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+} \ No newline at end of file diff --git a/current_works/work_34/2050/procthor_scenes_post/walkability_results.json b/current_works/work_34/2050/procthor_scenes_post/walkability_results.json new file mode 100644 index 0000000000000000000000000000000000000000..472a7a79713f07454ca8b53438b1ee928867dbe1 --- /dev/null +++ b/current_works/work_34/2050/procthor_scenes_post/walkability_results.json @@ -0,0 +1,2228 @@ +{ + "summary": { + "instance_count": 370, + "average_walkability": 0.23526998560185877 + }, + "scenes": { + "MasterBedroom-34912": { + "walkability_score": 0.10769631984692256, + "walkable_area": 1.125, + "total_area": 10.446039396694827, + "navigable_points": 18 + }, + "SecondBedroom-30034": { + "walkability_score": 0.32761866793803024, + "walkable_area": 2.5, + "total_area": 7.630822796925846, + "navigable_points": 40 + }, + "MasterBedroom-33296": { + "walkability_score": 0.16700535938176775, + "walkable_area": 1.9375, + "total_area": 11.601424093049316, + "navigable_points": 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"MasterBedroom-9583": { + "walkability_score": 0.07854404794644522, + "walkable_area": 1.3125, + "total_area": 16.710368695218257, + "navigable_points": 21 + }, + "LivingRoom-24046": { + "walkability_score": 0.1634827090481925, + "walkable_area": 1.9375, + "total_area": 11.851406251341547, + "navigable_points": 31 + } + } +} \ No newline at end of file diff --git a/current_works/work_34/2050/relational_accuracy_report.txt b/current_works/work_34/2050/relational_accuracy_report.txt new file mode 100644 index 0000000000000000000000000000000000000000..9110b5f1c7651377d315438f45d610f299bc9420 --- /dev/null +++ b/current_works/work_34/2050/relational_accuracy_report.txt @@ -0,0 +1,17 @@ +=========================================================================== + RELATIONAL ACCURACY EVALUATION REPORT + Source Path: current_works/work_34/2050/physcene_collision_resolved.json + Evaluated Scenes: 370 / 370 +=========================================================================== + Total Accuracy (Micro-Average): 96.28% + Means of Means (Macro-Average): 86.89% +--------------------------------------------------------------------------- + Category Breakdown: + - Left / Right (L/R) : 98.96% (Left: 98.87%, Right: 99.04%) + - Front / Behind (F/B) : 99.78% (Front: 99.80%, Behind: 99.77%) + - Bigger / Smaller (Bi/Sm) : 96.28% (Bigger: 96.44%, Smaller: 96.12%) + - Taller / Shorter (Ta/Sh) : 96.00% (Taller: 96.16%, Shorter: 95.84%) + - Standing On : 99.76% + - Close By : 70.02% + - Symmetrical To : 47.41% +=========================================================================== diff --git a/current_works/work_34/extracted/2050/debug_bbox.txt b/current_works/work_34/extracted/2050/debug_bbox.txt new file mode 100644 index 0000000000000000000000000000000000000000..2fba1e3ee98bd1f9f7c771d18660a58bdea97829 --- /dev/null +++ b/current_works/work_34/extracted/2050/debug_bbox.txt @@ -0,0 +1,11115 @@ + +============================================================ +SCENE: MasterBedroom-33296 | 9 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.5169, Walkable Loss: 3.1437 (Center Penalty: 0.9623, C1 Heatmap: 1.1525, C2 Repulsion: 6.2969), Relational Loss: 0.0000 +Guided Steps: 10/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +table 1.127 1.050 0.475 -2.364 -0.000 -1.319 -0.01° +nightstand 0.574 0.579 0.389 0.281 -0.001 -1.332 0.08° +chair 0.483 0.445 0.532 -2.067 -0.001 -0.736 -89.94° +bed 2.039 1.455 2.175 -1.014 -0.002 -0.342 -0.02° +cabinet 0.839 1.032 0.424 -2.144 0.002 1.210 -179.99° +lamp 0.713 0.869 0.699 -1.150 1.942 0.057 -0.01° +wardrobe 3.173 2.360 0.607 0.760 -0.001 0.192 -90.10° +floor 5.893 0.001 2.944 -0.659 -0.002 0.196 -0.01° +_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=[0.233, 1.050, 0.349] + !! OVERLAP: table <-> floor depth=[1.127, 0.001, 0.195] + !! OVERLAP: nightstand <-> bed depth=[0.012, 0.579, 0.293] + !! OVERLAP: nightstand <-> floor depth=[0.574, 0.001, 0.139] + !! OVERLAP: chair <-> bed depth=[0.208, 0.445, 0.532] + !! OVERLAP: chair <-> floor depth=[0.483, 0.001, 0.532] + !! OVERLAP: bed <-> wardrobe depth=[0.831, 1.455, 0.607] + !! OVERLAP: bed <-> floor depth=[2.039, 0.001, 2.021] + !! OVERLAP: cabinet <-> floor depth=[0.839, 0.001, 0.424] + !! OVERLAP: wardrobe <-> floor depth=[3.114, 0.001, 0.607] +============================================================ + + +============================================================ +SCENE: MasterBedroom-9404 | 8 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.5520, Walkable Loss: 4.0310 (Center Penalty: 1.3242, C1 Heatmap: 1.3710, C2 Repulsion: 8.0504), Relational Loss: 0.0000 +Guided Steps: 10/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +bed 2.322 1.433 2.108 0.585 -0.001 0.546 -89.97° +wardrobe 2.093 2.392 0.551 0.468 0.000 -1.612 0.05° +wardrobe 2.239 2.325 0.595 0.314 0.000 -1.337 0.02° +nightstand 0.560 0.668 0.424 1.506 0.002 1.697 -89.95° +nightstand 0.692 0.654 0.391 1.366 0.004 -1.026 -90.03° +tv_stand 2.298 0.423 0.529 -1.337 0.002 0.534 90.00° +floor 3.651 0.000 4.500 -0.121 0.000 0.004 -0.01° +_scene_ 0.070 -0.000 0.022 -5.669 -0.005 -5.715 -57.28° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bed <-> nightstand depth=[0.520, 0.668, 0.116] + !! OVERLAP: bed <-> tv_stand depth=[0.388, 0.423, 0.529] + !! OVERLAP: bed <-> floor depth=[2.281, 0.000, 2.108] + !! OVERLAP: wardrobe <-> wardrobe depth=[2.012, 2.325, 0.298] + !! OVERLAP: wardrobe <-> floor depth=[2.093, 0.000, 0.551] + !! OVERLAP: wardrobe <-> nightstand depth=[0.414, 0.654, 0.182] + !! OVERLAP: wardrobe <-> floor depth=[2.239, 0.000, 0.595] + !! OVERLAP: nightstand <-> floor depth=[0.479, 0.000, 0.424] + !! OVERLAP: nightstand <-> floor depth=[0.685, 0.000, 0.391] + !! OVERLAP: tv_stand <-> floor depth=[1.758, 0.000, 0.529] +============================================================ + + +============================================================ +SCENE: SecondBedroom-30034 | 6 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0878, Walkable Loss: 3.6602 (Center Penalty: 2.7604, C1 Heatmap: 0.6955, C2 Repulsion: 1.7168), Relational Loss: 0.0000 +Guided Steps: 10/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +bed 2.284 1.067 2.282 0.327 0.000 0.121 -90.04° +nightstand 0.530 0.612 0.487 1.298 0.001 1.516 -90.13° +nightstand 0.460 0.490 0.366 1.262 0.001 -1.262 -90.20° +lamp 0.606 0.753 0.564 -0.021 2.165 0.006 0.02° +floor 3.071 -0.002 3.361 0.006 0.001 0.019 -0.04° +_scene_ 0.074 0.002 0.015 -5.664 -0.005 -5.706 -57.31° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bed <-> floor depth=[2.284, -0.002, 2.282] + !! OVERLAP: nightstand <-> floor depth=[0.508, -0.002, 0.428] + !! OVERLAP: nightstand <-> floor depth=[0.460, -0.002, 0.366] +============================================================ + + +============================================================ +SCENE: SecondBedroom-6482 | 8 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.2161, Walkable Loss: 3.2282 (Center Penalty: 1.9009, C1 Heatmap: 0.8378, C2 Repulsion: 3.2852), Relational Loss: 0.0000 +Guided Steps: 10/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +bed 1.839 1.032 2.342 -0.808 0.002 -0.858 0.05° +chair 0.739 0.872 0.839 -1.279 0.002 1.726 133.84° +nightstand 0.753 0.774 0.480 -1.334 -0.000 -1.265 0.02° +table 1.072 0.689 0.522 -1.010 -0.001 1.696 179.60° +wardrobe 1.196 2.197 0.524 1.227 0.001 -0.587 -90.07° +lamp 0.627 0.382 0.375 -0.275 2.569 0.120 -0.03° +floor 3.287 -0.001 4.268 -0.007 -0.001 0.002 -0.00° +_scene_ 0.070 0.001 0.023 -5.670 -0.005 -5.712 -57.30° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bed <-> nightstand depth=[0.753, 0.774, 0.480] + !! OVERLAP: bed <-> floor depth=[1.762, -0.001, 2.342] + !! OVERLAP: chair <-> table depth=[0.636, 0.689, 0.522] + !! OVERLAP: chair <-> floor depth=[0.739, -0.001, 0.829] + !! OVERLAP: nightstand <-> floor depth=[0.693, -0.001, 0.480] + !! OVERLAP: table <-> floor depth=[1.072, -0.001, 0.522] + !! OVERLAP: wardrobe <-> floor depth=[1.008, -0.001, 0.524] +============================================================ + + +============================================================ +SCENE: SecondBedroom-11167 | 9 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.4603, Walkable Loss: 3.8560 (Center Penalty: 2.3622, C1 Heatmap: 0.7536, C2 Repulsion: 4.4547), Relational Loss: 0.0000 +Guided Steps: 10/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +bed 1.879 2.152 2.068 -0.570 0.001 0.253 89.81° +cabinet 1.168 0.965 0.437 -0.883 0.001 -1.737 -0.01° +table 1.052 1.539 0.595 1.489 0.000 1.308 -90.01° +lamp 0.121 0.759 0.208 0.441 0.883 1.637 -0.01° +lamp 0.620 0.805 0.617 0.050 1.809 0.198 0.02° +nightstand 0.466 0.646 0.396 -1.343 0.011 1.340 90.06° +nightstand 0.574 0.701 0.499 -1.256 0.002 -1.132 89.95° +floor 3.222 -0.001 4.721 -0.034 0.001 0.017 -0.01° +_scene_ 0.070 0.001 0.022 -5.671 -0.004 -5.716 -57.30° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bed <-> nightstand depth=[0.399, 0.646, 0.144] + !! OVERLAP: bed <-> floor depth=[1.879, -0.001, 2.068] + !! OVERLAP: cabinet <-> floor depth=[1.168, -0.001, 0.437] + !! OVERLAP: table <-> floor depth=[0.613, -0.001, 0.595] + !! OVERLAP: nightstand <-> floor depth=[0.466, -0.001, 0.396] + !! OVERLAP: nightstand <-> floor depth=[0.574, -0.001, 0.499] +============================================================ + + +============================================================ +SCENE: MasterBedroom-27127 | 7 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.1393, Walkable Loss: 4.1131 (Center Penalty: 2.1834, C1 Heatmap: 0.9169, C2 Repulsion: 5.9805), Relational Loss: 0.0000 +Guided Steps: 10/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +bed 1.895 1.026 2.153 0.015 0.002 0.223 -179.99° +nightstand 0.601 0.570 0.539 -1.351 -0.000 -0.391 -0.00° +nightstand 0.538 0.518 0.526 0.873 0.001 0.363 0.10° +wardrobe 1.910 2.275 0.638 -1.400 0.004 -0.216 89.96° +desk 1.314 1.163 0.585 1.470 0.003 0.402 -90.18° +floor 4.352 0.001 2.682 -0.032 -0.001 -0.015 -0.06° +_scene_ 0.062 0.001 0.010 -5.671 -0.006 -5.717 -57.31° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bed <-> nightstand depth=[0.358, 0.518, 0.526] + !! OVERLAP: bed <-> wardrobe depth=[0.488, 1.026, 0.638] + !! OVERLAP: bed <-> desk depth=[0.150, 1.026, 0.585] + !! OVERLAP: bed <-> floor depth=[1.895, 0.001, 2.153] + !! OVERLAP: nightstand <-> wardrobe depth=[0.601, 0.570, 0.414] + !! OVERLAP: nightstand <-> floor depth=[0.601, 0.001, 0.539] + !! OVERLAP: nightstand <-> desk depth=[0.329, 0.518, 0.516] + !! OVERLAP: nightstand <-> floor depth=[0.538, 0.001, 0.526] + !! OVERLAP: wardrobe <-> floor depth=[1.764, 0.001, 0.638] + !! OVERLAP: desk <-> floor depth=[1.314, 0.001, 0.585] +============================================================ + + +============================================================ +SCENE: MasterBedroom-75552 | 5 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0184, Walkable Loss: 3.4021 (Center Penalty: 2.5669, C1 Heatmap: 0.8167, C2 Repulsion: 0.9088), Relational Loss: 0.0000 +Guided Steps: 10/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +bed 1.859 0.914 2.373 -0.469 0.002 -0.286 89.90° +wardrobe 2.247 2.492 0.739 0.324 0.002 1.584 -179.98° +lamp 0.723 0.586 0.712 -0.029 1.993 -0.264 -0.03° +floor 2.749 0.001 3.816 0.007 0.000 -0.035 -0.07° +_scene_ 0.064 0.000 0.024 -5.675 -0.005 -5.711 -57.32° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bed <-> floor depth=[1.829, 0.001, 2.373] + !! OVERLAP: wardrobe <-> floor depth=[2.180, 0.001, 0.658] +============================================================ + + +============================================================ +SCENE: SecondBedroom-19119 | 7 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.5301, Walkable Loss: 3.1798 (Center Penalty: 2.0522, C1 Heatmap: 0.8360, C2 Repulsion: 2.2941), Relational Loss: 0.0000 +Guided Steps: 10/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +bed 1.852 0.895 2.179 -0.692 0.002 0.430 89.99° +wardrobe 1.818 2.331 0.596 -0.809 -0.001 -1.240 0.00° +nightstand 0.585 0.604 0.489 -1.549 0.001 1.550 90.00° +tv_stand 1.490 0.515 0.334 1.561 -0.000 0.493 -89.94° +lamp 0.809 0.784 0.806 -0.040 1.921 0.269 -0.01° +floor 3.644 -0.000 4.240 0.010 0.000 0.203 -0.05° +_scene_ 0.068 -0.000 0.024 -5.668 -0.005 -5.713 -57.28° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bed <-> nightstand depth=[0.361, 0.604, 0.214] + !! OVERLAP: bed <-> floor depth=[1.852, -0.000, 2.179] + !! OVERLAP: wardrobe <-> floor depth=[1.818, -0.000, 0.596] + !! OVERLAP: nightstand <-> floor depth=[0.555, -0.000, 0.489] + !! OVERLAP: tv_stand <-> floor depth=[1.016, -0.000, 0.334] +============================================================ + + +============================================================ +SCENE: Bedroom-2719 | 8 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.6929, Walkable Loss: 4.5544 (Center Penalty: 2.5944, C1 Heatmap: 1.0722, C2 Repulsion: 5.5111), Relational Loss: 0.0000 +Guided Steps: 10/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +chair 0.446 0.488 0.413 -1.145 0.000 -1.403 0.04° +bookshelf 2.915 2.197 0.626 -0.669 0.001 -0.152 89.87° +table 0.765 1.252 0.404 -1.208 0.003 1.082 89.93° +bed 2.045 0.807 2.235 -0.579 -0.001 0.144 89.99° +lamp 0.591 0.542 0.426 0.041 2.504 -0.453 -0.05° +chair 0.563 0.827 0.557 1.017 0.003 -0.534 -89.84° +floor 3.059 -0.002 3.430 -0.022 0.001 -0.030 0.00° +_scene_ 0.069 0.001 0.020 -5.669 -0.004 -5.713 -57.31° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: chair <-> floor depth=[0.446, -0.002, 0.413] + !! OVERLAP: bookshelf <-> bed depth=[2.045, 0.807, 0.626] + !! OVERLAP: bookshelf <-> chair depth=[0.053, 0.827, 0.209] + !! OVERLAP: bookshelf <-> floor depth=[2.340, -0.002, 0.626] + !! OVERLAP: table <-> bed depth=[0.765, 0.807, 0.381] + !! OVERLAP: table <-> floor depth=[0.726, -0.002, 0.404] + !! OVERLAP: bed <-> floor depth=[1.996, -0.002, 2.235] + !! OVERLAP: chair <-> floor depth=[0.563, -0.002, 0.557] +============================================================ + + +============================================================ +SCENE: Bedroom-430 | 6 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0000, Walkable Loss: 3.8725 (Center Penalty: 2.9047, C1 Heatmap: 0.7099, C2 Repulsion: 1.9994), Relational Loss: 0.0000 +Guided Steps: 10/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +bed 2.203 1.416 2.289 -0.228 0.001 -0.069 89.85° +table 0.531 0.480 0.443 -1.152 0.007 1.022 89.90° +table 0.558 0.602 0.531 -1.205 -0.001 -1.302 0.01° +lamp 0.751 0.815 0.939 -0.071 2.124 0.018 0.03° +floor 2.894 -0.004 3.376 0.027 0.000 -0.042 -0.05° +_scene_ 0.113 0.000 0.167 -5.538 0.001 -5.600 -57.67° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bed <-> table depth=[0.444, 0.480, 0.275] + !! OVERLAP: bed <-> table depth=[0.404, 0.602, 0.176] + !! OVERLAP: bed <-> floor depth=[2.203, -0.004, 2.289] + !! OVERLAP: table <-> floor depth=[0.531, -0.004, 0.443] + !! OVERLAP: table <-> floor depth=[0.495, -0.004, 0.531] +============================================================ + + +============================================================ +SCENE: MasterBedroom-18415 | 8 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.8972, Walkable Loss: 2.9387 (Center Penalty: 1.5828, C1 Heatmap: 0.9609, C2 Repulsion: 2.9359), Relational Loss: 0.0000 +Guided Steps: 10/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +bed 2.125 0.711 1.886 -0.512 0.002 0.624 90.01° +nightstand 0.572 0.799 0.434 -1.432 0.001 -0.509 89.99° +nightstand 0.548 0.715 0.498 -1.502 0.006 2.131 90.05° +wardrobe 2.212 2.533 0.478 -0.526 -0.001 -1.969 0.08° +tv_stand 1.752 0.432 0.409 1.416 -0.001 0.701 -90.09° +lamp 0.693 0.847 0.680 -0.106 1.865 0.727 -0.04° +floor 3.301 0.000 4.878 0.016 0.001 0.300 -0.00° +_scene_ 0.068 -0.000 0.021 -5.675 -0.006 -5.713 -57.30° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bed <-> nightstand depth=[0.428, 0.711, 0.027] + !! OVERLAP: bed <-> tv_stand depth=[0.011, 0.432, 0.409] + !! OVERLAP: bed <-> floor depth=[2.125, 0.000, 1.886] + !! OVERLAP: nightstand <-> floor depth=[0.488, 0.000, 0.434] + !! OVERLAP: nightstand <-> floor depth=[0.406, 0.000, 0.498] + !! OVERLAP: wardrobe <-> floor depth=[2.212, 0.000, 0.409] + !! OVERLAP: tv_stand <-> floor depth=[1.127, 0.000, 0.409] +============================================================ + + +============================================================ +SCENE: SecondBedroom-1145 | 6 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.1278, Walkable Loss: 3.0070 (Center Penalty: 2.1212, C1 Heatmap: 0.6552, C2 Repulsion: 1.8077), Relational Loss: 0.0000 +Guided Steps: 10/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +bed 2.129 1.090 2.320 -0.449 -0.000 -0.366 0.03° +nightstand 0.546 0.589 0.467 -1.513 0.000 -1.267 0.02° +nightstand 0.523 0.588 0.467 0.886 -0.001 -1.350 0.03° +lamp 0.752 0.637 0.762 -0.461 2.484 0.102 -0.08° +floor 4.352 -0.002 2.960 -0.026 -0.001 0.014 -0.03° +_scene_ 0.067 0.001 0.018 -5.669 -0.005 -5.711 -57.31° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bed <-> nightstand depth=[0.274, 0.589, 0.467] + !! OVERLAP: bed <-> floor depth=[2.129, -0.002, 2.260] + !! OVERLAP: nightstand <-> floor depth=[0.546, -0.002, 0.432] + !! OVERLAP: nightstand <-> floor depth=[0.523, -0.002, 0.349] +============================================================ + + +============================================================ +SCENE: SecondBedroom-2787 | 6 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.3200, Walkable Loss: 2.9594 (Center Penalty: 2.2224, C1 Heatmap: 0.5825, C2 Repulsion: 1.3549), Relational Loss: 0.0000 +Guided Steps: 10/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +bed 1.726 0.812 1.910 -0.721 0.003 -0.178 89.99° +nightstand 0.627 0.545 0.714 -1.391 0.003 -0.145 89.99° +desk 1.137 1.173 0.565 1.405 0.001 -0.224 -90.10° +lamp 0.358 0.369 0.369 -0.236 2.229 0.038 90.03° +floor 3.508 0.004 2.937 -0.039 0.000 -0.027 -0.03° +_scene_ 0.071 0.001 0.020 -5.669 -0.004 -5.716 -57.29° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bed <-> nightstand depth=[0.506, 0.545, 0.714] + !! OVERLAP: bed <-> floor depth=[1.726, 0.004, 1.910] + !! OVERLAP: nightstand <-> floor depth=[0.627, 0.004, 0.714] + !! OVERLAP: desk <-> floor depth=[0.879, 0.004, 0.565] +============================================================ + + +============================================================ +SCENE: Bedroom-87322 | 9 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.4559, Walkable Loss: 3.7090 (Center Penalty: 2.0317, C1 Heatmap: 0.9530, C2 Repulsion: 4.5741), Relational Loss: 0.0000 +Guided Steps: 10/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +bed 1.891 1.295 2.285 0.582 0.000 -0.514 -90.05° +nightstand 0.510 0.790 0.349 1.698 0.001 0.576 -90.09° +chair 1.352 0.588 0.703 0.120 -0.000 -1.081 -89.96° +wardrobe 1.233 2.296 0.460 1.148 0.000 1.389 -179.97° +tv_stand 1.628 0.530 0.395 -1.221 0.000 -0.975 90.07° +lamp 0.507 0.426 0.530 0.108 2.088 1.204 -0.00° +lamp 0.648 0.161 0.642 0.198 2.478 -0.500 -0.01° +floor 3.614 -0.001 3.661 0.004 0.000 -0.023 -0.02° +_scene_ 0.069 0.000 0.024 -5.677 -0.004 -5.709 -57.29° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bed <-> nightstand depth=[0.085, 0.790, 0.226] + !! OVERLAP: bed <-> chair depth=[1.160, 0.588, 0.703] + !! OVERLAP: bed <-> floor depth=[1.891, -0.001, 2.285] + !! OVERLAP: nightstand <-> floor depth=[0.368, -0.001, 0.349] + !! OVERLAP: chair <-> tv_stand depth=[0.148, 0.530, 0.395] + !! OVERLAP: chair <-> floor depth=[1.352, -0.001, 0.703] + !! OVERLAP: wardrobe <-> floor depth=[1.233, -0.001, 0.460] + !! OVERLAP: tv_stand <-> floor depth=[1.395, -0.001, 0.395] +============================================================ + + +============================================================ +SCENE: Bedroom-68718 | 7 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0963, Walkable Loss: 4.4961 (Center Penalty: 2.6366, C1 Heatmap: 1.1564, C2 Repulsion: 4.6714), Relational Loss: 0.0000 +Guided Steps: 10/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +bed 2.559 1.704 2.450 -0.160 -0.001 -0.471 0.03° +nightstand 0.563 0.556 0.345 -1.075 -0.000 -1.462 0.00° +nightstand 0.493 0.523 0.431 1.049 0.001 -1.442 -0.00° +wardrobe 2.232 2.330 0.596 -0.114 0.009 1.347 -179.88° +lamp 0.891 1.356 0.906 0.011 1.424 -0.153 0.03° +floor 3.217 -0.001 3.354 -0.006 0.000 0.003 -0.01° +_scene_ 0.073 -0.001 0.023 -5.668 -0.004 -5.710 -57.32° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bed <-> nightstand depth=[0.563, 0.556, 0.345] + !! OVERLAP: bed <-> nightstand depth=[0.317, 0.523, 0.431] + !! OVERLAP: bed <-> lamp depth=[0.891, 0.105, 0.906] + !! OVERLAP: bed <-> floor depth=[2.559, -0.001, 2.428] + !! OVERLAP: nightstand <-> floor depth=[0.563, -0.001, 0.345] + !! OVERLAP: nightstand <-> floor depth=[0.493, -0.001, 0.431] + !! OVERLAP: wardrobe <-> floor depth=[2.232, -0.001, 0.596] +============================================================ + + +============================================================ +SCENE: SecondBedroom-35821 | 8 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.3820, Walkable Loss: 5.0597 (Center Penalty: 3.1492, C1 Heatmap: 1.0750, C2 Repulsion: 5.2525), Relational Loss: 0.0000 +Guided Steps: 10/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +bed 2.018 1.163 2.351 -0.659 -0.000 -0.166 89.90° +nightstand 0.570 0.569 0.487 -1.553 0.001 1.127 90.00° +nightstand 0.629 0.551 0.524 -1.491 0.004 -1.109 90.00° +tv_stand 1.864 0.358 0.312 1.333 -0.007 -0.059 -90.29° +lamp 0.986 0.785 1.034 -0.044 1.754 -0.028 -0.04° +chair 1.551 0.874 1.319 -0.322 0.000 0.344 89.98° +floor 3.482 -0.001 3.341 0.025 0.000 -0.043 -0.00° +_scene_ 0.068 0.001 0.021 -5.675 -0.005 -5.717 -57.30° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bed <-> nightstand depth=[0.399, 0.569, 0.126] + !! OVERLAP: bed <-> nightstand depth=[0.492, 0.551, 0.494] + !! OVERLAP: bed <-> chair depth=[1.448, 0.874, 1.319] + !! OVERLAP: bed <-> floor depth=[2.018, -0.001, 2.351] + !! OVERLAP: nightstand <-> floor depth=[0.448, -0.001, 0.487] + !! OVERLAP: nightstand <-> floor depth=[0.540, -0.001, 0.524] + !! OVERLAP: tv_stand <-> chair depth=[0.051, 0.358, 0.312] + !! OVERLAP: tv_stand <-> floor depth=[1.364, -0.001, 0.312] + !! OVERLAP: chair <-> floor depth=[1.551, -0.001, 1.319] +============================================================ + + +============================================================ +SCENE: Bedroom-18055 | 8 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0657, Walkable Loss: 2.8894 (Center Penalty: 1.6418, C1 Heatmap: 0.7818, C2 Repulsion: 3.1107), Relational Loss: 0.0000 +Guided Steps: 10/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +bed 1.983 1.007 2.037 0.436 0.001 -0.293 -89.98° +wardrobe 2.144 2.430 0.466 0.381 0.001 2.007 -179.96° +nightstand 0.535 0.527 0.463 1.081 0.007 1.002 -89.89° +nightstand 0.472 0.631 0.507 0.994 0.000 -1.647 -90.10° +lamp 0.791 0.761 0.468 0.725 1.841 0.919 0.09° +lamp 0.326 0.771 0.360 0.876 1.777 -1.311 -0.06° +floor 2.818 -0.001 4.544 -0.017 -0.000 0.063 0.00° +_scene_ 0.084 -0.000 0.018 -5.678 -0.006 -5.704 -57.30° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bed <-> floor depth=[1.948, -0.001, 2.037] + !! OVERLAP: wardrobe <-> floor depth=[2.084, -0.001, 0.466] + !! OVERLAP: nightstand <-> floor depth=[0.535, -0.001, 0.463] + !! OVERLAP: nightstand <-> floor depth=[0.472, -0.001, 0.507] +============================================================ + + +============================================================ +SCENE: SecondBedroom-19262 | 6 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0000, Walkable Loss: 2.7288 (Center Penalty: 1.6507, C1 Heatmap: 0.9220, C2 Repulsion: 1.7024), Relational Loss: 0.0000 +Guided Steps: 10/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +bed 2.061 0.999 2.202 -0.452 0.001 0.695 -179.99° +tv_stand 2.379 0.620 0.529 -0.616 0.001 -1.165 0.01° +wardrobe 1.209 2.377 0.576 1.396 -0.002 0.694 -89.97° +lamp 0.609 0.823 0.551 -0.414 1.846 0.458 179.79° +floor 4.468 -0.003 3.667 -0.214 0.000 0.052 -0.04° +_scene_ 0.069 0.002 0.020 -5.668 -0.005 -5.712 -57.30° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bed <-> floor depth=[2.061, -0.003, 2.202] + !! OVERLAP: tv_stand <-> floor depth=[2.379, -0.003, 0.529] + !! OVERLAP: wardrobe <-> floor depth=[1.209, -0.003, 0.576] +============================================================ + + +============================================================ +SCENE: Bedroom-12864 | 7 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.4390, Walkable Loss: 3.8934 (Center Penalty: 2.5926, C1 Heatmap: 0.9069, C2 Repulsion: 2.8760), Relational Loss: 0.0000 +Guided Steps: 10/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +wardrobe 2.273 2.169 0.654 1.078 0.000 0.229 -90.16° +bed 1.953 1.037 2.247 -0.453 0.001 0.045 89.89° +nightstand 0.571 0.485 0.440 -1.370 0.002 -1.335 90.06° +nightstand 0.538 0.514 0.451 -1.355 0.006 1.020 89.98° +lamp 0.573 0.919 0.563 -0.381 1.917 -0.207 -0.01° +floor 3.226 -0.002 3.601 -0.028 0.001 0.012 0.01° +_scene_ 0.066 0.001 0.016 -5.670 -0.005 -5.717 -57.19° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: wardrobe <-> bed depth=[0.582, 1.037, 0.654] + !! OVERLAP: wardrobe <-> floor depth=[1.643, -0.002, 0.654] + !! OVERLAP: bed <-> nightstand depth=[0.344, 0.514, 0.373] + !! OVERLAP: bed <-> floor depth=[1.953, -0.002, 2.247] + !! OVERLAP: nightstand <-> floor depth=[0.556, -0.002, 0.440] + !! OVERLAP: nightstand <-> floor depth=[0.538, -0.002, 0.451] +============================================================ + + +============================================================ +SCENE: SecondBedroom-266050 | 6 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.1343, Walkable Loss: 2.5658 (Center Penalty: 1.3222, C1 Heatmap: 0.9227, C2 Repulsion: 2.5272), Relational Loss: 0.0000 +Guided Steps: 10/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +sofa 1.605 0.683 1.104 1.019 -0.000 -0.250 -90.03° +bed 2.171 1.199 2.299 -0.745 -0.000 0.330 89.83° +nightstand 0.542 0.770 0.444 -1.493 0.002 -1.539 90.01° +nightstand 0.588 0.609 0.460 -1.540 0.002 1.638 90.01° +floor 3.589 0.001 4.386 0.001 0.000 0.026 0.01° +_scene_ 0.084 -0.000 0.027 -5.666 -0.006 -5.708 -57.30° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: sofa <-> bed depth=[0.124, 0.683, 1.104] + !! OVERLAP: sofa <-> floor depth=[1.579, 0.001, 1.104] + !! OVERLAP: bed <-> nightstand depth=[0.584, 0.609, 0.071] + !! OVERLAP: bed <-> floor depth=[2.134, 0.001, 2.299] + !! OVERLAP: nightstand <-> floor depth=[0.542, 0.001, 0.444] + !! OVERLAP: nightstand <-> floor depth=[0.547, 0.001, 0.460] +============================================================ + + +============================================================ +SCENE: MasterBedroom-12352 | 6 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.1783, Walkable Loss: 3.4498 (Center Penalty: 2.5439, C1 Heatmap: 0.6550, C2 Repulsion: 1.9096), Relational Loss: 0.0000 +Guided Steps: 10/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +bed 2.095 0.901 2.193 -0.451 0.000 0.116 90.01° +nightstand 0.603 0.698 0.413 -1.182 0.002 -1.037 89.98° +nightstand 0.539 0.711 0.421 -1.219 -0.000 1.469 90.00° +lamp 1.012 0.885 0.510 0.005 1.867 0.325 -0.02° +floor 2.912 -0.001 4.370 0.002 0.001 0.031 0.01° +_scene_ 0.068 -0.001 0.019 -5.673 -0.005 -5.715 -57.30° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bed <-> nightstand depth=[0.603, 0.698, 0.150] + !! OVERLAP: bed <-> floor depth=[2.050, -0.001, 2.193] + !! OVERLAP: nightstand <-> floor depth=[0.574, -0.001, 0.413] + !! OVERLAP: nightstand <-> floor depth=[0.505, -0.001, 0.421] +============================================================ + + +============================================================ +SCENE: MasterBedroom-7894 | 6 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0068, Walkable Loss: 3.0574 (Center Penalty: 1.9510, C1 Heatmap: 0.9363, C2 Repulsion: 1.7869), Relational Loss: 0.0000 +Guided Steps: 10/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +bed 1.912 0.838 2.271 -0.356 -0.001 0.643 89.94° +nightstand 0.661 0.580 0.467 -1.257 0.002 1.967 89.91° +lamp 0.902 0.900 0.243 0.091 1.973 0.521 -0.01° +wardrobe 2.806 2.568 0.501 0.284 0.003 -1.318 -0.01° +floor 3.218 -0.002 4.355 0.094 -0.000 0.182 -0.02° +_scene_ 0.070 0.002 0.021 -5.674 -0.005 -5.714 -57.29° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bed <-> nightstand depth=[0.386, 0.580, 0.044] + !! OVERLAP: bed <-> floor depth=[1.912, -0.002, 2.271] + !! OVERLAP: nightstand <-> floor depth=[0.588, -0.002, 0.467] + !! OVERLAP: wardrobe <-> floor depth=[2.806, -0.002, 0.501] +============================================================ + + +============================================================ +SCENE: MasterBedroom-118594 | 6 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.3804, Walkable Loss: 3.5469 (Center Penalty: 2.1805, C1 Heatmap: 1.1660, C2 Repulsion: 2.1680), Relational Loss: 0.0000 +Guided Steps: 10/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +lamp 0.652 0.542 0.665 0.228 2.340 -0.355 -0.04° +bed 2.319 1.203 2.247 0.572 0.000 -0.318 -90.07° +bookshelf 3.737 2.575 0.447 -0.097 0.003 1.364 179.97° +wardrobe 1.649 1.907 0.508 -1.230 0.002 -0.644 89.94° +floor 3.724 -0.000 4.115 -0.042 0.001 -0.025 -0.01° +_scene_ 0.071 -0.001 0.026 -5.676 -0.005 -5.714 -57.30° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bed <-> wardrobe depth=[0.183, 1.203, 0.508] + !! OVERLAP: bed <-> floor depth=[2.319, -0.000, 2.247] + !! OVERLAP: bookshelf <-> floor depth=[3.675, -0.000, 0.447] + !! OVERLAP: wardrobe <-> floor depth=[1.499, -0.000, 0.508] +============================================================ + + +============================================================ +SCENE: MasterBedroom-6399 | 7 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.2758, Walkable Loss: 3.9959 (Center Penalty: 2.7392, C1 Heatmap: 0.7070, C2 Repulsion: 3.4556), Relational Loss: 0.0000 +Guided Steps: 10/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +wardrobe 1.378 2.406 0.525 1.655 -0.001 -0.316 -89.96° +bed 1.626 0.888 2.171 -0.083 0.003 -0.322 0.01° +table 1.039 1.362 0.432 -1.653 -0.001 -1.221 0.01° +chair 0.528 0.469 0.508 -1.378 0.000 -0.442 179.92° +lamp 0.584 0.635 0.604 -0.192 2.020 -0.092 0.01° +floor 4.183 -0.000 2.820 -0.042 -0.001 -0.017 -0.01° +_scene_ 0.067 0.000 0.021 -5.668 -0.004 -5.711 -57.31° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: wardrobe <-> floor depth=[1.084, -0.000, 0.525] + !! OVERLAP: bed <-> floor depth=[1.626, -0.000, 2.171] + !! OVERLAP: table <-> floor depth=[0.999, -0.000, 0.421] + !! OVERLAP: chair <-> floor depth=[0.528, -0.000, 0.508] +============================================================ + + +============================================================ +SCENE: SecondBedroom-52584 | 5 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0049, Walkable Loss: 3.4010 (Center Penalty: 2.7490, C1 Heatmap: 0.6215, C2 Repulsion: 0.7739), Relational Loss: 0.0000 +Guided Steps: 10/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +lamp 1.084 0.989 1.116 -0.040 1.978 -0.192 -0.02° +bed 1.940 1.256 2.276 0.264 -0.000 0.266 -89.93° +table 0.764 0.652 0.495 1.170 0.001 -1.339 -90.11° +floor 3.272 -0.004 4.226 -0.008 -0.000 0.006 -0.02° +_scene_ 0.053 0.003 0.016 -5.655 -0.003 -5.718 -57.31° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bed <-> floor depth=[1.940, -0.004, 2.276] + !! OVERLAP: table <-> floor depth=[0.764, -0.004, 0.495] +============================================================ + + +============================================================ +SCENE: SecondBedroom-860 | 7 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.4998, Walkable Loss: 3.5814 (Center Penalty: 2.1810, C1 Heatmap: 0.8224, C2 Repulsion: 3.7127), Relational Loss: 0.0000 +Guided Steps: 10/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +bed 1.888 1.045 2.153 -0.257 0.000 -0.501 0.01° +nightstand 0.429 0.540 0.381 1.078 -0.000 -1.325 0.01° +nightstand 0.604 0.532 0.463 -1.414 -0.002 -1.238 -0.01° +wardrobe 2.138 2.310 0.532 1.497 -0.000 -0.450 -90.04° +lamp 1.252 1.008 0.880 -0.475 1.930 -0.130 0.10° +floor 4.130 -0.001 2.981 0.002 -0.000 -0.018 -0.03° +_scene_ 0.069 0.001 0.022 -5.673 -0.005 -5.715 -57.31° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bed <-> nightstand depth=[0.088, 0.532, 0.463] + !! OVERLAP: bed <-> wardrobe depth=[0.260, 1.045, 0.532] + !! OVERLAP: bed <-> floor depth=[1.888, -0.001, 2.084] + !! OVERLAP: nightstand <-> floor depth=[0.429, -0.001, 0.374] + !! OVERLAP: nightstand <-> floor depth=[0.604, -0.001, 0.463] + !! OVERLAP: wardrobe <-> floor depth=[1.640, -0.001, 0.532] +============================================================ + + +============================================================ +SCENE: MasterBedroom-514 | 5 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0866, Walkable Loss: 3.1201 (Center Penalty: 2.4331, C1 Heatmap: 0.6087, C2 Repulsion: 1.0000), Relational Loss: 0.0000 +Guided Steps: 10/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +nightstand 0.491 0.505 0.538 0.704 -0.000 0.452 0.02° +bed 1.936 1.069 2.325 0.459 -0.001 -0.032 -90.01° +lamp 1.006 0.921 0.844 0.417 1.809 0.252 179.82° +floor 2.724 -0.003 3.221 0.015 0.000 -0.006 -0.02° +_scene_ 0.070 -0.000 0.024 -5.675 -0.004 -5.712 -57.32° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: nightstand <-> bed depth=[0.491, 0.505, 0.538] + !! OVERLAP: nightstand <-> floor depth=[0.491, -0.003, 0.538] + !! OVERLAP: bed <-> floor depth=[1.886, -0.003, 2.325] +============================================================ + + +============================================================ +SCENE: SecondBedroom-11204 | 7 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.1084, Walkable Loss: 2.9506 (Center Penalty: 1.4618, C1 Heatmap: 0.7350, C2 Repulsion: 4.5040), Relational Loss: 0.0000 +Guided Steps: 10/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +bed 1.424 1.103 2.280 -0.504 -0.000 -0.434 89.92° +wardrobe 1.456 2.205 0.528 -0.727 0.002 1.478 179.99° +nightstand 0.491 0.559 0.428 -1.321 -0.000 0.899 90.02° +table 0.887 1.153 0.457 1.184 0.001 -0.681 -89.93° +chair 0.756 0.467 0.451 1.098 0.000 -0.857 90.01° +floor 3.267 -0.002 3.633 -0.006 0.001 -0.018 -0.01° +_scene_ 0.067 0.001 0.017 -5.672 -0.005 -5.713 -57.29° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bed <-> nightstand depth=[0.141, 0.559, 0.021] + !! OVERLAP: bed <-> floor depth=[1.424, -0.002, 2.280] + !! OVERLAP: wardrobe <-> floor depth=[1.456, -0.002, 0.528] + !! OVERLAP: nightstand <-> floor depth=[0.491, -0.002, 0.428] + !! OVERLAP: table <-> chair depth=[0.736, 0.467, 0.278] + !! OVERLAP: table <-> floor depth=[0.887, -0.002, 0.457] + !! OVERLAP: chair <-> floor depth=[0.756, -0.002, 0.451] +============================================================ + + +============================================================ +SCENE: MasterBedroom-4089 | 7 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.6575, Walkable Loss: 3.7201 (Center Penalty: 2.2834, C1 Heatmap: 1.0229, C2 Repulsion: 3.0917), Relational Loss: 0.0000 +Guided Steps: 10/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +wardrobe 2.677 2.531 0.731 1.347 -0.002 0.228 -90.11° +nightstand 0.742 0.677 0.408 -1.357 0.001 -1.302 0.01° +nightstand 0.551 0.809 0.463 1.272 0.001 -1.410 0.00° +bed 2.199 0.685 2.063 -0.592 0.004 -0.366 0.10° +lamp 0.300 1.145 0.290 -0.225 1.640 -0.193 0.02° +floor 3.972 -0.001 3.423 -0.012 0.000 -0.003 -0.04° +_scene_ 0.067 0.001 0.021 -5.671 -0.005 -5.716 -57.30° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: wardrobe <-> bed depth=[0.499, 0.685, 0.731] + !! OVERLAP: wardrobe <-> floor