import tensorflow as tf

        translation = tf.reshape([labeled_translations[i][0],
                                  labeled_translations[i][2]], [2, 1])

        pt_0 = rot @ tf.reshape([min_x, min_z], [2, 1]) + translation
        pt_1 = rot @ tf.reshape([min_x, max_z], [2, 1]) + translation
        pt_2 = rot @ tf.reshape([max_x, min_z], [2, 1]) + translation
        pt_3 = rot @ tf.reshape([max_x, max_z], [2, 1]) + translation

        for pt in [pt_0, pt_1, pt_2, pt_3]:
          if pt[0] < box_limits_x[0]:
