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"walkability_score": 0.47929119032923945, + "walkable_area": 6.6875, + "total_area": 13.952895723800298, + "navigable_points": 107 + }, + "Library-934": { + "walkability_score": 0.5081395306827874, + "walkable_area": 5.625, + "total_area": 11.069794141860374, + "navigable_points": 90 + } + } +} \ No newline at end of file diff --git a/current_works/work_40/2050/relational_accuracy_report.txt b/current_works/work_40/2050/relational_accuracy_report.txt new file mode 100644 index 0000000000000000000000000000000000000000..408ce0872196a47e8784259b08499111c5b62cee --- /dev/null +++ b/current_works/work_40/2050/relational_accuracy_report.txt @@ -0,0 +1,17 @@ +=========================================================================== + RELATIONAL ACCURACY EVALUATION REPORT + Source Path: /Volumes/ExternalSSD/current_works/work_40/2050/physcene_collision_resolved.json + Evaluated Scenes: 370 / 370 +=========================================================================== + Total Accuracy (Micro-Average): 93.06% + Means of Means (Macro-Average): 83.07% +--------------------------------------------------------------------------- + Category Breakdown: + - Left / Right (L/R) : 99.28% (Left: 99.23%, Right: 99.34%) + - Front / Behind (F/B) : 99.63% (Front: 99.66%, Behind: 99.60%) + - Bigger / Smaller (Bi/Sm) : 87.38% (Bigger: 90.06%, Smaller: 84.71%) + - Taller / Shorter (Ta/Sh) : 96.40% (Taller: 96.70%, Shorter: 96.10%) + - Standing On : 96.93% + - Close By : 54.46% + - Symmetrical To : 47.41% +=========================================================================== diff --git a/current_works/work_40/extracted/2050/debug_bbox.txt b/current_works/work_40/extracted/2050/debug_bbox.txt new file mode 100644 index 0000000000000000000000000000000000000000..7db8c1eefd139bd8e629e5e5682681213e92dbea --- /dev/null +++ b/current_works/work_40/extracted/2050/debug_bbox.txt @@ -0,0 +1,10127 @@ + +============================================================ +SCENE: MasterBedroom-33296 | 9 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0000, Walkable Loss: 0.9728 (Center Penalty: 0.2502, C1 Heatmap: 0.5415, C2 Repulsion: 1.4470), Relational Loss: 0.0313 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +table 0.962 1.044 0.393 -2.356 0.001 -1.541 -0.00° +nightstand 0.503 0.573 0.376 0.233 -0.001 -1.526 0.07° +chair 0.344 0.436 0.395 -2.161 -0.005 -0.676 -89.87° +bed 0.587 1.487 1.309 -1.046 -0.057 -1.063 -0.85° +cabinet 0.789 1.024 0.371 -2.154 0.003 1.188 -179.98° +lamp 0.660 0.861 0.649 -1.234 1.949 0.049 -0.02° +wardrobe 3.008 2.365 0.200 1.133 -0.010 0.574 -90.32° +floor 5.827 0.002 2.920 -0.940 -0.002 0.298 0.08° +_scene_ 0.068 -0.000 0.020 -5.671 -0.005 -5.718 -57.29° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: chair <-> floor depth=[0.344, 0.002, 0.395] + !! OVERLAP: bed <-> floor depth=[0.587, 0.002, 0.753] + !! OVERLAP: cabinet <-> floor depth=[0.789, 0.002, 0.371] + !! OVERLAP: wardrobe <-> floor depth=[2.345, 0.002, 0.200] +============================================================ + + +============================================================ +SCENE: MasterBedroom-9404 | 8 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0000, Walkable Loss: 2.1312 (Center Penalty: 1.0192, C1 Heatmap: 0.5820, C2 Repulsion: 3.2320), Relational Loss: 0.0401 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +bed 0.923 1.289 1.123 1.095 -0.004 -0.159 -91.46° +wardrobe 1.543 2.296 0.324 0.387 -0.003 -1.914 -0.00° +wardrobe 1.482 2.398 -0.083 0.511 -0.023 -1.404 1.02° +nightstand 0.407 0.624 0.404 1.571 0.002 1.629 -89.99° +nightstand 0.606 0.612 0.274 1.482 0.000 -1.012 -89.87° +tv_stand 2.415 0.455 0.409 -1.583 0.002 0.552 89.98° +floor 3.725 -0.000 4.519 -0.198 -0.002 0.071 0.00° +_scene_ 0.076 0.001 0.029 -5.664 -0.005 -5.716 -57.30° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bed <-> floor depth=[0.923, -0.000, 1.123] + !! OVERLAP: wardrobe <-> floor depth=[1.543, -0.000, 0.324] + !! OVERLAP: wardrobe <-> floor depth=[1.482, -0.000, -0.083] + !! OVERLAP: nightstand <-> floor depth=[0.297, -0.000, 0.404] + !! OVERLAP: nightstand <-> floor depth=[0.485, -0.000, 0.274] + !! OVERLAP: tv_stand <-> floor depth=[1.684, -0.000, 0.409] +============================================================ + + +============================================================ +SCENE: SecondBedroom-30034 | 6 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0000, Walkable Loss: 1.6100 (Center Penalty: 1.3953, C1 Heatmap: 0.1050, C2 Repulsion: 0.6534), Relational Loss: 0.0147 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +bed 0.466 0.833 0.968 0.828 -0.102 0.841 -87.88° +nightstand 0.406 0.608 0.340 1.283 0.000 1.533 -90.13° +nightstand 0.380 0.504 0.343 1.201 0.000 -1.063 -90.10° +lamp 0.664 0.842 0.354 0.321 2.147 0.671 0.05° +floor 3.014 -0.001 3.456 0.014 0.001 0.039 -0.03° +_scene_ 0.069 0.002 0.020 -5.664 -0.004 -5.708 -57.30° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bed <-> floor depth=[0.466, -0.001, 0.968] + !! OVERLAP: nightstand <-> floor depth=[0.406, -0.001, 0.340] + !! OVERLAP: nightstand <-> floor depth=[0.380, -0.001, 0.343] +============================================================ + + +============================================================ +SCENE: SecondBedroom-6482 | 8 objects +============================================================ +Final Step Collision Loss: 0.0106, Room Outer Loss: 0.0000, Walkable Loss: 1.2431 (Center Penalty: 0.5592, C1 Heatmap: 0.4649, C2 Repulsion: 1.5602), Relational Loss: 0.0056 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +bed 1.275 1.050 1.660 -0.987 0.011 -0.851 -0.64° +chair 0.527 0.910 0.613 -1.795 0.005 1.979 132.97° +nightstand 0.529 0.779 0.401 -1.780 -0.001 -1.144 0.14° +table 0.410 0.628 0.503 -1.037 -0.002 1.429 -0.02° +wardrobe 1.269 2.276 0.315 1.436 0.001 -0.582 -90.49° +lamp 0.740 0.412 0.270 -0.719 2.407 0.407 0.10° +floor 3.535 0.006 4.576 -0.533 0.012 0.624 -0.00° +_scene_ 0.070 0.000 0.022 -5.670 -0.005 -5.712 -57.31° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bed <-> nightstand depth=[0.109, 0.779, 0.401] + !! OVERLAP: bed <-> floor depth=[1.275, 0.006, 1.643] + !! OVERLAP: chair <-> floor depth=[0.527, 0.006, 0.613] + !! OVERLAP: nightstand <-> floor depth=[0.529, 0.006, 0.401] + !! OVERLAP: table <-> floor depth=[0.410, 0.006, 0.503] + !! OVERLAP: wardrobe <-> floor depth=[0.433, 0.006, 0.315] +============================================================ + + +============================================================ +SCENE: SecondBedroom-11167 | 9 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0000, Walkable Loss: 1.2691 (Center Penalty: 0.6336, C1 Heatmap: 0.4198, C2 Repulsion: 1.4984), Relational Loss: 0.0601 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +bed 1.246 2.317 1.347 -0.893 0.009 0.473 90.84° +cabinet 1.122 0.963 0.371 -1.025 0.010 -1.917 -0.07° +table 1.119 1.545 0.520 1.536 0.000 1.368 -90.01° +lamp 0.168 0.746 0.187 0.402 0.510 1.476 0.17° +lamp 0.607 0.769 0.550 -0.316 1.825 0.867 0.31° +nightstand 0.369 0.639 0.262 -1.532 0.001 1.493 90.01° +nightstand 0.385 0.653 0.250 -1.447 0.003 -1.061 90.05° +floor 3.048 0.024 4.651 -0.305 0.025 0.701 -0.68° +_scene_ 0.070 0.001 0.021 -5.673 -0.005 -5.715 -57.30° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bed <-> floor depth=[1.246, 0.024, 1.347] + !! OVERLAP: table <-> floor depth=[0.243, 0.024, 0.520] + !! OVERLAP: nightstand <-> floor depth=[0.369, 0.024, 0.262] + !! OVERLAP: nightstand <-> floor depth=[0.385, 0.024, 0.250] +============================================================ + + +============================================================ +SCENE: MasterBedroom-27127 | 7 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0000, Walkable Loss: 1.9956 (Center Penalty: 1.2141, C1 Heatmap: 0.3761, C2 Repulsion: 2.4030), Relational Loss: 0.0232 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +bed 0.672 0.889 1.098 0.102 0.010 1.122 177.81° +nightstand 0.442 0.595 0.415 -1.286 -0.001 -0.193 0.05° +nightstand 0.342 0.536 0.439 0.930 -0.002 0.537 -0.04° +wardrobe 1.904 2.310 0.224 -1.680 -0.012 -0.202 90.24° +desk 1.235 1.188 0.435 1.686 0.000 0.293 -89.89° +floor 4.215 -0.000 2.752 -0.045 -0.001 -0.009 -0.07° +_scene_ 0.055 0.002 0.012 -5.668 -0.004 -5.718 -57.28° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bed <-> floor depth=[0.672, -0.000, 0.793] + !! OVERLAP: nightstand <-> wardrobe depth=[0.442, 0.595, 0.224] + !! OVERLAP: nightstand <-> floor depth=[0.442, -0.000, 0.415] + !! OVERLAP: nightstand <-> desk depth=[0.032, 0.536, 0.193] + !! OVERLAP: nightstand <-> floor depth=[0.342, -0.000, 0.439] + !! OVERLAP: wardrobe <-> floor depth=[1.425, -0.000, 0.224] + !! OVERLAP: desk <-> floor depth=[0.994, -0.000, 0.435] +============================================================ + + +============================================================ +SCENE: MasterBedroom-75552 | 5 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0000, Walkable Loss: 1.0941 (Center Penalty: 0.5201, C1 Heatmap: 0.6047, C2 Repulsion: 0.4516), Relational Loss: 0.0000 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +bed 1.315 0.851 1.904 -0.785 -0.009 -0.642 90.87° +wardrobe 2.359 2.497 0.617 0.433 0.002 1.587 -179.97° +lamp 0.553 0.587 0.605 -0.292 1.956 -0.969 0.06° +floor 2.969 0.009 4.029 -0.117 0.005 -0.813 0.70° +_scene_ 0.067 0.001 0.022 -5.673 -0.004 -5.714 -57.31° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bed <-> floor depth=[1.315, 0.009, 1.904] +============================================================ + + +============================================================ +SCENE: SecondBedroom-19119 | 7 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0000, Walkable Loss: 1.4974 (Center Penalty: 0.6927, C1 Heatmap: 0.6116, C2 Repulsion: 1.5766), Relational Loss: 0.0188 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +bed 1.360 0.887 1.766 -0.945 -0.006 0.651 90.12° +wardrobe 1.685 2.261 0.520 -0.728 -0.001 -1.287 0.09° +nightstand 0.531 0.619 0.458 -1.564 0.000 1.658 90.03° +tv_stand 1.543 0.446 0.285 1.692 0.006 0.492 -90.01° +lamp 0.855 0.712 0.785 -0.119 1.907 0.761 -0.15° +floor 3.550 -0.006 4.618 0.177 0.007 0.754 0.06° +_scene_ 0.068 -0.000 0.021 -5.668 -0.005 -5.715 -57.27° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bed <-> nightstand depth=[0.326, 0.619, 0.105] + !! OVERLAP: bed <-> floor depth=[1.333, -0.006, 1.766] + !! OVERLAP: wardrobe <-> floor depth=[1.685, -0.006, 0.520] + !! OVERLAP: nightstand <-> floor depth=[0.299, -0.006, 0.458] + !! OVERLAP: tv_stand <-> floor depth=[1.032, -0.006, 0.285] +============================================================ + + +============================================================ +SCENE: Bedroom-2719 | 8 objects +============================================================ +Final Step Collision Loss: 0.0076, Room Outer Loss: 0.0000, Walkable Loss: 1.4818 (Center Penalty: 0.5925, C1 Heatmap: 0.3800, C2 Repulsion: 2.9266), Relational Loss: 0.0079 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +chair 0.351 0.539 0.317 -1.113 0.001 -1.469 0.24° +bookshelf 2.124 2.357 -0.419 -1.527 0.014 -1.544 94.10° +table 0.741 1.345 0.211 -1.341 -0.006 1.087 89.75° +bed 1.372 0.795 1.381 -0.940 -0.001 0.081 90.22° +lamp 0.395 0.573 0.309 0.121 2.411 -0.841 -0.05° +chair 0.417 0.866 0.454 1.079 -0.001 -0.943 -90.09° +floor 2.968 -0.002 3.467 0.256 -0.009 -0.909 -0.63° +_scene_ 0.066 0.001 0.021 -5.670 -0.004 -5.717 -57.27° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: chair <-> floor depth=[0.290, -0.002, 0.317] + !! OVERLAP: bookshelf <-> floor depth=[0.763, -0.002, -0.419] + !! OVERLAP: bed <-> floor depth=[0.974, -0.002, 1.381] + !! OVERLAP: chair <-> floor depth=[0.417, -0.002, 0.454] +============================================================ + + +============================================================ +SCENE: Bedroom-430 | 6 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0000, Walkable Loss: 1.9853 (Center Penalty: 1.6250, C1 Heatmap: 0.3883, C2 Repulsion: 0.2484), Relational Loss: 0.0000 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +bed 1.382 1.495 1.711 1.000 -0.029 0.530 90.32° +table 0.565 0.449 0.485 -1.274 0.003 0.918 90.00° +table 0.542 0.599 0.502 -1.132 -0.002 -1.310 0.07° +lamp 0.718 0.826 1.058 -0.287 2.079 -0.476 0.14° +floor 2.816 -0.004 3.354 -0.000 0.001 -0.014 -0.01° +_scene_ 0.130 0.001 0.154 -5.546 0.001 -5.602 -57.50° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bed <-> floor depth=[1.099, -0.004, 1.711] + !! OVERLAP: table <-> floor depth=[0.417, -0.004, 0.485] + !! OVERLAP: table <-> floor depth=[0.542, -0.004, 0.502] +============================================================ + + +============================================================ +SCENE: MasterBedroom-18415 | 8 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0000, Walkable Loss: 1.4953 (Center Penalty: 0.4909, C1 Heatmap: 0.7459, C2 Repulsion: 2.0386), Relational Loss: 0.0368 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +bed 1.653 0.720 1.629 -1.036 -0.002 0.462 90.19° +nightstand 0.511 0.791 0.374 -1.641 0.000 -0.689 90.02° +nightstand 0.404 0.715 0.301 -1.597 0.002 1.812 89.96° +wardrobe 2.273 2.564 0.551 -0.654 -0.001 -2.076 0.07° +tv_stand 1.746 0.451 0.347 1.600 -0.002 0.667 -89.95° +lamp 0.754 0.884 0.779 -0.255 1.812 0.918 -0.06° +floor 3.232 0.003 4.775 0.028 -0.007 0.834 -0.20° +_scene_ 0.069 -0.000 0.022 -5.672 -0.005 -5.714 -57.30° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bed <-> floor depth=[1.378, 0.003, 1.629] + !! OVERLAP: nightstand <-> floor depth=[0.203, 0.003, 0.374] + !! OVERLAP: nightstand <-> floor depth=[0.192, 0.003, 0.301] + !! OVERLAP: tv_stand <-> floor depth=[0.917, 0.003, 0.347] +============================================================ + + +============================================================ +SCENE: SecondBedroom-1145 | 6 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0000, Walkable Loss: 0.9738 (Center Penalty: 0.5524, C1 Heatmap: 0.2284, C2 Repulsion: 1.1936), Relational Loss: 0.0456 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +bed 0.809 1.127 1.426 -0.598 0.025 -1.068 -0.41° +nightstand 0.507 0.559 0.429 -1.573 0.002 -1.366 0.01° +nightstand 0.484 0.587 0.481 0.619 0.000 -1.504 -0.03° +lamp 0.738 0.662 0.741 -0.830 2.396 0.257 -0.06° +floor 4.668 0.001 2.938 -0.790 -0.002 -0.138 -0.07° +_scene_ 0.065 0.000 0.015 -5.670 -0.005 -5.712 -57.30° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bed <-> floor depth=[0.809, 0.001, 1.252] + !! OVERLAP: nightstand <-> floor depth=[0.507, 0.001, 0.429] + !! OVERLAP: nightstand <-> floor depth=[0.484, 0.001, 0.344] +============================================================ + + +============================================================ +SCENE: SecondBedroom-2787 | 6 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0000, Walkable Loss: 1.3184 (Center Penalty: 0.7156, C1 Heatmap: 0.4385, C2 Repulsion: 1.2602), Relational Loss: 0.0000 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +bed 1.410 0.856 1.596 -0.515 0.006 -0.716 90.52° +nightstand 0.592 0.514 0.599 -1.637 0.002 -0.261 90.16° +desk 1.100 1.166 0.513 1.532 0.001 -0.213 -90.01° +lamp 0.258 0.403 0.260 -0.650 2.274 -0.544 90.36° +floor 3.555 -0.001 2.982 -0.724 -0.010 -0.401 0.30° +_scene_ 0.071 0.001 0.022 -5.666 -0.005 -5.713 -57.31° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bed <-> floor depth=[1.410, -0.001, 1.596] + !! OVERLAP: nightstand <-> floor depth=[0.592, -0.001, 0.599] + !! OVERLAP: desk <-> floor depth=[0.072, -0.001, 0.513] +============================================================ + + +============================================================ +SCENE: Bedroom-87322 | 9 objects +============================================================ +Final Step Collision Loss: 0.0082, Room Outer Loss: 0.0000, Walkable Loss: 2.4426 (Center Penalty: 1.4155, C1 Heatmap: 0.6235, C2 Repulsion: 2.6413), Relational Loss: 0.0170 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +bed 1.333 1.396 1.533 0.951 0.006 -0.572 -91.58° +nightstand 0.444 0.812 0.397 1.759 0.004 0.570 -90.02° +chair 1.347 0.569 0.592 -0.023 -0.001 -1.107 -90.07° +wardrobe 1.076 2.311 0.465 1.133 0.000 1.425 -179.97° +tv_stand 1.617 0.516 0.361 -1.461 0.002 -0.805 90.03° +lamp 0.523 0.446 0.542 0.104 2.040 1.227 -0.01° +lamp 0.521 0.159 0.564 0.672 2.442 -0.614 0.12° +floor 3.756 -0.001 3.711 -0.002 -0.000 -0.012 -0.02° +_scene_ 0.068 -0.001 0.023 -5.672 -0.004 -5.712 -57.28° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bed <-> chair depth=[0.366, 0.569, 0.527] + !! OVERLAP: bed <-> floor depth=[1.333, -0.001, 1.533] + !! OVERLAP: nightstand <-> floor depth=[0.340, -0.001, 0.397] + !! OVERLAP: chair <-> tv_stand depth=[0.043, 0.516, 0.174] + !! OVERLAP: chair <-> floor depth=[1.347, -0.001, 0.592] + !! OVERLAP: wardrobe <-> floor depth=[1.076, -0.001, 0.465] + !! OVERLAP: tv_stand <-> floor depth=[1.227, -0.001, 0.361] +============================================================ + + +============================================================ +SCENE: Bedroom-68718 | 7 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0000, Walkable Loss: 1.5418 (Center Penalty: 1.2426, C1 Heatmap: 0.2018, C2 Repulsion: 0.6889), Relational Loss: 0.0396 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +bed 0.529 1.611 0.716 0.011 0.046 -1.691 -4.93° +nightstand 0.480 0.588 0.400 -1.086 0.001 -1.596 -0.02° +nightstand 0.462 0.530 0.440 1.043 0.001 -1.440 0.02° +wardrobe 1.755 2.215 -0.072 -0.167 -0.007 1.858 179.85° +lamp 0.404 1.284 0.388 0.156 1.414 -0.832 -0.83° +floor 3.228 -0.001 3.323 -0.019 0.000 0.027 0.01° +_scene_ 0.070 -0.001 0.020 -5.669 -0.005 -5.712 -57.31° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bed <-> floor depth=[0.529, -0.001, 0.302] + !! OVERLAP: nightstand <-> floor depth=[0.480, -0.001, 0.239] + !! OVERLAP: nightstand <-> floor depth=[0.462, -0.001, 0.414] +============================================================ + + +============================================================ +SCENE: SecondBedroom-35821 | 8 objects +============================================================ +Final Step Collision Loss: 0.0018, Room Outer Loss: 0.0000, Walkable Loss: 1.3792 (Center Penalty: 0.5215, C1 Heatmap: 0.6549, C2 Repulsion: 1.6692), Relational Loss: 0.0002 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +bed 1.335 1.100 1.679 -0.823 0.014 -1.709 90.20° +nightstand 0.620 0.573 0.457 -1.769 0.003 1.074 90.01° +nightstand 0.455 0.509 0.392 -1.695 0.003 -0.914 89.88° +tv_stand 1.882 0.360 0.329 1.777 -0.001 -0.148 -90.00° +lamp 0.992 0.799 0.888 -0.670 1.773 -0.256 0.11° +chair 1.468 0.860 0.803 -0.463 0.025 0.870 89.74° +floor 3.717 0.085 3.948 0.665 -0.026 -1.256 2.11° +_scene_ 0.071 -0.001 0.021 -5.670 -0.004 -5.717 -57.28° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bed <-> nightstand depth=[0.024, 0.509, 0.241] + !! OVERLAP: bed <-> floor depth=[1.038, 0.085, 1.679] + !! OVERLAP: tv_stand <-> floor depth=[1.687, 0.085, 0.329] + !! OVERLAP: chair <-> floor depth=[1.465, 0.085, 0.249] +============================================================ + + +============================================================ +SCENE: Bedroom-18055 | 8 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0000, Walkable Loss: 1.8012 (Center Penalty: 1.1279, C1 Heatmap: 0.4763, C2 Repulsion: 1.4612), Relational Loss: 0.0262 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +bed 1.362 1.086 1.653 1.038 -0.001 -0.374 -90.43° +wardrobe 1.895 2.356 0.259 0.596 0.001 2.155 179.88° +nightstand 0.462 0.519 0.418 1.149 -0.001 0.929 -90.07° +nightstand 0.421 0.608 0.342 1.028 0.001 -1.640 -90.11° +lamp 0.656 0.710 0.337 0.895 1.917 0.919 -0.00° +lamp 0.313 0.752 0.341 0.915 1.717 -1.400 -0.00° +floor 2.822 -0.000 4.564 -0.037 -0.001 -0.074 -0.03° +_scene_ 0.070 0.000 0.021 -5.672 -0.005 -5.713 -57.27° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bed <-> floor depth=[1.016, -0.000, 1.653] + !! OVERLAP: wardrobe <-> floor depth=[1.726, -0.000, 0.183] + !! OVERLAP: nightstand <-> floor depth=[0.455, -0.000, 0.418] + !! OVERLAP: nightstand <-> floor depth=[0.421, -0.000, 0.342] +============================================================ + + +============================================================ +SCENE: SecondBedroom-19262 | 6 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0000, Walkable Loss: 1.4817 (Center Penalty: 0.6812, C1 Heatmap: 0.7847, C2 Repulsion: 0.8636), Relational Loss: 0.0000 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +bed 1.860 0.986 1.977 -0.715 0.010 1.002 -179.85° +tv_stand 2.235 0.598 0.467 -0.839 0.001 -1.413 -0.01° +wardrobe 1.401 2.390 0.512 1.538 -0.001 0.744 -90.09° +lamp 0.701 0.829 0.550 -0.652 1.810 0.524 179.88° +floor 4.446 0.008 3.470 -0.680 0.030 -0.153 -0.10° +_scene_ 0.068 0.001 0.013 -5.670 -0.006 -5.714 -57.32° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bed <-> floor depth=[1.860, 0.008, 1.569] + !! OVERLAP: tv_stand <-> floor depth=[2.235, 0.008, 0.467] + !! OVERLAP: wardrobe <-> floor depth=[0.706, 0.008, 0.512] +============================================================ + + +============================================================ +SCENE: Bedroom-12864 | 7 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0000, Walkable Loss: 1.8725 (Center Penalty: 1.3068, C1 Heatmap: 0.4544, C2 Repulsion: 1.0109), Relational Loss: 0.0716 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +wardrobe 2.367 2.275 0.484 1.476 0.002 0.014 -90.34° +bed 0.687 0.885 1.388 -1.126 -0.021 -0.015 89.26° +nightstand 0.518 0.511 0.375 -1.386 0.002 -1.263 90.06° +nightstand 0.645 0.531 0.417 -1.488 0.001 1.037 90.05° +lamp 0.476 0.930 0.398 -0.684 1.777 -0.543 0.12° +floor 3.342 -0.003 3.618 -0.015 0.001 -0.047 -0.01° +_scene_ 0.067 0.001 0.022 -5.674 -0.005 -5.716 -57.30° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: wardrobe <-> floor depth=[1.364, -0.003, 0.484] + !! OVERLAP: bed <-> floor depth=[0.687, -0.003, 1.388] + !! OVERLAP: nightstand <-> floor depth=[0.518, -0.003, 0.375] + !! OVERLAP: nightstand <-> floor depth=[0.520, -0.003, 0.417] +============================================================ + + +============================================================ +SCENE: SecondBedroom-266050 | 6 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0000, Walkable Loss: 1.8364 (Center Penalty: 1.0552, C1 Heatmap: 0.5892, C2 Repulsion: 1.5492), Relational Loss: 0.0582 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +sofa 1.682 0.674 0.837 1.252 -0.004 -0.301 -90.03° +bed 1.405 1.153 1.779 -1.387 -0.000 0.192 90.59° +nightstand 0.592 0.771 0.425 -1.660 0.002 -1.298 90.03° +nightstand 0.524 0.572 0.424 -1.655 0.002 1.469 90.00° +floor 3.803 -0.003 4.543 -0.004 0.000 -0.022 -0.01° +_scene_ 0.082 0.000 0.028 -5.669 -0.005 -5.708 -57.28° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: sofa <-> floor depth=[1.486, -0.003, 0.837] + !! OVERLAP: bed <-> floor depth=[1.221, -0.003, 1.779] + !! OVERLAP: nightstand <-> floor depth=[0.542, -0.003, 0.425] + !! OVERLAP: nightstand <-> floor depth=[0.513, -0.003, 0.424] +============================================================ + + +============================================================ +SCENE: MasterBedroom-12352 | 6 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0000, Walkable Loss: 0.9824 (Center Penalty: 0.7276, C1 Heatmap: 0.1482, C2 Repulsion: 0.6810), Relational Loss: 0.0422 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +bed 0.532 0.967 1.268 -1.325 0.045 0.479 90.69° +nightstand 0.382 0.641 0.252 -1.253 0.003 -0.663 90.12° +nightstand 0.525 0.717 0.387 -1.307 0.001 1.454 89.95° +lamp 0.733 0.862 0.265 -0.044 1.809 0.806 0.03° +floor 2.979 0.000 4.703 -0.110 0.014 0.650 -0.05° +_scene_ 0.067 -0.002 0.016 -5.675 -0.005 -5.716 -57.27° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bed <-> floor depth=[0.532, 0.000, 1.268] + !! OVERLAP: nightstand <-> floor depth=[0.382, 0.000, 0.252] + !! OVERLAP: nightstand <-> floor depth=[0.525, 0.000, 0.387] +============================================================ + + +============================================================ +SCENE: MasterBedroom-7894 | 6 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0000, Walkable Loss: 0.7615 (Center Penalty: 0.2786, C1 Heatmap: 0.4525, C2 Repulsion: 0.6045), Relational Loss: 0.0196 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +bed 0.984 0.843 0.990 -0.368 -0.008 1.323 90.33° +nightstand 0.489 0.496 0.255 -1.260 -0.002 1.854 89.85° +lamp 0.791 0.867 0.128 0.201 2.009 0.880 0.02° +wardrobe 2.716 2.600 0.499 0.505 -0.005 -1.323 -0.07° +floor 3.388 0.051 4.678 0.436 0.009 1.181 0.61° +_scene_ 0.069 0.003 0.018 -5.671 -0.003 -5.713 -57.33° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bed <-> floor depth=[0.984, 0.051, 0.990] + !! OVERLAP: nightstand <-> floor depth=[0.242, 0.051, 0.255] + !! OVERLAP: wardrobe <-> floor depth=[2.716, 0.051, 0.084] +============================================================ + + +============================================================ +SCENE: MasterBedroom-118594 | 6 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0000, Walkable Loss: 1.9680 (Center Penalty: 1.1027, C1 Heatmap: 0.8534, C2 Repulsion: 0.9127), Relational Loss: 0.0000 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +lamp 0.450 0.478 0.259 0.920 2.396 -0.602 0.05° +bed 1.891 1.161 1.516 1.247 -0.025 -1.216 -91.22° +bookshelf 3.923 2.577 0.241 -0.276 0.003 1.478 -179.95° +wardrobe 1.543 1.923 0.315 -1.425 0.002 -0.633 90.00° +floor 3.577 -0.000 4.469 -0.059 0.001 0.012 -0.01° +_scene_ 0.069 -0.000 0.023 -5.669 -0.005 -5.715 -57.31° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bed <-> floor depth=[1.428, -0.000, 1.516] + !! OVERLAP: bookshelf <-> floor depth=[3.533, -0.000, 0.241] + !! OVERLAP: wardrobe <-> floor depth=[1.194, -0.000, 0.315] +============================================================ + + +============================================================ +SCENE: MasterBedroom-6399 | 7 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0000, Walkable Loss: 1.3963 (Center Penalty: 0.7560, C1 Heatmap: 0.4600, C2 Repulsion: 1.3616), Relational Loss: 0.0253 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +wardrobe 1.284 2.428 0.414 1.859 -0.002 -0.436 -90.10° +bed 1.250 0.886 1.743 -0.317 0.022 -0.712 0.05° +table 0.796 1.329 0.353 -1.739 -0.000 -1.298 0.01° +chair 0.426 0.450 0.414 -1.708 -0.006 -0.362 179.54° +lamp 0.528 0.557 0.489 -0.685 2.062 -0.143 0.05° +floor 4.382 0.047 2.941 -0.806 0.011 -0.780 -0.62° +_scene_ 0.067 0.001 0.023 -5.667 -0.004 -5.710 -57.31° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: wardrobe <-> floor depth=[0.168, 0.047, 0.414] + !! OVERLAP: bed <-> floor depth=[1.250, 0.047, 1.743] + !! OVERLAP: table <-> floor depth=[0.796, 0.047, 0.353] + !! OVERLAP: chair <-> floor depth=[0.426, 0.047, 0.414] +============================================================ + + +============================================================ +SCENE: SecondBedroom-52584 | 5 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0000, Walkable Loss: 1.6759 (Center Penalty: 1.3304, C1 Heatmap: 0.2036, C2 Repulsion: 0.9128), Relational Loss: 0.0246 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +lamp 0.944 0.847 1.085 0.100 2.045 -0.943 0.04° +bed 0.755 1.332 1.607 0.820 0.005 -0.488 -92.34° +table 0.336 0.717 0.412 1.062 0.001 -1.322 -90.24° +floor 3.049 -0.003 4.022 -0.004 -0.001 -0.010 -0.00° +_scene_ 0.054 0.006 0.012 -5.645 -0.004 -5.720 -57.31° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bed <-> table depth=[0.303, 0.717, 0.175] + !! OVERLAP: bed <-> floor depth=[0.755, -0.003, 1.607] + !! OVERLAP: table <-> floor depth=[0.336, -0.003, 0.412] +============================================================ + + +============================================================ +SCENE: SecondBedroom-860 | 7 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0000, Walkable Loss: 2.4185 (Center Penalty: 1.5318, C1 Heatmap: 0.5033, C2 Repulsion: 2.4204), Relational Loss: 0.0439 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +bed 1.303 0.992 1.841 -0.254 0.017 -0.820 -0.33° +nightstand 0.366 0.529 0.323 1.006 -0.001 -1.294 0.04° +nightstand 0.424 0.518 0.410 -1.434 0.001 -1.397 0.01° +wardrobe 1.754 2.392 0.353 1.617 0.006 -0.597 -90.33° +lamp 0.907 0.945 0.895 -0.765 1.812 0.016 -0.07° +floor 4.152 -0.001 2.954 -0.071 -0.001 -0.050 0.02° +_scene_ 0.070 0.001 0.024 -5.671 -0.004 -5.713 -57.31° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bed <-> floor depth=[1.303, -0.001, 1.628] + !! OVERLAP: nightstand <-> floor depth=[0.366, -0.001, 0.323] + !! OVERLAP: nightstand <-> floor depth=[0.424, -0.001, 0.335] + !! OVERLAP: wardrobe <-> floor depth=[1.265, -0.001, 0.353] +============================================================ + + +============================================================ +SCENE: MasterBedroom-514 | 5 objects +============================================================ +Final Step Collision Loss: 0.0211, Room Outer Loss: 0.0000, Walkable Loss: 1.7156 (Center Penalty: 1.3256, C1 Heatmap: 0.2375, C2 Repulsion: 1.0000), Relational Loss: 0.0099 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +nightstand 0.226 0.465 0.236 1.308 -0.004 0.679 -90.16° +bed 0.976 0.912 1.664 1.039 -0.025 0.145 -89.81° +lamp 0.949 0.921 0.922 0.778 1.819 0.439 -90.08° +floor 2.784 -0.003 3.087 0.007 0.001 0.015 0.03° +_scene_ 0.067 0.000 0.021 -5.674 -0.004 -5.714 -57.31° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: nightstand <-> bed depth=[0.226, 0.465, 0.236] + !! OVERLAP: nightstand <-> floor depth=[0.204, -0.003, 0.236] + !! OVERLAP: bed <-> floor depth=[0.849, -0.003, 1.664] +============================================================ + + +============================================================ +SCENE: SecondBedroom-11204 | 7 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0000, Walkable Loss: 1.9418 (Center Penalty: 1.0978, C1 Heatmap: 0.4640, C2 Repulsion: 2.3641), Relational Loss: 0.0090 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +bed 1.214 1.340 1.570 -0.909 -0.031 -0.753 90.23° +wardrobe 1.463 2.209 0.401 -0.870 -0.003 1.635 -179.91° +nightstand 0.394 0.545 0.296 -1.410 0.001 0.977 90.04° +table 0.889 1.129 0.349 1.390 0.000 -0.782 -89.96° +chair 0.623 0.480 0.295 1.056 -0.004 -0.809 89.97° +floor 3.257 -0.003 3.524 -0.012 0.001 0.036 -0.01° +_scene_ 0.071 0.001 0.018 -5.674 -0.005 -5.711 -57.29° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bed <-> floor depth=[1.214, -0.003, 1.570] + !! OVERLAP: wardrobe <-> floor depth=[1.463, -0.003, 0.364] + !! OVERLAP: nightstand <-> floor depth=[0.394, -0.003, 0.296] + !! OVERLAP: table <-> chair depth=[0.422, 0.480, 0.295] + !! OVERLAP: table <-> floor depth=[0.671, -0.003, 0.349] + !! OVERLAP: chair <-> floor depth=[0.623, -0.003, 0.295] +============================================================ + + +============================================================ +SCENE: MasterBedroom-4089 | 7 objects +============================================================ +Final Step Collision Loss: 0.0012, Room Outer Loss: 0.0000, Walkable Loss: 0.9474 (Center Penalty: 0.3861, C1 Heatmap: 0.3473, C2 Repulsion: 1.4175), Relational Loss: 0.0307 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +wardrobe 2.620 2.482 0.218 1.433 -0.028 -0.183 -89.48° +nightstand 0.628 0.676 0.365 -1.337 0.000 -1.329 0.03° +nightstand 0.374 0.783 0.327 1.144 -0.002 -1.453 -0.05° +bed 0.670 0.498 0.728 0.229 0.044 -1.157 -2.67° +lamp 0.264 1.076 0.194 -0.805 1.726 -0.499 0.12° +floor 3.580 -0.000 3.143 -0.989 -0.012 0.054 0.51° +_scene_ 0.068 0.001 0.023 -5.671 -0.004 -5.715 -57.30° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: wardrobe <-> floor depth=[0.678, -0.000, 0.218] + !! OVERLAP: nightstand <-> floor depth=[0.628, -0.000, 0.365] + !! OVERLAP: bed <-> floor depth=[0.670, -0.000, 0.724] +============================================================ + + +============================================================ +SCENE: MasterBedroom-21684 | 9 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0000, Walkable Loss: 2.2757 (Center Penalty: 1.4429, C1 Heatmap: 0.5145, C2 Repulsion: 2.1056), Relational Loss: 0.0502 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +bed 1.182 1.144 1.456 0.321 -0.023 -1.095 -0.09° +nightstand 0.489 0.697 0.421 1.729 -0.002 -1.294 0.07° +cabinet 1.105 1.501 0.443 -0.013 0.002 1.343 -179.93° +wardrobe 1.517 2.256 0.403 -1.561 0.005 -0.802 89.91° +nightstand 0.383 0.766 0.302 -0.753 0.001 -1.448 0.02° +chair 0.521 0.817 0.587 1.370 0.006 0.801 -156.43° +lamp 0.733 0.954 0.494 0.713 1.842 0.221 -0.41° +floor 3.514 -0.001 3.284 0.001 0.000 -0.009 -0.04° +_scene_ 0.071 0.000 0.023 -5.675 -0.005 -5.713 -57.30° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bed <-> floor depth=[1.182, -0.001, 1.285] + !! OVERLAP: nightstand <-> floor depth=[0.274, -0.001, 0.421] + !! OVERLAP: cabinet <-> floor depth=[1.105, -0.001, 0.443] + !! OVERLAP: wardrobe <-> floor depth=[0.953, -0.001, 0.403] + !! OVERLAP: nightstand <-> floor depth=[0.383, -0.001, 0.302] + !! OVERLAP: chair <-> floor depth=[0.521, -0.001, 0.587] +============================================================ + + +============================================================ +SCENE: SecondBedroom-8497 | 6 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0000, Walkable Loss: 1.0560 (Center Penalty: 0.4750, C1 Heatmap: 0.4559, C2 Repulsion: 1.0816), Relational Loss: 0.0000 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +bed 1.572 0.947 1.954 -0.226 0.012 -0.943 91.26° +nightstand 0.474 0.431 0.400 -1.491 0.001 0.895 90.06° +nightstand 0.543 0.590 0.370 -1.408 0.010 -1.734 89.96° +lamp 0.777 0.924 0.770 0.340 2.061 -0.778 -0.02° +floor 3.092 0.101 3.273 0.714 -0.020 -0.854 0.70° +_scene_ 0.068 0.001 0.022 -5.671 -0.005 -5.711 -57.30° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bed <-> floor depth=[1.392, 0.101, 1.954] +============================================================ + + +============================================================ +SCENE: MasterBedroom-196 | 7 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0000, Walkable Loss: 0.9905 (Center Penalty: 0.2918, C1 Heatmap: 0.4137, C2 Repulsion: 1.8383), Relational Loss: 0.0188 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +lamp 0.487 0.416 0.389 0.973 2.378 -0.479 0.23° +wardrobe 1.801 2.493 0.130 -1.897 0.015 -0.630 90.07° +bed 1.074 1.195 1.693 -0.001 0.064 -1.146 -3.12° +nightstand 0.526 0.663 0.413 1.500 0.001 -1.360 -0.01° +nightstand 0.441 0.604 0.439 -0.974 0.000 -1.347 -0.03° +floor 4.127 0.017 3.619 0.277 -0.010 -0.991 1.45° +_scene_ 0.067 -0.000 0.021 -5.671 -0.005 -5.716 -57.30° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: wardrobe <-> floor depth=[0.791, 0.017, 0.130] + !! OVERLAP: bed <-> floor depth=[1.074, 0.017, 1.693] + !! OVERLAP: nightstand <-> floor depth=[0.526, 0.017, 0.413] + !! OVERLAP: nightstand <-> floor depth=[0.441, 0.017, 0.439] +============================================================ + + +============================================================ +SCENE: MasterBedroom-132469 | 5 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0000, Walkable Loss: 1.7042 (Center Penalty: 1.2423, C1 Heatmap: 0.5477, C2 Repulsion: 0.1187), Relational Loss: 0.0000 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +bed 1.931 0.948 1.757 0.533 -0.017 1.207 -89.18° +wardrobe 1.515 2.056 0.555 0.560 -0.000 -1.841 0.04° +lamp 0.402 0.168 0.429 0.005 2.435 0.045 -0.06° +floor 2.942 0.105 3.982 -0.786 -0.013 -0.388 -0.22° +_scene_ 0.077 -0.002 0.104 -5.608 -0.005 -5.662 -57.38° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bed <-> floor depth=[1.117, 0.105, 1.275] + !! OVERLAP: wardrobe <-> floor depth=[0.882, 0.105, 0.555] +============================================================ + + +============================================================ +SCENE: MasterBedroom-104323 | 5 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0000, Walkable Loss: 1.4700 (Center Penalty: 1.2248, C1 Heatmap: 0.1703, C2 Repulsion: 0.5451), Relational Loss: 0.0281 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +bed 0.876 1.225 1.297 -1.077 -0.008 0.337 92.49° +lamp 0.787 0.982 0.320 -0.181 1.754 1.031 0.00° +nightstand 0.311 0.548 0.256 -1.139 -0.004 -0.589 90.11° +floor 2.959 -0.003 3.069 -0.007 0.000 -0.033 -0.03° +_scene_ 0.071 0.002 0.032 -5.665 -0.005 -5.706 -57.33° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bed <-> floor depth=[0.848, -0.003, 1.297] + !! OVERLAP: nightstand <-> floor depth=[0.311, -0.003, 0.256] +============================================================ + + +============================================================ +SCENE: SecondBedroom-69556 | 8 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0000, Walkable Loss: 1.2792 (Center Penalty: 0.5324, C1 Heatmap: 0.5141, C2 Repulsion: 1.6778), Relational Loss: 0.0000 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +bed 1.170 1.181 1.800 0.830 0.004 -0.565 -89.73° +wardrobe 1.338 2.405 0.441 0.785 -0.003 1.618 180.00° +table 0.346 0.524 0.306 1.352 0.000 0.688 -89.98° +cabinet 1.048 1.752 0.463 -1.503 -0.001 -1.673 89.93° +lamp 0.676 1.034 0.666 -0.047 1.614 -0.769 0.02° +table 0.523 0.549 0.424 1.468 0.001 -1.752 -90.19° +floor 3.082 0.035 3.604 0.022 0.003 -1.117 -0.08° +_scene_ 0.063 -0.001 0.011 -5.669 -0.005 -5.710 -57.30° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bed <-> floor depth=[1.170, 0.035, 1.800] + !! OVERLAP: table <-> floor depth=[0.346, 0.035, 0.151] + !! OVERLAP: cabinet <-> floor depth=[0.541, 0.035, 0.463] + !! OVERLAP: table <-> floor depth=[0.356, 0.035, 0.424] +============================================================ + + +============================================================ +SCENE: Bedroom-6993 | 5 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0000, Walkable Loss: 1.0632 (Center Penalty: 0.4800, C1 Heatmap: 0.6533, C2 Repulsion: 0.3029), Relational Loss: 0.0000 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +bed 0.967 0.729 1.616 -0.849 0.030 1.083 88.69° +lamp 1.003 0.893 0.173 0.531 1.962 0.748 179.89° +wardrobe 3.570 2.451 0.548 0.143 -0.002 -1.431 0.01° +floor 2.974 0.005 3.838 0.341 -0.003 0.752 0.77° +_scene_ 0.041 0.009 0.011 -5.660 -0.004 -5.717 -57.33° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bed <-> floor depth=[0.781, 0.005, 1.616] + !! OVERLAP: wardrobe <-> floor depth=[2.974, 0.005, 0.010] +============================================================ + + +============================================================ +SCENE: MasterBedroom-935 | 11 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0000, Walkable Loss: 2.2327 (Center Penalty: 0.4360, C1 Heatmap: 0.8278, C2 Repulsion: 5.6725), Relational Loss: 0.0309 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +desk 1.028 0.777 0.349 1.721 -0.000 -1.163 -89.97° +lamp 0.304 0.651 0.383 0.087 2.090 1.008 -0.08° +lamp 0.878 0.958 0.809 1.262 1.754 1.803 -89.98° +lamp 1.151 1.172 0.598 1.359 1.306 -1.090 -0.03° +chair 0.262 0.871 0.242 0.548 -0.005 -1.263 90.02° +bed 1.413 0.790 1.541 0.968 -0.006 0.673 -90.43° +wardrobe 2.049 2.310 0.498 0.585 -0.010 -2.131 0.08° +tv_stand 2.015 0.670 0.352 -1.531 0.002 1.023 89.96° +nightstand 0.389 0.487 0.318 1.646 0.001 1.772 -90.12° +floor 3.725 -0.041 4.786 0.871 0.001 0.003 -0.11° +_scene_ 0.069 0.001 0.022 -5.670 -0.004 -5.713 -57.30° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: desk <-> floor depth=[1.028, -0.041, 0.349] + !! OVERLAP: chair <-> floor depth=[0.262, -0.041, 0.242] + !! OVERLAP: bed <-> floor depth=[1.413, -0.041, 1.541] + !! OVERLAP: wardrobe <-> floor depth=[2.049, -0.041, 0.498] + !! OVERLAP: tv_stand <-> floor depth=[0.468, -0.041, 0.352] + !! OVERLAP: nightstand <-> floor depth=[0.389, -0.041, 0.318] +============================================================ + + +============================================================ +SCENE: SecondBedroom-2311 | 6 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0000, Walkable Loss: 1.1071 (Center Penalty: 0.6019, C1 Heatmap: 0.4827, C2 Repulsion: 0.5950), Relational Loss: 0.0000 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +bookshelf 1.483 2.636 0.350 -0.343 0.001 -1.210 0.02° +lamp 0.831 0.714 0.870 0.181 1.849 0.792 -0.21° +bed 1.299 1.232 1.806 -0.752 -0.003 0.719 179.78° +chair 0.602 0.671 0.706 1.404 -0.000 0.923 -90.37° +floor 4.157 -0.045 3.047 0.724 -0.013 -0.590 0.87° +_scene_ 0.060 0.004 0.029 -5.615 -0.004 -5.681 -57.36° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bookshelf <-> floor depth=[1.483, -0.045, 0.350] + !! OVERLAP: bed <-> floor depth=[1.252, -0.045, 1.118] + !! OVERLAP: chair <-> floor depth=[0.602, -0.045, 0.364] +============================================================ + + +============================================================ +SCENE: SecondBedroom-69136 | 8 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0000, Walkable Loss: 1.1305 (Center Penalty: 0.3719, C1 Heatmap: 0.6091, C2 Repulsion: 1.3564), Relational Loss: 0.0228 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +bed 1.268 0.960 1.618 0.364 -0.009 1.114 -178.96° +wardrobe 1.714 2.232 0.456 -2.070 0.000 0.767 89.94° +nightstand 0.387 0.373 0.328 1.690 0.003 1.443 179.92° +nightstand 0.343 0.408 0.312 -0.779 0.002 1.396 179.87° +tv_stand 1.883 0.500 0.407 0.306 0.000 -1.557 -0.03° +lamp 0.507 0.129 0.462 0.952 2.437 -0.045 0.11° +floor 4.368 -0.003 2.966 0.932 -0.003 -0.374 -0.33° +_scene_ 0.071 -0.000 0.023 -5.671 -0.004 -5.713 -57.29° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bed <-> floor depth=[1.268, -0.003, 0.804] + !! OVERLAP: wardrobe <-> floor depth=[0.039, -0.003, 0.456] + !! OVERLAP: tv_stand <-> floor depth=[1.883, -0.003, 0.407] +============================================================ + + +============================================================ +SCENE: Bedroom-47437 | 5 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0000, Walkable Loss: 0.7430 (Center Penalty: 0.3307, C1 Heatmap: 0.3366, C2 Repulsion: 0.7147), Relational Loss: 0.0000 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +bed 1.233 1.195 1.668 0.114 0.010 0.895 -89.75° +nightstand 0.444 0.624 0.443 0.934 0.003 2.127 0.01° +nightstand 0.429 0.550 0.467 1.191 0.000 -0.846 -90.18° +floor 3.523 0.018 5.082 0.107 -0.021 1.022 0.18° +_scene_ 0.053 0.005 0.011 -5.667 -0.004 -5.714 -57.27° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bed <-> floor depth=[1.233, 0.018, 1.668] + !! OVERLAP: nightstand <-> floor depth=[0.444, 0.018, 0.443] + !! OVERLAP: nightstand <-> floor depth=[0.429, 0.018, 0.467] +============================================================ + + +============================================================ +SCENE: SecondBedroom-739 | 6 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0000, Walkable Loss: 1.6385 (Center Penalty: 1.3630, C1 Heatmap: 0.1454, C2 Repulsion: 0.7956), Relational Loss: 0.0371 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +bed 0.772 0.974 1.086 -1.064 -0.008 0.329 88.68° +table 0.382 0.469 0.391 -1.135 0.003 1.293 90.04° +table 0.381 0.445 0.119 -1.273 0.016 -0.658 89.70° +lamp 0.453 0.983 0.519 -0.495 1.669 0.652 -0.20° +floor 2.914 -0.004 3.573 -0.004 0.000 0.026 -0.04° +_scene_ 0.061 0.034 0.085 -5.524 -0.002 -5.521 -57.84° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bed <-> floor depth=[0.772, -0.004, 1.086] + !! OVERLAP: table <-> floor depth=[0.382, -0.004, 0.391] + !! OVERLAP: table <-> floor depth=[0.378, -0.004, 0.119] +============================================================ + + +============================================================ +SCENE: MasterBedroom-6351 | 6 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0000, Walkable Loss: 1.6541 (Center Penalty: 1.3970, C1 Heatmap: 0.1559, C2 Repulsion: 0.6616), Relational Loss: 0.0409 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +bed 0.765 1.600 1.174 1.267 -0.026 -0.374 -90.47° +nightstand 0.426 0.474 0.294 1.383 -0.003 0.872 -90.22° +nightstand 0.331 0.608 0.260 1.389 0.000 -1.283 -90.24° +lamp 0.846 0.561 0.770 -0.221 2.335 -0.678 0.06° +floor 2.970 -0.002 3.683 -0.003 -0.000 -0.005 -0.03° +_scene_ 0.069 0.001 0.018 -5.667 -0.005 -5.713 -57.29° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bed <-> floor depth=[0.598, -0.002, 1.174] + !! OVERLAP: nightstand <-> floor depth=[0.312, -0.002, 0.294] + !! OVERLAP: nightstand <-> floor depth=[0.258, -0.002, 0.260] +============================================================ + + +============================================================ +SCENE: SecondBedroom-22370 | 7 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0000, Walkable Loss: 1.0070 (Center Penalty: 0.5404, C1 Heatmap: 0.3109, C2 Repulsion: 1.0890), Relational Loss: 0.0307 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +wardrobe 1.629 2.130 0.305 1.755 0.018 0.697 -89.89° +bed 0.766 1.377 1.451 -0.480 0.025 1.250 177.90° +nightstand 0.453 0.514 0.408 0.844 0.001 1.369 179.90° +nightstand 0.277 0.476 0.222 -1.422 0.000 1.397 179.94° +lamp 0.607 0.788 0.712 -0.574 1.914 -0.328 -0.27° +floor 4.088 -0.030 2.809 -0.354 -0.005 -1.043 -0.21° +_scene_ 0.065 0.001 0.021 -5.670 -0.005 -5.716 -57.28° + + Pairwise overlap check (axis-aligned bbox): + (no axis-aligned overlaps) +============================================================ + + +============================================================ +SCENE: SecondBedroom-15551 | 5 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0000, Walkable Loss: 0.6669 (Center Penalty: 0.2603, C1 Heatmap: 0.3732, C2 Repulsion: 0.5403), Relational Loss: 0.0278 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +bed 0.404 0.792 1.473 -1.187 -0.024 -0.601 89.83° +wardrobe 2.338 2.471 0.469 -0.223 0.000 1.521 179.96° +nightstand 0.488 0.579 0.340 -1.248 0.000 -1.578 90.07° +floor 2.793 0.026 3.973 -0.704 -0.013 -0.506 1.33° +_scene_ 0.076 0.001 0.022 -5.666 -0.005 -5.710 -57.29° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bed <-> floor depth=[0.404, 0.026, 1.473] + !! OVERLAP: wardrobe <-> floor depth=[2.084, 0.026, 0.194] + !! OVERLAP: nightstand <-> floor depth=[0.488, 0.026, 0.340] +============================================================ + + +============================================================ +SCENE: MasterBedroom-13100 | 8 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0000, Walkable Loss: 2.0306 (Center Penalty: 1.2848, C1 Heatmap: 0.4545, C2 Repulsion: 1.9112), Relational Loss: 0.0384 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +lamp 0.287 0.886 0.285 0.738 1.744 0.437 0.19° +bed 0.766 1.164 1.502 1.153 -0.074 0.419 -91.39° +nightstand 0.481 0.580 0.523 1.427 -0.002 -0.981 -89.85° +nightstand 0.502 0.573 0.535 1.462 0.000 1.579 -90.03° +wardrobe 1.946 2.520 0.330 0.713 -0.002 -1.530 0.04° +shelf 0.927 1.845 0.379 -1.388 0.025 1.709 89.98° +floor 3.411 -0.001 4.277 -0.008 0.001 -0.001 -0.03° +_scene_ 0.069 0.000 0.019 -5.673 -0.005 -5.715 -57.31° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bed <-> floor depth=[0.766, -0.001, 1.502] + !! OVERLAP: nightstand <-> floor depth=[0.481, -0.001, 0.523] + !! OVERLAP: nightstand <-> floor depth=[0.486, -0.001, 0.535] + !! OVERLAP: wardrobe <-> floor depth=[1.946, -0.001, 0.330] + !! OVERLAP: shelf <-> floor depth=[0.789, -0.001, 0.379] +============================================================ + + +============================================================ +SCENE: SecondBedroom-13841 | 5 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0000, Walkable Loss: 1.0898 (Center Penalty: 0.3849, C1 Heatmap: 0.5747, C2 Repulsion: 1.2253), Relational Loss: 0.0008 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +lamp 0.570 1.059 0.765 0.762 1.290 -0.364 0.05° +bed 1.273 1.551 1.902 1.261 -0.026 -0.059 1.75° +wardrobe 1.384 1.869 0.991 -1.306 0.001 -0.393 89.78° +floor 3.067 -0.012 3.433 0.853 0.025 -0.734 0.43° +_scene_ 0.044 0.002 0.032 -5.597 -0.004 -5.674 -57.53° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bed <-> floor depth=[1.273, -0.012, 1.902] + !! OVERLAP: wardrobe <-> floor depth=[0.066, -0.012, 0.991] +============================================================ + + +============================================================ +SCENE: MasterBedroom-10364 | 8 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0000, Walkable Loss: 0.9701 (Center Penalty: 0.2786, C1 Heatmap: 0.3978, C2 Repulsion: 1.8663), Relational Loss: 0.0229 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +bed 1.292 1.197 1.656 0.804 0.004 -0.939 0.27° +nightstand 0.564 0.681 0.398 1.857 -0.001 -1.659 -0.05° +nightstand 0.504 0.623 0.355 -0.213 0.001 -1.703 0.00° +wardrobe 0.832 1.792 0.446 -1.245 0.002 -1.027 89.92° +lamp 0.508 0.236 0.519 0.977 2.442 -0.692 -0.06° +lamp 0.371 0.521 0.352 -1.361 2.336 0.899 -0.05° +floor 4.638 0.029 3.999 -0.651 -0.011 -0.698 -0.35° +_scene_ 0.067 0.001 0.023 -5.673 -0.004 -5.715 -57.29° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bed <-> floor depth=[1.292, 0.029, 1.656] + !! OVERLAP: nightstand <-> floor depth=[0.093, 0.029, 0.398] + !! OVERLAP: nightstand <-> floor depth=[0.504, 0.029, 0.355] + !! OVERLAP: wardrobe <-> floor depth=[0.832, 0.029, 0.446] +============================================================ + + +============================================================ +SCENE: Bedroom-18 | 6 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0000, Walkable Loss: 1.2946 (Center Penalty: 0.6159, C1 Heatmap: 0.5172, C2 Repulsion: 1.3246), Relational Loss: 0.0000 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +bed 1.999 1.029 1.659 0.867 0.001 -0.234 0.18° +nightstand 0.554 0.611 0.506 1.429 0.000 -1.420 0.02° +nightstand 0.686 0.606 0.544 -1.234 0.001 -1.231 -0.05° +lamp 0.333 0.547 0.163 0.861 2.178 -0.373 -0.36° +floor 3.572 0.001 3.342 -0.497 0.011 -0.679 -0.26° +_scene_ 0.069 -0.000 0.023 -5.672 -0.004 -5.714 -57.30° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bed <-> floor depth=[1.422, 0.001, 1.659] + !! OVERLAP: nightstand <-> floor depth=[0.138, 0.001, 0.506] + !! OVERLAP: nightstand <-> floor depth=[0.686, 0.001, 0.544] +============================================================ + + +============================================================ +SCENE: SecondBedroom-11303 | 7 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0000, Walkable Loss: 0.8960 (Center Penalty: 0.3087, C1 Heatmap: 0.2678, C2 Repulsion: 1.8653), Relational Loss: 0.0395 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +bed 0.144 0.931 1.335 0.676 -0.040 1.027 -179.65° +desk 1.407 0.725 0.430 -1.163 0.003 0.747 179.57° +nightstand 0.190 0.406 0.089 1.199 0.002 0.781 -143.40° +wardrobe 1.090 2.241 0.188 1.620 -0.010 0.331 -89.51° +wardrobe 1.002 2.283 0.164 2.071 -0.001 -0.638 -90.74° +floor 3.815 0.005 3.141 -0.488 0.000 -0.725 -0.72° +_scene_ 0.063 0.001 0.019 -5.672 -0.005 -5.715 -57.31° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bed <-> floor depth=[0.144, 0.005, 0.487] + !! OVERLAP: desk <-> floor depth=[1.407, 0.005, 0.314] + !! OVERLAP: nightstand <-> floor depth=[0.190, 0.005, 0.089] + !! OVERLAP: wardrobe <-> floor depth=[0.345, 0.005, 0.188] +============================================================ + + +============================================================ +SCENE: MasterBedroom-1362 | 8 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0000, Walkable Loss: 1.3918 (Center Penalty: 0.8583, C1 Heatmap: 0.3785, C2 Repulsion: 1.1532), Relational Loss: 0.0345 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +bed 0.960 1.436 0.908 1.384 -0.034 0.298 -86.94° +table 0.457 0.523 0.392 1.340 -0.000 -1.012 -89.95° +table 0.497 0.535 0.467 1.403 0.000 1.574 -90.09° +wardrobe 1.524 1.877 0.391 0.581 -0.005 -1.741 0.05° +lamp 0.630 0.152 0.667 0.731 2.533 0.373 0.26° +chair 0.831 0.793 0.777 -1.248 0.001 0.047 56.72° +floor 3.156 -0.004 4.326 0.137 0.001 0.545 -0.07° +_scene_ 0.070 0.003 0.021 -5.665 -0.004 -5.711 -57.30° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bed <-> floor depth=[0.812, -0.004, 0.908] + !! OVERLAP: table <-> floor depth=[0.457, -0.004, 0.392] + !! OVERLAP: table <-> floor depth=[0.497, -0.004, 0.467] + !! OVERLAP: wardrobe <-> floor depth=[1.524, -0.004, 0.072] + !! OVERLAP: chair <-> floor depth=[0.608, -0.004, 0.777] +============================================================ + + +============================================================ +SCENE: SecondBedroom-34317 | 7 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0000, Walkable Loss: 1.9266 (Center Penalty: 1.3065, C1 Heatmap: 0.5400, C2 Repulsion: 0.9406), Relational Loss: 0.0005 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +bed 1.939 0.994 1.571 0.184 0.010 0.922 90.34° +cabinet 1.146 0.784 0.384 0.539 0.001 -1.893 0.07° +nightstand 0.538 0.688 0.427 -1.296 0.000 1.655 90.08° +nightstand 0.566 0.637 0.472 -1.287 0.000 -0.962 89.92° +lamp 0.558 0.302 0.462 0.377 2.301 -0.934 -0.02° +floor 3.210 -0.001 4.291 0.004 0.000 0.027 -0.04° +_scene_ 0.066 -0.000 0.015 -5.667 -0.004 -5.714 -57.32° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bed <-> floor depth=[1.939, -0.001, 1.571] + !! OVERLAP: cabinet <-> floor depth=[1.146, -0.001, 0.384] + !! OVERLAP: nightstand <-> floor depth=[0.538, -0.001, 0.427] + !! OVERLAP: nightstand <-> floor depth=[0.566, -0.001, 0.472] +============================================================ + + +============================================================ +SCENE: Bedroom-4098 | 7 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0000, Walkable Loss: 1.1028 (Center Penalty: 0.5683, C1 Heatmap: 0.3966, C2 Repulsion: 1.0858), Relational Loss: 0.0405 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +bed 0.916 0.908 1.695 -0.776 0.032 -0.838 -3.25° +nightstand 0.516 0.523 0.337 0.626 0.000 -1.304 0.01° +nightstand 0.409 0.501 0.343 -1.879 -0.001 -1.305 0.01° +wardrobe 1.726 2.516 0.308 1.655 0.002 -0.290 -90.02° +lamp 0.578 0.399 0.458 -0.726 2.178 -0.046 -0.08° +floor 4.682 -0.003 2.992 -1.006 -0.010 0.105 0.56° +_scene_ 0.065 0.000 0.020 -5.670 -0.005 -5.715 -57.29° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bed <-> floor depth=[0.916, -0.003, 1.400] + !! OVERLAP: nightstand <-> floor depth=[0.516, -0.003, 0.256] + !! OVERLAP: nightstand <-> floor depth=[0.409, -0.003, 0.258] + !! OVERLAP: wardrobe <-> floor depth=[0.543, -0.003, 0.308] +============================================================ + + +============================================================ +SCENE: Bedroom-5265 | 9 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0000, Walkable Loss: 1.4288 (Center Penalty: 0.3733, C1 Heatmap: 0.6718, C2 Repulsion: 2.5906), Relational Loss: 0.0359 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +bed 1.268 1.152 1.451 -0.300 -0.010 1.104 -179.67° +nightstand 0.333 0.530 0.232 -1.353 0.000 1.569 179.91° +nightstand 0.375 0.465 0.355 0.960 0.002 1.676 179.89° +tv_stand 1.852 0.690 0.340 -1.229 -0.001 -1.683 -0.07° +tv_stand 1.825 0.724 0.354 -0.619 0.001 -1.244 0.01° +wardrobe 1.511 2.420 0.332 1.840 -0.004 0.903 -90.16° +lamp 0.545 0.538 0.524 -0.645 1.998 0.496 -0.08° +floor 4.501 -0.049 3.345 -1.460 -0.047 0.242 0.61° +_scene_ 0.070 0.000 0.025 -5.673 -0.005 -5.715 -57.27° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bed <-> floor depth=[1.268, -0.049, 1.451] + !! OVERLAP: nightstand <-> floor depth=[0.333, -0.049, 0.232] + !! OVERLAP: nightstand <-> floor depth=[0.018, -0.049, 0.355] + !! OVERLAP: tv_stand <-> floor depth=[1.825, -0.049, 0.354] +============================================================ + + +============================================================ +SCENE: MasterBedroom-22121 | 9 objects +============================================================ +Final Step Collision Loss: 0.0036, Room Outer Loss: 0.0000, Walkable Loss: 1.9229 (Center Penalty: 1.1471, C1 Heatmap: 0.4295, C2 Repulsion: 2.1611), Relational Loss: 0.0401 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +bed 0.804 1.278 1.619 1.239 0.008 0.073 -88.67° +nightstand 0.392 0.455 0.245 1.097 -0.001 -1.162 0.28° +wardrobe 1.954 2.139 0.396 0.297 0.018 -1.404 -0.08° +table 0.796 0.890 0.241 -1.642 0.005 0.486 89.96° +nightstand 0.388 0.475 0.361 0.359 0.002 1.336 -0.05° +lamp 0.926 0.756 0.937 -0.012 1.809 -1.391 -0.05° +lamp 0.706 0.964 0.703 0.244 1.946 1.276 -0.00° +floor 3.382 -0.001 3.465 -0.004 0.001 0.017 -0.02° +_scene_ 0.074 -0.000 0.024 -5.670 -0.004 -5.714 -57.31° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bed <-> floor depth=[0.804, -0.001, 1.619] + !! OVERLAP: nightstand <-> wardrobe depth=[0.373, 0.455, 0.079] + !! OVERLAP: nightstand <-> floor depth=[0.392, -0.001, 0.245] + !! OVERLAP: wardrobe <-> floor depth=[1.954, -0.001, 0.396] + !! OVERLAP: table <-> floor depth=[0.452, -0.001, 0.241] + !! OVERLAP: nightstand <-> floor depth=[0.388, -0.001, 0.361] +============================================================ + + +============================================================ +SCENE: Bedroom-47481 | 7 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0000, Walkable Loss: 1.9372 (Center Penalty: 1.3047, C1 Heatmap: 0.3939, C2 Repulsion: 1.5870), Relational Loss: 0.0249 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +bed 0.932 1.024 1.703 -0.951 0.016 -0.345 90.04° +nightstand 0.269 0.484 0.229 -1.333 -0.002 0.703 90.02° +wardrobe 1.913 2.395 0.229 -0.490 0.008 1.849 180.00° +nightstand 0.452 0.479 0.334 -1.131 0.009 -1.288 90.05° +lamp 0.302 0.695 0.296 -0.279 2.015 -0.913 -0.05° +floor 2.782 -0.002 3.756 -0.010 0.000 0.007 -0.02° +_scene_ 0.070 0.000 0.019 -5.675 -0.006 -5.716 -57.31° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bed <-> nightstand depth=[0.452, 0.479, 0.075] + !! OVERLAP: bed <-> floor depth=[0.917, -0.002, 1.703] + !! OVERLAP: nightstand <-> floor depth=[0.202, -0.002, 0.229] + !! OVERLAP: wardrobe <-> floor depth=[1.868, -0.002, 0.150] + !! OVERLAP: nightstand <-> floor depth=[0.452, -0.002, 0.334] +============================================================ + + +============================================================ +SCENE: Bedroom-2160 | 6 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0000, Walkable Loss: 1.9791 (Center Penalty: 1.3581, C1 Heatmap: 0.3944, C2 Repulsion: 1.5273), Relational Loss: 0.0203 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +bed 1.185 2.183 1.215 0.026 0.013 1.089 179.57° +nightstand 0.462 0.575 0.360 -0.864 0.002 1.539 179.94° +lamp 0.519 1.139 0.542 0.732 1.482 -0.367 -0.37° +wardrobe 1.546 2.057 0.525 0.150 0.000 -1.622 0.12° +floor 2.640 0.000 3.492 -0.038 0.001 -0.017 -0.00° +_scene_ 0.068 -0.000 0.016 -5.673 -0.005 -5.712 -57.28° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bed <-> floor depth=[1.185, 0.000, 1.215] + !! OVERLAP: nightstand <-> floor depth=[0.462, 0.000, 0.360] + !! OVERLAP: wardrobe <-> floor depth=[1.546, 0.000, 0.403] +============================================================ + + +============================================================ +SCENE: SecondBedroom-9825 | 7 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0000, Walkable Loss: 1.0044 (Center Penalty: 0.4854, C1 Heatmap: 0.3962, C2 Repulsion: 1.0103), Relational Loss: 0.0000 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +wardrobe 1.550 2.614 0.358 -0.704 0.011 1.982 179.91° +bed 1.168 1.026 1.461 0.030 -0.027 -1.146 91.92° +table 0.453 0.500 0.390 -1.331 -0.001 1.215 0.05° +table 0.461 0.549 0.448 -1.507 0.001 -1.526 90.00° +lamp 0.606 0.908 0.624 0.165 2.130 -0.765 0.09° +floor 3.237 -0.010 4.109 -0.080 -0.006 -1.031 -0.52° +_scene_ 0.070 0.000 0.019 -5.672 -0.005 -5.715 -57.29° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bed <-> floor depth=[1.168, -0.010, 1.461] + !! OVERLAP: table <-> floor depth=[0.453, -0.010, 0.004] + !! OVERLAP: table <-> floor depth=[0.422, -0.010, 0.448] +============================================================ + + +============================================================ +SCENE: Bedroom-1989 | 7 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0000, Walkable Loss: 1.8218 (Center Penalty: 1.2771, C1 Heatmap: 0.4633, C2 Repulsion: 0.8702), Relational Loss: 0.0187 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +bed 0.044 0.694 0.771 1.407 0.127 -0.210 -93.77° +nightstand 0.367 0.722 0.317 1.406 0.001 0.558 -90.07° +wardrobe 3.012 2.436 0.199 -0.388 -0.007 1.701 179.75° +tv_stand 2.067 0.525 0.222 -1.397 -0.004 -0.245 90.09° +lamp 0.957 0.726 0.192 0.168 1.940 -0.840 -0.19° +floor 3.017 -0.001 3.129 0.020 0.000 -0.015 -0.04° +_scene_ 0.069 0.002 0.018 -5.666 -0.003 -5.711 -57.35° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bed <-> floor depth=[0.044, -0.001, 0.771] + !! OVERLAP: nightstand <-> floor depth=[0.307, -0.001, 0.317] + !! OVERLAP: tv_stand <-> floor depth=[1.124, -0.001, 0.222] +============================================================ + + +============================================================ +SCENE: SecondBedroom-143 | 9 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0000, Walkable Loss: 1.5434 (Center Penalty: 0.5289, C1 Heatmap: 0.6364, C2 Repulsion: 2.5266), Relational Loss: 0.0334 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +wardrobe 2.150 2.368 0.526 -1.765 0.000 0.098 89.93° +bed 0.774 1.159 1.676 0.321 0.020 0.989 -179.91° +nightstand 0.638 0.497 0.458 1.584 0.001 1.341 179.98° +nightstand 0.582 0.511 0.506 -1.306 0.001 1.441 179.83° +cabinet 1.157 1.130 0.293 0.662 -0.007 -1.567 0.09° +cabinet 0.962 1.121 0.347 -0.645 -0.001 -1.807 -0.00° +shelf 0.426 1.508 0.350 1.763 -0.006 -1.013 -140.86° +floor 4.518 -0.002 3.709 0.160 -0.005 -0.650 -0.04° +_scene_ 0.067 0.001 0.022 -5.665 -0.005 -5.712 -57.27° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: wardrobe <-> floor depth=[1.408, -0.002, 0.526] + !! OVERLAP: bed <-> floor depth=[0.774, -0.002, 1.053] + !! OVERLAP: nightstand <-> floor depth=[0.638, -0.002, 0.092] + !! OVERLAP: nightstand <-> floor depth=[0.582, -0.002, 0.016] + !! OVERLAP: cabinet <-> floor depth=[1.157, -0.002, 0.293] + !! OVERLAP: cabinet <-> floor depth=[0.962, -0.002, 0.347] + !! OVERLAP: shelf <-> floor depth=[0.426, -0.002, 0.350] +============================================================ + + +============================================================ +SCENE: SecondBedroom-13044 | 5 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0000, Walkable Loss: 1.4803 (Center Penalty: 1.1029, C1 Heatmap: 0.2468, C2 Repulsion: 0.8997), Relational Loss: 0.0212 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +bed 0.938 1.234 1.100 0.856 -0.003 0.630 -86.78° +wardrobe 1.512 2.219 0.230 0.436 -0.004 -1.570 -0.12° +nightstand 0.348 0.517 0.272 1.214 0.001 1.381 -90.13° +floor 3.076 -0.003 3.827 -0.053 0.001 -0.033 -0.02° +_scene_ 0.067 0.000 0.016 -5.674 -0.005 -5.713 -57.30° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bed <-> floor depth=[0.938, -0.003, 1.100] + !! OVERLAP: wardrobe <-> floor depth=[1.512, -0.003, 0.230] + !! OVERLAP: nightstand <-> floor depth=[0.348, -0.003, 0.272] +============================================================ + + +============================================================ +SCENE: Bedroom-8490 | 8 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0000, Walkable Loss: 1.6457 (Center Penalty: 0.6473, C1 Heatmap: 0.6323, C2 Repulsion: 2.4625), Relational Loss: 0.0102 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +wardrobe 3.140 2.458 0.467 -0.298 0.003 -1.618 0.02° +lamp 0.751 0.842 0.776 -0.342 2.053 0.625 -0.16° +bed 1.247 0.957 1.324 -0.359 0.009 1.182 -179.86° +nightstand 0.461 0.569 0.446 1.136 0.000 1.300 179.90° +nightstand 0.570 0.478 0.420 -1.462 0.001 1.499 179.91° +lamp 0.178 0.820 0.066 1.328 0.994 1.330 0.00° +floor 3.441 0.016 3.820 -0.243 0.012 0.822 -0.48° +_scene_ 0.068 0.001 0.020 -5.674 -0.005 -5.715 -57.29° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bed <-> floor depth=[1.247, 0.016, 1.324] + !! OVERLAP: nightstand <-> floor depth=[0.461, 0.016, 0.446] + !! OVERLAP: nightstand <-> floor depth=[0.570, 0.016, 0.420] +============================================================ + + +============================================================ +SCENE: MasterBedroom-424 | 7 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0000, Walkable Loss: 1.0520 (Center Penalty: 0.4915, C1 Heatmap: 0.4174, C2 Repulsion: 1.1329), Relational Loss: 0.0362 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +bed 1.069 1.004 1.759 -0.993 0.011 0.557 89.70° +wardrobe 1.336 1.918 0.418 -0.358 -0.003 -1.883 -0.08° +nightstand 0.638 0.449 0.328 -1.444 0.002 -0.891 90.12° +nightstand 0.453 0.470 0.409 -1.382 0.001 1.835 90.01° +lamp 0.437 0.194 0.573 -0.268 2.434 0.984 -0.58° +floor 3.410 -0.007 4.326 -0.174 0.008 0.770 -0.02° +_scene_ 0.072 0.001 0.018 -5.672 -0.005 -5.711 -57.32° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bed <-> floor depth=[1.069, -0.007, 1.759] + !! OVERLAP: nightstand <-> floor depth=[0.638, -0.007, 0.328] + !! OVERLAP: nightstand <-> floor depth=[0.453, -0.007, 0.409] +============================================================ + + +============================================================ +SCENE: SecondBedroom-32238 | 7 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0000, Walkable Loss: 0.3845 (Center Penalty: 0.2178, C1 Heatmap: 0.1355, C2 Repulsion: 0.2918), Relational Loss: 0.0235 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +bed 0.505 1.947 0.730 1.535 -0.072 0.448 -92.27° +nightstand 0.448 0.625 0.429 1.515 0.001 -0.530 -90.30° +nightstand 0.452 0.644 0.413 1.578 0.001 1.516 -90.05° +cabinet 0.391 0.522 0.295 1.523 -0.001 -1.642 -0.03° +cabinet 0.408 0.637 0.289 -1.114 0.003 -1.520 64.79° +floor 3.547 -0.021 4.148 0.583 0.006 -0.672 -0.39° +_scene_ 0.060 0.013 0.033 -5.671 -0.005 -5.696 -57.28° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bed <-> floor depth=[0.505, -0.021, 0.730] + !! OVERLAP: nightstand <-> floor depth=[0.448, -0.021, 0.429] + !! OVERLAP: nightstand <-> floor depth=[0.452, -0.021, 0.093] + !! OVERLAP: cabinet <-> floor depth=[0.391, -0.021, 0.295] + !! OVERLAP: cabinet <-> floor depth=[0.280, -0.021, 0.289] +============================================================ + + +============================================================ +SCENE: SecondBedroom-258160 | 8 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0000, Walkable Loss: 1.9691 (Center Penalty: 1.2472, C1 Heatmap: 0.4140, C2 Repulsion: 1.9532), Relational Loss: 0.0435 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +bed 0.663 1.292 1.511 0.233 0.050 -1.241 -0.72° +nightstand 0.359 0.515 0.247 -0.529 -0.001 -1.477 0.06° +nightstand 0.429 0.551 0.309 1.550 0.003 -1.541 0.05° +wardrobe 1.602 2.383 0.330 -1.200 0.002 -0.721 90.20° +tv_stand 1.722 1.802 0.215 0.430 0.001 1.467 179.99° +lamp 0.592 0.707 0.516 0.782 2.110 -0.524 0.28° +floor 3.318 -0.001 3.390 -0.000 0.001 0.010 -0.01° +_scene_ 0.069 -0.000 0.021 -5.676 -0.005 -5.716 -57.30° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bed <-> floor depth=[0.663, -0.001, 1.199] + !! OVERLAP: nightstand <-> floor depth=[0.359, -0.001, 0.247] + !! OVERLAP: nightstand <-> floor depth=[0.323, -0.001, 0.299] + !! OVERLAP: wardrobe <-> floor depth=[1.260, -0.001, 0.330] + !! OVERLAP: tv_stand <-> floor depth=[1.722, -0.001, 0.215] +============================================================ + + +============================================================ +SCENE: SecondBedroom-19232 | 6 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0000, Walkable Loss: 0.5404 (Center Penalty: 0.3733, C1 Heatmap: 0.1391, C2 Repulsion: 0.2791), Relational Loss: 0.0200 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +bed 0.216 1.216 1.595 -1.324 -0.025 -0.226 89.52° +nightstand 0.432 0.474 0.350 -1.258 0.002 1.145 90.01° +nightstand 0.403 0.457 0.366 -1.188 0.002 -1.227 90.01° +lamp 0.569 0.332 0.595 0.338 2.345 -0.967 0.27° +floor 3.183 -0.030 4.249 0.195 -0.007 -0.851 0.21° +_scene_ 0.065 0.001 0.020 -5.673 -0.006 -5.714 -57.28° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bed <-> floor depth=[0.180, -0.030, 1.595] + !! OVERLAP: nightstand <-> floor depth=[0.354, -0.030, 0.304] + !! OVERLAP: nightstand <-> floor depth=[0.403, -0.030, 0.366] +============================================================ + + +============================================================ +SCENE: SecondBedroom-6685 | 5 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0000, Walkable Loss: 0.8260 (Center Penalty: 0.3189, C1 Heatmap: 0.5546, C2 Repulsion: 0.3171), Relational Loss: 0.0000 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +wardrobe 1.309 2.110 0.527 0.323 0.001 1.383 179.94° +bed 1.858 1.079 1.900 0.315 -0.000 -0.968 -90.11° +lamp 0.610 0.426 0.622 0.454 2.105 -1.312 0.08° +floor 2.853 -0.025 4.002 0.422 -0.009 -0.870 0.02° +_scene_ 0.066 0.002 0.019 -5.660 -0.005 -5.706 -57.32° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: wardrobe <-> floor depth=[1.309, -0.025, 0.012] + !! OVERLAP: bed <-> floor depth=[1.858, -0.025, 1.900] +============================================================ + + +============================================================ +SCENE: SecondBedroom-24334 | 7 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0000, Walkable Loss: 2.1354 (Center Penalty: 1.2398, C1 Heatmap: 0.6286, C2 Repulsion: 1.9640), Relational Loss: 0.0576 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +nightstand 0.326 0.567 0.102 1.456 -0.008 -1.292 0.29° +desk 1.288 1.609 0.492 0.016 -0.002 -1.521 -0.04° +wardrobe 2.750 2.338 0.466 -1.714 0.001 -0.143 89.94° +lamp 0.630 0.517 0.568 -0.085 1.853 0.988 1.60° +bed 1.011 0.960 1.598 1.034 0.003 -0.386 0.03° +floor 3.421 -0.002 3.338 -0.001 -0.000 -0.014 -0.00° +_scene_ 0.068 0.000 0.020 -5.673 -0.005 -5.714 -57.28° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: nightstand <-> floor depth=[0.326, -0.002, 0.102] + !! OVERLAP: desk <-> floor depth=[1.288, -0.002, 0.409] + !! OVERLAP: wardrobe <-> floor depth=[1.373, -0.002, 0.466] + !! OVERLAP: bed <-> floor depth=[1.011, -0.002, 1.598] +============================================================ + + +============================================================ +SCENE: Bedroom-35352 | 7 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0000, Walkable Loss: 1.1345 (Center Penalty: 0.6599, C1 Heatmap: 0.3529, C2 Repulsion: 0.9612), Relational Loss: 0.0327 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +bed 0.948 1.190 1.608 1.205 0.044 0.152 -90.95° +wardrobe 1.146 2.422 0.532 -1.200 -0.004 0.423 90.00° +nightstand 0.421 0.566 0.417 1.596 0.002 -1.070 -90.11° +nightstand 0.411 0.559 0.382 1.657 0.001 1.345 -90.03° +lamp 1.094 1.004 0.357 0.582 1.695 0.731 0.11° +floor 3.390 0.004 3.977 0.266 -0.006 0.628 0.42° +_scene_ 0.068 0.000 0.021 -5.674 -0.005 -5.715 -57.30° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bed <-> floor depth=[0.948, 0.004, 1.608] + !! OVERLAP: wardrobe <-> floor depth=[0.802, 0.004, 0.532] + !! OVERLAP: nightstand <-> floor depth=[0.421, 0.004, 0.417] + !! OVERLAP: nightstand <-> floor depth=[0.411, 0.004, 0.382] +============================================================ + + +============================================================ +SCENE: MasterBedroom-4284 | 6 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0000, Walkable Loss: 1.3121 (Center Penalty: 0.5940, C1 Heatmap: 0.5661, C2 Repulsion: 1.3262), Relational Loss: 0.0000 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +wardrobe 1.253 2.250 0.505 0.246 -0.008 -1.852 0.02° +bed 1.570 1.393 1.957 0.778 0.003 0.619 -89.78° +nightstand 0.590 0.599 0.431 1.577 0.001 -0.947 -89.98° +nightstand 0.486 0.643 0.459 1.707 0.001 2.029 -90.16° +floor 3.695 -0.002 5.068 0.066 0.006 0.625 -0.02° +_scene_ 0.075 0.002 0.026 -5.672 -0.003 -5.718 -57.31° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: wardrobe <-> floor depth=[1.253, -0.002, 0.310] + !! OVERLAP: bed <-> floor depth=[1.570, -0.002, 1.957] + !! OVERLAP: nightstand <-> floor depth=[0.590, -0.002, 0.431] + !! OVERLAP: nightstand <-> floor depth=[0.449, -0.002, 0.459] +============================================================ + + +============================================================ +SCENE: MasterBedroom-1069 | 7 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0000, Walkable Loss: 1.1128 (Center Penalty: 0.6904, C1 Heatmap: 0.2536, C2 Repulsion: 1.0978), Relational Loss: 0.0483 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +lamp 0.818 0.589 0.775 -0.750 2.183 -0.145 -0.03° +wardrobe 1.240 2.460 0.354 1.674 -0.002 0.613 -90.17° +bed 1.062 0.835 0.969 -0.200 0.008 0.936 -178.26° +nightstand 0.403 0.507 0.364 -1.374 0.004 1.158 179.86° +nightstand 0.316 0.411 0.276 0.915 0.004 1.242 179.96° +floor 4.247 -0.024 2.835 -0.649 0.009 -0.605 -0.40° +_scene_ 0.065 0.001 0.020 -5.673 -0.004 -5.716 -57.29° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: wardrobe <-> floor depth=[0.421, -0.024, 0.354] + !! OVERLAP: bed <-> floor depth=[1.062, -0.024, 0.361] +============================================================ + + +============================================================ +SCENE: MasterBedroom-113 | 7 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0000, Walkable Loss: 2.0795 (Center Penalty: 1.4094, C1 Heatmap: 0.4235, C2 Repulsion: 1.6567), Relational Loss: 0.0383 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +tv_stand 1.848 0.527 0.373 1.385 -0.001 -0.142 -90.18° +bed 1.090 1.071 1.417 -1.080 -0.003 -0.138 91.69° +nightstand 0.570 0.586 0.471 -1.303 0.002 1.121 90.02° +nightstand 0.445 0.529 0.361 -1.205 0.006 -1.016 90.04° +lamp 0.790 0.451 0.218 -0.040 2.225 -0.790 0.15° +floor 2.989 0.001 3.184 0.019 0.001 -0.003 0.00° +_scene_ 0.065 0.002 0.021 -5.671 -0.005 -5.717 -57.30° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: tv_stand <-> floor depth=[1.053, 0.001, 0.373] + !! OVERLAP: bed <-> nightstand depth=[0.445, 0.529, 0.011] + !! OVERLAP: bed <-> floor depth=[0.941, 0.001, 1.417] + !! OVERLAP: nightstand <-> floor depth=[0.458, 0.001, 0.471] + !! OVERLAP: nightstand <-> floor depth=[0.445, 0.001, 0.361] +============================================================ + + +============================================================ +SCENE: SecondBedroom-48968 | 6 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0000, Walkable Loss: 1.4793 (Center Penalty: 0.9833, C1 Heatmap: 0.3150, C2 Repulsion: 1.2197), Relational Loss: 0.0623 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +bed 1.324 1.006 1.115 -0.347 -0.013 -0.841 90.60° +nightstand 0.445 0.461 0.376 -1.299 0.003 -1.156 89.94° +desk 1.194 1.505 0.463 1.265 0.001 -1.143 -90.16° +lamp 0.599 0.246 0.580 -0.245 2.393 -0.583 -0.01° +floor 3.903 -0.006 2.600 -0.437 -0.011 -0.594 -0.24° +_scene_ 0.066 -0.001 0.020 -5.670 -0.005 -5.711 -57.32° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bed <-> floor depth=[1.324, -0.006, 1.115] + !! OVERLAP: nightstand <-> floor depth=[0.445, -0.006, 0.376] + !! OVERLAP: desk <-> floor depth=[0.847, -0.006, 0.463] +============================================================ + + +============================================================ +SCENE: MasterBedroom-9222 | 8 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0000, Walkable Loss: 1.1924 (Center Penalty: 0.3241, C1 Heatmap: 0.5822, C2 Repulsion: 2.0128), Relational Loss: 0.0293 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +bed 0.967 1.429 1.517 -0.980 0.010 -0.615 89.52° +wardrobe 1.737 2.256 0.358 -0.772 -0.001 1.641 179.92° +nightstand 0.485 0.752 0.348 -1.329 0.001 -1.664 90.02° +nightstand 0.553 0.669 0.443 -1.323 0.002 0.685 90.00° +tv_stand 2.051 0.659 0.390 1.512 -0.001 -0.147 -90.13° +lamp 0.679 0.615 -0.008 0.319 2.047 -1.059 -0.09° +floor 3.746 0.081 4.241 0.453 -0.001 -0.870 0.35° +_scene_ 0.069 -0.000 0.017 -5.672 -0.006 -5.710 -57.28° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bed <-> floor depth=[0.923, 0.081, 1.517] + !! OVERLAP: nightstand <-> floor depth=[0.334, 0.081, 0.348] + !! OVERLAP: nightstand <-> floor depth=[0.373, 0.081, 0.443] + !! OVERLAP: tv_stand <-> floor depth=[1.840, 0.081, 0.390] +============================================================ + + +============================================================ +SCENE: Bedroom-32051 | 7 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0000, Walkable Loss: 0.9002 (Center Penalty: 0.2678, C1 Heatmap: 0.6042, C2 Repulsion: 0.7450), Relational Loss: 0.0000 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +bed 1.587 1.021 1.985 1.189 -0.003 0.407 -179.95° +cabinet 1.088 1.051 0.408 -1.288 0.000 -1.358 -0.00° +wardrobe 1.254 2.272 0.494 -0.953 0.001 1.472 179.99° +chair 0.477 0.724 0.516 -1.492 0.005 0.245 -33.56° +lamp 0.298 0.570 0.300 1.209 2.227 -0.028 0.10° +floor 4.451 -0.058 3.447 -0.956 0.001 0.080 -0.44° +_scene_ 0.066 0.000 0.018 -5.677 -0.004 -5.712 -57.30° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bed <-> floor depth=[0.873, -0.058, 1.985] + !! OVERLAP: cabinet <-> floor depth=[1.088, -0.058, 0.408] + !! OVERLAP: wardrobe <-> floor depth=[1.254, -0.058, 0.494] + !! OVERLAP: chair <-> floor depth=[0.477, -0.058, 0.516] +============================================================ + + +============================================================ +SCENE: MasterBedroom-86835 | 7 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0000, Walkable Loss: 1.2371 (Center Penalty: 0.2767, C1 Heatmap: 0.6501, C2 Repulsion: 2.2019), Relational Loss: 0.0246 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +bed 1.084 0.977 1.596 -0.937 0.005 0.831 90.11° +wardrobe 0.800 2.045 0.382 -1.301 0.003 -1.160 90.10° +wardrobe 1.098 2.010 0.398 -0.443 -0.001 -1.427 0.07° +tv_stand 2.590 0.628 0.483 1.532 0.001 0.699 -89.92° +nightstand 0.435 0.526 0.343 -1.644 -0.000 -0.099 90.04° +floor 3.778 0.002 4.675 0.034 0.007 0.880 0.17° +_scene_ 0.074 0.001 0.025 -5.670 -0.005 -5.710 -57.30° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bed <-> nightstand depth=[0.052, 0.526, 0.040] + !! OVERLAP: bed <-> floor depth=[1.084, 0.002, 1.596] + !! OVERLAP: wardrobe <-> wardrobe depth=[0.090, 2.010, 0.123] + !! OVERLAP: wardrobe <-> floor depth=[0.800, 0.002, 0.382] + !! OVERLAP: wardrobe <-> floor depth=[1.098, 0.002, 0.230] + !! OVERLAP: tv_stand <-> floor depth=[1.686, 0.002, 0.483] + !! OVERLAP: nightstand <-> floor depth=[0.428, 0.002, 0.343] +============================================================ + + +============================================================ +SCENE: SecondBedroom-86888 | 6 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0000, Walkable Loss: 0.6464 (Center Penalty: 0.2338, C1 Heatmap: 0.1917, C2 Repulsion: 1.2964), Relational Loss: 0.0285 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +bed 0.692 1.045 0.887 -1.120 -0.051 -0.485 90.24° +nightstand 0.476 0.546 0.348 -1.297 0.001 0.459 90.02° +wardrobe 0.946 1.991 0.350 -0.149 0.001 1.532 -179.82° +nightstand 0.608 0.517 0.325 -1.294 0.003 -1.321 90.10° +floor 2.631 -0.010 3.635 -0.124 -0.026 -0.965 -0.62° +_scene_ 0.070 0.001 0.020 -5.670 -0.004 -5.711 -57.30° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bed <-> floor depth=[0.666, -0.010, 0.887] + !! OVERLAP: nightstand <-> floor depth=[0.381, -0.010, 0.348] + !! OVERLAP: nightstand <-> floor depth=[0.450, -0.010, 0.325] +============================================================ + + +============================================================ +SCENE: MasterBedroom-9583 | 10 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0000, Walkable Loss: 2.3964 (Center Penalty: 1.2686, C1 Heatmap: 0.7239, C2 Repulsion: 2.7436), Relational Loss: 0.0235 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +cabinet 1.008 0.796 0.252 1.609 0.000 -0.413 -90.01° +lamp 0.777 0.785 0.637 -0.367 1.988 0.818 -0.09° +bed 0.947 1.583 1.190 -1.227 -0.004 0.060 90.36° +nightstand 0.404 0.543 0.365 -1.477 0.003 -1.247 90.04° +nightstand 0.324 0.513 0.303 -1.470 0.002 1.047 90.05° +table 0.626 1.281 0.313 -1.445 0.001 1.762 90.00° +wardrobe 2.038 2.242 0.302 -0.511 -0.009 -2.234 0.05° +desk 2.047 0.673 1.101 0.839 -0.001 1.135 -89.79° +floor 3.185 0.001 4.826 -0.009 -0.002 -0.049 0.03° +_scene_ 0.071 -0.000 0.021 -5.671 -0.005 -5.715 -57.30° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: cabinet <-> floor depth=[0.479, 0.001, 0.252] + !! OVERLAP: bed <-> floor depth=[0.847, 0.001, 1.190] + !! OVERLAP: nightstand <-> floor depth=[0.326, 0.001, 0.365] + !! OVERLAP: nightstand <-> floor depth=[0.294, 0.001, 0.303] + !! OVERLAP: table <-> floor depth=[0.469, 0.001, 0.313] + !! OVERLAP: wardrobe <-> floor depth=[2.038, 0.001, 0.302] + !! OVERLAP: desk <-> floor depth=[1.769, 0.001, 1.101] +============================================================ + + +============================================================ +SCENE: SecondBedroom-8823 | 5 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0000, Walkable Loss: 2.5516 (Center Penalty: 2.1193, C1 Heatmap: 0.4379, C2 Repulsion: 0.4097), Relational Loss: 0.0000 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +bed 1.710 1.290 1.889 0.654 0.005 -0.676 -90.09° +nightstand 0.393 0.480 0.381 1.362 0.000 0.948 -90.06° +lamp 0.932 0.855 0.501 -0.095 1.970 -0.139 0.08° +floor 3.147 -0.002 3.102 -0.007 0.001 -0.007 0.01° +_scene_ 0.068 0.000 0.019 -5.674 -0.005 -5.720 -57.28° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bed <-> floor depth=[1.710, -0.002, 1.827] + !! OVERLAP: nightstand <-> floor depth=[0.393, -0.002, 0.381] +============================================================ + + +============================================================ +SCENE: SecondBedroom-13218 | 7 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0000, Walkable Loss: 1.4906 (Center Penalty: 0.7109, C1 Heatmap: 0.5440, C2 Repulsion: 1.7224), Relational Loss: 0.0773 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +bed 1.014 1.499 1.141 -0.923 0.011 0.116 91.41° +wardrobe 2.012 2.231 0.222 -0.447 -0.003 1.400 -180.00° +nightstand 0.469 0.555 0.446 -1.184 0.001 -1.170 90.00° +tv_stand 2.274 0.987 0.351 1.147 -0.004 0.090 -90.02° +lamp 0.264 0.489 0.370 0.210 2.070 0.733 0.10° +floor 3.004 0.064 3.468 -0.929 -0.025 -0.383 -0.49° +_scene_ 0.070 0.001 0.019 -5.667 -0.005 -5.716 -57.24° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bed <-> floor depth=[1.014, 0.064, 1.141] + !! OVERLAP: wardrobe <-> floor depth=[2.012, 0.064, 0.062] + !! OVERLAP: nightstand <-> floor depth=[0.469, 0.064, 0.446] + !! OVERLAP: tv_stand <-> floor depth=[0.564, 0.064, 0.351] +============================================================ + + +============================================================ +SCENE: SecondBedroom-36408 | 9 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0000, Walkable Loss: 1.8022 (Center Penalty: 0.6478, C1 Heatmap: 0.4767, C2 Repulsion: 3.8653), Relational Loss: 0.0309 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +bed 0.660 1.548 1.366 -1.189 0.006 0.593 92.90° +table 0.661 0.529 0.624 -1.381 -0.001 1.740 0.07° +table 0.524 0.547 0.473 -1.498 0.000 -0.644 90.04° +wardrobe 0.743 1.973 0.344 -0.992 0.003 -1.457 0.18° +wardrobe 0.768 2.052 0.426 -0.069 -0.001 -1.532 0.13° +lamp 0.602 0.166 0.615 0.061 2.576 0.770 -0.06° +lamp 1.099 1.164 1.164 -0.974 1.424 1.772 0.13° +floor 3.009 -0.016 4.406 0.043 -0.014 0.776 -0.06° +_scene_ 0.068 -0.000 0.021 -5.672 -0.005 -5.718 -57.30° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bed <-> floor depth=[0.603, -0.016, 1.366] + !! OVERLAP: table <-> floor depth=[0.411, -0.016, 0.624] + !! OVERLAP: table <-> floor depth=[0.226, -0.016, 0.473] + !! OVERLAP: wardrobe <-> floor depth=[0.743, -0.016, 0.142] + !! OVERLAP: wardrobe <-> floor depth=[0.768, -0.016, 0.108] +============================================================ + + +============================================================ +SCENE: MasterBedroom-36389 | 8 objects +============================================================ +Final Step Collision Loss: 0.0048, Room Outer Loss: 0.0000, Walkable Loss: 2.0835 (Center Penalty: 1.3322, C1 Heatmap: 0.5209, C2 Repulsion: 1.6728), Relational Loss: 0.0251 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +bed 1.189 1.225 1.316 -0.008 -0.022 1.055 -89.19° +nightstand 0.385 0.580 0.326 1.585 0.004 1.850 -89.94° +nightstand 0.565 0.648 0.425 1.502 0.000 0.075 -90.12° +wardrobe 1.608 2.202 0.425 0.162 0.000 -1.638 0.07° +wardrobe 1.441 2.136 0.533 -0.279 0.000 -1.174 0.02° +lamp 0.982 0.946 0.954 0.228 1.767 0.926 0.04° +floor 3.008 0.002 4.028 -0.004 0.000 0.061 -0.03° +_scene_ 0.070 0.000 0.021 -5.675 -0.005 -5.716 -57.29° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bed <-> floor depth=[1.189, 0.002, 1.316] + !! OVERLAP: nightstand <-> floor depth=[0.107, 0.002, 0.326] + !! OVERLAP: nightstand <-> floor depth=[0.280, 0.002, 0.425] + !! OVERLAP: wardrobe <-> wardrobe depth=[1.084, 2.136, 0.015] + !! OVERLAP: wardrobe <-> floor depth=[1.608, 0.002, 0.425] + !! OVERLAP: wardrobe <-> floor depth=[1.441, 0.002, 0.533] +============================================================ + + +============================================================ +SCENE: SecondBedroom-7635 | 6 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0000, Walkable Loss: 1.1341 (Center Penalty: 0.2344, C1 Heatmap: 0.6774, C2 Repulsion: 1.7892), Relational Loss: 0.0000 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +bed 1.708 1.518 1.817 1.293 -0.001 0.011 -90.26° +wardrobe 1.397 2.171 0.638 -0.833 -0.001 -1.319 0.05° +desk 1.460 0.746 0.514 -1.686 0.000 0.897 90.03° +chair 0.509 0.609 0.467 -0.948 -0.001 0.638 -90.04° +floor 3.934 0.014 3.580 -1.035 0.004 -0.011 0.28° +_scene_ 0.063 0.001 0.022 -5.669 -0.004 -5.717 -57.31° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bed <-> floor depth=[0.493, 0.014, 1.817] + !! OVERLAP: wardrobe <-> floor depth=[1.397, 0.014, 0.638] + !! OVERLAP: desk <-> chair depth=[0.246, 0.609, 0.230] + !! OVERLAP: desk <-> floor depth=[1.460, 0.014, 0.514] + !! OVERLAP: chair <-> floor depth=[0.509, 0.014, 0.467] +============================================================ + + +============================================================ +SCENE: Bedroom-1541 | 6 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0000, Walkable Loss: 1.5181 (Center Penalty: 1.1812, C1 Heatmap: 0.0923, C2 Repulsion: 1.3152), Relational Loss: 0.0286 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +bed -0.077 1.183 1.326 0.760 0.092 1.391 -89.22° +table 0.284 0.523 0.233 1.286 0.003 0.571 -90.09° +wardrobe 1.344 2.385 -0.056 0.802 0.002 1.124 -179.42° +lamp 0.434 0.778 0.590 -0.224 1.813 -0.978 -0.47° +floor 2.842 -0.001 3.149 0.004 -0.000 -0.006 -0.00° +_scene_ 0.061 0.002 0.021 -5.669 -0.004 -5.715 -57.27° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bed <-> wardrobe depth=[-0.077, 1.183, -0.056] + !! OVERLAP: bed <-> floor depth=[-0.077, -0.001, 0.841] + !! OVERLAP: table <-> floor depth=[0.281, -0.001, 0.233] + !! OVERLAP: wardrobe <-> floor depth=[1.295, -0.001, -0.056] +============================================================ + + +============================================================ +SCENE: Bedroom-11202 | 6 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0000, Walkable Loss: 2.0972 (Center Penalty: 1.4713, C1 Heatmap: 0.5013, C2 Repulsion: 1.1238), Relational Loss: 0.0207 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +bed 1.570 1.195 1.387 0.989 0.014 0.188 -179.60° +wardrobe 1.380 2.198 0.506 -1.478 -0.002 -0.088 89.96° +desk 1.251 0.785 0.450 1.054 0.003 1.235 179.93° +lamp 0.901 0.150 0.627 0.515 2.321 0.548 -0.05° +floor 3.548 -0.002 3.009 -0.003 -0.000 0.009 -0.03° +_scene_ 0.056 0.001 0.016 -5.671 -0.005 -5.714 -57.33° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bed <-> floor depth=[1.567, -0.002, 1.387] + !! OVERLAP: wardrobe <-> floor depth=[0.989, -0.002, 0.506] + !! OVERLAP: desk <-> floor depth=[1.251, -0.002, 0.450] +============================================================ + + +============================================================ +SCENE: Bedroom-26487 | 13 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0000, Walkable Loss: 1.7223 (Center Penalty: 0.6948, C1 Heatmap: 0.5372, C2 Repulsion: 2.9886), Relational Loss: 0.0250 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +bed 0.977 1.387 1.246 -1.110 0.010 0.669 90.94° +nightstand 0.422 0.617 0.356 -1.440 0.001 2.095 90.09° +nightstand 0.510 0.570 0.313 -1.391 0.004 -0.814 90.01° +tv_stand 1.545 0.411 0.334 1.525 -0.000 0.392 -89.97° +wardrobe 1.327 2.394 0.289 -1.207 -0.002 -1.997 0.39° +wardrobe 0.947 2.386 0.370 0.106 -0.006 -1.448 0.07° +lamp 0.068 0.955 0.034 -1.673 1.140 -0.889 0.03° +lamp 0.202 0.804 0.160 -1.427 1.024 1.586 0.06° +lamp 0.729 0.922 0.682 -0.089 1.941 0.786 -0.02° +chair 0.477 0.655 0.350 -0.440 0.003 2.183 155.57° +table 0.634 0.533 0.587 0.462 0.001 2.034 90.07° +floor 3.192 -0.008 4.793 0.012 -0.001 0.729 0.11° +_scene_ 0.070 -0.001 0.023 -5.674 -0.004 -5.716 -57.30° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bed <-> floor depth=[0.962, -0.008, 1.246] + !! OVERLAP: nightstand <-> floor depth=[0.355, -0.008, 0.356] + !! OVERLAP: nightstand <-> floor depth=[0.448, -0.008, 0.313] + !! OVERLAP: tv_stand <-> floor depth=[0.856, -0.008, 0.334] + !! OVERLAP: wardrobe <-> floor depth=[0.947, -0.008, 0.370] + !! OVERLAP: chair <-> floor depth=[0.477, -0.008, 0.350] + !! OVERLAP: table <-> floor depth=[0.634, -0.008, 0.587] +============================================================ + + +============================================================ +SCENE: Bedroom-691 | 5 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0000, Walkable Loss: 1.0774 (Center Penalty: 0.6330, C1 Heatmap: 0.3054, C2 Repulsion: 1.0000), Relational Loss: 0.0014 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +bed 1.568 0.771 0.160 0.958 0.011 0.350 92.29° +lamp 0.350 0.737 0.280 0.005 1.984 -0.827 179.48° +wardrobe 2.142 2.506 0.500 1.390 0.004 0.162 -90.03° +floor 3.266 -0.032 3.224 -0.364 0.017 -0.770 0.22° +_scene_ 0.020 0.004 0.003 -5.537 -0.004 -5.628 -57.39° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bed <-> wardrobe depth=[1.423, 0.771, 0.142] + !! OVERLAP: bed <-> floor depth=[1.095, -0.032, 0.160] + !! OVERLAP: wardrobe <-> floor depth=[0.950, -0.032, 0.500] +============================================================ + + +============================================================ +SCENE: SecondBedroom-14817 | 6 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0000, Walkable Loss: 0.6556 (Center Penalty: 0.2296, C1 Heatmap: 0.3365, C2 Repulsion: 0.7840), Relational Loss: 0.0532 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +nightstand 0.452 0.606 0.388 -0.788 -0.000 -1.238 0.06° +bed 0.902 1.048 1.696 0.491 0.008 -0.938 1.41° +nightstand 0.354 0.625 0.356 1.777 0.001 -0.887 -89.98° +wardrobe 1.158 2.375 0.344 -1.888 -0.001 -0.252 89.98° +floor 4.184 -0.023 2.743 -1.030 -0.020 0.220 -0.61° +_scene_ 0.071 0.000 0.021 -5.672 -0.004 -5.715 -57.31° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: nightstand <-> floor depth=[0.452, -0.023, 0.107] + !! OVERLAP: bed <-> floor depth=[0.902, -0.023, 1.061] + !! OVERLAP: wardrobe <-> floor depth=[1.158, -0.023, 0.344] +============================================================ + + +============================================================ +SCENE: MasterBedroom-30192 | 9 objects +============================================================ +Final Step Collision Loss: 0.0001, Room Outer Loss: 0.0000, Walkable Loss: 2.1115 (Center Penalty: 1.4904, C1 Heatmap: 0.3585, C2 Repulsion: 1.6713), Relational Loss: 0.0406 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +bed 0.691 1.344 0.966 -1.429 0.024 -0.133 91.37° +nightstand 0.498 0.484 0.383 -1.483 0.001 -1.340 90.05° +wardrobe 1.422 2.399 0.411 -0.790 0.005 1.876 179.89° +wardrobe 1.121 2.541 0.051 1.892 -0.039 -1.010 -90.43° +chair 0.712 0.809 0.766 1.486 -0.001 -0.237 -90.08° +lamp 0.612 0.728 0.592 -0.448 2.228 -0.393 -0.07° +nightstand 0.418 0.482 0.337 -1.539 0.007 0.886 89.97° +floor 4.043 -0.004 3.676 -0.123 0.000 -0.020 -0.03° +_scene_ 0.071 0.000 0.022 -5.675 -0.005 -5.714 -57.30° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bed <-> floor depth=[0.691, -0.004, 0.966] + !! OVERLAP: nightstand <-> floor depth=[0.498, -0.004, 0.383] + !! OVERLAP: wardrobe <-> floor depth=[1.422, -0.004, 0.147] + !! OVERLAP: wardrobe <-> floor depth=[0.567, -0.004, 0.051] + !! OVERLAP: chair <-> floor depth=[0.712, -0.004, 0.766] + !! OVERLAP: nightstand <-> floor depth=[0.418, -0.004, 0.337] +============================================================ + + +============================================================ +SCENE: Bedroom-41491 | 6 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0000, Walkable Loss: 1.3182 (Center Penalty: 0.7407, C1 Heatmap: 0.4573, C2 Repulsion: 1.0583), Relational Loss: 0.0000 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +bed 1.187 1.102 2.154 -0.531 0.007 0.998 90.10° +desk 1.088 0.903 0.413 -1.100 -0.001 -1.367 -179.98° +chair 0.429 0.947 0.452 -0.934 0.006 -0.368 -157.66° +lamp 0.591 0.204 0.618 -0.429 2.321 0.655 0.03° +floor 3.064 0.000 4.198 -0.500 0.002 -0.689 0.13° +_scene_ 0.065 0.001 0.017 -5.666 -0.005 -5.714 -57.29° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bed <-> floor depth=[1.187, 0.000, 1.489] + !! OVERLAP: desk <-> floor depth=[1.088, 0.000, 0.413] + !! OVERLAP: chair <-> floor depth=[0.429, 0.000, 0.452] +============================================================ + + +============================================================ +SCENE: MasterBedroom-49865 | 7 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0000, Walkable Loss: 1.8220 (Center Penalty: 1.2365, C1 Heatmap: 0.3888, C2 Repulsion: 1.3724), Relational Loss: 0.0271 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +bed 0.939 1.256 1.752 0.554 0.014 1.129 -179.61° +nightstand 0.406 0.701 0.312 -0.699 0.004 1.191 179.92° +nightstand 0.450 0.617 0.418 1.573 0.001 1.273 179.94° +wardrobe 1.398 2.268 0.465 -1.897 -0.000 0.021 89.86° +lamp 0.369 0.632 0.250 0.882 2.005 0.308 0.53° +floor 4.463 -0.002 2.950 0.001 0.001 -0.042 -0.01° +_scene_ 0.073 -0.001 0.019 -5.673 -0.005 -5.712 -57.31° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bed <-> floor depth=[0.939, -0.002, 1.180] + !! OVERLAP: nightstand <-> floor depth=[0.406, -0.002, 0.312] + !! OVERLAP: nightstand <-> floor depth=[0.450, -0.002, 0.369] + !! OVERLAP: wardrobe <-> floor depth=[1.033, -0.002, 0.465] +============================================================ + + +============================================================ +SCENE: MasterBedroom-16450 | 7 objects +============================================================ +Final Step Collision Loss: 0.0001, Room Outer Loss: 0.0000, Walkable Loss: 1.4708 (Center Penalty: 0.9232, C1 Heatmap: 0.4025, C2 Repulsion: 1.1281), Relational Loss: 0.0004 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +bed 1.302 0.702 1.713 -0.757 -0.008 -0.435 -0.68° +cabinet 0.570 0.896 0.299 -0.935 0.002 1.567 -179.97° +nightstand 0.589 0.645 0.499 1.373 0.002 -1.176 0.03° +nightstand 0.600 0.697 0.376 -1.705 -0.000 -1.424 -0.07° +lamp 0.663 0.475 0.644 -0.707 2.230 0.044 -0.06° +floor 4.339 -0.006 3.521 -0.737 -0.010 0.045 0.13° +_scene_ 0.063 0.000 0.018 -5.672 -0.006 -5.717 -57.30° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bed <-> nightstand depth=[0.003, 0.692, 0.055] + !! OVERLAP: bed <-> floor depth=[1.302, -0.006, 1.713] + !! OVERLAP: cabinet <-> floor depth=[0.570, -0.006, 0.299] + !! OVERLAP: nightstand <-> floor depth=[0.355, -0.006, 0.499] + !! OVERLAP: nightstand <-> floor depth=[0.600, -0.006, 0.376] +============================================================ + + +============================================================ +SCENE: SecondBedroom-14328 | 7 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0000, Walkable Loss: 1.9266 (Center Penalty: 1.1772, C1 Heatmap: 0.4587, C2 Repulsion: 1.9121), Relational Loss: 0.0474 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +table 1.288 1.223 0.319 -1.419 0.011 0.737 179.99° +nightstand 0.620 0.484 0.433 -1.370 0.000 -1.234 -0.00° +bed 0.870 0.772 1.684 0.094 0.013 -0.956 1.28° +nightstand 0.210 0.509 0.226 1.151 -0.004 -1.335 -0.03° +wardrobe 2.356 2.384 -0.180 1.438 -0.002 -0.452 -89.30° +floor 3.469 -0.002 2.980 -0.008 0.001 -0.017 -0.03° +_scene_ 0.065 0.002 0.033 -5.670 -0.005 -5.713 -57.32° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: table <-> floor depth=[0.968, -0.002, 0.319] + !! OVERLAP: nightstand <-> floor depth=[0.620, -0.002, 0.433] + !! OVERLAP: bed <-> wardrobe depth=[0.270, 0.772, -0.180] + !! OVERLAP: bed <-> floor depth=[0.870, -0.002, 1.393] + !! OVERLAP: nightstand <-> floor depth=[0.210, -0.002, 0.226] + !! OVERLAP: wardrobe <-> floor depth=[1.466, -0.002, -0.180] +============================================================ + + +============================================================ +SCENE: SecondBedroom-39108 | 8 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0000, Walkable Loss: 1.2206 (Center Penalty: 0.5740, C1 Heatmap: 0.6630, C2 Repulsion: 0.5808), Relational Loss: 0.0174 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +cabinet 1.114 1.140 0.430 -1.676 0.001 0.292 90.02° +cabinet 1.062 1.059 0.426 -1.639 0.002 -1.515 90.04° +bed 2.068 0.640 2.116 0.960 -0.004 -0.660 -0.15° +lamp 0.432 0.836 0.249 0.505 1.835 -0.520 0.20° +lamp 0.570 0.653 0.586 1.040 2.383 -1.378 -0.01° +lamp 0.204 0.826 0.119 -1.142 1.989 1.223 -89.92° +floor 4.505 -0.026 4.342 0.177 0.003 -0.959 -0.01° +_scene_ 0.064 0.003 0.017 -5.675 -0.005 -5.714 -57.28° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: cabinet <-> floor depth=[0.956, -0.026, 0.430] + !! OVERLAP: cabinet <-> floor depth=[0.968, -0.026, 0.426] + !! OVERLAP: bed <-> floor depth=[2.068, -0.026, 2.116] +============================================================ + + +============================================================ +SCENE: MasterBedroom-19531 | 7 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0000, Walkable Loss: 1.2180 (Center Penalty: 0.6034, C1 Heatmap: 0.3794, C2 Repulsion: 1.5550), Relational Loss: 0.0490 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +lamp 0.549 0.284 0.616 0.660 2.477 -0.020 -0.02° +bed 0.874 1.245 1.439 0.403 -0.043 -1.043 -0.49° +nightstand 0.516 0.627 0.384 -0.888 -0.001 -1.283 0.01° +nightstand 0.467 0.609 0.411 1.453 -0.001 -1.140 -0.05° +wardrobe 1.873 2.580 0.327 -1.761 0.019 -0.407 89.80° +floor 4.006 0.002 2.998 0.444 -0.009 -0.995 -0.21° +_scene_ 0.066 0.000 0.026 -5.673 -0.005 -5.715 -57.29° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bed <-> floor depth=[0.874, 0.002, 1.439] + !! OVERLAP: nightstand <-> floor depth=[0.516, 0.002, 0.384] + !! OVERLAP: nightstand <-> floor depth=[0.467, 0.002, 0.411] + !! OVERLAP: wardrobe <-> floor depth=[0.734, 0.002, 0.327] +============================================================ + + +============================================================ +SCENE: Bedroom-74 | 5 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0000, Walkable Loss: 1.8478 (Center Penalty: 1.3217, C1 Heatmap: 0.5584, C2 Repulsion: 0.3968), Relational Loss: 0.0000 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +bed 1.631 1.596 1.949 -0.985 0.002 0.071 90.07° +lamp 0.555 0.462 0.702 -0.831 2.077 0.506 0.10° +wardrobe 1.550 2.313 0.598 1.317 -0.000 -0.151 -90.09° +floor 3.280 -0.000 3.143 -0.003 0.000 0.014 -0.05° +_scene_ 0.044 0.004 0.005 -5.668 -0.006 -5.716 -57.32° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bed <-> floor depth=[1.473, -0.000, 1.949] + !! OVERLAP: wardrobe <-> floor depth=[1.095, -0.000, 0.598] +============================================================ + + +============================================================ +SCENE: Bedroom-15856 | 8 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0000, Walkable Loss: 1.3485 (Center Penalty: 0.5914, C1 Heatmap: 0.4065, C2 Repulsion: 2.1596), Relational Loss: 0.0172 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +bed 1.124 1.121 1.032 -1.196 -0.028 -0.096 90.23° +nightstand 0.617 0.631 0.455 -1.699 -0.001 -1.240 90.02° +nightstand 0.419 0.737 0.382 -1.787 -0.002 0.897 90.02° +lamp 0.551 0.318 0.447 0.880 2.499 -0.025 -0.10° +chair 0.559 0.818 0.647 1.301 -0.002 -0.357 -29.71° +tv_stand 1.847 0.528 0.320 2.015 0.000 0.272 -89.96° +floor 4.849 -0.020 2.607 0.770 0.007 0.124 -0.11° +_scene_ 0.068 -0.000 0.021 -5.673 -0.005 -5.711 -57.30° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bed <-> floor depth=[1.021, -0.020, 1.032] + !! OVERLAP: nightstand <-> floor depth=[0.265, -0.020, 0.168] + !! OVERLAP: nightstand <-> floor depth=[0.077, -0.020, 0.382] + !! OVERLAP: chair <-> floor depth=[0.559, -0.020, 0.647] + !! OVERLAP: tv_stand <-> floor depth=[1.847, -0.020, 0.320] +============================================================ + + +============================================================ +SCENE: MasterBedroom-3845 | 7 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0000, Walkable Loss: 0.9962 (Center Penalty: 0.3824, C1 Heatmap: 0.4781, C2 Repulsion: 1.1564), Relational Loss: 0.0317 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +wardrobe 2.677 2.520 0.472 -0.487 0.002 1.955 179.93° +bed 0.786 0.751 1.435 -1.363 0.003 -0.559 86.69° +nightstand 0.542 0.558 0.423 -1.545 0.002 -1.694 90.09° +nightstand 0.415 0.600 0.350 -1.511 0.003 0.766 89.99° +lamp 0.620 0.112 0.516 0.116 2.518 -0.942 -0.18° +floor 3.654 0.003 4.401 -0.799 -0.006 -0.406 0.31° +_scene_ 0.064 0.001 0.020 -5.665 -0.004 -5.712 -57.34° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: wardrobe <-> floor depth=[2.677, 0.003, 0.076] + !! OVERLAP: bed <-> floor depth=[0.786, 0.003, 1.435] + !! OVERLAP: nightstand <-> floor depth=[0.542, 0.003, 0.423] + !! OVERLAP: nightstand <-> floor depth=[0.415, 0.003, 0.350] +============================================================ + + +============================================================ +SCENE: MasterBedroom-14075 | 7 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0000, Walkable Loss: 1.8070 (Center Penalty: 1.3519, C1 Heatmap: 0.4409, C2 Repulsion: 0.5120), Relational Loss: 0.0000 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +bed 0.801 0.928 1.139 0.380 -0.010 1.200 -178.28° +tv_stand 2.997 0.790 0.150 -0.018 -0.008 -1.625 -0.25° +lamp 0.524 0.600 0.545 0.633 2.233 0.413 -0.08° +nightstand 0.399 0.450 0.393 1.464 0.000 1.551 -179.96° +nightstand 0.467 0.533 0.397 -1.011 0.001 1.528 179.85° +floor 3.801 -0.002 3.754 0.083 -0.001 -0.031 -0.02° +_scene_ 0.072 0.001 0.031 -5.666 -0.004 -5.708 -57.25° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bed <-> floor depth=[0.801, -0.002, 1.139] + !! OVERLAP: tv_stand <-> floor depth=[2.997, -0.002, 0.150] + !! OVERLAP: nightstand <-> floor depth=[0.399, -0.002, 0.393] + !! OVERLAP: nightstand <-> floor depth=[0.467, -0.002, 0.397] +============================================================ + + +============================================================ +SCENE: Bedroom-22495 | 5 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0000, Walkable Loss: 0.9946 (Center Penalty: 0.4667, C1 Heatmap: 0.5878, C2 Repulsion: 0.2887), Relational Loss: 0.0000 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +bed 1.870 1.421 2.060 0.304 -0.008 1.075 179.88° +lamp 0.799 1.024 0.784 0.376 1.648 0.681 0.00° +wardrobe 1.412 2.112 0.508 0.502 -0.001 -1.497 -0.00° +floor 3.335 0.015 4.198 0.946 -0.019 0.607 0.52° +_scene_ 0.070 0.006 0.027 -5.666 -0.005 -5.717 -57.26° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bed <-> floor depth=[1.870, 0.015, 2.060] + !! OVERLAP: wardrobe <-> floor depth=[1.412, 0.015, 0.249] +============================================================ + + +============================================================ +SCENE: MasterBedroom-22581 | 9 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0000, Walkable Loss: 1.3684 (Center Penalty: 0.3438, C1 Heatmap: 0.5769, C2 Repulsion: 2.8155), Relational Loss: 0.0009 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +desk 1.622 0.729 0.729 1.508 -0.000 -1.615 -0.00° +chair 0.463 0.696 0.545 1.919 0.001 -0.552 179.92° +wardrobe 1.142 2.138 0.328 -2.147 -0.002 -0.178 90.04° +cabinet 0.589 0.999 0.357 1.896 0.002 1.608 179.96° +nightstand 0.587 0.796 0.497 -1.309 -0.000 -1.376 0.04° +bed 1.448 1.108 1.185 -0.065 -0.003 -0.953 1.05° +lamp 0.547 0.332 0.526 0.854 2.200 0.523 0.64° +floor 5.023 -0.037 3.334 1.213 0.006 0.242 0.66° +_scene_ 0.071 0.001 0.022 -5.672 -0.005 -5.710 -57.30° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: desk <-> floor depth=[1.622, -0.037, 0.175] + !! OVERLAP: chair <-> floor depth=[0.463, -0.037, 0.545] + !! OVERLAP: cabinet <-> floor depth=[0.589, -0.037, 0.357] + !! OVERLAP: nightstand <-> floor depth=[0.284, -0.037, 0.297] + !! OVERLAP: bed <-> floor depth=[1.448, -0.037, 1.065] +============================================================ + + +============================================================ +SCENE: Bedroom-54381 | 6 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0000, Walkable Loss: 0.6926 (Center Penalty: 0.4631, C1 Heatmap: 0.1711, C2 Repulsion: 0.4631), Relational Loss: 0.0000 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +bed 0.761 1.203 1.056 -1.078 0.019 -0.292 90.34° +nightstand 0.590 0.566 0.374 -1.402 0.004 -1.419 90.05° +nightstand 0.523 0.549 0.383 -1.397 0.001 1.251 89.98° +lamp 0.876 0.810 0.704 -0.040 1.746 -0.802 0.27° +floor 2.906 -0.023 3.860 0.137 -0.010 -1.055 -0.90° +_scene_ 0.067 0.001 0.017 -5.672 -0.006 -5.712 -57.28° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bed <-> floor depth=[0.619, -0.023, 1.056] + !! OVERLAP: nightstand <-> floor depth=[0.209, -0.023, 0.374] +============================================================ + + +============================================================ +SCENE: Bedroom-5215 | 8 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0000, Walkable Loss: 1.3806 (Center Penalty: 0.5151, C1 Heatmap: 0.5546, C2 Repulsion: 2.1088), Relational Loss: 0.0127 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +bed 1.343 1.170 1.806 0.675 0.004 -1.019 -0.56° +nightstand 0.500 0.486 0.382 -0.508 -0.001 -1.412 -0.06° +table 0.992 1.028 0.478 1.435 0.002 1.839 179.95° +chair 0.499 0.391 0.414 1.231 0.002 1.040 0.02° +wardrobe 1.423 2.071 0.411 -1.649 -0.000 -0.625 90.06° +lamp 0.592 0.156 0.562 0.835 2.397 0.382 0.12° +floor 3.868 -0.003 4.333 0.778 0.002 0.257 -0.03° +_scene_ 0.069 -0.000 0.021 -5.669 -0.005 -5.714 -57.29° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bed <-> floor depth=[1.343, -0.003, 1.794] + !! OVERLAP: nightstand <-> floor depth=[0.500, -0.003, 0.382] + !! OVERLAP: table <-> floor depth=[0.992, -0.003, 0.478] + !! OVERLAP: chair <-> floor depth=[0.499, -0.003, 0.414] + !! OVERLAP: wardrobe <-> floor depth=[0.218, -0.003, 0.411] +============================================================ + + +============================================================ +SCENE: MasterBedroom-12479 | 8 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0000, Walkable Loss: 0.6609 (Center Penalty: 0.2871, C1 Heatmap: 0.3184, C2 Repulsion: 0.5951), Relational Loss: 0.0244 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +bed 0.653 1.494 1.037 -0.135 0.100 -1.611 -1.68° +nightstand 0.475 0.645 0.348 -1.113 0.003 -1.570 -0.03° +nightstand 0.493 0.672 0.463 1.281 0.000 -1.548 -0.02° +shelf 0.574 1.039 0.219 -1.413 0.001 1.506 -179.99° +tv_stand 1.799 0.570 0.388 0.687 0.002 1.615 179.92° +lamp 0.844 0.451 0.636 0.596 2.168 -0.691 -0.27° +floor 3.672 -0.073 3.128 -0.256 0.019 1.068 0.20° +_scene_ 0.071 -0.001 0.021 -5.670 -0.004 -5.712 -57.30° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: shelf <-> floor depth=[0.574, -0.073, 0.219] + !! OVERLAP: tv_stand <-> floor depth=[1.792, -0.073, 0.388] +============================================================ + + +============================================================ +SCENE: SecondBedroom-37794 | 7 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0000, Walkable Loss: 1.3677 (Center Penalty: 0.6930, C1 Heatmap: 0.4465, C2 Repulsion: 1.5880), Relational Loss: 0.0532 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +lamp 0.733 0.996 0.795 -0.278 1.775 0.598 -0.06° +bed 1.455 1.090 1.935 -0.262 0.000 -0.961 -0.20° +nightstand 0.478 0.617 0.418 -1.559 0.001 -1.565 -0.00° +chair 0.435 0.591 0.438 1.440 -0.003 -0.749 82.49° +table 0.502 1.701 0.333 1.767 0.018 -1.500 -90.38° +floor 4.720 0.042 2.797 -0.046 -0.002 1.006 0.16° +_scene_ 0.064 -0.001 0.021 -5.676 -0.004 -5.715 -57.29° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bed <-> floor depth=[1.455, 0.042, 0.398] +============================================================ + + +============================================================ +SCENE: SecondBedroom-69017 | 8 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0000, Walkable Loss: 1.1653 (Center Penalty: 0.5463, C1 Heatmap: 0.4595, C2 Repulsion: 1.2573), Relational Loss: 0.0239 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +bed 0.659 1.294 1.670 -0.522 -0.001 -1.175 1.33° +nightstand 0.431 0.793 0.326 0.840 0.001 -1.485 0.04° +nightstand 0.527 0.798 0.348 -1.651 0.000 -1.402 -0.01° +chair 1.237 0.508 0.643 -0.476 -0.000 1.001 -0.02° +lamp 0.645 0.690 0.664 -0.781 2.006 -0.081 -0.10° +wardrobe 1.701 2.320 0.287 1.531 -0.009 -0.178 -90.55° +floor 4.222 -0.011 3.357 -0.908 0.002 -0.480 0.20° +_scene_ 0.066 0.000 0.023 -5.672 -0.005 -5.713 -57.30° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bed <-> floor depth=[0.659, -0.011, 1.670] + !! OVERLAP: nightstand <-> floor depth=[0.431, -0.011, 0.326] + !! OVERLAP: nightstand <-> floor depth=[0.527, -0.011, 0.348] + !! OVERLAP: chair <-> floor depth=[1.237, -0.011, 0.518] + !! OVERLAP: wardrobe <-> floor depth=[0.522, -0.011, 0.287] +============================================================ + + +============================================================ +SCENE: MasterBedroom-1615 | 8 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0000, Walkable Loss: 1.5214 (Center Penalty: 0.7854, C1 Heatmap: 0.5662, C2 Repulsion: 1.4150), Relational Loss: 0.0307 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +bed 0.958 0.804 1.026 1.278 0.020 0.457 -89.13° +wardrobe 1.971 2.360 0.559 0.497 -0.001 -1.635 0.04° +nightstand 0.421 0.494 0.352 1.307 0.001 -0.604 -90.09° +nightstand 0.396 0.516 0.416 1.270 0.001 1.611 -90.00° +lamp 0.545 0.149 0.611 0.232 2.457 0.738 -0.21° +tv_stand 2.140 0.662 0.368 -1.495 0.002 0.398 90.01° +floor 3.133 -0.020 4.098 -0.106 0.007 0.640 0.05° +_scene_ 0.072 -0.000 0.020 -5.670 -0.004 -5.718 -57.30° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bed <-> floor depth=[0.663, -0.020, 1.026] + !! OVERLAP: wardrobe <-> floor depth=[1.950, -0.020, 0.053] + !! OVERLAP: nightstand <-> floor depth=[0.365, -0.020, 0.352] + !! OVERLAP: nightstand <-> floor depth=[0.389, -0.020, 0.416] + !! OVERLAP: tv_stand <-> floor depth=[1.247, -0.020, 0.368] +============================================================ + + +============================================================ +SCENE: MasterBedroom-8979 | 6 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0000, Walkable Loss: 0.8059 (Center Penalty: 0.2327, C1 Heatmap: 0.2916, C2 Repulsion: 1.6993), Relational Loss: 0.0547 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +wardrobe 1.609 2.319 0.313 -1.610 -0.003 -0.971 90.44° +bed 0.966 1.117 1.109 0.208 0.019 -1.085 -0.20° +nightstand 0.314 0.456 0.338 1.297 -0.000 -1.332 -0.05° +nightstand 0.340 0.484 0.356 -0.862 0.004 -1.097 0.07° +floor 3.900 0.029 2.811 -0.993 0.017 -0.245 -0.28° +_scene_ 0.073 0.001 0.023 -5.673 -0.005 -5.715 -57.29° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: wardrobe <-> nightstand depth=[0.227, 0.484, 0.209] + !! OVERLAP: wardrobe <-> floor depth=[1.609, 0.029, 0.313] + !! OVERLAP: bed <-> floor depth=[0.966, 0.029, 1.109] + !! OVERLAP: nightstand <-> floor depth=[0.340, 0.029, 0.356] +============================================================ + + +============================================================ +SCENE: MasterBedroom-6631 | 8 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0000, Walkable Loss: 2.2567 (Center Penalty: 1.3042, C1 Heatmap: 0.5851, C2 Repulsion: 2.4222), Relational Loss: 0.0205 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +bed 1.166 1.302 1.634 -1.035 0.030 -0.323 89.44° +nightstand 0.419 0.546 0.350 -1.324 0.001 1.075 90.06° +wardrobe 1.890 2.566 0.387 -0.510 0.000 1.605 -179.85° +chair 0.664 0.853 0.660 -1.326 -0.004 -1.631 -10.84° +tv_stand 1.320 0.449 0.325 1.448 -0.001 -0.781 -89.99° +lamp 0.559 0.089 0.529 -0.048 2.414 -0.870 -0.03° +floor 3.637 -0.008 4.481 -0.022 0.001 -0.101 0.00° +_scene_ 0.072 -0.000 0.021 -5.672 -0.005 -5.712 -57.31° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bed <-> floor depth=[1.166, -0.008, 1.634] + !! OVERLAP: nightstand <-> floor depth=[0.419, -0.008, 0.350] + !! OVERLAP: wardrobe <-> floor depth=[1.890, -0.008, 0.387] + !! OVERLAP: chair <-> floor depth=[0.664, -0.008, 0.660] + !! OVERLAP: tv_stand <-> floor depth=[1.008, -0.008, 0.325] +============================================================ + + +============================================================ +SCENE: MasterBedroom-58086 | 5 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0000, Walkable Loss: 1.5271 (Center Penalty: 1.0410, C1 Heatmap: 0.4138, C2 Repulsion: 0.7758), Relational Loss: 0.0029 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +bed 0.150 0.800 1.596 0.098 -0.029 -1.742 -88.36° +wardrobe 2.585 2.404 0.650 -0.190 0.001 1.201 -179.96° +chair -0.071 1.008 0.513 -0.115 0.005 -2.196 -125.03° +floor 3.022 -0.002 3.942 -0.004 0.001 -0.082 -0.01° +_scene_ 