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7.333783457772576, + "navigable_points": 33 + }, + "Library-58697": { + "walkability_score": 0.3213286984757275, + "walkable_area": 2.0625, + "total_area": 6.418661046410696, + "navigable_points": 33 + }, + "Library-145994": { + "walkability_score": 0.1783761046932127, + "walkable_area": 1.625, + "total_area": 9.10996460425471, + "navigable_points": 26 + }, + "Library-39529": { + "walkability_score": 0.11845313182619731, + "walkable_area": 0.4375, + "total_area": 3.693443923812251, + "navigable_points": 7 + }, + "Library-56351": { + "walkability_score": 0.33860844213608404, + "walkable_area": 2.25, + "total_area": 6.644843187624197, + "navigable_points": 36 + }, + "Library-5406": { + "walkability_score": 0.4018392084713978, + "walkable_area": 3.25, + "total_area": 8.087812068819883, + "navigable_points": 52 + }, + "Library-51220": { + "walkability_score": 0.03929729746417821, + "walkable_area": 0.0625, + "total_area": 1.590440158307894, + "navigable_points": 1 + }, + "Library-5781": { 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a/current_works/work_42/2050/relational_accuracy_report.txt b/current_works/work_42/2050/relational_accuracy_report.txt new file mode 100644 index 0000000000000000000000000000000000000000..c40f674228dcdac8b1d4422bd44abe1cfacffe60 --- /dev/null +++ b/current_works/work_42/2050/relational_accuracy_report.txt @@ -0,0 +1,17 @@ +=========================================================================== + RELATIONAL ACCURACY EVALUATION REPORT + Source Path: /Volumes/ExternalSSD/current_works/work_42/2050/physcene_collision_resolved.json + Evaluated Scenes: 370 / 370 +=========================================================================== + Total Accuracy (Micro-Average): 96.03% + Means of Means (Macro-Average): 86.13% +--------------------------------------------------------------------------- + Category Breakdown: + - Left / Right (L/R) : 98.89% (Left: 98.84%, Right: 98.94%) + - Front / Behind (F/B) : 99.53% (Front: 99.46%, Behind: 99.60%) + - Bigger / Smaller (Bi/Sm) : 95.61% (Bigger: 95.53%, Smaller: 95.69%) + - Taller / Shorter (Ta/Sh) : 96.49% (Taller: 96.48%, Shorter: 96.50%) + - Standing On : 98.23% + - Close By : 71.91% + - Symmetrical To : 42.24% +=========================================================================== diff --git a/current_works/work_42/extracted/2050/debug_bbox.txt b/current_works/work_42/extracted/2050/debug_bbox.txt new file mode 100644 index 0000000000000000000000000000000000000000..90a82a74463623434964b912746c22dd8b842369 --- /dev/null +++ b/current_works/work_42/extracted/2050/debug_bbox.txt @@ -0,0 +1,11028 @@ + +============================================================ +SCENE: MasterBedroom-33296 | 9 objects +============================================================ +Final Step Collision Loss: 0.0089, Room Outer Loss: 0.2108, Walkable Loss: 0.5315 (Center Penalty: 0.5315), Relational Loss: 0.0227 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +table 1.077 1.038 0.343 -2.436 0.000 -0.973 -0.13° +nightstand 0.566 0.554 0.122 -0.088 -0.012 -1.127 0.16° +chair 0.418 0.437 0.450 -2.200 -0.004 -0.613 -89.89° +bed 1.812 1.455 1.950 -1.085 -0.008 -0.226 -0.08° +cabinet 0.827 1.027 0.404 -2.163 0.002 1.220 -179.98° +lamp 0.719 0.869 0.704 -1.246 1.946 0.070 -0.02° +wardrobe 3.034 2.357 0.548 0.518 -0.005 0.752 -90.20° +floor 5.902 0.001 2.913 -0.939 -0.002 0.341 0.08° +_scene_ 0.068 -0.000 0.020 -5.671 -0.005 -5.718 -57.29° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: table <-> chair depth=[0.418, 0.437, 0.036] + !! OVERLAP: table <-> bed depth=[0.094, 1.038, 0.343] + !! OVERLAP: table <-> floor depth=[1.077, 0.001, 0.314] + !! OVERLAP: nightstand <-> bed depth=[0.192, 0.554, 0.122] + !! OVERLAP: nightstand <-> floor depth=[0.566, 0.001, 0.049] + !! OVERLAP: chair <-> floor depth=[0.418, 0.001, 0.450] + !! OVERLAP: bed <-> wardrobe depth=[0.820, 1.455, 0.271] + !! OVERLAP: bed <-> floor depth=[1.812, 0.001, 1.864] + !! OVERLAP: cabinet <-> floor depth=[0.827, 0.001, 0.404] + !! OVERLAP: wardrobe <-> floor depth=[3.011, 0.001, 0.548] +============================================================ + + +============================================================ +SCENE: MasterBedroom-9404 | 8 objects +============================================================ +Final Step Collision Loss: 0.0456, Room Outer Loss: 0.0262, Walkable Loss: 0.7035 (Center Penalty: 0.7035), Relational Loss: 0.0261 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +bed 2.089 1.414 2.029 0.570 -0.001 0.408 -89.99° +wardrobe 1.750 2.309 0.308 0.558 0.002 -0.906 -0.22° +wardrobe 2.071 2.303 0.331 0.431 -0.003 -1.183 0.04° +nightstand 0.456 0.638 0.451 1.388 0.000 1.730 -90.04° +nightstand 0.494 0.655 0.280 1.411 0.007 -1.000 -90.13° +tv_stand 2.115 0.421 0.363 -0.991 0.014 0.791 89.93° +floor 3.705 -0.008 4.694 -0.221 0.010 0.964 0.34° +_scene_ 0.074 0.000 0.024 -5.667 -0.005 -5.713 -57.28° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bed <-> tv_stand depth=[0.541, 0.421, 0.363] + !! OVERLAP: bed <-> floor depth=[2.089, -0.008, 2.029] + !! OVERLAP: wardrobe <-> wardrobe depth=[1.750, 2.301, 0.043] + !! OVERLAP: wardrobe <-> nightstand depth=[0.270, 0.655, 0.201] + !! OVERLAP: wardrobe <-> floor depth=[1.750, -0.008, 0.308] + !! OVERLAP: wardrobe <-> nightstand depth=[0.303, 0.655, 0.123] + !! OVERLAP: wardrobe <-> floor depth=[2.071, -0.008, 0.331] + !! OVERLAP: nightstand <-> floor depth=[0.456, -0.008, 0.451] + !! OVERLAP: nightstand <-> floor depth=[0.468, -0.008, 0.280] + !! OVERLAP: tv_stand <-> floor depth=[2.115, -0.008, 0.363] +============================================================ + + +============================================================ +SCENE: SecondBedroom-30034 | 6 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0000, Walkable Loss: 0.7416 (Center Penalty: 0.7416), Relational Loss: 0.0121 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +bed 1.032 1.139 1.469 0.710 -0.025 -0.349 -87.84° +nightstand 0.117 0.568 0.087 1.165 -0.002 0.326 -91.28° +nightstand 0.332 0.541 0.342 1.072 0.002 -1.334 -89.91° +lamp 0.814 0.893 0.443 0.291 2.111 -0.637 0.05° +floor 2.814 -0.046 3.735 -0.115 0.003 -1.360 0.81° +_scene_ 0.069 0.001 0.021 -5.667 -0.005 -5.709 -57.30° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bed <-> nightstand depth=[0.117, 0.568, 0.087] + !! OVERLAP: bed <-> floor depth=[1.032, -0.046, 1.469] + !! OVERLAP: nightstand <-> floor depth=[0.117, -0.046, 0.087] + !! OVERLAP: nightstand <-> floor depth=[0.332, -0.046, 0.342] +============================================================ + + +============================================================ +SCENE: SecondBedroom-6482 | 8 objects +============================================================ +Final Step Collision Loss: 0.0209, Room Outer Loss: 0.1061, Walkable Loss: 0.5657 (Center Penalty: 0.5657), Relational Loss: 0.0082 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +bed 1.467 0.989 1.767 -0.814 0.003 -0.317 -0.82° +chair 0.707 0.849 0.637 -1.518 0.002 1.880 136.33° +nightstand 0.717 0.719 0.349 -1.628 -0.003 -0.951 0.12° +table 0.517 0.594 0.519 -1.105 0.001 1.357 -0.02° +wardrobe 0.860 2.166 0.414 1.067 0.002 -0.556 -90.22° +lamp 0.633 0.268 0.305 -0.684 2.545 0.674 -0.41° +floor 3.696 -0.021 4.199 -0.457 -0.002 0.896 0.48° +_scene_ 0.069 0.005 0.025 -5.660 -0.001 -5.720 -57.34° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bed <-> nightstand depth=[0.278, 0.719, 0.349] + !! OVERLAP: bed <-> floor depth=[1.467, -0.021, 1.767] + !! OVERLAP: chair <-> table depth=[0.200, 0.594, 0.055] + !! OVERLAP: chair <-> floor depth=[0.707, -0.021, 0.637] + !! OVERLAP: nightstand <-> floor depth=[0.717, -0.021, 0.349] + !! OVERLAP: table <-> floor depth=[0.517, -0.021, 0.519] + !! OVERLAP: wardrobe <-> floor depth=[0.754, -0.021, 0.414] +============================================================ + + +============================================================ +SCENE: SecondBedroom-11167 | 9 objects +============================================================ +Final Step Collision Loss: 0.0007, Room Outer Loss: 0.1642, Walkable Loss: 0.7383 (Center Penalty: 0.7383), Relational Loss: 0.0552 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +bed 1.380 2.185 1.961 -0.857 -0.000 0.577 90.61° +cabinet 1.178 0.947 0.451 -0.964 0.001 -1.570 -0.00° +table 0.781 1.637 0.699 0.967 -0.002 1.403 -90.41° +lamp 0.066 0.652 0.221 0.210 0.609 1.654 -0.05° +lamp 0.735 0.804 0.723 -0.352 1.798 0.817 -0.20° +nightstand 0.494 0.668 0.390 -1.411 0.002 1.558 90.03° +nightstand 0.593 0.707 0.468 -1.182 0.003 -1.064 89.96° +floor 3.153 0.018 4.661 -0.324 0.008 0.594 0.41° +_scene_ 0.062 0.002 0.035 -5.678 -0.003 -5.717 -57.36° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bed <-> nightstand depth=[0.383, 0.668, 0.194] + !! OVERLAP: bed <-> floor depth=[1.380, 0.018, 1.961] + !! OVERLAP: cabinet <-> floor depth=[1.178, 0.018, 0.393] + !! OVERLAP: table <-> floor depth=[0.676, 0.018, 0.699] + !! OVERLAP: nightstand <-> floor depth=[0.494, 0.018, 0.390] + !! OVERLAP: nightstand <-> floor depth=[0.593, 0.018, 0.468] +============================================================ + + +============================================================ +SCENE: MasterBedroom-27127 | 7 objects +============================================================ +Final Step Collision Loss: 0.0046, Room Outer Loss: 0.0720, Walkable Loss: 1.5411 (Center Penalty: 1.5411), Relational Loss: 0.0110 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +bed 1.507 0.903 1.352 -0.204 -0.004 0.667 179.71° +nightstand 0.380 0.528 0.419 -1.621 -0.003 -0.214 -0.12° +nightstand 0.506 0.570 0.465 0.749 -0.005 0.746 89.73° +wardrobe 1.685 2.211 0.391 -1.231 0.005 -0.257 89.90° +desk 1.173 1.223 0.587 1.469 0.001 0.369 -90.18° +floor 4.056 0.002 2.711 -0.019 -0.000 -0.006 -0.09° +_scene_ 0.053 0.002 0.015 -5.673 -0.005 -5.721 -57.31° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bed <-> nightstand depth=[0.053, 0.570, 0.465] + !! OVERLAP: bed <-> floor depth=[1.507, 0.002, 1.352] + !! OVERLAP: nightstand <-> wardrobe depth=[0.380, 0.528, 0.362] + !! OVERLAP: nightstand <-> floor depth=[0.380, 0.002, 0.419] + !! OVERLAP: nightstand <-> desk depth=[0.120, 0.570, 0.149] + !! OVERLAP: nightstand <-> floor depth=[0.506, 0.002, 0.465] + !! OVERLAP: wardrobe <-> floor depth=[1.658, 0.002, 0.391] + !! OVERLAP: desk <-> floor depth=[1.127, 0.002, 0.587] +============================================================ + + +============================================================ +SCENE: MasterBedroom-75552 | 5 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0237, Walkable Loss: 0.9981 (Center Penalty: 0.9981), Relational Loss: 0.0000 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +bed 1.421 0.817 1.904 -0.366 0.008 -1.521 -1.03° +wardrobe 1.485 2.364 0.727 0.800 0.026 -0.062 179.89° +lamp 0.759 0.573 0.745 -0.100 2.006 -0.768 0.01° +floor 2.752 -0.011 3.987 0.143 -0.007 -0.649 0.05° +_scene_ 0.067 0.000 0.010 -5.671 -0.004 -5.705 -57.30° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bed <-> floor depth=[1.421, -0.011, 1.904] + !! OVERLAP: wardrobe <-> floor depth=[1.461, -0.011, 0.727] +============================================================ + + +============================================================ +SCENE: SecondBedroom-19119 | 7 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0491, Walkable Loss: 0.7830 (Center Penalty: 0.7830), Relational Loss: 0.0193 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +bed 1.760 0.865 2.161 -0.807 0.000 0.450 90.02° +wardrobe 1.675 2.290 0.530 -0.847 -0.003 -0.810 0.04° +nightstand 0.532 0.635 0.439 -1.508 0.001 1.634 90.03° +tv_stand 1.262 0.457 0.353 1.263 0.008 0.513 -89.93° +lamp 0.944 0.763 0.872 -0.282 1.948 0.739 0.11° +floor 3.620 0.010 4.095 0.045 -0.018 0.860 -0.15° +_scene_ 0.072 -0.001 0.024 -5.666 -0.005 -5.712 -57.32° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bed <-> wardrobe depth=[1.675, 0.865, 0.086] + !! OVERLAP: bed <-> nightstand depth=[0.445, 0.635, 0.116] + !! OVERLAP: bed <-> floor depth=[1.760, 0.010, 2.161] + !! OVERLAP: wardrobe <-> floor depth=[1.675, 0.010, 0.530] + !! OVERLAP: nightstand <-> floor depth=[0.523, 0.010, 0.439] + !! OVERLAP: tv_stand <-> floor depth=[1.223, 0.010, 0.353] +============================================================ + + +============================================================ +SCENE: Bedroom-2719 | 8 objects +============================================================ +Final Step Collision Loss: 0.0148, Room Outer Loss: 0.0000, Walkable Loss: 1.6427 (Center Penalty: 1.6427), Relational Loss: 0.0025 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +chair 0.418 0.501 0.416 -1.003 -0.000 -1.356 0.02° +bookshelf 2.098 2.165 0.429 -0.527 -0.027 -0.987 90.76° +table 0.754 1.233 0.367 -1.210 0.001 1.184 89.85° +bed 1.726 0.758 1.812 -0.102 0.002 0.822 89.75° +lamp 0.552 0.542 0.380 0.411 2.462 -0.690 -0.03° +chair 0.560 0.820 0.553 1.033 -0.001 -0.794 -89.98° +floor 3.255 -0.001 3.655 -0.051 -0.000 -0.037 -0.02° +_scene_ 0.078 0.000 0.020 -5.669 -0.004 -5.709 -57.34° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: chair <-> bookshelf depth=[0.418, 0.501, 0.053] + !! OVERLAP: chair <-> floor depth=[0.418, -0.001, 0.416] + !! OVERLAP: bookshelf <-> floor depth=[2.098, -0.001, 0.429] + !! OVERLAP: table <-> bed depth=[0.131, 0.758, 0.367] + !! OVERLAP: table <-> floor depth=[0.754, -0.001, 0.367] + !! OVERLAP: bed <-> floor depth=[1.726, -0.001, 1.812] + !! OVERLAP: chair <-> floor depth=[0.560, -0.001, 0.553] +============================================================ + + +============================================================ +SCENE: Bedroom-430 | 6 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0000, Walkable Loss: 2.6191 (Center Penalty: 2.6191), Relational Loss: 0.0000 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +bed 2.097 1.452 2.145 0.222 -0.014 0.427 89.94° +table 0.412 0.461 0.394 -1.104 0.002 1.017 89.99° +table 0.465 0.564 0.519 -1.017 -0.001 -1.321 0.04° +lamp 0.795 0.843 0.930 -0.056 2.059 -0.017 0.01° +floor 2.733 -0.006 3.400 0.047 0.000 -0.083 -0.05° +_scene_ 0.116 0.003 0.137 -5.507 0.003 -5.607 -58.05° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bed <-> floor depth=[2.097, -0.006, 2.145] + !! OVERLAP: table <-> floor depth=[0.412, -0.006, 0.394] + !! OVERLAP: table <-> floor depth=[0.465, -0.006, 0.519] +============================================================ + + +============================================================ +SCENE: MasterBedroom-18415 | 8 objects +============================================================ +Final Step Collision Loss: 0.0017, Room Outer Loss: 0.1682, Walkable Loss: 0.6452 (Center Penalty: 0.6452), Relational Loss: 0.0436 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +bed 1.872 0.669 1.874 -0.684 0.001 0.872 89.98° +nightstand 0.526 0.800 0.420 -1.399 -0.001 -0.509 89.99° +nightstand 0.447 0.697 0.379 -1.405 0.002 1.985 90.04° +wardrobe 2.042 2.523 0.462 -0.061 0.006 -1.559 0.00° +tv_stand 1.677 0.428 0.441 1.058 -0.003 0.635 -89.90° +lamp 0.791 0.830 0.754 0.062 1.844 0.964 -0.07° +floor 3.512 0.003 4.921 0.037 -0.003 0.735 -0.24° +_scene_ 0.068 0.000 0.023 -5.673 -0.006 -5.714 -57.29° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bed <-> nightstand depth=[0.439, 0.669, 0.013] + !! OVERLAP: bed <-> tv_stand depth=[0.033, 0.428, 0.441] + !! OVERLAP: bed <-> floor depth=[1.872, 0.003, 1.874] + !! OVERLAP: nightstand <-> floor depth=[0.526, 0.003, 0.420] + !! OVERLAP: nightstand <-> floor depth=[0.447, 0.003, 0.379] + !! OVERLAP: wardrobe <-> floor depth=[2.042, 0.003, 0.398] + !! OVERLAP: tv_stand <-> floor depth=[1.574, 0.003, 0.441] +============================================================ + + +============================================================ +SCENE: SecondBedroom-1145 | 6 objects +============================================================ +Final Step Collision Loss: 0.0075, Room Outer Loss: 0.0000, Walkable Loss: 0.8204 (Center Penalty: 0.8204), Relational Loss: 0.0606 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +bed 1.938 1.094 2.208 -0.521 -0.002 -0.631 -0.05° +nightstand 0.455 0.620 0.530 -1.744 0.000 -1.243 0.00° +nightstand 0.555 0.558 0.507 0.682 0.000 -1.366 0.06° +lamp 0.815 0.632 0.857 -0.851 2.487 0.159 -0.16° +floor 4.269 -0.005 2.974 -0.615 0.003 -0.428 -0.07° +_scene_ 0.068 0.001 0.018 -5.668 -0.005 -5.710 -57.31° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bed <-> nightstand depth=[0.044, 0.558, 0.507] + !! OVERLAP: bed <-> floor depth=[1.938, -0.005, 2.208] + !! OVERLAP: nightstand <-> floor depth=[0.455, -0.005, 0.530] + !! OVERLAP: nightstand <-> floor depth=[0.555, -0.005, 0.507] +============================================================ + + +============================================================ +SCENE: SecondBedroom-2787 | 6 objects +============================================================ +Final Step Collision Loss: 0.0059, Room Outer Loss: 0.0363, Walkable Loss: 0.5791 (Center Penalty: 0.5791), Relational Loss: 0.0000 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +bed 1.439 0.788 1.616 -0.658 0.002 -0.860 90.08° +nightstand 0.445 0.562 0.541 -1.362 0.001 0.013 90.15° +desk 0.997 1.122 0.523 1.247 0.001 -0.418 -90.06° +lamp 0.323 0.468 0.293 -0.669 2.270 -0.251 90.12° +floor 3.294 0.043 2.975 0.097 0.007 -1.158 0.03° +_scene_ 0.071 0.001 0.023 -5.670 -0.004 -5.715 -57.31° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bed <-> nightstand depth=[0.237, 0.562, 0.206] + !! OVERLAP: bed <-> floor depth=[1.439, 0.043, 1.616] + !! OVERLAP: nightstand <-> floor depth=[0.410, 0.043, 0.541] + !! OVERLAP: desk <-> floor depth=[0.995, 0.043, 0.523] +============================================================ + + +============================================================ +SCENE: Bedroom-87322 | 9 objects +============================================================ +Final Step Collision Loss: 0.0137, Room Outer Loss: 0.0000, Walkable Loss: 1.2937 (Center Penalty: 1.2937), Relational Loss: 0.0202 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +bed 1.223 1.278 2.574 1.059 -0.016 -0.208 -90.08° +nightstand 0.455 0.813 0.406 1.612 0.000 0.622 -90.12° +chair 1.269 0.572 0.732 0.211 -0.001 -1.272 -90.04° +wardrobe 1.122 2.297 0.523 1.134 -0.000 1.323 -179.98° +tv_stand 1.411 0.515 0.426 -1.117 0.001 -0.910 90.01° +lamp 0.398 0.491 0.425 0.145 2.075 1.408 -0.02° +lamp 0.572 0.164 0.554 0.287 2.491 -0.985 -0.05° +floor 3.687 -0.000 3.774 0.002 0.000 -0.004 -0.02° +_scene_ 0.057 -0.002 0.010 -5.669 -0.007 -5.719 -57.21° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bed <-> nightstand depth=[0.286, 0.813, 0.406] + !! OVERLAP: bed <-> chair depth=[0.398, 0.572, 0.589] + !! OVERLAP: bed <-> wardrobe depth=[1.097, 1.278, 0.017] + !! OVERLAP: bed <-> floor depth=[1.223, -0.000, 2.574] + !! OVERLAP: nightstand <-> floor depth=[0.455, -0.000, 0.406] + !! OVERLAP: chair <-> tv_stand depth=[0.012, 0.515, 0.217] + !! OVERLAP: chair <-> floor depth=[1.269, -0.000, 0.732] + !! OVERLAP: wardrobe <-> floor depth=[1.122, -0.000, 0.523] + !! OVERLAP: tv_stand <-> floor depth=[1.411, -0.000, 0.426] +============================================================ + + +============================================================ +SCENE: Bedroom-68718 | 7 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0000, Walkable Loss: 1.6411 (Center Penalty: 1.6411), Relational Loss: 0.0452 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +bed 2.146 1.617 1.735 -0.474 -0.009 -0.602 0.22° +nightstand 0.696 0.535 0.168 -1.077 -0.001 -1.582 -0.00° +nightstand 0.637 0.557 0.387 1.064 0.003 -1.411 0.02° +wardrobe 2.290 2.297 0.521 -0.099 -0.002 1.382 -179.92° +lamp 0.827 1.214 0.986 0.061 1.542 -0.762 0.06° +floor 3.378 -0.001 3.441 -0.032 -0.001 -0.016 -0.02° +_scene_ 0.072 0.000 0.023 -5.668 -0.004 -5.712 -57.30° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bed <-> floor depth=[2.146, -0.001, 1.735] + !! OVERLAP: nightstand <-> floor depth=[0.696, -0.001, 0.168] + !! OVERLAP: nightstand <-> floor depth=[0.637, -0.001, 0.387] + !! OVERLAP: wardrobe <-> floor depth=[2.290, -0.001, 0.521] +============================================================ + + +============================================================ +SCENE: SecondBedroom-35821 | 8 objects +============================================================ +Final Step Collision Loss: 0.0293, Room Outer Loss: 0.0344, Walkable Loss: 1.5346 (Center Penalty: 1.5346), Relational Loss: 0.0000 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +bed 1.599 1.172 2.245 -0.983 0.003 -0.304 90.09° +nightstand 0.511 0.525 0.471 -1.605 0.002 1.125 89.99° +nightstand 0.510 0.547 0.453 -1.544 0.007 -1.309 90.09° +tv_stand 1.316 0.369 0.315 1.235 0.020 0.361 -89.65° +lamp 0.950 0.681 0.981 -0.668 1.797 -0.465 0.09° +chair 1.338 0.834 0.949 -0.334 0.003 0.975 90.20° +floor 3.731 -0.003 3.340 -0.007 0.001 -0.064 0.03° +_scene_ 0.068 0.001 0.025 -5.673 -0.005 -5.716 -57.29° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bed <-> nightstand depth=[0.493, 0.547, 0.343] + !! OVERLAP: bed <-> chair depth=[0.819, 0.834, 0.319] + !! OVERLAP: bed <-> floor depth=[1.599, -0.003, 2.245] + !! OVERLAP: nightstand <-> floor depth=[0.511, -0.003, 0.471] + !! OVERLAP: nightstand <-> floor depth=[0.510, -0.003, 0.453] + !! OVERLAP: tv_stand <-> floor depth=[1.282, -0.003, 0.315] + !! OVERLAP: chair <-> floor depth=[1.338, -0.003, 0.949] +============================================================ + + +============================================================ +SCENE: Bedroom-18055 | 8 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0000, Walkable Loss: 1.4031 (Center Penalty: 1.4031), Relational Loss: 0.0300 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +bed 1.805 1.061 2.079 0.497 0.001 -0.545 -90.18° +wardrobe 1.954 2.424 0.495 0.395 0.001 2.013 -179.98° +nightstand 0.535 0.543 0.505 1.086 0.002 0.892 -90.10° +nightstand 0.491 0.607 0.549 0.949 -0.000 -1.728 -90.17° +lamp 0.813 0.732 0.275 0.831 1.883 0.956 7.63° +lamp 0.296 0.771 0.322 0.914 1.775 -1.286 -0.03° +floor 2.876 -0.001 4.568 -0.006 -0.001 -0.007 -0.03° +_scene_ 0.071 -0.000 0.022 -5.672 -0.005 -5.713 -57.30° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bed <-> nightstand depth=[0.491, 0.607, 0.131] + !! OVERLAP: bed <-> floor depth=[1.805, -0.001, 2.079] + !! OVERLAP: wardrobe <-> floor depth=[1.954, -0.001, 0.495] + !! OVERLAP: nightstand <-> floor depth=[0.535, -0.001, 0.505] + !! OVERLAP: nightstand <-> floor depth=[0.491, -0.001, 0.549] +============================================================ + + +============================================================ +SCENE: SecondBedroom-19262 | 6 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0000, Walkable Loss: 0.5397 (Center Penalty: 0.5397), Relational Loss: 0.0000 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +bed 2.091 1.012 2.077 -0.705 0.001 0.695 -179.70° +tv_stand 2.404 0.633 0.466 -0.716 -0.000 -1.421 -0.01° +wardrobe 0.504 2.380 0.771 0.832 0.028 -0.500 -88.14° +lamp 0.665 0.779 0.610 -0.813 1.948 0.631 -0.11° +floor 4.338 -0.028 3.668 -1.028 -0.012 -0.007 0.32° +_scene_ 0.066 0.002 0.017 -5.669 -0.005 -5.714 -57.30° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bed <-> floor depth=[2.091, -0.028, 2.077] + !! OVERLAP: tv_stand <-> floor depth=[2.404, -0.028, 0.466] + !! OVERLAP: wardrobe <-> floor depth=[0.504, -0.028, 0.771] +============================================================ + + +============================================================ +SCENE: Bedroom-12864 | 7 objects +============================================================ +Final Step Collision Loss: 0.0011, Room Outer Loss: 0.0000, Walkable Loss: 1.6941 (Center Penalty: 1.6941), Relational Loss: 0.0697 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +wardrobe 1.720 2.178 0.767 0.835 0.033 -0.569 -90.37° +bed 1.463 1.068 2.167 -0.885 -0.005 -0.138 89.88° +nightstand 0.497 0.464 0.397 -1.334 0.002 -1.243 90.06° +nightstand 0.532 0.484 0.435 -1.369 0.003 0.851 90.01° +lamp 0.624 0.912 0.580 -0.590 1.817 -0.408 0.08° +floor 3.419 -0.002 3.572 -0.010 0.000 -0.002 -0.02° +_scene_ 0.067 0.001 0.019 -5.672 -0.005 -5.717 -57.28° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: wardrobe <-> floor depth=[1.720, -0.002, 0.767] + !! OVERLAP: bed <-> nightstand depth=[0.497, 0.464, 0.177] + !! OVERLAP: bed <-> nightstand depth=[0.513, 0.484, 0.311] + !! OVERLAP: bed <-> floor depth=[1.463, -0.002, 2.167] + !! OVERLAP: nightstand <-> floor depth=[0.497, -0.002, 0.397] + !! OVERLAP: nightstand <-> floor depth=[0.532, -0.002, 0.435] +============================================================ + + +============================================================ +SCENE: SecondBedroom-266050 | 6 objects +============================================================ +Final Step Collision Loss: 0.0010, Room Outer Loss: 0.0205, Walkable Loss: 1.2551 (Center Penalty: 1.2551), Relational Loss: 0.0662 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +sofa 1.585 0.669 1.020 1.084 -0.000 -0.051 -89.83° +bed 2.004 1.091 2.333 -0.916 0.000 0.269 89.94° +nightstand 0.625 0.771 0.481 -1.539 0.002 -1.260 89.93° +nightstand 0.513 0.627 0.454 -1.611 0.002 1.522 90.03° +floor 3.774 -0.003 4.515 -0.028 -0.000 0.001 -0.01° +_scene_ 0.077 0.001 0.033 -5.669 -0.005 -5.709 -57.32° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: sofa <-> floor depth=[1.568, -0.003, 1.020] + !! OVERLAP: bed <-> nightstand depth=[0.513, 0.627, 0.140] + !! OVERLAP: bed <-> floor depth=[2.001, -0.003, 2.333] + !! OVERLAP: nightstand <-> floor depth=[0.625, -0.003, 0.481] + !! OVERLAP: nightstand <-> floor depth=[0.513, -0.003, 0.454] +============================================================ + + +============================================================ +SCENE: MasterBedroom-12352 | 6 objects +============================================================ +Final Step Collision Loss: 0.0122, Room Outer Loss: 0.0000, Walkable Loss: 0.9325 (Center Penalty: 0.9325), Relational Loss: 0.0540 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +bed 1.657 0.892 1.770 -0.570 -0.000 0.232 90.27° +nightstand 0.546 0.666 0.421 -1.145 0.001 -0.783 89.98° +nightstand 0.491 0.714 0.424 -1.118 0.011 1.410 90.09° +lamp 0.907 0.896 0.314 -0.216 1.761 0.898 -0.12° +floor 3.229 0.009 4.554 0.165 0.009 0.804 -0.53° +_scene_ 0.071 -0.001 0.021 -5.673 -0.004 -5.713 -57.30° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bed <-> nightstand depth=[0.527, 0.666, 0.081] + !! OVERLAP: bed <-> floor depth=[1.657, 0.009, 1.770] + !! OVERLAP: nightstand <-> floor depth=[0.546, 0.009, 0.421] + !! OVERLAP: nightstand <-> floor depth=[0.491, 0.009, 0.424] +============================================================ + + +============================================================ +SCENE: MasterBedroom-7894 | 6 objects +============================================================ +Final Step Collision Loss: 0.0033, Room Outer Loss: 0.0000, Walkable Loss: 0.6192 (Center Penalty: 0.6192), Relational Loss: 0.0280 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +bed 1.690 0.806 2.363 -0.282 -0.001 0.897 90.05° +nightstand 0.373 0.556 0.395 -0.972 0.004 1.909 89.46° +lamp 1.021 0.929 0.181 0.312 1.892 0.876 -0.13° +wardrobe 2.861 2.564 0.496 0.441 -0.002 -1.191 0.03° +floor 3.457 -0.011 4.672 0.473 0.003 0.712 -0.00° +_scene_ 0.076 0.002 0.022 -5.672 -0.004 -5.712 -57.28° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bed <-> nightstand depth=[0.342, 0.556, 0.367] + !! OVERLAP: bed <-> floor depth=[1.690, -0.011, 2.363] + !! OVERLAP: nightstand <-> floor depth=[0.373, -0.011, 0.395] + !! OVERLAP: wardrobe <-> floor depth=[2.861, -0.011, 0.496] +============================================================ + + +============================================================ +SCENE: MasterBedroom-118594 | 6 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.1164, Walkable Loss: 0.7307 (Center Penalty: 0.7307), Relational Loss: 0.0000 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +lamp 0.489 0.586 0.520 0.423 2.362 -0.634 -0.36° +bed 1.751 1.280 2.221 0.066 0.006 -0.811 -90.38° +bookshelf 3.349 2.647 0.242 -0.927 0.004 1.410 179.85° +wardrobe 1.511 1.958 0.547 -1.344 0.000 -0.821 89.95° +floor 3.625 -0.006 4.654 -0.988 0.010 0.063 0.10° +_scene_ 0.069 -0.001 0.026 -5.672 -0.004 -5.715 -57.32° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bed <-> wardrobe depth=[0.222, 1.280, 0.547] + !! OVERLAP: bed <-> floor depth=[1.635, -0.006, 2.221] + !! OVERLAP: bookshelf <-> floor depth=[3.349, -0.006, 0.242] + !! OVERLAP: wardrobe <-> floor depth=[1.511, -0.006, 0.547] +============================================================ + + +============================================================ +SCENE: MasterBedroom-6399 | 7 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.2365, Walkable Loss: 0.8711 (Center Penalty: 0.8711), Relational Loss: 0.0241 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +wardrobe 0.890 2.378 0.481 0.670 -0.004 -0.863 -90.19° +bed 1.450 0.865 1.708 -0.420 0.007 -0.485 0.03° +table 0.960 1.304 0.389 -1.629 -0.001 -1.353 -0.01° +chair 0.507 0.475 0.482 -1.626 -0.001 -0.463 179.77° +lamp 0.881 0.665 0.395 -0.792 2.044 0.125 -0.14° +floor 4.011 -0.004 3.062 -1.127 0.020 -0.360 0.02° +_scene_ 0.066 0.000 0.021 -5.668 -0.005 -5.711 -57.30° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: wardrobe <-> bed depth=[0.079, 0.865, 0.481] + !! OVERLAP: wardrobe <-> floor depth=[0.653, -0.004, 0.481] + !! OVERLAP: bed <-> floor depth=[1.450, -0.004, 1.708] + !! OVERLAP: table <-> floor depth=[0.960, -0.004, 0.389] + !! OVERLAP: chair <-> floor depth=[0.507, -0.004, 0.482] +============================================================ + + +============================================================ +SCENE: SecondBedroom-52584 | 5 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0000, Walkable Loss: 1.2946 (Center Penalty: 1.2946), Relational Loss: 0.0310 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +lamp 1.033 0.811 1.190 -0.025 1.957 -1.055 0.09° +bed 1.235 1.238 2.048 0.831 0.013 -0.390 -90.22° +table 0.467 0.632 0.471 1.154 0.003 -1.312 -89.99° +floor 3.066 -0.005 4.080 -0.010 -0.001 -0.014 0.01° +_scene_ 0.057 0.005 0.015 -5.647 -0.005 -5.716 -57.30° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bed <-> table depth=[0.467, 0.632, 0.337] + !! OVERLAP: bed <-> floor depth=[1.235, -0.005, 2.048] + !! OVERLAP: table <-> floor depth=[0.467, -0.005, 0.471] +============================================================ + + +============================================================ +SCENE: SecondBedroom-860 | 7 objects +============================================================ +Final Step Collision Loss: 0.0045, Room Outer Loss: 0.0707, Walkable Loss: 0.8181 (Center Penalty: 0.8181), Relational Loss: 0.0427 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +bed 1.841 1.099 2.240 -0.380 0.003 -0.734 -0.18° +nightstand 0.429 0.535 0.359 0.918 -0.000 -1.331 0.09° +nightstand 0.459 0.534 0.432 -1.498 0.000 -1.287 0.02° +wardrobe 1.251 2.312 0.580 0.968 0.012 -0.479 -90.71° +lamp 1.030 1.056 0.960 -0.921 1.864 -0.195 -0.31° +floor 4.007 0.002 2.924 -0.480 0.001 -0.621 0.93° +_scene_ 0.070 0.001 0.023 -5.673 -0.005 -5.714 -57.31° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bed <-> nightstand depth=[0.032, 0.534, 0.432] + !! OVERLAP: bed <-> wardrobe depth=[0.198, 1.099, 0.580] + !! OVERLAP: bed <-> floor depth=[1.841, 0.002, 2.240] + !! OVERLAP: nightstand <-> floor depth=[0.429, 0.002, 0.359] + !! OVERLAP: nightstand <-> floor depth=[0.459, 0.002, 0.432] + !! OVERLAP: wardrobe <-> floor depth=[1.180, 0.002, 0.580] +============================================================ + + +============================================================ +SCENE: MasterBedroom-514 | 5 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0000, Walkable Loss: 0.9445 (Center Penalty: 0.9445), Relational Loss: 0.0161 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +nightstand 0.528 0.577 0.348 0.014 0.005 -0.793 0.14° +bed 1.697 1.194 1.012 0.022 -0.005 -1.484 0.02° +lamp 1.218 0.878 0.994 0.358 1.961 -0.660 0.03° +floor 2.628 -0.020 3.083 -0.010 0.008 -0.749 -0.15° +_scene_ 0.068 0.000 0.020 -5.674 -0.004 -5.716 -57.29° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: nightstand <-> floor depth=[0.528, -0.020, 0.348] + !! OVERLAP: bed <-> floor depth=[1.697, -0.020, 1.012] +============================================================ + + +============================================================ +SCENE: SecondBedroom-11204 | 7 objects +============================================================ +Final Step Collision Loss: 0.0049, Room Outer Loss: 0.0000, Walkable Loss: 1.4158 (Center Penalty: 1.4158), Relational Loss: 0.0083 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +bed 1.358 1.079 2.225 -0.596 0.004 -0.407 89.88° +wardrobe 1.519 2.184 0.548 -0.780 0.001 1.517 -179.98° +nightstand 0.490 0.560 0.485 -1.349 0.003 0.988 90.17° +table 0.846 1.056 0.251 0.979 -0.001 -0.759 -90.04° +chair 0.727 0.458 0.299 1.213 -0.003 -0.889 90.04° +floor 3.255 -0.002 3.555 -0.000 -0.000 0.021 -0.01° +_scene_ 0.066 0.001 0.018 -5.673 -0.005 -5.714 -57.30° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bed <-> floor depth=[1.358, -0.002, 2.225] + !! OVERLAP: wardrobe <-> floor depth=[1.519, -0.002, 0.548] + !! OVERLAP: nightstand <-> floor depth=[0.490, -0.002, 0.485] + !! OVERLAP: table <-> chair depth=[0.552, 0.458, 0.145] + !! OVERLAP: table <-> floor depth=[0.846, -0.002, 0.251] + !! OVERLAP: chair <-> floor depth=[0.727, -0.002, 0.299] +============================================================ + + +============================================================ +SCENE: MasterBedroom-4089 | 7 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0378, Walkable Loss: 0.6005 (Center Penalty: 0.6005), Relational Loss: 0.0224 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +wardrobe 1.398 2.636 0.599 0.234 -0.001 -1.062 -93.06° +nightstand 0.682 0.735 0.350 -1.386 0.001 -1.268 0.02° +nightstand 0.198 0.661 -0.287 -0.218 -0.092 -1.259 1.34° +bed 1.886 0.609 1.382 -1.155 -0.011 -0.317 -0.12° +lamp 0.186 1.152 0.248 -0.689 1.657 -0.405 -0.04° +floor 3.753 0.030 3.266 -0.982 -0.025 -0.216 1.16° +_scene_ 0.068 0.001 0.026 -5.671 -0.005 -5.714 -57.31° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: wardrobe <-> bed depth=[0.253, 0.609, 0.246] + !! OVERLAP: wardrobe <-> floor depth=[1.360, 0.030, 0.599] + !! OVERLAP: nightstand <-> floor depth=[0.682, 0.030, 0.350] + !! OVERLAP: nightstand <-> floor depth=[0.198, 0.030, -0.287] + !! OVERLAP: bed <-> floor depth=[1.886, 0.030, 1.382] +============================================================ + + +============================================================ +SCENE: MasterBedroom-21684 | 9 objects +============================================================ +Final Step Collision Loss: 0.0010, Room Outer Loss: 0.0813, Walkable Loss: 1.6148 (Center Penalty: 1.6148), Relational Loss: 0.0441 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +bed 1.751 1.014 2.256 0.496 0.001 -0.549 0.07° +nightstand 0.395 0.754 0.387 1.612 -0.002 -1.236 0.03° +cabinet 1.104 1.461 0.565 0.172 0.002 1.409 -179.90° +wardrobe 1.134 2.296 0.567 -1.053 0.004 -0.702 89.84° +nightstand 0.447 0.752 0.365 -0.687 0.001 -1.404 -0.02° +chair 0.553 0.738 0.519 1.399 0.005 0.987 -144.97° +lamp 0.843 1.016 0.656 0.648 1.752 0.595 -0.04° +floor 3.475 -0.001 3.386 0.011 0.001 -0.022 -0.02° +_scene_ 0.069 0.000 0.020 -5.675 -0.005 -5.715 -57.29° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bed <-> floor depth=[1.751, -0.001, 2.256] + !! OVERLAP: nightstand <-> floor depth=[0.335, -0.001, 0.387] + !! OVERLAP: cabinet <-> floor depth=[1.104, -0.001, 0.544] + !! OVERLAP: wardrobe <-> floor depth=[1.134, -0.001, 0.567] + !! OVERLAP: nightstand <-> floor depth=[0.447, -0.001, 0.365] + !! OVERLAP: chair <-> floor depth=[0.553, -0.001, 0.519] +============================================================ + + +============================================================ +SCENE: SecondBedroom-8497 | 6 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0000, Walkable Loss: 0.5339 (Center Penalty: 0.5339), Relational Loss: 0.0015 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +bed 0.453 1.046 1.915 1.085 -0.023 -0.759 87.55° +nightstand -0.120 0.505 -0.035 0.410 -0.101 0.638 89.27° +nightstand 0.081 0.552 0.299 -0.388 -0.004 -1.590 91.43° +lamp 0.765 0.869 0.598 0.931 1.940 -0.831 -0.13° +floor 3.119 -0.059 2.980 0.944 -0.018 -0.313 -0.26° +_scene_ 0.062 0.001 0.014 -5.676 -0.006 -5.709 -57.36° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bed <-> floor depth=[0.453, -0.059, 1.915] + !! OVERLAP: nightstand <-> floor depth=[-0.120, -0.059, -0.035] + !! OVERLAP: nightstand <-> floor depth=[0.081, -0.059, 0.299] +============================================================ + + +============================================================ +SCENE: MasterBedroom-196 | 7 objects +============================================================ +Final Step Collision Loss: 0.0097, Room Outer Loss: 0.1877, Walkable Loss: 1.0036 (Center Penalty: 1.0036), Relational Loss: 0.0134 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +lamp 0.746 0.448 0.643 0.738 2.383 -0.242 -0.15° +wardrobe 1.634 2.485 0.707 -1.360 0.008 -0.560 89.86° +bed 1.756 1.033 2.324 0.349 -0.004 -0.777 0.03° +nightstand 0.289 0.616 0.356 1.363 -0.000 -1.421 0.26° +nightstand 0.566 0.582 0.471 -0.838 -0.000 -1.365 -0.07° +floor 3.497 -0.003 3.702 -0.357 0.009 -0.520 -0.12° +_scene_ 0.069 0.000 0.023 -5.669 -0.004 -5.714 -57.31° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: wardrobe <-> floor depth=[1.563, -0.003, 0.707] + !! OVERLAP: bed <-> nightstand depth=[0.008, 0.616, 0.356] + !! OVERLAP: bed <-> floor depth=[1.756, -0.003, 2.324] + !! OVERLAP: nightstand <-> floor depth=[0.172, -0.003, 0.356] + !! OVERLAP: nightstand <-> floor depth=[0.566, -0.003, 0.471] +============================================================ + + +============================================================ +SCENE: MasterBedroom-132469 | 5 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.2926, Walkable Loss: 0.5831 (Center Penalty: 0.5831), Relational Loss: 0.0000 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +bed 2.057 0.940 1.781 -0.354 0.001 0.560 -90.62° +wardrobe 1.363 2.039 0.567 0.109 0.000 -1.602 -0.07° +lamp 0.221 0.140 0.479 -0.493 2.351 0.992 -0.34° +floor 3.180 -0.011 4.081 -1.004 0.038 -0.531 0.88° +_scene_ 0.081 -0.003 0.105 -5.612 -0.009 -5.665 -57.37° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bed <-> floor depth=[1.968, -0.011, 1.781] + !! OVERLAP: wardrobe <-> floor depth=[1.158, -0.011, 0.567] +============================================================ + + +============================================================ +SCENE: MasterBedroom-104323 | 5 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0000, Walkable Loss: 0.7350 (Center Penalty: 0.7350), Relational Loss: 0.0231 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +bed 1.211 1.205 1.845 -0.894 -0.000 -0.058 90.49° +lamp 0.721 1.075 0.221 -0.787 1.773 0.553 -0.03° +nightstand 0.320 0.554 0.297 -1.033 0.001 -0.890 89.87° +floor 2.904 -0.038 3.223 -0.132 -0.013 -0.709 -0.40° +_scene_ 0.071 0.001 0.026 -5.669 -0.006 -5.710 -57.28° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bed <-> nightstand depth=[0.320, 0.554, 0.239] + !! OVERLAP: bed <-> floor depth=[1.211, -0.038, 1.845] + !! OVERLAP: nightstand <-> floor depth=[0.320, -0.038, 0.297] +============================================================ + + +============================================================ +SCENE: SecondBedroom-69556 | 8 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0410, Walkable Loss: 0.8098 (Center Penalty: 0.8098), Relational Loss: 0.0000 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +bed 1.695 1.092 2.159 0.863 0.001 -0.488 -89.78° +wardrobe 1.701 2.373 0.314 0.929 -0.014 1.076 -179.99° +table 0.387 0.539 0.351 1.422 0.000 0.634 -89.96° +cabinet 0.600 1.688 0.519 -0.726 0.006 -1.639 90.41° +lamp 0.656 1.034 0.661 0.151 1.635 -0.671 0.07° +table 0.532 0.609 0.447 1.432 0.001 -1.657 -90.02° +floor 3.088 0.002 3.682 0.552 -0.003 -0.616 0.23° +_scene_ 0.067 -0.000 0.015 -5.670 -0.005 -5.709 -57.30° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bed <-> table depth=[0.387, 0.539, 0.134] + !! OVERLAP: bed <-> table depth=[0.532, 0.609, 0.133] + !! OVERLAP: bed <-> floor depth=[1.695, 0.002, 2.159] + !! OVERLAP: wardrobe <-> floor depth=[1.701, 0.002, 0.307] + !! OVERLAP: table <-> floor depth=[0.387, 0.002, 0.351] + !! OVERLAP: cabinet <-> floor depth=[0.566, 0.002, 0.519] + !! OVERLAP: table <-> floor depth=[0.532, 0.002, 0.447] +============================================================ + + +============================================================ +SCENE: Bedroom-6993 | 5 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0481, Walkable Loss: 0.8471 (Center Penalty: 0.8471), Relational Loss: 0.0000 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +bed 1.485 0.655 1.760 -0.525 0.004 0.845 90.20° +lamp 0.853 0.909 0.131 0.213 1.839 0.719 -179.98° +wardrobe 2.918 2.535 0.450 0.129 -0.011 -0.808 -0.74° +floor 2.972 0.033 4.005 0.104 -0.011 1.018 1.23° +_scene_ 0.043 0.009 0.008 -5.661 -0.004 -5.720 -57.32° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bed <-> floor depth=[1.485, 0.033, 1.760] + !! OVERLAP: wardrobe <-> floor depth=[2.918, 0.033, 0.401] +============================================================ + + +============================================================ +SCENE: MasterBedroom-935 | 11 objects +============================================================ +Final Step Collision Loss: 0.0145, Room Outer Loss: 0.0409, Walkable Loss: 0.7411 (Center Penalty: 0.7411), Relational Loss: 0.0240 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +desk 1.118 0.743 0.465 1.584 0.002 -0.809 -89.81° +lamp 0.298 0.638 0.288 0.204 2.054 0.724 -0.03° +lamp 0.916 0.956 0.850 1.199 1.708 1.703 -90.09° +lamp 1.261 1.121 0.741 1.386 1.415 -0.984 0.02° +chair 0.480 0.861 0.553 0.693 0.002 -0.892 89.82° +bed 1.969 0.767 2.100 0.772 -0.000 0.773 -90.09° +wardrobe 2.424 2.275 0.374 0.746 -0.009 -1.379 0.10° +tv_stand 1.763 0.637 0.420 -0.876 -0.010 1.272 89.80° +nightstand 0.450 0.484 0.373 1.767 0.001 1.690 -90.08° +floor 4.182 0.004 4.870 0.374 -0.006 0.774 0.09° +_scene_ 0.071 0.001 0.021 -5.671 -0.005 -5.712 -57.29° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: desk <-> floor depth=[1.118, 0.004, 0.465] + !! OVERLAP: lamp <-> wardrobe depth=[1.203, 0.274, 0.162] + !! OVERLAP: chair <-> floor depth=[0.480, 0.004, 0.553] + !! OVERLAP: bed <-> tv_stand depth=[0.218, 0.637, 0.420] + !! OVERLAP: bed <-> nightstand depth=[0.214, 0.484, 0.320] + !! OVERLAP: bed <-> floor depth=[1.969, 0.004, 2.100] + !! OVERLAP: wardrobe <-> floor depth=[2.424, 0.004, 0.374] + !! OVERLAP: tv_stand <-> floor depth=[1.722, 0.004, 0.420] + !! OVERLAP: nightstand <-> floor depth=[0.450, 0.004, 0.373] +============================================================ + + +============================================================ +SCENE: SecondBedroom-2311 | 6 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0700, Walkable Loss: 0.9757 (Center Penalty: 0.9757), Relational Loss: 0.0000 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +bookshelf 1.563 2.681 0.303 -0.002 0.001 -1.531 0.01° +lamp 0.878 0.664 0.649 0.429 1.932 0.362 0.06° +bed 0.665 1.164 1.316 -0.342 -0.006 -0.606 179.48° +chair 0.650 0.693 0.447 1.502 0.000 0.435 -77.63° +floor 3.365 -0.035 2.945 0.928 0.017 -0.821 2.85° +_scene_ 0.069 0.003 0.030 -5.625 -0.004 -5.682 -57.37° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bookshelf <-> floor depth=[1.534, -0.035, 0.303] + !! OVERLAP: bed <-> floor depth=[0.665, -0.035, 1.316] + !! OVERLAP: chair <-> floor depth=[0.650, -0.035, 0.440] +============================================================ + + +============================================================ +SCENE: SecondBedroom-69136 | 8 objects +============================================================ +Final Step Collision Loss: 0.0058, Room Outer Loss: 0.1023, Walkable Loss: 0.6980 (Center Penalty: 0.6980), Relational Loss: 0.0264 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +bed 2.124 0.935 2.123 0.643 0.019 0.485 179.95° +wardrobe 0.840 2.237 0.510 -1.161 0.009 0.959 88.93° +nightstand 0.391 0.412 0.280 1.492 0.002 1.526 179.87° +nightstand 0.351 0.420 0.278 -0.613 0.001 1.309 179.96° +tv_stand 1.871 0.524 0.374 0.414 -0.000 -1.321 0.02° +lamp 0.590 0.166 0.554 0.848 2.389 -0.184 -0.54° +floor 4.868 -0.032 3.315 0.955 0.000 0.139 0.32° +_scene_ 0.072 -0.000 0.024 -5.670 -0.003 -5.709 -57.30° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bed <-> nightstand depth=[0.391, 0.412, 0.160] + !! OVERLAP: bed <-> floor depth=[2.124, -0.032, 2.123] + !! OVERLAP: wardrobe <-> nightstand depth=[0.047, 0.420, 0.043] + !! OVERLAP: wardrobe <-> floor depth=[0.738, -0.032, 0.510] + !! OVERLAP: nightstand <-> floor depth=[0.391, -0.032, 0.280] + !! OVERLAP: nightstand <-> floor depth=[0.351, -0.032, 0.278] + !! OVERLAP: tv_stand <-> floor depth=[1.871, -0.032, 0.374] +============================================================ + + +============================================================ +SCENE: Bedroom-47437 | 5 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0000, Walkable Loss: 1.2905 (Center Penalty: 1.2905), Relational Loss: 0.0000 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +bed 1.459 1.041 2.168 -0.658 -0.004 0.446 90.10° +nightstand 0.452 0.633 0.427 -1.028 -0.000 1.578 89.92° +nightstand 0.579 0.577 0.485 -1.215 0.002 -0.978 89.96° +floor 3.317 -0.002 4.797 -0.019 0.000 -0.001 -0.02° +_scene_ 0.059 0.008 0.007 -5.664 -0.005 -5.716 -57.30° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bed <-> nightstand depth=[0.452, 0.633, 0.165] + !! OVERLAP: bed <-> floor depth=[1.459, -0.002, 2.168] + !! OVERLAP: nightstand <-> floor depth=[0.452, -0.002, 0.427] + !! OVERLAP: nightstand <-> floor depth=[0.579, -0.002, 0.485] +============================================================ + + +============================================================ +SCENE: SecondBedroom-739 | 6 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0000, Walkable Loss: 0.6689 (Center Penalty: 0.6689), Relational Loss: 0.0476 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +bed 1.408 1.154 2.178 -0.725 0.017 0.276 90.13° +table 0.410 0.475 0.391 -1.172 0.000 1.369 89.94° +table 0.407 0.468 0.319 -1.228 -0.000 -0.699 89.96° +lamp 0.507 1.072 0.779 -0.783 1.773 0.485 0.03° +floor 2.591 0.008 3.581 -0.220 0.016 0.923 0.48° +_scene_ 0.050 0.031 0.076 -5.518 -0.007 -5.517 -57.75° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bed <-> table depth=[0.410, 0.475, 0.191] + !! OVERLAP: bed <-> table depth=[0.405, 0.468, 0.273] + !! OVERLAP: bed <-> floor depth=[1.408, 0.008, 2.178] + !! OVERLAP: table <-> floor depth=[0.410, 0.008, 0.391] + !! OVERLAP: table <-> floor depth=[0.407, 0.008, 0.319] +============================================================ + + +============================================================ +SCENE: MasterBedroom-6351 | 6 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0000, Walkable Loss: 0.4823 (Center Penalty: 0.4823), Relational Loss: 0.0348 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +bed 1.332 1.676 2.074 1.021 -0.009 -0.268 -89.40° +nightstand 0.472 0.506 0.382 1.301 -0.002 0.704 -90.53° +nightstand 0.398 0.592 0.457 1.301 0.003 -1.194 -89.96° +lamp 0.896 0.512 0.824 -0.007 2.300 -0.779 0.26° +floor 2.653 0.033 3.829 0.593 0.011 -1.012 1.22° +_scene_ 0.070 -0.000 0.019 -5.667 -0.005 -5.711 -57.30° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bed <-> nightstand depth=[0.472, 0.506, 0.256] + !! OVERLAP: bed <-> nightstand depth=[0.398, 0.592, 0.339] + !! OVERLAP: bed <-> floor depth=[1.332, 0.033, 2.074] + !! OVERLAP: nightstand <-> floor depth=[0.472, 0.033, 0.382] + !! OVERLAP: nightstand <-> floor depth=[0.398, 0.033, 0.457] +============================================================ + + +============================================================ +SCENE: SecondBedroom-22370 | 7 objects +============================================================ +Final Step Collision Loss: 0.0086, Room Outer Loss: 0.0000, Walkable Loss: 1.1473 (Center Penalty: 1.1473), Relational Loss: 0.0311 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +wardrobe 0.920 2.229 0.608 0.743 -0.006 -0.684 -91.72° +bed 1.749 1.244 1.833 -0.785 -0.010 -0.077 179.94° +nightstand 0.093 0.412 0.029 0.398 -0.011 -0.488 179.14° +nightstand 0.255 0.524 0.096 -1.372 0.004 0.789 -179.73° +lamp 0.801 0.814 0.677 -0.742 1.873 -0.592 -0.51° +floor 4.270 -0.005 3.108 -0.784 0.002 -0.714 0.47° +_scene_ 0.067 0.000 0.018 -5.674 -0.005 -5.717 -57.26° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: wardrobe <-> nightstand depth=[0.093, 0.412, 0.029] + !! OVERLAP: wardrobe <-> floor depth=[0.920, -0.005, 0.608] + !! OVERLAP: bed <-> nightstand depth=[0.255, 0.524, 0.096] + !! OVERLAP: bed <-> floor depth=[1.749, -0.005, 1.833] + !! OVERLAP: nightstand <-> floor depth=[0.093, -0.005, 0.029] + !! OVERLAP: nightstand <-> floor depth=[0.255, -0.005, 0.096] +============================================================ + + +============================================================ +SCENE: SecondBedroom-15551 | 5 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0000, Walkable Loss: 0.4610 (Center Penalty: 0.4610), Relational Loss: 0.0347 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +bed 1.392 0.777 2.070 -0.796 0.003 -0.372 89.57° +wardrobe 2.287 2.413 0.584 -0.446 0.000 1.256 -179.96° +nightstand 0.449 0.580 0.379 -1.205 0.001 -1.402 89.96° +floor 3.073 0.031 3.879 -0.822 0.004 -0.294 0.78° +_scene_ 0.075 0.002 0.024 -5.665 -0.004 -5.709 -57.30° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bed <-> nightstand depth=[0.449, 0.580, 0.194] + !! OVERLAP: bed <-> floor depth=[1.392, 0.031, 2.070] + !! OVERLAP: wardrobe <-> floor depth=[2.287, 0.031, 0.584] + !! OVERLAP: nightstand <-> floor depth=[0.449, 0.031, 0.379] +============================================================ + + +============================================================ +SCENE: MasterBedroom-13100 | 8 objects +============================================================ +Final Step Collision Loss: 0.0156, Room Outer Loss: 0.0938, Walkable Loss: 0.7310 (Center Penalty: 0.7310), Relational Loss: 0.0355 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +lamp 0.366 0.903 0.349 0.218 1.854 0.804 0.42° +bed 1.583 1.213 2.173 0.240 -0.002 0.877 -92.08° +nightstand 0.281 0.508 0.389 0.882 -0.028 -0.813 -90.70° +nightstand 0.520 0.503 0.560 0.782 -0.005 1.887 -89.96° +wardrobe 1.944 2.464 0.370 0.103 -0.003 -1.039 -0.20° +shelf 0.999 1.834 0.495 -1.449 -0.000 1.854 89.91° +floor 3.178 -0.010 4.112 -0.447 0.006 0.925 0.23° +_scene_ 0.071 0.001 0.017 -5.670 -0.004 -5.715 -57.31° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bed <-> nightstand depth=[0.509, 0.503, 0.356] + !! OVERLAP: bed <-> floor depth=[1.583, -0.010, 2.173] + !! OVERLAP: nightstand <-> wardrobe depth=[0.281, 0.508, 0.153] + !! OVERLAP: nightstand <-> floor depth=[0.281, -0.010, 0.389] + !! OVERLAP: nightstand <-> floor depth=[0.520, -0.010, 0.560] + !! OVERLAP: wardrobe <-> floor depth=[1.944, -0.010, 0.276] + !! OVERLAP: shelf <-> floor depth=[0.999, -0.010, 0.495] +============================================================ + + +============================================================ +SCENE: SecondBedroom-13841 | 5 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.1991, Walkable Loss: 0.6192 (Center Penalty: 0.6192), Relational Loss: 0.0000 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +lamp 0.495 1.029 0.674 0.811 1.324 -0.168 0.05° +bed 1.733 1.565 2.267 0.667 0.006 -0.673 -0.13° +wardrobe 0.319 1.924 0.754 -0.753 0.011 -0.882 90.17° +floor 3.201 0.061 3.624 0.887 0.001 -0.474 -0.33° +_scene_ 0.050 0.003 0.027 -5.603 -0.002 -5.678 -57.38° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bed <-> floor depth=[1.733, 0.061, 2.267] + !! OVERLAP: wardrobe <-> floor depth=[0.120, 0.061, 0.754] +============================================================ + + +============================================================ +SCENE: MasterBedroom-10364 | 8 objects +============================================================ +Final Step Collision Loss: 0.0084, Room Outer Loss: 0.0000, Walkable Loss: 0.3268 (Center Penalty: 0.3268), Relational Loss: 0.0284 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +bed 1.989 1.216 2.046 1.055 0.004 -0.566 -0.13° +nightstand 0.617 0.712 0.481 1.695 -0.001 -1.749 -0.00° +nightstand 0.559 0.615 0.370 -0.077 0.000 -1.691 -0.03° +wardrobe 0.865 1.812 0.518 -1.156 0.001 -0.986 89.91° +lamp 0.615 0.149 0.599 1.073 2.456 -0.588 -0.02° +lamp 0.360 0.509 0.234 -1.258 2.288 0.699 0.03° +floor 4.624 -0.002 4.014 -0.136 0.008 -0.899 0.09° +_scene_ 0.067 0.001 0.023 -5.672 -0.004 -5.714 -57.30° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bed <-> nightstand depth=[0.617, 0.712, 0.080] + !! OVERLAP: bed <-> nightstand depth=[0.142, 0.615, 0.083] + !! OVERLAP: bed <-> floor depth=[1.989, -0.002, 2.046] + !! OVERLAP: nightstand <-> floor depth=[0.617, -0.002, 0.481] + !! OVERLAP: nightstand <-> floor depth=[0.559, -0.002, 0.370] + !! OVERLAP: wardrobe <-> floor depth=[0.865, -0.002, 0.518] +============================================================ + + +============================================================ +SCENE: Bedroom-18 | 6 objects +============================================================ +Final Step Collision Loss: 0.0254, Room Outer Loss: 0.0501, Walkable Loss: 0.8226 (Center Penalty: 0.8226), Relational Loss: 0.0000 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +bed 2.126 1.109 2.142 0.067 -0.001 -0.612 -0.07° +nightstand 0.536 0.659 0.289 0.849 -0.010 -1.687 0.02° +nightstand 0.610 0.595 0.536 -1.288 0.000 -1.275 -0.03° +lamp 0.283 0.557 0.307 -0.296 2.215 -0.857 -0.70° +floor 3.482 0.079 3.399 -0.643 0.010 -0.712 -0.06° +_scene_ 0.069 -0.000 0.023 -5.673 -0.004 -5.714 -57.29° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bed <-> nightstand depth=[0.536, 0.659, 0.141] + !! OVERLAP: bed <-> nightstand depth=[0.014, 0.595, 0.536] + !! OVERLAP: bed <-> floor depth=[2.094, 0.079, 2.142] + !! OVERLAP: nightstand <-> floor depth=[0.517, 0.079, 0.289] + !! OVERLAP: nightstand <-> floor depth=[0.610, 0.079, 0.536] +============================================================ + + +============================================================ +SCENE: SecondBedroom-11303 | 7 objects +============================================================ +Final Step Collision Loss: 0.0167, Room Outer Loss: 0.2241, Walkable Loss: 0.7134 (Center Penalty: 0.7134), Relational Loss: 0.0636 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +bed 1.967 1.160 2.179 -0.752 -0.001 -0.579 0.04° +desk 1.571 0.717 0.603 -1.140 -0.001 0.748 179.94° +nightstand 0.149 0.429 0.157 0.776 -0.001 0.785 -89.86° +wardrobe 0.593 2.034 0.401 0.776 -0.003 0.363 -91.99° +wardrobe 0.221 2.126 0.488 0.933 -0.014 -0.824 -91.10° +floor 3.791 -0.010 3.237 -0.950 0.019 -0.098 -0.06° +_scene_ 0.068 -0.000 0.022 -5.672 -0.005 -5.711 -57.31° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bed <-> desk depth=[1.381, 0.717, 0.064] + !! OVERLAP: bed <-> floor depth=[1.967, -0.010, 2.179] + !! OVERLAP: desk <-> floor depth=[1.571, -0.010, 0.603] + !! OVERLAP: nightstand <-> floor depth=[0.149, -0.010, 0.157] + !! OVERLAP: wardrobe <-> floor depth=[0.467, -0.010, 0.401] + !! OVERLAP: wardrobe <-> floor depth=[0.123, -0.010, 0.488] +============================================================ + + +============================================================ +SCENE: MasterBedroom-1362 | 8 objects +============================================================ +Final Step Collision Loss: 0.0070, Room Outer Loss: 0.0000, Walkable Loss: 0.5959 (Center Penalty: 0.5959), Relational Loss: 0.0281 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +bed 1.502 1.457 1.815 0.891 0.003 0.512 -90.10° +table 0.505 0.534 0.448 1.310 0.001 -0.743 -89.99° +table 0.496 0.534 0.531 1.327 0.001 1.599 -90.04° +wardrobe 1.559 1.850 0.258 0.579 0.001 -0.967 0.01° +lamp 0.571 0.213 0.464 0.750 2.496 0.657 -0.92° +chair 0.629 0.780 0.701 -1.006 0.007 0.157 55.98° +floor 3.162 0.036 4.248 0.201 -0.005 1.004 0.65° +_scene_ 0.069 0.004 0.022 -5.666 -0.003 -5.712 -57.29° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bed <-> table depth=[0.496, 0.534, 0.086] + !! OVERLAP: bed <-> floor depth=[1.502, 0.036, 1.815] + !! OVERLAP: table <-> wardrobe depth=[0.301, 0.534, 0.129] + !! OVERLAP: table <-> floor depth=[0.505, 0.036, 0.448] + !! OVERLAP: table <-> floor depth=[0.496, 0.036, 0.531] + !! OVERLAP: wardrobe <-> floor depth=[1.559, 0.036, 0.258] + !! OVERLAP: chair <-> floor depth=[0.629, 0.036, 0.701] +============================================================ + + +============================================================ +SCENE: SecondBedroom-34317 | 7 objects +============================================================ +Final Step Collision Loss: 0.0007, Room Outer Loss: 0.0000, Walkable Loss: 1.4318 (Center Penalty: 1.4318), Relational Loss: 0.0003 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +bed 2.022 1.126 1.884 -0.035 -0.033 0.793 90.27° +cabinet 1.173 0.789 0.438 0.728 0.004 -1.794 0.04° +nightstand 0.465 0.732 0.461 -1.205 0.001 1.468 90.11° +nightstand 0.524 0.661 0.449 -1.138 0.001 -0.989 90.05° +lamp 0.569 0.214 0.617 0.711 2.308 -0.699 -0.39° +floor 3.092 -0.001 4.253 -0.001 0.001 0.014 -0.01° +_scene_ 0.070 0.003 0.015 -5.667 -0.005 -5.711 -57.31° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bed <-> nightstand depth=[0.074, 0.732, 0.461] + !! OVERLAP: bed <-> floor depth=[2.022, -0.001, 1.884] + !! OVERLAP: cabinet <-> floor depth=[1.173, -0.001, 0.438] + !! OVERLAP: nightstand <-> floor depth=[0.465, -0.001, 0.461] + !! OVERLAP: nightstand <-> floor depth=[0.524, -0.001, 0.449] +============================================================ + + +============================================================ +SCENE: Bedroom-4098 | 7 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.4976, Walkable Loss: 0.6971 (Center Penalty: 0.6971), Relational Loss: 0.0411 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +bed 1.628 0.951 1.962 -0.842 0.007 -0.201 0.12° +nightstand 0.482 0.621 0.241 0.467 0.007 -0.953 0.08° +nightstand 0.458 0.509 0.283 -1.980 0.003 -0.845 -0.20° +wardrobe 0.808 2.447 0.394 0.683 0.075 0.949 -90.95° +lamp 0.341 0.340 0.312 -0.815 2.211 -0.071 -0.13° +floor 4.909 -0.006 2.900 -1.142 0.019 0.535 -0.42° +_scene_ 0.070 0.000 0.023 -5.670 -0.004 -5.715 -57.30° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bed <-> floor depth=[1.628, -0.006, 1.695] + !! OVERLAP: nightstand <-> floor depth=[0.482, -0.006, 0.083] + !! OVERLAP: nightstand <-> floor depth=[0.458, -0.006, 0.211] + !! OVERLAP: wardrobe <-> floor depth=[0.808, -0.006, 0.394] +============================================================ + + +============================================================ +SCENE: Bedroom-5265 | 9 objects +============================================================ +Final Step Collision Loss: 0.0083, Room Outer Loss: 0.2401, Walkable Loss: 0.7323 (Center Penalty: 0.7323), Relational Loss: 0.0337 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +bed 1.860 1.209 1.935 -0.389 0.001 0.626 -179.95° +nightstand 0.527 0.561 0.310 -1.214 0.003 1.482 179.86° +nightstand 0.393 0.471 0.294 0.946 0.003 1.604 179.95° +tv_stand 1.969 0.696 0.370 -1.223 -0.000 -1.655 -0.09° +tv_stand 1.866 0.706 0.446 -0.486 0.002 -1.183 -0.00° +wardrobe 0.777 2.332 0.724 0.929 -0.012 0.916 -89.16° +lamp 0.666 0.659 0.647 -1.039 2.013 -0.220 -0.01° +floor 4.328 0.002 3.468 -0.861 0.009 -0.149 -0.67° +_scene_ 0.071 -0.000 0.024 -5.673 -0.005 -5.714 -57.29° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bed <-> nightstand depth=[0.369, 0.561, 0.266] + !! OVERLAP: bed <-> wardrobe depth=[0.001, 1.209, 0.724] + !! OVERLAP: bed <-> floor depth=[1.860, 0.002, 1.927] + !! OVERLAP: nightstand <-> floor depth=[0.527, 0.002, 0.258] + !! OVERLAP: nightstand <-> floor depth=[0.393, 0.002, 0.128] + !! OVERLAP: tv_stand <-> floor depth=[1.969, 0.002, 0.370] + !! OVERLAP: tv_stand <-> floor depth=[1.866, 0.002, 0.446] + !! OVERLAP: wardrobe <-> floor depth=[0.762, 0.002, 0.724] +============================================================ + + +============================================================ +SCENE: MasterBedroom-22121 | 9 objects +============================================================ +Final Step Collision Loss: 0.0081, Room Outer Loss: 0.0000, Walkable Loss: 1.3523 (Center Penalty: 1.3523), Relational Loss: 0.0310 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +bed 1.371 1.142 2.165 0.937 0.015 -0.096 -89.61° +nightstand 0.576 0.501 0.481 1.364 0.001 -1.189 -90.07° +wardrobe 1.917 2.265 0.549 0.295 -0.003 -1.102 -0.02° +table 0.585 0.892 0.368 -1.401 0.002 0.416 89.96° +nightstand 0.494 0.532 0.458 0.653 0.002 1.181 0.03° +lamp 0.890 0.756 0.891 0.098 1.780 -1.232 -0.02° +lamp 0.672 0.850 0.670 0.471 2.105 1.308 -0.04° +floor 3.367 -0.001 3.737 -0.011 0.000 -0.018 0.00° +_scene_ 0.071 0.001 0.023 -5.671 -0.005 -5.718 -57.21° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bed <-> nightstand depth=[0.546, 0.501, 0.229] + !! OVERLAP: bed <-> wardrobe depth=[1.002, 1.142, 0.350] + !! OVERLAP: bed <-> nightstand depth=[0.494, 0.532, 0.035] + !! OVERLAP: bed <-> floor depth=[1.371, -0.001, 2.165] + !! OVERLAP: nightstand <-> wardrobe depth=[0.177, 0.501, 0.428] + !! OVERLAP: nightstand <-> floor depth=[0.576, -0.001, 0.481] + !! OVERLAP: wardrobe <-> floor depth=[1.917, -0.001, 0.549] + !! OVERLAP: table <-> floor depth=[0.585, -0.001, 0.368] + !! OVERLAP: nightstand <-> floor depth=[0.494, -0.001, 0.458] +============================================================ + + +============================================================ +SCENE: Bedroom-47481 | 7 objects +============================================================ +Final Step Collision Loss: 0.0020, Room Outer Loss: 0.0044, Walkable Loss: 1.0332 (Center Penalty: 1.0332), Relational Loss: 0.0266 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +bed 1.516 1.094 1.955 -0.505 0.000 -0.041 89.72° +nightstand 0.299 0.429 0.223 -1.104 0.002 0.951 90.08° +wardrobe 1.884 2.331 0.485 -0.225 0.003 1.693 179.98° +nightstand 0.307 0.466 0.258 -0.991 -0.002 -0.936 89.96° +lamp 1.095 0.679 0.178 0.684 2.059 -0.529 -0.24° +floor 2.666 0.010 4.005 -0.025 -0.001 0.942 -0.28° +_scene_ 0.071 0.000 0.024 -5.673 -0.005 -5.714 -57.30° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bed <-> nightstand depth=[0.299, 0.429, 0.096] + !! OVERLAP: bed <-> nightstand depth=[0.307, 0.466, 0.212] + !! OVERLAP: bed <-> floor depth=[1.516, 0.010, 1.955] + !! OVERLAP: nightstand <-> floor depth=[0.299, 0.010, 0.223] + !! OVERLAP: wardrobe <-> floor depth=[1.884, 0.010, 0.485] + !! OVERLAP: nightstand <-> floor depth=[0.307, 0.010, 