diff --git a/module2/exo4/exercice.ipynb b/module2/exo4/exercice.ipynb
index 0bbbe371b01e359e381e43239412d77bf53fb1fb..b329111340ca29e01233133c849ac1aad968b50a 100644
--- a/module2/exo4/exercice.ipynb
+++ b/module2/exo4/exercice.ipynb
@@ -1,6 +1,464 @@
 {
- "cells": [],
+ "cells": [
+  {
+   "cell_type": "markdown",
+   "metadata": {},
+   "source": [
+    "# Exploration of 3D Indoor Scenes Datasets"
+   ]
+  },
+  {
+   "cell_type": "markdown",
+   "metadata": {},
+   "source": [
+    "## Install panda3d and ursina engines that may be useful for exploration then."
+   ]
+  },
+  {
+   "cell_type": "code",
+   "execution_count": 3,
+   "metadata": {
+    "hideCode": true,
+    "hideOutput": true,
+    "hidePrompt": false
+   },
+   "outputs": [
+    {
+     "name": "stderr",
+     "output_type": "stream",
+     "text": [
+      "WARNING: pip is being invoked by an old script wrapper. This will fail in a future version of pip.\n",
+      "Please see https://github.com/pypa/pip/issues/5599 for advice on fixing the underlying issue.\n",
+      "To avoid this problem you can invoke Python with '-m pip' instead of running pip directly.\n"
+     ]
+    },
+    {
+     "name": "stdout",
+     "output_type": "stream",
+     "text": [
+      "Requirement already satisfied: panda3d in /opt/conda/lib/python3.6/site-packages (1.10.6.post2)\n",
+      "Requirement already satisfied: ursina in /opt/conda/lib/python3.6/site-packages (3.0.0)\n",
+      "Requirement already satisfied: panda3d in /opt/conda/lib/python3.6/site-packages (from ursina) (1.10.6.post2)\n",
+      "Requirement already satisfied: pillow in /opt/conda/lib/python3.6/site-packages (from ursina) (7.0.0)\n",
+      "Requirement already satisfied: screeninfo in /opt/conda/lib/python3.6/site-packages (from ursina) (0.6.5)\n",
+      "Requirement already satisfied: dataclasses in /opt/conda/lib/python3.6/site-packages (from screeninfo->ursina) (0.7)\n"
+     ]
+    },
+    {
+     "name": "stderr",
+     "output_type": "stream",
+     "text": [
+      "WARNING: pip is being invoked by an old script wrapper. This will fail in a future version of pip.\n",
+      "Please see https://github.com/pypa/pip/issues/5599 for advice on fixing the underlying issue.\n",
+      "To avoid this problem you can invoke Python with '-m pip' instead of running pip directly.\n"
+     ]
+    },
+    {
+     "name": "stdout",
+     "output_type": "stream",
+     "text": [
+      "Requirement already satisfied: ipyvolume in /opt/conda/lib/python3.6/site-packages (0.5.2)\n",
+      "Requirement already satisfied: traittypes in /opt/conda/lib/python3.6/site-packages (from ipyvolume) (0.2.1)\n",
+      "Requirement already satisfied: Pillow in /opt/conda/lib/python3.6/site-packages (from ipyvolume) (7.0.0)\n",
+      "Requirement already satisfied: traitlets in /opt/conda/lib/python3.6/site-packages (from ipyvolume) (4.3.3)\n",
+      "Requirement already satisfied: pythreejs>=1.0.0 in /opt/conda/lib/python3.6/site-packages (from ipyvolume) (2.2.0)\n"
+     ]
+    },
+    {
+     "name": "stderr",
+     "output_type": "stream",
+     "text": [
+      "WARNING: pip is being invoked by an old script wrapper. This will fail in a future version of pip.\n",
+      "Please see https://github.com/pypa/pip/issues/5599 for advice on fixing the underlying issue.\n",
+      "To avoid this problem you can invoke Python with '-m pip' instead of running pip directly.\n"
+     ]
+    },
+    {
+     "name": "stdout",
+     "output_type": "stream",
+     "text": [
+      "Requirement already satisfied: ipywebrtc in /opt/conda/lib/python3.6/site-packages (from ipyvolume) (0.5.0)\n",
+      "Requirement already satisfied: requests in /opt/conda/lib/python3.6/site-packages (from ipyvolume) (2.23.0)\n",
+      "Requirement already satisfied: numpy in /opt/conda/lib/python3.6/site-packages (from ipyvolume) (1.15.2)\n",
+      "Requirement already satisfied: ipywidgets>=7.5 in /opt/conda/lib/python3.6/site-packages (from ipyvolume) (7.5.1)\n",
+      "Requirement already satisfied: ipython-genutils in /opt/conda/lib/python3.6/site-packages (from traitlets->ipyvolume) (0.2.0)\n",
+      "Requirement already satisfied: decorator in /opt/conda/lib/python3.6/site-packages (from traitlets->ipyvolume) (4.4.1)\n",
+      "Requirement already satisfied: six in /opt/conda/lib/python3.6/site-packages (from traitlets->ipyvolume) (1.14.0)\n",
+      "Requirement already satisfied: ipydatawidgets>=1.1.1 in /opt/conda/lib/python3.6/site-packages (from pythreejs>=1.0.0->ipyvolume) (4.0.1)\n",
+      "Requirement already satisfied: idna<3,>=2.5 in /opt/conda/lib/python3.6/site-packages (from requests->ipyvolume) (2.9)\n",
+      "Requirement already satisfied: chardet<4,>=3.0.2 in /opt/conda/lib/python3.6/site-packages (from requests->ipyvolume) (3.0.4)\n",
+      "Requirement already satisfied: urllib3!=1.25.0,!=1.25.1,<1.26,>=1.21.1 in /opt/conda/lib/python3.6/site-packages (from requests->ipyvolume) (1.25.7)\n",
+      "Requirement already satisfied: certifi>=2017.4.17 in /opt/conda/lib/python3.6/site-packages (from requests->ipyvolume) (2020.4.5.1)\n",
+      "Requirement already satisfied: ipython>=4.0.0; python_version >= \"3.3\" in /opt/conda/lib/python3.6/site-packages (from ipywidgets>=7.5->ipyvolume) (7.12.0)\n",
+      "Requirement already satisfied: widgetsnbextension~=3.5.0 in /opt/conda/lib/python3.6/site-packages (from ipywidgets>=7.5->ipyvolume) (3.5.1)\n",
+      "Requirement already satisfied: nbformat>=4.2.0 in /opt/conda/lib/python3.6/site-packages (from ipywidgets>=7.5->ipyvolume) (5.0.4)\n",
+      "Requirement already satisfied: ipykernel>=4.5.1 in /opt/conda/lib/python3.6/site-packages (from ipywidgets>=7.5->ipyvolume) (5.1.4)\n",
+      "Requirement already satisfied: backcall in /opt/conda/lib/python3.6/site-packages (from ipython>=4.0.0; python_version >= \"3.3\"->ipywidgets>=7.5->ipyvolume) (0.1.0)\n",
+      "Requirement already satisfied: pexpect; sys_platform != \"win32\" in /opt/conda/lib/python3.6/site-packages (from ipython>=4.0.0; python_version >= \"3.3\"->ipywidgets>=7.5->ipyvolume) (4.8.0)\n",
+      "Requirement already satisfied: setuptools>=18.5 in /opt/conda/lib/python3.6/site-packages (from ipython>=4.0.0; python_version >= \"3.3\"->ipywidgets>=7.5->ipyvolume) (45.2.0.post20200209)\n",
+      "Requirement already satisfied: jedi>=0.10 in /opt/conda/lib/python3.6/site-packages (from ipython>=4.0.0; python_version >= \"3.3\"->ipywidgets>=7.5->ipyvolume) (0.16.0)\n",
+      "Requirement already satisfied: pygments in /opt/conda/lib/python3.6/site-packages (from ipython>=4.0.0; python_version >= \"3.3\"->ipywidgets>=7.5->ipyvolume) (2.5.2)\n",
+      "Requirement already satisfied: pickleshare in /opt/conda/lib/python3.6/site-packages (from ipython>=4.0.0; python_version >= \"3.3\"->ipywidgets>=7.5->ipyvolume) (0.7.5)\n",
+      "Requirement already satisfied: prompt-toolkit!=3.0.0,!=3.0.1,<3.1.0,>=2.0.0 in /opt/conda/lib/python3.6/site-packages (from ipython>=4.0.0; python_version >= \"3.3\"->ipywidgets>=7.5->ipyvolume) (3.0.3)\n",
+      "Requirement already satisfied: notebook>=4.4.1 in /opt/conda/lib/python3.6/site-packages (from widgetsnbextension~=3.5.0->ipywidgets>=7.5->ipyvolume) (6.0.3)\n",
+      "Requirement already satisfied: jsonschema!=2.5.0,>=2.4 in /opt/conda/lib/python3.6/site-packages (from nbformat>=4.2.0->ipywidgets>=7.5->ipyvolume) (3.0.2)\n",
+      "Requirement already satisfied: jupyter-core in /opt/conda/lib/python3.6/site-packages (from nbformat>=4.2.0->ipywidgets>=7.5->ipyvolume) (4.6.3)\n",
+      "Requirement already satisfied: jupyter-client in /opt/conda/lib/python3.6/site-packages (from ipykernel>=4.5.1->ipywidgets>=7.5->ipyvolume) (6.0.0)\n",
+      "Requirement already satisfied: tornado>=4.2 in /opt/conda/lib/python3.6/site-packages (from ipykernel>=4.5.1->ipywidgets>=7.5->ipyvolume) (6.0.3)\n",
+      "Requirement already satisfied: ptyprocess>=0.5 in /opt/conda/lib/python3.6/site-packages (from pexpect; sys_platform != \"win32\"->ipython>=4.0.0; python_version >= \"3.3\"->ipywidgets>=7.5->ipyvolume) (0.6.0)\n",
+      "Requirement already satisfied: parso>=0.5.2 in /opt/conda/lib/python3.6/site-packages (from jedi>=0.10->ipython>=4.0.0; python_version >= \"3.3\"->ipywidgets>=7.5->ipyvolume) (0.6.0)\n",
+      "Requirement already satisfied: wcwidth in /opt/conda/lib/python3.6/site-packages (from prompt-toolkit!=3.0.0,!=3.0.1,<3.1.0,>=2.0.0->ipython>=4.0.0; python_version >= \"3.3\"->ipywidgets>=7.5->ipyvolume) (0.1.8)\n",
+      "Requirement already satisfied: nbconvert in /opt/conda/lib/python3.6/site-packages (from notebook>=4.4.1->widgetsnbextension~=3.5.0->ipywidgets>=7.5->ipyvolume) (5.6.1)\n",
+      "Requirement already satisfied: terminado>=0.8.1 in /opt/conda/lib/python3.6/site-packages (from notebook>=4.4.1->widgetsnbextension~=3.5.0->ipywidgets>=7.5->ipyvolume) (0.8.3)\n",
+      "Requirement already satisfied: Send2Trash in /opt/conda/lib/python3.6/site-packages (from notebook>=4.4.1->widgetsnbextension~=3.5.0->ipywidgets>=7.5->ipyvolume) (1.5.0)\n",
+      "Requirement already satisfied: prometheus-client in /opt/conda/lib/python3.6/site-packages (from notebook>=4.4.1->widgetsnbextension~=3.5.0->ipywidgets>=7.5->ipyvolume) (0.7.1)\n",
+      "Requirement already satisfied: jinja2 in /opt/conda/lib/python3.6/site-packages (from notebook>=4.4.1->widgetsnbextension~=3.5.0->ipywidgets>=7.5->ipyvolume) (2.11.0)\n",
+      "Requirement already satisfied: pyzmq>=17 in /opt/conda/lib/python3.6/site-packages (from notebook>=4.4.1->widgetsnbextension~=3.5.0->ipywidgets>=7.5->ipyvolume) (17.1.2)\n",
+      "Requirement already satisfied: pyrsistent>=0.14.0 in /opt/conda/lib/python3.6/site-packages (from jsonschema!=2.5.0,>=2.4->nbformat>=4.2.0->ipywidgets>=7.5->ipyvolume) (0.15.7)\n",
+      "Requirement already satisfied: attrs>=17.4.0 in /opt/conda/lib/python3.6/site-packages (from jsonschema!=2.5.0,>=2.4->nbformat>=4.2.0->ipywidgets>=7.5->ipyvolume) (19.3.0)\n",
+      "Requirement already satisfied: python-dateutil>=2.1 in /opt/conda/lib/python3.6/site-packages (from jupyter-client->ipykernel>=4.5.1->ipywidgets>=7.5->ipyvolume) (2.8.1)\n",
+      "Requirement already satisfied: bleach in /opt/conda/lib/python3.6/site-packages (from nbconvert->notebook>=4.4.1->widgetsnbextension~=3.5.0->ipywidgets>=7.5->ipyvolume) (3.1.0)\n",
