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"navigable_points": 9 + }, + "Library-35695": { + "walkability_score": 0.3163927285328758, + "walkable_area": 4.1875, + "total_area": 13.235133498224137, + "navigable_points": 67 + }, + "Library-934": { + "walkability_score": 0.1368334990552917, + "walkable_area": 1.3125, + "total_area": 9.591949406114688, + "navigable_points": 21 + } + } +} \ No newline at end of file diff --git a/current_works/work_36/2050/relational_accuracy_report.txt b/current_works/work_36/2050/relational_accuracy_report.txt new file mode 100644 index 0000000000000000000000000000000000000000..b20e33fc7a6653c3b32ac8f246419146dcceddd5 --- /dev/null +++ b/current_works/work_36/2050/relational_accuracy_report.txt @@ -0,0 +1,17 @@ +=========================================================================== + RELATIONAL ACCURACY EVALUATION REPORT + Source Path: /Volumes/ExternalSSD/current_works/work_36/2050/physcene_collision_resolved.json + Evaluated Scenes: 370 / 370 +=========================================================================== + Total Accuracy (Micro-Average): 96.28% + Means of Means (Macro-Average): 87.41% +--------------------------------------------------------------------------- + Category Breakdown: + - Left / Right (L/R) : 98.79% (Left: 98.71%, Right: 98.87%) + - Front / Behind (F/B) : 99.83% (Front: 99.83%, Behind: 99.83%) + - Bigger / Smaller (Bi/Sm) : 95.87% (Bigger: 96.13%, Smaller: 95.61%) + - Taller / Shorter (Ta/Sh) : 96.07% (Taller: 96.34%, Shorter: 95.80%) + - Standing On : 99.76% + - Close By : 72.81% + - Symmetrical To : 48.71% +=========================================================================== diff --git a/current_works/work_36/extracted/2050/debug_bbox.txt b/current_works/work_36/extracted/2050/debug_bbox.txt new file mode 100644 index 0000000000000000000000000000000000000000..825235ee72873479f818f16c1049ca68bcd8873e --- /dev/null +++ b/current_works/work_36/extracted/2050/debug_bbox.txt @@ -0,0 +1,11154 @@ + +============================================================ +SCENE: MasterBedroom-33296 | 9 objects +============================================================ +Final Step Collision Loss: 0.0233, Room Outer Loss: 0.4657, Walkable Loss: 0.0000, Relational Loss: 0.0000 +Guided Steps: 10/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +table 1.127 1.049 0.476 -2.372 -0.000 -1.319 -0.00° +nightstand 0.573 0.579 0.392 0.273 -0.001 -1.330 0.08° +chair 0.482 0.446 0.519 -2.132 -0.001 -0.749 -89.92° +bed 2.032 1.455 2.184 -0.984 -0.002 -0.346 -0.01° +cabinet 0.853 1.032 0.434 -2.136 0.002 1.201 -179.99° +lamp 0.713 0.868 0.699 -1.127 1.942 0.056 -0.01° +wardrobe 3.223 2.361 0.607 0.778 -0.001 0.178 -90.10° +floor 5.884 0.000 2.928 -0.525 -0.002 0.155 -0.02° +_scene_ 0.068 -0.000 0.020 -5.671 -0.005 -5.718 -57.29° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: table <-> bed depth=[0.192, 1.049, 0.357] + !! OVERLAP: table <-> floor depth=[1.127, 0.000, 0.228] + !! OVERLAP: nightstand <-> bed depth=[0.045, 0.579, 0.304] + !! OVERLAP: nightstand <-> floor depth=[0.573, 0.000, 0.175] + !! OVERLAP: chair <-> bed depth=[0.109, 0.446, 0.519] + !! OVERLAP: chair <-> floor depth=[0.482, 0.000, 0.519] + !! OVERLAP: bed <-> wardrobe depth=[0.865, 1.455, 0.607] + !! OVERLAP: bed <-> floor depth=[2.032, 0.000, 2.055] + !! OVERLAP: cabinet <-> floor depth=[0.853, 0.000, 0.434] + !! OVERLAP: wardrobe <-> floor depth=[3.223, 0.000, 0.607] +============================================================ + + +============================================================ +SCENE: MasterBedroom-9404 | 8 objects +============================================================ +Final Step Collision Loss: 0.0735, Room Outer Loss: 0.7138, Walkable Loss: 0.0000, Relational Loss: 0.0000 +Guided Steps: 10/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +bed 2.255 1.408 2.068 0.512 -0.001 0.451 -89.98° +wardrobe 2.034 2.433 0.572 0.632 -0.002 -1.736 0.12° +wardrobe 2.385 2.304 0.603 0.273 0.001 -1.141 0.01° +nightstand 0.487 0.661 0.442 1.473 -0.000 1.620 -90.06° +nightstand 0.725 0.622 0.395 1.359 0.002 -0.990 -89.95° +tv_stand 2.419 0.430 0.512 -1.158 0.000 0.441 90.02° +floor 3.574 -0.000 4.540 -0.019 -0.000 0.033 -0.02° +_scene_ 0.086 -0.002 0.005 -5.668 -0.003 -5.712 -57.41° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bed <-> nightstand depth=[0.410, 0.661, 0.086] + !! OVERLAP: bed <-> tv_stand depth=[0.667, 0.430, 0.512] + !! OVERLAP: bed <-> floor depth=[2.255, -0.000, 2.068] + !! OVERLAP: wardrobe <-> floor depth=[2.034, -0.000, 0.572] + !! OVERLAP: wardrobe <-> nightstand depth=[0.469, 0.622, 0.348] + !! OVERLAP: wardrobe <-> floor depth=[2.385, -0.000, 0.603] + !! OVERLAP: nightstand <-> floor depth=[0.487, -0.000, 0.442] + !! OVERLAP: nightstand <-> floor depth=[0.725, -0.000, 0.395] + !! OVERLAP: tv_stand <-> floor depth=[1.857, -0.000, 0.512] +============================================================ + + +============================================================ +SCENE: SecondBedroom-30034 | 6 objects +============================================================ +Final Step Collision Loss: 0.0062, Room Outer Loss: 0.0000, Walkable Loss: 0.0000, Relational Loss: 0.0000 +Guided Steps: 10/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +bed 2.323 1.021 2.211 0.268 0.000 0.059 -90.02° +nightstand 0.473 0.591 0.475 1.261 -0.000 1.446 -90.15° +nightstand 0.451 0.467 0.442 1.296 0.002 -1.231 -89.98° +lamp 0.617 0.861 0.561 -0.015 2.091 0.115 -0.02° +floor 3.090 -0.002 3.332 -0.001 -0.000 -0.006 -0.00° +_scene_ 0.069 0.003 0.016 -5.664 -0.006 -5.709 -57.23° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bed <-> nightstand depth=[0.360, 0.467, 0.037] + !! OVERLAP: bed <-> floor depth=[2.323, -0.002, 2.211] + !! OVERLAP: nightstand <-> floor depth=[0.473, -0.002, 0.452] + !! OVERLAP: nightstand <-> floor depth=[0.451, -0.002, 0.442] +============================================================ + + +============================================================ +SCENE: SecondBedroom-6482 | 8 objects +============================================================ +Final Step Collision Loss: 0.0931, Room Outer Loss: 0.2152, Walkable Loss: 0.0000, Relational Loss: 0.0000 +Guided Steps: 10/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +bed 1.853 0.983 2.209 -0.755 0.000 -0.812 0.04° +chair 0.607 0.908 0.709 -1.394 0.004 1.507 136.58° +nightstand 0.716 0.741 0.477 -1.387 -0.000 -1.301 0.01° +table 1.002 0.689 0.533 -0.924 -0.001 1.773 179.80° +wardrobe 1.251 2.249 0.526 1.222 0.001 -0.549 -90.11° +lamp 0.755 0.342 0.471 -0.273 2.582 0.156 -0.05° +floor 3.378 -0.001 4.425 -0.079 -0.000 0.019 0.00° +_scene_ 0.071 0.000 0.023 -5.670 -0.004 -5.712 -57.30° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bed <-> nightstand depth=[0.653, 0.741, 0.477] + !! OVERLAP: bed <-> floor depth=[1.853, -0.001, 2.209] + !! OVERLAP: chair <-> table depth=[0.334, 0.689, 0.355] + !! OVERLAP: chair <-> floor depth=[0.607, -0.001, 0.709] + !! OVERLAP: nightstand <-> floor depth=[0.716, -0.001, 0.477] + !! OVERLAP: table <-> floor depth=[1.002, -0.001, 0.533] + !! OVERLAP: wardrobe <-> floor depth=[1.014, -0.001, 0.526] +============================================================ + + +============================================================ +SCENE: SecondBedroom-11167 | 9 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.4338, Walkable Loss: 0.0000, Relational Loss: 0.0000 +Guided Steps: 10/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +bed 1.948 2.244 2.054 -0.451 -0.000 0.148 89.85° +cabinet 1.064 0.921 0.412 -0.902 0.001 -1.750 0.01° +table 1.123 1.516 0.638 1.344 -0.000 1.333 -90.04° +lamp 0.211 0.720 0.260 0.377 0.939 1.629 0.01° +lamp 0.851 0.677 0.833 0.056 1.848 0.175 0.01° +nightstand 0.506 0.663 0.367 -1.345 0.001 1.431 90.01° +nightstand 0.565 0.688 0.447 -1.207 0.001 -1.109 89.91° +floor 3.149 -0.002 4.711 -0.016 0.000 -0.004 0.01° +_scene_ 0.069 0.001 0.023 -5.671 -0.005 -5.715 -57.29° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bed <-> floor depth=[1.948, -0.002, 2.054] + !! OVERLAP: cabinet <-> floor depth=[1.064, -0.002, 0.412] + !! OVERLAP: table <-> floor depth=[0.777, -0.002, 0.638] + !! OVERLAP: nightstand <-> floor depth=[0.498, -0.002, 0.367] + !! OVERLAP: nightstand <-> floor depth=[0.565, -0.002, 0.447] +============================================================ + + +============================================================ +SCENE: MasterBedroom-27127 | 7 objects +============================================================ +Final Step Collision Loss: 0.1214, Room Outer Loss: 0.3284, Walkable Loss: 0.0000, Relational Loss: 0.0000 +Guided Steps: 10/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +bed 1.824 0.899 2.049 0.036 0.005 0.171 179.94° +nightstand 0.549 0.597 0.562 -1.186 0.001 -0.378 0.01° +nightstand 0.464 0.530 0.444 1.033 0.002 0.294 0.09° +wardrobe 1.873 2.281 0.607 -1.462 0.002 -0.264 89.84° +desk 1.356 1.137 0.644 1.465 -0.000 0.192 -90.21° +floor 4.368 0.001 2.762 -0.023 -0.000 -0.007 -0.03° +_scene_ 0.055 0.003 0.023 -5.671 -0.005 -5.721 -57.33° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bed <-> nightstand depth=[0.147, 0.530, 0.444] + !! OVERLAP: bed <-> wardrobe depth=[0.350, 0.899, 0.607] + !! OVERLAP: bed <-> desk depth=[0.161, 0.899, 0.644] + !! OVERLAP: bed <-> floor depth=[1.824, 0.001, 2.049] + !! OVERLAP: nightstand <-> wardrobe depth=[0.549, 0.597, 0.471] + !! OVERLAP: nightstand <-> floor depth=[0.549, 0.001, 0.562] + !! OVERLAP: nightstand <-> desk depth=[0.464, 0.530, 0.442] + !! OVERLAP: nightstand <-> floor depth=[0.464, 0.001, 0.444] + !! OVERLAP: wardrobe <-> floor depth=[1.681, 0.001, 0.607] + !! OVERLAP: desk <-> floor depth=[1.356, 0.001, 0.644] +============================================================ + + +============================================================ +SCENE: MasterBedroom-75552 | 5 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0000, Walkable Loss: 0.0000, Relational Loss: 0.0000 +Guided Steps: 10/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +bed 1.895 0.963 2.414 -0.369 0.002 -0.282 89.96° +wardrobe 2.157 2.535 0.700 0.252 0.000 1.520 -179.97° +lamp 0.703 0.548 0.712 0.033 1.995 -0.176 -0.01° +floor 2.843 -0.005 3.876 -0.003 0.003 -0.083 -0.02° +_scene_ 0.067 0.001 0.020 -5.674 -0.003 -5.711 -57.30° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bed <-> floor depth=[1.895, -0.005, 2.414] + !! OVERLAP: wardrobe <-> floor depth=[2.157, -0.005, 0.685] +============================================================ + + +============================================================ +SCENE: SecondBedroom-19119 | 7 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.1568, Walkable Loss: 0.0000, Relational Loss: 0.0000 +Guided Steps: 10/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +bed 1.836 0.823 2.107 -0.653 0.001 0.322 89.99° +wardrobe 1.833 2.265 0.631 -0.825 -0.001 -1.309 0.03° +nightstand 0.580 0.621 0.478 -1.479 0.003 1.551 90.01° +tv_stand 1.389 0.483 0.328 1.354 0.006 0.590 -89.48° +lamp 0.820 0.769 0.811 -0.005 1.949 0.176 0.02° +floor 3.643 0.000 4.254 -0.008 0.001 0.049 -0.04° +_scene_ 0.067 -0.000 0.021 -5.669 -0.005 -5.713 -57.29° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bed <-> nightstand depth=[0.382, 0.621, 0.063] + !! OVERLAP: bed <-> floor depth=[1.836, 0.000, 2.107] + !! OVERLAP: wardrobe <-> floor depth=[1.833, 0.000, 0.631] + !! OVERLAP: nightstand <-> floor depth=[0.580, 0.000, 0.478] + !! OVERLAP: tv_stand <-> floor depth=[1.154, 0.000, 0.328] +============================================================ + + +============================================================ +SCENE: Bedroom-2719 | 8 objects +============================================================ +Final Step Collision Loss: 0.4871, Room Outer Loss: 0.8475, Walkable Loss: 0.0000, Relational Loss: 0.0000 +Guided Steps: 10/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +chair 0.469 0.518 0.483 -1.257 0.003 -1.488 0.08° +bookshelf 2.976 2.217 0.679 -0.852 -0.000 -0.252 89.83° +table 0.691 1.290 0.373 -1.217 0.001 1.135 89.70° +bed 2.061 0.784 2.228 -0.374 0.001 0.185 89.98° +lamp 0.544 0.514 0.487 0.071 2.546 -0.269 -0.02° +chair 0.503 0.859 0.499 1.077 0.004 -0.745 -90.14° +floor 3.006 -0.002 3.537 0.004 -0.000 -0.074 -0.01° +_scene_ 0.069 0.001 0.021 -5.672 -0.004 -5.713 -57.30° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: chair <-> floor depth=[0.469, -0.002, 0.483] + !! OVERLAP: bookshelf <-> bed depth=[2.040, 0.784, 0.679] + !! OVERLAP: bookshelf <-> floor depth=[2.135, -0.002, 0.679] + !! OVERLAP: table <-> bed depth=[0.533, 0.784, 0.351] + !! OVERLAP: table <-> floor depth=[0.628, -0.002, 0.373] + !! OVERLAP: bed <-> floor depth=[2.061, -0.002, 2.228] + !! OVERLAP: chair <-> floor depth=[0.503, -0.002, 0.499] +============================================================ + + +============================================================ +SCENE: Bedroom-430 | 6 objects +============================================================ +Final Step Collision Loss: 0.0177, Room Outer Loss: 0.0000, Walkable Loss: 0.0000, Relational Loss: 0.0000 +Guided Steps: 10/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +bed 2.103 1.427 2.183 -0.158 0.005 -0.024 89.98° +table 0.373 0.461 0.328 -1.145 0.001 0.951 90.00° +table 0.546 0.576 0.525 -1.028 -0.001 -1.387 0.07° +lamp 0.850 0.746 0.930 -0.076 2.142 0.017 0.05° +floor 2.872 -0.004 3.411 -0.012 0.000 -0.011 -0.01° +_scene_ 0.121 0.000 0.127 -5.542 -0.001 -5.605 -57.47° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bed <-> table depth=[0.251, 0.461, 0.281] + !! OVERLAP: bed <-> floor depth=[2.103, -0.004, 2.183] + !! OVERLAP: table <-> floor depth=[0.373, -0.004, 0.328] + !! OVERLAP: table <-> floor depth=[0.546, -0.004, 0.525] +============================================================ + + +============================================================ +SCENE: MasterBedroom-18415 | 8 objects +============================================================ +Final Step Collision Loss: 0.0052, Room Outer Loss: 0.8690, Walkable Loss: 0.0000, Relational Loss: 0.0000 +Guided Steps: 10/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +bed 2.117 0.709 1.945 -0.570 0.001 0.548 89.99° +nightstand 0.465 0.789 0.439 -1.525 0.000 -0.535 90.07° +nightstand 0.521 0.702 0.445 -1.505 0.002 2.206 90.04° +wardrobe 2.344 2.533 0.589 -0.470 -0.000 -1.857 0.04° +tv_stand 1.871 0.424 0.439 1.340 -0.000 0.756 -89.94° +lamp 0.777 0.901 0.779 -0.055 1.827 0.442 -0.02° +floor 3.418 -0.001 4.966 0.030 -0.000 0.185 -0.04° +_scene_ 0.068 -0.001 0.023 -5.675 -0.005 -5.716 -57.30° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bed <-> nightstand depth=[0.336, 0.709, 0.109] + !! OVERLAP: bed <-> tv_stand depth=[0.084, 0.424, 0.439] + !! OVERLAP: bed <-> floor depth=[2.117, -0.001, 1.945] + !! OVERLAP: nightstand <-> floor depth=[0.387, -0.001, 0.439] + !! OVERLAP: nightstand <-> floor depth=[0.434, -0.001, 0.445] + !! OVERLAP: wardrobe <-> floor depth=[2.344, -0.001, 0.589] + !! OVERLAP: tv_stand <-> floor depth=[1.334, -0.001, 0.439] +============================================================ + + +============================================================ +SCENE: SecondBedroom-1145 | 6 objects +============================================================ +Final Step Collision Loss: 0.0259, Room Outer Loss: 0.0395, Walkable Loss: 0.0000, Relational Loss: 0.0000 +Guided Steps: 10/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +bed 2.053 1.101 2.278 -0.383 -0.000 -0.382 0.01° +nightstand 0.605 0.606 0.474 -1.557 0.001 -1.266 0.02° +nightstand 0.513 0.589 0.506 0.837 -0.002 -1.274 -0.11° +lamp 0.693 0.552 0.717 -0.405 2.578 -0.022 -0.05° +floor 4.445 -0.003 3.066 -0.056 -0.001 0.025 -0.06° +_scene_ 0.063 0.001 0.017 -5.667 -0.005 -5.711 -57.32° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bed <-> nightstand depth=[0.155, 0.606, 0.474] + !! OVERLAP: bed <-> nightstand depth=[0.063, 0.589, 0.500] + !! OVERLAP: bed <-> floor depth=[2.053, -0.003, 2.265] + !! OVERLAP: nightstand <-> floor depth=[0.605, -0.003, 0.474] + !! OVERLAP: nightstand <-> floor depth=[0.513, -0.003, 0.487] +============================================================ + + +============================================================ +SCENE: SecondBedroom-2787 | 6 objects +============================================================ +Final Step Collision Loss: 0.0206, Room Outer Loss: 0.3533, Walkable Loss: 0.0000, Relational Loss: 0.0000 +Guided Steps: 10/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +bed 1.617 0.822 1.768 -0.274 0.002 -0.147 89.98° +nightstand 0.598 0.536 0.672 -1.490 0.002 -0.012 90.04° +desk 1.181 1.133 0.564 1.481 0.000 -0.126 -89.98° +lamp 0.323 0.377 0.349 -0.140 2.260 -0.009 90.23° +floor 3.498 0.000 3.055 -0.005 0.000 -0.030 -0.05° +_scene_ 0.072 -0.002 0.023 -5.670 -0.004 -5.714 -57.32° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bed <-> floor depth=[1.617, 0.000, 1.768] + !! OVERLAP: nightstand <-> floor depth=[0.563, 0.000, 0.672] + !! OVERLAP: desk <-> floor depth=[0.854, 0.000, 0.564] +============================================================ + + +============================================================ +SCENE: Bedroom-87322 | 9 objects +============================================================ +Final Step Collision Loss: 0.0864, Room Outer Loss: 0.4038, Walkable Loss: 0.0000, Relational Loss: 0.0000 +Guided Steps: 10/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +bed 1.845 1.248 2.325 0.588 0.000 -0.450 -90.06° +nightstand 0.512 0.751 0.346 1.753 0.001 0.652 -90.07° +chair 1.311 0.556 0.674 0.058 -0.001 -1.084 -89.97° +wardrobe 1.218 2.283 0.508 1.137 -0.000 1.252 -179.97° +tv_stand 1.677 0.538 0.389 -1.277 0.000 -0.928 90.05° +lamp 0.502 0.359 0.517 0.187 2.106 1.149 0.01° +lamp 0.587 0.145 0.595 0.218 2.481 -0.491 -0.01° +floor 3.672 -0.001 3.584 -0.008 -0.000 -0.000 -0.01° +_scene_ 0.068 -0.001 0.024 -5.674 -0.005 -5.711 -57.29° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bed <-> nightstand depth=[0.014, 0.751, 0.234] + !! OVERLAP: bed <-> chair depth=[1.048, 0.556, 0.674] + !! OVERLAP: bed <-> floor depth=[1.845, -0.001, 2.325] + !! OVERLAP: nightstand <-> floor depth=[0.331, -0.001, 0.346] + !! OVERLAP: chair <-> tv_stand depth=[0.159, 0.538, 0.375] + !! OVERLAP: chair <-> floor depth=[1.311, -0.001, 0.674] + !! OVERLAP: wardrobe <-> floor depth=[1.218, -0.001, 0.508] + !! OVERLAP: tv_stand <-> floor depth=[1.405, -0.001, 0.389] +============================================================ + + +============================================================ +SCENE: Bedroom-68718 | 7 objects +============================================================ +Final Step Collision Loss: 0.0792, Room Outer Loss: 0.0214, Walkable Loss: 0.0000, Relational Loss: 0.0000 +Guided Steps: 10/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +bed 2.560 1.727 2.499 -0.071 -0.000 -0.356 0.03° +nightstand 0.681 0.541 0.388 -1.174 0.001 -1.495 -0.00° +nightstand 0.565 0.528 0.447 1.129 0.001 -1.432 0.01° +wardrobe 2.291 2.335 0.679 -0.219 0.003 1.411 -179.86° +lamp 0.941 1.302 0.974 -0.035 1.505 -0.058 0.02° +floor 3.276 -0.001 3.293 -0.006 0.000 0.002 -0.01° +_scene_ 0.073 -0.001 0.022 -5.669 -0.005 -5.712 -57.32° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bed <-> nightstand depth=[0.518, 0.541, 0.305] + !! OVERLAP: bed <-> nightstand depth=[0.362, 0.528, 0.397] + !! OVERLAP: bed <-> lamp depth=[0.941, 0.009, 0.974] + !! OVERLAP: bed <-> floor depth=[2.560, -0.001, 2.499] + !! OVERLAP: nightstand <-> floor depth=[0.681, -0.001, 0.344] + !! OVERLAP: nightstand <-> floor depth=[0.565, -0.001, 0.437] + !! OVERLAP: wardrobe <-> floor depth=[2.291, -0.001, 0.577] +============================================================ + + +============================================================ +SCENE: SecondBedroom-35821 | 8 objects +============================================================ +Final Step Collision Loss: 0.1856, Room Outer Loss: 0.5783, Walkable Loss: 0.0000, Relational Loss: 0.0000 +Guided Steps: 10/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +bed 1.857 1.062 2.266 -0.647 0.002 -0.302 89.91° +nightstand 0.520 0.559 0.499 -1.592 0.002 1.068 90.02° +nightstand 0.573 0.534 0.451 -1.615 0.002 -0.955 90.01° +tv_stand 1.790 0.372 0.379 1.566 -0.001 -0.166 -90.01° +lamp 0.912 0.748 0.904 -0.050 1.756 -0.059 -0.03° +chair 1.511 0.858 1.272 -0.061 -0.002 0.397 90.07° +floor 3.858 -0.002 3.489 0.006 0.000 -0.025 0.00° +_scene_ 0.066 -0.000 0.012 -5.673 -0.007 -5.717 -57.30° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bed <-> nightstand depth=[0.243, 0.559, 0.013] + !! OVERLAP: bed <-> nightstand depth=[0.247, 0.534, 0.451] + !! OVERLAP: bed <-> chair depth=[1.098, 0.858, 1.070] + !! OVERLAP: bed <-> floor depth=[1.857, -0.002, 2.266] + !! OVERLAP: nightstand <-> floor depth=[0.520, -0.002, 0.499] + !! OVERLAP: nightstand <-> floor depth=[0.573, -0.002, 0.451] + !! OVERLAP: tv_stand <-> chair depth=[0.023, 0.372, 0.262] + !! OVERLAP: tv_stand <-> floor depth=[1.264, -0.002, 0.379] + !! OVERLAP: chair <-> floor depth=[1.511, -0.002, 1.272] +============================================================ + + +============================================================ +SCENE: Bedroom-18055 | 8 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0000, Walkable Loss: 0.0000, Relational Loss: 0.0000 +Guided Steps: 10/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +bed 1.869 1.032 2.065 0.445 0.001 -0.326 -90.07° +wardrobe 2.136 2.375 0.602 0.360 0.001 2.087 -180.00° +nightstand 0.547 0.553 0.520 1.163 0.002 1.091 -90.03° +nightstand 0.468 0.621 0.382 1.019 0.004 -1.586 -89.88° +lamp 0.810 0.725 0.304 0.830 1.901 0.827 0.29° +lamp 0.329 0.801 0.360 0.934 1.722 -1.217 -0.04° +floor 2.923 -0.001 4.560 -0.020 -0.000 -0.028 -0.04° +_scene_ 0.071 -0.000 0.020 -5.672 -0.005 -5.712 -57.29° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bed <-> floor depth=[1.869, -0.001, 2.065] + !! OVERLAP: wardrobe <-> floor depth=[2.136, -0.001, 0.466] + !! OVERLAP: nightstand <-> floor depth=[0.547, -0.001, 0.520] + !! OVERLAP: nightstand <-> floor depth=[0.468, -0.001, 0.382] +============================================================ + + +============================================================ +SCENE: SecondBedroom-19262 | 6 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0000, Walkable Loss: 0.0000, Relational Loss: 0.0000 +Guided Steps: 10/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +bed 2.183 0.998 2.278 -0.451 0.001 0.688 179.97° +tv_stand 2.411 0.630 0.561 -0.652 0.001 -1.245 0.02° +wardrobe 1.497 2.350 0.614 1.359 -0.001 0.698 -90.05° +lamp 0.569 0.799 0.622 -0.334 1.870 0.354 179.95° +floor 4.400 -0.002 3.571 -0.058 -0.001 -0.009 -0.03° +_scene_ 0.067 0.001 0.017 -5.668 -0.005 -5.715 -57.31° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bed <-> wardrobe depth=[0.030, 0.998, 0.614] + !! OVERLAP: bed <-> floor depth=[2.183, -0.002, 2.227] + !! OVERLAP: tv_stand <-> floor depth=[2.411, -0.002, 0.561] + !! OVERLAP: wardrobe <-> floor depth=[1.497, -0.002, 0.614] +============================================================ + + +============================================================ +SCENE: Bedroom-12864 | 7 objects +============================================================ +Final Step Collision Loss: 0.0108, Room Outer Loss: 0.7549, Walkable Loss: 0.0000, Relational Loss: 0.0000 +Guided Steps: 10/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +wardrobe 2.471 2.271 0.525 1.223 -0.001 -0.069 -90.13° +bed 1.887 1.046 2.358 -0.422 0.001 0.042 89.89° +nightstand 0.586 0.491 0.493 -1.365 0.004 -1.227 90.04° +nightstand 0.594 0.501 0.449 -1.297 0.003 1.136 90.01° +lamp 0.606 0.891 0.534 -0.257 1.971 -0.100 0.02° +floor 3.329 -0.002 3.632 0.002 0.000 0.014 -0.03° +_scene_ 0.068 0.000 0.020 -5.671 -0.005 -5.715 -57.31° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: wardrobe <-> bed depth=[0.533, 1.046, 0.525] + !! OVERLAP: wardrobe <-> floor depth=[1.679, -0.002, 0.525] + !! OVERLAP: bed <-> nightstand depth=[0.293, 0.491, 0.156] + !! OVERLAP: bed <-> nightstand depth=[0.366, 0.501, 0.310] + !! OVERLAP: bed <-> floor depth=[1.887, -0.002, 2.358] + !! OVERLAP: nightstand <-> floor depth=[0.586, -0.002, 0.493] + !! OVERLAP: nightstand <-> floor depth=[0.594, -0.002, 0.449] +============================================================ + + +============================================================ +SCENE: SecondBedroom-266050 | 6 objects +============================================================ +Final Step Collision Loss: 0.0438, Room Outer Loss: 0.1369, Walkable Loss: 0.0000, Relational Loss: 0.0000 +Guided Steps: 10/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +sofa 1.719 0.695 1.004 1.097 0.001 -0.200 0.00° +bed 2.122 1.129 2.367 -0.867 -0.000 0.194 89.91° +nightstand 0.607 0.754 0.413 -1.642 0.002 -1.365 90.01° +nightstand 0.508 0.609 0.387 -1.625 0.002 1.574 90.02° +floor 3.769 -0.002 4.420 -0.016 0.000 -0.021 -0.01° +_scene_ 0.081 0.000 0.026 -5.668 -0.005 -5.708 -57.28° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: sofa <-> floor depth=[1.631, -0.002, 1.004] + !! OVERLAP: bed <-> floor depth=[2.095, -0.002, 2.367] + !! OVERLAP: nightstand <-> floor depth=[0.563, -0.002, 0.413] + !! OVERLAP: nightstand <-> floor depth=[0.508, -0.002, 0.387] +============================================================ + + +============================================================ +SCENE: MasterBedroom-12352 | 6 objects +============================================================ +Final Step Collision Loss: 0.0209, Room Outer Loss: 0.0327, Walkable Loss: 0.0000, Relational Loss: 0.0000 +Guided Steps: 10/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +bed 2.108 0.884 2.193 -0.423 0.003 0.156 89.97° +nightstand 0.464 0.684 0.316 -1.239 0.002 -1.194 89.92° +nightstand 0.571 0.744 0.458 -1.191 0.001 1.405 90.00° +lamp 0.932 0.851 0.436 -0.012 1.851 0.268 -0.03° +floor 3.099 -0.002 4.186 -0.007 0.001 -0.007 -0.01° +_scene_ 0.071 -0.001 0.020 -5.674 -0.005 -5.714 -57.31° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bed <-> nightstand depth=[0.571, 0.744, 0.077] + !! OVERLAP: bed <-> floor depth=[2.108, -0.002, 2.193] + !! OVERLAP: nightstand <-> floor depth=[0.464, -0.002, 0.316] + !! OVERLAP: nightstand <-> floor depth=[0.571, -0.002, 0.458] +============================================================ + + +============================================================ +SCENE: MasterBedroom-7894 | 6 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0000, Walkable Loss: 0.0000, Relational Loss: 0.0000 +Guided Steps: 10/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +bed 1.966 0.801 2.263 -0.276 -0.002 0.551 89.78° +nightstand 0.555 0.518 0.531 -1.339 0.002 1.910 90.12° +lamp 1.053 0.932 0.304 0.053 1.883 0.366 0.00° +wardrobe 2.767 2.573 0.625 0.210 -0.002 -1.372 -0.02° +floor 3.287 -0.002 4.343 0.083 -0.000 0.133 -0.05° +_scene_ 0.075 0.003 0.023 -5.670 -0.004 -5.710 -57.30° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bed <-> nightstand depth=[0.198, 0.518, 0.038] + !! OVERLAP: bed <-> floor depth=[1.966, -0.002, 2.263] + !! OVERLAP: nightstand <-> floor depth=[0.499, -0.002, 0.531] + !! OVERLAP: wardrobe <-> floor depth=[2.767, -0.002, 0.625] +============================================================ + + +============================================================ +SCENE: MasterBedroom-118594 | 6 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.1113, Walkable Loss: 0.0000, Relational Loss: 0.0000 +Guided Steps: 10/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +lamp 0.604 0.561 0.613 0.269 2.372 -0.156 -0.02° +bed 2.327 1.213 2.222 0.629 0.000 -0.345 -90.01° +bookshelf 3.633 2.642 0.420 0.080 0.003 1.522 179.68° +wardrobe 1.675 2.014 0.493 -1.220 -0.001 -0.781 89.95° +floor 3.751 -0.001 4.423 0.003 0.000 0.008 -0.02° +_scene_ 0.067 0.000 0.021 -5.671 -0.005 -5.716 -57.31° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bed <-> wardrobe depth=[0.152, 1.213, 0.493] + !! OVERLAP: bed <-> floor depth=[2.327, -0.001, 2.222] + !! OVERLAP: bookshelf <-> floor depth=[3.615, -0.001, 0.420] + !! OVERLAP: wardrobe <-> floor depth=[1.490, -0.001, 0.493] +============================================================ + + +============================================================ +SCENE: MasterBedroom-6399 | 7 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.2568, Walkable Loss: 0.0000, Relational Loss: 0.0000 +Guided Steps: 10/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +wardrobe 1.394 2.408 0.604 1.692 -0.000 -0.394 -90.26° +bed 1.756 0.845 2.175 -0.148 0.002 -0.220 -0.09° +table 1.086 1.374 0.464 -1.565 -0.000 -1.217 0.04° +chair 0.582 0.496 0.539 -1.461 -0.001 -0.633 179.87° +lamp 0.605 0.639 0.615 -0.149 2.016 -0.010 0.02° +floor 4.212 -0.000 2.931 -0.008 -0.000 -0.016 -0.02° +_scene_ 0.064 0.001 0.019 -5.669 -0.005 -5.712 -57.29° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: wardrobe <-> floor depth=[1.102, -0.000, 0.604] + !! OVERLAP: bed <-> table depth=[0.004, 0.845, 0.322] + !! OVERLAP: bed <-> floor depth=[1.756, -0.000, 2.175] + !! OVERLAP: table <-> floor depth=[1.086, -0.000, 0.464] + !! OVERLAP: chair <-> floor depth=[0.582, -0.000, 0.539] +============================================================ + + +============================================================ +SCENE: SecondBedroom-52584 | 5 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0000, Walkable Loss: 0.0000, Relational Loss: 0.0000 +Guided Steps: 10/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +lamp 1.160 0.936 1.151 -0.048 2.025 -0.159 0.01° +bed 1.848 1.281 2.333 0.210 -0.000 0.203 -90.05° +table 0.645 0.669 0.488 1.129 0.001 -1.268 -90.25° +floor 3.218 -0.005 4.252 -0.022 -0.000 0.019 -0.02° +_scene_ 0.054 0.005 0.015 -5.657 -0.004 -5.719 -57.31° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bed <-> floor depth=[1.848, -0.005, 2.333] + !! OVERLAP: table <-> floor depth=[0.645, -0.005, 0.488] +============================================================ + + +============================================================ +SCENE: SecondBedroom-860 | 7 objects +============================================================ +Final Step Collision Loss: 0.0047, Room Outer Loss: 0.4460, Walkable Loss: 0.0000, Relational Loss: 0.0000 +Guided Steps: 10/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +bed 1.924 1.078 2.239 -0.191 0.001 -0.291 -0.01° +nightstand 0.465 0.564 0.402 1.036 0.000 -1.295 0.02° +nightstand 0.595 0.532 0.477 -1.532 -0.000 -1.235 -0.02° +wardrobe 1.925 2.282 0.618 1.487 0.001 -0.416 -90.05° +lamp 1.103 1.002 0.870 -0.334 1.837 -0.043 0.02° +floor 4.299 -0.001 2.872 -0.011 -0.001 -0.042 -0.02° +_scene_ 0.070 0.001 0.023 -5.673 -0.005 -5.714 -57.31° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bed <-> wardrobe depth=[0.246, 1.078, 0.618] + !! OVERLAP: bed <-> floor depth=[1.924, -0.001, 2.239] + !! OVERLAP: nightstand <-> floor depth=[0.465, -0.001, 0.384] + !! OVERLAP: nightstand <-> floor depth=[0.595, -0.001, 0.477] + !! OVERLAP: wardrobe <-> floor depth=[1.614, -0.001, 0.618] +============================================================ + + +============================================================ +SCENE: MasterBedroom-514 | 5 objects +============================================================ +Final Step Collision Loss: 0.3084, Room Outer Loss: 0.0418, Walkable Loss: 0.0000, Relational Loss: 0.0000 +Guided Steps: 10/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +nightstand 0.543 0.520 0.474 0.051 -0.002 0.223 0.05° +bed 1.971 1.050 2.346 0.298 0.001 -0.441 0.07° +lamp 1.168 0.837 0.966 0.159 1.960 -0.217 0.01° +floor 2.596 -0.002 3.146 -0.001 -0.000 -0.005 0.03° +_scene_ 0.068 0.001 0.019 -5.679 -0.004 -5.707 -57.33° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: nightstand <-> bed depth=[0.543, 0.520, 0.474] + !! OVERLAP: nightstand <-> floor depth=[0.543, -0.002, 0.474] + !! OVERLAP: bed <-> floor depth=[1.971, -0.002, 2.310] +============================================================ + + +============================================================ +SCENE: SecondBedroom-11204 | 7 objects +============================================================ +Final Step Collision Loss: 0.0159, Room Outer Loss: 0.1756, Walkable Loss: 0.0000, Relational Loss: 0.0000 +Guided Steps: 10/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +bed 1.595 1.013 2.402 -0.414 0.001 -0.405 89.82° +wardrobe 1.500 2.232 0.539 -0.732 0.001 1.382 179.99° +nightstand 0.545 0.579 0.458 -1.320 0.003 0.993 89.92° +table 0.916 1.119 0.450 1.196 0.001 -0.720 -90.08° +chair 0.765 0.448 0.425 0.945 0.001 -0.876 90.01° +floor 3.255 -0.004 3.445 -0.028 0.000 -0.007 -0.04° +_scene_ 0.067 0.001 0.018 -5.673 -0.005 -5.714 -57.29° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bed <-> nightstand depth=[0.164, 0.579, 0.032] + !! OVERLAP: bed <-> floor depth=[1.595, -0.004, 2.402] + !! OVERLAP: wardrobe <-> nightstand depth=[0.434, 0.579, 0.110] + !! OVERLAP: wardrobe <-> floor depth=[1.500, -0.004, 0.539] + !! OVERLAP: nightstand <-> floor depth=[0.545, -0.004, 0.458] + !! OVERLAP: table <-> chair depth=[0.589, 0.448, 0.282] + !! OVERLAP: table <-> floor depth=[0.862, -0.004, 0.450] + !! OVERLAP: chair <-> floor depth=[0.765, -0.004, 0.425] +============================================================ + + +============================================================ +SCENE: MasterBedroom-4089 | 7 objects +============================================================ +Final Step Collision Loss: 0.0161, Room Outer Loss: 0.4254, Walkable Loss: 0.0000, Relational Loss: 0.0000 +Guided Steps: 10/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +wardrobe 2.686 2.581 0.721 1.050 -0.000 0.319 -90.06° +nightstand 0.690 0.723 0.462 -1.356 0.002 -1.389 0.04° +nightstand 0.642 0.771 0.547 1.280 -0.000 -1.348 0.03° +bed 2.174 0.667 1.998 -0.426 -0.000 -0.275 0.11° +lamp 0.263 1.128 0.261 -0.103 1.643 -0.037 -0.01° +floor 3.957 -0.002 3.243 -0.021 0.001 -0.003 -0.03° +_scene_ 0.070 -0.000 0.023 -5.670 -0.004 -5.714 -57.32° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: wardrobe <-> bed depth=[0.954, 0.667, 0.721] + !! OVERLAP: wardrobe <-> lamp depth=[0.263, 0.211, 0.135] + !! OVERLAP: wardrobe <-> floor depth=[2.251, -0.002, 0.721] + !! OVERLAP: nightstand <-> bed depth=[0.502, 0.667, 0.116] + !! OVERLAP: nightstand <-> floor depth=[0.690, -0.002, 0.462] + !! OVERLAP: nightstand <-> floor depth=[0.642, -0.002, 0.547] + !! OVERLAP: bed <-> floor depth=[2.174, -0.002, 1.998] +============================================================ + + +============================================================ +SCENE: MasterBedroom-21684 | 9 objects +============================================================ +Final Step Collision Loss: 0.0059, Room Outer Loss: 0.3728, Walkable Loss: 0.0000, Relational Loss: 0.0000 +Guided Steps: 10/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +bed 1.717 1.004 2.326 0.361 -0.000 -0.464 0.01° +nightstand 0.455 0.747 0.395 1.547 -0.002 -1.233 0.01° +cabinet 1.102 1.468 0.452 0.050 0.002 1.356 -179.91° +wardrobe 1.679 2.325 0.532 -1.379 -0.002 -0.693 89.97° +nightstand 0.544 0.807 0.365 -0.838 0.002 -1.400 0.02° +chair 0.675 0.780 0.669 1.381 0.004 0.907 -156.15° +lamp 0.834 0.902 0.676 0.173 1.855 0.051 0.02° +floor 3.714 -0.002 3.345 0.002 0.000 0.031 -0.06° +_scene_ 0.070 0.000 0.022 -5.677 -0.005 -5.715 -57.29° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bed <-> chair depth=[0.176, 0.780, 0.126] + !! OVERLAP: bed <-> floor depth=[1.717, -0.002, 2.326] + !! OVERLAP: nightstand <-> floor depth=[0.455, -0.002, 0.395] + !! OVERLAP: cabinet <-> floor depth=[1.102, -0.002, 0.452] + !! OVERLAP: wardrobe <-> floor depth=[1.315, -0.002, 0.532] + !! OVERLAP: nightstand <-> floor depth=[0.544, -0.002, 0.365] + !! OVERLAP: chair <-> floor depth=[0.675, -0.002, 0.669] +============================================================ + + +============================================================ +SCENE: SecondBedroom-8497 | 6 objects +============================================================ +Final Step Collision Loss: 0.0126, Room Outer Loss: 0.0597, Walkable Loss: 0.0000, Relational Loss: 0.0000 +Guided Steps: 10/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +bed 2.084 0.906 2.261 -0.383 0.000 -0.204 89.88° +nightstand 0.465 0.495 0.414 -1.292 0.001 0.950 90.00° +nightstand 0.469 0.589 0.341 -1.280 0.001 -1.466 90.02° +lamp 0.761 0.922 0.718 -0.023 2.108 -0.240 0.00° +floor 2.998 -0.001 3.228 0.006 0.001 0.012 -0.02° +_scene_ 0.068 0.002 0.022 -5.669 -0.004 -5.709 -57.31° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bed <-> nightstand depth=[0.366, 0.495, 0.183] + !! OVERLAP: bed <-> nightstand depth=[0.380, 0.589, 0.039] + !! OVERLAP: bed <-> floor depth=[2.084, -0.001, 2.261] + !! OVERLAP: nightstand <-> floor depth=[0.434, -0.001, 0.414] + !! OVERLAP: nightstand <-> floor depth=[0.448, -0.001, 0.306] +============================================================ + + +============================================================ +SCENE: MasterBedroom-196 | 7 objects +============================================================ +Final Step Collision Loss: 0.0546, Room Outer Loss: 0.6456, Walkable Loss: 0.0000, Relational Loss: 0.0000 +Guided Steps: 10/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +lamp 0.638 0.466 0.626 0.242 2.354 -0.073 -0.03° +wardrobe 2.261 2.400 0.639 -1.574 -0.001 -0.399 89.98° +bed 2.261 1.040 2.520 0.230 0.004 -0.260 -0.01° +nightstand 0.540 0.640 0.516 1.462 0.000 -1.387 -0.03° +nightstand 0.676 0.584 0.497 -0.769 0.001 -1.435 0.05° +floor 3.535 -0.002 3.512 -0.058 0.001 -0.029 0.01° +_scene_ 0.066 -0.001 0.019 -5.670 -0.005 -5.716 -57.31° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: wardrobe <-> bed depth=[0.458, 1.040, 0.639] + !! OVERLAP: wardrobe <-> floor depth=[1.382, -0.002, 0.639] + !! OVERLAP: bed <-> nightstand depth=[0.168, 0.640, 0.392] + !! OVERLAP: bed <-> nightstand depth=[0.470, 0.584, 0.334] + !! OVERLAP: bed <-> floor depth=[2.261, -0.002, 2.520] + !! OVERLAP: nightstand <-> floor depth=[0.518, -0.002, 0.516] + !! OVERLAP: nightstand <-> floor depth=[0.676, -0.002, 0.497] +============================================================ + + +============================================================ +SCENE: MasterBedroom-132469 | 5 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0626, Walkable Loss: 0.0000, Relational Loss: 0.0000 +Guided Steps: 10/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +bed 2.313 0.971 2.127 0.409 -0.002 0.671 -89.90° +wardrobe 1.641 2.069 0.651 0.540 0.001 -1.711 -0.01° +lamp 0.435 0.186 0.439 -0.017 2.417 0.016 -0.07° +floor 3.172 -0.003 4.107 -0.055 -0.000 -0.017 -0.00° +_scene_ 0.079 -0.003 0.098 -5.599 -0.003 -5.657 -57.49° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bed <-> floor depth=[2.278, -0.003, 2.127] + !! OVERLAP: wardrobe <-> floor depth=[1.641, -0.003, 0.651] +============================================================ + + +============================================================ +SCENE: MasterBedroom-104323 | 5 objects +============================================================ +Final Step Collision Loss: 0.0054, Room Outer Loss: 0.0000, Walkable Loss: 0.0000, Relational Loss: 0.0000 +Guided Steps: 10/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +bed 1.799 1.314 2.329 -0.466 0.002 0.510 89.89° +lamp 0.718 1.000 0.449 -0.115 1.813 0.819 -0.04° +nightstand 0.469 0.569 0.362 -0.993 0.001 -0.664 89.95° +floor 2.863 -0.001 3.137 -0.008 -0.000 -0.014 -0.02° +_scene_ 0.071 0.001 0.028 -5.667 -0.005 -5.708 -57.29° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bed <-> nightstand depth=[0.469, 0.569, 0.171] + !! OVERLAP: bed <-> floor depth=[1.799, -0.001, 2.209] + !! OVERLAP: nightstand <-> floor depth=[0.469, -0.001, 0.362] +============================================================ + + +============================================================ +SCENE: SecondBedroom-69556 | 8 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.3456, Walkable Loss: 0.0000, Relational Loss: 0.0000 +Guided Steps: 10/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +bed 1.776 1.158 2.216 0.579 -0.000 -0.523 -89.95° +wardrobe 1.775 2.348 0.605 0.713 -0.001 1.423 -179.97° +table 0.511 0.531 0.417 1.330 0.000 0.726 -89.98° +cabinet 0.964 1.742 0.478 -1.372 -0.001 -1.701 89.95° +lamp 0.737 0.984 0.743 0.080 1.643 -0.253 0.00° +table 0.535 0.572 0.411 1.393 0.002 -1.757 -90.45° +floor 3.144 -0.001 3.880 -0.003 0.001 -0.003 -0.03° +_scene_ 0.067 -0.000 0.015 -5.669 -0.005 -5.709 -57.29° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bed <-> table depth=[0.392, 0.531, 0.068] + !! OVERLAP: bed <-> table depth=[0.341, 0.572, 0.079] + !! OVERLAP: bed <-> floor depth=[1.776, -0.001, 2.216] + !! OVERLAP: wardrobe <-> floor depth=[1.743, -0.001, 0.605] + !! OVERLAP: table <-> floor depth=[0.494, -0.001, 0.417] + !! OVERLAP: cabinet <-> floor depth=[0.685, -0.001, 0.478] + !! OVERLAP: table <-> floor depth=[0.443, -0.001, 0.391] +============================================================ + + +============================================================ +SCENE: Bedroom-6993 | 5 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.2408, Walkable Loss: 0.0000, Relational Loss: 0.0000 +Guided Steps: 10/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +bed 1.875 0.705 1.975 -0.297 -0.004 0.405 89.74° +lamp 1.026 0.953 0.116 0.241 1.873 0.391 179.82° +wardrobe 3.393 2.508 0.617 0.025 -0.003 -1.411 -0.03° +floor 3.191 -0.003 3.878 -0.011 0.001 -0.025 -0.03° +_scene_ 0.042 0.011 0.007 -5.659 -0.005 -5.718 -57.34° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bed <-> floor depth=[1.875, -0.003, 1.975] + !! OVERLAP: wardrobe <-> floor depth=[3.191, -0.003, 0.617] +============================================================ + + +============================================================ +SCENE: MasterBedroom-935 | 11 objects +============================================================ +Final Step Collision Loss: 0.0195, Room Outer Loss: 0.6181, Walkable Loss: 0.0000, Relational Loss: 0.0000 +Guided Steps: 10/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +desk 1.209 0.733 0.499 1.413 0.000 -1.140 -90.05° +lamp 0.418 0.616 0.434 0.178 2.038 0.484 -0.03° +lamp 0.969 1.022 0.911 1.101 1.639 1.732 -89.92° +lamp 1.327 1.119 0.890 1.296 1.419 -1.057 0.02° +chair 0.471 0.859 0.551 0.597 0.003 -1.130 89.88° +bed 2.061 0.737 2.085 0.643 -0.001 0.559 -89.99° +wardrobe 2.343 2.276 0.542 0.640 -0.001 -1.737 0.03° +tv_stand 2.056 0.616 0.434 -1.235 0.017 0.968 90.09° +nightstand 0.522 0.480 0.449 1.569 -0.000 1.646 -90.03° +floor 3.779 -0.001 4.712 0.044 0.000 -0.055 -0.05° +_scene_ 0.070 0.001 0.023 -5.671 -0.004 -5.715 -57.30° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: desk <-> chair depth=[0.024, 0.733, 0.499] + !! OVERLAP: desk <-> floor depth=[1.125, -0.001, 0.499] + !! OVERLAP: lamp <-> wardrobe depth=[1.179, 0.278, 0.036] + !! OVERLAP: chair <-> floor depth=[0.471, -0.001, 0.551] + !! OVERLAP: bed <-> tv_stand depth=[0.181, 0.616, 0.434] + !! OVERLAP: bed <-> nightstand depth=[0.365, 0.480, 0.180] + !! OVERLAP: bed <-> floor depth=[2.061, -0.001, 2.085] + !! OVERLAP: wardrobe <-> floor depth=[2.343, -0.001, 0.542] + !! OVERLAP: tv_stand <-> floor depth=[1.639, -0.001, 0.434] + !! OVERLAP: nightstand <-> floor depth=[0.522, -0.001, 0.449] +============================================================ + + +============================================================ +SCENE: SecondBedroom-2311 | 6 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0000, Walkable Loss: 0.0000, Relational Loss: 0.0000 +Guided Steps: 10/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +bookshelf 1.596 2.691 0.354 -0.227 0.000 -1.233 -0.02° +lamp 0.810 0.677 0.817 0.093 1.871 0.436 -0.03° +bed 1.599 1.260 2.122 -0.608 0.001 0.326 -179.98° +chair 0.634 0.666 0.625 1.417 -0.002 0.895 -97.00° +floor 3.927 -0.001 3.298 -0.003 0.001 0.005 -0.03° +_scene_ 0.067 0.003 0.035 -5.618 -0.000 -5.683 -57.21° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bookshelf <-> floor depth=[1.596, -0.001, 0.354] + !! OVERLAP: bed <-> floor depth=[1.599, -0.001, 2.122] + !! OVERLAP: chair <-> floor depth=[0.634, -0.001, 0.625] +============================================================ + + +============================================================ +SCENE: SecondBedroom-69136 | 8 objects +============================================================ +Final Step Collision Loss: 0.0016, Room Outer Loss: 0.5886, Walkable Loss: 0.0000, Relational Loss: 0.0000 +Guided Steps: 10/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +bed 2.082 0.936 2.356 0.386 -0.001 0.452 179.93° +wardrobe 1.832 2.223 0.592 -1.848 -0.002 0.801 89.98° +nightstand 0.423 0.401 0.371 1.677 0.001 1.467 179.96° +nightstand 0.369 0.402 0.330 -0.823 0.002 1.376 179.91° +tv_stand 1.893 0.537 0.415 0.317 0.001 -1.408 0.01° +lamp 0.495 0.178 0.510 0.289 2.381 0.033 -0.02° +floor 4.704 -0.003 3.295 0.014 0.000 0.014 -0.03° +_scene_ 0.071 -0.000 0.022 -5.674 -0.005 -5.712 -57.29° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bed <-> nightstand depth=[0.016, 0.402, 0.330] + !! OVERLAP: bed <-> floor depth=[2.082, -0.003, 2.356] + !! OVERLAP: wardrobe <-> floor depth=[1.405, -0.003, 0.592] + !! OVERLAP: nightstand <-> floor depth=[0.423, -0.003, 0.371] + !! OVERLAP: nightstand <-> floor depth=[0.369, -0.003, 0.330] + !! OVERLAP: tv_stand <-> floor depth=[1.893, -0.003, 0.415] +============================================================ + + +============================================================ +SCENE: Bedroom-47437 | 5 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0000, Walkable Loss: 0.0000, Relational Loss: 0.0000 +Guided Steps: 10/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +bed 1.785 1.017 2.267 -0.380 0.001 0.155 89.89° +nightstand 0.471 0.620 0.460 -1.031 -0.000 1.536 89.99° +nightstand 0.512 0.581 0.456 -1.175 0.002 -1.083 89.99° +floor 3.295 0.001 5.013 -0.013 -0.000 0.107 -0.01° +_scene_ 0.061 0.009 0.016 -5.660 -0.004 -5.718 -57.28° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bed <-> nightstand depth=[0.354, 0.581, 0.124] + !! OVERLAP: bed <-> floor depth=[1.785, 0.001, 2.267] + !! OVERLAP: nightstand <-> floor depth=[0.471, 0.001, 0.460] + !! OVERLAP: nightstand <-> floor depth=[0.512, 0.001, 0.456] +============================================================ + + +============================================================ +SCENE: SecondBedroom-739 | 6 objects +============================================================ +Final Step Collision Loss: 0.0392, Room Outer Loss: 0.0169, Walkable Loss: 0.0000, Relational Loss: 0.0000 +Guided Steps: 10/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +bed 2.217 1.099 2.263 -0.251 0.003 0.003 89.83° +table 0.532 0.478 0.456 -1.182 0.002 1.418 90.01° +table 0.464 0.499 0.419 -1.178 0.003 -0.981 90.00° +lamp 0.490 0.973 0.634 -0.134 1.774 0.129 -0.01° +floor 2.868 -0.003 3.651 -0.018 0.001 -0.035 -0.03° +_scene_ 0.044 0.028 0.059 -5.502 -0.006 -5.511 -58.03° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bed <-> table depth=[0.414, 0.499, 0.357] + !! OVERLAP: bed <-> floor depth=[2.217, -0.003, 2.263] + !! OVERLAP: table <-> floor depth=[0.532, -0.003, 0.456] + !! OVERLAP: table <-> floor depth=[0.464, -0.003, 0.419] +============================================================ + + +============================================================ +SCENE: MasterBedroom-6351 | 6 objects +============================================================ +Final Step Collision Loss: 0.0036, Room Outer Loss: 0.0605, Walkable Loss: 0.0000, Relational Loss: 0.0000 +Guided Steps: 10/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +bed 1.836 1.519 2.156 0.317 -0.000 0.019 -89.98° +nightstand 0.474 0.513 0.443 1.227 0.003 1.176 -90.12° +nightstand 0.413 0.622 0.431 1.292 0.001 -1.377 -90.08° +lamp 0.784 0.517 0.791 0.026 2.368 -0.158 -0.04° +floor 3.109 -0.001 3.675 -0.019 0.000 -0.018 -0.02° +_scene_ 0.067 0.000 0.017 -5.672 -0.005 -5.714 -57.29° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bed <-> nightstand depth=[0.245, 0.513, 0.143] + !! OVERLAP: bed <-> floor depth=[1.836, -0.001, 2.156] + !! OVERLAP: nightstand <-> floor depth=[0.474, -0.001, 0.443] + !! OVERLAP: nightstand <-> floor depth=[0.413, -0.001, 0.431] +============================================================ + + +============================================================ +SCENE: SecondBedroom-22370 | 7 objects +============================================================ +Final Step Collision Loss: 0.0199, Room Outer Loss: 0.6896, Walkable Loss: 0.0000, Relational Loss: 0.0000 +Guided Steps: 10/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +wardrobe 1.577 2.200 0.599 1.575 0.004 0.769 -89.96° +bed 2.109 1.289 2.102 -0.423 0.000 0.556 179.95° +nightstand 0.465 0.507 0.395 0.954 -0.000 1.321 179.96° +nightstand 0.373 0.505 0.363 -1.398 0.000 1.316 179.91° +lamp 0.786 0.837 0.765 -0.257 1.923 -0.044 0.01° +floor 3.920 -0.004 3.094 -0.024 0.004 -0.054 -0.02° +_scene_ 0.066 0.001 0.020 -5.672 -0.006 -5.716 -57.28° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: wardrobe <-> floor depth=[1.150, -0.004, 0.599] + !! OVERLAP: bed <-> nightstand depth=[0.266, 0.505, 0.363] + !! OVERLAP: bed <-> floor depth=[2.109, -0.004, 1.989] + !! OVERLAP: nightstand <-> floor depth=[0.465, -0.004, 0.370] + !! OVERLAP: nightstand <-> floor depth=[0.373, -0.004, 0.359] +============================================================ + + +============================================================ +SCENE: SecondBedroom-15551 | 5 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0000, Walkable Loss: 0.0000, Relational Loss: 0.0000 +Guided Steps: 10/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +bed 2.005 0.842 2.176 -0.387 0.001 -0.226 89.93° +wardrobe 2.470 2.489 0.633 -0.226 0.001 1.471 179.96° +nightstand 0.534 0.606 0.517 -1.200 0.001 -1.579 90.01° +floor 3.123 -0.002 4.097 -0.002 -0.000 -0.027 -0.02° +_scene_ 0.067 0.001 0.019 -5.671 -0.005 -5.709 -57.33° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bed <-> floor depth=[2.005, -0.002, 2.176] + !! OVERLAP: wardrobe <-> floor depth=[2.470, -0.002, 0.633] + !! OVERLAP: nightstand <-> floor depth=[0.534, -0.002, 0.517] +============================================================ + + +============================================================ +SCENE: MasterBedroom-13100 | 8 objects +============================================================ +Final Step Collision Loss: 0.0417, Room Outer Loss: 0.0966, Walkable Loss: 0.0000, Relational Loss: 0.0000 +Guided Steps: 10/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +lamp 0.340 0.919 0.365 0.071 1.796 0.212 -0.00° +bed 2.585 1.057 2.384 0.398 -0.000 0.321 -89.98° +nightstand 0.627 0.620 0.543 1.426 0.001 -1.157 -90.11° +nightstand 0.574 0.572 0.581 1.414 0.001 1.649 -89.99° +wardrobe 2.211 2.543 0.731 0.471 -0.001 -1.530 0.01° +shelf 0.976 1.823 0.592 -1.200 -0.001 1.836 89.95° +floor 3.438 -0.002 4.493 -0.019 -0.000 -0.037 -0.02° +_scene_ 0.070 0.001 0.017 -5.671 -0.005 -5.716 -57.30° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bed <-> nightstand depth=[0.564, 0.572, 0.154] + !! OVERLAP: bed <-> floor depth=[2.585, -0.002, 2.384] + !! OVERLAP: nightstand <-> wardrobe depth=[0.464, 0.620, 0.264] + !! OVERLAP: nightstand <-> floor depth=[0.587, -0.002, 0.543] + !! OVERLAP: nightstand <-> floor depth=[0.573, -0.002, 0.581] + !! OVERLAP: wardrobe <-> floor depth=[2.211, -0.002, 0.731] + !! OVERLAP: shelf <-> floor depth=[0.976, -0.002, 0.592] +============================================================ + + +============================================================ +SCENE: SecondBedroom-13841 | 5 objects +============================================================ +Final Step Collision Loss: 0.0441, Room Outer Loss: 0.4491, Walkable Loss: 0.0000, Relational Loss: 0.0000 +Guided Steps: 10/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +lamp 0.566 1.081 0.834 0.365 1.306 -0.226 0.06° +bed 1.990 1.488 2.185 0.380 0.003 -0.498 -0.03° +wardrobe 1.413 1.901 1.112 -1.299 -0.001 -0.448 89.84° +floor 3.200 -0.002 3.588 0.038 0.001 -0.031 -0.04° +_scene_ 0.048 0.004 0.029 -5.611 -0.003 -5.678 -57.38° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bed <-> wardrobe depth=[0.022, 1.488, 1.112] + !! OVERLAP: bed <-> floor depth=[1.990, -0.002, 2.185] + !! OVERLAP: wardrobe <-> floor depth=[0.970, -0.002, 1.112] +============================================================ + + +============================================================ +SCENE: MasterBedroom-10364 | 8 objects +============================================================ +Final Step Collision Loss: 0.0525, Room Outer Loss: 0.0000, Walkable Loss: 0.0000, Relational Loss: 0.0000 +Guided Steps: 10/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +bed 2.103 1.181 2.307 0.842 0.001 -0.647 -0.08° +nightstand 0.712 0.693 0.515 1.744 0.000 -1.668 0.01° +nightstand 0.562 0.644 0.434 -0.220 0.001 -1.618 -0.00° +wardrobe 0.923 1.886 0.515 -1.268 0.004 -0.866 89.84° +lamp 0.581 0.232 0.547 0.758 2.434 -0.390 -0.02° +lamp 0.516 0.507 0.409 -1.172 2.309 0.959 -0.04° +floor 4.302 0.000 3.932 -0.017 -0.000 -0.015 -0.01° +_scene_ 0.067 0.001 0.028 -5.672 -0.005 -5.715 -57.30° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bed <-> nightstand depth=[0.505, 0.693, 0.390] + !! OVERLAP: bed <-> nightstand depth=[0.270, 0.644, 0.399] + !! OVERLAP: bed <-> floor depth=[2.103, 0.000, 2.307] + !! OVERLAP: nightstand <-> floor depth=[0.712, 0.000, 0.515] + !! OVERLAP: nightstand <-> floor depth=[0.562, 0.000, 0.434] + !! OVERLAP: wardrobe <-> floor depth=[0.923, 0.000, 0.515] +============================================================ + + +============================================================ +SCENE: Bedroom-18 | 6 objects +============================================================ +Final Step Collision Loss: 0.0286, Room Outer Loss: 0.0094, Walkable Loss: 0.0000, Relational Loss: 0.0000 +Guided Steps: 10/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +bed 2.267 1.053 2.240 0.005 0.000 -0.226 0.05° +nightstand 0.643 0.611 0.522 1.376 0.002 -1.332 0.01° +nightstand 0.551 0.571 0.553 -1.286 -0.000 -1.236 -0.04° +lamp 0.291 0.611 0.290 0.053 2.138 -0.087 -0.10° +floor 3.309 0.000 3.333 0.021 0.001 -0.008 -0.02° +_scene_ 0.067 -0.000 0.025 -5.670 -0.004 -5.715 -57.31° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bed <-> nightstand depth=[0.084, 0.611, 0.275] + !! OVERLAP: bed <-> nightstand depth=[0.118, 0.571, 0.387] + !! OVERLAP: bed <-> floor depth=[2.267, 0.000, 2.240] + !! OVERLAP: nightstand <-> floor depth=[0.621, 0.000, 0.522] + !! OVERLAP: nightstand <-> floor depth=[0.551, 0.000, 0.553] +============================================================ + + +============================================================ +SCENE: SecondBedroom-11303 | 7 objects +============================================================ +Final Step Collision Loss: 0.0433, Room Outer Loss: 0.9183, Walkable Loss: 0.0000, Relational Loss: 0.0000 +Guided Steps: 10/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +bed 2.051 1.164 2.224 -0.543 0.000 -0.451 0.02° +desk 1.483 0.693 0.581 -1.040 -0.007 0.797 180.00° +nightstand 0.410 0.404 0.447 0.946 0.001 -0.043 -0.02° +wardrobe 1.549 2.119 0.616 1.442 -0.000 0.343 -90.08° +wardrobe 1.306 2.277 0.619 1.653 -0.001 -0.967 -90.04° +floor 3.669 -0.001 3.010 -0.067 -0.000 -0.000 -0.02° +_scene_ 0.064 0.000 0.020 -5.671 -0.005 -5.715 -57.31° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bed <-> desk depth=[1.270, 0.693, 0.155] + !! OVERLAP: bed <-> floor depth=[2.051, -0.001, 2.166] + !! OVERLAP: desk <-> floor depth=[1.483, -0.001, 0.581] + !! OVERLAP: nightstand <-> wardrobe depth=[0.410, 0.404, 0.146] + !! OVERLAP: nightstand <-> floor depth=[0.410, -0.001, 0.447] + !! OVERLAP: wardrobe <-> floor depth=[1.100, -0.001, 0.616] + !! OVERLAP: wardrobe <-> floor depth=[0.768, -0.001, 0.619] +============================================================ + + +============================================================ +SCENE: MasterBedroom-1362 | 8 objects +============================================================ +Final Step Collision Loss: 0.0157, Room Outer Loss: 0.0000, Walkable Loss: 0.0000, Relational Loss: 0.0000 +Guided Steps: 10/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +bed 2.013 1.467 2.009 0.501 -0.001 0.278 -89.98° +table 0.563 0.538 0.653 1.257 -0.001 -1.059 -90.21° +table 0.572 0.545 0.586 1.219 0.000 1.577 -90.05° +wardrobe 1.615 1.875 0.636 0.584 0.001 -1.646 0.04° +lamp 0.586 0.170 0.592 0.071 2.504 0.073 -0.05° +chair 0.822 0.785 0.807 -1.077 0.004 0.017 47.32° +floor 2.968 -0.002 4.198 0.012 -0.001 0.106 -0.00° +_scene_ 0.072 0.003 0.023 -5.667 -0.004 -5.710 -57.30° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bed <-> floor depth=[2.001, -0.002, 2.009] + !! OVERLAP: table <-> wardrobe depth=[0.416, 0.538, 0.057] + !! OVERLAP: table <-> floor depth=[0.520, -0.002, 0.653] + !! OVERLAP: table <-> floor depth=[0.562, -0.002, 0.586] + !! OVERLAP: wardrobe <-> floor depth=[1.615, -0.002, 0.636] + !! OVERLAP: chair <-> floor depth=[0.807, -0.002, 0.807] +============================================================ + + +============================================================ +SCENE: SecondBedroom-34317 | 7 objects +============================================================ +Final Step Collision Loss: 0.0368, Room Outer Loss: 0.0998, Walkable Loss: 0.0000, Relational Loss: 0.0000 +Guided Steps: 10/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +bed 2.347 1.225 2.197 -0.253 0.004 0.087 89.91° +cabinet 1.208 0.749 0.398 0.679 -0.001 -1.886 0.02° +nightstand 0.536 0.713 0.458 -1.263 0.002 1.402 90.04° +nightstand 0.556 0.695 0.473 -1.318 0.001 -0.967 89.99° +lamp 0.523 0.305 0.533 0.065 2.243 -0.156 -0.03° +floor 3.110 -0.000 4.107 0.035 0.001 0.008 0.00° +_scene_ 0.070 0.003 0.021 -5.666 -0.004 -5.711 -57.30° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bed <-> nightstand depth=[0.431, 0.713, 0.013] + !! OVERLAP: bed <-> nightstand depth=[0.386, 0.695, 0.280] + !! OVERLAP: bed <-> floor depth=[2.347, -0.000, 2.197] + !! OVERLAP: cabinet <-> floor depth=[1.208, -0.000, 0.358] + !! OVERLAP: nightstand <-> floor depth=[0.525, -0.000, 0.458] + !! OVERLAP: nightstand <-> floor depth=[0.480, -0.000, 0.473] +============================================================ + + +============================================================ +SCENE: Bedroom-4098 | 7 objects +============================================================ +Final Step Collision Loss: 0.0025, Room Outer Loss: 0.5191, Walkable Loss: 0.0000, Relational Loss: 0.0000 +Guided Steps: 10/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +bed 1.753 1.004 2.409 -0.570 0.000 -0.330 -0.02° +nightstand 0.521 0.524 0.415 0.700 0.000 -1.270 0.00° +nightstand 0.541 0.512 0.429 -1.827 0.007 -1.331 -0.06° +wardrobe 2.131 2.502 0.610 1.538 -0.001 -0.307 -90.10° +lamp 0.555 0.370 0.540 -0.199 2.206 0.057 0.02° +floor 4.572 -0.001 3.240 -0.169 -0.001 0.040 -0.02° +_scene_ 0.067 -0.000 0.019 -5.669 -0.004 -5.714 -57.30° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bed <-> floor depth=[1.753, -0.001, 2.409] + !! OVERLAP: nightstand <-> floor depth=[0.521, -0.001, 0.415] + !! OVERLAP: nightstand <-> floor depth=[0.541, -0.001, 0.429] + !! OVERLAP: wardrobe <-> floor depth=[1.644, -0.001, 0.610] +============================================================ + + +============================================================ +SCENE: Bedroom-5265 | 9 objects +============================================================ +Final Step Collision Loss: 0.0184, Room Outer Loss: 0.2562, Walkable Loss: 0.0000, Relational Loss: 0.0000 +Guided Steps: 10/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +bed 1.879 1.236 2.064 -0.185 0.000 0.684 179.98° +nightstand 0.429 0.521 0.322 -1.265 0.002 1.480 179.95° +nightstand 0.515 0.469 0.436 1.080 0.001 1.572 179.92° +tv_stand 1.937 0.657 0.410 -1.177 0.001 -1.632 -0.07° +tv_stand 1.932 0.723 0.460 -0.449 0.002 -1.220 -0.02° +wardrobe 1.498 2.427 0.498 1.561 0.003 0.886 -90.07° +lamp 0.553 0.679 0.547 -0.309 1.909 0.015 -0.02° +floor 4.411 -0.001 3.585 -0.108 0.000 -0.021 -0.04° +_scene_ 0.067 -0.000 0.022 -5.676 -0.005 -5.717 -57.27° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bed <-> nightstand depth=[0.075, 0.521, 0.322] + !! OVERLAP: bed <-> floor depth=[1.879, -0.001, 2.064] + !! OVERLAP: nightstand <-> floor depth=[0.429, -0.001, 0.322] + !! OVERLAP: nightstand <-> floor depth=[0.515, -0.001, 0.418] + !! OVERLAP: tv_stand <-> tv_stand depth=[1.206, 0.657, 0.023] + !! OVERLAP: tv_stand <-> floor depth=[1.937, -0.001, 0.386] + !! OVERLAP: tv_stand <-> floor depth=[1.932, -0.001, 0.460] + !! OVERLAP: wardrobe <-> floor depth=[1.286, -0.001, 0.498] +============================================================ + + +============================================================ +SCENE: MasterBedroom-22121 | 9 objects +============================================================ +Final Step Collision Loss: 0.0343, Room Outer Loss: 0.0309, Walkable Loss: 0.0000, Relational Loss: 0.0000 +Guided Steps: 10/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +bed 1.844 1.192 2.280 0.466 0.000 0.151 -90.00° +nightstand 0.518 0.495 0.449 1.018 0.001 -1.334 0.12° +wardrobe 2.251 2.199 0.508 0.145 -0.001 -1.070 0.03° +table 0.746 0.898 0.382 -1.381 0.001 0.382 89.99° +nightstand 0.455 0.530 0.423 0.252 0.003 1.262 0.01° +lamp 0.917 0.786 0.936 -0.158 1.692 -1.078 -0.06° +lamp 0.803 0.853 0.805 0.194 2.045 0.994 -0.06° +floor 3.597 -0.000 3.614 -0.007 0.000 0.029 -0.02° +_scene_ 0.071 0.000 0.020 -5.674 -0.005 -5.717 -57.29° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bed <-> wardrobe depth=[1.726, 1.192, 0.173] + !! OVERLAP: bed <-> nightstand depth=[0.455, 0.530, 0.241] + !! OVERLAP: bed <-> floor depth=[1.844, -0.000, 2.280] + !! OVERLAP: nightstand <-> wardrobe depth=[0.511, 0.495, 0.215] + !! OVERLAP: nightstand <-> floor depth=[0.518, -0.000, 0.449] + !! OVERLAP: wardrobe <-> floor depth=[2.251, -0.000, 0.508] + !! OVERLAP: table <-> floor depth=[0.746, -0.000, 0.382] + !! OVERLAP: nightstand <-> floor depth=[0.455, -0.000, 0.423] +============================================================ + + +============================================================ +SCENE: Bedroom-47481 | 7 objects +============================================================ +Final Step Collision Loss: 0.0143, Room Outer Loss: 0.0000, Walkable Loss: 0.0000, Relational Loss: 0.0000 +Guided Steps: 10/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +bed 1.893 1.113 2.066 -0.411 0.000 -0.108 89.93° +nightstand 0.404 0.462 0.320 -1.114 0.001 1.002 90.03° +wardrobe 1.700 2.331 0.604 -0.363 0.002 1.629 179.98° +nightstand 0.558 0.491 0.435 -1.094 0.001 -1.347 90.00° +lamp 0.710 0.712 0.531 0.061 2.056 -0.301 0.01° +floor 2.748 -0.002 4.082 -0.003 0.002 -0.051 -0.02° +_scene_ 0.072 -0.000 0.025 -5.674 -0.005 -5.716 -57.31° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bed <-> nightstand depth=[0.404, 0.462, 0.083] + !! OVERLAP: bed <-> nightstand depth=[0.542, 0.491, 0.011] + !! OVERLAP: bed <-> floor depth=[1.893, -0.002, 2.066] + !! OVERLAP: nightstand <-> floor depth=[0.404, -0.002, 0.320] + !! OVERLAP: wardrobe <-> floor depth=[1.700, -0.002, 0.604] + !! OVERLAP: nightstand <-> floor depth=[0.558, -0.002, 0.435] +============================================================ + + +============================================================ +SCENE: Bedroom-2160 | 6 objects +============================================================ +Final Step Collision Loss: 0.1448, Room Outer Loss: 0.1221, Walkable Loss: 0.0000, Relational Loss: 0.0000 +Guided Steps: 10/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +bed 2.128 2.174 2.270 0.132 0.004 0.435 180.00° +nightstand 0.580 0.578 0.475 -0.811 0.001 1.487 179.92° +lamp 0.836 1.219 0.831 -0.071 1.589 0.040 0.05° +wardrobe 1.796 2.036 0.713 0.059 0.001 -1.326 0.06° +floor 2.603 0.002 3.211 -0.004 0.001 0.013 -0.01° +_scene_ 0.071 0.001 0.021 -5.674 -0.005 -5.709 -57.29° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bed <-> nightstand depth=[0.411, 0.578, 0.320] + !! OVERLAP: bed <-> lamp depth=[0.836, 0.111, 0.831] + !! OVERLAP: bed <-> floor depth=[2.128, 0.002, 2.270] + !! OVERLAP: nightstand <-> floor depth=[0.580, 0.002, 0.369] + !! OVERLAP: wardrobe <-> floor depth=[1.796, 0.002, 0.623] +============================================================ + + +============================================================ +SCENE: SecondBedroom-9825 | 7 objects +============================================================ +Final Step Collision Loss: 0.0189, Room Outer Loss: 0.0380, Walkable Loss: 0.0000, Relational Loss: 0.0000 +Guided Steps: 10/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +wardrobe 1.825 2.533 0.689 -0.759 0.001 1.477 -179.97° +bed 1.920 1.187 2.293 -0.278 0.001 -0.457 89.86° +table 0.340 0.488 0.303 -1.261 0.002 1.017 -0.05° +table 0.439 0.546 0.481 -1.378 0.003 -1.506 89.90° +lamp 0.718 0.833 0.701 0.015 2.199 -0.325 0.02° +floor 3.249 -0.003 4.301 0.010 -0.000 -0.031 0.02° +_scene_ 0.068 -0.000 0.017 -5.672 -0.005 -5.716 -57.29° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: wardrobe <-> table depth=[0.340, 0.488, 0.036] + !! OVERLAP: wardrobe <-> floor depth=[1.768, -0.003, 0.689] + !! OVERLAP: bed <-> table depth=[0.080, 0.546, 0.338] + !! OVERLAP: bed <-> floor depth=[1.920, -0.003, 2.293] + !! OVERLAP: table <-> floor depth=[0.340, -0.003, 0.303] + !! OVERLAP: table <-> floor depth=[0.439, -0.003, 0.481] +============================================================ + + +============================================================ +SCENE: Bedroom-1989 | 7 objects +============================================================ +Final Step Collision Loss: 0.0030, Room Outer Loss: 1.2753, Walkable Loss: 0.0000, Relational Loss: 0.0000 +Guided Steps: 10/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +bed 1.723 0.816 1.893 0.575 -0.000 -0.390 -89.97° +nightstand 0.549 0.744 0.331 1.294 0.001 0.676 -90.11° +wardrobe 3.503 2.532 0.456 -0.263 -0.000 1.289 -179.96° +tv_stand 2.240 0.501 0.557 -1.045 0.003 -0.074 90.04° +lamp 0.618 0.689 0.391 0.048 1.962 -0.148 -0.02° +floor 3.006 -0.000 3.077 0.005 0.001 -0.017 -0.04° +_scene_ 0.065 0.001 0.016 -5.670 -0.005 -5.713 -57.29° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bed <-> nightstand depth=[0.417, 0.744, 0.045] + !! OVERLAP: bed <-> tv_stand depth=[0.361, 0.501, 0.557] + !! OVERLAP: bed <-> floor depth=[1.723, -0.000, 1.893] + !! OVERLAP: nightstand <-> floor depth=[0.488, -0.000, 0.331] + !! OVERLAP: wardrobe <-> floor depth=[2.986, -0.000, 0.456] + !! OVERLAP: tv_stand <-> floor depth=[1.573, -0.000, 0.557] +============================================================ + + +============================================================ +SCENE: SecondBedroom-143 | 9 objects +============================================================ +Final Step Collision Loss: 0.0133, Room Outer Loss: 0.2974, Walkable Loss: 0.0000, Relational Loss: 0.0000 +Guided Steps: 10/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +wardrobe 2.156 2.429 0.591 -1.455 -0.004 0.161 89.94° +bed 1.807 1.153 2.244 0.074 0.001 0.503 -179.98° +nightstand 0.874 0.530 0.481 1.510 0.003 1.362 179.93° +nightstand 0.539 0.515 0.488 -1.383 0.000 1.444 179.89° +cabinet 1.306 1.213 0.449 0.543 0.006 -1.370 -0.02° +cabinet 1.078 1.131 0.394 -0.597 0.000 -1.562 0.05° +shelf 0.491 1.530 0.451 1.925 -0.003 -0.910 -136.54° +floor 4.463 -0.002 3.519 -0.002 -0.000 0.005 -0.03° +_scene_ 0.072 0.001 0.026 -5.665 -0.004 -5.711 -57.27° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: wardrobe <-> bed depth=[0.453, 1.153, 0.591] + !! OVERLAP: wardrobe <-> floor depth=[1.856, -0.002, 0.591] + !! OVERLAP: bed <-> floor depth=[1.807, -0.002, 2.244] + !! OVERLAP: nightstand <-> floor depth=[0.874, -0.002, 0.481] + !! OVERLAP: nightstand <-> floor depth=[0.539, -0.002, 0.488] + !! OVERLAP: cabinet <-> cabinet depth=[0.052, 1.131, 0.229] + !! OVERLAP: cabinet <-> floor depth=[1.306, -0.002, 0.449] + !! OVERLAP: cabinet <-> floor depth=[1.078, -0.002, 0.389] + !! OVERLAP: shelf <-> floor depth=[0.491, -0.002, 0.451] +============================================================ + + +============================================================ +SCENE: SecondBedroom-13044 | 5 objects +============================================================ +Final Step Collision Loss: 0.0210, Room Outer Loss: 0.0000, Walkable Loss: 0.0000, Relational Loss: 0.0000 +Guided Steps: 10/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +bed 2.061 1.173 2.207 0.303 -0.000 0.231 -89.95° +wardrobe 1.616 2.254 0.572 0.464 0.000 -1.502 0.04° +nightstand 0.509 0.511 0.393 1.219 -0.000 1.344 -90.40° +floor 3.013 -0.003 3.770 -0.011 -0.000 0.005 -0.03° +_scene_ 0.072 0.002 0.024 -5.675 -0.003 -5.709 -57.33° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bed <-> nightstand depth=[0.368, 0.511, 0.187] + !! OVERLAP: bed <-> floor depth=[2.061, -0.003, 2.207] + !! OVERLAP: wardrobe <-> floor depth=[1.616, -0.003, 0.572] + !! OVERLAP: nightstand <-> floor depth=[0.509, -0.003, 0.393] +============================================================ + + +============================================================ +SCENE: Bedroom-8490 | 8 objects +============================================================ +Final Step Collision Loss: 0.0022, Room Outer Loss: 0.0373, Walkable Loss: 0.0000, Relational Loss: 0.0000 +Guided Steps: 10/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +wardrobe 3.038 2.520 0.710 0.073 -0.003 -1.519 -0.03° +lamp 0.892 0.728 0.872 -0.048 2.146 0.200 0.00° +bed 1.959 0.980 2.111 -0.221 0.001 0.801 179.96° +nightstand 0.475 0.632 0.419 1.225 0.000 1.387 179.92° +nightstand 0.534 0.502 0.476 -1.308 0.001 1.635 179.96° +lamp 0.169 0.839 0.091 1.364 1.063 1.231 -0.03° +floor 3.204 -0.000 3.831 -0.015 -0.000 0.010 -0.03° +_scene_ 0.064 0.001 0.017 -5.673 -0.006 -5.717 -57.30° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: wardrobe <-> floor depth=[3.033, -0.000, 0.710] + !! OVERLAP: bed <-> nightstand depth=[0.159, 0.502, 0.459] + !! OVERLAP: bed <-> floor depth=[1.959, -0.000, 2.111] + !! OVERLAP: nightstand <-> floor depth=[0.475, -0.000, 0.419] + !! OVERLAP: nightstand <-> floor depth=[0.534, -0.000, 0.476] +============================================================ + + +============================================================ +SCENE: MasterBedroom-424 | 7 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0000, Walkable Loss: 0.0000, Relational Loss: 0.0000 +Guided Steps: 10/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +bed 2.069 1.100 2.351 -0.352 0.002 0.394 89.90° +wardrobe 1.539 1.870 0.681 -0.388 -0.002 -1.821 0.01° +nightstand 0.617 0.462 0.424 -1.325 0.001 -0.931 89.99° +nightstand 0.566 0.491 0.445 -1.320 0.001 1.608 90.01° +lamp 0.554 0.151 0.565 -0.036 2.458 0.124 -0.04° +floor 3.343 -0.002 4.422 -0.007 -0.000 0.048 -0.04° +_scene_ 0.069 0.000 0.018 -5.672 -0.005 -5.714 -57.29° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bed <-> nightstand depth=[0.370, 0.462, 0.062] + !! OVERLAP: bed <-> nightstand depth=[0.349, 0.491, 0.185] + !! OVERLAP: bed <-> floor depth=[2.069, -0.002, 2.351] + !! OVERLAP: wardrobe <-> floor depth=[1.539, -0.002, 0.681] + !! OVERLAP: nightstand <-> floor depth=[0.617, -0.002, 0.424] + !! OVERLAP: nightstand <-> floor depth=[0.566, -0.002, 0.445] +============================================================ + + +============================================================ +SCENE: SecondBedroom-32238 | 7 objects +============================================================ +Final Step Collision Loss: 0.0302, Room Outer Loss: 0.1189, Walkable Loss: 0.0000, Relational Loss: 0.0000 +Guided Steps: 10/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +bed 1.798 1.955 1.912 0.641 -0.000 0.310 -90.06° +nightstand 0.619 0.634 0.438 1.474 0.001 -0.502 -89.99° +nightstand 0.519 0.641 0.425 1.487 0.001 1.506 -89.89° +cabinet 0.394 0.543 0.336 1.480 -0.001 -1.572 -0.05° +cabinet 0.392 0.642 0.253 -1.125 0.000 -1.480 69.36° +floor 3.519 -0.004 4.073 -0.067 0.001 -0.075 0.01° +_scene_ 0.057 0.014 0.033 -5.669 -0.005 -5.698 -57.28° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bed <-> nightstand depth=[0.375, 0.634, 0.363] + !! OVERLAP: bed <-> floor depth=[1.798, -0.004, 1.912] + !! OVERLAP: nightstand <-> floor depth=[0.528, -0.004, 0.438] + !! OVERLAP: nightstand <-> floor depth=[0.466, -0.004, 0.425] + !! OVERLAP: cabinet <-> floor depth=[0.394, -0.004, 0.336] + !! OVERLAP: cabinet <-> floor depth=[0.392, -0.004, 0.253] +============================================================ + + +============================================================ +SCENE: SecondBedroom-258160 | 8 objects +============================================================ +Final Step Collision Loss: 0.0308, Room Outer Loss: 0.2223, Walkable Loss: 0.0000, Relational Loss: 0.0000 +Guided Steps: 10/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +bed 2.122 1.136 2.485 0.359 -0.000 -0.422 0.01° +nightstand 0.499 0.491 0.413 -0.603 0.000 -1.516 0.01° +nightstand 0.486 0.511 0.414 1.454 0.000 -1.487 -0.02° +wardrobe 1.842 2.486 0.521 -1.043 0.002 -0.637 89.95° +tv_stand 1.632 1.867 0.446 0.331 0.001 1.445 -179.94° +lamp 0.610 0.778 0.604 0.229 2.009 -0.139 -0.01° +floor 3.392 -0.002 3.479 -0.006 0.000 0.009 -0.00° +_scene_ 0.074 -0.000 0.020 -5.674 -0.005 -5.716 -57.29° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bed <-> nightstand depth=[0.349, 0.491, 0.354] + !! OVERLAP: bed <-> nightstand depth=[0.209, 0.511, 0.384] + !! OVERLAP: bed <-> wardrobe depth=[0.580, 1.136, 0.521] + !! OVERLAP: bed <-> floor depth=[2.122, -0.002, 2.485] + !! OVERLAP: nightstand <-> floor depth=[0.499, -0.002, 0.413] + !! OVERLAP: nightstand <-> floor depth=[0.479, -0.002, 0.414] + !! OVERLAP: wardrobe <-> floor depth=[1.580, -0.002, 0.521] + !! OVERLAP: tv_stand <-> floor depth=[1.632, -0.002, 0.446] +============================================================ + + +============================================================ +SCENE: SecondBedroom-19232 | 6 objects +============================================================ +Final Step Collision Loss: 0.0048, Room Outer Loss: 0.0000, Walkable Loss: 0.0000, Relational Loss: 0.0000 +Guided Steps: 10/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +bed 1.987 1.358 2.316 -0.373 0.002 -0.132 89.85° +nightstand 0.390 0.492 0.335 -1.227 0.001 1.189 90.00° +nightstand 0.407 0.467 0.429 -1.183 0.001 -1.250 89.95° +lamp 0.636 0.352 0.588 -0.004 2.294 -0.161 -0.04° +floor 3.348 -0.002 4.085 0.007 -0.000 -0.057 -0.02° +_scene_ 0.069 0.001 0.020 -5.672 -0.005 -5.712 -57.29° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bed <-> nightstand depth=[0.334, 0.492, 0.004] + !! OVERLAP: bed <-> nightstand depth=[0.387, 0.467, 0.254] + !! OVERLAP: bed <-> floor depth=[1.987, -0.002, 2.316] + !! OVERLAP: nightstand <-> floor depth=[0.390, -0.002, 0.335] + !! OVERLAP: nightstand <-> floor depth=[0.407, -0.002, 0.429] +============================================================ + + +============================================================ +SCENE: SecondBedroom-6685 | 5 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0416, Walkable Loss: 0.0000, Relational Loss: 0.0000 +Guided Steps: 10/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +wardrobe 1.572 2.231 0.666 0.275 0.000 1.317 -179.96° +bed 2.101 1.040 2.091 0.282 0.000 -0.712 -89.96° +lamp 0.672 0.421 0.635 0.256 2.165 -0.845 0.01° +floor 2.694 -0.002 4.098 -0.049 0.000 -0.055 -0.01° +_scene_ 0.065 0.003 0.017 -5.660 -0.005 -5.708 -57.29° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: wardrobe <-> floor depth=[1.572, -0.002, 0.666] + !! OVERLAP: bed <-> floor depth=[2.066, -0.002, 2.091] +============================================================ + + +============================================================ +SCENE: SecondBedroom-24334 | 7 objects +============================================================ +Final Step Collision Loss: 0.1147, Room Outer Loss: 1.2088, Walkable Loss: 0.0000, Relational Loss: 0.0000 +Guided Steps: 10/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +nightstand 0.493 0.536 0.433 1.449 0.000 -1.256 0.02° +desk 1.447 1.539 0.621 -0.178 0.001 -1.216 -0.01° +wardrobe 2.836 2.383 0.585 -1.415 -0.001 -0.283 89.93° +lamp 0.560 0.486 0.568 0.126 2.217 -0.036 -0.04° +bed 1.833 0.862 2.259 0.478 0.001 -0.245 0.00° +floor 3.394 -0.002 3.290 -0.019 0.000 -0.059 -0.01° +_scene_ 0.068 0.000 0.022 -5.677 -0.005 -5.713 -57.30° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: nightstand <-> bed depth=[0.192, 0.536, 0.335] + !! OVERLAP: nightstand <-> floor depth=[0.475, -0.002, 0.433] + !! OVERLAP: desk <-> bed depth=[0.984, 0.862, 0.470] + !! OVERLAP: desk <-> floor depth=[1.447, -0.002, 0.621] + !! OVERLAP: wardrobe <-> bed depth=[0.441, 0.862, 0.585] + !! OVERLAP: wardrobe <-> floor depth=[1.719, -0.002, 0.585] + !! OVERLAP: bed <-> floor depth=[1.833, -0.002, 2.259] +============================================================ + + +============================================================ +SCENE: Bedroom-35352 | 7 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.1932, Walkable Loss: 0.0000, Relational Loss: 0.0000 +Guided Steps: 10/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +bed 1.980 1.087 2.104 0.616 -0.001 0.148 -90.07° +wardrobe 1.295 2.442 0.637 -0.888 0.001 0.422 89.93° +nightstand 0.500 0.552 0.440 1.524 0.001 -1.089 -90.16° +nightstand 0.390 0.550 0.397 1.650 0.001 1.379 -89.96° +lamp 1.025 0.931 0.969 0.179 1.748 0.230 -0.01° +floor 3.458 -0.000 3.887 -0.004 0.000 0.089 -0.04° +_scene_ 0.070 -0.000 0.022 -5.671 -0.005 -5.716 -57.31° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bed <-> wardrobe depth=[0.133, 1.087, 0.637] + !! OVERLAP: bed <-> nightstand depth=[0.331, 0.552, 0.035] + !! OVERLAP: bed <-> nightstand depth=[0.150, 0.550, 0.020] + !! OVERLAP: bed <-> floor depth=[1.980, -0.000, 2.104] + !! OVERLAP: wardrobe <-> floor depth=[1.295, -0.000, 0.637] + !! OVERLAP: nightstand <-> floor depth=[0.451, -0.000, 0.440] + !! OVERLAP: nightstand <-> floor depth=[0.270, -0.000, 0.397] +============================================================ + + +============================================================ +SCENE: MasterBedroom-4284 | 6 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.2745, Walkable Loss: 0.0000, Relational Loss: 0.0000 +Guided Steps: 10/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +wardrobe 1.444 2.162 0.672 0.124 -0.001 -1.687 -0.02° +bed 1.744 1.422 2.152 0.595 0.001 0.514 -89.96° +nightstand 0.513 0.587 0.506 1.426 0.000 -0.989 -89.97° +nightstand 0.567 0.642 0.413 1.525 -0.000 1.855 -90.25° +floor 3.445 -0.002 4.976 0.015 -0.001 0.048 -0.02° +_scene_ 0.072 0.003 0.024 -5.667 -0.004 -5.706 -57.30° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: wardrobe <-> floor depth=[1.444, -0.002, 0.672] + !! OVERLAP: bed <-> floor depth=[1.744, -0.002, 2.152] + !! OVERLAP: nightstand <-> floor depth=[0.513, -0.002, 0.506] + !! OVERLAP: nightstand <-> floor depth=[0.495, -0.002, 0.413] +============================================================ + + +============================================================ +SCENE: MasterBedroom-1069 | 7 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.3700, Walkable Loss: 0.0000, Relational Loss: 0.0000 +Guided Steps: 10/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +lamp 0.816 0.582 0.797 -0.159 2.204 -0.056 -0.05° +wardrobe 1.469 2.481 0.634 1.495 -0.001 0.342 -90.13° +bed 1.993 0.773 1.994 -0.205 0.000 0.423 -179.97° +nightstand 0.484 0.490 0.400 -1.535 0.001 1.228 179.88° +nightstand 0.413 0.439 0.370 0.988 0.004 1.207 -179.83° +floor 3.944 -0.003 2.923 -0.029 -0.001 -0.010 -0.03° +_scene_ 0.070 0.001 0.019 -5.672 -0.004 -5.713 -57.30° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: wardrobe <-> bed depth=[0.030, 0.773, 0.634] + !! OVERLAP: wardrobe <-> floor depth=[1.182, -0.003, 0.634] + !! OVERLAP: bed <-> nightstand depth=[0.010, 0.439, 0.370] + !! OVERLAP: bed <-> floor depth=[1.993, -0.003, 1.994] + !! OVERLAP: nightstand <-> floor depth=[0.484, -0.003, 0.400] + !! OVERLAP: nightstand <-> floor depth=[0.413, -0.003, 0.370] +============================================================ + + +============================================================ +SCENE: MasterBedroom-113 | 7 objects +============================================================ +Final Step Collision Loss: 0.0402, Room Outer Loss: 0.6880, Walkable Loss: 0.0000, Relational Loss: 0.0000 +Guided Steps: 10/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +tv_stand 1.762 0.525 0.394 1.227 -0.001 0.039 -90.04° +bed 2.205 1.109 2.269 -0.168 0.001 0.240 89.90° +nightstand 0.543 0.571 0.459 -1.294 0.001 1.237 90.00° +nightstand 0.518 0.532 0.417 -1.172 0.000 -0.857 90.02° +lamp 0.978 0.540 0.171 0.031 2.153 -0.149 0.04° +floor 2.890 0.001 3.154 -0.081 0.001 -0.036 0.00° +_scene_ 0.065 0.002 0.019 -5.669 -0.006 -5.718 -57.29° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: tv_stand <-> bed depth=[0.589, 0.525, 0.394] + !! OVERLAP: tv_stand <-> floor depth=[1.019, 0.001, 0.394] + !! OVERLAP: bed <-> nightstand depth=[0.249, 0.571, 0.367] + !! OVERLAP: bed <-> nightstand depth=[0.357, 0.532, 0.246] + !! OVERLAP: bed <-> floor depth=[2.205, 0.001, 2.269] + !! OVERLAP: nightstand <-> floor depth=[0.504, 0.001, 0.459] + !! OVERLAP: nightstand <-> floor depth=[0.518, 0.001, 0.417] +============================================================ + + +============================================================ +SCENE: SecondBedroom-48968 | 6 objects +============================================================ +Final Step Collision Loss: 0.0106, Room Outer Loss: 0.1197, Walkable Loss: 0.0000, Relational Loss: 0.0000 +Guided Steps: 10/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +bed 1.725 0.919 2.196 -0.413 -0.001 -0.111 89.89° +nightstand 0.569 0.501 0.482 -1.341 0.001 -1.048 89.90° +desk 1.077 1.499 0.563 1.512 0.001 -1.007 -90.26° +lamp 0.721 0.281 0.719 0.024 2.339 -0.191 -0.10° +floor 3.867 0.000 2.556 0.029 -0.001 -0.048 -0.01° +_scene_ 0.068 -0.001 0.020 -5.669 -0.005 -5.709 -57.30° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bed <-> nightstand depth=[0.219, 0.501, 0.402] + !! OVERLAP: bed <-> floor depth=[1.725, 0.000, 2.196] + !! OVERLAP: nightstand <-> floor depth=[0.569, 0.000, 0.482] + !! OVERLAP: desk <-> floor depth=[0.989, 0.000, 0.563] +============================================================ + + +============================================================ +SCENE: MasterBedroom-9222 | 8 objects +============================================================ +Final Step Collision Loss: 0.0044, Room Outer Loss: 0.2646, Walkable Loss: 0.0000, Relational Loss: 0.0000 +Guided Steps: 10/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +bed 1.752 1.358 2.130 -0.647 0.002 -0.503 89.87° +wardrobe 2.148 2.254 0.653 -0.715 0.001 1.622 -179.99° +nightstand 0.491 0.743 0.390 -1.331 0.001 -1.650 90.01° +nightstand 0.576 0.634 0.436 -1.325 0.008 0.662 90.01° +tv_stand 2.104 0.552 0.441 0.897 -0.001 -0.095 -90.70° +lamp 0.630 0.484 0.276 -0.040 2.079 -0.341 -0.03° +floor 3.446 -0.002 3.971 -0.009 -0.000 -0.024 0.02° +_scene_ 0.079 0.000 0.022 -5.673 -0.005 -5.708 -57.29° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bed <-> nightstand depth=[0.438, 0.743, 0.113] + !! OVERLAP: bed <-> nightstand depth=[0.486, 0.634, 0.118] + !! OVERLAP: bed <-> tv_stand depth=[0.384, 0.552, 0.441] + !! OVERLAP: bed <-> floor depth=[1.752, -0.002, 2.130] + !! OVERLAP: wardrobe <-> floor depth=[2.091, -0.002, 0.653] + !! OVERLAP: nightstand <-> floor depth=[0.491, -0.002, 0.390] + !! OVERLAP: nightstand <-> floor depth=[0.576, -0.002, 0.436] + !! OVERLAP: tv_stand <-> floor depth=[1.869, -0.002, 0.441] +============================================================ + + +============================================================ +SCENE: Bedroom-32051 | 7 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0000, Walkable Loss: 0.0000, Relational Loss: 0.0000 +Guided Steps: 10/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +bed 1.978 1.125 2.102 0.869 0.001 0.509 -179.96° +cabinet 1.106 1.070 0.472 -1.316 0.001 -1.320 0.02° +wardrobe 1.514 2.378 0.660 -0.969 0.005 1.339 179.92° +chair 0.710 0.699 0.625 -1.254 0.002 0.477 -35.45° +lamp 0.197 0.654 0.205 0.792 2.206 0.082 -0.09° +floor 4.532 -0.002 3.512 -0.006 -0.000 -0.023 -0.04° +_scene_ 0.079 0.000 0.019 -5.673 -0.005 -5.711 -57.28° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bed <-> floor depth=[1.978, -0.002, 2.102] + !! OVERLAP: cabinet <-> floor depth=[1.106, -0.002, 0.472] + !! OVERLAP: wardrobe <-> floor depth=[1.514, -0.002, 0.660] + !! OVERLAP: chair <-> floor depth=[0.710, -0.002, 0.625] +============================================================ + + +============================================================ +SCENE: MasterBedroom-86835 | 7 objects +============================================================ +Final Step Collision Loss: 0.0373, Room Outer Loss: 0.0950, Walkable Loss: 0.0000, Relational Loss: 0.0000 +Guided Steps: 10/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +bed 1.518 1.112 2.074 -0.722 0.003 0.601 89.88° +wardrobe 1.105 2.069 0.496 -1.214 0.000 -1.130 90.00° +wardrobe 1.209 2.051 0.587 -0.320 -0.001 -1.392 0.02° +tv_stand 2.488 0.740 0.523 1.032 0.005 0.720 -90.03° +nightstand 0.469 0.539 0.459 -1.549 0.003 -0.119 90.05° +floor 3.643 -0.003 4.504 -0.059 0.001 0.170 -0.05° +_scene_ 0.073 -0.000 0.021 -5.673 -0.005 -5.712 -57.30° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bed <-> tv_stand depth=[0.249, 0.740, 0.523] + !! OVERLAP: bed <-> nightstand depth=[0.167, 0.539, 0.459] + !! OVERLAP: bed <-> floor depth=[1.518, -0.003, 2.074] + !! OVERLAP: wardrobe <-> wardrobe depth=[0.263, 2.051, 0.279] + !! OVERLAP: wardrobe <-> floor depth=[1.105, -0.003, 0.496] + !! OVERLAP: wardrobe <-> floor depth=[1.209, -0.003, 0.587] + !! OVERLAP: tv_stand <-> floor depth=[1.974, -0.003, 0.523] + !! OVERLAP: nightstand <-> floor depth=[0.469, -0.003, 0.459] +============================================================ + + +============================================================ +SCENE: SecondBedroom-86888 | 6 objects +============================================================ +Final Step Collision Loss: 0.0619, Room Outer Loss: 0.0833, Walkable Loss: 0.0000, Relational Loss: 0.0000 +Guided Steps: 10/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +bed 2.171 0.922 2.098 -0.132 0.005 -0.299 90.04° +nightstand 0.491 0.540 0.425 -1.150 0.002 0.498 90.02° +wardrobe 1.012 1.944 0.534 -0.010 0.003 1.572 -179.99° +nightstand 0.573 0.473 0.406 -1.101 0.002 -1.266 90.02° +floor 2.759 -0.001 3.807 -0.004 0.000 -0.011 0.01° +_scene_ 0.068 0.002 0.025 -5.669 -0.004 -5.710 -57.33° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bed <-> nightstand depth=[0.313, 0.540, 0.425] + !! OVERLAP: bed <-> nightstand depth=[0.403, 0.473, 0.285] + !! OVERLAP: bed <-> floor depth=[2.171, -0.001, 2.098] + !! OVERLAP: nightstand <-> floor depth=[0.479, -0.001, 0.425] + !! OVERLAP: wardrobe <-> floor depth=[1.012, -0.001, 0.534] + !! OVERLAP: nightstand <-> floor depth=[0.569, -0.001, 0.406] +============================================================ + + +============================================================ +SCENE: MasterBedroom-9583 | 10 objects +============================================================ +Final Step Collision Loss: 0.0807, Room Outer Loss: 0.3428, Walkable Loss: 0.0000, Relational Loss: 0.0000 +Guided Steps: 10/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +cabinet 0.932 0.802 0.306 1.363 0.001 -0.470 -90.02° +lamp 0.926 0.759 0.916 0.039 2.038 0.025 0.03° +bed 2.194 1.286 2.471 -0.387 0.002 -0.244 89.86° +nightstand 0.464 0.517 0.389 -1.479 0.001 -1.331 89.98° +nightstand 0.543 0.516 0.422 -1.455 0.002 1.147 90.00° +table 0.794 1.269 0.453 -1.346 0.002 1.675 89.94° +wardrobe 2.357 2.326 0.595 -0.522 0.000 -2.120 0.04° +desk 2.294 0.691 1.423 0.687 0.000 1.022 -90.06° +floor 3.498 -0.001 5.045 -0.026 -0.000 -0.084 -0.02° +_scene_ 0.071 0.000 0.020 -5.671 -0.005 -5.715 -57.29° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: cabinet <-> floor depth=[0.827, -0.001, 0.306] + !! OVERLAP: bed <-> nightstand depth=[0.237, 0.517, 0.343] + !! OVERLAP: bed <-> nightstand depth=[0.300, 0.516, 0.055] + !! OVERLAP: bed <-> desk depth=[1.170, 0.691, 0.681] + !! OVERLAP: bed <-> floor depth=[2.194, -0.001, 2.471] + !! OVERLAP: nightstand <-> floor depth=[0.464, -0.001, 0.389] + !! OVERLAP: nightstand <-> floor depth=[0.543, -0.001, 0.422] + !! OVERLAP: table <-> floor depth=[0.794, -0.001, 0.453] + !! OVERLAP: wardrobe <-> floor depth=[2.357, -0.001, 0.595] + !! OVERLAP: desk <-> floor depth=[2.184, -0.001, 1.423] +============================================================ + + +============================================================ +SCENE: SecondBedroom-8823 | 5 objects +============================================================ +Final Step Collision Loss: 0.0136, Room Outer Loss: 0.0293, Walkable Loss: 0.0000, Relational Loss: 0.0000 +Guided Steps: 10/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +bed 2.082 1.307 2.406 0.474 0.000 -0.389 -90.02° +nightstand 0.437 0.500 0.411 1.391 0.001 0.984 -89.88° +lamp 1.016 0.803 0.635 0.025 2.014 -0.094 0.08° +floor 3.205 -0.002 3.160 -0.007 0.001 -0.020 -0.00° +_scene_ 0.063 -0.001 0.013 -5.675 -0.006 -5.723 -57.29° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bed <-> nightstand depth=[0.343, 0.500, 0.036] + !! OVERLAP: bed <-> floor depth=[2.082, -0.002, 2.406] + !! OVERLAP: nightstand <-> floor depth=[0.423, -0.002, 0.411] +============================================================ + + +============================================================ +SCENE: SecondBedroom-13218 | 7 objects +============================================================ +Final Step Collision Loss: 0.0376, Room Outer Loss: 0.9101, Walkable Loss: 0.0000, Relational Loss: 0.0000 +Guided Steps: 10/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +bed 2.001 1.471 2.187 -0.287 0.001 -0.152 90.01° +wardrobe 2.222 2.261 0.541 -0.244 0.000 1.422 -179.99° +nightstand 0.570 0.571 0.460 -1.119 0.000 -1.272 89.93° +tv_stand 2.349 0.983 0.506 1.035 -0.002 0.032 -90.12° +lamp 0.551 0.480 0.546 0.056 2.069 0.118 -0.01° +floor 2.873 -0.001 3.397 0.009 -0.000 -0.015 -0.02° +_scene_ 0.069 0.001 0.021 -5.670 -0.005 -5.713 -57.31° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bed <-> nightstand depth=[0.454, 0.571, 0.204] + !! OVERLAP: bed <-> tv_stand depth=[0.853, 0.983, 0.506] + !! OVERLAP: bed <-> floor depth=[2.001, -0.001, 2.187] + !! OVERLAP: wardrobe <-> floor depth=[2.222, -0.001, 0.532] + !! OVERLAP: nightstand <-> floor depth=[0.570, -0.001, 0.460] + !! OVERLAP: tv_stand <-> floor depth=[1.585, -0.001, 0.506] +============================================================ + + +============================================================ +SCENE: SecondBedroom-36408 | 9 objects +============================================================ +Final Step Collision Loss: 0.0453, Room Outer Loss: 0.4700, Walkable Loss: 0.0000, Relational Loss: 0.0000 +Guided Steps: 10/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +bed 2.415 1.235 2.405 -0.228 0.002 0.710 89.90° +table 0.623 0.547 0.704 -1.266 -0.000 1.720 0.03° +table 0.621 0.562 0.560 -1.333 0.001 -0.661 89.98° +wardrobe 1.176 2.061 0.579 -0.826 -0.000 -1.341 0.04° +wardrobe 0.899 2.031 0.448 -0.057 -0.002 -1.624 0.02° +lamp 0.507 0.167 0.501 0.012 2.604 0.291 -0.07° +lamp 1.348 1.141 1.444 -0.818 1.404 1.706 0.09° +floor 2.906 -0.000 4.388 0.003 -0.001 0.122 -0.01° +_scene_ 0.066 -0.001 0.022 -5.669 -0.006 -5.719 -57.30° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bed <-> table depth=[0.482, 0.547, 0.545] + !! OVERLAP: bed <-> table depth=[0.413, 0.562, 0.111] + !! OVERLAP: bed <-> floor depth=[2.415, -0.000, 2.405] + !! OVERLAP: table <-> floor depth=[0.497, -0.000, 0.704] + !! OVERLAP: table <-> floor depth=[0.428, -0.000, 0.560] + !! OVERLAP: wardrobe <-> wardrobe depth=[0.268, 2.031, 0.231] + !! OVERLAP: wardrobe <-> floor depth=[1.176, -0.000, 0.579] + !! OVERLAP: wardrobe <-> floor depth=[0.899, -0.000, 0.448] +============================================================ + + +============================================================ +SCENE: MasterBedroom-36389 | 8 objects +============================================================ +Final Step Collision Loss: 0.1910, Room Outer Loss: 0.2339, Walkable Loss: 0.0000, Relational Loss: 0.0000 +Guided Steps: 10/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +bed 2.805 1.158 2.523 0.163 0.005 0.323 -90.07° +nightstand 0.416 0.565 0.377 1.392 0.001 1.861 -89.90° +nightstand 0.456 0.699 0.393 1.343 0.002 0.071 -90.07° +wardrobe 1.729 2.226 0.613 -0.086 -0.002 -1.524 0.08° +wardrobe 1.672 2.105 0.590 -0.211 0.001 -1.132 0.02° +lamp 0.978 0.949 0.932 0.176 1.761 0.629 0.02° +floor 3.020 -0.002 4.231 -0.015 0.000 -0.017 -0.02° +_scene_ 0.066 -0.000 0.021 -5.673 -0.005 -5.718 -57.32° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bed <-> nightstand depth=[0.450, 0.699, 0.393] + !! OVERLAP: bed <-> wardrobe depth=[1.672, 1.158, 0.101] + !! OVERLAP: bed <-> floor depth=[2.735, -0.002, 2.523] + !! OVERLAP: nightstand <-> floor depth=[0.311, -0.002, 0.377] + !! OVERLAP: nightstand <-> floor depth=[0.379, -0.002, 0.393] + !! OVERLAP: wardrobe <-> wardrobe depth=[1.576, 2.105, 0.210] + !! OVERLAP: wardrobe <-> floor depth=[1.729, -0.002, 0.613] + !! OVERLAP: wardrobe <-> floor depth=[1.672, -0.002, 0.590] +============================================================ + + +============================================================ +SCENE: SecondBedroom-7635 | 6 objects +============================================================ +Final Step Collision Loss: 0.0106, Room Outer Loss: 0.2710, Walkable Loss: 0.0000, Relational Loss: 0.0000 +Guided Steps: 10/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +bed 1.977 1.480 2.031 0.867 -0.002 -0.058 -90.09° +wardrobe 1.396 2.089 0.706 -0.811 -0.000 -1.142 0.04° +desk 1.658 0.743 0.756 -1.385 0.001 1.033 89.96° +chair 0.458 0.595 0.410 -0.815 -0.004 0.562 -89.93° +floor 3.920 -0.001 3.139 -0.028 -0.001 0.007 -0.01° +_scene_ 0.060 0.002 0.022 -5.664 -0.003 -5.711 -57.34° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bed <-> wardrobe depth=[0.009, 1.480, 0.285] + !! OVERLAP: bed <-> floor depth=[1.977, -0.001, 2.031] + !! OVERLAP: wardrobe <-> floor depth=[1.396, -0.001, 0.706] + !! OVERLAP: desk <-> chair depth=[0.458, 0.595, 0.111] + !! OVERLAP: desk <-> floor depth=[1.432, -0.001, 0.756] + !! OVERLAP: chair <-> floor depth=[0.458, -0.001, 0.410] +============================================================ + + +============================================================ +SCENE: Bedroom-1541 | 6 objects +============================================================ +Final Step Collision Loss: 0.1062, Room Outer Loss: 0.0127, Walkable Loss: 0.0000, Relational Loss: 0.0000 +Guided Steps: 10/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +bed 2.135 1.141 2.225 0.188 -0.001 -0.192 -90.07° +table 0.514 0.524 0.395 1.212 0.000 0.588 -89.80° +wardrobe 1.911 2.423 0.576 0.492 0.001 1.132 179.97° +lamp 0.756 0.891 0.755 0.079 1.830 -0.208 -0.01° +floor 2.983 -0.003 3.210 0.002 0.002 0.010 -0.03° +_scene_ 0.056 0.001 0.016 -5.673 -0.006 -5.717 -57.25° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bed <-> table depth=[0.301, 0.524, 0.395] + !! OVERLAP: bed <-> wardrobe depth=[1.719, 1.141, 0.077] + !! OVERLAP: bed <-> floor depth=[2.135, -0.003, 2.225] + !! OVERLAP: table <-> floor depth=[0.514, -0.003, 0.395] + !! OVERLAP: wardrobe <-> floor depth=[1.911, -0.003, 0.576] +============================================================ + + +============================================================ +SCENE: Bedroom-11202 | 6 objects +============================================================ +Final Step Collision Loss: 0.0841, Room Outer Loss: 0.2495, Walkable Loss: 0.0000, Relational Loss: 0.0000 +Guided Steps: 10/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +bed 2.063 1.045 2.259 0.671 0.000 0.020 -179.95° +wardrobe 1.440 2.129 0.636 -1.334 0.001 -0.026 89.99° +desk 1.346 0.793 0.658 1.073 0.001 1.237 179.91° +lamp 0.809 0.179 0.781 0.078 2.310 0.008 -0.04° +floor 3.604 -0.002 3.052 -0.010 0.000 -0.003 -0.01° +_scene_ 0.052 -0.000 0.015 -5.673 -0.005 -5.717 -57.31° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bed <-> desk depth=[1.302, 0.793, 0.242] + !! OVERLAP: bed <-> floor depth=[2.063, -0.002, 2.259] + !! OVERLAP: wardrobe <-> floor depth=[1.198, -0.002, 0.636] + !! OVERLAP: desk <-> floor depth=[1.346, -0.002, 0.615] +============================================================ + + +============================================================ +SCENE: Bedroom-26487 | 13 objects +============================================================ +Final Step Collision Loss: 0.0084, Room Outer Loss: 0.8402, Walkable Loss: 0.0000, Relational Loss: 0.0000 +Guided Steps: 10/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +bed 1.999 1.499 2.227 -0.409 0.003 0.221 89.82° +nightstand 0.570 0.588 0.418 -1.326 0.002 1.931 89.89° +nightstand 0.575 0.582 0.445 -1.316 -0.000 -0.937 89.95° +tv_stand 1.641 0.437 0.389 1.391 0.001 0.344 -89.88° +wardrobe 1.451 2.376 0.570 -0.948 -0.001 -1.880 0.07° +wardrobe 1.084 2.374 0.571 0.145 -0.002 -1.544 0.01° +lamp 0.102 0.891 0.084 -1.522 1.139 -0.965 0.03° +lamp 0.234 0.780 0.190 -1.388 1.088 1.661 0.07° +lamp 0.713 0.820 0.690 -0.026 2.070 0.360 -0.02° +chair 0.664 0.674 0.605 -0.153 -0.000 1.954 154.14° +table 0.573 0.527 0.612 0.642 0.000 1.945 89.98° +floor 3.002 -0.001 5.011 -0.008 -0.000 0.078 -0.03° +_scene_ 0.072 -0.001 0.023 -5.671 -0.004 -5.712 -57.29° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bed <-> nightstand depth=[0.380, 0.582, 0.179] + !! OVERLAP: bed <-> tv_stand depth=[0.019, 0.437, 0.389] + !! OVERLAP: bed <-> floor depth=[1.999, -0.001, 2.227] + !! OVERLAP: nightstand <-> floor depth=[0.468, -0.001, 0.418] + !! OVERLAP: nightstand <-> floor depth=[0.480, -0.001, 0.445] + !! OVERLAP: tv_stand <-> floor depth=[0.922, -0.001, 0.389] + !! OVERLAP: wardrobe <-> wardrobe depth=[0.175, 2.374, 0.235] + !! OVERLAP: wardrobe <-> floor depth=[1.287, -0.001, 0.570] + !! OVERLAP: wardrobe <-> floor depth=[1.084, -0.001, 0.571] + !! OVERLAP: chair <-> floor depth=[0.664, -0.001, 0.605] + !! OVERLAP: table <-> floor depth=[0.573, -0.001, 0.612] +============================================================ + + +============================================================ +SCENE: Bedroom-691 | 5 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.6850, Walkable Loss: 0.0000, Relational Loss: 0.0000 +Guided Steps: 10/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +bed 2.235 0.793 2.136 -0.505 0.002 -0.356 89.92° +lamp 0.738 0.800 0.725 -0.178 1.888 -0.261 90.00° +wardrobe 2.186 2.513 0.735 1.100 0.001 0.031 -90.03° +floor 3.245 -0.001 3.332 -0.089 -0.001 -0.004 -0.01° +_scene_ 0.020 0.006 0.008 -5.533 -0.006 -5.625 -57.71° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bed <-> wardrobe depth=[0.605, 0.793, 0.735] + !! OVERLAP: bed <-> floor depth=[2.235, -0.001, 2.136] + !! OVERLAP: wardrobe <-> floor depth=[1.526, -0.001, 0.735] +============================================================ + + +============================================================ +SCENE: SecondBedroom-14817 | 6 objects +============================================================ +Final Step Collision Loss: 0.0004, Room Outer Loss: 0.1695, Walkable Loss: 0.0000, Relational Loss: 0.0000 +Guided Steps: 10/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +nightstand 0.512 0.582 0.444 -1.063 0.002 -1.113 0.00° +bed 1.988 1.209 2.383 0.172 0.002 -0.288 0.00° +nightstand 0.517 0.638 0.465 1.652 0.001 -1.077 0.04° +wardrobe 1.141 2.475 0.683 -1.615 -0.004 -0.601 89.98° +floor 4.395 -0.000 2.849 -0.007 -0.000 0.005 -0.02° +_scene_ 0.071 0.002 0.029 -5.671 -0.004 -5.713 -57.32° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: nightstand <-> bed depth=[0.016, 0.582, 0.444] + !! OVERLAP: nightstand <-> wardrobe depth=[0.274, 0.582, 0.052] + !! OVERLAP: nightstand <-> floor depth=[0.512, -0.000, 0.444] + !! OVERLAP: bed <-> floor depth=[1.988, -0.000, 2.323] + !! OVERLAP: nightstand <-> floor depth=[0.517, -0.000, 0.465] + !! OVERLAP: wardrobe <-> floor depth=[1.141, -0.000, 0.683] +============================================================ + + +============================================================ +SCENE: MasterBedroom-30192 | 9 objects +============================================================ +Final Step Collision Loss: 0.0166, Room Outer Loss: 0.1557, Walkable Loss: 0.0000, Relational Loss: 0.0000 +Guided Steps: 10/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +bed 2.018 1.339 2.109 -0.710 0.001 -0.031 89.89° +nightstand 0.470 0.503 0.407 -1.540 0.000 -1.295 90.05° +wardrobe 1.674 2.469 0.538 -0.821 0.001 1.746 179.98° +wardrobe 1.676 2.506 0.520 0.966 0.002 -1.101 -90.52° +chair 0.829 0.735 0.888 1.370 -0.003 0.026 -90.08° +lamp 0.789 0.822 0.837 -0.094 2.143 -0.094 -0.05° +nightstand 0.476 0.496 0.442 -1.534 0.002 0.957 90.01° +floor 3.899 -0.003 3.640 -0.009 0.000 -0.011 -0.02° +_scene_ 0.070 0.000 0.022 -5.676 -0.005 -5.716 -57.31° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bed <-> wardrobe depth=[0.171, 1.339, 0.244] + !! OVERLAP: bed <-> nightstand depth=[0.423, 0.496, 0.287] + !! OVERLAP: bed <-> floor depth=[2.018, -0.003, 2.109] + !! OVERLAP: nightstand <-> floor depth=[0.470, -0.003, 0.407] + !! OVERLAP: wardrobe <-> floor depth=[1.674, -0.003, 0.332] + !! OVERLAP: wardrobe <-> floor depth=[1.676, -0.003, 0.520] + !! OVERLAP: chair <-> floor depth=[0.829, -0.003, 0.888] + !! OVERLAP: nightstand <-> floor depth=[0.476, -0.003, 0.442] +============================================================ + + +============================================================ +SCENE: Bedroom-41491 | 6 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0634, Walkable Loss: 0.0000, Relational Loss: 0.0000 +Guided Steps: 10/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +bed 1.573 1.156 2.446 -0.481 0.003 0.602 89.89° +desk 1.184 0.935 0.526 -0.959 -0.001 -1.349 179.99° +chair 0.570 0.955 0.455 -0.720 -0.001 -0.553 -160.38° +lamp 0.740 0.209 0.605 -0.149 2.417 0.218 -0.05° +floor 3.051 -0.003 4.178 -0.027 -0.000 -0.014 -0.02° +_scene_ 0.061 0.001 0.027 -5.674 -0.005 -5.719 -57.35° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bed <-> chair depth=[0.570, 0.955, 0.296] + !! OVERLAP: bed <-> floor depth=[1.573, -0.003, 2.446] + !! OVERLAP: desk <-> floor depth=[1.184, -0.003, 0.526] + !! OVERLAP: chair <-> floor depth=[0.570, -0.003, 0.455] +============================================================ + + +============================================================ +SCENE: MasterBedroom-49865 | 7 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.3059, Walkable Loss: 0.0000, Relational Loss: 0.0000 +Guided Steps: 10/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +bed 1.729 1.312 2.177 0.415 0.001 0.317 179.88° +nightstand 0.502 0.690 0.398 -0.749 0.002 1.095 179.96° +nightstand 0.487 0.627 0.452 1.588 -0.004 1.146 179.92° +wardrobe 1.454 2.318 0.582 -1.787 0.001 0.085 89.88° +lamp 0.425 0.688 0.256 0.095 1.947 -0.043 -0.03° +floor 4.358 -0.001 2.876 -0.016 0.000 -0.005 -0.03° +_scene_ 0.070 -0.000 0.019 -5.668 -0.004 -5.714 -57.28° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bed <-> floor depth=[1.729, -0.001, 2.177] + !! OVERLAP: nightstand <-> floor depth=[0.502, -0.001, 0.398] + !! OVERLAP: nightstand <-> floor depth=[0.487, -0.001, 0.452] + !! OVERLAP: wardrobe <-> floor depth=[1.134, -0.001, 0.582] +============================================================ + + +============================================================ +SCENE: MasterBedroom-16450 | 7 objects +============================================================ +Final Step Collision Loss: 0.0121, Room Outer Loss: 0.0008, Walkable Loss: 0.0000, Relational Loss: 0.0000 +Guided Steps: 10/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +bed 1.732 0.782 2.155 -0.372 0.005 -0.401 -0.01° +cabinet 0.546 0.934 0.270 -0.852 0.001 1.450 179.92° +nightstand 0.720 0.677 0.578 1.321 0.001 -1.193 0.01° +nightstand 0.695 0.717 0.514 -1.417 0.001 -1.159 -0.01° +lamp 0.718 0.492 0.699 -0.182 2.216 0.094 -0.03° +floor 4.065 0.000 3.246 -0.092 0.000 -0.023 -0.02° +_scene_ 0.067 0.001 0.023 -5.671 -0.005 -5.717 -57.30° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bed <-> nightstand depth=[0.168, 0.717, 0.514] + !! OVERLAP: bed <-> floor depth=[1.732, 0.000, 2.155] + !! OVERLAP: cabinet <-> floor depth=[0.546, 0.000, 0.270] + !! OVERLAP: nightstand <-> floor depth=[0.720, 0.000, 0.578] + !! OVERLAP: nightstand <-> floor depth=[0.695, 0.000, 0.514] +============================================================ + + +============================================================ +SCENE: SecondBedroom-14328 | 7 objects +============================================================ +Final Step Collision Loss: 0.1162, Room Outer Loss: 1.5415, Walkable Loss: 0.0000, Relational Loss: 0.0000 +Guided Steps: 10/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +table 1.377 1.232 0.532 -1.373 0.004 0.776 -179.96° +nightstand 0.646 0.479 0.457 -1.314 0.001 -1.221 0.01° +bed 2.288 0.799 2.358 -0.298 -0.001 -0.235 -0.00° +nightstand 0.460 0.528 0.339 1.167 0.001 -1.254 0.02° +wardrobe 3.031 2.404 0.565 1.305 -0.000 0.230 -90.07° +floor 3.468 -0.002 3.013 -0.005 0.000 -0.008 -0.03° +_scene_ 0.070 0.000 0.022 -5.671 -0.005 -5.714 -57.30° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: table <-> bed depth=[0.757, 0.799, 0.434] + !! OVERLAP: table <-> floor depth=[1.054, -0.002, 0.532] + !! OVERLAP: nightstand <-> bed depth=[0.451, 0.479, 0.422] + !! OVERLAP: nightstand <-> floor depth=[0.646, -0.002, 0.457] + !! OVERLAP: bed <-> wardrobe depth=[1.056, 0.799, 0.565] + !! OVERLAP: bed <-> floor depth=[2.288, -0.002, 2.358] + !! OVERLAP: nightstand <-> floor depth=[0.460, -0.002, 0.339] + !! OVERLAP: wardrobe <-> floor depth=[1.940, -0.002, 0.565] +============================================================ + + +============================================================ +SCENE: SecondBedroom-39108 | 8 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.1859, Walkable Loss: 0.0000, Relational Loss: 0.0000 +Guided Steps: 10/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +cabinet 1.020 1.112 0.459 -1.455 0.000 0.436 89.98° +cabinet 0.922 1.069 0.467 -1.423 -0.002 -1.570 90.13° +bed 2.290 0.687 2.456 0.659 -0.001 -0.651 -0.00° +lamp 0.436 0.823 0.421 0.133 1.851 -0.341 0.05° +lamp 0.499 0.768 0.522 0.785 2.282 -1.197 -0.05° +lamp 0.227 0.773 0.243 -1.097 1.993 1.210 -0.05° +floor 3.741 0.000 4.008 -0.008 0.001 -0.077 0.02° +_scene_ 0.065 0.003 0.018 -5.674 -0.005 -5.714 -57.30° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: cabinet <-> floor depth=[0.935, 0.000, 0.459] + !! OVERLAP: cabinet <-> floor depth=[0.917, 0.000, 0.467] + !! OVERLAP: bed <-> floor depth=[2.290, 0.000, 2.456] +============================================================ + + +============================================================ +SCENE: MasterBedroom-19531 | 7 objects +============================================================ +Final Step Collision Loss: 0.0016, Room Outer Loss: 0.9034, Walkable Loss: 0.0000, Relational Loss: 0.0000 +Guided Steps: 10/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +lamp 0.521 0.267 0.522 -0.002 2.396 -0.053 -0.06° +bed 1.815 1.137 2.307 0.233 -0.001 -0.218 0.01° +nightstand 0.619 0.666 0.481 -0.975 0.001 -1.262 0.06° +nightstand 0.630 0.630 0.550 1.410 0.001 -1.176 0.02° +wardrobe 2.335 2.497 0.685 -1.635 -0.002 -0.252 89.93° +floor 3.698 -0.002 3.144 -0.002 0.000 0.001 -0.01° +_scene_ 0.071 -0.000 0.024 -5.674 -0.004 -5.714 -57.28° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bed <-> nightstand depth=[0.008, 0.666, 0.350] + !! OVERLAP: bed <-> nightstand depth=[0.046, 0.630, 0.470] + !! OVERLAP: bed <-> wardrobe depth=[0.207, 1.137, 0.685] + !! OVERLAP: bed <-> floor depth=[1.815, -0.002, 2.307] + !! OVERLAP: nightstand <-> floor depth=[0.619, -0.002, 0.481] + !! OVERLAP: nightstand <-> floor depth=[0.630, -0.002, 0.550] + !! OVERLAP: wardrobe <-> floor depth=[1.384, -0.002, 0.685] +============================================================ + + +============================================================ +SCENE: Bedroom-74 | 5 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.3179, Walkable Loss: 0.0000, Relational Loss: 0.0000 +Guided Steps: 10/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +bed 1.973 1.581 2.121 -0.608 0.003 -0.067 89.76° +lamp 0.547 0.482 0.547 -0.089 2.101 -0.013 -0.04° +wardrobe 1.496 2.303 0.644 1.246 -0.001 -0.241 -90.11° +floor 3.313 -0.000 3.154 -0.030 0.000 -0.018 -0.05° +_scene_ 0.045 0.004 0.006 -5.663 -0.006 -5.716 -57.31° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bed <-> floor depth=[1.973, -0.000, 2.121] + !! OVERLAP: wardrobe <-> floor depth=[1.129, -0.000, 0.644] +============================================================ + + +============================================================ +SCENE: Bedroom-15856 | 8 objects +============================================================ +Final Step Collision Loss: 0.0237, Room Outer Loss: 0.0524, Walkable Loss: 0.0000, Relational Loss: 0.0000 +Guided Steps: 10/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +bed 2.078 1.164 2.210 -0.395 0.002 -0.045 89.88° +nightstand 0.593 0.633 0.478 -1.652 0.000 -1.188 90.00° +nightstand 0.568 0.758 0.484 -1.810 0.001 0.824 90.01° +lamp 0.569 0.303 0.525 0.204 2.510 -0.145 -0.01° +chair 0.754 0.845 0.730 1.240 0.001 -0.605 -28.21° +tv_stand 1.918 0.574 0.479 1.690 -0.000 0.261 -90.05° +floor 4.893 -0.002 2.899 0.134 -0.001 -0.014 -0.01° +_scene_ 0.070 0.000 0.022 -5.673 -0.005 -5.711 -57.29° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bed <-> nightstand depth=[0.079, 0.633, 0.201] + !! OVERLAP: bed <-> floor depth=[2.078, -0.002, 2.210] + !! OVERLAP: nightstand <-> floor depth=[0.593, -0.002, 0.478] + !! OVERLAP: nightstand <-> floor depth=[0.568, -0.002, 0.484] + !! OVERLAP: chair <-> floor depth=[0.754, -0.002, 0.730] + !! OVERLAP: tv_stand <-> floor depth=[1.850, -0.002, 0.479] +============================================================ + + +============================================================ +SCENE: MasterBedroom-3845 | 7 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.3485, Walkable Loss: 0.0000, Relational Loss: 0.0000 +Guided Steps: 10/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +wardrobe 2.734 2.465 0.547 -0.401 0.001 1.631 -179.96° +bed 2.056 0.832 2.115 -0.604 0.001 -0.366 89.96° +nightstand 0.643 0.539 0.446 -1.427 0.004 -1.717 90.04° +nightstand 0.426 0.588 0.374 -1.464 0.002 0.932 89.95° +lamp 0.590 0.116 0.575 -0.028 2.554 -0.296 -0.07° +floor 3.350 -0.003 4.354 -0.022 -0.001 0.008 0.01° +_scene_ 0.063 -0.001 0.018 -5.667 -0.005 -5.715 -57.32° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: wardrobe <-> floor depth=[2.663, -0.003, 0.547] + !! OVERLAP: bed <-> floor depth=[2.056, -0.003, 2.115] + !! OVERLAP: nightstand <-> floor depth=[0.591, -0.003, 0.446] + !! OVERLAP: nightstand <-> floor depth=[0.426, -0.003, 0.374] +============================================================ + + +============================================================ +SCENE: MasterBedroom-14075 | 7 objects +============================================================ +Final Step Collision Loss: 0.0013, Room Outer Loss: 0.0000, Walkable Loss: 0.0000, Relational Loss: 0.0000 +Guided Steps: 10/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +bed 1.814 0.919 2.015 0.152 0.002 0.682 179.94° +tv_stand 3.333 0.741 0.502 0.147 0.003 -1.316 -0.02° +lamp 0.613 0.627 0.627 0.332 2.200 0.007 -0.05° +nightstand 0.428 0.472 0.424 1.363 0.001 1.559 -179.97° +nightstand 0.496 0.509 0.446 -0.903 0.001 1.441 179.86° +floor 3.649 0.000 3.765 0.015 -0.001 0.006 -0.02° +_scene_ 0.067 0.001 0.030 -5.667 -0.005 -5.710 -57.27° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bed <-> nightstand depth=[0.099, 0.509, 0.446] + !! OVERLAP: bed <-> floor depth=[1.814, 0.000, 2.015] + !! OVERLAP: tv_stand <-> floor depth=[3.333, 0.000, 0.502] + !! OVERLAP: nightstand <-> floor depth=[0.428, 0.000, 0.424] + !! OVERLAP: nightstand <-> floor depth=[0.496, 0.000, 0.446] +============================================================ + + +============================================================ +SCENE: Bedroom-22495 | 5 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0000, Walkable Loss: 0.0000, Relational Loss: 0.0000 +Guided Steps: 10/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +bed 1.995 1.486 2.321 0.262 0.002 0.831 179.93° +lamp 0.795 0.935 0.771 0.201 1.716 0.259 0.02° +wardrobe 1.528 2.116 0.583 0.433 -0.000 -1.573 -0.01° +floor 3.596 -0.000 4.329 0.049 0.001 -0.048 -0.00° +_scene_ 0.077 0.006 0.029 -5.664 -0.005 -5.714 -57.28° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bed <-> floor depth=[1.995, -0.000, 2.321] + !! OVERLAP: wardrobe <-> floor depth=[1.528, -0.000, 0.583] +============================================================ + + +============================================================ +SCENE: MasterBedroom-22581 | 9 objects +============================================================ +Final Step Collision Loss: 0.0562, Room Outer Loss: 0.0806, Walkable Loss: 0.0000, Relational Loss: 0.0000 +Guided Steps: 10/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +desk 1.904 0.727 0.886 1.303 -0.001 -1.167 -0.01° +chair 0.497 0.655 0.542 1.952 0.000 -0.641 179.82° +wardrobe 1.262 2.087 0.484 -1.869 -0.000 -0.229 89.97° +cabinet 0.566 0.980 0.343 1.823 0.002 1.552 179.95° +nightstand 0.787 0.803 0.482 -1.108 0.000 -1.352 0.04° +bed 2.130 1.052 2.299 0.031 -0.002 -0.240 0.00° +lamp 0.539 0.298 0.514 0.274 2.334 0.069 -0.06° +floor 5.131 -0.003 3.289 0.145 -0.001 0.012 -0.04° +_scene_ 0.070 -0.001 0.023 -5.667 -0.005 -5.710 -57.31° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: desk <-> chair depth=[0.497, 0.655, 0.188] + !! OVERLAP: desk <-> bed depth=[0.745, 0.727, 0.666] + !! OVERLAP: desk <-> floor depth=[1.904, -0.003, 0.886] + !! OVERLAP: chair <-> floor depth=[0.497, -0.003, 0.542] + !! OVERLAP: wardrobe <-> floor depth=[1.182, -0.003, 0.484] + !! OVERLAP: cabinet <-> floor depth=[0.566, -0.003, 0.276] + !! OVERLAP: nightstand <-> bed depth=[0.320, 0.803, 0.279] + !! OVERLAP: nightstand <-> floor depth=[0.787, -0.003, 0.482] + !! OVERLAP: bed <-> floor depth=[2.130, -0.003, 2.299] +============================================================ + + +============================================================ +SCENE: Bedroom-54381 | 6 objects +============================================================ +Final Step Collision Loss: 0.0231, Room Outer Loss: 0.1221, Walkable Loss: 0.0000, Relational Loss: 0.0000 +Guided Steps: 10/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +bed 2.335 0.973 2.302 -0.222 0.001 -0.037 89.89° +nightstand 0.609 0.545 0.410 -1.257 0.002 -1.183 89.98° +nightstand 0.515 0.565 0.488 -1.242 0.001 1.348 89.93° +lamp 0.735 0.836 0.650 0.028 1.765 -0.096 0.03° +floor 3.039 -0.004 3.886 0.005 0.001 -0.034 -0.01° +_scene_ 0.068 0.001 0.018 -5.672 -0.006 -5.713 -57.31° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bed <-> nightstand depth=[0.437, 0.545, 0.210] + !! OVERLAP: bed <-> nightstand depth=[0.405, 0.565, 0.010] + !! OVERLAP: bed <-> floor depth=[2.335, -0.004, 2.302] + !! OVERLAP: nightstand <-> floor depth=[0.562, -0.004, 0.410] + !! OVERLAP: nightstand <-> floor depth=[0.515, -0.004, 0.488] +============================================================ + + +============================================================ +SCENE: Bedroom-5215 | 8 objects +============================================================ +Final Step Collision Loss: 0.0069, Room Outer Loss: 0.2910, Walkable Loss: 0.0000, Relational Loss: 0.0000 +Guided Steps: 10/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +bed 2.037 1.245 2.180 0.663 0.004 -0.835 -0.04° +nightstand 0.541 0.504 0.495 -0.671 -0.000 -1.414 -0.03° +table 1.093 1.083 0.535 1.419 0.001 1.733 179.99° +chair 0.599 0.341 0.532 1.107 0.002 1.130 0.04° +wardrobe 1.571 2.086 0.596 -1.429 0.002 -0.635 89.98° +lamp 0.652 0.159 0.644 0.236 2.393 0.052 -0.02° +floor 3.895 -0.001 4.174 0.018 -0.001 -0.002 0.02° +_scene_ 0.073 -0.001 0.023 -5.671 -0.004 -5.709 -57.31° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bed <-> floor depth=[2.037, -0.001, 2.180] + !! OVERLAP: nightstand <-> floor depth=[0.541, -0.001, 0.495] + !! OVERLAP: table <-> floor depth=[1.093, -0.001, 0.535] + !! OVERLAP: chair <-> floor depth=[0.599, -0.001, 0.532] + !! OVERLAP: wardrobe <-> floor depth=[1.286, -0.001, 0.596] +============================================================ + + +============================================================ +SCENE: MasterBedroom-12479 | 8 objects +============================================================ +Final Step Collision Loss: 0.0048, Room Outer Loss: 0.1437, Walkable Loss: 0.0000, Relational Loss: 0.0000 +Guided Steps: 10/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +bed 2.008 1.508 2.251 0.062 0.002 -0.504 0.01° +nightstand 0.456 0.658 0.419 -1.063 0.002 -1.391 0.00° +nightstand 0.506 0.685 0.505 1.359 0.000 -1.412 0.00° +shelf 0.673 1.082 0.259 -1.367 0.000 1.463 -179.96° +tv_stand 1.947 0.609 0.456 0.554 0.000 1.435 180.00° +lamp 0.704 0.568 0.728 0.327 2.151 -0.093 -0.05° +floor 3.534 -0.001 3.261 0.002 0.001 -0.027 -0.00° +_scene_ 0.069 -0.001 0.022 -5.672 -0.005 -5.711 -57.31° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bed <-> nightstand depth=[0.107, 0.658, 0.419] + !! OVERLAP: bed <-> floor depth=[2.008, -0.001, 2.251] + !! OVERLAP: nightstand <-> floor depth=[0.456, -0.001, 0.419] + !! OVERLAP: nightstand <-> floor depth=[0.506, -0.001, 0.498] + !! OVERLAP: shelf <-> floor depth=[0.673, -0.001, 0.259] + !! OVERLAP: tv_stand <-> floor depth=[1.947, -0.001, 0.397] +============================================================ + + +============================================================ +SCENE: SecondBedroom-37794 | 7 objects +============================================================ +Final Step Collision Loss: 0.0026, Room Outer Loss: 0.1069, Walkable Loss: 0.0000, Relational Loss: 0.0000 +Guided Steps: 10/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +lamp 0.863 0.905 0.853 0.085 1.733 -0.042 0.05° +bed 2.445 1.136 2.364 -0.300 -0.001 -0.324 -0.03° +nightstand 0.504 0.540 0.439 -1.720 -0.001 -1.387 0.01° +chair 0.517 0.547 0.573 1.451 0.000 -0.907 -0.02° +table 0.738 1.844 0.449 2.000 -0.002 -1.268 -90.30° +floor 4.963 -0.003 3.145 -0.011 0.001 0.016 -0.02° +_scene_ 0.064 0.000 0.021 -5.673 -0.004 -5.716 -57.33° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bed <-> nightstand depth=[0.054, 0.540, 0.339] + !! OVERLAP: bed <-> floor depth=[2.445, -0.003, 2.364] + !! OVERLAP: nightstand <-> floor depth=[0.504, -0.003, 0.389] + !! OVERLAP: chair <-> table depth=[0.079, 0.547, 0.150] + !! OVERLAP: chair <-> floor depth=[0.517, -0.003, 0.573] + !! OVERLAP: table <-> floor depth=[0.738, -0.003, 0.449] +============================================================ + + +============================================================ +SCENE: SecondBedroom-69017 | 8 objects +============================================================ +Final Step Collision Loss: 0.0016, Room Outer Loss: 0.5872, Walkable Loss: 0.0000, Relational Loss: 0.0000 +Guided Steps: 10/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +bed 1.876 1.263 2.216 -0.378 0.001 -0.512 0.03° +nightstand 0.548 0.787 0.357 0.930 0.002 -1.451 0.04° +nightstand 0.557 0.790 0.349 -1.609 0.001 -1.445 -0.01° +chair 1.218 0.522 0.647 -0.406 0.002 1.001 -0.02° +lamp 0.668 0.827 0.550 -0.193 2.013 -0.103 0.04° +wardrobe 2.175 2.415 0.668 1.539 0.000 -0.180 -90.15° +floor 4.144 -0.001 3.181 -0.007 -0.000 -0.018 -0.02° +_scene_ 0.064 0.001 0.029 -5.666 -0.004 -5.717 -57.29° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bed <-> wardrobe depth=[0.109, 1.263, 0.668] + !! OVERLAP: bed <-> floor depth=[1.876, -0.001, 2.204] + !! OVERLAP: nightstand <-> floor depth=[0.548, -0.001, 0.336] + !! OVERLAP: nightstand <-> floor depth=[0.557, -0.001, 0.338] + !! OVERLAP: chair <-> floor depth=[1.218, -0.001, 0.647] + !! OVERLAP: wardrobe <-> floor depth=[1.614, -0.001, 0.668] +============================================================ + + +============================================================ +SCENE: MasterBedroom-1615 | 8 objects +============================================================ +Final Step Collision Loss: 0.0036, Room Outer Loss: 0.5775, Walkable Loss: 0.0000, Relational Loss: 0.0000 +Guided Steps: 10/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +bed 1.993 0.728 2.066 0.462 -0.001 0.540 -90.00° +wardrobe 2.148 2.324 0.737 0.484 -0.001 -1.534 0.02° +nightstand 0.499 0.532 0.386 1.281 0.001 -0.696 -90.06° +nightstand 0.468 0.506 0.485 1.312 0.001 1.752 -90.05° +lamp 0.615 0.209 0.602 0.010 2.401 0.263 -0.05° +tv_stand 2.078 0.660 0.416 -1.255 -0.000 0.349 89.95° +floor 3.144 -0.002 4.088 0.002 -0.001 0.035 -0.01° +_scene_ 0.070 0.001 0.021 -5.666 -0.005 -5.712 -57.32° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bed <-> nightstand depth=[0.380, 0.506, 0.063] + !! OVERLAP: bed <-> tv_stand depth=[0.319, 0.660, 0.416] + !! OVERLAP: bed <-> floor depth=[1.993, -0.002, 2.066] + !! OVERLAP: wardrobe <-> floor depth=[2.148, -0.002, 0.737] + !! OVERLAP: nightstand <-> floor depth=[0.499, -0.002, 0.386] + !! OVERLAP: nightstand <-> floor depth=[0.468, -0.002, 0.485] + !! OVERLAP: tv_stand <-> floor depth=[1.354, -0.002, 0.416] +============================================================ + + +============================================================ +SCENE: MasterBedroom-8979 | 6 objects +============================================================ +Final Step Collision Loss: 0.0904, Room Outer Loss: 0.0000, Walkable Loss: 0.0000, Relational Loss: 0.0000 +Guided Steps: 10/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +wardrobe 1.804 2.351 0.624 -1.419 0.000 -0.564 89.93° +bed 2.192 1.255 2.415 0.321 0.001 -0.316 0.01° +nightstand 0.446 0.502 0.436 1.597 0.001 -1.348 0.01° +nightstand 0.588 0.492 0.551 -0.964 0.001 -1.109 0.01° +floor 4.299 -0.003 3.040 -0.122 0.000 -0.030 -0.02° +_scene_ 0.075 0.004 0.022 -5.673 -0.007 -5.708 -57.28° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: wardrobe <-> bed depth=[0.258, 1.255, 0.624] + !! OVERLAP: wardrobe <-> nightstand depth=[0.588, 0.492, 0.042] + !! OVERLAP: wardrobe <-> floor depth=[1.754, -0.003, 0.624] + !! OVERLAP: bed <-> nightstand depth=[0.043, 0.502, 0.394] + !! OVERLAP: bed <-> nightstand depth=[0.105, 0.492, 0.551] + !! OVERLAP: bed <-> floor depth=[2.192, -0.003, 2.415] + !! OVERLAP: nightstand <-> floor depth=[0.446, -0.003, 0.421] + !! OVERLAP: nightstand <-> floor depth=[0.588, -0.003, 0.551] +============================================================ + + +============================================================ +SCENE: MasterBedroom-6631 | 8 objects +============================================================ +Final Step Collision Loss: 0.0188, Room Outer Loss: 0.1650, Walkable Loss: 0.0000, Relational Loss: 0.0000 +Guided Steps: 10/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +bed 1.895 1.350 2.281 -0.537 0.002 0.022 89.88° +nightstand 0.615 0.520 0.479 -1.421 0.003 1.221 90.02° +wardrobe 2.072 2.573 0.627 -0.431 0.001 1.335 -179.97° +chair 0.726 0.852 0.692 -1.396 0.002 -1.639 10.51° +tv_stand 1.217 0.433 0.298 1.312 -0.001 -0.599 -89.95° +lamp 0.550 0.154 0.550 0.031 2.423 -0.362 0.02° +floor 3.538 -0.002 4.290 0.042 -0.000 -0.055 -0.04° +_scene_ 0.071 -0.000 0.022 -5.673 -0.005 -5.712 -57.30° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bed <-> nightstand depth=[0.371, 0.520, 0.182] + !! OVERLAP: bed <-> wardrobe depth=[1.878, 1.350, 0.142] + !! OVERLAP: bed <-> floor depth=[1.895, -0.002, 2.281] + !! OVERLAP: nightstand <-> wardrobe depth=[0.353, 0.520, 0.439] + !! OVERLAP: nightstand <-> floor depth=[0.613, -0.002, 0.479] + !! OVERLAP: wardrobe <-> floor depth=[2.072, -0.002, 0.627] + !! OVERLAP: chair <-> floor depth=[0.694, -0.002, 0.692] + !! OVERLAP: tv_stand <-> floor depth=[1.108, -0.002, 0.298] +============================================================ + + +============================================================ +SCENE: MasterBedroom-58086 | 5 objects +============================================================ +Final Step Collision Loss: 0.0321, Room Outer Loss: 0.0000, Walkable Loss: 0.0000, Relational Loss: 0.0000 +Guided Steps: 10/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +bed 1.939 0.778 2.185 -0.263 0.006 -0.241 89.84° +wardrobe 2.622 2.389 0.917 -0.215 0.001 1.245 -179.98° +chair 0.528 1.037 0.522 -0.545 0.001 -1.574 -103.10° +floor 2.979 -0.001 3.723 0.001 0.001 -0.023 -0.02° +_scene_ 0.039 0.018 0.034 -5.531 -0.005 -5.602 -57.93° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bed <-> wardrobe depth=[1.939, 0.778, 0.065] + !! OVERLAP: bed <-> chair depth=[0.528, 0.778, 0.021] + !! OVERLAP: bed <-> floor depth=[1.939, -0.001, 2.185] + !! OVERLAP: wardrobe <-> floor depth=[2.585, -0.001, 0.917] + !! OVERLAP: chair <-> floor depth=[0.528, -0.001, 0.522] +============================================================ + + +============================================================ +SCENE: MasterBedroom-34041 | 7 objects +============================================================ +Final Step Collision Loss: 0.0026, Room Outer Loss: 1.0550, Walkable Loss: 0.0000, Relational Loss: 0.0000 +Guided Steps: 10/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +bed 1.572 1.065 2.123 0.430 -0.001 -0.393 0.03° +nightstand 0.570 0.622 0.452 -0.672 0.001 -1.096 0.03° +wardrobe 3.767 2.639 0.438 -1.151 -0.003 -0.123 89.82° +nightstand 0.541 0.559 0.453 1.731 0.002 -1.225 -0.00° +lamp 0.903 0.846 0.865 0.119 2.084 0.026 0.01° +floor 4.284 -0.001 2.801 0.006 -0.002 0.031 -0.08° +_scene_ 0.072 0.001 0.018 -5.673 -0.005 -5.713 -57.28° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bed <-> wardrobe depth=[1.089, 1.065, 0.438] + !! OVERLAP: bed <-> floor depth=[1.572, -0.001, 2.038] + !! OVERLAP: nightstand <-> floor depth=[0.570, -0.001, 0.452] + !! OVERLAP: wardrobe <-> floor depth=[2.870, -0.001, 0.438] + !! OVERLAP: nightstand <-> floor depth=[0.541, -0.001, 0.371] +============================================================ + + +============================================================ +SCENE: MasterBedroom-63654 | 6 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0000, Walkable Loss: 0.0000, Relational Loss: 0.0000 +Guided Steps: 10/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +nightstand 0.393 0.555 0.444 1.325 0.000 -1.630 -0.03° +nightstand 0.618 0.530 0.496 -1.495 0.001 -1.451 0.02° +lamp 1.032 0.995 1.024 -0.103 1.944 -0.176 -0.03° +bed 2.049 1.138 2.413 -0.089 -0.002 -0.664 0.00° +floor 4.131 -0.000 3.676 -0.126 -0.000 -0.019 -0.02° +_scene_ 0.067 0.001 0.021 -5.672 -0.005 -5.718 -57.26° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: nightstand <-> floor depth=[0.393, -0.000, 0.444] + !! OVERLAP: nightstand <-> floor depth=[0.618, -0.000, 0.496] + !! OVERLAP: bed <-> floor depth=[2.049, -0.000, 2.399] +============================================================ + + +============================================================ +SCENE: Bedroom-21085 | 8 objects +============================================================ +Final Step Collision Loss: 0.0058, Room Outer Loss: 0.6542, Walkable Loss: 0.0000, Relational Loss: 0.0000 +Guided Steps: 10/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +shelf 0.338 0.621 0.203 1.525 0.004 1.452 -90.08° +nightstand 0.527 0.659 0.437 1.437 0.002 -1.077 0.06° +nightstand 0.447 0.859 0.466 -1.083 0.000 -0.974 0.03° +bed 1.903 1.140 2.335 0.157 -0.000 -0.125 0.00° +wardrobe 1.690 2.507 0.502 -1.690 0.004 -0.237 89.83° +lamp 0.929 0.889 0.911 0.107 1.924 0.039 -0.01° +floor 3.645 -0.001 3.059 -0.030 -0.000 0.040 -0.03° +_scene_ 0.068 