [
+      1.54,
+      0.35
+     ],
+     [
+      1.34,
+      0.55
+     ],
+     [
+      1.34,
+      0.65
+     ],
+     [
+      1.14,
+      0.85
+     ],
+     [
+      1.14,
+      0.95
+     ],
+     [
+      0.84,
+      1.25
+     ],
+     [
+      0.84,
+      1.35
+     ],
+     [
+      0.64,
+      1.55
+     ],
+     [
+      0.64,
+      1.65
+     ],
+     [
+      0.24,
+      2.05
+     ],
+     [
+      0.24,
+      2.15
+     ],
+     [
+      -0.06,
+      2.45
+     ],
+     [
+      -0.06,
+      2.55
+     ],
+     [
+      -0.26,
+      2.75
+     ],
+     [
+      -0.26,
+      2.85
+     ],
+     [
+      -0.46,
+      3.05
+     ],
+     [
+      -0.46,
+      3.15
+     ],
+     [
+      -0.56,
+      3.25
+     ],
+     [
+      -0.86,
+      3.25
+     ],
+     [
+      -0.96,
+      3.35
+     ],
+     [
+      -0.96,
+      3.45
+     ],
+     [
+      -1.46,
+      3.45
+     ],
+     [
+      -1.46,
+      3.35
+     ],
+     [
+      -1.56,
+      3.25
+     ],
+     [
+      -2.26,
+      3.25
+     ],
+     [
+      -2.56,
+      2.95
+     ],
+     [
+      -2.66,
+      2.95
+     ],
+     [
+      -2.96,
+      2.65
+     ],
+     [
+      -3.06,
+      2.65
+     ],
+     [
+      -3.16,
+      2.55
+     ],
+     [
+      -3.26,
+      2.55
+     ]
+    ],
+    "interior hole boundary coordinates": []
+   }
+  ]
+ }
+}
\ No newline at end of file
diff --git a/experiments/caches/spatial codes/metric/tracking/selective/Center Sigma 15/64/compact/3f15a9266d.json b/experiments/caches/spatial codes/metric/tracking/selective/Center Sigma 15/64/compact/3f15a9266d.json
new file mode 100644
index 0000000000000000000000000000000000000000..439e4ec510761e9af2d2f28c42fb8cd5e30a2b36
--- /dev/null
+++ b/experiments/caches/spatial codes/metric/tracking/selective/Center Sigma 15/64/compact/3f15a9266d.json	
@@ -0,0 +1,1192 @@
+{
+ "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": [
+      1.06,
+      2.03,
+      0.27
+     ],
+     "3D oriented bounding box dimensions": [
+      0.93,
+      0.29,
+      1.85
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       -0.21,
+       0.98,
+       0.0
+      ],
+      [
+       -0.98,
+       -0.21,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 2.67
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -0.84,
+      2.1,
+      0.23
+     ],
+     "3D oriented bounding box dimensions": [
+      0.93,
+      0.3,
+      1.35
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.98,
+       0.17,
+       0.0
+      ],
+      [
+       -0.17,
+       0.98,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 7.67
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -0.6,
+      2.17,
+      0.49
+     ],
+     "3D oriented bounding box dimensions": [
+      0.38,
+      0.3,
+      1.53
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.98,
+       0.21,
+       0.0
+      ],
+      [
+       -0.21,
+       0.98,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 2.67
+   }
+  ],
+  "bucket": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -1.4,
+      1.64,
+      1.09
+     ],
+     "3D oriented bounding box dimensions": [
+      0.08,
+      0.06,
+      0.2
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.77,
+       0.64,
+       0.0
+      ],
+      [
+       -0.64,
+       0.77,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 2.17
+   }
+  ],
+  "ceiling light": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      0.03,
+      -0.4,
+      1.97
+     ],
+     "3D oriented bounding box dimensions": [
+      1.19,
+      0.54,
+      0.03
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.99,
+       -0.14,
+       0.0
+      ],
+      [
+       0.14,
+       0.99,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 2.17
+   }
+  ],
+  "chair": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -1.14,
+      1.1,
+      0.09
+     ],
+     "3D oriented bounding box dimensions": [
+      0.52,
+      0.53,
+      0.97
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.99,
+       -0.17,
+       0.0
+      ],
+      [
+       0.17,
+       0.99,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 0.33
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -0.56,
+      -0.03,
+      0.18
+     ],
+     "3D oriented bounding box dimensions": [
+      0.53,
+      0.52,
+      1.15
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.92,
+       -0.39,
+       0.0
+      ],
+      [
+       0.39,
+       0.92,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 0.0
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      0.77,
+      0.98,
+      0.1
+     ],
+     "3D oriented bounding box dimensions": [
+      0.5,
+      0.41,
+      0.74
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.96,
+       0.3,
+       0.0
+      ],
+      [
+       -0.3,
+       0.96,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 3.83
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -0.56,
+      1.61,
+      0.0
+     ],
+     "3D oriented bounding box dimensions": [
+      0.49,
+      0.46,
+      0.76
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.09,
+       1.0,
+       0.0
+      ],
+      [
+       -1.0,
+       0.09,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 0.17
+   }
+  ],
+  "clock": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      1.42,
+      0.44,
+      1.55
+     ],
+     "3D oriented bounding box dimensions": [
+      0.23,
+      0.02,
+      0.29
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       -0.11,
+       0.99,
+       0.0
+      ],
+      [
+       -0.99,
+       -0.11,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 5.0
+   }
+  ],
+  "computer mouse": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -0.79,
+      -0.67,
+      0.35
+     ],
+     "3D oriented bounding box dimensions": [
+      0.11,
+      0.06,
+      0.01
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.52,
+       0.86,
+       0.0
+      ],
+      [
+       -0.86,
+       0.52,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 0.5
+   }
+  ],
+  "crate": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      0.87,
+      0.21,
+      -0.3
+     ],
+     "3D oriented bounding box dimensions": [
+      0.28,
+      0.39,
+      0.22
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       -0.27,
+       0.96,
+       0.0
+      ],
+      [
+       -0.96,
+       -0.27,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 4.5
+   }
+  ],
+  "cup": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      1.19,
+      -0.03,
+      0.37
+     ],
+     "3D oriented bounding box dimensions": [
+      0.07,
+      0.07,
+      0.09
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.35,
+       0.94,
+       0.0
+      ],
+      [
+       -0.94,
+       0.35,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 4.5
+   }
+  ],
+  "cushion": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -1.06,
+      1.08,
+      0.04
+     ],
+     "3D oriented bounding box dimensions": [
+      0.56,
+      0.46,
+      0.05
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       -0.63,
+       0.78,
+       0.0
+      ],
+      [
+       -0.78,
+       -0.63,
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+      ],
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+      0.92,
+      0.67
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+    "first visible time": 0.5
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+    "3D oriented bounding box": {
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+      0.39,
+      0.27
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+     "3D oriented bounding box dimensions": [
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+     "3D oriented bounding box orientation unit vectors": [
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+       0.0,
+       1.0
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+      -0.31,
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+     "3D oriented bounding box dimensions": [
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+     "3D oriented bounding box orientation unit vectors": [
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+       0.0,
+       1.0
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+  "table lamp": [
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+      -0.73,
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+     "3D oriented bounding box dimensions": [
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+     "3D oriented bounding box orientation unit vectors": [
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+       0.0,
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+    "first visible time": 9.83
+   }
+  ],
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+    "3D oriented bounding box": {
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+      -1.03,
+      0.36
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+     "3D oriented bounding box dimensions": [
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+     "3D oriented bounding box orientation unit vectors": [
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+       0.0,
+       1.0
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+    "first visible time": 5.0
+   }
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+       0.0,
+       1.0
+      ]
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+    },
+    "first visible time": 3.83
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+      -0.9,
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+     "3D oriented bounding box orientation unit vectors": [
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+       0.0,
+       1.0
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+     "3D oriented bounding box dimensions": [
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+     "3D oriented bounding box orientation unit vectors": [
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+       0.0,
+       1.0
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+     ]
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+   {
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+      -0.47,
+      0.86
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+     "3D oriented bounding box dimensions": [
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+     ],
+     "3D oriented bounding box orientation unit vectors": [
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+       0.99,
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+      ],
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+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 9.67
+   }
+  ],
+  "whiteboard": [
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+    "3D oriented bounding box": {
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+      0.15,
+      1.01
+     ],
+     "3D oriented bounding box dimensions": [
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+      0.03,
+      0.68
+     ],
+     "3D oriented bounding box orientation unit vectors": [
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+       0.99,
+       0.0
+      ],
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+       -0.16,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 6.5
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
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+      0.2,
+      0.75
+     ],
+     "3D oriented bounding box dimensions": [
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+      0.03,
+      0.56
+     ],
+     "3D oriented bounding box orientation unit vectors": [
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+       0.99,
+       0.0
+      ],
+      [
+       -0.99,
+       -0.15,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 0.0
+   }
+  ]
+ },
+ "room": {
+  "floor boundary polygons": [
+   {
+    "outer boundary coordinates": [
+     [
+      -1.85,
+      -0.67
+     ],
+     [
+      -1.75,
+      -0.67
+     ],
+     [
+      -1.65,
+      -0.77
+     ],
+     [
+      -1.65,
+      -1.47
+     ],
+     [
+      1.65,
+      -1.47
+     ],
+     [
+      1.65,
+      1.33
+     ],
+     [
+      1.55,
+      1.33
+     ],
+     [
+      1.45,
+      1.43
+     ],
+     [
+      1.45,
+      2.03
+     ],
+     [
+      1.35,
+      2.13
+     ],
+     [
+      1.35,
+      2.53
+     ],
+     [
+      -1.35,
+      2.53
+     ],
+     [
+      -1.35,
+      2.43
+     ],
+     [
+      -1.45,
+      2.33
+     ],
+     [
+      -1.85,
+      2.33
+     ]
+    ],
+    "interior hole boundary coordinates": []
+   }
+  ]
+ }
+}
\ No newline at end of file
diff --git a/experiments/caches/spatial codes/metric/tracking/selective/Center Sigma 15/64/compact/41125731.json b/experiments/caches/spatial codes/metric/tracking/selective/Center Sigma 15/64/compact/41125731.json
new file mode 100644
index 0000000000000000000000000000000000000000..db2432b50821b99ff7be4272f5d95608ab1f95de
--- /dev/null
+++ b/experiments/caches/spatial codes/metric/tracking/selective/Center Sigma 15/64/compact/41125731.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": {
+  "bed": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
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+      0.24,
+      -0.09
+     ],
+     "3D oriented bounding box dimensions": [
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+      1.1,
+      0.73
+     ],
+     "3D oriented bounding box orientation unit vectors": [
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+       0.98,
+       0.19,
+       0.0
+      ],
+      [
+       -0.19,
+       0.98,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 2.5
+   }
+  ]
+ },
+ "room": {
+  "floor boundary polygons": [
+   {
+    "outer boundary coordinates": [
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+      -1.04
+     ],
+     [
+      -2.96,
+      -1.04
+     ],
+     [
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+      -1.14
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+      -1.14
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+     [
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+      -1.24
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+      -1.34
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+      -2.04
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+      -2.14
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+     [
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+      -2.54
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+      -2.64
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+      -2.64
+     ],
+     [
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+      -3.14
+     ],
+     [
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+      -3.14
+     ],
+     [
+      0.44,
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+     ],
+     [
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+      -2.54
+     ],
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+     ],
+     [
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+      -2.04
+     ],
+     [
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+      -2.04
+     ],
+     [
+      1.04,
+      -1.94
+     ],
+     [
+      1.74,
+      -1.94
+     ],
+     [
+      1.84,
+      -1.84
+     ],
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+      2.24,
+      -1.84
+     ],
+     [
+      2.34,
+      -1.74
+     ],
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+      2.44,
+      -1.74
+     ],
+     [
+      2.44,
+      -1.64
+     ],
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+      -1.54
+     ],
+     [
+      2.54,
+      -1.44
+     ],
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+      2.64,
+      -1.34
+     ],
+     [
+      2.94,
+      -1.34
+     ],
+     [
+      2.94,
+      1.36
+     ],
+     [
+      2.84,
+      1.36
+     ],
+     [
+      2.74,
+      1.46
+     ],
+     [
+      2.74,
+      1.96
+     ],
+     [
+      2.64,
+      2.06
+     ],
+     [
+      2.64,
+      2.16
+     ],
+     [
+      -0.66,
+      2.16
+     ],
+     [
+      -0.66,
+      2.06
+     ],
+     [
+      -0.76,
+      1.96
+     ],
+     [
+      -1.56,
+      1.96
+     ],
+     [
+      -1.66,
+      1.86
+     ],
+     [
+      -2.16,
+      1.86
+     ],
+     [
+      -2.26,
+      1.76
+     ],
+     [
+      -2.86,
+      1.76
+     ],
+     [
+      -2.96,
+      1.66
+     ],
+     [
+      -3.06,
+      1.66
+     ]
+    ],
+    "interior hole boundary coordinates": []
+   }
+  ]
+ }
+}
\ No newline at end of file
diff --git a/experiments/caches/spatial codes/metric/tracking/selective/Center Sigma 15/64/compact/41142280.json b/experiments/caches/spatial codes/metric/tracking/selective/Center Sigma 15/64/compact/41142280.json
new file mode 100644
index 0000000000000000000000000000000000000000..e5319f060ec89e25ad9014bb6ae8a9e8c8c5886d
--- /dev/null
+++ b/experiments/caches/spatial codes/metric/tracking/selective/Center Sigma 15/64/compact/41142280.json	
@@ -0,0 +1,230 @@
+{
+ "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": {
+  "bathtub": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      1.25,
+      0.81,
+      -1.41
+     ],
+     "3D oriented bounding box dimensions": [
+      0.57,
+      0.67,
+      1.28
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       -0.03,
+       1.0,
+       0.0
+      ],
+      [
+       -1.0,
+       -0.03,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 2.5
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      1.54,
+      0.46,
+      -0.75
+     ],
+     "3D oriented bounding box dimensions": [
+      0.52,
+      0.03,
+      1.35
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       1.0,
+       -0.03,
+       0.0
+      ],
+      [
+       0.03,
+       1.0,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 4.17
+   }
+  ],
+  "toilet": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      1.25,
+      -0.18,
+      -0.4
+     ],
+     "3D oriented bounding box dimensions": [
+      0.76,
+      0.32,
+      0.55
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       1.0,
+       -0.06,
+       0.0
+      ],
+      [
+       0.06,
+       1.0,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 4.17
+   }
+  ]
+ },
+ "room": {
+  "floor boundary polygons": [
+   {
+    "outer boundary coordinates": [
+     [
+      -0.68,
+      -1.27
+     ],
+     [
+      1.92,
+      -1.27
+     ],
+     [
+      1.92,
+      1.13
+     ],
+     [
+      1.82,
+      1.13
+     ],
+     [
+      1.72,
+      1.23
+     ],
+     [
+      1.72,
+      1.33
+     ],
+     [
+      -0.68,
+      1.33
+     ]
+    ],
+    "interior hole boundary coordinates": []
+   }
+  ]
+ }
+}
\ No newline at end of file
diff --git a/experiments/caches/spatial codes/metric/tracking/selective/Center Sigma 15/64/compact/41159541.json b/experiments/caches/spatial codes/metric/tracking/selective/Center Sigma 15/64/compact/41159541.json
new file mode 100644
index 0000000000000000000000000000000000000000..800ec540e2b8d8582f474b0d9fa2be94347ce08c
--- /dev/null
+++ b/experiments/caches/spatial codes/metric/tracking/selective/Center Sigma 15/64/compact/41159541.json	
@@ -0,0 +1,1036 @@
+{
+ "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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+      -2.33,
+      -0.16
+     ],
+     "3D oriented bounding box dimensions": [
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+      0.96,
+      0.34
+     ],
+     "3D oriented bounding box orientation unit vectors": [
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+       0.89,
+       0.0
+      ],
+      [
+       -0.89,
+       0.46,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 8.5
+   }
+  ],
+  "chair": [
+   {
+    "3D oriented bounding box": {
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+      -0.89,
+      -0.03
+     ],
+     "3D oriented bounding box dimensions": [
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+      0.33,
+      0.89
+     ],
+     "3D oriented bounding box orientation unit vectors": [
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+       0.05,
+       0.0
+      ],
+      [
+       -0.05,
+       1.0,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 0.17
+   },
+   {
+    "3D oriented bounding box": {
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+      -0.65,
+      -0.15
+     ],
+     "3D oriented bounding box dimensions": [
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+      0.32,
+      1.0
+     ],
+     "3D oriented bounding box orientation unit vectors": [
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+       0.0
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+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 1.0
+   },
+   {
+    "3D oriented bounding box": {
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+      -1.35,
+      -0.13
+     ],
+     "3D oriented bounding box dimensions": [
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+      0.3,
+      1.02
+     ],
+     "3D oriented bounding box orientation unit vectors": [
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+       0.87,
+       0.0
+      ],
+      [
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+       0.49,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 0.67
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
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+      -3.28,
+      -0.11
+     ],
+     "3D oriented bounding box dimensions": [
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+      0.68,
+      1.7
+     ],
+     "3D oriented bounding box orientation unit vectors": [
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+       0.94,
+       0.0
+      ],
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+       0.33,
+       0.0
+      ],
+      [
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+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 5.5
+   },
+   {
+    "3D oriented bounding box": {
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+      -1.44,
+      0.09
+     ],
+     "3D oriented bounding box dimensions": [
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+      2.13,
+      0.32
+     ],
+     "3D oriented bounding box orientation unit vectors": [
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+       0.94,
+       0.0
+      ],
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+      ],
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+       0.0,
+       1.0
+      ]
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+    "first visible time": 0.5
+   },
+   {
+    "3D oriented bounding box": {
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+      -0.41,
+      -0.13
+     ],
+     "3D oriented bounding box dimensions": [
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+     ],
+     "3D oriented bounding box orientation unit vectors": [
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+       0.0,
+       1.0
+      ]
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+    "first visible time": 0.17
+   },
+   {
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+       0.0,
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+   },
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+      -2.61,
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+     "3D oriented bounding box orientation unit vectors": [
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+      [
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+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 0.67
+   }
+  ],
+  "fireplace": [
+   {
+    "3D oriented bounding box": {
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+      -0.07,
+      -0.06
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+     "3D oriented bounding box orientation unit vectors": [
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+      ],
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+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 4.0
+   }
+  ],
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+   },
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+    "3D oriented bounding box": {
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+     ],
+     "3D oriented bounding box dimensions": [
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+   }
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+   }
+  ],
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+   }
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+ },
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+     ],
+     [
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+     ],
+     [
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+     ],
+     [
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+      2.67
+     ],
+     [
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+      2.67
+     ],
+     [
+      2.28,
+      2.77
+     ],
+     [
+      2.28,
+      2.87
+     ],
+     [
+      -0.22,
+      2.87
+     ],
+     [
+      -0.22,
+      2.67
+     ],
+     [
+      -0.52,
+      2.37
+     ],
+     [
+      -0.52,
+      2.27
+     ],
+     [
+      -0.62,
+      2.17
+     ],
+     [
+      -0.62,
+      2.07
+     ],
+     [
+      -0.82,
+      1.87
+     ],
+     [
+      -0.82,
+      1.77
+     ],
+     [
+      -0.92,
+      1.67
+     ],
+     [
+      -0.92,
+      1.57
+     ],
+     [
+      -1.12,
+      1.37
+     ],
+     [
+      -1.32,
+      1.37
+     ],
+     [
+      -1.82,
+      1.87
+     ],
+     [
+      -2.22,
+      1.87
+     ]
+    ],
+    "interior hole boundary coordinates": []
+   }
+  ]
+ }
+}
\ No newline at end of file
diff --git a/experiments/caches/spatial codes/metric/tracking/selective/Center Sigma 15/64/compact/41254432.json b/experiments/caches/spatial codes/metric/tracking/selective/Center Sigma 15/64/compact/41254432.json
new file mode 100644
index 0000000000000000000000000000000000000000..87a3483d14ecbb2edbad3099e4470425a5868f5d
--- /dev/null
+++ b/experiments/caches/spatial codes/metric/tracking/selective/Center Sigma 15/64/compact/41254432.json	
@@ -0,0 +1,1021 @@
+{
+ "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": [
+      5.53,
+      -0.41,
+      0.31
+     ],
+     "3D oriented bounding box dimensions": [
+      2.15,
+      1.54,
+      0.96
+     ],
+     "3D oriented bounding box orientation unit vectors": [
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+       0.83,
+       0.56,
+       0.0
+      ],
+      [
+       -0.56,
+       0.83,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 10.5
+   }
+  ],
+  "chair": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
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+      -0.64,
+      0.35
+     ],
+     "3D oriented bounding box dimensions": [
+      0.3,
+      0.26,
+      0.51
+     ],
+     "3D oriented bounding box orientation unit vectors": [
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+       0.44,
+       0.0
+      ],
+      [
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+       0.9,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 0.83
+   }
+  ],
+  "dishwasher": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      1.71,
+      1.68,
+      0.22
+     ],
+     "3D oriented bounding box dimensions": [
+      0.37,
+      0.41,
+      0.97
+     ],
+     "3D oriented bounding box orientation unit vectors": [
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+       0.04,
+       0.0
+      ],
+      [
+       -0.04,
+       1.0,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 1.33
+   }
+  ],
+  "refrigerator": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      1.71,
+      1.68,
+      0.22
+     ],
+     "3D oriented bounding box dimensions": [
+      0.37,
+      0.41,
+      0.97
+     ],
+     "3D oriented bounding box orientation unit vectors": [
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+       1.0,
+       0.04,
+       0.0
+      ],
+      [
+       -0.04,
+       1.0,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 1.33
+   }
+  ],
+  "sofa": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -1.83,
+      2.3,
+      0.01
+     ],
+     "3D oriented bounding box dimensions": [
+      0.82,
+      1.69,
+      0.51
+     ],
+     "3D oriented bounding box orientation unit vectors": [
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+       -0.53,
+       0.0
+      ],
+      [
+       0.53,
+       0.85,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 6.17
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
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+      1.62,
+      0.0
+     ],
+     "3D oriented bounding box dimensions": [
+      1.86,
+      0.44,
+      0.59
+     ],
+     "3D oriented bounding box orientation unit vectors": [
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+       0.82,
+       0.0
+      ],
+      [
+       -0.82,
+       -0.57,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 0.17
+   }
+  ],
+  "stool": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
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+      -0.7,
+      0.05
+     ],
+     "3D oriented bounding box dimensions": [
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+      0.33,
+      0.89
+     ],
+     "3D oriented bounding box orientation unit vectors": [
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+       0.95,
+       0.0
+      ],
+      [
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+       -0.33,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 0.67
+   }
+  ],
+  "stove": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
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+      3.62,
+      0.6
+     ],
+     "3D oriented bounding box dimensions": [
+      0.92,
+      0.52,
+      0.03
+     ],
+     "3D oriented bounding box orientation unit vectors": [
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+       0.41,
+       0.0
+      ],
+      [
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+       0.91,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 3.67
+   }
+  ],
+  "table": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
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+      3.42,
+      0.56
+     ],
+     "3D oriented bounding box dimensions": [
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+      0.39,
+      0.05
+     ],
+     "3D oriented bounding box orientation unit vectors": [
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+       0.09,
+       0.0
+      ],
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+       1.0,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 4.0
+   }
+  ],
+  "tv": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
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+      -0.13,
+      -0.23
+     ],
+     "3D oriented bounding box dimensions": [
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+      0.05,
+      0.41
+     ],
+     "3D oriented bounding box orientation unit vectors": [
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+       0.0
+      ],
+      [
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+       -0.63,
+       0.0
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+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 9.83
+   },
+   {
+    "3D oriented bounding box": {
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+      -0.19,
+      -0.2
+     ],
+     "3D oriented bounding box dimensions": [
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+      0.6,
+      0.33
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+     "3D oriented bounding box orientation unit vectors": [
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+       0.74,
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+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 4.83
+   }
+  ]
+ },
+ "room": {
+  "floor boundary polygons": [
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+      -0.67
+     ],
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+     ],
+     [
+      3.92,
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+     ]
+    ],
+    "interior hole boundary coordinates": []
+   },
+   {
+    "outer boundary coordinates": [
+     [
+      -3.98,
+      0.93
+     ],
+     [
+      -3.88,
+      0.93
+     ],
+     [
+      -3.78,
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+     ],
+     [
+      0.42,
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+     ],
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+      0.42,
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+     ],
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+      0.32,
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+     ],
+     [
+      -0.28,
+      4.53
+     ],
+     [
+      -0.48,
+      4.33
+     ],
+     [
+      -0.58,
+      4.33
+     ],
+     [
+      -0.68,
+      4.23
+     ],
+     [
+      -0.78,
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+     ],
+     [
+      -0.98,
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+     ],
+     [
+      -1.08,
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+     ],
+     [
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+      3.83
+     ],
+     [
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+     ],
+     [
+      -1.48,
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+     [
+      -1.58,
+      3.73
+     ],
+     [
+      -1.68,
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+     ],
+     [
+      -2.08,
+      3.63
+     ],
+     [
+      -2.18,
+      3.53
+     ],
+     [
+      -2.28,
+      3.53
+     ],
+     [
+      -2.38,
+      3.43
+     ],
+     [
+      -2.58,
+      3.43
+     ],
+     [
+      -2.68,
+      3.33
+     ],
+     [
+      -2.78,
+      3.33
+     ],
+     [
+      -2.98,
+      3.13
+     ],
+     [
+      -2.98,
+      2.93
+     ],
+     [
+      -3.18,
+      2.73
+     ],
+     [
+      -3.28,
+      2.73
+     ],
+     [
+      -3.48,
+      2.53
+     ],
+     [
+      -3.58,
+      2.53
+     ],
+     [
+      -3.68,
+      2.43
+     ],
+     [
+      -3.78,
+      2.43
+     ],
+     [
+      -3.88,
+      2.33
+     ],
+     [
+      -3.98,
+      2.33
+     ]
+    ],
+    "interior hole boundary coordinates": []
+   }
+  ]
+ }
+}
\ No newline at end of file
diff --git a/experiments/caches/spatial codes/metric/tracking/selective/Center Sigma 15/64/compact/42444976.json b/experiments/caches/spatial codes/metric/tracking/selective/Center Sigma 15/64/compact/42444976.json
new file mode 100644
index 0000000000000000000000000000000000000000..0c0a4fd4b38285389dad49a71b547edea794cd6e
--- /dev/null
+++ b/experiments/caches/spatial codes/metric/tracking/selective/Center Sigma 15/64/compact/42444976.json	
@@ -0,0 +1,636 @@
+{
+ "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": [
+      0.1,
+      -1.09,
+      -1.84
+     ],
+     "3D oriented bounding box dimensions": [
+      0.77,
+      0.2,
+      0.42
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       1.0,
+       0.04,
+       0.0
+      ],
+      [
+       -0.04,
+       1.0,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 6.17
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -0.16,
+      -2.15,
+      -2.64
+     ],
+     "3D oriented bounding box dimensions": [
+      0.99,
+      0.59,
+      0.46
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       1.0,
+       -0.07,
+       0.0
+      ],
+      [
+       0.07,
+       1.0,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 5.83
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      0.03,
+      -1.8,
+      -2.35
+     ],
+     "3D oriented bounding box dimensions": [
+      0.89,
+      0.52,
+      0.41
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.99,
+       -0.11,
+       0.0
+      ],
+      [
+       0.11,
+       0.99,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 6.0
+   }
+  ],
+  "dishwasher": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      0.81,
+      0.52,
+      0.22
+     ],
+     "3D oriented bounding box dimensions": [
+      0.91,
+      0.03,
+      0.55
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.94,
+       -0.33,
+       0.0
+      ],
+      [
+       0.33,
+       0.94,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 1.33
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      0.92,
+      0.71,
+      -2.19
+     ],
+     "3D oriented bounding box dimensions": [
+      0.88,
+      0.04,
+      0.58
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.94,
+       -0.35,
+       0.0
+      ],
+      [
+       0.35,
+       0.94,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 0.5
+   }
+  ],
+  "refrigerator": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      0.68,
+      0.57,
+      0.2
+     ],
+     "3D oriented bounding box dimensions": [
+      0.91,
+      0.03,
+      0.55
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.94,
+       -0.33,
+       0.0
+      ],
+      [
+       0.33,
+       0.94,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 1.67
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      1.14,
+      0.43,
+      0.16
+     ],
+     "3D oriented bounding box dimensions": [
+      1.02,
+      0.02,
+      0.55
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.94,
+       -0.34,
+       0.0
+      ],
+      [
+       0.34,
+       0.94,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 0.5
+   }
+  ],
+  "stove": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      0.62,
+      1.11,
+      -1.27
+     ],
+     "3D oriented bounding box dimensions": [
+      0.49,
+      0.04,
+      0.89
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.3,
+       0.95,
+       0.0
+      ],
+      [
+       -0.95,
+       0.3,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 2.5
+   }
+  ],
+  "table": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -0.15,
+      -1.61,
+      -1.82
+     ],
+     "3D oriented bounding box dimensions": [
+      1.16,
+      0.1,
+      0.68
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.32,
+       0.95,
+       0.0
+      ],
+      [
+       -0.95,
+       0.32,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 8.0
+   }
+  ],
+  "tv": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      0.04,
+      -1.23,
+      4.09
+     ],
+     "3D oriented bounding box dimensions": [
+      0.57,
+      0.09,
+      0.89
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.96,
+       -0.29,
+       0.0
+      ],
+      [
+       0.29,
+       0.96,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 7.0
+   }
+  ],
+  "washer": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      0.6,
+      -0.09,
+      -2.58
+     ],
+     "3D oriented bounding box dimensions": [
+      0.94,
+      0.64,
+      0.12
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       1.0,
+       -0.02,
+       0.0
+      ],
+      [
+       0.02,
+       1.0,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 0.17
+   }
+  ]
+ },
+ "room": {
+  "floor boundary polygons": [
+   {
+    "outer boundary coordinates": [
+     [
+      -1.98,
+      -2.32
+     ],
+     [
+      -1.88,
+      -2.32
+     ],
+     [
+      -1.78,
+      -2.42
+     ],
+     [
+      -1.58,
+      -2.42
+     ],
+     [
+      -1.48,
+      -2.52
+     ],
+     [
+      -1.38,
+      -2.52
+     ],
+     [
+      -1.28,
+      -2.62
+     ],
+     [
+      -1.28,
+      -2.72
+     ],
+     [
+      1.32,
+      -2.72
+     ],
+     [
+      1.32,
+      -2.12
+     ],
+     [
+      1.42,
+      -2.02
+     ],
+     [
+      1.52,
+      -2.02
+     ],
+     [
+      1.52,
+      -1.22
+     ],
+     [
+      1.42,
+      -1.22
+     ],
+     [
+      1.32,
+      -1.12
+     ],
+     [
+      1.32,
+      -0.82
+     ],
+     [
+      1.42,
+      -0.72
+     ],
+     [
+      1.52,
+      -0.72
+     ],
+     [
+      1.52,
+      0.78
+     ],
+     [
+      1.42,
+      0.78
+     ],
+     [
+      1.32,
+      0.88
+     ],
+     [
+      1.22,
+      0.88
+     ],
+     [
+      1.12,
+      0.98
+     ],
+     [
+      1.02,
+      0.98
+     ],
+     [
+      0.92,
+      1.08
+     ],
+     [
+      0.92,
+      1.68
+     ],
+     [
+      -1.08,
+      1.68
+     ],
+     [
+      -1.08,
+      1.58
+     ],
+     [
+      -1.18,
+      1.48
+     ],
+     [
+      -1.18,
+      1.28
+     ],
+     [
+      -1.28,
+      1.18
+     ],
+     [
+      -1.28,
+      0.98
+     ],
+     [
+      -1.38,
+      0.88
+     ],
+     [
+      -1.38,
+      0.48
+     ],
+     [
+      -1.48,
+      0.38
+     ],
+     [
+      -1.48,
+      0.08
+     ],
+     [
+      -1.68,
+      -0.12
+     ],
+     [
+      -1.68,
+      -0.22
+     ],
+     [
+      -1.78,
+      -0.32
+     ],
+     [
+      -1.78,
+      -0.42
+     ],
+     [
+      -1.88,
+      -0.52
+     ],
+     [
+      -1.98,
+      -0.52
+     ]
+    ],
+    "interior hole boundary coordinates": []
+   }
+  ]
+ }
+}
\ No newline at end of file
diff --git a/experiments/caches/spatial codes/metric/tracking/selective/Center Sigma 15/64/compact/42445026.json b/experiments/caches/spatial codes/metric/tracking/selective/Center Sigma 15/64/compact/42445026.json
new file mode 100644
index 0000000000000000000000000000000000000000..10aefe60f78b716ddd3971db7356df5fd7faae81
--- /dev/null
+++ b/experiments/caches/spatial codes/metric/tracking/selective/Center Sigma 15/64/compact/42445026.json	
@@ -0,0 +1,438 @@
+{
+ "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": [
+      0.93,
+      -0.59,
+      1.41
+     ],
+     "3D oriented bounding box dimensions": [
+      0.27,
+      0.24,
+      0.42
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.12,
+       0.99,
+       0.0
+      ],
+      [
+       -0.99,
+       0.12,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 2.67
+   }
+  ],
+  "chair": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      0.73,
+      -1.32,
+      2.04
+     ],
+     "3D oriented bounding box dimensions": [
+      0.88,
+      0.39,
+      0.38
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       -0.7,
+       0.72,
+       0.0
+      ],
+      [
+       -0.72,
+       -0.7,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 2.33
+   }
+  ],
+  "sofa": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      1.11,
+      0.01,
+      1.33
+     ],
+     "3D oriented bounding box dimensions": [
+      1.15,
+      0.27,
+      0.34
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.24,
+       0.97,
+       0.0
+      ],
+      [
+       -0.97,
+       0.24,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 1.0
+   }
+  ],
+  "stool": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      0.64,
+      -1.52,
+      2.01
+     ],
+     "3D oriented bounding box dimensions": [
+      0.22,
+      0.46,
+      0.21
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       -0.28,
+       0.96,
+       0.0
+      ],
+      [
+       -0.96,
+       -0.28,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 8.17
+   }
+  ],
+  "table": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      0.52,
+      -1.44,
+      1.72
+     ],
+     "3D oriented bounding box dimensions": [
+      0.35,
+      0.56,
+      1.28
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.15,
+       0.99,
+       0.0
+      ],
+      [
+       -0.99,
+       0.15,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 4.33
+   }
+  ],
+  "tv": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      0.09,
+      0.06,
+      -0.03
+     ],
+     "3D oriented bounding box dimensions": [
+      0.83,
+      0.53,
+      0.14
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.25,
+       0.97,
+       0.0
+      ],
+      [
+       -0.97,
+       0.25,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 0.33
+   }
+  ]
+ },
+ "room": {
+  "floor boundary polygons": [
+   {
+    "outer boundary coordinates": [
+     [
+      -1.47,
+      -1.91
+     ],
+     [
+      -1.27,
+      -1.91
+     ],
+     [
+      -1.17,
+      -2.01
+     ],
+     [
+      -1.17,
+      -2.11
+     ],
+     [
+      -0.87,
+      -2.11
+     ],
+     [
+      -0.77,
+      -2.21
+     ],
+     [
+      -0.57,
+      -2.21
+     ],
+     [
+      -0.47,
+      -2.31
+     ],
+     [
+      -0.47,
+      -2.41
+     ],
+     [
+      1.03,
+      -2.41
+     ],
+     [
+      1.03,
+      -2.21
+     ],
+     [
+      1.13,
+      -2.11
+     ],
+     [
+      1.13,
+      -2.01
+     ],
+     [
+      1.23,
+      -1.91
+     ],
+     [
+      1.23,
+      -1.81
+     ],
+     [
+      1.33,
+      -1.71
+     ],
+     [
+      1.33,
+      -1.61
+     ],
+     [
+      1.43,
+      -1.51
+     ],
+     [
+      1.53,
+      -1.51
+     ],
+     [
+      1.53,
+      1.29
+     ],
+     [
+      1.43,
+      1.29
+     ],
+     [
+      1.33,
+      1.39
+     ],
+     [
+      1.13,
+      1.39
+     ],
+     [
+      1.03,
+      1.49
+     ],
+     [
+      0.93,
+      1.49
+     ],
+     [
+      0.83,
+      1.59
+     ],
+     [
+      0.83,
+      1.69
+     ],
+     [
+      -1.07,
+      1.69
+     ],
+     [
+      -1.07,
+      1.59
+     ],
+     [
+      -1.27,
+      1.39
+     ],
+     [
+      -1.27,
+      0.99
+     ],
+     [
+      -1.37,
+      0.89
+     ],
+     [
+      -1.47,
+      0.89
+     ]
+    ],
+    "interior hole boundary coordinates": []
+   }
+  ]
+ }
+}
\ No newline at end of file
diff --git a/experiments/caches/spatial codes/metric/tracking/selective/Center Sigma 15/64/compact/42445031.json b/experiments/caches/spatial codes/metric/tracking/selective/Center Sigma 15/64/compact/42445031.json
new file mode 100644
index 0000000000000000000000000000000000000000..4bcdf55c701f12a9fc60f6927ea34ba77bd349b4
--- /dev/null
+++ b/experiments/caches/spatial codes/metric/tracking/selective/Center Sigma 15/64/compact/42445031.json	
@@ -0,0 +1,496 @@
+{
+ "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": [
+      0.94,
+      0.69,
+      -0.02
+     ],
+     "3D oriented bounding box dimensions": [
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+      1.45,
+      0.26
+     ],
+     "3D oriented bounding box orientation unit vectors": [
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+       -0.15,
+       0.0
+      ],
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+       0.99,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 1.5
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      2.1,
+      -0.35,
+      0.34
+     ],
+     "3D oriented bounding box dimensions": [
+      0.29,
+      0.34,
+      0.53
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.86,
+       0.52,
+       0.0
+      ],
+      [
+       -0.52,
+       0.86,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 3.5
+   }
+  ],
+  "table": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      1.21,
+      -0.16,
+      -0.17
+     ],
+     "3D oriented bounding box dimensions": [
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+      0.17,
+      0.51
+     ],
+     "3D oriented bounding box orientation unit vectors": [
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+       0.94,
+       0.0
+      ],
+      [
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+       0.33,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 3.17
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      0.69,
+      -1.71,
+      -0.02
+     ],
+     "3D oriented bounding box dimensions": [
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+      0.6,
+      0.62
+     ],
+     "3D oriented bounding box orientation unit vectors": [
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+       0.74,
+       0.0
+      ],
+      [
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+       -0.67,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 9.17
+   }
+  ],
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+     "3D oriented bounding box center coordinates": [
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+      -0.33,
+      0.9
+     ],
+     "3D oriented bounding box dimensions": [
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+      0.23,
+      0.31
+     ],
+     "3D oriented bounding box orientation unit vectors": [
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+       0.08,
+       0.0
+      ],
+      [
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+       1.0,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 3.67
+   },
+   {
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+      -0.33,
+      0.95
+     ],
+     "3D oriented bounding box dimensions": [
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+      0.04,
+      0.25
+     ],
+     "3D oriented bounding box orientation unit vectors": [
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+       0.81,
+       0.0
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+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 0.83
+   }
+  ]
+ },
+ "room": {
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+   {
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+      -0.74
+     ],
+     [
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+     ],
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+     ],
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+     [
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+     ],
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+     ],
+     [
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+     ],
+     [
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+     ],
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+     ],
+     [
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+     ],
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+     ],
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+     ],
+     [
+      2.06,
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+     ],
+     [
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+      1.76
+     ],
+     [
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+      1.76
+     ],
+     [
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+     ],
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+     ],
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+     ],
