Upload all current_works benchmark datasets and model outputs (part 231)

.gitattributes

@@ -2531,3 +2531,19 @@ current_works/to_be_merged/released_full_model_160_175/vis/2050/echoscene/Master
 current_works/to_be_merged/released_full_model_160_175/vis/2050/echoscene/MasterBedroom-392_echoscene.glb filter=lfs diff=lfs merge=lfs -text
 current_works/to_be_merged/released_full_model_160_175/vis/2050/echoscene/MasterBedroom-40319_echoscene.glb filter=lfs diff=lfs merge=lfs -text
 current_works/to_be_merged/released_full_model_160_175/vis/2050/echoscene/SecondBedroom-6847_echoscene.glb filter=lfs diff=lfs merge=lfs -text
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current_works/to_be_merged/released_full_model_160_175/vis/2050/none_accuracy_analysis_160_15.txt

@@ -0,0 +1,3 @@
+acc & L/R: 0.99 & F/B: 0.99 & Bi/Sm: 0.95 & Ta/Sh: 0.95 & Stand: 0.99 & Close: 0.70 & Symm: 0.17. Total: &0.96
+means of mean: 0.82
+

current_works/to_be_merged/released_full_model_160_175/vis/2050/physcene_collision_input.json

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0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0]]], "objectness": [[[1.0], [1.0], [1.0], [1.0], [1.0], [0.0], [0.0]], [[1.0], [1.0], [1.0], [0.0], [0.0]], [[1.0], [1.0], [1.0], [1.0], [1.0], [1.0], [1.0], [1.0], [0.0], [0.0]], [[1.0], [1.0], [1.0], [1.0], [1.0], [1.0], [1.0], [1.0], [1.0], [1.0], [1.0], [1.0], [0.0], [0.0]], [[1.0], [1.0], [1.0], [1.0], [0.0], [0.0]], [[1.0], [1.0], [1.0], [1.0], [1.0], [1.0], [1.0], [1.0], [1.0], [1.0], [1.0], [1.0], [1.0], [1.0], [0.0], [0.0]], [[1.0], [1.0], [1.0], [1.0], [1.0], [1.0], [1.0], [1.0], [1.0], [1.0], [1.0], [1.0], [1.0], [1.0], [0.0], [0.0]], [[1.0], [1.0], [1.0], [1.0], [1.0], [1.0], [1.0], [1.0], [1.0], [1.0], [1.0], [1.0], [0.0], [0.0]], [[1.0], [1.0], [1.0], [1.0], [1.0], [1.0], [1.0], [1.0], [1.0], [1.0], [1.0], [1.0], [1.0], [0.0], [0.0]], [[1.0], [1.0], [1.0], [1.0], [1.0], [0.0], [0.0]], [[1.0], [1.0], [1.0], [1.0], [1.0], [1.0], [1.0], [1.0], [0.0], [0.0]], [[1.0], [1.0], [1.0], [1.0], [1.0], [1.0], [1.0], [1.0], [1.0], [1.0], [1.0], [1.0], [1.0], [0.0], [0.0]], [[1.0], [1.0], [1.0], [1.0], [1.0], [1.0], [1.0], [1.0], [1.0], [1.0], [0.0], [0.0]], [[1.0], [1.0], [1.0], [1.0], [1.0], [1.0], [1.0], [0.0], [0.0]], [[1.0], [1.0], [1.0], [1.0], [1.0], [1.0], [1.0], [1.0], [1.0], [1.0], [1.0], [1.0], [1.0], [1.0], [1.0], [1.0], [1.0], [1.0], [0.0], [0.0]]], "scene_ids": ["Bedroom-13858", "MasterBedroom-118", "LivingRoom-37659", "LivingRoom-1520", "LivingRoom-17951", "LivingDiningRoom-629", "LivingRoom-71071", "LivingDiningRoom-9790", "LivingRoom-791", "LivingRoom-24046", "LivingRoom-13599", "LivingDiningRoom-13945", "LivingDiningRoom-758", "LivingRoom-33324", "LivingRoom-30147"]}

current_works/to_be_merged/released_full_model_175_191/vis/2050/debug_bbox.txt

@@ -0,0 +1,647 @@
+
+============================================================
+SCENE: LivingRoom-29294  |  11 objects
+============================================================
+Obj                       l      h      w        x       y       z    angle
+----------------------------------------------------------------------
+table                 0.759  1.084  0.527   -2.271   0.000  -2.026     0.01°
+table                 0.689  1.242  0.366    1.958  -0.002  -2.134     0.08°
+sofa                  2.088  0.876  0.993   -1.927  -0.004   0.368    89.95°
+table                 1.309  0.450  0.851   -0.709  -0.004   0.389    -0.13°
+chair                 0.872  0.830  0.784    2.153   0.002   0.174   -66.01°
+sofa                  1.977  0.677  0.921   -0.341   0.001  -1.790     0.00°
+table                 0.480  0.826  0.458    1.239   0.001  -2.120     0.01°
+table                 0.583  0.718  0.517   -1.664   0.002  -1.879     0.03°
+lamp                  0.725  0.792  0.772   -0.308   1.898   0.720     0.02°
+floor                 5.701  0.002  4.877   -0.204  -0.001  -0.179     0.01°
+_scene_               0.238  0.083  0.518   -4.723   0.006  -4.726   -64.27°
+
+  Pairwise overlap check (axis-aligned bbox):
+  !! OVERLAP: table <-> table  depth=[0.065, 0.718, 0.375]
+  !! OVERLAP: table <-> floor  depth=[0.759, 0.002, 0.527]
+  !! OVERLAP: table <-> floor  depth=[0.689, 0.002, 0.366]
+  !! OVERLAP: sofa <-> table  depth=[0.481, 0.450, 0.851]
+  !! OVERLAP: sofa <-> floor  depth=[2.088, 0.002, 0.993]
+  !! OVERLAP: table <-> floor  depth=[1.309, 0.002, 0.851]
+  !! OVERLAP: chair <-> floor  depth=[0.872, 0.002, 0.784]
+  !! OVERLAP: sofa <-> floor  depth=[1.977, 0.002, 0.921]
+  !! OVERLAP: table <-> floor  depth=[0.480, 0.002, 0.458]
+  !! OVERLAP: table <-> floor  depth=[0.583, 0.002, 0.517]
+============================================================
+
+
+============================================================
+SCENE: LivingDiningRoom-35401  |  11 objects
+============================================================
+Obj                       l      h      w        x       y       z    angle
+----------------------------------------------------------------------
+chair                 0.531  0.863  0.558   -0.490   0.001   1.272    90.04°
+chair                 0.527  0.862  0.631   -0.525   0.002   1.797    90.04°
+chair                 0.566  0.923  0.623    1.063   0.002   1.040   -89.84°
+chair                 0.571  0.852  0.602    0.805   0.001   1.840   -89.94°
+sofa                  2.095  0.826  0.880   -0.817   0.003  -1.572    89.91°