0.001 0.025 -5.675 -0.004 -5.714 -57.32° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: shelf <-> floor depth=[0.338, -0.001, 0.203] + !! OVERLAP: nightstand <-> floor depth=[0.527, -0.001, 0.437] + !! OVERLAP: nightstand <-> floor depth=[0.447, -0.001, 0.466] + !! OVERLAP: bed <-> floor depth=[1.903, -0.001, 2.335] + !! OVERLAP: wardrobe <-> floor depth=[1.008, -0.001, 0.502] +============================================================ + + +============================================================ +SCENE: Bedroom-13675 | 5 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.5791, Walkable Loss: 0.0000, Relational Loss: 0.0000 +Guided Steps: 10/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +bed 2.482 0.832 2.219 -0.699 0.006 -0.444 89.92° +wardrobe 2.262 2.477 0.818 1.429 -0.001 -0.138 -90.14° +lamp 0.534 0.800 0.529 -0.347 1.835 -0.572 -179.99° +floor 3.889 0.001 3.638 -0.032 -0.001 -0.201 -0.01° +_scene_ 0.058 -0.000 0.014 -5.681 -0.005 -5.717 -57.32° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bed <-> wardrobe depth=[0.244, 0.832, 0.818] + !! OVERLAP: bed <-> floor depth=[2.482, 0.001, 2.219] + !! OVERLAP: wardrobe <-> floor depth=[1.614, 0.001, 0.818] +============================================================ + + +============================================================ +SCENE: MasterBedroom-32488 | 9 objects +============================================================ +Final Step Collision Loss: 0.0318, Room Outer Loss: 0.0784, Walkable Loss: 0.0000, Relational Loss: 0.0000 +Guided Steps: 10/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +table 1.097 1.141 0.479 -2.163 0.001 -1.218 -0.03° +nightstand 0.507 0.600 0.445 0.488 -0.000 -1.232 0.12° +chair 0.444 0.476 0.524 -2.218 -0.000 -0.670 -90.20° +bed 2.234 1.453 2.473 -0.898 -0.000 -0.181 0.02° +cabinet 0.842 1.039 0.408 -2.220 0.002 1.589 -179.98° +lamp 0.883 0.916 0.912 -0.840 1.887 0.050 0.00° +wardrobe 3.149 2.362 0.540 0.864 -0.000 0.067 -89.99° +floor 6.002 0.000 3.225 -0.655 0.001 0.222 -0.03° +_scene_ 0.072 0.000 0.020 -5.671 -0.004 -5.714 -57.29° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: table <-> bed depth=[0.401, 1.141, 0.439] + !! OVERLAP: table <-> floor depth=[1.097, 0.000, 0.412] + !! OVERLAP: nightstand <-> floor depth=[0.507, 0.000, 0.381] + !! OVERLAP: chair <-> bed depth=[0.019, 0.476, 0.524] + !! OVERLAP: chair <-> floor depth=[0.444, 0.000, 0.524] + !! OVERLAP: bed <-> wardrobe depth=[0.929, 1.453, 0.540] + !! OVERLAP: bed <-> floor depth=[2.234, 0.000, 2.446] + !! OVERLAP: cabinet <-> floor depth=[0.842, 0.000, 0.408] + !! OVERLAP: wardrobe <-> floor depth=[3.056, 0.000, 0.540] +============================================================ + + +============================================================ +SCENE: MasterBedroom-45545 | 8 objects +============================================================ +Final Step Collision Loss: 0.1259, Room Outer Loss: 0.6468, Walkable Loss: 0.0000, Relational Loss: 0.0000 +Guided Steps: 10/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +table 0.953 1.526 0.402 1.616 0.004 1.414 179.96° +bed 2.017 1.648 2.227 0.337 0.002 -0.479 -0.03° +nightstand 0.528 0.561 0.452 -1.227 0.000 -1.394 -0.01° +nightstand 0.557 0.629 0.520 1.590 0.001 -1.339 -0.02° +lamp 0.943 1.563 0.629 0.093 1.109 -0.135 0.08° +wardrobe 2.093 2.436 0.651 -1.458 -0.004 -0.594 90.13° +floor 3.883 -0.002 3.290 -0.003 0.001 -0.009 -0.02° +_scene_ 0.069 0.000 0.022 -5.675 -0.005 -5.716 -57.30° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: table <-> floor depth=[0.799, -0.002, 0.402] + !! OVERLAP: bed <-> nightstand depth=[0.034, 0.629, 0.513] + !! OVERLAP: bed <-> lamp depth=[0.943, 0.498, 0.629] + !! OVERLAP: bed <-> wardrobe depth=[0.260, 1.648, 0.651] + !! OVERLAP: bed <-> floor depth=[2.017, -0.002, 2.227] + !! OVERLAP: nightstand <-> floor depth=[0.528, -0.002, 0.452] + !! OVERLAP: nightstand <-> floor depth=[0.557, -0.002, 0.520] + !! OVERLAP: wardrobe <-> floor depth=[1.533, -0.002, 0.651] +============================================================ + + +============================================================ +SCENE: Bedroom-18759 | 8 objects +============================================================ +Final Step Collision Loss: 0.0361, Room Outer Loss: 0.4144, Walkable Loss: 0.0000, Relational Loss: 0.0000 +Guided Steps: 10/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +bed 2.177 2.195 2.016 -0.545 0.002 0.295 89.59° +nightstand 0.551 0.465 0.377 -1.376 -0.001 -0.178 89.98° +nightstand 0.493 0.497 0.396 -1.391 0.001 1.698 90.03° +tv_stand 1.849 0.601 0.465 1.089 -0.001 0.171 -90.09° +lamp 0.620 0.985 0.625 -0.125 1.600 0.431 0.16° +wardrobe 1.957 2.287 0.650 -0.448 -0.001 -1.557 0.06° +floor 3.295 -0.002 4.475 -0.020 -0.001 -0.019 -0.03° +_scene_ 0.074 -0.001 0.021 -5.671 -0.004 -5.712 -57.30° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bed <-> nightstand depth=[0.533, 0.465, 0.377] + !! OVERLAP: bed <-> tv_stand depth=[0.380, 0.601, 0.465] + !! OVERLAP: bed <-> floor depth=[2.177, -0.002, 2.016] + !! OVERLAP: nightstand <-> floor depth=[0.551, -0.002, 0.377] + !! OVERLAP: nightstand <-> floor depth=[0.493, -0.002, 0.396] + !! OVERLAP: tv_stand <-> floor depth=[1.463, -0.002, 0.465] + !! OVERLAP: wardrobe <-> floor depth=[1.957, -0.002, 0.650] +============================================================ + + +============================================================ +SCENE: MasterBedroom-29436 | 8 objects +============================================================ +Final Step Collision Loss: 0.0155, Room Outer Loss: 0.0850, Walkable Loss: 0.0000, Relational Loss: 0.0000 +Guided Steps: 10/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +bed 1.919 0.934 2.114 0.376 0.003 1.076 -179.95° +wardrobe 1.510 2.300 0.562 -1.762 -0.003 -1.391 0.02° +tv_stand 2.054 0.517 0.478 0.025 0.001 -1.485 -0.01° +table 0.590 1.153 0.481 -0.539 0.002 1.957 179.93° +table 0.582 1.168 0.343 2.055 0.002 1.940 -90.13° +lamp 1.030 0.919 1.037 0.161 1.745 0.482 0.01° +floor 4.995 -0.003 5.078 -0.083 0.001 -0.020 -0.03° +_scene_ 0.077 -0.000 0.031 -5.668 -0.004 -5.714 -57.30° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bed <-> table depth=[0.340, 0.934, 0.416] + !! OVERLAP: bed <-> floor depth=[1.919, -0.003, 2.114] + !! OVERLAP: wardrobe <-> floor depth=[1.510, -0.003, 0.562] + !! OVERLAP: tv_stand <-> floor depth=[2.054, -0.003, 0.478] + !! OVERLAP: table <-> floor depth=[0.590, -0.003, 0.481] + !! OVERLAP: table <-> floor depth=[0.582, -0.003, 0.343] +============================================================ + + +============================================================ +SCENE: Bedroom-15797 | 7 objects +============================================================ +Final Step Collision Loss: 0.0298, Room Outer Loss: 0.0628, Walkable Loss: 0.0000, Relational Loss: 0.0000 +Guided Steps: 10/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +bed 2.208 1.502 2.158 0.157 -0.000 -0.274 -89.94° +cabinet 1.360 0.946 0.520 0.486 -0.002 1.676 -179.92° +nightstand 0.647 0.789 0.496 1.134 0.001 -1.372 -89.95° +nightstand 0.662 0.735 0.582 1.061 0.000 1.068 -89.86° +lamp 0.495 0.342 0.481 0.020 2.318 -0.089 -0.04° +floor 2.804 -0.003 3.890 -0.006 0.000 -0.018 -0.03° +_scene_ 0.066 0.001 0.017 -5.668 -0.004 -5.712 -57.32° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bed <-> nightstand depth=[0.450, 0.789, 0.229] + !! OVERLAP: bed <-> nightstand depth=[0.531, 0.735, 0.027] + !! OVERLAP: bed <-> floor depth=[2.208, -0.003, 2.158] + !! OVERLAP: cabinet <-> floor depth=[1.360, -0.003, 0.511] + !! OVERLAP: nightstand <-> floor depth=[0.585, -0.003, 0.496] + !! OVERLAP: nightstand <-> floor depth=[0.662, -0.003, 0.582] +============================================================ + + +============================================================ +SCENE: MasterBedroom-13658 | 7 objects +============================================================ +Final Step Collision Loss: 0.0023, Room Outer Loss: 0.0054, Walkable Loss: 0.0000, Relational Loss: 0.0000 +Guided Steps: 10/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +wardrobe 2.354 2.295 0.525 -0.275 -0.001 -1.980 0.05° +bed 2.077 0.967 2.146 -0.357 -0.001 0.390 89.99° +nightstand 0.407 0.528 0.328 -1.384 0.001 -1.000 90.04° +nightstand 0.443 0.509 0.294 -1.374 0.000 1.618 90.01° +lamp 0.743 0.302 0.736 0.002 2.195 0.057 0.01° +floor 3.392 -0.001 4.575 -0.029 0.000 0.019 -0.03° +_scene_ 0.068 -0.002 0.018 -5.669 -0.005 -5.715 -57.31° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: wardrobe <-> floor depth=[2.354, -0.001, 0.525] + !! OVERLAP: bed <-> floor depth=[2.077, -0.001, 2.146] + !! OVERLAP: nightstand <-> floor depth=[0.407, -0.001, 0.328] + !! OVERLAP: nightstand <-> floor depth=[0.443, -0.001, 0.294] +============================================================ + + +============================================================ +SCENE: Bedroom-53437 | 7 objects +============================================================ +Final Step Collision Loss: 0.0073, Room Outer Loss: 0.5058, Walkable Loss: 0.0000, Relational Loss: 0.0000 +Guided Steps: 10/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +bed 1.849 1.001 2.011 0.114 0.003 0.305 -180.00° +lamp 0.563 0.287 0.498 0.089 2.349 -0.050 -0.04° +wardrobe 1.949 2.416 0.651 -1.370 -0.002 0.311 89.94° +nightstand 0.556 0.614 0.342 -0.919 0.003 1.185 179.92° +nightstand 0.531 0.627 0.443 1.494 0.001 1.131 179.94° +floor 3.983 -0.002 2.721 -0.018 -0.001 -0.011 -0.03° +_scene_ 0.069 -0.001 0.019 -5.679 -0.005 -5.718 -57.30° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bed <-> wardrobe depth=[0.415, 1.001, 0.651] + !! OVERLAP: bed <-> nightstand depth=[0.170, 0.614, 0.296] + !! OVERLAP: bed <-> floor depth=[1.849, -0.002, 2.011] + !! OVERLAP: wardrobe <-> floor depth=[1.614, -0.002, 0.651] + !! OVERLAP: nightstand <-> floor depth=[0.556, -0.002, 0.335] + !! OVERLAP: nightstand <-> floor depth=[0.531, -0.002, 0.441] +============================================================ + + +============================================================ +SCENE: MasterBedroom-1096 | 8 objects +============================================================ +Final Step Collision Loss: 0.0565, Room Outer Loss: 0.5795, Walkable Loss: 0.0000, Relational Loss: 0.0000 +Guided Steps: 10/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +bed 1.912 0.976 2.148 0.517 0.000 -0.323 -0.01° +table 1.176 1.100 0.347 0.223 0.005 -1.342 0.02° +wardrobe 2.032 2.062 0.560 -1.200 0.000 0.210 89.91° +lamp 0.583 0.433 0.561 0.198 2.220 -0.041 -0.01° +chair 0.451 0.695 0.477 -0.603 0.007 -0.638 -160.44° +bookshelf 0.714 1.650 0.329 1.109 0.001 0.994 -179.97° +floor 3.342 -0.003 3.035 0.014 0.001 -0.037 -0.02° +_scene_ 0.067 0.001 0.020 -5.669 -0.005 -5.713 -57.30° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bed <-> table depth=[1.176, 0.976, 0.229] + !! OVERLAP: bed <-> wardrobe depth=[0.254, 0.976, 0.560] + !! OVERLAP: bed <-> chair depth=[0.061, 0.695, 0.477] + !! OVERLAP: bed <-> floor depth=[1.912, -0.003, 2.148] + !! OVERLAP: table <-> floor depth=[1.176, -0.003, 0.347] + !! OVERLAP: wardrobe <-> floor depth=[1.473, -0.003, 0.560] + !! OVERLAP: chair <-> floor depth=[0.451, -0.003, 0.477] + !! OVERLAP: bookshelf <-> floor depth=[0.714, -0.003, 0.329] +============================================================ + + +============================================================ +SCENE: Bedroom-20397 | 11 objects +============================================================ +Final Step Collision Loss: 0.0029, Room Outer Loss: 0.5024, Walkable Loss: 0.0000, Relational Loss: 0.0000 +Guided Steps: 10/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +wardrobe 2.079 2.549 0.437 -1.646 -0.000 0.644 89.91° +bed 2.166 0.677 2.283 0.320 0.001 0.372 180.00° +nightstand 0.593 0.779 0.490 1.711 0.001 1.448 179.97° +nightstand 0.532 0.834 0.442 -1.288 0.001 1.467 179.92° +cabinet 1.600 0.872 0.424 0.128 0.001 -1.405 -0.04° +table 0.430 1.646 0.305 1.990 -0.008 -1.156 -57.68° +lamp 0.531 0.825 0.512 -1.197 1.338 1.235 -0.02° +lamp 0.733 0.932 0.768 1.666 1.142 1.393 -0.15° +lamp 0.568 0.185 0.514 0.165 2.329 0.069 -0.05° +floor 4.615 -0.003 3.468 -0.087 0.001 -0.022 -0.00° +_scene_ 0.071 0.000 0.022 -5.672 -0.005 -5.713 -57.29° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: wardrobe <-> bed depth=[0.155, 0.677, 0.437] + !! OVERLAP: wardrobe <-> floor depth=[1.788, -0.003, 0.437] + !! OVERLAP: bed <-> floor depth=[2.166, -0.003, 2.283] + !! OVERLAP: nightstand <-> floor depth=[0.593, -0.003, 0.490] + !! OVERLAP: nightstand <-> floor depth=[0.532, -0.003, 0.442] + !! OVERLAP: cabinet <-> floor depth=[1.600, -0.003, 0.424] + !! OVERLAP: table <-> floor depth=[0.430, -0.003, 0.305] +============================================================ + + +============================================================ +SCENE: SecondBedroom-6261 | 6 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0000, Walkable Loss: 0.0000, Relational Loss: 0.0000 +Guided Steps: 10/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +nightstand 0.525 0.550 0.421 1.142 0.001 -0.568 -90.07° +lamp 1.024 0.655 0.984 0.031 2.024 0.559 0.05° +bed 2.036 1.181 2.260 0.407 -0.001 0.814 -89.94° +wardrobe 2.077 2.410 0.672 0.251 -0.001 -1.279 -0.03° +floor 3.174 0.001 3.783 -0.027 -0.001 0.215 -0.02° +_scene_ 0.069 0.000 0.016 -5.668 -0.005 -5.713 -57.31° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: nightstand <-> floor depth=[0.525, 0.001, 0.421] + !! OVERLAP: bed <-> floor depth=[2.036, 0.001, 2.260] + !! OVERLAP: wardrobe <-> floor depth=[2.077, 0.001, 0.672] +============================================================ + + +============================================================ +SCENE: SecondBedroom-9923 | 6 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.2970, Walkable Loss: 0.0000, Relational Loss: 0.0000 +Guided Steps: 10/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +bed 1.963 0.782 2.041 0.484 -0.001 -0.665 -0.01° +tv_stand 1.953 0.509 0.450 0.464 0.002 1.302 179.99° +wardrobe 1.862 2.412 0.703 -1.188 -0.001 -0.457 89.89° +lamp 0.346 0.854 0.353 0.446 1.785 -0.534 -0.04° +floor 4.040 -0.002 3.609 -0.022 0.001 -0.036 -0.03° +_scene_ 0.071 0.002 0.022 -5.669 -0.004 -5.713 -57.30° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bed <-> wardrobe depth=[0.241, 0.782, 0.703] + !! OVERLAP: bed <-> floor depth=[1.963, -0.002, 2.041] + !! OVERLAP: tv_stand <-> floor depth=[1.953, -0.002, 0.450] + !! OVERLAP: wardrobe <-> floor depth=[1.785, -0.002, 0.703] +============================================================ + + +============================================================ +SCENE: Bedroom-38427 | 7 objects +============================================================ +Final Step Collision Loss: 0.0099, Room Outer Loss: 0.0000, Walkable Loss: 0.0000, Relational Loss: 0.0000 +Guided Steps: 10/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +lamp 1.085 0.925 0.999 -0.043 2.220 -0.122 0.04° +wardrobe 1.161 1.650 0.552 0.352 0.004 1.253 179.99° +bed 2.053 0.868 2.071 -0.163 0.001 -0.659 0.03° +nightstand 0.500 0.492 0.408 -1.299 0.001 -1.557 -0.03° +nightstand 0.519 0.478 0.382 1.009 0.001 -1.683 -0.03° +floor 3.320 -0.002 3.845 -0.003 0.000 0.001 -0.02° +_scene_ 0.067 0.000 0.019 -5.672 -0.005 -5.715 -57.30° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: wardrobe <-> floor depth=[1.161, -0.002, 0.552] + !! OVERLAP: bed <-> nightstand depth=[0.140, 0.492, 0.342] + !! OVERLAP: bed <-> nightstand depth=[0.114, 0.478, 0.203] + !! OVERLAP: bed <-> floor depth=[2.053, -0.002, 2.071] + !! OVERLAP: nightstand <-> floor depth=[0.500, -0.002, 0.408] + !! OVERLAP: nightstand <-> floor depth=[0.519, -0.002, 0.382] +============================================================ + + +============================================================ +SCENE: SecondBedroom-48379 | 6 objects +============================================================ +Final Step Collision Loss: 0.1298, Room Outer Loss: 0.6848, Walkable Loss: 0.0000, Relational Loss: 0.0000 +Guided Steps: 10/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +bed 2.092 2.072 2.197 0.204 -0.003 0.018 -90.02° +wardrobe 0.912 1.719 0.459 0.691 -0.000 -1.827 -0.01° +lamp 0.494 0.378 0.500 -0.082 2.495 -0.108 -0.09° +desk 1.593 0.743 0.704 1.188 -0.000 1.250 -90.03° +floor 2.673 0.002 4.016 0.003 0.001 -0.041 0.01° +_scene_ 0.076 -0.001 0.019 -5.669 -0.004 -5.708 -57.32° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bed <-> desk depth=[0.858, 0.743, 0.219] + !! OVERLAP: bed <-> floor depth=[2.092, 0.002, 2.197] + !! OVERLAP: wardrobe <-> floor depth=[0.912, 0.002, 0.452] + !! OVERLAP: desk <-> floor depth=[0.948, 0.002, 0.704] +============================================================ + + +============================================================ +SCENE: Bedroom-74674 | 5 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0000, Walkable Loss: 0.0000, Relational Loss: 0.0000 +Guided Steps: 10/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +bed 1.872 1.309 1.989 0.393 -0.001 0.537 -90.01° +table 0.711 0.837 0.623 1.104 0.002 -1.063 -89.91° +lamp 0.498 0.576 0.447 0.139 2.176 0.000 -0.05° +floor 2.844 -0.002 4.161 0.008 0.000 -0.034 -0.02° +_scene_ 0.048 0.010 0.013 -5.606 -0.004 -5.673 -57.38° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bed <-> floor depth=[1.872, -0.002, 1.989] + !! OVERLAP: table <-> floor depth=[0.682, -0.002, 0.623] +============================================================ + + +============================================================ +SCENE: MasterBedroom-41843 | 11 objects +============================================================ +Final Step Collision Loss: 0.0005, Room Outer Loss: 0.1098, Walkable Loss: 0.0000, Relational Loss: 0.0000 +Guided Steps: 10/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +lamp 0.829 0.768 0.739 -0.084 1.975 0.754 -0.01° +wardrobe 1.052 2.218 0.636 0.453 -0.001 -2.217 0.04° +wardrobe 1.413 2.121 0.616 0.919 0.000 -1.656 0.04° +bed 1.913 1.270 2.201 0.592 -0.000 0.665 -89.97° +nightstand 0.518 0.541 0.510 1.467 -0.000 -0.827 -90.09° +nightstand 0.669 0.560 0.568 1.368 0.001 1.922 -89.92° +cabinet 0.873 0.762 0.401 -1.503 -0.000 1.030 90.08° +chair 0.709 0.772 0.679 -1.105 0.001 -1.739 34.71° +table 0.478 0.478 0.445 -1.160 -0.001 -0.998 12.84° +floor 3.473 0.000 5.165 -0.053 -0.000 0.000 -0.03° +_scene_ 0.073 -0.000 0.022 -5.670 -0.004 -5.714 -57.32° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: wardrobe <-> wardrobe depth=[0.766, 2.121, 0.064] + !! OVERLAP: wardrobe <-> floor depth=[1.052, 0.000, 0.636] + !! OVERLAP: wardrobe <-> floor depth=[1.413, 0.000, 0.616] + !! OVERLAP: bed <-> nightstand depth=[0.514, 0.560, 0.128] + !! OVERLAP: bed <-> floor depth=[1.913, 0.000, 2.201] + !! OVERLAP: nightstand <-> floor depth=[0.475, 0.000, 0.510] + !! OVERLAP: nightstand <-> floor depth=[0.649, 0.000, 0.568] + !! OVERLAP: cabinet <-> floor depth=[0.723, 0.000, 0.401] + !! OVERLAP: chair <-> floor depth=[0.709, 0.000, 0.679] + !! OVERLAP: table <-> floor depth=[0.478, 0.000, 0.445] +============================================================ + + +============================================================ +SCENE: MasterBedroom-21047 | 7 objects +============================================================ +Final Step Collision Loss: 0.0360, Room Outer Loss: 0.0750, Walkable Loss: 0.0000, Relational Loss: 0.0000 +Guided Steps: 10/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +wardrobe 1.598 2.469 0.509 1.003 -0.001 -0.660 -90.08° +bed 1.802 1.185 2.204 -0.387 0.000 -0.395 0.02° +nightstand 0.566 0.650 0.449 -1.724 0.003 -1.281 -0.01° +nightstand 0.556 0.630 0.399 0.746 0.000 -1.265 0.06° +lamp 0.878 1.147 0.888 -0.322 1.581 0.119 0.01° +floor 3.942 -0.002 3.101 -0.112 -0.000 0.005 -0.02° +_scene_ 0.069 -0.001 0.022 -5.666 -0.004 -5.714 -57.30° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: wardrobe <-> bed depth=[0.310, 1.185, 0.509] + !! OVERLAP: wardrobe <-> floor depth=[1.598, -0.002, 0.509] + !! OVERLAP: bed <-> nightstand depth=[0.046, 0.630, 0.399] + !! OVERLAP: bed <-> floor depth=[1.802, -0.002, 2.204] + !! OVERLAP: nightstand <-> floor depth=[0.566, -0.002, 0.449] + !! OVERLAP: nightstand <-> floor depth=[0.556, -0.002, 0.399] +============================================================ + + +============================================================ +SCENE: MasterBedroom-34469 | 6 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.2191, Walkable Loss: 0.0000, Relational Loss: 0.0000 +Guided Steps: 10/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +bed 2.141 0.914 2.222 -0.525 -0.002 -0.722 0.01° +wardrobe 1.466 2.423 0.563 1.454 0.000 -0.754 -90.15° +table 1.007 1.134 0.575 -1.633 0.001 1.428 179.99° +lamp 0.606 0.502 0.597 -0.189 2.270 -0.263 0.03° +floor 4.453 -0.003 4.733 -0.094 0.000 0.040 -0.03° +_scene_ 0.082 -0.002 0.013 -5.675 -0.007 -5.713 -57.30° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bed <-> floor depth=[2.141, -0.003, 2.222] + !! OVERLAP: wardrobe <-> floor depth=[1.412, -0.003, 0.563] + !! OVERLAP: table <-> floor depth=[1.007, -0.003, 0.575] +============================================================ + + +============================================================ +SCENE: SecondBedroom-35274 | 5 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0000, Walkable Loss: 0.0000, Relational Loss: 0.0000 +Guided Steps: 10/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +lamp 0.709 1.090 0.763 0.178 1.635 0.219 -0.06° +bed 2.052 0.976 2.200 0.351 -0.001 0.258 -89.99° +wardrobe 1.483 2.075 0.404 0.353 -0.001 -1.899 0.08° +floor 2.928 -0.001 4.321 -0.004 0.000 0.031 -0.02° +_scene_ 0.059 -0.001 0.025 -5.667 -0.004 -5.714 -57.32° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bed <-> floor depth=[2.052, -0.001, 2.200] + !! OVERLAP: wardrobe <-> floor depth=[1.483, -0.001, 0.404] +============================================================ + + +============================================================ +SCENE: SecondBedroom-66007 | 8 objects +============================================================ +Final Step Collision Loss: 0.0248, Room Outer Loss: 0.2372, Walkable Loss: 0.0000, Relational Loss: 0.0000 +Guided Steps: 10/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +bed 1.581 1.169 2.399 0.019 0.001 0.140 179.97° +nightstand 0.372 0.521 0.314 -1.266 0.002 1.147 179.96° +desk 1.047 1.029 0.532 1.390 0.001 1.031 179.94° +chair 0.498 0.706 0.543 1.438 0.004 0.337 -22.73° +wardrobe 1.800 2.085 0.661 -1.282 -0.002 0.418 89.88° +lamp 0.619 0.248 0.597 -0.098 2.278 -0.084 -0.03° +floor 3.875 -0.002 2.648 -0.002 0.000 0.007 -0.03° +_scene_ 0.071 -0.000 0.022 -5.669 -0.005 -5.716 -57.29° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bed <-> wardrobe depth=[0.390, 1.169, 0.661] + !! OVERLAP: bed <-> floor depth=[1.581, -0.002, 2.390] + !! OVERLAP: nightstand <-> floor depth=[0.372, -0.002, 0.314] + !! OVERLAP: desk <-> floor depth=[1.047, -0.002, 0.532] + !! OVERLAP: chair <-> floor depth=[0.498, -0.002, 0.543] + !! OVERLAP: wardrobe <-> floor depth=[1.558, -0.002, 0.661] +============================================================ + + +============================================================ +SCENE: MasterBedroom-6907 | 9 objects +============================================================ +Final Step Collision Loss: 0.0359, Room Outer Loss: 0.2971, Walkable Loss: 0.0000, Relational Loss: 0.0000 +Guided Steps: 10/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +cabinet 0.996 1.388 0.471 1.286 0.001 -0.652 -90.05° +table 1.318 1.302 0.697 1.608 -0.002 0.918 -89.89° +nightstand 0.485 0.632 0.397 -1.675 0.002 -1.634 89.87° +chair 1.300 0.486 0.554 0.048 0.003 -0.517 0.12° +bed 1.930 1.399 2.143 -1.104 0.001 0.065 89.86° +nightstand 0.563 0.719 0.463 -1.725 0.002 1.212 89.96° +chair 0.520 0.823 0.587 -0.156 -0.000 1.500 90.08° +floor 4.097 -0.003 4.153 -0.041 0.001 0.032 -0.04° +_scene_ 0.069 -0.000 0.021 -5.671 -0.005 -5.713 -57.30° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: cabinet <-> floor depth=[0.996, -0.003, 0.471] + !! OVERLAP: table <-> floor depth=[1.059, -0.003, 0.697] + !! OVERLAP: nightstand <-> floor depth=[0.485, -0.003, 0.397] + !! OVERLAP: chair <-> bed depth=[0.463, 0.486, 0.554] + !! OVERLAP: chair <-> floor depth=[1.300, -0.003, 0.554] + !! OVERLAP: bed <-> nightstand depth=[0.563, 0.719, 0.156] + !! OVERLAP: bed <-> floor depth=[1.930, -0.003, 2.143] + !! OVERLAP: nightstand <-> floor depth=[0.563, -0.003, 0.463] + !! OVERLAP: chair <-> floor depth=[0.520, -0.003, 0.587] +============================================================ + + +============================================================ +SCENE: MasterBedroom-9302 | 7 objects +============================================================ +Final Step Collision Loss: 0.0046, Room Outer Loss: 0.0062, Walkable Loss: 0.0000, Relational Loss: 0.0000 +Guided Steps: 10/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +bed 2.070 1.275 2.295 -0.110 0.001 0.891 179.99° +nightstand 0.448 0.513 0.404 1.599 0.002 1.537 179.78° +nightstand 0.529 0.535 0.337 -1.394 0.001 1.630 179.93° +table 0.769 1.065 0.490 1.379 0.000 -1.191 0.08° +chair 0.643 0.473 0.526 -0.094 0.001 -0.551 -0.11° +floor 3.741 -0.001 3.960 -0.027 0.000 0.042 -0.03° +_scene_ 0.072 0.003 0.023 -5.666 -0.004 -5.708 -57.30° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bed <-> nightstand depth=[0.015, 0.535, 0.337] + !! OVERLAP: bed <-> floor depth=[2.070, -0.001, 2.278] + !! OVERLAP: nightstand <-> floor depth=[0.448, -0.001, 0.404] + !! OVERLAP: nightstand <-> floor depth=[0.529, -0.001, 0.337] + !! OVERLAP: table <-> floor depth=[0.769, -0.001, 0.490] + !! OVERLAP: chair <-> floor depth=[0.643, -0.001, 0.526] +============================================================ + + +============================================================ +SCENE: MasterBedroom-3151 | 5 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0000, Walkable Loss: 0.0000, Relational Loss: 0.0000 +Guided Steps: 10/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +bed 2.000 1.254 2.483 0.208 0.002 0.271 -89.99° +nightstand 0.471 0.491 0.391 1.165 0.001 -1.054 -90.16° +lamp 0.747 0.965 0.756 0.077 1.782 0.140 -0.00° +floor 3.002 -0.003 3.676 -0.007 0.001 0.004 -0.02° +_scene_ 0.069 0.000 0.021 -5.669 -0.005 -5.716 -57.32° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bed <-> nightstand depth=[0.278, 0.491, 0.112] + !! OVERLAP: bed <-> floor depth=[2.000, -0.003, 2.483] + !! OVERLAP: nightstand <-> floor depth=[0.471, -0.003, 0.391] +============================================================ + + +============================================================ +SCENE: SecondBedroom-13281 | 9 objects +============================================================ +Final Step Collision Loss: 0.0043, Room Outer Loss: 0.0000, Walkable Loss: 0.0000, Relational Loss: 0.0000 +Guided Steps: 10/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +bed 2.269 1.181 2.228 -0.159 0.001 0.699 179.99° +wardrobe 2.061 2.396 0.632 0.844 -0.001 -1.060 0.03° +nightstand 0.567 0.521 0.516 1.651 0.001 1.715 179.94° +nightstand 0.481 0.528 0.366 -1.341 0.000 1.638 179.92° +lamp 0.419 1.002 0.396 -1.080 1.528 1.501 0.06° +lamp 0.622 0.718 0.617 1.507 1.622 1.599 -0.03° +lamp 0.933 0.898 0.931 0.060 1.842 0.236 0.01° +floor 3.808 0.000 3.930 -0.011 0.001 -0.031 -0.02° +_scene_ 0.068 0.000 0.023 -5.670 -0.005 -5.719 -57.28° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bed <-> nightstand depth=[0.193, 0.528, 0.359] + !! OVERLAP: bed <-> floor depth=[2.269, 0.000, 2.228] + !! OVERLAP: wardrobe <-> floor depth=[2.061, 0.000, 0.632] + !! OVERLAP: nightstand <-> floor depth=[0.526, 0.000, 0.477] + !! OVERLAP: nightstand <-> floor depth=[0.481, 0.000, 0.366] +============================================================ + + +============================================================ +SCENE: MasterBedroom-74105 | 8 objects +============================================================ +Final Step Collision Loss: 0.0055, Room Outer Loss: 0.3050, Walkable Loss: 0.0000, Relational Loss: 0.0000 +Guided Steps: 10/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +nightstand 0.426 0.520 0.377 1.306 -0.000 0.804 -90.01° +nightstand 0.560 0.549 0.576 1.212 0.000 -1.385 -90.17° +bed 1.626 0.995 2.451 0.344 -0.001 -0.183 -90.01° +bookshelf 1.158 1.682 0.318 -1.150 0.001 -1.105 89.98° +wardrobe 2.012 2.393 0.656 0.392 -0.000 1.262 -179.96° +lamp 0.929 0.896 0.915 -0.030 1.707 -0.130 0.01° +floor 3.001 0.000 3.563 -0.001 0.000 0.010 0.01° +_scene_ 0.069 0.000 0.018 -5.672 -0.005 -5.715 -57.29° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: nightstand <-> bed depth=[0.064, 0.520, 0.377] + !! OVERLAP: nightstand <-> wardrobe depth=[0.305, 0.520, 0.059] + !! OVERLAP: nightstand <-> floor depth=[0.406, 0.000, 0.377] + !! OVERLAP: nightstand <-> bed depth=[0.225, 0.549, 0.311] + !! OVERLAP: nightstand <-> floor depth=[0.560, 0.000, 0.576] + !! OVERLAP: bed <-> wardrobe depth=[1.626, 0.995, 0.109] + !! OVERLAP: bed <-> floor depth=[1.626, 0.000, 2.451] + !! OVERLAP: bookshelf <-> floor depth=[0.931, 0.000, 0.318] + !! OVERLAP: wardrobe <-> floor depth=[2.012, 0.000, 0.656] +============================================================ + + +============================================================ +SCENE: Bedroom-837 | 6 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.6495, Walkable Loss: 0.0000, Relational Loss: 0.0000 +Guided Steps: 10/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +bed 2.095 0.671 2.054 0.106 -0.000 -0.223 0.03° +wardrobe 2.676 2.164 0.547 -1.184 0.000 -0.421 89.97° +nightstand 0.543 0.478 0.405 1.503 0.001 -1.150 -0.03° +lamp 0.467 0.174 0.564 0.192 2.397 -0.080 -0.11° +floor 3.824 0.000 2.770 -0.002 -0.000 -0.013 -0.02° +_scene_ 0.066 0.000 0.016 -5.672 -0.005 -5.714 -57.28° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bed <-> wardrobe depth=[1.095, 0.671, 0.547] + !! OVERLAP: bed <-> floor depth=[2.095, 0.000, 2.054] + !! OVERLAP: wardrobe <-> floor depth=[2.068, 0.000, 0.547] + !! OVERLAP: nightstand <-> floor depth=[0.543, 0.000, 0.405] +============================================================ + + +============================================================ +SCENE: SecondBedroom-24075 | 6 objects +============================================================ +Final Step Collision Loss: 0.0004, Room Outer Loss: 0.0158, Walkable Loss: 0.0000, Relational Loss: 0.0000 +Guided Steps: 10/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +bed 1.941 1.562 2.220 -0.077 0.000 0.374 -179.90° +nightstand 0.479 0.504 0.347 -1.226 0.002 1.401 179.88° +nightstand 0.458 0.628 0.364 1.176 0.002 1.296 179.96° +lamp 0.604 0.718 0.604 0.030 2.083 -0.011 -0.00° +floor 3.532 -0.005 3.128 0.032 0.001 0.000 -0.01° +_scene_ 0.067 0.001 0.015 -5.669 -0.004 -5.709 -57.30° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bed <-> nightstand depth=[0.061, 0.504, 0.257] + !! OVERLAP: bed <-> floor depth=[1.941, -0.005, 2.220] + !! OVERLAP: nightstand <-> floor depth=[0.479, -0.005, 0.336] + !! OVERLAP: nightstand <-> floor depth=[0.458, -0.005, 0.364] +============================================================ + + +============================================================ +SCENE: Bedroom-22570 | 7 objects +============================================================ +Final Step Collision Loss: 0.0185, Room Outer Loss: 1.2872, Walkable Loss: 0.0000, Relational Loss: 0.0000 +Guided Steps: 10/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +bed 1.857 0.942 2.121 0.318 0.001 0.567 -179.95° +nightstand 0.427 0.512 0.307 -1.019 0.002 1.409 179.91° +nightstand 0.655 0.538 0.443 1.604 0.003 1.371 -179.93° +lamp 0.650 0.701 0.659 0.189 1.955 0.166 -0.04° +wardrobe 3.880 2.413 0.790 -1.211 0.003 -0.539 89.97° +floor 4.102 -0.003 3.293 -0.045 0.000 -0.011 -0.04° +_scene_ 0.071 -0.000 0.022 -5.676 -0.005 -5.715 -57.28° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bed <-> wardrobe depth=[1.339, 0.942, 0.349] + !! OVERLAP: bed <-> floor depth=[1.857, -0.003, 2.121] + !! OVERLAP: nightstand <-> floor depth=[0.427, -0.003, 0.307] + !! OVERLAP: nightstand <-> floor depth=[0.655, -0.003, 0.443] + !! OVERLAP: wardrobe <-> floor depth=[2.825, -0.003, 0.790] +============================================================ + + +============================================================ +SCENE: MasterBedroom-40255 | 8 objects +============================================================ +Final Step Collision Loss: 0.0005, Room Outer Loss: 0.1866, Walkable Loss: 0.0000, Relational Loss: 0.0000 +Guided Steps: 10/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +wardrobe 1.024 2.160 0.516 1.175 0.001 -2.099 0.07° +wardrobe 1.424 2.228 0.566 -0.807 -0.001 -1.617 0.00° +bed 1.819 1.142 2.037 -0.538 -0.000 0.243 89.85° +nightstand 0.437 0.533 0.392 -1.335 0.001 1.522 89.89° +nightstand 0.541 0.510 0.477 -1.303 0.000 -0.927 89.96° +lamp 0.596 0.911 0.594 -0.103 1.741 0.124 -0.00° +floor 3.458 0.001 4.770 0.196 -0.000 0.004 -0.02° +_scene_ 0.070 0.001 0.026 -5.675 -0.005 -5.715 -57.29° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: wardrobe <-> floor depth=[1.024, 0.001, 0.516] + !! OVERLAP: wardrobe <-> floor depth=[1.424, 0.001, 0.566] + !! OVERLAP: bed <-> nightstand depth=[0.415, 0.510, 0.087] + !! OVERLAP: bed <-> floor depth=[1.819, 0.001, 2.037] + !! OVERLAP: nightstand <-> floor depth=[0.417, 0.001, 0.392] + !! OVERLAP: nightstand <-> floor depth=[0.501, 0.001, 0.477] +============================================================ + + +============================================================ +SCENE: SecondBedroom-9594 | 8 objects +============================================================ +Final Step Collision Loss: 0.0307, Room Outer Loss: 0.7409, Walkable Loss: 0.0000, Relational Loss: 0.0000 +Guided Steps: 10/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +desk 1.307 0.702 0.616 -1.326 -0.001 -1.051 89.96° +bed 2.070 1.098 2.190 0.583 0.000 -0.629 -89.99° +wardrobe 2.734 2.166 0.697 0.312 0.004 1.273 179.97° +nightstand 1.000 0.779 0.447 1.536 0.001 0.536 -90.02° +chair 0.422 0.938 0.493 -0.847 0.001 -0.893 -90.16° +lamp 0.665 0.106 0.810 0.140 2.510 -0.245 -0.11° +floor 3.413 -0.000 3.545 -0.005 0.001 0.006 -0.00° +_scene_ 0.087 0.003 0.030 -5.667 -0.004 -5.705 -57.30° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: desk <-> chair depth=[0.385, 0.702, 0.396] + !! OVERLAP: desk <-> floor depth=[1.039, -0.000, 0.616] + !! OVERLAP: bed <-> nightstand depth=[0.581, 0.779, 0.153] + !! OVERLAP: bed <-> floor depth=[2.070, -0.000, 2.190] + !! OVERLAP: wardrobe <-> floor depth=[2.734, -0.000, 0.697] + !! OVERLAP: nightstand <-> floor depth=[0.666, -0.000, 0.447] + !! OVERLAP: chair <-> floor depth=[0.422, -0.000, 0.493] +============================================================ + + +============================================================ +SCENE: MasterBedroom-18517 | 12 objects +============================================================ +Final Step Collision Loss: 0.0101, Room Outer Loss: 0.3150, Walkable Loss: 0.0000, Relational Loss: 0.0000 +Guided Steps: 10/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +bed 1.929 0.970 2.216 -0.115 0.001 0.389 -179.99° +nightstand 0.591 0.702 0.565 0.987 0.001 1.213 -179.98° +nightstand 0.635 0.685 0.461 -1.440 0.003 1.283 179.92° +wardrobe 2.049 2.537 0.446 -1.697 0.001 0.493 89.91° +chair 0.482 0.765 0.628 2.082 -0.000 -1.364 -31.92° +table 0.480 0.473 0.497 1.817 -0.001 -0.592 -0.07° +cabinet 0.696 1.220 0.357 1.963 0.000 1.169 -180.00° +lamp 0.838 1.135 0.818 -0.074 1.750 -0.479 -0.03° +lamp 0.174 1.001 0.131 -1.135 1.706 1.251 0.05° +lamp 0.156 0.847 0.177 1.095 1.629 0.889 89.57° +floor 5.009 -0.003 3.418 -0.050 -0.000 -0.001 -0.04° +_scene_ 0.069 -0.000 0.020 -5.673 -0.005 -5.716 -57.29° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bed <-> nightstand depth=[0.158, 0.702, 0.565] + !! OVERLAP: bed <-> wardrobe depth=[0.408, 0.970, 0.446] + !! OVERLAP: bed <-> floor depth=[1.929, -0.003, 2.216] + !! OVERLAP: nightstand <-> floor depth=[0.591, -0.003, 0.565] + !! OVERLAP: nightstand <-> floor depth=[0.635, -0.003, 0.461] + !! OVERLAP: wardrobe <-> floor depth=[1.882, -0.003, 0.446] + !! OVERLAP: chair <-> floor depth=[0.482, -0.003, 0.628] + !! OVERLAP: table <-> floor depth=[0.480, -0.003, 0.497] + !! OVERLAP: cabinet <-> floor depth=[0.696, -0.003, 0.357] +============================================================ + + +============================================================ +SCENE: MasterBedroom-116808 | 6 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0000, Walkable Loss: 0.0000, Relational Loss: 0.0000 +Guided Steps: 10/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +bed 1.871 1.122 2.514 -0.058 0.001 0.067 89.84° +nightstand 0.519 0.685 0.437 -1.059 0.003 1.398 89.99° +lamp 1.118 0.943 1.122 0.095 1.585 0.219 -0.00° +wardrobe 2.101 2.384 0.611 -0.112 -0.000 -1.124 0.01° +floor 2.616 0.001 3.162 0.030 0.001 -0.047 -0.03° +_scene_ 0.068 0.001 0.020 -5.670 -0.005 -5.715 -57.30° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bed <-> nightstand depth=[0.193, 0.685, 0.145] + !! OVERLAP: bed <-> wardrobe depth=[1.871, 1.122, 0.371] + !! OVERLAP: bed <-> floor depth=[1.871, 0.001, 2.514] + !! OVERLAP: nightstand <-> floor depth=[0.478, 0.001, 0.355] + !! OVERLAP: wardrobe <-> floor depth=[2.101, 0.001, 0.611] +============================================================ + + +============================================================ +SCENE: MasterBedroom-34912 | 9 objects +============================================================ +Final Step Collision Loss: 0.0161, Room Outer Loss: 0.6250, Walkable Loss: 0.0000, Relational Loss: 0.0000 +Guided Steps: 10/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +table 0.962 1.189 0.417 -2.291 -0.001 -1.308 0.02° +nightstand 0.517 0.686 0.463 0.686 0.001 -1.319 0.05° +chair 0.481 0.505 0.465 -1.911 -0.001 -0.670 -89.98° +bed 2.174 1.505 2.288 -0.704 0.000 -0.293 0.02° +cabinet 0.698 0.873 0.425 -2.014 0.002 1.344 179.97° +lamp 0.751 0.847 0.726 -0.904 1.949 0.069 -0.04° +wardrobe 2.407 2.314 0.504 1.034 0.000 0.278 -90.13° +floor 5.580 -0.001 2.962 -0.483 0.002 0.180 0.00° +_scene_ 0.068 0.002 0.027 -5.669 -0.004 -5.714 -57.29° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: table <-> floor depth=[0.962, -0.001, 0.202] + !! OVERLAP: nightstand <-> floor depth=[0.517, -0.001, 0.213] + !! OVERLAP: chair <-> bed depth=[0.121, 0.505, 0.465] + !! OVERLAP: chair <-> floor depth=[0.481, -0.001, 0.465] + !! OVERLAP: bed <-> wardrobe depth=[0.552, 1.505, 0.504] + !! OVERLAP: bed <-> floor depth=[2.174, -0.001, 2.152] + !! OVERLAP: cabinet <-> floor depth=[0.698, -0.001, 0.425] + !! OVERLAP: wardrobe <-> floor depth=[2.407, -0.001, 0.504] +============================================================ + + +============================================================ +SCENE: SecondBedroom-3960 | 6 objects +============================================================ +Final Step Collision Loss: 0.0398, Room Outer Loss: 0.2151, Walkable Loss: 0.0000, Relational Loss: 0.0000 +Guided Steps: 10/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +bed 2.577 1.524 2.733 -0.064 -0.003 -0.268 89.87° +nightstand 0.373 0.450 0.302 -1.219 0.002 1.201 89.97° +nightstand 0.455 0.493 0.325 -1.348 0.001 -1.577 90.04° +wardrobe 0.866 2.106 0.517 -0.020 0.002 1.915 -179.97° +floor 3.055 -0.003 3.888 -0.016 0.001 -0.029 -0.01° +_scene_ 0.068 0.001 0.021 -5.672 -0.005 -5.708 -57.31° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bed <-> nightstand depth=[0.321, 0.450, 0.048] + !! OVERLAP: bed <-> nightstand depth=[0.232, 0.493, 0.220] + !! OVERLAP: bed <-> floor depth=[2.577, -0.003, 2.733] + !! OVERLAP: nightstand <-> floor depth=[0.373, -0.003, 0.302] + !! OVERLAP: nightstand <-> floor depth=[0.423, -0.003, 0.325] + !! OVERLAP: wardrobe <-> floor depth=[0.866, -0.003, 0.258] +============================================================ + + +============================================================ +SCENE: MasterBedroom-17206 | 10 objects +============================================================ +Final Step Collision Loss: 0.0128, Room Outer Loss: 0.7089, Walkable Loss: 0.0000, Relational Loss: 0.0000 +Guided Steps: 10/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +bed 2.031 1.675 2.235 0.576 -0.000 0.266 -89.99° +nightstand 0.566 0.594 0.554 1.424 0.001 1.482 -90.01° +wardrobe 1.710 2.301 0.588 0.524 -0.002 -2.174 0.01° +chair 0.534 0.536 0.524 -1.139 0.001 1.466 90.01° +table 0.925 1.290 0.515 -1.522 -0.001 1.545 89.99° +nightstand 0.462 0.596 0.450 1.465 0.000 -1.040 -89.99° +lamp 0.798 1.029 0.750 0.007 1.810 0.246 0.03° +tv_stand 1.790 0.534 0.434 -1.336 0.002 -0.098 90.10° +floor 3.446 -0.001 5.029 0.004 0.000 -0.004 -0.04° +_scene_ 0.070 0.000 0.021 -5.669 -0.005 -5.714 -57.28° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bed <-> nightstand depth=[0.450, 0.594, 0.179] + !! OVERLAP: bed <-> nightstand depth=[0.358, 0.596, 0.037] + !! OVERLAP: bed <-> floor depth=[2.031, -0.001, 2.235] + !! OVERLAP: nightstand <-> floor depth=[0.566, -0.001, 0.554] + !! OVERLAP: wardrobe <-> floor depth=[1.710, -0.001, 0.588] + !! OVERLAP: chair <-> table depth=[0.347, 0.536, 0.441] + !! OVERLAP: chair <-> floor depth=[0.534, -0.001, 0.524] + !! OVERLAP: table <-> floor depth=[0.659, -0.001, 0.515] + !! OVERLAP: nightstand <-> floor depth=[0.462, -0.001, 0.450] + !! OVERLAP: tv_stand <-> floor depth=[1.278, -0.001, 0.434] +============================================================ + + +============================================================ +SCENE: MasterBedroom-109561 | 8 objects +============================================================ +Final Step Collision Loss: 0.0134, Room Outer Loss: 0.2875, Walkable Loss: 0.0000, Relational Loss: 0.0000 +Guided Steps: 10/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +bed 1.957 1.012 2.454 -0.371 0.000 -0.533 0.00° +lamp 1.060 0.895 1.030 -0.163 1.875 -0.058 -0.01° +tv_stand 1.850 0.498 0.422 -0.263 0.000 1.738 179.91° +chair 0.528 0.808 0.517 -1.433 0.003 1.509 11.79° +nightstand 0.519 0.782 0.552 -1.426 0.000 -1.705 -0.01° +wardrobe 1.470 2.291 0.611 1.112 -0.000 -0.110 -90.07° +floor 3.779 -0.002 4.255 -0.049 -0.000 0.054 -0.05° +_scene_ 0.071 -0.001 0.024 -5.673 -0.005 -5.716 -57.30° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bed <-> nightstand depth=[0.183, 0.782, 0.331] + !! OVERLAP: bed <-> wardrobe depth=[0.231, 1.012, 0.611] + !! OVERLAP: bed <-> floor depth=[1.957, -0.002, 2.454] + !! OVERLAP: tv_stand <-> chair depth=[0.018, 0.498, 0.241] + !! OVERLAP: tv_stand <-> floor depth=[1.850, -0.002, 0.422] + !! OVERLAP: chair <-> floor depth=[0.528, -0.002, 0.517] + !! OVERLAP: nightstand <-> floor depth=[0.519, -0.002, 0.552] + !! OVERLAP: wardrobe <-> floor depth=[1.464, -0.002, 0.611] +============================================================ + + +============================================================ +SCENE: SecondBedroom-30334 | 11 objects +============================================================ +Final Step Collision Loss: 0.0963, Room Outer Loss: 0.9346, Walkable Loss: 0.0000, Relational Loss: 0.0000 +Guided Steps: 10/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +bed 2.047 0.930 2.220 0.204 -0.000 0.231 179.96° +wardrobe 1.906 2.383 0.543 2.182 -0.001 0.127 -90.03° +wardrobe 2.029 2.425 0.616 2.066 -0.001 0.043 -90.00° +nightstand 0.464 0.592 0.341 1.335 0.002 1.185 179.95° +nightstand 0.498 0.696 0.391 -1.571 0.001 1.215 179.90° +chair 1.065 1.071 1.195 -2.012 0.008 -0.171 37.81° +table 0.760 0.523 0.571 -1.593 0.001 -0.614 -0.11° +lamp 0.469 0.799 0.379 -1.848 1.602 -0.105 0.03° +lamp 0.725 0.927 0.737 0.055 2.068 -0.052 -0.02° +floor 5.358 -0.002 2.834 0.087 -0.002 0.015 -0.06° +_scene_ 0.072 0.000 0.025 -5.672 -0.005 -5.712 -57.31° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bed <-> wardrobe depth=[0.175, 0.930, 0.616] + !! OVERLAP: bed <-> nightstand depth=[0.124, 0.592, 0.327] + !! OVERLAP: bed <-> floor depth=[2.047, -0.002, 2.220] + !! OVERLAP: wardrobe <-> wardrobe depth=[1.852, 2.383, 0.496] + !! OVERLAP: wardrobe <-> floor depth=[1.537, -0.002, 0.543] + !! OVERLAP: wardrobe <-> floor depth=[1.714, -0.002, 0.616] + !! OVERLAP: nightstand <-> floor depth=[0.464, -0.002, 0.341] + !! OVERLAP: nightstand <-> floor depth=[0.498, -0.002, 0.391] + !! OVERLAP: chair <-> table depth=[0.493, 0.523, 0.441] + !! OVERLAP: chair <-> floor depth=[1.065, -0.002, 1.195] + !! OVERLAP: table <-> floor depth=[0.760, -0.002, 0.571] +============================================================ + + +============================================================ +SCENE: Bedroom-54233 | 9 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.1383, Walkable Loss: 0.0000, Relational Loss: 0.0000 +Guided Steps: 10/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +wardrobe 1.129 1.572 0.514 0.576 -0.001 -2.373 0.02° +bed 1.660 1.048 2.125 0.210 -0.000 -0.037 -90.01° +nightstand 0.608 0.459 0.538 1.125 -0.001 -1.226 -89.82° +nightstand 0.410 0.429 0.341 1.216 -0.001 1.446 -90.12° +table 1.115 1.421 0.558 -0.944 -0.007 1.691 89.80° +chair 0.394 0.519 0.409 -0.078 0.005 2.067 -109.09° +lamp 0.708 0.144 0.706 0.060 2.421 0.269 -0.00° +floor 2.792 0.001 5.638 -0.006 -0.001 0.111 -0.02° +_scene_ 0.072 0.001 0.021 -5.666 -0.004 -5.709 -57.33° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: wardrobe <-> floor depth=[1.129, 0.001, 0.514] + !! OVERLAP: bed <-> nightstand depth=[0.220, 0.459, 0.143] + !! OVERLAP: bed <-> floor depth=[1.660, 0.001, 2.125] + !! OVERLAP: nightstand <-> floor depth=[0.570, 0.001, 0.538] + !! OVERLAP: nightstand <-> floor depth=[0.378, 0.001, 0.341] + !! OVERLAP: table <-> floor depth=[1.015, 0.001, 0.558] + !! OVERLAP: chair <-> floor depth=[0.394, 0.001, 0.409] +============================================================ + + +============================================================ +SCENE: Bedroom-17102 | 6 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0000, Walkable Loss: 0.0000, Relational Loss: 0.0000 +Guided Steps: 10/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +bed 1.881 1.480 2.389 -0.329 0.000 0.059 89.64° +table 0.548 0.618 0.558 -1.245 0.000 1.398 0.00° +lamp 0.552 0.741 0.543 -0.002 2.026 0.141 -0.02° +wardrobe 1.861 2.385 0.576 -0.448 -0.002 -1.760 0.02° +floor 3.181 -0.002 4.235 -0.030 0.000 -0.020 -0.01° +_scene_ 0.074 0.001 0.020 -5.671 -0.005 -5.716 -57.30° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bed <-> table depth=[0.298, 0.618, 0.134] + !! OVERLAP: bed <-> floor depth=[1.881, -0.002, 2.389] + !! OVERLAP: table <-> floor depth=[0.548, -0.002, 0.558] + !! OVERLAP: wardrobe <-> floor depth=[1.861, -0.002, 0.576] +============================================================ + + +============================================================ +SCENE: MasterBedroom-40319 | 10 objects +============================================================ +Final Step Collision Loss: 0.0128, Room Outer Loss: 0.3984, Walkable Loss: 0.0000, Relational Loss: 0.0000 +Guided Steps: 10/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +wardrobe 1.787 2.420 0.602 -1.461 0.001 -0.720 89.99° +lamp 0.508 0.689 0.262 -1.053 1.643 -1.344 -0.04° +lamp 0.302 0.887 0.264 1.587 1.473 -1.407 0.05° +lamp 0.735 0.780 0.747 0.051 1.882 -0.188 -0.02° +table 1.051 1.226 0.408 1.315 0.001 1.318 -179.99° +bed 1.871 1.075 2.120 0.015 0.003 -0.561 0.05° +nightstand 0.443 0.455 0.346 1.458 0.001 -1.483 -0.01° +nightstand 0.403 0.498 0.347 -1.181 0.003 -1.471 -0.01° +floor 4.067 -0.001 3.272 -0.030 0.001 0.002 -0.05° +_scene_ 0.072 0.000 0.020 -5.675 -0.005 -5.714 -57.31° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: wardrobe <-> bed depth=[0.353, 1.075, 0.602] + !! OVERLAP: wardrobe <-> floor depth=[1.496, -0.001, 0.602] + !! OVERLAP: table <-> floor depth=[1.051, -0.001, 0.408] + !! OVERLAP: bed <-> floor depth=[1.871, -0.001, 2.120] + !! OVERLAP: nightstand <-> floor depth=[0.443, -0.001, 0.324] + !! OVERLAP: nightstand <-> floor depth=[0.403, -0.001, 0.337] +============================================================ + + +============================================================ +SCENE: MasterBedroom-28978 | 9 objects +============================================================ +Final Step Collision Loss: 0.0635, Room Outer Loss: 0.3564, Walkable Loss: 0.0000, Relational Loss: 0.0000 +Guided Steps: 10/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +nightstand 0.428 0.513 0.468 1.305 0.001 -1.281 -90.05° +bookshelf 1.315 1.934 0.326 -0.060 -0.001 -1.479 0.02° +wardrobe 2.403 2.285 0.584 0.198 0.002 1.461 -179.95° +chair 0.486 0.932 0.460 -0.323 0.003 -1.046 -112.17° +desk 1.066 0.798 0.541 -1.384 -0.001 1.100 90.07° +bed 2.282 1.244 2.300 0.127 0.002 -0.185 -89.90° +lamp 0.742 0.524 0.713 -0.114 2.315 0.096 0.01° +floor 3.314 -0.001 3.600 -0.006 -0.001 0.008 -0.01° +_scene_ 0.068 -0.000 0.023 -5.673 -0.005 -5.716 -57.29° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: nightstand <-> bed depth=[0.177, 0.513, 0.288] + !! OVERLAP: nightstand <-> floor depth=[0.428, -0.001, 0.468] + !! OVERLAP: bookshelf <-> bed depth=[1.315, 1.244, 0.019] + !! OVERLAP: bookshelf <-> floor depth=[1.315, -0.001, 0.326] + !! OVERLAP: wardrobe <-> desk depth=[0.153, 0.798, 0.202] + !! OVERLAP: wardrobe <-> floor depth=[2.403, -0.001, 0.584] + !! OVERLAP: chair <-> bed depth=[0.486, 0.932, 0.460] + !! OVERLAP: chair <-> floor depth=[0.486, -0.001, 0.460] + !! OVERLAP: desk <-> bed depth=[0.163, 0.798, 0.135] + !! OVERLAP: desk <-> floor depth=[0.812, -0.001, 0.541] + !! OVERLAP: bed <-> floor depth=[2.282, -0.001, 2.300] +============================================================ + + +============================================================ +SCENE: MasterBedroom-392 | 9 objects +============================================================ +Final Step Collision Loss: 0.0342, Room Outer Loss: 0.4315, Walkable Loss: 0.0000, Relational Loss: 0.0000 +Guided Steps: 10/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +wardrobe 2.405 2.351 0.512 -0.256 -0.002 -1.844 0.10° +nightstand 0.645 0.590 0.531 -1.109 0.003 -0.953 89.87° +nightstand 0.607 0.547 0.430 -0.529 0.003 -0.547 89.96° +nightstand 0.551 0.601 0.504 -1.359 0.000 1.733 89.94° +bed 2.031 1.008 2.230 -0.495 -0.000 0.453 89.98° +bookshelf 0.962 2.112 0.440 1.392 0.000 1.399 -90.06° +lamp 0.596 0.904 0.592 -0.001 1.696 0.400 -0.00° +floor 3.062 -0.002 5.015 -0.022 -0.000 0.174 0.01° +_scene_ 0.068 -0.000 0.021 -5.671 -0.005 -5.710 -57.31° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: wardrobe <-> floor depth=[2.405, -0.002, 0.512] + !! OVERLAP: nightstand <-> nightstand depth=[0.046, 0.547, 0.075] + !! OVERLAP: nightstand <-> floor depth=[0.645, -0.002, 0.531] + !! OVERLAP: nightstand <-> bed depth=[0.607, 0.547, 0.330] + !! OVERLAP: nightstand <-> floor depth=[0.607, -0.002, 0.430] + !! OVERLAP: nightstand <-> bed depth=[0.427, 0.601, 0.087] + !! OVERLAP: nightstand <-> floor depth=[0.469, -0.002, 0.504] + !! OVERLAP: bed <-> floor depth=[2.031, -0.002, 2.230] + !! OVERLAP: bookshelf <-> floor depth=[0.598, -0.002, 0.440] +============================================================ + + +============================================================ +SCENE: MasterBedroom-3712 | 6 objects +============================================================ +Final Step Collision Loss: 0.0610, Room Outer Loss: 0.1878, Walkable Loss: 0.0000, Relational Loss: 0.0000 +Guided Steps: 10/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +lamp 0.589 0.642 0.601 0.209 2.086 -0.231 -0.06° +desk 1.550 0.727 0.967 0.858 -0.001 -0.305 0.10° +chair 0.569 0.851 0.526 0.642 0.001 -0.979 153.62° +bed 1.833 1.178 2.179 -0.808 -0.002 -0.096 0.08° +floor 3.134 0.000 2.767 0.030 0.000 -0.026 -0.04° +_scene_ 0.065 0.001 0.021 -5.669 -0.005 -5.716 -57.29° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: desk <-> chair depth=[0.569, 0.727, 0.072] + !! OVERLAP: desk <-> bed depth=[0.025, 0.727, 0.967] + !! OVERLAP: desk <-> floor depth=[1.514, 0.000, 0.967] + !! OVERLAP: chair <-> floor depth=[0.569, 0.000, 0.526] + !! OVERLAP: bed <-> floor depth=[1.645, 0.000, 2.179] +============================================================ + + +============================================================ +SCENE: MasterBedroom-1446 | 9 objects +============================================================ +Final Step Collision Loss: 0.0237, Room Outer Loss: 0.0929, Walkable Loss: 0.0000, Relational Loss: 0.0000 +Guided Steps: 10/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +bed 1.910 0.852 1.960 1.179 0.002 0.972 179.96° +nightstand 0.340 0.543 0.327 2.213 0.001 1.799 -90.10° +wardrobe 1.513 2.034 0.564 -1.594 -0.000 -1.395 0.02° +lamp 0.391 0.914 0.377 0.448 1.779 0.543 -0.03° +chair 0.622 0.900 0.675 -0.976 -0.002 1.883 143.30° +chair 0.677 0.887 0.740 -1.513 0.000 1.657 144.38° +chair 0.821 0.395 0.515 2.215 0.000 -0.419 179.91° +floor 5.119 -0.005 4.675 0.351 0.000 0.059 -0.03° +_scene_ 0.064 0.001 0.021 -5.676 -0.005 -5.717 -57.29° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bed <-> nightstand depth=[0.091, 0.543, 0.316] + !! OVERLAP: bed <-> floor depth=[1.910, -0.005, 1.960] + !! OVERLAP: nightstand <-> floor depth=[0.340, -0.005, 0.327] + !! OVERLAP: wardrobe <-> floor depth=[1.371, -0.005, 0.564] + !! OVERLAP: chair <-> chair depth=[0.113, 0.887, 0.481] + !! OVERLAP: chair <-> floor depth=[0.622, -0.005, 0.675] + !! OVERLAP: chair <-> floor depth=[0.677, -0.005, 0.740] + !! OVERLAP: chair <-> floor depth=[0.821, -0.005, 0.515] +============================================================ + + +============================================================ +SCENE: SecondBedroom-6847 | 8 objects +============================================================ +Final Step Collision Loss: 0.0335, Room Outer Loss: 0.5412, Walkable Loss: 0.0000, Relational Loss: 0.0000 +Guided Steps: 10/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +bed 1.974 1.206 2.280 0.365 0.000 -0.363 -90.00° +cabinet 1.465 2.163 0.572 0.797 0.001 1.300 -179.98° +nightstand 0.523 0.621 0.413 1.331 -0.001 0.586 -89.89° +nightstand 0.607 0.659 0.482 1.295 0.001 -1.427 -90.01° +cabinet 1.393 1.899 0.488 -1.350 -0.001 -0.868 89.89° +lamp 0.296 1.421 0.260 -0.149 1.184 -0.292 0.02° +floor 3.173 -0.003 3.559 -0.005 0.001 0.005 -0.01° +_scene_ 0.067 0.001 0.019 -5.677 -0.004 -5.715 -57.30° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bed <-> nightstand depth=[0.282, 0.621, 0.397] + !! OVERLAP: bed <-> nightstand depth=[0.360, 0.659, 0.317] + !! OVERLAP: bed <-> lamp depth=[0.296, 0.129, 0.260] + !! OVERLAP: bed <-> floor depth=[1.974, -0.003, 2.280] + !! OVERLAP: cabinet <-> floor depth=[1.465, -0.003, 0.572] + !! OVERLAP: nightstand <-> floor depth=[0.512, -0.003, 0.413] + !! OVERLAP: nightstand <-> floor depth=[0.590, -0.003, 0.482] + !! OVERLAP: cabinet <-> floor depth=[0.938, -0.003, 0.488] +============================================================ + + +============================================================ +SCENE: MasterBedroom-12183 | 8 objects +============================================================ +Final Step Collision Loss: 0.0058, Room Outer Loss: 0.0400, Walkable Loss: 0.0000, Relational Loss: 0.0000 +Guided Steps: 10/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +desk 1.681 0.819 0.856 -1.232 -0.002 -0.562 89.98° +bed 1.692 1.130 2.386 0.315 -0.000 -0.179 0.04° +nightstand 0.456 0.584 0.424 -0.683 0.002 -1.191 0.00° +nightstand 0.540 0.612 0.520 1.509 0.003 -1.119 0.07° +lamp 0.469 0.280 0.472 0.329 2.423 0.019 -0.16° +lamp 0.832 0.876 0.696 -1.503 1.993 -1.122 0.05° +floor 4.295 -0.001 3.022 0.000 -0.000 0.033 -0.03° +_scene_ 0.073 0.000 0.021 -5.672 -0.005 -5.711 -57.31° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: desk <-> bed depth=[0.141, 0.819, 0.856] + !! OVERLAP: desk <-> nightstand depth=[0.456, 0.584, 0.012] + !! OVERLAP: desk <-> floor depth=[1.681, -0.001, 0.856] + !! OVERLAP: bed <-> nightstand depth=[0.077, 0.584, 0.394] + !! OVERLAP: bed <-> floor depth=[1.692, -0.001, 2.386] + !! OVERLAP: nightstand <-> floor depth=[0.456, -0.001, 0.424] + !! OVERLAP: nightstand <-> floor depth=[0.540, -0.001, 0.520] +============================================================ + + +============================================================ +SCENE: Bedroom-8136 | 5 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0000, Walkable Loss: 0.0000, Relational Loss: 0.0000 +Guided Steps: 10/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +bed 1.989 1.122 2.332 0.075 0.001 -0.249 -90.02° +wardrobe 2.641 2.493 0.744 -0.203 0.002 1.579 -179.96° +lamp 0.551 0.720 0.563 -0.048 1.974 -0.107 0.00° +floor 3.127 -0.001 3.998 -0.027 0.001 -0.001 -0.02° +_scene_ 0.052 -0.000 0.012 -5.681 -0.005 -5.715 -57.36° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bed <-> floor depth=[1.989, -0.001, 2.332] + !! OVERLAP: wardrobe <-> floor depth=[2.641, -0.001, 0.744] +============================================================ + + +============================================================ +SCENE: MasterBedroom-24714 | 7 objects +============================================================ +Final Step Collision Loss: 0.0132, Room Outer Loss: 0.5594, Walkable Loss: 0.0000, Relational Loss: 0.0000 +Guided Steps: 10/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +wardrobe 1.987 2.405 0.662 0.193 -0.000 -1.483 0.03° +bed 2.414 1.266 2.416 0.290 -0.001 0.380 -89.96° +tv_stand 1.814 0.493 0.451 -1.243 -0.000 0.627 90.01° +nightstand 0.515 0.642 0.392 1.341 0.000 -0.757 -90.21° +lamp 1.153 0.892 1.156 -0.007 1.985 0.321 0.01° +floor 3.359 -0.004 3.826 -0.006 0.000 0.041 -0.05° +_scene_ 0.068 0.000 0.020 -5.671 -0.005 -5.713 -57.32° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: wardrobe <-> floor depth=[1.987, -0.004, 0.662] + !! OVERLAP: bed <-> tv_stand depth=[0.581, 0.493, 0.451] + !! OVERLAP: bed <-> nightstand depth=[0.414, 0.642, 0.267] + !! OVERLAP: bed <-> floor depth=[2.414, -0.004, 2.416] + !! OVERLAP: tv_stand <-> floor depth=[1.349, -0.004, 0.451] + !! OVERLAP: nightstand <-> floor depth=[0.515, -0.004, 0.392] +============================================================ + + +============================================================ +SCENE: Bedroom-13858 | 7 objects +============================================================ +Final Step Collision Loss: 0.0436, Room Outer Loss: 0.0900, Walkable Loss: 0.0000, Relational Loss: 0.0000 +Guided Steps: 10/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +bed 2.403 1.341 2.465 -0.468 -0.001 -0.515 0.04° +wardrobe 1.133 2.303 0.620 1.394 0.004 -0.415 -179.79° +nightstand 0.459 0.618 0.416 1.322 0.003 -1.577 0.01° +nightstand 0.609 0.591 0.407 -1.467 0.000 -1.531 -0.00° +lamp 1.051 0.814 1.059 -0.161 2.140 -0.438 -0.04° +floor 4.057 -0.003 3.635 -0.128 -0.000 -0.035 -0.03° +_scene_ 0.072 0.000 0.026 -5.669 -0.004 -5.714 -57.29° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bed <-> nightstand depth=[0.506, 0.591, 0.407] + !! OVERLAP: bed <-> floor depth=[2.403, -0.003, 2.465] + !! OVERLAP: wardrobe <-> floor depth=[1.073, -0.003, 0.620] + !! OVERLAP: nightstand <-> floor depth=[0.459, -0.003, 0.416] + !! OVERLAP: nightstand <-> floor depth=[0.609, -0.003, 0.407] +============================================================ + + +============================================================ +SCENE: MasterBedroom-118 | 5 objects +============================================================ +Final Step Collision Loss: 0.0092, Room Outer Loss: 0.0100, Walkable Loss: 0.0000, Relational Loss: 0.0000 +Guided Steps: 10/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +bed 1.861 1.107 2.200 -0.364 -0.001 0.175 89.92° +table 0.470 0.573 0.498 -1.111 0.002 -1.112 89.96° +lamp 0.974 1.056 1.021 -0.088 1.907 0.097 0.01° +floor 2.647 -0.002 3.423 -0.011 0.000 -0.031 -0.06° +_scene_ 0.070 0.001 0.046 -5.665 -0.004 -5.711 -57.30° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bed <-> table depth=[0.419, 0.573, 0.062] + !! OVERLAP: bed <-> floor depth=[1.861, -0.002, 2.200] + !! OVERLAP: table <-> floor depth=[0.458, -0.002, 0.498] +============================================================ + + +============================================================ +SCENE: LivingRoom-37659 | 10 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.2072, Walkable Loss: 0.0000, Relational Loss: 0.0000 +Guided Steps: 10/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +sofa 1.737 0.967 1.009 1.275 0.003 1.292 -90.14° +chair 0.690 0.856 0.727 0.275 0.001 2.395 179.97° +chair 0.689 0.463 0.612 0.113 -0.001 -0.200 -0.02° +table 1.426 0.568 0.782 -0.248 0.002 0.885 -0.05° +chair 0.589 0.827 0.630 -0.754 -0.001 2.102 131.91° +table 0.748 0.650 0.548 -1.922 0.002 -1.977 0.04° +table 0.607 0.690 0.667 -1.614 0.003 2.471 0.15° +lamp 0.502 1.067 0.519 0.106 1.353 0.859 -0.04° +floor 4.708 -0.002 7.075 -0.123 0.001 0.507 -0.08° +_scene_ 0.075 -0.001 0.016 -5.671 -0.005 -5.713 -57.30° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: sofa <-> table depth=[0.059, 0.568, 0.488] + !! OVERLAP: sofa <-> floor depth=[1.737, -0.002, 1.009] + !! OVERLAP: chair <-> floor depth=[0.690, -0.002, 0.727] + !! OVERLAP: chair <-> floor depth=[0.689, -0.002, 0.612] + !! OVERLAP: table <-> floor depth=[1.426, -0.002, 0.782] + !! OVERLAP: chair <-> floor depth=[0.589, -0.002, 0.630] + !! OVERLAP: table <-> floor depth=[0.748, -0.002, 0.548] + !! OVERLAP: table <-> floor depth=[0.607, -0.002, 0.667] +============================================================ + + +============================================================ +SCENE: LivingRoom-1520 | 14 objects +============================================================ +Final Step Collision Loss: 0.0395, Room Outer Loss: 0.0446, Walkable Loss: 0.0000, Relational Loss: 0.0000 +Guided Steps: 10/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +sofa 2.466 0.882 1.140 -0.900 0.003 1.718 89.99° +table 1.290 0.562 0.919 -0.559 0.001 1.449 90.06° +tv_stand 1.678 0.492 0.447 1.088 0.001 2.075 -89.95° +chair 0.432 0.519 0.443 -0.587 -0.001 0.195 0.06° +table 1.412 0.745 1.203 -1.046 -0.001 -1.980 0.03° +chair 0.516 1.042 0.577 -1.514 -0.000 -0.953 179.96° +chair 0.536 1.077 0.601 -0.606 0.002 -1.225 -179.99° +chair 0.526 1.032 0.595 -0.416 0.000 -2.308 -90.01° +chair 0.518 1.061 0.587 -1.640 0.000 -2.159 -0.03° +cabinet 1.301 0.931 0.470 0.209 -0.000 -3.059 0.03° +lamp 0.508 0.934 0.397 -1.261 1.727 -1.574 -0.02° +lamp 0.707 0.926 0.590 -0.794 1.728 1.877 -0.03° +floor 4.438 -0.001 6.904 -0.371 0.001 -0.003 -0.07° +_scene_ 0.070 -0.000 0.020 -5.672 -0.005 -5.715 -57.31° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: sofa <-> table depth=[1.290, 0.562, 0.761] + !! OVERLAP: sofa <-> tv_stand depth=[0.084, 0.492, 0.437] + !! OVERLAP: sofa <-> floor depth=[2.466, -0.001, 1.140] + !! OVERLAP: table <-> floor depth=[1.290, -0.001, 0.919] + !! OVERLAP: tv_stand <-> floor depth=[1.599, -0.001, 0.447] + !! OVERLAP: chair <-> floor depth=[0.432, -0.001, 0.443] + !! OVERLAP: table <-> chair depth=[0.534, 0.745, 0.147] + !! OVERLAP: table <-> chair depth=[0.340, 0.745, 0.571] + !! OVERLAP: table <-> chair depth=[0.371, 0.745, 0.587] + !! OVERLAP: table <-> floor depth=[1.412, -0.001, 1.203] + !! OVERLAP: chair <-> floor depth=[0.516, -0.001, 0.577] + !! OVERLAP: chair <-> floor depth=[0.536, -0.001, 0.601] + !! OVERLAP: chair <-> floor depth=[0.526, -0.001, 0.595] + !! OVERLAP: chair <-> floor depth=[0.518, -0.001, 0.587] + !! OVERLAP: cabinet <-> floor depth=[1.301, -0.001, 0.470] +============================================================ + + +============================================================ +SCENE: LivingRoom-17951 | 6 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.2030, Walkable Loss: 0.0000, Relational Loss: 0.0000 +Guided Steps: 10/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +sofa 1.963 0.765 1.001 -0.916 0.000 -0.116 90.01° +table 1.582 0.613 0.731 0.203 0.001 0.139 -89.89° +tv_stand 1.940 1.383 0.355 0.903 0.000 0.124 -89.93° +lamp 0.687 0.442 0.665 -0.004 2.084 0.016 -0.00° +floor 3.497 -0.001 3.526 -0.002 -0.000 0.014 -0.03° +_scene_ 0.070 0.001 0.016 -5.676 -0.005 -5.715 -57.27° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: sofa <-> table depth=[0.653, 0.613, 0.610] + !! OVERLAP: sofa <-> tv_stand