depth=[1.966, -0.001, 0.731] + !! OVERLAP: nightstand <-> bed depth=[0.706, 0.677, 0.300] + !! OVERLAP: nightstand <-> floor depth=[0.742, -0.001, 0.408] + !! OVERLAP: nightstand <-> floor depth=[0.551, -0.001, 0.463] + !! OVERLAP: bed <-> floor depth=[2.199, -0.001, 2.063] +============================================================ + + +============================================================ +SCENE: MasterBedroom-21684 | 9 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.3011, Walkable Loss: 4.2335 (Center Penalty: 2.3795, C1 Heatmap: 0.8978, C2 Repulsion: 5.6787), Relational Loss: 0.0000 +Guided Steps: 10/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +bed 1.740 1.005 2.423 0.316 0.001 -0.427 -0.01° +nightstand 0.478 0.747 0.463 1.606 -0.002 -1.294 0.07° +cabinet 1.143 1.517 0.485 0.029 0.002 1.291 -179.92° +wardrobe 1.467 2.341 0.664 -1.247 -0.000 -0.724 89.85° +nightstand 0.549 0.796 0.413 -0.856 0.002 -1.409 0.04° +chair 0.566 0.787 0.596 1.433 0.007 0.900 -153.53° +lamp 0.896 0.965 0.765 0.239 1.775 0.177 -0.03° +floor 3.459 -0.001 3.316 0.001 0.001 0.005 -0.02° +_scene_ 0.068 -0.000 0.020 -5.676 -0.005 -5.715 -57.30° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bed <-> wardrobe depth=[0.040, 1.005, 0.664] + !! OVERLAP: bed <-> chair depth=[0.037, 0.787, 0.183] + !! OVERLAP: bed <-> floor depth=[1.740, -0.001, 2.423] + !! OVERLAP: nightstand <-> floor depth=[0.363, -0.001, 0.463] + !! OVERLAP: cabinet <-> floor depth=[1.143, -0.001, 0.485] + !! OVERLAP: wardrobe <-> floor depth=[1.214, -0.001, 0.664] + !! OVERLAP: nightstand <-> floor depth=[0.549, -0.001, 0.413] + !! OVERLAP: chair <-> floor depth=[0.566, -0.001, 0.596] +============================================================ + + +============================================================ +SCENE: SecondBedroom-8497 | 6 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.2244, Walkable Loss: 3.3579 (Center Penalty: 2.4553, C1 Heatmap: 0.6740, C2 Repulsion: 1.8173), Relational Loss: 0.0000 +Guided Steps: 10/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +bed 2.161 0.979 2.436 -0.424 0.002 -0.239 89.80° +nightstand 0.471 0.492 0.428 -1.283 0.012 0.869 89.95° +nightstand 0.571 0.590 0.386 -1.350 0.000 -1.442 90.01° +lamp 0.813 0.901 0.792 -0.027 2.091 -0.420 -0.01° +floor 3.049 -0.001 3.306 0.005 0.001 0.018 -0.03° +_scene_ 0.063 0.001 0.016 -5.672 -0.006 -5.712 -57.30° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bed <-> nightstand depth=[0.457, 0.492, 0.324] + !! OVERLAP: bed <-> nightstand depth=[0.440, 0.590, 0.208] + !! OVERLAP: bed <-> floor depth=[2.161, -0.001, 2.436] + !! OVERLAP: nightstand <-> floor depth=[0.471, -0.001, 0.428] + !! OVERLAP: nightstand <-> floor depth=[0.455, -0.001, 0.386] +============================================================ + + +============================================================ +SCENE: MasterBedroom-196 | 7 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 1.1273, Walkable Loss: 4.2439 (Center Penalty: 2.6131, C1 Heatmap: 1.0681, C2 Repulsion: 3.8810), Relational Loss: 0.0000 +Guided Steps: 10/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +lamp 0.616 0.482 0.652 0.293 2.336 0.019 -0.08° +wardrobe 2.481 2.503 0.629 -1.614 -0.001 -0.336 89.94° +bed 2.312 1.108 2.470 0.131 0.001 -0.375 -0.05° +nightstand 0.598 0.653 0.503 1.415 0.001 -1.298 0.01° +nightstand 0.729 0.590 0.537 -0.776 0.001 -1.335 0.01° +floor 3.656 -0.002 3.620 -0.004 0.001 -0.002 -0.00° +_scene_ 0.068 0.000 0.023 -5.671 -0.005 -5.715 -57.31° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: wardrobe <-> bed depth=[0.651, 1.108, 0.629] + !! OVERLAP: wardrobe <-> floor depth=[1.458, -0.002, 0.629] + !! OVERLAP: bed <-> nightstand depth=[0.171, 0.653, 0.503] + !! OVERLAP: bed <-> nightstand depth=[0.614, 0.590, 0.537] + !! OVERLAP: bed <-> floor depth=[2.312, -0.002, 2.470] + !! OVERLAP: nightstand <-> floor depth=[0.598, -0.002, 0.503] + !! OVERLAP: nightstand <-> floor depth=[0.729, -0.002, 0.537] +============================================================ + + +============================================================ +SCENE: MasterBedroom-132469 | 5 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0387, Walkable Loss: 3.0537 (Center Penalty: 2.3302, C1 Heatmap: 0.7553, C2 Repulsion: 0.5963), Relational Loss: 0.0000 +Guided Steps: 10/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +bed 2.346 1.018 2.152 0.327 -0.003 0.566 -90.05° +wardrobe 1.593 2.059 0.619 0.581 0.001 -1.711 0.06° +lamp 0.460 0.185 0.464 0.007 2.413 0.076 -0.02° +floor 3.114 -0.003 4.139 -0.039 -0.000 -0.009 0.00° +_scene_ 0.093 -0.004 0.096 -5.613 -0.006 -5.662 -57.40° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bed <-> floor depth=[2.346, -0.003, 2.152] + !! OVERLAP: wardrobe <-> floor depth=[1.593, -0.003, 0.619] +============================================================ + + +============================================================ +SCENE: MasterBedroom-104323 | 5 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0038, Walkable Loss: 2.2971 (Center Penalty: 1.6531, C1 Heatmap: 0.5550, C2 Repulsion: 1.0000), Relational Loss: 0.0000 +Guided Steps: 10/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +bed 1.831 1.225 2.209 -0.474 -0.000 0.500 89.91° +lamp 0.853 1.005 0.440 -0.105 1.807 1.026 0.00° +nightstand 0.479 0.553 0.362 -0.962 0.001 -0.644 89.95° +floor 2.905 -0.001 3.200 -0.003 0.000 -0.025 -0.01° +_scene_ 0.073 0.001 0.027 -5.668 -0.005 -5.708 -57.30° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bed <-> nightstand depth=[0.479, 0.553, 0.141] + !! OVERLAP: bed <-> floor depth=[1.831, -0.001, 2.179] + !! OVERLAP: nightstand <-> floor depth=[0.479, -0.001, 0.362] +============================================================ + + +============================================================ +SCENE: SecondBedroom-69556 | 8 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.3881, Walkable Loss: 3.4975 (Center Penalty: 2.0786, C1 Heatmap: 0.8028, C2 Repulsion: 3.8838), Relational Loss: 0.0000 +Guided Steps: 10/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +bed 1.727 1.175 2.207 0.642 -0.000 -0.648 -89.98° +wardrobe 1.637 2.344 0.642 0.727 -0.001 1.552 -179.99° +table 0.487 0.555 0.467 1.351 0.000 0.736 -90.06° +cabinet 0.959 1.683 0.522 -1.118 -0.001 -1.509 89.58° +lamp 0.770 1.007 0.772 0.098 1.629 -0.253 0.00° +table 0.500 0.588 0.484 1.438 0.001 -1.641 -90.07° +floor 3.172 -0.000 3.951 -0.007 -0.000 -0.055 -0.03° +_scene_ 0.068 0.000 0.017 -5.670 -0.004 -5.710 -57.31° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bed <-> table depth=[0.318, 0.588, 0.352] + !! OVERLAP: bed <-> floor depth=[1.727, -0.000, 2.207] + !! OVERLAP: wardrobe <-> floor depth=[1.637, -0.000, 0.642] + !! OVERLAP: table <-> floor depth=[0.472, -0.000, 0.467] + !! OVERLAP: cabinet <-> floor depth=[0.954, -0.000, 0.522] + !! OVERLAP: table <-> floor depth=[0.392, -0.000, 0.484] +============================================================ + + +============================================================ +SCENE: Bedroom-6993 | 5 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.1493, Walkable Loss: 3.2126 (Center Penalty: 2.3174, C1 Heatmap: 0.8841, C2 Repulsion: 0.9397), Relational Loss: 0.0000 +Guided Steps: 10/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +bed 1.916 0.725 1.998 -0.303 0.006 0.330 89.87° +lamp 0.913 0.889 0.117 0.219 1.930 0.506 179.93° +wardrobe 3.363 2.452 0.599 0.085 -0.004 -1.393 0.13° +floor 3.132 -0.003 3.972 0.036 0.001 -0.005 -0.04° +_scene_ 0.040 0.008 0.008 -5.660 -0.004 -5.721 -57.32° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bed <-> floor depth=[1.916, -0.003, 1.998] + !! OVERLAP: wardrobe <-> floor depth=[3.132, -0.003, 0.599] +============================================================ + + +============================================================ +SCENE: MasterBedroom-935 | 11 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.9846, Walkable Loss: 4.8641 (Center Penalty: 1.8353, C1 Heatmap: 1.2734, C2 Repulsion: 10.0501), Relational Loss: 0.0000 +Guided Steps: 10/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +desk 1.251 0.740 0.482 1.394 0.001 -1.181 -89.90° +lamp 0.382 0.614 0.401 -0.014 2.107 0.495 -0.06° +lamp 0.979 0.896 0.821 1.225 1.730 1.696 -89.92° +lamp 1.313 1.137 0.733 1.222 1.394 -1.217 0.03° +chair 0.394 0.856 0.448 0.569 0.001 -1.241 89.80° +bed 1.933 0.744 1.969 0.612 -0.001 0.616 -90.09° +wardrobe 2.410 2.296 0.662 0.677 0.005 -1.699 0.06° +tv_stand 1.929 0.704 0.475 -1.429 0.000 0.947 90.00° +nightstand 0.458 0.522 0.386 1.700 0.001 1.625 -90.19° +floor 3.597 -0.000 4.824 0.071 -0.000 0.097 -0.06° +_scene_ 0.078 0.000 0.022 -5.672 -0.005 -5.713 -57.31° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: desk <-> wardrobe depth=[1.114, 0.740, 0.055] + !! OVERLAP: desk <-> floor depth=[1.102, -0.000, 0.482] + !! OVERLAP: lamp <-> wardrobe depth=[1.313, 0.327, 0.216] + !! OVERLAP: chair <-> wardrobe depth=[0.394, 0.856, 0.098] + !! OVERLAP: chair <-> floor depth=[0.394, -0.000, 0.448] + !! OVERLAP: bed <-> nightstand depth=[0.108, 0.522, 0.169] + !! OVERLAP: bed <-> floor depth=[1.933, -0.000, 1.969] + !! OVERLAP: wardrobe <-> floor depth=[2.398, -0.000, 0.662] + !! OVERLAP: tv_stand <-> floor depth=[1.262, -0.000, 0.475] + !! OVERLAP: nightstand <-> floor depth=[0.399, -0.000, 0.386] +============================================================ + + +============================================================ +SCENE: SecondBedroom-2311 | 6 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0000, Walkable Loss: 2.7045 (Center Penalty: 2.0086, C1 Heatmap: 0.6042, C2 Repulsion: 1.0627), Relational Loss: 0.0000 +Guided Steps: 10/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +bookshelf 1.537 2.740 0.368 -0.334 -0.000 -1.116 0.02° +lamp 0.784 0.689 0.817 0.146 1.904 0.454 0.01° +bed 1.587 1.229 2.057 -0.700 0.003 0.461 -179.87° +chair 0.608 0.724 0.688 1.436 -0.000 0.996 -90.39° +floor 3.952 -0.002 3.223 0.016 0.001 0.001 -0.01° +_scene_ 0.066 0.003 0.037 -5.620 -0.003 -5.679 -57.30° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bookshelf <-> floor depth=[1.537, -0.002, 0.368] + !! OVERLAP: bed <-> floor depth=[1.587, -0.002, 2.057] + !! OVERLAP: chair <-> floor depth=[0.608, -0.002, 0.688] +============================================================ + + +============================================================ +SCENE: SecondBedroom-69136 | 8 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.5571, Walkable Loss: 3.5376 (Center Penalty: 2.0917, C1 Heatmap: 0.9537, C2 Repulsion: 3.4150), Relational Loss: 0.0000 +Guided Steps: 10/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +bed 2.058 0.906 2.185 0.416 0.001 0.467 -179.98° +wardrobe 1.818 2.185 0.648 -1.858 0.002 0.786 89.92° +nightstand 0.381 0.416 0.311 1.673 0.002 1.337 179.98° +nightstand 0.351 0.426 0.326 -0.692 0.001 1.425 179.89° +tv_stand 1.876 0.532 0.427 0.326 -0.000 -1.354 -0.01° +lamp 0.542 0.158 0.534 0.425 2.386 -0.028 -0.00° +floor 4.607 -0.002 3.084 0.038 -0.000 -0.019 -0.05° +_scene_ 0.069 -0.000 0.022 -5.672 -0.005 -5.712 -57.31° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bed <-> nightstand depth=[0.097, 0.426, 0.298] + !! OVERLAP: bed <-> floor depth=[2.058, -0.002, 2.147] + !! OVERLAP: wardrobe <-> floor depth=[1.316, -0.002, 0.648] + !! OVERLAP: nightstand <-> floor depth=[0.381, -0.002, 0.311] + !! OVERLAP: nightstand <-> floor depth=[0.351, -0.002, 0.261] + !! OVERLAP: tv_stand <-> floor depth=[1.876, -0.002, 0.421] +============================================================ + + +============================================================ +SCENE: Bedroom-47437 | 5 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0000, Walkable Loss: 2.4775 (Center Penalty: 1.6227, C1 Heatmap: 0.6073, C2 Repulsion: 1.8450), Relational Loss: 0.0000 +Guided Steps: 10/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +bed 1.862 1.082 2.302 -0.398 0.002 0.063 89.85° +nightstand 0.496 0.627 0.463 -0.848 -0.001 1.588 0.03° +nightstand 0.615 0.566 0.533 -0.877 0.003 -1.122 89.96° +floor 3.505 -0.001 4.849 0.012 0.000 -0.004 -0.03° +_scene_ 0.063 0.008 0.015 -5.667 -0.005 -5.713 -57.26° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bed <-> nightstand depth=[0.615, 0.566, 0.232] + !! OVERLAP: bed <-> floor depth=[1.862, -0.001, 2.302] + !! OVERLAP: nightstand <-> floor depth=[0.496, -0.001, 0.463] + !! OVERLAP: nightstand <-> floor depth=[0.615, -0.001, 0.533] +============================================================ + + +============================================================ +SCENE: SecondBedroom-739 | 6 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0000, Walkable Loss: 3.7560 (Center Penalty: 2.7986, C1 Heatmap: 0.7124, C2 Repulsion: 1.9373), Relational Loss: 0.0000 +Guided Steps: 10/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +bed 2.317 1.169 2.333 -0.341 0.001 0.044 89.87° +table 0.493 0.500 0.423 -1.185 0.001 1.368 89.94° +table 0.508 0.500 0.428 -1.190 0.002 -1.066 89.98° +lamp 0.415 1.014 0.648 -0.138 1.736 0.095 0.01° +floor 2.936 -0.003 3.611 -0.005 0.001 0.049 -0.01° +_scene_ 0.057 0.036 0.085 -5.505 -0.002 -5.513 -57.98° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bed <-> table depth=[0.493, 0.500, 0.054] + !! OVERLAP: bed <-> table depth=[0.508, 0.500, 0.271] + !! OVERLAP: bed <-> floor depth=[2.291, -0.003, 2.333] + !! OVERLAP: table <-> floor depth=[0.493, -0.003, 0.423] + !! OVERLAP: table <-> floor depth=[0.508, -0.003, 0.428] +============================================================ + + +============================================================ +SCENE: MasterBedroom-6351 | 6 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0482, Walkable Loss: 3.5096 (Center Penalty: 2.7441, C1 Heatmap: 0.5849, C2 Repulsion: 1.4877), Relational Loss: 0.0000 +Guided Steps: 10/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +bed 1.914 1.501 2.218 0.336 -0.001 0.087 -89.96° +nightstand 0.440 0.512 0.402 1.246 -0.000 1.083 -90.12° +nightstand 0.351 0.585 0.306 1.283 0.001 -1.398 -90.07° +lamp 0.902 0.600 0.872 -0.023 2.259 -0.123 -0.01° +floor 3.043 -0.001 3.548 -0.005 0.000 -0.005 -0.04° +_scene_ 0.073 -0.000 0.023 -5.667 -0.005 -5.713 -57.27° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bed <-> nightstand depth=[0.267, 0.512, 0.314] + !! OVERLAP: bed <-> floor depth=[1.914, -0.001, 2.218] + !! OVERLAP: nightstand <-> floor depth=[0.440, -0.001, 0.402] + !! OVERLAP: nightstand <-> floor depth=[0.351, -0.001, 0.306] +============================================================ + + +============================================================ +SCENE: SecondBedroom-22370 | 7 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.6485, Walkable Loss: 3.3793 (Center Penalty: 2.1661, C1 Heatmap: 0.7292, C2 Repulsion: 3.1491), Relational Loss: 0.0000 +Guided Steps: 10/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +wardrobe 1.674 2.192 0.581 1.615 0.001 0.715 -90.19° +bed 2.041 1.414 2.050 -0.469 0.000 0.521 179.97° +nightstand 0.484 0.510 0.415 1.032 0.000 1.268 179.84° +nightstand 0.389 0.462 0.343 -1.389 0.000 1.326 179.90° +lamp 0.817 0.789 0.772 -0.209 1.974 -0.075 0.04° +floor 3.971 -0.002 3.086 -0.090 0.000 -0.054 -0.02° +_scene_ 0.066 0.001 0.018 -5.671 -0.005 -5.716 -57.26° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: wardrobe <-> floor depth=[1.118, -0.002, 0.581] + !! OVERLAP: bed <-> nightstand depth=[0.295, 0.462, 0.343] + !! OVERLAP: bed <-> floor depth=[2.041, -0.002, 1.993] + !! OVERLAP: nightstand <-> floor depth=[0.484, -0.002, 0.415] + !! OVERLAP: nightstand <-> floor depth=[0.389, -0.002, 0.334] +============================================================ + + +============================================================ +SCENE: SecondBedroom-15551 | 5 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0000, Walkable Loss: 2.8172 (Center Penalty: 1.7206, C1 Heatmap: 0.8896, C2 Repulsion: 1.9243), Relational Loss: 0.0000 +Guided Steps: 10/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +bed 1.947 0.818 2.193 -0.396 0.005 -0.247 89.89° +wardrobe 2.568 2.480 0.692 -0.277 0.000 1.353 -179.99° +nightstand 0.576 0.579 0.493 -1.187 0.002 -1.523 89.97° +floor 3.157 -0.003 4.224 -0.005 0.001 -0.040 -0.00° +_scene_ 0.075 0.001 0.025 -5.667 -0.004 -5.708 -57.31° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bed <-> nightstand depth=[0.471, 0.579, 0.066] + !! OVERLAP: bed <-> floor depth=[1.947, -0.003, 2.193] + !! OVERLAP: wardrobe <-> floor depth=[2.568, -0.003, 0.692] + !! OVERLAP: nightstand <-> floor depth=[0.576, -0.003, 0.493] +============================================================ + + +============================================================ +SCENE: MasterBedroom-13100 | 8 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.1111, Walkable Loss: 4.1366 (Center Penalty: 2.3517, C1 Heatmap: 1.1162, C2 Repulsion: 4.4599), Relational Loss: 0.0000 +Guided Steps: 10/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +lamp 0.364 1.001 0.392 0.131 1.725 0.234 -0.03° +bed 2.491 1.045 2.399 0.443 0.000 0.484 -90.12° +nightstand 0.586 0.571 0.690 1.476 0.001 -1.248 -90.03° +nightstand 0.524 0.568 0.553 1.429 0.000 1.637 -90.11° +wardrobe 2.215 2.503 0.690 0.512 0.000 -1.455 0.01° +shelf 1.041 1.887 0.426 -1.344 0.002 1.684 89.91° +floor 3.430 -0.001 4.406 -0.041 -0.000 0.016 -0.02° +_scene_ 0.069 0.001 0.018 -5.672 -0.005 -5.715 -57.31° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bed <-> nightstand depth=[0.522, 0.568, 0.323] + !! OVERLAP: bed <-> floor depth=[2.477, -0.001, 2.399] + !! OVERLAP: nightstand <-> wardrobe depth=[0.437, 0.571, 0.483] + !! OVERLAP: nightstand <-> floor depth=[0.491, -0.001, 0.690] + !! OVERLAP: nightstand <-> floor depth=[0.507, -0.001, 0.553] + !! OVERLAP: wardrobe <-> floor depth=[2.215, -0.001, 0.690] + !! OVERLAP: shelf <-> floor depth=[0.933, -0.001, 0.426] +============================================================ + + +============================================================ +SCENE: SecondBedroom-13841 | 5 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.3053, Walkable Loss: 3.0839 (Center Penalty: 1.9341, C1 Heatmap: 0.8646, C2 Repulsion: 2.2904), Relational Loss: 0.0000 +Guided Steps: 10/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +lamp 0.624 1.051 0.943 0.564 1.256 -0.142 -0.02° +bed 2.024 1.589 2.233 0.410 -0.000 -0.582 -0.12° +wardrobe 1.390 1.908 1.233 -1.081 -0.003 -0.444 89.75° +floor 3.142 -0.002 3.505 0.060 0.000 -0.025 -0.03° +_scene_ 0.049 0.004 0.038 -5.602 -0.004 -5.671 -57.49° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: lamp <-> bed depth=[0.624, 0.064, 0.943] + !! OVERLAP: bed <-> wardrobe depth=[0.216, 1.589, 1.233] + !! OVERLAP: bed <-> floor depth=[2.024, -0.002, 2.233] + !! OVERLAP: wardrobe <-> floor depth=[1.125, -0.002, 1.233] +============================================================ + + +============================================================ +SCENE: MasterBedroom-10364 | 8 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0255, Walkable Loss: 2.2620 (Center Penalty: 1.2013, C1 Heatmap: 0.7010, C2 Repulsion: 2.4995), Relational Loss: 0.0000 +Guided Steps: 10/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +bed 2.165 1.244 2.399 0.843 -0.000 -0.770 -0.01° +nightstand 0.614 0.725 0.518 1.710 0.002 -1.584 0.00° +nightstand 0.524 0.601 0.438 -0.102 0.001 -1.644 -0.01° +wardrobe 0.868 1.852 0.410 -1.288 0.001 -0.933 89.94° +lamp 0.561 0.254 0.560 0.920 2.441 -0.558 0.00° +lamp 0.458 0.567 0.436 -1.233 2.273 1.055 0.01° +floor 4.284 -0.001 3.954 -0.139 -0.000 -0.113 0.02° +_scene_ 0.067 0.001 0.023 -5.672 -0.003 -5.715 -57.30° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bed <-> nightstand depth=[0.523, 0.725, 0.518] + !! OVERLAP: bed <-> nightstand depth=[0.399, 0.601, 0.438] + !! OVERLAP: bed <-> floor depth=[2.165, -0.001, 2.399] + !! OVERLAP: nightstand <-> floor depth=[0.600, -0.001, 0.518] + !! OVERLAP: nightstand <-> floor depth=[0.524, -0.001, 0.438] + !! OVERLAP: wardrobe <-> floor depth=[0.868, -0.001, 0.410] +============================================================ + + +============================================================ +SCENE: Bedroom-18 | 6 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0000, Walkable Loss: 3.8389 (Center Penalty: 2.8301, C1 Heatmap: 0.7611, C2 Repulsion: 1.9999), Relational Loss: 0.0000 +Guided Steps: 10/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +bed 2.356 1.060 2.348 0.001 0.001 -0.275 0.06° +nightstand 0.610 0.626 0.652 1.302 0.001 -1.258 0.02° +nightstand 0.618 0.575 0.567 -1.201 0.001 -1.227 -0.02° +lamp 0.329 0.627 0.308 0.035 2.072 0.005 -0.04° +floor 3.341 0.001 3.398 -0.006 0.001 -0.010 -0.00° +_scene_ 0.069 -0.000 0.022 -5.673 -0.004 -5.715 -57.27° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bed <-> nightstand depth=[0.182, 0.626, 0.518] + !! OVERLAP: bed <-> nightstand depth=[0.285, 0.575, 0.506] + !! OVERLAP: bed <-> floor depth=[2.356, 0.001, 2.348] + !! OVERLAP: nightstand <-> floor depth=[0.610, 0.001, 0.652] + !! OVERLAP: nightstand <-> floor depth=[0.618, 0.001, 0.567] +============================================================ + + +============================================================ +SCENE: SecondBedroom-11303 | 7 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.6645, Walkable Loss: 3.5296 (Center Penalty: 1.5463, C1 Heatmap: 1.0335, C2 Repulsion: 5.7825), Relational Loss: 0.0000 +Guided Steps: 10/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +bed 2.021 1.125 2.180 -0.529 0.000 -0.451 0.04° +desk 1.594 0.694 0.789 -1.035 0.004 0.489 179.88° +nightstand 0.367 0.467 0.382 1.005 -0.001 0.049 -0.00° +wardrobe 1.423 2.067 0.582 1.426 0.003 0.175 -90.13° +wardrobe 1.232 2.335 0.661 1.222 -0.007 -0.883 -89.88° +floor 3.701 -0.000 3.028 -0.116 -0.001 -0.012 -0.02° +_scene_ 0.063 -0.000 0.021 -5.672 -0.005 -5.713 -57.30° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bed <-> desk depth=[1.302, 0.694, 0.544] + !! OVERLAP: bed <-> floor depth=[2.021, -0.000, 2.165] + !! OVERLAP: desk <-> floor depth=[1.594, -0.000, 0.789] + !! OVERLAP: nightstand <-> wardrobe depth=[0.367, 0.467, 0.355] + !! OVERLAP: nightstand <-> floor depth=[0.367, -0.000, 0.382] + !! OVERLAP: wardrobe <-> floor depth=[1.020, -0.000, 0.582] + !! OVERLAP: wardrobe <-> floor depth=[1.129, -0.000, 0.661] +============================================================ + + +============================================================ +SCENE: MasterBedroom-1362 | 8 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0257, Walkable Loss: 4.0775 (Center Penalty: 2.5126, C1 Heatmap: 0.8480, C2 Repulsion: 4.4328), Relational Loss: 0.0000 +Guided Steps: 10/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +bed 1.969 1.370 1.967 0.499 -0.001 0.372 -89.98° +table 0.529 0.538 0.558 1.286 -0.001 -1.031 -90.06° +table 0.537 0.496 0.616 1.207 0.001 1.628 -89.88° +wardrobe 1.657 1.918 0.558 0.535 0.002 -1.802 0.15° +lamp 0.655 0.141 0.657 0.087 2.489 0.084 0.00° +chair 0.895 0.790 0.863 -1.046 0.002 -0.036 46.23° +floor 3.006 -0.002 4.250 -0.006 -0.000 0.136 -0.03° +_scene_ 0.070 0.003 0.022 -5.665 -0.004 -5.715 -57.30° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bed <-> table depth=[0.537, 0.496, 0.036] + !! OVERLAP: bed <-> floor depth=[1.969, -0.002, 1.967] + !! OVERLAP: table <-> floor depth=[0.476, -0.002, 0.558] + !! OVERLAP: table <-> floor depth=[0.537, -0.002, 0.616] + !! OVERLAP: wardrobe <-> floor depth=[1.657, -0.002, 0.467] + !! OVERLAP: chair <-> floor depth=[0.895, -0.002, 0.863] +============================================================ + + +============================================================ +SCENE: SecondBedroom-34317 | 7 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0195, Walkable Loss: 3.9373 (Center Penalty: 2.8200, C1 Heatmap: 0.7886, C2 Repulsion: 2.4319), Relational Loss: 0.0000 +Guided Steps: 10/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +bed 2.384 1.157 2.190 -0.319 -0.001 0.030 89.89° +cabinet 1.152 0.784 0.381 0.637 0.002 -1.913 0.02° +nightstand 0.597 0.731 0.495 -1.294 0.001 1.492 90.01° +nightstand 0.630 0.663 0.486 -1.247 0.001 -0.909 89.99° +lamp 0.497 0.358 0.484 0.160 2.266 -0.159 -0.05° +floor 3.060 -0.000 4.277 -0.004 -0.000 -0.035 0.01° +_scene_ 0.071 0.003 0.018 -5.664 -0.005 -5.712 -57.27° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bed <-> nightstand depth=[0.579, 0.663, 0.400] + !! OVERLAP: bed <-> floor depth=[2.384, -0.000, 2.190] + !! OVERLAP: cabinet <-> floor depth=[1.152, -0.000, 0.381] + !! OVERLAP: nightstand <-> floor depth=[0.538, -0.000, 0.495] + !! OVERLAP: nightstand <-> floor depth=[0.602, -0.000, 0.486] +============================================================ + + +============================================================ +SCENE: Bedroom-4098 | 7 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.4116, Walkable Loss: 3.5485 (Center Penalty: 2.2499, C1 Heatmap: 0.8355, C2 Repulsion: 3.1509), Relational Loss: 0.0000 +Guided Steps: 10/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +bed 1.757 0.993 2.322 -0.637 0.000 -0.326 -0.02° +nightstand 0.555 0.560 0.442 0.713 0.001 -1.303 0.00° +nightstand 0.551 0.530 0.499 -1.812 0.000 -1.271 0.02° +wardrobe 2.015 2.518 0.600 1.369 -0.001 -0.376 -90.10° +lamp 0.568 0.358 0.553 -0.273 2.193 -0.033 0.04° +floor 4.651 -0.001 3.260 -0.235 -0.000 -0.003 0.00° +_scene_ 0.067 -0.000 0.021 -5.671 -0.004 -5.714 -57.30° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bed <-> floor depth=[1.757, -0.001, 2.322] + !! OVERLAP: nightstand <-> floor depth=[0.555, -0.001, 0.442] + !! OVERLAP: nightstand <-> floor depth=[0.551, -0.001, 0.499] + !! OVERLAP: wardrobe <-> floor depth=[1.729, -0.001, 0.600] +============================================================ + + +============================================================ +SCENE: Bedroom-5265 | 9 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.4089, Walkable Loss: 4.0341 (Center Penalty: 2.0873, C1 Heatmap: 1.0298, C2 Repulsion: 5.6145), Relational Loss: 0.0000 +Guided Steps: 10/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +bed 1.841 1.188 1.952 -0.219 0.004 0.766 179.89° +nightstand 0.410 0.508 0.351 -1.230 0.002 1.466 179.88° +nightstand 0.485 0.496 0.420 1.112 0.002 1.621 179.92° +tv_stand 1.867 0.671 0.439 -1.102 -0.000 -1.494 -0.03° +tv_stand 2.060 0.721 0.461 -0.442 0.001 -1.250 -0.03° +wardrobe 1.494 2.458 0.519 1.596 -0.002 0.998 -90.01° +lamp 0.560 0.651 0.566 -0.376 1.946 0.026 -0.03° +floor 4.125 0.001 3.638 -0.127 0.001 -0.037 -0.03° +_scene_ 0.071 -0.000 0.019 -5.675 -0.006 -5.714 -57.29° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bed <-> nightstand depth=[0.114, 0.508, 0.351] + !! OVERLAP: bed <-> floor depth=[1.841, 0.001, 1.952] + !! OVERLAP: nightstand <-> floor depth=[0.410, 0.001, 0.351] + !! OVERLAP: nightstand <-> floor depth=[0.485, 0.001, 0.371] + !! OVERLAP: tv_stand <-> tv_stand depth=[1.303, 0.671, 0.206] + !! OVERLAP: tv_stand <-> floor depth=[1.867, 0.001, 0.439] + !! OVERLAP: tv_stand <-> floor depth=[2.060, 0.001, 0.461] + !! OVERLAP: wardrobe <-> floor depth=[1.087, 0.001, 0.519] +============================================================ + + +============================================================ +SCENE: MasterBedroom-22121 | 9 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0137, Walkable Loss: 3.4523 (Center Penalty: 1.7973, C1 Heatmap: 0.9377, C2 Repulsion: 4.5241), Relational Loss: 0.0000 +Guided Steps: 10/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +bed 1.949 1.167 2.220 0.447 -0.000 0.237 -90.02° +nightstand 0.596 0.502 0.501 0.923 0.003 -1.358 -0.03° +wardrobe 2.143 2.180 0.640 0.348 -0.001 -1.095 -0.04° +table 0.719 0.904 0.450 -1.383 0.002 0.301 90.00° +nightstand 0.477 0.551 0.442 0.128 0.002 1.180 -0.05° +lamp 0.942 0.749 0.929 -0.141 1.736 -1.219 -0.02° +lamp 0.733 0.888 0.764 0.177 2.045 1.089 0.00° +floor 3.414 0.000 3.692 -0.004 0.001 0.023 -0.01° +_scene_ 0.067 0.000 0.019 -5.675 -0.005 -5.719 -57.30° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bed <-> wardrobe depth=[1.947, 1.167, 0.098] + !! OVERLAP: bed <-> nightstand depth=[0.477, 0.551, 0.388] + !! OVERLAP: bed <-> floor depth=[1.949, 0.000, 2.220] + !! OVERLAP: nightstand <-> wardrobe depth=[0.596, 0.502, 0.308] + !! OVERLAP: nightstand <-> floor depth=[0.596, 0.000, 0.501] + !! OVERLAP: wardrobe <-> floor depth=[2.143, 0.000, 0.640] + !! OVERLAP: table <-> floor depth=[0.687, 0.000, 0.450] + !! OVERLAP: nightstand <-> floor depth=[0.477, 0.000, 0.442] +============================================================ + + +============================================================ +SCENE: Bedroom-47481 | 7 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0739, Walkable Loss: 3.6270 (Center Penalty: 2.3348, C1 Heatmap: 0.7757, C2 Repulsion: 3.3580), Relational Loss: 0.0000 +Guided Steps: 10/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +bed 1.934 1.060 2.171 -0.450 0.002 -0.140 89.94° +nightstand 0.427 0.465 0.321 -1.203 0.001 0.909 90.04° +wardrobe 1.992 2.436 0.551 -0.370 -0.000 1.762 -179.98° +nightstand 0.531 0.490 0.432 -1.113 0.002 -1.262 90.00° +lamp 0.890 0.740 0.435 -0.026 2.010 -0.484 -0.04° +floor 2.738 -0.002 3.968 -0.017 0.001 -0.005 -0.02° +_scene_ 0.071 0.001 0.025 -5.675 -0.005 -5.715 -57.29° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bed <-> nightstand depth=[0.427, 0.465, 0.197] + !! OVERLAP: bed <-> nightstand depth=[0.531, 0.490, 0.179] + !! OVERLAP: bed <-> floor depth=[1.904, -0.002, 2.171] + !! OVERLAP: nightstand <-> floor depth=[0.396, -0.002, 0.321] + !! OVERLAP: wardrobe <-> floor depth=[1.992, -0.002, 0.493] + !! OVERLAP: nightstand <-> floor depth=[0.531, -0.002, 0.432] +============================================================ + + +============================================================ +SCENE: Bedroom-2160 | 6 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.1379, Walkable Loss: 4.0028 (Center Penalty: 2.5884, C1 Heatmap: 0.9062, C2 Repulsion: 3.4473), Relational Loss: 0.0000 +Guided Steps: 10/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +bed 2.099 2.219 2.235 -0.030 0.005 0.541 -179.89° +nightstand 0.622 0.590 0.462 -0.870 0.002 1.382 179.96° +lamp 0.851 1.231 0.847 0.015 1.367 0.079 0.01° +wardrobe 1.736 2.048 0.666 0.054 0.004 -1.351 0.02° +floor 2.554 0.006 3.272 -0.007 0.000 0.024 -0.01° +_scene_ 0.065 0.001 0.017 -5.673 -0.004 -5.714 -57.30° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bed <-> nightstand depth=[0.520, 0.590, 0.462] + !! OVERLAP: bed <-> lamp depth=[0.851, 0.363, 0.847] + !! OVERLAP: bed <-> floor depth=[2.099, 0.006, 2.235] + !! OVERLAP: nightstand <-> floor depth=[0.622, 0.006, 0.462] + !! OVERLAP: wardrobe <-> floor depth=[1.736, 0.006, 0.593] +============================================================ + + +============================================================ +SCENE: SecondBedroom-9825 | 7 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.1069, Walkable Loss: 3.1493 (Center Penalty: 1.8871, C1 Heatmap: 0.8162, C2 Repulsion: 3.0463), Relational Loss: 0.0000 +Guided Steps: 10/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +wardrobe 1.879 2.552 0.665 -0.707 0.001 1.534 179.95° +bed 1.932 1.162 2.290 -0.452 0.002 -0.653 89.82° +table 0.493 0.529 0.428 -1.319 0.001 1.404 89.98° +table 0.487 0.573 0.495 -1.325 0.001 -1.494 90.02° +lamp 0.710 0.983 0.699 0.049 2.169 -0.425 0.01° +floor 3.163 -0.002 4.516 0.003 -0.001 -0.021 0.01° +_scene_ 0.071 0.000 0.019 -5.674 -0.004 -5.714 -57.29° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: wardrobe <-> table depth=[0.493, 0.529, 0.417] + !! OVERLAP: wardrobe <-> floor depth=[1.811, -0.002, 0.665] + !! OVERLAP: bed <-> table depth=[0.336, 0.573, 0.495] + !! OVERLAP: bed <-> floor depth=[1.932, -0.002, 2.290] + !! OVERLAP: table <-> floor depth=[0.493, -0.002, 0.428] + !! OVERLAP: table <-> floor depth=[0.487, -0.002, 0.495] +============================================================ + + +============================================================ +SCENE: Bedroom-1989 | 7 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 1.2567, Walkable Loss: 4.1543 (Center Penalty: 2.4477, C1 Heatmap: 1.0832, C2 Repulsion: 4.1998), Relational Loss: 0.0000 +Guided Steps: 10/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +bed 1.681 0.798 1.835 0.630 -0.001 -0.418 -90.00° +nightstand 0.404 0.801 0.348 1.298 -0.003 0.645 -90.26° +wardrobe 3.417 2.576 0.518 -0.369 0.001 1.312 -179.95° +tv_stand 2.129 0.483 0.528 -1.133 -0.000 -0.119 90.00° +lamp 0.646 0.686 0.331 0.027 1.936 -0.171 -0.04° +floor 3.057 -0.000 3.047 0.001 0.001 -0.018 -0.03° +_scene_ 0.069 0.001 0.020 -5.669 -0.004 -5.710 -57.32° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bed <-> nightstand depth=[0.375, 0.798, 0.028] + !! OVERLAP: bed <-> tv_stand depth=[0.143, 0.483, 0.528] + !! OVERLAP: bed <-> floor depth=[1.681, -0.000, 1.835] + !! OVERLAP: nightstand <-> floor depth=[0.404, -0.000, 0.348] + !! OVERLAP: wardrobe <-> floor depth=[2.867, -0.000, 0.453] + !! OVERLAP: tv_stand <-> floor depth=[1.460, -0.000, 0.528] +============================================================ + + +============================================================ +SCENE: SecondBedroom-143 | 9 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.3198, Walkable Loss: 3.6589 (Center Penalty: 1.5710, C1 Heatmap: 1.0499, C2 Repulsion: 6.2402), Relational Loss: 0.0000 +Guided Steps: 10/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +wardrobe 2.228 2.435 0.568 -1.555 -0.000 0.056 89.92° +bed 1.783 1.095 2.130 0.229 0.002 0.550 179.96° +nightstand 0.784 0.502 0.460 1.612 0.004 1.352 179.90° +nightstand 0.655 0.538 0.559 -1.447 0.001 1.395 179.90° +cabinet 1.323 1.133 0.449 0.546 0.002 -1.611 0.03° +cabinet 1.162 1.134 0.437 -0.799 -0.000 -1.555 0.00° +shelf 0.435 1.531 0.386 1.784 -0.001 -1.036 -134.75° +floor 4.618 -0.002 3.468 -0.028 0.000 -0.068 -0.02° +_scene_ 0.074 0.001 0.026 -5.663 -0.003 -5.710 -57.28° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: wardrobe <-> bed depth=[0.221, 1.095, 0.568] + !! OVERLAP: wardrobe <-> floor depth=[1.896, -0.002, 0.568] + !! OVERLAP: bed <-> floor depth=[1.783, -0.002, 2.130] + !! OVERLAP: nightstand <-> floor depth=[0.784, -0.002, 0.460] + !! OVERLAP: nightstand <-> floor depth=[0.655, -0.002, 0.551] + !! OVERLAP: cabinet <-> floor depth=[1.323, -0.002, 0.416] + !! OVERLAP: cabinet <-> floor depth=[1.162, -0.002, 0.437] + !! OVERLAP: shelf <-> floor depth=[0.435, -0.002, 0.386] +============================================================ + + +============================================================ +SCENE: SecondBedroom-13044 | 5 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0000, Walkable Loss: 2.6828 (Center Penalty: 1.6808, C1 Heatmap: 0.7804, C2 Repulsion: 1.8881), Relational Loss: 0.0000 +Guided Steps: 10/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +bed 2.145 1.192 2.203 0.381 -0.001 0.247 -90.01° +wardrobe 1.609 2.271 0.552 0.501 -0.000 -1.510 0.02° +nightstand 0.591 0.517 0.433 1.215 -0.000 1.305 -90.19° +floor 2.966 -0.002 3.764 -0.003 0.000 0.022 -0.01° +_scene_ 0.071 0.001 0.020 -5.673 -0.004 -5.710 -57.32° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bed <-> nightstand depth=[0.535, 0.517, 0.260] + !! OVERLAP: bed <-> floor depth=[2.145, -0.002, 2.203] + !! OVERLAP: wardrobe <-> floor depth=[1.609, -0.002, 0.552] + !! OVERLAP: nightstand <-> floor depth=[0.561, -0.002, 0.433] +============================================================ + + +============================================================ +SCENE: Bedroom-8490 | 8 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0477, Walkable Loss: 3.4298 (Center Penalty: 1.8648, C1 Heatmap: 0.9646, C2 Repulsion: 3.9665), Relational Loss: 0.0000 +Guided Steps: 10/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +wardrobe 