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Category Breakdown: + - Left / Right (L/R) : 98.97% (Left: 98.81%, Right: 99.14%) + - Front / Behind (F/B) : 99.92% (Front: 99.90%, Behind: 99.93%) + - Bigger / Smaller (Bi/Sm) : 96.15% (Bigger: 96.21%, Smaller: 96.09%) + - Taller / Shorter (Ta/Sh) : 95.78% (Taller: 95.98%, Shorter: 95.58%) + - Standing On : 99.76% + - Close By : 71.91% + - Symmetrical To : 51.72% +=========================================================================== diff --git a/current_works/work_32/vis_2050_0_182.zip b/current_works/work_32/vis_2050_0_182.zip new file mode 100644 index 0000000000000000000000000000000000000000..e02381755216e0f759a42ad48a31607c2cc79b10 --- /dev/null +++ b/current_works/work_32/vis_2050_0_182.zip @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:cf48e14165c643646fcca8fc66c59e8217bc4c93ba38c32f18bdab3fece765be +size 681530157 diff --git a/current_works/work_32/vis_2050_0_182_old.zip b/current_works/work_32/vis_2050_0_182_old.zip new file mode 100644 index 0000000000000000000000000000000000000000..aa5e262f58d42c677faba6f085cbdcf61a0ad19d --- /dev/null +++ b/current_works/work_32/vis_2050_0_182_old.zip @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:9ea8986c6d2a869dd547853afa31209672170eff9105d74cfb564d51866ea317 +size 674784716 diff --git a/current_works/work_32/vis_2050_183_370.zip b/current_works/work_32/vis_2050_183_370.zip new file mode 100644 index 0000000000000000000000000000000000000000..b734ae6ba40dcaba504a4c3798af58baeff196d3 --- /dev/null +++ b/current_works/work_32/vis_2050_183_370.zip @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:dd7da63ca4e629bcad72944e33fd73636ab3ecf4799191ef61afb9e3bc416a73 +size 1436790903 diff --git a/current_works/work_32/work32_part1/2050/debug_bbox.txt b/current_works/work_32/work32_part1/2050/debug_bbox.txt new file mode 100644 index 0000000000000000000000000000000000000000..12bd9783043924f04ae49c6fa04e3760b782f4bd --- /dev/null +++ b/current_works/work_32/work32_part1/2050/debug_bbox.txt @@ -0,0 +1,5008 @@ + +============================================================ +SCENE: MasterBedroom-33296 | 9 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0000, Walkable Loss: 0.0000, Relational Loss: 0.0287 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +table 1.127 1.050 0.476 -2.370 -0.000 -1.312 -0.01° +nightstand 0.572 0.578 0.387 0.266 -0.001 -1.325 0.09° +chair 0.480 0.446 0.517 -2.137 -0.001 -0.751 -89.92° +bed 2.029 1.454 2.183 -0.990 -0.002 -0.356 -0.01° +cabinet 0.846 1.032 0.428 -2.142 0.002 1.205 -179.99° +lamp 0.713 0.869 0.699 -1.140 1.942 0.057 -0.01° +wardrobe 3.191 2.360 0.602 0.788 -0.001 0.195 -90.11° +floor 5.890 0.001 2.938 -0.595 -0.002 0.174 -0.02° +_scene_ 0.068 -0.000 0.020 -5.671 -0.005 -5.718 -57.29° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: table <-> bed depth=[0.198, 1.050, 0.373] + !! OVERLAP: table <-> floor depth=[1.127, 0.001, 0.220] + !! OVERLAP: nightstand <-> bed depth=[0.045, 0.578, 0.316] + !! OVERLAP: nightstand <-> floor depth=[0.572, 0.001, 0.163] + !! OVERLAP: chair <-> bed depth=[0.107, 0.446, 0.517] + !! OVERLAP: chair <-> floor depth=[0.480, 0.001, 0.517] + !! OVERLAP: bed <-> wardrobe depth=[0.832, 1.454, 0.602] + !! OVERLAP: bed <-> floor depth=[2.029, 0.001, 2.031] + !! OVERLAP: cabinet <-> floor depth=[0.846, 0.001, 0.428] + !! OVERLAP: wardrobe <-> floor depth=[3.157, 0.001, 0.602] +============================================================ + + +============================================================ +SCENE: MasterBedroom-9404 | 8 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0000, Walkable Loss: 0.0000, Relational Loss: 0.0366 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +bed 2.195 1.430 2.045 0.524 0.002 0.431 -89.97° +wardrobe 2.007 2.410 0.608 0.568 -0.001 -1.617 0.01° +wardrobe 2.302 2.326 0.524 0.193 0.000 -1.205 0.06° +nightstand 0.488 0.653 0.524 1.539 0.000 1.632 -89.91° +nightstand 0.679 0.678 0.370 1.472 0.001 -1.054 -89.76° +tv_stand 2.370 0.479 0.476 -1.110 0.002 0.517 90.05° +floor 3.619 0.003 4.373 -0.057 -0.000 0.093 0.02° +_scene_ 0.068 -0.001 0.021 -5.669 -0.007 -5.716 -57.22° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bed <-> nightstand depth=[0.327, 0.653, 0.084] + !! OVERLAP: bed <-> tv_stand depth=[0.648, 0.479, 0.476] + !! OVERLAP: bed <-> floor depth=[2.195, 0.003, 2.045] + !! OVERLAP: wardrobe <-> wardrobe depth=[1.780, 2.326, 0.154] + !! OVERLAP: wardrobe <-> floor depth=[2.007, 0.003, 0.608] + !! OVERLAP: wardrobe <-> nightstand depth=[0.212, 0.678, 0.296] + !! OVERLAP: wardrobe <-> floor depth=[2.302, 0.003, 0.524] + !! OVERLAP: nightstand <-> floor depth=[0.458, 0.003, 0.524] + !! OVERLAP: nightstand <-> floor depth=[0.621, 0.003, 0.370] + !! OVERLAP: tv_stand <-> floor depth=[1.941, 0.003, 0.476] +============================================================ + + +============================================================ +SCENE: SecondBedroom-30034 | 6 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0000, Walkable Loss: 0.0000, Relational Loss: 0.0412 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +bed 2.221 1.058 2.216 0.258 -0.000 0.099 -89.94° +nightstand 0.514 0.625 0.487 1.288 0.000 1.433 -90.10° +nightstand 0.479 0.487 0.389 1.277 0.001 -1.290 -90.06° +lamp 0.498 0.837 0.516 0.044 2.077 0.108 -0.01° +floor 2.901 -0.001 3.340 0.003 0.001 0.003 -0.01° +_scene_ 0.068 0.002 0.020 -5.663 -0.003 -5.708 -57.30° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bed <-> nightstand depth=[0.336, 0.625, 0.018] + !! OVERLAP: bed <-> floor depth=[2.221, -0.001, 2.216] + !! OVERLAP: nightstand <-> floor depth=[0.422, -0.001, 0.483] + !! OVERLAP: nightstand <-> floor depth=[0.416, -0.001, 0.389] +============================================================ + + +============================================================ +SCENE: SecondBedroom-6482 | 8 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0000, Walkable Loss: 0.0000, Relational Loss: 0.0055 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +bed 1.898 0.981 2.259 -0.716 -0.000 -0.790 0.02° +chair 0.767 0.871 0.747 -1.319 0.002 1.555 134.97° +nightstand 0.717 0.779 0.514 -1.391 -0.000 -1.295 0.05° +table 0.754 0.640 0.533 -1.151 0.000 1.426 89.92° +wardrobe 1.264 2.192 0.605 1.065 0.001 -0.574 -90.10° +lamp 0.706 0.401 0.312 -0.285 2.536 0.167 -0.08° +floor 3.385 -0.002 4.334 -0.010 0.000 -0.016 -0.01° +_scene_ 0.070 -0.000 0.019 -5.685 -0.006 -5.705 -57.40° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bed <-> nightstand depth=[0.632, 0.779, 0.514] + !! OVERLAP: bed <-> floor depth=[1.898, -0.002, 2.259] + !! OVERLAP: chair <-> table depth=[0.592, 0.640, 0.511] + !! OVERLAP: chair <-> floor depth=[0.767, -0.002, 0.747] + !! OVERLAP: nightstand <-> floor depth=[0.670, -0.002, 0.514] + !! OVERLAP: table <-> floor depth=[0.754, -0.002, 0.533] + !! OVERLAP: wardrobe <-> floor depth=[1.250, -0.002, 0.605] +============================================================ + + +============================================================ +SCENE: SecondBedroom-11167 | 9 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0000, Walkable Loss: 0.0000, Relational Loss: 0.0823 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +bed 1.869 2.265 2.097 -0.471 0.005 0.218 89.82° +cabinet 1.221 0.947 0.377 -0.944 0.001 -1.866 -0.01° +table 1.132 1.538 0.600 1.141 0.002 1.422 -90.18° +lamp 0.107 0.775 0.183 0.461 0.917 1.630 0.02° +lamp 0.694 0.773 0.671 0.020 1.794 0.218 0.04° +nightstand 0.559 0.639 0.387 -1.315 0.002 1.356 90.02° +nightstand 0.544 0.688 0.465 -1.252 0.001 -1.192 89.94° +floor 3.147 -0.000 4.873 -0.028 -0.000 0.103 -0.01° +_scene_ 0.069 0.000 0.021 -5.672 -0.005 -5.714 -57.29° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bed <-> nightstand depth=[0.369, 0.639, 0.105] + !! OVERLAP: bed <-> floor depth=[1.869, -0.000, 2.097] + !! OVERLAP: cabinet <-> floor depth=[1.221, -0.000, 0.377] + !! OVERLAP: table <-> floor depth=[0.970, -0.000, 0.600] + !! OVERLAP: nightstand <-> floor depth=[0.559, -0.000, 0.387] + !! OVERLAP: nightstand <-> floor depth=[0.544, -0.000, 0.465] +============================================================ + + +============================================================ +SCENE: MasterBedroom-27127 | 7 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0000, Walkable Loss: 0.0000, Relational Loss: 0.0103 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +bed 1.802 0.992 2.110 0.190 0.001 -0.137 -90.03° +nightstand 0.534 0.586 0.535 -1.106 0.004 -0.519 0.06° +nightstand 0.480 0.553 0.430 1.099 0.003 0.036 0.03° +wardrobe 2.067 2.258 0.637 -1.432 -0.000 -0.335 90.00° +desk 1.274 1.147 0.598 1.507 0.003 0.201 -89.98° +floor 4.241 0.000 2.658 -0.034 -0.000 -0.028 -0.04° +_scene_ 0.053 0.002 0.018 -5.671 -0.005 -5.721 -57.31° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bed <-> nightstand depth=[0.231, 0.553, 0.430] + !! OVERLAP: bed <-> wardrobe depth=[0.312, 0.992, 0.637] + !! OVERLAP: bed <-> desk depth=[0.221, 0.992, 0.598] + !! OVERLAP: bed <-> floor depth=[1.802, 0.000, 2.110] + !! OVERLAP: nightstand <-> wardrobe depth=[0.534, 0.586, 0.402] + !! OVERLAP: nightstand <-> floor depth=[0.534, 0.000, 0.535] + !! OVERLAP: nightstand <-> desk depth=[0.470, 0.553, 0.349] + !! OVERLAP: nightstand <-> floor depth=[0.480, 0.000, 0.430] + !! OVERLAP: wardrobe <-> floor depth=[1.756, 0.000, 0.637] + !! OVERLAP: desk <-> floor depth=[1.217, 0.000, 0.598] +============================================================ + + +============================================================ +SCENE: MasterBedroom-75552 | 5 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0000, Walkable Loss: 0.0000, Relational Loss: 0.0270 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +bed 1.835 0.989 2.385 0.112 0.001 -0.269 -90.07° +wardrobe 2.380 2.534 0.763 0.270 0.001 1.510 -179.99° +lamp 0.658 0.658 0.668 -0.028 1.956 -0.202 -0.02° +floor 2.703 -0.003 4.012 -0.001 -0.000 -0.053 0.01° +_scene_ 0.065 0.001 0.019 -5.675 -0.004 -5.708 -57.27° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bed <-> floor depth=[1.835, -0.003, 2.385] + !! OVERLAP: wardrobe <-> floor depth=[2.271, -0.003, 0.763] +============================================================ + + +============================================================ +SCENE: SecondBedroom-19119 | 7 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0000, Walkable Loss: 0.0000, Relational Loss: 0.0228 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +bed 1.870 0.818 2.028 -0.753 0.005 0.259 90.07° +wardrobe 1.693 2.298 0.620 -0.843 -0.002 -1.270 0.02° +nightstand 0.590 0.627 0.386 -1.600 0.003 1.552 89.90° +tv_stand 1.417 0.499 0.321 1.493 -0.001 0.471 -90.27° +lamp 0.860 0.739 0.825 -0.070 1.919 0.227 0.03° +floor 3.794 -0.001 4.498 0.022 0.000 0.063 -0.03° +_scene_ 0.060 -0.001 0.018 -5.669 -0.005 -5.717 -57.30° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bed <-> floor depth=[1.870, -0.001, 2.028] + !! OVERLAP: wardrobe <-> floor depth=[1.693, -0.001, 0.620] + !! OVERLAP: nightstand <-> floor depth=[0.571, -0.001, 0.386] + !! OVERLAP: tv_stand <-> floor depth=[1.134, -0.001, 0.321] +============================================================ + + +============================================================ +SCENE: Bedroom-2719 | 8 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0000, Walkable Loss: 0.0000, Relational Loss: 0.0075 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +chair 0.434 0.487 0.455 -1.072 0.002 -1.461 0.03° +bookshelf 2.787 2.237 0.492 -0.663 0.007 -0.584 89.62° +table 0.870 1.315 0.407 -1.185 0.002 1.127 89.90° +bed 2.000 0.808 2.227 -0.429 -0.000 0.166 89.93° +lamp 0.512 0.520 0.516 0.008 2.520 -0.351 -0.05° +chair 0.487 0.877 0.522 0.955 0.005 -0.804 -89.97° +floor 3.103 -0.002 3.607 -0.003 -0.000 -0.015 -0.03° +_scene_ 0.069 0.000 0.021 -5.673 -0.002 -5.714 -57.30° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: chair <-> floor depth=[0.434, -0.002, 0.455] + !! OVERLAP: bookshelf <-> bed depth=[2.000, 0.808, 0.492] + !! OVERLAP: bookshelf <-> chair depth=[0.019, 0.877, 0.287] + !! OVERLAP: bookshelf <-> floor depth=[2.285, -0.002, 0.492] + !! OVERLAP: table <-> bed depth=[0.679, 0.808, 0.357] + !! OVERLAP: table <-> floor depth=[0.804, -0.002, 0.407] + !! OVERLAP: bed <-> floor depth=[2.000, -0.002, 2.227] + !! OVERLAP: chair <-> floor depth=[0.487, -0.002, 0.522] +============================================================ + + +============================================================ +SCENE: Bedroom-430 | 6 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0000, Walkable Loss: 0.0000, Relational Loss: 0.0000 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +bed 2.078 1.337 2.215 -0.185 0.002 -0.114 89.89° +table 0.553 0.467 0.375 -1.190 0.002 1.006 90.02° +table 0.621 0.577 0.515 -1.126 0.001 -1.439 0.13° +lamp 0.850 0.858 1.149 -0.061 2.042 -0.021 0.05° +floor 2.937 -0.003 3.345 -0.002 0.000 0.003 -0.01° +_scene_ 0.107 0.002 0.136 -5.523 -0.001 -5.595 -57.67° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bed <-> table depth=[0.310, 0.467, 0.175] + !! OVERLAP: bed <-> table depth=[0.408, 0.577, 0.040] + !! OVERLAP: bed <-> floor depth=[2.078, -0.003, 2.215] + !! OVERLAP: table <-> floor depth=[0.553, -0.003, 0.375] + !! OVERLAP: table <-> floor depth=[0.621, -0.003, 0.487] +============================================================ + + +============================================================ +SCENE: MasterBedroom-18415 | 8 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0000, Walkable Loss: 0.0000, Relational Loss: 0.0498 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +bed 2.135 0.689 1.918 -0.566 0.001 0.618 90.02° +nightstand 0.609 0.776 0.416 -1.517 -0.000 -0.479 89.99° +nightstand 0.461 0.716 0.414 -1.628 0.003 2.036 90.05° +wardrobe 2.244 2.518 0.585 -0.586 -0.000 -1.900 0.05° +tv_stand 1.678 0.419 0.428 1.278 -0.000 0.778 -90.06° +lamp 0.862 0.866 0.894 -0.109 1.866 0.518 -0.08° +floor 3.450 -0.001 4.970 0.013 0.001 0.261 -0.02° +_scene_ 0.063 0.000 0.023 -5.673 -0.005 -5.712 -57.27° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bed <-> nightstand depth=[0.421, 0.689, 0.069] + !! OVERLAP: bed <-> tv_stand depth=[0.062, 0.419, 0.428] + !! OVERLAP: bed <-> floor depth=[2.135, -0.001, 1.918] + !! OVERLAP: nightstand <-> floor depth=[0.500, -0.001, 0.416] + !! OVERLAP: nightstand <-> floor depth=[0.316, -0.001, 0.414] + !! OVERLAP: wardrobe <-> floor depth=[2.244, -0.001, 0.585] + !! OVERLAP: tv_stand <-> floor depth=[1.298, -0.001, 0.428] +============================================================ + + +============================================================ +SCENE: SecondBedroom-1145 | 6 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0000, Walkable Loss: 0.0000, Relational Loss: 0.0746 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +bed 2.059 1.101 2.359 -0.410 0.000 -0.271 0.02° +nightstand 0.537 0.616 0.470 -1.679 0.001 -1.213 0.03° +nightstand 0.560 0.560 0.461 0.801 -0.000 -1.365 0.08° +lamp 0.719 0.607 0.754 -0.472 2.554 0.131 -0.07° +floor 4.348 -0.002 3.093 -0.026 0.000 0.004 -0.03° +_scene_ 0.066 0.000 0.019 -5.669 -0.005 -5.710 -57.33° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bed <-> nightstand depth=[0.028, 0.616, 0.470] + !! OVERLAP: bed <-> nightstand depth=[0.099, 0.560, 0.316] + !! OVERLAP: bed <-> floor depth=[2.059, -0.002, 2.359] + !! OVERLAP: nightstand <-> floor depth=[0.537, -0.002, 0.470] + !! OVERLAP: nightstand <-> floor depth=[0.560, -0.002, 0.408] +============================================================ + + +============================================================ +SCENE: SecondBedroom-2787 | 6 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0000, Walkable Loss: 0.0000, Relational Loss: 0.0000 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +bed 1.727 0.860 1.812 -0.456 0.001 -0.195 89.96° +nightstand 0.670 0.563 0.624 -1.377 0.002 -0.072 89.92° +desk 1.045 1.174 0.631 1.386 0.002 -0.127 -89.88° +lamp 0.286 0.394 0.297 -0.270 2.255 -0.105 90.16° +floor 3.487 0.002 3.168 0.035 0.001 -0.079 -0.06° +_scene_ 0.072 0.001 0.024 -5.668 -0.004 -5.715 -57.31° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bed <-> nightstand depth=[0.277, 0.563, 0.624] + !! OVERLAP: bed <-> floor depth=[1.727, 0.002, 1.812] + !! OVERLAP: nightstand <-> floor depth=[0.666, 0.002, 0.624] + !! OVERLAP: desk <-> floor depth=[0.915, 0.002, 0.631] +============================================================ + + +============================================================ +SCENE: Bedroom-87322 | 9 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0000, Walkable Loss: 0.0000, Relational Loss: 0.0184 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +bed 1.797 1.276 2.328 0.621 -0.000 -0.465 -89.98° +nightstand 0.495 0.771 0.396 1.765 0.002 0.566 -90.09° +chair 1.357 0.580 0.666 -0.047 -0.001 -1.243 -89.96° +wardrobe 1.180 2.253 0.543 1.053 0.001 1.485 179.96° +tv_stand 1.680 0.537 0.413 -1.313 0.001 -0.855 90.04° +lamp 0.619 0.391 0.475 0.050 2.139 1.074 0.00° +lamp 0.613 0.157 0.617 0.265 2.478 -0.392 -0.02° +floor 3.674 -0.001 3.669 -0.028 -0.000 -0.002 -0.01° +_scene_ 0.067 -0.001 0.022 -5.676 -0.005 -5.713 -57.28° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bed <-> nightstand depth=[0.001, 0.771, 0.331] + !! OVERLAP: bed <-> chair depth=[0.909, 0.580, 0.666] + !! OVERLAP: bed <-> floor depth=[1.797, -0.001, 2.328] + !! OVERLAP: nightstand <-> floor depth=[0.291, -0.001, 0.396] + !! OVERLAP: chair <-> tv_stand depth=[0.253, 0.537, 0.152] + !! OVERLAP: chair <-> floor depth=[1.357, -0.001, 0.666] + !! OVERLAP: wardrobe <-> floor depth=[1.180, -0.001, 0.543] + !! OVERLAP: tv_stand <-> floor depth=[1.391, -0.001, 0.413] +============================================================ + + +============================================================ +SCENE: Bedroom-68718 | 7 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0000, Walkable Loss: 0.0000, Relational Loss: 0.0508 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +bed 2.528 1.749 2.513 -0.053 -0.001 -0.372 0.01° +nightstand 0.616 0.551 0.415 -1.156 0.000 -1.439 -0.04° +nightstand 0.554 0.567 0.514 1.163 0.002 -1.413 0.00° +wardrobe 2.163 2.303 0.627 -0.010 0.001 1.384 179.98° +lamp 0.936 1.265 0.958 -0.009 1.528 -0.078 0.03° +floor 3.333 -0.001 3.486 -0.036 0.001 0.003 -0.04° +_scene_ 0.066 -0.002 0.018 -5.683 -0.005 -5.730 -57.31° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bed <-> nightstand depth=[0.469, 0.551, 0.397] + !! OVERLAP: bed <-> nightstand depth=[0.325, 0.567, 0.473] + !! OVERLAP: bed <-> floor depth=[2.528, -0.001, 2.513] + !! OVERLAP: nightstand <-> floor depth=[0.616, -0.001, 0.415] + !! OVERLAP: nightstand <-> floor depth=[0.554, -0.001, 0.514] + !! OVERLAP: wardrobe <-> floor depth=[2.163, -0.001, 0.627] +============================================================ + + +============================================================ +SCENE: SecondBedroom-35821 | 8 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0000, Walkable Loss: 0.0000, Relational Loss: 0.0000 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +bed 1.601 1.071 2.232 -0.711 0.003 -0.409 90.00° +nightstand 0.532 0.559 0.466 -1.540 0.001 1.047 89.97° +nightstand 0.489 0.578 0.454 -1.588 0.005 -1.140 89.88° +tv_stand 1.800 0.327 0.429 1.371 -0.002 -0.108 -90.10° +lamp 1.012 0.704 0.974 -0.006 1.795 -0.139 -0.01° +chair 1.543 0.867 1.185 -0.177 -0.002 0.369 90.02° +floor 3.776 -0.003 3.377 -0.043 -0.001 0.006 -0.01° +_scene_ 0.069 0.000 0.020 -5.675 -0.005 -5.715 -57.30° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bed <-> nightstand depth=[0.168, 0.578, 0.454] + !! OVERLAP: bed <-> chair depth=[1.039, 0.867, 0.931] + !! OVERLAP: bed <-> floor depth=[1.601, -0.003, 2.232] + !! OVERLAP: nightstand <-> floor depth=[0.532, -0.003, 0.466] + !! OVERLAP: nightstand <-> floor depth=[0.489, -0.003, 0.454] + !! OVERLAP: tv_stand <-> chair depth=[0.123, 0.327, 0.330] + !! OVERLAP: tv_stand <-> floor depth=[1.374, -0.003, 0.429] + !! OVERLAP: chair <-> floor depth=[1.543, -0.003, 1.185] +============================================================ + + +============================================================ +SCENE: Bedroom-18055 | 8 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0000, Walkable Loss: 0.0000, Relational Loss: 0.0307 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +bed 1.926 1.038 2.029 0.343 0.001 -0.392 -89.97° +wardrobe 1.967 2.469 0.520 0.460 0.001 1.971 -179.99° +nightstand 0.523 0.552 0.433 1.137 0.003 0.899 -90.11° +nightstand 0.579 0.619 0.461 0.960 0.001 -1.594 -90.11° +lamp 0.839 0.765 0.308 0.888 1.856 0.858 0.60° +lamp 0.293 0.788 0.325 0.969 1.681 -1.307 -0.05° +floor 2.868 -0.000 4.521 0.008 0.001 0.023 -0.04° +_scene_ 0.068 -0.000 0.019 -5.672 -0.005 -5.713 -57.30° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bed <-> nightstand depth=[0.579, 0.619, 0.043] + !! OVERLAP: bed <-> floor depth=[1.926, -0.000, 2.029] + !! OVERLAP: wardrobe <-> floor depth=[1.965, -0.000, 0.520] + !! OVERLAP: nightstand <-> floor depth=[0.523, -0.000, 0.433] + !! OVERLAP: nightstand <-> floor depth=[0.579, -0.000, 0.461] +============================================================ + + +============================================================ +SCENE: SecondBedroom-19262 | 6 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0000, Walkable Loss: 0.0000, Relational Loss: 0.0000 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +bed 2.033 0.994 2.196 -0.414 0.001 0.693 179.99° +tv_stand 2.386 0.630 0.565 -0.647 0.000 -1.332 0.00° +wardrobe 1.345 2.429 0.514 1.426 -0.001 0.683 -90.00° +lamp 0.659 0.740 0.530 -0.458 1.957 0.371 -0.14° +floor 4.145 -0.001 3.679 -0.042 -0.000 0.029 -0.02° +_scene_ 0.067 0.002 0.017 -5.668 -0.005 -5.715 -57.29° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bed <-> floor depth=[2.033, -0.001, 2.196] + !! OVERLAP: tv_stand <-> floor depth=[2.386, -0.001, 0.565] + !! OVERLAP: wardrobe <-> floor depth=[1.276, -0.001, 0.514] +============================================================ + + +============================================================ +SCENE: Bedroom-12864 | 7 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0000, Walkable Loss: 0.0000, Relational Loss: 0.0871 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +wardrobe 2.524 2.291 0.632 1.266 0.002 -0.016 -90.20° +bed 1.856 0.998 2.238 -0.459 0.003 -0.031 89.93° +nightstand 0.578 0.462 0.451 -1.283 0.001 -1.260 90.02° +nightstand 0.576 0.493 0.447 -1.374 0.001 1.063 90.02° +lamp 0.604 0.903 0.513 -0.515 1.955 -0.152 0.09° +floor 3.362 -0.002 3.594 -0.006 0.000 -0.015 -0.01° +_scene_ 0.068 0.001 0.020 -5.672 -0.005 -5.715 -57.30° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: wardrobe <-> bed depth=[0.466, 0.998, 0.632] + !! OVERLAP: wardrobe <-> floor depth=[1.672, -0.002, 0.632] + !! OVERLAP: bed <-> nightstand depth=[0.393, 0.462, 0.115] + !! OVERLAP: bed <-> nightstand depth=[0.301, 0.493, 0.249] + !! OVERLAP: bed <-> floor depth=[1.856, -0.002, 2.238] + !! OVERLAP: nightstand <-> floor depth=[0.578, -0.002, 0.451] + !! OVERLAP: nightstand <-> floor depth=[0.576, -0.002, 0.447] +============================================================ + + +============================================================ +SCENE: SecondBedroom-266050 | 6 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0000, Walkable Loss: 0.0000, Relational Loss: 0.0709 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +sofa 1.817 0.678 1.025 0.877 0.002 -0.155 0.08° +bed 2.179 1.173 2.248 -0.859 0.000 0.250 89.90° +nightstand 0.602 0.720 0.454 -1.522 -0.000 -1.337 89.98° +nightstand 0.570 0.632 0.446 -1.571 0.002 1.593 90.01° +floor 3.738 -0.001 4.516 -0.018 -0.000 0.024 0.00° +_scene_ 0.080 -0.000 0.028 -5.668 -0.005 -5.710 -57.30° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: sofa <-> bed depth=[0.262, 0.678, 1.025] + !! OVERLAP: sofa <-> floor depth=[1.817, -0.001, 1.025] + !! OVERLAP: bed <-> nightstand depth=[0.570, 0.632, 0.004] + !! OVERLAP: bed <-> floor depth=[2.118, -0.001, 2.248] + !! OVERLAP: nightstand <-> floor depth=[0.602, -0.001, 0.454] + !! OVERLAP: nightstand <-> floor depth=[0.570, -0.001, 0.446] +============================================================ + + +============================================================ +SCENE: MasterBedroom-12352 | 6 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0000, Walkable Loss: 0.0000, Relational Loss: 0.0692 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +bed 2.114 0.889 2.058 -0.455 0.001 0.212 89.96° +nightstand 0.475 0.671 0.384 -1.144 0.001 -0.987 89.97° +nightstand 0.535 0.693 0.415 -1.274 0.001 1.497 89.95° +lamp 0.936 0.938 0.356 0.048 1.764 0.367 -0.03° +floor 3.004 -0.003 4.280 -0.013 0.001 -0.002 -0.00° +_scene_ 0.069 -0.000 0.021 -5.674 -0.005 -5.716 -57.30° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bed <-> nightstand depth=[0.475, 0.671, 0.022] + !! OVERLAP: bed <-> floor depth=[2.114, -0.003, 2.058] + !! OVERLAP: nightstand <-> floor depth=[0.475, -0.003, 0.384] + !! OVERLAP: nightstand <-> floor depth=[0.509, -0.003, 0.415] +============================================================ + + +============================================================ +SCENE: MasterBedroom-7894 | 6 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0000, Walkable Loss: 0.0000, Relational Loss: 0.0329 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +bed 1.893 0.829 2.260 -0.370 -0.001 0.658 89.97° +nightstand 0.547 0.538 0.520 -1.256 0.001 1.789 90.11° +lamp 1.058 0.941 0.262 0.096 1.949 0.441 90.00° +wardrobe 2.782 2.604 0.668 0.320 -0.002 -1.347 -0.00° +floor 3.272 -0.002 4.611 0.026 0.001 0.134 -0.04° +_scene_ 0.066 0.002 0.016 -5.674 -0.005 -5.714 -57.31° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bed <-> nightstand depth=[0.334, 0.538, 0.258] + !! OVERLAP: bed <-> floor depth=[1.893, -0.002, 2.260] + !! OVERLAP: nightstand <-> floor depth=[0.547, -0.002, 0.520] + !! OVERLAP: wardrobe <-> floor depth=[2.732, -0.002, 0.668] +============================================================ + + +============================================================ +SCENE: MasterBedroom-118594 | 6 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0000, Walkable Loss: 0.0000, Relational Loss: 0.0000 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +lamp 0.600 0.592 0.601 0.282 2.366 -0.129 -0.04° +bed 2.239 1.151 2.325 0.487 -0.001 -0.545 0.04° +bookshelf 3.912 2.614 0.393 -0.149 0.003 1.370 179.91° +wardrobe 1.694 1.954 0.602 -1.233 0.003 -0.676 89.82° +floor 3.716 0.001 4.203 0.006 0.001 0.005 0.00° +_scene_ 0.070 0.001 0.025 -5.668 -0.004 -5.714 -57.31° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bed <-> wardrobe depth=[0.246, 1.151, 0.602] + !! OVERLAP: bed <-> floor depth=[2.239, 0.001, 2.325] + !! OVERLAP: bookshelf <-> floor depth=[3.659, 0.001, 0.393] + !! OVERLAP: wardrobe <-> floor depth=[1.466, 0.001, 0.602] +============================================================ + + +============================================================ +SCENE: MasterBedroom-6399 | 7 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0000, Walkable Loss: 0.0000, Relational Loss: 0.0308 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +wardrobe 1.271 2.446 0.534 1.601 -0.004 -0.191 -90.11° +bed 1.730 0.865 2.156 -0.050 0.001 -0.296 0.03° +table 1.008 1.330 0.466 -1.600 -0.000 -1.156 0.02° +chair 0.533 0.502 0.573 -1.443 -0.000 -0.470 179.84° +lamp 0.651 0.665 0.644 -0.192 2.012 -0.014 -0.00° +floor 4.192 0.000 2.932 -0.009 -0.001 -0.026 -0.03° +_scene_ 0.061 0.001 0.017 -5.671 -0.005 -5.714 -57.30° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: wardrobe <-> floor depth=[1.121, 0.000, 0.534] + !! OVERLAP: bed <-> floor depth=[1.730, 0.000, 2.156] + !! OVERLAP: table <-> floor depth=[1.008, 0.000, 0.466] + !! OVERLAP: chair <-> floor depth=[0.533, 0.000, 0.573] +============================================================ + + +============================================================ +SCENE: SecondBedroom-52584 | 5 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0000, Walkable Loss: 0.0000, Relational Loss: 0.0782 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +lamp 1.047 0.965 1.110 -0.047 2.033 -0.140 -0.01° +bed 1.888 1.347 2.292 0.195 -0.001 0.236 -90.02° +table 0.662 0.643 0.503 1.148 0.001 -1.266 -90.14° +floor 3.189 -0.004 4.179 -0.012 0.000 -0.013 -0.02° +_scene_ 0.055 0.005 0.013 -5.656 -0.005 -5.722 -57.25° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bed <-> floor depth=[1.888, -0.004, 2.292] + !! OVERLAP: table <-> floor depth=[0.662, -0.004, 0.503] +============================================================ + + +============================================================ +SCENE: SecondBedroom-860 | 7 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0000, Walkable Loss: 0.0000, Relational Loss: 0.0515 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +bed 1.973 1.036 2.210 -0.170 -0.000 -0.353 -0.00° +nightstand 0.437 0.538 0.374 1.026 0.000 -1.216 0.03° +nightstand 0.537 0.530 0.477 -1.478 0.000 -1.291 0.02° +wardrobe 2.073 2.331 0.639 1.495 0.000 -0.459 -90.12° +lamp 1.104 1.012 0.990 -0.391 1.855 0.032 -0.01° +floor 4.136 -0.001 2.912 -0.003 -0.001 -0.022 -0.05° +_scene_ 0.069 0.001 0.023 -5.672 -0.005 -5.714 -57.31° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bed <-> nightstand depth=[0.008, 0.538, 0.374] + !! OVERLAP: bed <-> wardrobe depth=[0.358, 1.036, 0.639] + !! OVERLAP: bed <-> floor depth=[1.973, -0.001, 2.210] + !! OVERLAP: nightstand <-> floor depth=[0.437, -0.001, 0.374] + !! OVERLAP: nightstand <-> floor depth=[0.537, -0.001, 0.426] + !! OVERLAP: wardrobe <-> floor depth=[1.606, -0.001, 0.639] +============================================================ + + +============================================================ +SCENE: MasterBedroom-514 | 5 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0000, Walkable Loss: 0.0000, Relational Loss: 0.0000 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +nightstand 0.430 0.564 0.403 0.011 0.001 -0.326 0.10° +bed 2.027 1.130 2.415 0.248 0.007 -0.014 89.85° +lamp 1.108 0.895 0.873 0.039 1.846 -0.080 -0.01° +floor 2.553 -0.003 3.051 0.016 0.000 -0.050 -0.02° +_scene_ 0.072 0.000 0.023 -5.672 -0.004 -5.713 -57.30° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: nightstand <-> bed depth=[0.430, 0.564, 0.403] + !! OVERLAP: nightstand <-> floor depth=[0.430, -0.003, 0.403] + !! OVERLAP: bed <-> floor depth=[2.027, -0.003, 2.415] +============================================================ + + +============================================================ +SCENE: SecondBedroom-11204 | 7 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0000, Walkable Loss: 0.0000, Relational Loss: 0.0133 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +bed 1.469 1.040 2.277 -0.490 0.001 -0.377 89.85° +wardrobe 1.558 2.220 0.527 -0.748 0.002 1.551 179.97° +nightstand 0.567 0.558 0.424 -1.389 0.002 0.989 90.01° +table 0.970 1.179 0.433 1.210 0.000 -0.711 -90.01° +chair 0.667 0.483 0.382 1.021 0.001 -0.876 90.01° +floor 3.276 -0.003 3.681 -0.015 0.001 -0.035 -0.02° +_scene_ 0.065 0.001 0.016 -5.672 -0.005 -5.712 -57.29° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bed <-> floor depth=[1.469, -0.003, 2.277] + !! OVERLAP: wardrobe <-> floor depth=[1.558, -0.003, 0.518] + !! OVERLAP: nightstand <-> floor depth=[0.548, -0.003, 0.424] + !! OVERLAP: table <-> chair depth=[0.630, 0.483, 0.242] + !! OVERLAP: table <-> floor depth=[0.899, -0.003, 0.433] + !! OVERLAP: chair <-> floor depth=[0.667, -0.003, 0.382] +============================================================ + + +============================================================ +SCENE: MasterBedroom-4089 | 7 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0000, Walkable Loss: 0.0000, Relational Loss: 0.0613 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +wardrobe 2.906 2.570 0.595 1.359 -0.002 0.164 -90.07° +nightstand 0.652 0.699 0.429 -1.377 0.002 -1.408 0.03° +nightstand 0.532 0.787 0.455 1.332 -0.000 -1.406 -0.02° +bed 2.229 0.677 2.073 -0.464 -0.000 -0.346 0.02° +lamp 0.243 1.130 0.240 -0.216 1.611 -0.170 0.02° +floor 3.866 -0.001 3.296 -0.008 0.001 -0.015 -0.01° +_scene_ 0.067 0.001 0.022 -5.671 -0.005 -5.717 -57.31° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: wardrobe <-> bed depth=[0.744, 0.677, 0.595] + !! OVERLAP: wardrobe <-> floor depth=[2.019, -0.001, 0.595] + !! OVERLAP: nightstand <-> bed depth=[0.527, 0.677, 0.189] + !! OVERLAP: nightstand <-> floor depth=[0.652, -0.001, 0.429] + !! OVERLAP: nightstand <-> floor depth=[0.532, -0.001, 0.455] + !! OVERLAP: bed <-> floor depth=[2.229, -0.001, 2.073] +============================================================ + + +============================================================ +SCENE: MasterBedroom-21684 | 9 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0000, Walkable Loss: 0.0000, Relational Loss: 0.0483 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +bed 1.685 0.974 2.427 0.355 0.000 -0.495 0.01° +nightstand 0.468 0.752 0.447 1.565 -0.002 -1.311 0.09° +cabinet 1.049 1.570 0.452 0.033 0.001 1.327 -179.98° +wardrobe 1.609 2.292 0.603 -1.373 0.001 -0.646 89.97° +nightstand 0.564 0.809 0.361 -0.842 0.002 -1.459 0.02° +chair 0.602 0.773 0.601 1.395 0.005 0.870 -153.57° +lamp 0.834 0.987 0.619 0.161 1.811 0.094 0.00° +floor 3.573 -0.001 3.337 0.002 0.001 0.009 -0.04° +_scene_ 0.066 -0.000 0.019 -5.675 -0.006 -5.716 -57.30° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bed <-> chair depth=[0.104, 0.773, 0.148] + !! OVERLAP: bed <-> floor depth=[1.685, -0.001, 2.378] + !! OVERLAP: nightstand <-> floor depth=[0.458, -0.001, 0.447] + !! OVERLAP: cabinet <-> floor depth=[1.049, -0.001, 0.452] + !! OVERLAP: wardrobe <-> floor depth=[1.215, -0.001, 0.603] + !! OVERLAP: nightstand <-> floor depth=[0.564, -0.001, 0.361] + !! OVERLAP: chair <-> floor depth=[0.602, -0.001, 0.601] +============================================================ + + +============================================================ +SCENE: SecondBedroom-8497 | 6 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0000, Walkable Loss: 0.0000, Relational Loss: 0.0000 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +bed 2.120 0.936 2.304 -0.433 0.001 -0.157 89.91° +nightstand 0.480 0.477 0.379 -1.343 0.001 0.850 90.01° +nightstand 0.522 0.565 0.309 -1.286 0.000 -1.574 89.89° +lamp 0.746 0.948 0.731 0.070 2.050 -0.257 -0.01° +floor 3.067 -0.002 3.268 -0.018 0.001 -0.012 -0.00° +_scene_ 0.067 0.001 0.020 -5.671 -0.005 -5.712 -57.29° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bed <-> nightstand depth=[0.390, 0.477, 0.334] + !! OVERLAP: bed <-> floor depth=[2.120, -0.002, 2.304] + !! OVERLAP: nightstand <-> floor depth=[0.449, -0.002, 0.379] + !! OVERLAP: nightstand <-> floor depth=[0.522, -0.002, 0.227] +============================================================ + + +============================================================ +SCENE: MasterBedroom-196 | 7 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0000, Walkable Loss: 0.0000, Relational Loss: 0.0190 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +lamp 0.636 0.436 0.634 0.162 2.403 -0.025 -0.04° +wardrobe 2.326 2.469 0.667 -1.434 0.000 -0.367 89.99° +bed 2.319 1.035 2.513 0.252 -0.001 -0.207 -0.06° +nightstand 0.547 0.673 0.493 1.509 0.001 -1.350 0.03° +nightstand 0.649 0.584 0.561 -0.903 0.001 -1.362 -0.02° +floor 3.664 -0.002 3.529 -0.004 0.001 -0.006 -0.02° +_scene_ 0.068 -0.000 0.022 -5.669 -0.004 -5.715 -57.30° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: wardrobe <-> bed depth=[0.636, 1.035, 0.667] + !! OVERLAP: wardrobe <-> floor depth=[1.565, -0.002, 0.667] + !! OVERLAP: bed <-> nightstand depth=[0.177, 0.673, 0.360] + !! OVERLAP: bed <-> nightstand depth=[0.329, 0.584, 0.382] + !! OVERLAP: bed <-> floor depth=[2.319, -0.002, 2.513] + !! OVERLAP: nightstand <-> floor depth=[0.547, -0.002, 0.493] + !! OVERLAP: nightstand <-> floor depth=[0.649, -0.002, 0.561] +============================================================ + + +============================================================ +SCENE: MasterBedroom-132469 | 5 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0000, Walkable Loss: 0.0000, Relational Loss: 0.0000 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +bed 2.337 0.933 2.188 0.305 0.005 0.560 -90.06° +wardrobe 1.516 2.066 0.645 0.609 0.000 -1.693 0.05° +lamp 0.514 0.167 0.539 0.010 2.420 0.071 -0.03° +floor 3.267 -0.002 4.154 -0.015 0.001 -0.042 -0.01° +_scene_ 0.092 -0.004 0.088 -5.614 -0.004 -5.666 -57.35° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bed <-> floor depth=[2.337, -0.002, 2.188] + !! OVERLAP: wardrobe <-> floor depth=[1.516, -0.002, 0.645] +============================================================ + + +============================================================ +SCENE: MasterBedroom-104323 | 5 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0000, Walkable Loss: 0.0000, Relational Loss: 0.0434 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +bed 1.753 1.225 2.313 -0.470 0.001 0.391 89.90° +lamp 0.747 1.033 0.364 -0.123 1.784 0.879 -0.00° +nightstand 0.429 0.570 0.354 -0.974 0.006 -0.684 89.90° +floor 2.823 -0.005 3.146 -0.005 -0.001 -0.005 -0.05° +_scene_ 0.073 0.000 0.026 -5.668 -0.005 -5.709 -57.29° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bed <-> nightstand depth=[0.429, 0.570, 0.259] + !! OVERLAP: bed <-> floor depth=[1.753, -0.005, 2.313] + !! OVERLAP: nightstand <-> floor depth=[0.429, -0.005, 0.354] +============================================================ + + +============================================================ +SCENE: SecondBedroom-69556 | 8 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0000, Walkable Loss: 0.0000, Relational Loss: 0.0000 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +bed 1.759 1.170 2.307 0.628 -0.001 -0.554 -90.00° +wardrobe 1.690 2.324 0.617 0.721 0.001 1.413 -179.91° +table 0.485 0.525 0.460 1.409 0.000 0.699 -89.98° +cabinet 0.966 1.702 0.487 -1.346 -0.000 -1.598 89.93° +lamp 0.786 0.985 0.794 0.050 1.650 -0.308 -0.00° +table 0.495 0.595 0.442 1.401 0.001 -1.663 -90.12° +floor 3.218 -0.001 3.895 -0.014 -0.000 -0.047 -0.02° +_scene_ 0.067 -0.000 0.014 -5.671 -0.005 -5.710 -57.29° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bed <-> table depth=[0.341, 0.525, 0.130] + !! OVERLAP: bed <-> table depth=[0.354, 0.595, 0.266] + !! OVERLAP: bed <-> floor depth=[1.759, -0.001, 2.307] + !! OVERLAP: wardrobe <-> floor depth=[1.690, -0.001, 0.617] + !! OVERLAP: table <-> floor depth=[0.428, -0.001, 0.460] + !! OVERLAP: cabinet <-> floor depth=[0.760, -0.001, 0.487] + !! OVERLAP: table <-> floor depth=[0.441, -0.001, 0.442] +============================================================ + + +============================================================ +SCENE: Bedroom-6993 | 5 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0000, Walkable Loss: 0.0000, Relational Loss: 0.0000 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +bed 1.891 0.747 1.932 -0.296 0.002 0.354 89.98° +lamp 0.957 0.944 0.106 0.223 1.914 0.467 179.92° +wardrobe 3.534 2.505 0.556 0.119 -0.001 -1.369 0.00° +floor 3.142 -0.002 4.020 0.021 0.001 -0.009 -0.00° +_scene_ 0.041 0.009 0.007 -5.663 -0.005 -5.720 -57.32° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bed <-> floor depth=[1.891, -0.002, 1.932] + !! OVERLAP: wardrobe <-> floor depth=[3.142, -0.002, 0.556] +============================================================ + + +============================================================ +SCENE: MasterBedroom-935 | 11 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0000, Walkable Loss: 0.0000, Relational Loss: 0.0279 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +desk 1.193 0.746 0.474 1.502 0.001 -1.108 -89.97° +lamp 0.438 0.577 0.426 -0.012 2.121 0.417 -0.03° +lamp 0.955 0.963 0.862 1.264 1.770 1.728 -89.84° +lamp 1.212 1.133 0.923 1.134 1.384 -1.068 0.02° +chair 0.471 0.847 0.520 0.662 0.007 -1.132 89.93° +bed 1.984 0.764 2.084 0.622 -0.001 0.572 -90.02° +wardrobe 2.309 2.279 0.663 0.665 -0.001 -1.657 -0.02° +tv_stand 1.886 0.692 0.482 -1.292 0.011 0.870 89.93° +nightstand 0.559 0.466 0.421 1.642 0.001 1.773 -89.85° +floor 3.711 -0.001 4.981 0.094 0.001 0.006 -0.06° +_scene_ 0.069 0.001 0.022 -5.671 -0.005 -5.714 -57.30° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: desk <-> wardrobe depth=[0.914, 0.746, 0.019] + !! OVERLAP: desk <-> floor depth=[1.044, -0.001, 0.474] + !! OVERLAP: lamp <-> wardrobe depth=[1.212, 0.321, 0.204] + !! OVERLAP: chair <-> wardrobe depth=[0.471, 0.847, 0.066] + !! OVERLAP: chair <-> floor depth=[0.471, -0.001, 0.520] + !! OVERLAP: bed <-> tv_stand depth=[0.021, 0.692, 0.482] + !! OVERLAP: bed <-> nightstand depth=[0.252, 0.466, 0.051] + !! OVERLAP: bed <-> floor depth=[1.984, -0.001, 2.084] + !! OVERLAP: wardrobe <-> floor depth=[2.309, -0.001, 0.663] + !! OVERLAP: tv_stand <-> floor depth=[1.412, -0.001, 0.482] + !! OVERLAP: nightstand <-> floor depth=[0.559, -0.001, 0.421] +============================================================ + + +============================================================ +SCENE: SecondBedroom-2311 | 6 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0000, Walkable Loss: 0.0000, Relational Loss: 0.0000 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +bookshelf 1.446 2.645 0.449 -0.242 0.001 -1.083 0.01° +lamp 0.774 0.734 0.794 0.123 1.849 0.345 -0.02° +bed 1.588 1.167 1.997 -0.557 0.003 0.377 -179.96° +chair 0.684 0.689 0.715 1.384 -0.000 0.930 -89.93° +floor 3.876 -0.001 3.188 -0.000 0.001 -0.006 0.01° +_scene_ 0.072 0.004 0.017 -5.620 -0.003 -5.667 -57.33° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bookshelf <-> floor depth=[1.446, -0.001, 0.449] + !! OVERLAP: bed <-> floor depth=[1.588, -0.001, 1.997] + !! OVERLAP: chair <-> floor depth=[0.684, -0.001, 0.715] +============================================================ + + +============================================================ +SCENE: SecondBedroom-69136 | 8 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0000, Walkable Loss: 0.0000, Relational Loss: 0.0260 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +bed 2.099 0.963 2.330 0.505 -0.002 0.485 -179.99° +wardrobe 1.806 2.254 0.682 -1.854 -0.003 0.824 89.85° +nightstand 0.458 0.373 0.408 1.539 0.002 1.378 179.96° +nightstand 0.387 0.430 0.335 -0.697 0.002 1.360 179.89° +tv_stand 1.833 0.543 0.411 0.447 0.000 -1.414 0.01° +lamp 0.549 0.142 0.565 0.402 2.402 -0.082 -0.14° +floor 4.707 -0.002 3.151 0.012 -0.001 -0.016 -0.01° +_scene_ 0.067 -0.000 0.020 -5.671 -0.005 -5.713 -57.29° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bed <-> nightstand depth=[0.245, 0.373, 0.408] + !! OVERLAP: bed <-> nightstand depth=[0.040, 0.430, 0.335] + !! OVERLAP: bed <-> floor depth=[2.099, -0.002, 2.240] + !! OVERLAP: wardrobe <-> floor depth=[1.390, -0.002, 0.682] + !! OVERLAP: nightstand <-> floor depth=[0.458, -0.002, 0.386] + !! OVERLAP: nightstand <-> floor depth=[0.387, -0.002, 0.335] + !! OVERLAP: tv_stand <-> floor depth=[1.833, -0.002, 0.383] +============================================================ + + +============================================================ +SCENE: Bedroom-47437 | 5 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0000, Walkable Loss: 0.0000, Relational Loss: 0.0000 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +bed 1.826 1.035 2.229 -0.449 0.006 0.105 89.87° +nightstand 0.440 0.691 0.340 -1.057 0.001 1.502 90.02° +nightstand 0.612 0.580 0.488 -1.155 0.003 -1.099 89.97° +floor 3.461 -0.001 4.712 -0.003 0.001 -0.008 -0.02° +_scene_ 0.060 0.009 0.011 -5.662 -0.004 -5.718 -57.20° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bed <-> nightstand depth=[0.512, 0.580, 0.155] + !! OVERLAP: bed <-> floor depth=[1.826, -0.001, 2.229] + !! OVERLAP: nightstand <-> floor depth=[0.440, -0.001, 0.340] + !! OVERLAP: nightstand <-> floor depth=[0.612, -0.001, 0.488] +============================================================ + + +============================================================ +SCENE: SecondBedroom-739 | 6 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0000, Walkable Loss: 0.0000, Relational Loss: 0.0817 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +bed 2.174 1.070 2.249 -0.219 0.005 0.136 89.90° +table 0.440 0.489 0.374 -1.160 0.000 1.520 89.97° +table 0.544 0.475 0.466 -1.211 0.008 -1.113 89.88° +lamp 0.477 0.960 0.578 -0.070 1.783 0.107 0.00° +floor 2.824 -0.003 3.602 -0.005 -0.000 0.016 -0.01° +_scene_ 0.070 0.032 0.060 -5.546 -0.004 -5.533 -57.54° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bed <-> table depth=[0.366, 0.475, 0.108] + !! OVERLAP: bed <-> floor depth=[2.174, -0.003, 2.249] + !! OVERLAP: table <-> floor depth=[0.440, -0.003, 0.374] + !! OVERLAP: table <-> floor depth=[0.477, -0.003, 0.466] +============================================================ + + +============================================================ +SCENE: MasterBedroom-6351 | 6 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0000, Walkable Loss: 0.0000, Relational Loss: 0.0728 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +bed 1.722 1.435 2.207 0.344 -0.000 -0.000 -90.05° +nightstand 0.424 0.499 0.398 1.283 -0.000 1.118 -90.02° +nightstand 0.412 0.612 0.392 1.222 0.002 -1.454 -89.94° +lamp 0.848 0.521 0.803 -0.036 2.293 -0.115 0.00° +floor 2.999 -0.002 3.631 -0.004 -0.001 0.012 -0.04° +_scene_ 0.070 0.000 0.017 -5.671 -0.005 -5.713 -57.28° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bed <-> nightstand depth=[0.135, 0.499, 0.184] + !! OVERLAP: bed <-> floor depth=[1.722, -0.002, 2.207] + !! OVERLAP: nightstand <-> floor depth=[0.424, -0.002, 0.398] + !! OVERLAP: nightstand <-> floor depth=[0.412, -0.002, 0.392] +============================================================ + + +============================================================ +SCENE: SecondBedroom-22370 | 7 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0000, Walkable Loss: 0.0000, Relational Loss: 0.0426 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +wardrobe 1.527 2.221 0.604 1.557 -0.007 0.716 -90.11° +bed 2.057 1.358 2.040 -0.524 0.001 0.608 -179.96° +nightstand 0.533 0.513 0.455 0.946 0.001 1.346 179.94° +nightstand 0.323 0.483 0.247 -1.413 0.003 1.374 179.93° +lamp 0.730 0.825 0.705 -0.307 1.928 -0.054 -0.03° +floor 4.099 -0.002 3.088 -0.010 -0.001 -0.006 -0.04° +_scene_ 0.061 0.001 0.020 -5.671 -0.004 -5.719 -57.29° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: wardrobe <-> floor depth=[1.246, -0.002, 0.604] + !! OVERLAP: bed <-> nightstand depth=[0.302, 0.483, 0.247] + !! OVERLAP: bed <-> floor depth=[2.057, -0.002, 1.950] + !! OVERLAP: nightstand <-> floor depth=[0.533, -0.002, 0.420] + !! OVERLAP: nightstand <-> floor depth=[0.323, -0.002, 0.247] +============================================================ + + +============================================================ +SCENE: SecondBedroom-15551 | 5 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0000, Walkable Loss: 0.0000, Relational Loss: 0.0543 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +bed 2.024 0.845 2.239 -0.376 0.007 -0.191 89.91° +wardrobe 2.348 2.475 0.715 -0.301 0.001 1.327 179.98° +nightstand 0.568 0.567 0.435 -1.159 0.001 -1.449 90.01° +floor 3.170 -0.003 4.211 0.006 0.001 -0.018 -0.01° +_scene_ 0.070 -0.000 0.018 -5.668 -0.004 -5.711 -57.34° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bed <-> nightstand depth=[0.513, 0.567, 0.079] + !! OVERLAP: bed <-> floor depth=[2.024, -0.003, 2.239] + !! OVERLAP: wardrobe <-> floor depth=[2.348, -0.003, 0.715] + !! OVERLAP: nightstand <-> floor depth=[0.568, -0.003, 0.435] +============================================================ + + +============================================================ +SCENE: MasterBedroom-13100 | 8 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0000, Walkable Loss: 0.0000, Relational Loss: 0.0450 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +lamp 0.354 0.923 0.355 0.056 1.764 0.194 0.00° +bed 2.519 1.079 2.457 0.350 -0.001 0.463 -90.03° +nightstand 0.624 0.612 0.655 1.426 -0.000 -1.254 -90.00° +nightstand 0.535 0.621 0.522 1.412 0.002 1.551 -90.20° +wardrobe 2.279 2.560 0.563 0.530 -0.001 -1.587 -0.04° +shelf 0.920 1.836 0.469 -1.265 0.001 1.769 90.00° +floor 3.395 0.005 4.373 0.000 -0.001 0.040 -0.08° +_scene_ 0.069 -0.000 0.019 -5.671 -0.005 -5.714 -57.31° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bed <-> nightstand depth=[0.465, 0.621, 0.401] + !! OVERLAP: bed <-> shelf depth=[0.104, 1.079, 0.157] + !! OVERLAP: bed <-> floor depth=[2.519, 0.005, 2.457] + !! OVERLAP: nightstand <-> wardrobe depth=[0.556, 0.612, 0.276] + !! OVERLAP: nightstand <-> floor depth=[0.583, 0.005, 0.655] + !! OVERLAP: nightstand <-> floor depth=[0.535, 0.005, 0.522] + !! OVERLAP: wardrobe <-> floor depth=[2.279, 0.005, 0.563] + !! OVERLAP: shelf <-> floor depth=[0.892, 0.005, 0.469] +============================================================ + + +============================================================ +SCENE: SecondBedroom-13841 | 5 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0000, Walkable Loss: 0.0000, Relational Loss: 0.0165 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +lamp 0.620 1.045 0.825 0.633 1.325 -0.097 -0.04° +bed 1.988 1.599 2.247 0.456 0.001 -0.397 0.05° +wardrobe 1.303 1.804 1.076 -1.151 0.009 -0.455 89.96° +floor 3.190 -0.003 3.401 0.042 0.000 -0.002 -0.02° +_scene_ 0.049 0.004 0.033 -5.607 -0.004 -5.681 -57.37° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bed <-> wardrobe depth=[0.038, 1.599, 1.076] + !! OVERLAP: bed <-> floor depth=[1.988, -0.003, 2.247] + !! OVERLAP: wardrobe <-> floor depth=[1.054, -0.003, 1.076] +============================================================ + + +============================================================ +SCENE: MasterBedroom-10364 | 8 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0000, Walkable Loss: 0.0000, Relational Loss: 0.0276 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +bed 2.063 1.217 2.306 0.833 0.001 -0.714 -0.01° +nightstand 0.638 0.719 0.512 1.770 0.000 -1.700 -0.01° +nightstand 0.549 0.634 0.449 -0.127 0.001 -1.719 -0.01° +wardrobe 0.876 1.818 0.443 -1.207 0.001 -0.991 89.91° +lamp 0.533 0.176 0.532 0.993 2.447 -0.477 -0.01° +lamp 0.605 0.473 0.462 -1.118 2.319 1.056 0.05° +floor 4.350 -0.001 4.073 -0.025 -0.000 -0.043 -0.01° +_scene_ 0.069 0.002 0.024 -5.672 -0.005 -5.713 -57.31° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bed <-> nightstand depth=[0.413, 0.719, 0.423] + !! OVERLAP: bed <-> nightstand depth=[0.346, 0.634, 0.372] + !! OVERLAP: bed <-> floor depth=[2.063, -0.001, 2.306] + !! OVERLAP: nightstand <-> floor depth=[0.638, -0.001, 0.512] + !! OVERLAP: nightstand <-> floor depth=[0.549, -0.001, 0.449] + !! OVERLAP: wardrobe <-> floor depth=[0.876, -0.001, 0.443] +============================================================ + + +============================================================ +SCENE: Bedroom-18 | 6 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0000, Walkable Loss: 0.0000, Relational Loss: 0.0000 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +bed 2.202 1.078 2.279 0.049 0.003 -0.295 -0.01° +nightstand 0.619 0.601 0.527 1.393 0.001 -1.347 0.05° +nightstand 0.603 0.602 0.511 -1.396 -0.000 -1.237 0.06° +lamp 0.282 0.709 0.249 0.106 2.133 0.011 -0.06° +floor 3.489 0.000 3.423 -0.001 0.001 0.020 -0.04° +_scene_ 0.071 -0.001 0.024 -5.674 -0.004 -5.716 -57.28° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bed <-> nightstand depth=[0.066, 0.601, 0.351] + !! OVERLAP: bed <-> floor depth=[2.202, 0.000, 2.279] + !! OVERLAP: nightstand <-> floor depth=[0.619, 0.000, 0.527] + !! OVERLAP: nightstand <-> floor depth=[0.603, 0.000, 0.511] +============================================================ + + +============================================================ +SCENE: SecondBedroom-11303 | 7 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0000, Walkable Loss: 0.0000, Relational Loss: 0.0490 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +bed 1.934 1.138 2.256 -0.533 0.001 -0.079 -179.91° +desk 1.641 0.736 0.660 -0.988 -0.001 0.944 -179.96° +nightstand 0.395 0.454 0.295 1.132 -0.001 0.895 -89.74° +wardrobe 1.454 2.184 0.554 1.461 -0.003 0.254 -90.13° +wardrobe 1.285 2.307 0.592 1.751 -0.000 -0.857 -90.01° +floor 3.636 -0.001 3.156 -0.046 0.000 0.011 -0.03° +_scene_ 0.063 0.001 0.022 -5.671 -0.005 -5.714 -57.32° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bed <-> desk depth=[1.332, 0.736, 0.435] + !! OVERLAP: bed <-> floor depth=[1.934, -0.001, 2.256] + !! OVERLAP: desk <-> floor depth=[1.641, -0.001, 0.660] + !! OVERLAP: nightstand <-> floor depth=[0.395, -0.001, 0.295] + !! OVERLAP: wardrobe <-> floor depth=[1.038, -0.001, 0.554] + !! OVERLAP: wardrobe <-> floor depth=[0.663, -0.001, 0.592] +============================================================ + + +============================================================ +SCENE: MasterBedroom-1362 | 8 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0000, Walkable Loss: 0.0000, Relational Loss: 0.0365 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +bed 1.855 1.419 1.909 0.607 0.003 0.365 -89.92° +table 0.511 0.503 0.605 1.256 -0.001 -1.047 -90.26° +table 0.521 0.533 0.535 1.247 0.000 1.638 -89.98° +wardrobe 1.613 1.985 0.602 0.702 -0.000 -1.697 0.00° +lamp 0.622 0.119 0.600 0.070 2.490 0.040 0.00° +chair 0.966 0.782 0.915 -1.150 0.007 -0.037 51.00° +floor 3.164 -0.001 4.174 -0.001 0.001 0.108 -0.03° +_scene_ 0.071 0.003 0.021 -5.666 -0.004 -5.714 -57.28° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bed <-> floor depth=[1.855, -0.001, 