depth=[0.133, 0.765, 0.355] + !! OVERLAP: sofa <-> floor depth=[1.817, -0.001, 1.001] + !! OVERLAP: table <-> tv_stand depth=[1.061, 0.613, 0.355] + !! OVERLAP: table <-> floor depth=[1.582, -0.001, 0.731] + !! OVERLAP: tv_stand <-> floor depth=[1.813, -0.001, 0.355] +============================================================ + + +============================================================ +SCENE: LivingDiningRoom-629 | 16 objects +============================================================ +Final Step Collision Loss: 0.0558, Room Outer Loss: 1.0334, Walkable Loss: 0.0000, Relational Loss: 0.0000 +Guided Steps: 10/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +sofa 2.473 0.877 1.028 1.565 -0.002 -0.765 -0.01° +tv_stand 2.283 0.548 0.379 1.535 0.003 1.386 179.97° +desk 1.095 0.397 0.465 1.479 -0.000 -0.127 0.02° +table 1.336 0.744 1.695 -1.843 0.002 -0.358 0.14° +chair 0.595 0.658 0.510 -2.364 0.002 -0.704 90.00° +chair 0.615 0.659 0.557 -2.667 0.002 0.146 89.95° +chair 0.549 0.784 0.572 -0.979 0.000 -0.765 -90.21° +chair 0.437 0.741 0.482 -1.055 -0.000 0.043 -90.01° +cabinet 3.254 2.445 0.289 -1.316 -0.001 1.530 -179.98° +bookshelf 2.024 2.257 0.318 -1.942 -0.003 -2.077 -0.01° +chair 0.540 0.702 0.552 -2.210 0.001 -0.087 89.87° +cabinet 2.056 2.021 0.437 -2.542 0.015 -0.540 89.96° +lamp 0.888 0.679 0.884 1.752 1.949 -0.276 -0.04° +lamp 0.299 0.464 0.277 -1.237 2.042 -0.244 -0.04° +floor 6.061 -0.001 3.388 -0.050 0.001 0.018 -0.06° +_scene_ 0.072 -0.002 0.021 -5.672 -0.004 -5.711 -57.29° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: sofa <-> desk depth=[1.095, 0.397, 0.109] + !! OVERLAP: sofa <-> floor depth=[2.473, -0.001, 1.028] + !! OVERLAP: tv_stand <-> floor depth=[2.283, -0.001, 0.379] + !! OVERLAP: desk <-> floor depth=[1.095, -0.001, 0.465] + !! OVERLAP: table <-> chair depth=[0.444, 0.658, 0.510] + !! OVERLAP: table <-> chair depth=[0.151, 0.659, 0.557] + !! OVERLAP: table <-> chair depth=[0.079, 0.744, 0.572] + !! OVERLAP: table <-> chair depth=[0.098, 0.740, 0.482] + !! OVERLAP: table <-> chair depth=[0.540, 0.702, 0.552] + !! OVERLAP: table <-> cabinet depth=[0.997, 0.744, 0.437] + !! OVERLAP: table <-> floor depth=[1.336, -0.001, 1.695] + !! OVERLAP: chair <-> cabinet depth=[0.595, 0.658, 0.310] + !! OVERLAP: chair <-> floor depth=[0.595, -0.001, 0.510] + !! OVERLAP: chair <-> chair depth=[0.120, 0.659, 0.322] + !! OVERLAP: chair <-> floor depth=[0.615, -0.001, 0.557] + !! OVERLAP: chair <-> floor depth=[0.549, -0.001, 0.572] + !! OVERLAP: chair <-> floor depth=[0.437, -0.001, 0.482] + !! OVERLAP: cabinet <-> floor depth=[3.254, -0.001, 0.289] + !! OVERLAP: chair <-> cabinet depth=[0.540, 0.702, 0.042] + !! OVERLAP: chair <-> floor depth=[0.540, -0.001, 0.552] + !! OVERLAP: cabinet <-> floor depth=[1.566, -0.001, 0.437] +============================================================ + + +============================================================ +SCENE: LivingRoom-71071 | 16 objects +============================================================ +Final Step Collision Loss: 0.0372, Room Outer Loss: 0.0667, Walkable Loss: 0.0000, Relational Loss: 0.0000 +Guided Steps: 10/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +table 0.538 1.110 0.299 2.416 0.002 -0.437 -90.04° +table 0.558 0.513 0.614 2.959 0.004 -2.950 0.08° +lamp 0.923 1.064 0.927 1.456 1.841 -1.697 0.01° +tv_stand 2.202 0.529 0.544 -0.796 0.002 -1.286 0.13° +chair 0.455 0.757 0.525 1.298 -0.002 1.375 -89.91° +chair 0.530 0.886 0.554 1.428 0.002 0.815 -141.25° +chair 0.528 0.817 0.547 -0.512 0.001 0.695 89.95° +chair 0.546 0.792 0.603 -0.152 -0.000 1.831 89.97° +table 1.718 0.759 0.831 1.026 -0.000 1.641 -90.05° +sofa 2.159 0.966 1.225 2.162 -0.000 -1.165 -89.99° +table 1.184 0.488 1.361 1.553 -0.001 -1.243 -89.96° +lamp 0.665 0.174 0.648 -1.844 2.496 2.027 -0.02° +table 1.204 1.005 0.491 -1.708 0.001 3.151 180.00° +lamp 0.413 0.888 0.218 0.616 1.853 1.251 -0.01° +floor 6.274 -0.005 7.204 0.305 -0.001 -0.250 -0.04° +_scene_ 0.074 -0.000 0.022 -5.669 -0.005 -5.712 -57.28° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: table <-> sofa depth=[0.538, 0.966, 0.035] + !! OVERLAP: table <-> floor depth=[0.538, -0.005, 0.299] + !! OVERLAP: table <-> floor depth=[0.558, -0.005, 0.614] + !! OVERLAP: tv_stand <-> floor depth=[2.202, -0.005, 0.544] + !! OVERLAP: chair <-> table depth=[0.455, 0.756, 0.413] + !! OVERLAP: chair <-> floor depth=[0.455, -0.005, 0.525] + !! OVERLAP: chair <-> floor depth=[0.530, -0.005, 0.554] + !! OVERLAP: chair <-> floor depth=[0.528, -0.005, 0.547] + !! OVERLAP: chair <-> floor depth=[0.546, -0.005, 0.603] + !! OVERLAP: table <-> floor depth=[1.718, -0.005, 0.831] + !! OVERLAP: sofa <-> table depth=[1.062, 0.488, 1.214] + !! OVERLAP: sofa <-> floor depth=[2.159, -0.005, 1.225] + !! OVERLAP: table <-> floor depth=[1.184, -0.005, 1.361] + !! OVERLAP: table <-> floor depth=[1.204, -0.005, 0.447] +============================================================ + + +============================================================ +SCENE: LivingDiningRoom-9790 | 14 objects +============================================================ +Final Step Collision Loss: 0.0047, Room Outer Loss: 0.4388, Walkable Loss: 0.0000, Relational Loss: 0.0000 +Guided Steps: 10/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +sofa 2.367 0.902 0.956 -1.087 0.003 2.245 89.98° +tv_stand 1.758 0.511 0.353 1.450 0.000 2.292 -90.17° +cabinet 0.773 0.862 0.427 -2.007 0.004 -3.045 89.95° +table 1.406 0.875 0.960 -0.033 0.001 -0.755 -0.02° +chair 0.522 0.640 0.570 -0.801 0.001 -0.184 179.95° +chair 0.502 0.630 0.530 -0.839 0.001 -1.355 0.04° +chair 0.583 0.610 0.544 0.911 0.001 0.149 179.96° +chair 0.422 0.586 0.502 0.737 0.000 -0.804 -0.04° +lamp 0.306 0.454 0.298 -1.709 2.207 -3.094 -0.15° +lamp 0.852 0.799 0.825 -0.452 1.876 1.683 -0.03° +lamp 0.331 0.988 0.344 -0.007 2.087 -0.916 -0.05° +table 1.055 0.429 0.901 0.013 0.000 2.203 -90.04° +floor 4.544 -0.000 8.325 -0.239 -0.000 0.176 0.04° +_scene_ 0.068 0.000 0.021 -5.675 -0.004 -5.714 -57.31° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: sofa <-> table depth=[0.612, 0.429, 0.887] + !! OVERLAP: sofa <-> floor depth=[2.367, -0.000, 0.956] + !! OVERLAP: tv_stand <-> floor depth=[1.463, -0.000, 0.353] + !! OVERLAP: cabinet <-> floor depth=[0.773, -0.000, 0.427] + !! OVERLAP: table <-> chair depth=[0.196, 0.640, 0.194] + !! OVERLAP: table <-> chair depth=[0.148, 0.630, 0.144] + !! OVERLAP: table <-> chair depth=[0.144, 0.586, 0.502] + !! OVERLAP: table <-> floor depth=[1.406, -0.000, 0.960] + !! OVERLAP: chair <-> floor depth=[0.522, -0.000, 0.570] + !! OVERLAP: chair <-> floor depth=[0.502, -0.000, 0.530] + !! OVERLAP: chair <-> floor depth=[0.583, -0.000, 0.544] + !! OVERLAP: chair <-> floor depth=[0.422, -0.000, 0.502] + !! OVERLAP: table <-> floor depth=[1.055, -0.000, 0.901] +============================================================ + + +============================================================ +SCENE: LivingRoom-791 | 15 objects +============================================================ +Final Step Collision Loss: 0.0142, Room Outer Loss: 0.4264, Walkable Loss: 0.0000, Relational Loss: 0.0000 +Guided Steps: 10/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +table 2.282 0.734 1.199 0.901 -0.000 1.255 -0.06° +chair 0.563 0.809 0.567 1.803 0.001 1.982 179.95° +chair 0.619 0.841 0.665 0.701 0.001 1.987 -179.98° +chair 0.547 0.872 0.579 2.082 -0.001 0.617 0.03° +chair 0.572 0.898 0.607 0.971 -0.001 0.555 -0.01° +sofa 2.055 0.868 0.903 1.642 -0.001 -0.536 -90.03° +tv_stand 1.863 0.675 0.452 -1.470 0.001 -1.423 89.99° +table 0.795 0.268 0.830 -0.445 -0.001 0.138 -0.07° +table 1.349 1.392 0.410 -1.584 -0.001 1.372 179.91° +table 0.405 0.551 0.398 1.620 0.001 -2.359 0.01° +lamp 0.670 0.893 0.657 0.616 1.916 0.115 -0.04° +lamp 0.587 0.995 0.634 1.644 1.917 -0.065 0.00° +lamp 0.546 1.177 0.522 -0.174 1.615 -1.476 0.05° +floor 4.845 -0.002 5.788 0.176 0.002 0.140 -0.02° +_scene_ 0.071 -0.000 0.023 -5.671 -0.004 -5.711 -57.30° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: table <-> chair depth=[0.520, 0.734, 0.156] + !! OVERLAP: table <-> chair depth=[0.619, 0.734, 0.199] + !! OVERLAP: table <-> chair depth=[0.234, 0.734, 0.251] + !! OVERLAP: table <-> chair depth=[0.572, 0.734, 0.202] + !! OVERLAP: table <-> floor depth=[2.282, -0.002, 1.199] + !! OVERLAP: chair <-> floor depth=[0.563, -0.002, 0.567] + !! OVERLAP: chair <-> floor depth=[0.619, -0.002, 0.665] + !! OVERLAP: chair <-> floor depth=[0.547, -0.002, 0.579] + !! OVERLAP: chair <-> floor depth=[0.572, -0.002, 0.607] + !! OVERLAP: sofa <-> floor depth=[1.984, -0.002, 0.903] + !! OVERLAP: tv_stand <-> floor depth=[1.708, -0.002, 0.452] + !! OVERLAP: table <-> floor depth=[0.795, -0.002, 0.830] + !! OVERLAP: table <-> floor depth=[1.336, -0.002, 0.410] + !! OVERLAP: table <-> floor depth=[0.405, -0.002, 0.398] +============================================================ + + +============================================================ +SCENE: LivingRoom-24046 | 7 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0000, Walkable Loss: 0.0000, Relational Loss: 0.0000 +Guided Steps: 10/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +bookshelf 1.321 1.441 0.400 1.065 0.003 -0.567 -90.05° +sofa 2.429 0.831 1.195 0.261 0.000 -0.666 -90.05° +table 0.698 0.392 0.689 -1.642 0.003 -0.466 90.09° +lamp 0.658 0.784 0.634 0.275 2.046 0.589 -0.03° +chair 0.829 0.744 0.818 -1.270 0.000 -1.499 36.02° +floor 4.717 0.003 4.052 -0.043 0.002 -0.044 -0.01° +_scene_ 0.073 0.000 0.027 -5.670 -0.004 -5.712 -57.31° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bookshelf <-> sofa depth=[1.071, 0.831, 0.400] + !! OVERLAP: bookshelf <-> floor depth=[1.321, 0.003, 0.400] + !! OVERLAP: sofa <-> chair depth=[0.099, 0.744, 0.173] + !! OVERLAP: sofa <-> floor depth=[2.429, 0.003, 1.195] + !! OVERLAP: table <-> floor depth=[0.698, 0.003, 0.689] + !! OVERLAP: chair <-> floor depth=[0.829, 0.003, 0.818] +============================================================ + + +============================================================ +SCENE: LivingRoom-13599 | 10 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.1111, Walkable Loss: 0.0000, Relational Loss: 0.0000 +Guided Steps: 10/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +chair 0.960 0.992 0.949 -0.099 0.001 -1.746 0.01° +chair 0.768 0.916 0.837 0.182 0.002 2.431 172.52° +table 0.557 0.557 0.496 -1.439 0.001 2.309 90.02° +table 0.622 0.408 0.564 -1.444 0.004 -1.856 90.07° +table 1.141 0.370 0.532 0.265 -0.001 0.358 90.02° +tv_stand 1.572 0.624 0.431 1.623 0.000 0.208 -89.92° +lamp 0.462 0.821 0.403 0.217 1.966 0.301 0.03° +sofa 2.130 0.781 0.895 -0.994 0.001 0.417 89.96° +floor 4.759 -0.002 6.751 0.102 0.001 -0.177 -0.09° +_scene_ 0.073 0.002 0.025 -5.670 -0.005 -5.712 -57.29° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: chair <-> floor depth=[0.960, -0.002, 0.949] + !! OVERLAP: chair <-> floor depth=[0.768, -0.002, 0.837] + !! OVERLAP: table <-> floor depth=[0.557, -0.002, 0.496] + !! OVERLAP: table <-> floor depth=[0.622, -0.002, 0.564] + !! OVERLAP: table <-> sofa depth=[0.377, 0.370, 0.532] + !! OVERLAP: table <-> floor depth=[1.141, -0.002, 0.532] + !! OVERLAP: tv_stand <-> floor depth=[1.572, -0.002, 0.431] + !! OVERLAP: sofa <-> floor depth=[2.130, -0.002, 0.895] +============================================================ + + +============================================================ +SCENE: LivingDiningRoom-13945 | 15 objects +============================================================ +Final Step Collision Loss: 0.0310, Room Outer Loss: 0.0000, Walkable Loss: 0.0000, Relational Loss: 0.0000 +Guided Steps: 10/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +sofa 2.973 0.801 2.129 -1.232 0.000 -1.357 0.08° +chair 0.538 0.691 0.588 -2.947 0.002 -2.178 0.01° +chair 0.330 0.366 0.317 -2.470 -0.000 -1.169 0.03° +chair 0.399 0.367 0.393 -2.659 0.001 -0.703 -0.05° +table 1.030 0.353 0.673 -1.141 0.000 -0.394 0.01° +chair 0.436 1.062 0.501 -0.056 0.001 0.265 89.97° +lamp 0.160 0.972 0.149 -2.830 1.620 -1.924 -0.07° +chair 0.486 0.973 0.482 1.129 -0.003 -0.236 -61.11° +cabinet 1.327 0.791 0.608 2.569 0.003 1.893 179.87° +table 0.650 1.114 0.510 2.956 -0.000 -2.222 0.09° +shelf 0.452 2.151 0.389 3.112 -0.000 2.190 -0.11° +lamp 0.296 1.014 0.311 0.613 1.873 0.052 -0.07° +tv_stand 3.500 0.727 0.548 -1.254 -0.002 2.120 0.18° +floor 6.935 -0.002 5.373 -0.155 0.001 0.234 -0.01° +_scene_ 0.072 0.000 0.024 -5.670 -0.004 -5.710 -57.30° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: sofa <-> chair depth=[0.041, 0.691, 0.537] + !! OVERLAP: sofa <-> chair depth=[0.330, 0.366, 0.317] + !! OVERLAP: sofa <-> chair depth=[0.259, 0.367, 0.393] + !! OVERLAP: sofa <-> table depth=[1.030, 0.353, 0.438] + !! OVERLAP: sofa <-> floor depth=[2.973, -0.002, 2.129] + !! OVERLAP: chair <-> floor depth=[0.538, -0.002, 0.569] + !! OVERLAP: chair <-> floor depth=[0.330, -0.002, 0.317] + !! OVERLAP: chair <-> floor depth=[0.399, -0.002, 0.393] + !! OVERLAP: table <-> floor depth=[1.030, -0.002, 0.673] + !! OVERLAP: chair <-> floor depth=[0.436, -0.002, 0.501] + !! OVERLAP: chair <-> floor depth=[0.486, -0.002, 0.482] + !! OVERLAP: cabinet <-> shelf depth=[0.346, 0.791, 0.201] + !! OVERLAP: cabinet <-> floor depth=[1.327, -0.002, 0.608] + !! OVERLAP: table <-> floor depth=[0.650, -0.002, 0.485] + !! OVERLAP: shelf <-> floor depth=[0.427, -0.002, 0.389] + !! OVERLAP: tv_stand <-> floor depth=[3.500, -0.002, 0.548] +============================================================ + + +============================================================ +SCENE: LivingDiningRoom-758 | 12 objects +============================================================ +Final Step Collision Loss: 0.0326, Room Outer Loss: 0.6506, Walkable Loss: 0.0000, Relational Loss: 0.0000 +Guided Steps: 10/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +lamp 0.679 1.031 0.684 0.259 1.892 -1.367 0.02° +table 1.586 0.725 0.989 -0.081 -0.004 0.792 -89.97° +chair 0.493 0.861 0.569 0.138 0.000 1.582 -90.02° +chair 0.504 0.838 0.507 -1.025 0.000 1.334 0.01° +lamp 0.321 0.762 0.188 -1.144 1.750 1.444 0.04° +lamp 0.341 0.745 0.356 -0.179 1.915 1.149 -0.01° +sofa 2.415 0.820 1.048 -0.944 0.002 -1.093 90.01° +table 1.058 0.302 0.819 0.328 -0.002 -0.350 -89.98° +tv_stand 1.938 0.535 0.513 1.214 0.001 -0.918 -90.20° +table 1.823 2.258 0.467 -1.336 0.001 0.366 89.88° +floor 4.150 -0.002 4.235 0.000 0.001 -0.116 -0.02° +_scene_ 0.067 0.001 0.020 -5.674 -0.005 -5.715 -57.29° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: table <-> chair depth=[0.101, 0.725, 0.205] + !! OVERLAP: table <-> table depth=[0.449, 0.725, 0.303] + !! OVERLAP: table <-> floor depth=[1.586, -0.002, 0.989] + !! OVERLAP: chair <-> floor depth=[0.493, -0.002, 0.569] + !! OVERLAP: chair <-> floor depth=[0.504, -0.002, 0.507] + !! OVERLAP: sofa <-> table depth=[0.464, 0.302, 0.190] + !! OVERLAP: sofa <-> tv_stand depth=[0.018, 0.535, 0.513] + !! OVERLAP: sofa <-> floor depth=[2.338, -0.002, 1.048] + !! OVERLAP: table <-> tv_stand depth=[0.612, 0.302, 0.098] + !! OVERLAP: table <-> floor depth=[1.058, -0.002, 0.819] + !! OVERLAP: tv_stand <-> floor depth=[1.830, -0.002, 0.513] + !! OVERLAP: table <-> floor depth=[1.650, -0.002, 0.467] +============================================================ + + +============================================================ +SCENE: LivingRoom-33324 | 9 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 1.2801, Walkable Loss: 0.0000, Relational Loss: 0.0000 +Guided Steps: 10/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +tv_stand 1.820 0.682 0.395 1.637 0.001 0.269 -90.05° +table 0.612 1.161 0.444 -1.203 0.002 2.023 89.98° +sofa 2.062 0.860 0.936 -0.990 0.001 0.046 90.10° +table 0.662 0.479 0.719 0.053 0.001 0.085 90.04° +chair 0.791 0.781 0.775 0.012 0.000 2.247 179.94° +bookshelf 1.150 2.436 0.317 -1.113 -0.001 -2.622 0.20° +lamp 0.496 0.892 0.522 0.325 2.028 0.196 -0.09° +floor 3.425 0.000 6.119 0.003 0.001 0.114 -0.01° +_scene_ 0.070 -0.000 0.022 -5.672 -0.005 -5.717 -57.29° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: tv_stand <-> floor depth=[0.989, 0.000, 0.395] + !! OVERLAP: table <-> floor depth=[0.612, 0.000, 0.444] + !! OVERLAP: sofa <-> table depth=[0.319, 0.479, 0.719] + !! OVERLAP: sofa <-> floor depth=[1.750, 0.000, 0.936] + !! OVERLAP: table <-> floor depth=[0.662, 0.000, 0.719] + !! OVERLAP: chair <-> floor depth=[0.791, 0.000, 0.775] + !! OVERLAP: bookshelf <-> floor depth=[1.150, 0.000, 0.317] +============================================================ + + +============================================================ +SCENE: LivingRoom-30147 | 20 objects +============================================================ +Final Step Collision Loss: 0.0161, Room Outer Loss: 0.0000, Walkable Loss: 0.0000, Relational Loss: 0.0000 +Guided Steps: 10/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +lamp 0.389 0.661 0.373 -0.185 1.940 2.476 -0.11° +lamp 0.846 0.791 0.850 -1.024 1.728 -3.362 0.02° +tv_stand 2.295 1.027 0.475 -2.430 0.003 2.984 89.90° +chair 0.586 0.433 0.554 -0.099 -0.000 0.816 90.01° +chair 0.581 0.428 0.514 -0.510 -0.002 0.653 -0.03° +table 1.207 0.470 0.675 0.281 0.001 2.277 -89.92° +table 0.439 0.643 0.394 1.532 -0.001 0.937 0.03° +table 0.518 0.583 0.574 1.835 -0.000 3.709 -90.19° +sofa 2.349 0.965 0.872 1.400 -0.002 2.694 -90.08° +sofa 1.947 0.757 0.759 -0.495 0.004 4.202 -179.99° +table 2.367 0.732 0.945 -0.905 0.000 -3.248 -0.04° +chair 0.656 1.133 0.645 -1.286 0.001 -1.983 -179.97° +chair 0.605 1.076 0.680 0.144 -0.001 -2.877 -90.79° +chair 0.626 1.113 0.751 0.213 -0.008 -3.556 -84.12° +chair 0.571 1.101 0.695 -0.884 0.000 -4.514 0.02° +chair 0.623 1.072 0.662 -1.948 0.004 -3.541 76.98° +chair 0.587 1.068 0.636 -1.734 -0.001 -2.705 110.87° +table 0.549 0.616 0.427 -2.368 0.002 -0.608 89.89° +floor 6.735 -0.006 10.124 -0.670 -0.001 0.214 -0.07° +_scene_ 0.068 0.001 0.021 -5.669 -0.005 -5.713 -57.30° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: tv_stand <-> floor depth=[2.295, -0.006, 0.475] + !! OVERLAP: chair <-> chair depth=[0.173, 0.428, 0.371] + !! OVERLAP: chair <-> floor depth=[0.586, -0.006, 0.554] + !! OVERLAP: chair <-> floor depth=[0.581, -0.006, 0.514] + !! OVERLAP: table <-> sofa depth=[0.660, 0.470, 0.356] + !! OVERLAP: table <-> floor depth=[1.207, -0.006, 0.675] + !! OVERLAP: table <-> floor depth=[0.439, -0.006, 0.394] + !! OVERLAP: table <-> floor depth=[0.518, -0.006, 0.574] + !! OVERLAP: sofa <-> floor depth=[2.349, -0.006, 0.872] + !! OVERLAP: sofa <-> floor depth=[1.947, -0.006, 0.759] + !! OVERLAP: table <-> chair depth=[0.436, 0.732, 0.442] + !! OVERLAP: table <-> chair depth=[0.378, 0.732, 0.540] + !! OVERLAP: table <-> chair depth=[0.452, 0.732, 0.510] + !! OVERLAP: table <-> chair depth=[0.587, 0.732, 0.248] + !! OVERLAP: table <-> floor depth=[2.367, -0.006, 0.945] + !! OVERLAP: chair <-> floor depth=[0.656, -0.006, 0.645] + !! OVERLAP: chair <-> chair depth=[0.547, 1.076, 0.037] + !! OVERLAP: chair <-> floor depth=[0.605, -0.006, 0.680] + !! OVERLAP: chair <-> floor depth=[0.626, -0.006, 0.751] + !! OVERLAP: chair <-> floor depth=[0.571, -0.006, 0.682] + !! OVERLAP: chair <-> floor depth=[0.623, -0.006, 0.662] + !! OVERLAP: chair <-> floor depth=[0.587, -0.006, 0.636] + !! OVERLAP: table <-> floor depth=[0.549, -0.006, 0.427] +============================================================ + + +============================================================ +SCENE: LivingRoom-29294 | 11 objects +============================================================ +Final Step Collision Loss: 0.0058, Room Outer Loss: 0.0013, Walkable Loss: 0.0000, Relational Loss: 0.0000 +Guided Steps: 10/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +table 0.742 1.093 0.493 -2.297 0.001 -1.948 0.01° +table 0.635 1.301 0.416 1.929 0.002 -2.185 0.07° +sofa 2.170 0.889 0.988 -2.129 -0.002 0.010 89.90° +table 1.389 0.465 0.856 -0.496 0.000 0.011 -0.03° +chair 0.858 0.884 0.778 2.175 0.001 0.128 -64.27° +sofa 1.982 0.674 0.891 -0.421 0.001 -1.712 0.01° +table 0.468 0.808 0.472 1.182 0.002 -2.151 0.09° +table 0.662 0.754 0.569 -1.789 0.002 -1.842 0.03° +lamp 0.803 0.831 0.803 0.020 1.956 0.076 -0.04° +floor 6.082 0.000 5.132 -0.328 -0.000 -0.152 -0.06° +_scene_ 0.258 0.097 0.492 -4.726 -0.003 -4.678 -64.83° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: table <-> table depth=[0.195, 0.754, 0.425] + !! OVERLAP: table <-> floor depth=[0.742, 0.000, 0.493] + !! OVERLAP: table <-> floor depth=[0.635, 0.000, 0.416] + !! OVERLAP: sofa <-> table depth=[0.147, 0.465, 0.856] + !! OVERLAP: sofa <-> floor depth=[2.170, 0.000, 0.988] + !! OVERLAP: table <-> floor depth=[1.389, 0.000, 0.856] + !! OVERLAP: chair <-> floor depth=[0.858, 0.000, 0.778] + !! OVERLAP: sofa <-> floor depth=[1.982, 0.000, 0.891] + !! OVERLAP: table <-> floor depth=[0.468, 0.000, 0.472] + !! OVERLAP: table <-> floor depth=[0.662, 0.000, 0.569] +============================================================ + + +============================================================ +SCENE: LivingDiningRoom-35401 | 11 objects +============================================================ +Final Step Collision Loss: 0.0035, Room Outer Loss: 0.4609, Walkable Loss: 0.0000, Relational Loss: 0.0000 +Guided Steps: 10/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +chair 0.518 0.870 0.608 -0.381 -0.000 1.154 90.03° +chair 0.568 0.864 0.607 -0.550 0.001 1.660 89.92° +chair 0.566 0.916 0.666 0.879 -0.000 0.988 -90.01° +chair 0.582 0.846 0.619 0.824 0.001 1.718 -90.29° +sofa 2.109 0.863 0.992 -0.976 0.001 -1.483 90.04° +table 1.813 2.036 0.522 -1.601 0.000 0.263 90.00° +table 1.081 0.354 0.973 0.049 0.001 -1.932 -90.07° +lamp 0.585 0.539 0.403 -0.070 2.466 -1.631 -0.08° +lamp 0.231 0.636 0.204 0.500 2.082 1.380 -89.99° +floor 3.970 -0.003 6.971 -0.013 0.000 -0.102 -0.01° +_scene_ 0.070 0.003 0.022 -5.665 -0.005 -5.711 -57.31° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: chair <-> chair depth=[0.374, 0.864, 0.101] + !! OVERLAP: chair <-> floor depth=[0.518, -0.003, 0.608] + !! OVERLAP: chair <-> floor depth=[0.568, -0.003, 0.607] + !! OVERLAP: chair <-> floor depth=[0.566, -0.003, 0.666] + !! OVERLAP: chair <-> floor depth=[0.582, -0.003, 0.619] + !! OVERLAP: sofa <-> table depth=[0.571, 0.354, 0.534] + !! OVERLAP: sofa <-> floor depth=[2.077, -0.003, 0.992] + !! OVERLAP: table <-> floor depth=[1.303, -0.003, 0.522] + !! OVERLAP: table <-> floor depth=[1.081, -0.003, 0.973] +============================================================ + + +============================================================ +SCENE: LivingRoom-35085 | 10 objects +============================================================ +Final Step Collision Loss: 0.0006, Room Outer Loss: 1.1347, Walkable Loss: 0.0000, Relational Loss: 0.0000 +Guided Steps: 10/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +sofa 2.426 0.884 0.918 1.096 -0.000 -0.321 -89.95° +table 0.578 0.478 0.546 1.249 0.000 1.580 -90.14° +table 0.487 0.508 0.373 1.242 -0.000 -1.967 -90.15° +table 1.229 0.390 1.246 -0.081 -0.000 -0.077 -89.99° +chair 0.741 0.885 0.736 -1.105 0.001 -1.464 -0.02° +chair 0.807 0.867 0.810 -1.220 0.001 1.729 172.30° +tv_stand 1.967 0.528 0.391 -1.550 0.001 -0.430 90.05° +lamp 0.409 0.922 0.375 -0.054 1.690 -0.208 0.05° +floor 3.738 -0.001 5.238 -0.076 -0.000 -0.125 -0.00° +_scene_ 0.064 -0.000 0.019 -5.674 -0.004 -5.713 -57.31° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: sofa <-> table depth=[0.650, 0.390, 0.838] + !! OVERLAP: sofa <-> floor depth=[1.909, -0.001, 0.918] + !! OVERLAP: table <-> floor depth=[0.578, -0.001, 0.546] + !! OVERLAP: table <-> floor depth=[0.487, -0.001, 0.373] + !! OVERLAP: table <-> tv_stand depth=[0.129, 0.390, 0.391] + !! OVERLAP: table <-> floor depth=[1.229, -0.001, 1.246] + !! OVERLAP: chair <-> floor depth=[0.741, -0.001, 0.736] + !! OVERLAP: chair <-> floor depth=[0.807, -0.001, 0.810] + !! OVERLAP: tv_stand <-> floor depth=[1.378, -0.001, 0.391] +============================================================ + + +============================================================ +SCENE: LivingRoom-25582 | 12 objects +============================================================ +Final Step Collision Loss: 0.0485, Room Outer Loss: 0.0000, Walkable Loss: 0.0000, Relational Loss: 0.0000 +Guided Steps: 10/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +sofa 2.493 0.735 0.870 -0.864 -0.000 1.608 179.98° +table 0.479 0.456 0.494 -0.960 0.002 -0.399 0.03° +tv_stand 1.515 0.286 0.402 -0.439 0.002 -2.097 0.02° +chair 0.734 1.093 0.892 1.368 0.002 -0.794 0.06° +chair 0.710 1.071 0.779 1.385 0.001 -1.192 0.07° +chair 0.620 1.133 0.687 1.219 -0.000 1.437 89.96° +chair 0.611 0.979 0.786 1.607 0.001 1.494 -179.97° +table 0.812 0.694 0.510 1.681 0.001 0.081 0.02° +table 1.866 0.811 0.585 0.582 0.005 2.083 179.87° +lamp 0.544 0.585 0.555 -0.045 2.165 -0.284 -0.04° +floor 4.173 -0.001 5.369 -0.065 0.001 -0.009 -0.02° +_scene_ 0.074 0.000 0.029 -5.671 -0.005 -5.713 -57.30° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: sofa <-> table depth=[0.734, 0.735, 0.253] + !! OVERLAP: sofa <-> floor depth=[2.493, -0.001, 0.870] + !! OVERLAP: table <-> floor depth=[0.479, -0.001, 0.494] + !! OVERLAP: tv_stand <-> floor depth=[1.515, -0.001, 0.402] + !! OVERLAP: chair <-> chair depth=[0.704, 1.071, 0.437] + !! OVERLAP: chair <-> floor depth=[0.734, -0.001, 0.892] + !! OVERLAP: chair <-> floor depth=[0.710, -0.001, 0.779] + !! OVERLAP: chair <-> chair depth=[0.227, 0.979, 0.679] + !! OVERLAP: chair <-> floor depth=[0.620, -0.001, 0.687] + !! OVERLAP: chair <-> table depth=[0.214, 0.811, 0.096] + !! OVERLAP: chair <-> floor depth=[0.611, -0.001, 0.786] + !! OVERLAP: table <-> floor depth=[0.747, -0.001, 0.510] + !! OVERLAP: table <-> floor depth=[1.866, -0.001, 0.585] +============================================================ + + +============================================================ +SCENE: LivingDiningRoom-109935 | 14 objects +============================================================ +Final Step Collision Loss: 0.0270, Room Outer Loss: 0.7448, Walkable Loss: 0.0000, Relational Loss: 0.0000 +Guided Steps: 10/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +sofa 2.235 0.714 0.840 -1.493 0.003 0.532 89.94° +chair 0.745 0.822 0.785 -1.750 0.002 2.024 90.10° +table 1.570 0.314 1.361 0.016 -0.001 1.534 -90.13° +chair 0.702 0.537 0.655 -0.360 -0.001 0.168 0.04° +tv_stand 1.892 0.486 0.402 1.113 -0.000 1.370 -90.01° +table 2.505 0.747 1.216 0.045 -0.001 -0.995 -89.97° +chair 0.472 0.842 0.540 -0.526 0.000 -2.074 0.02° +chair 0.445 0.860 0.482 -0.568 0.003 -1.578 89.99° +chair 0.494 0.853 0.551 0.434 0.001 -2.184 -90.25° +chair 0.482 0.836 0.537 0.578 0.002 -1.348 179.96° +lamp 0.629 0.824 0.549 -0.187 1.763 1.084 0.00° +lamp 0.915 0.560 0.239 -0.115 2.288 -1.817 0.01° +floor 3.956 -0.003 5.720 -0.233 0.001 0.321 -0.02° +_scene_ 0.069 0.002 0.022 -5.666 -0.004 -5.715 -57.26° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: sofa <-> table depth=[0.394, 0.314, 0.099] + !! OVERLAP: sofa <-> chair depth=[0.336, 0.537, 0.383] + !! OVERLAP: sofa <-> floor depth=[1.836, -0.003, 0.840] + !! OVERLAP: chair <-> floor depth=[0.745, -0.003, 0.785] + !! OVERLAP: table <-> tv_stand depth=[0.634, 0.314, 0.402] + !! OVERLAP: table <-> floor depth=[1.570, -0.003, 1.361] + !! OVERLAP: chair <-> floor depth=[0.702, -0.003, 0.655] + !! OVERLAP: tv_stand <-> floor depth=[1.578, -0.003, 0.402] + !! OVERLAP: table <-> chair depth=[0.445, 0.747, 0.266] + !! OVERLAP: table <-> chair depth=[0.482, 0.747, 0.523] + !! OVERLAP: table <-> floor depth=[2.505, -0.003, 1.216] + !! OVERLAP: chair <-> chair depth=[0.417, 0.842, 0.015] + !! OVERLAP: chair <-> floor depth=[0.472, -0.003, 0.540] + !! OVERLAP: chair <-> floor depth=[0.445, -0.003, 0.482] + !! OVERLAP: chair <-> floor depth=[0.494, -0.003, 0.551] + !! OVERLAP: chair <-> floor depth=[0.482, -0.003, 0.537] +============================================================ + + +============================================================ +SCENE: LivingDiningRoom-76396 | 19 objects +============================================================ +Final Step Collision Loss: 0.0155, Room Outer Loss: 0.3283, Walkable Loss: 0.0000, Relational Loss: 0.0000 +Guided Steps: 10/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +sofa 2.261 0.900 0.924 -2.404 0.002 1.553 179.97° +sofa 2.060 0.857 1.514 -3.283 -0.003 0.536 89.96° +table 0.609 0.416 0.585 -2.516 0.000 0.597 0.00° +tv_stand 2.304 0.645 0.433 -2.090 0.001 -1.617 -0.07° +chair 0.806 0.931 0.805 -0.601 -0.004 0.792 -72.47° +table 1.896 0.764 1.098 2.437 0.002 0.517 0.01° +chair 0.458 0.764 0.591 3.368 -0.001 0.948 -90.05° +chair 0.563 0.778 0.628 2.716 0.006 1.251 -179.98° +chair 0.526 0.752 0.536 2.701 0.000 0.079 -0.01° +chair 0.557 0.765 0.568 3.500 0.005 0.025 -90.10° +table 1.352 1.472 0.260 1.155 -0.004 -1.690 0.05° +cabinet 1.672 2.014 0.428 1.448 0.000 2.239 -179.93° +table 0.631 0.441 0.682 -0.111 0.000 1.992 -0.03° +table 0.616 0.487 0.619 -3.417 -0.003 2.108 179.81° +lamp 0.595 0.494 0.606 -1.450 2.666 0.276 0.04° +lamp 0.708 0.910 0.722 1.693 2.037 0.482 -0.04° +table 1.367 1.321 0.265 3.408 0.002 -2.426 0.04° +floor 8.915 -0.007 5.545 -0.093 -0.002 0.254 -0.09° +_scene_ 0.073 0.000 0.023 -5.672 -0.005 -5.715 -57.31° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: sofa <-> sofa depth=[1.282, 0.857, 0.202] + !! OVERLAP: sofa <-> table depth=[0.425, 0.487, 0.217] + !! OVERLAP: sofa <-> floor depth=[2.261, -0.007, 0.924] + !! OVERLAP: sofa <-> table depth=[0.568, 0.416, 0.585] + !! OVERLAP: sofa <-> floor depth=[2.060, -0.007, 1.514] + !! OVERLAP: table <-> floor depth=[0.609, -0.007, 0.585] + !! OVERLAP: tv_stand <-> floor depth=[2.304, -0.007, 0.433] + !! OVERLAP: chair <-> floor depth=[0.806, -0.007, 0.805] + !! OVERLAP: table <-> chair depth=[0.246, 0.762, 0.414] + !! OVERLAP: table <-> chair depth=[0.563, 0.764, 0.129] + !! OVERLAP: table <-> chair depth=[0.526, 0.752, 0.378] + !! OVERLAP: table <-> chair depth=[0.163, 0.761, 0.341] + !! OVERLAP: table <-> floor depth=[1.896, -0.007, 1.098] + !! OVERLAP: chair <-> floor depth=[0.458, -0.007, 0.591] + !! OVERLAP: chair <-> floor depth=[0.563, -0.007, 0.628] + !! OVERLAP: chair <-> floor depth=[0.526, -0.007, 0.536] + !! OVERLAP: chair <-> floor depth=[0.557, -0.007, 0.568] + !! OVERLAP: table <-> floor depth=[1.352, -0.007, 0.260] + !! OVERLAP: cabinet <-> floor depth=[1.672, -0.007, 0.428] + !! OVERLAP: table <-> floor depth=[0.631, -0.007, 0.682] + !! OVERLAP: table <-> floor depth=[0.616, -0.007, 0.619] + !! OVERLAP: table <-> floor depth=[1.367, -0.007, 0.225] +============================================================ + + +============================================================ +SCENE: LivingDiningRoom-18728 | 15 objects +============================================================ +Final Step Collision Loss: 0.0449, Room Outer Loss: 0.2108, Walkable Loss: 0.0000, Relational Loss: 0.0000 +Guided Steps: 10/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +table 1.179 1.010 0.396 -1.610 -0.000 -2.795 0.18° +table 1.069 0.894 0.304 1.774 0.002 -1.620 -90.04° +tv_stand 1.962 0.394 0.430 1.297 -0.002 1.792 -89.86° +sofa 2.205 0.756 0.909 -1.533 0.005 2.065 90.01° +chair 0.794 0.686 0.798 -1.818 -0.000 2.763 -179.95° +table 2.650 0.756 1.243 -0.378 0.001 -1.258 -90.10° +chair 0.527 0.723 0.508 0.311 0.002 -1.618 0.04° +chair 0.481 0.703 0.489 -0.105 0.001 -1.547 -0.01° +chair 0.589 0.713 0.450 -0.256 0.001 -0.504 -179.91° +chair 0.522 0.764 0.489 0.232 0.002 -0.162 -179.95° +table 1.532 0.409 1.187 -0.018 -0.002 2.313 -94.35° +lamp 0.575 0.601 0.474 -0.241 2.032 1.802 -90.10° +lamp 1.252 0.576 0.191 -0.016 2.150 -1.240 -0.08° +floor 5.002 -0.003 6.718 -0.260 0.002 0.383 -0.06° +_scene_ 0.073 0.001 0.022 -5.670 -0.004 -5.717 -57.28° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: table <-> floor depth=[1.179, -0.003, 0.378] + !! OVERLAP: table <-> floor depth=[1.002, -0.003, 0.304] + !! OVERLAP: tv_stand <-> table depth=[0.432, 0.394, 0.287] + !! OVERLAP: tv_stand <-> floor depth=[1.925, -0.003, 0.430] + !! OVERLAP: sofa <-> chair depth=[0.794, 0.686, 0.156] + !! OVERLAP: sofa <-> table depth=[0.353, 0.409, 0.800] + !! OVERLAP: sofa <-> floor depth=[2.205, -0.003, 0.909] + !! OVERLAP: chair <-> floor depth=[0.794, -0.003, 0.798] + !! OVERLAP: table <-> chair depth=[0.527, 0.723, 0.508] + !! OVERLAP: table <-> chair depth=[0.481, 0.703, 0.489] + !! OVERLAP: table <-> chair depth=[0.589, 0.713, 0.093] + !! OVERLAP: table <-> floor depth=[2.650, -0.003, 1.243] + !! OVERLAP: chair <-> chair depth=[0.088, 0.703, 0.427] + !! OVERLAP: chair <-> floor depth=[0.527, -0.003, 0.508] + !! OVERLAP: chair <-> floor depth=[0.481, -0.003, 0.489] + !! OVERLAP: chair <-> chair depth=[0.068, 0.713, 0.128] + !! OVERLAP: chair <-> floor depth=[0.589, -0.003, 0.450] + !! OVERLAP: chair <-> floor depth=[0.522, -0.003, 0.489] + !! OVERLAP: table <-> floor depth=[1.532, -0.003, 1.187] +============================================================ + + +============================================================ +SCENE: LivingDiningRoom-46747 | 17 objects +============================================================ +Final Step Collision Loss: 0.0204, Room Outer Loss: 0.1814, Walkable Loss: 0.0000, Relational Loss: 0.0000 +Guided Steps: 10/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +sofa 1.925 0.729 0.938 -1.072 -0.000 1.443 90.00° +chair 0.563 0.913 0.628 -0.112 0.001 3.209 -179.99° +table 1.559 0.467 0.905 0.101 0.003 2.040 90.00° +table 2.011 0.738 1.407 0.383 0.001 -1.645 0.05° +chair 0.409 0.948 0.415 -0.070 -0.000 -0.799 179.99° +chair 0.412 0.915 0.462 0.606 0.001 -0.809 -179.99° +chair 0.470 0.880 0.537 0.096 0.001 -2.032 0.02° +chair 0.447 0.889 0.509 0.824 0.001 -2.272 0.01° +table 1.662 0.843 0.504 0.339 0.001 -3.005 -0.00° +lamp 1.030 1.050 1.024 -0.063 1.710 2.089 0.01° +lamp 1.297 0.951 0.382 0.289 1.876 -1.744 0.04° +lamp 1.105 0.838 0.511 0.506 2.137 -1.823 -0.02° +chair 0.746 0.583 0.636 0.025 -0.003 0.272 15.56° +table 0.714 1.058 0.365 -1.389 0.003 0.679 89.94° +table 0.646 0.930 0.413 -1.557 0.003 3.234 89.99° +floor 3.833 -0.002 8.227 -0.081 0.001 0.053 -0.01° +_scene_ 0.071 -0.001 0.023 -5.669 -0.005 -5.710 -57.31° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: sofa <-> table depth=[0.570, 0.467, 0.325] + !! OVERLAP: sofa <-> floor depth=[1.888, -0.002, 0.938] + !! OVERLAP: chair <-> floor depth=[0.563, -0.002, 0.628] + !! OVERLAP: table <-> floor depth=[1.559, -0.002, 0.905] + !! OVERLAP: table <-> chair depth=[0.409, 0.738, 0.065] + !! OVERLAP: table <-> chair depth=[0.412, 0.738, 0.098] + !! OVERLAP: table <-> chair depth=[0.470, 0.738, 0.537] + !! OVERLAP: table <-> chair depth=[0.447, 0.738, 0.331] + !! OVERLAP: table <-> floor depth=[2.011, -0.002, 1.407] + !! OVERLAP: chair <-> floor depth=[0.409, -0.002, 0.415] + !! OVERLAP: chair <-> floor depth=[0.412, -0.002, 0.462] + !! OVERLAP: chair <-> floor depth=[0.470, -0.002, 0.537] + !! OVERLAP: chair <-> floor depth=[0.447, -0.002, 0.509] + !! OVERLAP: table <-> floor depth=[1.662, -0.002, 0.504] + !! OVERLAP: lamp <-> lamp depth=[0.983, 0.633, 0.368] + !! OVERLAP: chair <-> floor depth=[0.746, -0.002, 0.636] + !! OVERLAP: table <-> floor depth=[0.714, -0.002, 0.365] + !! OVERLAP: table <-> floor depth=[0.646, -0.002, 0.413] +============================================================ + + +============================================================ +SCENE: LivingRoom-88425 | 19 objects +============================================================ +Final Step Collision Loss: 0.0222, Room Outer Loss: 0.0604, Walkable Loss: 0.0000, Relational Loss: 0.0000 +Guided Steps: 10/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +sofa 1.921 0.757 0.833 -1.848 0.003 1.393 90.02° +chair 1.464 0.845 0.660 -0.591 0.002 -0.043 16.54° +sofa 2.236 0.966 0.882 -0.530 0.001 3.364 179.97° +table 0.443 0.389 0.417 -0.504 0.001 1.780 90.01° +table 0.521 0.486 0.489 -1.614 0.003 -0.029 90.04° +table 0.546 0.561 0.483 -1.922 0.003 3.311 90.01° +table 2.836 0.828 1.210 -1.121 0.000 -2.254 -0.03° +chair 0.540 0.670 0.538 -0.584 0.001 -2.719 -0.03° +chair 0.533 0.730 0.534 -0.437 0.006 -1.230 -179.98° +chair 0.512 0.707 0.554 0.023 0.001 -1.729 179.94° +chair 0.519 0.753 0.536 -0.907 -0.002 -1.418 179.54° +chair 0.543 0.632 0.514 -1.182 -0.001 -2.550 0.07° +chair 0.550 0.682 0.632 0.404 0.001 -2.401 -90.24° +lamp 0.941 0.786 0.786 -0.713 1.916 1.590 0.00° +lamp 0.837 0.791 0.843 -0.427 1.945 -2.520 -0.02° +table 1.039 1.572 0.285 -0.216 -0.005 -3.690 0.07° +tv_stand 1.550 0.432 0.402 1.260 0.000 1.771 -89.96° +floor 5.060 -0.000 7.980 -0.287 -0.000 0.159 -0.05° +_scene_ 0.070 0.000 0.024 -5.672 -0.005 -5.714 -57.32° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: sofa <-> floor depth=[1.921, -0.000, 0.833] + !! OVERLAP: chair <-> floor depth=[1.464, -0.000, 0.660] + !! OVERLAP: sofa <-> floor depth=[2.236, -0.000, 0.882] + !! OVERLAP: table <-> floor depth=[0.443, -0.000, 0.417] + !! OVERLAP: table <-> floor depth=[0.521, -0.000, 0.489] + !! OVERLAP: table <-> floor depth=[0.546, -0.000, 0.483] + !! OVERLAP: table <-> chair depth=[0.540, 0.670, 0.409] + !! OVERLAP: table <-> chair depth=[0.512, 0.707, 0.356] + !! OVERLAP: table <-> chair depth=[0.519, 0.753, 0.036] + !! OVERLAP: table <-> chair depth=[0.543, 0.632, 0.514] + !! OVERLAP: table <-> chair depth=[0.168, 0.682, 0.632] + !! OVERLAP: table <-> floor depth=[2.836, -0.000, 1.210] + !! OVERLAP: chair <-> floor depth=[0.540, -0.000, 0.538] + !! OVERLAP: chair <-> chair depth=[0.062, 0.707, 0.045] + !! OVERLAP: chair <-> chair depth=[0.055, 0.730, 0.347] + !! OVERLAP: chair <-> floor depth=[0.533, -0.000, 0.534] + !! OVERLAP: chair <-> floor depth=[0.512, -0.000, 0.554] + !! OVERLAP: chair <-> floor depth=[0.519, -0.000, 0.536] + !! OVERLAP: chair <-> floor depth=[0.543, -0.000, 0.514] + !! OVERLAP: chair <-> floor depth=[0.550, -0.000, 0.632] + !! OVERLAP: table <-> floor depth=[1.039, -0.000, 0.284] + !! OVERLAP: tv_stand <-> floor depth=[1.550, -0.000, 0.402] +============================================================ + + +============================================================ +SCENE: LivingDiningRoom-35769 | 19 objects +============================================================ +Final Step Collision Loss: 0.0127, Room Outer Loss: 0.5893, Walkable Loss: 0.0000, Relational Loss: 0.0000 +Guided Steps: 10/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +sofa 2.185 0.793 0.975 3.239 0.001 0.595 179.96° +chair 0.793 0.980 0.924 4.828 0.007 -0.750 -90.18° +chair 0.764 1.170 0.837 1.313 -0.006 -0.567 130.19° +table 1.257 0.453 0.994 3.012 0.005 -1.020 -0.01° +table 0.658 0.509 0.637 4.893 -0.001 0.792 -179.89° +table 0.628 0.561 0.569 1.693 0.001 0.786 -179.89° +table 1.724 0.772 1.187 -3.373 -0.000 0.995 0.04° +chair 0.594 0.838 0.610 -3.757 0.002 0.335 -0.03° +chair 0.486 0.897 0.512 -3.305 0.000 0.585 0.15° +chair 0.664 0.890 0.674 -4.222 0.001 1.822 179.92° +chair 0.549 0.913 0.595 -3.282 0.001 1.924 179.86° +chair 0.613 0.918 0.743 -2.472 -0.006 1.234 -90.88° +chair 0.678 0.850 0.620 -4.577 0.001 0.988 89.82° +cabinet 0.913 1.398 0.296 -1.100 0.002 2.953 -179.84° +table 1.337 2.068 0.455 -5.213 0.008 1.135 90.00° +lamp 0.821 0.841 0.801 2.731 1.999 -1.111 -0.02° +lamp 1.046 1.051 1.246 -3.628 1.923 1.075 0.10° +floor 11.377 -0.010 6.342 0.252 -0.004 0.240 -0.11° +_scene_ 0.071 0.000 0.022 -5.677 -0.005 -5.711 -57.30° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: sofa <-> floor depth=[2.185, -0.010, 0.975] + !! OVERLAP: chair <-> floor depth=[0.793, -0.010, 0.924] + !! OVERLAP: chair <-> floor depth=[0.764, -0.010, 0.837] + !! OVERLAP: table <-> floor depth=[1.257, -0.010, 0.994] + !! OVERLAP: table <-> floor depth=[0.658, -0.010, 0.637] + !! OVERLAP: table <-> floor depth=[0.628, -0.010, 0.569] + !! OVERLAP: table <-> chair depth=[0.594, 0.772, 0.238] + !! OVERLAP: table <-> chair depth=[0.486, 0.772, 0.440] + !! OVERLAP: table <-> chair depth=[0.345, 0.772, 0.103] + !! OVERLAP: table <-> chair depth=[0.267, 0.772, 0.726] + !! OVERLAP: table <-> floor depth=[1.724, -0.010, 1.187] + !! OVERLAP: chair <-> chair depth=[0.088, 0.838, 0.310] + !! OVERLAP: chair <-> floor depth=[0.594, -0.010, 0.610] + !! OVERLAP: chair <-> floor depth=[0.486, -0.010, 0.512] + !! OVERLAP: chair <-> floor depth=[0.664, -0.010, 0.674] + !! OVERLAP: chair <-> floor depth=[0.549, -0.010, 0.595] + !! OVERLAP: chair <-> floor depth=[0.613, -0.010, 0.743] + !! OVERLAP: chair <-> table depth=[0.372, 0.850, 0.391] + !! OVERLAP: chair <-> floor depth=[0.678, -0.010, 0.620] + !! OVERLAP: cabinet <-> floor depth=[0.913, -0.010, 0.296] + !! OVERLAP: table <-> floor depth=[0.893, -0.010, 0.455] +============================================================ + + +============================================================ +SCENE: LivingRoom-1097 | 19 objects +============================================================ +Final Step Collision Loss: 0.0096, Room Outer Loss: 0.0647, Walkable Loss: 0.0000, Relational Loss: 0.0000 +Guided Steps: 10/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +table 0.630 1.113 0.317 0.797 0.005 -0.574 -90.14° +sofa 2.589 0.795 1.175 -1.068 0.001 -0.163 0.01° +table 1.324 0.703 1.328 -0.963 -0.000 -2.630 0.06° +tv_stand 2.437 0.541 0.493 -0.800 -0.000 2.530 179.98° +table 1.556 0.720 0.916 -0.843 0.000 1.014 -0.02° +chair 0.816 0.842 0.922 0.961 -0.000 1.163 -129.93° +chair 0.561 0.898 0.594 -1.315 -0.001 -3.269 -0.01° +chair 0.494 0.881 0.551 -0.817 -0.003 -3.489 -0.26° +chair 0.540 0.913 0.595 -0.960 0.000 -1.956 179.93° +chair 0.532 0.939 0.611 -1.315 -0.001 -1.944 -179.97° +table 0.603 1.275 0.448 0.568 0.001 2.865 0.09° +table 0.639 1.267 0.439 -2.482 -0.005 2.650 0.20° +cabinet 1.640 0.758 0.315 -2.131 0.002 -2.240 89.98° +lamp 0.770 0.835 0.675 -1.089 1.774 1.253 -0.01° +cabinet 0.978 1.225 0.416 1.866 0.005 -2.360 -90.16° +chair 0.613 0.378 0.474 1.827 0.001 -1.107 -89.90° +lamp 0.679 0.917 0.689 -1.114 1.641 -2.695 -0.03° +floor 5.600 -0.003 7.678 -0.531 -0.004 -0.266 -0.06° +_scene_ 0.069 0.000 0.022 -5.669 -0.004 -5.713 -57.32° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: table <-> floor depth=[0.630, -0.003, 0.317] + !! OVERLAP: sofa <-> floor depth=[2.589, -0.003, 1.175] + !! OVERLAP: table <-> chair depth=[0.561, 0.703, 0.322] + !! OVERLAP: table <-> chair depth=[0.494, 0.703, 0.081] + !! OVERLAP: table <-> chair depth=[0.540, 0.703, 0.287] + !! OVERLAP: table <-> chair depth=[0.532, 0.703, 0.284] + !! OVERLAP: table <-> cabinet depth=[0.315, 0.703, 0.315] + !! OVERLAP: table <-> floor depth=[1.324, -0.003, 1.328] + !! OVERLAP: tv_stand <-> table depth=[0.152, 0.541, 0.135] + !! OVERLAP: tv_stand <-> floor depth=[2.437, -0.003, 0.493] + !! OVERLAP: table <-> floor depth=[1.556, -0.003, 0.916] + !! OVERLAP: chair <-> floor depth=[0.816, -0.003, 0.922] + !! OVERLAP: chair <-> chair depth=[0.029, 0.881, 0.353] + !! OVERLAP: chair <-> floor depth=[0.561, -0.003, 0.594] + !! OVERLAP: chair <-> floor depth=[0.494, -0.003, 0.551] + !! OVERLAP: chair <-> chair depth=[0.181, 0.913, 0.591] + !! OVERLAP: chair <-> floor depth=[0.540, -0.003, 0.595] + !! OVERLAP: chair <-> cabinet depth=[0.271, 0.758, 0.167] + !! OVERLAP: chair <-> floor depth=[0.532, -0.003, 0.611] + !! OVERLAP: table <-> floor depth=[0.603, -0.003, 0.448] + !! OVERLAP: table <-> floor depth=[0.639, -0.003, 0.439] + !! OVERLAP: cabinet <-> floor depth=[1.640, -0.003, 0.315] + !! OVERLAP: cabinet <-> floor depth=[0.891, -0.003, 0.416] + !! OVERLAP: chair <-> floor depth=[0.613, -0.003, 0.474] +============================================================ + + +============================================================ +SCENE: LivingDiningRoom-2729 | 18 objects +============================================================ +Final Step Collision Loss: 0.0131, Room Outer Loss: 0.0755, Walkable Loss: 0.0000, Relational Loss: 0.0000 +Guided Steps: 10/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +table 1.546 0.753 1.178 -2.229 -0.000 -0.488 0.04° +lamp 0.269 0.867 0.250 -2.014 1.731 -0.678 0.12° +chair 0.577 0.904 0.650 -1.361 0.000 -0.237 -89.95° +chair 0.633 0.967 0.674 -1.616 0.001 -1.416 0.05° +chair 0.553 0.909 0.696 -1.750 0.000 0.213 -179.99° +chair 0.581 0.955 0.640 -2.800 0.001 0.045 179.85° +chair 0.621 0.901 0.642 -3.337 0.001 -0.548 89.94° +chair 0.605 0.852 0.623 -2.685 0.001 -1.886 -0.09° +table 0.796 0.501 1.113 2.018 0.003 -0.707 0.02° +tv_stand 2.373 1.042 0.462 1.493 0.002 0.947 -179.99° +sofa 2.664 0.939 1.016 1.142 -0.001 -1.911 -0.04° +chair 0.653 1.084 0.807 2.695 -0.002 -1.296 -58.87° +chair 0.706 0.403 0.459 -0.031 0.000 -0.713 90.06° +chair 0.572 0.417 0.513 0.181 0.001 -0.182 90.03° +lamp 0.314 0.687 0.315 1.649 1.935 -0.408 0.02° +cabinet 0.591 0.776 0.403 -2.882 0.003 1.455 179.86° +floor 7.381 -0.000 5.536 0.124 -0.001 -0.418 -0.08° +_scene_ 0.072 0.004 0.024 -5.672 -0.004 -5.710 -57.29° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: table <-> chair depth=[0.194, 0.753, 0.650] + !! OVERLAP: table <-> chair depth=[0.553, 0.753, 0.236] + !! OVERLAP: table <-> chair depth=[0.492, 0.753, 0.376] + !! OVERLAP: table <-> floor depth=[1.546, -0.000, 1.178] + !! OVERLAP: chair <-> chair depth=[0.175, 0.904, 0.223] + !! OVERLAP: chair <-> floor depth=[0.577, -0.000, 0.650] + !! OVERLAP: chair <-> floor depth=[0.633, -0.000, 0.674] + !! OVERLAP: chair <-> floor depth=[0.553, -0.000, 0.696] + !! OVERLAP: chair <-> chair depth=[0.065, 0.901, 0.048] + !! OVERLAP: chair <-> floor depth=[0.581, -0.000, 0.640] + !! OVERLAP: chair <-> floor depth=[0.541, -0.000, 0.642] + !! OVERLAP: chair <-> floor depth=[0.605, -0.000, 0.623] + !! OVERLAP: table <-> chair depth=[0.048, 0.501, 0.372] + !! OVERLAP: table <-> floor depth=[0.796, -0.000, 1.113] + !! OVERLAP: tv_stand <-> floor depth=[2.373, -0.000, 0.462] + !! OVERLAP: sofa <-> chair depth=[0.105, 0.939, 0.296] + !! OVERLAP: sofa <-> floor depth=[2.664, -0.000, 1.016] + !! OVERLAP: chair <-> floor depth=[0.653, -0.000, 0.807] + !! OVERLAP: chair <-> floor depth=[0.706, -0.000, 0.459] + !! OVERLAP: chair <-> floor depth=[0.572, -0.000, 0.513] + !! OVERLAP: cabinet <-> floor depth=[0.591, -0.000, 0.403] +============================================================ + + +============================================================ +SCENE: LivingDiningRoom-19784 | 14 objects +============================================================ +Final Step Collision Loss: 0.0007, Room Outer Loss: 0.0401, Walkable Loss: 0.0000, Relational Loss: 0.0000 +Guided Steps: 10/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +sofa 2.156 0.807 0.895 1.327 -0.001 -2.094 -90.09° +chair 0.793 1.001 0.731 0.142 -0.002 -3.404 -0.09° +table 1.260 0.454 1.024 0.304 0.002 -1.345 90.04° +table 0.270 1.190 0.373 2.243 0.004 -3.126 -89.90° +tv_stand 1.841 0.584 0.441 -1.260 0.003 -1.561 89.98° +table 1.215 0.824 1.122 0.825 -0.000 1.419 -90.10° +chair 0.544 1.106 0.589 -0.210 -0.000 1.377 89.94° +chair 0.589 1.064 0.627 -0.087 -0.000 2.194 89.95° +chair 0.529 1.109 0.602 1.748 0.005 1.266 -90.30° +chair 0.554 1.009 0.574 1.522 -0.001 2.142 -89.93° +lamp 1.157 1.363 1.121 0.160 1.916 -1.227 -0.01° +lamp 0.764 0.940 0.780 0.795 1.732 1.678 -0.04° +floor 4.455 -0.003 7.162 0.008 -0.000 -0.253 -0.01° +_scene_ 0.068 0.000 0.024 -5.671 -0.005 -5.715 -57.32° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: sofa <-> table depth=[0.685, 0.454, 0.211] + !! OVERLAP: sofa <-> floor depth=[1.986, -0.003, 0.895] + !! OVERLAP: chair <-> floor depth=[0.793, -0.003, 0.731] + !! OVERLAP: table <-> floor depth=[1.260, -0.003, 1.024] + !! OVERLAP: table <-> floor depth=[0.127, -0.003, 0.373] + !! OVERLAP: tv_stand <-> floor depth=[1.841, -0.003, 0.441] + !! OVERLAP: table <-> chair depth=[0.187, 0.824, 0.124] + !! OVERLAP: table <-> floor depth=[1.215, -0.003, 1.122] + !! OVERLAP: chair <-> floor depth=[0.544, -0.003, 0.589] + !! OVERLAP: chair <-> floor depth=[0.589, -0.003, 0.627] + !! OVERLAP: chair <-> floor depth=[0.529, -0.003, 0.602] + !! OVERLAP: chair <-> floor depth=[0.554, -0.003, 0.574] +============================================================ + + +============================================================ +SCENE: LivingDiningRoom-10493 | 16 objects +============================================================ +Final Step Collision Loss: 0.0047, Room Outer Loss: 0.0225, Walkable Loss: 0.0000, Relational Loss: 0.0000 +Guided Steps: 10/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +lamp 0.665 0.927 0.605 -1.128 1.900 -2.475 -0.09° +table 1.764 0.816 1.105 1.965 0.003 -2.224 -89.97° +chair 0.536 0.742 0.530 1.577 0.001 -3.015 0.07° +chair 0.514 0.746 0.550 0.786 0.000 -2.890 0.04° +chair 0.505 0.732 0.597 1.464 0.002 -1.002 179.99° +chair 0.604 0.736 0.586 0.533 0.003 -1.458 -179.91° +lamp 1.063 0.866 1.054 -1.637 1.960 1.668 179.83° +table 0.480 0.565 0.473 -3.003 0.002 0.261 90.06° +table 0.608 0.528 0.567 -3.210 0.005 3.405 90.00° +table 1.275 0.386 0.934 -1.706 0.000 1.610 89.98° +tv_stand 1.570 0.578 0.428 -0.405 0.001 1.877 -89.94° +sofa 2.321 0.917 0.956 -3.294 0.003 1.806 89.96° +chair 0.857 1.060 0.875 -1.728 0.003 3.123 178.32° +table 0.855 0.684 0.534 -1.481 0.002 0.245 179.90° +floor 7.463 -0.004 8.377 -0.660 0.001 -0.004 0.00° +_scene_ 0.067 0.001 0.020 -5.671 -0.005 -5.713 -57.31° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: table <-> chair depth=[0.536, 0.742, 0.026] + !! OVERLAP: table <-> floor depth=[1.764, -0.004, 1.105] + !! OVERLAP: chair <-> floor depth=[0.536, -0.004, 0.530] + !! OVERLAP: chair <-> floor depth=[0.514, -0.004, 0.550] + !! OVERLAP: chair <-> floor depth=[0.505, -0.004, 0.597] + !! OVERLAP: chair <-> floor depth=[0.604, -0.004, 0.586] + !! OVERLAP: table <-> floor depth=[0.480, -0.004, 0.473] + !! OVERLAP: table <-> floor depth=[0.608, -0.004, 0.567] + !! OVERLAP: table <-> tv_stand depth=[0.121, 0.386, 0.414] + !! OVERLAP: table <-> sofa depth=[0.210, 0.386, 0.748] + !! OVERLAP: table <-> floor depth=[1.275, -0.004, 0.934] + !! OVERLAP: tv_stand <-> floor depth=[1.570, -0.004, 0.428] + !! OVERLAP: sofa <-> floor depth=[2.259, -0.004, 0.956] + !! OVERLAP: chair <-> floor depth=[0.857, -0.004, 0.875] + !! OVERLAP: table <-> floor depth=[0.855, -0.004, 0.534] +============================================================ + + +============================================================ +SCENE: LivingRoom-23405 | 10 objects +============================================================ +Final Step Collision Loss: 0.0585, Room Outer Loss: 0.1068, Walkable Loss: 0.0000, Relational Loss: 0.0000 +Guided Steps: 10/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +table 1.604 0.769 0.864 -0.601 0.004 0.014 89.99° +chair 0.592 0.941 0.610 -1.847 0.002 0.270 89.91° +chair 0.481 0.935 0.503 -1.702 0.000 -0.121 90.02° +chair 0.505 0.971 0.571 -0.380 0.003 0.455 -90.00° +chair 0.506 0.942 0.606 -0.564 0.001 -0.366 -90.00° +table 1.481 0.710 0.661 1.095 -0.000 0.362 -90.02° +cabinet 0.782 1.449 0.495 1.387 0.004 -1.253 0.09° +lamp 0.568 0.459 0.538 -0.148 2.057 -0.230 -0.05° +floor 4.759 0.000 2.796 0.029 0.000 -0.075 0.04° +_scene_ 0.068 -0.000 0.021 -5.674 -0.004 -5.717 -57.30° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: table <-> chair depth=[0.505, 0.769, 0.276] + !! OVERLAP: table <-> chair depth=[0.506, 0.769, 0.355] + !! OVERLAP: table <-> floor depth=[1.604, 0.000, 0.864] + !! OVERLAP: chair <-> chair depth=[0.391, 0.935, 0.165] + !! OVERLAP: chair <-> floor depth=[0.592, 0.000, 0.610] + !! OVERLAP: chair <-> floor depth=[0.481, 0.000, 0.503] + !! OVERLAP: chair <-> floor depth=[0.505, 0.000, 0.571] + !! OVERLAP: chair <-> floor depth=[0.506, 0.000, 0.606] + !! OVERLAP: table <-> floor depth=[1.481, 0.000, 0.661] + !! OVERLAP: cabinet <-> floor depth=[0.782, 0.000, 0.468] +============================================================ + + +============================================================ +SCENE: LivingRoom-3797 | 13 objects +============================================================ +Final Step Collision Loss: 0.0221, Room Outer Loss: 0.7045, Walkable Loss: 0.0000, Relational Loss: 0.0000 +Guided Steps: 10/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +sofa 1.992 0.790 0.956 1.621 -0.000 1.350 -90.00° +table 0.990 0.358 0.832 -0.090 -0.003 1.465 90.16° +table 1.794 0.781 1.075 1.319 -0.001 -0.573 0.05° +chair 0.519 0.837 0.511 0.969 0.004 -0.166 179.93° +chair 0.454 0.822 0.499 1.685 0.001 -0.332 179.67° +chair 0.449 0.873 0.542 0.812 0.001 -1.213 0.03° +chair 0.436 0.789 0.464 1.703 0.000 -1.254 0.01° +tv_stand 2.049 0.617 0.417 -0.990 -0.002 1.433 90.03° +cabinet 1.047 1.090 0.331 -0.213 0.004 -2.238 0.02° +lamp 0.519 0.384 0.503 -0.011 2.304 1.654 0.06° +lamp 0.273 1.241 0.218 1.437 1.482 -0.774 0.03° +floor 4.292 -0.003 5.475 0.060 0.002 0.364 0.02° +_scene_ 0.066 0.001 0.026 -5.669 -0.004 -5.717 -57.30° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: sofa <-> floor depth=[1.581, -0.003, 0.956] + !! OVERLAP: table <-> tv_stand depth=[0.619, 0.358, 0.417] + !! OVERLAP: table <-> floor depth=[0.990, -0.003, 0.832] + !! OVERLAP: table <-> chair depth=[0.519, 0.781, 0.386] + !! OVERLAP: table <-> chair depth=[0.454, 0.781, 0.499] + !! OVERLAP: table <-> chair depth=[0.449, 0.781, 0.169] + !! OVERLAP: table <-> chair depth=[0.436, 0.781, 0.089] + !! OVERLAP: table <-> floor depth=[1.784, -0.003, 1.075] + !! OVERLAP: chair <-> floor depth=[0.519, -0.003, 0.511] + !! OVERLAP: chair <-> floor depth=[0.454, -0.003, 0.499] + !! OVERLAP: chair <-> floor depth=[0.449, -0.003, 0.542] + !! OVERLAP: chair <-> floor depth=[0.436, -0.003, 0.464] + !! OVERLAP: tv_stand <-> floor depth=[2.049, -0.003, 0.417] + !! OVERLAP: cabinet <-> floor depth=[1.047, -0.003, 0.301] +============================================================ + + +============================================================ +SCENE: LivingRoom-50084 | 12 objects +============================================================ +Final Step Collision Loss: 0.0108, Room Outer Loss: 0.1789, Walkable Loss: 0.0000, Relational Loss: 0.0000 +Guided Steps: 10/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +chair 0.802 0.792 0.860 -0.636 0.002 3.061 150.57° +chair 0.799 0.301 0.461 -0.507 -0.000 0.003 0.12° +table 0.623 0.400 0.634 -0.347 0.002 1.944 -90.23° +table 0.920 0.588 0.745 0.723 0.001 0.252 0.11° +table 0.830 0.534 0.648 0.600 0.000 2.764 -97.95° +tv_stand 2.472 0.745 0.297 -1.528 0.013 1.942 90.11° +cabinet 0.962 1.024 0.345 2.144 0.001 -1.162 -90.24° +lamp 1.085 0.462 0.436 -0.250 2.047 1.137 0.14° +lamp 0.493 0.326 0.479 2.187 2.165 -2.263 -0.15° +sofa 2.273 0.876 0.797 0.637 0.002 2.018 179.89° +floor 5.492 -0.003 6.687 0.026 -0.001 0.428 -0.06° +_scene_ 0.069 0.001 0.020 -5.668 -0.004 -5.713 -57.29° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: chair <-> floor depth=[0.802, -0.003, 0.860] + !! OVERLAP: chair <-> floor depth=[0.799, -0.003, 0.461] + !! OVERLAP: table <-> tv_stand depth=[0.366, 0.400, 0.297] + !! OVERLAP: table <-> sofa depth=[0.465, 0.400, 0.634] + !! OVERLAP: table <-> floor depth=[0.623, -0.003, 0.634] + !! OVERLAP: table <-> floor depth=[0.920, -0.003, 0.745] + !! OVERLAP: table <-> floor depth=[0.830, -0.003, 0.648] + !! OVERLAP: tv_stand <-> sofa depth=[0.208, 0.745, 0.297] + !! OVERLAP: tv_stand <-> floor depth=[2.428, -0.003, 0.297] + !! OVERLAP: cabinet <-> floor depth=[0.962, -0.003, 0.345] + !! OVERLAP: sofa <-> floor depth=[2.273, -0.003, 0.797] +============================================================ + + +============================================================ +SCENE: LivingRoom-1772 | 15 objects +============================================================ +Final Step Collision Loss: 0.0054, Room Outer Loss: 0.0000, Walkable Loss: 0.0000, Relational Loss: 0.0000 +Guided Steps: 10/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +sofa 1.939 0.783 0.989 1.967 0.001 1.202 -179.98° +table 1.356 0.411 0.968 2.145 0.000 0.188 -0.00° +chair 0.514 0.480 0.519 0.948 -0.000 0.205 -0.01° +bookshelf 3.392 2.644 0.247 -1.437 -0.000 2.129 -179.96° +table 1.603 0.767 0.860 -1.123 -0.003 -0.765 -0.01° +chair 0.572 0.937 0.617 -2.005 0.000 -1.595 0.06° +chair 0.592 0.887 0.623 -1.857 0.001 -0.264 89.73° +chair 0.604 0.937 0.612 -0.168 -0.000 -1.092 -90.08° +chair 0.548 0.950 0.610 -0.353 0.001 -0.211 -89.94° +lamp 0.647 0.724 0.674 1.898 1.924 -0.367 -0.01° +lamp 0.298 0.995 0.284 -1.327 1.419 -1.974 0.04° +lamp 0.393 0.897 0.229 -1.298 1.482 -1.248 -0.02° +lamp 0.321 0.918 0.305 -1.086 1.729 -0.564 -0.04° +floor 6.372 -0.003 5.085 0.105 0.000 -0.169 0.03° +_scene_ 0.066 -0.000 0.019 -5.671 -0.005 -5.714 -57.31° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: sofa <-> floor depth=[1.939, -0.003, 0.989] + !! OVERLAP: table <-> floor depth=[1.356, -0.003, 0.968] + !! OVERLAP: chair <-> floor depth=[0.514, -0.003, 0.519] + !! OVERLAP: bookshelf <-> floor depth=[3.339, -0.003, 0.247] + !! OVERLAP: table <-> chair depth=[0.363, 0.767, 0.241] + !! OVERLAP: table <-> chair depth=[0.149, 0.767, 0.408] + !! OVERLAP: table <-> chair depth=[0.306, 0.767, 0.180] + !! OVERLAP: table <-> floor depth=[1.603, -0.003, 0.860] + !! OVERLAP: chair <-> floor depth=[0.572, -0.003, 0.617] + !! OVERLAP: chair <-> floor depth=[0.592, -0.003, 0.623] + !! OVERLAP: chair <-> floor depth=[0.604, -0.003, 0.612] + !! OVERLAP: chair <-> floor depth=[0.548, -0.003, 0.610] +============================================================ + + +============================================================ +SCENE: LivingRoom-30098 | 11 objects +============================================================ +Final Step Collision Loss: 0.0028, Room Outer Loss: 0.9702, Walkable Loss: 0.0000, Relational Loss: 0.0000 +Guided Steps: 10/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +sofa 1.915 0.799 0.860 -1.342 0.001 0.074 90.05° +chair 0.805 0.926 0.960 -0.265 -0.001 2.941 166.16° +chair 0.867 1.026 0.815 -0.129 0.001 -1.344 13.09° +table 0.567 0.388 0.598 -1.473 0.002 -1.235 0.01° +table 0.587 0.558 0.504 -1.364 0.007 2.014 12.73° +table 0.984 0.439 1.086 0.052 0.001 0.792 -0.00° +tv_stand 3.091 2.493 0.470 1.702 -0.001 0.625 -90.07° +cabinet 0.974 0.858 0.342 1.151 0.002 2.713 179.90° +lamp 0.616 0.923 0.613 0.104 1.808 0.395 -0.02° +floor 4.653 -0.001 6.914 -0.013 0.000 0.326 -0.04° +_scene_ 0.073 0.001 0.027 -5.670 -0.005 -5.711 -57.30° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: sofa <-> table depth=[0.056, 0.439, 0.255] + !! OVERLAP: sofa <-> floor depth=[1.915, -0.001, 0.860] + !! OVERLAP: chair <-> floor depth=[0.805, -0.001, 0.960] + !! OVERLAP: chair <-> floor depth=[0.867, -0.001, 0.815] + !! OVERLAP: table <-> floor depth=[0.567, -0.001, 0.598] + !! OVERLAP: table <-> floor depth=[0.587, -0.001, 0.504] + !! OVERLAP: table <-> tv_stand depth=[0.387, 0.439, 0.470] + !! OVERLAP: table <-> floor depth=[0.984, -0.001, 1.086] + !! OVERLAP: tv_stand <-> floor depth=[2.157, -0.001, 0.470] + !! OVERLAP: cabinet <-> floor depth=[0.974, -0.001, 0.342] +============================================================ + + +============================================================ +SCENE: LivingRoom-3540 | 17 objects +============================================================ +Final Step Collision Loss: 0.0073, Room Outer Loss: 0.6950, Walkable Loss: 0.0000, Relational Loss: 0.0000 +Guided Steps: 10/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +sofa 2.060 0.883 0.815 -1.171 0.001 -1.323 89.96° +chair 0.963 0.807 0.927 -0.055 0.004 -2.925 20.75° +chair 1.272 0.358 0.616 0.291 0.003 0.125 179.87° +table 1.422 0.331 0.944 0.340 0.003 -1.466 90.02° +table 0.599 0.621 0.557 -1.693 0.005 -3.243 89.93° +table 0.620 0.680 0.567 -1.497 -0.001 0.112 -0.01° +tv_stand 2.245 0.464 0.414 1.573 -0.001 -2.005 -90.03° +table 1.719 0.731 1.415 0.075 -0.000 2.238 179.86° +chair 0.533 0.585 0.481 0.799 -0.001 1.434 -90.09° +chair 0.415 0.535 0.461 0.860 0.003 2.697 -90.08° +chair 0.457 0.657 0.499 -0.506 0.001 1.352 90.08° +chair 0.445 0.564 0.474 -0.475 0.000 2.760 -179.99° +table 1.146 0.979 0.454 -2.039 0.000 2.447 90.05° +lamp 0.724 0.673 0.730 0.202 2.043 -1.548 -0.04° +lamp 0.812 0.917 0.448 0.082 1.615 2.126 -0.00° +floor 4.693 -0.002 8.707 0.019 -0.001 -0.148 0.02° +_scene_ 0.073 0.000 0.018 -5.666 -0.003 -5.711 -57.32° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: sofa <-> table depth=[0.230, 0.331, 0.737] + !! OVERLAP: sofa <-> floor depth=[2.060, -0.002, 0.815] + !! OVERLAP: chair <-> floor depth=[0.963, -0.002, 0.927] + !! OVERLAP: chair <-> floor depth=[1.272, -0.002, 0.616] + !! OVERLAP: table <-> tv_stand depth=[0.600, 0.331, 0.140] + !! OVERLAP: table <-> floor depth=[1.422, -0.002, 0.944] + !! OVERLAP: table <-> floor depth=[0.599, -0.002, 0.557] + !! OVERLAP: table <-> floor depth=[0.620, -0.002, 0.567] + !! OVERLAP: tv_stand <-> floor depth=[1.915, -0.002, 0.414] + !! OVERLAP: table <-> chair depth=[0.402, 0.585, 0.143] + !! OVERLAP: table <-> chair depth=[0.282, 0.535, 0.461] + !! OVERLAP: table <-> chair depth=[0.457, 0.657, 0.071] + !! OVERLAP: table <-> chair depth=[0.445, 0.564, 0.422] + !! OVERLAP: table <-> floor depth=[1.719, -0.002, 1.415] + !! OVERLAP: chair <-> floor depth=[0.533, -0.002, 0.481] + !! OVERLAP: chair <-> floor depth=[0.415, -0.002, 0.461] + !! OVERLAP: chair <-> floor depth=[0.457, -0.002, 0.499] + !! OVERLAP: chair <-> floor depth=[0.445, -0.002, 0.474] + !! OVERLAP: table <-> floor depth=[0.862, -0.002, 0.454] +============================================================ + + +============================================================ +SCENE: LivingDiningRoom-2583 | 18 objects +============================================================ +Final Step Collision Loss: 0.0380, Room Outer Loss: 0.0624, Walkable Loss: 0.0000, Relational Loss: 0.0000 +Guided Steps: 10/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +sofa 2.248 0.966 0.985 -1.276 0.002 1.582 89.91° +table 1.707 0.404 1.198 -0.327 0.000 1.707 0.02° +chair 0.916 0.948 0.826 -0.325 0.005 3.000 179.88° +table 0.470 0.602 0.469 -1.926 0.001 -0.034 90.02° +table 0.585 0.610 0.515 -1.954 0.004 3.310 90.04° +tv_stand 1.572 0.488 0.406 0.923 0.000 1.531 -89.91° +chair 0.807 1.020 0.827 -0.467 -0.000 -0.362 11.26° +table 1.721 0.769 1.056 -0.767 -0.001 -2.335 0.01° +chair 0.472 1.039 0.601 -0.922 -0.001 -1.834 179.95° +chair 0.540 0.953 0.615 -0.946 -0.001 -2.546 -0.01° +chair 0.583 0.980 0.668 -0.447 -0.000 -2.626 0.00° +chair 0.483 1.037 0.593 -0.347 0.000 -1.639 -179.98° +table 0.613 0.564 0.604 -1.039 -0.001 -3.082 -0.09° +table 0.639 1.281 0.357 1.155 0.002 -3.438 -90.15° +lamp 0.741 0.793 0.763 -0.497 1.942 -2.166 -0.04° +lamp 1.374 1.110 1.299 -0.844 1.742 1.995 0.04° +floor 4.096 0.001 7.259 -0.230 0.001 0.170 -0.04° +_scene_ 0.071 -0.000 0.024 -5.673 -0.004 -5.717 -57.30° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: sofa <-> table depth=[1.029, 0.404, 0.967] + !! OVERLAP: sofa <-> floor depth=[2.126, 0.001, 0.985] + !! OVERLAP: table <-> tv_stand depth=[0.390, 0.404, 0.406] + !! OVERLAP: table <-> floor depth=[1.707, 0.001, 1.198] + !! OVERLAP: chair <-> floor depth=[0.916, 0.001, 0.826] + !! OVERLAP: table <-> floor depth=[0.470, 0.001, 0.469] + !! OVERLAP: table <-> floor depth=[0.585, 0.001, 0.515] + !! OVERLAP: tv_stand <-> floor depth=[1.572, 0.001, 0.406] + !! OVERLAP: chair <-> floor depth=[0.807, 0.001, 0.827] + !! OVERLAP: table <-> chair depth=[0.472, 0.769, 0.328] + !! OVERLAP: table <-> chair depth=[0.540, 0.769, 0.615] + !! OVERLAP: table <-> chair depth=[0.583, 0.769, 0.571] + !! OVERLAP: table <-> chair depth=[0.483, 0.769, 0.128] + !! OVERLAP: table <-> table depth=[0.613, 0.564, 0.084] + !! OVERLAP: table <-> floor depth=[1.721, 0.001, 1.056] + !! OVERLAP: chair <-> floor depth=[0.472, 0.001, 0.601] + !! OVERLAP: chair <-> chair depth=[0.063, 0.953, 0.561] + !! OVERLAP: chair <-> table depth=[0.483, 0.564, 0.074] + !! OVERLAP: chair <-> floor depth=[0.540, 0.001, 0.615] + !! OVERLAP: chair <-> table depth=[0.005, 0.564, 0.181] + !! OVERLAP: chair <-> floor depth=[0.583, 0.001, 0.668] + !! OVERLAP: chair <-> floor depth=[0.483, 0.001, 0.593] + !! OVERLAP: table <-> floor depth=[0.613, 0.001, 0.604] + !! OVERLAP: table <-> floor depth=[0.639, 0.001, 0.199] +============================================================ + + +============================================================ +SCENE: LivingRoom-68491 | 13 objects +============================================================ +Final Step Collision Loss: 0.0595, Room Outer Loss: 0.0194, Walkable Loss: 0.0000, Relational Loss: 0.0000 +Guided Steps: 10/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +chair 0.643 0.884 0.741 -0.626 -0.007 -0.409 -82.06° +table 0.747 0.324 0.787 1.023 0.001 -0.811 -0.14° +sofa 2.174 0.804 0.811 0.959 -0.000 -1.432 -0.03° +chair 1.016 1.018 0.972 3.087 0.004 0.015 -110.48° +table 0.524 0.539 0.562 2.681 0.001 -1.764 -0.03° +table 0.558 0.499 0.620 -0.122 0.001 -1.867 0.00° +lamp 0.714 0.817 0.718 1.181 1.923 -0.520 0.02° +chair 0.642 1.050 0.725 -2.639 0.003 -1.772 -0.03° +chair 0.664 0.995 0.700 -2.348 -0.003 -0.747 -90.12° +table 2.629 0.833 0.873 -2.428 -0.001 -0.848 89.97° +cabinet 1.138 0.761 0.338 -1.621 0.002 -1.550 0.06° +floor 7.378 -0.007 5.104 0.098 0.001 -0.119 -0.03° +_scene_ 0.063 0.002 0.031 -5.670 -0.005 -5.709 -57.32° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: chair <-> floor depth=[0.643, -0.007, 0.741] + !! OVERLAP: table <-> sofa depth=[0.747, 0.324, 0.178] + !! OVERLAP: table <-> floor depth=[0.747, -0.007, 0.787] + !! OVERLAP: sofa <-> table depth=[0.285, 0.499, 0.281] + !! OVERLAP: sofa <-> floor depth=[2.174, -0.007, 0.811] + !! OVERLAP: chair <-> floor depth=[1.016, -0.007, 0.972] + !! OVERLAP: table <-> floor depth=[0.524, -0.007, 0.562] + !! OVERLAP: table <-> floor depth=[0.558, -0.007, 0.620] + !! OVERLAP: chair <-> floor depth=[0.642, -0.007, 0.725] + !! OVERLAP: chair <-> table depth=[0.664, 0.833, 0.685] + !! OVERLAP: chair <-> floor depth=[0.664, -0.007, 0.700] + !! OVERLAP: table <-> floor depth=[2.477, -0.007, 0.873] + !! OVERLAP: cabinet <-> floor depth=[1.138, -0.007, 0.338] +============================================================ + + +============================================================ +SCENE: LivingRoom-22102 | 8 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0000, Walkable Loss: 0.0000, Relational Loss: 0.0000 +Guided Steps: 10/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +table 1.275 0.366 0.744 0.266 -0.000 0.210 89.93° +table 0.506 0.617 0.520 -1.141 0.001 -1.550 -0.06° +sofa 2.367 0.817 1.001 -1.442 0.003 0.114 89.97° +chair 0.779 0.940 0.762 0.303 0.001 -1.115 -20.09° +tv_stand 1.554 0.733 0.434 1.848 0.001 0.417 -90.02° +lamp 0.372 0.526 0.369 0.489 2.155 0.626 -0.01° +floor 5.519 -0.003 5.102 -0.018 0.001 -0.261 -0.05° +_scene_ 0.062 0.002 0.019 -5.671 -0.005 -5.713 -57.28° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: table <-> sofa depth=[0.113, 0.366, 0.744] + !! OVERLAP: table <-> floor depth=[1.275, -0.003, 0.744] + !! OVERLAP: table <-> floor depth=[0.506, -0.003, 0.520] + !! OVERLAP: sofa <-> floor depth=[2.367, -0.003, 1.001] + !! OVERLAP: chair <-> floor depth=[0.779, -0.003, 0.762] + !! OVERLAP: tv_stand <-> floor depth=[1.554, -0.003, 0.434] +============================================================ + + +============================================================ +SCENE: LivingDiningRoom-2106 | 10 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.1438, Walkable Loss: 0.0000, Relational Loss: 0.0000 +Guided Steps: 10/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +lamp 0.786 0.806 0.309 -0.060 1.874 -2.057 -0.02° +tv_stand 1.765 0.403 0.325 -1.260 -0.000 1.733 89.85° +sofa 2.027 0.851 0.938 1.027 -0.001 1.480 -89.92° +cabinet 1.168 1.006 0.454 1.342 0.002 -0.585 -90.01° +table 1.011 0.446 0.653 0.043 0.003 1.798 90.04° +bookshelf 0.793 2.428 0.450 -1.413 0.000 -0.697 89.96° +lamp 0.993 1.239 1.147 -0.028 1.690 1.377 0.08° +chair 0.530 1.080 0.630 -0.123 0.002 -1.964 73.53° +floor 4.179 -0.000 6.351 -0.112 0.002 0.424 -0.03° +_scene_ 0.072 0.001 0.022 -5.670 -0.004 -5.710 -57.29° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: tv_stand <-> table depth=[0.085, 0.403, 0.325] + !! OVERLAP: tv_stand <-> floor depth=[1.765, -0.000, 0.325] + !! OVERLAP: sofa <-> table depth=[0.534, 0.446, 0.478] + !! OVERLAP: sofa <-> floor depth=[1.963, -0.000, 0.938] + !! OVERLAP: cabinet <-> floor depth=[1.168, -0.000, 0.454] + !! OVERLAP: table <-> floor depth=[1.011, -0.000, 0.653] + !! OVERLAP: bookshelf <-> floor depth=[0.793, -0.000, 0.450] + !! OVERLAP: chair <-> floor depth=[0.530, -0.000, 0.630] +============================================================ + + +============================================================ +SCENE: LivingRoom-38721 | 10 objects +============================================================ +Final Step Collision Loss: 0.2412, Room Outer Loss: 1.1530, Walkable Loss: 0.0000, Relational Loss: 0.0000 +Guided Steps: 10/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +lamp 1.165 0.987 1.185 -0.947 1.882 1.456 0.02° +tv_stand 1.697 0.462 0.330 1.251 -0.002 -0.930 -89.97° +table 0.888 0.450 0.580 -0.805 0.001 -1.252 89.91° +sofa 3.223 0.824 1.752 -0.541 -0.002 0.333 89.91° +table 1.367 0.590 0.707 -0.249 0.002 1.368 179.88° +chair 0.470 0.734 0.452 -1.077 0.000 0.533 0.00° +chair 0.530 0.750 0.541 -0.323 0.001 0.653 0.01° +lamp 0.425 0.404 0.415 -0.557 2.110 -0.844 -0.03° +floor 3.138 0.001 5.140 -0.012 0.000 -0.050 0.01° +_scene_ 0.065 0.000 0.021 -5.669 -0.004 -5.714 -57.29° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: tv_stand <-> floor depth=[1.155, 0.001, 0.330] + !! OVERLAP: table <-> floor depth=[0.888, 0.001, 0.580] + !! OVERLAP: sofa <-> table depth=[1.367, 0.590, 0.194] + !! OVERLAP: sofa <-> chair depth=[0.470, 0.734, 0.452] + !! OVERLAP: sofa <-> chair depth=[0.530, 0.750, 0.541] + !! OVERLAP: sofa <-> floor depth=[2.652, 0.001, 1.752] + !! OVERLAP: table <-> floor depth=[1.367, 0.001, 0.707] + !! OVERLAP: chair <-> floor depth=[0.470, 0.001, 0.452] + !! OVERLAP: chair <-> floor depth=[0.530, 0.001, 0.541] +============================================================ + + +============================================================ +SCENE: LivingRoom-2159 | 7 objects +============================================================ +Final Step Collision Loss: 0.0440, Room Outer Loss: 0.0971, Walkable Loss: 0.0000, Relational Loss: 0.0000 +Guided Steps: 10/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +table 1.011 0.444 0.961 1.138 -0.000 0.076 -0.07° +table 0.637 0.684 0.587 1.435 -0.000 -0.321 0.09° +sofa 2.932 1.038 0.923 0.613 -0.001 -1.577 -0.01° +chair 0.600 0.789 0.611 -1.282 -0.005 -0.221 129.23° +tv_stand 2.743 0.844 0.650 0.775 0.000 1.710 179.94° +floor 4.954 -0.004 4.146 -0.005 0.001 0.016 -0.02° +_scene_ 0.048 -0.004 0.028 -5.632 0.000 -5.672 -57.32° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: table <-> table depth=[0.528, 0.444, 0.377] + !! OVERLAP: table <-> floor depth=[1.011, -0.004, 0.961] + !! OVERLAP: table <-> floor depth=[0.637, -0.004, 0.587] + !! OVERLAP: sofa <-> floor depth=[2.932, -0.004, 0.923] + !! OVERLAP: chair <-> floor depth=[0.600, -0.004, 0.611] + !! OVERLAP: tv_stand <-> floor depth=[2.743, -0.004, 0.650] +============================================================ + + +============================================================ +SCENE: LivingRoom-1618 | 10 objects +============================================================ +Final Step Collision Loss: 0.0676, Room Outer Loss: 0.6365, Walkable Loss: 0.0000, Relational Loss: 0.0000 +Guided Steps: 10/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +sofa 1.760 0.717 0.754 -1.026 0.001 0.168 89.99° +table 1.027 1.141 0.417 -1.293 0.007 -2.030 89.90° +tv_stand 1.633 0.690 0.391 1.095 -0.001 0.158 -90.04° +table 2.398 0.778 1.143 -0.530 -0.001 2.116 0.01° +chair 0.476 0.953 0.507 0.233 0.009 2.478 -157.11° +chair 0.421 0.861 0.477 -0.270 0.001 2.627 160.05° +lamp 0.571 0.996 0.525 -0.100 1.762 0.183 -0.05° +chair 0.688 0.383 0.606 -0.053 0.001 -1.889 -0.06° +floor 3.428 -0.002 5.681 0.015 0.001 0.167 -0.03° +_scene_ 0.067 -0.000 0.024 -5.671 -0.006 -5.715 -57.31° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: sofa <-> floor depth=[1.553, -0.002, 0.754] + !! OVERLAP: table <-> floor depth=[0.920, -0.002, 0.417] + !! OVERLAP: tv_stand <-> floor depth=[1.451, -0.002, 0.391] + !! OVERLAP: table <-> chair depth=[0.476, 0.778, 0.463] + !! OVERLAP: table <-> chair depth=[0.421, 0.778, 0.299] + !! OVERLAP: table <-> floor depth=[2.368, -0.002, 1.143] + !! OVERLAP: chair <-> floor depth=[0.476, -0.002, 0.507] + !! OVERLAP: chair <-> floor depth=[0.421, -0.002, 0.477] + !! OVERLAP: chair <-> floor depth=[0.688, -0.002, 0.606] +============================================================ + + +============================================================ +SCENE: LivingDiningRoom-25795 | 17 objects +============================================================ +Final Step Collision Loss: 0.0042, Room Outer Loss: 0.1744, Walkable Loss: 0.0000, Relational Loss: 0.0000 +Guided Steps: 10/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +chair 0.543 0.816 0.614 2.377 0.001 0.067 -71.29° +sofa 2.526 0.849 0.955 1.232 -0.002 -1.017 -0.01° +chair 0.584 0.503 0.553 -0.006 -0.000 0.252 -90.37° +table 0.468 0.307 0.352 1.069 0.001 -0.365 179.90° +table 0.503 0.391 0.459 2.386 0.004 -1.150 179.93° +table 0.508 0.352 0.521 -0.621 0.003 -1.127 179.92° +table 1.594 0.691 0.786 -2.068 0.006 0.724 180.00° +chair 0.537 0.812 0.553 -2.561 0.003 1.360 -179.95° +chair 0.554 0.785 0.587 -1.840 -0.000 1.729 -179.90° +chair 0.560 0.842 0.533 -2.091 0.001 -0.056 0.00° +chair 0.582 0.741 0.612 -2.717 0.001 -0.173 0.01° +tv_stand 2.766 0.768 0.506 1.286 0.002 2.325 179.97° +cabinet 1.099 1.206 0.522 -2.851 -0.000 -2.185 89.86° +lamp 0.296 0.691 0.277 1.363 1.941 0.585 0.01° +lamp 0.741 0.936 0.701 -1.920 1.988 0.752 0.00° +floor 6.317 -0.003 5.427 -0.418 -0.001 0.433 -0.01° +_scene_ 0.070 -0.000 0.020 -5.673 -0.005 -5.713 -57.30° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: chair <-> floor depth=[0.543, -0.003, 0.614] + !! OVERLAP: sofa <-> table depth=[0.468, 0.307, 0.001] + !! OVERLAP: sofa <-> table depth=[0.361, 0.391, 0.459] + !! OVERLAP: sofa <-> floor depth=[2.526, -0.003, 0.955] + !! OVERLAP: chair <-> floor depth=[0.584, -0.003, 0.553] + !! OVERLAP: table <-> floor depth=[0.468, -0.003, 0.352] + !! OVERLAP: table <-> floor depth=[0.503, -0.003, 0.459] + !! OVERLAP: table <-> floor depth=[0.508, -0.003, 0.521] + !! OVERLAP: table <-> chair depth=[0.537, 0.691, 0.034] + !! OVERLAP: table <-> floor depth=[1.594, -0.003, 0.786] + !! OVERLAP: chair <-> floor depth=[0.537, -0.003, 0.553] + !! OVERLAP: chair <-> floor depth=[0.554, -0.003, 0.587] + !! OVERLAP: chair <-> floor depth=[0.560, -0.003, 0.533] + !! OVERLAP: chair <-> floor depth=[0.582, -0.003, 0.612] + !! OVERLAP: tv_stand <-> floor depth=[2.766, -0.003, 0.506] + !! OVERLAP: cabinet <-> floor depth=[1.099, -0.003, 0.356] +============================================================ + + +============================================================ +SCENE: LivingDiningRoom-62037 | 16 objects +============================================================ +Final Step Collision Loss: 0.0187, Room Outer Loss: 0.6914, Walkable Loss: 0.0000, Relational Loss: 0.0000 +Guided Steps: 10/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +table 1.095 0.978 0.930 -0.120 0.000 -2.411 89.98° +table 1.484 0.930 0.831 0.615 0.002 0.660 -0.01° +tv_stand 1.597 0.457 0.350 -1.249 0.001 -2.421 90.01° +cabinet 0.836 1.222 0.221 -1.548 -0.002 3.533 90.04° +cabinet 0.661 0.696 0.304 -1.480 0.003 0.053 90.02° +table 0.515 0.519 0.537 1.187 -0.001 -1.017 -0.10° +bookshelf 2.100 2.355 0.440 0.537 0.001 1.691 -179.90° +sofa 2.142 0.714 0.923 0.556 0.002 -2.838 -89.96° +lamp 0.951 0.799 0.914 -0.118 1.787 -2.295 90.03° +chair 0.537 0.962 0.612 0.249 0.001 1.035 179.97° +lamp 0.730 1.020 0.750 0.307 1.641 0.462 0.01° +chair 0.587 1.015 0.652 1.031 0.001 0.991 -179.97° +chair 0.586 0.994 0.618 0.439 0.001 -0.313 0.02° +chair 0.575 1.041 0.620 0.907 0.001 -0.252 0.00° +floor 3.393 -0.004 8.583 0.046 -0.002 -0.329 -0.02° +_scene_ 0.069 0.001 0.016 -5.673 -0.006 -5.717 -57.33° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: table <-> tv_stand depth=[0.217, 0.457, 0.350] + !! OVERLAP: table <-> sofa depth=[0.942, 0.714, 0.499] + !! OVERLAP: table <-> floor depth=[1.095, -0.004, 0.930] + !! OVERLAP: table <-> chair depth=[0.537, 0.930, 0.346] + !! OVERLAP: table <-> chair depth=[0.587, 0.930, 0.411] + !! OVERLAP: table <-> floor depth=[1.484, -0.004, 0.831] + !! OVERLAP: tv_stand <-> sofa depth=[0.065, 0.457, 0.219] + !! OVERLAP: tv_stand <-> floor depth=[1.200, -0.004, 0.350] + !! OVERLAP: cabinet <-> floor depth=[0.521, -0.004, 0.221] + !! OVERLAP: cabinet <-> floor depth=[0.501, -0.004, 0.304] + !! OVERLAP: table <-> floor depth=[0.515, -0.004, 0.537] + !! OVERLAP: bookshelf <-> floor depth=[2.100, -0.004, 0.440] + !! OVERLAP: sofa <-> floor depth=[2.142, -0.004, 0.923] + !! OVERLAP: chair <-> floor depth=[0.537, -0.004, 0.612] + !! OVERLAP: chair <-> floor depth=[0.587, -0.004, 0.652] + !! OVERLAP: chair <-> chair depth=[0.113, 0.994, 0.557] + !! OVERLAP: chair <-> floor depth=[0.586, -0.004, 0.618] + !! OVERLAP: chair <-> floor depth=[0.575, -0.004, 0.620] +============================================================ + + +============================================================ +SCENE: LivingDiningRoom-17657 | 13 objects +============================================================ +Final Step Collision Loss: 0.0271, Room Outer Loss: 0.9771, Walkable Loss: 0.0000, Relational Loss: 0.0000 +Guided Steps: 10/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +table 2.342 0.728 1.092 -0.144 -0.001 -1.259 -90.03° +chair 0.499 0.881 0.543 -0.506 0.000 -2.546 0.01° +chair 0.539 0.923 0.634 -0.499 -0.001 -1.806 179.88° +chair 0.513 0.828 0.568 0.492 0.001 -2.242 -89.99° +chair 0.553 0.810 0.539 0.576 0.001 -1.591 179.88° +sofa 2.190 0.920 0.892 -1.475 0.000 1.438 89.93° +table 1.410 0.389 0.726 -0.390 -0.001 1.681 90.04° +table 1.056 0.412 0.820 -1.680 0.003 -0.130 89.98° +tv_stand 2.381 0.558 0.437 0.923 0.000 1.364 -89.95° +lamp 0.825 0.915 0.815 -0.161 1.760 1.444 -0.03° +lamp 0.172 0.774 0.181 -0.024 2.160 -2.101 -0.06° +floor 3.764 0.001 6.688 -0.305 0.000 0.243 -0.04° +_scene_ 0.067 0.001 0.023 -5.666 -0.006 -5.716 -57.30° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: table <-> chair depth=[0.539, 0.728, 0.315] + !! OVERLAP: table <-> chair depth=[0.553, 0.728, 0.483] + !! OVERLAP: table <-> floor depth=[2.342, 0.001, 1.092] + !! OVERLAP: chair <-> floor depth=[0.499, 0.001, 0.543] + !! OVERLAP: chair <-> floor depth=[0.539, 0.001, 0.634] + !! OVERLAP: chair <-> floor depth=[0.513, 0.001, 0.568] + !! OVERLAP: chair <-> floor depth=[0.553, 0.001, 0.539] + !! OVERLAP: sofa <-> table depth=[0.715, 0.389, 0.566] + !! OVERLAP: sofa <-> floor depth=[1.807, 0.001, 0.892] + !! OVERLAP: table <-> tv_stand depth=[0.582, 0.389, 0.264] + !! OVERLAP: table <-> floor depth=[1.410, 0.001, 0.726] + !! OVERLAP: table <-> floor depth=[1.035, 0.001, 0.820] + !! OVERLAP: tv_stand <-> floor depth=[1.844, 0.001, 0.437] +============================================================ + + +============================================================ +SCENE: LivingRoom-11224 | 6 objects +============================================================ +Final Step Collision Loss: 0.0147, Room Outer Loss: 0.6521, Walkable Loss: 0.0000, Relational Loss: 0.0000 +Guided Steps: 10/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +sofa 2.219 0.905 0.995 -1.220 0.000 -0.126 90.00° +table 1.558 0.742 0.920 -0.304 -0.001 -0.133 -89.86° +tv_stand 1.906 0.391 0.282 1.225 -0.002 -0.103 -90.06° +lamp 0.674 0.416 0.654 0.071 2.174 0.004 -0.01° +floor 4.058 -0.003 2.967 -0.095 0.000 0.016 -0.05° +_scene_ 0.067 -0.000 0.037 -5.657 -0.004 -5.697 -57.31° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: sofa <-> table depth=[0.972, 0.742, 0.920] + !! OVERLAP: sofa <-> floor depth=[2.014, -0.003, 0.995] + !! OVERLAP: table <-> tv_stand depth=[0.203, 0.391, 0.282] + !! OVERLAP: table <-> floor depth=[1.558, -0.003, 0.920] + !! OVERLAP: tv_stand <-> floor depth=[1.661, -0.003, 0.282] +============================================================ + + +============================================================ +SCENE: LivingRoom-13136 | 14 objects +============================================================ +Final Step Collision Loss: 0.0341, Room Outer Loss: 0.1653, Walkable Loss: 0.0000, Relational Loss: 0.0000 +Guided Steps: 10/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +sofa 2.198 0.840 0.836 -1.226 0.001 -1.388 89.98° +table 1.762 0.463 1.044 0.580 0.003 -1.749 90.01° +chair 0.653 0.910 0.797 0.356 0.002 -2.737 0.02° +table 0.516 0.531 0.457 -1.557 0.003 -3.416 89.95° +table 0.601 0.643 0.598 -1.274 0.004 -0.335 89.98° +table 1.827 0.746 1.109 1.001 -0.001 2.729 -0.03° +chair 0.602 0.935 0.644 0.022 0.001 2.042 90.01° +chair 0.520 0.954 0.611 -0.343 -0.000 2.498 179.97° +chair 0.601 0.941 0.644 1.620 0.006 1.961 -89.92° +chair 0.549 0.944 0.560 1.542 0.001 2.499 -121.34° +bookshelf 1.348 2.077 0.269 -1.185 0.001 0.519 -179.91° +lamp 0.793 0.998 0.840 1.100 1.608 2.500 -0.06° +floor 4.649 -0.001 8.583 0.143 -0.002 -0.120 -0.01° +_scene_ 0.071 0.001 0.023 -5.669 -0.005 -5.712 -57.31° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: sofa <-> table depth=[0.174, 0.463, 0.579] + !! OVERLAP: sofa <-> floor depth=[2.054, -0.001, 0.836] + !! OVERLAP: table <-> floor depth=[1.762, -0.001, 1.044] + !! OVERLAP: chair <-> floor depth=[0.653, -0.001, 0.797] + !! OVERLAP: table <-> floor depth=[0.516, -0.001, 0.457] + !! OVERLAP: table <-> floor depth=[0.601, -0.001, 0.598] + !! OVERLAP: table <-> chair depth=[0.236, 0.746, 0.190] + !! OVERLAP: table <-> chair depth=[0.595, 0.746, 0.109] + !! OVERLAP: table <-> chair depth=[0.549, 0.746, 0.560] + !! OVERLAP: table <-> floor depth=[1.827, -0.001, 1.109] + !! OVERLAP: chair <-> chair depth=[0.196, 0.935, 0.172] + !! OVERLAP: chair <-> floor depth=[0.602, -0.001, 0.644] + !! OVERLAP: chair <-> floor depth=[0.520, -0.001, 0.611] + !! OVERLAP: chair <-> chair depth=[0.497, 0.937, 0.064] + !! OVERLAP: chair <-> floor depth=[0.601, -0.001, 0.644] + !! OVERLAP: chair <-> floor depth=[0.549, -0.001, 0.560] + !! OVERLAP: bookshelf <-> floor depth=[1.348, -0.001, 0.269] +============================================================ + + +============================================================ +SCENE: LivingRoom-40975 | 7 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0335, Walkable Loss: 0.0000, Relational Loss: 0.0000 +Guided Steps: 10/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +cabinet 0.698 1.271 0.371 0.172 0.002 2.096 179.99° +sofa 2.064 0.798 0.968 1.003 -0.000 0.519 0.03° +table 1.060 0.731 1.067 1.777 0.000 1.547 179.84° +lamp 1.029 0.756 0.787 1.051 2.206 1.166 0.02° +lamp 0.452 0.875 0.379 -1.180 2.141 -1.494 0.04° +floor 5.451 -0.004 4.601 0.083 0.000 0.159 -0.04° +_scene_ 0.065 0.001 0.020 -5.672 -0.004 -5.710 -57.28° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: cabinet <-> floor depth=[0.698, -0.004, 0.371] + !! OVERLAP: sofa <-> floor depth=[2.064, -0.004, 0.968] + !! OVERLAP: table <-> floor depth=[1.060, -0.004, 1.067] +============================================================ + + +============================================================ +SCENE: LivingRoom-6045 | 9 objects +============================================================ +Final Step Collision Loss: 0.0127, Room Outer Loss: 1.1637, Walkable Loss: 0.0000, Relational Loss: 0.0000 +Guided Steps: 10/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +tv_stand 2.045 0.687 0.409 1.469 0.000 0.977 -90.03° +cabinet 0.724 1.085 0.450 -1.640 0.000 2.103 89.92° +sofa 2.556 0.826 0.906 -1.373 0.001 0.179 90.00° +table 0.921 0.319 0.688 0.060 0.001 0.232 0.05° +chair 0.892 0.800 0.996 -0.098 0.000 1.927 -180.00° +bookshelf 1.318 1.870 0.357 -1.422 -0.001 -1.602 89.94° +lamp 1.085 0.696 0.880 -0.076 2.064 0.256 0.01° +floor 4.128 -0.001 5.304 0.035 -0.000 0.029 -0.04° +_scene_ 0.075 0.001 0.028 -5.672 -0.003 -5.707 -57.30° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: tv_stand <-> floor depth=[1.653, -0.001, 0.409] + !! OVERLAP: cabinet <-> floor depth=[0.724, -0.001, 0.450] + !! OVERLAP: sofa <-> table depth=[0.306, 0.319, 0.688] + !! OVERLAP: sofa <-> floor depth=[1.935, -0.001, 0.906] + !! OVERLAP: table <-> floor depth=[0.921, -0.001, 0.688] + !! OVERLAP: chair <-> floor depth=[0.892, -0.001, 0.996] + !! OVERLAP: bookshelf <-> floor depth=[1.266, -0.001, 0.357] +============================================================ + + +============================================================ +SCENE: LivingRoom-2050 | 10 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0015, Walkable Loss: 0.0000, Relational Loss: 0.0000 +Guided Steps: 10/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +sofa 2.459 0.774 0.795 0.056 -0.000 -1.509 -0.03° +chair 0.967 0.911 0.780 2.471 0.000 -0.077 -65.04° +table 1.713 0.819 1.014 0.570 0.001 0.110 -0.03° +tv_stand 2.226 0.604 0.500 0.170 0.002 1.511 -180.00° +table 0.532 0.504 0.565 -1.753 0.001 -1.720 -0.05° +table 0.464 0.430 0.500 2.771 0.002 -1.609 -0.05° +lamp 0.548 0.799 0.573 0.896 1.871 0.190 -0.04° +chair 0.771 0.738 0.704 -1.881 0.005 -0.400 51.92° +floor 7.211 -0.004 3.946 -0.296 0.000 -0.067 0.00° +_scene_ 0.071 -0.001 0.016 -5.672 -0.005 -5.714 -57.30° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: sofa <-> floor depth=[2.459, -0.004, 0.795] + !! OVERLAP: chair <-> floor depth=[0.967, -0.004, 0.780] + !! OVERLAP: table <-> floor depth=[1.713, -0.004, 1.014] + !! OVERLAP: tv_stand <-> floor depth=[2.226, -0.004, 0.500] + !! OVERLAP: table <-> floor depth=[0.532, -0.004, 0.565] + !! OVERLAP: table <-> floor depth=[0.464, -0.004, 0.500] + !! OVERLAP: chair <-> floor depth=[0.771, -0.004, 0.704] +============================================================ + + +============================================================ +SCENE: LivingRoom-12271 | 7 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0000, Walkable Loss: 0.0000, Relational Loss: 0.0000 +Guided Steps: 10/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +lamp 0.509 0.096 0.492 -0.264 2.559 0.024 -0.03° +table 1.073 0.730 1.296 -0.900 0.002 -1.116 -90.10° +sofa 2.474 1.295 1.391 -1.313 0.000 0.548 89.94° +table 0.797 1.097 0.470 1.950 0.001 1.455 -90.06° +sofa 0.969 0.430 1.103 0.512 0.000 0.015 -57.23° +floor 5.137 0.000 3.949 -0.091 0.001 0.050 0.01° +_scene_ 0.068 0.001 0.046 -5.665 -0.005 -5.712 -57.30° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: table <-> floor depth=[1.073, 0.000, 1.296] + !! OVERLAP: sofa <-> floor depth=[2.474, 0.000, 1.391] + !! OVERLAP: table <-> floor depth=[0.797, 0.000, 0.470] + !! OVERLAP: sofa <-> floor depth=[0.969, 0.000, 1.103] +============================================================ + + +============================================================ +SCENE: LivingDiningRoom-52564 | 10 objects +============================================================ +Final Step Collision Loss: 0.0398, Room Outer Loss: 0.0000, Walkable Loss: 0.0000, Relational Loss: 0.0000 +Guided Steps: 10/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +tv_stand 2.119 0.616 0.453 -1.614 0.002 -1.656 90.00° +table 0.678 0.372 0.616 1.894 0.003 -1.853 -0.16° +table 1.330 1.373 0.478 -2.514 0.002 0.438 89.91° +table 0.678 0.746 0.668 -0.928 0.001 -0.139 0.02° +table 0.626 0.677 0.555 -1.181 -0.000 -2.538 -0.05° +sofa 2.685 0.986 0.958 1.630 -0.000 -1.562 -90.01° +lamp 1.017 1.233 0.873 0.569 1.588 1.782 0.05° +lamp 0.623 0.653 0.628 0.498 2.024 -1.899 -0.06° +floor 6.178 -0.004 6.302 -0.145 0.001 -0.199 -0.02° +_scene_ 0.118 -0.004 0.139 -5.597 -0.003 -5.636 -57.28° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: tv_stand <-> floor depth=[2.119, -0.004, 0.453] + !! OVERLAP: table <-> sofa depth=[0.678, 0.372, 0.495] + !! OVERLAP: table <-> floor depth=[0.678, -0.004, 0.616] + !! OVERLAP: table <-> floor depth=[1.330, -0.004, 0.478] + !! OVERLAP: table <-> floor depth=[0.678, -0.004, 0.668] + !! OVERLAP: table <-> floor depth=[0.626, -0.004, 0.555] + !! OVERLAP: sofa <-> floor depth=[2.656, -0.004, 0.958] +============================================================ + + +============================================================ +SCENE: LivingRoom-423 | 21 objects +============================================================ +Final Step Collision Loss: 0.0031, Room Outer Loss: 0.3219, Walkable Loss: 0.0000, Relational Loss: 0.0000 +Guided Steps: 10/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +bookshelf 1.603 2.589 0.202 1.725 -0.002 3.080 -90.08° +table 2.045 0.751 1.000 -0.843 -0.001 1.632 -0.03° +chair 0.634 0.797 0.607 -1.078 -0.001 0.835 -0.03° +chair 0.656 0.834 0.606 -0.256 0.000 0.909 -0.02° +chair 0.567 0.833 0.599 -0.789 0.000 2.857 -179.94° +chair 0.557 0.782 0.560 0.106 0.001 2.967 179.99° +chair 0.555 0.767 0.579 0.591 0.000 2.114 -90.03° +chair 0.627 0.859 0.600 -1.755 -0.002 2.046 89.97° +sofa 2.227 1.009 0.957 -1.434 -0.001 -2.414 90.00° +sofa 1.270 0.880 0.875 -0.148 0.001 -4.289 0.01° +chair 0.897 0.975 1.043 -0.303 0.007 -0.845 -168.36° +table 1.245 0.655 0.888 -0.411 0.003 -2.283 89.88° +table 0.650 0.380 0.528 -1.761 0.003 -0.678 90.04° +table 0.375 0.305 0.421 -1.220 -0.004 -4.159 -0.09° +cabinet 2.187 2.207 0.560 -1.076 0.008 3.543 -179.96° +tv_stand 1.888 0.616 0.426 1.330 0.004 -2.276 -90.17° +lamp 0.825 0.753 0.823 -0.197 2.019 -2.380 -0.03° +lamp 0.748 0.818 0.747 -0.179 1.721 2.745 0.04° +lamp 0.509 1.518 0.458 1.083 1.278 4.031 0.14° +floor 4.997 -0.001 9.576 -0.313 0.000 -0.076 0.02° +_scene_ 0.069 0.000 0.022 -5.670 -0.005 -5.713 -57.32° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bookshelf <-> floor depth=[1.262, -0.001, 0.202] + !! OVERLAP: table <-> chair depth=[0.634, 0.751, 0.006] + !! OVERLAP: table <-> chair depth=[0.656, 0.751, 0.080] + !! OVERLAP: table <-> chair depth=[0.424, 0.751, 0.386] + !! OVERLAP: table <-> floor depth=[2.045, -0.001, 1.000] + !! OVERLAP: chair <-> floor depth=[0.634, -0.001, 0.607] + !! OVERLAP: chair <-> floor depth=[0.656, -0.001, 0.606] + !! OVERLAP: chair <-> floor depth=[0.567, -0.001, 0.599] + !! OVERLAP: chair <-> floor depth=[0.557, -0.001, 0.560] + !! OVERLAP: chair <-> floor depth=[0.555, -0.001, 0.579] + !! OVERLAP: chair <-> floor depth=[0.627, -0.001, 0.600] + !! OVERLAP: sofa <-> table depth=[0.714, 0.655, 0.792] + !! OVERLAP: sofa <-> floor depth=[2.227, -0.001, 0.957] + !! OVERLAP: sofa <-> floor depth=[1.270, -0.001, 0.875] + !! OVERLAP: chair <-> floor depth=[0.897, -0.001, 1.043] + !! OVERLAP: table <-> floor depth=[1.245, -0.001, 0.888] + !! OVERLAP: table <-> floor depth=[0.650, -0.001, 0.528] + !! OVERLAP: table <-> floor depth=[0.375, -0.001, 0.421] + !! OVERLAP: cabinet <-> floor depth=[2.187, -0.001, 0.560] + !! OVERLAP: tv_stand <-> floor depth=[1.800, -0.001, 0.426] +============================================================ + + +============================================================ +SCENE: LivingRoom-34874 | 6 objects +============================================================ +Final Step Collision Loss: 0.3232, Room Outer Loss: 0.0000, Walkable Loss: 0.0000, Relational Loss: 0.0000 +Guided Steps: 10/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +sofa 3.578 0.858 1.536 -0.456 -0.001 1.245 -179.93° +lamp 0.636 0.518 0.638 -0.528 2.062 0.367 -0.02° +table 1.556 0.512 1.152 -0.752 0.000 0.367 0.03° +tv_stand 2.498 0.712 0.566 -0.851 0.000 -1.517 0.01° +floor 4.425 -0.002 3.772 -0.093 0.000 0.124 -0.03° +_scene_ 0.065 -0.000 0.019 -5.670 -0.004 -5.704 -57.27° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: sofa <-> table depth=[1.556, 0.512, 0.466] + !! OVERLAP: sofa <-> floor depth=[3.578, -0.002, 1.532] + !! OVERLAP: table <-> floor depth=[1.556, -0.002, 1.152] + !! OVERLAP: tv_stand <-> floor depth=[2.498, -0.002, 0.529] +============================================================ + + +============================================================ +SCENE: LivingDiningRoom-9632 | 14 objects +============================================================ +Final Step Collision Loss: 0.0108, Room Outer Loss: 0.2160, Walkable Loss: 0.0000, Relational Loss: 0.0000 +Guided Steps: 10/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +lamp 0.663 0.779 0.651 -0.719 1.827 -1.906 -0.02° +sofa 2.325 0.879 0.794 -1.877 0.004 1.974 89.89° +table 1.328 0.698 1.215 -0.582 -0.001 1.988 -90.17° +tv_stand 1.812 0.440 0.472 1.270 -0.000 1.843 -90.00° +chair 0.829 0.870 0.871 -1.914 0.002 0.381 89.99° +chair 0.876 0.963 0.902 -1.491 0.001 -0.482 179.95° +cabinet 0.495 0.965 0.327 1.470 0.002 0.262 -90.08° +table 1.496 0.722 1.039 -0.297 -0.002 -2.099 -90.42° +chair 0.417 0.490 0.452 0.648 0.001 0.032 0.01° +chair 0.429 0.454 0.484 -0.107 0.002 1.759 -90.10° +chair 0.394 0.465 0.403 -0.475 -0.001 2.401 179.90° +lamp 0.705 0.648 0.676 -0.495 2.073 1.219 -0.02° +floor 5.743 -0.008 6.292 -0.712 0.002 0.495 -0.07° +_scene_ 0.075 -0.000 0.023 -5.673 -0.005 -5.714 -57.31° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: sofa <-> table depth=[0.532, 0.698, 0.794] + !! OVERLAP: sofa <-> floor depth=[2.325, -0.008, 0.794] + !! OVERLAP: table <-> chair depth=[0.404, 0.454, 0.484] + !! OVERLAP: table <-> chair depth=[0.394, 0.465, 0.397] + !! OVERLAP: table <-> floor depth=[1.328, -0.008, 1.215] + !! OVERLAP: tv_stand <-> floor depth=[1.796, -0.008, 0.472] + !! OVERLAP: chair <-> chair depth=[0.429, 0.870, 0.024] + !! OVERLAP: chair <-> floor depth=[0.829, -0.008, 0.871] + !! OVERLAP: chair <-> floor depth=[0.876, -0.008, 0.902] + !! OVERLAP: cabinet <-> floor depth=[0.495, -0.008, 0.327] + !! OVERLAP: table <-> floor depth=[1.496, -0.008, 1.039] + !! OVERLAP: chair <-> floor depth=[0.417, -0.008, 0.452] + !! OVERLAP: chair <-> floor depth=[0.429, -0.008, 0.484] + !! OVERLAP: chair <-> floor depth=[0.394, -0.008, 0.403] +============================================================ + + +============================================================ +SCENE: LivingRoom-860 | 10 objects +============================================================ +Final Step Collision Loss: 0.0621, Room Outer Loss: 1.4731, Walkable Loss: 0.0000, Relational Loss: 0.0000 +Guided Steps: 10/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +table 1.908 0.731 1.334 0.546 0.002 -0.607 -0.01° +chair 0.458 0.843 0.478 0.197 0.001 2.168 -179.83° +chair 0.439 0.873 0.427 0.118 -0.001 1.584 -179.93° +table 1.136 0.469 0.758 0.880 0.000 1.964 179.94° +sofa 2.096 0.833 0.778 1.141 -0.001 -0.389 -89.90° +tv_stand 2.157 1.028 0.482 -1.368 0.004 -0.844 90.00° +cabinet 0.809 1.215 0.284 0.558 0.000 -2.210 0.00° +lamp 0.898 1.131 0.882 0.676 1.666 -0.290 -0.02° +floor 3.314 0.001 5.599 -0.008 0.000 -0.078 -0.01° +_scene_ 0.070 0.001 0.024 -5.669 -0.004 -5.713 -57.29° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: table <-> sofa depth=[1.407, 0.731, 0.778] + !! OVERLAP: table <-> tv_stand depth=[0.119, 0.731, 0.482] + !! OVERLAP: table <-> floor depth=[1.908, 0.001, 1.334] + !! OVERLAP: chair <-> table depth=[0.114, 0.469, 0.414] + !! OVERLAP: chair <-> floor depth=[0.458, 0.001, 0.478] + !! OVERLAP: chair <-> table depth=[0.025, 0.469, 0.212] + !! OVERLAP: chair <-> floor depth=[0.439, 0.001, 0.427] + !! OVERLAP: table <-> floor depth=[1.136, 0.001, 0.758] + !! OVERLAP: sofa <-> floor depth=[1.556, 0.001, 0.778] + !! OVERLAP: tv_stand <-> floor depth=[1.376, 0.001, 0.482] + !! OVERLAP: cabinet <-> floor depth=[0.809, 0.001, 0.284] +============================================================ + + +============================================================ +SCENE: LivingDiningRoom-8304 | 18 objects +============================================================ +Final Step Collision Loss: 0.0270, Room Outer Loss: 0.0636, Walkable Loss: 0.0000, Relational Loss: 0.0000 +Guided Steps: 10/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +chair 1.065 1.140 1.111 -0.753 0.002 4.029 179.46° +sofa 2.457 0.807 1.149 -1.539 0.002 2.239 89.93° +chair 0.983 0.809 1.095 -0.574 0.002 1.847 52.02° +table 0.904 0.407 1.022 -0.632 0.001 2.368 0.02° +tv_stand 1.854 0.968 0.439 0.471 -0.001 2.478 -90.00° +table 0.577 0.533 0.566 -2.101 0.000 0.619 -0.03° +table 0.518 0.458 0.591 -1.947 -0.001 3.608 0.02° +cabinet 0.900 2.340 0.480 -2.004 -0.002 -1.055 0.09° +chair 0.618 0.999 0.710 1.451 0.000 -2.392 -90.19° +table 1.819 0.755 0.842 1.288 0.003 -2.938 90.03° +chair 0.531 1.017 0.636 1.880 0.002 -3.328 -90.17° +chair 0.587 0.976 0.647 0.294 0.003 -2.622 90.06° +chair 0.605 1.016 0.661 0.257 0.000 -3.170 89.89° +bookshelf 1.405 2.028 0.458 -0.501 0.003 -3.205 -179.87° +lamp 0.703 0.629 0.744 -0.431 2.064 2.462 -0.06° +lamp 0.544 0.978 0.385 1.378 1.977 -2.825 -0.01° +floor 4.993 0.001 9.019 -0.310 0.002 0.373 -0.05° +_scene_ 0.071 -0.000 0.022 -5.672 -0.004 -5.716 -57.32° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: chair <-> floor depth=[1.065, 0.001, 1.111] + !! OVERLAP: sofa <-> chair depth=[0.755, 0.807, 0.730] + !! OVERLAP: sofa <-> table depth=[0.773, 0.407, 0.956] + !! OVERLAP: sofa <-> tv_stand depth=[0.146, 0.807, 0.439] + !! OVERLAP: sofa <-> floor depth=[2.457, 0.001, 1.149] + !! OVERLAP: chair <-> table depth=[0.886, 0.407, 0.537] + !! OVERLAP: chair <-> tv_stand depth=[0.374, 0.809, 0.136] + !! OVERLAP: chair <-> floor depth=[0.983, 0.001, 1.095] + !! OVERLAP: table <-> tv_stand depth=[0.276, 0.407, 0.439] + !! OVERLAP: table <-> floor depth=[0.904, 0.001, 1.022] + !! OVERLAP: tv_stand <-> floor depth=[1.854, 0.001, 0.439] + !! OVERLAP: table <-> floor depth=[0.577, 0.001, 0.566] + !! OVERLAP: table <-> floor depth=[0.518, 0.001, 0.591] + !! OVERLAP: cabinet <-> floor depth=[0.900, 0.001, 0.480] + !! OVERLAP: chair <-> table depth=[0.618, 0.755, 0.230] + !! OVERLAP: chair <-> floor depth=[0.618, 0.001, 0.710] + !! OVERLAP: table <-> chair depth=[0.531, 0.755, 0.348] + !! OVERLAP: table <-> chair depth=[0.210, 0.755, 0.428] + !! OVERLAP: table <-> chair depth=[0.182, 0.755, 0.520] + !! OVERLAP: table <-> floor depth=[1.808, 0.001, 0.842] + !! OVERLAP: chair <-> floor depth=[0.531, 0.001, 0.636] + !! OVERLAP: chair <-> chair depth=[0.559, 0.976, 0.106] + !! OVERLAP: chair <-> floor depth=[0.587, 0.001, 0.647] + !! OVERLAP: chair <-> bookshelf depth=[0.246, 1.016, 0.458] + !! OVERLAP: chair <-> floor depth=[0.605, 0.001, 0.661] + !! OVERLAP: bookshelf <-> floor depth=[1.405, 0.001, 0.458] +============================================================ + + +============================================================ +SCENE: LivingDiningRoom-13962 | 14 objects +============================================================ +Final Step Collision Loss: 0.0014, Room Outer Loss: 0.3494, Walkable Loss: 0.0000, Relational Loss: 0.0000 +Guided Steps: 10/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +lamp 0.626 1.408 0.647 -0.158 1.483 0.463 -0.03° +tv_stand 2.206 0.433 0.447 1.063 0.001 1.693 -89.95° +table 0.531 0.269 0.513 -0.334 -0.000 1.178 -89.95° +table 0.546 0.477 0.442 -1.523 0.001 2.417 0.07° +table 0.473 0.544 0.535 -1.874 0.002 -0.667 0.04° +sofa 2.288 0.928 0.966 -1.623 0.002 0.955 89.97° +chair 0.860 0.763 0.763 -0.233 -0.000 2.540 179.98° +chair 0.608 0.726 0.603 -0.237 0.001 -2.673 89.98° +chair 0.591 0.775 0.635 -0.333 0.000 -2.059 90.01° +chair 0.642 0.781 0.701 1.395 0.004 -2.619 -90.15° +chair 0.668 0.726 0.686 1.238 0.002 -1.991 -90.12° +table 1.890 0.739 0.806 0.485 0.001 -2.083 -90.21° +floor 4.477 0.002 6.944 -0.123 0.000 0.223 -0.04° +_scene_ 0.068 0.000 0.023 -5.671 -0.005 -5.716 -57.30° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: tv_stand <-> floor depth=[2.156, 0.002, 0.447] + !! OVERLAP: table <-> sofa depth=[0.120, 0.269, 0.513] + !! OVERLAP: table <-> floor depth=[0.531, 0.002, 0.513] + !! OVERLAP: table <-> floor depth=[0.546, 0.002, 0.442] + !! OVERLAP: table <-> floor depth=[0.473, 0.002, 0.535] + !! OVERLAP: sofa <-> floor depth=[1.883, 0.002, 0.966] + !! OVERLAP: chair <-> floor depth=[0.860, 0.002, 0.763] + !! OVERLAP: chair <-> chair depth=[0.504, 0.726, 0.006] + !! OVERLAP: chair <-> table depth=[0.527, 0.726, 0.115] + !! OVERLAP: chair <-> floor depth=[0.608, 0.002, 0.603] + !! OVERLAP: chair <-> table depth=[0.423, 0.739, 0.635] + !! OVERLAP: chair <-> floor depth=[0.591, 0.002, 0.635] + !! OVERLAP: chair <-> chair depth=[0.498, 0.726, 0.066] + !! OVERLAP: chair <-> table depth=[0.357, 0.739, 0.218] + !! OVERLAP: chair <-> floor depth=[0.642, 0.002, 0.701] + !! OVERLAP: chair <-> table depth=[0.527, 0.726, 0.654] + !! OVERLAP: chair <-> floor depth=[0.668, 0.002, 0.686] + !! OVERLAP: table <-> floor depth=[1.890, 0.002, 0.806] +============================================================ + + +============================================================ +SCENE: LivingRoom-41893 | 11 objects +============================================================ +Final Step Collision Loss: 0.0424, Room Outer Loss: 0.0000, Walkable Loss: 0.0000, Relational Loss: 0.0000 +Guided Steps: 10/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +sofa 2.229 0.693 0.991 1.531 -0.000 0.672 -179.98° +chair 0.698 0.756 0.673 2.166 0.004 -0.093 -102.88° +table 0.748 0.501 0.777 -0.014 -0.000 0.799 179.95° +chair 0.519 1.009 0.583 -1.348 -0.000 -0.016 -90.07° +chair 0.611 1.014 0.682 -2.011 0.000 -0.369 90.01° +table 2.256 0.803 1.106 -0.917 -0.001 0.204 89.99° +table 1.319 0.448 1.406 1.634 0.000 -0.735 -0.01° +lamp 0.501 0.927 0.473 1.508 1.666 -0.764 -0.04° +lamp 0.314 0.869 0.266 -1.144 1.698 0.683 0.00° +floor 6.122 -0.003 3.097 0.117 -0.001 -0.045 -0.00° +_scene_ 0.071 0.000 0.023 -5.672 -0.005 -5.711 -57.30° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: sofa <-> chair depth=[0.698, 0.693, 0.068] + !! OVERLAP: sofa <-> floor depth=[2.229, -0.003, 0.991] + !! OVERLAP: chair <-> table depth=[0.476, 0.448, 0.397] + !! OVERLAP: chair <-> floor depth=[0.698, -0.003, 0.673] + !! OVERLAP: table <-> table depth=[0.599, 0.501, 0.346] + !! OVERLAP: table <-> floor depth=[0.748, -0.003, 0.777] + !! OVERLAP: chair <-> table depth=[0.519, 0.803, 0.583] + !! OVERLAP: chair <-> floor depth=[0.519, -0.003, 0.583] + !! OVERLAP: chair <-> table depth=[0.340, 0.803, 0.321] + !! OVERLAP: chair <-> floor depth=[0.611, -0.003, 0.682] + !! OVERLAP: table <-> floor depth=[2.256, -0.003, 1.106] + !! OVERLAP: table <-> floor depth=[1.319, -0.003, 1.406] +============================================================ + + +============================================================ +SCENE: LivingRoom-18042 | 6 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0109, Walkable Loss: 0.0000, Relational Loss: 0.0000 +Guided Steps: 10/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +sofa 2.217 0.772 0.891 0.607 -0.000 -1.405 -0.05° +table 1.143 0.454 1.199 0.611 0.002 0.467 0.01° +lamp 0.828 0.780 0.815 0.702 1.928 0.025 0.01° +table 1.432 1.308 0.472 -1.465 0.003 0.776 89.95° +floor 4.431 -0.004 4.920 0.047 0.001 -0.000 -0.04° +_scene_ 0.094 0.006 0.091 -5.629 -0.006 -5.698 -57.22° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: sofa <-> floor depth=[2.217, -0.004, 0.891] + !! OVERLAP: table <-> floor depth=[1.143, -0.004, 1.199] + !! OVERLAP: table <-> floor depth=[1.419, -0.004, 0.472] +============================================================ + + +============================================================ +SCENE: LivingDiningRoom-26816 | 17 objects +============================================================ +Final Step Collision Loss: 0.0140, Room Outer Loss: 0.6899, Walkable Loss: 0.0000, Relational Loss: 0.0000 +Guided Steps: 10/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +sofa 2.440 0.966 0.981 1.346 -0.001 -0.841 -89.98° +table 1.188 0.436 1.026 -0.044 0.003 -0.426 -0.11° +table 0.579 0.647 0.551 1.512 0.004 -2.815 -90.06° +table 0.646 0.662 0.585 1.515 0.000 0.634 -90.20° +chair 0.959 0.666 0.829 -0.019 0.003 0.750 -166.93° +chair 0.949 0.318 0.498 -0.173 0.002 -2.230 0.00° +table 1.709 0.758 0.927 -0.041 0.000 2.872 -90.23° +chair 0.506 0.834 0.569 0.522 0.005 2.973 -90.26° +chair 0.542 0.842 0.523 0.549 -0.001 2.255 -101.74° +chair 0.512 0.933 0.555 -0.301 0.002 3.290 179.75° +chair 0.544 0.858 0.556 -0.610 0.000 2.386 90.03° +lamp 0.348 0.711 0.253 0.325 1.873 2.738 0.07° +lamp 0.607 0.983 0.617 -0.011 1.867 -0.819 -0.07° +bookshelf 1.065 2.515 0.312 1.364 -0.000 -3.605 0.03° +bookshelf 2.243 2.445 0.290 -0.429 0.002 -3.879 0.10° +floor 3.608 -0.004 7.894 0.048 0.003 0.008 -0.07° +_scene_ 0.071 0.002 0.022 -5.665 -0.004 -5.711 -57.31° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: sofa <-> table depth=[0.424, 0.436, 0.588] + !! OVERLAP: sofa <-> floor depth=[1.726, -0.004, 0.981] + !! OVERLAP: table <-> floor depth=[1.188, -0.004, 1.026] + !! OVERLAP: table <-> floor depth=[0.579, -0.004, 0.551] + !! OVERLAP: table <-> floor depth=[0.646, -0.004, 0.585] + !! OVERLAP: chair <-> floor depth=[0.959, -0.004, 0.829] + !! OVERLAP: chair <-> floor depth=[0.949, -0.004, 0.498] + !! OVERLAP: table <-> chair depth=[0.506, 0.758, 0.569] + !! OVERLAP: table <-> chair depth=[0.536, 0.758, 0.108] + !! OVERLAP: table <-> chair depth=[0.512, 0.758, 0.323] + !! OVERLAP: table <-> chair depth=[0.544, 0.758, 0.255] + !! OVERLAP: table <-> floor depth=[1.709, -0.004, 0.927] + !! OVERLAP: chair <-> floor depth=[0.506, -0.004, 0.569] + !! OVERLAP: chair <-> floor depth=[0.542, -0.004, 0.523] + !! OVERLAP: chair <-> floor depth=[0.512, -0.004, 0.555] + !! OVERLAP: chair <-> floor depth=[0.544, -0.004, 0.556] + !! OVERLAP: bookshelf <-> floor depth=[1.020, -0.004, 0.312] + !! OVERLAP: bookshelf <-> floor depth=[2.243, -0.004, 0.205] +============================================================ + + +============================================================ +SCENE: LivingDiningRoom-17385 | 12 objects +============================================================ +Final Step Collision Loss: 0.0164, Room Outer Loss: 0.0000, Walkable Loss: 0.0000, Relational Loss: 0.0000 +Guided Steps: 10/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +sofa 2.419 0.881 0.916 1.377 0.001 1.081 179.93° +table 1.092 0.467 1.292 1.398 0.003 0.038 179.99° +tv_stand 2.171 0.975 0.464 1.433 -0.002 -1.368 0.00° +table 2.200 0.725 0.932 -1.283 -0.000 0.626 89.99° +chair 0.538 1.114 0.599 -0.664 0.001 1.389 -89.92° +chair 0.508 1.053 0.570 -0.604 0.001 0.736 -90.18° +chair 0.587 1.132 0.612 -2.127 -0.000 1.283 89.94° +chair 0.545 1.039 0.527 -1.809 0.002 0.820 89.95° +lamp 0.833 0.936 0.868 1.536 1.653 0.248 0.00° +lamp 0.544 0.823 0.332 -1.026 2.428 0.273 0.05° +floor 5.371 -0.001 3.419 0.087 0.000 0.018 -0.01° +_scene_ 0.068 0.001 0.021 -5.671 -0.004 -5.711 -57.32° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: sofa <-> table depth=[1.092, 0.467, 0.060] + !! OVERLAP: sofa <-> floor depth=[2.419, -0.001, 0.916] + !! OVERLAP: table <-> floor depth=[1.092, -0.001, 1.292] + !! OVERLAP: tv_stand <-> floor depth=[2.171, -0.001, 0.464] + !! OVERLAP: table <-> chair depth=[0.538, 0.725, 0.003] + !! OVERLAP: table <-> chair depth=[0.508, 0.725, 0.570] + !! OVERLAP: table <-> chair depth=[0.549, 0.725, 0.115] + !! OVERLAP: table <-> chair depth=[0.545, 0.725, 0.527] + !! OVERLAP: table <-> floor depth=[2.200, -0.001, 0.932] + !! OVERLAP: chair <-> floor depth=[0.538, -0.001, 0.599] + !! OVERLAP: chair <-> floor depth=[0.508, -0.001, 0.570] + !! OVERLAP: chair <-> chair depth=[0.248, 1.039, 0.106] + !! OVERLAP: chair <-> floor depth=[0.587, -0.001, 0.612] + !! OVERLAP: chair <-> floor depth=[0.545, -0.001, 0.527] +============================================================ + + +============================================================ +SCENE: LivingRoom-31397 | 9 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 1.0641, Walkable Loss: 0.0000, Relational Loss: 0.0000 +Guided Steps: 10/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +tv_stand 1.986 0.563 0.496 1.511 0.002 1.091 -89.95° +table 0.625 1.094 0.342 -1.329 0.002 1.844 89.96° +sofa 2.039 0.822 0.939 -1.267 0.000 0.321 90.09° +table 1.001 0.342 0.714 0.315 -0.001 0.358 89.99° +chair 0.796 0.751 0.861 -0.346 -0.001 2.208 179.97° +bookshelf 1.165 1.805 0.416 -1.271 0.000 -2.013 89.91° +lamp 0.621 0.888 0.639 0.170 2.255 0.278 -0.02° +floor 3.873 -0.001 6.698 0.082 0.001 -0.031 -0.04° +_scene_ 0.067 0.001 0.022 -5.672 -0.005 -5.714 -57.30° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: tv_stand <-> floor depth=[1.501, -0.001, 0.496] + !! OVERLAP: table <-> floor depth=[0.625, -0.001, 0.342] + !! OVERLAP: sofa <-> floor depth=[1.606, -0.001, 0.939] + !! OVERLAP: table <-> floor depth=[1.001, -0.001, 0.714] + !! OVERLAP: chair <-> floor depth=[0.796, -0.001, 0.861] + !! OVERLAP: bookshelf <-> floor depth=[1.165, -0.001, 0.416] +============================================================ + + +============================================================ +SCENE: LivingDiningRoom-14432 | 17 objects +============================================================ +Final Step Collision Loss: 0.0627, Room Outer Loss: 0.1447, Walkable Loss: 0.0000, Relational Loss: 0.0000 +Guided Steps: 10/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +table 1.662 1.010 0.479 2.588 -0.001 -2.226 0.05° +shelf 0.485 1.858 0.338 2.612 -0.005 -1.347 0.11° +table 1.828 0.716 1.280 1.514 0.001 1.824 0.02° +table 1.312 0.717 1.305 1.235 0.001 1.711 0.05° +chair 0.590 1.098 0.630 2.220 -0.000 1.750 -90.11° +chair 0.567 1.084 0.593 1.001 -0.001 1.998 89.92° +chair 0.586 1.081 0.609 1.841 0.000 0.776 0.02° +chair 0.642 1.093 0.690 1.476 -0.000 0.764 0.01° +table 0.372 0.667 0.435 -0.059 0.002 -0.668 -0.02° +sofa 2.537 0.824 1.222 -1.519 0.001 -1.254 89.97° +table 1.025 0.384 0.942 -1.141 -0.001 0.149 0.01° +tv_stand 1.993 0.504 0.530 -1.360 -0.003 2.587 179.59° +lamp 0.433 0.771 0.441 1.290 1.931 -1.251 -0.06° +lamp 0.165 1.165 0.182 1.150 1.428 1.889 -0.04° +lamp 0.254 0.752 0.226 -1.903 1.890 0.427 0.03° +floor 6.504 -0.004 5.639 0.113 0.001 0.343 -0.01° +_scene_ 0.069 0.000 0.020 -5.672 -0.005 -5.713 -57.30° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: table <-> floor depth=[1.607, -0.004, 0.479] + !! OVERLAP: shelf <-> floor depth=[0.485, -0.004, 0.338] + !! OVERLAP: table <-> table depth=[1.291, 0.716, 1.179] + !! OVERLAP: table <-> chair depth=[0.502, 0.716, 0.630] + !! OVERLAP: table <-> chair depth=[0.567, 0.716, 0.593] + !! OVERLAP: table <-> floor depth=[1.828, -0.004, 1.280] + !! OVERLAP: table <-> chair depth=[0.567, 0.717, 0.593] + !! OVERLAP: table <-> chair depth=[0.342, 0.717, 0.023] + !! OVERLAP: table <-> chair depth=[0.642, 0.717, 0.051] + !! OVERLAP: table <-> floor depth=[1.312, -0.004, 1.305] + !! OVERLAP: chair <-> floor depth=[0.590, -0.004, 0.630] + !! OVERLAP: chair <-> floor depth=[0.567, -0.004, 0.593] + !! OVERLAP: chair <-> chair depth=[0.249, 1.081, 0.609] + !! OVERLAP: chair <-> floor depth=[0.586, -0.004, 0.609] + !! OVERLAP: chair <-> floor depth=[0.642, -0.004, 0.690] + !! OVERLAP: table <-> floor depth=[0.372, -0.004, 0.435] + !! OVERLAP: sofa <-> floor depth=[2.537, -0.004, 1.222] + !! OVERLAP: table <-> floor depth=[1.025, -0.004, 0.942] + !! OVERLAP: tv_stand <-> floor depth=[1.993, -0.004, 0.530] +============================================================ + + +============================================================ +SCENE: LivingRoom-5361 | 12 objects +============================================================ +Final Step Collision Loss: 0.1230, Room Outer Loss: 0.0000, Walkable Loss: 0.0000, Relational Loss: 0.0000 +Guided Steps: 10/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +sofa 2.310 0.806 1.006 1.148 0.001 1.134 179.95° +chair 1.070 0.748 1.114 1.870 0.004 0.551 171.69° +table 1.248 0.415 1.237 0.663 0.000 -0.707 0.01° +table 1.177 0.392 1.142 0.893 0.000 0.329 -0.03° +bookshelf 0.718 1.876 0.211 1.789 0.002 1.405 -90.18° +table 1.373 0.751 1.332 -1.254 0.001 1.019 89.95° +chair 0.542 0.788 0.562 -1.551 0.000 0.398 0.01° +chair 0.574 0.792 0.588 -0.987 0.002 1.386 -90.28° +chair 0.524 0.774 0.533 -1.534 0.011 1.449 179.91° +lamp 0.493 0.672 0.515 0.812 1.866 -0.146 -0.04° +floor 5.837 -0.002 4.195 0.194 -0.000 0.142 -0.02° +_scene_ 0.068 0.001 0.023 -5.671 -0.005 -5.712 -57.27° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: sofa <-> chair depth=[0.968, 0.748, 0.477] + !! OVERLAP: sofa <-> table depth=[1.177, 0.392, 0.269] + !! OVERLAP: sofa <-> bookshelf depth=[0.718, 0.806, 0.211] + !! OVERLAP: sofa <-> floor depth=[2.310, -0.002, 1.006] + !! OVERLAP: chair <-> table depth=[0.146, 0.392, 0.906] + !! OVERLAP: chair <-> floor depth=[1.070, -0.002, 1.114] + !! OVERLAP: table <-> table depth=[0.983, 0.392, 0.153] + !! OVERLAP: table <-> floor depth=[1.248, -0.002, 1.237] + !! OVERLAP: table <-> floor depth=[1.177, -0.002, 1.142] + !! OVERLAP: bookshelf <-> floor depth=[0.718, -0.002, 0.211] + !! OVERLAP: table <-> chair depth=[0.542, 0.751, 0.327] + !! OVERLAP: table <-> chair depth=[0.574, 0.751, 0.588] + !! OVERLAP: table <-> chair depth=[0.524, 0.751, 0.502] + !! OVERLAP: table <-> floor depth=[1.373, -0.002, 1.332] + !! OVERLAP: chair <-> floor depth=[0.542, -0.002, 0.562] + !! OVERLAP: chair <-> chair depth=[0.002, 0.773, 0.498] + !! OVERLAP: chair <-> floor depth=[0.574, -0.002, 0.588] + !! OVERLAP: chair <-> floor depth=[0.524, -0.002, 0.533] +============================================================ + + +============================================================ +SCENE: LivingRoom-5655 | 11 objects +============================================================ +Final Step Collision Loss: 0.0725, Room Outer Loss: 1.1163, Walkable Loss: 0.0000, Relational Loss: 0.0000 +Guided Steps: 10/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +tv_stand 2.296 0.540 0.435 1.109 -0.000 1.293 -90.10° +sofa 2.311 0.896 0.988 -1.211 0.001 1.398 89.99° +table 1.248 0.461 1.158 -0.369 -0.000 1.198 90.09° +lamp 0.404 0.734 0.378 -0.187 1.889 1.059 -0.04° +table 1.870 0.702 1.216 -0.858 0.002 -1.541 179.96° +chair 0.525 0.843 0.615 -1.440 0.001 -2.058 0.05° +chair 0.515 0.839 0.600 -0.284 -0.001 -2.097 -89.93° +chair 0.569 0.880 0.640 -1.338 0.001 -0.955 180.00° +chair 0.605 0.803 0.675 -0.787 0.000 -1.033 -179.99° +floor 3.601 -0.001 5.764 0.026 0.002 -0.027 -0.05° +_scene_ 0.070 0.002 0.023 -5.668 -0.004 -5.711 -57.30° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: tv_stand <-> table depth=[0.294, 0.461, 0.435] + !! OVERLAP: tv_stand <-> floor depth=[1.866, -0.001, 0.435] + !! OVERLAP: sofa <-> table depth=[0.937, 0.461, 0.873] + !! OVERLAP: sofa <-> floor depth=[1.719, -0.001, 0.988] + !! OVERLAP: table <-> floor depth=[1.248, -0.001, 1.158] + !! OVERLAP: table <-> chair depth=[0.525, 0.702, 0.399] + !! OVERLAP: table <-> chair depth=[0.515, 0.702, 0.352] + !! OVERLAP: table <-> chair depth=[0.569, 0.702, 0.343] + !! OVERLAP: table <-> chair depth=[0.605, 0.702, 0.438] + !! OVERLAP: table <-> floor depth=[1.852, -0.001, 1.216] + !! OVERLAP: chair <-> floor depth=[0.525, -0.001, 0.615] + !! OVERLAP: chair <-> floor depth=[0.515, -0.001, 0.600] + !! OVERLAP: chair <-> chair depth=[0.037, 0.803, 0.580] + !! OVERLAP: chair <-> floor depth=[0.569, -0.001, 0.640] + !! OVERLAP: chair <-> floor depth=[0.605, -0.001, 0.675] +============================================================ + + +============================================================ +SCENE: LivingRoom-55 | 10 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0000, Walkable Loss: 0.0000, Relational Loss: 0.0000 +Guided Steps: 10/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +sofa 2.580 0.828 0.991 -0.214 0.002 1.622 179.91° +table 0.664 0.612 0.597 1.797 0.003 1.571 179.92° +table 0.522 0.721 0.525 -2.103 0.000 1.642 -179.94° +chair 0.830 0.774 0.839 1.841 -0.002 -0.017 -43.75° +table 1.389 1.171 1.048 -0.359 0.006 0.264 -179.93° +tv_stand 2.277 0.344 0.435 -0.151 0.001 -1.686 0.00° +lamp 1.340 1.003 0.994 -0.148 1.783 -0.049 0.03° +chair 0.633 0.818 0.649 -2.160 0.002 0.022 8.76° +floor 6.273 -0.001 4.351 -0.024 -0.000 -0.087 -0.04° +_scene_ 0.062 -0.001 0.022 -5.672 -0.005 -5.711 -57.32° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: sofa <-> floor depth=[2.580, -0.001, 0.962] + !! OVERLAP: table <-> floor depth=[0.664, -0.001, 0.597] + !! OVERLAP: table <-> floor depth=[0.522, -0.001, 0.525] + !! OVERLAP: chair <-> floor depth=[0.830, -0.001, 0.839] + !! OVERLAP: table <-> floor depth=[1.389, -0.001, 1.048] + !! OVERLAP: tv_stand <-> floor depth=[2.277, -0.001, 0.435] + !! OVERLAP: chair <-> floor depth=[0.633, -0.001, 0.649] +============================================================ + + +============================================================ +SCENE: LivingDiningRoom-941 | 15 objects +============================================================ +Final Step Collision Loss: 0.0201, Room Outer Loss: 0.0000, Walkable Loss: 0.0000, Relational Loss: 0.0000 +Guided Steps: 10/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +sofa 2.365 0.821 0.939 1.859 0.002 0.834 179.92° +table 0.814 0.759 0.818 2.340 0.002 -0.170 -90.06° +chair 0.862 0.726 0.894 3.294 0.000 -0.375 -88.55° +table 0.652 0.376 0.635 0.019 0.001 0.980 -0.03° +lamp 0.903 0.929 0.897 1.552 1.982 -0.615 0.10° +chair 0.490 0.752 0.564 -1.616 0.003 -1.737 0.03° +chair 0.549 0.770 0.607 -0.825 0.002 -0.573 -90.23° +chair 0.600 0.805 0.634 -1.625 0.003 -0.157 179.89° +table 1.419 0.739 1.414 -1.397 -0.002 -0.689 0.06° +lamp 0.475 0.760 0.461 -1.858 1.940 -1.083 -0.01° +table 1.267 1.190 0.372 -3.166 0.004 1.043 89.90° +chair 0.621 0.728 0.598 -2.260 0.002 -0.815 89.97° +chair 0.411 0.345 0.336 0.747 0.000 -0.458 0.07° +floor 7.992 -0.007 4.175 0.270 0.004 -0.065 -0.14° +_scene_ 0.067 0.001 0.027 -5.670 -0.005 -5.711 -57.30° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: sofa <-> floor depth=[2.365, -0.007, 0.939] + !! OVERLAP: table <-> floor depth=[0.814, -0.007, 0.818] + !! OVERLAP: chair <-> floor depth=[0.862, -0.007, 0.894] + !! OVERLAP: table <-> floor depth=[0.652, -0.007, 0.635] + !! OVERLAP: chair <-> floor depth=[0.490, -0.007, 0.564] + !! OVERLAP: chair <-> table depth=[0.412, 0.739, 0.607] + !! OVERLAP: chair <-> floor depth=[0.549, -0.007, 0.607] + !! OVERLAP: chair <-> table depth=[0.600, 0.739, 0.492] + !! OVERLAP: chair <-> floor depth=[0.600, -0.007, 0.634] + !! OVERLAP: table <-> chair depth=[0.157, 0.728, 0.598] + !! OVERLAP: table <-> floor depth=[1.419, -0.007, 1.414] + !! OVERLAP: table <-> floor depth=[1.194, -0.007, 0.372] + !! OVERLAP: chair <-> floor depth=[0.621, -0.007, 0.598] + !! OVERLAP: chair <-> floor depth=[0.411, -0.007, 0.336] +============================================================ + + +============================================================ +SCENE: LivingRoom-2715 | 15 objects +============================================================ +Final Step Collision Loss: 0.1010, Room Outer Loss: 0.5930, Walkable Loss: 0.0000, Relational Loss: 0.0000 +Guided Steps: 10/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +lamp 1.163 1.020 1.132 -0.587 1.658 1.586 -0.00° +table 1.516 0.378 1.243 -0.830 0.003 1.501 90.04° +tv_stand 2.016 0.655 0.488 0.696 0.001 1.677 -90.05° +sofa 2.857 0.807 1.361 -1.220 0.001 1.677 89.98° +table 1.933 0.733 1.347 -1.183 -0.001 -2.512 -0.01° +table 1.837 0.456 0.832 -1.028 -0.001 3.096 -97.24° +table 1.360 0.379 1.178 -1.194 -0.000 -0.975 0.01° +chair 0.551 1.002 0.644 -1.664 0.001 -1.978 179.89° +chair 0.519 0.929 0.510 -0.958 -0.008 -2.041 -127.98° +chair 0.526 0.944 0.523 -1.789 -0.000 -3.151 0.15° +chair 0.540 0.877 0.571 -0.934 -0.002 -3.036 -59.20° +lamp 0.994 1.031 0.843 -1.367 1.713 -2.532 0.00° +table 0.391 1.426 0.480 0.984 0.001 -0.651 -89.92° +floor 4.121 0.003 6.689 -0.320 0.002 0.179 -0.01° +_scene_ 0.073 -0.001 0.027 -5.666 -0.005 -5.710 -57.30° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: table <-> tv_stand depth=[0.239, 0.378, 0.488] + !! OVERLAP: table <-> sofa depth=[1.516, 0.378, 1.127] + !! OVERLAP: table <-> floor depth=[1.516, 0.003, 1.243] + !! OVERLAP: tv_stand <-> sofa depth=[0.519, 0.655, 0.488] + !! OVERLAP: tv_stand <-> floor depth=[2.016, 0.003, 0.488] + !! OVERLAP: sofa <-> floor depth=[2.589, 0.003, 1.361] + !! OVERLAP: table <-> chair depth=[0.551, 0.733, 0.461] + !! OVERLAP: table <-> chair depth=[0.519, 0.733, 0.458] + !! OVERLAP: table <-> chair depth=[0.526, 0.733, 0.296] + !! OVERLAP: table <-> chair depth=[0.540, 0.733, 0.435] + !! OVERLAP: table <-> floor depth=[1.933, 0.003, 1.327] + !! OVERLAP: table <-> floor depth=[1.837, 0.003, 0.832] + !! OVERLAP: table <-> floor depth=[1.360, 0.003, 1.178] + !! OVERLAP: chair <-> floor depth=[0.551, 0.003, 0.644] + !! OVERLAP: chair <-> floor depth=[0.519, 0.003, 0.510] + !! OVERLAP: chair <-> floor depth=[0.526, 0.003, 0.276] + !! OVERLAP: chair <-> floor depth=[0.540, 0.003, 0.415] + !! OVERLAP: table <-> floor depth=[0.391, 0.003, 0.480] +============================================================ + + +============================================================ +SCENE: LivingDiningRoom-10201 | 13 objects +============================================================ +Final Step Collision Loss: 0.0123, Room Outer Loss: 0.1053, Walkable Loss: 0.0000, Relational Loss: 0.0000 +Guided Steps: 10/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +tv_stand 2.321 0.845 0.517 -1.489 0.003 -1.476 90.03° +table 0.446 0.292 0.471 0.068 -0.001 -2.330 -90.06° +lamp 0.504 0.761 0.506 0.202 1.997 -2.190 0.01° +lamp 0.901 0.955 0.968 1.082 1.729 2.319 -0.02° +sofa 2.632 0.786 1.259 1.862 -0.001 -2.123 -90.15° +table 0.556 0.751 0.613 -0.387 0.001 2.848 0.02° +chair 0.638 0.885 0.693 -0.431 0.001 2.121 90.00° +chair 0.456 0.932 0.482 -0.553 0.001 2.844 89.99° +chair 0.470 0.772 0.527 1.553 0.004 2.153 -90.27° +chair 0.535 0.950 0.587 1.723 -0.001 3.119 -89.95° +table 1.383 0.390 1.056 1.294 0.000 -0.338 -90.02° +floor 5.508 -0.001 6.763 0.094 0.001 -0.018 -0.05° +_scene_ 0.069 -0.000 0.022 -5.670 -0.005 -5.712 -57.31° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: tv_stand <-> floor depth=[2.321, -0.001, 0.517] + !! OVERLAP: table <-> floor depth=[0.446, -0.001, 0.471] + !! OVERLAP: sofa <-> floor depth=[2.301, -0.001, 1.259] + !! OVERLAP: table <-> chair depth=[0.340, 0.751, 0.482] + !! OVERLAP: table <-> floor depth=[0.556, -0.001, 0.613] + !! OVERLAP: chair <-> floor depth=[0.638, -0.001, 0.693] + !! OVERLAP: chair <-> floor depth=[0.456, -0.001, 0.482] + !! OVERLAP: chair <-> floor depth=[0.470, -0.001, 0.527] + !! OVERLAP: chair <-> floor depth=[0.535, -0.001, 0.538] + !! OVERLAP: table <-> floor depth=[1.383, -0.001, 1.056] +============================================================ + + +============================================================ +SCENE: LivingRoom-24701 | 8 objects +============================================================ +Final Step Collision Loss: 0.0063, Room Outer Loss: 0.0000, Walkable Loss: 0.0000, Relational Loss: 0.0000 +Guided Steps: 10/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +table 0.667 0.609 0.678 2.042 -0.001 1.323 -90.28° +tv_stand 2.299 0.537 0.375 -1.352 0.008 0.645 90.02° +table 1.649 1.841 0.616 0.492 0.000 -0.561 -179.80° +table 0.754 0.529 0.706 1.746 0.002 -1.476 -0.06° +sofa 1.890 0.803 0.847 1.910 0.000 -0.170 -90.45° +chair 0.764 0.966 0.851 0.883 0.002 0.808 -116.43° +floor 5.694 -0.003 5.078 0.068 0.000 0.063 -0.02° +_scene_ 0.062 0.025 0.169 -5.460 0.007 -5.521 -58.26° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: table <-> floor depth=[0.667, -0.003, 0.678] + !! OVERLAP: tv_stand <-> floor depth=[2.299, -0.003, 0.375] + !! OVERLAP: table <-> sofa depth=[0.351, 0.803, 0.341] + !! OVERLAP: table <-> floor depth=[1.649, -0.003, 0.616] + !! OVERLAP: table <-> floor depth=[0.754, -0.003, 0.706] + !! OVERLAP: sofa <-> floor depth=[1.890, -0.003, 0.847] + !! OVERLAP: chair <-> floor depth=[0.764, -0.003, 0.851] +============================================================ + + +============================================================ +SCENE: LivingDiningRoom-11440 | 13 objects +============================================================ +Final Step Collision Loss: 0.0001, Room Outer Loss: 0.7169, Walkable Loss: 0.0000, Relational Loss: 0.0000 +Guided Steps: 10/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +sofa 2.013 0.966 1.001 1.345 -0.001 1.801 -90.02° +table 1.330 0.715 0.974 -0.385 0.002 1.821 90.01° +tv_stand 2.175 0.788 0.446 -1.145 0.002 0.702 89.94° +table 0.998 0.576 0.569 0.757 0.004 -0.837 89.94° +chair 0.545 0.730 0.495 0.174 0.002 -0.275 89.87° +chair 0.505 0.672 0.468 0.335 0.001 -1.320 0.02° +chair 0.615 0.593 0.485 1.534 0.001 -0.693 179.95° +chair 0.477 0.691 0.545 1.542 0.001 -1.456 0.08° +cabinet 0.856 1.140 0.303 -0.038 0.001 -2.910 -0.08° +lamp 0.781 0.873 0.584 -0.005 1.854 1.376 0.02° +lamp 0.286 1.022 0.311 1.193 1.847 -1.134 -0.02° +floor 4.114 0.000 7.479 0.088 0.001 0.332 -0.04° +_scene_ 0.062 0.000 0.017 -5.670 -0.005 -5.713 -57.32° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: sofa <-> floor depth=[1.807, 0.000, 1.001] + !! OVERLAP: table <-> floor depth=[1.330, 0.000, 0.974] + !! OVERLAP: tv_stand <-> floor depth=[1.911, 0.000, 0.446] + !! OVERLAP: table <-> chair depth=[0.330, 0.576, 0.036] + !! OVERLAP: table <-> chair depth=[0.029, 0.576, 0.383] + !! OVERLAP: table <-> floor depth=[0.998, 0.000, 0.569] + !! OVERLAP: chair <-> floor depth=[0.545, 0.000, 0.495] + !! OVERLAP: chair <-> floor depth=[0.505, 0.000, 0.468] + !! OVERLAP: chair <-> floor depth=[0.615, 0.000, 0.485] + !! OVERLAP: chair <-> floor depth=[0.477, 0.000, 0.545] + !! OVERLAP: cabinet <-> floor depth=[0.856, 0.000, 0.303] +============================================================ + + +============================================================ +SCENE: LivingRoom-37001 | 13 objects +============================================================ +Final Step Collision Loss: 0.0438, Room Outer Loss: 0.0010, Walkable Loss: 0.0000, Relational Loss: 0.0000 +Guided Steps: 10/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +sofa 3.180 0.835 1.542 1.043 0.001 -0.602 0.03° +table 1.361 0.483 0.567 0.388 0.000 -0.308 -0.02° +shelf 0.437 2.106 0.321 3.309 -0.001 -0.929 0.00° +cabinet 0.753 1.203 0.340 -1.457 0.002 1.306 179.96° +table 1.275 0.736 0.776 -3.065 0.002 -0.654 90.00° +chair 0.647 0.798 0.601 -3.454 0.003 -0.537 89.97° +chair 0.560 0.737 0.524 -3.501 0.002 -1.272 89.78° +chair 0.659 0.714 0.630 -2.177 0.002 -0.423 -90.34° +chair 0.561 0.692 0.587 -2.032 0.003 -1.117 -90.33° +lamp 0.834 0.864 0.779 1.004 1.719 0.028 0.00° +lamp 0.897 0.905 0.853 -3.008 1.795 -0.725 -0.01° +floor 7.643 -0.006 3.518 -0.002 -0.001 -0.199 -0.04° +_scene_ 0.070 -0.001 0.018 -5.675 -0.005 -5.714 -57.30° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: sofa <-> table depth=[1.361, 0.483, 0.567] + !! OVERLAP: sofa <-> floor depth=[3.180, -0.006, 1.542] + !! OVERLAP: table <-> floor depth=[1.361, -0.006, 0.567] + !! OVERLAP: shelf <-> floor depth=[0.437, -0.006, 0.321] + !! OVERLAP: cabinet <-> floor depth=[0.753, -0.006, 0.340] + !! OVERLAP: table <-> chair depth=[0.572, 0.736, 0.571] + !! OVERLAP: table <-> chair depth=[0.480, 0.736, 0.033] + !! OVERLAP: table <-> chair depth=[0.079, 0.714, 0.472] + !! OVERLAP: table <-> floor depth=[1.275, -0.006, 0.776] + !! OVERLAP: chair <-> floor depth=[0.647, -0.006, 0.601] + !! OVERLAP: chair <-> floor depth=[0.560, -0.006, 0.524] + !! OVERLAP: chair <-> floor depth=[0.659, -0.006, 0.630] + !! OVERLAP: chair <-> floor depth=[0.561, -0.006, 0.587] +============================================================ + + +============================================================ +SCENE: LivingRoom-1255 | 7 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.4689, Walkable Loss: 0.0000, Relational Loss: 0.0000 +Guided Steps: 10/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +bookshelf 3.730 2.626 0.374 -0.186 0.002 2.101 -179.95° +sofa 2.231 0.975 0.929 0.779 0.000 -1.371 -90.04° +table 1.268 0.696 1.289 0.786 0.001 0.537 0.04° +table 1.189 0.468 0.976 -0.377 -0.001 -1.072 -96.79° +lamp 0.421 0.600 0.367 0.288 2.297 0.381 -0.08° +floor 3.449 -0.002 4.720 -0.050 0.001 -0.050 0.02° +_scene_ 0.064 0.001 0.027 -5.668 -0.004 -5.710 -57.31° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bookshelf <-> floor depth=[3.449, -0.002, 0.374] + !! OVERLAP: sofa <-> table depth=[0.555, 0.468, 0.653] + !! OVERLAP: sofa <-> floor depth=[2.010, -0.002, 0.929] + !! OVERLAP: table <-> floor depth=[1.268, -0.002, 1.289] + !! OVERLAP: table <-> floor depth=[1.189, -0.002, 0.976] +============================================================ + + +============================================================ +SCENE: LivingRoom-3168 | 