0.253] +============================================================ + + +============================================================ +SCENE: Bedroom-2160 | 6 objects +============================================================ +Final Step Collision Loss: 0.0040, Room Outer Loss: 0.0130, Walkable Loss: 1.7016 (Center Penalty: 1.7016), Relational Loss: 0.0261 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +bed 1.609 2.105 2.044 -0.518 0.006 0.370 90.48° +nightstand 0.521 0.580 0.417 -0.923 0.001 1.452 179.97° +lamp 0.697 1.295 0.793 0.507 1.482 -0.688 -0.28° +wardrobe 1.571 2.028 0.547 -0.036 0.002 -1.371 -0.01° +floor 2.689 0.001 3.299 -0.007 0.001 -0.002 -0.01° +_scene_ 0.067 0.000 0.016 -5.673 -0.006 -5.714 -57.29° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bed <-> nightstand depth=[0.521, 0.580, 0.149] + !! OVERLAP: bed <-> lamp depth=[0.127, 0.224, 0.360] + !! OVERLAP: bed <-> floor depth=[1.609, 0.001, 2.044] + !! OVERLAP: nightstand <-> floor depth=[0.521, 0.001, 0.404] + !! OVERLAP: wardrobe <-> floor depth=[1.571, 0.001, 0.547] +============================================================ + + +============================================================ +SCENE: SecondBedroom-9825 | 7 objects +============================================================ +Final Step Collision Loss: 0.0029, Room Outer Loss: 0.0000, Walkable Loss: 1.5068 (Center Penalty: 1.5068), Relational Loss: 0.0000 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +wardrobe 1.811 2.521 0.609 -0.719 0.002 1.573 179.91° +bed 1.714 1.226 2.183 -0.586 0.002 -0.663 89.81° +table 0.437 0.476 0.382 -1.311 -0.001 1.037 0.10° +table 0.377 0.592 0.366 -1.421 0.000 -1.676 90.04° +lamp 0.899 0.880 0.764 0.081 2.138 -0.780 0.15° +floor 3.281 -0.003 4.314 0.007 0.001 -0.016 0.00° +_scene_ 0.070 -0.000 0.021 -5.672 -0.004 -5.715 -57.30° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: wardrobe <-> floor depth=[1.811, -0.003, 0.609] + !! OVERLAP: bed <-> table depth=[0.211, 0.592, 0.262] + !! OVERLAP: bed <-> floor depth=[1.714, -0.003, 2.183] + !! OVERLAP: table <-> floor depth=[0.437, -0.003, 0.382] + !! OVERLAP: table <-> floor depth=[0.377, -0.003, 0.366] +============================================================ + + +============================================================ +SCENE: Bedroom-1989 | 7 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.2439, Walkable Loss: 1.8355 (Center Penalty: 1.8355), Relational Loss: 0.0178 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +bed 1.624 0.833 1.854 0.617 -0.001 -0.446 -89.97° +nightstand 0.412 0.744 0.394 1.250 -0.001 0.625 -89.78° +wardrobe 2.842 2.604 0.549 -0.052 0.001 1.318 -179.85° +tv_stand 1.729 0.507 0.449 -0.736 0.016 -0.390 89.88° +lamp 0.700 0.689 0.237 0.337 1.927 -0.794 -0.32° +floor 2.932 -0.003 3.127 0.015 0.002 -0.042 -0.01° +_scene_ 0.066 -0.000 0.015 -5.671 -0.006 -5.712 -57.35° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bed <-> nightstand depth=[0.385, 0.744, 0.052] + !! OVERLAP: bed <-> tv_stand depth=[0.324, 0.507, 0.449] + !! OVERLAP: bed <-> floor depth=[1.624, -0.003, 1.854] + !! OVERLAP: nightstand <-> floor depth=[0.412, -0.003, 0.394] + !! OVERLAP: wardrobe <-> floor depth=[2.820, -0.003, 0.478] + !! OVERLAP: tv_stand <-> floor depth=[1.579, -0.003, 0.449] +============================================================ + + +============================================================ +SCENE: SecondBedroom-143 | 9 objects +============================================================ +Final Step Collision Loss: 0.0066, Room Outer Loss: 0.3506, Walkable Loss: 0.3106 (Center Penalty: 0.3106), Relational Loss: 0.0364 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +wardrobe 1.625 2.374 0.671 -1.456 -0.011 -0.067 90.16° +bed 1.417 1.166 1.274 0.854 0.034 0.323 -179.40° +nightstand 0.717 0.518 0.208 1.575 0.004 0.885 -179.94° +nightstand 0.624 0.522 0.254 -1.334 -0.012 0.940 -179.65° +cabinet 1.293 1.081 0.389 0.539 0.001 -1.571 0.06° +cabinet 1.163 1.110 0.484 -0.625 0.000 -1.766 0.07° +shelf 0.438 1.536 0.356 1.650 -0.009 -0.914 -141.87° +floor 4.962 -0.000 3.916 0.306 -0.006 -1.038 0.25° +_scene_ 0.055 0.001 0.037 -5.664 -0.007 -5.716 -57.21° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: wardrobe <-> floor depth=[1.531, -0.000, 0.671] + !! OVERLAP: bed <-> nightstand depth=[0.346, 0.518, 0.179] + !! OVERLAP: bed <-> floor depth=[1.417, -0.000, 1.233] + !! OVERLAP: nightstand <-> floor depth=[0.717, -0.000, 0.139] + !! OVERLAP: nightstand <-> floor depth=[0.624, -0.000, 0.107] + !! OVERLAP: cabinet <-> cabinet depth=[0.064, 1.081, 0.241] + !! OVERLAP: cabinet <-> floor depth=[1.293, -0.000, 0.389] + !! OVERLAP: cabinet <-> floor depth=[1.163, -0.000, 0.484] + !! OVERLAP: shelf <-> floor depth=[0.438, -0.000, 0.356] +============================================================ + + +============================================================ +SCENE: SecondBedroom-13044 | 5 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.1694, Walkable Loss: 0.7184 (Center Penalty: 0.7184), Relational Loss: 0.0244 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +bed 1.048 1.215 1.665 0.312 -0.020 0.650 -90.05° +wardrobe 1.440 2.250 0.441 0.176 -0.004 -1.523 -0.16° +nightstand 0.226 0.495 0.263 0.905 -0.003 1.311 -89.89° +floor 3.131 -0.008 3.597 -0.693 -0.018 -0.213 -0.04° +_scene_ 0.069 0.001 0.018 -5.675 -0.004 -5.712 -57.31° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bed <-> nightstand depth=[0.043, 0.495, 0.263] + !! OVERLAP: bed <-> floor depth=[1.048, -0.008, 1.665] + !! OVERLAP: wardrobe <-> floor depth=[1.416, -0.008, 0.441] + !! OVERLAP: nightstand <-> floor depth=[0.080, -0.008, 0.263] +============================================================ + + +============================================================ +SCENE: Bedroom-8490 | 8 objects +============================================================ +Final Step Collision Loss: 0.0048, Room Outer Loss: 0.0000, Walkable Loss: 1.3122 (Center Penalty: 1.3122), Relational Loss: 0.0110 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +wardrobe 3.100 2.491 0.516 -0.031 0.000 -1.455 0.09° +lamp 0.834 0.734 0.867 -0.395 2.202 0.888 0.14° +bed 1.804 0.979 1.970 -0.368 0.000 0.864 179.93° +nightstand 0.458 0.587 0.437 1.179 0.001 1.346 179.94° +nightstand 0.405 0.482 0.382 -1.386 0.004 1.480 179.91° +lamp 0.208 0.863 0.065 1.355 1.057 1.385 -0.00° +floor 3.277 -0.001 3.831 0.042 0.000 0.110 -0.00° +_scene_ 0.068 0.001 0.018 -5.674 -0.005 -5.717 -57.29° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: wardrobe <-> floor depth=[3.100, -0.001, 0.516] + !! OVERLAP: bed <-> nightstand depth=[0.087, 0.482, 0.382] + !! OVERLAP: bed <-> floor depth=[1.804, -0.001, 1.970] + !! OVERLAP: nightstand <-> floor depth=[0.458, -0.001, 0.437] + !! OVERLAP: nightstand <-> floor depth=[0.405, -0.001, 0.382] +============================================================ + + +============================================================ +SCENE: MasterBedroom-424 | 7 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0000, Walkable Loss: 1.0903 (Center Penalty: 1.0903), Relational Loss: 0.0343 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +bed 1.622 1.034 2.526 -0.683 -0.002 0.679 90.08° +wardrobe 1.719 1.883 0.514 -0.011 -0.010 -1.290 0.24° +nightstand 0.354 0.455 0.362 -1.413 0.000 -0.673 90.06° +nightstand 0.429 0.467 0.401 -1.314 0.001 1.716 90.05° +lamp 0.410 0.167 0.454 -0.103 2.487 0.720 0.04° +floor 3.497 0.001 4.480 0.107 0.001 0.542 0.10° +_scene_ 0.071 0.001 0.020 -5.670 -0.005 -5.712 -57.30° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bed <-> nightstand depth=[0.258, 0.455, 0.091] + !! OVERLAP: bed <-> nightstand depth=[0.394, 0.467, 0.401] + !! OVERLAP: bed <-> floor depth=[1.622, 0.001, 2.526] + !! OVERLAP: wardrobe <-> floor depth=[1.719, 0.001, 0.514] + !! OVERLAP: nightstand <-> floor depth=[0.354, 0.001, 0.362] + !! OVERLAP: nightstand <-> floor depth=[0.429, 0.001, 0.401] +============================================================ + + +============================================================ +SCENE: SecondBedroom-32238 | 7 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.1111, Walkable Loss: 0.4581 (Center Penalty: 0.4581), Relational Loss: 0.0236 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +bed 1.270 1.847 1.672 1.108 0.040 0.307 -89.71° +nightstand 0.491 0.639 0.472 1.399 0.002 -0.704 -90.15° +nightstand 0.451 0.623 0.316 1.533 -0.002 1.214 -90.05° +cabinet 0.472 0.498 0.343 1.473 -0.001 -1.592 -0.03° +cabinet 0.413 0.617 0.231 -1.096 0.002 -1.449 72.01° +floor 3.581 -0.014 3.916 0.021 0.025 -0.697 -0.02° +_scene_ 0.053 0.013 0.032 -5.669 -0.006 -5.697 -57.28° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bed <-> nightstand depth=[0.491, 0.639, 0.061] + !! OVERLAP: bed <-> nightstand depth=[0.435, 0.623, 0.087] + !! OVERLAP: bed <-> floor depth=[1.270, -0.014, 1.672] + !! OVERLAP: nightstand <-> floor depth=[0.491, -0.014, 0.472] + !! OVERLAP: nightstand <-> floor depth=[0.451, -0.014, 0.205] + !! OVERLAP: cabinet <-> floor depth=[0.472, -0.014, 0.343] + !! OVERLAP: cabinet <-> floor depth=[0.413, -0.014, 0.231] +============================================================ + + +============================================================ +SCENE: SecondBedroom-258160 | 8 objects +============================================================ +Final Step Collision Loss: 0.0101, Room Outer Loss: 0.0879, Walkable Loss: 1.4216 (Center Penalty: 1.4216), Relational Loss: 0.0412 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +bed 1.844 1.057 2.005 0.548 -0.000 -0.702 -0.13° +nightstand 0.375 0.474 0.330 -0.410 -0.002 -1.491 -0.03° +nightstand 0.296 0.536 0.327 1.517 0.001 -1.480 0.02° +wardrobe 1.721 2.522 0.560 -0.887 -0.003 -0.914 90.35° +tv_stand 1.772 1.833 0.358 0.359 0.003 1.427 -179.98° +lamp 0.581 0.689 0.724 0.937 2.121 -0.222 0.02° +floor 3.325 -0.001 3.490 -0.005 0.000 -0.005 0.00° +_scene_ 0.071 0.000 0.024 -5.675 -0.005 -5.714 -57.29° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bed <-> nightstand depth=[0.151, 0.474, 0.330] + !! OVERLAP: bed <-> nightstand depth=[0.100, 0.536, 0.327] + !! OVERLAP: bed <-> wardrobe depth=[0.347, 1.057, 0.560] + !! OVERLAP: bed <-> floor depth=[1.844, -0.001, 2.005] + !! OVERLAP: nightstand <-> floor depth=[0.375, -0.001, 0.330] + !! OVERLAP: nightstand <-> floor depth=[0.288, -0.001, 0.327] + !! OVERLAP: wardrobe <-> floor depth=[1.641, -0.001, 0.560] + !! OVERLAP: tv_stand <-> floor depth=[1.772, -0.001, 0.358] +============================================================ + + +============================================================ +SCENE: SecondBedroom-19232 | 6 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0468, Walkable Loss: 0.5776 (Center Penalty: 0.5776), Relational Loss: 0.0199 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +bed 1.436 1.352 2.170 -0.748 0.003 -0.407 89.38° +nightstand 0.419 0.470 0.287 -1.272 -0.003 0.853 89.99° +nightstand 0.325 0.474 0.426 -1.169 0.004 -1.322 90.10° +lamp 0.739 0.202 0.703 0.198 2.326 -0.782 -0.13° +floor 3.359 -0.069 4.263 0.086 0.018 -1.182 0.27° +_scene_ 0.072 0.002 0.022 -5.671 -0.004 -5.707 -57.30° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bed <-> nightstand depth=[0.325, 0.474, 0.383] + !! OVERLAP: bed <-> floor depth=[1.436, -0.069, 2.170] + !! OVERLAP: nightstand <-> floor depth=[0.419, -0.069, 0.240] + !! OVERLAP: nightstand <-> floor depth=[0.325, -0.069, 0.426] +============================================================ + + +============================================================ +SCENE: SecondBedroom-6685 | 5 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0402, Walkable Loss: 0.4766 (Center Penalty: 0.4766), Relational Loss: 0.0000 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +wardrobe 1.358 2.179 0.505 0.701 0.007 0.883 179.81° +bed 2.146 1.023 2.045 0.298 -0.000 -0.947 -90.08° +lamp 0.658 0.395 0.630 0.249 2.164 -1.042 -0.03° +floor 3.019 -0.035 4.111 -0.002 -0.008 -0.960 -0.14° +_scene_ 0.066 0.003 0.016 -5.664 -0.004 -5.707 -57.30° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: wardrobe <-> floor depth=[1.358, -0.035, 0.465] + !! OVERLAP: bed <-> floor depth=[2.146, -0.035, 2.045] +============================================================ + + +============================================================ +SCENE: SecondBedroom-24334 | 7 objects +============================================================ +Final Step Collision Loss: 0.0021, Room Outer Loss: 0.0000, Walkable Loss: 1.6898 (Center Penalty: 1.6898), Relational Loss: 0.0685 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +nightstand 0.419 0.539 0.337 1.393 0.000 -1.250 0.08° +desk 1.329 1.489 0.482 -0.093 0.001 -1.387 -0.03° +wardrobe 1.373 2.277 0.602 -0.929 0.035 -0.421 89.36° +lamp 0.403 0.430 0.333 0.003 2.033 0.782 -0.33° +bed 1.499 0.945 2.000 0.826 -0.002 -0.114 0.39° +floor 3.478 -0.002 3.259 -0.004 -0.000 -0.020 -0.01° +_scene_ 0.069 -0.000 0.021 -5.670 -0.005 -5.707 -57.23° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: nightstand <-> bed depth=[0.391, 0.539, 0.032] + !! OVERLAP: nightstand <-> floor depth=[0.419, -0.002, 0.337] + !! OVERLAP: desk <-> floor depth=[1.329, -0.002, 0.482] + !! OVERLAP: wardrobe <-> floor depth=[1.373, -0.002, 0.602] + !! OVERLAP: bed <-> floor depth=[1.499, -0.002, 2.000] +============================================================ + + +============================================================ +SCENE: Bedroom-35352 | 7 objects +============================================================ +Final Step Collision Loss: 0.0018, Room Outer Loss: 0.0000, Walkable Loss: 0.8129 (Center Penalty: 0.8129), Relational Loss: 0.0337 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +bed 1.723 1.127 2.137 0.900 0.005 0.234 -90.12° +wardrobe 1.084 2.417 0.622 -0.927 -0.001 0.586 89.91° +nightstand 0.510 0.575 0.328 1.598 0.003 -0.864 -90.07° +nightstand 0.398 0.594 0.385 1.632 0.001 1.320 -89.98° +lamp 1.171 1.003 0.771 0.498 1.667 0.596 0.03° +floor 3.574 -0.008 3.813 0.158 -0.003 0.824 -0.29° +_scene_ 0.071 0.000 0.023 -5.672 -0.005 -5.712 -57.29° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bed <-> nightstand depth=[0.418, 0.575, 0.135] + !! OVERLAP: bed <-> nightstand depth=[0.329, 0.594, 0.175] + !! OVERLAP: bed <-> floor depth=[1.723, -0.008, 2.137] + !! OVERLAP: wardrobe <-> floor depth=[1.084, -0.008, 0.622] + !! OVERLAP: nightstand <-> floor depth=[0.510, -0.008, 0.328] + !! OVERLAP: nightstand <-> floor depth=[0.398, -0.008, 0.385] +============================================================ + + +============================================================ +SCENE: MasterBedroom-4284 | 6 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0221, Walkable Loss: 0.3795 (Center Penalty: 0.3795), Relational Loss: 0.0000 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +wardrobe 1.397 2.191 0.577 0.001 -0.002 -1.665 -0.07° +bed 1.476 1.414 2.152 0.223 -0.005 0.961 -90.30° +nightstand 0.197 0.601 0.347 0.925 -0.010 -0.908 -89.40° +nightstand 0.212 0.590 0.402 0.940 -0.003 2.333 -91.03° +floor 3.513 0.080 5.014 -0.732 0.000 0.522 0.36° +_scene_ 0.073 0.002 0.023 -5.666 -0.004 -5.710 -57.28° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: wardrobe <-> floor depth=[1.397, 0.080, 0.577] + !! OVERLAP: bed <-> floor depth=[1.476, 0.080, 2.152] + !! OVERLAP: nightstand <-> floor depth=[0.197, 0.080, 0.347] + !! OVERLAP: nightstand <-> floor depth=[0.190, 0.080, 0.402] +============================================================ + + +============================================================ +SCENE: MasterBedroom-1069 | 7 objects +============================================================ +Final Step Collision Loss: 0.0066, Room Outer Loss: 0.2899, Walkable Loss: 0.8088 (Center Penalty: 0.8088), Relational Loss: 0.0346 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +lamp 0.936 0.487 0.299 -0.831 2.255 0.273 -0.19° +wardrobe 0.478 2.423 0.157 0.658 0.009 0.731 -89.57° +bed 1.879 0.795 1.414 -0.613 0.007 0.390 -179.98° +nightstand 0.377 0.471 0.214 -1.492 -0.001 1.039 179.78° +nightstand 0.289 0.478 0.109 0.676 0.009 1.000 179.79° +floor 3.837 0.027 3.051 -1.168 -0.034 -0.441 0.56° +_scene_ 0.069 0.001 0.020 -5.672 -0.005 -5.714 -57.28° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: wardrobe <-> floor depth=[0.331, 0.027, 0.157] + !! OVERLAP: bed <-> nightstand depth=[0.249, 0.471, 0.166] + !! OVERLAP: bed <-> floor depth=[1.879, 0.027, 1.402] + !! OVERLAP: nightstand <-> floor depth=[0.377, 0.027, 0.153] + !! OVERLAP: nightstand <-> floor depth=[0.219, 0.027, 0.109] +============================================================ + + +============================================================ +SCENE: MasterBedroom-113 | 7 objects +============================================================ +Final Step Collision Loss: 0.0084, Room Outer Loss: 0.2060, Walkable Loss: 0.8897 (Center Penalty: 0.8897), Relational Loss: 0.0328 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +tv_stand 1.085 0.574 0.272 0.917 0.008 -0.209 -91.59° +bed 1.500 1.104 1.915 -0.728 -0.002 -0.199 90.27° +nightstand 0.515 0.540 0.354 -1.262 0.014 0.802 90.21° +nightstand 0.495 0.558 0.441 -1.255 0.001 -1.132 89.96° +lamp 1.131 0.431 0.129 -0.097 2.164 -0.965 -0.09° +floor 2.937 -0.023 3.536 -0.164 -0.008 -0.838 0.30° +_scene_ 0.066 0.002 0.022 -5.668 -0.005 -5.715 -57.30° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: tv_stand <-> floor depth=[0.929, -0.023, 0.272] + !! OVERLAP: bed <-> nightstand depth=[0.474, 0.540, 0.133] + !! OVERLAP: bed <-> nightstand depth=[0.470, 0.558, 0.245] + !! OVERLAP: bed <-> floor depth=[1.500, -0.023, 1.915] + !! OVERLAP: nightstand <-> floor depth=[0.515, -0.023, 0.304] + !! OVERLAP: nightstand <-> floor depth=[0.495, -0.023, 0.441] +============================================================ + + +============================================================ +SCENE: SecondBedroom-48968 | 6 objects +============================================================ +Final Step Collision Loss: 0.0133, Room Outer Loss: 0.0000, Walkable Loss: 0.8513 (Center Penalty: 0.8513), Relational Loss: 0.0551 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +bed 1.330 0.913 1.903 -0.642 0.011 -0.427 89.88° +nightstand 0.463 0.482 0.455 -1.286 0.004 -1.217 89.96° +desk 1.383 1.443 0.400 0.575 0.021 -1.165 -90.21° +lamp 0.603 0.274 0.561 -0.166 2.395 -0.786 -0.23° +floor 3.768 0.001 2.655 -0.536 -0.008 -0.661 -0.23° +_scene_ 0.070 -0.000 0.021 -5.668 -0.004 -5.711 -57.31° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bed <-> nightstand depth=[0.253, 0.482, 0.389] + !! OVERLAP: bed <-> desk depth=[0.140, 0.913, 0.400] + !! OVERLAP: bed <-> floor depth=[1.330, 0.001, 1.903] + !! OVERLAP: nightstand <-> floor depth=[0.463, 0.001, 0.455] + !! OVERLAP: desk <-> floor depth=[1.383, 0.001, 0.400] +============================================================ + + +============================================================ +SCENE: MasterBedroom-9222 | 8 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.1117, Walkable Loss: 0.7160 (Center Penalty: 0.7160), Relational Loss: 0.0269 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +bed 1.535 1.441 2.032 -0.586 -0.002 -0.483 89.40° +wardrobe 1.613 2.260 0.257 -0.354 -0.007 1.125 179.94° +nightstand 0.407 0.742 0.365 -1.135 0.005 -1.668 89.91° +nightstand 0.392 0.684 0.373 -1.094 -0.001 0.575 90.09° +tv_stand 2.086 0.625 0.391 1.425 0.000 -0.189 -90.14° +lamp 0.697 0.519 0.251 -0.047 2.038 -0.970 -0.55° +floor 3.743 0.027 4.251 0.502 -0.013 -0.889 -0.36° +_scene_ 0.068 0.000 0.021 -5.671 -0.005 -5.711 -57.29° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bed <-> nightstand depth=[0.407, 0.742, 0.013] + !! OVERLAP: bed <-> nightstand depth=[0.392, 0.684, 0.145] + !! OVERLAP: bed <-> floor depth=[1.535, 0.027, 2.032] + !! OVERLAP: wardrobe <-> floor depth=[1.613, 0.027, 0.240] + !! OVERLAP: nightstand <-> floor depth=[0.407, 0.027, 0.365] + !! OVERLAP: nightstand <-> floor depth=[0.392, 0.027, 0.373] + !! OVERLAP: tv_stand <-> floor depth=[1.991, 0.027, 0.391] +============================================================ + + +============================================================ +SCENE: Bedroom-32051 | 7 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0000, Walkable Loss: 0.3771 (Center Penalty: 0.3771), Relational Loss: 0.0000 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +bed 1.530 1.072 1.979 0.640 -0.000 0.677 -179.86° +cabinet 1.148 1.087 0.421 -1.335 -0.000 -1.105 0.01° +wardrobe 1.479 2.316 0.530 -0.978 0.001 1.366 -179.94° +chair 0.664 0.696 0.638 -1.377 0.001 0.551 -34.75° +lamp 0.109 0.539 0.196 1.113 2.195 0.143 -0.20° +floor 4.803 0.008 3.505 -0.989 0.009 0.405 0.12° +_scene_ 0.075 0.000 0.020 -5.672 -0.004 -5.710 -57.31° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bed <-> floor depth=[1.530, 0.008, 1.979] + !! OVERLAP: cabinet <-> floor depth=[1.148, 0.008, 0.421] + !! OVERLAP: wardrobe <-> floor depth=[1.479, 0.008, 0.530] + !! OVERLAP: chair <-> floor depth=[0.664, 0.008, 0.638] +============================================================ + + +============================================================ +SCENE: MasterBedroom-86835 | 7 objects +============================================================ +Final Step Collision Loss: 0.0005, Room Outer Loss: 0.1261, Walkable Loss: 0.4799 (Center Penalty: 0.4799), Relational Loss: 0.0277 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +bed 1.316 1.121 1.976 -0.965 0.001 0.806 89.96° +wardrobe 1.069 2.122 0.451 -1.211 -0.000 -1.071 89.92° +wardrobe 1.040 1.900 0.391 -0.467 0.002 -1.045 0.06° +tv_stand 2.108 0.678 0.503 0.858 0.014 0.879 -90.06° +nightstand 0.473 0.539 0.429 -1.553 0.000 -0.110 89.94° +floor 3.576 -0.015 4.236 0.014 -0.006 0.772 -0.07° +_scene_ 0.072 0.001 0.023 -5.672 -0.005 -5.713 -57.30° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bed <-> nightstand depth=[0.306, 0.539, 0.286] + !! OVERLAP: bed <-> floor depth=[1.316, -0.015, 1.976] + !! OVERLAP: wardrobe <-> wardrobe depth=[0.311, 1.900, 0.391] + !! OVERLAP: wardrobe <-> floor depth=[1.069, -0.015, 0.451] + !! OVERLAP: wardrobe <-> floor depth=[1.040, -0.015, 0.391] + !! OVERLAP: tv_stand <-> floor depth=[1.998, -0.015, 0.503] + !! OVERLAP: nightstand <-> floor depth=[0.457, -0.015, 0.429] +============================================================ + + +============================================================ +SCENE: SecondBedroom-86888 | 6 objects +============================================================ +Final Step Collision Loss: 0.0009, Room Outer Loss: 0.0618, Walkable Loss: 0.8345 (Center Penalty: 0.8345), Relational Loss: 0.0509 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +bed 1.946 1.040 1.820 -0.017 0.000 -0.786 89.75° +nightstand 0.427 0.550 0.386 -1.076 -0.000 0.331 90.02° +wardrobe 1.034 1.992 0.251 -0.111 0.004 1.169 -179.59° +nightstand 0.376 0.481 0.264 -1.111 -0.000 -1.258 90.23° +floor 2.929 -0.009 3.790 0.170 0.004 -0.658 0.11° +_scene_ 0.067 0.000 0.017 -5.667 -0.005 -5.712 -57.27° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bed <-> nightstand depth=[0.067, 0.481, 0.264] + !! OVERLAP: bed <-> floor depth=[1.946, -0.009, 1.820] + !! OVERLAP: nightstand <-> floor depth=[0.427, -0.009, 0.386] + !! OVERLAP: wardrobe <-> floor depth=[1.034, -0.009, 0.194] + !! OVERLAP: nightstand <-> floor depth=[0.371, -0.009, 0.264] +============================================================ + + +============================================================ +SCENE: MasterBedroom-9583 | 10 objects +============================================================ +Final Step Collision Loss: 0.0227, Room Outer Loss: 0.1217, Walkable Loss: 0.5810 (Center Penalty: 0.5810), Relational Loss: 0.0293 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +cabinet 0.344 0.811 0.249 1.036 -0.016 -0.407 -89.48° +lamp 0.695 0.786 0.613 -0.997 2.032 0.372 -0.17° +bed 1.786 1.359 2.309 -0.934 0.011 -0.270 89.87° +nightstand 0.419 0.483 0.398 -1.439 0.003 -1.346 90.03° +nightstand 0.475 0.523 0.415 -1.589 0.004 1.000 90.06° +table 0.764 1.230 0.355 -1.365 0.001 1.304 89.89° +wardrobe 2.310 2.299 0.334 -0.555 -0.002 -2.045 0.02° +desk 1.727 0.719 1.128 0.443 -0.012 0.932 -93.86° +floor 3.084 0.006 4.911 -0.342 -0.006 -0.967 0.06° +_scene_ 0.075 0.000 0.022 -5.669 -0.004 -5.714 -57.29° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: cabinet <-> floor depth=[0.336, 0.006, 0.249] + !! OVERLAP: bed <-> nightstand depth=[0.419, 0.483, 0.278] + !! OVERLAP: bed <-> nightstand depth=[0.475, 0.523, 0.092] + !! OVERLAP: bed <-> desk depth=[0.379, 0.719, 0.517] + !! OVERLAP: bed <-> floor depth=[1.786, 0.006, 2.309] + !! OVERLAP: nightstand <-> floor depth=[0.419, 0.006, 0.398] + !! OVERLAP: nightstand <-> table depth=[0.396, 0.523, 0.081] + !! OVERLAP: nightstand <-> floor depth=[0.475, 0.006, 0.415] + !! OVERLAP: table <-> floor depth=[0.764, 0.006, 0.355] + !! OVERLAP: wardrobe <-> floor depth=[2.310, 0.006, 0.334] + !! OVERLAP: desk <-> floor depth=[1.621, 0.006, 1.120] +============================================================ + + +============================================================ +SCENE: SecondBedroom-8823 | 5 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0000, Walkable Loss: 2.3729 (Center Penalty: 2.3729), Relational Loss: 0.0000 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +bed 1.915 1.271 2.298 0.568 -0.000 -0.371 -90.08° +nightstand 0.461 0.494 0.416 1.319 -0.000 0.848 -90.01° +lamp 0.990 0.789 0.684 -0.123 2.047 -0.040 0.12° +floor 3.142 -0.002 3.133 0.003 0.001 -0.003 -0.01° +_scene_ 0.070 0.000 0.019 -5.676 -0.005 -5.721 -57.29° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bed <-> nightstand depth=[0.437, 0.494, 0.138] + !! OVERLAP: bed <-> floor depth=[1.915, -0.002, 2.298] + !! OVERLAP: nightstand <-> floor depth=[0.461, -0.002, 0.416] +============================================================ + + +============================================================ +SCENE: SecondBedroom-13218 | 7 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0000, Walkable Loss: 1.9781 (Center Penalty: 1.9781), Relational Loss: 0.0780 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +bed 1.491 1.302 2.186 0.420 0.008 0.341 90.08° +wardrobe 2.135 2.220 0.416 -0.148 0.000 1.402 180.00° +nightstand 0.563 0.544 0.494 -1.062 0.001 -1.175 89.99° +tv_stand 1.362 0.810 0.210 0.637 0.025 -1.101 -89.30° +lamp 0.416 0.470 0.459 0.199 2.033 0.689 -0.27° +floor 2.760 -0.001 3.400 0.002 -0.001 -0.012 -0.04° +_scene_ 0.068 0.000 0.020 -5.674 -0.005 -5.715 -57.33° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bed <-> wardrobe depth=[1.245, 1.302, 0.240] + !! OVERLAP: bed <-> floor depth=[1.491, -0.001, 2.186] + !! OVERLAP: wardrobe <-> floor depth=[2.135, -0.001, 0.416] + !! OVERLAP: nightstand <-> floor depth=[0.563, -0.001, 0.494] + !! OVERLAP: tv_stand <-> floor depth=[1.362, -0.001, 0.210] +============================================================ + + +============================================================ +SCENE: SecondBedroom-36408 | 9 objects +============================================================ +Final Step Collision Loss: 0.0221, Room Outer Loss: 0.0844, Walkable Loss: 0.6770 (Center Penalty: 0.6770), Relational Loss: 0.0306 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +bed 2.402 1.210 2.247 -0.259 -0.002 0.909 89.94° +table 0.486 0.555 0.563 -1.340 -0.002 1.672 -0.02° +table 0.502 0.554 0.550 -1.277 0.001 -0.504 90.07° +wardrobe 0.904 2.042 0.523 -1.005 -0.001 -1.177 0.02° +wardrobe 0.853 2.060 0.326 -0.207 0.001 -1.377 0.09° +lamp 0.508 0.200 0.499 -0.189 2.555 0.802 0.07° +lamp 1.430 1.156 1.337 -0.683 1.381 1.697 0.11° +floor 2.913 0.005 4.842 -0.064 -0.009 0.896 -0.48° +_scene_ 0.070 -0.000 0.024 -5.673 -0.004 -5.717 -57.31° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bed <-> table depth=[0.362, 0.555, 0.563] + !! OVERLAP: bed <-> floor depth=[2.402, 0.005, 2.247] + !! OVERLAP: table <-> floor depth=[0.424, 0.005, 0.563] + !! OVERLAP: table <-> floor depth=[0.495, 0.005, 0.550] + !! OVERLAP: wardrobe <-> wardrobe depth=[0.081, 2.042, 0.224] + !! OVERLAP: wardrobe <-> floor depth=[0.904, 0.005, 0.523] + !! OVERLAP: wardrobe <-> floor depth=[0.853, 0.005, 0.311] +============================================================ + + +============================================================ +SCENE: MasterBedroom-36389 | 8 objects +============================================================ +Final Step Collision Loss: 0.0665, Room Outer Loss: 0.0472, Walkable Loss: 0.8179 (Center Penalty: 0.8179), Relational Loss: 0.0209 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +bed 2.792 1.154 2.294 0.193 -0.009 0.729 -89.86° +nightstand 0.386 0.562 0.359 1.509 0.002 1.912 -90.09° +nightstand 0.511 0.622 0.478 1.508 0.000 0.249 -89.81° +wardrobe 1.823 2.120 0.252 -0.341 -0.001 -0.899 0.16° +wardrobe 1.372 2.147 0.313 -0.611 -0.009 -1.055 -0.09° +lamp 0.773 0.947 0.771 0.280 1.641 1.086 -0.02° +floor 3.358 -0.006 4.061 0.239 -0.014 0.867 -0.26° +_scene_ 0.072 0.000 0.022 -5.673 -0.005 -5.714 -57.31° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bed <-> nightstand depth=[0.273, 0.562, 0.143] + !! OVERLAP: bed <-> nightstand depth=[0.336, 0.622, 0.478] + !! OVERLAP: bed <-> floor depth=[2.792, -0.006, 2.294] + !! OVERLAP: nightstand <-> floor depth=[0.386, -0.006, 0.359] + !! OVERLAP: nightstand <-> floor depth=[0.511, -0.006, 0.478] + !! OVERLAP: wardrobe <-> wardrobe depth=[1.327, 2.120, 0.127] + !! OVERLAP: wardrobe <-> floor depth=[1.823, -0.006, 0.252] + !! OVERLAP: wardrobe <-> floor depth=[1.372, -0.006, 0.266] +============================================================ + + +============================================================ +SCENE: SecondBedroom-7635 | 6 objects +============================================================ +Final Step Collision Loss: 0.0794, Room Outer Loss: 0.0000, Walkable Loss: 0.4457 (Center Penalty: 0.4457), Relational Loss: 0.0003 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +bed 1.078 1.421 2.020 -0.505 0.028 -0.608 -89.55° +wardrobe 1.409 2.083 0.587 -0.778 -0.001 -1.355 0.09° +desk 1.629 0.730 0.556 -1.242 0.014 1.015 179.82° +chair 0.476 0.581 0.481 -1.108 -0.006 0.458 -89.15° +floor 3.889 -0.002 3.328 -1.037 -0.020 -0.362 0.14° +_scene_ 0.061 0.001 0.023 -5.668 -0.004 -5.712 -57.32° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bed <-> wardrobe depth=[0.971, 1.421, 0.557] + !! OVERLAP: bed <-> chair depth=[0.174, 0.581, 0.184] + !! OVERLAP: bed <-> floor depth=[1.078, -0.002, 2.020] + !! OVERLAP: wardrobe <-> floor depth=[1.409, -0.002, 0.587] + !! OVERLAP: desk <-> floor depth=[1.629, -0.002, 0.556] + !! OVERLAP: chair <-> floor depth=[0.476, -0.002, 0.481] +============================================================ + + +============================================================ +SCENE: Bedroom-1541 | 6 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0891, Walkable Loss: 1.2719 (Center Penalty: 1.2719), Relational Loss: 0.0353 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +bed 1.756 1.069 2.215 0.229 0.006 -0.572 -90.13° +table 0.232 0.469 0.302 0.994 0.005 0.530 -89.32° +wardrobe 1.031 2.376 0.267 0.636 0.005 0.805 -179.87° +lamp 0.620 0.892 0.553 -0.159 1.801 -0.795 -0.30° +floor 2.843 -0.000 3.106 -0.295 0.013 -0.678 0.32° +_scene_ 0.051 0.001 0.020 -5.667 -0.004 -5.715 -57.28° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bed <-> table depth=[0.229, 0.469, 0.156] + !! OVERLAP: bed <-> floor depth=[1.756, -0.000, 2.215] + !! OVERLAP: table <-> wardrobe depth=[0.232, 0.469, 0.009] + !! OVERLAP: table <-> floor depth=[0.232, -0.000, 0.302] + !! OVERLAP: wardrobe <-> floor depth=[1.005, -0.000, 0.203] +============================================================ + + +============================================================ +SCENE: Bedroom-11202 | 6 objects +============================================================ +Final Step Collision Loss: 0.0050, Room Outer Loss: 0.0509, Walkable Loss: 1.5261 (Center Penalty: 1.5261), Relational Loss: 0.0301 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +bed 1.690 1.079 2.069 0.832 0.001 -0.099 -179.98° +wardrobe 1.128 2.164 0.650 -1.243 -0.012 -0.082 90.22° +desk 1.299 0.790 0.585 0.986 0.001 1.215 179.95° +lamp 0.752 0.250 0.730 0.631 2.252 0.582 0.11° +floor 3.500 0.001 3.103 -0.007 0.000 -0.011 0.01° +_scene_ 0.055 0.000 0.016 -5.673 -0.005 -5.714 -57.30° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bed <-> desk depth=[1.299, 0.790, 0.012] + !! OVERLAP: bed <-> floor depth=[1.690, 0.001, 2.069] + !! OVERLAP: wardrobe <-> floor depth=[1.077, 0.001, 0.650] + !! OVERLAP: desk <-> floor depth=[1.299, 0.001, 0.585] +============================================================ + + +============================================================ +SCENE: Bedroom-26487 | 13 objects +============================================================ +Final Step Collision Loss: 0.0015, Room Outer Loss: 0.2626, Walkable Loss: 0.8078 (Center Penalty: 0.8078), Relational Loss: 0.0213 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +bed 1.437 1.387 2.498 -0.417 -0.010 0.786 89.25° +nightstand 0.417 0.593 0.499 -1.006 -0.004 2.005 90.24° +nightstand 0.424 0.595 0.473 -1.199 0.001 -0.958 90.00° +tv_stand 1.385 0.392 0.352 1.333 -0.001 0.603 -89.91° +wardrobe 1.421 2.454 0.149 -0.505 -0.010 -1.428 0.03° +wardrobe 1.014 2.365 0.366 -0.247 -0.002 -1.187 -0.24° +lamp 0.048 0.883 0.050 -1.253 1.183 -0.834 0.07° +lamp 0.046 0.737 0.119 -1.010 1.099 1.662 0.33° +lamp 0.777 0.884 0.653 0.000 1.970 0.897 -0.09° +chair 0.561 0.662 0.547 -0.289 -0.006 2.086 149.99° +table 0.620 0.528 0.547 0.588 0.001 2.115 90.01° +floor 3.191 -0.006 4.425 0.253 0.001 0.727 -0.08° +_scene_ 0.071 -0.000 0.020 -5.673 -0.005 -5.714 -57.29° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bed <-> nightstand depth=[0.338, 0.593, 0.280] + !! OVERLAP: bed <-> chair depth=[0.561, 0.662, 0.223] + !! OVERLAP: bed <-> table depth=[0.024, 0.528, 0.194] + !! OVERLAP: bed <-> floor depth=[1.437, -0.006, 2.498] + !! OVERLAP: nightstand <-> floor depth=[0.417, -0.006, 0.499] + !! OVERLAP: nightstand <-> floor depth=[0.355, -0.006, 0.473] + !! OVERLAP: tv_stand <-> floor depth=[1.208, -0.006, 0.352] + !! OVERLAP: wardrobe <-> wardrobe depth=[0.960, 2.365, 0.016] + !! OVERLAP: wardrobe <-> floor depth=[1.421, -0.006, 0.132] + !! OVERLAP: wardrobe <-> floor depth=[1.014, -0.006, 0.366] + !! OVERLAP: chair <-> floor depth=[0.561, -0.006, 0.547] + !! OVERLAP: table <-> floor depth=[0.620, -0.006, 0.547] +============================================================ + + +============================================================ +SCENE: Bedroom-691 | 5 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0049, Walkable Loss: 0.8330 (Center Penalty: 0.8330), Relational Loss: 0.0387 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +bed 1.810 0.703 1.489 -0.707 0.007 -0.670 90.05° +lamp 0.484 0.661 0.564 -0.359 2.019 -0.935 -179.57° +wardrobe 1.528 2.506 0.382 0.301 0.029 -0.884 -90.15° +floor 3.371 -0.001 3.360 -0.626 -0.006 -0.316 -0.09° +_scene_ 0.020 0.004 0.001 -5.568 -0.009 -5.653 -57.26° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bed <-> wardrobe depth=[0.661, 0.703, 0.382] + !! OVERLAP: bed <-> floor depth=[1.810, -0.001, 1.489] + !! OVERLAP: wardrobe <-> floor depth=[1.523, -0.001, 0.382] +============================================================ + + +============================================================ +SCENE: SecondBedroom-14817 | 6 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0353, Walkable Loss: 1.5374 (Center Penalty: 1.5374), Relational Loss: 0.0685 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +nightstand 0.489 0.564 0.402 -0.944 0.002 -1.136 0.01° +bed 1.838 0.984 1.819 0.534 0.001 -0.202 -0.13° +nightstand 0.353 0.649 0.383 1.705 0.001 -0.860 -89.67° +wardrobe 1.239 2.519 0.606 -1.676 -0.001 -0.316 89.98° +floor 4.494 0.000 2.782 -0.013 -0.000 -0.005 0.03° +_scene_ 0.071 0.001 0.022 -5.673 -0.005 -5.714 -57.30° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: nightstand <-> floor depth=[0.489, 0.000, 0.402] + !! OVERLAP: bed <-> floor depth=[1.838, 0.000, 1.819] + !! OVERLAP: nightstand <-> floor depth=[0.353, 0.000, 0.383] + !! OVERLAP: wardrobe <-> floor depth=[1.203, 0.000, 0.606] +============================================================ + + +============================================================ +SCENE: MasterBedroom-30192 | 9 objects +============================================================ +Final Step Collision Loss: 0.0073, Room Outer Loss: 0.0000, Walkable Loss: 1.3603 (Center Penalty: 1.3603), Relational Loss: 0.0310 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +bed 1.847 1.410 2.262 -0.924 0.011 -0.230 89.95° +nightstand 0.511 0.465 0.395 -1.495 0.001 -1.382 90.03° +wardrobe 1.684 2.517 0.544 -0.853 -0.000 1.544 -179.95° +wardrobe 1.621 2.491 0.360 1.068 -0.004 -1.137 -90.03° +chair 0.792 0.717 0.784 1.405 -0.003 -0.078 -90.27° +lamp 0.884 0.749 0.872 -0.798 2.214 -0.504 -0.15° +nightstand 0.549 0.446 0.372 -1.521 0.001 1.000 89.98° +floor 3.745 -0.003 3.655 0.008 0.000 0.020 -0.04° +_scene_ 0.071 -0.000 0.024 -5.672 -0.005 -5.713 -57.32° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bed <-> nightstand depth=[0.511, 0.465, 0.177] + !! OVERLAP: bed <-> nightstand depth=[0.549, 0.446, 0.086] + !! OVERLAP: bed <-> floor depth=[1.847, -0.003, 2.262] + !! OVERLAP: nightstand <-> floor depth=[0.511, -0.003, 0.395] + !! OVERLAP: wardrobe <-> floor depth=[1.684, -0.003, 0.544] + !! OVERLAP: wardrobe <-> floor depth=[1.621, -0.003, 0.360] + !! OVERLAP: chair <-> floor depth=[0.792, -0.003, 0.784] + !! OVERLAP: nightstand <-> floor depth=[0.549, -0.003, 0.372] +============================================================ + + +============================================================ +SCENE: Bedroom-41491 | 6 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0000, Walkable Loss: 1.3471 (Center Penalty: 1.3471), Relational Loss: 0.0000 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +bed 1.562 1.148 2.274 -0.637 0.002 0.818 89.95° +desk 1.123 0.950 0.566 -0.914 -0.001 -1.329 179.83° +chair 0.560 0.929 0.551 -0.760 -0.001 -0.695 -179.79° +lamp 0.535 0.191 0.472 -0.419 2.319 0.971 0.84° +floor 2.942 -0.003 4.095 -0.014 -0.000 -0.024 0.02° +_scene_ 0.064 -0.001 0.020 -5.669 -0.005 -5.716 -57.29° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bed <-> floor depth=[1.562, -0.003, 2.274] + !! OVERLAP: desk <-> floor depth=[1.123, -0.003, 0.566] + !! OVERLAP: chair <-> floor depth=[0.560, -0.003, 0.551] +============================================================ + + +============================================================ +SCENE: MasterBedroom-49865 | 7 objects +============================================================ +Final Step Collision Loss: 0.0030, Room Outer Loss: 0.3230, Walkable Loss: 0.7005 (Center Penalty: 0.7005), Relational Loss: 0.0392 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +bed 1.319 1.233 1.473 0.966 -0.030 -0.176 -179.60° +nightstand 0.539 0.723 0.039 -0.782 0.012 0.476 179.79° +nightstand 0.446 0.604 0.073 1.638 -0.000 0.524 179.38° +wardrobe 0.955 2.197 0.738 -1.211 0.007 -0.216 90.65° +lamp 0.355 0.711 0.168 0.783 1.852 -0.190 0.05° +floor 4.253 0.027 3.138 0.657 -0.024 -1.061 -0.50° +_scene_ 0.071 -0.001 0.018 -5.673 -0.005 -5.714 -57.31° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bed <-> nightstand depth=[0.210, 0.604, 0.073] + !! OVERLAP: bed <-> floor depth=[1.319, 0.027, 1.421] + !! OVERLAP: nightstand <-> floor depth=[0.539, 0.027, 0.039] + !! OVERLAP: nightstand <-> floor depth=[0.446, 0.027, 0.021] + !! OVERLAP: wardrobe <-> floor depth=[0.737, 0.027, 0.738] +============================================================ + + +============================================================ +SCENE: MasterBedroom-16450 | 7 objects +============================================================ +Final Step Collision Loss: 0.0001, Room Outer Loss: 0.0060, Walkable Loss: 0.8328 (Center Penalty: 0.8328), Relational Loss: 0.0021 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +bed 1.753 0.714 2.001 -0.874 0.020 0.045 -0.06° +cabinet 0.562 0.855 0.288 -0.950 0.002 1.521 179.96° +nightstand 0.301 0.604 0.359 0.701 -0.010 -1.167 0.59° +nightstand 0.735 0.738 0.429 -1.505 0.000 -1.169 -0.02° +lamp 0.696 0.478 0.731 -0.558 2.260 0.401 -0.31° +floor 4.048 0.040 3.191 -0.868 -0.004 0.218 -0.04° +_scene_ 0.072 0.000 0.020 -5.667 -0.003 -5.712 -57.28° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bed <-> nightstand depth=[0.613, 0.706, 0.001] + !! OVERLAP: bed <-> floor depth=[1.753, 0.040, 2.001] + !! OVERLAP: cabinet <-> floor depth=[0.562, 0.040, 0.288] + !! OVERLAP: nightstand <-> floor depth=[0.301, 0.040, 0.359] + !! OVERLAP: nightstand <-> floor depth=[0.735, 0.040, 0.423] +============================================================ + + +============================================================ +SCENE: SecondBedroom-14328 | 7 objects +============================================================ +Final Step Collision Loss: 0.0045, Room Outer Loss: 0.0000, Walkable Loss: 1.2672 (Center Penalty: 1.2672), Relational Loss: 0.0298 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +table 1.427 1.206 0.477 -1.240 0.002 1.066 -179.93° +nightstand 0.533 0.492 0.321 -1.284 0.001 -1.371 -0.03° +bed 1.683 0.811 2.032 -0.919 -0.005 -0.239 -0.18° +nightstand 0.518 0.505 0.439 1.131 0.000 -1.246 -0.10° +wardrobe 2.021 2.294 0.503 0.440 0.034 -0.767 -90.04° +floor 3.582 -0.006 3.052 -0.221 0.011 -0.112 -0.00° +_scene_ 0.070 0.000 0.022 -5.671 -0.005 -5.715 -57.30° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: table <-> floor depth=[1.427, -0.006, 0.477] + !! OVERLAP: nightstand <-> bed depth=[0.533, 0.492, 0.045] + !! OVERLAP: nightstand <-> floor depth=[0.533, -0.006, 0.321] + !! OVERLAP: bed <-> wardrobe depth=[0.493, 0.811, 0.503] + !! OVERLAP: bed <-> floor depth=[1.683, -0.006, 2.032] + !! OVERLAP: nightstand <-> floor depth=[0.518, -0.006, 0.439] + !! OVERLAP: wardrobe <-> floor depth=[2.021, -0.006, 0.503] +============================================================ + + +============================================================ +SCENE: SecondBedroom-39108 | 8 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0000, Walkable Loss: 0.5667 (Center Penalty: 0.5667), Relational Loss: 0.0139 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +cabinet 1.006 1.105 0.448 -1.396 0.001 0.222 90.01° +cabinet 0.965 1.011 0.479 -1.426 0.002 -1.309 90.02° +bed 2.078 0.724 2.476 0.576 0.001 -0.773 -0.08° +lamp 0.381 0.889 0.355 0.580 1.914 -0.643 0.22° +lamp 0.476 0.783 0.497 0.895 2.229 -1.227 -0.02° +lamp 0.114 0.725 0.086 -1.155 2.054 0.977 -89.74° +floor 3.635 0.018 4.096 -0.128 -0.013 -0.968 -0.28° +_scene_ 0.058 0.004 0.018 -5.690 -0.005 -5.722 -57.34° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: cabinet <-> floor depth=[1.006, 0.018, 0.448] + !! OVERLAP: cabinet <-> floor depth=[0.965, 0.018, 0.479] + !! OVERLAP: bed <-> floor depth=[2.078, 0.018, 2.476] +============================================================ + + +============================================================ +SCENE: MasterBedroom-19531 | 7 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0000, Walkable Loss: 0.7925 (Center Penalty: 0.7925), Relational Loss: 0.0355 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +lamp 0.421 0.228 0.631 0.503 2.397 0.681 -0.56° +bed 1.095 1.029 1.556 -0.152 0.018 -0.745 -0.56° +nightstand 0.565 0.622 0.504 -1.047 -0.000 -1.212 0.01° +nightstand 0.223 0.632 0.453 0.840 0.003 -1.104 -0.23° +wardrobe 2.211 2.421 0.579 -1.656 -0.007 -0.535 89.79° +floor 3.952 -0.007 3.261 -0.880 -0.004 -0.071 -0.44° +_scene_ 0.063 0.000 0.018 -5.671 -0.005 -5.717 -57.26° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bed <-> wardrobe depth=[0.149, 1.029, 0.579] + !! OVERLAP: bed <-> floor depth=[1.095, -0.007, 1.556] + !! OVERLAP: nightstand <-> floor depth=[0.565, -0.007, 0.504] + !! OVERLAP: nightstand <-> floor depth=[0.223, -0.007, 0.453] + !! OVERLAP: wardrobe <-> floor depth=[2.211, -0.007, 0.579] +============================================================ + + +============================================================ +SCENE: Bedroom-74 | 5 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.1464, Walkable Loss: 1.6894 (Center Penalty: 1.6894), Relational Loss: 0.0000 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +bed 1.874 1.537 2.070 -0.723 -0.003 -0.026 89.90° +lamp 0.436 0.505 0.435 -0.788 2.095 -0.155 0.56° +wardrobe 1.410 2.259 0.704 1.144 -0.003 -0.268 -90.06° +floor 3.421 -0.002 3.122 -0.008 -0.001 0.000 -0.03° +_scene_ 0.044 0.004 0.006 -5.666 -0.005 -5.716 -57.33° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bed <-> floor depth=[1.874, -0.002, 2.070] + !! OVERLAP: wardrobe <-> floor depth=[1.264, -0.002, 0.704] +============================================================ + + +============================================================ +SCENE: Bedroom-15856 | 8 objects +============================================================ +Final Step Collision Loss: 0.0254, Room Outer Loss: 0.0000, Walkable Loss: 0.9210 (Center Penalty: 0.9210), Relational Loss: 0.0182 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +bed 1.954 1.203 2.228 -0.563 0.003 -0.219 89.81° +nightstand 0.408 0.687 0.425 -1.400 -0.000 -1.273 90.07° +nightstand 0.400 0.648 0.471 -1.395 0.010 0.904 89.81° +lamp 0.563 0.264 0.558 0.889 2.545 -0.100 0.15° +chair 0.537 0.814 0.606 2.097 -0.008 -0.529 -32.08° +tv_stand 1.942 0.494 0.380 1.751 0.000 0.204 -90.04° +floor 5.213 0.015 3.042 0.852 0.009 -0.081 0.27° +_scene_ 0.067 0.000 0.021 -5.673 -0.005 -5.712 -57.30° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bed <-> nightstand depth=[0.345, 0.687, 0.273] + !! OVERLAP: bed <-> nightstand depth=[0.346, 0.648, 0.227] + !! OVERLAP: bed <-> floor depth=[1.954, 0.015, 2.228] + !! OVERLAP: nightstand <-> floor depth=[0.408, 0.015, 0.425] + !! OVERLAP: nightstand <-> floor depth=[0.400, 0.015, 0.471] + !! OVERLAP: chair <-> floor depth=[0.537, 0.015, 0.606] + !! OVERLAP: tv_stand <-> floor depth=[1.942, 0.015, 0.380] +============================================================ + + +============================================================ +SCENE: MasterBedroom-3845 | 7 objects +============================================================ +Final Step Collision Loss: 0.0050, Room Outer Loss: 0.0000, Walkable Loss: 0.6174 (Center Penalty: 0.6174), Relational Loss: 0.0380 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +wardrobe 2.858 2.496 0.532 -0.635 -0.001 1.578 -179.97° +bed 2.010 0.815 2.166 -0.943 -0.000 -0.510 90.10° +nightstand 0.523 0.558 0.434 -1.580 0.001 -1.721 90.01° +nightstand 0.491 0.609 0.444 -1.511 0.002 0.804 90.00° +lamp 0.587 0.144 0.583 -0.225 2.550 -0.854 -0.02° +floor 3.570 0.014 4.738 -0.691 -0.009 -0.349 0.01° +_scene_ 0.067 -0.001 0.022 -5.662 -0.004 -5.709 -57.32° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: wardrobe <-> floor depth=[2.858, 0.014, 0.532] + !! OVERLAP: bed <-> nightstand depth=[0.523, 0.558, 0.089] + !! OVERLAP: bed <-> floor depth=[2.010, 0.014, 2.166] + !! OVERLAP: nightstand <-> floor depth=[0.523, 0.014, 0.434] + !! OVERLAP: nightstand <-> floor depth=[0.491, 0.014, 0.444] +============================================================ + + +============================================================ +SCENE: MasterBedroom-14075 | 7 objects +============================================================ +Final Step Collision Loss: 0.0032, Room Outer Loss: 0.0443, Walkable Loss: 0.6174 (Center Penalty: 0.6174), Relational Loss: 0.0000 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +bed 1.811 0.911 1.919 0.429 0.003 0.799 179.91° +tv_stand 3.123 0.735 0.468 0.438 -0.002 -1.469 -0.00° +lamp 0.706 0.686 0.739 0.746 2.226 0.487 -0.30° +nightstand 0.356 0.482 0.364 1.461 0.001 1.501 179.98° +nightstand 0.374 0.507 0.371 -0.780 0.005 1.486 -179.97° +floor 4.178 -0.043 3.784 0.868 0.001 -0.177 -0.20° +_scene_ 0.080 0.000 0.029 -5.666 -0.004 -5.707 -57.26° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bed <-> nightstand depth=[0.051, 0.482, 0.364] + !! OVERLAP: bed <-> floor depth=[1.811, -0.043, 1.875] + !! OVERLAP: tv_stand <-> floor depth=[3.123, -0.043, 0.468] + !! OVERLAP: nightstand <-> floor depth=[0.356, -0.043, 0.364] + !! OVERLAP: nightstand <-> floor depth=[0.374, -0.043, 0.371] +============================================================ + + +============================================================ +SCENE: Bedroom-22495 | 5 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0035, Walkable Loss: 0.4233 (Center Penalty: 0.4233), Relational Loss: 0.0000 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +bed 1.971 1.432 2.275 0.440 0.003 0.966 179.92° +lamp 0.784 0.919 0.775 0.494 1.721 0.729 0.13° +wardrobe 1.446 2.094 0.615 0.510 0.003 -1.441 0.08° +floor 3.374 0.021 3.921 1.057 -0.023 0.216 1.00° +_scene_ 0.073 0.004 0.031 -5.667 -0.004 -5.717 -57.30° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bed <-> floor depth=[1.971, 0.021, 2.275] + !! OVERLAP: wardrobe <-> floor depth=[1.446, 0.021, 0.611] +============================================================ + + +============================================================ +SCENE: MasterBedroom-22581 | 9 objects +============================================================ +Final Step Collision Loss: 0.0131, Room Outer Loss: 0.0823, Walkable Loss: 0.6164 (Center Penalty: 0.6164), Relational Loss: 0.0002 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +desk 1.761 0.721 0.685 1.390 0.000 -1.114 -0.09° +chair 0.492 0.671 0.566 1.899 0.000 -0.587 179.86° +wardrobe 0.413 2.155 0.509 -1.270 -0.002 -0.628 88.44° +cabinet 0.620 1.043 0.336 1.911 0.002 1.595 -180.00° +nightstand 0.677 0.816 0.424 -1.021 -0.001 -1.169 0.02° +bed 1.366 1.098 1.441 -0.118 0.012 -0.677 -0.86° +lamp 0.590 0.204 0.480 1.010 2.332 0.503 0.02° +floor 5.119 -0.017 3.137 1.016 0.004 0.143 -1.21° +_scene_ 0.068 0.001 0.021 -5.670 -0.005 -5.712 -57.29° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: desk <-> chair depth=[0.492, 0.671, 0.098] + !! OVERLAP: desk <-> bed depth=[0.056, 0.721, 0.626] + !! OVERLAP: desk <-> floor depth=[1.761, -0.017, 0.654] + !! OVERLAP: chair <-> floor depth=[0.492, -0.017, 0.566] + !! OVERLAP: wardrobe <-> floor depth=[0.413, -0.017, 0.509] + !! OVERLAP: cabinet <-> floor depth=[0.620, -0.017, 0.285] + !! OVERLAP: nightstand <-> bed depth=[0.118, 0.816, 0.424] + !! OVERLAP: nightstand <-> floor depth=[0.677, -0.017, 0.424] + !! OVERLAP: bed <-> floor depth=[1.366, -0.017, 1.441] +============================================================ + + +============================================================ +SCENE: Bedroom-54381 | 6 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.1314, Walkable Loss: 1.4203 (Center Penalty: 1.4203), Relational Loss: 0.0000 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +bed 1.701 0.989 2.198 -0.617 0.018 -0.282 90.13° +nightstand 0.395 0.518 0.411 -1.201 0.006 -1.440 90.23° +nightstand 0.406 0.535 0.360 -1.338 0.011 1.083 90.27° +lamp 0.674 0.784 0.645 0.176 1.836 -0.710 0.07° +floor 2.906 -0.011 4.175 0.014 -0.001 -0.443 -0.03° +_scene_ 0.063 0.001 0.012 -5.676 -0.006 -5.715 -57.30° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bed <-> nightstand depth=[0.395, 0.518, 0.147] + !! OVERLAP: bed <-> floor depth=[1.672, -0.011, 2.198] + !! OVERLAP: nightstand <-> floor depth=[0.395, -0.011, 0.411] + !! OVERLAP: nightstand <-> floor depth=[0.303, -0.011, 0.360] +============================================================ + + +============================================================ +SCENE: Bedroom-5215 | 8 objects +============================================================ +Final Step Collision Loss: 0.0017, Room Outer Loss: 0.0266, Walkable Loss: 0.6722 (Center Penalty: 0.6722), Relational Loss: 0.0121 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +bed 1.700 1.239 2.120 0.788 0.004 -0.918 -0.01° +nightstand 0.537 0.514 0.497 -0.321 0.001 -1.383 -0.06° +table 0.963 1.045 0.517 1.475 0.000 1.602 179.99° +chair 0.642 0.381 0.511 1.084 0.002 1.109 0.04° +wardrobe 0.848 2.031 0.573 -0.901 0.013 -1.023 89.99° +lamp 0.667 0.189 0.578 0.809 2.353 0.216 0.19° +floor 4.029 0.000 4.355 0.716 0.011 -0.230 -0.30° +_scene_ 0.078 -0.001 0.024 -5.661 -0.004 -5.720 -57.14° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bed <-> nightstand depth=[0.010, 0.514, 0.497] + !! OVERLAP: bed <-> floor depth=[1.700, 0.000, 2.120] + !! OVERLAP: nightstand <-> wardrobe depth=[0.112, 0.514, 0.175] + !! OVERLAP: nightstand <-> floor depth=[0.537, 0.000, 0.497] + !! OVERLAP: table <-> chair depth=[0.412, 0.381, 0.021] + !! OVERLAP: table <-> floor depth=[0.963, 0.000, 0.517] + !! OVERLAP: chair <-> floor depth=[0.642, 0.000, 0.511] + !! OVERLAP: wardrobe <-> floor depth=[0.822, 0.000, 0.573] +============================================================ + + +============================================================ +SCENE: MasterBedroom-12479 | 8 objects +============================================================ +Final Step Collision Loss: 0.0086, Room Outer Loss: 0.0079, Walkable Loss: 1.8240 (Center Penalty: 1.8240), Relational Loss: 0.0300 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +bed 1.939 1.391 2.100 0.220 0.000 -0.566 -0.07° +nightstand 0.478 0.658 0.407 -1.037 0.002 -1.317 -0.00° +nightstand 0.479 0.695 0.494 1.309 0.002 -1.350 0.00° +shelf 0.497 1.078 0.277 -1.394 -0.000 1.460 -180.00° +tv_stand 1.949 0.546 0.401 0.682 -0.004 1.430 179.84° +lamp 0.729 0.554 0.739 0.714 2.130 -0.194 0.04° +floor 3.619 -0.001 3.253 -0.002 0.000 -0.003 -0.01° +_scene_ 0.072 -0.000 0.023 -5.671 -0.004 -5.713 -57.30° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bed <-> nightstand depth=[0.120, 0.695, 0.494] + !! OVERLAP: bed <-> floor depth=[1.939, -0.001, 2.100] + !! OVERLAP: nightstand <-> floor depth=[0.478, -0.001, 0.407] + !! OVERLAP: nightstand <-> floor depth=[0.479, -0.001, 0.494] + !! OVERLAP: shelf <-> floor depth=[0.497, -0.001, 0.277] + !! OVERLAP: tv_stand <-> floor depth=[1.949, -0.001, 0.393] +============================================================ + + +============================================================ +SCENE: SecondBedroom-37794 | 7 objects +============================================================ +Final Step Collision Loss: 0.0105, Room Outer Loss: 0.0448, Walkable Loss: 2.1941 (Center Penalty: 2.1941), Relational Loss: 0.0600 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +lamp 0.839 0.946 0.841 0.009 1.723 0.078 0.03° +bed 2.347 1.067 2.000 -0.698 0.006 -0.544 -0.08° +nightstand 0.423 0.561 0.274 -1.700 0.003 -1.512 0.04° +chair 0.458 0.578 0.458 1.499 0.006 -0.913 77.64° +table 0.829 1.717 0.353 1.654 0.005 -1.413 0.09° +floor 4.903 -0.003 3.177 -0.046 0.001 -0.016 -0.01° +_scene_ 0.065 0.000 0.020 -5.672 -0.004 -5.716 -57.31° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bed <-> nightstand depth=[0.383, 0.561, 0.168] + !! OVERLAP: bed <-> floor depth=[2.347, -0.003, 2.000] + !! OVERLAP: nightstand <-> floor depth=[0.423, -0.003, 0.229] + !! OVERLAP: chair <-> floor depth=[0.458, -0.003, 0.458] + !! OVERLAP: table <-> floor depth=[0.829, -0.003, 0.353] +============================================================ + + +============================================================ +SCENE: SecondBedroom-69017 | 8 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.1559, Walkable Loss: 0.9865 (Center Penalty: 0.9865), Relational Loss: 0.0303 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +bed 1.716 1.253 2.033 -0.627 0.005 -0.588 0.05° +nightstand 0.493 0.784 0.232 0.658 0.002 -1.416 0.05° +nightstand 0.473 0.793 0.342 -1.738 0.000 -1.475 -0.00° +chair 1.349 0.548 0.708 -0.497 0.000 0.959 -0.03° +lamp 0.649 0.822 0.614 -0.755 2.033 -0.237 -0.03° +wardrobe 0.998 2.261 0.498 0.667 0.010 -0.652 -89.38° +floor 4.247 0.031 3.212 -0.905 0.008 0.059 -0.16° +_scene_ 0.067 0.001 0.022 -5.674 -0.005 -5.714 -57.30° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bed <-> wardrobe depth=[0.063, 1.253, 0.498] + !! OVERLAP: bed <-> floor depth=[1.716, 0.031, 1.976] + !! OVERLAP: nightstand <-> floor depth=[0.493, 0.031, 0.232] + !! OVERLAP: nightstand <-> floor depth=[0.473, 0.031, 0.244] + !! OVERLAP: chair <-> floor depth=[1.349, 0.031, 0.708] + !! OVERLAP: wardrobe <-> floor depth=[0.998, 0.031, 0.498] +============================================================ + + +============================================================ +SCENE: MasterBedroom-1615 | 8 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.1200, Walkable Loss: 0.6663 (Center Penalty: 0.6663), Relational Loss: 0.0291 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +bed 1.654 0.759 1.862 0.718 -0.009 0.669 -89.93° +wardrobe 1.701 2.231 0.435 0.821 0.020 -0.983 0.06° +nightstand 0.514 0.500 0.348 1.223 0.001 -0.444 -90.01° +nightstand 0.452 0.519 0.503 1.235 0.002 1.773 -89.91° +lamp 0.374 0.204 0.442 -0.118 2.443 0.904 0.27° +tv_stand 1.659 0.620 0.312 -0.633 -0.024 0.910 88.93° +floor 3.193 -0.002 4.145 0.216 -0.015 0.910 -0.68° +_scene_ 0.072 0.000 0.020 -5.668 -0.004 -5.716 -57.31° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bed <-> nightstand depth=[0.452, 0.519, 0.078] + !! OVERLAP: bed <-> tv_stand depth=[0.305, 0.620, 0.312] + !! OVERLAP: bed <-> floor depth=[1.654, -0.002, 1.862] + !! OVERLAP: wardrobe <-> floor depth=[1.701, -0.002, 0.397] + !! OVERLAP: nightstand <-> floor depth=[0.514, -0.002, 0.348] + !! OVERLAP: nightstand <-> floor depth=[0.452, -0.002, 0.503] + !! OVERLAP: tv_stand <-> floor depth=[1.578, -0.002, 0.312] +============================================================ + + +============================================================ +SCENE: MasterBedroom-8979 | 6 objects +============================================================ +Final Step Collision Loss: 0.0236, Room Outer Loss: 0.0520, Walkable Loss: 0.7340 (Center Penalty: 0.7340), Relational Loss: 0.0539 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +wardrobe 1.815 2.353 0.488 -1.564 -0.001 -0.880 89.96° +bed 1.878 1.287 2.131 0.266 -0.008 -0.463 -0.12° +nightstand 0.130 0.505 0.346 1.024 -0.002 -1.382 -0.18° +nightstand 0.330 0.497 0.445 -0.979 0.007 -0.949 0.20° +floor 4.243 0.020 2.740 -0.969 -0.013 -0.210 -0.31° +_scene_ 0.075 0.001 0.025 -5.673 -0.005 -5.714 -57.30° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: wardrobe <-> bed depth=[0.016, 1.287, 0.488] + !! OVERLAP: wardrobe <-> nightstand depth=[0.330, 0.497, 0.399] + !! OVERLAP: wardrobe <-> floor depth=[1.815, 0.020, 0.488] + !! OVERLAP: bed <-> nightstand depth=[0.130, 0.505, 0.320] + !! OVERLAP: bed <-> floor depth=[1.826, 0.020, 2.131] + !! OVERLAP: nightstand <-> floor depth=[0.130, 0.020, 0.346] + !! OVERLAP: nightstand <-> floor depth=[0.330, 0.020, 0.445] +============================================================ + + +============================================================ +SCENE: MasterBedroom-6631 | 8 objects +============================================================ +Final Step Collision Loss: 0.0143, Room Outer Loss: 0.0846, Walkable Loss: 1.3380 (Center Penalty: 1.3380), Relational Loss: 0.0196 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +bed 1.763 1.314 2.203 -0.813 0.010 -0.239 89.86° +nightstand 0.371 0.593 0.332 -1.297 0.001 1.506 90.19° +wardrobe 2.118 2.611 0.556 -0.526 -0.000 1.189 -179.93° +chair 0.707 0.878 0.666 -1.150 -0.001 -1.618 -13.76° +tv_stand 1.175 0.484 0.321 1.153 0.005 -0.789 -89.84° +lamp 0.407 0.166 0.461 -0.153 2.475 -1.203 0.14° +floor 3.431 -0.002 4.359 -0.060 -0.000 0.009 -0.01° +_scene_ 0.074 -0.000 0.021 -5.673 -0.004 -5.713 -57.30° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bed <-> chair depth=[0.707, 0.878, 0.055] + !! OVERLAP: bed <-> floor depth=[1.763, -0.002, 2.203] + !! OVERLAP: nightstand <-> wardrobe depth=[0.371, 0.593, 0.127] + !! OVERLAP: nightstand <-> floor depth=[0.371, -0.002, 0.332] + !! OVERLAP: wardrobe <-> floor depth=[2.118, -0.002, 0.556] + !! OVERLAP: chair <-> floor depth=[0.707, -0.002, 0.666] + !! OVERLAP: tv_stand <-> floor depth=[1.090, -0.002, 0.321] +============================================================ + + +============================================================ +SCENE: MasterBedroom-58086 | 5 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0000, Walkable Loss: 0.3889 (Center Penalty: 0.3889), Relational Loss: 0.0301 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +bed 0.884 0.647 0.419 0.515 -0.002 -1.227 -90.21° +wardrobe 2.158 2.404 -0.205 0.627 0.025 -0.476 -179.57° +chair 0.352 1.020 0.403 0.008 0.000 -1.539 -115.41° +floor 2.966 -0.016 4.063 0.333 0.007 -1.131 -0.24° +_scene_ 0.045 0.020 0.034 -5.522 -0.006 -5.604 -57.97° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bed <-> chair depth=[0.111, 0.647, 0.098] + !! OVERLAP: bed <-> floor depth=[0.884, -0.016, 0.419] + !! OVERLAP: wardrobe <-> floor depth=[2.158, -0.016, -0.205] + !! OVERLAP: chair <-> floor depth=[0.352, -0.016, 0.403] +============================================================ + + +============================================================ +SCENE: MasterBedroom-34041 | 7 objects +============================================================ +Final Step Collision Loss: 0.0012, Room Outer Loss: 0.0369, Walkable Loss: 1.6142 (Center Penalty: 1.6142), Relational Loss: 0.0428 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +bed 1.453 1.088 1.977 0.696 0.010 -0.271 -0.32° +nightstand 0.535 0.612 0.428 -0.609 0.001 -1.159 0.02° +wardrobe 2.396 2.446 0.831 -1.055 0.020 0.238 90.37° +nightstand 0.483 0.547 0.350 1.816 0.001 -1.066 -0.01° +lamp 1.010 0.900 0.920 0.940 2.039 0.200 -0.06° +floor 4.425 0.001 2.729 -0.007 -0.002 -0.005 -0.03° +_scene_ 0.069 0.000 0.021 -5.672 -0.004 -5.711 -57.31° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bed <-> wardrobe depth=[0.173, 1.088, 0.831] + !! OVERLAP: bed <-> floor depth=[1.453, 0.001, 1.977] + !! OVERLAP: nightstand <-> floor depth=[0.535, 0.001, 0.425] + !! OVERLAP: wardrobe <-> floor depth=[2.363, 0.001, 0.831] + !! OVERLAP: nightstand <-> floor depth=[0.483, 0.001, 0.350] +============================================================ + + +============================================================ +SCENE: MasterBedroom-63654 | 6 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0570, Walkable Loss: 0.7026 (Center Penalty: 0.7026), Relational Loss: 0.0601 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +nightstand 0.366 0.575 0.360 1.152 -0.001 -1.680 0.00° +nightstand 0.549 0.524 0.432 -1.478 0.000 -1.488 0.02° +lamp 1.098 0.911 1.033 -0.570 1.993 -0.573 0.03° +bed 1.853 1.162 2.175 -0.224 0.002 -0.998 0.04° +floor 4.280 -0.001 3.880 -0.762 0.011 -0.089 0.10° +_scene_ 0.065 0.001 0.019 -5.673 -0.005 -5.716 -57.30° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: nightstand <-> floor depth=[0.366, -0.001, 0.360] + !! OVERLAP: nightstand <-> floor depth=[0.549, -0.001, 0.432] + !! OVERLAP: bed <-> floor depth=[1.853, -0.001, 2.118] +============================================================ + + +============================================================ +SCENE: Bedroom-21085 | 8 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.5239, Walkable Loss: 0.6636 (Center Penalty: 0.6636), Relational Loss: 0.0371 