1.909] + !! OVERLAP: table <-> floor depth=[0.511, -0.001, 0.605] + !! OVERLAP: table <-> floor depth=[0.521, -0.001, 0.535] + !! OVERLAP: wardrobe <-> floor depth=[1.613, -0.001, 0.582] + !! OVERLAP: chair <-> floor depth=[0.916, -0.001, 0.915] +============================================================ + + +============================================================ +SCENE: SecondBedroom-34317 | 7 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0000, Walkable Loss: 0.0000, Relational Loss: 0.0010 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +bed 2.335 1.118 2.225 -0.219 0.002 0.148 89.94° +cabinet 1.267 0.761 0.424 0.467 0.001 -1.917 0.03° +nightstand 0.660 0.735 0.520 -1.262 0.001 1.421 90.00° +nightstand 0.510 0.663 0.425 -1.253 0.003 -0.954 90.02° +lamp 0.565 0.311 0.565 0.051 2.236 -0.019 -0.04° +floor 3.188 -0.001 4.145 0.018 0.000 0.018 -0.02° +_scene_ 0.071 0.003 0.022 -5.664 -0.004 -5.710 -57.31° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bed <-> nightstand depth=[0.455, 0.735, 0.099] + !! OVERLAP: bed <-> nightstand depth=[0.389, 0.663, 0.223] + !! OVERLAP: bed <-> floor depth=[2.335, -0.001, 2.225] + !! OVERLAP: cabinet <-> floor depth=[1.267, -0.001, 0.349] + !! OVERLAP: nightstand <-> floor depth=[0.643, -0.001, 0.520] + !! OVERLAP: nightstand <-> floor depth=[0.510, -0.001, 0.425] +============================================================ + + +============================================================ +SCENE: Bedroom-4098 | 7 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0000, Walkable Loss: 0.0000, Relational Loss: 0.0484 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +bed 1.795 0.972 2.423 -0.593 -0.000 -0.324 0.01° +nightstand 0.553 0.519 0.424 0.739 0.000 -1.269 0.01° +nightstand 0.589 0.520 0.458 -1.790 0.000 -1.293 0.01° +wardrobe 2.094 2.453 0.643 1.521 0.000 -0.217 -90.04° +lamp 0.531 0.343 0.514 -0.260 2.194 -0.043 -0.00° +floor 4.831 -0.002 3.298 -0.174 0.000 0.022 -0.02° +_scene_ 0.069 0.001 0.023 -5.671 -0.004 -5.716 -57.30° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bed <-> floor depth=[1.795, -0.002, 2.423] + !! OVERLAP: nightstand <-> floor depth=[0.553, -0.002, 0.424] + !! OVERLAP: nightstand <-> floor depth=[0.589, -0.002, 0.458] + !! OVERLAP: wardrobe <-> floor depth=[1.768, -0.002, 0.643] +============================================================ + + +============================================================ +SCENE: Bedroom-5265 | 9 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0000, Walkable Loss: 0.0000, Relational Loss: 0.0353 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +bed 1.943 1.183 2.102 -0.237 0.002 0.781 -179.94° +nightstand 0.478 0.511 0.400 -1.266 0.002 1.545 179.94° +nightstand 0.491 0.484 0.492 1.143 0.000 1.601 179.96° +tv_stand 1.952 0.667 0.398 -1.046 -0.001 -1.543 -0.02° +tv_stand 1.954 0.705 0.453 -0.377 0.001 -1.205 -0.00° +wardrobe 1.571 2.437 0.541 1.590 -0.001 0.903 -90.01° +lamp 0.546 0.634 0.550 -0.353 1.944 0.083 -0.03° +floor 4.473 -0.000 3.735 -0.230 -0.000 0.002 -0.03° +_scene_ 0.069 0.000 0.025 -5.673 -0.005 -5.714 -57.28° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bed <-> nightstand depth=[0.181, 0.511, 0.400] + !! OVERLAP: bed <-> floor depth=[1.943, -0.000, 2.102] + !! OVERLAP: nightstand <-> floor depth=[0.478, -0.000, 0.400] + !! OVERLAP: nightstand <-> floor depth=[0.491, -0.000, 0.492] + !! OVERLAP: tv_stand <-> tv_stand depth=[1.285, 0.667, 0.087] + !! OVERLAP: tv_stand <-> floor depth=[1.952, -0.000, 0.398] + !! OVERLAP: tv_stand <-> floor depth=[1.954, -0.000, 0.453] + !! OVERLAP: wardrobe <-> floor depth=[1.202, -0.000, 0.541] +============================================================ + + +============================================================ +SCENE: MasterBedroom-22121 | 9 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0000, Walkable Loss: 0.0000, Relational Loss: 0.0306 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +bed 1.884 1.149 2.255 0.390 -0.000 0.116 -90.02° +nightstand 0.492 0.512 0.476 0.980 0.002 -1.293 0.13° +wardrobe 2.229 2.202 0.614 0.204 0.001 -1.034 -0.04° +table 0.738 0.923 0.398 -1.436 0.001 0.361 89.98° +nightstand 0.472 0.479 0.417 0.218 0.003 1.303 -0.05° +lamp 0.914 0.749 0.917 -0.034 1.770 -1.056 -0.08° +lamp 0.781 0.901 0.783 0.346 2.063 1.033 -0.02° +floor 3.320 -0.001 3.632 -0.005 0.000 -0.014 -0.01° +_scene_ 0.069 -0.000 0.021 -5.672 -0.005 -5.716 -57.30° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bed <-> wardrobe depth=[1.871, 1.149, 0.284] + !! OVERLAP: bed <-> nightstand depth=[0.472, 0.479, 0.149] + !! OVERLAP: bed <-> floor depth=[1.884, -0.001, 2.255] + !! OVERLAP: nightstand <-> wardrobe depth=[0.492, 0.512, 0.286] + !! OVERLAP: nightstand <-> floor depth=[0.492, -0.001, 0.476] + !! OVERLAP: wardrobe <-> floor depth=[2.229, -0.001, 0.614] + !! OVERLAP: table <-> floor depth=[0.598, -0.001, 0.398] + !! OVERLAP: nightstand <-> floor depth=[0.472, -0.001, 0.417] +============================================================ + + +============================================================ +SCENE: Bedroom-47481 | 7 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0000, Walkable Loss: 0.0000, Relational Loss: 0.0364 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +bed 1.876 1.135 2.061 -0.444 -0.001 -0.121 89.88° +nightstand 0.404 0.436 0.329 -1.093 -0.000 0.988 90.04° +wardrobe 2.045 2.333 0.526 -0.324 0.001 1.730 179.96° +nightstand 0.523 0.504 0.401 -1.090 0.001 -1.321 90.04° +lamp 0.926 0.698 0.539 0.037 2.021 -0.365 -0.04° +floor 2.821 0.000 3.896 -0.006 -0.000 0.029 -0.03° +_scene_ 0.073 0.001 0.025 -5.675 -0.004 -5.714 -57.29° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bed <-> nightstand depth=[0.404, 0.436, 0.085] + !! OVERLAP: bed <-> nightstand depth=[0.523, 0.504, 0.031] + !! OVERLAP: bed <-> floor depth=[1.876, 0.000, 2.061] + !! OVERLAP: nightstand <-> floor depth=[0.404, 0.000, 0.329] + !! OVERLAP: wardrobe <-> floor depth=[2.045, 0.000, 0.510] + !! OVERLAP: nightstand <-> floor depth=[0.523, 0.000, 0.401] +============================================================ + + +============================================================ +SCENE: Bedroom-2160 | 6 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0000, Walkable Loss: 0.0000, Relational Loss: 0.0387 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +bed 2.081 2.178 2.197 0.239 -0.002 0.339 179.96° +nightstand 0.577 0.568 0.405 -0.764 0.001 1.447 179.83° +lamp 0.851 1.139 0.836 -0.043 1.589 -0.013 0.06° +wardrobe 1.647 2.055 0.662 0.130 -0.001 -1.414 0.02° +floor 2.605 0.005 3.466 0.001 0.000 0.037 -0.01° +_scene_ 0.067 0.000 0.016 -5.675 -0.005 -5.714 -57.31° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bed <-> nightstand depth=[0.326, 0.568, 0.193] + !! OVERLAP: bed <-> lamp depth=[0.851, 0.068, 0.836] + !! OVERLAP: bed <-> floor depth=[2.081, 0.005, 2.197] + !! OVERLAP: nightstand <-> floor depth=[0.577, 0.005, 0.405] + !! OVERLAP: wardrobe <-> floor depth=[1.647, 0.005, 0.614] +============================================================ + + +============================================================ +SCENE: SecondBedroom-9825 | 7 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0000, Walkable Loss: 0.0000, Relational Loss: 0.0000 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +wardrobe 1.824 2.586 0.712 -0.650 0.000 1.516 179.94° +bed 1.951 1.211 2.347 -0.389 0.003 -0.559 89.83° +table 0.412 0.525 0.362 -1.380 0.001 1.291 90.00° +table 0.447 0.553 0.463 -1.360 0.003 -1.445 90.07° +lamp 0.844 0.972 0.740 0.023 2.161 -0.381 0.02° +floor 3.188 -0.003 4.441 -0.001 -0.000 -0.009 -0.00° +_scene_ 0.072 0.000 0.019 -5.672 -0.004 -5.715 -57.29° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: wardrobe <-> table depth=[0.388, 0.525, 0.312] + !! OVERLAP: wardrobe <-> floor depth=[1.824, -0.003, 0.712] + !! OVERLAP: bed <-> table depth=[0.228, 0.553, 0.463] + !! OVERLAP: bed <-> floor depth=[1.951, -0.003, 2.347] + !! OVERLAP: table <-> floor depth=[0.412, -0.003, 0.362] + !! OVERLAP: table <-> floor depth=[0.447, -0.003, 0.463] +============================================================ + + +============================================================ +SCENE: Bedroom-1989 | 7 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0000, Walkable Loss: 0.0000, Relational Loss: 0.0187 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +bed 1.632 0.831 1.932 0.581 0.000 -0.455 -90.06° +nightstand 0.478 0.728 0.398 1.286 0.001 0.646 -89.93° +wardrobe 3.259 2.569 0.546 -0.067 0.002 1.282 -179.94° +tv_stand 2.230 0.481 0.508 -0.940 -0.003 -0.284 89.99° +lamp 0.579 0.712 0.378 0.054 1.950 -0.212 -0.00° +floor 2.945 -0.001 3.034 -0.008 0.000 -0.003 -0.01° +_scene_ 0.071 0.001 0.022 -5.668 -0.005 -5.709 -57.29° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bed <-> nightstand depth=[0.350, 0.728, 0.063] + !! OVERLAP: bed <-> tv_stand depth=[0.410, 0.481, 0.508] + !! OVERLAP: bed <-> floor depth=[1.632, -0.001, 1.932] + !! OVERLAP: nightstand <-> floor depth=[0.417, -0.001, 0.398] + !! OVERLAP: wardrobe <-> floor depth=[2.945, -0.001, 0.506] + !! OVERLAP: tv_stand <-> floor depth=[1.655, -0.001, 0.508] +============================================================ + + +============================================================ +SCENE: SecondBedroom-143 | 9 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0000, Walkable Loss: 0.0000, Relational Loss: 0.0538 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +wardrobe 2.175 2.456 0.614 -1.451 0.003 0.077 89.94° +bed 1.709 1.092 2.228 0.157 -0.001 0.528 179.99° +nightstand 0.796 0.503 0.421 1.584 0.003 1.388 179.91° +nightstand 0.605 0.491 0.513 -1.450 0.001 1.445 179.91° +cabinet 1.306 1.096 0.383 0.612 0.002 -1.461 0.06° +cabinet 1.156 1.148 0.401 -0.625 0.001 -1.610 0.03° +shelf 0.441 1.503 0.475 1.833 -0.002 -0.924 -139.17° +floor 4.417 -0.002 3.481 -0.025 -0.000 -0.036 -0.02° +_scene_ 0.073 0.001 0.028 -5.666 -0.004 -5.712 -57.27° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: wardrobe <-> bed depth=[0.334, 1.092, 0.614] + !! OVERLAP: wardrobe <-> floor depth=[1.870, -0.002, 0.614] + !! OVERLAP: bed <-> floor depth=[1.709, -0.002, 2.228] + !! OVERLAP: nightstand <-> floor depth=[0.796, -0.002, 0.421] + !! OVERLAP: nightstand <-> floor depth=[0.605, -0.002, 0.513] + !! OVERLAP: cabinet <-> floor depth=[1.306, -0.002, 0.383] + !! OVERLAP: cabinet <-> floor depth=[1.156, -0.002, 0.368] + !! OVERLAP: shelf <-> floor depth=[0.441, -0.002, 0.475] +============================================================ + + +============================================================ +SCENE: SecondBedroom-13044 | 5 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0000, Walkable Loss: 0.0000, Relational Loss: 0.0634 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +bed 2.052 1.200 2.251 0.296 -0.000 0.129 -90.00° +wardrobe 1.675 2.276 0.553 0.453 0.001 -1.470 0.02° +nightstand 0.574 0.530 0.346 1.275 0.002 1.384 -90.09° +floor 3.044 -0.003 3.798 -0.007 -0.000 0.003 -0.02° +_scene_ 0.067 0.001 0.015 -5.679 -0.005 -5.712 -57.31° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bed <-> nightstand depth=[0.334, 0.530, 0.043] + !! OVERLAP: bed <-> floor depth=[2.052, -0.003, 2.251] + !! OVERLAP: wardrobe <-> floor depth=[1.675, -0.003, 0.553] + !! OVERLAP: nightstand <-> floor depth=[0.527, -0.003, 0.346] +============================================================ + + +============================================================ +SCENE: Bedroom-8490 | 8 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0000, Walkable Loss: 0.0000, Relational Loss: 0.0195 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +wardrobe 3.190 2.491 0.536 0.009 -0.000 -1.567 0.04° +lamp 0.887 0.741 0.880 -0.062 2.176 0.277 -0.01° +bed 1.966 0.982 2.056 -0.158 0.000 0.791 179.92° +nightstand 0.456 0.609 0.468 1.250 0.001 1.350 179.93° +nightstand 0.521 0.484 0.403 -1.350 0.001 1.537 179.90° +lamp 0.118 0.853 0.115 1.502 1.046 1.306 -0.11° +floor 3.220 -0.001 3.948 -0.003 0.000 -0.001 -0.02° +_scene_ 0.070 0.002 0.021 -5.674 -0.004 -5.716 -57.30° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: wardrobe <-> floor depth=[3.190, -0.001, 0.536] + !! OVERLAP: bed <-> nightstand depth=[0.052, 0.484, 0.403] + !! OVERLAP: bed <-> floor depth=[1.966, -0.001, 2.056] + !! OVERLAP: nightstand <-> floor depth=[0.456, -0.001, 0.468] + !! OVERLAP: nightstand <-> floor depth=[0.521, -0.001, 0.403] +============================================================ + + +============================================================ +SCENE: MasterBedroom-424 | 7 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0000, Walkable Loss: 0.0000, Relational Loss: 0.0453 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +bed 2.017 1.060 2.307 -0.367 -0.000 0.437 89.92° +wardrobe 1.809 1.882 0.631 -0.384 0.002 -1.862 0.03° +nightstand 0.501 0.472 0.393 -1.379 0.001 -0.906 90.05° +nightstand 0.492 0.485 0.447 -1.408 0.001 1.734 90.02° +lamp 0.580 0.177 0.580 -0.033 2.436 0.181 -0.04° +floor 3.379 -0.002 4.457 -0.007 0.000 0.013 -0.04° +_scene_ 0.069 0.001 0.020 -5.670 -0.005 -5.713 -57.30° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bed <-> nightstand depth=[0.248, 0.472, 0.008] + !! OVERLAP: bed <-> nightstand depth=[0.214, 0.485, 0.080] + !! OVERLAP: bed <-> floor depth=[2.017, -0.002, 2.307] + !! OVERLAP: wardrobe <-> floor depth=[1.809, -0.002, 0.631] + !! OVERLAP: nightstand <-> floor depth=[0.501, -0.002, 0.393] + !! OVERLAP: nightstand <-> floor depth=[0.492, -0.002, 0.447] +============================================================ + + +============================================================ +SCENE: SecondBedroom-32238 | 7 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0000, Walkable Loss: 0.0000, Relational Loss: 0.0350 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +bed 1.678 1.868 1.911 0.576 0.001 0.304 -89.99° +nightstand 0.584 0.637 0.505 1.473 0.001 -0.486 -89.89° +nightstand 0.508 0.602 0.523 1.465 -0.000 1.496 -90.08° +cabinet 0.380 0.528 0.341 1.402 -0.001 -1.548 -0.04° +cabinet 0.383 0.659 0.294 -1.097 0.008 -1.549 68.91° +floor 3.456 -0.002 4.020 -0.020 -0.000 -0.066 -0.00° +_scene_ 0.062 0.015 0.037 -5.665 -0.004 -5.696 -57.28° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bed <-> nightstand depth=[0.234, 0.637, 0.418] + !! OVERLAP: bed <-> nightstand depth=[0.204, 0.602, 0.025] + !! OVERLAP: bed <-> floor depth=[1.678, -0.002, 1.911] + !! OVERLAP: nightstand <-> floor depth=[0.527, -0.002, 0.505] + !! OVERLAP: nightstand <-> floor depth=[0.497, -0.002, 0.523] + !! OVERLAP: cabinet <-> floor depth=[0.380, -0.002, 0.341] + !! OVERLAP: cabinet <-> floor depth=[0.383, -0.002, 0.294] +============================================================ + + +============================================================ +SCENE: SecondBedroom-258160 | 8 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0000, Walkable Loss: 0.0000, Relational Loss: 0.0498 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +bed 2.105 1.125 2.420 0.401 -0.000 -0.528 -0.01° +nightstand 0.518 0.517 0.417 -0.459 0.001 -1.428 -0.03° +nightstand 0.450 0.524 0.419 1.490 0.003 -1.531 -0.01° +wardrobe 1.894 2.476 0.670 -1.139 0.005 -0.675 89.89° +tv_stand 1.794 1.911 0.475 0.311 0.003 1.365 -179.94° +lamp 0.606 0.732 0.591 0.287 2.044 -0.131 -0.02° +floor 3.492 -0.000 3.376 -0.024 0.000 -0.007 0.00° +_scene_ 0.070 -0.000 0.020 -5.674 -0.005 -5.716 -57.28° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bed <-> nightstand depth=[0.452, 0.517, 0.417] + !! OVERLAP: bed <-> nightstand depth=[0.189, 0.524, 0.417] + !! OVERLAP: bed <-> wardrobe depth=[0.460, 1.125, 0.670] + !! OVERLAP: bed <-> floor depth=[2.105, -0.000, 2.376] + !! OVERLAP: nightstand <-> floor depth=[0.518, -0.000, 0.417] + !! OVERLAP: nightstand <-> floor depth=[0.450, -0.000, 0.373] + !! OVERLAP: wardrobe <-> floor depth=[1.578, -0.000, 0.670] + !! OVERLAP: tv_stand <-> floor depth=[1.794, -0.000, 0.475] +============================================================ + + +============================================================ +SCENE: SecondBedroom-19232 | 6 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0000, Walkable Loss: 0.0000, Relational Loss: 0.0369 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +bed 1.927 1.298 2.318 -0.418 0.000 -0.103 89.88° +nightstand 0.452 0.487 0.374 -1.239 0.001 1.252 90.01° +nightstand 0.502 0.472 0.428 -1.229 0.003 -1.344 90.02° +lamp 0.610 0.429 0.599 0.064 2.212 -0.255 0.00° +floor 3.285 -0.002 4.063 -0.000 -0.000 -0.020 -0.02° +_scene_ 0.067 0.001 0.020 -5.671 -0.005 -5.712 -57.30° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bed <-> nightstand depth=[0.404, 0.472, 0.132] + !! OVERLAP: bed <-> floor depth=[1.927, -0.002, 2.318] + !! OVERLAP: nightstand <-> floor depth=[0.452, -0.002, 0.374] + !! OVERLAP: nightstand <-> floor depth=[0.502, -0.002, 0.428] +============================================================ + + +============================================================ +SCENE: SecondBedroom-6685 | 5 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0000, Walkable Loss: 0.0000, Relational Loss: 0.0000 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +wardrobe 1.481 2.218 0.620 0.113 0.003 1.166 179.97° +bed 2.420 0.958 1.941 -0.118 0.000 -0.677 89.91° +lamp 0.687 0.394 0.660 0.171 2.150 -1.007 0.00° +floor 2.684 -0.001 4.118 -0.001 0.001 -0.019 -0.02° +_scene_ 0.062 0.002 0.013 -5.666 -0.005 -5.711 -57.34° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: wardrobe <-> floor depth=[1.481, -0.001, 0.620] + !! OVERLAP: bed <-> floor depth=[2.420, -0.001, 1.941] +============================================================ + + +============================================================ +SCENE: SecondBedroom-24334 | 7 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0000, Walkable Loss: 0.0000, Relational Loss: 0.0746 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +nightstand 0.500 0.513 0.452 1.368 0.001 -1.277 0.02° +desk 1.563 1.542 0.624 -0.027 0.001 -1.301 0.03° +wardrobe 2.799 2.341 0.637 -1.445 -0.001 -0.210 89.93° +lamp 0.648 0.509 0.643 0.114 2.234 -0.021 -0.01° +bed 1.803 0.987 2.255 0.526 -0.000 -0.271 -0.01° +floor 3.288 -0.004 3.139 0.004 0.000 0.019 -0.00° +_scene_ 0.070 0.001 0.023 -5.673 -0.005 -5.713 -57.29° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: nightstand <-> bed depth=[0.309, 0.513, 0.348] + !! OVERLAP: nightstand <-> floor depth=[0.500, -0.004, 0.452] + !! OVERLAP: desk <-> bed depth=[1.130, 0.987, 0.409] + !! OVERLAP: desk <-> floor depth=[1.563, -0.004, 0.561] + !! OVERLAP: wardrobe <-> bed depth=[0.330, 0.987, 0.637] + !! OVERLAP: wardrobe <-> floor depth=[1.594, -0.004, 0.637] + !! OVERLAP: bed <-> floor depth=[1.803, -0.004, 2.255] +============================================================ + + +============================================================ +SCENE: Bedroom-35352 | 7 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0000, Walkable Loss: 0.0000, Relational Loss: 0.0424 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +bed 1.986 1.155 2.193 0.629 -0.001 0.159 -90.02° +wardrobe 1.187 2.447 0.616 -0.864 0.002 0.336 89.90° +nightstand 0.500 0.586 0.494 1.449 0.000 -1.114 -89.95° +nightstand 0.520 0.589 0.466 1.569 0.004 1.388 -90.03° +lamp 1.066 0.891 1.053 0.173 1.812 0.149 0.00° +floor 3.491 -0.002 4.020 0.047 0.000 0.077 -0.04° +_scene_ 0.070 -0.000 0.022 -5.672 -0.005 -5.713 -57.29° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bed <-> wardrobe depth=[0.094, 1.155, 0.616] + !! OVERLAP: bed <-> nightstand depth=[0.422, 0.586, 0.071] + !! OVERLAP: bed <-> nightstand depth=[0.312, 0.589, 0.100] + !! OVERLAP: bed <-> floor depth=[1.986, -0.002, 2.193] + !! OVERLAP: wardrobe <-> floor depth=[1.187, -0.002, 0.616] + !! OVERLAP: nightstand <-> floor depth=[0.500, -0.002, 0.494] + !! OVERLAP: nightstand <-> floor depth=[0.484, -0.002, 0.466] +============================================================ + + +============================================================ +SCENE: MasterBedroom-4284 | 6 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0000, Walkable Loss: 0.0000, Relational Loss: 0.0000 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +wardrobe 1.421 2.137 0.629 0.144 -0.001 -1.748 0.02° +bed 1.827 1.369 2.080 0.541 -0.000 0.498 -89.95° +nightstand 0.481 0.543 0.480 1.496 0.000 -1.021 -90.06° +nightstand 0.456 0.594 0.533 1.418 0.001 1.941 -89.73° +floor 3.396 -0.001 4.915 -0.034 0.000 0.014 -0.00° +_scene_ 0.071 0.003 0.025 -5.670 -0.004 -5.708 -57.31° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: wardrobe <-> floor depth=[1.421, -0.001, 0.629] + !! OVERLAP: bed <-> floor depth=[1.827, -0.001, 2.080] + !! OVERLAP: nightstand <-> floor depth=[0.408, -0.001, 0.480] + !! OVERLAP: nightstand <-> floor depth=[0.456, -0.001, 0.533] +============================================================ + + +============================================================ +SCENE: MasterBedroom-1069 | 7 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0000, Walkable Loss: 0.0000, Relational Loss: 0.0519 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +lamp 0.770 0.585 0.766 -0.115 2.137 -0.041 -0.01° +wardrobe 1.383 2.482 0.598 1.611 -0.001 0.455 -89.99° +bed 2.006 0.818 1.977 -0.257 0.002 0.442 179.99° +nightstand 0.463 0.466 0.405 -1.458 0.002 1.269 179.88° +nightstand 0.386 0.437 0.387 0.993 0.002 1.204 179.93° +floor 3.979 -0.002 2.925 -0.043 -0.000 -0.025 -0.04° +_scene_ 0.076 0.000 0.023 -5.675 -0.004 -5.712 -57.30° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: wardrobe <-> floor depth=[1.027, -0.002, 0.598] + !! OVERLAP: bed <-> nightstand depth=[0.033, 0.466, 0.364] + !! OVERLAP: bed <-> floor depth=[2.006, -0.002, 1.977] + !! OVERLAP: nightstand <-> floor depth=[0.463, -0.002, 0.370] + !! OVERLAP: nightstand <-> floor depth=[0.386, -0.002, 0.387] +============================================================ + + +============================================================ +SCENE: MasterBedroom-113 | 7 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0000, Walkable Loss: 0.0000, Relational Loss: 0.0605 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +tv_stand 1.657 0.524 0.465 1.154 -0.001 -0.014 -90.05° +bed 2.217 1.182 2.339 -0.311 0.004 0.174 89.89° +nightstand 0.546 0.548 0.484 -1.321 0.001 1.301 90.02° +nightstand 0.482 0.563 0.452 -1.280 0.001 -0.803 90.04° +lamp 0.891 0.514 0.242 0.073 2.198 -0.251 -0.01° +floor 3.023 -0.001 3.234 0.023 0.000 -0.012 -0.03° +_scene_ 0.071 0.001 0.025 -5.673 -0.004 -5.712 -57.30° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: tv_stand <-> bed depth=[0.471, 0.524, 0.465] + !! OVERLAP: tv_stand <-> floor depth=[1.209, -0.001, 0.465] + !! OVERLAP: bed <-> nightstand depth=[0.372, 0.548, 0.285] + !! OVERLAP: bed <-> nightstand depth=[0.381, 0.563, 0.419] + !! OVERLAP: bed <-> floor depth=[2.217, -0.001, 2.339] + !! OVERLAP: nightstand <-> floor depth=[0.441, -0.001, 0.484] + !! OVERLAP: nightstand <-> floor depth=[0.449, -0.001, 0.452] +============================================================ + + +============================================================ +SCENE: SecondBedroom-48968 | 6 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0000, Walkable Loss: 0.0000, Relational Loss: 0.0834 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +bed 1.639 0.988 2.151 -0.389 0.002 -0.111 89.90° +nightstand 0.455 0.496 0.386 -1.266 0.001 -1.093 89.79° +desk 1.170 1.536 0.505 1.339 0.002 -0.941 -90.40° +lamp 0.742 0.269 0.730 0.020 2.356 -0.261 -0.04° +floor 3.866 -0.000 2.429 -0.006 -0.002 -0.029 -0.06° +_scene_ 0.069 -0.001 0.020 -5.668 -0.005 -5.707 -57.31° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bed <-> nightstand depth=[0.170, 0.496, 0.286] + !! OVERLAP: bed <-> floor depth=[1.639, -0.000, 2.151] + !! OVERLAP: nightstand <-> floor depth=[0.455, -0.000, 0.343] + !! OVERLAP: desk <-> floor depth=[1.170, -0.000, 0.505] +============================================================ + + +============================================================ +SCENE: MasterBedroom-9222 | 8 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0000, Walkable Loss: 0.0000, Relational Loss: 0.0340 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +bed 1.842 1.401 2.138 -0.625 -0.000 -0.501 89.93° +wardrobe 2.074 2.370 0.664 -0.609 -0.000 1.612 -179.97° +nightstand 0.526 0.763 0.439 -1.349 0.002 -1.654 89.92° +nightstand 0.532 0.670 0.435 -1.324 0.001 0.666 90.02° +tv_stand 1.996 0.667 0.444 1.285 -0.002 -0.132 -89.94° +lamp 0.625 0.605 0.229 0.002 2.079 -0.394 -0.09° +floor 3.607 -0.001 4.064 0.004 -0.000 -0.036 0.01° +_scene_ 0.069 0.000 0.018 -5.673 -0.005 -5.712 -57.28° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bed <-> nightstand depth=[0.461, 0.763, 0.134] + !! OVERLAP: bed <-> nightstand depth=[0.489, 0.670, 0.120] + !! OVERLAP: bed <-> tv_stand depth=[0.009, 0.667, 0.444] + !! OVERLAP: bed <-> floor depth=[1.842, -0.001, 2.138] + !! OVERLAP: wardrobe <-> floor depth=[2.074, -0.001, 0.664] + !! OVERLAP: nightstand <-> floor depth=[0.526, -0.001, 0.439] + !! OVERLAP: nightstand <-> floor depth=[0.532, -0.001, 0.435] + !! OVERLAP: tv_stand <-> floor depth=[1.521, -0.001, 0.444] +============================================================ + + +============================================================ +SCENE: Bedroom-32051 | 7 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0000, Walkable Loss: 0.0000, Relational Loss: 0.0000 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +bed 1.919 1.068 2.140 0.886 0.003 0.467 -180.00° +cabinet 1.156 1.053 0.469 -1.204 0.001 -1.194 0.01° +wardrobe 1.364 2.290 0.532 -0.997 0.000 1.427 179.94° +chair 0.669 0.705 0.704 -1.330 0.001 0.492 -45.61° +lamp 0.308 0.546 0.297 0.742 2.216 0.114 -0.05° +floor 4.338 -0.001 3.471 -0.100 0.000 0.003 -0.01° +_scene_ 0.070 0.001 0.020 -5.676 -0.005 -5.712 -57.34° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bed <-> floor depth=[1.919, -0.001, 2.140] + !! OVERLAP: cabinet <-> floor depth=[1.156, -0.001, 0.469] + !! OVERLAP: wardrobe <-> floor depth=[1.364, -0.001, 0.532] + !! OVERLAP: chair <-> floor depth=[0.669, -0.001, 0.704] +============================================================ + + +============================================================ +SCENE: MasterBedroom-86835 | 7 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0000, Walkable Loss: 0.0000, Relational Loss: 0.0456 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +bed 1.580 1.069 1.997 -0.781 0.001 0.674 89.93° +wardrobe 1.028 2.091 0.523 -1.286 -0.001 -1.136 89.98° +wardrobe 1.211 2.008 0.631 -0.305 -0.001 -1.469 0.01° +tv_stand 2.502 0.624 0.563 1.214 0.001 0.704 -89.93° +nightstand 0.430 0.535 0.428 -1.661 0.002 -0.169 90.14° +floor 3.686 -0.001 4.534 0.020 0.001 0.053 -0.02° +_scene_ 0.074 -0.000 0.024 -5.672 -0.005 -5.709 -57.31° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bed <-> tv_stand depth=[0.046, 0.624, 0.563] + !! OVERLAP: bed <-> nightstand depth=[0.125, 0.535, 0.369] + !! OVERLAP: bed <-> floor depth=[1.580, -0.001, 1.997] + !! OVERLAP: wardrobe <-> wardrobe depth=[0.138, 2.008, 0.244] + !! OVERLAP: wardrobe <-> floor depth=[1.028, -0.001, 0.523] + !! OVERLAP: wardrobe <-> floor depth=[1.211, -0.001, 0.631] + !! OVERLAP: tv_stand <-> floor depth=[1.901, -0.001, 0.563] + !! OVERLAP: nightstand <-> floor depth=[0.376, -0.001, 0.428] +============================================================ + + +============================================================ +SCENE: SecondBedroom-86888 | 6 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0000, Walkable Loss: 0.0000, Relational Loss: 0.0432 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +bed 2.089 0.999 2.251 -0.224 0.002 -0.400 89.88° +nightstand 0.567 0.564 0.325 -1.155 0.001 0.422 89.99° +wardrobe 1.159 2.013 0.548 -0.080 0.002 1.554 -179.96° +nightstand 0.570 0.503 0.511 -1.051 0.000 -1.288 89.92° +floor 2.707 -0.002 3.476 0.000 0.000 0.011 -0.01° +_scene_ 0.068 0.002 0.022 -5.673 -0.004 -5.711 -57.31° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bed <-> nightstand depth=[0.397, 0.564, 0.325] + !! OVERLAP: bed <-> nightstand depth=[0.503, 0.503, 0.493] + !! OVERLAP: bed <-> floor depth=[2.089, -0.002, 2.251] + !! OVERLAP: nightstand <-> floor depth=[0.481, -0.002, 0.325] + !! OVERLAP: wardrobe <-> floor depth=[1.159, -0.002, 0.469] + !! OVERLAP: nightstand <-> floor depth=[0.570, -0.002, 0.511] +============================================================ + + +============================================================ +SCENE: MasterBedroom-9583 | 10 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0000, Walkable Loss: 0.0000, Relational Loss: 0.0425 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +cabinet 1.002 0.825 0.393 1.402 -0.001 -0.408 -89.96° +lamp 0.868 0.841 0.847 0.064 2.056 0.131 -0.01° +bed 2.227 1.267 2.403 -0.394 0.000 -0.300 89.87° +nightstand 0.539 0.515 0.445 -1.516 0.006 -1.396 90.04° +nightstand 0.518 0.514 0.443 -1.551 0.001 1.029 90.00° +table 0.722 1.249 0.450 -1.331 0.001 1.702 89.96° +wardrobe 2.342 2.368 0.611 -0.436 -0.002 -2.287 0.03° +desk 2.286 0.715 1.511 0.747 0.001 0.982 -89.95° +floor 3.453 0.002 5.022 -0.005 -0.001 -0.020 -0.02° +_scene_ 0.072 0.000 0.021 -5.671 -0.005 -5.715 -57.30° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: cabinet <-> floor depth=[0.821, 0.002, 0.393] + !! OVERLAP: bed <-> nightstand depth=[0.261, 0.515, 0.329] + !! OVERLAP: bed <-> nightstand depth=[0.215, 0.514, 0.094] + !! OVERLAP: bed <-> desk depth=[1.115, 0.715, 0.675] + !! OVERLAP: bed <-> floor depth=[2.227, 0.002, 2.403] + !! OVERLAP: nightstand <-> floor depth=[0.484, 0.002, 0.445] + !! OVERLAP: nightstand <-> floor depth=[0.438, 0.002, 0.443] + !! OVERLAP: table <-> floor depth=[0.722, 0.002, 0.450] + !! OVERLAP: wardrobe <-> floor depth=[2.342, 0.002, 0.550] + !! OVERLAP: desk <-> floor depth=[2.118, 0.002, 1.511] +============================================================ + + +============================================================ +SCENE: SecondBedroom-8823 | 5 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0000, Walkable Loss: 0.0000, Relational Loss: 0.0000 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +bed 2.083 1.342 2.370 0.465 0.000 -0.357 -90.02° +nightstand 0.428 0.488 0.395 1.331 -0.001 0.831 -90.00° +lamp 1.005 0.840 0.643 -0.109 1.984 -0.097 0.10° +floor 3.202 -0.003 3.129 -0.016 0.001 -0.018 0.01° +_scene_ 0.066 -0.000 0.017 -5.675 -0.006 -5.721 -57.29° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bed <-> nightstand depth=[0.390, 0.488, 0.195] + !! OVERLAP: bed <-> floor depth=[2.083, -0.003, 2.370] + !! OVERLAP: nightstand <-> floor depth=[0.428, -0.003, 0.395] +============================================================ + + +============================================================ +SCENE: SecondBedroom-13218 | 7 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0000, Walkable Loss: 0.0000, Relational Loss: 0.0647 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +bed 2.021 1.416 2.287 -0.242 0.002 -0.094 89.82° +wardrobe 2.375 2.200 0.549 -0.208 0.000 1.372 -179.98° +nightstand 0.550 0.592 0.476 -1.085 0.001 -1.292 89.94° +tv_stand 2.363 0.983 0.492 1.010 -0.002 0.067 -89.96° +lamp 0.579 0.479 0.576 0.068 2.096 0.077 -0.04° +floor 2.877 -0.001 3.288 -0.003 0.001 -0.016 -0.02° +_scene_ 0.064 0.001 0.024 -5.678 -0.005 -5.722 -57.28° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bed <-> nightstand depth=[0.443, 0.592, 0.183] + !! OVERLAP: bed <-> tv_stand depth=[0.939, 0.983, 0.492] + !! OVERLAP: bed <-> floor depth=[2.021, -0.001, 2.287] + !! OVERLAP: wardrobe <-> floor depth=[2.375, -0.001, 0.530] + !! OVERLAP: nightstand <-> floor depth=[0.550, -0.001, 0.476] + !! OVERLAP: tv_stand <-> floor depth=[1.607, -0.001, 0.492] +============================================================ + + +============================================================ +SCENE: SecondBedroom-36408 | 9 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0000, Walkable Loss: 0.0000, Relational Loss: 0.0316 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +bed 2.510 1.199 2.283 -0.233 0.001 0.570 89.89° +table 0.699 0.516 0.701 -1.164 -0.000 1.656 -0.01° +table 0.529 0.589 0.555 -1.298 0.002 -0.564 90.04° +wardrobe 1.097 2.109 0.524 -0.833 -0.002 -1.360 0.03° +wardrobe 0.847 2.040 0.456 -0.048 -0.000 -1.520 0.06° +lamp 0.540 0.157 0.514 0.019 2.578 0.378 -0.07° +lamp 1.332 1.087 1.405 -0.744 1.480 1.633 0.06° +floor 2.745 0.001 4.298 0.006 -0.001 0.184 0.02° +_scene_ 0.067 -0.001 0.022 -5.674 -0.006 -5.719 -57.31° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bed <-> table depth=[0.673, 0.516, 0.405] + !! OVERLAP: bed <-> table depth=[0.454, 0.589, 0.285] + !! OVERLAP: bed <-> floor depth=[2.388, 0.001, 2.283] + !! OVERLAP: table <-> floor depth=[0.551, 0.001, 0.701] + !! OVERLAP: table <-> floor depth=[0.333, 0.001, 0.555] + !! OVERLAP: wardrobe <-> wardrobe depth=[0.186, 2.040, 0.331] + !! OVERLAP: wardrobe <-> floor depth=[1.081, 0.001, 0.524] + !! OVERLAP: wardrobe <-> floor depth=[0.847, 0.001, 0.456] +============================================================ + + +============================================================ +SCENE: MasterBedroom-36389 | 8 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0000, Walkable Loss: 0.0000, Relational Loss: 0.0166 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +bed 2.842 1.127 2.486 0.303 -0.000 0.328 -89.99° +nightstand 0.435 0.574 0.355 1.443 0.004 1.889 -90.10° +nightstand 0.426 0.689 0.443 1.353 0.003 0.171 -90.11° +wardrobe 1.739 2.169 0.611 -0.151 -0.002 -1.586 0.03° +wardrobe 1.498 2.128 0.507 -0.241 0.001 -1.221 0.08° +lamp 0.977 1.023 0.971 0.148 1.706 0.652 0.01° +floor 3.124 -0.002 4.323 -0.029 -0.000 0.052 -0.02° +_scene_ 0.071 0.000 0.024 -5.672 -0.005 -5.714 -57.31° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bed <-> nightstand depth=[0.426, 0.689, 0.443] + !! OVERLAP: bed <-> floor depth=[2.651, -0.002, 2.486] + !! OVERLAP: nightstand <-> floor depth=[0.308, -0.002, 0.355] + !! OVERLAP: nightstand <-> floor depth=[0.394, -0.002, 0.443] + !! OVERLAP: wardrobe <-> wardrobe depth=[1.498, 2.128, 0.194] + !! OVERLAP: wardrobe <-> floor depth=[1.739, -0.002, 0.611] + !! OVERLAP: wardrobe <-> floor depth=[1.498, -0.002, 0.507] +============================================================ + + +============================================================ +SCENE: SecondBedroom-7635 | 6 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0000, Walkable Loss: 0.0000, Relational Loss: 0.0000 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +bed 1.954 1.407 1.947 0.829 -0.002 -0.024 -90.12° +wardrobe 1.441 2.153 0.703 -0.766 -0.001 -1.225 0.02° +desk 1.686 0.708 0.696 -1.069 0.008 1.261 179.60° +chair 0.510 0.644 0.525 -0.857 -0.003 0.557 -89.12° +floor 3.836 -0.001 3.043 -0.022 0.001 -0.021 -0.02° +_scene_ 0.051 0.002 0.024 -5.671 0.002 -5.720 -57.34° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bed <-> wardrobe depth=[0.102, 1.407, 0.124] + !! OVERLAP: bed <-> floor depth=[1.954, -0.001, 1.947] + !! OVERLAP: wardrobe <-> floor depth=[1.441, -0.001, 0.669] + !! OVERLAP: desk <-> floor depth=[1.686, -0.001, 0.588] + !! OVERLAP: chair <-> floor depth=[0.510, -0.001, 0.525] +============================================================ + + +============================================================ +SCENE: Bedroom-1541 | 6 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0000, Walkable Loss: 0.0000, Relational Loss: 0.0439 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +bed 2.114 1.143 2.320 0.241 0.000 -0.221 -89.97° +table 0.477 0.495 0.459 1.171 0.001 0.663 -89.97° +wardrobe 1.734 2.358 0.525 0.528 -0.000 1.099 179.97° +lamp 0.831 0.885 0.814 -0.018 1.811 -0.331 0.00° +floor 2.908 -0.001 3.155 0.002 0.001 -0.001 0.02° +_scene_ 0.061 0.001 0.019 -5.671 -0.004 -5.716 -57.25° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bed <-> table depth=[0.366, 0.495, 0.459] + !! OVERLAP: bed <-> wardrobe depth=[1.638, 1.143, 0.103] + !! OVERLAP: bed <-> floor depth=[2.114, -0.001, 2.320] + !! OVERLAP: table <-> wardrobe depth=[0.462, 0.495, 0.057] + !! OVERLAP: table <-> floor depth=[0.477, -0.001, 0.459] + !! OVERLAP: wardrobe <-> floor depth=[1.734, -0.001, 0.525] +============================================================ + + +============================================================ +SCENE: Bedroom-11202 | 6 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0000, Walkable Loss: 0.0000, Relational Loss: 0.0245 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +bed 1.969 1.108 2.150 0.584 0.001 0.106 -179.93° +wardrobe 1.358 2.210 0.630 -1.252 -0.002 -0.090 89.94° +desk 1.357 0.801 0.648 0.977 0.001 1.199 179.98° +lamp 0.703 0.136 0.678 -0.023 2.353 0.053 0.02° +floor 3.500 -0.002 3.054 -0.003 0.000 0.018 -0.01° +_scene_ 0.055 0.001 0.015 -5.674 -0.005 -5.716 -57.32° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bed <-> desk depth=[1.270, 0.801, 0.306] + !! OVERLAP: bed <-> floor depth=[1.969, -0.002, 2.150] + !! OVERLAP: wardrobe <-> floor depth=[1.180, -0.002, 0.630] + !! OVERLAP: desk <-> floor depth=[1.357, -0.002, 0.648] +============================================================ + + +============================================================ +SCENE: Bedroom-26487 | 13 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0000, Walkable Loss: 0.0000, Relational Loss: 0.0261 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +bed 2.157 1.535 2.092 -0.515 0.002 0.172 89.77° +nightstand 0.614 0.591 0.424 -1.303 0.002 1.973 89.98° +nightstand 0.594 0.573 0.459 -1.269 0.003 -1.002 90.00° +tv_stand 1.496 0.421 0.346 1.462 0.000 0.350 -89.99° +wardrobe 1.493 2.379 0.482 -0.796 -0.002 -1.769 0.07° +wardrobe 1.093 2.342 0.541 -0.014 -0.001 -1.500 0.02° +lamp 0.109 0.919 0.092 -1.473 1.180 -0.963 0.03° +lamp 0.214 0.773 0.165 -1.458 1.149 1.723 0.06° +lamp 0.808 0.858 0.761 -0.062 1.992 0.456 -0.05° +chair 0.614 0.657 0.591 -0.101 -0.002 2.157 145.69° +table 0.593 0.540 0.699 0.449 0.002 2.048 90.07° +floor 3.096 -0.001 5.129 -0.008 0.000 0.151 -0.06° +_scene_ 0.072 0.000 0.025 -5.668 -0.004 -5.709 -57.30° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bed <-> nightstand depth=[0.594, 0.573, 0.102] + !! OVERLAP: bed <-> floor depth=[2.120, -0.001, 2.092] + !! OVERLAP: nightstand <-> floor depth=[0.560, -0.001, 0.424] + !! OVERLAP: nightstand <-> floor depth=[0.584, -0.001, 0.459] + !! OVERLAP: tv_stand <-> floor depth=[0.825, -0.001, 0.346] + !! OVERLAP: wardrobe <-> wardrobe depth=[0.511, 2.342, 0.242] + !! OVERLAP: wardrobe <-> floor depth=[1.493, -0.001, 0.482] + !! OVERLAP: wardrobe <-> floor depth=[1.093, -0.001, 0.541] + !! OVERLAP: chair <-> table depth=[0.054, 0.540, 0.536] + !! OVERLAP: chair <-> floor depth=[0.614, -0.001, 0.591] + !! OVERLAP: table <-> floor depth=[0.593, -0.001, 0.699] +============================================================ + + +============================================================ +SCENE: Bedroom-691 | 5 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0000, Walkable Loss: 0.0000, Relational Loss: 0.0761 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +bed 2.212 0.814 2.178 -0.504 0.001 -0.367 89.90° +lamp 0.518 0.735 0.596 0.043 1.940 -0.221 179.96° +wardrobe 1.993 2.519 0.707 1.036 -0.001 0.032 -90.11° +floor 3.204 -0.000 3.295 -0.077 0.001 -0.015 -0.03° +_scene_ 0.019 0.002 -0.009 -5.556 -0.006 -5.639 -57.33° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bed <-> wardrobe depth=[0.563, 0.814, 0.707] + !! OVERLAP: bed <-> floor depth=[2.212, -0.000, 2.178] + !! OVERLAP: wardrobe <-> floor depth=[1.486, -0.000, 0.707] +============================================================ + + +============================================================ +SCENE: SecondBedroom-14817 | 6 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0000, Walkable Loss: 0.0000, Relational Loss: 0.0723 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +nightstand 0.528 0.581 0.466 -0.978 0.002 -1.174 0.02° +bed 1.984 1.107 2.368 0.260 0.000 -0.239 0.00° +nightstand 0.444 0.627 0.450 1.839 0.001 -0.760 -90.03° +wardrobe 1.274 2.555 0.610 -1.611 -0.000 -0.380 89.99° +floor 4.263 0.000 2.783 -0.025 -0.000 -0.025 0.02° +_scene_ 0.070 0.001 0.021 -5.672 -0.004 -5.715 -57.31° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: nightstand <-> bed depth=[0.018, 0.581, 0.466] + !! OVERLAP: nightstand <-> floor depth=[0.528, 0.000, 0.466] + !! OVERLAP: bed <-> floor depth=[1.984, 0.000, 2.361] + !! OVERLAP: nightstand <-> floor depth=[0.444, 0.000, 0.450] + !! OVERLAP: wardrobe <-> floor depth=[1.182, 0.000, 0.610] +============================================================ + + +============================================================ +SCENE: MasterBedroom-30192 | 9 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0000, Walkable Loss: 0.0000, Relational Loss: 0.0346 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +bed 2.075 1.351 2.190 -0.718 0.001 -0.093 89.88° +nightstand 0.489 0.481 0.396 -1.544 0.001 -1.374 90.05° +wardrobe 1.598 2.542 0.616 -0.733 0.001 1.591 -179.94° +wardrobe 1.623 2.527 0.570 1.285 -0.000 -1.080 -90.11° +chair 0.817 0.740 0.863 1.474 -0.003 -0.100 -90.05° +lamp 0.718 0.787 0.715 -0.139 2.172 -0.062 -0.01° +nightstand 0.577 0.503 0.440 -1.583 0.001 0.967 89.96° +floor 3.984 0.000 3.727 -0.041 -0.001 0.022 -0.04° +_scene_ 0.070 0.001 0.022 -5.675 -0.005 -5.715 -57.31° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bed <-> nightstand depth=[0.456, 0.481, 0.012] + !! OVERLAP: bed <-> nightstand depth=[0.461, 0.503, 0.255] + !! OVERLAP: bed <-> floor depth=[2.075, 0.000, 2.190] + !! OVERLAP: nightstand <-> floor depth=[0.489, 0.000, 0.396] + !! OVERLAP: wardrobe <-> floor depth=[1.598, 0.000, 0.602] + !! OVERLAP: wardrobe <-> floor depth=[1.477, 0.000, 0.570] + !! OVERLAP: chair <-> floor depth=[0.817, 0.000, 0.863] + !! OVERLAP: nightstand <-> floor depth=[0.577, 0.000, 0.440] +============================================================ + + +============================================================ +SCENE: Bedroom-41491 | 6 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0000, Walkable Loss: 0.0000, Relational Loss: 0.0000 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +bed 1.605 1.120 2.388 -0.571 0.002 0.709 89.91° +desk 1.158 0.975 0.587 -1.001 0.001 -1.259 179.92° +chair 0.627 0.925 0.520 -0.618 -0.001 -0.524 -165.68° +lamp 0.666 0.157 0.623 -0.108 2.418 0.273 -0.04° +floor 2.937 -0.003 3.961 -0.025 0.000 -0.014 0.00° +_scene_ 0.071 0.001 0.022 -5.669 -0.004 -5.713 -57.29° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bed <-> chair depth=[0.627, 0.925, 0.220] + !! OVERLAP: bed <-> floor depth=[1.605, -0.003, 2.388] + !! OVERLAP: desk <-> floor depth=[1.071, -0.003, 0.587] + !! OVERLAP: chair <-> floor depth=[0.627, -0.003, 0.520] +============================================================ + + +============================================================ +SCENE: MasterBedroom-49865 | 7 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0000, Walkable Loss: 0.0000, Relational Loss: 0.0417 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +bed 1.750 1.272 2.207 0.458 -0.001 0.281 179.98° +nightstand 0.533 0.657 0.427 -0.756 0.001 1.200 179.92° +nightstand 0.485 0.598 0.374 1.617 0.001 1.223 179.86° +wardrobe 1.430 2.329 0.579 -1.686 -0.001 0.007 89.91° +lamp 0.397 0.746 0.344 0.208 1.911 0.016 -0.09° +floor 4.486 -0.002 2.895 -0.015 0.000 0.001 -0.03° +_scene_ 0.071 -0.000 0.021 -5.671 -0.005 -5.714 -57.31° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bed <-> floor depth=[1.750, -0.002, 2.207] + !! OVERLAP: nightstand <-> floor depth=[0.533, -0.002, 0.427] + !! OVERLAP: nightstand <-> floor depth=[0.485, -0.002, 0.374] + !! OVERLAP: wardrobe <-> floor depth=[1.287, -0.002, 0.579] +============================================================ + + +============================================================ +SCENE: MasterBedroom-16450 | 7 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0000, Walkable Loss: 0.0000, Relational Loss: 0.0000 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +bed 1.913 0.722 2.150 -0.402 -0.001 -0.348 0.02° +cabinet 0.588 0.899 0.319 -0.883 0.005 1.482 179.93° +nightstand 0.674 0.670 0.593 1.354 0.001 -1.260 -0.01° +nightstand 0.697 0.742 0.478 -1.509 0.000 -1.303 -0.02° +lamp 0.697 0.481 0.692 -0.202 2.204 0.119 -0.02° +floor 4.178 0.000 3.283 -0.040 0.000 -0.023 -0.01° +_scene_ 0.067 0.000 0.017 -5.668 -0.005 -5.713 -57.30° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bed <-> nightstand depth=[0.198, 0.722, 0.360] + !! OVERLAP: bed <-> floor depth=[1.913, 0.000, 2.150] + !! OVERLAP: cabinet <-> floor depth=[0.588, 0.000, 0.296] + !! OVERLAP: nightstand <-> floor depth=[0.674, 0.000, 0.593] + !! OVERLAP: nightstand <-> floor depth=[0.697, 0.000, 0.478] +============================================================ + + +============================================================ +SCENE: SecondBedroom-14328 | 7 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0000, Walkable Loss: 0.0000, Relational Loss: 0.0483 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +table 1.436 1.220 0.478 -1.167 0.005 0.739 -179.96° +nightstand 0.632 0.514 0.447 -1.340 0.004 -1.302 0.08° +bed 2.260 0.776 2.331 -0.302 -0.001 -0.263 0.01° +nightstand 0.486 0.558 0.327 1.200 0.000 -1.227 -0.03° +wardrobe 2.951 2.401 0.698 1.374 0.007 0.081 -90.23° +floor 3.443 -0.003 3.024 -0.005 0.001 -0.008 -0.02° +_scene_ 0.068 0.000 0.020 -5.675 -0.006 -5.716 -57.33° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: table <-> bed depth=[0.983, 0.776, 0.402] + !! OVERLAP: table <-> floor depth=[1.278, -0.003, 0.478] + !! OVERLAP: nightstand <-> bed depth=[0.407, 0.514, 0.349] + !! OVERLAP: nightstand <-> floor depth=[0.632, -0.003, 0.441] + !! OVERLAP: bed <-> wardrobe depth=[0.930, 0.776, 0.698] + !! OVERLAP: bed <-> floor depth=[2.260, -0.003, 2.331] + !! OVERLAP: nightstand <-> floor depth=[0.486, -0.003, 0.327] + !! OVERLAP: wardrobe <-> floor depth=[1.819, -0.003, 0.698] +============================================================ + + +============================================================ +SCENE: SecondBedroom-39108 | 8 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0000, Walkable Loss: 0.0000, Relational Loss: 0.0167 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +cabinet 1.095 1.180 0.485 -1.458 0.001 0.237 89.96° +cabinet 0.985 1.053 0.510 -1.349 0.001 -1.513 89.95° +bed 2.342 0.714 2.454 0.712 -0.001 -0.617 -0.00° +lamp 0.400 0.820 0.393 0.173 1.841 -0.315 0.02° +lamp 0.492 0.750 0.509 0.871 2.257 -1.255 -0.03° +lamp 0.227 0.744 0.207 -0.988 2.032 1.285 -90.06° +floor 3.877 0.001 4.028 0.005 0.001 -0.007 -0.00° +_scene_ 0.068 0.003 0.023 -5.676 -0.005 -5.712 -57.29° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: cabinet <-> floor depth=[1.023, 0.001, 0.485] + !! OVERLAP: cabinet <-> floor depth=[0.985, 0.001, 0.510] + !! OVERLAP: bed <-> floor depth=[2.342, 0.001, 2.454] +============================================================ + + +============================================================ +SCENE: MasterBedroom-19531 | 7 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0000, Walkable Loss: 0.0000, Relational Loss: 0.0611 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +lamp 0.545 0.256 0.553 0.173 2.409 -0.028 -0.06° +bed 1.816 1.174 2.468 0.259 0.000 -0.277 0.04° +nightstand 0.624 0.627 0.473 -0.897 0.000 -1.261 0.01° +nightstand 0.631 0.642 0.548 1.460 0.001 -1.127 0.05° +wardrobe 2.389 2.432 0.686 -1.515 -0.001 -0.269 89.90° +floor 3.935 -0.004 3.032 -0.009 -0.000 -0.008 -0.03° +_scene_ 0.061 0.000 0.022 -5.676 -0.005 -5.719 -57.26° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bed <-> nightstand depth=[0.064, 0.627, 0.473] + !! OVERLAP: bed <-> nightstand depth=[0.022, 0.642, 0.548] + !! OVERLAP: bed <-> wardrobe depth=[0.328, 1.174, 0.686] + !! OVERLAP: bed <-> floor depth=[1.816, -0.004, 2.468] + !! OVERLAP: nightstand <-> floor depth=[0.624, -0.004, 0.473] + !! OVERLAP: nightstand <-> floor depth=[0.631, -0.004, 0.548] + !! OVERLAP: wardrobe <-> floor depth=[1.656, -0.004, 0.686] +============================================================ + + +============================================================ +SCENE: Bedroom-74 | 5 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0000, Walkable Loss: 0.0000, Relational Loss: 0.0000 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +bed 1.882 1.523 2.090 -0.589 -0.001 -0.099 89.86° +lamp 0.590 0.473 0.580 -0.197 2.096 0.099 -0.03° +wardrobe 1.590 2.244 0.600 1.242 0.001 -0.161 -90.07° +floor 3.338 -0.000 3.182 -0.008 0.000 0.009 -0.03° +_scene_ 0.042 0.004 0.008 -5.667 -0.007 -5.715 -57.31° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bed <-> floor depth=[1.882, -0.000, 2.090] + !! OVERLAP: wardrobe <-> floor depth=[1.214, -0.000, 0.600] +============================================================ + + +============================================================ +SCENE: Bedroom-15856 | 8 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0000, Walkable Loss: 0.0000, Relational Loss: 0.0289 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +bed 2.059 1.256 2.287 -0.455 -0.001 -0.032 89.90° +nightstand 0.769 0.636 0.535 -1.676 0.002 -1.072 90.00° +nightstand 0.561 0.753 0.430 -1.855 0.004 0.893 90.00° +lamp 0.575 0.319 0.534 0.345 2.570 -0.077 -0.04° +chair 0.788 0.830 0.773 1.389 0.003 -0.657 -28.14° +tv_stand 1.803 0.560 0.400 1.694 -0.000 0.429 -90.09° +floor 4.840 -0.002 2.887 0.158 -0.000 0.012 -0.03° +_scene_ 0.067 -0.000 0.022 -5.678 -0.004 -5.715 -57.30° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bed <-> nightstand depth=[0.194, 0.636, 0.371] + !! OVERLAP: bed <-> floor depth=[2.059, -0.002, 2.287] + !! OVERLAP: nightstand <-> floor depth=[0.769, -0.002, 0.535] + !! OVERLAP: nightstand <-> floor depth=[0.561, -0.002, 0.430] + !! OVERLAP: chair <-> floor depth=[0.788, -0.002, 0.773] + !! OVERLAP: tv_stand <-> floor depth=[1.786, -0.002, 0.400] +============================================================ + + +============================================================ +SCENE: MasterBedroom-3845 | 7 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0000, Walkable Loss: 0.0000, Relational Loss: 0.0439 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +wardrobe 2.703 2.477 0.519 -0.385 -0.007 1.582 179.77° +bed 1.987 0.814 2.053 -0.596 0.001 -0.400 89.92° +nightstand 0.542 0.560 0.494 -1.463 0.002 -1.731 90.01° +nightstand 0.461 0.585 0.430 -1.444 0.002 0.844 90.00° +lamp 0.593 0.098 0.597 0.074 2.561 -0.334 -0.03° +floor 3.389 -0.002 4.369 -0.011 -0.000 -0.051 -0.01° +_scene_ 0.065 -0.001 0.019 -5.664 -0.004 -5.712 -57.31° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: wardrobe <-> floor depth=[2.672, -0.002, 0.519] + !! OVERLAP: bed <-> floor depth=[1.987, -0.002, 2.053] + !! OVERLAP: nightstand <-> floor depth=[0.513, -0.002, 0.494] + !! OVERLAP: nightstand <-> floor depth=[0.461, -0.002, 0.430] +============================================================ + + +============================================================ +SCENE: MasterBedroom-14075 | 7 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0000, Walkable Loss: 0.0000, Relational Loss: 0.0000 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +bed 1.755 0.908 1.910 0.235 0.002 0.720 179.97° +tv_stand 3.283 0.790 0.570 0.108 -0.001 -1.362 0.01° +lamp 0.628 0.612 0.643 0.453 2.223 0.183 -0.03° +nightstand 0.461 0.503 0.397 1.345 0.001 1.572 179.96° +nightstand 0.518 0.491 0.417 -1.005 0.001 1.490 179.94° +floor 3.833 -0.002 3.703 0.018 -0.000 -0.012 -0.00° +_scene_ 0.069 0.001 0.034 -5.668 -0.004 -5.710 -57.28° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bed <-> floor depth=[1.755, -0.002, 1.910] + !! OVERLAP: tv_stand <-> floor depth=[3.283, -0.002, 0.570] + !! OVERLAP: nightstand <-> floor depth=[0.461, -0.002, 0.397] + !! OVERLAP: nightstand <-> floor depth=[0.518, -0.002, 0.417] +============================================================ + + +============================================================ +SCENE: Bedroom-22495 | 5 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0000, Walkable Loss: 0.0000, Relational Loss: 0.0000 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +bed 2.028 1.446 2.411 0.254 0.001 0.823 179.97° +lamp 0.766 0.939 0.818 0.250 1.746 0.350 -0.02° +wardrobe 1.543 2.096 0.598 0.471 0.000 -1.498 0.07° +floor 3.574 -0.001 4.444 0.015 0.001 0.006 -0.02° +_scene_ 0.075 0.006 0.030 -5.666 -0.005 -5.717 -57.29° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bed <-> floor depth=[2.028, -0.001, 2.411] + !! OVERLAP: wardrobe <-> floor depth=[1.543, -0.001, 0.598] +============================================================ + + +============================================================ +SCENE: MasterBedroom-22581 | 9 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0000, Walkable Loss: 0.0000, Relational Loss: 0.0071 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +desk 1.948 0.730 0.830 1.172 0.000 -1.139 -0.02° +chair 0.509 0.712 0.499 2.039 -0.000 -0.698 -178.18° +wardrobe 1.225 2.191 0.563 -1.895 0.001 -0.346 89.97° +cabinet 0.675 1.016 0.420 1.799 0.004 1.495 179.97° +nightstand 0.640 0.775 0.508 -1.089 -0.001 -1.309 0.05° +bed 2.023 1.101 2.285 -0.003 -0.000 -0.331 0.00° +lamp 0.573 0.286 0.556 0.404 2.303 0.068 -0.04° +floor 5.179 -0.002 3.243 0.079 -0.001 -0.028 -0.02° +_scene_ 0.069 0.001 0.025 -5.670 -0.004 -5.713 -57.30° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: desk <-> chair depth=[0.362, 0.712, 0.224] + !! OVERLAP: desk <-> bed depth=[0.810, 0.730, 0.750] + !! OVERLAP: desk <-> floor depth=[1.948, -0.002, 0.830] + !! OVERLAP: chair <-> floor depth=[0.509, -0.002, 0.499] + !! OVERLAP: wardrobe <-> floor depth=[1.225, -0.002, 0.563] + !! OVERLAP: cabinet <-> floor depth=[0.675, -0.002, 0.309] + !! OVERLAP: nightstand <-> bed depth=[0.245, 0.775, 0.419] + !! OVERLAP: nightstand <-> floor depth=[0.640, -0.002, 0.508] + !! OVERLAP: bed <-> floor depth=[2.023, -0.002, 2.285] +============================================================ + + +============================================================ +SCENE: Bedroom-54381 | 6 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0000, Walkable Loss: 0.0000, Relational Loss: 0.0000 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +bed 2.239 0.992 2.253 -0.276 0.007 -0.067 89.92° +nightstand 0.552 0.549 0.421 -1.277 0.002 -1.130 90.05° +nightstand 0.601 0.530 0.463 -1.314 0.001 1.346 89.98° +lamp 0.725 0.820 0.733 0.022 1.816 -0.152 0.02° +floor 3.045 -0.004 3.948 0.021 0.000 -0.017 -0.03° +_scene_ 0.067 0.002 0.016 -5.673 -0.006 -5.713 -57.28° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bed <-> nightstand depth=[0.394, 0.549, 0.273] + !! OVERLAP: bed <-> floor depth=[2.239, -0.004, 2.253] + !! OVERLAP: nightstand <-> floor depth=[0.500, -0.004, 0.421] + !! OVERLAP: nightstand <-> floor depth=[0.489, -0.004, 0.463] +============================================================ + + +============================================================ +SCENE: Bedroom-5215 | 8 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0000, Walkable Loss: 0.0000, Relational Loss: 0.0145 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +bed 1.917 1.270 2.304 0.725 -0.000 -0.894 0.01° +nightstand 0.567 0.476 0.502 -0.545 -0.001 -1.367 -0.04° +table 1.047 1.032 0.548 1.416 0.003 1.730 179.95° +chair 0.562 0.392 0.554 1.072 0.001 1.075 0.01° +wardrobe 1.443 2.147 0.570 -1.269 -0.001 -0.645 89.91° +lamp 0.609 0.205 0.601 0.266 2.349 0.090 -0.05° +floor 3.974 -0.002 4.187 0.131 -0.000 0.023 -0.02° +_scene_ 0.071 -0.001 0.023 -5.670 -0.005 -5.714 -57.32° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bed <-> floor depth=[1.917, -0.002, 2.304] + !! OVERLAP: nightstand <-> floor depth=[0.567, -0.002, 0.502] + !! OVERLAP: table <-> floor depth=[1.047, -0.002, 0.548] + !! OVERLAP: chair <-> floor depth=[0.562, -0.002, 0.554] + !! OVERLAP: wardrobe <-> floor depth=[1.309, -0.002, 0.570] +============================================================ + + +============================================================ +SCENE: MasterBedroom-12479 | 8 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0000, Walkable Loss: 0.0000, Relational Loss: 0.0363 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +bed 1.899 1.422 2.274 0.250 0.003 -0.446 0.03° +nightstand 0.468 0.662 0.360 -1.089 0.003 -1.439 -0.01° +nightstand 0.439 0.712 0.449 1.391 0.001 -1.419 0.03° +shelf 0.513 1.116 0.237 -1.305 -0.001 1.340 179.98° +tv_stand 1.948 0.583 0.439 0.658 0.002 1.427 179.97° +lamp 0.628 0.565 0.644 0.397 2.090 -0.231 -0.03° +floor 3.622 -0.002 3.386 -0.003 0.000 0.012 -0.02° +_scene_ 0.074 0.000 0.027 -5.670 -0.004 -5.711 -57.30° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bed <-> nightstand depth=[0.027, 0.712, 0.388] + !! OVERLAP: bed <-> floor depth=[1.899, -0.002, 2.274] + !! OVERLAP: nightstand <-> floor depth=[0.468, -0.002, 0.360] + !! OVERLAP: nightstand <-> floor depth=[0.439, -0.002, 0.449] + !! OVERLAP: shelf <-> floor depth=[0.513, -0.002, 0.237] + !! OVERLAP: tv_stand <-> floor depth=[1.948, -0.002, 0.439] +============================================================ + + +============================================================ +SCENE: SecondBedroom-37794 | 7 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0000, Walkable Loss: 0.0000, Relational Loss: 0.0619 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +lamp 0.820 0.910 0.803 0.013 1.702 0.018 0.03° +bed 2.319 1.154 2.472 -0.258 -0.000 -0.368 0.03° +nightstand 0.424 0.556 0.303 -1.622 0.000 -1.359 0.09° +chair 0.457 0.558 0.529 1.450 0.000 -0.941 0.00° +table 0.812 1.644 0.356 1.823 0.003 -1.360 0.19° +floor 5.017 -0.004 3.196 -0.034 -0.000 0.027 -0.04° +_scene_ 0.063 0.001 0.015 -5.673 -0.005 -5.716 -57.30° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bed <-> nightstand depth=[0.007, 0.556, 0.303] + !! OVERLAP: bed <-> floor depth=[2.319, -0.004, 2.440] + !! OVERLAP: nightstand <-> floor depth=[0.424, -0.004, 0.303] + !! OVERLAP: chair <-> table depth=[0.262, 0.558, 0.025] + !! OVERLAP: chair <-> floor depth=[0.457, -0.004, 0.529] + !! OVERLAP: table <-> floor depth=[0.812, -0.004, 0.356] +============================================================ + + +============================================================ +SCENE: SecondBedroom-69017 | 8 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0000, Walkable Loss: 0.0000, Relational Loss: 0.0332 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +bed 1.869 1.225 2.220 -0.418 0.001 -0.496 0.05° +nightstand 0.503 0.797 0.360 0.920 0.001 -1.404 0.02° +nightstand 0.558 0.797 0.367 -1.682 0.002 -1.374 -0.03° +chair 1.312 0.501 0.680 -0.460 0.001 0.977 -0.01° +lamp 0.673 0.831 0.570 -0.411 2.052 -0.073 0.03° +wardrobe 2.178 2.416 0.668 1.478 -0.000 -0.369 -90.09° +floor 4.130 -0.002 3.155 -0.036 -0.000 -0.023 -0.03° +_scene_ 0.067 0.000 0.022 -5.674 -0.005 -5.714 -57.31° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bed <-> wardrobe depth=[0.127, 1.225, 0.668] + !! OVERLAP: bed <-> floor depth=[1.869, -0.002, 2.215] + !! OVERLAP: nightstand <-> floor depth=[0.503, -0.002, 0.360] + !! OVERLAP: nightstand <-> floor depth=[0.558, -0.002, 0.367] + !! OVERLAP: chair <-> floor depth=[1.312, -0.002, 0.680] + !! OVERLAP: wardrobe <-> floor depth=[1.639, -0.002, 0.668] +============================================================ + + +============================================================ +SCENE: MasterBedroom-1615 | 8 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0000, Walkable Loss: 0.0000, Relational Loss: 0.0389 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +bed 1.972 0.760 2.102 0.507 -0.001 0.486 -90.00° +wardrobe 2.282 2.404 0.670 0.480 -0.001 -1.572 -0.00° +nightstand 0.431 0.506 0.417 1.323 -0.000 -0.787 -90.08° +nightstand 0.525 0.495 0.518 1.286 0.001 1.706 -89.92° +lamp 0.547 0.146 0.556 -0.011 2.418 0.257 -0.03° +tv_stand 2.215 0.632 0.432 -1.351 -0.001 0.353 89.98° +floor 3.192 -0.003 4.153 -0.002 -0.001 0.008 -0.05° +_scene_ 0.068 0.001 0.019 -5.667 -0.004 -5.716 -57.27° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bed <-> nightstand depth=[0.470, 0.495, 0.091] + !! OVERLAP: bed <-> tv_stand depth=[0.236, 0.632, 0.432] + !! OVERLAP: bed <-> floor depth=[1.972, -0.003, 2.102] + !! OVERLAP: wardrobe <-> floor depth=[2.255, -0.003, 0.670] + !! OVERLAP: nightstand <-> floor depth=[0.431, -0.003, 0.417] + !! OVERLAP: nightstand <-> floor depth=[0.525, -0.003, 0.518] + !! OVERLAP: tv_stand <-> floor depth=[1.355, -0.003, 0.432] +============================================================ + + +============================================================ +SCENE: MasterBedroom-8979 | 6 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0000, Walkable Loss: 0.0000, Relational Loss: 0.0715 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +wardrobe 1.731 2.275 0.571 -1.447 0.000 -0.759 89.94° +bed 2.011 1.172 2.344 0.401 -0.001 -0.308 0.05° +nightstand 0.431 0.496 0.396 1.532 0.001 -1.331 -0.01° +nightstand 0.492 0.494 0.520 -1.056 0.000 -0.981 -0.00° +floor 4.159 -0.002 3.048 -0.023 0.001 -0.022 -0.01° +_scene_ 0.069 0.000 0.026 -5.673 -0.005 -5.714 -57.32° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: wardrobe <-> bed depth=[0.022, 1.172, 0.571] + !! OVERLAP: wardrobe <-> nightstand depth=[0.492, 0.494, 0.323] + !! OVERLAP: wardrobe <-> floor depth=[1.521, -0.002, 0.571] + !! OVERLAP: bed <-> nightstand depth=[0.091, 0.496, 0.347] + !! OVERLAP: bed <-> floor depth=[2.011, -0.002, 2.344] + !! OVERLAP: nightstand <-> floor depth=[0.431, -0.002, 0.396] + !! OVERLAP: nightstand <-> floor depth=[0.492, -0.002, 0.520] +============================================================ + + +============================================================ +SCENE: MasterBedroom-6631 | 8 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0000, Walkable Loss: 0.0000, Relational Loss: 0.0269 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +bed 1.928 1.300 2.273 -0.612 0.002 -0.062 89.84° +nightstand 0.524 0.529 0.435 -1.399 0.001 1.221 90.01° +wardrobe 2.031 2.521 0.563 -0.311 0.001 1.523 179.98° +chair 0.769 0.839 0.682 -1.368 0.001 -1.503 10.61° +tv_stand 1.150 0.460 0.371 1.264 0.004 -0.771 -90.06° +lamp 0.596 0.113 0.584 0.079 2.460 -0.447 0.00° +floor 3.643 -0.002 4.285 0.040 -0.000 -0.003 -0.01° +_scene_ 0.071 -0.000 0.021 -5.671 -0.005 -5.714 -57.30° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bed <-> nightstand depth=[0.438, 0.529, 0.070] + !! OVERLAP: bed <-> chair depth=[0.593, 0.839, 0.036] + !! OVERLAP: bed <-> floor depth=[1.928, -0.002, 2.273] + !! OVERLAP: nightstand <-> wardrobe depth=[0.189, 0.529, 0.197] + !! OVERLAP: nightstand <-> floor depth=[0.524, -0.002, 0.435] + !! OVERLAP: wardrobe <-> floor depth=[2.031, -0.002, 0.563] + !! OVERLAP: chair <-> floor depth=[0.769, -0.002, 0.682] + !! OVERLAP: tv_stand <-> floor depth=[1.150, -0.002, 0.371] +============================================================ + + +============================================================ +SCENE: MasterBedroom-58086 | 5 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0000, Walkable Loss: 0.0000, Relational Loss: 0.0588 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +bed 1.984 0.785 2.260 0.357 0.000 -0.354 -90.03° +wardrobe 2.771 2.432 0.812 -0.006 0.001 1.289 -179.90° +chair 0.461 1.023 0.507 -0.215 -0.002 -1.750 -121.07° +floor 2.990 -0.002 4.016 -0.017 -0.001 -0.009 0.03° +_scene_ 0.043 0.018 0.033 -5.539 -0.005 -5.614 -57.91° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bed <-> floor depth=[1.984, -0.002, 2.260] + !! OVERLAP: wardrobe <-> floor depth=[2.771, -0.002, 0.812] + !! OVERLAP: chair <-> floor depth=[0.461, -0.002, 0.507] +============================================================ + + +============================================================ +SCENE: MasterBedroom-34041 | 7 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0000, Walkable Loss: 0.0000, Relational Loss: 0.0407 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +bed 1.643 1.077 2.225 0.436 -0.001 -0.365 0.02° +nightstand 0.463 0.619 0.412 -0.710 0.001 -1.097 0.04° +wardrobe 3.919 2.606 0.596 -1.296 -0.000 -0.063 89.97° +nightstand 0.652 0.556 0.418 1.692 0.002 -1.174 -0.05° +lamp 0.960 0.827 0.926 0.163 2.108 0.023 0.02° +floor 4.244 0.000 2.844 -0.002 -0.000 -0.007 -0.02° +_scene_ 0.071 0.001 0.023 -5.671 -0.005 -5.710 -57.30° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bed <-> wardrobe depth=[1.049, 1.077, 0.596] + !! OVERLAP: bed <-> floor depth=[1.643, 0.000, 2.176] + !! OVERLAP: nightstand <-> floor depth=[0.463, 0.000, 0.412] + !! OVERLAP: wardrobe <-> floor depth=[2.787, 0.000, 0.596] + !! OVERLAP: nightstand <-> floor depth=[0.652, 0.000, 0.418] +============================================================ + + +============================================================ +SCENE: MasterBedroom-63654 | 6 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0000, Walkable Loss: 0.0000, Relational Loss: 0.0745 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +nightstand 0.470 0.535 0.382 1.323 0.003 -1.661 -0.03° +nightstand 0.520 0.542 0.488 -1.483 0.000 -1.457 0.03° +lamp 1.095 0.933 1.039 -0.150 1.996 -0.233 -0.00° +bed 1.983 1.156 2.384 -0.095 -0.002 -0.641 0.02° +floor 4.150 0.001 3.693 -0.099 0.000 0.033 -0.00° +_scene_ 0.068 0.001 0.021 -5.672 -0.004 -5.715 -57.30° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: nightstand <-> floor depth=[0.470, 0.001, 0.343] + !! OVERLAP: nightstand <-> floor depth=[0.520, 0.001, 0.488] + !! OVERLAP: bed <-> floor depth=[1.983, 0.001, 2.364] +============================================================ + + +============================================================ +SCENE: Bedroom-21085 | 8 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0000, Walkable Loss: 0.0000, Relational Loss: 0.0548 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +shelf 0.306 0.673 0.197 1.643 -0.002 1.443 -90.14° +nightstand 0.544 0.666 0.491 1.433 0.001 -1.093 0.03° +nightstand 0.474 0.857 0.425 -0.983 0.000 -1.086 0.02° +bed 1.882 1.109 2.247 0.133 -0.001 -0.181 0.02° +wardrobe 1.637 2.502 0.589 -1.746 0.000 -0.293 89.95° +lamp 0.950 0.891 0.924 0.165 1.984 0.054 0.00° +floor 3.737 -0.001 3.051 0.021 -0.000 0.020 -0.03° +_scene_ 0.071 0.001 0.022 -5.672 -0.004 -5.713 -57.31° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: shelf <-> floor depth=[0.306, -0.001, 0.197] + !! OVERLAP: nightstand <-> floor depth=[0.544, -0.001, 0.491] + !! OVERLAP: nightstand <-> bed depth=[0.062, 0.857, 0.425] + !! OVERLAP: nightstand <-> floor depth=[0.474, -0.001, 0.425] + !! OVERLAP: bed <-> floor depth=[1.882, -0.001, 2.247] + !! OVERLAP: wardrobe <-> floor depth=[0.920, -0.001, 0.589] +============================================================ + + +============================================================ +SCENE: Bedroom-13675 | 5 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0000, Walkable Loss: 0.0000, Relational Loss: 0.0000 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +bed 2.399 0.810 2.109 -0.770 -0.001 -0.378 89.94° +wardrobe 2.626 2.473 0.783 1.333 -0.001 -0.067 -90.00° +lamp 0.680 0.774 0.655 -0.413 1.879 -0.787 179.77° +floor 4.080 0.000 3.650 -0.046 -0.001 -0.147 -0.01° +_scene_ 0.054 -0.000 0.013 -5.681 -0.005 -5.717 -57.32° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bed <-> wardrobe depth=[0.410, 0.810, 0.783] + !! OVERLAP: bed <-> floor depth=[2.399, 0.000, 2.109] + !! OVERLAP: wardrobe <-> floor depth=[1.975, 0.000, 0.783] +============================================================ + + +============================================================ +SCENE: MasterBedroom-32488 | 9 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0000, Walkable Loss: 0.0000, Relational Loss: 0.0297 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +table 1.016 1.161 0.410 -2.220 -0.001 -1.203 0.03° +nightstand 0.500 0.598 0.373 0.571 -0.000 -1.279 0.08° +chair 0.566 0.485 0.554 -2.329 -0.003 -0.704 -89.62° +bed 2.215 1.463 2.484 -0.922 0.001 -0.225 0.02° +cabinet 0.710 1.104 0.413 -2.173 0.001 1.517 180.00° +lamp 0.856 0.938 0.894 -1.028 1.884 0.026 -0.03° +wardrobe 3.055 2.334 0.692 0.782 -0.000 0.170 -90.12° +floor 5.879 0.004 3.153 -0.739 0.001 0.217 -0.03° +_scene_ 0.070 0.001 0.020 -5.672 -0.004 -5.713 -57.30° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: table <-> bed depth=[0.318, 1.161, 0.410] + !! OVERLAP: table <-> floor depth=[1.016, 0.004, 0.361] + !! OVERLAP: nightstand <-> floor depth=[0.500, 0.004, 0.267] + !! OVERLAP: chair <-> floor depth=[0.566, 0.004, 0.554] + !! OVERLAP: bed <-> wardrobe depth=[0.931, 1.463, 0.692] + !! OVERLAP: bed <-> floor depth=[2.215, 0.004, 2.377] + !! OVERLAP: cabinet <-> floor depth=[0.710, 0.004, 0.413] + !! OVERLAP: wardrobe <-> floor depth=[2.945, 0.004, 0.692] +============================================================ + + +============================================================ +SCENE: MasterBedroom-45545 | 8 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0000, Walkable Loss: 0.0000, Relational Loss: 0.0360 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +table 0.973 1.522 0.413 1.541 -0.000 1.492 179.98° +bed 1.945 1.626 2.191 0.328 -0.000 -0.569 -0.02° +nightstand 0.548 0.547 0.444 -1.158 0.000 -1.329 0.02° +nightstand 0.595 0.664 0.466 1.613 0.001 -1.335 0.03° +lamp 0.921 1.525 0.885 0.005 1.212 -0.172 0.03° +wardrobe 1.911 2.390 0.696 -1.464 0.007 -0.607 89.85° +floor 3.951 -0.003 3.282 -0.018 0.000 -0.003 -0.00° +_scene_ 0.070 0.001 0.020 -5.671 -0.005 -5.713 -57.32° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: table <-> floor depth=[0.903, -0.003, 0.352] + !! OVERLAP: bed <-> lamp depth=[0.921, 0.363, 0.885] + !! OVERLAP: bed <-> wardrobe depth=[0.136, 1.626, 0.696] + !! OVERLAP: bed <-> floor depth=[1.945, -0.003, 2.171] + !! OVERLAP: nightstand <-> floor depth=[0.548, -0.003, 0.444] + !! OVERLAP: nightstand <-> floor depth=[0.595, -0.003, 0.466] + !! OVERLAP: wardrobe <-> floor depth=[1.485, -0.003, 0.696] +============================================================ + + +============================================================ +SCENE: Bedroom-18759 | 8 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0000, Walkable Loss: 0.0000, Relational Loss: 0.0260 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +bed 2.123 2.087 2.032 -0.555 -0.001 0.301 89.76° +nightstand 0.532 0.440 0.400 -1.526 0.002 -0.209 90.00° +nightstand 0.485 0.487 0.427 -1.319 0.002 1.642 90.03° +tv_stand 1.897 0.592 0.523 1.201 -0.001 0.128 -89.97° +lamp 0.629 0.979 0.633 -0.151 1.516 0.634 89.85° +wardrobe 2.115 2.301 0.629 -0.400 -0.001 -1.631 0.03° +floor 3.443 -0.001 4.348 -0.006 -0.000 0.034 -0.02° +_scene_ 0.073 -0.001 0.022 -5.670 -0.005 -5.714 -57.28° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bed <-> nightstand depth=[0.357, 0.440, 0.400] + !! OVERLAP: bed <-> tv_stand depth=[0.254, 0.592, 0.523] + !! OVERLAP: bed <-> lamp depth=[0.629, 0.016, 0.633] + !! OVERLAP: bed <-> floor depth=[2.123, -0.001, 2.032] + !! OVERLAP: nightstand <-> floor depth=[0.468, -0.001, 0.400] + !! OVERLAP: nightstand <-> floor depth=[0.485, -0.001, 0.427] + !! OVERLAP: tv_stand <-> floor depth=[1.463, -0.001, 0.523] + !! OVERLAP: wardrobe <-> floor depth=[2.115, -0.001, 0.629] +============================================================ + + +============================================================ +SCENE: MasterBedroom-29436 | 8 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0000, Walkable Loss: 0.0000, Relational Loss: 0.0000 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +bed 1.916 0.900 2.182 0.221 -0.001 1.022 179.95° +wardrobe 1.427 2.312 0.752 -1.778 -0.001 -1.482 0.06° +tv_stand 2.059 0.530 0.491 -0.056 0.002 -1.432 -0.01° +table 0.626 1.130 0.416 -0.601 0.002 2.018 -179.97° +table 0.644 1.151 0.401 2.086 0.002 1.786 -90.05° +lamp 1.051 0.945 1.007 0.152 1.706 0.471 0.01° +floor 4.778 -0.004 4.711 -0.032 0.000 0.188 -0.04° +_scene_ 0.094 0.001 0.014 -5.669 -0.005 -5.717 -57.32° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bed <-> table depth=[0.449, 0.900, 0.302] + !! OVERLAP: bed <-> floor depth=[1.916, -0.004, 2.182] + !! OVERLAP: wardrobe <-> tv_stand depth=[0.020, 0.530, 0.491] + !! OVERLAP: wardrobe <-> floor depth=[1.356, -0.004, 0.752] + !! OVERLAP: tv_stand <-> floor depth=[2.059, -0.004, 0.491] + !! OVERLAP: table <-> floor depth=[0.626, -0.004, 0.416] + !! OVERLAP: table <-> floor depth=[0.593, -0.004, 0.401] +============================================================ + + +============================================================ +SCENE: Bedroom-15797 | 7 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0000, Walkable Loss: 0.0000, Relational Loss: 0.0000 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +bed 2.242 1.368 2.200 0.187 -0.001 -0.349 -90.04° +cabinet 1.212 0.957 0.459 0.562 0.000 1.658 179.95° +nightstand 0.653 0.777 0.504 1.152 0.001 -1.392 -90.04° +nightstand 0.608 0.704 0.582 1.018 -0.001 1.129 -89.88° +lamp 0.460 0.307 0.462 0.017 2.344 -0.082 -0.04° +floor 2.767 -0.003 3.777 -0.011 0.000 -0.025 -0.01° +_scene_ 0.066 0.000 0.016 -5.670 -0.004 -5.713 -57.32° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bed <-> nightstand depth=[0.482, 0.777, 0.309] + !! OVERLAP: bed <-> floor depth=[2.242, -0.003, 2.200] + !! OVERLAP: cabinet <-> floor depth=[1.212, -0.003, 0.435] + !! OVERLAP: nightstand <-> floor depth=[0.546, -0.003, 0.504] + !! OVERLAP: nightstand <-> floor depth=[0.608, -0.003, 0.582] +============================================================ + + +============================================================ +SCENE: MasterBedroom-13658 | 7 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0000, Walkable Loss: 0.0000, Relational Loss: 0.0540 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +wardrobe 2.568 2.369 0.541 -0.036 -0.002 -1.882 0.03° +bed 2.042 0.954 2.120 -0.370 0.001 0.369 90.01° +nightstand 0.394 0.510 0.302 -1.344 0.001 -1.035 90.02° +nightstand 0.445 0.504 0.406 -1.336 0.001 1.602 90.03° +lamp 0.775 0.257 0.770 -0.033 2.228 0.025 0.00° +floor 3.477 -0.002 4.519 -0.021 0.000 -0.009 -0.05° +_scene_ 0.071 -0.001 0.018 -5.669 -0.004 -5.713 -57.30° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: wardrobe <-> floor depth=[2.568, -0.002, 0.541] + !! OVERLAP: bed <-> nightstand depth=[0.277, 0.504, 0.030] + !! OVERLAP: bed <-> floor depth=[2.042, -0.002, 2.120] + !! OVERLAP: nightstand <-> floor depth=[0.394, -0.002, 0.302] + !! OVERLAP: nightstand <-> floor depth=[0.445, -0.002, 0.406] +============================================================ + + +============================================================ +SCENE: Bedroom-53437 | 7 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0000, Walkable Loss: 0.0000, Relational Loss: 0.0580 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +bed 1.907 0.984 2.041 0.099 -0.000 0.302 179.99° +lamp 0.615 0.284 0.514 0.269 2.361 0.029 -0.04° +wardrobe 1.917 2.360 0.624 -1.403 0.000 0.300 90.01° +nightstand 0.565 0.646 0.421 -1.001 0.003 1.220 179.97° +nightstand 0.487 0.622 0.386 1.521 -0.001 1.116 -179.81° +floor 3.946 -0.001 2.759 -0.004 -0.001 -0.012 -0.00° +_scene_ 0.071 -0.001 0.027 -5.676 -0.005 -5.720 -57.31° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bed <-> wardrobe depth=[0.410, 0.984, 0.624] + !! OVERLAP: bed <-> nightstand depth=[0.136, 0.646, 0.313] + !! OVERLAP: bed <-> floor depth=[1.907, -0.001, 2.041] + !! OVERLAP: wardrobe <-> floor depth=[1.533, -0.001, 0.624] + !! OVERLAP: nightstand <-> floor depth=[0.565, -0.001, 0.358] + !! OVERLAP: nightstand <-> floor depth=[0.487, -0.001, 0.386] +============================================================ + + +============================================================ +SCENE: MasterBedroom-1096 | 8 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0000, Walkable Loss: 0.0000, Relational Loss: 0.0129 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +bed 1.956 1.041 2.134 0.524 0.000 -0.379 -0.02° +table 1.140 1.097 0.329 0.178 0.005 -1.400 -0.00° +wardrobe 2.045 2.066 0.442 -1.098 0.001 0.083 90.00° +lamp 0.575 0.399 0.560 0.219 2.296 -0.096 -0.02° +chair 0.478 0.688 0.479 -0.689 0.009 -0.600 -161.95° +bookshelf 0.697 1.649 0.313 1.186 0.001 1.103 -179.97° +floor 3.271 -0.002 3.129 -0.004 0.001 -0.002 -0.02° +_scene_ 0.071 -0.000 0.021 -5.671 -0.005 -5.715 -57.30° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bed <-> table depth=[1.140, 1.041, 0.211] + !! OVERLAP: bed <-> wardrobe depth=[0.378, 1.041, 0.442] + !! OVERLAP: bed <-> chair depth=[0.003, 0.688, 0.479] + !! OVERLAP: bed <-> floor depth=[1.956, -0.002, 2.134] + !! OVERLAP: table <-> floor depth=[1.140, -0.002, 0.329] + !! OVERLAP: wardrobe <-> floor depth=[1.564, -0.002, 0.442] + !! OVERLAP: chair <-> floor depth=[0.478, -0.002, 0.479] + !! OVERLAP: bookshelf <-> floor depth=[0.697, -0.002, 0.313] +============================================================ + + +============================================================ +SCENE: Bedroom-20397 | 11 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0000, Walkable Loss: 0.0000, Relational Loss: 0.0207 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +wardrobe 2.152 2.565 0.445 -1.673 -0.002 0.682 89.93° +bed 2.282 0.699 2.340 0.292 0.000 0.436 -179.97° +nightstand 0.564 0.761 0.526 1.638 0.001 1.455 179.94° +nightstand 0.511 0.836 0.366 -1.187 0.002 1.535 179.93° +cabinet 1.594 0.926 0.381 0.190 0.003 -1.389 -0.02° +table 0.427 1.621 0.343 2.017 -0.001 -1.218 -58.68° +lamp 0.488 0.853 0.443 -1.166 1.366 1.231 -0.02° +lamp 0.856 0.926 0.753 1.630 1.152 1.287 0.05° +lamp 0.607 0.177 0.590 0.140 2.340 0.125 -0.04° +floor 4.656 -0.003 3.562 -0.046 0.000 -0.016 -0.01° +_scene_ 0.077 0.001 0.025 -5.673 -0.003 -5.708 -57.30° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: wardrobe <-> bed depth=[0.251, 0.699, 0.445] + !! OVERLAP: wardrobe <-> floor depth=[1.777, -0.003, 0.445] + !! OVERLAP: bed <-> nightstand depth=[0.077, 0.699, 0.414] + !! OVERLAP: bed <-> floor depth=[2.282, -0.003, 2.340] + !! OVERLAP: nightstand <-> floor depth=[0.564, -0.003, 0.526] + !! OVERLAP: nightstand <-> floor depth=[0.511, -0.003, 0.366] + !! OVERLAP: cabinet <-> floor depth=[1.594, -0.003, 0.381] + !! OVERLAP: table <-> floor depth=[0.427, -0.003, 0.343] +============================================================ + + +============================================================ +SCENE: SecondBedroom-6261 | 6 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0000, Walkable Loss: 0.0000, Relational Loss: 0.0660 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +nightstand 0.464 0.494 0.413 1.234 0.000 -0.529 -90.02° +lamp 0.962 0.650 0.867 0.031 2.006 0.585 0.07° +bed 2.001 1.199 2.308 0.392 -0.000 0.786 -90.05° +wardrobe 1.992 2.373 0.720 0.153 0.000 -1.281 -0.01° +floor 3.031 0.000 3.715 -0.044 -0.000 0.232 -0.03° +_scene_ 0.069 0.000 0.018 -5.669 -0.005 -5.714 -57.31° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: nightstand <-> bed depth=[0.391, 0.494, 0.045] + !! OVERLAP: nightstand <-> floor depth=[0.464, 0.000, 0.413] + !! OVERLAP: bed <-> floor depth=[2.001, 0.000, 2.308] + !! OVERLAP: wardrobe <-> floor depth=[1.992, 0.000, 0.704] +============================================================ + + +============================================================ +SCENE: SecondBedroom-9923 | 6 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0000, Walkable Loss: 0.0000, Relational Loss: 0.0000 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +bed 2.028 0.755 2.061 0.592 -0.001 -0.710 0.00° +tv_stand 2.001 0.533 0.447 0.481 0.001 1.409 -179.98° +wardrobe 1.896 2.400 0.610 -1.343 -0.001 -0.419 89.97° +lamp 0.370 0.829 0.374 0.375 1.755 -0.596 -0.03° +floor 3.928 -0.001 3.662 0.007 0.000 -0.045 -0.07° +_scene_ 0.080 0.000 0.010 -5.663 -0.005 -5.724 -57.37° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bed <-> wardrobe depth=[0.028, 0.755, 0.610] + !! OVERLAP: bed <-> floor depth=[2.028, -0.001, 2.061] + !! OVERLAP: tv_stand <-> floor depth=[2.001, -0.001, 0.447] + !! OVERLAP: wardrobe <-> floor depth=[1.562, -0.001, 0.610] +============================================================ + + +============================================================ +SCENE: Bedroom-38427 | 7 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0000, Walkable Loss: 0.0000, Relational Loss: 0.0305 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +lamp 0.921 0.949 0.916 -0.055 2.251 -0.088 -0.03° +wardrobe 