+table                 1.178  2.227  0.389   -1.202   0.009   0.685    90.25°
+table                 0.897  0.342  0.917    0.213  -0.001  -1.908   -89.89°
+lamp                  0.465  0.493  0.377   -0.023   2.366  -1.620    -0.09°
+lamp                  0.107  0.650  0.090    0.619   2.065   1.363   -89.95°
+floor                 3.903 -0.001  6.794   -0.093   0.001  -0.203    -0.04°
+_scene_               0.070  0.002  0.021   -5.666  -0.004  -5.710   -57.30°
+
+  Pairwise overlap check (axis-aligned bbox):
+  !! OVERLAP: chair <-> chair  depth=[0.494, 0.861, 0.070]
+  !! OVERLAP: chair <-> floor  depth=[0.531, -0.001, 0.558]
+  !! OVERLAP: chair <-> floor  depth=[0.527, -0.001, 0.631]
+  !! OVERLAP: chair <-> floor  depth=[0.566, -0.001, 0.623]
+  !! OVERLAP: chair <-> floor  depth=[0.571, -0.001, 0.602]
+  !! OVERLAP: sofa <-> table  depth=[0.467, 0.342, 0.563]
+  !! OVERLAP: sofa <-> floor  depth=[2.095, -0.001, 0.880]
+  !! OVERLAP: table <-> floor  depth=[1.178, -0.001, 0.389]
+  !! OVERLAP: table <-> floor  depth=[0.897, -0.001, 0.917]
+============================================================
+
+
+============================================================
+SCENE: LivingRoom-35085  |  10 objects
+============================================================
+Obj                       l      h      w        x       y       z    angle
+----------------------------------------------------------------------
+sofa                  2.218  0.901  0.924    0.894  -0.001  -0.499   -90.17°
+table                 0.523  0.445  0.581    1.214  -0.000   1.449   -90.08°
+table                 0.557  0.467  0.316    1.251   0.001  -2.113   -89.98°
+table                 1.287  0.384  1.143   -0.137   0.001  -0.626   -90.12°
+chair                 0.716  0.877  0.744   -0.953   0.000  -1.757     0.05°
+chair                 0.845  0.875  0.839   -1.100   0.001   1.625   171.30°
+tv_stand              1.806  0.506  0.288   -1.296   0.002  -0.549    90.15°
+lamp                  0.445  0.911  0.400   -0.064   1.774  -0.816    -0.16°
+floor                 3.981 -0.000  5.370   -0.138   0.001  -0.004    -0.02°
+_scene_               0.063 -0.000  0.017   -5.673  -0.004  -5.713   -57.30°
+
+  Pairwise overlap check (axis-aligned bbox):
+  !! OVERLAP: sofa <-> table  depth=[0.722, 0.384, 0.906]
+  !! OVERLAP: sofa <-> floor  depth=[2.067, -0.000, 0.924]
+  !! OVERLAP: table <-> floor  depth=[0.523, -0.000, 0.581]
+  !! OVERLAP: table <-> floor  depth=[0.557, -0.000, 0.316]
+  !! OVERLAP: table <-> tv_stand  depth=[0.387, 0.384, 0.288]
+  !! OVERLAP: table <-> floor  depth=[1.287, -0.000, 1.143]
+  !! OVERLAP: chair <-> floor  depth=[0.716, -0.000, 0.744]
+  !! OVERLAP: chair <-> floor  depth=[0.845, -0.000, 0.839]
+  !! OVERLAP: tv_stand <-> floor  depth=[1.736, -0.000, 0.288]
+============================================================
+
+
+============================================================
+SCENE: LivingRoom-25582  |  12 objects
+============================================================
+Obj                       l      h      w        x       y       z    angle
+----------------------------------------------------------------------
+sofa                  2.533  0.752  0.960   -0.886   0.000   1.532   179.97°
+table                 0.397  0.452  0.430   -1.036  -0.001  -0.471   -90.01°
+tv_stand              1.528  0.324  0.362   -0.546   0.001  -2.024     0.02°
+chair                 0.772  1.122  0.895    1.425   0.001  -0.720     0.04°
+chair                 0.713  1.014  0.722    1.589   0.001  -1.277     0.08°
+chair                 0.599  1.116  0.639    1.151  -0.000   1.232    89.92°
+chair                 0.532  0.951  0.682    1.639   0.001   1.459  -154.80°
+table                 0.654  0.754  0.509    1.552   0.001   0.127     0.04°
+table                 2.006  0.840  0.647    0.807   0.003   2.096   179.96°
+lamp                  0.483  0.550  0.544    0.182   2.071  -1.053     0.24°
+floor                 4.033 -0.000  5.579   -0.111   0.000  -0.045    -0.08°
+_scene_               0.071 -0.000  0.021   -5.667  -0.004  -5.715   -57.30°
+
+  Pairwise overlap check (axis-aligned bbox):
+  !! OVERLAP: sofa <-> table  depth=[0.577, 0.752, 0.239]
+  !! OVERLAP: sofa <-> floor  depth=[2.508, -0.000, 0.960]
+  !! OVERLAP: table <-> floor  depth=[0.397, -0.000, 0.430]
+  !! OVERLAP: tv_stand <-> floor  depth=[1.528, -0.000, 0.362]
+  !! OVERLAP: chair <-> chair  depth=[0.579, 1.014, 0.252]
+  !! OVERLAP: chair <-> floor  depth=[0.772, -0.000, 0.895]
+  !! OVERLAP: chair <-> floor  depth=[0.674, -0.000, 0.722]
+  !! OVERLAP: chair <-> chair  depth=[0.078, 0.951, 0.434]
+  !! OVERLAP: chair <-> floor  depth=[0.599, -0.000, 0.639]
+  !! OVERLAP: chair <-> table  depth=[0.437, 0.840, 0.027]
+  !! OVERLAP: chair <-> floor  depth=[0.532, -0.000, 0.682]
+  !! OVERLAP: table <-> floor  depth=[0.654, -0.000, 0.509]
+  !! OVERLAP: table <-> floor  depth=[2.006, -0.000, 0.647]
+============================================================
+
+
+============================================================
+SCENE: LivingDiningRoom-109935  |  14 objects
+============================================================
+Obj                       l      h      w        x       y       z    angle
+----------------------------------------------------------------------
+sofa                  1.939  0.676  0.796   -1.332   0.001   0.785    89.61°