17 objects +============================================================ +Final Step Collision Loss: 0.0265, Room Outer Loss: 0.0000, Walkable Loss: 0.0000, Relational Loss: 0.0000 +Guided Steps: 10/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +table 2.447 0.730 1.118 0.253 0.000 -2.665 -0.01° +chair 0.491 0.964 0.529 1.075 0.001 -3.045 0.09° +chair 0.532 0.971 0.585 1.437 -0.000 -1.621 -179.96° +chair 0.539 1.015 0.645 0.816 0.001 -1.776 179.99° +chair 0.557 1.022 0.585 0.773 0.001 -3.038 0.04° +lamp 0.812 0.875 0.816 -0.075 1.753 1.592 -0.04° +sofa 2.247 0.922 0.874 -1.857 0.002 1.500 89.94° +chair 0.819 0.875 0.829 -0.157 0.001 3.133 -179.73° +chair 0.835 0.833 0.840 0.203 0.000 3.243 -165.72° +table 1.518 0.426 0.891 -0.077 0.001 1.627 89.34° +table 0.582 0.624 0.509 -1.713 -0.001 0.097 0.03° +table 0.549 0.576 0.516 -1.999 -0.003 3.404 0.06° +chair 0.514 0.529 0.524 -0.194 -0.000 0.317 0.03° +table 1.332 0.722 0.322 -2.213 0.002 -1.571 90.01° +lamp 0.832 1.121 0.847 0.159 1.756 -2.211 0.04° +floor 5.197 0.000 8.264 -0.480 0.001 0.232 -0.09° +_scene_ 0.076 0.001 0.023 -5.670 -0.003 -5.706 -57.30° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: table <-> chair depth=[0.491, 0.730, 0.443] + !! OVERLAP: table <-> chair depth=[0.557, 0.730, 0.479] + !! OVERLAP: table <-> floor depth=[2.447, 0.000, 1.118] + !! OVERLAP: chair <-> chair depth=[0.222, 0.964, 0.529] + !! OVERLAP: chair <-> floor depth=[0.491, 0.000, 0.529] + !! OVERLAP: chair <-> floor depth=[0.532, 0.000, 0.585] + !! OVERLAP: chair <-> floor depth=[0.539, 0.000, 0.645] + !! OVERLAP: chair <-> floor depth=[0.557, 0.000, 0.585] + !! OVERLAP: sofa <-> table depth=[0.103, 0.426, 0.756] + !! OVERLAP: sofa <-> floor depth=[2.247, 0.000, 0.874] + !! OVERLAP: chair <-> chair depth=[0.467, 0.833, 0.725] + !! OVERLAP: chair <-> floor depth=[0.819, 0.000, 0.829] + !! OVERLAP: chair <-> floor depth=[0.835, 0.000, 0.840] + !! OVERLAP: table <-> floor depth=[1.518, 0.000, 0.891] + !! OVERLAP: table <-> floor depth=[0.582, 0.000, 0.509] + !! OVERLAP: table <-> floor depth=[0.549, 0.000, 0.516] + !! OVERLAP: chair <-> floor depth=[0.514, 0.000, 0.524] + !! OVERLAP: table <-> floor depth=[1.332, 0.000, 0.322] +============================================================ + + +============================================================ +SCENE: LivingRoom-26286 | 16 objects +============================================================ +Final Step Collision Loss: 0.0083, Room Outer Loss: 0.0000, Walkable Loss: 0.0000, Relational Loss: 0.0000 +Guided Steps: 10/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +chair 0.538 0.928 0.635 1.893 0.001 -1.468 0.03° +chair 0.600 0.922 0.593 2.492 -0.001 -1.508 0.00° +chair 0.458 0.984 0.587 2.033 0.001 0.170 -89.98° +chair 0.514 0.892 0.546 2.615 0.001 0.055 -90.05° +chair 0.504 0.851 0.522 -2.663 0.001 -0.217 89.96° +sofa 2.421 0.791 0.939 -1.675 -0.001 1.393 -179.93° +table 1.163 0.562 1.075 0.161 -0.000 1.066 0.01° +table 1.102 0.512 0.988 -2.615 -0.001 0.906 0.01° +table 1.185 0.468 1.003 -0.990 -0.001 -0.852 -0.01° +table 1.238 0.634 1.003 2.483 0.003 -0.652 0.10° +table 1.583 1.573 0.467 1.293 0.002 1.584 -179.80° +table 1.260 0.466 1.032 -1.784 0.001 0.314 -90.41° +lamp 0.372 0.433 0.371 -1.458 2.182 -0.410 0.01° +lamp 0.900 0.670 0.452 2.027 1.907 -0.053 0.04° +floor 6.767 -0.003 4.501 -0.085 0.000 0.086 -0.02° +_scene_ 0.060 0.001 0.036 -5.638 -0.003 -5.690 -57.34° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: chair <-> table depth=[0.298, 0.634, 0.003] + !! OVERLAP: chair <-> floor depth=[0.538, -0.003, 0.635] + !! OVERLAP: chair <-> floor depth=[0.600, -0.003, 0.593] + !! OVERLAP: chair <-> floor depth=[0.458, -0.003, 0.587] + !! OVERLAP: chair <-> table depth=[0.514, 0.634, 0.067] + !! OVERLAP: chair <-> floor depth=[0.514, -0.003, 0.546] + !! OVERLAP: chair <-> table depth=[0.002, 0.466, 0.246] + !! OVERLAP: chair <-> floor depth=[0.504, -0.003, 0.522] + !! OVERLAP: sofa <-> table depth=[0.821, 0.512, 0.476] + !! OVERLAP: sofa <-> floor depth=[2.421, -0.003, 0.939] + !! OVERLAP: table <-> table depth=[0.241, 0.562, 0.252] + !! OVERLAP: table <-> floor depth=[1.163, -0.003, 1.075] + !! OVERLAP: table <-> table depth=[0.349, 0.466, 0.418] + !! OVERLAP: table <-> floor depth=[1.102, -0.003, 0.988] + !! OVERLAP: table <-> floor depth=[1.185, -0.003, 1.003] + !! OVERLAP: table <-> floor depth=[1.238, -0.003, 1.003] + !! OVERLAP: table <-> floor depth=[1.583, -0.003, 0.467] + !! OVERLAP: table <-> floor depth=[1.260, -0.003, 1.032] +============================================================ + + +============================================================ +SCENE: LivingRoom-4960 | 10 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0000, Walkable Loss: 0.0000, Relational Loss: 0.0000 +Guided Steps: 10/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +sofa 2.223 0.864 0.914 0.219 -0.000 -1.300 -0.01° +table 1.387 0.887 0.774 0.451 0.002 -0.016 0.04° +table 0.581 0.577 0.525 -1.363 -0.001 -1.424 -0.98° +chair 0.811 0.877 0.828 -1.675 0.003 -0.363 67.86° +table 0.564 0.524 0.495 1.804 0.001 -1.535 -0.01° +chair 0.630 0.409 0.448 1.797 0.000 0.075 -89.93° +lamp 0.626 0.943 0.600 0.279 1.718 -0.014 -0.05° +tv_stand 1.982 0.499 0.413 0.849 0.001 1.666 179.92° +floor 5.000 -0.002 3.608 0.013 0.000 0.030 -0.04° +_scene_ 0.062 0.000 0.027 -5.698 -0.002 -5.715 -57.35° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: sofa <-> floor depth=[2.223, -0.002, 0.914] + !! OVERLAP: table <-> floor depth=[1.387, -0.002, 0.774] + !! OVERLAP: table <-> floor depth=[0.581, -0.002, 0.525] + !! OVERLAP: chair <-> floor depth=[0.811, -0.002, 0.828] + !! OVERLAP: table <-> floor depth=[0.564, -0.002, 0.486] + !! OVERLAP: chair <-> floor depth=[0.630, -0.002, 0.448] + !! OVERLAP: tv_stand <-> floor depth=[1.982, -0.002, 0.374] +============================================================ + + +============================================================ +SCENE: LivingRoom-2410 | 12 objects +============================================================ +Final Step Collision Loss: 0.1113, Room Outer Loss: 0.0000, Walkable Loss: 0.0000, Relational Loss: 0.0000 +Guided Steps: 10/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +table 0.666 0.449 0.879 0.269 0.000 1.245 -0.10° +sofa 2.271 0.769 0.982 -0.814 0.001 1.005 90.06° +table 1.488 0.780 1.488 0.779 0.000 -0.984 0.06° +chair 0.562 0.983 0.575 1.167 0.002 -1.665 -89.98° +chair 0.526 1.061 0.498 1.006 -0.001 -0.236 -179.94° +chair 0.604 0.987 0.691 0.259 -0.001 -0.481 179.96° +chair 0.733 1.021 0.797 -0.069 0.001 -1.637 79.41° +chair 0.745 0.986 0.852 0.634 0.000 -0.506 179.98° +chair 0.669 0.939 0.768 0.686 0.001 -2.019 -0.33° +bookshelf 0.482 1.229 0.349 -1.475 -0.002 1.979 0.14° +floor 3.914 -0.001 5.502 0.021 -0.000 -0.091 -0.03° +_scene_ 0.064 0.002 0.021 -5.665 -0.005 -5.701 -57.31° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: table <-> sofa depth=[0.385, 0.449, 0.691] + !! OVERLAP: table <-> floor depth=[0.666, -0.001, 0.879] + !! OVERLAP: sofa <-> floor depth=[2.258, -0.001, 0.982] + !! OVERLAP: table <-> chair depth=[0.562, 0.780, 0.350] + !! OVERLAP: table <-> chair depth=[0.526, 0.780, 0.245] + !! OVERLAP: table <-> chair depth=[0.526, 0.780, 0.587] + !! OVERLAP: table <-> chair depth=[0.263, 0.780, 0.490] + !! OVERLAP: table <-> chair depth=[0.745, 0.780, 0.692] + !! OVERLAP: table <-> chair depth=[0.669, 0.780, 0.093] + !! OVERLAP: table <-> floor depth=[1.488, -0.001, 1.488] + !! OVERLAP: chair <-> chair depth=[0.135, 0.939, 0.317] + !! OVERLAP: chair <-> floor depth=[0.562, -0.001, 0.575] + !! OVERLAP: chair <-> chair depth=[0.263, 0.986, 0.405] + !! OVERLAP: chair <-> floor depth=[0.526, -0.001, 0.498] + !! OVERLAP: chair <-> chair depth=[0.300, 0.985, 0.691] + !! OVERLAP: chair <-> floor depth=[0.604, -0.001, 0.691] + !! OVERLAP: chair <-> floor depth=[0.733, -0.001, 0.797] + !! OVERLAP: chair <-> floor depth=[0.745, -0.001, 0.852] + !! OVERLAP: chair <-> floor depth=[0.669, -0.001, 0.768] + !! OVERLAP: bookshelf <-> floor depth=[0.482, -0.001, 0.349] +============================================================ + + +============================================================ +SCENE: LivingDiningRoom-17836 | 19 objects +============================================================ +Final Step Collision Loss: 0.0164, Room Outer Loss: 0.2154, Walkable Loss: 0.0000, Relational Loss: 0.0000 +Guided Steps: 10/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +table 0.585 0.562 0.623 0.306 -0.000 1.253 -90.96° +table 0.475 0.548 0.463 -2.582 -0.001 1.290 179.94° +table 0.986 0.403 1.089 -1.525 0.001 0.244 -0.12° +sofa 2.206 0.952 0.931 -1.155 0.000 1.034 179.93° +chair 0.844 0.771 1.081 -0.684 -0.000 0.143 -89.95° +chair 0.882 0.843 0.982 -3.451 -0.001 0.408 89.81° +table 1.877 0.782 1.246 2.058 0.001 0.745 -0.08° +chair 0.606 0.883 0.589 1.998 0.001 0.118 0.03° +chair 0.449 0.928 0.533 2.380 -0.001 0.069 0.00° +chair 0.542 0.954 0.577 2.986 -0.001 0.026 -0.00° +chair 0.482 0.897 0.541 2.084 0.001 1.496 179.94° +chair 0.392 0.962 0.522 2.558 0.001 1.443 -179.96° +chair 0.523 0.969 0.527 2.970 -0.003 1.503 -179.92° +tv_stand 2.199 0.742 0.425 -1.790 0.001 -1.615 0.00° +lamp 0.400 0.953 0.379 -1.399 1.593 -0.049 -0.03° +lamp 0.341 1.171 0.390 2.737 0.925 0.667 -0.03° +table 1.428 1.701 0.307 2.652 -0.001 -1.550 -0.01° +floor 7.289 -0.003 3.684 -0.237 0.000 -0.096 0.01° +_scene_ 0.066 -0.001 0.020 -5.669 -0.004 -5.712 -57.35° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: table <-> floor depth=[0.585, -0.003, 0.623] + !! OVERLAP: table <-> floor depth=[0.475, -0.003, 0.463] + !! OVERLAP: table <-> sofa depth=[0.986, 0.403, 0.220] + !! OVERLAP: table <-> chair depth=[0.073, 0.403, 0.984] + !! OVERLAP: table <-> floor depth=[0.986, -0.003, 1.089] + !! OVERLAP: sofa <-> chair depth=[0.844, 0.771, 0.115] + !! OVERLAP: sofa <-> floor depth=[2.206, -0.003, 0.931] + !! OVERLAP: chair <-> floor depth=[0.844, -0.003, 1.081] + !! OVERLAP: chair <-> floor depth=[0.872, -0.003, 0.982] + !! OVERLAP: table <-> chair depth=[0.606, 0.782, 0.290] + !! OVERLAP: table <-> chair depth=[0.449, 0.782, 0.213] + !! OVERLAP: table <-> chair depth=[0.281, 0.782, 0.192] + !! OVERLAP: table <-> chair depth=[0.482, 0.782, 0.143] + !! OVERLAP: table <-> chair depth=[0.392, 0.782, 0.186] + !! OVERLAP: table <-> chair depth=[0.288, 0.782, 0.129] + !! OVERLAP: table <-> lamp depth=[0.341, 0.052, 0.390] + !! OVERLAP: table <-> floor depth=[1.877, -0.003, 1.246] + !! OVERLAP: chair <-> chair depth=[0.145, 0.883, 0.512] + !! OVERLAP: chair <-> floor depth=[0.606, -0.003, 0.589] + !! OVERLAP: chair <-> floor depth=[0.449, -0.003, 0.533] + !! OVERLAP: chair <-> floor depth=[0.542, -0.003, 0.577] + !! OVERLAP: chair <-> floor depth=[0.482, -0.003, 0.521] + !! OVERLAP: chair <-> chair depth=[0.046, 0.962, 0.464] + !! OVERLAP: chair <-> floor depth=[0.392, -0.003, 0.522] + !! OVERLAP: chair <-> floor depth=[0.523, -0.003, 0.506] + !! OVERLAP: tv_stand <-> floor depth=[2.199, -0.003, 0.425] + !! OVERLAP: table <-> floor depth=[1.428, -0.003, 0.307] +============================================================ + + +============================================================ +SCENE: LivingRoom-52289 | 8 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0242, Walkable Loss: 0.0000, Relational Loss: 0.0000 +Guided Steps: 10/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +lamp 0.715 0.928 0.720 -0.049 1.737 0.108 0.01° +chair 1.005 0.808 0.882 -1.415 -0.002 0.277 114.58° +sofa 2.710 0.972 1.049 -0.615 0.002 -1.177 0.00° +table 0.734 0.511 0.604 1.221 0.002 -1.360 -0.05° +table 0.752 0.547 0.768 1.838 -0.001 0.324 -99.21° +table 0.872 0.424 1.038 -0.129 -0.002 0.588 -89.94° +floor 4.614 -0.001 3.726 -0.084 -0.001 0.018 -0.05° +_scene_ 0.066 0.019 0.047 -5.617 -0.000 -5.638 -57.38° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: chair <-> floor depth=[1.005, -0.001, 0.882] + !! OVERLAP: sofa <-> floor depth=[2.710, -0.001, 1.049] + !! OVERLAP: table <-> floor depth=[0.734, -0.001, 0.604] + !! OVERLAP: table <-> floor depth=[0.752, -0.001, 0.768] + !! OVERLAP: table <-> floor depth=[0.872, -0.001, 1.038] +============================================================ + + +============================================================ +SCENE: LivingDiningRoom-19931 | 19 objects +============================================================ +Final Step Collision Loss: 0.0137, Room Outer Loss: 0.3451, Walkable Loss: 0.0000, Relational Loss: 0.0000 +Guided Steps: 10/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +sofa 2.364 0.897 0.870 -1.404 -0.002 -1.906 89.83° +chair 0.948 0.784 0.877 0.521 0.002 -3.499 -9.67° +table 1.436 0.354 0.823 0.289 0.002 -1.661 89.96° +cabinet 0.843 1.894 0.280 1.886 0.001 3.652 -90.05° +table 2.027 0.860 1.030 0.368 -0.001 2.128 -89.91° +chair 0.580 0.826 0.583 0.118 0.001 1.068 0.01° +chair 0.472 0.825 0.533 0.968 0.000 1.842 -90.11° +chair 0.468 0.833 0.555 0.723 0.003 2.798 -90.00° +chair 0.569 0.807 0.598 0.021 0.001 2.714 179.93° +chair 0.537 0.827 0.571 -0.983 0.001 2.808 90.00° +chair 0.535 0.829 0.609 -0.880 0.001 1.648 90.01° +tv_stand 1.877 0.425 0.378 1.935 -0.001 -2.340 -90.14° +table 0.481 0.473 0.563 -1.209 0.004 -0.370 90.00° +table 0.488 0.469 0.401 -1.174 0.002 -3.498 90.07° +chair 0.849 0.875 0.827 -0.079 0.001 -0.511 172.01° +lamp 0.430 0.646 0.445 0.189 1.897 -2.105 -0.04° +lamp 0.451 0.479 0.325 0.571 2.059 1.898 0.01° +floor 5.193 -0.004 8.368 0.002 -0.001 -0.378 -0.00° +_scene_ 0.070 0.003 0.021 -5.669 -0.004 -5.710 -57.30° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: sofa <-> table depth=[0.206, 0.354, 0.601] + !! OVERLAP: sofa <-> floor depth=[2.364, -0.004, 0.870] + !! OVERLAP: chair <-> floor depth=[0.948, -0.004, 0.877] + !! OVERLAP: table <-> floor depth=[1.436, -0.004, 0.823] + !! OVERLAP: cabinet <-> floor depth=[0.843, -0.004, 0.280] + !! OVERLAP: table <-> chair depth=[0.472, 0.825, 0.496] + !! OVERLAP: table <-> chair depth=[0.468, 0.833, 0.122] + !! OVERLAP: table <-> chair depth=[0.569, 0.807, 0.228] + !! OVERLAP: table <-> chair depth=[0.033, 0.829, 0.340] + !! OVERLAP: table <-> floor depth=[2.027, -0.004, 1.030] + !! OVERLAP: chair <-> floor depth=[0.580, -0.004, 0.583] + !! OVERLAP: chair <-> floor depth=[0.472, -0.004, 0.533] + !! OVERLAP: chair <-> floor depth=[0.468, -0.004, 0.555] + !! OVERLAP: chair <-> floor depth=[0.569, -0.004, 0.598] + !! OVERLAP: chair <-> floor depth=[0.537, -0.004, 0.571] + !! OVERLAP: chair <-> floor depth=[0.535, -0.004, 0.609] + !! OVERLAP: tv_stand <-> floor depth=[1.603, -0.004, 0.378] + !! OVERLAP: table <-> floor depth=[0.481, -0.004, 0.563] + !! OVERLAP: table <-> floor depth=[0.488, -0.004, 0.401] + !! OVERLAP: chair <-> floor depth=[0.849, -0.004, 0.827] +============================================================ + + +============================================================ +SCENE: LivingRoom-4789 | 23 objects +============================================================ +Final Step Collision Loss: 0.0116, Room Outer Loss: 0.0000, Walkable Loss: 0.0000, Relational Loss: 0.0000 +Guided Steps: 10/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +sofa 2.270 0.873 0.868 -1.842 0.002 2.172 89.93° +chair 1.053 0.814 1.087 -0.527 -0.001 3.820 -179.92° +table 1.330 0.453 1.176 -0.325 0.001 2.359 90.07° +table 0.565 0.690 0.467 -1.796 0.003 3.571 90.01° +table 0.506 0.528 0.495 -1.784 0.002 0.981 90.03° +table 0.572 0.484 0.542 -1.861 0.003 3.522 89.96° +table 2.255 0.744 0.979 -1.504 0.001 -2.210 -0.01° +chair 0.550 1.028 0.592 -1.917 -0.002 -3.011 -0.06° +chair 0.560 1.124 0.620 -0.841 -0.002 -3.023 -17.01° +chair 0.483 1.158 0.650 -0.364 -0.000 -2.586 -90.24° +chair 0.649 1.136 0.753 -2.095 -0.002 -1.696 -179.96° +chair 0.536 1.148 0.582 -0.896 -0.001 -1.605 179.95° +table 1.960 0.742 0.846 -1.386 0.004 -0.803 0.02° +table 0.589 0.546 0.426 -1.980 0.001 -0.131 90.07° +table 0.839 0.932 0.534 -1.292 -0.000 -3.477 0.07° +chair 0.842 0.465 0.583 -0.682 -0.001 1.045 0.02° +lamp 0.928 0.946 0.897 -0.446 1.792 2.094 -0.00° +lamp 0.545 0.667 0.483 -0.573 2.089 0.380 90.13° +lamp 0.548 0.167 0.522 1.216 2.474 -0.016 -0.07° +lamp 0.506 0.694 0.412 -1.498 2.179 -1.994 -0.05° +lamp 0.751 0.769 0.659 0.170 2.229 -3.840 90.05° +floor 4.694 0.002 9.957 -0.519 0.000 0.272 -0.03° +_scene_ 0.071 0.000 0.025 -5.662 -0.004 -5.707 -57.31° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: sofa <-> table depth=[0.282, 0.453, 0.835] + !! OVERLAP: sofa <-> floor depth=[2.158, 0.002, 0.868] + !! OVERLAP: chair <-> floor depth=[1.053, 0.002, 1.087] + !! OVERLAP: table <-> floor depth=[1.330, 0.002, 1.176] + !! OVERLAP: table <-> table depth=[0.503, 0.484, 0.455] + !! OVERLAP: table <-> floor depth=[0.565, 0.002, 0.467] + !! OVERLAP: table <-> floor depth=[0.506, 0.002, 0.495] + !! OVERLAP: table <-> floor depth=[0.572, 0.002, 0.542] + !! OVERLAP: table <-> chair depth=[0.230, 0.744, 0.438] + !! OVERLAP: table <-> chair depth=[0.649, 0.744, 0.353] + !! OVERLAP: table <-> chair depth=[0.536, 0.744, 0.176] + !! OVERLAP: table <-> floor depth=[2.255, 0.002, 0.979] + !! OVERLAP: chair <-> table depth=[0.069, 0.932, 0.096] + !! OVERLAP: chair <-> floor depth=[0.550, 0.002, 0.592] + !! OVERLAP: chair <-> chair depth=[0.045, 1.124, 0.198] + !! OVERLAP: chair <-> table depth=[0.248, 0.932, 0.122] + !! OVERLAP: chair <-> floor depth=[0.560, 0.002, 0.620] + !! OVERLAP: chair <-> floor depth=[0.483, 0.002, 0.650] + !! OVERLAP: chair <-> floor depth=[0.649, 0.002, 0.753] + !! OVERLAP: chair <-> floor depth=[0.536, 0.002, 0.582] + !! OVERLAP: table <-> floor depth=[1.960, 0.002, 0.846] + !! OVERLAP: table <-> floor depth=[0.589, 0.002, 0.426] + !! OVERLAP: table <-> floor depth=[0.839, 0.002, 0.534] + !! OVERLAP: chair <-> floor depth=[0.842, 0.002, 0.583] +============================================================ + + +============================================================ +SCENE: LivingDiningRoom-814 | 5 objects +============================================================ +Final Step Collision Loss: 0.2623, Room Outer Loss: 0.0000, Walkable Loss: 0.0000, Relational Loss: 0.0000 +Guided Steps: 10/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +table 3.316 0.126 2.761 -0.166 -0.004 0.797 -0.12° +chair 0.489 0.798 0.574 -0.249 -0.001 -0.424 0.01° +chair 0.390 0.813 0.444 -1.383 0.001 -0.893 0.04° +floor 5.357 -0.004 6.515 0.139 -0.000 0.052 -0.09° +_scene_ 0.045 0.005 0.007 -5.663 -0.005 -5.713 -57.33° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: table <-> chair depth=[0.489, 0.126, 0.447] + !! OVERLAP: table <-> floor depth=[3.316, -0.004, 2.761] + !! OVERLAP: chair <-> floor depth=[0.489, -0.004, 0.574] + !! OVERLAP: chair <-> floor depth=[0.390, -0.004, 0.444] +============================================================ + + +============================================================ +SCENE: LivingRoom-35461 | 12 objects +============================================================ +Final Step Collision Loss: 0.0652, Room Outer Loss: 0.2490, Walkable Loss: 0.0000, Relational Loss: 0.0000 +Guided Steps: 10/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +chair 0.906 1.133 0.966 -0.940 0.009 0.657 65.10° +tv_stand 1.216 0.425 0.292 0.922 -0.001 0.607 -90.01° +table 0.496 0.777 0.476 -1.066 -0.000 2.344 0.02° +cabinet 0.804 1.051 0.319 0.936 0.002 2.200 -89.92° +lamp 0.505 0.593 0.516 -0.290 2.267 0.796 0.10° +lamp 1.050 0.854 1.076 -0.659 1.788 -2.431 -89.94° +lamp 0.983 0.862 1.063 -0.902 1.987 -2.007 -0.06° +table 1.507 0.596 1.123 -0.607 -0.001 0.551 -0.01° +chair 0.579 0.910 0.617 -0.767 0.001 -0.570 0.07° +chair 0.673 0.862 0.692 -0.643 0.001 2.051 179.84° +floor 2.807 0.000 7.093 -0.004 -0.002 -0.106 -0.03° +_scene_ 0.071 -0.001 0.024 -5.680 -0.003 -5.719 -57.32° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: chair <-> table depth=[0.874, 0.596, 0.939] + !! OVERLAP: chair <-> floor depth=[0.906, 0.000, 0.966] + !! OVERLAP: tv_stand <-> floor depth=[1.086, 0.000, 0.292] + !! OVERLAP: table <-> chair depth=[0.161, 0.777, 0.291] + !! OVERLAP: table <-> floor depth=[0.496, 0.000, 0.476] + !! OVERLAP: cabinet <-> floor depth=[0.804, 0.000, 0.319] + !! OVERLAP: lamp <-> lamp depth=[0.773, 0.658, 0.646] + !! OVERLAP: table <-> floor depth=[1.507, 0.000, 1.123] + !! OVERLAP: chair <-> floor depth=[0.579, 0.000, 0.617] + !! OVERLAP: chair <-> floor depth=[0.673, 0.000, 0.692] +============================================================ + + +============================================================ +SCENE: LivingRoom-360 | 8 objects +============================================================ +Final Step Collision Loss: 0.0243, Room Outer Loss: 0.1064, Walkable Loss: 0.0000, Relational Loss: 0.0000 +Guided Steps: 10/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +table 1.841 0.714 1.052 -1.511 -0.002 0.249 89.95° +sofa 2.444 0.872 0.917 1.551 0.000 0.432 -89.94° +chair 0.594 0.970 0.687 -0.296 0.002 0.189 -90.06° +chair 0.473 0.884 0.576 -2.008 0.003 0.951 89.88° +lamp 0.826 0.761 0.825 0.478 1.899 -0.087 -0.05° +lamp 0.629 0.752 0.499 -1.240 1.982 0.439 -0.01° +floor 5.268 0.006 2.467 -0.089 -0.001 0.043 -0.01° +_scene_ 0.071 0.002 0.012 -5.663 -0.002 -5.701 -57.38° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: table <-> chair depth=[0.002, 0.714, 0.687] + !! OVERLAP: table <-> chair depth=[0.473, 0.714, 0.112] + !! OVERLAP: table <-> floor depth=[1.841, 0.006, 1.052] + !! OVERLAP: sofa <-> floor depth=[2.216, 0.006, 0.917] + !! OVERLAP: chair <-> floor depth=[0.594, 0.006, 0.687] + !! OVERLAP: chair <-> floor depth=[0.473, 0.006, 0.576] +============================================================ + + +============================================================ +SCENE: DiningRoom-15534 | 10 objects +============================================================ +Final Step Collision Loss: 0.0036, Room Outer Loss: 0.1462, Walkable Loss: 0.0000, Relational Loss: 0.0000 +Guided Steps: 10/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +table 2.377 0.729 0.943 -0.158 -0.001 -0.093 -90.05° +chair 0.541 0.872 0.562 -1.356 -0.000 0.320 89.98° +chair 0.630 0.917 0.706 -1.353 0.002 -0.574 89.97° +chair 0.537 0.911 0.583 1.012 0.003 0.319 -90.04° +chair 0.484 0.900 0.580 1.036 0.005 -0.786 -89.89° +cabinet 3.220 2.420 0.477 0.575 0.001 1.329 -179.92° +lamp 0.148 0.970 0.113 0.146 1.149 -0.356 0.03° +lamp 0.024 0.866 0.074 -0.093 1.245 0.247 -90.11° +floor 4.379 -0.003 3.028 -0.073 -0.002 0.007 -0.09° +_scene_ 0.071 0.001 0.023 -5.672 -0.005 -5.710 -57.30° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: table <-> chair depth=[0.262, 0.729, 0.340] + !! OVERLAP: table <-> chair depth=[0.308, 0.729, 0.343] + !! OVERLAP: table <-> chair depth=[0.286, 0.729, 0.351] + !! OVERLAP: table <-> chair depth=[0.236, 0.729, 0.069] + !! OVERLAP: table <-> floor depth=[2.377, -0.003, 0.943] + !! OVERLAP: chair <-> floor depth=[0.541, -0.003, 0.562] + !! OVERLAP: chair <-> floor depth=[0.630, -0.003, 0.706] + !! OVERLAP: chair <-> floor depth=[0.537, -0.003, 0.583] + !! OVERLAP: chair <-> floor depth=[0.484, -0.003, 0.580] + !! OVERLAP: cabinet <-> floor depth=[3.152, -0.003, 0.431] +============================================================ + + +============================================================ +SCENE: DiningRoom-31158 | 8 objects +============================================================ +Final Step Collision Loss: 0.0993, Room Outer Loss: 0.0000, Walkable Loss: 0.0000, Relational Loss: 0.0000 +Guided Steps: 10/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +table 1.453 0.795 1.126 0.043 0.000 0.035 89.95° +chair 0.588 0.783 0.598 0.511 0.001 0.575 -179.97° +chair 0.515 0.772 0.508 -0.519 0.001 0.245 179.81° +chair 0.544 0.818 0.580 0.271 0.002 -0.577 0.03° +chair 0.594 0.790 0.651 -0.389 0.003 -0.560 0.04° +lamp 1.177 1.091 1.137 -0.240 1.615 0.070 0.03° +floor 3.923 -0.001 2.466 -0.017 -0.000 0.024 -0.06° +_scene_ 0.071 -0.001 0.024 -5.673 -0.002 -5.713 -57.31° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: table <-> chair depth=[0.552, 0.783, 0.322] + !! OVERLAP: table <-> chair depth=[0.422, 0.772, 0.508] + !! OVERLAP: table <-> chair depth=[0.544, 0.795, 0.242] + !! OVERLAP: table <-> chair depth=[0.592, 0.790, 0.294] + !! OVERLAP: table <-> floor depth=[1.453, -0.001, 1.126] + !! OVERLAP: chair <-> floor depth=[0.588, -0.001, 0.598] + !! OVERLAP: chair <-> floor depth=[0.515, -0.001, 0.508] + !! OVERLAP: chair <-> floor depth=[0.544, -0.001, 0.580] + !! OVERLAP: chair <-> floor depth=[0.594, -0.001, 0.651] +============================================================ + + +============================================================ +SCENE: DiningRoom-197500 | 13 objects +============================================================ +Final Step Collision Loss: 0.0310, Room Outer Loss: 1.2084, Walkable Loss: 0.0000, Relational Loss: 0.0000 +Guided Steps: 10/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +table 1.494 0.694 1.194 -0.207 -0.000 -0.158 -179.95° +chair 0.537 0.869 0.554 -0.203 0.001 0.604 179.91° +chair 0.561 0.843 0.568 0.659 0.001 0.654 -131.08° +chair 0.521 0.863 0.528 0.464 0.001 -0.597 -43.88° +chair 0.605 0.895 0.605 -0.199 0.001 -0.950 0.03° +chair 0.533 0.837 0.599 -0.927 0.000 0.476 137.40° +cabinet 2.476 2.486 0.307 -2.080 0.006 0.100 89.99° +cabinet 1.792 2.147 0.393 1.745 0.000 -0.503 -90.17° +chair 0.532 0.821 0.511 -0.816 0.006 -0.691 51.00° +cabinet 2.026 2.236 0.360 1.415 -0.001 0.563 -90.04° +lamp 0.397 0.561 0.405 -0.271 2.325 -0.231 -0.06° +floor 4.949 0.001 4.266 0.031 0.000 -0.039 0.03° +_scene_ 0.070 0.000 0.020 -5.673 -0.005 -5.714 -57.29° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: table <-> chair depth=[0.537, 0.694, 0.112] + !! OVERLAP: table <-> chair depth=[0.162, 0.694, 0.069] + !! OVERLAP: table <-> chair depth=[0.336, 0.694, 0.421] + !! OVERLAP: table <-> chair depth=[0.605, 0.694, 0.107] + !! OVERLAP: table <-> chair depth=[0.294, 0.694, 0.263] + !! OVERLAP: table <-> cabinet depth=[0.112, 0.694, 0.307] + !! OVERLAP: table <-> chair depth=[0.404, 0.694, 0.319] + !! OVERLAP: table <-> cabinet depth=[0.138, 0.694, 0.056] + !! OVERLAP: table <-> floor depth=[1.494, 0.001, 1.194] + !! OVERLAP: chair <-> floor depth=[0.537, 0.001, 0.554] + !! OVERLAP: chair <-> cabinet depth=[0.538, 0.843, 0.360] + !! OVERLAP: chair <-> floor depth=[0.561, 0.001, 0.568] + !! OVERLAP: chair <-> floor depth=[0.521, 0.001, 0.528] + !! OVERLAP: chair <-> floor depth=[0.605, 0.001, 0.605] + !! OVERLAP: chair <-> cabinet depth=[0.351, 0.837, 0.077] + !! OVERLAP: chair <-> floor depth=[0.533, 0.001, 0.599] + !! OVERLAP: cabinet <-> floor depth=[1.601, 0.001, 0.307] + !! OVERLAP: cabinet <-> floor depth=[1.657, 0.001, 0.393] + !! OVERLAP: chair <-> floor depth=[0.532, 0.001, 0.511] + !! OVERLAP: cabinet <-> floor depth=[2.026, 0.001, 0.360] +============================================================ + + +============================================================ +SCENE: DiningRoom-26805 | 9 objects +============================================================ +Final Step Collision Loss: 0.0373, Room Outer Loss: 0.0000, Walkable Loss: 0.0000, Relational Loss: 0.0000 +Guided Steps: 10/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +chair 0.482 0.692 0.505 -0.821 0.005 -1.088 61.97° +table 2.591 1.006 0.919 -0.159 0.002 -0.094 89.96° +chair 0.531 0.744 0.535 -0.851 0.001 -0.104 89.99° +chair 0.484 0.747 0.488 -0.989 -0.001 0.779 120.77° +chair 0.572 0.703 0.543 0.541 0.002 0.905 -132.41° +chair 0.523 0.735 0.506 0.639 -0.000 -0.035 -90.25° +chair 0.584 0.704 0.513 0.511 -0.001 -1.040 -58.97° +floor 3.901 -0.004 4.284 -0.000 0.000 -0.030 -0.05° +_scene_ 0.106 -0.007 0.091 -5.587 -0.004 -5.644 -57.26° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: chair <-> floor depth=[0.482, -0.004, 0.505] + !! OVERLAP: table <-> chair depth=[0.531, 0.744, 0.535] + !! OVERLAP: table <-> chair depth=[0.523, 0.735, 0.506] + !! OVERLAP: table <-> floor depth=[2.591, -0.004, 0.919] + !! OVERLAP: chair <-> floor depth=[0.531, -0.004, 0.535] + !! OVERLAP: chair <-> floor depth=[0.484, -0.004, 0.488] + !! OVERLAP: chair <-> floor depth=[0.572, -0.004, 0.543] + !! OVERLAP: chair <-> floor depth=[0.523, -0.004, 0.506] + !! OVERLAP: chair <-> floor depth=[0.584, -0.004, 0.513] +============================================================ + + +============================================================ +SCENE: DiningRoom-17995 | 9 objects +============================================================ +Final Step Collision Loss: 0.0320, Room Outer Loss: 0.0053, Walkable Loss: 0.0000, Relational Loss: 0.0000 +Guided Steps: 10/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +cabinet 0.824 1.479 0.451 1.756 0.000 1.640 -179.89° +table 1.624 0.744 0.955 -1.157 0.000 -0.734 -0.02° +chair 0.470 0.923 0.540 -1.582 0.001 -1.322 0.04° +chair 0.558 0.893 0.594 -0.413 0.002 -1.302 0.04° +chair 0.469 0.882 0.480 -1.909 -0.008 -0.239 131.73° +chair 0.575 0.921 0.566 -0.321 0.002 0.058 -148.37° +lamp 1.182 0.729 0.867 -0.575 1.995 -0.438 -0.04° +floor 4.649 -0.001 4.066 -0.005 -0.000 -0.115 -0.00° +_scene_ 0.073 0.001 0.023 -5.672 -0.004 -5.713 -57.31° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: cabinet <-> floor depth=[0.824, -0.001, 0.451] + !! OVERLAP: table <-> chair depth=[0.470, 0.744, 0.160] + !! OVERLAP: table <-> chair depth=[0.347, 0.744, 0.207] + !! OVERLAP: table <-> chair depth=[0.295, 0.744, 0.223] + !! OVERLAP: table <-> floor depth=[1.624, -0.001, 0.955] + !! OVERLAP: chair <-> floor depth=[0.470, -0.001, 0.540] + !! OVERLAP: chair <-> floor depth=[0.558, -0.001, 0.594] + !! OVERLAP: chair <-> floor depth=[0.469, -0.001, 0.480] + !! OVERLAP: chair <-> floor depth=[0.575, -0.001, 0.566] +============================================================ + + +============================================================ +SCENE: DiningRoom-16628 | 10 objects +============================================================ +Final Step Collision Loss: 0.0358, Room Outer Loss: 0.0000, Walkable Loss: 0.0000, Relational Loss: 0.0000 +Guided Steps: 10/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +table 1.437 0.699 1.340 -0.144 0.001 0.341 90.00° +chair 0.519 0.784 0.586 0.816 0.002 -0.409 -89.99° +chair 0.528 0.814 0.574 0.709 0.002 0.298 -90.08° +chair 0.521 0.787 0.550 -0.147 0.001 1.298 179.95° +chair 0.518 0.766 0.530 -0.805 -0.000 0.437 90.03° +chair 0.492 0.783 0.541 -0.707 0.001 -0.145 89.99° +chair 0.647 0.815 0.591 0.044 0.002 -1.070 0.05° +lamp 1.029 0.678 1.033 -0.129 2.177 0.050 -0.03° +floor 3.201 -0.004 3.741 -0.011 0.001 -0.028 0.00° +_scene_ 0.073 -0.002 0.053 -5.643 -0.004 -5.689 -57.29° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: table <-> chair depth=[0.018, 0.699, 0.214] + !! OVERLAP: table <-> chair depth=[0.129, 0.699, 0.574] + !! OVERLAP: table <-> chair depth=[0.316, 0.699, 0.530] + !! OVERLAP: table <-> chair depth=[0.401, 0.699, 0.455] + !! OVERLAP: table <-> floor depth=[1.437, -0.004, 1.340] + !! OVERLAP: chair <-> floor depth=[0.519, -0.004, 0.586] + !! OVERLAP: chair <-> floor depth=[0.528, -0.004, 0.574] + !! OVERLAP: chair <-> floor depth=[0.521, -0.004, 0.550] + !! OVERLAP: chair <-> floor depth=[0.518, -0.004, 0.530] + !! OVERLAP: chair <-> floor depth=[0.492, -0.004, 0.541] + !! OVERLAP: chair <-> floor depth=[0.647, -0.004, 0.591] +============================================================ + + +============================================================ +SCENE: DiningRoom-11628 | 11 objects +============================================================ +Final Step Collision Loss: 0.0038, Room Outer Loss: 0.0034, Walkable Loss: 0.0000, Relational Loss: 0.0000 +Guided Steps: 10/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +table 1.351 0.804 0.839 0.764 0.000 0.947 -0.00° +chair 0.553 0.779 0.603 0.404 0.001 0.323 0.03° +chair 0.475 0.834 0.533 0.985 0.001 0.315 0.03° +chair 0.442 0.778 0.456 0.949 0.002 1.759 179.89° +chair 0.501 0.817 0.502 0.526 0.001 1.565 179.98° +bookshelf 0.941 1.219 0.373 -0.640 0.001 0.828 89.92° +lamp 0.789 1.027 0.794 0.596 1.809 1.010 -0.04° +lamp 0.460 0.275 0.448 -1.273 2.318 -2.155 -0.09° +lamp 0.549 0.584 0.190 0.665 1.870 -1.573 -0.07° +floor 3.179 -0.003 4.874 -0.006 0.002 -0.003 0.01° +_scene_ 0.066 0.001 0.023 -5.671 -0.005 -5.706 -57.32° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: table <-> chair depth=[0.553, 0.779, 0.097] + !! OVERLAP: table <-> chair depth=[0.475, 0.804, 0.054] + !! OVERLAP: table <-> chair depth=[0.501, 0.804, 0.052] + !! OVERLAP: table <-> floor depth=[1.351, -0.003, 0.839] + !! OVERLAP: chair <-> floor depth=[0.553, -0.003, 0.603] + !! OVERLAP: chair <-> floor depth=[0.475, -0.003, 0.533] + !! OVERLAP: chair <-> chair depth=[0.049, 0.778, 0.285] + !! OVERLAP: chair <-> floor depth=[0.442, -0.003, 0.456] + !! OVERLAP: chair <-> floor depth=[0.501, -0.003, 0.502] + !! OVERLAP: bookshelf <-> floor depth=[0.941, -0.003, 0.373] +============================================================ + + +============================================================ +SCENE: DiningRoom-29864 | 11 objects +============================================================ +Final Step Collision Loss: 0.0209, Room Outer Loss: 0.0377, Walkable Loss: 0.0000, Relational Loss: 0.0000 +Guided Steps: 10/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +table 1.339 0.710 0.985 1.021 0.002 -3.046 90.02° +chair 0.522 0.914 0.563 0.562 0.003 -2.898 89.92° +lamp 0.824 1.062 0.871 0.730 1.728 -2.652 -89.94° +chair 0.439 0.989 0.511 1.472 0.001 -2.937 -90.11° +chair 0.542 0.898 0.539 0.311 0.003 -2.372 89.93° +chair 0.481 0.884 0.521 1.461 0.001 -2.245 -90.08° +table 1.463 1.197 0.449 -0.925 0.001 0.642 89.75° +shelf 0.888 1.993 0.367 -0.905 -0.002 -1.231 0.11° +lamp 0.382 0.511 0.264 0.233 2.370 0.901 -0.05° +floor 3.835 -0.009 7.991 0.231 -0.002 -0.491 -0.07° +_scene_ 0.072 -0.000 0.022 -5.671 -0.005 -5.707 -57.31° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: table <-> chair depth=[0.471, 0.710, 0.563] + !! OVERLAP: table <-> chair depth=[0.438, 0.710, 0.511] + !! OVERLAP: table <-> chair depth=[0.230, 0.710, 0.088] + !! OVERLAP: table <-> floor depth=[1.339, -0.009, 0.985] + !! OVERLAP: chair <-> chair depth=[0.281, 0.898, 0.024] + !! OVERLAP: chair <-> floor depth=[0.522, -0.009, 0.563] + !! OVERLAP: chair <-> floor depth=[0.439, -0.009, 0.511] + !! OVERLAP: chair <-> floor depth=[0.542, -0.009, 0.539] + !! OVERLAP: chair <-> floor depth=[0.481, -0.009, 0.521] + !! OVERLAP: table <-> floor depth=[1.463, -0.009, 0.449] + !! OVERLAP: shelf <-> floor depth=[0.888, -0.009, 0.367] +============================================================ + + +============================================================ +SCENE: DiningRoom-2817 | 9 objects +============================================================ +Final Step Collision Loss: 0.0187, Room Outer Loss: 0.4226, Walkable Loss: 0.0000, Relational Loss: 0.0000 +Guided Steps: 10/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +table 1.626 0.751 1.012 -0.025 -0.002 0.203 -0.02° +chair 0.386 0.486 0.398 -0.148 0.000 -0.454 -0.00° +chair 0.344 0.480 0.360 0.594 0.000 -0.573 0.04° +chair 0.393 0.543 0.429 -0.181 0.002 0.764 179.95° +chair 0.501 0.586 0.471 0.501 0.003 0.751 179.94° +cabinet 1.195 1.149 0.461 -1.641 -0.001 -0.330 89.91° +lamp 1.932 0.962 0.468 0.037 1.813 0.030 -0.02° +floor 3.647 -0.002 3.650 0.005 0.000 0.046 -0.03° +_scene_ 0.073 0.001 0.023 -5.669 -0.004 -5.712 -57.31° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: table <-> chair depth=[0.386, 0.486, 0.048] + !! OVERLAP: table <-> chair depth=[0.393, 0.543, 0.160] + !! OVERLAP: table <-> chair depth=[0.501, 0.586, 0.194] + !! OVERLAP: table <-> floor depth=[1.626, -0.002, 1.012] + !! OVERLAP: chair <-> floor depth=[0.386, -0.002, 0.398] + !! OVERLAP: chair <-> floor depth=[0.344, -0.002, 0.360] + !! OVERLAP: chair <-> floor depth=[0.393, -0.002, 0.429] + !! OVERLAP: chair <-> floor depth=[0.501, -0.002, 0.471] + !! OVERLAP: cabinet <-> floor depth=[0.775, -0.002, 0.461] +============================================================ + + +============================================================ +SCENE: DiningRoom-35065 | 9 objects +============================================================ +Final Step Collision Loss: 0.0518, Room Outer Loss: 0.0000, Walkable Loss: 0.0000, Relational Loss: 0.0000 +Guided Steps: 10/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +cabinet 0.753 1.996 0.375 1.321 0.003 1.059 -90.10° +lamp 0.484 0.881 0.495 -0.496 1.775 -0.075 -0.04° +chair 0.548 0.810 0.627 0.375 0.002 -0.373 0.00° +chair 0.548 0.788 0.541 -0.402 0.002 -0.446 0.07° +table 1.420 0.725 1.238 0.053 0.002 0.076 179.89° +chair 0.569 0.803 0.560 -0.465 0.001 0.865 -179.99° +chair 0.440 0.812 0.475 0.201 0.001 0.865 180.00° +floor 3.503 -0.002 2.388 -0.051 -0.000 0.009 -0.05° +_scene_ 0.066 0.001 0.021 -5.670 -0.005 -5.716 -57.28° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: cabinet <-> floor depth=[0.753, -0.002, 0.332] + !! OVERLAP: chair <-> table depth=[0.548, 0.725, 0.483] + !! OVERLAP: chair <-> floor depth=[0.548, -0.002, 0.627] + !! OVERLAP: chair <-> table depth=[0.529, 0.725, 0.368] + !! OVERLAP: chair <-> floor depth=[0.548, -0.002, 0.541] + !! OVERLAP: table <-> chair depth=[0.476, 0.725, 0.110] + !! OVERLAP: table <-> chair depth=[0.440, 0.725, 0.067] + !! OVERLAP: table <-> floor depth=[1.420, -0.002, 1.238] + !! OVERLAP: chair <-> floor depth=[0.569, -0.002, 0.560] + !! OVERLAP: chair <-> floor depth=[0.440, -0.002, 0.475] +============================================================ + + +============================================================ +SCENE: DiningRoom-88173 | 13 objects +============================================================ +Final Step Collision Loss: 0.1399, Room Outer Loss: 0.0000, Walkable Loss: 0.0000, Relational Loss: 0.0000 +Guided Steps: 10/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +lamp 0.998 0.776 0.349 0.122 1.721 -0.136 0.13° +table 1.517 0.618 1.469 -0.161 -0.001 0.056 0.05° +chair 0.610 1.028 0.669 0.658 0.001 0.332 -99.39° +chair 1.075 1.079 0.599 -0.031 0.000 1.495 -179.94° +chair 0.642 1.036 0.660 0.477 0.002 -0.054 -101.02° +chair 0.543 1.058 0.635 0.439 -0.000 -0.586 -88.76° +chair 0.630 1.085 0.758 -0.572 0.000 0.371 108.35° +chair 0.711 1.099 0.898 -0.772 0.004 -0.057 74.02° +chair 0.695 1.046 0.798 -0.684 0.002 -0.381 89.94° +chair 0.664 1.034 0.665 -0.179 0.000 -1.470 -0.19° +table 1.307 0.639 0.389 -0.033 0.002 -1.962 0.00° +floor 2.568 0.002 5.349 0.000 0.001 -0.102 0.03° +_scene_ 0.125 -0.009 0.117 -5.614 -0.003 -5.660 -57.17° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: table <-> chair depth=[0.244, 0.618, 0.669] + !! OVERLAP: table <-> chair depth=[0.441, 0.618, 0.660] + !! OVERLAP: table <-> chair depth=[0.429, 0.618, 0.410] + !! OVERLAP: table <-> chair depth=[0.630, 0.618, 0.758] + !! OVERLAP: table <-> chair depth=[0.503, 0.618, 0.898] + !! OVERLAP: table <-> chair depth=[0.583, 0.618, 0.696] + !! OVERLAP: table <-> floor depth=[1.517, 0.002, 1.469] + !! OVERLAP: chair <-> chair depth=[0.446, 1.028, 0.278] + !! OVERLAP: chair <-> floor depth=[0.610, 0.002, 0.669] + !! OVERLAP: chair <-> floor depth=[1.075, 0.002, 0.599] + !! OVERLAP: chair <-> chair depth=[0.543, 1.036, 0.116] + !! OVERLAP: chair <-> floor depth=[0.642, 0.002, 0.660] + !! OVERLAP: chair <-> floor depth=[0.543, 0.002, 0.635] + !! OVERLAP: chair <-> chair depth=[0.470, 1.085, 0.399] + !! OVERLAP: chair <-> chair depth=[0.551, 1.046, 0.026] + !! OVERLAP: chair <-> floor depth=[0.630, 0.002, 0.758] + !! OVERLAP: chair <-> chair depth=[0.615, 1.046, 0.524] + !! OVERLAP: chair <-> floor depth=[0.711, 0.002, 0.898] + !! OVERLAP: chair <-> floor depth=[0.695, 0.002, 0.798] + !! OVERLAP: chair <-> table depth=[0.664, 0.639, 0.035] + !! OVERLAP: chair <-> floor depth=[0.664, 0.002, 0.665] + !! OVERLAP: table <-> floor depth=[1.307, 0.002, 0.389] +============================================================ + + +============================================================ +SCENE: DiningRoom-35093 | 9 objects +============================================================ +Final Step Collision Loss: 0.0468, Room Outer Loss: 0.0000, Walkable Loss: 0.0000, Relational Loss: 0.0000 +Guided Steps: 10/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +table 1.365 0.757 1.393 0.126 -0.001 -0.344 -0.00° +chair 0.489 1.033 0.548 -0.594 -0.001 0.555 -179.96° +chair 0.499 0.866 0.565 0.266 0.002 0.574 -179.92° +chair 0.478 0.831 0.525 1.209 0.002 0.433 179.94° +chair 0.591 0.865 0.638 1.052 0.002 -0.800 0.00° +chair 0.495 0.861 0.503 -0.058 0.004 -0.739 0.05° +lamp 0.644 0.998 0.608 0.099 1.618 -0.115 0.08° +floor 3.684 -0.004 2.685 0.014 0.001 -0.031 -0.06° +_scene_ 0.065 0.002 0.016 -5.668 -0.004 -5.709 -57.32° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: table <-> chair depth=[0.206, 0.757, 0.072] + !! OVERLAP: table <-> chair depth=[0.499, 0.757, 0.062] + !! OVERLAP: table <-> chair depth=[0.052, 0.757, 0.559] + !! OVERLAP: table <-> chair depth=[0.495, 0.757, 0.503] + !! OVERLAP: table <-> floor depth=[1.365, -0.004, 1.393] + !! OVERLAP: chair <-> floor depth=[0.489, -0.004, 0.548] + !! OVERLAP: chair <-> floor depth=[0.499, -0.004, 0.565] + !! OVERLAP: chair <-> floor depth=[0.478, -0.004, 0.525] + !! OVERLAP: chair <-> floor depth=[0.591, -0.004, 0.638] + !! OVERLAP: chair <-> floor depth=[0.495, -0.004, 0.503] +============================================================ + + +============================================================ +SCENE: DiningRoom-10302 | 11 objects +============================================================ +Final Step Collision Loss: 0.0690, Room Outer Loss: 0.2169, Walkable Loss: 0.0000, Relational Loss: 0.0000 +Guided Steps: 10/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +table 1.589 0.471 0.371 -0.923 0.002 0.716 179.96° +shelf 0.513 0.802 0.253 -1.118 -0.001 -1.173 0.10° +chair 0.434 0.854 0.522 1.564 0.001 1.053 179.98° +chair 0.509 0.861 0.547 0.915 0.000 0.986 179.93° +chair 0.492 0.848 0.590 1.499 0.000 -0.473 0.01° +chair 0.503 0.848 0.578 0.938 0.001 -0.368 -0.04° +table 2.162 0.807 1.040 0.861 0.002 0.166 -89.94° +lamp 0.398 0.734 0.281 1.326 1.912 0.741 -0.04° +lamp 0.564 0.824 0.556 0.382 1.763 -0.397 -0.03° +floor 3.570 -0.001 3.463 -0.010 0.001 0.016 -0.00° +_scene_ 0.070 0.001 0.018 -5.669 -0.004 -5.715 -57.31° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: table <-> table depth=[0.091, 0.471, 0.156] + !! OVERLAP: table <-> floor depth=[1.589, -0.001, 0.371] + !! OVERLAP: shelf <-> floor depth=[0.513, -0.001, 0.253] + !! OVERLAP: chair <-> floor depth=[0.428, -0.001, 0.522] + !! OVERLAP: chair <-> floor depth=[0.509, -0.001, 0.547] + !! OVERLAP: chair <-> table depth=[0.492, 0.807, 0.176] + !! OVERLAP: chair <-> floor depth=[0.492, -0.001, 0.590] + !! OVERLAP: chair <-> table depth=[0.503, 0.807, 0.275] + !! OVERLAP: chair <-> floor depth=[0.503, -0.001, 0.578] + !! OVERLAP: table <-> floor depth=[1.995, -0.001, 1.040] +============================================================ + + +============================================================ +SCENE: DiningRoom-113004 | 9 objects +============================================================ +Final Step Collision Loss: 0.0255, Room Outer Loss: 0.0000, Walkable Loss: 0.0000, Relational Loss: 0.0000 +Guided Steps: 10/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +table 2.103 0.748 0.822 -0.319 0.000 0.736 -0.01° +chair 0.548 0.843 0.541 -0.909 0.001 0.053 0.01° +chair 0.531 0.858 0.538 0.240 0.002 -0.008 -0.03° +chair 0.529 0.842 0.550 -0.527 0.001 1.236 180.00° +chair 0.481 0.837 0.526 0.198 0.001 1.335 -180.00° +table 1.538 0.773 0.649 -0.519 0.002 -1.561 -0.06° +lamp 1.136 0.593 1.113 0.061 2.091 1.036 0.01° +floor 3.432 -0.001 4.195 -0.020 0.001 0.018 -0.02° +_scene_ 0.070 0.002 0.021 -5.666 -0.005 -5.712 -57.31° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: table <-> chair depth=[0.529, 0.748, 0.186] + !! OVERLAP: table <-> chair depth=[0.481, 0.748, 0.076] + !! OVERLAP: table <-> floor depth=[2.103, -0.001, 0.822] + !! OVERLAP: chair <-> floor depth=[0.548, -0.001, 0.541] + !! OVERLAP: chair <-> floor depth=[0.531, -0.001, 0.538] + !! OVERLAP: chair <-> floor depth=[0.529, -0.001, 0.550] + !! OVERLAP: chair <-> floor depth=[0.481, -0.001, 0.526] + !! OVERLAP: table <-> floor depth=[1.538, -0.001, 0.649] +============================================================ + + +============================================================ +SCENE: DiningRoom-22384 | 8 objects +============================================================ +Final Step Collision Loss: 0.0583, Room Outer Loss: 0.0000, Walkable Loss: 0.0000, Relational Loss: 0.0000 +Guided Steps: 10/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +table 1.846 0.779 1.122 0.419 -0.001 -0.385 -0.15° +lamp 1.097 0.822 0.936 0.498 1.972 -0.976 51.42° +chair 0.472 1.061 0.570 -0.101 0.001 -1.242 89.89° +chair 0.552 0.992 0.613 -0.314 -0.000 -0.104 89.99° +chair 0.492 1.035 0.569 1.218 0.000 -1.197 -89.41° +chair 0.488 1.010 0.519 1.343 0.002 0.019 -90.20° +floor 3.343 0.001 3.827 0.012 0.001 -0.037 0.05° +_scene_ 0.065 0.000 0.023 -5.667 -0.004 -5.710 -57.31° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: table <-> chair depth=[0.466, 0.779, 0.586] + !! OVERLAP: table <-> chair depth=[0.370, 0.779, 0.033] + !! OVERLAP: table <-> chair depth=[0.243, 0.779, 0.416] + !! OVERLAP: table <-> floor depth=[1.846, 0.001, 1.122] + !! OVERLAP: chair <-> floor depth=[0.472, 0.001, 0.570] + !! OVERLAP: chair <-> floor depth=[0.552, 0.001, 0.613] + !! OVERLAP: chair <-> floor depth=[0.492, 0.001, 0.569] + !! OVERLAP: chair <-> floor depth=[0.488, 0.001, 0.519] +============================================================ + + +============================================================ +SCENE: DiningRoom-11145 | 9 objects +============================================================ +Final Step Collision Loss: 0.0375, Room Outer Loss: 0.0000, Walkable Loss: 0.0000, Relational Loss: 0.0000 +Guided Steps: 10/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +table 1.441 0.744 0.916 -0.108 -0.001 -0.715 -0.06° +chair 0.478 0.947 0.517 0.465 0.001 0.029 -179.94° +chair 0.571 0.861 0.603 -0.297 0.001 0.102 -179.99° +chair 0.538 0.892 0.597 0.498 0.001 -1.055 0.03° +chair 0.504 0.904 0.523 -0.283 -0.000 -1.181 0.02° +table 1.542 1.242 0.431 0.240 0.007 1.301 -179.95° +lamp 0.957 0.994 0.859 -0.012 1.829 -0.258 -0.01° +floor 2.613 -0.000 3.264 -0.001 -0.000 0.007 -0.02° +_scene_ 0.063 0.001 0.025 -5.670 -0.005 -5.717 -57.30° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: table <-> chair depth=[0.383, 0.744, 0.416] + !! OVERLAP: table <-> chair depth=[0.504, 0.744, 0.253] + !! OVERLAP: table <-> floor depth=[1.441, -0.000, 0.916] + !! OVERLAP: chair <-> floor depth=[0.478, -0.000, 0.517] + !! OVERLAP: chair <-> floor depth=[0.571, -0.000, 0.603] + !! OVERLAP: chair <-> floor depth=[0.538, -0.000, 0.597] + !! OVERLAP: chair <-> floor depth=[0.504, -0.000, 0.523] + !! OVERLAP: table <-> floor depth=[1.542, -0.000, 0.431] +============================================================ + + +============================================================ +SCENE: DiningRoom-10559 | 12 objects +============================================================ +Final Step Collision Loss: 0.0329, Room Outer Loss: 0.0000, Walkable Loss: 0.0000, Relational Loss: 0.0000 +Guided Steps: 10/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +table 2.011 0.761 1.021 1.184 0.002 -0.899 0.01° +chair 0.617 0.960 0.623 1.742 0.002 -1.613 -0.00° +chair 0.570 0.915 0.625 0.717 0.000 -0.401 179.91° +cabinet 1.595 2.013 0.492 0.550 0.002 1.109 -179.94° +chair 0.558 0.977 0.581 1.824 -0.000 -0.557 179.90° +chair 0.565 0.983 0.632 0.778 0.001 -1.484 -0.01° +lamp 0.654 0.293 0.661 0.266 2.279 -0.650 -0.05° +cabinet 1.451 1.767 0.422 -2.176 -0.003 -0.865 0.01° +tv_stand 1.589 0.369 0.265 -2.041 0.005 1.303 179.98° +chair 0.441 0.542 0.396 -0.299 -0.002 0.767 179.91° +floor 6.075 -0.002 3.617 -0.170 0.000 -0.120 0.01° +_scene_ 0.067 0.000 0.023 -5.671 -0.005 -5.714 -57.30° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: table <-> chair depth=[0.617, 0.761, 0.108] + !! OVERLAP: table <-> chair depth=[0.570, 0.761, 0.325] + !! OVERLAP: table <-> chair depth=[0.558, 0.761, 0.459] + !! OVERLAP: table <-> chair depth=[0.565, 0.761, 0.241] + !! OVERLAP: table <-> floor depth=[2.011, -0.002, 1.021] + !! OVERLAP: chair <-> floor depth=[0.617, -0.002, 0.623] + !! OVERLAP: chair <-> floor depth=[0.570, -0.002, 0.625] + !! OVERLAP: cabinet <-> chair depth=[0.168, 0.542, 0.102] + !! OVERLAP: cabinet <-> floor depth=[1.595, -0.002, 0.492] + !! OVERLAP: chair <-> floor depth=[0.558, -0.002, 0.581] + !! OVERLAP: chair <-> floor depth=[0.565, -0.002, 0.632] + !! OVERLAP: cabinet <-> floor depth=[1.451, -0.002, 0.422] + !! OVERLAP: tv_stand <-> floor depth=[1.589, -0.002, 0.265] + !! OVERLAP: chair <-> floor depth=[0.441, -0.002, 0.396] +============================================================ + + +============================================================ +SCENE: DiningRoom-85692 | 8 objects +============================================================ +Final Step Collision Loss: 0.0492, Room Outer Loss: 0.0000, Walkable Loss: 0.0000, Relational Loss: 0.0000 +Guided Steps: 10/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +table 1.426 0.753 1.446 -0.198 -0.006 -0.102 89.90° +chair 0.541 0.722 0.492 0.830 -0.000 0.495 -89.94° +chair 0.450 0.811 0.505 0.990 0.001 -0.325 -90.04° +chair 0.419 0.785 0.488 -0.898 0.000 0.309 90.05° +chair 0.519 0.747 0.448 -0.966 -0.002 -0.255 78.18° +lamp 0.709 0.960 0.700 0.370 1.970 -0.288 -0.07° +floor 3.733 -0.003 3.095 0.008 0.001 -0.006 0.00° +_scene_ 0.072 0.001 0.026 -5.658 -0.003 -5.695 -57.30° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: table <-> chair depth=[0.222, 0.753, 0.488] + !! OVERLAP: table <-> chair depth=[0.205, 0.746, 0.448] + !! OVERLAP: table <-> floor depth=[1.426, -0.003, 1.446] + !! OVERLAP: chair <-> floor depth=[0.541, -0.003, 0.492] + !! OVERLAP: chair <-> floor depth=[0.450, -0.003, 0.505] + !! OVERLAP: chair <-> floor depth=[0.419, -0.003, 0.488] + !! OVERLAP: chair <-> floor depth=[0.519, -0.003, 0.448] +============================================================ + + +============================================================ +SCENE: DiningRoom-12866 | 10 objects +============================================================ +Final Step Collision Loss: 0.0470, Room Outer Loss: 0.0000, Walkable Loss: 0.0000, Relational Loss: 0.0000 +Guided Steps: 10/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +chair 0.689 0.988 0.692 -0.522 0.002 -1.157 65.95° +chair 0.628 0.951 0.659 -0.582 -0.001 -0.326 89.95° +chair 0.510 0.985 0.549 0.900 0.001 -0.343 -89.85° +chair 0.558 1.032 0.648 0.920 0.000 -1.068 -0.21° +table 1.350 0.716 1.376 0.215 0.000 -0.571 0.09° +table 1.706 0.836 0.304 -0.206 -0.000 1.532 179.97° +chair 0.486 0.550 0.488 1.281 -0.000 0.845 -89.99° +lamp 1.108 0.800 1.054 -0.011 1.815 -0.665 0.02° +floor 3.622 0.003 3.457 0.014 0.003 0.024 0.02° +_scene_ 0.069 0.004 0.025 -5.665 -0.003 -5.704 -57.30° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: chair <-> table depth=[0.282, 0.716, 0.449] + !! OVERLAP: chair <-> floor depth=[0.689, 0.003, 0.692] + !! OVERLAP: chair <-> table depth=[0.192, 0.716, 0.659] + !! OVERLAP: chair <-> floor depth=[0.628, 0.003, 0.659] + !! OVERLAP: chair <-> table depth=[0.245, 0.716, 0.549] + !! OVERLAP: chair <-> floor depth=[0.510, 0.003, 0.549] + !! OVERLAP: chair <-> table depth=[0.249, 0.716, 0.515] + !! OVERLAP: chair <-> floor depth=[0.558, 0.003, 0.648] + !! OVERLAP: table <-> floor depth=[1.350, 0.003, 1.376] + !! OVERLAP: table <-> floor depth=[1.706, 0.003, 0.304] + !! OVERLAP: chair <-> floor depth=[0.486, 0.003, 0.488] +============================================================ + + +============================================================ +SCENE: DiningRoom-9824 | 10 objects +============================================================ +Final Step Collision Loss: 0.0487, Room Outer Loss: 0.0000, Walkable Loss: 0.0000, Relational Loss: 0.0000 +Guided Steps: 10/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +table 0.929 0.929 0.336 0.681 -0.001 -1.551 -0.01° +table 2.417 0.715 0.958 0.069 -0.004 0.782 179.90° +chair 0.331 0.505 0.336 -0.912 0.001 -0.017 90.06° +chair 0.330 0.485 0.337 0.049 -0.001 0.081 -0.01° +chair 0.399 0.514 0.389 0.329 0.000 0.997 -89.97° +chair 0.404 0.505 0.416 -0.696 0.001 0.898 89.99° +chair 0.375 0.572 0.452 1.013 0.000 0.496 -89.97° +lamp 1.718 0.637 1.821 0.005 2.155 0.798 0.04° +floor 3.295 -0.002 3.744 0.000 0.001 0.041 0.01° +_scene_ 0.062 0.002 0.017 -5.668 -0.004 -5.718 -57.30° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: table <-> floor depth=[0.929, -0.002, 0.336] + !! OVERLAP: table <-> chair depth=[0.399, 0.514, 0.389] + !! OVERLAP: table <-> chair depth=[0.404, 0.505, 0.416] + !! OVERLAP: table <-> chair depth=[0.375, 0.572, 0.419] + !! OVERLAP: table <-> floor depth=[2.417, -0.002, 0.958] + !! OVERLAP: chair <-> floor depth=[0.331, -0.002, 0.336] + !! OVERLAP: chair <-> floor depth=[0.330, -0.002, 0.337] + !! OVERLAP: chair <-> floor depth=[0.399, -0.002, 0.389] + !! OVERLAP: chair <-> floor depth=[0.404, -0.002, 0.416] + !! OVERLAP: chair <-> floor depth=[0.375, -0.002, 0.452] +============================================================ + + +============================================================ +SCENE: DiningRoom-88590 | 10 objects +============================================================ +Final Step Collision Loss: 0.0978, Room Outer Loss: 0.0000, Walkable Loss: 0.0000, Relational Loss: 0.0000 +Guided Steps: 10/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +lamp 0.996 0.617 0.255 -0.551 2.022 0.293 -0.02° +chair 0.635 0.761 0.640 -0.833 0.002 -0.468 -0.00° +chair 0.552 0.404 0.462 0.787 0.001 -1.305 -0.06° +chair 0.686 0.768 0.710 -0.131 0.000 -0.257 -0.09° +cabinet 1.841 1.877 0.271 -1.974 0.001 0.116 89.89° +table 2.232 0.731 1.415 -0.395 -0.003 0.367 -0.06° +chair 0.667 0.741 0.591 0.045 0.003 0.964 -138.52° +chair 0.612 0.777 0.631 -0.607 0.001 1.160 179.91° +floor 5.199 -0.002 3.746 -0.226 -0.000 -0.013 0.06° +_scene_ 0.065 0.000 0.020 -5.671 -0.004 -5.714 -57.28° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: chair <-> table depth=[0.635, 0.731, 0.192] + !! OVERLAP: chair <-> floor depth=[0.635, -0.002, 0.640] + !! OVERLAP: chair <-> floor depth=[0.552, -0.002, 0.462] + !! OVERLAP: chair <-> table depth=[0.686, 0.731, 0.439] + !! OVERLAP: chair <-> floor depth=[0.686, -0.002, 0.710] + !! OVERLAP: cabinet <-> table depth=[0.457, 0.731, 0.271] + !! OVERLAP: cabinet <-> floor depth=[1.772, -0.002, 0.271] + !! OVERLAP: table <-> chair depth=[0.667, 0.730, 0.406] + !! OVERLAP: table <-> chair depth=[0.612, 0.731, 0.230] + !! OVERLAP: table <-> floor depth=[2.232, -0.002, 1.415] + !! OVERLAP: chair <-> floor depth=[0.667, -0.002, 0.591] + !! OVERLAP: chair <-> floor depth=[0.612, -0.002, 0.631] +============================================================ + + +============================================================ +SCENE: DiningRoom-7217 | 8 objects +============================================================ +Final Step Collision Loss: 0.0173, Room Outer Loss: 0.0000, Walkable Loss: 0.0000, Relational Loss: 0.0000 +Guided Steps: 10/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +table 1.810 0.740 0.921 -0.104 -0.001 0.193 -89.89° +chair 0.529 1.024 0.611 0.507 0.005 -0.425 -90.06° +chair 0.609 1.032 0.655 0.680 0.002 0.324 -90.09° +chair 0.598 0.958 0.612 -0.867 0.001 -0.284 89.95° +chair 0.601 1.049 0.670 -0.816 0.001 0.583 89.97° +lamp 0.766 1.109 0.731 0.138 1.572 0.124 89.91° +floor 2.643 0.004 2.904 0.030 0.002 0.023 -0.04° +_scene_ 0.068 0.004 0.020 -5.664 -0.004 -5.714 -57.28° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: table <-> chair depth=[0.529, 0.740, 0.149] + !! OVERLAP: table <-> chair depth=[0.426, 0.740, 0.655] + !! OVERLAP: table <-> chair depth=[0.441, 0.740, 0.290] + !! OVERLAP: table <-> chair depth=[0.494, 0.740, 0.406] + !! OVERLAP: table <-> floor depth=[1.810, 0.004, 0.921] + !! OVERLAP: chair <-> floor depth=[0.529, 0.004, 0.611] + !! OVERLAP: chair <-> floor depth=[0.609, 0.004, 0.655] + !! OVERLAP: chair <-> floor depth=[0.598, 0.004, 0.612] + !! OVERLAP: chair <-> floor depth=[0.601, 0.004, 0.670] +============================================================ + + +============================================================ +SCENE: DiningRoom-19325 | 8 objects +============================================================ +Final Step Collision Loss: 0.0292, Room Outer Loss: 0.0000, Walkable Loss: 0.0000, Relational Loss: 0.0000 +Guided Steps: 10/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +table 1.539 0.729 1.039 -0.088 -0.001 -0.339 0.02° +chair 0.652 0.983 0.655 -0.784 0.001 0.301 179.99° +chair 0.556 0.980 0.599 -0.891 0.002 -0.908 0.02° +chair 0.552 1.023 0.577 0.200 0.002 0.286 179.87° +chair 0.567 0.924 0.544 0.318 0.001 -1.048 0.07° +lamp 0.426 0.973 0.392 -0.057 1.606 -0.214 -0.02° +floor 2.787 -0.004 2.532 -0.079 0.001 -0.007 -0.04° +_scene_ 0.069 0.000 0.026 -5.668 -0.004 -5.709 -57.29° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: table <-> chair depth=[0.400, 0.729, 0.207] + !! OVERLAP: table <-> chair depth=[0.245, 0.729, 0.251] + !! OVERLAP: table <-> chair depth=[0.552, 0.729, 0.183] + !! OVERLAP: table <-> chair depth=[0.567, 0.729, 0.083] + !! OVERLAP: table <-> floor depth=[1.539, -0.004, 1.039] + !! OVERLAP: chair <-> floor depth=[0.652, -0.004, 0.655] + !! OVERLAP: chair <-> floor depth=[0.556, -0.004, 0.599] + !! OVERLAP: chair <-> floor depth=[0.552, -0.004, 0.577] + !! OVERLAP: chair <-> floor depth=[0.567, -0.004, 0.496] +============================================================ + + +============================================================ +SCENE: DiningRoom-27933 | 8 objects +============================================================ +Final Step Collision Loss: 0.0330, Room Outer Loss: 0.0000, Walkable Loss: 0.0000, Relational Loss: 0.0000 +Guided Steps: 10/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +table 2.025 0.700 0.870 0.111 -0.002 0.009 90.03° +chair 0.390 0.664 0.409 0.684 0.000 0.509 -90.15° +chair 0.381 0.676 0.405 0.758 0.002 -0.240 -90.10° +chair 0.395 0.606 0.389 -0.510 0.004 0.419 89.99° +chair 0.501 0.546 0.446 -0.384 0.001 -0.227 89.99° +lamp 0.608 0.884 0.600 0.163 1.916 -0.115 0.34° +floor 2.386 0.005 2.485 -0.015 0.002 -0.068 0.03° +_scene_ 0.074 -0.000 0.029 -5.668 -0.002 -5.710 -57.30° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: table <-> chair depth=[0.390, 0.664, 0.139] + !! OVERLAP: table <-> chair depth=[0.381, 0.676, 0.389] + !! OVERLAP: table <-> chair depth=[0.395, 0.606, 0.219] + !! OVERLAP: table <-> chair depth=[0.501, 0.546, 0.422] + !! OVERLAP: table <-> floor depth=[2.025, 0.005, 0.870] + !! OVERLAP: chair <-> floor depth=[0.390, 0.005, 0.409] + !! OVERLAP: chair <-> floor depth=[0.381, 0.005, 0.405] + !! OVERLAP: chair <-> floor depth=[0.395, 0.005, 0.389] + !! OVERLAP: chair <-> floor depth=[0.501, 0.005, 0.446] +============================================================ + + +============================================================ +SCENE: DiningRoom-9630 | 10 objects +============================================================ +Final Step Collision Loss: 0.0110, Room Outer Loss: 0.0000, Walkable Loss: 0.0000, Relational Loss: 0.0000 +Guided Steps: 10/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +table 1.168 0.745 0.828 -0.586 -0.002 -1.156 -89.82° +chair 0.513 0.922 0.557 -0.024 0.002 -0.311 -179.95° +chair 0.494 0.953 0.494 0.246 -0.002 -1.746 -29.05° +chair 0.513 0.962 0.530 -1.017 -0.001 -1.811 0.07° +chair 0.507 0.882 0.506 -1.033 -0.002 -0.513 129.44° +bookshelf 1.267 2.282 0.304 0.801 0.004 1.225 -90.18° +lamp 0.621 0.863 0.299 0.078 1.747 1.005 -0.08° +lamp 0.623 1.173 0.612 -0.158 1.755 -1.341 -0.01° +floor 3.010 -0.003 4.462 -0.004 -0.001 -0.030 -0.02° +_scene_ 0.069 0.001 0.018 -5.671 -0.005 -5.714 -57.30° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: table <-> chair depth=[0.410, 0.745, 0.024] + !! OVERLAP: table <-> chair depth=[0.391, 0.745, 0.024] + !! OVERLAP: table <-> floor depth=[1.168, -0.003, 0.828] + !! OVERLAP: chair <-> floor depth=[0.513, -0.003, 0.557] + !! OVERLAP: chair <-> floor depth=[0.494, -0.003, 0.494] + !! OVERLAP: chair <-> floor depth=[0.513, -0.003, 0.530] + !! OVERLAP: chair <-> floor depth=[0.507, -0.003, 0.506] + !! OVERLAP: bookshelf <-> floor depth=[1.267, -0.003, 0.304] +============================================================ + + +============================================================ +SCENE: DiningRoom-225770 | 8 objects +============================================================ +Final Step Collision Loss: 0.0425, Room Outer Loss: 0.0000, Walkable Loss: 0.0000, Relational Loss: 0.0000 +Guided Steps: 10/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +chair 0.523 0.933 0.585 -0.621 0.001 -0.919 0.02° +chair 0.436 0.939 0.459 0.739 -0.002 -0.440 -64.40° +chair 0.509 0.948 0.504 0.607 0.000 0.765 -132.94° +chair 0.568 0.987 0.566 -0.621 0.001 0.970 179.88° +chair 0.649 0.984 0.606 -1.317 0.001 -0.443 69.05° +table 1.714 0.741 1.065 0.049 -0.000 0.195 0.01° +floor 3.769 -0.003 5.059 -0.030 -0.003 0.103 -0.10° +_scene_ 0.113 -0.007 0.189 -5.400 -0.004 -5.483 -57.49° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: chair <-> floor depth=[0.523, -0.003, 0.585] + !! OVERLAP: chair <-> table depth=[0.385, 0.741, 0.127] + !! OVERLAP: chair <-> floor depth=[0.436, -0.003, 0.459] + !! OVERLAP: chair <-> table depth=[0.509, 0.741, 0.214] + !! OVERLAP: chair <-> floor depth=[0.509, -0.003, 0.504] + !! OVERLAP: chair <-> table depth=[0.472, 0.741, 0.041] + !! OVERLAP: chair <-> floor depth=[0.568, -0.003, 0.566] + !! OVERLAP: chair <-> floor depth=[0.649, -0.003, 0.606] + !! OVERLAP: table <-> floor depth=[1.714, -0.003, 1.065] +============================================================ + + +============================================================ +SCENE: DiningRoom-116178 | 11 objects +============================================================ +Final Step Collision Loss: 0.0131, Room Outer Loss: 0.0000, Walkable Loss: 0.0000, Relational Loss: 0.0000 +Guided Steps: 10/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +table 1.181 0.762 0.771 -0.838 0.003 1.592 -0.04° +chair 0.592 0.835 0.604 -1.124 -0.001 0.823 139.08° +chair 0.581 0.789 0.513 -0.140 0.003 0.935 -154.87° +chair 0.598 0.798 0.635 0.570 0.000 0.905 -129.13° +chair 0.562 0.794 0.574 -1.117 0.004 -1.040 18.36° +chair 0.535 0.796 0.504 -0.265 0.001 -1.243 -13.48° +chair 0.457 0.838 0.507 0.408 -0.002 -1.103 -38.52° +chair 0.575 0.819 0.568 0.819 -0.002 -0.174 -75.28° +chair 0.562 0.808 0.639 -1.870 0.004 0.289 81.37° +floor 4.849 -0.004 6.127 -0.191 0.001 0.254 -0.11° +_scene_ 1.015 0.374 1.907 -2.481 -0.008 -2.882 -81.35° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: table <-> floor depth=[1.181, -0.004, 0.771] + !! OVERLAP: chair <-> floor depth=[0.592, -0.004, 0.604] + !! OVERLAP: chair <-> floor depth=[0.581, -0.004, 0.513] + !! OVERLAP: chair <-> floor depth=[0.598, -0.004, 0.635] + !! OVERLAP: chair <-> floor depth=[0.562, -0.004, 0.574] + !! OVERLAP: chair <-> floor depth=[0.535, -0.004, 0.504] + !! OVERLAP: chair <-> floor depth=[0.457, -0.004, 0.507] + !! OVERLAP: chair <-> floor depth=[0.575, -0.004, 0.568] + !! OVERLAP: chair <-> floor depth=[0.562, -0.004, 0.639] + !! OVERLAP: floor <-> _scene_ depth=[0.642, -0.004, 0.882] +============================================================ + + +============================================================ +SCENE: DiningRoom-22156 | 10 objects +============================================================ +Final Step Collision Loss: 0.0214, Room Outer Loss: 0.0000, Walkable Loss: 0.0000, Relational Loss: 0.0000 +Guided Steps: 10/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +table 1.336 0.729 1.066 -0.020 -0.002 -0.062 89.95° +chair 0.509 0.954 0.545 -0.279 -0.000 -0.772 0.07° +chair 0.567 0.904 0.602 0.253 0.000 -0.923 0.04° +chair 0.505 0.930 0.571 -0.256 0.001 0.736 179.99° +chair 0.500 0.868 0.483 0.263 0.001 0.675 -179.99° +chair 0.536 0.962 0.579 -0.938 -0.000 -0.168 89.90° +chair 0.504 0.960 0.582 1.036 