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +shelf 0.212 0.686 0.160 1.598 0.003 1.532 -90.13° +nightstand 0.462 0.724 0.330 1.295 0.008 -0.533 0.13° +nightstand 0.451 0.869 -0.486 -0.617 -0.026 0.868 0.88° +bed 1.564 1.068 2.007 0.594 -0.002 0.655 -0.34° +wardrobe 1.299 2.579 0.431 -1.457 -0.005 -0.147 89.94° +lamp 0.852 0.899 0.791 0.316 1.977 0.902 -0.39° +floor 3.515 0.014 2.848 -0.131 0.004 0.953 0.38° +_scene_ 0.073 0.001 0.022 -5.673 -0.005 -5.713 -57.30° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: shelf <-> floor depth=[0.135, 0.014, 0.160] + !! OVERLAP: nightstand <-> floor depth=[0.462, 0.014, 0.102] + !! OVERLAP: nightstand <-> floor depth=[0.451, 0.014, -0.486] + !! OVERLAP: bed <-> floor depth=[1.564, 0.014, 2.007] + !! OVERLAP: wardrobe <-> floor depth=[1.080, 0.014, 0.431] +============================================================ + + +============================================================ +SCENE: Bedroom-13675 | 5 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0700, Walkable Loss: 0.5256 (Center Penalty: 0.5256), Relational Loss: 0.0000 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +bed 2.329 0.777 2.029 -0.896 0.008 -0.484 90.09° +wardrobe 1.692 2.489 1.073 0.904 0.014 -0.819 -90.44° +lamp 0.643 0.777 0.612 -0.455 1.851 -0.833 179.76° +floor 3.766 0.015 3.663 -0.203 0.012 -0.897 0.09° +_scene_ 0.057 -0.000 0.008 -5.679 -0.004 -5.716 -57.27° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bed <-> wardrobe depth=[0.210, 0.777, 1.073] + !! OVERLAP: bed <-> floor depth=[2.329, 0.015, 2.029] + !! OVERLAP: wardrobe <-> floor depth=[1.622, 0.015, 1.073] +============================================================ + + +============================================================ +SCENE: MasterBedroom-32488 | 9 objects +============================================================ +Final Step Collision Loss: 0.0083, Room Outer Loss: 0.0463, Walkable Loss: 0.4417 (Center Penalty: 0.4417), Relational Loss: 0.0267 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +table 0.967 1.196 0.397 -2.300 -0.003 -1.129 0.05° +nightstand 0.536 0.602 0.286 0.133 -0.001 -1.186 0.34° +chair 0.467 0.477 0.444 -2.304 -0.002 -0.576 -90.02° +bed 1.805 1.450 2.280 -1.094 -0.004 -0.160 0.00° +cabinet 0.736 1.084 0.414 -2.173 0.001 1.484 -179.98° +lamp 0.845 0.921 0.836 -1.261 1.945 0.074 -0.05° +wardrobe 2.495 2.301 0.687 0.575 -0.000 0.696 -90.16° +floor 5.848 0.018 3.256 -1.148 -0.008 0.299 0.00° +_scene_ 0.071 0.000 0.021 -5.672 -0.004 -5.714 -57.30° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: table <-> bed depth=[0.180, 1.196, 0.370] + !! OVERLAP: table <-> floor depth=[0.967, 0.018, 0.397] + !! OVERLAP: nightstand <-> floor depth=[0.536, 0.018, 0.286] + !! OVERLAP: chair <-> floor depth=[0.467, 0.018, 0.444] + !! OVERLAP: bed <-> wardrobe depth=[0.481, 1.450, 0.628] + !! OVERLAP: bed <-> floor depth=[1.805, 0.018, 2.280] + !! OVERLAP: cabinet <-> floor depth=[0.736, 0.018, 0.414] + !! OVERLAP: wardrobe <-> floor depth=[2.449, 0.018, 0.687] +============================================================ + + +============================================================ +SCENE: MasterBedroom-45545 | 8 objects +============================================================ +Final Step Collision Loss: 0.0172, Room Outer Loss: 0.1396, Walkable Loss: 1.3673 (Center Penalty: 1.3673), Relational Loss: 0.0353 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +table 0.870 1.471 0.420 1.504 0.001 1.455 179.94° +bed 1.714 1.717 1.857 0.434 -0.004 -0.695 -0.16° +nightstand 0.579 0.530 0.466 -1.155 0.002 -1.397 0.02° +nightstand 0.592 0.662 0.470 1.653 0.002 -1.360 0.09° +lamp 0.752 1.636 0.725 -0.616 1.200 -0.929 -0.08° +wardrobe 1.707 2.388 0.685 -1.317 0.004 -0.349 90.15° +floor 4.014 -0.003 3.323 -0.039 -0.000 -0.010 -0.01° +_scene_ 0.082 0.001 0.024 -5.669 -0.003 -5.712 -57.28° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: table <-> floor depth=[0.870, -0.003, 0.406] + !! OVERLAP: bed <-> lamp depth=[0.183, 0.472, 0.725] + !! OVERLAP: bed <-> floor depth=[1.714, -0.003, 1.857] + !! OVERLAP: nightstand <-> floor depth=[0.579, -0.003, 0.466] + !! OVERLAP: nightstand <-> floor depth=[0.592, -0.003, 0.470] + !! OVERLAP: lamp <-> wardrobe depth=[0.528, 0.816, 0.125] + !! OVERLAP: wardrobe <-> floor depth=[1.582, -0.003, 0.685] +============================================================ + + +============================================================ +SCENE: Bedroom-18759 | 8 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0305, Walkable Loss: 0.8382 (Center Penalty: 0.8382), Relational Loss: 0.0204 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +bed 1.337 2.263 1.825 -0.957 -0.016 0.785 90.39° +nightstand 0.471 0.444 0.305 -1.519 0.001 -0.307 90.02° +nightstand 0.475 0.501 0.395 -1.381 0.001 1.731 90.03° +tv_stand 1.313 0.690 0.434 1.138 -0.004 -0.016 -90.99° +lamp 0.560 0.922 0.486 -0.142 1.646 0.830 0.30° +wardrobe 2.004 2.317 0.463 -0.629 -0.001 -1.150 -0.03° +floor 3.530 -0.018 4.396 -0.001 0.002 0.646 -0.32° +_scene_ 0.071 -0.002 0.024 -5.671 -0.004 -5.716 -57.29° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bed <-> nightstand depth=[0.475, 0.501, 0.163] + !! OVERLAP: bed <-> floor depth=[1.337, -0.018, 1.825] + !! OVERLAP: nightstand <-> floor depth=[0.471, -0.018, 0.305] + !! OVERLAP: nightstand <-> floor depth=[0.475, -0.018, 0.395] + !! OVERLAP: tv_stand <-> floor depth=[1.283, -0.018, 0.434] + !! OVERLAP: wardrobe <-> floor depth=[2.004, -0.018, 0.463] +============================================================ + + +============================================================ +SCENE: MasterBedroom-29436 | 8 objects +============================================================ +Final Step Collision Loss: 0.0025, Room Outer Loss: 0.2857, Walkable Loss: 0.4421 (Center Penalty: 0.4421), Relational Loss: 0.0044 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +bed 1.908 0.924 2.265 0.522 -0.002 1.230 179.97° +wardrobe 1.369 2.262 0.585 -1.829 -0.003 -1.060 0.27° +tv_stand 2.062 0.510 0.391 0.199 0.003 -1.268 0.07° +table 0.519 1.151 0.481 -0.663 0.001 1.951 179.99° +table 0.577 1.150 0.371 2.092 0.002 1.770 -90.07° +lamp 0.990 1.015 1.043 0.074 1.657 0.798 -0.06° +floor 5.026 -0.006 4.769 0.100 0.003 1.069 0.22° +_scene_ 0.078 0.001 0.021 -5.675 -0.005 -5.715 -57.28° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bed <-> table depth=[0.028, 0.924, 0.481] + !! OVERLAP: bed <-> floor depth=[1.908, -0.006, 2.265] + !! OVERLAP: wardrobe <-> floor depth=[1.268, -0.006, 0.548] + !! OVERLAP: tv_stand <-> floor depth=[2.062, -0.006, 0.244] + !! OVERLAP: table <-> floor depth=[0.519, -0.006, 0.481] + !! OVERLAP: table <-> floor depth=[0.577, -0.006, 0.371] +============================================================ + + +============================================================ +SCENE: Bedroom-15797 | 7 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0565, Walkable Loss: 1.5444 (Center Penalty: 1.5444), Relational Loss: 0.0000 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +bed 2.211 1.400 1.932 -0.175 0.000 -0.743 -90.25° +cabinet 1.327 0.953 0.444 0.519 0.000 1.665 179.93° +nightstand 0.553 0.749 0.540 1.120 0.000 -1.419 -89.98° +nightstand 0.587 0.703 0.599 0.954 0.001 1.118 -90.01° +lamp 0.560 0.331 0.511 0.219 2.315 -0.847 -0.12° +floor 2.754 -0.003 3.728 -0.004 -0.001 -0.010 -0.02° +_scene_ 0.064 0.000 0.017 -5.671 -0.005 -5.713 -57.30° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bed <-> nightstand depth=[0.087, 0.749, 0.540] + !! OVERLAP: bed <-> floor depth=[2.211, -0.003, 1.932] + !! OVERLAP: cabinet <-> floor depth=[1.327, -0.003, 0.411] + !! OVERLAP: nightstand <-> floor depth=[0.530, -0.003, 0.540] + !! OVERLAP: nightstand <-> floor depth=[0.587, -0.003, 0.599] +============================================================ + + +============================================================ +SCENE: MasterBedroom-13658 | 7 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0000, Walkable Loss: 1.4513 (Center Penalty: 1.4513), Relational Loss: 0.0462 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +wardrobe 2.589 2.320 0.550 -0.266 -0.001 -1.918 0.10° +bed 1.920 0.905 2.013 -0.645 0.002 0.545 90.10° +nightstand 0.452 0.540 0.371 -1.369 0.002 -0.920 90.02° +nightstand 0.354 0.503 0.347 -1.217 -0.001 1.712 90.04° +lamp 0.895 0.291 0.682 -0.132 2.146 0.778 0.06° +floor 3.358 0.000 4.564 -0.201 -0.002 0.043 0.03° +_scene_ 0.069 -0.001 0.019 -5.669 -0.004 -5.716 -57.30° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: wardrobe <-> floor depth=[2.589, 0.000, 0.550] + !! OVERLAP: bed <-> nightstand depth=[0.354, 0.503, 0.014] + !! OVERLAP: bed <-> floor depth=[1.920, 0.000, 2.013] + !! OVERLAP: nightstand <-> floor depth=[0.452, 0.000, 0.371] + !! OVERLAP: nightstand <-> floor depth=[0.354, 0.000, 0.347] +============================================================ + + +============================================================ +SCENE: Bedroom-53437 | 7 objects +============================================================ +Final Step Collision Loss: 0.0139, Room Outer Loss: 0.0087, Walkable Loss: 1.7597 (Center Penalty: 1.7597), Relational Loss: 0.0437 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +bed 1.570 0.966 1.663 0.411 -0.007 0.579 -179.91° +lamp 0.527 0.261 0.576 -0.206 2.394 0.690 -0.19° +wardrobe 1.610 2.369 0.527 -1.224 0.001 0.514 90.05° +nightstand 0.379 0.641 0.337 -0.925 0.004 1.187 -179.99° +nightstand 0.470 0.627 0.417 1.489 0.001 1.089 179.97° +floor 4.077 -0.002 2.797 -0.011 -0.001 0.003 -0.05° +_scene_ 0.066 -0.001 0.016 -5.675 -0.005 -5.718 -57.26° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bed <-> floor depth=[1.570, -0.002, 1.654] + !! OVERLAP: wardrobe <-> floor depth=[1.610, -0.002, 0.527] + !! OVERLAP: nightstand <-> floor depth=[0.379, -0.002, 0.337] + !! OVERLAP: nightstand <-> floor depth=[0.470, -0.002, 0.417] +============================================================ + + +============================================================ +SCENE: MasterBedroom-1096 | 8 objects +============================================================ +Final Step Collision Loss: 0.0137, Room Outer Loss: 0.0023, Walkable Loss: 1.7557 (Center Penalty: 1.7557), Relational Loss: 0.0086 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +bed 1.710 0.981 1.891 0.720 0.003 -0.475 -0.16° +table 1.062 1.110 0.203 0.522 -0.002 -1.441 0.03° +wardrobe 1.506 2.044 0.326 -0.895 0.005 0.581 90.46° +lamp 0.590 0.513 0.585 0.688 2.223 -0.252 -0.12° +chair 0.488 0.677 0.506 -0.717 0.001 -0.892 -155.72° +bookshelf 0.732 1.568 0.312 1.213 0.003 1.129 179.91° +floor 3.289 -0.003 3.110 -0.001 0.001 -0.015 -0.02° +_scene_ 0.066 -0.001 0.023 -5.673 -0.004 -5.717 -57.32° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bed <-> table depth=[1.062, 0.981, 0.081] + !! OVERLAP: bed <-> floor depth=[1.710, -0.003, 1.891] + !! OVERLAP: table <-> floor depth=[1.062, -0.003, 0.203] + !! OVERLAP: wardrobe <-> floor depth=[1.504, -0.003, 0.326] + !! OVERLAP: chair <-> floor depth=[0.488, -0.003, 0.506] + !! OVERLAP: bookshelf <-> floor depth=[0.732, -0.003, 0.312] +============================================================ + + +============================================================ +SCENE: Bedroom-20397 | 11 objects +============================================================ +Final Step Collision Loss: 0.0236, Room Outer Loss: 0.0000, Walkable Loss: 1.7242 (Center Penalty: 1.7242), Relational Loss: 0.0202 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +wardrobe 1.978 2.533 0.357 -1.312 -0.005 0.819 90.03° +bed 2.127 0.724 2.339 0.591 0.005 0.626 179.98° +nightstand 0.567 0.753 0.493 1.764 0.001 1.510 179.97° +nightstand 0.456 0.824 0.358 -1.327 0.001 1.526 179.95° +cabinet 1.646 0.883 0.374 0.234 0.001 -1.531 -0.05° +table 0.480 1.680 0.495 2.081 -0.004 -1.145 -64.91° +lamp 0.514 0.833 0.518 -1.091 1.381 1.324 -0.02° +lamp 0.753 0.939 0.757 1.735 1.102 1.404 -0.07° +lamp 0.476 0.164 0.493 0.602 2.327 0.063 0.12° +floor 4.656 -0.002 3.595 0.018 -0.000 0.036 -0.03° +_scene_ 0.069 0.000 0.021 -5.673 -0.005 -5.715 -57.29° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: wardrobe <-> bed depth=[0.150, 0.724, 0.357] + !! OVERLAP: wardrobe <-> floor depth=[1.978, -0.002, 0.357] + !! OVERLAP: bed <-> nightstand depth=[0.173, 0.724, 0.493] + !! OVERLAP: bed <-> floor depth=[2.127, -0.002, 2.339] + !! OVERLAP: nightstand <-> floor depth=[0.567, -0.002, 0.493] + !! OVERLAP: nightstand <-> floor depth=[0.456, -0.002, 0.358] + !! OVERLAP: cabinet <-> floor depth=[1.646, -0.002, 0.374] + !! OVERLAP: table <-> floor depth=[0.480, -0.002, 0.495] +============================================================ + + +============================================================ +SCENE: SecondBedroom-6261 | 6 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.1559, Walkable Loss: 0.8866 (Center Penalty: 0.8866), Relational Loss: 0.0662 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +nightstand 0.313 0.568 0.378 1.008 0.005 -0.603 -90.07° +lamp 0.919 0.651 0.929 0.081 1.964 0.923 0.02° +bed 1.920 1.164 2.311 0.250 -0.004 0.933 -89.98° +wardrobe 1.982 2.266 0.562 -0.067 0.002 -1.073 0.14° +floor 3.046 0.022 3.640 -0.338 -0.005 0.597 0.20° +_scene_ 0.073 -0.000 0.022 -5.667 -0.004 -5.713 -57.32° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: nightstand <-> wardrobe depth=[0.072, 0.568, 0.000] + !! OVERLAP: nightstand <-> floor depth=[0.313, 0.022, 0.378] + !! OVERLAP: bed <-> floor depth=[1.895, 0.022, 2.311] + !! OVERLAP: wardrobe <-> floor depth=[1.982, 0.022, 0.431] +============================================================ + + +============================================================ +SCENE: SecondBedroom-9923 | 6 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.2029, Walkable Loss: 0.5961 (Center Penalty: 0.5961), Relational Loss: 0.0000 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +bed 1.810 0.775 2.107 0.814 -0.002 -0.847 0.04° +tv_stand 1.814 0.532 0.345 0.963 -0.001 0.970 -179.85° +wardrobe 1.773 2.417 0.562 -0.813 -0.018 -0.751 90.68° +lamp 0.294 0.892 0.260 0.701 1.758 -0.724 -0.14° +floor 3.890 0.008 3.559 0.428 -0.007 -0.657 -0.05° +_scene_ 0.072 0.003 0.023 -5.668 -0.004 -5.716 -57.31° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bed <-> wardrobe depth=[0.164, 0.775, 0.562] + !! OVERLAP: bed <-> floor depth=[1.810, 0.008, 2.107] + !! OVERLAP: tv_stand <-> floor depth=[1.814, 0.008, 0.325] + !! OVERLAP: wardrobe <-> floor depth=[1.590, 0.008, 0.562] +============================================================ + + +============================================================ +SCENE: Bedroom-38427 | 7 objects +============================================================ +Final Step Collision Loss: 0.0007, Room Outer Loss: 0.0463, Walkable Loss: 1.4186 (Center Penalty: 1.4186), Relational Loss: 0.0272 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +lamp 0.925 1.053 0.855 -0.836 2.152 -0.388 -0.17° +wardrobe 1.215 1.752 0.493 0.400 -0.005 1.296 -179.90° +bed 1.894 0.853 1.909 -0.138 -0.000 -0.872 0.05° +nightstand 0.503 0.468 0.380 -1.345 0.002 -1.615 -0.03° +nightstand 0.498 0.479 0.375 1.044 0.000 -1.645 -0.01° +floor 3.099 -0.002 3.772 -0.001 0.000 -0.015 -0.01° +_scene_ 0.068 0.000 0.020 -5.671 -0.005 -5.713 -57.29° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: wardrobe <-> floor depth=[1.215, -0.002, 0.493] + !! OVERLAP: bed <-> nightstand depth=[0.014, 0.479, 0.369] + !! OVERLAP: bed <-> floor depth=[1.894, -0.002, 1.909] + !! OVERLAP: nightstand <-> floor depth=[0.457, -0.002, 0.380] + !! OVERLAP: nightstand <-> floor depth=[0.498, -0.002, 0.375] +============================================================ + + +============================================================ +SCENE: SecondBedroom-48379 | 6 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0699, Walkable Loss: 0.3857 (Center Penalty: 0.3857), Relational Loss: 0.0004 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +bed 1.549 1.958 2.043 0.481 0.008 -0.995 -88.06° +wardrobe 0.808 1.627 0.275 0.636 -0.002 -1.970 0.12° +lamp 0.268 0.545 0.317 -0.504 2.403 -0.756 -0.34° +desk 1.315 0.781 0.549 1.215 -0.016 0.644 -89.86° +floor 2.702 0.025 3.779 0.483 -0.042 -1.003 -0.17° +_scene_ 0.080 -0.001 0.022 -5.667 -0.003 -5.705 -57.28° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bed <-> wardrobe depth=[0.808, 1.627, 0.184] + !! OVERLAP: bed <-> floor depth=[1.549, 0.025, 2.043] + !! OVERLAP: wardrobe <-> floor depth=[0.808, 0.025, 0.275] + !! OVERLAP: desk <-> floor depth=[1.276, 0.025, 0.517] +============================================================ + + +============================================================ +SCENE: Bedroom-74674 | 5 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0000, Walkable Loss: 0.6041 (Center Penalty: 0.6041), Relational Loss: 0.0273 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +bed 0.941 1.247 1.935 0.835 0.037 -0.208 -90.44° +table 0.615 0.787 0.581 1.120 0.000 -1.101 -90.10° +lamp 0.418 0.527 0.421 0.647 2.281 -0.500 -0.07° +floor 2.595 -0.018 4.105 0.225 -0.007 -1.032 -0.31° +_scene_ 0.043 0.009 0.012 -5.612 -0.005 -5.677 -57.43° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bed <-> table depth=[0.494, 0.787, 0.364] + !! OVERLAP: bed <-> floor depth=[0.941, -0.018, 1.935] + !! OVERLAP: table <-> floor depth=[0.615, -0.018, 0.581] +============================================================ + + +============================================================ +SCENE: MasterBedroom-41843 | 11 objects +============================================================ +Final Step Collision Loss: 0.0097, Room Outer Loss: 0.0598, Walkable Loss: 0.4070 (Center Penalty: 0.4070), Relational Loss: 0.0169 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +lamp 0.865 0.742 0.816 -0.063 2.017 1.010 -0.05° +wardrobe 0.890 2.135 0.176 0.631 0.004 -1.420 0.07° +wardrobe 1.118 2.014 0.331 0.706 -0.005 -1.198 0.12° +bed 1.736 1.287 2.313 0.386 -0.002 0.940 -89.87° +nightstand 0.395 0.518 0.439 1.201 0.001 -0.869 -89.94° +nightstand 0.460 0.618 0.610 1.160 0.002 2.059 -90.06° +cabinet 0.919 0.729 0.374 -1.575 0.001 0.989 90.02° +chair 0.648 0.766 0.398 -1.061 0.017 -1.193 34.89° +table 0.344 0.479 0.345 -1.195 0.006 -0.906 34.21° +floor 3.576 -0.004 4.940 -0.388 0.004 1.021 -0.43° +_scene_ 0.076 -0.000 0.020 -5.672 -0.006 -5.714 -57.29° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: wardrobe <-> wardrobe depth=[0.890, 2.014, 0.031] + !! OVERLAP: wardrobe <-> floor depth=[0.890, -0.004, 0.117] + !! OVERLAP: wardrobe <-> nightstand depth=[0.262, 0.518, 0.056] + !! OVERLAP: wardrobe <-> floor depth=[1.118, -0.004, 0.331] + !! OVERLAP: bed <-> nightstand depth=[0.323, 0.618, 0.342] + !! OVERLAP: bed <-> floor depth=[1.736, -0.004, 2.313] + !! OVERLAP: nightstand <-> floor depth=[0.395, -0.004, 0.439] + !! OVERLAP: nightstand <-> floor depth=[0.460, -0.004, 0.610] + !! OVERLAP: cabinet <-> floor depth=[0.919, -0.004, 0.374] + !! OVERLAP: chair <-> table depth=[0.344, 0.479, 0.085] + !! OVERLAP: chair <-> floor depth=[0.648, -0.004, 0.398] + !! OVERLAP: table <-> floor depth=[0.344, -0.004, 0.345] +============================================================ + + +============================================================ +SCENE: MasterBedroom-21047 | 7 objects +============================================================ +Final Step Collision Loss: 0.0064, Room Outer Loss: 0.2623, Walkable Loss: 0.6553 (Center Penalty: 0.6553), Relational Loss: 0.0367 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +wardrobe 0.824 2.272 0.495 0.487 -0.006 -0.979 -89.29° +bed 1.350 1.107 2.020 -0.671 -0.003 -0.392 0.28° +nightstand 0.512 0.663 0.509 -1.765 0.004 -1.150 0.01° +nightstand 0.326 0.619 0.305 0.188 0.004 -1.357 0.48° +lamp 0.816 1.114 0.788 -0.877 1.615 0.088 0.09° +floor 3.923 0.032 3.175 -1.325 -0.005 0.057 0.20° +_scene_ 0.071 0.000 0.023 -5.665 -0.005 -5.712 -57.30° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: wardrobe <-> nightstand depth=[0.277, 0.619, 0.021] + !! OVERLAP: wardrobe <-> floor depth=[0.562, 0.032, 0.495] + !! OVERLAP: bed <-> floor depth=[1.350, 0.032, 2.020] + !! OVERLAP: nightstand <-> floor depth=[0.512, 0.032, 0.509] + !! OVERLAP: nightstand <-> floor depth=[0.326, 0.032, 0.305] +============================================================ + + +============================================================ +SCENE: MasterBedroom-34469 | 6 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0265, Walkable Loss: 0.8106 (Center Penalty: 0.8106), Relational Loss: 0.0000 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +bed 2.057 0.929 2.176 -0.736 -0.001 -0.855 0.05° +wardrobe 1.160 2.432 0.525 0.940 -0.000 -0.900 -89.60° +table 0.954 1.161 0.548 -1.646 0.002 1.306 179.95° +lamp 0.628 0.527 0.592 -0.598 2.259 -0.563 -0.13° +floor 4.187 -0.006 4.303 -0.600 -0.004 -0.229 0.01° +_scene_ 0.073 -0.001 0.019 -5.674 -0.005 -5.714 -57.28° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bed <-> floor depth=[2.057, -0.006, 2.176] + !! OVERLAP: wardrobe <-> floor depth=[1.134, -0.006, 0.525] + !! OVERLAP: table <-> floor depth=[0.954, -0.006, 0.548] +============================================================ + + +============================================================ +SCENE: SecondBedroom-35274 | 5 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.1859, Walkable Loss: 0.8603 (Center Penalty: 0.8603), Relational Loss: 0.0000 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +lamp 0.591 1.106 0.701 0.512 1.593 0.637 -0.36° +bed 2.143 0.948 2.321 0.395 -0.000 0.623 -90.06° +wardrobe 1.411 1.996 0.203 0.531 -0.001 -1.194 0.20° +floor 2.822 -0.006 3.898 0.187 -0.005 0.839 0.08° +_scene_ 0.055 -0.001 0.021 -5.666 -0.006 -5.714 -57.33° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bed <-> floor depth=[2.143, -0.006, 2.321] + !! OVERLAP: wardrobe <-> floor depth=[1.411, -0.006, 0.017] +============================================================ + + +============================================================ +SCENE: SecondBedroom-66007 | 8 objects +============================================================ +Final Step Collision Loss: 0.0027, Room Outer Loss: 0.2150, Walkable Loss: 0.5816 (Center Penalty: 0.5816), Relational Loss: 0.0226 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +bed 1.374 1.029 1.807 -0.340 -0.004 0.880 179.92° +nightstand 0.279 0.455 0.271 -1.194 0.003 1.188 179.85° +desk 0.863 1.077 0.344 0.830 0.001 1.143 179.86° +chair 0.415 0.688 0.471 1.099 -0.004 0.529 -20.74° +wardrobe 1.822 2.043 0.561 -1.580 0.002 0.636 90.00° +lamp 0.597 0.273 0.535 -0.844 2.331 0.193 -0.36° +floor 3.660 0.030 2.777 -0.646 0.037 0.818 0.19° +_scene_ 0.071 -0.001 0.022 -5.672 -0.005 -5.715 -57.31° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bed <-> wardrobe depth=[0.358, 1.029, 0.561] + !! OVERLAP: bed <-> floor depth=[1.374, 0.030, 1.807] + !! OVERLAP: nightstand <-> floor depth=[0.279, 0.030, 0.271] + !! OVERLAP: desk <-> floor depth=[0.785, 0.030, 0.344] + !! OVERLAP: chair <-> floor depth=[0.292, 0.030, 0.471] + !! OVERLAP: wardrobe <-> floor depth=[1.807, 0.030, 0.561] +============================================================ + + +============================================================ +SCENE: MasterBedroom-6907 | 9 objects +============================================================ +Final Step Collision Loss: 0.0217, Room Outer Loss: 0.1334, Walkable Loss: 0.3239 (Center Penalty: 0.3239), Relational Loss: 0.0326 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +cabinet 0.544 1.251 0.485 0.671 0.006 -0.923 -89.97° +table 0.554 1.221 0.594 0.685 -0.023 1.214 -87.17° +nightstand 0.532 0.589 0.425 -1.810 0.003 -1.526 90.06° +chair 1.359 0.513 0.501 -0.578 0.013 -0.917 89.86° +bed 1.593 1.456 2.053 -1.199 0.005 0.244 89.97° +nightstand 0.548 0.652 0.444 -1.940 0.002 1.267 90.02° +chair 0.573 0.815 0.564 -0.276 -0.001 1.526 89.99° +floor 3.999 -0.004 4.469 -1.114 0.024 -0.217 0.62° +_scene_ 0.071 0.000 0.024 -5.670 -0.005 -5.711 -57.28° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: cabinet <-> floor depth=[0.487, -0.004, 0.485] + !! OVERLAP: table <-> floor depth=[0.478, -0.004, 0.594] + !! OVERLAP: nightstand <-> floor depth=[0.532, -0.004, 0.425] + !! OVERLAP: chair <-> bed depth=[0.856, 0.513, 0.116] + !! OVERLAP: chair <-> floor depth=[1.359, -0.004, 0.501] + !! OVERLAP: bed <-> nightstand depth=[0.329, 0.652, 0.225] + !! OVERLAP: bed <-> chair depth=[0.161, 0.815, 0.026] + !! OVERLAP: bed <-> floor depth=[1.593, -0.004, 2.053] + !! OVERLAP: nightstand <-> floor depth=[0.548, -0.004, 0.444] + !! OVERLAP: chair <-> floor depth=[0.573, -0.004, 0.564] +============================================================ + + +============================================================ +SCENE: MasterBedroom-9302 | 7 objects +============================================================ +Final Step Collision Loss: 0.0077, Room Outer Loss: 0.0000, Walkable Loss: 0.6450 (Center Penalty: 0.6450), Relational Loss: 0.0124 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +bed 1.723 1.227 1.822 -0.745 0.005 0.118 -179.24° +nightstand 0.314 0.520 0.164 1.518 0.032 0.947 -179.59° +nightstand 0.293 0.590 0.099 -1.419 0.014 0.967 179.54° +table 0.753 1.076 0.481 1.266 0.002 -1.305 0.04° +chair 0.659 0.507 0.564 -0.209 0.004 -1.125 -179.97° +floor 3.741 -0.005 3.794 -0.186 0.005 -0.816 0.17° +_scene_ 0.067 0.003 0.020 -5.664 -0.004 -5.707 -57.28° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bed <-> nightstand depth=[0.293, 0.590, 0.099] + !! OVERLAP: bed <-> floor depth=[1.723, -0.005, 1.822] + !! OVERLAP: nightstand <-> floor depth=[0.314, -0.005, 0.164] + !! OVERLAP: nightstand <-> floor depth=[0.293, -0.005, 0.099] + !! OVERLAP: table <-> floor depth=[0.753, -0.005, 0.481] + !! OVERLAP: chair <-> floor depth=[0.659, -0.005, 0.564] +============================================================ + + +============================================================ +SCENE: MasterBedroom-3151 | 5 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0000, Walkable Loss: 1.3378 (Center Penalty: 1.3378), Relational Loss: 0.0402 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +bed 1.323 1.178 2.300 0.625 0.006 0.061 -90.48° +nightstand 0.467 0.468 0.364 1.204 -0.000 -0.913 -89.87° +lamp 0.575 0.959 0.602 0.279 1.788 0.624 0.25° +floor 2.985 -0.014 3.609 0.029 0.001 0.605 -0.40° +_scene_ 0.066 0.000 0.019 -5.670 -0.005 -5.714 -57.37° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bed <-> nightstand depth=[0.316, 0.468, 0.358] + !! OVERLAP: bed <-> floor depth=[1.323, -0.014, 2.300] + !! OVERLAP: nightstand <-> floor depth=[0.467, -0.014, 0.364] +============================================================ + + +============================================================ +SCENE: SecondBedroom-13281 | 9 objects +============================================================ +Final Step Collision Loss: 0.0002, Room Outer Loss: 0.0000, Walkable Loss: 1.4776 (Center Penalty: 1.4776), Relational Loss: 0.0470 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +bed 2.145 1.182 2.028 -0.101 0.002 0.806 -179.99° +wardrobe 2.183 2.381 0.709 0.808 -0.001 -1.216 0.01° +nightstand 0.598 0.495 0.456 1.598 0.003 1.672 179.95° +nightstand 0.426 0.470 0.350 -1.380 0.001 1.613 -179.90° +lamp 0.495 0.950 0.447 -1.143 1.534 1.572 0.09° +lamp 0.691 0.738 0.630 1.512 1.619 1.524 -0.03° +lamp 0.956 0.805 1.042 -0.523 1.665 0.736 0.26° +floor 3.814 0.001 3.852 0.003 0.000 0.005 -0.04° +_scene_ 0.071 0.001 0.028 -5.669 -0.004 -5.717 -57.27° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bed <-> nightstand depth=[0.007, 0.470, 0.350] + !! OVERLAP: bed <-> floor depth=[2.145, 0.001, 2.028] + !! OVERLAP: wardrobe <-> floor depth=[2.183, 0.001, 0.709] + !! OVERLAP: nightstand <-> floor depth=[0.598, 0.001, 0.456] + !! OVERLAP: nightstand <-> floor depth=[0.426, 0.001, 0.350] +============================================================ + + +============================================================ +SCENE: MasterBedroom-74105 | 8 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0434, Walkable Loss: 1.6987 (Center Penalty: 1.6987), Relational Loss: 0.0202 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +nightstand 0.361 0.489 0.369 1.324 0.000 0.762 -89.95° +nightstand 0.558 0.524 0.506 1.163 0.000 -1.405 -89.99° +bed 1.291 0.963 2.165 0.666 -0.001 -0.427 -90.08° +bookshelf 1.038 1.681 0.315 -1.034 0.002 -1.041 90.02° +wardrobe 1.695 2.315 0.508 0.565 0.009 1.219 179.91° +lamp 0.982 0.871 0.896 -0.173 1.711 -0.688 0.07° +floor 3.017 -0.001 3.715 -0.001 0.000 -0.046 -0.02° +_scene_ 0.072 0.000 0.020 -5.672 -0.004 -5.713 -57.30° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: nightstand <-> bed depth=[0.168, 0.489, 0.078] + !! OVERLAP: nightstand <-> floor depth=[0.361, -0.001, 0.369] + !! OVERLAP: nightstand <-> bed depth=[0.428, 0.524, 0.357] + !! OVERLAP: nightstand <-> floor depth=[0.558, -0.001, 0.506] + !! OVERLAP: bed <-> floor depth=[1.291, -0.001, 2.165] + !! OVERLAP: bookshelf <-> floor depth=[0.995, -0.001, 0.315] + !! OVERLAP: wardrobe <-> floor depth=[1.695, -0.001, 0.508] +============================================================ + + +============================================================ +SCENE: Bedroom-837 | 6 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0768, Walkable Loss: 1.6303 (Center Penalty: 1.6303), Relational Loss: 0.0233 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +bed 1.920 0.717 1.655 0.465 -0.001 -0.425 -89.93° +wardrobe 2.161 2.230 0.661 -0.836 -0.009 -0.878 90.44° +nightstand 0.474 0.441 0.465 1.533 0.002 -0.964 0.03° +lamp 0.500 0.097 0.538 1.019 2.331 -0.054 -89.85° +floor 3.683 -0.000 2.814 0.002 0.001 -0.004 -0.05° +_scene_ 0.069 0.001 0.023 -5.670 -0.004 -5.713 -57.30° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bed <-> wardrobe depth=[0.739, 0.717, 0.661] + !! OVERLAP: bed <-> nightstand depth=[0.129, 0.441, 0.465] + !! OVERLAP: bed <-> floor depth=[1.920, -0.000, 1.655] + !! OVERLAP: wardrobe <-> floor depth=[2.085, -0.000, 0.661] + !! OVERLAP: nightstand <-> floor depth=[0.474, -0.000, 0.465] +============================================================ + + +============================================================ +SCENE: SecondBedroom-24075 | 6 objects +============================================================ +Final Step Collision Loss: 0.0071, Room Outer Loss: 0.0248, Walkable Loss: 1.5473 (Center Penalty: 1.5473), Relational Loss: 0.0000 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +bed 1.960 1.498 2.029 0.269 0.010 0.591 179.73° +nightstand 0.427 0.483 0.297 -1.267 0.001 1.398 179.94° +nightstand 0.344 0.560 0.349 1.384 0.006 1.282 179.97° +lamp 0.918 0.754 0.613 0.725 2.022 -0.738 0.69° +floor 3.481 -0.002 3.180 -0.030 0.001 -0.010 -0.01° +_scene_ 0.068 0.001 0.019 -5.670 -0.005 -5.709 -57.31° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bed <-> nightstand depth=[0.038, 0.560, 0.349] + !! OVERLAP: bed <-> floor depth=[1.960, -0.002, 2.004] + !! OVERLAP: nightstand <-> floor depth=[0.427, -0.002, 0.297] + !! OVERLAP: nightstand <-> floor depth=[0.344, -0.002, 0.349] +============================================================ + + +============================================================ +SCENE: Bedroom-22570 | 7 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.2816, Walkable Loss: 0.7856 (Center Penalty: 0.7856), Relational Loss: 0.0036 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +bed 1.122 0.940 1.399 0.847 0.035 -0.030 -179.48° +nightstand 0.445 0.498 0.216 -1.029 0.008 0.815 -179.76° +nightstand 0.490 0.504 0.202 1.469 0.022 0.973 179.50° +lamp 0.515 0.726 0.406 0.950 1.976 -0.072 -0.49° +wardrobe 3.172 2.372 0.665 -0.913 0.006 -0.942 90.13° +floor 4.042 -0.007 3.164 -0.433 0.018 -0.619 0.47° +_scene_ 0.074 -0.000 0.023 -5.673 -0.004 -5.711 -57.27° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bed <-> wardrobe depth=[0.388, 0.940, 0.120] + !! OVERLAP: bed <-> floor depth=[1.122, -0.007, 1.399] + !! OVERLAP: nightstand <-> floor depth=[0.445, -0.007, 0.216] + !! OVERLAP: nightstand <-> floor depth=[0.365, -0.007, 0.091] + !! OVERLAP: wardrobe <-> floor depth=[3.127, -0.007, 0.665] +============================================================ + + +============================================================ +SCENE: MasterBedroom-40255 | 8 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0244, Walkable Loss: 0.8885 (Center Penalty: 0.8885), Relational Loss: 0.0296 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +wardrobe 1.003 2.139 0.475 1.305 -0.002 -1.842 -0.04° +wardrobe 1.143 2.212 0.393 -0.402 -0.007 -1.537 0.05° +bed 1.450 1.141 2.442 -0.096 -0.010 0.765 89.50° +nightstand 0.277 0.457 0.298 -0.839 0.005 1.741 89.79° +nightstand 0.302 0.538 0.402 -0.882 0.006 -0.923 90.31° +lamp 0.504 0.841 0.412 0.125 1.770 0.885 -0.21° +floor 3.476 0.013 4.665 0.729 -0.004 0.113 0.15° +_scene_ 0.070 0.001 0.027 -5.671 -0.005 -5.713 -57.30° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: wardrobe <-> floor depth=[1.003, 0.013, 0.475] + !! OVERLAP: wardrobe <-> floor depth=[1.143, 0.013, 0.393] + !! OVERLAP: bed <-> nightstand depth=[0.120, 0.457, 0.298] + !! OVERLAP: bed <-> floor depth=[1.450, 0.013, 2.442] + !! OVERLAP: nightstand <-> floor depth=[0.277, 0.013, 0.298] + !! OVERLAP: nightstand <-> floor depth=[0.278, 0.013, 0.402] +============================================================ + + +============================================================ +SCENE: SecondBedroom-9594 | 8 objects +============================================================ +Final Step Collision Loss: 0.0068, Room Outer Loss: 0.1100, Walkable Loss: 1.1975 (Center Penalty: 1.1975), Relational Loss: 0.0000 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +desk 1.191 0.719 0.588 -1.333 -0.006 -1.179 90.13° +bed 2.023 1.101 2.056 0.666 -0.001 -0.879 -89.96° +wardrobe 2.762 2.203 0.559 0.321 -0.000 1.261 -179.96° +nightstand 0.876 0.744 0.462 1.316 0.001 0.480 -89.76° +chair 0.459 0.935 0.407 -0.813 0.003 -0.964 -89.83° +lamp 0.924 0.092 0.796 0.385 2.521 -0.881 0.37° +floor 3.610 0.001 3.639 -0.013 0.001 -0.279 -0.05° +_scene_ 0.071 0.001 0.022 -5.671 -0.005 -5.713 -57.31° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: desk <-> chair depth=[0.306, 0.719, 0.282] + !! OVERLAP: desk <-> floor depth=[1.081, 0.001, 0.588] + !! OVERLAP: bed <-> floor depth=[2.023, 0.001, 2.056] + !! OVERLAP: wardrobe <-> floor depth=[2.762, 0.001, 0.559] + !! OVERLAP: nightstand <-> floor depth=[0.876, 0.001, 0.462] + !! OVERLAP: chair <-> floor depth=[0.459, 0.001, 0.407] +============================================================ + + +============================================================ +SCENE: MasterBedroom-18517 | 12 objects +============================================================ +Final Step Collision Loss: 0.0073, Room Outer Loss: 0.0421, Walkable Loss: 0.6328 (Center Penalty: 0.6328), Relational Loss: 0.0130 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +bed 1.836 1.071 2.039 -0.379 0.003 0.661 -179.95° +nightstand 0.560 0.725 0.579 0.859 -0.000 1.321 -179.99° +nightstand 0.576 0.651 0.467 -1.441 0.001 1.332 179.90° +wardrobe 2.183 2.591 0.466 -1.877 -0.002 0.561 89.93° +chair 0.346 0.678 0.747 1.364 -0.001 -1.238 -33.25° +table 0.241 0.469 0.327 1.419 -0.003 -0.680 -0.05° +cabinet 0.371 1.267 0.257 1.286 -0.005 1.229 179.50° +lamp 0.974 1.046 0.828 -0.321 1.787 -0.923 -0.01° +lamp 0.197 0.951 0.176 -1.094 1.790 1.200 -0.01° +lamp 0.188 0.696 0.159 1.195 1.754 0.930 0.02° +floor 4.943 -0.008 3.947 -0.954 -0.018 -0.278 -0.51° +_scene_ 0.070 0.000 0.018 -5.676 -0.005 -5.716 -57.31° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bed <-> nightstand depth=[0.144, 0.651, 0.467] + !! OVERLAP: bed <-> wardrobe depth=[0.512, 1.071, 0.466] + !! OVERLAP: bed <-> floor depth=[1.836, -0.008, 2.039] + !! OVERLAP: nightstand <-> cabinet depth=[0.039, 0.725, 0.257] + !! OVERLAP: nightstand <-> floor depth=[0.560, -0.008, 0.579] + !! OVERLAP: nightstand <-> floor depth=[0.576, -0.008, 0.467] + !! OVERLAP: wardrobe <-> floor depth=[2.183, -0.008, 0.466] + !! OVERLAP: chair <-> floor depth=[0.326, -0.008, 0.747] + !! OVERLAP: table <-> floor depth=[0.218, -0.008, 0.327] + !! OVERLAP: cabinet <-> floor depth=[0.371, -0.008, 0.257] +============================================================ + + +============================================================ +SCENE: MasterBedroom-116808 | 6 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0000, Walkable Loss: 1.8707 (Center Penalty: 1.8707), Relational Loss: 0.0000 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +bed 1.750 0.985 1.796 0.442 0.009 0.484 89.84° +nightstand 0.456 0.696 0.327 -1.065 0.000 1.286 89.98° +lamp 1.173 0.916 1.060 0.162 1.596 0.669 0.06° +wardrobe 2.144 2.380 0.487 -0.191 0.000 -1.184 0.00° +floor 2.704 0.001 3.131 0.012 0.001 -0.010 -0.00° +_scene_ 0.066 0.001 0.019 -5.671 -0.005 -5.715 -57.30° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bed <-> floor depth=[1.750, 0.001, 1.796] + !! OVERLAP: nightstand <-> floor depth=[0.456, 0.001, 0.327] + !! OVERLAP: wardrobe <-> floor depth=[2.144, 0.001, 0.487] +============================================================ + + +============================================================ +SCENE: MasterBedroom-34912 | 9 objects +============================================================ +Final Step Collision Loss: 0.0115, Room Outer Loss: 0.4508, Walkable Loss: 0.5988 (Center Penalty: 0.5988), Relational Loss: 0.0296 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +table 0.896 1.135 0.380 -2.398 -0.003 -1.172 -0.02° +nightstand 0.483 0.591 0.220 0.438 -0.001 -1.186 0.04° +chair 0.381 0.517 0.357 -2.126 0.002 -0.700 -89.57° +bed 1.985 1.489 2.082 -0.893 -0.004 -0.230 -0.02° +cabinet 0.645 0.862 0.386 -2.035 0.002 1.453 -179.99° +lamp 0.778 0.855 0.738 -1.145 1.921 0.041 -0.07° +wardrobe 2.022 2.278 0.599 0.747 0.003 -0.425 -90.19° +floor 5.518 0.014 3.078 -1.082 0.019 0.353 0.78° +_scene_ 0.073 0.000 0.022 -5.670 -0.004 -5.716 -57.30° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: table <-> floor depth=[0.896, 0.014, 0.205] + !! OVERLAP: nightstand <-> floor depth=[0.483, 0.014, 0.111] + !! OVERLAP: chair <-> floor depth=[0.381, 0.014, 0.357] + !! OVERLAP: bed <-> wardrobe depth=[0.363, 1.489, 0.599] + !! OVERLAP: bed <-> floor depth=[1.985, 0.014, 1.997] + !! OVERLAP: cabinet <-> floor depth=[0.645, 0.014, 0.386] + !! OVERLAP: wardrobe <-> floor depth=[1.942, 0.014, 0.599] +============================================================ + + +============================================================ +SCENE: SecondBedroom-3960 | 6 objects +============================================================ +Final Step Collision Loss: 0.0215, Room Outer Loss: 0.0849, Walkable Loss: 1.2065 (Center Penalty: 1.2065), Relational Loss: 0.0805 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +bed 2.080 1.718 1.736 -0.405 0.030 -0.795 90.29° +nightstand 0.373 0.459 0.297 -1.199 0.006 0.887 90.02° +nightstand 0.431 0.502 0.244 -1.295 0.004 -1.487 90.06° +wardrobe 0.910 2.062 0.514 -0.013 -0.001 1.708 -179.89° +floor 3.089 -0.003 3.910 0.014 0.001 -0.075 -0.01° +_scene_ 0.070 0.002 0.022 -5.673 -0.005 -5.703 -57.32° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bed <-> nightstand depth=[0.366, 0.502, 0.244] + !! OVERLAP: bed <-> floor depth=[2.080, -0.003, 1.736] + !! OVERLAP: nightstand <-> floor depth=[0.373, -0.003, 0.297] + !! OVERLAP: nightstand <-> floor depth=[0.431, -0.003, 0.244] + !! OVERLAP: wardrobe <-> floor depth=[0.910, -0.003, 0.430] +============================================================ + + +============================================================ +SCENE: MasterBedroom-17206 | 10 objects +============================================================ +Final Step Collision Loss: 0.0106, Room Outer Loss: 0.1525, Walkable Loss: 0.5960 (Center Penalty: 0.5960), Relational Loss: 0.0218 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +bed 1.906 1.697 2.152 0.932 -0.004 0.385 -90.27° +nightstand 0.512 0.589 0.466 1.355 0.001 1.571 -90.00° +wardrobe 1.526 2.130 0.210 0.947 -0.021 -0.820 0.35° +chair 0.486 0.560 0.461 -1.048 0.003 1.793 89.95° +table 0.553 1.297 0.457 -1.247 0.000 1.507 90.86° +nightstand 0.364 0.628 0.401 1.435 0.002 -1.041 -90.25° +lamp 0.829 1.065 0.665 -0.314 1.821 0.922 0.24° +tv_stand 1.103 0.538 0.361 -0.966 -0.011 0.696 91.08° +floor 3.559 -0.004 5.104 0.335 0.003 0.816 0.31° +_scene_ 0.070 0.000 0.022 -5.667 -0.003 -5.713 -57.27° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bed <-> nightstand depth=[0.512, 0.589, 0.123] + !! OVERLAP: bed <-> floor depth=[1.906, -0.004, 2.152] + !! OVERLAP: nightstand <-> floor depth=[0.512, -0.004, 0.466] + !! OVERLAP: wardrobe <-> nightstand depth=[0.364, 0.628, 0.085] + !! OVERLAP: wardrobe <-> floor depth=[1.526, -0.004, 0.210] + !! OVERLAP: chair <-> table depth=[0.321, 0.560, 0.173] + !! OVERLAP: chair <-> floor depth=[0.486, -0.004, 0.461] + !! OVERLAP: table <-> floor depth=[0.474, -0.004, 0.457] + !! OVERLAP: nightstand <-> floor depth=[0.364, -0.004, 0.401] + !! OVERLAP: tv_stand <-> floor depth=[1.030, -0.004, 0.361] +============================================================ + + +============================================================ +SCENE: MasterBedroom-109561 | 8 objects +============================================================ +Final Step Collision Loss: 0.0097, Room Outer Loss: 0.1053, Walkable Loss: 1.1024 (Center Penalty: 1.1024), Relational Loss: 0.0291 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +bed 1.919 0.961 2.189 -0.989 -0.004 -0.190 -0.13° +lamp 0.915 0.907 0.885 -0.597 1.900 0.160 0.02° +tv_stand 1.821 0.443 0.478 -0.301 0.001 1.879 179.92° +chair 0.526 0.734 0.506 -1.489 0.004 1.366 6.50° +nightstand 0.530 0.824 0.377 -1.489 -0.003 -1.362 0.06° +wardrobe 1.404 2.282 0.558 0.527 0.007 -0.647 -91.36° +floor 3.689 0.007 4.183 -0.721 -0.010 0.402 0.25° +_scene_ 0.070 -0.001 0.022 -5.673 -0.005 -5.715 -57.30° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bed <-> nightstand depth=[0.530, 0.824, 0.111] + !! OVERLAP: bed <-> wardrobe depth=[0.145, 0.961, 0.558] + !! OVERLAP: bed <-> floor depth=[1.919, 0.007, 2.189] + !! OVERLAP: tv_stand <-> floor depth=[1.821, 0.007, 0.478] + !! OVERLAP: chair <-> floor depth=[0.526, 0.007, 0.506] + !! OVERLAP: nightstand <-> floor depth=[0.530, 0.007, 0.377] + !! OVERLAP: wardrobe <-> floor depth=[1.299, 0.007, 0.558] +============================================================ + + +============================================================ +SCENE: SecondBedroom-30334 | 11 objects +============================================================ +Final Step Collision Loss: 0.0155, Room Outer Loss: 0.0628, Walkable Loss: 1.3948 (Center Penalty: 1.3948), Relational Loss: 0.0083 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +bed 1.617 0.906 2.156 0.830 0.011 0.127 -179.76° +wardrobe 1.247 2.363 0.341 1.976 0.004 -0.125 -89.68° +wardrobe 1.266 2.324 0.396 2.114 0.032 0.831 -89.71° +nightstand 0.440 0.615 0.338 1.271 -0.000 1.212 179.99° +nightstand 0.547 0.703 0.333 -1.482 0.002 1.182 179.90° +chair 0.845 1.050 1.037 -2.012 0.011 0.172 57.31° +table 0.649 0.521 0.576 -1.578 0.000 -0.688 -0.08° +lamp 0.410 0.800 0.140 -1.941 1.601 -0.032 -89.72° +lamp 0.786 0.902 0.516 -0.625 2.139 -0.754 0.17° +floor 5.306 -0.002 2.833 0.031 -0.001 -0.011 -0.04° +_scene_ 0.096 -0.000 0.033 -5.677 -0.003 -5.717 -57.36° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bed <-> wardrobe depth=[0.286, 0.906, 0.341] + !! OVERLAP: bed <-> wardrobe depth=[0.158, 0.906, 0.396] + !! OVERLAP: bed <-> nightstand depth=[0.440, 0.615, 0.162] + !! OVERLAP: bed <-> floor depth=[1.617, -0.002, 2.156] + !! OVERLAP: wardrobe <-> floor depth=[1.247, -0.002, 0.341] + !! OVERLAP: wardrobe <-> floor depth=[1.203, -0.002, 0.396] + !! OVERLAP: nightstand <-> floor depth=[0.440, -0.002, 0.338] + !! OVERLAP: nightstand <-> floor depth=[0.547, -0.002, 0.333] + !! OVERLAP: chair <-> floor depth=[0.845, -0.002, 1.037] + !! OVERLAP: table <-> floor depth=[0.649, -0.002, 0.576] +============================================================ + + +============================================================ +SCENE: Bedroom-54233 | 9 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.1352, Walkable Loss: 0.7625 (Center Penalty: 0.7625), Relational Loss: 0.0007 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +wardrobe 1.018 1.578 0.186 0.791 0.004 -1.764 0.10° +bed 1.037 1.018 2.256 0.718 0.000 0.096 -89.34° +nightstand 0.511 0.466 0.418 1.105 0.001 -1.211 -90.10° +nightstand 0.374 0.422 0.355 1.240 0.000 1.403 -89.91° +table 1.013 1.413 0.528 -0.986 0.002 1.693 90.06° +chair 0.449 0.489 0.393 -0.083 0.006 2.078 -101.68° +lamp 0.827 0.122 0.804 0.284 2.365 0.805 -0.12° +floor 2.888 0.005 5.389 -0.012 -0.006 0.936 0.25° +_scene_ 0.068 0.001 0.023 -5.667 -0.004 -5.711 -57.31° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: wardrobe <-> floor depth=[1.018, 0.005, 0.088] + !! OVERLAP: bed <-> nightstand depth=[0.387, 0.466, 0.031] + !! OVERLAP: bed <-> floor depth=[1.037, 0.005, 2.256] + !! OVERLAP: nightstand <-> floor depth=[0.511, 0.005, 0.418] + !! OVERLAP: nightstand <-> floor depth=[0.374, 0.005, 0.355] + !! OVERLAP: table <-> floor depth=[0.976, 0.005, 0.528] + !! OVERLAP: chair <-> floor depth=[0.449, 0.005, 0.393] +============================================================ + + +============================================================ +SCENE: Bedroom-17102 | 6 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0000, Walkable Loss: 0.9655 (Center Penalty: 0.9655), Relational Loss: 0.0274 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +bed 1.743 1.528 2.403 -0.717 -0.008 0.338 90.01° +table 0.521 0.626 0.444 -1.232 0.001 1.439 -0.06° +lamp 0.706 0.646 0.565 0.255 2.096 0.918 0.65° +wardrobe 1.762 2.429 0.610 -0.454 -0.002 -1.807 0.00° +floor 3.141 0.001 4.280 -0.452 -0.001 -0.356 0.22° +_scene_ 0.070 0.001 0.016 -5.674 -0.005 -5.716 -57.31° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bed <-> table depth=[0.521, 0.626, 0.322] + !! OVERLAP: bed <-> floor depth=[1.743, 0.001, 2.403] + !! OVERLAP: table <-> floor depth=[0.521, 0.001, 0.444] + !! OVERLAP: wardrobe <-> floor depth=[1.762, 0.001, 0.610] +============================================================ + + +============================================================ +SCENE: MasterBedroom-40319 | 10 objects +============================================================ +Final Step Collision Loss: 0.0048, Room Outer Loss: 0.3931, Walkable Loss: 0.9477 (Center Penalty: 0.9477), Relational Loss: 0.0224 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +wardrobe 1.635 2.457 0.418 -1.485 -0.004 -0.707 89.97° +lamp 0.319 0.675 0.281 -1.106 1.604 -1.333 -0.03° +lamp 0.154 0.971 0.183 0.963 1.411 -1.329 0.29° +lamp 0.616 0.801 0.667 -0.339 1.902 -0.672 0.07° +table 0.772 1.245 0.288 0.784 0.030 1.148 179.72° +bed 1.546 1.037 1.963 -0.146 -0.002 -0.645 0.24° +nightstand 0.282 0.451 0.274 0.948 -0.003 -1.423 -0.20° +nightstand 0.391 0.498 0.336 -1.292 0.001 -1.475 -0.01° +floor 3.779 0.003 3.009 -0.921 0.009 -0.168 0.38° +_scene_ 0.070 0.000 0.020 -5.674 -0.004 -5.714 -57.31° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: wardrobe <-> bed depth=[0.252, 1.037, 0.418] + !! OVERLAP: wardrobe <-> floor depth=[1.635, 0.003, 0.418] + !! OVERLAP: table <-> floor depth=[0.570, 0.003, 0.288] + !! OVERLAP: bed <-> floor depth=[1.546, 0.003, 1.963] + !! OVERLAP: nightstand <-> floor depth=[0.161, 0.003, 0.274] + !! OVERLAP: nightstand <-> floor depth=[0.391, 0.003, 0.336] +============================================================ + + +============================================================ +SCENE: MasterBedroom-28978 | 9 objects +============================================================ +Final Step Collision Loss: 0.0090, Room Outer Loss: 0.0423, Walkable Loss: 1.8603 (Center Penalty: 1.8603), Relational Loss: 0.0132 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +nightstand 0.481 0.509 0.428 1.080 0.001 -1.363 0.03° +bookshelf 1.323 1.918 0.242 -0.035 -0.005 -1.507 0.00° +wardrobe 2.272 2.320 0.484 0.218 0.004 1.407 -179.98° +chair 0.479 0.871 0.444 -0.333 0.002 -1.032 -115.23° +desk 0.793 0.817 0.620 -1.309 -0.010 1.198 90.03° +bed 2.026 1.382 2.389 0.654 -0.034 0.133 -89.56° +lamp 0.701 0.520 0.724 -0.432 2.299 0.616 0.30° +floor 3.338 -0.003 3.293 -0.009 -0.001 -0.005 -0.00° +_scene_ 0.068 -0.000 0.023 -5.673 -0.005 -5.716 -57.31° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: nightstand <-> floor depth=[0.481, -0.003, 0.428] + !! OVERLAP: bookshelf <-> floor depth=[1.323, -0.003, 0.242] + !! OVERLAP: wardrobe <-> desk depth=[0.005, 0.817, 0.343] + !! OVERLAP: wardrobe <-> bed depth=[1.714, 1.382, 0.162] + !! OVERLAP: wardrobe <-> floor depth=[2.272, -0.003, 0.476] + !! OVERLAP: chair <-> bed depth=[0.266, 0.871, 0.252] + !! OVERLAP: chair <-> floor depth=[0.479, -0.003, 0.444] + !! OVERLAP: desk <-> floor depth=[0.765, -0.003, 0.620] + !! OVERLAP: bed <-> floor depth=[2.020, -0.003, 2.389] +============================================================ + + +============================================================ +SCENE: MasterBedroom-392 | 9 objects +============================================================ +Final Step Collision Loss: 0.0045, Room Outer Loss: 0.0017, Walkable Loss: 0.7380 (Center Penalty: 0.7380), Relational Loss: 0.0242 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +wardrobe 2.182 2.414 0.351 -0.227 -0.005 -1.593 0.32° +nightstand 0.500 0.570 0.411 -1.182 0.002 -0.990 89.91° +nightstand 0.674 0.559 0.448 -0.785 0.003 -0.507 89.96° +nightstand 0.391 0.514 0.427 -1.297 0.004 1.879 90.12° +bed 1.855 1.029 2.265 -0.545 0.002 0.853 90.09° +bookshelf 0.756 2.149 0.473 1.186 -0.002 1.272 -89.87° +lamp 0.699 0.932 0.706 0.036 1.693 0.958 -0.09° +floor 3.083 0.003 5.220 0.051 -0.001 0.820 -0.18° +_scene_ 0.065 -0.000 0.017 -5.671 -0.005 -5.714 -57.30° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: wardrobe <-> floor depth=[2.182, 0.003, 0.351] + !! OVERLAP: nightstand <-> floor depth=[0.500, 0.003, 0.411] + !! OVERLAP: nightstand <-> floor depth=[0.674, 0.003, 0.448] + !! OVERLAP: nightstand <-> bed depth=[0.371, 0.514, 0.320] + !! OVERLAP: nightstand <-> floor depth=[0.389, 0.003, 0.427] + !! OVERLAP: bed <-> floor depth=[1.855, 0.003, 2.265] + !! OVERLAP: bookshelf <-> floor depth=[0.756, 0.003, 0.473] +============================================================ + + +============================================================ +SCENE: MasterBedroom-3712 | 6 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0082, Walkable Loss: 1.8649 (Center Penalty: 1.8649), Relational Loss: 0.0421 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +lamp 0.535 0.703 0.503 0.639 2.044 -0.369 -0.21° +desk 1.487 0.732 0.946 0.856 0.001 -0.250 0.08° +chair 0.507 0.857 0.448 0.864 0.016 -1.092 141.60° +bed 1.678 1.197 2.218 -0.771 0.002 0.002 0.09° +floor 3.215 -0.000 2.776 -0.016 0.001 -0.006 -0.00° +_scene_ 0.058 0.005 0.029 -5.672 -0.003 -5.723 -57.32° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: desk <-> floor depth=[1.478, -0.000, 0.946] + !! OVERLAP: chair <-> floor depth=[0.507, -0.000, 0.448] + !! OVERLAP: bed <-> floor depth=[1.678, -0.000, 2.218] +============================================================ + + +============================================================ +SCENE: MasterBedroom-1446 | 9 objects +============================================================ +Final Step Collision Loss: 0.0032, Room Outer Loss: 0.0661, Walkable Loss: 0.3305 (Center Penalty: 0.3305), Relational Loss: 0.0110 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +bed 1.862 0.869 2.053 1.150 0.000 1.017 179.99° +nightstand 0.438 0.571 0.324 2.191 0.001 1.827 179.99° +wardrobe 1.499 2.093 0.584 -1.022 0.011 -1.249 -0.02° +lamp 0.217 0.904 0.161 0.697 1.822 0.629 -0.05° +chair 0.592 0.840 0.517 -0.551 -0.001 1.598 -136.66° +chair 0.602 0.902 0.692 -1.376 0.001 1.798 146.32° +chair 0.786 0.399 0.460 2.301 0.000 -0.505 179.96° +floor 5.249 -0.004 4.466 0.919 -0.005 0.366 -0.04° +_scene_ 0.061 0.001 0.019 -5.674 -0.005 -5.717 -57.29° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bed <-> nightstand depth=[0.109, 0.571, 0.324] + !! OVERLAP: bed <-> floor depth=[1.862, -0.004, 2.053] + !! OVERLAP: nightstand <-> floor depth=[0.438, -0.004, 0.324] + !! OVERLAP: wardrobe <-> floor depth=[1.432, -0.004, 0.584] + !! OVERLAP: chair <-> floor depth=[0.592, -0.004, 0.517] + !! OVERLAP: chair <-> floor depth=[0.602, -0.004, 0.692] + !! OVERLAP: chair <-> floor depth=[0.786, -0.004, 0.460] +============================================================ + + +============================================================ +SCENE: SecondBedroom-6847 | 8 objects +============================================================ +Final Step Collision Loss: 0.0004, Room Outer Loss: 0.0302, Walkable Loss: 1.5103 (Center Penalty: 1.5103), Relational Loss: 0.0287 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +bed 1.342 1.031 2.299 0.744 -0.002 -0.019 -89.46° +cabinet 1.388 2.202 0.503 0.773 -0.004 1.351 -179.97° +nightstand 0.367 0.606 0.452 1.344 -0.002 0.840 -90.01° +nightstand 0.586 0.653 0.442 1.277 0.001 -1.417 -90.00° +cabinet 1.214 1.870 0.501 -1.040 0.002 -0.828 90.11° +lamp 0.226 1.518 0.232 -0.388 1.132 -0.908 -0.01° +floor 3.187 -0.003 3.613 -0.036 0.000 -0.041 -0.01° +_scene_ 0.068 0.001 0.020 -5.673 -0.005 -5.711 -57.31° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bed <-> cabinet depth=[1.337, 1.031, 0.030] + !! OVERLAP: bed <-> nightstand depth=[0.254, 0.606, 0.452] + !! OVERLAP: bed <-> floor depth=[1.342, -0.003, 2.299] + !! OVERLAP: cabinet <-> floor depth=[1.388, -0.003, 0.503] + !! OVERLAP: nightstand <-> floor depth=[0.367, -0.003, 0.452] + !! OVERLAP: nightstand <-> floor depth=[0.574, -0.003, 0.442] + !! OVERLAP: cabinet <-> lamp depth=[0.068, 0.564, 0.232] + !! OVERLAP: cabinet <-> floor depth=[1.196, -0.003, 0.501] +============================================================ + + +============================================================ +SCENE: MasterBedroom-12183 | 8 objects +============================================================ +Final Step Collision Loss: 0.0053, Room Outer Loss: 0.0597, Walkable Loss: 1.3896 (Center Penalty: 1.3896), Relational Loss: 0.0321 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +desk 1.683 0.807 0.786 -1.220 0.000 -0.461 90.12° +bed 1.607 1.183 1.712 0.789 0.013 -0.168 0.27° +nightstand 0.544 0.586 0.480 -0.617 0.003 -1.223 0.00° +nightstand 0.455 0.581 0.468 1.490 -0.000 -1.173 0.04° +lamp 0.530 0.257 0.751 1.123 2.294 -0.382 -0.58° +lamp 0.762 0.856 0.726 -1.612 1.906 -1.032 -0.01° +floor 4.068 -0.001 2.845 0.001 -0.001 -0.009 -0.03° +_scene_ 0.071 0.001 0.021 -5.671 -0.005 -5.711 -57.31° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: desk <-> floor depth=[1.655, -0.001, 0.786] + !! OVERLAP: bed <-> nightstand depth=[0.329, 0.581, 0.086] + !! OVERLAP: bed <-> floor depth=[1.607, -0.001, 1.712] + !! OVERLAP: nightstand <-> floor depth=[0.544, -0.001, 0.448] + !! OVERLAP: nightstand <-> floor depth=[0.455, -0.001, 0.468] +============================================================ + + +============================================================ +SCENE: Bedroom-8136 | 5 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0000, Walkable Loss: 0.7885 (Center Penalty: 0.7885), Relational Loss: 0.0000 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +bed 1.771 1.127 2.199 -0.264 0.003 -0.763 -90.24° +wardrobe 2.437 2.491 0.688 -0.417 -0.001 1.283 -179.78° +lamp 0.658 0.696 0.729 -0.225 2.051 -0.879 -0.14° +floor 3.199 0.033 4.208 -0.645 0.013 -0.434 0.17° +_scene_ 0.045 -0.001 0.012 -5.681 -0.008 -5.719 -57.27° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bed <-> floor depth=[1.771, 0.033, 2.199] + !! OVERLAP: wardrobe <-> floor depth=[2.437, 0.033, 0.688] +============================================================ + + +============================================================ +SCENE: MasterBedroom-24714 | 7 objects +============================================================ +Final Step Collision Loss: 0.0285, Room Outer Loss: 0.0338, Walkable Loss: 1.0479 (Center Penalty: 1.0479), Relational Loss: 0.0259 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +wardrobe 1.880 2.325 0.302 -0.521 -0.010 -0.958 -0.38° +bed 2.183 1.272 2.252 0.109 0.006 0.702 -90.02° +tv_stand 1.566 0.521 0.400 -1.199 0.001 0.713 90.06° +nightstand 0.039 0.663 -0.188 -0.093 0.009 -0.932 -92.80° +lamp 0.730 0.839 0.894 -0.545 1.877 0.909 -0.15° +floor 3.186 -0.014 3.952 -0.426 -0.000 0.659 -0.28° +_scene_ 0.065 -0.000 0.019 -5.672 -0.005 -5.716 -57.30° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: wardrobe <-> nightstand depth=[0.039, 0.663, -0.188] + !! OVERLAP: wardrobe <-> floor depth=[1.880, -0.014, 0.302] + !! OVERLAP: bed <-> tv_stand depth=[0.566, 0.521, 0.400] + !! OVERLAP: bed <-> floor depth=[2.149, -0.014, 2.252] + !! OVERLAP: tv_stand <-> floor depth=[1.566, -0.014, 0.400] + !! OVERLAP: nightstand <-> floor depth=[0.039, -0.014, -0.188] +============================================================ + + +============================================================ +SCENE: Bedroom-13858 | 7 objects +============================================================ +Final Step Collision Loss: 0.0147, Room Outer Loss: 0.0000, Walkable Loss: 0.6010 (Center Penalty: 0.6010), Relational Loss: 0.0574 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +bed 2.083 1.311 2.228 -0.554 -0.002 -0.724 -0.10° +wardrobe 0.791 2.238 0.586 0.906 0.003 -0.781 -179.69° +nightstand 0.396 0.637 0.419 0.964 -0.004 -1.530 -0.06° +nightstand 0.431 0.568 0.409 -1.675 -0.001 -1.472 -0.07° +lamp 1.085 0.757 1.152 -0.585 2.093 -0.884 -0.12° +floor 4.240 0.000 3.593 -0.807 0.004 -0.217 -0.21° +_scene_ 0.062 -0.001 0.022 -5.672 -0.005 -5.716 -57.38° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bed <-> nightstand depth=[0.136, 0.568, 0.409] + !! OVERLAP: bed <-> floor depth=[2.083, 0.000, 2.228] + !! OVERLAP: wardrobe <-> floor depth=[0.791, 0.000, 0.586] + !! OVERLAP: nightstand <-> floor depth=[0.396, 0.000, 0.419] + !! OVERLAP: nightstand <-> floor depth=[0.431, 0.000, 0.409] +============================================================ + + +============================================================ +SCENE: MasterBedroom-118 | 5 objects +============================================================ +Final Step Collision Loss: 0.0564, Room Outer Loss: 0.0000, Walkable Loss: 1.0983 (Center Penalty: 1.0983), Relational Loss: 0.0295 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +bed 1.717 1.144 1.699 -0.169 0.003 -0.794 89.64° +table 0.418 0.556 0.371 -1.088 0.000 -1.037 89.94° +lamp 0.943 1.035 0.920 -0.327 2.029 -0.223 -0.08° +floor 2.843 0.071 3.578 0.057 -0.002 -1.100 -0.29° +_scene_ 0.066 0.001 0.039 -5.668 -0.006 -5.712 -57.32° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bed <-> table depth=[0.148, 0.556, 0.371] + !! OVERLAP: bed <-> floor depth=[1.717, 0.071, 1.699] + !! OVERLAP: table <-> floor depth=[0.418, 0.071, 0.371] +============================================================ + + +============================================================ +SCENE: LivingRoom-37659 | 10 objects +============================================================ +Final Step Collision Loss: 0.0008, Room Outer Loss: 0.0602, Walkable Loss: 0.3596 (Center Penalty: 0.3596), Relational Loss: 0.0014 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +sofa 1.477 0.917 0.944 1.177 0.003 1.367 -89.92° +chair 0.617 0.880 0.669 0.446 0.001 2.257 179.96° +chair 0.719 0.447 0.628 0.197 0.002 -1.035 0.09° +table 1.273 0.568 0.723 -0.181 -0.001 1.163 -0.01° +chair 0.603 0.857 0.644 -0.843 -0.002 2.145 127.33° +table 0.880 0.668 0.533 -1.888 0.001 -2.067 0.08° +table 0.585 0.642 0.518 -1.540 -0.001 2.688 -0.02° +lamp 0.571 1.133 0.550 0.166 1.415 1.192 0.02° +floor 4.508 -0.009 7.033 -0.398 0.001 0.924 0.00° +_scene_ 0.072 -0.001 0.019 -5.670 -0.004 -5.713 -57.30° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: sofa <-> table depth=[0.017, 0.568, 0.630] + !! OVERLAP: sofa <-> floor depth=[1.417, -0.009, 0.944] + !! OVERLAP: chair <-> floor depth=[0.617, -0.009, 0.669] + !! OVERLAP: chair <-> floor depth=[0.719, -0.009, 0.628] + !! OVERLAP: table <-> floor depth=[1.273, -0.009, 0.723] + !! OVERLAP: chair <-> floor depth=[0.603, -0.009, 0.644] + !! OVERLAP: table <-> floor depth=[0.880, -0.009, 0.533] + !! OVERLAP: table <-> floor depth=[0.585, -0.009, 0.518] +============================================================ + + +============================================================ +SCENE: LivingRoom-1520 | 14 objects +============================================================ +Final Step Collision Loss: 0.0156, Room Outer Loss: 0.0000, Walkable Loss: 0.2822 (Center Penalty: 0.2822), Relational Loss: 0.0270 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +sofa 2.317 0.888 0.975 -1.242 0.001 1.808 89.97° +table 1.226 0.585 0.851 -0.466 0.000 1.452 90.03° +tv_stand 1.467 0.551 0.503 0.372 0.009 1.912 -90.50° +chair 0.362 0.500 0.426 -1.042 0.003 0.460 0.11° +table 1.376 0.737 1.130 -1.004 -0.003 -1.927 -0.11° +chair 0.541 1.035 0.611 -1.780 -0.000 -1.100 -179.96° +chair 0.537 1.089 0.590 -0.821 -0.000 -1.076 -179.94° +chair 0.396 1.027 0.468 -0.646 0.007 -2.392 -74.54° +chair 0.507 1.049 0.580 -1.714 0.000 -2.168 0.04° +cabinet 1.370 0.901 0.443 -0.034 -0.000 -2.904 0.01° +lamp 0.447 0.969 0.447 -1.343 1.619 -1.627 -0.04° +lamp 0.612 0.960 0.635 -0.764 1.713 1.702 -0.01° +floor 4.168 -0.002 6.587 -0.940 -0.001 -0.038 -0.01° +_scene_ 0.073 0.000 0.022 -5.670 -0.004 -5.715 -57.32° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: sofa <-> table depth=[0.996, 0.585, 0.557] + !! OVERLAP: sofa <-> tv_stand depth=[0.279, 0.551, 0.503] + !! OVERLAP: sofa <-> floor depth=[2.317, -0.002, 0.975] + !! OVERLAP: table <-> tv_stand depth=[0.508, 0.551, 0.217] + !! OVERLAP: table <-> floor depth=[1.226, -0.002, 0.851] + !! OVERLAP: tv_stand <-> floor depth=[1.467, -0.002, 0.503] + !! OVERLAP: chair <-> floor depth=[0.362, -0.002, 0.426] + !! OVERLAP: table <-> chair depth=[0.183, 0.737, 0.044] + !! OVERLAP: table <-> chair depth=[0.537, 0.737, 0.010] + !! OVERLAP: table <-> chair depth=[0.396, 0.737, 0.334] + !! OVERLAP: table <-> chair depth=[0.231, 0.737, 0.580] + !! OVERLAP: table <-> floor depth=[1.376, -0.002, 1.130] + !! OVERLAP: chair <-> floor depth=[0.541, -0.002, 0.611] + !! OVERLAP: chair <-> floor depth=[0.537, -0.002, 0.590] + !! OVERLAP: chair <-> floor depth=[0.396, -0.002, 0.468] + !! OVERLAP: chair <-> floor depth=[0.507, -0.002, 0.580] + !! OVERLAP: cabinet <-> floor depth=[1.370, -0.002, 0.443] +============================================================ + + +============================================================ +SCENE: LivingRoom-17951 | 6 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.1027, Walkable Loss: 1.2788 (Center Penalty: 1.2788), Relational Loss: 0.0000 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +sofa 2.045 0.737 0.922 -1.090 -0.001 -0.137 90.01° +table 1.301 0.592 0.567 -0.134 0.008 -0.613 -89.90° +tv_stand 1.407 1.426 0.407 0.784 -0.005 0.401 -89.87° +lamp 0.546 0.394 0.553 0.363 2.138 0.772 0.19° +floor 3.766 -0.016 4.066 -0.498 0.009 -0.610 -0.02° +_scene_ 