+chair                 0.718  0.825  0.732   -1.960   0.005   2.233    90.02°
+table                 1.579  0.336  1.376   -0.080   0.000   1.601   -90.03°
+chair                 0.634  0.560  0.695   -0.998  -0.005  -0.075     0.03°
+tv_stand              1.836  0.467  0.414    0.886  -0.003   1.541   -90.06°
+table                 2.575  0.773  1.100   -0.040  -0.001  -1.276   -89.96°
+chair                 0.475  0.865  0.569   -0.778   0.000  -2.268     0.05°
+chair                 0.459  0.867  0.553   -0.780  -0.000  -1.737     0.18°
+chair                 0.569  0.814  0.570    0.514   0.002  -2.164   -90.19°
+chair                 0.480  0.796  0.593    0.727   0.003  -1.357  -179.98°
+lamp                  0.670  0.976  0.607   -0.354   1.691   1.364    -0.04°
+lamp                  0.863  0.501  0.375   -0.242   2.274  -1.972   -89.88°
+floor                 4.188 -0.004  5.560   -0.285   0.001   0.249    -0.01°
+_scene_               0.065  0.002  0.018   -5.670  -0.005  -5.718   -57.32°
+
+  Pairwise overlap check (axis-aligned bbox):
+  !! OVERLAP: sofa <-> table  depth=[0.507, 0.336, 0.269]
+  !! OVERLAP: sofa <-> floor  depth=[1.939, -0.004, 0.796]
+  !! OVERLAP: chair <-> floor  depth=[0.718, -0.004, 0.732]
+  !! OVERLAP: table <-> tv_stand  depth=[0.742, 0.336, 0.414]
+  !! OVERLAP: table <-> floor  depth=[1.579, -0.004, 1.376]
+  !! OVERLAP: chair <-> floor  depth=[0.634, -0.004, 0.695]
+  !! OVERLAP: tv_stand <-> floor  depth=[1.836, -0.004, 0.414]
+  !! OVERLAP: table <-> chair  depth=[0.459, 0.773, 0.366]
+  !! OVERLAP: table <-> chair  depth=[0.480, 0.773, 0.593]
+  !! OVERLAP: table <-> floor  depth=[2.575, -0.004, 1.100]
+  !! OVERLAP: chair <-> chair  depth=[0.459, 0.865, 0.029]
+  !! OVERLAP: chair <-> floor  depth=[0.475, -0.004, 0.547]
+  !! OVERLAP: chair <-> floor  depth=[0.459, -0.004, 0.553]
+  !! OVERLAP: chair <-> floor  depth=[0.569, -0.004, 0.570]
+  !! OVERLAP: chair <-> floor  depth=[0.480, -0.004, 0.593]
+============================================================
+
+
+============================================================
+SCENE: LivingDiningRoom-76396  |  19 objects
+============================================================
+Obj                       l      h      w        x       y       z    angle
+----------------------------------------------------------------------
+sofa                  2.316  0.928  0.990   -2.326   0.003   1.767   179.95°
+sofa                  2.015  0.908  1.374   -3.526  -0.001   0.505    89.95°
+table                 0.603  0.406  0.559   -2.322   0.001   0.513     0.00°
+tv_stand              2.165  0.626  0.448   -1.955   0.001  -1.675    -0.02°
+chair                 0.834  0.945  0.933   -0.790  -0.003   0.780   -67.84°
+table                 1.698  0.766  1.022    2.288  -0.001   0.346    -0.07°
+chair                 0.458  0.804  0.575    3.287   0.002   0.977   -90.12°
+chair                 0.487  0.778  0.590    2.737  -0.000   1.069   179.47°
+chair                 0.576  0.757  0.526    2.664   0.001  -0.042     0.03°
+chair                 0.561  0.770  0.656    3.434   0.002   0.014   -89.86°
+table                 1.288  1.451  0.296    1.024  -0.003  -1.363     0.11°
+cabinet               1.713  2.144  0.375    1.537  -0.001   2.168  -179.84°
+table                 0.599  0.439  0.516   -0.460   0.001   2.071    90.01°
+table                 0.636  0.416  0.582   -3.793   0.009   1.966   -89.86°
+lamp                  0.641  0.497  0.653   -1.501   2.664   0.278     0.09°
+lamp                  0.627  0.937  0.635    1.650   2.056   0.338    -0.03°
+table                 1.384  1.331  0.272    3.169  -0.003  -2.242    -0.03°
+floor                 8.723 -0.007  5.582   -0.349   0.000   0.411    -0.04°
+_scene_               0.073  0.001  0.024   -5.672  -0.005  -5.714   -57.30°
+
+  Pairwise overlap check (axis-aligned bbox):
+  !! OVERLAP: sofa <-> table  depth=[0.009, 0.416, 0.582]
+  !! OVERLAP: sofa <-> floor  depth=[2.316, -0.007, 0.990]
+  !! OVERLAP: sofa <-> table  depth=[0.105, 0.406, 0.559]
+  !! OVERLAP: sofa <-> floor  depth=[2.015, -0.007, 1.374]
+  !! OVERLAP: table <-> floor  depth=[0.603, -0.007, 0.559]
+  !! OVERLAP: tv_stand <-> floor  depth=[2.165, -0.007, 0.448]
+  !! OVERLAP: chair <-> floor  depth=[0.834, -0.007, 0.933]
+  !! OVERLAP: table <-> chair  depth=[0.078, 0.766, 0.167]
+  !! OVERLAP: table <-> chair  depth=[0.487, 0.766, 0.082]
+  !! OVERLAP: table <-> chair  depth=[0.576, 0.757, 0.386]
+  !! OVERLAP: table <-> floor  depth=[1.698, -0.007, 1.022]
+  !! OVERLAP: chair <-> floor  depth=[0.458, -0.007, 0.575]
+  !! OVERLAP: chair <-> floor  depth=[0.487, -0.007, 0.590]
+  !! OVERLAP: chair <-> floor  depth=[0.576, -0.007, 0.526]
+  !! OVERLAP: chair <-> floor  depth=[0.561, -0.007, 0.656]
+  !! OVERLAP: table <-> floor  depth=[1.288, -0.007, 0.296]
+  !! OVERLAP: cabinet <-> floor  depth=[1.713, -0.007, 0.375]
+  !! OVERLAP: table <-> floor  depth=[0.599, -0.007, 0.516]
+  !! OVERLAP: table <-> floor  depth=[0.636, -0.007, 0.582]
+  !! OVERLAP: table <-> floor  depth=[1.384, -0.007, 0.272]
+============================================================
+
+
+============================================================
+SCENE: LivingDiningRoom-18728  |  15 objects
+============================================================
+Obj                       l      h      w        x       y       z    angle