0.003 -0.060 -89.97° +lamp 0.675 1.119 0.609 0.012 1.534 -0.139 0.01° +floor 3.503 -0.003 3.129 -0.030 0.002 -0.008 0.07° +_scene_ 0.068 -0.005 0.071 -5.601 0.004 -5.643 -57.34° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: table <-> chair depth=[0.509, 0.729, 0.096] + !! OVERLAP: table <-> chair depth=[0.505, 0.729, 0.020] + !! OVERLAP: table <-> chair depth=[0.500, 0.729, 0.037] + !! OVERLAP: table <-> chair depth=[0.018, 0.729, 0.579] + !! OVERLAP: table <-> floor depth=[1.336, -0.003, 1.066] + !! OVERLAP: chair <-> chair depth=[0.006, 0.904, 0.422] + !! OVERLAP: chair <-> floor depth=[0.509, -0.003, 0.545] + !! OVERLAP: chair <-> floor depth=[0.567, -0.003, 0.602] + !! OVERLAP: chair <-> floor depth=[0.505, -0.003, 0.571] + !! OVERLAP: chair <-> floor depth=[0.500, -0.003, 0.483] + !! OVERLAP: chair <-> floor depth=[0.536, -0.003, 0.579] + !! OVERLAP: chair <-> floor depth=[0.504, -0.003, 0.582] +============================================================ + + +============================================================ +SCENE: DiningRoom-22308 | 10 objects +============================================================ +Final Step Collision Loss: 0.0806, Room Outer Loss: 0.0000, Walkable Loss: 0.0000, Relational Loss: 0.0000 +Guided Steps: 10/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +table 1.977 0.784 1.113 0.030 0.001 -0.076 0.01° +chair 0.580 0.966 0.608 -0.699 0.004 0.622 89.97° +chair 0.513 0.965 0.529 0.657 0.001 0.403 -90.10° +chair 0.471 0.991 0.525 0.601 -0.001 -0.226 -75.97° +chair 0.485 0.949 0.572 -0.735 -0.000 -0.248 89.91° +chair 0.569 0.988 0.625 -0.031 0.001 0.996 179.83° +chair 0.522 1.002 0.577 -0.146 0.000 -1.141 0.05° +lamp 0.378 0.814 0.310 -0.021 2.044 0.032 -0.04° +floor 2.627 -0.003 3.759 -0.042 0.002 -0.057 0.00° +_scene_ 0.072 -0.000 0.038 -5.649 -0.004 -5.684 -57.36° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: table <-> chair depth=[0.550, 0.784, 0.162] + !! OVERLAP: table <-> chair depth=[0.513, 0.784, 0.342] + !! OVERLAP: table <-> chair depth=[0.471, 0.784, 0.525] + !! OVERLAP: table <-> chair depth=[0.466, 0.784, 0.572] + !! OVERLAP: table <-> floor depth=[1.977, -0.003, 1.113] + !! OVERLAP: chair <-> floor depth=[0.580, -0.003, 0.608] + !! OVERLAP: chair <-> floor depth=[0.513, -0.003, 0.529] + !! OVERLAP: chair <-> floor depth=[0.471, -0.003, 0.525] + !! OVERLAP: chair <-> floor depth=[0.485, -0.003, 0.572] + !! OVERLAP: chair <-> floor depth=[0.569, -0.003, 0.625] + !! OVERLAP: chair <-> floor depth=[0.522, -0.003, 0.577] +============================================================ + + +============================================================ +SCENE: DiningRoom-11336 | 10 objects +============================================================ +Final Step Collision Loss: 0.0460, Room Outer Loss: 0.0000, Walkable Loss: 0.0000, Relational Loss: 0.0000 +Guided Steps: 10/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +table 1.397 0.768 1.033 -0.275 -0.002 -0.105 0.01° +chair 0.473 0.931 0.588 -1.010 -0.001 0.296 90.05° +chair 0.582 0.967 0.629 0.636 0.003 0.315 -89.89° +chair 0.560 0.997 0.596 0.619 0.001 -0.352 -82.35° +chair 0.589 0.937 0.592 -1.003 0.001 -0.321 68.42° +chair 0.620 0.897 0.579 -0.197 0.001 0.916 179.95° +chair 0.613 0.929 0.641 -0.228 -0.000 -1.013 0.05° +lamp 0.450 0.489 0.449 -0.150 2.302 -0.149 -0.04° +floor 2.693 -0.005 3.138 -0.011 -0.000 0.007 -0.03° +_scene_ 0.069 -0.001 0.035 -5.660 -0.004 -5.704 -57.30° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: table <-> chair depth=[0.201, 0.768, 0.410] + !! OVERLAP: table <-> chair depth=[0.078, 0.768, 0.411] + !! OVERLAP: table <-> chair depth=[0.085, 0.768, 0.567] + !! OVERLAP: table <-> chair depth=[0.266, 0.768, 0.592] + !! OVERLAP: table <-> floor depth=[1.397, -0.005, 1.033] + !! OVERLAP: chair <-> floor depth=[0.473, -0.005, 0.588] + !! OVERLAP: chair <-> floor depth=[0.582, -0.005, 0.629] + !! OVERLAP: chair <-> floor depth=[0.560, -0.005, 0.596] + !! OVERLAP: chair <-> floor depth=[0.589, -0.005, 0.592] + !! OVERLAP: chair <-> floor depth=[0.620, -0.005, 0.579] + !! OVERLAP: chair <-> floor depth=[0.613, -0.005, 0.641] +============================================================ + + +============================================================ +SCENE: DiningRoom-6151 | 11 objects +============================================================ +Final Step Collision Loss: 0.0396, Room Outer Loss: 1.1490, Walkable Loss: 0.0000, Relational Loss: 0.0000 +Guided Steps: 10/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +table 1.501 1.422 0.159 -1.626 0.004 -0.869 89.97° +chair 0.490 0.965 0.575 0.514 0.002 -1.027 0.04° +chair 0.569 0.991 0.653 1.199 0.002 -1.086 0.03° +chair 0.532 1.006 0.611 0.629 0.001 0.668 -179.99° +chair 0.543 0.952 0.577 1.522 0.001 0.650 -179.97° +table 1.625 0.736 0.928 0.995 -0.001 -0.160 0.01° +table 1.723 0.785 0.535 -1.266 0.002 -0.666 90.06° +cabinet 2.638 2.043 0.468 -1.541 0.001 0.220 89.90° +lamp 0.877 0.819 0.844 0.574 2.333 -0.254 -0.01° +floor 4.236 -0.001 3.579 0.028 0.001 0.051 -0.02° +_scene_ 0.071 -0.000 0.024 -5.672 -0.003 -5.715 -57.32° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: table <-> table depth=[1.252, 0.785, 0.143] + !! OVERLAP: table <-> floor depth=[1.214, -0.001, 0.159] + !! OVERLAP: chair <-> floor depth=[0.490, -0.001, 0.575] + !! OVERLAP: chair <-> floor depth=[0.569, -0.001, 0.653] + !! OVERLAP: chair <-> floor depth=[0.532, -0.001, 0.611] + !! OVERLAP: chair <-> floor depth=[0.543, -0.001, 0.577] + !! OVERLAP: table <-> floor depth=[1.625, -0.001, 0.928] + !! OVERLAP: table <-> floor depth=[1.685, -0.001, 0.535] + !! OVERLAP: cabinet <-> floor depth=[1.868, -0.001, 0.468] +============================================================ + + +============================================================ +SCENE: DiningRoom-663 | 10 objects +============================================================ +Final Step Collision Loss: 0.1964, Room Outer Loss: 0.0021, Walkable Loss: 0.0000, Relational Loss: 0.0000 +Guided Steps: 10/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +table 1.638 0.750 1.533 0.239 0.003 -0.065 89.97° +chair 0.489 0.881 0.511 0.467 0.000 0.722 -179.95° +chair 0.460 0.858 0.579 0.600 0.001 -0.665 0.11° +chair 0.567 0.830 0.601 -0.384 0.001 0.594 -179.97° +chair 0.527 0.787 0.543 -0.318 -0.000 -0.495 0.01° +lamp 1.298 0.940 1.289 0.454 1.629 -0.685 -0.06° +lamp 1.287 0.869 1.305 0.125 1.660 0.632 0.02° +lamp 1.549 0.971 1.567 0.431 1.544 -0.269 0.02° +floor 3.685 0.001 2.564 0.013 0.001 0.004 -0.07° +_scene_ 0.068 -0.000 0.021 -5.671 -0.004 -5.714 -57.29° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: table <-> chair depth=[0.489, 0.750, 0.235] + !! OVERLAP: table <-> chair depth=[0.460, 0.750, 0.456] + !! OVERLAP: table <-> chair depth=[0.479, 0.750, 0.408] + !! OVERLAP: table <-> chair depth=[0.526, 0.750, 0.543] + !! OVERLAP: table <-> floor depth=[1.638, 0.001, 1.533] + !! OVERLAP: chair <-> floor depth=[0.489, 0.001, 0.511] + !! OVERLAP: chair <-> floor depth=[0.460, 0.001, 0.579] + !! OVERLAP: chair <-> floor depth=[0.567, 0.001, 0.601] + !! OVERLAP: chair <-> floor depth=[0.527, 0.001, 0.543] + !! OVERLAP: lamp <-> lamp depth=[1.298, 0.870, 1.012] + !! OVERLAP: lamp <-> lamp depth=[1.112, 0.804, 0.536] +============================================================ + + +============================================================ +SCENE: DiningRoom-2432 | 9 objects +============================================================ +Final Step Collision Loss: 0.0412, Room Outer Loss: 0.0000, Walkable Loss: 0.0000, Relational Loss: 0.0000 +Guided Steps: 10/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +table 1.725 0.761 0.448 -0.205 0.001 1.405 179.85° +table 1.587 0.749 1.123 0.090 -0.002 -0.278 -90.12° +chair 0.558 0.875 0.590 -0.023 0.001 -1.012 0.04° +chair 0.492 0.886 0.538 -0.872 0.000 -1.084 0.03° +chair 0.437 0.912 0.492 -0.061 0.000 0.607 179.99° +chair 0.593 0.847 0.488 -0.808 0.002 0.593 -179.90° +lamp 1.950 0.789 0.174 -0.199 1.988 -0.217 -0.01° +floor 2.450 0.005 3.633 -0.001 0.001 -0.021 0.00° +_scene_ 0.061 0.004 0.013 -5.668 -0.006 -5.715 -57.32° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: table <-> floor depth=[1.725, 0.005, 0.448] + !! OVERLAP: table <-> chair depth=[0.558, 0.749, 0.123] + !! OVERLAP: table <-> chair depth=[0.078, 0.749, 0.025] + !! OVERLAP: table <-> floor depth=[1.587, 0.005, 1.123] + !! OVERLAP: chair <-> floor depth=[0.558, 0.005, 0.590] + !! OVERLAP: chair <-> floor depth=[0.492, 0.005, 0.538] + !! OVERLAP: chair <-> floor depth=[0.437, 0.005, 0.492] + !! OVERLAP: chair <-> floor depth=[0.593, 0.005, 0.488] +============================================================ + + +============================================================ +SCENE: DiningRoom-24272 | 8 objects +============================================================ +Final Step Collision Loss: 0.0712, Room Outer Loss: 0.0000, Walkable Loss: 0.0000, Relational Loss: 0.0000 +Guided Steps: 10/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +table 1.509 0.791 1.303 0.248 -0.001 0.161 89.91° +chair 0.634 0.957 0.688 -0.583 -0.000 -0.742 19.90° +chair 0.512 1.033 0.626 0.351 0.003 -0.584 0.01° +chair 0.571 0.932 0.687 -0.175 0.000 0.959 179.95° +chair 0.486 0.945 0.539 0.524 0.003 0.899 179.99° +lamp 0.866 0.994 0.874 0.134 1.740 -0.078 -0.00° +floor 3.099 -0.005 2.812 0.026 0.001 -0.029 -0.07° +_scene_ 0.077 0.006 0.043 -5.653 -0.004 -5.701 -57.29° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: table <-> chair depth=[0.240, 0.791, 0.092] + !! OVERLAP: table <-> chair depth=[0.512, 0.791, 0.220] + !! OVERLAP: table <-> chair depth=[0.571, 0.791, 0.196] + !! OVERLAP: table <-> chair depth=[0.486, 0.791, 0.183] + !! OVERLAP: table <-> floor depth=[1.509, -0.005, 1.303] + !! OVERLAP: chair <-> floor depth=[0.634, -0.005, 0.688] + !! OVERLAP: chair <-> floor depth=[0.512, -0.005, 0.626] + !! OVERLAP: chair <-> floor depth=[0.571, -0.005, 0.687] + !! OVERLAP: chair <-> floor depth=[0.486, -0.005, 0.539] +============================================================ + + +============================================================ +SCENE: DiningRoom-25528 | 10 objects +============================================================ +Final Step Collision Loss: 0.0562, Room Outer Loss: 0.0000, Walkable Loss: 0.0000, Relational Loss: 0.0000 +Guided Steps: 10/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +table 1.779 0.758 1.125 -0.362 -0.001 -0.379 0.00° +chair 0.509 0.812 0.471 -1.125 0.009 -0.792 61.65° +chair 0.513 0.796 0.543 -0.130 0.001 -0.980 0.02° +chair 0.512 0.731 0.503 0.573 -0.001 -0.656 -53.79° +chair 0.612 0.744 0.535 -0.674 0.004 0.622 147.82° +chair 0.507 0.722 0.538 0.499 0.005 0.206 -120.66° +chair 0.518 0.768 0.532 -0.107 0.002 0.697 179.96° +lamp 0.523 0.909 0.538 0.059 1.776 0.015 -0.03° +floor 3.872 -0.002 3.546 0.004 -0.000 -0.038 -0.07° +_scene_ 0.062 0.010 0.027 -5.669 -0.005 -5.714 -57.34° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: table <-> chair depth=[0.381, 0.758, 0.386] + !! OVERLAP: table <-> chair depth=[0.513, 0.758, 0.233] + !! OVERLAP: table <-> chair depth=[0.211, 0.731, 0.503] + !! OVERLAP: table <-> chair depth=[0.282, 0.722, 0.247] + !! OVERLAP: table <-> floor depth=[1.779, -0.002, 1.125] + !! OVERLAP: chair <-> floor depth=[0.509, -0.002, 0.471] + !! OVERLAP: chair <-> floor depth=[0.513, -0.002, 0.543] + !! OVERLAP: chair <-> floor depth=[0.512, -0.002, 0.503] + !! OVERLAP: chair <-> floor depth=[0.612, -0.002, 0.535] + !! OVERLAP: chair <-> floor depth=[0.507, -0.002, 0.538] + !! OVERLAP: chair <-> floor depth=[0.518, -0.002, 0.532] +============================================================ + + +============================================================ +SCENE: DiningRoom-43067 | 10 objects +============================================================ +Final Step Collision Loss: 0.0170, Room Outer Loss: 0.0000, Walkable Loss: 0.0000, Relational Loss: 0.0000 +Guided Steps: 10/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +table 1.321 0.763 1.205 0.260 0.003 -0.146 0.07° +chair 0.512 0.762 0.540 0.829 0.001 0.335 -89.94° +chair 0.511 0.697 0.539 0.933 -0.000 -0.598 -89.94° +chair 0.531 0.738 0.562 0.278 0.001 1.031 179.97° +chair 0.464 0.697 0.461 -0.715 0.001 -0.264 89.99° +chair 0.552 0.672 0.549 -0.802 0.000 0.389 89.99° +chair 0.515 0.671 0.455 0.408 0.003 -1.082 0.02° +lamp 0.580 0.756 0.568 -0.218 1.944 -0.155 0.04° +floor 3.291 -0.005 3.777 0.006 -0.000 -0.004 -0.01° +_scene_ 0.057 0.001 0.020 -5.658 -0.005 -5.700 -57.31° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: table <-> chair depth=[0.348, 0.760, 0.392] + !! OVERLAP: table <-> chair depth=[0.244, 0.697, 0.420] + !! OVERLAP: table <-> floor depth=[1.321, -0.005, 1.205] + !! OVERLAP: chair <-> floor depth=[0.512, -0.005, 0.540] + !! OVERLAP: chair <-> floor depth=[0.511, -0.005, 0.539] + !! OVERLAP: chair <-> floor depth=[0.531, -0.005, 0.562] + !! OVERLAP: chair <-> floor depth=[0.464, -0.005, 0.461] + !! OVERLAP: chair <-> floor depth=[0.552, -0.005, 0.549] + !! OVERLAP: chair <-> floor depth=[0.515, -0.005, 0.455] +============================================================ + + +============================================================ +SCENE: DiningRoom-8121 | 9 objects +============================================================ +Final Step Collision Loss: 0.0060, Room Outer Loss: 0.0000, Walkable Loss: 0.0000, Relational Loss: 0.0000 +Guided Steps: 10/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +lamp 0.703 0.924 0.647 0.191 2.027 -0.637 0.18° +table 1.886 1.242 0.394 0.185 0.001 1.286 -179.88° +chair 0.528 0.597 0.536 -0.750 0.001 -0.530 90.00° +table 1.472 0.803 0.864 -0.048 0.002 -0.865 90.05° +chair 0.494 0.718 0.470 -0.692 0.001 -1.041 89.99° +chair 0.392 0.640 0.492 0.808 0.001 -0.816 -90.14° +chair 0.461 0.712 0.477 0.734 0.000 -1.210 -90.03° +floor 2.782 -0.004 3.805 -0.002 0.001 -0.078 -0.00° +_scene_ 0.066 0.002 0.022 -5.671 -0.004 -5.717 -57.29° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: table <-> floor depth=[1.886, -0.004, 0.394] + !! OVERLAP: chair <-> table depth=[0.299, 0.597, 0.364] + !! OVERLAP: chair <-> floor depth=[0.528, -0.004, 0.536] + !! OVERLAP: table <-> chair depth=[0.339, 0.718, 0.470] + !! OVERLAP: table <-> chair depth=[0.075, 0.640, 0.492] + !! OVERLAP: table <-> chair depth=[0.184, 0.712, 0.325] + !! OVERLAP: table <-> floor depth=[1.472, -0.004, 0.864] + !! OVERLAP: chair <-> floor depth=[0.494, -0.004, 0.470] + !! OVERLAP: chair <-> chair depth=[0.352, 0.640, 0.090] + !! OVERLAP: chair <-> floor depth=[0.392, -0.004, 0.492] + !! OVERLAP: chair <-> floor depth=[0.461, -0.004, 0.477] +============================================================ + + +============================================================ +SCENE: DiningRoom-6919 | 13 objects +============================================================ +Final Step Collision Loss: 0.0081, Room Outer Loss: 0.0130, Walkable Loss: 0.0000, Relational Loss: 0.0000 +Guided Steps: 10/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +chair 0.561 0.675 0.585 -0.957 -0.002 0.911 169.08° +table 1.413 0.804 1.116 -0.554 0.004 -0.118 0.15° +chair 0.545 0.705 0.504 -0.477 0.000 0.931 173.45° +chair 0.520 0.675 0.485 0.176 0.006 0.888 -145.27° +chair 0.526 0.660 0.539 0.015 -0.000 -0.851 0.01° +chair 0.522 0.644 0.533 -0.546 -0.001 -0.928 0.01° +chair 0.585 0.700 0.542 -0.926 0.002 -0.854 0.02° +chair 0.479 0.677 0.477 0.606 0.001 -0.009 -90.08° +chair 0.582 0.673 0.566 -1.459 0.000 0.061 89.99° +table 1.769 0.818 0.433 1.771 -0.000 0.722 -90.00° +lamp 0.733 0.926 0.746 -0.438 1.812 0.068 -0.05° +floor 5.418 -0.002 3.804 -0.045 -0.001 0.098 -0.03° +_scene_ 0.068 0.004 0.052 -5.626 -0.004 -5.695 -57.26° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: chair <-> chair depth=[0.074, 0.675, 0.504] + !! OVERLAP: chair <-> floor depth=[0.561, -0.002, 0.585] + !! OVERLAP: table <-> chair depth=[0.400, 0.660, 0.094] + !! OVERLAP: table <-> chair depth=[0.522, 0.644, 0.015] + !! OVERLAP: table <-> chair depth=[0.585, 0.700, 0.093] + !! OVERLAP: table <-> chair depth=[0.093, 0.673, 0.566] + !! OVERLAP: table <-> floor depth=[1.413, -0.002, 1.116] + !! OVERLAP: chair <-> floor depth=[0.545, -0.002, 0.504] + !! OVERLAP: chair <-> floor depth=[0.520, -0.002, 0.485] + !! OVERLAP: chair <-> floor depth=[0.526, -0.002, 0.539] + !! OVERLAP: chair <-> chair depth=[0.173, 0.644, 0.464] + !! OVERLAP: chair <-> floor depth=[0.522, -0.002, 0.533] + !! OVERLAP: chair <-> floor depth=[0.585, -0.002, 0.542] + !! OVERLAP: chair <-> floor depth=[0.479, -0.002, 0.477] + !! OVERLAP: chair <-> floor depth=[0.582, -0.002, 0.566] + !! OVERLAP: table <-> floor depth=[1.769, -0.002, 0.433] +============================================================ + + +============================================================ +SCENE: DiningRoom-17147 | 13 objects +============================================================ +Final Step Collision Loss: 0.0064, Room Outer Loss: 0.3737, Walkable Loss: 0.0000, Relational Loss: 0.0000 +Guided Steps: 10/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +chair 0.469 0.643 0.467 -0.866 0.001 0.905 179.88° +table 1.462 0.749 0.844 -0.460 0.000 0.161 179.82° +chair 0.515 0.649 0.531 -0.297 0.002 0.962 180.00° +chair 0.438 0.674 0.451 0.118 0.001 0.920 179.99° +chair 0.426 0.649 0.426 -0.011 0.000 -0.680 0.02° +chair 0.455 0.589 0.431 -0.429 0.000 -0.644 0.04° +chair 0.562 0.638 0.499 -0.885 0.002 -0.932 0.05° +chair 0.509 0.650 0.529 0.595 -0.000 0.079 -90.16° +chair 0.565 0.675 0.534 -1.349 0.001 0.042 89.98° +table 1.624 0.843 0.528 1.908 0.001 0.918 -90.05° +lamp 0.703 0.880 0.705 -0.535 1.702 0.277 -0.03° +floor 5.039 -0.003 3.431 -0.100 -0.001 -0.028 -0.02° +_scene_ 0.107 -0.007 0.103 -5.617 -0.002 -5.649 -57.18° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: chair <-> floor depth=[0.469, -0.003, 0.467] + !! OVERLAP: table <-> chair depth=[0.125, 0.675, 0.534] + !! OVERLAP: table <-> floor depth=[1.462, -0.003, 0.844] + !! OVERLAP: chair <-> chair depth=[0.062, 0.649, 0.449] + !! OVERLAP: chair <-> floor depth=[0.515, -0.003, 0.531] + !! OVERLAP: chair <-> floor depth=[0.438, -0.003, 0.451] + !! OVERLAP: chair <-> chair depth=[0.023, 0.589, 0.393] + !! OVERLAP: chair <-> floor depth=[0.426, -0.003, 0.426] + !! OVERLAP: chair <-> chair depth=[0.052, 0.589, 0.177] + !! OVERLAP: chair <-> floor depth=[0.455, -0.003, 0.431] + !! OVERLAP: chair <-> floor depth=[0.562, -0.003, 0.499] + !! OVERLAP: chair <-> floor depth=[0.509, -0.003, 0.529] + !! OVERLAP: chair <-> floor depth=[0.565, -0.003, 0.534] + !! OVERLAP: table <-> floor depth=[1.324, -0.003, 0.528] +============================================================ + + +============================================================ +SCENE: DiningRoom-6259 | 9 objects +============================================================ +Final Step Collision Loss: 0.0152, Room Outer Loss: 0.8587, Walkable Loss: 0.0000, Relational Loss: 0.0000 +Guided Steps: 10/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +table 1.307 1.121 0.374 -1.682 0.000 -0.291 90.01° +lamp 1.411 1.133 0.484 -0.194 1.719 -0.011 -0.02° +table 1.520 0.732 1.123 -0.268 -0.003 0.026 -0.02° +chair 0.554 0.928 0.567 -0.400 0.001 -0.745 0.04° +chair 0.464 0.957 0.521 0.231 0.001 -0.778 0.03° +chair 0.480 0.907 0.513 -0.460 -0.000 0.780 -179.98° +chair 0.450 0.907 0.481 0.164 0.000 0.805 -179.98° +floor 3.263 -0.005 2.735 -0.012 0.001 -0.003 -0.04° +_scene_ 0.089 0.007 0.067 -5.637 -0.003 -5.667 -57.32° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: table <-> table depth=[0.000, 0.732, 0.374] + !! OVERLAP: table <-> floor depth=[0.615, -0.005, 0.374] + !! OVERLAP: table <-> chair depth=[0.554, 0.732, 0.074] + !! OVERLAP: table <-> chair depth=[0.464, 0.732, 0.018] + !! OVERLAP: table <-> chair depth=[0.480, 0.732, 0.064] + !! OVERLAP: table <-> chair depth=[0.450, 0.732, 0.023] + !! OVERLAP: table <-> floor depth=[1.520, -0.005, 1.123] + !! OVERLAP: chair <-> floor depth=[0.554, -0.005, 0.567] + !! OVERLAP: chair <-> floor depth=[0.464, -0.005, 0.521] + !! OVERLAP: chair <-> floor depth=[0.480, -0.005, 0.513] + !! OVERLAP: chair <-> floor depth=[0.450, -0.005, 0.481] +============================================================ + + +============================================================ +SCENE: DiningRoom-451 | 11 objects +============================================================ +Final Step Collision Loss: 0.0260, Room Outer Loss: 0.7552, Walkable Loss: 0.0000, Relational Loss: 0.0000 +Guided Steps: 10/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +table 1.342 0.917 0.499 0.990 0.000 -1.063 -90.01° +chair 0.524 0.894 0.571 -0.659 0.001 -1.104 0.01° +table 1.399 0.696 1.187 -0.191 -0.002 -0.289 0.03° +chair 0.470 0.876 0.539 -0.038 0.001 -0.941 0.05° +chair 0.481 0.842 0.535 -0.466 0.002 0.874 179.99° +chair 0.516 0.861 0.541 0.045 0.002 0.731 -179.97° +cabinet 1.209 1.075 0.450 -1.256 0.001 0.576 89.96° +lamp 0.785 0.709 0.783 -0.161 1.704 0.136 0.01° +lamp 1.222 0.892 0.742 -0.341 1.836 -0.049 0.03° +floor 2.776 -0.001 3.677 0.002 0.001 -0.031 -0.01° +_scene_ 0.065 0.001 0.018 -5.675 -0.005 -5.718 -57.29° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: table <-> table depth=[0.190, 0.696, 0.069] + !! OVERLAP: table <-> floor depth=[1.071, -0.001, 0.499] + !! OVERLAP: chair <-> table depth=[0.493, 0.696, 0.064] + !! OVERLAP: chair <-> floor depth=[0.524, -0.001, 0.571] + !! OVERLAP: table <-> chair depth=[0.470, 0.696, 0.211] + !! OVERLAP: table <-> floor depth=[1.399, -0.001, 1.187] + !! OVERLAP: chair <-> floor depth=[0.470, -0.001, 0.539] + !! OVERLAP: chair <-> cabinet depth=[0.056, 0.842, 0.194] + !! OVERLAP: chair <-> floor depth=[0.481, -0.001, 0.535] + !! OVERLAP: chair <-> floor depth=[0.516, -0.001, 0.541] + !! OVERLAP: cabinet <-> floor depth=[0.735, -0.001, 0.450] + !! OVERLAP: lamp <-> lamp depth=[0.785, 0.669, 0.578] +============================================================ + + +============================================================ +SCENE: DiningRoom-18332 | 10 objects +============================================================ +Final Step Collision Loss: 0.0389, Room Outer Loss: 0.0000, Walkable Loss: 0.0000, Relational Loss: 0.0000 +Guided Steps: 10/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +table 2.331 0.775 0.889 -0.094 -0.002 0.178 -179.83° +chair 0.558 0.687 0.500 -0.931 0.000 0.254 90.02° +chair 0.428 0.645 0.485 0.755 0.001 0.245 -90.03° +chair 0.518 0.583 0.500 -0.465 -0.000 -0.612 0.02° +chair 0.490 0.612 0.467 0.017 0.001 -0.663 0.05° +chair 0.393 0.572 0.432 0.170 -0.001 1.012 179.91° +chair 0.435 0.535 0.376 -0.295 0.001 0.998 179.80° +lamp 0.794 0.704 0.785 -0.354 2.076 0.118 -0.02° +floor 3.491 -0.006 3.044 -0.007 0.000 -0.013 -0.01° +_scene_ 0.063 0.003 0.031 -5.630 -0.004 -5.680 -57.32° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: table <-> chair depth=[0.558, 0.687, 0.500] + !! OVERLAP: table <-> chair depth=[0.428, 0.645, 0.485] + !! OVERLAP: table <-> floor depth=[2.331, -0.006, 0.889] + !! OVERLAP: chair <-> floor depth=[0.558, -0.006, 0.500] + !! OVERLAP: chair <-> floor depth=[0.428, -0.006, 0.485] + !! OVERLAP: chair <-> chair depth=[0.022, 0.583, 0.432] + !! OVERLAP: chair <-> floor depth=[0.518, -0.006, 0.500] + !! OVERLAP: chair <-> floor depth=[0.490, -0.006, 0.467] + !! OVERLAP: chair <-> floor depth=[0.393, -0.006, 0.432] + !! OVERLAP: chair <-> floor depth=[0.435, -0.006, 0.376] +============================================================ + + +============================================================ +SCENE: DiningRoom-8951 | 8 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0300, Walkable Loss: 0.0000, Relational Loss: 0.0000 +Guided Steps: 10/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +chair 0.489 0.843 0.496 -0.946 -0.003 0.698 124.69° +chair 0.544 0.884 0.542 -0.034 0.002 0.674 -97.17° +chair 0.488 0.842 0.518 0.184 -0.001 -0.233 -44.49° +chair 0.679 0.858 0.718 -0.602 0.001 -0.324 -0.01° +lamp 1.033 1.093 1.042 -0.030 1.690 -0.175 0.02° +table 0.559 1.178 0.475 1.264 0.001 -1.488 -89.89° +floor 3.281 -0.003 3.933 -0.018 0.001 -0.044 0.01° +_scene_ 0.073 0.001 0.023 -5.673 -0.004 -5.716 -57.32° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: chair <-> floor depth=[0.489, -0.003, 0.496] + !! OVERLAP: chair <-> floor depth=[0.544, -0.003, 0.542] + !! OVERLAP: chair <-> floor depth=[0.488, -0.003, 0.518] + !! OVERLAP: chair <-> floor depth=[0.679, -0.003, 0.718] + !! OVERLAP: table <-> floor depth=[0.559, -0.003, 0.475] +============================================================ + + +============================================================ +SCENE: DiningRoom-9982 | 9 objects +============================================================ +Final Step Collision Loss: 0.0700, Room Outer Loss: 0.0364, Walkable Loss: 0.0000, Relational Loss: 0.0000 +Guided Steps: 10/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +shelf 1.006 2.005 0.333 0.904 0.002 1.509 -90.01° +table 1.640 0.721 1.176 -0.457 -0.000 -0.401 89.98° +chair 0.635 0.972 0.641 -0.788 -0.002 -1.476 0.05° +chair 0.521 0.936 0.567 -0.228 0.000 -1.139 -90.00° +chair 0.576 0.937 0.630 -1.085 -0.000 -0.125 89.96° +chair 0.527 0.923 0.611 -0.112 -0.001 0.190 -179.93° +lamp 1.715 0.740 0.205 0.115 2.129 -0.507 0.00° +floor 2.870 -0.001 4.055 -0.017 0.002 -0.036 0.02° +_scene_ 0.049 -0.001 0.018 -5.665 -0.004 -5.716 -57.32° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: shelf <-> floor depth=[1.006, -0.001, 0.333] + !! OVERLAP: table <-> chair depth=[0.521, 0.721, 0.134] + !! OVERLAP: table <-> chair depth=[0.480, 0.721, 0.627] + !! OVERLAP: table <-> chair depth=[0.527, 0.721, 0.302] + !! OVERLAP: table <-> floor depth=[1.640, -0.001, 1.176] + !! OVERLAP: chair <-> chair depth=[0.018, 0.936, 0.268] + !! OVERLAP: chair <-> floor depth=[0.635, -0.001, 0.641] + !! OVERLAP: chair <-> floor depth=[0.521, -0.001, 0.567] + !! OVERLAP: chair <-> floor depth=[0.576, -0.001, 0.630] + !! OVERLAP: chair <-> floor depth=[0.527, -0.001, 0.611] +============================================================ + + +============================================================ +SCENE: DiningRoom-168152 | 8 objects +============================================================ +Final Step Collision Loss: 0.0473, Room Outer Loss: 0.6303, Walkable Loss: 0.0000, Relational Loss: 0.0000 +Guided Steps: 10/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +cabinet 1.702 1.750 0.344 -1.696 0.002 0.345 89.89° +table 1.544 0.759 1.105 0.497 -0.002 0.001 0.02° +chair 0.534 0.926 0.526 -0.098 0.001 -0.638 0.01° +chair 0.553 0.943 0.629 0.796 0.001 -0.729 -0.07° +chair 0.485 0.948 0.548 0.087 0.001 0.721 -180.00° +chair 0.443 0.905 0.505 0.848 -0.001 0.621 180.00° +floor 3.999 0.001 3.892 0.015 -0.002 -0.042 0.04° +_scene_ 0.065 -0.002 0.023 -5.665 -0.005 -5.711 -57.29° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: cabinet <-> floor depth=[1.139, 0.001, 0.344] + !! OVERLAP: table <-> chair depth=[0.444, 0.759, 0.177] + !! OVERLAP: table <-> chair depth=[0.553, 0.759, 0.138] + !! OVERLAP: table <-> chair depth=[0.485, 0.759, 0.106] + !! OVERLAP: table <-> chair depth=[0.443, 0.759, 0.185] + !! OVERLAP: table <-> floor depth=[1.544, 0.001, 1.105] + !! OVERLAP: chair <-> floor depth=[0.534, 0.001, 0.526] + !! OVERLAP: chair <-> floor depth=[0.553, 0.001, 0.629] + !! OVERLAP: chair <-> floor depth=[0.485, 0.001, 0.548] + !! OVERLAP: chair <-> floor depth=[0.443, 0.001, 0.505] +============================================================ + + +============================================================ +SCENE: DiningRoom-5492 | 11 objects +============================================================ +Final Step Collision Loss: 0.0465, Room Outer Loss: 0.0000, Walkable Loss: 0.0000, Relational Loss: 0.0000 +Guided Steps: 10/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +table 1.397 0.753 1.418 0.353 0.003 1.140 -0.01° +chair 0.550 0.758 0.511 0.227 0.001 1.767 179.98° +chair 0.511 0.732 0.566 0.677 0.003 1.582 179.94° +chair 0.622 0.752 0.621 0.168 0.000 0.329 -0.01° +chair 0.541 0.772 0.601 0.834 0.003 0.234 0.06° +chair 0.500 0.775 0.524 -0.728 -0.002 1.035 90.11° +chair 0.482 0.805 0.574 1.360 0.000 0.866 -89.96° +table 1.387 0.743 0.600 -1.770 0.001 -0.362 89.97° +lamp 0.381 0.632 0.344 0.256 1.955 1.416 -0.00° +floor 5.116 -0.005 5.724 -0.223 0.001 0.472 0.00° +_scene_ 0.066 0.001 0.023 -5.674 -0.004 -5.717 -57.31° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: table <-> chair depth=[0.550, 0.753, 0.338] + !! OVERLAP: table <-> chair depth=[0.511, 0.732, 0.550] + !! OVERLAP: table <-> chair depth=[0.622, 0.750, 0.208] + !! OVERLAP: table <-> chair depth=[0.488, 0.753, 0.103] + !! OVERLAP: table <-> floor depth=[1.397, -0.005, 1.418] + !! OVERLAP: chair <-> chair depth=[0.080, 0.732, 0.354] + !! OVERLAP: chair <-> floor depth=[0.550, -0.005, 0.511] + !! OVERLAP: chair <-> floor depth=[0.511, -0.005, 0.566] + !! OVERLAP: chair <-> floor depth=[0.622, -0.005, 0.621] + !! OVERLAP: chair <-> floor depth=[0.541, -0.005, 0.601] + !! OVERLAP: chair <-> floor depth=[0.500, -0.005, 0.524] + !! OVERLAP: chair <-> floor depth=[0.482, -0.005, 0.574] + !! OVERLAP: table <-> floor depth=[1.387, -0.005, 0.600] +============================================================ + + +============================================================ +SCENE: DiningRoom-375 | 8 objects +============================================================ +Final Step Collision Loss: 0.0788, Room Outer Loss: 0.0000, Walkable Loss: 0.0000, Relational Loss: 0.0000 +Guided Steps: 10/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +table 1.651 0.747 1.156 0.118 -0.000 -0.142 0.04° +chair 0.501 0.866 0.481 -0.384 -0.002 0.545 136.06° +chair 0.488 0.958 0.554 0.459 0.000 0.550 179.90° +chair 0.435 0.964 0.509 -0.175 -0.001 -1.046 11.42° +chair 0.482 0.936 0.635 0.708 -0.004 -0.783 -65.80° +lamp 0.399 0.722 0.411 0.006 1.898 0.051 -0.01° +floor 2.831 -0.004 2.534 -0.019 0.000 0.005 -0.03° +_scene_ 0.066 -0.001 0.022 -5.665 -0.005 -5.715 -57.32° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: table <-> chair depth=[0.501, 0.747, 0.130] + !! OVERLAP: table <-> chair depth=[0.488, 0.747, 0.163] + !! OVERLAP: table <-> chair depth=[0.476, 0.747, 0.255] + !! OVERLAP: table <-> floor depth=[1.651, -0.004, 1.156] + !! OVERLAP: chair <-> floor depth=[0.501, -0.004, 0.481] + !! OVERLAP: chair <-> floor depth=[0.488, -0.004, 0.554] + !! OVERLAP: chair <-> floor depth=[0.435, -0.004, 0.470] + !! OVERLAP: chair <-> floor depth=[0.482, -0.004, 0.635] +============================================================ + + +============================================================ +SCENE: DiningRoom-3017 | 8 objects +============================================================ +Final Step Collision Loss: 0.0003, Room Outer Loss: 0.0701, Walkable Loss: 0.0000, Relational Loss: 0.0000 +Guided Steps: 10/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +table 1.580 0.728 0.890 0.057 0.001 -0.794 -0.01° +chair 0.508 0.851 0.465 -1.104 0.001 -0.498 75.36° +chair 0.515 0.859 0.522 -0.311 0.003 0.715 -163.25° +chair 0.488 0.820 0.478 0.262 0.001 0.901 180.00° +table 0.704 1.175 0.315 1.102 -0.002 -0.826 -89.86° +lamp 0.570 0.369 0.541 -0.184 2.241 -0.159 -0.03° +floor 2.966 -0.003 3.462 -0.007 0.001 -0.035 -0.02° +_scene_ 0.063 0.002 0.017 -5.669 -0.005 -5.715 -57.32° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: table <-> table depth=[0.097, 0.728, 0.315] + !! OVERLAP: table <-> floor depth=[1.580, -0.003, 0.890] + !! OVERLAP: chair <-> floor depth=[0.508, -0.003, 0.465] + !! OVERLAP: chair <-> floor depth=[0.515, -0.003, 0.522] + !! OVERLAP: chair <-> floor depth=[0.488, -0.003, 0.478] + !! OVERLAP: table <-> floor depth=[0.704, -0.003, 0.315] +============================================================ + + +============================================================ +SCENE: DiningRoom-164 | 11 objects +============================================================ +Final Step Collision Loss: 0.0052, Room Outer Loss: 0.0000, Walkable Loss: 0.0000, Relational Loss: 0.0000 +Guided Steps: 10/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +chair 0.480 0.930 0.497 -0.816 0.002 0.073 90.00° +chair 0.525 0.926 0.565 -0.822 0.003 0.677 89.99° +chair 0.459 0.922 0.502 0.825 0.003 0.016 -90.07° +chair 0.552 0.879 0.578 0.949 -0.000 0.574 -90.18° +chair 0.496 0.916 0.552 0.158 0.000 1.607 -179.97° +chair 0.517 0.886 0.472 -0.036 -0.001 -1.154 0.15° +table 1.974 0.652 0.570 -0.027 0.001 -1.806 -0.02° +table 1.348 0.797 1.309 0.029 -0.001 0.306 -89.99° +lamp 1.054 0.890 0.614 -0.007 1.744 0.504 90.09° +floor 3.393 -0.004 5.217 -0.061 0.000 0.049 0.01° +_scene_ 0.077 0.007 0.045 -5.642 -0.004 -5.692 -57.34° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: chair <-> table depth=[0.069, 0.797, 0.497] + !! OVERLAP: chair <-> floor depth=[0.480, -0.004, 0.497] + !! OVERLAP: chair <-> table depth=[0.086, 0.797, 0.565] + !! OVERLAP: chair <-> floor depth=[0.525, -0.004, 0.565] + !! OVERLAP: chair <-> table depth=[0.107, 0.797, 0.502] + !! OVERLAP: chair <-> floor depth=[0.459, -0.004, 0.502] + !! OVERLAP: chair <-> table depth=[0.030, 0.797, 0.578] + !! OVERLAP: chair <-> floor depth=[0.552, -0.004, 0.578] + !! OVERLAP: chair <-> floor depth=[0.496, -0.004, 0.552] + !! OVERLAP: chair <-> floor depth=[0.517, -0.004, 0.472] + !! OVERLAP: table <-> floor depth=[1.974, -0.004, 0.570] + !! OVERLAP: table <-> floor depth=[1.348, -0.004, 1.309] +============================================================ + + +============================================================ +SCENE: DiningRoom-34036 | 15 objects +============================================================ +Final Step Collision Loss: 0.0037, Room Outer Loss: 1.1246, Walkable Loss: 0.0000, Relational Loss: 0.0000 +Guided Steps: 10/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +table 1.216 0.539 1.389 -0.336 -0.001 0.176 -90.22° +cabinet 2.814 2.743 0.271 -1.559 0.001 -0.579 89.88° +cabinet 0.665 1.140 0.369 1.281 -0.000 -0.519 -90.04° +cabinet 0.697 0.890 0.478 1.476 0.002 -1.773 -90.03° +chair 0.532 0.754 0.540 -1.110 0.004 -0.307 89.99° +chair 0.501 0.763 0.548 0.488 0.004 -0.569 -90.04° +chair 0.457 0.744 0.474 0.540 0.000 0.258 -89.96° +chair 0.466 0.761 0.482 -0.957 0.000 0.819 90.04° +chair 0.469 0.747 0.504 -0.342 -0.000 1.263 159.79° +chair 0.438 0.724 0.448 -0.237 0.000 -1.331 0.06° +lamp 0.320 0.938 0.344 -0.083 1.576 0.775 -0.03° +lamp 0.245 1.052 0.245 0.072 1.599 0.233 -0.01° +lamp 0.303 0.786 0.259 0.929 1.753 -0.249 0.03° +floor 3.921 -0.001 4.753 -0.008 0.001 -0.047 -0.07° +_scene_ 0.063 0.002 0.018 -5.673 -0.005 -5.718 -57.29° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: table <-> cabinet depth=[0.792, 0.539, 0.075] + !! OVERLAP: table <-> chair depth=[0.101, 0.539, 0.482] + !! OVERLAP: table <-> chair depth=[0.034, 0.539, 0.223] + !! OVERLAP: table <-> chair depth=[0.221, 0.539, 0.292] + !! OVERLAP: table <-> floor depth=[1.216, -0.001, 1.389] + !! OVERLAP: cabinet <-> chair depth=[0.532, 0.754, 0.134] + !! OVERLAP: cabinet <-> floor depth=[1.816, -0.001, 0.271] + !! OVERLAP: cabinet <-> floor depth=[0.665, -0.001, 0.369] + !! OVERLAP: cabinet <-> floor depth=[0.697, -0.001, 0.478] + !! OVERLAP: chair <-> floor depth=[0.532, -0.001, 0.540] + !! OVERLAP: chair <-> floor depth=[0.501, -0.001, 0.548] + !! OVERLAP: chair <-> floor depth=[0.457, -0.001, 0.474] + !! OVERLAP: chair <-> floor depth=[0.466, -0.001, 0.482] + !! OVERLAP: chair <-> floor depth=[0.469, -0.001, 0.504] + !! OVERLAP: chair <-> floor depth=[0.438, -0.001, 0.448] +============================================================ + + +============================================================ +SCENE: DiningRoom-114621 | 9 objects +============================================================ +Final Step Collision Loss: 0.0799, Room Outer Loss: 0.0000, Walkable Loss: 0.0000, Relational Loss: 0.0000 +Guided Steps: 10/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +cabinet 1.312 1.261 0.379 0.580 -0.000 1.299 -179.96° +table 1.245 0.833 1.238 -0.471 0.001 -0.543 90.07° +chair 0.569 0.828 0.610 -0.597 0.002 -0.760 0.05° +chair 0.466 0.829 0.448 -0.604 -0.004 0.053 129.41° +chair 0.461 0.812 0.571 0.949 -0.001 -0.627 0.00° +chair 0.537 0.813 0.593 0.896 0.002 -0.004 -90.07° +lamp 0.888 0.905 0.878 0.426 1.778 -0.345 0.02° +floor 3.768 -0.005 2.860 0.002 0.000 -0.008 0.02° +_scene_ 0.069 0.002 0.023 -5.667 -0.003 -5.714 -57.31° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: cabinet <-> floor depth=[1.312, -0.005, 0.313] + !! OVERLAP: table <-> chair depth=[0.569, 0.828, 0.610] + !! OVERLAP: table <-> chair depth=[0.466, 0.826, 0.247] + !! OVERLAP: table <-> floor depth=[1.245, -0.005, 1.238] + !! OVERLAP: chair <-> floor depth=[0.569, -0.005, 0.610] + !! OVERLAP: chair <-> floor depth=[0.466, -0.005, 0.448] + !! OVERLAP: chair <-> floor depth=[0.461, -0.005, 0.571] + !! OVERLAP: chair <-> floor depth=[0.537, -0.005, 0.593] +============================================================ + + +============================================================ +SCENE: DiningRoom-33238 | 5 objects +============================================================ +Final Step Collision Loss: 0.0072, Room Outer Loss: 0.0000, Walkable Loss: 0.0000, Relational Loss: 0.0000 +Guided Steps: 10/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +cabinet 0.763 1.164 0.428 -1.408 0.000 0.727 89.99° +table 1.510 1.039 0.751 1.107 -0.002 0.349 0.06° +table 1.516 0.736 1.219 -0.202 0.001 -0.111 89.99° +floor 3.817 -0.001 3.750 0.006 -0.001 0.029 -0.05° +_scene_ -0.017 0.080 0.107 -5.316 0.039 -5.427 -59.57° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: cabinet <-> floor depth=[0.763, -0.001, 0.428] + !! OVERLAP: table <-> table depth=[0.205, 0.736, 0.525] + !! OVERLAP: table <-> floor depth=[1.510, -0.001, 0.751] + !! OVERLAP: table <-> floor depth=[1.516, -0.001, 1.219] +============================================================ + + +============================================================ +SCENE: DiningRoom-69393 | 11 objects +============================================================ +Final Step Collision Loss: 0.0051, Room Outer Loss: 0.0000, Walkable Loss: 0.0000, Relational Loss: 0.0000 +Guided Steps: 10/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +chair 0.472 0.821 0.546 -0.928 0.002 0.438 90.00° +chair 0.581 0.820 0.635 -1.152 0.003 1.107 90.00° +chair 0.486 0.808 0.545 0.459 0.003 0.491 -90.19° +chair 0.547 0.813 0.542 0.633 -0.000 1.312 -90.20° +chair 0.533 0.789 0.588 -0.263 0.001 1.925 179.96° +chair 0.434 0.829 0.501 -0.312 -0.001 -0.303 0.14° +table 2.006 0.670 0.664 -0.069 0.000 -1.723 -0.01° +table 1.651 0.753 1.058 -0.330 -0.002 0.817 89.97° +lamp 0.689 0.916 0.665 -0.116 1.832 0.776 -0.03° +floor 3.974 -0.006 5.403 -0.087 0.001 0.317 -0.04° +_scene_ 0.067 0.003 0.027 -5.651 -0.003 -5.702 -57.31° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: chair <-> table depth=[0.464, 0.753, 0.423] + !! OVERLAP: chair <-> floor depth=[0.472, -0.006, 0.546] + !! OVERLAP: chair <-> table depth=[0.295, 0.753, 0.557] + !! OVERLAP: chair <-> floor depth=[0.581, -0.006, 0.635] + !! OVERLAP: chair <-> table depth=[0.280, 0.753, 0.476] + !! OVERLAP: chair <-> floor depth=[0.486, -0.006, 0.545] + !! OVERLAP: chair <-> table depth=[0.136, 0.753, 0.304] + !! OVERLAP: chair <-> floor depth=[0.547, -0.006, 0.542] + !! OVERLAP: chair <-> floor depth=[0.533, -0.006, 0.588] + !! OVERLAP: chair <-> floor depth=[0.434, -0.006, 0.501] + !! OVERLAP: table <-> floor depth=[2.006, -0.006, 0.664] + !! OVERLAP: table <-> floor depth=[1.651, -0.006, 1.058] +============================================================ + + +============================================================ +SCENE: DiningRoom-87276 | 12 objects +============================================================ +Final Step Collision Loss: 0.0415, Room Outer Loss: 0.0000, Walkable Loss: 0.0000, Relational Loss: 0.0000 +Guided Steps: 10/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +table 1.961 0.945 1.072 -0.217 -0.005 -0.013 -90.85° +chair 0.574 0.750 0.560 -0.801 -0.001 0.793 137.66° +chair 0.545 0.737 0.554 0.029 0.002 0.987 179.95° +chair 0.555 0.751 0.539 0.584 0.001 0.666 -121.49° +chair 0.607 0.783 0.517 0.687 0.000 -0.627 -40.13° +chair 0.570 0.762 0.536 -0.078 0.001 -0.781 0.07° +chair 0.515 0.744 0.511 -0.835 0.003 -0.591 41.78° +chair 0.536 0.774 0.523 1.017 -0.001 0.041 -88.44° +chair 0.550 0.770 0.588 -1.170 -0.000 0.101 90.01° +lamp 0.548 0.957 0.550 -0.141 1.692 -0.072 -0.04° +floor 4.548 -0.003 3.366 -0.023 -0.001 0.008 -0.01° +_scene_ 0.123 -0.004 0.178 -5.572 -0.005 -5.572 -57.79° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: table <-> chair depth=[0.574, 0.750, 0.010] + !! OVERLAP: table <-> chair depth=[0.458, 0.751, 0.126] + !! OVERLAP: table <-> chair depth=[0.380, 0.783, 0.180] + !! OVERLAP: table <-> chair depth=[0.570, 0.762, 0.036] + !! OVERLAP: table <-> chair depth=[0.515, 0.744, 0.213] + !! OVERLAP: table <-> chair depth=[0.015, 0.774, 0.523] + !! OVERLAP: table <-> chair depth=[0.302, 0.770, 0.588] + !! OVERLAP: table <-> floor depth=[1.961, -0.003, 1.072] + !! OVERLAP: chair <-> floor depth=[0.574, -0.003, 0.560] + !! OVERLAP: chair <-> floor depth=[0.545, -0.003, 0.554] + !! OVERLAP: chair <-> floor depth=[0.555, -0.003, 0.539] + !! OVERLAP: chair <-> floor depth=[0.607, -0.003, 0.517] + !! OVERLAP: chair <-> floor depth=[0.570, -0.003, 0.536] + !! OVERLAP: chair <-> floor depth=[0.515, -0.003, 0.511] + !! OVERLAP: chair <-> floor depth=[0.536, -0.003, 0.523] + !! OVERLAP: chair <-> floor depth=[0.550, -0.003, 0.588] +============================================================ + + +============================================================ +SCENE: DiningRoom-16460 | 12 objects +============================================================ +Final Step Collision Loss: 0.0310, Room Outer Loss: 0.0000, Walkable Loss: 0.0000, Relational Loss: 0.0000 +Guided Steps: 10/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +table 1.231 0.768 0.759 1.301 0.001 -0.490 -90.10° +table 1.919 0.749 1.156 -0.612 0.000 0.661 90.13° +chair 0.560 0.742 0.556 -1.523 -0.000 -0.311 89.66° +chair 0.592 0.731 0.512 -0.574 0.000 -0.568 0.02° +chair 0.519 0.728 0.586 -1.573 0.002 1.020 179.91° +chair 0.491 0.783 0.487 -0.737 0.001 0.938 179.91° +table 1.356 0.871 0.425 -1.118 0.002 -1.207 -0.01° +lamp 0.367 0.711 0.326 -0.617 2.020 0.136 -0.01° +chair 0.551 0.747 0.509 0.174 -0.002 -0.423 -54.67° +chair 0.532 0.736 0.561 0.554 0.003 0.782 -114.09° +floor 5.591 -0.000 3.428 -0.116 -0.002 -0.110 -0.08° +_scene_ 0.067 0.000 0.026 -5.672 -0.005 -5.713 -57.30° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: table <-> floor depth=[1.231, -0.000, 0.759] + !! OVERLAP: table <-> chair depth=[0.258, 0.728, 0.512] + !! OVERLAP: table <-> chair depth=[0.491, 0.749, 0.487] + !! OVERLAP: table <-> chair depth=[0.060, 0.736, 0.561] + !! OVERLAP: table <-> floor depth=[1.919, -0.000, 1.156] + !! OVERLAP: chair <-> floor depth=[0.560, -0.000, 0.556] + !! OVERLAP: chair <-> floor depth=[0.592, -0.000, 0.512] + !! OVERLAP: chair <-> floor depth=[0.519, -0.000, 0.586] + !! OVERLAP: chair <-> floor depth=[0.491, -0.000, 0.487] + !! OVERLAP: table <-> floor depth=[1.356, -0.000, 0.425] + !! OVERLAP: chair <-> floor depth=[0.551, -0.000, 0.509] + !! OVERLAP: chair <-> floor depth=[0.532, -0.000, 0.561] +============================================================ + + +============================================================ +SCENE: DiningRoom-31322 | 11 objects +============================================================ +Final Step Collision Loss: 0.0106, Room Outer Loss: 0.0000, Walkable Loss: 0.0000, Relational Loss: 0.0000 +Guided Steps: 10/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +table 0.996 0.779 0.390 -1.521 0.001 1.884 179.95° +cabinet 0.858 1.098 0.381 1.157 0.000 -1.258 -90.01° +cabinet 0.641 1.057 0.335 1.216 0.002 -0.085 -89.96° +table 2.008 0.742 0.812 -0.359 0.002 -0.850 90.01° +chair 0.388 0.807 0.482 0.302 0.004 -0.324 -89.96° +lamp 0.321 1.366 0.334 -0.467 1.628 -0.823 129.09° +chair 0.409 0.873 0.458 0.142 0.002 -1.123 -89.93° +chair 0.432 0.891 0.429 -1.258 0.003 -1.159 89.98° +chair 0.372 0.896 0.422 -1.315 0.003 -0.423 90.01° +floor 3.959 -0.003 4.581 -0.290 0.000 0.097 -0.02° +_scene_ 0.069 0.001 0.024 -5.673 -0.005 -5.712 -57.30° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: table <-> floor depth=[0.996, -0.003, 0.390] + !! OVERLAP: cabinet <-> floor depth=[0.858, -0.003, 0.381] + !! OVERLAP: cabinet <-> floor depth=[0.641, -0.003, 0.335] + !! OVERLAP: table <-> chair depth=[0.388, 0.742, 0.121] + !! OVERLAP: table <-> chair depth=[0.409, 0.742, 0.362] + !! OVERLAP: table <-> chair depth=[0.322, 0.742, 0.312] + !! OVERLAP: table <-> chair depth=[0.234, 0.742, 0.190] + !! OVERLAP: table <-> floor depth=[2.008, -0.003, 0.812] + !! OVERLAP: chair <-> floor depth=[0.388, -0.003, 0.482] + !! OVERLAP: chair <-> floor depth=[0.409, -0.003, 0.458] + !! OVERLAP: chair <-> floor depth=[0.432, -0.003, 0.429] + !! OVERLAP: chair <-> floor depth=[0.372, -0.003, 0.422] +============================================================ + + +============================================================ +SCENE: DiningRoom-20718 | 11 objects +============================================================ +Final Step Collision Loss: 0.0569, Room Outer Loss: 0.0000, Walkable Loss: 0.0000, Relational Loss: 0.0000 +Guided Steps: 10/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +table 2.358 0.759 0.958 -0.635 0.000 -0.643 -90.17° +chair 0.519 0.819 0.560 -0.746 0.001 -0.054 -179.94° +chair 0.582 0.794 0.597 -0.572 0.001 -1.447 -0.08° +chair 0.538 0.785 0.520 -1.576 -0.001 -1.369 0.03° +chair 0.511 0.824 0.542 -1.320 -0.000 0.080 179.94° +table 1.143 0.927 0.329 0.895 0.001 -1.456 -90.08° +lamp 0.845 0.928 0.682 -0.797 1.792 -1.061 -0.01° +table 2.146 0.762 0.796 -0.459 0.001 1.826 179.85° +chair 0.534 0.484 0.560 0.638 0.000 1.038 -0.00° +floor 4.183 -0.001 5.104 -0.033 0.001 0.025 -0.05° +_scene_ 0.073 0.003 0.027 -5.676 -0.004 -5.717 -57.28° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: table <-> chair depth=[0.519, 0.759, 0.170] + !! OVERLAP: table <-> chair depth=[0.506, 0.759, 0.013] + !! OVERLAP: table <-> chair depth=[0.511, 0.759, 0.026] + !! OVERLAP: table <-> floor depth=[2.358, -0.001, 0.958] + !! OVERLAP: chair <-> floor depth=[0.519, -0.001, 0.560] + !! OVERLAP: chair <-> floor depth=[0.582, -0.001, 0.597] + !! OVERLAP: chair <-> floor depth=[0.538, -0.001, 0.520] + !! OVERLAP: chair <-> floor depth=[0.511, -0.001, 0.542] + !! OVERLAP: table <-> floor depth=[1.143, -0.001, 0.329] + !! OVERLAP: table <-> floor depth=[2.146, -0.001, 0.796] + !! OVERLAP: chair <-> floor depth=[0.534, -0.001, 0.560] +============================================================ + + +============================================================ +SCENE: DiningRoom-7122 | 9 objects +============================================================ +Final Step Collision Loss: 0.0192, Room Outer Loss: 0.0000, Walkable Loss: 0.0000, Relational Loss: 0.0000 +Guided Steps: 10/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +table 1.305 0.867 0.514 -0.594 0.003 1.260 179.97° +chair 0.593 0.922 0.626 0.549 0.001 -1.129 -90.05° +chair 0.570 0.908 0.635 0.581 0.000 -0.536 -90.01° +chair 0.530 0.967 0.563 -0.799 0.001 -1.131 89.77° +chair 0.495 0.903 0.585 -0.915 0.001 -0.617 90.00° +lamp 0.801 0.581 0.362 -0.091 1.844 -0.561 -89.85° +table 1.817 0.792 0.932 -0.275 0.001 -0.702 90.04° +floor 2.792 0.001 3.829 0.046 0.001 0.044 -0.03° +_scene_ 0.067 0.000 0.030 -5.662 -0.004 -5.702 -57.31° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: table <-> floor depth=[1.305, 0.001, 0.514] + !! OVERLAP: chair <-> chair depth=[0.549, 0.908, 0.038] + !! OVERLAP: chair <-> table depth=[0.381, 0.792, 0.353] + !! OVERLAP: chair <-> floor depth=[0.593, 0.001, 0.626] + !! OVERLAP: chair <-> table depth=[0.337, 0.792, 0.617] + !! OVERLAP: chair <-> floor depth=[0.570, 0.001, 0.635] + !! OVERLAP: chair <-> chair depth=[0.396, 0.903, 0.061] + !! OVERLAP: chair <-> table depth=[0.530, 0.792, 0.319] + !! OVERLAP: chair <-> floor depth=[0.530, 0.001, 0.563] + !! OVERLAP: chair <-> table depth=[0.495, 0.792, 0.585] + !! OVERLAP: chair <-> floor depth=[0.495, 0.001, 0.585] + !! OVERLAP: table <-> floor depth=[1.817, 0.001, 0.932] +============================================================ + + +============================================================ +SCENE: DiningRoom-22339 | 10 objects +============================================================ +Final Step Collision Loss: 0.0501, Room Outer Loss: 0.0000, Walkable Loss: 0.0000, Relational Loss: 0.0000 +Guided Steps: 10/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +chair 0.537 0.939 0.538 -0.271 -0.000 -1.147 -0.23° +table 1.435 0.740 1.266 -0.376 -0.002 -0.224 0.06° +chair 0.479 0.963 0.534 -0.240 0.001 1.150 179.99° +chair 0.580 0.966 0.671 -0.864 0.001 -0.395 89.57° +chair 0.524 0.918 0.526 -1.020 0.000 0.316 106.45° +chair 0.517 0.968 0.559 0.597 0.001 -0.501 -90.04° +chair 0.559 0.943 0.563 0.446 -0.001 0.338 -118.76° +lamp 0.766 0.835 0.740 0.022 1.842 -0.189 -0.00° +floor 2.947 0.001 3.870 -0.004 0.001 0.018 0.03° +_scene_ 0.061 -0.002 0.031 -5.661 -0.003 -5.706 -57.33° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: chair <-> floor depth=[0.537, 0.001, 0.538] + !! OVERLAP: table <-> chair depth=[0.519, 0.740, 0.671] + !! OVERLAP: table <-> chair depth=[0.335, 0.740, 0.356] + !! OVERLAP: table <-> chair depth=[0.003, 0.740, 0.559] + !! OVERLAP: table <-> chair depth=[0.175, 0.740, 0.352] + !! OVERLAP: table <-> floor depth=[1.435, 0.001, 1.266] + !! OVERLAP: chair <-> floor depth=[0.479, 0.001, 0.534] + !! OVERLAP: chair <-> floor depth=[0.580, 0.001, 0.671] + !! OVERLAP: chair <-> floor depth=[0.524, 0.001, 0.526] + !! OVERLAP: chair <-> floor depth=[0.517, 0.001, 0.559] + !! OVERLAP: chair <-> floor depth=[0.559, 0.001, 0.563] +============================================================ + + +============================================================ +SCENE: DiningRoom-12376 | 14 objects +============================================================ +Final Step Collision Loss: 0.0226, Room Outer Loss: 0.0000, Walkable Loss: 0.0000, Relational Loss: 0.0000 +Guided Steps: 10/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +table 1.989 0.739 1.262 -0.701 0.000 0.524 89.90° +chair 0.578 0.936 0.606 0.097 -0.000 0.247 -179.91° +chair 0.554 0.968 0.670 0.161 0.001 -0.680 -89.88° +chair 0.586 0.901 0.589 -1.218 -0.001 -0.074 179.92° +chair 0.658 0.955 0.724 -0.969 0.001 -1.041 0.14° +table 1.575 1.471 0.395 -1.859 0.002 0.051 89.90° +table 1.134 1.520 0.538 -1.952 -0.001 -0.725 89.92° +lamp 1.298 1.137 1.199 -0.264 1.782 -0.048 90.05° +cabinet 0.576 1.281 0.378 2.192 0.001 -1.724 0.05° +cabinet 0.683 1.217 0.326 1.421 0.001 -2.038 0.01° +cabinet 0.665 1.231 0.378 1.236 0.002 -1.685 0.00° +cabinet 0.611 1.230 0.398 0.171 0.000 -2.167 -0.06° +floor 5.228 0.001 4.577 -0.057 -0.000 -0.155 -0.04° +_scene_ 0.070 -0.000 0.023 -5.674 -0.004 -5.712 -57.30° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: table <-> chair depth=[0.486, 0.739, 0.606] + !! OVERLAP: table <-> chair depth=[0.586, 0.739, 0.327] + !! OVERLAP: table <-> table depth=[0.624, 0.739, 0.356] + !! OVERLAP: table <-> floor depth=[1.989, 0.001, 1.262] + !! OVERLAP: chair <-> floor depth=[0.578, 0.001, 0.606] + !! OVERLAP: chair <-> floor depth=[0.554, 0.001, 0.670] + !! OVERLAP: chair <-> table depth=[0.439, 0.901, 0.367] + !! OVERLAP: chair <-> floor depth=[0.586, 0.001, 0.589] + !! OVERLAP: chair <-> floor depth=[0.658, 0.001, 0.724] + !! OVERLAP: table <-> floor depth=[1.575, 0.001, 0.395] + !! OVERLAP: table <-> floor depth=[1.134, 0.001, 0.538] + !! OVERLAP: cabinet <-> floor depth=[0.576, 0.001, 0.378] + !! OVERLAP: cabinet <-> floor depth=[0.683, 0.001, 0.326] + !! OVERLAP: cabinet <-> floor depth=[0.665, 0.001, 0.378] + !! OVERLAP: cabinet <-> floor depth=[0.611, 0.001, 0.398] +============================================================ + + +============================================================ +SCENE: DiningRoom-19885 | 9 objects +============================================================ +Final Step Collision Loss: 0.1139, Room Outer Loss: 0.0000, Walkable Loss: 0.0000, Relational Loss: 0.0000 +Guided Steps: 10/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +table 1.955 0.735 1.099 -0.096 -0.000 0.072 0.04° +chair 0.566 0.941 0.598 -0.158 0.000 0.607 179.96° +chair 0.554 0.899 0.617 -0.628 0.009 0.679 153.78° +chair 0.589 0.910 0.580 0.003 0.001 -0.727 0.07° +chair 0.482 0.946 0.475 -0.672 0.008 -0.602 50.38° +chair 0.469 0.889 0.595 0.665 0.010 0.688 -151.04° +chair 0.413 0.842 0.446 0.865 -0.002 -0.531 -53.22° +floor 3.688 -0.006 3.308 0.006 -0.001 0.040 -0.03° +_scene_ 0.077 0.039 0.091 -5.233 -0.001 -5.420 -58.91° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: table <-> chair depth=[0.566, 0.735, 0.314] + !! OVERLAP: table <-> chair depth=[0.554, 0.735, 0.251] + !! OVERLAP: table <-> chair depth=[0.589, 0.735, 0.041] + !! OVERLAP: table <-> chair depth=[0.482, 0.735, 0.114] + !! OVERLAP: table <-> chair depth=[0.451, 0.735, 0.230] + !! OVERLAP: table <-> chair depth=[0.223, 0.735, 0.171] + !! OVERLAP: table <-> floor depth=[1.955, -0.006, 1.099] + !! OVERLAP: chair <-> chair depth=[0.091, 0.899, 0.536] + !! OVERLAP: chair <-> floor depth=[0.566, -0.006, 0.598] + !! OVERLAP: chair <-> floor depth=[0.554, -0.006, 0.617] + !! OVERLAP: chair <-> floor depth=[0.589, -0.006, 0.580] + !! OVERLAP: chair <-> floor depth=[0.482, -0.006, 0.475] + !! OVERLAP: chair <-> floor depth=[0.469, -0.006, 0.595] + !! OVERLAP: chair <-> floor depth=[0.413, -0.006, 0.446] +============================================================ + + +============================================================ +SCENE: DiningRoom-2831 | 8 objects +============================================================ +Final Step Collision Loss: 0.0094, Room Outer Loss: 0.0000, Walkable Loss: 0.0000, Relational Loss: 0.0000 +Guided Steps: 10/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +table 2.120 0.741 0.601 0.352 -0.000 -0.128 0.04° +chair 0.581 0.986 0.558 -0.282 0.002 -0.652 0.05° +chair 0.517 0.991 0.571 0.631 0.002 -0.687 0.05° +chair 0.618 1.017 0.682 -0.334 0.001 0.518 179.84° +chair 0.530 1.023 0.607 0.696 0.001 0.452 179.99° +lamp 0.772 0.839 0.300 -0.144 1.853 -0.036 0.02° +floor 3.202 -0.004 2.950 0.013 0.000 -0.020 -0.03° +_scene_ 0.072 0.001 0.023 -5.668 -0.005 -5.708 -57.32° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: table <-> chair depth=[0.581, 0.741, 0.055] + !! OVERLAP: table <-> chair depth=[0.517, 0.741, 0.026] + !! OVERLAP: table <-> chair depth=[0.530, 0.741, 0.024] + !! OVERLAP: table <-> floor depth=[2.120, -0.004, 0.601] + !! OVERLAP: chair <-> floor depth=[0.581, -0.004, 0.558] + !! OVERLAP: chair <-> floor depth=[0.517, -0.004, 0.571] + !! OVERLAP: chair <-> floor depth=[0.618, -0.004, 0.682] + !! OVERLAP: chair <-> floor depth=[0.530, -0.004, 0.607] +============================================================ + + +============================================================ +SCENE: DiningRoom-60525 | 9 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.6328, Walkable Loss: 0.0000, Relational Loss: 0.0000 +Guided Steps: 10/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +table 1.703 0.700 0.753 -0.009 -0.001 0.236 89.97° +chair 0.544 0.910 0.590 -0.559 0.001 0.775 89.95° +chair 0.508 0.883 0.570 -0.666 0.001 0.129 89.98° +chair 0.485 0.897 0.518 0.719 0.000 -0.114 -90.01° +chair 0.432 0.939 0.598 0.820 0.003 0.317 -90.01° +table 1.650 1.011 0.516 -1.503 0.002 0.210 89.93° +lamp 0.836 1.134 0.844 0.191 1.729 0.507 -0.01° +floor 3.437 -0.002 4.284 -0.010 0.001 0.021 0.02° +_scene_ 0.062 0.001 0.022 -5.675 -0.005 -5.719 -57.32° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: table <-> chair depth=[0.544, 0.700, 0.132] + !! OVERLAP: table <-> chair depth=[0.449, 0.700, 0.554] + !! OVERLAP: table <-> chair depth=[0.366, 0.700, 0.286] + !! OVERLAP: table <-> chair depth=[0.238, 0.700, 0.594] + !! OVERLAP: table <-> table depth=[0.183, 0.700, 0.516] + !! OVERLAP: table <-> floor depth=[1.703, -0.002, 0.753] + !! OVERLAP: chair <-> floor depth=[0.544, -0.002, 0.590] + !! OVERLAP: chair <-> table depth=[0.241, 0.883, 0.462] + !! OVERLAP: chair <-> floor depth=[0.508, -0.002, 0.570] + !! OVERLAP: chair <-> chair depth=[0.357, 0.897, 0.127] + !! OVERLAP: chair <-> floor depth=[0.485, -0.002, 0.518] + !! OVERLAP: chair <-> floor depth=[0.432, -0.002, 0.598] + !! OVERLAP: table <-> floor depth=[1.051, -0.002, 0.516] +============================================================ + + +============================================================ +SCENE: DiningRoom-55572 | 14 objects +============================================================ +Final Step Collision Loss: 0.1222, Room Outer Loss: 0.1771, Walkable Loss: 0.0000, Relational Loss: 0.0000 +Guided Steps: 10/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +table 1.417 0.477 1.504 0.907 0.001 -1.256 0.01° +sofa 2.345 0.772 1.303 1.559 0.000 -1.543 0.04° +wardrobe 0.880 2.423 0.485 -2.277 -0.002 0.853 89.96° +chair 0.554 0.894 0.627 -0.673 -0.001 -1.540 -90.13° +chair 0.633 0.901 0.619 -0.833 0.001 -1.198 89.90° +lamp 0.869 0.822 0.855 0.920 1.763 -1.105 -0.02° +chair 0.726 0.830 0.734 1.025 0.000 0.218 -150.98° +sofa 2.583 0.931 1.131 0.474 -0.001 -2.441 -0.04° +sofa 2.094 0.851 0.944 1.427 -0.002 -0.662 -89.76° +table 1.027 1.160 0.516 2.164 -0.001 1.202 -179.99° +cabinet 0.892 1.345 0.359 -2.063 0.007 1.703 89.90° +table 0.503 1.329 0.449 -0.777 0.002 1.682 179.98° +floor 5.491 -0.003 5.563 0.147 -0.001 -0.446 -0.04° +_scene_ 0.070 -0.000 0.024 -5.673 -0.005 -5.712 -57.29° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: table <-> sofa depth=[1.229, 0.477, 1.116] + !! OVERLAP: table <-> sofa depth=[1.417, 0.477, 0.133] + !! OVERLAP: table <-> sofa depth=[1.236, 0.477, 0.630] + !! OVERLAP: table <-> floor depth=[1.417, -0.003, 1.504] + !! OVERLAP: sofa <-> sofa depth=[1.379, 0.772, 0.320] + !! OVERLAP: sofa <-> sofa depth=[2.087, 0.772, 0.243] + !! OVERLAP: sofa <-> floor depth=[2.345, -0.003, 1.303] + !! OVERLAP: wardrobe <-> floor depth=[0.761, -0.003, 0.485] + !! OVERLAP: chair <-> chair depth=[0.434, 0.894, 0.281] + !! OVERLAP: chair <-> floor depth=[0.554, -0.003, 0.627] + !! OVERLAP: chair <-> floor depth=[0.633, -0.003, 0.619] + !! OVERLAP: chair <-> floor depth=[0.726, -0.003, 0.734] + !! OVERLAP: sofa <-> floor depth=[2.583, -0.003, 1.131] + !! OVERLAP: sofa <-> floor depth=[2.094, -0.003, 0.944] + !! OVERLAP: table <-> floor depth=[1.027, -0.003, 0.516] + !! OVERLAP: cabinet <-> floor depth=[0.892, -0.003, 0.359] + !! OVERLAP: table <-> floor depth=[0.503, -0.003, 0.449] +============================================================ + + +============================================================ +SCENE: DiningRoom-24191 | 12 objects +============================================================ +Final Step Collision Loss: 0.0071, Room Outer Loss: 0.0000, Walkable Loss: 0.0000, Relational Loss: 0.0000 +Guided Steps: 10/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +table 2.067 0.717 0.890 0.220 -0.001 -0.154 -89.92° +chair 0.553 0.821 0.658 0.877 0.002 -0.959 -90.15° +chair 0.518 0.837 0.568 0.927 0.002 -0.227 -89.89° +chair 0.608 0.787 0.594 0.329 0.004 1.151 179.99° +chair 0.586 0.822 0.629 -0.619 0.000 -0.041 90.02° +chair 0.607 0.809 0.582 -0.568 0.002 -0.872 89.98° +chair 0.630 0.818 0.596 0.233 -0.000 -1.388 0.05° +chair 0.675 0.834 0.701 -0.740 0.004 0.484 90.01° +chair 0.580 0.807 0.588 0.969 0.001 0.400 -89.97° +lamp 0.555 0.858 0.537 0.073 1.778 0.005 0.02° +floor 3.513 -0.002 4.897 -0.015 -0.000 -0.001 0.02° +_scene_ 0.076 0.001 0.051 -5.641 -0.005 -5.663 -57.36° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: table <-> chair depth=[0.518, 0.717, 0.568] + !! OVERLAP: table <-> chair depth=[0.487, 0.717, 0.629] + !! OVERLAP: table <-> chair depth=[0.549, 0.717, 0.018] + !! OVERLAP: table <-> chair depth=[0.411, 0.717, 0.158] + !! OVERLAP: table <-> chair depth=[0.574, 0.717, 0.185] + !! OVERLAP: table <-> floor depth=[2.067, -0.002, 0.890] + !! OVERLAP: chair <-> floor depth=[0.553, -0.002, 0.658] + !! OVERLAP: chair <-> floor depth=[0.518, -0.002, 0.568] + !! OVERLAP: chair <-> floor depth=[0.608, -0.002, 0.594] + !! OVERLAP: chair <-> chair depth=[0.510, 0.822, 0.141] + !! OVERLAP: chair <-> floor depth=[0.586, -0.002, 0.629] + !! OVERLAP: chair <-> floor depth=[0.607, -0.002, 0.582] + !! OVERLAP: chair <-> floor depth=[0.630, -0.002, 0.596] + !! OVERLAP: chair <-> floor depth=[0.675, -0.002, 0.701] + !! OVERLAP: chair <-> floor depth=[0.580, -0.002, 0.588] +============================================================ + + +============================================================ +SCENE: DiningRoom-13034 | 8 objects +============================================================ +Final Step Collision Loss: 0.0151, Room Outer Loss: 0.0000, Walkable Loss: 0.0000, Relational Loss: 0.0000 +Guided Steps: 10/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +table 1.509 0.799 0.666 0.112 0.006 0.060 89.88° +chair 0.496 0.768 0.563 0.957 0.001 0.127 -90.25° +chair 0.506 0.861 0.617 0.746 0.003 -0.587 -89.96° +chair 0.514 0.789 0.554 -0.453 0.003 0.096 89.95° +chair 0.487 0.780 0.490 -0.602 0.001 -0.412 90.17° +lamp 0.593 1.107 0.638 0.272 1.653 0.060 89.92° +floor 2.810 0.004 3.547 -0.006 0.002 -0.021 0.05° +_scene_ 0.080 0.005 0.033 -5.655 -0.004 -5.694 -57.30° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: table <-> chair depth=[0.157, 0.768, 0.547] + !! OVERLAP: table <-> chair depth=[0.446, 0.789, 0.554] + !! OVERLAP: table <-> chair depth=[0.284, 0.780, 0.106] + !! OVERLAP: table <-> floor depth=[1.509, 0.004, 0.666] + !! OVERLAP: chair <-> floor depth=[0.496, 0.004, 0.563] + !! OVERLAP: chair <-> floor depth=[0.506, 0.004, 0.617] + !! OVERLAP: chair <-> chair depth=[0.351, 0.780, 0.014] + !! OVERLAP: chair <-> floor depth=[0.514, 0.004, 0.554] + !! OVERLAP: chair <-> floor depth=[0.487, 0.004, 0.490] +============================================================ + + +============================================================ +SCENE: DiningRoom-21509 | 10 objects +============================================================ +Final Step Collision Loss: 0.0439, Room Outer Loss: 0.0576, Walkable Loss: 0.0000, Relational Loss: 0.0000 +Guided Steps: 10/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +table 1.380 0.758 0.949 -0.920 0.000 0.643 0.01° +chair 0.499 0.945 0.533 -0.466 0.000 1.013 -179.89° +chair 0.511 1.008 0.569 -0.431 0.001 0.181 -89.90° +chair 0.525 0.961 0.608 -1.551 0.001 0.589 89.96° +chair 0.528 1.023 0.552 -1.452 0.001 -0.069 0.02° +lamp 0.703 1.233 0.552 -0.256 1.597 -0.450 -0.02° +cabinet 0.568 1.951 0.428 1.201 0.002 -1.429 -0.00° +lamp 0.313 0.991 0.291 -1.309 1.440 0.869 0.08° +floor 3.450 -0.001 3.672 -0.200 0.001 -0.090 -0.00° +_scene_ 0.069 -0.000 0.020 -5.673 -0.003 -5.712 -57.31° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: table <-> chair depth=[0.485, 0.758, 0.371] + !! OVERLAP: table <-> chair depth=[0.457, 0.758, 0.297] + !! OVERLAP: table <-> chair depth=[0.322, 0.758, 0.608] + !! OVERLAP: table <-> chair depth=[0.423, 0.758, 0.039] + !! OVERLAP: table <-> floor depth=[1.380, -0.001, 0.949] + !! OVERLAP: chair <-> floor depth=[0.499, -0.001, 0.533] + !! OVERLAP: chair <-> floor depth=[0.511, -0.001, 0.569] + !! OVERLAP: chair <-> floor depth=[0.525, -0.001, 0.608] + !! OVERLAP: chair <-> floor depth=[0.528, -0.001, 0.552] + !! OVERLAP: cabinet <-> floor depth=[0.568, -0.001, 0.428] +============================================================ + + +============================================================ +SCENE: DiningRoom-42541 | 8 objects +============================================================ +Final Step Collision Loss: 0.0987, Room Outer Loss: 0.0634, Walkable Loss: 0.0000, Relational Loss: 0.0000 +Guided Steps: 10/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +table 1.544 0.699 1.022 -0.312 -0.005 -0.002 -0.02° +chair 0.545 0.917 0.605 -0.204 0.002 0.402 -179.99° +chair 0.541 0.882 0.539 -1.024 -0.001 0.417 -179.97° +chair 