+      "Requirement already satisfied: pandocfilters>=1.4.1 in /opt/conda/lib/python3.6/site-packages (from nbconvert->notebook>=4.4.1->widgetsnbextension~=3.5.0->ipywidgets>=7.5->ipyvolume) (1.4.2)\n",
+      "Requirement already satisfied: testpath in /opt/conda/lib/python3.6/site-packages (from nbconvert->notebook>=4.4.1->widgetsnbextension~=3.5.0->ipywidgets>=7.5->ipyvolume) (0.4.4)\n",
+      "Requirement already satisfied: entrypoints>=0.2.2 in /opt/conda/lib/python3.6/site-packages (from nbconvert->notebook>=4.4.1->widgetsnbextension~=3.5.0->ipywidgets>=7.5->ipyvolume) (0.3)\n",
+      "Requirement already satisfied: mistune<2,>=0.8.1 in /opt/conda/lib/python3.6/site-packages (from nbconvert->notebook>=4.4.1->widgetsnbextension~=3.5.0->ipywidgets>=7.5->ipyvolume) (0.8.4)\n",
+      "Requirement already satisfied: defusedxml in /opt/conda/lib/python3.6/site-packages (from nbconvert->notebook>=4.4.1->widgetsnbextension~=3.5.0->ipywidgets>=7.5->ipyvolume) (0.6.0)\n",
+      "Requirement already satisfied: MarkupSafe>=0.23 in /opt/conda/lib/python3.6/site-packages (from jinja2->notebook>=4.4.1->widgetsnbextension~=3.5.0->ipywidgets>=7.5->ipyvolume) (1.1.1)\n",
+      "Requirement already satisfied: webencodings in /opt/conda/lib/python3.6/site-packages (from bleach->nbconvert->notebook>=4.4.1->widgetsnbextension~=3.5.0->ipywidgets>=7.5->ipyvolume) (0.5.1)\n"
+     ]
+    }
+   ],
+   "source": [
+    "import pip\n",
+    "\n",
+    "def install(package):\n",
+    "    if hasattr(pip, 'main'):\n",
+    "        pip.main(['install', package])\n",
+    "    else:\n",
+    "        pip._internal.main(['install', package])\n",
+    "\n",
+    "# Example\n",
+    "if __name__ == '__main__':\n",
+    "    install('panda3d')\n",
+    "    install('ursina')\n",
+    "    install('ipyvolume')"
+   ]
+  },
+  {
+   "cell_type": "markdown",
+   "metadata": {},
+   "source": [
+    "## Explore SceneNN scene"
+   ]
+  },
+  {
+   "cell_type": "markdown",
+   "metadata": {},
+   "source": [
+    "Copy minimalist scene data as string \"sample_scene_data\""
+   ]
+  },
+  {
+   "cell_type": "code",
+   "execution_count": 4,
+   "metadata": {
+    "hideCode": true,
+    "hideOutput": true,
+    "hidePrompt": false
+   },
+   "outputs": [],
+   "source": [
+    "sample_scene_data = \"\"\"\n",
+    "<annotation>\n",
+    "<label id=\"716508\" color=\"21 156 162\" text=\"\" nyu_class=\"wall\" note=\"\" area=\"492477\" obbox=\"-1.2153 -2.52873 -1.90061 4.76056 2.89713 3.58827 0.999386 0.0115122 0.0173149 0.02819\" aabbox=\"-1.19997 -0.368718 -1.66073 3.51822 2.43698 1.86119\" local_pose=\"1 0 0 0\"/>\n",
+    "<label id=\"610041\" color=\"195 224 75\" text=\"bed\" nyu_class=\"bed\" note=\"\" area=\"102761\" obbox=\"-3.50479 -0.426385 -2.06167 2.06291 0.960066 2.20247 -0.0810007 0.994989 0.0119277 -0.0573923\" aabbox=\"1.4847 -0.026236 -0.366322 3.44424 0.944559 1.77088\" local_pose=\"1 0 0 0\"/>\n",
+    "<label id=\"1225831\" color=\"249 129 6\" text=\"\" nyu_class=\"ceiling\" note=\"\" area=\"96877\" obbox=\"-1.19888 -2.97872 -2.58469 4.99551 4.60788 0.356852 0.670045 -0.219774 0.207024 0.678145\" aabbox=\"-1.12824 2.14973 -1.58214 3.4982 2.53253 1.78882\" local_pose=\"1 0 0 0\"/>\n",
+    "<label id=\"1147215\" color=\"244 244 249\" text=\"\" nyu_class=\"floor\" note=\"\" area=\"96683\" obbox=\"-1.21611 -1.95635 -0.0135906 4.36763 3.6213 0.109561 -0.701503 0.0592213 0.0578258 0.707843\" aabbox=\"-1.18172 -0.0148826 -1.62239 3.08783 0.0916746 1.73871\" local_pose=\"1 0 0 0\"/>\n",
+    "<label id=\"945706\" color=\"73 37 200\" text=\"desk\" nyu_class=\"desk\" note=\"\" area=\"46550\" obbox=\"0.433998 -1.92378 0.200774 1.54612 1.08484 1.11174 0.903985 -0.0295835 0.106714 0.412974\" aabbox=\"0.793233 0.000666074 -1.67159 2.22977 0.89808 -0.897861\" local_pose=\"1 0 0 0\"/>\n",
+    "<label id=\"112312\" color=\"205 250 112\" text=\"bookshelves\" nyu_class=\"bookshelf\" note=\"\" area=\"44260\" obbox=\"-3.13549 -2.14491 -1.58506 0.805445 2.35424 0.367626 0.00860956 0.00768887 0.999114 -0.040475\" aabbox=\"2.26295 0.00776958 -1.63102 2.96968 2.32645 -1.28244\" local_pose=\"1 0 0 0\"/>\n",
+    "<label id=\"509238\" color=\"240 88 86\" text=\"\" nyu_class=\"window\" note=\"\" area=\"30659\" obbox=\"3.31683 -1.9219 -1.62524 0.257323 1.81625 1.70163 0.966861 -0.00627041 0.00169075 0.255222\" aabbox=\"3.31804 0.637477 -0.81079 3.5944 2.0335 1.05564\" local_pose=\"1 0 0 0\"/>\n",
+    "<label id=\"1018438\" color=\"153 91 119\" text=\"door\" nyu_class=\"door\" note=\"\" area=\"29810\" obbox=\"-0.524413 0.587086 0.041244 0.112742 0.908328 2.09828 -0.723012 0.0159893 0.00212563 0.690647\" aabbox=\"-0.525057 0.0159803 -1.53018 -0.387286 2.089 -0.671425\" local_pose=\"1 0 0 0\"/>\n",
+    "<label id=\"1547362\" color=\"241 196 116\" text=\"door\" nyu_class=\"door\" note=\"\" area=\"24116\" obbox=\"-0.455754 -1.9828 -1.56333 0.398563 1.99567 0.793137 0.999961 -0.00881669 0.000125775 0.000111981\" aabbox=\"-0.449669 -0.00494763 0.76979 -0.0263047 1.98988 1.56283\" local_pose=\"1 0 0 0\"/>\n",
+    "<label id=\"1411977\" color=\"95 228 26\" text=\"desk\" nyu_class=\"desk\" note=\"\" area=\"23469\" obbox=\"0.143538 -1.51997 -1.52774 1.22119 1.09176 0.711286 0.979658 -0.140417 0.0434799 -0.136609\" aabbox=\"0.290531 -0.00133602 1.18812 1.367 0.766986 1.73901\" local_pose=\"1 0 0 0\"/>\n",
+    "<label id=\"1348911\" color=\"36 242 138\" text=\"door\" nyu_class=\"door\" note=\"\" area=\"22165\" obbox=\"-1.18264 -0.520413 -1.99661 0.0657778 0.968725 2.03446 0.743018 -0.00674836 -0.0125174 0.669121\" aabbox=\"-1.18244 0.00967989 -0.376451 -1.06716 1.99092 0.521161\" local_pose=\"1 0 0 0\"/>\n",
+    "<label id=\"1495681\" color=\"56 190 211\" text=\"chair\" nyu_class=\"chair\" note=\"\" area=\"21440\" obbox=\"0.331836 -0.733711 -1.28253 0.694655 1.24823 0.808719 0.972684 -0.00420024 -0.0217461 0.231075\" aabbox=\"0.382699 -0.00194225 0.415045 1.06383 1.05044 1.15705\" local_pose=\"1 0 0 0\"/>\n",
+    "<label id=\"884857\" color=\"174 76 53\" text=\"chair\" nyu_class=\"chair\" note=\"\" area=\"20714\" obbox=\"0.938741 -0.755513 0.433967 0.687472 1.26525 0.743552 0.967048 -0.0249017 0.00309352 -0.253353\" aabbox=\"0.935017 -0.0100944 -1.16383 1.65451 1.05093 -0.420796\" local_pose=\"1 0 0 0\"/>\n",
+    "<label id=\"1414622\" color=\"244 76 17\" text=\"desk shelves\" nyu_class=\"shelves\" note=\"\" area=\"18628\" obbox=\"0.162307 0.813237 1.23599 1.11841 0.791626 0.461201 0.035237 0.00883783 -0.0339176 0.998764\" aabbox=\"0.286016 0.684933 1.26976 1.37446 1.46033 1.74382\" local_pose=\"1 0 0 0\"/>\n",
+    "<label id=\"1513254\" color=\"139 41 45\" text=\"cabinet\" nyu_class=\"cabinet\" note=\"\" area=\"17790\" obbox=\"0.180176 1.01383 0.111365 0.527078 0.619254 0.793637 0.122124 0.655473 0.72099 -0.188716\" aabbox=\"-0.107905 -0.00569803 1.18571 0.325698 0.746389 1.72018\" local_pose=\"1 0 0 0\"/>\n",
+    "<label id=\"756379\" color=\"216 148 91\" text=\"\" nyu_class=\"ceiling\" note=\"\" area=\"17310\" obbox=\"-0.12808 -1.64648 2.40257 1.23686 1.52841 0.0249782 -0.148288 0.689079 0.688279 0.171621\" aabbox=\"-0.385228 2.39886 -1.58122 0.653283 2.4389 -0.215809\" local_pose=\"1 0 0 0\"/>\n",
+    "<label id=\"1174499\" color=\"210 171 73\" text=\"\" nyu_class=\"ceiling\" note=\"\" area=\"16513\" obbox=\"1.37205 1.2748 -2.72319 1.88765 0.657095 0.219663 0.725618 0.0213886 -0.0396262 0.686623\" aabbox=\"1.58941 2.3356 1.14904 3.44314 2.56243 1.79068\" local_pose=\"1 0 0 0\"/>\n",
+    "<label id=\"370839\" color=\"85 110 41\" text=\"\" nyu_class=\"ceiling\" note=\"\" area=\"16153\" obbox=\"2.31681 -1.52526 2.33822 1.243 1.79123 0.197457 -0.716919 -0.0329235 -0.0489073 0.694659\" aabbox=\"2.25173 2.31194 0.0536749 3.44493 2.51727 1.78908\" local_pose=\"1 0 0 0\"/>\n",
+    "<label id=\"1717134\" color=\"84 102 188\" text=\"\" nyu_class=\"floor\" note=\"\" area=\"11672\" obbox=\"-0.814733 -1.16247 -0.100418 1.21623 0.88661 0.137053 -0.644427 -0.334653 -0.256172 0.638041\" aabbox=\"-1.03127 -0.144073 -0.262451 -0.231867 -0.0262013 0.838649\" local_pose=\"1 0 0 0\"/>\n",
+    "<label id=\"233401\" color=\"58 1 47\" text=\"\" nyu_class=\"chair\" note=\"\" area=\"11412\" obbox=\"-3.30872 -0.717529 0.165642 0.618783 0.895319 0.712402 -0.15072 0.973755 -0.169974 -0.0139273\" aabbox=\"2.67316 0.00794199 -0.944999 3.25429 0.86432 -0.253469\" local_pose=\"1 0 0 0\"/>\n",
+    "<label id=\"940017\" color=\"17 15 47\" text=\"guitar\" nyu_class=\"prop\" note=\"\" area=\"10846\" obbox=\"-0.126622 1.12239 -1.48365 0.80111 0.337784 1.10228 -0.178139 -0.59296 0.779758 -0.0929644\" aabbox=\"-0.0010249 0.0233582 -1.63019 0.714161 1.08931 -1.19816\" local_pose=\"1 0 0 0\"/>\n",
+    "<label id=\"300780\" color=\"196 11 210\" text=\"basket\" nyu_class=\"box\" note=\"\" area=\"9942\" obbox=\"-3.05085 -0.46489 0.153093 0.533257 0.400506 0.510179 -0.0974054 0.989937 -0.0491926 -0.0900959\" aabbox=\"2.42092 -0.0107962 -1.12999 2.93556 0.375412 -0.651919\" local_pose=\"1 0 0 0\"/>\n",
+    "<label id=\"737289\" color=\"18 72 169\" text=\"\" nyu_class=\"unknown\" note=\"\" area=\"9584\" obbox=\"0.433614 -0.900364 1.74944 0.774849 0.476648 0.666672 0.11833 0.713942 0.688821 -0.0425513\" aabbox=\"-1.0982 1.7948 -0.893823 -0.359734 2.43937 -0.37519\" local_pose=\"1 0 0 0\"/>\n",
+    "<label id=\"239975\" color=\"166 215 75\" text=\"towel\" nyu_class=\"towel\" note=\"\" area=\"8768\" obbox=\"2.46704 -2.51006 -0.887501 0.137454 0.472471 0.921789 0.735493 -0.146492 0.129245 0.648758\" aabbox=\"3.07123 0.123928 -1.26923 3.31209 1.00659 -0.876854\" local_pose=\"1 0 0 0\"/>\n",
+    "<label id=\"1046111\" color=\"166 71 56\" text=\"stand fan\" nyu_class=\"prop\" note=\"\" area=\"8481\" obbox=\"0.289803 0.0624181 -1.0339 0.190963 0.967587 0.198203 -0.0102636 -0.00915655 -0.00279249 0.999901\" aabbox=\"0.31266 0.0404009 -1.03865 0.502629 1.00792 -0.847096\" local_pose=\"1 0 0 0\"/>\n",
+    "<label id=\"1098327\" color=\"191 240 43\" text=\"trashbin\" nyu_class=\"box\" note=\"\" area=\"7791\" obbox=\"-1.15599 -0.728562 -0.489636 0.466336 0.339954 0.310224 0.538035 -0.356495 0.318634 0.694192\" aabbox=\"-0.199661 0.0167333 -1.33451 0.173913 0.293142 -0.884214\" local_pose=\"1 0 0 0\"/>\n",
+    "<label id=\"1536518\" color=\"250 241 183\" text=\"\" nyu_class=\"unknown\" note=\"\" area=\"6160\" obbox=\"0.382683 -0.406525 -1.74074 0.777229 0.597436 0.215725 0.996099 0.0839939 0.0263156 0.00623402\" aabbox=\"0.261892 -0.052605 1.5407 0.998629 0.527647 1.75496\" local_pose=\"1 0 0 0\"/>\n",