+     [
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+     ],
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+     ],
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+     ],
+     [
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+     ],
+     [
+      -1.04,
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+     ],
+     [
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+     ],
+     [
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+     [
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+     ],
+     [
+      -1.64,
+      0.76
+     ],
+     [
+      -1.94,
+      0.76
+     ]
+    ],
+    "interior hole boundary coordinates": []
+   }
+  ]
+ }
+}
\ No newline at end of file
diff --git a/experiments/caches/spatial codes/metric/tracking/selective/Center Sigma 15/64/compact/42445981.json b/experiments/caches/spatial codes/metric/tracking/selective/Center Sigma 15/64/compact/42445981.json
new file mode 100644
index 0000000000000000000000000000000000000000..fa60be64b88d045bf3a174618dea0ee3c312e9e1
--- /dev/null
+++ b/experiments/caches/spatial codes/metric/tracking/selective/Center Sigma 15/64/compact/42445981.json	
@@ -0,0 +1,800 @@
+{
+ "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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+      -1.55,
+      -0.15
+     ],
+     "3D oriented bounding box dimensions": [
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+      0.32,
+      0.87
+     ],
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+      ],
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+       0.0,
+       1.0
+      ]
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+   },
+   {
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+      -2.6,
+      -0.19
+     ],
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+      0.19,
+      0.88
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+       1.0
+      ]
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+   },
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+      0.0
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+      0.26,
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+      ]
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+    },
+    "first visible time": 4.0
+   },
+   {
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+      -2.52,
+      -0.16
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+     "3D oriented bounding box dimensions": [
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+      0.35,
+      0.89
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+     "3D oriented bounding box orientation unit vectors": [
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+       0.0,
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+    },
+    "first visible time": 4.0
+   },
+   {
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+      -1.54,
+      -0.38
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+     "3D oriented bounding box orientation unit vectors": [
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+       0.0,
+       1.0
+      ]
+     ]
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+    "first visible time": 8.67
+   }
+  ],
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+      -1.17,
+      -0.2
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+     "3D oriented bounding box dimensions": [
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+      1.67,
+      0.5
+     ],
+     "3D oriented bounding box orientation unit vectors": [
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+       0.0
+      ],
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+    "first visible time": 0.5
+   },
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+      -2.03,
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+     "3D oriented bounding box orientation unit vectors": [
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+    },
+    "first visible time": 3.33
+   }
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+       0.0,
+       1.0
+      ]
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+    },
+    "first visible time": 5.5
+   }
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+      -2.1,
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+      1.32,
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+       0.0,
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+    "first visible time": 0.33
+   },
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+      -1.62,
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+       0.0,
+       1.0
+      ]
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+    },
+    "first visible time": 8.67
+   },
+   {
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+      ]
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+    "first visible time": 2.33
+   }
+  ],
+  "tv": [
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+   },
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+       0.0,
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+      ]
+     ]
+    },
+    "first visible time": 0.67
+   }
+  ]
+ },
+ "room": {
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+}
\ No newline at end of file
diff --git a/experiments/caches/spatial codes/metric/tracking/selective/Center Sigma 15/64/compact/42446517.json b/experiments/caches/spatial codes/metric/tracking/selective/Center Sigma 15/64/compact/42446517.json
new file mode 100644
index 0000000000000000000000000000000000000000..2a782a4f7136c81f8282de2ac6661382b4e43c85
--- /dev/null
+++ b/experiments/caches/spatial codes/metric/tracking/selective/Center Sigma 15/64/compact/42446517.json	
@@ -0,0 +1,466 @@
+{
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+       "unit": null,
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+   }
+  ]
+ }
+}
\ No newline at end of file
diff --git a/experiments/caches/spatial codes/metric/tracking/selective/Center Sigma 15/64/compact/42446535.json b/experiments/caches/spatial codes/metric/tracking/selective/Center Sigma 15/64/compact/42446535.json
new file mode 100644
index 0000000000000000000000000000000000000000..39c86b678bce46aef3fa5bc59e3bf57131a4160b
--- /dev/null
+++ b/experiments/caches/spatial codes/metric/tracking/selective/Center Sigma 15/64/compact/42446535.json	
@@ -0,0 +1,292 @@
+{
+ "spatial code schema": {
+  "objects": {
+   "<object class>": [
+    {
+     "3D oriented bounding box": {
+      "3D oriented bounding box center coordinates": {
+       "components": [
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+        "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": [
+        [
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+         "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"
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+     "interior hole boundary coordinates": {
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+        [
+         "x",
+         "y"
+        ],
+        [
+         "x",
+         "y"
+        ]
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+      ],
+      "unit": "meters",
+      "description": "ordered boundaries enclosing regions excluded from the floor area"
+     }
+    }
+   ]
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+ },
+ "objects": {
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+   }
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+      0.45
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+     "3D oriented bounding box orientation unit vectors": [
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+       0.0,
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+   }
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+  "toilet": [
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+      -0.15
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+   }
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+ },
+ "room": {
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+     ]
+    ],
+    "interior hole boundary coordinates": []
+   }
+  ]
+ }
+}
\ No newline at end of file
diff --git a/experiments/caches/spatial codes/metric/tracking/selective/Center Sigma 15/64/compact/42897550.json b/experiments/caches/spatial codes/metric/tracking/selective/Center Sigma 15/64/compact/42897550.json
new file mode 100644
index 0000000000000000000000000000000000000000..4d923238791f3bb863490ef4d7756647ab308c2e
--- /dev/null
+++ b/experiments/caches/spatial codes/metric/tracking/selective/Center Sigma 15/64/compact/42897550.json	
@@ -0,0 +1,314 @@
+{
+ "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": {
+  "bathtub": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
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+      0.04,
+      -0.12
+     ],
+     "3D oriented bounding box dimensions": [
+      0.06,
+      1.39,
+      0.48
+     ],
+     "3D oriented bounding box orientation unit vectors": [
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+       0.26,
+       0.0
+      ],
+      [
+       -0.26,
+       0.96,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 0.17
+   }
+  ],
+  "dishwasher": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -0.44,
+      0.1,
+      -0.11
+     ],
+     "3D oriented bounding box dimensions": [
+      0.67,
+      0.03,
+      0.49
+     ],
+     "3D oriented bounding box orientation unit vectors": [
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+       0.98,
+       0.0
+      ],
+      [
+       -0.98,
+       -0.21,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 3.0
+   }
+  ],
+  "toilet": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      0.45,
+      0.22,
+      -0.02
+     ],
+     "3D oriented bounding box dimensions": [
+      0.53,
+      0.28,
+      0.07
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       -0.18,
+       0.98,
+       0.0
+      ],
+      [
+       -0.98,
+       -0.18,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 3.0
+   }
+  ],
+  "washer": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -0.25,
+      -0.78,
+      -0.07
+     ],
+     "3D oriented bounding box dimensions": [
+      0.78,
+      0.12,
+      0.48
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       -0.35,
+       0.93,
+       0.0
+      ],
+      [
+       -0.93,
+       -0.35,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 7.17
+   }
+  ]
+ },
+ "room": {
+  "floor boundary polygons": [
+   {
+    "outer boundary coordinates": [
+     [
+      -1.28,
+      -1.38
+     ],
+     [
+      1.02,
+      -1.38
+     ],
+     [
+      1.02,
+      -1.28
+     ],
+     [
+      1.12,
+      -1.18
+     ],
+     [
+      1.82,
+      -1.18
+     ],
+     [
+      1.92,
+      -1.28
+     ],
+     [
+      1.92,
+      -1.38
+     ],
+     [
+      2.32,
+      -1.38
+     ],
+     [
+      2.32,
+      0.12
+     ],
+     [
+      2.02,
+      0.12
+     ],
+     [
+      1.92,
+      0.22
+     ],
+     [
+      1.42,
+      0.22
+     ],
+     [
+      1.32,
+      0.12
+     ],
+     [
+      1.12,
+      0.12
+     ],
+     [
+      1.02,
+      0.22
+     ],
+     [
+      1.02,
+      0.42
+     ],
+     [
+      0.92,
+      0.52
+     ],
+     [
+      0.92,
+      1.02
+     ],
+     [
+      -1.28,
+      1.02
+     ]
+    ],
+    "interior hole boundary coordinates": []
+   }
+  ]
+ }
+}
\ No newline at end of file
diff --git a/experiments/caches/spatial codes/metric/tracking/selective/Center Sigma 15/64/compact/42897629.json b/experiments/caches/spatial codes/metric/tracking/selective/Center Sigma 15/64/compact/42897629.json
new file mode 100644
index 0000000000000000000000000000000000000000..07f712203a60209e08884b9b1240c0d993fb2ff4
--- /dev/null
+++ b/experiments/caches/spatial codes/metric/tracking/selective/Center Sigma 15/64/compact/42897629.json	
@@ -0,0 +1,1272 @@
+{
+ "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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+      -1.77,
+      -0.33
+     ],
+     "3D oriented bounding box dimensions": [
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+      0.4,
+      0.95
+     ],
+     "3D oriented bounding box orientation unit vectors": [
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+       -0.3,
+       0.0
+      ],
+      [
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+       0.95,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 0.17
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
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+      -1.47,
+      -0.32
+     ],
+     "3D oriented bounding box dimensions": [
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+      0.47,
+      0.97
+     ],
+     "3D oriented bounding box orientation unit vectors": [
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+       0.3,
+       0.0
+      ],
+      [
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+       0.95,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 1.83
+   },
+   {
+    "3D oriented bounding box": {
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+      -1.67,
+      -0.36
+     ],
+     "3D oriented bounding box dimensions": [
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+      0.52,
+      1.03
+     ],
+     "3D oriented bounding box orientation unit vectors": [
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+       0.98,
+       0.0
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+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 9.0
+   },
+   {
+    "3D oriented bounding box": {
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+      -0.32,
+      -0.4
+     ],
+     "3D oriented bounding box dimensions": [
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+      0.48,
+      0.94
+     ],
+     "3D oriented bounding box orientation unit vectors": [
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+       0.45,
+       0.0
+      ],
+      [
+       -0.45,
+       0.89,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 7.17
+   },
+   {
+    "3D oriented bounding box": {
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+      -2.33,
+      -0.37
+     ],
+     "3D oriented bounding box dimensions": [
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+      0.42,
+      0.69
+     ],
+     "3D oriented bounding box orientation unit vectors": [
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+       -0.23,
+       0.0
+      ],
+      [
+       0.23,
+       0.97,
+       0.0
+      ],
+      [
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+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 1.5
+   },
+   {
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+      -0.81,
+      -0.33
+     ],
+     "3D oriented bounding box dimensions": [
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+      0.31,
+      0.96
+     ],
+     "3D oriented bounding box orientation unit vectors": [
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+       0.72,
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+      [
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+      ],
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+       0.0,
+       1.0
+      ]
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+   },
+   {
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+      -0.17
+     ],
+     "3D oriented bounding box dimensions": [
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+     ],
+     "3D oriented bounding box orientation unit vectors": [
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+      ],
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+       0.0,
+       1.0
+      ]
+     ]
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+   },
+   {
+    "3D oriented bounding box": {
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+       0.0,
+       1.0
+      ]
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+    "first visible time": 7.0
+   }
+  ],
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+      -0.36
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+     ],
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+       0.72,
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+      [
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+       0.0,
+       1.0
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+    },
+    "first visible time": 1.0
+   },
+   {
+    "3D oriented bounding box": {
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+      -3.75,
+      -0.19
+     ],
+     "3D oriented bounding box dimensions": [
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+      0.1,
+      1.78
+     ],
+     "3D oriented bounding box orientation unit vectors": [
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+       0.0
+      ],
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+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 0.5
+   }
+  ],
+  "sofa": [
+   {
+    "3D oriented bounding box": {
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+      0.35,
+      -0.41
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+     "3D oriented bounding box orientation unit vectors": [
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+       0.0
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+    },
+    "first visible time": 9.0
+   }
+  ],
+  "stool": [
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+    "first visible time": 1.67
+   },
+   {
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+      ]
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+    "first visible time": 8.67
+   }
+  ],
+  "stove": [
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+    "first visible time": 4.17
+   }
+  ],
+  "table": [
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+    "3D oriented bounding box": {
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+      -1.71,
+      -0.34
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+   }
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+ "room": {
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+     [
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+    ],
+    "interior hole boundary coordinates": []
+   }
+  ]
+ }
+}
\ No newline at end of file
diff --git a/experiments/caches/spatial codes/metric/tracking/selective/Center Sigma 15/64/compact/42897692.json b/experiments/caches/spatial codes/metric/tracking/selective/Center Sigma 15/64/compact/42897692.json
new file mode 100644
index 0000000000000000000000000000000000000000..8fb32a613e682533f594b522e6d79ee3d23507e4
--- /dev/null
+++ b/experiments/caches/spatial codes/metric/tracking/selective/Center Sigma 15/64/compact/42897692.json	
@@ -0,0 +1,790 @@
+{
+ "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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+   }
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+    "first visible time": 6.17
+   }
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+  "table": [
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+     [
+      -3.27,
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+     ],
+     [
+      -3.37,
+      -2.59
+     ],
+     [
+      -3.47,
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+     ],
+     [
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+     [
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+     ],
+     [
+      -3.87,
+      -2.89
+     ],
+     [
+      -3.97,
+      -2.89
+     ]
+    ],
+    "interior hole boundary coordinates": []
+   }
+  ]
+ }
+}
\ No newline at end of file
diff --git a/experiments/caches/spatial codes/metric/tracking/selective/Center Sigma 15/64/compact/42898486.json b/experiments/caches/spatial codes/metric/tracking/selective/Center Sigma 15/64/compact/42898486.json
new file mode 100644
index 0000000000000000000000000000000000000000..3138fa77975d429b876d0330f0b652059c734097
--- /dev/null
+++ b/experiments/caches/spatial codes/metric/tracking/selective/Center Sigma 15/64/compact/42898486.json	
@@ -0,0 +1,934 @@
+{
+ "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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+      -3.72,
+      0.28
+     ],
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+      0.28,
+      1.18
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+       0.0,
+       1.0
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+      -0.05
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+   }
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+      2.02,
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+     ],
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+     ],
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+      -1.47,
+      4.54
+     ],
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+      4.44
+     ],
+     [
+      -1.57,
+      4.24
+     ],
+     [
+      -1.77,
+      4.04
+     ],
+     [
+      -1.77,
+      3.74
+     ],
+     [
+      -1.87,
+      3.64
+     ],
+     [
+      -1.87,
+      3.34
+     ],
+     [
+      -2.07,
+      3.14
+     ],
+     [
+      -2.27,
+      3.14
+     ],
+     [
+      -2.27,
+      3.04
+     ],
+     [
+      -2.37,
+      2.94
+     ],
+     [
+      -2.37,
+      2.14
+     ],
+     [
+      -2.47,
+      2.04
+     ],
+     [
+      -2.57,
+      2.04
+     ]
+    ],
+    "interior hole boundary coordinates": []
+   }
+  ]
+ }
+}
\ No newline at end of file
diff --git a/experiments/caches/spatial codes/metric/tracking/selective/Center Sigma 15/64/compact/42898826.json b/experiments/caches/spatial codes/metric/tracking/selective/Center Sigma 15/64/compact/42898826.json
new file mode 100644
index 0000000000000000000000000000000000000000..40abb8ce65c25392ca3770fc73117573986348d3
--- /dev/null
+++ b/experiments/caches/spatial codes/metric/tracking/selective/Center Sigma 15/64/compact/42898826.json	
@@ -0,0 +1,298 @@
+{
+ "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": {
+  "bathtub": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -0.3,
+      2.99,
+      -0.21
+     ],
+     "3D oriented bounding box dimensions": [
+      1.54,
+      0.99,
+      0.43
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.79,
+       0.62,
+       0.0
+      ],
+      [
+       -0.62,
+       0.79,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 0.17
+   },
+   {
+    "3D oriented bounding box": {
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+      ]
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+    },
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+   }
+  ]
+ },
+ "room": {
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+     ],
+     [
+      -2.16,
+      3.39
+     ]
+    ],
+    "interior hole boundary coordinates": []
+   }
+  ]
+ }
+}
\ No newline at end of file
diff --git a/experiments/caches/spatial codes/metric/tracking/selective/Center Sigma 15/64/compact/42899612.json b/experiments/caches/spatial codes/metric/tracking/selective/Center Sigma 15/64/compact/42899612.json
new file mode 100644
index 0000000000000000000000000000000000000000..ddf01a8ecf671c3da456cacf4b7a9f87e8f79942
--- /dev/null
+++ b/experiments/caches/spatial codes/metric/tracking/selective/Center Sigma 15/64/compact/42899612.json	
@@ -0,0 +1,652 @@
+{
+ "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"
+     }
+    }
+   ]
+  },
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+       [
+        "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"
+     }
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+   ]
+  }
+ },
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+     ],
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+     ],
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+      -0.82,
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+     ],
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+     ],
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+     ],
+     [
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+     ],
+     [
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+     ],
+     [
+      -1.82,
+      1.62
+     ],
+     [
+      -1.92,
+      1.62
+     ]
+    ],
+    "interior hole boundary coordinates": []
+   }
+  ]
+ }
+}
\ No newline at end of file
diff --git a/experiments/caches/spatial codes/metric/tracking/selective/Center Sigma 15/64/compact/44358499.json b/experiments/caches/spatial codes/metric/tracking/selective/Center Sigma 15/64/compact/44358499.json
new file mode 100644
index 0000000000000000000000000000000000000000..8a4630defabc753faba8142286703e2240154f86
--- /dev/null
+++ b/experiments/caches/spatial codes/metric/tracking/selective/Center Sigma 15/64/compact/44358499.json	
@@ -0,0 +1,1132 @@
+{
+ "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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+      3.43,
+      0.0
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+      0.94,
+      0.02
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+       0.0,
+       1.0
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+   }
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+      0.33
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+   },
+   {
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+      1.58,
+      0.44
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+      0.21,
+      0.83
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+       0.0,
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+    "first visible time": 2.0
+   },
+   {
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+      1.6,
+      0.34
+     ],
+     "3D oriented bounding box dimensions": [
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+      0.24,
+      0.77
+     ],
+     "3D oriented bounding box orientation unit vectors": [
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+       0.0,
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+      ]
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+    "first visible time": 4.67
+   },
+   {
+    "3D oriented bounding box": {
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+      0.86,
+      0.46
+     ],
+     "3D oriented bounding box dimensions": [
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+     ],
+     "3D oriented bounding box orientation unit vectors": [
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+   }
+  ],
+  "dishwasher": [
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+      4.85,
+      0.56
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+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 5.67
+   }
+  ],
+  "fireplace": [
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+    "3D oriented bounding box": {
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+      -1.04,
+      0.76
+     ],
+     "3D oriented bounding box dimensions": [
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+      0.36,
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+     "3D oriented bounding box orientation unit vectors": [
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+       0.0,
+       1.0
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+   },
+   {
+    "3D oriented bounding box": {
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+      -1.55,
+      0.56
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+     "3D oriented bounding box dimensions": [
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+     "3D oriented bounding box orientation unit vectors": [
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+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 4.0
+   }
+  ],
+  "refrigerator": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
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+      3.89,
+      0.4
+     ],
+     "3D oriented bounding box dimensions": [
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+      0.02,
+      0.87
+     ],
+     "3D oriented bounding box orientation unit vectors": [
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+       0.99,
+       0.0
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+      [
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+       0.1,
+       0.0
+      ],
+      [
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+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 7.5
+   }
+  ],
+  "sofa": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
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+      -1.63,
+      0.42
+     ],
+     "3D oriented bounding box dimensions": [
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+      0.82,
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+     "3D oriented bounding box orientation unit vectors": [
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+      -3.06,
+      0.17
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+     "3D oriented bounding box dimensions": [
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+      0.3,
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+     "3D oriented bounding box orientation unit vectors": [
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+       0.0,
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+    "first visible time": 4.17
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+  ],
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+      4.27,
+      0.96
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+      0.56,
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+     "3D oriented bounding box orientation unit vectors": [
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+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 8.0
+   }
+  ],
+  "table": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
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+      -1.4,
+      0.39
+     ],
+     "3D oriented bounding box dimensions": [
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+      0.39,
+      0.76
+     ],
+     "3D oriented bounding box orientation unit vectors": [
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+       0.38,
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+      [
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+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 1.33
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -2.23,
+      -0.15,
+      0.45
+     ],
+     "3D oriented bounding box dimensions": [
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+      0.7,
+      0.65
+     ],
+     "3D oriented bounding box orientation unit vectors": [
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+       0.95,
+       0.0
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+       0.0,
+       1.0
+      ]
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+    },
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+   },
+   {
+    "3D oriented bounding box": {
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+      -0.39,
+      0.24
+     ],
+     "3D oriented bounding box dimensions": [
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+     ],
+     "3D oriented bounding box orientation unit vectors": [
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+       0.89,
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+       0.0,
+       1.0
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+   },
+   {
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+      1.32,
+      0.68
+     ],
+     "3D oriented bounding box dimensions": [
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+     "3D oriented bounding box orientation unit vectors": [
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+       0.99,
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+    "first visible time": 9.17
+   }
+  ],
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+      0.68,
+      0.77
+     ],
+     "3D oriented bounding box dimensions": [
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+     "3D oriented bounding box orientation unit vectors": [
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+       1.0
+      ]
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+    "first visible time": 1.17
+   }
+  ],
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+     "3D oriented bounding box center coordinates": [
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+      3.91,
+      0.45
+     ],
+     "3D oriented bounding box dimensions": [
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+      0.02,
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+     ],
+     "3D oriented bounding box orientation unit vectors": [
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+       0.99,
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+   },
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+      0.45
+     ],
+     "3D oriented bounding box dimensions": [
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+      0.12,
+      0.84
+     ],
+     "3D oriented bounding box orientation unit vectors": [
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+       1.0,
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+      ],
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+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 7.33
+   }
+  ]
+ },
+ "room": {
+  "floor boundary polygons": [
+   {
+    "outer boundary coordinates": [
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+      -3.3,
+      -2.02
+     ],
+     [
+      -3.2,
+      -2.02
+     ],
+     [
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+     [
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+     [
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+     [
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+     [
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+     [
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+     [
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+     [
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+     ],
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+     ],
+     [
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+      3.68
+     ],
+     [
+      1.0,
+      4.88
+     ],
+     [
+      0.9,
+      4.98
+     ],
+     [
+      0.9,
+      5.18
+     ],
+     [
+      0.8,
+      5.18
+     ],
+     [
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+      5.28
+     ],
+     [
+      0.4,
+      5.28
+     ],
+     [
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+     ],
+     [
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+     ],
+     [
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+     ],
+     [
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+      5.58
+     ],
+     [
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+     ],
+     [
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+      5.48
+     ],
+     [
+      -2.6,
+      5.38
+     ],
+     [
+      -2.7,
+      5.28
+     ],
+     [
+      -2.7,
+      4.78
+     ],
+     [
+      -2.8,
+      4.68
+     ],
+     [
+      -2.8,
+      3.28
+     ],
+     [
+      -2.7,
+      3.18
+     ],
+     [
+      -2.5,
+      3.18
+     ],
+     [
+      -2.4,
+      3.08
+     ],
+     [
+      -2.4,
+      2.68
+     ],
+     [
+      -2.5,
+      2.58
+     ],
+     [
+      -2.5,
+      2.18
+     ],
+     [
+      -2.6,
+      2.08
+     ],
+     [
+      -3.0,
+      2.08
+     ],
+     [
+      -3.1,
+      1.98
+     ],
+     [
+      -3.1,
+      1.78
+     ],
+     [
+      -3.2,
+      1.68
+     ],
+     [
+      -3.3,
+      1.68
+     ]
+    ],
+    "interior hole boundary coordinates": []
+   }
+  ]
+ }
+}
\ No newline at end of file
diff --git a/experiments/caches/spatial codes/metric/tracking/selective/Center Sigma 15/64/compact/45260856.json b/experiments/caches/spatial codes/metric/tracking/selective/Center Sigma 15/64/compact/45260856.json
new file mode 100644
index 0000000000000000000000000000000000000000..629c2eca7f82d43f9cce13f279760b29bd41e4f1
--- /dev/null
+++ b/experiments/caches/spatial codes/metric/tracking/selective/Center Sigma 15/64/compact/45260856.json	
@@ -0,0 +1,772 @@
+{
+ "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": [
+      0.52,
+      1.33,
+      0.01
+     ],
+     "3D oriented bounding box dimensions": [
+      0.76,
+      2.12,
+      0.43
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.97,
+       0.24,
+       0.0
+      ],
+      [
+       -0.24,
+       0.97,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 2.5
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -0.55,
+      2.02,
+      0.1
+     ],
+     "3D oriented bounding box dimensions": [
+      1.88,
+      0.32,
+      0.51
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       -0.56,
+       0.83,
+       0.0
+      ],
+      [
+       -0.83,
+       -0.56,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 1.33
+   }
+  ],
+  "chair": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      2.55,
+      0.72,
+      -0.21
+     ],
+     "3D oriented bounding box dimensions": [
+      0.55,
+      0.42,
+      0.72
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.86,
+       0.51,
+       0.0
+      ],
+      [
+       -0.51,
+       0.86,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 1.0
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      1.75,
+      3.38,
+      -0.16
+     ],
+     "3D oriented bounding box dimensions": [
+      0.7,
+      0.93,
+      0.55
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.93,
+       0.38,
+       0.0
+      ],
+      [
+       -0.38,
+       0.93,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 1.17
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
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+      2.16,
+      -0.21
+     ],
+     "3D oriented bounding box dimensions": [
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+      0.56,
+      0.72
+     ],
+     "3D oriented bounding box orientation unit vectors": [
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+       0.95,
+       0.0
+      ],
+      [
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+       0.32,
+       0.0
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+      [
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+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 3.5
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
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+      -0.68,
+      -0.12
+     ],
+     "3D oriented bounding box dimensions": [
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+      0.49,
+      0.71
+     ],
+     "3D oriented bounding box orientation unit vectors": [
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+       0.53,
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+      [
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+       0.0,
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+    },
+    "first visible time": 1.0
+   }
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+  "fireplace": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
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+      3.19,
+      0.22
+     ],
+     "3D oriented bounding box dimensions": [
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+      0.16,
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+     "3D oriented bounding box orientation unit vectors": [
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+      [
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+       0.0
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+       0.0,
+       1.0
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+     ]
+    },
+    "first visible time": 3.5
+   }
+  ],
+  "stool": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
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+      -0.66,
+      -0.17
+     ],
+     "3D oriented bounding box dimensions": [
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+      0.39,
+      0.61
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+     "3D oriented bounding box orientation unit vectors": [
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+       0.48,
+       0.0
+      ],
+      [
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+       0.88,
+       0.0
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+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 10.0
+   }
+  ],
+  "table": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
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+      2.0,
+      -0.25
+     ],
+     "3D oriented bounding box dimensions": [
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+      0.28,
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+     ],
+     "3D oriented bounding box orientation unit vectors": [
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+       0.32,
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+       0.95,
+       0.0
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+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 2.0
+   }
+  ]
+ },
+ "room": {
+  "floor boundary polygons": [
+   {
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+      2.57
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+     [
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+     ],
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+     [
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+     ],
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+     ],
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+     ],
+     [
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+     ],
+     [
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+     ],
+     [
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+     ],
+     [
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+     ],
+     [
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+      2.97
+     ],
+     [
+      -1.53,
+      3.07
+     ],
+     [
+      -1.63,
+      3.17
+     ],
+     [
+      -1.63,
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+     ],
+     [
+      -2.63,
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+     ],
+     [
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+     ],
+     [
+      -2.93,
+      3.57
+     ],
+     [
+      -3.03,
+      3.47
+     ],
+     [
+      -3.23,
+      3.47
+     ]
+    ],
+    "interior hole boundary coordinates": []
+   }
+  ]
+ }
+}
\ No newline at end of file
diff --git a/experiments/caches/spatial codes/metric/tracking/selective/Center Sigma 15/64/compact/45261150.json b/experiments/caches/spatial codes/metric/tracking/selective/Center Sigma 15/64/compact/45261150.json
new file mode 100644
index 0000000000000000000000000000000000000000..de4d3b7b43aee25a268be6905264dfa2e68194d3
--- /dev/null
+++ b/experiments/caches/spatial codes/metric/tracking/selective/Center Sigma 15/64/compact/45261150.json	
@@ -0,0 +1,613 @@
+{
+ "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,
+      1.84,
+      -0.25
+     ],
+     "3D oriented bounding box dimensions": [
+      1.09,
+      1.9,
+      0.49
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
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+       0.6,
+       0.0
+      ],
+      [
+       -0.6,
+       0.8,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 0.33
+   }
+  ],
+  "refrigerator": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      1.2,
+      2.73,
+      -0.1
+     ],
+     "3D oriented bounding box dimensions": [
+      0.42,
+      0.49,
+      1.13
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
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+       0.89,
+       0.0
+      ],
+      [
+       -0.89,
+       -0.45,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 2.5
+   }
+  ],
+  "table": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      0.75,
+      1.42,
+      -0.28
+     ],
+     "3D oriented bounding box dimensions": [
+      1.33,
+      0.47,
+      0.62
+     ],
+     "3D oriented bounding box orientation unit vectors": [
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+       0.81,
+       0.59,
+       0.0
+      ],
+      [
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+       0.81,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 4.0
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      1.74,
+      1.95,
+      -0.32
+     ],
+     "3D oriented bounding box dimensions": [
+      0.8,
+      0.5,
+      0.64
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       1.0,
+       0.1,
+       0.0
+      ],
+      [
+       -0.1,
+       1.0,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 4.17
+   }
+  ],
+  "tv": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      0.21,
+      -0.17,
+      1.05
+     ],
+     "3D oriented bounding box dimensions": [
+      0.96,
+      0.03,
+      0.58
+     ],
+     "3D oriented bounding box orientation unit vectors": [
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+       0.42,
+       0.0
+      ],
+      [
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+       0.91,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 3.17
+   }
+  ]
+ },
+ "room": {
+  "floor boundary polygons": [
+   {
+    "outer boundary coordinates": [
+     [
+      -3.43,
+      1.26
+     ],
+     [
+      -3.33,
+      1.26
+     ],
+     [
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+     ],
+     [
+      -3.43,
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+     ]
+    ],
+    "interior hole boundary coordinates": [
+     [
+      [
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+      ],
+      [
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+       0.36
+      ],
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+      ],
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+      ],
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+       1.17,
+       0.26
+      ]
+     ]
+    ]
+   }
+  ]
+ }
+}
\ No newline at end of file
diff --git a/experiments/caches/spatial codes/metric/tracking/selective/Center Sigma 15/64/compact/45261182.json b/experiments/caches/spatial codes/metric/tracking/selective/Center Sigma 15/64/compact/45261182.json
new file mode 100644
index 0000000000000000000000000000000000000000..23e0b3a8bd088c596a0db560f1ec52ac2fa749a2
--- /dev/null
+++ b/experiments/caches/spatial codes/metric/tracking/selective/Center Sigma 15/64/compact/45261182.json	
@@ -0,0 +1,478 @@
+{
+ "spatial code schema": {
+  "objects": {
+   "<object class>": [
+    {
+     "3D oriented bounding box": {
+      "3D oriented bounding box center coordinates": {
+       "components": [
+        "x",
+        "y",
+        "height above floor"
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+       "unit": "meters",
+       "description": "center of the 3D oriented bounding box in the shared room coordinate system"
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+      "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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+      0.29,
+      -0.59
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+     "3D oriented bounding box dimensions": [
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+      0.32
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+       0.0,
+       1.0
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+   }
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+      -1.95,
+      -1.44
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+      0.71
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+       1.0
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+     ],
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+     ],
+     [
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+      -0.97
+     ],
+     [
+      -0.02,
+      -1.27
+     ],
+     [
+      -0.12,
+      -1.37
+     ],
+     [
+      -0.12,
+      -1.47
+     ],
+     [
+      -0.22,
+      -1.57
+     ],
+     [
+      -0.22,
+      -1.67
+     ],
+     [
+      -0.32,
+      -1.77
+     ],
+     [
+      -0.52,
+      -1.77
+     ],
+     [
+      -0.52,
+      -2.27
+     ],
+     [
+      -0.62,
+      -2.37
+     ]
+    ],
+    "interior hole boundary coordinates": []
+   }
+  ]
+ }
+}
\ No newline at end of file
diff --git a/experiments/caches/spatial codes/metric/tracking/selective/Center Sigma 15/64/compact/45662970.json b/experiments/caches/spatial codes/metric/tracking/selective/Center Sigma 15/64/compact/45662970.json
new file mode 100644
index 0000000000000000000000000000000000000000..73aa9bca913c41fed82a4174cd9b28993d5ae74d
--- /dev/null
+++ b/experiments/caches/spatial codes/metric/tracking/selective/Center Sigma 15/64/compact/45662970.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": {
+  "chair": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
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+      -0.49,
+      -0.72
+     ],
+     "3D oriented bounding box dimensions": [
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+      0.02,
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+     "3D oriented bounding box orientation unit vectors": [
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+       0.0,
+       1.0
+      ]
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+   }
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+  "dishwasher": [
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+    "3D oriented bounding box": {
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+      -1.42,
+      -0.02
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+      0.98,
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+       0.93,
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+       0.38,
+       0.0
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+      [
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+       0.0,
+       1.0
+      ]
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+   }
+  ],
+  "washer": [
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+      -0.6,
+      -0.24
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+      0.47
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+     "3D oriented bounding box orientation unit vectors": [
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+       0.0,
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+   },
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+      -0.02
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+     ],
+     "3D oriented bounding box orientation unit vectors": [