0.073 -0.000 0.022 -5.675 -0.005 -5.713 -57.32° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: sofa <-> table depth=[0.717, 0.592, 0.269] + !! OVERLAP: sofa <-> floor depth=[2.045, -0.016, 0.922] + !! OVERLAP: table <-> floor depth=[1.301, -0.016, 0.567] + !! OVERLAP: tv_stand <-> floor depth=[1.304, -0.016, 0.407] +============================================================ + + +============================================================ +SCENE: LivingDiningRoom-629 | 16 objects +============================================================ +Final Step Collision Loss: 0.0224, Room Outer Loss: 0.2375, Walkable Loss: 0.2921 (Center Penalty: 0.2921), Relational Loss: 0.0107 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +sofa 2.028 0.885 0.888 1.081 0.005 -0.953 -0.01° +tv_stand 1.804 0.553 0.328 0.899 0.002 1.245 -179.75° +desk 0.675 0.489 0.360 1.398 -0.000 -0.280 -90.37° +table 1.087 0.837 1.613 -1.901 0.002 -0.414 0.12° +chair 0.549 0.632 0.460 -2.357 0.001 -0.797 89.98° +chair 0.631 0.708 0.377 -2.783 0.002 0.014 89.98° +chair 0.531 0.755 0.517 -1.093 -0.001 -0.633 -89.94° +chair 0.475 0.729 0.518 -1.088 0.002 -0.158 -89.97° +cabinet 3.224 2.430 0.267 -1.402 -0.001 1.472 -179.87° +bookshelf 1.752 2.305 0.232 -1.833 -0.006 -1.931 -0.04° +chair 0.522 0.680 0.538 -2.306 0.002 -0.172 89.95° +cabinet 2.114 1.983 0.316 -2.669 0.003 -0.506 90.05° +lamp 0.891 0.686 0.855 1.423 1.935 -0.517 -0.06° +lamp 0.368 0.413 0.384 -1.308 2.084 -0.417 -0.04° +floor 5.946 -0.009 3.650 -1.089 -0.002 -0.197 0.01° +_scene_ 0.072 -0.002 0.022 -5.673 -0.005 -5.712 -57.30° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: sofa <-> floor depth=[1.816, -0.009, 0.888] + !! OVERLAP: tv_stand <-> cabinet depth=[0.213, 0.553, 0.071] + !! OVERLAP: tv_stand <-> floor depth=[1.804, -0.009, 0.328] + !! OVERLAP: desk <-> floor depth=[0.675, -0.009, 0.360] + !! OVERLAP: table <-> chair depth=[0.363, 0.632, 0.460] + !! OVERLAP: table <-> chair depth=[0.001, 0.755, 0.517] + !! OVERLAP: table <-> chair depth=[0.400, 0.680, 0.538] + !! OVERLAP: table <-> cabinet depth=[0.833, 0.837, 0.316] + !! OVERLAP: table <-> floor depth=[1.087, -0.009, 1.613] + !! OVERLAP: chair <-> cabinet depth=[0.549, 0.632, 0.097] + !! OVERLAP: chair <-> floor depth=[0.549, -0.009, 0.460] + !! OVERLAP: chair <-> chair depth=[0.100, 0.680, 0.271] + !! OVERLAP: chair <-> floor depth=[0.631, -0.009, 0.377] + !! OVERLAP: chair <-> chair depth=[0.475, 0.729, 0.042] + !! OVERLAP: chair <-> floor depth=[0.531, -0.009, 0.517] + !! OVERLAP: chair <-> floor depth=[0.475, -0.009, 0.518] + !! OVERLAP: cabinet <-> floor depth=[3.224, -0.009, 0.267] + !! OVERLAP: bookshelf <-> floor depth=[1.752, -0.009, 0.206] + !! OVERLAP: chair <-> cabinet depth=[0.522, 0.680, 0.093] + !! OVERLAP: chair <-> floor depth=[0.522, -0.009, 0.538] + !! OVERLAP: cabinet <-> floor depth=[2.114, -0.009, 0.316] +============================================================ + + +============================================================ +SCENE: LivingRoom-71071 | 16 objects +============================================================ +Final Step Collision Loss: 0.0113, Room Outer Loss: 0.0016, Walkable Loss: 0.1155 (Center Penalty: 0.1155), Relational Loss: 0.0077 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +table 0.608 1.067 0.404 2.712 -0.001 -0.519 -90.34° +table 0.602 0.538 0.635 3.042 -0.001 -3.275 0.09° +lamp 1.000 1.051 1.012 1.485 1.786 -1.713 0.01° +tv_stand 2.254 0.492 0.528 -0.598 0.002 -1.364 0.35° +chair 0.517 0.779 0.520 1.377 0.000 1.359 -90.08° +chair 0.545 0.858 0.560 1.447 0.000 0.848 -90.14° +chair 0.503 0.812 0.526 -0.171 -0.001 1.184 89.79° +chair 0.581 0.794 0.589 0.125 -0.001 1.714 89.99° +table 1.806 0.733 0.770 0.806 0.002 1.466 -90.01° +sofa 2.119 0.982 1.060 2.289 -0.000 -1.200 -90.36° +table 1.076 0.508 1.284 1.370 0.001 -1.163 -179.99° +lamp 0.488 0.213 0.496 -1.446 2.510 1.932 0.03° +table 0.835 1.044 0.494 -1.335 0.000 3.230 89.92° +lamp 0.439 0.831 0.310 0.782 1.783 1.538 -90.06° +floor 6.412 -0.017 7.212 1.305 0.008 -0.131 -0.15° +_scene_ 0.073 0.000 0.022 -5.669 -0.005 -5.710 -57.29° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: table <-> sofa depth=[0.608, 0.982, 0.051] + !! OVERLAP: table <-> floor depth=[0.608, -0.017, 0.404] + !! OVERLAP: table <-> floor depth=[0.602, -0.017, 0.635] + !! OVERLAP: tv_stand <-> floor depth=[2.254, -0.017, 0.528] + !! OVERLAP: chair <-> chair depth=[0.462, 0.779, 0.030] + !! OVERLAP: chair <-> table depth=[0.517, 0.733, 0.520] + !! OVERLAP: chair <-> floor depth=[0.517, -0.017, 0.520] + !! OVERLAP: chair <-> table depth=[0.535, 0.733, 0.047] + !! OVERLAP: chair <-> floor depth=[0.545, -0.017, 0.560] + !! OVERLAP: chair <-> chair depth=[0.246, 0.794, 0.028] + !! OVERLAP: chair <-> table depth=[0.177, 0.733, 0.366] + !! OVERLAP: chair <-> floor depth=[0.503, -0.017, 0.526] + !! OVERLAP: chair <-> table depth=[0.512, 0.733, 0.432] + !! OVERLAP: chair <-> floor depth=[0.581, -0.017, 0.589] + !! OVERLAP: table <-> floor depth=[1.806, -0.017, 0.770] + !! OVERLAP: sofa <-> table depth=[0.678, 0.508, 1.060] + !! OVERLAP: sofa <-> floor depth=[2.119, -0.017, 1.060] + !! OVERLAP: table <-> floor depth=[1.076, -0.017, 1.284] + !! OVERLAP: table <-> floor depth=[0.835, -0.017, 0.492] +============================================================ + + +============================================================ +SCENE: LivingDiningRoom-9790 | 14 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.1603, Walkable Loss: 0.3761 (Center Penalty: 0.3761), Relational Loss: 0.0087 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +sofa 2.171 0.969 0.940 -1.099 0.001 2.111 89.90° +tv_stand 1.484 0.490 0.417 1.305 0.008 2.172 -90.01° +cabinet 0.928 0.817 0.421 -1.764 0.003 -2.677 89.89° +table 1.248 0.962 0.761 -0.392 0.004 -0.974 90.14° +chair 0.573 0.604 0.564 -1.191 0.002 -0.531 179.94° +chair 0.443 0.602 0.470 -1.056 0.000 -1.428 0.02° +chair 0.514 0.688 0.560 1.308 0.000 -0.085 180.00° +chair 0.504 0.574 0.516 0.676 -0.002 -1.205 -0.20° +lamp 0.241 0.443 0.122 -1.740 2.222 -2.588 -0.17° +lamp 0.833 0.830 0.842 -0.383 1.846 1.651 0.00° +lamp 0.348 1.016 0.293 -0.057 2.021 -1.248 -0.02° +table 1.172 0.418 0.828 0.054 0.000 2.032 -89.96° +floor 4.342 0.002 7.521 -0.159 0.001 0.999 0.01° +_scene_ 0.064 -0.000 0.021 -5.673 -0.005 -5.717 -57.34° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: sofa <-> table depth=[0.520, 0.418, 0.805] + !! OVERLAP: sofa <-> floor depth=[2.171, 0.002, 0.940] + !! OVERLAP: tv_stand <-> table depth=[0.077, 0.418, 0.417] + !! OVERLAP: tv_stand <-> floor depth=[1.449, 0.002, 0.417] + !! OVERLAP: cabinet <-> floor depth=[0.928, 0.002, 0.295] + !! OVERLAP: table <-> chair depth=[0.111, 0.604, 0.219] + !! OVERLAP: table <-> chair depth=[0.182, 0.602, 0.161] + !! OVERLAP: table <-> floor depth=[1.248, 0.002, 0.761] + !! OVERLAP: chair <-> floor depth=[0.573, 0.002, 0.564] + !! OVERLAP: chair <-> floor depth=[0.443, 0.002, 0.470] + !! OVERLAP: chair <-> floor depth=[0.514, 0.002, 0.560] + !! OVERLAP: chair <-> floor depth=[0.504, 0.002, 0.516] + !! OVERLAP: table <-> floor depth=[1.172, 0.002, 0.828] +============================================================ + + +============================================================ +SCENE: LivingRoom-791 | 15 objects +============================================================ +Final Step Collision Loss: 0.0079, Room Outer Loss: 0.2765, Walkable Loss: 0.3036 (Center Penalty: 0.3036), Relational Loss: 0.0108 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +table 2.417 0.760 1.020 0.991 -0.001 1.300 -0.08° +chair 0.529 0.836 0.552 1.714 0.001 2.107 -179.95° +chair 0.625 0.846 0.641 0.932 0.002 2.061 179.99° +chair 0.537 0.909 0.591 2.126 -0.001 0.593 0.03° +chair 0.556 0.865 0.573 1.264 0.000 0.572 0.14° +sofa 2.100 0.896 0.895 1.858 0.005 -0.581 -90.17° +tv_stand 1.570 0.624 0.638 -0.859 0.004 -1.483 90.90° +table 0.834 0.182 0.712 -0.486 0.006 0.964 -90.01° +table 0.866 1.445 0.406 -1.021 0.002 1.330 89.34° +table 0.519 0.561 0.483 1.539 0.002 -2.280 0.05° +lamp 0.620 0.845 0.604 1.156 1.903 -0.008 -0.09° +lamp 0.633 0.958 0.645 1.845 1.975 -0.094 0.02° +lamp 0.509 1.211 0.488 -0.065 1.663 -1.542 0.04° +floor 4.969 0.008 6.144 1.074 0.005 0.155 -0.33° +_scene_ 0.074 -0.000 0.022 -5.671 -0.005 -5.710 -57.30° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: table <-> chair depth=[0.625, 0.760, 0.069] + !! OVERLAP: table <-> chair depth=[0.342, 0.760, 0.099] + !! OVERLAP: table <-> chair depth=[0.556, 0.760, 0.069] + !! OVERLAP: table <-> table depth=[0.149, 0.182, 0.530] + !! OVERLAP: table <-> floor depth=[2.417, 0.008, 1.020] + !! OVERLAP: chair <-> floor depth=[0.529, 0.008, 0.552] + !! OVERLAP: chair <-> floor depth=[0.625, 0.008, 0.641] + !! OVERLAP: chair <-> floor depth=[0.537, 0.008, 0.591] + !! OVERLAP: chair <-> floor depth=[0.556, 0.008, 0.573] + !! OVERLAP: sofa <-> floor depth=[2.100, 0.008, 0.895] + !! OVERLAP: tv_stand <-> floor depth=[1.337, 0.008, 0.638] + !! OVERLAP: table <-> table depth=[0.315, 0.182, 0.193] + !! OVERLAP: table <-> floor depth=[0.834, 0.008, 0.712] + !! OVERLAP: table <-> floor depth=[0.823, 0.008, 0.406] + !! OVERLAP: table <-> floor depth=[0.519, 0.008, 0.483] +============================================================ + + +============================================================ +SCENE: LivingRoom-24046 | 7 objects +============================================================ +Final Step Collision Loss: 0.0035, Room Outer Loss: 0.0000, Walkable Loss: 0.7104 (Center Penalty: 0.7104), Relational Loss: 0.0000 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +bookshelf 1.196 1.449 0.382 0.858 0.003 -0.716 -89.96° +sofa 2.229 0.835 1.020 0.095 -0.001 -0.725 -90.08° +table 0.769 0.377 0.672 -1.841 0.001 -0.262 90.08° +lamp 0.619 0.758 0.622 0.369 2.053 0.960 -0.06° +chair 0.645 0.760 0.630 -1.341 0.012 -0.969 30.89° +floor 4.510 -0.001 4.110 -0.675 -0.001 0.680 -0.11° +_scene_ 0.061 0.001 0.019 -5.670 -0.004 -5.711 -57.31° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bookshelf <-> sofa depth=[0.949, 0.835, 0.382] + !! OVERLAP: bookshelf <-> floor depth=[1.196, -0.001, 0.382] + !! OVERLAP: sofa <-> chair depth=[0.001, 0.760, 0.582] + !! OVERLAP: sofa <-> floor depth=[2.229, -0.001, 1.020] + !! OVERLAP: table <-> floor depth=[0.769, -0.001, 0.672] + !! OVERLAP: chair <-> floor depth=[0.645, -0.001, 0.630] +============================================================ + + +============================================================ +SCENE: LivingRoom-13599 | 10 objects +============================================================ +Final Step Collision Loss: 0.0002, Room Outer Loss: 0.0000, Walkable Loss: 0.5326 (Center Penalty: 0.5326), Relational Loss: 0.0470 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +chair 0.925 0.940 0.923 0.083 -0.000 -1.492 -0.06° +chair 0.767 0.890 0.777 0.226 0.001 2.249 171.98° +table 0.528 0.510 0.524 -0.938 0.002 2.179 90.04° +table 0.518 0.424 0.542 -0.854 0.005 -1.420 90.05° +table 1.075 0.411 0.565 0.621 -0.001 0.703 89.99° +tv_stand 1.603 0.603 0.479 1.932 0.000 0.239 -90.39° +lamp 0.486 0.953 0.498 0.400 1.898 0.849 -0.13° +sofa 1.624 0.814 0.673 -0.401 0.040 1.016 89.23° +floor 4.538 -0.040 7.252 1.047 -0.016 -0.400 0.04° +_scene_ 0.068 0.002 0.018 -5.668 -0.004 -5.712 -57.29° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: chair <-> floor depth=[0.925, -0.040, 0.923] + !! OVERLAP: chair <-> floor depth=[0.767, -0.040, 0.777] + !! OVERLAP: table <-> floor depth=[0.528, -0.040, 0.524] + !! OVERLAP: table <-> floor depth=[0.518, -0.040, 0.542] + !! OVERLAP: table <-> tv_stand depth=[0.028, 0.411, 0.058] + !! OVERLAP: table <-> sofa depth=[0.328, 0.411, 0.305] + !! OVERLAP: table <-> floor depth=[1.075, -0.040, 0.565] + !! OVERLAP: tv_stand <-> floor depth=[1.603, -0.040, 0.479] + !! OVERLAP: sofa <-> floor depth=[1.624, -0.040, 0.673] +============================================================ + + +============================================================ +SCENE: LivingDiningRoom-13945 | 15 objects +============================================================ +Final Step Collision Loss: 0.0177, Room Outer Loss: 0.0000, Walkable Loss: 0.4268 (Center Penalty: 0.4268), Relational Loss: 0.0192 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +sofa 3.016 0.862 1.767 -1.190 0.004 -1.033 0.12° +chair 0.497 0.647 0.489 -2.830 -0.002 -1.643 0.15° +chair 0.318 0.350 0.357 -2.526 -0.001 -0.938 0.03° +chair 0.395 0.357 0.373 -2.697 -0.001 -0.544 0.02° +table 0.892 0.392 0.596 -1.515 -0.002 -0.061 -0.00° +chair 0.487 1.050 0.561 -0.284 0.003 0.918 89.37° +lamp 0.123 1.035 0.121 -2.951 1.581 -1.675 0.02° +chair 0.361 1.027 0.435 1.277 -0.002 -0.093 -65.89° +cabinet 1.262 0.773 0.627 2.186 0.003 2.160 -179.84° +table 0.707 1.169 0.418 2.466 0.005 -1.767 -0.10° +shelf 0.235 2.110 0.445 2.499 0.005 1.871 0.18° +lamp 0.194 0.957 0.210 1.012 1.861 0.236 -0.06° +tv_stand 3.474 0.750 0.470 -1.213 -0.001 2.097 0.21° +floor 7.072 -0.019 5.794 -0.660 -0.003 0.848 0.08° +_scene_ 0.068 -0.003 0.023 -5.674 -0.007 -5.722 -57.41° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: sofa <-> chair depth=[0.117, 0.647, 0.489] + !! OVERLAP: sofa <-> chair depth=[0.318, 0.350, 0.357] + !! OVERLAP: sofa <-> chair depth=[0.199, 0.357, 0.373] + !! OVERLAP: sofa <-> table depth=[0.892, 0.392, 0.209] + !! OVERLAP: sofa <-> floor depth=[3.016, -0.019, 1.767] + !! OVERLAP: chair <-> floor depth=[0.497, -0.019, 0.489] + !! OVERLAP: chair <-> floor depth=[0.318, -0.019, 0.357] + !! OVERLAP: chair <-> floor depth=[0.395, -0.019, 0.373] + !! OVERLAP: table <-> floor depth=[0.892, -0.019, 0.596] + !! OVERLAP: chair <-> floor depth=[0.487, -0.019, 0.561] + !! OVERLAP: chair <-> floor depth=[0.361, -0.019, 0.435] + !! OVERLAP: cabinet <-> shelf depth=[0.235, 0.773, 0.247] + !! OVERLAP: cabinet <-> floor depth=[1.262, -0.019, 0.627] + !! OVERLAP: table <-> floor depth=[0.707, -0.019, 0.418] + !! OVERLAP: shelf <-> floor depth=[0.235, -0.019, 0.445] + !! OVERLAP: tv_stand <-> floor depth=[3.474, -0.019, 0.470] +============================================================ + + +============================================================ +SCENE: LivingDiningRoom-758 | 12 objects +============================================================ +Final Step Collision Loss: 0.0213, Room Outer Loss: 0.1601, Walkable Loss: 0.8864 (Center Penalty: 0.8864), Relational Loss: 0.0241 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +lamp 0.729 0.989 0.712 0.239 1.962 -1.329 -0.03° +table 1.573 0.735 0.993 -0.534 0.000 0.844 -179.93° +chair 0.242 0.855 0.367 0.435 -0.002 1.190 -90.10° +chair 0.470 0.855 0.341 -1.214 0.002 1.067 -0.01° +lamp 0.184 0.676 0.215 -1.140 1.785 1.020 0.09° +lamp 0.226 0.747 0.176 -0.432 1.853 1.036 -0.06° +sofa 2.442 0.828 1.024 -0.951 -0.001 -1.113 89.99° +table 1.048 0.345 0.857 0.729 -0.002 -0.566 -90.51° +tv_stand 1.794 0.488 0.426 0.788 0.003 -1.286 -89.48° +table 1.771 2.299 0.384 -1.564 -0.001 0.405 89.86° +floor 3.974 0.002 3.991 -0.345 -0.001 -0.606 0.07° +_scene_ 0.066 0.001 0.020 -5.675 -0.005 -5.717 -57.29° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: table <-> chair depth=[0.342, 0.735, 0.341] + !! OVERLAP: table <-> table depth=[0.642, 0.735, 0.249] + !! OVERLAP: table <-> floor depth=[1.573, 0.002, 0.993] + !! OVERLAP: chair <-> floor depth=[0.242, 0.002, 0.367] + !! OVERLAP: chair <-> floor depth=[0.470, 0.002, 0.341] + !! OVERLAP: sofa <-> table depth=[0.065, 0.345, 0.394] + !! OVERLAP: sofa <-> tv_stand depth=[0.379, 0.488, 0.426] + !! OVERLAP: sofa <-> floor depth=[2.442, 0.002, 1.024] + !! OVERLAP: table <-> floor depth=[1.048, 0.002, 0.857] + !! OVERLAP: tv_stand <-> floor depth=[1.751, 0.002, 0.426] + !! OVERLAP: table <-> floor depth=[1.654, 0.002, 0.384] +============================================================ + + +============================================================ +SCENE: LivingRoom-33324 | 9 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.1520, Walkable Loss: 0.7110 (Center Penalty: 0.7110), Relational Loss: 0.0141 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +tv_stand 1.631 0.681 0.457 1.316 0.004 0.042 -90.27° +table 0.594 1.076 0.472 -1.202 0.002 2.042 89.92° +sofa 1.595 0.856 1.015 -0.797 0.000 0.504 89.62° +table 0.567 0.401 0.553 0.445 0.008 0.851 90.02° +chair 0.806 0.803 0.864 0.042 0.001 2.262 179.95° +bookshelf 1.041 2.463 0.176 -0.965 0.007 -1.838 0.32° +lamp 0.619 0.820 0.518 0.771 2.119 0.369 0.17° +floor 3.574 -0.003 6.041 0.257 -0.006 0.995 -0.02° +_scene_ 0.070 -0.000 0.021 -5.670 -0.005 -5.713 -57.30° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: tv_stand <-> floor depth=[1.543, -0.003, 0.457] + !! OVERLAP: table <-> floor depth=[0.594, -0.003, 0.472] + !! OVERLAP: sofa <-> floor depth=[1.530, -0.003, 1.015] + !! OVERLAP: table <-> floor depth=[0.567, -0.003, 0.553] + !! OVERLAP: chair <-> floor depth=[0.806, -0.003, 0.864] + !! OVERLAP: bookshelf <-> floor depth=[1.041, -0.003, 0.176] +============================================================ + + +============================================================ +SCENE: LivingRoom-30147 | 20 objects +============================================================ +Final Step Collision Loss: 0.0098, Room Outer Loss: 0.0000, Walkable Loss: 0.1848 (Center Penalty: 0.1848), Relational Loss: 0.0075 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +lamp 0.333 0.579 0.330 -0.369 2.043 2.327 0.05° +lamp 0.936 0.775 0.935 -1.016 1.714 -3.204 -0.02° +tv_stand 2.386 1.031 0.428 -2.426 0.005 3.006 89.91° +chair 0.651 0.413 0.554 -0.178 0.000 1.107 90.05° +chair 0.440 0.455 0.465 -0.695 0.002 1.086 0.03° +table 1.247 0.484 0.649 0.028 0.002 2.395 -89.91° +table 0.439 0.666 0.401 1.449 0.000 0.789 -90.12° +table 0.548 0.571 0.614 1.407 -0.003 4.138 -90.29° +sofa 2.138 0.979 0.871 0.708 -0.003 2.553 -89.93° +sofa 1.979 0.779 0.789 -0.365 0.003 4.410 179.99° +table 2.048 0.707 0.954 -0.851 0.003 -3.168 -0.02° +chair 0.687 1.094 0.678 -1.215 -0.001 -2.005 -179.97° +chair 0.563 1.085 0.634 0.135 -0.001 -2.795 -90.17° +chair 0.627 1.135 0.697 -0.029 -0.003 -3.792 -77.39° +chair 0.609 1.134 0.646 -0.845 -0.001 -4.373 0.01° +chair 0.700 1.083 0.677 -1.958 -0.001 -3.655 76.19° +chair 0.575 1.049 0.689 -1.606 0.001 -2.738 107.75° +table 0.517 0.561 0.356 -2.352 0.002 -0.688 90.05° +floor 6.110 -0.008 10.387 -1.169 0.006 0.086 0.24° +_scene_ 0.069 0.001 0.023 -5.669 -0.005 -5.714 -57.31° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: tv_stand <-> floor depth=[2.386, -0.008, 0.428] + !! OVERLAP: chair <-> chair depth=[0.029, 0.413, 0.465] + !! OVERLAP: chair <-> floor depth=[0.651, -0.008, 0.554] + !! OVERLAP: chair <-> floor depth=[0.440, -0.008, 0.465] + !! OVERLAP: table <-> sofa depth=[1.012, 0.484, 0.602] + !! OVERLAP: table <-> floor depth=[1.247, -0.008, 0.649] + !! OVERLAP: table <-> floor depth=[0.439, -0.008, 0.401] + !! OVERLAP: table <-> floor depth=[0.548, -0.008, 0.614] + !! OVERLAP: sofa <-> floor depth=[2.138, -0.008, 0.871] + !! OVERLAP: sofa <-> floor depth=[1.979, -0.008, 0.789] + !! OVERLAP: table <-> chair depth=[0.320, 0.707, 0.421] + !! OVERLAP: table <-> chair depth=[0.515, 0.707, 0.201] + !! OVERLAP: table <-> chair depth=[0.267, 0.707, 0.329] + !! OVERLAP: table <-> chair depth=[0.556, 0.707, 0.391] + !! OVERLAP: table <-> floor depth=[2.048, -0.008, 0.954] + !! OVERLAP: chair <-> floor depth=[0.687, -0.008, 0.678] + !! OVERLAP: chair <-> floor depth=[0.563, -0.008, 0.634] + !! OVERLAP: chair <-> floor depth=[0.627, -0.008, 0.697] + !! OVERLAP: chair <-> floor depth=[0.609, -0.008, 0.646] + !! OVERLAP: chair <-> floor depth=[0.700, -0.008, 0.677] + !! OVERLAP: chair <-> floor depth=[0.575, -0.008, 0.689] + !! OVERLAP: table <-> floor depth=[0.517, -0.008, 0.356] +============================================================ + + +============================================================ +SCENE: LivingRoom-29294 | 11 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0000, Walkable Loss: 0.6842 (Center Penalty: 0.6842), Relational Loss: 0.0230 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +table 0.694 1.118 0.511 -2.473 -0.000 -1.983 -0.01° +table 0.599 1.226 0.392 1.847 0.001 -2.124 0.07° +sofa 2.230 0.929 0.963 -2.378 0.001 0.284 89.96° +table 1.415 0.455 0.865 -0.723 0.003 0.179 -0.10° +chair 0.727 0.823 0.844 1.715 -0.012 0.340 -70.91° +sofa 2.024 0.681 0.934 -0.435 0.001 -1.700 0.01° +table 0.447 0.872 0.414 1.024 0.004 -2.083 0.06° +table 0.528 0.707 0.592 -1.781 0.002 -1.824 -0.02° +lamp 0.821 0.847 0.810 -0.731 1.849 0.485 0.07° +floor 6.024 0.001 4.894 -0.798 -0.008 -0.600 -0.05° +_scene_ 0.193 0.064 0.432 -4.787 0.014 -4.817 -63.08° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: table <-> floor depth=[0.694, 0.001, 0.511] + !! OVERLAP: table <-> floor depth=[0.599, 0.001, 0.392] + !! OVERLAP: sofa <-> table depth=[0.168, 0.455, 0.809] + !! OVERLAP: sofa <-> floor depth=[2.230, 0.001, 0.963] + !! OVERLAP: table <-> floor depth=[1.415, 0.001, 0.865] + !! OVERLAP: chair <-> floor depth=[0.727, 0.001, 0.844] + !! OVERLAP: sofa <-> floor depth=[2.024, 0.001, 0.934] + !! OVERLAP: table <-> floor depth=[0.447, 0.001, 0.414] + !! OVERLAP: table <-> floor depth=[0.528, 0.001, 0.592] +============================================================ + + +============================================================ +SCENE: LivingDiningRoom-35401 | 11 objects +============================================================ +Final Step Collision Loss: 0.0160, Room Outer Loss: 0.0000, Walkable Loss: 0.1782 (Center Penalty: 0.1782), Relational Loss: 0.0056 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +chair 0.539 0.830 0.629 -0.417 0.000 1.225 90.05° +chair 0.537 0.871 0.621 -0.426 0.000 1.732 89.98° +chair 0.545 0.914 0.678 0.903 -0.001 0.993 -90.23° +chair 0.556 0.856 0.636 0.861 0.000 1.677 -90.36° +sofa 1.976 0.852 0.836 -1.117 0.004 -1.554 90.00° +table 1.589 2.320 0.074 -0.772 -0.003 -1.124 90.96° +table 1.105 0.342 0.879 0.126 -0.000 -1.901 -90.26° +lamp 0.699 0.577 0.320 -0.009 2.309 -1.796 -0.11° +lamp 0.094 0.580 0.116 0.660 2.128 1.429 -89.91° +floor 3.852 0.008 6.826 -0.306 -0.002 -1.083 -0.34° +_scene_ 0.069 0.002 0.019 -5.665 -0.005 -5.710 -57.30° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: chair <-> chair depth=[0.529, 0.830, 0.119] + !! OVERLAP: chair <-> floor depth=[0.539, 0.008, 0.629] + !! OVERLAP: chair <-> floor depth=[0.537, 0.008, 0.621] + !! OVERLAP: chair <-> floor depth=[0.545, 0.008, 0.678] + !! OVERLAP: chair <-> floor depth=[0.556, 0.008, 0.636] + !! OVERLAP: sofa <-> table depth=[1.437, 0.852, 0.025] + !! OVERLAP: sofa <-> table depth=[0.298, 0.342, 0.511] + !! OVERLAP: sofa <-> floor depth=[1.976, 0.008, 0.836] + !! OVERLAP: table <-> floor depth=[1.589, 0.008, 0.074] + !! OVERLAP: table <-> floor depth=[1.105, 0.008, 0.879] +============================================================ + + +============================================================ +SCENE: LivingRoom-35085 | 10 objects +============================================================ +Final Step Collision Loss: 0.0001, Room Outer Loss: 0.0000, Walkable Loss: 0.8822 (Center Penalty: 0.8822), Relational Loss: 0.0241 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +sofa 2.098 0.943 0.711 0.321 -0.029 0.984 -89.14° +table 0.528 0.454 0.533 1.030 -0.001 1.503 -89.95° +table 0.488 0.481 0.396 1.190 0.002 -1.932 -90.16° +table 1.215 0.377 1.221 -0.655 0.003 -0.348 -89.73° +chair 0.794 0.905 0.713 -1.192 0.001 -1.435 0.11° +chair 0.755 0.865 0.818 -1.294 -0.001 1.591 169.32° +tv_stand 1.973 0.510 0.435 -1.853 0.002 -0.382 90.07° +lamp 0.385 0.948 0.338 -0.153 1.747 -0.774 -0.15° +floor 4.653 -0.002 5.383 -0.748 -0.007 -0.648 -0.26° +_scene_ 0.062 -0.000 0.018 -5.673 -0.004 -5.715 -57.30° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: sofa <-> table depth=[0.528, 0.454, 0.103] + !! OVERLAP: sofa <-> floor depth=[2.098, -0.002, 0.711] + !! OVERLAP: table <-> floor depth=[0.528, -0.002, 0.533] + !! OVERLAP: table <-> floor depth=[0.488, -0.002, 0.396] + !! OVERLAP: table <-> tv_stand depth=[0.397, 0.377, 0.435] + !! OVERLAP: table <-> floor depth=[1.215, -0.002, 1.221] + !! OVERLAP: chair <-> floor depth=[0.794, -0.002, 0.713] + !! OVERLAP: chair <-> floor depth=[0.755, -0.002, 0.818] + !! OVERLAP: tv_stand <-> floor depth=[1.973, -0.002, 0.435] +============================================================ + + +============================================================ +SCENE: LivingRoom-25582 | 12 objects +============================================================ +Final Step Collision Loss: 0.0253, Room Outer Loss: 0.0150, Walkable Loss: 0.6621 (Center Penalty: 0.6621), Relational Loss: 0.0317 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +sofa 2.623 0.703 0.811 -0.696 -0.000 1.552 179.88° +table 0.447 0.460 0.485 -1.100 0.002 -0.596 0.04° +tv_stand 1.462 0.298 0.386 -0.518 0.002 -2.172 -0.01° +chair 0.684 1.131 0.965 1.223 0.001 -0.518 -90.06° +chair 0.677 1.067 0.811 1.095 0.002 -1.257 0.01° +chair 0.581 1.126 0.606 1.000 0.002 1.232 89.90° +chair 0.473 0.984 0.695 1.259 -0.003 1.316 -178.89° +table 0.550 0.716 0.509 1.263 -0.001 0.068 -0.01° +table 1.893 0.830 0.487 0.644 0.004 1.836 179.77° +lamp 0.616 0.580 0.580 0.258 2.190 -0.943 -0.38° +floor 3.933 -0.002 5.437 -0.391 0.000 -0.569 0.01° +_scene_ 0.056 -0.001 0.019 -5.670 -0.004 -5.715 -57.18° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: sofa <-> table depth=[0.918, 0.703, 0.366] + !! OVERLAP: sofa <-> floor depth=[2.623, -0.002, 0.811] + !! OVERLAP: table <-> floor depth=[0.447, -0.002, 0.485] + !! OVERLAP: tv_stand <-> floor depth=[1.462, -0.002, 0.386] + !! OVERLAP: chair <-> chair depth=[0.552, 1.067, 0.149] + !! OVERLAP: chair <-> table depth=[0.550, 0.716, 0.151] + !! OVERLAP: chair <-> floor depth=[0.684, -0.002, 0.965] + !! OVERLAP: chair <-> floor depth=[0.677, -0.002, 0.811] + !! OVERLAP: chair <-> chair depth=[0.267, 0.984, 0.567] + !! OVERLAP: chair <-> floor depth=[0.581, -0.002, 0.606] + !! OVERLAP: chair <-> table depth=[0.473, 0.830, 0.072] + !! OVERLAP: chair <-> floor depth=[0.473, -0.002, 0.695] + !! OVERLAP: table <-> floor depth=[0.550, -0.002, 0.509] + !! OVERLAP: table <-> floor depth=[1.878, -0.002, 0.487] +============================================================ + + +============================================================ +SCENE: LivingDiningRoom-109935 | 14 objects +============================================================ +Final Step Collision Loss: 0.0123, Room Outer Loss: 0.0729, Walkable Loss: 0.4887 (Center Penalty: 0.4887), Relational Loss: 0.0176 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +sofa 2.127 0.698 0.814 -1.688 0.001 0.749 90.01° +chair 0.784 0.807 0.877 -2.043 -0.001 2.181 90.03° +table 1.734 0.316 1.346 -0.439 0.000 1.502 -90.39° +chair 0.705 0.510 0.701 -0.842 -0.002 0.175 0.01° +tv_stand 1.470 0.417 0.560 0.627 0.010 1.598 -89.97° +table 2.392 0.750 1.123 -0.037 -0.003 -1.132 -90.20° +chair 0.453 0.831 0.526 -0.657 0.000 -2.128 0.06° +chair 0.509 0.826 0.514 -0.765 0.001 -1.485 89.93° +chair 0.527 0.816 0.542 0.498 0.002 -1.964 -90.09° +chair 0.449 0.799 0.512 0.665 0.001 -1.394 179.93° +lamp 0.735 0.871 0.489 -0.227 1.784 1.311 -0.02° +lamp 0.952 0.622 0.237 -0.188 2.247 -1.886 0.00° +floor 4.304 -0.017 5.929 -0.775 0.005 0.646 0.06° +_scene_ 0.064 0.002 0.020 -5.670 -0.006 -5.719 -57.29° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: sofa <-> table depth=[0.682, 0.316, 0.327] + !! OVERLAP: sofa <-> chair depth=[0.570, 0.510, 0.183] + !! OVERLAP: sofa <-> floor depth=[2.127, -0.017, 0.814] + !! OVERLAP: chair <-> floor depth=[0.784, -0.017, 0.877] + !! OVERLAP: table <-> tv_stand depth=[0.535, 0.316, 0.560] + !! OVERLAP: table <-> floor depth=[1.734, -0.017, 1.346] + !! OVERLAP: chair <-> floor depth=[0.705, -0.017, 0.701] + !! OVERLAP: tv_stand <-> floor depth=[1.470, -0.017, 0.560] + !! OVERLAP: table <-> chair depth=[0.509, 0.750, 0.465] + !! OVERLAP: table <-> chair depth=[0.527, 0.750, 0.000] + !! OVERLAP: table <-> chair depth=[0.449, 0.750, 0.512] + !! OVERLAP: table <-> floor depth=[2.392, -0.017, 1.123] + !! OVERLAP: chair <-> floor depth=[0.453, -0.017, 0.453] + !! OVERLAP: chair <-> floor depth=[0.509, -0.017, 0.514] + !! OVERLAP: chair <-> floor depth=[0.527, -0.017, 0.542] + !! OVERLAP: chair <-> floor depth=[0.449, -0.017, 0.512] +============================================================ + + +============================================================ +SCENE: LivingDiningRoom-76396 | 19 objects +============================================================ +Final Step Collision Loss: 0.0106, Room Outer Loss: 0.0000, Walkable Loss: 0.1431 (Center Penalty: 0.1431), Relational Loss: 0.0104 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +sofa 2.193 0.900 0.936 -2.319 0.003 1.818 179.97° +sofa 2.018 0.900 1.441 -3.504 -0.002 0.636 89.98° +table 0.601 0.431 0.547 -2.370 0.001 0.571 -0.02° +tv_stand 2.293 0.642 0.445 -1.879 0.001 -1.599 -0.02° +chair 0.892 0.893 0.989 -0.803 -0.004 0.845 -70.92° +table 1.641 0.731 1.023 2.307 0.000 0.655 -0.01° +chair 0.447 0.809 0.549 3.126 0.001 1.058 -90.16° +chair 0.504 0.745 0.613 2.539 0.001 1.290 179.85° +chair 0.554 0.766 0.627 2.771 0.001 -0.043 0.06° +chair 0.478 0.750 0.565 2.994 0.001 0.102 -90.01° +table 1.187 1.457 0.299 0.953 0.001 -1.719 0.03° +cabinet 1.594 2.068 0.307 1.556 -0.003 2.297 179.98° +table 0.603 0.442 0.622 -0.257 -0.000 2.076 -0.03° +table 0.471 0.479 0.435 -3.208 -0.004 2.380 -179.99° +lamp 0.666 0.484 0.669 -1.514 2.636 0.316 0.02° +lamp 0.632 0.954 0.642 1.598 1.970 0.423 -0.02° +table 1.173 1.293 0.166 2.711 -0.003 -2.017 0.34° +floor 8.282 0.000 5.993 -0.783 -0.010 0.872 -0.43° +_scene_ 0.073 0.001 0.027 -5.673 -0.005 -5.714 -57.31° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: sofa <-> sofa depth=[0.920, 0.896, 0.006] + !! OVERLAP: sofa <-> table depth=[0.443, 0.479, 0.124] + !! OVERLAP: sofa <-> floor depth=[2.193, 0.000, 0.936] + !! OVERLAP: sofa <-> table depth=[0.175, 0.431, 0.547] + !! OVERLAP: sofa <-> floor depth=[2.018, 0.000, 1.441] + !! OVERLAP: table <-> floor depth=[0.601, 0.000, 0.547] + !! OVERLAP: tv_stand <-> floor depth=[2.293, 0.000, 0.445] + !! OVERLAP: chair <-> floor depth=[0.892, 0.000, 0.989] + !! OVERLAP: table <-> chair depth=[0.224, 0.731, 0.383] + !! OVERLAP: table <-> chair depth=[0.504, 0.731, 0.183] + !! OVERLAP: table <-> chair depth=[0.554, 0.731, 0.128] + !! OVERLAP: table <-> chair depth=[0.372, 0.731, 0.241] + !! OVERLAP: table <-> floor depth=[1.641, 0.000, 1.023] + !! OVERLAP: chair <-> floor depth=[0.447, 0.000, 0.549] + !! OVERLAP: chair <-> floor depth=[0.504, 0.000, 0.613] + !! OVERLAP: chair <-> chair depth=[0.293, 0.750, 0.451] + !! OVERLAP: chair <-> floor depth=[0.554, 0.000, 0.627] + !! OVERLAP: chair <-> floor depth=[0.478, 0.000, 0.565] + !! OVERLAP: table <-> floor depth=[1.187, 0.000, 0.299] + !! OVERLAP: cabinet <-> floor depth=[1.594, 0.000, 0.307] + !! OVERLAP: table <-> floor depth=[0.603, 0.000, 0.622] + !! OVERLAP: table <-> floor depth=[0.471, 0.000, 0.435] + !! OVERLAP: table <-> floor depth=[1.173, 0.000, 0.166] +============================================================ + + +============================================================ +SCENE: LivingDiningRoom-18728 | 15 objects +============================================================ +Final Step Collision Loss: 0.0272, Room Outer Loss: 0.0043, Walkable Loss: 0.3452 (Center Penalty: 0.3452), Relational Loss: 0.0087 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +table 1.424 1.047 0.251 -1.592 -0.001 -2.429 0.38° +table 0.997 0.861 0.379 1.524 -0.002 -1.842 -90.52° +tv_stand 1.726 0.397 0.361 1.108 -0.001 1.628 -89.76° +sofa 2.069 0.739 0.944 -1.489 0.000 2.053 89.99° +chair 0.815 0.728 0.837 -2.021 0.001 2.897 180.00° +table 2.363 0.746 1.017 -0.059 -0.003 -1.413 -90.07° +chair 0.535 0.751 0.574 0.522 0.002 -1.739 0.06° +chair 0.440 0.702 0.523 -0.287 0.001 -1.765 0.02° +chair 0.480 0.651 0.469 -0.525 0.005 -0.992 -179.99° +chair 0.412 0.728 0.447 0.486 0.002 -0.849 -179.96° +table 1.483 0.421 1.424 -0.199 0.002 2.289 -92.89° +lamp 0.509 0.599 0.472 -0.287 2.074 1.673 -90.15° +lamp 0.988 0.687 0.173 -0.108 2.096 -1.484 -0.06° +floor 5.109 -0.007 7.119 -0.537 0.002 0.986 -0.07° +_scene_ 0.064 0.000 0.018 -5.670 -0.005 -5.718 -57.29° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: table <-> floor depth=[1.424, -0.007, 0.251] + !! OVERLAP: table <-> table depth=[0.098, 0.746, 0.269] + !! OVERLAP: table <-> floor depth=[0.993, -0.007, 0.379] + !! OVERLAP: tv_stand <-> table depth=[0.298, 0.397, 0.232] + !! OVERLAP: tv_stand <-> floor depth=[1.726, -0.007, 0.361] + !! OVERLAP: sofa <-> chair depth=[0.815, 0.728, 0.046] + !! OVERLAP: sofa <-> table depth=[0.486, 0.421, 0.944] + !! OVERLAP: sofa <-> floor depth=[2.069, -0.007, 0.944] + !! OVERLAP: chair <-> floor depth=[0.815, -0.007, 0.837] + !! OVERLAP: table <-> chair depth=[0.535, 0.743, 0.469] + !! OVERLAP: table <-> chair depth=[0.440, 0.702, 0.417] + !! OVERLAP: table <-> chair depth=[0.480, 0.651, 0.323] + !! OVERLAP: table <-> chair depth=[0.412, 0.728, 0.168] + !! OVERLAP: table <-> floor depth=[2.363, -0.007, 1.017] + !! OVERLAP: chair <-> floor depth=[0.535, -0.007, 0.574] + !! OVERLAP: chair <-> floor depth=[0.440, -0.007, 0.523] + !! OVERLAP: chair <-> floor depth=[0.480, -0.007, 0.469] + !! OVERLAP: chair <-> floor depth=[0.412, -0.007, 0.447] + !! OVERLAP: table <-> floor depth=[1.483, -0.007, 1.424] +============================================================ + + +============================================================ +SCENE: LivingDiningRoom-46747 | 17 objects +============================================================ +Final Step Collision Loss: 0.0172, Room Outer Loss: 0.0000, Walkable Loss: 0.5515 (Center Penalty: 0.5515), Relational Loss: 0.0104 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +sofa 2.216 0.721 0.881 -1.188 0.001 1.455 89.91° +chair 0.553 0.901 0.603 -0.033 0.001 3.283 179.88° +table 1.571 0.502 0.922 0.030 -0.002 2.077 89.89° +table 1.913 0.728 1.274 0.144 -0.000 -1.649 0.11° +chair 0.450 0.936 0.488 0.122 -0.000 -1.062 179.97° +chair 0.421 0.971 0.461 0.759 0.001 -0.806 -179.95° +chair 0.399 0.927 0.430 -0.120 -0.001 -2.234 -0.01° +chair 0.426 0.916 0.473 0.681 -0.000 -2.231 0.11° +table 1.740 0.816 0.550 0.301 0.003 -2.782 0.04° +lamp 0.947 1.056 0.942 -0.066 1.730 2.142 -0.01° +lamp 1.367 0.899 0.288 0.079 1.807 -1.403 0.04° +lamp 1.080 0.829 0.532 0.363 2.088 -2.038 -0.05° +chair 0.741 0.590 0.682 -0.222 0.009 0.862 5.05° +table 0.710 1.083 0.371 -1.465 0.002 0.671 89.92° +table 0.644 0.922 0.509 -1.886 0.003 3.283 89.98° +floor 4.146 -0.009 7.942 -0.709 -0.005 0.723 0.42° +_scene_ 0.070 -0.000 0.024 -5.671 -0.004 -5.710 -57.31° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: sofa <-> table depth=[0.675, 0.502, 0.280] + !! OVERLAP: sofa <-> chair depth=[0.512, 0.590, 0.188] + !! OVERLAP: sofa <-> floor depth=[2.216, -0.009, 0.881] + !! OVERLAP: chair <-> floor depth=[0.553, -0.009, 0.603] + !! OVERLAP: table <-> floor depth=[1.571, -0.009, 0.922] + !! OVERLAP: table <-> chair depth=[0.450, 0.728, 0.293] + !! OVERLAP: table <-> chair depth=[0.421, 0.728, 0.024] + !! OVERLAP: table <-> chair depth=[0.399, 0.728, 0.268] + !! OVERLAP: table <-> chair depth=[0.426, 0.728, 0.292] + !! OVERLAP: table <-> floor depth=[1.913, -0.009, 1.274] + !! OVERLAP: chair <-> floor depth=[0.450, -0.009, 0.488] + !! OVERLAP: chair <-> floor depth=[0.421, -0.009, 0.461] + !! OVERLAP: chair <-> floor depth=[0.399, -0.009, 0.430] + !! OVERLAP: chair <-> floor depth=[0.426, -0.009, 0.473] + !! OVERLAP: table <-> floor depth=[1.740, -0.009, 0.550] + !! OVERLAP: chair <-> floor depth=[0.741, -0.009, 0.682] + !! OVERLAP: table <-> floor depth=[0.710, -0.009, 0.371] + !! OVERLAP: table <-> floor depth=[0.644, -0.009, 0.509] +============================================================ + + +============================================================ +SCENE: LivingRoom-88425 | 19 objects +============================================================ +Final Step Collision Loss: 0.0128, Room Outer Loss: 0.1721, Walkable Loss: 0.3607 (Center Penalty: 0.3607), Relational Loss: 0.0124 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +sofa 1.998 0.758 0.802 -1.931 0.002 1.368 89.99° +chair 1.424 0.863 0.629 -0.972 0.006 -0.230 16.85° +sofa 2.257 0.992 0.956 -0.576 0.002 3.362 179.91° +table 0.556 0.401 0.462 -0.595 0.000 1.947 90.04° +table 0.546 0.493 0.483 -1.826 0.002 0.075 90.04° +table 0.473 0.542 0.418 -1.988 0.004 3.071 90.03° +table 2.866 0.812 1.068 -1.020 -0.000 -2.032 0.04° +chair 0.492 0.672 0.501 -0.591 0.001 -2.844 -0.03° +chair 0.555 0.750 0.546 -0.718 0.001 -1.173 -179.97° +chair 0.476 0.711 0.522 -0.000 -0.001 -1.695 -179.98° +chair 0.530 0.751 0.599 -1.096 -0.003 -1.335 164.51° +chair 0.482 0.644 0.553 -1.519 0.002 -2.658 89.88° +chair 0.486 0.671 0.568 0.330 -0.001 -2.506 -90.31° +lamp 1.233 0.816 0.497 -0.681 1.904 1.751 0.03° +lamp 0.981 0.720 0.948 -0.375 2.011 -2.279 -0.00° +table 0.991 1.685 0.384 -0.225 -0.004 -3.425 0.06° +tv_stand 1.386 0.479 0.299 0.868 0.008 1.666 -90.81° +floor 4.689 0.000 7.671 -0.845 0.000 0.330 0.02° +_scene_ 0.073 -0.000 0.026 -5.669 -0.004 -5.711 -57.31° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: sofa <-> floor depth=[1.998, 0.000, 0.802] + !! OVERLAP: chair <-> table depth=[0.131, 0.493, 0.251] + !! OVERLAP: chair <-> floor depth=[1.424, 0.000, 0.629] + !! OVERLAP: sofa <-> floor depth=[2.257, 0.000, 0.956] + !! OVERLAP: table <-> floor depth=[0.556, 0.000, 0.462] + !! OVERLAP: table <-> floor depth=[0.546, 0.000, 0.483] + !! OVERLAP: table <-> floor depth=[0.473, 0.000, 0.418] + !! OVERLAP: table <-> chair depth=[0.476, 0.711, 0.459] + !! OVERLAP: table <-> chair depth=[0.530, 0.751, 0.137] + !! OVERLAP: table <-> chair depth=[0.482, 0.644, 0.185] + !! OVERLAP: table <-> chair depth=[0.326, 0.671, 0.344] + !! OVERLAP: table <-> floor depth=[2.866, 0.000, 1.068] + !! OVERLAP: chair <-> floor depth=[0.492, 0.000, 0.501] + !! OVERLAP: chair <-> chair depth=[0.165, 0.747, 0.411] + !! OVERLAP: chair <-> floor depth=[0.555, 0.000, 0.546] + !! OVERLAP: chair <-> floor depth=[0.476, 0.000, 0.522] + !! OVERLAP: chair <-> floor depth=[0.530, 0.000, 0.599] + !! OVERLAP: chair <-> floor depth=[0.482, 0.000, 0.553] + !! OVERLAP: chair <-> floor depth=[0.486, 0.000, 0.568] + !! OVERLAP: table <-> floor depth=[0.991, 0.000, 0.272] + !! OVERLAP: tv_stand <-> floor depth=[1.325, 0.000, 0.299] +============================================================ + + +============================================================ +SCENE: LivingDiningRoom-35769 | 19 objects +============================================================ +Final Step Collision Loss: 0.0068, Room Outer Loss: 0.0000, Walkable Loss: 0.0407 (Center Penalty: 0.0407), Relational Loss: 0.0097 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +sofa 2.179 0.798 1.059 3.110 0.007 0.474 179.98° +chair 0.765 1.031 0.919 5.040 -0.007 -0.591 -90.39° +chair 0.739 1.192 0.790 1.280 -0.005 -0.621 126.29° +table 1.515 0.449 0.848 2.818 -0.003 -0.990 89.93° +table 0.698 0.440 0.657 4.737 -0.001 0.685 179.73° +table 0.729 0.543 0.611 1.517 0.001 0.971 179.95° +table 1.566 0.787 1.022 -3.269 -0.000 1.034 0.01° +chair 0.524 0.876 0.511 -3.719 0.002 0.353 0.01° +chair 0.509 0.915 0.554 -3.032 -0.002 0.514 -0.26° +chair 0.537 0.903 0.527 -3.746 0.006 1.602 179.92° +chair 0.652 0.936 0.543 -3.041 0.001 1.868 180.00° +chair 0.575 0.881 0.657 -2.197 0.001 1.068 -90.17° +chair 0.574 0.834 0.549 -4.521 0.003 0.934 89.89° +cabinet 0.977 1.402 0.282 -0.793 0.002 2.196 179.87° +table 1.078 2.124 0.352 -4.294 -0.003 0.344 90.73° +lamp 0.727 0.773 0.716 2.747 1.927 -1.019 0.02° +lamp 1.017 0.995 1.107 -3.770 1.869 1.261 -0.01° +floor 12.072 -0.028 6.317 1.140 0.000 -0.783 0.04° +_scene_ 0.080 -0.002 0.024 -5.679 -0.005 -5.713 -57.31° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: sofa <-> floor depth=[2.179, -0.028, 1.059] + !! OVERLAP: chair <-> floor depth=[0.765, -0.028, 0.919] + !! OVERLAP: chair <-> floor depth=[0.739, -0.028, 0.790] + !! OVERLAP: table <-> floor depth=[1.515, -0.028, 0.848] + !! OVERLAP: table <-> floor depth=[0.698, -0.028, 0.657] + !! OVERLAP: table <-> floor depth=[0.729, -0.028, 0.611] + !! OVERLAP: table <-> chair depth=[0.524, 0.787, 0.085] + !! OVERLAP: table <-> chair depth=[0.509, 0.787, 0.267] + !! OVERLAP: table <-> chair depth=[0.537, 0.787, 0.207] + !! OVERLAP: table <-> floor depth=[1.566, -0.028, 1.022] + !! OVERLAP: chair <-> table depth=[0.226, 0.876, 0.352] + !! OVERLAP: chair <-> floor depth=[0.524, -0.028, 0.511] + !! OVERLAP: chair <-> floor depth=[0.509, -0.028, 0.554] + !! OVERLAP: chair <-> floor depth=[0.537, -0.028, 0.527] + !! OVERLAP: chair <-> floor depth=[0.652, -0.028, 0.543] + !! OVERLAP: chair <-> floor depth=[0.575, -0.028, 0.657] + !! OVERLAP: chair <-> floor depth=[0.574, -0.028, 0.549] + !! OVERLAP: cabinet <-> floor depth=[0.977, -0.028, 0.282] + !! OVERLAP: table <-> floor depth=[1.078, -0.028, 0.352] +============================================================ + + +============================================================ +SCENE: LivingRoom-1097 | 19 objects +============================================================ +Final Step Collision Loss: 0.0030, Room Outer Loss: 0.2820, Walkable Loss: 0.2232 (Center Penalty: 0.2232), Relational Loss: 0.0151 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +table 0.693 1.173 0.405 0.901 0.003 -0.841 -90.07° +sofa 2.679 0.801 1.139 -1.169 0.002 -0.259 0.02° +table 1.194 0.710 1.173 -0.810 -0.004 -2.580 -0.01° +tv_stand 2.411 0.544 0.393 -0.770 0.000 2.450 179.94° +table 1.489 0.707 0.972 -0.879 0.000 1.149 -0.00° +chair 0.851 0.835 0.988 0.827 -0.000 1.577 -129.07° +chair 0.534 0.931 0.575 -1.524 -0.002 -3.293 -0.04° +chair 0.487 0.873 0.510 -0.772 -0.002 -3.328 -0.09° +chair 0.545 0.937 0.573 -0.928 0.000 -1.844 179.91° +chair 0.489 0.925 0.591 -1.472 -0.001 -1.680 179.97° +table 0.624 1.262 0.437 0.392 0.002 2.772 0.11° +table 0.609 1.275 0.491 -2.664 -0.005 2.492 0.18° +cabinet 1.720 0.687 0.322 -2.251 0.004 -2.043 90.03° +lamp 0.887 0.839 0.549 -1.058 1.813 1.247 0.01° +cabinet 0.873 1.200 0.436 1.217 0.015 -2.169 -89.95° +chair 0.339 0.417 0.362 1.395 0.002 -0.886 -90.10° +lamp 0.694 0.974 0.697 -1.044 1.593 -2.632 -0.01° +floor 5.002 -0.007 7.317 -1.033 -0.006 -0.354 -0.03° +_scene_ 0.069 -0.000 0.023 -5.672 -0.005 -5.713 -57.32° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: table <-> chair depth=[0.021, 0.417, 0.338] + !! OVERLAP: table <-> floor depth=[0.693, -0.007, 0.405] + !! OVERLAP: sofa <-> floor depth=[2.679, -0.007, 1.139] + !! OVERLAP: table <-> chair depth=[0.151, 0.710, 0.162] + !! OVERLAP: table <-> chair depth=[0.487, 0.710, 0.094] + !! OVERLAP: table <-> chair depth=[0.545, 0.710, 0.137] + !! OVERLAP: table <-> cabinet depth=[0.016, 0.687, 0.210] + !! OVERLAP: table <-> floor depth=[1.194, -0.007, 1.173] + !! OVERLAP: tv_stand <-> table depth=[0.356, 0.544, 0.094] + !! OVERLAP: tv_stand <-> floor depth=[2.411, -0.007, 0.393] + !! OVERLAP: table <-> floor depth=[1.489, -0.007, 0.972] + !! OVERLAP: chair <-> floor depth=[0.851, -0.007, 0.988] + !! OVERLAP: chair <-> floor depth=[0.534, -0.007, 0.575] + !! OVERLAP: chair <-> floor depth=[0.487, -0.007, 0.510] + !! OVERLAP: chair <-> floor depth=[0.545, -0.007, 0.573] + !! OVERLAP: chair <-> cabinet depth=[0.325, 0.687, 0.093] + !! OVERLAP: chair <-> floor depth=[0.489, -0.007, 0.591] + !! OVERLAP: table <-> floor depth=[0.624, -0.007, 0.437] + !! OVERLAP: table <-> floor depth=[0.609, -0.007, 0.491] + !! OVERLAP: cabinet <-> floor depth=[1.720, -0.007, 0.322] + !! OVERLAP: cabinet <-> floor depth=[0.688, -0.007, 0.436] + !! OVERLAP: chair <-> floor depth=[0.243, -0.007, 0.362] +============================================================ + + +============================================================ +SCENE: LivingDiningRoom-2729 | 18 objects +============================================================ +Final Step Collision Loss: 0.0069, Room Outer Loss: 0.0000, Walkable Loss: 0.2315 (Center Penalty: 0.2315), Relational Loss: 0.0216 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +table 1.551 0.725 1.083 -2.185 0.000 -0.775 0.03° +lamp 0.310 0.889 0.298 -2.136 1.675 -0.739 0.05° +chair 0.547 0.918 0.628 -1.420 0.000 -0.506 -90.17° +chair 0.630 0.935 0.623 -1.583 -0.000 -1.558 0.04° +chair 0.554 0.918 0.610 -1.749 0.000 0.090 179.96° +chair 0.628 0.910 0.621 -2.788 0.002 -0.141 179.89° +chair 0.557 0.924 0.619 -3.263 0.003 -0.787 90.07° +chair 0.623 0.867 0.659 -2.560 0.001 -1.776 -0.04° +table 0.879 0.518 0.998 1.969 0.002 -0.694 0.00° +tv_stand 2.269 1.045 0.482 1.562 0.003 0.852 -179.97° +sofa 2.427 0.903 1.004 1.274 -0.002 -1.875 -0.01° +chair 0.700 1.148 0.765 2.932 -0.000 -1.314 -60.55° +chair 0.689 0.473 0.434 0.141 0.002 -1.127 90.07° +chair 0.639 0.413 0.556 0.478 0.002 -0.987 0.17° +lamp 0.305 0.700 0.313 1.693 1.983 -0.613 0.01° +cabinet 0.689 0.743 0.399 -3.075 0.001 1.410 179.94° +floor 7.947 0.002 5.730 -0.650 -0.008 -1.041 -0.08° +_scene_ 0.072 0.002 0.021 -5.671 -0.004 -5.711 -57.29° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: table <-> chair depth=[0.284, 0.725, 0.586] + !! OVERLAP: table <-> chair depth=[0.488, 0.725, 0.070] + !! OVERLAP: table <-> chair depth=[0.487, 0.725, 0.218] + !! OVERLAP: table <-> floor depth=[1.551, 0.002, 1.083] + !! OVERLAP: chair <-> chair depth=[0.222, 0.918, 0.024] + !! OVERLAP: chair <-> floor depth=[0.547, 0.002, 0.628] + !! OVERLAP: chair <-> floor depth=[0.630, 0.002, 0.623] + !! OVERLAP: chair <-> floor depth=[0.554, 0.002, 0.610] + !! OVERLAP: chair <-> floor depth=[0.628, 0.002, 0.621] + !! OVERLAP: chair <-> floor depth=[0.557, 0.002, 0.619] + !! OVERLAP: chair <-> floor depth=[0.623, 0.002, 0.659] + !! OVERLAP: table <-> floor depth=[0.879, 0.002, 0.998] + !! OVERLAP: tv_stand <-> floor depth=[2.269, 0.002, 0.482] + !! OVERLAP: sofa <-> floor depth=[2.427, 0.002, 1.004] + !! OVERLAP: chair <-> floor depth=[0.700, 0.002, 0.765] + !! OVERLAP: chair <-> chair depth=[0.327, 0.413, 0.355] + !! OVERLAP: chair <-> floor depth=[0.689, 0.002, 0.434] + !! OVERLAP: chair <-> floor depth=[0.639, 0.002, 0.556] + !! OVERLAP: cabinet <-> floor depth=[0.689, 0.002, 0.399] +============================================================ + + +============================================================ +SCENE: LivingDiningRoom-19784 | 14 objects +============================================================ +Final Step Collision Loss: 0.0004, Room Outer Loss: 0.0510, Walkable Loss: 0.1184 (Center Penalty: 0.1184), Relational Loss: 0.0163 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +sofa 2.298 0.799 0.854 1.571 0.000 -2.150 -90.12° +chair 0.922 1.074 0.809 0.208 -0.001 -3.595 0.04° +table 1.222 0.488 1.054 0.523 0.002 -1.585 90.10° +table 0.289 1.184 0.370 2.141 0.002 -3.170 -90.13° +tv_stand 1.817 0.597 0.420 -1.024 0.002 -1.564 90.03° +table 1.248 0.833 1.136 0.721 -0.001 1.464 -90.02° +chair 0.587 1.117 0.629 -0.194 -0.000 1.370 89.97° +chair 0.556 1.098 0.618 -0.210 0.000 1.957 89.94° +chair 0.499 1.097 0.560 1.659 0.001 1.364 -89.98° +chair 0.499 1.014 0.566 1.595 0.000 2.025 -90.05° +lamp 1.121 1.342 1.080 0.129 2.012 -1.475 -0.00° +lamp 0.792 0.920 0.790 0.765 1.782 1.637 0.02° +floor 4.721 0.004 7.782 0.479 0.001 -1.039 -0.14° +_scene_ 0.068 0.000 0.023 -5.670 -0.004 -5.716 -57.32° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: sofa <-> table depth=[0.713, 0.488, 0.389] + !! OVERLAP: sofa <-> floor depth=[2.298, 0.004, 0.854] + !! OVERLAP: chair <-> floor depth=[0.922, 0.004, 0.809] + !! OVERLAP: table <-> floor depth=[1.222, 0.004, 1.054] + !! OVERLAP: table <-> floor depth=[0.289, 0.004, 0.370] + !! OVERLAP: tv_stand <-> floor depth=[1.766, 0.004, 0.420] + !! OVERLAP: table <-> chair depth=[0.002, 0.833, 0.629] + !! OVERLAP: table <-> floor depth=[1.248, 0.004, 1.136] + !! OVERLAP: chair <-> chair depth=[0.555, 1.098, 0.037] + !! OVERLAP: chair <-> floor depth=[0.587, 0.004, 0.629] + !! OVERLAP: chair <-> floor depth=[0.556, 0.004, 0.618] + !! OVERLAP: chair <-> floor depth=[0.499, 0.004, 0.560] + !! OVERLAP: chair <-> floor depth=[0.499, 0.004, 0.566] +============================================================ + + +============================================================ +SCENE: LivingDiningRoom-10493 | 16 objects +============================================================ +Final Step Collision Loss: 0.0011, Room Outer Loss: 0.1029, Walkable Loss: 0.0547 (Center Penalty: 0.0547), Relational Loss: 0.0087 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +lamp 0.635 0.991 0.624 -1.416 1.830 -2.493 -0.08° +table 1.838 0.838 1.208 1.390 -0.002 -2.236 -179.82° +chair 0.535 0.721 0.519 1.537 0.001 -3.114 0.05° +chair 0.556 0.765 0.532 0.617 0.001 -3.017 0.02° +chair 0.564 0.734 0.560 1.319 0.002 -1.214 -179.99° +chair 0.489 0.769 0.564 0.484 0.002 -1.439 179.74° +lamp 1.036 0.826 0.965 -1.717 1.982 1.628 179.93° +table 0.543 0.618 0.534 -3.050 0.001 0.119 90.13° +table 0.581 0.534 0.577 -2.995 0.003 3.400 89.94° +table 1.255 0.392 1.143 -1.835 -0.001 1.725 89.95° +tv_stand 1.368 0.575 0.490 -0.488 0.000 1.930 -89.97° +sofa 2.229 0.878 0.870 -3.153 0.001 1.620 89.96° +chair 0.876 1.039 0.947 -1.738 0.000 2.939 179.71° +table 0.961 0.674 0.591 -1.458 0.002 0.304 179.80° +floor 7.031 -0.004 7.902 -1.309 -0.001 -0.155 0.01° +_scene_ 0.068 0.000 0.020 -5.671 -0.005 -5.713 -57.31° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: table <-> chair depth=[0.424, 0.765, 0.089] + !! OVERLAP: table <-> chair depth=[0.257, 0.769, 0.089] + !! OVERLAP: table <-> floor depth=[1.735, -0.004, 1.208] + !! OVERLAP: chair <-> floor depth=[0.535, -0.004, 0.519] + !! OVERLAP: chair <-> floor depth=[0.556, -0.004, 0.532] + !! OVERLAP: chair <-> floor depth=[0.564, -0.004, 0.560] + !! OVERLAP: chair <-> floor depth=[0.489, -0.004, 0.564] + !! OVERLAP: table <-> floor depth=[0.543, -0.004, 0.534] + !! OVERLAP: table <-> floor depth=[0.581, -0.004, 0.577] + !! OVERLAP: table <-> sofa depth=[0.424, 0.392, 0.870] + !! OVERLAP: table <-> floor depth=[1.255, -0.004, 1.143] + !! OVERLAP: tv_stand <-> floor depth=[1.368, -0.004, 0.490] + !! OVERLAP: sofa <-> floor depth=[2.229, -0.004, 0.870] + !! OVERLAP: chair <-> floor depth=[0.876, -0.004, 0.947] + !! OVERLAP: table <-> floor depth=[0.961, -0.004, 0.591] +============================================================ + + +============================================================ +SCENE: LivingRoom-23405 | 10 objects +============================================================ +Final Step Collision Loss: 0.0234, Room Outer Loss: 0.0000, Walkable Loss: 1.0000 (Center Penalty: 1.0000), Relational Loss: 0.0143 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +table 1.354 0.740 0.688 -1.160 0.019 -0.264 90.46° +chair 0.559 0.907 0.569 -1.900 0.002 0.239 89.90° +chair 0.442 0.965 0.541 -1.883 0.002 -0.280 90.02° +chair 0.417 0.967 0.451 -0.820 0.001 0.237 -90.00° +chair 0.418 0.950 0.499 -0.865 0.002 -0.302 -89.94° +table 1.311 0.766 0.542 1.149 -0.000 0.265 -89.92° +cabinet 0.787 1.484 0.495 1.357 0.004 -1.259 0.00° +lamp 0.563 0.411 0.542 -0.766 2.085 -0.458 0.08° +floor 5.075 -0.010 2.756 -0.256 0.005 -0.787 0.09° +_scene_ 0.068 0.000 0.019 -5.673 -0.004 -5.717 -57.30° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: table <-> chair depth=[0.217, 0.740, 0.125] + !! OVERLAP: table <-> chair depth=[0.176, 0.740, 0.541] + !! OVERLAP: table <-> chair depth=[0.417, 0.740, 0.069] + !! OVERLAP: table <-> chair depth=[0.418, 0.740, 0.499] + !! OVERLAP: table <-> floor depth=[1.354, -0.010, 0.688] + !! OVERLAP: chair <-> chair depth=[0.442, 0.907, 0.036] + !! OVERLAP: chair <-> floor depth=[0.559, -0.010, 0.569] + !! OVERLAP: chair <-> floor depth=[0.442, -0.010, 0.541] + !! OVERLAP: chair <-> floor depth=[0.417, -0.010, 0.451] + !! OVERLAP: chair <-> floor depth=[0.418, -0.010, 0.499] + !! OVERLAP: table <-> floor depth=[1.311, -0.010, 0.542] + !! OVERLAP: cabinet <-> floor depth=[0.787, -0.010, 0.495] +============================================================ + + +============================================================ +SCENE: LivingRoom-3797 | 13 objects +============================================================ +Final Step Collision Loss: 0.0113, Room Outer Loss: 0.0672, Walkable Loss: 0.2638 (Center Penalty: 0.2638), Relational Loss: 0.0213 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +sofa 1.498 0.779 0.907 1.083 -0.006 1.347 -90.30° +table 1.087 0.312 0.901 -0.069 -0.001 1.540 -90.05° +table 1.440 0.769 0.896 1.123 -0.002 -0.610 0.03° +chair 0.561 0.777 0.460 1.137 0.002 -0.079 179.95° +chair 0.419 0.790 0.488 1.598 0.004 -0.361 179.99° +chair 0.416 0.835 0.456 1.007 0.002 -1.319 0.02° +chair 0.403 0.815 0.482 1.634 0.001 -1.366 0.02° +tv_stand 2.242 0.606 0.288 -0.985 -0.000 1.605 89.86° +cabinet 0.963 1.116 0.163 -0.259 0.003 -1.859 0.12° +lamp 0.503 0.416 0.429 0.100 2.205 1.703 0.02° +lamp 0.106 1.283 0.112 1.346 1.537 -0.881 0.00° +floor 4.132 -0.012 5.856 -0.248 0.002 0.996 -0.02° +_scene_ 0.068 0.001 0.022 -5.672 -0.005 -5.715 -57.31° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: sofa <-> table depth=[0.141, 0.312, 0.711] + !! OVERLAP: sofa <-> floor depth=[1.484, -0.012, 0.907] + !! OVERLAP: table <-> tv_stand depth=[0.749, 0.312, 0.288] + !! OVERLAP: table <-> floor depth=[1.087, -0.012, 0.901] + !! OVERLAP: table <-> chair depth=[0.561, 0.769, 0.147] + !! OVERLAP: table <-> chair depth=[0.419, 0.769, 0.443] + !! OVERLAP: table <-> floor depth=[1.414, -0.012, 0.896] + !! OVERLAP: chair <-> chair depth=[0.029, 0.777, 0.193] + !! OVERLAP: chair <-> floor depth=[0.561, -0.012, 0.460] + !! OVERLAP: chair <-> floor depth=[0.419, -0.012, 0.488] + !! OVERLAP: chair <-> floor depth=[0.416, -0.012, 0.456] + !! OVERLAP: chair <-> floor depth=[0.385, -0.012, 0.482] + !! OVERLAP: tv_stand <-> floor depth=[2.242, -0.012, 0.288] + !! OVERLAP: cabinet <-> floor depth=[0.963, -0.012, 0.154] +============================================================ + + +============================================================ +SCENE: LivingRoom-50084 | 12 objects +============================================================ +Final Step Collision Loss: 0.0014, Room Outer Loss: 0.0000, Walkable Loss: 0.2877 (Center Penalty: 0.2877), Relational Loss: 0.0129 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +chair 0.806 0.806 0.855 -0.356 0.001 3.170 157.62° +chair 0.669 0.339 0.556 -0.982 -0.001 0.367 -0.04° +table 0.527 0.448 0.546 -0.519 0.000 1.899 -0.06° +table 0.991 0.622 0.645 1.160 -0.001 0.302 -0.05° +table 0.700 0.572 0.727 0.838 0.002 3.010 -0.13° +tv_stand 2.034 0.772 0.451 -1.223 0.015 1.581 89.94° +cabinet 1.062 1.081 0.444 2.177 0.000 -1.018 -89.88° +lamp 1.119 0.517 0.465 -0.273 2.109 1.589 0.02° +lamp 0.711 0.388 0.366 2.154 2.040 -2.119 -0.14° +sofa 1.938 0.850 0.840 0.753 -0.002 1.706 -90.79° +floor 5.322 -0.000 7.250 0.292 0.002 1.002 -0.09° +_scene_ 0.071 0.000 0.021 -5.670 -0.005 -5.714 -57.30° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: chair <-> floor depth=[0.806, -0.000, 0.855] + !! OVERLAP: chair <-> floor depth=[0.669, -0.000, 0.556] + !! OVERLAP: table <-> tv_stand depth=[0.527, 0.448, 0.180] + !! OVERLAP: table <-> floor depth=[0.527, -0.000, 0.546] + !! OVERLAP: table <-> floor depth=[0.991, -0.000, 0.645] + !! OVERLAP: table <-> floor depth=[0.700, -0.000, 0.727] + !! OVERLAP: tv_stand <-> sofa depth=[0.010, 0.772, 0.451] + !! OVERLAP: tv_stand <-> floor depth=[2.034, -0.000, 0.451] + !! OVERLAP: cabinet <-> floor depth=[1.062, -0.000, 0.444] + !! OVERLAP: sofa <-> floor depth=[1.938, -0.000, 0.840] +============================================================ + + +============================================================ +SCENE: LivingRoom-1772 | 15 objects +============================================================ +Final Step Collision Loss: 0.0053, Room Outer Loss: 0.0000, Walkable Loss: 0.3339 (Center Penalty: 0.3339), Relational Loss: 0.0107 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +sofa 2.084 0.773 0.867 1.857 0.001 0.743 179.98° +table 1.315 0.438 0.830 2.255 0.000 -0.040 -0.04° +chair 0.584 0.486 0.469 1.360 0.000 -0.128 -0.01° +bookshelf 2.854 2.553 0.121 -1.073 -0.000 1.243 -179.70° +table 1.457 0.761 0.854 -1.172 -0.002 -0.956 -89.87° +chair 0.557 0.925 0.602 -1.939 -0.000 -1.462 0.05° +chair 0.507 0.933 0.586 -1.795 0.002 -0.328 179.92° +chair 0.532 0.952 0.560 -0.387 -0.001 -1.276 -89.82° +chair 0.589 0.978 0.577 -0.643 -0.003 -0.619 -90.06° +lamp 0.583 0.725 0.613 1.852 1.937 -0.320 -0.00° +lamp 0.238 0.940 0.208 -1.356 1.368 -1.849 0.06° +lamp 0.404 0.882 0.202 -1.329 1.560 -1.377 -0.04° +lamp 0.351 0.908 0.331 -1.441 1.651 -0.737 -0.01° +floor 6.633 0.008 4.827 0.600 -0.001 -1.046 -0.16° +_scene_ 0.067 0.000 0.022 -5.669 -0.005 -5.714 -57.30° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: sofa <-> table depth=[1.302, 0.438, 0.065] + !! OVERLAP: sofa <-> floor depth=[2.084, 0.008, 0.867] + !! OVERLAP: table <-> chair depth=[0.054, 0.438, 0.469] + !! OVERLAP: table <-> floor depth=[1.315, 0.008, 0.830] + !! OVERLAP: chair <-> floor depth=[0.584, 0.008, 0.469] + !! OVERLAP: bookshelf <-> floor depth=[2.854, 0.008, 0.121] + !! OVERLAP: table <-> chair depth=[0.240, 0.761, 0.223] + !! OVERLAP: table <-> chair depth=[0.358, 0.761, 0.092] + !! OVERLAP: table <-> chair depth=[0.209, 0.761, 0.388] + !! OVERLAP: table <-> chair depth=[0.494, 0.761, 0.378] + !! OVERLAP: table <-> floor depth=[1.457, 0.008, 0.854] + !! OVERLAP: chair <-> floor depth=[0.557, 0.008, 0.602] + !! OVERLAP: chair <-> floor depth=[0.507, 0.008, 0.586] + !! OVERLAP: chair <-> floor depth=[0.532, 0.008, 0.560] + !! OVERLAP: chair <-> floor depth=[0.589, 0.008, 0.577] +============================================================ + + +============================================================ +SCENE: LivingRoom-30098 | 11 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.1405, Walkable Loss: 0.3277 (Center Penalty: 0.3277), Relational Loss: 0.0012 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +sofa 2.013 0.764 0.879 -1.355 0.001 0.242 90.00° +chair 0.810 0.919 0.941 -0.145 0.002 2.714 162.66° +chair 0.881 1.028 0.876 -0.109 0.001 -1.427 14.42° +table 0.514 0.369 0.540 -1.176 0.002 -1.300 -0.05° +table 0.549 0.557 0.537 -1.302 0.000 1.967 0.06° +table 0.955 0.449 1.132 0.199 0.001 1.217 -0.05° +tv_stand 2.377 2.408 0.577 1.203 -0.021 0.712 -90.60° +cabinet 1.014 0.861 0.318 1.318 0.003 2.754 179.91° +lamp 0.622 0.868 0.611 0.316 1.918 0.887 0.15° +floor 4.973 0.032 6.928 -0.236 -0.008 1.207 -0.04° +_scene_ 0.072 0.000 0.026 -5.669 -0.004 -5.712 -57.32° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: sofa <-> floor depth=[2.013, 0.032, 0.879] + !! OVERLAP: chair <-> floor depth=[0.810, 0.032, 0.941] + !! OVERLAP: chair <-> floor depth=[0.881, 0.032, 0.876] + !! OVERLAP: table <-> floor depth=[0.514, 0.032, 0.540] + !! OVERLAP: table <-> floor depth=[0.549, 0.032, 0.537] + !! OVERLAP: table <-> tv_stand depth=[0.663, 0.449, 0.350] + !! OVERLAP: table <-> floor depth=[0.955, 0.032, 1.132] + !! OVERLAP: tv_stand <-> floor depth=[2.236, 0.032, 0.577] + !! OVERLAP: cabinet <-> floor depth=[1.014, 0.032, 0.318] +============================================================ + + +============================================================ +SCENE: LivingRoom-3540 | 17 objects +============================================================ +Final Step Collision Loss: 0.0044, Room Outer Loss: 0.0936, Walkable Loss: 0.4530 (Center Penalty: 0.4530), Relational Loss: 0.0209 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +sofa 1.641 0.872 0.779 -0.518 -0.010 -1.583 89.98° +chair 0.832 0.835 0.812 0.144 0.004 -2.737 -12.98° +chair 1.163 0.405 0.538 0.768 -0.001 -0.443 -0.09° +table 1.325 0.328 0.774 0.480 0.004 -1.380 -180.00° +table 0.440 0.654 0.431 -1.043 -0.002 -3.121 0.09° +table 0.533 0.658 0.608 -0.968 0.003 0.184 -0.04° +tv_stand 2.361 0.437 0.442 1.804 -0.001 -1.987 -90.12° +table 1.733 0.727 1.196 0.237 -0.000 2.168 179.88° +chair 0.422 0.582 0.417 1.094 -0.000 1.468 -89.88° +chair 0.409 0.492 0.432 1.067 0.002 2.562 -90.09° +chair 0.479 0.637 0.502 -0.427 -0.000 1.328 0.03° +chair 0.407 0.553 0.412 -0.562 0.000 2.601 -179.99° +table 0.477 1.017 0.413 -0.895 -0.010 2.392 89.69° +lamp 0.653 0.686 0.638 0.416 1.916 -1.691 -0.04° +lamp 0.445 0.945 0.474 0.262 1.712 2.185 0.00° +floor 4.272 -0.000 7.671 0.882 -0.005 -0.790 0.17° +_scene_ 0.075 0.001 0.020 -5.667 -0.003 -5.707 -57.31° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: sofa <-> table depth=[0.486, 0.328, 0.573] + !! OVERLAP: sofa <-> floor depth=[1.557, -0.000, 0.779] + !! OVERLAP: chair <-> floor depth=[0.832, -0.000, 0.812] + !! OVERLAP: chair <-> floor depth=[1.163, -0.000, 0.538] + !! OVERLAP: table <-> tv_stand depth=[0.519, 0.328, 0.001] + !! OVERLAP: table <-> floor depth=[1.325, -0.000, 0.774] + !! OVERLAP: table <-> floor depth=[0.431, -0.000, 0.431] + !! OVERLAP: table <-> floor depth=[0.533, -0.000, 0.608] + !! OVERLAP: tv_stand <-> floor depth=[2.361, -0.000, 0.442] + !! OVERLAP: table <-> chair depth=[0.221, 0.582, 0.106] + !! OVERLAP: table <-> chair depth=[0.241, 0.492, 0.420] + !! OVERLAP: table <-> chair depth=[0.443, 0.637, 0.009] + !! OVERLAP: table <-> chair depth=[0.272, 0.553, 0.371] + !! OVERLAP: table <-> floor depth=[1.733, -0.000, 1.196] + !! OVERLAP: chair <-> floor depth=[0.422, -0.000, 0.417] + !! OVERLAP: chair <-> floor depth=[0.409, -0.000, 0.432] + !! OVERLAP: chair <-> floor depth=[0.479, -0.000, 0.502] + !! OVERLAP: chair <-> table depth=[0.109, 0.553, 0.204] + !! OVERLAP: chair <-> floor depth=[0.407, -0.000, 0.412] + !! OVERLAP: table <-> floor depth=[0.477, -0.000, 0.413] +============================================================ + + +============================================================ +SCENE: LivingDiningRoom-2583 | 18 objects +============================================================ +Final Step Collision Loss: 0.0206, Room Outer Loss: 0.0000, Walkable Loss: 0.3643 (Center Penalty: 0.3643), Relational Loss: 0.0143 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +sofa 2.279 0.957 0.874 -1.587 0.002 1.617 89.97° +table 1.519 0.399 1.248 -0.466 0.002 1.703 0.01° +chair 0.828 0.955 0.887 -0.454 0.007 2.842 -179.96° +table 0.467 0.643 0.451 -1.937 0.002 -0.088 90.04° +table 0.550 0.628 0.476 -1.942 0.003 3.263 90.03° +tv_stand 1.334 0.522 0.404 0.597 -0.001 1.719 -89.85° +chair 0.764 1.017 0.840 -0.767 0.002 -0.691 17.91° +table 1.694 0.792 0.998 -0.819 -0.000 -2.056 0.01° +chair 0.535 1.046 0.555 -0.995 -0.002 -1.605 -179.96° +chair 0.533 0.967 0.603 -1.102 -0.002 -2.448 0.04° +chair 0.534 0.987 0.532 -0.593 -0.002 -2.467 -0.11° +chair 0.505 1.043 0.532 -0.346 -0.002 -1.489 -179.99° +table 0.697 0.600 0.532 -1.094 -0.001 -2.871 0.04° +table 0.593 1.216 0.265 0.908 0.001 -2.796 -90.44° +lamp 0.734 0.775 0.745 -0.596 1.948 -2.336 -0.07° +lamp 1.302 1.118 1.291 -0.940 1.660 2.025 0.03° +floor 4.092 0.002 7.348 -0.778 -0.004 0.356 0.08° +_scene_ 0.070 -0.001 0.023 -5.672 -0.005 -5.715 -57.30° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: sofa <-> table depth=[0.777, 0.399, 0.874] + !! OVERLAP: sofa <-> floor depth=[2.279, 0.002, 0.874] + !! OVERLAP: table <-> tv_stand depth=[0.363, 0.399, 0.404] + !! OVERLAP: table <-> floor depth=[1.519, 0.002, 1.248] + !! OVERLAP: chair <-> floor depth=[0.828, 0.002, 0.887] + !! OVERLAP: table <-> floor depth=[0.467, 0.002, 0.451] + !! OVERLAP: table <-> floor depth=[0.550, 0.002, 0.476] + !! OVERLAP: tv_stand <-> floor depth=[1.334, 0.002, 0.404] + !! OVERLAP: chair <-> floor depth=[0.764, 0.002, 0.840] + !! OVERLAP: table <-> chair depth=[0.535, 0.792, 0.325] + !! OVERLAP: table <-> chair depth=[0.533, 0.792, 0.408] + !! OVERLAP: table <-> chair depth=[0.534, 0.792, 0.354] + !! OVERLAP: table <-> chair depth=[0.505, 0.792, 0.198] + !! OVERLAP: table <-> floor depth=[1.694, 0.002, 0.998] + !! OVERLAP: chair <-> floor depth=[0.535, 0.002, 0.555] + !! OVERLAP: chair <-> chair depth=[0.024, 0.967, 0.532] + !! OVERLAP: chair <-> table depth=[0.533, 0.600, 0.145] + !! OVERLAP: chair <-> floor depth=[0.533, 0.002, 0.603] + !! OVERLAP: chair <-> table depth=[0.114, 0.600, 0.129] + !! OVERLAP: chair <-> floor depth=[0.534, 0.002, 0.532] + !! OVERLAP: chair <-> floor depth=[0.505, 0.002, 0.532] + !! OVERLAP: table <-> floor depth=[0.697, 0.002, 0.532] + !! OVERLAP: table <-> floor depth=[0.593, 0.002, 0.265] +============================================================ + + +============================================================ +SCENE: LivingRoom-68491 | 13 objects +============================================================ +Final Step Collision Loss: 0.0273, Room Outer Loss: 0.1574, Walkable Loss: 0.2683 (Center Penalty: 0.2683), Relational Loss: 0.0211 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +chair 0.559 0.921 0.595 -0.837 -0.007 -0.894 -77.24° +table 0.647 0.365 0.636 1.073 0.001 -0.821 -0.02° +sofa 2.073 0.829 0.761 0.915 -0.000 -1.644 0.01° +chair 0.837 1.097 0.993 2.603 0.002 -0.379 -98.70° +table 0.533 0.501 0.606 2.345 0.001 -1.882 -0.01° +table 0.514 0.480 0.655 -0.637 0.002 -1.818 -0.07° +lamp 0.668 0.813 0.679 1.041 1.894 -0.779 -0.01° +chair 0.564 1.069 0.703 -2.862 -0.001 -1.719 0.00° +chair 0.573 0.973 0.510 -2.763 -0.005 -0.744 -89.98° +table 2.762 0.814 0.723 -2.505 -0.001 -1.153 90.01° +cabinet 1.123 0.768 0.303 -1.545 0.002 -1.711 0.05° +floor 7.334 0.009 5.098 -0.803 -0.004 -0.529 -0.02° +_scene_ 0.071 0.000 0.026 -5.671 -0.005 -5.712 -57.31° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: chair <-> floor depth=[0.559, 0.009, 0.595] + !! OVERLAP: table <-> floor depth=[0.647, 0.009, 0.636] + !! OVERLAP: sofa <-> floor depth=[2.073, 0.009, 0.761] + !! OVERLAP: chair <-> floor depth=[0.680, 0.009, 0.993] + !! OVERLAP: table <-> floor depth=[0.533, 0.009, 0.606] + !! OVERLAP: table <-> floor depth=[0.514, 0.009, 0.655] + !! OVERLAP: chair <-> table depth=[0.564, 0.814, 0.147] + !! OVERLAP: chair <-> floor depth=[0.564, 0.009, 0.703] + !! OVERLAP: chair <-> table depth=[0.573, 0.814, 0.207] + !! OVERLAP: chair <-> floor depth=[0.573, 0.009, 0.510] + !! OVERLAP: table <-> floor depth=[2.762, 0.009, 0.723] + !! OVERLAP: cabinet <-> floor depth=[1.123, 0.009, 0.303] +============================================================ + + +============================================================ +SCENE: LivingRoom-22102 | 8 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0000, Walkable Loss: 0.4022 (Center Penalty: 0.4022), Relational Loss: 0.0000 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +table 1.120 0.376 0.732 0.558 -0.003 0.782 89.85° +table 0.477 0.584 0.441 -1.260 -0.001 -1.651 9.11° +sofa 2.383 0.809 0.972 -1.452 0.001 0.113 89.95° +chair 0.809 0.958 0.813 0.343 0.001 -1.153 -21.71° +tv_stand 1.341 0.715 0.473 1.751 0.002 0.284 -89.84° +lamp 0.306 0.582 0.296 0.628 2.112 0.806 -0.07° +floor 5.393 -0.029 5.363 -0.133 0.001 -1.222 -0.42° +_scene_ 0.062 0.002 0.026 -5.670 -0.004 -5.716 -57.28° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: table <-> tv_stand depth=[0.038, 0.376, 0.105] + !! OVERLAP: table <-> floor depth=[1.120, -0.029, 0.732] + !! OVERLAP: table <-> floor depth=[0.477, -0.029, 0.441] + !! OVERLAP: sofa <-> floor depth=[2.383, -0.029, 0.972] + !! OVERLAP: chair <-> floor depth=[0.809, -0.029, 0.813] + !! OVERLAP: tv_stand <-> floor depth=[1.341, -0.029, 0.473] +============================================================ + + +============================================================ +SCENE: LivingDiningRoom-2106 | 10 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0963, Walkable Loss: 0.2970 (Center Penalty: 0.2970), Relational Loss: 0.0296 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +lamp 0.590 0.842 0.301 -0.059 1.841 -1.864 0.06° +tv_stand 1.653 0.387 0.343 -1.273 -0.002 1.636 90.03° +sofa 1.932 0.791 0.869 0.956 0.001 1.425 -89.98° +cabinet 1.083 1.037 0.426 1.360 0.001 -0.510 -89.93° +table 1.021 0.440 0.576 0.009 0.005 1.814 90.05° +bookshelf 0.838 2.525 0.413 -1.452 -0.001 -0.606 89.94° +lamp 0.993 1.297 1.031 -0.202 1.604 1.552 0.08° +chair 0.539 1.066 0.576 0.008 -0.001 -1.809 0.21° +floor 4.089 -0.009 6.363 0.041 -0.000 0.818 0.25° +_scene_ 0.063 0.002 0.026 -5.670 -0.005 -5.713 -57.27° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: tv_stand <-> table depth=[0.054, 0.387, 0.281] + !! OVERLAP: tv_stand <-> floor depth=[1.557, -0.009, 0.343] + !! OVERLAP: sofa <-> table depth=[0.530, 0.440, 0.333] + !! OVERLAP: sofa <-> floor depth=[1.932, -0.009, 0.869] + !! OVERLAP: cabinet <-> floor depth=[1.083, -0.009, 0.426] + !! OVERLAP: table <-> floor depth=[1.021, -0.009, 0.576] + !! OVERLAP: bookshelf <-> floor depth=[0.838, -0.009, 0.413] + !! OVERLAP: chair <-> floor depth=[0.539, -0.009, 0.576] +============================================================ + + +============================================================ +SCENE: LivingRoom-38721 | 10 objects +============================================================ +Final Step Collision Loss: 0.0445, Room Outer Loss: 0.0000, Walkable Loss: 0.5254 (Center Penalty: 0.5254), Relational Loss: 0.0046 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +lamp 1.043 0.941 1.142 -1.119 1.942 1.283 0.08° +tv_stand 1.248 0.437 0.387 0.239 0.004 -1.047 -90.62° +table 0.731 0.496 0.576 -1.050 0.005 -1.448 90.04° +sofa 3.007 0.798 1.069 -0.848 -0.026 -0.812 90.39° +table 1.248 0.570 0.605 -0.598 -0.001 1.284 179.95° +chair 0.432 0.710 0.456 -1.098 0.000 0.847 179.94° +chair 0.516 0.760 0.436 -0.558 0.001 0.842 0.18° +lamp 0.414 0.258 0.415 -0.775 2.170 -1.147 -0.04° +floor 3.385 -0.015 4.915 -0.739 -0.004 -0.592 0.45° +_scene_ 0.061 0.001 0.016 -5.671 -0.004 -5.717 -57.29° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: tv_stand <-> sofa depth=[1.041, 0.437, 0.387] + !! OVERLAP: tv_stand <-> floor depth=[1.248, -0.015, 0.387] + !! OVERLAP: table <-> sofa depth=[0.731, 0.496, 0.187] + !! OVERLAP: table <-> floor depth=[0.731, -0.015, 0.576] + !! OVERLAP: sofa <-> floor depth=[3.007, -0.015, 1.069] + !! OVERLAP: table <-> chair depth=[0.340, 0.570, 0.094] + !! OVERLAP: table <-> chair depth=[0.516, 0.570, 0.079] + !! OVERLAP: table <-> floor depth=[1.248, -0.015, 0.605] + !! OVERLAP: chair <-> floor depth=[0.432, -0.015, 0.456] + !! OVERLAP: chair <-> floor depth=[0.516, -0.015, 0.436] +============================================================ + + +============================================================ +SCENE: LivingRoom-2159 | 7 objects +============================================================ +Final Step Collision Loss: 0.0049, Room Outer Loss: 0.0698, Walkable Loss: 0.4333 (Center Penalty: 0.4333), Relational Loss: 0.0057 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +table 0.960 0.475 0.812 1.298 -0.004 0.365 0.02° +table 0.756 0.671 0.545 1.674 0.003 -0.232 0.19° +sofa 2.952 1.029 0.814 0.652 -0.005 -1.193 -0.12° +chair 0.624 0.851 0.470 -1.262 -0.021 -0.372 65.20° +tv_stand 2.584 0.770 0.579 0.879 0.002 1.755 179.91° +floor 4.685 -0.009 4.199 0.452 0.005 0.569 0.03° +_scene_ 0.045 -0.002 0.023 -5.642 -0.001 -5.679 -57.29° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: table <-> table depth=[0.482, 0.475, 0.081] + !! OVERLAP: table <-> floor depth=[0.960, -0.009, 0.812] + !! OVERLAP: table <-> floor depth=[0.756, -0.009, 0.545] + !! OVERLAP: sofa <-> floor depth=[2.952, -0.009, 0.745] + !! OVERLAP: chair <-> floor depth=[0.624, -0.009, 0.470] + !! OVERLAP: tv_stand <-> floor depth=[2.584, -0.009, 0.579] +============================================================ + + +============================================================ +SCENE: LivingRoom-1618 | 10 objects +============================================================ +Final Step Collision Loss: 0.0073, Room Outer Loss: 0.0289, Walkable Loss: 0.6427 (Center Penalty: 0.6427), Relational Loss: 0.0151 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +sofa 1.630 0.704 0.759 -1.032 -0.002 0.104 90.16° +table 0.942 1.085 0.345 -1.375 0.004 -1.650 90.04° +tv_stand 1.280 0.625 0.382 0.936 0.002 -0.297 -90.25° +table 2.287 0.795 1.002 -0.502 -0.002 1.805 0.04° +chair 0.426 0.981 0.492 0.077 0.005 2.634 -158.02° +chair 0.394 0.914 0.439 -0.467 -0.002 2.501 157.34° +lamp 0.351 1.080 0.383 -0.684 1.742 0.501 -0.19° +chair 0.490 0.425 0.534 -0.227 -0.001 -1.539 0.02° +floor 3.450 0.004 5.721 -0.178 0.015 0.985 0.26° +_scene_ 0.074 -0.001 0.028 -5.669 -0.005 -5.713 -57.31° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: sofa <-> floor depth=[1.630, 0.004, 0.759] + !! OVERLAP: table <-> floor depth=[0.942, 0.004, 0.345] + !! OVERLAP: tv_stand <-> floor depth=[1.251, 0.004, 0.382] + !! OVERLAP: table <-> chair depth=[0.394, 0.795, 0.025] + !! OVERLAP: table <-> floor depth=[2.287, 0.004, 1.002] + !! OVERLAP: chair <-> floor depth=[0.426, 0.004, 0.492] + !! OVERLAP: chair <-> floor depth=[0.394, 0.004, 0.439] + !! OVERLAP: chair <-> floor depth=[0.490, 0.004, 0.534] +============================================================ + + +============================================================ +SCENE: LivingDiningRoom-25795 | 17 objects +============================================================ +Final Step Collision Loss: 0.0025, Room Outer Loss: 0.0000, Walkable Loss: 0.1854 (Center Penalty: 0.1854), Relational Loss: 0.0108 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +chair 0.508 0.838 0.658 1.850 0.008 0.128 -77.50° +sofa 2.183 0.847 0.879 0.951 -0.002 -1.311 -0.06° +chair 0.645 0.520 0.590 -0.550 0.006 1.096 -90.25° +table 0.443 0.308 0.420 1.270 0.004 -0.287 179.86° +table 0.421 0.396 0.474 1.822 0.000 -1.063 179.86° +table 0.527 0.400 0.527 -0.737 0.003 -1.180 179.86° +table 1.678 0.696 0.822 -2.038 0.003 0.729 179.94° +chair 0.552 0.813 0.548 -2.816 0.001 1.406 -179.96° +chair 0.558 0.797 0.564 -1.915 0.000 1.769 -179.90° +chair 0.558 0.827 0.525 -1.952 0.001 -0.010 0.02° +chair 0.552 0.754 0.626 -2.738 -0.000 0.037 0.02° +tv_stand 2.659 0.751 0.541 0.754 -0.002 2.486 179.66° +cabinet 1.240 1.178 0.384 -2.874 -0.001 -2.017 89.97° +lamp 0.514 0.773 0.189 1.347 1.908 0.752 0.05° +lamp 0.623 0.962 0.624 -1.679 1.929 0.718 -0.02° +floor 6.373 -0.006 5.749 -1.061 0.003 0.492 -0.24° +_scene_ 0.073 0.000 0.016 -5.672 -0.005 -5.713 -57.31° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: chair <-> floor depth=[0.508, -0.006, 0.658] + !! OVERLAP: sofa <-> table depth=[0.421, 0.396, 0.428] + !! OVERLAP: sofa <-> floor depth=[2.183, -0.006, 0.879] + !! OVERLAP: chair <-> floor depth=[0.645, -0.006, 0.590] + !! OVERLAP: table <-> floor depth=[0.443, -0.006, 0.420] + !! OVERLAP: table <-> floor depth=[0.421, -0.006, 0.474] + !! OVERLAP: table <-> floor depth=[0.527, -0.006, 0.527] + !! OVERLAP: table <-> chair depth=[0.336, 0.696, 0.008] + !! OVERLAP: table <-> chair depth=[0.415, 0.696, 0.032] + !! OVERLAP: table <-> floor depth=[1.678, -0.006, 0.822] + !! OVERLAP: chair <-> floor depth=[0.552, -0.006, 0.548] + !! OVERLAP: chair <-> floor depth=[0.558, -0.006, 0.564] + !! OVERLAP: chair <-> floor depth=[0.558, -0.006, 0.525] + !! OVERLAP: chair <-> floor depth=[0.552, -0.006, 0.626] + !! OVERLAP: tv_stand <-> floor depth=[2.659, -0.006, 0.541] + !! OVERLAP: cabinet <-> floor depth=[1.240, -0.006, 0.384] +============================================================ + + +============================================================ +SCENE: LivingDiningRoom-62037 | 16 objects +============================================================ +Final Step Collision Loss: 0.0153, Room Outer Loss: 0.2421, Walkable Loss: 0.7044 (Center Penalty: 0.7044), Relational Loss: 0.0164 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +table 1.136 0.958 0.946 -0.185 0.002 -2.384 89.98° +table 1.424 0.933 0.779 0.637 0.001 0.735 -0.05° +tv_stand 1.422 0.403 0.428 -1.055 0.022 -2.270 89.88° +cabinet 0.723 1.222 0.174 -1.403 0.002 2.829 90.13° +cabinet 0.536 0.632 0.293 -1.459 0.003 0.314 90.05° +table 0.408 0.556 0.490 1.082 0.001 -1.089 -0.02° +bookshelf 1.849 2.361 0.421 0.355 0.004 1.861 179.93° +sofa 1.875 0.709 1.015 0.439 -0.002 -2.671 -89.89° +lamp 0.993 0.812 0.868 -0.176 1.869 -2.230 89.91° +chair 0.586 0.957 0.572 0.253 0.002 1.375 179.50° +lamp 0.762 1.040 0.755 0.690 1.590 0.480 0.04° +chair 0.513 0.967 0.606 1.096 0.002 1.131 179.99° +chair 0.484 0.995 0.482 0.832 0.001 -0.542 0.07° +chair 0.555 1.049 0.558 1.078 0.001 -0.254 -0.00° +floor 3.047 0.124 8.329 -0.196 -0.025 -1.271 -2.16° +_scene_ 0.068 0.001 0.021 -5.671 -0.005 -5.714 -57.31° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: table <-> tv_stand depth=[0.410, 0.403, 0.428] + !! OVERLAP: table <-> sofa depth=[0.881, 0.709, 0.693] + !! OVERLAP: table <-> floor depth=[1.136, 0.124, 0.946] + !! OVERLAP: table <-> chair depth=[0.586, 0.933, 0.035] + !! OVERLAP: table <-> chair depth=[0.509, 0.933, 0.297] + !! OVERLAP: table <-> floor depth=[1.403, 0.124, 0.779] + !! OVERLAP: tv_stand <-> sofa depth=[0.155, 0.403, 0.320] + !! OVERLAP: tv_stand <-> floor depth=[1.376, 0.124, 0.428] + !! OVERLAP: cabinet <-> floor depth=[0.678, 0.124, 0.152] + !! OVERLAP: cabinet <-> floor depth=[0.528, 0.124, 0.293] + !! OVERLAP: table <-> floor depth=[0.408, 0.124, 0.490] + !! OVERLAP: bookshelf <-> chair depth=[0.586, 0.957, 0.010] + !! OVERLAP: bookshelf <-> floor depth=[1.849, 0.124, 0.421] + !! OVERLAP: sofa <-> floor depth=[1.827, 0.124, 1.015] + !! OVERLAP: chair <-> floor depth=[0.586, 0.124, 0.572] + !! OVERLAP: chair <-> floor depth=[0.489, 0.124, 0.606] + !! OVERLAP: chair <-> chair depth=[0.273, 0.995, 0.233] + !! OVERLAP: chair <-> floor depth=[0.484, 0.124, 0.482] + !! OVERLAP: chair <-> floor depth=[0.527, 0.124, 0.558] +============================================================ + + +============================================================ +SCENE: LivingDiningRoom-17657 | 13 objects +============================================================ +Final Step Collision Loss: 0.0132, Room Outer Loss: 0.0059, Walkable Loss: 0.2353 (Center Penalty: 0.2353), Relational Loss: 0.0219 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +table 2.080 0.707 0.984 -0.212 -0.001 -1.377 -90.10° +chair 0.509 0.862 0.553 -0.595 0.001 -2.413 0.02° +chair 0.558 0.841 0.518 -0.894 -0.000 -1.800 90.13° +chair 0.482 0.849 0.544 0.361 0.001 -2.269 -90.19° +chair 0.446 0.835 0.511 0.413 0.003 -1.616 -159.23° +sofa 2.229 0.936 0.868 -1.658 0.003 1.463 89.95° +table 1.364 0.334 0.679 -0.539 -0.001 1.841 90.05° +table 0.949 0.429 0.821 -1.577 0.003 -0.077 90.00° +tv_stand 1.692 0.640 0.529 0.095 -0.037 1.603 -89.95° +lamp 0.783 0.893 0.799 -0.133 1.785 1.621 -0.01° +lamp 0.237 0.782 0.263 -0.157 2.141 -2.031 -0.00° +floor 3.726 0.000 5.913 -0.903 -0.004 0.099 0.51° +_scene_ 0.066 0.001 0.024 -5.668 -0.005 -5.718 -57.32° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: table <-> chair depth=[0.558, 0.707, 0.328] + !! OVERLAP: table <-> chair depth=[0.446, 0.707, 0.508] + !! OVERLAP: table <-> floor depth=[2.080, 0.000, 0.984] + !! OVERLAP: chair <-> floor depth=[0.509, 0.000, 0.553] + !! OVERLAP: chair <-> floor depth=[0.558, 0.000, 0.518] + !! OVERLAP: chair <-> floor depth=[0.482, 0.000, 0.544] + !! OVERLAP: chair <-> floor depth=[0.446, 0.000, 0.511] + !! OVERLAP: sofa <-> table depth=[0.678, 0.334, 0.395] + !! OVERLAP: sofa <-> tv_stand depth=[0.208, 0.640, 0.529] + !! OVERLAP: sofa <-> floor depth=[2.223, 0.000, 0.868] + !! OVERLAP: table <-> tv_stand depth=[0.894, 0.334, 0.366] + !! OVERLAP: table <-> floor depth=[1.364, 0.000, 0.679] + !! OVERLAP: table <-> floor depth=[0.949, 0.000, 0.821] + !! OVERLAP: tv_stand <-> floor depth=[1.692, 0.000, 0.529] +============================================================ + + +============================================================ +SCENE: LivingRoom-11224 | 6 objects +============================================================ +Final Step Collision Loss: 0.0144, Room Outer Loss: 0.0728, Walkable Loss: 0.6697 (Center Penalty: 0.6697), Relational Loss: 0.0157 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +sofa 2.228 0.881 0.879 -1.555 0.001 -0.025 89.98° +table 1.648 0.711 0.815 -0.740 -0.001 -0.333 -89.85° +tv_stand 0.602 0.354 0.201 0.888 0.001 0.710 -94.35° +lamp 0.293 0.448 0.149 -0.573 2.057 0.662 0.22° +floor 4.364 -0.028 3.016 -1.065 0.005 -0.037 0.63° +_scene_ 0.073 -0.000 0.034 -5.652 -0.004 -5.697 -57.28° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: sofa <-> table depth=[1.123, 0.711, 0.539] + !! OVERLAP: sofa <-> floor depth=[2.228, -0.028, 0.879] + !! OVERLAP: table <-> floor depth=[1.648, -0.028, 0.815] + !! OVERLAP: tv_stand <-> floor depth=[0.530, -0.028, 0.201] +============================================================ + + +============================================================ +SCENE: LivingRoom-13136 | 14 objects +============================================================ +Final Step Collision Loss: 0.0118, Room Outer Loss: 0.0000, Walkable Loss: 0.4655 (Center Penalty: 0.4655), Relational Loss: 0.0126 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +sofa 1.579 0.833 0.769 -0.349 0.003 -1.320 90.63° +table 1.747 0.453 1.136 0.748 0.003 -1.664 89.98° +chair 0.702 0.888 0.747 0.287 0.002 -2.773 -0.01° +table 0.398 0.478 0.386 -0.861 0.010 -3.253 89.99° +table 0.366 0.591 0.520 -0.747 0.005 -0.659 90.23° +table 1.689 0.748 0.995 0.882 -0.002 2.747 0.05° +chair 0.583 0.966 0.624 0.039 0.001 1.891 90.01° +chair 0.568 0.970 0.608 -0.263 0.001 2.540 179.98° +chair 0.489 0.923 0.535 1.695 -0.000 1.911 -90.11° +chair 0.480 0.950 0.475 1.574 0.001 2.610 -112.52° +bookshelf 0.852 2.055 0.280 -0.577 -0.003 0.745 90.31° +lamp 0.866 0.892 0.876 0.994 1.641 2.507 -0.01° +floor 4.237 -0.025 8.296 0.976 -0.009 -0.238 0.21° +_scene_ 0.073 0.001 0.027 -5.669 -0.005 -5.712 -57.31° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: sofa <-> table depth=[0.566, 0.453, 0.609] + !! OVERLAP: sofa <-> floor depth=[1.579, -0.025, 0.769] + !! OVERLAP: table <-> floor depth=[1.747, -0.025, 1.136] + !! OVERLAP: chair <-> floor depth=[0.702, -0.025, 0.747] + !! OVERLAP: table <-> floor depth=[0.398, -0.025, 0.386] + !! OVERLAP: table <-> floor depth=[0.366, -0.025, 0.520] + !! OVERLAP: table <-> chair depth=[0.393, 0.748, 0.475] + !! OVERLAP: table <-> floor depth=[1.689, -0.025, 0.995] + !! OVERLAP: chair <-> floor depth=[0.583, -0.025, 0.624] + !! OVERLAP: chair <-> floor depth=[0.568, -0.025, 0.608] + !! OVERLAP: chair <-> floor depth=[0.489, -0.025, 0.535] + !! OVERLAP: chair <-> floor depth=[0.480, -0.025, 0.475] + !! OVERLAP: bookshelf <-> floor depth=[0.852, -0.025, 0.280] +============================================================ + + +============================================================ +SCENE: LivingRoom-40975 | 7 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0000, Walkable Loss: 0.3335 (Center Penalty: 0.3335), Relational Loss: 0.0340 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +cabinet 0.595 1.176 0.344 0.183 0.002 2.190 -179.99° +sofa 2.040 0.830 0.933 1.108 0.000 0.589 0.05° +table 1.026 0.793 1.195 1.447 -0.002 1.652 89.90° +lamp 1.312 0.720 0.607 0.915 2.097 1.173 -0.01° +lamp 0.578 0.903 0.288 -1.230 2.137 -1.116 -89.95° +floor 5.278 -0.015 4.528 -0.355 -0.005 0.721 0.04° +_scene_ 0.066 0.002 0.023 -5.669 -0.004 -5.709 -57.28° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: cabinet <-> floor depth=[0.595, -0.015, 0.344] + !! OVERLAP: sofa <-> table depth=[1.026, 0.793, 0.001] + !! OVERLAP: sofa <-> floor depth=[2.040, -0.015, 0.933] + !! OVERLAP: table <-> floor depth=[1.026, -0.015, 1.195] +============================================================ + + +============================================================ +SCENE: LivingRoom-6045 | 9 objects +============================================================ +Final Step Collision Loss: 0.0001, Room Outer Loss: 0.1099, Walkable Loss: 0.7681 (Center Penalty: 0.7681), Relational Loss: 0.0116 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +tv_stand 1.638 0.627 0.487 1.133 0.004 0.985 -89.98° +cabinet 0.564 1.088 0.366 -1.641 0.002 2.032 89.99° +sofa 2.159 0.814 0.808 -1.109 0.000 0.684 90.07° +table 0.841 0.300 0.621 0.167 0.018 0.885 0.00° +chair 0.898 0.793 0.919 -0.109 0.000 2.067 -179.99° +bookshelf 1.243 1.824 0.337 -1.320 0.001 -1.386 89.99° +lamp 0.991 0.674 0.938 0.038 2.082 0.904 -0.09° +floor 4.191 0.005 6.006 0.017 0.002 0.743 -0.13° +_scene_ 0.071 0.000 0.025 -5.671 -0.004 -5.713 -57.28° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: tv_stand <-> table depth=[0.274, 0.300, 0.454] + !! OVERLAP: tv_stand <-> floor depth=[1.638, 0.005, 0.487] + !! OVERLAP: cabinet <-> floor depth=[0.564, 0.005, 0.366] + !! OVERLAP: sofa <-> table depth=[0.224, 0.300, 0.513] + !! OVERLAP: sofa <-> floor depth=[2.049, 0.005, 0.808] + !! OVERLAP: table <-> floor depth=[0.841, 0.005, 0.621] + !! OVERLAP: chair <-> floor depth=[0.898, 0.005, 0.919] + !! OVERLAP: bookshelf <-> floor depth=[1.243, 0.005, 0.337] +============================================================ + + +============================================================ +SCENE: LivingRoom-2050 | 10 objects +============================================================ +Final Step Collision Loss: 0.0028, Room Outer Loss: 0.1088, Walkable Loss: 0.3788 (Center Penalty: 0.3788), Relational Loss: 0.0052 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +sofa 2.407 0.761 0.597 0.482 0.012 -1.049 0.08° +chair 0.698 0.944 0.929 1.913 0.003 0.014 -76.51° +table 1.621 0.876 0.950 0.756 0.001 0.784 0.08° +tv_stand 2.235 0.608 0.538 0.070 0.003 1.513 -179.99° +table 0.471 0.504 0.372 -1.707 0.003 -1.229 0.11° +table 0.376 0.420 0.382 2.129 0.006 -1.075 -0.03° +lamp 0.543 0.831 0.577 0.994 1.804 0.255 -0.06° +chair 0.746 0.718 0.675 -1.777 0.005 -0.054 51.24° +floor 6.619 0.008 3.825 -0.954 -0.002 0.585 -0.87° +_scene_ 0.070 -0.001 0.017 -5.670 -0.005 -5.713 -57.31° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: sofa <-> floor depth=[2.407, 0.008, 0.577] + !! OVERLAP: chair <-> table depth=[0.003, 0.876, 0.169] + !! OVERLAP: chair <-> floor depth=[0.698, 0.008, 0.929] + !! OVERLAP: table <-> tv_stand depth=[1.242, 0.608, 0.015] + !! OVERLAP: table <-> floor depth=[1.621, 0.008, 0.950] + !! OVERLAP: tv_stand <-> floor depth=[2.235, 0.008, 0.538] + !! OVERLAP: table <-> floor depth=[0.471, 0.008, 0.284] + !! OVERLAP: table <-> floor depth=[0.376, 0.008, 0.382] + !! OVERLAP: chair <-> floor depth=[0.746, 0.008, 0.675] +============================================================ + + +============================================================ +SCENE: LivingRoom-12271 | 7 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0000, Walkable Loss: 0.5363 (Center Penalty: 0.5363), Relational Loss: 0.0588 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +lamp 0.356 0.102 0.538 -1.097 2.612 0.319 -0.16° +table 1.127 0.739 1.098 -1.106 0.006 -0.762 -90.19° +sofa 1.877 1.308 1.691 -1.062 0.003 0.886 89.92° +table 0.844 1.090 0.522 1.634 -0.000 1.658 -90.00° +sofa 0.973 0.386 1.026 0.917 -0.004 0.270 -57.05° +floor 5.530 0.010 3.865 -0.652 -0.003 0.511 0.04° +_scene_ 0.077 0.003 0.048 -5.661 -0.003 -5.705 -57.26° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: table <-> floor depth=[1.127, 0.010, 1.098] + !! OVERLAP: sofa <-> floor depth=[1.877, 0.010, 1.691] + !! OVERLAP: table <-> floor depth=[0.844, 0.010, 0.522] + !! OVERLAP: sofa <-> floor depth=[0.973, 0.010, 1.026] +============================================================ + + +============================================================ +SCENE: LivingDiningRoom-52564 | 10 objects +============================================================ +Final Step Collision Loss: 0.0006, Room Outer Loss: 0.0251, Walkable Loss: 0.1974 (Center Penalty: 0.1974), Relational Loss: 0.0127 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +tv_stand 2.059 0.606 0.435 -1.707 0.002 -1.723 90.01° +table 0.659 0.393 0.589 1.883 0.003 -1.842 -0.02° +table 1.410 1.382 0.441 -2.737 0.002 0.166 89.92° +table 0.649 0.751 0.675 -1.077 0.003 -0.620 0.05° +table 0.533 0.691 0.489 -1.213 -0.002 -2.593 -0.02° +sofa 2.673 0.959 0.851 1.136 -0.002 -1.606 -90.05° +lamp 0.903 1.226 0.862 0.675 1.577 1.504 0.03° +lamp 0.586 0.688 0.577 0.347 2.002 -1.803 -0.04° +floor 6.338 0.001 6.139 -0.721 -0.002 -0.665 0.03° +_scene_ 0.116 -0.003 0.143 -5.600 -0.003 -5.639 -57.27° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: tv_stand <-> floor depth=[2.059, 0.001, 0.435] + !! OVERLAP: table <-> sofa depth=[0.659, 0.393, 0.485] + !! OVERLAP: table <-> floor depth=[0.659, 0.001, 0.589] + !! OVERLAP: table <-> floor depth=[1.410, 0.001, 0.441] + !! OVERLAP: table <-> floor depth=[0.649, 0.001, 0.675] + !! OVERLAP: table <-> floor depth=[0.533, 0.001, 0.489] + !! OVERLAP: sofa <-> floor depth=[2.648, 0.001, 0.851] +============================================================ + + +============================================================ +SCENE: LivingRoom-423 | 21 objects +============================================================ +Final Step Collision Loss: 0.0072, Room Outer Loss: 0.0000, Walkable Loss: 0.2679 (Center Penalty: 0.2679), Relational Loss: 0.0046 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +bookshelf 1.059 2.408 0.627 0.781 0.000 2.828 -90.51° +table 2.030 0.781 0.951 -0.807 0.001 1.365 -0.03° +chair 0.541 0.821 0.532 -1.289 -0.001 0.864 -0.01° +chair 0.580 0.846 0.619 -0.606 -0.002 0.911 -0.03° +chair 0.511 0.839 0.526 -0.952 0.000 2.572 180.00° +chair 0.535 0.780 0.617 -0.269 0.003 2.660 179.97° +chair 0.508 0.793 0.534 0.405 0.003 2.041 -90.09° +chair 0.627 0.809 0.568 -1.962 0.001 1.864 89.98° +sofa 2.098 1.006 0.940 -1.566 -0.001 -2.571 89.98° +sofa 1.225 0.851 0.891 -0.160 0.002 -4.562 -0.02° +chair 0.978 0.977 1.053 -0.482 0.001 -1.098 -164.29° +table 1.170 0.627 0.931 -0.520 0.002 -2.208 89.96° +table 0.578 0.401 0.507 -1.802 0.002 -0.498 90.00° +table 0.369 0.335 0.463 -1.583 0.002 -4.247 -0.13° +cabinet 2.047 2.125 0.435 -1.189 0.002 3.391 179.81° +tv_stand 1.488 0.637 0.344 0.765 0.002 -2.078 -89.73° +lamp 0.821 0.729 0.820 -0.203 2.057 -2.310 -0.03° +lamp 0.758 0.818 0.723 -0.215 1.759 2.508 -0.00° +lamp 0.380 1.501 0.368 0.890 1.404 3.522 0.08° +floor 4.720 -0.005 8.889 -0.833 -0.003 -0.658 0.02° +_scene_ 0.066 -0.000 0.018 -5.672 -0.005 -5.716 -57.32° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bookshelf <-> floor depth=[1.059, -0.005, 0.627] + !! OVERLAP: table <-> chair depth=[0.541, 0.781, 0.241] + !! OVERLAP: table <-> chair depth=[0.580, 0.781, 0.331] + !! OVERLAP: table <-> chair depth=[0.057, 0.781, 0.066] + !! OVERLAP: table <-> chair depth=[0.173, 0.781, 0.260] + !! OVERLAP: table <-> floor depth=[2.030, -0.005, 0.951] + !! OVERLAP: chair <-> floor depth=[0.541, -0.005, 0.532] + !! OVERLAP: chair <-> floor depth=[0.580, -0.005, 0.619] + !! OVERLAP: chair <-> floor depth=[0.511, -0.005, 0.526] + !! OVERLAP: chair <-> floor depth=[0.535, -0.005, 0.617] + !! OVERLAP: chair <-> floor depth=[0.508, -0.005, 0.534] + !! OVERLAP: chair <-> floor depth=[0.627, -0.005, 0.568] + !! OVERLAP: sofa <-> table depth=[0.588, 0.627, 0.573] + !! OVERLAP: sofa <-> floor depth=[2.098, -0.005, 0.940] + !! OVERLAP: sofa <-> floor depth=[1.225, -0.005, 0.891] + !! OVERLAP: chair <-> floor depth=[0.978, -0.005, 1.053] + !! OVERLAP: table <-> tv_stand depth=[0.043, 0.627, 0.344] + !! OVERLAP: table <-> floor depth=[1.170, -0.005, 0.931] + !! OVERLAP: table <-> floor depth=[0.578, -0.005, 0.507] + !! OVERLAP: table <-> floor depth=[0.369, -0.005, 0.463] + !! OVERLAP: cabinet <-> floor depth=[2.047, -0.005, 0.435] + !! OVERLAP: tv_stand <-> floor depth=[1.488, -0.005, 0.344] +============================================================ + + +============================================================ +SCENE: LivingRoom-34874 | 6 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0778, Walkable Loss: 0.5135 (Center Penalty: 0.5135), Relational Loss: 0.0224 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +sofa 2.998 0.902 0.774 -0.257 0.010 1.564 179.88° +lamp 0.670 0.436 0.642 -0.649 2.123 0.624 0.00° +table 1.465 0.457 0.925 -0.813 0.004 0.684 0.06° +tv_stand 2.149 0.677 0.489 -0.804 0.014 -1.009 0.16° +floor 4.780 0.017 3.958 0.549 -0.000 0.766 0.06° +_scene_ 0.065 0.001 0.025 -5.667 -0.003 -5.702 -57.27° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: sofa <-> floor depth=[2.998, 0.017, 0.774] + !! OVERLAP: table <-> floor depth=[1.465, 0.017, 0.925] + !! OVERLAP: tv_stand <-> floor depth=[2.112, 0.017, 0.448] +============================================================ + + +============================================================ +SCENE: LivingDiningRoom-9632 | 14 objects +============================================================ +Final Step Collision Loss: 0.0027, Room Outer Loss: 0.0000, Walkable Loss: 0.2166 (Center Penalty: 0.2166), Relational Loss: 0.0204 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +lamp 0.601 0.828 0.598 -0.798 1.775 -1.976 -0.01° +sofa 2.262 0.841 0.853 -1.874 0.000 1.749 90.00° +table 1.732 0.635 0.871 -0.817 0.002 1.912 -89.74° +tv_stand 1.657 0.411 0.378 0.775 -0.006 1.892 -89.91° +chair 0.780 0.873 0.741 -1.850 0.003 0.215 89.90° +chair 0.842 0.965 0.905 -1.552 -0.000 -0.690 179.94° +cabinet 0.523 0.922 0.335 1.416 0.001 0.374 -90.16° +table 1.587 0.727 0.994 -0.381 -0.002 -2.024 -90.02° +chair 0.459 0.474 0.412 1.027 0.001 -0.005 0.01° +chair 0.355 0.463 0.412 -0.204 0.002 1.797 -0.06° +chair 0.415 0.453 0.407 -0.302 0.000 2.127 -90.11° +lamp 0.719 0.651 0.693 -0.550 2.054 1.438 -0.02° +floor 5.699 0.012 6.352 -1.026 -0.002 0.550 -0.05° +_scene_ 0.070 -0.000 0.021 -5.673 -0.005 -5.715 -57.30° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: sofa <-> table depth=[0.940, 0.635, 0.700] + !! OVERLAP: sofa <-> floor depth=[2.262, 0.012, 0.853] + !! OVERLAP: table <-> tv_stand depth=[0.102, 0.411, 0.378] + !! OVERLAP: table <-> chair depth=[0.355, 0.463, 0.412] + !! OVERLAP: table <-> chair depth=[0.415, 0.453, 0.407] + !! OVERLAP: table <-> floor depth=[1.732, 0.012, 0.871] + !! OVERLAP: tv_stand <-> chair depth=[0.026, 0.411, 0.300] + !! OVERLAP: tv_stand <-> floor depth=[1.657, 0.012, 0.378] + !! OVERLAP: chair <-> floor depth=[0.780, 0.012, 0.741] + !! OVERLAP: chair <-> floor depth=[0.842, 0.012, 0.905] + !! OVERLAP: cabinet <-> floor depth=[0.523, 0.012, 0.335] + !! OVERLAP: table <-> floor depth=[1.587, 0.012, 0.994] + !! OVERLAP: chair <-> floor depth=[0.459, 0.012, 0.412] + !! OVERLAP: chair <-> chair depth=[0.288, 0.453, 0.080] + !! OVERLAP: chair <-> floor depth=[0.355, 0.012, 0.412] + !! OVERLAP: chair <-> floor depth=[0.415, 0.012, 0.407] +============================================================ + + +============================================================ +SCENE: LivingRoom-860 | 10 objects +============================================================ +Final Step Collision Loss: 0.0442, Room Outer Loss: 0.0577, Walkable Loss: 0.4299 (Center Penalty: 0.4299), Relational Loss: 0.0142 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +table 1.724 0.745 1.179 0.885 0.000 -0.582 -0.01° +chair 0.369 0.865 0.429 0.491 0.001 1.701 180.00° +chair 0.379 0.859 0.402 0.283 -0.001 1.459 -179.89° +table 1.108 0.496 0.532 0.976 0.003 1.695 179.89° +sofa 1.571 0.759 0.676 1.480 0.003 -1.074 -89.96° +tv_stand 0.974 0.909 0.525 -0.209 -0.025 -1.403 90.63° +cabinet 0.756 1.208 0.293 0.759 0.001 -2.262 0.03° +lamp 0.872 1.141 0.847 0.968 1.542 -0.438 -0.07° +floor 2.978 0.002 5.109 0.719 0.001 -0.569 -0.15° +_scene_ 0.069 -0.000 0.020 -5.670 -0.005 -5.711 -57.29° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: table <-> sofa depth=[1.053, 0.745, 0.435] + !! OVERLAP: table <-> tv_stand depth=[0.255, 0.745, 0.031] + !! OVERLAP: table <-> floor depth=[1.724, 0.002, 1.179] + !! OVERLAP: chair <-> chair depth=[0.167, 0.859, 0.174] + !! OVERLAP: chair <-> table depth=[0.253, 0.496, 0.429] + !! OVERLAP: chair <-> floor depth=[0.369, 0.002, 0.429] + !! OVERLAP: chair <-> table depth=[0.051, 0.496, 0.231] + !! OVERLAP: chair <-> floor depth=[0.379, 0.002, 0.402] + !! OVERLAP: table <-> floor depth=[1.108, 0.002, 0.532] + !! OVERLAP: sofa <-> floor depth=[1.513, 0.002, 0.676] + !! OVERLAP: tv_stand <-> floor depth=[0.974, 0.002, 0.525] + !! OVERLAP: cabinet <-> floor depth=[0.756, 0.002, 0.293] +============================================================ + + +============================================================ +SCENE: LivingDiningRoom-8304 | 18 objects +============================================================ +Final Step Collision Loss: 0.0127, Room Outer Loss: 0.0300, Walkable Loss: 0.0309 (Center Penalty: 0.0309), Relational Loss: 0.0059 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +chair 1.089 1.123 1.118 -0.752 0.001 3.913 179.84° +sofa 2.760 0.871 1.104 -2.115 0.001 2.225 89.88° +chair 0.835 0.862 0.944 -0.732 0.002 1.863 63.31° +table 0.900 0.325 0.897 -0.754 -0.001 2.683 0.05° +tv_stand 1.699 0.906 0.415 0.433 0.001 2.593 -89.98° +table 0.614 0.550 0.514 -2.021 -0.001 0.659 -0.03° +table 0.578 0.442 0.594 -2.070 0.001 3.826 0.08° +cabinet 0.845 2.437 0.365 -2.003 -0.001 -1.034 0.23° +chair 0.601 1.012 0.640 1.248 0.000 -2.311 -90.17° +table 1.579 0.786 0.709 0.757 -0.005 -2.838 89.96° +chair 0.563 1.037 0.680 1.378 0.003 -2.839 -90.12° +chair 0.542 1.040 0.645 0.368 -0.002 -2.264 -179.89° +chair 0.540 1.019 0.596 0.406 -0.004 -3.225 90.01° +bookshelf 1.394 2.042 0.311 -0.781 0.002 -3.210 -179.63° +lamp 0.679 0.617 0.669 -0.490 2.081 2.333 -0.02° +lamp 0.506 0.964 0.439 1.043 1.998 -2.961 -0.01° +floor 5.362 -0.006 9.630 -1.052 -0.001 0.800 -0.13° +_scene_ 0.070 -0.000 0.022 -5.669 -0.005 -5.713 -57.32° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: chair <-> floor depth=[1.089, -0.006, 1.118] + !! OVERLAP: sofa <-> chair depth=[0.414, 0.862, 0.662] + !! OVERLAP: sofa <-> table depth=[0.469, 0.325, 0.542] + !! OVERLAP: sofa <-> floor depth=[2.760, -0.006, 1.104] + !! OVERLAP: chair <-> table depth=[0.835, 0.325, 0.101] + !! OVERLAP: chair <-> floor depth=[0.835, -0.006, 0.944] + !! OVERLAP: table <-> tv_stand depth=[0.112, 0.325, 0.415] + !! OVERLAP: table <-> floor depth=[0.900, -0.006, 0.897] + !! OVERLAP: tv_stand <-> floor depth=[1.699, -0.006, 0.415] + !! OVERLAP: table <-> floor depth=[0.614, -0.006, 0.514] + !! OVERLAP: table <-> floor depth=[0.578, -0.006, 0.594] + !! OVERLAP: cabinet <-> floor depth=[0.845, -0.006, 0.365] + !! OVERLAP: chair <-> table depth=[0.599, 0.786, 0.148] + !! OVERLAP: chair <-> chair depth=[0.452, 1.012, 0.132] + !! OVERLAP: chair <-> floor depth=[0.601, -0.006, 0.640] + !! OVERLAP: table <-> chair depth=[0.450, 0.786, 0.680] + !! OVERLAP: table <-> chair depth=[0.542, 0.786, 0.103] + !! OVERLAP: table <-> chair depth=[0.540, 0.786, 0.266] + !! OVERLAP: table <-> floor depth=[1.579, -0.006, 0.709] + !! OVERLAP: chair <-> floor depth=[0.533, -0.006, 0.680] + !! OVERLAP: chair <-> floor depth=[0.542, -0.006, 0.645] + !! OVERLAP: chair <-> floor depth=[0.540, -0.006, 0.596] + !! OVERLAP: bookshelf <-> floor depth=[1.394, -0.006, 0.311] +============================================================ + + +============================================================ +SCENE: LivingDiningRoom-13962 | 14 objects +============================================================ +Final Step Collision Loss: 0.0024, Room Outer Loss: 0.0242, Walkable Loss: 0.3041 (Center Penalty: 0.3041), Relational Loss: 0.0154 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +lamp 0.626 1.497 0.619 -0.308 1.448 1.054 0.20° +tv_stand 1.903 0.428 0.443 0.708 0.000 1.543 -89.82° +table 0.571 0.282 0.486 -0.097 -0.001 1.307 -90.03° +table 0.491 0.467 0.397 -1.695 0.003 2.597 90.00° +table 0.541 0.518 0.566 -1.830 0.002 -0.404 90.08° +sofa 2.238 0.919 0.961 -1.637 0.003 1.087 90.01° +chair 0.793 0.699 0.788 -0.298 -0.001 2.577 -180.00° +chair 0.553 0.768 0.518 -0.332 0.001 -2.339 90.06° +chair 0.504 0.786 0.557 -0.240 0.000 -1.868 89.97° +chair 0.534 0.771 0.554 1.059 0.003 -2.231 -89.99° +chair 0.570 0.740 0.594 1.093 0.002 -1.745 -90.25° +table 1.808 0.760 0.743 0.390 -0.000 -1.959 -89.89° +floor 4.467 0.001 7.068 -0.498 0.001 0.787 0.11° +_scene_ 0.071 0.001 0.022 -5.671 -0.005 -5.714 -57.30° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: tv_stand <-> table depth=[0.431, 0.282, 0.228] + !! OVERLAP: tv_stand <-> floor depth=[1.903, 0.001, 0.443] + !! OVERLAP: table <-> floor depth=[0.571, 0.001, 0.486] + !! OVERLAP: table <-> floor depth=[0.491, 0.001, 0.397] + !! OVERLAP: table <-> floor depth=[0.541, 0.001, 0.566] + !! OVERLAP: sofa <-> floor depth=[2.214, 0.001, 0.961] + !! OVERLAP: chair <-> floor depth=[0.793, 0.001, 0.788] + !! OVERLAP: chair <-> chair depth=[0.436, 0.768, 0.067] + !! OVERLAP: chair <-> table depth=[0.458, 0.760, 0.250] + !! OVERLAP: chair <-> floor depth=[0.553, 0.001, 0.518] + !! OVERLAP: chair <-> table depth=[0.504, 0.760, 0.557] + !! OVERLAP: chair <-> floor depth=[0.504, 0.001, 0.557] + !! OVERLAP: chair <-> chair depth=[0.518, 0.740, 0.088] + !! OVERLAP: chair <-> table depth=[0.502, 0.760, 0.377] + !! OVERLAP: chair <-> floor depth=[0.534, 0.001, 0.554] + !! OVERLAP: chair <-> table depth=[0.486, 0.740, 0.454] + !! OVERLAP: chair <-> floor depth=[0.570, 0.001, 0.594] + !! OVERLAP: table <-> floor depth=[1.808, 0.001, 0.743] +============================================================ + + +============================================================ +SCENE: LivingRoom-41893 | 11 objects +============================================================ +Final Step Collision Loss: 0.0308, Room Outer Loss: 0.1385, Walkable Loss: 0.5610 (Center Penalty: 0.5610), Relational Loss: 0.0387 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +sofa 2.083 0.733 0.737 1.328 -0.008 0.324 -179.89° +chair 0.619 0.782 0.630 2.094 0.003 -0.224 -103.42° +table 0.376 0.534 0.430 -0.768 0.023 0.406 179.93° +chair 0.497 0.980 0.518 -1.447 -0.001 0.132 -89.88° +chair 0.605 1.039 0.633 -2.073 0.000 -0.086 89.86° +table 2.052 0.804 0.901 -1.028 0.001 -0.216 89.83° +table 1.252 0.446 1.349 1.210 0.007 -0.748 -179.91° +lamp 0.448 0.867 0.438 1.353 1.686 -0.698 0.03° +lamp 0.317 0.930 0.232 -1.225 1.593 0.410 0.01° +floor 5.602 0.011 3.097 0.320 -0.008 -0.961 -0.44° +_scene_ 0.070 0.000 0.020 -5.674 -0.005 -5.715 -57.29° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: sofa <-> chair depth=[0.586, 0.733, 0.135] + !! OVERLAP: sofa <-> floor depth=[2.083, 0.011, 0.632] + !! OVERLAP: chair <-> table depth=[0.052, 0.446, 0.465] + !! OVERLAP: chair <-> floor depth=[0.619, 0.011, 0.630] + !! OVERLAP: table <-> table depth=[0.376, 0.534, 0.043] + !! OVERLAP: table <-> floor depth=[0.376, 0.011, 0.397] + !! OVERLAP: chair <-> table depth=[0.497, 0.804, 0.361] + !! OVERLAP: chair <-> floor depth=[0.497, 0.011, 0.518] + !! OVERLAP: chair <-> table depth=[0.284, 0.804, 0.633] + !! OVERLAP: chair <-> floor depth=[0.605, 0.011, 0.633] + !! OVERLAP: table <-> floor depth=[2.052, 0.011, 0.901] + !! OVERLAP: table <-> floor depth=[1.252, 0.011, 1.349] +============================================================ + + +============================================================ +SCENE: LivingRoom-18042 | 6 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0371, Walkable Loss: 0.9542 (Center Penalty: 0.9542), Relational Loss: 0.0000 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +sofa 2.326 0.769 0.904 0.689 -0.001 -1.287 -0.00° +table 1.104 0.411 1.205 0.858 0.003 0.759 0.05° +lamp 0.860 0.761 0.763 1.148 1.925 0.071 0.02° +table 1.468 1.219 0.492 -1.463 0.001 0.670 89.99° +floor 4.879 -0.007 5.397 0.280 0.000 -0.197 -0.09° +_scene_ 0.103 0.005 0.095 -5.628 -0.004 -5.693 -57.36° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: sofa <-> floor depth=[2.326, -0.007, 0.904] + !! OVERLAP: table <-> floor depth=[1.104, -0.007, 1.205] + !! OVERLAP: table <-> floor depth=[1.431, -0.007, 0.492] +============================================================ + + +============================================================ +SCENE: LivingDiningRoom-26816 | 17 objects +============================================================ +Final Step Collision Loss: 0.0092, Room Outer Loss: 0.0192, Walkable Loss: 0.5663 (Center Penalty: 0.5663), Relational Loss: 0.0118 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +sofa 2.012 0.968 1.101 0.652 -0.005 -1.054 -90.04° +table 1.092 0.377 0.938 -0.223 -0.002 -0.894 -90.72° +table 0.503 0.678 0.590 1.296 0.001 -2.763 -90.14° +table 0.423 0.630 0.580 1.383 0.002 0.381 -90.39° +chair 0.996 0.733 0.855 -0.326 0.003 1.033 -179.64° +chair 0.793 0.342 0.490 -0.294 0.002 -2.434 -0.03° +table 1.619 0.715 0.799 -0.033 0.001 2.322 -89.88° +chair 0.496 0.871 0.464 0.458 0.000 2.680 -90.04° +chair 0.473 0.826 0.506 0.557 -0.001 2.077 -95.72° +chair 0.474 0.920 0.446 -0.411 0.001 2.831 179.86° +chair 0.507 0.880 0.521 -0.587 0.002 2.105 89.95° +lamp 0.296 0.717 0.139 0.321 1.855 2.742 0.03° +lamp 0.632 1.008 0.660 -0.198 1.852 -1.168 -0.06° +bookshelf 1.010 2.621 0.373 1.156 -0.002 -3.912 0.10° +bookshelf 2.000 2.380 0.218 -0.625 0.001 -4.070 0.03° +floor 3.436 -0.006 7.970 -0.021 -0.002 -0.950 -0.19° +_scene_ 0.069 0.002 0.023 -5.667 -0.004 -5.711 -57.29° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: sofa <-> table depth=[0.677, 0.377, 0.860] + !! OVERLAP: sofa <-> floor depth=[2.012, -0.006, 1.101] + !! OVERLAP: table <-> floor depth=[1.092, -0.006, 0.938] + !! OVERLAP: table <-> floor depth=[0.503, -0.006, 0.590] + !! OVERLAP: table <-> floor depth=[0.423, -0.006, 0.580] + !! OVERLAP: chair <-> floor depth=[0.996, -0.006, 0.855] + !! OVERLAP: chair <-> floor depth=[0.793, -0.006, 0.490] + !! OVERLAP: table <-> chair depth=[0.496, 0.715, 0.273] + !! OVERLAP: table <-> chair depth=[0.456, 0.715, 0.407] + !! OVERLAP: table <-> chair depth=[0.474, 0.715, 0.114] + !! OVERLAP: table <-> chair depth=[0.507, 0.715, 0.443] + !! OVERLAP: table <-> floor depth=[1.619, -0.006, 0.799] + !! OVERLAP: chair <-> floor depth=[0.496, -0.006, 0.464] + !! OVERLAP: chair <-> floor depth=[0.473, -0.006, 0.506] + !! OVERLAP: chair <-> floor depth=[0.474, -0.006, 0.427] + !! OVERLAP: chair <-> floor depth=[0.507, -0.006, 0.521] + !! OVERLAP: bookshelf <-> floor depth=[1.010, -0.006, 0.373] + !! OVERLAP: bookshelf <-> floor depth=[2.000, -0.006, 0.218] +============================================================ + + +============================================================ +SCENE: LivingDiningRoom-17385 | 12 objects +============================================================ +Final Step Collision Loss: 0.0089, Room Outer Loss: 0.0000, Walkable Loss: 0.3452 (Center Penalty: 0.3452), Relational Loss: 0.0149 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +sofa 2.426 0.896 0.895 1.442 0.002 1.153 179.93° +table 1.014 0.444 1.171 1.531 0.004 0.136 179.89° +tv_stand 2.269 0.992 0.413 1.530 -0.002 -0.866 -0.21° +table 1.896 0.736 0.751 -1.191 -0.004 0.669 90.05° +chair 0.528 1.094 0.539 -0.475 0.003 1.454 -90.05° +chair 0.483 1.049 0.510 -0.650 -0.001 0.997 -89.87° +chair 0.530 1.133 0.578 -1.865 0.001 1.315 89.90° +chair 0.487 1.078 0.514 -1.732 0.003 0.794 89.91° +lamp 0.761 0.879 0.799 1.444 1.719 0.277 -0.01° +lamp 0.475 0.872 0.342 -1.418 2.340 0.482 0.12° +floor 5.599 0.007 3.464 0.621 0.000 0.617 -0.17° +_scene_ 0.081 -0.002 0.025 -5.673 -0.005 -5.709 -57.32° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: sofa <-> table depth=[1.014, 0.444, 0.016] + !! OVERLAP: sofa <-> floor depth=[2.426, 0.007, 0.895] + !! OVERLAP: table <-> floor depth=[1.014, 0.007, 1.171] + !! OVERLAP: tv_stand <-> floor depth=[2.269, 0.007, 0.413] + !! OVERLAP: table <-> chair depth=[0.483, 0.736, 0.302] + !! OVERLAP: table <-> chair depth=[0.530, 0.736, 0.019] + !! OVERLAP: table <-> chair depth=[0.487, 0.736, 0.509] + !! OVERLAP: table <-> floor depth=[1.896, 0.007, 0.751] + !! OVERLAP: chair <-> chair depth=[0.330, 1.049, 0.069] + !! OVERLAP: chair <-> floor depth=[0.528, 0.007, 0.539] + !! OVERLAP: chair <-> floor depth=[0.483, 0.007, 0.510] + !! OVERLAP: chair <-> chair depth=[0.375, 1.078, 0.025] + !! OVERLAP: chair <-> floor depth=[0.530, 0.007, 0.578] + !! OVERLAP: chair <-> floor depth=[0.487, 0.007, 0.514] +============================================================ + + +============================================================ +SCENE: LivingRoom-31397 | 9 objects +============================================================ +Final Step Collision Loss: 0.0064, Room Outer Loss: 0.0000, Walkable Loss: 0.6288 (Center Penalty: 0.6288), Relational Loss: 0.0032 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +tv_stand 1.926 0.562 0.451 1.764 0.002 1.283 -89.92° +table 0.326 1.000 0.240 -0.762 0.000 1.807 90.18° +sofa 1.201 0.976 0.758 -0.361 -0.002 1.335 87.81° +table 1.012 0.292 0.713 0.553 -0.005 0.859 89.97° +chair 0.921 0.768 0.769 0.071 0.004 2.253 179.98° +bookshelf 0.694 1.756 0.659 -0.510 0.020 -1.970 89.60° +lamp 0.659 0.920 0.651 0.269 2.354 0.640 -0.15° +floor 4.135 0.022 7.226 1.070 -0.003 0.034 0.59° +_scene_ 0.068 0.001 0.014 -5.673 -0.005 -5.715 -57.32° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: tv_stand <-> table depth=[0.258, 0.292, 0.158] + !! OVERLAP: tv_stand <-> floor depth=[1.926, 0.022, 0.451] + !! OVERLAP: table <-> sofa depth=[0.326, 0.976, 0.028] + !! OVERLAP: table <-> floor depth=[0.326, 0.022, 0.240] + !! OVERLAP: sofa <-> table depth=[0.193, 0.292, 0.259] + !! OVERLAP: sofa <-> floor depth=[1.201, 0.022, 0.758] + !! OVERLAP: table <-> floor depth=[1.012, 0.022, 0.713] + !! OVERLAP: chair <-> floor depth=[0.921, 0.022, 0.769] + !! OVERLAP: bookshelf <-> floor depth=[0.694, 0.022, 0.659] +============================================================ + + +============================================================ +SCENE: LivingDiningRoom-14432 | 17 objects +============================================================ +Final Step Collision Loss: 0.0363, Room Outer Loss: 0.0000, Walkable Loss: 0.2243 (Center Penalty: 0.2243), Relational Loss: 0.0181 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +table 1.650 0.900 0.419 2.751 0.008 -1.795 -0.10° +shelf 0.452 1.781 0.238 2.742 -0.001 -1.149 0.09° +table 1.926 0.676 1.143 1.701 0.001 1.847 0.11° +table 1.170 0.693 1.166 1.417 0.004 1.625 0.07° +chair 0.520 1.063 0.579 2.618 0.001 1.625 -90.04° +chair 0.515 1.085 0.619 0.745 -0.000 2.017 90.02° +chair 0.549 1.060 0.540 1.999 0.001 0.946 0.06° +chair 0.558 1.097 0.642 1.469 -0.001 0.867 0.02° +table 0.457 0.622 0.472 -0.228 0.005 -1.250 -0.01° +sofa 2.620 0.813 1.161 -1.551 0.002 -1.089 89.98° +table 1.029 0.394 1.057 -1.370 -0.002 0.149 -0.07° +tv_stand 2.042 0.494 0.408 -1.282 0.001 2.763 179.88° +lamp 0.474 0.776 0.478 1.374 1.974 -1.143 -0.03° +lamp 0.241 1.143 0.211 1.438 1.469 1.962 -0.03° +lamp 0.229 0.712 0.223 -1.988 1.951 0.463 0.04° +floor 6.837 -0.002 5.831 0.406 0.004 0.873 0.07° +_scene_ 0.070 0.000 0.022 -5.671 -0.005 -5.713 -57.30° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: table <-> floor depth=[1.650, -0.002, 0.419] + !! OVERLAP: shelf <-> floor depth=[0.452, -0.002, 0.238] + !! OVERLAP: table <-> table depth=[1.170, 0.676, 0.933] + !! OVERLAP: table <-> chair depth=[0.306, 0.676, 0.579] + !! OVERLAP: table <-> chair depth=[0.264, 0.676, 0.619] + !! OVERLAP: table <-> floor depth=[1.926, -0.002, 1.143] + !! OVERLAP: table <-> chair depth=[0.171, 0.693, 0.501] + !! OVERLAP: table <-> chair depth=[0.278, 0.693, 0.174] + !! OVERLAP: table <-> chair depth=[0.558, 0.693, 0.146] + !! OVERLAP: table <-> floor depth=[1.170, -0.002, 1.166] + !! OVERLAP: chair <-> floor depth=[0.520, -0.002, 0.579] + !! OVERLAP: chair <-> floor depth=[0.515, -0.002, 0.619] + !! OVERLAP: chair <-> chair depth=[0.023, 1.060, 0.512] + !! OVERLAP: chair <-> floor depth=[0.549, -0.002, 0.540] + !! OVERLAP: chair <-> floor depth=[0.558, -0.002, 0.642] + !! OVERLAP: table <-> sofa depth=[0.216, 0.622, 0.472] + !! OVERLAP: table <-> floor depth=[0.457, -0.002, 0.472] + !! OVERLAP: sofa <-> floor depth=[2.620, -0.002, 1.161] + !! OVERLAP: table <-> floor depth=[1.029, -0.002, 1.057] + !! OVERLAP: tv_stand <-> floor depth=[2.042, -0.002, 0.408] +============================================================ + + +============================================================ +SCENE: LivingRoom-5361 | 12 objects +============================================================ +Final Step Collision Loss: 0.0636, Room Outer Loss: 0.0602, Walkable Loss: 0.3251 (Center Penalty: 0.3251), Relational Loss: 0.0264 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +sofa 2.214 0.882 0.656 1.112 0.004 0.775 -179.95° +chair 0.980 0.755 1.046 2.114 0.001 0.388 -180.00° +table 1.282 0.397 1.163 0.809 0.005 -0.997 -0.05° +table 1.042 0.324 1.004 1.201 -0.001 0.078 179.81° +bookshelf 0.702 1.937 0.155 1.924 0.001 0.973 -90.16° +table 1.178 0.766 1.102 -1.172 -0.003 0.599 90.01° +chair 0.575 0.776 0.546 -1.617 -0.001 0.249 0.01° +chair 0.496 0.782 0.416 -0.803 0.003 0.924 -90.08° +chair 0.569 0.784 0.366 -1.378 0.001 0.949 179.81° +lamp 0.477 0.620 0.488 1.035 1.983 -0.241 -0.12° +floor 5.890 0.030 4.222 1.089 0.007 -0.973 0.49° +_scene_ 0.073 0.001 0.025 -5.672 -0.004 -5.710 -57.31° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: sofa <-> chair depth=[0.594, 0.755, 0.463] + !! OVERLAP: sofa <-> table depth=[1.042, 0.324, 0.133] + !! OVERLAP: sofa <-> bookshelf depth=[0.646, 0.882, 0.155] + !! OVERLAP: sofa <-> floor depth=[2.214, 0.030, 0.656] + !! OVERLAP: chair <-> table depth=[0.098, 0.324, 0.715] + !! OVERLAP: chair <-> bookshelf depth=[0.650, 0.755, 0.015] + !! OVERLAP: chair <-> floor depth=[0.980, 0.030, 1.046] + !! OVERLAP: table <-> table depth=[0.769, 0.324, 0.008] + !! OVERLAP: table <-> floor depth=[1.282, 0.030, 1.163] + !! OVERLAP: table <-> floor depth=[1.042, 0.030, 1.004] + !! OVERLAP: bookshelf <-> floor depth=[0.702, 0.030, 0.155] + !! OVERLAP: table <-> chair depth=[0.431, 0.766, 0.474] + !! OVERLAP: table <-> chair depth=[0.468, 0.766, 0.416] + !! OVERLAP: table <-> chair depth=[0.569, 0.766, 0.366] + !! OVERLAP: table <-> floor depth=[1.178, 0.030, 1.090] + !! OVERLAP: chair <-> floor depth=[0.527, 0.030, 0.546] + !! OVERLAP: chair <-> floor depth=[0.496, 0.030, 0.416] + !! OVERLAP: chair <-> floor depth=[0.569, 0.030, 0.366] +============================================================ + + +============================================================ +SCENE: LivingRoom-5655 | 11 objects +============================================================ +Final Step Collision Loss: 0.0157, Room Outer Loss: 0.0339, Walkable Loss: 0.2925 (Center Penalty: 0.2925), Relational Loss: 0.0434 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +tv_stand 1.589 0.566 0.358 0.349 -0.038 1.448 -91.58° +sofa 2.422 0.899 0.856 -1.426 0.002 1.055 89.95° +table 1.215 0.469 1.128 -0.423 0.004 1.169 90.03° +lamp 0.436 0.693 0.431 -0.487 1.877 1.178 -0.03° +table 1.659 0.682 0.919 -0.937 -0.006 -2.058 -90.16° +chair 0.531 0.795 0.603 -1.555 0.002 -2.241 0.02° +chair 0.500 0.825 0.561 -0.198 -0.000 -2.286 -90.06° +chair 0.567 0.866 0.660 -1.479 0.001 -1.201 179.97° +chair 0.537 0.814 0.621 -0.950 -0.000 -1.158 179.95° +floor 3.989 -0.016 5.468 -0.885 -0.003 -0.257 -0.34° +_scene_ 0.067 0.001 0.021 -5.669 -0.005 -5.715 -57.32° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: tv_stand <-> sofa depth=[0.231, 0.566, 0.214] + !! OVERLAP: tv_stand <-> table depth=[0.630, 0.469, 0.358] + !! OVERLAP: tv_stand <-> floor depth=[1.555, -0.016, 0.358] + !! OVERLAP: sofa <-> table depth=[0.816, 0.469, 0.856] + !! OVERLAP: sofa <-> floor depth=[2.422, -0.016, 0.856] + !! OVERLAP: table <-> floor depth=[1.215, -0.016, 1.128] + !! OVERLAP: table <-> chair depth=[0.477, 0.682, 0.578] + !! OVERLAP: table <-> chair depth=[0.341, 0.682, 0.512] + !! OVERLAP: table <-> floor depth=[1.659, -0.016, 0.919] + !! OVERLAP: chair <-> floor depth=[0.531, -0.016, 0.603] + !! OVERLAP: chair <-> floor depth=[0.500, -0.016, 0.561] + !! OVERLAP: chair <-> chair depth=[0.023, 0.814, 0.598] + !! OVERLAP: chair <-> floor depth=[0.567, -0.016, 0.660] + !! OVERLAP: chair <-> floor depth=[0.537, -0.016, 0.621] +============================================================ + + +============================================================ +SCENE: LivingRoom-55 | 10 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0000, Walkable Loss: 0.7702 (Center Penalty: 0.7702), Relational Loss: 0.0004 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +sofa 2.575 0.822 0.947 -0.265 0.001 1.711 179.94° +table 0.627 0.637 0.535 1.669 0.001 1.518 179.99° +table 0.590 0.701 0.541 -2.094 -0.000 1.720 -179.95° +chair 0.666 0.808 0.791 1.659 -0.001 0.037 -43.41° +table 1.327 1.132 1.054 -0.728 0.002 0.337 -179.79° +tv_stand 2.284 0.346 0.505 -0.385 0.002 -1.563 -0.06° +lamp 1.098 1.024 0.927 -0.776 1.811 -0.290 0.02° +chair 0.602 0.786 0.641 -2.131 0.004 -0.026 16.98° +floor 6.415 0.002 4.139 -0.828 -0.004 0.233 0.06° +_scene_ 0.063 -0.001 0.027 -5.669 -0.004 -5.712 -57.29° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: sofa <-> floor depth=[2.575, 0.002, 0.947] + !! OVERLAP: table <-> floor depth=[0.627, 0.002, 0.535] + !! OVERLAP: table <-> floor depth=[0.590, 0.002, 0.541] + !! OVERLAP: chair <-> floor depth=[0.666, 0.002, 0.791] + !! OVERLAP: table <-> floor depth=[1.327, 0.002, 1.054] + !! OVERLAP: tv_stand <-> floor depth=[2.284, 0.002, 0.505] + !! OVERLAP: chair <-> floor depth=[0.602, 0.002, 0.641] +============================================================ + + +============================================================ +SCENE: LivingDiningRoom-941 | 15 objects +============================================================ +Final Step Collision Loss: 0.0202, Room Outer Loss: 0.1339, Walkable Loss: 0.3613 (Center Penalty: 0.3613), Relational Loss: 0.0167 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +sofa 2.219 0.829 0.806 1.840 -0.008 0.215 179.99° +table 1.009 0.761 0.822 2.236 -0.000 -0.642 0.12° +chair 0.861 0.741 0.898 3.321 0.002 -0.511 -90.00° +table 0.487 0.361 0.280 0.728 -0.008 0.344 -0.36° +lamp 0.773 0.973 0.822 1.673 1.895 -0.844 0.05° +chair 0.531 0.729 0.586 -1.565 0.003 -1.685 0.00° +chair 0.421 0.766 0.513 -0.932 0.000 -0.970 -89.91° +chair 0.583 0.794 0.558 -1.755 0.001 -0.513 179.90° +table 1.443 0.692 1.250 -1.413 -0.003 -0.859 0.05° +lamp 0.436 0.715 0.431 -1.738 2.070 -1.126 0.04° +table 1.254 1.087 0.310 -2.863 0.004 0.404 89.92° +chair 0.613 0.710 0.563 -2.303 0.002 -0.967 89.98° +chair 0.385 0.326 0.337 1.139 0.001 -0.580 -0.06° +floor 8.344 -0.003 3.816 0.417 -0.003 -1.387 0.56° +_scene_ 0.068 0.001 0.024 -5.676 -0.005 -5.710 -57.31° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: sofa <-> chair depth=[0.059, 0.741, 0.126] + !! OVERLAP: sofa <-> table depth=[0.240, 0.361, 0.280] + !! OVERLAP: sofa <-> floor depth=[2.219, -0.003, 0.710] + !! OVERLAP: table <-> floor depth=[1.009, -0.003, 0.822] + !! OVERLAP: chair <-> floor depth=[0.861, -0.003, 0.898] + !! OVERLAP: table <-> floor depth=[0.487, -0.003, 0.280] + !! OVERLAP: chair <-> table depth=[0.531, 0.692, 0.092] + !! OVERLAP: chair <-> floor depth=[0.531, -0.003, 0.586] + !! OVERLAP: chair <-> table depth=[0.421, 0.692, 0.513] + !! OVERLAP: chair <-> floor depth=[0.421, -0.003, 0.513] + !! OVERLAP: chair <-> table depth=[0.583, 0.692, 0.558] + !! OVERLAP: chair <-> chair depth=[0.050, 0.710, 0.107] + !! OVERLAP: chair <-> floor depth=[0.583, -0.003, 0.558] + !! OVERLAP: table <-> chair depth=[0.138, 0.692, 0.563] + !! OVERLAP: table <-> floor depth=[1.443, -0.003, 1.250] + !! OVERLAP: table <-> floor depth=[1.254, -0.003, 0.272] + !! OVERLAP: chair <-> floor depth=[0.613, -0.003, 0.563] + !! OVERLAP: chair <-> floor depth=[0.385, -0.003, 0.337] +============================================================ + + +============================================================ +SCENE: LivingRoom-2715 | 15 objects +============================================================ +Final Step Collision Loss: 0.0561, Room Outer Loss: 0.0622, Walkable Loss: 0.2176 (Center Penalty: 0.2176), Relational Loss: 0.0181 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +lamp 1.154 1.022 1.217 -0.555 1.639 1.519 -0.04° +table 1.505 0.375 1.187 -1.023 -0.002 1.670 90.01° +tv_stand 1.641 0.637 0.525 0.381 -0.007 1.601 -89.68° +sofa 2.841 0.826 1.188 -1.346 0.026 1.363 89.77° +table 1.711 0.730 1.372 -1.194 0.000 -2.700 0.01° +table 1.871 0.525 0.803 -1.170 -0.001 2.936 -179.82° +table 1.473 0.415 1.114 -1.364 0.003 -1.009 -0.04° +chair 0.566 1.022 0.597 -1.734 -0.002 -1.887 179.91° +chair 0.529 0.897 0.550 -1.032 -0.004 -2.038 -117.25° +chair 0.524 0.961 0.566 -1.861 -0.001 -3.250 -0.02° +chair 0.411 0.866 0.472 -1.003 -0.005 -3.124 -79.83° +lamp 0.980 0.995 0.798 -1.489 1.589 -2.553 -0.04° +table 0.324 1.423 0.360 0.723 0.003 -0.897 -90.24° +floor 4.273 0.006 7.100 -0.997 0.017 -0.114 -0.25° +_scene_ 0.072 -0.000 0.026 -5.667 -0.005 -5.712 -57.29° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: table <-> tv_stand depth=[0.170, 0.375, 0.525] + !! OVERLAP: table <-> sofa depth=[1.505, 0.375, 0.880] + !! OVERLAP: table <-> floor depth=[1.505, 0.006, 1.187] + !! OVERLAP: tv_stand <-> sofa depth=[0.514, 0.637, 0.525] + !! OVERLAP: tv_stand <-> floor depth=[1.579, 0.006, 0.525] + !! OVERLAP: sofa <-> floor depth=[2.841, 0.006, 1.188] + !! OVERLAP: table <-> chair depth=[0.566, 0.730, 0.171] + !! OVERLAP: table <-> chair depth=[0.529, 0.730, 0.299] + !! OVERLAP: table <-> chair depth=[0.451, 0.730, 0.419] + !! OVERLAP: table <-> chair depth=[0.411, 0.730, 0.472] + !! OVERLAP: table <-> floor depth=[1.711, 0.006, 1.372] + !! OVERLAP: table <-> floor depth=[1.871, 0.006, 0.803] + !! OVERLAP: table <-> floor depth=[1.473, 0.006, 1.114] + !! OVERLAP: chair <-> floor depth=[0.566, 0.006, 0.597] + !! OVERLAP: chair <-> floor depth=[0.529, 0.006, 0.550] + !! OVERLAP: chair <-> floor depth=[0.524, 0.006, 0.566] + !! OVERLAP: chair <-> floor depth=[0.411, 0.006, 0.472] + !! OVERLAP: table <-> floor depth=[0.324, 0.006, 0.360] +============================================================ + + +============================================================ +SCENE: LivingDiningRoom-10201 | 13 objects +============================================================ +Final Step Collision Loss: 0.0071, Room Outer Loss: 0.0565, Walkable Loss: 0.1456 (Center Penalty: 0.1456), Relational Loss: 0.0101 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +tv_stand 2.134 0.825 0.513 -1.212 -0.006 -1.534 89.86° +table 0.489 0.324 0.446 0.145 -0.001 -2.050 -90.04° +lamp 0.460 0.757 0.473 0.141 2.048 -2.017 -0.02° +lamp 0.911 0.975 0.904 1.001 1.696 2.346 -0.02° +sofa 2.688 0.714 1.233 1.880 0.000 -1.789 -90.06° +table 0.529 0.701 0.437 -0.033 0.000 2.862 0.08° +chair 0.660 0.917 0.624 -0.458 0.001 2.201 89.98° +chair 0.521 0.968 0.475 -0.592 -0.005 3.126 90.22° +chair 0.455 0.798 0.503 1.727 0.001 2.105 -89.99° +chair 0.472 0.945 0.539 1.902 0.000 2.961 -90.33° +table 1.312 0.442 0.971 1.422 -0.000 -0.289 -90.01° +floor 5.628 0.006 7.108 0.354 0.005 0.946 0.64° +_scene_ 0.071 0.000 0.022 -5.670 -0.004 -5.714 -57.31° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: tv_stand <-> floor depth=[2.134, 0.006, 0.513] + !! OVERLAP: table <-> floor depth=[0.489, 0.006, 0.446] + !! OVERLAP: sofa <-> floor depth=[2.632, 0.006, 1.233] + !! OVERLAP: table <-> floor depth=[0.529, 0.006, 0.437] + !! OVERLAP: chair <-> floor depth=[0.660, 0.006, 0.624] + !! OVERLAP: chair <-> floor depth=[0.521, 0.006, 0.475] + !! OVERLAP: chair <-> floor depth=[0.455, 0.006, 0.503] + !! OVERLAP: chair <-> floor depth=[0.472, 0.006, 0.539] + !! OVERLAP: table <-> floor depth=[1.312, 0.006, 0.971] +============================================================ + + +============================================================ +SCENE: LivingRoom-24701 | 8 objects +============================================================ +Final Step Collision Loss: 0.0005, Room Outer Loss: 0.0000, Walkable Loss: 0.4211 (Center Penalty: 0.4211), Relational Loss: 0.0249 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +table 0.688 0.593 0.757 1.980 -0.001 1.231 -90.07° +tv_stand 1.939 0.535 0.403 -0.691 0.000 0.669 90.10° +table 1.752 1.852 0.630 0.736 0.002 -0.819 -179.97° +table 0.799 0.502 0.687 1.916 0.003 -1.469 0.04° +sofa 1.776 0.827 0.818 2.097 -0.000 -0.109 -90.07° +chair 0.772 0.925 0.809 1.081 0.000 0.702 -116.25° +floor 5.091 -0.013 4.724 0.867 -0.004 0.483 -0.16° +_scene_ 0.066 0.027 0.175 -5.442 0.010 -5.508 -58.31° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: table <-> floor depth=[0.688, -0.013, 0.757] + !! OVERLAP: tv_stand <-> floor depth=[1.939, -0.013, 0.403] + !! OVERLAP: table <-> table depth=[0.095, 0.502, 0.008] + !! OVERLAP: table <-> sofa depth=[0.403, 0.827, 0.014] + !! OVERLAP: table <-> floor depth=[1.752, -0.013, 0.630] + !! OVERLAP: table <-> floor depth=[0.799, -0.013, 0.687] + !! OVERLAP: sofa <-> chair depth=[0.258, 0.827, 0.002] + !! OVERLAP: sofa <-> floor depth=[1.776, -0.013, 0.818] + !! OVERLAP: chair <-> floor depth=[0.772, -0.013, 0.809] +============================================================ + + +============================================================ +SCENE: LivingDiningRoom-11440 | 13 objects +============================================================ +Final Step Collision Loss: 0.0048, Room Outer Loss: 0.0101, Walkable Loss: 0.4257 (Center Penalty: 0.4257), Relational Loss: 0.0036 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +sofa 1.932 0.968 1.192 1.301 -0.002 1.809 -90.01° +table 1.007 0.704 0.944 -0.167 0.001 1.765 -0.06° +tv_stand 1.726 0.773 0.378 -0.771 0.021 1.054 89.88° +table 1.030 0.592 0.546 0.994 0.007 -0.969 90.06° +chair 0.496 0.691 0.500 0.689 -0.001 -0.613 179.81° +chair 0.406 0.636 0.454 0.508 0.001 -1.412 -0.01° +chair 0.546 0.553 0.445 1.508 0.002 -0.734 179.95° +chair 0.456 0.686 0.507 1.504 0.002 -1.705 -0.03° +cabinet 0.990 1.076 0.255 -0.033 0.001 -2.699 0.07° +lamp 0.939 0.899 0.470 0.016 1.813 1.449 0.02° +lamp 0.357 0.978 0.366 1.289 1.838 -1.141 0.01° +floor 3.903 -0.003 7.706 0.328 -0.000 0.908 -0.16° +_scene_ 0.069 0.001 0.021 -5.669 -0.004 -5.712 -57.31° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: sofa <-> table depth=[0.001, 0.704, 0.944] + !! OVERLAP: sofa <-> floor depth=[1.932, -0.003, 1.192] + !! OVERLAP: table <-> floor depth=[1.007, -0.003, 0.944] + !! OVERLAP: tv_stand <-> floor depth=[1.716, -0.003, 0.378] + !! OVERLAP: table <-> chair depth=[0.458, 0.592, 0.167] + !! OVERLAP: table <-> chair depth=[0.231, 0.592, 0.057] + !! OVERLAP: table <-> chair depth=[0.274, 0.553, 0.261] + !! OVERLAP: table <-> floor depth=[1.030, -0.003, 0.546] + !! OVERLAP: chair <-> floor depth=[0.496, -0.003, 0.500] + !! OVERLAP: chair <-> floor depth=[0.406, -0.003, 0.454] + !! OVERLAP: chair <-> floor depth=[0.546, -0.003, 0.445] + !! OVERLAP: chair <-> floor depth=[0.456, -0.003, 0.507] + !! OVERLAP: cabinet <-> floor depth=[0.990, -0.003, 0.255] +============================================================ + + +============================================================ +SCENE: LivingRoom-37001 | 13 objects +============================================================ +Final Step Collision Loss: 0.0193, Room Outer Loss: 0.0687, Walkable Loss: 0.2749 (Center Penalty: 0.2749), Relational Loss: 0.0086 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +sofa 3.096 0.847 1.521 1.133 -0.004 -0.862 -0.02° +table 1.249 0.462 0.521 1.132 0.003 -0.120 -0.27° +shelf 0.435 2.203 0.373 3.394 -0.004 -0.862 -0.04° +cabinet 0.886 1.193 0.328 -1.538 0.004 0.702 -179.87° +table 1.262 0.755 0.607 -2.838 0.005 -0.690 90.09° +chair 0.548 0.763 0.433 -3.279 0.003 -0.557 90.06° +chair 0.555 0.766 0.572 -3.242 0.002 -1.160 89.99° +chair 0.636 0.713 0.615 -2.082 -0.001 -0.426 -89.90° +chair 0.629 0.671 0.586 -2.020 -0.002 -1.089 -89.84° +lamp 0.850 0.827 0.854 1.179 1.784 -0.153 0.02° +lamp 0.901 0.937 0.916 -3.119 1.720 -0.653 -0.01° +floor 7.706 -0.002 3.618 0.190 0.005 -1.011 -0.16° +_scene_ 0.068 -0.000 0.021 -5.676 -0.004 -5.714 -57.31° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: sofa <-> table depth=[1.249, 0.462, 0.279] + !! OVERLAP: sofa <-> floor depth=[3.096, -0.002, 1.521] + !! OVERLAP: table <-> floor depth=[1.249, -0.002, 0.521] + !! OVERLAP: shelf <-> floor depth=[0.435, -0.002, 0.373] + !! OVERLAP: cabinet <-> floor depth=[0.886, -0.002, 0.260] + !! OVERLAP: table <-> chair depth=[0.464, 0.755, 0.388] + !! OVERLAP: table <-> chair depth=[0.505, 0.755, 0.119] + !! OVERLAP: table <-> chair depth=[0.193, 0.713, 0.347] + !! OVERLAP: table <-> chair depth=[0.127, 0.671, 0.198] + !! OVERLAP: table <-> floor depth=[1.262, -0.002, 0.607] + !! OVERLAP: chair <-> floor depth=[0.548, -0.002, 0.433] + !! OVERLAP: chair <-> floor depth=[0.555, -0.002, 0.572] + !! OVERLAP: chair <-> floor depth=[0.636, -0.002, 0.615] + !! OVERLAP: chair <-> floor depth=[0.629, -0.002, 0.586] +============================================================ + + +============================================================ +SCENE: LivingRoom-1255 | 7 objects +============================================================ +Final Step Collision Loss: 0.0048, Room Outer Loss: 0.1206, Walkable Loss: 0.4203 (Center Penalty: 0.4203), Relational Loss: 0.0398 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +bookshelf 3.613 2.647 0.320 0.683 -0.001 1.477 179.92° +sofa 2.323 0.954 0.943 1.163 0.000 -1.308 0.04° +table 1.279 0.615 1.323 1.124 0.001 0.028 -0.00° +table 0.935 0.516 0.697 -0.309 0.003 -1.223 -89.87° +lamp 0.299 0.652 0.303 0.977 2.350 0.428 -0.08° +floor 3.769 0.003 4.026 0.772 0.004 -0.486 -1.22° +_scene_ 0.066 0.000 0.028 -5.673 -0.006 -5.712 -57.27° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bookshelf <-> floor depth=[3.602, 0.003, 0.211] + !! OVERLAP: sofa <-> table depth=[0.157, 0.516, 0.697] + !! OVERLAP: sofa <-> floor depth=[2.323, 0.003, 0.943] + !! OVERLAP: table <-> floor depth=[1.279, 0.003, 1.323] + !! OVERLAP: table <-> floor depth=[0.935, 0.003, 0.697] +============================================================ + + +============================================================ +SCENE: LivingRoom-3168 | 17 objects +============================================================ +Final Step Collision Loss: 0.0089, Room Outer Loss: 0.0000, Walkable Loss: 0.2510 (Center Penalty: 0.2510), Relational Loss: 0.0128 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +table 2.270 0.727 1.034 0.126 0.003 -2.570 -0.02° +chair 0.441 0.982 0.505 1.111 0.001 -2.933 0.06° +chair 0.484 0.962 0.572 1.275 -0.001 -1.757 179.92° +chair 0.496 1.009 0.602 0.714 0.001 -1.779 -180.00° +chair 0.547 1.047 0.594 0.646 0.000 -3.186 0.14° +lamp 0.796 0.851 0.813 -0.042 1.778 1.666 -0.04° +sofa 2.238 0.925 0.936 -1.863 0.003 1.476 89.97° +chair 0.804 0.843 0.874 -0.572 0.008 3.050 179.91° +chair 0.861 0.876 0.856 0.200 0.000 3.348 -166.87° +table 1.703 0.402 0.918 -0.096 -0.001 1.762 90.02° +table 0.555 0.641 0.452 -1.647 -0.001 0.256 -0.01° +table 0.424 0.576 0.461 -1.753 0.000 3.161 0.07° +chair 0.537 0.493 0.661 -0.631 -0.002 0.723 -0.05° +table 1.292 0.776 0.350 -2.295 0.003 -1.484 90.04° +lamp 0.920 1.013 0.904 0.125 1.833 -2.282 0.02° +floor 5.431 -0.005 8.035 -1.033 -0.001 0.426 -0.09° +_scene_ 0.068 0.000 0.020 -5.673 -0.005 -5.714 -57.30° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: table <-> chair depth=[0.370, 0.727, 0.406] + !! OVERLAP: table <-> chair depth=[0.496, 0.727, 0.027] + !! OVERLAP: table <-> chair depth=[0.547, 0.727, 0.197] + !! OVERLAP: table <-> floor depth=[2.270, -0.005, 1.034] + !! OVERLAP: chair <-> chair depth=[0.028, 0.982, 0.297] + !! OVERLAP: chair <-> floor depth=[0.441, -0.005, 0.505] + !! OVERLAP: chair <-> floor depth=[0.484, -0.005, 0.572] + !! OVERLAP: chair <-> floor depth=[0.496, -0.005, 0.602] + !! OVERLAP: chair <-> floor depth=[0.547, -0.005, 0.594] + !! OVERLAP: sofa <-> table depth=[0.203, 0.402, 0.641] + !! OVERLAP: sofa <-> chair depth=[0.155, 0.493, 0.046] + !! OVERLAP: sofa <-> floor depth=[2.238, -0.005, 0.936] + !! OVERLAP: chair <-> chair depth=[0.061, 0.843, 0.567] + !! OVERLAP: chair <-> floor depth=[0.804, -0.005, 0.874] + !! OVERLAP: chair <-> floor depth=[0.861, -0.005, 0.856] + !! OVERLAP: table <-> floor depth=[1.703, -0.005, 0.918] + !! OVERLAP: table <-> floor depth=[0.555, -0.005, 0.452] + !! OVERLAP: table <-> floor depth=[0.424, -0.005, 0.461] + !! OVERLAP: chair <-> floor depth=[0.537, -0.005, 0.661] + !! OVERLAP: table <-> floor depth=[1.292, -0.005, 0.350] +============================================================ + + +============================================================ +SCENE: LivingRoom-26286 | 16 objects +============================================================ +Final Step Collision Loss: 0.0214, Room Outer Loss: 0.0000, Walkable Loss: 0.2862 (Center Penalty: 0.2862), Relational Loss: 0.0174 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +chair 0.510 0.914 0.477 1.802 0.004 -1.123 0.05° +chair 0.330 0.945 0.423 2.127 -0.009 -1.049 -44.58° +chair 0.471 0.938 0.555 1.941 0.001 0.236 -89.95° +chair 0.472 0.894 0.577 2.232 0.001 0.137 -90.14° +chair 0.499 0.841 0.502 -2.697 -0.000 -0.123 89.85° +sofa 2.509 0.814 0.805 -1.716 0.002 1.498 179.99° +table 1.025 0.573 1.035 -0.088 0.000 1.289 -0.04° +table 1.166 0.548 1.098 -2.768 0.001 0.892 0.00° +table 1.258 0.508 0.982 -1.388 0.001 -0.648 -0.02° +table 1.075 0.630 1.036 1.945 -0.000 -0.612 -0.04° +table 1.609 1.567 0.410 1.257 0.003 1.769 -179.89° +table 1.227 0.528 1.117 -1.775 0.001 0.264 -90.17° +lamp 0.435 0.402 0.383 -1.650 2.256 -0.159 0.07° +lamp 0.830 0.706 0.380 1.799 1.963 -0.209 0.05° +floor 6.444 -0.017 4.146 -0.476 0.000 0.707 -0.00° +_scene_ 0.060 -0.000 0.028 -5.638 -0.003 -5.689 -57.31° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: chair <-> chair depth=[0.095, 0.914, 0.376] + !! OVERLAP: chair <-> table depth=[0.510, 0.630, 0.246] + !! OVERLAP: chair <-> floor depth=[0.510, -0.017, 0.477] + !! OVERLAP: chair <-> table depth=[0.330, 0.630, 0.293] + !! OVERLAP: chair <-> floor depth=[0.330, -0.017, 0.423] + !! OVERLAP: chair <-> chair depth=[0.181, 0.894, 0.467] + !! OVERLAP: chair <-> floor depth=[0.471, -0.017, 0.555] + !! OVERLAP: chair <-> table depth=[0.472, 0.630, 0.057] + !! OVERLAP: chair <-> floor depth=[0.472, -0.017, 0.577] + !! OVERLAP: chair <-> floor depth=[0.499, -0.017, 0.502] + !! OVERLAP: sofa <-> table depth=[0.139, 0.573, 0.710] + !! OVERLAP: sofa <-> table depth=[0.785, 0.548, 0.346] + !! OVERLAP: sofa <-> floor depth=[2.509, -0.017, 0.805] + !! OVERLAP: table <-> floor depth=[1.025, -0.017, 1.035] + !! OVERLAP: table <-> table depth=[0.204, 0.528, 0.480] + !! OVERLAP: table <-> floor depth=[1.166, -0.017, 1.098] + !! OVERLAP: table <-> table depth=[0.856, 0.508, 0.137] + !! OVERLAP: table <-> floor depth=[1.258, -0.017, 0.982] + !! OVERLAP: table <-> floor depth=[1.075, -0.017, 1.036] + !! OVERLAP: table <-> floor depth=[1.609, -0.017, 0.410] + !! OVERLAP: table <-> floor depth=[1.227, -0.017, 1.117] +============================================================ + + +============================================================ +SCENE: LivingRoom-4960 | 10 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0531, Walkable Loss: 1.4619 (Center Penalty: 1.4619), Relational Loss: 0.0187 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +sofa 2.323 0.848 0.971 0.390 -0.001 -1.252 -0.04° +table 1.077 0.879 0.733 0.919 -0.001 0.176 -0.14° +table 0.505 0.555 0.497 -1.223 0.003 -1.458 -23.35° +chair 0.792 0.823 0.837 -1.463 0.003 -0.404 61.83° +table 0.573 0.513 0.492 1.846 0.001 -1.482 -0.01° +chair 0.642 0.425 0.393 1.854 0.001 0.020 -90.09° +lamp 0.663 0.899 0.641 0.770 1.848 -0.098 -0.04° +tv_stand 2.068 0.505 0.426 0.969 0.002 1.588 179.96° +floor 4.928 -0.001 3.642 -0.152 0.002 -0.073 0.03° +_scene_ 0.066 0.001 0.020 -5.674 -0.005 -5.713 -57.28° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: sofa <-> floor depth=[2.323, -0.001, 0.971] + !! OVERLAP: table <-> floor depth=[1.077, -0.001, 0.733] + !! OVERLAP: table <-> floor depth=[0.505, -0.001, 0.497] + !! OVERLAP: chair <-> floor depth=[0.792, -0.001, 0.837] + !! OVERLAP: table <-> floor depth=[0.573, -0.001, 0.492] + !! OVERLAP: chair <-> floor depth=[0.642, -0.001, 0.393] + !! OVERLAP: tv_stand <-> floor depth=[2.068, -0.001, 0.373] +============================================================ + + +============================================================ +SCENE: LivingRoom-2410 | 12 objects +============================================================ +Final Step Collision Loss: 0.0598, Room Outer Loss: 0.0000, Walkable Loss: 0.4895 (Center Penalty: 0.4895), Relational Loss: 0.0204 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +table 0.470 0.492 0.686 0.640 0.002 1.253 -0.10° +sofa 1.791 0.753 0.803 -0.248 0.007 1.378 90.20° +table 1.228 0.774 1.260 0.503 -0.001 -1.119 0.01° +chair 0.551 0.955 0.545 1.205 -0.003 -1.545 -11.23° +chair 0.548 0.991 0.561 1.180 -0.001 -0.384 -179.97° +chair 0.498 1.091 0.393 0.815 0.010 -0.665 178.51° +chair 0.560 0.992 0.643 0.085 -0.000 -1.850 51.47° +chair 0.691 0.969 0.698 1.010 -0.001 -0.794 -179.96° +chair 0.644 0.930 0.699 0.771 -0.000 -2.045 -0.06° +bookshelf 0.350 1.282 0.206 -0.936 0.002 2.209 0.16° +floor 3.889 -0.013 6.199 0.788 -0.001 0.406 0.10° +_scene_ 0.067 0.002 0.020 -5.660 -0.004 -5.697 -57.30° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: table <-> sofa depth=[0.243, 0.492, 0.619] + !! OVERLAP: table <-> floor depth=[0.470, -0.013, 0.686] + !! OVERLAP: sofa <-> floor depth=[1.791, -0.013, 0.803] + !! OVERLAP: table <-> chair depth=[0.187, 0.774, 0.476] + !! OVERLAP: table <-> chair depth=[0.211, 0.774, 0.176] + !! OVERLAP: table <-> chair depth=[0.498, 0.774, 0.373] + !! OVERLAP: table <-> chair depth=[0.476, 0.774, 0.220] + !! OVERLAP: table <-> chair depth=[0.453, 0.774, 0.654] + !! OVERLAP: table <-> chair depth=[0.644, 0.774, 0.053] + !! OVERLAP: table <-> floor depth=[1.228, -0.013, 1.260] + !! OVERLAP: chair <-> chair depth=[0.163, 0.930, 0.122] + !! OVERLAP: chair <-> floor depth=[0.551, -0.013, 0.545] + !! OVERLAP: chair <-> chair depth=[0.157, 0.991, 0.196] + !! OVERLAP: chair <-> chair depth=[0.449, 0.969, 0.220] + !! OVERLAP: chair <-> floor depth=[0.548, -0.013, 0.561] + !! OVERLAP: chair <-> chair depth=[0.399, 0.969, 0.393] + !! OVERLAP: chair <-> floor depth=[0.498, -0.013, 0.393] + !! OVERLAP: chair <-> floor depth=[0.560, -0.013, 0.643] + !! OVERLAP: chair <-> floor depth=[0.691, -0.013, 0.698] + !! OVERLAP: chair <-> floor depth=[0.644, -0.013, 0.699] + !! OVERLAP: bookshelf <-> floor depth=[0.350, -0.013, 0.206] +============================================================ + + +============================================================ +SCENE: LivingDiningRoom-17836 | 19 objects +============================================================ +Final Step Collision Loss: 0.0084, Room Outer Loss: 0.0917, Walkable Loss: 0.2246 (Center Penalty: 0.2246), Relational Loss: 0.0122 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +table 0.579 0.600 0.543 0.230 -0.000 1.466 179.95° +table 0.466 0.575 0.467 -2.660 -0.000 1.350 179.82° +table 0.895 0.402 1.088 -1.580 0.001 0.098 -0.04° +sofa 2.066 0.938 0.870 -1.069 0.001 1.312 179.96° +chair 0.910 0.755 1.031 -0.992 -0.000 0.309 -90.00° +chair 0.793 0.814 0.847 -3.292 -0.001 0.390 89.97° +table 1.610 0.794 1.175 1.995 0.007 0.687 0.01° +chair 0.450 0.838 0.568 1.737 -0.003 0.005 0.03° +chair 0.440 0.895 0.468 2.214 -0.001 0.005 0.01° +chair 0.426 0.982 0.542 2.808 0.001 0.380 -90.15° +chair 0.447 0.891 0.547 2.014 0.001 1.608 179.92° +chair 0.410 0.923 0.538 2.424 -0.000 1.524 179.82° +chair 0.382 0.955 0.494 2.867 0.000 1.481 -90.25° +tv_stand 2.330 0.769 0.412 -2.049 -0.000 -1.549 -0.02° +lamp 0.437 0.899 0.406 -1.463 1.593 0.009 -0.00° +lamp 0.404 1.093 0.404 2.439 0.973 0.576 -0.01° +table 1.202 1.645 0.306 2.412 -0.002 -1.723 -0.09° +floor 8.299 0.025 3.982 -1.149 0.001 -0.050 -0.82° +_scene_ 0.076 -0.001 0.024 -5.670 -0.003 -5.712 -57.29° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: table <-> sofa depth=[0.024, 0.600, 0.543] + !! OVERLAP: table <-> floor depth=[0.579, 0.025, 0.543] + !! OVERLAP: table <-> floor depth=[0.466, 0.025, 0.467] + !! OVERLAP: table <-> chair depth=[0.315, 0.402, 0.848] + !! OVERLAP: table <-> floor depth=[0.895, 0.025, 1.088] + !! OVERLAP: sofa <-> floor depth=[2.066, 0.025, 0.870] + !! OVERLAP: chair <-> floor depth=[0.910, 0.025, 1.031] + !! OVERLAP: chair <-> floor depth=[0.793, 0.025, 0.847] + !! OVERLAP: table <-> chair depth=[0.450, 0.794, 0.190] + !! OVERLAP: table <-> chair depth=[0.440, 0.794, 0.140] + !! OVERLAP: table <-> chair depth=[0.205, 0.794, 0.542] + !! OVERLAP: table <-> chair depth=[0.410, 0.794, 0.020] + !! OVERLAP: table <-> chair depth=[0.124, 0.794, 0.041] + !! OVERLAP: table <-> floor depth=[1.610, 0.025, 1.175] + !! OVERLAP: chair <-> floor depth=[0.450, 0.025, 0.568] + !! OVERLAP: chair <-> floor depth=[0.440, 0.025, 0.468] + !! OVERLAP: chair <-> lamp depth=[0.046, 0.066, 0.277] + !! OVERLAP: chair <-> floor depth=[0.405, 0.025, 0.542] + !! OVERLAP: chair <-> chair depth=[0.018, 0.891, 0.458] + !! OVERLAP: chair <-> floor depth=[0.447, 0.025, 0.547] + !! OVERLAP: chair <-> floor depth=[0.410, 0.025, 0.538] + !! OVERLAP: chair <-> floor depth=[0.324, 0.025, 0.494] + !! OVERLAP: tv_stand <-> floor depth=[2.330, 0.025, 0.412] + !! OVERLAP: table <-> floor depth=[1.189, 0.025, 0.306] +============================================================ + + +============================================================ +SCENE: LivingRoom-52289 | 8 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0000, Walkable Loss: 1.0961 (Center Penalty: 1.0961), Relational Loss: 0.0209 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +lamp 0.642 0.821 0.563 -0.687 1.822 0.021 0.30° +chair 0.947 0.804 0.905 -1.698 -0.002 0.165 112.88° +sofa 2.625 0.965 1.046 -0.658 0.001 -1.341 0.02° +table 0.759 0.476 0.664 1.127 0.002 -1.318 -0.04° +table 0.696 0.548 0.755 1.371 0.008 0.138 -101.36° +table 0.726 0.420 1.115 -0.408 0.006 0.900 -90.24° +floor 4.891 0.000 3.720 -0.540 0.001 -0.172 0.11° +_scene_ 0.078 0.019 0.054 -5.611 0.000 -5.635 -57.39° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: chair <-> floor depth=[0.947, 0.000, 0.905] + !! OVERLAP: sofa <-> floor depth=[2.625, 0.000, 1.046] + !! OVERLAP: table <-> floor depth=[0.759, 0.000, 0.664] + !! OVERLAP: table <-> floor depth=[0.696, 0.000, 0.755] + !! OVERLAP: table <-> floor depth=[0.726, 0.000, 1.115] +============================================================ + + +============================================================ +SCENE: LivingDiningRoom-19931 | 19 objects +============================================================ +Final Step Collision Loss: 0.0118, Room Outer Loss: 0.2822, Walkable Loss: 0.2453 (Center Penalty: 0.2453), Relational Loss: 0.0097 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +sofa 2.108 0.918 0.880 -1.127 -0.001 -1.997 90.02° +chair 0.964 0.787 0.958 0.325 -0.006 -3.875 -24.05° +table 1.283 0.345 0.843 0.389 0.001 -1.825 89.97° +cabinet 0.842 1.790 0.287 1.816 0.002 2.911 -90.12° +table 1.946 0.863 0.935 0.281 0.003 1.824 -0.14° +chair 0.591 0.817 0.590 0.057 0.002 1.329 0.04° +chair 0.529 0.832 0.639 0.884 -0.003 1.654 -89.89° +chair 0.445 0.799 0.497 0.715 0.002 2.558 -89.99° +chair 0.516 0.804 0.505 0.003 0.002 2.500 180.00° +chair 0.582 0.840 0.621 -0.644 0.002 2.471 89.92° +chair 0.532 0.808 0.544 -0.876 -0.001 1.649 89.96° +tv_stand 1.876 0.373 0.473 1.732 0.006 -2.309 -89.98° +table 0.506 0.455 0.498 -1.275 0.003 -0.440 90.05° +table 0.466 0.486 0.477 -1.162 0.004 -3.630 89.95° +chair 0.738 0.877 0.743 -0.110 -0.001 -1.157 -177.96° +lamp 0.427 0.659 0.372 0.182 1.863 -2.092 -0.07° +lamp 0.409 0.494 0.396 0.565 2.087 1.854 -0.03° +floor 4.830 0.012 7.622 0.278 -0.003 -0.994 0.10° +_scene_ 0.070 0.002 0.020 -5.670 -0.005 -5.711 -57.30° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: sofa <-> table depth=[0.180, 0.345, 0.690] + !! OVERLAP: sofa <-> floor depth=[2.064, 0.012, 0.880] + !! OVERLAP: chair <-> floor depth=[0.964, 0.012, 0.958] + !! OVERLAP: table <-> tv_stand depth=[0.236, 0.345, 0.174] + !! OVERLAP: table <-> chair depth=[0.512, 0.345, 0.125] + !! OVERLAP: table <-> floor depth=[1.283, 0.012, 0.843] + !! OVERLAP: cabinet <-> floor depth=[0.842, 0.012, 0.049] + !! OVERLAP: table <-> chair depth=[0.591, 0.817, 0.268] + !! OVERLAP: table <-> chair depth=[0.529, 0.832, 0.616] + !! OVERLAP: table <-> chair depth=[0.516, 0.804, 0.045] + !! OVERLAP: table <-> chair depth=[0.339, 0.840, 0.131] + !! OVERLAP: table <-> chair depth=[0.082, 0.808, 0.544] + !! OVERLAP: table <-> floor depth=[1.946, 0.012, 0.935] + !! OVERLAP: chair <-> floor depth=[0.591, 0.012, 0.590] + !! OVERLAP: chair <-> floor depth=[0.529, 0.012, 0.639] + !! OVERLAP: chair <-> floor depth=[0.445, 0.012, 0.497] + !! OVERLAP: chair <-> floor depth=[0.516, 0.012, 0.505] + !! OVERLAP: chair <-> floor depth=[0.582, 0.012, 0.621] + !! OVERLAP: chair <-> floor depth=[0.532, 0.012, 0.544] + !! OVERLAP: tv_stand <-> floor depth=[1.876, 0.012, 0.473] + !! OVERLAP: table <-> floor depth=[0.506, 0.012, 0.498] + !! OVERLAP: table <-> floor depth=[0.466, 0.012, 0.477] + !! OVERLAP: chair <-> floor depth=[0.738, 0.012, 0.743] +============================================================ + + +============================================================ +SCENE: LivingRoom-4789 | 23 objects +============================================================ +Final Step Collision Loss: 0.0080, Room Outer Loss: 0.0000, Walkable Loss: 0.3028 (Center Penalty: 0.3028), Relational Loss: 0.0069 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +sofa 2.184 0.913 0.892 -1.967 0.001 2.388 89.91° +chair 1.231 0.842 1.069 -0.757 0.002 3.777 179.86° +table 1.489 0.489 1.021 -0.458 0.002 2.252 90.02° +table 0.605 0.775 0.499 -1.783 0.005 3.782 90.03° +table 0.530 0.541 0.521 -1.730 0.002 1.013 90.04° +table 0.548 0.457 0.489 -1.807 0.003 3.322 90.03° +table 2.164 0.742 0.892 -1.389 -0.000 -2.460 0.02° +chair 0.571 1.010 0.618 -1.905 -0.003 -3.051 -0.22° +chair 0.548 1.119 0.600 -1.163 -0.003 -3.043 -0.20° +chair 0.480 1.162 0.571 -0.347 -0.002 -2.507 -90.04° +chair 0.699 1.143 0.724 -2.223 -0.003 -1.669 179.97° +chair 0.558 1.186 0.600 -0.992 -0.001 -1.609 -179.93° +table 1.856 0.741 0.848 -1.342 0.001 -0.967 0.01° +table 0.537 0.545 0.426 -1.973 0.001 -0.214 90.03° +table 1.039 0.983 0.506 -1.081 0.006 -3.858 -90.06° +chair 0.734 0.457 0.569 -0.714 -0.000 1.055 3.22° +lamp 0.883 0.984 0.916 -0.617 1.774 2.224 -0.00° +lamp 0.437 0.673 0.440 -0.934 2.138 0.272 89.95° +lamp 0.416 0.194 0.427 1.373 2.532 0.039 -0.05° +lamp 0.512 0.651 0.505 -1.714 2.190 -1.987 -0.03° +lamp 0.878 0.752 0.527 0.086 2.216 -3.863 90.05° +floor 6.721 -0.016 10.545 -1.082 -0.003 0.251 -0.15° +_scene_ 0.071 0.001 0.025 -5.662 -0.005 -5.708 -57.31° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: sofa <-> table depth=[0.327, 0.489, 0.820] + !! OVERLAP: sofa <-> floor depth=[2.184, -0.016, 0.892] + !! OVERLAP: chair <-> floor depth=[1.231, -0.016, 1.069] + !! OVERLAP: table <-> floor depth=[1.489, -0.016, 1.021] + !! OVERLAP: table <-> table depth=[0.548, 0.457, 0.035] + !! OVERLAP: table <-> floor depth=[0.605, -0.016, 0.499] + !! OVERLAP: table <-> floor depth=[0.530, -0.016, 0.521] + !! OVERLAP: table <-> floor depth=[0.548, -0.016, 0.489] + !! OVERLAP: table <-> chair depth=[0.571, 0.742, 0.165] + !! OVERLAP: table <-> chair depth=[0.548, 0.742, 0.164] + !! OVERLAP: table <-> chair depth=[0.280, 0.742, 0.571] + !! OVERLAP: table <-> chair depth=[0.597, 0.742, 0.017] + !! OVERLAP: table <-> floor depth=[2.164, -0.016, 0.892] + !! OVERLAP: chair <-> floor depth=[0.571, -0.016, 0.618] + !! OVERLAP: chair <-> floor depth=[0.548, -0.016, 0.600] + !! OVERLAP: chair <-> floor depth=[0.480, -0.016, 0.571] + !! OVERLAP: chair <-> table depth=[0.396, 0.741, 0.084] + !! OVERLAP: chair <-> floor depth=[0.699, -0.016, 0.724] + !! OVERLAP: chair <-> table depth=[0.558, 0.741, 0.082] + !! OVERLAP: chair <-> floor depth=[0.558, -0.016, 0.600] + !! OVERLAP: table <-> floor depth=[1.856, -0.016, 0.848] + !! OVERLAP: table <-> floor depth=[0.537, -0.016, 0.426] + !! OVERLAP: table <-> floor depth=[1.039, -0.016, 0.506] + !! OVERLAP: chair <-> floor depth=[0.734, -0.016, 0.569] +============================================================ + + +============================================================ +SCENE: LivingDiningRoom-814 | 5 objects +============================================================ +Final Step Collision Loss: 0.0595, Room Outer Loss: 0.0000, Walkable Loss: 0.6338 (Center Penalty: 0.6338), Relational Loss: 0.0000 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +table 3.253 0.126 2.945 -0.087 -0.001 0.938 -0.09° +chair 0.494 0.762 0.546 -0.259 -0.000 -0.701 0.12° +chair 0.362 0.807 0.435 -1.317 0.002 -0.729 0.01° +floor 5.142 -0.001 6.175 0.733 0.002 0.705 -0.06° +_scene_ 0.050 0.004 0.016 -5.659 -0.006 -5.714 -57.34° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: table <-> chair depth=[0.494, 0.126, 0.107] + !! OVERLAP: table <-> chair depth=[0.362, 0.126, 0.023] + !! OVERLAP: table <-> floor depth=[3.253, -0.001, 2.945] + !! OVERLAP: chair <-> floor depth=[0.494, -0.001, 0.546] + !! OVERLAP: chair <-> floor depth=[0.362, -0.001, 0.435] +============================================================ + + +============================================================ +SCENE: LivingRoom-35461 | 12 objects +============================================================ +Final Step Collision Loss: 0.0238, Room Outer Loss: 0.0606, Walkable Loss: 0.3232 (Center Penalty: 0.3232), Relational Loss: 0.0212 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +chair 0.804 1.099 0.809 -1.534 0.005 0.629 69.11° +tv_stand 0.844 0.342 -0.102 0.339 -0.003 1.221 -89.68° +table 0.519 0.803 0.561 -1.250 0.002 2.334 0.05° +cabinet 0.613 1.054 0.494 0.329 0.007 2.289 -89.61° +lamp 0.439 0.686 0.437 -0.442 2.243 1.068 0.10° +lamp 0.930 0.863 1.017 -0.861 1.683 -2.163 -89.99° +lamp 0.905 0.899 0.928 -0.843 2.028 -2.666 -90.09° +table 1.297 0.587 0.892 -0.810 -0.004 0.858 -0.04° +chair 0.560 0.910 0.623 -0.997 -0.000 -0.590 0.07° +chair 0.559 0.888 0.638 -0.684 0.003 2.153 179.91° +floor 3.328 0.006 7.057 -0.964 -0.015 -0.578 -0.11° +_scene_ 0.065 0.000 0.020 -5.674 -0.005 -5.717 -57.31° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: chair <-> table depth=[0.326, 0.587, 0.622] + !! OVERLAP: chair <-> floor depth=[0.804, 0.006, 0.809] + !! OVERLAP: tv_stand <-> floor depth=[0.783, 0.006, -0.102] + !! OVERLAP: table <-> floor depth=[0.519, 0.006, 0.561] + !! OVERLAP: cabinet <-> floor depth=[0.613, 0.006, 0.494] + !! OVERLAP: lamp <-> lamp depth=[0.898, 0.536, 0.469] + !! OVERLAP: table <-> floor depth=[1.297, 0.006, 0.892] + !! OVERLAP: chair <-> floor depth=[0.560, 0.006, 0.623] + !! OVERLAP: chair <-> floor depth=[0.559, 0.006, 0.638] +============================================================ + + +============================================================ +SCENE: LivingRoom-360 | 8 objects +============================================================ +Final Step Collision Loss: 0.0084, Room Outer Loss: 0.0000, Walkable Loss: 0.6261 (Center Penalty: 0.6261), Relational Loss: 0.0147 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +table 1.585 0.730 0.806 -1.344 0.003 0.472 89.85° +sofa 2.066 0.863 0.802 1.443 0.001 0.604 -89.93° +chair 0.542 1.022 0.516 0.399 -0.001 0.798 -91.21° +chair 0.541 0.914 0.436 -1.875 -0.000 0.729 89.95° +lamp 0.903 0.812 0.589 0.897 1.892 0.175 -0.10° +lamp 0.572 0.722 0.567 -1.389 2.003 0.599 0.00° +floor 5.781 0.002 2.488 -0.310 -0.020 0.843 0.36° +_scene_ 0.075 0.002 0.024 -5.665 -0.005 -5.706 -57.29° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: table <-> chair depth=[0.532, 0.730, 0.365] + !! OVERLAP: table <-> floor depth=[1.585, 0.002, 0.806] + !! OVERLAP: sofa <-> chair depth=[0.260, 0.863, 0.465] + !! OVERLAP: sofa <-> floor depth=[2.066, 0.002, 0.802] + !! OVERLAP: chair <-> floor depth=[0.542, 0.002, 0.516] + !! OVERLAP: chair <-> floor depth=[0.541, 0.002, 0.436] +============================================================ + + +============================================================ +SCENE: DiningRoom-15534 | 10 objects +============================================================ +Final Step Collision Loss: 0.0059, Room Outer Loss: 0.0000, Walkable Loss: 0.8395 (Center Penalty: 0.8395), Relational Loss: 0.0000 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +table 2.141 0.755 0.765 -0.750 -0.005 0.222 -89.84° +chair 0.522 0.855 0.561 -1.483 0.004 0.547 90.00° +chair 0.567 0.903 0.553 -1.552 -0.000 -0.221 90.19° +chair 0.533 0.934 0.619 1.282 0.001 0.484 -90.11° +chair 0.430 0.943 0.445 1.422 0.002 -0.126 -89.80° +cabinet 3.048 2.515 0.478 0.177 0.003 1.481 -179.98° +lamp 0.227 1.026 0.101 0.897 1.179 0.020 0.32° +lamp 0.075 0.947 0.116 -0.854 1.127 0.251 0.13° +floor 4.541 -0.035 3.257 -0.430 0.008 1.056 1.02° +_scene_ 0.075 0.000 0.026 -5.673 -0.005 -5.709 -57.32° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: table <-> chair depth=[0.522, 0.755, 0.339] + !! OVERLAP: table <-> chair depth=[0.552, 0.755, 0.215] + !! OVERLAP: table <-> floor depth=[2.141, -0.035, 0.765] + !! OVERLAP: chair <-> floor depth=[0.522, -0.035, 0.561] + !! OVERLAP: chair <-> floor depth=[0.567, -0.035, 0.553] + !! OVERLAP: chair <-> floor depth=[0.533, -0.035, 0.619] + !! OVERLAP: chair <-> floor depth=[0.430, -0.035, 0.445] + !! OVERLAP: cabinet <-> floor depth=[3.048, -0.035, 0.478] +============================================================ + + +============================================================ +SCENE: DiningRoom-31158 | 8 objects +============================================================ +Final Step Collision Loss: 0.0183, Room Outer Loss: 0.0086, Walkable Loss: 2.1682 (Center Penalty: 2.1682), Relational Loss: 0.0244 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +table 1.196 0.766 0.914 -0.828 0.002 -0.142 90.23° +chair 0.553 0.805 0.548 0.399 0.004 0.741 -179.87° +chair 0.563 0.793 0.559 -0.725 -0.006 0.688 174.99° +chair 0.563 0.808 0.581 0.326 0.014 -0.896 -0.05° +chair 0.527 0.822 0.566 -0.559 0.007 -0.786 -0.01° +lamp 1.141 1.113 1.116 -0.815 1.532 0.257 0.00° +floor 4.028 0.004 2.275 0.010 -0.001 -0.040 -0.00° +_scene_ 0.069 -0.000 0.023 -5.674 -0.005 -5.713 -57.32° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: table <-> chair depth=[0.527, 0.766, 0.096] + !! OVERLAP: table <-> floor depth=[1.196, 0.004, 0.914] + !! OVERLAP: chair <-> floor depth=[0.553, 0.004, 0.548] + !! OVERLAP: chair <-> floor depth=[0.563, 0.004, 0.559] + !! OVERLAP: chair <-> floor depth=[0.563, 0.004, 0.572] + !! OVERLAP: chair <-> floor depth=[0.527, 0.004, 0.566] +============================================================ + + +============================================================ +SCENE: DiningRoom-197500 | 13 objects +============================================================ +Final Step Collision Loss: 0.0093, Room Outer Loss: 0.0284, Walkable Loss: 1.3588 (Center Penalty: 1.3588), Relational Loss: 0.0192 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +table 1.435 0.724 0.744 -0.435 -0.005 -0.545 179.98° +chair 0.555 0.875 0.572 -0.353 0.003 0.855 -179.94° +chair 0.578 0.831 0.510 0.577 0.018 0.916 -127.04° +chair 0.482 0.878 0.557 0.501 0.001 -0.883 -42.35° +chair 0.560 0.896 0.574 -0.352 0.000 -1.249 0.03° +chair 0.531 0.866 0.583 -1.260 0.001 0.546 141.53° +cabinet 2.582 2.477 0.272 -2.469 0.003 0.107 89.88° +cabinet 1.185 2.028 0.401 1.142 0.006 -0.717 -90.65° +chair 0.516 0.849 0.412 -1.099 0.007 -0.842 47.36° +cabinet 1.283 2.120 0.144 0.963 -0.007 0.676 -89.75° +lamp 0.364 0.493 0.382 -0.638 2.368 -0.539 0.16° +floor 5.554 0.014 4.673 -0.955 0.003 0.015 -0.08° +_scene_ 0.071 0.001 0.027 -5.673 -0.005 -5.713 -57.30° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: table <-> chair depth=[0.023, 0.724, 0.313] + !! OVERLAP: table <-> chair depth=[0.312, 0.724, 0.280] + !! OVERLAP: table <-> floor depth=[1.435, 0.014, 0.744] + !! OVERLAP: chair <-> floor depth=[0.555, 0.014, 0.572] + !! OVERLAP: chair <-> cabinet depth=[0.545, 0.831, 0.087] + !! OVERLAP: chair <-> floor depth=[0.578, 0.014, 0.510] + !! OVERLAP: chair <-> cabinet depth=[0.192, 0.878, 0.313] + !! OVERLAP: chair <-> floor depth=[0.482, 0.014, 0.557] + !! OVERLAP: chair <-> floor depth=[0.560, 0.014, 0.574] + !! OVERLAP: chair <-> floor depth=[0.531, 0.014, 0.583] + !! OVERLAP: cabinet <-> floor depth=[2.554, 0.014, 0.272] + !! OVERLAP: cabinet <-> floor depth=[1.185, 0.014, 0.401] + !! OVERLAP: chair <-> floor depth=[0.516, 0.014, 0.412] + !! OVERLAP: cabinet <-> floor depth=[1.283, 0.014, 0.144] +============================================================ + + +============================================================ +SCENE: DiningRoom-26805 | 9 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0000, Walkable Loss: 0.9061 (Center Penalty: 0.9061), Relational Loss: 0.0135 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +chair 0.534 0.687 0.345 -0.675 0.006 -1.209 46.39° +table 2.538 1.071 0.714 -0.055 0.011 0.788 89.71° +chair 0.516 0.730 0.535 -1.101 0.001 0.031 90.05° +chair 0.539 0.718 0.535 -0.911 -0.001 0.970 132.55° +chair 0.521 0.704 0.513 0.761 0.003 1.021 -136.74° +chair 0.524 0.779 0.586 0.809 0.003 0.348 -89.90° +chair 0.449 0.698 0.444 0.566 -0.002 -1.002 -56.14° +floor 4.183 -0.007 4.760 0.259 0.005 0.924 0.72° +_scene_ 0.096 -0.004 0.082 -5.580 -0.003 -5.641 -57.38° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: chair <-> floor depth=[0.534, -0.007, 0.345] + !! OVERLAP: table <-> chair depth=[0.539, 0.718, 0.442] + !! OVERLAP: table <-> chair depth=[0.521, 0.704, 0.380] + !! OVERLAP: table <-> chair depth=[0.524, 0.779, 0.210] + !! OVERLAP: table <-> floor depth=[2.538, -0.007, 0.714] + !! OVERLAP: chair <-> floor depth=[0.516, -0.007, 0.535] + !! OVERLAP: chair <-> floor depth=[0.539, -0.007, 0.535] + !! OVERLAP: chair <-> floor depth=[0.521, -0.007, 0.513] + !! OVERLAP: chair <-> floor depth=[0.524, -0.007, 0.586] + !! OVERLAP: chair <-> floor depth=[0.449, -0.007, 0.444] +============================================================ + + +============================================================ +SCENE: DiningRoom-17995 | 9 objects +============================================================ +Final Step Collision Loss: 0.0108, Room Outer Loss: 0.0000, Walkable Loss: 0.3798 (Center Penalty: 0.3798), Relational Loss: 0.0320 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +cabinet 0.799 1.472 0.120 1.656 -0.016 0.694 -179.94° +table 1.555 0.752 0.757 -1.486 0.000 -0.912 0.10° +chair 0.477 0.937 0.498 -1.708 0.001 -1.518 0.00° +chair 0.474 0.913 0.544 -0.616 0.001 -1.367 -0.58° +chair 0.454 0.878 0.522 -1.963 0.002 -0.410 89.93° +chair 0.373 0.857 0.470 -0.870 0.015 -0.317 -120.27° +lamp 1.026 0.733 0.662 -0.882 1.964 -0.611 -0.03° +floor 5.061 0.013 3.763 -0.281 0.004 -1.075 0.02° +_scene_ 0.071 0.001 0.023 -5.671 -0.005 -5.714 -57.30° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: cabinet <-> floor depth=[0.799, 0.013, 0.120] + !! OVERLAP: table <-> chair depth=[0.477, 0.752, 0.021] + !! OVERLAP: table <-> chair depth=[0.144, 0.752, 0.196] + !! OVERLAP: table <-> chair depth=[0.454, 0.752, 0.137] + !! OVERLAP: table <-> chair depth=[0.348, 0.752, 0.018] + !! OVERLAP: table <-> floor depth=[1.555, 0.013, 0.757] + !! OVERLAP: chair <-> floor depth=[0.477, 0.013, 0.498] + !! OVERLAP: chair <-> floor depth=[0.474, 0.013, 0.544] + !! OVERLAP: chair <-> floor depth=[0.454, 0.013, 0.522] + !! OVERLAP: chair <-> floor depth=[0.373, 0.013, 0.470] +============================================================ + + +============================================================ +SCENE: DiningRoom-16628 | 10 objects +============================================================ +Final Step Collision Loss: 0.0257, Room Outer Loss: 0.0000, Walkable Loss: 1.3573 (Center Penalty: 1.3573), Relational Loss: 0.0233 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +table 1.221 0.708 1.074 -0.411 0.006 0.752 89.87° +chair 0.581 0.767 0.611 0.921 0.007 -0.320 -89.94° +chair 0.554 0.854 0.592 0.879 -0.001 0.528 -89.94° +chair 0.501 0.802 0.572 -0.106 0.001 1.444 179.92° +chair 0.540 0.764 0.543 -0.824 -0.000 0.666 90.06° +chair 0.462 0.797 0.510 -0.931 0.003 -0.033 90.01° +chair 0.615 0.846 0.486 -0.017 0.001 -0.979 0.09° +lamp 0.913 0.695 1.088 -0.429 2.223 0.907 -0.10° +floor 3.292 0.003 4.105 0.079 -0.003 0.795 -0.09° +_scene_ 0.067 -0.001 0.050 -5.642 -0.004 -5.691 -57.30° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: table <-> chair depth=[0.501, 0.708, 0.131] + !! OVERLAP: table <-> chair depth=[0.468, 0.708, 0.543] + !! OVERLAP: table <-> chair depth=[0.321, 0.708, 0.007] + !! OVERLAP: table <-> floor depth=[1.221, 0.003, 1.074] + !! OVERLAP: chair <-> floor depth=[0.581, 0.003, 0.611] + !! OVERLAP: chair <-> floor depth=[0.554, 0.003, 0.592] + !! OVERLAP: chair <-> floor depth=[0.501, 0.003, 0.572] + !! OVERLAP: chair <-> floor depth=[0.540, 0.003, 0.543] + !! OVERLAP: chair <-> floor depth=[0.462, 0.003, 0.510] + !! OVERLAP: chair <-> floor depth=[0.615, 0.003, 0.486] +============================================================ + + +============================================================ +SCENE: DiningRoom-11628 | 11 objects +============================================================ +Final Step Collision Loss: 0.0026, Room Outer Loss: 0.0433, Walkable Loss: 0.7990 (Center Penalty: 0.7990), Relational Loss: 0.0062 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +table 1.161 0.832 0.654 0.596 -0.002 1.113 -0.00° +chair 0.481 0.768 0.587 0.495 0.001 0.565 0.06° +chair 0.489 0.836 0.525 1.035 0.003 0.465 0.12° +chair 0.418 0.775 0.440 0.753 0.001 1.752 179.94° +chair 0.450 0.800 0.494 0.326 0.000 1.729 179.95° +bookshelf 1.100 1.201 0.361 -0.763 0.002 0.946 89.97° +lamp 0.735 1.042 0.749 0.524 1.803 1.174 -0.04° +lamp 0.510 0.284 0.260 -1.447 2.256 -1.289 0.12° +lamp 0.340 0.550 0.056 0.959 1.915 -0.270 -0.09° +floor 3.305 0.009 4.682 -0.302 -0.007 0.965 -0.35° +_scene_ 0.061 0.002 0.020 -5.667 -0.005 -5.706 -57.33° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: table <-> chair depth=[0.481, 0.768, 0.073] + !! OVERLAP: table <-> floor depth=[1.161, 0.009, 0.654] + !! OVERLAP: chair <-> floor depth=[0.481, 0.009, 0.587] + !! OVERLAP: chair <-> floor depth=[0.489, 0.009, 0.525] + !! OVERLAP: chair <-> chair depth=[0.007, 0.775, 0.440] + !! OVERLAP: chair <-> floor depth=[0.418, 0.009, 0.440] + !! OVERLAP: chair <-> floor depth=[0.450, 0.009, 0.494] + !! OVERLAP: bookshelf <-> floor depth=[1.100, 0.009, 0.361] +============================================================ + + +============================================================ +SCENE: DiningRoom-29864 | 11 objects +============================================================ +Final Step Collision Loss: 0.0148, Room Outer Loss: 0.0000, Walkable Loss: 0.2083 (Center Penalty: 0.2083), Relational Loss: 0.0074 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +table 1.083 0.716 0.687 1.046 -0.002 -2.828 0.27° +chair 0.507 0.908 0.537 0.260 0.009 -2.949 90.18° +lamp 0.815 1.159 0.829 0.660 1.627 -2.647 0.03° +chair 0.423 0.997 0.514 1.270 0.002 -2.980 -90.04° +chair 0.547 0.920 0.519 0.314 0.001 -2.250 89.91° +chair 0.443 0.904 0.397 1.326 0.002 -2.247 -90.20° +table 1.591 1.123 0.333 -1.399 0.001 0.380 0.01° +shelf 0.750 1.918 0.305 -0.966 -0.000 -1.295 0.08° +lamp 0.397 0.493 0.215 0.223 2.419 1.002 -0.06° +floor 4.002 -0.004 7.439 -0.361 -0.001 -1.107 -0.27° +_scene_ 0.073 0.000 0.022 -5.671 -0.005 -5.707 -57.31° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: table <-> chair depth=[0.009, 0.716, 0.491] + !! OVERLAP: table <-> chair depth=[0.423, 0.716, 0.448] + !! OVERLAP: table <-> chair depth=[0.083, 0.716, 0.026] + !! OVERLAP: table <-> floor depth=[1.083, -0.004, 0.687] + !! OVERLAP: chair <-> floor depth=[0.507, -0.004, 0.537] + !! OVERLAP: chair <-> floor depth=[0.423, -0.004, 0.514] + !! OVERLAP: chair <-> floor depth=[0.547, -0.004, 0.519] + !! OVERLAP: chair <-> floor depth=[0.443, -0.004, 0.397] + !! OVERLAP: table <-> floor depth=[1.591, -0.004, 0.333] + !! OVERLAP: shelf <-> floor depth=[0.750, -0.004, 0.305] +============================================================ + + +============================================================ +SCENE: DiningRoom-2817 | 9 objects +============================================================ +Final Step Collision Loss: 0.0044, Room Outer Loss: 0.0000, Walkable Loss: 1.8375 (Center Penalty: 1.8375), Relational Loss: 0.0006 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +table 1.562 0.756 0.892 0.625 -0.002 0.559 -0.16° +chair 0.320 0.450 0.331 -0.023 0.002 -0.772 0.05° +chair 0.323 0.500 0.308 0.789 -0.001 -0.684 -0.01° +chair 0.469 0.541 0.421 -0.323 -0.001 1.183 -179.92° +chair 0.519 0.628 0.374 0.890 0.002 1.113 179.68° +cabinet 1.070 1.021 0.429 -1.450 0.005 -0.433 90.11° +lamp 2.013 0.939 0.410 0.516 1.702 0.794 -0.20° +floor 3.803 -0.000 3.791 -0.134 0.001 -0.128 0.01° +_scene_ 0.072 0.001 0.023 -5.668 -0.004 -5.714 -57.29° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: table <-> chair depth=[0.067, 0.541, 0.032] + !! OVERLAP: table <-> chair depth=[0.519, 0.628, 0.079] + !! OVERLAP: table <-> floor depth=[1.562, -0.000, 0.892] + !! OVERLAP: chair <-> floor depth=[0.320, -0.000, 0.331] + !! OVERLAP: chair <-> floor depth=[0.323, -0.000, 0.308] + !! OVERLAP: chair <-> floor depth=[0.469, -0.000, 0.421] + !! OVERLAP: chair <-> floor depth=[0.519, -0.000, 0.374] + !! OVERLAP: cabinet <-> floor depth=[1.070, -0.000, 0.429] +============================================================ + + +============================================================ +SCENE: DiningRoom-35065 | 9 objects +============================================================ +Final Step Collision Loss: 0.0022, Room Outer Loss: 0.1853, Walkable Loss: 1.1885 (Center Penalty: 1.1885), Relational Loss: 0.0396 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +cabinet 0.574 1.977 0.290 0.545 0.019 1.240 -90.35° +lamp 0.504 0.906 0.504 -0.941 1.754 -0.131 -0.01° +chair 0.326 0.770 0.260 -0.298 0.010 -0.865 -21.75° +chair 0.519 0.774 0.553 -0.742 -0.001 -0.560 0.04° +table 1.297 0.771 0.844 -0.738 0.002 0.249 179.60° +chair 0.465 0.816 0.465 -0.794 -0.001 0.874 179.96° +chair 0.450 0.811 0.482 -0.159 0.002 0.967 179.98° +floor 3.520 0.009 2.365 -1.008 -0.014 0.097 -0.56° +_scene_ 0.068 0.001 0.019 -5.671 -0.005 -5.716 -57.29° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: cabinet <-> floor depth=[0.494, 0.009, 0.185] + !! OVERLAP: chair <-> floor depth=[0.326, 0.009, 0.260] + !! OVERLAP: chair <-> floor depth=[0.519, 0.009, 0.553] + !! OVERLAP: table <-> chair depth=[0.465, 0.771, 0.029] + !! OVERLAP: table <-> floor depth=[1.297, 0.009, 0.844] + !! OVERLAP: chair <-> floor depth=[0.465, 0.009, 0.465] + !! OVERLAP: chair <-> floor depth=[0.450, 0.009, 0.482] +============================================================ + + +============================================================ +SCENE: DiningRoom-88173 | 13 objects +============================================================ +Final Step Collision Loss: 0.0384, Room Outer Loss: 0.0394, Walkable Loss: 1.5911 (Center Penalty: 1.5911), Relational Loss: 0.0391 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +lamp 0.999 0.791 0.200 0.013 1.638 -0.827 0.19° +table 1.385 0.604 1.193 -0.646 -0.006 0.167 0.09° +chair 0.521 1.093 0.648 0.510 -0.000 0.746 -101.77° +chair 1.039 1.082 0.645 -0.077 0.001 1.437 179.96° +chair 0.344 1.004 0.744 0.677 0.025 -0.683 -89.83° +chair 0.457 1.059 0.588 0.311 0.002 -0.994 -79.30° +chair 0.622 1.091 0.657 -0.913 -0.002 0.623 113.22° +chair 0.631 0.997 0.925 -1.102 0.002 -0.251 83.58° +chair 0.645 1.004 0.742 -0.916 -0.001 -0.719 90.04° +chair 0.776 1.042 0.807 -0.299 0.000 -1.442 0.08° +table 1.359 0.598 0.327 -0.197 0.002 -2.089 -0.05° +floor 2.643 0.011 5.396 -0.512 0.004 -0.737 0.15° +_scene_ 0.140 -0.009 0.128 -5.610 -0.001 -5.657 -57.14° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: table <-> chair depth=[0.622, 0.604, 0.469] + !! OVERLAP: table <-> chair depth=[0.552, 0.604, 0.642] + !! OVERLAP: table <-> chair depth=[0.645, 0.604, 0.081] + !! OVERLAP: table <-> floor depth=[1.385, 0.011, 1.193] + !! OVERLAP: chair <-> floor depth=[0.521, 0.011, 0.648] + !! OVERLAP: chair <-> floor depth=[1.039, 0.011, 0.645] + !! OVERLAP: chair <-> chair depth=[0.035, 1.004, 0.355] + !! OVERLAP: chair <-> floor depth=[0.305, 0.011, 0.744] + !! OVERLAP: chair <-> chair depth=[0.006, 1.042, 0.249] + !! OVERLAP: chair <-> floor depth=[0.457, 0.011, 0.588] + !! OVERLAP: chair <-> floor depth=[0.622, 0.011, 0.657] + !! OVERLAP: chair <-> chair depth=[0.452, 0.997, 0.365] + !! OVERLAP: chair <-> floor depth=[0.631, 0.011, 0.925] + !! OVERLAP: chair <-> chair depth=[0.094, 1.004, 0.052] + !! OVERLAP: chair <-> floor depth=[0.645, 0.011, 0.742] + !! OVERLAP: chair <-> floor depth=[0.776, 0.011, 0.807] + !! OVERLAP: table <-> floor depth=[1.359, 0.011, 0.327] +============================================================ + + +============================================================ +SCENE: DiningRoom-35093 | 9 objects +============================================================ +Final Step Collision Loss: 0.0128, Room Outer Loss: 0.0186, Walkable Loss: 1.1623 (Center Penalty: 1.1623), Relational Loss: 0.0207 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +table 1.040 0.753 1.011 -0.045 -0.001 -0.664 0.48° +chair 0.458 1.071 0.519 -0.991 0.001 0.265 -179.96° +chair 0.240 0.922 0.211 -0.447 0.028 -0.965 -178.89° +chair 0.434 0.837 0.548 0.886 0.001 -0.056 -180.00° +chair 0.549 0.833 0.630 0.797 0.002 -1.046 -0.02° +chair 0.432 0.889 0.444 -0.179 0.000 -1.275 0.20° +lamp 0.693 0.959 0.749 -0.034 1.684 -0.884 -0.05° +floor 3.795 0.002 3.125 -0.814 0.002 -0.971 1.62° +_scene_ 0.062 0.002 0.019 -5.674 -0.004 -5.710 -57.30° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: table <-> chair depth=[0.238, 0.753, 0.211] + !! OVERLAP: table <-> chair depth=[0.432, 0.753, 0.116] + !! OVERLAP: table <-> floor depth=[1.040, 0.002, 1.011] + !! OVERLAP: chair <-> floor depth=[0.458, 0.002, 0.519] + !! OVERLAP: chair <-> chair depth=[0.068, 0.877, 0.017] + !! OVERLAP: chair <-> floor depth=[0.240, 0.002, 0.211] + !! OVERLAP: chair <-> floor depth=[0.415, 0.002, 0.548] + !! OVERLAP: chair <-> floor depth=[0.549, 0.002, 0.630] + !! OVERLAP: chair <-> floor depth=[0.432, 0.002, 0.444] +============================================================ + + +============================================================ +SCENE: DiningRoom-10302 | 11 objects +============================================================ +Final Step Collision Loss: 0.0139, Room Outer Loss: 0.0942, Walkable Loss: 1.3160 (Center Penalty: 1.3160), Relational Loss: 0.0119 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +table 1.366 0.433 0.485 -1.266 0.001 0.664 90.04° +shelf 0.450 0.838 0.228 -0.951 0.004 -1.316 0.09° +chair 0.150 0.946 0.482 0.628 -0.010 1.062 -179.67° +chair 0.373 0.865 0.549 0.517 0.001 1.044 179.87° +chair 0.134 0.859 0.540 0.647 -0.011 -0.711 -0.57° +chair 0.414 0.852 0.508 0.539 0.000 -0.505 -0.06° +table 1.344 0.861 0.580 0.072 -0.014 0.814 -89.99° +lamp 0.055 0.814 0.227 0.609 1.757 0.707 -0.10° +lamp 0.485 0.875 0.471 0.337 1.597 -0.797 -0.06° +floor 3.866 0.118 3.756 -1.226 -0.008 -0.572 -0.29° +_scene_ 0.068 0.001 0.017 -5.670 -0.005 -5.716 -57.29° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: table <-> table depth=[0.017, 0.433, 0.383] + !! OVERLAP: table <-> floor depth=[1.366, 0.118, 0.485] + !! OVERLAP: shelf <-> floor depth=[0.450, 0.118, 0.228] + !! OVERLAP: chair <-> chair depth=[0.150, 0.865, 0.482] + !! OVERLAP: chair <-> table depth=[0.150, 0.861, 0.282] + !! OVERLAP: chair <-> floor depth=[0.150, 0.118, 0.482] + !! OVERLAP: chair <-> table depth=[0.373, 0.848, 0.334] + !! OVERLAP: chair <-> floor depth=[0.373, 0.118, 0.537] + !! OVERLAP: chair <-> chair depth=[0.134, 0.845, 0.317] + !! OVERLAP: chair <-> floor depth=[0.128, 0.118, 0.540] + !! OVERLAP: chair <-> floor depth=[0.375, 0.118, 0.508] + !! OVERLAP: table <-> floor depth=[1.307, 0.118, 0.580] +============================================================ + + +============================================================ +SCENE: DiningRoom-113004 | 9 objects +============================================================ +Final Step Collision Loss: 0.0267, Room Outer Loss: 0.0000, Walkable Loss: 0.4340 (Center Penalty: 0.4340), Relational Loss: 0.0374 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +table 1.864 0.733 0.656 -0.621 -0.005 0.850 -0.07° +chair 0.493 0.818 0.514 -1.133 -0.001 0.184 -0.00° +chair 0.431 0.923 0.294 -0.271 0.046 1.029 -0.20° +chair 0.456 0.856 0.489 -0.746 0.000 1.437 179.97° +chair 0.500 0.844 0.580 -0.017 0.001 1.364 179.97° +table 1.487 0.827 0.604 -0.726 0.006 -1.418 -0.04° +lamp 0.981 0.600 1.035 -0.163 2.125 1.326 0.06° +floor 3.484 -0.019 4.495 -1.103 -0.029 0.108 0.25° +_scene_ 0.070 0.003 0.022 -5.665 -0.005 -5.713 -57.33° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: table <-> chair depth=[0.431, 0.733, 0.294] + !! OVERLAP: table <-> chair depth=[0.500, 0.733, 0.104] + !! OVERLAP: table <-> floor depth=[1.864, -0.019, 0.656] + !! OVERLAP: chair <-> floor depth=[0.493, -0.019, 0.514] + !! OVERLAP: chair <-> chair depth=[0.211, 0.839, 0.102] + !! OVERLAP: chair <-> floor depth=[0.431, -0.019, 0.294] + !! OVERLAP: chair <-> floor depth=[0.456, -0.019, 0.489] + !! OVERLAP: chair <-> floor depth=[0.500, -0.019, 0.580] + !! OVERLAP: table <-> floor depth=[1.487, -0.019, 0.604] +============================================================ + + +============================================================ +SCENE: DiningRoom-22384 | 8 objects +============================================================ +Final Step Collision Loss: 0.0213, Room Outer Loss: 0.0000, Walkable Loss: 0.7457 (Center Penalty: 0.7457), Relational Loss: 0.0244 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +table 1.273 0.736 0.766 0.647 0.021 -0.590 -0.08° +lamp 0.859 0.766 0.870 0.931 1.902 -0.839 1.92° +chair 0.458 1.052 0.489 0.054 -0.000 -1.109 89.89° +chair 0.486 1.050 0.571 -0.189 0.002 -0.839 90.04° +chair 0.465 1.047 0.497 1.567 -0.001 -1.013 -84.05° +chair 0.478 0.987 0.560 1.477 0.001 -0.220 -89.95° +floor 3.231 0.025 3.855 0.795 0.046 0.527 -0.11° +_scene_ 0.057 -0.004 0.016 -5.669 -0.004 -5.705 -57.28° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: table <-> chair depth=[0.273, 0.736, 0.109] + !! OVERLAP: table <-> chair depth=[0.043, 0.736, 0.419] + !! OVERLAP: table <-> chair depth=[0.046, 0.736, 0.293] + !! OVERLAP: table <-> floor depth=[1.273, 0.025, 0.766] + !! OVERLAP: chair <-> chair depth=[0.229, 1.048, 0.260] + !! OVERLAP: chair <-> floor depth=[0.458, 0.025, 0.489] + !! OVERLAP: chair <-> floor depth=[0.486, 0.025, 0.571] + !! OVERLAP: chair <-> floor depth=[0.465, 0.025, 0.497] + !! OVERLAP: chair <-> floor depth=[0.478, 0.025, 0.560] +============================================================ + + +============================================================ +SCENE: DiningRoom-11145 | 9 objects +============================================================ +Final Step Collision Loss: 0.0146, Room Outer Loss: 0.0100, Walkable Loss: 2.2431 (Center Penalty: 2.2431), Relational Loss: 0.0383 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +table 1.263 0.769 0.994 -0.366 0.001 -0.745 0.05° +chair 0.401 0.882 0.465 0.455 0.019 -0.595 179.89° +chair 0.532 0.848 0.565 -0.632 -0.003 0.440 -179.62° +chair 0.566 0.861 0.639 0.427 0.001 -1.254 0.00° +chair 0.489 0.904 0.465 -0.136 -0.001 -1.279 -0.02° +table 1.572 1.248 0.418 0.016 0.001 1.279 -179.85° +lamp 0.900 0.913 0.857 -0.124 1.865 -0.815 -0.09° +floor 2.550 0.001 3.159 0.005 -0.001 0.016 -0.01° +_scene_ 0.067 0.002 0.026 -5.659 -0.005 -5.708 -57.29° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: table <-> chair depth=[0.011, 0.769, 0.465] + !! OVERLAP: table <-> chair depth=[0.122, 0.769, 0.308] + !! OVERLAP: table <-> chair depth=[0.489, 0.769, 0.196] + !! OVERLAP: table <-> floor depth=[1.263, 0.001, 0.994] + !! OVERLAP: chair <-> floor depth=[0.401, 0.001, 0.465] + !! OVERLAP: chair <-> floor depth=[0.532, 0.001, 0.565] + !! OVERLAP: chair <-> floor depth=[0.566, 0.001, 0.629] + !! OVERLAP: chair <-> floor depth=[0.489, 0.001, 0.465] + !! OVERLAP: table <-> floor depth=[1.572, 0.001, 0.418] +============================================================ + + +============================================================ +SCENE: DiningRoom-10559 | 12 objects +============================================================ +Final Step Collision Loss: 0.0123, Room Outer Loss: 0.1562, Walkable Loss: 0.4128 (Center Penalty: 0.4128), Relational Loss: 0.0105 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +table 2.034 0.745 0.879 1.042 -0.002 -1.035 -0.11° +chair 0.603 0.960 0.572 1.575 0.001 -1.693 0.07° +chair 0.562 0.928 0.627 1.046 0.003 -0.381 179.88° +cabinet 1.630 2.068 0.341 0.989 0.006 0.642 179.98° +chair 0.525 0.996 0.589 1.893 -0.000 -0.596 179.96° +chair 0.519 1.027 0.548 0.675 0.004 -1.764 -0.04° +lamp 0.512 0.316 0.513 0.158 2.247 -1.360 -0.10° +cabinet 1.407 1.781 0.378 -2.254 -0.006 -0.843 0.02° +tv_stand 1.696 0.335 0.176 -1.964 0.001 0.769 -179.81° +chair 0.473 0.517 0.469 -0.902 -0.001 0.538 179.95° +floor 6.166 0.017 3.582 0.080 0.002 -1.029 0.00° +_scene_ 0.070 0.000 0.024 -5.670 -0.004 -5.711 -57.31° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: table <-> chair depth=[0.603, 0.745, 0.067] + !! OVERLAP: table <-> chair depth=[0.562, 0.745, 0.099] + !! OVERLAP: table <-> chair depth=[0.428, 0.745, 0.295] + !! OVERLAP: table <-> floor depth=[2.034, 0.017, 0.879] + !! OVERLAP: chair <-> floor depth=[0.603, 0.017, 0.572] + !! OVERLAP: chair <-> floor depth=[0.562, 0.017, 0.627] + !! OVERLAP: cabinet <-> floor depth=[1.630, 0.017, 0.290] + !! OVERLAP: chair <-> floor depth=[0.525, 0.017, 0.589] + !! OVERLAP: chair <-> floor depth=[0.519, 0.017, 0.548] + !! OVERLAP: cabinet <-> floor depth=[1.407, 0.017, 0.378] + !! OVERLAP: tv_stand <-> chair depth=[0.022, 0.335, 0.091] + !! OVERLAP: tv_stand <-> floor depth=[1.696, 0.017, 0.080] + !! OVERLAP: chair <-> floor depth=[0.473, 0.017, 0.459] +============================================================ + + +============================================================ +SCENE: DiningRoom-85692 | 8 objects +============================================================ +Final Step Collision Loss: 0.0157, Room Outer Loss: 0.0000, Walkable Loss: 1.3150 (Center Penalty: 1.3150), Relational Loss: 0.0371 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +table 1.629 0.751 1.278 -0.097 -0.012 -0.703 89.97° +chair 0.500 0.744 0.519 0.894 -0.001 0.291 -90.13° +chair 0.424 0.802 0.479 1.012 0.002 -0.500 -90.04° +chair 0.424 0.762 0.509 -0.698 -0.000 0.295 90.03° +chair 0.265 0.738 0.365 -0.759 -0.005 -0.763 85.83° +lamp 0.742 1.001 0.727 0.762 2.037 -0.741 0.00° +floor 3.678 0.004 3.064 0.820 -0.018 -0.425 -0.86° +_scene_ 0.071 0.001 0.027 -5.659 -0.002 -5.694 -57.31° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: table <-> chair depth=[0.265, 0.737, 0.365] + !! OVERLAP: table <-> floor depth=[1.629, 0.004, 1.278] + !! OVERLAP: chair <-> floor depth=[0.500, 0.004, 0.519] + !! OVERLAP: chair <-> floor depth=[0.424, 0.004, 0.479] + !! OVERLAP: chair <-> floor depth=[0.424, 0.004, 0.509] + !! OVERLAP: chair <-> floor depth=[0.265, 0.004, 0.365] +============================================================ + + +============================================================ +SCENE: DiningRoom-12866 | 10 objects +============================================================ +Final Step Collision Loss: 0.0106, Room Outer Loss: 0.0000, Walkable Loss: 0.8405 (Center Penalty: 0.8405), Relational Loss: 0.0181 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +chair 0.623 1.049 0.642 -0.323 0.002 -1.418 67.79° +chair 0.658 0.977 0.717 -0.394 0.000 -0.597 89.81° +chair 0.530 1.008 0.526 1.143 0.001 -0.447 -90.03° +chair 0.507 1.021 0.629 1.138 0.002 -1.065 0.17° +table 0.888 0.768 1.323 0.347 -0.003 -1.034 179.98° +table 1.702 0.867 0.397 0.035 0.002 1.516 -179.99° +chair 0.550 0.568 0.526 1.364 0.000 1.006 179.83° +lamp 0.895 0.831 0.931 0.121 1.896 -0.926 -0.05° +floor 3.742 0.018 4.022 1.011 0.003 0.020 1.21° +_scene_ 0.068 0.002 0.023 -5.665 -0.003 -5.707 -57.29° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: chair <-> table depth=[0.086, 0.768, 0.599] + !! OVERLAP: chair <-> floor depth=[0.623, 0.018, 0.642] + !! OVERLAP: chair <-> table depth=[0.032, 0.768, 0.582] + !! OVERLAP: chair <-> floor depth=[0.658, 0.018, 0.717] + !! OVERLAP: chair <-> floor depth=[0.530, 0.018, 0.526] + !! OVERLAP: chair <-> floor depth=[0.507, 0.018, 0.629] + !! OVERLAP: table <-> floor depth=[0.888, 0.018, 1.323] + !! OVERLAP: table <-> floor depth=[1.702, 0.018, 0.397] + !! OVERLAP: chair <-> floor depth=[0.550, 0.018, 0.526] +============================================================ + + +============================================================ +SCENE: DiningRoom-9824 | 10 objects +============================================================ +Final Step Collision Loss: 0.0238, Room Outer Loss: 0.0000, Walkable Loss: 0.8805 (Center Penalty: 0.8805), Relational Loss: 0.0186 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +table 0.776 0.939 0.309 0.880 0.003 -0.953 0.01° +table 2.369 0.741 0.780 0.200 -0.001 1.035 179.95° +chair 0.336 0.487 0.361 -1.033 0.001 0.308 90.11° +chair 0.284 0.532 0.334 0.596 -0.003 0.531 -0.08° +chair 0.294 0.546 0.380 0.332 0.001 1.330 -89.98° +chair 0.332 0.488 0.412 -0.570 -0.000 1.469 90.07° +chair 0.298 0.577 0.330 1.049 0.001 0.668 -90.02° +lamp 1.489 0.563 1.609 -0.080 2.283 1.336 0.08° +floor 3.583 0.003 4.096 -0.016 0.020 0.824 -0.05° +_scene_ 0.063 0.002 0.018 -5.668 -0.004 -5.716 -57.31° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: table <-> floor depth=[0.776, 0.003, 0.309] + !! OVERLAP: table <-> chair depth=[0.284, 0.532, 0.053] + !! OVERLAP: table <-> chair depth=[0.294, 0.546, 0.285] + !! OVERLAP: table <-> chair depth=[0.332, 0.488, 0.162] + !! OVERLAP: table <-> chair depth=[0.298, 0.577, 0.187] + !! OVERLAP: table <-> floor depth=[2.369, 0.003, 0.780] + !! OVERLAP: chair <-> floor depth=[0.336, 0.003, 0.361] + !! OVERLAP: chair <-> floor depth=[0.284, 0.003, 0.334] + !! OVERLAP: chair <-> floor depth=[0.294, 0.003, 0.380] + !! OVERLAP: chair <-> floor depth=[0.332, 0.003, 0.412] + !! OVERLAP: chair <-> floor depth=[0.298, 0.003, 0.330] +============================================================ + + +============================================================ +SCENE: DiningRoom-88590 | 10 objects +============================================================ +Final Step Collision Loss: 0.0252, Room Outer Loss: 0.0000, Walkable Loss: 0.6638 (Center Penalty: 0.6638), Relational Loss: 0.0292 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +lamp 1.020 0.591 0.342 -0.837 1.980 0.622 0.03° +chair 0.617 0.719 0.604 -0.989 0.002 -0.626 0.04° +chair 0.444 0.442 0.388 0.707 0.001 -1.467 -0.00° +chair 0.548 0.788 0.592 -0.397 -0.008 -0.706 -20.59° +cabinet 1.962 1.930 0.293 -2.143 -0.000 0.133 89.96° +table 2.204 0.736 1.254 -1.216 -0.002 0.714 89.91° +chair 0.549 0.709 0.524 -0.027 0.009 1.029 -144.87° +chair 0.524 0.772 0.599 -0.736 0.001 1.263 -179.98° +floor 4.910 -0.009 3.456 -1.191 -0.000 0.013 0.33° +_scene_ 0.062 0.000 0.020 -5.670 -0.004 -5.716 -57.30° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: chair <-> floor depth=[0.617, -0.009, 0.604] + !! OVERLAP: chair <-> floor depth=[0.444, -0.009, 0.388] + !! OVERLAP: chair <-> floor depth=[0.548, -0.009, 0.592] + !! OVERLAP: cabinet <-> table depth=[1.156, 0.736, 0.192] + !! OVERLAP: cabinet <-> floor depth=[1.962, -0.009, 0.293] + !! OVERLAP: table <-> chair depth=[0.188, 0.709, 0.524] + !! OVERLAP: table <-> chair depth=[0.524, 0.736, 0.378] + !! OVERLAP: table <-> floor depth=[2.204, -0.009, 1.254] + !! OVERLAP: chair <-> floor depth=[0.549, -0.009, 0.524] + !! OVERLAP: chair <-> floor depth=[0.524, -0.009, 0.599] +============================================================ + + +============================================================ +SCENE: DiningRoom-7217 | 8 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0000, Walkable Loss: 2.3395 (Center Penalty: 2.3395), Relational Loss: 0.0349 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +table 1.634 0.737 0.992 0.014 -0.001 0.640 -89.87° +chair 0.521 1.006 0.591 0.843 0.008 0.032 -89.84° +chair 0.545 1.040 0.595 0.848 0.006 0.713 -90.15° +chair 0.542 0.970 0.606 -1.023 -0.002 0.115 90.07° +chair 0.568 1.040 0.657 -0.820 0.001 0.779 89.95° +lamp 0.771 1.172 0.764 0.279 1.548 0.636 0.11° +floor 2.733 0.005 2.956 -0.048 0.002 -0.030 0.03° +_scene_ 0.068 0.006 0.021 -5.665 -0.005 -5.717 -57.31° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: table <-> chair depth=[0.249, 0.737, 0.184] + !! OVERLAP: table <-> chair depth=[0.255, 0.737, 0.595] + !! OVERLAP: table <-> chair depth=[0.052, 0.737, 0.273] + !! OVERLAP: table <-> chair depth=[0.268, 0.737, 0.657] + !! OVERLAP: table <-> floor depth=[1.634, 0.005, 0.992] + !! OVERLAP: chair <-> floor depth=[0.521, 0.005, 0.591] + !! OVERLAP: chair <-> floor depth=[0.545, 0.005, 0.595] + !! OVERLAP: chair <-> floor depth=[0.542, 0.005, 0.606] + !! OVERLAP: chair <-> floor depth=[0.568, 0.005, 0.657] +============================================================ + + +============================================================ +SCENE: DiningRoom-19325 | 8 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0429, Walkable Loss: 1.3457 (Center Penalty: 1.3457), Relational Loss: 0.0431 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +table 1.577 0.716 0.780 -0.775 -0.004 -0.324 -0.16° +chair 0.645 0.990 0.657 -0.931 0.000 0.502 179.95° +chair 0.588 0.978 0.588 -0.836 0.001 -1.018 0.07° +chair 0.519 1.052 0.524 0.295 0.005 0.481 179.98° +chair 0.561 0.953 0.561 0.302 0.002 -0.918 0.02° +lamp 0.167 0.901 0.165 -0.662 1.688 -0.679 0.06° +floor 3.294 0.020 2.388 -0.957 0.005 -0.406 -0.03° +_scene_ 0.070 0.000 0.026 -5.669 -0.003 -5.708 -57.31° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: table <-> floor depth=[1.577, 0.020, 0.780] + !! OVERLAP: chair <-> floor depth=[0.645, 0.020, 0.614] + !! OVERLAP: chair <-> floor depth=[0.588, 0.020, 0.588] + !! OVERLAP: chair <-> floor depth=[0.519, 0.020, 0.524] + !! OVERLAP: chair <-> floor depth=[0.561, 0.020, 0.561] +============================================================ + + +============================================================ +SCENE: DiningRoom-27933 | 8 objects +============================================================ +Final Step Collision Loss: 0.0009, Room Outer Loss: 0.0243, Walkable Loss: 2.5086 (Center Penalty: 2.5086), Relational Loss: 0.0387 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +table 2.043 0.671 0.833 -0.081 0.007 -0.490 90.17° +chair 0.416 0.640 0.417 0.750 0.000 0.598 -89.94° +chair 0.402 0.618 0.425 0.845 -0.001 -0.576 -90.15° +chair 0.356 0.613 0.349 -0.586 -0.001 0.588 90.12° +chair 0.440 0.529 0.469 -0.737 0.001 -0.479 90.25° +lamp 0.559 0.748 0.621 0.721 1.979 -0.628 90.15° +floor 2.124 0.000 2.560 -0.032 0.001 -0.062 0.03° +_scene_ 0.067 0.000 0.025 -5.665 -0.004 -5.713 -57.28° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: table <-> chair depth=[0.296, 0.618, 0.425] + !! OVERLAP: table <-> chair depth=[0.440, 0.529, 0.469] + !! OVERLAP: table <-> floor depth=[2.035, 0.000, 0.833] + !! OVERLAP: chair <-> floor depth=[0.416, 0.000, 0.417] + !! OVERLAP: chair <-> floor depth=[0.385, 0.000, 0.425] + !! OVERLAP: chair <-> floor depth=[0.356, 0.000, 0.349] + !! OVERLAP: chair <-> floor depth=[0.440, 0.000, 0.469] +============================================================ + + +============================================================ +SCENE: DiningRoom-9630 | 10 objects +============================================================ +Final Step Collision Loss: 0.0038, Room Outer Loss: 0.0095, Walkable Loss: 1.2489 (Center Penalty: 1.2489), Relational Loss: 0.0239 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +table 1.233 0.727 0.770 -0.535 -0.004 -1.238 -90.11° +chair 0.446 0.941 0.531 0.102 0.009 -0.870 -179.97° +chair 0.490 0.988 0.546 0.202 -0.003 -1.780 -50.86° +chair 0.471 0.998 0.570 -1.005 -0.001 -1.809 0.06° +chair 0.518 0.910 0.540 -1.220 0.000 -0.852 89.92° +bookshelf 1.209 2.260 0.416 0.694 -0.001 1.008 -90.36° +lamp 0.563 0.817 0.330 0.057 1.764 1.345 -0.01° +lamp 0.598 1.207 0.567 -0.138 1.663 -1.384 -0.02° +floor 3.048 -0.003 4.851 -0.234 0.003 0.006 0.05° +_scene_ 0.067 0.000 0.019 -5.672 -0.005 -5.717 -57.30° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: table <-> chair depth=[0.203, 0.727, 0.282] + !! OVERLAP: table <-> chair depth=[0.124, 0.727, 0.116] + !! OVERLAP: table <-> chair depth=[0.381, 0.727, 0.100] + !! OVERLAP: table <-> chair depth=[0.190, 0.727, 0.268] + !! OVERLAP: table <-> floor depth=[1.233, -0.003, 0.770] + !! OVERLAP: chair <-> floor depth=[0.446, -0.003, 0.531] + !! OVERLAP: chair <-> floor depth=[0.490, -0.003, 0.546] + !! OVERLAP: chair <-> floor depth=[0.471, -0.003, 0.570] + !! OVERLAP: chair <-> floor depth=[0.518, -0.003, 0.540] + !! OVERLAP: bookshelf <-> floor depth=[1.199, -0.003, 0.416] +============================================================ + + +============================================================ +SCENE: DiningRoom-225770 | 8 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0000, Walkable Loss: 0.7580 (Center Penalty: 0.7580), Relational Loss: 0.0576 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +chair 0.499 0.921 0.554 -0.590 -0.000 -0.926 0.02° +chair 0.511 0.935 0.472 0.909 0.001 -0.546 -69.75° +chair 0.566 0.964 0.600 0.523 -0.000 0.971 -139.49° +chair 0.463 0.953 0.499 -0.764 0.001 1.017 179.60° +chair 0.409 1.026 0.512 -1.286 0.006 -0.272 70.30° +table 1.451 0.743 0.691 -0.700 0.005 0.397 -0.08° +floor 4.306 -0.007 5.278 0.495 -0.004 0.879 -0.00° +_scene_ 0.144 -0.005 0.172 -5.387 -0.001 -5.473 -57.63° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: chair <-> floor depth=[0.499, -0.007, 0.554] + !! OVERLAP: chair <-> floor depth=[0.511, -0.007, 0.472] + !! OVERLAP: chair <-> floor depth=[0.566, -0.007, 