diff --git a/Articulate3D_BBox/test/67d702f2e8.txt b/Articulate3D_BBox/test/67d702f2e8.txt
new file mode 100644
index 0000000000000000000000000000000000000000..b3599baa56e55f067f2c73698e189eef1a4dca65
--- /dev/null
+++ b/Articulate3D_BBox/test/67d702f2e8.txt
@@ -0,0 +1,97 @@
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+id: 100 type: magnets a_x: 1.8141337633132935 a_y: 0.1621093750000000 a_z: 1.2827235460281372 b_x: 2.2848496437072754 b_y: 0.1876007914543152 b_z: 1.3496093750000000
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+id: 103 type: ceiling a_x: 0.2247769981622696 a_y: 0.3352392017841339 a_z: 3.2152163982391357 b_x: 0.5207863450050354 b_y: 2.0324707031250000 b_z: 3.2486600875854492
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+id: 106 type: keyboard a_x: 3.1222131252288818 a_y: 0.6003520488739014 a_z: 0.8325665593147278 b_x: 3.5826482772827148 b_y: 0.8671758174896240 b_z: 0.8792090415954590
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+id: 108 type: telephone a_x: 1.0485405921936035 a_y: 2.5379216670989990 a_z: 0.7237498164176941 b_x: 1.3328032493591309 b_y: 2.8062424659729004 b_z: 0.9938576221466064
+id: 109 type: telephone a_x: 2.7477095127105713 a_y: 0.2064232677221298 a_z: 0.8306751251220703 b_x: 2.9814760684967041 b_y: 0.6035156250000000 b_z: 0.9340818524360657
+id: 110 type: windowsill a_x: 0.2202316522598267 a_y: 0.3415541052818298 a_z: 0.8818393945693970 b_x: 0.5181753039360046 b_y: 2.0460476875305176 b_z: 0.9175237417221069
+id: 111 type: whiteboard a_x: 2.7563476562500000 a_y: 3.1199650764465332 a_z: 1.1556131839752197 b_x: 3.9835586547851562 b_y: 3.1395556926727295 b_z: 2.0978925228118896
+id: 112 type: whiteboard a_x: 0.8783111572265625 a_y: 0.1459704935550690 a_z: 1.1747999191284180 b_x: 2.4034423828125000 b_y: 0.1749002635478973 b_z: 2.1945800781250000
\ No newline at end of file
diff --git a/Articulate3D_BBox/test/a08dda47a8.txt b/Articulate3D_BBox/test/a08dda47a8.txt
new file mode 100644
index 0000000000000000000000000000000000000000..858288012d6de2984be90d9afbc81d0db656cbe7
--- /dev/null
+++ b/Articulate3D_BBox/test/a08dda47a8.txt
@@ -0,0 +1,61 @@
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+id: 73 type: whiteboard a_x: 2.2098746299743652 a_y: 0.1605905443429947 a_z: 0.8883321285247803 b_x: 4.1835885047912598 b_y: 0.5651697516441345 b_z: 2.1168212890625000
+id: 74 type: microphone a_x: 3.5730209350585938 a_y: 1.3247983455657959 a_z: 0.7218030691146851 b_x: 3.6865231990814209 b_y: 1.4476113319396973 b_z: 1.0181323289871216
+id: 75 type: whiteboard a_x: 2.6563115119934082 a_y: 3.7120993137359619 a_z: 0.8691580891609192 b_x: 4.6701898574829102 b_y: 4.1576371192932129 b_z: 2.1341936588287354
\ No newline at end of file
diff --git a/Articulate3D_BBox/test/b26e64c4b0.txt b/Articulate3D_BBox/test/b26e64c4b0.txt
new file mode 100644
index 0000000000000000000000000000000000000000..9717ff1a2836fe8d67b471f9242132eced5688de
--- /dev/null
+++ b/Articulate3D_BBox/test/b26e64c4b0.txt
@@ -0,0 +1,65 @@
+id: 1 type: pc a_x: 0.3178268373012543 a_y: 2.3116409778594971 a_z: 0.1155214235186577 b_x: 0.6924043893814087 b_y: 2.4736328125000000 b_z: 0.5040224790573120
+id: 2 type: closet a_x: 3.9594917297363281 a_y: 1.6694631576538086 a_z: 0.0981288775801659 b_x: 4.7944574356079102 b_y: 3.5449218750000000 b_z: 2.5341498851776123 children: [  id: 3 type: door a_x: 4.0053739547729492 a_y: 2.5560059547424316 a_z: 0.1017290726304054 b_x: 4.0642700195312500 b_y: 3.3463675975799561 b_z: 2.1298828125000000 children: [    id: 4 type: handle a_x: 4.0086793899536133 a_y: 3.2443411350250244 a_z: 1.0117759704589844 b_x: 4.0292310714721680 b_y: 3.3051757812500000 b_z: 1.0710449218750000]]
+id: 5 type: cabinet a_x: 1.3290965557098389 a_y: 0.2417608499526978 a_z: 0.1008494794368744 b_x: 3.0990285873413086 b_y: 0.8404227495193481 b_z: 0.9978402853012085 children: [  id: 6 type: drawer a_x: 2.2121880054473877 a_y: 0.7648726105690002 a_z: 0.7988281250000000 b_x: 3.0195207595825195 b_y: 0.8338530659675598 b_z: 0.9563999772071838 children: [    id: 7 type: knob a_x: 2.4074048995971680 a_y: 0.7857716083526611 a_z: 0.8699774146080017 b_x: 2.4203875064849854 b_y: 0.8102477788925171 b_z: 0.8804175257682800     id: 8 type: knob a_x: 2.8037707805633545 a_y: 0.8184942007064819 a_z: 0.8659042716026306 b_x: 2.8192071914672852 b_y: 0.8418301343917847 b_z: 0.8799788355827332]   id: 9 type: drawer a_x: 1.4009206295013428 a_y: 0.7017344236373901 a_z: 0.8030136823654175 b_x: 2.2163436412811279 b_y: 0.7707986235618591 b_z: 0.9618311524391174 children: [    id: 10 type: knob a_x: 1.9980301856994629 a_y: 0.7589265108108521 a_z: 0.8768102526664734 b_x: 2.0112924575805664 b_y: 0.7786439061164856 b_z: 0.8829562664031982     id: 11 type: knob a_x: 1.5972185134887695 a_y: 0.7227702140808105 a_z: 0.8746103048324585 b_x: 1.6137657165527344 b_y: 0.7466913461685181 b_z: 0.8886718750000000]   id: 12 type: drawer a_x: 1.3995194435119629 a_y: 0.7010409235954285 a_z: 0.5918750762939453 b_x: 2.2116677761077881 b_y: 0.7651672959327698 b_z: 0.8084250688552856 children: [    id: 13 type: knob a_x: 1.9984064102172852 a_y: 0.7539062500000000 a_z: 0.6897984147071838 b_x: 2.0094089508056641 b_y: 0.7757682204246521 b_z: 0.7018142938613892     id: 14 type: knob a_x: 1.5957647562026978 a_y: 0.7248307466506958 a_z: 0.6898688077926636 b_x: 1.6110880374908447 b_y: 0.7454301118850708 b_z: 0.7027884125709534]   id: 15 type: drawer a_x: 2.2068481445312500 a_y: 0.7617498040199280 a_z: 0.5858256816864014 b_x: 3.0195312500000000 b_y: 0.8344202041625977 b_z: 0.8043144941329956 children: [    id: 16 type: knob a_x: 2.8028972148895264 a_y: 0.8183593750000000 a_z: 0.6810760498046875 b_x: 2.8183894157409668 b_y: 0.8412334918975830 b_z: 0.6969687938690186     id: 17 type: knob a_x: 2.4087429046630859 a_y: 0.7895663976669312 a_z: 0.6881044507026672 b_x: 2.4189488887786865 b_y: 0.8104586005210876 b_z: 0.6982933878898621]   id: 18 type: drawer a_x: 2.2097229957580566 a_y: 0.7557152509689331 a_z: 0.3605957031250000 b_x: 3.0192732810974121 b_y: 0.8308126926422119 b_z: 0.5890266895294189 children: [    id: 19 type: knob a_x: 2.8034198284149170 a_y: 0.8156692385673523 a_z: 0.4647726416587830 b_x: 2.8141224384307861 b_y: 0.8364459872245789 b_z: 0.4812468290328979     id: 20 type: knob a_x: 2.4061012268066406 a_y: 0.7809256315231323 a_z: 0.4785156250000000 b_x: 2.4194889068603516 b_y: 0.8044139742851257 b_z: 0.4836705923080444]   id: 21 type: drawer a_x: 1.3904037475585938 a_y: 0.6961646080017090 a_z: 0.3637947738170624 b_x: 2.2148437500000000 b_y: 0.7626863121986389 b_z: 0.5975931882858276 children: [    id: 22 type: knob a_x: 1.9978108406066895 a_y: 0.7521983981132507 a_z: 0.4729341566562653 b_x: 2.0058445930480957 b_y: 0.7709968090057373 b_z: 0.4861056506633759     id: 23 type: knob a_x: 1.6004886627197266 a_y: 0.7174817919731140 a_z: 0.4704263806343079 b_x: 1.6118922233581543 b_y: 0.7415164113044739 b_z: 0.4879927039146423]]
+id: 24 type: thermostat a_x: 3.6894531250000000 a_y: 0.4192655384540558 a_z: 1.5515240430831909 b_x: 3.7678010463714600 b_y: 0.4527707099914551 b_z: 1.6753067970275879 children: [  id: 25 type: control a_x: 3.7095661163330078 a_y: 0.4481382071971893 a_z: 1.6196373701095581 b_x: 3.7423598766326904 b_y: 0.4565141499042511 b_z: 1.6472877264022827]
+id: 26 type: bed a_x: 1.1923828125000000 a_y: 1.2112989425659180 a_z: 0.0961762815713882 b_x: 3.1815574169158936 b_y: 3.5035305023193359 b_z: 1.0399158000946045
+id: 27 type: box a_x: 2.7302215099334717 a_y: 0.4744223058223724 a_z: 0.9819971919059753 b_x: 3.0094990730285645 b_y: 0.7353225946426392 b_z: 1.0432587862014771
+id: 28 type: hat a_x: 4.4291887283325195 a_y: 1.9641255140304565 a_z: 0.6755600571632385 b_x: 4.6641654968261719 b_y: 2.2418746948242188 b_z: 0.8153412938117981
+id: 29 type: cup a_x: 0.2840006947517395 a_y: 2.3399167060852051 a_z: 0.8629608154296875 b_x: 0.3717138469219208 b_y: 2.4276356697082520 b_z: 0.9620020389556885
+id: 30 type: wall a_x: 3.9228086471557617 a_y: 1.5117187500000000 a_z: 0.0944733321666718 b_x: 4.8068222999572754 b_y: 3.5830152034759521 b_z: 2.5423917770385742
+id: 31 type: wall a_x: 0.0425870455801487 a_y: 0.1454674303531647 a_z: 0.1056493818759918 b_x: 4.5809631347656250 b_y: 3.5799529552459717 b_z: 2.5447514057159424
+id: 32 type: wall a_x: 0.0364378839731216 a_y: 0.1477786749601364 a_z: 0.1037416905164719 b_x: 0.2906494140625000 b_y: 3.2833473682403564 b_z: 2.5391232967376709
+id: 33 type: shoe a_x: 2.0312943458557129 a_y: 0.5178182721138000 a_z: 0.0985336974263191 b_x: 2.1429476737976074 b_y: 0.6193937659263611 b_z: 0.2190860807895660
+id: 34 type: wall a_x: 0.0373822003602982 a_y: 3.2590813636779785 a_z: 0.1023571118712425 b_x: 3.9683151245117188 b_y: 3.5839533805847168 b_z: 2.5412724018096924
+id: 35 type: wall a_x: 4.7955412864685059 a_y: 0.4912835061550140 a_z: 0.1025390625000000 b_x: 4.8813657760620117 b_y: 1.5838932991027832 b_z: 2.5370995998382568
+id: 36 type: shoe a_x: 3.6854271888732910 a_y: 0.4295023977756500 a_z: 0.1040534824132919 b_x: 3.8312849998474121 b_y: 0.7372161746025085 b_z: 0.2158697992563248
+id: 37 type: shoe a_x: 3.5086843967437744 a_y: 0.4968124032020569 a_z: 0.1019090265035629 b_x: 3.6943891048431396 b_y: 0.7755517363548279 b_z: 0.2198137342929840
+id: 38 type: shoe a_x: 3.4333419799804688 a_y: 0.4394943118095398 a_z: 0.1028129905462265 b_x: 3.5764830112457275 b_y: 0.7482965588569641 b_z: 0.2020832002162933
+id: 39 type: shoe a_x: 3.3278868198394775 a_y: 0.4004642069339752 a_z: 0.1016381159424782 b_x: 3.4634478092193604 b_y: 0.7240695953369141 b_z: 0.2028070837259293
+id: 40 type: shoe a_x: 2.5802223682403564 a_y: 0.5541647672653198 a_z: 0.1021603792905807 b_x: 2.7125670909881592 b_y: 0.6730679273605347 b_z: 0.2332845628261566
+id: 41 type: shoe a_x: 2.5048828125000000 a_y: 0.5756756067276001 a_z: 0.1021377518773079 b_x: 2.6101977825164795 b_y: 0.6814017891883850 b_z: 0.2334717959165573
+id: 42 type: shoe a_x: 2.3862037658691406 a_y: 0.4989976882934570 a_z: 0.1021759808063507 b_x: 2.5146927833557129 b_y: 0.7049915790557861 b_z: 0.2027096301317215
+id: 43 type: shoe a_x: 2.2285599708557129 a_y: 0.4872557818889618 a_z: 0.0993892997503281 b_x: 2.3943262100219727 b_y: 0.7062823176383972 b_z: 0.2086798995733261