+    "<label id=\"695300\" color=\"208 23 69\" text=\"\" nyu_class=\"unknown\" note=\"\" area=\"6145\" obbox=\"-2.49719 -2.87847 -0.0263995 1.34317 0.604358 0.162082 0.179223 -0.55856 0.793117 0.163876\" aabbox=\"2.18012 0.572462 0.783439 3.30076 0.76131 1.60077\" local_pose=\"1 0 0 0\"/>\n",
+    "<label id=\"1715131\" color=\"162 77 150\" text=\"\" nyu_class=\"unknown\" note=\"\" area=\"5843\" obbox=\"-1.172 -0.652087 0.0131653 1.05318 0.682252 0.0406008 0.690273 0.178593 -0.161592 0.682287\" aabbox=\"-1.02117 -0.0754226 -0.397518 -0.305205 -0.0182957 0.573122\" local_pose=\"1 0 0 0\"/>\n",
+    "<label id=\"377171\" color=\"148 2 50\" text=\"\" nyu_class=\"ceiling\" note=\"\" area=\"5307\" obbox=\"-3.30112 -1.76626 2.37632 0.648786 0.946683 0.0538754 -0.183187 0.675463 0.686056 0.198795\" aabbox=\"2.73446 2.31599 0.0555127 3.4486 2.3655 0.917803\" local_pose=\"1 0 0 0\"/>\n",
+    "<label id=\"1395496\" color=\"182 11 150\" text=\"monitor\" nyu_class=\"television\" note=\"\" area=\"5231\" obbox=\"0.633666 -1.24024 -1.66997 0.537978 0.387252 0.23608 0.999459 -0.00752097 0.000878687 -0.0320014\" aabbox=\"0.647908 0.73519 1.48648 1.18645 1.12188 1.72417\" local_pose=\"1 0 0 0\"/>\n",
+    "<label id=\"1051359\" color=\"246 217 198\" text=\"trashbin\" nyu_class=\"box\" note=\"\" area=\"5108\" obbox=\"0.756367 -1.12347 -0.103185 0.269815 0.328128 0.340707 0.731405 0.126917 0.0128305 0.669905\" aabbox=\"0.57966 0.0163808 -1.24037 0.82222 0.325732 -0.908159\" local_pose=\"1 0 0 0\"/>\n",
+    "<label id=\"555887\" color=\"209 7 128\" text=\"\" nyu_class=\"unknown\" note=\"\" area=\"3676\" obbox=\"2.30077 1.20729 -0.0362595 0.878967 0.380835 0.102244 0.540909 -0.00994815 0.0416742 0.839989\" aabbox=\"2.16855 0.635522 1.23421 3.05103 0.817029 1.64149\" local_pose=\"1 0 0 0\"/>\n",
+    "<label id=\"554027\" color=\"182 133 137\" text=\"\" nyu_class=\"unknown\" note=\"\" area=\"3518\" obbox=\"-3.19204 0.724003 1.26032 0.43821 0.147733 0.655052 0.0479103 0.155246 0.97027 -0.179386\" aabbox=\"2.92568 0.662984 0.964099 3.33901 0.932536 1.63159\" local_pose=\"1 0 0 0\"/>\n",
+    "<label id=\"1256641\" color=\"25 103 137\" text=\"\" nyu_class=\"unknown\" note=\"\" area=\"3444\" obbox=\"-1.17337 1.40616 -0.596372 0.0283078 0.362734 0.825005 0.0504236 0.00164586 -0.0117353 0.998658\" aabbox=\"-1.13484 1.46739 -0.41415 -1.10531 1.82354 0.396388\" local_pose=\"1 0 0 0\"/>\n",
+    "<label id=\"656080\" color=\"108 71 13\" text=\"\" nyu_class=\"unknown\" note=\"\" area=\"3370\" obbox=\"3.4822 -1.89472 0.47427 0.0606639 1.05452 0.324359 -0.772122 -0.010503 0.000855091 0.635388\" aabbox=\"3.45222 0.699824 0.766395 3.5187 1.10215 1.77882\" local_pose=\"1 0 0 0\"/>\n",
+    "<label id=\"651965\" color=\"112 144 15\" text=\"\" nyu_class=\"unknown\" note=\"\" area=\"3352\" obbox=\"2.49659 -2.00526 -2.30381 0.186066 0.298653 0.426326 0.795455 -0.36352 0.0631037 0.480752\" aabbox=\"3.46823 0.696418 0.795841 3.72888 1.03524 1.10829\" local_pose=\"1 0 0 0\"/>\n",
+    "<label id=\"38764\" color=\"52 237 197\" text=\"\" nyu_class=\"unknown\" note=\"\" area=\"3348\" obbox=\"3.37766 0.324942 1.98812 0.336296 0.860226 0.0932574 -0.700196 -0.0172441 0.0382448 0.712717\" aabbox=\"3.17359 2.28722 -1.24476 3.51074 2.37845 -0.389388\" local_pose=\"1 0 0 0\"/>\n",
+    "<label id=\"904688\" color=\"218 234 195\" text=\"printer\" nyu_class=\"prop\" note=\"\" area=\"3103\" obbox=\"1.48696 -2.13629 -0.125877 0.421408 0.350044 0.202808 0.815004 -0.0392113 0.110052 0.567557\" aabbox=\"1.81959 0.708031 -1.58127 2.20897 0.911846 -1.26119\" local_pose=\"1 0 0 0\"/>\n",
+    "<label id=\"441429\" color=\"106 59 108\" text=\"\" nyu_class=\"unknown\" note=\"\" area=\"2646\" obbox=\"1.8108 1.79907 -2.42604 1.24864 0.0534611 0.163439 0.685378 -0.0121039 0.0113613 0.727998\" aabbox=\"1.75359 2.36888 1.71372 3.00223 2.53304 1.79125\" local_pose=\"1 0 0 0\"/>\n",
+    "<label id=\"1513539\" color=\"206 81 234\" text=\"stool\" nyu_class=\"chair\" note=\"\" area=\"2630\" obbox=\"-1.15308 0.893912 -0.139981 0.409387 0.320255 0.311496 -0.17096 0.712647 0.677245 0.0651607\" aabbox=\"0.318771 0.0129754 1.13385 0.743473 0.323746 1.48858\" local_pose=\"1 0 0 0\"/>\n",
+    "<label id=\"1078561\" color=\"79 176 148\" text=\"bag\" nyu_class=\"bag\" note=\"\" area=\"2606\" obbox=\"-0.408043 -0.439902 0.341637 0.107548 0.348664 0.432467 0.994506 0.103486 0.00333238 0.0154256\" aabbox=\"-0.462246 0.00908376 -0.783411 -0.331518 0.335888 -0.351918\" local_pose=\"1 0 0 0\"/>\n",
+    "<label id=\"91967\" color=\"210 95 11\" text=\"\" nyu_class=\"unknown\" note=\"\" area=\"2600\" obbox=\"1.94707 -2.96213 1.35465 0.645232 0.348121 0.181485 0.975289 -0.165016 0.108401 0.09915\" aabbox=\"2.98799 1.30955 -1.33731 3.57176 1.6823 -1.09576\" local_pose=\"1 0 0 0\"/>\n",
+    "<label id=\"43621\" color=\"90 67 102\" text=\"\" nyu_class=\"unknown\" note=\"\" area=\"2574\" obbox=\"3.0845 0.571993 2.47405 0.226147 0.843536 0.0446475 -0.688267 0.0179841 -0.0311409 0.724566\" aabbox=\"3.27196 2.29828 -1.22927 3.50126 2.35406 -0.387413\" local_pose=\"1 0 0 0\"/>\n",
+    "<label id=\"264980\" color=\"73 40 150\" text=\"\" nyu_class=\"unknown\" note=\"\" area=\"2468\" obbox=\"3.55196 -1.11772 -0.565534 0.111111 0.705697 0.30584 0.935437 0.00806146 -0.000600796 0.3534\" aabbox=\"3.53296 0.657227 -0.44938 3.64525 1.22561 0.0903518\" local_pose=\"1 0 0 0\"/>\n",
+    "<label id=\"1216594\" color=\"122 86 209\" text=\"\" nyu_class=\"unknown\" note=\"\" area=\"2449\" obbox=\"0.491868 1.59372 -2.42394 0.367201 0.726746 0.018996 0.694328 0.16387 -0.163151 0.681496\" aabbox=\"1.27187 2.36857 1.17776 1.77752 2.39689 1.74933\" local_pose=\"1 0 0 0\"/>\n",
+    "<label id=\"1215159\" color=\"30 172 1\" text=\"\" nyu_class=\"unknown\" note=\"\" area=\"2362\" obbox=\"-1.16032 0.894752 2.41662 0.42278 0.566465 0.0154138 -0.114131 0.687792 0.706097 0.123864\" aabbox=\"0.278481 2.36341 1.18822 0.671589 2.3862 1.73599\" local_pose=\"1 0 0 0\"/>\n",
+    "<label id=\"1302642\" color=\"123 185 187\" text=\"tissue box\" nyu_class=\"box\" note=\"\" area=\"2351\" obbox=\"-0.940874 1.49589 -1.69512 0.271958 0.387957 0.168722 0.090554 0.995635 0.0222583 -0.00398106\" aabbox=\"0.951128 1.25998 1.59453 1.20814 1.64365 1.7519\" local_pose=\"1 0 0 0\"/>\n",
+    "<label id=\"60472\" color=\"90 67 102\" text=\"\" nyu_class=\"ceiling\" note=\"\" area=\"2335\" obbox=\"-3.22724 -0.138372 2.44125 0.566637 0.400184 0.0239627 0.103673 0.705264 0.698058 -0.067596\" aabbox=\"2.6758 2.27215 -0.94066 3.2557 2.3205 -0.481182\" local_pose=\"1 0 0 0\"/>\n",
+    "<label id=\"962848\" color=\"203 120 184\" text=\"\" nyu_class=\"unknown\" note=\"\" area=\"2330\" obbox=\"-0.292243 0.250026 1.41964 0.270985 0.684615 0.0846025 0.0431313 0.99794 -0.0435633 0.0189179\" aabbox=\"0.144087 0.102392 -1.5708 0.423232 0.771893 -1.42885\" local_pose=\"1 0 0 0\"/>\n",
+    "<label id=\"481308\" color=\"154 107 160\" text=\"\" nyu_class=\"unknown\" note=\"\" area=\"2226\" obbox=\"3.45682 -1.07802 1.52727 0.0666127 1.30284 0.423078 -0.772106 -0.00314337 -0.00103355 0.635486\" aabbox=\"3.45038 1.47171 -0.498942 3.51251 2.03374 0.729753\" local_pose=\"1 0 0 0\"/>\n",
+    "<label id=\"22350\" color=\"148 185 161\" text=\"\" nyu_class=\"unknown\" note=\"\" area=\"2213\" obbox=\"1.8198 1.63627 2.46906 0.761365 0.319347 0.0147979 -0.707271 -0.0413537 -0.0667411 0.702569\" aabbox=\"2.16809 2.36193 -1.57712 2.93052 2.3966 -1.25239\" local_pose=\"1 0 0 0\"/>\n",
+    "<label id=\"21263\" color=\"167 223 45\" text=\"\" nyu_class=\"unknown\" note=\"\" area=\"2138\" obbox=\"2.87942 -1.14517 -2.68058 0.03532 0.408599 0.666822 0.626464 -0.011195 -0.00574432 0.779349\" aabbox=\"2.93674 1.70819 -1.57068 2.9795 2.33223 -1.24908\" local_pose=\"1 0 0 0\"/>\n",
+    "<label id=\"16445\" color=\"207 177 201\" text=\"\" nyu_class=\"unknown\" note=\"\" area=\"2127\" obbox=\"1.77834 -2.01764 -2.47757 0.757138 0.309565 0.0184019 0.705977 -0.0736052 0.0460362 0.702894\" aabbox=\"2.16801 2.36447 -1.57812 2.92674 2.40373 -1.254\" local_pose=\"1 0 0 0\"/>\n",
+    "<label id=\"1717011\" color=\"4 189 197\" text=\"\" nyu_class=\"unknown\" note=\"\" area=\"2108\" obbox=\"0.566647 -0.512393 0.0107484 0.420685 0.807446 0.0405039 -0.0357263 0.708834 -0.704304 -0.0152564\" aabbox=\"-0.971942 -0.0769663 -0.225827 -0.581797 -0.0370023 0.571054\" local_pose=\"1 0 0 0\"/>\n",
+    "<label id=\"52503\" color=\"59 43 90\" text=\"\" nyu_class=\"unknown\" note=\"\" area=\"2093\" obbox=\"2.64456 0.698163 -2.33813 0.56349 0.343405 0.0457962 0.712129 0.253725 -0.252535 0.603923\" aabbox=\"2.58818 2.29993 -1.2298 3.04863 2.35205 -0.77842\" local_pose=\"1 0 0 0\"/>\n",
+    "<label id=\"879804\" color=\"126 210 18\" text=\"lamp\" nyu_class=\"lamp\" note=\"\" area=\"2061\" obbox=\"0.0878542 1.23987 1.47968 0.218253 0.163579 0.240599 -0.760794 0.0397587 -0.183939 0.62111\" aabbox=\"0.810164 1.04425 -1.56566 1.02336 1.25713 -1.38084\" local_pose=\"1 0 0 0\"/>\n",
+    "<label id=\"676132\" color=\"163 100 250\" text=\"\" nyu_class=\"unknown\" note=\"\" area=\"2055\" obbox=\"3.36893 -1.97938 0.346145 0.143888 0.584851 0.225624 -0.848427 0.0298732 -0.00332087 0.528457\" aabbox=\"3.46228 0.782249 0.987709 3.59403 1.1023 1.4864\" local_pose=\"1 0 0 0\"/>\n",
+    "<label id=\"1516228\" color=\"159 239 33\" text=\"\" nyu_class=\"unknown\" note=\"\" area=\"2018\" obbox=\"0.56658 1.56791 0.168212 0.555571 0.194529 0.124146 0.518163 -0.0196765 0.0291982 0.854557\" aabbox=\"0.451581 0.504392 1.55801 0.99989 0.62798 1.72435\" local_pose=\"1 0 0 0\"/>\n",
+    "<label id=\"1497323\" color=\"190 249 53\" text=\"\" nyu_class=\"towel\" note=\"\" area=\"1927\" obbox=\"0.484616 0.276534 -1.06044 0.143431 0.544213 0.234793 0.0399614 0.996323 -0.0221345 -0.0724822\" aabbox=\"-0.43353 0.362032 0.872099 -0.288287 0.90526 1.11289\" local_pose=\"1 0 0 0\"/>\n",
+    "<label id=\"70514\" color=\"112 144 78\" text=\"\" nyu_class=\"unknown\" note=\"\" area=\"1913\" obbox=\"3.05371 -1.44768 1.35168 0.593999 0.261599 0.0824294 0.99894 0.0399107 0.020406 0.0104778\" aabbox=\"2.99231 1.43246 -1.3419 3.57824 1.70065 -1.23501\" local_pose=\"1 0 0 0\"/>\n",
+    "<label id=\"992444\" color=\"188 152 217\" text=\"\" nyu_class=\"unknown\" note=\"\" area=\"1796\" obbox=\"-1.396 0.968491 -0.887074 0.185444 0.103912 0.728118 0.172962 -0.648743 0.728246 0.137385\" aabbox=\"0.58027 0.0711225 -1.60759 0.791719 0.78162 -1.44526\" local_pose=\"1 0 0 0\"/>\n",