3.250 2.513 0.664 -0.071 -0.001 -1.541 0.03° +lamp 0.880 0.738 0.857 -0.109 2.201 0.582 0.13° +bed 1.901 0.972 2.057 -0.242 0.001 0.798 -179.99° +nightstand 0.472 0.573 0.434 1.144 0.005 1.317 179.96° +nightstand 0.496 0.478 0.381 -1.264 0.006 1.566 179.88° +lamp 0.101 0.886 0.076 1.427 1.018 1.451 -0.01° +floor 3.195 0.001 3.887 -0.009 -0.000 0.079 -0.01° +_scene_ 0.067 0.001 0.018 -5.674 -0.005 -5.717 -57.29° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: wardrobe <-> floor depth=[3.160, 0.001, 0.655] + !! OVERLAP: bed <-> nightstand depth=[0.176, 0.478, 0.381] + !! OVERLAP: bed <-> floor depth=[1.901, 0.001, 2.057] + !! OVERLAP: nightstand <-> floor depth=[0.472, 0.001, 0.434] + !! OVERLAP: nightstand <-> floor depth=[0.496, 0.001, 0.381] +============================================================ + + +============================================================ +SCENE: MasterBedroom-424 | 7 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0000, Walkable Loss: 3.5655 (Center Penalty: 2.3959, C1 Heatmap: 0.8102, C2 Repulsion: 2.6069), Relational Loss: 0.0000 +Guided Steps: 10/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +bed 1.998 1.059 2.356 -0.377 0.000 0.506 89.90° +wardrobe 1.679 1.928 0.586 -0.326 -0.002 -1.834 0.05° +nightstand 0.541 0.477 0.471 -1.390 0.002 -0.986 90.00° +nightstand 0.554 0.471 0.391 -1.407 0.001 1.676 90.01° +lamp 0.540 0.210 0.537 0.035 2.432 0.228 -0.07° +floor 3.317 -0.001 4.419 -0.013 0.002 0.023 -0.03° +_scene_ 0.071 0.000 0.022 -5.670 -0.005 -5.712 -57.31° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bed <-> nightstand depth=[0.246, 0.471, 0.203] + !! OVERLAP: bed <-> floor depth=[1.998, -0.001, 2.356] + !! OVERLAP: wardrobe <-> floor depth=[1.679, -0.001, 0.586] + !! OVERLAP: nightstand <-> floor depth=[0.541, -0.001, 0.471] + !! OVERLAP: nightstand <-> floor depth=[0.541, -0.001, 0.391] +============================================================ + + +============================================================ +SCENE: SecondBedroom-32238 | 7 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0112, Walkable Loss: 2.3677 (Center Penalty: 1.3673, C1 Heatmap: 0.5852, C2 Repulsion: 2.6610), Relational Loss: 0.0000 +Guided Steps: 10/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +bed 1.897 1.949 1.895 0.721 0.000 0.211 -90.24° +nightstand 0.677 0.597 0.446 1.465 0.000 -0.620 -90.01° +nightstand 0.477 0.629 0.483 1.514 0.000 1.488 -90.15° +cabinet 0.351 0.565 0.275 1.476 -0.001 -1.539 -0.01° +cabinet 0.382 0.643 0.199 -1.209 0.006 -1.622 69.63° +floor 3.540 0.000 4.146 0.005 -0.000 -0.049 0.00° +_scene_ 0.057 0.013 0.030 -5.673 -0.005 -5.699 -57.27° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bed <-> nightstand depth=[0.543, 0.597, 0.339] + !! OVERLAP: bed <-> floor depth=[1.897, 0.000, 1.895] + !! OVERLAP: nightstand <-> floor depth=[0.649, 0.000, 0.446] + !! OVERLAP: nightstand <-> floor depth=[0.477, 0.000, 0.483] + !! OVERLAP: cabinet <-> floor depth=[0.351, 0.000, 0.275] + !! OVERLAP: cabinet <-> floor depth=[0.382, 0.000, 0.199] +============================================================ + + +============================================================ +SCENE: SecondBedroom-258160 | 8 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.2982, Walkable Loss: 4.1632 (Center Penalty: 2.3197, C1 Heatmap: 1.0523, C2 Repulsion: 5.0085), Relational Loss: 0.0000 +Guided Steps: 10/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +bed 2.046 1.147 2.388 0.353 -0.000 -0.508 -0.01° +nightstand 0.477 0.533 0.397 -0.600 0.001 -1.391 0.02° +nightstand 0.513 0.517 0.385 1.498 0.001 -1.464 -0.02° +wardrobe 1.911 2.551 0.642 -1.047 -0.001 -0.642 89.98° +tv_stand 1.835 1.917 0.433 0.401 0.003 1.365 180.00° +lamp 0.601 0.716 0.603 0.346 2.077 -0.122 -0.03° +floor 3.426 -0.002 3.377 -0.006 0.000 0.018 0.00° +_scene_ 0.069 0.000 0.022 -5.676 -0.005 -5.715 -57.30° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bed <-> nightstand depth=[0.309, 0.533, 0.397] + !! OVERLAP: bed <-> nightstand depth=[0.135, 0.517, 0.385] + !! OVERLAP: bed <-> wardrobe depth=[0.578, 1.147, 0.642] + !! OVERLAP: bed <-> floor depth=[2.046, -0.002, 2.357] + !! OVERLAP: nightstand <-> floor depth=[0.477, -0.002, 0.397] + !! OVERLAP: nightstand <-> floor depth=[0.465, -0.002, 0.385] + !! OVERLAP: wardrobe <-> floor depth=[1.627, -0.002, 0.642] + !! OVERLAP: tv_stand <-> floor depth=[1.835, -0.002, 0.433] +============================================================ + + +============================================================ +SCENE: SecondBedroom-19232 | 6 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0000, Walkable Loss: 3.2331 (Center Penalty: 2.4145, C1 Heatmap: 0.6094, C2 Repulsion: 1.6554), Relational Loss: 0.0000 +Guided Steps: 10/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +bed 1.902 1.382 2.176 -0.512 0.000 -0.302 89.84° +nightstand 0.468 0.511 0.318 -1.282 -0.000 1.216 90.01° +nightstand 0.529 0.460 0.493 -1.203 0.002 -1.116 90.01° +lamp 0.650 0.342 0.639 0.055 2.273 -0.303 -0.01° +floor 3.400 -0.002 4.093 -0.013 0.001 -0.057 -0.00° +_scene_ 0.068 0.001 0.020 -5.671 -0.005 -5.712 -57.29° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bed <-> nightstand depth=[0.524, 0.460, 0.493] + !! OVERLAP: bed <-> floor depth=[1.902, -0.002, 2.176] + !! OVERLAP: nightstand <-> floor depth=[0.468, -0.002, 0.318] + !! OVERLAP: nightstand <-> floor depth=[0.529, -0.002, 0.493] +============================================================ + + +============================================================ +SCENE: SecondBedroom-6685 | 5 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0183, Walkable Loss: 2.2762 (Center Penalty: 1.5623, C1 Heatmap: 0.7025, C2 Repulsion: 0.7595), Relational Loss: 0.0000 +Guided Steps: 10/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +wardrobe 1.449 2.217 0.613 0.318 -0.001 1.392 179.87° +bed 2.135 1.019 2.072 0.287 0.002 -0.645 -89.98° +lamp 0.663 0.397 0.637 0.323 2.130 -0.983 -0.00° +floor 2.727 -0.001 4.142 0.011 0.000 -0.027 -0.01° +_scene_ 0.066 0.003 0.021 -5.660 -0.005 -5.707 -57.29° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: wardrobe <-> floor depth=[1.449, -0.001, 0.613] + !! OVERLAP: bed <-> floor depth=[2.135, -0.001, 2.072] +============================================================ + + +============================================================ +SCENE: SecondBedroom-24334 | 7 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 1.2358, Walkable Loss: 4.2840 (Center Penalty: 2.5738, C1 Heatmap: 1.1035, C2 Repulsion: 4.1370), Relational Loss: 0.0000 +Guided Steps: 10/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +nightstand 0.428 0.517 0.412 1.408 -0.000 -1.266 -0.01° +desk 1.516 1.515 0.759 0.004 0.000 -1.135 0.03° +wardrobe 2.887 2.365 0.567 -1.447 0.000 -0.238 89.91° +lamp 0.594 0.466 0.593 0.147 2.240 0.041 -0.02° +bed 1.816 0.935 2.356 0.595 -0.001 -0.287 -0.03° +floor 3.400 -0.002 3.356 -0.028 0.000 -0.049 -0.02° +_scene_ 0.070 -0.002 0.023 -5.676 -0.005 -5.715 -57.29° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: nightstand <-> bed depth=[0.309, 0.517, 0.406] + !! OVERLAP: nightstand <-> floor depth=[0.428, -0.002, 0.412] + !! OVERLAP: desk <-> bed depth=[1.075, 0.935, 0.709] + !! OVERLAP: desk <-> floor depth=[1.516, -0.002, 0.759] + !! OVERLAP: wardrobe <-> bed depth=[0.310, 0.935, 0.567] + !! OVERLAP: wardrobe <-> floor depth=[1.724, -0.002, 0.567] + !! OVERLAP: bed <-> floor depth=[1.816, -0.002, 2.356] +============================================================ + + +============================================================ +SCENE: Bedroom-35352 | 7 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0287, Walkable Loss: 3.4513 (Center Penalty: 2.3766, C1 Heatmap: 0.7087, C2 Repulsion: 2.5388), Relational Loss: 0.0000 +Guided Steps: 10/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +bed 1.933 1.114 2.169 0.666 -0.002 0.206 -90.06° +wardrobe 1.218 2.480 0.596 -0.887 0.002 0.424 89.93° +nightstand 0.456 0.555 0.408 1.530 0.001 -1.141 -90.00° +nightstand 0.480 0.547 0.463 1.595 0.000 1.425 -90.06° +lamp 1.045 0.930 1.033 0.162 1.735 0.248 0.01° +floor 3.524 -0.002 3.956 0.008 -0.000 0.135 -0.02° +_scene_ 0.073 -0.000 0.022 -5.670 -0.005 -5.714 -57.28° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bed <-> wardrobe depth=[0.023, 1.114, 0.596] + !! OVERLAP: bed <-> nightstand depth=[0.277, 0.547, 0.096] + !! OVERLAP: bed <-> floor depth=[1.933, -0.002, 2.169] + !! OVERLAP: wardrobe <-> floor depth=[1.218, -0.002, 0.596] + !! OVERLAP: nightstand <-> floor depth=[0.456, -0.002, 0.408] + !! OVERLAP: nightstand <-> floor depth=[0.414, -0.002, 0.463] +============================================================ + + +============================================================ +SCENE: MasterBedroom-4284 | 6 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.1625, Walkable Loss: 2.1604 (Center Penalty: 1.2507, C1 Heatmap: 0.6852, C2 Repulsion: 1.8076), Relational Loss: 0.0000 +Guided Steps: 10/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +wardrobe 1.342 2.173 0.690 0.157 -0.001 -1.777 -0.00° +bed 1.826 1.435 2.130 0.557 -0.000 0.538 -90.02° +nightstand 0.506 0.610 0.478 1.415 0.000 -1.037 -89.96° +nightstand 0.456 0.588 0.379 1.482 0.004 1.954 -89.88° +floor 3.444 -0.003 5.088 -0.036 0.000 0.039 -0.04° +_scene_ 0.070 0.002 0.024 -5.668 -0.005 -5.711 -57.32° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: wardrobe <-> floor depth=[1.342, -0.003, 0.690] + !! OVERLAP: bed <-> floor depth=[1.826, -0.003, 2.130] + !! OVERLAP: nightstand <-> floor depth=[0.506, -0.003, 0.478] + !! OVERLAP: nightstand <-> floor depth=[0.433, -0.003, 0.379] +============================================================ + + +============================================================ +SCENE: MasterBedroom-1069 | 7 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.4096, Walkable Loss: 3.5717 (Center Penalty: 2.4384, C1 Heatmap: 0.6719, C2 Repulsion: 2.9787), Relational Loss: 0.0000 +Guided Steps: 10/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +lamp 0.759 0.591 0.779 -0.197 2.105 -0.081 -0.05° +wardrobe 1.519 2.496 0.592 1.623 -0.001 0.469 -90.04° +bed 2.002 0.845 1.836 -0.353 0.001 0.510 -179.90° +nightstand 0.422 0.472 0.434 -1.463 0.002 1.186 179.86° +nightstand 0.402 0.422 0.338 1.016 0.003 1.302 179.91° +floor 4.069 -0.002 2.925 -0.035 -0.000 -0.031 -0.03° +_scene_ 0.068 0.001 0.019 -5.673 -0.005 -5.716 -57.27° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: wardrobe <-> floor depth=[1.136, -0.002, 0.592] + !! OVERLAP: bed <-> nightstand depth=[0.102, 0.472, 0.434] + !! OVERLAP: bed <-> floor depth=[2.002, -0.002, 1.836] + !! OVERLAP: nightstand <-> floor depth=[0.422, -0.002, 0.434] + !! OVERLAP: nightstand <-> floor depth=[0.402, -0.002, 0.298] +============================================================ + + +============================================================ +SCENE: MasterBedroom-113 | 7 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.6540, Walkable Loss: 3.9567 (Center Penalty: 2.6796, C1 Heatmap: 0.8517, C2 Repulsion: 2.9789), Relational Loss: 0.0000 +Guided Steps: 10/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +tv_stand 1.733 0.569 0.451 1.140 -0.001 0.021 -90.20° +bed 2.268 1.122 2.283 -0.312 0.001 0.100 89.89° +nightstand 0.573 0.565 0.517 -1.214 0.003 1.218 90.01° +nightstand 0.520 0.555 0.419 -1.185 -0.000 -0.767 89.99° +lamp 0.867 0.559 0.155 0.107 2.158 -0.288 -0.02° +floor 2.961 -0.000 3.100 -0.011 0.001 0.005 -0.03° +_scene_ 0.064 0.002 0.022 -5.669 -0.006 -5.715 -57.31° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: tv_stand <-> bed depth=[0.549, 0.569, 0.451] + !! OVERLAP: tv_stand <-> floor depth=[1.196, -0.000, 0.451] + !! OVERLAP: bed <-> nightstand depth=[0.519, 0.565, 0.281] + !! OVERLAP: bed <-> nightstand depth=[0.520, 0.555, 0.419] + !! OVERLAP: bed <-> floor depth=[2.268, -0.000, 2.283] + !! OVERLAP: nightstand <-> floor depth=[0.564, -0.000, 0.517] + !! OVERLAP: nightstand <-> floor depth=[0.520, -0.000, 0.419] +============================================================ + + +============================================================ +SCENE: SecondBedroom-48968 | 6 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0015, Walkable Loss: 3.2710 (Center Penalty: 2.4521, C1 Heatmap: 0.6238, C2 Repulsion: 1.5993), Relational Loss: 0.0000 +Guided Steps: 10/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +bed 1.725 1.023 2.204 -0.455 0.002 -0.226 89.85° +nightstand 0.546 0.491 0.448 -1.318 0.001 -1.069 89.95° +desk 1.155 1.467 0.530 1.453 0.001 -0.942 -89.86° +lamp 0.737 0.289 0.712 0.078 2.324 -0.289 -0.06° +floor 4.095 0.000 2.735 -0.014 0.000 -0.017 -0.01° +_scene_ 0.064 -0.001 0.017 -5.671 -0.005 -5.712 -57.31° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bed <-> nightstand depth=[0.273, 0.491, 0.448] + !! OVERLAP: bed <-> floor depth=[1.725, 0.000, 2.204] + !! OVERLAP: nightstand <-> floor depth=[0.546, 0.000, 0.448] + !! OVERLAP: desk <-> floor depth=[1.155, 0.000, 0.530] +============================================================ + + +============================================================ +SCENE: MasterBedroom-9222 | 8 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.6305, Walkable Loss: 3.5380 (Center Penalty: 1.8916, C1 Heatmap: 0.9805, C2 Repulsion: 4.3099), Relational Loss: 0.0000 +Guided Steps: 10/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +bed 1.912 1.437 2.164 -0.715 0.001 -0.509 89.85° +wardrobe 2.093 2.266 0.646 -0.700 0.000 1.685 -179.93° +nightstand 0.626 0.755 0.407 -1.367 0.001 -1.590 90.02° +nightstand 0.491 0.676 0.379 -1.313 0.001 0.735 90.02° +tv_stand 2.001 0.631 0.430 1.379 -0.000 -0.092 -89.97° +lamp 0.751 0.643 0.296 0.021 1.980 -0.448 -0.07° +floor 3.655 -0.003 4.212 -0.080 0.000 -0.027 -0.03° +_scene_ 0.070 0.000 0.020 -5.671 -0.005 -5.711 -57.27° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bed <-> nightstand depth=[0.617, 0.755, 0.205] + !! OVERLAP: bed <-> nightstand depth=[0.491, 0.676, 0.028] + !! OVERLAP: bed <-> floor depth=[1.912, -0.003, 2.164] + !! OVERLAP: wardrobe <-> floor depth=[2.093, -0.003, 0.646] + !! OVERLAP: nightstand <-> floor depth=[0.626, -0.003, 0.407] + !! OVERLAP: nightstand <-> floor depth=[0.491, -0.003, 0.379] + !! OVERLAP: tv_stand <-> floor depth=[1.369, -0.003, 0.430] +============================================================ + + +============================================================ +SCENE: Bedroom-32051 | 7 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0000, Walkable Loss: 2.6055 (Center Penalty: 1.4957, C1 Heatmap: 0.7845, C2 Repulsion: 2.4107), Relational Loss: 0.0000 +Guided Steps: 10/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +bed 1.941 0.998 2.112 0.925 0.002 0.477 179.97° +cabinet 1.202 1.029 0.507 -1.224 0.003 -1.324 0.01° +wardrobe 1.442 2.382 0.604 -0.872 0.000 1.453 179.97° +chair 0.586 0.682 0.637 -1.242 0.000 0.523 -40.59° +lamp 0.256 0.542 0.232 0.716 2.276 -0.036 0.01° +floor 4.330 -0.001 3.503 -0.063 0.001 -0.005 -0.02° +_scene_ 0.070 0.001 0.021 -5.672 -0.004 -5.710 -57.31° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bed <-> floor depth=[1.941, -0.001, 2.112] + !! OVERLAP: cabinet <-> floor depth=[1.202, -0.001, 0.507] + !! OVERLAP: wardrobe <-> floor depth=[1.442, -0.001, 0.595] + !! OVERLAP: chair <-> floor depth=[0.586, -0.001, 0.637] +============================================================ + + +============================================================ +SCENE: MasterBedroom-86835 | 7 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.9455, Walkable Loss: 2.7947 (Center Penalty: 1.1138, C1 Heatmap: 0.9234, C2 Repulsion: 4.7109), Relational Loss: 0.0000 +Guided Steps: 10/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +bed 1.546 1.098 2.028 -0.791 0.004 0.498 89.90° +wardrobe 1.097 2.091 0.568 -1.285 0.001 -1.186 89.96° +wardrobe 1.219 2.025 0.540 -0.279 -0.001 -1.357 0.04° +tv_stand 2.524 0.692 0.531 1.418 0.001 0.699 -89.90° +nightstand 0.498 0.540 0.431 -1.545 -0.000 -0.063 89.98° +floor 3.612 -0.001 4.636 -0.026 0.000 0.188 -0.04° +_scene_ 0.073 0.000 0.024 -5.672 -0.005 -5.712 -57.30° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bed <-> nightstand depth=[0.267, 0.540, 0.431] + !! OVERLAP: bed <-> floor depth=[1.546, -0.001, 2.028] + !! OVERLAP: wardrobe <-> wardrobe depth=[0.152, 2.025, 0.384] + !! OVERLAP: wardrobe <-> floor depth=[1.095, -0.001, 0.568] + !! OVERLAP: wardrobe <-> floor depth=[1.219, -0.001, 0.540] + !! OVERLAP: tv_stand <-> floor depth=[1.624, -0.001, 0.531] + !! OVERLAP: nightstand <-> floor depth=[0.498, -0.001, 0.431] +============================================================ + + +============================================================ +SCENE: SecondBedroom-86888 | 6 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.1559, Walkable Loss: 2.7820 (Center Penalty: 1.6232, C1 Heatmap: 0.7695, C2 Repulsion: 2.7164), Relational Loss: 0.0000 +Guided Steps: 10/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +bed 2.127 0.933 2.268 -0.353 0.001 -0.439 89.90° +nightstand 0.546 0.563 0.394 -1.174 0.001 0.435 90.01° +wardrobe 1.110 1.980 0.552 -0.029 0.002 1.536 -179.96° +nightstand 0.607 0.487 0.518 -1.132 0.002 -1.315 89.96° +floor 2.882 -0.002 3.771 0.001 0.000 -0.078 -0.01° +_scene_ 0.069 0.001 0.012 -5.672 -0.006 -5.712 -57.31° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bed <-> nightstand depth=[0.515, 0.563, 0.394] + !! OVERLAP: bed <-> nightstand depth=[0.588, 0.487, 0.517] + !! OVERLAP: bed <-> floor depth=[2.127, -0.002, 2.268] + !! OVERLAP: nightstand <-> floor depth=[0.539, -0.002, 0.394] + !! OVERLAP: wardrobe <-> floor depth=[1.110, -0.002, 0.548] + !! OVERLAP: nightstand <-> floor depth=[0.607, -0.002, 0.518] +============================================================ + + +============================================================ +SCENE: MasterBedroom-9583 | 10 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.3066, Walkable Loss: 5.5695 (Center Penalty: 2.6802, C1 Heatmap: 1.4508, C2 Repulsion: 8.6435), Relational Loss: 0.0000 +Guided Steps: 10/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +cabinet 1.045 0.823 0.257 1.355 -0.001 -0.407 -89.88° +lamp 0.860 0.737 0.836 -0.031 2.045 0.089 0.08° +bed 2.200 1.267 2.501 -0.397 0.001 -0.220 89.87° +nightstand 0.486 0.508 0.359 -1.458 0.000 -1.288 90.02° +nightstand 0.482 0.496 0.437 -1.454 0.001 1.087 90.02° +table 0.813 1.256 0.374 -1.358 0.005 1.518 89.95° +wardrobe 2.442 2.291 0.584 -0.492 -0.002 -2.127 0.04° +desk 2.251 0.701 1.472 0.750 0.003 0.904 -89.86° +floor 3.417 -0.001 4.887 0.018 0.000 -0.120 -0.02° +_scene_ 0.073 0.000 0.021 -5.671 -0.004 -5.715 -57.31° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: cabinet <-> floor depth=[0.894, -0.001, 0.257] + !! OVERLAP: bed <-> nightstand depth=[0.282, 0.508, 0.359] + !! OVERLAP: bed <-> nightstand depth=[0.284, 0.496, 0.162] + !! OVERLAP: bed <-> desk depth=[1.078, 0.701, 0.863] + !! OVERLAP: bed <-> floor depth=[2.200, -0.001, 2.501] + !! OVERLAP: nightstand <-> floor depth=[0.475, -0.001, 0.359] + !! OVERLAP: nightstand <-> floor depth=[0.477, -0.001, 0.437] + !! OVERLAP: table <-> floor depth=[0.739, -0.001, 0.374] + !! OVERLAP: wardrobe <-> floor depth=[2.419, -0.001, 0.584] + !! OVERLAP: desk <-> floor depth=[2.102, -0.001, 1.472] +============================================================ + + +============================================================ +SCENE: SecondBedroom-8823 | 5 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0139, Walkable Loss: 3.1863 (Center Penalty: 2.4942, C1 Heatmap: 0.6186, C2 Repulsion: 0.9856), Relational Loss: 0.0000 +Guided Steps: 10/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +bed 2.051 1.352 2.312 0.528 0.001 -0.279 -90.13° +nightstand 0.454 0.499 0.429 1.372 -0.000 0.875 -89.94° +lamp 1.016 0.844 0.620 -0.017 2.016 -0.052 0.12° +floor 3.173 -0.003 3.066 -0.015 0.001 -0.032 -0.00° +_scene_ 0.071 0.000 0.020 -5.673 -0.005 -5.719 -57.28° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bed <-> nightstand depth=[0.408, 0.499, 0.218] + !! OVERLAP: bed <-> floor depth=[2.051, -0.003, 2.312] + !! OVERLAP: nightstand <-> floor depth=[0.426, -0.003, 0.429] +============================================================ + + +============================================================ +SCENE: SecondBedroom-13218 | 7 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.7664, Walkable Loss: 4.8292 (Center Penalty: 3.1067, C1 Heatmap: 1.1550, C2 Repulsion: 3.9926), Relational Loss: 0.0000 +Guided Steps: 10/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +bed 2.102 1.509 2.304 -0.204 0.001 -0.155 89.81° +wardrobe 2.191 2.290 0.579 -0.240 -0.004 1.370 -179.99° +nightstand 0.515 0.558 0.507 -1.058 0.001 -1.246 89.91° +tv_stand 2.386 0.954 0.496 0.889 -0.002 0.092 -89.96° +lamp 0.527 0.463 0.523 -0.001 2.109 0.011 -0.01° +floor 2.766 -0.001 3.351 0.000 0.001 -0.005 -0.01° +_scene_ 0.070 0.001 0.021 -5.673 -0.004 -5.715 -57.32° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bed <-> nightstand depth=[0.454, 0.558, 0.314] + !! OVERLAP: bed <-> tv_stand depth=[1.151, 0.954, 0.496] + !! OVERLAP: bed <-> floor depth=[2.102, -0.001, 2.304] + !! OVERLAP: wardrobe <-> floor depth=[2.191, -0.001, 0.579] + !! OVERLAP: nightstand <-> floor depth=[0.515, -0.001, 0.507] + !! OVERLAP: tv_stand <-> floor depth=[1.687, -0.001, 0.496] +============================================================ + + +============================================================ +SCENE: SecondBedroom-36408 | 9 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.2157, Walkable Loss: 4.2868 (Center Penalty: 1.9253, C1 Heatmap: 1.1544, C2 Repulsion: 7.1894), Relational Loss: 0.0000 +Guided Steps: 10/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +bed 2.471 1.209 2.447 -0.277 0.003 0.747 89.95° +table 0.632 0.546 0.757 -1.293 0.000 1.666 0.05° +table 0.540 0.605 0.512 -1.298 0.001 -0.644 90.04° +wardrobe 1.171 2.026 0.552 -0.857 -0.001 -1.349 0.00° +wardrobe 0.955 2.036 0.461 -0.068 -0.001 -1.621 0.05° +lamp 0.584 0.151 0.578 0.008 2.577 0.422 -0.08° +lamp 1.336 1.112 1.320 -0.763 1.401 1.549 0.06° +floor 2.954 0.000 4.416 -0.005 0.000 0.238 -0.01° +_scene_ 0.070 -0.001 0.025 -5.672 -0.004 -5.716 -57.31° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bed <-> table depth=[0.535, 0.546, 0.683] + !! OVERLAP: bed <-> table depth=[0.484, 0.605, 0.089] + !! OVERLAP: bed <-> floor depth=[2.441, 0.000, 2.447] + !! OVERLAP: table <-> floor depth=[0.505, 0.000, 0.757] + !! OVERLAP: table <-> floor depth=[0.454, 0.000, 0.512] + !! OVERLAP: wardrobe <-> wardrobe depth=[0.275, 2.026, 0.234] + !! OVERLAP: wardrobe <-> floor depth=[1.171, 0.000, 0.552] + !! OVERLAP: wardrobe <-> floor depth=[0.955, 0.000, 0.461] +============================================================ + + +============================================================ +SCENE: MasterBedroom-36389 | 8 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.4649, Walkable Loss: 4.0221 (Center Penalty: 2.1555, C1 Heatmap: 1.1602, C2 Repulsion: 4.6920), Relational Loss: 0.0000 +Guided Steps: 10/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +bed 2.925 1.239 2.536 0.257 -0.001 0.387 -89.94° +nightstand 0.450 0.542 0.442 1.499 -0.001 1.939 -90.07° +nightstand 0.511 0.681 0.420 1.398 0.000 0.070 -90.28° +wardrobe 1.821 2.202 0.584 -0.129 -0.001 -1.354 -0.01° +wardrobe 1.625 2.075 0.532 -0.174 0.004 -1.164 0.02° +lamp 0.994 0.961 0.964 0.161 1.747 0.752 0.01° +floor 3.114 -0.003 4.356 0.001 -0.000 0.106 -0.05° +_scene_ 0.056 -0.002 0.022 -5.671 -0.004 -5.715 -57.31° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bed <-> nightstand depth=[0.511, 0.681, 0.420] + !! OVERLAP: bed <-> floor depth=[2.763, -0.003, 2.536] + !! OVERLAP: nightstand <-> floor depth=[0.283, -0.003, 0.442] + !! OVERLAP: nightstand <-> floor depth=[0.415, -0.003, 0.420] + !! OVERLAP: wardrobe <-> wardrobe depth=[1.625, 2.075, 0.368] + !! OVERLAP: wardrobe <-> floor depth=[1.821, -0.003, 0.584] + !! OVERLAP: wardrobe <-> floor depth=[1.625, -0.003, 0.532] +============================================================ + + +============================================================ +SCENE: SecondBedroom-7635 | 6 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.3123, Walkable Loss: 2.6978 (Center Penalty: 1.3621, C1 Heatmap: 0.8481, C2 Repulsion: 3.2862), Relational Loss: 0.0000 +Guided Steps: 10/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +bed 1.961 1.467 1.980 0.889 -0.001 0.019 -90.05° +wardrobe 1.449 2.149 0.735 -0.685 0.000 -1.104 0.02° +desk 1.733 0.726 0.749 -1.465 -0.002 0.964 89.98° +chair 0.508 0.619 0.532 -0.865 -0.001 0.532 -83.00° +floor 3.862 0.002 3.218 -0.005 0.001 0.018 -0.01° +_scene_ 0.063 0.002 0.023 -5.668 -0.004 -5.716 -57.32° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bed <-> wardrobe depth=[0.130, 1.467, 0.235] + !! OVERLAP: bed <-> floor depth=[1.961, 0.002, 1.980] + !! OVERLAP: wardrobe <-> floor depth=[1.449, 0.002, 0.735] + !! OVERLAP: desk <-> chair depth=[0.508, 0.619, 0.208] + !! OVERLAP: desk <-> floor depth=[1.337, 0.002, 0.749] + !! OVERLAP: chair <-> floor depth=[0.508, 0.002, 0.532] +============================================================ + + +============================================================ +SCENE: Bedroom-1541 | 6 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0000, Walkable Loss: 3.9118 (Center Penalty: 2.6359, C1 Heatmap: 0.8448, C2 Repulsion: 3.0000), Relational Loss: 0.0000 +Guided Steps: 10/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +bed 2.243 1.113 2.246 0.320 0.000 -0.170 -89.97° +table 0.451 0.509 0.497 1.216 -0.001 0.590 -90.03° +wardrobe 1.791 2.391 0.593 0.418 -0.002 1.085 -179.95° +lamp 0.786 0.880 0.768 -0.135 1.835 -0.487 -0.01° +floor 2.957 -0.002 3.232 -0.000 -0.000 -0.006 0.00° +_scene_ 0.068 0.000 0.016 -5.678 -0.003 -5.714 -57.31° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bed <-> table depth=[0.451, 0.509, 0.497] + !! OVERLAP: bed <-> wardrobe depth=[1.791, 1.113, 0.165] + !! OVERLAP: bed <-> floor depth=[2.243, -0.002, 2.246] + !! OVERLAP: table <-> wardrobe depth=[0.323, 0.509, 0.050] + !! OVERLAP: table <-> floor depth=[0.451, -0.002, 0.497] + !! OVERLAP: wardrobe <-> floor depth=[1.791, -0.002, 0.593] +============================================================ + + +============================================================ +SCENE: Bedroom-11202 | 6 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.1552, Walkable Loss: 3.4609 (Center Penalty: 2.4340, C1 Heatmap: 0.8404, C2 Repulsion: 1.7727), Relational Loss: 0.0000 +Guided Steps: 10/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +bed 1.942 1.059 2.236 0.675 0.000 0.087 179.96° +wardrobe 1.419 2.223 0.565 -1.328 -0.002 -0.163 89.91° +desk 1.402 0.794 0.738 0.989 0.001 1.155 179.94° +lamp 0.778 0.143 0.732 0.059 2.359 -0.033 -0.01° +floor 3.461 -0.001 3.013 0.006 0.000 0.009 -0.02° +_scene_ 0.057 0.001 0.019 -5.671 -0.005 -5.712 -57.31° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bed <-> desk depth=[1.359, 0.794, 0.419] + !! OVERLAP: bed <-> floor depth=[1.942, -0.001, 2.236] + !! OVERLAP: wardrobe <-> floor depth=[1.106, -0.001, 0.565] + !! OVERLAP: desk <-> floor depth=[1.402, -0.001, 0.730] +============================================================ + + +============================================================ +SCENE: Bedroom-26487 | 13 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.5575, Walkable Loss: 5.3938 (Center Penalty: 2.2688, C1 Heatmap: 1.0612, C2 Repulsion: 11.3803), Relational Loss: 0.0000 +Guided Steps: 10/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +bed 2.033 1.526 2.128 -0.592 0.002 0.096 89.88° +nightstand 0.611 0.593 0.501 -1.340 0.002 1.867 90.06° +nightstand 0.509 0.551 0.487 -1.304 0.004 -1.012 90.02° +tv_stand 1.455 0.385 0.395 1.233 -0.004 0.262 -90.34° +wardrobe 1.397 2.349 0.646 -0.900 -0.001 -1.931 0.05° +wardrobe 1.053 2.380 0.553 0.183 -0.001 -1.508 -0.01° +lamp 0.074 0.931 0.064 -1.481 1.106 -0.904 0.03° +lamp 0.152 0.744 0.113 -1.438 1.073 1.634 0.05° +lamp 0.764 0.884 0.779 0.035 1.929 0.393 0.02° +chair 0.605 0.660 0.584 -0.135 0.001 1.999 151.89° +table 0.672 0.527 0.712 0.532 0.002 2.047 90.02° +floor 3.075 -0.002 4.832 -0.044 0.002 0.035 -0.03° +_scene_ 0.071 -0.001 0.021 -5.673 -0.004 -5.715 -57.30° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bed <-> nightstand depth=[0.509, 0.551, 0.199] + !! OVERLAP: bed <-> lamp depth=[0.074, 0.125, 0.064] + !! OVERLAP: bed <-> floor depth=[2.006, -0.002, 2.128] + !! OVERLAP: nightstand <-> floor depth=[0.547, -0.002, 0.501] + !! OVERLAP: nightstand <-> floor depth=[0.509, -0.002, 0.487] + !! OVERLAP: tv_stand <-> floor depth=[0.987, -0.002, 0.395] + !! OVERLAP: wardrobe <-> wardrobe depth=[0.143, 2.349, 0.177] + !! OVERLAP: wardrobe <-> floor depth=[1.381, -0.002, 0.646] + !! OVERLAP: wardrobe <-> floor depth=[1.053, -0.002, 0.553] + !! OVERLAP: chair <-> floor depth=[0.605, -0.002, 0.584] + !! OVERLAP: table <-> floor depth=[0.672, -0.002, 0.712] +============================================================ + + +============================================================ +SCENE: Bedroom-691 | 5 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.5723, Walkable Loss: 3.2066 (Center Penalty: 2.3374, C1 Heatmap: 0.8402, C2 Repulsion: 0.9847), Relational Loss: 0.0000 +Guided Steps: 10/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +bed 2.218 0.765 2.138 -0.539 0.002 -0.309 89.94° +lamp 0.709 0.738 0.705 -0.169 1.924 -0.260 90.04° +wardrobe 2.119 2.554 0.684 1.077 -0.000 0.084 -90.08° +floor 3.256 -0.000 3.327 -0.034 0.000 0.024 -0.03° +_scene_ 0.027 0.003 0.011 -5.576 -0.003 -5.639 -57.41° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bed <-> wardrobe depth=[0.553, 0.765, 0.684] + !! OVERLAP: bed <-> floor depth=[2.218, -0.000, 2.138] + !! OVERLAP: wardrobe <-> floor depth=[1.576, -0.000, 0.684] +============================================================ + + +============================================================ +SCENE: SecondBedroom-14817 | 6 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0603, Walkable Loss: 3.0382 (Center Penalty: 1.7573, C1 Heatmap: 0.7601, C2 Repulsion: 3.3640), Relational Loss: 0.0000 +Guided Steps: 10/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +nightstand 0.485 0.561 0.392 -1.066 0.001 -1.163 0.00° +bed 1.865 1.118 2.372 0.289 0.000 -0.310 -0.01° +nightstand 0.529 0.622 0.463 1.664 0.001 -1.002 0.01° +wardrobe 1.278 2.476 0.671 -1.683 0.000 -0.396 89.98° +floor 4.423 -0.002 2.701 -0.034 -0.001 0.011 -0.02° +_scene_ 0.069 0.001 0.020 -5.673 -0.005 -5.715 -57.30° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: nightstand <-> floor depth=[0.485, -0.002, 0.372] + !! OVERLAP: bed <-> floor depth=[1.865, -0.002, 2.216] + !! OVERLAP: nightstand <-> floor depth=[0.529, -0.002, 0.463] + !! OVERLAP: wardrobe <-> floor depth=[1.201, -0.002, 0.671] +============================================================ + + +============================================================ +SCENE: MasterBedroom-30192 | 9 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.1319, Walkable Loss: 4.3318 (Center Penalty: 2.3563, C1 Heatmap: 1.0025, C2 Repulsion: 5.8679), Relational Loss: 0.0000 +Guided Steps: 10/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +bed 1.949 1.363 2.093 -0.689 -0.001 -0.025 89.91° +nightstand 0.570 0.507 0.458 -1.550 0.000 -1.512 89.95° +wardrobe 1.566 2.504 0.461 -0.763 0.000 1.537 179.93° +wardrobe 1.552 2.513 0.679 1.181 -0.003 -1.101 -90.01° +chair 0.801 0.768 0.929 1.348 -0.001 -0.077 -90.03° +lamp 0.788 0.803 0.708 -0.106 2.200 -0.016 0.07° +nightstand 0.585 0.461 0.504 -1.507 0.002 0.950 90.01° +floor 4.006 -0.003 3.664 -0.008 -0.001 -0.002 -0.04° +_scene_ 0.071 0.001 0.024 -5.673 -0.005 -5.716 -57.31° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bed <-> nightstand depth=[0.448, 0.461, 0.324] + !! OVERLAP: bed <-> floor depth=[1.949, -0.003, 2.093] + !! OVERLAP: nightstand <-> floor depth=[0.570, -0.003, 0.458] + !! OVERLAP: wardrobe <-> floor depth=[1.566, -0.003, 0.461] + !! OVERLAP: wardrobe <-> floor depth=[1.552, -0.003, 0.679] + !! OVERLAP: chair <-> floor depth=[0.801, -0.003, 0.929] + !! OVERLAP: nightstand <-> floor depth=[0.585, -0.003, 0.504] +============================================================ + + +============================================================ +SCENE: Bedroom-41491 | 6 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0219, Walkable Loss: 3.3832 (Center Penalty: 2.3461, C1 Heatmap: 0.6497, C2 Repulsion: 2.5868), Relational Loss: 0.0000 +Guided Steps: 10/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +bed 1.465 1.123 2.470 -0.543 0.002 0.655 89.91° +desk 1.235 0.930 0.539 -0.912 0.004 -1.175 179.97° +chair 0.573 0.915 0.555 -0.634 -0.001 -0.568 -179.87° +lamp 0.659 0.177 0.644 -0.103 2.397 0.290 -0.06° +floor 2.869 -0.002 4.133 0.021 -0.000 0.007 -0.00° +_scene_ 0.068 0.000 0.022 -5.669 -0.004 -5.713 -57.30° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bed <-> chair depth=[0.573, 0.915, 0.290] + !! OVERLAP: bed <-> floor depth=[1.465, -0.002, 2.470] + !! OVERLAP: desk <-> floor depth=[1.120, -0.002, 0.539] + !! OVERLAP: chair <-> floor depth=[0.573, -0.002, 0.555] +============================================================ + + +============================================================ +SCENE: MasterBedroom-49865 | 7 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.4580, Walkable Loss: 3.4526 (Center Penalty: 2.3793, C1 Heatmap: 0.7238, C2 Repulsion: 2.4711), Relational Loss: 0.0000 +Guided Steps: 10/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +bed 1.799 1.213 2.210 0.514 -0.002 0.252 179.98° +nightstand 0.516 0.663 0.462 -0.799 0.001 1.100 179.90° +nightstand 0.505 0.611 0.417 1.604 0.001 1.188 179.91° +wardrobe 1.541 2.375 0.614 -1.887 0.001 0.010 89.90° +lamp 0.265 0.702 0.301 0.243 1.903 0.021 -0.10° +floor 4.315 -0.001 2.801 -0.059 0.001 -0.066 -0.01° +_scene_ 0.073 -0.000 0.021 -5.671 -0.005 -5.713 -57.30° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bed <-> nightstand depth=[0.061, 0.611, 0.377] + !! OVERLAP: bed <-> floor depth=[1.799, -0.001, 2.188] + !! OVERLAP: nightstand <-> floor depth=[0.516, -0.001, 0.462] + !! OVERLAP: nightstand <-> floor depth=[0.505, -0.001, 0.355] + !! OVERLAP: wardrobe <-> floor depth=[1.099, -0.001, 0.614] +============================================================ + + +============================================================ +SCENE: MasterBedroom-16450 | 7 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0598, Walkable Loss: 3.2361 (Center Penalty: 2.3469, C1 Heatmap: 0.6309, C2 Repulsion: 1.9224), Relational Loss: 0.0000 +Guided Steps: 10/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +bed 1.818 0.702 2.117 -0.419 -0.001 -0.412 0.02° +cabinet 0.585 0.901 0.296 -0.937 0.002 1.499 179.95° +nightstand 0.657 0.666 0.529 1.293 0.001 -1.187 0.02° +nightstand 0.727 0.689 0.523 -1.486 -0.000 -1.220 -0.02° +lamp 0.627 0.561 0.626 -0.201 2.153 0.099 -0.00° +floor 3.975 0.001 3.237 -0.012 -0.000 -0.005 -0.02° +_scene_ 0.068 0.001 0.022 -5.671 -0.005 -5.717 -57.30° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bed <-> nightstand depth=[0.206, 0.689, 0.513] + !! OVERLAP: bed <-> floor depth=[1.818, 0.001, 2.117] + !! OVERLAP: cabinet <-> floor depth=[0.585, 0.001, 0.262] + !! OVERLAP: nightstand <-> floor depth=[0.657, 0.001, 0.529] + !! OVERLAP: nightstand <-> floor depth=[0.727, 0.001, 0.523] +============================================================ + + +============================================================ +SCENE: SecondBedroom-14328 | 7 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 1.3313, Walkable Loss: 3.3965 (Center Penalty: 1.6404, C1 Heatmap: 1.1771, C2 Repulsion: 