0.046 0.014 0.030 -5.561 -0.005 -5.633 -57.68° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bed <-> floor depth=[0.150, -0.002, 1.109] + !! OVERLAP: wardrobe <-> floor depth=[2.585, -0.002, 0.650] + !! OVERLAP: chair <-> floor depth=[-0.071, -0.002, 0.113] +============================================================ + + +============================================================ +SCENE: MasterBedroom-34041 | 7 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0000, Walkable Loss: 0.9523 (Center Penalty: 0.4206, C1 Heatmap: 0.4466, C2 Repulsion: 0.8725), Relational Loss: 0.0553 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +bed 0.402 1.118 1.389 0.649 -0.023 -1.055 -1.21° +nightstand 0.407 0.625 0.390 -0.567 0.000 -1.153 0.00° +wardrobe 3.720 2.658 -0.165 -1.729 -0.020 -0.145 90.25° +nightstand 0.519 0.551 0.485 1.707 0.001 -1.307 -0.00° +lamp 0.578 0.914 0.632 0.905 2.078 -0.012 -0.41° +floor 4.622 0.040 2.428 0.983 -0.042 0.124 1.62° +_scene_ 0.069 0.000 0.021 -5.671 -0.005 -5.712 -57.30° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bed <-> floor depth=[0.402, 0.040, 0.730] + !! OVERLAP: nightstand <-> floor depth=[0.407, 0.040, 0.132] + !! OVERLAP: wardrobe <-> floor depth=[1.459, 0.040, -0.165] + !! OVERLAP: nightstand <-> floor depth=[0.519, 0.040, 0.026] +============================================================ + + +============================================================ +SCENE: MasterBedroom-63654 | 6 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0000, Walkable Loss: 0.8714 (Center Penalty: 0.4198, C1 Heatmap: 0.3420, C2 Repulsion: 0.8902), Relational Loss: 0.0607 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +nightstand 0.444 0.511 0.379 1.227 0.000 -1.709 -0.03° +nightstand 0.488 0.504 0.401 -1.502 -0.001 -1.469 0.02° +lamp 0.978 1.013 0.779 -0.601 1.965 -0.590 0.01° +bed 1.124 1.095 1.895 -0.034 -0.008 -1.120 0.02° +floor 4.266 -0.006 3.868 -1.068 -0.023 -0.172 -0.16° +_scene_ 0.068 0.000 0.020 -5.671 -0.004 -5.715 -57.30° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: nightstand <-> floor depth=[0.060, -0.006, 0.379] + !! OVERLAP: nightstand <-> floor depth=[0.488, -0.006, 0.401] + !! OVERLAP: bed <-> floor depth=[1.124, -0.006, 1.895] +============================================================ + + +============================================================ +SCENE: Bedroom-21085 | 8 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0000, Walkable Loss: 1.1775 (Center Penalty: 0.6914, C1 Heatmap: 0.3410, C2 Repulsion: 1.0664), Relational Loss: 0.0521 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +shelf 0.261 0.665 0.238 1.593 0.002 1.377 -90.09° +nightstand 0.434 0.669 0.465 1.561 -0.001 -0.999 0.06° +nightstand 0.489 0.847 0.394 -0.918 -0.000 -0.962 0.04° +bed 1.019 1.099 1.236 0.902 0.012 0.198 0.71° +wardrobe 1.462 2.433 0.378 -1.962 0.001 -0.163 89.93° +lamp 0.887 0.881 0.890 0.266 2.006 0.676 -0.17° +floor 3.728 -0.025 3.057 -0.279 -0.034 0.967 0.28° +_scene_ 0.071 0.000 0.022 -5.672 -0.005 -5.712 -57.31° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: shelf <-> floor depth=[0.122, -0.025, 0.238] + !! OVERLAP: bed <-> floor depth=[1.019, -0.025, 1.236] + !! OVERLAP: wardrobe <-> floor depth=[0.913, -0.025, 0.378] +============================================================ + + +============================================================ +SCENE: Bedroom-13675 | 5 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0000, Walkable Loss: 0.8695 (Center Penalty: 0.3256, C1 Heatmap: 0.6396, C2 Repulsion: 0.1611), Relational Loss: 0.0000 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +bed 1.755 0.681 1.620 -1.213 -0.016 -0.387 90.14° +wardrobe 2.498 2.496 0.609 1.759 -0.000 -0.055 -90.03° +lamp 0.652 0.798 0.559 -0.375 1.867 -0.838 179.77° +floor 4.184 0.021 3.720 -0.075 0.012 -1.072 0.26° +_scene_ 0.056 0.000 0.011 -5.681 -0.005 -5.719 -57.31° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bed <-> floor depth=[1.755, 0.021, 1.620] + !! OVERLAP: wardrobe <-> floor depth=[1.507, 0.021, 0.609] +============================================================ + + +============================================================ +SCENE: MasterBedroom-32488 | 9 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0000, Walkable Loss: 1.1363 (Center Penalty: 0.2922, C1 Heatmap: 0.5816, C2 Repulsion: 1.8938), Relational Loss: 0.0282 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +table 0.773 1.083 0.318 -2.308 -0.003 -1.301 -0.00° +nightstand 0.450 0.569 0.387 0.354 -0.000 -1.507 0.08° +chair 0.336 0.454 0.389 -2.295 0.003 -0.660 -89.78° +bed 0.700 1.559 1.558 -0.933 -0.003 -0.747 -1.46° +cabinet 0.763 1.070 0.322 -2.159 0.003 1.529 179.99° +lamp 0.769 0.884 0.749 -1.120 1.899 -0.003 -0.03° +wardrobe 3.013 2.356 0.231 1.178 0.001 0.061 -90.20° +floor 6.007 0.021 3.157 -0.954 -0.008 0.577 0.13° +_scene_ 0.084 0.000 0.024 -5.676 -0.003 -5.711 -57.29° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: chair <-> floor depth=[0.336, 0.021, 0.389] + !! OVERLAP: bed <-> floor depth=[0.700, 0.021, 1.034] + !! OVERLAP: cabinet <-> floor depth=[0.763, 0.021, 0.322] + !! OVERLAP: wardrobe <-> floor depth=[2.378, 0.021, 0.231] +============================================================ + + +============================================================ +SCENE: MasterBedroom-45545 | 8 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0000, Walkable Loss: 2.1060 (Center Penalty: 1.3688, C1 Heatmap: 0.4542, C2 Repulsion: 1.8689), Relational Loss: 0.0249 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +table 0.922 1.477 0.410 1.633 0.003 1.501 179.96° +bed 0.765 1.751 1.374 0.326 0.022 -1.486 1.01° +nightstand 0.358 0.564 0.341 -0.957 -0.003 -1.361 -0.05° +nightstand 0.505 0.654 0.356 1.407 -0.000 -1.361 0.09° +lamp 0.621 1.609 0.555 0.687 1.159 -0.204 0.22° +wardrobe 1.945 2.397 0.344 -1.806 0.005 -0.679 90.08° +floor 4.037 -0.003 3.301 0.009 -0.000 -0.042 -0.03° +_scene_ 0.068 0.000 0.019 -5.676 -0.005 -5.717 -57.30° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: table <-> floor depth=[0.856, -0.003, 0.312] + !! OVERLAP: bed <-> floor depth=[0.765, -0.003, 0.894] + !! OVERLAP: nightstand <-> floor depth=[0.358, -0.003, 0.341] + !! OVERLAP: nightstand <-> floor depth=[0.505, -0.003, 0.356] + !! OVERLAP: wardrobe <-> floor depth=[1.176, -0.003, 0.344] +============================================================ + + +============================================================ +SCENE: Bedroom-18759 | 8 objects +============================================================ +Final Step Collision Loss: 0.0005, Room Outer Loss: 0.0000, Walkable Loss: 1.3322 (Center Penalty: 0.5303, C1 Heatmap: 0.5640, C2 Repulsion: 1.7537), Relational Loss: 0.0203 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +bed 1.191 2.140 1.236 -0.805 -0.015 0.864 88.27° +nightstand 0.492 0.436 0.254 -1.594 0.000 -0.117 90.03° +nightstand 0.419 0.476 0.352 -1.391 0.001 1.674 90.04° +tv_stand 1.841 0.593 0.433 1.435 -0.000 0.297 -90.01° +lamp 0.640 0.903 0.657 -0.113 1.622 0.914 -0.03° +wardrobe 1.820 2.302 0.461 -0.483 -0.002 -1.597 0.12° +floor 3.192 0.013 4.417 -0.130 0.001 0.807 -0.89° +_scene_ 0.072 -0.001 0.022 -5.669 -0.004 -5.713 -57.27° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bed <-> floor depth=[1.191, 0.013, 1.236] + !! OVERLAP: nightstand <-> floor depth=[0.378, 0.013, 0.254] + !! OVERLAP: nightstand <-> floor depth=[0.419, 0.013, 0.352] + !! OVERLAP: tv_stand <-> floor depth=[0.952, 0.013, 0.433] + !! OVERLAP: wardrobe <-> floor depth=[1.820, 0.013, 0.035] +============================================================ + + +============================================================ +SCENE: MasterBedroom-29436 | 8 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0000, Walkable Loss: 1.2270 (Center Penalty: 0.4540, C1 Heatmap: 0.6656, C2 Repulsion: 1.2028), Relational Loss: 0.0001 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +bed 1.414 0.954 1.892 0.390 0.005 1.234 -179.14° +wardrobe 1.429 2.243 0.571 -2.148 -0.003 -1.398 0.06° +tv_stand 1.857 0.540 0.448 0.129 0.000 -1.485 0.01° +table 0.484 1.081 0.327 -1.006 0.004 1.726 89.95° +table 0.562 1.175 0.322 2.201 0.002 1.850 -90.06° +lamp 0.914 0.982 0.878 -0.042 1.651 0.884 -0.15° +floor 4.740 -0.002 4.963 -0.475 0.001 0.764 0.08° +_scene_ 0.067 0.000 0.019 -5.674 -0.005 -5.718 -57.30° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bed <-> floor depth=[1.414, -0.002, 1.892] + !! OVERLAP: wardrobe <-> floor depth=[1.411, -0.002, 0.571] + !! OVERLAP: tv_stand <-> floor depth=[1.857, -0.002, 0.448] + !! OVERLAP: table <-> floor depth=[0.484, -0.002, 0.327] +============================================================ + + +============================================================ +SCENE: Bedroom-15797 | 7 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0000, Walkable Loss: 1.2139 (Center Penalty: 0.7552, C1 Heatmap: 0.3145, C2 Repulsion: 1.0353), Relational Loss: 0.0000 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +bed 1.002 1.300 1.128 -0.117 -0.031 -1.498 -89.17° +cabinet 1.114 0.980 0.459 0.446 0.001 1.830 -179.96° +nightstand 0.603 0.778 0.531 1.170 0.001 -1.417 -89.99° +nightstand 0.568 0.740 0.478 1.061 0.000 0.962 -90.10° +lamp 0.437 0.336 0.453 0.157 2.277 -0.652 -0.31° +floor 2.777 -0.013 3.819 -0.536 -0.020 -0.532 0.38° +_scene_ 0.066 0.000 0.018 -5.668 -0.003 -5.713 -57.28° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bed <-> floor depth=[1.002, -0.013, 1.128] + !! OVERLAP: nightstand <-> floor depth=[0.075, -0.013, 0.478] +============================================================ + + +============================================================ +SCENE: MasterBedroom-13658 | 7 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0000, Walkable Loss: 1.5643 (Center Penalty: 1.0613, C1 Heatmap: 0.4129, C2 Repulsion: 0.8629), Relational Loss: 0.0372 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +wardrobe 2.280 2.271 0.552 -0.198 0.001 -2.087 0.07° +bed 0.820 1.001 1.340 -1.039 -0.030 0.546 91.67° +nightstand 0.424 0.528 0.382 -1.394 0.001 -0.857 89.93° +nightstand 0.329 0.515 0.300 -1.370 -0.001 1.584 90.07° +lamp 1.062 0.285 0.672 -0.503 2.106 1.056 -0.73° +floor 3.428 -0.001 4.510 -0.190 -0.002 -0.035 0.05° +_scene_ 0.070 -0.002 0.020 -5.668 -0.004 -5.715 -57.30° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: wardrobe <-> floor depth=[2.280, -0.001, 0.479] + !! OVERLAP: bed <-> floor depth=[0.820, -0.001, 1.340] + !! OVERLAP: nightstand <-> floor depth=[0.424, -0.001, 0.382] + !! OVERLAP: nightstand <-> floor depth=[0.329, -0.001, 0.300] +============================================================ + + +============================================================ +SCENE: Bedroom-53437 | 7 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0000, Walkable Loss: 1.6060 (Center Penalty: 1.2092, C1 Heatmap: 0.2556, C2 Repulsion: 0.9617), Relational Loss: 0.0466 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +bed 0.248 0.959 1.704 0.322 -0.038 1.085 -177.65° +lamp 0.404 0.339 0.375 0.762 2.334 0.704 0.64° +wardrobe 1.744 2.355 0.145 -1.423 -0.012 0.622 90.46° +nightstand 0.377 0.608 0.287 -0.876 0.003 1.307 179.87° +nightstand 0.414 0.601 0.373 1.488 0.005 1.145 179.99° +floor 3.963 -0.002 2.776 -0.010 0.000 -0.001 -0.04° +_scene_ 0.072 -0.001 0.023 -5.676 -0.004 -5.717 -57.29° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bed <-> floor depth=[0.248, -0.002, 1.154] + !! OVERLAP: wardrobe <-> floor depth=[1.441, -0.002, 0.145] + !! OVERLAP: nightstand <-> floor depth=[0.377, -0.002, 0.223] + !! OVERLAP: nightstand <-> floor depth=[0.414, -0.002, 0.373] +============================================================ + + +============================================================ +SCENE: MasterBedroom-1096 | 8 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0000, Walkable Loss: 1.6599 (Center Penalty: 0.9284, C1 Heatmap: 0.4306, C2 Repulsion: 1.9349), Relational Loss: 0.0091 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +bed 1.258 0.940 1.110 0.790 0.029 -0.665 -1.02° +table 0.950 1.115 0.219 0.272 0.004 -1.458 0.00° +wardrobe 1.966 2.091 0.279 -1.562 -0.001 0.164 90.11° +lamp 0.479 0.375 0.492 0.674 2.332 -0.289 0.22° +chair 0.361 0.687 0.421 -0.675 -0.004 -0.938 -161.30° +bookshelf 0.618 1.609 0.246 1.214 0.001 1.154 179.96° +floor 3.385 0.005 2.974 -0.338 0.011 -0.611 -0.05° +_scene_ 0.072 -0.000 0.022 -5.670 -0.004 -5.713 -57.29° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bed <-> floor depth=[1.194, 0.005, 1.110] + !! OVERLAP: table <-> floor depth=[0.950, 0.005, 0.219] + !! OVERLAP: wardrobe <-> floor depth=[1.451, 0.005, 0.279] + !! OVERLAP: chair <-> floor depth=[0.361, 0.005, 0.421] +============================================================ + + +============================================================ +SCENE: Bedroom-20397 | 11 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0000, Walkable Loss: 2.5939 (Center Penalty: 1.4487, C1 Heatmap: 0.5877, C2 Repulsion: 3.3751), Relational Loss: 0.0194 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +wardrobe 1.842 2.535 0.294 -2.077 -0.015 0.887 90.26° +bed 1.248 0.784 1.343 0.316 0.037 0.988 -179.89° +nightstand 0.396 0.768 0.338 1.639 0.002 1.263 179.71° +nightstand 0.395 0.850 0.253 -1.164 0.002 1.693 179.94° +cabinet 1.510 0.893 0.410 0.132 0.001 -1.445 -0.02° +table 0.389 1.606 0.244 1.991 -0.012 -1.075 -50.88° +lamp 0.340 0.852 0.356 -1.049 1.404 1.067 -0.02° +lamp 0.608 0.880 0.590 1.754 1.138 1.810 -0.27° +lamp 0.409 0.187 0.338 0.695 2.352 0.273 -0.21° +floor 4.665 -0.004 3.525 -0.020 0.000 0.103 -0.05° +_scene_ 0.071 -0.002 0.019 -5.674 -0.004 -5.715 -57.28° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: wardrobe <-> lamp depth=[0.063, 0.275, 0.146] + !! OVERLAP: wardrobe <-> floor depth=[1.197, -0.004, 0.294] + !! OVERLAP: bed <-> floor depth=[1.248, -0.004, 1.343] + !! OVERLAP: nightstand <-> floor depth=[0.396, -0.004, 0.338] + !! OVERLAP: nightstand <-> floor depth=[0.395, -0.004, 0.253] + !! OVERLAP: cabinet <-> floor depth=[1.510, -0.004, 0.410] + !! OVERLAP: table <-> floor depth=[0.389, -0.004, 0.244] +============================================================ + + +============================================================ +SCENE: SecondBedroom-6261 | 6 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0000, Walkable Loss: 0.9266 (Center Penalty: 0.2893, C1 Heatmap: 0.2872, C2 Repulsion: 2.0379), Relational Loss: 0.0285 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +nightstand 0.400 0.542 0.316 1.215 0.001 -0.641 -90.30° +lamp 0.903 0.569 0.853 0.011 2.047 0.911 0.07° +bed 0.524 1.235 1.654 1.635 0.005 -0.005 -88.13° +wardrobe 1.888 2.310 0.181 0.510 0.008 -1.338 0.02° +floor 3.031 -0.035 3.975 -0.083 -0.010 1.201 -0.11° +_scene_ 0.073 0.001 0.026 -5.668 -0.003 -5.711 -57.34° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: nightstand <-> bed depth=[0.042, 0.542, 0.316] + !! OVERLAP: nightstand <-> floor depth=[0.400, -0.035, 0.303] + !! OVERLAP: bed <-> floor depth=[0.059, -0.035, 1.608] +============================================================ + + +============================================================ +SCENE: SecondBedroom-9923 | 6 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0000, Walkable Loss: 1.2565 (Center Penalty: 0.4513, C1 Heatmap: 0.7792, C2 Repulsion: 0.9093), Relational Loss: 0.0000 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +bed 1.764 0.743 1.913 0.679 -0.004 -0.897 0.01° +tv_stand 1.754 0.515 0.320 0.631 0.002 1.437 179.95° +wardrobe 2.102 2.387 0.584 -1.586 -0.001 -0.363 89.90° +lamp 0.411 0.852 0.383 0.624 1.708 -0.615 -0.02° +floor 4.057 0.036 3.437 0.888 -0.010 -0.422 1.33° +_scene_ 0.075 0.001 0.022 -5.668 -0.003 -5.711 -57.32° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bed <-> floor depth=[1.764, 0.036, 1.913] + !! OVERLAP: tv_stand <-> floor depth=[1.754, 0.036, 0.020] + !! OVERLAP: wardrobe <-> floor depth=[0.606, 0.036, 0.584] +============================================================ + + +============================================================ +SCENE: Bedroom-38427 | 7 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0000, Walkable Loss: 2.0321 (Center Penalty: 1.5033, C1 Heatmap: 0.3757, C2 Repulsion: 1.1416), Relational Loss: 0.0173 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +lamp 1.011 0.920 0.970 -0.631 2.251 -0.177 -0.08° +wardrobe 1.090 1.704 0.427 0.266 0.005 1.324 -179.86° +bed 1.305 0.817 1.485 -0.138 0.002 -1.195 0.48° +nightstand 0.414 0.442 0.369 -1.402 0.001 -1.618 -0.05° +nightstand 0.454 0.470 0.352 1.054 0.002 -1.687 0.01° +floor 3.143 -0.001 3.737 0.002 0.001 0.029 -0.01° +_scene_ 0.066 0.000 0.018 -5.673 -0.005 -5.715 -57.29° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: wardrobe <-> floor depth=[1.090, -0.001, 0.427] + !! OVERLAP: bed <-> floor depth=[1.305, -0.001, 1.387] + !! OVERLAP: nightstand <-> floor depth=[0.374, -0.001, 0.369] + !! OVERLAP: nightstand <-> floor depth=[0.454, -0.001, 0.329] +============================================================ + + +============================================================ +SCENE: SecondBedroom-48379 | 6 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0000, Walkable Loss: 1.2379 (Center Penalty: 0.7910, C1 Heatmap: 0.4711, C2 Repulsion: 0.3506), Relational Loss: 0.0000 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +bed 1.245 1.999 1.363 -0.807 0.036 -0.575 -91.04° +wardrobe 0.880 1.615 0.351 0.689 -0.001 -1.993 0.06° +lamp 0.537 0.423 0.530 -0.312 2.370 -0.515 0.01° +desk 1.658 0.783 0.777 1.325 0.000 1.204 -90.06° +floor 2.812 0.005 3.828 0.295 0.022 -0.903 1.55° +_scene_ 0.089 -0.002 0.023 -5.666 -0.004 -5.699 -57.30° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bed <-> floor depth=[0.926, 0.005, 1.363] + !! OVERLAP: wardrobe <-> floor depth=[0.880, 0.005, 0.351] + !! OVERLAP: desk <-> floor depth=[1.205, 0.005, 0.195] +============================================================ + + +============================================================ +SCENE: Bedroom-74674 | 5 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0000, Walkable Loss: 1.5264 (Center Penalty: 1.2758, C1 Heatmap: 0.0819, C2 Repulsion: 0.9254), Relational Loss: 0.0101 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +bed 0.391 1.457 0.717 1.041 0.009 -0.421 -91.92° +table 0.537 0.794 0.558 1.194 -0.001 -1.034 -89.83° +lamp 0.621 0.473 0.223 0.676 2.190 -0.595 0.22° +floor 3.017 -0.003 4.106 -0.053 -0.000 -0.038 -0.01° +_scene_ 0.052 0.009 0.008 -5.613 -0.002 -5.679 -57.39° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bed <-> table depth=[0.311, 0.794, 0.025] + !! OVERLAP: bed <-> floor depth=[0.391, -0.003, 0.717] + !! OVERLAP: table <-> floor depth=[0.531, -0.003, 0.558] +============================================================ + + +============================================================ +SCENE: MasterBedroom-41843 | 11 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0000, Walkable Loss: 1.5101 (Center Penalty: 0.7067, C1 Heatmap: 0.4751, C2 Repulsion: 2.1167), Relational Loss: 0.0190 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +lamp 0.769 0.826 0.724 -0.097 1.978 0.994 0.04° +wardrobe 0.899 2.208 0.541 0.502 -0.002 -2.288 0.08° +wardrobe 0.873 2.121 0.421 1.040 0.003 -1.574 -0.02° +bed 0.918 1.380 1.536 1.258 0.010 0.672 -89.30° +nightstand 0.429 0.552 0.375 1.482 0.002 -0.771 -90.04° +nightstand 0.461 0.550 0.484 1.522 0.001 1.905 -89.78° +cabinet 0.983 0.746 0.358 -1.540 0.001 0.828 90.04° +chair 0.506 0.823 0.382 -1.107 0.011 -1.859 37.95° +table 0.395 0.437 0.326 -1.158 0.012 -0.924 9.98° +floor 3.644 0.006 5.228 0.001 -0.002 0.559 0.08° +_scene_ 0.070 0.000 0.020 -5.672 -0.005 -5.714 -57.30° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: wardrobe <-> floor depth=[0.899, 0.006, 0.037] + !! OVERLAP: wardrobe <-> floor depth=[0.873, 0.006, 0.421] + !! OVERLAP: bed <-> floor depth=[0.918, 0.006, 1.536] + !! OVERLAP: nightstand <-> floor depth=[0.429, 0.006, 0.375] + !! OVERLAP: nightstand <-> floor depth=[0.461, 0.006, 0.484] + !! OVERLAP: cabinet <-> floor depth=[0.773, 0.006, 0.358] + !! OVERLAP: chair <-> floor depth=[0.506, 0.006, 0.382] + !! OVERLAP: table <-> floor depth=[0.395, 0.006, 0.326] +============================================================ + + +============================================================ +SCENE: MasterBedroom-21047 | 7 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0000, Walkable Loss: 0.9148 (Center Penalty: 0.4503, C1 Heatmap: 0.2789, C2 Repulsion: 1.2067), Relational Loss: 0.0394 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +wardrobe 1.340 2.386 0.361 1.418 -0.000 -0.675 -89.95° +bed 0.983 0.955 1.055 -0.502 -0.032 -1.220 -1.39° +nightstand 0.442 0.647 0.388 -1.841 0.002 -1.189 -0.03° +nightstand 0.413 0.587 0.394 0.596 -0.000 -1.269 0.03° +lamp 0.876 1.098 0.786 -0.722 1.634 0.132 -0.08° +floor 4.006 0.000 3.096 -1.204 -0.028 0.156 0.16° +_scene_ 0.071 -0.000 0.022 -5.666 -0.004 -5.714 -57.30° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: wardrobe <-> floor depth=[0.051, 0.000, 0.361] + !! OVERLAP: bed <-> floor depth=[0.983, 0.000, 0.700] + !! OVERLAP: nightstand <-> floor depth=[0.442, 0.000, 0.388] + !! OVERLAP: nightstand <-> floor depth=[0.410, 0.000, 0.320] +============================================================ + + +============================================================ +SCENE: MasterBedroom-34469 | 6 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0000, Walkable Loss: 1.3351 (Center Penalty: 0.6155, C1 Heatmap: 0.7181, C2 Repulsion: 0.7259), Relational Loss: 0.0000 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +bed 1.875 0.936 2.164 -0.736 -0.001 -0.868 -0.02° +wardrobe 1.621 2.430 0.491 1.677 0.001 -0.711 -90.14° +table 1.086 1.131 0.549 -1.630 0.002 1.487 179.97° +lamp 0.562 0.524 0.572 -0.375 2.257 -0.676 0.05° +floor 4.390 -0.016 4.322 -0.722 -0.003 0.446 0.15° +_scene_ 0.076 -0.001 0.021 -5.675 -0.005 -5.712 -57.26° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bed <-> floor depth=[1.875, -0.016, 1.929] + !! OVERLAP: wardrobe <-> floor depth=[0.607, -0.016, 0.491] + !! OVERLAP: table <-> floor depth=[1.086, -0.016, 0.549] +============================================================ + + +============================================================ +SCENE: SecondBedroom-35274 | 5 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0000, Walkable Loss: 1.0966 (Center Penalty: 0.6075, C1 Heatmap: 0.5533, C2 Repulsion: 0.2320), Relational Loss: 0.0000 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +lamp 0.678 1.058 0.597 0.580 1.638 0.800 -0.29° +bed 1.790 0.974 2.044 0.662 0.009 0.585 -90.65° +wardrobe 1.313 1.988 0.355 0.390 -0.002 -1.918 0.03° +floor 3.017 -0.045 4.733 0.580 -0.002 0.588 0.19° +_scene_ 0.054 -0.001 0.022 -5.657 -0.006 -5.715 -57.27° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bed <-> floor depth=[1.790, -0.045, 2.044] + !! OVERLAP: wardrobe <-> floor depth=[1.313, -0.045, 0.038] +============================================================ + + +============================================================ +SCENE: SecondBedroom-66007 | 8 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0000, Walkable Loss: 1.8627 (Center Penalty: 1.1877, C1 Heatmap: 0.3387, C2 Repulsion: 2.0199), Relational Loss: 0.0390 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +bed 0.436 1.029 1.877 -0.144 -0.002 1.069 179.63° +nightstand 0.336 0.462 0.210 -1.158 0.001 1.266 -179.95° +desk 1.037 1.009 0.438 1.371 0.001 1.046 180.00° +chair 0.454 0.693 0.302 1.505 0.005 0.164 -16.90° +wardrobe 1.664 2.159 -0.029 -1.486 0.009 0.562 90.64° +lamp 0.870 0.175 0.170 -0.924 2.239 -0.698 -0.35° +floor 3.988 -0.000 2.693 -0.011 0.001 -0.002 -0.02° +_scene_ 0.072 -0.000 0.025 -5.672 -0.004 -5.714 -57.30° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bed <-> floor depth=[0.436, -0.000, 1.214] + !! OVERLAP: nightstand <-> floor depth=[0.336, -0.000, 0.183] + !! OVERLAP: desk <-> floor depth=[1.037, -0.000, 0.438] + !! OVERLAP: chair <-> floor depth=[0.454, -0.000, 0.302] + !! OVERLAP: wardrobe <-> floor depth=[1.351, -0.000, -0.029] +============================================================ + + +============================================================ +SCENE: MasterBedroom-6907 | 9 objects +============================================================ +Final Step Collision Loss: 0.0046, Room Outer Loss: 0.0000, Walkable Loss: 1.4077 (Center Penalty: 0.4919, C1 Heatmap: 0.5880, C2 Repulsion: 2.2267), Relational Loss: 0.0289 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +cabinet 0.844 1.315 0.378 1.333 0.009 -0.736 -90.08° +table 1.192 1.170 0.485 1.752 -0.001 0.975 -90.08° +nightstand 0.545 0.640 0.375 -1.888 0.001 -1.645 89.88° +chair 1.182 0.508 0.362 -0.483 0.001 -0.845 90.22° +bed 1.199 1.490 1.693 -1.396 0.003 -0.059 89.75° +nightstand 0.569 0.630 0.335 -1.998 0.002 1.282 89.98° +chair 0.592 0.823 0.612 -0.220 -0.000 1.550 89.99° +floor 4.217 -0.010 4.189 -0.759 0.000 -0.135 -0.05° +_scene_ 0.060 -0.001 0.018 -5.671 -0.005 -5.716 -57.31° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: cabinet <-> floor depth=[0.438, -0.010, 0.378] + !! OVERLAP: table <-> floor depth=[0.193, -0.010, 0.485] + !! OVERLAP: nightstand <-> floor depth=[0.545, -0.010, 0.375] + !! OVERLAP: chair <-> bed depth=[0.277, 0.508, 0.241] + !! OVERLAP: chair <-> floor depth=[1.182, -0.010, 0.362] + !! OVERLAP: bed <-> floor depth=[1.199, -0.010, 1.693] + !! OVERLAP: nightstand <-> floor depth=[0.569, -0.010, 0.335] + !! OVERLAP: chair <-> floor depth=[0.592, -0.010, 0.612] +============================================================ + + +============================================================ +SCENE: MasterBedroom-9302 | 7 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0000, Walkable Loss: 0.6393 (Center Penalty: 0.2585, C1 Heatmap: 0.3461, C2 Repulsion: 0.5195), Relational Loss: 0.0171 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +bed 0.975 1.344 1.652 -0.250 0.026 1.242 177.11° +nightstand 0.472 0.519 0.361 1.732 0.000 1.515 179.95° +nightstand 0.310 0.583 0.287 -1.503 0.000 1.712 179.95° +table 0.662 1.056 0.450 1.450 0.000 -1.303 0.09° +chair 0.578 0.454 0.560 -0.407 0.001 -0.973 -0.06° +floor 3.908 0.003 3.870 -0.837 -0.006 -0.637 0.17° +_scene_ 0.073 0.003 0.022 -5.663 -0.004 -5.706 -57.30° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bed <-> floor depth=[0.975, 0.003, 0.882] + !! OVERLAP: chair <-> floor depth=[0.578, 0.003, 0.560] +============================================================ + + +============================================================ +SCENE: MasterBedroom-3151 | 5 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0000, Walkable Loss: 0.7725 (Center Penalty: 0.5139, C1 Heatmap: 0.1654, C2 Repulsion: 0.6314), Relational Loss: 0.0261 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +bed 0.699 1.108 1.448 0.970 -0.017 -0.058 -89.64° +nightstand 0.304 0.464 0.299 1.183 0.003 -0.926 -90.20° +lamp 0.660 1.004 0.708 0.375 1.810 0.713 -0.23° +floor 3.063 -0.005 3.618 -0.344 -0.018 1.074 0.09° +_scene_ 0.068 0.000 0.022 -5.665 -0.005 -5.713 -57.31° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bed <-> nightstand depth=[0.289, 0.464, 0.005] + !! OVERLAP: bed <-> floor depth=[0.568, -0.005, 1.402] +============================================================ + + +============================================================ +SCENE: SecondBedroom-13281 | 9 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0000, Walkable Loss: 2.1498 (Center Penalty: 1.4803, C1 Heatmap: 0.5234, C2 Repulsion: 1.2544), Relational Loss: 0.0429 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +bed 1.283 1.191 1.784 -0.093 0.028 1.194 178.80° +wardrobe 1.916 2.342 0.471 0.932 -0.003 -1.075 0.11° +nightstand 0.463 0.499 0.380 1.552 -0.001 1.640 179.93° +nightstand 0.390 0.538 0.366 -1.294 -0.000 1.617 179.90° +lamp 0.503 0.991 0.416 -1.073 1.542 1.640 0.07° +lamp 0.694 0.774 0.728 1.410 1.589 1.704 -0.05° +lamp 0.803 0.940 0.823 0.216 1.800 0.636 -0.15° +floor 3.960 -0.000 3.919 -0.001 0.001 -0.017 -0.05° +_scene_ 0.065 -0.000 0.023 -5.670 -0.005 -5.718 -57.30° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bed <-> floor depth=[1.283, -0.000, 1.641] + !! OVERLAP: wardrobe <-> floor depth=[1.916, -0.000, 0.471] + !! OVERLAP: nightstand <-> floor depth=[0.463, -0.000, 0.380] + !! OVERLAP: nightstand <-> floor depth=[0.390, -0.000, 0.366] +============================================================ + + +============================================================ +SCENE: MasterBedroom-74105 | 8 objects +============================================================ +Final Step Collision Loss: 0.0024, Room Outer Loss: 0.0000, Walkable Loss: 2.3120 (Center Penalty: 1.6266, C1 Heatmap: 0.3990, C2 Repulsion: 1.8310), Relational Loss: 0.0162 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +nightstand 0.306 0.492 0.253 1.390 0.001 0.829 -90.07° +nightstand 0.474 0.546 0.429 1.309 0.002 -1.326 -90.01° +bed 0.883 0.918 1.357 0.507 0.002 -0.899 -89.45° +bookshelf 1.219 1.702 0.257 -1.297 -0.001 -0.979 89.99° +wardrobe 1.730 2.335 0.276 0.632 -0.001 1.366 -179.59° +lamp 0.791 0.898 0.904 -0.156 1.754 -0.578 0.04° +floor 2.935 -0.002 3.549 0.013 -0.000 -0.032 0.01° +_scene_ 0.073 0.000 0.018 -5.670 -0.004 -5.715 -57.28° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: nightstand <-> floor depth=[0.243, -0.002, 0.253] + !! OVERLAP: nightstand <-> floor depth=[0.409, -0.002, 0.429] + !! OVERLAP: bed <-> floor depth=[0.883, -0.002, 1.357] + !! OVERLAP: bookshelf <-> floor depth=[0.767, -0.002, 0.257] + !! OVERLAP: wardrobe <-> floor depth=[1.714, -0.002, 0.276] +============================================================ + + +============================================================ +SCENE: Bedroom-837 | 6 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0000, Walkable Loss: 1.6531 (Center Penalty: 1.1607, C1 Heatmap: 0.3671, C2 Repulsion: 0.9935), Relational Loss: 0.0015 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +bed 0.256 0.642 0.883 1.229 0.004 -0.575 -90.92° +wardrobe 2.563 2.262 0.612 -1.509 -0.005 -0.281 89.97° +nightstand 0.492 0.428 0.390 1.462 0.001 -1.015 -0.07° +lamp 0.323 0.142 0.405 0.979 2.359 -0.277 -88.81° +floor 3.751 0.001 2.883 0.011 0.001 -0.022 -0.03° +_scene_ 0.063 0.001 0.018 -5.669 -0.004 -5.712 -57.29° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bed <-> nightstand depth=[0.140, 0.428, 0.196] + !! OVERLAP: bed <-> floor depth=[0.256, 0.001, 0.883] + !! OVERLAP: wardrobe <-> floor depth=[1.637, 0.001, 0.612] + !! OVERLAP: nightstand <-> floor depth=[0.492, 0.001, 0.390] +============================================================ + + +============================================================ +SCENE: SecondBedroom-24075 | 6 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0000, Walkable Loss: 1.6427 (Center Penalty: 1.2589, C1 Heatmap: 0.2847, C2 Repulsion: 0.7801), Relational Loss: 0.0000 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +bed 1.157 1.434 1.664 0.109 -0.014 1.180 -179.79° +nightstand 0.354 0.479 0.286 -1.253 0.001 1.387 179.89° +nightstand 0.317 0.596 0.249 1.296 0.002 1.327 179.78° +lamp 0.362 0.771 0.562 0.845 2.123 0.312 0.41° +floor 3.548 -0.001 3.161 -0.009 0.001 -0.019 -0.01° +_scene_ 0.066 0.001 0.015 -5.670 -0.005 -5.709 -57.30° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bed <-> floor depth=[1.157, -0.001, 1.214] + !! OVERLAP: nightstand <-> floor depth=[0.354, -0.001, 0.286] + !! OVERLAP: nightstand <-> floor depth=[0.317, -0.001, 0.249] +============================================================ + + +============================================================ +SCENE: Bedroom-22570 | 7 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0000, Walkable Loss: 1.3270 (Center Penalty: 0.4282, C1 Heatmap: 0.6677, C2 Repulsion: 1.8231), Relational Loss: 0.0000 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +bed 1.115 0.934 1.509 0.376 -0.016 1.107 179.74° +nightstand 0.441 0.509 0.357 -0.990 -0.000 1.435 179.86° +nightstand 0.456 0.596 0.439 1.569 0.000 1.545 179.90° +lamp 0.551 0.711 0.574 0.758 1.979 0.410 0.11° +wardrobe 3.493 2.472 0.648 -1.766 0.010 -0.822 89.88° +floor 4.402 0.016 3.248 0.434 -0.004 -0.903 0.11° +_scene_ 0.068 -0.000 0.023 -5.675 -0.005 -5.714 -57.28° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bed <-> floor depth=[1.115, 0.016, 0.369] + !! OVERLAP: wardrobe <-> floor depth=[1.747, 0.016, 0.648] +============================================================ + + +============================================================ +SCENE: MasterBedroom-40255 | 8 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0000, Walkable Loss: 1.5851 (Center Penalty: 0.6616, C1 Heatmap: 0.5474, C2 Repulsion: 2.4277), Relational Loss: 0.0236 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +wardrobe 0.980 2.196 0.444 1.251 -0.002 -2.063 0.02° +wardrobe 1.304 2.234 0.509 -0.960 -0.001 -1.654 0.07° +bed 1.378 1.098 1.757 -0.878 0.004 0.257 89.89° +nightstand 0.497 0.541 0.461 -1.525 -0.000 1.560 90.00° +nightstand 0.388 0.490 0.330 -1.377 0.000 -0.826 90.04° +lamp 0.634 0.871 0.588 -0.510 1.782 0.610 0.09° +floor 3.643 0.036 4.616 0.862 0.017 -0.315 -0.28° +_scene_ 0.071 0.000 0.026 -5.670 -0.005 -5.716 -57.32° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: wardrobe <-> floor depth=[0.980, 0.036, 0.444] + !! OVERLAP: wardrobe <-> floor depth=[0.652, 0.036, 0.509] + !! OVERLAP: bed <-> floor depth=[0.771, 0.036, 1.757] +============================================================ + + +============================================================ +SCENE: SecondBedroom-9594 | 8 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0000, Walkable Loss: 1.2496 (Center Penalty: 0.3195, C1 Heatmap: 0.6591, C2 Repulsion: 2.0141), Relational Loss: 0.0002 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +desk 1.269 0.743 0.533 -1.603 -0.000 -1.177 90.07° +bed 0.800 1.158 1.602 1.090 -0.044 -1.310 -89.52° +wardrobe 2.654 2.149 0.434 0.480 0.001 1.470 -179.89° +nightstand 1.100 0.748 0.330 1.656 0.000 0.356 -90.01° +chair 0.396 0.954 0.413 -0.824 0.003 -1.004 -90.04° +lamp 0.817 0.091 0.851 0.472 2.478 -0.786 0.07° +floor 3.550 -0.021 3.688 0.088 0.008 -1.109 0.19° +_scene_ 0.075 0.000 0.023 -5.670 -0.005 -5.711 -57.32° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: desk <-> chair depth=[0.054, 0.743, 0.300] + !! OVERLAP: desk <-> floor depth=[0.719, -0.021, 0.533] + !! OVERLAP: bed <-> floor depth=[0.800, -0.021, 1.602] + !! OVERLAP: nightstand <-> floor depth=[0.756, -0.021, 0.330] + !! OVERLAP: chair <-> floor depth=[0.396, -0.021, 0.413] +============================================================ + + +============================================================ +SCENE: MasterBedroom-18517 | 12 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0000, Walkable Loss: 0.9877 (Center Penalty: 0.3266, C1 Heatmap: 0.4062, C2 Repulsion: 1.6808), Relational Loss: 0.0220 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +bed 0.739 0.948 1.296 -0.185 -0.007 1.183 179.07° +nightstand 0.552 0.654 0.555 1.006 0.003 1.294 179.94° +nightstand 0.568 0.676 0.385 -1.292 0.001 1.372 179.92° +wardrobe 1.804 2.455 0.258 -2.160 -0.001 0.490 90.02° +chair 0.405 0.692 0.489 1.951 -0.001 -1.228 -32.20° +table 0.296 0.441 0.313 1.825 0.001 -0.257 -89.68° +cabinet 0.640 1.265 0.369 2.071 0.001 1.212 -179.99° +lamp 0.870 0.993 0.875 -0.016 1.778 -0.980 -0.05° +lamp 0.151 1.019 0.141 -1.160 1.678 1.274 0.00° +lamp 0.238 0.700 0.241 1.288 1.741 0.931 0.13° +floor 4.688 -0.024 3.341 -1.051 -0.010 -0.092 -0.81° +_scene_ 0.069 -0.001 0.018 -5.673 -0.005 -5.715 -57.30° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bed <-> floor depth=[0.739, -0.024, 1.044] + !! OVERLAP: nightstand <-> floor depth=[0.552, -0.024, 0.555] + !! OVERLAP: nightstand <-> floor depth=[0.568, -0.024, 0.385] + !! OVERLAP: wardrobe <-> floor depth=[1.804, -0.024, 0.258] +============================================================ + + +============================================================ +SCENE: MasterBedroom-116808 | 6 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0000, Walkable Loss: 1.0594 (Center Penalty: 0.5250, C1 Heatmap: 0.5252, C2 Repulsion: 0.5714), Relational Loss: 0.0000 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +bed 1.481 1.179 1.657 0.671 0.017 1.073 89.83° +nightstand 0.483 0.653 0.369 -1.035 -0.000 1.383 89.99° +lamp 1.189 0.961 1.084 0.301 1.602 0.618 -0.07° +wardrobe 1.847 2.422 0.530 0.096 -0.002 -1.356 0.09° +floor 2.436 0.019 3.411 0.487 -0.018 1.050 -0.25° +_scene_ 0.065 -0.001 0.018 -5.673 -0.004 -5.719 -57.36° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bed <-> floor depth=[1.481, 0.019, 1.657] +============================================================ + + +============================================================ +SCENE: MasterBedroom-34912 | 9 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0000, Walkable Loss: 0.8628 (Center Penalty: 0.3161, C1 Heatmap: 0.3759, C2 Repulsion: 1.2301), Relational Loss: 0.0298 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +table 0.968 1.215 0.339 -2.287 -0.001 -1.391 0.02° +nightstand 0.497 0.635 0.330 0.487 0.008 -1.444 -0.07° +chair 0.382 0.486 0.417 -1.994 -0.000 -0.756 -90.08° +bed 0.553 1.787 0.743 -0.788 -0.008 -1.204 2.25° +cabinet 0.711 0.870 0.454 -1.933 0.001 1.252 -179.87° +lamp 0.672 0.834 0.652 -1.110 1.951 0.183 -0.11° +wardrobe 2.258 2.319 0.208 1.383 -0.015 -0.201 -90.37° +floor 5.313 0.005 2.964 -0.742 0.001 0.526 0.08° +_scene_ 0.071 0.000 0.024 -5.671 -0.005 -5.715 -57.30° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: chair <-> floor depth=[0.382, 0.005, 0.409] + !! OVERLAP: bed <-> floor depth=[0.553, 0.005, 0.124] + !! OVERLAP: cabinet <-> floor depth=[0.711, 0.005, 0.454] + !! OVERLAP: wardrobe <-> floor depth=[1.660, 0.005, 0.208] +============================================================ + + +============================================================ +SCENE: SecondBedroom-3960 | 6 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0000, Walkable Loss: 0.6431 (Center Penalty: 0.3810, C1 Heatmap: 0.2091, C2 Repulsion: 0.4743), Relational Loss: 0.0458 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +bed 0.570 1.984 1.273 -1.268 0.013 -0.478 87.79° +nightstand 0.402 0.488 0.332 -1.250 0.008 0.677 90.03° +nightstand 0.383 0.527 0.311 -1.316 0.004 -1.492 89.99° +wardrobe 0.798 1.991 0.564 -0.099 0.002 2.022 179.99° +floor 3.166 -0.008 3.831 -0.516 -0.001 -0.526 -0.31° +_scene_ 0.069 0.001 0.024 -5.671 -0.005 -5.708 -57.31° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bed <-> floor depth=[0.570, -0.008, 1.273] + !! OVERLAP: nightstand <-> floor depth=[0.402, -0.008, 0.332] + !! OVERLAP: nightstand <-> floor depth=[0.383, -0.008, 0.311] +============================================================ + + +============================================================ +SCENE: MasterBedroom-17206 | 10 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0000, Walkable Loss: 1.2731 (Center Penalty: 0.3379, C1 Heatmap: 0.5761, C2 Repulsion: 2.3716), Relational Loss: 0.0282 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +bed 1.093 1.678 1.275 1.245 0.001 0.277 -90.83° +nightstand 0.485 0.593 0.408 1.352 0.001 1.477 -90.00° +wardrobe 1.461 2.201 0.498 0.583 0.002 -1.945 0.05° +chair 0.427 0.545 0.442 -0.795 0.001 1.593 -89.83° +table 0.803 1.240 0.372 -1.663 0.001 1.567 90.05° +nightstand 0.462 0.548 0.397 1.470 0.000 -0.955 -90.13° +lamp 0.777 0.973 0.761 -0.246 1.771 0.851 0.19° +tv_stand 1.809 0.532 0.342 -1.536 0.002 0.040 90.05° +floor 3.499 -0.013 4.994 -0.104 -0.023 1.124 0.73° +_scene_ 0.070 0.000 0.022 -5.670 -0.005 -5.713 -57.30° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bed <-> floor depth=[0.947, -0.013, 1.275] + !! OVERLAP: nightstand <-> floor depth=[0.485, -0.013, 0.408] + !! OVERLAP: chair <-> floor depth=[0.427, -0.013, 0.442] + !! OVERLAP: table <-> floor depth=[0.592, -0.013, 0.372] + !! OVERLAP: nightstand <-> floor depth=[0.406, -0.013, 0.397] + !! OVERLAP: tv_stand <-> floor depth=[1.222, -0.013, 0.342] +============================================================ + + +============================================================ +SCENE: MasterBedroom-109561 | 8 objects +============================================================ +Final Step Collision Loss: 0.0029, Room Outer Loss: 0.0000, Walkable Loss: 1.4036 (Center Penalty: 0.4972, C1 Heatmap: 0.6184, C2 Repulsion: 2.0586), Relational Loss: 0.0338 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +bed 1.333 1.037 1.629 -0.878 0.000 -0.612 0.70° +lamp 0.997 0.870 0.900 -0.842 1.869 -0.326 0.27° +tv_stand 1.658 0.488 0.382 -0.176 0.004 1.764 179.87° +chair 0.488 0.814 0.510 -1.507 0.001 1.371 0.57° +nightstand 0.575 0.858 0.380 -1.441 0.001 -1.567 0.02° +wardrobe 1.598 2.268 0.432 1.414 -0.001 -0.174 -90.11° +floor 3.689 0.007 4.507 -0.924 -0.004 0.035 0.11° +_scene_ 0.070 0.000 0.025 -5.672 -0.004 -5.713 -57.29° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bed <-> nightstand depth=[0.391, 0.858, 0.049] + !! OVERLAP: bed <-> floor depth=[1.333, 0.007, 1.629] + !! OVERLAP: tv_stand <-> floor depth=[1.658, 0.007, 0.382] + !! OVERLAP: chair <-> floor depth=[0.488, 0.007, 0.510] + !! OVERLAP: nightstand <-> floor depth=[0.575, 0.007, 0.380] + !! OVERLAP: wardrobe <-> floor depth=[0.306, 0.007, 0.432] +============================================================ + + +============================================================ +SCENE: SecondBedroom-30334 | 11 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0000, Walkable Loss: 1.4643 (Center Penalty: 0.2877, C1 Heatmap: 0.6096, C2 Repulsion: 3.4445), Relational Loss: 0.0238 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +bed 1.115 0.939 1.613 0.101 0.016 1.111 179.49° +wardrobe 1.696 2.321 0.499 2.884 -0.000 0.201 -89.97° +wardrobe 1.825 2.409 -0.068 1.924 -0.019 0.280 -91.24° +nightstand 0.442 0.625 0.380 1.231 0.002 1.277 -179.99° +nightstand 0.483 0.696 0.363 -1.540 0.001 1.425 179.87° +chair 0.673 1.015 1.055 -2.092 -0.002 0.146 89.46° +table 0.674 0.515 0.567 -1.654 -0.001 -0.718 -0.02° +lamp 0.449 0.821 0.161 -1.865 1.602 0.012 -89.78° +lamp 0.507 0.834 0.745 -0.242 2.158 -1.027 0.15° +floor 5.556 0.016 2.778 -0.330 -0.019 -1.042 -0.38° +_scene_ 0.072 0.001 0.013 -5.674 -0.005 -5.714 -57.33° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bed <-> floor depth=[1.115, 0.016, 0.043] + !! OVERLAP: wardrobe <-> wardrobe depth=[0.800, 2.321, -0.068] + !! OVERLAP: wardrobe <-> floor depth=[0.412, 0.016, 0.396] + !! OVERLAP: wardrobe <-> floor depth=[1.437, 0.016, -0.068] + !! OVERLAP: chair <-> floor depth=[0.673, 0.016, 0.729] + !! OVERLAP: table <-> floor depth=[0.674, 0.016, 0.567] +============================================================ + + +============================================================ +SCENE: Bedroom-54233 | 9 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0000, Walkable Loss: 0.9669 (Center Penalty: 0.5304, C1 Heatmap: 0.3739, C2 Repulsion: 0.6871), Relational Loss: 0.0006 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +wardrobe 1.141 1.687 0.335 0.697 -0.002 -2.421 0.02° +bed 0.882 0.845 1.246 1.283 -0.019 0.057 -86.26° +nightstand 0.593 0.437 0.373 1.265 0.001 -1.244 -90.12° +nightstand 0.481 0.437 0.387 1.379 -0.000 1.559 -90.12° +table 1.026 1.335 0.504 -1.248 -0.002 1.726 89.96° +chair 0.457 0.502 0.361 -0.105 0.005 2.034 -110.31° +lamp 0.728 0.131 0.712 0.130 2.397 0.707 -0.01° +floor 2.665 0.029 5.410 -0.181 -0.015 0.982 0.20° +_scene_ 0.078 0.002 0.020 -5.666 -0.003 -5.713 -57.32° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bed <-> floor depth=[0.309, 0.029, 1.246] + !! OVERLAP: nightstand <-> floor depth=[0.183, 0.029, 0.373] + !! OVERLAP: nightstand <-> floor depth=[0.013, 0.029, 0.387] + !! OVERLAP: table <-> floor depth=[0.779, 0.029, 0.504] + !! OVERLAP: chair <-> floor depth=[0.457, 0.029, 0.361] +============================================================ + + +============================================================ +SCENE: Bedroom-17102 | 6 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0000, Walkable Loss: 0.9832 (Center Penalty: 0.4415, C1 Heatmap: 0.4164, C2 Repulsion: 1.0427), Relational Loss: 0.0121 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +bed 1.044 1.577 1.734 -0.834 -0.006 0.667 90.36° +table 0.390 0.623 0.296 -1.117 -0.000 1.402 0.60° +lamp 0.555 0.757 0.514 0.176 2.027 0.860 -0.06° +wardrobe 1.597 2.403 0.560 -0.582 -0.004 -1.957 0.12° +floor 3.221 0.011 4.189 0.558 0.025 -0.857 0.92° +_scene_ 0.074 0.001 0.021 -5.673 -0.005 -5.714 -57.32° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bed <-> table depth=[0.390, 0.623, 0.280] + !! OVERLAP: bed <-> floor depth=[0.740, 0.011, 1.438] + !! OVERLAP: wardrobe <-> floor depth=[1.269, 0.011, 0.560] +============================================================ + + +============================================================ +SCENE: MasterBedroom-40319 | 10 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0000, Walkable Loss: 1.3967 (Center Penalty: 0.6486, C1 Heatmap: 0.3461, C2 Repulsion: 2.3562), Relational Loss: 0.0249 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +wardrobe 1.619 2.387 0.339 -1.715 0.000 -1.045 89.84° +lamp 0.355 0.628 0.349 -1.165 1.585 -1.405 -0.06° +lamp 0.233 0.959 0.235 1.550 1.388 -1.490 0.06° +lamp 0.661 0.870 0.686 -0.288 1.847 -0.692 -0.03° +table 0.965 1.196 0.384 1.282 0.001 1.281 -179.98° +bed 0.561 1.118 1.438 -0.050 -0.039 -1.176 1.02° +nightstand 0.417 0.450 0.346 1.376 0.002 -1.476 0.00° +nightstand 0.279 0.500 0.265 -1.174 0.006 -1.548 -0.13° +floor 3.763 -0.006 3.241 -0.447 0.003 -0.692 0.10° +_scene_ 0.067 0.000 0.015 -5.673 -0.005 -5.714 -57.30° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: wardrobe <-> floor depth=[1.422, -0.006, 0.339] + !! OVERLAP: bed <-> floor depth=[0.561, -0.006, 1.438] + !! OVERLAP: nightstand <-> floor depth=[0.267, -0.006, 0.346] + !! OVERLAP: nightstand <-> floor depth=[0.279, -0.006, 0.265] +============================================================ + + +============================================================ +SCENE: MasterBedroom-28978 | 9 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0000, Walkable Loss: 2.3655 (Center Penalty: 1.3935, C1 Heatmap: 0.5784, C2 Repulsion: 2.5463), Relational Loss: 0.0181 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +nightstand 0.395 0.500 0.338 1.139 0.000 -1.338 0.06° +bookshelf 1.152 1.942 0.221 -0.121 -0.001 -1.613 0.14° +wardrobe 2.116 2.326 0.321 0.357 -0.002 1.600 -180.00° +chair 0.489 0.862 0.417 -0.530 0.005 -0.954 -110.37° +desk 1.108 0.818 0.518 -1.504 -0.002 1.270 90.01° +bed 1.047 1.190 1.460 1.272 -0.032 0.082 -91.35° +lamp 0.583 0.413 0.564 -0.317 2.397 0.770 0.40° +floor 3.357 -0.001 3.487 -0.012 -0.000 0.003 0.01° +_scene_ 0.066 -0.000 0.021 -5.673 -0.005 -5.716 -57.30° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: nightstand <-> floor depth=[0.395, -0.001, 0.338] + !! OVERLAP: bookshelf <-> floor depth=[1.152, -0.001, 0.221] + !! OVERLAP: wardrobe <-> floor depth=[2.116, -0.001, 0.307] + !! OVERLAP: chair <-> floor depth=[0.489, -0.001, 0.417] + !! OVERLAP: desk <-> floor depth=[0.739, -0.001, 0.518] + !! OVERLAP: bed <-> floor depth=[0.918, -0.001, 1.460] +============================================================ + + +============================================================ +SCENE: MasterBedroom-392 | 9 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0000, Walkable Loss: 1.3577 (Center Penalty: 0.4875, C1 Heatmap: 0.5057, C2 Repulsion: 2.3279), Relational Loss: 0.0221 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +wardrobe 2.248 2.390 0.305 -0.359 -0.002 -1.949 0.01° +nightstand 0.333 0.595 0.298 -1.402 0.000 -0.898 90.16° +nightstand 0.391 0.564 0.258 -0.934 0.019 -0.516 90.13° +nightstand 0.527 0.599 0.414 -1.385 0.001 1.742 90.02° +bed 1.104 0.887 1.377 -1.420 -0.026 0.386 87.95° +bookshelf 0.975 2.082 0.384 1.408 0.001 1.374 -90.05° +lamp 0.592 0.947 0.635 0.049 1.672 0.928 -0.19° +floor 2.905 0.019 5.206 -0.073 -0.008 0.909 0.70° +_scene_ 0.064 -0.000 0.016 -5.670 -0.005 -5.713 -57.29° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: nightstand <-> floor depth=[0.290, 0.019, 0.298] + !! OVERLAP: nightstand <-> floor depth=[0.391, 0.019, 0.258] + !! OVERLAP: nightstand <-> floor depth=[0.404, 0.019, 0.414] + !! OVERLAP: bed <-> floor depth=[0.658, 0.019, 1.377] + !! OVERLAP: bookshelf <-> floor depth=[0.459, 0.019, 0.384] +============================================================ + + +============================================================ +SCENE: MasterBedroom-3712 | 6 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0000, Walkable Loss: 0.9537 (Center Penalty: 0.3553, C1 Heatmap: 0.4996, C2 Repulsion: 0.9934), Relational Loss: 0.0583 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +lamp 0.497 0.581 0.515 0.996 2.180 -0.418 0.25° +desk 1.497 0.763 0.896 1.026 0.006 0.302 0.22° +chair 0.535 0.775 0.501 0.587 -0.017 -1.103 136.19° +bed 1.451 1.261 1.411 -1.070 -0.006 0.721 91.25° +floor 2.814 0.001 2.686 0.783 -0.038 -0.817 1.18° +_scene_ 0.059 0.001 0.017 -5.674 -0.004 -5.717 -57.31° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: desk <-> floor depth=[1.497, 0.001, 0.672] + !! OVERLAP: chair <-> floor depth=[0.535, 0.001, 0.501] + !! OVERLAP: bed <-> floor depth=[0.279, 0.001, 0.510] +============================================================ + + +============================================================ +SCENE: MasterBedroom-1446 | 9 objects +============================================================ +Final Step Collision Loss: 0.0004, Room Outer Loss: 0.0000, Walkable Loss: 1.0169 (Center Penalty: 0.2086, C1 Heatmap: 0.5129, C2 Repulsion: 1.9901), Relational Loss: 0.0073 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +bed 1.431 0.798 1.466 1.444 -0.004 1.028 -179.82° +nightstand 0.350 0.565 0.300 2.229 0.001 1.850 -180.00° +wardrobe 1.415 2.066 0.426 -1.800 -0.002 -1.312 0.20° +lamp 0.210 0.942 0.238 0.732 1.833 0.593 -0.07° +chair 0.542 0.880 0.492 -0.896 0.005 1.632 -156.91° +chair 0.593 0.897 0.729 -1.776 -0.002 1.616 146.98° +chair 0.669 0.408 0.382 2.225 -0.001 -0.545 179.96° +floor 5.541 -0.014 4.393 1.249 -0.004 0.312 0.20° +_scene_ 0.059 -0.000 0.012 -5.672 -0.005 -5.717 -57.30° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bed <-> nightstand depth=[0.105, 0.565, 0.061] + !! OVERLAP: bed <-> floor depth=[1.431, -0.014, 1.466] + !! OVERLAP: nightstand <-> floor depth=[0.350, -0.014, 0.300] + !! OVERLAP: wardrobe <-> floor depth=[0.429, -0.014, 0.426] + !! OVERLAP: chair <-> floor depth=[0.542, -0.014, 0.492] + !! OVERLAP: chair <-> floor depth=[0.042, -0.014, 0.729] + !! OVERLAP: chair <-> floor depth=[0.669, -0.014, 0.382] +============================================================ + + +============================================================ +SCENE: SecondBedroom-6847 | 8 objects +============================================================ +Final Step Collision Loss: 0.0022, Room Outer Loss: 0.0000, Walkable Loss: 2.2760 (Center Penalty: 1.3763, C1 Heatmap: 0.4539, C2 Repulsion: 2.6833), Relational Loss: 0.0317 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +bed 0.785 1.092 1.506 0.981 -0.012 0.055 -89.73° +cabinet 1.296 2.081 0.449 0.830 -0.002 1.457 -179.93° +nightstand 0.431 0.590 0.440 1.522 0.008 0.620 -90.21° +nightstand 0.670 0.642 0.492 1.309 0.001 -1.345 -89.87° +cabinet 1.354 1.864 0.380 -1.580 0.002 -0.954 89.93° +lamp 0.295 1.489 0.322 -0.368 1.141 -0.782 -0.06° +floor 3.147 -0.003 3.785 0.009 0.001 -0.037 -0.02° +_scene_ 0.068 0.000 0.021 -5.674 -0.004 -5.712 -57.31° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bed <-> nightstand depth=[0.067, 0.590, 0.407] + !! OVERLAP: bed <-> floor depth=[0.785, -0.003, 1.506] + !! OVERLAP: cabinet <-> floor depth=[1.296, -0.003, 0.449] + !! OVERLAP: nightstand <-> floor depth=[0.276, -0.003, 0.440] + !! OVERLAP: nightstand <-> floor depth=[0.608, -0.003, 0.492] + !! OVERLAP: cabinet <-> floor depth=[0.661, -0.003, 0.380] +============================================================ + + +============================================================ +SCENE: MasterBedroom-12183 | 8 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0000, Walkable Loss: 1.8289 (Center Penalty: 1.2488, C1 Heatmap: 0.3405, C2 Repulsion: 1.5384), Relational Loss: 0.0195 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +desk 1.527 0.789 0.694 -1.417 -0.002 -0.596 90.03° +bed 0.631 1.234 1.360 0.513 0.041 -0.983 1.27° +nightstand 0.383 0.596 0.363 -0.574 -0.000 -1.308 0.05° +nightstand 0.451 0.602 0.450 1.524 -0.000 -1.185 0.04° +lamp 0.372 0.270 0.374 0.779 2.355 -0.569 -0.27° +lamp 0.659 0.836 0.661 -1.608 1.937 -1.194 -0.01° +floor 4.287 -0.002 2.962 -0.096 -0.000 -0.016 -0.02° +_scene_ 0.070 0.000 0.022 -5.673 -0.005 -5.712 -57.31° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: desk <-> floor depth=[1.527, -0.002, 0.694] + !! OVERLAP: bed <-> floor depth=[0.631, -0.002, 1.194] + !! OVERLAP: nightstand <-> floor depth=[0.383, -0.002, 0.363] + !! OVERLAP: nightstand <-> floor depth=[0.451, -0.002, 0.450] +============================================================ + + +============================================================ +SCENE: Bedroom-8136 | 5 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0000, Walkable Loss: 1.3801 (Center Penalty: 0.6915, C1 Heatmap: 0.7136, C2 Repulsion: 0.5882), Relational Loss: 0.0000 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +bed 1.764 1.114 1.941 -0.655 0.007 -0.589 89.73° +wardrobe 2.536 2.475 0.528 -0.278 0.001 1.673 -179.91° +lamp 0.577 0.758 0.631 -0.257 2.085 -0.733 -0.00° +floor 3.287 0.044 4.416 -0.581 -0.012 -0.727 -0.05° +_scene_ 0.054 0.001 0.012 -5.682 -0.008 -5.720 -57.15° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bed <-> floor depth=[1.764, 0.044, 1.941] + !! OVERLAP: wardrobe <-> floor depth=[2.536, 0.044, 0.072] +============================================================ + + +============================================================ +SCENE: MasterBedroom-24714 | 7 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0000, Walkable Loss: 1.1284 (Center Penalty: 0.4999, C1 Heatmap: 0.5474, C2 Repulsion: 0.9528), Relational Loss: 0.0406 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +wardrobe 1.723 2.275 0.453 0.360 -0.000 -1.596 0.06° +bed 1.152 1.344 1.420 1.178 -0.022 0.677 -89.93° +tv_stand 1.807 0.503 0.386 -1.411 -0.000 0.693 90.01° +nightstand 0.566 0.686 0.338 1.409 0.002 -0.793 -90.23° +lamp 1.131 0.826 1.098 -0.048 2.011 0.813 0.14° +floor 3.176 0.026 3.733 -0.432 -0.011 0.797 0.28° +_scene_ 0.072 0.000 0.024 -5.671 -0.005 -5.713 -57.30° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bed <-> floor depth=[0.554, 0.026, 1.420] + !! OVERLAP: tv_stand <-> floor depth=[1.513, 0.026, 0.386] + !! OVERLAP: nightstand <-> floor depth=[0.030, 0.026, 0.338] +============================================================ + + +============================================================ +SCENE: Bedroom-13858 | 7 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0000, Walkable Loss: 1.0145 (Center Penalty: 0.3441, C1 Heatmap: 0.3911, C2 Repulsion: 1.7877), Relational Loss: 0.0496 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +bed 1.410 1.311 1.619 -0.337 -0.026 -1.240 -0.48° +wardrobe 0.839 2.279 0.308 1.373 -0.002 -0.620 -179.75° +nightstand 0.472 0.637 0.391 1.181 0.001 -1.562 0.03° +nightstand 0.506 0.557 0.379 -1.462 -0.000 -1.544 0.02° +lamp 0.989 0.797 1.116 -0.566 2.090 -0.860 0.03° +floor 3.988 0.001 3.546 -0.931 -0.002 -0.025 0.08° +_scene_ 0.070 0.001 0.024 -5.669 -0.005 -5.715 -57.30° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bed <-> floor depth=[1.410, 0.001, 1.367] + !! OVERLAP: wardrobe <-> floor depth=[0.109, 0.001, 0.308] + !! OVERLAP: nightstand <-> floor depth=[0.118, 0.001, 0.391] + !! OVERLAP: nightstand <-> floor depth=[0.506, 0.001, 0.379] +============================================================ + + +============================================================ +SCENE: MasterBedroom-118 | 5 objects +============================================================ +Final Step Collision Loss: 0.0051, Room Outer Loss: 0.0000, Walkable Loss: 0.6190 (Center Penalty: 0.2661, C1 Heatmap: 0.1911, C2 Repulsion: 0.9999), Relational Loss: 0.0082 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +bed 0.739 1.078 1.551 -1.070 -0.000 -0.426 92.02° +table 0.364 0.561 0.367 -1.235 0.002 -0.992 90.06° +lamp 0.656 1.132 1.279 -0.704 1.946 0.619 0.03° +floor 2.421 -0.010 3.481 -0.147 0.022 -1.425 0.64° +_scene_ 0.062 0.001 0.037 -5.669 -0.005 -5.714 -57.29° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bed <-> table depth=[0.364, 0.561, 0.367] + !! OVERLAP: bed <-> floor depth=[0.657, -0.010, 1.516] + !! OVERLAP: table <-> floor depth=[0.304, -0.010, 0.367] +============================================================ + + +============================================================ +SCENE: LivingRoom-37659 | 10 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0000, Walkable Loss: 0.9137 (Center Penalty: 0.2148, C1 Heatmap: 0.4709, C2 Repulsion: 1.6108), Relational Loss: 0.0012 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +sofa 1.586 0.923 0.831 1.929 0.000 1.148 -90.07° +chair 0.620 0.868 0.695 0.611 -0.000 2.495 -179.89° +chair 0.514 0.440 0.454 0.892 -0.002 -0.715 -0.19° +table 1.129 0.542 0.572 -0.324 -0.001 1.037 -0.01° +chair 0.515 0.804 0.529 -0.744 -0.003 2.350 130.20° +table 0.668 0.658 0.418 -1.887 0.001 -2.152 0.08° +table 0.515 0.621 0.452 -1.814 -0.006 2.754 -0.04° +lamp 0.303 1.048 0.351 0.534 1.393 1.302 -0.13° +floor 4.436 -0.022 6.518 -0.540 0.003 1.222 -0.23° +_scene_ 0.071 -0.001 0.020 -5.668 -0.004 -5.712 -57.29° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: sofa <-> floor depth=[0.541, -0.022, 0.831] + !! OVERLAP: chair <-> floor depth=[0.620, -0.022, 0.695] + !! OVERLAP: chair <-> floor depth=[0.514, -0.022, 0.454] + !! OVERLAP: table <-> floor depth=[1.129, -0.022, 0.572] + !! OVERLAP: chair <-> floor depth=[0.515, -0.022, 0.529] + !! OVERLAP: table <-> floor depth=[0.668, -0.022, 0.094] + !! OVERLAP: table <-> floor depth=[0.515, -0.022, 0.452] +============================================================ + + +============================================================ +SCENE: LivingRoom-1520 | 14 objects +============================================================ +Final Step Collision Loss: 0.0009, Room Outer Loss: 0.0000, Walkable Loss: 1.4850 (Center Penalty: 0.2592, C1 Heatmap: 0.5663, C2 Repulsion: 3.8637), Relational Loss: 0.0320 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +sofa 1.610 0.834 0.510 0.014 -0.012 1.893 91.36° +table 1.120 0.585 0.755 -0.594 0.001 1.480 90.06° +tv_stand 1.657 0.529 0.303 1.405 0.001 1.836 -89.77° +chair 0.374 0.501 0.367 -0.994 0.002 0.426 -0.14° +table 0.681 0.702 0.508 -0.650 0.008 -1.852 -0.59° +chair 0.452 1.060 0.501 -1.564 -0.001 -1.052 -179.95° +chair 0.435 1.095 0.430 -0.546 0.002 -1.089 -179.91° +chair 0.385 1.004 0.420 -0.701 -0.001 -2.669 -1.63° +chair 0.431 1.062 0.514 -1.792 -0.001 -2.193 0.04° +cabinet 1.295 0.887 0.442 0.234 0.001 -3.201 0.06° +lamp 0.432 0.929 0.360 -1.345 1.644 -1.638 -0.04° +lamp 0.667 0.921 0.423 -0.746 1.674 1.723 -0.03° +floor 4.040 0.019 6.223 -1.058 0.000 -0.152 0.20° +_scene_ 0.070 -0.001 0.022 -5.673 -0.005 -5.715 -57.30° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: sofa <-> table depth=[0.757, 0.585, 0.220] + !! OVERLAP: sofa <-> tv_stand depth=[0.243, 0.529, 0.303] + !! OVERLAP: sofa <-> floor depth=[1.610, 0.019, 0.510] + !! OVERLAP: table <-> floor depth=[1.120, 0.019, 0.755] + !! OVERLAP: tv_stand <-> floor depth=[0.387, 0.019, 0.303] + !! OVERLAP: chair <-> floor depth=[0.374, 0.019, 0.367] + !! OVERLAP: table <-> floor depth=[0.681, 0.019, 0.508] + !! OVERLAP: chair <-> floor depth=[0.452, 0.019, 0.501] + !! OVERLAP: chair <-> floor depth=[0.435, 0.019, 0.430] + !! OVERLAP: chair <-> floor depth=[0.385, 0.019, 0.420] + !! OVERLAP: chair <-> floor depth=[0.431, 0.019, 0.514] + !! OVERLAP: cabinet <-> floor depth=[1.295, 0.019, 0.284] +============================================================ + + +============================================================ +SCENE: LivingRoom-17951 | 6 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0000, Walkable Loss: 1.4116 (Center Penalty: 0.8774, C1 Heatmap: 0.4267, C2 Repulsion: 0.9645), Relational Loss: 0.0000 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +sofa 1.797 0.766 0.744 -1.246 0.000 -0.102 90.17° +table 1.307 0.607 0.438 0.507 -0.006 0.430 -89.95° +tv_stand 1.751 1.475 0.221 1.502 0.005 0.269 -90.10° +lamp 0.307 0.422 0.306 0.483 2.046 0.894 -0.03° +floor 3.679 0.010 3.860 -0.480 0.005 -0.631 0.04° +_scene_ 0.068 0.001 0.018 -5.672 -0.005 -5.715 -57.29° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: sofa <-> floor depth=[1.797, 0.010, 0.744] + !! OVERLAP: table <-> tv_stand depth=[0.534, 0.607, 0.169] + !! OVERLAP: table <-> floor depth=[1.307, 0.010, 0.438] + !! OVERLAP: tv_stand <-> floor depth=[0.733, 0.010, 0.221] +============================================================ + + +============================================================ +SCENE: LivingDiningRoom-629 | 16 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0000, Walkable Loss: 1.6582 (Center Penalty: 0.2115, C1 Heatmap: 0.8001, C2 Repulsion: 4.0331), Relational Loss: 0.0366 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +sofa 1.644 0.884 0.718 1.805 -0.008 -1.342 -0.53° +tv_stand 2.110 0.541 0.255 1.509 0.001 1.472 179.92° +desk 0.967 0.377 0.399 1.672 -0.001 -0.175 -0.02° +table 0.114 0.727 0.934 -1.801 0.017 -0.734 -0.38° +chair 0.397 0.647 0.300 -2.517 0.003 -0.802 89.95° +chair 0.425 0.654 0.312 -2.861 0.004 0.055 90.07° +chair 0.317 0.749 0.365 -1.084 0.000 -0.791 -90.03° +chair 0.370 0.715 0.458 -1.197 -0.000 0.018 -90.06° +cabinet 2.990 2.486 -0.100 -1.636 0.002 1.689 179.95° +bookshelf 1.859 2.223 0.286 -1.651 -0.002 -2.486 0.01° +chair 0.431 0.689 0.382 -2.128 0.004 0.021 89.68° +cabinet 1.879 2.106 -0.083 -3.303 -0.000 -0.237 90.33° +lamp 0.943 0.748 0.845 1.731 1.936 -0.305 -0.02° +lamp 0.233 0.558 0.252 -1.260 1.996 -0.150 -0.05° +floor 6.038 0.026 3.223 -0.967 -0.014 -0.568 0.17° +_scene_ 0.070 -0.002 0.024 -5.671 -0.004 -5.713 -57.28° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: sofa <-> floor depth=[1.069, 0.026, 0.718] + !! OVERLAP: desk <-> floor depth=[0.864, 0.026, 0.399] + !! OVERLAP: table <-> floor depth=[0.114, 0.026, 0.934] + !! OVERLAP: chair <-> floor depth=[0.397, 0.026, 0.300] + !! OVERLAP: chair <-> floor depth=[0.425, 0.026, 0.312] + !! OVERLAP: chair <-> floor depth=[0.317, 0.026, 0.365] + !! OVERLAP: chair <-> floor depth=[0.370, 0.026, 0.458] + !! OVERLAP: chair <-> floor depth=[0.431, 0.026, 0.382] + !! OVERLAP: cabinet <-> floor depth=[1.622, 0.026, -0.083] +============================================================ + + +============================================================ +SCENE: LivingRoom-71071 | 16 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0000, Walkable Loss: 1.3842 (Center Penalty: 0.0724, C1 Heatmap: 0.6364, C2 Repulsion: 4.0135), Relational Loss: 0.0140 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +table 0.602 1.070 0.288 2.451 0.003 -0.140 -89.97° +table 0.681 0.527 0.628 3.102 -0.000 -3.331 0.06° +lamp 0.906 1.005 0.904 1.485 1.902 -1.799 0.00° +tv_stand 2.210 0.532 0.411 -0.735 0.002 -1.581 89.99° +chair 0.362 0.777 0.385 1.678 -0.003 1.694 -89.99° +chair 0.449 0.799 0.500 1.480 0.001 0.835 -115.05° +chair 0.441 0.762 0.395 -0.460 -0.002 1.325 89.84° +chair 0.392 0.805 0.456 -0.171 -0.001 2.040 89.52° +table 1.252 0.665 0.508 0.819 -0.000 1.653 -90.32° +sofa 1.493 0.991 0.677 2.792 -0.007 -1.259 -90.51° +table 0.996 0.527 0.865 1.519 0.008 -1.278 -90.12° +lamp 0.692 0.219 0.555 -1.705 2.488 2.244 -0.05° +table 0.897 0.973 0.455 -1.499 0.001 3.677 -179.93° +lamp 0.447 0.910 0.347 0.791 1.797 1.396 -0.05° +floor 6.016 -0.003 7.438 1.202 0.003 -0.406 -0.22° +_scene_ 0.073 0.001 0.024 -5.667 -0.005 -5.710 -57.30° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: table <-> floor depth=[0.602, -0.003, 0.288] + !! OVERLAP: table <-> floor depth=[0.681, -0.003, 0.628] + !! OVERLAP: tv_stand <-> floor depth=[2.176, -0.003, 0.411] + !! OVERLAP: chair <-> floor depth=[0.362, -0.003, 0.385] + !! OVERLAP: chair <-> floor depth=[0.449, -0.003, 0.500] + !! OVERLAP: chair <-> floor depth=[0.441, -0.003, 0.395] + !! OVERLAP: chair <-> floor depth=[0.392, -0.003, 0.456] + !! OVERLAP: table <-> floor depth=[1.252, -0.003, 0.508] + !! OVERLAP: sofa <-> floor depth=[1.493, -0.003, 0.677] + !! OVERLAP: table <-> floor depth=[0.996, -0.003, 0.865] +============================================================ + + +============================================================ +SCENE: LivingDiningRoom-9790 | 14 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0000, Walkable Loss: 1.1477 (Center Penalty: 0.3108, C1 Heatmap: 0.5992, C2 Repulsion: 1.7882), Relational Loss: 0.0117 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +sofa 2.039 0.920 0.796 -1.468 -0.003 2.192 90.07° +tv_stand 1.795 0.493 0.371 1.831 0.001 2.412 -89.88° +cabinet 0.896 0.860 0.415 -2.228 0.003 -3.315 89.96° +table 0.901 0.906 0.599 -0.094 0.002 -1.283 0.27° +chair 0.431 0.610 0.495 -1.159 0.001 -0.370 -179.97° +chair 0.420 0.599 0.497 -1.177 0.002 -1.546 0.01° +chair 0.451 0.641 0.583 1.233 0.003 -0.059 179.94° +chair 0.458 0.607 0.415 0.909 -0.000 -1.162 -0.07° +lamp 0.383 0.401 0.325 -1.685 2.322 -3.266 -0.08° +lamp 0.851 0.825 0.853 -0.332 1.900 1.781 0.01° +lamp 0.217 1.001 0.232 -0.113 2.072 -1.195 -0.04° +table 0.926 0.442 0.837 0.196 -0.000 2.085 -90.34° +floor 4.481 0.008 8.368 -0.331 -0.001 1.011 -0.05° +_scene_ 0.065 -0.001 0.017 -5.672 -0.004 -5.716 -57.35° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: sofa <-> floor depth=[2.039, 0.008, 0.796] + !! OVERLAP: tv_stand <-> floor depth=[0.976, 0.008, 0.371] + !! OVERLAP: cabinet <-> floor depth=[0.791, 0.008, 0.065] + !! OVERLAP: table <-> floor depth=[0.901, 0.008, 0.599] + !! OVERLAP: chair <-> floor depth=[0.431, 0.008, 0.495] + !! OVERLAP: chair <-> floor depth=[0.420, 0.008, 0.497] + !! OVERLAP: chair <-> floor depth=[0.451, 0.008, 0.583] + !! OVERLAP: chair <-> floor depth=[0.458, 0.008, 0.415] + !! OVERLAP: table <-> floor depth=[0.926, 0.008, 0.837] +============================================================ + + +============================================================ +SCENE: LivingRoom-791 | 15 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0000, Walkable Loss: 1.4935 (Center Penalty: 0.5077, C1 Heatmap: 0.6128, C2 Repulsion: 2.4776), Relational Loss: 0.0273 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +table 1.672 0.720 -0.148 1.188 0.025 1.224 2.29° +chair 0.471 0.819 0.509 1.905 0.003 2.203 179.94° +chair 0.537 0.844 0.569 0.785 0.001 2.147 179.77° +chair 0.407 0.916 0.494 2.273 0.001 0.674 -0.10° +chair 0.454 0.899 0.507 1.192 -0.002 0.465 -0.10° +sofa 1.496 0.893 0.517 2.189 0.001 -0.771 -90.03° +tv_stand 1.930 0.652 0.396 -1.931 0.001 -1.626 90.05° +table 0.568 0.260 0.614 -1.044 -0.000 0.031 -0.34° +table 1.312 1.408 0.408 -2.049 0.004 1.366 -179.94° +table 0.431 0.557 0.387 1.403 0.001 -2.478 0.09° +lamp 0.570 0.879 0.582 1.037 1.890 0.100 -0.00° +lamp 0.615 0.978 0.627 1.726 1.934 -0.062 0.02° +lamp 0.428 1.180 0.413 -0.322 1.659 -1.570 0.03° +floor 5.017 -0.005 6.199 0.798 0.000 0.306 -0.06° +_scene_ 0.073 -0.001 0.025 -5.671 -0.005 -5.710 -57.31° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: table <-> floor depth=[1.672, -0.005, -0.148] + !! OVERLAP: chair <-> floor depth=[0.471, -0.005, 0.509] + !! OVERLAP: chair <-> floor depth=[0.537, -0.005, 0.569] + !! OVERLAP: chair <-> floor depth=[0.407, -0.005, 0.494] + !! OVERLAP: chair <-> floor depth=[0.454, -0.005, 0.507] + !! OVERLAP: sofa <-> floor depth=[1.496, -0.005, 0.517] + !! OVERLAP: tv_stand <-> floor depth=[0.745, -0.005, 0.396] + !! OVERLAP: table <-> floor depth=[0.568, -0.005, 0.614] + !! OVERLAP: table <-> floor depth=[0.318, -0.005, 0.408] + !! OVERLAP: table <-> floor depth=[0.431, -0.005, 0.387] +============================================================ + + +============================================================ +SCENE: LivingRoom-24046 | 7 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0000, Walkable Loss: 0.8045 (Center Penalty: 0.1979, C1 Heatmap: 0.4438, C2 Repulsion: 1.2575), Relational Loss: 0.0000 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +bookshelf 1.099 1.405 0.346 1.568 0.002 -0.508 -90.04° +sofa 2.036 0.889 0.831 0.418 0.009 -1.199 -90.66° +table 0.684 0.407 0.528 -1.559 0.001 -0.100 179.89° +lamp 0.729 0.797 0.662 0.529 2.098 0.952 -0.08° +chair 0.711 0.765 0.739 -1.317 0.001 -1.577 18.64° +floor 4.322 -0.046 4.888 -0.359 -0.013 1.158 0.51° +_scene_ 0.073 0.001 0.026 -5.670 -0.004 -5.712 -57.30° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bookshelf <-> floor depth=[0.784, -0.046, 0.346] + !! OVERLAP: sofa <-> floor depth=[2.036, -0.046, 0.503] + !! OVERLAP: table <-> floor depth=[0.684, -0.046, 0.528] + !! OVERLAP: chair <-> floor depth=[0.711, -0.046, 0.079] +============================================================ + + +============================================================ +SCENE: LivingRoom-13599 | 10 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0000, Walkable Loss: 1.1409 (Center Penalty: 0.4292, C1 Heatmap: 0.6198, C2 Repulsion: 1.0794), Relational Loss: 0.0553 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +chair 0.824 0.964 0.883 -0.017 0.003 -1.511 0.03° +chair 0.734 0.912 0.714 -0.042 0.002 2.418 170.48° +table 0.528 0.570 0.470 -1.424 0.001 2.433 89.92° +table 0.570 0.418 0.550 -1.692 0.003 -1.721 90.05° +table 0.913 0.366 0.581 0.464 -0.003 0.788 89.98° +tv_stand 1.520 0.661 0.314 2.022 0.003 0.309 -90.12° +lamp 0.413 0.911 0.458 0.310 1.923 0.841 0.20° +sofa 1.801 0.830 0.713 -1.299 0.035 0.575 90.27° +floor 4.004 -0.013 6.359 0.807 0.009 -1.235 -0.48° +_scene_ 0.068 0.002 0.019 -5.671 -0.005 -5.713 -57.29° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: chair <-> floor depth=[0.824, -0.013, 0.883] + !! OVERLAP: table <-> floor depth=[0.913, -0.013, 0.581] + !! OVERLAP: tv_stand <-> floor depth=[1.520, -0.013, 0.314] + !! OVERLAP: sofa <-> floor depth=[0.797, -0.013, 0.713] +============================================================ + + +============================================================ +SCENE: LivingDiningRoom-13945 | 15 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0000, Walkable Loss: 1.2324 (Center Penalty: 0.4279, C1 Heatmap: 0.6517, C2 Repulsion: 1.4157), Relational Loss: 0.0273 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +sofa 1.777 0.763 1.150 -0.841 -0.021 -2.664 0.20° +chair 0.523 0.686 0.539 -2.979 0.001 -2.344 -0.02° +chair 0.243 0.351 0.256 -2.485 -0.001 -1.190 -0.00° +chair 0.294 0.374 0.291 -2.777 -0.002 -0.466 -0.03° +table 0.805 0.392 0.592 -1.319 -0.001 -0.528 0.03° +chair 0.382 1.079 0.413 0.165 0.006 -0.826 90.37° +lamp 0.168 0.969 0.170 -2.851 1.556 -2.296 -0.07° +chair 0.427 0.982 0.458 1.472 -0.001 -0.302 -63.10° +cabinet 1.206 0.780 0.591 2.606 0.001 1.888 179.89° +table 0.670 1.192 0.420 3.055 0.000 -2.388 0.08° +shelf 0.231 2.087 0.332 3.490 0.003 1.818 -0.16° +lamp 0.262 1.026 0.296 1.138 1.939 -0.202 0.01° +tv_stand 3.302 0.775 0.276 -1.396 -0.006 2.366 0.18° +floor 7.693 -0.038 4.863 -0.892 -0.009 0.648 -0.12° +_scene_ 0.070 -0.001 0.021 -5.671 -0.005 -5.712 -57.31° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: chair <-> floor depth=[0.243, -0.038, 0.256] + !! OVERLAP: chair <-> floor depth=[0.294, -0.038, 0.291] + !! OVERLAP: table <-> floor depth=[0.805, -0.038, 0.592] + !! OVERLAP: chair <-> floor depth=[0.382, -0.038, 0.413] + !! OVERLAP: chair <-> floor depth=[0.427, -0.038, 0.458] + !! OVERLAP: cabinet <-> floor depth=[0.951, -0.038, 0.591] + !! OVERLAP: tv_stand <-> floor depth=[3.302, -0.038, 0.276] +============================================================ + + +============================================================ +SCENE: LivingDiningRoom-758 | 12 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0000, Walkable Loss: 1.8724 (Center Penalty: 0.5417, C1 Heatmap: 0.6511, C2 Repulsion: 4.0493), Relational Loss: 0.0291 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +lamp 0.608 0.981 0.603 0.190 1.956 -1.426 -0.05° +table 0.813 0.771 0.608 -0.725 -0.004 0.817 -179.88° +chair 0.439 0.823 0.425 -0.026 0.002 1.647 -90.12° +chair 0.380 0.841 0.368 -1.234 0.006 1.459 -0.02° +lamp 0.230 0.744 0.174 -1.046 1.692 1.414 0.01° +lamp 0.276 0.767 0.253 -0.282 1.867 1.356 -0.06° +sofa 2.175 0.882 0.397 -1.182 0.016 -1.074 90.45° +table 0.938 0.341 0.572 0.552 -0.004 -0.665 -90.28° +tv_stand 1.923 0.548 0.376 1.651 -0.001 -0.879 -90.26° +table 1.716 2.442 0.174 -1.963 -0.006 0.354 90.07° +floor 4.230 0.052 4.029 -0.486 -0.002 0.800 -0.44° +_scene_ 0.068 0.000 0.021 -5.674 -0.005 -5.715 -57.29° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: table <-> floor depth=[0.813, 0.052, 0.608] + !! OVERLAP: chair <-> floor depth=[0.439, 0.052, 0.425] + !! OVERLAP: chair <-> floor depth=[0.380, 0.052, 0.368] + !! OVERLAP: sofa <-> floor depth=[2.175, 0.052, 0.339] + !! OVERLAP: table <-> tv_stand depth=[0.331, 0.341, 0.260] + !! OVERLAP: table <-> floor depth=[0.938, 0.052, 0.572] + !! OVERLAP: tv_stand <-> floor depth=[0.941, 0.052, 0.376] + !! OVERLAP: table <-> floor depth=[1.496, 0.052, 0.174] +============================================================ + + +============================================================ +SCENE: LivingRoom-33324 | 9 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0000, Walkable Loss: 1.3689 (Center Penalty: 0.7849, C1 Heatmap: 0.5520, C2 Repulsion: 0.7119), Relational Loss: 0.0164 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +tv_stand 1.819 0.666 0.365 2.216 0.003 0.280 -89.93° +table 0.566 1.180 0.344 -1.259 0.003 2.007 90.00° +sofa 1.885 0.950 0.759 -1.395 -0.002 0.053 90.39° +table 0.591 0.474 0.624 0.864 0.006 0.171 90.10° +chair 0.699 0.821 0.726 0.111 0.002 2.301 179.89° +bookshelf 0.983 2.390 0.337 -1.049 -0.000 -2.565 0.15° +lamp 0.502 0.886 0.544 0.737 2.015 0.201 -0.03° +floor 4.052 0.001 5.941 0.520 0.003 0.663 -0.14° +_scene_ 0.072 0.000 0.025 -5.672 -0.004 -5.714 -57.32° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: tv_stand <-> floor depth=[1.239, 0.001, 0.365] + !! OVERLAP: table <-> floor depth=[0.529, 0.001, 0.344] + !! OVERLAP: sofa <-> floor depth=[1.053, 0.001, 0.759] + !! OVERLAP: table <-> floor depth=[0.591, 0.001, 0.624] + !! OVERLAP: chair <-> floor depth=[0.699, 0.001, 0.726] +============================================================ + + +============================================================ +SCENE: LivingRoom-30147 | 20 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0000, Walkable Loss: 1.7223 (Center Penalty: 0.1650, C1 Heatmap: 0.5215, C2 Repulsion: 5.7006), Relational Loss: 0.0138 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +lamp 0.414 0.575 0.433 -0.359 2.021 2.178 0.01° +lamp 0.812 0.806 0.813 -1.210 1.799 -3.312 -0.12° +tv_stand 2.130 1.033 0.428 -2.860 0.002 3.184 90.05° +chair 0.486 0.454 0.500 0.118 0.001 1.223 89.99° +chair 0.445 0.528 0.488 -0.790 0.000 1.043 0.00° +table 1.017 0.496 0.535 0.088 0.005 2.467 -90.07° +table 0.383 0.688 0.398 1.855 0.001 0.769 -90.11° +table 0.370 0.617 0.389 1.876 0.008 3.980 -89.94° +sofa 1.791 1.001 0.680 1.243 -0.000 2.481 -90.22° +sofa 1.967 0.788 0.572 -0.593 0.009 4.697 -179.77° +table 1.670 0.695 0.336 -0.946 0.017 -3.091 0.08° +chair 0.701 1.126 0.567 -1.053 -0.001 -1.990 179.95° +chair 0.483 1.126 0.558 0.181 -0.002 -2.893 -90.30° +chair 0.448 1.073 0.482 0.157 -0.014 -3.918 -66.75° +chair 0.617 1.177 0.646 -0.982 -0.001 -4.628 -0.05° +chair 0.588 1.073 0.644 -2.123 0.006 -3.710 89.33° +chair 0.270 1.071 0.327 -2.048 -0.004 -2.616 110.18° +table 0.554 0.614 0.422 -2.517 0.003 -0.692 90.05° +floor 6.702 0.011 10.195 -1.002 -0.000 0.489 0.00° +_scene_ 0.063 0.001 0.018 -5.666 -0.004 -5.712 -57.32° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: tv_stand <-> floor depth=[2.130, 0.011, 0.428] + !! OVERLAP: chair <-> floor depth=[0.486, 0.011, 0.500] + !! OVERLAP: chair <-> floor depth=[0.445, 0.011, 0.488] + !! OVERLAP: table <-> sofa depth=[0.249, 0.496, 0.535] + !! OVERLAP: table <-> floor depth=[1.017, 0.011, 0.535] + !! OVERLAP: table <-> floor depth=[0.383, 0.011, 0.398] + !! OVERLAP: table <-> floor depth=[0.370, 0.011, 0.389] + !! OVERLAP: sofa <-> floor depth=[1.791, 0.011, 0.680] + !! OVERLAP: sofa <-> floor depth=[1.967, 0.011, 0.572] + !! OVERLAP: table <-> floor depth=[1.670, 0.011, 0.336] + !! OVERLAP: chair <-> floor depth=[0.701, 0.011, 0.567] + !! OVERLAP: chair <-> floor depth=[0.483, 0.011, 0.558] + !! OVERLAP: chair <-> floor depth=[0.448, 0.011, 0.482] + !! OVERLAP: chair <-> floor depth=[0.617, 0.011, 0.303] + !! OVERLAP: chair <-> floor depth=[0.588, 0.011, 0.644] + !! OVERLAP: chair <-> floor depth=[0.270, 0.011, 0.327] + !! OVERLAP: table <-> floor depth=[0.554, 0.011, 0.422] +============================================================ + + +============================================================ +SCENE: LivingRoom-29294 | 11 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0000, Walkable Loss: 1.5044 (Center Penalty: 0.5128, C1 Heatmap: 0.6956, C2 Repulsion: 2.1757), Relational Loss: 0.0225 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +table 0.544 1.108 0.510 -2.527 0.000 -1.988 -0.05° +table 0.561 1.321 0.397 2.019 -0.001 -2.022 0.07° +sofa 2.079 0.912 0.734 -2.737 0.005 0.295 89.91° +table 1.063 0.468 0.823 -0.576 -0.005 0.781 -0.10° +chair 0.869 0.815 0.764 2.146 0.002 0.108 -68.35° +sofa 1.796 0.679 0.811 -0.273 0.000 -1.861 -0.04° +table 0.456 0.830 0.438 1.138 0.001 -2.177 0.08° +table 0.417 0.638 0.501 -1.564 0.007 -2.032 -0.07° +lamp 0.640 0.818 0.721 -0.252 2.019 0.746 0.03° +floor 6.200 0.016 4.754 -0.936 0.002 -0.669 -0.08° +_scene_ 0.260 0.068 0.476 -4.823 0.010 -4.728 -62.43° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: table <-> floor depth=[0.544, 0.016, 0.510] + !! OVERLAP: table <-> floor depth=[0.426, 0.016, 0.397] + !! OVERLAP: sofa <-> floor depth=[2.079, 0.016, 0.734] + !! OVERLAP: table <-> floor depth=[1.063, 0.016, 0.823] + !! OVERLAP: chair <-> floor depth=[0.453, 0.016, 0.764] + !! OVERLAP: sofa <-> floor depth=[1.796, 0.016, 0.811] + !! OVERLAP: table <-> floor depth=[0.456, 0.016, 0.438] + !! OVERLAP: table <-> floor depth=[0.417, 0.016, 0.501] +============================================================ + + +============================================================ +SCENE: LivingDiningRoom-35401 | 11 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0000, Walkable Loss: 1.0763 (Center Penalty: 0.1389, C1 Heatmap: 0.5647, C2 Repulsion: 2.4280), Relational Loss: 0.0161 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +chair 0.519 0.851 0.583 -0.366 -0.000 1.189 89.91° +chair 0.455 0.847 0.543 -0.540 -0.001 1.846 90.04° +chair 0.461 0.913 0.544 1.172 -0.001 0.926 -89.85° +chair 0.480 0.896 0.568 0.828 0.002 1.847 -90.08° +sofa 1.903 0.871 0.738 -1.308 0.008 -1.563 90.15° +table 1.655 2.071 0.410 -1.888 0.002 0.330 90.09° +table 0.829 0.410 0.742 0.254 0.001 -1.964 -90.34° +lamp 0.572 0.521 0.366 -0.195 2.333 -1.718 -0.08° +lamp 0.190 0.544 0.121 0.518 2.149 1.457 -89.92° +floor 4.179 -0.024 6.775 -0.294 -0.000 -1.118 -0.19° +_scene_ 0.071 0.002 0.021 -5.666 -0.005 -5.711 -57.30° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: chair <-> floor depth=[0.519, -0.024, 0.583] + !! OVERLAP: chair <-> floor depth=[0.455, -0.024, 0.543] + !! OVERLAP: chair <-> floor depth=[0.461, -0.024, 0.544] + !! OVERLAP: chair <-> floor depth=[0.480, -0.024, 0.568] + !! OVERLAP: sofa <-> floor depth=[1.903, -0.024, 0.738] + !! OVERLAP: table <-> floor depth=[1.323, -0.024, 0.410] + !! OVERLAP: table <-> floor depth=[0.829, -0.024, 0.742] +============================================================ + + +============================================================ +SCENE: LivingRoom-35085 | 10 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0000, Walkable Loss: 1.5076 (Center Penalty: 0.6438, C1 Heatmap: 0.5670, C2 Repulsion: 2.0511), Relational Loss: 0.0313 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +sofa 1.886 0.873 0.546 1.624 0.001 -0.084 -90.46° +table 0.456 0.455 0.430 1.208 -0.001 1.527 -89.86° +table 0.430 0.457 0.316 1.192 0.001 -1.941 -89.94° +table 0.751 0.372 0.780 0.113 0.004 -0.965 -90.28° +chair 0.585 0.839 0.594 -1.120 -0.000 -1.609 -0.01° +chair 0.738 0.882 0.757 -1.192 -0.000 1.550 -167.75° +tv_stand 1.760 0.567 0.321 -1.712 0.001 -0.366 90.03° +lamp 0.382 0.881 0.374 -0.267 1.771 -0.740 0.26° +floor 4.734 -0.003 5.284 -0.815 -0.009 -0.394 -0.34° +_scene_ 0.064 -0.001 0.018 -5.673 -0.004 -5.714 -57.31° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: sofa <-> floor depth=[0.871, -0.003, 0.546] + !! OVERLAP: table <-> floor depth=[0.456, -0.003, 0.430] + !! OVERLAP: table <-> floor depth=[0.430, -0.003, 0.316] + !! OVERLAP: table <-> floor depth=[0.751, -0.003, 0.780] + !! OVERLAP: chair <-> floor depth=[0.585, -0.003, 0.594] + !! OVERLAP: chair <-> floor depth=[0.738, -0.003, 0.757] + !! OVERLAP: tv_stand <-> floor depth=[1.760, -0.003, 0.321] +============================================================ + + +============================================================ +SCENE: LivingRoom-25582 | 12 objects +============================================================ +Final Step Collision Loss: 0.0007, Room Outer Loss: 0.0000, Walkable Loss: 1.4573 (Center Penalty: 0.3853, C1 Heatmap: 0.5340, C2 Repulsion: 3.2243), Relational Loss: 0.0420 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +sofa 1.730 0.645 0.415 -0.963 0.009 1.595 -179.70° +table 0.488 0.434 0.433 -1.111 -0.001 -0.374 -90.18° +tv_stand 1.403 0.290 0.300 -0.393 0.002 -2.074 0.01° +chair 0.496 1.079 0.559 1.986 -0.010 -0.918 -71.99° +chair 0.504 1.032 0.654 1.417 -0.001 -0.927 0.01° +chair 0.373 1.131 0.390 1.050 0.005 1.235 89.40° +chair 0.489 0.942 0.595 1.693 0.002 1.295 -155.35° +table 0.613 0.710 0.390 1.581 -0.001 0.007 0.04° +table 1.561 0.753 0.270 0.989 0.003 2.292 179.41° +lamp 0.679 0.678 0.388 0.089 2.026 -0.980 -0.26° +floor 3.750 0.034 5.244 -0.001 -0.004 -0.956 -0.64° +_scene_ 0.065 -0.000 0.020 -5.670 -0.004 -5.717 -57.32° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: sofa <-> floor depth=[1.730, 0.034, 0.279] + !! OVERLAP: table <-> floor depth=[0.488, 0.034, 0.433] + !! OVERLAP: tv_stand <-> floor depth=[1.403, 0.034, 0.300] + !! OVERLAP: chair <-> floor depth=[0.136, 0.034, 0.559] + !! OVERLAP: chair <-> floor depth=[0.504, 0.034, 0.654] + !! OVERLAP: chair <-> floor depth=[0.373, 0.034, 0.390] + !! OVERLAP: chair <-> floor depth=[0.425, 0.034, 0.595] + !! OVERLAP: table <-> floor depth=[0.600, 0.034, 0.390] +============================================================ + + +============================================================ +SCENE: LivingDiningRoom-109935 | 14 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0000, Walkable Loss: 1.5707 (Center Penalty: 0.3485, C1 Heatmap: 0.7309, C2 Repulsion: 3.1876), Relational Loss: 0.0348 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +sofa 1.851 0.692 0.649 -2.059 0.000 0.504 90.05° +chair 0.785 0.813 0.778 -2.247 -0.000 2.283 90.07° +table 1.277 0.307 1.043 -0.057 -0.003 1.752 -89.73° +chair 0.544 0.532 0.513 -0.957 -0.003 0.255 -0.14° +tv_stand 2.074 0.459 0.308 1.489 -0.001 1.420 -89.95° +table 1.345 0.789 -0.280 -0.212 -0.029 -1.328 -88.95° +chair 0.354 0.841 0.408 -0.727 -0.001 -2.292 0.13° +chair 0.366 0.840 0.390 -0.879 0.001 -1.470 90.02° +chair 0.387 0.835 0.390 0.539 0.001 -2.346 -90.31° +chair 0.414 0.833 0.517 0.533 0.002 -1.373 179.97° +lamp 0.821 0.908 0.378 -0.413 1.613 1.189 -0.03° +lamp 0.698 0.537 0.330 -0.300 2.255 -1.831 -90.06° +floor 4.753 -0.011 6.185 -0.692 0.005 0.762 0.17° +_scene_ 0.069 0.003 0.023 -5.663 -0.005 -5.715 -57.30° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: sofa <-> chair depth=[0.095, 0.532, 0.332] + !! OVERLAP: sofa <-> floor depth=[1.851, -0.011, 0.649] + !! OVERLAP: chair <-> floor depth=[0.785, -0.011, 0.778] + !! OVERLAP: table <-> tv_stand depth=[0.129, 0.307, 0.308] + !! OVERLAP: table <-> floor depth=[1.277, -0.011, 1.043] + !! OVERLAP: chair <-> floor depth=[0.544, -0.011, 0.513] + !! OVERLAP: tv_stand <-> floor depth=[1.232, -0.011, 0.308] + !! OVERLAP: table <-> chair depth=[0.135, 0.780, -0.280] + !! OVERLAP: table <-> floor depth=[1.345, -0.011, -0.280] + !! OVERLAP: chair <-> floor depth=[0.354, -0.011, 0.242] + !! OVERLAP: chair <-> floor depth=[0.366, -0.011, 0.390] + !! OVERLAP: chair <-> floor depth=[0.387, -0.011, 0.179] + !! OVERLAP: chair <-> floor depth=[0.414, -0.011, 0.517] +============================================================ + + +============================================================ +SCENE: LivingDiningRoom-76396 | 19 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0000, Walkable Loss: 1.5831 (Center Penalty: 0.1652, C1 Heatmap: 0.7392, C2 Repulsion: 4.1328), Relational Loss: 0.0159 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +sofa 1.348 0.875 0.622 -2.202 -0.023 1.889 179.91° +sofa 1.363 0.928 1.271 -3.764 0.009 0.566 90.09° +table 0.520 0.402 0.495 -2.253 0.002 0.320 0.01° +tv_stand 2.159 0.616 0.349 -1.894 0.002 -1.663 -0.03° +chair 0.664 0.896 0.724 -0.769 -0.005 0.680 -71.50° +table 1.116 0.670 0.330 2.227 -0.007 0.511 -0.26° +chair 0.454 0.761 0.486 3.626 -0.001 1.007 -90.28° +chair 0.474 0.781 0.486 2.600 0.001 1.294 179.86° +chair 0.453 0.720 0.497 2.559 -0.001 -0.241 -0.03° +chair 0.487 0.770 0.528 3.617 0.003 -0.089 -90.12° +table 1.281 1.394 0.275 1.048 0.001 -1.757 0.06° +cabinet 1.459 2.045 0.251 1.726 -0.002 2.193 -179.71° +table 0.441 0.473 0.450 -0.455 -0.000 1.981 89.88° +table 0.391 0.440 0.382 -3.510 -0.004 1.992 -91.75° +lamp 0.654 0.459 0.684 -1.751 2.737 0.373 0.02° +lamp 0.649 0.886 0.669 1.658 2.062 0.314 -0.02° +table 1.088 1.249 0.252 3.357 -0.002 -2.675 0.06° +floor 9.008 -0.008 5.860 -0.863 -0.005 0.941 -0.02° +_scene_ 0.072 0.000 0.021 -5.672 -0.005 -5.716 -57.30° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: sofa <-> floor depth=[1.348, -0.008, 0.622] + !! OVERLAP: sofa <-> floor depth=[1.363, -0.008, 1.271] + !! OVERLAP: table <-> floor depth=[0.520, -0.008, 0.495] + !! OVERLAP: tv_stand <-> floor depth=[2.159, -0.008, 0.349] + !! OVERLAP: chair <-> floor depth=[0.664, -0.008, 0.724] + !! OVERLAP: table <-> floor depth=[1.116, -0.008, 0.330] + !! OVERLAP: chair <-> floor depth=[0.241, -0.008, 0.486] + !! OVERLAP: chair <-> floor depth=[0.474, -0.008, 0.486] + !! OVERLAP: chair <-> floor depth=[0.453, -0.008, 0.497] + !! OVERLAP: chair <-> floor depth=[0.267, -0.008, 0.528] + !! OVERLAP: table <-> floor depth=[1.281, -0.008, 0.275] + !! OVERLAP: cabinet <-> floor depth=[1.459, -0.008, 0.251] + !! OVERLAP: table <-> floor depth=[0.441, -0.008, 0.450] + !! OVERLAP: table <-> floor depth=[0.391, -0.008, 0.382] +============================================================ + + +============================================================ +SCENE: LivingDiningRoom-18728 | 15 objects +============================================================ +Final Step Collision Loss: 0.0023, Room Outer Loss: 0.0000, Walkable Loss: 1.4817 (Center Penalty: 0.3187, C1 Heatmap: 0.6550, C2 Repulsion: 3.1951), Relational Loss: 0.0231 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +table 1.310 1.059 0.288 -1.596 0.001 -3.414 0.15° +table 1.301 0.793 0.327 2.331 -0.001 -2.379 -90.26° +tv_stand 2.023 0.408 0.348 1.570 -0.001 1.800 -89.88° +sofa 1.867 0.779 0.689 -1.780 0.001 2.245 89.70° +chair 0.745 0.682 0.732 -2.325 -0.002 2.885 89.97° +table 0.645 0.810 -0.165 -0.036 -0.050 -1.593 -90.37° +chair 0.441 0.753 0.437 0.451 0.002 -1.921 0.13° +chair 0.301 0.683 0.318 -0.398 -0.001 -1.831 0.22° +chair 0.476 0.741 0.432 -0.693 -0.000 -0.862 179.98° +chair 0.384 0.765 0.467 0.421 0.001 -0.971 179.92° +table 1.333 0.373 1.056 0.032 -0.003 2.346 -95.89° +lamp 0.615 0.626 0.459 -0.140 2.095 1.831 -90.11° +lamp 1.192 0.622 0.080 0.132 2.166 -1.349 -0.17° +floor 5.385 -0.009 7.420 -0.586 0.001 0.922 -0.06° +_scene_ 0.065 0.000 0.020 -5.670 -0.005 -5.716 -57.31° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: table <-> floor depth=[0.426, -0.009, 0.327] + !! OVERLAP: tv_stand <-> table depth=[0.140, 0.373, 0.156] + !! OVERLAP: tv_stand <-> floor depth=[1.548, -0.009, 0.348] + !! OVERLAP: sofa <-> chair depth=[0.745, 0.682, 0.070] + !! OVERLAP: sofa <-> floor depth=[1.867, -0.009, 0.689] + !! OVERLAP: chair <-> floor depth=[0.745, -0.009, 0.732] + !! OVERLAP: table <-> floor depth=[0.645, -0.009, -0.165] + !! OVERLAP: chair <-> floor depth=[0.441, -0.009, 0.437] + !! OVERLAP: chair <-> floor depth=[0.301, -0.009, 0.318] + !! OVERLAP: chair <-> floor depth=[0.476, -0.009, 0.432] + !! OVERLAP: chair <-> floor depth=[0.384, -0.009, 0.467] + !! OVERLAP: table <-> floor depth=[1.333, -0.009, 1.056] +============================================================ + + +============================================================ +SCENE: LivingDiningRoom-46747 | 17 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0000, Walkable Loss: 1.7638 (Center Penalty: 0.5922, C1 Heatmap: 0.4823, C2 Repulsion: 3.9284), Relational Loss: 0.0247 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +sofa 1.317 0.748 0.610 -1.384 -0.005 1.685 90.56° +chair 0.628 0.920 0.608 -0.066 0.002 3.463 -179.08° +table 1.309 0.468 0.782 0.146 -0.001 1.956 90.23° +table 0.994 0.818 -0.021 0.040 0.021 -1.664 -0.09° +chair 0.329 0.960 0.266 -0.052 0.006 -1.105 -179.97° +chair 0.365 0.941 0.411 0.802 -0.000 -1.026 -179.98° +chair 0.357 0.846 0.349 0.075 -0.000 -2.336 0.07° +chair 0.394 0.892 0.437 1.001 0.003 -2.189 0.08° +table 1.565 0.831 0.451 0.175 0.004 -3.355 -0.04° +lamp 0.988 0.969 0.999 -0.050 1.769 2.110 0.02° +lamp 1.242 0.963 0.316 0.082 1.749 -1.703 -0.01° +lamp 1.012 0.802 0.375 0.501 2.132 -2.081 -0.08° +chair 0.546 0.603 0.535 -0.279 0.001 0.734 0.11° +table 0.651 1.064 0.282 -1.651 0.007 0.699 89.93° +table 0.656 0.923 0.418 -1.775 0.001 3.297 90.03° +floor 3.773 -0.001 8.070 -0.710 -0.004 0.614 0.05° +_scene_ 0.071 -0.000 0.022 -5.670 -0.005 -5.712 -57.29° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: sofa <-> floor depth=[1.317, -0.001, 0.610] + !! OVERLAP: chair <-> floor depth=[0.628, -0.001, 0.608] + !! OVERLAP: table <-> floor depth=[1.309, -0.001, 0.782] + !! OVERLAP: table <-> floor depth=[0.994, -0.001, -0.021] + !! OVERLAP: chair <-> floor depth=[0.329, -0.001, 0.266] + !! OVERLAP: chair <-> floor depth=[0.365, -0.001, 0.411] + !! OVERLAP: chair <-> floor depth=[0.357, -0.001, 0.349] + !! OVERLAP: chair <-> floor depth=[0.373, -0.001, 0.437] + !! OVERLAP: table <-> floor depth=[1.565, -0.001, 0.291] + !! OVERLAP: chair <-> floor depth=[0.546, -0.001, 0.535] + !! OVERLAP: table <-> floor depth=[0.651, -0.001, 0.282] + !! OVERLAP: table <-> floor depth=[0.656, -0.001, 0.418] +============================================================ + + +============================================================ +SCENE: LivingRoom-88425 | 19 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0000, Walkable Loss: 1.6315 (Center Penalty: 0.3173, C1 Heatmap: 0.5820, C2 Repulsion: 4.2431), Relational Loss: 0.0222 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +sofa 1.434 0.764 0.506 -1.946 0.018 1.573 90.12° +chair 1.207 0.825 0.473 -0.824 -0.004 0.442 16.58° +sofa 2.048 0.942 0.718 -0.480 0.002 3.627 179.81° +table 0.407 0.413 0.370 -0.481 0.001 1.897 90.01° +table 0.466 0.476 0.425 -1.823 0.002 -0.127 90.09° +table 0.419 0.500 0.399 -1.935 0.004 3.242 90.03° +table 1.687 0.813 -0.341 -0.919 -0.006 -2.005 0.95° +chair 0.470 0.671 0.479 -0.508 0.001 -3.013 -0.08° +chair 0.386 0.758 0.407 -0.689 -0.000 -1.074 -179.93° +chair 0.422 0.732 0.446 0.035 -0.000 -1.655 179.89° +chair 0.312 0.702 0.387 -1.318 -0.007 -1.387 176.83° +chair 0.373 0.614 0.403 -1.454 -0.002 -2.718 -0.18° +chair 0.434 0.692 0.436 0.394 0.000 -2.582 -89.64° +lamp 0.876 0.762 0.761 -0.889 1.889 1.654 -0.00° +lamp 0.805 0.797 0.835 -0.388 1.984 -2.409 -0.02° +table 0.994 1.674 0.316 -0.158 -0.004 -4.012 0.05° +tv_stand 1.585 0.451 0.240 1.576 0.000 1.666 -90.15° +floor 5.234 0.004 7.835 -1.032 -0.001 0.315 -0.13° +_scene_ 0.073 0.000 0.024 -5.668 -0.004 -5.710 -57.31° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: sofa <-> floor depth=[1.434, 0.004, 0.506] + !! OVERLAP: chair <-> floor depth=[1.207, 0.004, 0.473] + !! OVERLAP: sofa <-> floor depth=[2.048, 0.004, 0.718] + !! OVERLAP: table <-> floor depth=[0.407, 0.004, 0.370] + !! OVERLAP: table <-> floor depth=[0.466, 0.004, 0.425] + !! OVERLAP: table <-> floor depth=[0.419, 0.004, 0.399] + !! OVERLAP: table <-> floor depth=[1.687, 0.004, -0.341] + !! OVERLAP: chair <-> floor depth=[0.470, 0.004, 0.479] + !! OVERLAP: chair <-> floor depth=[0.386, 0.004, 0.407] + !! OVERLAP: chair <-> floor depth=[0.422, 0.004, 0.446] + !! OVERLAP: chair <-> floor depth=[0.312, 0.004, 0.387] + !! OVERLAP: chair <-> floor depth=[0.373, 0.004, 0.403] + !! OVERLAP: chair <-> floor depth=[0.434, 0.004, 0.436] + !! OVERLAP: tv_stand <-> floor depth=[0.802, 0.004, 0.240] +============================================================ + + +============================================================ +SCENE: LivingDiningRoom-35769 | 19 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0000, Walkable Loss: 0.9984 (Center Penalty: 0.1204, C1 Heatmap: 0.3526, C2 Repulsion: 2.9797), Relational Loss: 0.0209 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +sofa 1.514 0.756 0.732 3.354 -0.000 0.694 179.84° +chair 0.711 1.008 0.844 5.245 0.008 -0.775 -90.06° +chair 0.611 1.203 0.668 1.225 -0.005 -0.765 126.13° +table 1.152 0.412 0.968 3.047 0.005 -1.103 0.00° +table 0.529 0.477 0.523 5.104 0.003 0.784 -179.98° +table 0.585 0.545 0.514 1.656 0.001 0.891 -179.96° +table 0.958 0.738 0.292 -3.288 -0.010 1.137 0.21° +chair 0.401 0.866 0.448 -4.032 0.002 0.162 0.13° +chair 0.434 0.906 0.489 -2.983 -0.002 0.362 -0.03° +chair 0.455 0.929 0.550 -4.077 0.002 1.946 -179.98° +chair 0.362 0.867 0.530 -3.127 -0.001 2.153 -179.64° +chair 0.485 0.926 0.600 -2.165 -0.001 1.004 -90.18° +chair 0.446 0.842 0.450 -4.694 0.009 0.913 89.96° +cabinet 0.702 1.409 0.383 -0.931 0.001 2.831 -179.97° +table 1.304 1.935 0.496 -5.953 0.008 0.912 90.27° +lamp 0.892 0.779 0.843 2.944 2.029 -1.029 0.04° +lamp 1.104 0.996 1.199 -3.865 1.926 1.238 0.03° +floor 11.455 -0.011 6.005 0.262 0.002 -1.031 -0.29° +_scene_ 0.070 -0.001 0.020 -5.677 -0.005 -5.712 -57.30° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: sofa <-> floor depth=[1.514, -0.011, 0.732] + !! OVERLAP: chair <-> floor depth=[0.711, -0.011, 0.844] + !! OVERLAP: chair <-> floor depth=[0.611, -0.011, 0.668] + !! OVERLAP: table <-> floor depth=[1.152, -0.011, 0.968] + !! OVERLAP: table <-> floor depth=[0.529, -0.011, 0.523] + !! OVERLAP: table <-> floor depth=[0.585, -0.011, 0.514] + !! OVERLAP: table <-> floor depth=[0.958, -0.011, 0.292] + !! OVERLAP: chair <-> floor depth=[0.401, -0.011, 0.448] + !! OVERLAP: chair <-> floor depth=[0.434, -0.011, 0.489] + !! OVERLAP: chair <-> floor depth=[0.455, -0.011, 0.301] + !! OVERLAP: chair <-> floor depth=[0.362, -0.011, 0.084] + !! OVERLAP: chair <-> floor depth=[0.485, -0.011, 0.600] + !! OVERLAP: chair <-> floor depth=[0.446, -0.011, 0.450] + !! OVERLAP: table <-> floor depth=[0.165, -0.011, 0.496] +============================================================ + + +============================================================ +SCENE: LivingRoom-1097 | 19 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0000, Walkable Loss: 1.9334 (Center Penalty: 0.1804, C1 Heatmap: 0.8327, C2 Repulsion: 5.4343), Relational Loss: 0.0197 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +table 0.599 1.065 0.334 0.963 0.004 -0.811 -90.11° +sofa 2.031 0.732 0.437 -1.267 0.026 -0.174 0.09° +table 0.621 0.700 0.616 -0.663 -0.014 -2.854 0.89° +tv_stand 1.966 0.558 0.282 -0.796 0.002 2.634 179.79° +table 1.291 0.700 0.818 -0.800 -0.001 1.071 -0.07° +chair 0.712 0.860 0.836 1.202 0.000 1.229 -129.73° +chair 0.426 0.914 0.481 -1.502 -0.003 -3.471 -0.17° +chair 0.436 0.876 0.527 -0.539 -0.003 -3.567 -0.21° +chair 0.357 0.947 0.430 -0.678 -0.001 -1.895 179.86° +chair 0.418 0.975 0.488 -1.488 -0.003 -1.913 -179.92° +table 0.483 1.346 0.340 0.524 0.002 3.119 0.09° +table 0.600 1.269 0.527 -2.540 -0.002 2.596 0.24° +cabinet 1.711 0.730 0.279 -2.403 0.001 -2.315 90.02° +lamp 0.674 0.876 0.676 -0.901 1.806 1.154 -0.06° +cabinet 1.078 1.171 0.385 2.405 0.011 -2.589 -90.10° +chair 0.438 0.365 0.355 1.712 0.001 -1.089 -90.14° +lamp 0.656 0.961 0.673 -1.109 1.595 -2.741 -0.01° +floor 5.111 0.005 7.666 -1.150 -0.000 -0.349 -0.12° +_scene_ 0.070 -0.000 0.023 -5.668 -0.003 -5.713 -57.33° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: table <-> floor depth=[0.599, 0.005, 0.334] + !! OVERLAP: sofa <-> floor depth=[2.031, 0.005, 0.437] + !! OVERLAP: table <-> floor depth=[0.621, 0.005, 0.616] + !! OVERLAP: tv_stand <-> floor depth=[1.966, 0.005, 0.282] + !! OVERLAP: table <-> floor depth=[1.291, 0.005, 0.818] + !! OVERLAP: chair <-> floor depth=[0.559, 0.005, 0.836] + !! OVERLAP: chair <-> floor depth=[0.426, 0.005, 0.481] + !! OVERLAP: chair <-> floor depth=[0.436, 0.005, 0.527] + !! OVERLAP: chair <-> floor depth=[0.357, 0.005, 0.430] + !! OVERLAP: chair <-> floor depth=[0.418, 0.005, 0.488] + !! OVERLAP: table <-> floor depth=[0.483, 0.005, 0.340] + !! OVERLAP: table <-> floor depth=[0.600, 0.005, 0.527] + !! OVERLAP: cabinet <-> floor depth=[1.711, 0.005, 0.279] +============================================================ + + +============================================================ +SCENE: LivingDiningRoom-2729 | 18 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0000, Walkable Loss: 1.5593 (Center Penalty: 0.1915, C1 Heatmap: 0.6395, C2 Repulsion: 4.2807), Relational Loss: 0.0283 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +table 0.818 0.710 0.324 -2.157 -0.014 -0.648 0.49° +lamp 0.345 0.828 0.327 -1.994 1.744 -0.797 0.01° +chair 0.527 0.885 0.564 -1.221 0.001 -0.538 -90.32° +chair 0.492 0.936 0.505 -1.317 0.002 -1.717 0.12° +chair 0.435 0.893 0.396 -1.741 -0.002 0.137 179.97° +chair 0.408 0.894 0.470 -2.790 -0.004 -0.075 179.92° +chair 0.526 0.874 0.534 -3.310 0.002 -0.879 89.68° +chair 0.582 0.862 0.587 -2.617 0.001 -1.844 -0.05° +table 0.706 0.506 0.903 1.986 0.002 -0.803 -0.04° +tv_stand 1.987 1.059 0.216 1.534 0.006 0.838 179.94° +sofa 1.762 0.838 0.507 1.091 0.002 -2.310 -0.11° +chair 0.434 1.144 0.558 3.111 0.004 -1.293 -57.99° +chair 0.435 0.356 0.381 0.105 -0.003 -1.177 90.14° +chair 0.391 0.377 0.368 0.854 0.000 -0.810 0.28° +lamp 0.310 0.753 0.256 1.730 1.849 -0.489 0.06° +cabinet 0.549 0.716 0.379 -3.067 0.001 1.344 179.83° +floor 7.477 0.015 6.241 -0.425 -0.001 -1.235 0.05° +_scene_ 0.071 0.002 0.023 -5.672 -0.004 -5.712 -57.28° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: table <-> floor depth=[0.818, 0.015, 0.324] + !! OVERLAP: chair <-> floor depth=[0.527, 0.015, 0.564] + !! OVERLAP: chair <-> floor depth=[0.492, 0.015, 0.505] + !! OVERLAP: chair <-> floor depth=[0.435, 0.015, 0.396] + !! OVERLAP: chair <-> floor depth=[0.408, 0.015, 0.470] + !! OVERLAP: chair <-> floor depth=[0.526, 0.015, 0.534] + !! OVERLAP: chair <-> floor depth=[0.582, 0.015, 0.587] + !! OVERLAP: table <-> floor depth=[0.706, 0.015, 0.903] + !! OVERLAP: tv_stand <-> floor depth=[1.987, 0.015, 0.216] + !! OVERLAP: sofa <-> floor depth=[1.762, 0.015, 0.507] + !! OVERLAP: chair <-> floor depth=[0.420, 0.015, 0.558] + !! OVERLAP: chair <-> floor depth=[0.435, 0.015, 0.381] + !! OVERLAP: chair <-> floor depth=[0.391, 0.015, 0.368] + !! OVERLAP: cabinet <-> floor depth=[0.549, 0.015, 0.379] +============================================================ + + +============================================================ +SCENE: LivingDiningRoom-19784 | 14 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0000, Walkable Loss: 1.4995 (Center Penalty: 0.1297, C1 Heatmap: 0.7532, C2 Repulsion: 3.8359), Relational Loss: 0.0209 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +sofa 1.921 0.791 0.745 1.727 -0.001 -1.756 -89.98° +chair 0.770 1.077 0.789 0.114 -0.003 -3.694 -0.26° +table 1.255 0.475 0.956 0.354 0.002 -1.419 90.01° +table 0.334 1.150 0.316 2.185 0.001 -3.219 -90.15° +tv_stand 1.685 0.624 0.410 -1.364 0.003 -1.425 90.07° +table 1.144 0.813 0.830 0.926 -0.004 1.304 -90.38° +chair 0.443 1.122 0.515 -0.265 0.003 1.271 90.04° +chair 0.430 1.121 0.606 -0.224 0.003 2.345 90.11° +chair 0.398 1.087 0.510 1.875 0.000 1.356 -89.90° +chair 0.391 1.031 0.453 1.660 0.006 2.233 -90.00° +lamp 1.132 1.342 1.147 0.127 1.938 -1.442 -0.01° +lamp 0.773 0.979 0.781 0.864 1.700 1.811 -0.09° +floor 5.524 -0.006 7.533 0.018 0.003 -1.186 -0.15° +_scene_ 0.068 -0.000 0.024 -5.670 -0.005 -5.714 -57.30° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: sofa <-> table depth=[0.214, 0.475, 0.514] + !! OVERLAP: sofa <-> floor depth=[1.921, -0.006, 0.745] + !! OVERLAP: chair <-> floor depth=[0.770, -0.006, 0.789] + !! OVERLAP: table <-> floor depth=[1.255, -0.006, 0.956] + !! OVERLAP: table <-> floor depth=[0.334, -0.006, 0.316] + !! OVERLAP: tv_stand <-> floor depth=[1.685, -0.006, 0.410] + !! OVERLAP: table <-> floor depth=[1.144, -0.006, 0.830] + !! OVERLAP: chair <-> floor depth=[0.443, -0.006, 0.515] + !! OVERLAP: chair <-> floor depth=[0.430, -0.006, 0.539] + !! OVERLAP: chair <-> floor depth=[0.398, -0.006, 0.510] + !! OVERLAP: chair <-> floor depth=[0.391, -0.006, 0.453] +============================================================ + + +============================================================ +SCENE: LivingDiningRoom-10493 | 16 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0000, Walkable Loss: 1.1465 (Center Penalty: 0.0343, C1 Heatmap: 0.5651, C2 Repulsion: 3.3007), Relational Loss: 0.0123 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +lamp 0.574 0.992 0.568 -1.484 1.853 -2.500 -0.10° +table 1.392 0.816 0.962 2.042 -0.003 -2.273 179.71° +chair 0.420 0.706 0.484 1.648 -0.000 -3.282 0.03° +chair 0.427 0.751 0.433 0.660 -0.000 -2.817 -0.09° +chair 0.414 0.791 0.488 1.719 0.003 -0.968 -179.74° +chair 0.517 0.734 0.515 0.297 0.002 -1.388 179.99° +lamp 0.967 0.846 0.965 -1.699 1.920 1.631 179.98° +table 0.517 0.569 0.464 -3.132 0.003 -0.021 90.04° +table 0.550 0.576 0.503 -3.469 0.004 3.491 90.12° +table 0.853 0.394 0.851 -1.613 -0.001 1.653 90.07° +tv_stand 1.351 0.585 0.393 -0.295 0.001 2.017 -90.00° +sofa 1.807 0.873 0.601 -3.480 0.018 1.610 90.03° +chair 0.742 1.034 0.835 -1.852 0.004 3.273 178.72° +table 0.855 0.680 0.508 -1.537 0.004 0.019 179.88° +floor 7.638 -0.001 8.201 -1.572 -0.001 0.123 -0.11° +_scene_ 0.065 -0.000 0.013 -5.671 -0.006 -5.715 -57.26° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: table <-> floor depth=[0.901, -0.001, 0.962] + !! OVERLAP: chair <-> floor depth=[0.420, -0.001, 0.484] + !! OVERLAP: chair <-> floor depth=[0.427, -0.001, 0.433] + !! OVERLAP: chair <-> floor depth=[0.414, -0.001, 0.488] + !! OVERLAP: chair <-> floor depth=[0.517, -0.001, 0.515] + !! OVERLAP: table <-> floor depth=[0.517, -0.001, 0.464] + !! OVERLAP: table <-> floor depth=[0.550, -0.001, 0.503] + !! OVERLAP: table <-> floor depth=[0.853, -0.001, 0.851] + !! OVERLAP: tv_stand <-> floor depth=[1.351, -0.001, 0.393] + !! OVERLAP: sofa <-> floor depth=[1.807, -0.001, 0.601] + !! OVERLAP: chair <-> floor depth=[0.742, -0.001, 0.835] + !! OVERLAP: table <-> floor depth=[0.855, -0.001, 0.508] +============================================================ + + +============================================================ +SCENE: LivingRoom-23405 | 10 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0000, Walkable Loss: 1.6962 (Center Penalty: 0.9010, C1 Heatmap: 0.2759, C2 Repulsion: 2.8723), Relational Loss: 0.0261 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +table 0.514 0.734 0.268 -1.293 0.055 0.505 91.86° +chair 0.315 0.962 0.386 -1.843 -0.002 0.516 90.19° +chair 0.373 0.928 0.483 -1.883 0.000 -0.038 90.01° +chair 0.377 1.000 0.427 -0.733 0.003 0.606 -90.06° +chair 0.438 0.895 0.498 -0.946 0.000 -0.226 -90.16° +table 1.330 0.736 0.533 1.214 0.000 0.407 -90.21° +cabinet 0.732 1.410 0.465 1.399 0.004 -1.339 0.04° +lamp 0.397 0.452 0.419 -0.622 2.074 -0.496 -0.11° +floor 5.347 -0.017 3.033 0.598 -0.005 -0.590 -0.21° +_scene_ 0.069 0.001 0.019 -5.674 -0.004 -5.719 -57.31° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: table <-> floor depth=[0.514, -0.017, 0.268] + !! OVERLAP: chair <-> floor depth=[0.315, -0.017, 0.386] + !! OVERLAP: chair <-> floor depth=[0.373, -0.017, 0.483] + !! OVERLAP: chair <-> floor depth=[0.377, -0.017, 0.427] + !! OVERLAP: chair <-> floor depth=[0.438, -0.017, 0.498] + !! OVERLAP: table <-> floor depth=[1.330, -0.017, 0.533] + !! OVERLAP: cabinet <-> floor depth=[0.732, -0.017, 0.465] +============================================================ + + +============================================================ +SCENE: LivingRoom-3797 | 13 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0000, Walkable Loss: 1.1718 (Center Penalty: 0.2058, C1 Heatmap: 0.5637, C2 Repulsion: 2.5750), Relational Loss: 0.0276 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +sofa 1.561 0.831 0.734 1.916 0.002 1.364 -89.95° +table 0.961 0.304 0.725 0.241 -0.001 1.589 -89.97° +table 0.948 0.849 0.178 1.774 -0.010 -0.828 -0.76° +chair 0.446 0.799 0.410 1.085 0.001 -0.132 179.98° +chair 0.307 0.790 0.358 1.869 -0.001 -0.333 179.98° +chair 0.385 0.856 0.417 0.863 0.001 -1.424 0.00° +chair 0.376 0.805 0.414 1.736 -0.000 -1.642 0.03° +tv_stand 2.109 0.641 0.295 -1.507 0.002 1.682 89.91° +cabinet 0.828 1.087 0.239 -0.372 0.001 -2.587 0.03° +lamp 0.370 0.466 0.383 0.031 2.151 1.854 0.01° +lamp 0.215 1.228 0.164 1.432 1.539 -0.801 0.02° +floor 4.363 -0.004 5.584 0.287 0.004 1.039 -0.07° +_scene_ 0.067 0.000 0.022 -5.671 -0.005 -5.715 -57.30° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: sofa <-> floor depth=[1.333, -0.004, 0.734] + !! OVERLAP: table <-> floor depth=[0.961, -0.004, 0.725] + !! OVERLAP: table <-> floor depth=[0.948, -0.004, 0.178] + !! OVERLAP: chair <-> floor depth=[0.446, -0.004, 0.410] + !! OVERLAP: chair <-> floor depth=[0.307, -0.004, 0.358] + !! OVERLAP: chair <-> floor depth=[0.385, -0.004, 0.417] + !! OVERLAP: chair <-> floor depth=[0.376, -0.004, 0.318] + !! OVERLAP: tv_stand <-> floor depth=[1.442, -0.004, 0.295] +============================================================ + + +============================================================ +SCENE: LivingRoom-50084 | 12 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0000, Walkable Loss: 1.2206 (Center Penalty: 0.3333, C1 Heatmap: 0.5577, C2 Repulsion: 2.2055), Relational Loss: 0.0127 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +chair 0.739 0.762 0.746 -0.630 0.000 3.147 154.37° +chair 0.684 0.304 0.417 -1.071 -0.001 0.157 0.01° +table 0.535 0.428 0.527 -0.667 0.002 1.871 -0.01° +table 0.853 0.635 0.541 0.926 0.002 0.384 -0.07° +table 0.646 0.580 0.691 0.711 0.001 2.964 0.03° +tv_stand 2.697 0.743 0.326 -2.749 -0.002 1.831 90.30° +cabinet 0.914 1.024 0.317 2.185 0.001 -0.920 -89.79° +lamp 1.083 0.523 0.320 -0.152 2.143 1.431 0.06° +lamp 0.679 0.274 0.412 2.216 2.164 -2.217 -0.19° +sofa 1.607 0.876 0.663 0.883 -0.011 1.721 -178.39° +floor 5.867 -0.010 7.054 0.135 0.003 1.097 -0.10° +_scene_ 0.068 0.000 0.024 -5.663 -0.003 -5.717 -57.30° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: chair <-> floor depth=[0.739, -0.010, 0.746] + !! OVERLAP: chair <-> floor depth=[0.684, -0.010, 0.417] + !! OVERLAP: table <-> floor depth=[0.535, -0.010, 0.527] + !! OVERLAP: table <-> floor depth=[0.853, -0.010, 0.541] + !! OVERLAP: table <-> floor depth=[0.646, -0.010, 0.691] + !! OVERLAP: tv_stand <-> floor depth=[1.398, -0.010, 0.326] + !! OVERLAP: cabinet <-> floor depth=[0.914, -0.010, 0.317] + !! OVERLAP: sofa <-> floor depth=[1.607, -0.010, 0.663] +============================================================ + + +============================================================ +SCENE: LivingRoom-1772 | 15 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0000, Walkable Loss: 1.5978 (Center Penalty: 0.3384, C1 Heatmap: 0.6316, C2 Repulsion: 3.7706), Relational Loss: 0.0193 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +sofa 1.743 0.806 0.820 2.132 0.000 1.464 180.00° +table 1.138 0.421 0.779 2.280 -0.000 0.130 -0.06° +chair 0.449 0.459 0.376 1.074 -0.000 -0.015 -0.01° +bookshelf 2.881 2.591 0.059 -1.756 -0.000 2.085 -179.90° +table 0.733 0.835 0.237 -1.429 -0.002 -0.928 0.40° +chair 0.457 0.938 0.560 -2.176 0.001 -1.668 0.06° +chair 0.497 0.905 0.473 -1.981 -0.001 -0.300 89.51° +chair 0.363 0.917 0.495 -0.443 -0.001 -1.490 -89.98° +chair 0.498 0.993 0.544 -0.809 -0.002 -0.448 -89.94° +lamp 0.556 0.736 0.565 1.780 1.988 -0.420 -0.05° +lamp 0.156 1.004 0.168 -1.390 1.361 -2.052 -0.02° +lamp 0.355 0.988 0.177 -1.356 1.479 -1.418 -0.00° +lamp 0.352 0.893 0.339 -1.453 1.740 -0.637 -0.01° +floor 6.304 -0.017 5.161 0.413 -0.006 -1.204 -0.71° +_scene_ 0.067 -0.000 0.021 -5.668 -0.005 -5.713 -57.31° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: sofa <-> floor depth=[1.743, -0.017, 0.322] + !! OVERLAP: table <-> floor depth=[1.138, -0.017, 0.779] + !! OVERLAP: chair <-> floor depth=[0.449, -0.017, 0.376] + !! OVERLAP: table <-> floor depth=[0.733, -0.017, 0.237] + !! OVERLAP: chair <-> floor depth=[0.457, -0.017, 0.560] + !! OVERLAP: chair <-> floor depth=[0.497, -0.017, 0.473] + !! OVERLAP: chair <-> floor depth=[0.363, -0.017, 0.495] + !! OVERLAP: chair <-> floor depth=[0.498, -0.017, 0.544] +============================================================ + + +============================================================ +SCENE: LivingRoom-30098 | 11 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0000, Walkable Loss: 1.5248 (Center Penalty: 0.4189, C1 Heatmap: 0.8141, C2 Repulsion: 2.2735), Relational Loss: 0.0007 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +sofa 1.831 0.777 0.732 -1.513 0.004 0.343 90.13° +chair 0.662 0.929 0.731 -0.104 0.009 3.012 165.68° +chair 0.707 1.030 0.754 0.021 -0.001 -1.487 8.96° +table 0.603 0.370 0.499 -1.440 0.002 -1.181 -0.03° +table 0.470 0.529 0.415 -1.345 -0.001 2.220 7.27° +table 0.894 0.439 0.879 0.241 0.002 1.125 0.02° +tv_stand 3.368 2.406 0.290 2.231 -0.001 0.522 -90.30° +cabinet 0.884 0.813 0.307 1.313 0.006 2.803 179.87° +lamp 0.674 0.776 0.639 0.210 1.931 0.915 0.24° +floor 4.883 0.008 7.043 -0.078 -0.002 0.961 0.06° +_scene_ 0.071 -0.001 0.030 -5.670 -0.005 -5.709 -57.31° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: sofa <-> floor depth=[1.831, 0.008, 0.732] + !! OVERLAP: chair <-> floor depth=[0.662, 0.008, 0.731] + !! OVERLAP: chair <-> floor depth=[0.707, 0.008, 0.754] + !! OVERLAP: table <-> floor depth=[0.603, 0.008, 0.499] + !! OVERLAP: table <-> floor depth=[0.470, 0.008, 0.415] + !! OVERLAP: table <-> floor depth=[0.894, 0.008, 0.879] + !! OVERLAP: tv_stand <-> floor depth=[1.817, 0.008, 0.290] + !! OVERLAP: cabinet <-> floor depth=[0.884, 0.008, 0.307] +============================================================ + + +============================================================ +SCENE: LivingRoom-3540 | 17 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0000, Walkable Loss: 2.0744 (Center Penalty: 0.5714, C1 Heatmap: 0.8594, C2 Repulsion: 4.0779), Relational Loss: 0.0274 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +sofa 2.099 0.887 0.769 -1.644 0.004 -1.455 90.00° +chair 0.846 0.777 0.826 -0.056 0.002 -3.013 15.00° +chair 1.178 0.402 0.320 0.404 0.004 0.564 179.99° +table 0.995 0.355 0.630 0.286 0.004 -1.263 90.39° +table 0.545 0.598 0.493 -1.790 0.004 -3.398 89.90° +table 0.593 0.671 0.553 -1.740 0.001 0.306 0.00° +tv_stand 2.315 0.444 0.375 2.059 0.001 -1.988 -90.33° +table 0.887 0.714 0.881 0.081 0.005 2.524 -179.65° +chair 0.380 0.608 0.396 0.949 -0.001 1.500 -89.94° +chair 0.301 0.499 0.409 0.935 0.001 2.854 -89.97° +chair 0.474 0.648 0.462 -0.469 -0.001 1.341 0.05° +chair 0.384 0.614 0.426 -0.825 0.001 2.722 90.05° +table 1.254 0.901 0.435 -2.550 0.003 2.631 90.02° +lamp 0.652 0.667 0.638 0.190 1.967 -1.663 -0.03° +lamp 0.528 0.865 0.512 0.079 1.690 2.208 -0.08° +floor 4.815 -0.019 8.311 -0.186 -0.002 -0.994 -0.02° +_scene_ 0.071 -0.001 0.020 -5.671 -0.002 -5.713 -57.32° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: sofa <-> floor depth=[1.998, -0.019, 0.769] + !! OVERLAP: chair <-> floor depth=[0.846, -0.019, 0.826] + !! OVERLAP: chair <-> floor depth=[1.178, -0.019, 0.320] + !! OVERLAP: table <-> floor depth=[0.995, -0.019, 0.630] + !! OVERLAP: table <-> floor depth=[0.545, -0.019, 0.493] + !! OVERLAP: table <-> floor depth=[0.593, -0.019, 0.553] + !! OVERLAP: tv_stand <-> floor depth=[1.320, -0.019, 0.375] + !! OVERLAP: table <-> floor depth=[0.887, -0.019, 0.881] + !! OVERLAP: chair <-> floor depth=[0.380, -0.019, 0.396] + !! OVERLAP: chair <-> floor depth=[0.301, -0.019, 0.409] + !! OVERLAP: chair <-> floor depth=[0.474, -0.019, 0.462] + !! OVERLAP: chair <-> floor depth=[0.384, -0.019, 0.426] + !! OVERLAP: table <-> floor depth=[0.670, -0.019, 0.435] +============================================================ + + +============================================================ +SCENE: LivingDiningRoom-2583 | 18 objects +============================================================ +Final Step Collision Loss: 0.0051, Room Outer Loss: 0.0000, Walkable Loss: 2.0924 (Center Penalty: 0.2394, C1 Heatmap: 0.7142, C2 Repulsion: 6.4084), Relational Loss: 0.0185 