+id: 44 type: shoe a_x: 2.1283464431762695 a_y: 0.5095339417457581 a_z: 0.1083192229270935 b_x: 2.2488620281219482 b_y: 0.6204595565795898 b_z: 0.2143725454807281
+id: 45 type: shoe a_x: 1.9183062314987183 a_y: 0.5171573162078857 a_z: 0.1080951690673828 b_x: 2.0280365943908691 b_y: 0.6435546875000000 b_z: 0.2279229909181595
+id: 46 type: shoe a_x: 1.8354063034057617 a_y: 0.5407207012176514 a_z: 0.1156138628721237 b_x: 1.9312360286712646 b_y: 0.6487606167793274 b_z: 0.2260144948959351
+id: 47 type: shoe a_x: 1.7043762207031250 a_y: 0.5367187261581421 a_z: 0.1131670996546745 b_x: 1.8477725982666016 b_y: 0.6451010704040527 b_z: 0.2453589737415314
+id: 48 type: shoe a_x: 1.6281205415725708 a_y: 0.4782085716724396 a_z: 0.1081046313047409 b_x: 1.7270379066467285 b_y: 0.6085993051528931 b_z: 0.2269028574228287
+id: 49 type: shoe a_x: 1.5197823047637939 a_y: 0.4886791110038757 a_z: 0.1047804132103920 b_x: 1.6365712881088257 b_y: 0.6354300379753113 b_z: 0.2422061413526535
+id: 50 type: shoe a_x: 1.3822721242904663 a_y: 0.2474809587001801 a_z: 0.1008850559592247 b_x: 1.5043711662292480 b_y: 0.6303923130035400 b_z: 0.2421875000000000
+id: 51 type: book a_x: 3.3870539665222168 a_y: 3.1990480422973633 a_z: 0.6150925755500793 b_x: 3.6000976562500000 b_y: 3.3456995487213135 b_z: 0.6351361870765686
+id: 52 type: book a_x: 3.3880577087402344 a_y: 3.1988475322723389 a_z: 0.5844726562500000 b_x: 3.5966718196868896 b_y: 3.2779664993286133 b_z: 0.6309246420860291
+id: 53 type: book a_x: 3.3807454109191895 a_y: 3.2089312076568604 a_z: 0.5358007550239563 b_x: 3.5891118049621582 b_y: 3.2840867042541504 b_z: 0.6018862724304199
+id: 54 type: book a_x: 3.3876953125000000 a_y: 3.2050781250000000 a_z: 0.5409113764762878 b_x: 3.6083984375000000 b_y: 3.2258000373840332 b_z: 0.5600585937500000
+id: 55 type: book a_x: 3.3772659301757812 a_y: 3.1848614215850830 a_z: 0.5187022089958191 b_x: 3.6072766780853271 b_y: 3.2221846580505371 b_z: 0.5424923896789551
+id: 56 type: book a_x: 3.5144538879394531 a_y: 3.1809222698211670 a_z: 0.1209441646933556 b_x: 3.6178562641143799 b_y: 3.3739426136016846 b_z: 0.4236728847026825
+id: 57 type: floor a_x: 0.0456642284989357 a_y: 0.1730289459228516 a_z: 0.0927509739995003 b_x: 4.8717064857482910 b_y: 3.5707721710205078 b_z: 0.1685127168893814
+id: 58 type: shelf a_x: 4.3597307205200195 a_y: 1.7234500646591187 a_z: 0.1004541739821434 b_x: 4.7941503524780273 b_y: 2.3357200622558594 b_z: 1.5743054151535034
+id: 59 type: table a_x: 0.2049674391746521 a_y: 1.2429214715957642 a_z: 0.1126970797777176 b_x: 0.8821239471435547 b_y: 2.5703773498535156 b_z: 0.9664155840873718
+id: 60 type: plant a_x: 0.6659097671508789 a_y: 0.3722961544990540 a_z: 0.9371911287307739 b_x: 0.8654783964157104 b_y: 0.5873264670372009 b_z: 1.2931829690933228
+id: 61 type: chair a_x: 0.4518401324748993 a_y: 1.6814373731613159 a_z: 0.1114837899804115 b_x: 1.0168877840042114 b_y: 2.1720376014709473 b_z: 1.1261219978332520
+id: 62 type: plant a_x: 0.7205440998077393 a_y: 0.3817644715309143 a_z: 0.4247036576271057 b_x: 0.9142866134643555 b_y: 0.5603714585304260 b_z: 0.5985325574874878
+id: 63 type: table a_x: 0.6554934382438660 a_y: 0.2068669945001602 a_z: 0.1091205105185509 b_x: 1.0150252580642700 b_y: 0.6852853894233704 b_z: 0.8419125676155090
+id: 64 type: books a_x: 3.1415476799011230 a_y: 3.1582031250000000 a_z: 0.5190497040748596 b_x: 3.3857636451721191 b_y: 3.3433158397674561 b_z: 0.7380547523498535
+id: 65 type: mouse a_x: 0.3015267550945282 a_y: 2.1430790424346924 a_z: 0.8555215597152710 b_x: 0.4185337424278259 b_y: 2.2104158401489258 b_z: 0.8927204012870789
+id: 66 type: plant a_x: 0.2942781448364258 a_y: 1.2982043027877808 a_z: 0.9787235856056213 b_x: 0.5627543330192566 b_y: 1.5350375175476074 b_z: 1.1606365442276001
+id: 67 type: basket a_x: 4.2018322944641113 a_y: 2.2476282119750977 a_z: 0.1010520607233047 b_x: 4.7324266433715820 b_y: 2.7329573631286621 b_z: 0.6910160779953003
+id: 68 type: basket a_x: 4.3356223106384277 a_y: 1.9845336675643921 a_z: 1.2093170881271362 b_x: 4.5215034484863281 b_y: 2.2405335903167725 b_z: 1.4315335750579834
+id: 69 type: basket a_x: 4.3065242767333984 a_y: 1.7318826913833618 a_z: 1.1439594030380249 b_x: 4.6922373771667480 b_y: 2.0085349082946777 b_z: 1.4164617061614990
+id: 70 type: basket a_x: 4.3678021430969238 a_y: 1.9634361267089844 a_z: 0.8360555768013000 b_x: 4.7717766761779785 b_y: 2.3007812500000000 b_z: 1.0720108747482300
+id: 71 type: guitar a_x: 0.0664062500000000 a_y: 2.7881183624267578 a_z: 0.8557109832763672 b_x: 0.2055195719003677 b_y: 3.0726766586303711 b_z: 1.9895632266998291
+id: 72 type: guitar a_x: 0.0913439244031906 a_y: 2.3027460575103760 a_z: 0.7769036889076233 b_x: 0.2417299151420593 b_y: 2.6243946552276611 b_z: 1.9882038831710815
+id: 73 type: guitar a_x: 0.2076601684093475 a_y: 3.1441550254821777 a_z: 0.7059866189956665 b_x: 0.6620295047760010 b_y: 3.3167786598205566 b_z: 1.9102625846862793
+id: 74 type: basket a_x: 4.3983464241027832 a_y: 1.6780761480331421 a_z: 0.8420183062553406 b_x: 4.6749191284179688 b_y: 1.9984519481658936 b_z: 1.0803110599517822
+id: 75 type: basket a_x: 4.3446040153503418 a_y: 1.9581236839294434 a_z: 0.4826265573501587 b_x: 4.5284967422485352 b_y: 2.2393269538879395 b_z: 0.7692220211029053
+id: 76 type: clothes a_x: 4.1425781250000000 a_y: 2.2404096126556396 a_z: 0.7443218827247620 b_x: 4.7046799659729004 b_y: 2.7830758094787598 b_z: 1.6517736911773682
+id: 77 type: picture a_x: 2.1208853721618652 a_y: 0.3897837698459625 a_z: 0.9873663783073425 b_x: 2.2943778038024902 b_y: 0.5457134246826172 b_z: 1.0894168615341187
+id: 78 type: speaker a_x: 2.3060171604156494 a_y: 0.4872562289237976 a_z: 0.9863281250000000 b_x: 2.4779715538024902 b_y: 0.6111578345298767 b_z: 1.0543853044509888
+id: 79 type: ceiling a_x: 0.1778763085603714 a_y: 0.1950521767139435 a_z: 2.5222167968750000 b_x: 4.8582577705383301 b_y: 3.4628601074218750 b_z: 2.5426957607269287
+id: 80 type: picture a_x: 0.6520763635635376 a_y: 0.1813788563013077 a_z: 1.4791669845581055 b_x: 1.1000449657440186 b_y: 0.2580119371414185 b_z: 2.0366210937500000
+id: 81 type: picture a_x: 1.6385502815246582 a_y: 0.2603875994682312 a_z: 1.4460449218750000 b_x: 2.2761154174804688 b_y: 0.3476243019104004 b_z: 2.0817565917968750
+id: 82 type: picture a_x: 2.7895374298095703 a_y: 0.3492615520954132 a_z: 1.5697464942932129 b_x: 3.3600895404815674 b_y: 0.4478882253170013 b_z: 1.9827506542205811
+id: 83 type: monitor a_x: 0.3248028755187988 a_y: 1.5681263208389282 a_z: 0.8714196681976318 b_x: 0.4441163241863251 b_y: 2.2070302963256836 b_z: 1.3443089723587036
+id: 84 type: suitcase a_x: 4.4014668464660645 a_y: 1.6775004863739014 a_z: 1.7525347471237183 b_x: 4.6711835861206055 b_y: 2.1955738067626953 b_z: 2.4765222072601318
+id: 85 type: backpack a_x: 3.0441262722015381 a_y: 0.4244762659072876 a_z: 0.1016462296247482 b_x: 3.2602183818817139 b_y: 0.8596488833427429 b_z: 0.5894335508346558
+id: 86 type: keyboard a_x: 0.3143746554851532 a_y: 1.6606458425521851 a_z: 0.8473533987998962 b_x: 0.4766412973403931 b_y: 2.0966980457305908 b_z: 0.8989430069923401
\ No newline at end of file
diff --git a/Articulate3D_BBox/test/bfd3fd54d2.txt b/Articulate3D_BBox/test/bfd3fd54d2.txt
new file mode 100644
index 0000000000000000000000000000000000000000..bf9c6f5f85398e78ac5e2489b6305f02ab15fa5e
--- /dev/null
+++ b/Articulate3D_BBox/test/bfd3fd54d2.txt
@@ -0,0 +1,35 @@
+id: 1 type: bag a_x: 0.2743783593177795 a_y: 2.3364894390106201 a_z: 0.8249344229698181 b_x: 0.5520046949386597 b_y: 2.6334862709045410 b_z: 0.9815008640289307
+id: 2 type: cabinet a_x: 0.2202148437500000 a_y: 1.4110172986984253 a_z: 0.0541251599788666 b_x: 1.4331238269805908 b_y: 2.9725127220153809 b_z: 0.8331452608108521 children: [  id: 3 type: drawer a_x: 0.4165943264961243 a_y: 1.7262614965438843 a_z: 0.5639696717262268 b_x: 1.4303333759307861 b_y: 2.9691696166992188 b_z: 0.7757046222686768   id: 4 type: drawer a_x: 0.4091632366180420 a_y: 1.7262516021728516 a_z: 0.3107596337795258 b_x: 1.4277846813201904 b_y: 2.9676880836486816 b_z: 0.5518370270729065   id: 5 type: drawer a_x: 0.4112478196620941 a_y: 1.7158545255661011 a_z: 0.0912647843360901 b_x: 1.4284765720367432 b_y: 2.9648437500000000 b_z: 0.3288042843341827]
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+id: 12 type: cabinet a_x: 3.6810600757598877 a_y: 1.0468750000000000 a_z: 0.0515433959662914 b_x: 5.0460462570190430 b_y: 2.3799214363098145 b_z: 2.4522888660430908 children: [  id: 13 type: door a_x: 4.5988078117370605 a_y: 2.0537605285644531 a_z: 0.1200022548437119 b_x: 5.0604672431945801 b_y: 2.3762600421905518 b_z: 2.4401731491088867 children: [    id: 14 type: handle a_x: 4.6427607536315918 a_y: 2.1114315986633301 a_z: 1.1956839561462402 b_x: 4.6532487869262695 b_y: 2.1206698417663574 b_z: 1.3461914062500000]   id: 15 type: door a_x: 4.2322998046875000 a_y: 1.6735329627990723 a_z: 0.0525700971484184 b_x: 4.6289062500000000 b_y: 2.0690946578979492 b_z: 2.4250807762145996 children: [    id: 16 type: handle a_x: 4.5820312500000000 a_y: 2.0703125000000000 a_z: 1.2088623046875000 b_x: 4.5872602462768555 b_y: 2.0761799812316895 b_z: 1.3388671875000000]   id: 17 type: drawer a_x: 3.7183833122253418 a_y: 1.2711995840072632 a_z: 0.7499231100082397 b_x: 4.2362446784973145 b_y: 1.6907229423522949 b_z: 0.9088617563247681   id: 18 type: drawer a_x: 3.7296063899993896 a_y: 1.2746553421020508 a_z: 0.5543060302734375 b_x: 4.2520494461059570 b_y: 1.6939678192138672 b_z: 0.7171419262886047   id: 19 type: drawer a_x: 3.7259280681610107 a_y: 1.2687240839004517 a_z: 0.3612125515937805 b_x: 4.2493677139282227 b_y: 1.6977441310882568 b_z: 0.5241079926490784   id: 20 type: drawer a_x: 3.7067122459411621 a_y: 1.2356132268905640 a_z: 0.1356025785207748 b_x: 4.2738580703735352 b_y: 1.7031250000000000 b_z: 0.3360277116298676]
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+id: 22 type: bed a_x: 1.2417373657226562 a_y: 1.9922620058059692 a_z: 0.0496518202126026 b_x: 3.7954318523406982 b_y: 4.7044363021850586 b_z: 0.9725875854492188