+----------------------------------------------------------------------
+table                 1.227  1.057  0.342   -1.697  -0.002  -2.952     0.18°
+table                 1.036  0.876  0.360    1.772   0.002  -1.718   -90.23°
+tv_stand              1.967  0.382  0.391    1.328  -0.001   1.839   -89.97°
+sofa                  2.077  0.778  0.836   -1.527   0.003   1.890    90.05°
+chair                 0.752  0.702  0.821   -2.110   0.003   2.921   179.71°
+table                 2.426  0.748  1.141   -0.228  -0.002  -1.452   -89.98°
+chair                 0.487  0.748  0.508    0.571   0.002  -1.620     0.08°
+chair                 0.446  0.717  0.497    0.093   0.001  -1.694     0.01°
+chair                 0.483  0.736  0.542   -0.766   0.002  -0.857  -179.90°
+chair                 0.506  0.747  0.532    0.757  -0.001  -0.685   179.95°
+table                 1.603  0.408  1.233   -0.115   0.002   2.382   -98.72°
+lamp                  0.485  0.640  0.454   -0.266   2.012   1.573   -90.12°
+lamp                  1.174  0.589  0.140   -0.017   2.174  -1.438    -0.11°
+floor                 5.085 -0.004  7.283   -0.213   0.001   0.383    -0.13°
+_scene_               0.066 -0.000  0.019   -5.668  -0.004  -5.716   -57.30°
+
+  Pairwise overlap check (axis-aligned bbox):
+  !! OVERLAP: table <-> floor  depth=[1.227, -0.004, 0.342]
+  !! OVERLAP: table <-> floor  depth=[1.036, -0.004, 0.360]
+  !! OVERLAP: tv_stand <-> table  depth=[0.341, 0.382, 0.268]
+  !! OVERLAP: tv_stand <-> floor  depth=[1.967, -0.004, 0.391]
+  !! OVERLAP: sofa <-> table  depth=[0.427, 0.408, 0.542]
+  !! OVERLAP: sofa <-> floor  depth=[2.077, -0.004, 0.836]
+  !! OVERLAP: chair <-> floor  depth=[0.752, -0.004, 0.821]
+  !! OVERLAP: table <-> chair  depth=[0.487, 0.744, 0.508]
+  !! OVERLAP: table <-> chair  depth=[0.446, 0.717, 0.497]
+  !! OVERLAP: table <-> chair  depth=[0.483, 0.736, 0.247]
+  !! OVERLAP: table <-> chair  depth=[0.481, 0.746, 0.069]
+  !! OVERLAP: table <-> floor  depth=[2.426, -0.004, 1.141]
+  !! OVERLAP: chair <-> floor  depth=[0.487, -0.004, 0.508]
+  !! OVERLAP: chair <-> floor  depth=[0.446, -0.004, 0.497]
+  !! OVERLAP: chair <-> floor  depth=[0.483, -0.004, 0.542]
+  !! OVERLAP: chair <-> floor  depth=[0.506, -0.004, 0.532]
+  !! OVERLAP: table <-> floor  depth=[1.603, -0.004, 1.233]
+============================================================
+
+
+============================================================
+SCENE: LivingDiningRoom-46747  |  17 objects
+============================================================
+Obj                       l      h      w        x       y       z    angle
+----------------------------------------------------------------------
+sofa                  2.036  0.729  0.915   -0.926   0.001   1.383    90.02°
+chair                 0.604  0.910  0.677   -0.158   0.001   3.265   179.88°
+table                 1.492  0.475  1.017    0.142   0.002   2.106    89.74°
+table                 1.880  0.762  1.234    0.373  -0.001  -1.713     0.04°
+chair                 0.435  0.932  0.429   -0.046   0.002  -1.080  -179.99°
+chair                 0.407  0.932  0.423    0.665   0.001  -0.833   179.97°
+chair                 0.484  0.886  0.504    0.041   0.001  -2.310     0.04°
+chair                 0.476  0.878  0.530    0.646   0.001  -2.430     0.06°
+table                 1.596  0.813  0.508    0.274   0.001  -3.042    -0.00°
+lamp                  1.035  1.001  0.978   -0.014   1.761   2.210     0.02°
+lamp                  1.247  0.906  0.418    0.193   1.846  -1.746    -0.03°
+lamp                  1.078  0.811  0.478    0.466   2.207  -2.255    -0.08°
+chair                 0.682  0.525  0.537   -0.059   0.010   0.945    10.91°
+table                 0.788  1.068  0.383   -1.349   0.002   0.698    89.91°
+table                 0.633  0.939  0.461   -1.537   0.003   3.067    89.93°
+floor                 3.637 -0.001  8.191   -0.148  -0.000   0.029     0.01°
+_scene_               0.069 -0.000  0.025   -5.670  -0.004  -5.710   -57.30°
+
+  Pairwise overlap check (axis-aligned bbox):
+  !! OVERLAP: sofa <-> table  depth=[0.697, 0.475, 0.243]
+  !! OVERLAP: sofa <-> chair  depth=[0.493, 0.525, 0.288]
+  !! OVERLAP: sofa <-> floor  depth=[2.036, -0.001, 0.915]
+  !! OVERLAP: chair <-> floor  depth=[0.604, -0.001, 0.677]
+  !! OVERLAP: table <-> floor  depth=[1.492, -0.001, 1.017]
+  !! OVERLAP: table <-> chair  depth=[0.435, 0.762, 0.198]
+  !! OVERLAP: table <-> chair  depth=[0.484, 0.762, 0.272]
+  !! OVERLAP: table <-> chair  depth=[0.476, 0.762, 0.164]
+  !! OVERLAP: table <-> floor  depth=[1.880, -0.001, 1.234]
+  !! OVERLAP: chair <-> floor  depth=[0.435, -0.001, 0.429]
+  !! OVERLAP: chair <-> floor  depth=[0.407, -0.001, 0.423]
+  !! OVERLAP: chair <-> floor  depth=[0.484, -0.001, 0.504]
+  !! OVERLAP: chair <-> floor  depth=[0.476, -0.001, 0.530]
+  !! OVERLAP: table <-> floor  depth=[1.596, -0.001, 0.508]
+  !! OVERLAP: chair <-> floor  depth=[0.682, -0.001, 0.537]
+  !! OVERLAP: table <-> floor  depth=[0.788, -0.001, 0.383]
+  !! OVERLAP: table <-> floor  depth=[0.633, -0.001, 0.461]
+============================================================
+
+
+============================================================
+SCENE: LivingRoom-88425  |  19 objects
+============================================================
+Obj                       l      h      w        x       y       z    angle