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+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 0.0
+   }
+  ]
+ },
+ "room": {
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+   {
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+      -2.66
+     ],
+     [
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+     ],
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+     ],
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+      1.24
+     ],
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+      1.14
+     ],
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+      1.04
+     ],
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+      0.33,
+      1.04
+     ],
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+     ],
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+      0.23,
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+     ],
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+     ],
+     [
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+     ],
+     [
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+      0.34
+     ],
+     [
+      -0.77,
+      0.34
+     ]
+    ],
+    "interior hole boundary coordinates": []
+   }
+  ]
+ }
+}
\ No newline at end of file
diff --git a/experiments/caches/spatial codes/metric/tracking/selective/Center Sigma 15/64/compact/45662987.json b/experiments/caches/spatial codes/metric/tracking/selective/Center Sigma 15/64/compact/45662987.json
new file mode 100644
index 0000000000000000000000000000000000000000..719b850b184f19aad19edddb070b2966c505ce89
--- /dev/null
+++ b/experiments/caches/spatial codes/metric/tracking/selective/Center Sigma 15/64/compact/45662987.json	
@@ -0,0 +1,580 @@
+{
+ "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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+      0.49,
+      0.24
+     ],
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+      0.64,
+      0.67
+     ],
+     "3D oriented bounding box orientation unit vectors": [
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+       1.0,
+       0.0
+      ],
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+       1.0
+      ]
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+    "first visible time": 1.17
+   },
+   {
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+      -0.63
+     ],
+     "3D oriented bounding box dimensions": [
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+      0.3,
+      0.56
+     ],
+     "3D oriented bounding box orientation unit vectors": [
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+       1.0
+      ]
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+    "first visible time": 1.83
+   },
+   {
+    "3D oriented bounding box": {
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+      0.83,
+      -1.89
+     ],
+     "3D oriented bounding box dimensions": [
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+      0.34,
+      0.56
+     ],
+     "3D oriented bounding box orientation unit vectors": [
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+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 6.17
+   },
+   {
+    "3D oriented bounding box": {
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+      0.82,
+      -1.93
+     ],
+     "3D oriented bounding box dimensions": [
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+      0.37,
+      0.54
+     ],
+     "3D oriented bounding box orientation unit vectors": [
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+       0.41,
+       0.0
+      ],
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+       0.91,
+       0.0
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+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 1.17
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+    ],
+    "interior hole boundary coordinates": []
+   }
+  ]
+ }
+}
\ No newline at end of file
diff --git a/experiments/caches/spatial codes/metric/tracking/selective/Center Sigma 15/64/compact/45663114.json b/experiments/caches/spatial codes/metric/tracking/selective/Center Sigma 15/64/compact/45663114.json
new file mode 100644
index 0000000000000000000000000000000000000000..08bf0801a7ebf2ad9eaedc7adb1f6fb49184ad4a
--- /dev/null
+++ b/experiments/caches/spatial codes/metric/tracking/selective/Center Sigma 15/64/compact/45663114.json	
@@ -0,0 +1,410 @@
+{
+ "spatial code schema": {
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+      "3D oriented bounding box center coordinates": {
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+        "dimension 2",
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+         "height"
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+        [
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+         "height"
+        ],
+        [
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+         "y",
+         "height"
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+       "unit": null,
+       "description": "three perpendicular directions corresponding in order to the three 3D oriented bounding box dimensions"
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+     "first visible time": {
+      "unit": "seconds",
+      "description": "earliest time at which this object instance is visibly observed"
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+   ]
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+      "description": "ordered vertices enclosing one floor region"
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+        [
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+    "interior hole boundary coordinates": []
+   }
+  ]
+ }
+}
\ No newline at end of file
diff --git a/experiments/caches/spatial codes/metric/tracking/selective/Center Sigma 15/64/compact/47115460.json b/experiments/caches/spatial codes/metric/tracking/selective/Center Sigma 15/64/compact/47115460.json
new file mode 100644
index 0000000000000000000000000000000000000000..a983498bb848b160ae263dc29df471466de39ebe
--- /dev/null
+++ b/experiments/caches/spatial codes/metric/tracking/selective/Center Sigma 15/64/compact/47115460.json	
@@ -0,0 +1,614 @@
+{
+ "spatial code schema": {
+  "objects": {
+   "<object class>": [
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+     "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": {
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+        "dimension 1",
+        "dimension 2",
+        "dimension 3"
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+       "unit": "meters",
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+        [
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+         "height"
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+        [
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+         "height"
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+       "unit": null,
+       "description": "three perpendicular directions corresponding in order to the three 3D oriented bounding box dimensions"
+      }
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+     "first visible time": {
+      "unit": "seconds",
+      "description": "earliest time at which this object instance is visibly observed"
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+       [
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+      "unit": "meters",
+      "description": "ordered vertices enclosing one floor region"
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+        [
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+      "unit": "meters",
+      "description": "ordered boundaries enclosing regions excluded from the floor area"
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+      -0.31
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+      2.2,
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+     "3D oriented bounding box dimensions": [
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+      0.13,
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+       0.98,
+       0.0
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+       0.0,
+       1.0
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+      -0.09,
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+      ]
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+    },
+    "first visible time": 8.33
+   }
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+ },
+ "room": {
+  "floor boundary polygons": [
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+      -1.45
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+     [
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+      -1.45
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+     [
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+     ],
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+     ],
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+      3.65
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+     [
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+     ],
+     [
+      -1.52,
+      3.45
+     ],
+     [
+      -1.62,
+      3.35
+     ],
+     [
+      -1.62,
+      3.25
+     ],
+     [
+      -1.72,
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+     [
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+      3.15
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+     [
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+      2.85
+     ],
+     [
+      -1.92,
+      2.75
+     ],
+     [
+      -2.02,
+      2.75
+     ]
+    ],
+    "interior hole boundary coordinates": []
+   }
+  ]
+ }
+}
\ No newline at end of file
diff --git a/experiments/caches/spatial codes/metric/tracking/selective/Center Sigma 15/64/compact/47115525.json b/experiments/caches/spatial codes/metric/tracking/selective/Center Sigma 15/64/compact/47115525.json
new file mode 100644
index 0000000000000000000000000000000000000000..98f261465052f0f25a97e92d0434fdaae62a290b
--- /dev/null
+++ b/experiments/caches/spatial codes/metric/tracking/selective/Center Sigma 15/64/compact/47115525.json	
@@ -0,0 +1,568 @@
+{
+ "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": [
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+      "components": [
+       [
+        "x",
+        "y"
+       ],
+       [
+        "x",
+        "y"
+       ]
+      ],
+      "unit": "meters",
+      "description": "ordered vertices enclosing one floor region"
+     },
+     "interior hole boundary coordinates": {
+      "components": [
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+        [
+         "x",
+         "y"
+        ],
+        [
+         "x",
+         "y"
+        ]
+       ]
+      ],
+      "unit": "meters",
+      "description": "ordered boundaries enclosing regions excluded from the floor area"
+     }
+    }
+   ]
+  }
+ },
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+    "3D oriented bounding box": {
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+      -0.91,
+      0.02
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+      -0.46,
+      0.14
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+     ],
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+      1.44
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+     [
+      -2.84,
+      1.04
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+     [
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+     [
+      -2.94,
+      0.74
+     ],
+     [
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+     ],
+     [
+      -3.24,
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+     ],
+     [
+      -3.34,
+      0.44
+     ],
+     [
+      -3.44,
+      0.44
+     ]
+    ],
+    "interior hole boundary coordinates": []
+   }
+  ]
+ }
+}
\ No newline at end of file
diff --git a/experiments/caches/spatial codes/metric/tracking/selective/Center Sigma 15/64/compact/47204566.json b/experiments/caches/spatial codes/metric/tracking/selective/Center Sigma 15/64/compact/47204566.json
new file mode 100644
index 0000000000000000000000000000000000000000..8097b6142653d2b6ad07b9fa5d914d847583b86b
--- /dev/null
+++ b/experiments/caches/spatial codes/metric/tracking/selective/Center Sigma 15/64/compact/47204566.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": {
+  "chair": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
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+      0.73,
+      -0.06
+     ],
+     "3D oriented bounding box dimensions": [
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+      0.81,
+      0.24
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+     "3D oriented bounding box orientation unit vectors": [
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+       0.0
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+       0.77,
+       0.0
+      ],
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+       0.0,
+       1.0
+      ]
+     ]
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+    "first visible time": 7.5
+   }
+  ],
+  "toilet": [
+   {
+    "3D oriented bounding box": {
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+      0.77,
+      0.47
+     ],
+     "3D oriented bounding box dimensions": [
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+      0.58,
+      0.31
+     ],
+     "3D oriented bounding box orientation unit vectors": [
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+       0.72,
+       0.0
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+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 2.17
+   }
+  ],
+  "tv": [
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+    "3D oriented bounding box": {
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+      0.12,
+      -0.44
+     ],
+     "3D oriented bounding box dimensions": [
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+      0.38,
+      0.21
+     ],
+     "3D oriented bounding box orientation unit vectors": [
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+      [
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+       0.0
+      ],
+      [
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+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 0.5
+   }
+  ]
+ },
+ "room": {
+  "floor boundary polygons": [
+   {
+    "outer boundary coordinates": [
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+      -2.19,
+      -1.36
+     ],
+     [
+      1.21,
+      -1.36
+     ],
+     [
+      1.21,
+      1.54
+     ],
+     [
+      -2.19,
+      1.54
+     ]
+    ],
+    "interior hole boundary coordinates": []
+   }
+  ]
+ }
+}
\ No newline at end of file
diff --git a/experiments/caches/spatial codes/metric/tracking/selective/Center Sigma 15/64/compact/47204578.json b/experiments/caches/spatial codes/metric/tracking/selective/Center Sigma 15/64/compact/47204578.json
new file mode 100644
index 0000000000000000000000000000000000000000..1923c90e8a2feafb097c6ab0f9e2bb8164a63121
--- /dev/null
+++ b/experiments/caches/spatial codes/metric/tracking/selective/Center Sigma 15/64/compact/47204578.json	
@@ -0,0 +1,862 @@
+{
+ "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"
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+      "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": {
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+         "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"
+     }
+    }
+   ]
+  },
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+        "x",
+        "y"
+       ],
+       [
+        "x",
+        "y"
+       ]
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+      "description": "ordered vertices enclosing one floor region"
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+        [
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+         "y"
+        ],
+        [
+         "x",
+         "y"
+        ]
+       ]
+      ],
+      "unit": "meters",
+      "description": "ordered boundaries enclosing regions excluded from the floor area"
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+    }
+   ]
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+ },
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+     ],
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+     ],
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+      -1.6,
+      2.86
+     ],
+     [
+      -1.7,
+      2.76
+     ],
+     [
+      -1.7,
+      2.66
+     ],
+     [
+      -1.9,
+      2.46
+     ],
+     [
+      -1.9,
+      2.26
+     ],
+     [
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+     ],
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+      1.86
+     ],
+     [
+      -2.1,
+      1.76
+     ],
+     [
+      -2.2,
+      1.76
+     ]
+    ],
+    "interior hole boundary coordinates": []
+   }
+  ]
+ }
+}
\ No newline at end of file
diff --git a/experiments/caches/spatial codes/metric/tracking/selective/Center Sigma 15/64/compact/47204607.json b/experiments/caches/spatial codes/metric/tracking/selective/Center Sigma 15/64/compact/47204607.json
new file mode 100644
index 0000000000000000000000000000000000000000..1a126bd7ed276b3241027992bb2cd341318bd0d2
--- /dev/null
+++ b/experiments/caches/spatial codes/metric/tracking/selective/Center Sigma 15/64/compact/47204607.json	
@@ -0,0 +1,846 @@
+{
+ "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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+      0.09,
+      -0.04
+     ],
+     "3D oriented bounding box dimensions": [
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+      1.76,
+      0.38
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+   }
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+  "sofa": [
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+      0.15
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+   }
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+    "first visible time": 6.67
+   },
+   {
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+     "3D oriented bounding box center coordinates": [
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+      1.11,
+      -0.15
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+     "3D oriented bounding box dimensions": [
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+      0.28,
+      0.52
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+     "3D oriented bounding box orientation unit vectors": [
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+       -0.11,
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+   },
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+      0.36,
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+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 6.83
+   }
+  ],
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+    "3D oriented bounding box": {
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+      -0.7,
+      -0.13
+     ],
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+      0.77,
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+     "3D oriented bounding box orientation unit vectors": [
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+   },
+   {
+    "3D oriented bounding box": {
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+      -0.14
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+     "3D oriented bounding box dimensions": [
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+     "3D oriented bounding box orientation unit vectors": [
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+      -1.51,
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+     "3D oriented bounding box dimensions": [
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+      0.43,
+      0.66
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+     "3D oriented bounding box orientation unit vectors": [
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+       0.95,
+       0.0
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+       0.0
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+       0.0,
+       1.0
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+     ]
+    },
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+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
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+      0.91,
+      -0.17
+     ],
+     "3D oriented bounding box dimensions": [
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+      0.75,
+      0.45
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+     "3D oriented bounding box orientation unit vectors": [
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+       0.0,
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+      ]
+     ]
+    },
+    "first visible time": 6.83
+   }
+  ],
+  "toilet": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
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+      1.67,
+      0.12
+     ],
+     "3D oriented bounding box dimensions": [
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+      0.95,
+      0.45
+     ],
+     "3D oriented bounding box orientation unit vectors": [
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+       0.64,
+       0.0
+      ],
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+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 6.83
+   }
+  ],
+  "tv": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
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+      -0.53,
+      0.37
+     ],
+     "3D oriented bounding box dimensions": [
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+      0.04,
+      0.54
+     ],
+     "3D oriented bounding box orientation unit vectors": [
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+       0.99,
+       0.0
+      ],
+      [
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+       0.11,
+       0.0
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+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 0.5
+   }
+  ]
+ },
+ "room": {
+  "floor boundary polygons": [
+   {
+    "outer boundary coordinates": [
+     [
+      -5.03,
+      -1.14
+     ],
+     [
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+      -1.14
+     ],
+     [
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+     [
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+     [
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+     [
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+     [
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+     [
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+     [
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+     [
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+     [
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+     ],
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+      1.16
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+      1.36
+     ],
+     [
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+      1.46
+     ],
+     [
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+      1.66
+     ],
+     [
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+      1.76
+     ],
+     [
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+      1.96
+     ],
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+      2.06
+     ],
+     [
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+     ],
+     [
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+     ],
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+     ],
+     [
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+     ],
+     [
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+      2.16
+     ],
+     [
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+      2.06
+     ],
+     [
+      -2.23,
+      2.06
+     ],
+     [
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+      2.26
+     ],
+     [
+      -2.43,
+      2.46
+     ],
+     [
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+      2.46
+     ],
+     [
+      -3.43,
+      2.36
+     ],
+     [
+      -3.53,
+      2.26
+     ],
+     [
+      -3.83,
+      2.26
+     ],
+     [
+      -3.93,
+      2.16
+     ],
+     [
+      -4.03,
+      2.16
+     ],
+     [
+      -4.03,
+      1.46
+     ],
+     [
+      -4.13,
+      1.36
+     ],
+     [
+      -4.43,
+      1.36
+     ],
+     [
+      -4.53,
+      1.26
+     ],
+     [
+      -4.73,
+      1.26
+     ],
+     [
+      -4.83,
+      1.16
+     ],
+     [
+      -5.03,
+      1.16
+     ]
+    ],
+    "interior hole boundary coordinates": []
+   }
+  ]
+ }
+}
\ No newline at end of file
diff --git a/experiments/caches/spatial codes/metric/tracking/selective/Center Sigma 15/64/compact/47331063.json b/experiments/caches/spatial codes/metric/tracking/selective/Center Sigma 15/64/compact/47331063.json
new file mode 100644
index 0000000000000000000000000000000000000000..02020cf65bfcc63cdf234f9497aafb1748a04a72
--- /dev/null
+++ b/experiments/caches/spatial codes/metric/tracking/selective/Center Sigma 15/64/compact/47331063.json	
@@ -0,0 +1,588 @@
+{
+ "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": [
+      -0.91,
+      -0.43,
+      0.01
+     ],
+     "3D oriented bounding box dimensions": [
+      1.21,
+      0.62,
+      0.53
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       -0.21,
+       0.98,
+       0.0
+      ],
+      [
+       -0.98,
+       -0.21,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 0.67
+   }
+  ],
+  "chair": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      0.35,
+      -1.07,
+      -0.18
+     ],
+     "3D oriented bounding box dimensions": [
+      0.7,
+      0.45,
+      0.37
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
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+       0.96,
+       0.0
+      ],
+      [
+       -0.96,
+       -0.28,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 3.17
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
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+      -1.58,
+      -0.33
+     ],
+     "3D oriented bounding box dimensions": [
+      0.54,
+      0.34,
+      0.23
+     ],
+     "3D oriented bounding box orientation unit vectors": [
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+       0.44,
+       0.0
+      ],
+      [
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+       0.9,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 3.17
+   }
+  ],
+  "dishwasher": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      0.7,
+      -0.11,
+      0.36
+     ],
+     "3D oriented bounding box dimensions": [
+      0.42,
+      0.23,
+      0.18
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
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+       -0.7,
+       0.0
+      ],
+      [
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+       0.71,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 5.67
+   }
+  ],
+  "fireplace": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
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+      -1.29,
+      -0.12
+     ],
+     "3D oriented bounding box dimensions": [
+      0.42,
+      0.02,
+      0.59
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
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+       0.99,
+       0.0
+      ],
+      [
+       -0.99,
+       -0.13,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 5.33
+   }
+  ],
+  "refrigerator": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      1.81,
+      -1.78,
+      0.58
+     ],
+     "3D oriented bounding box dimensions": [
+      0.47,
+      0.14,
+      1.22
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
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+       1.0,
+       0.0
+      ],
+      [
+       -1.0,
+       -0.02,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 3.33
+   }
+  ],
+  "stool": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
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+      1.01,
+      -0.23
+     ],
+     "3D oriented bounding box dimensions": [
+      0.41,
+      0.28,
+      0.27
+     ],
+     "3D oriented bounding box orientation unit vectors": [
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+       1.0,
+       0.0
+      ],
+      [
+       -1.0,
+       0.0,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 9.5
+   }
+  ],
+  "stove": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
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+      -1.3,
+      0.34
+     ],
+     "3D oriented bounding box dimensions": [
+      0.25,
+      0.43,
+      0.02
+     ],
+     "3D oriented bounding box orientation unit vectors": [
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+       1.0,
+       0.0
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+       -0.07,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 5.33
+   }
+  ],
+  "table": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
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+      -1.92,
+      0.05
+     ],
+     "3D oriented bounding box dimensions": [
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+      0.41,
+      0.34
+     ],
+     "3D oriented bounding box orientation unit vectors": [
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+      [
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+       1.0,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 2.83
+   }
+  ],
+  "tv": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
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+      -2.14,
+      0.83
+     ],
+     "3D oriented bounding box dimensions": [
+      0.86,
+      0.05,
+      0.49
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
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+       0.03,
+       0.0
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+      [
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+       1.0,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 2.17
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
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+      -2.05,
+      0.52
+     ],
+     "3D oriented bounding box dimensions": [
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+      0.03,
+      0.3
+     ],
+     "3D oriented bounding box orientation unit vectors": [
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+       0.0
+      ],
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+       0.99,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 2.83
+   }
+  ]
+ },
+ "room": {
+  "floor boundary polygons": [
+   {
+    "outer boundary coordinates": [
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+      -2.52
+     ],
+     [
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+      -2.52
+     ],
+     [
+      -1.51,
+      -2.62
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+     [
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+     ],
+     [
+      -1.71,
+      0.38
+     ]
+    ],
+    "interior hole boundary coordinates": []
+   }
+  ]
+ }
+}
\ No newline at end of file
diff --git a/experiments/caches/spatial codes/metric/tracking/selective/Center Sigma 15/64/compact/47331654.json b/experiments/caches/spatial codes/metric/tracking/selective/Center Sigma 15/64/compact/47331654.json
new file mode 100644
index 0000000000000000000000000000000000000000..83b507ccb39ceef02111d1d01eca3386ec2c5a04
--- /dev/null
+++ b/experiments/caches/spatial codes/metric/tracking/selective/Center Sigma 15/64/compact/47331654.json	
@@ -0,0 +1,600 @@
+{
+ "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": [
+    {
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+      "components": [
+       [
+        "x",
+        "y"
+       ],
+       [
+        "x",
+        "y"
+       ]
+      ],
+      "unit": "meters",
+      "description": "ordered vertices enclosing one floor region"
+     },
+     "interior hole boundary coordinates": {
+      "components": [
+       [
+        [
+         "x",
+         "y"
+        ],
+        [
+         "x",
+         "y"
+        ]
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+      ],
+      "unit": "meters",
+      "description": "ordered boundaries enclosing regions excluded from the floor area"
+     }
+    }
+   ]
+  }
+ },
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+      -0.26
+     ],
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+      ]
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+      2.6
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+      2.7
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+     [
+      1.51,
+      2.6
+     ],
+     [
+      1.41,
+      2.5
+     ],
+     [
+      1.31,
+      2.5
+     ],
+     [
+      0.21,
+      1.4
+     ],
+     [
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+      1.1
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+     [
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+      1.0
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+     [
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+      1.0
+     ],
+     [
+      -0.39,
+      0.9
+     ],
+     [
+      -0.59,
+      0.9
+     ]
+    ],
+    "interior hole boundary coordinates": []
+   }
+  ]
+ }
+}
\ No newline at end of file
diff --git a/experiments/caches/spatial codes/metric/tracking/selective/Center Sigma 15/64/compact/47331990.json b/experiments/caches/spatial codes/metric/tracking/selective/Center Sigma 15/64/compact/47331990.json
new file mode 100644
index 0000000000000000000000000000000000000000..67e855d4be95f258fa04c85c4161cd17aaefb923
--- /dev/null
+++ b/experiments/caches/spatial codes/metric/tracking/selective/Center Sigma 15/64/compact/47331990.json	
@@ -0,0 +1,364 @@
+{
+ "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,
+      -0.99,
+      -1.67
+     ],
+     "3D oriented bounding box dimensions": [
+      0.72,
+      0.35,
+      1.79
+     ],
+     "3D oriented bounding box orientation unit vectors": [
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+       0.9,
+       0.0
+      ],
+      [
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+       0.43,
+       0.0
+      ],
+      [
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+       0.0,
+       1.0
+      ]
+     ]
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+    "first visible time": 1.0
+   },
+   {
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+      -0.89,
+      -3.2
+     ],
+     "3D oriented bounding box dimensions": [
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+      0.27,
+      0.08
+     ],
+     "3D oriented bounding box orientation unit vectors": [
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+       0.93,
+       0.0
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+      [
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+      [
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+       0.0,
+       1.0
+      ]
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+    },
+    "first visible time": 3.0
+   }
+  ],
+  "fireplace": [
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+      -0.95,
+      0.11
+     ],
+     "3D oriented bounding box dimensions": [
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+      0.72,
+      0.31
+     ],
+     "3D oriented bounding box orientation unit vectors": [
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+       0.93,
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+       0.38,
+       0.0
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+      [
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+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 9.33
+   }
+  ],
+  "sofa": [
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+      -1.17,
+      -3.2
+     ],
+     "3D oriented bounding box dimensions": [
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+      0.24,
+      0.12
+     ],
+     "3D oriented bounding box orientation unit vectors": [
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+       0.0
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+      [
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+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 3.33
+   }
+  ],
+  "table": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      0.77,
+      0.54,
+      -1.86
+     ],
+     "3D oriented bounding box dimensions": [
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+      0.04,
+      0.85
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.11,
+       0.99,
+       0.0
+      ],
+      [
+       -0.99,
+       0.11,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 6.67
+   }
+  ],
+  "tv": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      0.86,
+      -0.95,
+      0.12
+     ],
+     "3D oriented bounding box dimensions": [
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+      0.73,
+      0.31
+     ],
+     "3D oriented bounding box orientation unit vectors": [
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+       0.93,
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+      ],
+      [
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+       0.38,
+       0.0
+      ],
+      [
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+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 9.33
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
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+      -0.69,
+      0.3
+     ],
+     "3D oriented bounding box dimensions": [
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+      0.61,
+      0.02
+     ],
+     "3D oriented bounding box orientation unit vectors": [
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+       1.0,
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+      ],
+      [
+       -1.0,
+       -0.03,
+       0.0
+      ],
+      [
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+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 8.33
+   }
+  ]
+ },
+ "room": {
+  "floor boundary polygons": [
+   {
+    "outer boundary coordinates": [
+     [
+      -1.18,
+      -2.77
+     ],
+     [
+      1.62,
+      -2.77
+     ],
+     [
+      1.62,
+      0.83
+     ],
+     [
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+     ],
+     [
+      -0.78,
+      0.73
+     ],
+     [
+      -0.88,
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+     ],
+     [
+      -1.18,
+      0.63
+     ]
+    ],
+    "interior hole boundary coordinates": []
+   }
+  ]
+ }
+}
\ No newline at end of file
diff --git a/experiments/caches/spatial codes/metric/tracking/selective/Center Sigma 15/64/compact/47332005.json b/experiments/caches/spatial codes/metric/tracking/selective/Center Sigma 15/64/compact/47332005.json
new file mode 100644
index 0000000000000000000000000000000000000000..5510c844b94bad0e607e2889e374057ebc89089f
--- /dev/null
+++ b/experiments/caches/spatial codes/metric/tracking/selective/Center Sigma 15/64/compact/47332005.json	
@@ -0,0 +1,621 @@
+{
+ "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"
+     }
+    }
+   ]
+  }
+ },
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+     ]
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+     ],
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+     ],
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+      1.86
+     ],
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+      1.96
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+      2.06
+     ],
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+      2.46
+     ],
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+      2.46
+     ],
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+     ],
+     [
+      -1.27,
+      2.06
+     ],
+     [
+      -1.57,
+      2.06
+     ]
+    ],
+    "interior hole boundary coordinates": []
+   }
+  ]
+ }
+}
\ No newline at end of file
diff --git a/experiments/caches/spatial codes/metric/tracking/selective/Center Sigma 15/64/compact/47332899.json b/experiments/caches/spatial codes/metric/tracking/selective/Center Sigma 15/64/compact/47332899.json
new file mode 100644
index 0000000000000000000000000000000000000000..f9a485690e36b5b0bf83a56246d9a0e895a29102
--- /dev/null
+++ b/experiments/caches/spatial codes/metric/tracking/selective/Center Sigma 15/64/compact/47332899.json	
@@ -0,0 +1,578 @@
+{
+ "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": {
+  "bathtub": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
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+      0.52,
+      0.13
+     ],
+     "3D oriented bounding box dimensions": [
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+      0.63,
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+   }
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+      0.56,
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+      ]
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+    },
+    "first visible time": 5.33
+   }
+  ],
+  "table": [
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+      -1.17,
+      -0.3
+     ],
+     "3D oriented bounding box dimensions": [
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+     "3D oriented bounding box orientation unit vectors": [
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+   }
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+   }
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+     [
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+     [
+      -3.6,
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+    ],
+    "interior hole boundary coordinates": []
+   }
+  ]
+ }
+}
\ No newline at end of file
diff --git a/experiments/caches/spatial codes/metric/tracking/selective/Center Sigma 15/64/compact/47332901.json b/experiments/caches/spatial codes/metric/tracking/selective/Center Sigma 15/64/compact/47332901.json
new file mode 100644
index 0000000000000000000000000000000000000000..24e0baf09c24aa55a86cb58c9038884d36db43af
--- /dev/null
+++ b/experiments/caches/spatial codes/metric/tracking/selective/Center Sigma 15/64/compact/47332901.json	
@@ -0,0 +1,484 @@
+{
+ "spatial code schema": {
+  "objects": {
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+      "3D oriented bounding box center coordinates": {
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+        "dimension 2",
+        "dimension 3"
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+       "description": "full lengths of the 3D oriented bounding box along the corresponding orientation unit vectors"
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+         "y",
+         "height"
+        ],
+        [
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+         "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": {
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+      "components": [
+       [
+        "x",
+        "y"
+       ],
+       [
+        "x",
+        "y"
+       ]
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+      "unit": "meters",
+      "description": "ordered vertices enclosing one floor region"
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+        [
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+         "y"
+        ],
+        [
+         "x",
+         "y"
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+      "unit": "meters",
+      "description": "ordered boundaries enclosing regions excluded from the floor area"
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+     [
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+    ],
+    "interior hole boundary coordinates": []
+   }
+  ]
+ }
+}
\ No newline at end of file
diff --git a/experiments/caches/spatial codes/metric/tracking/selective/Center Sigma 15/64/compact/47333436.json b/experiments/caches/spatial codes/metric/tracking/selective/Center Sigma 15/64/compact/47333436.json
new file mode 100644
index 0000000000000000000000000000000000000000..4924a2dda7e2735db968def6472463fcd6d8d64e
--- /dev/null
+++ b/experiments/caches/spatial codes/metric/tracking/selective/Center Sigma 15/64/compact/47333436.json	
@@ -0,0 +1,606 @@
+{
+ "spatial code schema": {
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+      "3D oriented bounding box center coordinates": {
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+        "height above floor"
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+       "unit": "meters",
+       "description": "center of the 3D oriented bounding box in the shared room coordinate system"
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+      "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": {
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+         "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": {
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+       [
+        "x",
+        "y"
+       ],
+       [
+        "x",
+        "y"
+       ]
+      ],
+      "unit": "meters",
+      "description": "ordered vertices enclosing one floor region"
+     },
+     "interior hole boundary coordinates": {
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+        [
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+         "y"
+        ],
+        [
+         "x",
+         "y"
+        ]
+       ]
+      ],
+      "unit": "meters",
+      "description": "ordered boundaries enclosing regions excluded from the floor area"
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+    }
+   ]
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+ },
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+    "3D oriented bounding box": {
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+     [
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+     ],
+     [
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+      2.09
+     ],
+     [
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+      2.19
+     ],
+     [
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+      2.29
+     ],
+     [
+      -3.15,
+      2.29
+     ],
+     [
+      -3.15,
+      2.09
+     ],
+     [
+      -3.25,
+      1.99
+     ],
+     [
+      -3.25,
+      1.59
+     ],
+     [
+      -3.35,
+      1.49
+     ],
+     [
+      -3.55,
+      1.49
+     ],
+     [
+      -3.55,
+      1.29
+     ],
+     [
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+      1.19
+     ],
+     [
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+     [
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+      1.09
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+     [
+      -3.85,
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+     ],
+     [
+      -3.95,
+      0.89
+     ],
+     [
+      -4.25,
+      0.89
+     ]
+    ],
+    "interior hole boundary coordinates": []
+   }
+  ]
+ }
+}
\ No newline at end of file
diff --git a/experiments/caches/spatial codes/metric/tracking/selective/Center Sigma 15/64/compact/47334238.json b/experiments/caches/spatial codes/metric/tracking/selective/Center Sigma 15/64/compact/47334238.json
new file mode 100644
index 0000000000000000000000000000000000000000..d32aa4e6964e3c2800bc67c5321f1570973b542e
--- /dev/null
+++ b/experiments/caches/spatial codes/metric/tracking/selective/Center Sigma 15/64/compact/47334238.json	
@@ -0,0 +1,646 @@
+{
+ "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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+      0.22
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+      ]
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+      -1.46,
+      -2.02
+     ],
+     [
+      -1.56,
+      -2.02
+     ],
+     [
+      -1.56,
+      -3.42
+     ],
+     [
+      -1.46,
+      -3.42
+     ],
+     [
+      -1.36,
+      -3.52
+     ],
+     [
+      -1.36,
+      -3.72
+     ],
+     [
+      -1.46,
+      -3.82
+     ],
+     [
+      -1.56,
+      -3.82
+     ]
+    ],
+    "interior hole boundary coordinates": []
+   }
+  ]
+ }
+}
\ No newline at end of file
diff --git a/experiments/caches/spatial codes/metric/tracking/selective/Center Sigma 15/64/compact/47334362.json b/experiments/caches/spatial codes/metric/tracking/selective/Center Sigma 15/64/compact/47334362.json
new file mode 100644
index 0000000000000000000000000000000000000000..bbd2d954275a7cc70bf8f1e44e489577dca3e035
--- /dev/null
+++ b/experiments/caches/spatial codes/metric/tracking/selective/Center Sigma 15/64/compact/47334362.json	
@@ -0,0 +1,1146 @@
+{
+ "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": {
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+      -2.68,
+      0.46
+     ],
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+      1.83,
+      0.4
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+       1.0
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+   },
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+      -1.21,
+      0.55
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+      0.57,
+      0.47
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+   },
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+      -0.88,
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+      0.17,
+      0.49
+     ],
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+       0.0
+      ],
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+       0.0,
+       1.0
+      ]
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+   },
+   {
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+      0.6,
+      0.49
+     ],
+     "3D oriented bounding box dimensions": [
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+      0.02,
+      0.07
+     ],
+     "3D oriented bounding box orientation unit vectors": [
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+       -0.51,
+       0.0
+      ],
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+       0.86,
+       0.0
+      ],
+      [
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+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 9.83
+   }
+  ],
+  "chair": [
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+    "3D oriented bounding box": {
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+      -2.6,
+      0.37
+     ],
+     "3D oriented bounding box dimensions": [
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+      0.36,
+      0.57
+     ],
+     "3D oriented bounding box orientation unit vectors": [
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+       0.0,
+       1.0
+      ]
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+    },
+    "first visible time": 5.83
+   }
+  ],
+  "sofa": [
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+    "3D oriented bounding box": {
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+      -1.87,
+      0.51
+     ],
