diff --git a/current_works/work_43/2050/echoscene/object_meshes/SecondBedroom-9825/table_11_3.obj b/current_works/work_43/2050/echoscene/object_meshes/SecondBedroom-9825/table_11_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7a71fc1b35064838e33e0504b5d00bed8ee86781
--- /dev/null
+++ b/current_works/work_43/2050/echoscene/object_meshes/SecondBedroom-9825/table_11_3.obj
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diff --git a/current_works/work_43/2050/echoscene/object_meshes/SecondBedroom-9825/table_11_4.obj b/current_works/work_43/2050/echoscene/object_meshes/SecondBedroom-9825/table_11_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..273aecada72b9d418116be6e1c12dc8e3dd20cf3
--- /dev/null
+++ b/current_works/work_43/2050/echoscene/object_meshes/SecondBedroom-9825/table_11_4.obj
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diff --git a/current_works/work_43/2050/echoscene/object_meshes/SecondBedroom-9825/wardrobe_13_1.obj b/current_works/work_43/2050/echoscene/object_meshes/SecondBedroom-9825/wardrobe_13_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..20c36188c624d27019a10a94b51cb474f7fc8392
--- /dev/null
+++ b/current_works/work_43/2050/echoscene/object_meshes/SecondBedroom-9825/wardrobe_13_1.obj
@@ -0,0 +1,25030 @@
+# https://github.com/mikedh/trimesh
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diff --git a/current_works/work_43/2050/echoscene/object_meshes/SecondBedroom-9923/._lamp_7_4.obj b/current_works/work_43/2050/echoscene/object_meshes/SecondBedroom-9923/._lamp_7_4.obj
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diff --git a/current_works/work_43/2050/echoscene/object_meshes/SecondBedroom-9923/lamp_7_4.obj b/current_works/work_43/2050/echoscene/object_meshes/SecondBedroom-9923/lamp_7_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6e3a5fbedc732676f72d4503922208b4bf4b5f1d
--- /dev/null
+++ b/current_works/work_43/2050/echoscene/object_meshes/SecondBedroom-9923/lamp_7_4.obj
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diff --git a/current_works/work_43/2050/echoscene/object_meshes/SecondBedroom-9923/tv_stand_12_2.obj b/current_works/work_43/2050/echoscene/object_meshes/SecondBedroom-9923/tv_stand_12_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..be65eff5a8116a35bd1b579f4a7a672b7780c4ea
--- /dev/null
+++ b/current_works/work_43/2050/echoscene/object_meshes/SecondBedroom-9923/tv_stand_12_2.obj
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diff --git a/current_works/work_43/2050/echoscene/object_meshes/SecondBedroom-9923/wardrobe_13_3.obj b/current_works/work_43/2050/echoscene/object_meshes/SecondBedroom-9923/wardrobe_13_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..85557c5b44a3ce2294b4fa4895a31d3fc3bdef39
--- /dev/null
+++ b/current_works/work_43/2050/echoscene/object_meshes/SecondBedroom-9923/wardrobe_13_3.obj
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diff --git a/current_works/work_43/2050/guidance_losses.txt b/current_works/work_43/2050/guidance_losses.txt
new file mode 100644
index 0000000000000000000000000000000000000000..e032d0fdf511d5820e2d2f8b3281991cf84b9c84
--- /dev/null
+++ b/current_works/work_43/2050/guidance_losses.txt
@@ -0,0 +1,370 @@
+Scene MasterBedroom-33296 - Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0509, Walkable Loss: 0.7641 (C1 Heatmap: 0.4948, C2 Repulsion: 1.8416), Relational Loss: 0.0358
+Scene MasterBedroom-9404 - Final Step Collision Loss: 0.0000, Room Outer Loss: 0.1173, Walkable Loss: 1.2990 (C1 Heatmap: 0.5850, C2 Repulsion: 4.1550), Relational Loss: 0.0329
+Scene SecondBedroom-30034 - Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0000, Walkable Loss: 0.3150 (C1 Heatmap: 0.1735, C2 Repulsion: 0.8808), Relational Loss: 0.0132
