Upload all current_works benchmark datasets and model outputs (part 228)

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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, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 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], [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], [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], [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], [0.0], [0.0]], [[1.0], [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], [0.0], [0.0]], [[1.0], [1.0], [1.0], [1.0], [1.0], [0.0], [0.0]]], "scene_ids": ["Bedroom-17102", "MasterBedroom-40319", "MasterBedroom-28978", "MasterBedroom-392", "MasterBedroom-3712", "MasterBedroom-1446", "SecondBedroom-6847", "MasterBedroom-12183", "Bedroom-8136", "MasterBedroom-24714", "Bedroom-13858"]}

current_works/to_be_merged/released_full_model_160_175/vis/2050/debug_bbox.txt

@@ -0,0 +1,751 @@
+
+============================================================
+SCENE: Bedroom-17102  |  6 objects
+============================================================
+Obj                       l      h      w        x       y       z    angle
+----------------------------------------------------------------------
+bed                   1.798  1.461  2.509   -0.525   0.004   0.271    89.92°
+table                 0.597  0.573  0.530   -1.283  -0.001   1.507     0.01°
+lamp                  0.598  0.703  0.625    0.302   2.017   0.928    -0.23°
+wardrobe              1.815  2.375  0.511   -0.521  -0.003  -1.875     0.01°
+floor                 3.239 -0.002  4.200   -0.015   0.001  -0.020    -0.02°
+_scene_               0.075  0.001  0.019   -5.672  -0.005  -5.713   -57.30°
+
+  Pairwise overlap check (axis-aligned bbox):
+  !! OVERLAP: bed <-> table  depth=[0.440, 0.573, 0.284]
+  !! OVERLAP: bed <-> floor  depth=[1.798, -0.002, 2.509]
+  !! OVERLAP: table <-> floor  depth=[0.597, -0.002, 0.530]
+  !! OVERLAP: wardrobe <-> floor  depth=[1.815, -0.002, 0.499]
+============================================================
+
+
+============================================================
+SCENE: MasterBedroom-40319  |  10 objects
+============================================================
+Obj                       l      h      w        x       y       z    angle
+----------------------------------------------------------------------
+wardrobe              1.469  2.302  0.509   -1.173   0.004  -0.677    89.86°
+lamp                  0.360  0.651  0.343   -1.128   1.576  -1.326    -0.08°
+lamp                  0.290  0.871  0.262    1.596   1.503  -1.391     0.04°
+lamp                  0.694  0.751  0.742    0.037   1.983  -0.969    -0.32°
+table                 1.007  1.253  0.455    1.327  -0.000   1.217  -180.00°
+bed                   1.735  1.060  1.880    0.230   0.000  -0.652     0.14°
+nightstand            0.458  0.451  0.341    1.452   0.001  -1.421    -0.02°
+nightstand            0.395  0.461  0.294   -1.310   0.002  -1.398     0.09°
+floor                 3.677 -0.000  3.163   -0.017  -0.000  -0.011    -0.03°
+_scene_               0.069  0.001  0.018   -5.673  -0.005  -5.714   -57.30°
+
+  Pairwise overlap check (axis-aligned bbox):
+  !! OVERLAP: wardrobe <-> bed  depth=[0.199, 1.060, 0.509]
+  !! OVERLAP: wardrobe <-> floor  depth=[1.418, -0.000, 0.509]
+  !! OVERLAP: table <-> floor  depth=[0.998, -0.000, 0.455]
+  !! OVERLAP: bed <-> floor  depth=[1.735, -0.000, 1.880]
+  !! OVERLAP: nightstand <-> floor  depth=[0.458, -0.000, 0.341]
+  !! OVERLAP: nightstand <-> floor  depth=[0.395, -0.000, 0.294]
+============================================================
+
+
+============================================================
+SCENE: MasterBedroom-28978  |  9 objects
+============================================================
+Obj                       l      h      w        x       y       z    angle
+----------------------------------------------------------------------
+nightstand            0.502  0.500  0.344    1.095   0.000  -1.443    -0.02°
+bookshelf             1.286  1.999  0.284    0.147  -0.009  -1.628     0.10°
+wardrobe              2.254  2.342  0.612    0.277   0.001   1.336  -179.83°
+chair                 0.380  0.881  0.404   -0.425   0.009  -1.114  -111.69°
+desk                  0.873  0.847  0.527   -1.196   0.000   1.370    90.04°
+bed                   1.484  1.251  2.325    0.927  -0.017  -0.224   -88.52°
+lamp                  0.882  0.481  0.526   -0.583   2.280   0.521    -0.01°
+floor                 3.401 -0.002  3.543   -0.003  -0.001   0.002    -0.01°
+_scene_               0.069 -0.000  0.025   -5.671  -0.004  -5.714   -57.30°
+
+  Pairwise overlap check (axis-aligned bbox):
+  !! OVERLAP: nightstand <-> bed  depth=[0.502, 0.500, 0.115]
+  !! OVERLAP: nightstand <-> floor  depth=[0.502, -0.002, 0.344]
+  !! OVERLAP: bookshelf <-> floor  depth=[1.286, -0.002, 0.283]
+  !! OVERLAP: wardrobe <-> desk  depth=[0.091, 0.847, 0.527]
+  !! OVERLAP: wardrobe <-> floor  depth=[2.254, -0.002, 0.612]
+  !! OVERLAP: chair <-> floor  depth=[0.380, -0.002, 0.404]
+  !! OVERLAP: desk <-> floor  depth=[0.873, -0.002, 0.527]
+  !! OVERLAP: bed <-> floor  depth=[1.484, -0.002, 2.325]
+============================================================
+
+
+============================================================
+SCENE: MasterBedroom-392  |  9 objects
+============================================================
+Obj                       l      h      w        x       y       z    angle
+----------------------------------------------------------------------
+wardrobe              2.231  2.420  0.639   -0.182  -0.002  -1.859     0.05°
+nightstand            0.485  0.596  0.367   -1.211   0.002  -1.035    89.92°