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+     "3D oriented bounding box orientation unit vectors": [
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+   },
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+      -3.11,
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+     "3D oriented bounding box dimensions": [
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+     "3D oriented bounding box orientation unit vectors": [
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+   },
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+     "3D oriented bounding box orientation unit vectors": [
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+ "room": {
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+     [
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+      0.11
+     ],
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+     ],
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+     ],
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+      0.41
+     ],
+     [
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+     ],
+     [
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+     ],
+     [
+      0.21,
+      0.81
+     ],
+     [
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+      0.91
+     ],
+     [
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+      1.11
+     ],
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+      1.21
+     ],
+     [
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+      1.51
+     ],
+     [
+      -0.89,
+      1.51
+     ],
+     [
+      -0.89,
+      1.41
+     ],
+     [
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+      1.31
+     ],
+     [
+      -0.99,
+      1.21
+     ],
+     [
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+     ],
+     [
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+      1.01
+     ],
+     [
+      -1.19,
+      0.91
+     ],
+     [
+      -1.29,
+      0.91
+     ]
+    ],
+    "interior hole boundary coordinates": []
+   }
+  ]
+ }
+}
\ No newline at end of file
diff --git a/experiments/caches/spatial codes/metric/tracking/selective/Center Sigma 15/64/compact/5942004064.json b/experiments/caches/spatial codes/metric/tracking/selective/Center Sigma 15/64/compact/5942004064.json
new file mode 100644
index 0000000000000000000000000000000000000000..47e9204d23b8982cb33bb556f25f766231e0ca1e
--- /dev/null
+++ b/experiments/caches/spatial codes/metric/tracking/selective/Center Sigma 15/64/compact/5942004064.json	
@@ -0,0 +1,1894 @@
+{
+ "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": {
+  "basket": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      0.0,
+      1.56,
+      1.82
+     ],
+     "3D oriented bounding box dimensions": [
+      0.28,
+      0.19,
+      0.24
+     ],
+     "3D oriented bounding box orientation unit vectors": [
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+       0.07,
+       0.0
+      ],
+      [
+       -0.07,
+       1.0,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 1.33
+   }
+  ],
+  "bed": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
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+      1.44,
+      1.81
+     ],
+     "3D oriented bounding box dimensions": [
+      1.17,
+      0.3,
+      1.82
+     ],
+     "3D oriented bounding box orientation unit vectors": [
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+       -0.27,
+       0.0
+      ],
+      [
+       0.27,
+       0.96,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 8.83
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
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+      1.54,
+      2.49
+     ],
+     "3D oriented bounding box dimensions": [
+      0.46,
+      0.23,
+      1.46
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       1.0,
+       0.04,
+       0.0
+      ],
+      [
+       -0.04,
+       1.0,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 6.83
+   }
+  ],
+  "blanket": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -1.13,
+      1.4,
+      1.65
+     ],
+     "3D oriented bounding box dimensions": [
+      1.04,
+      0.26,
+      1.79
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.97,
+       -0.24,
+       0.0
+      ],
+      [
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+       0.97,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 9.83
+   }
+  ],
+  "bookshelf": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
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+      1.29,
+      -0.37
+     ],
+     "3D oriented bounding box dimensions": [
+      0.04,
+      0.03,
+      0.19
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.87,
+       -0.5,
+       0.0
+      ],
+      [
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+       0.87,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 10.17
+   }
+  ],
+  "bowl": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -4.51,
+      1.46,
+      0.76
+     ],
+     "3D oriented bounding box dimensions": [
+      0.79,
+      0.07,
+      0.31
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.99,
+       -0.15,
+       0.0
+      ],
+      [
+       0.15,
+       0.99,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 7.33
+   }
+  ],
+  "ceiling light": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -4.12,
+      -0.23,
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+     "3D oriented bounding box dimensions": [
+      0.11,
+      0.07,
+      0.22
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.86,
+       0.51,
+       0.0
+      ],
+      [
+       -0.51,
+       0.86,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 7.67
+   }
+  ],
+  "power strip": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -3.87,
+      1.22,
+      -0.46
+     ],
+     "3D oriented bounding box dimensions": [
+      0.27,
+      0.06,
+      0.13
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       1.0,
+       0.05,
+       0.0
+      ],
+      [
+       -0.05,
+       1.0,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 9.17
+   }
+  ],
+  "sofa": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -4.24,
+      1.52,
+      -0.15
+     ],
+     "3D oriented bounding box dimensions": [
+      2.46,
+      0.47,
+      0.64
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       1.0,
+       -0.01,
+       0.0
+      ],
+      [
+       0.01,
+       1.0,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 5.5
+   }
+  ],
+  "table": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -4.43,
+      1.75,
+      0.73
+     ],
+     "3D oriented bounding box dimensions": [
+      0.63,
+      1.25,
+      0.72
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.31,
+       0.95,
+       0.0
+      ],
+      [
+       -0.95,
+       0.31,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 5.67
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -2.51,
+      1.3,
+      2.58
+     ],
+     "3D oriented bounding box dimensions": [
+      0.62,
+      0.03,
+      0.26
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       1.0,
+       -0.07,
+       0.0
+      ],
+      [
+       0.07,
+       1.0,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 4.33
+   }
+  ],
+  "table lamp": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -5.48,
+      0.91,
+      -0.27
+     ],
+     "3D oriented bounding box dimensions": [
+      0.26,
+      0.35,
+      0.16
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.99,
+       0.14,
+       0.0
+      ],
+      [
+       -0.14,
+       0.99,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 4.33
+   }
+  ],
+  "telephone": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      0.85,
+      0.43,
+      0.87
+     ],
+     "3D oriented bounding box dimensions": [
+      0.29,
+      0.11,
+      0.04
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.06,
+       1.0,
+       0.0
+      ],
+      [
+       -1.0,
+       0.06,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 2.33
+   }
+  ],
+  "toilet": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      0.89,
+      0.89,
+      2.03
+     ],
+     "3D oriented bounding box dimensions": [
+      0.39,
+      0.21,
+      0.61
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.92,
+       -0.38,
+       0.0
+      ],
+      [
+       0.38,
+       0.92,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 1.17
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      0.92,
+      1.19,
+      1.34
+     ],
+     "3D oriented bounding box dimensions": [
+      0.39,
+      0.62,
+      0.31
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.99,
+       -0.14,
+       0.0
+      ],
+      [
+       0.14,
+       0.99,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 0.17
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      0.86,
+      1.13,
+      1.31
+     ],
+     "3D oriented bounding box dimensions": [
+      0.41,
+      1.0,
+      0.33
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.97,
+       0.26,
+       0.0
+      ],
+      [
+       -0.26,
+       0.97,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 1.17
+   }
+  ],
+  "trash can": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      0.09,
+      1.58,
+      1.81
+     ],
+     "3D oriented bounding box dimensions": [
+      0.22,
+      0.04,
+      0.13
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.09,
+       1.0,
+       0.0
+      ],
+      [
+       -1.0,
+       0.09,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 10.5
+   }
+  ],
+  "tv": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -2.36,
+      1.05,
+      -0.44
+     ],
+     "3D oriented bounding box dimensions": [
+      1.03,
+      0.65,
+      0.02
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.92,
+       -0.4,
+       0.0
+      ],
+      [
+       0.4,
+       0.92,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 5.17
+   }
+  ]
+ },
+ "room": {
+  "floor boundary polygons": [
+   {
+    "outer boundary coordinates": [
+     [
+      -6.14,
+      -0.44
+     ],
+     [
+      -5.84,
+      -0.44
+     ],
+     [
+      -5.74,
+      -0.54
+     ],
+     [
+      -4.84,
+      -0.54
+     ],
+     [
+      -4.74,
+      -0.64
+     ],
+     [
+      -4.44,
+      -0.64
+     ],
+     [
+      -4.34,
+      -0.74
+     ],
+     [
+      -3.04,
+      -0.74
+     ],
+     [
+      -2.94,
+      -0.84
+     ],
+     [
+      -2.94,
+      -0.94
+     ],
+     [
+      1.56,
+      -0.94
+     ],
+     [
+      1.56,
+      1.66
+     ],
+     [
+      1.46,
+      1.66
+     ],
+     [
+      1.36,
+      1.76
+     ],
+     [
+      0.96,
+      1.76
+     ],
+     [
+      0.86,
+      1.86
+     ],
+     [
+      -0.54,
+      1.86
+     ],
+     [
+      -0.64,
+      1.96
+     ],
+     [
+      -1.24,
+      1.96
+     ],
+     [
+      -1.34,
+      2.06
+     ],
+     [
+      -1.44,
+      2.06
+     ],
+     [
+      -1.54,
+      2.16
+     ],
+     [
+      -2.24,
+      2.16
+     ],
+     [
+      -2.34,
+      2.26
+     ],
+     [
+      -3.14,
+      2.26
+     ],
+     [
+      -3.24,
+      2.36
+     ],
+     [
+      -3.24,
+      2.46
+     ],
+     [
+      -6.14,
+      2.46
+     ]
+    ],
+    "interior hole boundary coordinates": []
+   }
+  ]
+ }
+}
\ No newline at end of file
diff --git a/experiments/caches/spatial codes/metric/tracking/selective/Center Sigma 15/64/compact/7831862f02.json b/experiments/caches/spatial codes/metric/tracking/selective/Center Sigma 15/64/compact/7831862f02.json
new file mode 100644
index 0000000000000000000000000000000000000000..85f387811fd632e1b0666ca4d60893d2c29c95b9
--- /dev/null
+++ b/experiments/caches/spatial codes/metric/tracking/selective/Center Sigma 15/64/compact/7831862f02.json	
@@ -0,0 +1,3309 @@
+{
+ "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": {
+  "ceiling light": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -1.79,
+      2.7,
+      2.45
+     ],
+     "3D oriented bounding box dimensions": [
+      1.71,
+      2.65,
+      0.03
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.32,
+       0.95,
+       0.0
+      ],
+      [
+       -0.95,
+       0.32,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 0.67
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -0.47,
+      2.25,
+      1.77
+     ],
+     "3D oriented bounding box dimensions": [
+      0.8,
+      2.69,
+      0.3
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.42,
+       0.91,
+       0.0
+      ],
+      [
+       -0.91,
+       0.42,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 0.67
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -0.75,
+      0.17,
+      1.83
+     ],
+     "3D oriented bounding box dimensions": [
+      0.93,
+      1.9,
+      0.52
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       -0.21,
+       0.98,
+       0.0
+      ],
+      [
+       -0.98,
+       -0.21,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 1.83
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      5.1,
+      4.53,
+      2.1
+     ],
+     "3D oriented bounding box dimensions": [
+      2.38,
+      0.37,
+      0.29
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.82,
+       0.57,
+       0.0
+      ],
+      [
+       -0.57,
+       0.82,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 6.83
+   }
+  ],
+  "chair": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -0.93,
+      2.52,
+      -0.02
+     ],
+     "3D oriented bounding box dimensions": [
+      0.68,
+      0.96,
+      0.56
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       -0.55,
+       0.84,
+       0.0
+      ],
+      [
+       -0.84,
+       -0.55,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 0.0
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -3.15,
+      0.68,
+      -0.08
+     ],
+     "3D oriented bounding box dimensions": [
+      1.02,
+      0.62,
+      0.57
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.8,
+       -0.6,
+       0.0
+      ],
+      [
+       0.6,
+       0.8,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 0.83
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -0.54,
+      3.64,
+      0.03
+     ],
+     "3D oriented bounding box dimensions": [
+      0.96,
+      0.63,
+      0.5
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       -0.69,
+       0.72,
+       0.0
+      ],
+      [
+       -0.72,
+       -0.69,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 1.0
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -2.43,
+      4.4,
+      0.01
+     ],
+     "3D oriented bounding box dimensions": [
+      0.5,
+      0.48,
+      0.69
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.37,
+       0.93,
+       0.0
+      ],
+      [
+       -0.93,
+       0.37,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 0.83
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -2.3,
+      5.16,
+      0.13
+     ],
+     "3D oriented bounding box dimensions": [
+      0.55,
+      3.3,
+      0.85
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.96,
+       -0.28,
+       0.0
+      ],
+      [
+       0.28,
+       0.96,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 1.0
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      4.54,
+      5.46,
+      0.14
+     ],
+     "3D oriented bounding box dimensions": [
+      1.0,
+      0.72,
+      0.48
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.89,
+       0.45,
+       0.0
+      ],
+      [
+       -0.45,
+       0.89,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 6.5
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      2.62,
+      7.87,
+      0.28
+     ],
+     "3D oriented bounding box dimensions": [
+      1.25,
+      0.51,
+      0.82
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.07,
+       1.0,
+       0.0
+      ],
+      [
+       -1.0,
+       0.07,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 2.5
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -6.48,
+      9.98,
+      0.18
+     ],
+     "3D oriented bounding box dimensions": [
+      1.08,
+      0.56,
+      0.59
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.92,
+       -0.4,
+       0.0
+      ],
+      [
+       0.4,
+       0.92,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 0.83
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -1.03,
+      11.33,
+      0.29
+     ],
+     "3D oriented bounding box dimensions": [
+      1.23,
+      0.43,
+      0.68
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.48,
+       0.88,
+       0.0
+      ],
+      [
+       -0.88,
+       0.48,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 2.5
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      0.78,
+      10.51,
+      0.37
+     ],
+     "3D oriented bounding box dimensions": [
+      1.74,
+      0.36,
+      0.7
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.31,
+       0.95,
+       0.0
+      ],
+      [
+       -0.95,
+       0.31,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 2.5
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -1.67,
+      12.0,
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+    "interior hole boundary coordinates": []
+   }
+  ]
+ }
+}
\ No newline at end of file
diff --git a/experiments/caches/spatial codes/metric/tracking/selective/Center Sigma 15/64/compact/7bc286c1b6.json b/experiments/caches/spatial codes/metric/tracking/selective/Center Sigma 15/64/compact/7bc286c1b6.json
new file mode 100644
index 0000000000000000000000000000000000000000..cbc4d5823bdf12e593aea0bfb674eb03f2d34b08
--- /dev/null
+++ b/experiments/caches/spatial codes/metric/tracking/selective/Center Sigma 15/64/compact/7bc286c1b6.json	
@@ -0,0 +1,432 @@
+{
+ "spatial code schema": {
+  "objects": {
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+     "3D oriented bounding box": {
+      "3D oriented bounding box center coordinates": {
+       "components": [
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+        "y",
+        "height above floor"
+       ],
+       "unit": "meters",
+       "description": "center of the 3D oriented bounding box in the shared room coordinate system"
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+      "3D oriented bounding box dimensions": {
+       "components": [
+        "dimension 1",
+        "dimension 2",
+        "dimension 3"
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+       "unit": "meters",
+       "description": "full lengths of the 3D oriented bounding box along the corresponding orientation unit vectors"
+      },
+      "3D oriented bounding box orientation unit vectors": {
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+        [
+         "x",
+         "y",
+         "height"
+        ],
+        [
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+         "y",
+         "height"
+        ],
+        [
+         "x",
+         "y",
+         "height"
+        ]
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+       "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": {
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+        "y"
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+       [
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+        "y"
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+      "unit": "meters",
+      "description": "ordered vertices enclosing one floor region"
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+     "interior hole boundary coordinates": {
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+        [
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+         "y"
+        ],
+        [
+         "x",
+         "y"
+        ]
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+      ],
+      "unit": "meters",
+      "description": "ordered boundaries enclosing regions excluded from the floor area"
+     }
+    }
+   ]
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+ },
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+     ]
+    ],
+    "interior hole boundary coordinates": []
+   }
+  ]
+ }
+}
\ No newline at end of file
diff --git a/experiments/caches/spatial codes/metric/tracking/selective/Center Sigma 15/64/compact/99fa5c25e1.json b/experiments/caches/spatial codes/metric/tracking/selective/Center Sigma 15/64/compact/99fa5c25e1.json
new file mode 100644
index 0000000000000000000000000000000000000000..58230fb9787f211f8b5b9a03b779f412ccfeb787
--- /dev/null
+++ b/experiments/caches/spatial codes/metric/tracking/selective/Center Sigma 15/64/compact/99fa5c25e1.json	
@@ -0,0 +1,2947 @@
+{
+ "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": [
+        [
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+         "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": [
+    {
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+      "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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+      -1.27,
+      -0.65
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+   }
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+  "ceiling light": [
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+      0.39,
+      0.53
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+   },
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+     [
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+      -0.7
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+     [
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+      -0.9
+     ],
+     [
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+      -1.0
+     ],
+     [
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+      -1.2
+     ],
+     [
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+      -1.3
+     ],
+     [
+      -0.99,
+      -1.4
+     ],
+     [
+      -1.09,
+      -1.5
+     ],
+     [
+      -1.19,
+      -1.5
+     ]
+    ],
+    "interior hole boundary coordinates": [
+     [
+      [
+       8.21,
+       -2.3
+      ],
+      [
+       8.11,
+       -2.2
+      ],
+      [
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+      [
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+      ],
+      [
+       9.11,
+       -2.3
+      ]
+     ],
+     [
+      [
+       6.21,
+       -3.1
+      ],
+      [
+       6.11,
+       -3.0
+      ],
+      [
+       6.11,
+       -2.4
+      ],
+      [
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+       -2.3
+      ],
+      [
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+       -2.3
+      ],
+      [
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+       -2.4
+      ],
+      [
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+       -2.5
+      ],
+      [
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+      [
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+      ],
+      [
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+      ],
+      [
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+       -2.9
+      ],
+      [
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+       -3.0
+      ],
+      [
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+       -3.5
+      ],
+      [
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+      ],
+      [
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+       -3.6
+      ],
+      [
+       6.91,
+       -3.4
+      ],
+      [
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+       -3.4
+      ],
+      [
+       6.41,
+       -3.3
+      ],
+      [
+       6.41,
+       -3.1
+      ]
+     ],
+     [
+      [
+       2.61,
+       -2.1
+      ],
+      [
+       2.51,
+       -2.0
+      ],
+      [
+       2.51,
+       -1.8
+      ],
+      [
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+       -1.7
+      ],
+      [
+       3.01,
+       -1.7
+      ],
+      [
+       3.01,
+       -1.6
+      ],
+      [
+       3.11,
+       -1.5
+      ],
+      [
+       3.61,
+       -1.5
+      ],
+      [
+       3.71,
+       -1.6
+      ],
+      [
+       3.71,
+       -1.9
+      ],
+      [
+       3.61,
+       -2.0
+      ],
+      [
+       3.51,
+       -2.0
+      ],
+      [
+       3.51,
+       -2.6
+      ],
+      [
+       3.41,
+       -2.7
+      ],
+      [
+       2.81,
+       -2.7
+      ],
+      [
+       2.71,
+       -2.6
+      ],
+      [
+       2.71,
+       -2.1
+      ]
+     ]
+    ]
+   }
+  ]
+ }
+}
\ No newline at end of file
diff --git a/experiments/caches/spatial codes/metric/tracking/selective/Center Sigma 15/64/compact/a980334473.json b/experiments/caches/spatial codes/metric/tracking/selective/Center Sigma 15/64/compact/a980334473.json
new file mode 100644
index 0000000000000000000000000000000000000000..fcff90c3c2bc08b120581fe55130d24a5fcc3b6b
--- /dev/null
+++ b/experiments/caches/spatial codes/metric/tracking/selective/Center Sigma 15/64/compact/a980334473.json	
@@ -0,0 +1,610 @@
+{
+ "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": {
+  "ceiling light": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -1.57,
+      -0.44,
+      0.03
+     ],
+     "3D oriented bounding box dimensions": [
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+      0.04,
+      1.32
+     ],
+     "3D oriented bounding box orientation unit vectors": [
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+       0.89,
+       0.0
+      ],
+      [
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+       -0.45,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 1.0
+   }
+  ],
+  "chair": [
+   {
+    "3D oriented bounding box": {
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+      0.57,
+      1.39
+     ],
+     "3D oriented bounding box dimensions": [
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+      0.19,
+      0.55
+     ],
+     "3D oriented bounding box orientation unit vectors": [
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+       0.61,
+       0.0
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+       0.79,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 3.17
+   }
+  ],
+  "door": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      0.2,
+      -0.63,
+      0.81
+     ],
+     "3D oriented bounding box dimensions": [
+      1.63,
+      0.04,
+      0.73
+     ],
+     "3D oriented bounding box orientation unit vectors": [
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+       0.46,
+       0.0
+      ],
+      [
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+       0.89,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 8.83
+   }
+  ],
+  "monitor": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
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+      0.13,
+      -0.17
+     ],
+     "3D oriented bounding box dimensions": [
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+      0.11,
+      0.21
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+     "3D oriented bounding box orientation unit vectors": [
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+      [
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+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 8.17
+   }
+  ],
+  "power strip": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
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+      0.92,
+      1.9
+     ],
+     "3D oriented bounding box dimensions": [
+      0.01,
+      0.07,
+      0.26
+     ],
+     "3D oriented bounding box orientation unit vectors": [
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+       0.9,
+       0.0
+      ],
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+       -0.44,
+       0.0
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+      [
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+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 5.83
+   }
+  ],
+  "printer": [
+   {
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+     "3D oriented bounding box center coordinates": [
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+      0.2,
+      -0.2
+     ],
+     "3D oriented bounding box dimensions": [
+      1.09,
+      0.4,
+      0.37
+     ],
+     "3D oriented bounding box orientation unit vectors": [
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+       0.03,
+       0.0
+      ],
+      [
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+       1.0,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 0.17
+   }
+  ],
+  "table": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
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+      0.65,
+      0.74
+     ],
+     "3D oriented bounding box dimensions": [
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+      0.05,
+      0.98
+     ],
+     "3D oriented bounding box orientation unit vectors": [
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+       0.89,
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+      [
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+       0.0
+      ],
+      [
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+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 0.33
+   }
+  ],
+  "toilet": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
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+      0.45,
+      1.39
+     ],
+     "3D oriented bounding box dimensions": [
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+      0.05,
+      0.18
+     ],
+     "3D oriented bounding box orientation unit vectors": [
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+       0.85,
+       0.0
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+       -0.53,
+       0.0
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+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 5.33
+   }
+  ],
+  "trash can": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
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+      0.12,
+      1.57
+     ],
+     "3D oriented bounding box dimensions": [
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+      0.31,
+      0.28
+     ],
+     "3D oriented bounding box orientation unit vectors": [
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+       0.77,
+       0.0
+      ],
+      [
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+       0.63,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 7.67
+   }
+  ],
+  "whiteboard": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
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+      0.51,
+      1.31
+     ],
+     "3D oriented bounding box dimensions": [
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+      0.41,
+      0.15
+     ],
+     "3D oriented bounding box orientation unit vectors": [
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+       0.7,
+       0.72,
+       0.0
+      ],
+      [
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+       0.7,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 8.0
+   }
+  ]
+ },
+ "room": {
+  "floor boundary polygons": [
+   {
+    "outer boundary coordinates": [
+     [
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+      -0.7
+     ],
+     [
+      -1.95,
+      -0.7
+     ],
+     [
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+      -0.8
+     ],
+     [
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+      -0.9
+     ],
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+      -1.0
+     ],
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+     ],
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+     ],
+     [
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+     ],
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+     ],
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+      -1.0
+     ],
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+      -0.9
+     ],
+     [
+      0.45,
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+     ],
+     [
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+     ],
+     [
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+      -0.8
+     ],
+     [
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+      -0.7
+     ],
+     [
+      0.85,
+      -0.7
+     ],
+     [
+      0.95,
+      -0.6
+     ],
+     [
+      1.05,
+      -0.6
+     ],
+     [
+      1.05,
+      0.4
+     ],
+     [
+      0.95,
+      0.4
+     ],
+     [
+      0.85,
+      0.5
+     ],
+     [
+      0.85,
+      0.6
+     ],
+     [
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+      0.7
+     ],
+     [
+      0.75,
+      0.8
+     ],
+     [
+      0.65,
+      0.9
+     ],
+     [
+      0.65,
+      1.0
+     ],
+     [
+      0.55,
+      1.1
+     ],
+     [
+      0.55,
+      1.3
+     ],
+     [
+      -0.55,
+      1.3
+     ],
+     [
+      -0.55,
+      1.2
+     ],
+     [
+      -0.65,
+      1.1
+     ],
+     [
+      -0.95,
+      1.1
+     ],
+     [
+      -1.05,
+      1.0
+     ],
+     [
+      -1.15,
+      1.0
+     ],
+     [
+      -1.25,
+      0.9
+     ],
+     [
+      -1.35,
+      0.9
+     ],
+     [
+      -1.55,
+      0.7
+     ],
+     [
+      -1.65,
+      0.7
+     ],
+     [
+      -1.75,
+      0.6
+     ],
+     [
+      -1.85,
+      0.6
+     ],
+     [
+      -1.95,
+      0.5
+     ],
+     [
+      -2.05,
+      0.5
+     ]
+    ],
+    "interior hole boundary coordinates": []
+   }
+  ]
+ }
+}
\ No newline at end of file
diff --git a/experiments/caches/spatial codes/metric/tracking/selective/Center Sigma 15/64/compact/bde1e479ad.json b/experiments/caches/spatial codes/metric/tracking/selective/Center Sigma 15/64/compact/bde1e479ad.json
new file mode 100644
index 0000000000000000000000000000000000000000..29c25292908ffac1efae2cc116b15defffd77652
--- /dev/null
+++ b/experiments/caches/spatial codes/metric/tracking/selective/Center Sigma 15/64/compact/bde1e479ad.json	
@@ -0,0 +1,1112 @@
+{
+ "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": {
+  "ceiling light": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      1.11,
+      2.72,
+      2.17
+     ],
+     "3D oriented bounding box dimensions": [
+      0.44,
+      1.36,
+      0.02
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.96,
+       -0.28,
+       0.0
+      ],
+      [
+       0.28,
+       0.96,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 0.5
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
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+      -1.17,
+      2.12
+     ],
+     "3D oriented bounding box dimensions": [
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+      0.28,
+      0.02
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.01,
+       1.0,
+       0.0
+      ],
+      [
+       -1.0,
+       0.01,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 2.33
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
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+      4.19,
+      2.14
+     ],
+     "3D oriented bounding box dimensions": [
+      1.19,
+      0.23,
+      0.03
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
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+    },
+    "first visible time": 6.83
+   }
+  ],
+  "clock": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
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+      2.13,
+      1.95
+     ],
+     "3D oriented bounding box dimensions": [
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+     "3D oriented bounding box orientation unit vectors": [
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+       1.0
+      ]
+     ]
+    },
+    "first visible time": 1.5
+   }
+  ],
+  "door": [
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+     "3D oriented bounding box dimensions": [
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+     "3D oriented bounding box dimensions": [
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+     "3D oriented bounding box orientation unit vectors": [
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+    "first visible time": 7.5
+   }
+  ],
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+    },
+    "first visible time": 5.0
+   }
+  ],
+  "power strip": [
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+      -0.51,
+      -0.21
+     ],
+     "3D oriented bounding box dimensions": [
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+     "3D oriented bounding box orientation unit vectors": [
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+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 4.0
+   }
+  ],
+  "table": [
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+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
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+      1.62,
+      0.0
+     ],
+     "3D oriented bounding box dimensions": [
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+      0.44
+     ],
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+    "first visible time": 3.67
+   }
+  ],
+  "trash can": [
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+      -0.91,
+      -0.46
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+   }
+  ],
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+      0.28
+     ],
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+   },
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+      4.48,
+      0.32
+     ],
+     "3D oriented bounding box dimensions": [
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+     ],
+     "3D oriented bounding box orientation unit vectors": [
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+   },
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+      4.32,
+      0.67
+     ],
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+      1.7
+     ],
+     "3D oriented bounding box orientation unit vectors": [
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+       1.0,
+       0.0
+      ],
+      [
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+       -0.06,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 9.67
+   },
+   {
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+     "3D oriented bounding box center coordinates": [
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+      4.18,
+      0.32
+     ],
+     "3D oriented bounding box dimensions": [
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+      0.02,
+      0.22
+     ],
+     "3D oriented bounding box orientation unit vectors": [
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+       0.97,
+       0.0
+      ],
+      [
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+       -0.26,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 8.17
+   },
+   {
+    "3D oriented bounding box": {
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+      4.06,
+      0.32
+     ],
+     "3D oriented bounding box dimensions": [
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+      0.01,
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+     ],
+     "3D oriented bounding box orientation unit vectors": [
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+       0.97,
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+      ],
+      [
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+       -0.23,
+       0.0
+      ],
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+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 8.17
+   },
+   {
+    "3D oriented bounding box": {
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+      3.94,
+      0.31
+     ],
+     "3D oriented bounding box dimensions": [
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+      0.02,
+      0.21
+     ],
+     "3D oriented bounding box orientation unit vectors": [
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+       0.96,
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+      ],
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+       -0.27,
+       0.0
+      ],
+      [
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+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 8.17
+   },
+   {
+    "3D oriented bounding box": {
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+      3.82,
+      0.31
+     ],
+     "3D oriented bounding box dimensions": [
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+      0.02,
+      0.21
+     ],
+     "3D oriented bounding box orientation unit vectors": [
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+       0.96,
+       0.0
+      ],
+      [
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+       -0.27,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 8.17
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
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+      3.69,
+      0.31
+     ],
+     "3D oriented bounding box dimensions": [
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+      0.05,
+      0.21
+     ],
+     "3D oriented bounding box orientation unit vectors": [
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+       0.99,
+       0.0
+      ],
+      [
+       -0.99,
+       -0.12,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 8.17
+   }
+  ]
+ },
+ "room": {
+  "floor boundary polygons": [
+   {
+    "outer boundary coordinates": [
+     [
+      -2.26,
+      -2.08
+     ],
+     [
+      -2.06,
+      -2.08
+     ],
+     [
+      -1.96,
+      -2.18
+     ],
+     [
+      -1.96,
+      -2.28
+     ],
+     [
+      4.54,
+      -2.28
+     ],
+     [
+      4.54,
+      -2.18
+     ],
+     [
+      4.64,
+      -2.08
+     ],
+     [
+      5.14,
+      -2.08
+     ],
+     [
+      5.24,
+      -1.98
+     ],
+     [
+      5.24,
+      -1.88
+     ],
+     [
+      5.34,
+      -1.78
+     ],
+     [
+      5.44,
+      -1.78
+     ],
+     [
+      5.44,
+      -1.28
+     ],
+     [
+      5.34,
+      -1.28
+     ],
+     [
+      5.24,
+      -1.18
+     ],
+     [
+      5.24,
+      -0.68
+     ],
+     [
+      5.34,
+      -0.58
+     ],
+     [
+      5.44,
+      -0.58
+     ],
+     [
+      5.44,
+      5.22
+     ],
+     [
+      5.34,
+      5.22
+     ],
+     [
+      5.24,
+      5.32
+     ],
+     [
+      5.24,
+      5.52
+     ],
+     [
+      -2.26,
+      5.52
+     ]
+    ],
+    "interior hole boundary coordinates": []
+   }
+  ]
+ }
+}
\ No newline at end of file
diff --git a/experiments/caches/spatial codes/metric/tracking/selective/Center Sigma 15/64/compact/e398684d27.json b/experiments/caches/spatial codes/metric/tracking/selective/Center Sigma 15/64/compact/e398684d27.json
new file mode 100644
index 0000000000000000000000000000000000000000..7b583057f70570c64268aeaaa4d77c895df0f38b
--- /dev/null
+++ b/experiments/caches/spatial codes/metric/tracking/selective/Center Sigma 15/64/compact/e398684d27.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": {
+  "basket": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      0.12,
+      -1.36,
+      -1.71
+     ],
+     "3D oriented bounding box dimensions": [
+      0.13,
+      0.03,
+      0.09
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.72,
+       -0.7,
+       0.0
+      ],
+      [
+       0.7,
+       0.72,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 10.17
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      0.2,
+      -1.44,
+      -1.7
+     ],
+     "3D oriented bounding box dimensions": [
+      0.11,
+      0.02,
+      0.08
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       -0.68,
+       0.73,
+       0.0
+      ],
+      [
+       -0.73,
+       -0.68,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 10.17
+   }
+  ],
+  "ceiling light": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -0.86,
+      1.31,
+      -1.59
+     ],
+     "3D oriented bounding box dimensions": [
+      0.13,
+      0.09,
+      1.35
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.44,
+       0.9,
+       0.0
+      ],
+      [
+       -0.9,
+       0.44,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 1.33
+   }
+  ],
+  "crate": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      0.12,
+      -1.36,
+      -1.71
+     ],
+     "3D oriented bounding box dimensions": [
+      0.13,
+      0.04,
+      0.09
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.72,
+       -0.7,
+       0.0
+      ],
+      [
+       0.7,
+       0.72,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 10.17
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      0.2,
+      -1.45,
+      -1.7
+     ],
+     "3D oriented bounding box dimensions": [
+      0.11,
+      0.02,
+      0.08
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       -0.68,
+       0.73,
+       0.0
+      ],
+      [
+       -0.73,
+       -0.68,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 10.17
+   }
+  ],
+  "door": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      0.44,
+      -0.64,
+      -1.47
+     ],
+     "3D oriented bounding box dimensions": [
+      0.52,
+      1.29,
+      0.24
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.22,
+       0.98,
+       0.0
+      ],
+      [
+       -0.98,
+       0.22,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 0.0
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -0.01,
+      -0.48,
+      -2.58
+     ],
+     "3D oriented bounding box dimensions": [
+      0.97,
+      0.49,
+      0.04
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.04,
+       1.0,
+       0.0
+      ],
+      [
+       -1.0,
+       0.04,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 9.17
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -0.14,
+      -0.84,
+      -0.65
+     ],
+     "3D oriented bounding box dimensions": [
+      0.3,
+      1.27,
+      0.2
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.93,
+       0.37,
+       0.0
+      ],
+      [
+       -0.37,
+       0.93,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 2.0
+   }
+  ],
+  "monitor": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      0.6,
+      0.92,
+      -0.41
+     ],
+     "3D oriented bounding box dimensions": [
+      0.36,
+      0.03,
+      0.49
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       -0.66,
+       0.75,
+       0.0
+      ],
+      [
+       -0.75,
+       -0.66,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 0.0
+   }
+  ],
+  "paper bag": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      0.6,
+      0.6,
+      -1.58
+     ],
+     "3D oriented bounding box dimensions": [
+      0.11,
+      0.21,
+      0.17
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.87,
+       -0.49,
+       0.0
+      ],
+      [
+       0.49,
+       0.87,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 8.33
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -0.61,
+      -0.24,
+      -1.99
+     ],
+     "3D oriented bounding box dimensions": [
+      0.17,
+      0.02,
+      0.04
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       -0.54,
+       0.84,
+       0.0
+      ],
+      [
+       -0.84,
+       -0.54,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 9.83
+   }
+  ],
+  "tv": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      0.62,
+      0.94,
+      -0.41
+     ],
+     "3D oriented bounding box dimensions": [
+      0.37,
+      0.09,
+      0.49
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       -0.66,
+       0.75,
+       0.0
+      ],
+      [
+       -0.75,
+       -0.66,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 0.0
+   }
+  ],
+  "whiteboard": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      0.09,
+      -0.62,
+      -0.01
+     ],
+     "3D oriented bounding box dimensions": [
+      1.36,
+      0.74,
+      0.05
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       -0.64,
+       0.77,
+       0.0
+      ],
+      [
+       -0.77,
+       -0.64,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 2.83
+   }
+  ]
+ },
+ "room": {
+  "floor boundary polygons": [
+   {
+    "outer boundary coordinates": [
+     [
+      -2.2,
+      0.19
+     ],
+     [
+      -2.1,
+      0.19
+     ],
+     [
+      -2.0,
+      0.09
+     ],
+     [
+      -2.0,
+      -0.01
+     ],
+     [
+      -1.5,
+      -0.51
+     ],
+     [
+      -1.5,
+      -0.61
+     ],
+     [
+      -1.4,
+      -0.71
+     ],
+     [
+      -1.3,
+      -0.71
+     ],
+     [
+      -1.2,
+      -0.81
+     ],
+     [
+      -1.1,
+      -0.81
+     ],
+     [
+      -0.8,
+      -1.11
+     ],
+     [
+      -0.8,
+      -1.21
+     ],
+     [
+      -0.7,
+      -1.31
+     ],
+     [
+      -0.7,
+      -1.41
+     ],
+     [
+      -0.2,
+      -1.91
+     ],
+     [
+      -0.2,
+      -2.01
+     ],
+     [
+      1.1,
+      -2.01
+     ],
+     [
+      1.1,
+      -1.91
+     ],
+     [
+      1.3,
+      -1.71
+     ],
+     [
+      1.4,
+      -1.71
+     ],
+     [
+      1.5,
+      -1.61
+     ],
+     [
+      1.5,
+      -1.51
+     ],
+     [
+      1.6,
+      -1.41
+     ],
+     [
+      1.7,
+      -1.41
+     ],
+     [
+      1.8,
+      -1.31
+     ],
+     [
+      1.9,
+      -1.31
+     ],
+     [
+      1.9,
+      -0.31
+     ],
+     [
+      1.8,
+      -0.31
+     ],
+     [
+      1.6,
+      -0.11
+     ],
+     [
+      1.6,
+      -0.01
+     ],
+     [
+      1.4,
+      0.19
+     ],
+     [
+      1.4,
+      0.29
+     ],
+     [
+      1.2,
+      0.49
+     ],
+     [
+      1.2,
+      0.69
+     ],
+     [
+      1.3,
+      0.79
+     ],
+     [
+      1.3,
+      1.29
+     ],
+     [
+      1.1,
+      1.49
+     ],
+     [
+      1.0,
+      1.49
+     ],
+     [
+      0.5,
+      1.99
+     ],
+     [
+      0.5,
+      2.09
+     ],
+     [
+      0.1,
+      2.49
+     ],
+     [
+      0.1,
+      2.59
+     ],
+     [
+      -0.9,
+      2.59
+     ],
+     [
+      -0.9,
+      2.49
+     ],
+     [
+      -1.0,
+      2.39
+     ],
+     [
+      -1.0,
+      2.29
+     ],
+     [
+      -1.1,
+      2.19
+     ],
+     [
+      -1.3,
+      2.19
+     ],
+     [
+      -1.6,
+      1.89
+     ],
+     [
+      -1.7,
+      1.89
+     ],
+     [
+      -2.1,
+      1.49
+     ],
+     [
+      -2.2,
+      1.49
+     ]
+    ],
+    "interior hole boundary coordinates": []
+   }
+  ]
+ }
+}
\ No newline at end of file
diff --git a/experiments/caches/spatial codes/metric/tracking/selective/Center Sigma 15/64/compact/f9f95681fd.json b/experiments/caches/spatial codes/metric/tracking/selective/Center Sigma 15/64/compact/f9f95681fd.json
new file mode 100644