+id: 23 type: bag a_x: 0.1222627907991409 a_y: 2.5310277938842773 a_z: 0.8373331427574158 b_x: 0.3555226027965546 b_y: 2.7440185546875000 b_z: 1.1392412185668945
+id: 24 type: wall a_x: 0.0022223009727895 a_y: 0.0180387571454048 a_z: 0.0467644222080708 b_x: 2.1851119995117188 b_y: 2.6922199726104736 b_z: 3.1690304279327393
+id: 25 type: wall a_x: 0.0028855598066002 a_y: 2.1580269336700439 a_z: 0.0451575219631195 b_x: 5.2646842002868652 b_y: 5.0633902549743652 b_z: 2.7796330451965332
+id: 26 type: wall a_x: 0.0022843086626381 a_y: 2.2186391353607178 a_z: 0.0917562618851662 b_x: 5.2262015342712402 b_y: 5.0628471374511719 b_z: 2.6332557201385498
+id: 27 type: wall a_x: 2.1698372364044189 a_y: 0.0182067919522524 a_z: 0.0473164878785610 b_x: 3.8585598468780518 b_y: 1.2668370008468628 b_z: 2.9042906761169434
+id: 28 type: floor a_x: 0.3785894513130188 a_y: 0.2948191761970520 a_z: 0.0000000000000000 b_x: 5.0925869941711426 b_y: 4.6860523223876953 b_z: 0.0960555970668793
+id: 29 type: towel a_x: 1.0654796361923218 a_y: 1.5234825611114502 a_z: 0.8283691406250000 b_x: 1.3412975072860718 b_y: 1.7539062500000000 b_z: 0.8702315092086792
+id: 30 type: towel a_x: 1.0216801166534424 a_y: 1.5618287324905396 a_z: 0.8300781250000000 b_x: 1.3331749439239502 b_y: 1.8270534276962280 b_z: 0.8853186964988708
+id: 31 type: towel a_x: 0.9966514110565186 a_y: 1.6226828098297119 a_z: 0.8299762010574341 b_x: 1.3264160156250000 b_y: 1.8889619112014771 b_z: 0.8931802511215210
+id: 32 type: towel a_x: 0.1296471059322357 a_y: 2.6039814949035645 a_z: 0.8167099356651306 b_x: 0.4231062829494476 b_y: 2.8590936660766602 b_z: 0.9351350665092468
+id: 33 type: chair a_x: 1.8777555227279663 a_y: 0.4334269762039185 a_z: 0.3493068516254425 b_x: 1.8938524723052979 b_y: 0.4731798171997070 b_z: 0.3656118512153625
+id: 34 type: remove a_x: 4.7765984535217285 a_y: 2.6970665454864502 a_z: 0.5450847148895264 b_x: 4.8826165199279785 b_y: 2.8226222991943359 b_z: 2.1296648979187012
+id: 35 type: object a_x: 0.9919961094856262 a_y: 3.1753902435302734 a_z: 0.5949160456657410 b_x: 1.0511357784271240 b_y: 3.2431180477142334 b_z: 0.7024936676025391
+id: 36 type: mirror a_x: 3.1201143264770508 a_y: 1.0202211141586304 a_z: 0.0117187500000000 b_x: 3.6480684280395508 b_y: 1.5116956233978271 b_z: 1.4250749349594116
+id: 37 type: basket a_x: 2.7147784233093262 a_y: 1.0649906396865845 a_z: 0.0491328723728657 b_x: 3.2531099319458008 b_y: 1.5369585752487183 b_z: 0.2444309294223785
+id: 38 type: pillow a_x: 1.5305496454238892 a_y: 3.6169998645782471 a_z: 0.5474693179130554 b_x: 2.2102732658386230 b_y: 4.2218060493469238 b_z: 0.7409571409225464
+id: 39 type: pillow a_x: 2.0876331329345703 a_y: 4.0178728103637695 a_z: 0.5593546032905579 b_x: 2.7658889293670654 b_y: 4.4756894111633301 b_z: 0.7100280523300171
+id: 40 type: pillow a_x: 2.5110042095184326 a_y: 0.6765803694725037 a_z: 0.4503822326660156 b_x: 3.3405938148498535 b_y: 1.3046875000000000 b_z: 0.7089239358901978
+id: 41 type: pillow a_x: 2.5988545417785645 a_y: 0.6342846155166626 a_z: 0.2136300206184387 b_x: 3.2476203441619873 b_y: 1.2797496318817139 b_z: 0.4506257772445679
+id: 42 type: counter a_x: 3.1858954429626465 a_y: 3.7460937500000000 a_z: 0.2408296912908554 b_x: 3.9639153480529785 b_y: 4.7725911140441895 b_z: 0.2651407718658447
+id: 43 type: ceiling a_x: 0.0201241225004196 a_y: 0.0319546163082123 a_z: 2.7707097530364990 b_x: 5.2276582717895508 b_y: 5.0303945541381836 b_z: 3.1936540603637695
+id: 44 type: clothes a_x: 2.7656459808349609 a_y: 1.1665540933609009 a_z: 0.1077524125576019 b_x: 3.1049420833587646 b_y: 1.4908534288406372 b_z: 0.2596915960311890
+id: 45 type: counter a_x: 4.2492704391479492 a_y: 2.4292657375335693 a_z: 0.2409172356128693 b_x: 5.1106128692626953 b_y: 3.4427833557128906 b_z: 0.2591740787029266
+id: 46 type: blanket a_x: 1.5478538274765015 a_y: 1.9907200336456299 a_z: 0.1394811868667603 b_x: 3.8022301197052002 b_y: 4.2235069274902344 b_z: 0.7101413607597351
+id: 47 type: clothes a_x: 2.5897305011749268 a_y: 0.6660196781158447 a_z: 0.5953099131584167 b_x: 3.1685874462127686 b_y: 1.1666331291198730 b_z: 0.8730974197387695
+id: 48 type: clothes a_x: 1.8714258670806885 a_y: 0.1455818861722946 a_z: 0.0922851562500000 b_x: 2.5971026420593262 b_y: 0.7461143136024475 b_z: 0.5083447694778442
+id: 49 type: suitcase a_x: 0.7045803070068359 a_y: 2.9906983375549316 a_z: 0.0466457381844521 b_x: 0.9186404943466187 b_y: 3.2378315925598145 b_z: 0.3676866590976715
+id: 50 type: bookshelf a_x: 2.6052749156951904 a_y: 0.5835892558097839 a_z: 0.0490161664783955 b_x: 3.1502723693847656 b_y: 1.2806842327117920 b_z: 0.5521365404129028
\ No newline at end of file
diff --git a/Articulate3D_BBox/test/c0c863b72d.txt b/Articulate3D_BBox/test/c0c863b72d.txt
new file mode 100644
index 0000000000000000000000000000000000000000..913a48d918e41ec206c6d0639a823d164c9f7d29
--- /dev/null
+++ b/Articulate3D_BBox/test/c0c863b72d.txt
@@ -0,0 +1,61 @@
+id: 1 type: box a_x: 0.1543942391872406 a_y: 1.8221635818481445 a_z: 2.2819824218750000 b_x: 0.5253074169158936 b_y: 2.1444232463836670 b_z: 2.3896484375000000
+id: 2 type: box a_x: 0.5285422205924988 a_y: 3.2265625000000000 a_z: 2.2756354808807373 b_x: 0.7394745945930481 b_y: 3.5285811424255371 b_z: 2.8282895088195801
+id: 3 type: cabinet a_x: 0.0819878429174423 a_y: 1.8315345048904419 a_z: 0.0714862421154976 b_x: 0.6149792671203613 b_y: 3.8343296051025391 b_z: 2.2957050800323486 children: [  id: 4 type: door a_x: 0.5072996020317078 a_y: 1.8349661827087402 a_z: 0.1377988308668137 b_x: 0.5497971773147583 b_y: 2.3260548114776611 b_z: 2.2834784984588623   id: 5 type: door a_x: 0.5234442949295044 a_y: 2.3239243030548096 a_z: 0.1381195634603500 b_x: 0.5632264018058777 b_y: 2.8379933834075928 b_z: 2.2842705249786377 children: [    id: 6 type: knob a_x: 0.5439245104789734 a_y: 2.3588528633117676 a_z: 1.2002760171890259 b_x: 0.5882275104522705 b_y: 2.3884203433990479 b_z: 1.2209591865539551]   id: 7 type: door a_x: 0.5496171712875366 a_y: 2.8358736038208008 a_z: 0.1425874829292297 b_x: 0.5811596512794495 b_y: 3.3371582031250000 b_z: 2.2819690704345703   id: 8 type: door a_x: 0.5721063017845154 a_y: 3.3323225975036621 a_z: 0.1395734697580338 b_x: 0.6042321920394897 b_y: 3.8394205570220947 b_z: 2.2968750000000000 children: [    id: 9 type: knob a_x: 0.5811960101127625 a_y: 3.3645720481872559 a_z: 1.2026023864746094 b_x: 0.6154857873916626 b_y: 3.3997526168823242 b_z: 1.2274750471115112]]
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+id: 19 type: cabinet a_x: 2.3048255443572998 a_y: 0.7989358901977539 a_z: 0.1185234934091568 b_x: 2.9343111515045166 b_y: 1.6813681125640869 b_z: 0.6446372270584106 children: [  id: 20 type: drawer a_x: 2.4234490394592285 a_y: 0.8132708072662354 a_z: 0.4926757812500000 b_x: 2.7071931362152100 b_y: 0.8967696428298950 b_z: 0.5892880558967590 children: [    id: 21 type: handle a_x: 2.4732191562652588 a_y: 0.8361320495605469 a_z: 0.5641749501228333 b_x: 2.5946471691131592 b_y: 0.8574218750000000 b_z: 0.5814777612686157]   id: 22 type: drawer a_x: 2.4594388008117676 a_y: 0.8138656616210938 a_z: 0.4128736853599548 b_x: 2.7096712589263916 b_y: 0.8879499435424805 b_z: 0.4976806640625000 children: [    id: 23 type: handle a_x: 2.4747021198272705 a_y: 0.8376901149749756 a_z: 0.4862110614776611 b_x: 2.5898437500000000 b_y: 0.8552638292312622 b_z: 0.4923205673694611]   id: 24 type: drawer a_x: 2.4538393020629883 a_y: 0.8138741254806519 a_z: 0.2861328125000000 b_x: 2.7108035087585449 b_y: 0.8905421495437622 b_z: 0.4186559319496155 children: [    id: 25 type: handle a_x: 2.4737186431884766 a_y: 0.8367765545845032 a_z: 0.3717886507511139 b_x: 2.6011531352996826 b_y: 0.8570517301559448 b_z: 0.3911561071872711]   id: 26 type: drawer a_x: 2.4497199058532715 a_y: 0.8316518068313599 a_z: 0.1403910219669342 b_x: 2.6505329608917236 b_y: 0.8943828344345093 b_z: 0.2896728515625000 children: [    id: 27 type: handle a_x: 2.4771733283996582 a_y: 0.8356149196624756 a_z: 0.2257319241762161 b_x: 2.6030476093292236 b_y: 0.8555095791816711 b_z: 0.2400128543376923]]
+id: 28 type: heater a_x: 4.6896677017211914 a_y: 0.2865765392780304 a_z: 0.2093459665775299 b_x: 4.8724169731140137 b_y: 3.5338840484619141 b_z: 0.6162359118461609
+id: 29 type: box a_x: 0.1093118190765381 a_y: 2.4443359375000000 a_z: 2.2769269943237305 b_x: 0.7107403278350830 b_y: 2.7728166580200195 b_z: 2.8498022556304932
+id: 30 type: box a_x: 0.2067308723926544 a_y: 2.8849217891693115 a_z: 2.2742018699645996 b_x: 0.6975582242012024 b_y: 3.2161064147949219 b_z: 2.8628454208374023
+id: 31 type: box a_x: 0.1551287621259689 a_y: 1.8198747634887695 a_z: 2.4190480709075928 b_x: 0.5715801715850830 b_y: 2.1992177963256836 b_z: 2.5379486083984375
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+id: 33 type: bag a_x: 0.3101227283477783 a_y: 0.2349202781915665 a_z: 0.4227705299854279 b_x: 0.6097376942634583 b_y: 0.4681840837001801 b_z: 1.1271837949752808
+id: 34 type: box a_x: 3.4369890689849854 a_y: 1.6259652376174927 a_z: 0.8316793441772461 b_x: 3.8619287014007568 b_y: 1.9082031250000000 b_z: 0.9553142786026001
+id: 35 type: cup a_x: 4.0357360839843750 a_y: 1.2115142345428467 a_z: 0.8339843750000000 b_x: 4.1503906250000000 b_y: 1.3278341293334961 b_z: 0.9513739943504333
+id: 36 type: jug a_x: 4.1382079124450684 a_y: 1.1693903207778931 a_z: 0.8362373709678650 b_x: 4.3675241470336914 b_y: 1.3390147686004639 b_z: 1.0980569124221802
+id: 37 type: mug a_x: 3.3497061729431152 a_y: 1.5509619712829590 a_z: 0.8657003045082092 b_x: 3.4281497001647949 b_y: 1.6423193216323853 b_z: 0.9549450874328613
+id: 38 type: cup a_x: 3.1026177406311035 a_y: 1.9782245159149170 a_z: 0.8590556979179382 b_x: 3.2305383682250977 b_y: 2.0878372192382812 b_z: 0.9726285934448242
+id: 39 type: box a_x: 2.6904296875000000 a_y: 1.9433163404464722 a_z: 0.8546779155731201 b_x: 3.0146994590759277 b_y: 2.1806917190551758 b_z: 0.9361035823822021
+id: 40 type: wall a_x: 0.0133797004818916 a_y: 0.2353515625000000 a_z: 0.0720485970377922 b_x: 0.5281667709350586 b_y: 3.8547434806823730 b_z: 3.3579039573669434
+id: 41 type: wall a_x: 4.8219757080078125 a_y: 0.5114926099777222 a_z: 2.6191406250000000 b_x: 5.0623121261596680 b_y: 3.6728670597076416 b_z: 2.9030313491821289
+id: 42 type: wall a_x: 0.1518979668617249 a_y: 3.5501787662506104 a_z: 0.0731944963335991 b_x: 5.0621867179870605 b_y: 3.8566992282867432 b_z: 3.3644928932189941
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+id: 83 type: whiteboard a_x: 1.7004756927490234 a_y: 0.0930561125278473 a_z: 0.9774000048637390 b_x: 3.7070312500000000 b_y: 0.2208528071641922 b_z: 2.2257766723632812
\ No newline at end of file
diff --git a/Articulate3D_BBox/train/09bced689e.txt b/Articulate3D_BBox/train/09bced689e.txt
new file mode 100644
index 0000000000000000000000000000000000000000..21f5931317fec467e82931f80a35e74d34d6a864
--- /dev/null
+++ b/Articulate3D_BBox/train/09bced689e.txt
@@ -0,0 +1,58 @@
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\ No newline at end of file
diff --git a/Articulate3D_BBox/train/0a184cf634.txt b/Articulate3D_BBox/train/0a184cf634.txt
new file mode 100644
index 0000000000000000000000000000000000000000..063e5f90f7e3632d8ca3a6e5a61118ee039b06a1
--- /dev/null
+++ b/Articulate3D_BBox/train/0a184cf634.txt
@@ -0,0 +1,97 @@
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\ No newline at end of file
diff --git a/Articulate3D_BBox/train/0cf2e9402d.txt b/Articulate3D_BBox/train/0cf2e9402d.txt
new file mode 100644
index 0000000000000000000000000000000000000000..db80694dba287d158f7a4de426e60e8ef3d1d5c8
--- /dev/null
+++ b/Articulate3D_BBox/train/0cf2e9402d.txt
@@ -0,0 +1,49 @@
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\ No newline at end of file
diff --git a/Articulate3D_BBox/train/1366d5ae89.txt b/Articulate3D_BBox/train/1366d5ae89.txt
new file mode 100644
index 0000000000000000000000000000000000000000..b7bf9b29a5419fd1a421a2b99dd9e8c821cbff34
--- /dev/null
+++ b/Articulate3D_BBox/train/1366d5ae89.txt
@@ -0,0 +1,83 @@
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\ No newline at end of file
diff --git a/Articulate3D_BBox/train/13c3e046d7.txt b/Articulate3D_BBox/train/13c3e046d7.txt
new file mode 100644
index 0000000000000000000000000000000000000000..65572b2db815c67473daafd1447c4c3df322cb22
--- /dev/null
+++ b/Articulate3D_BBox/train/13c3e046d7.txt
@@ -0,0 +1,58 @@
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\ No newline at end of file
diff --git a/Articulate3D_BBox/train/16c9bd2e1e.txt b/Articulate3D_BBox/train/16c9bd2e1e.txt
new file mode 100644
index 0000000000000000000000000000000000000000..4ce8aa6ed22561aad275af83f34ff0c46ef9f308
--- /dev/null
+++ b/Articulate3D_BBox/train/16c9bd2e1e.txt
@@ -0,0 +1,53 @@
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+id: 55 type: suitcase a_x: 3.6978685855865479 a_y: 0.7935532927513123 a_z: 0.0402590148150921 b_x: 3.9869534969329834 b_y: 1.3185544013977051 b_z: 0.7792968750000000
\ No newline at end of file
diff --git a/Articulate3D_BBox/train/1841a0b525.txt b/Articulate3D_BBox/train/1841a0b525.txt
new file mode 100644
index 0000000000000000000000000000000000000000..5b510d4df1fec868857ceb171f8d620daaef3dcf
--- /dev/null
+++ b/Articulate3D_BBox/train/1841a0b525.txt
@@ -0,0 +1,27 @@
+id: 1 type: heater a_x: 0.1636756062507629 a_y: 0.8388924002647400 a_z: 0.2391607761383057 b_x: 0.3149374425411224 b_y: 2.0561718940734863 b_z: 0.6640625000000000
+id: 2 type: wall a_x: 6.4317045211791992 a_y: 0.2515819072723389 a_z: 0.1464219987392426 b_x: 6.5750746726989746 b_y: 3.3178584575653076 b_z: 2.4717113971710205
+id: 3 type: wall a_x: 0.0903122648596764 a_y: 0.0936251133680344 a_z: 0.1478341817855835 b_x: 0.3203231990337372 b_y: 3.1536848545074463 b_z: 2.6703438758850098
+id: 4 type: wall a_x: 5.6114482879638672 a_y: 3.2717092037200928 a_z: 0.1523437500000000 b_x: 6.4896922111511230 b_y: 3.3183023929595947 b_z: 2.4041008949279785
+id: 5 type: wall a_x: 0.0986314341425896 a_y: 2.8883783817291260 a_z: 0.1579678207635880 b_x: 6.3119163513183594 b_y: 3.3008222579956055 b_z: 2.6706340312957764
+id: 6 type: wall a_x: 0.1757490187883377 a_y: 0.0737723335623741 a_z: 0.1538709253072739 b_x: 6.5704703330993652 b_y: 0.2737990319728851 b_z: 2.6563293933868408
+id: 7 type: wall a_x: 6.4217553138732910 a_y: 0.2612709105014801 a_z: 2.4595642089843750 b_x: 6.5644531250000000 b_y: 2.9854967594146729 b_z: 2.6646764278411865
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+id: 9 type: floor a_x: 0.1523437500000000 a_y: 0.1125353649258614 a_z: 0.1227441579103470 b_x: 6.5605964660644531 b_y: 3.3078718185424805 b_z: 0.2381119728088379
+id: 10 type: table a_x: 0.9131360650062561 a_y: 1.1585379838943481 a_z: 0.1542968750000000 b_x: 4.9460148811340332 b_y: 2.2566888332366943 b_z: 0.9884347915649414
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+id: 12 type: table a_x: 5.5783987045288086 a_y: 2.5318031311035156 a_z: 0.2108601033687592 b_x: 6.2097001075744629 b_y: 3.1180033683776855 b_z: 1.2042286396026611
+id: 13 type: chair a_x: 1.3464134931564331 a_y: 2.0180594921112061 a_z: 0.6083419919013977 b_x: 1.9123612642288208 b_y: 2.4760098457336426 b_z: 1.1067359447479248
+id: 14 type: chair a_x: 1.1069846153259277 a_y: 0.9385602474212646 a_z: 0.5586965084075928 b_x: 1.6514294147491455 b_y: 1.3209960460662842 b_z: 1.0300395488739014
+id: 15 type: chair a_x: 1.7645087242126465 a_y: 0.9496393203735352 a_z: 0.5571576952934265 b_x: 2.2851562500000000 b_y: 1.5737857818603516 b_z: 1.0284535884857178
+id: 16 type: chair a_x: 2.1464748382568359 a_y: 2.0203473567962646 a_z: 0.5497158765792847 b_x: 2.6894531250000000 b_y: 2.4944577217102051 b_z: 1.0284413099288940
+id: 17 type: chair a_x: 2.8803403377532959 a_y: 1.0427185297012329 a_z: 0.1513408720493317 b_x: 3.5122392177581787 b_y: 1.3525333404541016 b_z: 1.0351616144180298
+id: 18 type: chair a_x: 3.0400757789611816 a_y: 2.0287387371063232 a_z: 0.5624372363090515 b_x: 3.5336966514587402 b_y: 2.4106447696685791 b_z: 1.0225721597671509
+id: 19 type: chair a_x: 3.5462982654571533 a_y: 1.0110741853713989 a_z: 0.5628002285957336 b_x: 4.0701465606689453 b_y: 1.4397457838058472 b_z: 1.0312429666519165
+id: 20 type: chair a_x: 4.1178779602050781 a_y: 2.0866520404815674 a_z: 0.5639328956604004 b_x: 4.5749244689941406 b_y: 2.4148564338684082 b_z: 1.0242557525634766
+id: 21 type: chair a_x: 0.6735202074050903 a_y: 1.5614403486251831 a_z: 0.5480709671974182 b_x: 1.2524225711822510 b_y: 2.1661832332611084 b_z: 1.0336766242980957
+id: 22 type: chair a_x: 4.2017445564270020 a_y: 1.0637377500534058 a_z: 0.5223199725151062 b_x: 4.7425937652587891 b_y: 1.5882443189620972 b_z: 1.0365735292434692
+id: 23 type: chair a_x: 4.8860912322998047 a_y: 1.3915354013442993 a_z: 0.5548788905143738 b_x: 5.4974679946899414 b_y: 1.9570084810256958 b_z: 1.0287259817123413
+id: 24 type: marker a_x: 6.3440709114074707 a_y: 2.0229024887084961 a_z: 1.2457090616226196 b_x: 6.3694005012512207 b_y: 2.1893630027770996 b_z: 1.2732117176055908
+id: 25 type: marker a_x: 6.3507099151611328 a_y: 2.2180175781250000 a_z: 1.2420570850372314 b_x: 6.3643593788146973 b_y: 2.3417382240295410 b_z: 1.2773437500000000
+id: 26 type: ceiling a_x: 0.1425781250000000 a_y: 0.1357253640890121 a_z: 2.6253051757812500 b_x: 6.4660015106201172 b_y: 3.0123865604400635 b_z: 2.6706461906433105
+id: 27 type: whiteboard a_x: 6.3185319900512695 a_y: 1.4237058162689209 a_z: 1.2136447429656982 b_x: 6.4488353729248047 b_y: 2.9552485942840576 b_z: 2.1972656250000000
\ No newline at end of file
diff --git a/Articulate3D_BBox/train/1ae9e5d2a6.txt b/Articulate3D_BBox/train/1ae9e5d2a6.txt
new file mode 100644
index 0000000000000000000000000000000000000000..5b6cff1ba4c4c837ec23e8523028f2890f6cd455
--- /dev/null
+++ b/Articulate3D_BBox/train/1ae9e5d2a6.txt
@@ -0,0 +1,30 @@
+id: 1 type: panel a_x: 4.2627105712890625 a_y: 3.6654882431030273 a_z: 0.7262942790985107 b_x: 4.5004582405090332 b_y: 3.7545714378356934 b_z: 0.8617141246795654 children: [  id: 2 type: switch a_x: 4.3224225044250488 a_y: 3.6744623184204102 a_z: 0.7784090638160706 b_x: 4.3398437500000000 b_y: 3.6863574981689453 b_z: 0.8185816407203674]
+id: 3 type: heater a_x: 4.8174724578857422 a_y: 0.2103895395994186 a_z: 0.0753708109259605 b_x: 5.1133475303649902 b_y: 1.7280647754669189 b_z: 0.5866310596466064
+id: 4 type: bin a_x: 1.5828020572662354 a_y: 0.5378241539001465 a_z: 0.0414209589362144 b_x: 1.8992080688476562 b_y: 0.8961655497550964 b_z: 0.3627842068672180
+id: 5 type: wall a_x: 0.1616895943880081 a_y: 0.7109383344650269 a_z: 2.7572081089019775 b_x: 0.7068478465080261 b_y: 4.3142271041870117 b_z: 3.3284106254577637
+id: 6 type: wall a_x: 0.1497695147991180 a_y: 0.1065147221088409 a_z: 0.0413363277912140 b_x: 5.0353584289550781 b_y: 0.7411196827888489 b_z: 3.3270833492279053
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+id: 8 type: wall a_x: 0.7496192455291748 a_y: 3.7136559486389160 a_z: 0.6634594202041626 b_x: 4.6141815185546875 b_y: 4.2893509864807129 b_z: 0.8977050781250000
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+id: 10 type: wall a_x: 4.9953632354736328 a_y: 0.1093750000000000 a_z: 0.0521785244345665 b_x: 5.2695312500000000 b_y: 1.9123743772506714 b_z: 0.6669921875000000
+id: 11 type: wall a_x: 5.3794269561767578 a_y: 3.1476321220397949 a_z: 0.0477658733725548 b_x: 5.4846191406250000 b_y: 3.7109375000000000 b_z: 0.6657741069793701
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+id: 18 type: chair a_x: 3.7536401748657227 a_y: 2.8812296390533447 a_z: 0.0446671470999718 b_x: 4.3457918167114258 b_y: 3.4873712062835693 b_z: 0.9353937506675720
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+id: 25 type: REMOVE a_x: 0.0295844282954931 a_y: 0.7336513996124268 a_z: 2.7737917900085449 b_x: 0.2296840399503708 b_y: 1.7231816053390503 b_z: 2.8587024211883545
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+id: 29 type: telephone a_x: 5.0843434333801270 a_y: 3.2816066741943359 a_z: 0.7939345836639404 b_x: 5.3691892623901367 b_y: 3.5779764652252197 b_z: 1.0221089124679565
+id: 30 type: windowsill a_x: 4.6843962669372559 a_y: 0.1196672096848488 a_z: 0.8525390625000000 b_x: 5.3125000000000000 b_y: 1.9319804906845093 b_z: 0.9457312822341919
+id: 31 type: whiteboard a_x: 2.0138440132141113 a_y: 3.8430716991424561 a_z: 0.9480233192443848 b_x: 4.0071678161621094 b_y: 4.1404819488525391 b_z: 2.4116210937500000
\ No newline at end of file