+nightstand            0.576  0.553  0.403   -0.797   0.009  -0.621    90.00°
+nightstand            0.426  0.615  0.382   -1.288   0.004   2.018    90.21°
+bed                   2.115  1.043  2.195   -0.531   0.003   0.826    89.97°
+bookshelf             0.850  2.089  0.478    1.113   0.005   1.542   -90.09°
+lamp                  0.781  0.898  0.468   -0.175   1.741   0.849    -0.02°
+floor                 3.166 -0.003  5.230   -0.026   0.001   0.295    -0.05°
+_scene_               0.067  0.000  0.017   -5.671  -0.005  -5.715   -57.29°
+
+  Pairwise overlap check (axis-aligned bbox):
+  !! OVERLAP: wardrobe <-> floor  depth=[2.231, -0.003, 0.639]
+  !! OVERLAP: nightstand <-> floor  depth=[0.485, -0.003, 0.367]
+  !! OVERLAP: nightstand <-> floor  depth=[0.576, -0.003, 0.403]
+  !! OVERLAP: nightstand <-> bed  depth=[0.426, 0.615, 0.097]
+  !! OVERLAP: nightstand <-> floor  depth=[0.426, -0.003, 0.382]
+  !! OVERLAP: bed <-> floor  depth=[2.115, -0.003, 2.195]
+  !! OVERLAP: bookshelf <-> floor  depth=[0.850, -0.003, 0.478]
+============================================================
+
+
+============================================================
+SCENE: MasterBedroom-3712  |  6 objects
+============================================================
+Obj                       l      h      w        x       y       z    angle
+----------------------------------------------------------------------
+lamp                  0.599  0.590  0.622    0.630   2.117  -0.463    -0.09°
+desk                  1.486  0.710  0.883    0.896  -0.001  -0.322     0.02°
+chair                 0.558  0.788  0.347    0.803  -0.006  -1.135   141.67°
+bed                   1.705  1.161  2.211   -0.799  -0.002  -0.216     0.07°
+floor                 3.220  0.000  2.884   -0.005   0.000  -0.008    -0.06°
+_scene_               0.063  0.002  0.019   -5.673  -0.005  -5.716   -57.27°
+
+  Pairwise overlap check (axis-aligned bbox):
+  !! OVERLAP: desk <-> floor  depth=[1.453, 0.000, 0.883]
+  !! OVERLAP: chair <-> floor  depth=[0.558, 0.000, 0.347]
+  !! OVERLAP: bed <-> floor  depth=[1.668, 0.000, 2.211]
+============================================================
+
+
+============================================================
+SCENE: MasterBedroom-1446  |  9 objects
+============================================================
+Obj                       l      h      w        x       y       z    angle
+----------------------------------------------------------------------
+bed                   1.859  0.864  2.099    1.174   0.000   0.989   179.97°
+nightstand            0.324  0.561  0.297    2.258   0.001   1.790   -90.12°
+wardrobe              1.526  2.057  0.574   -1.430   0.000  -1.261     0.03°
+lamp                  0.351  0.979  0.344    0.622   1.817   0.699    -0.07°
+chair                 0.543  0.859  0.562   -0.888   0.000   1.763  -153.21°
+chair                 0.602  0.880  0.737   -1.629  -0.001   1.730   136.13°
+chair                 0.778  0.428  0.450    2.086  -0.001  -0.574   179.96°
+floor                 5.294 -0.003  4.274    0.202   0.001   0.063    -0.00°
+_scene_               0.064 -0.001  0.019   -5.671  -0.005  -5.715   -57.30°
+
+  Pairwise overlap check (axis-aligned bbox):
+  !! OVERLAP: bed <-> nightstand  depth=[0.007, 0.561, 0.297]
+  !! OVERLAP: bed <-> floor  depth=[1.859, -0.003, 2.099]
+  !! OVERLAP: nightstand <-> floor  depth=[0.324, -0.003, 0.297]
+  !! OVERLAP: wardrobe <-> floor  depth=[1.526, -0.003, 0.574]
+  !! OVERLAP: chair <-> floor  depth=[0.543, -0.003, 0.562]
+  !! OVERLAP: chair <-> floor  depth=[0.602, -0.003, 0.737]
+  !! OVERLAP: chair <-> floor  depth=[0.778, -0.003, 0.450]
+============================================================
+
+
+============================================================
+SCENE: SecondBedroom-6847  |  8 objects
+============================================================
+Obj                       l      h      w        x       y       z    angle
+----------------------------------------------------------------------
+bed                   0.837  1.356  1.919    0.907   0.032  -0.681   -90.39°
+cabinet               1.439  2.077  0.586    0.804   0.002   1.395  -179.95°
+nightstand            0.489  0.584  0.534    1.275   0.005   0.642   -90.30°
+nightstand            0.531  0.703  0.447    1.259   0.001  -1.442   -89.94°
+cabinet               1.070  1.934  0.377   -1.058   0.004  -1.010    89.84°
+lamp                  0.297  1.494  0.292   -0.285   1.097  -0.639     0.01°
+floor                 3.099 -0.004  3.586   -0.005   0.000  -0.003     0.01°
+_scene_               0.068  0.000  0.017   -5.675  -0.005  -5.713   -57.32°
+
+  Pairwise overlap check (axis-aligned bbox):
+  !! OVERLAP: bed <-> nightstand  depth=[0.332, 0.703, 0.422]
+  !! OVERLAP: bed <-> floor  depth=[0.837, -0.004, 1.919]
+  !! OVERLAP: cabinet <-> floor  depth=[1.439, -0.004, 0.586]
+  !! OVERLAP: nightstand <-> floor  depth=[0.489, -0.004, 0.534]
+  !! OVERLAP: nightstand <-> floor  depth=[0.531, -0.004, 0.447]
+  !! OVERLAP: cabinet <-> floor  depth=[1.031, -0.004, 0.377]
+============================================================
+
+
+============================================================
+SCENE: MasterBedroom-12183  |  8 objects
+============================================================
+Obj                       l      h      w        x       y       z    angle
+----------------------------------------------------------------------
+desk                  1.628  0.840  0.869   -1.298   0.003  -0.384    90.04°
+bed                   1.455  1.121  2.170    0.925   0.006   0.230     1.43°
+nightstand            0.460  0.575  0.445   -0.687   0.002  -1.191     0.00°
+nightstand            0.569  0.607  0.497    1.525   0.001  -1.207     0.16°