index 0000000000000000000000000000000000000000..4db6c503ab035308f6ae9c4f5d37b9c6940197e1
--- /dev/null
+++ b/experiments/caches/spatial codes/metric/tracking/selective/Center Sigma 15/64/compact/f9f95681fd.json	
@@ -0,0 +1,956 @@
+{
+ "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": {
+  "basket": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      1.03,
+      0.79,
+      -1.89
+     ],
+     "3D oriented bounding box dimensions": [
+      0.26,
+      0.07,
+      0.12
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.17,
+       0.99,
+       0.0
+      ],
+      [
+       -0.99,
+       0.17,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 2.83
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      1.58,
+      0.92,
+      -1.24
+     ],
+     "3D oriented bounding box dimensions": [
+      0.09,
+      0.06,
+      0.29
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       -0.3,
+       0.95,
+       0.0
+      ],
+      [
+       -0.95,
+       -0.3,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 1.0
+   }
+  ],
+  "bowl": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      1.04,
+      1.04,
+      -1.26
+     ],
+     "3D oriented bounding box dimensions": [
+      0.21,
+      0.06,
+      0.19
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.1,
+       0.99,
+       0.0
+      ],
+      [
+       -0.99,
+       0.1,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 3.67
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      1.03,
+      0.72,
+      -1.63
+     ],
+     "3D oriented bounding box dimensions": [
+      0.1,
+      0.06,
+      0.07
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       -0.26,
+       0.97,
+       0.0
+      ],
+      [
+       -0.97,
+       -0.26,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 2.67
+   }
+  ],
+  "ceiling light": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -0.5,
+      0.38,
+      -0.37
+     ],
+     "3D oriented bounding box dimensions": [
+      0.03,
+      0.04,
+      0.23
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       -0.29,
+       0.96,
+       0.0
+      ],
+      [
+       -0.96,
+       -0.29,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 4.0
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -0.41,
+      1.02,
+      -1.08
+     ],
+     "3D oriented bounding box dimensions": [
+      0.11,
+      0.01,
+      0.13
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.23,
+       0.97,
+       0.0
+      ],
+      [
+       -0.97,
+       0.23,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 0.5
+   }
+  ],
+  "cup": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      1.03,
+      0.72,
+      -1.63
+     ],
+     "3D oriented bounding box dimensions": [
+      0.1,
+      0.06,
+      0.07
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       -0.25,
+       0.97,
+       0.0
+      ],
+      [
+       -0.97,
+       -0.25,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 2.67
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      0.87,
+      0.2,
+      -1.88
+     ],
+     "3D oriented bounding box dimensions": [
+      0.13,
+      0.08,
+      0.08
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.96,
+       -0.29,
+       0.0
+      ],
+      [
+       0.29,
+       0.96,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 2.33
+   }
+  ],
+  "cutting board": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      1.54,
+      0.85,
+      -0.95
+     ],
+     "3D oriented bounding box dimensions": [
+      0.37,
+      0.31,
+      0.03
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.98,
+       -0.2,
+       0.0
+      ],
+      [
+       0.2,
+       0.98,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 1.0
+   }
+  ],
+  "door": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      1.02,
+      0.18,
+      0.0
+     ],
+     "3D oriented bounding box dimensions": [
+      1.18,
+      0.35,
+      0.06
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.86,
+       -0.52,
+       0.0
+      ],
+      [
+       0.52,
+       0.86,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 0.33
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -0.16,
+      0.17,
+      -1.21
+     ],
+     "3D oriented bounding box dimensions": [
+      0.82,
+      0.09,
+      0.45
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.93,
+       -0.38,
+       0.0
+      ],
+      [
+       0.38,
+       0.93,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 0.5
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      0.78,
+      0.58,
+      -0.65
+     ],
+     "3D oriented bounding box dimensions": [
+      0.19,
+      0.16,
+      1.01
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.02,
+       1.0,
+       0.0
+      ],
+      [
+       -1.0,
+       0.02,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 5.17
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      0.15,
+      1.21,
+      -1.7
+     ],
+     "3D oriented bounding box dimensions": [
+      1.01,
+      0.01,
+      0.39
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.97,
+       -0.22,
+       0.0
+      ],
+      [
+       0.22,
+       0.97,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 0.17
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      1.22,
+      -0.68,
+      -0.57
+     ],
+     "3D oriented bounding box dimensions": [
+      0.52,
+      0.19,
+      0.61
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       1.0,
+       0.04,
+       0.0
+      ],
+      [
+       -0.04,
+       1.0,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 6.0
+   }
+  ],
+  "exhaust fan": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -0.59,
+      -0.06,
+      -0.98
+     ],
+     "3D oriented bounding box dimensions": [
+      0.14,
+      0.05,
+      0.1
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       -0.46,
+       0.89,
+       0.0
+      ],
+      [
+       -0.89,
+       -0.46,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 8.5
+   }
+  ],
+  "kettle": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      0.9,
+      0.52,
+      -1.63
+     ],
+     "3D oriented bounding box dimensions": [
+      0.24,
+      0.1,
+      0.1
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.84,
+       -0.55,
+       0.0
+      ],
+      [
+       0.55,
+       0.84,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 0.17
+   }
+  ],
+  "laptop": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      0.94,
+      0.93,
+      -1.56
+     ],
+     "3D oriented bounding box dimensions": [
+      0.3,
+      0.21,
+      0.53
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.96,
+       -0.29,
+       0.0
+      ],
+      [
+       0.29,
+       0.96,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 3.17
+   }
+  ],
+  "microwave": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      0.57,
+      -0.85,
+      -0.56
+     ],
+     "3D oriented bounding box dimensions": [
+      0.26,
+      0.21,
+      0.53
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.94,
+       -0.35,
+       0.0
+      ],
+      [
+       0.35,
+       0.94,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 5.67
+   }
+  ],
+  "power strip": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      1.12,
+      1.05,
+      -1.47
+     ],
+     "3D oriented bounding box dimensions": [
+      0.14,
+      0.07,
+      0.06
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       -0.32,
+       0.95,
+       0.0
+      ],
+      [
+       -0.95,
+       -0.32,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 3.17
+   }
+  ],
+  "refrigerator": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      1.33,
+      -0.68,
+      -0.68
+     ],
+     "3D oriented bounding box dimensions": [
+      0.71,
+      0.04,
+      0.2
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.97,
+       -0.26,
+       0.0
+      ],
+      [
+       0.26,
+       0.97,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 9.17
+   }
+  ],
+  "table": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      0.94,
+      0.1,
+      -1.41
+     ],
+     "3D oriented bounding box dimensions": [
+      0.42,
+      0.03,
+      1.03
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.23,
+       0.97,
+       0.0
+      ],
+      [
+       -0.97,
+       0.23,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 2.5
+   }
+  ],
+  "trash can": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      1.57,
+      -0.24,
+      -1.72
+     ],
+     "3D oriented bounding box dimensions": [
+      0.26,
+      0.34,
+      0.24
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.97,
+       -0.25,
+       0.0
+      ],
+      [
+       0.25,
+       0.97,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 0.33
+   }
+  ],
+  "whiteboard": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -0.23,
+      -0.22,
+      -1.92
+     ],
+     "3D oriented bounding box dimensions": [
+      0.35,
+      0.27,
+      0.0
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       -0.31,
+       0.95,
+       0.0
+      ],
+      [
+       -0.95,
+       -0.31,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 7.17
+   }
+  ]
+ },
+ "room": {
+  "floor boundary polygons": [
+   {
+    "outer boundary coordinates": [
+     [
+      -0.86,
+      -0.87
+     ],
+     [
+      -0.46,
+      -0.87
+     ],
+     [
+      -0.36,
+      -0.97
+     ],
+     [
+      -0.16,
+      -0.97
+     ],
+     [
+      -0.06,
+      -1.07
+     ],
+     [
+      -0.06,
+      -1.27
+     ],
+     [
+      1.54,
+      -1.27
+     ],
+     [
+      1.54,
+      -1.17
+     ],
+     [
+      1.64,
+      -1.07
+     ],
+     [
+      1.74,
+      -1.07
+     ],
+     [
+      1.84,
+      -0.97
+     ],
+     [
+      1.94,
+      -0.97
+     ],
+     [
+      1.94,
+      1.13
+     ],
+     [
+      1.84,
+      1.13
+     ],
+     [
+      1.74,
+      1.23
+     ],
+     [
+      1.44,
+      1.23
+     ],
+     [
+      1.34,
+      1.33
+     ],
+     [
+      1.34,
+      1.53
+     ],
+     [
+      -0.66,
+      1.53
+     ],
+     [
+      -0.66,
+      1.13
+     ],
+     [
+      -0.76,
+      1.03
+     ],
+     [
+      -0.86,
+      1.03
+     ]
+    ],
+    "interior hole boundary coordinates": []
+   }
+  ]
+ }
+}
\ No newline at end of file
diff --git a/experiments/caches/spatial codes/metric/tracking/selective/Center Sigma 15/64/compact/fb5a96b1a2.json b/experiments/caches/spatial codes/metric/tracking/selective/Center Sigma 15/64/compact/fb5a96b1a2.json
new file mode 100644
index 0000000000000000000000000000000000000000..d0bff7f89e9ae7724ecac0a9a6922a24957d82ab
--- /dev/null
+++ b/experiments/caches/spatial codes/metric/tracking/selective/Center Sigma 15/64/compact/fb5a96b1a2.json	
@@ -0,0 +1,2482 @@
+{
+ "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": [
+      -1.49,
+      -0.9,
+      0.23
+     ],
+     "3D oriented bounding box dimensions": [
+      0.96,
+      0.36,
+      1.76
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.94,
+       -0.34,
+       0.0
+      ],
+      [
+       0.34,
+       0.94,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 3.33
+   }
+  ],
+  "ceiling light": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -0.39,
+      1.76,
+      1.77
+     ],
+     "3D oriented bounding box dimensions": [
+      0.14,
+      0.44,
+      0.17
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.95,
+       -0.31,
+       0.0
+      ],
+      [
+       0.31,
+       0.95,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 0.33
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -2.93,
+      2.5,
+      1.87
+     ],
+     "3D oriented bounding box dimensions": [
+      0.12,
+      0.09,
+      0.21
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       -0.03,
+       1.0,
+       0.0
+      ],
+      [
+       -1.0,
+       -0.03,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 0.17
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -1.48,
+      -0.28,
+      1.81
+     ],
+     "3D oriented bounding box dimensions": [
+      0.13,
+      0.17,
+      0.22
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.1,
+       0.99,
+       0.0
+      ],
+      [
+       -0.99,
+       0.1,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 0.33
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -1.86,
+      4.35,
+      1.78
+     ],
+     "3D oriented bounding box dimensions": [
+      0.08,
+      0.09,
+      0.17
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       -0.63,
+       0.78,
+       0.0
+      ],
+      [
+       -0.78,
+       -0.63,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 1.0
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      2.69,
+      1.1,
+      1.83
+     ],
+     "3D oriented bounding box dimensions": [
+      0.11,
+      0.15,
+      0.18
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.58,
+       0.82,
+       0.0
+      ],
+      [
+       -0.82,
+       0.58,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 4.0
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -3.31,
+      2.8,
+      1.57
+     ],
+     "3D oriented bounding box dimensions": [
+      0.26,
+      0.04,
+      0.15
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.02,
+       1.0,
+       0.0
+      ],
+      [
+       -1.0,
+       0.02,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 1.0
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      0.51,
+      -0.57,
+      1.8
+     ],
+     "3D oriented bounding box dimensions": [
+      0.18,
+      0.34,
+      0.19
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.83,
+       -0.56,
+       0.0
+      ],
+      [
+       0.56,
+       0.83,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 7.5
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -3.4,
+      1.14,
+      1.66
+     ],
+     "3D oriented bounding box dimensions": [
+      0.07,
+      0.07,
+      0.15
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.39,
+       0.92,
+       0.0
+      ],
+      [
+       -0.92,
+       0.39,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 0.17
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -2.72,
+      -0.06,
+      1.34
+     ],
+     "3D oriented bounding box dimensions": [
+      0.06,
+      0.03,
+      0.11
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.9,
+       -0.44,
+       0.0
+      ],
+      [
+       0.44,
+       0.9,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 0.33
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      1.96,
+      2.38,
+      1.72
+     ],
+     "3D oriented bounding box dimensions": [
+      0.14,
+      0.32,
+      0.16
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.29,
+       0.96,
+       0.0
+      ],
+      [
+       -0.96,
+       0.29,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 5.5
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -3.39,
+      2.56,
+      1.59
+     ],
+     "3D oriented bounding box dimensions": [
+      0.11,
+      0.01,
+      0.14
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.22,
+       0.98,
+       0.0
+      ],
+      [
+       -0.98,
+       0.22,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 0.17
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      2.43,
+      3.34,
+      1.66
+     ],
+     "3D oriented bounding box dimensions": [
+      0.1,
+      0.06,
+      0.16
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.98,
+       -0.2,
+       0.0
+      ],
+      [
+       0.2,
+       0.98,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 4.0
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -0.53,
+      4.45,
+      1.68
+     ],
+     "3D oriented bounding box dimensions": [
+      0.3,
+      0.11,
+      0.12
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.55,
+       0.84,
+       0.0
+      ],
+      [
+       -0.84,
+       0.55,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 2.33
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -2.54,
+      -0.34,
+      1.45
+     ],
+     "3D oriented bounding box dimensions": [
+      0.08,
+      0.01,
+      0.21
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       -0.68,
+       0.73,
+       0.0
+      ],
+      [
+       -0.73,
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+    },
+    "first visible time": 1.17
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
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+      1.64,
+      -0.14
+     ],
+     "3D oriented bounding box dimensions": [
+      1.26,
+      0.67,
+      0.09
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+     "3D oriented bounding box orientation unit vectors": [
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+       0.79,
+       0.0
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+      [
+       -0.79,
+       -0.62,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 0.0
+   }
+  ],
+  "telephone": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
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+      4.71,
+      0.42
+     ],
+     "3D oriented bounding box dimensions": [
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+      0.42,
+      0.15
+     ],
+     "3D oriented bounding box orientation unit vectors": [
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+       0.0
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+       0.85,
+       0.0
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+      [
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+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 1.17
+   }
+  ],
+  "trash can": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -0.39,
+      4.34,
+      -0.41
+     ],
+     "3D oriented bounding box dimensions": [
+      0.21,
+      0.29,
+      0.52
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
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+       -0.36,
+       0.0
+      ],
+      [
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+       0.93,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 1.33
+   }
+  ],
+  "tv": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -2.29,
+      -0.64,
+      1.09
+     ],
+     "3D oriented bounding box dimensions": [
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+      0.47,
+      2.1
+     ],
+     "3D oriented bounding box orientation unit vectors": [
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+       0.55,
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+      [
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+      [
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+       0.0,
+       1.0
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+     ]
+    },
+    "first visible time": 5.0
+   },
+   {
+    "3D oriented bounding box": {
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+      0.45
+     ],
+     "3D oriented bounding box dimensions": [
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+      0.1,
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+     ],
+     "3D oriented bounding box orientation unit vectors": [
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+      ]
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+    },
+    "first visible time": 0.33
+   },
+   {
+    "3D oriented bounding box": {
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+      -0.38,
+      0.44
+     ],
+     "3D oriented bounding box dimensions": [
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+      0.08,
+      0.73
+     ],
+     "3D oriented bounding box orientation unit vectors": [
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+       0.92,
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+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 1.83
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
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+      0.54,
+      0.5
+     ],
+     "3D oriented bounding box dimensions": [
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+      0.08,
+      0.17
+     ],
+     "3D oriented bounding box orientation unit vectors": [
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+       0.75,
+       0.0
+      ],
+      [
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+       0.66,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 0.67
+   }
+  ],
+  "whiteboard": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      0.28,
+      4.33,
+      0.64
+     ],
+     "3D oriented bounding box dimensions": [
+      2.08,
+      0.03,
+      0.68
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
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+       -0.61,
+       0.0
+      ],
+      [
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+       0.79,
+       0.0
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+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 1.17
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      2.98,
+      0.9,
+      0.65
+     ],
+     "3D oriented bounding box dimensions": [
+      3.67,
+      0.84,
+      0.92
+     ],
+     "3D oriented bounding box orientation unit vectors": [
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+       0.47,
+       0.0
+      ],
+      [
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+       0.88,
+       0.0
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+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 1.0
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -2.06,
+      4.34,
+      0.54
+     ],
+     "3D oriented bounding box dimensions": [
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+      0.57,
+      1.36
+     ],
+     "3D oriented bounding box orientation unit vectors": [
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+       0.12,
+       0.0
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+      [
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+       0.99,
+       0.0
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+      [
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+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 0.17
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
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+      2.9,
+      0.66
+     ],
+     "3D oriented bounding box dimensions": [
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+      0.54,
+      0.67
+     ],
+     "3D oriented bounding box orientation unit vectors": [
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+       1.0,
+       0.0
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+      [
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+       0.01,
+       0.0
+      ],
+      [
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+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 3.0
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
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+      3.04,
+      0.7
+     ],
+     "3D oriented bounding box dimensions": [
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+      0.1,
+      0.82
+     ],
+     "3D oriented bounding box orientation unit vectors": [
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+       0.95,
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+      [
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+       0.0
+      ],
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+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 0.17
+   }
+  ]
+ },
+ "room": {
+  "floor boundary polygons": [
+   {
+    "outer boundary coordinates": [
+     [
+      -3.73,
+      0.5
+     ],
+     [
+      -3.63,
+      0.5
+     ],
+     [
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+     ],
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+     ],
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+     [
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+     ],
+     [
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+      4.4
+     ],
+     [
+      0.67,
+      4.4
+     ],
+     [
+      0.47,
+      4.6
+     ],
+     [
+      0.37,
+      4.6
+     ],
+     [
+      0.27,
+      4.7
+     ],
+     [
+      0.17,
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+     ],
+     [
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+     [
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+     ],
+     [
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+     ],
+     [
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+     ],
+     [
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+      5.4
+     ],
+     [
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+      5.4
+     ],
+     [
+      -1.63,
+      5.3
+     ],
+     [
+      -1.83,
+      5.3
+     ],
+     [
+      -2.03,
+      5.1
+     ],
+     [
+      -2.13,
+      5.1
+     ],
+     [
+      -2.33,
+      4.9
+     ],
+     [
+      -2.43,
+      4.9
+     ],
+     [
+      -2.83,
+      4.5
+     ],
+     [
+      -2.93,
+      4.5
+     ],
+     [
+      -3.13,
+      4.3
+     ],
+     [
+      -3.13,
+      4.2
+     ],
+     [
+      -3.33,
+      4.0
+     ],
+     [
+      -3.33,
+      3.9
+     ],
+     [
+      -3.43,
+      3.8
+     ],
+     [
+      -3.43,
+      3.6
+     ],
+     [
+      -3.53,
+      3.5
+     ],
+     [
+      -3.53,
+      3.3
+     ],
+     [
+      -3.63,
+      3.2
+     ],
+     [
+      -3.73,
+      3.2
+     ]
+    ],
+    "interior hole boundary coordinates": []
+   }
+  ]
+ }
+}
\ No newline at end of file
diff --git a/experiments/caches/spatial codes/metric/tracking/selective/Center Sigma 15/64/compact/scene0030_02.json b/experiments/caches/spatial codes/metric/tracking/selective/Center Sigma 15/64/compact/scene0030_02.json
new file mode 100644
index 0000000000000000000000000000000000000000..28e51688b58f989a22f7ea232b5d2abed13998d8
--- /dev/null
+++ b/experiments/caches/spatial codes/metric/tracking/selective/Center Sigma 15/64/compact/scene0030_02.json	
@@ -0,0 +1,1624 @@
+{
+ "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": [
+      0.59,
+      3.21,
+      -0.09
+     ],
+     "3D oriented bounding box dimensions": [
+      0.94,
+      0.27,
+      1.27
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.82,
+       0.58,
+       0.0
+      ],
+      [
+       -0.58,
+       0.82,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 3.67
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -1.02,
+      2.24,
+      0.14
+     ],
+     "3D oriented bounding box dimensions": [
+      0.79,
+      0.09,
+      1.9
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.83,
+       0.56,
+       0.0
+      ],
+      [
+       -0.56,
+       0.83,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 2.0
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -1.67,
+      1.82,
+      0.09
+     ],
+     "3D oriented bounding box dimensions": [
+      0.74,
+      0.15,
+      1.88
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.81,
+       0.59,
+       0.0
+      ],
+      [
+       -0.59,
+       0.81,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 2.33
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      2.1,
+      4.49,
+      -0.01
+     ],
+     "3D oriented bounding box dimensions": [
+      0.91,
+      0.21,
+      1.06
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.85,
+       0.52,
+       0.0
+      ],
+      [
+       -0.52,
+       0.85,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 4.0
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -0.24,
+      2.75,
+      0.09
+     ],
+     "3D oriented bounding box dimensions": [
+      0.99,
+      0.24,
+      0.53
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.81,
+       0.59,
+       0.0
+      ],
+      [
+       -0.59,
+       0.81,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 2.83
+   }
+  ],
+  "chair": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      2.15,
+      1.02,
+      -0.21
+     ],
+     "3D oriented bounding box dimensions": [
+      0.41,
+      0.32,
+      0.76
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.85,
+       0.53,
+       0.0
+      ],
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+     ],
+     [
+      -2.29,
+      2.05
+     ]
+    ],
+    "interior hole boundary coordinates": []
+   }
+  ]
+ }
+}
\ No newline at end of file
diff --git a/experiments/caches/spatial codes/metric/tracking/selective/Center Sigma 15/64/compact/scene0095_01.json b/experiments/caches/spatial codes/metric/tracking/selective/Center Sigma 15/64/compact/scene0095_01.json
new file mode 100644
index 0000000000000000000000000000000000000000..80ee4049efbdbb60e9c545dafc16c153586975f6
--- /dev/null
+++ b/experiments/caches/spatial codes/metric/tracking/selective/Center Sigma 15/64/compact/scene0095_01.json	
@@ -0,0 +1,1750 @@
+{
+ "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": [
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+    "3D oriented bounding box": {
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+      3.67,
+      -0.11
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+   },
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+     "3D oriented bounding box orientation unit vectors": [
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+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 3.5
+   }
+  ],
+  "plant": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
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+      3.68,
+      0.18
+     ],
+     "3D oriented bounding box dimensions": [
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+      0.08,
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+     "3D oriented bounding box orientation unit vectors": [
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+   },
+   {
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+     "3D oriented bounding box dimensions": [
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+     "3D oriented bounding box orientation unit vectors": [
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+      [
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+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 0.83
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
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+      3.18,
+      0.13
+     ],
+     "3D oriented bounding box dimensions": [
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+      0.05
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+     "3D oriented bounding box orientation unit vectors": [
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+    "first visible time": 0.83
+   }
+  ],
+  "radiator": [
+   {
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+      3.41,
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+     ],
+     "3D oriented bounding box dimensions": [
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+     "3D oriented bounding box orientation unit vectors": [
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+    "first visible time": 0.67
+   }
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+  "sofa": [
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+      -1.25,
+      0.18
+     ],
+     "3D oriented bounding box dimensions": [
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+     "3D oriented bounding box orientation unit vectors": [
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+       0.0,
+       1.0
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+     ]
+    },
+    "first visible time": 4.0
+   }
+  ],
+  "table": [
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+      2.29,
+      -0.01
+     ],
+     "3D oriented bounding box dimensions": [
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+      0.69,
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+     "3D oriented bounding box orientation unit vectors": [
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+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 0.83
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      1.47,
+      1.01,
+      -0.01
+     ],
+     "3D oriented bounding box dimensions": [
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+      0.64,
+      0.02
+     ],
+     "3D oriented bounding box orientation unit vectors": [
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+       0.95,
+       0.0
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+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 5.67
+   }
+  ],
+  "window": [
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+      3.32,
+      0.19
+     ],
+     "3D oriented bounding box dimensions": [
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+     "3D oriented bounding box orientation unit vectors": [
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+    "first visible time": 0.67
+   },
+   {
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+      -0.04,
+      0.25
+     ],
+     "3D oriented bounding box dimensions": [
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+      0.06,
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+     "3D oriented bounding box orientation unit vectors": [
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+   },
+   {
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+      -1.09,
+      0.47
+     ],
+     "3D oriented bounding box dimensions": [
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+      3.26,
+      0.33
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+     "3D oriented bounding box dimensions": [
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+     "3D oriented bounding box orientation unit vectors": [
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+       0.0
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+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 1.0
+   }
+  ]
+ },
+ "room": {
+  "floor boundary polygons": [
+   {
+    "outer boundary coordinates": [
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+      -1.26,
+      -1.15
+     ],
+     [
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+      -1.15
+     ],
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+     ],
+     [
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+      2.85
+     ],
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+      2.75
+     ],
+     [
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+      2.35
+     ],
+     [
+      -0.76,
+      2.25
+     ],
+     [
+      -0.76,
+      2.05
+     ],
+     [
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+      1.95
+     ],
+     [
+      -0.86,
+      1.75
+     ],
+     [
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+     [
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+     [
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+     ],
+     [
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+     ],
+     [
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+      0.45
+     ],
+     [
+      -0.76,
+      0.25
+     ],
+     [
+      -0.76,
+      0.15
+     ],
+     [
+      -0.66,
+      0.05
+     ],
+     [
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+      -0.15
+     ],
+     [
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+      -0.15
+     ],
+     [
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+      -0.25
+     ],
+     [
+      0.24,
+      -0.25
+     ],
+     [
+      0.34,
+      -0.35
+     ],
+     [
+      0.34,
+      -0.55
+     ],
+     [
+      0.24,
+      -0.65
+     ],
+     [
+      0.04,
+      -0.65
+     ],
+     [
+      -0.06,
+      -0.75
+     ],
+     [
+      -0.26,
+      -0.75
+     ],
+     [
+      -0.36,
+      -0.65
+     ],
+     [
+      -0.46,
+      -0.65
+     ],
+     [
+      -0.56,
+      -0.55
+     ],
+     [
+      -1.26,
+      -0.55
+     ]
+    ],
+    "interior hole boundary coordinates": []
+   }
+  ]
+ }
+}
\ No newline at end of file
diff --git a/experiments/caches/spatial codes/metric/tracking/selective/Center Sigma 15/64/compact/scene0164_02.json b/experiments/caches/spatial codes/metric/tracking/selective/Center Sigma 15/64/compact/scene0164_02.json
new file mode 100644
index 0000000000000000000000000000000000000000..adb391804048a123de4775fa5f732e833d297bd2
--- /dev/null
+++ b/experiments/caches/spatial codes/metric/tracking/selective/Center Sigma 15/64/compact/scene0164_02.json	
@@ -0,0 +1,738 @@
+{
+ "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": [
+      -2.06,
+      1.58,
+      1.26
+     ],
+     "3D oriented bounding box dimensions": [
+      0.51,
+      0.14,
+      0.34
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.56,
+       0.83,
+       0.0
+      ],
+      [
+       -0.83,
+       0.56,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 8.67
+   }
+  ],
+  "counter": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      0.17,
+      0.7,
+      1.76
+     ],
+     "3D oriented bounding box dimensions": [
+      1.4,
+      0.13,
+      0.49
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.99,
+       -0.16,
+       0.0
+      ],
+      [
+       0.16,
+       0.99,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 4.0
+   }
+  ],
+  "door": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      0.33,
+      0.61,
+      -0.08
+     ],
+     "3D oriented bounding box dimensions": [
+      0.76,
+      0.49,
+      0.19
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.17,
+       0.98,
+       0.0
+      ],
+      [
+       -0.98,
+       0.17,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 0.33
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -0.66,
+      1.09,
+      1.38
+     ],
+     "3D oriented bounding box dimensions": [
+      1.04,
+      0.68,
+      0.23
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.23,
+       0.97,
+       0.0
+      ],
+      [
+       -0.97,
+       0.23,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 7.17
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -0.28,
+      0.59,
+      0.02
+     ],
+     "3D oriented bounding box dimensions": [
+      0.82,
+      0.52,
+      0.15
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.95,
+       -0.33,
+       0.0
+      ],
+      [
+       0.33,
+       0.95,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 0.17
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -0.75,
+      0.46,
+      1.57
+     ],
+     "3D oriented bounding box dimensions": [
+      0.74,
+      0.43,
+      0.12
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       1.0,
+       0.0,
+       0.0
+      ],
+      [
+       0.0,
+       1.0,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 2.0
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
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+      0.11,
+      1.98
+     ],
+     "3D oriented bounding box dimensions": [
+      0.69,
+      0.43,
+      0.12
+     ],
+     "3D oriented bounding box orientation unit vectors": [
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+       0.87,
+       0.0
+      ],
+      [
+       -0.87,
+       0.5,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 4.5
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      0.66,
+      1.01,
+      1.15
+     ],
+     "3D oriented bounding box dimensions": [
+      0.67,
+      0.02,
+      0.45
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.14,
+       0.99,
+       0.0
+      ],
+      [
+       -0.99,
+       0.14,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 3.83
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      0.43,
+      1.09,
+      1.41
+     ],
+     "3D oriented bounding box dimensions": [
+      0.44,
+      0.67,
+      0.14
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.82,
+       -0.57,
+       0.0
+      ],
+      [
+       0.57,
+       0.82,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 3.83
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      0.62,
+      0.9,
+      0.74
+     ],
+     "3D oriented bounding box dimensions": [
+      0.68,
+      0.02,
+      0.45
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.13,
+       0.99,
+       0.0
+      ],
+      [
+       -0.99,
+       0.13,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 3.5
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -1.07,
+      -0.38,
+      -0.04
+     ],
+     "3D oriented bounding box dimensions": [
+      0.75,
+      0.49,
+      0.15
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       -0.29,
+       0.96,
+       0.0
+      ],
+      [
+       -0.96,
+       -0.29,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 0.0
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -0.04,
+      1.03,
+      1.47
+     ],
+     "3D oriented bounding box dimensions": [
+      0.47,
+      0.25,
+      0.07
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       1.0,
+       -0.09,
+       0.0
+      ],
+      [
+       0.09,
+       1.0,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 5.0
+   }
+  ],
+  "microwave": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      0.75,
+      -0.06,
+      -0.19
+     ],
+     "3D oriented bounding box dimensions": [
+      0.57,
+      0.28,
+      0.16
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.99,
+       0.16,
+       0.0
+      ],
+      [
+       -0.16,
+       0.99,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 1.83
+   }
+  ],
+  "oven": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -0.28,
+      0.59,
+      0.02
+     ],
+     "3D oriented bounding box dimensions": [
+      0.87,
+      0.56,
+      0.15
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.89,
+       -0.45,
+       0.0
+      ],
+      [
+       0.45,
+       0.89,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 1.33
+   }
+  ],
+  "plant": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -1.19,
+      0.36,
+      0.05
+     ],
+     "3D oriented bounding box dimensions": [
+      0.07,
+      0.02,
+      0.02
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.3,
+       0.95,
+       0.0
+      ],
+      [
+       -0.95,
+       0.3,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 9.33
+   }
+  ],
+  "refrigerator": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -0.69,
+      0.83,
+      1.66
+     ],
+     "3D oriented bounding box dimensions": [
+      1.27,
+      0.68,
+      0.58
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.17,
+       0.99,
+       0.0
+      ],
+      [
+       -0.99,
+       0.17,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 4.5
+   }
+  ],
+  "towel": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -0.19,
+      0.54,
+      0.06
+     ],
+     "3D oriented bounding box dimensions": [
+      0.44,
+      0.16,
+      0.13
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.11,
+       0.99,
+       0.0
+      ],
+      [
+       -0.99,
+       0.11,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 0.33
+   }
+  ]
+ },
+ "room": {
+  "floor boundary polygons": [
+   {
+    "outer boundary coordinates": [
+     [
+      -2.37,
+      1.18
+     ],
+     [
+      -1.57,
+      1.18
+     ],
+     [
+      -1.47,
+      1.08
+     ],
+     [
+      -1.47,
+      0.78
+     ],
+     [
+      -1.57,
+      0.68
+     ],
+     [
+      -1.57,
+      -0.32
+     ],
+     [
+      -1.67,
+      -0.42
+     ],
+     [
+      -1.67,
+      -1.12
+     ],
+     [
+      1.23,
+      -1.12
+     ],
+     [
+      1.23,
+      0.88
+     ],
+     [
+      0.93,
+      0.88
+     ],
+     [
+      0.83,
+      0.98
+     ],
+     [
+      0.83,
+      1.58
+     ],
+     [
+      0.73,
+      1.58
+     ],
+     [
+      0.63,
+      1.68
+     ],
+     [
+      0.13,
+      1.68
+     ],
+     [
+      0.03,
+      1.78
+     ],
+     [
+      0.03,
+      1.88
+     ],
+     [
+      -2.37,
+      1.88
+     ]
+    ],
+    "interior hole boundary coordinates": []
+   }
+  ]
+ }
+}
\ No newline at end of file
diff --git a/experiments/caches/spatial codes/metric/tracking/selective/Center Sigma 15/64/compact/scene0207_02.json b/experiments/caches/spatial codes/metric/tracking/selective/Center Sigma 15/64/compact/scene0207_02.json
new file mode 100644
index 0000000000000000000000000000000000000000..96a3e2cdad81afe3a08e8e19e0cada17feaa69d4
--- /dev/null
+++ b/experiments/caches/spatial codes/metric/tracking/selective/Center Sigma 15/64/compact/scene0207_02.json	
@@ -0,0 +1,1618 @@
+{
+ "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": [
+      0.72,
+      1.13,
+      4.49
+     ],
+     "3D oriented bounding box dimensions": [
+      0.73,
+      0.12,
+      0.38
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.88,
+       -0.48,
+       0.0
+      ],
+      [
+       0.48,
+       0.88,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 1.33
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      0.33,
+      1.01,
+      5.96
+     ],
+     "3D oriented bounding box dimensions": [
+      0.29,
+      0.17,
+      0.52
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.97,
+       0.25,
+       0.0
+      ],
+      [
+       -0.25,
+       0.97,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 1.33
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      0.21,
+      1.38,
+      3.97
+     ],
+     "3D oriented bounding box dimensions": [
+      0.46,
+      0.2,
+      0.26
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       -0.68,
+       0.73,
+       0.0
+      ],
+      [
+       -0.73,
+       -0.68,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 9.5
+   }
+  ],
+  "bed": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -2.02,
+      1.0,
+      5.1
+     ],
+     "3D oriented bounding box dimensions": [
+      0.68,
+      0.46,
+      1.87
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.7,
+       0.72,
+       0.0
+      ],
+      [
+       -0.72,
+       0.7,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 0.0
+   }
+  ],
+  "bookshelf": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -0.86,
+      -0.04,
+      6.14
+     ],
+     "3D oriented bounding box dimensions": [
+      1.25,
+      0.79,
+      0.23
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.4,
+       0.92,
+       0.0
+      ],
+      [
+       -0.92,
+       0.4,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 0.5
+   }
+  ],
+  "chair": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      0.16,
+      1.18,
+      5.03
+     ],
+     "3D oriented bounding box dimensions": [
+      0.9,
+      0.53,
+      0.56
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.1,
+       1.0,
+       0.0
+      ],
+      [
+       -1.0,
+       0.1,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 1.33
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      1.27,
+      0.94,
+      5.83
+     ],
+     "3D oriented bounding box dimensions": [
+      0.3,
+      0.05,
+      0.37
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       -0.18,
+       0.98,
+       0.0
+      ],
+      [
+       -0.98,
+       -0.18,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 1.17
+   }
+  ],
+  "closet": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -2.23,
+      0.75,
+      2.95
+     ],
+     "3D oriented bounding box dimensions": [
+      1.37,
+      0.74,
+      0.19
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       -0.1,
+       0.99,
+       0.0
+      ],
+      [
+       -0.99,
+       -0.1,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 3.0
+   }
+  ],
+  "counter": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      0.32,
+      0.73,
+      3.02
+     ],
+     "3D oriented bounding box dimensions": [
+      1.3,
+      0.07,
+      0.47
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       1.0,
+       0.07,
+       0.0
+      ],
+      [
+       -0.07,
+       1.0,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 4.17
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      1.03,
+      0.69,
+      1.84
+     ],
+     "3D oriented bounding box dimensions": [
+      0.46,
+      0.06,
+      1.07
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       1.0,
+       -0.02,
+       0.0
+      ],
+      [
+       0.02,
+       1.0,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 4.5
+   }
+  ],
+  "door": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      0.15,
+      0.67,
+      0.01
+     ],
+     "3D oriented bounding box dimensions": [
+      2.0,
+      0.72,
+      0.05
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       -0.13,
+       0.99,
+       0.0
+      ],
+      [
+       -0.99,
+       -0.13,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 4.33
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -0.79,
+      0.53,
+      1.31
+     ],
+     "3D oriented bounding box dimensions": [
+      0.42,
+      1.22,
+      0.58
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.82,
+       0.58,
+       0.0
+      ],
+      [
+       -0.58,
+       0.82,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 3.5
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -1.08,
+      0.84,
+      3.17
+     ],
+     "3D oriented bounding box dimensions": [
+      1.88,
+      0.57,
+      0.09
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.03,
+       1.0,
+       0.0
+      ],
+      [
+       -1.0,
+       0.03,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 3.17
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -1.48,
+      0.74,
+      3.36
+     ],
+     "3D oriented bounding box dimensions": [
+      1.44,
+      0.11,
+      0.31
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       -0.02,
+       1.0,
+       0.0
+      ],
+      [
+       -1.0,
+       -0.02,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
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+}
\ No newline at end of file
diff --git a/experiments/caches/spatial codes/metric/tracking/selective/Center Sigma 15/64/compact/scene0221_01.json b/experiments/caches/spatial codes/metric/tracking/selective/Center Sigma 15/64/compact/scene0221_01.json
new file mode 100644
index 0000000000000000000000000000000000000000..7c635eb47446ab4bc92e70e1a2fddc65dedb411f
--- /dev/null
+++ b/experiments/caches/spatial codes/metric/tracking/selective/Center Sigma 15/64/compact/scene0221_01.json	
@@ -0,0 +1,1368 @@
+{