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +sofa 1.736 0.956 0.470 -1.911 -0.008 1.447 89.69° +table 1.066 0.453 0.923 -0.412 -0.003 1.529 0.02° +chair 0.670 0.953 0.804 -0.394 0.003 3.117 179.97° +table 0.489 0.622 0.435 -1.945 0.001 -0.128 89.98° +table 0.515 0.599 0.474 -1.917 0.003 3.328 90.03° +tv_stand 1.449 0.513 0.321 1.121 -0.001 1.474 -89.88° +chair 0.565 0.960 0.720 -0.805 -0.003 -0.540 0.33° +table 1.235 0.780 0.634 -0.987 0.007 -1.719 0.04° +chair 0.393 1.062 0.513 -0.948 -0.002 -1.917 -179.90° +chair 0.429 0.991 0.473 -1.129 -0.001 -2.817 0.02° +chair 0.459 0.956 0.517 -0.239 -0.006 -2.777 -0.23° +chair 0.291 1.067 0.482 -0.235 0.002 -1.604 179.94° +table 0.586 0.567 0.535 -1.144 -0.000 -3.648 -0.11° +table 0.689 1.229 0.254 1.224 0.005 -3.599 -90.28° +lamp 0.843 0.795 0.823 -0.619 1.893 -2.350 -0.03° +lamp 1.364 1.161 1.300 -0.799 1.790 1.811 0.04° +floor 4.063 0.009 7.709 -0.928 -0.009 0.671 -0.43° +_scene_ 0.071 -0.000 0.022 -5.671 -0.004 -5.716 -57.29° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: sofa <-> floor depth=[1.736, 0.009, 0.470] + !! OVERLAP: table <-> floor depth=[1.066, 0.009, 0.923] + !! OVERLAP: chair <-> floor depth=[0.670, 0.009, 0.804] + !! OVERLAP: table <-> floor depth=[0.489, 0.009, 0.435] + !! OVERLAP: table <-> floor depth=[0.515, 0.009, 0.474] + !! OVERLAP: tv_stand <-> floor depth=[0.707, 0.009, 0.321] + !! OVERLAP: chair <-> floor depth=[0.565, 0.009, 0.720] + !! OVERLAP: table <-> chair depth=[0.393, 0.780, 0.376] + !! OVERLAP: table <-> chair depth=[0.011, 0.780, 0.443] + !! OVERLAP: table <-> floor depth=[1.235, 0.009, 0.634] + !! OVERLAP: chair <-> floor depth=[0.393, 0.009, 0.513] + !! OVERLAP: chair <-> floor depth=[0.429, 0.009, 0.473] + !! OVERLAP: chair <-> floor depth=[0.459, 0.009, 0.517] + !! OVERLAP: chair <-> floor depth=[0.291, 0.009, 0.482] +============================================================ + + +============================================================ +SCENE: LivingRoom-68491 | 13 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0000, Walkable Loss: 1.5259 (Center Penalty: 0.2748, C1 Heatmap: 0.5089, C2 Repulsion: 4.2201), Relational Loss: 0.0333 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +chair 0.589 0.895 0.632 -0.769 0.001 -0.815 -80.68° +table 0.643 0.310 0.486 1.115 0.000 -0.601 -0.09° +sofa 1.585 0.806 0.543 1.094 -0.003 -1.796 -0.44° +chair 0.921 1.009 0.902 3.332 0.003 -0.078 -109.27° +table 0.576 0.517 0.521 2.815 0.001 -1.806 -0.05° +table 0.456 0.510 0.483 -0.456 -0.000 -1.880 -0.05° +lamp 0.795 0.843 0.790 1.164 1.873 -0.728 -0.01° +chair 0.489 1.016 0.545 -2.666 -0.000 -1.684 0.11° +chair 0.534 0.976 0.593 -2.436 -0.007 -0.699 -90.70° +table 2.055 0.868 0.557 -3.602 0.016 -1.207 90.93° +cabinet 0.975 0.777 0.297 -1.741 0.003 -1.693 0.04° +floor 7.209 0.005 4.970 -0.851 -0.003 -0.546 -0.20° +_scene_ 0.069 0.000 0.027 -5.669 -0.004 -5.711 -57.30° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: chair <-> floor depth=[0.589, 0.005, 0.632] + !! OVERLAP: table <-> floor depth=[0.643, 0.005, 0.486] + !! OVERLAP: sofa <-> floor depth=[1.585, 0.005, 0.543] + !! OVERLAP: table <-> floor depth=[0.226, 0.005, 0.521] + !! OVERLAP: table <-> floor depth=[0.456, 0.005, 0.483] + !! OVERLAP: chair <-> table depth=[0.337, 0.868, 0.074] + !! OVERLAP: chair <-> floor depth=[0.489, 0.005, 0.545] + !! OVERLAP: chair <-> table depth=[0.129, 0.868, 0.067] + !! OVERLAP: chair <-> floor depth=[0.534, 0.005, 0.593] + !! OVERLAP: table <-> floor depth=[1.882, 0.005, 0.557] + !! OVERLAP: cabinet <-> floor depth=[0.975, 0.005, 0.297] +============================================================ + + +============================================================ +SCENE: LivingRoom-22102 | 8 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0000, Walkable Loss: 0.9412 (Center Penalty: 0.3380, C1 Heatmap: 0.5630, C2 Repulsion: 0.7642), Relational Loss: 0.0000 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +table 1.119 0.355 0.586 0.451 -0.005 1.041 89.43° +table 0.511 0.578 0.488 -1.229 0.001 -1.810 -0.21° +sofa 2.104 0.861 0.877 -1.726 0.000 0.036 90.14° +chair 0.669 0.937 0.722 0.420 -0.002 -1.318 -18.80° +tv_stand 1.439 0.742 0.329 1.940 0.002 0.346 -90.08° +lamp 0.281 0.561 0.289 0.599 2.142 0.850 -0.07° +floor 5.388 0.001 5.315 -0.232 -0.002 -0.999 -0.08° +_scene_ 0.068 0.003 0.018 -5.672 -0.006 -5.713 -57.25° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: table <-> floor depth=[1.119, 0.001, 0.586] + !! OVERLAP: table <-> floor depth=[0.511, 0.001, 0.488] + !! OVERLAP: sofa <-> floor depth=[2.104, 0.001, 0.877] + !! OVERLAP: chair <-> floor depth=[0.669, 0.001, 0.722] + !! OVERLAP: tv_stand <-> floor depth=[1.241, 0.001, 0.329] +============================================================ + + +============================================================ +SCENE: LivingDiningRoom-2106 | 10 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0000, Walkable Loss: 0.7753 (Center Penalty: 0.1777, C1 Heatmap: 0.5564, C2 Repulsion: 0.7623), Relational Loss: 0.0303 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +lamp 0.617 0.842 0.410 -0.017 1.802 -2.109 -0.03° +tv_stand 1.688 0.314 0.262 -1.653 0.000 1.598 90.14° +sofa 2.078 0.823 0.906 1.511 0.001 1.720 -90.02° +cabinet 1.148 0.984 0.437 1.543 -0.000 -0.521 -89.90° +table 0.845 0.405 0.449 -0.041 0.005 1.848 90.04° +bookshelf 0.800 2.555 0.415 -1.648 -0.002 -0.838 89.90° +lamp 1.010 1.272 1.054 -0.045 1.623 1.506 0.07° +chair 0.377 1.088 0.479 -0.073 -0.001 -2.127 67.65° +floor 4.211 -0.005 6.490 -0.138 -0.000 0.948 -0.04° +_scene_ 0.074 -0.003 0.026 -5.672 -0.004 -5.711 -57.28° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: tv_stand <-> floor depth=[1.434, -0.005, 0.262] + !! OVERLAP: sofa <-> floor depth=[1.496, -0.005, 0.906] + !! OVERLAP: cabinet <-> floor depth=[0.999, -0.005, 0.437] + !! OVERLAP: table <-> floor depth=[0.845, -0.005, 0.449] + !! OVERLAP: bookshelf <-> floor depth=[0.800, -0.005, 0.415] + !! OVERLAP: chair <-> floor depth=[0.377, -0.005, 0.410] +============================================================ + + +============================================================ +SCENE: LivingRoom-38721 | 10 objects +============================================================ +Final Step Collision Loss: 0.0020, Room Outer Loss: 0.0000, Walkable Loss: 1.7325 (Center Penalty: 0.4029, C1 Heatmap: 0.6194, C2 Repulsion: 4.1703), Relational Loss: 0.0116 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +lamp 1.122 0.958 1.135 -1.243 1.910 1.488 -0.03° +tv_stand 1.882 0.427 0.283 1.334 -0.002 -1.028 -90.03° +table 0.521 0.525 0.633 -0.765 0.005 -1.245 179.79° +sofa 2.296 0.797 0.938 -1.456 0.033 -0.752 90.36° +table 0.920 0.544 0.620 -0.617 -0.001 1.446 179.94° +chair 0.282 0.725 0.319 -1.169 0.002 0.830 -179.97° +chair 0.455 0.722 0.439 -0.591 0.000 0.621 0.04° +lamp 0.491 0.281 0.477 -0.822 2.173 -1.088 -0.03° +floor 2.921 -0.014 5.152 -1.066 -0.008 0.067 0.98° +_scene_ 0.063 0.000 0.015 -5.672 -0.005 -5.716 -57.31° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: tv_stand <-> floor depth=[0.001, -0.014, 0.283] + !! OVERLAP: table <-> sofa depth=[0.521, 0.525, 0.292] + !! OVERLAP: table <-> floor depth=[0.521, -0.014, 0.633] + !! OVERLAP: sofa <-> floor depth=[2.219, -0.014, 0.938] + !! OVERLAP: table <-> floor depth=[0.920, -0.014, 0.620] + !! OVERLAP: chair <-> floor depth=[0.282, -0.014, 0.319] + !! OVERLAP: chair <-> floor depth=[0.455, -0.014, 0.439] +============================================================ + + +============================================================ +SCENE: LivingRoom-2159 | 7 objects +============================================================ +Final Step Collision Loss: 0.0067, Room Outer Loss: 0.0000, Walkable Loss: 1.3805 (Center Penalty: 0.2821, C1 Heatmap: 0.7590, C2 Repulsion: 2.4556), Relational Loss: 0.0017 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +table 0.878 0.479 0.761 1.423 -0.000 0.306 0.10° +table 0.459 0.720 0.463 1.396 0.004 -0.229 -0.02° +sofa 2.905 1.072 0.975 0.650 -0.002 -1.801 -0.04° +chair 0.561 0.854 0.429 -1.339 -0.006 -0.039 90.41° +tv_stand 2.495 0.751 0.382 0.801 -0.003 1.903 179.98° +floor 4.838 0.000 4.533 0.722 0.000 0.483 -0.35° +_scene_ 0.046 -0.002 0.025 -5.640 -0.001 -5.677 -57.28° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: table <-> table depth=[0.459, 0.479, 0.077] + !! OVERLAP: table <-> floor depth=[0.878, 0.000, 0.761] + !! OVERLAP: table <-> floor depth=[0.459, 0.000, 0.463] + !! OVERLAP: sofa <-> floor depth=[2.905, 0.000, 0.470] + !! OVERLAP: chair <-> floor depth=[0.561, 0.000, 0.429] + !! OVERLAP: tv_stand <-> floor depth=[2.495, 0.000, 0.382] +============================================================ + + +============================================================ +SCENE: LivingRoom-1618 | 10 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0000, Walkable Loss: 1.4618 (Center Penalty: 0.5616, C1 Heatmap: 0.6028, C2 Repulsion: 2.0898), Relational Loss: 0.0239 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +sofa 1.780 0.723 0.680 -1.359 0.006 0.153 90.03° +table 0.940 1.117 0.414 -1.636 0.001 -1.891 90.06° +tv_stand 1.718 0.683 0.399 1.406 0.000 0.149 -90.07° +table 2.206 0.740 0.824 -0.359 -0.000 3.058 0.15° +chair 0.274 0.975 0.271 0.344 0.002 2.202 -151.53° +chair 0.304 0.913 0.290 -0.394 0.001 2.104 160.67° +lamp 0.719 0.945 0.552 -0.256 1.807 0.885 -0.17° +chair 0.546 0.347 0.479 -0.152 0.000 -1.983 -179.83° +floor 3.322 -0.009 5.554 -0.139 -0.005 0.725 -0.04° +_scene_ 0.070 -0.000 0.025 -5.669 -0.006 -5.717 -57.32° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: sofa <-> floor depth=[1.331, -0.009, 0.680] + !! OVERLAP: table <-> floor depth=[0.634, -0.009, 0.368] + !! OVERLAP: tv_stand <-> floor depth=[0.975, -0.009, 0.399] + !! OVERLAP: table <-> floor depth=[2.206, -0.009, 0.824] + !! OVERLAP: chair <-> floor depth=[0.274, -0.009, 0.271] + !! OVERLAP: chair <-> floor depth=[0.304, -0.009, 0.290] + !! OVERLAP: chair <-> floor depth=[0.546, -0.009, 0.308] +============================================================ + + +============================================================ +SCENE: LivingDiningRoom-25795 | 17 objects +============================================================ +Final Step Collision Loss: 0.0004, Room Outer Loss: 0.0000, Walkable Loss: 1.4081 (Center Penalty: 0.3040, C1 Heatmap: 0.6770, C2 Repulsion: 2.8125), Relational Loss: 0.0163 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +chair 0.489 0.809 0.505 2.581 0.002 0.151 -72.66° +sofa 2.116 0.866 0.767 1.112 -0.000 -1.457 -0.02° +chair 0.387 0.433 0.380 -0.062 -0.006 0.984 -90.61° +table 0.288 0.273 0.272 1.198 -0.001 -0.374 179.96° +table 0.376 0.395 0.412 2.237 -0.001 -1.142 179.94° +table 0.422 0.375 0.439 -0.631 0.004 -1.161 179.86° +table 1.036 0.700 0.165 -2.450 0.019 0.823 -179.80° +chair 0.462 0.826 0.463 -2.944 0.006 1.617 179.97° +chair 0.523 0.756 0.518 -1.844 -0.001 1.752 -179.96° +chair 0.462 0.800 0.467 -1.980 0.001 -0.139 -0.01° +chair 0.517 0.764 0.433 -3.013 0.001 -0.238 -0.04° +tv_stand 2.882 0.732 0.398 1.663 0.003 2.750 -179.87° +cabinet 1.041 1.202 0.388 -3.118 0.000 -2.285 89.97° +lamp 0.419 0.773 0.156 1.422 1.927 0.403 -0.01° +lamp 0.666 0.921 0.659 -1.835 1.918 0.787 -0.00° +floor 6.707 0.009 5.587 -0.959 0.001 0.624 0.02° +_scene_ 0.070 -0.000 0.021 -5.672 -0.004 -5.713 -57.30° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: chair <-> floor depth=[0.058, 0.009, 0.505] + !! OVERLAP: sofa <-> table depth=[0.121, 0.395, 0.274] + !! OVERLAP: sofa <-> floor depth=[2.116, 0.009, 0.767] + !! OVERLAP: chair <-> floor depth=[0.387, 0.009, 0.380] + !! OVERLAP: table <-> floor depth=[0.288, 0.009, 0.272] + !! OVERLAP: table <-> floor depth=[0.346, 0.009, 0.412] + !! OVERLAP: table <-> floor depth=[0.422, 0.009, 0.439] + !! OVERLAP: table <-> floor depth=[1.036, 0.009, 0.165] + !! OVERLAP: chair <-> floor depth=[0.462, 0.009, 0.463] + !! OVERLAP: chair <-> floor depth=[0.523, 0.009, 0.518] + !! OVERLAP: chair <-> floor depth=[0.462, 0.009, 0.467] + !! OVERLAP: chair <-> floor depth=[0.517, 0.009, 0.433] + !! OVERLAP: tv_stand <-> floor depth=[2.173, 0.009, 0.398] + !! OVERLAP: cabinet <-> floor depth=[1.041, 0.009, 0.078] +============================================================ + + +============================================================ +SCENE: LivingDiningRoom-62037 | 16 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0000, Walkable Loss: 1.7989 (Center Penalty: 0.3362, C1 Heatmap: 0.5577, C2 Repulsion: 5.0828), Relational Loss: 0.0278 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +table 0.956 0.942 0.848 -0.059 0.009 -2.471 89.96° +table 1.028 0.910 -0.060 1.489 0.012 0.548 0.10° +tv_stand 1.747 0.391 0.262 -1.589 0.002 -2.448 90.03° +cabinet 0.907 1.196 0.295 -1.746 0.001 3.731 89.97° +cabinet 0.697 0.689 0.269 -1.887 0.004 0.000 90.01° +table 0.401 0.522 0.442 1.213 0.001 -1.251 -0.03° +bookshelf 1.732 2.326 0.171 0.815 0.003 1.913 -179.86° +sofa 1.975 0.798 0.501 1.325 0.020 -3.016 -88.06° +lamp 0.874 0.795 0.872 -0.098 1.805 -2.078 89.98° +chair 0.472 0.957 0.534 0.341 0.002 1.229 179.74° +lamp 0.747 1.060 0.714 0.717 1.641 0.834 -0.04° +chair 0.365 0.974 0.398 1.372 0.002 1.301 -179.89° +chair 0.401 1.051 0.273 1.231 -0.005 0.036 -0.80° +chair 0.440 1.066 0.486 1.196 0.005 -0.380 -0.01° +floor 3.803 -0.020 9.003 0.088 -0.002 -1.053 -0.15° +_scene_ 0.067 0.000 0.022 -5.670 -0.005 -5.713 -57.32° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: table <-> sofa depth=[0.082, 0.798, 0.130] + !! OVERLAP: table <-> floor depth=[0.956, -0.020, 0.848] + !! OVERLAP: table <-> floor depth=[1.015, -0.020, -0.060] + !! OVERLAP: tv_stand <-> floor depth=[1.097, -0.020, 0.262] + !! OVERLAP: cabinet <-> floor depth=[0.275, -0.020, 0.269] + !! OVERLAP: table <-> floor depth=[0.401, -0.020, 0.442] + !! OVERLAP: bookshelf <-> floor depth=[1.732, -0.020, 0.171] + !! OVERLAP: sofa <-> floor depth=[1.653, -0.020, 0.501] + !! OVERLAP: chair <-> floor depth=[0.472, -0.020, 0.534] + !! OVERLAP: chair <-> floor depth=[0.365, -0.020, 0.398] + !! OVERLAP: chair <-> floor depth=[0.401, -0.020, 0.273] + !! OVERLAP: chair <-> floor depth=[0.440, -0.020, 0.486] +============================================================ + + +============================================================ +SCENE: LivingDiningRoom-17657 | 13 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0000, Walkable Loss: 1.4173 (Center Penalty: 0.1391, C1 Heatmap: 0.7057, C2 Repulsion: 3.5681), Relational Loss: 0.0263 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +table 1.082 0.769 0.311 0.016 -0.015 -1.761 -90.20° +chair 0.469 0.883 0.513 -0.712 0.001 -2.791 -0.01° +chair 0.464 0.919 0.554 -0.841 -0.001 -1.801 -179.87° +chair 0.365 0.835 0.479 0.626 -0.004 -2.448 -90.40° +chair 0.346 0.897 0.348 0.561 -0.004 -1.547 -161.07° +sofa 1.839 0.921 0.538 -2.016 0.004 1.511 89.76° +table 1.294 0.346 0.603 -0.405 -0.003 1.887 90.06° +table 0.759 0.454 0.772 -1.624 0.004 -0.183 90.04° +tv_stand 2.546 0.552 0.266 1.264 -0.000 1.568 -89.90° +lamp 0.799 0.825 0.804 -0.117 1.806 1.476 -0.01° +lamp 0.150 0.830 0.185 -0.023 2.199 -2.141 -0.06° +floor 4.195 0.009 6.965 -1.012 -0.000 0.246 -0.06° +_scene_ 0.067 0.001 0.023 -5.668 -0.005 -5.718 -57.33° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: table <-> chair depth=[0.169, 0.769, 0.116] + !! OVERLAP: table <-> floor depth=[1.082, 0.009, 0.311] + !! OVERLAP: chair <-> floor depth=[0.469, 0.009, 0.513] + !! OVERLAP: chair <-> floor depth=[0.464, 0.009, 0.554] + !! OVERLAP: chair <-> floor depth=[0.365, 0.009, 0.479] + !! OVERLAP: chair <-> floor depth=[0.346, 0.009, 0.348] + !! OVERLAP: sofa <-> floor depth=[1.839, 0.009, 0.538] + !! OVERLAP: table <-> tv_stand depth=[0.251, 0.346, 0.115] + !! OVERLAP: table <-> floor depth=[1.294, 0.009, 0.603] + !! OVERLAP: table <-> floor depth=[0.759, 0.009, 0.772] + !! OVERLAP: tv_stand <-> floor depth=[1.094, 0.009, 0.266] +============================================================ + + +============================================================ +SCENE: LivingRoom-11224 | 6 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0000, Walkable Loss: 1.5409 (Center Penalty: 0.8546, C1 Heatmap: 0.5753, C2 Repulsion: 1.1301), Relational Loss: 0.0119 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +sofa 2.160 0.878 0.695 -1.460 -0.004 0.395 89.88° +table 1.501 0.685 0.770 -0.678 -0.004 -0.332 -90.16° +tv_stand 1.885 0.368 0.317 1.335 -0.003 -0.297 -90.12° +lamp 0.518 0.397 0.610 0.763 2.147 -0.048 0.06° +floor 4.298 0.016 2.940 -0.905 -0.009 -0.110 -0.22° +_scene_ 0.066 -0.001 0.036 -5.657 -0.005 -5.697 -57.30° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: sofa <-> table depth=[1.049, 0.685, 0.005] + !! OVERLAP: sofa <-> floor depth=[2.160, 0.016, 0.695] + !! OVERLAP: table <-> floor depth=[1.501, 0.016, 0.770] + !! OVERLAP: tv_stand <-> floor depth=[0.852, 0.016, 0.317] +============================================================ + + +============================================================ +SCENE: LivingRoom-13136 | 14 objects +============================================================ +Final Step Collision Loss: 0.0002, Room Outer Loss: 0.0000, Walkable Loss: 1.2138 (Center Penalty: 0.1010, C1 Heatmap: 0.6071, C2 Repulsion: 3.1356), Relational Loss: 0.0145 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +sofa 1.807 0.805 0.622 -1.425 0.008 -1.679 89.92° +table 1.420 0.485 0.794 1.028 0.003 -1.543 89.82° +chair 0.607 0.885 0.661 0.075 0.003 -2.847 10.67° +table 0.477 0.513 0.453 -1.515 0.004 -3.504 89.98° +table 0.539 0.635 0.514 -1.385 0.001 -0.290 89.98° +table 1.052 0.813 0.586 0.860 -0.005 2.997 -0.67° +chair 0.560 0.938 0.579 -0.221 0.002 1.863 89.88° +chair 0.384 0.948 0.375 -0.273 0.003 2.741 -179.88° +chair 0.470 0.952 0.545 1.411 -0.000 1.760 -90.04° +chair 0.195 0.912 0.176 1.426 -0.014 2.669 -115.41° +bookshelf 1.092 2.106 0.227 -1.288 0.003 0.776 179.97° +lamp 0.771 0.902 0.789 0.897 1.660 2.481 -0.00° +floor 5.145 -0.019 8.197 0.320 0.007 -1.108 -0.17° +_scene_ 0.082 -0.001 0.033 -5.669 -0.001 -5.714 -57.35° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: sofa <-> floor depth=[1.731, -0.019, 0.622] + !! OVERLAP: table <-> floor depth=[1.420, -0.019, 0.794] + !! OVERLAP: chair <-> floor depth=[0.607, -0.019, 0.661] + !! OVERLAP: table <-> floor depth=[0.477, -0.019, 0.453] + !! OVERLAP: table <-> floor depth=[0.539, -0.019, 0.514] + !! OVERLAP: table <-> chair depth=[0.058, 0.813, 0.052] + !! OVERLAP: table <-> floor depth=[1.052, -0.019, 0.287] + !! OVERLAP: chair <-> floor depth=[0.560, -0.019, 0.579] + !! OVERLAP: chair <-> floor depth=[0.384, -0.019, 0.375] + !! OVERLAP: chair <-> floor depth=[0.470, -0.019, 0.545] + !! OVERLAP: chair <-> floor depth=[0.195, -0.019, 0.176] + !! OVERLAP: bookshelf <-> floor depth=[1.092, -0.019, 0.227] +============================================================ + + +============================================================ +SCENE: LivingRoom-40975 | 7 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0000, Walkable Loss: 0.6067 (Center Penalty: 0.1149, C1 Heatmap: 0.3220, C2 Repulsion: 1.1708), Relational Loss: 0.0371 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +cabinet 0.644 1.204 0.424 0.051 0.002 2.395 179.93° +sofa 1.589 0.819 0.648 1.226 -0.001 0.667 -0.01° +table 0.879 0.763 1.034 1.556 -0.001 1.531 90.09° +lamp 1.144 0.712 0.493 0.757 2.114 1.089 -0.01° +lamp 0.527 0.854 0.324 -1.348 2.172 -1.570 -89.67° +floor 5.199 0.013 4.892 -0.048 0.004 1.169 -0.14° +_scene_ 0.069 0.002 0.026 -5.670 -0.005 -5.708 -57.40° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: cabinet <-> floor depth=[0.644, 0.013, 0.424] + !! OVERLAP: sofa <-> floor depth=[1.589, 0.013, 0.648] + !! OVERLAP: table <-> floor depth=[0.879, 0.013, 1.034] +============================================================ + + +============================================================ +SCENE: LivingRoom-6045 | 9 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0000, Walkable Loss: 1.4707 (Center Penalty: 0.5083, C1 Heatmap: 0.6546, C2 Repulsion: 2.1933), Relational Loss: 0.0142 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +tv_stand 2.004 0.640 0.384 1.664 0.001 1.113 -89.99° +cabinet 0.533 1.097 0.443 -1.681 0.001 2.098 90.00° +sofa 2.428 0.871 0.678 -1.782 0.009 0.378 90.13° +table 0.220 0.341 0.691 -0.579 -0.019 0.809 -0.20° +chair 0.729 0.815 0.768 -0.076 -0.001 1.986 179.91° +bookshelf 1.163 1.783 0.349 -1.430 -0.000 -1.500 89.97° +lamp 0.942 0.712 0.805 -0.265 2.108 0.882 0.03° +floor 3.783 -0.008 5.496 0.035 0.005 0.918 0.39° +_scene_ 0.070 0.001 0.025 -5.672 -0.004 -5.714 -57.30° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: tv_stand <-> floor depth=[1.265, -0.008, 0.384] + !! OVERLAP: cabinet <-> floor depth=[0.442, -0.008, 0.443] + !! OVERLAP: sofa <-> table depth=[0.121, 0.341, 0.254] + !! OVERLAP: sofa <-> floor depth=[1.288, -0.008, 0.678] + !! OVERLAP: table <-> floor depth=[0.220, -0.008, 0.691] + !! OVERLAP: chair <-> floor depth=[0.729, -0.008, 0.768] + !! OVERLAP: bookshelf <-> floor depth=[1.007, -0.008, 0.349] +============================================================ + + +============================================================ +SCENE: LivingRoom-2050 | 10 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0000, Walkable Loss: 1.2730 (Center Penalty: 0.1987, C1 Heatmap: 0.8014, C2 Repulsion: 2.1661), Relational Loss: 0.0029 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +sofa 2.283 0.755 0.820 0.210 -0.000 -1.844 -0.06° +chair 0.826 0.890 0.767 2.875 0.010 0.153 -69.53° +table 1.564 0.866 0.757 1.111 -0.000 -0.073 -0.21° +tv_stand 1.936 0.592 0.423 0.297 0.002 1.707 180.00° +table 0.540 0.520 0.484 -1.888 0.000 -1.680 -0.01° +table 0.484 0.416 0.464 2.699 0.002 -1.559 -0.06° +lamp 0.600 0.847 0.505 1.110 1.731 0.169 -0.05° +chair 0.734 0.723 0.618 -1.750 0.005 -0.236 57.33° +floor 7.619 0.002 3.629 -1.311 -0.020 -0.211 -1.38° +_scene_ 0.067 0.001 0.019 -5.675 -0.004 -5.715 -57.33° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: sofa <-> floor depth=[2.283, 0.002, 0.591] + !! OVERLAP: chair <-> floor depth=[0.037, 0.002, 0.767] + !! OVERLAP: table <-> floor depth=[1.564, 0.002, 0.757] + !! OVERLAP: tv_stand <-> floor depth=[1.936, 0.002, 0.108] + !! OVERLAP: table <-> floor depth=[0.540, 0.002, 0.484] + !! OVERLAP: table <-> floor depth=[0.042, 0.002, 0.464] + !! OVERLAP: chair <-> floor depth=[0.734, 0.002, 0.618] +============================================================ + + +============================================================ +SCENE: LivingRoom-12271 | 7 objects +============================================================ +Final Step Collision Loss: 0.0154, Room Outer Loss: 0.0000, Walkable Loss: 1.3020 (Center Penalty: 0.6337, C1 Heatmap: 0.5075, C2 Repulsion: 1.3115), Relational Loss: 0.0520 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +lamp 0.489 0.082 0.504 -0.796 2.606 0.102 -0.08° +table 1.128 0.715 1.130 -1.026 0.000 -0.951 -90.17° +sofa 1.473 1.339 1.081 -1.253 0.012 0.264 90.09° +table 0.604 1.049 0.414 1.845 -0.000 1.496 0.04° +sofa 0.667 0.473 0.878 0.794 -0.005 -0.222 -74.34° +floor 4.995 -0.002 4.189 -0.842 0.002 0.922 0.00° +_scene_ 0.073 0.001 0.045 -5.663 -0.004 -5.710 -57.21° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: table <-> floor depth=[1.128, -0.002, 0.786] + !! OVERLAP: sofa <-> floor depth=[1.473, -0.002, 1.081] + !! OVERLAP: table <-> floor depth=[0.112, -0.002, 0.414] + !! OVERLAP: sofa <-> floor depth=[0.667, -0.002, 0.878] +============================================================ + + +============================================================ +SCENE: LivingDiningRoom-52564 | 10 objects +============================================================ +Final Step Collision Loss: 0.0024, Room Outer Loss: 0.0000, Walkable Loss: 1.0182 (Center Penalty: 0.1389, C1 Heatmap: 0.5093, C2 Repulsion: 2.3591), Relational Loss: 0.0120 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +tv_stand 1.828 0.649 0.304 -1.899 -0.000 -1.717 90.19° +table 0.320 0.393 0.532 1.950 0.004 -1.818 -0.15° +table 1.237 1.327 0.328 -2.900 0.002 0.227 90.12° +table 0.532 0.736 0.519 -1.049 0.003 -0.670 0.00° +table 0.447 0.723 0.457 -1.190 -0.002 -2.534 -0.05° +sofa 2.407 0.960 0.793 1.425 0.005 -1.778 -90.15° +lamp 0.981 1.166 0.754 0.799 1.595 1.602 -0.00° +lamp 0.495 0.678 0.507 0.311 1.940 -2.147 -0.06° +floor 7.372 -0.002 6.368 -0.804 -0.001 -0.739 0.04° +_scene_ 0.115 -0.005 0.132 -5.601 -0.004 -5.642 -57.14° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: tv_stand <-> floor depth=[1.828, -0.002, 0.304] + !! OVERLAP: table <-> sofa depth=[0.320, 0.393, 0.532] + !! OVERLAP: table <-> floor depth=[0.320, -0.002, 0.532] + !! OVERLAP: table <-> floor depth=[1.237, -0.002, 0.328] + !! OVERLAP: table <-> floor depth=[0.532, -0.002, 0.519] + !! OVERLAP: table <-> floor depth=[0.447, -0.002, 0.457] + !! OVERLAP: sofa <-> floor depth=[2.407, -0.002, 0.793] +============================================================ + + +============================================================ +SCENE: LivingRoom-423 | 21 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0000, Walkable Loss: 1.5693 (Center Penalty: 0.2837, C1 Heatmap: 0.6530, C2 Repulsion: 3.8165), Relational Loss: 0.0131 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +bookshelf 1.703 2.571 0.286 2.065 -0.002 3.182 -90.09° +table 1.220 0.663 -0.051 -0.768 -0.019 1.836 0.79° +chair 0.419 0.821 0.417 -1.185 0.002 0.879 0.04° +chair 0.527 0.810 0.472 -0.203 -0.001 1.036 -0.04° +chair 0.363 0.862 0.379 -0.955 0.004 2.792 179.88° +chair 0.435 0.765 0.511 0.032 0.000 2.908 -180.00° +chair 0.457 0.776 0.458 0.543 0.002 2.055 -90.13° +chair 0.490 0.838 0.482 -1.882 0.004 1.970 90.05° +sofa 1.691 0.966 0.736 -1.787 -0.007 -2.750 90.17° +sofa 1.207 0.861 0.849 0.083 0.001 -4.470 -0.01° +chair 0.817 1.030 0.771 -0.540 0.012 -1.190 168.29° +table 0.906 0.653 0.745 -0.293 0.011 -2.564 90.16° +table 0.504 0.437 0.418 -1.833 0.002 -0.476 90.11° +table 0.394 0.301 0.422 -1.517 -0.004 -4.474 89.88° +cabinet 1.893 2.160 0.272 -1.424 -0.001 3.861 179.76° +tv_stand 1.832 0.588 0.374 1.887 0.001 -2.394 -90.15° +lamp 0.795 0.826 0.787 -0.241 1.881 -2.579 0.03° +lamp 0.769 0.791 0.684 -0.212 1.706 2.842 0.07° +lamp 0.420 1.477 0.419 0.989 1.367 3.966 0.17° +floor 4.684 -0.008 9.185 -0.758 -0.003 -0.670 0.05° +_scene_ 0.066 0.000 0.020 -5.673 -0.005 -5.713 -57.33° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bookshelf <-> floor depth=[0.371, -0.008, 0.286] + !! OVERLAP: table <-> floor depth=[1.220, -0.008, -0.051] + !! OVERLAP: chair <-> floor depth=[0.419, -0.008, 0.417] + !! OVERLAP: chair <-> floor depth=[0.527, -0.008, 0.472] + !! OVERLAP: chair <-> floor depth=[0.363, -0.008, 0.379] + !! OVERLAP: chair <-> floor depth=[0.435, -0.008, 0.511] + !! OVERLAP: chair <-> floor depth=[0.457, -0.008, 0.458] + !! OVERLAP: chair <-> floor depth=[0.490, -0.008, 0.482] + !! OVERLAP: sofa <-> floor depth=[1.691, -0.008, 0.736] + !! OVERLAP: sofa <-> floor depth=[1.207, -0.008, 0.849] + !! OVERLAP: chair <-> floor depth=[0.817, -0.008, 0.771] + !! OVERLAP: table <-> floor depth=[0.906, -0.008, 0.745] + !! OVERLAP: table <-> floor depth=[0.504, -0.008, 0.418] + !! OVERLAP: table <-> floor depth=[0.394, -0.008, 0.422] + !! OVERLAP: cabinet <-> floor depth=[1.893, -0.008, 0.197] + !! OVERLAP: tv_stand <-> floor depth=[0.613, -0.008, 0.374] +============================================================ + + +============================================================ +SCENE: LivingRoom-34874 | 6 objects +============================================================ +Final Step Collision Loss: 0.0057, Room Outer Loss: 0.0000, Walkable Loss: 1.2622 (Center Penalty: 0.4490, C1 Heatmap: 0.7277, C2 Repulsion: 1.1548), Relational Loss: 0.0181 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +sofa 2.936 0.859 0.733 -0.728 -0.005 1.640 -179.73° +lamp 0.552 0.492 0.563 -0.731 2.070 0.729 -0.00° +table 1.117 0.517 1.015 -0.607 0.002 0.721 -90.14° +tv_stand 2.350 0.724 0.398 -0.948 -0.001 -1.553 0.08° +floor 4.923 0.002 3.919 -0.490 -0.001 0.825 0.30° +_scene_ 0.057 0.000 0.004 -5.670 -0.005 -5.705 -57.28° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: sofa <-> floor depth=[2.936, 0.002, 0.733] + !! OVERLAP: table <-> floor depth=[1.117, 0.002, 1.015] +============================================================ + + +============================================================ +SCENE: LivingDiningRoom-9632 | 14 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0000, Walkable Loss: 1.1600 (Center Penalty: 0.1626, C1 Heatmap: 0.6022, C2 Repulsion: 2.5785), Relational Loss: 0.0290 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +lamp 0.678 0.772 0.663 -0.821 1.808 -1.894 -0.04° +sofa 1.782 0.870 0.304 -2.006 -0.003 1.848 90.14° +table 0.877 0.689 0.220 -0.805 -0.011 1.816 -90.86° +tv_stand 1.662 0.460 0.337 1.310 -0.000 1.940 -89.99° +chair 0.615 0.920 0.657 -1.832 0.003 0.477 89.63° +chair 0.776 0.960 0.841 -1.554 -0.000 -0.723 179.99° +cabinet 0.455 0.995 0.283 1.669 0.002 0.110 -90.21° +table 1.458 0.730 0.994 -0.376 0.003 -2.516 0.01° +chair 0.348 0.436 0.369 0.958 0.001 -0.349 -90.10° +chair 0.229 0.496 0.205 -0.251 0.002 1.683 -0.12° +chair 0.305 0.472 0.250 -0.374 0.005 2.351 -126.75° +lamp 0.715 0.636 0.686 -0.454 2.102 1.537 0.02° +floor 5.879 -0.003 6.416 -1.338 0.002 0.377 0.06° +_scene_ 0.074 0.001 0.026 -5.671 -0.004 -5.713 -57.30° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: sofa <-> table depth=[0.129, 0.689, 0.220] + !! OVERLAP: sofa <-> floor depth=[1.782, -0.003, 0.304] + !! OVERLAP: table <-> floor depth=[0.877, -0.003, 0.220] + !! OVERLAP: tv_stand <-> floor depth=[1.123, -0.003, 0.337] + !! OVERLAP: chair <-> floor depth=[0.615, -0.003, 0.657] + !! OVERLAP: chair <-> floor depth=[0.776, -0.003, 0.841] + !! OVERLAP: cabinet <-> floor depth=[0.161, -0.003, 0.283] + !! OVERLAP: table <-> floor depth=[1.458, -0.003, 0.812] + !! OVERLAP: chair <-> floor depth=[0.348, -0.003, 0.369] + !! OVERLAP: chair <-> floor depth=[0.229, -0.003, 0.205] + !! OVERLAP: chair <-> floor depth=[0.305, -0.003, 0.250] +============================================================ + + +============================================================ +SCENE: LivingRoom-860 | 10 objects +============================================================ +Final Step Collision Loss: 0.0127, Room Outer Loss: 0.0000, Walkable Loss: 1.7201 (Center Penalty: 0.4083, C1 Heatmap: 0.7771, C2 Repulsion: 3.4504), Relational Loss: 0.0147 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +table 1.662 0.746 1.167 0.802 -0.002 -0.485 -0.07° +chair 0.364 0.881 0.450 0.163 0.002 2.114 -179.94° +chair 0.312 0.860 0.363 0.139 -0.000 1.495 -179.79° +table 1.009 0.503 0.623 0.985 -0.003 1.984 179.90° +sofa 1.584 0.774 0.539 1.725 -0.005 -0.687 -90.37° +tv_stand 2.118 1.009 0.493 -1.709 -0.000 -0.734 90.05° +cabinet 0.850 1.241 0.200 0.598 -0.000 -2.241 0.00° +lamp 0.882 1.105 0.837 1.044 1.597 -0.412 0.05° +floor 3.440 0.010 5.649 0.321 -0.009 -0.933 0.00° +_scene_ 0.068 0.000 0.022 -5.669 -0.005 -5.717 -57.28° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: table <-> sofa depth=[0.700, 0.746, 0.539] + !! OVERLAP: table <-> floor depth=[1.662, 0.010, 1.167] + !! OVERLAP: chair <-> floor depth=[0.364, 0.010, 0.002] + !! OVERLAP: chair <-> floor depth=[0.312, 0.010, 0.363] + !! OVERLAP: table <-> floor depth=[1.009, 0.010, 0.219] + !! OVERLAP: sofa <-> floor depth=[1.109, 0.010, 0.539] + !! OVERLAP: tv_stand <-> floor depth=[0.749, 0.010, 0.493] + !! OVERLAP: cabinet <-> floor depth=[0.850, 0.010, 0.200] +============================================================ + + +============================================================ +SCENE: LivingDiningRoom-8304 | 18 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0000, Walkable Loss: 1.6330 (Center Penalty: 0.0317, C1 Heatmap: 0.5900, C2 Repulsion: 5.6460), Relational Loss: 0.0141 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +chair 0.854 1.120 0.903 -0.778 -0.002 4.344 -179.97° +sofa 2.161 0.827 0.945 -2.467 -0.007 2.434 90.10° +chair 0.711 0.784 0.801 -0.768 0.001 1.566 52.61° +table 0.487 0.396 0.759 -0.915 0.004 2.740 -0.08° +tv_stand 1.559 0.901 0.320 0.614 0.002 2.494 -90.06° +table 0.465 0.563 0.445 -1.995 0.000 0.575 -0.01° +table 0.488 0.505 0.504 -2.328 -0.005 3.982 0.20° +cabinet 0.833 2.322 0.463 -1.960 -0.000 -1.091 0.66° +chair 0.513 1.002 0.595 1.830 0.003 -2.115 -90.12° +table 1.500 0.718 0.514 1.165 -0.007 -3.391 90.39° +chair 0.470 0.984 0.558 2.161 0.002 -3.009 -90.05° +chair 0.490 1.000 0.602 0.289 0.003 -2.318 89.95° +chair 0.365 0.980 0.366 0.262 -0.011 -3.226 89.86° +bookshelf 0.999 2.021 0.302 -0.954 0.006 -3.356 -179.37° +lamp 0.681 0.575 0.689 -0.459 2.112 2.568 -0.01° +lamp 0.430 0.961 0.401 1.228 2.035 -3.136 -0.03° +floor 5.316 0.021 9.365 -1.207 0.002 0.557 -0.18° +_scene_ 0.070 0.000 0.021 -5.671 -0.004 -5.714 -57.32° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: chair <-> floor depth=[0.854, 0.021, 0.903] + !! OVERLAP: sofa <-> floor depth=[2.161, 0.021, 0.945] + !! OVERLAP: chair <-> floor depth=[0.711, 0.021, 0.801] + !! OVERLAP: table <-> floor depth=[0.487, 0.021, 0.759] + !! OVERLAP: tv_stand <-> floor depth=[1.559, 0.021, 0.320] + !! OVERLAP: table <-> floor depth=[0.465, 0.021, 0.445] + !! OVERLAP: table <-> floor depth=[0.488, 0.021, 0.504] + !! OVERLAP: cabinet <-> floor depth=[0.833, 0.021, 0.463] + !! OVERLAP: table <-> chair depth=[0.029, 0.718, 0.276] + !! OVERLAP: table <-> floor depth=[1.036, 0.021, 0.514] + !! OVERLAP: chair <-> floor depth=[0.490, 0.021, 0.602] + !! OVERLAP: chair <-> floor depth=[0.365, 0.021, 0.366] + !! OVERLAP: bookshelf <-> floor depth=[0.999, 0.021, 0.302] +============================================================ + + +============================================================ +SCENE: LivingDiningRoom-13962 | 14 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0000, Walkable Loss: 1.5210 (Center Penalty: 0.1211, C1 Heatmap: 0.6834, C2 Repulsion: 4.2658), Relational Loss: 0.0239 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +lamp 0.635 1.377 0.664 -0.372 1.510 1.049 -0.09° +tv_stand 2.024 0.427 0.422 1.245 -0.000 1.574 -89.88° +table 0.433 0.298 0.381 -0.315 0.000 1.354 -90.06° +table 0.418 0.475 0.363 -1.635 0.003 2.769 89.98° +table 0.482 0.540 0.494 -1.751 0.002 -0.485 89.99° +sofa 1.966 0.937 0.786 -1.971 0.008 1.090 90.16° +chair 0.712 0.700 0.650 -0.341 0.000 2.625 -179.95° +chair 0.456 0.785 0.453 -0.349 0.004 -3.034 90.10° +chair 0.484 0.770 0.526 -0.374 0.002 -2.104 90.12° +chair 0.556 0.778 0.602 1.489 0.001 -2.721 -90.05° +chair 0.511 0.734 0.493 1.205 0.002 -1.812 -90.35° +table 1.304 0.749 0.282 0.505 -0.015 -2.369 -90.85° +floor 4.150 -0.017 7.200 -0.854 0.015 1.181 -0.12° +_scene_ 0.066 0.000 0.020 -5.673 -0.005 -5.717 -57.31° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: tv_stand <-> floor depth=[0.987, -0.017, 0.422] + !! OVERLAP: table <-> floor depth=[0.433, -0.017, 0.381] + !! OVERLAP: table <-> floor depth=[0.418, -0.017, 0.363] + !! OVERLAP: table <-> floor depth=[0.482, -0.017, 0.494] + !! OVERLAP: sofa <-> floor depth=[1.942, -0.017, 0.786] + !! OVERLAP: chair <-> floor depth=[0.712, -0.017, 0.650] + !! OVERLAP: chair <-> table depth=[0.015, 0.743, 0.139] + !! OVERLAP: chair <-> floor depth=[0.484, -0.017, 0.526] + !! OVERLAP: chair <-> floor depth=[0.271, -0.017, 0.493] + !! OVERLAP: table <-> floor depth=[1.304, -0.017, 0.191] +============================================================ + + +============================================================ +SCENE: LivingRoom-41893 | 11 objects +============================================================ +Final Step Collision Loss: 0.0058, Room Outer Loss: 0.0000, Walkable Loss: 1.9754 (Center Penalty: 0.5162, C1 Heatmap: 0.6390, C2 Repulsion: 4.7400), Relational Loss: 0.0491 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +sofa 1.653 0.730 0.526 1.428 -0.006 0.992 -179.80° +chair 0.493 0.735 0.588 2.341 0.004 -0.002 -100.29° +table 0.581 0.487 0.547 0.009 0.003 1.174 179.98° +chair 0.457 1.036 0.493 -1.481 0.001 0.170 -90.19° +chair 0.471 0.980 0.521 -2.254 0.000 -0.152 89.93° +table 1.771 0.807 0.660 -1.071 0.004 0.673 90.16° +table 1.186 0.429 0.939 1.244 0.000 -0.685 179.92° +lamp 0.387 0.903 0.381 1.408 1.678 -0.496 0.05° +lamp 0.363 0.989 0.248 -1.253 1.601 0.767 0.02° +floor 6.142 -0.011 2.611 0.705 0.013 -0.141 -0.02° +_scene_ 0.071 -0.000 0.022 -5.673 -0.005 -5.712 -57.31° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: sofa <-> floor depth=[1.653, -0.011, 0.435] + !! OVERLAP: chair <-> floor depth=[0.493, -0.011, 0.588] + !! OVERLAP: table <-> table depth=[0.096, 0.487, 0.103] + !! OVERLAP: table <-> floor depth=[0.581, -0.011, 0.264] + !! OVERLAP: chair <-> table depth=[0.457, 0.807, 0.073] + !! OVERLAP: chair <-> floor depth=[0.457, -0.011, 0.493] + !! OVERLAP: chair <-> floor depth=[0.347, -0.011, 0.521] + !! OVERLAP: table <-> floor depth=[1.771, -0.011, 0.660] + !! OVERLAP: table <-> floor depth=[1.186, -0.011, 0.939] +============================================================ + + +============================================================ +SCENE: LivingRoom-18042 | 6 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0000, Walkable Loss: 1.5750 (Center Penalty: 1.0980, C1 Heatmap: 0.5297, C2 Repulsion: 0.2660), Relational Loss: 0.0000 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +sofa 2.145 0.782 0.811 0.658 -0.001 -1.459 -0.05° +table 0.945 0.409 1.121 0.886 -0.003 0.729 -0.03° +lamp 0.787 0.756 0.789 1.083 1.946 0.003 -0.04° +table 1.513 1.221 0.386 -1.731 0.002 0.678 89.97° +floor 4.814 -0.004 5.167 0.110 0.001 -0.166 -0.04° +_scene_ 0.097 0.005 0.103 -5.630 -0.003 -5.697 -57.20° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: sofa <-> floor depth=[2.145, -0.004, 0.811] + !! OVERLAP: table <-> floor depth=[0.945, -0.004, 1.121] + !! OVERLAP: table <-> floor depth=[1.323, -0.004, 0.386] +============================================================ + + +============================================================ +SCENE: LivingDiningRoom-26816 | 17 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0000, Walkable Loss: 1.5846 (Center Penalty: 0.4674, C1 Heatmap: 0.5930, C2 Repulsion: 3.2137), Relational Loss: 0.0225 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +sofa 2.072 0.981 0.874 1.648 -0.005 -1.006 -90.07° +table 0.733 0.402 0.738 0.142 0.001 -0.925 -90.32° +table 0.539 0.677 0.547 1.466 0.007 -2.797 -89.96° +table 0.455 0.610 0.457 1.761 -0.000 0.576 -90.02° +chair 0.807 0.709 0.733 0.040 0.002 1.080 -163.83° +chair 0.791 0.321 0.435 -0.089 0.001 -2.440 -0.14° +table -0.032 0.768 -0.143 -0.155 0.084 3.075 -88.05° +chair 0.344 0.800 0.454 0.705 0.004 3.051 -90.50° +chair 0.426 0.837 0.466 0.599 -0.001 2.078 -100.36° +chair 0.397 0.927 0.460 -0.296 0.001 3.345 179.64° +chair 0.523 0.851 0.484 -0.547 0.001 2.223 90.01° +lamp 0.284 0.680 0.225 0.487 1.801 2.827 0.09° +lamp 0.642 0.906 0.503 0.074 1.938 -1.240 -0.03° +bookshelf 0.809 2.548 0.231 1.282 -0.000 -3.875 0.15° +bookshelf 1.820 2.374 0.219 -0.603 0.001 -4.513 -0.03° +floor 3.425 -0.024 7.872 0.256 0.003 -0.939 -0.51° +_scene_ 0.069 0.001 0.021 -5.667 -0.004 -5.712 -57.31° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: sofa <-> floor depth=[1.357, -0.024, 0.874] + !! OVERLAP: table <-> floor depth=[0.733, -0.024, 0.738] + !! OVERLAP: table <-> floor depth=[0.539, -0.024, 0.547] + !! OVERLAP: table <-> floor depth=[0.435, -0.024, 0.457] + !! OVERLAP: chair <-> floor depth=[0.807, -0.024, 0.733] + !! OVERLAP: chair <-> floor depth=[0.791, -0.024, 0.435] + !! OVERLAP: chair <-> floor depth=[0.344, -0.024, 0.173] + !! OVERLAP: chair <-> floor depth=[0.426, -0.024, 0.466] + !! OVERLAP: chair <-> floor depth=[0.523, -0.024, 0.484] + !! OVERLAP: bookshelf <-> floor depth=[0.809, -0.024, 0.231] + !! OVERLAP: bookshelf <-> floor depth=[1.763, -0.024, 0.219] +============================================================ + + +============================================================ +SCENE: LivingDiningRoom-17385 | 12 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0000, Walkable Loss: 1.6856 (Center Penalty: 0.3197, C1 Heatmap: 0.6361, C2 Repulsion: 4.2850), Relational Loss: 0.0300 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +sofa 2.027 0.893 0.703 1.473 0.006 1.246 179.86° +table 0.799 0.476 0.940 1.621 0.001 0.031 -179.98° +tv_stand 2.075 0.920 0.423 1.382 -0.001 -1.447 -0.03° +table 1.281 0.779 0.141 -1.514 -0.014 0.841 89.89° +chair 0.413 1.093 0.450 -0.703 0.000 1.518 -90.03° +chair 0.349 1.055 0.422 -0.858 0.003 0.784 -90.21° +chair 0.315 1.137 0.437 -2.287 0.003 1.419 89.72° +chair 0.333 1.037 0.269 -1.971 -0.002 0.715 89.95° +lamp 0.721 0.929 0.779 1.518 1.616 0.277 -0.01° +lamp 0.349 0.807 0.333 -1.184 2.408 0.406 -0.02° +floor 5.861 0.010 3.144 0.761 -0.002 0.506 -0.10° +_scene_ 0.073 0.001 0.022 -5.670 -0.004 -5.711 -57.33° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: sofa <-> floor depth=[2.027, 0.010, 0.703] + !! OVERLAP: table <-> floor depth=[0.799, 0.010, 0.940] + !! OVERLAP: table <-> chair depth=[0.159, 0.779, 0.141] + !! OVERLAP: table <-> chair depth=[0.333, 0.779, 0.079] + !! OVERLAP: table <-> floor depth=[1.281, 0.010, 0.141] + !! OVERLAP: chair <-> floor depth=[0.413, 0.010, 0.450] + !! OVERLAP: chair <-> floor depth=[0.349, 0.010, 0.422] + !! OVERLAP: chair <-> floor depth=[0.040, 0.010, 0.437] + !! OVERLAP: chair <-> floor depth=[0.333, 0.010, 0.269] +============================================================ + + +============================================================ +SCENE: LivingRoom-31397 | 9 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0000, Walkable Loss: 1.3563 (Center Penalty: 0.6405, C1 Heatmap: 0.5809, C2 Repulsion: 1.2551), Relational Loss: 0.0135 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +tv_stand 1.858 0.566 0.381 1.725 0.001 1.288 -90.09° +table 0.528 1.143 0.282 -1.173 0.001 1.863 90.00° +sofa 1.930 0.866 0.885 -1.497 0.002 0.227 90.08° +table 0.575 0.286 0.613 0.371 0.016 0.916 90.23° +chair 0.594 0.769 0.691 -0.223 -0.002 2.553 -179.76° +bookshelf 1.179 1.688 0.287 -1.365 -0.000 -2.113 89.91° +lamp 0.661 0.841 0.598 0.375 2.322 0.723 0.15° +floor 3.946 0.001 6.467 0.841 0.002 0.202 -0.22° +_scene_ 0.067 0.001 0.014 -5.668 -0.005 -5.715 -57.23° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: tv_stand <-> floor depth=[1.858, 0.001, 0.381] + !! OVERLAP: table <-> floor depth=[0.223, 0.001, 0.282] + !! OVERLAP: sofa <-> floor depth=[0.599, 0.001, 0.885] + !! OVERLAP: table <-> floor depth=[0.575, 0.001, 0.613] + !! OVERLAP: chair <-> floor depth=[0.594, 0.001, 0.691] + !! OVERLAP: bookshelf <-> floor depth=[0.356, 0.001, 0.287] +============================================================ + + +============================================================ +SCENE: LivingDiningRoom-14432 | 17 objects +============================================================ +Final Step Collision Loss: 0.0036, Room Outer Loss: 0.0000, Walkable Loss: 1.7721 (Center Penalty: 0.1304, C1 Heatmap: 0.7542, C2 Repulsion: 5.1914), Relational Loss: 0.0305 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +table 1.674 0.954 0.454 2.690 0.000 -2.724 -0.10° +shelf 0.465 1.776 0.319 2.725 -0.001 -1.252 0.11° +table 0.657 0.635 0.137 1.457 -0.027 1.837 1.62° +table 0.620 0.687 0.514 1.480 -0.012 1.826 0.03° +chair 0.478 1.089 0.568 2.593 -0.002 1.710 -89.97° +chair 0.354 1.106 0.417 0.808 0.001 2.127 90.05° +chair 0.455 1.063 0.507 1.953 -0.003 0.826 -0.09° +chair 0.438 1.036 0.484 1.029 -0.001 0.952 89.95° +table 0.185 0.618 0.400 0.055 0.003 -1.273 0.02° +sofa 2.471 0.844 1.086 -1.897 0.001 -1.571 89.92° +table 0.893 0.410 0.870 -1.583 -0.003 0.089 0.01° +tv_stand 2.030 0.508 0.327 -1.488 0.001 2.828 -179.98° +lamp 0.439 0.763 0.456 1.348 1.985 -1.298 -0.06° +lamp 0.135 1.131 0.057 1.477 1.453 2.231 0.03° +lamp 0.299 0.653 0.291 -1.914 2.019 0.362 0.07° +floor 6.415 -0.003 5.614 0.326 -0.000 1.127 -0.17° +_scene_ 0.066 0.000 0.020 -5.671 -0.005 -5.714 -57.29° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: shelf <-> floor depth=[0.465, -0.003, 0.319] + !! OVERLAP: table <-> table depth=[0.615, 0.635, 0.137] + !! OVERLAP: table <-> floor depth=[0.657, -0.003, 0.137] + !! OVERLAP: table <-> floor depth=[0.620, -0.003, 0.514] + !! OVERLAP: chair <-> floor depth=[0.478, -0.003, 0.568] + !! OVERLAP: chair <-> floor depth=[0.354, -0.003, 0.417] + !! OVERLAP: chair <-> floor depth=[0.455, -0.003, 0.507] + !! OVERLAP: chair <-> floor depth=[0.438, -0.003, 0.484] + !! OVERLAP: table <-> floor depth=[0.185, -0.003, 0.400] + !! OVERLAP: sofa <-> floor depth=[2.220, -0.003, 0.653] + !! OVERLAP: table <-> floor depth=[0.893, -0.003, 0.870] + !! OVERLAP: tv_stand <-> floor depth=[2.030, -0.003, 0.327] +============================================================ + + +============================================================ +SCENE: LivingRoom-5361 | 12 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0000, Walkable Loss: 1.4247 (Center Penalty: 0.2879, C1 Heatmap: 0.3591, C2 Repulsion: 4.2479), Relational Loss: 0.0434 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +sofa 1.267 0.956 -0.131 0.938 -0.001 0.883 179.62° +chair 0.575 0.771 0.658 1.982 -0.003 0.565 -179.84° +table 0.879 0.486 0.955 0.837 0.001 -1.075 0.13° +table 0.677 0.356 0.518 1.109 -0.008 0.015 -0.24° +bookshelf 0.643 1.921 0.158 1.767 0.010 1.453 -90.01° +table 0.294 0.768 0.667 -1.172 0.015 0.797 90.06° +chair 0.330 0.824 0.409 -1.620 0.002 0.179 0.06° +chair 0.378 0.804 0.309 -0.648 0.004 1.321 -90.57° +chair 0.453 0.766 0.461 -1.359 0.003 1.513 179.90° +lamp 0.428 0.656 0.461 1.135 1.902 -0.218 0.02° +floor 5.931 -0.035 3.512 1.229 -0.002 -0.386 0.25° +_scene_ 0.071 0.001 0.022 -5.671 -0.005 -5.711 -57.30° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: sofa <-> floor depth=[1.267, -0.035, -0.131] + !! OVERLAP: chair <-> floor depth=[0.575, -0.035, 0.658] + !! OVERLAP: table <-> floor depth=[0.879, -0.035, 0.955] + !! OVERLAP: table <-> floor depth=[0.677, -0.035, 0.518] + !! OVERLAP: table <-> floor depth=[0.294, -0.035, 0.667] + !! OVERLAP: chair <-> floor depth=[0.281, -0.035, 0.409] + !! OVERLAP: chair <-> floor depth=[0.378, -0.035, 0.203] + !! OVERLAP: chair <-> floor depth=[0.453, -0.035, 0.087] +============================================================ + + +============================================================ +SCENE: LivingRoom-5655 | 11 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0000, Walkable Loss: 1.6257 (Center Penalty: 0.3762, C1 Heatmap: 0.6560, C2 Repulsion: 3.6235), Relational Loss: 0.0462 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +tv_stand 1.950 0.533 0.282 1.472 0.000 1.261 -90.11° +sofa 2.082 0.871 0.808 -1.412 0.001 1.208 90.02° +table 1.006 0.510 0.924 -0.443 -0.003 1.426 90.17° +lamp 0.403 0.771 0.354 -0.379 1.912 1.289 -0.06° +table 0.760 0.678 0.010 -0.832 -0.041 -1.417 -178.12° +chair 0.445 0.811 0.497 -1.439 0.001 -2.003 0.05° +chair 0.421 0.825 0.497 -0.308 0.003 -2.064 -89.94° +chair 0.435 0.866 0.566 -1.536 0.000 -0.833 -179.80° +chair 0.439 0.792 0.423 -0.870 0.000 -0.837 -179.77° +floor 4.019 0.011 5.783 -0.620 -0.002 -0.511 0.27° +_scene_ 0.070 0.002 0.023 -5.668 -0.005 -5.712 -57.31° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: tv_stand <-> floor depth=[0.892, 0.011, 0.282] + !! OVERLAP: sofa <-> table depth=[0.575, 0.510, 0.647] + !! OVERLAP: sofa <-> floor depth=[2.082, 0.011, 0.808] + !! OVERLAP: table <-> floor depth=[1.006, 0.011, 0.924] + !! OVERLAP: table <-> floor depth=[0.760, 0.011, 0.010] + !! OVERLAP: chair <-> floor depth=[0.445, 0.011, 0.497] + !! OVERLAP: chair <-> floor depth=[0.421, 0.011, 0.497] + !! OVERLAP: chair <-> floor depth=[0.435, 0.011, 0.566] + !! OVERLAP: chair <-> floor depth=[0.439, 0.011, 0.423] +============================================================ + + +============================================================ +SCENE: LivingRoom-55 | 10 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0000, Walkable Loss: 1.4770 (Center Penalty: 0.5503, C1 Heatmap: 0.7464, C2 Repulsion: 1.6478), Relational Loss: 0.0019 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +sofa 2.200 0.860 0.879 -0.163 0.008 2.348 179.76° +table 0.602 0.636 0.550 1.860 0.002 1.644 179.92° +table 0.536 0.711 0.482 -2.099 0.000 1.685 179.96° +chair 0.684 0.821 0.753 1.806 -0.001 -0.040 -52.34° +table 1.196 1.198 0.728 -0.497 -0.003 0.746 -179.99° +tv_stand 2.093 0.315 0.414 -0.162 0.001 -1.756 0.02° +lamp 1.036 1.039 1.028 -0.820 1.770 -0.105 -0.33° +chair 0.638 0.764 0.633 -2.391 0.001 -0.032 13.60° +floor 6.066 0.003 4.107 -0.854 -0.022 0.681 -0.17° +_scene_ 0.060 -0.002 0.023 -5.678 -0.006 -5.715 -57.30° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: sofa <-> floor depth=[2.200, 0.003, 0.827] + !! OVERLAP: table <-> floor depth=[0.602, 0.003, 0.550] + !! OVERLAP: table <-> floor depth=[0.536, 0.003, 0.482] + !! OVERLAP: chair <-> floor depth=[0.684, 0.003, 0.753] + !! OVERLAP: table <-> floor depth=[1.196, 0.003, 0.728] + !! OVERLAP: chair <-> floor depth=[0.638, 0.003, 0.633] +============================================================ + + +============================================================ +SCENE: LivingDiningRoom-941 | 15 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0000, Walkable Loss: 1.5778 (Center Penalty: 0.3070, C1 Heatmap: 0.5591, C2 Repulsion: 4.1179), Relational Loss: 0.0306 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +sofa 1.913 0.821 0.692 2.004 0.004 1.225 179.82° +table 0.892 0.763 0.691 2.278 0.002 -0.529 -89.92° +chair 0.844 0.705 0.844 3.413 -0.000 -0.503 -88.44° +table 0.634 0.377 0.544 -0.148 -0.001 1.193 -0.01° +lamp 0.700 0.948 0.736 1.825 1.912 -0.827 -89.66° +chair 0.452 0.736 0.441 -1.925 0.001 -1.821 -0.02° +chair 0.495 0.776 0.515 -0.813 0.001 -0.804 -90.03° +chair 0.527 0.785 0.487 -1.796 0.003 -0.135 179.81° +table 0.695 0.729 0.716 -1.667 -0.006 -0.902 90.20° +lamp 0.455 0.756 0.445 -1.928 1.946 -1.099 0.00° +table 1.306 1.176 0.350 -3.338 0.003 0.988 89.83° +chair 0.507 0.726 0.476 -2.646 0.003 -0.996 89.99° +chair 0.320 0.334 0.252 0.936 -0.000 -0.464 0.19° +floor 7.781 -0.001 4.901 0.436 0.008 -1.092 -0.60° +_scene_ 0.068 0.002 0.026 -5.672 -0.005 -5.710 -57.29° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: sofa <-> floor depth=[1.913, -0.001, 0.480] + !! OVERLAP: table <-> floor depth=[0.892, -0.001, 0.691] + !! OVERLAP: chair <-> floor depth=[0.844, -0.001, 0.844] + !! OVERLAP: table <-> floor depth=[0.634, -0.001, 0.438] + !! OVERLAP: chair <-> floor depth=[0.452, -0.001, 0.441] + !! OVERLAP: chair <-> floor depth=[0.495, -0.001, 0.515] + !! OVERLAP: chair <-> floor depth=[0.527, -0.001, 0.487] + !! OVERLAP: table <-> floor depth=[0.695, -0.001, 0.716] + !! OVERLAP: table <-> floor depth=[0.770, -0.001, 0.350] + !! OVERLAP: chair <-> floor depth=[0.507, -0.001, 0.476] + !! OVERLAP: chair <-> floor depth=[0.320, -0.001, 0.252] +============================================================ + + +============================================================ +SCENE: LivingRoom-2715 | 15 objects +============================================================ +Final Step Collision Loss: 0.0043, Room Outer Loss: 0.0000, Walkable Loss: 1.7695 (Center Penalty: 0.1242, C1 Heatmap: 0.8739, C2 Repulsion: 4.7304), Relational Loss: 0.0366 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +lamp 1.132 0.989 1.076 -0.406 1.712 1.461 -0.04° +table 1.438 0.372 1.023 -0.829 -0.000 1.556 90.05° +tv_stand 1.871 0.661 0.447 1.170 -0.000 1.772 -90.11° +sofa 2.293 0.857 1.090 -1.737 -0.003 1.504 90.03° +table 0.710 0.708 0.350 -0.951 -0.032 -2.904 -0.41° +table 1.666 0.464 0.645 -1.293 -0.008 3.670 -145.18° +table 1.010 0.396 0.851 -1.265 -0.000 -0.979 0.26° +chair 0.462 0.994 0.463 -1.751 -0.003 -2.046 -179.88° +chair 0.336 0.923 0.364 -0.700 -0.006 -2.109 -146.48° +chair 0.409 0.945 0.496 -1.781 -0.002 -3.495 -0.10° +chair 0.434 0.825 0.434 -0.786 0.004 -3.580 -52.12° +lamp 1.009 1.000 0.644 -1.500 1.619 -2.712 -0.06° +table 0.336 1.429 0.365 1.131 0.003 -0.611 -90.16° +floor 4.544 -0.011 7.505 -1.127 -0.001 0.250 -0.13° +_scene_ 0.079 -0.001 0.028 -5.666 -0.005 -5.709 -57.31° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: table <-> sofa depth=[0.957, 0.372, 1.004] + !! OVERLAP: table <-> floor depth=[1.438, -0.011, 1.023] + !! OVERLAP: tv_stand <-> floor depth=[0.910, -0.011, 0.447] + !! OVERLAP: sofa <-> floor depth=[2.293, -0.011, 1.090] + !! OVERLAP: table <-> floor depth=[0.710, -0.011, 0.350] + !! OVERLAP: table <-> floor depth=[1.666, -0.011, 0.645] + !! OVERLAP: table <-> floor depth=[1.010, -0.011, 0.851] + !! OVERLAP: chair <-> floor depth=[0.462, -0.011, 0.463] + !! OVERLAP: chair <-> floor depth=[0.336, -0.011, 0.364] + !! OVERLAP: chair <-> floor depth=[0.409, -0.011, 0.256] + !! OVERLAP: chair <-> floor depth=[0.434, -0.011, 0.139] + !! OVERLAP: table <-> floor depth=[0.181, -0.011, 0.365] +============================================================ + + +============================================================ +SCENE: LivingDiningRoom-10201 | 13 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0000, Walkable Loss: 1.0131 (Center Penalty: 0.1602, C1 Heatmap: 0.7206, C2 Repulsion: 1.3821), Relational Loss: 0.0147 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +tv_stand 2.423 0.805 0.440 -1.601 0.004 -1.513 89.98° +table 0.437 0.290 0.440 0.151 -0.002 -2.144 -89.95° +lamp 0.483 0.727 0.481 0.364 2.000 -2.098 -0.03° +lamp 0.919 0.922 0.949 1.144 1.751 2.330 0.00° +sofa 2.416 0.791 1.158 2.123 -0.002 -2.167 -90.14° +table 0.414 0.749 0.494 0.064 0.007 2.966 0.40° +chair 0.488 0.922 0.529 -0.357 0.002 1.875 90.00° +chair 0.343 0.958 0.425 -0.974 -0.002 2.968 90.15° +chair 0.511 0.803 0.536 1.559 0.000 1.964 -90.10° +chair 0.467 0.986 0.567 1.663 0.001 3.047 -90.34° +table 1.160 0.424 0.873 1.475 -0.001 -0.350 -90.01° +floor 6.139 -0.006 6.798 0.533 0.007 0.816 -0.07° +_scene_ 0.074 0.000 0.024 -5.671 -0.005 -5.711 -57.30° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: tv_stand <-> floor depth=[2.147, -0.006, 0.440] + !! OVERLAP: table <-> floor depth=[0.437, -0.006, 0.440] + !! OVERLAP: sofa <-> floor depth=[2.416, -0.006, 0.994] + !! OVERLAP: table <-> floor depth=[0.414, -0.006, 0.494] + !! OVERLAP: chair <-> floor depth=[0.488, -0.006, 0.529] + !! OVERLAP: chair <-> floor depth=[0.343, -0.006, 0.425] + !! OVERLAP: chair <-> floor depth=[0.511, -0.006, 0.536] + !! OVERLAP: chair <-> floor depth=[0.467, -0.006, 0.567] + !! OVERLAP: table <-> floor depth=[1.160, -0.006, 0.873] +============================================================ + + +============================================================ +SCENE: LivingRoom-24701 | 8 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0000, Walkable Loss: 1.3700 (Center Penalty: 0.4161, C1 Heatmap: 0.5981, C2 Repulsion: 2.3771), Relational Loss: 0.0277 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +table 0.546 0.552 0.576 2.014 -0.000 1.180 -90.04° +tv_stand 2.271 0.549 0.379 -1.395 0.002 0.510 89.96° +table 1.413 1.719 0.534 0.497 0.003 -0.791 -179.96° +table 0.744 0.517 0.508 1.879 0.002 -1.496 -0.04° +sofa 1.374 0.869 0.632 2.233 -0.003 -0.022 -90.12° +chair 0.614 0.971 0.564 0.963 0.007 0.935 -122.23° +floor 5.562 0.002 5.111 0.601 0.006 0.662 0.07° +_scene_ 0.062 0.031 0.185 -5.414 0.006 -5.483 -58.68° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: table <-> floor depth=[0.546, 0.002, 0.576] + !! OVERLAP: tv_stand <-> floor depth=[1.921, 0.002, 0.379] + !! OVERLAP: table <-> floor depth=[1.413, 0.002, 0.534] + !! OVERLAP: table <-> floor depth=[0.744, 0.002, 0.508] + !! OVERLAP: sofa <-> floor depth=[1.374, 0.002, 0.632] + !! OVERLAP: chair <-> floor depth=[0.614, 0.002, 0.564] +============================================================ + + +============================================================ +SCENE: LivingDiningRoom-11440 | 13 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0000, Walkable Loss: 1.1802 (Center Penalty: 0.3316, C1 Heatmap: 0.6178, C2 Repulsion: 1.7721), Relational Loss: 0.0072 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +sofa 1.988 0.976 1.026 1.822 -0.001 2.009 -90.31° +table 0.916 0.742 0.927 -0.094 0.002 1.883 -0.11° +tv_stand 1.987 0.795 0.385 -1.504 0.003 0.652 89.99° +table 0.494 0.613 0.314 1.017 0.026 -1.023 89.82° +chair 0.406 0.717 0.264 0.873 0.006 -0.335 179.32° +chair 0.382 0.637 0.399 0.238 0.000 -1.358 0.00° +chair 0.460 0.582 0.325 1.767 -0.002 -0.813 179.95° +chair 0.442 0.721 0.499 1.667 0.002 -1.750 -0.12° +cabinet 0.873 1.167 0.343 -0.023 -0.001 -3.205 -0.02° +lamp 0.688 0.801 0.607 -0.012 1.888 1.220 0.04° +lamp 0.262 1.053 0.290 1.297 1.800 -1.112 -0.01° +floor 4.734 0.008 7.780 0.058 0.004 1.183 0.18° +_scene_ 0.069 0.000 0.020 -5.668 -0.003 -5.711 -57.31° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: sofa <-> floor depth=[1.597, 0.008, 1.026] + !! OVERLAP: table <-> floor depth=[0.916, 0.008, 0.927] + !! OVERLAP: tv_stand <-> floor depth=[1.798, 0.008, 0.385] + !! OVERLAP: table <-> floor depth=[0.494, 0.008, 0.314] + !! OVERLAP: chair <-> floor depth=[0.406, 0.008, 0.264] + !! OVERLAP: chair <-> floor depth=[0.382, 0.008, 0.399] + !! OVERLAP: chair <-> floor depth=[0.460, 0.008, 0.325] + !! OVERLAP: chair <-> floor depth=[0.442, 0.008, 0.499] +============================================================ + + +============================================================ +SCENE: LivingRoom-37001 | 13 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0000, Walkable Loss: 1.1465 (Center Penalty: 0.2665, C1 Heatmap: 0.3887, C2 Repulsion: 2.8449), Relational Loss: 0.0193 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +sofa 2.217 0.762 0.352 1.382 -0.025 0.089 1.87° +table 1.234 0.479 0.340 0.952 0.013 -0.783 -0.21° +shelf 0.310 2.116 0.323 3.401 -0.000 -0.906 0.06° +cabinet 0.709 1.229 0.395 -1.595 0.002 1.507 -179.93° +table 0.850 0.720 0.274 -3.161 0.010 -0.327 90.35° +chair 0.584 0.771 0.398 -3.775 0.003 -0.419 90.01° +chair 0.541 0.752 0.494 -3.715 0.005 -1.357 89.71° +chair 0.431 0.682 0.517 -2.122 -0.000 -0.232 -89.65° +chair 0.460 0.650 0.557 -2.166 0.001 -1.035 -89.96° +lamp 0.765 0.822 0.775 1.207 1.735 -0.098 0.01° +lamp 0.829 0.955 0.840 -3.090 1.679 -0.668 0.01° +floor 7.967 0.016 3.315 -0.532 -0.014 -0.828 -0.08° +_scene_ 0.068 -0.000 0.021 -5.676 -0.004 -5.714 -57.31° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: sofa <-> floor depth=[2.217, 0.016, 0.352] + !! OVERLAP: table <-> floor depth=[1.234, 0.016, 0.340] + !! OVERLAP: shelf <-> floor depth=[0.205, 0.016, 0.323] + !! OVERLAP: table <-> chair depth=[0.103, 0.720, 0.244] + !! OVERLAP: table <-> floor depth=[0.850, 0.016, 0.274] + !! OVERLAP: chair <-> floor depth=[0.584, 0.016, 0.398] + !! OVERLAP: chair <-> floor depth=[0.541, 0.016, 0.494] + !! OVERLAP: chair <-> floor depth=[0.431, 0.016, 0.517] + !! OVERLAP: chair <-> floor depth=[0.460, 0.016, 0.557] +============================================================ + + +============================================================ +SCENE: LivingRoom-1255 | 7 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0000, Walkable Loss: 1.1662 (Center Penalty: 0.5428, C1 Heatmap: 0.4880, C2 Repulsion: 1.1652), Relational Loss: 0.0335 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +bookshelf 3.514 2.602 0.140 0.187 0.008 2.690 -179.50° +sofa 1.397 0.940 0.324 1.045 0.023 -1.215 -90.16° +table 0.818 0.631 0.670 1.332 -0.001 0.115 -0.40° +table 0.931 0.407 0.706 -0.096 0.000 -1.335 -90.08° +lamp 0.402 0.535 0.178 0.795 2.435 0.668 -0.09° +floor 3.276 0.003 4.647 -0.332 -0.000 -0.627 0.04° +_scene_ 0.067 0.001 0.028 -5.670 -0.004 -5.708 -57.26° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: sofa <-> table depth=[0.023, 0.407, 0.324] + !! OVERLAP: sofa <-> floor depth=[0.959, 0.003, 0.324] + !! OVERLAP: table <-> floor depth=[0.383, 0.003, 0.670] + !! OVERLAP: table <-> floor depth=[0.931, 0.003, 0.706] +============================================================ + + +============================================================ +SCENE: LivingRoom-3168 | 17 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0000, Walkable Loss: 1.8489 (Center Penalty: 0.2087, C1 Heatmap: 0.6504, C2 Repulsion: 5.5995), Relational Loss: 0.0224 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +table 1.588 0.721 0.045 0.280 -0.010 -2.278 0.39° +chair 0.372 0.991 0.421 1.272 0.005 -2.994 0.08° +chair 0.350 0.952 0.471 1.542 0.001 -1.760 -166.39° +chair 0.459 1.043 0.558 0.610 0.000 -1.725 179.95° +chair 0.439 1.003 0.453 0.527 0.001 -3.226 0.06° +lamp 0.659 0.854 0.654 -0.025 1.820 1.696 -0.05° +sofa 1.619 0.900 0.842 -2.007 -0.003 1.807 90.24° +chair 0.586 0.843 0.683 -0.576 0.004 3.088 -179.15° +chair 0.764 0.878 0.790 0.498 0.002 3.383 -164.08° +table 1.471 0.359 0.686 0.071 -0.001 1.699 90.11° +table 0.520 0.642 0.499 -1.592 -0.001 0.247 0.01° +table 0.572 0.572 0.484 -1.814 -0.004 3.563 0.11° +chair 0.491 0.444 0.389 -0.610 0.001 0.809 0.33° +table 1.296 0.735 0.316 -2.254 0.002 -1.516 90.01° +lamp 0.872 1.022 0.871 0.161 1.778 -2.296 0.00° +floor 4.954 -0.002 8.298 -1.026 0.001 0.544 -0.01° +_scene_ 0.067 0.000 0.019 -5.673 -0.005 -5.716 -57.29° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: table <-> floor depth=[1.588, -0.002, 0.045] + !! OVERLAP: chair <-> floor depth=[0.365, -0.002, 0.421] + !! OVERLAP: chair <-> floor depth=[0.084, -0.002, 0.471] + !! OVERLAP: chair <-> floor depth=[0.459, -0.002, 0.558] + !! OVERLAP: chair <-> floor depth=[0.439, -0.002, 0.453] + !! OVERLAP: sofa <-> floor depth=[1.619, -0.002, 0.842] + !! OVERLAP: chair <-> floor depth=[0.586, -0.002, 0.683] + !! OVERLAP: chair <-> floor depth=[0.764, -0.002, 0.790] + !! OVERLAP: table <-> floor depth=[1.471, -0.002, 0.686] + !! OVERLAP: table <-> floor depth=[0.520, -0.002, 0.499] + !! OVERLAP: table <-> floor depth=[0.572, -0.002, 0.484] + !! OVERLAP: chair <-> floor depth=[0.491, -0.002, 0.389] + !! OVERLAP: table <-> floor depth=[1.296, -0.002, 0.316] +============================================================ + + +============================================================ +SCENE: LivingRoom-26286 | 16 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0000, Walkable Loss: 1.8299 (Center Penalty: 0.1453, C1 Heatmap: 0.8098, C2 Repulsion: 5.1837), Relational Loss: 0.0262 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +chair 0.478 0.940 0.449 1.924 0.001 -1.829 0.05° +chair 0.316 0.913 0.346 2.893 -0.001 -1.726 -40.85° +chair 0.328 0.955 0.440 1.936 0.001 0.063 -90.02° +chair 0.427 0.930 0.432 2.836 -0.000 0.124 -90.03° +chair 0.432 0.822 0.442 -2.772 0.000 -0.535 90.03° +sofa 1.904 0.807 0.452 -1.733 0.005 1.657 179.74° +table 0.849 0.527 1.088 0.129 0.004 1.327 0.06° +table 0.953 0.562 0.661 -3.006 -0.001 0.766 0.16° +table 1.115 0.507 0.928 -1.187 -0.000 -1.155 0.09° +table 0.843 0.569 0.535 2.587 -0.004 -0.807 -0.05° +table 1.193 1.470 0.323 1.398 0.002 1.446 -90.13° +table 1.178 0.545 0.740 -1.537 -0.001 0.172 -0.04° +lamp 0.420 0.393 0.416 -1.399 2.251 -0.456 0.01° +lamp 0.868 0.727 0.383 2.085 1.912 -0.345 0.05° +floor 7.229 0.000 4.865 -0.419 -0.012 1.013 0.27° +_scene_ 0.071 0.001 0.035 -5.631 -0.002 -5.688 -57.37° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: chair <-> floor depth=[0.328, 0.000, 0.440] + !! OVERLAP: chair <-> floor depth=[0.427, 0.000, 0.432] + !! OVERLAP: chair <-> floor depth=[0.432, 0.000, 0.442] + !! OVERLAP: sofa <-> floor depth=[1.904, 0.000, 0.452] + !! OVERLAP: table <-> floor depth=[0.849, 0.000, 1.088] + !! OVERLAP: table <-> floor depth=[0.953, 0.000, 0.661] + !! OVERLAP: table <-> floor depth=[1.115, 0.000, 0.728] + !! OVERLAP: table <-> floor depth=[0.843, 0.000, 0.535] + !! OVERLAP: table <-> floor depth=[1.193, 0.000, 0.323] + !! OVERLAP: table <-> floor depth=[1.178, 0.000, 0.740] +============================================================ + + +============================================================ +SCENE: LivingRoom-4960 | 10 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0000, Walkable Loss: 2.3519 (Center Penalty: 1.4812, C1 Heatmap: 0.5770, C2 Repulsion: 2.0458), Relational Loss: 0.0190 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +sofa 1.463 0.899 0.695 0.442 -0.001 -1.443 0.30° +table 1.003 0.882 0.608 0.880 -0.000 0.178 -0.10° +table 0.552 0.550 0.510 -1.265 0.001 -1.489 -0.02° +chair 0.742 0.844 0.730 -1.628 0.001 -0.351 69.81° +table 0.582 0.540 0.465 1.879 0.001 -1.499 0.01° +chair 0.554 0.406 0.403 1.935 -0.000 0.182 -89.87° +lamp 0.574 0.885 0.514 0.720 1.801 0.278 0.21° +tv_stand 1.901 0.528 0.365 0.977 0.002 1.685 179.95° +floor 5.055 -0.003 3.610 0.129 0.000 0.045 -0.04° +_scene_ 0.068 0.001 0.021 -5.672 -0.004 -5.711 -57.30° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: sofa <-> floor depth=[1.463, -0.003, 0.663] + !! OVERLAP: table <-> floor depth=[1.003, -0.003, 0.608] + !! OVERLAP: table <-> floor depth=[0.552, -0.003, 0.510] + !! OVERLAP: chair <-> floor depth=[0.742, -0.003, 0.730] + !! OVERLAP: table <-> floor depth=[0.582, -0.003, 0.465] + !! OVERLAP: chair <-> floor depth=[0.554, -0.003, 0.403] + !! OVERLAP: tv_stand <-> floor depth=[1.901, -0.003, 0.348] +============================================================ + + +============================================================ +SCENE: LivingRoom-2410 | 12 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0000, Walkable Loss: 1.2333 (Center Penalty: 0.2775, C1 Heatmap: 0.3940, C2 Repulsion: 3.2027), Relational Loss: 0.0372 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +table 0.374 0.459 0.781 0.631 -0.002 1.271 -0.14° +sofa 1.782 0.762 0.706 -0.732 -0.003 1.269 89.73° +table 0.113 0.705 0.744 1.794 -0.009 -1.246 -1.14° +chair 0.294 0.990 0.381 1.176 -0.000 -1.446 -0.57° +chair 0.426 0.976 0.408 1.300 0.001 -0.358 -179.95° +chair 0.454 0.995 0.539 0.414 0.000 -1.046 179.75° +chair 0.336 0.974 0.524 0.424 -0.001 -1.856 1.19° +chair 0.227 0.974 0.271 1.111 0.013 -0.937 179.75° +chair 0.255 0.906 0.438 1.158 -0.010 -2.085 0.50° +bookshelf 0.343 1.185 0.186 -1.668 -0.003 1.991 0.16° +floor 4.784 0.029 5.716 1.020 0.007 -0.064 0.98° +_scene_ 0.066 0.002 0.018 -5.663 -0.005 -5.702 -57.32° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: table <-> floor depth=[0.374, 0.029, 0.781] + !! OVERLAP: sofa <-> floor depth=[1.531, 0.029, 0.706] + !! OVERLAP: table <-> floor depth=[0.113, 0.029, 0.744] + !! OVERLAP: chair <-> floor depth=[0.294, 0.029, 0.381] + !! OVERLAP: chair <-> floor depth=[0.426, 0.029, 0.408] + !! OVERLAP: chair <-> floor depth=[0.454, 0.029, 0.539] + !! OVERLAP: chair <-> floor depth=[0.336, 0.029, 0.524] + !! OVERLAP: chair <-> floor depth=[0.227, 0.029, 0.271] + !! OVERLAP: chair <-> floor depth=[0.255, 0.029, 0.438] +============================================================ + + +============================================================ +SCENE: LivingDiningRoom-17836 | 19 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0000, Walkable Loss: 1.5345 (Center Penalty: 0.1951, C1 Heatmap: 0.6230, C2 Repulsion: 4.2049), Relational Loss: 0.0212 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +table 0.497 0.581 0.492 0.257 -0.001 1.631 179.98° +table 0.462 0.558 0.400 -2.758 0.000 1.330 179.91° +table 0.642 0.411 0.773 -2.017 0.000 0.134 -0.00° +sofa 1.466 0.912 0.595 -1.001 0.000 1.495 179.78° +chair 0.588 0.760 0.687 -0.883 0.005 0.404 -91.59° +chair 0.737 0.757 0.775 -3.569 -0.001 0.413 90.13° +table 0.676 0.752 -0.186 2.417 0.133 0.383 0.08° +chair 0.445 0.880 0.446 1.890 -0.000 0.017 -0.04° +chair 0.284 0.880 0.295 2.654 -0.003 -0.039 -0.31° +chair 0.364 0.956 0.492 3.572 0.004 0.274 -90.03° +chair 0.406 0.874 0.531 1.990 0.002 1.578 179.86° +chair 0.261 0.896 0.326 2.674 0.000 1.547 179.02° +chair 0.317 0.966 0.460 3.275 0.001 1.442 -90.11° +tv_stand 2.116 0.745 0.345 -2.070 0.003 -1.571 -0.04° +lamp 0.402 0.893 0.376 -1.479 1.532 0.080 -0.02° +lamp 0.292 1.221 0.296 2.803 0.908 0.742 -0.07° +table 1.421 1.728 0.302 2.862 -0.000 -1.588 0.03° +floor 7.995 0.009 4.106 -1.361 -0.003 0.124 -0.02° +_scene_ 0.067 -0.000 0.023 -5.670 -0.004 -5.714 -57.30° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: table <-> floor depth=[0.497, 0.009, 0.492] + !! OVERLAP: table <-> floor depth=[0.462, 0.009, 0.400] + !! OVERLAP: table <-> floor depth=[0.642, 0.009, 0.773] + !! OVERLAP: sofa <-> floor depth=[1.466, 0.009, 0.595] + !! OVERLAP: chair <-> floor depth=[0.588, 0.009, 0.687] + !! OVERLAP: chair <-> floor depth=[0.737, 0.009, 0.775] + !! OVERLAP: table <-> floor depth=[0.558, 0.009, -0.186] + !! OVERLAP: chair <-> floor depth=[0.445, 0.009, 0.446] + !! OVERLAP: chair <-> floor depth=[0.125, 0.009, 0.295] + !! OVERLAP: chair <-> floor depth=[0.406, 0.009, 0.531] + !! OVERLAP: chair <-> floor depth=[0.093, 0.009, 0.326] + !! OVERLAP: tv_stand <-> floor depth=[2.116, 0.009, 0.345] + !! OVERLAP: table <-> floor depth=[0.485, 0.009, 0.302] +============================================================ + + +============================================================ +SCENE: LivingRoom-52289 | 8 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0000, Walkable Loss: 2.9144 (Center Penalty: 2.1162, C1 Heatmap: 0.6308, C2 Repulsion: 1.4677), Relational Loss: 0.0198 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +lamp 0.673 0.864 0.685 -0.077 1.785 0.090 0.04° +chair 0.893 0.815 0.792 -1.644 -0.002 0.279 114.67° +sofa 2.386 0.933 0.835 -0.545 0.001 -1.340 -0.01° +table 0.673 0.467 0.590 1.172 0.002 -1.375 -0.07° +table 0.815 0.505 0.742 2.019 0.001 0.246 -106.38° +table 0.563 0.429 1.010 -0.214 -0.005 0.994 -89.63° +floor 4.486 -0.001 3.583 -0.039 0.000 0.008 -0.03° +_scene_ 0.064 0.018 0.041 -5.615 -0.002 -5.638 -57.36° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: chair <-> floor depth=[0.893, -0.001, 0.792] + !! OVERLAP: sofa <-> floor depth=[2.386, -0.001, 0.835] + !! OVERLAP: table <-> floor depth=[0.673, -0.001, 0.590] + !! OVERLAP: table <-> floor depth=[0.593, -0.001, 0.742] + !! OVERLAP: table <-> floor depth=[0.563, -0.001, 1.010] +============================================================ + + +============================================================ +SCENE: LivingDiningRoom-19931 | 19 objects +============================================================ +Final Step Collision Loss: 0.0003, Room Outer Loss: 0.0000, Walkable Loss: 1.7325 (Center Penalty: 0.3076, C1 Heatmap: 0.6972, C2 Repulsion: 4.3356), Relational Loss: 0.0176 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +sofa 2.172 0.881 0.710 -1.774 -0.002 -2.111 90.09° +chair 0.905 0.798 0.872 0.566 -0.002 -3.777 -16.81° +table 1.180 0.345 0.652 0.340 -0.001 -1.648 89.66° +cabinet 0.836 2.012 0.303 2.170 0.001 3.865 -90.01° +table 0.714 0.837 0.313 -0.223 0.016 2.271 -1.00° +chair 0.460 0.789 0.449 0.069 -0.003 1.338 0.02° +chair 0.473 0.831 0.529 1.075 0.001 1.742 -90.02° +chair 0.403 0.824 0.463 0.842 0.003 2.943 -90.22° +chair 0.356 0.727 0.399 -0.064 0.003 2.977 -179.97° +chair 0.522 0.822 0.523 -0.987 -0.000 2.956 89.82° +chair 0.477 0.778 0.474 -1.127 -0.001 1.765 90.04° +tv_stand 2.020 0.437 0.364 2.100 0.001 -2.359 -90.18° +table 0.449 0.470 0.445 -1.433 0.000 -0.574 0.00° +table 0.438 0.479 0.448 -1.246 -0.002 -3.659 0.08° +chair 0.715 0.899 0.724 -0.238 0.001 -0.876 171.78° +lamp 0.400 0.670 0.429 0.110 1.824 -1.987 -0.08° +lamp 0.505 0.352 0.377 0.531 2.197 1.822 -0.05° +floor 5.154 -0.007 8.569 -0.644 0.001 -0.941 -0.30° +_scene_ 0.071 0.003 0.018 -5.670 -0.005 -5.711 -57.29° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: sofa <-> floor depth=[2.172, -0.007, 0.710] + !! OVERLAP: chair <-> floor depth=[0.905, -0.007, 0.872] + !! OVERLAP: table <-> floor depth=[1.180, -0.007, 0.652] + !! OVERLAP: table <-> floor depth=[0.714, -0.007, 0.313] + !! OVERLAP: chair <-> floor depth=[0.460, -0.007, 0.449] + !! OVERLAP: chair <-> floor depth=[0.473, -0.007, 0.529] + !! OVERLAP: chair <-> floor depth=[0.403, -0.007, 0.463] + !! OVERLAP: chair <-> floor depth=[0.356, -0.007, 0.399] + !! OVERLAP: chair <-> floor depth=[0.522, -0.007, 0.523] + !! OVERLAP: chair <-> floor depth=[0.477, -0.007, 0.474] + !! OVERLAP: tv_stand <-> floor depth=[0.844, -0.007, 0.364] + !! OVERLAP: table <-> floor depth=[0.449, -0.007, 0.445] + !! OVERLAP: table <-> floor depth=[0.438, -0.007, 0.448] + !! OVERLAP: chair <-> floor depth=[0.715, -0.007, 0.724] +============================================================ + + +============================================================ +SCENE: LivingRoom-4789 | 23 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0000, Walkable Loss: 1.8875 (Center Penalty: 0.2369, C1 Heatmap: 0.5360, C2 Repulsion: 6.1090), Relational Loss: 0.0174 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +sofa 1.069 0.818 0.707 -1.989 -0.002 2.376 90.55° +chair 0.742 0.836 0.951 -0.515 0.003 4.420 176.81° +table 1.113 0.471 0.895 -0.106 -0.008 2.700 89.63° +table 0.426 0.684 0.348 -1.857 0.003 4.053 89.58° +table 0.469 0.520 0.436 -1.750 0.000 0.938 89.89° +table 0.399 0.518 0.374 -1.898 0.002 3.343 90.08° +table 1.451 0.737 -0.247 -1.455 0.001 -2.595 -0.21° +chair 0.433 1.052 0.411 -2.183 -0.000 -3.281 22.62° +chair 0.457 1.110 0.505 -1.039 -0.005 -3.025 -0.11° +chair 0.442 1.135 0.598 -0.194 0.002 -2.551 -89.99° +chair 0.528 1.117 0.615 -2.142 -0.004 -1.809 179.68° +chair 0.498 1.157 0.536 -0.870 -0.002 -1.756 -179.92° +table 1.634 0.701 0.185 -1.419 -0.015 -0.674 -0.23° +table 0.379 0.528 0.415 -2.049 -0.001 0.000 89.82° +table 0.868 0.952 0.466 -1.010 0.006 -4.077 -90.06° +chair 0.600 0.461 0.572 -0.787 -0.000 1.060 0.05° +lamp 0.884 0.989 0.873 -0.511 1.814 2.261 0.01° +lamp 0.556 0.586 0.477 -0.976 2.172 0.318 90.14° +lamp 0.453 0.197 0.461 1.262 2.488 -0.073 -0.05° +lamp 0.498 0.648 0.463 -1.572 2.245 -2.006 -0.03° +lamp 0.640 0.735 0.654 0.463 2.205 -4.189 90.15° +floor 5.138 0.021 10.613 -1.151 -0.002 0.587 -0.26° +_scene_ 0.071 0.001 0.025 -5.662 -0.005 -5.706 -57.31° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: sofa <-> floor depth=[1.069, 0.021, 0.707] + !! OVERLAP: chair <-> floor depth=[0.742, 0.021, 0.951] + !! OVERLAP: table <-> floor depth=[1.113, 0.021, 0.895] + !! OVERLAP: table <-> floor depth=[0.426, 0.021, 0.348] + !! OVERLAP: table <-> floor depth=[0.469, 0.021, 0.436] + !! OVERLAP: table <-> floor depth=[0.399, 0.021, 0.374] + !! OVERLAP: table <-> floor depth=[1.451, 0.021, -0.247] + !! OVERLAP: chair <-> floor depth=[0.433, 0.021, 0.411] + !! OVERLAP: chair <-> floor depth=[0.457, 0.021, 0.505] + !! OVERLAP: chair <-> floor depth=[0.442, 0.021, 0.598] + !! OVERLAP: chair <-> floor depth=[0.528, 0.021, 0.615] + !! OVERLAP: chair <-> floor depth=[0.498, 0.021, 0.536] + !! OVERLAP: table <-> floor depth=[1.634, 0.021, 0.185] + !! OVERLAP: table <-> floor depth=[0.379, 0.021, 0.415] + !! OVERLAP: table <-> floor depth=[0.868, 0.021, 0.466] + !! OVERLAP: chair <-> floor depth=[0.600, 0.021, 0.572] +============================================================ + + +============================================================ +SCENE: LivingDiningRoom-814 | 5 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0000, Walkable Loss: 0.6368 (Center Penalty: 0.3338, C1 Heatmap: 0.3373, C2 Repulsion: 0.1661), Relational Loss: 0.0009 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +table 2.006 0.070 1.588 0.443 0.057 2.434 -4.39° +chair 0.512 0.772 0.426 -0.384 -0.001 -0.856 0.08° +chair 0.383 0.790 0.441 -1.273 0.002 -0.773 0.00° +floor 4.851 -0.006 6.414 0.566 0.004 0.792 0.09° +_scene_ 0.051 0.004 0.014 -5.660 -0.005 -5.715 -57.31° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: chair <-> floor depth=[0.512, -0.006, 0.426] + !! OVERLAP: chair <-> floor depth=[0.383, -0.006, 0.441] +============================================================ + + +============================================================ +SCENE: LivingRoom-35461 | 12 objects +============================================================ +Final Step Collision Loss: 0.0093, Room Outer Loss: 0.0000, Walkable Loss: 0.8966 (Center Penalty: 0.2989, C1 Heatmap: 0.3458, C2 Repulsion: 1.6054), Relational Loss: 0.0272 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +chair 0.652 1.075 0.701 -1.553 0.023 0.656 73.92° +tv_stand 1.166 0.456 0.262 1.283 0.000 0.629 -90.04° +table 0.446 0.803 0.442 -1.282 -0.002 2.425 0.04° +cabinet 0.855 1.054 0.194 1.274 0.001 2.333 -89.96° +lamp 0.569 0.721 0.387 -0.403 2.299 1.093 -0.01° +lamp 1.012 0.889 1.016 -0.493 1.758 -2.559 -89.97° +lamp 0.877 0.902 0.998 -0.930 1.980 -2.093 -0.06° +table 1.034 0.725 0.522 -0.362 -0.008 1.217 -0.24° +chair 0.579 0.913 0.624 -1.017 -0.001 -0.641 0.09° +chair 0.475 0.892 0.475 -0.466 -0.000 2.122 179.91° +floor 3.212 0.004 7.302 -0.845 -0.001 -0.598 0.27° +_scene_ 0.067 0.001 0.024 -5.672 -0.005 -5.716 -57.26° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: chair <-> floor depth=[0.652, 0.004, 0.701] + !! OVERLAP: tv_stand <-> floor depth=[0.060, 0.004, 0.262] + !! OVERLAP: table <-> floor depth=[0.446, 0.004, 0.442] + !! OVERLAP: lamp <-> lamp depth=[0.508, 0.673, 0.541] + !! OVERLAP: table <-> floor depth=[1.034, 0.004, 0.522] + !! OVERLAP: chair <-> floor depth=[0.579, 0.004, 0.624] + !! OVERLAP: chair <-> floor depth=[0.475, 0.004, 0.475] +============================================================ + + +============================================================ +SCENE: LivingRoom-360 | 8 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0000, Walkable Loss: 1.2583 (Center Penalty: 0.6201, C1 Heatmap: 0.5195, C2 Repulsion: 1.1126), Relational Loss: 0.0285 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +table 1.576 0.737 0.935 -1.680 -0.001 0.034 90.07° +sofa 2.157 0.846 0.820 1.799 0.000 0.415 -89.81° +chair 0.560 1.014 0.532 0.244 0.017 0.807 -90.51° +chair 0.309 0.869 0.347 -1.831 0.005 1.029 90.20° +lamp 0.818 0.751 0.808 0.964 1.896 -0.271 -0.03° +lamp 0.571 0.684 0.571 -1.415 2.002 0.580 0.01° +floor 5.721 -0.028 2.554 -0.432 -0.000 0.740 0.09° +_scene_ 0.075 0.002 0.024 -5.668 -0.004 -5.706 -57.30° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: table <-> floor depth=[1.576, -0.028, 0.935] + !! OVERLAP: sofa <-> floor depth=[1.708, -0.028, 0.820] + !! OVERLAP: chair <-> floor depth=[0.560, -0.028, 0.532] + !! OVERLAP: chair <-> floor depth=[0.309, -0.028, 0.347] +============================================================ + + +============================================================ +SCENE: DiningRoom-15534 | 10 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0000, Walkable Loss: 1.2726 (Center Penalty: 0.4490, C1 Heatmap: 0.5052, C2 Repulsion: 2.0967), Relational Loss: 0.0000 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +table 1.779 0.708 0.260 -0.205 -0.019 -1.253 -90.95° +chair 0.475 0.877 0.446 -1.525 0.000 0.262 89.88° +chair 0.501 0.876 0.504 -1.530 -0.001 -0.709 90.06° +chair 0.422 0.881 0.494 1.175 0.002 0.247 -89.84° +chair 0.412 0.927 0.519 1.331 -0.002 -0.714 -89.77° +cabinet 2.827 2.470 0.281 0.575 0.002 1.750 -179.90° +lamp 0.040 1.070 0.026 0.172 1.107 -1.098 -0.18° +lamp 0.073 0.913 0.033 -0.387 1.214 0.812 -90.20° +floor 4.747 0.006 3.105 -0.784 -0.037 0.952 -1.83° +_scene_ 0.071 0.000 0.020 -5.676 -0.005 -5.712 -57.30° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: chair <-> floor depth=[0.475, 0.006, 0.446] + !! OVERLAP: chair <-> floor depth=[0.501, 0.006, 0.144] + !! OVERLAP: chair <-> floor depth=[0.422, 0.006, 0.494] + !! OVERLAP: chair <-> floor depth=[0.412, 0.006, 0.146] + !! OVERLAP: cabinet <-> floor depth=[2.428, 0.006, 0.281] +============================================================ + + +============================================================ +SCENE: DiningRoom-31158 | 8 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0000, Walkable Loss: 2.2144 (Center Penalty: 1.7466, C1 Heatmap: 0.1936, C2 Repulsion: 1.5650), Relational Loss: 0.0214 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +table 0.892 0.755 0.098 0.333 0.018 -0.777 91.94° +chair 0.418 0.771 0.382 0.820 -0.002 0.650 -179.95° +chair 0.243 0.784 0.455 0.035 0.006 0.986 162.62° +chair -0.001 0.875 0.316 0.836 0.006 -0.942 0.13° +chair 0.096 0.825 0.392 -0.127 0.008 -1.167 -0.39° +lamp 0.913 1.145 0.934 -0.737 1.456 0.614 -0.35° +floor 3.816 0.001 2.236 -0.068 0.000 -0.036 -0.01° +_scene_ 0.067 0.000 0.023 -5.672 -0.005 -5.713 -57.27° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: table <-> floor depth=[0.892, 0.001, 0.098] + !! OVERLAP: chair <-> floor depth=[0.418, 0.001, 0.382] + !! OVERLAP: chair <-> floor depth=[0.243, 0.001, 0.324] + !! OVERLAP: chair <-> floor depth=[-0.001, 0.001, 0.316] + !! OVERLAP: chair <-> floor depth=[0.096, 0.001, 0.184] +============================================================ + + +============================================================ +SCENE: DiningRoom-197500 | 13 objects +============================================================ +Final Step Collision Loss: 0.0030, Room Outer Loss: 0.0000, Walkable Loss: 2.6426 (Center Penalty: 1.1021, C1 Heatmap: 0.6717, C2 Repulsion: 5.0155), Relational Loss: 0.0164 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +table 1.200 0.734 0.748 -0.441 0.002 -0.622 -179.93° +chair 0.446 0.850 0.479 -0.421 0.003 0.876 -179.98° +chair 0.350 0.862 0.342 0.586 0.003 0.838 -126.96° +chair 0.333 0.910 0.348 0.482 0.007 -1.087 -43.45° +chair 0.474 0.907 0.475 -0.326 -0.000 -1.187 0.04° +chair 0.432 0.844 0.492 -1.381 -0.001 0.405 137.94° +cabinet 2.694 2.582 0.208 -2.920 -0.001 0.148 89.97° +cabinet 1.932 2.200 0.279 2.131 0.001 -0.485 -90.19° +chair 0.410 0.824 0.358 -1.177 -0.005 -0.732 47.19° +cabinet 1.764 2.255 0.282 1.649 -0.004 0.475 -90.11° +lamp 0.392 0.556 0.385 -0.816 2.302 -0.392 -0.05° +floor 5.158 -0.000 4.556 -0.799 -0.002 -0.485 0.13° +_scene_ 0.065 -0.000 0.023 -5.674 -0.004 -5.714 -57.30° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: table <-> chair depth=[0.474, 0.734, 0.047] + !! OVERLAP: table <-> chair depth=[0.069, 0.734, 0.358] + !! OVERLAP: table <-> floor depth=[1.200, -0.000, 0.748] + !! OVERLAP: chair <-> floor depth=[0.446, -0.000, 0.479] + !! OVERLAP: chair <-> floor depth=[0.350, -0.000, 0.342] + !! OVERLAP: chair <-> floor depth=[0.333, -0.000, 0.348] + !! OVERLAP: chair <-> floor depth=[0.474, -0.000, 0.475] + !! OVERLAP: chair <-> cabinet depth=[0.024, 0.844, 0.092] + !! OVERLAP: chair <-> floor depth=[0.432, -0.000, 0.492] + !! OVERLAP: cabinet <-> floor depth=[1.804, -0.000, 0.208] + !! OVERLAP: cabinet <-> floor depth=[0.615, -0.000, 0.279] + !! OVERLAP: chair <-> floor depth=[0.410, -0.000, 0.358] + !! OVERLAP: cabinet <-> floor depth=[1.013, -0.000, 0.282] +============================================================ + + +============================================================ +SCENE: DiningRoom-26805 | 9 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0000, Walkable Loss: 0.9821 (Center Penalty: 0.7562, C1 Heatmap: 0.1487, C2 Repulsion: 0.5350), Relational Loss: 0.0218 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +chair 0.221 0.629 0.239 -0.311 0.012 -1.560 43.43° +table 1.811 1.064 -0.742 -0.618 0.046 -0.902 91.93° +chair 0.334 0.737 0.409 -1.016 0.010 -0.337 90.36° +chair 0.441 0.768 0.452 -0.957 0.001 0.994 124.81° +chair 0.425 0.705 0.448 0.694 0.010 0.998 -140.84° +chair 0.505 0.735 0.580 0.838 0.004 -0.260 -90.26° +chair 0.429 0.702 0.380 0.523 -0.001 -1.305 -57.13° +floor 3.942 -0.006 4.723 0.429 -0.002 0.714 0.13° +_scene_ 0.094 -0.003 0.082 -5.592 -0.002 -5.649 -57.30° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: chair <-> floor depth=[0.221, -0.006, 0.206] + !! OVERLAP: table <-> floor depth=[1.811, -0.006, -0.742] + !! OVERLAP: chair <-> floor depth=[0.334, -0.006, 0.409] + !! OVERLAP: chair <-> floor depth=[0.441, -0.006, 0.452] + !! OVERLAP: chair <-> floor depth=[0.425, -0.006, 0.448] + !! OVERLAP: chair <-> floor depth=[0.505, -0.006, 0.580] + !! OVERLAP: chair <-> floor depth=[0.429, -0.006, 0.380] +============================================================ + + +============================================================ +SCENE: DiningRoom-17995 | 9 objects +============================================================ +Final Step Collision Loss: 0.0044, Room Outer Loss: 0.0000, Walkable Loss: 1.6903 (Center Penalty: 0.6429, C1 Heatmap: 0.2969, C2 Repulsion: 4.0491), Relational Loss: 0.0228 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +cabinet 0.826 1.412 0.294 1.714 0.002 1.614 -179.99° +table 1.366 0.726 0.707 -1.356 0.001 -0.725 0.07° +chair 0.420 0.893 0.448 -1.666 0.001 -1.253 0.06° +chair 0.421 0.896 0.493 -0.669 0.000 -1.195 0.06° +chair 0.452 0.866 0.452 -1.854 0.001 -0.138 179.48° +chair 0.474 0.909 0.501 -0.784 0.001 0.018 -179.70° +lamp 1.028 0.700 0.789 -0.883 1.966 -0.768 -0.04° +floor 4.825 0.008 3.756 -0.116 0.000 -0.822 0.05° +_scene_ 0.073 0.001 0.023 -5.672 -0.004 -5.715 -57.31° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: table <-> chair depth=[0.420, 0.726, 0.050] + !! OVERLAP: table <-> chair depth=[0.206, 0.726, 0.130] + !! OVERLAP: table <-> floor depth=[1.366, 0.008, 0.707] + !! OVERLAP: chair <-> floor depth=[0.420, 0.008, 0.448] + !! OVERLAP: chair <-> floor depth=[0.421, 0.008, 0.493] + !! OVERLAP: chair <-> floor depth=[0.452, 0.008, 0.452] + !! OVERLAP: chair <-> floor depth=[0.474, 0.008, 0.501] +============================================================ + + +============================================================ +SCENE: DiningRoom-16628 | 10 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0000, Walkable Loss: 2.7374 (Center Penalty: 2.0793, C1 Heatmap: 0.2451, C2 Repulsion: 2.3103), Relational Loss: 0.0330 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +table 1.006 0.687 0.542 -0.690 0.017 -0.516 1.15° +chair 0.348 0.792 0.468 0.970 0.005 -0.470 -90.22° +chair 0.483 0.847 0.456 0.840 -0.001 0.330 -89.88° +chair 0.522 0.796 0.487 -0.074 0.002 1.333 -180.00° +chair 0.436 0.806 0.495 -0.894 -0.001 0.665 90.30° +chair 0.307 0.795 0.342 -1.034 -0.004 -0.042 89.82° +chair 0.503 0.844 0.496 0.198 -0.000 -1.261 0.08° +lamp 0.932 0.768 1.070 -0.004 2.135 0.751 180.00° +floor 3.094 -0.006 4.040 0.014 -0.000 0.127 0.03° +_scene_ 0.061 -0.000 0.043 -5.628 -0.000 -5.697 -57.22° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: table <-> floor depth=[1.006, -0.006, 0.542] + !! OVERLAP: chair <-> floor depth=[0.348, -0.006, 0.468] + !! OVERLAP: chair <-> floor depth=[0.483, -0.006, 0.456] + !! OVERLAP: chair <-> floor depth=[0.522, -0.006, 0.487] + !! OVERLAP: chair <-> floor depth=[0.436, -0.006, 0.495] + !! OVERLAP: chair <-> floor depth=[0.307, -0.006, 0.342] + !! OVERLAP: chair <-> floor depth=[0.503, -0.006, 0.496] +============================================================ + + +============================================================ +SCENE: DiningRoom-11628 | 11 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0000, Walkable Loss: 1.4847 (Center Penalty: 0.5505, C1 Heatmap: 0.2074, C2 Repulsion: 3.8413), Relational Loss: 0.0106 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +table 1.045 0.845 0.651 0.866 -0.001 1.086 -0.10° +chair 0.179 0.788 0.150 0.817 0.016 0.527 -0.85° +chair 0.427 0.833 0.428 1.203 0.004 0.154 -0.01° +chair 0.371 0.751 0.384 1.080 0.000 1.911 179.99° +chair 0.313 0.793 0.348 0.505 0.002 1.754 179.98° +bookshelf 0.890 1.295 0.319 -0.642 0.002 1.030 89.62° +lamp 0.760 0.977 0.765 0.770 1.844 1.209 -0.08° +lamp 0.379 0.291 0.375 -1.322 2.307 -2.129 -0.11° +lamp 0.839 0.537 0.060 0.711 1.875 -1.540 0.03° +floor 3.330 0.004 4.877 0.133 -0.001 0.819 0.67° +_scene_ 0.065 -0.000 0.014 -5.667 -0.004 -5.704 -57.31° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: table <-> floor depth=[1.045, 0.004, 0.651] + !! OVERLAP: chair <-> floor depth=[0.179, 0.004, 0.150] + !! OVERLAP: chair <-> floor depth=[0.427, 0.004, 0.428] + !! OVERLAP: chair <-> floor depth=[0.371, 0.004, 0.384] + !! OVERLAP: chair <-> floor depth=[0.313, 0.004, 0.348] + !! OVERLAP: bookshelf <-> floor depth=[0.890, 0.004, 0.319] +============================================================ + + +============================================================ +SCENE: DiningRoom-29864 | 11 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0000, Walkable Loss: 0.7246 (Center Penalty: 0.1907, C1 Heatmap: 0.2054, C2 Repulsion: 1.8480), Relational Loss: 0.0117 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +table 0.859 0.715 0.282 0.985 0.021 -2.989 90.57° +chair 0.330 0.891 0.311 0.276 0.001 -3.003 90.32° +lamp 0.847 1.180 0.856 0.777 1.662 -2.686 0.01° +chair 0.301 1.028 0.332 1.509 -0.002 -3.025 -89.83° +chair 0.445 0.912 0.456 0.255 0.000 -2.195 90.10° +chair 0.366 0.905 0.415 1.489 0.002 -2.242 -90.13° +table 1.498 1.164 0.135 -1.443 -0.002 0.336 0.10° +shelf 0.857 1.878 0.278 -0.984 -0.000 -1.378 0.11° +lamp 0.334 0.424 0.340 0.134 2.473 1.089 -0.09° +floor 3.562 -0.009 7.602 -0.381 -0.002 -1.042 -0.25° +_scene_ 0.069 -0.001 0.022 -5.672 -0.004 -5.708 -57.34° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: table <-> chair depth=[0.056, 0.715, 0.271] + !! OVERLAP: table <-> floor depth=[0.844, -0.009, 0.282] + !! OVERLAP: chair <-> floor depth=[0.330, -0.009, 0.311] + !! OVERLAP: chair <-> floor depth=[0.042, -0.009, 0.332] + !! OVERLAP: chair <-> floor depth=[0.445, -0.009, 0.456] + !! OVERLAP: chair <-> floor depth=[0.093, -0.009, 0.415] + !! OVERLAP: table <-> floor depth=[1.468, -0.009, 0.135] + !! OVERLAP: shelf <-> floor depth=[0.857, -0.009, 0.278] +============================================================ + + +============================================================ +SCENE: DiningRoom-2817 | 9 objects +============================================================ +Final Step Collision Loss: 0.0003, Room Outer Loss: 0.0000, Walkable Loss: 2.4542 (Center Penalty: 2.0637, C1 Heatmap: 0.2084, C2 Repulsion: 1.1184), Relational Loss: 0.0070 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +table 0.663 0.782 0.637 -0.582 0.008 0.888 -1.64° +chair 0.249 0.462 0.304 -0.264 0.000 -0.754 -0.04° +chair 0.334 0.399 0.300 0.813 0.007 -0.678 0.02° +chair 0.329 0.552 0.339 -0.096 0.001 1.080 179.94° +chair 0.432 0.622 0.451 0.837 0.003 1.058 179.29° +cabinet 1.329 1.075 0.317 -1.844 0.001 -0.233 89.97° +lamp 1.892 0.997 0.398 0.376 1.792 0.505 -0.02° +floor 3.680 -0.001 3.497 -0.008 0.001 -0.021 0.01° +_scene_ 0.076 0.001 0.024 -5.678 -0.003 -5.719 -57.34° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: table <-> chair depth=[0.009, 0.552, 0.296] + !! OVERLAP: table <-> floor depth=[0.663, -0.001, 0.637] + !! OVERLAP: chair <-> floor depth=[0.249, -0.001, 0.304] + !! OVERLAP: chair <-> floor depth=[0.334, -0.001, 0.300] + !! OVERLAP: chair <-> floor depth=[0.329, -0.001, 0.339] + !! OVERLAP: chair <-> floor depth=[0.432, -0.001, 0.451] + !! OVERLAP: cabinet <-> floor depth=[0.668, -0.001, 0.317] +============================================================ + + +============================================================ +SCENE: DiningRoom-35065 | 9 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0000, Walkable Loss: 1.5722 (Center Penalty: 1.2250, C1 Heatmap: 0.1708, C2 Repulsion: 1.0528), Relational Loss: 0.0613 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +cabinet 0.948 2.004 0.243 1.486 0.003 1.193 -90.10° +lamp 0.549 0.916 0.484 -0.932 1.719 -0.251 -0.20° +chair 0.486 0.822 0.484 0.496 0.007 -0.699 -0.12° +chair 0.538 0.755 0.548 -0.547 0.000 -0.552 0.09° +table 0.489 0.989 0.238 0.148 -0.006 0.678 -178.85° +chair 0.331 0.774 0.434 -0.570 -0.000 1.074 179.95° +chair 0.358 0.777 0.332 0.197 0.009 1.137 179.86° +floor 3.518 0.036 2.618 -1.135 0.003 0.599 1.71° +_scene_ 0.066 0.001 0.022 -5.669 -0.005 -5.717 -57.30° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: chair <-> floor depth=[0.371, 0.036, 0.253] + !! OVERLAP: chair <-> floor depth=[0.538, 0.036, 0.432] + !! OVERLAP: table <-> floor depth=[0.489, 0.036, 0.238] + !! OVERLAP: chair <-> floor depth=[0.331, 0.036, 0.434] + !! OVERLAP: chair <-> floor depth=[0.358, 0.036, 0.332] +============================================================ + + +============================================================ +SCENE: DiningRoom-88173 | 13 objects +============================================================ +Final Step Collision Loss: 0.0079, Room Outer Loss: 0.0000, Walkable Loss: 2.8782 (Center Penalty: 1.3395, C1 Heatmap: 0.4440, C2 Repulsion: 5.9170), Relational Loss: 0.0460 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +lamp 0.839 0.845 0.245 0.425 1.578 -0.735 -0.36° +table 0.392 0.534 0.221 -0.855 -0.028 0.455 1.73° +chair 0.487 1.093 0.559 0.936 0.003 0.525 -97.77° +chair 0.902 1.042 0.574 0.032 -0.002 1.653 179.89° +chair 0.564 1.040 0.598 0.789 0.002 -0.104 -101.95° +chair 0.278 1.060 0.402 0.734 0.012 -0.730 -76.00° +chair 0.341 1.054 0.478 -0.794 -0.040 1.073 118.92° +chair 0.492 1.052 0.730 -1.041 0.004 -0.054 76.30° +chair 0.525 1.013 0.651 -0.948 0.005 -0.416 82.28° +chair 0.655 1.050 0.608 -0.174 0.001 -1.492 -0.20° +table 1.332 0.605 0.328 -0.083 0.001 -2.160 -0.05° +floor 2.764 -0.038 5.556 0.218 0.009 -0.903 0.16° +_scene_ 0.118 -0.010 0.116 -5.614 -0.003 -5.664 -57.19° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: table <-> floor depth=[0.392, -0.038, 0.221] + !! OVERLAP: chair <-> floor depth=[0.487, -0.038, 0.559] + !! OVERLAP: chair <-> floor depth=[0.902, -0.038, 0.508] + !! OVERLAP: chair <-> floor depth=[0.564, -0.038, 0.598] + !! OVERLAP: chair <-> floor depth=[0.278, -0.038, 0.402] + !! OVERLAP: chair <-> floor depth=[0.341, -0.038, 0.478] + !! OVERLAP: chair <-> chair depth=[0.416, 1.013, 0.329] + !! OVERLAP: chair <-> floor depth=[0.369, -0.038, 0.730] + !! OVERLAP: chair <-> floor depth=[0.478, -0.038, 0.651] + !! OVERLAP: chair <-> floor depth=[0.655, -0.038, 0.608] + !! OVERLAP: table <-> floor depth=[1.332, -0.038, 0.328] +============================================================ + + +============================================================ +SCENE: DiningRoom-35093 | 9 objects +============================================================ +Final Step Collision Loss: 0.0069, Room Outer Loss: 0.0000, Walkable Loss: 1.5202 (Center Penalty: 0.9592, C1 Heatmap: 0.2937, C2 Repulsion: 1.6302), Relational Loss: 0.0291 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +table 1.080 0.835 0.952 -0.496 0.014 -0.726 89.99° +chair 0.469 1.005 0.489 -0.867 -0.002 0.634 -179.94° +chair 0.495 0.859 0.559 0.246 0.002 0.974 179.82° +chair 0.468 0.840 0.499 1.346 -0.002 0.513 -179.99° +chair 0.486 0.833 0.472 1.046 0.003 -1.066 0.07° +chair 0.406 0.822 0.380 -0.040 0.002 -1.118 -0.02° +lamp 0.445 0.941 0.432 0.652 1.739 -0.629 0.33° +floor 3.800 0.003 2.832 -0.714 -0.001 -0.516 -0.08° +_scene_ 0.063 0.003 0.017 -5.672 -0.005 -5.708 -57.29° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: table <-> chair depth=[0.286, 0.816, 0.273] + !! OVERLAP: table <-> floor depth=[1.080, 0.003, 0.952] + !! OVERLAP: chair <-> floor depth=[0.469, 0.003, 0.489] + !! OVERLAP: chair <-> floor depth=[0.495, 0.003, 0.206] + !! OVERLAP: chair <-> floor depth=[0.074, 0.003, 0.499] + !! OVERLAP: chair <-> floor depth=[0.383, 0.003, 0.472] + !! OVERLAP: chair <-> floor depth=[0.406, 0.003, 0.380] +============================================================ + + +============================================================ +SCENE: DiningRoom-10302 | 11 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0000, Walkable Loss: 1.3438 (Center Penalty: 0.8261, C1 Heatmap: 0.2586, C2 Repulsion: 1.5538), Relational Loss: 0.0145 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +table 1.442 0.473 0.397 -0.950 0.002 0.956 179.98° +shelf 0.500 0.796 0.270 -1.250 -0.001 -1.375 0.10° +chair 0.407 0.862 0.455 1.811 0.002 1.088 179.92° +chair 0.396 0.873 0.492 0.990 0.002 0.995 179.99° +chair 0.252 0.845 0.360 1.484 -0.003 -0.461 -0.13° +chair 0.411 0.837 0.455 0.935 0.001 -0.379 0.02° +table 0.888 0.885 0.242 2.020 0.013 0.069 -99.30° +lamp 0.560 0.686 0.130 1.487 1.953 0.739 0.01° +lamp 0.654 0.788 0.627 0.758 1.677 -0.823 0.16° +floor 3.912 -0.005 3.569 -0.503 0.003 -0.203 0.01° +_scene_ 0.070 0.001 0.019 -5.669 -0.005 -5.716 -57.27° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: table <-> floor depth=[1.442, -0.005, 0.397] + !! OVERLAP: shelf <-> floor depth=[0.500, -0.005, 0.270] + !! OVERLAP: chair <-> floor depth=[0.396, -0.005, 0.492] + !! OVERLAP: chair <-> floor depth=[0.095, -0.005, 0.360] + !! OVERLAP: chair <-> floor depth=[0.411, -0.005, 0.455] +============================================================ + + +============================================================ +SCENE: DiningRoom-113004 | 9 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0000, Walkable Loss: 1.1486 (Center Penalty: 0.7330, C1 Heatmap: 0.2376, C2 Repulsion: 1.1274), Relational Loss: 0.0782 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +table 1.328 0.605 -0.401 -0.396 -0.007 0.989 0.86° +chair 0.460 0.803 0.447 -0.987 -0.001 -0.125 -0.00° +chair 0.415 0.837 0.406 0.742 0.005 -0.152 0.07° +chair 0.410 0.829 0.435 -0.531 0.003 1.336 -180.00° +chair 0.389 0.853 0.447 0.324 0.004 1.446 179.88° +table 1.408 0.791 0.563 -0.513 0.003 -1.554 -0.04° +lamp 0.941 0.592 0.974 0.223 2.064 1.273 -0.03° +floor 3.336 0.071 3.962 -1.041 0.062 0.201 -1.99° +_scene_ 0.067 0.002 0.019 -5.664 -0.005 -5.712 -57.31° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: table <-> floor depth=[1.328, 0.071, -0.401] + !! OVERLAP: chair <-> floor depth=[0.460, 0.071, 0.447] + !! OVERLAP: chair <-> floor depth=[0.093, 0.071, 0.406] + !! OVERLAP: chair <-> floor depth=[0.410, 0.071, 0.435] + !! OVERLAP: chair <-> floor depth=[0.389, 0.071, 0.447] + !! OVERLAP: table <-> floor depth=[1.408, 0.071, 0.507] +============================================================ + + +============================================================ +SCENE: DiningRoom-22384 | 8 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0000, Walkable Loss: 0.8003 (Center Penalty: 0.3845, C1 Heatmap: 0.1442, C2 Repulsion: 1.5022), Relational Loss: 0.0349 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +table 0.612 0.857 0.385 0.463 0.020 -1.075 -1.08° +lamp 0.902 0.786 0.773 0.716 1.953 -1.289 49.66° +chair 0.396 1.000 0.533 -0.074 0.002 -1.671 89.86° +chair 0.521 1.012 0.517 -0.564 0.004 -0.826 90.18° +chair 0.362 1.027 0.428 1.355 0.001 -1.286 -89.22° +chair 0.377 0.990 0.456 1.332 0.001 -0.521 -90.01° +floor 3.277 -0.019 3.729 0.682 0.000 -0.693 -0.11° +_scene_ 0.066 0.000 0.025 -5.668 -0.003 -5.709 -57.33° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: table <-> floor depth=[0.612, -0.019, 0.385] + !! OVERLAP: chair <-> floor depth=[0.396, -0.019, 0.533] + !! OVERLAP: chair <-> floor depth=[0.521, -0.019, 0.517] + !! OVERLAP: chair <-> floor depth=[0.362, -0.019, 0.428] + !! OVERLAP: chair <-> floor depth=[0.377, -0.019, 0.456] +============================================================ + + +============================================================ +SCENE: DiningRoom-11145 | 9 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0000, Walkable Loss: 1.8439 (Center Penalty: 1.1980, C1 Heatmap: 0.2575, C2 Repulsion: 2.1994), Relational Loss: 0.0570 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +table 0.666 0.693 0.541 -0.671 -0.012 -0.897 -0.62° +chair 0.465 0.897 0.486 0.520 0.001 -0.441 -179.83° +chair 0.481 0.863 0.490 -0.691 0.001 0.214 -179.81° +chair 0.399 0.909 0.459 0.395 0.000 -1.216 0.09° +chair 0.400 0.925 0.358 -0.274 0.002 -1.373 0.06° +table 1.438 1.197 0.347 0.086 0.003 1.401 -179.90° +lamp 1.069 1.099 0.332 -0.185 1.779 -0.944 0.21° +floor 2.582 -0.010 3.500 -0.926 -0.004 -0.371 -0.23° +_scene_ 0.057 0.000 0.013 -5.664 -0.006 -5.714 -57.30° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: table <-> floor depth=[0.666, -0.010, 0.541] + !! OVERLAP: chair <-> floor depth=[0.077, -0.010, 0.486] + !! OVERLAP: chair <-> floor depth=[0.481, -0.010, 0.490] + !! OVERLAP: chair <-> floor depth=[0.170, -0.010, 0.459] + !! OVERLAP: chair <-> floor depth=[0.400, -0.010, 0.358] + !! OVERLAP: table <-> floor depth=[0.998, -0.010, 0.151] +============================================================ + + +============================================================ +SCENE: DiningRoom-10559 | 12 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0000, Walkable Loss: 1.3842 (Center Penalty: 0.4938, C1 Heatmap: 0.4199, C2 Repulsion: 2.7718), Relational Loss: 0.0282 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +table 1.544 0.718 -0.144 0.901 -0.017 -1.018 -0.88° +chair 0.455 0.958 0.491 1.640 0.001 -1.730 -0.01° +chair 0.493 0.900 0.539 0.821 0.000 -0.556 179.71° +cabinet 1.431 2.024 0.246 0.841 0.001 1.402 -179.87° +chair 0.439 0.925 0.547 1.968 0.003 -0.591 179.89° +chair 0.509 1.023 0.462 0.548 0.010 -1.646 0.08° +lamp 0.632 0.305 0.587 0.251 2.232 -1.060 -0.01° +cabinet 1.312 1.674 0.315 -2.223 -0.004 -1.020 -0.00° +tv_stand 1.416 0.362 0.139 -2.085 0.008 1.205 179.91° +chair 0.396 0.534 0.349 -0.522 -0.001 1.058 179.97° +floor 5.998 -0.002 3.457 -0.511 -0.001 -0.796 -0.03° +_scene_ 0.069 0.000 0.025 -5.671 -0.004 -5.711 -57.31° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: table <-> floor depth=[1.544, -0.002, -0.144] + !! OVERLAP: chair <-> floor depth=[0.455, -0.002, 0.491] + !! OVERLAP: chair <-> floor depth=[0.493, -0.002, 0.539] + !! OVERLAP: chair <-> floor depth=[0.439, -0.002, 0.547] + !! OVERLAP: chair <-> floor depth=[0.509, -0.002, 0.462] + !! OVERLAP: cabinet <-> floor depth=[1.312, -0.002, 0.315] + !! OVERLAP: chair <-> floor depth=[0.396, -0.002, 0.049] +============================================================ + + +============================================================ +SCENE: DiningRoom-85692 | 8 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0000, Walkable Loss: 1.0037 (Center Penalty: 0.6885, C1 Heatmap: 0.0686, C2 Repulsion: 1.3018), Relational Loss: 0.0271 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +table 0.397 0.800 0.352 -0.904 0.002 0.576 89.63° +chair 0.466 0.688 0.405 0.522 0.003 1.086 -90.37° +chair 0.100 0.676 -0.008 -0.597 0.038 0.814 -92.25° +chair 0.249 0.715 0.278 -1.431 -0.001 0.635 90.44° +chair 0.338 0.686 0.309 -1.121 -0.000 -0.000 89.53° +lamp 0.641 0.930 0.646 0.566 1.973 -0.665 -0.18° +floor 4.090 -0.018 2.783 0.016 -0.006 -1.078 0.73° +_scene_ 0.070 0.000 0.027 -5.658 -0.001 -5.695 -57.34° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: chair <-> floor depth=[0.338, -0.018, 0.309] +============================================================ + + +============================================================ +SCENE: DiningRoom-12866 | 10 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0000, Walkable Loss: 1.5699 (Center Penalty: 0.5830, C1 Heatmap: 0.3652, C2 Repulsion: 3.4738), Relational Loss: 0.0229 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +chair 0.557 0.990 0.257 -0.607 0.003 -1.443 66.60° +chair 0.345 1.079 0.410 -0.948 0.001 -0.842 107.59° +chair 0.343 1.014 0.428 1.096 0.000 -0.430 -90.07° +chair 0.418 1.045 0.504 0.957 -0.000 -1.216 0.16° +table 1.084 0.749 0.825 0.239 -0.001 -0.981 -91.09° +table 1.674 0.832 0.331 -0.172 0.001 1.435 -179.97° +chair 0.457 0.607 0.421 1.456 -0.003 0.930 -179.91° +lamp 0.862 0.764 0.888 0.116 1.857 -0.948 -0.07° +floor 3.844 -0.006 3.535 0.963 -0.005 0.063 -0.19° +_scene_ 0.072 0.002 0.029 -5.665 -0.003 -5.706 -57.30° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: chair <-> floor depth=[0.557, -0.006, 0.257] + !! OVERLAP: chair <-> floor depth=[0.184, -0.006, 0.410] + !! OVERLAP: chair <-> floor depth=[0.343, -0.006, 0.428] + !! OVERLAP: chair <-> table depth=[0.033, 0.749, 0.429] + !! OVERLAP: chair <-> floor depth=[0.418, -0.006, 0.504] + !! OVERLAP: table <-> floor depth=[1.084, -0.006, 0.825] + !! OVERLAP: table <-> floor depth=[1.624, -0.006, 0.331] + !! OVERLAP: chair <-> floor depth=[0.457, -0.006, 0.421] +============================================================ + + +============================================================ +SCENE: DiningRoom-9824 | 10 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0000, Walkable Loss: 1.0512 (Center Penalty: 0.8342, C1 Heatmap: 0.1190, C2 Repulsion: 0.6089), Relational Loss: 0.0473 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +table 0.856 0.911 0.261 0.727 -0.000 -1.247 0.00° +table 1.678 0.696 -0.579 -0.368 0.016 1.750 -178.67° +chair 0.323 0.483 0.336 -1.082 0.001 0.216 90.08° +chair 0.223 0.457 0.267 -0.152 -0.006 0.980 -0.03° +chair 0.271 0.538 0.279 0.335 0.001 1.171 -90.12° +chair 0.354 0.498 0.358 -0.785 -0.000 1.147 90.01° +chair 0.315 0.542 0.367 1.014 0.004 0.814 -90.06° +lamp 1.503 0.609 1.677 -0.127 2.196 1.179 -0.07° +floor 3.380 -0.012 4.100 -0.151 0.001 0.638 -0.05° +_scene_ 0.063 0.002 0.017 -5.664 -0.005 -5.714 -57.29° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: table <-> floor depth=[0.856, -0.012, 0.261] + !! OVERLAP: table <-> floor depth=[1.678, -0.012, -0.579] + !! OVERLAP: chair <-> floor depth=[0.323, -0.012, 0.336] + !! OVERLAP: chair <-> floor depth=[0.223, -0.012, 0.267] + !! OVERLAP: chair <-> floor depth=[0.271, -0.012, 0.279] + !! OVERLAP: chair <-> floor depth=[0.354, -0.012, 0.358] + !! OVERLAP: chair <-> floor depth=[0.315, -0.012, 0.367] +============================================================ + + +============================================================ +SCENE: DiningRoom-88590 | 10 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0000, Walkable Loss: 1.2438 (Center Penalty: 0.6589, C1 Heatmap: 0.2893, C2 Repulsion: 1.7668), Relational Loss: 0.0335 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +lamp 0.988 0.675 0.172 -1.047 1.991 0.186 -0.03° +chair 0.496 0.728 0.431 -1.170 0.004 -0.643 0.02° +chair 0.417 0.410 0.333 0.670 0.000 -1.435 -0.06° +chair 0.474 0.749 0.595 -0.326 0.037 -0.861 -0.39° +cabinet 1.754 1.918 0.136 -2.394 0.000 -0.142 89.94° +table 1.168 0.882 0.124 -1.069 0.002 0.435 1.34° +chair 0.439 0.804 0.443 -0.019 -0.002 1.107 -146.20° +chair 0.494 0.771 0.474 -0.956 -0.001 1.172 -179.94° +floor 5.307 0.003 3.610 -0.815 -0.002 -0.471 0.09° +_scene_ 0.070 0.001 0.016 -5.676 -0.004 -5.709 -57.30° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: chair <-> floor depth=[0.496, 0.003, 0.431] + !! OVERLAP: chair <-> floor depth=[0.417, 0.003, 0.333] + !! OVERLAP: chair <-> floor depth=[0.474, 0.003, 0.595] + !! OVERLAP: cabinet <-> floor depth=[1.754, 0.003, 0.136] + !! OVERLAP: table <-> floor depth=[1.168, 0.003, 0.124] + !! OVERLAP: chair <-> floor depth=[0.439, 0.003, 0.443] + !! OVERLAP: chair <-> floor depth=[0.494, 0.003, 0.399] +============================================================ + + +============================================================ +SCENE: DiningRoom-7217 | 8 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0000, Walkable Loss: 2.5560 (Center Penalty: 2.0003, C1 Heatmap: 0.2179, C2 Repulsion: 1.9066), Relational Loss: 0.0595 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +table 1.070 0.797 0.537 0.348 -0.027 -0.748 -90.63° +chair 0.334 0.987 0.381 0.845 0.006 -0.413 -90.25° +chair 0.450 1.089 0.543 1.095 0.001 0.294 -90.10° +chair 0.503 0.919 0.534 -0.904 0.001 -0.533 90.24° +chair 0.567 1.027 0.574 -0.960 -0.001 0.608 89.94° +lamp 0.656 1.157 0.659 0.752 1.555 -0.121 90.14° +floor 2.637 0.003 3.108 -0.021 0.003 -0.014 0.02° +_scene_ 0.066 0.006 0.021 -5.665 -0.004 -5.710 -57.33° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: table <-> chair depth=[0.206, 0.797, 0.125] + !! OVERLAP: table <-> floor depth=[1.070, 0.003, 0.537] + !! OVERLAP: chair <-> floor depth=[0.334, 0.003, 0.381] + !! OVERLAP: chair <-> floor depth=[0.427, 0.003, 0.543] + !! OVERLAP: chair <-> floor depth=[0.503, 0.003, 0.534] + !! OVERLAP: chair <-> floor depth=[0.567, 0.003, 0.574] +============================================================ + + +============================================================ +SCENE: DiningRoom-19325 | 8 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0000, Walkable Loss: 1.3584 (Center Penalty: 0.9732, C1 Heatmap: 0.1983, C2 Repulsion: 1.1328), Relational Loss: 0.0496 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +table 0.779 0.845 0.341 -0.910 -0.024 -0.285 0.48° +chair 0.549 1.031 0.481 -0.978 0.011 0.552 -179.72° +chair 0.472 0.995 0.505 -0.910 0.000 -0.974 0.05° +chair 0.530 0.979 0.630 0.557 0.010 0.597 179.91° +chair 0.542 0.910 0.577 0.457 -0.001 -1.058 -0.04° +lamp 0.318 0.884 0.335 -0.447 1.739 -0.674 -0.04° +floor 3.225 -0.065 2.665 -1.037 0.006 -0.290 -0.23° +_scene_ 0.072 0.000 0.029 -5.669 -0.004 -5.708 -57.30° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: table <-> floor depth=[0.779, -0.065, 0.341] + !! OVERLAP: chair <-> floor depth=[0.549, -0.065, 0.481] + !! OVERLAP: chair <-> floor depth=[0.472, -0.065, 0.505] + !! OVERLAP: chair <-> floor depth=[0.284, -0.065, 0.630] + !! OVERLAP: chair <-> floor depth=[0.390, -0.065, 0.577] +============================================================ + + +============================================================ +SCENE: DiningRoom-27933 | 8 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0000, Walkable Loss: 2.6617 (Center Penalty: 2.3326, C1 Heatmap: 0.1618, C2 Repulsion: 0.9983), Relational Loss: 0.0517 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +table 1.738 0.677 0.061 -0.304 0.014 -0.709 90.33° +chair 0.369 0.640 0.402 0.741 0.000 0.615 -90.07° +chair 0.341 0.635 0.411 0.793 0.006 -0.446 -89.99° +chair 0.386 0.642 0.372 -0.649 0.003 0.610 89.91° +chair 0.391 0.563 0.199 -1.027 0.003 -0.407 90.16° +lamp 0.539 0.836 0.510 0.520 1.939 -0.438 0.01° +floor 2.332 0.002 2.465 0.055 -0.000 0.017 -0.04° +_scene_ 0.070 0.001 0.022 -5.668 -0.003 -5.715 -57.29° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: table <-> floor depth=[1.676, 0.002, 0.061] + !! OVERLAP: chair <-> floor depth=[0.369, 0.002, 0.402] + !! OVERLAP: chair <-> floor depth=[0.341, 0.002, 0.411] + !! OVERLAP: chair <-> floor depth=[0.386, 0.002, 0.372] + !! OVERLAP: chair <-> floor depth=[0.280, 0.002, 0.199] +============================================================ + + +============================================================ +SCENE: DiningRoom-9630 | 10 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0000, Walkable Loss: 1.6968 (Center Penalty: 1.2810, C1 Heatmap: 0.2015, C2 Repulsion: 1.2729), Relational Loss: 0.0288 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +table 0.655 0.642 0.289 -0.279 0.000 -1.223 -89.97° +chair 0.326 0.899 0.311 0.296 -0.004 -0.760 -179.79° +chair 0.338 0.969 0.395 0.197 -0.006 -1.845 -57.96° +chair 0.411 0.975 0.434 -0.825 -0.002 -1.918 0.05° +chair 0.334 0.875 0.422 -0.986 0.001 -0.839 117.63° +bookshelf 1.523 2.282 0.251 1.118 0.000 1.010 -90.22° +lamp 0.481 0.955 0.251 0.064 1.707 1.300 -0.02° +lamp 0.631 1.209 0.586 -0.150 1.725 -1.483 0.01° +floor 3.030 -0.001 4.724 -0.251 0.002 0.009 -0.03° +_scene_ 0.068 0.001 0.020 -5.670 -0.005 -5.715 -57.29° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: table <-> floor depth=[0.655, -0.001, 0.289] + !! OVERLAP: chair <-> floor depth=[0.326, -0.001, 0.311] + !! OVERLAP: chair <-> floor depth=[0.338, -0.001, 0.395] + !! OVERLAP: chair <-> floor depth=[0.411, -0.001, 0.434] + !! OVERLAP: chair <-> floor depth=[0.334, -0.001, 0.422] + !! OVERLAP: bookshelf <-> floor depth=[0.908, -0.001, 0.251] +============================================================ + + +============================================================ +SCENE: DiningRoom-225770 | 8 objects +============================================================ +Final Step Collision Loss: 0.0016, Room Outer Loss: 0.0000, Walkable Loss: 1.5617 (Center Penalty: 0.9151, C1 Heatmap: 0.2400, C2 Repulsion: 2.2731), Relational Loss: 0.0541 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +chair 0.459 0.936 0.526 -0.696 0.001 -1.042 0.04° +chair 0.458 0.964 0.443 0.613 -0.001 -0.553 -66.90° +chair 0.501 0.908 0.550 0.498 0.002 1.024 -137.91° +chair 0.370 0.948 0.442 -1.023 0.001 0.850 179.77° +chair 0.461 1.008 0.558 -1.358 0.003 -0.306 68.99° +table 0.916 0.819 0.659 -0.291 -0.013 0.702 0.14° +floor 4.088 -0.000 5.444 -0.062 -0.005 0.929 0.22° +_scene_ 0.139 -0.005 0.189 -5.428 -0.002 -5.484 -57.65° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: chair <-> floor depth=[0.459, -0.000, 0.526] + !! OVERLAP: chair <-> floor depth=[0.458, -0.000, 0.443] + !! OVERLAP: chair <-> floor depth=[0.501, -0.000, 0.550] + !! OVERLAP: chair <-> floor depth=[0.370, -0.000, 0.442] + !! OVERLAP: chair <-> floor depth=[0.461, -0.000, 0.558] + !! OVERLAP: table <-> floor depth=[0.916, -0.000, 0.659] +============================================================ + + +============================================================ +SCENE: DiningRoom-116178 | 11 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0000, Walkable Loss: 1.0116 (Center Penalty: 0.2872, C1 Heatmap: 0.3048, C2 Repulsion: 2.4028), Relational Loss: 0.0360 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +table 1.081 0.773 0.499 -0.652 -0.003 1.968 -0.18° +chair 0.363 0.823 0.437 -1.025 -0.004 1.063 135.91° +chair 0.397 0.798 0.342 -0.241 0.009 1.291 -152.02° +chair 0.479 0.837 0.432 0.536 0.004 1.267 -127.97° +chair 0.482 0.794 0.516 -1.187 0.000 -0.843 9.65° +chair 0.417 0.796 0.416 -0.441 -0.003 -1.339 -11.80° +chair 0.468 0.820 0.390 0.404 -0.005 -1.172 -45.12° +chair 0.480 0.823 0.548 1.037 0.000 -0.165 -78.72° +chair 0.506 0.791 0.523 -1.681 0.002 0.289 103.45° +floor 5.547 0.007 6.410 -1.305 0.004 0.310 0.01° +_scene_ 0.981 0.380 1.727 -2.519 -0.004 -2.824 -81.66° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: table <-> floor depth=[1.081, 0.007, 0.499] + !! OVERLAP: chair <-> floor depth=[0.363, 0.007, 0.437] + !! OVERLAP: chair <-> floor depth=[0.397, 0.007, 0.342] + !! OVERLAP: chair <-> floor depth=[0.479, 0.007, 0.432] + !! OVERLAP: chair <-> floor depth=[0.482, 0.007, 0.516] + !! OVERLAP: chair <-> floor depth=[0.417, 0.007, 0.416] + !! OVERLAP: chair <-> floor depth=[0.468, 0.007, 0.390] + !! OVERLAP: chair <-> floor depth=[0.480, 0.007, 0.548] + !! OVERLAP: chair <-> floor depth=[0.506, 0.007, 0.523] + !! OVERLAP: floor <-> _scene_ depth=[0.981, 0.007, 0.935] +============================================================ + + +============================================================ +SCENE: DiningRoom-22156 | 10 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0000, Walkable Loss: 1.7781 (Center Penalty: 1.1192, C1 Heatmap: 0.2269, C2 Repulsion: 2.3868), Relational Loss: 0.0378 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +table 0.735 0.734 0.525 -0.628 -0.007 -0.500 91.31° +chair 0.281 0.971 0.476 -0.592 -0.007 -1.282 0.01° +chair 0.292 0.888 0.485 0.163 0.001 -1.103 0.02° +chair 0.440 0.956 0.529 -0.510 -0.002 0.798 179.98° +chair 0.356 0.876 0.465 0.301 0.005 0.828 -179.78° +chair 0.456 0.966 0.437 -1.435 0.003 -0.217 90.41° +chair 0.479 0.975 0.549 1.058 0.001 -0.139 -89.91° +lamp 0.279 1.029 0.401 0.718 1.379 -1.030 -0.35° +floor 2.867 -0.005 3.335 0.114 0.016 -0.884 -0.12° +_scene_ 0.059 -0.005 0.070 -5.595 0.001 -5.640 -57.34° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: table <-> floor depth=[0.735, -0.005, 0.525] + !! OVERLAP: chair <-> floor depth=[0.281, -0.005, 0.476] + !! OVERLAP: chair <-> floor depth=[0.292, -0.005, 0.485] + !! OVERLAP: chair <-> floor depth=[0.440, -0.005, 0.250] + !! OVERLAP: chair <-> floor depth=[0.356, -0.005, 0.188] + !! OVERLAP: chair <-> floor depth=[0.112, -0.005, 0.437] + !! OVERLAP: chair <-> floor depth=[0.479, -0.005, 0.549] +============================================================ + + +============================================================ +SCENE: DiningRoom-22308 | 10 objects +============================================================ +Final Step Collision Loss: 0.0005, Room Outer Loss: 0.0000, Walkable Loss: 2.3116 (Center Penalty: 1.6679, C1 Heatmap: 0.2482, C2 Repulsion: 2.2257), Relational Loss: 0.0546 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +table 1.388 0.750 0.156 0.981 -0.007 0.227 1.07° +chair 0.504 1.011 0.556 -0.825 -0.001 0.611 90.10° +chair 0.489 0.996 0.367 0.906 0.006 0.552 -90.05° +chair 0.355 1.030 0.444 1.031 0.000 -0.475 -77.16° +chair 0.501 0.996 0.463 -0.902 0.002 -0.467 88.12° +chair 0.422 0.956 0.498 0.034 0.000 1.167 179.98° +chair 0.476 1.000 0.492 0.017 -0.000 -1.227 -0.03° +lamp 0.266 0.668 0.238 -0.247 2.240 -0.938 -0.11° +floor 2.667 -0.010 3.784 -0.135 -0.002 0.262 0.14° +_scene_ 0.074 -0.001 0.044 -5.649 -0.003 -5.686 -57.36° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: table <-> floor depth=[0.912, -0.010, 0.156] + !! OVERLAP: chair <-> floor depth=[0.504, -0.010, 0.556] + !! OVERLAP: chair <-> floor depth=[0.489, -0.010, 0.367] + !! OVERLAP: chair <-> floor depth=[0.346, -0.010, 0.444] + !! OVERLAP: chair <-> floor depth=[0.501, -0.010, 0.463] + !! OVERLAP: chair <-> floor depth=[0.422, -0.010, 0.498] + !! OVERLAP: chair <-> floor depth=[0.476, -0.010, 0.492] +============================================================ + + +============================================================ +SCENE: DiningRoom-11336 | 10 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0000, Walkable Loss: 1.7907 (Center Penalty: 1.3917, C1 Heatmap: 0.1808, C2 Repulsion: 1.2717), Relational Loss: 0.0575 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +table 0.693 0.670 -0.135 -0.517 -0.060 0.672 -0.49° +chair 0.382 0.954 0.304 -1.144 -0.003 0.398 111.83° +chair 0.471 0.938 0.439 0.672 0.011 0.579 -128.81° +chair 0.465 1.000 0.517 0.749 -0.001 -0.456 -74.43° +chair 0.431 0.950 0.423 -1.059 0.004 -0.365 60.37° +chair 0.445 0.884 0.480 -0.308 0.002 1.109 179.96° +chair 0.572 0.933 0.562 -0.288 -0.000 -1.123 0.01° +lamp 0.453 0.502 0.441 -0.431 2.315 -0.596 -0.13° +floor 2.667 0.062 3.201 -0.788 0.000 -0.658 -0.05° +_scene_ 0.071 -0.001 0.035 -5.659 -0.004 -5.701 -57.30° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: table <-> floor depth=[0.693, 0.062, -0.135] + !! OVERLAP: chair <-> floor depth=[0.382, 0.062, 0.304] + !! OVERLAP: chair <-> floor depth=[0.109, 0.062, 0.439] + !! OVERLAP: chair <-> floor depth=[0.028, 0.062, 0.517] + !! OVERLAP: chair <-> floor depth=[0.431, 0.062, 0.423] + !! OVERLAP: chair <-> floor depth=[0.445, 0.062, 0.073] + !! OVERLAP: chair <-> floor depth=[0.572, 0.062, 0.562] +============================================================ + + +============================================================ +SCENE: DiningRoom-6151 | 11 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0000, Walkable Loss: 1.7739 (Center Penalty: 0.2977, C1 Heatmap: 0.6253, C2 Repulsion: 4.8798), Relational Loss: 0.0272 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +table 1.508 1.308 0.144 -2.064 0.002 -0.606 89.94° +chair 0.470 0.953 0.496 0.627 0.000 -1.131 -0.00° +chair 0.347 0.983 0.455 1.504 0.005 -1.106 0.03° +chair 0.454 0.981 0.482 0.796 -0.000 0.876 -180.00° +chair 0.362 0.960 0.438 1.712 -0.001 0.723 179.90° +table 1.207 0.758 0.514 1.159 0.007 -0.074 -0.19° +table 1.626 0.775 0.373 -1.382 0.001 -0.586 90.03° +cabinet 2.440 2.048 0.305 -1.723 0.002 -0.013 89.91° +lamp 0.896 0.790 0.901 1.061 2.343 -0.316 -0.02° +floor 4.862 0.020 3.532 0.899 -0.007 -0.946 -0.36° +_scene_ 0.074 -0.000 0.025 -5.670 -0.004 -5.714 -57.31° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: table <-> table depth=[0.885, 0.775, 0.144] + !! OVERLAP: table <-> floor depth=[0.222, 0.020, 0.144] + !! OVERLAP: chair <-> floor depth=[0.470, 0.020, 0.496] + !! OVERLAP: chair <-> floor depth=[0.347, 0.020, 0.455] + !! OVERLAP: chair <-> floor depth=[0.454, 0.020, 0.185] + !! OVERLAP: chair <-> floor depth=[0.362, 0.020, 0.316] + !! OVERLAP: table <-> floor depth=[1.207, 0.020, 0.514] + !! OVERLAP: table <-> floor depth=[0.962, 0.020, 0.373] + !! OVERLAP: cabinet <-> floor depth=[1.028, 0.020, 0.305] +============================================================ + + +============================================================ +SCENE: DiningRoom-663 | 10 objects +============================================================ +Final Step Collision Loss: 0.0092, Room Outer Loss: 0.0000, Walkable Loss: 1.2160 (Center Penalty: 0.8787, C1 Heatmap: 0.1703, C2 Repulsion: 1.0050), Relational Loss: 0.0787 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +table 0.650 0.772 0.792 1.011 -0.046 0.038 91.41° +chair 0.290 0.854 0.368 0.894 -0.001 0.903 -125.31° +chair 0.335 0.840 0.314 0.851 0.010 -0.811 -0.53° +chair 0.520 0.842 0.531 -0.474 0.002 0.779 89.55° +chair 0.433 0.858 0.552 0.032 0.001 -0.995 0.01° +lamp 0.917 0.986 1.028 0.544 1.721 -1.052 -0.17° +lamp 0.979 0.841 1.275 0.581 1.650 0.877 -0.01° +lamp 1.031 1.005 1.052 1.076 1.534 -0.342 -0.10° +floor 4.132 -0.025 3.088 1.118 0.009 0.254 0.83° +_scene_ 0.068 -0.001 0.022 -5.670 -0.004 -5.713 -57.29° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: table <-> floor depth=[0.650, -0.025, 0.792] + !! OVERLAP: chair <-> floor depth=[0.290, -0.025, 0.368] + !! OVERLAP: chair <-> floor depth=[0.335, -0.025, 0.314] + !! OVERLAP: chair <-> floor depth=[0.520, -0.025, 0.531] + !! OVERLAP: chair <-> floor depth=[0.433, -0.025, 0.552] + !! OVERLAP: lamp <-> lamp depth=[0.442, 0.808, 0.330] +============================================================ + + +============================================================ +SCENE: DiningRoom-2432 | 9 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0000, Walkable Loss: 2.2899 (Center Penalty: 1.6622, C1 Heatmap: 0.2257, C2 Repulsion: 2.2359), Relational Loss: 0.0354 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +table 1.721 0.714 0.218 -0.635 0.002 1.350 179.87° +table 0.704 0.772 0.524 -0.997 0.034 -0.275 121.03° +chair 0.411 0.918 0.410 -0.412 0.001 -1.070 0.08° +chair 0.266 0.909 0.364 -1.357 -0.005 -1.083 0.04° +chair 0.214 0.972 0.235 -0.708 -0.001 0.633 -179.67° +chair 0.370 0.886 0.368 -1.356 -0.000 0.510 179.80° +lamp 1.914 0.946 0.116 -0.624 1.870 -0.496 -0.06° +floor 2.717 0.001 3.340 -0.007 0.002 -0.027 -0.01° +_scene_ 0.063 0.006 0.019 -5.670 -0.006 -5.717 -57.30° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: table <-> floor depth=[1.591, 0.001, 0.218] + !! OVERLAP: table <-> floor depth=[0.704, 0.001, 0.524] + !! OVERLAP: chair <-> floor depth=[0.411, 0.001, 0.410] + !! OVERLAP: chair <-> floor depth=[0.142, 0.001, 0.364] + !! OVERLAP: chair <-> floor depth=[0.214, 0.001, 0.235] + !! OVERLAP: chair <-> floor depth=[0.194, 0.001, 0.368] +============================================================ + + +============================================================ +SCENE: DiningRoom-24272 | 8 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0000, Walkable Loss: 1.5053 (Center Penalty: 0.9092, C1 Heatmap: 0.2398, C2 Repulsion: 2.0216), Relational Loss: 0.0767 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +table 0.779 0.778 0.993 -0.834 0.007 0.385 89.84° +chair 0.498 0.917 0.500 -0.690 0.000 -0.852 20.36° +chair 0.515 1.016 0.610 0.176 -0.002 -0.861 -0.07° +chair 0.406 0.900 0.551 -0.347 -0.002 1.188 -179.88° +chair 0.384 0.961 0.475 0.545 0.003 0.944 -179.93° +lamp 1.328 1.025 0.715 0.747 1.761 -0.678 -0.36° +floor 3.248 -0.023 2.924 -0.646 -0.028 0.727 1.09° +_scene_ 0.074 0.005 0.042 -5.656 -0.004 -5.702 -57.30° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: table <-> floor depth=[0.779, -0.023, 0.993] + !! OVERLAP: chair <-> floor depth=[0.498, -0.023, 0.133] + !! OVERLAP: chair <-> floor depth=[0.515, -0.023, 0.179] + !! OVERLAP: chair <-> floor depth=[0.406, -0.023, 0.551] + !! OVERLAP: chair <-> floor depth=[0.384, -0.023, 0.475] +============================================================ + + +============================================================ +SCENE: DiningRoom-25528 | 10 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0000, Walkable Loss: 2.2548 (Center Penalty: 1.8020, C1 Heatmap: 0.1956, C2 Repulsion: 1.4821), Relational Loss: 0.0470 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +table 0.793 0.708 0.498 -1.030 0.008 0.029 -1.38° +chair 0.292 0.819 0.453 -1.190 0.013 -0.802 54.88° +chair 0.525 0.797 0.459 -0.174 -0.001 -1.115 -0.01° +chair 0.431 0.717 0.310 0.626 0.001 -0.807 -53.35° +chair 0.392 0.756 0.418 -1.127 0.001 0.773 156.60° +chair 0.488 0.752 0.428 0.678 -0.010 0.661 -134.44° +chair 0.363 0.784 0.371 -0.310 0.000 1.102 179.53° +lamp 0.489 0.989 0.228 0.384 1.785 -0.751 -0.50° +floor 3.836 -0.007 3.641 -0.134 0.000 0.045 -0.01° +_scene_ 0.066 0.010 0.028 -5.666 -0.005 -5.715 -57.33° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: table <-> floor depth=[0.793, -0.007, 0.498] + !! OVERLAP: chair <-> floor depth=[0.292, -0.007, 0.453] + !! OVERLAP: chair <-> floor depth=[0.525, -0.007, 0.459] + !! OVERLAP: chair <-> floor depth=[0.431, -0.007, 0.310] + !! OVERLAP: chair <-> floor depth=[0.392, -0.007, 0.418] + !! OVERLAP: chair <-> floor depth=[0.488, -0.007, 0.428] + !! OVERLAP: chair <-> floor depth=[0.363, -0.007, 0.371] +============================================================ + + +============================================================ +SCENE: DiningRoom-43067 | 10 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0000, Walkable Loss: 2.0234 (Center Penalty: 1.7033, C1 Heatmap: 0.1820, C2 Repulsion: 0.8728), Relational Loss: 0.0409 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +table 0.295 0.762 0.601 -0.215 -0.017 -1.087 0.07° +chair 0.434 0.749 0.572 1.098 -0.000 0.306 -90.01° +chair 0.432 0.723 0.416 1.126 0.001 -0.657 -89.96° +chair 0.450 0.739 0.448 0.291 0.001 1.166 179.86° +chair 0.363 0.689 0.366 -0.925 -0.001 -0.620 90.16° +chair 0.490 0.701 0.454 -0.949 -0.000 0.551 90.05° +chair 0.403 0.727 0.376 0.462 -0.002 -1.176 0.06° +lamp 0.713 0.886 0.566 -0.599 1.923 -0.592 0.07° +floor 3.336 -0.008 4.033 0.033 -0.000 -0.010 0.03° +_scene_ 0.062 0.001 0.023 -5.662 -0.004 -5.706 -57.32° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: table <-> floor depth=[0.295, -0.008, 0.601] + !! OVERLAP: chair <-> floor depth=[0.434, -0.008, 0.572] + !! OVERLAP: chair <-> floor depth=[0.432, -0.008, 0.416] + !! OVERLAP: chair <-> floor depth=[0.450, -0.008, 0.448] + !! OVERLAP: chair <-> floor depth=[0.363, -0.008, 0.366] + !! OVERLAP: chair <-> floor depth=[0.490, -0.008, 0.454] + !! OVERLAP: chair <-> floor depth=[0.403, -0.008, 0.376] +============================================================ + + +============================================================ +SCENE: DiningRoom-8121 | 9 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0000, Walkable Loss: 1.0595 (Center Penalty: 0.4715, C1 Heatmap: 0.2607, C2 Repulsion: 1.8975), Relational Loss: 0.0214 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +lamp 0.687 0.902 0.668 0.369 1.981 -0.798 90.03° +table 1.754 1.268 0.333 0.117 0.003 1.538 -179.91° +chair 0.422 0.604 0.474 -0.771 -0.001 -0.827 90.07° +table 1.184 0.829 0.101 -0.038 0.002 -1.265 89.29° +chair 0.405 0.656 0.380 -0.670 0.010 -1.600 89.93° +chair 0.315 0.593 0.364 0.844 0.003 -0.905 -89.99° +chair 0.294 0.737 0.348 0.687 0.005 -1.527 -90.33° +floor 2.408 -0.022 4.845 -0.114 -0.002 -1.122 -0.96° +_scene_ 0.070 0.000 0.017 -5.671 -0.004 -5.715 -57.29° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: chair <-> floor depth=[0.422, -0.022, 0.474] + !! OVERLAP: table <-> floor depth=[1.184, -0.022, 0.101] + !! OVERLAP: chair <-> floor depth=[0.405, -0.022, 0.380] + !! OVERLAP: chair <-> floor depth=[0.315, -0.022, 0.364] + !! OVERLAP: chair <-> floor depth=[0.294, -0.022, 0.348] +============================================================ + + +============================================================ +SCENE: DiningRoom-6919 | 13 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0000, Walkable Loss: 1.7664 (Center Penalty: 1.0770, C1 Heatmap: 0.3289, C2 Repulsion: 2.1313), Relational Loss: 0.0421 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +chair 0.411 0.651 0.442 -1.188 0.001 1.172 179.61° +table 0.585 0.915 0.365 -0.794 -0.004 0.223 -90.88° +chair 0.386 0.685 0.346 -0.445 -0.000 1.047 178.81° +chair 0.409 0.708 0.369 0.165 0.002 1.171 -158.47° +chair 0.447 0.706 0.432 0.265 -0.004 -1.013 0.01° +chair 0.323 0.616 0.341 -0.545 -0.005 -1.018 -0.04° +chair 0.352 0.741 0.419 -1.286 -0.001 -0.707 0.38° +chair 0.479 0.690 0.467 0.928 0.003 0.268 -89.86° +chair 0.547 0.697 0.536 -1.567 -0.000 0.228 89.99° +table 1.610 0.803 0.268 2.171 0.002 0.707 -90.25° +lamp 0.591 0.899 0.594 -0.804 1.713 0.405 -0.30° +floor 6.163 0.020 3.910 -0.353 -0.011 0.952 -0.23° +_scene_ 0.066 0.004 0.046 -5.626 -0.004 -5.696 -57.31° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: chair <-> floor depth=[0.411, 0.020, 0.442] + !! OVERLAP: table <-> floor depth=[0.585, 0.020, 0.365] + !! OVERLAP: chair <-> floor depth=[0.386, 0.020, 0.346] + !! OVERLAP: chair <-> floor depth=[0.409, 0.020, 0.369] + !! OVERLAP: chair <-> floor depth=[0.447, 0.020, 0.205] + !! OVERLAP: chair <-> floor depth=[0.323, 0.020, 0.155] + !! OVERLAP: chair <-> floor depth=[0.352, 0.020, 0.419] + !! OVERLAP: chair <-> floor depth=[0.479, 0.020, 0.467] + !! OVERLAP: chair <-> floor depth=[0.547, 0.020, 0.536] + !! OVERLAP: table <-> floor depth=[1.363, 0.020, 0.268] +============================================================ + + +============================================================ +SCENE: DiningRoom-17147 | 13 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0000, Walkable Loss: 2.4101 (Center Penalty: 1.5677, C1 Heatmap: 0.3427, C2 Repulsion: 2.8414), Relational Loss: 0.0353 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +chair 0.331 0.629 0.338 -1.208 -0.003 1.007 177.84° +table 0.857 0.707 0.554 -0.705 0.009 0.059 0.12° +chair 0.322 0.637 0.310 -0.504 0.003 0.984 -179.88° +chair 0.234 0.652 0.292 0.040 0.007 1.157 179.83° +chair 0.348 0.611 0.366 -0.103 0.002 -0.991 -0.03° +chair 0.269 0.579 0.259 -0.639 -0.000 -0.862 0.06° +chair 0.356 0.669 0.366 -1.220 -0.000 -0.805 0.06° +chair 0.531 0.673 0.525 0.644 -0.000 0.272 -90.25° +chair 0.417 0.663 0.370 -1.513 0.003 0.242 89.75° +table 1.671 0.835 0.432 2.019 0.001 0.799 -89.98° +lamp 0.709 0.796 0.660 -0.973 1.777 0.201 0.03° +floor 5.248 0.004 3.441 -0.761 -0.009 -0.299 0.30° +_scene_ 0.111 -0.007 0.103 -5.621 -0.002 -5.650 -57.17° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: chair <-> floor depth=[0.331, 0.004, 0.338] + !! OVERLAP: table <-> floor depth=[0.857, 0.004, 0.554] + !! OVERLAP: chair <-> floor depth=[0.322, 0.004, 0.310] + !! OVERLAP: chair <-> floor depth=[0.234, 0.004, 0.292] + !! OVERLAP: chair <-> floor depth=[0.348, 0.004, 0.366] + !! OVERLAP: chair <-> floor depth=[0.269, 0.004, 0.259] + !! OVERLAP: chair <-> floor depth=[0.356, 0.004, 0.366] + !! OVERLAP: chair <-> floor depth=[0.531, 0.004, 0.525] + !! OVERLAP: chair <-> floor depth=[0.417, 0.004, 0.370] + !! OVERLAP: table <-> floor depth=[0.680, 0.004, 0.432] +============================================================ + + +============================================================ +SCENE: DiningRoom-6259 | 9 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0000, Walkable Loss: 1.8465 (Center Penalty: 1.1127, C1 Heatmap: 0.2283, C2 Repulsion: 2.7555), Relational Loss: 0.0506 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +table 1.388 1.195 0.260 -1.924 0.001 -0.318 90.00° +lamp 1.509 1.125 0.387 -0.793 1.689 0.150 0.09° +table 0.907 0.681 0.492 -0.838 0.002 -0.007 0.07° +chair 0.337 0.905 0.369 -0.848 -0.004 -0.815 0.02° +chair 0.401 0.945 0.493 -0.096 0.002 -0.956 0.07° +chair 0.328 0.921 0.336 -0.847 0.006 0.668 -179.98° +chair 0.347 0.907 0.426 -0.284 0.001 0.995 -179.94° +floor 3.291 0.009 2.888 -0.344 0.022 -0.893 1.19° +_scene_ 0.078 0.007 0.063 -5.638 -0.005 -5.671 -57.29° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: table <-> table depth=[0.061, 0.681, 0.065] + !! OVERLAP: table <-> floor depth=[0.759, 0.009, 0.260] + !! OVERLAP: table <-> floor depth=[0.907, 0.009, 0.492] + !! OVERLAP: chair <-> floor depth=[0.337, 0.009, 0.369] + !! OVERLAP: chair <-> floor depth=[0.401, 0.009, 0.493] + !! OVERLAP: chair <-> floor depth=[0.328, 0.009, 0.051] +============================================================ + + +============================================================ +SCENE: DiningRoom-451 | 11 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0000, Walkable Loss: 1.7488 (Center Penalty: 1.1866, C1 Heatmap: 0.3130, C2 Repulsion: 1.5592), Relational Loss: 0.0468 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +table 1.355 0.918 0.495 1.088 0.004 -1.053 -90.10° +chair 0.416 0.891 0.406 -1.016 -0.002 -1.148 -0.05° +table 0.723 0.745 0.362 -0.853 -0.014 -0.289 -0.01° +chair 0.396 0.849 0.416 -0.223 0.000 -1.118 0.01° +chair 0.295 0.813 0.268 -0.786 0.001 0.925 -179.77° +chair 0.416 0.875 0.485 -0.109 0.002 0.971 179.88° +cabinet 1.247 1.097 0.324 -1.636 0.000 0.520 90.16° +lamp 0.482 0.732 0.508 -0.809 1.585 0.263 -0.16° +lamp 1.242 0.875 0.718 -0.811 1.788 -0.354 0.04° +floor 2.899 -0.005 4.037 -0.577 0.005 -0.602 -0.08° +_scene_ 0.066 -0.000 0.015 -5.677 -0.005 -5.722 -57.28° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: table <-> floor depth=[0.462, -0.005, 0.495] + !! OVERLAP: chair <-> floor depth=[0.416, -0.005, 0.406] + !! OVERLAP: table <-> floor depth=[0.723, -0.005, 0.362] + !! OVERLAP: chair <-> floor depth=[0.396, -0.005, 0.416] + !! OVERLAP: chair <-> floor depth=[0.295, -0.005, 0.268] + !! OVERLAP: chair <-> floor depth=[0.416, -0.005, 0.485] + !! OVERLAP: cabinet <-> floor depth=[1.014, -0.005, 0.324] +============================================================ + + +============================================================ +SCENE: DiningRoom-18332 | 10 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0000, Walkable Loss: 1.7754 (Center Penalty: 1.4285, C1 Heatmap: 0.1313, C2 Repulsion: 1.2096), Relational Loss: 0.0376 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +table 1.447 0.835 -0.458 -0.508 -0.009 0.679 178.88° +chair 0.432 0.724 0.370 -1.139 -0.001 0.298 90.02° +chair 0.450 0.618 0.407 0.956 0.000 0.429 -90.16° +chair 0.389 0.568 0.438 -0.593 0.001 -0.705 0.03° +chair 0.313 0.635 0.418 0.155 -0.002 -0.877 -0.25° +chair 0.347 0.539 0.407 0.155 0.001 1.135 179.97° +chair 0.344 0.526 0.244 -0.598 -0.002 1.165 179.76° +lamp 0.703 0.614 0.684 -0.730 2.180 0.446 -0.05° +floor 3.402 -0.013 3.176 0.029 -0.002 -0.782 0.07° +_scene_ 0.062 0.004 0.032 -5.631 -0.004 -5.682 -57.32° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: chair <-> floor depth=[0.432, -0.013, 0.370] + !! OVERLAP: chair <-> floor depth=[0.450, -0.013, 0.407] + !! OVERLAP: chair <-> floor depth=[0.389, -0.013, 0.438] + !! OVERLAP: chair <-> floor depth=[0.313, -0.013, 0.418] +============================================================ + + +============================================================ +SCENE: DiningRoom-8951 | 8 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0000, Walkable Loss: 1.0718 (Center Penalty: 0.9081, C1 Heatmap: 0.1381, C2 Repulsion: 0.2661), Relational Loss: 0.0157 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +chair 0.367 0.868 0.392 -1.146 -0.004 0.646 125.12° +chair 0.419 0.845 0.412 -0.285 0.000 0.865 -100.67° +chair 0.405 0.896 0.332 -0.145 0.019 -1.016 -53.29° +chair 0.521 0.875 0.616 -1.033 -0.000 -0.463 0.04° +lamp 0.893 1.108 1.003 -0.516 1.667 -0.567 -0.18° +table 0.583 1.244 0.399 1.424 0.002 -1.404 -90.05° +floor 3.091 -0.028 4.023 0.648 -0.010 -0.663 0.03° +_scene_ 0.071 0.001 0.022 -5.675 -0.004 -5.717 -57.31° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: chair <-> floor depth=[0.419, -0.028, 0.412] + !! OVERLAP: chair <-> floor depth=[0.405, -0.028, 0.332] + !! OVERLAP: chair <-> floor depth=[0.126, -0.028, 0.616] + !! OVERLAP: table <-> floor depth=[0.583, -0.028, 0.399] +============================================================ + + +============================================================ +SCENE: DiningRoom-9982 | 9 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0000, Walkable Loss: 1.2902 (Center Penalty: 0.7922, C1 Heatmap: 0.1714, C2 Repulsion: 1.8045), Relational Loss: 0.0406 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +shelf 0.777 2.031 0.264 0.956 0.003 1.597 -89.96° +table 0.320 0.815 0.222 -1.114 -0.087 -0.596 88.32° +chair 0.432 1.002 0.482 -1.137 -0.002 -1.223 89.91° +chair 0.424 0.949 0.553 -0.328 0.001 -1.171 -89.99° +chair 0.469 0.936 0.506 -1.523 -0.002 -0.204 89.98° +chair 0.485 0.960 0.502 -0.639 -0.002 0.385 -179.77° +lamp 1.655 0.755 0.098 -0.054 2.049 -1.066 -0.02° +floor 3.178 -0.021 3.986 -0.708 -0.003 -0.426 0.67° +_scene_ 0.057 -0.001 0.025 -5.666 -0.004 -5.714 -57.33° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: shelf <-> floor depth=[0.313, -0.021, 0.102] + !! OVERLAP: table <-> floor depth=[0.320, -0.021, 0.222] + !! OVERLAP: chair <-> floor depth=[0.432, -0.021, 0.482] + !! OVERLAP: chair <-> floor depth=[0.424, -0.021, 0.553] + !! OVERLAP: chair <-> floor depth=[0.469, -0.021, 0.506] + !! OVERLAP: chair <-> floor depth=[0.485, -0.021, 0.502] +============================================================ + + +============================================================ +SCENE: DiningRoom-168152 | 8 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0000, Walkable Loss: 1.4506 (Center Penalty: 0.9297, C1 Heatmap: 0.2486, C2 Repulsion: 1.6103), Relational Loss: 0.0253 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +cabinet 1.808 1.855 0.318 -1.756 0.001 0.330 89.93° +table 0.735 0.681 0.142 1.111 0.011 0.138 2.16° +chair 0.461 0.913 0.481 0.286 -0.002 -0.823 0.06° +chair 0.368 0.943 0.339 1.190 0.014 -0.546 0.14° +chair 0.407 0.962 0.435 0.428 0.007 0.768 -179.99° +chair 0.350 0.933 0.341 1.060 -0.000 0.583 -179.88° +floor 4.620 0.006 3.771 -0.684 0.004 -0.298 0.34° +_scene_ 0.069 -0.003 0.020 -5.668 -0.005 -5.707 -57.23° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: cabinet <-> floor depth=[1.808, 0.006, 0.318] + !! OVERLAP: table <-> floor depth=[0.735, 0.006, 0.142] + !! OVERLAP: chair <-> floor depth=[0.461, 0.006, 0.481] + !! OVERLAP: chair <-> floor depth=[0.368, 0.006, 0.339] + !! OVERLAP: chair <-> floor depth=[0.407, 0.006, 0.435] + !! OVERLAP: chair <-> floor depth=[0.350, 0.006, 0.341] +============================================================ + + +============================================================ +SCENE: DiningRoom-5492 | 11 objects +============================================================ +Final Step Collision Loss: 0.0013, Room Outer Loss: 0.0000, Walkable Loss: 1.4193 (Center Penalty: 0.4199, C1 Heatmap: 0.2691, C2 Repulsion: 3.9210), Relational Loss: 0.0183 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +table 0.500 0.852 0.559 0.473 -0.000 1.268 0.02° +chair 0.378 0.763 0.420 0.188 0.002 2.187 179.64° +chair 0.280 0.739 0.326 0.566 -0.003 1.749 179.96° +chair 0.437 0.748 0.447 0.181 0.003 0.889 0.10° +chair 0.411 0.747 0.405 1.019 -0.001 0.541 -0.10° +chair 0.525 0.708 0.501 -0.730 0.000 1.229 90.14° +chair 0.379 0.757 0.403 1.386 -0.000 1.242 -90.16° +table 1.270 0.776 0.411 -1.805 0.012 -0.257 89.91° +lamp 0.288 0.655 0.310 0.434 1.940 1.567 -0.01° +floor 5.297 -0.021 5.748 -0.377 0.005 0.988 0.04° +_scene_ 0.068 -0.000 0.029 -5.668 -0.004 -5.715 -57.29° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: table <-> chair depth=[0.176, 0.748, 0.125] + !! OVERLAP: table <-> floor depth=[0.500, -0.021, 0.559] + !! OVERLAP: chair <-> floor depth=[0.378, -0.021, 0.420] + !! OVERLAP: chair <-> floor depth=[0.280, -0.021, 0.326] + !! OVERLAP: chair <-> floor depth=[0.437, -0.021, 0.447] + !! OVERLAP: chair <-> floor depth=[0.411, -0.021, 0.405] + !! OVERLAP: chair <-> floor depth=[0.525, -0.021, 0.501] + !! OVERLAP: chair <-> floor depth=[0.379, -0.021, 0.403] + !! OVERLAP: table <-> floor depth=[1.270, -0.021, 0.411] +============================================================ + + +============================================================ +SCENE: DiningRoom-375 | 8 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0000, Walkable Loss: 1.4064 (Center Penalty: 1.0297, C1 Heatmap: 0.2158, C2 Repulsion: 1.0204), Relational Loss: 0.0472 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +table 1.231 0.768 0.399 -0.912 0.027 -0.084 1.24° +chair 0.484 0.910 0.315 -0.729 0.011 0.959 140.73° +chair 0.549 0.926 0.622 0.550 0.003 0.819 180.00° +chair 0.440 0.934 0.520 -0.319 -0.001 -0.923 8.64° +chair 0.468 0.987 0.477 0.662 -0.001 -0.895 -54.21° +lamp 0.568 0.692 0.243 0.485 1.928 0.562 -0.13° +floor 2.422 0.122 3.074 -0.171 -0.015 1.108 1.56° +_scene_ 0.063 -0.001 0.018 -5.667 -0.005 -5.717 -57.31° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: table <-> floor depth=[1.086, 0.122, 0.399] + !! OVERLAP: chair <-> floor depth=[0.484, 0.122, 0.315] + !! OVERLAP: chair <-> floor depth=[0.549, 0.122, 0.622] +============================================================ + + +============================================================ +SCENE: DiningRoom-3017 | 8 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0000, Walkable Loss: 1.2104 (Center Penalty: 0.7999, C1 Heatmap: 0.2388, C2 Repulsion: 1.0972), Relational Loss: 0.0105 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +table 1.316 0.746 0.633 -0.162 0.001 -1.085 -0.15° +chair 0.476 0.842 0.349 -1.113 0.006 -0.512 71.58° +chair 0.468 0.878 0.535 -0.461 0.002 0.978 -179.77° +chair 0.407 0.792 0.474 0.390 0.002 1.036 179.76° +table 0.686 1.134 0.254 1.185 0.000 -0.914 -90.11° +lamp 0.653 0.304 0.623 -0.296 2.286 -0.649 0.21° +floor 3.506 0.044 4.145 0.482 -0.004 -0.945 1.33° +_scene_ 0.064 0.002 0.017 -5.669 -0.005 -5.713 -57.31° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: table <-> floor depth=[1.316, 0.044, 0.633] + !! OVERLAP: chair <-> floor depth=[0.396, 0.044, 0.349] + !! OVERLAP: chair <-> floor depth=[0.468, 0.044, 0.417] + !! OVERLAP: chair <-> floor depth=[0.407, 0.044, 0.328] + !! OVERLAP: table <-> floor depth=[0.686, 0.044, 0.254] +============================================================ + + +============================================================ +SCENE: DiningRoom-164 | 11 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0000, Walkable Loss: 2.3520 (Center Penalty: 1.4029, C1 Heatmap: 0.3822, C2 Repulsion: 3.2164), Relational Loss: 0.0250 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +chair 0.390 0.879 0.424 -1.175 0.000 -0.039 90.10° +chair 0.417 0.918 0.500 -1.035 0.008 0.948 90.29° +chair 0.390 0.944 0.485 1.153 0.002 -0.095 -90.25° +chair 0.407 0.918 0.474 1.046 0.000 0.508 -90.01° +chair 0.527 0.882 0.551 0.236 0.001 1.665 179.96° +chair 0.415 0.891 0.464 0.111 -0.002 -1.126 0.13° +table 1.633 0.643 0.392 -0.032 0.002 -2.103 -0.08° +table 0.811 0.823 0.816 -0.407 -0.006 0.262 -90.67° +lamp 0.711 0.986 0.538 0.025 1.707 0.987 90.35° +floor 3.388 -0.006 5.409 0.071 0.003 0.735 0.03° +_scene_ 0.077 0.007 0.046 -5.643 -0.005 -5.692 -57.31° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: chair <-> floor depth=[0.390, -0.006, 0.424] + !! OVERLAP: chair <-> floor depth=[0.417, -0.006, 0.500] + !! OVERLAP: chair <-> floor depth=[0.390, -0.006, 0.485] + !! OVERLAP: chair <-> floor depth=[0.407, -0.006, 0.474] + !! OVERLAP: chair <-> floor depth=[0.527, -0.006, 0.551] + !! OVERLAP: chair <-> floor depth=[0.415, -0.006, 0.464] + !! OVERLAP: table <-> floor depth=[1.633, -0.006, 0.063] + !! OVERLAP: table <-> floor depth=[0.811, -0.006, 0.816] +============================================================ + + +============================================================ +SCENE: DiningRoom-34036 | 15 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0000, Walkable Loss: 1.7299 (Center Penalty: 1.0065, C1 Heatmap: 0.3490, C2 Repulsion: 2.2209), Relational Loss: 0.0199 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +table 0.761 0.594 0.668 -0.906 0.007 0.243 90.66° +cabinet 2.235 2.742 -0.247 -2.243 -0.028 -0.472 90.16° +cabinet 0.563 1.187 0.316 1.410 0.002 -0.438 -89.98° +cabinet 0.573 0.931 0.432 1.542 0.001 -1.654 -90.12° +chair 0.363 0.763 0.382 -1.206 0.002 -0.686 90.12° +chair 0.456 0.715 0.485 0.671 0.001 -0.875 -89.99° +chair 0.283 0.760 0.435 0.855 0.000 0.404 -89.89° +chair 0.322 0.774 0.331 -1.136 -0.001 0.983 90.12° +chair 0.440 0.701 0.439 -0.396 0.002 1.331 162.54° +chair 0.404 0.698 0.406 -0.216 0.001 -1.375 0.09° +lamp 0.219 0.924 0.201 0.036 1.546 1.250 -90.03° +lamp 0.139 1.142 0.117 0.461 1.518 0.780 -90.41° +lamp 0.299 0.768 0.322 1.091 1.798 -0.256 0.04° +floor 4.318 -0.024 4.993 -0.285 -0.001 -0.890 0.21° +_scene_ 0.061 0.002 0.011 -5.669 -0.005 -5.717 -57.27° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: table <-> floor depth=[0.761, -0.024, 0.668] + !! OVERLAP: cabinet <-> floor depth=[1.318, -0.024, -0.247] + !! OVERLAP: cabinet <-> floor depth=[0.563, -0.024, 0.316] + !! OVERLAP: cabinet <-> floor depth=[0.573, -0.024, 0.432] + !! OVERLAP: chair <-> floor depth=[0.363, -0.024, 0.382] + !! OVERLAP: chair <-> floor depth=[0.456, -0.024, 0.485] + !! OVERLAP: chair <-> floor depth=[0.283, -0.024, 0.435] + !! OVERLAP: chair <-> floor depth=[0.322, -0.024, 0.331] + !! OVERLAP: chair <-> floor depth=[0.440, -0.024, 0.439] + !! OVERLAP: chair <-> floor depth=[0.404, -0.024, 0.406] +============================================================ + + +============================================================ +SCENE: DiningRoom-114621 | 9 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0000, Walkable Loss: 1.4120 (Center Penalty: 0.6837, C1 Heatmap: 0.2496, C2 Repulsion: 2.6432), Relational Loss: 0.0358 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +cabinet 1.303 1.274 0.310 0.697 -0.000 1.453 -179.93° +table 0.863 0.858 0.572 -0.204 0.022 -0.996 91.67° +chair 0.423 0.801 0.432 -0.813 -0.006 -1.134 70.38° +chair 0.346 0.841 0.374 -0.901 -0.003 -0.444 114.89° +chair 0.456 0.793 0.447 0.762 0.003 -1.026 -0.07° +chair 0.386 0.862 0.516 1.020 0.002 -0.259 -90.38° +lamp 0.857 1.013 0.863 0.742 1.721 -0.570 0.03° +floor 4.212 0.038 2.874 0.710 -0.026 -0.877 1.15° +_scene_ 0.068 0.001 0.024 -5.671 -0.005 -5.715 -57.30° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: table <-> chair depth=[0.034, 0.801, 0.364] + !! OVERLAP: table <-> floor depth=[0.863, 0.038, 0.572] + !! OVERLAP: chair <-> floor depth=[0.423, 0.038, 0.432] + !! OVERLAP: chair <-> floor depth=[0.346, 0.038, 0.374] + !! OVERLAP: chair <-> floor depth=[0.456, 0.038, 0.447] + !! OVERLAP: chair <-> floor depth=[0.386, 0.038, 0.516] +============================================================ + + +============================================================ +SCENE: DiningRoom-33238 | 5 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0000, Walkable Loss: 1.6337 (Center Penalty: 1.2333, C1 Heatmap: 0.3632, C2 Repulsion: 0.5493), Relational Loss: 0.0000 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +cabinet 0.753 1.272 0.352 -1.495 0.004 0.604 89.98° +table 1.427 1.002 0.533 1.487 -0.001 0.280 -89.98° +table 1.440 0.765 0.978 -0.175 0.004 -0.821 90.04° +floor 3.670 -0.004 3.482 0.097 -0.000 0.064 -0.04° +_scene_ -0.034 0.101 0.035 -5.134 0.046 -5.341 -59.91° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: cabinet <-> floor depth=[0.618, -0.004, 0.352] + !! OVERLAP: table <-> floor depth=[1.159, -0.004, 0.533] + !! OVERLAP: table <-> floor depth=[1.440, -0.004, 0.978] +============================================================ + + +============================================================ +SCENE: DiningRoom-69393 | 11 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0000, Walkable Loss: 1.3951 (Center Penalty: 0.7842, C1 Heatmap: 0.3408, C2 Repulsion: 1.6911), Relational Loss: 0.0429 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +chair 0.328 0.781 0.393 -1.096 -0.001 0.521 90.21° +chair 0.427 0.826 0.443 -0.968 0.001 1.370 90.09° +chair 0.397 0.828 0.455 0.704 0.001 0.682 -90.02° +chair 0.375 0.786 0.362 0.731 0.002 1.433 -90.12° +chair 0.335 0.799 0.441 -0.170 -0.000 2.068 179.96° +chair 0.396 0.832 0.294 -0.163 -0.003 -0.808 0.15° +table 1.878 0.638 0.506 -0.130 -0.001 -1.997 0.01° +table 0.898 0.860 0.326 -0.183 -0.011 1.078 90.15° +lamp 0.700 0.889 0.695 -0.078 1.859 1.013 -0.00° +floor 4.386 0.006 5.671 0.016 0.001 1.071 -0.01° +_scene_ 0.059 0.003 0.032 -5.650 -0.002 -5.702 -57.27° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: chair <-> floor depth=[0.328, 0.006, 0.393] + !! OVERLAP: chair <-> floor depth=[0.427, 0.006, 0.443] + !! OVERLAP: chair <-> floor depth=[0.397, 0.006, 0.455] + !! OVERLAP: chair <-> floor depth=[0.375, 0.006, 0.362] + !! OVERLAP: chair <-> floor depth=[0.335, 0.006, 0.441] + !! OVERLAP: chair <-> floor depth=[0.396, 0.006, 0.294] + !! OVERLAP: table <-> floor depth=[1.878, 0.006, 0.021] + !! OVERLAP: table <-> floor depth=[0.898, 0.006, 0.326] +============================================================ + + +============================================================ +SCENE: DiningRoom-87276 | 12 objects +============================================================ +Final Step Collision Loss: 0.0019, Room Outer Loss: 0.0000, Walkable Loss: 2.3030 (Center Penalty: 1.7750, C1 Heatmap: 0.1953, C2 Repulsion: 1.8590), Relational Loss: 0.0518 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +table 1.610 1.048 -0.807 -0.618 0.123 1.010 1.39° +chair 0.377 0.750 0.226 -0.926 -0.010 0.699 135.89° +chair 0.432 0.744 0.514 0.065 0.004 1.125 179.76° +chair 0.400 0.767 0.303 0.800 0.002 0.961 -114.99° +chair 0.431 0.743 0.428 0.769 -0.000 -0.868 -42.24° +chair 0.416 0.746 0.405 -0.209 -0.001 -1.074 0.03° +chair 0.415 0.761 0.407 -1.027 -0.003 -0.806 44.93° +chair 0.493 0.772 0.496 1.219 0.002 0.098 -86.33° +chair 0.429 0.771 0.517 -1.314 0.001 0.035 90.02° +lamp 0.437 0.814 0.419 -0.603 1.793 -0.492 -0.21° +floor 4.707 -0.004 3.669 -0.155 -0.001 0.010 -0.01° +_scene_ 0.118 -0.008 0.175 -5.576 0.000 -5.580 -57.67° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: table <-> floor depth=[1.610, -0.004, -0.807] + !! OVERLAP: chair <-> floor depth=[0.377, -0.004, 0.226] + !! OVERLAP: chair <-> floor depth=[0.432, -0.004, 0.514] + !! OVERLAP: chair <-> floor depth=[0.400, -0.004, 0.303] + !! OVERLAP: chair <-> floor depth=[0.431, -0.004, 0.428] + !! OVERLAP: chair <-> floor depth=[0.416, -0.004, 0.405] + !! OVERLAP: chair <-> floor depth=[0.415, -0.004, 0.407] + !! OVERLAP: chair <-> floor depth=[0.493, -0.004, 0.496] + !! OVERLAP: chair <-> floor depth=[0.429, -0.004, 0.517] +============================================================ + + +============================================================ +SCENE: DiningRoom-16460 | 12 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0000, Walkable Loss: 1.4176 (Center Penalty: 0.8811, C1 Heatmap: 0.2819, C2 Repulsion: 1.5546), Relational Loss: 0.0434 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +table 1.049 0.770 0.572 1.325 -0.000 -0.628 -89.93° +table 1.038 0.765 -0.270 -1.171 -0.030 0.283 91.72° +chair 0.402 0.775 0.461 -1.498 0.001 -0.573 0.05° +chair 0.330 0.736 0.324 -0.825 -0.001 -0.602 0.03° +chair 0.382 0.735 0.384 -1.735 0.001 0.914 179.97° +chair 0.446 0.775 0.439 -0.783 0.000 0.925 -179.95° +table 1.037 0.866 0.261 -1.180 0.003 -1.463 -0.16° +lamp 0.288 0.623 0.311 -1.107 2.105 -0.036 0.07° +chair 0.402 0.688 0.450 0.036 0.019 -0.924 -55.93° +chair 0.419 0.721 0.351 0.559 0.010 1.029 -110.09° +floor 5.729 -0.007 3.481 -0.775 -0.002 0.075 0.12° +_scene_ 0.072 -0.000 0.028 -5.671 -0.006 -5.712 -57.29° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: table <-> floor depth=[1.049, -0.007, 0.572] + !! OVERLAP: table <-> floor depth=[1.038, -0.007, -0.270] + !! OVERLAP: chair <-> floor depth=[0.402, -0.007, 0.461] + !! OVERLAP: chair <-> floor depth=[0.330, -0.007, 0.324] + !! OVERLAP: chair <-> floor depth=[0.382, -0.007, 0.384] + !! OVERLAP: chair <-> floor depth=[0.446, -0.007, 0.439] + !! OVERLAP: table <-> floor depth=[1.037, -0.007, 0.261] + !! OVERLAP: chair <-> floor depth=[0.402, -0.007, 0.450] + !! OVERLAP: chair <-> floor depth=[0.419, -0.007, 0.351] +============================================================ + + +============================================================ +SCENE: DiningRoom-31322 | 11 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0000, Walkable Loss: 1.1677 (Center Penalty: 0.3222, C1 Heatmap: 0.3318, C2 Repulsion: 2.9000), Relational Loss: 0.0098 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +table 0.835 0.772 0.338 -1.386 0.002 1.686 179.85° +cabinet 0.653 1.054 0.305 1.303 0.003 -1.231 -89.98° +cabinet 0.622 1.076 0.369 1.449 0.004 -0.037 -90.33° +table 1.714 0.737 0.530 -0.521 0.008 -1.037 90.17° +chair 0.335 0.826 0.322 0.454 0.004 -0.923 -90.21° +lamp 0.392 1.335 0.363 -0.734 1.632 -1.111 119.63° +chair 0.152 0.846 0.328 0.092 0.002 -1.400 -90.46° +chair 0.388 0.877 0.380 -1.430 0.002 -1.313 90.05° +chair 0.354 0.909 0.410 -1.627 0.001 -0.552 90.07° +floor 4.261 0.009 4.856 -1.166 -0.012 0.009 -0.13° +_scene_ 0.072 0.000 0.022 -5.676 -0.005 -5.714 -57.28° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: table <-> floor depth=[0.835, 0.009, 0.338] + !! OVERLAP: table <-> chair depth=[0.050, 0.737, 0.312] + !! OVERLAP: table <-> chair depth=[0.152, 0.737, 0.067] + !! OVERLAP: table <-> chair depth=[0.142, 0.737, 0.179] + !! OVERLAP: table <-> floor depth=[1.714, 0.009, 0.530] + !! OVERLAP: chair <-> floor depth=[0.335, 0.009, 0.322] + !! OVERLAP: chair <-> floor depth=[0.152, 0.009, 0.328] + !! OVERLAP: chair <-> floor depth=[0.388, 0.009, 0.380] + !! OVERLAP: chair <-> floor depth=[0.354, 0.009, 0.410] +============================================================ + + +============================================================ +SCENE: DiningRoom-20718 | 11 objects +============================================================ +Final Step Collision Loss: 0.0091, Room Outer Loss: 0.0000, Walkable Loss: 1.2307 (Center Penalty: 0.4594, C1 Heatmap: 0.3819, C2 Repulsion: 2.3286), Relational Loss: 0.0408 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +table 1.412 0.744 0.127 -1.540 0.001 -1.057 -89.45° +chair 0.331 0.794 0.403 -0.804 0.003 -0.308 -179.85° +chair 0.447 0.798 0.460 -0.543 -0.001 -1.463 -0.32° +chair 0.457 0.806 0.490 -1.577 0.001 -1.386 0.08° +chair 0.352 0.836 0.394 -1.472 0.002 0.226 179.81° +table 0.973 0.950 0.319 1.062 -0.000 -1.351 -90.08° +lamp 0.651 0.949 0.668 -1.028 1.721 -1.157 -0.06° +table 1.649 0.769 0.497 -0.458 -0.001 1.831 -90.13° +chair 0.471 0.451 0.468 0.646 -0.000 0.934 -0.03° +floor 3.744 0.005 5.513 -0.985 -0.002 -0.266 0.35° +_scene_ 0.063 0.001 0.018 -5.671 -0.003 -5.718 -57.35° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: table <-> floor depth=[1.412, 0.005, 0.127] + !! OVERLAP: chair <-> floor depth=[0.331, 0.005, 0.403] + !! OVERLAP: chair <-> floor depth=[0.447, 0.005, 0.460] + !! OVERLAP: chair <-> floor depth=[0.457, 0.005, 0.490] + !! OVERLAP: chair <-> floor depth=[0.352, 0.005, 0.394] + !! OVERLAP: table <-> floor depth=[0.311, 0.005, 0.319] + !! OVERLAP: table <-> floor depth=[1.649, 0.005, 0.497] + !! OVERLAP: chair <-> floor depth=[0.471, 0.005, 0.468] +============================================================ + + +============================================================ +SCENE: DiningRoom-7122 | 9 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0000, Walkable Loss: 0.9877 (Center Penalty: 0.3920, C1 Heatmap: 0.2035, C2 Repulsion: 2.1644), Relational Loss: 0.0317 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +table 1.214 0.858 0.436 -0.765 0.008 1.234 179.95° +chair 0.321 0.929 0.408 0.336 0.013 -1.582 -90.15° +chair 0.395 0.913 0.473 0.585 0.002 -0.896 -90.11° +chair 0.463 0.938 0.487 -0.937 0.003 -1.401 89.93° +chair 0.357 0.955 0.445 -0.895 -0.001 -0.710 90.13° +lamp 0.765 0.599 0.209 -0.329 1.857 -0.990 -89.49° +table 0.635 0.833 0.138 -0.165 0.009 -1.129 2.66° +floor 2.979 -0.002 3.803 0.125 -0.007 -1.572 1.20° +_scene_ 0.057 0.000 0.022 -5.660 -0.004 -5.700 -57.31° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: chair <-> floor depth=[0.321, -0.002, 0.408] + !! OVERLAP: chair <-> floor depth=[0.395, -0.002, 0.473] + !! OVERLAP: chair <-> floor depth=[0.463, -0.002, 0.487] + !! OVERLAP: chair <-> floor depth=[0.357, -0.002, 0.445] + !! OVERLAP: table <-> floor depth=[0.635, -0.002, 0.138] +============================================================ + + +============================================================ +SCENE: DiningRoom-22339 | 10 objects +============================================================ +Final Step Collision Loss: 0.0060, Room Outer Loss: 0.0000, Walkable Loss: 2.5830 (Center Penalty: 1.8977, C1 Heatmap: 0.1832, C2 Repulsion: 2.6940), Relational Loss: 0.0321 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +chair 0.311 0.926 0.361 -0.460 0.014 -1.203 -0.45° +table 0.891 0.661 0.554 -0.859 -0.010 -0.354 1.49° +chair 0.417 0.951 0.411 -0.569 -0.001 1.180 -179.94° +chair 0.431 0.948 0.514 -1.096 0.002 -0.687 89.86° +chair 0.347 0.942 0.398 -1.123 0.002 0.402 100.82° +chair 0.409 0.984 0.432 0.475 -0.004 -0.882 -87.29° +chair 0.443 0.925 -0.152 -0.543 -0.007 0.633 -106.80° +lamp 0.702 0.811 0.646 -0.041 1.875 -0.929 -0.16° +floor 2.685 -0.001 3.703 0.027 0.000 0.018 -0.05° +_scene_ 0.064 -0.003 0.030 -5.658 -0.004 -5.704 -57.34° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: chair <-> floor depth=[0.311, -0.001, 0.361] + !! OVERLAP: table <-> chair depth=[0.424, 0.661, 0.201] + !! OVERLAP: table <-> floor depth=[0.891, -0.001, 0.554] + !! OVERLAP: chair <-> floor depth=[0.417, -0.001, 0.411] + !! OVERLAP: chair <-> floor depth=[0.431, -0.001, 0.514] + !! OVERLAP: chair <-> floor depth=[0.347, -0.001, 0.398] + !! OVERLAP: chair <-> floor depth=[0.409, -0.001, 0.432] + !! OVERLAP: chair <-> floor depth=[0.443, -0.001, -0.152] +============================================================ + + +============================================================ +SCENE: DiningRoom-12376 | 14 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0000, Walkable Loss: 2.1151 (Center Penalty: 1.0099, C1 Heatmap: 0.5155, C2 Repulsion: 3.4644), Relational Loss: 0.0126 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +table 1.597 0.789 0.703 -0.659 -0.001 0.959 90.94° +chair 0.557 0.944 0.596 0.630 0.001 0.567 179.89° +chair 0.516 1.000 0.590 0.257 -0.001 -0.944 -89.86° +chair 0.429 0.948 0.443 -1.186 0.000 -0.157 170.47° +chair 0.491 0.980 0.511 -0.984 0.003 -1.072 -0.06° +table 1.329 1.430 0.268 -2.248 0.009 0.108 89.65° +table 0.811 1.512 0.225 -1.877 -0.002 -0.918 90.03° +lamp 1.143 1.213 1.155 -0.666 1.709 -0.220 90.00° +cabinet 0.503 1.246 0.326 2.203 0.000 -1.663 0.04° +cabinet 0.492 1.171 0.281 1.340 0.001 -2.251 -0.16° +cabinet 0.511 1.229 0.212 1.098 0.002 -1.661 0.02° +cabinet 0.666 1.233 0.194 0.221 0.001 -2.271 0.03° +floor 4.981 0.003 4.521 -0.775 -0.000 -0.702 0.08° +_scene_ 0.061 0.000 0.020 -5.673 -0.004 -5.715 -57.30° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: table <-> floor depth=[1.597, 0.003, 0.703] + !! OVERLAP: chair <-> floor depth=[0.557, 0.003, 0.596] + !! OVERLAP: chair <-> floor depth=[0.516, 0.003, 0.590] + !! OVERLAP: chair <-> floor depth=[0.429, 0.003, 0.443] + !! OVERLAP: chair <-> floor depth=[0.491, 0.003, 0.511] + !! OVERLAP: table <-> floor depth=[1.329, 0.003, 0.268] + !! OVERLAP: table <-> floor depth=[0.811, 0.003, 0.225] + !! OVERLAP: cabinet <-> floor depth=[0.492, 0.003, 0.281] + !! OVERLAP: cabinet <-> floor depth=[0.511, 0.003, 0.212] + !! OVERLAP: cabinet <-> floor depth=[0.666, 0.003, 0.194] +============================================================ + + +============================================================ +SCENE: DiningRoom-19885 | 9 objects +============================================================ +Final Step Collision Loss: 0.0001, Room Outer Loss: 0.0000, Walkable Loss: 2.6202 (Center Penalty: 1.9770, C1 Heatmap: 0.1646, C2 Repulsion: 2.5577), Relational Loss: 0.0406 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +table 1.429 0.582 -0.427 0.282 -0.023 0.650 1.06° +chair 0.426 0.939 0.401 -0.094 0.005 0.921 -179.88° +chair 0.521 0.911 0.498 -0.765 0.000 0.957 136.69° +chair 0.325 0.926 0.487 -0.072 -0.001 -0.949 0.11° +chair 0.469 0.921 0.386 -0.856 -0.001 -0.664 53.39° +chair 0.349 0.925 0.273 0.756 0.007 0.923 -147.54° +chair 0.498 0.817 0.476 0.901 -0.001 -0.525 -58.10° +floor 3.598 -0.010 3.615 -0.008 -0.000 0.158 -0.11° +_scene_ 0.080 0.057 0.098 -5.060 -0.003 -5.302 -59.69° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: table <-> floor depth=[1.429, -0.010, -0.427] + !! OVERLAP: chair <-> floor depth=[0.426, -0.010, 0.401] + !! OVERLAP: chair <-> floor depth=[0.521, -0.010, 0.498] + !! OVERLAP: chair <-> floor depth=[0.325, -0.010, 0.487] + !! OVERLAP: chair <-> floor depth=[0.469, -0.010, 0.386] + !! OVERLAP: chair <-> floor depth=[0.349, -0.010, 0.273] + !! OVERLAP: chair <-> floor depth=[0.498, -0.010, 0.476] +============================================================ + + +============================================================ +SCENE: DiningRoom-2831 | 8 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0000, Walkable Loss: 1.6338 (Center Penalty: 1.0290, C1 Heatmap: 0.2428, C2 Repulsion: 2.0529), Relational Loss: 0.0183 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +table 1.671 0.779 0.322 0.891 0.006 -0.175 -0.13° +chair 0.508 0.985 0.463 -0.390 0.000 -0.940 0.06° +chair 0.421 1.007 0.510 0.639 0.002 -0.973 0.18° +chair 0.417 0.938 0.487 -0.256 0.010 1.191 179.84° +chair 0.435 1.011 0.510 0.770 0.002 0.706 180.00° +lamp 0.498 0.757 0.055 -0.793 1.901 -0.040 -0.04° +floor 3.007 0.004 3.319 -0.887 0.000 -0.159 -0.67° +_scene_ 0.073 0.001 0.021 -5.664 -0.003 -5.713 -57.29° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: table <-> floor depth=[0.560, 0.004, 0.322] + !! OVERLAP: chair <-> floor depth=[0.508, 0.004, 0.463] + !! OVERLAP: chair <-> floor depth=[0.188, 0.004, 0.510] + !! OVERLAP: chair <-> floor depth=[0.417, 0.004, 0.487] + !! OVERLAP: chair <-> floor depth=[0.064, 0.004, 0.510] +============================================================ + + +============================================================ +SCENE: DiningRoom-60525 | 9 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0000, Walkable Loss: 1.6814 (Center Penalty: 0.9159, C1 Heatmap: 0.2696, C2 Repulsion: 2.7493), Relational Loss: 0.0181 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +table 1.154 0.669 0.419 -0.072 -0.004 1.037 90.53° +chair 0.431 0.900 0.459 -0.841 0.013 1.176 89.95° +chair 0.405 0.861 0.479 -0.793 0.001 0.486 90.05° +chair 0.296 0.936 0.313 1.025 -0.001 0.140 -90.03° +chair 0.355 0.934 0.420 0.866 0.001 0.892 -89.90° +table 1.512 1.070 0.313 -1.942 0.012 0.504 89.74° +lamp 0.851 1.125 0.880 0.290 1.720 0.721 -0.04° +floor 3.496 -0.001 4.765 0.670 0.005 0.716 0.16° +_scene_ 0.063 0.002 0.021 -5.676 -0.006 -5.721 -57.26° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: table <-> chair depth=[0.023, 0.669, 0.301] + !! OVERLAP: table <-> floor depth=[1.154, -0.001, 0.419] + !! OVERLAP: chair <-> floor depth=[0.431, -0.001, 0.459] + !! OVERLAP: chair <-> floor depth=[0.405, -0.001, 0.479] + !! OVERLAP: chair <-> floor depth=[0.296, -0.001, 0.313] + !! OVERLAP: chair <-> floor depth=[0.355, -0.001, 0.420] +============================================================ + + +============================================================ +SCENE: DiningRoom-55572 | 14 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0000, Walkable Loss: 1.8159 (Center Penalty: 0.1588, C1 Heatmap: 0.5885, C2 Repulsion: 5.9313), Relational Loss: 0.0487 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +table 0.801 0.521 0.188 0.798 -0.023 -1.433 -0.70° +sofa 1.197 0.682 -0.047 1.694 0.050 -1.777 -0.07° +wardrobe 0.944 2.387 0.462 -2.728 -0.002 0.923 89.85° +chair 0.478 0.860 0.545 -0.467 0.001 -1.739 -89.99° +chair 0.424 0.877 0.482 -1.058 -0.000 -0.985 89.88° +lamp 0.753 0.843 0.753 0.970 1.743 -1.172 -0.02° +chair 0.505 0.837 0.391 1.356 0.001 0.286 -152.02° +sofa 1.790 0.936 0.614 0.805 -0.005 -2.487 0.03° +sofa 1.717 0.822 0.470 1.361 -0.017 -0.896 0.00° +table 0.809 1.088 0.463 2.330 0.003 1.053 179.96° +cabinet 0.746 1.307 0.126 -1.954 0.002 1.660 89.90° +table 0.519 1.298 0.261 -0.751 0.004 1.794 -179.95° +floor 5.496 -0.029 5.196 1.016 -0.001 -0.338 -0.08° +_scene_ 0.073 -0.000 0.022 -5.677 -0.005 -5.713 -57.29° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: table <-> floor depth=[0.801, -0.029, 0.188] + !! OVERLAP: sofa <-> floor depth=[1.197, -0.029, -0.047] + !! OVERLAP: chair <-> floor depth=[0.478, -0.029, 0.545] + !! OVERLAP: chair <-> floor depth=[0.424, -0.029, 0.482] + !! OVERLAP: chair <-> floor depth=[0.505, -0.029, 0.391] + !! OVERLAP: sofa <-> floor depth=[1.790, -0.029, 0.614] + !! OVERLAP: sofa <-> floor depth=[1.717, -0.029, 0.470] + !! OVERLAP: table <-> floor depth=[0.809, -0.029, 0.463] + !! OVERLAP: cabinet <-> floor depth=[0.150, -0.029, 0.126] + !! OVERLAP: table <-> floor depth=[0.519, -0.029, 0.261] +============================================================ + + +============================================================ +SCENE: DiningRoom-24191 | 12 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0000, Walkable Loss: 2.9399 (Center Penalty: 2.0453, C1 Heatmap: 0.2710, C2 Repulsion: 3.3889), Relational Loss: 0.0481 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +table 0.958 0.727 0.051 0.750 -0.024 -0.713 89.50° +chair 0.379 0.838 0.398 1.160 -0.001 -1.094 -89.90° +chair 0.412 0.870 0.486 1.248 -0.002 -0.308 -90.86° +chair 0.482 0.799 0.509 0.341 0.001 1.221 179.90° +chair 0.402 0.840 0.461 -0.899 0.002 -0.313 90.34° +chair 0.462 0.813 0.494 -0.657 0.002 -1.104 90.01° +chair 0.469 0.807 0.495 0.209 0.001 -1.497 0.02° +chair 0.569 0.841 0.569 -0.999 0.000 0.603 90.03° +chair 0.410 0.802 0.505 1.146 0.003 0.510 -89.91° +lamp 0.459 0.895 0.482 0.171 1.799 -0.523 -0.25° +floor 3.754 -0.001 5.011 0.098 -0.002 0.017 -0.12° +_scene_ 0.081 -0.000 0.068 -5.643 -0.002 -5.663 -57.31° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: table <-> floor depth=[0.958, -0.001, 0.051] + !! OVERLAP: chair <-> floor depth=[0.379, -0.001, 0.398] + !! OVERLAP: chair <-> floor depth=[0.412, -0.001, 0.486] + !! OVERLAP: chair <-> floor depth=[0.482, -0.001, 0.509] + !! OVERLAP: chair <-> floor depth=[0.402, -0.001, 0.461] + !! OVERLAP: chair <-> floor depth=[0.462, -0.001, 0.494] + !! OVERLAP: chair <-> floor depth=[0.469, -0.001, 0.495] + !! OVERLAP: chair <-> floor depth=[0.569, -0.001, 0.569] + !! OVERLAP: chair <-> floor depth=[0.410, -0.001, 0.505] +============================================================ + + +============================================================ +SCENE: DiningRoom-13034 | 8 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0000, Walkable Loss: 1.3455 (Center Penalty: 1.0627, C1 Heatmap: 0.1443, C2 Repulsion: 0.8366), Relational Loss: 0.0545 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +table 1.099 0.724 0.315 0.436 -0.005 0.329 89.98° +chair 0.422 0.761 0.405 1.290 -0.002 0.258 -90.05° +chair 0.387 0.831 0.408 1.113 -0.000 -0.570 -90.31° +chair 0.355 0.766 0.334 -1.056 0.014 0.256 88.97° +chair 0.382 0.778 0.373 -0.880 0.004 -0.503 90.61° +lamp 0.513 1.089 0.591 0.975 1.742 -0.072 19.92° +floor 3.099 0.031 3.764 -0.210 0.001 1.144 2.54° +_scene_ 0.081 0.005 0.033 -5.656 -0.005 -5.692 -57.27° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: table <-> floor depth=[1.099, 0.031, 0.315] + !! OVERLAP: chair <-> floor depth=[0.261, 0.031, 0.405] + !! OVERLAP: chair <-> floor depth=[0.387, 0.031, 0.372] + !! OVERLAP: chair <-> floor depth=[0.355, 0.031, 0.334] + !! OVERLAP: chair <-> floor depth=[0.382, 0.031, 0.373] +============================================================ + + +============================================================ +SCENE: DiningRoom-21509 | 10 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0000, Walkable Loss: 1.1255 (Center Penalty: 0.5396, C1 Heatmap: 0.1368, C2 Repulsion: 2.3824), Relational Loss: 0.0222 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +table 0.670 0.839 0.209 -1.091 0.003 0.046 1.47° +chair 0.366 0.974 0.429 -0.534 0.001 1.072 -179.89° +chair 0.208 0.973 0.370 -0.866 0.004 0.524 -90.34° +chair 0.367 0.975 0.437 -1.746 -0.002 0.685 90.05° +chair 0.353 0.967 0.404 -1.761 -0.002 -0.015 0.05° +lamp 0.598 1.074 0.569 -0.600 1.581 -0.676 -90.16° +cabinet 0.577 1.944 0.395 1.202 0.002 -1.584 0.13° +lamp 0.208 0.976 0.209 -1.253 1.336 0.985 0.04° +floor 3.796 -0.007 3.616 -1.013 0.007 -0.638 0.43° +_scene_ 0.069 0.001 0.019 -5.670 -0.004 -5.713 -57.31° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: table <-> floor depth=[0.670, -0.007, 0.209] + !! OVERLAP: chair <-> floor depth=[0.366, -0.007, 0.313] + !! OVERLAP: chair <-> floor depth=[0.208, -0.007, 0.370] + !! OVERLAP: chair <-> floor depth=[0.367, -0.007, 0.437] + !! OVERLAP: chair <-> floor depth=[0.353, -0.007, 0.404] +============================================================ + + +============================================================ +SCENE: DiningRoom-42541 | 8 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0000, Walkable Loss: 1.4397 (Center Penalty: 0.9427, C1 Heatmap: 0.1219, C2 Repulsion: 1.9974), Relational Loss: 0.0364 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +table 0.840 0.628 0.032 -0.944 -0.000 0.032 0.43° +chair 0.474 0.887 0.523 -0.577 0.006 0.719 179.96° +chair 0.356 0.896 0.308 -1.311 0.006 0.703 179.84° +chair 0.486 0.976 0.552 -0.408 -0.000 -0.712 0.05° +chair 0.391 0.918 0.274 -1.129 -0.002 -0.449 -0.07° +lamp 0.248 0.746 0.281 -0.847 2.556 0.477 -0.10° +floor 3.663 0.026 1.502 -1.013 0.049 0.206 -1.05° +_scene_ 0.063 0.001 0.020 -5.669 -0.005 -5.711 -57.30° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: table <-> floor depth=[0.840, 0.026, 0.032] + !! OVERLAP: chair <-> floor depth=[0.474, 0.026, 0.499] + !! OVERLAP: chair <-> floor depth=[0.356, 0.026, 0.308] + !! OVERLAP: chair <-> floor depth=[0.486, 0.026, 0.108] + !! OVERLAP: chair <-> floor depth=[0.391, 0.026, 0.232] +============================================================ + + +============================================================ +SCENE: DiningRoom-13727 | 10 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0000, Walkable Loss: 1.0446 (Center Penalty: 0.5402, C1 Heatmap: 0.2299, C2 Repulsion: 1.6026), Relational Loss: 0.0686 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +table 0.873 0.720 0.094 -1.117 0.001 -0.299 1.05° +chair 0.356 0.797 0.489 0.638 -0.005 0.915 -172.26° +chair 0.462 0.759 0.487 -0.399 0.000 0.889 155.88° +chair 0.281 0.741 0.371 -1.330 0.003 0.214 106.78° +chair 0.458 0.732 0.421 -0.502 0.000 -1.155 13.83° +chair 0.467 0.803 0.494 0.604 -0.001 -1.000 -24.40° +chair 0.492 0.764 0.483 1.108 0.001 -0.117 -81.89° +cabinet 1.540 2.076 -0.184 -1.664 0.005 -0.946 89.88° +floor 5.170 0.061 3.722 -1.380 -0.020 -0.159 -0.05° +_scene_ 0.079 0.003 0.046 -5.636 -0.007 -5.670 -57.34° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: table <-> floor depth=[0.873, 0.061, 0.094] + !! OVERLAP: chair <-> floor depth=[0.356, 0.061, 0.489] + !! OVERLAP: chair <-> floor depth=[0.462, 0.061, 0.487] + !! OVERLAP: chair <-> floor depth=[0.281, 0.061, 0.371] + !! OVERLAP: chair <-> floor depth=[0.458, 0.061, 0.421] + !! OVERLAP: chair <-> floor depth=[0.467, 0.061, 0.494] + !! OVERLAP: chair <-> floor depth=[0.343, 0.061, 0.483] + !! OVERLAP: cabinet <-> floor depth=[1.540, 0.061, -0.184] +============================================================ + + +============================================================ +SCENE: Library-4425 | 6 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0000, Walkable Loss: 1.5804 (Center Penalty: 1.2974, C1 Heatmap: 0.2362, C2 Repulsion: 0.4702), Relational Loss: 0.0000 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +table 1.015 0.773 0.475 1.147 -0.001 -0.144 -89.74° +chair 0.495 0.725 0.442 -0.951 -0.003 0.214 81.48° +bookshelf 0.881 2.102 0.235 -0.678 0.004 1.414 -179.98° +lamp 1.018 1.196 0.642 0.091 1.449 -1.137 -1.37° +floor 2.707 0.000 2.870 -0.009 0.003 -0.036 -0.05° +_scene_ 0.068 0.001 0.021 -5.675 -0.005 -5.714 -57.30° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: table <-> floor depth=[0.705, 0.000, 0.475] + !! OVERLAP: chair <-> floor depth=[0.495, 0.000, 0.442] + !! OVERLAP: bookshelf <-> floor depth=[0.881, 0.000, 0.102] +============================================================ + + +============================================================ +SCENE: Library-4345 | 6 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0000, Walkable Loss: 1.0413 (Center Penalty: 0.6569, C1 Heatmap: 0.2312, C2 Repulsion: 0.9970), Relational Loss: 0.0152 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +bookshelf 1.923 2.155 -0.062 0.516 -0.001 1.381 179.92° +lamp 0.983 1.353 0.131 -0.273 0.005 -1.187 90.89° +desk 2.525 2.757 -0.329 0.150 0.036 -1.329 -89.01° +lamp 0.390 0.180 0.354 -0.272 2.370 -0.672 -0.28° +floor 3.035 -0.008 3.628 -0.003 0.013 -0.876 0.78° +_scene_ 0.070 0.003 0.062 -5.666 -0.005 -5.689 -57.34° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: lamp <-> floor depth=[0.983, -0.008, 0.131] + !! OVERLAP: desk <-> floor depth=[2.525, -0.008, -0.329] +============================================================ + + +============================================================ +SCENE: Library-16688 | 8 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0000, Walkable Loss: 1.0740 (Center Penalty: 0.5557, C1 Heatmap: 0.4360, C2 Repulsion: 0.8476), Relational Loss: 0.0243 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +lamp 0.546 0.922 0.660 0.787 2.100 -0.229 0.15° +bookshelf 0.626 2.513 0.451 1.666 -0.002 1.005 -90.17° +bookshelf 0.637 2.482 0.357 1.537 0.001 -1.129 -90.09° +bookshelf 0.652 2.276 0.338 1.639 0.001 -0.058 -90.19° +desk 1.276 0.751 0.464 0.006 0.003 1.307 179.98° +sofa 1.865 0.765 0.795 -0.560 0.014 -0.826 0.14° +floor 4.047 0.047 3.138 -0.946 -0.015 -0.406 -0.15° +_scene_ 0.062 0.001 0.020 -5.667 -0.005 -5.700 -57.25° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: desk <-> floor depth=[1.276, 0.047, 0.088] + !! OVERLAP: sofa <-> floor depth=[1.865, 0.047, 0.795] +============================================================ + + +============================================================ +SCENE: Library-29416 | 7 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0000, Walkable Loss: 1.2860 (Center Penalty: 0.7585, C1 Heatmap: 0.2391, C2 Repulsion: 1.6816), Relational Loss: 0.0348 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +bookshelf 2.830 2.471 -0.889 1.600 -0.058 0.080 -89.86° +bookshelf 1.900 2.638 -0.093 1.478 0.010 0.471 -90.19° +desk 1.320 0.859 0.326 -0.479 -0.004 0.856 89.89° +chair 0.658 0.687 0.163 0.220 -0.024 1.061 -90.37° +lamp 0.344 0.767 0.336 -0.276 1.982 0.737 -0.38° +floor 2.967 -0.014 3.315 0.211 -0.014 0.853 0.19° +_scene_ 0.079 0.001 0.034 -5.663 -0.004 -5.692 -57.30° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bookshelf <-> floor depth=[1.510, -0.014, -0.889] + !! OVERLAP: bookshelf <-> floor depth=[1.167, -0.014, -0.093] + !! OVERLAP: desk <-> chair depth=[0.289, 0.687, 0.040] + !! OVERLAP: desk <-> floor depth=[1.320, -0.014, 0.326] + !! OVERLAP: chair <-> floor depth=[0.658, -0.014, 0.163] +============================================================ + + +============================================================ +SCENE: Library-110125 | 7 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0000, Walkable Loss: 0.7358 (Center Penalty: 0.4532, C1 Heatmap: 0.1979, C2 Repulsion: 0.6218), Relational Loss: 0.0084 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +desk 1.137 0.832 0.348 -1.213 0.011 0.871 -179.94° +chair 0.445 0.963 0.492 -1.055 0.006 0.039 -56.27° +bookshelf 1.280 2.154 0.257 -1.042 -0.001 -1.463 0.02° +lamp 0.948 1.160 1.010 0.658 1.530 0.596 89.85° +chair 0.402 0.569 0.431 1.210 0.000 -0.295 -89.86° +floor 3.918 0.021 2.901 -0.629 -0.026 -0.927 0.94° +_scene_ 0.066 0.000 0.023 -5.671 -0.004 -5.710 -57.34° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: chair <-> floor depth=[0.445, 0.021, 0.492] + !! OVERLAP: bookshelf <-> floor depth=[1.280, 0.021, 0.257] + !! OVERLAP: chair <-> floor depth=[0.321, 0.021, 0.431] +============================================================ + + +============================================================ +SCENE: Library-19478 | 5 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0000, Walkable Loss: 0.8178 (Center Penalty: 0.4749, C1 Heatmap: 0.1844, C2 Repulsion: 0.9767), Relational Loss: 0.0189 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +desk 0.910 0.841 0.483 0.019 -0.005 -0.720 -90.18° +bookshelf 1.629 2.385 0.331 -0.189 0.002 -1.384 -0.06° +lamp -0.479 1.136 1.502 0.940 2.147 -0.731 1.77° +floor 2.351 0.092 3.017 -0.778 0.016 -0.991 -0.03° +_scene_ 0.072 -0.013 0.137 -5.524 0.010 -5.528 -58.00° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: desk <-> floor depth=[0.834, 0.092, 0.483] + !! OVERLAP: bookshelf <-> floor depth=[1.401, 0.092, 0.331] +============================================================ + + +============================================================ +SCENE: Library-898 | 5 objects +============================================================ +Final Step Collision Loss: 0.0074, Room Outer Loss: 0.0000, Walkable Loss: 1.8703 (Center Penalty: 1.2826, C1 Heatmap: 0.2391, C2 Repulsion: 1.9819), Relational Loss: 0.0187 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +bookshelf 2.842 2.594 -0.067 -1.036 -0.020 -0.757 90.22° +desk 1.044 1.700 0.028 -0.316 -0.015 -0.912 179.69° +chair 0.175 0.713 0.361 0.115 0.013 -1.076 -0.09° +floor 2.776 -0.002 3.330 -0.048 0.001 -0.026 -0.01° +_scene_ 0.049 0.001 0.043 -5.622 0.001 -5.678 -57.46° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bookshelf <-> floor depth=[1.821, -0.002, -0.067] + !! OVERLAP: desk <-> chair depth=[0.175, 0.713, 0.028] + !! OVERLAP: desk <-> floor depth=[1.044, -0.002, 0.028] + !! OVERLAP: chair <-> floor depth=[0.175, -0.002, 0.361] +============================================================ + + +============================================================ +SCENE: Library-2159 | 7 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0000, Walkable Loss: 2.1012 (Center Penalty: 1.1488, C1 Heatmap: 0.5943, C2 Repulsion: 2.3846), Relational Loss: 0.0323 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +bookshelf 3.088 2.331 0.293 1.359 -0.001 -0.761 -90.06° +chair 0.631 0.883 0.657 -0.903 -0.001 -1.618 10.78° +desk 0.947 0.684 0.201 -0.921 -0.021 -0.731 0.54° +sofa 1.559 0.961 0.482 -1.105 0.031 0.236 90.07° +table 0.590 0.447 0.743 -0.522 0.001 1.438 0.01° +floor 3.219 -0.002 4.567 0.035 -0.000 -0.062 -0.03° +_scene_ 0.068 0.000 0.022 -5.668 -0.005 -5.712 -57.28° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bookshelf <-> floor depth=[1.829, -0.002, 0.293] + !! OVERLAP: chair <-> floor depth=[0.631, -0.002, 0.657] + !! OVERLAP: desk <-> floor depth=[0.947, -0.002, 0.201] + !! OVERLAP: sofa <-> floor depth=[1.250, -0.002, 0.482] + !! OVERLAP: table <-> floor depth=[0.590, -0.002, 0.743] +============================================================ + + +============================================================ +SCENE: Library-7291 | 7 objects +============================================================ +Final Step Collision Loss: 0.0002, Room Outer Loss: 0.0000, Walkable Loss: 1.1950 (Center Penalty: 0.5017, C1 Heatmap: 0.5197, C2 Repulsion: 1.3877), Relational Loss: 0.0041 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +chair 0.519 0.494 0.599 -0.863 -0.001 0.776 0.04° +bookshelf 0.727 1.949 0.316 1.354 0.001 0.790 -90.05° +lamp 0.269 0.650 0.296 -0.616 2.143 0.543 -0.28° +desk 1.885 0.809 0.595 -0.636 -0.006 1.371 -179.95° +sofa 1.923 0.840 0.824 -0.425 0.008 -1.214 -0.06° +floor 3.426 -0.001 3.102 -0.780 -0.011 -0.672 -0.43° +_scene_ 0.056 -0.001 0.029 -5.655 -0.004 -5.702 -57.31° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: chair <-> desk depth=[0.519, 0.494, 0.002] + !! OVERLAP: chair <-> floor depth=[0.519, -0.001, 0.402] + !! OVERLAP: sofa <-> floor depth=[1.923, -0.001, 0.824] +============================================================ + + +============================================================ +SCENE: Library-24727 | 5 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0000, Walkable Loss: 1.3312 (Center Penalty: 1.1635, C1 Heatmap: 0.2044, C2 Repulsion: 0.0209), Relational Loss: 0.0000 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +bookshelf 1.422 2.306 0.399 -1.455 0.024 0.422 89.98° +chair 0.849 0.806 0.850 0.494 0.002 0.987 -170.41° +lamp 0.295 0.677 0.414 0.033 2.129 1.074 -0.27° +floor 4.048 0.001 3.098 -0.098 0.001 -0.085 -0.03° +_scene_ 0.042 0.001 0.065 -5.580 -0.003 -5.613 -57.57° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bookshelf <-> floor depth=[1.378, 0.001, 0.399] + !! OVERLAP: chair <-> floor depth=[0.849, 0.001, 0.850] +============================================================ + + +============================================================ +SCENE: Library-43565 | 7 objects +============================================================ +Final Step Collision Loss: 0.0012, Room Outer Loss: 0.0000, Walkable Loss: 2.0342 (Center Penalty: 1.4880, C1 Heatmap: 0.4283, C2 Repulsion: 1.0174), Relational Loss: 0.0086 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +bookshelf 3.117 2.450 0.114 -1.509 -0.002 0.209 90.16° +bookshelf 0.506 2.021 0.160 0.945 0.001 0.957 179.99° +chair 0.379 0.754 0.165 -0.185 -0.008 -0.921 89.61° +lamp 0.533 0.245 0.467 0.372 2.276 -0.797 0.55° +desk 1.459 0.787 0.511 0.609 -0.008 -0.982 -0.57° +floor 2.785 0.003 2.825 0.001 0.000 -0.026 0.02° +_scene_ 0.061 0.002 0.022 -5.668 -0.002 -5.704 -57.27° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bookshelf <-> floor depth=[1.440, 0.003, 0.114] + !! OVERLAP: bookshelf <-> floor depth=[0.506, 0.003, 0.160] + !! OVERLAP: chair <-> desk depth=[0.125, 0.754, 0.165] + !! OVERLAP: chair <-> floor depth=[0.379, 0.003, 0.165] + !! OVERLAP: desk <-> floor depth=[1.459, 0.003, 0.511] +============================================================ + + +============================================================ +SCENE: Library-24675 | 6 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0000, Walkable Loss: 2.0996 (Center Penalty: 1.7053, C1 Heatmap: 0.2991, C2 Repulsion: 0.7750), Relational Loss: 0.0000 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +lamp 1.079 1.104 1.133 0.031 1.721 -0.773 -0.59° +chair 0.522 0.941 0.550 -0.896 0.000 0.472 89.77° +desk 1.217 0.709 0.593 0.495 0.003 -0.621 -89.94° +bookshelf 1.846 2.757 0.371 -1.701 -0.003 -0.430 90.09° +floor 3.075 -0.003 2.962 0.049 0.001 -0.058 -0.02° +_scene_ 0.047 0.004 0.027 -5.539 -0.006 -5.624 -57.79° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: chair <-> floor depth=[0.522, -0.003, 0.550] + !! OVERLAP: desk <-> floor depth=[1.217, -0.003, 0.593] + !! OVERLAP: bookshelf <-> floor depth=[0.710, -0.003, 0.371] +============================================================ + + +============================================================ +SCENE: Library-11256 | 10 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0000, Walkable Loss: 1.2641 (Center Penalty: 0.4086, C1 Heatmap: 0.4861, C2 Repulsion: 2.3328), Relational Loss: 0.0331 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +bookshelf 2.855 2.566 -0.193 2.175 0.004 0.712 -90.43° +bookshelf 3.183 2.527 -0.991 1.672 -0.000 0.134 -90.94° +desk 1.426 0.883 0.507 -0.500 -0.003 1.133 179.91° +chair 0.492 0.932 0.491 0.708 0.000 1.036 -90.24° +chair 0.635 0.874 0.592 -1.526 -0.008 -1.178 38.67° +chair 0.433 0.429 0.378 -1.777 -0.000 -0.157 89.93° +table 0.545 0.591 0.500 -0.476 0.001 -1.142 0.06° +lamp 0.314 0.588 0.332 -0.370 2.172 0.852 -0.02° +floor 4.003 -0.036 3.629 0.902 -0.010 -0.633 1.24° +_scene_ 0.065 0.003 0.026 -5.667 -0.004 -5.706 -57.21° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bookshelf <-> floor depth=[2.156, -0.036, -0.193] + !! OVERLAP: bookshelf <-> floor depth=[2.823, -0.036, -0.991] + !! OVERLAP: desk <-> floor depth=[1.313, -0.036, 0.303] + !! OVERLAP: chair <-> floor depth=[0.492, -0.036, 0.391] + !! OVERLAP: table <-> floor depth=[0.545, -0.036, 0.500] +============================================================ + + +============================================================ +SCENE: Library-70308 | 6 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0000, Walkable Loss: 2.0148 (Center Penalty: 1.4827, C1 Heatmap: 0.2267, C2 Repulsion: 1.7534), Relational Loss: 0.0025 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +desk 0.938 0.777 -0.012 -0.626 0.010 1.033 -179.39° +chair 0.218 0.942 0.281 -0.667 -0.008 0.597 15.43° +bookshelf 1.283 2.143 0.247 1.152 0.001 0.292 -90.13° +lamp 1.037 1.458 0.861 -0.927 1.372 -0.132 0.29° +floor 2.792 0.002 3.250 -0.044 -0.002 -0.018 0.07° +_scene_ 0.021 0.009 0.017 -5.612 -0.005 -5.679 -57.46° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: desk <-> floor depth=[0.938, 0.002, -0.012] + !! OVERLAP: chair <-> floor depth=[0.218, 0.002, 0.281] + !! OVERLAP: bookshelf <-> floor depth=[0.841, 0.002, 0.247] +============================================================ + + +============================================================ +SCENE: Library-57472 | 7 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0000, Walkable Loss: 1.0085 (Center Penalty: 0.6941, C1 Heatmap: 0.2718, C2 Repulsion: 0.4845), Relational Loss: 0.0018 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +desk 1.137 0.818 0.437 -0.374 0.002 1.447 -179.95° +bookshelf 0.439 1.718 0.239 1.555 0.002 0.741 -180.00° +chair 0.456 0.687 0.403 -0.858 -0.004 0.583 0.03° +bookshelf 1.888 1.955 0.328 -0.900 -0.002 -1.032 0.01° +lamp 1.100 0.955 1.073 -0.720 2.150 0.106 0.41° +floor 2.979 -0.015 2.460 -0.905 0.017 -0.001 0.81° +_scene_ 0.066 -0.001 0.023 -5.675 -0.003 -5.715 -57.32° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: desk <-> floor depth=[1.137, -0.015, 0.000] + !! OVERLAP: chair <-> floor depth=[0.456, -0.015, 0.403] + !! OVERLAP: bookshelf <-> floor depth=[1.888, -0.015, 0.328] +============================================================ + + +============================================================ +SCENE: Library-32231 | 7 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0000, Walkable Loss: 1.4833 (Center Penalty: 0.8828, C1 Heatmap: 0.4165, C2 Repulsion: 1.3366), Relational Loss: 0.0674 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +desk 0.786 0.832 -0.120 0.126 -0.036 -1.124 -90.18° +bookshelf 3.273 2.567 0.232 -0.248 0.003 1.094 -179.88° +cabinet 1.641 1.415 -0.068 -0.415 0.000 -1.161 90.03° +lamp 0.487 0.590 0.518 -0.138 2.126 -0.771 -0.11° +chair 0.208 0.865 0.279 0.382 0.003 -1.539 -31.57° +floor 2.002 -0.011 3.968 -0.066 0.004 -0.695 -0.04° +_scene_ 0.065 -0.001 0.024 -5.671 -0.005 -5.714 -57.28° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: desk <-> floor depth=[0.786, -0.011, -0.120] + !! OVERLAP: bookshelf <-> floor depth=[2.002, -0.011, 0.232] + !! OVERLAP: cabinet <-> floor depth=[1.472, -0.011, -0.068] + !! OVERLAP: chair <-> floor depth=[0.208, -0.011, 0.279] +============================================================ + + +============================================================ +SCENE: Library-2480 | 5 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0000, Walkable Loss: 1.5272 (Center Penalty: 1.2575, C1 Heatmap: 0.1668, C2 Repulsion: 0.6811), Relational Loss: 0.0353 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +chair 0.351 0.832 0.352 -0.935 -0.001 -0.138 90.14° +bookshelf 1.401 2.126 -0.006 0.326 0.005 1.577 179.89° +desk 1.056 0.789 0.641 0.866 -0.011 0.670 -89.42° +floor 2.676 0.003 3.586 0.015 0.001 -0.056 -0.01° +_scene_ 0.100 0.005 0.071 -5.648 -0.006 -5.686 -57.24° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: chair <-> floor depth=[0.351, 0.003, 0.352] + !! OVERLAP: bookshelf <-> floor depth=[1.401, 0.003, -0.006] + !! OVERLAP: desk <-> floor depth=[1.015, 0.003, 0.641] +============================================================ + + +============================================================ +SCENE: Library-23898 | 8 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0000, Walkable Loss: 1.0863 (Center Penalty: 0.8438, C1 Heatmap: 0.2499, C2 Repulsion: 0.2129), Relational Loss: 0.0300 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +table 1.137 0.759 0.609 -0.349 0.000 -0.965 -0.06° +lamp 0.788 0.781 0.268 -0.340 1.881 0.779 -0.03° +bookshelf 0.482 1.998 0.231 1.188 0.002 -1.036 -0.12° +chair 0.566 0.962 0.639 -0.412 0.001 0.962 173.09° +bookshelf 0.980 1.861 0.331 1.578 0.003 1.615 -90.13° +bookshelf 0.649 2.023 0.241 1.440 0.003 0.316 -89.93° +floor 3.327 -0.002 3.270 0.037 0.003 0.719 0.01° +_scene_ 0.042 0.003 0.011 -5.675 -0.006 -5.717 -57.31° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: table <-> floor depth=[1.137, -0.002, 0.255] + !! OVERLAP: chair <-> floor depth=[0.566, -0.002, 0.639] + !! OVERLAP: bookshelf <-> floor depth=[0.612, -0.002, 0.331] + !! OVERLAP: bookshelf <-> floor depth=[0.584, -0.002, 0.241] +============================================================ + + +============================================================ +SCENE: Library-19283 | 5 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0000, Walkable Loss: 1.0097 (Center Penalty: 0.5758, C1 Heatmap: 0.3343, C2 Repulsion: 0.8322), Relational Loss: 0.0000 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +bookshelf 2.386 2.430 0.205 1.259 -0.000 -0.054 -90.00° +desk 1.286 1.006 0.702 -0.835 0.000 -0.506 90.26° +chair 0.460 0.894 -0.002 0.706 -0.008 -0.816 -87.98° +floor 2.680 0.001 3.141 -0.398 -0.009 -0.680 0.58° +_scene_ 0.054 0.041 0.080 -5.195 -0.005 -5.408 -58.09° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bookshelf <-> floor depth=[0.876, 0.001, 0.205] + !! OVERLAP: desk <-> floor depth=[1.286, 0.001, 0.702] + !! OVERLAP: chair <-> floor depth=[0.460, 0.001, -0.002] +============================================================ + + +============================================================ +SCENE: Library-29744 | 6 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0000, Walkable Loss: 1.1822 (Center Penalty: 0.5789, C1 Heatmap: 0.4290, C2 Repulsion: 1.3005), Relational Loss: 0.0331 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +bookshelf 2.621 2.369 -0.393 -1.675 0.006 0.628 90.32° +bookshelf 2.581 2.296 0.151 1.378 -0.003 -0.377 -90.13° +desk 1.377 0.641 0.270 0.428 -0.011 -1.017 0.00° +chair 0.478 0.721 0.394 -0.710 -0.007 -0.157 -179.99° +floor 2.945 -0.026 3.340 -0.082 0.001 -1.014 -0.04° +_scene_ 0.061 -0.001 0.024 -5.664 -0.003 -5.712 -57.33° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bookshelf <-> floor depth=[1.303, -0.026, 0.151] + !! OVERLAP: desk <-> floor depth=[1.377, -0.026, 0.270] + !! OVERLAP: chair <-> floor depth=[0.478, -0.026, 0.394] +============================================================ + + +============================================================ +SCENE: Library-22443 | 7 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0000, Walkable Loss: 1.5499 (Center Penalty: 0.9545, C1 Heatmap: 0.1928, C2 Repulsion: 2.2060), Relational Loss: 0.0077 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +bookshelf 0.808 1.938 0.138 -1.480 -0.002 -0.108 90.05° +bookshelf 0.950 2.049 0.079 -1.238 0.006 -0.577 89.93° +desk 1.453 0.716 0.455 0.166 0.002 -0.762 -90.05° +chair 0.381 0.932 0.326 -0.530 0.005 -0.579 89.64° +lamp 0.549 0.387 0.526 -0.127 2.706 -0.824 -0.12° +floor 2.973 0.002 4.201 -0.063 0.027 -1.119 -0.02° +_scene_ 0.066 -0.001 0.030 -5.682 -0.004 -5.715 -57.31° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bookshelf <-> floor depth=[0.474, 0.002, 0.138] + !! OVERLAP: bookshelf <-> floor depth=[0.786, 0.002, 0.079] + !! OVERLAP: desk <-> chair depth=[0.221, 0.716, 0.207] + !! OVERLAP: desk <-> floor depth=[1.453, 0.002, 0.455] + !! OVERLAP: chair <-> floor depth=[0.381, 0.002, 0.326] +============================================================ + + +============================================================ +SCENE: Library-1093 | 8 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0000, Walkable Loss: 1.7497 (Center Penalty: 1.4056, C1 Heatmap: 0.2302, C2 Repulsion: 0.7994), Relational Loss: 0.0201 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +bookshelf 0.878 2.155 0.459 -1.162 -0.000 0.831 -180.00° +bookshelf 0.707 2.040 0.226 -1.444 -0.000 -0.680 89.91° +bookshelf 1.230 2.113 0.294 1.447 0.001 -0.130 -90.05° +chair 0.473 0.820 0.537 -0.841 -0.003 -1.186 90.15° +lamp 0.547 0.353 0.580 0.894 2.399 0.340 -90.50° +chair 0.476 0.594 0.529 0.190 0.005 -0.879 90.07° +floor 2.850 -0.002 3.576 0.020 0.001 -0.048 -0.01° +_scene_ 0.061 -0.001 0.012 -5.667 -0.006 -5.713 -57.33° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bookshelf <-> floor depth=[0.681, -0.002, 0.459] + !! OVERLAP: bookshelf <-> floor depth=[0.314, -0.002, 0.226] + !! OVERLAP: bookshelf <-> floor depth=[0.614, -0.002, 0.294] + !! OVERLAP: chair <-> floor depth=[0.473, -0.002, 0.537] + !! OVERLAP: chair <-> floor depth=[0.476, -0.002, 0.529] +============================================================ + + +============================================================ +SCENE: Library-13832 | 6 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0000, Walkable Loss: 1.4622 (Center Penalty: 1.0795, C1 Heatmap: 0.3129, C2 Repulsion: 0.6622), Relational Loss: 0.0000 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +bookshelf 1.178 1.777 0.207 -1.396 -0.001 0.089 90.00° +desk 1.908 0.773 0.779 0.840 -0.001 -0.293 -89.77° +chair 0.341 0.784 0.364 -0.648 -0.006 0.288 90.09° +lamp 1.122 1.068 0.768 0.226 1.570 -0.690 0.05° +floor 2.431 0.035 2.578 -0.159 -0.016 -0.978 -1.43° +_scene_ 0.065 -0.000 0.018 -5.664 -0.003 -5.711 -57.32° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bookshelf <-> chair depth=[0.012, 0.784, 0.086] + !! OVERLAP: bookshelf <-> floor depth=[0.569, 0.035, 0.207] + !! OVERLAP: desk <-> floor depth=[1.171, 0.035, 0.779] + !! OVERLAP: chair <-> floor depth=[0.341, 0.035, 0.204] +============================================================ + + +============================================================ +SCENE: Library-16869 | 8 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0000, Walkable Loss: 1.9693 (Center Penalty: 1.4249, C1 Heatmap: 0.3266, C2 Repulsion: 1.4157), Relational Loss: 0.0492 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +chair 0.428 0.754 0.325 0.935 -0.007 -0.030 -0.05° +desk 1.268 1.111 0.515 0.812 0.007 0.951 -179.91° +chair 0.402 0.728 0.488 -0.997 -0.005 -0.000 -0.03° +bookshelf 0.902 1.307 0.206 0.403 0.001 -1.270 0.03° +bookshelf 0.665 1.045 0.347 -0.961 0.003 -1.311 0.04° +desk 1.380 1.176 0.413 -0.560 0.018 1.148 179.99° +floor 2.761 0.000 3.185 -0.005 0.001 -0.025 0.00° +_scene_ 0.067 -0.000 0.018 -5.673 -0.005 -5.716 -57.29° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: chair <-> floor depth=[0.428, 0.000, 0.325] + !! OVERLAP: desk <-> floor depth=[1.197, 0.000, 0.515] + !! OVERLAP: chair <-> floor depth=[0.402, 0.000, 0.488] + !! OVERLAP: bookshelf <-> floor depth=[0.902, 0.000, 0.206] + !! OVERLAP: bookshelf <-> floor depth=[0.665, 0.000, 0.347] + !! OVERLAP: desk <-> floor depth=[1.380, 0.000, 0.413] +============================================================ + + +============================================================ +SCENE: Library-29737 | 6 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0000, Walkable Loss: 2.1650 (Center Penalty: 1.7033, C1 Heatmap: 0.4363, C2 Repulsion: 0.5633), Relational Loss: 0.0000 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +chair 0.296 1.016 0.367 0.010 -0.006 0.731 -158.25° +desk 2.238 0.812 0.913 0.049 0.002 -0.966 -0.07° +lamp 0.428 0.722 0.283 -0.861 1.866 -0.238 -0.11° +bookshelf 1.782 2.497 0.096 -0.071 -0.001 1.657 179.99° +floor 2.818 -0.002 3.122 -0.003 0.001 -0.016 -0.02° +_scene_ 0.062 -0.001 0.040 -5.653 -0.004 -5.692 -57.27° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: chair <-> floor depth=[0.296, -0.002, 0.367] + !! OVERLAP: desk <-> floor depth=[2.238, -0.002, 0.913] +============================================================ + + +============================================================ +SCENE: Library-13751 | 6 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0000, Walkable Loss: 1.7348 (Center Penalty: 1.3864, C1 Heatmap: 0.3157, C2 Repulsion: 0.4794), Relational Loss: 0.0114 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +lamp 0.396 0.193 0.566 -0.424 2.507 0.810 -0.22° +bookshelf 1.628 1.944 0.155 0.150 -0.001 -1.349 0.03° +desk 1.825 0.698 0.773 -0.243 0.003 0.977 -179.98° +chair 0.433 0.913 -0.475 0.732 0.066 -1.023 -6.04° +floor 2.689 -0.002 2.785 -0.009 0.001 -0.002 0.00° +_scene_ 0.039 0.008 0.022 -5.611 -0.007 -5.672 -57.42° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bookshelf <-> floor depth=[1.628, -0.002, 0.122] + !! OVERLAP: desk <-> floor depth=[1.825, -0.002, 0.773] + !! OVERLAP: chair <-> floor depth=[0.433, -0.002, -0.475] +============================================================ + + +============================================================ +SCENE: Library-11820 | 6 objects +============================================================ +Final Step Collision Loss: 0.0072, Room Outer Loss: 0.0000, Walkable Loss: 2.0389 (Center Penalty: 1.6043, C1 Heatmap: 0.3652, C2 Repulsion: 0.7120), Relational Loss: 0.0110 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +lamp 0.369 0.222 0.449 -0.688 2.343 -0.046 -0.03° +chair 0.309 0.885 0.103 0.972 -0.002 -1.028 -126.69° +desk 1.323 0.814 0.426 0.295 0.002 -0.877 0.21° +bookshelf 2.572 1.892 0.395 0.289 -0.000 1.358 179.97° +floor 2.553 0.001 2.873 0.021 0.001 0.023 -0.03° +_scene_ 0.086 0.001 0.038 -5.659 -0.004 -5.701 -57.30° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: chair <-> desk depth=[0.139, 0.814, 0.103] + !! OVERLAP: chair <-> floor depth=[0.309, 0.001, 0.103] + !! OVERLAP: desk <-> floor depth=[1.323, 0.001, 0.426] + !! OVERLAP: bookshelf <-> floor depth=[2.295, 0.001, 0.299] +============================================================ + + +============================================================ +SCENE: Library-45741 | 6 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0000, Walkable Loss: 2.0975 (Center Penalty: 1.6998, C1 Heatmap: 0.3237, C2 Repulsion: 0.6937), Relational Loss: 0.0000 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +desk 2.099 0.931 0.637 -0.778 -0.009 0.580 90.09° +chair 0.418 0.771 0.387 0.731 0.006 -0.375 -90.12° +bookshelf 1.128 2.064 0.283 1.404 -0.000 0.280 -89.94° +lamp 0.688 0.329 0.399 -0.797 2.211 0.113 0.25° +floor 2.670 -0.001 3.250 0.004 0.001 -0.025 -0.04° +_scene_ 0.053 0.003 0.021 -5.642 -0.005 -5.696 -57.29° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: desk <-> floor depth=[1.602, -0.001, 0.637] + !! OVERLAP: chair <-> floor depth=[0.418, -0.001, 0.387] + !! OVERLAP: bookshelf <-> floor depth=[0.499, -0.001, 0.283] +============================================================ + + +============================================================ +SCENE: Library-4659 | 5 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0000, Walkable Loss: 1.0968 (Center Penalty: 0.8071, C1 Heatmap: 0.3014, C2 Repulsion: 0.2427), Relational Loss: 0.0000 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +desk 2.348 0.889 0.535 0.432 -0.001 -0.987 -0.05° +chair 0.450 1.059 0.689 0.669 0.044 0.630 -179.60° +lamp 0.714 0.490 0.723 -0.018 2.153 -0.729 -0.28° +floor 2.767 0.025 3.446 0.440 0.005 -0.815 -0.02° +_scene_ 0.058 0.125 0.347 -4.225 1.036 -4.164 -61.88° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: desk <-> floor depth=[2.348, 0.025, 0.535] + !! OVERLAP: chair <-> floor depth=[0.450, 0.025, 0.623] +============================================================ + + +============================================================ +SCENE: Library-1808 | 7 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0000, Walkable Loss: 1.2095 (Center Penalty: 0.4955, C1 Heatmap: 0.5716, C2 Repulsion: 1.2839), Relational Loss: 0.0253 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +bookshelf 3.405 2.763 -0.285 1.562 -0.011 0.097 -90.67° +bookshelf 3.363 2.657 -0.308 1.463 0.018 0.162 -89.58° +desk 1.752 0.862 0.094 -0.908 -0.039 1.002 88.87° +chair 0.254 0.988 0.660 0.128 0.014 -1.030 -89.28° +lamp 0.719 0.602 0.295 -0.884 2.077 0.289 0.25° +floor 2.868 0.040 2.630 0.187 0.005 -0.945 0.58° +_scene_ 0.068 -0.000 0.021 -5.661 -0.004 -5.702 -57.33° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bookshelf <-> floor depth=[1.761, 0.040, -0.285] + !! OVERLAP: bookshelf <-> floor depth=[1.839, 0.040, -0.308] + !! OVERLAP: chair <-> floor depth=[0.254, 0.040, 0.660] +============================================================ + + +============================================================ +SCENE: Library-457 | 5 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0000, Walkable Loss: 0.7528 (Center Penalty: 0.4986, C1 Heatmap: 0.3010, C2 Repulsion: 0.0665), Relational Loss: 0.0000 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +bookshelf 2.375 2.465 0.292 1.356 -0.001 0.304 -90.05° +lamp 0.959 0.956 1.157 -0.794 1.538 -0.395 -0.17° +table 1.197 0.721 0.463 -0.733 0.000 -0.626 0.04° +floor 3.370 0.002 3.251 0.100 0.030 -1.036 -0.23° +_scene_ 0.107 0.011 0.141 -5.491 -0.004 -5.621 -57.31° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bookshelf <-> floor depth=[1.617, 0.002, 0.292] + !! OVERLAP: table <-> floor depth=[1.197, 0.002, 0.463] +============================================================ + + +============================================================ +SCENE: Library-123545 | 8 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0000, Walkable Loss: 1.4455 (Center Penalty: 0.7710, C1 Heatmap: 0.2686, C2 Repulsion: 2.2979), Relational Loss: 0.0440 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +desk 1.208 0.798 0.385 0.771 -0.002 -0.371 0.04° +chair 0.176 0.846 0.519 -0.796 0.002 0.672 90.14° +bookshelf 3.667 2.541 -0.992 -1.999 -0.033 -0.162 89.50° +bookshelf 2.922 2.289 -1.069 -1.682 -0.019 -0.137 88.92° +bookshelf 3.428 2.518 -1.327 -1.287 -0.038 -0.217 89.32° +lamp 1.175 0.890 0.296 0.557 1.927 0.646 -89.61° +floor 3.561 -0.030 3.110 -0.087 -0.010 -0.960 0.01° +_scene_ 0.084 0.003 0.077 -5.639 -0.001 -5.645 -57.39° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: desk <-> floor depth=[1.208, -0.030, 0.385] + !! OVERLAP: chair <-> floor depth=[0.176, -0.030, 0.183] + !! OVERLAP: bookshelf <-> floor depth=[1.702, -0.030, -0.992] + !! OVERLAP: bookshelf <-> floor depth=[1.646, -0.030, -1.069] + !! OVERLAP: bookshelf <-> floor depth=[2.295, -0.030, -1.327] +============================================================ + + +============================================================ +SCENE: Library-71638 | 7 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0000, Walkable Loss: 1.7989 (Center Penalty: 1.4581, C1 Heatmap: 0.2958, C2 Repulsion: 0.5210), Relational Loss: 0.0000 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +desk 1.170 0.851 0.456 -0.325 0.012 1.445 179.38° +bookshelf 0.396 1.734 0.294 1.435 0.002 0.675 -90.08° +chair 0.374 0.748 0.406 -0.737 -0.004 0.584 -0.06° +bookshelf 1.970 1.923 0.389 -0.668 -0.001 -1.025 0.06° +lamp 0.921 1.182 0.923 -0.851 1.839 -0.186 0.03° +floor 2.891 -0.003 2.912 0.006 0.001 0.016 -0.05° +_scene_ 0.067 0.003 0.037 -5.681 -0.005 -5.698 -57.32° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: desk <-> floor depth=[1.170, -0.003, 0.255] + !! OVERLAP: bookshelf <-> floor depth=[0.215, -0.003, 0.294] + !! OVERLAP: chair <-> floor depth=[0.374, -0.003, 0.406] + !! OVERLAP: bookshelf <-> floor depth=[1.757, -0.003, 0.389] +============================================================ + + +============================================================ +SCENE: Library-90753 | 6 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0000, Walkable Loss: 1.3031 (Center Penalty: 0.6202, C1 Heatmap: 0.3428, C2 Repulsion: 2.0436), Relational Loss: 0.0065 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +chair 0.265 0.931 0.462 1.305 0.008 -0.153 81.94° +desk 0.757 0.763 0.387 0.761 -0.008 -0.436 -90.41° +bookshelf 2.138 2.454 0.232 -1.261 -0.001 0.078 89.93° +lamp 0.861 1.266 0.972 0.451 1.499 0.745 0.30° +floor 2.586 0.061 3.375 0.082 -0.014 -1.039 0.49° +_scene_ 0.063 -0.000 0.037 -5.638 -0.003 -5.676 -57.30° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: chair <-> floor depth=[0.202, 0.061, 0.462] + !! OVERLAP: desk <-> floor depth=[0.757, 0.061, 0.387] + !! OVERLAP: bookshelf <-> floor depth=[1.019, 0.061, 0.232] +============================================================ + + +============================================================ +SCENE: Library-8543 | 6 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0000, Walkable Loss: 1.6825 (Center Penalty: 1.3446, C1 Heatmap: 0.2034, C2 Repulsion: 0.8761), Relational Loss: 0.0051 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +desk 1.056 0.753 0.108 -1.424 -0.022 -0.311 -90.61° +chair 0.271 0.990 0.500 -0.964 -0.003 -0.084 0.15° +bookshelf 1.905 2.253 0.271 1.271 -0.001 -0.104 -90.15° +lamp 0.334 0.721 0.303 0.968 1.735 -0.012 0.06° +floor 3.040 0.000 2.672 0.061 -0.000 -0.063 -0.05° +_scene_ 0.064 0.003 0.023 -5.655 -0.004 -5.688 -57.33° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: desk <-> chair depth=[0.203, 0.753, 0.077] + !! OVERLAP: desk <-> floor depth=[0.562, 0.000, 0.108] + !! OVERLAP: chair <-> floor depth=[0.271, 0.000, 0.500] + !! OVERLAP: bookshelf <-> floor depth=[1.263, 0.000, 0.271] +============================================================ + + +============================================================ +SCENE: Library-28947 | 5 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0000, Walkable Loss: 0.7733 (Center Penalty: 0.6502, C1 Heatmap: 0.0655, C2 Repulsion: 0.3534), Relational Loss: 0.0195 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +desk 1.173 1.424 0.163 -0.455 -0.004 -1.167 -0.42° +chair 0.302 0.741 0.281 -0.761 -0.003 -0.491 -179.71° +lamp 0.041 0.541 0.409 -0.413 1.901 -0.579 -86.94° +floor 1.933 -0.002 2.533 -0.165 0.000 -1.218 -0.60° +_scene_ -0.105 0.299 -0.022 -2.877 1.394 -2.953 -70.81° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: desk <-> floor depth=[1.173, -0.002, 0.163] + !! OVERLAP: chair <-> floor depth=[0.302, -0.002, 0.281] +============================================================ + + +============================================================ +SCENE: Library-163346 | 5 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0000, Walkable Loss: 0.5515 (Center Penalty: 0.4162, C1 Heatmap: 0.1422, C2 Repulsion: 0.1080), Relational Loss: 0.0000 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +desk 1.125 0.733 0.221 0.107 -0.010 -1.288 -90.25° +bookshelf 1.238 2.192 0.392 -1.157 0.002 -0.351 89.96° +lamp 0.425 0.652 0.598 -0.224 2.341 -0.793 0.14° +floor 2.528 -0.016 2.983 0.169 -0.023 -1.139 0.42° +_scene_ 0.064 0.103 0.058 -4.931 0.015 -5.104 -59.96° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: desk <-> floor depth=[1.125, -0.016, 0.221] + !! OVERLAP: bookshelf <-> floor depth=[0.556, -0.016, 0.392] +============================================================ + + +============================================================ +SCENE: Library-32140 | 5 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0000, Walkable Loss: 0.5148 (Center Penalty: 0.4097, C1 Heatmap: 0.0821, C2 Repulsion: 0.1973), Relational Loss: 0.0239 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +desk 1.665 1.387 -0.015 -0.811 -0.003 -1.267 0.54° +chair 0.399 0.936 0.110 -1.000 -0.001 -0.518 179.63° +lamp 0.406 0.381 0.320 -0.460 2.267 0.887 0.01° +floor 2.304 0.005 3.548 -0.199 0.001 -0.898 -1.29° +_scene_ 0.094 -0.005 0.080 -5.589 0.013 -5.613 -57.34° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: desk <-> floor depth=[1.372, 0.005, -0.015] + !! OVERLAP: chair <-> floor depth=[0.399, 0.005, 0.110] +============================================================ + + +============================================================ +SCENE: Library-19891 | 9 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0000, Walkable Loss: 1.7733 (Center Penalty: 0.7993, C1 Heatmap: 0.4549, C2 Repulsion: 3.0507), Relational Loss: 0.0189 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +bookshelf 2.246 2.436 0.255 0.444 -0.000 1.341 -179.97° +desk 1.319 0.706 0.680 1.061 0.015 -0.034 -0.20° +chair 0.431 0.968 0.437 1.107 -0.000 0.545 -179.99° +chair 0.506 1.019 0.520 -0.919 0.004 -1.419 64.24° +chair 0.469 0.954 0.544 1.120 0.002 -1.430 0.04° +table 0.502 0.629 0.584 0.121 0.004 -1.495 0.19° +lamp 0.379 0.717 0.426 0.144 1.971 -0.786 -0.10° +floor 2.867 -0.006 3.106 0.624 -0.000 -0.399 0.05° +_scene_ 0.070 -0.000 0.023 -5.670 -0.005 -5.713 -57.32° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: desk <-> floor depth=[1.319, -0.006, 0.680] + !! OVERLAP: chair <-> floor depth=[0.431, -0.006, 0.437] + !! OVERLAP: chair <-> floor depth=[0.144, -0.006, 0.520] + !! OVERLAP: chair <-> floor depth=[0.469, -0.006, 0.544] + !! OVERLAP: table <-> floor depth=[0.502, -0.006, 0.584] +============================================================ + + +============================================================ +SCENE: Library-7168 | 6 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0000, Walkable Loss: 0.7411 (Center Penalty: 0.4130, C1 Heatmap: 0.2741, C2 Repulsion: 0.5438), Relational Loss: 0.0167 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +desk 1.142 0.676 0.346 0.453 0.005 -1.032 89.69° +bookshelf 0.717 2.652 0.313 -0.549 -0.004 -1.068 -0.05° +bookshelf 0.554 2.298 0.137 1.476 0.003 -0.608 -90.00° +bookshelf 1.812 2.085 0.400 0.482 0.001 1.387 -179.94° +floor 2.366 -0.006 3.489 -0.248 0.009 -0.784 -0.01° +_scene_ 0.132 0.240 0.310 -2.679 0.001 -2.941 -80.48° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: desk <-> floor depth=[1.053, -0.006, 0.346] + !! OVERLAP: bookshelf <-> floor depth=[0.717, -0.006, 0.313] +============================================================ + + +============================================================ +SCENE: Library-17832 | 9 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0000, Walkable Loss: 0.9282 (Center Penalty: 0.3808, C1 Heatmap: 0.2881, C2 Repulsion: 1.5843), Relational Loss: 0.0608 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +desk 1.273 0.660 -0.154 1.245 -0.007 -0.341 -91.60° +chair 0.382 0.877 0.453 0.476 0.001 -0.775 90.05° +wardrobe 1.282 2.145 0.313 -1.277 0.000 1.181 -179.86° +wardrobe 0.924 2.370 0.535 -1.837 -0.002 -0.584 89.92° +wardrobe 0.890 2.151 0.272 1.712 0.002 -0.617 -90.26° +wardrobe 0.728 2.055 0.372 1.910 -0.003 0.524 -90.28° +lamp 0.878 0.178 0.668 0.804 2.691 -0.735 0.01° +floor 3.859 -0.007 3.592 0.152 -0.005 -1.190 0.13° +_scene_ 0.037 -0.000 0.017 -5.670 -0.005 -5.708 -57.35° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: desk <-> floor depth=[1.273, -0.007, -0.154] + !! OVERLAP: chair <-> floor depth=[0.382, -0.007, 0.453] + !! OVERLAP: wardrobe <-> floor depth=[0.402, -0.007, 0.535] + !! OVERLAP: wardrobe <-> floor depth=[0.815, -0.007, 0.272] + !! OVERLAP: wardrobe <-> floor depth=[0.536, -0.007, 0.268] +============================================================ + + +============================================================ +SCENE: Library-25138 | 6 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0000, Walkable Loss: 0.7039 (Center Penalty: 0.5579, C1 Heatmap: 0.0958, C2 Repulsion: 0.3468), Relational Loss: 0.0217 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +chair 0.509 0.785 0.594 -0.333 -0.001 1.061 -179.85° +chair 0.603 0.844 0.661 -1.109 -0.000 0.222 0.07° +lamp 0.444 0.693 0.443 1.235 2.237 0.389 179.98° +lamp 0.289 0.730 0.368 -0.672 1.678 0.667 -0.09° +floor 3.409 -0.006 4.297 0.433 0.000 -0.794 -0.00° +_scene_ 0.067 -0.000 0.023 -5.655 -0.003 -5.688 -57.37° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: chair <-> floor depth=[0.509, -0.006, 0.590] + !! OVERLAP: chair <-> floor depth=[0.465, -0.006, 0.661] +============================================================ + + +============================================================ +SCENE: Library-36052 | 7 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0000, Walkable Loss: 1.2992 (Center Penalty: 0.4780, C1 Heatmap: 0.2608, C2 Repulsion: 3.0626), Relational Loss: 0.0338 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +bookshelf 2.476 2.503 -1.390 1.369 -0.072 -0.045 -89.41° +bookshelf 2.384 2.454 -0.689 1.577 -0.022 -0.169 -89.70° +bookshelf 2.292 2.465 -0.228 1.072 0.019 -0.252 -90.45° +bookshelf 2.023 2.607 -1.180 1.232 0.015 -0.389 -90.23° +desk 1.740 0.746 0.226 -1.052 -0.025 -0.053 90.31° +floor 1.714 0.035 3.181 -0.617 -0.030 -0.621 -0.06° +_scene_ 0.384 0.267 2.119 -3.275 -0.021 -2.846 -82.56° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bookshelf <-> floor depth=[0.109, 0.035, -1.390] + !! OVERLAP: bookshelf <-> floor depth=[0.313, 0.035, -0.228] + !! OVERLAP: bookshelf <-> floor depth=[0.019, 0.035, -1.180] + !! OVERLAP: desk <-> floor depth=[1.292, 0.035, 0.226] +============================================================ + + +============================================================ +SCENE: Library-40642 | 6 objects +============================================================ +Final Step Collision Loss: 0.0076, Room Outer Loss: 0.0000, Walkable Loss: 1.7196 (Center Penalty: 1.3559, C1 Heatmap: 0.2033, C2 Repulsion: 1.0051), Relational Loss: 0.0019 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +desk 1.203 0.779 0.441 0.111 -0.002 -1.313 -89.80° +chair 0.382 0.894 0.526 -0.368 0.000 -1.146 -150.84° +bookshelf 1.138 2.047 0.488 1.090 0.001 0.804 -90.30° +lamp 1.065 1.297 1.121 -0.457 1.512 0.703 0.14° +floor 2.325 0.000 3.823 0.004 0.001 -0.015 -0.04° +_scene_ 0.062 0.002 0.020 -5.647 -0.003 -5.698 -57.34° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: desk <-> chair depth=[0.313, 0.779, 0.316] + !! OVERLAP: desk <-> floor depth=[1.203, 0.000, 0.441] + !! OVERLAP: chair <-> floor depth=[0.382, 0.000, 0.526] + !! OVERLAP: bookshelf <-> floor depth=[0.645, 0.000, 0.488] +============================================================ + + +============================================================ +SCENE: Library-58697 | 7 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0000, Walkable Loss: 1.0161 (Center Penalty: 0.5861, C1 Heatmap: 0.3083, C2 Repulsion: 0.9165), Relational Loss: 0.0166 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +desk 1.691 0.705 0.775 -0.495 0.002 -0.762 0.12° +bookshelf 0.913 2.412 0.297 -0.995 0.002 1.407 -179.90° +bookshelf 0.905 2.274 0.318 0.732 -0.000 1.250 -179.96° +bookshelf 0.406 2.234 0.169 -0.275 0.002 1.438 -179.97° +lamp 0.860 0.108 0.858 -0.873 2.540 -0.154 -0.30° +floor 3.498 0.104 2.509 -0.234 0.005 0.936 -0.79° +_scene_ 0.012 -0.007 -0.007 -5.633 -0.001 -5.675 -57.34° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bookshelf <-> floor depth=[0.913, 0.104, 0.297] + !! OVERLAP: bookshelf <-> floor depth=[0.905, 0.104, 0.318] + !! OVERLAP: bookshelf <-> floor depth=[0.406, 0.104, 0.169] +============================================================ + + +============================================================ +SCENE: Library-145994 | 10 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0000, Walkable Loss: 2.0910 (Center Penalty: 0.5399, C1 Heatmap: 0.6006, C2 Repulsion: 5.3532), Relational Loss: 0.0463 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +bookshelf 1.711 2.049 -0.080 -2.259 -0.012 0.356 90.54° +bookshelf 1.548 2.200 -0.247 -0.952 0.013 -0.447 -178.61° +bookshelf 1.349 2.020 -0.014 -1.758 0.048 0.431 89.96° +bookshelf 1.461 1.932 -0.189 -1.523 0.015 0.343 89.23° +bookshelf 1.482 2.136 0.048 0.663 -0.010 -0.936 -0.02° +bookshelf 1.786 2.045 0.232 0.650 -0.002 -1.388 0.12° +desk 1.984 2.748 0.649 0.253 0.001 1.096 -180.00° +lamp 0.441 0.424 0.418 0.166 2.224 0.876 -0.25° +floor 3.703 0.057 2.996 -1.160 -0.004 -0.295 -0.82° +_scene_ 0.213 0.250 1.004 -2.932 0.868 -2.142 -83.96° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bookshelf <-> floor depth=[1.608, 0.057, -0.080] + !! OVERLAP: bookshelf <-> floor depth=[1.548, 0.057, -0.247] + !! OVERLAP: bookshelf <-> floor depth=[1.349, 0.057, -0.014] + !! OVERLAP: bookshelf <-> floor depth=[1.461, 0.057, -0.189] + !! OVERLAP: bookshelf <-> floor depth=[0.769, 0.057, 0.048] + !! OVERLAP: bookshelf <-> floor depth=[0.934, 0.057, 0.232] + !! OVERLAP: desk <-> floor depth=[1.430, 0.057, 0.432] +============================================================ + + +============================================================ +SCENE: Library-39529 | 6 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0000, Walkable Loss: 1.4483 (Center Penalty: 1.0036, C1 Heatmap: 0.3002, C2 Repulsion: 1.0224), Relational Loss: 0.0000 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +bookshelf 1.949 2.341 0.294 1.430 -0.002 -0.289 -90.18° +desk 1.456 0.994 0.480 -0.670 0.014 -0.740 90.05° +chair 0.437 0.838 0.440 0.677 0.000 -0.646 -90.01° +lamp 0.594 0.552 0.128 0.310 2.029 0.777 0.59° +floor 2.610 -0.013 3.227 0.002 0.009 -0.646 -0.05° +_scene_ 0.067 -0.004 0.030 -5.654 -0.003 -5.690 -57.26° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bookshelf <-> chair depth=[0.437, 0.838, 0.010] + !! OVERLAP: bookshelf <-> floor depth=[0.852, -0.013, 0.294] + !! OVERLAP: desk <-> floor depth=[1.361, -0.013, 0.480] + !! OVERLAP: chair <-> floor depth=[0.437, -0.013, 0.440] +============================================================ + + +============================================================ +SCENE: Library-56351 | 6 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0000, Walkable Loss: 0.4995 (Center Penalty: 0.2558, C1 Heatmap: 0.0785, C2 Repulsion: 0.9047), Relational Loss: 0.0154 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +bookshelf 3.448 2.633 -1.305 0.144 0.019 1.751 179.28° +bookshelf 3.704 2.608 -1.657 0.140 0.016 1.626 -179.78° +desk 1.454 0.841 -0.970 0.240 -0.002 1.190 -178.90° +chair 0.390 0.766 0.418 -0.194 0.002 -1.051 -0.03° +floor 2.906 0.014 3.128 -0.895 0.009 -0.614 -0.03° +_scene_ 0.078 0.002 0.046 -5.671 -0.004 -5.695 -57.26° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: chair <-> floor depth=[0.390, 0.014, 0.418] +============================================================ + + +============================================================ +SCENE: Library-5406 | 9 objects +============================================================ +Final Step Collision Loss: 0.0042, Room Outer Loss: 0.0000, Walkable Loss: 1.5082 (Center Penalty: 0.9539, C1 Heatmap: 0.2629, C2 Repulsion: 1.7195), Relational Loss: 0.0133 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +desk 1.441 0.938 0.669 0.403 0.021 -1.167 -0.06° +bookshelf 0.701 2.013 0.252 0.957 0.003 1.391 -179.84° +bookshelf 0.571 2.097 0.182 0.177 0.003 1.263 179.87° +chair 0.301 0.809 0.345 0.050 -0.002 -0.757 -0.15° +bookshelf 0.605 2.059 0.341 -1.711 0.000 -1.054 89.98° +bookshelf 0.562 2.069 0.273 -0.665 -0.001 1.446 179.92° +lamp 0.512 0.169 0.533 0.668 2.485 -0.483 -0.19° +floor 3.429 0.008 3.023 -0.704 -0.004 -0.361 -0.46° +_scene_ 0.076 0.058 0.173 -5.488 -0.005 -5.558 -59.35° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: desk <-> chair depth=[0.301, 0.809, 0.097] + !! OVERLAP: desk <-> floor depth=[1.328, 0.008, 0.669] + !! OVERLAP: chair <-> floor depth=[0.301, 0.008, 0.345] + !! OVERLAP: bookshelf <-> floor depth=[0.605, 0.008, 0.341] +============================================================ + + +============================================================ +SCENE: Library-51220 | 6 objects +============================================================ +Final Step Collision Loss: 0.0124, Room Outer Loss: 0.0000, Walkable Loss: 1.4565 (Center Penalty: 0.9525, C1 Heatmap: 0.1679, C2 Repulsion: 1.8486), Relational Loss: 0.0154 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +desk 1.338 0.713 0.603 0.460 0.011 -0.713 -90.31° +chair 0.376 0.890 0.320 0.055 0.003 -0.819 89.53° +bookshelf 0.773 1.750 0.152 1.189 -0.001 -0.339 -90.53° +lamp 0.839 0.434 0.397 -0.674 2.256 -0.430 -0.24° +floor 2.525 -0.006 2.769 -0.198 -0.017 -0.988 -0.41° +_scene_ 0.065 -0.001 0.030 -5.644 -0.003 -5.692 -57.28° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: desk <-> chair depth=[0.376, 0.713, 0.320] + !! OVERLAP: desk <-> bookshelf depth=[0.327, 0.713, 0.003] + !! OVERLAP: desk <-> floor depth=[1.273, -0.006, 0.603] + !! OVERLAP: chair <-> floor depth=[0.376, -0.006, 0.320] + !! OVERLAP: bookshelf <-> floor depth=[0.262, -0.006, 0.152] +============================================================ + + +============================================================ +SCENE: Library-5781 | 6 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0000, Walkable Loss: 1.2467 (Center Penalty: 0.9283, C1 Heatmap: 0.2735, C2 Repulsion: 0.4978), Relational Loss: 0.0000 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +desk 1.124 0.791 0.572 0.429 -0.003 0.866 179.87° +chair 0.566 0.909 0.551 -0.690 -0.008 -0.671 16.04° +bookshelf 1.791 2.428 0.310 0.242 -0.000 -1.600 0.13° +lamp 0.921 0.861 0.999 -0.383 2.035 0.627 0.10° +floor 2.421 0.010 2.812 0.487 0.006 -0.644 0.37° +_scene_ 0.031 0.002 0.033 -5.651 -0.006 -5.698 -57.38° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: desk <-> floor depth=[1.124, 0.010, 0.183] + !! OVERLAP: chair <-> floor depth=[0.317, 0.010, 0.551] + !! OVERLAP: bookshelf <-> floor depth=[1.791, 0.010, 0.310] +============================================================ + + +============================================================ +SCENE: Library-123334 | 7 objects +============================================================ +Final Step Collision Loss: 0.0268, Room Outer Loss: 0.0000, Walkable Loss: 2.7310 (Center Penalty: 1.7327, C1 Heatmap: 0.6593, C2 Repulsion: 2.3545), Relational Loss: 0.0050 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +desk 1.161 0.778 0.567 -0.573 -0.000 -0.544 -0.05° +chair 0.511 0.826 0.348 -1.010 -0.003 -0.101 -91.92° +bookshelf 2.751 2.536 0.321 0.223 -0.005 1.819 -179.92° +bookshelf 2.836 2.577 0.292 0.014 -0.001 1.525 -179.92° +lamp 0.899 0.940 0.911 0.074 1.919 -0.751 -0.04° +floor 2.794 0.000 3.717 -0.073 0.000 0.031 -0.02° +_scene_ 0.077 -0.001 0.039 -5.669 -0.005 -5.707 -57.33° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: desk <-> chair depth=[0.399, 0.778, 0.015] + !! OVERLAP: desk <-> floor depth=[1.161, 0.000, 0.567] + !! OVERLAP: chair <-> floor depth=[0.511, 0.000, 0.348] + !! OVERLAP: bookshelf <-> bookshelf depth=[2.584, 2.536, 0.013] + !! OVERLAP: bookshelf <-> floor depth=[2.476, 0.000, 0.231] + !! OVERLAP: bookshelf <-> floor depth=[2.728, 0.000, 0.292] +============================================================ + + +============================================================ +SCENE: Library-1511 | 5 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0000, Walkable Loss: 1.5393 (Center Penalty: 1.3917, C1 Heatmap: 0.1453, C2 Repulsion: 0.1569), Relational Loss: 0.0000 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +desk 1.284 1.187 0.544 0.007 -0.011 0.957 -179.67° +chair 0.479 0.781 0.535 1.194 -0.001 -0.099 -90.21° +lamp 0.585 0.273 0.640 -0.543 2.256 0.753 -0.38° +floor 2.767 -0.001 3.207 -0.010 0.000 -0.041 0.01° +_scene_ 0.052 0.006 0.022 -5.652 -0.003 -5.658 -57.40° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: desk <-> floor depth=[1.284, -0.001, 0.544] + !! OVERLAP: chair <-> floor depth=[0.420, -0.001, 0.535] +============================================================ + + +============================================================ +SCENE: Library-74566 | 6 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0000, Walkable Loss: 1.1246 (Center Penalty: 0.5567, C1 Heatmap: 0.1489, C2 Repulsion: 2.2438), Relational Loss: 0.0259 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +wardrobe 1.630 2.205 0.100 -0.477 -0.010 -0.890 91.47° +desk 0.951 0.684 -0.006 -1.069 -0.002 -1.211 -0.90° +chair 0.445 0.756 0.620 -1.025 0.004 -0.514 90.15° +lamp 0.338 0.338 0.341 -0.464 2.341 -0.663 -0.11° +floor 2.219 0.025 2.798 0.758 -0.011 0.832 0.77° +_scene_ 0.059 0.002 0.023 -5.672 -0.005 -5.718 -57.34° + + Pairwise overlap check (axis-aligned bbox): + (no axis-aligned overlaps) +============================================================ + + +============================================================ +SCENE: Library-35695 | 9 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0000, Walkable Loss: 1.3343 (Center Penalty: 0.7458, C1 Heatmap: 0.3483, C2 Repulsion: 1.5490), Relational Loss: 0.0462 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +bookshelf 1.715 2.835 0.124 0.768 -0.003 -1.662 -0.08° +bookshelf 1.641 2.532 -0.283 -0.125 -0.011 -2.183 -0.79° +desk 1.069 0.756 0.368 0.705 -0.011 0.491 179.33° +chair 0.362 1.060 0.460 0.466 -0.006 -0.688 0.02° +table 1.047 0.920 0.241 1.889 0.000 -0.178 -90.12° +chair 0.665 0.918 0.767 -1.189 0.001 1.122 167.27° +lamp 0.436 0.826 0.459 -0.587 2.124 0.800 -0.95° +floor 4.739 0.018 3.385 -0.724 0.012 -0.731 -0.52° +_scene_ 0.067 0.001 0.023 -5.669 -0.003 -5.711 -57.30° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bookshelf <-> floor depth=[1.715, 0.018, 0.124] + !! OVERLAP: bookshelf <-> floor depth=[1.641, 0.018, -0.283] + !! OVERLAP: desk <-> floor depth=[1.069, 0.018, 0.368] + !! OVERLAP: chair <-> floor depth=[0.362, 0.018, 0.460] + !! OVERLAP: table <-> floor depth=[0.281, 0.018, 0.241] + !! OVERLAP: chair <-> floor depth=[0.665, 0.018, 0.222] +============================================================ + + +============================================================ +SCENE: Library-934 | 8 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0000, Walkable Loss: 1.6925 (Center Penalty: 1.2037, C1 Heatmap: 0.4291, C2 Repulsion: 0.7274), Relational Loss: 0.0182 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +lamp 0.247 0.722 0.593 -0.387 2.180 -0.978 0.03° +desk 1.061 0.760 0.211 0.075 -0.003 -1.405 0.21° +bookshelf 2.962 1.580 0.289 0.616 0.001 1.490 179.99° +chair 0.471 0.970 0.449 -1.188 0.005 -0.314 132.39° +chair 0.437 0.946 0.594 1.199 -0.002 -0.882 -89.56° +table 0.500 0.710 0.407 1.421 0.002 0.187 -173.30° +floor 3.664 -0.002 2.941 0.060 0.000 0.001 -0.02° +_scene_ 0.071 0.001 0.022 -5.669 -0.005 -5.713 -57.32° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: desk <-> floor depth=[1.061, -0.002, 0.170] + !! OVERLAP: bookshelf <-> floor depth=[2.757, -0.002, 0.126] + !! OVERLAP: chair <-> floor depth=[0.471, -0.002, 0.449] + !! OVERLAP: chair <-> floor depth=[0.437, -0.002, 0.594] + !! OVERLAP: table <-> floor depth=[0.500, -0.002, 0.407] +============================================================ + diff --git a/current_works/work_40/extracted/2050/echoscene/Bedroom-11202_echoscene.glb b/current_works/work_40/extracted/2050/echoscene/Bedroom-11202_echoscene.glb new file mode 100644 index 0000000000000000000000000000000000000000..67cef2d697e55e6902ff8de7ca3cdb82e11689eb --- /dev/null +++ b/current_works/work_40/extracted/2050/echoscene/Bedroom-11202_echoscene.glb @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:a4db1c2e25bc2e4c65b114f81ab486259bbb6a7d0b73b09386658776c75aab33 +size 1235584 diff --git a/current_works/work_40/extracted/2050/echoscene/Bedroom-12864_echoscene.glb b/current_works/work_40/extracted/2050/echoscene/Bedroom-12864_echoscene.glb new file mode 100644 index 0000000000000000000000000000000000000000..6ce7bf1fbbc8cc28772aab5e51b4580027f31804 --- /dev/null +++ b/current_works/work_40/extracted/2050/echoscene/Bedroom-12864_echoscene.glb @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:4a91b4a7e48994e46c7d4589521d9ec25f93c95d8ece2b4530e602bd837f310c +size 3733828