+lamp                  0.482  0.229  0.498    0.844   2.395  -0.350   -89.68°
+lamp                  0.679  0.857  0.677   -1.552   1.901  -1.069     0.02°
+floor                 4.245 -0.003  2.809   -0.010  -0.002  -0.011    -0.06°
+_scene_               0.069  0.001  0.022   -5.673  -0.005  -5.713   -57.29°
+
+  Pairwise overlap check (axis-aligned bbox):
+  !! OVERLAP: desk <-> floor  depth=[1.628, -0.003, 0.869]
+  !! OVERLAP: bed <-> floor  depth=[1.455, -0.003, 2.170]
+  !! OVERLAP: nightstand <-> floor  depth=[0.460, -0.003, 0.445]
+  !! OVERLAP: nightstand <-> floor  depth=[0.569, -0.003, 0.457]
+============================================================
+
+
+============================================================
+SCENE: Bedroom-8136  |  5 objects
+============================================================
+Obj                       l      h      w        x       y       z    angle
+----------------------------------------------------------------------
+bed                   1.885  1.118  2.179    0.316  -0.005  -0.710   -90.16°
+wardrobe              2.640  2.524  0.734   -0.178   0.002   1.572  -179.96°
+lamp                  0.669  0.632  0.606    0.220   2.015  -0.893     0.13°
+floor                 3.063 -0.001  4.102   -0.011   0.001  -0.004     0.00°
+_scene_               0.044 -0.001  0.003   -5.675  -0.006  -5.715   -57.31°
+
+  Pairwise overlap check (axis-aligned bbox):
+  !! OVERLAP: bed <-> floor  depth=[1.885, -0.001, 2.179]
+  !! OVERLAP: wardrobe <-> floor  depth=[2.640, -0.001, 0.734]
+============================================================
+
+
+============================================================
+SCENE: MasterBedroom-24714  |  7 objects
+============================================================
+Obj                       l      h      w        x       y       z    angle
+----------------------------------------------------------------------
+wardrobe              2.019  2.343  0.611    0.198   0.000  -1.498     0.03°
+bed                   2.211  1.251  2.127    0.366  -0.009   0.795   -89.98°
+tv_stand              1.373  0.618  0.141   -0.849  -0.003   1.017    90.52°
+nightstand            0.585  0.640  0.413    1.244   0.002  -0.804   -90.08°
+lamp                  1.191  0.930  1.268   -0.116   1.897   1.003    -0.04°
+floor                 3.171 -0.005  3.879   -0.004   0.000   0.036    -0.02°
+_scene_               0.069  0.000  0.022   -5.672  -0.005  -5.715   -57.31°
+
+  Pairwise overlap check (axis-aligned bbox):
+  !! OVERLAP: wardrobe <-> floor  depth=[2.019, -0.005, 0.611]
+  !! OVERLAP: bed <-> tv_stand  depth=[0.578, 0.618, 0.141]
+  !! OVERLAP: bed <-> floor  depth=[2.211, -0.005, 2.127]
+  !! OVERLAP: tv_stand <-> floor  depth=[1.373, -0.005, 0.141]
+  !! OVERLAP: nightstand <-> floor  depth=[0.585, -0.005, 0.413]
+============================================================
+
+
+============================================================
+SCENE: Bedroom-13858  |  7 objects
+============================================================
+Obj                       l      h      w        x       y       z    angle
+----------------------------------------------------------------------
+bed                   2.480  1.381  2.269   -0.717  -0.001  -0.147    -0.12°
+wardrobe              1.163  2.317  0.544    1.249   0.003  -0.545  -179.75°
+nightstand            0.449  0.632  0.359    1.248   0.001  -1.547     0.04°
+nightstand            0.575  0.581  0.415   -1.494   0.000  -1.536     0.01°
+lamp                  1.149  0.784  1.154   -0.484   2.093  -0.729     0.01°
+floor                 4.215 -0.002  3.620   -0.136  -0.000   0.065    -0.04°
+_scene_               0.071  0.000  0.025   -5.669  -0.005  -5.714   -57.28°
+
+  Pairwise overlap check (axis-aligned bbox):
+  !! OVERLAP: bed <-> floor  depth=[2.480, -0.002, 2.269]
+  !! OVERLAP: wardrobe <-> floor  depth=[1.163, -0.002, 0.544]
+  !! OVERLAP: nightstand <-> floor  depth=[0.449, -0.002, 0.359]
+  !! OVERLAP: nightstand <-> floor  depth=[0.575, -0.002, 0.415]
+============================================================
+
+
+============================================================
+SCENE: MasterBedroom-118  |  5 objects
+============================================================
+Obj                       l      h      w        x       y       z    angle
+----------------------------------------------------------------------
+bed                   1.988  1.108  2.169   -0.424  -0.003   0.423    89.77°
+table                 0.481  0.586  0.502   -1.111   0.001  -0.990    90.00°
+lamp                  0.934  1.066  0.998   -0.451   1.939   0.459     0.18°
+floor                 2.769 -0.001  3.559   -0.009   0.001  -0.021    -0.00°
+_scene_               0.066  0.000  0.034   -5.672  -0.006  -5.714   -57.29°
+
+  Pairwise overlap check (axis-aligned bbox):
+  !! OVERLAP: bed <-> floor  depth=[1.963, -0.001, 2.169]
+  !! OVERLAP: table <-> floor  depth=[0.481, -0.001, 0.502]
+============================================================
+
+
+============================================================
+SCENE: Bedroom-13858  |  7 objects
+============================================================
+Obj                       l      h      w        x       y       z    angle
+----------------------------------------------------------------------
+bed                   2.467  1.326  2.409   -0.712   0.004  -0.243    -0.02°
+wardrobe              1.185  2.251  0.548    1.174   0.003  -0.578  -179.83°
+nightstand            0.516  0.613  0.455    1.384  -0.000  -1.467    -0.02°
+nightstand            0.587  0.579  0.233   -1.565  -0.003  -1.634    -0.11°
+lamp                  1.106  0.812  1.097   -0.606   2.105  -0.708     0.03°
+floor                 4.111 -0.001  3.549   -0.081   0.000  -0.020    -0.01°