1.179 1.642 0.587 0.452 0.006 1.303 -179.89° +bed 1.977 0.850 1.996 -0.118 -0.001 -0.711 0.02° +nightstand 0.463 0.472 0.372 -1.292 0.001 -1.547 -0.01° +nightstand 0.552 0.474 0.399 1.014 0.002 -1.605 0.00° +floor 3.108 -0.001 3.707 0.003 0.000 -0.025 -0.00° +_scene_ 0.063 -0.000 0.038 -5.677 -0.001 -5.729 -57.29° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: wardrobe <-> floor depth=[1.179, -0.001, 0.587] + !! OVERLAP: bed <-> nightstand depth=[0.046, 0.472, 0.348] + !! OVERLAP: bed <-> nightstand depth=[0.133, 0.474, 0.304] + !! OVERLAP: bed <-> floor depth=[1.977, -0.001, 1.996] + !! OVERLAP: nightstand <-> floor depth=[0.463, -0.001, 0.372] + !! OVERLAP: nightstand <-> floor depth=[0.552, -0.001, 0.399] +============================================================ + + +============================================================ +SCENE: SecondBedroom-48379 | 6 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0000, Walkable Loss: 0.0000, Relational Loss: 0.0000 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +bed 2.057 2.033 2.174 0.194 -0.002 0.010 -90.14° +wardrobe 0.914 1.658 0.451 0.782 -0.002 -1.741 0.13° +lamp 0.521 0.386 0.531 -0.086 2.404 -0.221 -0.07° +desk 1.692 0.790 0.798 1.129 -0.002 1.173 -90.06° +floor 2.657 0.002 3.957 -0.014 0.000 0.010 0.00° +_scene_ 0.081 -0.000 0.021 -5.667 -0.004 -5.706 -57.32° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bed <-> desk depth=[0.938, 0.790, 0.323] + !! OVERLAP: bed <-> floor depth=[2.057, 0.002, 2.174] + !! OVERLAP: wardrobe <-> floor depth=[0.914, 0.002, 0.451] + !! OVERLAP: desk <-> floor depth=[1.031, 0.002, 0.798] +============================================================ + + +============================================================ +SCENE: Bedroom-74674 | 5 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0000, Walkable Loss: 0.0000, Relational Loss: 0.0762 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +bed 1.768 1.277 1.989 0.378 -0.001 0.627 -90.02° +table 0.704 0.746 0.603 1.068 0.000 -1.057 -90.12° +lamp 0.466 0.652 0.366 0.109 2.165 -0.098 -0.03° +floor 2.981 -0.003 4.150 0.003 0.000 0.004 -0.04° +_scene_ 0.047 0.011 0.015 -5.607 -0.004 -5.673 -57.38° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bed <-> floor depth=[1.768, -0.003, 1.989] + !! OVERLAP: table <-> floor depth=[0.704, -0.003, 0.603] +============================================================ + + +============================================================ +SCENE: MasterBedroom-41843 | 11 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0000, Walkable Loss: 0.0000, Relational Loss: 0.0200 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +lamp 0.871 0.825 0.889 -0.112 2.004 0.653 -0.02° +wardrobe 1.006 2.217 0.635 0.480 -0.001 -2.150 0.05° +wardrobe 1.448 2.139 0.559 0.886 0.001 -1.554 0.05° +bed 2.029 1.317 2.150 0.540 -0.001 0.658 -90.07° +nightstand 0.523 0.553 0.487 1.444 -0.000 -0.808 -89.97° +nightstand 0.610 0.573 0.542 1.417 0.000 2.010 -89.79° +cabinet 0.961 0.771 0.380 -1.371 0.001 0.834 90.02° +chair 0.682 0.807 0.640 -1.052 0.004 -1.791 36.98° +table 0.459 0.479 0.406 -1.210 0.003 -1.048 0.10° +floor 3.633 -0.000 4.894 0.029 0.000 0.055 -0.03° +_scene_ 0.070 -0.000 0.021 -5.671 -0.005 -5.714 -57.31° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: wardrobe <-> wardrobe depth=[0.821, 2.139, 0.001] + !! OVERLAP: wardrobe <-> floor depth=[1.006, -0.000, 0.560] + !! OVERLAP: wardrobe <-> floor depth=[1.448, -0.000, 0.559] + !! OVERLAP: bed <-> floor depth=[2.029, -0.000, 2.150] + !! OVERLAP: nightstand <-> floor depth=[0.523, -0.000, 0.487] + !! OVERLAP: nightstand <-> floor depth=[0.610, -0.000, 0.542] + !! OVERLAP: cabinet <-> floor depth=[0.897, -0.000, 0.380] + !! OVERLAP: chair <-> floor depth=[0.682, -0.000, 0.640] + !! OVERLAP: table <-> floor depth=[0.459, -0.000, 0.406] +============================================================ + + +============================================================ +SCENE: MasterBedroom-21047 | 7 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0000, Walkable Loss: 0.0000, Relational Loss: 0.0432 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +wardrobe 1.425 2.382 0.502 1.237 0.006 -0.616 -90.08° +bed 1.762 1.177 2.150 -0.342 -0.000 -0.446 0.02° +nightstand 0.558 0.637 0.473 -1.726 0.000 -1.252 0.00° +nightstand 0.480 0.568 0.371 0.727 0.000 -1.239 -0.03° +lamp 0.944 1.190 0.940 -0.393 1.600 0.098 0.04° +floor 4.015 -0.002 3.063 -0.092 -0.000 -0.007 -0.02° +_scene_ 0.069 -0.000 0.022 -5.666 -0.004 -5.715 -57.30° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: wardrobe <-> bed depth=[0.015, 1.177, 0.502] + !! OVERLAP: wardrobe <-> floor depth=[1.392, -0.002, 0.502] + !! OVERLAP: bed <-> nightstand depth=[0.052, 0.568, 0.371] + !! OVERLAP: bed <-> floor depth=[1.762, -0.002, 2.150] + !! OVERLAP: nightstand <-> floor depth=[0.558, -0.002, 0.473] + !! OVERLAP: nightstand <-> floor depth=[0.480, -0.002, 0.371] +============================================================ + + +============================================================ +SCENE: MasterBedroom-34469 | 6 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0000, Walkable Loss: 0.0000, Relational Loss: 0.0000 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +bed 2.059 0.937 2.214 -0.628 -0.001 -0.695 0.03° +wardrobe 1.675 2.478 0.567 1.412 -0.001 -0.751 -90.09° +table 1.021 1.125 0.533 -1.662 0.002 1.401 179.95° +lamp 0.570 0.564 0.580 -0.266 2.249 -0.356 0.00° +floor 4.379 -0.004 4.611 -0.173 0.001 -0.009 0.00° +_scene_ 0.067 -0.002 0.014 -5.677 -0.006 -5.715 -57.28° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bed <-> floor depth=[2.059, -0.004, 2.214] + !! OVERLAP: wardrobe <-> floor depth=[1.442, -0.004, 0.567] + !! OVERLAP: table <-> floor depth=[1.021, -0.004, 0.533] +============================================================ + + +============================================================ +SCENE: SecondBedroom-35274 | 5 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0000, Walkable Loss: 0.0000, Relational Loss: 0.0000 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +lamp 0.682 1.069 0.714 0.189 1.655 0.214 -0.05° +bed 2.104 0.955 2.300 0.340 0.000 0.282 -90.08° +wardrobe 1.408 1.977 0.403 0.417 -0.001 -1.889 -0.01° +floor 2.924 -0.002 4.419 0.011 0.002 -0.013 0.00° +_scene_ 0.055 -0.002 0.025 -5.666 -0.006 -5.717 -57.35° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bed <-> floor depth=[2.104, -0.002, 2.300] + !! OVERLAP: wardrobe <-> floor depth=[1.408, -0.002, 0.403] +============================================================ + + +============================================================ +SCENE: SecondBedroom-66007 | 8 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0000, Walkable Loss: 0.0000, Relational Loss: 0.0400 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +bed 1.528 1.153 2.348 -0.028 -0.001 0.161 179.96° +nightstand 0.411 0.468 0.351 -1.219 0.001 1.157 179.90° +desk 1.121 1.083 0.490 1.340 -0.000 0.974 180.00° +chair 0.447 0.684 0.439 1.405 0.004 0.333 -22.04° +wardrobe 1.907 2.085 0.671 -1.320 0.001 0.355 89.98° +lamp 0.657 0.226 0.645 -0.055 2.308 -0.099 -0.02° +floor 3.940 -0.001 2.624 -0.006 -0.000 0.008 -0.03° +_scene_ 0.067 -0.001 0.019 -5.674 -0.005 -5.717 -57.30° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bed <-> wardrobe depth=[0.426, 1.153, 0.671] + !! OVERLAP: bed <-> floor depth=[1.528, -0.001, 2.333] + !! OVERLAP: nightstand <-> floor depth=[0.411, -0.001, 0.338] + !! OVERLAP: desk <-> floor depth=[1.121, -0.001, 0.490] + !! OVERLAP: chair <-> floor depth=[0.447, -0.001, 0.439] + !! OVERLAP: wardrobe <-> floor depth=[1.609, -0.001, 0.671] +============================================================ + + +============================================================ +SCENE: MasterBedroom-6907 | 9 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0000, Walkable Loss: 0.0000, Relational Loss: 0.0278 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +cabinet 0.965 1.379 0.424 1.341 0.002 -0.619 -89.99° +table 1.368 1.231 0.666 1.558 -0.000 0.964 -90.13° +nightstand 0.597 0.635 0.406 -1.761 0.004 -1.705 90.04° +chair 1.301 0.515 0.477 -0.282 0.001 -0.430 90.03° +bed 1.866 1.348 2.040 -1.196 0.002 0.087 89.94° +nightstand 0.566 0.688 0.416 -1.917 0.002 1.334 89.97° +chair 0.601 0.789 0.642 -0.171 0.000 1.569 89.82° +floor 3.936 -0.002 4.276 -0.125 0.001 0.050 -0.01° +_scene_ 0.074 0.000 0.024 -5.672 -0.005 -5.715 -57.31° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: cabinet <-> floor depth=[0.965, -0.002, 0.424] + !! OVERLAP: table <-> floor depth=[0.969, -0.002, 0.666] + !! OVERLAP: nightstand <-> floor depth=[0.597, -0.002, 0.406] + !! OVERLAP: chair <-> bed depth=[0.669, 0.515, 0.477] + !! OVERLAP: chair <-> floor depth=[1.301, -0.002, 0.477] + !! OVERLAP: bed <-> floor depth=[1.830, -0.002, 2.040] + !! OVERLAP: nightstand <-> floor depth=[0.460, -0.002, 0.416] + !! OVERLAP: chair <-> floor depth=[0.601, -0.002, 0.642] +============================================================ + + +============================================================ +SCENE: MasterBedroom-9302 | 7 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0000, Walkable Loss: 0.0000, Relational Loss: 0.0213 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +bed 2.038 1.328 2.246 -0.197 -0.000 0.798 180.00° +nightstand 0.393 0.501 0.365 1.616 0.001 1.574 179.91° +nightstand 0.419 0.582 0.334 -1.433 0.000 1.739 179.81° +table 0.694 1.082 0.415 1.457 0.001 -1.333 0.11° +chair 0.642 0.458 0.598 -0.272 0.001 -0.651 0.12° +floor 3.781 -0.001 3.929 0.006 0.000 0.005 -0.01° +_scene_ 0.071 0.003 0.021 -5.664 -0.004 -5.709 -57.30° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bed <-> floor depth=[2.038, -0.001, 2.246] + !! OVERLAP: nightstand <-> floor depth=[0.393, -0.001, 0.365] + !! OVERLAP: nightstand <-> floor depth=[0.419, -0.001, 0.334] + !! OVERLAP: table <-> floor depth=[0.694, -0.001, 0.415] + !! OVERLAP: chair <-> floor depth=[0.642, -0.001, 0.598] +============================================================ + + +============================================================ +SCENE: MasterBedroom-3151 | 5 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0000, Walkable Loss: 0.0000, Relational Loss: 0.0698 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +bed 1.952 1.258 2.515 0.151 -0.001 0.306 -89.97° +nightstand 0.507 0.445 0.435 1.153 -0.001 -0.988 -90.19° +lamp 0.756 1.005 0.762 0.089 1.782 0.093 -0.02° +floor 2.861 -0.003 3.569 -0.023 0.000 0.077 -0.02° +_scene_ 0.065 0.000 0.017 -5.668 -0.005 -5.717 -57.27° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bed <-> nightstand depth=[0.227, 0.445, 0.181] + !! OVERLAP: bed <-> floor depth=[1.952, -0.003, 2.515] + !! OVERLAP: nightstand <-> floor depth=[0.507, -0.003, 0.435] +============================================================ + + +============================================================ +SCENE: SecondBedroom-13281 | 9 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0000, Walkable Loss: 0.0000, Relational Loss: 0.0514 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +bed 2.224 1.210 2.192 -0.103 0.002 0.797 179.95° +wardrobe 2.224 2.400 0.616 0.773 -0.001 -1.046 0.02° +nightstand 0.609 0.504 0.405 1.632 0.002 1.778 179.93° +nightstand 0.517 0.539 0.387 -1.386 0.000 1.591 179.91° +lamp 0.436 1.013 0.410 -1.028 1.543 1.450 0.04° +lamp 0.652 0.745 0.696 1.467 1.602 1.571 -0.01° +lamp 0.941 0.952 0.911 0.069 1.794 0.220 -0.02° +floor 3.877 -0.000 4.015 -0.019 0.001 -0.015 -0.01° +_scene_ 0.072 0.000 0.026 -5.667 -0.003 -5.715 -57.30° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bed <-> nightstand depth=[0.088, 0.539, 0.387] + !! OVERLAP: bed <-> floor depth=[2.224, -0.000, 2.192] + !! OVERLAP: wardrobe <-> floor depth=[2.224, -0.000, 0.616] + !! OVERLAP: nightstand <-> floor depth=[0.591, -0.000, 0.405] + !! OVERLAP: nightstand <-> floor depth=[0.517, -0.000, 0.387] +============================================================ + + +============================================================ +SCENE: MasterBedroom-74105 | 8 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0000, Walkable Loss: 0.0000, Relational Loss: 0.0315 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +nightstand 0.389 0.503 0.403 1.365 0.000 0.822 -90.01° +nightstand 0.574 0.555 0.545 1.220 0.003 -1.373 -90.14° +bed 1.653 1.021 2.410 0.401 -0.000 -0.199 -90.00° +bookshelf 0.993 1.768 0.403 -1.097 -0.004 -0.938 90.10° +wardrobe 1.985 2.407 0.631 0.442 -0.000 1.265 -179.98° +lamp 0.944 0.847 0.934 -0.012 1.714 -0.150 0.00° +floor 3.124 -0.001 3.560 0.002 -0.000 0.013 -0.02° +_scene_ 0.071 0.000 0.020 -5.672 -0.005 -5.714 -57.30° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: nightstand <-> bed depth=[0.057, 0.503, 0.386] + !! OVERLAP: nightstand <-> wardrobe depth=[0.264, 0.503, 0.074] + !! OVERLAP: nightstand <-> floor depth=[0.389, -0.001, 0.403] + !! OVERLAP: nightstand <-> bed depth=[0.294, 0.555, 0.303] + !! OVERLAP: nightstand <-> floor depth=[0.574, -0.001, 0.545] + !! OVERLAP: bed <-> wardrobe depth=[1.653, 1.021, 0.057] + !! OVERLAP: bed <-> floor depth=[1.653, -0.001, 2.410] + !! OVERLAP: bookshelf <-> floor depth=[0.960, -0.001, 0.403] + !! OVERLAP: wardrobe <-> floor depth=[1.985, -0.001, 0.631] +============================================================ + + +============================================================ +SCENE: Bedroom-837 | 6 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0000, Walkable Loss: 0.0000, Relational Loss: 0.0361 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +bed 2.067 0.677 2.025 0.152 0.001 -0.196 0.06° +wardrobe 2.530 2.204 0.690 -1.380 0.000 -0.412 89.95° +nightstand 0.561 0.441 0.386 1.485 0.002 -1.091 0.00° +lamp 0.519 0.153 0.533 0.243 2.393 -0.148 -0.03° +floor 3.714 -0.001 2.761 0.026 0.001 0.002 -0.05° +_scene_ 0.067 -0.001 0.023 -5.671 -0.004 -5.713 -57.34° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bed <-> wardrobe depth=[0.766, 0.677, 0.690] + !! OVERLAP: bed <-> floor depth=[2.067, -0.001, 2.025] + !! OVERLAP: wardrobe <-> floor depth=[1.716, -0.001, 0.690] + !! OVERLAP: nightstand <-> floor depth=[0.561, -0.001, 0.386] +============================================================ + + +============================================================ +SCENE: SecondBedroom-24075 | 6 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0000, Walkable Loss: 0.0000, Relational Loss: 0.0000 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +bed 1.924 1.523 2.208 0.052 0.001 0.433 -179.99° +nightstand 0.371 0.493 0.314 -1.203 0.001 1.317 179.90° +nightstand 0.384 0.589 0.346 1.245 0.005 1.231 179.96° +lamp 0.561 0.732 0.553 0.122 2.099 0.032 -0.00° +floor 3.604 -0.003 3.073 -0.023 0.001 -0.026 -0.04° +_scene_ 0.072 0.000 0.020 -5.673 -0.004 -5.710 -57.31° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bed <-> floor depth=[1.924, -0.003, 2.182] + !! OVERLAP: nightstand <-> floor depth=[0.371, -0.003, 0.314] + !! OVERLAP: nightstand <-> floor depth=[0.384, -0.003, 0.346] +============================================================ + + +============================================================ +SCENE: Bedroom-22570 | 7 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0000, Walkable Loss: 0.0000, Relational Loss: 0.0000 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +bed 1.849 0.959 2.125 0.326 0.001 0.644 -179.98° +nightstand 0.431 0.449 0.340 -1.038 0.002 1.431 179.93° +nightstand 0.560 0.531 0.477 1.557 0.001 1.350 179.94° +lamp 0.551 0.757 0.577 0.208 1.907 0.062 -0.05° +wardrobe 4.005 2.441 0.868 -1.163 -0.002 -0.659 89.89° +floor 4.238 -0.003 3.234 -0.029 0.000 -0.019 -0.01° +_scene_ 0.070 -0.000 0.029 -5.672 -0.004 -5.715 -57.26° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bed <-> wardrobe depth=[1.437, 0.959, 0.193] + !! OVERLAP: bed <-> floor depth=[1.849, -0.003, 2.017] + !! OVERLAP: nightstand <-> floor depth=[0.431, -0.003, 0.337] + !! OVERLAP: nightstand <-> floor depth=[0.560, -0.003, 0.477] + !! OVERLAP: wardrobe <-> floor depth=[2.987, -0.003, 0.868] +============================================================ + + +============================================================ +SCENE: MasterBedroom-40255 | 8 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0000, Walkable Loss: 0.0000, Relational Loss: 0.0263 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +wardrobe 1.112 2.213 0.521 1.232 -0.002 -1.983 0.04° +wardrobe 1.411 2.243 0.620 -0.838 -0.002 -1.687 0.03° +bed 1.867 1.107 2.053 -0.513 -0.000 0.332 89.94° +nightstand 0.462 0.529 0.399 -1.363 0.000 1.435 90.00° +nightstand 0.592 0.516 0.440 -1.274 0.001 -0.908 89.78° +lamp 0.546 0.865 0.540 -0.152 1.817 0.191 0.00° +floor 3.409 0.002 4.647 0.213 -0.000 0.010 -0.01° +_scene_ 0.070 0.002 0.031 -5.670 -0.005 -5.717 -57.30° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: wardrobe <-> floor depth=[1.112, 0.002, 0.521] + !! OVERLAP: wardrobe <-> floor depth=[1.358, 0.002, 0.620] + !! OVERLAP: bed <-> nightstand depth=[0.315, 0.529, 0.124] + !! OVERLAP: bed <-> nightstand depth=[0.469, 0.516, 0.007] + !! OVERLAP: bed <-> floor depth=[1.867, 0.002, 2.053] + !! OVERLAP: nightstand <-> floor depth=[0.360, 0.002, 0.399] + !! OVERLAP: nightstand <-> floor depth=[0.513, 0.002, 0.440] +============================================================ + + +============================================================ +SCENE: SecondBedroom-9594 | 8 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0000, Walkable Loss: 0.0000, Relational Loss: 0.0000 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +desk 1.286 0.712 0.708 -1.225 0.001 -0.967 89.86° +bed 2.075 1.087 2.163 0.725 0.002 -0.679 -89.94° +wardrobe 2.839 2.223 0.670 0.312 -0.000 1.345 -179.90° +nightstand 1.068 0.732 0.507 1.447 0.001 0.429 -90.09° +chair 0.418 0.973 0.475 -0.854 0.001 -0.984 -90.15° +lamp 0.756 0.113 0.769 0.075 2.524 -0.116 -0.08° +floor 3.346 -0.002 3.515 -0.018 0.001 -0.044 0.01° +_scene_ 0.075 0.000 0.024 -5.670 -0.004 -5.711 -57.32° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: desk <-> chair depth=[0.418, 0.712, 0.475] + !! OVERLAP: desk <-> floor depth=[1.110, -0.002, 0.708] + !! OVERLAP: bed <-> nightstand depth=[0.850, 0.732, 0.227] + !! OVERLAP: bed <-> floor depth=[1.967, -0.002, 2.163] + !! OVERLAP: wardrobe <-> floor depth=[2.763, -0.002, 0.670] + !! OVERLAP: nightstand <-> floor depth=[0.742, -0.002, 0.507] + !! OVERLAP: chair <-> floor depth=[0.418, -0.002, 0.475] +============================================================ + + +============================================================ +SCENE: MasterBedroom-18517 | 12 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0000, Walkable Loss: 0.0000, Relational Loss: 0.0217 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +bed 1.961 0.980 2.210 -0.202 0.002 0.359 -179.99° +nightstand 0.646 0.677 0.552 0.926 0.002 1.319 179.99° +nightstand 0.568 0.674 0.491 -1.391 0.001 1.302 179.93° +wardrobe 1.949 2.486 0.548 -1.696 -0.000 0.296 89.87° +chair 0.478 0.716 0.615 2.058 0.000 -1.298 -31.03° +table 0.374 0.487 0.375 1.805 0.000 -0.564 -0.02° +cabinet 0.675 1.241 0.348 2.035 0.001 1.173 -179.95° +lamp 0.838 1.086 0.813 0.024 1.779 -0.399 -0.06° +lamp 0.194 0.943 0.191 -1.204 1.734 1.106 0.04° +lamp 0.241 0.756 0.219 1.101 1.711 0.869 89.72° +floor 4.822 -0.002 3.326 -0.010 0.000 0.008 -0.03° +_scene_ 0.071 0.001 0.020 -5.671 -0.005 -5.715 -57.29° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bed <-> nightstand depth=[0.176, 0.677, 0.420] + !! OVERLAP: bed <-> nightstand depth=[0.075, 0.674, 0.407] + !! OVERLAP: bed <-> wardrobe depth=[0.461, 0.980, 0.548] + !! OVERLAP: bed <-> floor depth=[1.961, -0.002, 2.210] + !! OVERLAP: nightstand <-> floor depth=[0.646, -0.002, 0.552] + !! OVERLAP: nightstand <-> floor depth=[0.568, -0.002, 0.491] + !! OVERLAP: wardrobe <-> floor depth=[1.700, -0.002, 0.548] + !! OVERLAP: chair <-> floor depth=[0.478, -0.002, 0.615] + !! OVERLAP: table <-> floor depth=[0.374, -0.002, 0.375] + !! OVERLAP: cabinet <-> floor depth=[0.675, -0.002, 0.348] +============================================================ + + +============================================================ +SCENE: MasterBedroom-116808 | 6 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0000, Walkable Loss: 0.0000, Relational Loss: 0.0000 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +bed 1.719 1.123 2.543 0.008 0.002 0.162 89.87° +nightstand 0.571 0.667 0.466 -1.073 0.001 1.306 90.00° +lamp 1.165 0.992 1.048 0.051 1.554 0.317 0.03° +wardrobe 2.215 2.394 0.644 -0.125 -0.000 -1.177 -0.01° +floor 2.665 0.000 3.139 -0.007 0.000 0.007 -0.04° +_scene_ 0.069 0.001 0.014 -5.670 -0.005 -5.716 -57.30° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bed <-> nightstand depth=[0.064, 0.667, 0.361] + !! OVERLAP: bed <-> wardrobe depth=[1.719, 1.123, 0.254] + !! OVERLAP: bed <-> floor depth=[1.719, 0.000, 2.543] + !! OVERLAP: nightstand <-> floor depth=[0.552, 0.000, 0.466] + !! OVERLAP: wardrobe <-> floor depth=[2.215, 0.000, 0.644] +============================================================ + + +============================================================ +SCENE: MasterBedroom-34912 | 9 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0000, Walkable Loss: 0.0000, Relational Loss: 0.0334 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +table 0.991 1.202 0.460 -2.431 -0.002 -1.215 -0.00° +nightstand 0.519 0.618 0.413 0.619 0.000 -1.296 0.05° +chair 0.509 0.525 0.520 -2.098 -0.001 -0.750 -90.05° +bed 2.139 1.494 2.327 -0.872 0.001 -0.193 -0.00° +cabinet 0.658 0.873 0.435 -2.050 0.001 1.415 179.99° +lamp 0.714 0.864 0.704 -0.802 1.956 0.027 -0.00° +wardrobe 2.348 2.282 0.635 1.199 -0.001 0.066 -90.06° +floor 5.678 -0.012 2.887 -0.516 0.000 0.296 0.03° +_scene_ 0.074 -0.000 0.019 -5.670 -0.005 -5.716 -57.29° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: table <-> chair depth=[0.417, 0.525, 0.025] + !! OVERLAP: table <-> bed depth=[0.006, 1.202, 0.371] + !! OVERLAP: table <-> floor depth=[0.991, -0.012, 0.163] + !! OVERLAP: nightstand <-> floor depth=[0.519, -0.012, 0.058] + !! OVERLAP: chair <-> bed depth=[0.098, 0.525, 0.520] + !! OVERLAP: chair <-> floor depth=[0.509, -0.012, 0.520] + !! OVERLAP: bed <-> wardrobe depth=[0.172, 1.494, 0.635] + !! OVERLAP: bed <-> floor depth=[2.139, -0.012, 2.118] + !! OVERLAP: cabinet <-> floor depth=[0.658, -0.012, 0.435] + !! OVERLAP: wardrobe <-> floor depth=[2.298, -0.012, 0.635] +============================================================ + + +============================================================ +SCENE: SecondBedroom-3960 | 6 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0000, Walkable Loss: 0.0000, Relational Loss: 0.1044 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +bed 2.666 1.552 2.587 -0.138 -0.002 -0.208 89.76° +nightstand 0.386 0.458 0.271 -1.257 0.004 1.067 89.94° +nightstand 0.496 0.518 0.351 -1.318 0.002 -1.557 89.98° +wardrobe 0.788 2.144 0.521 0.005 0.001 1.850 -179.98° +floor 3.159 -0.003 3.871 -0.011 0.001 -0.011 -0.01° +_scene_ 0.067 0.002 0.022 -5.673 -0.005 -5.707 -57.31° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bed <-> nightstand depth=[0.386, 0.458, 0.154] + !! OVERLAP: bed <-> nightstand depth=[0.400, 0.518, 0.120] + !! OVERLAP: bed <-> floor depth=[2.666, -0.003, 2.587] + !! OVERLAP: nightstand <-> floor depth=[0.386, -0.003, 0.271] + !! OVERLAP: nightstand <-> floor depth=[0.496, -0.003, 0.351] + !! OVERLAP: wardrobe <-> floor depth=[0.788, -0.003, 0.335] +============================================================ + + +============================================================ +SCENE: MasterBedroom-17206 | 10 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0000, Walkable Loss: 0.0000, Relational Loss: 0.0355 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +bed 2.078 1.679 2.254 0.605 -0.000 0.243 -90.02° +nightstand 0.520 0.617 0.542 1.355 0.001 1.582 -89.99° +wardrobe 1.749 2.239 0.658 0.472 0.000 -2.149 0.01° +chair 0.561 0.502 0.458 -1.179 0.001 1.499 89.97° +table 0.989 1.246 0.460 -1.447 -0.001 1.672 90.01° +nightstand 0.553 0.608 0.539 1.424 0.004 -0.987 -90.06° +lamp 0.748 1.043 0.733 -0.104 1.763 0.233 0.02° +tv_stand 1.873 0.510 0.436 -1.364 0.002 -0.013 90.04° +floor 3.457 -0.001 5.063 0.004 0.000 -0.018 -0.02° +_scene_ 0.070 0.001 0.022 -5.669 -0.005 -5.713 -57.29° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bed <-> nightstand depth=[0.520, 0.617, 0.059] + !! OVERLAP: bed <-> nightstand depth=[0.497, 0.608, 0.166] + !! OVERLAP: bed <-> tv_stand depth=[0.006, 0.510, 0.436] + !! OVERLAP: bed <-> floor depth=[2.078, -0.001, 2.254] + !! OVERLAP: nightstand <-> floor depth=[0.520, -0.001, 0.542] + !! OVERLAP: wardrobe <-> floor depth=[1.749, -0.001, 0.658] + !! OVERLAP: chair <-> table depth=[0.507, 0.502, 0.285] + !! OVERLAP: chair <-> floor depth=[0.561, -0.001, 0.458] + !! OVERLAP: table <-> floor depth=[0.772, -0.001, 0.460] + !! OVERLAP: nightstand <-> floor depth=[0.553, -0.001, 0.539] + !! OVERLAP: tv_stand <-> floor depth=[1.297, -0.001, 0.436] +============================================================ + + +============================================================ +SCENE: MasterBedroom-109561 | 8 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0000, Walkable Loss: 0.0000, Relational Loss: 0.0429 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +bed 1.950 0.941 2.367 -0.451 -0.001 -0.659 0.01° +lamp 0.971 0.898 1.001 -0.110 1.907 0.017 -0.05° +tv_stand 1.904 0.525 0.411 -0.246 0.001 1.777 179.96° +chair 0.547 0.815 0.514 -1.517 0.002 1.479 7.49° +nightstand 0.618 0.824 0.457 -1.377 0.001 -1.704 -0.03° +wardrobe 1.596 2.283 0.587 1.225 -0.002 -0.158 -90.11° +floor 3.609 -0.000 4.221 -0.057 -0.001 0.012 -0.00° +_scene_ 0.071 -0.001 0.024 -5.674 -0.005 -5.714 -57.30° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bed <-> nightstand depth=[0.358, 0.824, 0.366] + !! OVERLAP: bed <-> wardrobe depth=[0.097, 0.941, 0.587] + !! OVERLAP: bed <-> floor depth=[1.950, -0.000, 2.367] + !! OVERLAP: tv_stand <-> floor depth=[1.904, -0.000, 0.411] + !! OVERLAP: chair <-> floor depth=[0.547, -0.000, 0.514] + !! OVERLAP: nightstand <-> floor depth=[0.618, -0.000, 0.457] + !! OVERLAP: wardrobe <-> floor depth=[1.320, -0.000, 0.587] +============================================================ + + +============================================================ +SCENE: SecondBedroom-30334 | 11 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0000, Walkable Loss: 0.0000, Relational Loss: 0.0126 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +bed 1.945 0.968 2.265 0.282 0.000 0.340 179.98° +wardrobe 1.723 2.373 0.494 2.183 -0.003 0.076 -90.02° +wardrobe 1.872 2.390 0.643 2.161 -0.003 0.048 -90.16° +nightstand 0.503 0.595 0.412 1.263 0.000 1.221 179.97° +nightstand 0.525 0.730 0.390 -1.604 0.001 1.253 179.85° +chair 0.876 1.066 1.134 -1.958 0.011 -0.056 