+    "<label id=\"511185\" color=\"139 146 65\" text=\"\" nyu_class=\"unknown\" note=\"\" area=\"1699\" obbox=\"-3.26 0.169954 -1.8316 0.091229 0.559198 0.204945 0.0605893 0.862401 -0.477861 -0.155698\" aabbox=\"3.54744 0.648981 -0.440355 3.65143 0.975619 0.0570166\" local_pose=\"1 0 0 0\"/>\n",
+    "<label id=\"698922\" color=\"93 225 236\" text=\"\" nyu_class=\"unknown\" note=\"\" area=\"1589\" obbox=\"2.35468 -3.07752 -1.32834 0.172745 0.124835 0.362435 0.942409 -0.321934 0.0880466 0.0217167\" aabbox=\"3.46312 0.945476 1.43619 3.66777 1.0856 1.78912\" local_pose=\"1 0 0 0\"/>\n",
+    "<label id=\"1292111\" color=\"196 36 92\" text=\"bed lamp\" nyu_class=\"lamp\" note=\"\" area=\"1578\" obbox=\"-1.0335 -1.55865 -2.1679 0.275404 0.226103 0.169299 -0.119726 0.783746 -0.593767 -0.13729\" aabbox=\"1.36697 1.5431 1.40619 1.64533 1.71023 1.65789\" local_pose=\"1 0 0 0\"/>\n",
+    "<label id=\"357535\" color=\"76 95 67\" text=\"\" nyu_class=\"unknown\" note=\"\" area=\"1554\" obbox=\"1.68221 -1.70337 2.34099 0.458407 0.325841 0.0161777 -0.69956 0.105899 0.100818 0.699455\" aabbox=\"2.08187 2.32683 0.756359 2.48246 2.34338 1.07008\" local_pose=\"1 0 0 0\"/>\n",
+    "<label id=\"735015\" color=\"223 118 188\" text=\"\" nyu_class=\"unknown\" note=\"\" area=\"1501\" obbox=\"-2.46413 -0.856586 0.536371 0.93162 0.482086 0.188328 0.913375 -0.397589 -0.00689988 -0.0873041\" aabbox=\"-1.09273 1.77825 -0.430283 -0.390869 2.43718 -0.259232\" local_pose=\"1 0 0 0\"/>\n",
+    "<label id=\"615167\" color=\"4 83 132\" text=\"\" nyu_class=\"unknown\" note=\"\" area=\"1501\" obbox=\"1.96925 2.82556 0.824948 0.340159 0.211039 0.105815 0.794028 0.534089 0.139545 0.25455\" aabbox=\"3.4715 0.707746 0.709523 3.67195 1.01315 0.848495\" local_pose=\"1 0 0 0\"/>\n",
+    "<label id=\"37377\" color=\"201 250 235\" text=\"\" nyu_class=\"unknown\" note=\"\" area=\"1483\" obbox=\"-3.39037 -0.784664 -2.79527 0.284105 0.46603 0.0847368 0.116554 -0.675338 0.70116 0.196744\" aabbox=\"3.20737 2.30679 -1.24367 3.50774 2.39583 -0.835906\" local_pose=\"1 0 0 0\"/>\n",
+    "<label id=\"558026\" color=\"62 159 62\" text=\"\" nyu_class=\"unknown\" note=\"\" area=\"1470\" obbox=\"3.5245 -2.22404 -1.73519 0.0515397 0.634931 0.169822 0.999852 0.00749575 0.0112112 0.0106996\" aabbox=\"3.45335 1.67825 1.59899 3.5118 2.31316 1.76715\" local_pose=\"1 0 0 0\"/>\n",
+    "<label id=\"217331\" color=\"28 120 85\" text=\"\" nyu_class=\"unknown\" note=\"\" area=\"1461\" obbox=\"1.65004 0.084767 2.2737 0.112586 0.53563 0.374276 0.91813 0.0401574 0.325714 -0.222116\" aabbox=\"2.72721 0.374148 -0.870107 2.94573 0.851607 -0.552448\" local_pose=\"1 0 0 0\"/>\n",
+    "<label id=\"1551233\" color=\"104 146 227\" text=\"\" nyu_class=\"unknown\" note=\"\" area=\"1451\" obbox=\"0.5049 1.5056 0.424467 0.0902326 0.35679 0.158925 -0.00770517 0.773222 0.627552 -0.0908071\" aabbox=\"-0.492801 0.680343 1.42471 -0.402351 0.87808 1.77488\" local_pose=\"1 0 0 0\"/>\n",
+    "<label id=\"608997\" color=\"184 83 32\" text=\"\" nyu_class=\"unknown\" note=\"\" area=\"1426\" obbox=\"-3.53721 0.631964 -0.72686 0.0847538 1.25412 0.0216395 -0.00661899 0.999955 0.00661299 -0.00183219\" aabbox=\"3.44647 0.668179 0.704885 3.53085 1.92317 0.734112\" local_pose=\"1 0 0 0\"/>\n",
+    "<label id=\"1085051\" color=\"233 201 250\" text=\"\" nyu_class=\"unknown\" note=\"\" area=\"1421\" obbox=\"-0.41609 0.146803 -0.768107 0.0574152 0.260125 0.428351 -0.0428281 0.00325891 0.0573642 0.997429\" aabbox=\"-0.455165 0.0407515 -0.782826 -0.391147 0.311568 -0.357186\" local_pose=\"1 0 0 0\"/>\n",
+    "<label id=\"1188731\" color=\"107 220 11\" text=\"\" nyu_class=\"unknown\" note=\"\" area=\"1349\" obbox=\"-2.33307 -0.307761 -2.68248 0.267063 0.360756 0.0485797 0.215113 0.700839 -0.653665 0.187811\" aabbox=\"1.65209 2.49575 1.34093 1.92827 2.54935 1.61527\" local_pose=\"1 0 0 0\"/>\n",
+    "<label id=\"1024537\" color=\"51 152 136\" text=\"\" nyu_class=\"unknown\" note=\"\" area=\"1332\" obbox=\"-0.313904 -0.496615 1.28715 0.300206 0.140329 0.28104 0.990634 -0.0803358 0.0159275 0.109257\" aabbox=\"-0.222906 0.0161398 -1.62423 0.0789371 0.165127 -1.35454\" local_pose=\"1 0 0 0\"/>\n",
+    "<label id=\"1290664\" color=\"118 140 164\" text=\"\" nyu_class=\"unknown\" note=\"\" area=\"1323\" obbox=\"0.518771 -1.5396 -1.86855 0.17215 0.296518 0.147489 0.996648 -0.0359376 0.045747 0.0575228\" aabbox=\"0.459223 1.40676 1.60095 0.629009 1.70477 1.73583\" local_pose=\"1 0 0 0\"/>\n",
+    "<label id=\"18566\" color=\"217 239 62\" text=\"\" nyu_class=\"unknown\" note=\"\" area=\"1259\" obbox=\"-2.24774 -3.00267 1.87702 0.152325 0.218046 0.368256 -0.221135 0.694115 0.657444 0.19254\" aabbox=\"3.2513 1.8815 -1.40507 3.45 2.24845 -1.23342\" local_pose=\"1 0 0 0\"/>\n",
+    "<label id=\"562651\" color=\"167 41 210\" text=\"\" nyu_class=\"unknown\" note=\"\" area=\"1240\" obbox=\"3.58833 1.47643 -2.16789 0.0224345 0.182537 0.636976 0.681713 -0.0227947 0.0284837 0.730709\" aabbox=\"3.44774 1.67429 1.58536 3.48015 2.31287 1.76667\" local_pose=\"1 0 0 0\"/>\n",
+    "<label id=\"1399137\" color=\"130 122 54\" text=\"laptop\" nyu_class=\"prop\" note=\"\" area=\"1232\" obbox=\"-0.0298682 0.764291 1.24726 0.344336 0.0129188 0.226893 0.0104908 -0.0262843 0.00655051 0.999578\" aabbox=\"-0.108513 0.734318 1.26856 0.232792 0.750806 1.49703\" local_pose=\"1 0 0 0\"/>\n",
+    "<label id=\"211718\" color=\"27 215 220\" text=\"\" nyu_class=\"unknown\" note=\"\" area=\"1181\" obbox=\"3.5065 0.16776 -1.3159 0.0891068 0.185096 0.292412 0.597676 0.0188088 -0.0383277 0.8006\" aabbox=\"3.53886 0.915873 -0.448792 3.62927 1.19979 -0.238115\" local_pose=\"1 0 0 0\"/>\n",
+    "<label id=\"1079797\" color=\"172 250 142\" text=\"\" nyu_class=\"unknown\" note=\"\" area=\"1164\" obbox=\"0.4592 1.12912 0.124769 0.425005 0.228748 0.156026 0.126972 0.767331 -0.604602 0.171867\" aabbox=\"-0.230102 0.00605373 -1.61932 0.140603 0.162985 -1.31443\" local_pose=\"1 0 0 0\"/>\n",
+    "<label id=\"1561891\" color=\"48 5 152\" text=\"\" nyu_class=\"unknown\" note=\"\" area=\"1142\" obbox=\"-1.356 0.573247 0.741448 0.32514 0.0824308 0.146131 -0.25111 0.497036 0.813615 0.167122\" aabbox=\"0.334252 0.350643 1.30875 0.61281 0.488393 1.54707\" local_pose=\"1 0 0 0\"/>\n",
+    "<label id=\"1044328\" color=\"233 44 11\" text=\"\" nyu_class=\"unknown\" note=\"\" area=\"1078\" obbox=\"1.01854 -0.544919 -0.156853 0.327302 0.151805 0.109306 -0.514546 0.392671 0.67932 0.345798\" aabbox=\"0.0782469 0.131705 -1.42478 0.235024 0.249938 -1.08575\" local_pose=\"1 0 0 0\"/>\n",
+    "<label id=\"1092603\" color=\"110 101 52\" text=\"\" nyu_class=\"unknown\" note=\"\" area=\"1072\" obbox=\"-0.452017 -0.0582796 0.420037 0.0240059 0.346044 0.319432 0.975441 -0.0202355 -0.000300914 -0.219328\" aabbox=\"-0.455675 0.026304 -0.706521 -0.420598 0.314833 -0.448332\" local_pose=\"1 0 0 0\"/>\n",
+    "<label id=\"1210476\" color=\"175 220 62\" text=\"\" nyu_class=\"unknown\" note=\"\" area=\"1070\" obbox=\"0.427473 1.36185 -2.39553 0.483524 0.245539 0.0202565 0.678246 -0.208624 0.195522 0.676926\" aabbox=\"-0.348746 2.36587 1.39274 0.0361879 2.38645 1.70826\" local_pose=\"1 0 0 0\"/>\n",
+    "<label id=\"160024\" color=\"1 150 55\" text=\"\" nyu_class=\"unknown\" note=\"\" area=\"1013\" obbox=\"-3.29992 -0.580585 0.686185 0.360591 0.235829 0.0768761 0.0936762 0.710687 0.684561 -0.132383\" aabbox=\"2.60353 0.805901 -1.56749 2.91867 0.883324 -1.36503\" local_pose=\"1 0 0 0\"/>\n",
+    "<label id=\"448180\" color=\"74 13 143\" text=\"\" nyu_class=\"unknown\" note=\"\" area=\"1007\" obbox=\"2.01031 -0.240269 2.65477 0.363611 0.144441 0.0999219 -0.555554 0.0218259 0.00884852 0.831147\" aabbox=\"2.08689 2.35703 0.99508 2.44747 2.44909 1.1412\" local_pose=\"1 0 0 0\"/>\n",
+    "<label id=\"103876\" color=\"205 52 250\" text=\"\" nyu_class=\"unknown\" note=\"\" area=\"993\" obbox=\"-3.54568 0.111984 -1.96893 0.0709374 0.32454 0.223163 0.0276938 -0.682118 0.725896 0.0838002\" aabbox=\"3.50531 1.42753 -1.09903 3.59939 1.64013 -0.775656\" local_pose=\"1 0 0 0\"/>\n",
+    "<label id=\"36012\" color=\"133 22 195\" text=\"\" nyu_class=\"unknown\" note=\"\" area=\"984\" obbox=\"3.40992 -2.56311 -0.348108 0.00588846 0.427475 0.294051 0.964176 -0.0115244 0.0172076 0.264452\" aabbox=\"3.46956 1.89933 -1.01919 3.48663 2.25308 -0.744425\" local_pose=\"1 0 0 0\"/>\n",
+    "<label id=\"649700\" color=\"110 149 205\" text=\"\" nyu_class=\"unknown\" note=\"\" area=\"946\" obbox=\"-0.591821 2.69352 2.54383 0.330567 0.12822 0.087683 0.498395 0.487277 0.683792 -0.215854\" aabbox=\"3.47242 0.938675 0.775891 3.65323 1.063 1.09007\" local_pose=\"1 0 0 0\"/>\n",
+    "<label id=\"1207221\" color=\"119 93 63\" text=\"\" nyu_class=\"unknown\" note=\"\" area=\"930\" obbox=\"-0.894992 -1.60802 -2.39792 0.455389 0.244548 0.0192585 0.193798 0.681565 -0.67852 0.193706\" aabbox=\"-0.350621 2.37144 1.40061 0.0140073 2.39103 1.70898\" local_pose=\"1 0 0 0\"/>\n",
+    "<label id=\"702077\" color=\"119 184 22\" text=\"\" nyu_class=\"unknown\" note=\"\" area=\"923\" obbox=\"-1.80488 -2.19567 -3.08095 0.215966 0.0899358 0.175797 -0.180448 0.861429 -0.371961 -0.294998\" aabbox=\"3.45765 0.884957 1.62066 3.64097 1.04402 1.78939\" local_pose=\"1 0 0 0\"/>\n",
+    "<label id=\"320961\" color=\"105 244 233\" text=\"\" nyu_class=\"unknown\" note=\"\" area=\"914\" obbox=\"-3.42896 -0.26391 -0.157377 0.118749 0.197551 0.165377 0.0487193 0.715967 0.690445 -0.0911206\" aabbox=\"3.21463 0.0264875 -0.931501 3.32845 0.190136 -0.732839\" local_pose=\"1 0 0 0\"/>\n",
+    "<label id=\"104056\" color=\"215 141 14\" text=\"\" nyu_class=\"unknown\" note=\"\" area=\"820\" obbox=\"-2.89822 0.0843564 -2.86719 0.073118 0.278431 0.17328 -0.0778047 -0.637321 0.749226 0.162568\" aabbox=\"3.51085 1.47236 -1.09947 3.59902 1.63986 -0.829077\" local_pose=\"1 0 0 0\"/>\n",
+    "<label id=\"1479917\" color=\"149 85 4\" text=\"\" nyu_class=\"unknown\" note=\"\" area=\"761\" obbox=\"0.536528 1.17134 -0.637922 0.365109 0.189267 0.0151914 0.711094 -0.0465463 0.0406151 0.700378\" aabbox=\"0.387044 0.596473 1.26954 0.742473 0.614549 1.45073\" local_pose=\"1 0 0 0\"/>\n",
+    "<label id=\"1316679\" color=\"71 161 161\" text=\"\" nyu_class=\"unknown\" note=\"\" area=\"760\" obbox=\"0.713555 -1.92567 0.822482 0.648711 0.1572 0.0439108 -0.782664 -0.0167229 -0.00916303 0.622154\" aabbox=\"0.640661 1.22801 1.56487 1.28941 1.27468 1.72489\" local_pose=\"1 0 0 0\"/>\n",