+Scene SecondBedroom-6482 - Final Step Collision Loss: 0.0022, Room Outer Loss: 0.0922, Walkable Loss: 0.6302 (C1 Heatmap: 0.3866, C2 Repulsion: 1.6045), Relational Loss: 0.0047
+Scene SecondBedroom-11167 - Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0152, Walkable Loss: 0.8495 (C1 Heatmap: 0.4078, C2 Repulsion: 2.6161), Relational Loss: 0.0584
+Scene MasterBedroom-27127 - Final Step Collision Loss: 0.0019, Room Outer Loss: 0.0349, Walkable Loss: 0.9726 (C1 Heatmap: 0.3803, C2 Repulsion: 3.3419), Relational Loss: 0.0148
+Scene MasterBedroom-75552 - Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0000, Walkable Loss: 0.4553 (C1 Heatmap: 0.4746, C2 Repulsion: 0.3783), Relational Loss: 0.0000
+Scene SecondBedroom-19119 - Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0579, Walkable Loss: 0.6590 (C1 Heatmap: 0.4845, C2 Repulsion: 1.3572), Relational Loss: 0.0211
+Scene Bedroom-2719 - Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0217, Walkable Loss: 0.7000 (C1 Heatmap: 0.3476, C2 Repulsion: 2.1099), Relational Loss: 0.0165
+Scene Bedroom-430 - Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0339, Walkable Loss: 0.3545 (C1 Heatmap: 0.2786, C2 Repulsion: 0.6580), Relational Loss: 0.0000
+Scene MasterBedroom-18415 - Final Step Collision Loss: 0.0000, Room Outer Loss: 0.1072, Walkable Loss: 0.7812 (C1 Heatmap: 0.5908, C2 Repulsion: 1.5425), Relational Loss: 0.0424
+Scene SecondBedroom-1145 - Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0000, Walkable Loss: 0.2897 (C1 Heatmap: 0.1953, C2 Repulsion: 0.6676), Relational Loss: 0.0585
+Scene SecondBedroom-2787 - Final Step Collision Loss: 0.0015, Room Outer Loss: 0.1212, Walkable Loss: 0.6179 (C1 Heatmap: 0.4097, C2 Repulsion: 1.4508), Relational Loss: 0.0000
+Scene Bedroom-87322 - Final Step Collision Loss: 0.0020, Room Outer Loss: 0.1297, Walkable Loss: 0.7212 (C1 Heatmap: 0.4172, C2 Repulsion: 1.9371), Relational Loss: 0.0181
+Scene Bedroom-68718 - Final Step Collision Loss: 0.0003, Room Outer Loss: 0.0000, Walkable Loss: 0.8579 (C1 Heatmap: 0.4570, C2 Repulsion: 2.4618), Relational Loss: 0.0329
+Scene SecondBedroom-35821 - Final Step Collision Loss: 0.0122, Room Outer Loss: 0.0024, Walkable Loss: 1.0584 (C1 Heatmap: 0.5322, C2 Repulsion: 3.1631), Relational Loss: 0.0000
+Scene Bedroom-18055 - Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0000, Walkable Loss: 0.4139 (C1 Heatmap: 0.3293, C2 Repulsion: 0.7522), Relational Loss: 0.0259
+Scene SecondBedroom-19262 - Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0000, Walkable Loss: 0.9463 (C1 Heatmap: 0.8274, C2 Repulsion: 1.4216), Relational Loss: 0.0000
+Scene Bedroom-12864 - Final Step Collision Loss: 0.0000, Room Outer Loss: 0.1359, Walkable Loss: 0.5825 (C1 Heatmap: 0.3920, C2 Repulsion: 1.3448), Relational Loss: 0.0730
+Scene SecondBedroom-266050 - Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0000, Walkable Loss: 0.5909 (C1 Heatmap: 0.4638, C2 Repulsion: 1.0994), Relational Loss: 0.0569
+Scene MasterBedroom-12352 - Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0000, Walkable Loss: 0.1902 (C1 Heatmap: 0.1318, C2 Repulsion: 0.4234), Relational Loss: 0.0463
+Scene MasterBedroom-7894 - Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0087, Walkable Loss: 0.5477 (C1 Heatmap: 0.5033, C2 Repulsion: 0.7251), Relational Loss: 0.0184
+Scene MasterBedroom-118594 - Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0201, Walkable Loss: 0.9955 (C1 Heatmap: 0.8851, C2 Repulsion: 1.4371), Relational Loss: 0.0000
+Scene MasterBedroom-6399 - Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0000, Walkable Loss: 0.8584 (C1 Heatmap: 0.5234, C2 Repulsion: 2.1986), Relational Loss: 0.0318