diff --git a/Articulate3D_BBox/train/21d970d8de.txt b/Articulate3D_BBox/train/21d970d8de.txt
new file mode 100644
index 0000000000000000000000000000000000000000..66c4d158bcbccf32733c99d25bb91adeb66d2935
--- /dev/null
+++ b/Articulate3D_BBox/train/21d970d8de.txt
@@ -0,0 +1,92 @@
+id: 1 type: tv a_x: 7.3637704849243164 a_y: 1.5150282382965088 a_z: 1.5761452913284302 b_x: 7.7011718750000000 b_y: 2.7416164875030518 b_z: 2.2968425750732422
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\ No newline at end of file
diff --git a/Articulate3D_BBox/train/25927bb04c.txt b/Articulate3D_BBox/train/25927bb04c.txt
new file mode 100644
index 0000000000000000000000000000000000000000..1de8dc913e665d3ad0c7572c0c50b7ebb319c4de
--- /dev/null
+++ b/Articulate3D_BBox/train/25927bb04c.txt
@@ -0,0 +1,124 @@
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\ No newline at end of file
diff --git a/Articulate3D_BBox/train/260fa55d50.txt b/Articulate3D_BBox/train/260fa55d50.txt
new file mode 100644
index 0000000000000000000000000000000000000000..9f03fce1b285df3391a9bd7c443526c2c211e3ae
--- /dev/null
+++ b/Articulate3D_BBox/train/260fa55d50.txt
@@ -0,0 +1,36 @@
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\ No newline at end of file
diff --git a/Articulate3D_BBox/train/2970e95b65.txt b/Articulate3D_BBox/train/2970e95b65.txt
new file mode 100644
index 0000000000000000000000000000000000000000..07d737fd62d57c86c70083f0b545515b375245ab
--- /dev/null
+++ b/Articulate3D_BBox/train/2970e95b65.txt
@@ -0,0 +1,280 @@
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diff --git a/Articulate3D_BBox/train/2a496183e1.txt b/Articulate3D_BBox/train/2a496183e1.txt
new file mode 100644
index 0000000000000000000000000000000000000000..44ab6557da18474007a78b5324d004c98a0e49a5
--- /dev/null
+++ b/Articulate3D_BBox/train/2a496183e1.txt
@@ -0,0 +1,54 @@
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+id: 68 type: decoration a_x: 0.5862405300140381 a_y: 1.7559781074523926 a_z: 2.3124623298645020 b_x: 0.7310994863510132 b_y: 1.8466846942901611 b_z: 2.5161159038543701
\ No newline at end of file
diff --git a/Articulate3D_BBox/train/303745abc7.txt b/Articulate3D_BBox/train/303745abc7.txt
new file mode 100644
index 0000000000000000000000000000000000000000..98c9b2c073d54a3bf16f1f619e88c4f1841dd28c
--- /dev/null
+++ b/Articulate3D_BBox/train/303745abc7.txt
@@ -0,0 +1,19 @@
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+id: 31 type: telephone a_x: 4.3956713676452637 a_y: 0.5615184307098389 a_z: 0.7698323130607605 b_x: 4.6571869850158691 b_y: 0.8173212409019470 b_z: 1.0077652931213379
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+id: 33 type: windowframe a_x: 4.7183775901794434 a_y: 0.2421875000000000 a_z: 0.9278489351272583 b_x: 5.2248253822326660 b_y: 2.5465664863586426 b_z: 2.8458926677703857
\ No newline at end of file
diff --git a/Articulate3D_BBox/train/3864514494.txt b/Articulate3D_BBox/train/3864514494.txt
new file mode 100644
index 0000000000000000000000000000000000000000..b6d130b2ae86b713a14f804ff405811c278a6c25
--- /dev/null
+++ b/Articulate3D_BBox/train/3864514494.txt
@@ -0,0 +1,68 @@
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\ No newline at end of file
diff --git a/Articulate3D_BBox/train/3928249b53.txt b/Articulate3D_BBox/train/3928249b53.txt
new file mode 100644
index 0000000000000000000000000000000000000000..74d2372b308ca9856d7bf203a1d5e6426f2facc2
--- /dev/null
+++ b/Articulate3D_BBox/train/3928249b53.txt
@@ -0,0 +1,67 @@
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\ No newline at end of file
diff --git a/Articulate3D_BBox/train/394a542a19.txt b/Articulate3D_BBox/train/394a542a19.txt
new file mode 100644
index 0000000000000000000000000000000000000000..bf982b3e4c5edf03cd49f77af42d49727239f27e
--- /dev/null
+++ b/Articulate3D_BBox/train/394a542a19.txt
@@ -0,0 +1,56 @@
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\ No newline at end of file
diff --git a/Articulate3D_BBox/train/39e6ee46df.txt b/Articulate3D_BBox/train/39e6ee46df.txt
new file mode 100644
index 0000000000000000000000000000000000000000..f29d9c593b0b7fb9a4584e64a0abc6fab392635f
--- /dev/null
+++ b/Articulate3D_BBox/train/39e6ee46df.txt
@@ -0,0 +1,154 @@
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\ No newline at end of file
diff --git a/Articulate3D_BBox/train/3c95c89d61.txt b/Articulate3D_BBox/train/3c95c89d61.txt
new file mode 100644
index 0000000000000000000000000000000000000000..2d614ecba24e1da99677fd9f24e77b7ed0fe0bcb
--- /dev/null
+++ b/Articulate3D_BBox/train/3c95c89d61.txt
@@ -0,0 +1,110 @@
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\ No newline at end of file
diff --git a/Articulate3D_BBox/train/3db0a1c8f3.txt b/Articulate3D_BBox/train/3db0a1c8f3.txt
new file mode 100644
index 0000000000000000000000000000000000000000..ee6e3d9edf54e889af34f26ec20a2dca57761c42
--- /dev/null
+++ b/Articulate3D_BBox/train/3db0a1c8f3.txt
@@ -0,0 +1,141 @@
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\ No newline at end of file
diff --git a/Articulate3D_BBox/train/3e8bba0176.txt b/Articulate3D_BBox/train/3e8bba0176.txt
new file mode 100644
index 0000000000000000000000000000000000000000..1ff7811b2a0a100fff56ed225c21e3e09b62d441
--- /dev/null
+++ b/Articulate3D_BBox/train/3e8bba0176.txt
@@ -0,0 +1,56 @@
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\ No newline at end of file
diff --git a/Articulate3D_BBox/train/40aec5fffa.txt b/Articulate3D_BBox/train/40aec5fffa.txt
new file mode 100644
index 0000000000000000000000000000000000000000..76bee17731b83179bdd2de473075c21047828d61
--- /dev/null
+++ b/Articulate3D_BBox/train/40aec5fffa.txt
@@ -0,0 +1,44 @@
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\ No newline at end of file
diff --git a/Articulate3D_BBox/train/41b00feddb.txt b/Articulate3D_BBox/train/41b00feddb.txt
new file mode 100644
index 0000000000000000000000000000000000000000..710c7a50fbb61d17a1315233a60f4bae2aa4d883
--- /dev/null
+++ b/Articulate3D_BBox/train/41b00feddb.txt
@@ -0,0 +1,68 @@
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\ No newline at end of file
diff --git a/Articulate3D_BBox/train/4318f8bb3c.txt b/Articulate3D_BBox/train/4318f8bb3c.txt
new file mode 100644
index 0000000000000000000000000000000000000000..0212440043f69136a2ff026544194d305ba8307d
--- /dev/null
+++ b/Articulate3D_BBox/train/4318f8bb3c.txt
@@ -0,0 +1,132 @@
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\ No newline at end of file
diff --git a/Articulate3D_BBox/train/4422722c49.txt b/Articulate3D_BBox/train/4422722c49.txt
new file mode 100644
index 0000000000000000000000000000000000000000..1191f9e1b7f267bd2e7c484bcbcfc52e9aee8741
--- /dev/null
+++ b/Articulate3D_BBox/train/4422722c49.txt
@@ -0,0 +1,174 @@
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\ No newline at end of file
diff --git a/Articulate3D_BBox/train/54b6127146.txt b/Articulate3D_BBox/train/54b6127146.txt
new file mode 100644
index 0000000000000000000000000000000000000000..fed2da9131d5392188f6d824370e0972657080f9
--- /dev/null
+++ b/Articulate3D_BBox/train/54b6127146.txt
@@ -0,0 +1,88 @@
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\ No newline at end of file
diff --git a/Articulate3D_BBox/train/55b2bf8036.txt b/Articulate3D_BBox/train/55b2bf8036.txt
new file mode 100644
index 0000000000000000000000000000000000000000..669c9755b2dfe79db68381802bfd6bfe55a31468
--- /dev/null
+++ b/Articulate3D_BBox/train/55b2bf8036.txt
@@ -0,0 +1,58 @@
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\ No newline at end of file
diff --git a/Articulate3D_BBox/train/5654092cc2.txt b/Articulate3D_BBox/train/5654092cc2.txt
new file mode 100644
index 0000000000000000000000000000000000000000..298faa5f8b6789eeaf2f8cdc74798b13deaac15a
--- /dev/null
+++ b/Articulate3D_BBox/train/5654092cc2.txt
@@ -0,0 +1,43 @@
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+id: 69 type: remove a_x: 1.5502310991287231 a_y: 3.1597676277160645 a_z: 1.7377179861068726 b_x: 1.9925014972686768 b_y: 3.4399590492248535 b_z: 1.9245655536651611
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+id: 75 type: ceiling a_x: 0.0496866963803768 a_y: 0.0619671568274498 a_z: 2.8897674083709717 b_x: 4.7016534805297852 b_y: 3.5468916893005371 b_z: 2.9499797821044922
+id: 76 type: bottles a_x: 0.0918960049748421 a_y: 0.0720539540052414 a_z: 0.2921792864799500 b_x: 0.8282908201217651 b_y: 0.4847209155559540 b_z: 0.5494939088821411
+id: 77 type: bottles a_x: 0.4772780239582062 a_y: 0.0745264142751694 a_z: 0.8490824699401855 b_x: 1.0387954711914062 b_y: 0.6620943546295166 b_z: 1.1088299751281738
\ No newline at end of file
diff --git a/Articulate3D_BBox/train/5942004064.txt b/Articulate3D_BBox/train/5942004064.txt
new file mode 100644
index 0000000000000000000000000000000000000000..21838aca7470b5ee044ba49a3bb91d0ed0eedad7
--- /dev/null
+++ b/Articulate3D_BBox/train/5942004064.txt
@@ -0,0 +1,100 @@
+id: 1 type: tv a_x: 3.7625272274017334 a_y: 3.7964391708374023 a_z: 0.8884053826332092 b_x: 4.8569207191467285 b_y: 4.0238633155822754 b_z: 1.5805085897445679
+id: 2 type: box a_x: 5.2060546875000000 a_y: 0.2028808593750000 a_z: 1.1765432357788086 b_x: 5.3147397041320801 b_y: 0.3340072631835938 b_z: 1.2464345693588257
+id: 3 type: rug a_x: 1.8671836853027344 a_y: 1.4350767135620117 a_z: 0.8841916918754578 b_x: 1.9472656250000000 b_y: 1.6097811460494995 b_z: 0.9702028632164001
+id: 4 type: bed a_x: 2.0097148418426514 a_y: 0.3142735362052917 a_z: 0.4099121093750000 b_x: 3.7089843750000000 b_y: 2.5594141483306885 b_z: 1.0178829431533813
+id: 5 type: pot a_x: 4.8833761215209961 a_y: 3.5992579460144043 a_z: 0.4116459786891937 b_x: 5.2434988021850586 b_y: 3.9636712074279785 b_z: 0.7422037124633789
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+id: 8 type: box a_x: 4.5528264045715332 a_y: 3.7008762359619141 a_z: 0.6247708201408386 b_x: 4.7292327880859375 b_y: 3.8792548179626465 b_z: 0.7006536126136780
+id: 9 type: box a_x: 4.1877079010009766 a_y: 3.7835085391998291 a_z: 0.6417552232742310 b_x: 4.2803912162780762 b_y: 3.9098651409149170 b_z: 0.7004389762878418