+    "<label id=\"53209\" color=\"70 75 9\" text=\"\" nyu_class=\"unknown\" note=\"\" area=\"753\" obbox=\"2.70521 -0.43252 2.43342 0.453107 0.159119 0.015341 -0.717254 0.152551 0.13138 0.667093\" aabbox=\"2.65332 2.31418 -1.10737 3.08708 2.34595 -0.910678\" local_pose=\"1 0 0 0\"/>\n",
+    "<label id=\"109167\" color=\"95 212 147\" text=\"\" nyu_class=\"unknown\" note=\"\" area=\"738\" obbox=\"-3.2222 -1.05347 -2.33972 0.116678 0.162858 0.219219 0.0374435 -0.465912 0.865029 0.182341\" aabbox=\"3.45414 1.31276 -1.30978 3.59683 1.50615 -1.13355\" local_pose=\"1 0 0 0\"/>\n",
+    "<label id=\"35459\" color=\"4 8 173\" text=\"\" nyu_class=\"unknown\" note=\"\" area=\"735\" obbox=\"2.40873 -1.84588 -2.52298 0.416494 0.180108 0.0198355 0.684279 -0.0893914 0.0713003 0.7202\" aabbox=\"2.80714 2.35008 -1.34509 3.23166 2.37494 -1.12625\" local_pose=\"1 0 0 0\"/>\n",
+    "<label id=\"1399645\" color=\"41 64 0\" text=\"cup\" nyu_class=\"prop\" note=\"\" area=\"729\" obbox=\"-0.539833 -1.75244 0.729263 0.155152 0.117742 0.109845 -0.642391 0.359003 0.271541 0.620254\" aabbox=\"1.09231 0.733122 1.25028 1.21462 0.839597 1.38569\" local_pose=\"1 0 0 0\"/>\n",
+    "<label id=\"1274528\" color=\"234 250 54\" text=\"lamp\" nyu_class=\"lamp\" note=\"\" area=\"722\" obbox=\"-0.512962 1.46741 -1.80129 0.121814 0.108492 0.124429 0.417712 0.874124 -0.190946 0.157999\" aabbox=\"1.2088 1.34933 1.33935 1.32562 1.45668 1.46189\" local_pose=\"1 0 0 0\"/>\n",
+    "<label id=\"273247\" color=\"101 141 78\" text=\"\" nyu_class=\"unknown\" note=\"\" area=\"709\" obbox=\"3.21908 -0.586486 0.234031 0.401204 0.186965 0.0533589 0.682988 0.113805 -0.0412012 0.720332\" aabbox=\"3.03603 0.00581057 -1.27256 3.43985 0.065162 -1.10338\" local_pose=\"1 0 0 0\"/>\n",
+    "<label id=\"309681\" color=\"207 7 169\" text=\"\" nyu_class=\"unknown\" note=\"\" area=\"662\" obbox=\"-1.401 -2.31661 -0.63585 0.335718 0.0433412 0.221008 -0.443262 0.732097 0.514896 0.0493471\" aabbox=\"2.46018 0.0208527 -0.832174 2.65698 0.282476 -0.662759\" local_pose=\"1 0 0 0\"/>\n",
+    "<label id=\"957241\" color=\"164 107 190\" text=\"\" nyu_class=\"unknown\" note=\"\" area=\"646\" obbox=\"-0.621999 -0.0475061 1.66625 0.056879 0.591424 0.146367 -0.0332179 0.995973 0.0107338 0.0825758\" aabbox=\"0.825953 0.0380285 -1.68773 0.88138 0.628537 -1.54159\" local_pose=\"1 0 0 0\"/>\n",
+    "<label id=\"1541675\" color=\"205 37 21\" text=\"\" nyu_class=\"unknown\" note=\"\" area=\"642\" obbox=\"-1.74634 0.606897 0.829264 0.322457 0.17443 0.0452234 -0.0970402 0.664399 0.696658 0.252636\" aabbox=\"1.03919 0.452147 1.34814 1.33036 0.518115 1.55858\" local_pose=\"1 0 0 0\"/>\n",
+    "<label id=\"696035\" color=\"85 183 82\" text=\"\" nyu_class=\"unknown\" note=\"\" area=\"620\" obbox=\"1.8241 -2.21572 0.633419 0.544958 0.162081 0.0239379 -0.718714 0.128856 0.0976663 0.676245\" aabbox=\"2.41698 0.62304 1.17614 2.93491 0.656283 1.39439\" local_pose=\"1 0 0 0\"/>\n",
+    "<label id=\"233709\" color=\"58 10 102\" text=\"\" nyu_class=\"unknown\" note=\"\" area=\"597\" obbox=\"0.0960153 -2.48486 1.44265 0.518188 0.0936363 0.0827532 0.703822 -0.630987 -0.112626 -0.306275\" aabbox=\"2.67365 0.402063 -0.811114 2.81921 0.832289 -0.497941\" local_pose=\"1 0 0 0\"/>\n",
+    "<label id=\"1454257\" color=\"218 56 84\" text=\"\" nyu_class=\"unknown\" note=\"\" area=\"590\" obbox=\"-0.56038 1.55001 -1.04472 0.287718 0.166549 0.0761506 0.724808 0.251395 -0.242523 0.593833\" aabbox=\"0.687127 0.632288 1.54821 0.934064 0.722612 1.75138\" local_pose=\"1 0 0 0\"/>\n",
+    "<label id=\"1530720\" color=\"186 239 250\" text=\"\" nyu_class=\"unknown\" note=\"\" area=\"571\" obbox=\"-0.52527 0.602952 0.501218 0.202622 0.452859 0.0600203 0.0854283 0.723635 0.666285 0.158491\" aabbox=\"0.387435 0.409326 0.602567 0.627189 0.496227 1.05988\" local_pose=\"1 0 0 0\"/>\n",
+    "<label id=\"1567541\" color=\"202 148 65\" text=\"\" nyu_class=\"unknown\" note=\"\" area=\"565\" obbox=\"0.264059 -0.889124 -1.24335 0.707274 0.202501 0.213584 0.982475 0.0886358 -0.0620957 -0.151755\" aabbox=\"0.310483 0.381443 1.21067 0.999992 0.60722 1.41491\" local_pose=\"1 0 0 0\"/>\n",
+    "<label id=\"1758251\" color=\"53 77 233\" text=\"\" nyu_class=\"unknown\" note=\"\" area=\"561\" obbox=\"0.836044 -0.781853 -0.638175 0.177185 0.371034 0.0507606 0.184815 0.981763 -0.0305661 0.0324169\" aabbox=\"-1.1784 -0.352624 0.546333 -0.976528 -0.0224913 0.602237\" local_pose=\"1 0 0 0\"/>\n",
+    "<label id=\"698461\" color=\"40 145 247\" text=\"\" nyu_class=\"unknown\" note=\"\" area=\"552\" obbox=\"0.825539 1.87089 -2.49425 0.56797 0.0811377 0.0839248 0.827982 0.212196 -0.382519 0.350854\" aabbox=\"2.89534 0.591336 0.848485 3.26463 0.675571 1.29495\" local_pose=\"1 0 0 0\"/>\n",
+    "<label id=\"124296\" color=\"187 145 169\" text=\"\" nyu_class=\"unknown\" note=\"\" area=\"526\" obbox=\"3.31656 -2.08641 -0.546701 0.039057 0.245365 0.140369 0.947628 -0.0466897 0.00489981 0.315907\" aabbox=\"3.49177 1.43696 -0.753862 3.5332 1.6553 -0.592178\" local_pose=\"1 0 0 0\"/>\n",
+    "<label id=\"82326\" color=\"112 218 250\" text=\"\" nyu_class=\"unknown\" note=\"\" area=\"522\" obbox=\"-2.67842 2.95465 0.452709 0.0775173 0.244207 0.116332 0.144146 0.940531 -0.288307 0.107246\" aabbox=\"3.51193 1.49656 -1.29075 3.62141 1.6864 -1.1463\" local_pose=\"1 0 0 0\"/>\n",
+    "<label id=\"815508\" color=\"25 103 137\" text=\"\" nyu_class=\"unknown\" note=\"\" area=\"520\" obbox=\"-0.504065 -2.03757 -1.46758 0.051919 0.0159941 0.740201 0.00245498 -0.00602709 0.977068 -0.212827\" aabbox=\"-0.43952 2.04152 -1.44258 -0.393299 2.0755 -0.702384\" local_pose=\"1 0 0 0\"/>\n",
+    "<label id=\"1009195\" color=\"30 223 64\" text=\"\" nyu_class=\"unknown\" note=\"\" area=\"479\" obbox=\"0.817431 -0.923111 1.30909 0.0165941 0.53116 0.144155 0.995084 -0.00333933 0.00242657 0.0989434\" aabbox=\"0.826016 0.109217 -1.55454 0.843962 0.626819 -1.3654\" local_pose=\"1 0 0 0\"/>\n",
+    "<label id=\"1533749\" color=\"32 207 20\" text=\"\" nyu_class=\"unknown\" note=\"\" area=\"476\" obbox=\"1.33488 -0.955659 0.726043 0.310986 0.216442 0.0829536 -0.596117 -0.10577 -0.0515284 0.79423\" aabbox=\"1.0345 0.504138 1.24763 1.33183 0.60449 1.44125\" local_pose=\"1 0 0 0\"/>\n",
+    "<label id=\"1473567\" color=\"169 79 4\" text=\"\" nyu_class=\"unknown\" note=\"\" area=\"467\" obbox=\"-0.940365 0.302783 -0.882346 0.0722595 0.0700367 0.269276 0.68778 0.2721 -0.25656 0.622172\" aabbox=\"-0.43108 0.532529 0.893253 -0.358553 0.801012 0.972357\" local_pose=\"1 0 0 0\"/>\n",
+    "<label id=\"260821\" color=\"113 80 146\" text=\"\" nyu_class=\"unknown\" note=\"\" area=\"465\" obbox=\"-2.67053 1.74343 1.34358 0.267501 0.136871 0.0486339 0.439195 0.58581 0.652021 -0.196986\" aabbox=\"3.1431 0.138654 -1.18225 3.34024 0.236875 -0.962557\" local_pose=\"1 0 0 0\"/>\n",
+    "<label id=\"879537\" color=\"171 190 18\" text=\"\" nyu_class=\"unknown\" note=\"\" area=\"414\" obbox=\"2.03453 -0.365073 -1.13072 0.129193 0.111099 0.148391 0.037247 0.128715 0.257343 0.956985\" aabbox=\"1.57416 0.747607 -1.60671 1.67929 0.856891 -1.47718\" local_pose=\"1 0 0 0\"/>\n",
+    "<label id=\"559138\" color=\"147 26 117\" text=\"\" nyu_class=\"unknown\" note=\"\" area=\"410\" obbox=\"-3.23592 -0.298645 -1.55947 0.0610502 0.47711 0.0333624 0.0768521 0.704554 -0.696771 -0.110484\" aabbox=\"3.4602 0.631113 -0.326869 3.52329 0.663784 0.149547\" local_pose=\"1 0 0 0\"/>\n",
+    "<label id=\"1757653\" color=\"250 220 60\" text=\"\" nyu_class=\"unknown\" note=\"\" area=\"407\" obbox=\"0.753961 -0.597676 -0.0970078 0.294915 0.120858 0.028528 -0.220594 0.733054 -0.584389 -0.269183\" aabbox=\"-0.435679 -0.0686763 0.881903 -0.218925 -0.0326917 1.10821\" local_pose=\"1 0 0 0\"/>\n",
+    "<label id=\"878540\" color=\"164 163 217\" text=\"\" nyu_class=\"unknown\" note=\"\" area=\"368\" obbox=\"-0.436083 -0.259935 -1.78459 0.437796 0.0248797 0.0730906 -0.00242409 -0.159911 0.987124 -0.0028538\" aabbox=\"0.00362384 0.779123 -1.61093 0.441315 0.810156 -1.54002\" local_pose=\"1 0 0 0\"/>\n",
+    "<label id=\"522349\" color=\"217 230 40\" text=\"\" nyu_class=\"unknown\" note=\"\" area=\"364\" obbox=\"3.53903 -0.528874 -0.809518 0.0844245 0.118447 0.162781 0.589243 -0.0531633 0.0791841 0.802307\" aabbox=\"3.55337 0.715268 -0.0900469 3.64044 0.861083 0.04571\" local_pose=\"1 0 0 0\"/>\n",
+    "<label id=\"912341\" color=\"43 3 39\" text=\"\" nyu_class=\"unknown\" note=\"\" area=\"362\" obbox=\"1.00386 1.40777 0.937196 0.299512 0.135476 0.0352184 -0.743123 -0.0216904 -0.0417136 0.667501\" aabbox=\"1.16399 0.744892 -1.51865 1.4648 0.7746 -1.39443\" local_pose=\"1 0 0 0\"/>\n",
+    "<label id=\"160599\" color=\"239 153 26\" text=\"\" nyu_class=\"unknown\" note=\"\" area=\"352\" obbox=\"-2.14047 -2.48088 1.07215 0.130291 0.195374 0.0420784 -0.0415986 0.647998 0.739013 0.179523\" aabbox=\"2.7989 0.813538 -1.55752 2.91814 0.873448 -1.36917\" local_pose=\"1 0 0 0\"/>\n",
+    "<label id=\"1753464\" color=\"102 154 66\" text=\"\" nyu_class=\"unknown\" note=\"\" area=\"350\" obbox=\"-1.05659 -0.594567 -0.0484715 0.334027 0.11893 0.0218125 -0.659997 0.251405 0.247964 0.663109\" aabbox=\"-0.433956 -0.0485287 0.856212 -0.204711 -0.0270757 1.10846\" local_pose=\"1 0 0 0\"/>\n",
+    "<label id=\"262170\" color=\"101 55 196\" text=\"\" nyu_class=\"unknown\" note=\"\" area=\"345\" obbox=\"-3.48286 -0.663811 0.559352 0.0546408 0.086517 0.144879 -0.192854 0.975088 -0.104297 0.0336529\" aabbox=\"3.45194 0.585281 -0.463175 3.51641 0.669294 -0.322681\" local_pose=\"1 0 0 0\"/>\n",
+    "<label id=\"1419460\" color=\"172 18 250\" text=\"speaker\" nyu_class=\"prop\" note=\"\" area=\"333\" obbox=\"-1.5297 -1.05981 -0.899759 0.0588753 0.0422932 0.13614 0.0959344 0.714356 -0.68378 0.113741\" aabbox=\"1.07431 0.74207 1.43688 1.13287 0.87814 1.48856\" local_pose=\"1 0 0 0\"/>\n",
+    "<label id=\"1001093\" color=\"210 246 33\" text=\"\" nyu_class=\"unknown\" note=\"\" area=\"332\" obbox=\"-1.18958 0.169716 0.43567 0.234934 0.175971 0.0205919 0.97577 -0.217254 0.00915605 -0.02428\" aabbox=\"-1.18068 0.159638 -0.480474 -0.945372 0.331655 -0.455014\" local_pose=\"1 0 0 0\"/>\n",
+    "<label id=\"273976\" color=\"173 100 189\" text=\"\" nyu_class=\"unknown\" note=\"\" area=\"327\" obbox=\"1.39947 -2.54481 -1.03641 0.151052 0.0615592 0.1111 0.832253 -0.423168 -0.115583 0.339006\" aabbox=\"2.8903 0.268432 -0.848969 2.9995 0.40459 -0.751313\" local_pose=\"1 0 0 0\"/>\n",