0.600] + !! OVERLAP: chair <-> floor depth=[0.463, -0.007, 0.499] + !! OVERLAP: chair <-> floor depth=[0.409, -0.007, 0.512] + !! OVERLAP: table <-> floor depth=[1.451, -0.007, 0.691] +============================================================ + + +============================================================ +SCENE: DiningRoom-116178 | 11 objects +============================================================ +Final Step Collision Loss: 0.0042, Room Outer Loss: 0.0000, Walkable Loss: 0.4185 (Center Penalty: 0.4185), Relational Loss: 0.0332 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +table 1.237 0.741 0.771 -0.740 -0.005 1.828 -0.31° +chair 0.600 0.842 0.623 -1.012 -0.001 0.894 134.03° +chair 0.535 0.807 0.486 -0.361 0.003 1.202 -162.14° +chair 0.573 0.806 0.580 0.411 0.003 1.167 -133.07° +chair 0.503 0.797 0.495 -1.096 0.003 -0.923 16.72° +chair 0.514 0.797 0.498 -0.480 -0.001 -1.264 -12.01° +chair 0.483 0.821 0.530 0.253 -0.002 -1.321 -39.77° +chair 0.494 0.795 0.539 0.837 0.004 -0.444 -83.00° +chair 0.516 0.844 0.558 -1.758 -0.000 0.314 104.08° +floor 4.409 0.020 5.951 -1.075 -0.010 0.453 0.13° +_scene_ 1.006 0.414 1.781 -2.382 -0.006 -2.734 -83.32° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: table <-> chair depth=[0.507, 0.741, 0.003] + !! OVERLAP: table <-> floor depth=[1.237, 0.020, 0.771] + !! OVERLAP: chair <-> floor depth=[0.600, 0.020, 0.623] + !! OVERLAP: chair <-> floor depth=[0.535, 0.020, 0.486] + !! OVERLAP: chair <-> floor depth=[0.573, 0.020, 0.580] + !! OVERLAP: chair <-> floor depth=[0.503, 0.020, 0.495] + !! OVERLAP: chair <-> floor depth=[0.514, 0.020, 0.498] + !! OVERLAP: chair <-> floor depth=[0.483, 0.020, 0.530] + !! OVERLAP: chair <-> floor depth=[0.494, 0.020, 0.539] + !! OVERLAP: chair <-> floor depth=[0.516, 0.020, 0.558] + !! OVERLAP: floor <-> _scene_ depth=[1.006, 0.020, 0.680] +============================================================ + + +============================================================ +SCENE: DiningRoom-22156 | 10 objects +============================================================ +Final Step Collision Loss: 0.0060, Room Outer Loss: 0.0000, Walkable Loss: 2.2520 (Center Penalty: 2.2520), Relational Loss: 0.0310 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +table 1.347 0.695 0.684 -0.684 -0.000 -0.299 89.88° +chair 0.476 0.934 0.556 -0.265 -0.000 -0.993 0.06° +chair 0.563 0.910 0.586 0.269 0.000 -1.105 0.01° +chair 0.518 0.935 0.567 -0.437 -0.000 0.744 -179.98° +chair 0.494 0.919 0.559 0.235 0.005 1.010 179.69° +chair 0.463 0.955 0.482 -1.199 -0.000 -0.406 89.92° +chair 0.490 0.931 0.541 1.077 0.000 -0.115 -89.86° +lamp 0.921 1.138 0.544 0.385 1.512 -0.737 -0.25° +floor 3.231 -0.005 3.076 -0.005 0.001 0.005 -0.03° +_scene_ 0.058 -0.003 0.067 -5.596 0.001 -5.642 -57.37° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: table <-> chair depth=[0.391, 0.695, 0.476] + !! OVERLAP: table <-> floor depth=[1.347, -0.005, 0.684] + !! OVERLAP: chair <-> floor depth=[0.476, -0.005, 0.556] + !! OVERLAP: chair <-> floor depth=[0.563, -0.005, 0.586] + !! OVERLAP: chair <-> floor depth=[0.518, -0.005, 0.567] + !! OVERLAP: chair <-> floor depth=[0.494, -0.005, 0.559] + !! OVERLAP: chair <-> floor depth=[0.463, -0.005, 0.482] + !! OVERLAP: chair <-> floor depth=[0.490, -0.005, 0.541] +============================================================ + + +============================================================ +SCENE: DiningRoom-22308 | 10 objects +============================================================ +Final Step Collision Loss: 0.0154, Room Outer Loss: 0.0072, Walkable Loss: 2.4106 (Center Penalty: 2.4106), Relational Loss: 0.0380 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +table 1.533 0.844 0.743 -0.074 0.018 -0.361 -0.52° +chair 0.571 1.006 0.622 -0.767 0.000 0.652 89.94° +chair 0.440 0.989 0.535 0.644 0.004 0.591 -89.79° +chair 0.276 1.026 0.360 0.665 -0.005 -0.421 -78.02° +chair 0.523 0.919 0.540 -0.971 0.008 -0.399 90.09° +chair 0.555 0.948 0.603 -0.022 0.001 1.093 179.92° +chair 0.384 0.999 0.142 -0.511 0.007 -0.767 -0.62° +lamp 0.287 0.739 0.232 0.374 2.293 -0.481 0.77° +floor 2.749 -0.026 3.637 -0.518 -0.009 0.823 0.18° +_scene_ 0.074 -0.000 0.040 -5.650 -0.004 -5.689 -57.32° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: table <-> chair depth=[0.166, 0.844, 0.360] + !! OVERLAP: table <-> chair depth=[0.131, 0.844, 0.540] + !! OVERLAP: table <-> chair depth=[0.384, 0.844, 0.037] + !! OVERLAP: table <-> floor depth=[1.533, -0.026, 0.743] + !! OVERLAP: chair <-> floor depth=[0.571, -0.026, 0.622] + !! OVERLAP: chair <-> floor depth=[0.433, -0.026, 0.535] + !! OVERLAP: chair <-> floor depth=[0.276, -0.026, 0.360] + !! OVERLAP: chair <-> floor depth=[0.523, -0.026, 0.540] + !! OVERLAP: chair <-> floor depth=[0.555, -0.026, 0.603] + !! OVERLAP: chair <-> floor depth=[0.384, -0.026, 0.142] +============================================================ + + +============================================================ +SCENE: DiningRoom-11336 | 10 objects +============================================================ +Final Step Collision Loss: 0.0094, Room Outer Loss: 0.0000, Walkable Loss: 1.8123 (Center Penalty: 1.8123), Relational Loss: 0.0449 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +table 1.438 0.723 0.906 -0.600 -0.003 -0.152 0.18° +chair 0.453 0.936 0.528 -1.137 0.006 0.345 90.08° +chair 0.395 1.003 0.454 0.377 -0.000 0.685 -102.70° +chair 0.310 1.033 0.503 0.410 -0.007 -0.725 -78.53° +chair 0.357 0.958 0.450 -0.938 0.010 -0.745 73.69° +chair 0.593 0.914 0.623 -0.315 0.002 1.034 179.75° +chair 0.677 0.935 0.633 -0.380 -0.001 -1.175 0.04° +lamp 0.478 0.517 0.483 -0.544 2.301 -0.628 -0.05° +floor 3.095 0.022 3.497 -0.780 -0.012 -0.067 -0.62° +_scene_ 0.075 -0.001 0.037 -5.656 -0.004 -5.700 -57.30° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: table <-> chair depth=[0.409, 0.723, 0.221] + !! OVERLAP: table <-> chair depth=[0.357, 0.723, 0.085] + !! OVERLAP: table <-> floor depth=[1.438, 0.022, 0.906] + !! OVERLAP: chair <-> floor depth=[0.453, 0.022, 0.528] + !! OVERLAP: chair <-> floor depth=[0.395, 0.022, 0.454] + !! OVERLAP: chair <-> floor depth=[0.310, 0.022, 0.503] + !! OVERLAP: chair <-> floor depth=[0.357, 0.022, 0.450] + !! OVERLAP: chair <-> floor depth=[0.593, 0.022, 0.623] + !! OVERLAP: chair <-> floor depth=[0.677, 0.022, 0.633] +============================================================ + + +============================================================ +SCENE: DiningRoom-6151 | 11 objects +============================================================ +Final Step Collision Loss: 0.0101, Room Outer Loss: 0.1698, Walkable Loss: 0.7353 (Center Penalty: 0.7353), Relational Loss: 0.0237 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +table 0.984 1.331 0.168 -0.833 0.011 -1.003 91.04° +chair 0.574 0.975 0.598 0.580 0.001 -1.070 0.03° +chair 0.582 0.989 0.575 1.303 0.001 -0.969 0.14° +chair 0.441 1.003 0.526 0.984 0.001 0.713 -179.95° +chair 0.482 0.961 0.500 1.612 0.001 0.559 -179.97° +table 1.503 0.703 0.940 1.182 -0.005 -0.220 0.04° +table 0.961 0.816 0.344 -0.556 -0.013 -1.238 91.06° +cabinet 1.740 1.903 0.202 -0.353 -0.011 -0.950 92.45° +lamp 0.726 0.846 0.745 0.998 2.281 -0.166 -0.03° +floor 4.001 -0.017 3.413 0.811 -0.001 -0.175 0.05° +_scene_ 0.073 0.000 0.028 -5.669 -0.004 -5.714 -57.31° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: table <-> table depth=[0.695, 0.816, 0.021] + !! OVERLAP: table <-> cabinet depth=[0.882, 1.331, 0.132] + !! OVERLAP: table <-> floor depth=[0.848, -0.017, 0.168] + !! OVERLAP: chair <-> cabinet depth=[0.225, 0.975, 0.202] + !! OVERLAP: chair <-> floor depth=[0.574, -0.017, 0.598] + !! OVERLAP: chair <-> table depth=[0.582, 0.703, 0.009] + !! OVERLAP: chair <-> floor depth=[0.582, -0.017, 0.575] + !! OVERLAP: chair <-> floor depth=[0.441, -0.017, 0.526] + !! OVERLAP: chair <-> floor depth=[0.482, -0.017, 0.500] + !! OVERLAP: table <-> floor depth=[1.503, -0.017, 0.940] + !! OVERLAP: table <-> floor depth=[0.961, -0.017, 0.344] + !! OVERLAP: cabinet <-> floor depth=[1.706, -0.017, 0.202] +============================================================ + + +============================================================ +SCENE: DiningRoom-663 | 10 objects +============================================================ +Final Step Collision Loss: 0.0230, Room Outer Loss: 0.0000, Walkable Loss: 1.3214 (Center Penalty: 1.3214), Relational Loss: 0.0451 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +table 1.358 0.773 1.439 0.905 0.010 -0.119 90.06° +chair 0.483 0.901 0.436 1.019 -0.001 0.676 -110.96° +chair 0.535 0.851 0.497 1.051 -0.011 -0.907 -0.04° +chair 0.454 0.837 0.577 0.078 0.004 0.777 89.55° +chair 0.499 0.818 0.524 0.185 0.002 -0.955 -0.00° +lamp 1.065 1.039 1.087 0.725 1.656 -0.714 -0.06° +lamp 1.115 0.884 1.237 0.610 1.704 0.709 0.01° +lamp 0.839 0.836 1.264 1.547 1.503 0.029 -0.44° +floor 3.990 0.008 3.276 0.758 -0.013 0.127 -0.25° +_scene_ 0.067 -0.001 0.021 -5.671 -0.004 -5.714 -57.29° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: table <-> chair depth=[0.483, 0.773, 0.142] + !! OVERLAP: table <-> chair depth=[0.535, 0.773, 0.180] + !! OVERLAP: table <-> chair depth=[0.079, 0.773, 0.111] + !! OVERLAP: table <-> chair depth=[0.208, 0.773, 0.146] + !! OVERLAP: table <-> floor depth=[1.358, 0.008, 1.439] + !! OVERLAP: chair <-> floor depth=[0.483, 0.008, 0.436] + !! OVERLAP: chair <-> floor depth=[0.535, 0.008, 0.497] + !! OVERLAP: chair <-> floor depth=[0.454, 0.008, 0.577] + !! OVERLAP: chair <-> floor depth=[0.499, 0.008, 0.524] + !! OVERLAP: lamp <-> lamp depth=[0.131, 0.785, 0.433] + !! OVERLAP: lamp <-> lamp depth=[0.040, 0.659, 0.570] +============================================================ + + +============================================================ +SCENE: DiningRoom-2432 | 9 objects +============================================================ +Final Step Collision Loss: 0.0007, Room Outer Loss: 0.0000, Walkable Loss: 1.8763 (Center Penalty: 1.8763), Relational Loss: 0.0282 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +table 1.660 0.728 0.380 -0.376 0.001 1.402 179.80° +table 1.227 0.773 0.904 -0.592 0.007 -0.304 -179.88° +chair 0.555 0.896 0.562 -0.284 0.000 -1.124 0.04° +chair 0.507 0.908 0.531 -0.936 0.002 -1.172 0.02° +chair 0.403 0.950 0.432 -0.459 0.000 0.885 -179.22° +chair 0.468 0.892 0.509 -0.863 0.000 0.652 -180.00° +lamp 1.762 0.845 0.220 -0.213 1.967 -0.970 -0.12° +floor 2.574 -0.001 3.512 0.000 0.001 -0.027 -0.03° +_scene_ 0.058 0.005 0.013 -5.669 -0.006 -5.716 -57.31° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: table <-> floor depth=[1.660, -0.001, 0.380] + !! OVERLAP: table <-> floor depth=[1.227, -0.001, 0.904] + !! OVERLAP: chair <-> floor depth=[0.555, -0.001, 0.562] + !! OVERLAP: chair <-> floor depth=[0.507, -0.001, 0.531] + !! OVERLAP: chair <-> chair depth=[0.031, 0.892, 0.238] + !! OVERLAP: chair <-> floor depth=[0.403, -0.001, 0.432] + !! OVERLAP: chair <-> floor depth=[0.468, -0.001, 0.509] +============================================================ + + +============================================================ +SCENE: DiningRoom-24272 | 8 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0000, Walkable Loss: 2.4910 (Center Penalty: 2.4910), Relational Loss: 0.0479 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +table 0.901 0.840 1.214 -0.561 -0.006 0.273 90.28° +chair 0.612 0.975 0.675 -0.803 -0.001 -0.661 13.59° +chair 0.571 1.007 0.591 0.050 0.002 -0.700 0.17° +chair 0.556 0.901 0.634 -0.386 -0.001 1.069 179.96° +chair 0.492 0.945 0.498 0.310 0.002 0.931 179.83° +lamp 0.833 0.994 0.903 0.420 1.830 -0.618 -0.32° +floor 3.127 -0.003 3.022 -0.035 0.001 -0.035 -0.05° +_scene_ 0.076 0.005 0.040 -5.659 -0.004 -5.698 -57.30° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: table <-> chair depth=[0.514, 0.840, 0.011] + !! OVERLAP: table <-> chair depth=[0.553, 0.840, 0.128] + !! OVERLAP: table <-> floor depth=[0.901, -0.003, 1.214] + !! OVERLAP: chair <-> floor depth=[0.612, -0.003, 0.675] + !! OVERLAP: chair <-> floor depth=[0.571, -0.003, 0.591] + !! OVERLAP: chair <-> floor depth=[0.556, -0.003, 0.634] + !! OVERLAP: chair <-> floor depth=[0.492, -0.003, 0.498] +============================================================ + + +============================================================ +SCENE: DiningRoom-25528 | 10 objects +============================================================ +Final Step Collision Loss: 0.0005, Room Outer Loss: 0.0000, Walkable Loss: 1.9052 (Center Penalty: 1.9052), Relational Loss: 0.0420 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +table 1.852 0.743 1.011 -0.667 -0.004 -0.196 -0.05° +chair 0.417 0.863 0.464 -1.229 0.004 -1.002 48.12° +chair 0.553 0.786 0.561 -0.172 0.000 -1.112 0.04° +chair 0.487 0.700 0.419 0.550 -0.003 -0.896 -51.71° +chair 0.590 0.756 0.554 -0.857 0.009 0.701 153.15° +chair 0.514 0.698 0.630 0.795 0.005 0.563 -123.35° +chair 0.578 0.792 0.558 -0.151 -0.000 0.911 179.90° +lamp 0.501 0.974 0.181 -0.669 1.738 0.500 -0.90° +floor 3.688 -0.006 3.396 -0.447 -0.005 -0.070 0.09° +_scene_ 0.060 0.009 0.026 -5.664 -0.006 -5.712 -57.34° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: table <-> floor depth=[1.852, -0.006, 1.011] + !! OVERLAP: chair <-> floor depth=[0.417, -0.006, 0.464] + !! OVERLAP: chair <-> floor depth=[0.553, -0.006, 0.561] + !! OVERLAP: chair <-> floor depth=[0.487, -0.006, 0.419] + !! OVERLAP: chair <-> floor depth=[0.590, -0.006, 0.554] + !! OVERLAP: chair <-> floor depth=[0.514, -0.006, 0.630] + !! OVERLAP: chair <-> floor depth=[0.578, -0.006, 0.558] +============================================================ + + +============================================================ +SCENE: DiningRoom-43067 | 10 objects +============================================================ +Final Step Collision Loss: 0.0119, Room Outer Loss: 0.0000, Walkable Loss: 1.9808 (Center Penalty: 1.9808), Relational Loss: 0.0287 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +table 1.189 0.759 1.158 0.483 0.002 -0.564 0.19° +chair 0.584 0.749 0.551 1.052 -0.001 0.280 -90.05° +chair 0.434 0.685 0.467 1.111 0.000 -0.578 -90.11° +chair 0.443 0.715 0.456 0.387 0.001 1.061 179.93° +chair 0.501 0.669 0.488 -0.879 0.001 -0.428 90.05° +chair 0.535 0.680 0.524 -0.918 -0.000 0.445 90.00° +chair 0.501 0.704 0.463 0.509 0.008 -1.311 0.11° +lamp 0.544 0.863 0.547 -0.618 1.834 -0.725 0.19° +floor 3.286 0.005 3.984 -0.081 0.002 -0.060 0.07° +_scene_ 0.061 0.001 0.021 -5.660 -0.003 -5.701 -57.32° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: table <-> chair depth=[0.317, 0.749, 0.010] + !! OVERLAP: table <-> chair depth=[0.184, 0.685, 0.467] + !! OVERLAP: table <-> chair depth=[0.501, 0.704, 0.064] + !! OVERLAP: table <-> floor depth=[1.189, 0.005, 1.158] + !! OVERLAP: chair <-> floor depth=[0.584, 0.005, 0.551] + !! OVERLAP: chair <-> floor depth=[0.434, 0.005, 0.467] + !! OVERLAP: chair <-> floor depth=[0.443, 0.005, 0.456] + !! OVERLAP: chair <-> floor depth=[0.501, 0.005, 0.488] + !! OVERLAP: chair <-> floor depth=[0.535, 0.005, 0.524] + !! OVERLAP: chair <-> floor depth=[0.501, 0.005, 0.463] +============================================================ + + +============================================================ +SCENE: DiningRoom-8121 | 9 objects +============================================================ +Final Step Collision Loss: 0.0028, Room Outer Loss: 0.0204, Walkable Loss: 0.5802 (Center Penalty: 0.5802), Relational Loss: 0.0096 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +lamp 0.696 0.843 0.643 0.142 1.959 -0.990 90.50° +table 1.766 1.203 0.293 0.214 0.001 1.122 -179.86° +chair 0.512 0.578 0.482 -0.611 0.004 -0.922 90.00° +table 1.517 0.787 0.730 0.018 0.004 -1.156 90.11° +chair 0.440 0.672 0.395 -0.552 0.002 -1.420 90.07° +chair 0.396 0.641 0.429 0.749 0.001 -1.081 -90.08° +chair 0.403 0.703 0.424 0.568 0.001 -1.423 -90.18° +floor 2.739 -0.012 4.219 0.395 -0.015 -0.861 -0.17° +_scene_ 0.067 -0.000 0.016 -5.671 -0.005 -5.715 -57.30° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: table <-> floor depth=[1.766, -0.012, 0.273] + !! OVERLAP: chair <-> table depth=[0.385, 0.578, 0.372] + !! OVERLAP: chair <-> floor depth=[0.512, -0.012, 0.482] + !! OVERLAP: table <-> chair depth=[0.409, 0.672, 0.298] + !! OVERLAP: table <-> chair depth=[0.226, 0.641, 0.429] + !! OVERLAP: table <-> chair depth=[0.403, 0.703, 0.310] + !! OVERLAP: table <-> floor depth=[1.517, -0.012, 0.730] + !! OVERLAP: chair <-> floor depth=[0.440, -0.012, 0.395] + !! OVERLAP: chair <-> chair depth=[0.218, 0.641, 0.084] + !! OVERLAP: chair <-> floor depth=[0.396, -0.012, 0.429] + !! OVERLAP: chair <-> floor depth=[0.403, -0.012, 0.424] +============================================================ + + +============================================================ +SCENE: DiningRoom-6919 | 13 objects +============================================================ +Final Step Collision Loss: 0.0083, Room Outer Loss: 0.0394, Walkable Loss: 1.0125 (Center Penalty: 1.0125), Relational Loss: 0.0314 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +chair 0.478 0.679 0.430 -1.157 0.001 0.967 176.28° +table 1.334 0.786 1.111 -0.820 0.007 0.165 0.07° +chair 0.450 0.680 0.414 -0.610 0.002 1.143 174.77° +chair 0.538 0.738 0.529 -0.085 0.008 1.192 -157.28° +chair 0.418 0.653 0.454 -0.559 -0.006 -0.703 -0.12° +chair 0.397 0.667 0.367 -1.037 -0.006 -0.693 0.03° +chair 0.451 0.698 0.430 -1.198 0.000 -0.617 0.04° +chair 0.474 0.677 0.520 0.863 0.005 0.256 -90.09° +chair 0.512 0.696 0.547 -1.642 -0.000 0.150 90.02° +table 1.651 0.805 0.394 1.744 0.001 0.832 -89.97° +lamp 0.611 0.883 0.651 -0.990 1.841 0.175 -0.09° +floor 5.665 -0.045 4.142 -0.158 -0.000 1.181 0.31° +_scene_ 0.065 0.004 0.048 -5.618 -0.003 -5.691 -57.30° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: chair <-> floor depth=[0.478, -0.045, 0.430] + !! OVERLAP: table <-> chair depth=[0.101, 0.696, 0.547] + !! OVERLAP: table <-> floor depth=[1.334, -0.045, 1.111] + !! OVERLAP: chair <-> floor depth=[0.450, -0.045, 0.414] + !! OVERLAP: chair <-> floor depth=[0.538, -0.045, 0.529] + !! OVERLAP: chair <-> floor depth=[0.418, -0.045, 0.414] + !! OVERLAP: chair <-> chair depth=[0.263, 0.667, 0.322] + !! OVERLAP: chair <-> floor depth=[0.397, -0.045, 0.367] + !! OVERLAP: chair <-> floor depth=[0.451, -0.045, 0.430] + !! OVERLAP: chair <-> floor depth=[0.474, -0.045, 0.520] + !! OVERLAP: chair <-> floor depth=[0.512, -0.045, 0.547] + !! OVERLAP: table <-> floor depth=[1.651, -0.045, 0.394] +============================================================ + + +============================================================ +SCENE: DiningRoom-17147 | 13 objects +============================================================ +Final Step Collision Loss: 0.0053, Room Outer Loss: 0.0000, Walkable Loss: 1.4365 (Center Penalty: 1.4365), Relational Loss: 0.0328 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +chair 0.484 0.650 0.410 -1.044 0.001 0.803 179.90° +table 1.381 0.699 0.914 -0.912 -0.001 -0.175 0.00° +chair 0.482 0.650 0.474 -0.592 0.001 0.771 -179.98° +chair 0.452 0.634 0.356 -0.099 0.000 0.814 -179.98° +chair 0.381 0.594 0.423 -0.323 -0.000 -0.943 -0.01° +chair 0.424 0.589 0.410 -0.665 0.001 -0.816 0.05° +chair 0.489 0.660 0.464 -1.144 0.001 -0.920 0.02° +chair 0.566 0.673 0.553 0.914 -0.002 -0.214 -89.98° +chair 0.571 0.641 0.493 -1.561 -0.000 0.102 89.96° +table 1.271 0.842 0.375 1.379 0.005 0.694 -89.90° +lamp 0.654 0.910 0.670 -0.893 1.675 0.243 0.00° +floor 5.101 -0.020 3.879 -0.498 0.002 -0.764 -0.35° +_scene_ 0.104 -0.007 0.104 -5.618 -0.001 -5.651 -57.17° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: chair <-> chair depth=[0.032, 0.649, 0.410] + !! OVERLAP: chair <-> floor depth=[0.484, -0.020, 0.410] + !! OVERLAP: table <-> chair depth=[0.424, 0.589, 0.021] + !! OVERLAP: table <-> chair depth=[0.327, 0.641, 0.426] + !! OVERLAP: table <-> floor depth=[1.381, -0.020, 0.914] + !! OVERLAP: chair <-> floor depth=[0.482, -0.020, 0.474] + !! OVERLAP: chair <-> floor depth=[0.452, -0.020, 0.356] + !! OVERLAP: chair <-> chair depth=[0.061, 0.589, 0.290] + !! OVERLAP: chair <-> floor depth=[0.381, -0.020, 0.423] + !! OVERLAP: chair <-> floor depth=[0.424, -0.020, 0.410] + !! OVERLAP: chair <-> floor depth=[0.489, -0.020, 0.464] + !! OVERLAP: chair <-> floor depth=[0.566, -0.020, 0.553] + !! OVERLAP: chair <-> floor depth=[0.571, -0.020, 0.493] + !! OVERLAP: table <-> floor depth=[1.271, -0.020, 0.375] +============================================================ + + +============================================================ +SCENE: DiningRoom-6259 | 9 objects +============================================================ +Final Step Collision Loss: 0.0042, Room Outer Loss: 0.0000, Walkable Loss: 1.6688 (Center Penalty: 1.6688), Relational Loss: 0.0280 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +table 0.960 1.243 0.265 -1.566 -0.001 -0.263 89.79° +lamp 1.107 1.204 0.385 -0.629 1.665 -0.069 -0.07° +table 1.243 0.757 0.952 -0.786 -0.001 -0.179 0.14° +chair 0.537 0.918 0.474 -0.771 -0.001 -0.869 -0.04° +chair 0.510 0.947 0.552 -0.014 0.001 -0.833 0.05° +chair 0.485 0.913 0.338 -0.875 -0.002 0.479 -179.83° +chair 0.350 0.902 0.253 -0.505 -0.005 0.526 179.87° +floor 3.200 0.023 2.980 -0.543 0.018 -0.824 0.53° +_scene_ 0.086 0.007 0.072 -5.639 -0.005 -5.668 -57.30° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: table <-> table depth=[0.322, 0.757, 0.265] + !! OVERLAP: table <-> floor depth=[0.960, 0.023, 0.265] + !! OVERLAP: table <-> chair depth=[0.537, 0.757, 0.023] + !! OVERLAP: table <-> chair depth=[0.105, 0.757, 0.098] + !! OVERLAP: table <-> floor depth=[1.243, 0.023, 0.952] + !! OVERLAP: chair <-> floor depth=[0.537, 0.023, 0.474] + !! OVERLAP: chair <-> floor depth=[0.510, 0.023, 0.552] + !! OVERLAP: chair <-> chair depth=[0.048, 0.902, 0.248] + !! OVERLAP: chair <-> floor depth=[0.485, 0.023, 0.338] + !! OVERLAP: chair <-> floor depth=[0.350, 0.023, 0.253] +============================================================ + + +============================================================ +SCENE: DiningRoom-451 | 11 objects +============================================================ +Final Step Collision Loss: 0.0089, Room Outer Loss: 0.0100, Walkable Loss: 2.2185 (Center Penalty: 2.2185), Relational Loss: 0.0324 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +table 1.241 0.921 0.553 0.767 0.008 -1.139 -90.22° +chair 0.500 0.918 0.535 -0.786 0.001 -1.178 0.03° +table 1.373 0.703 1.127 -0.507 0.001 -0.413 0.15° +chair 0.533 0.850 0.474 -0.218 0.001 -1.206 0.04° +chair 0.468 0.826 0.465 -0.707 0.002 0.948 -179.92° +chair 0.432 0.832 0.479 -0.151 0.001 0.966 -179.92° +cabinet 0.848 1.110 0.381 -1.047 0.012 0.549 90.16° +lamp 0.723 0.839 0.834 -0.893 1.469 0.278 0.39° +lamp 1.133 0.866 0.786 -0.738 1.737 -0.360 -0.02° +floor 2.901 -0.002 3.829 -0.010 0.001 -0.007 -0.01° +_scene_ 0.071 0.001 0.022 -5.681 -0.005 -5.721 -57.31° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: table <-> table depth=[0.033, 0.703, 0.114] + !! OVERLAP: table <-> floor depth=[1.241, -0.002, 0.553] + !! OVERLAP: chair <-> table depth=[0.500, 0.703, 0.066] + !! OVERLAP: chair <-> floor depth=[0.500, -0.002, 0.535] + !! OVERLAP: table <-> chair depth=[0.533, 0.703, 0.007] + !! OVERLAP: table <-> floor depth=[1.373, -0.002, 1.127] + !! OVERLAP: chair <-> floor depth=[0.533, -0.002, 0.474] + !! OVERLAP: chair <-> cabinet depth=[0.318, 0.826, 0.024] + !! OVERLAP: chair <-> floor depth=[0.468, -0.002, 0.465] + !! OVERLAP: chair <-> floor depth=[0.432, -0.002, 0.479] + !! OVERLAP: cabinet <-> floor depth=[0.838, -0.002, 0.381] + !! OVERLAP: lamp <-> lamp depth=[0.723, 0.584, 0.172] +============================================================ + + +============================================================ +SCENE: DiningRoom-18332 | 10 objects +============================================================ +Final Step Collision Loss: 0.0077, Room Outer Loss: 0.0000, Walkable Loss: 2.0182 (Center Penalty: 2.0182), Relational Loss: 0.0332 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +table 1.628 0.831 0.953 -0.727 0.032 -0.180 -179.90° +chair 0.467 0.707 0.436 -1.262 -0.001 0.325 90.07° +chair 0.526 0.650 0.552 0.932 0.000 0.509 -90.45° +chair 0.469 0.548 0.484 -0.669 0.000 -0.858 -0.02° +chair 0.451 0.587 0.411 -0.155 0.003 -0.900 -0.03° +chair 0.407 0.558 0.435 0.022 -0.002 1.195 179.84° +chair 0.427 0.589 0.348 -0.523 0.001 1.052 179.93° +lamp 0.797 0.773 0.804 -0.924 2.012 0.294 -0.33° +floor 3.228 -0.008 2.846 -0.007 0.000 0.002 -0.05° +_scene_ 0.064 0.004 0.032 -5.631 -0.005 -5.682 -57.29° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: table <-> chair depth=[0.467, 0.707, 0.189] + !! OVERLAP: table <-> chair depth=[0.469, 0.548, 0.041] + !! OVERLAP: table <-> floor depth=[1.628, -0.008, 0.953] + !! OVERLAP: chair <-> floor depth=[0.467, -0.008, 0.436] + !! OVERLAP: chair <-> floor depth=[0.526, -0.008, 0.552] + !! OVERLAP: chair <-> floor depth=[0.469, -0.008, 0.484] + !! OVERLAP: chair <-> floor depth=[0.451, -0.008, 0.411] + !! OVERLAP: chair <-> floor depth=[0.407, -0.008, 0.435] + !! OVERLAP: chair <-> floor depth=[0.427, -0.008, 0.348] +============================================================ + + +============================================================ +SCENE: DiningRoom-8951 | 8 objects +============================================================ +Final Step Collision Loss: 0.0005, Room Outer Loss: 0.0220, Walkable Loss: 1.6178 (Center Penalty: 1.6178), Relational Loss: 0.0085 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +chair 0.411 0.885 0.477 -1.038 -0.001 0.555 123.53° +chair 0.498 0.912 0.431 -0.483 -0.005 0.867 -101.03° +chair 0.478 0.869 0.558 -0.169 -0.012 -0.775 -53.53° +chair 0.531 0.895 0.660 -0.973 0.002 -0.602 0.01° +lamp 0.883 1.015 0.962 -0.496 1.699 -0.630 -0.07° +table 0.595 1.132 0.419 1.357 0.000 -1.530 -89.98° +floor 3.085 -0.003 3.877 0.312 -0.002 -0.159 -0.07° +_scene_ 0.072 0.002 0.021 -5.674 -0.004 -5.718 -57.31° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: chair <-> floor depth=[0.398, -0.003, 0.477] + !! OVERLAP: chair <-> floor depth=[0.498, -0.003, 0.431] + !! OVERLAP: chair <-> floor depth=[0.478, -0.003, 0.558] + !! OVERLAP: chair <-> floor depth=[0.522, -0.003, 0.660] + !! OVERLAP: table <-> floor depth=[0.595, -0.003, 0.419] +============================================================ + + +============================================================ +SCENE: DiningRoom-9982 | 9 objects +============================================================ +Final Step Collision Loss: 0.0151, Room Outer Loss: 0.0632, Walkable Loss: 0.9237 (Center Penalty: 0.9237), Relational Loss: 0.0277 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +shelf 0.649 1.996 0.201 0.670 0.012 1.030 -90.22° +table 1.139 0.741 1.142 -0.833 0.002 -0.410 89.89° +chair 0.564 0.984 0.548 -0.958 -0.002 -1.317 0.04° +chair 0.463 0.940 0.523 -0.480 0.001 -1.175 -90.28° +chair 0.421 0.975 0.465 -1.277 0.011 0.086 89.77° +chair 0.559 0.917 0.559 -0.743 0.001 0.417 -179.59° +lamp 1.503 0.755 0.041 -0.554 1.959 -0.667 -0.18° +floor 3.377 -0.012 3.589 -0.627 0.009 -0.727 -0.05° +_scene_ 0.055 -0.000 0.024 -5.663 -0.006 -5.715 -57.27° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: shelf <-> floor depth=[0.649, -0.012, 0.137] + !! OVERLAP: table <-> chair depth=[0.447, 0.741, 0.068] + !! OVERLAP: table <-> chair depth=[0.336, 0.741, 0.307] + !! OVERLAP: table <-> chair depth=[0.559, 0.741, 0.024] + !! OVERLAP: table <-> floor depth=[1.139, -0.012, 1.142] + !! OVERLAP: chair <-> chair depth=[0.035, 0.940, 0.393] + !! OVERLAP: chair <-> floor depth=[0.564, -0.012, 0.548] + !! OVERLAP: chair <-> floor depth=[0.463, -0.012, 0.523] + !! OVERLAP: chair <-> floor depth=[0.421, -0.012, 0.465] + !! OVERLAP: chair <-> floor depth=[0.559, -0.012, 0.559] +============================================================ + + +============================================================ +SCENE: DiningRoom-168152 | 8 objects +============================================================ +Final Step Collision Loss: 0.0082, Room Outer Loss: 0.0192, Walkable Loss: 1.6859 (Center Penalty: 1.6859), Relational Loss: 0.0223 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +cabinet 1.562 1.795 0.424 -1.336 -0.005 0.230 90.04° +table 1.454 0.753 1.013 0.895 0.001 -0.073 -0.15° +chair 0.531 0.918 0.538 0.375 -0.008 -0.870 0.00° +chair 0.477 0.940 0.482 0.957 -0.000 -0.810 -0.03° +chair 0.532 0.953 0.603 0.347 0.003 0.767 -179.90° +chair 0.436 0.919 0.483 1.139 0.006 0.587 -179.96° +floor 4.254 0.003 3.782 0.029 -0.001 -0.115 0.02° +_scene_ 0.063 -0.001 0.024 -5.670 -0.005 -5.709 -57.31° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: cabinet <-> floor depth=[1.543, 0.003, 0.424] + !! OVERLAP: table <-> chair depth=[0.477, 0.753, 0.010] + !! OVERLAP: table <-> chair depth=[0.436, 0.753, 0.088] + !! OVERLAP: table <-> floor depth=[1.454, 0.003, 1.013] + !! OVERLAP: chair <-> floor depth=[0.531, 0.003, 0.538] + !! OVERLAP: chair <-> floor depth=[0.477, 0.003, 0.482] + !! OVERLAP: chair <-> floor depth=[0.532, 0.003, 0.603] + !! OVERLAP: chair <-> floor depth=[0.436, 0.003, 0.483] +============================================================ + + +============================================================ +SCENE: DiningRoom-5492 | 11 objects +============================================================ +Final Step Collision Loss: 0.0208, Room Outer Loss: 0.0000, Walkable Loss: 0.3388 (Center Penalty: 0.3388), Relational Loss: 0.0137 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +table 1.070 0.794 0.976 0.277 0.012 1.290 0.17° +chair 0.510 0.761 0.525 0.227 0.001 1.833 179.85° +chair 0.434 0.706 0.467 0.733 0.003 1.863 -179.99° +chair 0.466 0.756 0.554 0.484 0.001 0.918 0.05° +chair 0.551 0.781 0.631 1.003 0.001 0.501 -0.00° +chair 0.574 0.748 0.499 -0.571 -0.001 1.228 90.14° +chair 0.511 0.797 0.523 1.339 0.000 1.131 -90.00° +table 1.360 0.724 0.495 -1.775 0.005 -0.509 89.96° +lamp 0.366 0.657 0.408 0.369 1.926 1.392 -0.03° +floor 5.376 -0.017 5.733 -0.083 0.002 1.165 0.19° +_scene_ 0.065 0.001 0.023 -5.670 -0.005 -5.714 -57.30° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: table <-> chair depth=[0.510, 0.761, 0.208] + !! OVERLAP: table <-> chair depth=[0.297, 0.706, 0.149] + !! OVERLAP: table <-> chair depth=[0.466, 0.756, 0.392] + !! OVERLAP: table <-> chair depth=[0.085, 0.777, 0.015] + !! OVERLAP: table <-> floor depth=[1.070, -0.017, 0.976] + !! OVERLAP: chair <-> floor depth=[0.510, -0.017, 0.525] + !! OVERLAP: chair <-> floor depth=[0.434, -0.017, 0.467] + !! OVERLAP: chair <-> floor depth=[0.466, -0.017, 0.554] + !! OVERLAP: chair <-> floor depth=[0.551, -0.017, 0.631] + !! OVERLAP: chair <-> floor depth=[0.574, -0.017, 0.499] + !! OVERLAP: chair <-> floor depth=[0.511, -0.017, 0.523] + !! OVERLAP: table <-> floor depth=[1.360, -0.017, 0.495] +============================================================ + + +============================================================ +SCENE: DiningRoom-375 | 8 objects +============================================================ +Final Step Collision Loss: 0.0037, Room Outer Loss: 0.0042, Walkable Loss: 2.3330 (Center Penalty: 2.3330), Relational Loss: 0.0323 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +table 1.524 0.755 1.135 0.399 -0.002 -0.178 0.04° +chair 0.624 0.914 0.631 -0.554 0.003 0.705 134.79° +chair 0.616 0.959 0.601 0.649 0.002 0.758 179.54° +chair 0.475 0.949 0.528 -0.293 0.002 -1.015 2.60° +chair 0.384 0.946 0.501 0.788 -0.007 -1.076 -58.91° +lamp 0.538 0.753 0.375 0.856 1.901 0.356 -0.18° +floor 2.593 -0.001 2.631 -0.014 -0.000 -0.007 0.02° +_scene_ 0.065 -0.000 0.021 -5.665 -0.005 -5.714 -57.31° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: table <-> floor depth=[1.524, -0.001, 1.135] + !! OVERLAP: chair <-> floor depth=[0.624, -0.001, 0.631] + !! OVERLAP: chair <-> floor depth=[0.616, -0.001, 0.601] + !! OVERLAP: chair <-> floor depth=[0.475, -0.001, 0.528] + !! OVERLAP: chair <-> floor depth=[0.384, -0.001, 0.497] +============================================================ + + +============================================================ +SCENE: DiningRoom-3017 | 8 objects +============================================================ +Final Step Collision Loss: 0.0029, Room Outer Loss: 0.0723, Walkable Loss: 1.1678 (Center Penalty: 1.1678), Relational Loss: 0.0105 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +table 1.562 0.734 0.799 -0.320 0.005 -0.885 0.05° +chair 0.472 0.836 0.481 -1.233 -0.002 -0.462 86.50° +chair 0.459 0.869 0.496 -0.627 -0.001 0.630 -179.96° +chair 0.467 0.837 0.477 0.072 -0.001 0.993 179.94° +table 0.635 1.186 0.339 0.887 0.002 -0.940 -89.98° +lamp 0.445 0.416 0.433 -0.807 2.155 -0.540 0.18° +floor 3.220 -0.004 3.679 -0.478 0.003 -0.432 0.05° +_scene_ 0.063 0.003 0.021 -5.671 -0.005 -5.716 -57.28° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: table <-> chair depth=[0.104, 0.734, 0.217] + !! OVERLAP: table <-> floor depth=[1.562, -0.004, 0.799] + !! OVERLAP: chair <-> floor depth=[0.472, -0.004, 0.481] + !! OVERLAP: chair <-> floor depth=[0.459, -0.004, 0.496] + !! OVERLAP: chair <-> floor depth=[0.467, -0.004, 0.477] + !! OVERLAP: table <-> floor depth=[0.562, -0.004, 0.339] +============================================================ + + +============================================================ +SCENE: DiningRoom-164 | 11 objects +============================================================ +Final Step Collision Loss: 0.0155, Room Outer Loss: 0.0000, Walkable Loss: 1.0324 (Center Penalty: 1.0324), Relational Loss: 0.0378 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +chair 0.451 0.894 0.503 -1.074 0.000 0.195 90.04° +chair 0.478 0.931 0.464 -0.986 0.000 0.788 90.01° +chair 0.295 0.902 0.472 -0.465 0.029 0.786 -89.95° +chair 0.499 0.877 0.539 0.825 0.000 0.785 -90.17° +chair 0.497 0.858 0.518 0.133 0.000 1.641 180.00° +chair 0.505 0.898 0.398 -0.482 -0.001 -0.953 0.14° +table 1.542 0.662 0.227 -0.249 -0.003 -1.350 -0.20° +table 1.070 0.788 1.104 -0.172 0.004 0.948 -89.95° +lamp 0.904 0.984 0.505 -0.225 1.687 1.006 90.06° +floor 3.031 -0.003 4.779 -0.059 -0.002 0.854 -0.26° +_scene_ 0.074 0.007 0.049 -5.640 -0.005 -5.690 -57.34° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: chair <-> floor depth=[0.451, -0.003, 0.503] + !! OVERLAP: chair <-> floor depth=[0.478, -0.003, 0.464] + !! OVERLAP: chair <-> table depth=[0.295, 0.788, 0.472] + !! OVERLAP: chair <-> floor depth=[0.295, -0.003, 0.472] + !! OVERLAP: chair <-> floor depth=[0.499, -0.003, 0.539] + !! OVERLAP: chair <-> table depth=[0.478, 0.788, 0.117] + !! OVERLAP: chair <-> floor depth=[0.497, -0.003, 0.518] + !! OVERLAP: chair <-> floor depth=[0.505, -0.003, 0.398] + !! OVERLAP: table <-> floor depth=[1.542, -0.003, 0.227] + !! OVERLAP: table <-> floor depth=[1.070, -0.003, 1.104] +============================================================ + + +============================================================ +SCENE: DiningRoom-34036 | 15 objects +============================================================ +Final Step Collision Loss: 0.0257, Room Outer Loss: 0.0000, Walkable Loss: 1.7308 (Center Penalty: 1.7308), Relational Loss: 0.0113 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +table 1.137 0.583 1.237 -0.644 0.002 0.102 90.02° +cabinet 2.270 2.707 0.309 -1.280 0.003 -0.037 89.73° +cabinet 0.494 1.219 0.409 1.260 0.002 -0.473 -90.01° +cabinet 0.502 0.921 0.502 1.238 -0.000 -1.532 -89.96° +chair 0.543 0.730 0.502 -1.077 0.005 -0.456 89.92° +chair 0.448 0.788 0.539 0.627 0.002 -0.825 -90.03° +chair 0.510 0.747 0.512 0.743 0.001 0.444 -90.05° +chair 0.431 0.758 0.436 -1.064 0.000 0.777 90.02° +chair 0.487 0.699 0.492 -0.416 -0.001 1.365 161.00° +chair 0.438 0.712 0.458 -0.287 0.000 -1.268 0.10° +lamp 0.318 0.915 0.313 -0.116 1.579 1.036 -90.03° +lamp 0.303 1.035 0.186 0.682 1.529 0.617 0.15° +lamp 0.257 0.761 0.284 1.034 1.743 -0.348 0.03° +floor 4.072 0.005 4.965 -0.430 0.000 -0.568 0.04° +_scene_ 0.062 0.001 0.015 -5.674 -0.005 -5.720 -57.30° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: table <-> cabinet depth=[1.068, 0.583, 0.309] + !! OVERLAP: table <-> chair depth=[0.407, 0.583, 0.312] + !! OVERLAP: table <-> chair depth=[0.364, 0.583, 0.161] + !! OVERLAP: table <-> floor depth=[1.137, 0.005, 1.237] + !! OVERLAP: cabinet <-> floor depth=[2.270, 0.005, 0.309] + !! OVERLAP: cabinet <-> floor depth=[0.494, 0.005, 0.409] + !! OVERLAP: cabinet <-> floor depth=[0.502, 0.005, 0.502] + !! OVERLAP: chair <-> floor depth=[0.543, 0.005, 0.502] + !! OVERLAP: chair <-> floor depth=[0.448, 0.005, 0.539] + !! OVERLAP: chair <-> floor depth=[0.510, 0.005, 0.512] + !! OVERLAP: chair <-> floor depth=[0.431, 0.005, 0.436] + !! OVERLAP: chair <-> floor depth=[0.487, 0.005, 0.492] + !! OVERLAP: chair <-> floor depth=[0.438, 0.005, 0.458] +============================================================ + + +============================================================ +SCENE: DiningRoom-114621 | 9 objects +============================================================ +Final Step Collision Loss: 0.0225, Room Outer Loss: 0.0236, Walkable Loss: 1.6168 (Center Penalty: 1.6168), Relational Loss: 0.0337 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +cabinet 1.415 1.274 0.291 0.721 -0.003 1.202 -179.89° +table 1.186 0.806 1.072 -0.381 0.006 -0.779 90.01° +chair 0.521 0.808 0.550 -0.914 -0.001 -0.889 0.15° +chair 0.461 0.790 0.426 -0.969 -0.012 -0.154 127.70° +chair 0.473 0.812 0.468 0.895 0.000 -0.783 -0.01° +chair 0.501 0.826 0.531 1.119 0.002 -0.210 -90.15° +lamp 0.954 0.957 1.002 1.035 1.842 -0.581 0.11° +floor 3.743 -0.000 2.724 0.006 0.001 -0.039 -0.01° +_scene_ 0.063 0.001 0.020 -5.670 -0.003 -5.714 -57.33° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: cabinet <-> floor depth=[1.415, -0.000, 0.267] + !! OVERLAP: table <-> chair depth=[0.320, 0.800, 0.550] + !! OVERLAP: table <-> chair depth=[0.235, 0.780, 0.124] + !! OVERLAP: table <-> floor depth=[1.186, -0.000, 1.072] + !! OVERLAP: chair <-> floor depth=[0.521, -0.000, 0.550] + !! OVERLAP: chair <-> floor depth=[0.461, -0.000, 0.426] + !! OVERLAP: chair <-> floor depth=[0.473, -0.000, 0.468] + !! OVERLAP: chair <-> floor depth=[0.501, -0.000, 0.531] +============================================================ + + +============================================================ +SCENE: DiningRoom-33238 | 5 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0000, Walkable Loss: 0.5851 (Center Penalty: 0.5851), Relational Loss: 0.0000 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +cabinet 0.705 1.254 0.427 -1.385 0.002 0.717 89.92° +table 1.535 1.001 0.653 1.197 -0.001 0.482 0.10° +table 1.485 0.761 1.137 -0.548 -0.006 0.537 90.10° +floor 3.799 0.009 3.597 0.143 -0.008 0.840 -0.27° +_scene_ -0.001 0.093 0.113 -5.310 0.033 -5.413 -59.07° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: cabinet <-> table depth=[0.258, 0.761, 0.427] + !! OVERLAP: cabinet <-> floor depth=[0.705, 0.009, 0.427] + !! OVERLAP: table <-> floor depth=[1.535, 0.009, 0.653] + !! OVERLAP: table <-> floor depth=[1.485, 0.009, 1.137] +============================================================ + + +============================================================ +SCENE: DiningRoom-69393 | 11 objects +============================================================ +Final Step Collision Loss: 0.0021, Room Outer Loss: 0.0000, Walkable Loss: 0.7448 (Center Penalty: 0.7448), Relational Loss: 0.0349 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +chair 0.490 0.831 0.527 -1.017 0.001 0.598 90.03° +chair 0.537 0.825 0.560 -1.037 0.000 1.249 89.99° +chair 0.448 0.783 0.506 0.658 -0.000 0.898 -89.95° +chair 0.498 0.815 0.448 0.631 0.000 1.447 -90.11° +chair 0.470 0.808 0.516 -0.146 0.001 2.129 179.96° +chair 0.422 0.820 0.414 -0.263 -0.000 -0.708 0.08° +table 2.013 0.631 0.599 -0.028 0.001 -1.541 0.04° +table 1.668 0.751 1.098 -0.209 0.001 1.098 90.05° +lamp 0.639 0.880 0.617 -0.109 1.807 1.140 0.06° +floor 4.284 -0.004 5.806 -0.249 0.007 1.033 -0.14° +_scene_ 0.065 0.002 0.027 -5.653 -0.003 -5.698 -57.30° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: chair <-> table depth=[0.271, 0.751, 0.312] + !! OVERLAP: chair <-> floor depth=[0.490, -0.004, 0.527] + !! OVERLAP: chair <-> table depth=[0.275, 0.751, 0.560] + !! OVERLAP: chair <-> floor depth=[0.537, -0.004, 0.560] + !! OVERLAP: chair <-> table depth=[0.191, 0.751, 0.506] + !! OVERLAP: chair <-> floor depth=[0.448, -0.004, 0.506] + !! OVERLAP: chair <-> table depth=[0.243, 0.751, 0.424] + !! OVERLAP: chair <-> floor depth=[0.498, -0.004, 0.448] + !! OVERLAP: chair <-> floor depth=[0.470, -0.004, 0.516] + !! OVERLAP: chair <-> floor depth=[0.422, -0.004, 0.414] + !! OVERLAP: table <-> floor depth=[2.013, -0.004, 0.599] + !! OVERLAP: table <-> floor depth=[1.668, -0.004, 1.098] +============================================================ + + +============================================================ +SCENE: DiningRoom-87276 | 12 objects +============================================================ +Final Step Collision Loss: 0.0083, Room Outer Loss: 0.0000, Walkable Loss: 2.0981 (Center Penalty: 2.0981), Relational Loss: 0.0354 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +table 1.689 1.085 0.843 -0.289 -0.006 -0.662 -91.15° +chair 0.568 0.749 0.585 -0.959 -0.003 0.710 132.68° +chair 0.517 0.722 0.514 0.025 0.002 1.069 179.68° +chair 0.542 0.735 0.483 0.690 0.008 0.755 -114.92° +chair 0.514 0.738 0.490 0.782 -0.002 -0.869 -45.27° +chair 0.531 0.691 0.523 0.128 0.005 -1.065 -0.01° +chair 0.461 0.783 0.467 -1.066 0.005 -0.733 46.71° +chair 0.528 0.774 0.583 1.177 -0.001 0.028 -89.59° +chair 0.544 0.745 0.559 -1.244 -0.000 0.001 90.02° +lamp 0.743 0.883 0.699 -0.935 1.712 0.005 0.12° +floor 4.675 -0.002 3.609 0.091 -0.001 -0.035 -0.05° +_scene_ 0.118 -0.006 0.158 -5.578 -0.002 -5.582 -57.51° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: table <-> chair depth=[0.031, 0.738, 0.459] + !! OVERLAP: table <-> chair depth=[0.531, 0.691, 0.281] + !! OVERLAP: table <-> chair depth=[0.298, 0.783, 0.467] + !! OVERLAP: table <-> chair depth=[0.162, 0.745, 0.038] + !! OVERLAP: table <-> floor depth=[1.689, -0.002, 0.843] + !! OVERLAP: chair <-> floor depth=[0.568, -0.002, 0.585] + !! OVERLAP: chair <-> floor depth=[0.517, -0.002, 0.514] + !! OVERLAP: chair <-> floor depth=[0.542, -0.002, 0.483] + !! OVERLAP: chair <-> floor depth=[0.514, -0.002, 0.490] + !! OVERLAP: chair <-> floor depth=[0.531, -0.002, 0.523] + !! OVERLAP: chair <-> floor depth=[0.461, -0.002, 0.467] + !! OVERLAP: chair <-> floor depth=[0.528, -0.002, 0.583] + !! OVERLAP: chair <-> floor depth=[0.544, -0.002, 0.559] +============================================================ + + +============================================================ +SCENE: DiningRoom-16460 | 12 objects +============================================================ +Final Step Collision Loss: 0.0099, Room Outer Loss: 0.0000, Walkable Loss: 0.9625 (Center Penalty: 0.9625), Relational Loss: 0.0273 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +table 1.252 0.794 0.631 1.201 -0.001 -0.659 -89.99° +table 1.882 0.749 1.026 -0.663 -0.000 0.647 90.08° +chair 0.554 0.746 0.501 -1.677 -0.000 -0.413 87.75° +chair 0.547 0.719 0.548 -0.988 -0.001 -0.583 0.01° +chair 0.484 0.751 0.517 -1.499 0.002 0.924 179.87° +chair 0.407 0.745 0.424 -1.080 -0.001 0.994 179.92° +table 1.411 0.854 0.383 -1.155 0.002 -1.128 0.01° +lamp 0.304 0.672 0.205 -1.084 2.019 -0.074 -0.08° +chair 0.413 0.730 0.390 -0.299 -0.001 -0.883 -57.45° +chair 0.571 0.720 0.533 0.340 0.012 1.099 -105.22° +floor 5.546 -0.011 3.557 -0.603 0.002 0.448 0.04° +_scene_ 0.069 0.000 0.026 -5.669 -0.006 -5.712 -57.31° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: table <-> floor depth=[1.252, -0.011, 0.631] + !! OVERLAP: table <-> chair depth=[0.347, 0.748, 0.495] + !! OVERLAP: table <-> chair depth=[0.407, 0.745, 0.378] + !! OVERLAP: table <-> chair depth=[0.224, 0.720, 0.328] + !! OVERLAP: table <-> floor depth=[1.882, -0.011, 1.026] + !! OVERLAP: chair <-> floor depth=[0.554, -0.011, 0.501] + !! OVERLAP: chair <-> floor depth=[0.547, -0.011, 0.548] + !! OVERLAP: chair <-> chair depth=[0.027, 0.745, 0.400] + !! OVERLAP: chair <-> floor depth=[0.484, -0.011, 0.517] + !! OVERLAP: chair <-> floor depth=[0.407, -0.011, 0.424] + !! OVERLAP: table <-> chair depth=[0.055, 0.730, 0.142] + !! OVERLAP: table <-> floor depth=[1.411, -0.011, 0.383] + !! OVERLAP: chair <-> floor depth=[0.413, -0.011, 0.390] + !! OVERLAP: chair <-> floor depth=[0.571, -0.011, 0.533] +============================================================ + + +============================================================ +SCENE: DiningRoom-31322 | 11 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0000, Walkable Loss: 0.7834 (Center Penalty: 0.7834), Relational Loss: 0.0066 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +table 0.962 0.794 0.372 -1.594 0.005 1.611 179.91° +cabinet 0.576 1.092 0.353 0.739 0.001 -1.399 -90.10° +cabinet 0.397 1.090 0.312 0.743 0.012 -0.523 -90.10° +table 1.879 0.715 0.787 -0.564 -0.001 -1.016 90.05° +chair 0.379 0.853 0.449 0.225 0.004 -0.810 -89.83° +lamp 0.432 1.328 0.398 -0.606 1.592 -0.956 126.62° +chair 0.420 0.833 0.471 0.150 0.003 -1.229 -89.89° +chair 0.393 0.892 0.433 -1.269 0.003 -0.988 90.06° +chair 0.433 0.863 0.518 -1.333 0.002 -0.408 90.04° +floor 4.168 0.019 4.580 -1.013 -0.008 -0.118 -0.22° +_scene_ 0.070 0.000 0.023 -5.674 -0.005 -5.713 -57.29° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: table <-> floor depth=[0.962, 0.019, 0.372] + !! OVERLAP: cabinet <-> floor depth=[0.576, 0.019, 0.353] + !! OVERLAP: cabinet <-> floor depth=[0.397, 0.019, 0.312] + !! OVERLAP: table <-> chair depth=[0.340, 0.715, 0.413] + !! OVERLAP: table <-> chair depth=[0.420, 0.715, 0.415] + !! OVERLAP: table <-> chair depth=[0.393, 0.715, 0.433] + !! OVERLAP: table <-> chair depth=[0.387, 0.715, 0.045] + !! OVERLAP: table <-> floor depth=[1.879, 0.019, 0.787] + !! OVERLAP: chair <-> chair depth=[0.325, 0.833, 0.041] + !! OVERLAP: chair <-> floor depth=[0.379, 0.019, 0.449] + !! OVERLAP: chair <-> floor depth=[0.420, 0.019, 0.471] + !! OVERLAP: chair <-> floor depth=[0.393, 0.019, 0.433] + !! OVERLAP: chair <-> floor depth=[0.433, 0.019, 0.518] +============================================================ + + +============================================================ +SCENE: DiningRoom-20718 | 11 objects +============================================================ +Final Step Collision Loss: 0.0263, Room Outer Loss: 0.0000, Walkable Loss: 0.5274 (Center Penalty: 0.5274), Relational Loss: 0.0352 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +table 2.076 0.740 0.872 -0.656 0.005 -0.860 -89.95° +chair 0.442 0.831 0.475 -1.051 0.004 -0.203 -179.90° +chair 0.398 0.812 0.362 -0.920 -0.005 -1.288 -47.23° +chair 0.549 0.826 0.568 -1.430 0.001 -1.358 0.09° +chair 0.477 0.831 0.546 -1.443 0.000 0.110 -179.93° +table 0.712 0.929 0.309 0.146 0.007 -1.424 -90.53° +lamp 0.881 0.916 0.685 -1.056 1.825 -1.177 0.05° +table 2.136 0.739 0.728 -0.394 0.003 1.701 179.75° +chair 0.502 0.446 0.492 0.435 0.000 1.009 0.00° +floor 3.861 0.030 5.232 -0.790 -0.004 -0.446 -0.44° +_scene_ 0.075 0.002 0.030 -5.674 -0.005 -5.716 -57.29° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: table <-> chair depth=[0.442, 0.740, 0.017] + !! OVERLAP: table <-> chair depth=[0.398, 0.740, 0.189] + !! OVERLAP: table <-> chair depth=[0.539, 0.740, 0.222] + !! OVERLAP: table <-> table depth=[0.592, 0.740, 0.026] + !! OVERLAP: table <-> floor depth=[2.076, 0.030, 0.872] + !! OVERLAP: chair <-> chair depth=[0.067, 0.827, 0.197] + !! OVERLAP: chair <-> floor depth=[0.442, 0.030, 0.475] + !! OVERLAP: chair <-> floor depth=[0.398, 0.030, 0.362] + !! OVERLAP: chair <-> floor depth=[0.549, 0.030, 0.568] + !! OVERLAP: chair <-> floor depth=[0.477, 0.030, 0.546] + !! OVERLAP: table <-> floor depth=[0.712, 0.030, 0.309] + !! OVERLAP: table <-> floor depth=[2.136, 0.030, 0.728] + !! OVERLAP: chair <-> floor depth=[0.502, 0.030, 0.492] +============================================================ + + +============================================================ +SCENE: DiningRoom-7122 | 9 objects +============================================================ +Final Step Collision Loss: 0.0433, Room Outer Loss: 0.0000, Walkable Loss: 0.6937 (Center Penalty: 0.6937), Relational Loss: 0.0180 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +table 1.081 0.912 0.374 -0.743 0.007 0.869 179.85° +chair 0.385 0.949 0.521 0.559 0.003 -1.458 -90.21° +chair 0.514 0.889 0.473 0.685 0.001 -0.921 -90.19° +chair 0.485 0.956 0.525 -0.719 0.004 -1.459 89.81° +chair 0.472 0.935 0.542 -0.800 -0.000 -0.820 90.03° +lamp 0.725 0.595 0.272 -0.261 1.824 -0.870 -89.76° +table 1.613 0.750 0.797 -0.246 0.001 -1.121 -0.02° +floor 2.895 0.013 3.963 0.021 0.006 -0.897 0.05° +_scene_ 0.064 0.001 0.026 -5.663 -0.004 -5.703 -57.30° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: table <-> floor depth=[1.081, 0.013, 0.374] + !! OVERLAP: chair <-> table depth=[0.193, 0.750, 0.322] + !! OVERLAP: chair <-> floor depth=[0.385, 0.013, 0.521] + !! OVERLAP: chair <-> table depth=[0.132, 0.750, 0.435] + !! OVERLAP: chair <-> floor depth=[0.514, 0.013, 0.473] + !! OVERLAP: chair <-> table depth=[0.485, 0.750, 0.323] + !! OVERLAP: chair <-> floor depth=[0.485, 0.013, 0.525] + !! OVERLAP: chair <-> table depth=[0.472, 0.750, 0.368] + !! OVERLAP: chair <-> floor depth=[0.472, 0.013, 0.542] + !! OVERLAP: table <-> floor depth=[1.613, 0.013, 0.797] +============================================================ + + +============================================================ +SCENE: DiningRoom-22339 | 10 objects +============================================================ +Final Step Collision Loss: 0.0168, Room Outer Loss: 0.0000, Walkable Loss: 2.2780 (Center Penalty: 2.2780), Relational Loss: 0.0390 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +chair 0.484 0.942 0.492 -0.247 -0.001 -1.286 -0.58° +table 1.376 0.732 1.039 -0.447 -0.001 -0.585 0.14° +chair 0.481 0.955 0.537 -0.329 0.001 1.257 179.02° +chair 0.451 0.986 0.526 -0.993 0.001 -0.891 85.07° +chair 0.465 0.903 0.465 -0.957 0.001 0.209 103.67° +chair 0.470 0.975 0.543 0.570 0.002 -0.826 -90.07° +chair 0.556 0.920 0.534 0.623 0.002 0.530 -110.05° +lamp 0.668 0.808 0.626 0.183 1.833 -0.712 -0.09° +floor 2.722 -0.003 3.840 0.105 -0.002 -0.089 -0.05° +_scene_ 0.055 -0.003 0.032 -5.661 -0.002 -5.716 -57.35° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: chair <-> table depth=[0.484, 0.732, 0.065] + !! OVERLAP: chair <-> floor depth=[0.484, -0.003, 0.492] + !! OVERLAP: table <-> chair depth=[0.368, 0.732, 0.476] + !! OVERLAP: table <-> floor depth=[1.376, -0.003, 1.039] + !! OVERLAP: chair <-> floor depth=[0.481, -0.003, 0.537] + !! OVERLAP: chair <-> floor depth=[0.451, -0.003, 0.526] + !! OVERLAP: chair <-> floor depth=[0.465, -0.003, 0.465] + !! OVERLAP: chair <-> floor depth=[0.470, -0.003, 0.543] + !! OVERLAP: chair <-> floor depth=[0.556, -0.003, 0.534] +============================================================ + + +============================================================ +SCENE: DiningRoom-12376 | 14 objects +============================================================ +Final Step Collision Loss: 0.0121, Room Outer Loss: 0.0000, Walkable Loss: 0.8633 (Center Penalty: 0.8633), Relational Loss: 0.0094 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +table 2.020 0.733 0.987 -1.000 -0.000 0.667 90.13° +chair 0.618 0.981 0.612 0.609 -0.004 0.540 179.78° +chair 0.576 0.983 0.706 0.366 0.000 -1.031 -89.99° +chair 0.566 0.949 0.572 -1.533 -0.000 -0.089 179.53° +chair 0.647 0.974 0.638 -1.109 0.000 -0.964 0.01° +table 1.546 1.419 0.377 -1.881 0.001 0.116 89.92° +table 1.005 1.584 0.483 -2.078 0.003 -0.924 89.99° +lamp 1.232 1.119 1.113 -0.745 1.775 -0.097 89.99° +cabinet 0.448 1.352 0.477 1.496 -0.001 -1.712 0.11° +cabinet 0.577 1.175 0.302 1.311 0.001 -2.103 0.00° +cabinet 0.564 1.170 0.227 1.113 0.000 -1.839 0.00° +cabinet 0.654 1.241 0.285 0.218 0.000 -2.357 -0.01° +floor 4.948 0.003 4.573 -0.611 -0.005 -0.868 0.19° +_scene_ 0.068 0.000 0.019 -5.675 -0.004 -5.714 -57.31° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: table <-> chair depth=[0.566, 0.733, 0.024] + !! OVERLAP: table <-> table depth=[0.902, 0.733, 0.131] + !! OVERLAP: table <-> floor depth=[2.020, 0.003, 0.987] + !! OVERLAP: chair <-> floor depth=[0.618, 0.003, 0.612] + !! OVERLAP: chair <-> floor depth=[0.576, 0.003, 0.706] + !! OVERLAP: chair <-> table depth=[0.566, 0.949, 0.270] + !! OVERLAP: chair <-> floor depth=[0.566, 0.003, 0.572] + !! OVERLAP: chair <-> floor depth=[0.647, 0.003, 0.638] + !! OVERLAP: table <-> floor depth=[1.546, 0.003, 0.377] + !! OVERLAP: table <-> floor depth=[1.005, 0.003, 0.483] + !! OVERLAP: cabinet <-> cabinet depth=[0.123, 1.170, 0.225] + !! OVERLAP: cabinet <-> floor depth=[0.448, 0.003, 0.477] + !! OVERLAP: cabinet <-> cabinet depth=[0.372, 1.170, 0.001] + !! OVERLAP: cabinet <-> floor depth=[0.577, 0.003, 0.302] + !! OVERLAP: cabinet <-> floor depth=[0.564, 0.003, 0.227] + !! OVERLAP: cabinet <-> floor depth=[0.654, 0.003, 0.285] +============================================================ + + +============================================================ +SCENE: DiningRoom-19885 | 9 objects +============================================================ +Final Step Collision Loss: 0.0271, Room Outer Loss: 0.0000, Walkable Loss: 1.2625 (Center Penalty: 1.2625), Relational Loss: 0.0364 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +table 1.872 0.777 0.593 0.464 -0.060 1.257 1.10° +chair 0.593 0.977 0.602 -0.058 0.001 0.791 179.72° +chair 0.561 0.954 0.605 -0.715 -0.004 0.904 140.93° +chair 0.530 0.967 0.594 0.036 0.001 -0.818 0.15° +chair 0.508 0.939 0.489 -0.817 0.002 -0.758 49.97° +chair 0.438 0.865 0.403 0.640 0.006 0.792 -146.76° +chair 0.556 0.853 0.529 0.975 0.001 -0.593 -55.43° +floor 3.485 -0.019 3.911 0.247 -0.004 0.695 -0.13° +_scene_ 0.068 0.043 0.076 -5.137 -0.000 -5.369 -59.55° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: table <-> chair depth=[0.593, 0.777, 0.132] + !! OVERLAP: table <-> chair depth=[0.037, 0.777, 0.246] + !! OVERLAP: table <-> chair depth=[0.438, 0.755, 0.032] + !! OVERLAP: table <-> floor depth=[1.872, -0.019, 0.593] + !! OVERLAP: chair <-> floor depth=[0.593, -0.019, 0.602] + !! OVERLAP: chair <-> floor depth=[0.561, -0.019, 0.605] + !! OVERLAP: chair <-> floor depth=[0.530, -0.019, 0.594] + !! OVERLAP: chair <-> floor depth=[0.508, -0.019, 0.489] + !! OVERLAP: chair <-> floor depth=[0.438, -0.019, 0.403] + !! OVERLAP: chair <-> floor depth=[0.556, -0.019, 0.529] +============================================================ + + +============================================================ +SCENE: DiningRoom-2831 | 8 objects +============================================================ +Final Step Collision Loss: 0.0173, Room Outer Loss: 0.0000, Walkable Loss: 1.3698 (Center Penalty: 1.3698), Relational Loss: 0.0107 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +table 0.608 0.777 0.578 -0.143 0.004 -0.923 1.51° +chair 0.427 1.018 0.439 -0.531 0.003 -1.070 -0.05° +chair 0.414 1.012 0.457 0.256 0.001 -0.882 0.08° +chair 0.564 0.968 0.548 -0.380 0.002 0.813 -179.90° +chair 0.507 0.990 0.584 0.200 -0.005 0.633 179.63° +lamp 0.378 0.873 0.355 -0.786 1.869 -0.112 -0.14° +floor 3.245 -0.011 3.050 -1.159 0.006 -0.328 0.01° +_scene_ 0.069 0.000 0.021 -5.668 -0.004 -5.712 -57.31° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: table <-> chair depth=[0.129, 0.777, 0.362] + !! OVERLAP: table <-> chair depth=[0.112, 0.777, 0.457] + !! OVERLAP: table <-> floor depth=[0.608, -0.011, 0.578] + !! OVERLAP: chair <-> floor depth=[0.427, -0.011, 0.439] + !! OVERLAP: chair <-> floor depth=[0.414, -0.011, 0.457] + !! OVERLAP: chair <-> floor depth=[0.564, -0.011, 0.548] + !! OVERLAP: chair <-> floor depth=[0.507, -0.011, 0.584] +============================================================ + + +============================================================ +SCENE: DiningRoom-60525 | 9 objects +============================================================ +Final Step Collision Loss: 0.0058, Room Outer Loss: 0.0840, Walkable Loss: 1.0221 (Center Penalty: 1.0221), Relational Loss: 0.0096 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +table 1.819 0.682 0.707 0.063 -0.005 0.905 89.90° +chair 0.534 0.925 0.494 -0.691 0.000 1.173 90.13° +chair 0.401 0.896 0.502 -0.680 0.003 0.654 89.95° +chair 0.502 0.887 0.522 0.930 0.002 0.480 -90.00° +chair 0.470 0.920 0.568 0.701 0.000 1.043 -90.03° +table 1.381 1.075 0.349 -1.040 0.001 0.406 90.25° +lamp 0.875 1.156 0.911 0.211 1.705 0.968 -0.04° +floor 3.631 0.024 4.819 0.169 -0.002 0.804 0.15° +_scene_ 0.061 0.002 0.020 -5.676 -0.005 -5.720 -57.34° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: table <-> chair depth=[0.422, 0.682, 0.332] + !! OVERLAP: table <-> chair depth=[0.367, 0.682, 0.353] + !! OVERLAP: table <-> chair depth=[0.293, 0.682, 0.189] + !! OVERLAP: table <-> chair depth=[0.470, 0.682, 0.500] + !! OVERLAP: table <-> table depth=[0.497, 0.682, 0.029] + !! OVERLAP: table <-> floor depth=[1.819, 0.024, 0.707] + !! OVERLAP: chair <-> floor depth=[0.534, 0.024, 0.494] + !! OVERLAP: chair <-> table depth=[0.401, 0.896, 0.177] + !! OVERLAP: chair <-> floor depth=[0.401, 0.024, 0.502] + !! OVERLAP: chair <-> floor depth=[0.502, 0.024, 0.522] + !! OVERLAP: chair <-> floor depth=[0.470, 0.024, 0.568] + !! OVERLAP: table <-> floor depth=[1.297, 0.024, 0.349] +============================================================ + + +============================================================ +SCENE: DiningRoom-55572 | 14 objects +============================================================ +Final Step Collision Loss: 0.0334, Room Outer Loss: 0.0000, Walkable Loss: 0.2163 (Center Penalty: 0.2163), Relational Loss: 0.0407 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +table 1.288 0.455 1.606 0.883 0.000 -1.208 0.01° +sofa 1.753 0.790 0.647 2.154 0.031 -1.668 -0.56° +wardrobe 0.916 2.391 0.570 -2.075 -0.001 0.910 89.82° +chair 0.576 0.867 0.607 -0.526 -0.001 -1.768 -90.03° +chair 0.645 0.886 0.632 -0.913 0.002 -1.281 89.68° +lamp 0.877 0.851 0.868 0.997 1.771 -1.192 -0.02° +chair 0.674 0.804 0.664 1.251 0.004 0.216 -163.49° +sofa 2.341 0.924 1.145 0.777 -0.002 -2.556 0.04° +sofa 2.124 0.815 0.918 1.660 -0.002 -0.814 -90.09° +table 0.889 1.101 0.496 2.332 -0.001 0.980 179.99° +cabinet 0.791 1.371 0.276 -2.010 0.004 1.726 89.92° +table 0.610 1.343 0.324 -0.754 0.003 1.489 -179.88° +floor 5.974 -0.031 6.020 0.407 0.001 -0.896 -0.05° +_scene_ 0.072 -0.000 0.026 -5.674 -0.005 -5.711 -57.29° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: table <-> sofa depth=[0.250, 0.455, 0.647] + !! OVERLAP: table <-> sofa depth=[1.288, 0.455, 0.028] + !! OVERLAP: table <-> sofa depth=[0.929, 0.455, 0.868] + !! OVERLAP: table <-> floor depth=[1.288, -0.031, 1.606] + !! OVERLAP: sofa <-> sofa depth=[0.670, 0.790, 0.008] + !! OVERLAP: sofa <-> floor depth=[1.753, -0.031, 0.647] + !! OVERLAP: wardrobe <-> floor depth=[0.916, -0.031, 0.570] + !! OVERLAP: chair <-> chair depth=[0.223, 0.867, 0.133] + !! OVERLAP: chair <-> sofa depth=[0.156, 0.867, 0.088] + !! OVERLAP: chair <-> floor depth=[0.576, -0.031, 0.607] + !! OVERLAP: chair <-> floor depth=[0.645, -0.031, 0.632] + !! OVERLAP: chair <-> floor depth=[0.674, -0.031, 0.664] + !! OVERLAP: sofa <-> floor depth=[2.341, -0.031, 1.145] + !! OVERLAP: sofa <-> floor depth=[2.124, -0.031, 0.918] + !! OVERLAP: table <-> floor depth=[0.889, -0.031, 0.496] + !! OVERLAP: cabinet <-> floor depth=[0.791, -0.031, 0.276] + !! OVERLAP: table <-> floor depth=[0.610, -0.031, 0.324] +============================================================ + + +============================================================ +SCENE: DiningRoom-24191 | 12 objects +============================================================ +Final Step Collision Loss: 0.0053, Room Outer Loss: 0.0000, Walkable Loss: 1.9386 (Center Penalty: 1.9386), Relational Loss: 0.0353 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +table 1.996 0.693 0.623 0.480 0.019 -0.878 90.34° +chair 0.505 0.818 0.555 0.984 0.003 -1.022 -90.20° +chair 0.456 0.839 0.532 1.089 -0.001 -0.343 -90.04° +chair 0.586 0.794 0.575 0.319 0.002 1.161 179.81° +chair 0.583 0.829 0.593 -0.812 0.003 -0.183 90.07° +chair 0.505 0.823 0.563 -0.636 0.001 -0.976 89.79° +chair 0.534 0.812 0.581 -0.026 0.000 -1.452 0.01° +chair 0.655 0.809 0.694 -0.959 0.000 0.594 90.01° +chair 0.557 0.809 0.544 0.976 0.000 0.432 -90.14° +lamp 0.703 0.762 0.621 0.620 1.894 -0.665 0.12° +floor 3.553 -0.003 4.907 -0.032 -0.001 -0.150 -0.00° +_scene_ 0.067 0.001 0.066 -5.638 -0.005 -5.665 -57.34° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: table <-> chair depth=[0.505, 0.693, 0.446] + !! OVERLAP: table <-> chair depth=[0.456, 0.693, 0.042] + !! OVERLAP: table <-> chair depth=[0.135, 0.693, 0.496] + !! OVERLAP: table <-> chair depth=[0.534, 0.693, 0.029] + !! OVERLAP: table <-> floor depth=[1.996, -0.003, 0.623] + !! OVERLAP: chair <-> floor depth=[0.505, -0.003, 0.555] + !! OVERLAP: chair <-> floor depth=[0.456, -0.003, 0.532] + !! OVERLAP: chair <-> floor depth=[0.586, -0.003, 0.575] + !! OVERLAP: chair <-> floor depth=[0.583, -0.003, 0.593] + !! OVERLAP: chair <-> floor depth=[0.505, -0.003, 0.563] + !! OVERLAP: chair <-> floor depth=[0.534, -0.003, 0.581] + !! OVERLAP: chair <-> floor depth=[0.655, -0.003, 0.694] + !! OVERLAP: chair <-> floor depth=[0.557, -0.003, 0.544] +============================================================ + + +============================================================ +SCENE: DiningRoom-13034 | 8 objects +============================================================ +Final Step Collision Loss: 0.0092, Room Outer Loss: 0.0000, Walkable Loss: 1.5301 (Center Penalty: 1.5301), Relational Loss: 0.0131 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +table 1.441 0.752 0.445 0.650 -0.007 -0.365 89.66° +chair 0.532 0.760 0.477 1.353 0.003 0.006 -90.06° +chair 0.514 0.829 0.528 1.063 0.003 -0.703 -89.94° +chair 0.461 0.798 0.437 0.237 -0.001 -0.404 90.06° +chair 0.305 0.761 0.321 0.097 -0.004 -0.767 90.18° +lamp 0.533 0.947 0.539 0.978 1.775 -0.440 90.10° +floor 3.070 -0.021 3.919 1.034 -0.025 0.376 0.32° +_scene_ 0.082 0.004 0.033 -5.659 -0.004 -5.694 -57.25° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: table <-> chair depth=[0.283, 0.746, 0.090] + !! OVERLAP: table <-> chair depth=[0.514, 0.752, 0.149] + !! OVERLAP: table <-> chair depth=[0.461, 0.752, 0.402] + !! OVERLAP: table <-> floor depth=[1.441, -0.021, 0.445] + !! OVERLAP: chair <-> floor depth=[0.532, -0.021, 0.477] + !! OVERLAP: chair <-> floor depth=[0.514, -0.021, 0.528] + !! OVERLAP: chair <-> chair depth=[0.243, 0.761, 0.015] + !! OVERLAP: chair <-> floor depth=[0.461, -0.021, 0.437] + !! OVERLAP: chair <-> floor depth=[0.305, -0.021, 0.321] +============================================================ + + +============================================================ +SCENE: DiningRoom-21509 | 10 objects +============================================================ +Final Step Collision Loss: 0.0130, Room Outer Loss: 0.0000, Walkable Loss: 0.6926 (Center Penalty: 0.6926), Relational Loss: 0.0154 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +table 1.367 0.767 