+Scene SecondBedroom-52584 - Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0000, Walkable Loss: 0.3985 (C1 Heatmap: 0.3621, C2 Repulsion: 0.5445), Relational Loss: 0.0369
+Scene SecondBedroom-860 - Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0000, Walkable Loss: 0.6166 (C1 Heatmap: 0.3170, C2 Repulsion: 1.8152), Relational Loss: 0.0587
+Scene MasterBedroom-514 - Final Step Collision Loss: 0.0367, Room Outer Loss: 0.0000, Walkable Loss: 0.3932 (C1 Heatmap: 0.2415, C2 Repulsion: 1.0000), Relational Loss: 0.0186
+Scene SecondBedroom-11204 - Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0264, Walkable Loss: 1.0794 (C1 Heatmap: 0.5064, C2 Repulsion: 3.3714), Relational Loss: 0.0087
+Scene MasterBedroom-4089 - Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0650, Walkable Loss: 0.6551 (C1 Heatmap: 0.3611, C2 Repulsion: 1.8311), Relational Loss: 0.0322
+Scene MasterBedroom-21684 - Final Step Collision Loss: 0.0001, Room Outer Loss: 0.0000, Walkable Loss: 1.0796 (C1 Heatmap: 0.5074, C2 Repulsion: 3.3683), Relational Loss: 0.0448
+Scene SecondBedroom-8497 - Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0000, Walkable Loss: 0.4716 (C1 Heatmap: 0.3587, C2 Repulsion: 0.9230), Relational Loss: 0.0000
+Scene MasterBedroom-196 - Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0024, Walkable Loss: 0.7167 (C1 Heatmap: 0.4779, C2 Repulsion: 1.6721), Relational Loss: 0.0237
+Scene MasterBedroom-132469 - Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0069, Walkable Loss: 0.6205 (C1 Heatmap: 0.6684, C2 Repulsion: 0.4286), Relational Loss: 0.0000
+Scene MasterBedroom-104323 - Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0000, Walkable Loss: 0.4575 (C1 Heatmap: 0.3230, C2 Repulsion: 0.9958), Relational Loss: 0.0248
+Scene SecondBedroom-69556 - Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0960, Walkable Loss: 0.8956 (C1 Heatmap: 0.5808, C2 Repulsion: 2.1548), Relational Loss: 0.0000
+Scene Bedroom-6993 - Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0241, Walkable Loss: 0.6878 (C1 Heatmap: 0.6819, C2 Repulsion: 0.7115), Relational Loss: 0.0000
+Scene MasterBedroom-935 - Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0662, Walkable Loss: 1.7068 (C1 Heatmap: 0.7282, C2 Repulsion: 5.6214), Relational Loss: 0.0255
+Scene SecondBedroom-2311 - Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0000, Walkable Loss: 0.6299 (C1 Heatmap: 0.5445, C2 Repulsion: 0.9716), Relational Loss: 0.0000
+Scene SecondBedroom-69136 - Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0141, Walkable Loss: 0.9961 (C1 Heatmap: 0.6771, C2 Repulsion: 2.2719), Relational Loss: 0.0267
+Scene Bedroom-47437 - Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0000, Walkable Loss: 0.2490 (C1 Heatmap: 0.2210, C2 Repulsion: 0.3609), Relational Loss: 0.0000
+Scene SecondBedroom-739 - Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0000, Walkable Loss: 0.4821 (C1 Heatmap: 0.3028, C2 Repulsion: 1.1995), Relational Loss: 0.0541
+Scene MasterBedroom-6351 - Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0000, Walkable Loss: 0.4811 (C1 Heatmap: 0.3354, C2 Repulsion: 1.0640), Relational Loss: 0.0580
+Scene SecondBedroom-22370 - Final Step Collision Loss: 0.0003, Room Outer Loss: 0.0000, Walkable Loss: 0.6148 (C1 Heatmap: 0.3632, C2 Repulsion: 1.6214), Relational Loss: 0.0396
+Scene SecondBedroom-15551 - Final Step Collision Loss: 0.0014, Room Outer Loss: 0.0000, Walkable Loss: 0.6616 (C1 Heatmap: 0.4899, C2 Repulsion: 1.3487), Relational Loss: 0.0202
+Scene MasterBedroom-13100 - Final Step Collision Loss: 0.0044, Room Outer Loss: 0.0000, Walkable Loss: 0.9849 (C1 Heatmap: 0.5660, C2 Repulsion: 2.6605), Relational Loss: 0.0383
+Scene SecondBedroom-13841 - Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0047, Walkable Loss: 0.9034 (C1 Heatmap: 0.6197, C2 Repulsion: 2.0381), Relational Loss: 0.0071