+----------------------------------------------------------------------
+sofa                  1.792  0.765  0.869   -1.811   0.001   1.350    90.04°
+chair                 1.652  0.836  0.737   -1.004   0.003  -0.150    14.02°
+sofa                  2.266  0.925  0.950   -0.458   0.000   3.351   179.98°
+table                 0.511  0.407  0.464   -0.527   0.002   1.926    90.00°
+table                 0.502  0.491  0.400   -1.758   0.001   0.039    90.05°
+table                 0.570  0.560  0.567   -1.782   0.005   3.231    90.09°
+table                 2.705  0.837  1.028   -1.010  -0.001  -2.167     0.03°
+chair                 0.542  0.685  0.564   -0.592   0.002  -2.784    -0.01°
+chair                 0.542  0.752  0.555   -0.609   0.000  -1.300  -179.92°
+chair                 0.533  0.713  0.457    0.098   0.001  -1.642   179.99°
+chair                 0.450  0.706  0.526   -1.095  -0.000  -1.320   163.03°
+chair                 0.577  0.639  0.543   -1.285   0.000  -2.724     0.02°
+chair                 0.520  0.679  0.563    0.205  -0.000  -2.527   -90.10°
+lamp                  1.097  0.780  0.764   -0.869   1.927   1.597    -0.00°
+lamp                  0.827  0.819  0.821   -0.460   1.954  -2.397     0.01°
+table                 0.832  1.604  0.374   -0.251  -0.005  -3.777     0.06°
+tv_stand              1.604  0.457  0.386    1.270   0.003   1.718   -90.07°
+floor                 5.357 -0.002  7.990   -0.297   0.000   0.042    -0.09°
+_scene_               0.070 -0.001  0.026   -5.670  -0.005  -5.713   -57.33°
+
+  Pairwise overlap check (axis-aligned bbox):
+  !! OVERLAP: sofa <-> floor  depth=[1.792, -0.002, 0.869]
+  !! OVERLAP: chair <-> table  depth=[0.323, 0.491, 0.379]
+  !! OVERLAP: chair <-> floor  depth=[1.652, -0.002, 0.737]
+  !! OVERLAP: sofa <-> table  depth=[0.094, 0.560, 0.567]
+  !! OVERLAP: sofa <-> floor  depth=[2.266, -0.002, 0.950]
+  !! OVERLAP: table <-> floor  depth=[0.511, -0.002, 0.464]
+  !! OVERLAP: table <-> floor  depth=[0.502, -0.002, 0.400]
+  !! OVERLAP: table <-> floor  depth=[0.570, -0.002, 0.567]
+  !! OVERLAP: table <-> chair  depth=[0.542, 0.685, 0.179]
+  !! OVERLAP: table <-> chair  depth=[0.511, 0.713, 0.218]
+  !! OVERLAP: table <-> chair  depth=[0.577, 0.639, 0.228]
+  !! OVERLAP: table <-> chair  depth=[0.398, 0.679, 0.435]
+  !! OVERLAP: table <-> floor  depth=[2.705, -0.002, 1.028]
+  !! OVERLAP: chair <-> floor  depth=[0.542, -0.002, 0.564]
+  !! OVERLAP: chair <-> chair  depth=[0.010, 0.706, 0.520]
+  !! OVERLAP: chair <-> floor  depth=[0.542, -0.002, 0.555]
+  !! OVERLAP: chair <-> floor  depth=[0.533, -0.002, 0.457]
+  !! OVERLAP: chair <-> floor  depth=[0.450, -0.002, 0.526]
+  !! OVERLAP: chair <-> floor  depth=[0.577, -0.002, 0.543]
+  !! OVERLAP: chair <-> floor  depth=[0.520, -0.002, 0.563]
+  !! OVERLAP: table <-> floor  depth=[0.832, -0.002, 0.363]
+  !! OVERLAP: tv_stand <-> floor  depth=[1.604, -0.002, 0.386]
+============================================================
+
+
+============================================================
+SCENE: LivingDiningRoom-35769  |  19 objects
+============================================================
+Obj                       l      h      w        x       y       z    angle
+----------------------------------------------------------------------
+sofa                  2.094  0.762  1.010    3.231   0.001   0.603   179.97°
+chair                 0.928  1.001  0.991    4.832   0.002  -0.631   -90.28°
+chair                 0.845  1.187  0.857    1.239  -0.003  -0.441   131.12°
+table                 1.251  0.390  1.075    3.074   0.003  -0.995     0.04°
+table                 0.685  0.433  0.619    4.959   0.003   0.732  -179.97°
+table                 0.604  0.580  0.540    1.654   0.002   0.924   179.78°
+table                 1.616  0.751  1.263   -3.403  -0.000   0.990     0.02°
+chair                 0.582  0.848  0.561   -3.780   0.002   0.132    -0.04°
+chair                 0.598  0.899  0.514   -2.998   0.001   0.141    -0.17°
+chair                 0.619  0.887  0.597   -3.889   0.002   1.803   179.97°
+chair                 0.577  0.901  0.524   -3.052   0.001   1.926  -179.98°
+chair                 0.645  0.910  0.679   -2.033   0.001   1.005   -90.15°
+chair                 0.548  0.821  0.518   -4.409   0.002   0.952    89.95°
+cabinet               0.773  1.420  0.346   -0.921   0.001   2.703  -179.97°
+table                 1.019  2.037  0.504   -4.777   0.014   1.095    90.65°
+lamp                  0.717  0.844  0.738    2.728   1.823  -0.929     0.06°
+lamp                  1.097  0.966  1.173   -3.604   1.930   1.107    -0.06°
+floor                10.711 -0.004  5.925    0.120  -0.001   0.029    -0.14°
+_scene_               0.067  0.000  0.022   -5.674  -0.005  -5.708   -57.28°
+
+  Pairwise overlap check (axis-aligned bbox):
+  !! OVERLAP: sofa <-> floor  depth=[2.094, -0.004, 1.010]
+  !! OVERLAP: chair <-> floor  depth=[0.928, -0.004, 0.991]
+  !! OVERLAP: chair <-> floor  depth=[0.845, -0.004, 0.857]
+  !! OVERLAP: table <-> floor  depth=[1.251, -0.004, 1.075]
+  !! OVERLAP: table <-> floor  depth=[0.685, -0.004, 0.619]
+  !! OVERLAP: table <-> floor  depth=[0.604, -0.004, 0.540]
+  !! OVERLAP: table <-> chair  depth=[0.582, 0.751, 0.053]
+  !! OVERLAP: table <-> chair  depth=[0.598, 0.751, 0.040]
+  !! OVERLAP: table <-> chair  depth=[0.619, 0.751, 0.117]