40.66° +table 0.707 0.551 0.629 -1.720 0.000 -0.665 -0.02° +lamp 0.313 0.802 0.171 -1.834 1.597 -0.039 -89.82° +lamp 0.654 0.974 0.666 -0.012 2.003 -0.052 -0.03° +floor 5.455 -0.000 2.882 -0.002 -0.002 -0.015 -0.03° +_scene_ 0.081 -0.001 0.025 -5.670 -0.002 -5.710 -57.32° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bed <-> wardrobe depth=[0.030, 0.968, 0.643] + !! OVERLAP: bed <-> nightstand depth=[0.243, 0.595, 0.412] + !! OVERLAP: bed <-> floor depth=[1.945, -0.000, 2.219] + !! OVERLAP: wardrobe <-> wardrobe depth=[1.723, 2.373, 0.494] + !! OVERLAP: wardrobe <-> floor depth=[1.403, -0.000, 0.494] + !! OVERLAP: wardrobe <-> floor depth=[1.501, -0.000, 0.643] + !! OVERLAP: nightstand <-> floor depth=[0.503, -0.000, 0.411] + !! OVERLAP: nightstand <-> floor depth=[0.525, -0.000, 0.368] + !! OVERLAP: chair <-> table depth=[0.553, 0.551, 0.272] + !! OVERLAP: chair <-> floor depth=[0.876, -0.000, 1.134] + !! OVERLAP: table <-> floor depth=[0.707, -0.000, 0.629] +============================================================ + + +============================================================ +SCENE: Bedroom-54233 | 9 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0000, Walkable Loss: 0.0000, Relational Loss: 0.0043 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +wardrobe 1.340 1.608 0.444 0.633 -0.001 -2.363 -0.00° +bed 1.595 1.045 2.157 0.281 0.002 -0.028 -89.92° +nightstand 0.548 0.446 0.437 1.081 0.000 -1.350 -90.26° +nightstand 0.439 0.422 0.389 1.255 0.001 1.452 -89.96° +table 1.204 1.348 0.465 -1.039 0.006 1.578 90.03° +chair 0.369 0.492 0.400 -0.158 0.006 2.004 -113.86° +lamp 0.712 0.164 0.714 0.111 2.390 0.250 -0.01° +floor 2.704 -0.000 5.706 -0.020 -0.000 0.174 -0.01° +_scene_ 0.071 0.001 0.020 -5.667 -0.004 -5.709 -57.32° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: wardrobe <-> floor depth=[1.340, -0.000, 0.444] + !! OVERLAP: bed <-> floor depth=[1.595, -0.000, 2.157] + !! OVERLAP: nightstand <-> floor depth=[0.526, -0.000, 0.437] + !! OVERLAP: nightstand <-> floor depth=[0.297, -0.000, 0.389] + !! OVERLAP: table <-> floor depth=[0.934, -0.000, 0.465] + !! OVERLAP: chair <-> floor depth=[0.369, -0.000, 0.400] +============================================================ + + +============================================================ +SCENE: Bedroom-17102 | 6 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0000, Walkable Loss: 0.0000, Relational Loss: 0.0417 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +bed 1.903 1.513 2.450 -0.336 0.001 0.098 89.83° +table 0.580 0.596 0.565 -1.218 0.000 1.453 0.00° +lamp 0.551 0.789 0.549 0.006 1.977 0.162 -0.02° +wardrobe 1.689 2.332 0.612 -0.467 -0.002 -1.739 -0.01° +floor 3.054 -0.001 3.966 -0.010 0.000 -0.031 -0.02° +_scene_ 0.074 0.001 0.019 -5.673 -0.004 -5.717 -57.32° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bed <-> table depth=[0.360, 0.596, 0.153] + !! OVERLAP: bed <-> floor depth=[1.903, -0.001, 2.450] + !! OVERLAP: table <-> floor depth=[0.580, -0.001, 0.565] + !! OVERLAP: wardrobe <-> floor depth=[1.689, -0.001, 0.580] +============================================================ + + +============================================================ +SCENE: MasterBedroom-40319 | 10 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0000, Walkable Loss: 0.0000, Relational Loss: 0.0255 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +wardrobe 1.531 2.464 0.726 -1.375 -0.007 -0.779 90.14° +lamp 0.409 0.607 0.392 -1.109 1.588 -1.428 -0.09° +lamp 0.250 0.924 0.254 1.493 1.433 -1.506 0.04° +lamp 0.650 0.770 0.658 0.014 1.906 -0.191 -0.03° +table 1.000 1.148 0.444 1.404 0.001 1.297 179.96° +bed 1.765 1.023 2.210 0.077 -0.002 -0.498 0.01° +nightstand 0.377 0.436 0.325 1.469 0.001 -1.534 -0.04° +nightstand 0.417 0.476 0.384 -1.280 0.000 -1.425 -0.04° +floor 3.846 -0.002 3.199 -0.030 -0.000 -0.016 -0.03° +_scene_ 0.067 0.001 0.021 -5.673 -0.004 -5.713 -57.32° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: wardrobe <-> bed depth=[0.197, 1.023, 0.726] + !! OVERLAP: wardrobe <-> floor depth=[1.343, -0.002, 0.726] + !! OVERLAP: table <-> floor depth=[0.988, -0.002, 0.444] + !! OVERLAP: bed <-> floor depth=[1.765, -0.002, 2.210] + !! OVERLAP: nightstand <-> floor depth=[0.377, -0.002, 0.243] + !! OVERLAP: nightstand <-> floor depth=[0.417, -0.002, 0.382] +============================================================ + + +============================================================ +SCENE: MasterBedroom-28978 | 9 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0000, Walkable Loss: 0.0000, Relational Loss: 0.0143 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +nightstand 0.457 0.494 0.399 1.305 0.000 -1.237 -89.81° +bookshelf 1.377 1.877 0.294 -0.035 0.005 -1.521 0.12° +wardrobe 2.311 2.325 0.590 0.228 0.001 1.422 -179.99° +chair 0.461 0.882 0.446 -0.291 0.005 -0.929 -114.38° +desk 1.057 0.823 0.540 -1.404 0.004 1.270 89.92° +bed 2.402 1.253 2.327 0.230 0.002 -0.142 -90.00° +lamp 0.724 0.475 0.692 -0.014 2.440 0.112 -0.06° +floor 3.342 -0.000 3.468 -0.009 -0.001 -0.002 -0.00° +_scene_ 0.068 -0.000 0.023 -5.673 -0.005 -5.716 -57.30° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: nightstand <-> bed depth=[0.354, 0.494, 0.269] + !! OVERLAP: nightstand <-> floor depth=[0.457, -0.000, 0.399] + !! OVERLAP: bookshelf <-> floor depth=[1.377, -0.000, 0.294] + !! OVERLAP: wardrobe <-> desk depth=[0.052, 0.823, 0.413] + !! OVERLAP: wardrobe <-> floor depth=[2.311, -0.000, 0.590] + !! OVERLAP: chair <-> bed depth=[0.461, 0.882, 0.446] + !! OVERLAP: chair <-> floor depth=[0.461, -0.000, 0.446] + !! OVERLAP: desk <-> bed depth=[0.095, 0.823, 0.022] + !! OVERLAP: desk <-> floor depth=[0.804, -0.000, 0.540] + !! OVERLAP: bed <-> floor depth=[2.402, -0.000, 2.327] +============================================================ + + +============================================================ +SCENE: MasterBedroom-392 | 9 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0000, Walkable Loss: 0.0000, Relational Loss: 0.0216 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +wardrobe 2.326 2.381 0.536 -0.347 -0.003 -1.929 0.02° +nightstand 0.622 0.556 0.443 -1.201 0.002 -0.879 89.97° +nightstand 0.660 0.534 0.444 -0.658 0.001 -0.508 90.01° +nightstand 0.460 0.631 0.387 -1.327 0.010 1.778 90.02° +bed 2.041 1.006 2.244 -0.502 -0.001 0.465 89.94° +bookshelf 0.933 2.146 0.414 1.274 -0.002 1.364 -90.03° +lamp 0.629 0.895 0.650 -0.033 1.754 0.606 0.01° +floor 3.065 -0.003 5.166 0.007 0.001 0.204 -0.01° +_scene_ 0.069 0.000 0.019 -5.673 -0.005 -5.716 -57.29° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: wardrobe <-> floor depth=[2.326, -0.003, 0.536] + !! OVERLAP: nightstand <-> nightstand depth=[0.098, 0.534, 0.073] + !! OVERLAP: nightstand <-> floor depth=[0.622, -0.003, 0.443] + !! OVERLAP: nightstand <-> bed depth=[0.660, 0.534, 0.371] + !! OVERLAP: nightstand <-> floor depth=[0.660, -0.003, 0.444] + !! OVERLAP: nightstand <-> bed depth=[0.426, 0.631, 0.002] + !! OVERLAP: nightstand <-> floor depth=[0.429, -0.003, 0.387] + !! OVERLAP: bed <-> floor depth=[2.041, -0.003, 2.244] + !! OVERLAP: bookshelf <-> floor depth=[0.732, -0.003, 0.414] +============================================================ + + +============================================================ +SCENE: MasterBedroom-3712 | 6 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0000, Walkable Loss: 0.0000, Relational Loss: 0.0428 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +lamp 0.649 0.638 0.664 0.255 2.127 -0.152 -0.05° +desk 1.555 0.738 0.947 0.910 0.002 -0.373 0.08° +chair 0.513 0.810 0.537 0.828 0.004 -1.121 -169.49° +bed 1.614 1.220 2.095 -0.668 0.004 -0.080 -0.04° +floor 3.113 -0.001 2.777 -0.006 -0.000 0.002 -0.04° +_scene_ 0.062 0.002 0.020 -5.673 -0.004 -5.717 -57.28° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: desk <-> bed depth=[0.007, 0.738, 0.947] + !! OVERLAP: desk <-> floor depth=[1.418, -0.001, 0.947] + !! OVERLAP: chair <-> floor depth=[0.513, -0.001, 0.534] + !! OVERLAP: bed <-> floor depth=[1.614, -0.001, 2.095] +============================================================ + + +============================================================ +SCENE: MasterBedroom-1446 | 9 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0000, Walkable Loss: 0.0000, Relational Loss: 0.0122 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +bed 1.965 0.822 1.999 1.103 -0.000 1.019 179.97° +nightstand 0.302 0.544 0.279 2.270 0.003 1.952 -90.17° +wardrobe 1.572 2.063 0.595 -1.474 0.002 -1.294 0.06° +lamp 0.317 0.970 0.342 0.310 1.759 0.655 -0.02° +chair 0.602 0.888 0.651 -0.893 -0.002 1.728 153.76° +chair 0.636 0.898 0.685 -1.571 -0.000 1.872 145.95° +chair 0.830 0.414 0.401 2.195 0.000 -0.502 179.93° +floor 5.184 -0.004 4.500 0.374 -0.000 0.057 -0.03° +_scene_ 0.062 0.000 0.014 -5.676 -0.005 -5.716 -57.31° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bed <-> floor depth=[1.965, -0.004, 1.999] + !! OVERLAP: nightstand <-> floor depth=[0.302, -0.004, 0.279] + !! OVERLAP: wardrobe <-> floor depth=[1.530, -0.004, 0.595] + !! OVERLAP: chair <-> floor depth=[0.602, -0.004, 0.651] + !! OVERLAP: chair <-> floor depth=[0.636, -0.004, 0.685] + !! OVERLAP: chair <-> floor depth=[0.830, -0.004, 0.401] +============================================================ + + +============================================================ +SCENE: SecondBedroom-6847 | 8 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0000, Walkable Loss: 0.0000, Relational Loss: 0.0459 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +bed 1.881 1.183 2.369 0.356 0.000 -0.438 -89.99° +cabinet 1.438 2.106 0.560 0.683 0.001 1.358 -179.95° +nightstand 0.526 0.596 0.478 1.359 0.004 0.668 -90.16° +nightstand 0.556 0.685 0.439 1.229 0.011 -1.397 -90.11° +cabinet 1.408 1.921 0.452 -1.311 0.000 -0.765 89.91° +lamp 0.255 1.488 0.234 -0.211 1.124 -0.288 0.04° +floor 3.074 -0.004 3.464 -0.004 0.000 -0.025 -0.02° +_scene_ 0.065 0.000 0.015 -5.677 -0.005 -5.715 -57.31° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bed <-> nightstand depth=[0.201, 0.596, 0.318] + !! OVERLAP: bed <-> nightstand depth=[0.346, 0.685, 0.439] + !! OVERLAP: bed <-> lamp depth=[0.255, 0.212, 0.234] + !! OVERLAP: bed <-> floor depth=[1.881, -0.004, 2.369] + !! OVERLAP: cabinet <-> floor depth=[1.438, -0.004, 0.560] + !! OVERLAP: nightstand <-> floor depth=[0.437, -0.004, 0.478] + !! OVERLAP: nightstand <-> floor depth=[0.556, -0.004, 0.439] + !! OVERLAP: cabinet <-> floor depth=[0.934, -0.004, 0.452] +============================================================ + + +============================================================ +SCENE: MasterBedroom-12183 | 8 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0000, Walkable Loss: 0.0000, Relational Loss: 0.0292 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +desk 1.623 0.819 0.843 -1.306 -0.002 -0.509 89.96° +bed 1.599 1.235 2.431 0.313 0.001 -0.212 0.04° +nightstand 0.506 0.589 0.486 -0.670 0.002 -1.164 0.01° +nightstand 0.550 0.606 0.540 1.453 0.000 -1.072 0.05° +lamp 0.511 0.270 0.495 0.457 2.345 -0.075 -89.74° +lamp 0.730 0.848 0.707 -1.545 1.947 -1.093 -0.04° +floor 3.994 -0.002 2.870 0.005 0.000 0.002 -0.06° +_scene_ 0.069 0.000 0.022 -5.672 -0.005 -5.712 -57.30° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: desk <-> nightstand depth=[0.429, 0.589, 0.009] + !! OVERLAP: desk <-> floor depth=[1.498, -0.002, 0.843] + !! OVERLAP: bed <-> nightstand depth=[0.070, 0.589, 0.486] + !! OVERLAP: bed <-> floor depth=[1.599, -0.002, 2.431] + !! OVERLAP: nightstand <-> floor depth=[0.506, -0.002, 0.486] + !! OVERLAP: nightstand <-> floor depth=[0.550, -0.002, 0.540] +============================================================ + + +============================================================ +SCENE: Bedroom-8136 | 5 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0000, Walkable Loss: 0.0000, Relational Loss: 0.0000 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +bed 1.895 1.144 2.360 0.130 0.001 -0.404 -90.09° +wardrobe 2.513 2.444 0.754 -0.164 0.002 1.595 -179.98° +lamp 0.570 0.694 0.587 -0.071 1.999 -0.190 -0.01° +floor 3.083 -0.002 4.196 -0.005 -0.000 -0.000 0.01° +_scene_ 0.053 -0.002 0.005 -5.679 -0.008 -5.715 -57.30° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bed <-> floor depth=[1.895, -0.002, 2.360] + !! OVERLAP: wardrobe <-> floor depth=[2.513, -0.002, 0.754] +============================================================ + + +============================================================ +SCENE: MasterBedroom-24714 | 7 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0000, Walkable Loss: 0.0000, Relational Loss: 0.0447 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +wardrobe 2.049 2.366 0.631 0.126 -0.001 -1.583 0.03° +bed 2.425 1.270 2.400 0.270 -0.001 0.488 -90.04° +tv_stand 1.855 0.498 0.462 -1.219 -0.000 0.589 90.07° +nightstand 0.536 0.680 0.466 1.254 0.000 -0.833 -89.95° +lamp 1.093 0.897 1.128 -0.004 1.986 0.479 -0.02° +floor 3.189 -0.004 3.818 -0.002 0.000 0.016 -0.02° +_scene_ 0.070 0.000 0.020 -5.674 -0.005 -5.715 -57.30° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: wardrobe <-> floor depth=[2.049, -0.004, 0.626] + !! OVERLAP: bed <-> tv_stand depth=[0.650, 0.498, 0.462] + !! OVERLAP: bed <-> nightstand depth=[0.496, 0.680, 0.112] + !! OVERLAP: bed <-> floor depth=[2.425, -0.004, 2.400] + !! OVERLAP: tv_stand <-> floor depth=[1.305, -0.004, 0.462] + !! OVERLAP: nightstand <-> floor depth=[0.536, -0.004, 0.466] +============================================================ + + +============================================================ +SCENE: Bedroom-13858 | 7 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0000, Walkable Loss: 0.0000, Relational Loss: 0.0859 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +bed 2.480 1.308 2.454 -0.445 -0.000 -0.542 0.04° +wardrobe 1.081 2.214 0.654 1.258 0.003 -0.448 -179.84° +nightstand 0.516 0.625 0.395 1.378 0.001 -1.578 -0.02° +nightstand 0.645 0.603 0.522 -1.500 0.002 -1.511 0.01° +lamp 1.088 0.817 1.115 -0.247 2.075 -0.464 -0.09° +floor 4.006 -0.001 3.562 -0.088 -0.000 0.002 -0.03° +_scene_ 0.071 0.000 0.024 -5.669 -0.005 -5.715 -57.30° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bed <-> wardrobe depth=[0.077, 1.308, 0.654] + !! OVERLAP: bed <-> nightstand depth=[0.508, 0.603, 0.519] + !! OVERLAP: bed <-> floor depth=[2.480, -0.001, 2.454] + !! OVERLAP: wardrobe <-> floor depth=[1.081, -0.001, 0.654] + !! OVERLAP: nightstand <-> floor depth=[0.516, -0.001, 0.395] + !! OVERLAP: nightstand <-> floor depth=[0.645, -0.001, 0.522] +============================================================ + + +============================================================ +SCENE: MasterBedroom-118 | 5 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0000, Walkable Loss: 0.0000, Relational Loss: 0.0537 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +bed 1.950 1.033 2.165 -0.389 0.000 0.129 89.95° +table 0.533 0.595 0.559 -1.072 0.002 -1.049 89.81° +lamp 1.040 1.006 1.085 -0.097 1.990 0.044 -0.00° +floor 2.748 -0.002 3.548 -0.013 0.001 -0.046 -0.03° +_scene_ 0.068 0.001 0.039 -5.665 -0.005 -5.708 -57.28° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bed <-> table depth=[0.533, 0.595, 0.184] + !! OVERLAP: bed <-> floor depth=[1.950, -0.002, 2.165] + !! OVERLAP: table <-> floor depth=[0.533, -0.002, 0.559] +============================================================ + + +============================================================ +SCENE: LivingRoom-37659 | 10 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0000, Walkable Loss: 0.0000, Relational Loss: 0.0006 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +sofa 1.710 0.904 1.007 1.402 -0.002 1.351 -90.11° +chair 0.678 0.860 0.700 0.377 0.003 2.439 179.82° +chair 0.606 0.449 0.503 0.181 0.000 -0.418 -0.18° +table 1.298 0.585 0.716 -0.046 -0.000 1.035 -0.04° +chair 0.600 0.843 0.600 -0.732 -0.000 2.215 132.49° +table 0.839 0.673 0.493 -1.830 -0.000 -1.800 0.06° +table 0.622 0.647 0.570 -1.655 0.000 2.381 0.03° +lamp 0.489 1.082 0.506 0.228 1.408 0.878 -0.08° +floor 4.482 -0.003 6.454 -0.250 0.001 0.484 -0.03° +_scene_ 0.068 -0.001 0.017 -5.669 -0.005 -5.714 -57.31° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: sofa <-> table depth=[0.056, 0.585, 0.546] + !! OVERLAP: sofa <-> floor depth=[1.444, -0.003, 1.007] + !! OVERLAP: chair <-> floor depth=[0.678, -0.003, 0.700] + !! OVERLAP: chair <-> floor depth=[0.606, -0.003, 0.503] + !! OVERLAP: table <-> floor depth=[1.298, -0.003, 0.716] + !! OVERLAP: chair <-> floor depth=[0.600, -0.003, 0.600] + !! OVERLAP: table <-> floor depth=[0.839, -0.003, 0.493] + !! OVERLAP: table <-> floor depth=[0.622, -0.003, 0.570] +============================================================ + + +============================================================ +SCENE: LivingRoom-1520 | 14 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0000, Walkable Loss: 0.0000, Relational Loss: 0.0292 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +sofa 2.435 0.907 1.103 -0.996 0.002 1.887 89.84° +table 1.179 0.557 1.132 -0.360 -0.000 1.582 -0.04° +tv_stand 1.574 0.483 0.479 1.061 0.006 2.031 -89.79° +chair 0.488 0.533 0.531 -0.650 0.000 0.162 0.07° +table 1.358 0.751 1.298 -1.049 0.003 -1.993 -0.07° +chair 0.493 1.019 0.600 -1.607 0.001 -0.865 179.83° +chair 0.497 1.107 0.571 -0.799 -0.000 -1.186 -179.89° +chair 0.503 1.003 0.616 -0.523 0.000 -2.321 -89.68° +chair 0.527 1.060 0.588 -1.559 -0.001 -2.125 0.01° +cabinet 1.473 0.948 0.469 0.108 -0.000 -2.966 0.04° +lamp 0.401 0.941 0.442 -1.186 1.603 -1.512 -0.07° +lamp 0.592 0.892 0.583 -0.646 1.735 1.727 -0.02° +floor 4.179 0.003 6.995 -0.480 0.000 0.188 -0.05° +_scene_ 0.070 -0.000 0.022 -5.671 -0.005 -5.715 -57.33° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: sofa <-> table depth=[1.171, 0.557, 0.812] + !! OVERLAP: sofa <-> floor depth=[2.435, 0.003, 1.103] + !! OVERLAP: table <-> floor depth=[1.179, 0.003, 1.132] + !! OVERLAP: tv_stand <-> floor depth=[1.335, 0.003, 0.479] + !! OVERLAP: chair <-> floor depth=[0.488, 0.003, 0.531] + !! OVERLAP: table <-> chair depth=[0.497, 0.751, 0.128] + !! OVERLAP: table <-> chair depth=[0.404, 0.751, 0.616] + !! OVERLAP: table <-> chair depth=[0.433, 0.751, 0.588] + !! OVERLAP: table <-> floor depth=[1.358, 0.003, 1.298] + !! OVERLAP: chair <-> floor depth=[0.493, 0.003, 0.600] + !! OVERLAP: chair <-> floor depth=[0.497, 0.003, 0.571] + !! OVERLAP: chair <-> floor depth=[0.503, 0.003, 0.616] + !! OVERLAP: chair <-> floor depth=[0.527, 0.003, 0.588] + !! OVERLAP: cabinet <-> floor depth=[1.473, 0.003, 0.469] +============================================================ + + +============================================================ +SCENE: LivingRoom-17951 | 6 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0000, Walkable Loss: 0.0000, Relational Loss: 0.0000 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +sofa 1.893 0.778 0.916 -0.799 0.005 -0.132 90.03° +table 1.593 0.617 0.631 0.089 0.001 0.112 -89.99° +tv_stand 1.848 1.499 0.328 1.037 0.001 0.238 -89.99° +lamp 0.692 0.434 0.678 -0.003 2.084 0.056 -0.02° +floor 3.654 -0.002 3.630 -0.005 -0.001 -0.008 -0.05° +_scene_ 0.070 0.001 0.021 -5.673 -0.005 -5.712 -57.31° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: sofa <-> table depth=[0.854, 0.617, 0.529] + !! OVERLAP: sofa <-> tv_stand depth=[0.034, 0.778, 0.251] + !! OVERLAP: sofa <-> floor depth=[1.893, -0.002, 0.916] + !! OVERLAP: table <-> tv_stand depth=[0.772, 0.617, 0.328] + !! OVERLAP: table <-> floor depth=[1.593, -0.002, 0.631] + !! OVERLAP: tv_stand <-> floor depth=[1.709, -0.002, 0.328] +============================================================ + + +============================================================ +SCENE: LivingDiningRoom-629 | 16 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0000, Walkable Loss: 0.0000, Relational Loss: 0.0161 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +sofa 2.335 0.849 1.034 1.670 -0.002 -0.766 -0.07° +tv_stand 2.189 0.548 0.408 1.451 0.006 1.426 179.93° +desk 0.990 0.415 0.470 1.430 -0.001 -0.131 0.01° +table 1.134 0.708 1.786 -1.724 0.003 -0.476 0.17° +chair 0.570 0.672 0.494 -2.412 0.004 -0.762 89.87° +chair 0.504 0.644 0.445 -2.782 0.002 0.286 90.00° +chair 0.495 0.733 0.543 -1.118 -0.000 -0.752 -90.16° +chair 0.465 0.729 0.497 -0.989 -0.000 0.082 -90.00° +cabinet 3.266 2.344 0.245 -1.350 -0.000 1.595 -179.95° +bookshelf 1.901 2.300 0.259 -1.719 -0.003 -1.984 -0.00° +chair 0.520 0.732 0.513 -2.432 0.002 -0.139 89.88° +cabinet 2.075 2.039 0.483 -2.596 -0.003 -0.309 89.97° +lamp 0.962 0.710 0.923 1.695 2.018 -0.218 -0.00° +lamp 0.330 0.484 0.315 -1.374 2.014 -0.145 0.02° +floor 5.986 -0.002 3.416 -0.167 0.000 0.054 -0.02° +_scene_ 0.070 -0.001 0.025 -5.672 -0.004 -5.712 -57.29° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: sofa <-> desk depth=[0.990, 0.415, 0.117] + !! OVERLAP: sofa <-> floor depth=[2.323, -0.002, 1.034] + !! OVERLAP: tv_stand <-> floor depth=[2.189, -0.002, 0.408] + !! OVERLAP: desk <-> floor depth=[0.990, -0.002, 0.470] + !! OVERLAP: table <-> chair depth=[0.164, 0.672, 0.494] + !! OVERLAP: table <-> chair depth=[0.209, 0.708, 0.543] + !! OVERLAP: table <-> chair depth=[0.064, 0.708, 0.497] + !! OVERLAP: table <-> chair depth=[0.119, 0.708, 0.513] + !! OVERLAP: table <-> cabinet depth=[0.732, 0.708, 0.483] + !! OVERLAP: table <-> floor depth=[1.134, -0.002, 1.786] + !! OVERLAP: chair <-> cabinet depth=[0.570, 0.672, 0.035] + !! OVERLAP: chair <-> floor depth=[0.570, -0.002, 0.494] + !! OVERLAP: chair <-> chair depth=[0.163, 0.644, 0.053] + !! OVERLAP: chair <-> floor depth=[0.504, -0.002, 0.445] + !! OVERLAP: chair <-> floor depth=[0.495, -0.002, 0.543] + !! OVERLAP: chair <-> floor depth=[0.465, -0.002, 0.497] + !! OVERLAP: cabinet <-> floor depth=[3.266, -0.002, 0.245] + !! OVERLAP: chair <-> cabinet depth=[0.520, 0.732, 0.329] + !! OVERLAP: chair <-> floor depth=[0.520, -0.002, 0.513] + !! OVERLAP: cabinet <-> floor depth=[1.601, -0.002, 0.483] +============================================================ + + +============================================================ +SCENE: LivingRoom-71071 | 16 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0000, Walkable Loss: 0.0000, Relational Loss: 0.0109 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +table 0.589 1.193 0.350 2.572 0.002 -0.527 -90.10° +table 0.500 0.506 0.583 2.803 0.003 -2.999 0.05° +lamp 1.038 1.033 1.035 1.376 1.840 -1.733 0.04° +tv_stand 2.336 0.501 0.498 -0.641 0.001 -1.351 0.24° +chair 0.515 0.783 0.583 1.399 0.000 1.469 -90.00° +chair 0.501 0.840 0.534 1.437 -0.000 0.792 -90.80° +chair 0.521 0.827 0.569 -0.312 -0.001 0.984 90.02° +chair 0.511 0.812 0.580 -0.110 -0.001 1.929 90.08° +table 1.716 0.725 0.848 1.152 -0.001 1.528 -89.96° +sofa 2.199 0.965 1.211 2.331 0.001 -1.015 -89.98° +table 1.002 0.509 1.334 1.772 -0.003 -1.466 -89.92° +lamp 0.557 0.200 0.555 -1.808 2.447 1.992 -0.04° +table 0.957 0.983 0.407 -1.702 0.002 3.303 179.93° +lamp 0.428 0.913 0.264 0.839 1.872 1.385 -89.86° +floor 6.404 -0.005 7.278 0.515 0.001 -0.265 -0.07° +_scene_ 0.075 0.000 0.023 -5.670 -0.004 -5.712 -57.28° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: table <-> sofa depth=[0.589, 0.965, 0.293] + !! OVERLAP: table <-> floor depth=[0.589, -0.005, 0.350] + !! OVERLAP: table <-> floor depth=[0.500, -0.005, 0.583] + !! OVERLAP: tv_stand <-> floor depth=[2.336, -0.005, 0.498] + !! OVERLAP: chair <-> table depth=[0.515, 0.725, 0.583] + !! OVERLAP: chair <-> floor depth=[0.515, -0.005, 0.583] + !! OVERLAP: chair <-> floor depth=[0.501, -0.005, 0.534] + !! OVERLAP: chair <-> floor depth=[0.521, -0.005, 0.569] + !! OVERLAP: chair <-> floor depth=[0.511, -0.005, 0.580] + !! OVERLAP: table <-> floor depth=[1.716, -0.005, 0.848] + !! OVERLAP: sofa <-> table depth=[1.002, 0.509, 0.821] + !! OVERLAP: sofa <-> floor depth=[2.199, -0.005, 1.211] + !! OVERLAP: table <-> floor depth=[1.002, -0.005, 1.334] + !! OVERLAP: table <-> floor depth=[0.957, -0.005, 0.274] +============================================================ + + +============================================================ +SCENE: LivingDiningRoom-9790 | 14 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0000, Walkable Loss: 0.0000, Relational Loss: 0.0093 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +sofa 2.324 0.934 0.981 -1.247 0.001 2.332 89.98° +tv_stand 1.606 0.502 0.476 1.432 0.001 2.332 -90.16° +cabinet 0.881 0.877 0.468 -1.898 0.004 -3.111 89.97° +table 1.354 0.918 0.823 -0.267 0.002 -0.666 90.16° +chair 0.555 0.624 0.537 -0.987 0.001 -0.252 179.90° +chair 0.460 0.651 0.521 -0.906 0.001 -1.335 0.04° +chair 0.475 0.626 0.461 1.032 0.002 0.146 179.97° +chair 0.439 0.602 0.488 0.547 0.001 -1.058 -0.03° +lamp 0.276 0.410 0.275 -1.828 2.209 -3.153 -0.10° +lamp 0.920 0.781 0.907 -0.341 1.947 1.824 0.01° +lamp 0.321 0.920 0.311 -0.096 2.089 -1.027 0.07° +table 1.047 0.439 0.882 0.083 0.000 2.091 -89.96° +floor 4.622 -0.002 7.986 -0.214 0.001 0.481 -0.08° +_scene_ 0.070 -0.000 0.022 -5.672 -0.004 -5.712 -57.31° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: sofa <-> table depth=[0.356, 0.439, 0.690] + !! OVERLAP: sofa <-> floor depth=[2.324, -0.002, 0.981] + !! OVERLAP: tv_stand <-> floor depth=[1.468, -0.002, 0.476] + !! OVERLAP: cabinet <-> floor depth=[0.881, -0.002, 0.468] + !! OVERLAP: table <-> chair depth=[0.235, 0.624, 0.266] + !! OVERLAP: table <-> chair depth=[0.269, 0.651, 0.002] + !! OVERLAP: table <-> chair depth=[0.082, 0.602, 0.263] + !! OVERLAP: table <-> floor depth=[1.354, -0.002, 0.823] + !! OVERLAP: chair <-> floor depth=[0.555, -0.002, 0.537] + !! OVERLAP: chair <-> floor depth=[0.460, -0.002, 0.521] + !! OVERLAP: chair <-> floor depth=[0.475, -0.002, 0.461] + !! OVERLAP: chair <-> floor depth=[0.439, -0.002, 0.488] + !! OVERLAP: table <-> floor depth=[1.047, -0.002, 0.882] +============================================================ + + +============================================================ +SCENE: LivingRoom-791 | 15 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0000, Walkable Loss: 0.0000, Relational Loss: 0.0125 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +table 2.336 0.731 1.106 0.957 0.000 1.343 -0.06° +chair 0.574 0.799 0.566 1.817 0.002 2.046 179.88° +chair 0.532 0.855 0.621 0.755 0.002 1.955 179.89° +chair 0.506 0.890 0.571 2.153 -0.005 0.668 0.04° +chair 0.494 0.890 0.563 1.101 -0.000 0.382 -0.03° +sofa 2.135 0.882 0.859 1.834 0.000 -0.557 -90.12° +tv_stand 1.926 0.633 0.442 -1.272 0.001 -1.595 90.10° +table 0.768 0.197 0.896 -0.420 -0.000 0.010 -0.10° +table 1.366 1.454 0.451 -1.564 0.000 1.240 -179.99° +table 0.465 0.526 0.522 1.563 0.007 -2.331 -0.02° +lamp 0.663 0.860 0.656 0.640 1.856 0.052 -0.04° +lamp 0.648 0.991 0.678 1.658 1.940 -0.176 0.03° +lamp 0.507 1.192 0.485 -0.384 1.664 -1.595 0.07° +floor 4.643 -0.007 6.316 0.477 -0.001 -0.058 -0.05° +_scene_ 0.072 -0.000 0.025 -5.671 -0.004 -5.712 -57.22° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: table <-> chair depth=[0.574, 0.731, 0.134] + !! OVERLAP: table <-> chair depth=[0.532, 0.731, 0.252] + !! OVERLAP: table <-> chair depth=[0.225, 0.731, 0.163] + !! OVERLAP: table <-> floor depth=[2.336, -0.007, 1.106] + !! OVERLAP: chair <-> floor depth=[0.574, -0.007, 0.566] + !! OVERLAP: chair <-> floor depth=[0.532, -0.007, 0.621] + !! OVERLAP: chair <-> floor depth=[0.506, -0.007, 0.571] + !! OVERLAP: chair <-> floor depth=[0.494, -0.007, 0.563] + !! OVERLAP: sofa <-> floor depth=[2.032, -0.007, 0.859] + !! OVERLAP: tv_stand <-> floor depth=[1.535, -0.007, 0.442] + !! OVERLAP: table <-> floor depth=[0.768, -0.007, 0.896] + !! OVERLAP: table <-> floor depth=[0.963, -0.007, 0.451] + !! OVERLAP: table <-> floor depth=[0.465, -0.007, 0.522] +============================================================ + + +============================================================ +SCENE: LivingRoom-24046 | 7 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0000, Walkable Loss: 0.0000, Relational Loss: 0.0000 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +bookshelf 1.390 1.479 0.493 0.999 -0.001 -0.504 -89.98° +sofa 2.313 0.806 1.125 0.062 -0.000 -0.638 -89.99° +table 0.759 0.385 0.705 -1.692 0.001 -0.314 90.12° +lamp 0.582 0.755 0.626 0.338 2.044 0.642 -0.02° +chair 0.890 0.747 0.906 -1.304 0.004 -1.579 39.82° +floor 4.265 0.001 4.279 -0.028 0.001 0.178 -0.01° +_scene_ 0.071 0.000 0.027 -5.669 -0.004 -5.712 -57.30° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bookshelf <-> sofa depth=[0.914, 0.806, 0.493] + !! OVERLAP: bookshelf <-> floor depth=[1.390, 0.001, 0.493] + !! OVERLAP: sofa <-> chair depth=[0.236, 0.747, 0.074] + !! OVERLAP: sofa <-> floor depth=[2.313, 0.001, 1.125] + !! OVERLAP: table <-> floor depth=[0.759, 0.001, 0.705] + !! OVERLAP: chair <-> floor depth=[0.890, 0.001, 0.835] +============================================================ + + +============================================================ +SCENE: LivingRoom-13599 | 10 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0000, Walkable Loss: 0.0000, Relational Loss: 0.0534 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +chair 0.988 0.948 0.921 -0.128 -0.000 -1.608 0.00° +chair 0.796 0.924 0.807 0.005 0.003 2.442 167.79° +table 0.549 0.543 0.559 -1.372 0.001 2.206 90.01° +table 0.673 0.422 0.593 -1.540 0.004 -1.809 90.01° +table 1.160 0.365 0.594 0.397 -0.000 0.461 90.02° +tv_stand 1.590 0.652 0.369 1.649 0.000 0.161 -89.96° +lamp 0.450 0.815 0.476 0.274 2.003 0.403 -0.08° +sofa 2.042 0.770 0.911 -1.021 0.002 0.436 90.04° +floor 4.445 -0.001 6.990 0.130 0.000 -0.046 -0.06° +_scene_ 0.070 0.002 0.019 -5.670 -0.005 -5.713 -57.29° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: chair <-> floor depth=[0.988, -0.001, 0.921] + !! OVERLAP: chair <-> floor depth=[0.796, -0.001, 0.807] + !! OVERLAP: table <-> floor depth=[0.549, -0.001, 0.559] + !! OVERLAP: table <-> floor depth=[0.673, -0.001, 0.593] + !! OVERLAP: table <-> tv_stand depth=[0.124, 0.365, 0.181] + !! OVERLAP: table <-> sofa depth=[0.183, 0.365, 0.594] + !! OVERLAP: table <-> floor depth=[1.160, -0.001, 0.594] + !! OVERLAP: tv_stand <-> floor depth=[1.499, -0.001, 0.369] + !! OVERLAP: sofa <-> floor depth=[2.042, -0.001, 0.911] +============================================================ + + +============================================================ +SCENE: LivingDiningRoom-13945 | 15 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0000, Walkable Loss: 0.0000, Relational Loss: 0.0196 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +sofa 3.195 0.811 2.066 -1.223 0.001 -1.367 0.14° +chair 0.502 0.692 0.530 -2.767 0.002 -2.277 0.00° +chair 0.314 0.377 0.279 -2.372 0.000 -1.151 0.02° +chair 0.368 0.389 0.353 -2.817 -0.001 -0.572 0.01° +table 0.994 0.365 0.695 -1.233 -0.000 -0.417 -0.01° +chair 0.442 1.092 0.513 -0.049 0.000 0.345 89.98° +lamp 0.124 0.975 0.124 -2.708 1.635 -2.198 -0.13° +chair 0.435 1.037 0.474 1.208 -0.003 -0.177 -56.69° +cabinet 1.480 0.762 0.627 2.595 -0.000 1.849 179.94° +table 0.809 1.219 0.371 2.731 -0.001 -2.036 -0.02° +shelf 0.345 2.144 0.511 3.153 0.004 2.032 0.20° +lamp 0.351 0.915 0.374 0.762 1.989 0.071 0.01° +tv_stand 3.269 0.701 0.600 -1.368 -0.002 1.963 0.13° +floor 7.030 -0.002 5.331 -0.063 0.001 0.247 -0.04° +_scene_ 0.072 -0.000 0.025 -5.673 -0.004 -5.710 -57.31° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: sofa <-> chair depth=[0.305, 0.692, 0.388] + !! OVERLAP: sofa <-> chair depth=[0.314, 0.377, 0.279] + !! OVERLAP: sofa <-> chair depth=[0.187, 0.389, 0.353] + !! OVERLAP: sofa <-> table depth=[0.994, 0.365, 0.430] + !! OVERLAP: sofa <-> floor depth=[3.195, -0.002, 2.066] + !! OVERLAP: chair <-> floor depth=[0.502, -0.002, 0.406] + !! OVERLAP: chair <-> floor depth=[0.314, -0.002, 0.279] + !! OVERLAP: chair <-> floor depth=[0.368, -0.002, 0.353] + !! OVERLAP: table <-> floor depth=[0.994, -0.002, 0.695] + !! OVERLAP: chair <-> floor depth=[0.442, -0.002, 0.513] + !! OVERLAP: chair <-> floor depth=[0.435, -0.002, 0.474] + !! OVERLAP: cabinet <-> shelf depth=[0.345, 0.762, 0.386] + !! OVERLAP: cabinet <-> floor depth=[1.480, -0.002, 0.627] + !! OVERLAP: table <-> floor depth=[0.809, -0.002, 0.371] + !! OVERLAP: shelf <-> floor depth=[0.345, -0.002, 0.511] + !! OVERLAP: tv_stand <-> floor depth=[3.269, -0.002, 0.600] +============================================================ + + +============================================================ +SCENE: LivingDiningRoom-758 | 12 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0000, Walkable Loss: 0.0000, Relational Loss: 0.0265 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +lamp 0.657 1.026 0.652 0.266 1.971 -1.213 -0.02° +table 1.747 0.722 1.069 -0.289 0.001 0.967 179.99° +chair 0.475 0.880 0.545 0.127 0.000 1.501 -89.93° +chair 0.477 0.864 0.460 -1.101 -0.000 1.440 -0.01° +lamp 0.221 0.714 0.249 -1.028 1.790 1.384 0.10° +lamp 0.338 0.663 0.343 -0.062 1.951 1.271 -0.01° +sofa 2.425 0.809 1.047 -0.979 0.000 -0.997 89.96° +table 1.207 0.348 0.799 0.367 -0.003 -0.398 -89.99° +tv_stand 1.962 0.506 0.454 1.282 -0.000 -0.860 -90.14° +table 1.966 2.236 0.382 -1.463 0.001 0.359 89.92° +floor 3.998 -0.001 4.011 0.019 -0.001 -0.008 -0.03° +_scene_ 0.067 0.001 0.023 -5.673 -0.005 -5.716 -57.28° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: table <-> chair depth=[0.475, 0.722, 0.273] + !! OVERLAP: table <-> chair depth=[0.300, 0.722, 0.291] + !! OVERLAP: table <-> table depth=[0.683, 0.722, 0.118] + !! OVERLAP: table <-> floor depth=[1.747, -0.001, 1.069] + !! OVERLAP: chair <-> floor depth=[0.475, -0.001, 0.545] + !! OVERLAP: chair <-> floor depth=[0.477, -0.001, 0.460] + !! OVERLAP: sofa <-> table depth=[0.470, 0.348, 0.324] + !! OVERLAP: sofa <-> floor depth=[2.213, -0.001, 1.047] + !! OVERLAP: table <-> tv_stand depth=[0.669, 0.348, 0.164] + !! OVERLAP: table <-> floor depth=[1.207, -0.001, 0.799] + !! OVERLAP: tv_stand <-> floor depth=[1.716, -0.001, 0.454] + !! OVERLAP: table <-> floor depth=[1.500, -0.001, 0.382] +============================================================ + + +============================================================ +SCENE: LivingRoom-33324 | 9 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0000, Walkable Loss: 0.0000, Relational Loss: 0.0190 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +tv_stand 1.862 0.650 0.460 1.516 0.002 0.216 -89.95° +table 0.635 1.083 0.456 -1.130 0.002 2.034 89.98° +sofa 2.115 0.885 0.953 -0.932 0.000 -0.096 90.05° +table 0.686 0.476 0.657 0.168 0.002 0.091 89.97° +chair 0.854 0.855 0.808 0.081 0.003 2.202 179.93° +bookshelf 1.122 2.439 0.279 -1.263 -0.002 -2.606 -0.11° +lamp 0.538 0.854 0.550 0.295 2.062 0.026 0.07° +floor 3.549 -0.001 6.256 0.027 -0.000 -0.158 -0.03° +_scene_ 0.067 0.000 0.021 -5.673 -0.005 -5.716 -57.30° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: tv_stand <-> floor depth=[1.217, -0.001, 0.460] + !! OVERLAP: table <-> floor depth=[0.635, -0.001, 0.456] + !! OVERLAP: sofa <-> table depth=[0.300, 0.476, 0.618] + !! OVERLAP: sofa <-> floor depth=[1.873, -0.001, 0.953] + !! OVERLAP: table <-> floor depth=[0.686, -0.001, 0.657] + !! OVERLAP: chair <-> floor depth=[0.854, -0.001, 0.808] + !! OVERLAP: bookshelf <-> floor depth=[1.046, -0.001, 0.279] +============================================================ + + +============================================================ +SCENE: LivingRoom-30147 | 20 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0000, Walkable Loss: 0.0000, Relational Loss: 0.0069 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +lamp 0.374 0.633 0.364 -0.289 2.048 2.298 0.05° +lamp 0.924 0.755 0.887 -1.012 1.698 -3.424 0.05° +tv_stand 2.338 1.026 0.413 -2.759 0.005 3.063 89.95° +chair 0.596 0.476 0.555 0.068 0.001 0.917 90.04° +chair 0.551 0.424 0.567 -0.337 -0.001 0.733 0.00° +table 1.221 0.474 0.602 0.127 0.002 2.352 -90.10° +table 0.430 0.667 0.446 1.610 -0.000 0.745 -90.15° +table 0.485 0.631 0.495 1.861 -0.001 3.924 -90.06° +sofa 2.339 0.971 0.903 1.338 -0.002 2.625 -90.06° +sofa 1.974 0.758 0.706 -0.302 0.003 4.302 179.70° +table 2.138 0.700 0.907 -0.858 -0.000 -3.295 -0.06° +chair 0.803 1.132 0.715 -1.038 0.002 -2.151 179.92° +chair 0.576 1.084 0.620 0.189 -0.001 -3.026 -95.64° +chair 0.558 1.145 0.650 0.094 0.002 -3.593 -89.77° +chair 0.566 1.118 0.653 -0.848 -0.001 -4.616 -0.06° +chair 0.615 1.104 0.741 -1.794 0.002 -3.381 89.45° +chair 0.489 1.063 0.586 -1.828 0.005 -2.744 109.46° +table 0.564 0.603 0.395 -2.493 0.005 -0.634 89.94° +floor 6.830 -0.003 10.170 -0.436 -0.003 0.344 0.07° +_scene_ 0.071 0.001 0.022 -5.668 -0.004 -5.713 -57.30° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: tv_stand <-> floor depth=[2.262, -0.003, 0.413] + !! OVERLAP: chair <-> chair depth=[0.169, 0.424, 0.376] + !! OVERLAP: chair <-> floor depth=[0.596, -0.003, 0.555] + !! OVERLAP: chair <-> floor depth=[0.551, -0.003, 0.567] + !! OVERLAP: table <-> sofa depth=[0.568, 0.474, 0.479] + !! OVERLAP: table <-> floor depth=[1.221, -0.003, 0.602] + !! OVERLAP: table <-> floor depth=[0.430, -0.003, 0.446] + !! OVERLAP: table <-> floor depth=[0.485, -0.003, 0.495] + !! OVERLAP: sofa <-> floor depth=[2.339, -0.003, 0.903] + !! OVERLAP: sofa <-> floor depth=[1.974, -0.003, 0.706] + !! OVERLAP: table <-> chair depth=[0.310, 0.700, 0.494] + !! OVERLAP: table <-> chair depth=[0.397, 0.700, 0.481] + !! OVERLAP: table <-> chair depth=[0.441, 0.700, 0.738] + !! OVERLAP: table <-> chair depth=[0.344, 0.700, 0.195] + !! OVERLAP: table <-> floor depth=[2.138, -0.003, 0.907] + !! OVERLAP: chair <-> floor depth=[0.803, -0.003, 0.715] + !! OVERLAP: chair <-> chair depth=[0.471, 1.084, 0.068] + !! OVERLAP: chair <-> floor depth=[0.576, -0.003, 0.620] + !! OVERLAP: chair <-> floor depth=[0.558, -0.003, 0.650] + !! OVERLAP: chair <-> floor depth=[0.566, -0.003, 0.451] + !! OVERLAP: chair <-> chair depth=[0.489, 1.063, 0.026] + !! OVERLAP: chair <-> floor depth=[0.615, -0.003, 0.741] + !! OVERLAP: chair <-> floor depth=[0.489, -0.003, 0.586] + !! OVERLAP: table <-> floor depth=[0.564, -0.003, 0.395] +============================================================ + + +============================================================ +SCENE: LivingRoom-29294 | 11 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0000, Walkable Loss: 0.0000, Relational Loss: 0.0225 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +table 0.649 1.102 0.529 -2.284 0.004 -2.048 -0.01° +table 0.584 1.262 0.413 2.075 0.004 -2.165 0.07° +sofa 2.018 0.916 0.936 -2.018 0.001 0.136 89.96° +table 1.308 0.473 0.953 -0.436 0.001 0.063 -0.01° +chair 0.780 0.837 0.754 2.245 0.002 0.170 -68.62° +sofa 2.019 0.672 0.864 -0.271 0.001 -1.742 -0.02° +table 0.440 0.827 0.498 1.111 0.001 -2.195 0.08° +table 0.672 0.703 0.614 -1.749 0.003 -1.955 0.00° +lamp 0.813 0.757 0.816 -0.094 1.950 0.018 0.01° +floor 5.887 0.001 4.806 -0.324 -0.001 -0.172 0.02° +_scene_ 0.248 0.079 0.545 -4.628 0.010 -4.673 -64.19° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: table <-> table depth=[0.125, 0.703, 0.479] + !! OVERLAP: table <-> floor depth=[0.649, 0.001, 0.529] + !! OVERLAP: table <-> floor depth=[0.584, 0.001, 0.413] + !! OVERLAP: sofa <-> table depth=[0.081, 0.473, 0.871] + !! OVERLAP: sofa <-> floor depth=[2.018, 0.001, 0.936] + !! OVERLAP: table <-> floor depth=[1.308, 0.001, 0.953] + !! OVERLAP: chair <-> floor depth=[0.764, 0.001, 0.754] + !! OVERLAP: sofa <-> floor depth=[2.019, 0.001, 0.864] + !! OVERLAP: table <-> floor depth=[0.440, 0.001, 0.498] + !! OVERLAP: table <-> floor depth=[0.672, 0.001, 0.614] +============================================================ + + +============================================================ +SCENE: LivingDiningRoom-35401 | 11 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0000, Walkable Loss: 0.0000, Relational Loss: 0.0123 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +chair 0.597 0.833 0.671 -0.343 0.001 1.111 89.89° +chair 0.564 0.876 0.607 -0.447 0.002 1.622 89.98° +chair 0.536 0.924 0.622 1.050 -0.001 0.950 -89.97° +chair 0.558 0.855 0.606 0.856 0.000 1.691 -90.42° +sofa 2.152 0.839 0.989 -0.954 0.002 -1.437 90.03° +table 1.783 2.024 0.559 -1.458 0.001 0.305 89.98° +table 0.963 0.368 0.993 0.107 -0.001 -1.917 -89.91° +lamp 0.738 0.580 0.360 -0.002 2.348 -1.579 -0.06° +lamp 0.110 0.582 0.118 0.725 2.124 1.401 -89.90° +floor 3.912 -0.001 6.971 -0.001 -0.001 -0.148 0.02° +_scene_ 0.071 0.002 0.020 -5.665 -0.005 -5.710 -57.30° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: chair <-> chair depth=[0.476, 0.833, 0.128] + !! OVERLAP: chair <-> floor depth=[0.597, -0.001, 0.671] + !! OVERLAP: chair <-> floor depth=[0.564, -0.001, 0.607] + !! OVERLAP: chair <-> floor depth=[0.536, -0.001, 0.622] + !! OVERLAP: chair <-> floor depth=[0.558, -0.001, 0.606] + !! OVERLAP: sofa <-> table depth=[0.496, 0.368, 0.511] + !! OVERLAP: sofa <-> floor depth=[2.078, -0.001, 0.989] + !! OVERLAP: table <-> floor depth=[1.389, -0.001, 0.559] + !! OVERLAP: table <-> floor depth=[0.963, -0.001, 0.993] +============================================================ + + +============================================================ +SCENE: LivingRoom-35085 | 10 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0000, Walkable Loss: 0.0000, Relational Loss: 0.0324 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +sofa 2.529 0.891 0.909 1.117 -0.001 -0.230 -90.05° +table 0.585 0.469 0.483 1.167 0.000 1.517 -89.93° +table 0.510 0.497 0.254 1.249 0.001 -2.122 -90.04° +table 1.286 0.351 0.994 -0.124 -0.000 -0.030 -89.80° +chair 0.643 0.913 0.789 -1.157 0.002 -1.489 0.03° +chair 0.834 0.884 0.853 -1.330 -0.000 1.617 179.34° +tv_stand 1.860 0.546 0.408 -1.523 0.001 -0.457 90.04° +lamp 0.326 0.913 0.327 0.018 1.734 -0.287 0.02° +floor 4.037 -0.001 5.310 -0.027 -0.000 -0.095 -0.03° +_scene_ 0.062 0.000 0.018 -5.672 -0.004 -5.715 -57.30° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: sofa <-> table depth=[0.667, 0.351, 0.751] + !! OVERLAP: sofa <-> floor depth=[2.139, -0.001, 0.909] + !! OVERLAP: table <-> floor depth=[0.585, -0.001, 0.483] + !! OVERLAP: table <-> floor depth=[0.510, -0.001, 0.254] + !! OVERLAP: table <-> tv_stand depth=[0.174, 0.351, 0.274] + !! OVERLAP: table <-> floor depth=[1.286, -0.001, 0.994] + !! OVERLAP: chair <-> floor depth=[0.643, -0.001, 0.789] + !! OVERLAP: chair <-> floor depth=[0.834, -0.001, 0.853] + !! OVERLAP: tv_stand <-> floor depth=[1.453, -0.001, 0.408] +============================================================ + + +============================================================ +SCENE: LivingRoom-25582 | 12 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0000, Walkable Loss: 0.0000, Relational Loss: 0.0412 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +sofa 2.570 0.746 0.958 -0.973 0.002 1.573 179.99° +table 0.517 0.455 0.579 -1.075 0.002 -0.381 0.04° +tv_stand 1.534 0.304 0.388 -0.592 0.002 -1.983 0.02° +chair 0.771 1.150 0.924 1.307 0.002 -0.700 0.09° +chair 0.658 1.065 0.834 1.582 0.001 -1.228 0.11° +chair 0.573 1.099 0.577 1.260 -0.000 1.227 89.99° +chair 0.628 0.966 0.737 1.600 -0.000 1.616 179.97° +table 0.747 0.739 0.517 1.639 0.001 0.161 0.06° +table 2.046 0.805 0.491 0.736 0.006 2.092 179.78° +lamp 0.528 0.529 0.510 0.092 2.153 -0.374 0.04° +floor 4.507 -0.002 5.359 -0.129 0.000 0.045 -0.10° +_scene_ 0.063 -0.001 0.010 -5.673 -0.005 -5.720 -57.23° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: sofa <-> table depth=[0.599, 0.746, 0.206] + !! OVERLAP: sofa <-> floor depth=[2.570, -0.002, 0.958] + !! OVERLAP: table <-> floor depth=[0.517, -0.002, 0.579] + !! OVERLAP: tv_stand <-> floor depth=[1.534, -0.002, 0.388] + !! OVERLAP: chair <-> chair depth=[0.440, 1.065, 0.351] + !! OVERLAP: chair <-> floor depth=[0.771, -0.002, 0.924] + !! OVERLAP: chair <-> floor depth=[0.658, -0.002, 0.834] + !! OVERLAP: chair <-> chair depth=[0.261, 0.966, 0.268] + !! OVERLAP: chair <-> floor depth=[0.573, -0.002, 0.577] + !! OVERLAP: chair <-> table depth=[0.474, 0.805, 0.138] + !! OVERLAP: chair <-> floor depth=[0.628, -0.002, 0.737] + !! OVERLAP: table <-> floor depth=[0.747, -0.002, 0.517] + !! OVERLAP: table <-> floor depth=[2.046, -0.002, 0.491] +============================================================ + + +============================================================ +SCENE: LivingDiningRoom-109935 | 14 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0000, Walkable Loss: 0.0000, Relational Loss: 0.0224 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +sofa 2.169 0.672 0.797 -1.440 0.000 0.494 89.98° +chair 0.810 0.804 0.783 -1.995 -0.001 2.153 90.04° +table 1.554 0.299 1.335 -0.026 -0.000 1.652 -89.95° +chair 0.663 0.501 0.652 -0.581 -0.002 0.179 -0.00° +tv_stand 1.953 0.463 0.418 1.128 -0.001 1.508 -90.16° +table 2.400 0.753 1.185 -0.107 -0.001 -1.189 -90.17° +chair 0.422 0.833 0.486 -0.480 -0.000 -2.462 0.08° +chair 0.492 0.854 0.542 -0.545 0.000 -1.814 0.18° +chair 0.460 0.868 0.541 0.491 0.001 -2.368 -90.09° +chair 0.458 0.849 0.522 0.799 0.002 -1.388 179.99° +lamp 0.798 0.899 0.440 -0.332 1.754 1.109 -0.02° +lamp 0.877 0.610 0.321 -0.199 2.179 -2.073 -89.88° +floor 4.089 -0.003 6.178 -0.394 0.001 0.211 0.07° +_scene_ 0.066 0.002 0.021 -5.667 -0.005 -5.715 -57.31° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: sofa <-> chair depth=[0.557, 0.501, 0.410] + !! OVERLAP: sofa <-> floor depth=[2.084, -0.003, 0.797] + !! OVERLAP: chair <-> floor depth=[0.810, -0.003, 0.783] + !! OVERLAP: table <-> tv_stand depth=[0.600, 0.299, 0.418] + !! OVERLAP: table <-> floor depth=[1.554, -0.003, 1.335] + !! OVERLAP: chair <-> floor depth=[0.663, -0.003, 0.652] + !! OVERLAP: tv_stand <-> floor depth=[1.499, -0.003, 0.418] + !! OVERLAP: table <-> chair depth=[0.492, 0.753, 0.239] + !! OVERLAP: table <-> chair depth=[0.458, 0.753, 0.522] + !! OVERLAP: table <-> floor depth=[2.400, -0.003, 1.185] + !! OVERLAP: chair <-> floor depth=[0.422, -0.003, 0.486] + !! OVERLAP: chair <-> floor depth=[0.492, -0.003, 0.542] + !! OVERLAP: chair <-> floor depth=[0.460, -0.003, 0.541] + !! OVERLAP: chair <-> floor depth=[0.458, -0.003, 0.522] +============================================================ + + +============================================================ +SCENE: LivingDiningRoom-76396 | 19 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0000, Walkable Loss: 0.0000, Relational Loss: 0.0112 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +sofa 2.111 0.866 0.984 -2.425 0.000 1.834 179.98° +sofa 2.053 0.929 1.267 -3.225 -0.000 0.612 89.94° +table 0.604 0.445 0.589 -2.216 0.001 0.474 0.05° +tv_stand 2.208 0.643 0.434 -2.009 0.000 -1.487 -0.01° +chair 0.749 0.907 0.747 -0.692 -0.005 0.741 -73.79° +table 1.686 0.733 1.151 2.420 0.001 0.386 0.01° +chair 0.455 0.802 0.519 3.254 0.000 1.046 -90.02° +chair 0.508 0.792 0.537 2.743 0.002 1.170 179.84° +chair 0.538 0.722 0.575 2.654 -0.001 0.037 0.04° +chair 0.547 0.751 0.611 3.322 0.003 0.039 -90.07° +table 1.363 1.402 0.328 1.135 0.000 -1.455 0.15° +cabinet 1.560 2.101 0.378 1.685 -0.002 2.213 -179.87° +table 0.499 0.478 0.496 -0.197 0.003 2.112 89.86° +table 0.687 0.461 0.570 -3.318 -0.002 2.479 179.75° +lamp 0.631 0.538 0.671 -1.446 2.707 0.180 89.93° +lamp 0.647 0.904 0.674 1.553 2.109 0.383 0.03° +table 1.374 1.266 0.319 3.177 0.001 -2.411 -0.06° +floor 8.329 -0.005 5.162 -0.335 -0.000 0.396 -0.04° +_scene_ 0.069 0.000 0.021 -5.673 -0.005 -5.716 -57.30° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: sofa <-> table depth=[0.505, 0.461, 0.131] + !! OVERLAP: sofa <-> floor depth=[2.111, -0.005, 0.984] + !! OVERLAP: sofa <-> table depth=[0.320, 0.445, 0.589] + !! OVERLAP: sofa <-> floor depth=[2.053, -0.005, 1.267] + !! OVERLAP: table <-> floor depth=[0.604, -0.005, 0.589] + !! OVERLAP: tv_stand <-> floor depth=[2.208, -0.005, 0.434] + !! OVERLAP: chair <-> floor depth=[0.749, -0.005, 0.747] + !! OVERLAP: table <-> chair depth=[0.236, 0.733, 0.175] + !! OVERLAP: table <-> chair depth=[0.508, 0.733, 0.060] + !! OVERLAP: table <-> chair depth=[0.538, 0.722, 0.514] + !! OVERLAP: table <-> chair depth=[0.214, 0.733, 0.534] + !! OVERLAP: table <-> floor depth=[1.686, -0.005, 1.151] + !! OVERLAP: chair <-> floor depth=[0.455, -0.005, 0.519] + !! OVERLAP: chair <-> floor depth=[0.508, -0.005, 0.537] + !! OVERLAP: chair <-> floor depth=[0.538, -0.005, 0.575] + !! OVERLAP: chair <-> floor depth=[0.547, -0.005, 0.611] + !! OVERLAP: table <-> floor depth=[1.363, -0.005, 0.328] + !! OVERLAP: cabinet <-> floor depth=[1.560, -0.005, 0.378] + !! OVERLAP: table <-> floor depth=[0.499, -0.005, 0.496] + !! OVERLAP: table <-> floor depth=[0.687, -0.005, 0.570] +============================================================ + + +============================================================ +SCENE: LivingDiningRoom-18728 | 15 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0000, Walkable Loss: 0.0000, Relational Loss: 0.0123 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +table 1.322 1.028 0.298 -1.711 -0.002 -2.929 0.18° +table 1.050 0.869 0.264 1.761 0.013 -1.763 -90.30° +tv_stand 1.896 0.393 0.404 1.394 0.002 1.935 -89.94° +sofa 2.146 0.755 0.885 -1.570 0.002 2.090 89.98° +chair 0.998 0.692 0.847 -2.011 0.001 2.964 179.86° +table 2.479 0.776 1.104 -0.289 -0.002 -1.120 -90.28° +chair 0.499 0.757 0.527 0.625 0.002 -1.565 0.02° +chair 0.446 0.728 0.530 -0.150 0.006 -1.456 0.10° +chair 0.565 0.719 0.545 -0.356 0.003 -0.454 -179.97° +chair 0.482 0.748 0.521 0.177 0.001 -0.176 179.85° +table 1.590 0.414 1.241 -0.069 -0.000 2.475 -90.43° +lamp 0.526 0.654 0.507 -0.146 2.073 1.730 -90.11° +lamp 1.205 0.595 0.148 0.015 2.120 -1.317 -0.08° +floor 5.231 -0.001 7.343 -0.332 -0.000 0.735 -0.05° +_scene_ 0.066 0.000 0.021 -5.670 -0.004 -5.715 -57.31° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: table <-> floor depth=[1.322, -0.001, 0.156] + !! OVERLAP: table <-> floor depth=[1.048, -0.001, 0.264] + !! OVERLAP: tv_stand <-> table depth=[0.280, 0.393, 0.282] + !! OVERLAP: tv_stand <-> floor depth=[1.837, -0.001, 0.404] + !! OVERLAP: sofa <-> table depth=[0.367, 0.414, 0.678] + !! OVERLAP: sofa <-> floor depth=[2.146, -0.001, 0.885] + !! OVERLAP: chair <-> floor depth=[0.998, -0.001, 0.847] + !! OVERLAP: table <-> chair depth=[0.499, 0.757, 0.372] + !! OVERLAP: table <-> chair depth=[0.446, 0.728, 0.482] + !! OVERLAP: table <-> chair depth=[0.565, 0.719, 0.158] + !! OVERLAP: table <-> floor depth=[2.479, -0.001, 1.104] + !! OVERLAP: chair <-> floor depth=[0.499, -0.001, 0.527] + !! OVERLAP: chair <-> floor depth=[0.446, -0.001, 0.530] + !! OVERLAP: chair <-> floor depth=[0.565, -0.001, 0.545] + !! OVERLAP: chair <-> floor depth=[0.482, -0.001, 0.521] + !! OVERLAP: table <-> floor depth=[1.590, -0.001, 1.241] +============================================================ + + +============================================================ +SCENE: LivingDiningRoom-46747 | 17 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0000, Walkable Loss: 0.0000, Relational Loss: 0.0111 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +sofa 1.976 0.718 0.879 -1.005 0.001 1.413 90.03° +chair 0.627 0.935 0.632 -0.094 0.002 3.198 179.50° +table 1.556 0.497 1.094 0.059 0.002 2.085 89.98° +table 1.933 0.749 1.361 0.389 0.002 -1.625 0.06° +chair 0.420 0.943 0.480 -0.123 0.000 -0.768 -179.99° +chair 0.377 0.937 0.437 0.707 0.001 -0.779 -179.95° +chair 0.452 0.896 0.481 0.069 0.000 -2.077 0.00° +chair 0.472 0.877 0.482 0.817 0.002 -2.218 0.03° +table 1.647 0.842 0.515 0.266 0.001 -3.115 -0.04° +lamp 0.999 1.031 1.011 0.057 1.715 2.142 -0.01° +lamp 1.213 0.959 0.423 0.090 1.801 -1.699 -0.02° +lamp 1.126 0.786 0.540 0.312 2.157 -1.831 0.01° +chair 0.705 0.560 0.613 -0.124 -0.001 0.215 16.17° +table 0.704 1.038 0.308 -1.364 0.004 0.583 89.97° +table 0.695 0.942 0.400 -1.558 0.001 3.157 89.98° +floor 3.814 -0.004 8.351 -0.013 0.000 -0.006 -0.02° +_scene_ 0.070 -0.000 0.023 -5.671 -0.004 -5.710 -57.29° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: sofa <-> table depth=[0.702, 0.497, 0.314] + !! OVERLAP: sofa <-> floor depth=[1.903, -0.004, 0.879] + !! OVERLAP: chair <-> floor depth=[0.627, -0.004, 0.632] + !! OVERLAP: table <-> floor depth=[1.556, -0.004, 1.094] + !! OVERLAP: table <-> chair depth=[0.420, 0.749, 0.063] + !! OVERLAP: table <-> chair depth=[0.377, 0.749, 0.053] + !! OVERLAP: table <-> chair depth=[0.452, 0.749, 0.468] + !! OVERLAP: table <-> chair depth=[0.472, 0.749, 0.328] + !! OVERLAP: table <-> floor depth=[1.933, -0.004, 1.361] + !! OVERLAP: chair <-> floor depth=[0.420, -0.004, 0.480] + !! OVERLAP: chair <-> floor depth=[0.377, -0.004, 0.437] + !! OVERLAP: chair <-> floor depth=[0.452, -0.004, 0.481] + !! OVERLAP: chair <-> floor depth=[0.472, -0.004, 0.482] + !! OVERLAP: table <-> floor depth=[1.647, -0.004, 0.515] + !! OVERLAP: lamp <-> lamp depth=[0.947, 0.516, 0.350] + !! OVERLAP: chair <-> floor depth=[0.705, -0.004, 0.613] + !! OVERLAP: table <-> floor depth=[0.704, -0.004, 0.308] + !! OVERLAP: table <-> floor depth=[0.695, -0.004, 0.400] +============================================================ + diff --git a/current_works/work_32/work32_part1/2050/echoscene/Bedroom-11202_echoscene.glb b/current_works/work_32/work32_part1/2050/echoscene/Bedroom-11202_echoscene.glb new file mode 100644 index 0000000000000000000000000000000000000000..6b462f01b75d125d32cfc0f019dcac48640823dd --- /dev/null +++ b/current_works/work_32/work32_part1/2050/echoscene/Bedroom-11202_echoscene.glb @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:59f0397e6c1558ef18758d623d8edc22fe2d041cdaca0c4c8b6830bbc2726648 +size 1537380 diff --git a/current_works/work_32/work32_part1/2050/echoscene/Bedroom-12864_echoscene.glb b/current_works/work_32/work32_part1/2050/echoscene/Bedroom-12864_echoscene.glb new file mode 100644 index 0000000000000000000000000000000000000000..e404fdf704b688808e83e0ff5a4fae640050fe68 --- /dev/null +++ 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