0.734 -1.095 -0.000 0.600 0.03° +chair 0.496 0.929 0.552 -0.545 0.001 1.123 -179.89° +chair 0.447 0.970 0.532 -0.808 0.000 0.167 -89.77° +chair 0.437 0.955 0.425 -1.899 -0.003 0.448 90.12° +chair 0.567 0.990 0.562 -1.560 0.001 -0.125 -0.03° +lamp 0.692 1.146 0.527 -0.600 1.615 -0.599 179.78° +cabinet 0.343 1.931 0.672 0.628 0.014 -1.559 0.35° +lamp 0.299 0.933 0.272 -1.459 1.398 0.904 0.06° +floor 3.750 -0.018 3.843 -0.981 -0.018 -0.453 -0.01° +_scene_ 0.068 0.001 0.019 -5.672 -0.005 -5.714 -57.32° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: table <-> chair depth=[0.382, 0.767, 0.120] + !! OVERLAP: table <-> chair depth=[0.447, 0.767, 0.199] + !! OVERLAP: table <-> chair depth=[0.098, 0.767, 0.425] + !! OVERLAP: table <-> floor depth=[1.367, -0.018, 0.734] + !! OVERLAP: chair <-> floor depth=[0.496, -0.018, 0.552] + !! OVERLAP: chair <-> floor depth=[0.447, -0.018, 0.532] + !! OVERLAP: chair <-> floor depth=[0.437, -0.018, 0.425] + !! OVERLAP: chair <-> floor depth=[0.567, -0.018, 0.562] + !! OVERLAP: cabinet <-> floor depth=[0.343, -0.018, 0.672] +============================================================ + + +============================================================ +SCENE: DiningRoom-42541 | 8 objects +============================================================ +Final Step Collision Loss: 0.0106, Room Outer Loss: 0.0010, Walkable Loss: 1.4937 (Center Penalty: 1.4937), Relational Loss: 0.0108 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +table 1.435 0.669 0.572 -0.855 -0.009 0.140 -0.38° +chair 0.604 0.905 0.539 -0.661 0.004 0.669 -179.87° +chair 0.490 0.886 0.540 -1.266 0.001 0.644 -179.96° +chair 0.621 0.990 0.360 -0.637 0.001 -0.308 0.26° +chair 0.470 0.896 0.443 -1.187 -0.002 -0.330 0.02° +lamp 0.434 0.708 0.454 -0.562 2.490 0.187 0.07° +floor 3.996 0.028 1.494 -0.920 -0.008 0.190 0.17° +_scene_ 0.065 0.000 0.019 -5.669 -0.004 -5.712 -57.30° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: table <-> chair depth=[0.604, 0.669, 0.026] + !! OVERLAP: table <-> chair depth=[0.490, 0.669, 0.052] + !! OVERLAP: table <-> chair depth=[0.621, 0.669, 0.018] + !! OVERLAP: table <-> chair depth=[0.470, 0.669, 0.037] + !! OVERLAP: table <-> floor depth=[1.435, 0.028, 0.572] + !! OVERLAP: chair <-> floor depth=[0.604, 0.028, 0.538] + !! OVERLAP: chair <-> floor depth=[0.490, 0.028, 0.540] + !! OVERLAP: chair <-> floor depth=[0.621, 0.028, 0.360] + !! OVERLAP: chair <-> floor depth=[0.470, 0.028, 0.443] +============================================================ + + +============================================================ +SCENE: DiningRoom-13727 | 10 objects +============================================================ +Final Step Collision Loss: 0.0239, Room Outer Loss: 0.0000, Walkable Loss: 0.7986 (Center Penalty: 0.7986), Relational Loss: 0.0549 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +table 1.560 0.717 0.994 -0.943 0.013 0.308 -0.18° +chair 0.509 0.776 0.530 0.366 -0.001 0.971 -166.92° +chair 0.470 0.717 0.436 -0.478 0.001 1.094 160.58° +chair 0.372 0.704 0.409 -1.214 0.005 0.032 90.00° +chair 0.473 0.745 0.456 -0.464 -0.001 -1.036 15.05° +chair 0.556 0.797 0.549 0.553 0.001 -0.933 -22.89° +chair 0.532 0.771 0.546 1.042 0.001 -0.136 -80.49° +cabinet 1.955 2.211 0.235 -1.320 0.000 -1.053 89.95° +floor 5.011 -0.022 3.544 -0.945 -0.020 0.244 -0.44° +_scene_ 0.070 0.005 0.042 -5.628 -0.005 -5.661 -57.50° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: table <-> chair depth=[0.372, 0.703, 0.409] + !! OVERLAP: table <-> floor depth=[1.560, -0.022, 0.994] + !! OVERLAP: chair <-> floor depth=[0.509, -0.022, 0.530] + !! OVERLAP: chair <-> floor depth=[0.470, -0.022, 0.436] + !! OVERLAP: chair <-> floor depth=[0.372, -0.022, 0.409] + !! OVERLAP: chair <-> cabinet depth=[0.358, 0.745, 0.235] + !! OVERLAP: chair <-> floor depth=[0.473, -0.022, 0.456] + !! OVERLAP: chair <-> floor depth=[0.556, -0.022, 0.549] + !! OVERLAP: chair <-> floor depth=[0.532, -0.022, 0.546] + !! OVERLAP: cabinet <-> floor depth=[1.955, -0.022, 0.235] +============================================================ + + +============================================================ +SCENE: Library-4425 | 6 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0199, Walkable Loss: 1.7560 (Center Penalty: 1.7560), Relational Loss: 0.0000 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +table 1.108 0.760 0.496 0.707 0.002 -0.626 -89.77° +chair 0.536 0.687 0.545 -0.813 0.002 -0.336 83.17° +bookshelf 0.875 2.007 0.301 -0.791 0.004 1.275 -179.98° +lamp 1.348 1.231 1.057 0.240 1.368 -0.667 0.33° +floor 2.590 -0.001 2.868 0.006 0.001 -0.029 -0.04° +_scene_ 0.070 0.001 0.021 -5.673 -0.004 -5.713 -57.29° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: table <-> floor depth=[1.108, -0.001, 0.496] + !! OVERLAP: chair <-> floor depth=[0.536, -0.001, 0.545] + !! OVERLAP: bookshelf <-> floor depth=[0.875, -0.001, 0.281] +============================================================ + + +============================================================ +SCENE: Library-4345 | 6 objects +============================================================ +Final Step Collision Loss: 0.0456, Room Outer Loss: 0.0000, Walkable Loss: 0.9151 (Center Penalty: 0.9151), Relational Loss: 0.0207 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +bookshelf 1.243 1.919 0.312 -0.747 0.021 -0.028 -178.64° +lamp 0.975 1.308 0.419 -0.299 0.038 -0.782 0.04° +desk 1.744 2.797 0.954 0.005 -0.003 -1.766 -90.67° +lamp 0.602 0.193 0.474 -0.269 2.277 -0.736 -0.14° +floor 2.845 0.003 3.265 -0.123 0.012 -1.231 -0.37° +_scene_ 0.062 0.003 0.061 -5.670 -0.006 -5.688 -57.30° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bookshelf <-> floor depth=[1.243, 0.003, 0.312] + !! OVERLAP: lamp <-> floor depth=[0.975, 0.003, 0.419] + !! OVERLAP: desk <-> floor depth=[1.744, 0.003, 0.954] +============================================================ + + +============================================================ +SCENE: Library-16688 | 8 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.2076, Walkable Loss: 1.0332 (Center Penalty: 1.0332), Relational Loss: 0.0221 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +lamp 0.831 0.882 0.675 0.690 2.115 -0.475 -1.13° +bookshelf 0.480 2.462 0.604 1.127 -0.007 1.052 -90.97° +bookshelf 0.365 2.459 0.434 1.016 0.004 -1.013 -90.24° +bookshelf 0.504 2.236 0.577 1.080 0.026 0.014 -90.46° +desk 1.429 0.714 0.521 -0.060 0.000 1.394 -179.98° +sofa 1.968 0.794 0.994 -0.507 0.000 -0.687 -0.08° +floor 3.794 -0.040 2.952 -0.644 0.008 0.164 0.60° +_scene_ 0.071 -0.002 0.027 -5.667 -0.005 -5.699 -57.29° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bookshelf <-> floor depth=[0.366, -0.040, 0.604] + !! OVERLAP: bookshelf <-> floor depth=[0.365, -0.040, 0.434] + !! OVERLAP: bookshelf <-> floor depth=[0.425, -0.040, 0.577] + !! OVERLAP: desk <-> floor depth=[1.429, -0.040, 0.507] + !! OVERLAP: sofa <-> floor depth=[1.968, -0.040, 0.994] +============================================================ + + +============================================================ +SCENE: Library-29416 | 7 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.1376, Walkable Loss: 1.9814 (Center Penalty: 1.9814), Relational Loss: 0.0275 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +bookshelf 2.187 2.934 0.421 0.336 -0.010 -0.851 -90.53° +bookshelf 1.586 2.629 0.360 0.806 0.006 0.010 -89.87° +desk 1.686 0.935 0.440 -0.428 -0.002 0.900 89.96° +chair 0.628 0.765 0.362 0.156 -0.015 0.949 -89.45° +lamp 0.465 0.795 0.482 -0.689 1.944 0.516 -0.80° +floor 2.917 -0.001 3.194 0.003 0.000 -0.003 -0.06° +_scene_ 0.077 0.002 0.034 -5.665 -0.004 -5.694 -57.30° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bookshelf <-> floor depth=[2.187, -0.001, 0.421] + !! OVERLAP: bookshelf <-> floor depth=[1.449, -0.001, 0.360] + !! OVERLAP: desk <-> chair depth=[0.573, 0.765, 0.353] + !! OVERLAP: desk <-> floor depth=[1.686, -0.001, 0.440] + !! OVERLAP: chair <-> floor depth=[0.628, -0.001, 0.362] +============================================================ + + +============================================================ +SCENE: Library-110125 | 7 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0000, Walkable Loss: 0.7920 (Center Penalty: 0.7920), Relational Loss: 0.0061 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +desk 1.293 0.819 0.415 -1.284 0.000 0.543 179.95° +chair 0.612 0.973 0.580 -1.129 0.001 -0.175 -38.81° +bookshelf 1.175 2.042 0.237 -1.054 -0.002 -1.461 0.02° +lamp 0.951 1.156 1.070 0.125 1.476 -0.811 90.80° +chair 0.474 0.619 0.556 0.831 0.002 -0.330 -172.62° +floor 3.997 0.019 2.745 -0.711 0.005 -0.468 -0.25° +_scene_ 0.071 0.000 0.023 -5.671 -0.005 -5.708 -57.33° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: desk <-> floor depth=[1.293, 0.019, 0.415] + !! OVERLAP: chair <-> floor depth=[0.612, 0.019, 0.580] + !! OVERLAP: bookshelf <-> floor depth=[1.175, 0.019, 0.237] + !! OVERLAP: chair <-> floor depth=[0.474, 0.019, 0.556] +============================================================ + + +============================================================ +SCENE: Library-19478 | 5 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0000, Walkable Loss: 0.8409 (Center Penalty: 0.8409), Relational Loss: 0.0213 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +desk 0.917 0.843 0.977 -0.156 0.002 -0.674 -89.77° +bookshelf 1.502 2.511 0.342 -0.373 -0.004 -1.367 0.02° +lamp 0.594 0.986 0.707 -0.704 1.999 -0.462 -0.14° +floor 2.227 0.043 3.132 -0.524 0.006 -0.734 -0.36° +_scene_ 0.080 -0.006 0.118 -5.511 0.012 -5.518 -58.11° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: desk <-> floor depth=[0.917, 0.043, 0.977] + !! OVERLAP: bookshelf <-> floor depth=[1.502, 0.043, 0.342] +============================================================ + + +============================================================ +SCENE: Library-898 | 5 objects +============================================================ +Final Step Collision Loss: 0.0329, Room Outer Loss: 0.0443, Walkable Loss: 0.7759 (Center Penalty: 0.7759), Relational Loss: 0.0309 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +bookshelf 1.926 2.505 0.363 -0.454 -0.032 -0.903 89.70° +desk 0.851 1.728 0.222 0.292 -0.037 -0.960 -179.23° +chair 0.474 0.739 0.503 0.175 0.005 -0.660 -0.01° +floor 2.625 -0.006 3.018 -0.060 0.004 -1.030 0.36° +_scene_ 0.035 0.002 0.038 -5.611 0.002 -5.683 -57.35° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bookshelf <-> desk depth=[0.643, 1.728, 0.222] + !! OVERLAP: bookshelf <-> chair depth=[0.474, 0.739, 0.190] + !! OVERLAP: bookshelf <-> floor depth=[1.882, -0.006, 0.363] + !! OVERLAP: desk <-> chair depth=[0.474, 0.739, 0.062] + !! OVERLAP: desk <-> floor depth=[0.851, -0.006, 0.222] + !! OVERLAP: chair <-> floor depth=[0.474, -0.006, 0.503] +============================================================ + + +============================================================ +SCENE: Library-2159 | 7 objects +============================================================ +Final Step Collision Loss: 0.0228, Room Outer Loss: 0.0481, Walkable Loss: 1.3210 (Center Penalty: 1.3210), Relational Loss: 0.0295 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +bookshelf 2.565 2.174 0.543 0.348 0.004 -1.028 -90.27° +chair 0.768 0.883 0.829 -0.635 0.004 -1.426 -21.61° +desk 0.855 0.648 0.407 -1.130 0.067 -0.643 78.93° +sofa 1.589 0.999 0.926 -0.773 -0.008 0.481 90.47° +table 0.524 0.465 0.699 -0.533 -0.001 1.534 0.01° +floor 3.170 -0.002 4.700 -0.002 0.000 -0.074 -0.01° +_scene_ 0.068 0.000 0.023 -5.667 -0.005 -5.710 -57.29° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bookshelf <-> chair depth=[0.683, 0.883, 0.289] + !! OVERLAP: bookshelf <-> desk depth=[0.232, 0.648, 0.090] + !! OVERLAP: bookshelf <-> floor depth=[2.517, -0.002, 0.543] + !! OVERLAP: chair <-> floor depth=[0.768, -0.002, 0.829] + !! OVERLAP: desk <-> floor depth=[0.855, -0.002, 0.407] + !! OVERLAP: sofa <-> floor depth=[1.589, -0.002, 0.926] + !! OVERLAP: table <-> floor depth=[0.524, -0.002, 0.699] +============================================================ + + +============================================================ +SCENE: Library-7291 | 7 objects +============================================================ +Final Step Collision Loss: 0.0066, Room Outer Loss: 0.0000, Walkable Loss: 0.9626 (Center Penalty: 0.9626), Relational Loss: 0.0001 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +chair 0.640 0.505 0.414 -1.140 -0.002 0.379 0.14° +bookshelf 0.386 2.028 0.198 1.004 0.010 0.307 -89.85° +lamp 0.375 0.630 0.394 -0.659 2.112 -0.147 -0.15° +desk 1.936 0.876 0.248 -0.950 0.013 0.089 179.90° +sofa 2.155 0.821 0.987 -0.349 0.003 -1.239 -0.04° +floor 3.434 -0.006 3.236 -0.429 -0.000 -0.793 0.08° +_scene_ 0.058 -0.000 0.024 -5.655 -0.004 -5.702 -57.31° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: chair <-> desk depth=[0.640, 0.505, 0.041] + !! OVERLAP: chair <-> floor depth=[0.640, -0.006, 0.414] + !! OVERLAP: bookshelf <-> floor depth=[0.386, -0.006, 0.198] + !! OVERLAP: desk <-> floor depth=[1.936, -0.006, 0.248] + !! OVERLAP: sofa <-> floor depth=[2.155, -0.006, 0.987] +============================================================ + + +============================================================ +SCENE: Library-24727 | 5 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0235, Walkable Loss: 1.2456 (Center Penalty: 1.2456), Relational Loss: 0.0000 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +bookshelf 1.382 2.339 0.427 -1.260 0.004 0.439 89.89° +chair 0.896 0.828 0.813 0.426 0.004 1.030 -167.69° +lamp 0.210 0.667 0.317 0.670 2.245 0.743 0.11° +floor 3.818 -0.000 3.096 -0.018 0.000 -0.006 0.02° +_scene_ 0.047 0.001 0.061 -5.591 -0.001 -5.620 -57.49° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bookshelf <-> floor depth=[1.359, -0.000, 0.427] + !! OVERLAP: chair <-> floor depth=[0.896, -0.000, 0.813] +============================================================ + + +============================================================ +SCENE: Library-43565 | 7 objects +============================================================ +Final Step Collision Loss: 0.0345, Room Outer Loss: 0.0201, Walkable Loss: 1.9359 (Center Penalty: 1.9359), Relational Loss: 0.0049 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +bookshelf 2.394 2.408 0.486 -0.159 -0.015 1.124 89.38° +bookshelf 0.728 2.029 0.375 0.900 0.001 0.829 -179.97° +chair 0.365 0.668 0.376 0.003 -0.003 -0.963 90.15° +lamp 0.612 0.346 0.440 0.505 2.294 -0.700 0.77° +desk 1.980 0.822 0.965 0.364 -0.000 -0.538 0.03° +floor 2.698 -0.001 2.916 0.013 0.001 -0.022 0.00° +_scene_ 0.079 0.002 0.009 -5.678 -0.004 -5.705 -57.29° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bookshelf <-> bookshelf depth=[0.502, 2.029, 0.136] + !! OVERLAP: bookshelf <-> floor depth=[2.374, -0.001, 0.486] + !! OVERLAP: bookshelf <-> floor depth=[0.728, -0.001, 0.375] + !! OVERLAP: chair <-> desk depth=[0.365, 0.668, 0.246] + !! OVERLAP: chair <-> floor depth=[0.365, -0.001, 0.376] + !! OVERLAP: desk <-> floor depth=[1.980, -0.001, 0.965] +============================================================ + + +============================================================ +SCENE: Library-24675 | 6 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0907, Walkable Loss: 1.5022 (Center Penalty: 1.5022), Relational Loss: 0.0000 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +lamp 0.765 1.187 0.853 0.764 1.466 -0.773 1.72° +chair 0.400 0.895 0.471 -0.924 -0.002 0.442 90.11° +desk 1.207 0.696 0.584 0.462 -0.002 -0.670 -89.94° +bookshelf 0.780 2.688 0.481 -1.169 0.003 -0.765 90.60° +floor 2.929 -0.004 3.019 -0.004 0.002 0.001 -0.03° +_scene_ 0.049 0.003 0.021 -5.534 -0.005 -5.631 -57.83° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: chair <-> floor depth=[0.400, -0.004, 0.471] + !! OVERLAP: desk <-> floor depth=[1.207, -0.004, 0.584] + !! OVERLAP: bookshelf <-> floor depth=[0.689, -0.004, 0.481] +============================================================ + + +============================================================ +SCENE: Library-11256 | 10 objects +============================================================ +Final Step Collision Loss: 0.0087, Room Outer Loss: 0.1172, Walkable Loss: 1.7313 (Center Penalty: 1.7313), Relational Loss: 0.0029 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +bookshelf 1.719 2.633 0.284 1.148 0.013 0.358 -90.09° +bookshelf 2.099 2.345 0.228 0.840 -0.037 0.363 -90.86° +desk 1.413 0.903 0.549 -0.473 0.004 1.289 -179.95° +chair 0.624 0.945 0.592 0.516 -0.000 1.045 -90.02° +chair 0.764 0.875 0.797 -1.357 -0.001 -1.047 35.95° +chair 0.489 0.466 0.488 -1.637 -0.000 -0.208 73.26° +table 0.603 0.576 0.617 -0.438 0.001 -1.121 -0.03° +lamp 0.392 0.593 0.400 -0.337 2.156 0.653 -0.09° +floor 3.833 -0.001 3.864 -0.026 0.000 0.015 -0.04° +_scene_ 0.069 0.002 0.025 -5.672 -0.004 -5.708 -57.29° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bookshelf <-> bookshelf depth=[1.601, 2.345, 0.228] + !! OVERLAP: bookshelf <-> floor depth=[1.602, -0.001, 0.284] + !! OVERLAP: bookshelf <-> floor depth=[2.099, -0.001, 0.228] + !! OVERLAP: desk <-> chair depth=[0.029, 0.903, 0.327] + !! OVERLAP: desk <-> floor depth=[1.413, -0.001, 0.549] + !! OVERLAP: chair <-> floor depth=[0.624, -0.001, 0.592] + !! OVERLAP: chair <-> floor depth=[0.764, -0.001, 0.797] + !! OVERLAP: chair <-> floor depth=[0.489, -0.001, 0.488] + !! OVERLAP: table <-> floor depth=[0.603, -0.001, 0.617] +============================================================ + + +============================================================ +SCENE: Library-70308 | 6 objects +============================================================ +Final Step Collision Loss: 0.0068, Room Outer Loss: 0.0000, Walkable Loss: 1.9222 (Center Penalty: 1.9222), Relational Loss: 0.0043 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +desk 1.248 0.774 0.495 -0.570 0.004 0.814 -179.98° +chair 0.578 1.010 0.484 -0.707 0.009 0.269 19.68° +bookshelf 1.099 2.164 0.455 0.835 -0.006 0.545 -90.48° +lamp 1.271 1.460 1.254 -0.561 1.442 0.491 0.23° +floor 2.778 -0.002 3.337 0.001 0.001 -0.006 -0.03° +_scene_ 0.021 0.009 0.014 -5.614 -0.004 -5.684 -57.44° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: desk <-> floor depth=[1.248, -0.002, 0.495] + !! OVERLAP: chair <-> floor depth=[0.578, -0.002, 0.484] + !! OVERLAP: bookshelf <-> floor depth=[1.099, -0.002, 0.455] +============================================================ + + +============================================================ +SCENE: Library-57472 | 7 objects +============================================================ +Final Step Collision Loss: 0.0023, Room Outer Loss: 0.1014, Walkable Loss: 0.6147 (Center Penalty: 0.6147), Relational Loss: 0.0002 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +desk 1.201 0.787 0.540 -0.458 0.006 1.207 179.93° +bookshelf 0.144 1.741 0.322 0.647 -0.005 0.992 -179.73° +chair 0.551 0.695 0.544 -0.869 -0.001 0.699 0.04° +bookshelf 2.031 1.988 0.180 -1.174 -0.005 -0.431 0.35° +lamp 0.911 0.912 0.712 -0.736 2.199 0.228 -0.24° +floor 3.088 -0.075 2.288 -0.881 0.012 0.668 -0.42° +_scene_ 0.077 -0.001 0.025 -5.675 -0.003 -5.714 -57.27° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: desk <-> chair depth=[0.465, 0.695, 0.034] + !! OVERLAP: desk <-> floor depth=[1.201, -0.075, 0.540] + !! OVERLAP: bookshelf <-> floor depth=[0.088, -0.075, 0.322] + !! OVERLAP: chair <-> floor depth=[0.551, -0.075, 0.544] + !! OVERLAP: bookshelf <-> floor depth=[2.031, -0.075, 0.135] +============================================================ + + +============================================================ +SCENE: Library-32231 | 7 objects +============================================================ +Final Step Collision Loss: 0.0060, Room Outer Loss: 0.1389, Walkable Loss: 1.0222 (Center Penalty: 1.0222), Relational Loss: 0.0257 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +desk 1.344 0.833 0.294 0.035 -0.008 -0.856 -90.15° +bookshelf 1.162 2.631 0.415 -0.723 -0.027 0.020 -179.96° +cabinet 1.873 1.285 0.428 -0.356 -0.002 -1.096 90.05° +lamp 0.543 0.592 0.555 -0.395 2.124 -0.734 -0.12° +chair 0.276 0.866 0.295 0.342 -0.002 -1.406 -24.82° +floor 2.053 -0.025 3.501 -0.202 0.020 -1.039 1.65° +_scene_ 0.068 0.000 0.026 -5.671 -0.003 -5.712 -57.30° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: desk <-> cabinet depth=[1.218, 0.833, 0.121] + !! OVERLAP: desk <-> floor depth=[1.344, -0.025, 0.294] + !! OVERLAP: bookshelf <-> floor depth=[1.087, -0.025, 0.415] + !! OVERLAP: cabinet <-> chair depth=[0.276, 0.866, 0.051] + !! OVERLAP: cabinet <-> floor depth=[1.810, -0.025, 0.428] + !! OVERLAP: chair <-> floor depth=[0.276, -0.025, 0.295] +============================================================ + + +============================================================ +SCENE: Library-2480 | 5 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0000, Walkable Loss: 1.2212 (Center Penalty: 1.2212), Relational Loss: 0.0243 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +chair 0.431 0.854 0.473 -0.877 -0.002 -0.160 89.92° +bookshelf 1.784 2.128 0.131 0.247 0.006 1.537 179.98° +desk 1.072 0.749 1.011 0.857 -0.048 0.837 -91.54° +floor 2.707 0.002 3.566 0.078 0.000 -0.134 -0.05° +_scene_ 0.119 0.006 0.078 -5.648 -0.006 -5.678 -57.30° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: chair <-> floor depth=[0.431, 0.002, 0.473] + !! OVERLAP: bookshelf <-> floor depth=[1.784, 0.002, 0.131] + !! OVERLAP: desk <-> floor depth=[1.072, 0.002, 1.011] +============================================================ + + +============================================================ +SCENE: Library-23898 | 8 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0594, Walkable Loss: 1.0390 (Center Penalty: 1.0390), Relational Loss: 0.0240 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +table 1.196 0.768 0.638 -0.714 0.002 -0.209 0.25° +lamp 0.681 0.771 0.080 -0.040 1.882 0.831 -0.20° +bookshelf 0.489 1.970 0.276 1.352 0.001 -0.642 -89.36° +chair 0.511 0.908 0.547 -0.225 0.006 1.102 167.48° +bookshelf 1.003 1.870 0.374 1.292 0.001 1.394 -90.03° +bookshelf 0.653 2.109 0.336 1.270 0.002 0.466 -90.16° +floor 3.270 -0.008 3.122 0.099 -0.002 0.726 -0.20° +_scene_ 0.046 0.003 0.015 -5.677 -0.006 -5.715 -57.30° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: table <-> floor depth=[1.196, -0.008, 0.638] + !! OVERLAP: bookshelf <-> floor depth=[0.489, -0.008, 0.276] + !! OVERLAP: chair <-> floor depth=[0.511, -0.008, 0.547] + !! OVERLAP: bookshelf <-> floor depth=[0.944, -0.008, 0.374] + !! OVERLAP: bookshelf <-> floor depth=[0.653, -0.008, 0.336] +============================================================ + + +============================================================ +SCENE: Library-19283 | 5 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0580, Walkable Loss: 1.1473 (Center Penalty: 1.1473), Relational Loss: 0.0140 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +bookshelf 1.970 2.464 0.262 0.293 -0.005 -0.935 -90.26° +desk 1.423 1.053 0.654 -0.611 0.007 -0.674 90.00° +chair 0.591 0.798 0.303 -0.090 0.007 -0.664 -89.99° +floor 2.605 -0.005 3.079 -0.082 0.002 -0.670 -0.28° +_scene_ 0.070 0.026 0.080 -5.298 0.006 -5.500 -57.98° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bookshelf <-> desk depth=[0.792, 1.053, 0.198] + !! OVERLAP: bookshelf <-> chair depth=[0.591, 0.798, 0.012] + !! OVERLAP: bookshelf <-> floor depth=[1.912, -0.005, 0.262] + !! OVERLAP: desk <-> chair depth=[0.487, 0.798, 0.303] + !! OVERLAP: desk <-> floor depth=[1.423, -0.005, 0.654] + !! OVERLAP: chair <-> floor depth=[0.591, -0.005, 0.303] +============================================================ + + +============================================================ +SCENE: Library-29744 | 6 objects +============================================================ +Final Step Collision Loss: 0.0480, Room Outer Loss: 0.0492, Walkable Loss: 1.5550 (Center Penalty: 1.5550), Relational Loss: 0.0199 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +bookshelf 2.061 2.444 0.104 -0.427 -0.032 0.984 90.72° +bookshelf 1.158 2.353 0.232 0.857 -0.011 -0.519 -88.16° +desk 1.712 0.801 0.403 0.335 0.011 -1.110 0.18° +chair 0.339 0.708 0.361 0.436 0.030 0.705 -179.66° +floor 2.845 -0.001 3.330 -0.009 0.001 0.005 -0.03° +_scene_ 0.065 -0.000 0.022 -5.662 -0.004 -5.706 -57.32° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bookshelf <-> floor depth=[2.035, -0.001, 0.104] + !! OVERLAP: bookshelf <-> floor depth=[1.135, -0.001, 0.232] + !! OVERLAP: desk <-> floor depth=[1.712, -0.001, 0.403] + !! OVERLAP: chair <-> floor depth=[0.339, -0.001, 0.361] +============================================================ + + +============================================================ +SCENE: Library-22443 | 7 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0820, Walkable Loss: 0.9533 (Center Penalty: 0.9533), Relational Loss: 0.0124 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +bookshelf 0.757 2.012 0.251 -1.072 0.000 0.208 90.06° +bookshelf 0.923 2.079 0.280 -1.046 0.003 -0.686 89.93° +desk 1.424 0.690 0.526 -0.007 0.004 -0.788 -89.97° +chair 0.407 0.831 0.471 -0.568 -0.003 -0.832 89.12° +lamp 0.468 0.329 0.484 -0.155 2.619 -0.918 0.34° +floor 2.697 -0.044 4.336 -0.090 -0.002 -0.864 -0.16° +_scene_ 0.060 -0.001 0.022 -5.674 -0.005 -5.713 -57.31° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bookshelf <-> floor depth=[0.744, -0.044, 0.251] + !! OVERLAP: bookshelf <-> desk depth=[0.134, 0.690, 0.280] + !! OVERLAP: bookshelf <-> chair depth=[0.186, 0.831, 0.229] + !! OVERLAP: bookshelf <-> floor depth=[0.853, -0.044, 0.280] + !! OVERLAP: desk <-> chair depth=[0.355, 0.690, 0.454] + !! OVERLAP: desk <-> floor depth=[1.424, -0.044, 0.526] + !! OVERLAP: chair <-> floor depth=[0.407, -0.044, 0.471] +============================================================ + + +============================================================ +SCENE: Library-1093 | 8 objects +============================================================ +Final Step Collision Loss: 0.0008, Room Outer Loss: 0.0861, Walkable Loss: 0.9968 (Center Penalty: 0.9968), Relational Loss: 0.0157 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +bookshelf 0.720 2.168 0.402 -1.113 0.003 0.472 179.81° +bookshelf 0.737 2.030 0.289 -1.148 0.000 -0.894 90.00° +bookshelf 0.619 1.971 0.437 0.783 -0.004 -0.537 -89.34° +chair 0.633 0.817 0.621 -0.659 -0.001 -0.790 89.91° +lamp 0.445 0.335 0.587 0.017 2.454 -0.870 -89.24° +chair 0.456 0.554 0.519 -0.114 0.020 -0.986 90.14° +floor 2.595 0.007 3.282 -0.155 0.018 -0.777 -0.46° +_scene_ 0.059 -0.001 0.014 -5.667 -0.005 -5.712 -57.33° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bookshelf <-> floor depth=[0.699, 0.007, 0.402] + !! OVERLAP: bookshelf <-> chair depth=[0.196, 0.817, 0.289] + !! OVERLAP: bookshelf <-> floor depth=[0.672, 0.007, 0.289] + !! OVERLAP: bookshelf <-> floor depth=[0.619, 0.007, 0.437] + !! OVERLAP: chair <-> floor depth=[0.633, 0.007, 0.621] + !! OVERLAP: chair <-> floor depth=[0.456, 0.007, 0.519] +============================================================ + + +============================================================ +SCENE: Library-13832 | 6 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0284, Walkable Loss: 1.0200 (Center Penalty: 1.0200), Relational Loss: 0.0047 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +bookshelf 0.697 1.602 0.267 -1.109 -0.020 -0.473 89.66° +desk 1.711 0.784 0.566 0.063 -0.002 -0.845 -89.90° +chair 0.391 0.754 0.380 -0.562 0.008 -0.535 90.10° +lamp 1.024 1.072 0.470 0.239 1.589 -0.769 0.10° +floor 2.348 -0.008 2.729 -0.284 0.002 -0.922 -0.91° +_scene_ 0.061 -0.001 0.016 -5.670 -0.002 -5.711 -57.31° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bookshelf <-> desk depth=[0.031, 0.784, 0.044] + !! OVERLAP: bookshelf <-> floor depth=[0.697, -0.008, 0.267] + !! OVERLAP: desk <-> chair depth=[0.391, 0.754, 0.163] + !! OVERLAP: desk <-> floor depth=[1.682, -0.008, 0.566] + !! OVERLAP: chair <-> floor depth=[0.391, -0.008, 0.380] +============================================================ + + +============================================================ +SCENE: Library-16869 | 8 objects +============================================================ +Final Step Collision Loss: 0.0023, Room Outer Loss: 0.0000, Walkable Loss: 1.5714 (Center Penalty: 1.5714), Relational Loss: 0.0384 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +chair 0.400 0.745 0.361 0.920 0.005 0.265 0.26° +desk 1.353 1.104 0.471 0.686 0.000 0.722 179.99° +chair 0.385 0.684 0.388 -0.897 -0.002 0.130 0.06° +bookshelf 0.917 1.339 0.215 0.350 0.001 -1.294 0.03° +bookshelf 0.764 1.016 0.363 -0.809 0.001 -1.266 0.02° +desk 1.734 1.113 0.570 -0.325 0.005 1.212 -180.00° +floor 2.809 0.000 3.162 -0.007 0.001 -0.009 -0.02° +_scene_ 0.070 0.000 0.022 -5.673 -0.004 -5.714 -57.31° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: chair <-> floor depth=[0.400, 0.000, 0.361] + !! OVERLAP: desk <-> desk depth=[0.533, 1.104, 0.031] + !! OVERLAP: desk <-> floor depth=[1.353, 0.000, 0.471] + !! OVERLAP: chair <-> floor depth=[0.385, 0.000, 0.388] + !! OVERLAP: bookshelf <-> floor depth=[0.917, 0.000, 0.215] + !! OVERLAP: bookshelf <-> floor depth=[0.764, 0.000, 0.363] + !! OVERLAP: desk <-> floor depth=[1.734, 0.000, 0.570] +============================================================ + + +============================================================ +SCENE: Library-29737 | 6 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0080, Walkable Loss: 1.6952 (Center Penalty: 1.6952), Relational Loss: 0.0000 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +chair 0.595 1.030 0.563 0.531 -0.017 0.793 -147.16° +desk 2.279 0.803 1.042 0.091 0.003 -0.875 0.09° +lamp 0.290 0.688 0.339 -0.626 1.919 -0.449 -0.48° +bookshelf 1.803 2.498 0.245 -0.114 0.001 1.429 180.00° +floor 2.782 -0.000 3.125 0.002 0.001 -0.019 -0.02° +_scene_ 0.057 -0.001 0.033 -5.652 -0.004 -5.691 -57.26° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: chair <-> floor depth=[0.595, -0.000, 0.563] + !! OVERLAP: desk <-> floor depth=[2.279, -0.000, 1.042] + !! OVERLAP: bookshelf <-> floor depth=[1.803, -0.000, 0.237] +============================================================ + + +============================================================ +SCENE: Library-13751 | 6 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0085, Walkable Loss: 1.9416 (Center Penalty: 1.9416), Relational Loss: 0.0126 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +lamp 0.540 0.282 0.544 -0.447 2.443 0.585 0.02° +bookshelf 1.584 1.984 0.311 0.131 0.001 -1.229 -0.00° +desk 2.206 0.680 1.030 -0.186 0.003 0.628 179.91° +chair 0.457 0.900 0.425 0.701 0.001 -0.720 -22.53° +floor 2.796 -0.004 2.744 -0.001 0.001 -0.004 -0.03° +_scene_ 0.035 0.008 0.018 -5.616 -0.006 -5.678 -57.34° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bookshelf <-> floor depth=[1.584, -0.004, 0.303] + !! OVERLAP: desk <-> floor depth=[2.206, -0.004, 1.030] + !! OVERLAP: chair <-> floor depth=[0.457, -0.004, 0.425] +============================================================ + + +============================================================ +SCENE: Library-11820 | 6 objects +============================================================ +Final Step Collision Loss: 0.0055, Room Outer Loss: 0.0075, Walkable Loss: 1.4308 (Center Penalty: 1.4308), Relational Loss: 0.0143 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +lamp 0.625 0.306 0.671 -0.528 2.312 0.639 -0.06° +chair 0.400 0.842 0.407 0.948 0.002 -0.673 -108.70° +desk 1.554 0.797 0.451 0.326 -0.001 -1.106 -0.15° +bookshelf 2.462 1.733 0.442 0.005 0.001 1.257 179.99° +floor 2.544 -0.000 2.889 0.005 0.000 0.026 -0.04° +_scene_ 0.086 0.002 0.037 -5.659 -0.005 -5.700 -57.30° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: chair <-> floor depth=[0.400, -0.000, 0.407] + !! OVERLAP: desk <-> floor depth=[1.554, -0.000, 0.451] + !! OVERLAP: bookshelf <-> floor depth=[2.462, -0.000, 0.435] +============================================================ + + +============================================================ +SCENE: Library-45741 | 6 objects +============================================================ +Final Step Collision Loss: 0.0079, Room Outer Loss: 0.0101, Walkable Loss: 1.7714 (Center Penalty: 1.7714), Relational Loss: 0.0002 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +desk 1.969 0.802 0.843 -0.392 -0.000 0.666 90.24° +chair 0.465 0.736 0.632 0.831 -0.010 0.464 -89.65° +bookshelf 0.690 2.048 0.603 1.071 0.011 -0.069 -90.15° +lamp 0.592 0.382 0.715 -0.660 2.099 0.595 0.08° +floor 2.807 -0.001 3.257 0.003 -0.000 -0.001 -0.03° +_scene_ 0.053 0.003 0.023 -5.643 -0.004 -5.698 -57.33° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: desk <-> floor depth=[1.969, -0.001, 0.843] + !! OVERLAP: chair <-> bookshelf depth=[0.337, 0.736, 0.084] + !! OVERLAP: chair <-> floor depth=[0.465, -0.001, 0.632] + !! OVERLAP: bookshelf <-> floor depth=[0.680, -0.001, 0.603] +============================================================ + + +============================================================ +SCENE: Library-4659 | 5 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0000, Walkable Loss: 0.4949 (Center Penalty: 0.4949), Relational Loss: 0.0017 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +desk 2.342 0.863 0.635 0.288 0.001 -1.142 -0.16° +chair 0.553 1.069 0.599 0.933 0.013 0.173 -179.68° +lamp 0.791 0.483 0.867 -0.014 2.189 -1.069 -0.22° +floor 2.690 0.005 3.666 0.228 0.007 -0.920 -0.27° +_scene_ 0.106 0.129 0.373 -4.646 0.099 -4.699 -63.99° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: desk <-> floor depth=[2.342, 0.005, 0.635] + !! OVERLAP: chair <-> floor depth=[0.553, 0.005, 0.599] +============================================================ + + +============================================================ +SCENE: Library-1808 | 7 objects +============================================================ +Final Step Collision Loss: 0.0258, Room Outer Loss: 0.0614, Walkable Loss: 2.3015 (Center Penalty: 2.3015), Relational Loss: 0.0434 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +bookshelf 2.538 2.668 0.226 0.313 -0.013 -0.674 -89.13° +bookshelf 1.882 2.713 0.239 0.431 0.052 1.216 -90.96° +desk 1.739 0.820 0.772 -0.392 -0.003 0.574 90.10° +chair 0.248 1.031 0.695 -0.186 0.010 -0.949 -87.94° +lamp 0.644 0.618 0.682 -0.632 2.056 0.236 -0.26° +floor 3.071 -0.002 3.050 -0.015 0.001 -0.025 -0.02° +_scene_ 0.074 -0.000 0.021 -5.658 -0.005 -5.699 -57.33° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bookshelf <-> chair depth=[0.248, 1.031, 0.186] + !! OVERLAP: bookshelf <-> floor depth=[2.477, -0.002, 0.226] + !! OVERLAP: bookshelf <-> floor depth=[1.882, -0.002, 0.239] + !! OVERLAP: desk <-> floor depth=[1.739, -0.002, 0.772] + !! OVERLAP: chair <-> floor depth=[0.248, -0.002, 0.695] +============================================================ + + +============================================================ +SCENE: Library-457 | 5 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.1215, Walkable Loss: 0.9991 (Center Penalty: 0.9991), Relational Loss: 0.0000 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +bookshelf 1.999 2.325 0.311 0.884 0.002 -0.301 -90.58° +lamp 0.731 0.907 0.942 -0.569 1.603 -0.362 -0.16° +table 1.023 0.703 0.458 -0.499 -0.001 -0.664 0.12° +floor 2.998 -0.023 3.146 0.263 -0.002 -0.903 -0.13° +_scene_ 0.101 0.011 0.136 -5.505 -0.005 -5.629 -57.29° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bookshelf <-> table depth=[0.128, 0.703, 0.022] + !! OVERLAP: bookshelf <-> floor depth=[1.877, -0.023, 0.311] + !! OVERLAP: table <-> floor depth=[1.023, -0.023, 0.458] +============================================================ + + +============================================================ +SCENE: Library-123545 | 8 objects +============================================================ +Final Step Collision Loss: 0.0322, Room Outer Loss: 0.1903, Walkable Loss: 2.6895 (Center Penalty: 2.6895), Relational Loss: 0.0133 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +desk 1.094 0.813 0.478 0.425 0.004 -0.481 -0.04° +chair 0.446 0.854 0.450 -0.571 0.004 0.228 89.81° +bookshelf 2.280 2.446 0.212 -0.988 0.033 -0.060 89.61° +bookshelf 2.380 2.318 0.038 -0.842 -0.011 0.002 89.85° +bookshelf 2.410 2.419 0.046 -0.707 0.018 0.079 89.90° +lamp 1.006 0.927 0.357 0.422 1.921 0.369 -89.74° +floor 3.203 0.013 2.937 -0.383 0.002 -0.444 -0.15° +_scene_ 0.072 0.000 0.073 -5.639 0.000 -5.650 -57.42° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: desk <-> floor depth=[1.094, 0.013, 0.478] + !! OVERLAP: chair <-> bookshelf depth=[0.446, 0.854, 0.044] + !! OVERLAP: chair <-> bookshelf depth=[0.446, 0.854, 0.019] + !! OVERLAP: chair <-> bookshelf depth=[0.446, 0.854, 0.046] + !! OVERLAP: chair <-> floor depth=[0.446, 0.013, 0.450] + !! OVERLAP: bookshelf <-> bookshelf depth=[2.185, 2.318, 0.038] + !! OVERLAP: bookshelf <-> floor depth=[2.137, 0.013, 0.212] + !! OVERLAP: bookshelf <-> floor depth=[2.333, 0.013, 0.038] + !! OVERLAP: bookshelf <-> floor depth=[2.410, 0.013, 0.046] +============================================================ + + +============================================================ +SCENE: Library-71638 | 7 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0000, Walkable Loss: 2.3213 (Center Penalty: 2.3213), Relational Loss: 0.0000 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +desk 1.286 0.786 0.558 -0.239 0.002 1.124 179.86° +bookshelf 0.384 1.752 0.439 1.303 0.000 0.653 -90.02° +chair 0.434 0.699 0.468 -0.709 -0.003 0.549 -0.11° +bookshelf 1.845 1.935 0.387 -0.516 -0.001 -1.054 0.08° +lamp 0.863 1.142 0.905 -0.112 1.875 -0.041 -0.02° +floor 3.027 -0.003 2.906 -0.000 0.001 -0.003 -0.03° +_scene_ 0.061 0.002 0.026 -5.675 -0.005 -5.704 -57.31° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: desk <-> floor depth=[1.286, -0.003, 0.558] + !! OVERLAP: bookshelf <-> floor depth=[0.384, -0.003, 0.439] + !! OVERLAP: chair <-> floor depth=[0.434, -0.003, 0.468] + !! OVERLAP: bookshelf <-> floor depth=[1.845, -0.003, 0.387] +============================================================ + + +============================================================ +SCENE: Library-90753 | 6 objects +============================================================ +Final Step Collision Loss: 0.0213, Room Outer Loss: 0.0617, Walkable Loss: 1.7330 (Center Penalty: 1.7330), Relational Loss: 0.0009 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +chair 0.456 0.924 0.739 0.764 -0.000 -0.348 0.15° +desk 0.767 0.747 0.656 0.295 0.002 -0.414 -90.37° +bookshelf 1.425 2.603 0.344 -0.889 -0.004 -0.800 89.20° +lamp 0.915 1.200 1.022 0.376 1.637 -0.296 0.15° +floor 2.590 -0.025 2.919 -0.245 0.029 -0.859 0.36° +_scene_ 0.063 -0.000 0.036 -5.641 -0.002 -5.679 -57.32° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: chair <-> desk depth=[0.143, 0.747, 0.632] + !! OVERLAP: chair <-> floor depth=[0.456, -0.025, 0.739] + !! OVERLAP: desk <-> floor depth=[0.767, -0.025, 0.656] + !! OVERLAP: bookshelf <-> floor depth=[1.364, -0.025, 0.344] +============================================================ + + +============================================================ +SCENE: Library-8543 | 6 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.1110, Walkable Loss: 1.3283 (Center Penalty: 1.3283), Relational Loss: 0.0041 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +desk 1.232 0.847 0.716 -0.287 -0.001 -0.452 -89.91° +chair 0.260 0.960 0.441 -0.816 -0.003 -0.339 0.15° +bookshelf 1.584 2.326 0.300 1.093 -0.013 -0.040 -90.09° +lamp 0.384 0.819 0.345 0.569 1.711 -0.662 -0.34° +floor 2.871 0.013 2.561 0.338 -0.010 -0.766 -0.64° +_scene_ 0.066 0.001 0.029 -5.661 -0.005 -5.691 -57.41° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: desk <-> chair depth=[0.216, 0.847, 0.441] + !! OVERLAP: desk <-> bookshelf depth=[0.028, 0.847, 0.095] + !! OVERLAP: desk <-> floor depth=[1.232, 0.013, 0.716] + !! OVERLAP: chair <-> floor depth=[0.260, 0.013, 0.441] + !! OVERLAP: bookshelf <-> floor depth=[1.473, 0.013, 0.300] +============================================================ + + +============================================================ +SCENE: Library-28947 | 5 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0000, Walkable Loss: 0.5618 (Center Penalty: 0.5618), Relational Loss: 0.0229 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +desk 1.987 1.394 0.548 -0.282 -0.003 -1.092 0.09° +chair 0.513 0.738 0.492 -0.797 0.005 -0.489 179.93° +lamp 0.088 0.534 0.646 -0.441 2.015 -0.788 -74.86° +floor 2.205 0.029 2.770 -0.201 0.004 -1.023 -0.66° +_scene_ -0.049 0.319 -0.035 -2.626 1.457 -2.734 -68.07° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: desk <-> floor depth=[1.987, 0.029, 0.548] + !! OVERLAP: chair <-> floor depth=[0.513, 0.029, 0.492] +============================================================ + + +============================================================ +SCENE: Library-163346 | 5 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.1124, Walkable Loss: 0.6458 (Center Penalty: 0.6458), Relational Loss: 0.0000 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +desk 0.988 0.700 0.495 -0.009 -0.001 -0.941 -89.76° +bookshelf 1.161 2.240 0.336 -0.783 0.011 -0.613 89.86° +lamp 0.525 0.830 0.560 -0.174 2.411 -0.993 -0.35° +floor 2.066 0.010 3.120 -0.218 0.004 -0.860 0.03° +_scene_ 0.039 0.115 -0.002 -4.716 0.002 -4.910 -60.09° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: desk <-> bookshelf depth=[0.301, 0.700, 0.087] + !! OVERLAP: desk <-> floor depth=[0.988, 0.010, 0.495] + !! OVERLAP: bookshelf <-> floor depth=[1.049, 0.010, 0.336] +============================================================ + + +============================================================ +SCENE: Library-32140 | 5 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0334, Walkable Loss: 0.6882 (Center Penalty: 0.6882), Relational Loss: 0.0320 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +desk 1.864 1.423 0.551 -0.428 0.004 -1.252 -0.00° +chair 0.556 0.866 0.603 -0.989 -0.001 -0.393 -179.94° +lamp 0.544 0.344 0.573 -0.764 2.268 -0.233 0.04° +floor 2.520 -0.017 3.600 -0.066 0.007 -0.801 -0.25° +_scene_ 0.089 -0.004 0.081 -5.588 0.015 -5.615 -57.28° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: desk <-> floor depth=[1.830, -0.017, 0.551] + !! OVERLAP: chair <-> floor depth=[0.556, -0.017, 0.603] +============================================================ + + +============================================================ +SCENE: Library-19891 | 9 objects +============================================================ +Final Step Collision Loss: 0.0089, Room Outer Loss: 0.0539, Walkable Loss: 0.6614 (Center Penalty: 0.6614), Relational Loss: 0.0179 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +bookshelf 2.700 2.464 0.171 0.727 0.001 0.881 179.86° +desk 1.875 0.731 0.737 0.867 0.004 0.054 179.94° +chair 0.408 1.003 0.458 1.026 0.001 0.578 179.98° +chair 0.601 1.055 0.658 -0.473 0.000 -1.495 0.05° +chair 0.554 1.007 0.595 1.207 0.003 -1.242 0.06° +table 0.558 0.608 0.598 0.476 -0.000 -1.381 0.03° +lamp 0.987 0.623 0.357 0.335 1.903 -0.909 0.01° +floor 3.206 0.014 2.958 0.884 -0.007 -0.499 -0.24° +_scene_ 0.067 -0.000 0.021 -5.671 -0.005 -5.715 -57.31° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bookshelf <-> chair depth=[0.408, 1.003, 0.012] + !! OVERLAP: bookshelf <-> floor depth=[2.700, 0.014, 0.171] + !! OVERLAP: desk <-> chair depth=[0.408, 0.731, 0.073] + !! OVERLAP: desk <-> floor depth=[1.875, 0.014, 0.737] + !! OVERLAP: chair <-> floor depth=[0.408, 0.014, 0.458] + !! OVERLAP: chair <-> floor depth=[0.547, 0.014, 0.658] + !! OVERLAP: chair <-> floor depth=[0.554, 0.014, 0.595] + !! OVERLAP: table <-> floor depth=[0.558, 0.014, 0.598] +============================================================ + + +============================================================ +SCENE: Library-7168 | 6 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0251, Walkable Loss: 0.9126 (Center Penalty: 0.9126), Relational Loss: 0.0095 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +desk 1.175 0.758 0.840 -0.252 0.012 -0.596 89.82° +bookshelf 1.119 2.624 0.164 -0.352 -0.001 -1.363 0.04° +bookshelf 0.349 2.432 0.236 1.102 0.009 -0.969 -89.78° +bookshelf 1.511 1.997 0.111 -0.161 -0.002 0.925 -179.65° +floor 2.340 -0.012 3.727 0.081 0.001 -0.798 -0.18° +_scene_ 0.141 0.226 0.282 -2.883 0.001 -2.985 -81.29° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: desk <-> floor depth=[1.175, -0.012, 0.840] + !! OVERLAP: bookshelf <-> floor depth=[1.119, -0.012, 0.164] + !! OVERLAP: bookshelf <-> floor depth=[0.324, -0.012, 0.236] + !! OVERLAP: bookshelf <-> floor depth=[1.511, -0.012, 0.111] +============================================================ + + +============================================================ +SCENE: Library-17832 | 9 objects +============================================================ +Final Step Collision Loss: 0.0332, Room Outer Loss: 0.0000, Walkable Loss: 1.3379 (Center Penalty: 1.3379), Relational Loss: 0.0392 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +desk 2.444 0.915 0.978 0.716 -0.007 -1.218 0.36° +chair 0.409 0.900 0.497 0.750 -0.000 -0.653 90.03° +wardrobe 1.533 2.119 0.521 -1.129 0.002 1.159 -179.96° +wardrobe 0.896 2.349 0.673 -1.549 0.005 -0.502 89.74° +wardrobe 0.741 2.195 0.497 1.642 0.001 -0.551 -90.14° +wardrobe 0.783 2.034 0.552 1.552 0.002 0.621 -179.98° +lamp 0.598 0.166 0.587 0.718 2.772 -0.545 -0.38° +floor 4.072 -0.003 3.446 -0.003 0.001 -0.127 -0.01° +_scene_ 0.040 -0.002 0.011 -5.658 -0.005 -5.703 -57.40° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: desk <-> chair depth=[0.409, 0.900, 0.173] + !! OVERLAP: desk <-> wardrobe depth=[0.667, 0.915, 0.071] + !! OVERLAP: desk <-> floor depth=[2.444, -0.003, 0.978] + !! OVERLAP: chair <-> floor depth=[0.409, -0.003, 0.497] + !! OVERLAP: wardrobe <-> floor depth=[1.533, -0.003, 0.521] + !! OVERLAP: wardrobe <-> floor depth=[0.896, -0.003, 0.673] + !! OVERLAP: wardrobe <-> floor depth=[0.741, -0.003, 0.497] + !! OVERLAP: wardrobe <-> floor depth=[0.783, -0.003, 0.552] +============================================================ + + +============================================================ +SCENE: Library-25138 | 6 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0006, Walkable Loss: 0.9542 (Center Penalty: 0.9542), Relational Loss: 0.0113 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +chair 0.524 0.836 0.597 -0.629 0.001 0.623 -166.58° +chair 0.597 0.840 0.698 -0.722 0.001 -0.182 -0.01° +lamp 0.392 0.868 0.432 1.292 2.076 0.007 179.88° +lamp 0.398 0.794 0.360 -0.510 1.708 -0.569 0.16° +floor 3.308 0.006 4.167 0.634 -0.000 -0.967 -0.08° +_scene_ 0.056 0.001 0.020 -5.652 -0.004 -5.690 -57.34° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: chair <-> floor depth=[0.524, 0.006, 0.597] + !! OVERLAP: chair <-> floor depth=[0.597, 0.006, 0.698] +============================================================ + + +============================================================ +SCENE: Library-36052 | 7 objects +============================================================ +Final Step Collision Loss: 0.0027, Room Outer Loss: 0.2108, Walkable Loss: 1.3802 (Center Penalty: 1.3802), Relational Loss: 0.0209 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +bookshelf 1.345 2.479 -0.206 -0.807 -0.041 0.240 -89.58° +bookshelf 1.216 2.601 -0.031 -0.730 0.067 -0.386 -92.36° +bookshelf 1.313 2.553 0.114 -0.553 0.039 0.172 -90.00° +bookshelf 1.601 2.589 -0.121 -0.790 0.003 -0.254 -88.81° +desk 0.725 0.757 0.205 -1.206 0.117 -0.307 90.08° +floor 2.008 0.044 3.761 -1.053 0.045 -0.436 -0.09° +_scene_ 0.308 0.311 2.231 -3.207 -0.048 -2.926 -82.41° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bookshelf <-> floor depth=[1.345, 0.044, -0.206] + !! OVERLAP: bookshelf <-> desk depth=[0.495, 0.757, -0.031] + !! OVERLAP: bookshelf <-> floor depth=[1.216, 0.044, -0.031] + !! OVERLAP: bookshelf <-> floor depth=[1.161, 0.044, 0.114] + !! OVERLAP: bookshelf <-> floor depth=[1.542, 0.044, -0.121] + !! OVERLAP: desk <-> floor depth=[0.725, 0.044, 0.205] +============================================================ + + +============================================================ +SCENE: Library-40642 | 6 objects +============================================================ +Final Step Collision Loss: 0.0118, Room Outer Loss: 0.0120, Walkable Loss: 1.4308 (Center Penalty: 1.4308), Relational Loss: 0.0054 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +desk 1.570 0.718 0.623 -0.277 0.009 -1.544 0.09° +chair 0.456 0.936 0.388 -0.578 -0.008 -1.013 -152.97° +bookshelf 0.947 2.118 0.441 0.749 -0.003 0.827 -90.16° +lamp 1.227 1.190 1.216 -0.297 1.599 0.747 -0.01° +floor 2.413 -0.000 3.985 0.003 0.000 0.003 0.02° +_scene_ 0.065 0.001 0.021 -5.651 -0.004 -5.699 -57.28° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: desk <-> floor depth=[1.570, -0.000, 0.623] + !! OVERLAP: chair <-> floor depth=[0.456, -0.000, 0.388] + !! OVERLAP: bookshelf <-> lamp depth=[0.041, 0.053, 0.441] + !! OVERLAP: bookshelf <-> floor depth=[0.935, -0.000, 0.441] +============================================================ + + +============================================================ +SCENE: Library-58697 | 7 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0000, Walkable Loss: 0.8345 (Center Penalty: 0.8345), Relational Loss: 0.0171 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +desk 1.943 0.740 0.802 -0.797 -0.000 -0.424 -0.05° +bookshelf 1.034 2.386 0.351 -1.098 0.002 1.201 -179.97° +bookshelf 0.789 2.310 0.378 0.593 -0.001 1.315 -179.98° +bookshelf 0.484 2.210 0.238 -0.300 0.002 1.346 179.95° +lamp 1.105 0.142 0.804 -0.802 2.515 -0.202 0.09° +floor 3.749 0.012 2.785 -0.636 -0.002 0.365 -0.10° +_scene_ 0.016 -0.006 0.001 -5.635 -0.001 -5.675 -57.33° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: desk <-> floor depth=[1.943, 0.012, 0.802] + !! OVERLAP: bookshelf <-> floor depth=[1.034, 0.012, 0.351] + !! OVERLAP: bookshelf <-> floor depth=[0.789, 0.012, 0.378] + !! OVERLAP: bookshelf <-> floor depth=[0.484, 0.012, 0.238] +============================================================ + + +============================================================ +SCENE: Library-145994 | 10 objects +============================================================ +Final Step Collision Loss: 0.0313, Room Outer Loss: 0.0449, Walkable Loss: 1.1293 (Center Penalty: 1.1293), Relational Loss: 0.0242 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +bookshelf 1.867 2.157 0.229 -1.730 0.001 0.294 89.97° +bookshelf 1.819 2.009 0.366 -0.617 -0.002 0.990 -179.99° +bookshelf 1.643 2.029 0.112 -1.567 0.006 0.555 89.96° +bookshelf 1.969 1.940 0.067 -1.616 0.002 0.247 89.92° +bookshelf 1.484 2.034 0.241 0.135 -0.001 -0.975 0.03° +bookshelf 1.601 2.103 0.314 0.044 -0.006 -1.244 0.08° +desk 1.943 2.737 0.674 -0.589 0.017 -0.305 179.73° +lamp 0.491 0.545 0.503 -0.842 2.253 -0.246 1.69° +floor 3.533 -0.015 3.092 -0.852 0.003 -0.019 0.13° +_scene_ 0.086 0.319 0.769 -3.003 0.861 -2.188 -82.64° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bookshelf <-> bookshelf depth=[1.804, 1.940, 0.067] + !! OVERLAP: bookshelf <-> floor depth=[1.822, -0.015, 0.229] + !! OVERLAP: bookshelf <-> floor depth=[1.819, -0.015, 0.366] + !! OVERLAP: bookshelf <-> floor depth=[1.643, -0.015, 0.112] + !! OVERLAP: bookshelf <-> floor depth=[1.969, -0.015, 0.067] + !! OVERLAP: bookshelf <-> bookshelf depth=[1.452, 2.034, 0.008] + !! OVERLAP: bookshelf <-> floor depth=[1.484, -0.015, 0.241] + !! OVERLAP: bookshelf <-> floor depth=[1.601, -0.015, 0.314] + !! OVERLAP: desk <-> floor depth=[1.943, -0.015, 0.674] +============================================================ + + +============================================================ +SCENE: Library-39529 | 6 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0886, Walkable Loss: 0.9246 (Center Penalty: 0.9246), Relational Loss: 0.0000 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +bookshelf 1.530 2.376 0.409 1.192 0.008 -0.530 -90.17° +desk 1.468 0.994 0.596 -0.326 0.012 -0.787 89.83° +chair 0.617 0.808 0.534 0.674 0.003 -0.655 -89.94° +lamp 0.415 0.520 0.395 0.672 1.968 -0.058 0.12° +floor 3.207 -0.016 3.270 0.265 0.023 -1.080 0.26° +_scene_ 0.071 -0.002 0.047 -5.650 -0.004 -5.686 -57.32° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bookshelf <-> chair depth=[0.556, 0.808, 0.347] + !! OVERLAP: bookshelf <-> floor depth=[1.442, -0.016, 0.409] + !! OVERLAP: desk <-> chair depth=[0.043, 0.808, 0.433] + !! OVERLAP: desk <-> floor depth=[1.468, -0.016, 0.596] + !! OVERLAP: chair <-> floor depth=[0.617, -0.016, 0.534] +============================================================ + + +============================================================ +SCENE: Library-56351 | 6 objects +============================================================ +Final Step Collision Loss: 0.0770, Room Outer Loss: 0.0866, Walkable Loss: 1.4005 (Center Penalty: 1.4005), Relational Loss: 0.0144 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +bookshelf 2.482 2.497 0.273 -0.631 0.041 0.157 178.95° +bookshelf 3.036 2.537 0.322 -0.471 -0.008 0.656 179.51° +desk 2.231 0.873 0.119 -0.493 0.012 0.464 -179.36° +chair 0.456 0.812 0.540 -0.616 0.003 -1.101 0.24° +floor 2.950 0.001 3.245 -0.485 -0.007 -0.664 -0.82° +_scene_ 0.077 0.003 0.042 -5.675 -0.007 -5.696 -57.30° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bookshelf <-> floor depth=[2.482, 0.001, 0.273] + !! OVERLAP: bookshelf <-> desk depth=[2.231, 0.873, 0.028] + !! OVERLAP: bookshelf <-> floor depth=[2.950, 0.001, 0.322] + !! OVERLAP: desk <-> floor depth=[2.231, 0.001, 0.119] + !! OVERLAP: chair <-> floor depth=[0.456, 0.001, 0.540] +============================================================ + + +============================================================ +SCENE: Library-5406 | 9 objects +============================================================ +Final Step Collision Loss: 0.0174, Room Outer Loss: 0.1361, Walkable Loss: 1.1454 (Center Penalty: 1.1454), Relational Loss: 0.0203 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +desk 1.672 0.839 0.868 -0.070 0.005 -0.803 -0.00° +bookshelf 0.590 2.000 0.225 0.632 0.004 1.240 -179.96° +bookshelf 0.822 2.146 0.353 -0.123 0.001 1.076 -179.91° +chair 0.440 0.681 0.421 -0.739 -0.001 -0.923 -0.19° +bookshelf 0.629 2.100 0.355 -1.800 0.000 -1.076 89.92° +bookshelf 0.611 2.091 0.231 -0.764 0.012 1.290 179.91° +lamp 0.433 0.152 0.494 -0.550 2.432 -0.655 -0.32° +floor 3.514 0.001 2.783 -0.624 -0.006 -0.081 -0.10° +_scene_ 0.048 0.058 0.189 -5.477 -0.006 -5.551 -59.31° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: desk <-> chair depth=[0.387, 0.681, 0.421] + !! OVERLAP: desk <-> floor depth=[1.672, 0.001, 0.868] + !! OVERLAP: bookshelf <-> floor depth=[0.590, 0.001, 0.184] + !! OVERLAP: bookshelf <-> bookshelf depth=[0.075, 2.091, 0.078] + !! OVERLAP: bookshelf <-> floor depth=[0.822, 0.001, 0.353] + !! OVERLAP: chair <-> floor depth=[0.440, 0.001, 0.421] + !! OVERLAP: bookshelf <-> floor depth=[0.629, 0.001, 0.355] + !! OVERLAP: bookshelf <-> floor depth=[0.611, 0.001, 0.136] +============================================================ + + +============================================================ +SCENE: Library-51220 | 6 objects +============================================================ +Final Step Collision Loss: 0.0119, Room Outer Loss: 0.0232, Walkable Loss: 1.1278 (Center Penalty: 1.1278), Relational Loss: 0.0087 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +desk 1.439 0.713 0.717 -0.058 -0.005 -0.713 -89.91° +chair 0.464 0.905 0.440 -0.585 0.006 -0.627 90.12° +bookshelf 0.667 1.727 0.273 0.498 0.058 -0.777 -90.46° +lamp 0.711 0.373 0.760 -0.757 2.275 -0.633 0.25° +floor 2.507 -0.021 2.356 -0.445 0.003 -0.757 0.05° +_scene_ 0.059 0.000 0.021 -5.649 -0.004 -5.696 -57.30° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: desk <-> chair depth=[0.424, 0.713, 0.440] + !! OVERLAP: desk <-> bookshelf depth=[0.496, 0.713, 0.273] + !! OVERLAP: desk <-> floor depth=[1.439, -0.021, 0.717] + !! OVERLAP: chair <-> floor depth=[0.464, -0.021, 0.440] + !! OVERLAP: bookshelf <-> floor depth=[0.643, -0.021, 0.273] +============================================================ + + +============================================================ +SCENE: Library-5781 | 6 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0000, Walkable Loss: 0.8278 (Center Penalty: 0.8278), Relational Loss: 0.0023 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +desk 1.013 0.699 0.352 0.761 -0.012 -0.613 178.29° +chair 0.511 0.920 0.484 -0.288 0.008 -0.730 1.44° +bookshelf 1.912 2.518 0.376 0.125 -0.001 -1.344 0.08° +lamp 0.992 0.778 0.891 -0.418 1.919 -0.621 0.75° +floor 2.672 -0.061 2.815 -0.016 -0.044 -1.289 -1.35° +_scene_ 0.042 0.001 0.022 -5.644 -0.006 -5.685 -57.40° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: desk <-> floor depth=[1.013, -0.061, 0.352] + !! OVERLAP: chair <-> floor depth=[0.511, -0.061, 0.484] + !! OVERLAP: bookshelf <-> floor depth=[1.912, -0.061, 0.376] +============================================================ + + +============================================================ +SCENE: Library-123334 | 7 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0000, Walkable Loss: 1.9716 (Center Penalty: 1.9716), Relational Loss: 0.0036 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +desk 1.078 0.752 0.543 -0.488 -0.001 -0.592 0.20° +chair 0.266 0.873 0.283 -0.847 0.005 -0.110 -121.36° +bookshelf 2.795 2.587 0.200 0.007 -0.001 1.608 179.98° +bookshelf 2.717 2.582 0.431 -0.058 -0.001 1.263 -179.85° +lamp 0.826 0.779 0.894 0.474 2.007 -0.496 -0.02° +floor 2.949 -0.001 3.478 -0.050 0.001 -0.014 -0.03° +_scene_ 0.071 0.001 0.036 -5.670 -0.005 -5.709 -57.28° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: desk <-> floor depth=[1.078, -0.001, 0.543] + !! OVERLAP: chair <-> floor depth=[0.266, -0.001, 0.283] + !! OVERLAP: bookshelf <-> floor depth=[2.795, -0.001, 0.200] + !! OVERLAP: bookshelf <-> floor depth=[2.717, -0.001, 0.431] +============================================================ + + +============================================================ +SCENE: Library-1511 | 5 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0000, Walkable Loss: 0.7024 (Center Penalty: 0.7024), Relational Loss: 0.0000 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +desk 1.608 1.096 0.593 0.735 0.009 0.125 179.92° +chair 0.486 0.799 0.508 1.258 0.001 -0.453 -89.93° +lamp 0.577 0.255 0.515 -0.909 2.327 0.091 0.53° +floor 3.045 0.022 2.930 0.038 0.009 -0.961 1.04° +_scene_ 0.046 0.005 0.029 -5.655 -0.006 -5.661 -57.38° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: desk <-> floor depth=[1.608, 0.022, 0.593] + !! OVERLAP: chair <-> floor depth=[0.486, 0.022, 0.508] +============================================================ + + +============================================================ +SCENE: Library-74566 | 6 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0742, Walkable Loss: 1.5324 (Center Penalty: 1.5324), Relational Loss: 0.0484 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +wardrobe 2.143 2.206 0.666 0.018 -0.001 -0.979 88.86° +desk 0.783 0.575 0.270 -0.756 0.040 -1.380 -0.58° +chair 0.614 0.800 0.656 -0.867 -0.000 -0.562 90.16° +lamp 0.548 0.291 0.549 -0.385 2.371 -0.721 0.72° +floor 2.248 0.003 3.480 0.000 0.000 0.036 -0.02° +_scene_ 0.064 0.002 0.017 -5.669 -0.005 -5.716 -57.29° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: wardrobe <-> desk depth=[0.689, 0.575, 0.067] + !! OVERLAP: wardrobe <-> chair depth=[0.494, 0.800, 0.244] + !! OVERLAP: wardrobe <-> floor depth=[2.143, 0.003, 0.666] + !! OVERLAP: desk <-> floor depth=[0.759, 0.003, 0.270] + !! OVERLAP: chair <-> floor depth=[0.563, 0.003, 0.656] +============================================================ + + +============================================================ +SCENE: Library-35695 | 9 objects +============================================================ +Final Step Collision Loss: 0.0074, Room Outer Loss: 0.0060, Walkable Loss: 1.8570 (Center Penalty: 1.8570), Relational Loss: 0.0271 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +bookshelf 1.853 2.720 0.310 0.826 0.001 -1.292 0.00° +bookshelf 2.361 2.455 0.206 -0.796 -0.002 -1.489 0.02° +desk 1.162 0.750 0.550 0.761 0.008 -0.250 179.70° +chair 0.496 0.990 0.499 0.314 -0.002 -0.794 -0.02° +table 0.981 0.914 0.346 1.624 -0.000 -0.169 -89.97° +chair 0.807 0.917 0.898 -1.270 0.001 1.133 166.48° +lamp 0.464 0.853 0.379 -0.345 2.015 0.606 -0.05° +floor 4.525 -0.003 3.351 -0.155 0.001 -0.049 0.01° +_scene_ 0.068 0.001 0.022 -5.669 -0.004 -5.709 -57.30° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bookshelf <-> bookshelf depth=[0.484, 2.455, 0.061] + !! OVERLAP: bookshelf <-> floor depth=[1.853, -0.003, 0.310] + !! OVERLAP: bookshelf <-> floor depth=[2.361, -0.003, 0.206] + !! OVERLAP: desk <-> table depth=[0.209, 0.750, 0.346] + !! OVERLAP: desk <-> floor depth=[1.162, -0.003, 0.550] + !! OVERLAP: chair <-> floor depth=[0.496, -0.003, 0.499] + !! OVERLAP: table <-> floor depth=[0.975, -0.003, 0.346] + !! OVERLAP: chair <-> floor depth=[0.807, -0.003, 0.898] +============================================================ + + +============================================================ +SCENE: Library-934 | 8 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0126, Walkable Loss: 1.3977 (Center Penalty: 1.3977), Relational Loss: 0.0182 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +lamp 0.689 0.770 0.390 -0.163 2.198 -0.832 -1.21° +desk 1.467 0.747 0.503 -0.263 0.001 -1.259 -0.08° +bookshelf 2.799 1.729 0.499 0.457 0.003 1.135 -179.99° +chair 0.499 0.956 0.554 -1.260 0.000 -0.291 135.34° +chair 0.640 0.969 0.753 1.141 0.001 -0.781 -89.89° +table 0.509 0.685 0.496 1.392 0.000 0.270 179.97° +floor 3.668 -0.001 3.052 0.012 0.001 0.017 -0.04° +_scene_ 0.069 0.000 0.019 -5.670 -0.006 -5.716 -57.29° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: desk <-> floor depth=[1.467, -0.001, 0.502] + !! OVERLAP: bookshelf <-> floor depth=[2.788, -0.001, 0.499] + !! OVERLAP: chair <-> floor depth=[0.499, -0.001, 0.554] + !! OVERLAP: chair <-> floor depth=[0.640, -0.001, 0.753] + !! OVERLAP: table <-> floor depth=[0.509, -0.001, 0.496] +============================================================ + diff --git a/current_works/work_42/extracted/2050/echoscene/Bedroom-11202_echoscene.glb b/current_works/work_42/extracted/2050/echoscene/Bedroom-11202_echoscene.glb new file mode 100644 index 0000000000000000000000000000000000000000..91111ed964517a94a8df35157508bfdd7d45564c --- /dev/null +++ b/current_works/work_42/extracted/2050/echoscene/Bedroom-11202_echoscene.glb @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:b43875ad1395fae110e2f8f8e684963108742ca702ad1efb60f97697b5001cca +size 1305156 diff --git a/current_works/work_42/extracted/2050/echoscene/Bedroom-12864_echoscene.glb b/current_works/work_42/extracted/2050/echoscene/Bedroom-12864_echoscene.glb new file mode 100644 index 0000000000000000000000000000000000000000..6a90d8fb182888b30f74733579f50c7f506d609c --- /dev/null +++ b/current_works/work_42/extracted/2050/echoscene/Bedroom-12864_echoscene.glb @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:f11ad453a22a19e8d2d926059d219c2ee0f06719a3fb1120e06d1c460cb67e1a +size 3372348