4.0720), Relational Loss: 0.0000 +Guided Steps: 10/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +table 1.380 1.355 0.499 -1.214 0.002 0.798 179.99° +nightstand 0.608 0.532 0.511 -1.323 0.001 -1.216 0.01° +bed 2.322 0.796 2.418 -0.344 -0.000 -0.291 -0.00° +nightstand 0.357 0.563 0.345 1.247 0.003 -1.284 0.04° +wardrobe 2.825 2.387 0.594 1.416 -0.001 0.150 -90.06° +floor 3.467 -0.003 2.954 0.006 0.001 0.011 -0.03° +_scene_ 0.066 0.001 0.016 -5.678 -0.006 -5.712 -57.33° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: table <-> bed depth=[0.980, 0.796, 0.369] + !! OVERLAP: table <-> floor depth=[1.203, -0.003, 0.499] + !! OVERLAP: nightstand <-> bed depth=[0.486, 0.532, 0.511] + !! OVERLAP: nightstand <-> floor depth=[0.608, -0.003, 0.505] + !! OVERLAP: bed <-> wardrobe depth=[0.814, 0.796, 0.594] + !! OVERLAP: bed <-> floor depth=[2.322, -0.003, 2.383] + !! OVERLAP: nightstand <-> floor depth=[0.357, -0.003, 0.345] + !! OVERLAP: wardrobe <-> floor depth=[1.737, -0.003, 0.594] +============================================================ + + +============================================================ +SCENE: SecondBedroom-39108 | 8 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0338, Walkable Loss: 2.6576 (Center Penalty: 1.8612, C1 Heatmap: 0.7686, C2 Repulsion: 0.9075), Relational Loss: 0.0000 +Guided Steps: 10/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +cabinet 1.012 1.143 0.451 -1.379 0.002 0.315 89.74° +cabinet 0.955 1.083 0.415 -1.444 0.000 -1.458 89.96° +bed 2.265 0.687 2.413 0.740 -0.001 -0.637 0.01° +lamp 0.377 0.901 0.374 0.173 1.770 -0.337 -0.01° +lamp 0.454 0.782 0.480 0.835 2.267 -1.258 -0.03° +lamp 0.239 0.815 0.208 -1.031 2.027 1.412 -89.72° +floor 3.928 -0.000 4.066 0.004 0.001 -0.090 -0.00° +_scene_ 0.064 0.002 0.020 -5.673 -0.005 -5.712 -57.28° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: cabinet <-> floor depth=[1.012, -0.000, 0.451] + !! OVERLAP: cabinet <-> floor depth=[0.955, -0.000, 0.415] + !! OVERLAP: bed <-> floor depth=[2.265, -0.000, 2.413] +============================================================ + + +============================================================ +SCENE: MasterBedroom-19531 | 7 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.9546, Walkable Loss: 4.2231 (Center Penalty: 2.7645, C1 Heatmap: 0.9058, C2 Repulsion: 3.6699), Relational Loss: 0.0000 +Guided Steps: 10/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +lamp 0.601 0.291 0.610 0.183 2.366 -0.039 -0.06° +bed 1.844 1.142 2.317 0.303 0.000 -0.258 0.03° +nightstand 0.628 0.625 0.560 -1.005 0.000 -1.331 -0.08° +nightstand 0.618 0.623 0.530 1.506 0.001 -1.132 0.03° +wardrobe 2.350 2.477 0.649 -1.525 -0.001 -0.245 89.91° +floor 3.852 -0.003 3.148 -0.005 0.000 -0.005 -0.02° +_scene_ 0.074 0.000 0.024 -5.675 -0.004 -5.716 -57.26° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bed <-> nightstand depth=[0.028, 0.623, 0.530] + !! OVERLAP: bed <-> wardrobe depth=[0.268, 1.142, 0.649] + !! OVERLAP: bed <-> floor depth=[1.844, -0.003, 2.317] + !! OVERLAP: nightstand <-> floor depth=[0.628, -0.003, 0.528] + !! OVERLAP: nightstand <-> floor depth=[0.618, -0.003, 0.530] + !! OVERLAP: wardrobe <-> floor depth=[1.581, -0.003, 0.649] +============================================================ + + +============================================================ +SCENE: Bedroom-74 | 5 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.2933, Walkable Loss: 3.1456 (Center Penalty: 2.4730, C1 Heatmap: 0.6470, C2 Repulsion: 0.7753), Relational Loss: 0.0000 +Guided Steps: 10/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +bed 1.881 1.527 2.095 -0.622 -0.002 -0.039 89.88° +lamp 0.583 0.500 0.582 -0.136 2.060 0.100 -0.03° +wardrobe 1.511 2.293 0.501 1.224 -0.001 -0.246 -90.18° +floor 3.357 0.001 3.105 -0.008 0.001 0.015 -0.02° +_scene_ 0.046 0.004 0.013 -5.665 -0.005 -5.718 -57.33° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bed <-> floor depth=[1.881, 0.001, 2.095] + !! OVERLAP: wardrobe <-> floor depth=[1.202, 0.001, 0.501] +============================================================ + + +============================================================ +SCENE: Bedroom-15856 | 8 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.2769, Walkable Loss: 3.8802 (Center Penalty: 2.3704, C1 Heatmap: 0.9210, C2 Repulsion: 3.8650), Relational Loss: 0.0000 +Guided Steps: 10/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +bed 2.086 1.154 2.249 -0.511 0.000 -0.127 89.87° +nightstand 0.660 0.631 0.505 -1.618 0.001 -1.140 89.98° +nightstand 0.581 0.714 0.432 -1.908 0.001 0.914 90.00° +lamp 0.569 0.251 0.580 0.310 2.539 -0.095 -0.05° +chair 0.753 0.824 0.756 1.599 0.004 -0.621 -27.15° +tv_stand 1.971 0.533 0.476 1.764 0.000 0.252 -90.16° +floor 4.864 -0.003 2.965 0.161 0.000 0.022 -0.02° +_scene_ 0.071 -0.000 0.025 -5.673 -0.004 -5.711 -57.29° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bed <-> nightstand depth=[0.266, 0.631, 0.364] + !! OVERLAP: bed <-> floor depth=[2.086, -0.003, 2.249] + !! OVERLAP: nightstand <-> floor depth=[0.660, -0.003, 0.505] + !! OVERLAP: nightstand <-> floor depth=[0.581, -0.003, 0.432] + !! OVERLAP: chair <-> floor depth=[0.753, -0.003, 0.756] + !! OVERLAP: tv_stand <-> floor depth=[1.815, -0.003, 0.476] +============================================================ + + +============================================================ +SCENE: MasterBedroom-3845 | 7 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0785, Walkable Loss: 3.3236 (Center Penalty: 1.9371, C1 Heatmap: 0.9030, C2 Repulsion: 3.3207), Relational Loss: 0.0000 +Guided Steps: 10/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +wardrobe 2.639 2.512 0.625 -0.475 0.001 1.710 179.99° +bed 2.077 0.801 2.032 -0.654 0.001 -0.438 89.91° +nightstand 0.513 0.569 0.426 -1.461 -0.002 -1.689 89.99° +nightstand 0.457 0.583 0.452 -1.409 0.003 0.809 90.02° +lamp 0.546 0.091 0.579 -0.007 2.555 -0.533 -0.03° +floor 3.411 -0.003 4.443 -0.059 -0.000 -0.080 -0.01° +_scene_ 0.066 -0.001 0.020 -5.665 -0.004 -5.713 -57.31° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: wardrobe <-> floor depth=[2.609, -0.003, 0.625] + !! OVERLAP: bed <-> floor depth=[2.077, -0.003, 2.032] + !! OVERLAP: nightstand <-> floor depth=[0.513, -0.003, 0.426] + !! OVERLAP: nightstand <-> floor depth=[0.457, -0.003, 0.452] +============================================================ + + +============================================================ +SCENE: MasterBedroom-14075 | 7 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0000, Walkable Loss: 3.1547 (Center Penalty: 1.9419, C1 Heatmap: 0.9017, C2 Repulsion: 2.4575), Relational Loss: 0.0000 +Guided Steps: 10/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +bed 1.837 0.879 1.934 0.278 0.002 0.742 179.93° +tv_stand 3.206 0.734 0.533 0.204 0.001 -1.407 0.03° +lamp 0.647 0.635 0.677 0.489 2.229 0.179 -0.03° +nightstand 0.416 0.458 0.385 1.440 0.002 1.606 179.97° +nightstand 0.474 0.521 0.466 -0.966 0.002 1.523 179.82° +floor 3.791 -0.002 3.733 0.017 -0.000 -0.006 -0.02° +_scene_ 0.072 0.001 0.033 -5.667 -0.005 -5.708 -57.28° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bed <-> floor depth=[1.837, -0.002, 1.934] + !! OVERLAP: tv_stand <-> floor depth=[3.206, -0.002, 0.533] + !! OVERLAP: nightstand <-> floor depth=[0.416, -0.002, 0.385] + !! OVERLAP: nightstand <-> floor depth=[0.474, -0.002, 0.466] +============================================================ + + +============================================================ +SCENE: Bedroom-22495 | 5 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0000, Walkable Loss: 2.4289 (Center Penalty: 1.7552, C1 Heatmap: 0.7151, C2 Repulsion: 0.5080), Relational Loss: 0.0000 +Guided Steps: 10/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +bed 2.058 1.495 2.320 0.303 0.000 0.838 179.92° +lamp 0.791 0.964 0.826 0.328 1.735 0.467 -0.03° +wardrobe 1.591 2.068 0.600 0.471 -0.000 -1.637 0.03° +floor 3.579 -0.001 4.671 0.052 0.001 0.027 -0.05° +_scene_ 0.074 0.005 0.030 -5.668 -0.005 -5.717 -57.30° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bed <-> floor depth=[2.058, -0.001, 2.320] + !! OVERLAP: wardrobe <-> floor depth=[1.591, -0.001, 0.600] +============================================================ + + +============================================================ +SCENE: MasterBedroom-22581 | 9 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.1929, Walkable Loss: 4.2115 (Center Penalty: 2.2747, C1 Heatmap: 1.0941, C2 Repulsion: 5.3076), Relational Loss: 0.0000 +Guided Steps: 10/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +desk 1.952 0.732 0.873 1.207 0.001 -1.112 0.02° +chair 0.482 0.676 0.488 1.929 -0.001 -0.620 -175.61° +wardrobe 1.288 2.116 0.469 -1.967 0.001 -0.334 89.97° +cabinet 0.692 1.020 0.380 1.851 0.003 1.488 -179.99° +nightstand 0.740 0.808 0.514 -1.061 0.000 -1.355 0.04° +bed 2.169 1.032 2.286 0.059 -0.000 -0.438 0.00° +lamp 0.559 0.370 0.562 0.520 2.262 0.121 -0.03° +floor 5.024 -0.002 3.351 0.094 -0.000 -0.010 -0.07° +_scene_ 0.072 -0.000 0.019 -5.669 -0.005 -5.712 -57.30° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: desk <-> chair depth=[0.482, 0.676, 0.188] + !! OVERLAP: desk <-> bed depth=[0.912, 0.732, 0.873] + !! OVERLAP: desk <-> floor depth=[1.952, -0.002, 0.873] + !! OVERLAP: chair <-> floor depth=[0.482, -0.002, 0.488] + !! OVERLAP: wardrobe <-> floor depth=[1.094, -0.002, 0.469] + !! OVERLAP: cabinet <-> floor depth=[0.692, -0.002, 0.368] + !! OVERLAP: nightstand <-> bed depth=[0.335, 0.808, 0.483] + !! OVERLAP: nightstand <-> floor depth=[0.740, -0.002, 0.514] + !! OVERLAP: bed <-> floor depth=[2.169, -0.002, 2.286] +============================================================ + + +============================================================ +SCENE: Bedroom-54381 | 6 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.1808, Walkable Loss: 3.7925 (Center Penalty: 2.8250, C1 Heatmap: 0.7301, C2 Repulsion: 1.9170), Relational Loss: 0.0000 +Guided Steps: 10/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +bed 2.250 0.995 2.298 -0.268 0.001 -0.075 89.94° +nightstand 0.540 0.530 0.480 -1.239 -0.000 -1.137 89.97° +nightstand 0.515 0.540 0.397 -1.341 0.001 1.386 89.99° +lamp 0.722 0.805 0.740 -0.017 1.844 -0.069 0.04° +floor 2.949 -0.003 4.012 0.011 0.001 0.028 -0.02° +_scene_ 0.071 0.001 0.019 -5.672 -0.006 -5.712 -57.28° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bed <-> nightstand depth=[0.425, 0.530, 0.328] + !! OVERLAP: bed <-> floor depth=[2.250, -0.003, 2.298] + !! OVERLAP: nightstand <-> floor depth=[0.496, -0.003, 0.480] + !! OVERLAP: nightstand <-> floor depth=[0.381, -0.003, 0.397] +============================================================ + + +============================================================ +SCENE: Bedroom-5215 | 8 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.1872, Walkable Loss: 3.5290 (Center Penalty: 1.9770, C1 Heatmap: 0.8585, C2 Repulsion: 4.3258), Relational Loss: 0.0000 +Guided Steps: 10/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +bed 1.984 1.278 2.260 0.654 0.001 -0.880 -0.00° +nightstand 0.699 0.461 0.518 -0.537 0.002 -1.354 -0.02° +table 0.923 1.050 0.574 1.413 0.001 1.645 179.94° +chair 0.583 0.360 0.597 1.105 0.000 1.127 0.03° +wardrobe 1.491 2.095 0.619 -1.346 0.000 -0.615 90.00° +lamp 0.593 0.204 0.584 0.281 2.319 0.096 -0.01° +floor 3.801 -0.000 4.225 0.034 0.000 -0.001 0.01° +_scene_ 0.073 -0.002 0.021 -5.671 -0.004 -5.712 -57.31° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bed <-> nightstand depth=[0.150, 0.461, 0.518] + !! OVERLAP: bed <-> floor depth=[1.984, -0.000, 2.260] + !! OVERLAP: nightstand <-> floor depth=[0.699, -0.000, 0.518] + !! OVERLAP: table <-> chair depth=[0.445, 0.360, 0.067] + !! OVERLAP: table <-> floor depth=[0.923, -0.000, 0.574] + !! OVERLAP: chair <-> floor depth=[0.583, -0.000, 0.597] + !! OVERLAP: wardrobe <-> floor depth=[1.266, -0.000, 0.619] +============================================================ + + +============================================================ +SCENE: MasterBedroom-12479 | 8 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0745, Walkable Loss: 3.5698 (Center Penalty: 2.2888, C1 Heatmap: 0.8125, C2 Repulsion: 3.1548), Relational Loss: 0.0000 +Guided Steps: 10/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +bed 1.956 1.468 2.207 0.137 0.001 -0.516 0.00° +nightstand 0.530 0.636 0.405 -1.146 0.003 -1.444 -0.02° +nightstand 0.556 0.691 0.409 1.350 0.002 -1.400 0.04° +shelf 0.586 1.063 0.226 -1.293 0.001 1.416 -179.97° +tv_stand 1.890 0.580 0.393 0.618 0.004 1.462 179.99° +lamp 0.704 0.588 0.717 0.354 2.151 -0.125 -0.04° +floor 3.568 -0.001 3.281 -0.015 0.000 0.001 -0.01° +_scene_ 0.069 -0.000 0.021 -5.670 -0.005 -5.713 -57.29° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bed <-> nightstand depth=[0.043, 0.691, 0.409] + !! OVERLAP: bed <-> floor depth=[1.956, -0.001, 2.207] + !! OVERLAP: nightstand <-> floor depth=[0.530, -0.001, 0.397] + !! OVERLAP: nightstand <-> floor depth=[0.556, -0.001, 0.409] + !! OVERLAP: shelf <-> floor depth=[0.586, -0.001, 0.226] + !! OVERLAP: tv_stand <-> floor depth=[1.890, -0.001, 0.376] +============================================================ + + +============================================================ +SCENE: SecondBedroom-37794 | 7 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0810, Walkable Loss: 3.7077 (Center Penalty: 2.4972, C1 Heatmap: 0.7743, C2 Repulsion: 2.9556), Relational Loss: 0.0000 +Guided Steps: 10/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +lamp 0.807 0.871 0.786 0.020 1.733 0.050 0.05° +bed 2.221 1.146 2.418 -0.442 0.000 -0.375 0.02° +nightstand 0.527 0.573 0.443 -1.667 -0.000 -1.356 0.03° +chair 0.523 0.605 0.481 1.481 0.001 -0.909 0.11° +table 0.884 1.772 0.431 1.780 0.000 -1.430 0.18° +floor 4.962 -0.002 3.092 -0.014 -0.000 -0.001 -0.01° +_scene_ 0.067 0.000 0.022 -5.672 -0.004 -5.715 -57.32° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bed <-> nightstand depth=[0.148, 0.573, 0.443] + !! OVERLAP: bed <-> floor depth=[2.221, -0.002, 2.381] + !! OVERLAP: nightstand <-> floor depth=[0.527, -0.002, 0.412] + !! OVERLAP: chair <-> floor depth=[0.523, -0.002, 0.481] + !! OVERLAP: table <-> floor depth=[0.884, -0.002, 0.332] +============================================================ + + +============================================================ +SCENE: SecondBedroom-69017 | 8 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.3642, Walkable Loss: 3.9702 (Center Penalty: 2.2881, C1 Heatmap: 0.9578, C2 Repulsion: 4.5790), Relational Loss: 0.0000 +Guided Steps: 10/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +bed 1.796 1.259 2.237 -0.443 0.000 -0.542 0.02° +nightstand 0.526 0.794 0.353 0.912 0.000 -1.424 0.03° +nightstand 0.542 0.777 0.377 -1.647 0.000 -1.453 -0.01° +chair 1.210 0.503 0.792 -0.519 -0.000 0.928 -0.03° +lamp 0.619 0.783 0.509 -0.411 2.042 -0.073 -0.01° +wardrobe 2.130 2.349 0.646 1.273 0.002 -0.224 -90.28° +floor 3.980 -0.001 3.197 -0.048 0.001 -0.017 -0.02° +_scene_ 0.065 0.000 0.021 -5.672 -0.005 -5.716 -57.30° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bed <-> chair depth=[1.210, 0.503, 0.044] + !! OVERLAP: bed <-> wardrobe depth=[0.247, 1.259, 0.646] + !! OVERLAP: bed <-> floor depth=[1.796, -0.001, 2.192] + !! OVERLAP: nightstand <-> floor depth=[0.526, -0.001, 0.353] + !! OVERLAP: nightstand <-> floor depth=[0.542, -0.001, 0.351] + !! OVERLAP: chair <-> floor depth=[1.210, -0.001, 0.792] + !! OVERLAP: wardrobe <-> floor depth=[1.733, -0.001, 0.646] +============================================================ + + +============================================================ +SCENE: MasterBedroom-1615 | 8 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.7950, Walkable Loss: 3.8733 (Center Penalty: 2.1158, C1 Heatmap: 1.0358, C2 Repulsion: 4.6446), Relational Loss: 0.0000 +Guided Steps: 10/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +bed 1.915 0.748 2.012 0.495 -0.002 0.514 -90.04° +wardrobe 2.194 2.335 0.735 0.348 -0.001 -1.544 0.03° +nightstand 0.509 0.514 0.405 1.279 0.000 -0.675 -90.09° +nightstand 0.550 0.481 0.502 1.323 0.000 1.703 -90.01° +lamp 0.603 0.143 0.601 0.020 2.428 0.451 -0.11° +tv_stand 2.076 0.710 0.470 -1.248 -0.001 0.359 89.88° +floor 3.161 -0.002 4.168 -0.001 -0.000 0.003 -0.02° +_scene_ 0.068 0.000 0.020 -5.671 -0.005 -5.718 -57.30° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bed <-> nightstand depth=[0.428, 0.514, 0.019] + !! OVERLAP: bed <-> nightstand depth=[0.404, 0.481, 0.068] + !! OVERLAP: bed <-> tv_stand depth=[0.252, 0.710, 0.470] + !! OVERLAP: bed <-> floor depth=[1.915, -0.002, 2.012] + !! OVERLAP: wardrobe <-> floor depth=[2.194, -0.002, 0.735] + !! OVERLAP: nightstand <-> floor depth=[0.509, -0.002, 0.405] + !! OVERLAP: nightstand <-> floor depth=[0.531, -0.002, 0.502] + !! OVERLAP: tv_stand <-> floor depth=[1.371, -0.002, 0.470] +============================================================ + + +============================================================ +SCENE: MasterBedroom-8979 | 6 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.1598, Walkable Loss: 3.0291 (Center Penalty: 1.5507, C1 Heatmap: 0.9010, C2 Repulsion: 3.7875), Relational Loss: 0.0000 +Guided Steps: 10/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +wardrobe 1.760 2.324 0.664 -1.359 -0.001 -0.702 90.01° +bed 2.252 1.258 2.419 0.479 0.001 -0.312 0.00° +nightstand 0.430 0.497 0.445 1.489 0.001 -1.253 -0.05° +nightstand 0.547 0.478 0.534 -1.076 -0.000 -0.950 -0.00° +floor 4.148 -0.003 3.018 -0.029 -0.000 -0.005 -0.06° +_scene_ 0.073 0.000 0.023 -5.672 -0.004 -5.715 -57.34° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: wardrobe <-> bed depth=[0.169, 1.258, 0.664] + !! OVERLAP: wardrobe <-> nightstand depth=[0.547, 0.478, 0.351] + !! OVERLAP: wardrobe <-> floor depth=[1.625, -0.003, 0.664] + !! OVERLAP: bed <-> nightstand depth=[0.331, 0.497, 0.445] + !! OVERLAP: bed <-> floor depth=[2.252, -0.003, 2.411] + !! OVERLAP: nightstand <-> floor depth=[0.430, -0.003, 0.445] + !! OVERLAP: nightstand <-> floor depth=[0.547, -0.003, 0.534] +============================================================ + + +============================================================ +SCENE: MasterBedroom-6631 | 8 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0463, Walkable Loss: 3.7645 (Center Penalty: 2.1273, C1 Heatmap: 0.9391, C2 Repulsion: 4.4295), Relational Loss: 0.0000 +Guided Steps: 10/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +bed 1.825 1.326 2.301 -0.589 0.002 -0.017 89.89° +nightstand 0.586 0.521 0.440 -1.472 0.002 1.284 89.97° +wardrobe 2.053 2.587 0.657 -0.494 0.001 1.418 -179.98° +chair 0.719 0.824 0.711 -1.329 0.002 -1.643 8.84° +tv_stand 1.128 0.470 0.319 1.222 -0.001 -0.644 -90.13° +lamp 0.581 0.132 0.583 -0.032 2.458 -0.444 -0.02° +floor 3.530 -0.002 4.436 0.062 -0.000 0.016 -0.02° +_scene_ 0.071 -0.000 0.022 -5.673 -0.005 -5.713 -57.31° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bed <-> nightstand depth=[0.322, 0.521, 0.070] + !! OVERLAP: bed <-> wardrobe depth=[1.825, 1.326, 0.043] + !! OVERLAP: bed <-> floor depth=[1.825, -0.002, 2.301] + !! OVERLAP: nightstand <-> wardrobe depth=[0.342, 0.521, 0.414] + !! OVERLAP: nightstand <-> floor depth=[0.524, -0.002, 0.440] + !! OVERLAP: wardrobe <-> floor depth=[2.053, -0.002, 0.657] + !! OVERLAP: chair <-> floor depth=[0.719, -0.002, 0.711] + !! OVERLAP: tv_stand <-> floor depth=[1.128, -0.002, 0.319] +============================================================ + + +============================================================ +SCENE: MasterBedroom-58086 | 5 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0000, Walkable Loss: 2.7594 (Center Penalty: 1.5838, C1 Heatmap: 0.9706, C2 Repulsion: 1.9958), Relational Loss: 0.0000 +Guided Steps: 10/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +bed 1.988 0.797 2.179 -0.179 0.002 -0.515 89.83° +wardrobe 2.774 2.398 0.894 -0.115 0.003 1.222 -180.00° +chair 0.533 1.068 0.474 -0.391 0.003 -1.682 -100.15° +floor 2.923 -0.001 3.904 -0.005 0.001 -0.028 -0.01° +_scene_ 0.040 0.017 0.036 -5.533 -0.006 -5.609 -57.96° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bed <-> chair depth=[0.533, 0.797, 0.160] + !! OVERLAP: bed <-> floor depth=[1.988, -0.001, 2.179] + !! OVERLAP: wardrobe <-> floor depth=[2.739, -0.001, 0.894] + !! OVERLAP: chair <-> floor depth=[0.533, -0.001, 0.474] +============================================================ + + +============================================================ +SCENE: MasterBedroom-34041 | 7 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.5571, Walkable Loss: 4.2467 (Center Penalty: 2.7096, C1 Heatmap: 0.9723, C2 Repulsion: 3.7960), Relational Loss: 0.0000 +Guided Steps: 10/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +bed 1.668 1.120 2.135 0.442 0.000 -0.375 0.03° +nightstand 0.520 0.618 0.457 -0.706 0.000 -1.078 0.03° +wardrobe 3.619 2.623 0.525 -1.144 0.000 -0.086 89.86° +nightstand 0.608 0.535 0.357 1.679 -0.000 -1.256 0.04° +lamp 0.924 0.898 0.904 0.221 2.025 0.036 -0.00° +floor 4.522 -0.003 2.769 -0.006 0.000 0.019 -0.07° +_scene_ 0.065 0.001 0.022 -5.675 -0.005 -5.714 -57.32° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bed <-> wardrobe depth=[1.057, 1.120, 0.525] + !! OVERLAP: bed <-> floor depth=[1.668, -0.003, 2.058] + !! OVERLAP: nightstand <-> floor depth=[0.520, -0.003, 0.457] + !! OVERLAP: wardrobe <-> floor depth=[2.932, -0.003, 0.525] + !! OVERLAP: nightstand <-> floor depth=[0.608, -0.003, 0.288] +============================================================ + + +============================================================ +SCENE: MasterBedroom-63654 | 6 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0383, Walkable Loss: 3.0607 (Center Penalty: 2.2504, C1 Heatmap: 0.6325, C2 Repulsion: 1.5216), Relational Loss: 0.0000 +Guided Steps: 10/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +nightstand 0.448 0.530 0.408 1.276 0.001 -1.668 -0.03° +nightstand 0.520 0.525 0.416 -1.398 0.000 -1.519 0.01° +lamp 1.033 1.000 1.048 -0.227 1.959 -0.217 0.00° +bed 1.906 1.212 2.452 -0.025 0.000 -0.653 0.03° +floor 4.156 -0.000 3.728 -0.066 -0.000 0.029 -0.02° +_scene_ 0.067 0.001 0.017 -5.672 -0.005 -5.714 -57.30° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: nightstand <-> floor depth=[0.448, -0.000, 0.371] + !! OVERLAP: nightstand <-> floor depth=[0.520, -0.000, 0.416] + !! OVERLAP: bed <-> floor depth=[1.906, -0.000, 2.408] +============================================================ + + +============================================================ +SCENE: Bedroom-21085 | 8 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.3833, Walkable Loss: 4.2472 (Center Penalty: 2.8797, C1 Heatmap: 0.7644, C2 Repulsion: 3.7796), Relational Loss: 0.0000 +Guided Steps: 10/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +shelf 0.278 0.613 0.156 1.654 0.003 1.381 -90.09° +nightstand 0.505 0.647 0.484 1.482 0.001 -1.030 0.03° +nightstand 0.490 0.882 0.375 -1.012 0.001 -1.048 0.00° +bed 1.898 1.088 2.236 0.099 -0.000 -0.147 0.02° +wardrobe 1.370 2.554 0.561 -1.736 0.019 -0.155 89.76° +lamp 0.876 0.873 0.857 0.167 1.961 0.076 -0.00° +floor 3.671 -0.001 3.089 -0.021 0.000 0.025 -0.06° +_scene_ 0.058 -0.000 0.018 -5.676 -0.005 -5.718 -57.32° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: shelf <-> floor depth=[0.278, -0.001, 0.156] + !! OVERLAP: nightstand <-> floor depth=[0.505, -0.001, 0.484] + !! OVERLAP: nightstand <-> bed depth=[0.083, 0.882, 0.375] + !! OVERLAP: nightstand <-> floor depth=[0.490, -0.001, 0.375] + !! OVERLAP: bed <-> floor depth=[1.898, -0.001, 2.236] + !! OVERLAP: wardrobe <-> floor depth=[0.805, -0.001, 0.561] +============================================================ + + +============================================================ +SCENE: Bedroom-13675 | 5 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.5384, Walkable Loss: 2.3650 (Center Penalty: 1.4256, C1 Heatmap: 0.9443, C2 Repulsion: 0.9198), Relational Loss: 0.0000 +Guided Steps: 10/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +bed 2.449 0.783 2.159 -0.793 -0.001 -0.364 89.93° +wardrobe 2.419 2.468 0.851 1.410 -0.000 0.050 -90.07° +lamp 0.590 0.753 0.595 -0.393 1.902 -0.812 179.81° +floor 4.053 0.001 3.637 0.016 -0.001 -0.136 -0.04° +_scene_ 0.054 -0.000 0.014 -5.682 -0.004 -5.718 -57.30° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bed <-> wardrobe depth=[0.231, 0.783, 0.851] + !! OVERLAP: bed <-> floor depth=[2.442, 0.001, 2.159] + !! OVERLAP: wardrobe <-> floor depth=[1.842, 0.001, 0.851] +============================================================ + + +============================================================ +SCENE: MasterBedroom-32488 | 9 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 1.1707, Walkable Loss: 2.9375 (Center Penalty: 0.7502, C1 Heatmap: 1.1884, C2 Repulsion: 6.1830), Relational Loss: 0.0000 +Guided Steps: 10/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +table 1.018 1.102 0.423 -2.204 -0.001 -1.182 0.00° +nightstand 0.496 0.564 0.392 0.533 0.001 -1.236 0.01° +chair 0.477 0.490 0.524 -2.216 -0.003 -0.617 -89.98° +bed 2.066 1.450 2.494 -0.878 0.001 -0.050 -0.00° +cabinet 0.736 1.052 0.417 -2.270 0.001 1.538 -180.00° +lamp 0.854 0.902 0.839 -0.990 1.881 0.097 -0.06° +wardrobe 3.011 2.309 0.631 0.821 -0.000 0.224 -90.04° +floor 5.915 0.006 3.278 -0.851 -0.002 0.495 -0.01° +_scene_ 0.075 -0.001 0.021 -5.680 -0.002 -5.711 -57.29° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: table <-> bed depth=[0.216, 1.102, 0.327] + !! OVERLAP: table <-> floor depth=[1.018, 0.006, 0.174] + !! OVERLAP: nightstand <-> floor depth=[0.496, 0.006, 0.105] + !! OVERLAP: chair <-> floor depth=[0.477, 0.006, 0.524] + !! OVERLAP: bed <-> wardrobe depth=[0.840, 1.450, 0.631] + !! OVERLAP: bed <-> floor depth=[2.066, 0.006, 2.341] + !! OVERLAP: cabinet <-> floor depth=[0.736, 0.006, 0.417] + !! OVERLAP: wardrobe <-> floor depth=[2.792, 0.006, 0.631] +============================================================ + + +============================================================ +SCENE: MasterBedroom-45545 | 8 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.5804, Walkable Loss: 4.4893 (Center Penalty: 2.4425, C1 Heatmap: 1.0606, C2 Repulsion: 5.9915), Relational Loss: 0.0000 +Guided Steps: 10/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +table 0.992 1.577 0.448 1.615 -0.001 1.411 179.99° +bed 1.920 1.632 2.302 0.353 0.001 -0.442 -0.02° +nightstand 0.550 0.544 0.503 -1.163 0.000 -1.325 0.02° +nightstand 0.541 0.615 0.458 1.557 0.001 -1.322 -0.06° +lamp 0.860 1.562 0.777 0.028 1.168 -0.256 -0.01° +wardrobe 2.008 2.454 0.678 -1.596 -0.001 -0.634 89.90° +floor 4.004 -0.003 3.310 -0.034 0.000 -0.017 -0.01° +_scene_ 0.070 -0.000 0.022 -5.673 -0.006 -5.714 -57.29° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: table <-> floor depth=[0.849, -0.003, 0.448] + !! OVERLAP: bed <-> nightstand depth=[0.027, 0.615, 0.458] + !! OVERLAP: bed <-> lamp depth=[0.860, 0.430, 0.777] + !! OVERLAP: bed <-> wardrobe depth=[0.015, 1.632, 0.678] + !! OVERLAP: bed <-> floor depth=[1.920, -0.003, 2.302] + !! OVERLAP: nightstand <-> floor depth=[0.550, -0.003, 0.503] + !! OVERLAP: nightstand <-> floor depth=[0.541, -0.003, 0.458] + !! OVERLAP: wardrobe <-> floor depth=[1.444, -0.003, 0.678] +============================================================ + + +============================================================ +SCENE: Bedroom-18759 | 8 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.5338, Walkable Loss: 3.6150 (Center Penalty: 2.0015, C1 Heatmap: 1.0061, C2 Repulsion: 4.0427), Relational Loss: 0.0000 +Guided Steps: 10/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +bed 2.072 2.128 1.904 -0.528 -0.005 0.371 89.85° +nightstand 0.598 0.456 0.411 -1.361 0.003 -0.150 90.01° +nightstand 0.515 0.484 0.433 -1.373 0.002 1.635 90.03° +tv_stand 1.901 0.630 0.444 1.189 -0.001 0.158 -90.21° +lamp 0.613 0.991 0.610 -0.087 1.539 0.597 0.16° +wardrobe 1.920 2.305 0.599 -0.538 -0.001 -1.649 0.17° +floor 3.294 -0.002 4.434 0.006 0.001 -0.003 -0.03° +_scene_ 0.071 -0.000 0.021 -5.670 -0.005 -5.713 -57.29° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bed <-> nightstand depth=[0.501, 0.456, 0.411] + !! OVERLAP: bed <-> tv_stand depth=[0.270, 0.630, 0.444] + !! OVERLAP: bed <-> lamp depth=[0.613, 0.016, 0.610] + !! OVERLAP: bed <-> floor depth=[2.072, -0.002, 1.904] + !! OVERLAP: nightstand <-> floor depth=[0.578, -0.002, 0.411] + !! OVERLAP: nightstand <-> floor depth=[0.515, -0.002, 0.433] + !! OVERLAP: tv_stand <-> floor depth=[1.415, -0.002, 0.444] + !! OVERLAP: wardrobe <-> floor depth=[1.920, -0.002, 0.599] +============================================================ + + +============================================================ +SCENE: MasterBedroom-29436 | 8 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.2068, Walkable Loss: 2.7511 (Center Penalty: 1.4795, C1 Heatmap: 0.9016, C2 Repulsion: 2.7519), Relational Loss: 0.0000 +Guided Steps: 10/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +bed 1.946 0.892 2.194 0.357 0.001 1.045 179.95° +wardrobe 1.370 2.288 0.608 -1.777 -0.000 -1.313 0.08° +tv_stand 2.005 0.529 0.536 0.085 0.002 -1.433 0.01° +table 0.617 1.139 0.462 -0.538 0.001 2.030 -179.99° +table 0.669 1.185 0.389 2.178 0.002 1.841 -90.05° +lamp 1.073 0.969 1.030 0.054 1.630 0.625 0.00° +floor 4.761 -0.004 4.942 -0.135 0.001 0.351 -0.04° +_scene_ 0.074 0.001 0.022 -5.672 -0.005 -5.715 -57.28° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bed <-> table depth=[0.387, 0.892, 0.342] + !! OVERLAP: bed <-> floor depth=[1.946, -0.004, 2.194] + !! OVERLAP: wardrobe <-> floor depth=[1.370, -0.004, 0.608] + !! OVERLAP: tv_stand <-> floor depth=[2.005, -0.004, 0.536] + !! OVERLAP: table <-> floor depth=[0.617, -0.004, 0.462] + !! OVERLAP: table <-> floor depth=[0.401, -0.004, 0.389] +============================================================ + + +============================================================ +SCENE: Bedroom-15797 | 7 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0000, Walkable Loss: 4.0425 (Center Penalty: 2.6892, C1 Heatmap: 0.7921, C2 Repulsion: 3.5983), Relational Loss: 0.0000 +Guided Steps: 10/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +bed 2.239 1.414 2.149 0.341 0.006 -0.300 -90.16° +cabinet 1.286 0.959 0.475 0.579 0.003 1.694 179.86° +nightstand 0.736 0.731 0.631 1.130 0.000 -1.377 -90.26° +nightstand 0.676 0.708 0.520 1.051 0.000 1.065 -90.16° +lamp 0.473 0.305 0.477 0.075 2.335 -0.125 -0.05° +floor 2.825 -0.003 3.838 -0.017 -0.001 -0.007 0.07° +_scene_ 0.063 0.000 0.017 -5.672 -0.004 -5.714 -57.30° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bed <-> nightstand depth=[0.698, 0.731, 0.313] + !! OVERLAP: bed <-> floor depth=[2.175, -0.003, 2.149] + !! OVERLAP: cabinet <-> floor depth=[1.286, -0.003, 0.456] + !! OVERLAP: nightstand <-> floor depth=[0.634, -0.003, 0.631] + !! OVERLAP: nightstand <-> floor depth=[0.676, -0.003, 0.520] +============================================================ + + +============================================================ +SCENE: MasterBedroom-13658 | 7 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0000, Walkable Loss: 3.6163 (Center Penalty: 2.4374, C1 Heatmap: 0.8718, C2 Repulsion: 2.4068), Relational Loss: 0.0000 +Guided Steps: 10/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +wardrobe 2.564 2.310 0.576 -0.214 -0.001 -2.011 0.08° +bed 2.038 0.951 2.137 -0.365 -0.000 0.481 90.00° +nightstand 0.372 0.519 0.366 -1.358 0.001 -0.993 89.97° +nightstand 0.444 0.509 0.383 -1.326 0.004 1.578 90.03° +lamp 0.780 0.252 0.750 0.009 2.235 0.052 -0.04° +floor 3.320 -0.002 4.730 -0.063 0.001 -0.066 0.02° +_scene_ 0.069 -0.002 0.018 -5.669 -0.005 -5.715 -57.26° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: wardrobe <-> floor depth=[2.564, -0.002, 0.576] + !! OVERLAP: bed <-> nightstand depth=[0.279, 0.509, 0.162] + !! OVERLAP: bed <-> floor depth=[2.038, -0.002, 2.137] + !! OVERLAP: nightstand <-> floor depth=[0.372, -0.002, 0.366] + !! OVERLAP: nightstand <-> floor depth=[0.444, -0.002, 0.383] +============================================================ + + +============================================================ +SCENE: Bedroom-53437 | 7 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.3935, Walkable Loss: 3.9919 (Center Penalty: 2.6873, C1 Heatmap: 0.7521, C2 Repulsion: 3.5145), Relational Loss: 0.0000 +Guided Steps: 10/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +bed 1.817 1.005 2.025 0.163 0.001 0.351 -179.97° +lamp 0.604 0.302 0.435 0.110 2.333 -0.026 -0.05° +wardrobe 1.931 2.337 0.588 -1.409 -0.001 0.229 89.98° +nightstand 0.515 0.649 0.369 -0.964 0.004 1.110 179.99° +nightstand 0.492 0.631 0.463 1.516 0.000 1.096 179.97° +floor 4.123 -0.000 2.765 -0.011 0.000 0.000 -0.03° +_scene_ 0.068 -0.001 0.017 -5.678 -0.005 -5.717 -57.30° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bed <-> wardrobe depth=[0.302, 1.005, 0.588] + !! OVERLAP: bed <-> nightstand depth=[0.039, 0.649, 0.369] + !! OVERLAP: bed <-> floor depth=[1.817, -0.000, 2.025] + !! OVERLAP: wardrobe <-> floor depth=[1.630, -0.000, 0.588] + !! OVERLAP: nightstand <-> floor depth=[0.515, -0.000, 0.369] + !! OVERLAP: nightstand <-> floor depth=[0.492, -0.000, 0.463] +============================================================ + + +============================================================ +SCENE: MasterBedroom-1096 | 8 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.4696, Walkable Loss: 4.1952 (Center Penalty: 2.5052, C1 Heatmap: 0.8747, C2 Repulsion: 4.9511), Relational Loss: 0.0000 +Guided Steps: 10/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +bed 1.977 0.995 2.139 0.527 -0.001 -0.421 0.03° +table 1.168 1.139 0.345 0.476 0.003 -1.237 0.03° +wardrobe 2.070 2.160 0.427 -1.074 -0.000 0.172 89.82° +lamp 0.598 0.497 0.570 0.286 2.208 -0.073 0.02° +chair 0.466 0.705 0.463 -0.635 0.006 -0.617 -152.01° +bookshelf 0.722 1.643 0.325 1.139 0.000 1.148 -179.92° +floor 3.375 -0.002 3.168 -0.004 0.001 -0.002 -0.02° +_scene_ 0.077 -0.001 0.026 -5.669 -0.005 -5.711 -57.31° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bed <-> table depth=[1.168, 0.995, 0.345] + !! OVERLAP: bed <-> wardrobe depth=[0.422, 0.995, 0.427] + !! OVERLAP: bed <-> chair depth=[0.058, 0.705, 0.463] + !! OVERLAP: bed <-> floor depth=[1.977, -0.002, 2.139] + !! OVERLAP: table <-> floor depth=[1.168, -0.002, 0.345] + !! OVERLAP: wardrobe <-> floor depth=[1.653, -0.002, 0.427] + !! OVERLAP: chair <-> floor depth=[0.466, -0.002, 0.463] + !! OVERLAP: bookshelf <-> floor depth=[0.722, -0.002, 0.325] +============================================================ + + +============================================================ +SCENE: Bedroom-20397 | 11 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.2693, Walkable Loss: 5.1040 (Center Penalty: 2.3547, C1 Heatmap: 1.1194, C2 Repulsion: 9.2691), Relational Loss: 0.0000 +Guided Steps: 10/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +wardrobe 1.983 2.576 0.496 -1.531 -0.002 0.708 89.95° +bed 2.161 0.717 2.272 0.408 0.004 0.525 179.97° +nightstand 0.594 0.747 0.511 1.684 0.001 1.426 179.96° +nightstand 0.589 0.847 0.356 -1.194 0.001 1.494 179.95° +cabinet 1.622 0.895 0.381 0.170 0.001 -1.462 -0.02° +table 0.414 1.617 0.434 1.983 -0.017 -1.109 -46.50° +lamp 0.466 0.866 0.455 -1.186 1.351 1.245 -0.01° +lamp 0.791 0.902 0.768 1.677 1.160 1.361 0.04° +lamp 0.578 0.157 0.556 0.249 2.332 0.207 -0.03° +floor 4.570 -0.002 3.613 -0.021 0.000 0.008 -0.04° +_scene_ 0.070 0.000 0.021 -5.672 -0.005 -5.714 -57.29° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: wardrobe <-> bed depth=[0.133, 0.717, 0.496] + !! OVERLAP: wardrobe <-> floor depth=[1.766, -0.002, 0.496] + !! OVERLAP: bed <-> nightstand depth=[0.101, 0.717, 0.491] + !! OVERLAP: bed <-> floor