+  !! OVERLAP: table <-> chair  depth=[0.075, 0.751, 0.518]
+  !! OVERLAP: table <-> floor  depth=[1.616, -0.004, 1.263]
+  !! OVERLAP: chair <-> floor  depth=[0.582, -0.004, 0.561]
+  !! OVERLAP: chair <-> floor  depth=[0.598, -0.004, 0.514]
+  !! OVERLAP: chair <-> floor  depth=[0.619, -0.004, 0.597]
+  !! OVERLAP: chair <-> floor  depth=[0.577, -0.004, 0.524]
+  !! OVERLAP: chair <-> floor  depth=[0.645, -0.004, 0.679]
+  !! OVERLAP: chair <-> table  depth=[0.416, 0.821, 0.368]
+  !! OVERLAP: chair <-> floor  depth=[0.548, -0.004, 0.518]
+  !! OVERLAP: cabinet <-> floor  depth=[0.773, -0.004, 0.346]
+  !! OVERLAP: table <-> floor  depth=[0.968, -0.004, 0.504]
+============================================================
+
+
+============================================================
+SCENE: LivingRoom-1097  |  19 objects
+============================================================
+Obj                       l      h      w        x       y       z    angle
+----------------------------------------------------------------------
+table                 0.626  1.122  0.390    0.969   0.004  -0.854   -90.13°
+sofa                  2.655  0.788  1.139   -1.143   0.002  -0.283     0.02°
+table                 1.252  0.710  1.193   -0.780  -0.001  -2.644     0.07°
+tv_stand              2.253  0.601  0.425   -0.667   0.001   2.457   179.95°
+table                 1.504  0.690  0.939   -0.784   0.001   1.236     0.01°
+chair                 0.865  0.891  0.932    0.872  -0.000   1.268  -135.92°
+chair                 0.525  0.934  0.619   -1.353  -0.000  -3.295     0.01°
+chair                 0.502  0.923  0.511   -0.851  -0.003  -3.443    -0.03°
+chair                 0.531  0.953  0.577   -0.951  -0.000  -1.811   179.97°
+chair                 0.533  0.998  0.585   -1.444  -0.002  -1.785   179.98°
+table                 0.550  1.236  0.392    0.563   0.002   2.857     0.09°
+table                 0.579  1.279  0.461   -2.537  -0.003   2.393     0.20°
+cabinet               1.635  0.719  0.321   -1.961   0.003  -2.167    90.01°
+lamp                  0.972  0.836  0.607   -0.967   1.928   1.265     0.03°
+cabinet               1.091  1.191  0.327    1.725   0.001  -2.200   -90.19°
+chair                 0.673  0.353  0.480    1.841   0.001  -0.925   -89.85°
+lamp                  0.702  1.024  0.718   -0.919   1.576  -2.813     0.03°
+floor                 5.227 -0.002  7.573   -0.320   0.000  -0.182    -0.02°
+_scene_               0.069  0.000  0.023   -5.671  -0.005  -5.715   -57.33°
+
+  Pairwise overlap check (axis-aligned bbox):
+  !! OVERLAP: table <-> floor  depth=[0.626, -0.002, 0.390]
+  !! OVERLAP: sofa <-> floor  depth=[2.655, -0.002, 1.139]
+  !! OVERLAP: table <-> chair  depth=[0.316, 0.710, 0.255]
+  !! OVERLAP: table <-> chair  depth=[0.502, 0.710, 0.053]
+  !! OVERLAP: table <-> chair  depth=[0.531, 0.710, 0.052]
+  !! OVERLAP: table <-> chair  depth=[0.229, 0.710, 0.030]
+  !! OVERLAP: table <-> cabinet  depth=[0.262, 0.710, 0.280]
+  !! OVERLAP: table <-> floor  depth=[1.252, -0.002, 1.193]
+  !! OVERLAP: tv_stand <-> table  depth=[0.171, 0.601, 0.009]
+  !! OVERLAP: tv_stand <-> floor  depth=[2.253, -0.002, 0.425]
+  !! OVERLAP: table <-> floor  depth=[1.504, -0.002, 0.939]
+  !! OVERLAP: chair <-> floor  depth=[0.865, -0.002, 0.932]
+  !! OVERLAP: chair <-> chair  depth=[0.012, 0.923, 0.418]
+  !! OVERLAP: chair <-> floor  depth=[0.525, -0.002, 0.619]
+  !! OVERLAP: chair <-> floor  depth=[0.502, -0.002, 0.511]
+  !! OVERLAP: chair <-> chair  depth=[0.040, 0.953, 0.555]
+  !! OVERLAP: chair <-> cabinet  depth=[0.073, 0.719, 0.092]
+  !! OVERLAP: chair <-> floor  depth=[0.531, -0.002, 0.577]
+  !! OVERLAP: chair <-> cabinet  depth=[0.533, 0.719, 0.071]
+  !! OVERLAP: chair <-> floor  depth=[0.533, -0.002, 0.585]
+  !! OVERLAP: table <-> floor  depth=[0.550, -0.002, 0.392]
+  !! OVERLAP: table <-> floor  depth=[0.579, -0.002, 0.461]
+  !! OVERLAP: cabinet <-> floor  depth=[1.635, -0.002, 0.321]
+  !! OVERLAP: cabinet <-> floor  depth=[1.091, -0.002, 0.327]
+  !! OVERLAP: chair <-> floor  depth=[0.673, -0.002, 0.480]
+============================================================
+
+
+============================================================
+SCENE: LivingDiningRoom-2729  |  18 objects
+============================================================
+Obj                       l      h      w        x       y       z    angle
+----------------------------------------------------------------------
+table                 1.579  0.740  1.132   -2.273  -0.000  -0.599     0.04°
+lamp                  0.377  0.823  0.356   -2.243   1.772  -0.638     0.07°
+chair                 0.587  0.877  0.704   -1.320   0.000  -0.369   -89.84°
+chair                 0.613  0.928  0.665   -1.599   0.000  -1.623    -0.01°
+chair                 0.648  0.887  0.667   -1.678   0.001   0.275   179.97°
+chair                 0.572  0.899  0.577   -2.875   0.005  -0.097  -179.98°
+chair                 0.658  0.913  0.630   -3.291   0.002  -0.554    89.99°
+chair                 0.594  0.861  0.632   -2.744  -0.000  -1.724    -0.05°
+table                 0.828  0.521  1.013    2.046   0.001  -0.524    -0.03°
+tv_stand              2.182  1.064  0.517    1.443   0.001   0.867   179.98°
+sofa                  2.390  0.945  1.061    1.027  -0.002  -1.942     0.04°
+chair                 0.657  1.119  0.768    2.842   0.001  -1.513   -57.72°