+    "<label id=\"106765\" color=\"41 92 11\" text=\"\" nyu_class=\"unknown\" note=\"\" area=\"327\" obbox=\"-3.17289 2.22959 0.5772 0.0311959 0.164951 0.0845897 0.0788268 0.992064 -0.0942086 0.0268509\" aabbox=\"3.49625 1.56551 -0.866978 3.53801 1.71845 -0.772673\" local_pose=\"1 0 0 0\"/>\n",
+    "<label id=\"154470\" color=\"6 249 146\" text=\"\" nyu_class=\"unknown\" note=\"\" area=\"320\" obbox=\"2.48847 -0.701572 1.327 0.267258 0.0922542 0.0822022 0.975127 0.143777 0.0413622 0.163539\" aabbox=\"2.37794 0.87836 -1.46358 2.63616 0.999014 -1.38029\" local_pose=\"1 0 0 0\"/>\n",
+    "<label id=\"500286\" color=\"172 231 18\" text=\"\" nyu_class=\"unknown\" note=\"\" area=\"315\" obbox=\"3.06956 1.26206 -1.53515 0.0682909 0.195923 0.0944855 -0.345127 -0.293346 0.0210794 0.891286\" aabbox=\"3.55243 0.797897 -0.225894 3.64128 0.951921 -0.0719786\" local_pose=\"1 0 0 0\"/>\n",
+    "<label id=\"1403299\" color=\"26 98 68\" text=\"speaker\" nyu_class=\"prop\" note=\"\" area=\"310\" obbox=\"0.169254 1.5617 0.674348 0.0533035 0.0594802 0.12368 0.166228 0.701609 0.675 -0.156486\" aabbox=\"0.505622 0.732508 1.45467 0.561818 0.854789 1.51279\" local_pose=\"1 0 0 0\"/>\n",
+    "<label id=\"661917\" color=\"138 62 70\" text=\"\" nyu_class=\"unknown\" note=\"\" area=\"302\" obbox=\"1.92218 1.91468 -0.0571848 0.25282 0.0384673 0.0857761 0.666776 -0.00195648 -0.0588304 0.74293\" aabbox=\"2.07657 -0.00211075 1.73445 2.32403 0.0782479 1.78516\" local_pose=\"1 0 0 0\"/>\n",
+    "<label id=\"117036\" color=\"132 140 147\" text=\"\" nyu_class=\"unknown\" note=\"\" area=\"298\" obbox=\"-3.1615 1.77446 1.43972 0.05603 0.095409 0.147775 0.152696 0.938259 0.307102 -0.0451868\" aabbox=\"3.54317 1.41664 -0.816073 3.60184 1.53452 -0.686636\" local_pose=\"1 0 0 0\"/>\n",
+    "<label id=\"915003\" color=\"106 141 197\" text=\"\" nyu_class=\"unknown\" note=\"\" area=\"297\" obbox=\"-0.757727 0.647143 1.48649 0.0987616 0.049058 0.121386 0.0821067 0.993325 0.0761831 0.0275739\" aabbox=\"0.858337 0.731528 -1.45414 0.954054 0.780258 -1.33514\" local_pose=\"1 0 0 0\"/>\n",
+    "<label id=\"1525507\" color=\"183 175 113\" text=\"\" nyu_class=\"unknown\" note=\"\" area=\"280\" obbox=\"0.573154 -0.601001 0.969726 0.318363 0.0593308 0.0145707 -0.453758 -0.0194054 -0.0427226 0.889889\" aabbox=\"0.522123 0.394494 1.06006 0.837907 0.432464 1.11641\" local_pose=\"1 0 0 0\"/>\n",
+    "<label id=\"907486\" color=\"210 198 143\" text=\"\" nyu_class=\"unknown\" note=\"\" area=\"261\" obbox=\"0.782973 -0.607695 1.63268 0.067512 0.142034 0.0585434 0.994166 0.0202704 0.0710943 -0.0785407\" aabbox=\"0.976505 0.746582 -1.45502 1.04382 0.887947 -1.39418\" local_pose=\"1 0 0 0\"/>\n",
+    "<label id=\"904482\" color=\"96 105 119\" text=\"\" nyu_class=\"unknown\" note=\"\" area=\"250\" obbox=\"-2.51514 -0.415388 0.480219 0.162209 0.102228 0.0459521 0.124873 0.675873 0.700336 -0.192695\" aabbox=\"1.89815 0.729351 -1.40801 2.0426 0.773988 -1.31321\" local_pose=\"1 0 0 0\"/>\n",
+    "<label id=\"686058\" color=\"240 81 17\" text=\"\" nyu_class=\"unknown\" note=\"\" area=\"249\" obbox=\"-2.31617 0.969691 -0.677875 0.217692 0.069827 0.0265568 0.303305 0.64542 -0.633893 0.299365\" aabbox=\"2.11884 0.638015 0.973319 2.25906 0.664157 1.16183\" local_pose=\"1 0 0 0\"/>\n",
+    "<label id=\"909470\" color=\"173 58 234\" text=\"\" nyu_class=\"unknown\" note=\"\" area=\"233\" obbox=\"0.628606 1.67041 0.396784 0.134198 0.0939718 0.0625313 -0.632658 -0.06044 -0.0398794 0.771039\" aabbox=\"0.841832 0.736398 -1.53371 0.975682 0.803088 -1.43566\" local_pose=\"1 0 0 0\"/>\n",
+    "<label id=\"127942\" color=\"229 193 249\" text=\"\" nyu_class=\"unknown\" note=\"\" area=\"231\" obbox=\"-1.77671 -3.46162 0.759107 0.0455906 0.0890002 0.118399 -0.234985 0.566253 0.744659 0.26386\" aabbox=\"3.50631 1.26045 -1.15995 3.56991 1.37423 -1.07787\" local_pose=\"1 0 0 0\"/>\n",
+    "<label id=\"1717307\" color=\"173 196 236\" text=\"\" nyu_class=\"unknown\" note=\"\" area=\"227\" obbox=\"0.4886 0.548141 -1.61399 0.0887464 0.101264 0.0558903 0.957966 0.242276 0.0990274 0.117464\" aabbox=\"0.279348 -0.0275205 1.70599 0.367437 0.0709322 1.77817\" local_pose=\"1 0 0 0\"/>\n",
+    "<label id=\"674040\" color=\"102 178 37\" text=\"\" nyu_class=\"unknown\" note=\"\" area=\"226\" obbox=\"2.05295 0.681231 -0.68455 0.0687308 0.231438 0.0221474 0.725955 0.0005766 0.00950635 0.687676\" aabbox=\"2.03237 0.644759 0.743886 2.10124 0.670867 0.974979\" local_pose=\"1 0 0 0\"/>\n",
+    "<label id=\"307555\" color=\"135 200 219\" text=\"\" nyu_class=\"unknown\" note=\"\" area=\"221\" obbox=\"2.28242 -2.21279 0.260858 0.242627 0.109555 0.0235576 0.958788 -0.283664 0.00985663 0.0127538\" aabbox=\"3.10569 0.433477 -0.26256 3.30525 0.592016 -0.237645\" local_pose=\"1 0 0 0\"/>\n",
+    "<label id=\"1026687\" color=\"41 183 99\" text=\"\" nyu_class=\"unknown\" note=\"\" area=\"220\" obbox=\"-0.42 0.250752 1.17206 0.0981806 0.0444506 0.206121 -0.204591 0.975488 -0.0754346 -0.0295988\" aabbox=\"0.145981 0.160954 -1.43017 0.234866 0.219243 -1.22568\" local_pose=\"1 0 0 0\"/>\n",
+    "<label id=\"710597\" color=\"59 70 204\" text=\"\" nyu_class=\"unknown\" note=\"\" area=\"209\" obbox=\"1.65668 1.9826 2.2741 0.201116 0.0630041 0.0206711 -0.685214 -0.0644981 -0.0587589 0.723097\" aabbox=\"1.95151 2.38496 -1.58095 2.14969 2.40694 -1.50758\" local_pose=\"1 0 0 0\"/>\n",
+    "<label id=\"1132439\" color=\"184 211 242\" text=\"\" nyu_class=\"unknown\" note=\"\" area=\"195\" obbox=\"-0.853307 -0.515976 0.0591785 0.152252 0.0565832 0.027604 0.703731 -0.192019 0.185311 0.658446\" aabbox=\"-0.49243 -0.037924 -0.860525 -0.357955 -0.0110387 -0.761037\" local_pose=\"1 0 0 0\"/>\n",
+    "<label id=\"1411125\" color=\"136 69 244\" text=\"\" nyu_class=\"unknown\" note=\"\" area=\"182\" obbox=\"-1.04371 2.10802 0.818242 0.0328914 0.0781021 0.140704 0.107585 0.662811 0.733957 -0.102051\" aabbox=\"1.60976 0.608408 1.79021 1.64841 0.745877 1.86689\" local_pose=\"1 0 0 0\"/>\n",
+    "<label id=\"521519\" color=\"46 90 116\" text=\"\" nyu_class=\"unknown\" note=\"\" area=\"178\" obbox=\"1.72315 -2.52967 -1.46954 0.217983 0.0654116 0.0286828 0.965747 -0.25108 0.0308234 -0.0578055\" aabbox=\"2.56762 1.0664 1.80108 2.77205 1.17736 1.83061\" local_pose=\"1 0 0 0\"/>\n",
+    "<label id=\"1431219\" color=\"159 147 75\" text=\"\" nyu_class=\"unknown\" note=\"\" area=\"171\" obbox=\"-0.605301 -2.16619 0.159582 0.0505199 0.101583 0.120372 -0.73938 0.324061 0.257342 0.531111\" aabbox=\"1.17312 0.745677 1.61813 1.24666 0.85833 1.69136\" local_pose=\"1 0 0 0\"/>\n",
+    "<label id=\"1754443\" color=\"18 128 86\" text=\"\" nyu_class=\"unknown\" note=\"\" area=\"166\" obbox=\"-0.821575 -2.1939 -0.976941 0.0265033 0.0755348 0.103518 -0.0897533 0.745867 -0.638463 -0.167308\" aabbox=\"1.60501 0.432523 1.78305 1.64273 0.535857 1.85415\" local_pose=\"1 0 0 0\"/>\n",
+    "<label id=\"650147\" color=\"161 250 179\" text=\"\" nyu_class=\"unknown\" note=\"\" area=\"166\" obbox=\"-2.84157 -2.15776 0.566319 0.053026 0.0201738 0.256963 0.0208882 -0.000565622 0.972178 0.233311\" aabbox=\"3.47989 0.612015 0.432295 3.53311 0.638534 0.688763\" local_pose=\"1 0 0 0\"/>\n",
+    "<label id=\"1352303\" color=\"140 77 118\" text=\"\" nyu_class=\"unknown\" note=\"\" area=\"163\" obbox=\"-1.84506 -1.10176 1.14604 0.0265138 0.126973 0.0411687 -0.076299 -0.0631951 0.994053 -0.0451972\" aabbox=\"1.51673 0.955956 1.5306 1.54599 1.08059 1.5725\" local_pose=\"1 0 0 0\"/>\n",
+    "<label id=\"331958\" color=\"188 109 114\" text=\"\" nyu_class=\"unknown\" note=\"\" area=\"157\" obbox=\"2.05273 -2.67421 -0.0142318 0.126855 0.0780146 0.0522371 0.721166 -0.303337 0.221605 0.582063\" aabbox=\"3.28885 -0.0459395 -0.485625 3.40441 0.00665775 -0.394949\" local_pose=\"1 0 0 0\"/>\n",
+    "<label id=\"73416\" color=\"132 58 181\" text=\"\" nyu_class=\"unknown\" note=\"\" area=\"144\" obbox=\"2.51968 1.40523 2.07721 0.136209 0.0479094 0.0515182 -0.8092 -0.0293437 -0.0742847 0.582081\" aabbox=\"2.85932 1.40456 -1.61728 2.99349 1.44976 -1.5643\" local_pose=\"1 0 0 0\"/>\n",
+    "<label id=\"1756321\" color=\"250 45 179\" text=\"\" nyu_class=\"unknown\" note=\"\" area=\"135\" obbox=\"-0.143144 2.34243 -0.638208 0.0494837 0.0543842 0.0819208 0.308446 0.808741 0.473089 -0.164275\" aabbox=\"1.59826 0.261833 1.78063 1.6487 0.338435 1.84674\" local_pose=\"1 0 0 0\"/>\n",
+    "<label id=\"1483667\" color=\"210 32 14\" text=\"\" nyu_class=\"unknown\" note=\"\" area=\"134\" obbox=\"-0.722364 0.0844018 -0.668769 0.0612881 0.0701297 0.0368003 -0.321014 0.938276 0.124782 0.0318989\" aabbox=\"0.457767 0.305918 0.728882 0.523864 0.370718 0.771004\" local_pose=\"1 0 0 0\"/>\n",
+    "<label id=\"8844\" color=\"24 250 147\" text=\"\" nyu_class=\"unknown\" note=\"\" area=\"127\" obbox=\"-3.26096 0.915286 -2.35471 0.0524073 0.122313 0.0435693 -0.0848914 0.75287 -0.64197 -0.117702\" aabbox=\"2.95116 2.3635 -1.55941 3.00412 2.40796 -1.44484\" local_pose=\"1 0 0 0\"/>\n",
+    "<label id=\"1470175\" color=\"124 199 230\" text=\"\" nyu_class=\"unknown\" note=\"\" area=\"123\" obbox=\"0.374548 1.12884 -1.33663 0.0205426 0.163339 0.0765073 0.829354 0.00225534 0.0171355 0.558455\" aabbox=\"0.317617 0.732407 1.549 0.335838 0.81299 1.69919\" local_pose=\"1 0 0 0\"/>\n",
+    "<label id=\"748099\" color=\"48 202 90\" text=\"\" nyu_class=\"unknown\" note=\"\" area=\"120\" obbox=\"-0.455459 2.27613 -1.11134 0.0107402 0.0624702 0.168719 -0.0866546 0.008736 0.0259533 0.995862\" aabbox=\"-0.590265 2.02829 -1.48168 -0.579531 2.09875 -1.31527\" local_pose=\"1 0 0 0\"/>\n",
+    "<label id=\"1391815\" color=\"56 214 222\" text=\"\" nyu_class=\"unknown\" note=\"\" area=\"118\" obbox=\"0.0353465 -2.347 1.16905 0.0470164 0.0932961 0.073126 -0.677723 0.326671 0.0241327 0.658327\" aabbox=\"1.56209 0.856126 1.79516 1.63855 0.919112 1.87933\" local_pose=\"1 0 0 0\"/>\n",
+    "<label id=\"176964\" color=\"235 134 96\" text=\"\" nyu_class=\"unknown\" note=\"\" area=\"118\" obbox=\"2.33444 -2.1326 1.23378 0.10023 0.059072 0.0254732 0.758243 -0.426683 -0.256725 -0.420835\" aabbox=\"2.95368 0.60942 -1.57956 3.01864 0.660663 -1.50196\" local_pose=\"1 0 0 0\"/>\n",
+    "<label id=\"1389800\" color=\"5 226 192\" text=\"\" nyu_class=\"unknown\" note=\"\" area=\"110\" obbox=\"1.15051 -1.17423 1.47639 0.0980641 0.0585043 0.0273343 -0.519989 0.00660082 0.0290313 0.853654\" aabbox=\"1.18614 0.824664 1.62199 1.28197 0.864511 1.67891\" local_pose=\"1 0 0 0\"/>\n",