0.549 0.940 0.523 -0.219 -0.001 -0.503 0.06° +chair 0.555 0.899 0.575 -0.983 0.000 -0.427 0.03° +lamp 0.641 0.681 0.636 -0.097 2.564 0.064 0.01° +floor 3.691 0.004 1.588 -0.042 -0.001 0.008 -0.06° +_scene_ 0.065 -0.000 0.016 -5.668 -0.005 -5.709 -57.32° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: table <-> chair depth=[0.545, 0.699, 0.410] + !! OVERLAP: table <-> chair depth=[0.330, 0.699, 0.362] + !! OVERLAP: table <-> chair depth=[0.549, 0.699, 0.272] + !! OVERLAP: table <-> chair depth=[0.378, 0.699, 0.373] + !! OVERLAP: table <-> floor depth=[1.544, 0.004, 1.022] + !! OVERLAP: chair <-> floor depth=[0.545, 0.004, 0.605] + !! OVERLAP: chair <-> floor depth=[0.541, 0.004, 0.539] + !! OVERLAP: chair <-> floor depth=[0.549, 0.004, 0.523] + !! OVERLAP: chair <-> floor depth=[0.555, 0.004, 0.575] +============================================================ + + +============================================================ +SCENE: DiningRoom-13727 | 10 objects +============================================================ +Final Step Collision Loss: 0.0401, Room Outer Loss: 0.0000, Walkable Loss: 0.0000, Relational Loss: 0.0000 +Guided Steps: 10/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +table 1.739 0.729 1.235 -0.304 -0.002 -0.126 0.05° +chair 0.560 0.794 0.534 0.328 0.005 0.859 -162.21° +chair 0.541 0.774 0.504 -0.347 0.001 0.838 159.67° +chair 0.574 0.742 0.553 -1.130 0.000 0.157 90.64° +chair 0.489 0.714 0.457 -0.494 -0.001 -0.814 14.10° +chair 0.519 0.818 0.579 0.571 0.005 -0.845 -28.56° +chair 0.559 0.784 0.533 0.895 0.000 -0.087 -80.27° +cabinet 1.918 2.173 0.294 -1.184 0.004 -0.853 89.91° +floor 4.629 0.006 3.234 0.041 -0.001 -0.023 -0.10° +_scene_ 0.076 0.001 0.045 -5.641 -0.009 -5.672 -57.33° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: table <-> chair depth=[0.331, 0.729, 0.553] + !! OVERLAP: table <-> chair depth=[0.489, 0.714, 0.159] + !! OVERLAP: table <-> chair depth=[0.254, 0.729, 0.188] + !! OVERLAP: table <-> cabinet depth=[0.948, 0.729, 0.037] + !! OVERLAP: table <-> floor depth=[1.739, 0.006, 1.235] + !! OVERLAP: chair <-> floor depth=[0.560, 0.006, 0.534] + !! OVERLAP: chair <-> floor depth=[0.541, 0.006, 0.504] + !! OVERLAP: chair <-> floor depth=[0.574, 0.006, 0.553] + !! OVERLAP: chair <-> cabinet depth=[0.489, 0.714, 0.294] + !! OVERLAP: chair <-> floor depth=[0.489, 0.006, 0.457] + !! OVERLAP: chair <-> floor depth=[0.519, 0.006, 0.579] + !! OVERLAP: chair <-> floor depth=[0.559, 0.006, 0.533] + !! OVERLAP: cabinet <-> floor depth=[1.918, 0.006, 0.294] +============================================================ + + +============================================================ +SCENE: Library-4425 | 6 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.2648, Walkable Loss: 0.0000, Relational Loss: 0.0000 +Guided Steps: 10/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +table 1.199 0.757 0.465 0.838 -0.000 -0.232 -89.96° +chair 0.545 0.693 0.564 -0.295 0.001 -0.172 0.20° +bookshelf 0.962 1.993 0.262 -0.801 0.003 1.243 -179.96° +lamp 1.225 1.290 1.191 -0.031 1.357 -0.043 0.02° +floor 2.604 0.001 2.739 0.026 0.001 -0.046 -0.02° +_scene_ 0.069 0.000 0.021 -5.676 -0.005 -5.713 -57.30° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: table <-> floor depth=[1.091, 0.001, 0.465] + !! OVERLAP: chair <-> floor depth=[0.545, 0.001, 0.564] + !! OVERLAP: bookshelf <-> floor depth=[0.956, 0.001, 0.212] +============================================================ + + +============================================================ +SCENE: Library-4345 | 6 objects +============================================================ +Final Step Collision Loss: 0.2006, Room Outer Loss: 0.6095, Walkable Loss: 0.0000, Relational Loss: 0.0000 +Guided Steps: 10/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +bookshelf 2.037 2.107 0.404 0.436 0.005 1.312 179.98° +lamp 0.813 1.265 0.747 -0.264 0.798 -0.272 -0.04° +desk 2.712 2.802 1.505 0.571 -0.001 -0.675 -90.09° +lamp 0.530 0.214 0.500 -0.116 2.299 -0.140 0.00° +floor 2.859 -0.001 3.267 -0.013 0.001 -0.070 -0.02° +_scene_ 0.069 0.004 0.067 -5.661 -0.006 -5.685 -57.32° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bookshelf <-> floor depth=[1.999, -0.001, 0.404] + !! OVERLAP: lamp <-> desk depth=[0.813, 1.234, 0.723] + !! OVERLAP: desk <-> floor depth=[2.201, -0.001, 1.505] +============================================================ + + +============================================================ +SCENE: Library-16688 | 8 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.1140, Walkable Loss: 0.0000, Relational Loss: 0.0000 +Guided Steps: 10/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +lamp 0.838 0.950 0.835 -0.049 1.940 0.011 0.00° +bookshelf 0.707 2.493 0.578 1.605 -0.002 1.073 -90.25° +bookshelf 0.659 2.479 0.494 1.521 -0.002 -1.144 -90.04° +bookshelf 0.731 2.301 0.380 1.513 0.001 -0.007 -90.12° +desk 1.437 0.721 0.600 0.165 0.003 1.196 179.97° +sofa 2.194 0.773 0.962 -0.248 0.001 -0.342 -0.06° +floor 3.757 -0.004 3.216 -0.079 -0.000 0.039 -0.02° +_scene_ 0.067 0.001 0.028 -5.664 -0.005 -5.698 -57.29° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bookshelf <-> floor depth=[0.548, -0.004, 0.578] + !! OVERLAP: bookshelf <-> floor depth=[0.608, -0.004, 0.494] + !! OVERLAP: bookshelf <-> floor depth=[0.653, -0.004, 0.380] + !! OVERLAP: desk <-> floor depth=[1.437, -0.004, 0.600] + !! OVERLAP: sofa <-> floor depth=[2.194, -0.004, 0.962] +============================================================ + + +============================================================ +SCENE: Library-29416 | 7 objects +============================================================ +Final Step Collision Loss: 0.0037, Room Outer Loss: 1.5003, Walkable Loss: 0.0000, Relational Loss: 0.0000 +Guided Steps: 10/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +bookshelf 3.042 2.708 0.284 0.858 -0.003 -0.046 -90.06° +bookshelf 1.950 2.679 0.249 1.105 -0.004 0.547 -90.10° +desk 1.627 0.940 0.616 -0.270 -0.001 0.238 89.95° +chair 0.721 0.742 0.721 0.462 -0.001 0.179 -90.10° +lamp 0.539 0.754 0.538 -0.099 2.050 0.071 -0.02° +floor 3.022 -0.001 3.133 0.002 0.001 -0.006 -0.02° +_scene_ 0.075 0.002 0.033 -5.666 -0.004 -5.696 -57.29° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bookshelf <-> desk depth=[1.207, 0.940, 0.166] + !! OVERLAP: bookshelf <-> chair depth=[0.721, 0.742, 0.278] + !! OVERLAP: bookshelf <-> floor depth=[2.175, -0.001, 0.284] + !! OVERLAP: bookshelf <-> desk depth=[0.414, 0.940, 0.124] + !! OVERLAP: bookshelf <-> chair depth=[0.692, 0.742, 0.117] + !! OVERLAP: bookshelf <-> floor depth=[1.382, -0.001, 0.249] + !! OVERLAP: desk <-> chair depth=[0.442, 0.742, 0.609] + !! OVERLAP: desk <-> floor depth=[1.627, -0.001, 0.616] + !! OVERLAP: chair <-> floor depth=[0.721, -0.001, 0.721] +============================================================ + + +============================================================ +SCENE: Library-110125 | 7 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.1546, Walkable Loss: 0.0000, Relational Loss: 0.0000 +Guided Steps: 10/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +desk 1.331 0.797 0.496 -1.100 0.001 0.726 179.90° +chair 0.592 0.959 0.660 -1.032 0.002 -0.035 -37.98° +bookshelf 1.253 2.169 0.306 -1.032 -0.002 -1.434 0.07° +lamp 1.047 1.148 1.303 0.170 1.545 -0.052 90.02° +chair 0.535 0.550 0.503 1.067 0.005 -0.201 -89.83° +floor 3.739 -0.001 2.877 -0.042 0.000 -0.014 -0.03° +_scene_ 0.063 0.000 0.016 -5.674 -0.006 -5.716 -57.30° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: desk <-> floor depth=[1.331, -0.001, 0.496] + !! OVERLAP: chair <-> floor depth=[0.592, -0.001, 0.660] + !! OVERLAP: bookshelf <-> floor depth=[1.253, -0.001, 0.172] + !! OVERLAP: chair <-> floor depth=[0.535, -0.001, 0.503] +============================================================ + + +============================================================ +SCENE: Library-19478 | 5 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0000, Walkable Loss: 0.0000, Relational Loss: 0.0000 +Guided Steps: 10/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +desk 1.315 0.860 0.904 0.127 0.003 -0.300 -89.88° +bookshelf 1.694 2.444 0.436 -0.255 0.001 -1.255 0.01° +lamp 0.649 1.046 1.008 0.062 1.954 0.044 -0.04° +floor 2.242 0.012 2.945 -0.016 -0.001 -0.035 -0.08° +_scene_ 0.084 -0.015 0.132 -5.512 0.009 -5.528 -57.92° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: desk <-> floor depth=[1.315, 0.012, 0.904] + !! OVERLAP: bookshelf <-> floor depth=[1.694, 0.012, 0.436] +============================================================ + + +============================================================ +SCENE: Library-898 | 5 objects +============================================================ +Final Step Collision Loss: 0.2214, Room Outer Loss: 1.2445, Walkable Loss: 0.0000, Relational Loss: 0.0000 +Guided Steps: 10/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +bookshelf 3.183 2.496 0.323 -1.028 0.002 -0.350 89.86° +desk 2.115 1.707 0.654 0.191 0.001 0.233 -179.99° +chair 0.684 0.748 0.693 0.078 0.001 -0.450 0.05° +floor 2.685 -0.001 3.042 -0.013 0.001 -0.028 -0.01° +_scene_ 0.039 -0.001 0.024 -5.623 0.002 -5.687 -57.39° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bookshelf <-> chair depth=[0.684, 0.748, 0.323] + !! OVERLAP: bookshelf <-> floor depth=[1.919, -0.001, 0.323] + !! OVERLAP: desk <-> floor depth=[2.115, -0.001, 0.654] + !! OVERLAP: chair <-> floor depth=[0.684, -0.001, 0.693] +============================================================ + + +============================================================ +SCENE: Library-2159 | 7 objects +============================================================ +Final Step Collision Loss: 0.0816, Room Outer Loss: 1.2689, Walkable Loss: 0.0000, Relational Loss: 0.0000 +Guided Steps: 10/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +bookshelf 3.637 2.337 0.458 0.859 -0.001 -0.584 -89.94° +chair 0.695 0.821 0.681 -0.968 0.004 -1.821 -15.18° +desk 1.348 0.686 0.506 -0.659 -0.001 -1.421 90.03° +sofa 2.305 0.949 1.242 -0.485 -0.004 0.119 89.97° +table 0.663 0.451 0.863 -0.427 -0.000 1.596 0.00° +floor 3.137 -0.001 4.969 -0.066 0.000 -0.001 -0.02° +_scene_ 0.067 0.000 0.022 -5.668 -0.005 -5.711 -57.29° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bookshelf <-> sofa depth=[1.626, 0.949, 0.148] + !! OVERLAP: bookshelf <-> floor depth=[2.462, -0.001, 0.458] + !! OVERLAP: chair <-> desk depth=[0.695, 0.686, 0.193] + !! OVERLAP: chair <-> floor depth=[0.695, -0.001, 0.681] + !! OVERLAP: desk <-> floor depth=[1.348, -0.001, 0.506] + !! OVERLAP: sofa <-> floor depth=[2.301, -0.001, 1.242] + !! OVERLAP: table <-> floor depth=[0.663, -0.001, 0.863] +============================================================ + + +============================================================ +SCENE: Library-7291 | 7 objects +============================================================ +Final Step Collision Loss: 0.0582, Room Outer Loss: 0.0074, Walkable Loss: 0.0000, Relational Loss: 0.0000 +Guided Steps: 10/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +chair 0.596 0.464 0.744 -0.695 -0.000 0.588 -0.03° +bookshelf 0.827 1.977 0.337 1.237 0.001 0.692 -90.09° +lamp 0.545 0.641 0.440 -0.032 2.149 0.126 -0.05° +desk 1.936 0.852 0.831 -0.212 0.005 0.888 -179.94° +sofa 2.019 0.828 0.914 -0.239 0.001 -1.145 -0.00° +floor 3.342 -0.001 3.360 0.036 0.001 -0.029 -0.02° +_scene_ 0.060 -0.001 0.026 -5.655 -0.003 -5.701 -57.29° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: chair <-> desk depth=[0.596, 0.464, 0.487] + !! OVERLAP: chair <-> floor depth=[0.596, -0.001, 0.744] + !! OVERLAP: bookshelf <-> floor depth=[0.827, -0.001, 0.337] + !! OVERLAP: desk <-> floor depth=[1.936, -0.001, 0.831] + !! OVERLAP: sofa <-> floor depth=[2.019, -0.001, 0.914] +============================================================ + + +============================================================ +SCENE: Library-24727 | 5 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.1123, Walkable Loss: 0.0000, Relational Loss: 0.0000 +Guided Steps: 10/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +bookshelf 1.620 2.214 0.520 -1.178 0.009 0.380 90.00° +chair 0.989 0.837 0.790 0.336 0.011 0.827 -164.65° +lamp 0.316 0.634 0.343 0.140 2.148 0.231 -0.02° +floor 3.813 0.001 3.088 -0.026 0.001 -0.019 0.02° +_scene_ 0.042 0.002 0.065 -5.583 -0.003 -5.605 -57.63° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bookshelf <-> floor depth=[1.565, 0.001, 0.520] + !! OVERLAP: chair <-> floor depth=[0.989, 0.001, 0.790] +============================================================ + + +============================================================ +SCENE: Library-43565 | 7 objects +============================================================ +Final Step Collision Loss: 0.0954, Room Outer Loss: 1.3774, Walkable Loss: 0.0000, Relational Loss: 0.0000 +Guided Steps: 10/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +bookshelf 3.164 2.423 0.455 -0.932 0.000 0.087 89.99° +bookshelf 0.671 2.005 0.331 0.711 0.002 0.854 -179.94° +chair 0.569 0.786 0.600 -0.145 0.002 -0.330 89.83° +lamp 0.664 0.384 0.630 0.019 2.227 -0.060 -0.01° +desk 1.953 0.819 1.043 0.347 -0.002 -0.275 -0.03° +floor 2.715 -0.001 2.852 0.010 0.001 -0.012 -0.01° +_scene_ 0.057 0.003 0.016 -5.674 -0.007 -5.708 -57.30° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bookshelf <-> chair depth=[0.569, 0.786, 0.111] + !! OVERLAP: bookshelf <-> desk depth=[1.280, 0.819, 0.387] + !! OVERLAP: bookshelf <-> floor depth=[1.998, -0.001, 0.455] + !! OVERLAP: bookshelf <-> floor depth=[0.671, -0.001, 0.331] + !! OVERLAP: chair <-> desk depth=[0.569, 0.786, 0.600] + !! OVERLAP: chair <-> floor depth=[0.569, -0.001, 0.600] + !! OVERLAP: desk <-> floor depth=[1.953, -0.001, 1.043] +============================================================ + + +============================================================ +SCENE: Library-24675 | 6 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.8504, Walkable Loss: 0.0000, Relational Loss: 0.0000 +Guided Steps: 10/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +lamp 1.038 1.099 1.031 0.124 1.650 -0.226 -0.01° +chair 0.467 0.929 0.541 -0.632 -0.001 0.373 89.80° +desk 1.194 0.677 0.600 0.277 0.001 -0.239 -90.07° +bookshelf 2.046 2.718 0.412 -1.295 0.001 -0.364 89.94° +floor 2.907 -0.003 3.071 -0.006 0.002 -0.032 -0.01° +_scene_ 0.046 0.004 0.029 -5.510 -0.003 -5.605 -58.06° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: lamp <-> bookshelf depth=[0.122, 0.259, 0.412] + !! OVERLAP: chair <-> floor depth=[0.467, -0.003, 0.541] + !! OVERLAP: desk <-> bookshelf depth=[0.047, 0.677, 0.381] + !! OVERLAP: desk <-> floor depth=[1.194, -0.003, 0.600] + !! OVERLAP: bookshelf <-> floor depth=[1.187, -0.003, 0.412] +============================================================ + + +============================================================ +SCENE: Library-11256 | 10 objects +============================================================ +Final Step Collision Loss: 0.0520, Room Outer Loss: 2.0339, Walkable Loss: 0.0000, Relational Loss: 0.0000 +Guided Steps: 10/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +bookshelf 2.864 2.524 0.361 1.511 -0.004 1.532 -89.94° +bookshelf 3.246 2.358 0.421 1.292 -0.003 -0.124 -90.08° +desk 1.416 0.867 0.611 -0.374 -0.001 1.095 179.93° +chair 0.600 0.923 0.601 0.509 -0.001 0.867 -89.83° +chair 0.749 0.864 0.919 -1.250 0.001 -0.983 34.28° +chair 0.431 0.461 0.384 -1.584 0.012 -0.294 57.79° +table 0.723 0.585 0.598 -0.436 0.002 -1.039 0.08° +lamp 0.383 0.577 0.332 -0.176 2.133 0.297 -0.03° +floor 3.861 -0.002 3.876 -0.008 0.001 0.013 -0.07° +_scene_ 0.069 0.001 0.021 -5.671 -0.004 -5.709 -57.30° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bookshelf <-> desk depth=[0.255, 0.867, 0.049] + !! OVERLAP: bookshelf <-> floor depth=[1.843, -0.002, 0.361] + !! OVERLAP: bookshelf <-> floor depth=[2.253, -0.002, 0.421] + !! OVERLAP: desk <-> chair depth=[0.124, 0.867, 0.379] + !! OVERLAP: desk <-> floor depth=[1.416, -0.002, 0.611] + !! OVERLAP: chair <-> floor depth=[0.600, -0.002, 0.601] + !! OVERLAP: chair <-> floor depth=[0.749, -0.002, 0.919] + !! OVERLAP: chair <-> floor depth=[0.431, -0.002, 0.384] + !! OVERLAP: table <-> floor depth=[0.723, -0.002, 0.598] +============================================================ + + +============================================================ +SCENE: Library-70308 | 6 objects +============================================================ +Final Step Collision Loss: 0.1035, Room Outer Loss: 0.1624, Walkable Loss: 0.0000, Relational Loss: 0.0000 +Guided Steps: 10/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +desk 1.419 0.779 0.655 0.034 0.004 0.381 179.97° +chair 0.650 0.971 0.635 -0.360 0.004 -0.009 20.86° +bookshelf 1.137 2.232 0.412 0.951 0.003 0.281 -90.02° +lamp 1.265 1.392 1.224 -0.026 1.457 0.004 -0.01° +floor 2.926 -0.003 3.263 -0.018 0.001 0.013 -0.02° +_scene_ 0.021 0.008 0.016 -5.619 -0.005 -5.691 -57.41° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: desk <-> chair depth=[0.640, 0.779, 0.255] + !! OVERLAP: desk <-> bookshelf depth=[0.361, 0.779, 0.412] + !! OVERLAP: desk <-> floor depth=[1.419, -0.003, 0.655] + !! OVERLAP: chair <-> floor depth=[0.650, -0.003, 0.635] + !! OVERLAP: bookshelf <-> lamp depth=[0.224, 0.358, 0.412] + !! OVERLAP: bookshelf <-> floor depth=[1.062, -0.003, 0.412] +============================================================ + + +============================================================ +SCENE: Library-57472 | 7 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0752, Walkable Loss: 0.0000, Relational Loss: 0.0000 +Guided Steps: 10/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +desk 1.220 0.781 0.530 -0.306 0.001 1.064 179.93° +bookshelf 0.421 1.799 0.234 1.222 0.000 0.642 -179.95° +chair 0.535 0.718 0.559 -0.517 0.000 0.463 0.05° +bookshelf 1.817 1.975 0.290 -0.769 -0.001 -0.965 0.05° +lamp 1.155 1.021 0.938 -0.243 2.127 0.031 0.01° +floor 3.158 -0.005 2.642 -0.058 0.000 0.029 -0.07° +_scene_ 0.067 -0.001 0.027 -5.676 -0.005 -5.717 -57.33° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: desk <-> floor depth=[1.220, -0.005, 0.530] + !! OVERLAP: bookshelf <-> floor depth=[0.421, -0.005, 0.234] + !! OVERLAP: chair <-> floor depth=[0.535, -0.005, 0.559] + !! OVERLAP: bookshelf <-> floor depth=[1.776, -0.005, 0.290] +============================================================ + + +============================================================ +SCENE: Library-32231 | 7 objects +============================================================ +Final Step Collision Loss: 0.0927, Room Outer Loss: 1.4960, Walkable Loss: 0.0000, Relational Loss: 0.0000 +Guided Steps: 10/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +desk 1.304 0.840 0.552 0.006 0.000 -0.379 -90.21° +bookshelf 3.317 2.514 0.287 -0.227 0.001 1.278 179.97° +cabinet 2.077 1.271 0.607 -0.304 0.000 -0.730 89.94° +lamp 0.561 0.672 0.573 -0.001 2.074 -0.240 0.02° +chair 0.413 0.871 0.462 0.435 -0.001 -1.417 -18.13° +floor 2.056 -0.001 3.768 0.009 0.001 -0.007 -0.01° +_scene_ 0.059 -0.000 0.020 -5.677 -0.004 -5.710 -57.36° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: desk <-> cabinet depth=[1.304, 0.840, 0.228] + !! OVERLAP: desk <-> floor depth=[1.304, -0.001, 0.552] + !! OVERLAP: bookshelf <-> floor depth=[2.056, -0.001, 0.287] + !! OVERLAP: cabinet <-> floor depth=[1.754, -0.001, 0.607] + !! OVERLAP: chair <-> floor depth=[0.413, -0.001, 0.462] +============================================================ + + +============================================================ +SCENE: Library-2480 | 5 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0354, Walkable Loss: 0.0000, Relational Loss: 0.0000 +Guided Steps: 10/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +chair 0.476 0.843 0.471 -0.632 -0.003 -0.234 89.99° +bookshelf 1.744 2.133 0.295 -0.171 0.001 1.629 -179.98° +desk 1.557 0.741 1.107 0.631 -0.003 -0.591 -89.97° +floor 2.749 0.002 3.600 0.032 0.001 -0.057 -0.00° +_scene_ 0.100 0.005 0.073 -5.648 -0.005 -5.684 -57.25° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: chair <-> floor depth=[0.476, 0.002, 0.471] + !! OVERLAP: bookshelf <-> floor depth=[1.744, 0.002, 0.261] + !! OVERLAP: desk <-> floor depth=[1.554, 0.002, 1.107] +============================================================ + + +============================================================ +SCENE: Library-23898 | 8 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.5209, Walkable Loss: 0.0000, Relational Loss: 0.0000 +Guided Steps: 10/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +table 1.360 0.749 0.677 -0.247 0.004 -0.611 -0.07° +lamp 0.653 0.777 0.203 -0.026 1.851 0.265 -0.08° +bookshelf 0.555 1.963 0.378 1.323 -0.000 -1.061 -89.89° +chair 0.533 0.926 0.611 -0.202 -0.004 0.730 166.96° +bookshelf 0.933 1.881 0.460 1.261 0.001 1.654 -89.98° +bookshelf 0.889 2.061 0.350 1.304 0.002 0.305 -90.05° +floor 3.161 -0.005 3.221 0.024 0.000 0.252 -0.07° +_scene_ 0.049 0.002 0.018 -5.677 -0.007 -5.714 -57.32° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: table <-> floor depth=[1.360, -0.005, 0.677] + !! OVERLAP: bookshelf <-> floor depth=[0.555, -0.005, 0.378] + !! OVERLAP: chair <-> floor depth=[0.533, -0.005, 0.611] + !! OVERLAP: bookshelf <-> floor depth=[0.811, -0.005, 0.438] + !! OVERLAP: bookshelf <-> floor depth=[0.745, -0.005, 0.350] +============================================================ + + +============================================================ +SCENE: Library-19283 | 5 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.9630, Walkable Loss: 0.0000, Relational Loss: 0.0000 +Guided Steps: 10/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +bookshelf 3.118 2.432 0.322 0.792 -0.001 -0.156 -90.12° +desk 1.380 0.973 0.725 -0.637 -0.003 -0.311 90.06° +chair 0.547 0.822 0.590 0.017 -0.002 -0.078 -89.70° +floor 2.785 0.001 3.260 -0.023 0.000 -0.052 -0.06° +_scene_ 0.083 0.066 0.102 -4.861 -0.018 -5.266 -57.22° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bookshelf <-> desk depth=[0.820, 0.973, 0.322] + !! OVERLAP: bookshelf <-> chair depth=[0.547, 0.822, 0.322] + !! OVERLAP: bookshelf <-> floor depth=[2.137, 0.001, 0.322] + !! OVERLAP: desk <-> chair depth=[0.309, 0.822, 0.425] + !! OVERLAP: desk <-> floor depth=[1.380, 0.001, 0.725] + !! OVERLAP: chair <-> floor depth=[0.547, 0.001, 0.590] +============================================================ + + +============================================================ +SCENE: Library-29744 | 6 objects +============================================================ +Final Step Collision Loss: 0.1048, Room Outer Loss: 1.9346, Walkable Loss: 0.0000, Relational Loss: 0.0000 +Guided Steps: 10/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +bookshelf 2.910 2.365 0.333 -1.026 -0.002 0.268 89.94° +bookshelf 2.381 2.250 0.298 0.960 -0.005 0.002 -90.06° +desk 1.976 0.750 0.752 0.051 -0.001 -1.006 -0.13° +chair 0.575 0.749 0.577 -0.115 0.005 -0.040 -179.91° +floor 2.620 -0.002 3.311 -0.004 -0.000 -0.021 -0.03° +_scene_ 0.059 -0.001 0.021 -5.658 -0.004 -5.711 -57.30° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bookshelf <-> bookshelf depth=[0.660, 2.250, 0.050] + !! OVERLAP: bookshelf <-> chair depth=[0.575, 0.749, 0.147] + !! OVERLAP: bookshelf <-> floor depth=[1.743, -0.002, 0.333] + !! OVERLAP: bookshelf <-> chair depth=[0.403, 0.749, 0.298] + !! OVERLAP: bookshelf <-> floor depth=[1.537, -0.002, 0.298] + !! OVERLAP: desk <-> floor depth=[1.976, -0.002, 0.752] + !! OVERLAP: chair <-> floor depth=[0.575, -0.002, 0.577] +============================================================ + + +============================================================ +SCENE: Library-22443 | 7 objects +============================================================ +Final Step Collision Loss: 0.0254, Room Outer Loss: 0.2769, Walkable Loss: 0.0000, Relational Loss: 0.0000 +Guided Steps: 10/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +bookshelf 0.907 2.022 0.236 -1.063 0.004 0.145 89.76° +bookshelf 1.186 2.098 0.289 -1.066 0.004 -0.563 89.93° +desk 1.540 0.697 0.615 0.132 -0.000 -0.442 -89.99° +chair 0.564 0.876 0.628 -0.508 0.001 -0.260 85.22° +lamp 0.602 0.439 0.582 -0.073 2.560 -0.192 -0.06° +floor 2.699 0.002 4.237 0.002 0.001 -0.110 0.02° +_scene_ 0.058 -0.001 0.021 -5.675 -0.005 -5.713 -57.31° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bookshelf <-> chair depth=[0.181, 0.876, 0.026] + !! OVERLAP: bookshelf <-> floor depth=[0.738, 0.002, 0.236] + !! OVERLAP: bookshelf <-> desk depth=[0.165, 0.697, 0.289] + !! OVERLAP: bookshelf <-> chair depth=[0.317, 0.876, 0.155] + !! OVERLAP: bookshelf <-> floor depth=[0.874, 0.002, 0.289] + !! OVERLAP: desk <-> chair depth=[0.412, 0.697, 0.440] + !! OVERLAP: desk <-> floor depth=[1.540, 0.002, 0.615] + !! OVERLAP: chair <-> floor depth=[0.564, 0.002, 0.628] +============================================================ + + +============================================================ +SCENE: Library-1093 | 8 objects +============================================================ +Final Step Collision Loss: 0.0125, Room Outer Loss: 0.7032, Walkable Loss: 0.0000, Relational Loss: 0.0000 +Guided Steps: 10/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +bookshelf 0.866 2.141 0.476 -0.940 0.001 1.278 -179.94° +bookshelf 0.825 2.077 0.303 -1.038 0.001 -0.794 89.90° +bookshelf 1.217 2.060 0.397 1.282 0.001 0.015 -90.11° +chair 0.599 0.815 0.685 -0.767 -0.000 -0.490 89.86° +lamp 0.600 0.367 0.612 0.208 2.452 0.090 -90.07° +chair 0.585 0.570 0.598 0.003 0.001 -0.604 90.00° +floor 2.825 0.001 3.364 0.001 0.001 -0.013 -0.03° +_scene_ 0.061 -0.001 0.013 -5.668 -0.004 -5.710 -57.33° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bookshelf <-> floor depth=[0.866, 0.001, 0.476] + !! OVERLAP: bookshelf <-> chair depth=[0.441, 0.815, 0.190] + !! OVERLAP: bookshelf <-> floor depth=[0.786, 0.001, 0.303] + !! OVERLAP: bookshelf <-> floor depth=[0.740, 0.001, 0.397] + !! OVERLAP: chair <-> floor depth=[0.599, 0.001, 0.685] + !! OVERLAP: chair <-> floor depth=[0.585, 0.001, 0.598] +============================================================ + + +============================================================ +SCENE: Library-13832 | 6 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.6584, Walkable Loss: 0.0000, Relational Loss: 0.0000 +Guided Steps: 10/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +bookshelf 1.258 1.640 0.292 -1.074 -0.000 0.056 89.98° +desk 2.049 0.727 0.810 0.273 -0.001 -0.185 -89.96° +chair 0.439 0.766 0.465 -0.393 0.001 0.013 89.94° +lamp 1.363 1.050 0.934 0.103 1.619 -0.054 0.04° +floor 2.355 0.003 2.918 0.008 0.000 0.009 -0.01° +_scene_ 0.065 -0.001 0.017 -5.669 -0.003 -5.712 -57.30° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bookshelf <-> desk depth=[0.307, 0.727, 0.292] + !! OVERLAP: bookshelf <-> chair depth=[0.167, 0.766, 0.292] + !! OVERLAP: bookshelf <-> floor depth=[0.724, 0.003, 0.292] + !! OVERLAP: desk <-> chair depth=[0.439, 0.727, 0.439] + !! OVERLAP: desk <-> floor depth=[1.938, 0.003, 0.810] + !! OVERLAP: chair <-> floor depth=[0.439, 0.003, 0.465] +============================================================ + + +============================================================ +SCENE: Library-16869 | 8 objects +============================================================ +Final Step Collision Loss: 0.0332, Room Outer Loss: 0.0000, Walkable Loss: 0.0000, Relational Loss: 0.0000 +Guided Steps: 10/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +chair 0.556 0.732 0.560 0.328 0.001 -0.091 0.03° +desk 1.643 1.139 0.596 0.625 0.001 0.676 -179.97° +chair 0.389 0.712 0.395 -0.517 -0.001 -0.096 0.05° +bookshelf 0.901 1.359 0.270 0.545 -0.000 -1.291 0.05° +bookshelf 0.823 1.071 0.350 -0.978 0.001 -1.336 0.05° +desk 1.697 1.146 0.624 -0.235 0.004 1.167 -179.72° +floor 2.766 0.001 3.206 -0.002 0.000 -0.020 -0.01° +_scene_ 0.055 -0.002 0.006 -5.674 -0.003 -5.714 -57.32° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: chair <-> floor depth=[0.556, 0.001, 0.560] + !! OVERLAP: desk <-> desk depth=[0.810, 1.139, 0.120] + !! OVERLAP: desk <-> floor depth=[1.578, 0.001, 0.596] + !! OVERLAP: chair <-> floor depth=[0.389, 0.001, 0.395] + !! OVERLAP: bookshelf <-> floor depth=[0.901, 0.001, 0.270] + !! OVERLAP: bookshelf <-> floor depth=[0.818, 0.001, 0.350] + !! OVERLAP: desk <-> floor depth=[1.697, 0.001, 0.624] +============================================================ + + +============================================================ +SCENE: Library-29737 | 6 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0151, Walkable Loss: 0.0000, Relational Loss: 0.0000 +Guided Steps: 10/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +chair 0.581 1.028 0.624 0.003 -0.002 0.687 -154.90° +desk 2.354 0.806 1.088 0.044 0.002 -0.490 0.03° +lamp 0.488 0.612 0.449 -0.066 1.985 0.006 -0.02° +bookshelf 1.937 2.455 0.301 -0.129 0.001 1.352 -179.95° +floor 2.754 -0.002 3.102 0.001 0.000 0.008 -0.02° +_scene_ 0.072 -0.002 0.037 -5.656 -0.003 -5.689 -57.26° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: chair <-> floor depth=[0.581, -0.002, 0.624] + !! OVERLAP: desk <-> floor depth=[2.354, -0.002, 1.088] + !! OVERLAP: bookshelf <-> floor depth=[1.937, -0.002, 0.301] +============================================================ + + +============================================================ +SCENE: Library-13751 | 6 objects +============================================================ +Final Step Collision Loss: 0.1591, Room Outer Loss: 0.0000, Walkable Loss: 0.0000, Relational Loss: 0.0000 +Guided Steps: 10/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +lamp 0.674 0.299 0.659 -0.019 2.462 0.136 0.01° +bookshelf 1.517 1.973 0.349 -0.063 -0.000 -1.253 0.01° +desk 2.076 0.675 1.116 -0.015 0.001 0.140 -89.98° +chair 0.569 0.877 0.639 0.596 -0.003 -0.061 -30.62° +floor 2.545 -0.002 2.706 0.012 -0.000 0.002 -0.01° +_scene_ 0.044 0.009 0.026 -5.621 -0.005 -5.676 -57.38° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bookshelf <-> floor depth=[1.517, -0.002, 0.273] + !! OVERLAP: desk <-> chair depth=[0.569, 0.675, 0.639] + !! OVERLAP: desk <-> floor depth=[2.076, -0.002, 1.116] + !! OVERLAP: chair <-> floor depth=[0.569, -0.002, 0.639] +============================================================ + + +============================================================ +SCENE: Library-11820 | 6 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.2511, Walkable Loss: 0.0000, Relational Loss: 0.0000 +Guided Steps: 10/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +lamp 0.620 0.322 0.602 -0.132 2.349 0.023 -0.04° +chair 0.439 0.872 0.390 1.122 0.015 -0.601 -122.63° +desk 1.480 0.794 0.578 -0.013 0.002 -0.886 0.02° +bookshelf 2.767 1.828 0.475 0.140 0.003 1.213 -179.79° +floor 2.534 0.001 2.944 0.039 0.001 -0.022 -0.03° +_scene_ 0.090 0.002 0.041 -5.661 -0.004 -5.700 -57.30° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: chair <-> floor depth=[0.403, 0.001, 0.390] + !! OVERLAP: desk <-> floor depth=[1.480, 0.001, 0.578] + !! OVERLAP: bookshelf <-> floor depth=[2.534, 0.001, 0.475] +============================================================ + + +============================================================ +SCENE: Library-45741 | 6 objects +============================================================ +Final Step Collision Loss: 0.0566, Room Outer Loss: 0.0428, Walkable Loss: 0.0000, Relational Loss: 0.0000 +Guided Steps: 10/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +desk 2.208 0.908 0.809 -0.263 0.000 0.116 89.94° +chair 0.554 0.766 0.597 0.480 0.001 -0.022 -90.09° +bookshelf 1.098 2.170 0.389 0.908 0.011 -0.020 -89.89° +lamp 0.569 0.343 0.579 -0.085 2.191 -0.014 0.02° +floor 2.681 -0.001 3.188 0.005 0.000 -0.005 -0.03° +_scene_ 0.052 0.002 0.016 -5.645 -0.003 -5.698 -57.33° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: desk <-> chair depth=[0.554, 0.766, 0.565] + !! OVERLAP: desk <-> bookshelf depth=[0.482, 0.908, 0.389] + !! OVERLAP: desk <-> floor depth=[2.177, -0.001, 0.809] + !! OVERLAP: chair <-> bookshelf depth=[0.397, 0.766, 0.389] + !! OVERLAP: chair <-> floor depth=[0.554, -0.001, 0.597] + !! OVERLAP: bookshelf <-> floor depth=[0.986, -0.001, 0.389] +============================================================ + + +============================================================ +SCENE: Library-4659 | 5 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0095, Walkable Loss: 0.0000, Relational Loss: 0.0000 +Guided Steps: 10/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +desk 2.345 0.908 0.620 0.153 -0.001 -0.929 -0.01° +chair 0.421 0.982 0.592 0.522 0.005 0.432 -179.76° +lamp 0.818 0.626 0.958 0.024 2.001 -0.053 -0.05° +floor 2.565 0.010 3.425 0.090 -0.001 -0.139 -0.13° +_scene_ -0.097 0.100 0.091 -4.473 0.797 -4.323 -61.84° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: desk <-> floor depth=[2.345, 0.010, 0.620] + !! OVERLAP: chair <-> floor depth=[0.421, 0.010, 0.592] +============================================================ + + +============================================================ +SCENE: Library-1808 | 7 objects +============================================================ +Final Step Collision Loss: 0.0684, Room Outer Loss: 2.9424, Walkable Loss: 0.0000, Relational Loss: 0.0000 +Guided Steps: 10/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +bookshelf 3.657 2.669 0.198 1.183 -0.000 0.495 -90.13° +bookshelf 3.951 2.793 0.324 0.936 0.001 0.080 -89.99° +desk 1.913 0.790 0.939 -0.249 0.000 0.227 89.97° +chair 0.472 1.032 0.741 0.192 -0.001 -0.107 -89.28° +lamp 0.841 0.557 0.842 -0.082 2.118 0.074 -0.05° +floor 2.975 -0.002 3.007 0.009 -0.000 -0.009 -0.05° +_scene_ 0.079 -0.000 0.028 -5.659 -0.005 -5.696 -57.31° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bookshelf <-> desk depth=[1.353, 0.790, 0.198] + !! OVERLAP: bookshelf <-> floor depth=[2.142, -0.002, 0.198] + !! OVERLAP: bookshelf <-> desk depth=[1.747, 0.790, 0.324] + !! OVERLAP: bookshelf <-> chair depth=[0.472, 1.032, 0.324] + !! OVERLAP: bookshelf <-> floor depth=[2.536, -0.002, 0.324] + !! OVERLAP: desk <-> chair depth=[0.472, 0.790, 0.506] + !! OVERLAP: desk <-> floor depth=[1.913, -0.002, 0.939] + !! OVERLAP: chair <-> floor depth=[0.472, -0.002, 0.741] +============================================================ + + +============================================================ +SCENE: Library-457 | 5 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.7548, Walkable Loss: 0.0000, Relational Loss: 0.0000 +Guided Steps: 10/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +bookshelf 2.319 2.442 0.386 1.050 -0.002 0.181 -90.17° +lamp 1.002 0.966 1.206 -0.122 1.635 0.048 0.01° +table 1.268 0.704 0.517 -0.224 -0.001 -0.401 0.04° +floor 3.019 -0.000 3.385 -0.003 -0.000 -0.022 -0.03° +_scene_ 0.107 0.012 0.133 -5.483 -0.004 -5.622 -57.26° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bookshelf <-> lamp depth=[0.488, 0.068, 0.386] + !! OVERLAP: bookshelf <-> floor depth=[1.615, -0.000, 0.386] + !! OVERLAP: table <-> floor depth=[1.268, -0.000, 0.517] +============================================================ + + +============================================================ +SCENE: Library-123545 | 8 objects +============================================================ +Final Step Collision Loss: 0.3158, Room Outer Loss: 4.9062, Walkable Loss: 0.0000, Relational Loss: 0.0000 +Guided Steps: 10/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +desk 1.304 0.797 0.616 0.435 0.000 -0.251 0.05° +chair 0.467 0.887 0.654 -0.510 -0.000 0.280 89.94° +bookshelf 3.876 2.480 0.202 -1.584 -0.000 0.132 89.95° +bookshelf 3.198 2.388 0.202 -1.314 0.003 -0.082 89.84° +bookshelf 4.319 2.504 0.338 -1.250 0.001 0.600 89.92° +lamp 1.169 0.869 0.524 0.213 1.982 0.354 -89.75° +floor 3.162 -0.002 3.156 0.000 0.000 0.010 -0.06° +_scene_ 0.076 0.003 0.067 -5.640 -0.002 -5.646 -57.37° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: desk <-> bookshelf depth=[0.571, 0.797, 0.026] + !! OVERLAP: desk <-> bookshelf depth=[0.502, 0.797, 0.202] + !! OVERLAP: desk <-> floor depth=[1.304, -0.002, 0.616] + !! OVERLAP: chair <-> bookshelf depth=[0.467, 0.887, 0.202] + !! OVERLAP: chair <-> bookshelf depth=[0.467, 0.887, 0.066] + !! OVERLAP: chair <-> bookshelf depth=[0.467, 0.887, 0.176] + !! OVERLAP: chair <-> floor depth=[0.467, -0.002, 0.654] + !! OVERLAP: bookshelf <-> floor depth=[1.934, -0.002, 0.202] + !! OVERLAP: bookshelf <-> floor depth=[1.866, -0.002, 0.202] + !! OVERLAP: bookshelf <-> floor depth=[2.490, -0.002, 0.338] +============================================================ + + +============================================================ +SCENE: Library-71638 | 7 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0965, Walkable Loss: 0.0000, Relational Loss: 0.0000 +Guided Steps: 10/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +desk 1.234 0.787 0.561 -0.214 0.002 1.167 179.96° +bookshelf 0.369 1.764 0.311 1.342 0.002 0.677 -90.03° +chair 0.444 0.775 0.536 -0.320 -0.000 0.470 0.09° +bookshelf 1.832 1.899 0.425 -0.667 -0.001 -1.012 0.04° +lamp 0.933 1.134 0.845 -0.042 1.890 -0.015 0.00° +floor 2.939 -0.002 3.014 -0.012 0.002 0.022 -0.06° +_scene_ 0.063 0.003 0.033 -5.676 -0.005 -5.703 -57.30° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: desk <-> floor depth=[1.234, -0.002, 0.561] + !! OVERLAP: bookshelf <-> floor depth=[0.300, -0.002, 0.311] + !! OVERLAP: chair <-> floor depth=[0.444, -0.002, 0.536] + !! OVERLAP: bookshelf <-> floor depth=[1.731, -0.002, 0.425] +============================================================ + + +============================================================ +SCENE: Library-90753 | 6 objects +============================================================ +Final Step Collision Loss: 0.0286, Room Outer Loss: 0.8076, Walkable Loss: 0.0000, Relational Loss: 0.0000 +Guided Steps: 10/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +chair 0.608 0.903 0.720 0.822 -0.001 -0.213 5.30° +desk 0.900 0.757 0.693 0.170 -0.001 -0.040 -90.16° +bookshelf 2.098 2.443 0.286 -1.012 -0.001 0.112 89.96° +lamp 0.996 1.251 1.071 0.005 1.554 0.046 0.01° +floor 2.535 -0.000 3.008 -0.016 0.000 -0.085 -0.03° +_scene_ 0.062 0.000 0.037 -5.640 -0.002 -5.678 -57.31° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: chair <-> desk depth=[0.102, 0.757, 0.534] + !! OVERLAP: chair <-> floor depth=[0.608, -0.000, 0.720] + !! OVERLAP: desk <-> bookshelf depth=[0.317, 0.757, 0.286] + !! OVERLAP: desk <-> floor depth=[0.900, -0.000, 0.693] + !! OVERLAP: bookshelf <-> lamp depth=[0.530, 0.292, 0.286] + !! OVERLAP: bookshelf <-> floor depth=[1.320, -0.000, 0.286] +============================================================ + + +============================================================ +SCENE: Library-8543 | 6 objects +============================================================ +Final Step Collision Loss: 0.0163, Room Outer Loss: 0.4912, Walkable Loss: 0.0000, Relational Loss: 0.0000 +Guided Steps: 10/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +desk 1.343 0.863 0.736 -0.319 0.001 -0.092 -90.11° +chair 0.429 1.006 0.570 -0.895 -0.001 -0.031 0.11° +bookshelf 1.807 2.311 0.336 1.052 0.001 -0.019 -90.04° +lamp 0.400 0.754 0.379 0.228 1.763 0.054 -0.03° +floor 2.960 -0.000 2.660 -0.003 0.001 -0.015 -0.05° +_scene_ 0.062 0.004 0.026 -5.648 -0.004 -5.680 -57.32° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: desk <-> chair depth=[0.309, 0.863, 0.570] + !! OVERLAP: desk <-> bookshelf depth=[0.204, 0.863, 0.336] + !! OVERLAP: desk <-> floor depth=[1.343, -0.000, 0.736] + !! OVERLAP: chair <-> floor depth=[0.429, -0.000, 0.570] + !! OVERLAP: bookshelf <-> floor depth=[1.329, -0.000, 0.336] +============================================================ + + +============================================================ +SCENE: Library-28947 | 5 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0000, Walkable Loss: 0.0000, Relational Loss: 0.0000 +Guided Steps: 10/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +desk 1.990 1.429 0.566 -0.120 -0.000 -0.961 0.16° +chair 0.522 0.742 0.524 -0.701 0.002 -0.281 -179.81° +lamp 0.265 0.568 0.489 -0.048 1.921 -0.088 -89.40° +floor 2.162 0.024 2.596 -0.062 0.002 -0.259 -0.27° +_scene_ -0.087 0.298 -0.030 -3.036 1.351 -3.069 -67.17° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: desk <-> floor depth=[1.990, 0.024, 0.566] + !! OVERLAP: chair <-> floor depth=[0.522, 0.024, 0.524] +============================================================ + + +============================================================ +SCENE: Library-163346 | 5 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.2866, Walkable Loss: 0.0000, Relational Loss: 0.0000 +Guided Steps: 10/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +desk 1.091 0.694 0.555 -0.191 0.002 -0.593 -0.12° +bookshelf 1.131 2.174 0.424 -0.974 0.001 -0.300 89.98° +lamp 0.565 0.595 0.588 0.034 2.370 -0.074 -0.05° +floor 2.432 0.002 3.007 -0.008 0.000 -0.028 -0.07° +_scene_ 0.007 0.168 0.002 -4.327 0.028 -4.542 -60.77° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: desk <-> bookshelf depth=[0.328, 0.694, 0.196] + !! OVERLAP: desk <-> floor depth=[1.091, 0.002, 0.555] + !! OVERLAP: bookshelf <-> floor depth=[0.815, 0.002, 0.424] +============================================================ + + +============================================================ +SCENE: Library-32140 | 5 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0304, Walkable Loss: 0.0000, Relational Loss: 0.0000 +Guided Steps: 10/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +desk 1.828 1.397 0.551 -0.317 0.001 -1.233 0.02° +chair 0.599 0.869 0.619 -0.863 0.001 0.033 -179.99° +lamp 0.542 0.350 0.532 -0.084 2.291 0.144 -0.05° +floor 2.576 0.001 3.262 -0.010 0.001 0.048 -0.01° +_scene_ 0.088 -0.005 0.079 -5.586 0.011 -5.610 -57.40° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: desk <-> floor depth=[1.828, 0.001, 0.551] + !! OVERLAP: chair <-> floor depth=[0.599, 0.001, 0.619] +============================================================ + + +============================================================ +SCENE: Library-19891 | 9 objects +============================================================ +Final Step Collision Loss: 0.0237, Room Outer Loss: 0.0472, Walkable Loss: 0.0000, Relational Loss: 0.0000 +Guided Steps: 10/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +bookshelf 2.456 2.445 0.344 0.348 0.001 1.092 -179.73° +desk 1.872 0.737 0.918 0.495 -0.001 0.281 179.96° +chair 0.445 0.993 0.541 1.007 0.003 0.765 179.95° +chair 0.644 1.019 0.657 -0.536 -0.002 -1.289 4.96° +chair 0.592 0.985 0.667 1.313 0.001 -1.217 0.02° +table 0.716 0.610 0.633 0.466 0.002 -1.300 0.06° +lamp 0.568 0.718 0.562 0.198 1.868 -0.334 -0.06° +floor 3.325 -0.002 3.150 -0.006 0.001 0.016 -0.02° +_scene_ 0.068 0.000 0.027 -5.672 -0.004 -5.717 -57.31° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bookshelf <-> chair depth=[0.445, 0.993, 0.115] + !! OVERLAP: bookshelf <-> floor depth=[2.456, -0.002, 0.344] + !! OVERLAP: desk <-> chair depth=[0.445, 0.737, 0.245] + !! OVERLAP: desk <-> floor depth=[1.872, -0.002, 0.918] + !! OVERLAP: chair <-> floor depth=[0.445, -0.002, 0.541] + !! OVERLAP: chair <-> floor depth=[0.644, -0.002, 0.599] + !! OVERLAP: chair <-> floor depth=[0.592, -0.002, 0.667] + !! OVERLAP: table <-> floor depth=[0.716, -0.002, 0.576] +============================================================ + + +============================================================ +SCENE: Library-7168 | 6 objects +============================================================ +Final Step Collision Loss: 0.0473, Room Outer Loss: 0.6416, Walkable Loss: 0.0000, Relational Loss: 0.0000 +Guided Steps: 10/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +desk 1.763 0.773 0.789 0.196 0.003 -0.344 89.91° +bookshelf 1.169 2.553 0.382 -0.566 0.002 -0.881 0.10° +bookshelf 0.592 2.337 0.317 1.280 0.002 -0.723 -89.98° +bookshelf 1.940 2.149 0.443 0.349 0.000 1.349 -179.97° +floor 2.402 0.003 3.469 0.005 0.002 -0.165 -0.09° +_scene_ 0.126 0.214 0.283 -2.730 -0.011 -2.854 -80.37° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: desk <-> bookshelf depth=[0.705, 0.773, 0.049] + !! OVERLAP: desk <-> bookshelf depth=[0.094, 0.773, 0.175] + !! OVERLAP: desk <-> floor depth=[1.763, 0.003, 0.789] + !! OVERLAP: bookshelf <-> floor depth=[1.169, 0.003, 0.382] + !! OVERLAP: bookshelf <-> floor depth=[0.222, 0.003, 0.317] + !! OVERLAP: bookshelf <-> floor depth=[1.827, 0.003, 0.442] +============================================================ + + +============================================================ +SCENE: Library-17832 | 9 objects +============================================================ +Final Step Collision Loss: 0.1341, Room Outer Loss: 0.2501, Walkable Loss: 0.0000, Relational Loss: 0.0000 +Guided Steps: 10/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +desk 2.849 0.787 1.915 0.106 0.001 -0.321 0.09° +chair 0.503 0.884 0.542 0.444 0.002 -0.507 89.75° +wardrobe 1.518 2.172 0.469 -1.115 0.001 1.266 -179.94° +wardrobe 0.986 2.335 0.756 -1.749 -0.001 -0.418 90.01° +wardrobe 1.107 2.195 0.436 1.536 0.000 -0.452 -90.02° +wardrobe 0.953 2.072 0.544 1.570 -0.001 0.698 -179.90° +lamp 0.502 0.200 0.500 0.074 2.793 -0.097 -0.11° +floor 4.158 -0.001 3.531 -0.016 0.000 0.015 -0.03° +_scene_ 0.043 0.001 0.021 -5.668 -0.005 -5.706 -57.33° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: desk <-> chair depth=[0.503, 0.787, 0.542] + !! OVERLAP: desk <-> wardrobe depth=[0.062, 0.787, 0.756] + !! OVERLAP: desk <-> wardrobe depth=[0.548, 0.787, 0.436] + !! OVERLAP: desk <-> wardrobe depth=[0.436, 0.787, 0.210] + !! OVERLAP: desk <-> floor depth=[2.849, -0.001, 1.915] + !! OVERLAP: chair <-> floor depth=[0.503, -0.001, 0.542] + !! OVERLAP: wardrobe <-> floor depth=[1.518, -0.001, 0.469] + !! OVERLAP: wardrobe <-> floor depth=[0.839, -0.001, 0.756] + !! OVERLAP: wardrobe <-> floor depth=[1.080, -0.001, 0.436] + !! OVERLAP: wardrobe <-> floor depth=[0.953, -0.001, 0.544] +============================================================ + + +============================================================ +SCENE: Library-25138 | 6 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0000, Walkable Loss: 0.0000, Relational Loss: 0.0000 +Guided Steps: 10/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +chair 0.601 0.860 0.671 -0.107 0.001 0.993 -179.99° +chair 0.699 0.873 0.757 -0.832 0.001 0.058 0.04° +lamp 0.480 0.745 0.525 1.175 2.214 0.045 179.87° +lamp 0.393 0.722 0.398 -0.170 1.757 0.025 -0.01° +floor 3.344 0.011 4.195 0.354 0.001 -0.417 0.00° +_scene_ 0.063 0.001 0.017 -5.652 -0.004 -5.690 -57.35° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: chair <-> floor depth=[0.601, 0.011, 0.671] + !! OVERLAP: chair <-> floor depth=[0.699, 0.011, 0.757] +============================================================ + + +============================================================ +SCENE: Library-36052 | 7 objects +============================================================ +Final Step Collision Loss: 0.7415, Room Outer Loss: 5.6509, Walkable Loss: 0.0000, Relational Loss: 0.0000 +Guided Steps: 10/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +bookshelf 3.132 2.570 0.091 0.596 -0.000 -0.240 -90.15° +bookshelf 3.117 2.576 0.284 0.654 -0.001 -0.483 -90.06° +bookshelf 2.358 2.550 0.300 0.829 0.001 -0.180 -90.03° +bookshelf 3.449 2.519 0.218 0.936 0.001 -0.615 -90.12° +desk 1.594 0.817 1.199 -0.364 0.003 -0.109 90.04° +floor 1.970 0.008 3.493 -0.113 0.009 0.028 -0.08° +_scene_ 0.311 0.314 2.067 -3.133 0.000 -2.867 -78.50° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bookshelf <-> bookshelf depth=[2.358, 2.550, 0.091] + !! OVERLAP: bookshelf <-> desk depth=[1.403, 0.817, 0.091] + !! OVERLAP: bookshelf <-> floor depth=[1.842, 0.008, 0.091] + !! OVERLAP: bookshelf <-> bookshelf depth=[3.001, 2.519, 0.120] + !! OVERLAP: bookshelf <-> desk depth=[1.338, 0.817, 0.284] + !! OVERLAP: bookshelf <-> floor depth=[1.777, 0.008, 0.284] + !! OVERLAP: bookshelf <-> desk depth=[0.784, 0.817, 0.300] + !! OVERLAP: bookshelf <-> floor depth=[1.222, 0.008, 0.300] + !! OVERLAP: bookshelf <-> desk depth=[1.222, 0.817, 0.203] + !! OVERLAP: bookshelf <-> floor depth=[1.660, 0.008, 0.218] + !! OVERLAP: desk <-> floor depth=[1.531, 0.008, 1.199] +============================================================ + + +============================================================ +SCENE: Library-40642 | 6 objects +============================================================ +Final Step Collision Loss: 0.0061, Room Outer Loss: 0.0000, Walkable Loss: 0.0000, Relational Loss: 0.0000 +Guided Steps: 10/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +desk 1.429 0.726 0.631 0.174 0.000 -1.047 -90.02° +chair 0.505 0.910 0.649 -0.630 -0.000 -1.007 41.25° +bookshelf 0.903 2.050 0.453 0.807 0.000 0.714 -90.21° +lamp 1.247 1.278 1.189 -0.119 1.532 0.026 0.02° +floor 2.348 0.000 3.815 0.002 0.000 -0.040 -0.02° +_scene_ 0.062 0.001 0.021 -5.650 -0.004 -5.699 -57.29° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: desk <-> chair depth=[0.162, 0.726, 0.600] + !! OVERLAP: desk <-> floor depth=[1.429, 0.000, 0.631] + !! OVERLAP: chair <-> floor depth=[0.505, 0.000, 0.649] + !! OVERLAP: bookshelf <-> lamp depth=[0.149, 0.133, 0.133] + !! OVERLAP: bookshelf <-> floor depth=[0.821, 0.000, 0.453] +============================================================ + + +============================================================ +SCENE: Library-58697 | 7 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0094, Walkable Loss: 0.0000, Relational Loss: 0.0000 +Guided Steps: 10/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +desk 1.842 0.704 0.862 -0.315 0.000 -0.340 -0.00° +bookshelf 0.936 2.397 0.353 -1.103 0.002 1.215 -180.00° +bookshelf 0.880 2.266 0.389 0.767 -0.001 1.278 -179.92° +bookshelf 0.706 2.236 0.374 -0.116 0.001 1.185 -179.92° +lamp 0.838 0.187 0.842 -0.329 2.486 -0.029 -0.00° +floor 3.749 0.000 2.779 -0.104 0.000 0.022 -0.04° +_scene_ 0.024 -0.006 0.008 -5.632 -0.002 -5.674 -57.38° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: desk <-> floor depth=[1.842, 0.000, 0.862] + !! OVERLAP: bookshelf <-> floor depth=[0.936, 0.000, 0.353] + !! OVERLAP: bookshelf <-> floor depth=[0.880, 0.000, 0.327] + !! OVERLAP: bookshelf <-> floor depth=[0.706, 0.000, 0.374] +============================================================ + + +============================================================ +SCENE: Library-145994 | 10 objects +============================================================ +Final Step Collision Loss: 0.2488, Room Outer Loss: 1.5801, Walkable Loss: 0.0000, Relational Loss: 0.0000 +Guided Steps: 10/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +bookshelf 1.832 2.090 0.141 -1.644 -0.001 0.284 90.05° +bookshelf 1.802 2.034 0.305 -0.541 -0.000 1.077 -179.93° +bookshelf 1.562 2.157 0.239 -1.629 0.000 0.340 89.67° +bookshelf 2.172 2.014 0.330 -1.598 0.005 0.216 89.94° +bookshelf 1.692 2.067 0.381 0.574 -0.001 -0.862 0.01° +bookshelf 1.921 2.054 0.302 0.451 -0.002 -1.153 0.05° +desk 2.499 2.809 1.238 0.011 0.002 0.220 -179.89° +lamp 0.755 0.426 0.772 0.076 2.247 0.071 -0.04° +floor 3.757 0.002 3.116 -0.091 0.001 -0.013 -0.04° +_scene_ 0.261 0.259 1.019 -3.138 0.218 -2.178 -82.85° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bookshelf <-> bookshelf depth=[1.562, 2.090, 0.135] + !! OVERLAP: bookshelf <-> bookshelf depth=[1.832, 2.014, 0.141] + !! OVERLAP: bookshelf <-> desk depth=[0.510, 2.090, 0.141] + !! OVERLAP: bookshelf <-> floor depth=[1.241, 0.002, 0.141] + !! OVERLAP: bookshelf <-> floor depth=[1.802, 0.002, 0.305] + !! OVERLAP: bookshelf <-> bookshelf depth=[1.562, 2.014, 0.161] + !! OVERLAP: bookshelf <-> desk depth=[0.390, 2.157, 0.239] + !! OVERLAP: bookshelf <-> floor depth=[1.121, 0.002, 0.239] + !! OVERLAP: bookshelf <-> desk depth=[0.726, 2.014, 0.330] + !! OVERLAP: bookshelf <-> floor depth=[1.458, 0.002, 0.330] + !! OVERLAP: bookshelf <-> bookshelf depth=[1.684, 2.054, 0.050] + !! OVERLAP: bookshelf <-> floor depth=[1.692, 0.002, 0.381] + !! OVERLAP: bookshelf <-> floor depth=[1.921, 0.002, 0.302] + !! OVERLAP: desk <-> floor depth=[2.499, 0.002, 1.238] +============================================================ + + +============================================================ +SCENE: Library-39529 | 6 objects +============================================================ +Final Step Collision Loss: 0.0220, Room Outer Loss: 0.3134, Walkable Loss: 0.0000, Relational Loss: 0.0000 +Guided Steps: 10/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +bookshelf 1.608 2.315 0.292 1.107 -0.000 -0.247 -90.15° +desk 1.382 0.996 0.647 -0.328 -0.001 -0.168 90.02° +chair 0.553 0.810 0.603 0.597 0.001 -0.239 -90.00° +lamp 0.516 0.617 0.516 0.094 2.001 0.133 -0.05° +floor 2.919 -0.000 3.240 -0.010 0.001 -0.007 0.00° +_scene_ 0.067 -0.001 0.037 -5.649 -0.005 -5.689 -57.30° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bookshelf <-> desk depth=[0.061, 0.996, 0.292] + !! OVERLAP: bookshelf <-> chair depth=[0.553, 0.810, 0.292] + !! OVERLAP: bookshelf <-> floor depth=[1.147, -0.000, 0.292] + !! OVERLAP: desk <-> chair depth=[0.042, 0.810, 0.553] + !! OVERLAP: desk <-> floor depth=[1.382, -0.000, 0.647] + !! OVERLAP: chair <-> floor depth=[0.553, -0.000, 0.603] +============================================================ + + +============================================================ +SCENE: Library-56351 | 6 objects +============================================================ +Final Step Collision Loss: 1.0358, Room Outer Loss: 2.5983, Walkable Loss: 0.0000, Relational Loss: 0.0000 +Guided Steps: 10/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +bookshelf 3.941 2.611 0.513 0.009 0.003 1.035 -179.96° +bookshelf 4.276 2.486 0.441 -0.218 0.003 0.552 -179.97° +desk 2.301 0.774 0.895 0.581 0.004 0.379 179.90° +chair 0.547 0.771 0.542 -0.149 -0.000 -0.767 0.05° +floor 2.987 -0.006 3.481 -0.010 0.001 -0.027 -0.01° +_scene_ 0.085 0.004 0.039 -5.673 -0.005 -5.693 -57.28° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bookshelf <-> desk depth=[2.301, 0.774, 0.048] + !! OVERLAP: bookshelf <-> floor depth=[2.987, -0.006, 0.513] + !! OVERLAP: bookshelf <-> desk depth=[2.301, 0.774, 0.441] + !! OVERLAP: bookshelf <-> floor depth=[2.987, -0.006, 0.441] + !! OVERLAP: desk <-> floor depth=[2.053, -0.006, 0.895] + !! OVERLAP: chair <-> floor depth=[0.547, -0.006, 0.542] +============================================================ + + +============================================================ +SCENE: Library-5406 | 9 objects +============================================================ +Final Step Collision Loss: 0.0288, Room Outer Loss: 0.3741, Walkable Loss: 0.0000, Relational Loss: 0.0000 +Guided Steps: 10/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +desk 1.898 0.838 1.045 0.177 0.001 -0.574 0.01° +bookshelf 0.831 2.025 0.288 0.834 -0.001 1.330 -179.95° +bookshelf 0.904 2.178 0.370 -0.089 0.001 1.011 -179.94° +chair 0.499 0.774 0.516 -0.484 0.000 -0.039 0.12° +bookshelf 0.588 2.096 0.405 -1.558 0.001 -0.991 90.00° +bookshelf 0.705 2.141 0.407 -0.562 0.001 1.187 -179.95° +lamp 0.588 0.099 0.593 0.059 2.431 -0.125 -0.03° +floor 3.157 -0.003 2.843 -0.046 0.001 -0.001 -0.02° +_scene_ 0.052 0.067 0.155 -5.428 -0.005 -5.486 -59.86° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: desk <-> chair depth=[0.499, 0.774, 0.246] + !! OVERLAP: desk <-> floor depth=[1.898, -0.003, 1.045] + !! OVERLAP: bookshelf <-> floor depth=[0.831, -0.003, 0.235] + !! OVERLAP: bookshelf <-> bookshelf depth=[0.332, 2.141, 0.213] + !! OVERLAP: bookshelf <-> floor depth=[0.904, -0.003, 0.370] + !! OVERLAP: chair <-> floor depth=[0.499, -0.003, 0.516] + !! OVERLAP: bookshelf <-> floor depth=[0.360, -0.003, 0.405] + !! OVERLAP: bookshelf <-> floor depth=[0.705, -0.003, 0.407] +============================================================ + + +============================================================ +SCENE: Library-51220 | 6 objects +============================================================ +Final Step Collision Loss: 0.0955, Room Outer Loss: 0.1358, Walkable Loss: 0.0000, Relational Loss: 0.0000 +Guided Steps: 10/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +desk 1.685 0.774 0.946 0.277 -0.001 -0.314 -89.83° +chair 0.545 0.892 0.642 -0.212 0.001 -0.034 90.01° +bookshelf 0.767 1.714 0.415 0.891 0.002 0.122 -90.03° +lamp 0.765 0.472 0.738 -0.072 2.191 -0.116 -0.00° +floor 2.512 -0.002 2.310 -0.026 0.001 -0.065 -0.05° +_scene_ 0.069 -0.001 0.037 -5.638 -0.003 -5.689 -57.29° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: desk <-> chair depth=[0.545, 0.774, 0.513] + !! OVERLAP: desk <-> bookshelf depth=[0.612, 0.774, 0.245] + !! OVERLAP: desk <-> floor depth=[1.685, -0.002, 0.946] + !! OVERLAP: chair <-> floor depth=[0.545, -0.002, 0.642] + !! OVERLAP: bookshelf <-> floor depth=[0.723, -0.002, 0.415] +============================================================ + + +============================================================ +SCENE: Library-5781 | 6 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0000, Walkable Loss: 0.0000, Relational Loss: 0.0000 +Guided Steps: 10/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +desk 1.272 0.802 0.586 0.394 0.002 0.641 179.92° +chair 0.562 0.930 0.567 -0.085 0.002 -0.286 10.11° +bookshelf 1.961 2.470 0.326 0.113 0.001 -1.240 0.05° +lamp 1.003 0.830 1.002 -0.013 1.969 0.182 0.00° +floor 2.731 -0.003 2.852 -0.007 0.001 -0.022 0.00° +_scene_ 0.035 0.002 0.022 -5.641 -0.004 -5.693 -57.33° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: desk <-> floor depth=[1.272, -0.003, 0.586] + !! OVERLAP: chair <-> floor depth=[0.562, -0.003, 0.567] + !! OVERLAP: bookshelf <-> floor depth=[1.961, -0.003, 0.326] +============================================================ + + +============================================================ +SCENE: Library-123334 | 7 objects +============================================================ +Final Step Collision Loss: 0.2408, Room Outer Loss: 0.4094, Walkable Loss: 0.0000, Relational Loss: 0.0000 +Guided Steps: 10/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +desk 1.325 0.772 0.727 -0.183 0.003 -0.461 0.03° +chair 0.512 0.812 0.482 -0.010 0.006 0.338 -110.90° +bookshelf 2.954 2.572 0.385 0.123 0.002 1.615 180.00° +bookshelf 2.858 2.541 0.380 -0.036 -0.002 1.403 -179.93° +lamp 1.012 0.768 1.056 0.025 1.999 -0.087 -0.02° +floor 2.755 0.000 3.518 -0.002 -0.000 0.028 0.00° +_scene_ 0.075 0.001 0.038 -5.669 -0.005 -5.709 -57.32° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: desk <-> floor depth=[1.325, 0.000, 0.727] + !! OVERLAP: chair <-> floor depth=[0.512, 0.000, 0.482] + !! OVERLAP: bookshelf <-> bookshelf depth=[2.747, 2.541, 0.171] + !! OVERLAP: bookshelf <-> floor depth=[2.730, 0.000, 0.365] + !! OVERLAP: bookshelf <-> floor depth=[2.755, 0.000, 0.380] +============================================================ + + +============================================================ +SCENE: Library-1511 | 5 objects +============================================================ +Final Step Collision Loss: 0.0739, Room Outer Loss: 0.0066, Walkable Loss: 0.0000, Relational Loss: 0.0000 +Guided Steps: 10/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +desk 1.688 1.178 0.809 0.452 -0.004 0.010 -90.81° +chair 0.620 0.792 0.640 1.129 -0.000 -0.458 0.09° +lamp 0.517 0.318 0.525 -0.144 2.327 0.066 -0.01° +floor 2.799 -0.001 3.385 -0.022 0.000 -0.057 -0.03° +_scene_ 0.057 0.003 0.025 -5.650 -0.006 -5.652 -57.39° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: desk <-> chair depth=[0.476, 0.792, 0.257] + !! OVERLAP: desk <-> floor depth=[1.688, -0.001, 0.809] + !! OVERLAP: chair <-> floor depth=[0.559, -0.001, 0.640] +============================================================ + + +============================================================ +SCENE: Library-74566 | 6 objects +============================================================ +Final Step Collision Loss: 0.3648, Room Outer Loss: 0.2559, Walkable Loss: 0.0000, Relational Loss: 0.0000 +Guided Steps: 10/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +wardrobe 2.583 2.139 0.825 -0.130 0.001 -0.013 89.68° +desk 1.805 0.735 0.772 -0.202 0.001 -1.255 -0.01° +chair 0.716 0.830 0.740 -0.752 -0.001 -0.177 90.04° +lamp 0.565 0.375 0.570 -0.066 2.405 -0.001 -0.07° +floor 2.403 0.003 3.353 0.025 0.001 0.049 -0.01° +_scene_ 0.058 -0.000 0.012 -5.672 -0.005 -5.720 -57.28° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: wardrobe <-> chair depth=[0.716, 0.830, 0.619] + !! OVERLAP: wardrobe <-> floor depth=[2.337, 0.003, 0.825] + !! OVERLAP: desk <-> floor depth=[1.805, 0.003, 0.759] + !! OVERLAP: chair <-> floor depth=[0.716, 0.003, 0.740] +============================================================ + + +============================================================ +SCENE: Library-35695 | 9 objects +============================================================ +Final Step Collision Loss: 0.0142, Room Outer Loss: 0.0031, Walkable Loss: 0.0000, Relational Loss: 0.0000 +Guided Steps: 10/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +bookshelf 1.944 2.846 0.335 0.847 0.000 -1.344 -0.05° +bookshelf 2.305 2.486 0.363 -1.048 -0.003 -1.216 -0.00° +desk 1.300 0.757 0.665 0.253 -0.001 0.045 179.91° +chair 0.531 1.009 0.553 0.053 0.000 -0.528 0.07° +table 1.127 0.919 0.415 1.664 0.000 -0.124 -90.07° +chair 0.694 0.934 0.808 -1.322 0.001 1.074 160.98° +lamp 0.451 0.916 0.459 -0.147 2.042 0.188 -0.03° +floor 4.617 -0.003 3.403 -0.035 0.000 -0.015 -0.02° +_scene_ 0.069 0.001 0.024 -5.668 -0.004 -5.709 -57.30° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bookshelf <-> bookshelf depth=[0.230, 2.486, 0.221] + !! OVERLAP: bookshelf <-> floor depth=[1.944, -0.003, 0.335] + !! OVERLAP: bookshelf <-> floor depth=[2.305, -0.003, 0.363] + !! OVERLAP: desk <-> chair depth=[0.531, 0.757, 0.036] + !! OVERLAP: desk <-> floor depth=[1.300, -0.003, 0.665] + !! OVERLAP: chair <-> floor depth=[0.531, -0.003, 0.553] + !! OVERLAP: table <-> floor depth=[1.127, -0.003, 0.415] + !! OVERLAP: chair <-> floor depth=[0.694, -0.003, 0.808] +============================================================ + + +============================================================ +SCENE: Library-934 | 8 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.1914, Walkable Loss: 0.0000, Relational Loss: 0.0000 +Guided Steps: 10/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +lamp 0.551 0.731 0.556 0.071 2.107 -0.092 -0.03° +desk 1.467 0.736 0.595 -0.498 0.001 -1.161 -0.05° +bookshelf 3.142 1.724 0.498 0.556 0.000 1.149 179.93° +chair 0.462 0.915 0.556 -0.969 0.000 -0.230 131.33° +chair 0.661 0.994 0.754 1.263 -0.000 -0.734 -89.50° +table 0.523 0.758 0.527 1.459 -0.002 0.273 179.95° +floor 3.722 -0.002 2.984 -0.044 0.000 -0.004 0.02° +_scene_ 0.072 0.000 0.023 -5.670 -0.005 -5.714 -57.31° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: desk <-> floor depth=[1.467, -0.002, 0.595] + !! OVERLAP: bookshelf <-> floor depth=[2.833, -0.002, 0.498] + !! OVERLAP: chair <-> floor depth=[0.462, -0.002, 0.556] + !! OVERLAP: chair <-> floor depth=[0.661, -0.002, 0.754] + !! OVERLAP: table <-> floor depth=[0.523, -0.002, 0.527] +============================================================ + diff --git a/current_works/work_36/extracted/2050/echoscene/Bedroom-11202_echoscene.glb b/current_works/work_36/extracted/2050/echoscene/Bedroom-11202_echoscene.glb new file mode 100644 index 0000000000000000000000000000000000000000..d8418f092b5f1bc478d49b23625b4ce295b4e82f --- /dev/null +++ b/current_works/work_36/extracted/2050/echoscene/Bedroom-11202_echoscene.glb @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:96be5934137b54a27496889ff718c92bb85909e0b07dcc998c6ed1fe17a9ffd4 +size 2872852 diff --git a/current_works/work_36/extracted/2050/echoscene/Bedroom-12864_echoscene.glb b/current_works/work_36/extracted/2050/echoscene/Bedroom-12864_echoscene.glb new file mode 100644 index 0000000000000000000000000000000000000000..d030b0f520a50a9917be95c55792b15500cc8e81 --- /dev/null +++ b/current_works/work_36/extracted/2050/echoscene/Bedroom-12864_echoscene.glb @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:c7c8801ac6f6713b2f0b5945d6d12ef11f3351089819ce8bc524d98d57273139 +size 3510076