+chair                 0.621  0.432  0.461    0.254   0.003  -1.252    90.03°
+chair                 0.575  0.438  0.461    0.578   0.003  -0.853    90.14°
+lamp                  0.263  0.714  0.268    1.707   1.942  -0.548    -0.06°
+cabinet               0.654  0.776  0.459   -3.161   0.007   1.548   179.87°
+floor                 8.110  0.010  6.227   -0.312   0.000  -0.476    -0.03°
+_scene_               0.072  0.002  0.020   -5.670  -0.004  -5.712   -57.29°
+
+  Pairwise overlap check (axis-aligned bbox):
+  !! OVERLAP: table <-> chair  depth=[0.130, 0.740, 0.688]
+  !! OVERLAP: table <-> chair  depth=[0.519, 0.740, 0.026]
+  !! OVERLAP: table <-> chair  depth=[0.474, 0.740, 0.352]
+  !! OVERLAP: table <-> chair  depth=[0.100, 0.740, 0.630]
+  !! OVERLAP: table <-> floor  depth=[1.579, 0.010, 1.132]
+  !! OVERLAP: chair <-> chair  depth=[0.259, 0.877, 0.042]
+  !! OVERLAP: chair <-> floor  depth=[0.587, 0.010, 0.704]
+  !! OVERLAP: chair <-> floor  depth=[0.613, 0.010, 0.665]
+  !! OVERLAP: chair <-> floor  depth=[0.648, 0.010, 0.667]
+  !! OVERLAP: chair <-> chair  depth=[0.198, 0.899, 0.147]
+  !! OVERLAP: chair <-> floor  depth=[0.572, 0.010, 0.577]
+  !! OVERLAP: chair <-> floor  depth=[0.658, 0.010, 0.630]
+  !! OVERLAP: chair <-> floor  depth=[0.594, 0.010, 0.632]
+  !! OVERLAP: table <-> floor  depth=[0.828, 0.010, 1.013]
+  !! OVERLAP: tv_stand <-> floor  depth=[2.182, 0.010, 0.517]
+  !! OVERLAP: sofa <-> chair  depth=[0.621, 0.432, 0.071]
+  !! OVERLAP: sofa <-> floor  depth=[2.390, 0.010, 1.061]
+  !! OVERLAP: chair <-> floor  depth=[0.657, 0.010, 0.768]
+  !! OVERLAP: chair <-> chair  depth=[0.273, 0.432, 0.061]
+  !! OVERLAP: chair <-> floor  depth=[0.621, 0.010, 0.461]
+  !! OVERLAP: chair <-> floor  depth=[0.575, 0.010, 0.461]
+  !! OVERLAP: cabinet <-> floor  depth=[0.654, 0.010, 0.459]
+============================================================
+
+
+============================================================
+SCENE: LivingDiningRoom-19784  |  14 objects
+============================================================
+Obj                       l      h      w        x       y       z    angle
+----------------------------------------------------------------------
+sofa                  2.219  0.814  0.861    1.399   0.001  -2.122   -90.01°
+chair                 0.790  1.029  0.788    0.220  -0.001  -3.372    -0.02°
+table                 1.308  0.479  1.128    0.364   0.004  -1.623    90.00°
+table                 0.344  1.183  0.358    2.190   0.004  -3.049   -90.01°
+tv_stand              1.841  0.621  0.532   -1.241   0.003  -1.598    90.04°
+table                 1.276  0.823  1.147    0.803  -0.001   1.298   -90.05°
+chair                 0.549  1.047  0.634   -0.308   0.000   1.399    89.86°
+chair                 0.592  1.094  0.623   -0.238  -0.000   2.017    89.91°
+chair                 0.559  1.073  0.600    1.614  -0.001   1.118   -89.62°
+chair                 0.475  1.034  0.526    1.761  -0.002   2.065   -90.35°
+lamp                  1.095  1.337  1.043    0.059   1.955  -1.414    -0.00°
+lamp                  0.806  0.976  0.823    0.872   1.782   1.631    -0.03°
+floor                 4.596 -0.004  7.359    0.242  -0.000  -0.036    -0.06°
+_scene_               0.068  0.001  0.025   -5.670  -0.004  -5.714   -57.29°
+
+  Pairwise overlap check (axis-aligned bbox):
+  !! OVERLAP: sofa <-> table  depth=[0.728, 0.479, 0.496]
+  !! OVERLAP: sofa <-> floor  depth=[2.219, -0.004, 0.861]
+  !! OVERLAP: chair <-> floor  depth=[0.790, -0.004, 0.738]
+  !! OVERLAP: table <-> floor  depth=[1.308, -0.004, 1.128]
+  !! OVERLAP: table <-> floor  depth=[0.344, -0.004, 0.358]
+  !! OVERLAP: tv_stand <-> floor  depth=[1.735, -0.004, 0.532]
+  !! OVERLAP: table <-> chair  depth=[0.106, 0.823, 0.600]
+  !! OVERLAP: table <-> floor  depth=[1.276, -0.004, 1.147]
+  !! OVERLAP: chair <-> chair  depth=[0.501, 1.047, 0.010]
+  !! OVERLAP: chair <-> floor  depth=[0.549, -0.004, 0.634]
+  !! OVERLAP: chair <-> floor  depth=[0.592, -0.004, 0.623]
+  !! OVERLAP: chair <-> floor  depth=[0.559, -0.004, 0.600]
+  !! OVERLAP: chair <-> floor  depth=[0.475, -0.004, 0.526]
+============================================================
+
+
+============================================================
+SCENE: LivingDiningRoom-10493  |  16 objects
+============================================================
+Obj                       l      h      w        x       y       z    angle
+----------------------------------------------------------------------
+lamp                  0.603  0.938  0.570   -1.285   1.769  -2.391    -0.00°
+table                 1.513  0.914  1.275    1.576   0.001  -2.261  -179.99°
+chair                 0.539  0.747  0.624    1.465   0.001  -2.890     0.01°
+chair                 0.554  0.760  0.552    0.520  -0.000  -2.789     0.02°
+chair                 0.521  0.743  0.577    1.474   0.001  -1.205   179.98°
+chair                 0.453  0.734  0.586    0.470  -0.002  -1.434  -179.93°
+lamp                  0.977  0.893  0.979   -1.719   1.865   1.759  -179.92°
+table                 0.597  0.549  0.437   -3.093   0.002  -0.017    89.89°
+table                 0.519  0.526  0.538   -3.006   0.004   3.301    90.04°
+table                 1.185  0.406  1.018   -1.629   0.000   1.746    90.00°
+tv_stand              1.480  0.593  0.414   -0.330   0.000   1.917   -89.93°
+sofa                  2.324  0.888  0.973   -3.194   0.002   1.675    89.98°