+_scene_               0.070  0.000  0.024   -5.670  -0.005  -5.714   -57.29°
+
+  Pairwise overlap check (axis-aligned bbox):
+  !! OVERLAP: bed <-> floor  depth=[2.467, -0.001, 2.409]
+  !! OVERLAP: wardrobe <-> floor  depth=[1.185, -0.001, 0.548]
+  !! OVERLAP: nightstand <-> floor  depth=[0.516, -0.001, 0.455]
+  !! OVERLAP: nightstand <-> floor  depth=[0.587, -0.001, 0.233]
+============================================================
+
+
+============================================================
+SCENE: MasterBedroom-118  |  5 objects
+============================================================
+Obj                       l      h      w        x       y       z    angle
+----------------------------------------------------------------------
+bed                   1.848  1.167  2.191   -0.472  -0.002   0.379    89.82°
+table                 0.489  0.546  0.407   -1.100   0.001  -1.052    89.98°
+lamp                  0.984  1.147  0.951   -0.471   1.863   0.877    -0.19°
+floor                 2.798 -0.002  3.459   -0.019   0.001  -0.029    -0.03°
+_scene_               0.070  0.001  0.038   -5.669  -0.005  -5.712   -57.30°
+
+  Pairwise overlap check (axis-aligned bbox):
+  !! OVERLAP: bed <-> floor  depth=[1.848, -0.002, 2.191]
+  !! OVERLAP: table <-> floor  depth=[0.489, -0.002, 0.407]
+============================================================
+
+
+============================================================
+SCENE: LivingRoom-37659  |  10 objects
+============================================================
+Obj                       l      h      w        x       y       z    angle
+----------------------------------------------------------------------
+sofa                  1.559  0.939  0.928    1.350  -0.002   1.312   -89.95°
+chair                 0.679  0.865  0.733    0.484   0.003   2.378   179.90°
+chair                 0.578  0.458  0.506    0.133  -0.001  -0.796     0.23°
+table                 1.206  0.546  0.676   -0.237  -0.002   1.201    -0.03°
+chair                 0.573  0.833  0.633   -0.775  -0.002   2.197   129.03°
+table                 0.902  0.675  0.489   -1.812  -0.000  -1.833     0.07°
+table                 0.534  0.676  0.545   -1.544   0.002   2.561     0.07°
+lamp                  0.551  1.048  0.557    0.231   1.392   1.122    -0.04°
+floor                 4.615 -0.003  6.480   -0.184   0.001   0.405    -0.04°
+_scene_               0.076 -0.001  0.023   -5.667  -0.003  -5.707   -57.29°
+
+  Pairwise overlap check (axis-aligned bbox):
+  !! OVERLAP: sofa <-> floor  depth=[1.552, -0.003, 0.928]
+  !! OVERLAP: chair <-> floor  depth=[0.679, -0.003, 0.733]
+  !! OVERLAP: chair <-> floor  depth=[0.578, -0.003, 0.506]
+  !! OVERLAP: table <-> floor  depth=[1.206, -0.003, 0.676]
+  !! OVERLAP: chair <-> floor  depth=[0.573, -0.003, 0.633]
+  !! OVERLAP: table <-> floor  depth=[0.902, -0.003, 0.489]
+  !! OVERLAP: table <-> floor  depth=[0.534, -0.003, 0.545]
+============================================================
+
+
+============================================================
+SCENE: LivingRoom-1520  |  14 objects
+============================================================
+Obj                       l      h      w        x       y       z    angle
+----------------------------------------------------------------------
+sofa                  2.309  0.872  1.055   -1.149   0.002   1.897    89.93°
+table                 1.154  0.575  0.813   -0.265   0.001   1.362    90.12°
+tv_stand              1.609  0.538  0.352    0.968  -0.002   1.957   -90.32°
+chair                 0.410  0.503  0.399   -1.026  -0.004   0.358     0.06°
+table                 1.350  0.750  1.180   -0.933   0.000  -1.881    -0.16°
+chair                 0.480  1.026  0.547   -1.506  -0.001  -0.993   179.96°
+chair                 0.544  1.084  0.595   -0.698  -0.000  -1.041  -179.90°
+chair                 0.493  1.023  0.549   -0.494  -0.002  -2.429   -89.64°
+chair                 0.550  1.070  0.625   -1.721  -0.001  -2.231     0.02°
+cabinet               1.378  0.914  0.533    0.208  -0.000  -2.951     0.04°
+lamp                  0.479  0.963  0.508   -1.200   1.620  -1.621    -0.04°
+lamp                  0.629  0.963  0.614   -0.713   1.668   1.836    -0.03°
+floor                 4.157  0.000  6.736   -0.317  -0.000   0.169    -0.02°
+_scene_               0.069 -0.001  0.022   -5.670  -0.005  -5.713   -57.31°
+
+  Pairwise overlap check (axis-aligned bbox):
+  !! OVERLAP: sofa <-> table  depth=[0.848, 0.575, 0.399]
+  !! OVERLAP: sofa <-> floor  depth=[2.309, 0.000, 1.055]
+  !! OVERLAP: table <-> floor  depth=[1.154, 0.000, 0.813]
+  !! OVERLAP: tv_stand <-> floor  depth=[1.598, 0.000, 0.352]
+  !! OVERLAP: chair <-> floor  depth=[0.410, 0.000, 0.399]
+  !! OVERLAP: table <-> chair  depth=[0.544, 0.750, 0.047]
+  !! OVERLAP: table <-> chair  depth=[0.483, 0.750, 0.317]
+  !! OVERLAP: table <-> chair  depth=[0.162, 0.750, 0.553]
+  !! OVERLAP: table <-> floor  depth=[1.350, 0.000, 1.180]
+  !! OVERLAP: chair <-> floor  depth=[0.480, 0.000, 0.547]
+  !! OVERLAP: chair <-> floor  depth=[0.544, 0.000, 0.595]
+  !! OVERLAP: chair <-> cabinet  depth=[0.233, 0.914, 0.019]
+  !! OVERLAP: chair <-> floor  depth=[0.493, 0.000, 0.549]
+  !! OVERLAP: chair <-> floor  depth=[0.550, 0.000, 0.625]
+  !! OVERLAP: cabinet <-> floor  depth=[1.378, 0.000, 0.515]
+============================================================
+
+
+============================================================
+SCENE: LivingRoom-17951  |  6 objects
+============================================================
+Obj                       l      h      w        x       y       z    angle
+----------------------------------------------------------------------
+sofa                  1.753  0.746  0.924   -0.814   0.008  -0.466    90.21°