+ "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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+      -0.08
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+      0.1,
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+     "3D oriented bounding box orientation unit vectors": [
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+       0.0
+      ],
+      [
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+       0.1,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 3.5
+   }
+  ],
+  "towel": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      1.12,
+      -1.43,
+      0.12
+     ],
+     "3D oriented bounding box dimensions": [
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+      0.33,
+      0.12
+     ],
+     "3D oriented bounding box orientation unit vectors": [
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+       0.83,
+       0.0
+      ],
+      [
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+       -0.56,
+       0.0
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+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 2.5
+   }
+  ],
+  "trash bin": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      0.79,
+      0.46,
+      -0.26
+     ],
+     "3D oriented bounding box dimensions": [
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+      0.18,
+      0.23
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+     "3D oriented bounding box orientation unit vectors": [
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+       0.99,
+       0.0
+      ],
+      [
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+       -0.13,
+       0.0
+      ],
+      [
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+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 1.0
+   },
+   {
+    "3D oriented bounding box": {
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+      1.37,
+      -0.18
+     ],
+     "3D oriented bounding box dimensions": [
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+      0.05,
+      0.2
+     ],
+     "3D oriented bounding box orientation unit vectors": [
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+       0.0
+      ],
+      [
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+       0.2,
+       0.0
+      ],
+      [
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+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 0.83
+   }
+  ],
+  "tv": [
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+      -2.9,
+      0.42
+     ],
+     "3D oriented bounding box dimensions": [
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+      0.2,
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+     "3D oriented bounding box orientation unit vectors": [
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+       0.94,
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+      [
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+       -0.34,
+       0.0
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+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 8.5
+   }
+  ],
+  "window": [
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+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      2.39,
+      -3.22,
+      0.76
+     ],
+     "3D oriented bounding box dimensions": [
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+      0.02,
+      0.62
+     ],
+     "3D oriented bounding box orientation unit vectors": [
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+       1.0,
+       0.0
+      ],
+      [
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+       0.02,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 7.17
+   }
+  ]
+ },
+ "room": {
+  "floor boundary polygons": [
+   {
+    "outer boundary coordinates": [
+     [
+      -0.97,
+      -4.57
+     ],
+     [
+      -0.87,
+      -4.57
+     ],
+     [
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+     ],
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+     [
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+     ],
+     [
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+     ],
+     [
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+     ],
+     [
+      2.53,
+      -5.77
+     ],
+     [
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+     ],
+     [
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+     ],
+     [
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+     ],
+     [
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+      1.33
+     ],
+     [
+      1.03,
+      1.53
+     ],
+     [
+      1.03,
+      2.13
+     ],
+     [
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+      2.23
+     ],
+     [
+      0.93,
+      2.53
+     ],
+     [
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+      2.53
+     ],
+     [
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+      1.43
+     ],
+     [
+      -0.77,
+      1.23
+     ],
+     [
+      -0.97,
+      1.23
+     ]
+    ],
+    "interior hole boundary coordinates": []
+   }
+  ]
+ }
+}
\ No newline at end of file
diff --git a/experiments/caches/spatial codes/metric/tracking/selective/Center Sigma 15/64/compact/scene0304_00.json b/experiments/caches/spatial codes/metric/tracking/selective/Center Sigma 15/64/compact/scene0304_00.json
new file mode 100644
index 0000000000000000000000000000000000000000..bcc43de716a601e3616fe7d3d152d8126746d516
--- /dev/null
+++ b/experiments/caches/spatial codes/metric/tracking/selective/Center Sigma 15/64/compact/scene0304_00.json	
@@ -0,0 +1,969 @@
+{
+ "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": [
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+      -2.0,
+      -1.56
+     ],
+     "3D oriented bounding box dimensions": [
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+      0.16,
+      0.24
+     ],
+     "3D oriented bounding box orientation unit vectors": [
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+       0.0
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+       0.0
+      ],
+      [
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+       0.0,
+       1.0
+      ]
+     ]
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+    "first visible time": 1.33
+   }
+  ],
+  "counter": [
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+    "3D oriented bounding box": {
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+      -2.04,
+      -1.62
+     ],
+     "3D oriented bounding box dimensions": [
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+      0.13,
+      0.52
+     ],
+     "3D oriented bounding box orientation unit vectors": [
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+       0.0
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+       -0.22,
+       0.0
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+      [
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+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 5.67
+   }
+  ],
+  "door": [
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+      2.04,
+      -3.14
+     ],
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+      0.91,
+      0.07
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+     "3D oriented bounding box orientation unit vectors": [
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+      [
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+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 0.0
+   },
+   {
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+      -1.86,
+      -1.99
+     ],
+     "3D oriented bounding box dimensions": [
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+      0.42,
+      0.02
+     ],
+     "3D oriented bounding box orientation unit vectors": [
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+       0.96,
+       0.0
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+       -0.27,
+       0.0
+      ],
+      [
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+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 1.17
+   },
+   {
+    "3D oriented bounding box": {
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+      -1.99,
+      -1.98
+     ],
+     "3D oriented bounding box dimensions": [
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+      0.35,
+      0.02
+     ],
+     "3D oriented bounding box orientation unit vectors": [
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+       0.83,
+       0.0
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+       0.0
+      ],
+      [
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+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 1.17
+   },
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+      -1.95,
+      -1.97
+     ],
+     "3D oriented bounding box dimensions": [
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+      0.26,
+      0.01
+     ],
+     "3D oriented bounding box orientation unit vectors": [
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+       1.0,
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+       0.05,
+       0.0
+      ],
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+       0.0,
+       1.0
+      ]
+     ]
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+   },
+   {
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+      -1.7,
+      -1.98
+     ],
+     "3D oriented bounding box dimensions": [
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+      0.29,
+      0.02
+     ],
+     "3D oriented bounding box orientation unit vectors": [
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+       0.0,
+       1.0
+      ]
+     ]
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+    "first visible time": 1.17
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+   {
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+     "3D oriented bounding box orientation unit vectors": [
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+       0.0
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+       1.0
+      ]
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+    },
+    "first visible time": 1.17
+   }
+  ],
+  "plant": [
+   {
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+     "3D oriented bounding box center coordinates": [
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+      -6.68,
+      3.35
+     ],
+     "3D oriented bounding box dimensions": [
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+      0.11,
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+     "3D oriented bounding box orientation unit vectors": [
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+       0.99,
+       0.0
+      ],
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+       -0.15,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 9.83
+   }
+  ],
+  "table": [
+   {
+    "3D oriented bounding box": {
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+      -1.74,
+      -1.66
+     ],
+     "3D oriented bounding box dimensions": [
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+      0.06,
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+     ],
+     "3D oriented bounding box orientation unit vectors": [
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+       0.0
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+       0.0
+      ],
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+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 1.33
+   }
+  ],
+  "trash bin": [
+   {
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+      -3.96,
+      -1.63
+     ],
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+      0.61,
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+     "3D oriented bounding box orientation unit vectors": [
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+   },
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+     "3D oriented bounding box orientation unit vectors": [
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+       0.0
+      ],
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+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 1.67
+   },
+   {
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+      -4.67,
+      -0.21
+     ],
+     "3D oriented bounding box dimensions": [
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+     ],
+     "3D oriented bounding box orientation unit vectors": [
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+      ],
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+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 2.17
+   }
+  ],
+  "window": [
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+      -0.66,
+      0.04
+     ],
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+       0.0,
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+    "first visible time": 1.0
+   },
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+     "3D oriented bounding box dimensions": [
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+     ],
+     "3D oriented bounding box orientation unit vectors": [
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+   },
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+    "first visible time": 1.0
+   }
+  ]
+ },
+ "room": {
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+     ]
+    ],
+    "interior hole boundary coordinates": []
+   },
+   {
+    "outer boundary coordinates": [
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+     ],
+     [
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+     ],
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+     ],
+     [
+      -1.17,
+      2.83
+     ]
+    ],
+    "interior hole boundary coordinates": []
+   }
+  ]
+ }
+}
\ No newline at end of file
diff --git a/experiments/caches/spatial codes/metric/tracking/selective/Center Sigma 15/64/compact/scene0328_00.json b/experiments/caches/spatial codes/metric/tracking/selective/Center Sigma 15/64/compact/scene0328_00.json
new file mode 100644
index 0000000000000000000000000000000000000000..5cfaf50e1c5a05c1273eec76db2c85455dcdb842
--- /dev/null
+++ b/experiments/caches/spatial codes/metric/tracking/selective/Center Sigma 15/64/compact/scene0328_00.json	
@@ -0,0 +1,1160 @@
+{
+ "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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+      0.58,
+      -0.01
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+    "first visible time": 7.67
+   }
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+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      0.89,
+      0.62,
+      -1.03
+     ],
+     "3D oriented bounding box dimensions": [
+      0.29,
+      0.04,
+      0.69
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.08,
+       1.0,
+       0.0
+      ],
+      [
+       -1.0,
+       0.08,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 1.0
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      1.12,
+      -0.19,
+      -0.99
+     ],
+     "3D oriented bounding box dimensions": [
+      0.28,
+      0.04,
+      0.7
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       -0.04,
+       1.0,
+       0.0
+      ],
+      [
+       -1.0,
+       -0.04,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 1.67
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      0.93,
+      0.9,
+      -1.02
+     ],
+     "3D oriented bounding box dimensions": [
+      0.8,
+      0.04,
+      0.66
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.04,
+       1.0,
+       0.0
+      ],
+      [
+       -1.0,
+       0.04,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 7.33
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      1.13,
+      -0.21,
+      -1.06
+     ],
+     "3D oriented bounding box dimensions": [
+      0.36,
+      0.03,
+      0.7
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       -0.02,
+       1.0,
+       0.0
+      ],
+      [
+       -1.0,
+       -0.02,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 1.5
+   }
+  ],
+  "plant": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -0.15,
+      0.32,
+      0.22
+     ],
+     "3D oriented bounding box dimensions": [
+      0.3,
+      0.1,
+      0.1
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       1.0,
+       -0.05,
+       0.0
+      ],
+      [
+       0.05,
+       1.0,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 0.0
+   }
+  ],
+  "refrigerator": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -0.66,
+      0.23,
+      -1.78
+     ],
+     "3D oriented bounding box dimensions": [
+      0.99,
+      0.56,
+      0.04
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       -0.52,
+       0.85,
+       0.0
+      ],
+      [
+       -0.85,
+       -0.52,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 0.0
+   }
+  ],
+  "towel": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -0.02,
+      0.34,
+      0.23
+     ],
+     "3D oriented bounding box dimensions": [
+      0.19,
+      0.11,
+      0.12
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       -0.09,
+       1.0,
+       0.0
+      ],
+      [
+       -1.0,
+       -0.09,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 6.33
+   }
+  ]
+ },
+ "room": {
+  "floor boundary polygons": [
+   {
+    "outer boundary coordinates": [
+     [
+      -2.29,
+      -1.06
+     ],
+     [
+      1.31,
+      -1.06
+     ],
+     [
+      1.31,
+      -0.76
+     ],
+     [
+      1.41,
+      -0.66
+     ],
+     [
+      1.41,
+      -0.36
+     ],
+     [
+      1.51,
+      -0.26
+     ],
+     [
+      1.61,
+      -0.26
+     ],
+     [
+      1.61,
+      0.74
+     ],
+     [
+      1.31,
+      0.74
+     ],
+     [
+      1.21,
+      0.84
+     ],
+     [
+      1.21,
+      1.44
+     ],
+     [
+      -2.29,
+      1.44
+     ]
+    ],
+    "interior hole boundary coordinates": []
+   }
+  ]
+ }
+}
\ No newline at end of file
diff --git a/experiments/caches/spatial codes/metric/tracking/selective/Center Sigma 15/64/compact/scene0356_00.json b/experiments/caches/spatial codes/metric/tracking/selective/Center Sigma 15/64/compact/scene0356_00.json
new file mode 100644
index 0000000000000000000000000000000000000000..415a5b40407d06522148b0ffb4dff0ec2729b043
--- /dev/null
+++ b/experiments/caches/spatial codes/metric/tracking/selective/Center Sigma 15/64/compact/scene0356_00.json	
@@ -0,0 +1,906 @@
+{
+ "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": [
+      1.78,
+      -0.57,
+      -0.1
+     ],
+     "3D oriented bounding box dimensions": [
+      1.92,
+      0.81,
+      0.42
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.98,
+       0.2,
+       0.0
+      ],
+      [
+       -0.2,
+       0.98,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 1.17
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -0.93,
+      -0.29,
+      0.22
+     ],
+     "3D oriented bounding box dimensions": [
+      0.26,
+      0.11,
+      0.61
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       -0.07,
+       1.0,
+       0.0
+      ],
+      [
+       -1.0,
+       -0.07,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 3.5
+   }
+  ],
+  "chair": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      1.9,
+      0.54,
+      -0.02
+     ],
+     "3D oriented bounding box dimensions": [
+      0.16,
+      0.22,
+      0.7
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.83,
+       -0.56,
+       0.0
+      ],
+      [
+       0.56,
+       0.83,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 0.0
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      1.7,
+      0.72,
+      -0.22
+     ],
+     "3D oriented bounding box dimensions": [
+      0.52,
+      0.24,
+      0.79
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       -0.48,
+       0.88,
+       0.0
+      ],
+      [
+       -0.88,
+       -0.48,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 5.5
+   }
+  ],
+  "door": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -0.97,
+      -0.06,
+      -0.13
+     ],
+     "3D oriented bounding box dimensions": [
+      0.79,
+      0.02,
+      1.29
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       -0.06,
+       1.0,
+       0.0
+      ],
+      [
+       -1.0,
+       -0.06,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 3.5
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      0.01,
+      1.83,
+      -0.22
+     ],
+     "3D oriented bounding box dimensions": [
+      0.84,
+      0.07,
+      0.98
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.42,
+       0.91,
+       0.0
+      ],
+      [
+       -0.91,
+       0.42,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 4.67
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -0.47,
+      -0.6,
+      -0.01
+     ],
+     "3D oriented bounding box dimensions": [
+      0.75,
+      0.04,
+      1.35
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.99,
+       0.1,
+       0.0
+      ],
+      [
+       -0.1,
+       0.99,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 3.33
+   },
+   {
+    "3D oriented bounding box": {
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+      -0.99,
+      0.06
+     ],
+     "3D oriented bounding box dimensions": [
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+      0.04,
+      1.13
+     ],
+     "3D oriented bounding box orientation unit vectors": [
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+       0.99,
+       0.0
+      ],
+      [
+       -0.99,
+       -0.11,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 3.17
+   }
+  ],
+  "mattress": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      1.75,
+      -0.62,
+      -0.05
+     ],
+     "3D oriented bounding box dimensions": [
+      1.87,
+      0.8,
+      0.15
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.98,
+       0.19,
+       0.0
+      ],
+      [
+       -0.19,
+       0.98,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 1.33
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -0.94,
+      -0.3,
+      0.35
+     ],
+     "3D oriented bounding box dimensions": [
+      0.31,
+      0.06,
+      0.22
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       -0.05,
+       1.0,
+       0.0
+      ],
+      [
+       -1.0,
+       -0.05,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 3.5
+   }
+  ],
+  "mirror": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -0.97,
+      -0.15,
+      0.08
+     ],
+     "3D oriented bounding box dimensions": [
+      0.55,
+      0.09,
+      0.94
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       -0.02,
+       1.0,
+       0.0
+      ],
+      [
+       -1.0,
+       -0.02,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 3.33
+   }
+  ],
+  "plant": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      2.97,
+      0.04,
+      0.32
+     ],
+     "3D oriented bounding box dimensions": [
+      1.15,
+      0.14,
+      0.37
+     ],
+     "3D oriented bounding box orientation unit vectors": [
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+       -0.16,
+       0.99,
+       0.0
+      ],
+      [
+       -0.99,
+       -0.16,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 0.0
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      2.95,
+      -0.4,
+      0.32
+     ],
+     "3D oriented bounding box dimensions": [
+      0.1,
+      0.05,
+      0.33
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       -0.66,
+       0.75,
+       0.0
+      ],
+      [
+       -0.75,
+       -0.66,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 1.0
+   }
+  ],
+  "table": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      1.64,
+      0.99,
+      -0.11
+     ],
+     "3D oriented bounding box dimensions": [
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+      0.36,
+      0.29
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       -0.1,
+       0.99,
+       0.0
+      ],
+      [
+       -0.99,
+       -0.1,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 0.0
+   }
+  ],
+  "telephone": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -1.02,
+      0.97,
+      0.24
+     ],
+     "3D oriented bounding box dimensions": [
+      0.07,
+      0.03,
+      0.45
+     ],
+     "3D oriented bounding box orientation unit vectors": [
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+       0.35,
+       0.94,
+       0.0
+      ],
+      [
+       -0.94,
+       0.35,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 4.67
+   }
+  ],
+  "trash bin": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      1.77,
+      0.89,
+      0.19
+     ],
+     "3D oriented bounding box dimensions": [
+      0.38,
+      0.27,
+      0.29
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       -0.09,
+       1.0,
+       0.0
+      ],
+      [
+       -1.0,
+       -0.09,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 0.5
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      2.03,
+      0.83,
+      0.2
+     ],
+     "3D oriented bounding box dimensions": [
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+      0.29,
+      0.28
+     ],
+     "3D oriented bounding box orientation unit vectors": [
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+       0.77,
+       0.0
+      ],
+      [
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+       0.64,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 0.5
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      2.31,
+      0.82,
+      0.32
+     ],
+     "3D oriented bounding box dimensions": [
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+      0.24,
+      0.07
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       1.0,
+       -0.1,
+       0.0
+      ],
+      [
+       0.1,
+       1.0,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 0.67
+   }
+  ],
+  "window": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
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+      -0.26,
+      0.23
+     ],
+     "3D oriented bounding box dimensions": [
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+      0.2,
+      0.44
+     ],
+     "3D oriented bounding box orientation unit vectors": [
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+       0.99,
+       0.0
+      ],
+      [
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+       -0.11,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 0.0
+   }
+  ]
+ },
+ "room": {
+  "floor boundary polygons": [
+   {
+    "outer boundary coordinates": [
+     [
+      -1.34,
+      -0.9
+     ],
+     [
+      -0.24,
+      -0.9
+     ],
+     [
+      -0.14,
+      -1.0
+     ],
+     [
+      -0.14,
+      -1.4
+     ],
+     [
+      3.16,
+      -1.4
+     ],
+     [
+      3.16,
+      -1.3
+     ],
+     [
+      3.26,
+      -1.2
+     ],
+     [
+      3.46,
+      -1.2
+     ],
+     [
+      3.56,
+      -1.1
+     ],
+     [
+      3.56,
+      -0.6
+     ],
+     [
+      3.66,
+      -0.5
+     ],
+     [
+      3.86,
+      -0.5
+     ],
+     [
+      4.06,
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+     ],
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+     [
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+      0.8
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+     [
+      3.86,
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+     [
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+      0.6
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+     [
+      3.46,
+      0.6
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+      3.36,
+      0.7
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+     [
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+     [
+      2.96,
+      1.0
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+     [
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+     ],
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+      2.1
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+     [
+      -0.24,
+      2.0
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+     [
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+      1.9
+     ],
+     [
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+     [
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+      1.5
+     ],
+     [
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+      1.4
+     ],
+     [
+      -1.34,
+      1.4
+     ]
+    ],
+    "interior hole boundary coordinates": []
+   }
+  ]
+ }
+}
\ No newline at end of file
diff --git a/experiments/caches/spatial codes/metric/tracking/selective/Center Sigma 15/64/compact/scene0357_01.json b/experiments/caches/spatial codes/metric/tracking/selective/Center Sigma 15/64/compact/scene0357_01.json
new file mode 100644
index 0000000000000000000000000000000000000000..a72e4b82f84fbe3de691f612358acdaec7bf534f
--- /dev/null
+++ b/experiments/caches/spatial codes/metric/tracking/selective/Center Sigma 15/64/compact/scene0357_01.json	
@@ -0,0 +1,557 @@
+{
+ "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": {
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+    {
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+      "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"
+     }
+    }
+   ]
+  }
+ },
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+      1.38,
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+      0.34,
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+      0.64,
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+       1.0
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+   },
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+     ],
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+      0.45,
+      0.3
+     ],
+     "3D oriented bounding box orientation unit vectors": [
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+       0.01,
+       0.0
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+       1.0,
+       0.0
+      ],
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+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
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+   }
+  ]
+ },
+ "room": {
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+     ],
+     [
+      -4.02,
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+     ]
+    ],
+    "interior hole boundary coordinates": []
+   },
+   {
+    "outer boundary coordinates": [
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+      -6.02,
+      -0.65
+     ],
+     [
+      -5.12,
+      -0.65
+     ],
+     [
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+     ],
+     [
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+     ],
+     [
+      -5.12,
+      0.25
+     ],
+     [
+      -6.02,
+      0.25
+     ]
+    ],
+    "interior hole boundary coordinates": []
+   }
+  ]
+ }
+}
\ No newline at end of file
diff --git a/experiments/caches/spatial codes/metric/tracking/selective/Center Sigma 15/64/compact/scene0412_00.json b/experiments/caches/spatial codes/metric/tracking/selective/Center Sigma 15/64/compact/scene0412_00.json
new file mode 100644
index 0000000000000000000000000000000000000000..aa2af828755d2c48c7867ee420fd584aabe475de
--- /dev/null
+++ b/experiments/caches/spatial codes/metric/tracking/selective/Center Sigma 15/64/compact/scene0412_00.json	
@@ -0,0 +1,980 @@
+{
+ "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": [
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+      0.59,
+      4.45
+     ],
+     "3D oriented bounding box dimensions": [
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+      0.1,
+      0.29
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+     "3D oriented bounding box orientation unit vectors": [
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+       0.91,
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+       0.0
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+      [
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+       0.0,
+       1.0
+      ]
+     ]
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+   }
+  ],
+  "door": [
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+    "3D oriented bounding box": {
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+      -2.43,
+      3.76
+     ],
+     "3D oriented bounding box dimensions": [
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+      1.17,
+      0.58
+     ],
+     "3D oriented bounding box orientation unit vectors": [
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+      [
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+       0.0
+      ],
+      [
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+       0.0,
+       1.0
+      ]
+     ]
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+   },
+   {
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+      2.26,
+      2.21
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+     "3D oriented bounding box orientation unit vectors": [
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+       0.75,
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+      ],
+      [
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+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 1.83
+   },
+   {
+    "3D oriented bounding box": {
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+      2.04,
+      2.27
+     ],
+     "3D oriented bounding box dimensions": [
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+      0.05,
+      0.58
+     ],
+     "3D oriented bounding box orientation unit vectors": [
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+      [
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+       0.0
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+       0.0,
+       1.0
+      ]
+     ]
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+   },
+   {
+    "3D oriented bounding box": {
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+      2.05,
+      1.51
+     ],
+     "3D oriented bounding box dimensions": [
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+      0.05,
+      0.67
+     ],
+     "3D oriented bounding box orientation unit vectors": [
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+       0.5,
+       0.0
+      ],
+      [
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+       0.86,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 6.17
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
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+      -2.35,
+      2.94
+     ],
+     "3D oriented bounding box dimensions": [
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+      0.02,
+      0.75
+     ],
+     "3D oriented bounding box orientation unit vectors": [
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+       0.47,
+       0.0
+      ],
+      [
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+       0.0
+      ],
+      [
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+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 2.67
+   }
+  ],
+  "radiator": [
+   {
+    "3D oriented bounding box": {
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+      2.31,
+      2.75
+     ],
+     "3D oriented bounding box dimensions": [
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+      0.03,
+      0.34
+     ],
+     "3D oriented bounding box orientation unit vectors": [
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+       0.42,
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+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 1.5
+   }
+  ],
+  "refrigerator": [
+   {
+    "3D oriented bounding box": {
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+      2.18,
+      2.08
+     ],
+     "3D oriented bounding box dimensions": [
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+      0.96
+     ],
+     "3D oriented bounding box orientation unit vectors": [
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+       0.0
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+      [
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+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 3.17
+   }
+  ],
+  "table": [
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+      1.7,
+      3.78
+     ],
+     "3D oriented bounding box dimensions": [
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+      0.67,
+      0.86
+     ],
+     "3D oriented bounding box orientation unit vectors": [
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+      [
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+       0.79,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 1.5
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      1.0,
+      -0.98,
+      3.1
+     ],
+     "3D oriented bounding box dimensions": [
+      0.77,
+      0.06,
+      0.09
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       -0.39,
+       0.92,
+       0.0
+      ],
+      [
+       -0.92,
+       -0.39,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 2.67
+   }
+  ],
+  "trash bin": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      0.37,
+      1.41,
+      4.12
+     ],
+     "3D oriented bounding box dimensions": [
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+      0.23,
+      0.43
+     ],
+     "3D oriented bounding box orientation unit vectors": [
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+       0.35,
+       0.0
+      ],
+      [
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+       0.94,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 1.5
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
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+      1.98,
+      3.36
+     ],
+     "3D oriented bounding box dimensions": [
+      0.62,
+      0.22,
+      0.21
+     ],
+     "3D oriented bounding box orientation unit vectors": [
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+       0.44,
+       0.0
+      ],
+      [
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+       0.9,
+       0.0
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+      [
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+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 1.83
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
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+      2.65,
+      0.4
+     ],
+     "3D oriented bounding box dimensions": [
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+      0.3,
+      0.46
+     ],
+     "3D oriented bounding box orientation unit vectors": [
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+       0.48,
+       0.0
+      ],
+      [
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+       0.88,
+       0.0
+      ],
+      [
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+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 6.33
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
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+      1.0,
+      4.42
+     ],
+     "3D oriented bounding box dimensions": [
+      0.2,
+      0.76,
+      0.3
+     ],
+     "3D oriented bounding box orientation unit vectors": [
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+       0.18,
+       0.0
+      ],
+      [
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+       0.98,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 1.5
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      0.04,
+      0.97,
+      4.78
+     ],
+     "3D oriented bounding box dimensions": [
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+      0.18,
+      0.48
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
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+       0.92,
+       0.0
+      ],
+      [
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+       -0.39,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 1.33
+   }
+  ],
+  "window": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      0.36,
+      0.17,
+      5.15
+     ],
+     "3D oriented bounding box dimensions": [
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+      0.11,
+      0.19
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       -0.42,
+       0.91,
+       0.0
+      ],
+      [
+       -0.91,
+       -0.42,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 4.33
+   }
+  ]
+ },
+ "room": {
+  "floor boundary polygons": [
+   {
+    "outer boundary coordinates": [
+     [
+      -1.87,
+      1.35
+     ],
+     [
+      -1.47,
+      1.35
+     ],
+     [
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+      1.25
+     ],
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+      0.65
+     ],
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+     ],
+     [
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+      0.55
+     ],
+     [
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+      0.45
+     ],
+     [
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+     ],
+     [
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+      0.15
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+     [
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+     ],
+     [
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+     ],
+     [
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+     [
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+      -0.25
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+     [
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+     [
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+     [
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+     [
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+     [
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+     ],
+     [
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+     [
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+     [
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+     [
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+     [
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+     [
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+     [
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+     ],
+     [
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+     ],
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+     ],
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+     ],
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+      0.25
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+      0.35
+     ],
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+     ],
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+      0.55
+     ],
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+      0.65
+     ],
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+      0.75
+     ],
+     [
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+      0.85
+     ],
+     [
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+      0.95
+     ],
+     [
+      1.13,
+      1.15
+     ],
+     [
+      1.03,
+      1.25
+     ],
+     [
+      1.03,
+      1.35
+     ],
+     [
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+      1.45
+     ],
+     [
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+      1.65
+     ],
+     [
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+     ],
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+     ],
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+     ],
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+     ],
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+     ],
+     [
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+      2.35
+     ],
+     [
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+      2.45
+     ],
+     [
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+      2.55
+     ],
+     [
+      0.33,
+      2.55
+     ],
+     [
+      0.23,
+      2.65
+     ],
+     [
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+      2.75
+     ],
+     [
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+      2.75
+     ],
+     [
+      -0.07,
+      2.85
+     ],
+     [
+      -0.07,
+      2.95
+     ],
+     [
+      -1.37,
+      2.95
+     ],
+     [
+      -1.37,
+      2.85
+     ],
+     [
+      -1.47,
+      2.75
+     ],
+     [
+      -1.57,
+      2.75
+     ],
+     [
+      -1.57,
+      2.55
+     ],
+     [
+      -1.67,
+      2.45
+     ],
+     [
+      -1.67,
+      2.15
+     ],
+     [
+      -1.77,
+      2.05
+     ],
+     [
+      -1.87,
+      2.05
+     ]
+    ],
+    "interior hole boundary coordinates": []
+   }
+  ]
+ }
+}
\ No newline at end of file
diff --git a/experiments/caches/spatial codes/metric/tracking/selective/Center Sigma 15/64/compact/scene0426_00.json b/experiments/caches/spatial codes/metric/tracking/selective/Center Sigma 15/64/compact/scene0426_00.json
new file mode 100644
index 0000000000000000000000000000000000000000..ebab24eab950cf7e11ab2db0d233f5e35fcc675f
--- /dev/null
+++ b/experiments/caches/spatial codes/metric/tracking/selective/Center Sigma 15/64/compact/scene0426_00.json	
@@ -0,0 +1,1436 @@
+{
+ "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": [
+      -1.48,
+      -0.04,
+      -0.33
+     ],
+     "3D oriented bounding box dimensions": [
+      0.29,
+      0.2,
+      0.45
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.68,
+       0.73,
+       0.0
+      ],
+      [
+       -0.73,
+       0.68,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 0.33
+   }
+  ],
+  "bed": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -0.79,
+      -1.2,
+      -0.1
+     ],
+     "3D oriented bounding box dimensions": [
+      1.43,
+      0.55,
+      0.37
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.91,
+       -0.42,
+       0.0
+      ],
+      [
+       0.42,
+       0.91,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 0.17
+   }
+  ],
+  "chair": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -1.1,
+      0.9,
+      -0.18
+     ],
+     "3D oriented bounding box dimensions": [
+      0.39,
+      0.39,
+      0.67
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.99,
+       -0.11,
+       0.0
+      ],
+      [
+       0.11,
+       0.99,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 0.83
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      0.31,
+      -1.06,
+      -0.22
+     ],
+     "3D oriented bounding box dimensions": [
+      0.41,
+      0.36,
+      0.74
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       -0.7,
+       0.72,
+       0.0
+      ],
+      [
+       -0.72,
+       -0.7,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 2.83
+   }
+  ],
+  "computer mouse": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      0.1,
+      0.77,
+      0.16
+     ],
+     "3D oriented bounding box dimensions": [
+      0.11,
+      0.09,
+      0.01
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       1.0,
+       -0.01,
+       0.0
+      ],
+      [
+       0.01,
+       1.0,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 2.0
+   }
+  ],
+  "door": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      1.18,
+      -0.29,
+      -0.08
+     ],
+     "3D oriented bounding box dimensions": [
+      1.23,
+      0.03,
+      0.73
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.47,
+       0.88,
+       0.0
+      ],
+      [
+       -0.88,
+       0.47,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 2.5
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -0.79,
+      1.59,
+      0.02
+     ],
+     "3D oriented bounding box dimensions": [
+      0.67,
+      0.02,
+      1.49
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.9,
+       -0.44,
+       0.0
+      ],
+      [
+       0.44,
+       0.9,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 1.17
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      0.65,
+      -1.28,
+      0.28
+     ],
+     "3D oriented bounding box dimensions": [
+      0.57,
+      0.04,
+      1.19
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.43,
+       0.9,
+       0.0
+      ],
+      [
+       -0.9,
+       0.43,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 2.83
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
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+      0.38,
+      -0.15
+     ],
+     "3D oriented bounding box dimensions": [
+      0.4,
+      0.01,
+      0.16
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.91,
+       -0.42,
+       0.0
+      ],
+      [
+       0.42,
+       0.91,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 2.33
+   }
+  ],
+  "keyboard": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -2.38,
+      -1.15,
+      0.16
+     ],
+     "3D oriented bounding box dimensions": [
+      0.83,
+      0.31,
+      0.07
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.47,
+       0.88,
+       0.0
+      ],
+      [
+       -0.88,
+       0.47,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 0.0
+   }
+  ],
+  "lamp": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      0.6,
+      -0.82,
+      0.77
+     ],
+     "3D oriented bounding box dimensions": [
+      0.18,
+      0.14,
+      0.89
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
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+       0.97,
+       0.0
+      ],
+      [
+       -0.97,
+       0.26,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 3.0
+   }
+  ],
+  "mattress": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -0.72,
+      -1.07,
+      -0.07
+     ],
+     "3D oriented bounding box dimensions": [
+      1.39,
+      0.28,
+      0.16
+     ],
+     "3D oriented bounding box orientation unit vectors": [
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+       -0.45,
+       0.0
+      ],
+      [
+       0.45,
+       0.89,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 0.33
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
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+      -0.4,
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+     "3D oriented bounding box dimensions": [
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+     "3D oriented bounding box orientation unit vectors": [
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+    },
+    "first visible time": 2.67
+   },
+   {
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+     "3D oriented bounding box dimensions": [
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+      0.49,
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+     "3D oriented bounding box orientation unit vectors": [
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+    },