+chair                 0.853  1.045  0.929   -1.625   0.000   3.072   179.73°
+table                 0.888  0.652  0.571   -1.401  -0.000   0.182   179.95°
+floor                 6.757 -0.002  8.221   -0.981  -0.000  -0.027    -0.04°
+_scene_               0.067 -0.000  0.019   -5.670  -0.005  -5.713   -57.31°
+
+  Pairwise overlap check (axis-aligned bbox):
+  !! OVERLAP: table <-> chair  depth=[0.539, 0.747, 0.321]
+  !! OVERLAP: table <-> floor  depth=[1.513, -0.002, 1.275]
+  !! OVERLAP: chair <-> floor  depth=[0.539, -0.002, 0.624]
+  !! OVERLAP: chair <-> floor  depth=[0.554, -0.002, 0.552]
+  !! OVERLAP: chair <-> floor  depth=[0.521, -0.002, 0.577]
+  !! OVERLAP: chair <-> floor  depth=[0.453, -0.002, 0.586]
+  !! OVERLAP: table <-> floor  depth=[0.597, -0.002, 0.437]
+  !! OVERLAP: table <-> floor  depth=[0.519, -0.002, 0.538]
+  !! OVERLAP: table <-> tv_stand  depth=[0.033, 0.406, 0.414]
+  !! OVERLAP: table <-> sofa  depth=[0.189, 0.406, 0.924]
+  !! OVERLAP: table <-> floor  depth=[1.185, -0.002, 1.018]
+  !! OVERLAP: tv_stand <-> floor  depth=[1.480, -0.002, 0.414]
+  !! OVERLAP: sofa <-> floor  depth=[2.324, -0.002, 0.973]
+  !! OVERLAP: chair <-> floor  depth=[0.853, -0.002, 0.929]
+  !! OVERLAP: table <-> floor  depth=[0.888, -0.002, 0.571]
+============================================================
+
+
+============================================================
+SCENE: LivingRoom-23405  |  10 objects
+============================================================
+Obj                       l      h      w        x       y       z    angle
+----------------------------------------------------------------------
+table                 1.584  0.704  0.795   -1.157  -0.002  -0.452    90.15°
+chair                 0.627  0.915  0.643   -1.865   0.001   0.333    89.82°
+chair                 0.501  0.922  0.563   -1.858   0.001  -0.262    89.99°
+chair                 0.476  0.993  0.584   -0.878   0.002   0.488   -89.72°
+chair                 0.533  0.950  0.511   -0.717   0.000  -0.469   -89.98°
+table                 1.425  0.738  0.642    1.296  -0.001   0.408   -90.03°
+cabinet               0.889  1.422  0.479    1.445   0.001  -1.242     0.06°
+lamp                  0.605  0.364  0.460   -0.642   2.146  -0.627     0.20°
+floor                 4.991 -0.001  2.919    0.039   0.000  -0.051     0.00°
+_scene_               0.069  0.001  0.021   -5.669  -0.004  -5.712   -57.28°
+
+  Pairwise overlap check (axis-aligned bbox):
+  !! OVERLAP: table <-> chair  depth=[0.342, 0.704, 0.489]
+  !! OVERLAP: table <-> chair  depth=[0.533, 0.704, 0.511]
+  !! OVERLAP: table <-> floor  depth=[1.584, -0.001, 0.795]
+  !! OVERLAP: chair <-> chair  depth=[0.501, 0.915, 0.009]
+  !! OVERLAP: chair <-> floor  depth=[0.627, -0.001, 0.643]
+  !! OVERLAP: chair <-> floor  depth=[0.501, -0.001, 0.563]
+  !! OVERLAP: chair <-> floor  depth=[0.476, -0.001, 0.584]
+  !! OVERLAP: chair <-> floor  depth=[0.533, -0.001, 0.511]
+  !! OVERLAP: table <-> floor  depth=[1.425, -0.001, 0.642]
+  !! OVERLAP: cabinet <-> floor  depth=[0.889, -0.001, 0.479]
+============================================================
+
+
+============================================================
+SCENE: LivingRoom-3797  |  13 objects
+============================================================
+Obj                       l      h      w        x       y       z    angle
+----------------------------------------------------------------------
+sofa                  1.586  0.790  0.938    1.349   0.001   1.597   -89.91°
+table                 1.073  0.298  0.892    0.152  -0.001   1.484   -90.10°
+table                 1.553  0.763  0.843    1.384  -0.004  -0.702     0.01°
+chair                 0.585  0.809  0.495    1.188   0.001  -0.110   179.95°
+chair                 0.464  0.794  0.479    1.781   0.001  -0.236  -179.96°
+chair                 0.434  0.873  0.407    1.185  -0.000  -1.402     0.07°
+chair                 0.422  0.795  0.496    1.755   0.002  -1.399    -0.01°
+tv_stand              1.951  0.622  0.391   -0.957  -0.001   1.580    89.97°
+cabinet               0.933  1.042  0.250   -0.194   0.004  -2.344     0.02°
+lamp                  0.477  0.435  0.444    0.087   2.113   1.679     0.01°
+lamp                  0.205  1.244  0.182    1.424   1.500  -0.805     0.02°
+floor                 4.080 -0.005  5.941    0.136   0.000   0.516     0.04°
+_scene_               0.067  0.000  0.019   -5.669  -0.005  -5.714   -57.32°
+
+  Pairwise overlap check (axis-aligned bbox):
+  !! OVERLAP: sofa <-> table  depth=[0.133, 0.298, 0.802]
+  !! OVERLAP: sofa <-> floor  depth=[1.586, -0.005, 0.938]
+  !! OVERLAP: table <-> tv_stand  depth=[0.403, 0.298, 0.391]
+  !! OVERLAP: table <-> floor  depth=[1.073, -0.005, 0.892]
+  !! OVERLAP: table <-> chair  depth=[0.585, 0.763, 0.078]
+  !! OVERLAP: table <-> chair  depth=[0.464, 0.763, 0.196]
+  !! OVERLAP: table <-> floor  depth=[1.553, -0.005, 0.843]
+  !! OVERLAP: chair <-> floor  depth=[0.585, -0.005, 0.495]
+  !! OVERLAP: chair <-> floor  depth=[0.464, -0.005, 0.479]
+  !! OVERLAP: chair <-> floor  depth=[0.434, -0.005, 0.407]
+  !! OVERLAP: chair <-> floor  depth=[0.422, -0.005, 0.496]
+  !! OVERLAP: tv_stand <-> floor  depth=[1.923, -0.005, 0.391]
+  !! OVERLAP: cabinet <-> floor  depth=[0.933, -0.005, 0.236]
+============================================================
+