+    "<label id=\"1063500\" color=\"146 193 125\" text=\"\" nyu_class=\"unknown\" note=\"\" area=\"107\" obbox=\"-0.447343 1.42791 0.424724 0.177129 0.0454199 0.0281511 -0.685494 -0.374566 -0.363121 0.507879\" aabbox=\"1.11613 0.0521113 -1.10623 1.21873 0.093122 -0.951321\" local_pose=\"1 0 0 0\"/>\n",
+    "<label id=\"668307\" color=\"35 23 132\" text=\"\" nyu_class=\"unknown\" note=\"\" area=\"105\" obbox=\"3.60787 -1.31897 -0.436614 0.0573354 0.10506 0.0357668 0.96115 0.0236485 0.0227306 -0.27407\" aabbox=\"3.5146 0.927876 1.19927 3.57392 1.01793 1.25734\" local_pose=\"1 0 0 0\"/>\n",
+    "<label id=\"1744172\" color=\"151 191 199\" text=\"\" nyu_class=\"unknown\" note=\"\" area=\"104\" obbox=\"-1.33182 1.06414 -1.38206 0.0154389 0.150307 0.0421563 0.0559907 0.968556 0.23577 -0.0563529\" aabbox=\"1.55932 0.196913 1.50341 1.58342 0.326802 1.58513\" local_pose=\"1 0 0 0\"/>\n",
+    "<label id=\"485152\" color=\"0 140 96\" text=\"\" nyu_class=\"unknown\" note=\"\" area=\"101\" obbox=\"2.62533 -0.710063 1.82376 0.127588 0.0214908 0.0453533 -0.571544 -0.0823214 -0.0621354 0.814064\" aabbox=\"2.31535 1.45898 1.80108 2.43967 1.50252 1.83358\" local_pose=\"1 0 0 0\"/>\n",
+    "<label id=\"663031\" color=\"250 107 130\" text=\"\" nyu_class=\"unknown\" note=\"\" area=\"101\" obbox=\"2.23702 -1.42813 0.674241 0.152839 0.0891824 0.0145307 -0.713273 0.0222252 0.00576352 0.70051\" aabbox=\"2.305 0.644519 1.23411 2.45789 0.659759 1.32366\" local_pose=\"1 0 0 0\"/>\n",
+    "<label id=\"909233\" color=\"240 192 243\" text=\"\" nyu_class=\"unknown\" note=\"\" area=\"101\" obbox=\"0.888812 -2.15512 -0.615768 0.0803126 0.100519 0.0117663 0.690231 -0.155569 0.205562 0.676109\" aabbox=\"1.75098 0.737901 -1.41298 1.82454 0.753275 -1.32707\" local_pose=\"1 0 0 0\"/>\n",
+    "<label id=\"899213\" color=\"201 117 245\" text=\"\" nyu_class=\"unknown\" note=\"\" area=\"95\" obbox=\"-0.805389 0.99477 1.39755 0.048958 0.123662 0.0494373 0.0835777 0.995786 -0.0290477 0.0241072\" aabbox=\"0.988374 0.762529 -1.45841 1.03516 0.887302 -1.407\" local_pose=\"1 0 0 0\"/>\n",
+    "<label id=\"1187129\" color=\"20 36 204\" text=\"\" nyu_class=\"unknown\" note=\"\" area=\"93\" obbox=\"0.681063 -2.30225 -1.59257 0.0467339 0.108933 0.011165 0.998868 -0.0171403 0.0238469 -0.0374171\" aabbox=\"0.675381 2.04256 1.77759 0.720314 2.15162 1.79129\" local_pose=\"1 0 0 0\"/>\n",
+    "<label id=\"73919\" color=\"113 215 14\" text=\"\" nyu_class=\"unknown\" note=\"\" area=\"92\" obbox=\"-3.46804 -0.339608 0.0969333 0.0904408 0.0291747 0.0607613 -0.377586 0.70728 -0.594424 -0.0620047\" aabbox=\"2.62573 1.41919 -1.64499 2.69829 1.47771 -1.5921\" local_pose=\"1 0 0 0\"/>\n",
+    "<label id=\"1145920\" color=\"68 30 77\" text=\"\" nyu_class=\"unknown\" note=\"\" area=\"91\" obbox=\"1.01153 -2.69499 1.22543 0.081521 0.0602856 0.0314772 0.734635 0.0941954 -0.0422589 0.670562\" aabbox=\"0.545252 -0.941262 -2.9528 0.626777 -0.907612 -2.89678\" local_pose=\"1 0 0 0\"/>\n",
+    "<label id=\"1423209\" color=\"119 96 221\" text=\"\" nyu_class=\"unknown\" note=\"\" area=\"91\" obbox=\"-1.31141 -1.1869 1.38171 0.061246 0.111603 0.010554 -0.0368208 -0.0706711 0.995839 0.0442135\" aabbox=\"1.22134 0.750001 1.60894 1.28401 0.859207 1.63248\" local_pose=\"1 0 0 0\"/>\n",
+    "<label id=\"896864\" color=\"51 168 0\" text=\"\" nyu_class=\"unknown\" note=\"\" area=\"90\" obbox=\"1.35757 -1.42663 0.989078 0.142953 0.0122755 0.0382358 0.976718 -0.0397641 -0.00674677 0.210701\" aabbox=\"1.42979 0.747062 -1.51574 1.57156 0.772566 -1.48028\" local_pose=\"1 0 0 0\"/>\n",
+    "<label id=\"1419245\" color=\"140 167 165\" text=\"\" nyu_class=\"unknown\" note=\"\" area=\"90\" obbox=\"0.575613 1.15085 -1.29065 0.0226595 0.126669 0.0588624 0.823346 0.00850102 0.0772698 0.562189\" aabbox=\"0.301473 0.741409 1.58594 0.330594 0.810488 1.70808\" local_pose=\"1 0 0 0\"/>\n",
+    "<label id=\"1700383\" color=\"100 149 43\" text=\"\" nyu_class=\"unknown\" note=\"\" area=\"89\" obbox=\"1.8153 -1.34384 -0.0483034 0.143642 0.0413363 0.0202401 -0.711616 -0.00703407 -0.00810722 0.702486\" aabbox=\"1.78649 -0.0338644 1.34266 1.92982 -0.0134864 1.38417\" local_pose=\"1 0 0 0\"/>\n",
+    "<label id=\"881659\" color=\"25 146 177\" text=\"\" nyu_class=\"unknown\" note=\"\" area=\"89\" obbox=\"-1.73369 -0.882834 -0.254858 0.0240648 0.111042 0.0724941 0.0265261 0.131805 0.98893 -0.0627801\" aabbox=\"1.57135 0.88035 -0.574191 1.6048 0.989933 -0.502299\" local_pose=\"1 0 0 0\"/>\n",
+    "<label id=\"900599\" color=\"203 175 125\" text=\"\" nyu_class=\"unknown\" note=\"\" area=\"89\" obbox=\"1.72768 1.09558 1.08789 0.0117047 0.0614299 0.105998 -0.774902 0.0426693 0.0098936 0.630562\" aabbox=\"1.67505 0.747355 -1.48576 1.69164 0.844959 -1.42525\" local_pose=\"1 0 0 0\"/>\n",
+    "<label id=\"917691\" color=\"218 225 152\" text=\"\" nyu_class=\"unknown\" note=\"\" area=\"87\" obbox=\"1.19276 0.648602 -1.11441 0.130449 0.078155 0.0483204 -0.576181 -0.41868 0.662272 -0.232634\" aabbox=\"0.851225 0.730446 -1.4491 0.936231 0.775268 -1.33172\" local_pose=\"1 0 0 0\"/>\n",
+    "<label id=\"1075631\" color=\"128 35 113\" text=\"\" nyu_class=\"unknown\" note=\"\" area=\"87\" obbox=\"-0.819091 -1.30183 -0.41198 0.11215 0.0263828 0.0289437 0.615886 -0.0400551 0.129835 0.77603\" aabbox=\"-0.504058 -0.0198485 -1.50192 -0.39465 0.0157388 -1.46672\" local_pose=\"1 0 0 0\"/>\n",
+    "<label id=\"232319\" color=\"235 149 165\" text=\"\" nyu_class=\"unknown\" note=\"\" area=\"87\" obbox=\"-2.8696 1.42058 -0.509575 0.0173419 0.130567 0.0445948 0.0247073 -0.53716 0.840261 -0.0693461\" aabbox=\"2.89334 0.196397 -1.51719 2.91745 0.260174 -1.39438\" local_pose=\"1 0 0 0\"/>\n",
+    "<label id=\"1496104\" color=\"240 119 130\" text=\"\" nyu_class=\"unknown\" note=\"\" area=\"86\" obbox=\"0.46643 1.2939 1.25902 0.118645 0.0158793 0.0475578 0.197386 -0.0143466 0.000799826 0.980221\" aabbox=\"0.420643 0.686329 1.67595 0.539382 0.709653 1.7214\" local_pose=\"1 0 0 0\"/>\n",
+    "<label id=\"1487816\" color=\"63 157 23\" text=\"\" nyu_class=\"unknown\" note=\"\" area=\"84\" obbox=\"-1.34704 1.23366 1.26311 0.0199642 0.124724 0.0543202 0.00880544 0.590201 0.803784 0.0742711\" aabbox=\"1.30237 0.631361 1.66081 1.32626 0.700116 1.78557\" local_pose=\"1 0 0 0\"/>\n",
+    "<label id=\"1758329\" color=\"250 226 153\" text=\"\" nyu_class=\"unknown\" note=\"\" area=\"84\" obbox=\"0.239204 1.8668 -0.150889 0.0462812 0.0966181 0.0306695 0.824186 -0.231796 -0.18055 0.484138\" aabbox=\"-0.124957 -0.891454 1.69018 -0.0830986 -0.830508 1.77385\" local_pose=\"1 0 0 0\"/>\n",
+    "<label id=\"691387\" color=\"64 72 124\" text=\"\" nyu_class=\"unknown\" note=\"\" area=\"81\" obbox=\"2.65325 1.34734 0.640761 0.0847554 0.0796862 0.00503021 -0.623411 -0.290352 -0.294864 0.663407\" aabbox=\"2.76951 0.625862 1.10802 2.86339 0.634234 1.20457\" local_pose=\"1 0 0 0\"/>\n",
+    "<label id=\"227433\" color=\"220 77 11\" text=\"\" nyu_class=\"unknown\" note=\"\" area=\"81\" obbox=\"-2.64724 -1.97828 0.999608 0.0192084 0.102291 0.0427631 -0.140834 0.81836 0.539984 0.137365\" aabbox=\"3.21315 0.405025 -1.06561 3.2635 0.46576 -0.98195\" local_pose=\"1 0 0 0\"/>\n",
+    "<label id=\"1284443\" color=\"82 70 205\" text=\"\" nyu_class=\"unknown\" note=\"\" area=\"80\" obbox=\"-1.02477 1.44374 -1.57068 0.0541856 0.0953792 0.0169549 -0.247226 0.967465 0.0486546 0.0228681\" aabbox=\"0.0905414 1.56765 1.73596 0.147354 1.6503 1.75688\" local_pose=\"1 0 0 0\"/>\n",
+    "<label id=\"1559544\" color=\"193 63 183\" text=\"\" nyu_class=\"unknown\" note=\"\" area=\"79\" obbox=\"-1.11414 1.79133 0.131389 0.0778453 0.09691 0.0193254 0.00803049 0.738009 0.66857 -0.0910604\" aabbox=\"1.24023 0.442154 1.59596 1.31987 0.463949 1.69372\" local_pose=\"1 0 0 0\"/>\n",
+    "<label id=\"1422413\" color=\"246 150 162\" text=\"\" nyu_class=\"unknown\" note=\"\" area=\"79\" obbox=\"0.493367 -1.26594 -1.73731 0.0642177 0.107978 0.00835454 0.978585 -0.182918 -0.0916317 -0.0226979\" aabbox=\"1.1813 0.764233 1.61049 1.24377 0.859103 1.62479\" local_pose=\"1 0 0 0\"/>\n",
+    "<label id=\"1119288\" color=\"191 33 82\" text=\"\" nyu_class=\"unknown\" note=\"\" area=\"77\" obbox=\"-0.376283 -0.538215 -0.0364646 0.00876731 0.123687 0.0545347 0.773296 0.0309165 0.00605407 0.633261\" aabbox=\"-0.396375 0.0575794 -0.514427 -0.384816 0.112756 -0.394604\" local_pose=\"1 0 0 0\"/>\n",
+    "<label id=\"265086\" color=\"49 9 124\" text=\"\" nyu_class=\"unknown\" note=\"\" area=\"73\" obbox=\"-2.71763 -0.611267 1.38758 0.0141006 0.108945 0.051284 -0.0683121 0.957549 0.251801 0.122597\" aabbox=\"2.97911 0.355106 -0.755413 3.0099 0.455375 -0.68854\" local_pose=\"1 0 0 0\"/>\n",
+    "<label id=\"1438624\" color=\"236 97 247\" text=\"\" nyu_class=\"unknown\" note=\"\" area=\"72\" obbox=\"-0.0385002 1.52642 -1.39736 0.105871 0.04986 0.0270771 0.80477 0.125346 -0.151787 0.559995\" aabbox=\"0.686387 0.756244 1.76301 0.785524 0.788117 1.8129\" local_pose=\"1 0 0 0\"/>\n",
+    "<label id=\"649294\" color=\"29 73 42\" text=\"\" nyu_class=\"unknown\" note=\"\" area=\"71\" obbox=\"4.04577 -0.119599 -1.13394 0.0251393 0.0293716 0.125665 0.557873 -0.175433 0.226366 0.778948\" aabbox=\"3.46025 1.56589 1.69757 3.48938 1.68545 1.74253\" local_pose=\"1 0 0 0\"/>\n",
+    "<label id=\"245991\" color=\"174 176 151\" text=\"\" nyu_class=\"unknown\" note=\"\" area=\"68\" obbox=\"-2.68796 -1.36933 1.21472 0.032207 0.078568 0.0627366 -0.0929672 0.937708 0.332373 0.0398637\" aabbox=\"2.87722 0.135439 -1.46639 2.91111 0.20551 -1.39804\" local_pose=\"1 0 0 0\"/>\n",
+    "<label id=\"1133451\" color=\"216 104 115\" text=\"\" nyu_class=\"unknown\" note=\"\" area=\"65\" obbox=\"-1.01299 0.848993 2.58689 0.0359875 0.0830034 0.0567069 0.214267 0.958165 -0.189522 -0.00952314\" aabbox=\"0.985088 -0.637737 -2.71026 1.02293 -0.564393 -2.65179\" local_pose=\"1 0 0 0\"/>\n",
+    "<label id=\"866415\" color=\"27 52 207\" text=\"\" nyu_class=\"unknown\" note=\"\" area=\"65\" obbox=\"-1.12032 -1.00409 0.429787 0.113692 0.0408645 0.0114598 0.993145 -0.102447 0.0470079 -0.0309586\" aabbox=\"-0.852588 1.181 -0.465689 -0.738916 1.22762 -0.448892\" local_pose=\"1 0 0 0\"/>\n",
+    "<label id=\"869439\" color=\"250 241 209\" text=\"\" nyu_class=\"unknown\" note=\"\" area=\"64\" obbox=\"-0.524923 -0.572509 -1.79466 0.138365 0.0119562 0.0140568 0.737416 -0.0020002 0.0308683 0.67473\" aabbox=\"-0.575197 1.80517 -0.434061 -0.437305 1.81936 -0.423229\" local_pose=\"1 0 0 0\"/>\n",
+    "<label id=\"1465534\" color=\"107 100 148\" text=\"\" nyu_class=\"unknown\" note=\"\" area=\"64\" obbox=\"1.06381 1.04634 1.34605 0.0869076 0.0186127 0.0638986 0.127418 -0.00382064 0.0105036 0.991786\" aabbox=\"1.03379 0.684235 1.57925 1.12075 0.707057 1.64223\" local_pose=\"1 0 0 0\"/>\n",