+    "first visible time": 0.0
+   }
+  ],
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+      -0.69,
+      0.25
+     ],
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+      0.06,
+      0.31
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+     "3D oriented bounding box orientation unit vectors": [
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+    "first visible time": 0.0
+   },
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+      0.31
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+     "3D oriented bounding box dimensions": [
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+      0.09,
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+     "3D oriented bounding box orientation unit vectors": [
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+       0.0,
+       1.0
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+    },
+    "first visible time": 0.0
+   }
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+  "piano": [
+   {
+    "3D oriented bounding box": {
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+      -1.15,
+      0.16
+     ],
+     "3D oriented bounding box dimensions": [
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+      0.31,
+      0.07
+     ],
+     "3D oriented bounding box orientation unit vectors": [
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+       0.0
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+      [
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+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 0.0
+   }
+  ],
+  "pillow": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
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+      -1.24,
+      0.08
+     ],
+     "3D oriented bounding box dimensions": [
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+      0.35,
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+     "3D oriented bounding box orientation unit vectors": [
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+       0.0,
+       1.0
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+    },
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+   },
+   {
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+      -1.84,
+      0.23
+     ],
+     "3D oriented bounding box dimensions": [
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+      0.44,
+      0.32
+     ],
+     "3D oriented bounding box orientation unit vectors": [
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+       0.0
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+       1.0,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 3.5
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
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+      0.9,
+      -0.08
+     ],
+     "3D oriented bounding box dimensions": [
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+      0.27,
+      0.04
+     ],
+     "3D oriented bounding box orientation unit vectors": [
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+       -0.1,
+       0.0
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+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 7.17
+   },
+   {
+    "3D oriented bounding box": {
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+      -1.97,
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+     ],
+     "3D oriented bounding box dimensions": [
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+      0.28
+     ],
+     "3D oriented bounding box orientation unit vectors": [
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+       0.0
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+      [
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+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 4.5
+   },
+   {
+    "3D oriented bounding box": {
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+      -2.31,
+      0.54
+     ],
+     "3D oriented bounding box dimensions": [
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+      0.14,
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+     ],
+     "3D oriented bounding box orientation unit vectors": [
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+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 4.5
+   }
+  ],
+  "plant": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      1.0,
+      0.57,
+      0.29
+     ],
+     "3D oriented bounding box dimensions": [
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+      0.07,
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+     ],
+     "3D oriented bounding box orientation unit vectors": [
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+       0.76,
+       0.0
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+      [
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+       -0.65,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 9.0
+   }
+  ],
+  "table": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
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+      -0.92,
+      0.08
+     ],
+     "3D oriented bounding box dimensions": [
+      1.53,
+      0.57,
+      0.06
+     ],
+     "3D oriented bounding box orientation unit vectors": [
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+       0.99,
+       0.0
+      ],
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+       0.0
+      ],
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+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 0.0
+   }
+  ],
+  "towel": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
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+      -1.67,
+      0.2
+     ],
+     "3D oriented bounding box dimensions": [
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+      0.45,
+      0.3
+     ],
+     "3D oriented bounding box orientation unit vectors": [
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+       -0.57,
+       0.0
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+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 4.5
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
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+      -0.43,
+      -0.05
+     ],
+     "3D oriented bounding box dimensions": [
+      0.41,
+      0.08,
+      0.04
+     ],
+     "3D oriented bounding box orientation unit vectors": [
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+       0.89,
+       0.0
+      ],
+      [
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+       0.45,
+       0.0
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+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 10.17
+   }
+  ],
+  "trash bin": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
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+      -0.28,
+      0.14
+     ],
+     "3D oriented bounding box dimensions": [
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+     ],
+     "3D oriented bounding box orientation unit vectors": [
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+      [
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+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 0.5
+   }
+  ],
+  "tv": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
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+      0.75,
+      0.54
+     ],
+     "3D oriented bounding box dimensions": [
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+      0.04,
+      0.57
+     ],
+     "3D oriented bounding box orientation unit vectors": [
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+       -0.47,
+       0.0
+      ],
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+       0.88,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 1.67
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
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+      -0.69,
+      0.25
+     ],
+     "3D oriented bounding box dimensions": [
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+      0.06,
+      0.31
+     ],
+     "3D oriented bounding box orientation unit vectors": [
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+       -0.49,
+       0.0
+      ],
+      [
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+       0.87,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 0.0
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
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+      -1.59,
+      0.31
+     ],
+     "3D oriented bounding box dimensions": [
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+      0.09,
+      0.38
+     ],
+     "3D oriented bounding box orientation unit vectors": [
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+       -0.51,
+       0.0
+      ],
+      [
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+       0.86,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 0.0
+   }
+  ],
+  "window": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -1.65,
+      -2.14,
+      0.72
+     ],
+     "3D oriented bounding box dimensions": [
+      1.09,
+      0.04,
+      0.63
+     ],
+     "3D oriented bounding box orientation unit vectors": [
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+       -0.42,
+       0.0
+      ],
+      [
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+       0.91,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 4.5
+   }
+  ]
+ },
+ "room": {
+  "floor boundary polygons": [
+   {
+    "outer boundary coordinates": [
+     [
+      -2.84,
+      -2.01
+     ],
+     [
+      -2.64,
+      -2.01
+     ],
+     [
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+      -2.11
+     ],
+     [
+      -2.44,
+      -2.11
+     ],
+     [
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+      -2.31
+     ],
+     [
+      -2.14,
+      -2.31
+     ],
+     [
+      -2.04,
+      -2.41
+     ],
+     [
+      -1.94,
+      -2.41
+     ],
+     [
+      -1.84,
+      -2.51
+     ],
+     [
+      -1.84,
+      -2.61
+     ],
+     [
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+      -2.61
+     ],
+     [
+      0.06,
+      -2.51
+     ],
+     [
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+      -2.41
+     ],
+     [
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+      -2.31
+     ],
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+     ],
+     [
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+      -2.21
+     ],
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+     ],
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+     ],
+     [
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+     ],
+     [
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+      -1.51
+     ],
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+     ],
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+     ],
+     [
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+      -1.21
+     ],
+     [
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+     ],
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+     ],
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+      -0.91
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+     [
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+     ],
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+     ],
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+     ],
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+     ],
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+     ],
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+     ],
+     [
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+      0.49
+     ],
+     [
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+      0.49
+     ],
+     [
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+      0.59
+     ],
+     [
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+      0.69
+     ],
+     [
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+      0.79
+     ],
+     [
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+      0.89
+     ],
+     [
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+      0.89
+     ],
+     [
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+      0.99
+     ],
+     [
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+      0.99
+     ],
+     [
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+      1.09
+     ],
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+      1.09
+     ],
+     [
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+      1.29
+     ],
+     [
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+      1.29
+     ],
+     [
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+      1.39
+     ],
+     [
+      0.16,
+      1.39
+     ],
+     [
+      0.06,
+      1.49
+     ],
+     [
+      -0.04,
+      1.49
+     ],
+     [
+      -0.14,
+      1.59
+     ],
+     [
+      -0.24,
+      1.59
+     ],
+     [
+      -0.34,
+      1.69
+     ],
+     [
+      -0.34,
+      1.79
+     ],
+     [
+      -1.54,
+      1.79
+     ],
+     [
+      -1.54,
+      1.69
+     ],
+     [
+      -1.74,
+      1.49
+     ],
+     [
+      -1.74,
+      1.39
+     ],
+     [
+      -1.84,
+      1.29
+     ],
+     [
+      -1.84,
+      1.19
+     ],
+     [
+      -1.94,
+      1.09
+     ],
+     [
+      -1.94,
+      0.99
+     ],
+     [
+      -2.04,
+      0.89
+     ],
+     [
+      -2.04,
+      0.79
+     ],
+     [
+      -2.14,
+      0.69
+     ],
+     [
+      -2.14,
+      0.59
+     ],
+     [
+      -2.24,
+      0.49
+     ],
+     [
+      -2.24,
+      0.39
+     ],
+     [
+      -2.34,
+      0.29
+     ],
+     [
+      -2.34,
+      0.19
+     ],
+     [
+      -2.44,
+      0.09
+     ],
+     [
+      -2.44,
+      -0.01
+     ],
+     [
+      -2.54,
+      -0.11
+     ],
+     [
+      -2.54,
+      -0.21
+     ],
+     [
+      -2.64,
+      -0.31
+     ],
+     [
+      -2.64,
+      -0.41
+     ],
+     [
+      -2.74,
+      -0.51
+     ],
+     [
+      -2.84,
+      -0.51
+     ]
+    ],
+    "interior hole boundary coordinates": []
+   }
+  ]
+ }
+}
\ No newline at end of file
diff --git a/experiments/caches/spatial codes/metric/tracking/selective/Center Sigma 15/64/compact/scene0435_02.json b/experiments/caches/spatial codes/metric/tracking/selective/Center Sigma 15/64/compact/scene0435_02.json
new file mode 100644
index 0000000000000000000000000000000000000000..50ae99437adac383c7754018395ca8419ec178de
--- /dev/null
+++ b/experiments/caches/spatial codes/metric/tracking/selective/Center Sigma 15/64/compact/scene0435_02.json	
@@ -0,0 +1,1318 @@
+{
+ "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": [
+      2.24,
+      1.16,
+      1.17
+     ],
+     "3D oriented bounding box dimensions": [
+      0.4,
+      0.3,
+      0.3
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       1.0,
+       -0.02,
+       0.0
+      ],
+      [
+       0.02,
+       1.0,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 4.17
+   }
+  ],
+  "bed": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      1.28,
+      0.82,
+      0.96
+     ],
+     "3D oriented bounding box dimensions": [
+      1.12,
+      0.53,
+      2.08
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       1.0,
+       -0.03,
+       0.0
+      ],
+      [
+       0.03,
+       1.0,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
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+      0.43
+     ],
+     [
+      -2.39,
+      0.43
+     ],
+     [
+      -2.29,
+      0.33
+     ],
+     [
+      -2.29,
+      -0.27
+     ],
+     [
+      -1.79,
+      -0.27
+     ],
+     [
+      -1.69,
+      -0.37
+     ],
+     [
+      -1.69,
+      -0.57
+     ],
+     [
+      3.31,
+      -0.57
+     ],
+     [
+      3.31,
+      -0.47
+     ],
+     [
+      3.41,
+      -0.37
+     ],
+     [
+      3.51,
+      -0.37
+     ],
+     [
+      3.51,
+      1.43
+     ],
+     [
+      -2.29,
+      1.43
+     ],
+     [
+      -2.29,
+      1.13
+     ],
+     [
+      -2.39,
+      1.03
+     ],
+     [
+      -2.69,
+      1.03
+     ],
+     [
+      -2.79,
+      1.13
+     ],
+     [
+      -2.79,
+      1.43
+     ],
+     [
+      -3.69,
+      1.43
+     ]
+    ],
+    "interior hole boundary coordinates": []
+   }
+  ]
+ }
+}
\ No newline at end of file
diff --git a/experiments/caches/spatial codes/metric/tracking/selective/Center Sigma 15/64/compact/scene0575_01.json b/experiments/caches/spatial codes/metric/tracking/selective/Center Sigma 15/64/compact/scene0575_01.json
new file mode 100644
index 0000000000000000000000000000000000000000..2c921d310c36e36ce3c09b392a388f662f999018
--- /dev/null
+++ b/experiments/caches/spatial codes/metric/tracking/selective/Center Sigma 15/64/compact/scene0575_01.json	
@@ -0,0 +1,1054 @@
+{
+ "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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+      1.82,
+      0.83
+     ],
+     "3D oriented bounding box dimensions": [
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+      0.52,
+      0.39
+     ],
+     "3D oriented bounding box orientation unit vectors": [
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+       0.94,
+       0.0
+      ],
+      [
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+       -0.35,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 0.17
+   },
+   {
+    "3D oriented bounding box": {
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+      0.42,
+      1.06
+     ],
+     "3D oriented bounding box dimensions": [
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+      0.47,
+      0.45
+     ],
+     "3D oriented bounding box orientation unit vectors": [
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+       0.06,
+       0.0
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+       1.0,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 0.0
+   },
+   {
+    "3D oriented bounding box": {
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+      2.01,
+      2.85
+     ],
+     "3D oriented bounding box dimensions": [
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+      0.97,
+      0.5
+     ],
+     "3D oriented bounding box orientation unit vectors": [
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+       0.96,
+       0.0
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+       0.0
+      ],
+      [
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+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 1.67
+   },
+   {
+    "3D oriented bounding box": {
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+      2.43,
+      1.01
+     ],
+     "3D oriented bounding box dimensions": [
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+      0.43,
+      0.25
+     ],
+     "3D oriented bounding box orientation unit vectors": [
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+       0.99,
+       0.0
+      ],
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+       -0.15,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 1.0
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
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+      1.4,
+      2.89
+     ],
+     "3D oriented bounding box dimensions": [
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+      1.03,
+      0.6
+     ],
+     "3D oriented bounding box orientation unit vectors": [
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+       0.91,
+       0.0
+      ],
+      [
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+       -0.42,
+       0.0
+      ],
+      [
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+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 1.5
+   },
+   {
+    "3D oriented bounding box": {
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+      3.07,
+      2.67
+     ],
+     "3D oriented bounding box dimensions": [
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+      0.75,
+      0.46
+     ],
+     "3D oriented bounding box orientation unit vectors": [
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+       0.95,
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+       0.0
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+       0.0,
+       1.0
+      ]
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+    "first visible time": 2.0
+   },
+   {
+    "3D oriented bounding box": {
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+      0.47
+     ],
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+     "3D oriented bounding box orientation unit vectors": [
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+       0.0,
+       1.0
+      ]
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+   },
+   {
+    "3D oriented bounding box": {
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+   },
+   {
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+    "first visible time": 0.0
+   },
+   {
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+      0.25,
+      0.0
+     ],
+     "3D oriented bounding box dimensions": [
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+       0.0
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+      [
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+       0.0,
+       1.0
+      ]
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+    },
+    "first visible time": 0.0
+   },
+   {
+    "3D oriented bounding box": {
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+      0.5,
+      0.0
+     ],
+     "3D oriented bounding box dimensions": [
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+       1.0
+      ]
+     ]
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+    "first visible time": 0.0
+   }
+  ],
+  "computer mouse": [
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+    "3D oriented bounding box": {
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+      0.62,
+      2.01
+     ],
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+     ],
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+       1.0
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+   }
+  ],
+  "door": [
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+      0.02
+     ],
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+   }
+  ],
+  "monitor": [
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+     ],
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+     "3D oriented bounding box orientation unit vectors": [
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+     ],
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+    "first visible time": 3.0
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+    "3D oriented bounding box": {
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+     ],
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+      3.57
+     ],
+     [
+      0.47,
+      3.77
+     ],
+     [
+      0.37,
+      3.87
+     ],
+     [
+      0.37,
+      4.07
+     ],
+     [
+      0.17,
+      4.27
+     ],
+     [
+      0.17,
+      4.37
+     ],
+     [
+      -1.63,
+      4.37
+     ],
+     [
+      -1.63,
+      4.27
+     ],
+     [
+      -1.73,
+      4.17
+     ],
+     [
+      -1.83,
+      4.17
+     ]
+    ],
+    "interior hole boundary coordinates": []
+   }
+  ]
+ }
+}
\ No newline at end of file
diff --git a/experiments/caches/spatial codes/metric/tracking/selective/Center Sigma 15/64/compact/scene0580_01.json b/experiments/caches/spatial codes/metric/tracking/selective/Center Sigma 15/64/compact/scene0580_01.json
new file mode 100644
index 0000000000000000000000000000000000000000..7e7abaa01580fed1b0ccd437e980e6496cc14a22
--- /dev/null
+++ b/experiments/caches/spatial codes/metric/tracking/selective/Center Sigma 15/64/compact/scene0580_01.json	
@@ -0,0 +1,968 @@
+{
+ "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": [
+      1.7,
+      -1.2,
+      0.03
+     ],
+     "3D oriented bounding box dimensions": [
+      0.3,
+      0.26,
+      0.47
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.91,
+       0.42,
+       0.0
+      ],
+      [
+       -0.42,
+       0.91,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 5.0
+   }
+  ],
+  "bed": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      0.82,
+      -0.02,
+      0.0
+     ],
+     "3D oriented bounding box dimensions": [
+      1.42,
+      0.71,
+      0.16
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.18,
+       0.98,
+       0.0
+      ],
+      [
+       -0.98,
+       0.18,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 0.5
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      0.88,
+      0.18,
+      0.02
+     ],
+     "3D oriented bounding box dimensions": [
+      1.52,
+      0.77,
+      0.15
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       -0.23,
+       0.97,
+       0.0
+      ],
+      [
+       -0.97,
+       -0.23,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 9.33
+   }
+  ],
+  "bookshelf": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      2.31,
+      0.96,
+      0.14
+     ],
+     "3D oriented bounding box dimensions": [
+      0.27,
+      0.29,
+      1.2
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.03,
+       1.0,
+       0.0
+      ],
+      [
+       -1.0,
+       0.03,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 2.83
+   }
+  ],
+  "chair": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      1.71,
+      -1.15,
+      -0.11
+     ],
+     "3D oriented bounding box dimensions": [
+      0.46,
+      0.44,
+      0.84
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       -0.34,
+       0.94,
+       0.0
+      ],
+      [
+       -0.94,
+       -0.34,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 5.0
+   }
+  ],
+  "closet": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      2.43,
+      0.81,
+      0.66
+     ],
+     "3D oriented bounding box dimensions": [
+      0.25,
+      0.12,
+      0.98
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.99,
+       0.1,
+       0.0
+      ],
+      [
+       -0.1,
+       0.99,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 5.83
+   }
+  ],
+  "door": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      2.46,
+      0.54,
+      0.76
+     ],
+     "3D oriented bounding box dimensions": [
+      0.21,
+      0.09,
+      1.26
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.99,
+       0.14,
+       0.0
+      ],
+      [
+       -0.14,
+       0.99,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 4.67
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -0.07,
+      1.34,
+      0.41
+     ],
+     "3D oriented bounding box dimensions": [
+      0.75,
+      0.21,
+      2.04
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.28,
+       0.96,
+       0.0
+      ],
+      [
+       -0.96,
+       0.28,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 8.83
+   }
+  ],
+  "fan": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      1.08,
+      0.31,
+      1.92
+     ],
+     "3D oriented bounding box dimensions": [
+      1.11,
+      0.74,
+      0.31
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.97,
+       -0.22,
+       0.0
+      ],
+      [
+       0.22,
+       0.97,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 9.0
+   }
+  ],
+  "lamp": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -0.21,
+      -0.74,
+      0.46
+     ],
+     "3D oriented bounding box dimensions": [
+      0.24,
+      0.29,
+      0.82
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.85,
+       0.52,
+       0.0
+      ],
+      [
+       -0.52,
+       0.85,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 0.17
+   }
+  ],
+  "mattress": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      0.9,
+      0.15,
+      0.0
+     ],
+     "3D oriented bounding box dimensions": [
+      1.53,
+      0.71,
+      0.16
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       -0.29,
+       0.96,
+       0.0
+      ],
+      [
+       -0.96,
+       -0.29,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 0.5
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      1.29,
+      0.18,
+      -0.1
+     ],
+     "3D oriented bounding box dimensions": [
+      0.95,
+      0.62,
+      0.18
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.79,
+       -0.61,
+       0.0
+      ],
+      [
+       0.61,
+       0.79,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 8.67
+   }
+  ],
+  "mirror": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      1.2,
+      1.66,
+      0.69
+     ],
+     "3D oriented bounding box dimensions": [
+      0.29,
+      0.25,
+      0.64
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.04,
+       1.0,
+       0.0
+      ],
+      [
+       -1.0,
+       0.04,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 3.33
+   }
+  ],
+  "nightstand": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -0.29,
+      -0.8,
+      -0.05
+     ],
+     "3D oriented bounding box dimensions": [
+      0.53,
+      0.35,
+      0.35
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.98,
+       -0.22,
+       0.0
+      ],
+      [
+       0.22,
+       0.98,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 0.17
+   }
+  ],
+  "pillow": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      0.97,
+      0.34,
+      0.02
+     ],
+     "3D oriented bounding box dimensions": [
+      0.65,
+      0.31,
+      0.08
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       -0.49,
+       0.87,
+       0.0
+      ],
+      [
+       -0.87,
+       -0.49,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 2.33
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      0.46,
+      -0.78,
+      0.19
+     ],
+     "3D oriented bounding box dimensions": [
+      0.83,
+      0.34,
+      0.16
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       1.0,
+       -0.08,
+       0.0
+      ],
+      [
+       0.08,
+       1.0,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 0.17
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      1.04,
+      -0.88,
+      0.09
+     ],
+     "3D oriented bounding box dimensions": [
+      0.69,
+      0.3,
+      0.17
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.96,
+       -0.29,
+       0.0
+      ],
+      [
+       0.29,
+       0.96,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 0.67
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      1.32,
+      1.5,
+      0.4
+     ],
+     "3D oriented bounding box dimensions": [
+      0.16,
+      0.03,
+      0.11
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       1.0,
+       -0.09,
+       0.0
+      ],
+      [
+       0.09,
+       1.0,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 8.83
+   }
+  ],
+  "table": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      1.29,
+      1.13,
+      -0.08
+     ],
+     "3D oriented bounding box dimensions": [
+      1.25,
+      0.21,
+      0.49
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.94,
+       -0.34,
+       0.0
+      ],
+      [
+       0.34,
+       0.94,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 2.67
+   }
+  ],
+  "telephone": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      0.96,
+      1.37,
+      0.2
+     ],
+     "3D oriented bounding box dimensions": [
+      0.3,
+      0.05,
+      0.04
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       -0.48,
+       0.88,
+       0.0
+      ],
+      [
+       -0.88,
+       -0.48,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 2.67
+   }
+  ],
+  "towel": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      1.03,
+      0.21,
+      0.03
+     ],
+     "3D oriented bounding box dimensions": [
+      0.68,
+      0.31,
+      0.1
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       -0.52,
+       0.86,
+       0.0
+      ],
+      [
+       -0.86,
+       -0.52,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 2.0
+   }
+  ],
+  "trash bin": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      0.48,
+      1.53,
+      -0.25
+     ],
+     "3D oriented bounding box dimensions": [
+      0.22,
+      0.19,
+      0.35
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.93,
+       0.38,
+       0.0
+      ],
+      [
+       -0.38,
+       0.93,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 2.5
+   }
+  ],
+  "window": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      2.26,
+      -0.04,
+      0.06
+     ],
+     "3D oriented bounding box dimensions": [
+      0.41,
+      0.32,
+      1.68
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.3,
+       0.96,
+       0.0
+      ],
+      [
+       -0.96,
+       0.3,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 2.83
+   }
+  ]
+ },
+ "room": {
+  "floor boundary polygons": [
+   {
+    "outer boundary coordinates": [
+     [
+      -0.67,
+      -1.36
+     ],
+     [
+      -0.57,
+      -1.36
+     ],
+     [
+      -0.47,
+      -1.46
+     ],
+     [
+      -0.07,
+      -1.46
+     ],
+     [
+      0.03,
+      -1.56
+     ],
+     [
+      0.03,
+      -1.66
+     ],
+     [
+      2.43,
+      -1.66
+     ],
+     [
+      2.43,
+      -1.26
+     ],
+     [
+      2.53,
+      -1.16
+     ],
+     [
+      2.53,
+      -0.96
+     ],
+     [
+      2.63,
+      -0.86
+     ],
+     [
+      2.73,
+      -0.86
+     ],
+     [
+      2.73,
+      1.64
+     ],
+     [
+      2.23,
+      1.64
+     ],
+     [
+      2.13,
+      1.74
+     ],
+     [
+      1.63,
+      1.74
+     ],
+     [
+      1.53,
+      1.84
+     ],
+     [
+      1.53,
+      2.04
+     ],
+     [
+      -0.37,
+      2.04
+     ],
+     [
+      -0.37,
+      1.94
+     ],
+     [
+      -0.47,
+      1.84
+     ],
+     [
+      -0.47,
+      1.54
+     ],
+     [
+      -0.57,
+      1.44
+     ],
+     [
+      -0.67,
+      1.44
+     ]
+    ],
+    "interior hole boundary coordinates": []
+   }
+  ]
+ }
+}
\ No newline at end of file
diff --git a/experiments/caches/spatial codes/metric/tracking/selective/Center Sigma 15/64/compact/scene0593_00.json b/experiments/caches/spatial codes/metric/tracking/selective/Center Sigma 15/64/compact/scene0593_00.json
new file mode 100644
index 0000000000000000000000000000000000000000..a25806a12a3d06575adcd1649c1963b7f6e49ec3
--- /dev/null
+++ b/experiments/caches/spatial codes/metric/tracking/selective/Center Sigma 15/64/compact/scene0593_00.json	
@@ -0,0 +1,1198 @@
+{
+ "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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+      0.03,
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+     "3D oriented bounding box dimensions": [
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+      0.3,
+      0.3
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+       0.0
+      ],
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+       0.0
+      ],
+      [
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+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 5.17
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+  ],
+  "bookshelf": [
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+      0.53,
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+     "3D oriented bounding box dimensions": [
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+      0.45
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+     "3D oriented bounding box orientation unit vectors": [
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+       0.0
+      ],
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+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 7.0
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+  ],
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+      0.46,
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+       0.0
+      ],
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+       0.0
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+      [
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+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 0.5
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+  ],
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+      -2.16
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+      0.05,
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+     "3D oriented bounding box orientation unit vectors": [
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+       0.98,
+       0.0
+      ],
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+       0.0,
+       1.0
+      ]
+     ]
+    },
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+   {
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+      0.02,
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+      ],
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+       0.0
+      ],
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+       0.0,
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+     ]
+    },
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+       0.0
+      ],
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+       0.0
+      ],
+      [
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+       0.0,
+       1.0
+      ]
+     ]
+    },
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+   },
+   {
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+      0.01,
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+       0.0
+      ],
+      [
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+       0.0,
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+      ]
+     ]
+    },
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+   {
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+      -0.97,
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+     ],
+     "3D oriented bounding box dimensions": [
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+     "3D oriented bounding box orientation unit vectors": [
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+       0.0
+      ],
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+       0.0
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+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 2.67
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+  ],
+  "fan": [
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+       0.0
+      ],
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+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 3.0
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+  ],
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+       0.0,
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+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 3.33
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+  ],
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+    },
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+  ],
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+      ]
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+   {
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+     "3D oriented bounding box dimensions": [
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+  "refrigerator": [
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+  ],
+  "sofa": [
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+     "3D oriented bounding box orientation unit vectors": [
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+    },
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+  ],
+  "table": [
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+     "3D oriented bounding box orientation unit vectors": [
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+    },
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+  "telephone": [
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+     "3D oriented bounding box dimensions": [
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+     "3D oriented bounding box orientation unit vectors": [
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+  "towel": [
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+     "3D oriented bounding box orientation unit vectors": [
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+    },
+    "first visible time": 4.0
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+      -0.71,
+      2.42
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+     "3D oriented bounding box dimensions": [
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+     "3D oriented bounding box dimensions": [
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+     "3D oriented bounding box orientation unit vectors": [
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+       0.0
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+       1.0
+      ]
+     ]
+    },
+    "first visible time": 1.67
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+  ],
+  "tv": [
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+    "first visible time": 4.83
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+  "window": [
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+     "3D oriented bounding box dimensions": [
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+     "3D oriented bounding box dimensions": [
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+     "3D oriented bounding box orientation unit vectors": [
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+    },
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+ "room": {
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+     [
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+      -1.16
+     ],
+     [
+      2.1,
+      0.14
+     ],
+     [
+      2.0,
+      0.14
+     ],
+     [
+      1.9,
+      0.24
+     ],
+     [
+      1.9,
+      0.64
+     ],
+     [
+      1.8,
+      0.74
+     ],
+     [
+      1.8,
+      1.04
+     ],
+     [
+      1.7,
+      1.14
+     ],
+     [
+      1.7,
+      1.44
+     ],
+     [
+      1.6,
+      1.54
+     ],
+     [
+      1.6,
+      1.84
+     ],
+     [
+      1.5,
+      1.94
+     ],
+     [
+      1.5,
+      2.24
+     ],
+     [
+      -0.6,
+      2.24
+     ],
+     [
+      -0.6,
+      2.14
+     ],
+     [
+      -0.7,
+      2.04
+     ],
+     [
+      -1.1,
+      2.04
+     ]
+    ],
+    "interior hole boundary coordinates": []
+   }
+  ]
+ }
+}
\ No newline at end of file
diff --git a/experiments/caches/spatial codes/metric/tracking/selective/Center Sigma 15/64/compact/scene0647_00.json b/experiments/caches/spatial codes/metric/tracking/selective/Center Sigma 15/64/compact/scene0647_00.json
new file mode 100644
index 0000000000000000000000000000000000000000..bd9493084c8a12234ed7af4a2d36579f5f4ae61c
--- /dev/null
+++ b/experiments/caches/spatial codes/metric/tracking/selective/Center Sigma 15/64/compact/scene0647_00.json	
@@ -0,0 +1,982 @@
+{
+ "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": [
+      1.61,
+      -1.24,
+      4.09
+     ],
+     "3D oriented bounding box dimensions": [
+      0.47,
+      0.36,
+      0.21
+     ],
+     "3D oriented bounding box orientation unit vectors": [
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+       0.74,
+       0.0
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+       0.67,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 4.83
+   }
+  ],
+  "chair": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
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+      -0.5,
+      3.98
+     ],
+     "3D oriented bounding box dimensions": [
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+      0.54,
+      0.53
+     ],
+     "3D oriented bounding box orientation unit vectors": [
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+       -0.4,
+       0.0
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+      [
+       0.4,
+       0.92,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 5.0
+   },
+   {
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+      -1.89,
+      4.26
+     ],
+     "3D oriented bounding box dimensions": [
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+      0.41,
+      0.44
+     ],
+     "3D oriented bounding box orientation unit vectors": [
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+       1.0,
+       0.0
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+      [
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+       -0.01,
+       0.0
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+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 5.0
+   }
+  ],
+  "door": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
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+      -1.48,
+      -0.02
+     ],
+     "3D oriented bounding box dimensions": [
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+      1.94,
+      0.04
+     ],
+     "3D oriented bounding box orientation unit vectors": [
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+       1.0,
+       0.0
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+       -0.05,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 0.5
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
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+      -0.41,
+      -0.06
+     ],
+     "3D oriented bounding box dimensions": [
+      1.95,
+      0.69,
+      0.04
+     ],
+     "3D oriented bounding box orientation unit vectors": [
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+       0.21,
+       0.0
+      ],
+      [
+       -0.21,
+       0.98,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 5.5
+   }
+  ],
+  "fan": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -0.24,
+      -1.91,
+      2.45
+     ],
+     "3D oriented bounding box dimensions": [
+      0.64,
+      0.03,
+      0.95
+     ],
+     "3D oriented bounding box orientation unit vectors": [
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+       0.97,
+       0.0
+      ],
+      [
+       -0.97,
+       -0.24,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 3.0
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
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+      -2.88,
+      0.96
+     ],
+     "3D oriented bounding box dimensions": [
+      0.38,
+      0.13,
+      0.76
+     ],
+     "3D oriented bounding box orientation unit vectors": [
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+       0.94,
+       0.0
+      ],
+      [
+       -0.94,
+       -0.35,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 2.83
+   }
+  ],
+  "lamp": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
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+      -2.54,
+      0.98
+     ],
+     "3D oriented bounding box dimensions": [
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+     "3D oriented bounding box orientation unit vectors": [
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+       0.0,
+       1.0
+      ]
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+   }
+  ],
+  "mirror": [
+   {
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+      5.0,
+      1.12
+     ],
+     "3D oriented bounding box dimensions": [
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+      1.71,
+      2.33
+     ],
+     "3D oriented bounding box orientation unit vectors": [
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+       0.79,
+       0.0
+      ],
+      [
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+       -0.61,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 6.67
+   }
+  ],
+  "monitor": [
+   {
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+      2.93,
+      3.12
+     ],
+     "3D oriented bounding box dimensions": [
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+      0.32,
+      0.92
+     ],
+     "3D oriented bounding box orientation unit vectors": [
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+       0.87,
+       0.0
+      ],
+      [
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+       -0.49,
+       0.0
+      ],
+      [
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+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 6.83
+   }
+  ],
+  "sofa": [
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+      -2.48,
+      3.66
+     ],
+     "3D oriented bounding box dimensions": [
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+      0.82,
+      1.74
+     ],
+     "3D oriented bounding box orientation unit vectors": [
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+       0.95,
+       0.0
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+      [
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+       -0.3,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 3.5
+   }
+  ],
+  "table": [
+   {
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+      0.47,
+      1.37
+     ],
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+      0.35,
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+      ]
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+   },
+   {
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+      3.6
+     ],
+     "3D oriented bounding box dimensions": [
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+     "3D oriented bounding box orientation unit vectors": [
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+       0.0
+      ],
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+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 3.83
+   },
+   {
+    "3D oriented bounding box": {
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+      -2.89,
+      0.93
+     ],
+     "3D oriented bounding box dimensions": [
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+      0.58
+     ],
+     "3D oriented bounding box orientation unit vectors": [
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+      ],
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+       1.0,
+       0.0
+      ],
+      [
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+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 2.33
+   }
+  ],
+  "tv": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
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+      2.93,
+      3.42
+     ],
+     "3D oriented bounding box dimensions": [
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+      0.05,
+      1.3
+     ],
+     "3D oriented bounding box orientation unit vectors": [
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+       0.2,
+       0.0
+      ],
+      [
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+       0.98,
+       0.0
+      ],
+      [
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+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 6.0