+id: 10 type: bag a_x: 4.0986957550048828 a_y: 3.8139224052429199 a_z: 0.8125000000000000 b_x: 4.3712472915649414 b_y: 4.0364265441894531 b_z: 0.8807240724563599
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+id: 12 type: wall a_x: 1.9865866899490356 a_y: 0.1073843911290169 a_z: 0.4067966043949127 b_x: 5.4272956848144531 b_y: 0.7598206996917725 b_z: 2.9257812500000000
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\ No newline at end of file
diff --git a/Articulate3D_BBox/train/59e3f1ea37.txt b/Articulate3D_BBox/train/59e3f1ea37.txt
new file mode 100644
index 0000000000000000000000000000000000000000..8fd9b4db78eb8a44a8a260b80b366f3db30305ad
--- /dev/null
+++ b/Articulate3D_BBox/train/59e3f1ea37.txt
@@ -0,0 +1,72 @@
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\ No newline at end of file
diff --git a/Articulate3D_BBox/train/5f99900f09.txt b/Articulate3D_BBox/train/5f99900f09.txt
new file mode 100644
index 0000000000000000000000000000000000000000..052f9fc2f97d849285fb747f203ec76bc2a3f279
--- /dev/null
+++ b/Articulate3D_BBox/train/5f99900f09.txt
@@ -0,0 +1,74 @@
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+id: 102 type: ceiling a_x: 10.8667268753051758 a_y: 2.9804017543792725 a_z: 3.7978379726409912 b_x: 11.0550537109375000 b_y: 5.0646114349365234 b_z: 3.8119740486145020
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+id: 106 type: ceiling a_x: 3.4878768920898438 a_y: 0.0503675043582916 a_z: 3.2352068424224854 b_x: 10.8916149139404297 b_y: 5.5347576141357422 b_z: 3.8543715476989746
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+id: 108 type: suitcase a_x: 2.9932665824890137 a_y: 4.2663865089416504 a_z: 0.1615328788757324 b_x: 3.7005298137664795 b_y: 4.7418308258056641 b_z: 0.4078583717346191
+id: 109 type: whiteboard a_x: 0.0663039684295654 a_y: 0.8435109853744507 a_z: 1.2382338047027588 b_x: 0.1573545485734940 b_y: 2.1173920631408691 b_z: 2.1910400390625000
+id: 110 type: whiteboard a_x: 0.1253261715173721 a_y: 2.0995228290557861 a_z: 1.2396442890167236 b_x: 0.2035301625728607 b_y: 3.3281250000000000 b_z: 2.1743757724761963
+id: 111 type: whiteboard a_x: 0.1523437500000000 a_y: 0.4050484597682953 a_z: 1.2521930932998657 b_x: 1.9988486766815186 b_y: 0.5284511446952820 b_z: 2.3404359817504883
\ No newline at end of file
diff --git a/Articulate3D_BBox/train/6115eddb86.txt b/Articulate3D_BBox/train/6115eddb86.txt
new file mode 100644
index 0000000000000000000000000000000000000000..e9e15f1151190073f682052642dff5e1eb595302
--- /dev/null
+++ b/Articulate3D_BBox/train/6115eddb86.txt
@@ -0,0 +1,49 @@
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+id: 27 type: lamp a_x: 3.5831160545349121 a_y: 0.3058594465255737 a_z: 2.4606547355651855 b_x: 3.7749943733215332 b_y: 0.5595760345458984 b_z: 2.5662562847137451
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+id: 31 type: wall a_x: 0.3245391845703125 a_y: 3.9702229499816895 a_z: 0.2449515759944916 b_x: 4.2651929855346680 b_y: 4.0462918281555176 b_z: 3.0156250000000000
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+id: 38 type: towel a_x: 4.7476210594177246 a_y: 2.0178687572479248 a_z: 1.6476354598999023 b_x: 5.2263865470886230 b_y: 2.1056966781616211 b_z: 1.9744795560836792
+id: 39 type: floor a_x: 4.3496270179748535 a_y: 1.8030395507812500 a_z: 0.2363910675048828 b_x: 6.4505691528320312 b_y: 3.3310546875000000 b_z: 0.2696965038776398
+id: 40 type: SPLIT a_x: 5.6160326004028320 a_y: 1.5512326955795288 a_z: 1.1343991756439209 b_x: 6.4719142913818359 b_y: 2.0073461532592773 b_z: 2.5487010478973389
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+id: 43 type: pillow a_x: 0.4956120550632477 a_y: 2.6804165840148926 a_z: 0.7036099433898926 b_x: 0.6712341308593750 b_y: 3.0632252693176270 b_z: 1.0078125000000000
+id: 44 type: pillow a_x: 1.8251707553863525 a_y: 3.6215085983276367 a_z: 0.7884808778762817 b_x: 2.5145089626312256 b_y: 3.9103217124938965 b_z: 1.1725864410400391
+id: 45 type: pillow a_x: 3.4425718784332275 a_y: 3.7584874629974365 a_z: 1.0770306587219238 b_x: 3.4781048297882080 b_y: 3.8154520988464355 b_z: 1.1631048917770386
+id: 46 type: pillow a_x: 2.7390213012695312 a_y: 3.3477759361267090 a_z: 0.7933564186096191 b_x: 3.4733281135559082 b_y: 3.6864430904388428 b_z: 1.0620700120925903
+id: 47 type: pillow a_x: 1.8012847900390625 a_y: 3.3337702751159668 a_z: 0.8026565313339233 b_x: 2.5523929595947266 b_y: 3.6655821800231934 b_z: 1.0907323360443115
+id: 48 type: object a_x: 4.5360336303710938 a_y: 0.7737581133842468 a_z: 2.4936823844909668 b_x: 4.7116088867187500 b_y: 0.9448868036270142 b_z: 2.5045752525329590
+id: 49 type: mirror a_x: 3.3273797035217285 a_y: 0.3087158203125000 a_z: 0.8364044427871704 b_x: 4.0318241119384766 b_y: 0.3547444343566895 b_z: 2.1470937728881836
+id: 50 type: ceiling a_x: 4.2984914779663086 a_y: 0.3124404251575470 a_z: 2.4805023670196533 b_x: 6.3368186950683594 b_y: 1.4312022924423218 b_z: 2.5046720504760742
+id: 51 type: cabinet a_x: 2.1804420948028564 a_y: 0.4134553968906403 a_z: 0.2422312051057816 b_x: 3.0954589843750000 b_y: 0.9256192445755005 b_z: 1.0251326560974121
+id: 52 type: blanket a_x: 1.6308231353759766 a_y: 1.8854379653930664 a_z: 0.4214450716972351 b_x: 3.7755820751190186 b_y: 2.6942138671875000 b_z: 0.8867974281311035
+id: 53 type: ceiling a_x: 4.3654842376708984 a_y: 1.5522099733352661 a_z: 2.5308809280395508 b_x: 6.4562988281250000 b_y: 3.9927389621734619 b_z: 2.5803265571594238
+id: 54 type: picture a_x: 1.6353385448455811 a_y: 3.9654810428619385 a_z: 1.9631652832031250 b_x: 3.5135934352874756 b_y: 4.0363326072692871 b_z: 2.4431710243225098
+id: 55 type: counter a_x: 0.7438937425613403 a_y: 0.3937605917453766 a_z: 0.8880065083503723 b_x: 2.1943488121032715 b_y: 0.6955993175506592 b_z: 0.9844266176223755
+id: 56 type: headboard a_x: 1.1327080726623535 a_y: 3.8296976089477539 a_z: 0.3964092433452606 b_x: 4.0404596328735352 b_y: 3.9771430492401123 b_z: 1.7233656644821167
+id: 57 type: telephone a_x: 0.6831970810890198 a_y: 0.7839782834053040 a_z: 0.9845114946365356 b_x: 1.0268182754516602 b_y: 1.0690571069717407 b_z: 1.0876209735870361
+id: 58 type: telephone a_x: 0.9026870131492615 a_y: 0.2851562500000000 a_z: 1.0009127855300903 b_x: 1.1236982345581055 b_y: 0.4570909142494202 b_z: 1.2581079006195068
+id: 59 type: ventilation a_x: 0.0990821197628975 a_y: 2.0396728515625000 a_z: 2.6038143634796143 b_x: 0.1219562441110611 b_y: 2.1818599700927734 b_z: 2.7469549179077148
\ No newline at end of file
diff --git a/Articulate3D_BBox/train/69e5939669.txt b/Articulate3D_BBox/train/69e5939669.txt
new file mode 100644
index 0000000000000000000000000000000000000000..ed411aed05d9c2107aabcef46c06507ffcc0721a
--- /dev/null
+++ b/Articulate3D_BBox/train/69e5939669.txt
@@ -0,0 +1,164 @@
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\ No newline at end of file
diff --git a/Articulate3D_BBox/train/6b40d1a939.txt b/Articulate3D_BBox/train/6b40d1a939.txt
new file mode 100644
index 0000000000000000000000000000000000000000..d2d6c3bf44851b2b51c9bf08837925dfeae74c8d
--- /dev/null
+++ b/Articulate3D_BBox/train/6b40d1a939.txt
@@ -0,0 +1,39 @@
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\ No newline at end of file
diff --git a/Articulate3D_BBox/train/6ee2fc1070.txt b/Articulate3D_BBox/train/6ee2fc1070.txt
new file mode 100644
index 0000000000000000000000000000000000000000..a07b000f3456ff773a40cacbb94802760eaacc38
--- /dev/null
+++ b/Articulate3D_BBox/train/6ee2fc1070.txt
@@ -0,0 +1,45 @@
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\ No newline at end of file
diff --git a/Articulate3D_BBox/train/709ab5bffe.txt b/Articulate3D_BBox/train/709ab5bffe.txt
new file mode 100644
index 0000000000000000000000000000000000000000..398aae62718c7cc0f8292f0521a59f59cd1cd7bb
--- /dev/null
+++ b/Articulate3D_BBox/train/709ab5bffe.txt
@@ -0,0 +1,37 @@
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\ No newline at end of file
diff --git a/Articulate3D_BBox/train/712dc47104.txt b/Articulate3D_BBox/train/712dc47104.txt
new file mode 100644
index 0000000000000000000000000000000000000000..7543895b543469cea8888a585d72da6efebbea42
--- /dev/null
+++ b/Articulate3D_BBox/train/712dc47104.txt
@@ -0,0 +1,40 @@
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\ No newline at end of file
diff --git a/Articulate3D_BBox/train/7831862f02.txt b/Articulate3D_BBox/train/7831862f02.txt
new file mode 100644
index 0000000000000000000000000000000000000000..2cbc0166a01df20af8df52ad08c03f969670f8aa
--- /dev/null
+++ b/Articulate3D_BBox/train/7831862f02.txt
@@ -0,0 +1,42 @@
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\ No newline at end of file
diff --git a/Articulate3D_BBox/train/80ffca8a48.txt b/Articulate3D_BBox/train/80ffca8a48.txt
new file mode 100644
index 0000000000000000000000000000000000000000..64d2a8130c6527f047cd6763e78e9a4d4676f21b
--- /dev/null
+++ b/Articulate3D_BBox/train/80ffca8a48.txt
@@ -0,0 +1,44 @@
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\ No newline at end of file
diff --git a/Articulate3D_BBox/train/89214f3ca0.txt b/Articulate3D_BBox/train/89214f3ca0.txt
new file mode 100644
index 0000000000000000000000000000000000000000..96d04927dacedb6097cf1ddc62e9dd4287395972
--- /dev/null
+++ b/Articulate3D_BBox/train/89214f3ca0.txt
@@ -0,0 +1,71 @@
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\ No newline at end of file
diff --git a/Articulate3D_BBox/train/8a20d62ac0.txt b/Articulate3D_BBox/train/8a20d62ac0.txt
new file mode 100644
index 0000000000000000000000000000000000000000..eaeb9af643ccfa03e323e76f0d42cf325618d673
--- /dev/null
+++ b/Articulate3D_BBox/train/8a20d62ac0.txt
@@ -0,0 +1,142 @@
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+id: 161 type: whiteboard a_x: 0.9973700642585754 a_y: 0.1632481515407562 a_z: 1.0053780078887939 b_x: 3.3183152675628662 b_y: 0.6956776976585388 b_z: 2.2652959823608398
\ No newline at end of file
diff --git a/Articulate3D_BBox/train/8a35ef3cfe.txt b/Articulate3D_BBox/train/8a35ef3cfe.txt
new file mode 100644
index 0000000000000000000000000000000000000000..7abbea21789f79a685c6cc965b760fad898317a8
--- /dev/null
+++ b/Articulate3D_BBox/train/8a35ef3cfe.txt
@@ -0,0 +1,77 @@
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\ No newline at end of file
diff --git a/Articulate3D_BBox/train/8e00ac7f59.txt b/Articulate3D_BBox/train/8e00ac7f59.txt
new file mode 100644
index 0000000000000000000000000000000000000000..febc43cfdaf87887065aab5dcfb77fd452ba88b3
--- /dev/null
+++ b/Articulate3D_BBox/train/8e00ac7f59.txt
@@ -0,0 +1,55 @@
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\ No newline at end of file
diff --git a/Articulate3D_BBox/train/8f82c394d6.txt b/Articulate3D_BBox/train/8f82c394d6.txt
new file mode 100644
index 0000000000000000000000000000000000000000..38353b4c244d8180e6ffe4c554834aa1d048f530
--- /dev/null
+++ b/Articulate3D_BBox/train/8f82c394d6.txt
@@ -0,0 +1,36 @@
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\ No newline at end of file
diff --git a/Articulate3D_BBox/train/9071e139d9.txt b/Articulate3D_BBox/train/9071e139d9.txt
new file mode 100644
index 0000000000000000000000000000000000000000..55b42586dac29a1f2fbd4c46ed3cc5ed9026dd62
--- /dev/null
+++ b/Articulate3D_BBox/train/9071e139d9.txt
@@ -0,0 +1,131 @@
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\ No newline at end of file
diff --git a/Articulate3D_BBox/train/961911d451.txt b/Articulate3D_BBox/train/961911d451.txt
new file mode 100644
index 0000000000000000000000000000000000000000..267ddb597a4becd6d79573f67944deba4fef00f5
--- /dev/null
+++ b/Articulate3D_BBox/train/961911d451.txt
@@ -0,0 +1,29 @@
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\ No newline at end of file
diff --git a/Articulate3D_BBox/train/9f21bdec45.txt b/Articulate3D_BBox/train/9f21bdec45.txt
new file mode 100644
index 0000000000000000000000000000000000000000..5bc8cf064c8ef3f03491a92b1a2c95232947c763
--- /dev/null
+++ b/Articulate3D_BBox/train/9f21bdec45.txt
@@ -0,0 +1,33 @@
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\ No newline at end of file
diff --git a/Articulate3D_BBox/train/ab046f8faf.txt b/Articulate3D_BBox/train/ab046f8faf.txt
new file mode 100644
index 0000000000000000000000000000000000000000..38fd837ebdafe819cebe580f424b3bab72b83f8a
--- /dev/null
+++ b/Articulate3D_BBox/train/ab046f8faf.txt
@@ -0,0 +1,36 @@
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\ No newline at end of file
diff --git a/Articulate3D_BBox/train/b0a08200c9.txt b/Articulate3D_BBox/train/b0a08200c9.txt
new file mode 100644
index 0000000000000000000000000000000000000000..d598938289759b49c6b1140c103e866d42fb59a4
--- /dev/null
+++ b/Articulate3D_BBox/train/b0a08200c9.txt
@@ -0,0 +1,47 @@
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\ No newline at end of file
diff --git a/Articulate3D_BBox/train/b20a261fdf.txt b/Articulate3D_BBox/train/b20a261fdf.txt
new file mode 100644
index 0000000000000000000000000000000000000000..728578faf09566ce64a5b2ca263da06ae75abe16
--- /dev/null
+++ b/Articulate3D_BBox/train/b20a261fdf.txt
@@ -0,0 +1,34 @@
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\ No newline at end of file
diff --git a/Articulate3D_BBox/train/bcd2436daf.txt b/Articulate3D_BBox/train/bcd2436daf.txt
new file mode 100644
index 0000000000000000000000000000000000000000..ba70f8449629ebf1aa935aebfa5d5047744970f4
--- /dev/null
+++ b/Articulate3D_BBox/train/bcd2436daf.txt
@@ -0,0 +1,26 @@
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+id: 47 type: decoration a_x: 2.1701707839965820 a_y: 3.2880859375000000 a_z: 1.1416499614715576 b_x: 2.2561893463134766 b_y: 3.4067413806915283 b_z: 1.3709915876388550
\ No newline at end of file
diff --git a/Articulate3D_BBox/train/c0f5742640.txt b/Articulate3D_BBox/train/c0f5742640.txt
new file mode 100644
index 0000000000000000000000000000000000000000..4aea4d73570202b2958938769e66c2b3ecd2766a
--- /dev/null
+++ b/Articulate3D_BBox/train/c0f5742640.txt
@@ -0,0 +1,103 @@
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\ No newline at end of file
diff --git a/Articulate3D_BBox/train/c173f62b15.txt b/Articulate3D_BBox/train/c173f62b15.txt
new file mode 100644
index 0000000000000000000000000000000000000000..0d83cde0b872da3889b53c9f0b255fa1af629cf1
--- /dev/null
+++ b/Articulate3D_BBox/train/c173f62b15.txt
@@ -0,0 +1,189 @@
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\ No newline at end of file
diff --git a/Articulate3D_BBox/train/c4c04e6d6c.txt b/Articulate3D_BBox/train/c4c04e6d6c.txt
new file mode 100644
index 0000000000000000000000000000000000000000..0511efd68dcc18782ab0ca2e8d177bd46da535a1
--- /dev/null
+++ b/Articulate3D_BBox/train/c4c04e6d6c.txt
@@ -0,0 +1,68 @@
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\ No newline at end of file
diff --git a/Articulate3D_BBox/train/c50d2d1d42.txt b/Articulate3D_BBox/train/c50d2d1d42.txt
new file mode 100644
index 0000000000000000000000000000000000000000..803cd3c2de65edf3e49db4983e25f77fb5823a4c
--- /dev/null
+++ b/Articulate3D_BBox/train/c50d2d1d42.txt
@@ -0,0 +1,49 @@
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+id: 52 type: mousepad a_x: 3.5533447265625000 a_y: 2.4607663154602051 a_z: 0.7952859997749329 b_x: 3.8737561702728271 b_y: 2.9462890625000000 b_z: 0.8108926415443420
+id: 53 type: doorframe a_x: 0.0531586259603500 a_y: 1.1474078893661499 a_z: 0.0380091033875942 b_x: 0.2115023434162140 b_y: 2.1689822673797607 b_z: 2.1857299804687500
+id: 54 type: telephone a_x: 4.8242187500000000 a_y: 1.4752973318099976 a_z: 0.8896499872207642 b_x: 5.0901789665222168 b_y: 1.7606321573257446 b_z: 1.0136436223983765
+id: 55 type: whiteboard a_x: 2.4175086021423340 a_y: 3.7627093791961670 a_z: 0.9020956754684448 b_x: 4.4184851646423340 b_y: 4.1044673919677734 b_z: 2.1495518684387207
+id: 56 type: headphones a_x: 4.1936492919921875 a_y: 2.6011366844177246 a_z: 0.7889652848243713 b_x: 4.5243468284606934 b_y: 2.8287491798400879 b_z: 0.8657016754150391
\ No newline at end of file
diff --git a/Articulate3D_BBox/train/c856c41c99.txt b/Articulate3D_BBox/train/c856c41c99.txt
new file mode 100644
index 0000000000000000000000000000000000000000..d09bffa2fb0de9c05854aa7bdccf85beb8684dd9
--- /dev/null
+++ b/Articulate3D_BBox/train/c856c41c99.txt
@@ -0,0 +1,21 @@
+id: 1 type: rug a_x: 1.5433325767517090 a_y: 2.0344190597534180 a_z: -0.0001000225893222 b_x: 3.5802443027496338 b_y: 4.5391941070556641 b_z: 0.1887633502483368
+id: 2 type: rug a_x: 2.9940059185028076 a_y: 2.5927896499633789 a_z: 0.0246986653655767 b_x: 4.5667290687561035 b_y: 4.3191542625427246 b_z: 0.1761138290166855
+id: 3 type: door a_x: 4.2673239707946777 a_y: 1.1152716875076294 a_z: 1.1348266601562500 b_x: 4.2701473236083984 b_y: 1.1209945678710938 b_z: 1.6343994140625000
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+id: 5 type: wall a_x: 3.8106491565704346 a_y: 1.4994585514068604 a_z: 0.0622401684522629 b_x: 5.3500070571899414 b_y: 5.0802545547485352 b_z: 2.5801870822906494
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+id: 10 type: floor a_x: 0.0164436697959900 a_y: 0.0889289081096649 a_z: 0.0604110360145569 b_x: 5.3257699012756348 b_y: 5.0516862869262695 b_z: 0.1735244095325470
+id: 11 type: board a_x: 2.7815761566162109 a_y: 0.6321665048599243 a_z: 0.0731953158974648 b_x: 3.3485615253448486 b_y: 0.8523818850517273 b_z: 0.8769531250000000
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+id: 14 type: socket a_x: 4.5061616897583008 a_y: 3.6256022453308105 a_z: 0.3203125000000000 b_x: 4.5624518394470215 b_y: 3.7827758789062500 b_z: 0.4110107421875000
+id: 15 type: object a_x: 4.4337615966796875 a_y: 3.8183481693267822 a_z: 0.2915867865085602 b_x: 4.4853019714355469 b_y: 3.9721636772155762 b_z: 0.4342662394046783
+id: 16 type: socket a_x: 4.0253353118896484 a_y: 1.0909787416458130 a_z: 0.2987231314182281 b_x: 4.1298418045043945 b_y: 1.1306191682815552 b_z: 0.3830681145191193
+id: 17 type: ceiling a_x: 0.0359751731157303 a_y: 0.0159784555435181 a_z: 2.5098559856414795 b_x: 5.3098020553588867 b_y: 5.0180664062500000 b_z: 2.6064791679382324
+id: 18 type: ceiling a_x: 3.8207125663757324 a_y: 4.9375057220458984 a_z: 2.5699555873870850 b_x: 4.0456972122192383 b_y: 5.0751409530639648 b_z: 2.5816230773925781
+id: 19 type: dumbbell a_x: 2.6480789184570312 a_y: 0.7440549731254578 a_z: 0.0716797560453415 b_x: 2.8169269561767578 b_y: 0.8946709632873535 b_z: 0.1731879562139511
+id: 20 type: dumbbell a_x: 2.7451121807098389 a_y: 0.8309812545776367 a_z: 0.0761718750000000 b_x: 2.9099407196044922 b_y: 0.9869658946990967 b_z: 0.1714502274990082
+id: 21 type: treadmill a_x: 3.2496471405029297 a_y: 2.5721156597137451 a_z: 0.1527925580739975 b_x: 4.5643682479858398 b_y: 4.6066188812255859 b_z: 1.4424891471862793
\ No newline at end of file
diff --git a/Articulate3D_BBox/train/cbd4b3055e.txt b/Articulate3D_BBox/train/cbd4b3055e.txt
new file mode 100644
index 0000000000000000000000000000000000000000..9c64ec82911fe4938253f55858aeb5d07241feaa
--- /dev/null
+++ b/Articulate3D_BBox/train/cbd4b3055e.txt
@@ -0,0 +1,108 @@
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\ No newline at end of file
diff --git a/Articulate3D_BBox/train/cc5237fd77.txt b/Articulate3D_BBox/train/cc5237fd77.txt
new file mode 100644
index 0000000000000000000000000000000000000000..6c1d1d3942fb2c0ed94a42a603bc0b6594a87a53
--- /dev/null
+++ b/Articulate3D_BBox/train/cc5237fd77.txt
@@ -0,0 +1,81 @@
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\ No newline at end of file
diff --git a/Articulate3D_BBox/train/d6cbe4b28b.txt b/Articulate3D_BBox/train/d6cbe4b28b.txt
new file mode 100644
index 0000000000000000000000000000000000000000..d56a1217e427e2ba51f59d31d7f0e48abbe4eebf
--- /dev/null
+++ b/Articulate3D_BBox/train/d6cbe4b28b.txt
@@ -0,0 +1,28 @@
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\ No newline at end of file
diff --git a/Articulate3D_BBox/train/dc263dfbf0.txt b/Articulate3D_BBox/train/dc263dfbf0.txt
new file mode 100644
index 0000000000000000000000000000000000000000..3ca75a11774588f2dd125c1ba3e7922f9cc0d784
--- /dev/null
+++ b/Articulate3D_BBox/train/dc263dfbf0.txt
@@ -0,0 +1,74 @@
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\ No newline at end of file
diff --git a/Articulate3D_BBox/train/e050c15a8d.txt b/Articulate3D_BBox/train/e050c15a8d.txt
new file mode 100644
index 0000000000000000000000000000000000000000..0e3e27dc8439e9c0c5831a34f9705099f89c6346