+Scene MasterBedroom-10364 - Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0000, Walkable Loss: 0.3436 (C1 Heatmap: 0.2160, C2 Repulsion: 0.8541), Relational Loss: 0.0227
+Scene Bedroom-18 - Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0000, Walkable Loss: 0.6358 (C1 Heatmap: 0.5148, C2 Repulsion: 1.1199), Relational Loss: 0.0000
+Scene SecondBedroom-11303 - Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0581, Walkable Loss: 0.5908 (C1 Heatmap: 0.2374, C2 Repulsion: 2.0043), Relational Loss: 0.0344
+Scene MasterBedroom-1362 - Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0000, Walkable Loss: 0.8726 (C1 Heatmap: 0.4808, C2 Repulsion: 2.4395), Relational Loss: 0.0370
+Scene SecondBedroom-34317 - Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0000, Walkable Loss: 0.7805 (C1 Heatmap: 0.5688, C2 Repulsion: 1.6274), Relational Loss: 0.0001
+Scene Bedroom-4098 - Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0000, Walkable Loss: 0.9367 (C1 Heatmap: 0.5662, C2 Repulsion: 2.4184), Relational Loss: 0.0439
+Scene Bedroom-5265 - Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0154, Walkable Loss: 1.0886 (C1 Heatmap: 0.6237, C2 Repulsion: 2.9483), Relational Loss: 0.0335
+Scene MasterBedroom-22121 - Final Step Collision Loss: 0.0082, Room Outer Loss: 0.0045, Walkable Loss: 1.1659 (C1 Heatmap: 0.6081, C2 Repulsion: 3.3970), Relational Loss: 0.0309
+Scene Bedroom-47481 - Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0130, Walkable Loss: 0.6181 (C1 Heatmap: 0.3708, C2 Repulsion: 1.6077), Relational Loss: 0.0325
+Scene Bedroom-2160 - Final Step Collision Loss: 0.0112, Room Outer Loss: 0.0551, Walkable Loss: 0.8201 (C1 Heatmap: 0.4418, C2 Repulsion: 2.3333), Relational Loss: 0.0158
+Scene SecondBedroom-9825 - Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0128, Walkable Loss: 0.9594 (C1 Heatmap: 0.6041, C2 Repulsion: 2.3806), Relational Loss: 0.0000
+Scene Bedroom-1989 - Final Step Collision Loss: 0.0000, Room Outer Loss: 0.1697, Walkable Loss: 1.0246 (C1 Heatmap: 0.5415, C2 Repulsion: 2.9569), Relational Loss: 0.0152
+Scene SecondBedroom-143 - Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0000, Walkable Loss: 1.0513 (C1 Heatmap: 0.5667, C2 Repulsion: 2.9897), Relational Loss: 0.0394
+Scene SecondBedroom-13044 - Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0000, Walkable Loss: 0.4668 (C1 Heatmap: 0.3189, C2 Repulsion: 1.0583), Relational Loss: 0.0211
+Scene Bedroom-8490 - Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0000, Walkable Loss: 1.0867 (C1 Heatmap: 0.6594, C2 Repulsion: 2.7959), Relational Loss: 0.0118
+Scene MasterBedroom-424 - Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0171, Walkable Loss: 0.7500 (C1 Heatmap: 0.5411, C2 Repulsion: 1.5858), Relational Loss: 0.0397
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diff --git a/current_works/work_43/2050/none_accuracy_analysis.txt b/current_works/work_43/2050/none_accuracy_analysis.txt
new file mode 100644
index 0000000000000000000000000000000000000000..5c39a224b51b73f692a22f967d3cc2721f43eed8
--- /dev/null
+++ b/current_works/work_43/2050/none_accuracy_analysis.txt
@@ -0,0 +1,3 @@
+acc & L/R: 1.00 & F/B: 1.00 & Bi/Sm: 0.87 & Ta/Sh: 0.96 & Stand: 0.98 & Close: 0.61 & Symm: 0.59. Total: &0.94
+means of mean: 0.86
+
diff --git a/current_works/work_43/2050/physcene_collision_input.json b/current_works/work_43/2050/physcene_collision_input.json
new file mode 100644
index 0000000000000000000000000000000000000000..4f463b41576ec049d1a6a28e0386f85b6026d066
--- /dev/null
+++ b/current_works/work_43/2050/physcene_collision_input.json
@@ -0,0 +1 @@
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