+   }
+  ]
+ },
+ "room": {
+  "floor boundary polygons": [
+   {
+    "outer boundary coordinates": [
+     [
+      -2.52,
+      5.53
+     ],
+     [
+      -2.42,
+      5.43
+     ],
+     [
+      -2.42,
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+     ],
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+      5.23
+     ],
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+     ],
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+      4.83
+     ],
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+      4.53
+     ],
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+      4.33
+     ],
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+     ],
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+     ],
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+     ],
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+     ],
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+     ],
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+     ],
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+     ],
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+     ],
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+     ],
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+     ],
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+     ],
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+     ],
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+     ],
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+     ],
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+     ],
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+     ],
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+     ],
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+     ],
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+     ],
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+     ],
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+     ],
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+     ],
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+     ],
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+     ],
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+     ],
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+     ],
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+      2.33
+     ],
+     [
+      1.08,
+      2.43
+     ],
+     [
+      1.08,
+      2.73
+     ],
+     [
+      0.98,
+      2.83
+     ],
+     [
+      0.98,
+      3.13
+     ],
+     [
+      0.88,
+      3.23
+     ],
+     [
+      0.88,
+      3.53
+     ],
+     [
+      0.78,
+      3.63
+     ],
+     [
+      0.78,
+      3.93
+     ],
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+      4.03
+     ],
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+     ],
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+     ],
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+      4.73
+     ],
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+     ],
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+      5.13
+     ],
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+      5.23
+     ],
+     [
+      0.38,
+      5.53
+     ],
+     [
+      0.28,
+      5.63
+     ],
+     [
+      0.28,
+      5.93
+     ],
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+      6.03
+     ],
+     [
+      0.18,
+      6.23
+     ],
+     [
+      0.08,
+      6.33
+     ],
+     [
+      -0.42,
+      6.33
+     ],
+     [
+      -0.52,
+      6.43
+     ],
+     [
+      -0.72,
+      6.43
+     ],
+     [
+      -0.82,
+      6.53
+     ],
+     [
+      -1.42,
+      6.53
+     ],
+     [
+      -1.52,
+      6.43
+     ],
+     [
+      -2.32,
+      6.43
+     ],
+     [
+      -2.32,
+      6.33
+     ],
+     [
+      -2.42,
+      6.23
+     ],
+     [
+      -2.52,
+      6.23
+     ]
+    ],
+    "interior hole boundary coordinates": []
+   }
+  ]
+ }
+}
\ No newline at end of file
diff --git a/experiments/caches/spatial codes/metric/tracking/selective/Center Sigma 15/64/compact/scene0648_00.json b/experiments/caches/spatial codes/metric/tracking/selective/Center Sigma 15/64/compact/scene0648_00.json
new file mode 100644
index 0000000000000000000000000000000000000000..8b0deb1cdd1ee01a42657966aa01cc3fa9de008d
--- /dev/null
+++ b/experiments/caches/spatial codes/metric/tracking/selective/Center Sigma 15/64/compact/scene0648_00.json	
@@ -0,0 +1,1246 @@
+{
+ "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"
+     }
+    }
+   ]
+  },
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+    {
+     "outer boundary coordinates": {
+      "components": [
+       [
+        "x",
+        "y"
+       ],
+       [
+        "x",
+        "y"
+       ]
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+      "unit": "meters",
+      "description": "ordered vertices enclosing one floor region"
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+     "interior hole boundary coordinates": {
+      "components": [
+       [
+        [
+         "x",
+         "y"
+        ],
+        [
+         "x",
+         "y"
+        ]
+       ]
+      ],
+      "unit": "meters",
+      "description": "ordered boundaries enclosing regions excluded from the floor area"
+     }
+    }
+   ]
+  }
+ },
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+   {
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+     "3D oriented bounding box center coordinates": [
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+      1.82,
+      0.46
+     ],
+     "3D oriented bounding box dimensions": [
+      0.21,
+      0.1,
+      0.56
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       1.0,
+       0.09,
+       0.0
+      ],
+      [
+       -0.09,
+       1.0,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 9.33
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      0.54,
+      1.83,
+      -0.03
+     ],
+     "3D oriented bounding box dimensions": [
+      0.2,
+      0.09,
+      0.56
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       1.0,
+       0.05,
+       0.0
+      ],
+      [
+       -0.05,
+       1.0,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 9.33
+   }
+  ]
+ },
+ "room": {
+  "floor boundary polygons": [
+   {
+    "outer boundary coordinates": [
+     [
+      -1.01,
+      -1.51
+     ],
+     [
+      1.59,
+      -1.51
+     ],
+     [
+      1.59,
+      1.19
+     ],
+     [
+      1.19,
+      1.19
+     ],
+     [
+      1.09,
+      1.29
+     ],
+     [
+      1.09,
+      1.59
+     ],
+     [
+      0.89,
+      1.79
+     ],
+     [
+      0.89,
+      2.59
+     ],
+     [
+      -0.71,
+      2.59
+     ],
+     [
+      -0.71,
+      2.39
+     ],
+     [
+      -0.81,
+      2.29
+     ],
+     [
+      -0.81,
+      1.99
+     ],
+     [
+      -0.91,
+      1.89
+     ],
+     [
+      -1.01,
+      1.89
+     ]
+    ],
+    "interior hole boundary coordinates": []
+   }
+  ]
+ }
+}
\ No newline at end of file
diff --git a/experiments/caches/spatial codes/metric/tracking/selective/Center Sigma 15/64/compact/scene0663_00.json b/experiments/caches/spatial codes/metric/tracking/selective/Center Sigma 15/64/compact/scene0663_00.json
new file mode 100644
index 0000000000000000000000000000000000000000..2e825feaf5e9d0de228614a5bdc659c597a551e0
--- /dev/null
+++ b/experiments/caches/spatial codes/metric/tracking/selective/Center Sigma 15/64/compact/scene0663_00.json	
@@ -0,0 +1,1116 @@
+{
+ "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": [
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+      0.62,
+      0.41
+     ],
+     "3D oriented bounding box dimensions": [
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+      0.43,
+      0.25
+     ],
+     "3D oriented bounding box orientation unit vectors": [
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+       -0.41,
+       0.0
+      ],
+      [
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+       0.91,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 2.0
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
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+      1.08,
+      0.86
+     ],
+     "3D oriented bounding box dimensions": [
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+      0.23,
+      0.26
+     ],
+     "3D oriented bounding box orientation unit vectors": [
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+       0.98,
+       0.0
+      ],
+      [
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+       -0.2,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 2.0
+   },
+   {
+    "3D oriented bounding box": {
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+      0.63,
+      0.53
+     ],
+     "3D oriented bounding box dimensions": [
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+      0.16,
+      0.15
+     ],
+     "3D oriented bounding box orientation unit vectors": [
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+       -0.67,
+       0.0
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+       0.74,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 6.5
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
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+      1.11,
+      0.77
+     ],
+     "3D oriented bounding box dimensions": [
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+      0.22,
+      0.3
+     ],
+     "3D oriented bounding box orientation unit vectors": [
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+       0.93,
+       0.0
+      ],
+      [
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+       0.36,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 2.83
+   }
+  ],
+  "chair": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
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+      0.64,
+      1.04
+     ],
+     "3D oriented bounding box dimensions": [
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+      0.4,
+      0.51
+     ],
+     "3D oriented bounding box orientation unit vectors": [
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+       0.69,
+       0.0
+      ],
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+       0.73,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 0.0
+   },
+   {
+    "3D oriented bounding box": {
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+      0.7,
+      1.56
+     ],
+     "3D oriented bounding box dimensions": [
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+      0.44,
+      0.49
+     ],
+     "3D oriented bounding box orientation unit vectors": [
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+       0.83,
+       0.0
+      ],
+      [
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+       -0.56,
+       0.0
+      ],
+      [
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+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 3.67
+   },
+   {
+    "3D oriented bounding box": {
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+      0.78,
+      1.52
+     ],
+     "3D oriented bounding box dimensions": [
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+     ],
+     "3D oriented bounding box orientation unit vectors": [
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+       0.99,
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+      ],
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+       0.17,
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+      ],
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+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 3.33
+   }
+  ],
+  "computer mouse": [
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+    "3D oriented bounding box": {
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+      0.63,
+      0.43
+     ],
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+      ],
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+       0.0,
+       1.0
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+   },
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+      0.66,
+      2.07
+     ],
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+      0.03,
+      0.13
+     ],
+     "3D oriented bounding box orientation unit vectors": [
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+       -0.11,
+       0.0
+      ],
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+       0.99,
+       0.0
+      ],
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+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 8.33
+   },
+   {
+    "3D oriented bounding box": {
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+      0.65,
+      2.25
+     ],
+     "3D oriented bounding box dimensions": [
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+      0.02,
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+     ],
+     "3D oriented bounding box orientation unit vectors": [
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+       0.0
+      ],
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+       0.99,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 8.5
+   }
+  ],
+  "door": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
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+      0.57,
+      0.57
+     ],
+     "3D oriented bounding box dimensions": [
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+      0.04,
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+     "3D oriented bounding box orientation unit vectors": [
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+       1.0,
+       0.0
+      ],
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+       -0.01,
+       0.0
+      ],
+      [
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+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 3.0
+   }
+  ],
+  "keyboard": [
+   {
+    "3D oriented bounding box": {
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+      0.63,
+      0.37
+     ],
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+     ],
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+   },
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+      0.66,
+      2.1
+     ],
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+       1.0
+      ]
+     ]
+    },
+    "first visible time": 8.33
+   }
+  ],
+  "lamp": [
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+      0.54,
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+     "3D oriented bounding box orientation unit vectors": [
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+       1.0
+      ]
+     ]
+    },
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+   }
+  ],
+  "monitor": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
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+      0.42,
+      0.01
+     ],
+     "3D oriented bounding box dimensions": [
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+      0.45,
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+       0.0,
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+      ]
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+    "first visible time": 0.5
+   },
+   {
+    "3D oriented bounding box": {
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+      0.41,
+      0.01
+     ],
+     "3D oriented bounding box dimensions": [
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+      0.43,
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+     "3D oriented bounding box orientation unit vectors": [
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+      [
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+       1.0,
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+      ],
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+       0.0,
+       1.0
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+   },
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+      0.36,
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+     ],
+     "3D oriented bounding box dimensions": [
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+      0.32,
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+      ]
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+    "first visible time": 3.67
+   }
+  ],
+  "table": [
+   {
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+     "3D oriented bounding box center coordinates": [
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+      0.89,
+      0.1
+     ],
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+     ],
+     "3D oriented bounding box orientation unit vectors": [
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+      ]
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+   },
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+      0.65,
+      0.24
+     ],
+     "3D oriented bounding box dimensions": [
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+      0.03,
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+     ],
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+      [
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+   },
+   {
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+      0.65,
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+     ],
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+      0.05,
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+     ],
+     "3D oriented bounding box orientation unit vectors": [
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+       0.0
+      ],
+      [
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+       1.0,
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+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 0.0
+   }
+  ],
+  "telephone": [
+   {
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+      0.62,
+      2.29
+     ],
+     "3D oriented bounding box dimensions": [
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+      0.09,
+      0.26
+     ],
+     "3D oriented bounding box orientation unit vectors": [
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+       0.13,
+       0.0
+      ],
+      [
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+       0.0
+      ],
+      [
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+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 3.67
+   }
+  ],
+  "towel": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
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+      0.59,
+      1.54
+     ],
+     "3D oriented bounding box dimensions": [
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+      0.22,
+      0.81
+     ],
+     "3D oriented bounding box orientation unit vectors": [
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+       0.97,
+       0.0
+      ],
+      [
+       -0.97,
+       0.25,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 3.83
+   }
+  ],
+  "trash bin": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
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+      1.11,
+      0.37
+     ],
+     "3D oriented bounding box dimensions": [
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+      0.35,
+      0.19
+     ],
+     "3D oriented bounding box orientation unit vectors": [
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+       0.11,
+       0.0
+      ],
+      [
+       -0.11,
+       0.99,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 3.0
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
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+      1.15,
+      1.37
+     ],
+     "3D oriented bounding box dimensions": [
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+      0.33,
+      0.25
+     ],
+     "3D oriented bounding box orientation unit vectors": [
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+       0.04,
+       0.0
+      ],
+      [
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+       1.0,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 8.33
+   }
+  ],
+  "tv": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
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+      0.42,
+      0.01
+     ],
+     "3D oriented bounding box dimensions": [
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+      0.43,
+      0.13
+     ],
+     "3D oriented bounding box orientation unit vectors": [
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+    "interior hole boundary coordinates": []
+   }
+  ]
+ }
+}
\ No newline at end of file
diff --git a/experiments/caches/spatial codes/metric/tracking/selective/Center Sigma 15/64/compact/scene0684_01.json b/experiments/caches/spatial codes/metric/tracking/selective/Center Sigma 15/64/compact/scene0684_01.json
new file mode 100644
index 0000000000000000000000000000000000000000..beb36076ebf3da2c72eec94071451a0632db8cf4
--- /dev/null
+++ b/experiments/caches/spatial codes/metric/tracking/selective/Center Sigma 15/64/compact/scene0684_01.json	
@@ -0,0 +1,574 @@
+{
+ "spatial code schema": {
+  "objects": {
+   "<object class>": [
+    {
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+      "3D oriented bounding box center coordinates": {
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+        "y",
+        "height above floor"
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+       "components": [
+        "dimension 1",
+        "dimension 2",
+        "dimension 3"
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+       "unit": "meters",
+       "description": "full lengths of the 3D oriented bounding box along the corresponding orientation unit vectors"
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+         "height"
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+        [
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+         "y",
+         "height"
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+       "description": "three perpendicular directions corresponding in order to the three 3D oriented bounding box dimensions"
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+    ],
+    "interior hole boundary coordinates": []
+   }
+  ]
+ }
+}
\ No newline at end of file
diff --git a/experiments/caches/spatial codes/metric/tracking/selective/Center Sigma 15/64/compact/scene0693_00.json b/experiments/caches/spatial codes/metric/tracking/selective/Center Sigma 15/64/compact/scene0693_00.json
new file mode 100644
index 0000000000000000000000000000000000000000..cba16187a04a5db0a9c9780b569b88214ec89032
--- /dev/null
+++ b/experiments/caches/spatial codes/metric/tracking/selective/Center Sigma 15/64/compact/scene0693_00.json	
@@ -0,0 +1,536 @@
+{
+ "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"
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+       "unit": "meters",
+       "description": "full lengths of the 3D oriented bounding box along the corresponding orientation unit vectors"
+      },
+      "3D oriented bounding box orientation unit vectors": {
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+         "height"
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+        [
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+         "height"
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+        [
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+         "y",
+         "height"
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+       "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"
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+    }
+   ]
+  },
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+       [
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+        "y"
+       ]
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+      "unit": "meters",
+      "description": "ordered vertices enclosing one floor region"
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+       [
+        [
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+         "y"
+        ],
+        [
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+         "y"
+        ]
+       ]
+      ],
+      "unit": "meters",
+      "description": "ordered boundaries enclosing regions excluded from the floor area"
+     }
+    }
+   ]
+  }
+ },
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+     "3D oriented bounding box center coordinates": [
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+      1.0,
+      0.19
+     ],
+     "3D oriented bounding box dimensions": [
+      0.33,
+      0.05,
+      0.69
+     ],
+     "3D oriented bounding box orientation unit vectors": [
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+       0.96,
+       0.0
+      ],
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+       -0.29,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 0.0
+   }
+  ],
+  "trash bin": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      0.38,
+      -0.32,
+      -0.37
+     ],
+     "3D oriented bounding box dimensions": [
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+      0.23,
+      0.31
+     ],
+     "3D oriented bounding box orientation unit vectors": [
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+       0.23,
+       0.0
+      ],
+      [
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+       0.97,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 7.33
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
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+      -0.27,
+      -0.37
+     ],
+     "3D oriented bounding box dimensions": [
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+      0.27,
+      0.12
+     ],
+     "3D oriented bounding box orientation unit vectors": [
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+       0.96,
+       0.0
+      ],
+      [
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+       0.29,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 6.0
+   }
+  ],
+  "window": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      0.61,
+      1.12,
+      0.26
+     ],
+     "3D oriented bounding box dimensions": [
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+      0.03,
+      0.99
+     ],
+     "3D oriented bounding box orientation unit vectors": [
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+       0.96,
+       0.0
+      ],
+      [
+       -0.96,
+       -0.27,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 2.83
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -0.57,
+      1.31,
+      0.97
+     ],
+     "3D oriented bounding box dimensions": [
+      0.71,
+      0.02,
+      0.15
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.97,
+       0.25,
+       0.0
+      ],
+      [
+       -0.25,
+       0.97,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 2.67
+   }
+  ]
+ },
+ "room": {
+  "floor boundary polygons": [
+   {
+    "outer boundary coordinates": [
+     [
+      -1.06,
+      -0.45
+     ],
+     [
+      -0.96,
+      -0.45
+     ],
+     [
+      -0.86,
+      -0.55
+     ],
+     [
+      -0.86,
+      -0.85
+     ],
+     [
+      0.84,
+      -0.85
+     ],
+     [
+      0.84,
+      -0.75
+     ],
+     [
+      0.94,
+      -0.65
+     ],
+     [
+      1.04,
+      -0.65
+     ],
+     [
+      1.04,
+      -0.25
+     ],
+     [
+      1.14,
+      -0.15
+     ],
+     [
+      1.54,
+      -0.15
+     ],
+     [
+      1.54,
+      1.25
+     ],
+     [
+      1.44,
+      1.25
+     ],
+     [
+      1.34,
+      1.35
+     ],
+     [
+      0.84,
+      1.35
+     ],
+     [
+      0.74,
+      1.45
+     ],
+     [
+      0.74,
+      1.55
+     ],
+     [
+      -1.06,
+      1.55
+     ]
+    ],
+    "interior hole boundary coordinates": []
+   }
+  ]
+ }
+}
\ No newline at end of file
diff --git a/experiments/caches/spatial codes/metric/tracking/selective/Center Sigma 15/64/compact/scene0696_01.json b/experiments/caches/spatial codes/metric/tracking/selective/Center Sigma 15/64/compact/scene0696_01.json
new file mode 100644
index 0000000000000000000000000000000000000000..fdd65e1aca2098b329fe2562f2fccae093c2ee9f
--- /dev/null
+++ b/experiments/caches/spatial codes/metric/tracking/selective/Center Sigma 15/64/compact/scene0696_01.json	
@@ -0,0 +1,1654 @@
+{
+ "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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+      1.67,
+      -0.08
+     ],
+     "3D oriented bounding box dimensions": [
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+      1.61,
+      0.29
+     ],
+     "3D oriented bounding box orientation unit vectors": [
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+       0.1,
+       0.0
+      ],
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+       1.0,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 1.83
+   }
+  ],
+  "bookshelf": [
+   {
+    "3D oriented bounding box": {
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+      -0.81,
+      0.24
+     ],
+     "3D oriented bounding box dimensions": [
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+      0.31,
+      1.91
+     ],
+     "3D oriented bounding box orientation unit vectors": [
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+       0.0
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+       1.0,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 0.5
+   },
+   {
+    "3D oriented bounding box": {
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+      1.42,
+      0.4
+     ],
+     "3D oriented bounding box dimensions": [
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+      0.27,
+      1.06
+     ],
+     "3D oriented bounding box orientation unit vectors": [
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+       0.96,
+       0.0
+      ],
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+       -0.27,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 6.83
+   }
+  ],
+  "chair": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
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+      0.7,
+      -0.16
+     ],
+     "3D oriented bounding box dimensions": [
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+      0.23,
+      0.78
+     ],
+     "3D oriented bounding box orientation unit vectors": [
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+       -0.05,
+       0.0
+      ],
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+       1.0,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 0.67
+   },
+   {
+    "3D oriented bounding box": {
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+      0.73,
+      -0.16
+     ],
+     "3D oriented bounding box dimensions": [
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+      0.24,
+      0.76
+     ],
+     "3D oriented bounding box orientation unit vectors": [
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+       -0.06,
+       0.0
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+       1.0,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 8.67
+   },
+   {
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+      2.27,
+      -0.11
+     ],
+     "3D oriented bounding box dimensions": [
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+      0.71,
+      0.23
+     ],
+     "3D oriented bounding box orientation unit vectors": [
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+       0.85,
+       0.0
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+       0.0,
+       1.0
+      ]
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+   },
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+      -0.59,
+      -0.32
+     ],
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+      0.02,
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+     "3D oriented bounding box orientation unit vectors": [
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+       1.0,
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+      ]
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+   },
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+       0.0
+      ],
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+       0.0,
+       1.0
+      ]
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+   },
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+      0.63,
+      -0.21
+     ],
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+      0.62
+     ],
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+       0.12,
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+       1.0
+      ]
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+   },
+   {
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+      1.81,
+      -0.11
+     ],
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+      0.06,
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+     "3D oriented bounding box orientation unit vectors": [
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+       0.0
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+       0.07,
+       0.0
+      ],
+      [
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+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 3.17
+   },
+   {
+    "3D oriented bounding box": {
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+      0.47,
+      0.02
+     ],
+     "3D oriented bounding box dimensions": [
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+      ],
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+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 1.0
+   }
+  ],
+  "computer mouse": [
+   {
+    "3D oriented bounding box": {
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+      -0.68,
+      0.54
+     ],
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+       0.0
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+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 0.5
+   }
+  ],
+  "door": [
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+    "3D oriented bounding box": {
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+      0.29,
+      0.34
+     ],
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+       0.0,
+       1.0
+      ]
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+   },
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+      0.11
+     ],
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+   },
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+      -0.51,
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+     ],
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+      ]
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+   },
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+      -0.59,
+      -0.27
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+       0.0,
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+   },
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+      -0.67,
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+     ],
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+     ],
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+      3.14,
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+     ],
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+      0.05,
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+     ],
+     "3D oriented bounding box orientation unit vectors": [
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+   }
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+      1.02
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+       1.0
+      ]
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+   },
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+      -0.91,
+      0.96
+     ],
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+      0.02,
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+     "3D oriented bounding box orientation unit vectors": [
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+       0.0,
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+   }
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+      3.4,
+      0.42
+     ],
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+      0.27,
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+     ],
+     "3D oriented bounding box orientation unit vectors": [
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+       0.0
+      ],
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+       0.96,
+       0.0
+      ],
+      [
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+       0.0,
+       1.0
+      ]
+     ]
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+   },
+   {
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+      3.28,
+      0.39
+     ],
+     "3D oriented bounding box dimensions": [
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+      0.08,
+      0.35
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+       1.0,
+       0.0
+      ],
+      [
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+       0.0,
+       1.0
+      ]
+     ]
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+    "first visible time": 2.17
+   }
+  ],
+  "pillow": [
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+    "3D oriented bounding box": {
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+     "3D oriented bounding box dimensions": [
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+     "3D oriented bounding box orientation unit vectors": [
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+       0.0
+      ],
+      [
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+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 8.5
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      0.93,
+      2.05,
+      -0.03
+     ],
+     "3D oriented bounding box dimensions": [
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+      0.17,
+      0.27
+     ],
+     "3D oriented bounding box orientation unit vectors": [
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+       1.0,
+       0.0
+      ],
+      [
+       -1.0,
+       0.05,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 3.17
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -3.22,
+      1.46,
+      0.23
+     ],
+     "3D oriented bounding box dimensions": [
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+      0.19,
+      0.28
+     ],
+     "3D oriented bounding box orientation unit vectors": [
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+       1.0,
+       0.0
+      ],
+      [
+       -1.0,
+       -0.07,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 1.33
+   }
+  ],
+  "printer": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -0.37,
+      -0.71,
+      0.63
+     ],
+     "3D oriented bounding box dimensions": [
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+      0.23,
+      0.18
+     ],
+     "3D oriented bounding box orientation unit vectors": [
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+       1.0,
+       -0.03,
+       0.0
+      ],
+      [
+       0.03,
+       1.0,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 0.83
+   }
+  ],
+  "radiator": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -3.35,
+      1.33,
+      0.27
+     ],
+     "3D oriented bounding box dimensions": [
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+      0.09,
+      0.34
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.02,
+       1.0,
+       0.0
+      ],
+      [
+       -1.0,
+       0.02,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 1.5
+   }
+  ],
+  "sofa": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      0.89,
+      1.83,
+      -0.32
+     ],
+     "3D oriented bounding box dimensions": [
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+      0.25,
+      0.77
+     ],
+     "3D oriented bounding box orientation unit vectors": [
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+       1.0,
+       0.0
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+       -0.08,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 0.0
+   }
+  ],
+  "table": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -1.11,
+      1.58,
+      -0.01
+     ],
+     "3D oriented bounding box dimensions": [
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+      0.81,
+      0.06
+     ],
+     "3D oriented bounding box orientation unit vectors": [
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+       -0.41,
+       0.0
+      ],
+      [
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+       0.91,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 0.0
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
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+      1.77,
+      -0.07
+     ],
+     "3D oriented bounding box dimensions": [
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+      0.96,
+      0.11
+     ],
+     "3D oriented bounding box orientation unit vectors": [
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+       -0.64,
+       0.0
+      ],
+      [
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+       0.77,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 0.0
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -1.38,
+      2.04,
+      0.02
+     ],
+     "3D oriented bounding box dimensions": [
+      0.63,
+      0.25,
+      0.08
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       1.0,
+       -0.07,
+       0.0
+      ],
+      [
+       0.07,
+       1.0,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 1.0
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -0.64,
+      2.09,
+      -0.05
+     ],
+     "3D oriented bounding box dimensions": [
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+      0.28,
+      0.04
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       1.0,
+       0.08,
+       0.0
+      ],
+      [
+       -0.08,
+       1.0,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 2.33
+   }
+  ],
+  "telephone": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      0.09,
+      -0.84,
+      0.2
+     ],
+     "3D oriented bounding box dimensions": [
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+      0.17,
+      0.11
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
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+       0.92,
+       0.0
+      ],
+      [
+       -0.92,
+       0.39,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 0.83
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -0.2,
+      -0.74,
+      0.21
+     ],
+     "3D oriented bounding box dimensions": [
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+      0.18,
+      0.07
+     ],
+     "3D oriented bounding box orientation unit vectors": [
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+       -0.7,
+       0.0
+      ],
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+       0.71,
+       0.0
+      ],
+      [
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+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 0.83
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
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+      -0.77,
+      0.22
+     ],
+     "3D oriented bounding box dimensions": [
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+      0.2,
+      0.08
+     ],
+     "3D oriented bounding box orientation unit vectors": [
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+       0.17,
+       0.0
+      ],
+      [
+       -0.17,
+       0.99,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 0.83
+   }
+  ],
+  "towel": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      0.93,
+      2.05,
+      -0.03
+     ],
+     "3D oriented bounding box dimensions": [
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+      0.56,
+      0.26
+     ],
+     "3D oriented bounding box orientation unit vectors": [
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+       0.36,
+       0.0
+      ],
+      [
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+       0.93,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 0.17
+   }
+  ],
+  "tv": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -0.74,
+      3.4,
+      0.42
+     ],
+     "3D oriented bounding box dimensions": [
+      0.44,
+      0.28,
+      0.34
+     ],
+     "3D oriented bounding box orientation unit vectors": [
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+       0.95,
+       -0.31,
+       0.0
+      ],
+      [
+       0.31,
+       0.95,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 2.0
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -0.31,
+      3.28,
+      0.39
+     ],
+     "3D oriented bounding box dimensions": [
+      0.52,
+      0.08,
+      0.35
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       1.0,
+       -0.01,
+       0.0
+      ],
+      [
+       0.01,
+       1.0,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 2.17
+   }
+  ],
+  "window": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -3.39,
+      1.55,
+      0.79
+     ],
+     "3D oriented bounding box dimensions": [
+      2.18,
+      0.12,
+      0.53
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.01,
+       1.0,
+       0.0
+      ],
+      [
+       -1.0,
+       0.01,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 1.0
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -1.11,
+      3.73,
+      0.54
+     ],
+     "3D oriented bounding box dimensions": [
+      0.77,
+      0.09,
+      0.5
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       1.0,
+       -0.07,
+       0.0
+      ],
+      [
+       0.07,
+       1.0,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 1.83
+   }
+  ]
+ },
+ "room": {
+  "floor boundary polygons": [
+   {
+    "outer boundary coordinates": [
+     [
+      -4.95,
+      0.22
+     ],
+     [
+      -4.65,
+      0.22
+     ],
+     [
+      -4.65,
+      0.32
+     ],
+     [
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+      0.42
+     ],
+     [
+      -4.55,
+      0.52
+     ],
+     [
+      -4.45,
+      0.62
+     ],
+     [
+      -4.45,
+      0.72
+     ],
+     [
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+      0.82
+     ],
+     [
+      -4.15,
+      0.82
+     ],
+     [
+      -4.05,
+      0.72
+     ],
+     [
+      -4.05,
+      0.02
+     ],
+     [
+      -3.75,
+      0.02
+     ],
+     [
+      -3.65,
+      -0.08
+     ],
+     [
+      -3.65,
+      -0.18
+     ],
+     [
+      -3.55,
+      -0.28
+     ],
+     [
+      -3.55,
+      -0.38
+     ],
+     [
+      -3.35,
+      -0.38
+     ],
+     [
+      -3.15,
+      -0.58
+     ],
+     [
+      -3.15,
+      -0.78
+     ],
+     [
+      -2.85,
+      -0.78
+     ],
+     [
+      -2.75,
+      -0.88
+     ],
+     [
+      -1.85,
+      -0.88
+     ],
+     [
+      -1.75,
+      -0.98
+     ],
+     [
+      -1.35,
+      -0.98
+     ],
+     [
+      -1.25,
+      -1.08
+     ],
+     [
+      -1.25,
+      -1.18
+     ],
+     [
+      1.95,
+      -1.18
+     ],
+     [
+      1.95,
+      2.92
+     ],
+     [
+      1.85,
+      2.92
+     ],
+     [
+      1.75,
+      3.02
+     ],
+     [
+      1.75,
+      3.72
+     ],
+     [
+      1.35,
+      3.72
+     ],
+     [
+      1.25,
+      3.82
+     ],
+     [
+      1.25,
+      3.92
+     ],
+     [
+      -2.25,
+      3.92
+     ],
+     [
+      -2.25,
+      3.72
+     ],
+     [
+      -2.35,
+      3.62
+     ],
+     [
+      -2.55,
+      3.62
+     ],
+     [
+      -2.75,
+      3.42
+     ],
+     [
+      -3.35,
+      3.42
+     ],
+     [
+      -3.45,
+      3.32
+     ],
+     [
+      -3.55,
+      3.32
+     ],
+     [
+      -3.55,
+      3.02
+     ],
+     [
+      -3.65,
+      2.92
+     ],
+     [
+      -3.85,
+      2.92
+     ],
+     [
+      -3.85,
+      2.72
+     ],
+     [
+      -3.95,
+      2.62
+     ],
+     [
+      -4.05,
+      2.62
+     ],
+     [
+      -4.15,
+      2.52
+     ],
+     [
+      -4.15,
+      2.12
+     ],
+     [
+      -4.25,
+      2.02
+     ],
+     [
+      -4.35,
+      2.02
+     ],
+     [
+      -4.45,
+      1.92
+     ],
+     [
+      -4.45,
+      1.82
+     ],
+     [
+      -4.55,
+      1.72
+     ],
+     [
+      -4.55,
+      1.62
+     ],
+     [
+      -4.65,
+      1.52
+     ],
+     [
+      -4.65,
+      1.42
+     ],
+     [
+      -4.85,
+      1.22
+     ],
+     [
+      -4.95,
+      1.22
+     ]
+    ],
+    "interior hole boundary coordinates": []
+   }
+  ]
+ }
+}
\ No newline at end of file
diff --git a/experiments/caches/spatial codes/metric/tracking/selective/Center Sigma 15/64/compact/scene0699_00.json b/experiments/caches/spatial codes/metric/tracking/selective/Center Sigma 15/64/compact/scene0699_00.json
new file mode 100644
index 0000000000000000000000000000000000000000..69a3498467b269b481eb393697ef2b828981b645
--- /dev/null
+++ b/experiments/caches/spatial codes/metric/tracking/selective/Center Sigma 15/64/compact/scene0699_00.json	
@@ -0,0 +1,912 @@
+{
+ "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": [
+      3.34,
+      1.11,
+      -0.15
+     ],
+     "3D oriented bounding box dimensions": [
+      0.42,
+      0.16,
+      0.31
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       -0.39,
+       0.92,
+       0.0
+      ],
+      [
+       -0.92,
+       -0.39,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 5.17
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      3.51,
+      1.15,
+      0.06
+     ],
+     "3D oriented bounding box dimensions": [
+      0.28,
+      0.19,
+      0.49
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.91,
+       -0.41,
+       0.0
+      ],
+      [
+       0.41,
+       0.91,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 5.17
+   }
+  ],
+  "bed": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      0.91,
+      0.87,
+      0.0
+     ],
+     "3D oriented bounding box dimensions": [
+      0.84,
+      0.24,
+      1.74
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.99,
+       -0.16,
+       0.0
+      ],
+      [
+       0.16,
+       0.99,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 1.0
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      0.65,
+      0.86,
+      0.63
+     ],
+     "3D oriented bounding box dimensions": [
+      0.43,
+      0.39,
+      1.61
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.98,
+       0.21,
+       0.0
+      ],
+      [
+       -0.21,
+       0.98,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 0.0
+   }
+  ],
+  "chair": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      3.46,
+      0.9,
+      0.23
+     ],
+     "3D oriented bounding box dimensions": [
+      0.31,
+      0.73,
+      0.36
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       1.0,
+       -0.01,
+       0.0
+      ],
+      [
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+}
\ No newline at end of file