+table                 1.344  0.725  0.585    0.617   0.008  -0.276   -90.18°
+tv_stand              1.765  1.502  0.570   -0.257  -0.105   1.235   -89.84°
+lamp                  0.648  0.435  0.565    0.524   2.097   0.406    -0.24°
+floor                 3.492 -0.001  3.560    0.004  -0.000  -0.002    -0.02°
+_scene_               0.070  0.001  0.022   -5.672  -0.004  -5.711   -57.30°
+
+  Pairwise overlap check (axis-aligned bbox):
+  !! OVERLAP: sofa <-> table  depth=[0.117, 0.725, 0.565]
+  !! OVERLAP: sofa <-> floor  depth=[1.753, -0.001, 0.924]
+  !! OVERLAP: table <-> floor  depth=[1.344, -0.001, 0.585]
+  !! OVERLAP: tv_stand <-> floor  depth=[1.765, -0.001, 0.570]
+============================================================
+
+
+============================================================
+SCENE: LivingDiningRoom-629  |  16 objects
+============================================================
+Obj                       l      h      w        x       y       z    angle
+----------------------------------------------------------------------
+sofa                  2.349  0.838  1.005    1.696  -0.003  -0.859    -0.02°
+tv_stand              2.251  0.534  0.412    1.361   0.002   1.333   179.99°
+desk                  1.041  0.430  0.473    1.401  -0.002  -0.162    -0.01°
+table                 1.050  0.765  1.521   -1.732   0.001  -0.285     0.10°
+chair                 0.578  0.631  0.489   -2.553   0.002  -0.780    89.90°
+chair                 0.532  0.698  0.556   -2.673   0.002   0.163    89.98°
+chair                 0.519  0.770  0.560   -0.938  -0.001  -0.742   -90.21°
+chair                 0.538  0.753  0.489   -1.108   0.000   0.094   -90.20°
+cabinet               3.153  2.399  0.275   -1.362  -0.000   1.538  -179.96°
+bookshelf             1.853  2.262  0.179   -1.919   0.003  -1.622    -0.11°
+chair                 0.545  0.703  0.545   -2.526   0.003  -0.062    89.91°
+cabinet               1.671  2.042  0.199   -2.079   0.013  -0.438    89.62°
+lamp                  0.930  0.679  0.864    1.622   1.923  -0.195    -0.09°
+lamp                  0.254  0.524  0.256   -1.385   1.942  -0.131    -0.01°
+floor                 5.917 -0.000  3.515    0.020  -0.001  -0.007    -0.02°
+_scene_               0.074 -0.001  0.024   -5.671  -0.004  -5.710   -57.31°
+
+  Pairwise overlap check (axis-aligned bbox):
+  !! OVERLAP: sofa <-> desk  depth=[1.041, 0.430, 0.042]
+  !! OVERLAP: sofa <-> floor  depth=[2.349, -0.000, 1.005]
+  !! OVERLAP: tv_stand <-> floor  depth=[2.251, -0.000, 0.412]
+  !! OVERLAP: desk <-> floor  depth=[1.041, -0.000, 0.473]
+  !! OVERLAP: table <-> chair  depth=[0.170, 0.753, 0.489]
+  !! OVERLAP: table <-> chair  depth=[0.004, 0.703, 0.545]
+  !! OVERLAP: table <-> cabinet  depth=[1.014, 0.765, 0.199]
+  !! OVERLAP: table <-> floor  depth=[1.050, -0.000, 1.521]
+  !! OVERLAP: chair <-> cabinet  depth=[0.578, 0.631, 0.002]
+  !! OVERLAP: chair <-> floor  depth=[0.578, -0.000, 0.489]
+  !! OVERLAP: chair <-> chair  depth=[0.392, 0.698, 0.325]
+  !! OVERLAP: chair <-> floor  depth=[0.531, -0.000, 0.556]
+  !! OVERLAP: chair <-> floor  depth=[0.519, -0.000, 0.560]
+  !! OVERLAP: chair <-> floor  depth=[0.538, -0.000, 0.489]
+  !! OVERLAP: cabinet <-> floor  depth=[3.153, -0.000, 0.275]
+  !! OVERLAP: bookshelf <-> floor  depth=[1.853, -0.000, 0.179]
+  !! OVERLAP: chair <-> floor  depth=[0.545, -0.000, 0.545]
+  !! OVERLAP: cabinet <-> floor  depth=[1.671, -0.000, 0.199]
+============================================================
+
+
+============================================================
+SCENE: LivingRoom-71071  |  16 objects
+============================================================
+Obj                       l      h      w        x       y       z    angle
+----------------------------------------------------------------------
+table                 0.506  1.133  0.399    2.370   0.003  -0.351   -90.03°
+table                 0.636  0.514  0.647    3.176   0.001  -2.884     0.04°
+lamp                  0.897  0.946  0.909    1.442   1.866  -1.750     0.02°
+tv_stand              2.235  0.538  0.566   -0.437   0.001  -1.441     0.28°
+chair                 0.533  0.798  0.570    1.374   0.001   1.375   -90.02°
+chair                 0.538  0.854  0.537    1.477   0.002   0.698  -169.33°
+chair                 0.533  0.822  0.567   -0.214   0.004   1.146    78.62°
+chair                 0.543  0.807  0.565   -0.078  -0.000   1.750    90.00°
+table                 1.658  0.737  0.822    0.948  -0.000   1.478   -90.04°
+sofa                  2.026  0.988  1.069    2.473  -0.000  -1.175   -90.14°
+table                 1.048  0.485  1.278    1.451   0.001  -1.102  -179.95°
+lamp                  0.681  0.177  0.665   -1.933   2.432   1.960    -0.07°
+table                 1.011  1.005  0.401   -1.784   0.001   2.954   179.83°
+lamp                  0.473  0.897  0.375    0.553   1.802   1.409    -0.03°
+floor                 6.358 -0.004  6.606    0.354   0.002   0.007    -0.08°
+_scene_               0.072  0.000  0.021   -5.670  -0.005  -5.713   -57.29°
+
+  Pairwise overlap check (axis-aligned bbox):
+  !! OVERLAP: table <-> floor  depth=[0.506, -0.004, 0.399]
+  !! OVERLAP: table <-> floor  depth=[0.636, -0.004, 0.647]
+  !! OVERLAP: tv_stand <-> floor  depth=[2.235, -0.004, 0.566]
+  !! OVERLAP: chair <-> table  depth=[0.533, 0.737, 0.570]
+  !! OVERLAP: chair <-> floor  depth=[0.533, -0.004, 0.570]
+  !! OVERLAP: chair <-> floor  depth=[0.538, -0.004, 0.537]
+  !! OVERLAP: chair <-> floor  depth=[0.533, -0.004, 0.567]
+  !! OVERLAP: chair <-> table  depth=[0.075, 0.737, 0.421]
+  !! OVERLAP: chair <-> floor  depth=[0.543, -0.004, 0.565]
+  !! OVERLAP: table <-> floor  depth=[1.658, -0.004, 0.822]
+  !! OVERLAP: sofa <-> table  depth=[0.515, 0.485, 1.069]