+    "<label id=\"1301634\" color=\"132 40 88\" text=\"\" nyu_class=\"unknown\" note=\"\" area=\"63\" obbox=\"-0.50243 1.37767 1.99042 0.0146867 0.149976 0.00919688 -0.148873 0.684385 0.693175 -0.170181\" aabbox=\"-0.392705 1.99539 1.40135 -0.378045 2.00789 1.5514\" local_pose=\"1 0 0 0\"/>\n",
+    "<label id=\"1269048\" color=\"111 106 74\" text=\"\" nyu_class=\"unknown\" note=\"\" area=\"63\" obbox=\"0.720775 1.91192 1.22522 0.0145491 0.0108804 0.142764 0.00509257 0.00676095 0.278775 0.960319\" aabbox=\"-0.397956 1.99546 1.24358 -0.38425 2.00869 1.38635\" local_pose=\"1 0 0 0\"/>\n",
+    "<label id=\"1481047\" color=\"122 57 155\" text=\"\" nyu_class=\"unknown\" note=\"\" area=\"59\" obbox=\"0.119995 -0.640432 -1.31132 0.128369 0.00620294 0.0316824 0.997777 0.016276 0.0154272 -0.0627525\" aabbox=\"0.0610546 0.470212 1.35388 0.189285 0.480044 1.38567\" local_pose=\"1 0 0 0\"/>\n",
+    "<label id=\"231495\" color=\"38 90 35\" text=\"\" nyu_class=\"unknown\" note=\"\" area=\"56\" obbox=\"-1.97119 -2.20933 -0.363229 0.00949442 0.0612833 0.0831681 -0.235019 0.52705 0.804433 0.140969\" aabbox=\"2.76446 0.5883 -0.793987 2.79339 0.672077 -0.747049\" local_pose=\"1 0 0 0\"/>\n",
+    "<label id=\"1458428\" color=\"152 39 154\" text=\"\" nyu_class=\"unknown\" note=\"\" area=\"51\" obbox=\"-1.44214 0.896376 -0.728261 0.114749 0.0288613 0.0141769 0.60081 0.387585 -0.32079 0.621208\" aabbox=\"-0.00027281 0.683057 1.62557 0.0734462 0.698127 1.723\" local_pose=\"1 0 0 0\"/>\n",
+    "<label id=\"834158\" color=\"212 100 97\" text=\"\" nyu_class=\"unknown\" note=\"\" area=\"50\" obbox=\"-0.521471 -1.77355 1.16943 0.0121746 0.101423 0.0478808 0.996918 0.0183035 0.0463479 -0.0605945\" aabbox=\"-0.485105 1.78848 -1.04339 -0.473058 1.89043 -0.994812\" local_pose=\"1 0 0 0\"/>\n",
+    "<label id=\"872079\" color=\"136 81 169\" text=\"\" nyu_class=\"unknown\" note=\"\" area=\"49\" obbox=\"0.941273 -1.62805 1.48252 0.0498139 0.0155624 0.0644454 0.954798 -0.295871 -0.0272594 -0.00884515\" aabbox=\"1.61447 0.825983 -1.59712 1.66124 0.857487 -1.53372\" local_pose=\"1 0 0 0\"/>\n",
+    "<label id=\"243797\" color=\"250 166 155\" text=\"\" nyu_class=\"unknown\" note=\"\" area=\"46\" obbox=\"-2.3259 1.47854 -0.917676 0.00903916 0.0472108 0.0956026 -0.137257 -0.630406 0.754196 -0.122213\" aabbox=\"2.74211 0.570657 -0.707403 2.7574 0.663891 -0.665044\" local_pose=\"1 0 0 0\"/>\n",
+    "<label id=\"1433655\" color=\"9 197 112\" text=\"\" nyu_class=\"unknown\" note=\"\" area=\"45\" obbox=\"1.72989 0.35771 -1.21771 0.0707225 0.0512941 0.0182074 0.745229 -0.270313 0.177967 0.583003\" aabbox=\"1.18156 0.742469 1.61484 1.24487 0.765319 1.66936\" local_pose=\"1 0 0 0\"/>\n",
+    "<label id=\"695327\" color=\"125 175 130\" text=\"\" nyu_class=\"unknown\" note=\"\" area=\"44\" obbox=\"2.52706 -1.52323 -0.696773 0.105021 0.0448889 0.00441027 0.630891 -0.325463 0.309905 0.632463\" aabbox=\"2.71814 0.625652 1.14363 2.79408 0.631091 1.22641\" local_pose=\"1 0 0 0\"/>\n",
+    "<label id=\"651693\" color=\"120 165 250\" text=\"\" nyu_class=\"unknown\" note=\"\" area=\"43\" obbox=\"2.84174 0.0287184 -0.707766 0.124382 0.0329745 0.004857 0.650425 -0.175152 0.143173 0.7251\" aabbox=\"2.58152 0.642965 1.22031 2.69217 0.650243 1.2777\" local_pose=\"1 0 0 0\"/>\n",
+    "<label id=\"1470798\" color=\"18 10 103\" text=\"\" nyu_class=\"unknown\" note=\"\" area=\"39\" obbox=\"0.687964 -1.5473 0.940272 0.0650613 0.0384743 0.0112284 -0.658556 -0.0092428 -0.00187297 0.752473\" aabbox=\"0.654206 0.73501 1.63185 0.71938 0.747677 1.66988\" local_pose=\"1 0 0 0\"/>\n",
+    "<label id=\"286325\" color=\"246 199 122\" text=\"\" nyu_class=\"unknown\" note=\"\" area=\"35\" obbox=\"2.88592 -0.899056 -0.0579671 0.0967782 0.0271813 0.00973034 0.986025 -0.0942088 -0.0235225 0.135377\" aabbox=\"2.99303 0.268554 -0.254358 3.08881 0.306784 -0.243608\" local_pose=\"1 0 0 0\"/>\n",
+    "<label id=\"1460469\" color=\"172 40 30\" text=\"\" nyu_class=\"unknown\" note=\"\" area=\"32\" obbox=\"0.766108 1.75943 -0.608923 0.155626 0.0299877 0.00349241 0.68104 0.0417649 -0.0288848 0.730484\" aabbox=\"0.923434 0.740479 1.6181 1.07991 0.745301 1.6531\" local_pose=\"1 0 0 0\"/>\n",
+    "<label id=\"1441037\" color=\"223 121 124\" text=\"\" nyu_class=\"unknown\" note=\"\" area=\"25\" obbox=\"-0.939547 -1.59363 1.24878 0.0377453 0.0160791 0.065787 -0.0424805 -0.124282 0.970384 0.202742\" aabbox=\"1.25653 0.739344 1.64349 1.29452 0.763105 1.71116\" local_pose=\"1 0 0 0\"/>\n",
+    "<label id=\"1485303\" color=\"63 144 165\" text=\"\" nyu_class=\"unknown\" note=\"\" area=\"16\" obbox=\"-2.0195 -0.476371 -0.876417 0.0656955 0.0306603 0.0107464 0.205566 0.730279 -0.607434 0.235497\" aabbox=\"1.21078 0.742954 1.666 1.27025 0.75434 1.70709\" local_pose=\"1 0 0 0\"/>\n",
+    "<label id=\"205529\" color=\"99 1 245\" text=\"\" nyu_class=\"unknown\" note=\"\" area=\"15\" obbox=\"-2.42498 0.0744714 0.644016 0.0416222 0.0631295 0.000384152 0.152833 0.68906 0.686278 -0.175675\" aabbox=\"2.13901 0.717408 -1.01905 2.17884 0.718943 -0.956519\" local_pose=\"1 0 0 0\"/>\n",
+    "<label id=\"1461338\" color=\"130 237 103\" text=\"\" nyu_class=\"unknown\" note=\"\" area=\"14\" obbox=\"0.901145 1.5919 -0.592095 0.117414 0.0198044 0.00405025 0.673925 -0.0310778 0.0357406 0.73728\" aabbox=\"0.743546 0.738986 1.61228 0.860601 0.74353 1.64088\" local_pose=\"1 0 0 0\"/>\n",
+    "<label id=\"946076\" color=\"67 146 89\" text=\"\" nyu_class=\"unknown\" note=\"\" area=\"11\" obbox=\"1.70715 0.495424 -0.511954 0.0719668 0.0136113 0.011597 0.509764 0.486151 -0.339195 0.623494\" aabbox=\"0.842004 0.737191 -1.54345 0.861398 0.75037 -1.47401\" local_pose=\"1 0 0 0\"/>\n",
+    "<label id=\"1508085\" color=\"134 201 211\" text=\"\" nyu_class=\"unknown\" note=\"\" area=\"11\" obbox=\"0.977633 1.6765 -1.27086 0.0784041 0.00379109 0.000693917 0.738223 0.659308 0.114598 0.0848912\" aabbox=\"1.34742 0.742659 1.7393 1.35462 0.820753 1.74355\" local_pose=\"1 0 0 0\"/>\n",
+    "<label id=\"934130\" color=\"150 163 193\" text=\"\" nyu_class=\"unknown\" note=\"\" area=\"9\" obbox=\"1.36541 -1.64246 -0.942351 0.0588069 0.0152383 0.00577253 0.676453 -0.10069 0.059913 0.727106\" aabbox=\"1.75629 0.735526 -1.34602 1.81215 0.742595 -1.32472\" local_pose=\"1 0 0 0\"/>\n",
+    "<label id=\"177986\" color=\"209 54 93\" text=\"\" nyu_class=\"unknown\" note=\"\" area=\"8\" obbox=\"-1.13499 -2.13449 -0.688197 0.0548114 4.76837e-007 0.00048542 -0.490943 0.513427 -0.513352 -0.481495\" aabbox=\"2.18325 0.717788 -1.01085 2.18622 0.718468 -0.956122\" local_pose=\"1 0 0 0\"/>\n",
+    "<label id=\"1438825\" color=\"227 28 148\" text=\"\" nyu_class=\"unknown\" note=\"\" area=\"8\" obbox=\"0.813457 1.06442 1.69645 0.0998177 0.0178033 0.0121372 0.452584 0.376899 0.752188 -0.295513\" aabbox=\"1.24205 0.746323 1.57493 1.28589 0.762141 1.66746\" local_pose=\"1 0 0 0\"/>\n",
+    "<label id=\"1413673\" color=\"59 198 224\" text=\"\" nyu_class=\"unknown\" note=\"\" area=\"7\" obbox=\"0.826593 -1.29895 0.855426 0.0156054 0.0156358 0.00047487 -0.680508 -0.0181061 -0.0202666 0.732236\" aabbox=\"0.755735 0.754152 1.3853 0.77173 0.755343 1.40129\" local_pose=\"1 0 0 0\"/>\n",
+    "<label id=\"180478\" color=\"135 155 63\" text=\"\" nyu_class=\"unknown\" note=\"\" area=\"7\" obbox=\"2.27261 -0.146859 -0.892414 0.0347712 0.0118491 0.00118917 0.517199 0.132192 -0.0810058 0.841706\" aabbox=\"2.00083 0.730544 -1.21432 2.03285 0.735714 -1.19914\" local_pose=\"1 0 0 0\"/>\n",
+    "<label id=\"1453532\" color=\"245 37 151\" text=\"\" nyu_class=\"unknown\" note=\"\" area=\"7\" obbox=\"-0.0177979 1.39604 1.19334 0.0232349 0.0182148 0.00350118 0.147187 -0.0374917 -0.325795 0.93316\" aabbox=\"0.629605 0.743228 1.55807 0.645561 0.761635 1.56468\" local_pose=\"1 0 0 0\"/>\n",
+    "<label id=\"199695\" color=\"110 170 171\" text=\"\" nyu_class=\"unknown\" note=\"\" area=\"5\" obbox=\"2.14222 -1.10033 -0.692294 2.38419e-007 0.0313572 0.000607789 0.708404 -0.0160016 0.0224325 0.705269\" aabbox=\"2.19066 0.71587 -0.979362 2.19236 0.716515 -0.948052\" local_pose=\"1 0 0 0\"/>\n",
+    "<label id=\"1407808\" color=\"161 250 79\" text=\"\" nyu_class=\"unknown\" note=\"\" area=\"2\" obbox=\"-0.278743 -1.11872 -1.24543 0 0.00819063 0 0.0195474 0.827827 -0.560487 0.0132347\" aabbox=\"0.22563 0.736499 1.50469 0.226016 0.739537 1.51228\" local_pose=\"1 0 0 0\"/>\n",
+    "<label id=\"1438268\" color=\"30 162 66\" text=\"\" nyu_class=\"unknown\" note=\"\" area=\"1\" obbox=\"0.645596 0.746367 1.55796 0 0 0 0 0 0 1\" aabbox=\"0.645596 0.746367 1.55796 0.645596 0.746367 1.55796\" local_pose=\"1 0 0 0\"/>\n",
+    "<label id=\"1473953\" color=\"88 228 147\" text=\"\" nyu_class=\"unknown\" note=\"\" area=\"1\" obbox=\"1.09214 0.747008 1.63023 0 0 0 0 0 0 1\" aabbox=\"1.09214 0.747008 1.63023 1.09214 0.747008 1.63023\" local_pose=\"1 0 0 0\"/>\n",
+    "</annotation>\n",
+    "\"\"\""
+   ]
+  },
+  {
+   "cell_type": "markdown",
+   "metadata": {},
+   "source": [
+    "Load scene data as xml tree element"
+   ]
+  },
+  {
+   "cell_type": "code",
+   "execution_count": 5,
+   "metadata": {},
+   "outputs": [],
+   "source": [
+    "from xml.etree import ElementTree\n",
+    "scene_root = ElementTree.fromstring(sample_scene_data)"
+   ]
+  },
+  {
+   "cell_type": "code",
+   "execution_count": 3,
+   "metadata": {},
+   "outputs": [
+    {
+     "data": {
+      "text/plain": [
+       "<Figure size 640x480 with 1 Axes>"
+      ]
+     },
+     "metadata": {},
+     "output_type": "display_data"
+    }
+   ],
+   "source": [
+    "import matplotlib.pyplot as plt\n",
+    "from mpl_toolkits.mplot3d import Axes3D, axes3d\n",
+    "fig = plt.figure()\n",
+    "ax = fig.add_subplot(111, projection='3d')\n",
+    "X, Y, Z = axes3d.get_test_data(1.)\n",
+    "ax.plot_wireframe(X, Y, Z)  #, rstride=10, cstride=10)\n",
+    "plt.show()"
+   ]
+  },
+  {
+   "cell_type": "code",
+   "execution_count": null,
+   "metadata": {},
+   "outputs": [],
+   "source": []
+  }
+ ],
  "metadata": {
+  "celltoolbar": "Hide code",
   "kernelspec": {
    "display_name": "Python 3",
    "language": "python",
@@ -16,10 +474,9 @@
    "name": "python",
    "nbconvert_exporter": "python",
    "pygments_lexer": "ipython3",
-   "version": "3.6.3"
+   "version": "3.6.4"
   }
  },
  "nbformat": 4,
  "nbformat_minor": 2
 }
-