--- /dev/null
+++ b/Articulate3D_BBox/train/e050c15a8d.txt
@@ -0,0 +1,161 @@
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\ No newline at end of file
diff --git a/Articulate3D_BBox/train/e1b1d9de55.txt b/Articulate3D_BBox/train/e1b1d9de55.txt
new file mode 100644
index 0000000000000000000000000000000000000000..a14e74ce2bd116aa88883095a379ab6b53ddc8e9
--- /dev/null
+++ b/Articulate3D_BBox/train/e1b1d9de55.txt
@@ -0,0 +1,47 @@
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+id: 68 type: whiteboard a_x: 1.6020922660827637 a_y: 0.1622738689184189 a_z: 0.9630744457244873 b_x: 3.4158225059509277 b_y: 0.4674136340618134 b_z: 2.2221589088439941
+id: 69 type: whiteboard a_x: 1.6334228515625000 a_y: 3.8133485317230225 a_z: 0.9657825231552124 b_x: 3.6441707611083984 b_y: 4.1102228164672852 b_z: 2.2058105468750000
\ No newline at end of file
diff --git a/Articulate3D_BBox/train/e3ecd49e2b.txt b/Articulate3D_BBox/train/e3ecd49e2b.txt
new file mode 100644
index 0000000000000000000000000000000000000000..4534235f277e3ae02c6ea895bad23cf42334f79b
--- /dev/null
+++ b/Articulate3D_BBox/train/e3ecd49e2b.txt
@@ -0,0 +1,99 @@
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+id: 9 type: bag a_x: 0.3014446794986725 a_y: 2.1212229728698730 a_z: 0.0094650303944945 b_x: 0.6328145265579224 b_y: 2.6580636501312256 b_z: 0.3688384294509888
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\ No newline at end of file
diff --git a/Articulate3D_BBox/train/e7af285f7d.txt b/Articulate3D_BBox/train/e7af285f7d.txt
new file mode 100644
index 0000000000000000000000000000000000000000..757a88497bb5a7c14d0092a16a0e23d2dd1b3af0
--- /dev/null
+++ b/Articulate3D_BBox/train/e7af285f7d.txt
@@ -0,0 +1,76 @@
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\ No newline at end of file
diff --git a/Articulate3D_BBox/train/e8e81396b6.txt b/Articulate3D_BBox/train/e8e81396b6.txt
new file mode 100644
index 0000000000000000000000000000000000000000..308e68f130a852519bb068867bcde0051ef9c455
--- /dev/null
+++ b/Articulate3D_BBox/train/e8e81396b6.txt
@@ -0,0 +1,31 @@
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+id: 49 type: telephone a_x: 5.6344389915466309 a_y: 2.7765150070190430 a_z: 0.8411446809768677 b_x: 5.8925504684448242 b_y: 3.0507812500000000 b_z: 1.0413967370986938
\ No newline at end of file
diff --git a/Articulate3D_BBox/train/e8ea9b4da8.txt b/Articulate3D_BBox/train/e8ea9b4da8.txt
new file mode 100644
index 0000000000000000000000000000000000000000..e4a59fca89527344ae31e6ddb2b7b2a20202d70b
--- /dev/null
+++ b/Articulate3D_BBox/train/e8ea9b4da8.txt
@@ -0,0 +1,22 @@
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+id: 34 type: wallet a_x: 0.4247882366180420 a_y: 1.3861155509948730 a_z: 1.2544678449630737 b_x: 0.5302945375442505 b_y: 1.4904596805572510 b_z: 1.2693804502487183
+id: 35 type: pillow a_x: 1.8381408452987671 a_y: 0.1406250000000000 a_z: 0.5756011605262756 b_x: 2.5124750137329102 b_y: 0.6582908630371094 b_z: 0.7236937880516052
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+id: 37 type: ceiling a_x: 0.0672609135508537 a_y: 0.0044982284307480 a_z: 2.4728693962097168 b_x: 4.3951873779296875 b_y: 3.6652472019195557 b_z: 2.6396391391754150
+id: 38 type: blanket a_x: 2.9336948394775391 a_y: 0.4959628880023956 a_z: 0.5955020189285278 b_x: 3.6616954803466797 b_y: 2.3149228096008301 b_z: 0.9601020216941833
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+id: 41 type: bedsheet a_x: 1.6506620645523071 a_y: 0.1307569891214371 a_z: 0.4570312500000000 b_x: 3.8632812500000000 b_y: 2.3176176548004150 b_z: 0.9514683485031128
+id: 42 type: decoration a_x: 0.2427063882350922 a_y: 1.1439232826232910 a_z: 1.2477780580520630 b_x: 0.3269827365875244 b_y: 1.2416992187500000 b_z: 1.3566405773162842
\ No newline at end of file
diff --git a/Articulate3D_BBox/train/f3685d06a9.txt b/Articulate3D_BBox/train/f3685d06a9.txt
new file mode 100644
index 0000000000000000000000000000000000000000..0d71f4a5e0a2fef0538ad90dcaa7338d764c8e90
--- /dev/null
+++ b/Articulate3D_BBox/train/f3685d06a9.txt
@@ -0,0 +1,22 @@
+id: 1 type: sink a_x: 0.2409088164567947 a_y: 0.3944256603717804 a_z: 0.7145189642906189 b_x: 0.8798633217811584 b_y: 0.9458692073822021 b_z: 0.9461975693702698 children: [  id: 2 type: faucet a_x: 0.4459168612957001 a_y: 0.4509542882442474 a_z: 0.9280061721801758 b_x: 0.6057593226432800 b_y: 0.6678259372711182 b_z: 1.1155018806457520]
+id: 3 type: toilet a_x: 2.3182411193847656 a_y: 1.5137488842010498 a_z: 0.1557598561048508 b_x: 2.8631906509399414 b_y: 1.9261493682861328 b_z: 0.5107164382934570
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+id: 5 type: wall a_x: 0.0130084231495857 a_y: 0.2945164144039154 a_z: 0.1044921875000000 b_x: 1.1966372728347778 b_y: 0.5770457386970520 b_z: 2.3028767108917236
+id: 6 type: wall a_x: 2.7261419296264648 a_y: 1.0299482345581055 a_z: 0.0998274311423302 b_x: 3.0137600898742676 b_y: 2.2909066677093506 b_z: 2.2983536720275879
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+id: 9 type: wall a_x: 0.5254978537559509 a_y: 2.5789642333984375 a_z: 0.0997513681650162 b_x: 1.6994721889495850 b_y: 2.8586626052856445 b_z: 2.3023965358734131
+id: 10 type: wall a_x: 1.1789550781250000 a_y: 0.2390146106481552 a_z: 2.0694065093994141 b_x: 1.8330192565917969 b_y: 2.5920910835266113 b_z: 2.6648967266082764
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+id: 17 type: wall a_x: 1.2927899360656738 a_y: 0.0080741913989186 a_z: 0.1037233471870422 b_x: 2.5030992031097412 b_y: 0.2822265625000000 b_z: 2.3034017086029053
+id: 18 type: wall a_x: 0.0007442076457664 a_y: 0.5524147152900696 a_z: 2.2813141345977783 b_x: 0.5303372144699097 b_y: 2.8585546016693115 b_z: 2.6309726238250732
+id: 19 type: wall a_x: 0.5253468751907349 a_y: 2.5800781250000000 a_z: 2.2933888435363770 b_x: 1.7107447385787964 b_y: 2.8603174686431885 b_z: 2.6341347694396973
+id: 20 type: wall a_x: 1.7951891422271729 a_y: 2.4901351928710938 a_z: 0.1003036424517632 b_x: 2.0631313323974609 b_y: 2.5687575340270996 b_z: 2.6550273895263672
+id: 21 type: floor a_x: 0.0803865045309067 a_y: 0.0220060218125582 a_z: 0.0878085792064667 b_x: 3.0060975551605225 b_y: 2.8347785472869873 b_z: 0.1841509342193604
+id: 22 type: ceiling a_x: 1.3003717660903931 a_y: 0.0015915972180665 a_z: 2.2923617362976074 b_x: 3.0207822322845459 b_y: 2.5396449565887451 b_z: 2.6547231674194336
+id: 23 type: ceiling a_x: 0.0047997147776186 a_y: 0.2944421470165253 a_z: 2.6226449012756348 b_x: 1.7042229175567627 b_y: 2.8486409187316895 b_z: 2.6359834671020508
\ No newline at end of file
diff --git a/Articulate3D_BBox/train/f6659a3107.txt b/Articulate3D_BBox/train/f6659a3107.txt
new file mode 100644
index 0000000000000000000000000000000000000000..515a2c500ba1d322679bb08f0983b1bb6b2323f6
--- /dev/null
+++ b/Articulate3D_BBox/train/f6659a3107.txt
@@ -0,0 +1,39 @@
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+id: 2 type: heater a_x: 5.5917968750000000 a_y: 4.9390068054199219 a_z: 0.3062757551670074 b_x: 6.2071247100830078 b_y: 5.1194019317626953 b_z: 1.2182536125183105
+id: 3 type: wall a_x: 0.0013630624162033 a_y: 0.0003617394831963 a_z: 0.1481626331806183 b_x: 6.3161525726318359 b_y: 5.4853453636169434 b_z: 3.1740782260894775
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+id: 7 type: floor a_x: 0.0652708113193512 a_y: 0.0192617289721966 a_z: 0.1455988287925720 b_x: 6.3422532081604004 b_y: 5.8075842857360840 b_z: 0.2207031250000000
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\ No newline at end of file
diff --git a/Articulate3D_BBox/train/fb5a96b1a2.txt b/Articulate3D_BBox/train/fb5a96b1a2.txt
new file mode 100644
index 0000000000000000000000000000000000000000..05141432e36327fc30ac9c8f7994e7c3d349545e
--- /dev/null
+++ b/Articulate3D_BBox/train/fb5a96b1a2.txt
@@ -0,0 +1,63 @@
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+id: 75 type: telephone a_x: 0.8305380344390869 a_y: 4.7612833976745605 a_z: 1.1672326326370239 b_x: 1.1626828908920288 b_y: 5.0602493286132812 b_z: 1.3583248853683472
+id: 76 type: blackboard a_x: 5.9254698753356934 a_y: 1.7695312500000000 a_z: 0.0658332929015160 b_x: 6.8705706596374512 b_y: 4.9547538757324219 b_z: 1.8922657966613770
+id: 77 type: whiteboard a_x: 0.6630771160125732 a_y: 5.0654373168945312 a_z: 0.9467773437500000 b_x: 2.9746093750000000 b_y: 5.9920091629028320 b_z: 2.3652589321136475
+id: 78 type: whiteboard a_x: 0.7655858993530273 a_y: 1.0485545396804810 a_z: 0.0599390529096127 b_x: 2.4809968471527100 b_y: 2.9234766960144043 b_z: 2.0303382873535156
+id: 79 type: whiteboard a_x: 0.5428586602210999 a_y: 2.8546297550201416 a_z: 0.2944335937500000 b_x: 0.8006480932235718 b_y: 4.0876297950744629 b_z: 1.9706416130065918
\ No newline at end of file
diff --git a/Articulate3D_BBox/train/fe1733741f.txt b/Articulate3D_BBox/train/fe1733741f.txt
new file mode 100644
index 0000000000000000000000000000000000000000..211b5b63bd3a5610d6414687ca2eb3ced82d23c6
--- /dev/null
+++ b/Articulate3D_BBox/train/fe1733741f.txt
@@ -0,0 +1,138 @@
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1.2552099227905273 b_x: 6.1661658287048340 b_y: 4.7929034233093262 b_z: 1.2764846086502075]   id: 25 type: door a_x: 8.1048145294189453 a_y: 4.8555369377136230 a_z: 2.3236639499664307 b_x: 8.6100015640258789 b_y: 4.8809719085693359 b_z: 3.1270341873168945 children: [    id: 26 type: knob a_x: 8.1415834426879883 a_y: 4.8226132392883301 a_z: 2.4184839725494385 b_x: 8.1694412231445312 b_y: 4.8566317558288574 b_z: 2.4457366466522217]   id: 27 type: door a_x: 8.6222562789916992 a_y: 4.8645105361938477 a_z: 2.3875491619110107 b_x: 9.1238021850585938 b_y: 4.8961372375488281 b_z: 3.1910874843597412   id: 28 type: door a_x: 9.1072406768798828 a_y: 4.8816671371459961 a_z: 2.3954193592071533 b_x: 9.6172904968261719 b_y: 4.9043064117431641 b_z: 3.1907136440277100 children: [    id: 29 type: knob a_x: 9.1488580703735352 a_y: 4.8513212203979492 a_z: 2.4823539257049561 b_x: 9.1786231994628906 b_y: 4.8826451301574707 b_z: 2.5216450691223145]   id: 30 type: door a_x: 9.1098880767822266 a_y: 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\ No newline at end of file