+  !! OVERLAP: sofa <-> floor  depth=[2.026, -0.004, 1.069]
+  !! OVERLAP: table <-> floor  depth=[1.048, -0.004, 1.278]
+  !! OVERLAP: table <-> floor  depth=[1.011, -0.004, 0.401]
+============================================================
+
+
+============================================================
+SCENE: LivingDiningRoom-9790  |  14 objects
+============================================================
+Obj                       l      h      w        x       y       z    angle
+----------------------------------------------------------------------
+sofa                  2.207  0.916  0.984   -1.194   0.001   2.134    90.05°
+tv_stand              1.643  0.457  0.525    1.329   0.001   2.295   -90.28°
+cabinet               0.873  0.850  0.447   -2.006   0.003  -3.245    89.92°
+table                 1.310  0.895  0.903   -0.211  -0.000  -1.084     0.04°
+chair                 0.504  0.620  0.529   -1.076  -0.001  -0.641   179.86°
+chair                 0.486  0.633  0.496   -1.099   0.000  -1.485     0.01°
+chair                 0.493  0.606  0.510    1.087   0.003  -0.185   179.93°
+chair                 0.430  0.602  0.510    0.759   0.002  -1.187    -0.01°
+lamp                  0.240  0.354  0.241   -1.654   2.346  -3.365    -0.13°
+lamp                  0.891  0.815  0.892   -0.371   1.911   1.755    -0.01°
+lamp                  0.343  1.051  0.374   -0.112   2.001  -1.185     0.02°
+table                 1.001  0.430  0.916   -0.077   0.000   2.113   -90.25°
+floor                 4.608 -0.000  7.651   -0.156   0.001   0.305    -0.04°
+_scene_               0.067  0.000  0.020   -5.675  -0.006  -5.716   -57.27°
+
+  Pairwise overlap check (axis-aligned bbox):
+  !! OVERLAP: sofa <-> table  depth=[0.486, 0.430, 0.916]
+  !! OVERLAP: sofa <-> floor  depth=[2.207, -0.000, 0.984]
+  !! OVERLAP: tv_stand <-> floor  depth=[1.641, -0.000, 0.525]
+  !! OVERLAP: cabinet <-> floor  depth=[0.873, -0.000, 0.447]
+  !! OVERLAP: table <-> chair  depth=[0.042, 0.620, 0.274]
+  !! OVERLAP: table <-> chair  depth=[0.011, 0.633, 0.298]
+  !! OVERLAP: table <-> floor  depth=[1.310, -0.000, 0.903]
+  !! OVERLAP: chair <-> floor  depth=[0.504, -0.000, 0.529]
+  !! OVERLAP: chair <-> floor  depth=[0.486, -0.000, 0.496]
+  !! OVERLAP: chair <-> floor  depth=[0.493, -0.000, 0.510]
+  !! OVERLAP: chair <-> floor  depth=[0.430, -0.000, 0.510]
+  !! OVERLAP: table <-> floor  depth=[1.001, -0.000, 0.916]
+============================================================
+
+
+============================================================
+SCENE: LivingRoom-791  |  15 objects
+============================================================
+Obj                       l      h      w        x       y       z    angle
+----------------------------------------------------------------------
+table                 2.184  0.737  1.015    0.905   0.003   1.358    -0.06°
+chair                 0.605  0.810  0.594    1.805   0.001   2.115   179.92°
+chair                 0.591  0.844  0.625    0.807   0.003   1.992   179.85°
+chair                 0.559  0.906  0.552    2.081  -0.001   0.670     0.01°
+chair                 0.556  0.863  0.587    1.124  -0.001   0.505    -0.03°
+sofa                  2.138  0.888  0.963    1.876   0.000  -0.618   -90.02°
+tv_stand              1.822  0.665  0.618   -1.253  -0.013  -1.575    90.13°
+table                 0.893  0.195  1.064   -1.104  -0.005   0.029    -0.04°
+table                 1.227  1.430  0.339   -1.496   0.001   1.287  -179.82°
+table                 0.483  0.556  0.421    1.412   0.002  -2.454     0.06°
+lamp                  0.714  0.810  0.701    1.104   1.880   0.175    -0.25°
+lamp                  0.668  1.040  0.628    1.936   1.912  -0.163     0.01°
+lamp                  0.452  1.073  0.433   -0.335   1.796  -1.714     0.02°
+floor                 5.134 -0.004  6.564    0.457  -0.000   0.071    -0.08°
+_scene_               0.071 -0.001  0.021   -5.670  -0.005  -5.712   -57.29°
+
+  Pairwise overlap check (axis-aligned bbox):
+  !! OVERLAP: table <-> chair  depth=[0.495, 0.737, 0.047]
+  !! OVERLAP: table <-> chair  depth=[0.591, 0.737, 0.186]
+  !! OVERLAP: table <-> chair  depth=[0.196, 0.737, 0.095]
+  !! OVERLAP: table <-> floor  depth=[2.184, -0.004, 1.015]
+  !! OVERLAP: chair <-> floor  depth=[0.605, -0.004, 0.594]
+  !! OVERLAP: chair <-> floor  depth=[0.591, -0.004, 0.625]
+  !! OVERLAP: chair <-> floor  depth=[0.559, -0.004, 0.552]
+  !! OVERLAP: chair <-> floor  depth=[0.556, -0.004, 0.587]
+  !! OVERLAP: sofa <-> floor  depth=[2.138, -0.004, 0.963]
+  !! OVERLAP: tv_stand <-> floor  depth=[1.768, -0.004, 0.618]
+  !! OVERLAP: table <-> floor  depth=[0.893, -0.004, 1.064]
+  !! OVERLAP: table <-> floor  depth=[1.227, -0.004, 0.339]
+  !! OVERLAP: table <-> floor  depth=[0.483, -0.004, 0.421]
+============================================================
+
+
+============================================================
+SCENE: LivingRoom-24046  |  7 objects
+============================================================
+Obj                       l      h      w        x       y       z    angle
+----------------------------------------------------------------------
+bookshelf             1.282  1.445  0.473    1.247   0.004  -0.635   -89.81°
+sofa                  2.282  0.833  1.150    0.286  -0.001  -0.805   -90.23°
+table                 0.645  0.406  0.643   -1.619   0.001  -0.208   179.86°
+lamp                  0.648  0.765  0.652    0.500   2.073   0.923    -0.05°
+chair                 0.859  0.772  0.805   -1.388   0.004  -1.513    19.82°
+floor                 4.227  0.003  4.258   -0.051   0.001   0.026    -0.03°
+_scene_               0.071 -0.000  0.022   -5.670  -0.005  -5.713   -57.30°
+
+  Pairwise overlap check (axis-aligned bbox):
