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In this paper, we consider the most general forms of irregular shape packing problems in 3D space, where both the containers and the objects can be of any shapes, and free rotations of the objects are allowed. We propose a heuristic method for efficiently packing irregular objects by combining continuous optimization and combinatorial optimization. Starting from an initial placement of an appropriate number of objects, we optimize the positions and orientations of the objects using continuous optimization. In combinatorial optimization, we further reduce the gaps between objects by swapping and replacing the deployed objects and inserting new objects. 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