+  !! OVERLAP: bookshelf <-> sofa  depth=[0.822, 0.833, 0.473]
+  !! OVERLAP: bookshelf <-> floor  depth=[1.282, 0.003, 0.473]
+  !! OVERLAP: sofa <-> floor  depth=[2.282, 0.003, 1.150]
+  !! OVERLAP: table <-> floor  depth=[0.645, 0.003, 0.643]
+  !! OVERLAP: chair <-> floor  depth=[0.859, 0.003, 0.805]
+============================================================
+
+
+============================================================
+SCENE: LivingRoom-13599  |  10 objects
+============================================================
+Obj                       l      h      w        x       y       z    angle
+----------------------------------------------------------------------
+chair                 0.916  1.003  0.923    0.002   0.001  -1.545    -0.06°
+chair                 0.809  0.905  0.835    0.213   0.000   2.493   179.65°
+table                 0.624  0.531  0.519   -1.371   0.001   2.316    89.98°
+table                 0.668  0.406  0.634   -1.596   0.004  -1.619    90.02°
+table                 1.263  0.356  0.626    0.518  -0.002   0.814    90.04°
+tv_stand              1.495  0.643  0.388    1.467   0.001   0.388   -90.14°
+lamp                  0.547  0.776  0.511    0.499   1.864   0.763    -0.10°
+sofa                  2.082  0.790  0.905   -1.049   0.000   0.613    89.99°
+floor                 4.397 -0.003  7.127    0.035  -0.000  -0.142    -0.03°
+_scene_               0.067  0.003  0.025   -5.670  -0.004  -5.713   -57.30°
+
+  Pairwise overlap check (axis-aligned bbox):
+  !! OVERLAP: chair <-> floor  depth=[0.916, -0.003, 0.923]
+  !! OVERLAP: chair <-> floor  depth=[0.809, -0.003, 0.835]
+  !! OVERLAP: table <-> floor  depth=[0.624, -0.003, 0.519]
+  !! OVERLAP: table <-> floor  depth=[0.668, -0.003, 0.634]
+  !! OVERLAP: table <-> tv_stand  depth=[0.429, 0.356, 0.080]
+  !! OVERLAP: table <-> sofa  depth=[0.105, 0.356, 0.564]
+  !! OVERLAP: table <-> floor  depth=[1.263, -0.003, 0.626]
+  !! OVERLAP: tv_stand <-> floor  depth=[1.495, -0.003, 0.388]
+  !! OVERLAP: sofa <-> floor  depth=[2.082, -0.003, 0.905]
+============================================================
+
+
+============================================================
+SCENE: LivingDiningRoom-13945  |  15 objects
+============================================================
+Obj                       l      h      w        x       y       z    angle
+----------------------------------------------------------------------
+sofa                  3.105  0.820  1.858   -0.985  -0.001  -1.441     0.11°
+chair                 0.542  0.681  0.565   -2.836   0.002  -2.216     0.06°
+chair                 0.301  0.370  0.290   -2.387   0.000  -1.158     0.02°
+chair                 0.400  0.389  0.314   -2.724   0.004  -0.768    -0.00°
+table                 0.961  0.379  0.655   -1.319  -0.001  -0.517     0.01°
+chair                 0.511  1.089  0.501    0.276  -0.004   0.902    90.04°
+lamp                  0.209  0.977  0.189   -2.907   1.595  -2.113    -0.09°
+chair                 0.432  0.997  0.450    1.399  -0.004  -0.191   -58.15°
+cabinet               1.422  0.758  0.554    2.353   0.002   1.858   179.92°
+table                 0.604  1.167  0.452    2.898  -0.001  -2.134     0.08°
+shelf                 0.285  2.037  0.434    3.275   0.002   2.092     0.03°
+lamp                  0.439  0.958  0.411    1.171   1.908  -0.013     0.01°
+tv_stand              3.392  0.778  0.523   -1.425   0.003   2.219     0.12°
+floor                 7.409 -0.003  5.356   -0.208   0.001   0.130    -0.03°
+_scene_               0.071 -0.000  0.023   -5.673  -0.004  -5.712   -57.30°
+
+  Pairwise overlap check (axis-aligned bbox):
+  !! OVERLAP: sofa <-> chair  depth=[0.301, 0.370, 0.290]
+  !! OVERLAP: sofa <-> chair  depth=[0.014, 0.389, 0.314]
+  !! OVERLAP: sofa <-> table  depth=[0.961, 0.379, 0.333]
+  !! OVERLAP: sofa <-> floor  depth=[3.105, -0.003, 1.858]
+  !! OVERLAP: chair <-> floor  depth=[0.542, -0.003, 0.565]
+  !! OVERLAP: chair <-> floor  depth=[0.301, -0.003, 0.290]
+  !! OVERLAP: chair <-> floor  depth=[0.400, -0.003, 0.314]
+  !! OVERLAP: table <-> floor  depth=[0.961, -0.003, 0.655]
+  !! OVERLAP: chair <-> floor  depth=[0.511, -0.003, 0.501]
+  !! OVERLAP: chair <-> floor  depth=[0.432, -0.003, 0.450]
+  !! OVERLAP: cabinet <-> floor  depth=[1.422, -0.003, 0.554]
+  !! OVERLAP: table <-> floor  depth=[0.604, -0.003, 0.452]
+  !! OVERLAP: shelf <-> floor  depth=[0.285, -0.003, 0.434]
+  !! OVERLAP: tv_stand <-> floor  depth=[3.392, -0.003, 0.523]
+============================================================
+
+
+============================================================
+SCENE: LivingDiningRoom-758  |  12 objects
+============================================================
+Obj                       l      h      w        x       y       z    angle
+----------------------------------------------------------------------
+lamp                  0.648  0.943  0.622    0.316   1.985  -1.415    -0.02°
+table                 1.665  0.720  1.000   -0.163   0.000   1.200   179.85°
+chair                 0.388  0.839  0.416    0.041  -0.001   1.700   -89.95°
+chair                 0.470  0.824  0.489   -1.183  -0.000   1.466    -0.00°
+lamp                  0.248  0.740  0.252   -0.955   1.814   1.454     0.02°
+lamp                  0.316  0.724  0.322   -0.108   1.917   1.186    -0.02°
+sofa                  2.187  0.873  1.020   -0.849   0.000  -1.144    90.07°
+table                 0.940  0.350  0.907    0.792  -0.002  -0.573   -89.91°
+tv_stand              1.893  0.575  0.489    1.116   0.009  -1.128   -90.01°
+table                 1.484  2.241  0.504   -1.272  -0.001   0.471    89.85°
+floor                 3.860  0.001  4.079    0.004   0.000  -0.054    -0.02°
+_scene_               0.073  0.001  0.021   -5.679  -0.005  -5.706   -57.29°
+
+  Pairwise overlap check (axis-aligned bbox):
+  !! OVERLAP: table <-> chair  depth=[0.388, 0.720, 0.207]
+  !! OVERLAP: table <-> chair  depth=[0.047, 0.720, 0.478]
+  !! OVERLAP: table <-> table  depth=[0.465, 0.720, 0.023]
+  !! OVERLAP: table <-> floor  depth=[1.665, 0.001, 1.000]
+  !! OVERLAP: chair <-> floor  depth=[0.388, 0.001, 0.416]
+  !! OVERLAP: chair <-> floor  depth=[0.470, 0.001, 0.489]
+  !! OVERLAP: sofa <-> tv_stand  depth=[0.075, 0.575, 0.489]
+  !! OVERLAP: sofa <-> floor  depth=[2.171, 0.001, 1.020]
+  !! OVERLAP: table <-> tv_stand  depth=[0.940, 0.350, 0.143]
+  !! OVERLAP: table <-> floor  depth=[0.940, 0.001, 0.907]
+  !! OVERLAP: tv_stand <-> floor  depth=[1.764, 0.001, 0.489]
+  !! OVERLAP: table <-> floor  depth=[1.395, 0.001, 0.504]
+============================================================
+
+
+============================================================
+SCENE: LivingRoom-33324  |  9 objects
+============================================================
+Obj                       l      h      w        x       y       z    angle
+----------------------------------------------------------------------
+tv_stand              1.352  0.666  0.503    1.078   0.012   0.670   -91.41°
+table                 0.575  1.072  0.428   -1.242   0.002   2.048    90.00°
+sofa                  1.654  0.815  0.843   -1.021  -0.002  -0.463    90.16°
+table                 0.586  0.515  0.711    0.256  -0.004   0.840    89.95°
+chair                 0.834  0.809  0.864    0.051  -0.000   2.137  -179.99°
+bookshelf             1.162  2.420  0.362   -1.122  -0.001  -2.552     0.20°
+lamp                  0.427  0.894  0.446    0.713   2.060   0.377    -0.06°
+floor                 3.461  0.000  5.827    0.046  -0.000  -0.007    -0.04°
+_scene_               0.072 -0.000  0.025   -5.674  -0.005  -5.715   -57.31°
+
+  Pairwise overlap check (axis-aligned bbox):
+  !! OVERLAP: tv_stand <-> table  depth=[0.147, 0.515, 0.436]
+  !! OVERLAP: tv_stand <-> floor  depth=[1.352, 0.000, 0.503]
+  !! OVERLAP: table <-> floor  depth=[0.575, 0.000, 0.428]
+  !! OVERLAP: sofa <-> floor  depth=[1.490, 0.000, 0.843]
+  !! OVERLAP: table <-> floor  depth=[0.586, 0.000, 0.711]
+  !! OVERLAP: chair <-> floor  depth=[0.834, 0.000, 0.864]
+  !! OVERLAP: bookshelf <-> floor  depth=[1.143, 0.000, 0.362]
+============================================================
+
+
+============================================================
+SCENE: LivingRoom-30147  |  20 objects
+============================================================
+Obj                       l      h      w        x       y       z    angle
+----------------------------------------------------------------------
+lamp                  0.295  0.671  0.301   -0.190   1.989   2.354     0.04°
+lamp                  0.933  0.775  0.888   -0.743   1.756  -3.266    -0.01°
+tv_stand              2.153  1.036  0.486   -2.239   0.004   3.084    89.93°
+chair                 0.571  0.457  0.590    0.048   0.000   1.163    90.00°
+chair                 0.547  0.461  0.586   -0.521  -0.000   1.012    -0.04°
+table                 1.289  0.493  0.607   -0.005   0.002   2.376   -89.95°
+table                 0.460  0.660  0.474    1.551  -0.000   0.850   -90.18°
+table                 0.433  0.614  0.498    1.536   0.001   3.993   -90.14°
+sofa                  2.233  0.980  0.948    1.005  -0.001   2.639   -90.07°
+sofa                  1.943  0.786  0.696   -0.165   0.002   4.120  -179.96°
+table                 2.200  0.720  0.936   -1.009   0.001  -3.135    -0.05°
+chair                 0.675  1.129  0.722   -0.963   0.000  -2.125   179.95°
+chair                 0.535  1.089  0.619    0.175   0.000  -3.069   -95.71°
+chair                 0.555  1.136  0.648    0.076   0.001  -3.686   -89.74°
+chair                 0.602  1.129  0.696   -0.887  -0.001  -4.319    -0.09°
+chair                 0.634  1.076  0.650   -1.889   0.001  -3.628    89.82°
+chair                 0.556  1.066  0.558   -1.857   0.002  -2.607   108.94°
+table                 0.616  0.620  0.356   -2.396   0.003  -0.671    90.09°
+floor                 5.582  0.001 10.125   -0.659   0.001   0.253    -0.05°
+_scene_               0.067  0.000  0.021   -5.669  -0.005  -5.714   -57.30°
+
+  Pairwise overlap check (axis-aligned bbox):
+  !! OVERLAP: tv_stand <-> floor  depth=[2.153, 0.001, 0.486]
+  !! OVERLAP: chair <-> floor  depth=[0.571, 0.001, 0.590]
+  !! OVERLAP: chair <-> floor  depth=[0.547, 0.001, 0.586]
+  !! OVERLAP: table <-> sofa  depth=[0.750, 0.493, 0.515]
+  !! OVERLAP: table <-> floor  depth=[1.289, 0.001, 0.607]
+  !! OVERLAP: table <-> floor  depth=[0.460, 0.001, 0.474]
+  !! OVERLAP: table <-> floor  depth=[0.433, 0.001, 0.498]
+  !! OVERLAP: sofa <-> floor  depth=[2.233, 0.001, 0.948]
+  !! OVERLAP: sofa <-> floor  depth=[1.943, 0.001, 0.696]
+  !! OVERLAP: table <-> chair  depth=[0.183, 0.720, 0.619]
+  !! OVERLAP: table <-> chair  depth=[0.292, 0.720, 0.241]
+  !! OVERLAP: table <-> chair  depth=[0.537, 0.720, 0.301]
+  !! OVERLAP: table <-> chair  depth=[0.531, 0.720, 0.218]
+  !! OVERLAP: table <-> floor  depth=[2.200, 0.001, 0.936]
+  !! OVERLAP: chair <-> floor  depth=[0.675, 0.001, 0.722]
+  !! OVERLAP: chair <-> chair  depth=[0.446, 1.089, 0.016]
+  !! OVERLAP: chair <-> floor  depth=[0.535, 0.001, 0.619]
+  !! OVERLAP: chair <-> floor  depth=[0.555, 0.001, 0.648]
+  !! OVERLAP: chair <-> floor  depth=[0.602, 0.001, 0.696]
+  !! OVERLAP: chair <-> floor  depth=[0.634, 0.001, 0.650]
+  !! OVERLAP: chair <-> floor  depth=[0.556, 0.001, 0.558]
+  !! OVERLAP: table <-> floor  depth=[0.616, 0.001, 0.356]
+============================================================
+

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