depth=[2.161, -0.002, 2.272] + !! OVERLAP: nightstand <-> floor depth=[0.594, -0.002, 0.511] + !! OVERLAP: nightstand <-> floor depth=[0.589, -0.002, 0.356] + !! OVERLAP: cabinet <-> floor depth=[1.622, -0.002, 0.381] + !! OVERLAP: table <-> floor depth=[0.414, -0.002, 0.434] +============================================================ + + +============================================================ +SCENE: SecondBedroom-6261 | 6 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0000, Walkable Loss: 2.4754 (Center Penalty: 1.4138, C1 Heatmap: 0.8040, C2 Repulsion: 2.0919), Relational Loss: 0.0000 +Guided Steps: 10/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +nightstand 0.492 0.522 0.360 1.208 0.000 -0.633 -90.07° +lamp 0.985 0.675 0.966 0.084 2.004 0.703 0.04° +bed 2.017 1.159 2.344 0.394 -0.001 0.833 -89.95° +wardrobe 2.028 2.367 0.593 0.211 -0.000 -1.276 0.02° +floor 3.081 0.001 3.849 -0.023 -0.000 0.305 -0.03° +_scene_ 0.067 0.001 0.020 -5.667 -0.004 -5.713 -57.33° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: nightstand <-> floor depth=[0.492, 0.001, 0.360] + !! OVERLAP: bed <-> floor depth=[2.017, 0.001, 2.344] + !! OVERLAP: wardrobe <-> floor depth=[2.028, 0.001, 0.593] +============================================================ + + +============================================================ +SCENE: SecondBedroom-9923 | 6 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.3832, Walkable Loss: 2.6478 (Center Penalty: 1.6195, C1 Heatmap: 0.8822, C2 Repulsion: 1.6126), Relational Loss: 0.0000 +Guided Steps: 10/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +bed 1.954 0.729 2.074 0.519 -0.002 -0.700 -0.00° +tv_stand 1.875 0.529 0.389 0.623 0.002 1.316 179.97° +wardrobe 1.899 2.466 0.661 -1.305 -0.001 -0.311 89.99° +lamp 0.421 0.822 0.428 0.430 1.775 -0.606 -0.03° +floor 4.033 -0.001 3.516 0.023 0.001 0.006 -0.03° +_scene_ 0.068 0.002 0.021 -5.670 -0.005 -5.714 -57.31° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bed <-> wardrobe depth=[0.102, 0.729, 0.661] + !! OVERLAP: bed <-> floor depth=[1.954, -0.001, 2.074] + !! OVERLAP: tv_stand <-> floor depth=[1.875, -0.001, 0.389] + !! OVERLAP: wardrobe <-> floor depth=[1.637, -0.001, 0.661] +============================================================ + + +============================================================ +SCENE: Bedroom-38427 | 7 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0000, Walkable Loss: 3.3772 (Center Penalty: 2.3795, C1 Heatmap: 0.6782, C2 Repulsion: 2.2762), Relational Loss: 0.0000 +Guided Steps: 10/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +lamp 0.921 0.887 0.894 -0.007 2.302 -0.071 0.00° +wardrobe 1.238 1.670 0.538 0.389 0.005 1.371 -179.93° +bed 1.990 0.871 2.027 -0.164 0.001 -0.664 0.01° +nightstand 0.432 0.428 0.329 -1.347 0.000 -1.565 -0.05° +nightstand 0.524 0.475 0.399 0.998 0.001 -1.651 0.02° +floor 3.156 -0.001 3.762 0.001 0.001 0.025 -0.02° +_scene_ 0.066 0.000 0.017 -5.672 -0.005 -5.717 -57.30° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: wardrobe <-> floor depth=[1.238, -0.001, 0.538] + !! OVERLAP: bed <-> nightstand depth=[0.028, 0.428, 0.277] + !! OVERLAP: bed <-> nightstand depth=[0.095, 0.475, 0.226] + !! OVERLAP: bed <-> floor depth=[1.990, -0.001, 2.027] + !! OVERLAP: nightstand <-> floor depth=[0.432, -0.001, 0.329] + !! OVERLAP: nightstand <-> floor depth=[0.524, -0.001, 0.399] +============================================================ + + +============================================================ +SCENE: SecondBedroom-48379 | 6 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.6667, Walkable Loss: 3.9364 (Center Penalty: 2.8871, C1 Heatmap: 0.8837, C2 Repulsion: 1.7121), Relational Loss: 0.0000 +Guided Steps: 10/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +bed 2.194 1.991 2.206 0.243 -0.002 0.017 -90.13° +wardrobe 0.956 1.650 0.447 0.708 0.003 -1.844 0.09° +lamp 0.515 0.374 0.533 -0.043 2.448 -0.104 -0.03° +desk 1.720 0.764 0.845 1.178 -0.001 1.194 -89.92° +floor 2.684 0.002 3.970 -0.012 -0.001 -0.044 -0.01° +_scene_ 0.076 -0.001 0.021 -5.668 -0.005 -5.705 -57.32° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bed <-> desk depth=[1.021, 0.764, 0.349] + !! OVERLAP: bed <-> floor depth=[2.184, 0.002, 2.206] + !! OVERLAP: wardrobe <-> floor depth=[0.956, 0.002, 0.408] + !! OVERLAP: desk <-> floor depth=[1.011, 0.002, 0.845] +============================================================ + + +============================================================ +SCENE: Bedroom-74674 | 5 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0000, Walkable Loss: 2.7813 (Center Penalty: 2.2466, C1 Heatmap: 0.5260, C2 Repulsion: 0.5694), Relational Loss: 0.0000 +Guided Steps: 10/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +bed 1.799 1.335 1.974 0.426 0.000 0.688 -89.97° +table 0.623 0.743 0.558 1.148 0.000 -1.087 -90.35° +lamp 0.355 0.531 0.251 0.137 2.223 -0.170 -0.04° +floor 2.936 -0.003 4.134 -0.012 -0.001 -0.017 -0.01° +_scene_ 0.053 0.013 0.015 -5.601 -0.000 -5.670 -57.45° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bed <-> floor depth=[1.799, -0.003, 1.974] + !! OVERLAP: table <-> floor depth=[0.619, -0.003, 0.558] +============================================================ + + +============================================================ +SCENE: MasterBedroom-41843 | 11 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0459, Walkable Loss: 3.6971 (Center Penalty: 1.6549, C1 Heatmap: 0.9607, C2 Repulsion: 6.3685), Relational Loss: 0.0000 +Guided Steps: 10/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +lamp 0.863 0.846 0.854 -0.017 1.992 0.611 -0.01° +wardrobe 1.024 2.210 0.536 0.531 -0.001 -2.173 0.04° +wardrobe 1.488 2.103 0.593 0.980 0.000 -1.564 0.03° +bed 1.914 1.289 2.246 0.555 0.002 0.648 -89.93° +nightstand 0.467 0.541 0.458 1.515 -0.000 -0.911 -90.02° +nightstand 0.600 0.606 0.571 1.444 0.003 2.055 -90.41° +cabinet 0.934 0.748 0.379 -1.385 0.001 0.917 90.02° +chair 0.682 0.800 0.731 -1.080 0.003 -1.750 37.19° +table 0.428 0.457 0.438 -1.123 0.002 -1.031 3.55° +floor 3.600 -0.000 4.916 -0.059 0.001 0.063 -0.02° +_scene_ 0.070 0.001 0.022 -5.670 -0.004 -5.715 -57.31° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: wardrobe <-> floor depth=[1.024, -0.000, 0.490] + !! OVERLAP: wardrobe <-> floor depth=[1.488, -0.000, 0.593] + !! OVERLAP: bed <-> nightstand depth=[0.367, 0.606, 0.001] + !! OVERLAP: bed <-> floor depth=[1.914, -0.000, 2.246] + !! OVERLAP: nightstand <-> floor depth=[0.459, -0.000, 0.458] + !! OVERLAP: nightstand <-> floor depth=[0.596, -0.000, 0.571] + !! OVERLAP: cabinet <-> floor depth=[0.934, -0.000, 0.379] + !! OVERLAP: chair <-> floor depth=[0.682, -0.000, 0.731] + !! OVERLAP: table <-> floor depth=[0.428, -0.000, 0.438] +============================================================ + + +============================================================ +SCENE: MasterBedroom-21047 | 7 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0000, Walkable Loss: 3.7261 (Center Penalty: 2.3879, C1 Heatmap: 0.7414, C2 Repulsion: 3.7255), Relational Loss: 0.0000 +Guided Steps: 10/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +wardrobe 1.672 2.412 0.569 1.096 0.001 -0.571 -90.06° +bed 1.831 1.181 2.179 -0.248 -0.001 -0.448 0.04° +nightstand 0.591 0.608 0.522 -1.744 0.000 -1.220 -0.00° +nightstand 0.602 0.596 0.473 0.737 0.001 -1.255 0.03° +lamp 0.921 1.154 0.971 -0.388 1.612 0.103 0.01° +floor 3.942 -0.002 3.162 -0.114 -0.000 0.012 -0.02° +_scene_ 0.063 -0.000 0.016 -5.665 -0.004 -5.715 -57.29° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: wardrobe <-> bed depth=[0.407, 1.181, 0.569] + !! OVERLAP: wardrobe <-> floor depth=[1.598, -0.002, 0.569] + !! OVERLAP: bed <-> nightstand depth=[0.231, 0.596, 0.473] + !! OVERLAP: bed <-> floor depth=[1.831, -0.002, 2.179] + !! OVERLAP: nightstand <-> floor depth=[0.591, -0.002, 0.522] + !! OVERLAP: nightstand <-> floor depth=[0.602, -0.002, 0.473] +============================================================ + + +============================================================ +SCENE: MasterBedroom-34469 | 6 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.2203, Walkable Loss: 2.6922 (Center Penalty: 1.8468, C1 Heatmap: 0.7750, C2 Repulsion: 1.1274), Relational Loss: 0.0000 +Guided Steps: 10/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +bed 2.006 0.936 2.193 -0.582 -0.002 -0.733 0.04° +wardrobe 1.612 2.479 0.516 1.423 -0.001 -0.745 -90.10° +table 1.049 1.185 0.564 -1.579 0.002 1.372 179.95° +lamp 0.521 0.449 0.530 -0.222 2.325 -0.323 0.03° +floor 4.383 -0.004 4.487 -0.274 0.001 0.117 -0.01° +_scene_ 0.067 -0.001 0.017 -5.675 -0.005 -5.715 -57.29° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bed <-> floor depth=[2.006, -0.004, 2.193] + !! OVERLAP: wardrobe <-> floor depth=[1.301, -0.004, 0.516] + !! OVERLAP: table <-> floor depth=[1.049, -0.004, 0.564] +============================================================ + + +============================================================ +SCENE: SecondBedroom-35274 | 5 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0000, Walkable Loss: 3.0717 (Center Penalty: 2.4219, C1 Heatmap: 0.6873, C2 Repulsion: 0.4999), Relational Loss: 0.0000 +Guided Steps: 10/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +lamp 0.724 1.083 0.774 0.211 1.645 0.217 -0.05° +bed 2.142 0.947 2.287 0.274 0.000 0.317 -90.03° +wardrobe 1.554 1.983 0.413 0.343 -0.000 -1.799 -0.06° +floor 2.842 -0.003 4.256 -0.015 -0.000 -0.025 -0.02° +_scene_ 0.056 -0.001 0.025 -5.667 -0.006 -5.717 -57.28° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bed <-> floor depth=[2.142, -0.003, 2.287] + !! OVERLAP: wardrobe <-> floor depth=[1.554, -0.003, 0.413] +============================================================ + + +============================================================ +SCENE: SecondBedroom-66007 | 8 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.5182, Walkable Loss: 4.7356 (Center Penalty: 2.9282, C1 Heatmap: 0.8772, C2 Repulsion: 5.5282), Relational Loss: 0.0000 +Guided Steps: 10/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +bed 1.650 1.156 2.362 -0.063 -0.000 0.198 179.98° +nightstand 0.420 0.462 0.390 -1.143 0.002 1.106 179.88° +desk 1.113 1.106 0.551 1.401 0.000 1.039 179.99° +chair 0.526 0.715 0.501 1.424 0.002 0.277 -21.55° +wardrobe 2.000 2.126 0.644 -1.406 -0.000 0.439 89.93° +lamp 0.680 0.245 0.665 -0.057 2.290 -0.179 0.04° +floor 3.921 -0.001 2.672 -0.004 -0.000 -0.008 -0.04° +_scene_ 0.072 -0.001 0.021 -5.672 -0.005 -5.714 -57.30° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bed <-> wardrobe depth=[0.482, 1.156, 0.644] + !! OVERLAP: bed <-> floor depth=[1.650, -0.001, 2.311] + !! OVERLAP: nightstand <-> floor depth=[0.420, -0.001, 0.390] + !! OVERLAP: desk <-> floor depth=[1.112, -0.001, 0.551] + !! OVERLAP: chair <-> floor depth=[0.526, -0.001, 0.501] + !! OVERLAP: wardrobe <-> floor depth=[1.559, -0.001, 0.644] +============================================================ + + +============================================================ +SCENE: MasterBedroom-6907 | 9 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.4536, Walkable Loss: 3.3434 (Center Penalty: 1.7438, C1 Heatmap: 0.8808, C2 Repulsion: 4.4746), Relational Loss: 0.0000 +Guided Steps: 10/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +cabinet 0.957 1.294 0.342 1.370 0.003 -0.714 -90.15° +table 1.306 1.238 0.603 1.673 -0.000 0.764 -90.12° +nightstand 0.533 0.634 0.441 -1.726 0.005 -1.606 89.96° +chair 1.229 0.499 0.595 -0.272 0.001 -0.479 0.04° +bed 1.826 1.380 2.252 -0.965 0.000 0.006 89.92° +nightstand 0.550 0.689 0.424 -1.837 0.003 1.129 90.02° +chair 0.617 0.768 0.597 -0.143 -0.000 1.398 90.01° +floor 4.038 -0.002 4.206 -0.028 0.000 0.023 -0.04° +_scene_ 0.071 0.000 0.022 -5.672 -0.005 -5.713 -57.29° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: cabinet <-> floor depth=[0.957, -0.002, 0.342] + !! OVERLAP: table <-> floor depth=[0.972, -0.002, 0.603] + !! OVERLAP: nightstand <-> floor depth=[0.533, -0.002, 0.441] + !! OVERLAP: chair <-> bed depth=[0.835, 0.499, 0.595] + !! OVERLAP: chair <-> floor depth=[1.229, -0.002, 0.595] + !! OVERLAP: bed <-> nightstand depth=[0.316, 0.689, 0.215] + !! OVERLAP: bed <-> chair depth=[0.400, 0.768, 0.032] + !! OVERLAP: bed <-> floor depth=[1.826, -0.002, 2.252] + !! OVERLAP: nightstand <-> floor depth=[0.485, -0.002, 0.424] + !! OVERLAP: chair <-> floor depth=[0.617, -0.002, 0.597] +============================================================ + + +============================================================ +SCENE: MasterBedroom-9302 | 7 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0063, Walkable Loss: 2.8339 (Center Penalty: 1.7554, C1 Heatmap: 0.6848, C2 Repulsion: 2.6535), Relational Loss: 0.0000 +Guided Steps: 10/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +bed 1.977 1.298 2.289 -0.214 0.000 0.855 179.99° +nightstand 0.420 0.495 0.402 1.602 0.001 1.536 179.94° +nightstand 0.404 0.611 0.318 -1.402 0.001 1.753 179.94° +table 0.751 1.049 0.459 1.378 0.001 -1.278 0.08° +chair 0.802 0.471 0.648 -0.259 -0.000 -0.390 0.06° +floor 3.786 -0.002 4.094 -0.002 -0.001 -0.013 -0.01° +_scene_ 0.071 0.003 0.022 -5.666 -0.004 -5.708 -57.30° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bed <-> nightstand depth=[0.002, 0.611, 0.318] + !! OVERLAP: bed <-> chair depth=[0.802, 0.471, 0.224] + !! OVERLAP: bed <-> floor depth=[1.977, -0.002, 2.289] + !! OVERLAP: nightstand <-> floor depth=[0.420, -0.002, 0.402] + !! OVERLAP: nightstand <-> floor depth=[0.404, -0.002, 0.318] + !! OVERLAP: table <-> floor depth=[0.751, -0.002, 0.459] + !! OVERLAP: chair <-> floor depth=[0.802, -0.002, 0.648] +============================================================ + + +============================================================ +SCENE: MasterBedroom-3151 | 5 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0000, Walkable Loss: 3.3136 (Center Penalty: 2.6853, C1 Heatmap: 0.6055, C2 Repulsion: 0.7195), Relational Loss: 0.0000 +Guided Steps: 10/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +bed 1.813 1.210 2.417 0.156 -0.000 0.322 -89.97° +nightstand 0.495 0.506 0.486 1.183 0.001 -1.071 -90.17° +lamp 0.756 0.882 0.779 0.167 1.823 0.269 0.00° +floor 2.988 -0.002 3.631 -0.004 -0.000 0.065 -0.02° +_scene_ 0.068 0.000 0.020 -5.669 -0.005 -5.715 -57.31° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bed <-> nightstand depth=[0.127, 0.506, 0.059] + !! OVERLAP: bed <-> floor depth=[1.813, -0.002, 2.417] + !! OVERLAP: nightstand <-> floor depth=[0.495, -0.002, 0.486] +============================================================ + + +============================================================ +SCENE: SecondBedroom-13281 | 9 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0556, Walkable Loss: 3.2335 (Center Penalty: 1.9970, C1 Heatmap: 0.9266, C2 Repulsion: 2.4759), Relational Loss: 0.0000 +Guided Steps: 10/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +bed 2.369 1.252 2.210 -0.068 0.001 0.697 179.96° +wardrobe 2.174 2.398 0.684 0.778 -0.001 -1.116 0.02° +nightstand 0.581 0.512 0.432 1.719 0.002 1.619 179.94° +nightstand 0.459 0.544 0.393 -1.174 0.000 1.552 179.89° +lamp 0.459 1.066 0.452 -1.105 1.512 1.497 0.05° +lamp 0.692 0.762 0.649 1.530 1.577 1.560 -0.04° +lamp 0.920 0.902 0.937 0.071 1.850 0.411 -0.03° +floor 3.965 -0.000 3.829 -0.022 0.001 -0.025 -0.03° +_scene_ 0.068 -0.000 0.025 -5.673 -0.005 -5.719 -57.30° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bed <-> nightstand depth=[0.308, 0.544, 0.393] + !! OVERLAP: bed <-> floor depth=[2.369, -0.000, 2.210] + !! OVERLAP: wardrobe <-> floor depth=[2.174, -0.000, 0.684] + !! OVERLAP: nightstand <-> floor depth=[0.532, -0.000, 0.432] + !! OVERLAP: nightstand <-> floor depth=[0.459, -0.000, 0.393] +============================================================ + + +============================================================ +SCENE: MasterBedroom-74105 | 8 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.2580, Walkable Loss: 4.2814 (Center Penalty: 2.6648, C1 Heatmap: 0.8628, C2 Repulsion: 4.6321), Relational Loss: 0.0000 +Guided Steps: 10/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +nightstand 0.429 0.483 0.408 1.379 0.000 0.820 -90.01° +nightstand 0.561 0.545 0.523 1.196 0.000 -1.357 -90.07° +bed 1.503 1.017 2.267 0.409 -0.000 -0.180 -89.97° +bookshelf 1.050 1.707 0.380 -1.153 -0.004 -1.063 89.94° +wardrobe 2.085 2.382 0.575 0.409 0.001 1.226 179.98° +lamp 0.932 0.811 0.923 -0.003 1.758 -0.229 0.02° +floor 3.091 -0.001 3.578 -0.002 0.000 -0.016 -0.04° +_scene_ 0.068 -0.001 0.018 -5.673 -0.005 -5.717 -57.30° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: nightstand <-> wardrobe depth=[0.287, 0.483, 0.086] + !! OVERLAP: nightstand <-> floor depth=[0.380, -0.001, 0.408] + !! OVERLAP: nightstand <-> bed depth=[0.244, 0.545, 0.218] + !! OVERLAP: nightstand <-> floor depth=[0.561, -0.001, 0.523] + !! OVERLAP: bed <-> wardrobe depth=[1.503, 1.017, 0.015] + !! OVERLAP: bed <-> floor depth=[1.503, -0.001, 2.267] + !! OVERLAP: bookshelf <-> floor depth=[0.919, -0.001, 0.380] + !! OVERLAP: wardrobe <-> floor depth=[2.085, -0.001, 0.575] +============================================================ + + +============================================================ +SCENE: Bedroom-837 | 6 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.5836, Walkable Loss: 3.7415 (Center Penalty: 2.6641, C1 Heatmap: 0.8952, C2 Repulsion: 1.8065), Relational Loss: 0.0000 +Guided Steps: 10/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +bed 2.105 0.706 2.063 0.135 -0.000 -0.239 0.05° +wardrobe 2.430 2.182 0.712 -1.292 -0.001 -0.409 89.66° +nightstand 0.598 0.434 0.412 1.483 0.001 -1.064 -0.00° +lamp 0.433 0.167 0.482 0.331 2.401 0.002 -89.72° +floor 3.867 -0.001 2.780 0.004 0.000 -0.002 -0.05° +_scene_ 0.069 0.001 0.020 -5.671 -0.004 -5.712 -57.30° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bed <-> wardrobe depth=[0.840, 0.706, 0.712] + !! OVERLAP: bed <-> nightstand depth=[0.004, 0.434, 0.412] + !! OVERLAP: bed <-> floor depth=[2.105, -0.001, 2.063] + !! OVERLAP: wardrobe <-> floor depth=[1.852, -0.001, 0.712] + !! OVERLAP: nightstand <-> floor depth=[0.598, -0.001, 0.412] +============================================================ + + +============================================================ +SCENE: SecondBedroom-24075 | 6 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0192, Walkable Loss: 3.5025 (Center Penalty: 2.6861, C1 Heatmap: 0.6171, C2 Repulsion: 1.6135), Relational Loss: 0.0000 +Guided Steps: 10/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +bed 2.032 1.494 2.297 0.053 0.003 0.418 -179.99° +nightstand 0.457 0.443 0.344 -1.278 0.004 1.433 179.89° +nightstand 0.506 0.607 0.441 1.144 0.002 1.256 179.92° +lamp 0.539 0.723 0.552 0.043 2.026 -0.053 -0.00° +floor 3.562 -0.001 3.098 -0.055 -0.000 -0.012 0.03° +_scene_ 0.071 0.000 0.019 -5.670 -0.004 -5.708 -57.31° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bed <-> nightstand depth=[0.178, 0.607, 0.441] + !! OVERLAP: bed <-> floor depth=[2.032, -0.001, 2.267] + !! OVERLAP: nightstand <-> floor depth=[0.457, -0.001, 0.276] + !! OVERLAP: nightstand <-> floor depth=[0.506, -0.001, 0.441] +============================================================ + + +============================================================ +SCENE: Bedroom-22570 | 7 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 1.2555, Walkable Loss: 3.6666 (Center Penalty: 2.2110, C1 Heatmap: 1.0651, C2 Repulsion: 3.0176), Relational Loss: 0.0000 +Guided Steps: 10/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +bed 1.765 0.980 2.141 0.377 -0.000 0.559 -179.99° +nightstand 0.415 0.509 0.357 -1.057 0.002 1.445 179.88° +nightstand 0.546 0.538 0.436 1.536 0.002 1.486 179.99° +lamp 0.603 0.748 0.603 0.307 1.935 0.115 -0.02° +wardrobe 3.921 2.424 0.803 -1.318 -0.002 -0.572 90.00° +floor 4.117 -0.002 3.243 -0.016 0.000 -0.004 -0.02° +_scene_ 0.068 -0.000 0.022 -5.676 -0.005 -5.717 -57.26° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bed <-> wardrobe depth=[1.149, 0.980, 0.341] + !! OVERLAP: bed <-> floor depth=[1.765, -0.002, 2.129] + !! OVERLAP: nightstand <-> floor depth=[0.415, -0.002, 0.351] + !! OVERLAP: nightstand <-> floor depth=[0.546, -0.002, 0.349] + !! OVERLAP: wardrobe <-> floor depth=[2.717, -0.002, 0.803] +============================================================ + + +============================================================ +SCENE: MasterBedroom-40255 | 8 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.2198, Walkable Loss: 3.6558 (Center Penalty: 2.2924, C1 Heatmap: 0.7636, C2 Repulsion: 3.7626), Relational Loss: 0.0000 +Guided Steps: 10/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +wardrobe 1.026 2.126 0.522 1.243 -0.002 -2.001 0.06° +wardrobe 1.349 2.189 0.551 -1.053 -0.002 -1.646 0.10° +bed 1.789 1.083 2.134 -0.606 0.002 0.242 89.92° +nightstand 0.489 0.565 0.405 -1.452 0.001 1.497 90.04° +nightstand 0.545 0.517 0.436 -1.248 0.001 -0.961 89.96° +lamp 0.632 0.850 0.634 -0.198 1.797 0.161 -0.01° +floor 3.429 0.002 4.633 0.106 -0.001 0.017 -0.02° +_scene_ 0.071 0.002 0.027 -5.673 -0.004 -5.713 -57.30° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: wardrobe <-> floor depth=[1.026, 0.002, 0.522] + !! OVERLAP: wardrobe <-> floor depth=[1.230, 0.002, 0.551] + !! OVERLAP: bed <-> nightstand depth=[0.293, 0.565, 0.015] + !! OVERLAP: bed <-> nightstand depth=[0.525, 0.517, 0.083] + !! OVERLAP: bed <-> floor depth=[1.789, 0.002, 2.134] + !! OVERLAP: nightstand <-> floor depth=[0.401, 0.002, 0.405] + !! OVERLAP: nightstand <-> floor depth=[0.545, 0.002, 0.436] +============================================================ + + +============================================================ +SCENE: SecondBedroom-9594 | 8 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.4936, Walkable Loss: 4.2586 (Center Penalty: 2.1713, C1 Heatmap: 1.1720, C2 Repulsion: 5.7481), Relational Loss: 0.0000 +Guided Steps: 10/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +desk 1.317 0.709 0.698 -1.242 -0.000 -1.070 89.90° +bed 2.035 1.111 2.091 0.678 0.000 -0.714 -89.97° +wardrobe 2.826 2.246 0.695 0.365 -0.001 1.362 -179.93° +nightstand 1.117 0.726 0.521 1.277 -0.004 0.355 -90.38° +chair 0.409 0.976 0.454 -0.854 0.001 -0.948 -90.08° +lamp 0.680 0.118 0.748 0.079 2.526 -0.179 -0.11° +floor 3.499 -0.002 3.588 -0.020 0.001 -0.067 -0.01° +_scene_ 0.073 0.000 0.021 -5.670 -0.003 -5.715 -57.33° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: desk <-> chair depth=[0.409, 0.709, 0.453] + !! OVERLAP: desk <-> floor depth=[1.185, -0.002, 0.698] + !! OVERLAP: bed <-> nightstand depth=[0.977, 0.726, 0.237] + !! OVERLAP: bed <-> floor depth=[2.035, -0.002, 2.091] + !! OVERLAP: wardrobe <-> floor depth=[2.777, -0.002, 0.695] + !! OVERLAP: nightstand <-> floor depth=[1.011, -0.002, 0.521] + !! OVERLAP: chair <-> floor depth=[0.409, -0.002, 0.454] +============================================================ + + +============================================================ +SCENE: MasterBedroom-18517 | 12 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.2403, Walkable Loss: 4.0921 (Center Penalty: 2.2413, C1 Heatmap: 0.9090, C2 Repulsion: 5.6179), Relational Loss: 0.0000 +Guided Steps: 10/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +bed 1.947 1.035 2.206 -0.104 0.002 0.519 -179.94° +nightstand 0.563 0.698 0.548 0.935 0.001 1.249 179.98° +nightstand 0.633 0.676 0.499 -1.392 0.001 1.296 179.91° +wardrobe 2.045 2.558 0.484 -1.645 -0.002 0.533 89.83° +chair 0.411 0.720 0.604 1.978 -0.001 -1.275 -33.96° +table 0.319 0.481 0.328 1.843 -0.000 -0.516 -0.03° +cabinet 0.749 1.227 0.414 2.023 0.002 1.305 179.96° +lamp 0.919 1.109 0.872 -0.234 1.758 -0.530 0.01° +lamp 0.185 0.988 0.173 -1.109 1.765 1.156 0.01° +lamp 0.176 0.790 0.206 1.131 1.689 0.880 89.68° +floor 4.735 -0.001 3.283 0.004 0.000 -0.043 0.00° +_scene_ 0.072 -0.000 0.021 -5.671 -0.004 -5.714 -57.32° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bed <-> nightstand depth=[0.216, 0.698, 0.548] + !! OVERLAP: bed <-> nightstand depth=[0.002, 0.676, 0.499] + !! OVERLAP: bed <-> wardrobe depth=[0.455, 1.035, 0.484] + !! OVERLAP: bed <-> floor depth=[1.947, -0.001, 2.182] + !! OVERLAP: nightstand <-> floor depth=[0.563, -0.001, 0.548] + !! OVERLAP: nightstand <-> floor depth=[0.633, -0.001, 0.499] + !! OVERLAP: wardrobe <-> floor depth=[1.740, -0.001, 0.484] + !! OVERLAP: chair <-> floor depth=[0.411, -0.001, 0.604] + !! OVERLAP: table <-> floor depth=[0.319, -0.001, 0.328] + !! OVERLAP: cabinet <-> floor depth=[0.723, -0.001, 0.414] +============================================================ + + +============================================================ +SCENE: MasterBedroom-116808 | 6 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0000, Walkable Loss: 3.9643 (Center Penalty: 2.9062, C1 Heatmap: 0.8557, C2 Repulsion: 1.8674), Relational Loss: 0.0000 +Guided Steps: 10/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +bed 1.770 1.216 2.560 -0.025 0.002 0.153 89.84° +nightstand 0.490 0.693 0.384 -1.119 0.000 1.309 89.97° +lamp 1.126 0.963 1.152 0.115 1.567 0.301 -0.03° +wardrobe 2.152 2.432 0.655 -0.146 -0.000 -1.075 -0.01° +floor 2.708 0.002 3.148 -0.006 0.001 0.021 -0.03° +_scene_ 0.069 -0.001 0.019 -5.670 -0.006 -5.716 -57.26° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bed <-> nightstand depth=[0.036, 0.693, 0.316] + !! OVERLAP: bed <-> wardrobe depth=[1.770, 1.216, 0.379] + !! OVERLAP: bed <-> floor depth=[1.770, 0.002, 2.560] + !! OVERLAP: nightstand <-> floor depth=[0.486, 0.002, 0.384] + !! OVERLAP: wardrobe <-> floor depth=[2.152, 0.002, 0.655] +============================================================ + + +============================================================ +SCENE: MasterBedroom-34912 | 9 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.7531, Walkable Loss: 3.0150 (Center Penalty: 1.0381, C1 Heatmap: 1.0440, C2 Repulsion: 5.7088), Relational Loss: 0.0000 +Guided Steps: 10/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +table 0.870 1.150 0.354 -2.309 -0.002 -1.098 0.03° +nightstand 0.497 0.615 0.445 0.760 -0.000 -1.418 0.04° +chair 0.500 0.525 0.536 -1.873 -0.000 -0.595 -90.12° +bed 2.130 1.573 2.373 -0.742 -0.001 -0.246 0.06° +cabinet 0.657 0.874 0.392 -1.924 0.002 1.412 179.96° +lamp 0.784 0.829 0.742 -0.952 2.007 0.060 -0.07° +wardrobe 2.562 2.336 0.551 1.015 -0.001 -0.041 -90.14° +floor 5.631 0.001 2.972 -0.619 0.001 0.233 0.01° +_scene_ 0.070 0.001 0.021 -5.671 -0.004 -5.717 -57.30° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: table <-> floor depth=[0.870, 0.001, 0.333] + !! OVERLAP: nightstand <-> floor depth=[0.497, 0.001, 0.058] + !! OVERLAP: chair <-> bed depth=[0.183, 0.525, 0.536] + !! OVERLAP: chair <-> floor depth=[0.500, 0.001, 0.536] + !! OVERLAP: bed <-> wardrobe depth=[0.589, 1.573, 0.551] + !! OVERLAP: bed <-> floor depth=[2.130, 0.001, 2.194] + !! OVERLAP: cabinet <-> floor depth=[0.657, 0.001, 0.392] + !! OVERLAP: wardrobe <-> floor depth=[2.462, 0.001, 0.551] +============================================================ + + +============================================================ +SCENE: SecondBedroom-3960 | 6 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.2111, Walkable Loss: 3.0483 (Center Penalty: 1.8167, C1 Heatmap: 0.8932, C2 Repulsion: 2.5851), Relational Loss: 0.0000 +Guided Steps: 10/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +bed 2.764 1.586 2.584 -0.167 -0.002 -0.334 89.86° +nightstand 0.615 0.458 0.340 -1.252 0.002 1.032 89.88° +nightstand 0.490 0.495 0.374 -1.295 0.002 -1.528 90.02° +wardrobe 0.820 2.084 0.435 -0.108 0.007 1.935 179.96° +floor 3.040 -0.002 3.980 -0.024 0.000 0.014 0.00° +_scene_ 0.068 0.002 0.023 -5.669 -0.005 -5.711 -57.24° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bed <-> nightstand depth=[0.605, 0.458, 0.096] + !! OVERLAP: bed <-> nightstand depth=[0.490, 0.495, 0.285] + !! OVERLAP: bed <-> floor depth=[2.759, -0.002, 2.584] + !! OVERLAP: nightstand <-> floor depth=[0.600, -0.002, 0.340] + !! OVERLAP: nightstand <-> floor depth=[0.490, -0.002, 0.374] + !! OVERLAP: wardrobe <-> floor depth=[0.820, -0.002, 0.286] +============================================================ + + +============================================================ +SCENE: MasterBedroom-17206 | 10 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.8719, Walkable Loss: 4.5010 (Center Penalty: 2.2606, C1 Heatmap: 1.0958, C2 Repulsion: 6.8184), Relational Loss: 0.0000 +Guided Steps: 10/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +bed 1.995 1.623 2.222 0.621 -0.000 0.272 -90.06° +nightstand 0.563 0.572 0.541 1.383 0.001 1.544 -89.95° +wardrobe 1.831 2.246 0.646 0.448 -0.001 -2.151 0.03° +chair 0.520 0.524 0.491 -1.253 0.002 1.593 90.01° +table 1.063 1.261 0.504 -1.470 -0.000 1.594 90.04° +nightstand 0.479 0.606 0.480 1.464 0.000 -0.964 -90.04° +lamp 0.787 1.018 0.774 -0.087 1.785 0.354 0.05° +tv_stand 1.887 0.547 0.408 -1.226 0.002 0.003 90.08° +floor 3.398 -0.002 4.861 0.009 -0.001 -0.006 -0.06° +_scene_ 0.071 0.000 0.023 -5.670 -0.004 -5.714 -57.30° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bed <-> nightstand depth=[0.517, 0.572, 0.110] + !! OVERLAP: bed <-> nightstand depth=[0.394, 0.606, 0.115] + !! OVERLAP: bed <-> tv_stand depth=[0.094, 0.547, 0.408] + !! OVERLAP: bed <-> floor depth=[1.995, -0.002, 2.222] + !! OVERLAP: nightstand <-> floor depth=[0.563, -0.002, 0.541] + !! OVERLAP: wardrobe <-> floor depth=[1.831, -0.002, 0.608] + !! OVERLAP: chair <-> table depth=[0.520, 0.524, 0.491] + !! OVERLAP: chair <-> floor depth=[0.520, -0.002, 0.491] + !! OVERLAP: table <-> floor depth=[0.750, -0.002, 0.504] + !! OVERLAP: nightstand <-> floor depth=[0.479, -0.002, 0.480] + !! OVERLAP: tv_stand <-> floor depth=[1.408, -0.002, 0.408] +============================================================ + + +============================================================ +SCENE: MasterBedroom-109561 | 8 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.4142, Walkable Loss: 3.7728 (Center Penalty: 2.2239, C1 Heatmap: 0.9883, C2 Repulsion: 3.7916), Relational Loss: 0.0000 +Guided Steps: 10/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +bed 1.875 1.003 2.429 -0.523 -0.000 -0.649 0.02° +lamp 1.044 0.831 0.996 -0.217 1.957 -0.086 0.01° +tv_stand 1.831 0.495 0.428 -0.327 -0.000 1.631 -179.99° +chair 0.546 0.800 0.529 -1.518 0.003 1.415 0.27° +nightstand 0.635 0.824 0.496 -1.358 0.001 -1.645 0.02° +wardrobe 1.784 2.318 0.649 1.307 -0.000 -0.093 -90.07° +floor 3.577 -0.001 4.136 -0.072 -0.000 0.083 -0.02° +_scene_ 0.071 -0.001 0.024 -5.674 -0.005 -5.717 -57.30° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bed <-> nightstand depth=[0.420, 0.824, 0.466] + !! OVERLAP: bed <-> wardrobe depth=[0.000, 1.003, 0.649] + !! OVERLAP: bed <-> floor depth=[1.875, -0.001, 2.429] + !! OVERLAP: tv_stand <-> floor depth=[1.831, -0.001, 0.428] + !! OVERLAP: chair <-> floor depth=[0.546, -0.001, 0.529] + !! OVERLAP: nightstand <-> floor depth=[0.635, -0.001, 0.496] + !! OVERLAP: wardrobe <-> floor depth=[1.302, -0.001, 0.649] +============================================================ + + +============================================================ +SCENE: SecondBedroom-30334 | 11 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.8216, Walkable Loss: 5.0237 (Center Penalty: 2.7105, C1 Heatmap: 1.1404, C2 Repulsion: 7.0044), Relational Loss: 0.0000 +Guided Steps: 10/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +bed 1.909 0.955 2.253 0.230 0.000 0.277 179.94° +wardrobe 1.824 2.375 0.564 2.192 -0.001 -0.032 -90.09° +wardrobe 2.046 2.433 0.575 2.005 -0.003 -0.079 -90.20° +nightstand 0.462 0.615 0.375 1.269 0.002 1.235 179.95° +nightstand 0.481 0.683 0.360 -1.543 0.001 1.347 179.90° +chair 0.912 1.071 1.129 -1.930 0.002 -0.302 42.09° +table 0.666 0.568 0.616 -1.755 0.000 -0.587 -0.03° +lamp 0.353 0.839 0.276 -1.688 1.576 -0.074 0.03° +lamp 0.737 0.921 0.733 0.012 2.066 -0.116 0.00° +floor 5.309 -0.001 2.792 0.003 -0.001 -0.012 -0.05° +_scene_ 0.069 0.000 0.025 -5.672 -0.004 -5.713 -57.31° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bed <-> wardrobe depth=[0.202, 0.955, 0.575] + !! OVERLAP: bed <-> nightstand depth=[0.146, 0.615, 0.356] + !! OVERLAP: bed <-> floor depth=[1.909, -0.001, 2.233] + !! OVERLAP: wardrobe <-> wardrobe depth=[1.748, 2.375, 0.523] + !! OVERLAP: wardrobe <-> floor depth=[1.377, -0.001, 0.564] + !! OVERLAP: wardrobe <-> floor depth=[1.676, -0.001, 0.575] + !! OVERLAP: nightstand <-> floor depth=[0.462, -0.001, 0.337] + !! OVERLAP: nightstand <-> floor depth=[0.481, -0.001, 0.217] + !! OVERLAP: chair <-> table depth=[0.614, 0.568, 0.587] + !! OVERLAP: chair <-> floor depth=[0.912, -0.001, 1.129] + !! OVERLAP: table <-> floor depth=[0.666, -0.001, 0.616] +============================================================ + + +============================================================ +SCENE: Bedroom-54233 | 9 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.2708, Walkable Loss: 3.8864 (Center Penalty: 2.7503, C1 Heatmap: 0.6918, C2 Repulsion: 2.9133), Relational Loss: 0.0000 +Guided Steps: 10/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +wardrobe 1.205 1.574 0.418 0.534 -0.002 -2.432 0.03° +bed 1.595 1.019 2.134 0.220 -0.000 -0.061 -89.89° +nightstand 0.473 0.442 0.431 1.195 0.003 -1.120 -89.98° +nightstand 0.435 0.437 0.403 1.279 -0.000 1.479 -90.06° +table 1.107 1.363 0.515 -0.989 -0.001 1.538 89.93° +chair 0.386 0.480 0.384 -0.083 0.004 2.095 -103.93° +lamp 0.779 0.143 0.769 0.062 2.419 0.244 -0.03° +floor 2.729 -0.001 5.553 -0.013 0.001 0.131 -0.03° +_scene_ 0.074 0.003 0.014 -5.664 -0.004 -5.708 -57.32° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: wardrobe <-> floor depth=[1.205, -0.001, 0.418] + !! OVERLAP: bed <-> nightstand depth=[0.059, 0.442, 0.224] + !! OVERLAP: bed <-> floor depth=[1.595, -0.001, 2.134] + !! OVERLAP: nightstand <-> floor depth=[0.393, -0.001, 0.431] + !! OVERLAP: nightstand <-> floor depth=[0.290, -0.001, 0.403] + !! OVERLAP: table <-> floor depth=[0.942, -0.001, 0.515] + !! OVERLAP: chair <-> floor depth=[0.386, -0.001, 0.384] +============================================================ + + +============================================================ +SCENE: Bedroom-17102 | 6 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0000, Walkable Loss: 3.6608 (Center Penalty: 2.6780, C1 Heatmap: 0.7962, C2 Repulsion: 1.7294), Relational Loss: 0.0000 +Guided Steps: 10/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +bed 1.834 1.480 2.341 -0.421 0.001 0.101 89.85° +table 0.587 0.587 0.642 -1.200 0.001 1.422 0.00° +lamp 0.515 0.729 0.521 0.017 2.012 0.219 -0.03° +wardrobe 1.819 2.362 0.601 -0.394 -0.002 -1.784 -0.01° +floor 3.144 -0.001 4.113 -0.011 0.001 -0.035 -0.01° +_scene_ 0.074 0.001 0.020 -5.672 -0.005 -5.716 -57.31° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bed <-> table depth=[0.432, 0.587, 0.171] + !! OVERLAP: bed <-> floor depth=[1.834, -0.001, 2.341] + !! OVERLAP: table <-> floor depth=[0.587, -0.001, 0.642] + !! OVERLAP: wardrobe <-> floor depth=[1.819, -0.001, 0.601] +============================================================ + + +============================================================ +SCENE: MasterBedroom-40319 | 10 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.3312, Walkable Loss: 4.2005 (Center Penalty: 2.5229, C1 Heatmap: 0.8172, C2 Repulsion: 5.1194), Relational Loss: 0.0000 +Guided Steps: 10/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +wardrobe 1.694 2.379 0.662 -1.478 0.004 -0.675 90.02° +lamp 0.411 0.633 0.373 -1.102 1.600 -1.319 -0.05° +lamp 0.299 0.914 0.301 1.469 1.480 -1.440 0.01° +lamp 0.717 0.757 0.726 0.032 1.904 -0.193 -0.01° +table 1.059 1.173 0.447 1.314 0.001 1.315 -179.98° +bed 1.856 1.111 2.117 0.050 -0.001 -0.579 0.01° +nightstand 0.423 0.464 0.366 1.389 0.001 -1.434 -0.01° +nightstand 0.430 0.486 0.358 -1.262 0.000 -1.368 0.01° +floor 3.920 -0.002 3.066 -0.041 -0.001 -0.007 -0.05° +_scene_ 0.066 0.001 0.018 -5.673 -0.005 -5.715 -57.30° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: wardrobe <-> bed depth=[0.246, 1.111, 0.662] + !! OVERLAP: wardrobe <-> floor depth=[1.370, -0.002, 0.662] + !! OVERLAP: table <-> floor depth=[1.059, -0.002, 0.435] + !! OVERLAP: bed <-> floor depth=[1.856, -0.002, 2.019] + !! OVERLAP: nightstand <-> floor depth=[0.423, -0.002, 0.289] + !! OVERLAP: nightstand <-> floor depth=[0.430, -0.002, 0.351] +============================================================ + + +============================================================ +SCENE: MasterBedroom-28978 | 9 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.2376, Walkable Loss: 5.3544 (Center Penalty: 2.9776, C1 Heatmap: 1.1849, C2 Repulsion: 7.1442), Relational Loss: 0.0000 +Guided Steps: 10/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +nightstand 0.573 0.486 0.435 1.048 -0.000 -1.306 0.09° +bookshelf 1.354 1.952 0.371 0.055 -0.001 -1.280 0.04° +wardrobe 2.429 2.316 0.638 0.341 0.002 1.403 -179.95° +chair 0.523 0.843 0.492 -0.268 0.002 -1.083 -120.21° +desk 1.108 0.783 0.565 -1.433 -0.001 1.224 90.02° +bed 2.332 1.269 2.279 0.165 0.001 -0.236 -89.96° +lamp 0.717 0.509 0.708 -0.035 2.324 0.125 -0.00° +floor 3.395 -0.001 3.488 -0.030 -0.000 0.007 0.00° +_scene_ 0.063 -0.002 0.017 -5.673 -0.005 -5.716 -57.31° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: nightstand <-> bed depth=[0.569, 0.486, 0.287] + !! OVERLAP: nightstand <-> floor depth=[0.573, -0.001, 0.435] + !! OVERLAP: bookshelf <-> chair depth=[0.523, 0.843, 0.235] + !! OVERLAP: bookshelf <-> bed depth=[1.354, 1.269, 0.281] + !! OVERLAP: bookshelf <-> floor depth=[1.354, -0.001, 0.371] + !! OVERLAP: wardrobe <-> floor depth=[2.429, -0.001, 0.638] + !! OVERLAP: chair <-> bed depth=[0.523, 0.843, 0.492] + !! OVERLAP: chair <-> floor depth=[0.523, -0.001, 0.492] + !! OVERLAP: desk <-> floor depth=[0.849, -0.001, 0.565] + !! OVERLAP: bed <-> floor depth=[2.332, -0.001, 2.279] +============================================================ + + +============================================================ +SCENE: MasterBedroom-392 | 9 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.4536, Walkable Loss: 4.1701 (Center Penalty: 2.2844, C1 Heatmap: 0.9682, C2 Repulsion: 5.5553), Relational Loss: 0.0000 +Guided Steps: 10/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +wardrobe 2.112 2.402 0.567 -0.205 -0.004 -1.919 0.00° +nightstand 0.552 0.582 0.461 -1.263 0.001 -0.907 89.96° +nightstand 0.611 0.562 0.441 -0.582 0.004 -0.433 89.96° +nightstand 0.567 0.603 0.463 -1.324 0.001 1.751 90.02° +bed 2.121 1.016 2.202 -0.476 0.002 0.484 89.96° +bookshelf 1.026 2.093 0.432 1.408 0.001 1.352 -90.05° +lamp 0.574 0.933 0.584 0.073 1.697 0.491 0.09° +floor 3.141 -0.002 5.066 -0.029 0.001 0.127 -0.06° +_scene_ 0.069 0.000 0.019 -5.672 -0.004 -5.712 -57.31° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: wardrobe <-> floor depth=[2.112, -0.002, 0.567] + !! OVERLAP: nightstand <-> floor depth=[0.552, -0.002, 0.461] + !! OVERLAP: nightstand <-> bed depth=[0.611, 0.562, 0.404] + !! OVERLAP: nightstand <-> floor depth=[0.611, -0.002, 0.441] + !! OVERLAP: nightstand <-> bed depth=[0.496, 0.603, 0.065] + !! OVERLAP: nightstand <-> floor depth=[0.559, -0.002, 0.463] + !! OVERLAP: bed <-> floor depth=[2.121, -0.002, 2.202] + !! OVERLAP: bookshelf <-> floor depth=[0.646, -0.002, 0.432] +============================================================ + + +============================================================ +SCENE: MasterBedroom-3712 | 6 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.2714, Walkable Loss: 3.3434 (Center Penalty: 2.2012, C1 Heatmap: 0.7921, C2 Repulsion: 2.5428), Relational Loss: 0.0000 +Guided Steps: 10/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +lamp 0.507 0.678 0.536 0.378 2.051 -0.191 -0.06° +desk 1.609 0.736 1.009 0.846 0.001 -0.291 0.07° +chair 0.654 0.819 0.467 0.852 0.003 -1.095 142.21° +bed 1.980 1.196 2.175 -0.834 -0.001 -0.061 0.09° +floor 3.153 -0.001 2.848 0.011 0.001 0.019 -0.05° +_scene_ 0.065 0.002 0.022 -5.671 -0.004 -5.715 -57.30° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: desk <-> bed depth=[0.114, 0.736, 1.009] + !! OVERLAP: desk <-> floor depth=[1.546, -0.001, 1.009] + !! OVERLAP: chair <-> floor depth=[0.654, -0.001, 0.467] + !! OVERLAP: bed <-> floor depth=[1.722, -0.001, 2.175] +============================================================ + + +============================================================ +SCENE: MasterBedroom-1446 | 9 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0000, Walkable Loss: 2.4368 (Center Penalty: 1.1900, C1 Heatmap: 0.7851, C2 Repulsion: 3.0940), Relational Loss: 0.0000 +Guided Steps: 10/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +bed 1.876 0.849 2.015 1.053 -0.000 0.885 -180.00° +nightstand 0.338 0.550 0.305 2.129 0.000 1.866 179.97° +wardrobe 1.427 2.154 0.548 -1.350 0.000 -1.327 0.04° +lamp 0.312 0.877 0.305 0.376 1.834 0.464 -0.00° +chair 0.663 0.878 0.634 -1.031 -0.004 1.662 -144.39° +chair 0.747 0.914 0.750 -1.514 -0.003 1.613 139.09° +chair 0.841 0.382 0.404 2.121 0.001 -0.602 179.93° +floor 5.111 -0.003 4.103 0.355 -0.001 0.035 -0.03° +_scene_ 0.060 -0.001 0.008 -5.678 -0.007 -5.722 -57.29° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bed <-> nightstand depth=[0.031, 0.550, 0.179] + !! OVERLAP: bed <-> floor depth=[1.876, -0.003, 2.015] + !! OVERLAP: nightstand <-> floor depth=[0.338, -0.003, 0.305] + !! OVERLAP: wardrobe <-> floor depth=[1.427, -0.003, 0.548] + !! OVERLAP: chair <-> chair depth=[0.222, 0.878, 0.634] + !! OVERLAP: chair <-> floor depth=[0.663, -0.003, 0.634] + !! OVERLAP: chair <-> floor depth=[0.747, -0.003, 0.750] + !! OVERLAP: chair <-> floor depth=[0.841, -0.003, 0.404] +============================================================ + + +============================================================ +SCENE: SecondBedroom-6847 | 8 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.5675, Walkable Loss: 4.0388 (Center Penalty: 2.1861, C1 Heatmap: 0.9090, C2 Repulsion: 5.6272), Relational Loss: 0.0000 +Guided Steps: 10/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +bed 1.951 1.215 2.420 0.403 0.000 -0.414 -89.99° +cabinet 1.278 2.065 0.527 0.778 0.002 1.429 -179.93° +nightstand 0.523 0.626 0.460 1.434 -0.000 0.671 -90.02° +nightstand 0.561 0.663 0.448 1.244 0.002 -1.358 -90.22° +cabinet 1.347 1.966 0.518 -1.307 -0.001 -0.817 89.91° +lamp 0.312 1.463 0.272 -0.265 1.071 -0.407 0.08° +floor 3.199 -0.003 3.612 -0.005 0.000 -0.009 -0.01° +_scene_ 0.065 0.001 0.018 -5.675 -0.005 -5.713 -57.31° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bed <-> nightstand depth=[0.206, 0.626, 0.355] + !! OVERLAP: bed <-> nightstand depth=[0.415, 0.663, 0.448] + !! OVERLAP: bed <-> lamp depth=[0.312, 0.268, 0.272] + !! OVERLAP: bed <-> floor depth=[1.951, -0.003, 2.420] + !! OVERLAP: cabinet <-> floor depth=[1.278, -0.003, 0.527] + !! OVERLAP: nightstand <-> floor depth=[0.422, -0.003, 0.460] + !! OVERLAP: nightstand <-> floor depth=[0.561, -0.003, 0.448] + !! OVERLAP: cabinet <-> floor depth=[0.971, -0.003, 0.518] +============================================================ + + +============================================================ +SCENE: MasterBedroom-12183 | 8 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0520, Walkable Loss: 3.8911 (Center Penalty: 2.4503, C1 Heatmap: 0.8115, C2 Repulsion: 3.9584), Relational Loss: 0.0000 +Guided Steps: 10/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +desk 1.657 0.794 0.820 -1.264 -0.002 -0.490 90.05° +bed 1.681 1.177 2.319 0.348 0.001 -0.193 0.04° +nightstand 0.411 0.578 0.417 -0.670 0.001 -1.185 0.00° +nightstand 0.506 0.607 0.468 1.447 -0.001 -1.109 0.03° +lamp 0.513 0.241 0.518 0.500 2.379 -0.062 -89.78° +lamp 0.709 0.854 0.709 -1.496 1.959 -1.014 -0.00° +floor 4.172 -0.001 3.021 0.001 -0.000 0.019 -0.03° +_scene_ 0.068 0.000 0.021 -5.674 -0.005 -5.712 -57.30° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: desk <-> bed depth=[0.058, 0.794, 0.820] + !! OVERLAP: desk <-> floor depth=[1.650, -0.001, 0.820] + !! OVERLAP: bed <-> nightstand depth=[0.029, 0.578, 0.376] + !! OVERLAP: bed <-> floor depth=[1.681, -0.001, 2.319] + !! OVERLAP: nightstand <-> floor depth=[0.411, -0.001, 0.417] + !! OVERLAP: nightstand <-> floor depth=[0.506, -0.001, 0.468] +============================================================ + + +============================================================ +SCENE: Bedroom-8136 | 5 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0000, Walkable Loss: 3.3096 (Center Penalty: 2.4038, C1 Heatmap: 0.9005, C2 Repulsion: 0.9268), Relational Loss: 0.0000 +Guided Steps: 10/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +bed 2.084 1.099 2.180 -0.494 0.002 -0.369 89.77° +wardrobe 2.688 2.539 0.739 -0.347 0.002 1.538 -179.98° +lamp 0.573 0.730 0.588 -0.107 1.992 -0.254 -0.00° +floor 3.337 0.010 4.063 0.011 0.001 0.010 -0.05° +_scene_ 0.050 -0.001 0.000 -5.680 -0.008 -5.719 -57.31° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bed <-> floor depth=[2.084, 0.010, 2.180] + !! OVERLAP: wardrobe <-> floor depth=[2.654, 0.010, 0.739] +============================================================ + + +============================================================ +SCENE: MasterBedroom-24714 | 7 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.4725, Walkable Loss: 3.5319 (Center Penalty: 2.0212, C1 Heatmap: 1.0452, C2 Repulsion: 3.3728), Relational Loss: 0.0000 +Guided Steps: 10/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +wardrobe 2.063 2.398 0.565 0.172 -0.001 -1.506 0.08° +bed 2.282 1.282 2.326 0.380 0.002 0.496 -90.27° +tv_stand 1.744 0.511 0.451 -1.286 0.001 0.571 90.02° +nightstand 0.497 0.677 0.414 1.288 -0.002 -0.695 -89.93° +lamp 1.117 0.909 1.107 0.036 1.983 0.583 -0.01° +floor 3.407 -0.004 3.930 -0.005 0.000 0.010 -0.04° +_scene_ 0.070 0.000 0.022 -5.672 -0.005 -5.714 -57.31° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: wardrobe <-> floor depth=[2.063, -0.004, 0.565] + !! OVERLAP: bed <-> tv_stand depth=[0.348, 0.511, 0.451] + !! OVERLAP: bed <-> nightstand depth=[0.482, 0.677, 0.179] + !! OVERLAP: bed <-> floor depth=[2.282, -0.004, 2.326] + !! OVERLAP: tv_stand <-> floor depth=[1.295, -0.004, 0.451] + !! OVERLAP: nightstand <-> floor depth=[0.497, -0.004, 0.414] +============================================================ + + +============================================================ +SCENE: Bedroom-13858 | 7 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0244, Walkable Loss: 3.1895 (Center Penalty: 1.8597, C1 Heatmap: 0.8704, C2 Repulsion: 3.1677), Relational Loss: 0.0000 +Guided Steps: 10/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +bed 2.552 1.355 2.485 -0.480 -0.001 -0.558 0.03° +wardrobe 1.013 2.304 0.446 1.391 -0.001 -0.704 -90.25° +nightstand 0.570 0.639 0.464 1.304 0.002 -1.585 0.00° +nightstand 0.657 0.577 0.479 -1.432 0.001 -1.526 0.03° +lamp 1.088 0.849 1.049 -0.377 2.112 -0.577 0.03° +floor 4.143 -0.001 3.639 -0.149 0.000 0.030 -0.02° +_scene_ 0.070 -0.000 0.025 -5.672 -0.005 -5.715 -57.31° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bed <-> nightstand depth=[0.652, 0.577, 0.479] + !! OVERLAP: bed <-> floor depth=[2.552, -0.001, 2.474] + !! OVERLAP: wardrobe <-> floor depth=[1.013, -0.001, 0.446] + !! OVERLAP: nightstand <-> floor depth=[0.570, -0.001, 0.436] + !! OVERLAP: nightstand <-> floor depth=[0.657, -0.001, 0.479] +============================================================ + + +============================================================ +SCENE: MasterBedroom-118 | 5 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0000, Walkable Loss: 3.3304 (Center Penalty: 2.6583, C1 Heatmap: 0.5901, C2 Repulsion: 1.0000), Relational Loss: 0.0000 +Guided Steps: 10/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +bed 2.074 1.043 2.157 -0.427 -0.001 0.114 89.84° +table 0.561 0.563 0.511 -1.119 0.005 -0.923 89.97° +lamp 0.927 0.985 0.972 -0.132 1.939 0.083 0.03° +floor 2.718 -0.000 3.482 -0.011 0.001 -0.031 -0.02° +_scene_ 0.070 0.001 0.034 -5.669 -0.005 -5.710 -57.28° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bed <-> table depth=[0.561, 0.563, 0.297] + !! OVERLAP: bed <-> floor depth=[1.980, -0.000, 2.157] + !! OVERLAP: table <-> floor depth=[0.532, -0.000, 0.511] +============================================================ + + +============================================================ +SCENE: LivingRoom-37659 | 10 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.4056, Walkable Loss: 2.8499 (Center Penalty: 1.3502, C1 Heatmap: 0.6403, C2 Repulsion: 4.9378), Relational Loss: 0.0000 +Guided Steps: 10/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +sofa 1.807 0.911 0.990 1.443 -0.000 1.305 -90.02° +chair 0.627 0.851 0.644 0.468 0.001 2.404 179.96° +chair 0.532 0.422 0.547 0.191 0.002 -0.425 0.02° +table 1.153 0.553 0.697 -0.239 -0.002 0.905 -0.03° +chair 0.618 0.825 0.602 -0.640 0.000 1.971 135.64° +table 0.807 0.641 0.460 -1.990 0.000 -1.985 0.02° +table 0.570 0.651 0.535 -1.655 0.001 2.481 0.04° +lamp 0.531 1.086 0.543 0.152 1.396 0.943 -0.02° +floor 4.247 -0.004 6.708 -0.142 0.001 0.623 -0.06° +_scene_ 0.074 -0.001 0.018 -5.670 -0.004 -5.712 -57.31° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: sofa <-> floor depth=[1.442, -0.004, 0.990] + !! OVERLAP: chair <-> floor depth=[0.627, -0.004, 0.644] + !! OVERLAP: chair <-> floor depth=[0.532, -0.004, 0.547] + !! OVERLAP: table <-> floor depth=[1.153, -0.004, 0.697] + !! OVERLAP: chair <-> floor depth=[0.618, -0.004, 0.602] + !! OVERLAP: table <-> floor depth=[0.679, -0.004, 0.460] + !! OVERLAP: table <-> floor depth=[0.570, -0.004, 0.535] +============================================================ + + +============================================================ +SCENE: LivingRoom-1520 | 14 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.3964, Walkable Loss: 3.6356 (Center Penalty: 0.8617, C1 Heatmap: 1.0768, C2 Repulsion: 9.5623), Relational Loss: 0.0000 +Guided Steps: 10/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +sofa 2.383 0.888 1.071 -1.023 0.001 1.819 89.98° +table 1.313 0.564 0.911 -0.639 0.001 1.477 90.07° +tv_stand 1.780 0.494 0.463 1.097 -0.000 1.889 -89.96° +chair 0.531 0.516 0.510 -0.848 -0.001 0.121 0.02° +table 1.400 0.725 1.371 -0.988 -0.002 -2.029 -0.06° +chair 0.507 1.034 0.544 -1.636 0.002 -1.126 179.88° +chair 0.518 1.110 0.577 -0.555 0.000 -1.157 -179.94° +chair 0.445 1.014 0.569 -0.691 -0.001 -2.253 -89.79° +chair 0.500 1.071 0.598 -1.670 0.002 -2.262 0.01° +cabinet 1.333 0.911 0.483 0.064 0.001 -3.020 0.03° +lamp 0.424 0.995 0.456 -1.396 1.657 -1.660 -0.03° +lamp 0.721 0.908 0.538 -0.597 1.681 1.809 -0.03° +floor 4.119 0.001 6.563 -0.537 0.001 -0.087 -0.03° +_scene_ 0.060 -0.002 0.013 -5.675 -0.005 -5.720 -57.33° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: sofa <-> table depth=[1.313, 0.564, 0.649] + !! OVERLAP: sofa <-> floor depth=[2.383, 0.001, 1.071] + !! OVERLAP: table <-> floor depth=[1.313, 0.001, 0.911] + !! OVERLAP: tv_stand <-> floor depth=[1.315, 0.001, 0.463] + !! OVERLAP: chair <-> floor depth=[0.531, 0.001, 0.510] + !! OVERLAP: table <-> chair depth=[0.306, 0.725, 0.055] + !! OVERLAP: table <-> chair depth=[0.518, 0.725, 0.102] + !! OVERLAP: table <-> chair depth=[0.445, 0.725, 0.569] + !! OVERLAP: table <-> chair depth=[0.268, 0.725, 0.598] + !! OVERLAP: table <-> floor depth=[1.400, 0.001, 1.371] + !! OVERLAP: chair <-> floor depth=[0.507, 0.001, 0.544] + !! OVERLAP: chair <-> floor depth=[0.518, 0.001, 0.577] + !! OVERLAP: chair <-> floor depth=[0.445, 0.001, 0.569] + !! OVERLAP: chair <-> floor depth=[0.500, 0.001, 0.598] + !! OVERLAP: cabinet <-> floor depth=[1.333, 0.001, 0.483] +============================================================ + + +============================================================ +SCENE: LivingRoom-17951 | 6 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.4403, Walkable Loss: 4.1983 (Center Penalty: 3.2314, C1 Heatmap: 0.6253, C2 Repulsion: 2.3330), Relational Loss: 0.0000 +Guided Steps: 10/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +sofa 1.970 0.759 0.960 -0.900 0.000 -0.136 90.00° +table 1.637 0.626 0.711 0.210 0.002 0.150 -89.86° +tv_stand 1.906 1.430 0.390 1.012 0.000 0.229 -89.88° +lamp 0.695 0.426 0.688 0.065 2.079 0.063 -0.02° +floor 3.443 -0.002 3.535 0.001 0.000 -0.023 -0.01° +_scene_ 0.061 0.001 0.013 -5.670 -0.006 -5.711 -57.24° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: sofa <-> table depth=[0.693, 0.626, 0.549] + !! OVERLAP: sofa <-> tv_stand depth=[0.026, 0.759, 0.310] + !! OVERLAP: sofa <-> floor depth=[1.805, -0.002, 0.960] + !! OVERLAP: table <-> tv_stand depth=[0.969, 0.626, 0.390] + !! OVERLAP: table <-> floor depth=[1.637, -0.002, 0.711] + !! OVERLAP: tv_stand <-> floor depth=[1.664, -0.002, 0.390] +============================================================ + + +============================================================ +SCENE: LivingDiningRoom-629 | 16 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.9749, Walkable Loss: 6.3695 (Center Penalty: 1.2859, C1 Heatmap: 1.5249, C2 Repulsion: 19.3181), Relational Loss: 0.0000 +Guided Steps: 10/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +sofa 2.428 0.867 1.041 1.551 -0.002 -0.798 0.05° +tv_stand 2.347 0.559 0.420 1.517 0.004 1.397 179.93° +desk 0.977 0.428 0.440 1.565 -0.001 -0.199 -0.01° +table 1.210 0.743 1.397 -1.829 0.000 -0.492 0.16° +chair 0.634 0.630 0.491 -2.203 0.003 -0.649 90.01° +chair 0.597 0.694 0.514 -2.698 0.003 0.083 89.95° +chair 0.479 0.776 0.545 -1.058 0.001 -0.822 -90.30° +chair 0.459 0.752 0.521 -0.891 0.001 0.000 -89.98° +cabinet 3.367 2.356 0.311 -1.502 0.000 1.641 -179.96° +bookshelf 1.871 2.278 0.321 -1.732 -0.004 -1.830 -0.03° +chair 0.572 0.680 0.567 -2.296 0.005 -0.067 89.83° +cabinet 1.981 2.068 0.482 -2.565 -0.003 -0.305 89.94° +lamp 0.843 0.702 0.836 1.596 1.912 -0.354 -0.06° +lamp 0.268 0.468 0.272 -1.170 2.045 -0.179 -0.00° +floor 5.770 -0.001 3.442 -0.203 0.000 0.027 0.04° +_scene_ 0.069 -0.001 0.028 -5.671 -0.005 -5.710 -57.30° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: sofa <-> desk depth=[0.977, 0.428, 0.141] + !! OVERLAP: sofa <-> floor depth=[2.345, -0.001, 1.041] + !! OVERLAP: tv_stand <-> floor depth=[2.339, -0.001, 0.420] + !! OVERLAP: desk <-> floor depth=[0.977, -0.001, 0.440] + !! OVERLAP: table <-> chair depth=[0.548, 0.630, 0.491] + !! OVERLAP: table <-> chair depth=[0.035, 0.694, 0.380] + !! OVERLAP: table <-> chair depth=[0.073, 0.743, 0.545] + !! OVERLAP: table <-> chair depth=[0.425, 0.680, 0.557] + !! OVERLAP: table <-> cabinet depth=[0.859, 0.743, 0.482] + !! OVERLAP: table <-> floor depth=[1.210, -0.001, 1.397] + !! OVERLAP: chair <-> cabinet depth=[0.634, 0.630, 0.142] + !! OVERLAP: chair <-> floor depth=[0.634, -0.001, 0.491] + !! OVERLAP: chair <-> chair depth=[0.182, 0.680, 0.390] + !! OVERLAP: chair <-> cabinet depth=[0.597, 0.694, 0.109] + !! OVERLAP: chair <-> floor depth=[0.597, -0.001, 0.514] + !! OVERLAP: chair <-> floor depth=[0.479, -0.001, 0.545] + !! OVERLAP: chair <-> floor depth=[0.459, -0.001, 0.521] + !! OVERLAP: cabinet <-> floor depth=[3.269, -0.001, 0.263] + !! OVERLAP: bookshelf <-> floor depth=[1.871, -0.001, 0.023] + !! OVERLAP: chair <-> cabinet depth=[0.572, 0.680, 0.286] + !! OVERLAP: chair <-> floor depth=[0.572, -0.001, 0.567] + !! OVERLAP: cabinet <-> floor depth=[1.512, -0.001, 0.482] +============================================================ + + +============================================================ +SCENE: LivingRoom-71071 | 16 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.4225, Walkable Loss: 3.4720 (Center Penalty: 0.6258, C1 Heatmap: 1.1359, C2 Repulsion: 9.6878), Relational Loss: 0.0000 +Guided Steps: 10/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +table 0.577 1.074 0.331 2.490 0.003 -0.451 -89.86° +table 0.506 0.580 0.636 3.004 0.003 -3.379 0.08° +lamp 0.959 1.002 0.967 1.431 1.891 -1.902 0.00° +tv_stand 2.309 0.505 0.578 -0.582 0.001 -1.423 0.17° +chair 0.437 0.774 0.455 1.385 0.000 1.444 -90.16° +chair 0.474 0.860 0.538 1.458 0.002 0.808 -90.07° +chair 0.579 0.829 0.562 -0.488 0.000 1.023 89.17° +chair 0.544 0.776 0.603 -0.281 0.002 2.055 90.06° +table 1.730 0.755 0.905 1.088 -0.001 1.605 -89.97° +sofa 2.068 0.990 1.208 2.102 0.001 -1.183 -90.11° +table 0.998 0.483 1.322 1.635 0.001 -1.245 179.99° +lamp 0.702 0.167 0.639 -1.870 2.524 2.038 -0.07° +table 0.857 0.998 0.486 -1.778 0.002 3.317 89.97° +lamp 0.397 0.882 0.367 0.416 1.940 1.359 -0.06° +floor 5.650 -0.006 7.081 0.534 -0.001 -0.205 -0.03° +_scene_ 0.073 0.000 0.021 -5.669 -0.005 -5.713 -57.29° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: table <-> sofa depth=[0.577, 0.990, 0.037] + !! OVERLAP: table <-> floor depth=[0.577, -0.006, 0.331] + !! OVERLAP: table <-> floor depth=[0.506, -0.006, 0.636] + !! OVERLAP: tv_stand <-> floor depth=[2.309, -0.006, 0.578] + !! OVERLAP: chair <-> table depth=[0.437, 0.755, 0.455] + !! OVERLAP: chair <-> floor depth=[0.437, -0.006, 0.455] + !! OVERLAP: chair <-> floor depth=[0.474, -0.006, 0.538] + !! OVERLAP: chair <-> floor depth=[0.579, -0.006, 0.562] + !! OVERLAP: chair <-> floor depth=[0.544, -0.006, 0.603] + !! OVERLAP: table <-> floor depth=[1.730, -0.006, 0.905] + !! OVERLAP: sofa <-> table depth=[0.998, 0.483, 1.203] + !! OVERLAP: sofa <-> floor depth=[2.068, -0.006, 1.208] + !! OVERLAP: table <-> floor depth=[0.998, -0.006, 1.322] + !! OVERLAP: table <-> floor depth=[0.857, -0.006, 0.261] +============================================================ + + +============================================================ +SCENE: LivingDiningRoom-9790 | 14 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.2576, Walkable Loss: 2.9692 (Center Penalty: 1.2231, C1 Heatmap: 0.8097, C2 Repulsion: 5.4921), Relational Loss: 0.0000 +Guided Steps: 10/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +sofa 2.312 0.922 0.910 -1.297 0.001 2.271 89.95° +tv_stand 1.709 0.499 0.454 1.586 -0.001 2.301 -90.08° +cabinet 0.905 0.890 0.435 -2.170 0.010 -2.979 89.68° +table 1.346 0.887 1.004 -0.189 0.002 -0.910 0.05° +chair 0.511 0.648 0.561 -1.154 0.001 -0.303 179.91° +chair 0.505 0.630 0.470 -0.891 0.001 -1.414 0.03° +chair 0.521 0.687 0.517 1.088 0.003 0.049 179.91° +chair 0.441 0.626 0.540 0.663 0.001 -0.878 -0.01° +lamp 0.343 0.338 0.345 -1.851 2.384 -3.088 -0.05° +lamp 0.867 0.769 0.828 -0.525 1.932 1.574 0.01° +lamp 0.257 0.931 0.282 -0.012 2.153 -1.106 -0.02° +table 0.994 0.432 0.932 0.118 -0.000 2.105 -90.05° +floor 4.678 -0.002 7.945 -0.181 0.000 0.495 -0.08° +_scene_ 0.068 -0.001 0.024 -5.671 -0.005 -5.713 -57.30° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: sofa <-> table depth=[0.238, 0.432, 0.755] + !! OVERLAP: sofa <-> floor depth=[2.312, -0.002, 0.910] + !! OVERLAP: tv_stand <-> floor depth=[1.426, -0.002, 0.454] + !! OVERLAP: cabinet <-> floor depth=[0.802, -0.002, 0.435] + !! OVERLAP: table <-> chair depth=[0.223, 0.630, 0.233] + !! OVERLAP: table <-> chair depth=[0.041, 0.626, 0.540] + !! OVERLAP: table <-> floor depth=[1.346, -0.002, 1.004] + !! OVERLAP: chair <-> floor depth=[0.511, -0.002, 0.561] + !! OVERLAP: chair <-> floor depth=[0.505, -0.002, 0.470] + !! OVERLAP: chair <-> floor depth=[0.521, -0.002, 0.517] + !! OVERLAP: chair <-> floor depth=[0.441, -0.002, 0.540] + !! OVERLAP: table <-> floor depth=[0.994, -0.002, 0.932] +============================================================ + + +============================================================ +SCENE: LivingRoom-791 | 15 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.8430, Walkable Loss: 4.5703 (Center Penalty: 1.6185, C1 Heatmap: 1.1935, C2 Repulsion: 9.9853), Relational Loss: 0.0000 +Guided Steps: 10/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +table 2.325 0.715 1.048 0.870 0.001 1.480 0.00° +chair 0.549 0.801 0.606 1.738 0.000 2.127 179.90° +chair 0.668 0.866 0.674 0.798 0.001 1.990 -179.97° +chair 0.553 0.899 0.553 2.100 0.001 0.517 0.02° +chair 0.615 0.867 0.588 0.882 0.004 0.670 0.02° +sofa 2.155 0.889 0.904 1.658 -0.001 -0.464 -90.01° +tv_stand 1.824 0.637 0.471 -1.454 0.006 -1.545 90.03° +table 0.827 0.237 0.830 -0.652 -0.002 0.037 -0.07° +table 1.283 1.464 0.385 -1.617 0.004 1.184 179.89° +table 0.438 0.545 0.448 1.365 0.003 -2.384 0.01° +lamp 0.701 0.864 0.697 0.709 1.920 0.055 -0.00° +lamp 0.633 1.007 0.650 1.619 1.930 -0.167 -0.01° +lamp 0.523 1.174 0.492 -0.358 1.774 -1.503 0.07° +floor 4.658 -0.004 6.109 0.491 0.000 0.086 -0.08° +_scene_ 0.073 -0.001 0.021 -5.672 -0.005 -5.712 -57.30° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: table <-> chair depth=[0.549, 0.715, 0.180] + !! OVERLAP: table <-> chair depth=[0.668, 0.715, 0.351] + !! OVERLAP: table <-> chair depth=[0.615, 0.715, 0.008] + !! OVERLAP: table <-> floor depth=[2.325, -0.004, 1.048] + !! OVERLAP: chair <-> floor depth=[0.549, -0.004, 0.606] + !! OVERLAP: chair <-> floor depth=[0.668, -0.004, 0.674] + !! OVERLAP: chair <-> floor depth=[0.553, -0.004, 0.553] + !! OVERLAP: chair <-> floor depth=[0.615, -0.004, 0.588] + !! OVERLAP: sofa <-> floor depth=[2.155, -0.004, 0.904] + !! OVERLAP: tv_stand <-> floor depth=[1.296, -0.004, 0.471] + !! OVERLAP: table <-> floor depth=[0.827, -0.004, 0.830] + !! OVERLAP: table <-> floor depth=[0.863, -0.004, 0.385] + !! OVERLAP: table <-> floor depth=[0.438, -0.004, 0.448] +============================================================ + + +============================================================ +SCENE: LivingRoom-24046 | 7 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0000, Walkable Loss: 2.4926 (Center Penalty: 1.4983, C1 Heatmap: 0.6621, C2 Repulsion: 2.3232), Relational Loss: 0.0000 +Guided Steps: 10/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +bookshelf 1.437 1.457 0.452 1.334 0.001 -0.530 -90.05° +sofa 2.350 0.827 1.161 0.288 -0.001 -0.758 -89.97° +table 0.662 0.410 0.597 -1.405 0.002 -0.141 179.91° +lamp 0.616 0.800 0.679 0.339 2.031 0.877 -0.09° +chair 0.858 0.766 0.897 -1.390 -0.001 -1.400 25.77° +floor 4.516 0.002 3.985 -0.057 0.001 0.005 -0.07° +_scene_ 0.073 0.000 0.027 -5.670 -0.005 -5.714 -57.31° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bookshelf <-> sofa depth=[0.847, 0.827, 0.452] + !! OVERLAP: bookshelf <-> floor depth=[1.437, 0.002, 0.452] + !! OVERLAP: sofa <-> floor depth=[2.350, 0.002, 1.161] + !! OVERLAP: table <-> floor depth=[0.662, 0.002, 0.597] + !! OVERLAP: chair <-> floor depth=[0.858, 0.002, 0.897] +============================================================ + + +============================================================ +SCENE: LivingRoom-13599 | 10 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.2443, Walkable Loss: 3.0812 (Center Penalty: 1.8990, C1 Heatmap: 0.7935, C2 Repulsion: 2.7372), Relational Loss: 0.0000 +Guided Steps: 10/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +chair 0.917 0.970 0.941 0.015 0.000 -1.825 0.00° +chair 0.760 0.932 0.801 0.311 0.004 2.500 175.96° +table 0.565 0.558 0.497 -1.353 0.005 2.318 90.02° +table 0.686 0.415 0.588 -1.460 0.004 -1.793 90.07° +table 1.061 0.406 0.528 0.420 -0.001 0.442 89.94° +tv_stand 1.512 0.659 0.428 1.663 0.000 0.250 -89.89° +lamp 0.522 0.816 0.554 0.379 1.912 0.508 -0.05° +sofa 2.048 0.760 0.851 -1.026 -0.003 0.467 89.74° +floor 4.231 -0.003 6.757 0.211 0.001 -0.009 -0.05° +_scene_ 0.071 0.001 0.019 -5.667 -0.003 -5.712 -57.30° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: chair <-> floor depth=[0.917, -0.003, 0.941] + !! OVERLAP: chair <-> floor depth=[0.760, -0.003, 0.801] + !! OVERLAP: table <-> floor depth=[0.565, -0.003, 0.497] + !! OVERLAP: table <-> floor depth=[0.686, -0.003, 0.588] + !! OVERLAP: table <-> tv_stand depth=[0.044, 0.406, 0.286] + !! OVERLAP: table <-> sofa depth=[0.108, 0.406, 0.528] + !! OVERLAP: table <-> floor depth=[1.061, -0.003, 0.528] + !! OVERLAP: tv_stand <-> floor depth=[1.419, -0.003, 0.428] + !! OVERLAP: sofa <-> floor depth=[1.903, -0.003, 0.851] +============================================================ + + +============================================================ +SCENE: LivingDiningRoom-13945 | 15 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.6818, Walkable Loss: 4.0191 (Center Penalty: 1.6206, C1 Heatmap: 1.1860, C2 Repulsion: 7.2488), Relational Loss: 0.0000 +Guided Steps: 10/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +sofa 3.144 0.821 1.943 -1.229 0.000 -1.322 0.20° +chair 0.511 0.694 0.507 -2.695 0.002 -2.129 0.11° +chair 0.362 0.386 0.339 -2.548 0.001 -1.275 0.06° +chair 0.339 0.396 0.331 -2.862 -0.000 -0.580 -0.04° +table 0.947 0.399 0.648 -1.240 -0.000 -0.508 0.02° +chair 0.478 1.079 0.467 0.092 0.000 0.365 89.90° +lamp 0.149 0.967 0.148 -2.888 1.605 -2.105 -0.09° +chair 0.439 0.982 0.450 1.126 -0.003 -0.169 -62.98° +cabinet 1.377 0.777 0.532 2.458 0.003 1.937 179.85° +table 0.628 1.130 0.533 2.674 0.002 -2.368 0.11° +shelf 0.328 2.186 0.400 2.952 -0.008 1.897 -0.18° +lamp 0.342 0.950 0.364 0.878 1.897 -0.016 -0.02° +tv_stand 3.578 0.772 0.493 -1.340 -0.001 1.971 0.18° +floor 6.612 -0.005 5.434 -0.256 0.002 0.542 -0.01° +_scene_ 0.074 -0.000 0.026 -5.673 -0.004 -5.712 -57.30° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: sofa <-> chair depth=[0.362, 0.694, 0.418] + !! OVERLAP: sofa <-> chair depth=[0.362, 0.386, 0.339] + !! OVERLAP: sofa <-> chair depth=[0.109, 0.396, 0.331] + !! OVERLAP: sofa <-> table depth=[0.947, 0.399, 0.482] + !! OVERLAP: sofa <-> floor depth=[3.144, -0.005, 1.824] + !! OVERLAP: chair <-> floor depth=[0.511, -0.005, 0.300] + !! OVERLAP: chair <-> floor depth=[0.362, -0.005, 0.339] + !! OVERLAP: chair <-> floor depth=[0.339, -0.005, 0.331] + !! OVERLAP: table <-> floor depth=[0.947, -0.005, 0.648] + !! OVERLAP: chair <-> floor depth=[0.478, -0.005, 0.467] + !! OVERLAP: chair <-> floor depth=[0.439, -0.005, 0.450] + !! OVERLAP: cabinet <-> shelf depth=[0.328, 0.777, 0.400] + !! OVERLAP: cabinet <-> floor depth=[1.281, -0.005, 0.532] + !! OVERLAP: table <-> floor depth=[0.628, -0.005, 0.074] + !! OVERLAP: shelf <-> floor depth=[0.262, -0.005, 0.400] + !! OVERLAP: tv_stand <-> floor depth=[3.578, -0.005, 0.493] +============================================================ + + +============================================================ +SCENE: LivingDiningRoom-758 | 12 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.9686, Walkable Loss: 4.3486 (Center Penalty: 1.5610, C1 Heatmap: 1.1246, C2 Repulsion: 9.4398), Relational Loss: 0.0000 +Guided Steps: 10/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +lamp 0.708 1.008 0.660 0.320 1.919 -1.323 -0.07° +table 1.635 0.710 0.995 -0.223 -0.002 1.007 -89.95° +chair 0.481 0.881 0.519 0.095 0.003 1.556 -90.05° +chair 0.488 0.871 0.516 -1.115 -0.000 1.359 0.05° +lamp 0.321 0.749 0.304 -1.014 1.781 1.379 0.03° +lamp 0.331 0.682 0.312 -0.135 1.945 1.151 -0.03° +sofa 2.485 0.809 1.034 -0.959 0.000 -0.945 89.86° +table 0.993 0.369 0.690 0.492 -0.003 -0.587 -89.87° +tv_stand 1.979 0.524 0.431 1.379 -0.001 -0.923 -90.05° +table 1.747 2.241 0.477 -1.466 -0.000 0.357 89.87° +floor 3.871 -0.001 4.160 -0.084 0.001 -0.073 0.03° +_scene_ 0.066 0.000 0.017 -5.676 -0.005 -5.717 -57.31° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: table <-> chair depth=[0.481, 0.710, 0.208] + !! OVERLAP: table <-> chair depth=[0.170, 0.710, 0.403] + !! OVERLAP: table <-> table depth=[0.447, 0.710, 0.086] + !! OVERLAP: table <-> floor depth=[1.635, -0.001, 0.995] + !! OVERLAP: chair <-> floor depth=[0.481, -0.001, 0.519] + !! OVERLAP: chair <-> floor depth=[0.488, -0.001, 0.516] + !! OVERLAP: sofa <-> table depth=[0.288, 0.369, 0.504] + !! OVERLAP: sofa <-> floor depth=[2.303, -0.001, 1.034] + !! OVERLAP: table <-> tv_stand depth=[0.599, 0.369, 0.224] + !! OVERLAP: table <-> floor depth=[0.993, -0.001, 0.690] + !! OVERLAP: tv_stand <-> floor depth=[1.462, -0.001, 0.431] + !! OVERLAP: table <-> floor depth=[1.426, -0.001, 0.477] +============================================================ + + +============================================================ +SCENE: LivingRoom-33324 | 9 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 1.0330, Walkable Loss: 3.8307 (Center Penalty: 2.8435, C1 Heatmap: 0.7021, C2 Repulsion: 2.1274), Relational Loss: 0.0000 +Guided Steps: 10/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +tv_stand 1.899 0.669 0.498 1.649 0.003 0.222 -89.86° +table 0.586 1.066 0.420 -1.151 0.002 2.041 89.98° +sofa 2.111 0.878 0.930 -0.950 -0.002 -0.129 89.99° +table 0.680 0.478 0.592 0.173 0.001 0.158 90.01° +chair 0.777 0.814 0.840 -0.008 0.001 2.209 179.89° +bookshelf 1.179 2.433 0.349 -1.049 -0.000 -2.652 0.15° +lamp 0.434 0.880 0.465 0.308 2.065 0.050 -0.00° +floor 3.628 -0.000 6.135 0.002 0.001 0.121 -0.02° +_scene_ 0.069 -0.000 0.022 -5.671 -0.005 -5.714 -57.30° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: tv_stand <-> floor depth=[1.117, -0.000, 0.498] + !! OVERLAP: table <-> floor depth=[0.586, -0.000, 0.420] + !! OVERLAP: sofa <-> table depth=[0.273, 0.478, 0.474] + !! OVERLAP: sofa <-> floor depth=[1.917, -0.000, 0.930] + !! OVERLAP: table <-> floor depth=[0.680, -0.000, 0.592] + !! OVERLAP: chair <-> floor depth=[0.777, -0.000, 0.840] + !! OVERLAP: bookshelf <-> floor depth=[1.179, -0.000, 0.349] +============================================================ + + +============================================================ +SCENE: LivingRoom-30147 | 20 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0298, Walkable Loss: 4.2106 (Center Penalty: 0.6444, C1 Heatmap: 0.8260, C2 Repulsion: 14.5270), Relational Loss: 0.0000 +Guided Steps: 10/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +lamp 0.256 0.688 0.266 -0.275 2.054 2.182 -0.01° +lamp 0.886 0.795 0.898 -1.014 1.763 -3.066 0.08° +tv_stand 2.377 1.042 0.363 -2.455 0.004 2.898 89.97° +chair 0.618 0.405 0.619 0.031 0.001 0.871 90.01° +chair 0.546 0.437 0.559 -0.453 -0.001 0.805 -0.00° +table 1.125 0.501 0.609 0.199 0.003 2.264 -89.95° +table 0.448 0.666 0.435 1.592 -0.000 0.656 -90.09° +table 0.547 0.579 0.483 1.583 0.001 3.808 -90.16° +sofa 2.297 1.002 0.844 1.248 -0.000 2.546 -90.05° +sofa 1.898 0.770 0.687 -0.398 0.002 4.288 179.95° +table 2.200 0.745 0.891 -0.905 -0.000 -3.229 -0.10° +chair 0.696 1.122 0.663 -1.171 -0.001 -1.930 -179.97° +chair 0.557 1.130 0.647 0.094 -0.001 -2.805 -90.37° +chair 0.519 1.097 0.580 0.202 0.004 -3.432 -79.07° +chair 0.615 1.145 0.632 -0.977 -0.002 -4.255 0.00° +chair 0.664 1.063 0.738 -1.967 0.002 -3.565 89.41° +chair 0.539 1.090 0.494 -1.781 0.002 -2.829 112.79° +table 0.524 0.618 0.403 -2.323 0.002 -0.645 89.97° +floor 6.688 0.011 9.983 -0.643 -0.001 0.325 -0.11° +_scene_ 0.068 0.002 0.021 -5.671 -0.004 -5.716 -57.32° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: tv_stand <-> floor depth=[2.377, 0.011, 0.363] + !! OVERLAP: chair <-> chair depth=[0.099, 0.405, 0.522] + !! OVERLAP: chair <-> floor depth=[0.618, 0.011, 0.619] + !! OVERLAP: chair <-> floor depth=[0.546, 0.011, 0.559] + !! OVERLAP: table <-> sofa depth=[0.662, 0.501, 0.445] + !! OVERLAP: table <-> floor depth=[1.125, 0.011, 0.609] + !! OVERLAP: table <-> floor depth=[0.448, 0.011, 0.435] + !! OVERLAP: table <-> floor depth=[0.547, 0.011, 0.483] + !! OVERLAP: sofa <-> floor depth=[2.297, 0.011, 0.844] + !! OVERLAP: sofa <-> floor depth=[1.898, 0.011, 0.687] + !! OVERLAP: table <-> chair depth=[0.380, 0.745, 0.345] + !! OVERLAP: table <-> chair depth=[0.254, 0.745, 0.533] + !! OVERLAP: table <-> chair depth=[0.370, 0.745, 0.478] + !! OVERLAP: table <-> chair depth=[0.494, 0.745, 0.292] + !! OVERLAP: table <-> floor depth=[2.200, 0.011, 0.891] + !! OVERLAP: chair <-> floor depth=[0.696, 0.011, 0.663] + !! OVERLAP: chair <-> floor depth=[0.557, 0.011, 0.647] + !! OVERLAP: chair <-> floor depth=[0.519, 0.011, 0.580] + !! OVERLAP: chair <-> floor depth=[0.615, 0.011, 0.632] + !! OVERLAP: chair <-> floor depth=[0.664, 0.011, 0.738] + !! OVERLAP: chair <-> floor depth=[0.539, 0.011, 0.494] + !! OVERLAP: table <-> floor depth=[0.524, 0.011, 0.403] +============================================================ + + +============================================================ +SCENE: LivingRoom-29294 | 11 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0000, Walkable Loss: 4.1516 (Center Penalty: 2.2363, C1 Heatmap: 0.9518, C2 Repulsion: 5.7697), Relational Loss: 0.0000 +Guided Steps: 10/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +table 0.737 1.099 0.487 -2.320 0.000 -1.994 -0.00° +table 0.591 1.294 0.402 2.037 -0.001 -2.128 0.08° +sofa 2.121 0.883 0.937 -2.245 0.002 0.210 89.93° +table 1.405 0.460 0.942 -0.384 0.002 0.146 -0.00° +chair 0.744 0.822 0.682 2.216 -0.002 0.108 -70.54° +sofa 2.032 0.643 0.951 -0.475 -0.000 -1.713 -0.04° +table 0.462 0.809 0.419 1.179 0.001 -2.147 0.09° +table 0.662 0.735 0.633 -1.767 0.002 -1.890 0.03° +lamp 0.720 0.792 0.712 -0.113 1.913 0.101 0.00° +floor 5.900 0.002 4.987 -0.520 -0.000 -0.252 0.03° +_scene_ 0.327 0.109 0.485 -4.648 0.007 -4.639 -63.89° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: table <-> table depth=[0.147, 0.735, 0.457] + !! OVERLAP: table <-> floor depth=[0.737, 0.002, 0.487] + !! OVERLAP: table <-> floor depth=[0.591, 0.002, 0.402] + !! OVERLAP: sofa <-> floor depth=[2.121, 0.002, 0.937] + !! OVERLAP: table <-> floor depth=[1.405, 0.002, 0.942] + !! OVERLAP: chair <-> floor depth=[0.586, 0.002, 0.682] + !! OVERLAP: sofa <-> table depth=[0.055, 0.643, 0.615] + !! OVERLAP: sofa <-> floor depth=[2.032, 0.002, 0.951] + !! OVERLAP: table <-> floor depth=[0.462, 0.002, 0.419] + !! OVERLAP: table <-> floor depth=[0.662, 0.002, 0.633] +============================================================ + + +============================================================ +SCENE: LivingDiningRoom-35401 | 11 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.1198, Walkable Loss: 2.6825 (Center Penalty: 1.0714, C1 Heatmap: 0.7296, C2 Repulsion: 5.1371), Relational Loss: 0.0000 +Guided Steps: 10/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +chair 0.575 0.844 0.616 -0.420 0.000 1.178 89.93° +chair 0.548 0.857 0.607 -0.428 0.000 1.707 89.99° +chair 0.586 0.908 0.652 0.963 -0.001 0.972 -89.95° +chair 0.585 0.868 0.635 0.874 0.001 1.727 -90.19° +sofa 2.084 0.848 0.886 -0.919 -0.003 -1.399 89.99° +table 1.669 2.003 0.493 -1.314 0.009 0.148 90.16° +table 1.040 0.325 0.987 0.078 -0.001 -1.907 -90.00° +lamp 0.527 0.537 0.491 0.021 2.408 -1.658 -0.07° +lamp 0.144 0.649 0.083 0.547 2.047 1.195 -89.84° +floor 3.909 -0.002 6.537 -0.053 0.001 -0.116 -0.01° +_scene_ 0.075 0.003 0.026 -5.664 -0.004 -5.710 -57.29° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: chair <-> chair depth=[0.548, 0.844, 0.082] + !! OVERLAP: chair <-> floor depth=[0.575, -0.002, 0.616] + !! OVERLAP: chair <-> floor depth=[0.548, -0.002, 0.607] + !! OVERLAP: chair <-> floor depth=[0.586, -0.002, 0.652] + !! OVERLAP: chair <-> floor depth=[0.585, -0.002, 0.635] + !! OVERLAP: sofa <-> table depth=[0.564, 0.325, 0.428] + !! OVERLAP: sofa <-> floor depth=[2.084, -0.002, 0.886] + !! OVERLAP: table <-> floor depth=[1.528, -0.002, 0.493] + !! OVERLAP: table <-> floor depth=[1.040, -0.002, 0.987] +============================================================ + + +============================================================ +SCENE: LivingRoom-35085 | 10 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.7749, Walkable Loss: 4.5238 (Center Penalty: 2.7865, C1 Heatmap: 0.9550, C2 Repulsion: 4.8667), Relational Loss: 0.0000 +Guided Steps: 10/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +sofa 2.526 0.852 0.923 1.056 -0.001 -0.203 -90.10° +table 0.537 0.458 0.486 1.183 -0.001 1.669 -89.92° +table 0.434 0.481 0.316 1.383 0.002 -2.046 -90.10° +table 1.182 0.369 1.209 -0.110 -0.001 -0.131 -90.01° +chair 0.796 0.874 0.737 -1.133 0.001 -1.463 0.06° +chair 0.772 0.886 0.800 -1.195 -0.001 1.725 174.51° +tv_stand 1.852 0.513 0.425 -1.639 0.000 -0.329 90.06° +lamp 0.419 0.892 0.343 -0.008 1.748 -0.384 0.02° +floor 4.178 -0.003 5.243 -0.118 -0.000 -0.129 -0.02° +_scene_ 0.061 0.000 0.020 -5.674 -0.004 -5.715 -57.30° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: sofa <-> table depth=[0.689, 0.369, 0.923] + !! OVERLAP: sofa <-> floor depth=[2.178, -0.003, 0.923] + !! OVERLAP: table <-> floor depth=[0.537, -0.003, 0.486] + !! OVERLAP: table <-> floor depth=[0.434, -0.003, 0.316] + !! OVERLAP: table <-> floor depth=[1.182, -0.003, 1.209] + !! OVERLAP: chair <-> floor depth=[0.796, -0.003, 0.737] + !! OVERLAP: chair <-> floor depth=[0.772, -0.003, 0.800] + !! OVERLAP: tv_stand <-> floor depth=[1.494, -0.003, 0.425] +============================================================ + + +============================================================ +SCENE: LivingRoom-25582 | 12 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0000, Walkable Loss: 4.1206 (Center Penalty: 1.8295, C1 Heatmap: 1.0038, C2 Repulsion: 7.4406), Relational Loss: 0.0000 +Guided Steps: 10/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +sofa 2.496 0.712 0.925 -0.980 0.003 1.679 -179.94° +table 0.453 0.445 0.501 -1.090 0.001 -0.344 0.01° +tv_stand 1.588 0.306 0.320 -0.509 0.000 -2.062 0.02° +chair 0.773 1.131 0.922 1.356 0.000 -1.113 -0.01° +chair 0.669 1.049 0.779 1.407 0.001 -1.085 0.02° +chair 0.602 1.127 0.634 1.282 -0.000 1.360 89.91° +chair 0.669 0.989 0.834 1.495 0.000 1.434 180.00° +table 0.756 0.736 0.498 1.491 0.000 0.060 0.01° +table 2.092 0.836 0.624 0.676 0.005 2.163 179.84° +lamp 0.460 0.620 0.469 -0.006 2.119 -0.374 -0.06° +floor 4.251 -0.000 5.363 -0.160 0.002 -0.037 -0.02° +_scene_ 0.066 -0.000 0.023 -5.670 -0.005 -5.716 -57.28° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: sofa <-> table depth=[0.638, 0.712, 0.290] + !! OVERLAP: sofa <-> floor depth=[2.496, -0.000, 0.925] + !! OVERLAP: table <-> floor depth=[0.453, -0.000, 0.501] + !! OVERLAP: tv_stand <-> floor depth=[1.588, -0.000, 0.320] + !! OVERLAP: chair <-> chair depth=[0.669, 1.049, 0.779] + !! OVERLAP: chair <-> floor depth=[0.773, -0.000, 0.922] + !! OVERLAP: chair <-> floor depth=[0.669, -0.000, 0.779] + !! OVERLAP: chair <-> chair depth=[0.423, 0.989, 0.634] + !! OVERLAP: chair <-> floor depth=[0.602, -0.000, 0.634] + !! OVERLAP: chair <-> floor depth=[0.669, -0.000, 0.834] + !! OVERLAP: table <-> floor depth=[0.756, -0.000, 0.498] + !! OVERLAP: table <-> floor depth=[2.092, -0.000, 0.624] +============================================================ + + +============================================================ +SCENE: LivingDiningRoom-109935 | 14 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.4727, Walkable Loss: 4.9524 (Center Penalty: 1.0624, C1 Heatmap: 1.4163, C2 Repulsion: 13.7848), Relational Loss: 0.0000 +Guided Steps: 10/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +sofa 2.112 0.690 0.871 -1.421 0.007 0.677 89.99° +chair 0.798 0.789 0.770 -1.999 -0.001 1.975 90.00° +table 1.718 0.290 1.486 -0.089 0.001 1.601 -89.90° +chair 0.666 0.531 0.613 -0.640 -0.002 0.260 0.01° +tv_stand 2.018 0.504 0.437 0.626 -0.003 1.478 -90.21° +table 2.497 0.770 1.176 -0.067 -0.002 -1.198 -90.01° +chair 0.471 0.839 0.507 -0.376 0.001 -2.298 0.10° +chair 0.451 0.839 0.468 -0.621 0.001 -1.508 90.00° +chair 0.476 0.858 0.558 0.416 0.001 -2.258 -90.02° +chair 0.467 0.814 0.519 0.575 0.001 -1.347 -180.00° +lamp 0.632 0.914 0.491 -0.288 1.713 0.958 -0.03° +lamp 0.751 0.584 0.325 -0.146 2.199 -1.844 -89.88° +floor 4.348 -0.003 5.712 -0.312 0.001 0.329 -0.07° +_scene_ 0.067 0.002 0.019 -5.667 -0.006 -5.718 -57.32° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: sofa <-> table depth=[0.583, 0.290, 0.255] + !! OVERLAP: sofa <-> chair depth=[0.608, 0.531, 0.324] + !! OVERLAP: sofa <-> floor depth=[2.112, -0.003, 0.871] + !! OVERLAP: chair <-> floor depth=[0.798, -0.003, 0.770] + !! OVERLAP: table <-> tv_stand depth=[1.152, 0.290, 0.437] + !! OVERLAP: table <-> floor depth=[1.718, -0.003, 1.486] + !! OVERLAP: chair <-> floor depth=[0.666, -0.003, 0.613] + !! OVERLAP: tv_stand <-> floor depth=[2.018, -0.003, 0.437] + !! OVERLAP: table <-> chair depth=[0.451, 0.770, 0.468] + !! OVERLAP: table <-> chair depth=[0.467, 0.770, 0.519] + !! OVERLAP: table <-> floor depth=[2.497, -0.003, 1.176] + !! OVERLAP: chair <-> floor depth=[0.471, -0.003, 0.482] + !! OVERLAP: chair <-> floor depth=[0.451, -0.003, 0.468] + !! OVERLAP: chair <-> floor depth=[0.476, -0.003, 0.548] + !! OVERLAP: chair <-> floor depth=[0.467, -0.003, 0.519] +============================================================ + + +============================================================ +SCENE: LivingDiningRoom-76396 | 19 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.4874, Walkable Loss: 3.9085 (Center Penalty: 0.2725, C1 Heatmap: 1.2048, C2 Repulsion: 13.3605), Relational Loss: 0.0000 +Guided Steps: 10/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +sofa 2.097 0.907 0.902 -2.519 0.006 1.787 179.94° +sofa 1.827 0.888 1.286 -3.373 -0.002 0.620 89.86° +table 0.632 0.446 0.562 -2.456 0.002 0.435 90.09° +tv_stand 2.171 0.644 0.422 -1.896 0.000 -1.713 -0.02° +chair 0.819 0.928 0.835 -0.726 -0.005 0.732 -68.89° +table 1.884 0.740 1.141 2.397 0.002 0.541 -0.00° +chair 0.499 0.803 0.511 3.419 0.001 0.918 -90.12° +chair 0.543 0.780 0.570 2.737 0.001 1.111 179.85° +chair 0.568 0.764 0.596 2.559 -0.000 0.044 0.03° +chair 0.506 0.778 0.604 3.420 0.002 0.052 -90.06° +table 1.222 1.448 0.298 1.162 0.001 -1.675 0.10° +cabinet 1.734 2.080 0.398 1.633 0.000 2.305 -179.95° +table 0.458 0.420 0.494 -0.213 0.002 2.041 90.02° +table 0.605 0.460 0.624 -3.492 0.007 2.249 179.56° +lamp 0.642 0.492 0.622 -1.446 2.678 0.197 90.19° +lamp 0.592 0.906 0.634 1.711 2.103 0.415 0.01° +table 1.150 1.326 0.243 3.271 -0.000 -2.332 -0.09° +floor 8.883 -0.013 5.647 -0.758 -0.003 0.760 0.00° +_scene_ 0.071 0.000 0.024 -5.672 -0.005 -5.716 -57.30° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: sofa <-> table depth=[0.378, 0.460, 0.301] + !! OVERLAP: sofa <-> floor depth=[2.097, -0.013, 0.902] + !! OVERLAP: sofa <-> table depth=[0.313, 0.446, 0.562] + !! OVERLAP: sofa <-> floor depth=[1.827, -0.013, 1.286] + !! OVERLAP: table <-> floor depth=[0.632, -0.013, 0.562] + !! OVERLAP: tv_stand <-> floor depth=[2.171, -0.013, 0.422] + !! OVERLAP: chair <-> floor depth=[0.819, -0.013, 0.835] + !! OVERLAP: table <-> chair depth=[0.170, 0.740, 0.449] + !! OVERLAP: table <-> chair depth=[0.543, 0.740, 0.286] + !! OVERLAP: table <-> chair depth=[0.568, 0.740, 0.371] + !! OVERLAP: table <-> chair depth=[0.173, 0.740, 0.383] + !! OVERLAP: table <-> floor depth=[1.884, -0.013, 1.141] + !! OVERLAP: chair <-> floor depth=[0.499, -0.013, 0.511] + !! OVERLAP: chair <-> floor depth=[0.543, -0.013, 0.570] + !! OVERLAP: chair <-> floor depth=[0.568, -0.013, 0.596] + !! OVERLAP: chair <-> floor depth=[0.506, -0.013, 0.604] + !! OVERLAP: table <-> floor depth=[1.222, -0.013, 0.298] + !! OVERLAP: cabinet <-> floor depth=[1.734, -0.013, 0.398] + !! OVERLAP: table <-> floor depth=[0.458, -0.013, 0.494] + !! OVERLAP: table <-> floor depth=[0.605, -0.013, 0.624] +============================================================ + + +============================================================ +SCENE: LivingDiningRoom-18728 | 15 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 1.0140, Walkable Loss: 3.7997 (Center Penalty: 0.8158, C1 Heatmap: 1.2745, C2 Repulsion: 9.8213), Relational Loss: 0.0000 +Guided Steps: 10/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +table 1.348 1.054 0.352 -1.554 -0.002 -2.928 0.17° +table 1.301 0.881 0.349 1.807 -0.001 -1.945 -90.33° +tv_stand 2.019 0.384 0.397 1.090 -0.001 1.782 -90.02° +sofa 2.223 0.740 0.900 -1.615 0.003 1.928 89.98° +chair 0.810 0.746 0.806 -1.946 0.004 2.660 89.93° +table 2.405 0.765 1.213 -0.093 -0.001 -1.491 -90.13° +chair 0.484 0.756 0.476 0.408 0.002 -1.682 0.07° +chair 0.458 0.729 0.474 -0.284 0.001 -1.533 0.02° +chair 0.560 0.713 0.487 -0.670 -0.005 -0.635 -179.97° +chair 0.449 0.718 0.471 0.417 0.001 -0.611 179.90° +table 1.669 0.406 1.344 0.043 0.002 2.389 -90.01° +lamp 0.589 0.640 0.478 -0.189 2.074 1.813 -90.11° +lamp 1.173 0.573 0.171 0.004 2.182 -1.167 -0.01° +floor 4.748 -0.003 6.975 -0.472 0.001 0.669 -0.04° +_scene_ 0.064 0.000 0.021 -5.670 -0.005 -5.716 -57.30° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: table <-> floor depth=[1.348, -0.003, 0.067] + !! OVERLAP: table <-> floor depth=[0.745, -0.003, 0.349] + !! OVERLAP: tv_stand <-> table depth=[0.797, 0.384, 0.264] + !! OVERLAP: tv_stand <-> floor depth=[1.821, -0.003, 0.397] + !! OVERLAP: sofa <-> chair depth=[0.810, 0.740, 0.121] + !! OVERLAP: sofa <-> table depth=[0.288, 0.406, 0.661] + !! OVERLAP: sofa <-> floor depth=[2.223, -0.003, 0.900] + !! OVERLAP: chair <-> floor depth=[0.810, -0.003, 0.806] + !! OVERLAP: table <-> chair depth=[0.484, 0.756, 0.476] + !! OVERLAP: table <-> chair depth=[0.458, 0.729, 0.474] + !! OVERLAP: table <-> floor depth=[2.405, -0.003, 1.213] + !! OVERLAP: chair <-> floor depth=[0.484, -0.003, 0.476] + !! OVERLAP: chair <-> floor depth=[0.458, -0.003, 0.474] + !! OVERLAP: chair <-> floor depth=[0.560, -0.003, 0.487] + !! OVERLAP: chair <-> floor depth=[0.449, -0.003, 0.471] + !! OVERLAP: table <-> floor depth=[1.669, -0.003, 1.344] +============================================================ + + +============================================================ +SCENE: LivingDiningRoom-46747 | 17 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0761, Walkable Loss: 5.9324 (Center Penalty: 2.2288, C1 Heatmap: 1.1008, C2 Repulsion: 14.1150), Relational Loss: 0.0000 +Guided Steps: 10/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +sofa 2.026 0.721 0.869 -0.906 -0.000 1.294 89.96° +chair 0.597 0.965 0.657 -0.100 0.003 3.304 179.82° +table 1.689 0.451 0.922 0.058 0.004 2.083 89.98° +table 1.902 0.727 1.432 0.360 0.001 -1.495 0.10° +chair 0.423 0.928 0.464 0.027 0.001 -0.843 -179.95° +chair 0.342 0.931 0.372 0.827 -0.000 -0.691 179.60° +chair 0.508 0.897 0.521 0.181 0.001 -2.086 0.05° +chair 0.494 0.905 0.550 0.798 0.001 -2.186 0.06° +table 1.548 0.865 0.531 0.319 0.001 -3.060 0.01° +lamp 1.081 1.000 1.115 0.025 1.743 2.185 0.04° +lamp 1.225 0.964 0.418 0.266 1.748 -1.750 0.06° +lamp 1.253 0.862 0.512 0.352 2.040 -1.867 -0.02° +chair 0.590 0.570 0.605 0.004 -0.002 0.229 15.48° +table 0.805 1.070 0.376 -1.361 0.003 0.753 89.89° +table 0.633 0.943 0.390 -1.556 0.003 3.213 90.01° +floor 3.781 -0.001 8.109 -0.092 0.006 0.206 -0.05° +_scene_ 0.069 -0.000 0.022 -5.671 -0.005 -5.711 -57.30° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: sofa <-> table depth=[0.893, 0.451, 0.107] + !! OVERLAP: sofa <-> table depth=[0.805, 0.721, 0.081] + !! OVERLAP: sofa <-> floor depth=[2.026, -0.001, 0.869] + !! OVERLAP: chair <-> floor depth=[0.597, -0.001, 0.657] + !! OVERLAP: table <-> floor depth=[1.689, -0.001, 0.922] + !! OVERLAP: table <-> chair depth=[0.423, 0.727, 0.296] + !! OVERLAP: table <-> chair depth=[0.342, 0.727, 0.098] + !! OVERLAP: table <-> chair depth=[0.508, 0.727, 0.386] + !! OVERLAP: table <-> chair depth=[0.494, 0.727, 0.300] + !! OVERLAP: table <-> floor depth=[1.902, -0.001, 1.432] + !! OVERLAP: chair <-> floor depth=[0.423, -0.001, 0.464] + !! OVERLAP: chair <-> floor depth=[0.342, -0.001, 0.372] + !! OVERLAP: chair <-> floor depth=[0.508, -0.001, 0.521] + !! OVERLAP: chair <-> floor depth=[0.494, -0.001, 0.550] + !! OVERLAP: table <-> floor depth=[1.548, -0.001, 0.531] + !! OVERLAP: lamp <-> lamp depth=[1.153, 0.622, 0.349] + !! OVERLAP: chair <-> floor depth=[0.590, -0.001, 0.605] + !! OVERLAP: table <-> floor depth=[0.805, -0.001, 0.376] + !! OVERLAP: table <-> floor depth=[0.633, -0.001, 0.390] +============================================================ + + +============================================================ +SCENE: LivingRoom-88425 | 19 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.3201, Walkable Loss: 5.3679 (Center Penalty: 1.0969, C1 Heatmap: 1.2283, C2 Repulsion: 16.4416), Relational Loss: 0.0000 +Guided Steps: 10/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +sofa 1.951 0.752 0.878 -1.860 0.000 1.398 89.99° +chair 1.453 0.813 0.568 -0.624 0.001 0.241 10.34° +sofa 2.280 0.963 0.905 -0.469 0.001 3.396 179.89° +table 0.511 0.400 0.408 -0.381 -0.003 2.048 89.42° +table 0.561 0.499 0.472 -1.667 0.002 -0.077 89.96° +table 0.511 0.532 0.447 -1.775 0.003 3.195 90.05° +table 2.902 0.890 1.116 -0.818 0.000 -2.208 0.04° +chair 0.540 0.683 0.576 -0.559 0.002 -2.903 -0.02° +chair 0.558 0.769 0.523 -0.624 -0.000 -1.305 179.93° +chair 0.531 0.727 0.587 0.220 0.012 -1.635 179.86° +chair 0.508 0.741 0.509 -0.958 -0.003 -1.506 179.80° +chair 0.517 0.676 0.505 -1.098 -0.002 -2.522 0.07° +chair 0.567 0.694 0.599 0.357 0.002 -2.756 -90.20° +lamp 1.132 0.780 0.595 -0.560 1.896 1.723 0.01° +lamp 0.920 0.726 0.905 -0.377 2.013 -2.489 -0.04° +table 0.868 1.674 0.414 -0.084 -0.006 -3.782 0.04° +tv_stand 1.601 0.462 0.421 1.276 0.001 1.716 -89.99° +floor 4.669 0.001 7.563 -0.381 0.002 0.108 -0.03° +_scene_ 0.081 -0.000 0.019 -5.666 -0.003 -5.705 -57.30° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: sofa <-> floor depth=[1.831, 0.001, 0.878] + !! OVERLAP: chair <-> floor depth=[1.453, 0.001, 0.568] + !! OVERLAP: sofa <-> table depth=[0.088, 0.532, 0.447] + !! OVERLAP: sofa <-> floor depth=[2.280, 0.001, 0.905] + !! OVERLAP: table <-> floor depth=[0.511, 0.001, 0.408] + !! OVERLAP: table <-> floor depth=[0.561, 0.001, 0.472] + !! OVERLAP: table <-> floor depth=[0.511, 0.001, 0.447] + !! OVERLAP: table <-> chair depth=[0.540, 0.683, 0.150] + !! OVERLAP: table <-> chair depth=[0.531, 0.727, 0.279] + !! OVERLAP: table <-> chair depth=[0.508, 0.741, 0.111] + !! OVERLAP: table <-> chair depth=[0.517, 0.676, 0.496] + !! OVERLAP: table <-> chair depth=[0.559, 0.694, 0.308] + !! OVERLAP: table <-> floor depth=[2.902, 0.001, 1.116] + !! OVERLAP: chair <-> floor depth=[0.540, 0.001, 0.576] + !! OVERLAP: chair <-> chair depth=[0.199, 0.741, 0.315] + !! OVERLAP: chair <-> floor depth=[0.558, 0.001, 0.523] + !! OVERLAP: chair <-> floor depth=[0.531, 0.001, 0.587] + !! OVERLAP: chair <-> floor depth=[0.508, 0.001, 0.509] + !! OVERLAP: chair <-> floor depth=[0.517, 0.001, 0.505] + !! OVERLAP: chair <-> floor depth=[0.567, 0.001, 0.599] + !! OVERLAP: table <-> floor depth=[0.868, 0.001, 0.100] + !! OVERLAP: tv_stand <-> floor depth=[1.478, 0.001, 0.421] +============================================================ + + +============================================================ +SCENE: LivingDiningRoom-35769 | 19 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.6091, Walkable Loss: 3.6973 (Center Penalty: 0.4647, C1 Heatmap: 0.5842, C2 Repulsion: 13.8261), Relational Loss: 0.0000 +Guided Steps: 10/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +sofa 2.105 0.793 1.039 3.356 0.000 0.614 179.99° +chair 0.898 0.986 0.957 4.974 0.002 -0.731 -90.09° +chair 0.747 1.169 0.834 1.048 -0.007 -0.583 132.66° +table 1.198 0.414 0.916 3.126 0.004 -1.072 0.02° +table 0.574 0.525 0.608 5.009 -0.008 0.833 179.52° +table 0.586 0.531 0.609 1.643 0.000 1.099 -179.90° +table 1.689 0.766 1.199 -3.215 -0.001 0.947 -0.00° +chair 0.544 0.837 0.606 -3.745 0.002 0.331 -0.01° +chair 0.546 0.936 0.574 -3.322 0.001 0.403 0.03° +chair 0.613 0.867 0.584 -3.872 0.001 1.940 179.71° +chair 0.591 0.862 0.586 -3.072 0.000 2.043 -179.83° +chair 0.525 0.891 0.584 -2.284 0.006 1.166 -90.04° +chair 0.603 0.828 0.513 -4.628 0.002 1.044 89.97° +cabinet 0.790 1.359 0.406 -1.282 0.001 2.720 -179.98° +table 1.393 2.022 0.550 -5.018 0.015 0.972 90.05° +lamp 0.780 0.801 0.761 2.753 1.932 -0.784 0.07° +lamp 1.096 1.062 1.006 -3.886 1.818 1.356 -0.12° +floor 11.614 -0.001 5.946 0.679 -0.007 -0.311 -0.22° +_scene_ 0.070 -0.000 0.024 -5.675 -0.005 -5.711 -57.30° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: sofa <-> floor depth=[2.105, -0.001, 1.039] + !! OVERLAP: chair <-> floor depth=[0.898, -0.001, 0.957] + !! OVERLAP: chair <-> floor depth=[0.747, -0.001, 0.834] + !! OVERLAP: table <-> floor depth=[1.198, -0.001, 0.916] + !! OVERLAP: table <-> floor depth=[0.574, -0.001, 0.608] + !! OVERLAP: table <-> floor depth=[0.586, -0.001, 0.609] + !! OVERLAP: table <-> chair depth=[0.544, 0.766, 0.287] + !! OVERLAP: table <-> chair depth=[0.546, 0.766, 0.343] + !! OVERLAP: table <-> chair depth=[0.177, 0.766, 0.584] + !! OVERLAP: table <-> floor depth=[1.689, -0.001, 1.199] + !! OVERLAP: chair <-> chair depth=[0.123, 0.837, 0.518] + !! OVERLAP: chair <-> floor depth=[0.544, -0.001, 0.606] + !! OVERLAP: chair <-> floor depth=[0.546, -0.001, 0.574] + !! OVERLAP: chair <-> floor depth=[0.613, -0.001, 0.584] + !! OVERLAP: chair <-> floor depth=[0.591, -0.001, 0.586] + !! OVERLAP: chair <-> floor depth=[0.525, -0.001, 0.584] + !! OVERLAP: chair <-> table depth=[0.603, 0.828, 0.458] + !! OVERLAP: chair <-> floor depth=[0.603, -0.001, 0.513] + !! OVERLAP: cabinet <-> floor depth=[0.790, -0.001, 0.145] + !! OVERLAP: table <-> floor depth=[0.806, -0.001, 0.550] +============================================================ + + +============================================================ +SCENE: LivingRoom-1097 | 19 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.4994, Walkable Loss: 5.0475 (Center Penalty: 0.8141, C1 Heatmap: 1.3765, C2 Repulsion: 15.6610), Relational Loss: 0.0000 +Guided Steps: 10/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +table 0.811 1.123 0.305 0.903 0.003 -0.689 -90.12° +sofa 2.424 0.784 1.095 -1.006 -0.000 -0.323 0.01° +table 1.301 0.713 1.260 -0.840 -0.001 -2.680 0.03° +tv_stand 2.383 0.567 0.455 -0.860 -0.001 2.403 179.84° +table 1.440 0.709 0.910 -0.833 0.000 0.950 -0.02° +chair 0.770 0.890 0.900 0.917 0.000 1.271 -129.78° +chair 0.489 0.939 0.562 -1.371 -0.002 -3.435 -0.19° +chair 0.558 0.884 0.540 -0.756 -0.000 -3.320 0.07° +chair 0.518 0.937 0.559 -0.775 -0.000 -2.118 179.92° +chair 0.509 0.938 0.581 -1.407 0.003 -1.861 -179.92° +table 0.675 1.326 0.471 0.481 0.001 2.902 0.00° +table 0.610 1.271 0.557 -2.511 -0.004 2.478 0.19° +cabinet 1.549 0.739 0.272 -2.322 0.001 -2.265 90.07° +lamp 0.894 0.879 0.543 -1.060 1.855 1.221 0.02° +cabinet 1.030 1.218 0.363 1.825 0.004 -2.345 -90.13° +chair 0.541 0.347 0.412 1.565 0.001 -1.220 -90.10° +lamp 0.689 0.964 0.696 -1.049 1.650 -2.768 -0.00° +floor 4.911 0.001 7.905 -0.613 -0.001 -0.130 0.02° +_scene_ 0.070 -0.001 0.022 -5.673 -0.005 -5.716 -57.31° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: table <-> floor depth=[0.811, 0.001, 0.305] + !! OVERLAP: sofa <-> floor depth=[2.424, 0.001, 1.095] + !! OVERLAP: table <-> chair depth=[0.364, 0.713, 0.156] + !! OVERLAP: table <-> chair depth=[0.558, 0.713, 0.260] + !! OVERLAP: table <-> chair depth=[0.518, 0.713, 0.347] + !! OVERLAP: table <-> chair depth=[0.338, 0.713, 0.101] + !! OVERLAP: table <-> floor depth=[1.301, 0.001, 1.260] + !! OVERLAP: tv_stand <-> floor depth=[2.383, 0.001, 0.455] + !! OVERLAP: table <-> floor depth=[1.440, 0.001, 0.910] + !! OVERLAP: chair <-> floor depth=[0.770, 0.001, 0.900] + !! OVERLAP: chair <-> floor depth=[0.489, 0.001, 0.562] + !! OVERLAP: chair <-> floor depth=[0.558, 0.001, 0.540] + !! OVERLAP: chair <-> floor depth=[0.518, 0.001, 0.559] + !! OVERLAP: chair <-> cabinet depth=[0.114, 0.739, 0.022] + !! OVERLAP: chair <-> floor depth=[0.509, 0.001, 0.581] + !! OVERLAP: table <-> floor depth=[0.675, 0.001, 0.471] + !! OVERLAP: table <-> floor depth=[0.610, 0.001, 0.557] + !! OVERLAP: cabinet <-> floor depth=[1.521, 0.001, 0.272] + !! OVERLAP: cabinet <-> floor depth=[0.532, 0.001, 0.363] + !! OVERLAP: chair <-> floor depth=[0.541, 0.001, 0.412] +============================================================ + + +============================================================ +SCENE: LivingDiningRoom-2729 | 18 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0000, Walkable Loss: 5.4091 (Center Penalty: 1.1264, C1 Heatmap: 1.2471, C2 Repulsion: 16.4251), Relational Loss: 0.0000 +Guided Steps: 10/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +table 1.631 0.735 1.163 -2.167 0.000 -0.540 0.05° +lamp 0.359 0.854 0.338 -2.062 1.687 -0.647 0.03° +chair 0.612 0.894 0.637 -1.395 0.000 -0.309 -90.09° +chair 0.616 0.971 0.644 -1.484 0.002 -1.498 0.12° +chair 0.593 0.914 0.626 -1.576 0.001 0.229 179.99° +chair 0.599 0.870 0.605 -2.803 0.002 -0.105 179.92° +chair 0.618 0.903 0.669 -3.367 0.002 -0.563 89.87° +chair 0.603 0.865 0.628 -2.529 0.001 -1.700 0.03° +table 0.830 0.486 1.005 1.988 0.003 -0.770 0.01° +tv_stand 2.338 1.116 0.398 1.309 0.010 0.974 179.88° +sofa 2.402 0.910 0.990 1.174 -0.000 -1.725 -0.02° +chair 0.670 1.126 0.836 2.800 -0.004 -1.256 -60.43° +chair 0.677 0.419 0.393 0.086 0.003 -1.002 90.02° +chair 0.659 0.398 0.499 0.541 0.002 -0.473 89.96° +lamp 0.380 0.681 0.371 1.645 1.947 -0.537 0.03° +cabinet 0.707 0.782 0.460 -3.096 0.001 1.477 179.89° +floor 7.697 0.001 5.523 -0.115 -0.000 -0.468 0.00° +_scene_ 0.080 0.001 0.029 -5.670 -0.002 -5.707 -57.30° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: table <-> chair depth=[0.350, 0.735, 0.637] + !! OVERLAP: table <-> chair depth=[0.522, 0.735, 0.124] + !! OVERLAP: table <-> chair depth=[0.479, 0.735, 0.449] + !! OVERLAP: table <-> floor depth=[1.631, 0.001, 1.163] + !! OVERLAP: chair <-> chair depth=[0.422, 0.894, 0.093] + !! OVERLAP: chair <-> floor depth=[0.612, 0.001, 0.637] + !! OVERLAP: chair <-> floor depth=[0.616, 0.001, 0.644] + !! OVERLAP: chair <-> floor depth=[0.593, 0.001, 0.626] + !! OVERLAP: chair <-> chair depth=[0.045, 0.870, 0.179] + !! OVERLAP: chair <-> floor depth=[0.599, 0.001, 0.605] + !! OVERLAP: chair <-> floor depth=[0.618, 0.001, 0.669] + !! OVERLAP: chair <-> floor depth=[0.603, 0.001, 0.628] + !! OVERLAP: table <-> sofa depth=[0.801, 0.486, 0.042] + !! OVERLAP: table <-> floor depth=[0.830, 0.001, 1.005] + !! OVERLAP: tv_stand <-> floor depth=[2.338, 0.001, 0.398] + !! OVERLAP: sofa <-> floor depth=[2.402, 0.001, 0.990] + !! OVERLAP: chair <-> floor depth=[0.670, 0.001, 0.836] + !! OVERLAP: chair <-> floor depth=[0.677, 0.001, 0.393] + !! OVERLAP: chair <-> floor depth=[0.659, 0.001, 0.499] + !! OVERLAP: cabinet <-> floor depth=[0.707, 0.001, 0.460] +============================================================ + + +============================================================ +SCENE: LivingDiningRoom-19784 | 14 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.1038, Walkable Loss: 2.6619 (Center Penalty: 0.4694, C1 Heatmap: 0.9292, C2 Repulsion: 7.2461), Relational Loss: 0.0000 +Guided Steps: 10/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +sofa 2.133 0.805 0.866 1.419 0.002 -2.118 -90.13° +chair 0.797 1.050 0.826 0.139 -0.001 -3.595 -0.05° +table 1.241 0.463 1.075 0.414 0.003 -1.409 90.04° +table 0.340 1.187 0.423 2.063 -0.000 -3.192 -89.96° +tv_stand 1.837 0.604 0.419 -1.220 0.006 -1.585 90.03° +table 1.322 0.813 1.157 0.830 0.000 1.314 -90.15° +chair 0.512 1.120 0.580 -0.259 0.001 1.058 89.94° +chair 0.528 1.059 0.573 -0.277 -0.001 2.088 89.98° +chair 0.510 1.059 0.617 1.682 0.000 1.112 -90.07° +chair 0.445 1.008 0.487 1.637 0.001 2.184 -90.06° +lamp 1.058 1.265 1.000 0.127 1.977 -1.355 -0.02° +lamp 0.747 0.984 0.755 0.937 1.762 1.644 -0.05° +floor 4.741 -0.001 7.114 0.272 -0.000 -0.820 -0.11° +_scene_ 0.071 0.001 0.025 -5.671 -0.004 -5.716 -57.31° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: sofa <-> table depth=[0.682, 0.463, 0.261] + !! OVERLAP: sofa <-> floor depth=[2.133, -0.001, 0.866] + !! OVERLAP: chair <-> floor depth=[0.797, -0.001, 0.826] + !! OVERLAP: table <-> floor depth=[1.241, -0.001, 1.075] + !! OVERLAP: table <-> floor depth=[0.340, -0.001, 0.423] + !! OVERLAP: tv_stand <-> floor depth=[1.797, -0.001, 0.419] + !! OVERLAP: table <-> chair depth=[0.064, 0.813, 0.617] + !! OVERLAP: table <-> floor depth=[1.322, -0.001, 1.157] + !! OVERLAP: chair <-> floor depth=[0.512, -0.001, 0.580] + !! OVERLAP: chair <-> floor depth=[0.528, -0.001, 0.573] + !! OVERLAP: chair <-> floor depth=[0.510, -0.001, 0.617] + !! OVERLAP: chair <-> floor depth=[0.445, -0.001, 0.487] +============================================================ + + +============================================================ +SCENE: LivingDiningRoom-10493 | 16 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.3325, Walkable Loss: 2.5099 (Center Penalty: 0.0987, C1 Heatmap: 0.8396, C2 Repulsion: 8.6978), Relational Loss: 0.0000 +Guided Steps: 10/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +lamp 0.580 0.896 0.573 -1.558 1.931 -2.439 -0.04° +table 1.655 0.859 1.290 1.551 -0.001 -2.330 -179.88° +chair 0.614 0.716 0.576 1.679 0.001 -2.899 0.05° +chair 0.560 0.754 0.560 0.636 0.002 -2.984 0.01° +chair 0.533 0.752 0.550 1.676 0.001 -1.035 -179.96° +chair 0.523 0.759 0.567 0.219 0.000 -1.369 179.95° +lamp 0.994 0.835 0.992 -1.859 1.878 1.902 -179.97° +table 0.504 0.572 0.542 -3.079 0.001 0.146 89.93° +table 0.546 0.518 0.556 -3.283 0.004 3.458 90.02° +table 1.136 0.402 1.053 -1.780 -0.000 1.726 89.87° +tv_stand 1.530 0.565 0.399 -0.258 -0.000 1.911 -89.94° +sofa 2.211 0.918 0.800 -3.133 0.003 1.665 89.89° +chair 0.790 1.009 0.856 -1.680 0.001 3.166 179.27° +table 0.963 0.671 0.541 -1.502 0.012 0.163 179.84° +floor 6.619 -0.003 8.674 -1.038 0.001 0.113 -0.06° +_scene_ 0.067 0.001 0.019 -5.672 -0.004 -5.711 -57.31° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: table <-> chair depth=[0.614, 0.716, 0.363] + !! OVERLAP: table <-> chair depth=[0.193, 0.754, 0.271] + !! OVERLAP: table <-> floor depth=[1.548, -0.003, 1.290] + !! OVERLAP: chair <-> floor depth=[0.614, -0.003, 0.576] + !! OVERLAP: chair <-> floor depth=[0.560, -0.003, 0.560] + !! OVERLAP: chair <-> floor depth=[0.533, -0.003, 0.550] + !! OVERLAP: chair <-> floor depth=[0.523, -0.003, 0.567] + !! OVERLAP: table <-> floor depth=[0.504, -0.003, 0.542] + !! OVERLAP: table <-> floor depth=[0.546, -0.003, 0.556] + !! OVERLAP: table <-> sofa depth=[0.321, 0.402, 0.800] + !! OVERLAP: table <-> floor depth=[1.136, -0.003, 1.053] + !! OVERLAP: tv_stand <-> floor depth=[1.530, -0.003, 0.399] + !! OVERLAP: sofa <-> floor depth=[2.211, -0.003, 0.800] + !! OVERLAP: chair <-> floor depth=[0.790, -0.003, 0.856] + !! OVERLAP: table <-> floor depth=[0.963, -0.003, 0.541] +============================================================ + + +============================================================ +SCENE: LivingRoom-23405 | 10 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0000, Walkable Loss: 4.2571 (Center Penalty: 2.7259, C1 Heatmap: 0.5558, C2 Repulsion: 5.4329), Relational Loss: 0.0000 +Guided Steps: 10/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +table 1.565 0.765 0.806 -0.764 0.001 -0.206 90.01° +chair 0.583 0.930 0.593 -1.932 0.003 0.331 89.93° +chair 0.471 0.926 0.504 -1.808 0.001 -0.187 89.98° +chair 0.485 0.990 0.551 -0.655 0.003 0.483 -89.99° +chair 0.524 0.932 0.566 -0.613 -0.000 -0.532 -90.06° +table 1.438 0.778 0.589 1.162 0.000 0.477 -90.07° +cabinet 0.920 1.408 0.502 1.481 0.000 -1.208 0.10° +lamp 0.522 0.425 0.525 -0.238 2.113 -0.326 -0.02° +floor 5.198 -0.004 2.902 0.091 0.000 -0.093 0.00° +_scene_ 0.069 0.001 0.020 -5.674 -0.004 -5.717 -57.30° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: table <-> chair depth=[0.524, 0.765, 0.359] + !! OVERLAP: table <-> floor depth=[1.565, -0.004, 0.806] + !! OVERLAP: chair <-> chair depth=[0.403, 0.926, 0.031] + !! OVERLAP: chair <-> floor depth=[0.583, -0.004, 0.593] + !! OVERLAP: chair <-> floor depth=[0.471, -0.004, 0.504] + !! OVERLAP: chair <-> floor depth=[0.485, -0.004, 0.551] + !! OVERLAP: chair <-> floor depth=[0.524, -0.004, 0.566] + !! OVERLAP: table <-> floor depth=[1.438, -0.004, 0.589] + !! OVERLAP: cabinet <-> floor depth=[0.920, -0.004, 0.502] +============================================================ + + +============================================================ +SCENE: LivingRoom-3797 | 13 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.6480, Walkable Loss: 3.6690 (Center Penalty: 0.6661, C1 Heatmap: 0.9434, C2 Repulsion: 11.2409), Relational Loss: 0.0000 +Guided Steps: 10/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +sofa 1.778 0.791 1.008 1.463 -0.000 1.434 -89.99° +table 0.944 0.329 0.878 0.136 -0.001 1.411 -89.97° +table 1.749 0.762 1.013 1.338 -0.003 -0.616 0.05° +chair 0.520 0.774 0.453 1.099 0.001 -0.359 179.83° +chair 0.496 0.808 0.527 1.667 0.001 -0.297 179.95° +chair 0.393 0.874 0.474 0.940 0.001 -1.321 -0.00° +chair 0.444 0.786 0.543 1.811 0.002 -1.345 0.02° +tv_stand 2.122 0.632 0.421 -0.939 -0.001 1.568 90.07° +cabinet 0.884 1.096 0.313 -0.232 0.004 -2.282 0.02° +lamp 0.534 0.360 0.422 -0.067 2.348 1.667 0.05° +lamp 0.192 1.187 0.218 1.352 1.453 -0.783 -0.05° +floor 3.846 -0.004 5.693 0.035 0.000 0.678 -0.09° +_scene_ 0.068 0.000 0.022 -5.670 -0.004 -5.716 -57.30° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: sofa <-> table depth=[0.034, 0.329, 0.878] + !! OVERLAP: sofa <-> floor depth=[1.384, -0.004, 1.008] + !! OVERLAP: table <-> tv_stand depth=[0.457, 0.329, 0.421] + !! OVERLAP: table <-> floor depth=[0.944, -0.004, 0.878] + !! OVERLAP: table <-> chair depth=[0.520, 0.762, 0.453] + !! OVERLAP: table <-> chair depth=[0.496, 0.762, 0.451] + !! OVERLAP: table <-> chair depth=[0.393, 0.762, 0.038] + !! OVERLAP: table <-> chair depth=[0.444, 0.762, 0.049] + !! OVERLAP: table <-> floor depth=[1.494, -0.004, 1.013] + !! OVERLAP: chair <-> floor depth=[0.520, -0.004, 0.453] + !! OVERLAP: chair <-> floor depth=[0.496, -0.004, 0.527] + !! OVERLAP: chair <-> floor depth=[0.393, -0.004, 0.474] + !! OVERLAP: chair <-> floor depth=[0.369, -0.004, 0.543] + !! OVERLAP: tv_stand <-> floor depth=[2.010, -0.004, 0.421] + !! OVERLAP: cabinet <-> floor depth=[0.884, -0.004, 0.043] +============================================================ + + +============================================================ +SCENE: LivingRoom-50084 | 12 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.6389, Walkable Loss: 3.0378 (Center Penalty: 1.3228, C1 Heatmap: 0.7701, C2 Repulsion: 5.4943), Relational Loss: 0.0000 +Guided Steps: 10/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +chair 0.773 0.751 0.743 -0.740 -0.001 3.179 153.03° +chair 0.675 0.339 0.466 -0.863 -0.000 0.058 0.01° +table 0.479 0.438 0.634 -0.290 0.002 1.952 -89.83° +table 0.915 0.583 0.647 0.749 0.001 0.228 0.02° +table 0.618 0.570 0.760 0.700 0.003 2.629 -0.09° +tv_stand 2.637 0.771 0.433 -1.868 0.001 1.626 89.96° +cabinet 0.933 1.070 0.433 1.991 -0.000 -1.178 -89.95° +lamp 1.105 0.477 0.380 -0.133 2.064 1.181 -0.00° +lamp 0.568 0.319 0.476 2.054 2.174 -2.268 -0.12° +sofa 2.185 0.891 0.881 0.872 0.002 1.816 -97.84° +floor 5.209 0.001 6.746 0.071 0.002 0.459 -0.06° +_scene_ 0.067 0.001 0.021 -5.669 -0.004 -5.714 -57.30° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: chair <-> floor depth=[0.773, 0.001, 0.743] + !! OVERLAP: chair <-> floor depth=[0.675, 0.001, 0.466] + !! OVERLAP: table <-> sofa depth=[0.171, 0.438, 0.621] + !! OVERLAP: table <-> floor depth=[0.479, 0.001, 0.634] + !! OVERLAP: table <-> floor depth=[0.915, 0.001, 0.647] + !! OVERLAP: table <-> sofa depth=[0.618, 0.570, 0.007] + !! OVERLAP: table <-> floor depth=[0.618, 0.001, 0.760] + !! OVERLAP: tv_stand <-> floor depth=[1.984, 0.001, 0.433] + !! OVERLAP: cabinet <-> floor depth=[0.933, 0.001, 0.433] + !! OVERLAP: sofa <-> floor depth=[2.185, 0.001, 0.881] +============================================================ + + +============================================================ +SCENE: LivingRoom-1772 | 15 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0401, Walkable Loss: 3.7657 (Center Penalty: 1.0322, C1 Heatmap: 1.0410, C2 Repulsion: 9.5035), Relational Loss: 0.0000 +Guided Steps: 10/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +sofa 2.007 0.768 0.952 2.402 0.001 1.308 179.96° +table 1.466 0.415 0.904 2.098 0.001 0.070 -0.03° +chair 0.454 0.456 0.500 1.052 -0.001 0.222 -0.03° +bookshelf 3.243 2.636 0.200 -1.304 -0.000 2.002 179.99° +table 1.489 0.776 0.986 -1.192 -0.002 -0.818 0.06° +chair 0.522 0.942 0.597 -2.037 0.001 -1.611 0.07° +chair 0.607 0.889 0.641 -1.850 0.001 -0.352 89.73° +chair 0.513 0.923 0.585 -0.249 0.000 -1.191 -90.14° +chair 0.550 0.975 0.593 -0.635 -0.000 -0.296 -90.03° +lamp 0.597 0.767 0.609 1.844 1.947 -0.430 -0.01° +lamp 0.190 1.033 0.182 -1.483 1.315 -1.940 -0.00° +lamp 0.489 0.956 0.206 -1.321 1.467 -1.370 0.04° +lamp 0.348 0.868 0.334 -1.269 1.779 -0.546 0.00° +floor 6.841 -0.013 5.475 0.489 0.005 -0.378 -0.11° +_scene_ 0.067 0.000 0.022 -5.668 -0.005 -5.713 -57.30° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: sofa <-> floor depth=[2.007, -0.013, 0.952] + !! OVERLAP: table <-> floor depth=[1.466, -0.013, 0.904] + !! OVERLAP: chair <-> floor depth=[0.454, -0.013, 0.500] + !! OVERLAP: bookshelf <-> floor depth=[3.243, -0.013, 0.200] + !! OVERLAP: table <-> chair depth=[0.390, 0.776, 0.348] + !! OVERLAP: table <-> chair depth=[0.058, 0.776, 0.413] + !! OVERLAP: table <-> chair depth=[0.462, 0.776, 0.268] + !! OVERLAP: table <-> floor depth=[1.489, -0.013, 0.986] + !! OVERLAP: chair <-> floor depth=[0.522, -0.013, 0.597] + !! OVERLAP: chair <-> floor depth=[0.607, -0.013, 0.641] + !! OVERLAP: chair <-> floor depth=[0.513, -0.013, 0.585] + !! OVERLAP: chair <-> floor depth=[0.550, -0.013, 0.593] +============================================================ + + +============================================================ +SCENE: LivingRoom-30098 | 11 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.5503, Walkable Loss: 3.4605 (Center Penalty: 1.6653, C1 Heatmap: 0.9718, C2 Repulsion: 5.0887), Relational Loss: 0.0000 +Guided Steps: 10/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +sofa 1.946 0.793 0.929 -1.371 0.001 0.325 90.06° +chair 0.780 0.888 0.917 -0.230 0.000 2.918 166.24° +chair 0.828 1.038 0.800 0.033 -0.000 -1.365 10.17° +table 0.534 0.383 0.594 -1.460 0.003 -1.135 -0.01° +table 0.561 0.549 0.518 -1.365 -0.000 1.925 -0.08° +table 0.927 0.461 1.075 0.264 0.002 0.962 0.01° +tv_stand 3.041 2.551 0.361 1.417 -0.005 0.823 -90.10° +cabinet 1.093 0.840 0.355 1.253 0.003 2.707 179.90° +lamp 0.627 0.876 0.634 0.189 1.845 0.433 0.01° +floor 4.677 -0.001 6.647 -0.045 0.001 0.369 -0.03° +_scene_ 0.074 0.000 0.028 -5.670 -0.005 -5.711 -57.30° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: sofa <-> floor depth=[1.946, -0.001, 0.929] + !! OVERLAP: chair <-> floor depth=[0.780, -0.001, 0.917] + !! OVERLAP: chair <-> floor depth=[0.828, -0.001, 0.800] + !! OVERLAP: table <-> floor depth=[0.534, -0.001, 0.594] + !! OVERLAP: table <-> floor depth=[0.561, -0.001, 0.518] + !! OVERLAP: table <-> tv_stand depth=[0.831, 0.461, 0.361] + !! OVERLAP: table <-> floor depth=[0.927, -0.001, 1.075] + !! OVERLAP: tv_stand <-> floor depth=[2.397, -0.001, 0.361] + !! OVERLAP: cabinet <-> floor depth=[1.093, -0.001, 0.355] +============================================================ + + +============================================================ +SCENE: LivingRoom-3540 | 17 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 1.1549, Walkable Loss: 4.2870 (Center Penalty: 1.4194, C1 Heatmap: 1.1952, C2 Repulsion: 9.5573), Relational Loss: 0.0000 +Guided Steps: 10/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +sofa 2.114 0.879 0.971 -1.319 0.003 -1.585 89.96° +chair 0.970 0.800 0.868 0.015 0.005 -3.160 15.42° +chair 1.239 0.365 0.633 0.393 0.002 0.001 179.92° +table 1.345 0.318 0.953 0.275 0.003 -1.538 90.05° +table 0.525 0.615 0.545 -1.815 0.011 -3.403 89.95° +table 0.596 0.642 0.516 -1.623 -0.002 0.312 -0.04° +tv_stand 2.340 0.417 0.464 1.547 -0.005 -2.061 -89.95° +table 1.829 0.775 1.318 -0.036 -0.002 2.441 -179.90° +chair 0.423 0.565 0.442 0.872 0.003 1.449 -90.08° +chair 0.350 0.516 0.419 0.915 0.002 2.738 -90.02° +chair 0.417 0.662 0.420 -0.588 0.000 1.494 90.05° +chair 0.487 0.590 0.512 -0.491 0.001 2.578 89.94° +table 1.216 0.955 0.483 -2.206 0.002 2.538 90.03° +lamp 0.700 0.695 0.672 0.181 1.950 -1.620 -0.02° +lamp 0.604 0.865 0.343 0.192 1.694 2.325 -0.00° +floor 4.469 -0.001 7.921 -0.246 -0.000 -0.443 0.09° +_scene_ 0.075 -0.001 0.022 -5.665 -0.004 -5.708 -57.33° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: sofa <-> table depth=[0.136, 0.318, 0.915] + !! OVERLAP: sofa <-> floor depth=[2.114, -0.001, 0.971] + !! OVERLAP: chair <-> floor depth=[0.970, -0.001, 0.868] + !! OVERLAP: chair <-> floor depth=[1.239, -0.001, 0.633] + !! OVERLAP: table <-> tv_stand depth=[0.570, 0.318, 0.185] + !! OVERLAP: table <-> floor depth=[1.345, -0.001, 0.953] + !! OVERLAP: table <-> floor depth=[0.525, -0.001, 0.545] + !! OVERLAP: table <-> floor depth=[0.596, -0.001, 0.516] + !! OVERLAP: tv_stand <-> floor depth=[1.612, -0.001, 0.464] + !! OVERLAP: table <-> chair depth=[0.138, 0.516, 0.419] + !! OVERLAP: table <-> chair depth=[0.487, 0.590, 0.512] + !! OVERLAP: table <-> floor depth=[1.829, -0.001, 1.318] + !! OVERLAP: chair <-> floor depth=[0.423, -0.001, 0.442] + !! OVERLAP: chair <-> floor depth=[0.350, -0.001, 0.419] + !! OVERLAP: chair <-> floor depth=[0.417, -0.001, 0.420] + !! OVERLAP: chair <-> floor depth=[0.487, -0.001, 0.512] + !! OVERLAP: table <-> floor depth=[0.882, -0.001, 0.483] +============================================================ + + +============================================================ +SCENE: LivingDiningRoom-2583 | 18 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.1292, Walkable Loss: 5.6240 (Center Penalty: 1.2705, C1 Heatmap: 1.1573, C2 Repulsion: 17.1380), Relational Loss: 0.0000 +Guided Steps: 10/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +sofa 2.101 0.991 0.958 -1.409 -0.001 1.690 89.93° +table 1.474 0.370 1.019 -0.497 -0.000 1.783 90.03° +chair 0.779 0.968 0.794 -0.456 0.001 3.160 -179.95° +table 0.509 0.631 0.479 -1.884 0.001 0.031 90.02° +table 0.529 0.629 0.449 -2.012 0.004 3.358 89.93° +tv_stand 1.492 0.539 0.364 0.924 0.007 1.537 -89.95° +chair 0.759 0.994 0.805 -0.462 -0.000 -0.398 12.67° +table 1.624 0.771 1.087 -0.711 0.001 -2.232 -0.00° +chair 0.488 1.085 0.555 -0.858 -0.002 -1.636 180.00° +chair 0.584 0.988 0.579 -0.862 -0.003 -2.460 -0.01° +chair 0.551 0.975 0.555 -0.557 -0.002 -2.581 -0.20° +chair 0.499 1.047 0.566 -0.402 -0.000 -1.366 179.96° +table 0.648 0.580 0.556 -1.039 -0.000 -3.213 -0.10° +table 0.861 1.266 0.386 1.258 0.002 -3.299 -90.11° +lamp 0.838 0.751 0.852 -0.633 2.000 -2.166 -0.03° +lamp 1.336 1.100 1.356 -0.876 1.767 1.848 0.03° +floor 4.367 0.003 7.242 -0.372 -0.000 0.120 -0.04° +_scene_ 0.070 -0.001 0.023 -5.672 -0.005 -5.715 -57.30° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: sofa <-> table depth=[0.876, 0.370, 0.896] + !! OVERLAP: sofa <-> floor depth=[2.101, 0.003, 0.958] + !! OVERLAP: table <-> tv_stand depth=[0.061, 0.370, 0.364] + !! OVERLAP: table <-> floor depth=[1.474, 0.003, 1.019] + !! OVERLAP: chair <-> floor depth=[0.779, 0.003, 0.794] + !! OVERLAP: table <-> floor depth=[0.509, 0.003, 0.479] + !! OVERLAP: table <-> floor depth=[0.529, 0.003, 0.449] + !! OVERLAP: tv_stand <-> floor depth=[1.492, 0.003, 0.364] + !! OVERLAP: chair <-> floor depth=[0.759, 0.003, 0.805] + !! OVERLAP: table <-> chair depth=[0.488, 0.771, 0.226] + !! OVERLAP: table <-> chair depth=[0.584, 0.771, 0.579] + !! OVERLAP: table <-> chair depth=[0.551, 0.771, 0.472] + !! OVERLAP: table <-> floor depth=[1.624, 0.003, 1.087] + !! OVERLAP: chair <-> chair depth=[0.038, 1.047, 0.290] + !! OVERLAP: chair <-> floor depth=[0.488, 0.003, 0.555] + !! OVERLAP: chair <-> chair depth=[0.262, 0.975, 0.446] + !! OVERLAP: chair <-> floor depth=[0.584, 0.003, 0.579] + !! OVERLAP: chair <-> floor depth=[0.551, 0.003, 0.555] + !! OVERLAP: chair <-> floor depth=[0.499, 0.003, 0.566] + !! OVERLAP: table <-> floor depth=[0.648, 0.003, 0.556] + !! OVERLAP: table <-> floor depth=[0.861, 0.003, 0.386] +============================================================ + + +============================================================ +SCENE: LivingRoom-68491 | 13 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0000, Walkable Loss: 3.5757 (Center Penalty: 1.1937, C1 Heatmap: 0.9199, C2 Repulsion: 8.2304), Relational Loss: 0.0000 +Guided Steps: 10/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +chair 0.614 0.897 0.698 -0.638 -0.005 -0.517 -77.71° +table 0.744 0.315 0.697 0.878 0.001 -0.797 -0.02° +sofa 2.115 0.787 0.722 1.055 0.000 -1.580 -0.01° +chair 0.983 1.027 0.975 3.088 0.003 -0.087 -108.77° +table 0.541 0.538 0.492 2.869 -0.001 -1.718 -0.05° +table 0.586 0.494 0.581 -0.258 0.000 -1.871 -0.06° +lamp 0.634 0.852 0.645 1.114 1.878 -0.607 0.01° +chair 0.596 1.075 0.693 -2.542 0.001 -1.698 0.11° +chair 0.595 0.979 0.723 -2.354 -0.000 -0.471 -179.98° +table 2.748 0.825 0.863 -2.461 -0.002 -1.065 90.03° +cabinet 1.192 0.735 0.345 -1.617 0.002 -1.654 0.06° +floor 7.686 -0.005 5.036 -0.238 0.000 -0.257 -0.04° +_scene_ 0.071 -0.000 0.028 -5.671 -0.004 -5.712 -57.32° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: chair <-> floor depth=[0.614, -0.005, 0.698] + !! OVERLAP: table <-> floor depth=[0.744, -0.005, 0.697] + !! OVERLAP: sofa <-> table depth=[0.036, 0.494, 0.360] + !! OVERLAP: sofa <-> floor depth=[2.115, -0.005, 0.722] + !! OVERLAP: chair <-> floor depth=[0.983, -0.005, 0.975] + !! OVERLAP: table <-> floor depth=[0.541, -0.005, 0.492] + !! OVERLAP: table <-> floor depth=[0.586, -0.005, 0.581] + !! OVERLAP: chair <-> table depth=[0.596, 0.825, 0.145] + !! OVERLAP: chair <-> floor depth=[0.596, -0.005, 0.693] + !! OVERLAP: chair <-> table depth=[0.595, 0.825, 0.199] + !! OVERLAP: chair <-> floor depth=[0.595, -0.005, 0.723] + !! OVERLAP: table <-> cabinet depth=[1.126, 0.735, 0.016] + !! OVERLAP: table <-> floor depth=[2.748, -0.005, 0.863] + !! OVERLAP: cabinet <-> floor depth=[1.192, -0.005, 0.345] +============================================================ + + +============================================================ +SCENE: LivingRoom-22102 | 8 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.2621, Walkable Loss: 2.9243 (Center Penalty: 1.8123, C1 Heatmap: 0.7334, C2 Repulsion: 2.6266), Relational Loss: 0.0000 +Guided Steps: 10/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +table 1.274 0.382 0.794 0.354 0.000 0.243 90.06° +table 0.537 0.591 0.541 -1.126 0.001 -1.682 0.24° +sofa 2.424 0.841 1.034 -1.428 0.005 0.182 89.86° +chair 0.790 0.966 0.794 0.360 0.001 -1.054 -25.55° +tv_stand 1.456 0.745 0.423 1.843 0.002 0.437 -89.92° +lamp 0.311 0.504 0.302 0.538 2.168 0.704 -0.04° +floor 5.181 -0.002 4.904 -0.061 -0.000 -0.407 0.01° +_scene_ 0.063 0.002 0.019 -5.671 -0.004 -5.712 -57.29° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: table <-> sofa depth=[0.067, 0.382, 0.794] + !! OVERLAP: table <-> floor depth=[1.274, -0.002, 0.794] + !! OVERLAP: table <-> floor depth=[0.537, -0.002, 0.541] + !! OVERLAP: sofa <-> floor depth=[2.424, -0.002, 1.034] + !! OVERLAP: chair <-> floor depth=[0.790, -0.002, 0.794] + !! OVERLAP: tv_stand <-> floor depth=[1.414, -0.002, 0.423] +============================================================ + + +============================================================ +SCENE: LivingDiningRoom-2106 | 10 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.6343, Walkable Loss: 1.5407 (Center Penalty: 0.6120, C1 Heatmap: 0.6622, C2 Repulsion: 1.9949), Relational Loss: 0.0000 +Guided Steps: 10/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +lamp 0.718 0.820 0.539 -0.158 1.880 -2.125 -0.00° +tv_stand 1.917 0.415 0.305 -1.469 0.000 1.790 89.99° +sofa 2.114 0.829 0.929 1.020 -0.001 1.572 -89.92° +cabinet 1.125 0.972 0.379 1.347 0.000 -0.575 -89.92° +table 1.127 0.438 0.694 0.113 0.000 1.846 90.04° +bookshelf 0.932 2.525 0.413 -1.527 -0.001 -0.854 89.97° +lamp 1.113 1.255 1.177 -0.121 1.593 1.442 0.07° +chair 0.505 1.071 0.442 -0.043 -0.002 -1.954 58.29° +floor 3.808 -0.001 6.266 -0.086 0.001 0.536 0.01° +_scene_ 0.071 0.001 0.023 -5.669 -0.004 -5.710 -57.29° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: tv_stand <-> floor depth=[1.479, -0.001, 0.305] + !! OVERLAP: sofa <-> table depth=[0.713, 0.438, 0.537] + !! OVERLAP: sofa <-> floor depth=[1.856, -0.001, 0.929] + !! OVERLAP: cabinet <-> floor depth=[1.034, -0.001, 0.379] + !! OVERLAP: table <-> floor depth=[1.127, -0.001, 0.694] + !! OVERLAP: bookshelf <-> floor depth=[0.928, -0.001, 0.413] + !! OVERLAP: chair <-> floor depth=[0.505, -0.001, 0.442] +============================================================ + + +============================================================ +SCENE: LivingRoom-38721 | 10 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 1.3765, Walkable Loss: 4.2125 (Center Penalty: 1.7864, C1 Heatmap: 1.1202, C2 Repulsion: 7.6498), Relational Loss: 0.0000 +Guided Steps: 10/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +lamp 1.164 0.951 1.148 -0.973 1.844 1.578 0.01° +tv_stand 1.898 0.435 0.394 1.052 -0.000 -0.977 -90.08° +table 0.771 0.475 0.690 -0.774 0.003 -1.348 89.99° +sofa 3.375 0.810 1.783 -0.663 0.004 0.513 89.95° +table 1.281 0.588 0.766 -0.405 0.000 1.299 179.92° +chair 0.476 0.748 0.488 -0.954 0.001 0.399 0.02° +chair 0.529 0.750 0.468 -0.552 0.000 0.597 0.02° +lamp 0.439 0.387 0.436 -0.744 2.145 -1.015 -0.02° +floor 3.218 0.002 4.930 -0.004 0.002 0.031 0.01° +_scene_ 0.064 0.000 0.017 -5.671 -0.006 -5.717 -57.28° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: tv_stand <-> floor depth=[1.502, 0.002, 0.394] + !! OVERLAP: table <-> floor depth=[0.771, 0.002, 0.690] + !! OVERLAP: sofa <-> table depth=[1.281, 0.588, 0.489] + !! OVERLAP: sofa <-> chair depth=[0.476, 0.748, 0.488] + !! OVERLAP: sofa <-> chair depth=[0.529, 0.750, 0.468] + !! OVERLAP: sofa <-> floor depth=[2.638, 0.002, 1.783] + !! OVERLAP: table <-> floor depth=[1.281, 0.002, 0.766] + !! OVERLAP: chair <-> chair depth=[0.100, 0.748, 0.280] + !! OVERLAP: chair <-> floor depth=[0.476, 0.002, 0.488] + !! OVERLAP: chair <-> floor depth=[0.529, 0.002, 0.468] +============================================================ + + +============================================================ +SCENE: LivingRoom-2159 | 7 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0000, Walkable Loss: 2.6897 (Center Penalty: 1.1397, C1 Heatmap: 0.9528, C2 Repulsion: 3.9385), Relational Loss: 0.0000 +Guided Steps: 10/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +table 1.163 0.444 1.117 1.304 0.001 -0.027 0.07° +table 0.573 0.680 0.593 1.498 -0.001 -0.176 0.08° +sofa 3.049 1.052 0.903 0.616 -0.000 -1.646 -0.04° +chair 0.614 0.828 0.570 -1.024 -0.006 -0.265 139.40° +tv_stand 2.643 0.766 0.570 0.845 0.001 1.810 179.95° +floor 4.991 -0.004 4.370 0.032 0.001 0.002 -0.06° +_scene_ 0.043 -0.003 0.015 -5.644 -0.001 -5.684 -57.29° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: table <-> table depth=[0.573, 0.444, 0.593] + !! OVERLAP: table <-> floor depth=[1.163, -0.004, 1.117] + !! OVERLAP: table <-> floor depth=[0.573, -0.004, 0.593] + !! OVERLAP: sofa <-> floor depth=[3.049, -0.004, 0.903] + !! OVERLAP: chair <-> floor depth=[0.614, -0.004, 0.570] + !! OVERLAP: tv_stand <-> floor depth=[2.643, -0.004, 0.570] +============================================================ + + +============================================================ +SCENE: LivingRoom-1618 | 10 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.8642, Walkable Loss: 3.4793 (Center Penalty: 1.7962, C1 Heatmap: 0.8618, C2 Repulsion: 4.9685), Relational Loss: 0.0000 +Guided Steps: 10/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +sofa 1.830 0.698 0.753 -1.005 0.004 0.125 89.98° +table 1.040 1.078 0.395 -1.329 0.000 -1.951 90.05° +tv_stand 1.676 0.698 0.463 1.246 -0.001 0.092 -90.12° +table 2.511 0.772 1.239 -0.474 -0.001 2.135 -0.04° +chair 0.504 0.917 0.545 0.041 0.004 2.338 -157.33° +chair 0.533 0.889 0.532 -0.406 -0.001 2.349 158.58° +lamp 0.576 0.969 0.605 -0.140 1.799 0.348 0.01° +chair 0.588 0.411 0.575 -0.066 0.002 -1.914 -0.19° +floor 3.467 -0.002 5.538 -0.060 0.000 0.251 -0.01° +_scene_ 0.070 -0.001 0.024 -5.670 -0.005 -5.716 -57.30° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: sofa <-> floor depth=[1.703, -0.002, 0.753] + !! OVERLAP: table <-> floor depth=[0.984, -0.002, 0.395] + !! OVERLAP: tv_stand <-> floor depth=[1.266, -0.002, 0.463] + !! OVERLAP: table <-> chair depth=[0.504, 0.772, 0.545] + !! OVERLAP: table <-> chair depth=[0.533, 0.772, 0.532] + !! OVERLAP: table <-> floor depth=[2.511, -0.002, 1.239] + !! OVERLAP: chair <-> chair depth=[0.072, 0.889, 0.528] + !! OVERLAP: chair <-> floor depth=[0.504, -0.002, 0.545] + !! OVERLAP: chair <-> floor depth=[0.533, -0.002, 0.532] + !! OVERLAP: chair <-> floor depth=[0.588, -0.002, 0.575] +============================================================ + + +============================================================ +SCENE: LivingDiningRoom-25795 | 17 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.4527, Walkable Loss: 3.6343 (Center Penalty: 1.0842, C1 Heatmap: 1.0577, C2 Repulsion: 8.5200), Relational Loss: 0.0000 +Guided Steps: 10/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +chair 0.568 0.781 0.601 2.368 0.001 0.246 -71.64° +sofa 2.454 0.844 0.868 1.230 -0.002 -1.189 -0.03° +chair 0.568 0.517 0.496 0.162 -0.000 0.310 -90.07° +table 0.374 0.324 0.358 1.175 0.002 -0.407 179.91° +table 0.509 0.400 0.392 2.076 0.001 -0.939 179.92° +table 0.480 0.362 0.498 -0.445 0.003 -1.029 179.85° +table 1.780 0.701 0.775 -1.938 0.000 0.436 -179.93° +chair 0.561 0.841 0.531 -2.647 0.004 1.386 179.99° +chair 0.508 0.804 0.491 -1.744 0.001 1.811 179.96° +chair 0.549 0.819 0.594 -2.000 0.001 -0.035 0.02° +chair 0.577 0.758 0.575 -2.853 0.002 -0.175 0.01° +tv_stand 2.869 0.764 0.516 1.289 0.003 2.445 -179.99° +cabinet 1.104 1.201 0.438 -2.779 0.000 -2.075 89.89° +lamp 0.251 0.774 0.169 1.283 1.938 0.548 -0.06° +lamp 0.674 0.960 0.703 -1.818 1.931 0.806 -0.03° +floor 6.342 0.012 5.627 -0.733 0.001 0.656 -0.02° +_scene_ 0.072 0.000 0.021 -5.673 -0.005 -5.713 -57.31° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: chair <-> floor depth=[0.354, 0.012, 0.601] + !! OVERLAP: sofa <-> table depth=[0.509, 0.400, 0.380] + !! OVERLAP: sofa <-> floor depth=[2.434, 0.012, 0.868] + !! OVERLAP: chair <-> floor depth=[0.568, 0.012, 0.496] + !! OVERLAP: table <-> floor depth=[0.374, 0.012, 0.358] + !! OVERLAP: table <-> floor depth=[0.509, 0.012, 0.392] + !! OVERLAP: table <-> floor depth=[0.480, 0.012, 0.498] + !! OVERLAP: table <-> chair depth=[0.549, 0.701, 0.213] + !! OVERLAP: table <-> chair depth=[0.264, 0.701, 0.065] + !! OVERLAP: table <-> floor depth=[1.780, 0.012, 0.775] + !! OVERLAP: chair <-> floor depth=[0.561, 0.012, 0.531] + !! OVERLAP: chair <-> floor depth=[0.508, 0.012, 0.491] + !! OVERLAP: chair <-> floor depth=[0.549, 0.012, 0.594] + !! OVERLAP: chair <-> floor depth=[0.577, 0.012, 0.575] + !! OVERLAP: tv_stand <-> floor depth=[2.583, 0.012, 0.516] + !! OVERLAP: cabinet <-> floor depth=[1.104, 0.012, 0.301] +============================================================ + + +============================================================ +SCENE: LivingDiningRoom-62037 | 16 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.2826, Walkable Loss: 4.8542 (Center Penalty: 1.6270, C1 Heatmap: 1.0001, C2 Repulsion: 12.1356), Relational Loss: 0.0000 +Guided Steps: 10/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +table 1.081 0.942 0.882 -0.065 0.001 -2.378 90.00° +table 1.516 0.917 0.827 0.659 0.000 0.879 -0.08° +tv_stand 1.588 0.371 0.400 -1.212 -0.001 -2.442 90.00° +cabinet 0.893 1.218 0.327 -1.586 -0.006 3.450 89.95° +cabinet 0.643 0.686 0.287 -1.515 0.002 0.134 90.02° +table 0.548 0.544 0.495 1.054 0.001 -1.345 -0.03° +bookshelf 2.025 2.309 0.430 0.713 0.001 1.702 -179.91° +sofa 2.236 0.720 0.997 0.667 0.002 -2.866 -89.94° +lamp 0.860 0.791 0.875 -0.067 1.826 -2.237 89.98° +chair 0.540 0.962 0.633 0.272 0.004 1.166 -179.98° +lamp 0.801 1.021 0.810 0.373 1.655 0.443 0.01° +chair 0.562 0.985 0.597 1.107 0.002 1.083 179.80° +chair 0.577 1.006 0.590 0.711 0.002 -0.290 0.01° +chair 0.570 1.069 0.583 1.100 0.001 -0.206 0.02° +floor 3.543 0.001 7.998 -0.142 0.000 -0.567 -0.06° +_scene_ 0.068 0.001 0.023 -5.670 -0.005 -5.713 -57.31° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: table <-> tv_stand depth=[0.188, 0.371, 0.400] + !! OVERLAP: table <-> sofa depth=[0.926, 0.720, 0.451] + !! OVERLAP: table <-> floor depth=[1.081, 0.001, 0.882] + !! OVERLAP: table <-> chair depth=[0.540, 0.917, 0.442] + !! OVERLAP: table <-> chair depth=[0.562, 0.917, 0.507] + !! OVERLAP: table <-> floor depth=[1.516, 0.001, 0.827] + !! OVERLAP: tv_stand <-> sofa depth=[0.033, 0.371, 0.275] + !! OVERLAP: tv_stand <-> floor depth=[1.496, 0.001, 0.400] + !! OVERLAP: cabinet <-> floor depth=[0.773, 0.001, 0.146] + !! OVERLAP: cabinet <-> floor depth=[0.643, 0.001, 0.287] + !! OVERLAP: table <-> floor depth=[0.548, 0.001, 0.495] + !! OVERLAP: bookshelf <-> floor depth=[1.929, 0.001, 0.430] + !! OVERLAP: sofa <-> floor depth=[2.080, 0.001, 0.997] + !! OVERLAP: chair <-> floor depth=[0.540, 0.001, 0.633] + !! OVERLAP: chair <-> floor depth=[0.562, 0.001, 0.597] + !! OVERLAP: chair <-> chair depth=[0.184, 1.006, 0.503] + !! OVERLAP: chair <-> floor depth=[0.577, 0.001, 0.590] + !! OVERLAP: chair <-> floor depth=[0.570, 0.001, 0.583] +============================================================ + + +============================================================ +SCENE: LivingDiningRoom-17657 | 13 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.8639, Walkable Loss: 3.9372 (Center Penalty: 0.7890, C1 Heatmap: 1.2251, C2 Repulsion: 10.8405), Relational Loss: 0.0000 +Guided Steps: 10/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +table 2.340 0.753 1.108 -0.104 -0.001 -1.358 -90.16° +chair 0.495 0.910 0.484 -0.480 0.000 -2.412 -0.03° +chair 0.541 0.934 0.652 -0.511 -0.001 -1.845 179.90° +chair 0.541 0.843 0.558 0.522 0.001 -2.395 -90.08° +chair 0.554 0.873 0.570 0.594 0.001 -1.524 179.85° +sofa 2.132 0.927 0.884 -1.434 0.001 1.607 89.99° +table 1.260 0.379 0.777 -0.456 -0.003 1.748 90.07° +table 0.909 0.414 0.831 -1.619 0.003 -0.070 89.92° +tv_stand 2.408 0.558 0.438 0.908 0.001 1.301 -89.92° +lamp 0.838 0.881 0.820 -0.062 1.834 1.466 -0.02° +lamp 0.265 0.788 0.281 0.008 2.152 -2.032 -0.01° +floor 3.810 -0.001 5.870 -0.267 0.002 0.362 -0.00° +_scene_ 0.068 0.001 0.023 -5.670 -0.004 -5.716 -57.30° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: table <-> chair depth=[0.541, 0.753, 0.393] + !! OVERLAP: table <-> chair depth=[0.554, 0.753, 0.570] + !! OVERLAP: table <-> floor depth=[2.340, -0.001, 1.108] + !! OVERLAP: chair <-> chair depth=[0.486, 0.910, 0.001] + !! OVERLAP: chair <-> floor depth=[0.495, -0.001, 0.403] + !! OVERLAP: chair <-> floor depth=[0.541, -0.001, 0.652] + !! OVERLAP: chair <-> floor depth=[0.541, -0.001, 0.456] + !! OVERLAP: chair <-> floor depth=[0.554, -0.001, 0.570] + !! OVERLAP: sofa <-> table depth=[0.719, 0.379, 0.689] + !! OVERLAP: sofa <-> floor depth=[1.804, -0.001, 0.884] + !! OVERLAP: table <-> tv_stand depth=[0.469, 0.379, 0.160] + !! OVERLAP: table <-> floor depth=[1.260, -0.001, 0.777] + !! OVERLAP: table <-> floor depth=[0.909, -0.001, 0.831] + !! OVERLAP: tv_stand <-> floor depth=[1.934, -0.001, 0.438] +============================================================ + + +============================================================ +SCENE: LivingRoom-11224 | 6 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.6829, Walkable Loss: 3.4202 (Center Penalty: 2.5456, C1 Heatmap: 0.7201, C2 Repulsion: 1.4927), Relational Loss: 0.0000 +Guided Steps: 10/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +sofa 2.128 0.922 0.997 -1.341 0.001 -0.227 89.98° +table 1.672 0.727 1.139 -0.660 -0.001 -0.216 -90.00° +tv_stand 1.914 0.425 0.378 1.260 -0.002 -0.200 -90.19° +lamp 0.713 0.473 0.702 0.087 2.121 0.017 0.01° +floor 3.949 -0.002 2.888 -0.107 0.000 -0.023 -0.03° +_scene_ 0.067 -0.000 0.035 -5.658 -0.005 -5.698 -57.29° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: sofa <-> table depth=[1.219, 0.727, 0.997] + !! OVERLAP: sofa <-> floor depth=[1.804, -0.002, 0.997] + !! OVERLAP: table <-> floor depth=[1.672, -0.002, 1.139] + !! OVERLAP: tv_stand <-> floor depth=[1.565, -0.002, 0.378] +============================================================ + + +============================================================ +SCENE: LivingRoom-13136 | 14 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0533, Walkable Loss: 3.8873 (Center Penalty: 1.0422, C1 Heatmap: 1.0229, C2 Repulsion: 10.1341), Relational Loss: 0.0000 +Guided Steps: 10/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +sofa 2.072 0.783 0.808 -1.159 0.003 -1.454 89.96° +table 1.754 0.432 1.117 0.755 0.004 -1.717 89.99° +chair 0.673 0.916 0.736 0.429 0.002 -2.637 0.03° +table 0.587 0.526 0.497 -1.529 0.003 -3.561 90.08° +table 0.611 0.640 0.598 -1.400 0.001 -0.325 90.00° +table 1.818 0.766 1.075 1.137 0.002 2.550 0.10° +chair 0.650 0.951 0.666 -0.201 0.019 2.128 89.92° +chair 0.558 0.986 0.599 -0.349 0.001 2.528 -179.99° +chair 0.545 0.932 0.667 1.439 0.003 1.819 -90.33° +chair 0.555 0.920 0.519 1.349 0.001 2.841 -127.29° +bookshelf 1.233 2.187 0.296 -1.253 -0.001 0.080 0.09° +lamp 0.809 0.911 0.804 0.782 1.665 2.686 -0.03° +floor 4.815 -0.003 8.365 0.244 -0.001 0.007 -0.05° +_scene_ 0.069 -0.000 0.018 -5.674 -0.005 -5.714 -57.31° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: sofa <-> floor depth=[2.040, -0.003, 0.808] + !! OVERLAP: table <-> chair depth=[0.673, 0.432, 0.007] + !! OVERLAP: table <-> floor depth=[1.754, -0.003, 1.117] + !! OVERLAP: chair <-> floor depth=[0.673, -0.003, 0.736] + !! OVERLAP: table <-> floor depth=[0.587, -0.003, 0.497] + !! OVERLAP: table <-> bookshelf depth=[0.611, 0.640, 0.041] + !! OVERLAP: table <-> floor depth=[0.611, -0.003, 0.598] + !! OVERLAP: table <-> chair depth=[0.545, 0.766, 0.140] + !! OVERLAP: table <-> chair depth=[0.555, 0.766, 0.507] + !! OVERLAP: table <-> floor depth=[1.818, -0.003, 1.075] + !! OVERLAP: chair <-> chair depth=[0.456, 0.950, 0.233] + !! OVERLAP: chair <-> floor depth=[0.650, -0.003, 0.666] + !! OVERLAP: chair <-> floor depth=[0.558, -0.003, 0.599] + !! OVERLAP: chair <-> floor depth=[0.545, -0.003, 0.667] + !! OVERLAP: chair <-> floor depth=[0.555, -0.003, 0.519] + !! OVERLAP: bookshelf <-> floor depth=[1.233, -0.003, 0.296] +============================================================ + + +============================================================ +SCENE: LivingRoom-40975 | 7 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0000, Walkable Loss: 1.6316 (Center Penalty: 0.9606, C1 Heatmap: 0.4872, C2 Repulsion: 1.4062), Relational Loss: 0.0000 +Guided Steps: 10/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +cabinet 0.690 1.239 0.458 0.011 0.002 2.339 -179.96° +sofa 2.077 0.809 1.030 1.031 -0.000 0.463 0.05° +table 1.019 0.733 1.134 1.730 -0.001 1.521 90.01° +lamp 1.172 0.699 0.635 0.881 2.159 1.083 0.03° +lamp 0.726 0.832 0.270 -1.179 2.277 -1.429 -89.82° +floor 4.948 -0.006 4.726 0.004 0.000 0.301 0.02° +_scene_ 0.067 0.001 0.020 -5.673 -0.004 -5.710 -57.36° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: cabinet <-> floor depth=[0.690, -0.006, 0.458] + !! OVERLAP: sofa <-> table depth=[0.848, 0.733, 0.025] + !! OVERLAP: sofa <-> floor depth=[2.077, -0.006, 1.030] + !! OVERLAP: table <-> floor depth=[1.019, -0.006, 1.134] +============================================================ + + +============================================================ +SCENE: LivingRoom-6045 | 9 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.9261, Walkable Loss: 4.2357 (Center Penalty: 2.6563, C1 Heatmap: 0.8595, C2 Repulsion: 4.4588), Relational Loss: 0.0000 +Guided Steps: 10/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +tv_stand 1.976 0.635 0.399 1.252 -0.001 0.924 -89.88° +cabinet 0.577 1.083 0.465 -1.651 0.001 2.061 89.98° +sofa 2.544 0.833 0.850 -1.278 0.001 0.239 90.03° +table 0.759 0.297 0.876 0.050 0.002 0.133 -0.00° +chair 0.855 0.795 0.977 -0.121 0.001 1.915 -179.96° +bookshelf 1.237 1.859 0.339 -1.312 -0.000 -1.545 89.96° +lamp 0.983 0.715 0.931 -0.096 2.090 0.377 0.01° +floor 3.829 -0.002 5.433 0.003 0.000 0.252 -0.02° +_scene_ 0.069 0.001 0.021 -5.673 -0.005 -5.714 -57.29° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: tv_stand <-> floor depth=[1.653, -0.002, 0.399] + !! OVERLAP: cabinet <-> floor depth=[0.548, -0.002, 0.465] + !! OVERLAP: sofa <-> table depth=[0.324, 0.297, 0.756] + !! OVERLAP: sofa <-> floor depth=[1.905, -0.002, 0.850] + !! OVERLAP: table <-> floor depth=[0.759, -0.002, 0.876] + !! OVERLAP: chair <-> floor depth=[0.855, -0.002, 0.977] + !! OVERLAP: bookshelf <-> floor depth=[1.218, -0.002, 0.339] +============================================================ + + +============================================================ +SCENE: LivingRoom-2050 | 10 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.1160, Walkable Loss: 2.8836 (Center Penalty: 1.2050, C1 Heatmap: 1.0264, C2 Repulsion: 4.2876), Relational Loss: 0.0000 +Guided Steps: 10/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +sofa 2.506 0.758 0.876 0.064 0.000 -1.614 -0.04° +chair 1.094 0.944 0.778 2.598 0.004 -0.072 -65.84° +table 1.770 0.880 0.972 0.846 -0.001 0.120 -0.00° +tv_stand 2.213 0.587 0.482 0.215 0.003 1.544 179.94° +table 0.507 0.532 0.495 -1.784 0.001 -1.657 0.04° +table 0.509 0.473 0.497 2.921 0.003 -1.527 -0.05° +lamp 0.557 0.878 0.602 0.940 1.816 0.049 -0.08° +chair 0.664 0.702 0.637 -1.779 0.004 -0.272 46.50° +floor 7.140 -0.002 3.829 -0.458 0.000 -0.015 0.03° +_scene_ 0.066 -0.001 0.015 -5.671 -0.005 -5.714 -57.32° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: sofa <-> floor depth=[2.506, -0.002, 0.754] + !! OVERLAP: chair <-> floor depth=[1.062, -0.002, 0.778] + !! OVERLAP: table <-> floor depth=[1.770, -0.002, 0.972] + !! OVERLAP: tv_stand <-> floor depth=[2.213, -0.002, 0.482] + !! OVERLAP: table <-> floor depth=[0.507, -0.002, 0.495] + !! OVERLAP: table <-> floor depth=[0.445, -0.002, 0.497] + !! OVERLAP: chair <-> floor depth=[0.664, -0.002, 0.637] +============================================================ + + +============================================================ +SCENE: LivingRoom-12271 | 7 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0000, Walkable Loss: 3.0592 (Center Penalty: 1.9309, C1 Heatmap: 0.8679, C2 Repulsion: 2.1698), Relational Loss: 0.0000 +Guided Steps: 10/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +lamp 0.499 0.119 0.507 -0.440 2.584 0.246 -0.07° +table 1.256 0.724 1.232 -1.030 0.001 -0.764 -90.06° +sofa 2.545 1.283 1.487 -1.221 -0.000 0.579 89.95° +table 0.766 1.090 0.400 1.925 0.001 1.576 -89.97° +sofa 0.863 0.435 0.896 0.743 0.004 0.114 -54.57° +floor 5.272 -0.001 3.987 -0.172 0.001 0.015 0.00° +_scene_ 0.057 0.003 0.028 -5.661 -0.007 -5.708 -57.28° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: table <-> sofa depth=[1.256, 0.724, 0.017] + !! OVERLAP: table <-> floor depth=[1.256, -0.001, 1.232] + !! OVERLAP: sofa <-> floor depth=[2.545, -0.001, 1.487] + !! OVERLAP: table <-> floor depth=[0.766, -0.001, 0.400] + !! OVERLAP: sofa <-> floor depth=[0.863, -0.001, 0.896] +============================================================ + + +============================================================ +SCENE: LivingDiningRoom-52564 | 10 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0000, Walkable Loss: 1.9499 (Center Penalty: 0.8205, C1 Heatmap: 0.6745, C2 Repulsion: 2.9489), Relational Loss: 0.0000 +Guided Steps: 10/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +tv_stand 2.064 0.620 0.434 -1.563 0.001 -1.851 89.98° +table 0.656 0.352 0.591 1.881 -0.002 -1.785 -0.27° +table 1.264 1.428 0.428 -2.770 0.002 0.226 89.90° +table 0.673 0.718 0.660 -0.938 0.000 -0.262 0.03° +table 0.589 0.671 0.512 -1.262 0.000 -2.594 -0.12° +sofa 2.660 0.968 0.976 1.705 0.001 -1.734 -90.19° +lamp 1.151 1.234 0.770 0.874 1.544 1.725 -0.03° +lamp 0.512 0.711 0.527 0.421 1.985 -1.876 -0.06° +floor 6.732 0.004 6.120 -0.168 0.000 -0.443 0.05° +_scene_ 0.110 -0.001 0.158 -5.600 -0.003 -5.638 -57.24° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: tv_stand <-> floor depth=[2.064, 0.004, 0.434] + !! OVERLAP: table <-> sofa depth=[0.656, 0.352, 0.591] + !! OVERLAP: table <-> floor depth=[0.656, 0.004, 0.591] + !! OVERLAP: table <-> floor depth=[1.264, 0.004, 0.428] + !! OVERLAP: table <-> floor depth=[0.673, 0.004, 0.660] + !! OVERLAP: table <-> floor depth=[0.589, 0.004, 0.512] + !! OVERLAP: sofa <-> floor depth=[2.660, 0.004, 0.976] +============================================================ + + +============================================================ +SCENE: LivingRoom-423 | 21 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 1.1731, Walkable Loss: 5.0185 (Center Penalty: 1.0976, C1 Heatmap: 1.2334, C2 Repulsion: 14.6707), Relational Loss: 0.0000 +Guided Steps: 10/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +bookshelf 1.604 2.592 0.280 1.677 -0.001 2.991 -90.11° +table 2.198 0.785 0.917 -0.963 0.002 1.310 -0.02° +chair 0.584 0.791 0.560 -1.128 -0.001 0.945 -0.02° +chair 0.656 0.841 0.631 -0.402 -0.001 0.901 -0.01° +chair 0.503 0.826 0.557 -0.957 0.000 3.027 -179.94° +chair 0.483 0.781 0.548 -0.066 0.003 2.781 -179.94° +chair 0.467 0.805 0.505 0.598 0.001 1.854 -90.09° +chair 0.540 0.819 0.557 -1.762 0.001 1.786 90.01° +sofa 2.195 1.032 0.921 -1.400 -0.000 -2.465 89.99° +sofa 1.222 0.843 0.841 -0.089 0.002 -4.293 0.01° +chair 0.918 0.964 1.047 -0.337 0.002 -0.759 -164.09° +table 1.248 0.650 0.939 -0.582 0.006 -2.293 89.88° +table 0.560 0.422 0.502 -1.756 0.003 -0.648 89.99° +table 0.392 0.324 0.449 -1.369 -0.001 -4.025 89.91° +cabinet 2.022 2.163 0.455 -1.318 0.002 3.577 179.85° +tv_stand 1.861 0.629 0.376 1.540 0.003 -2.324 -90.09° +lamp 0.782 0.755 0.780 -0.050 1.992 -2.572 -0.04° +lamp 0.704 0.851 0.760 -0.188 1.727 2.647 -0.04° +lamp 0.392 1.487 0.416 0.824 1.335 4.016 0.11° +floor 4.406 -0.002 9.377 -0.234 -0.007 -0.394 0.06° +_scene_ 0.067 -0.000 0.019 -5.671 -0.005 -5.713 -57.31° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bookshelf <-> floor depth=[1.094, -0.002, 0.280] + !! OVERLAP: table <-> chair depth=[0.584, 0.785, 0.373] + !! OVERLAP: table <-> chair depth=[0.656, 0.785, 0.365] + !! OVERLAP: table <-> chair depth=[0.540, 0.785, 0.261] + !! OVERLAP: table <-> floor depth=[2.198, -0.002, 0.917] + !! OVERLAP: chair <-> floor depth=[0.584, -0.002, 0.560] + !! OVERLAP: chair <-> floor depth=[0.656, -0.002, 0.631] + !! OVERLAP: chair <-> floor depth=[0.503, -0.002, 0.557] + !! OVERLAP: chair <-> floor depth=[0.483, -0.002, 0.548] + !! OVERLAP: chair <-> floor depth=[0.467, -0.002, 0.505] + !! OVERLAP: chair <-> floor depth=[0.540, -0.002, 0.557] + !! OVERLAP: sofa <-> table depth=[0.904, 0.650, 0.759] + !! OVERLAP: sofa <-> floor depth=[2.135, -0.002, 0.921] + !! OVERLAP: sofa <-> floor depth=[1.222, -0.002, 0.841] + !! OVERLAP: chair <-> floor depth=[0.918, -0.002, 1.047] + !! OVERLAP: table <-> floor depth=[1.248, -0.002, 0.939] + !! OVERLAP: table <-> floor depth=[0.560, -0.002, 0.502] + !! OVERLAP: table <-> floor depth=[0.392, -0.002, 0.449] + !! OVERLAP: cabinet <-> floor depth=[2.022, -0.002, 0.455] + !! OVERLAP: tv_stand <-> floor depth=[1.360, -0.002, 0.376] +============================================================ + + +============================================================ +SCENE: LivingRoom-34874 | 6 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0735, Walkable Loss: 2.6503 (Center Penalty: 1.3517, C1 Heatmap: 1.1820, C2 Repulsion: 1.7653), Relational Loss: 0.0000 +Guided Steps: 10/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +sofa 3.568 0.842 1.596 -0.497 -0.001 1.274 179.96° +lamp 0.607 0.513 0.587 -0.632 2.073 0.441 -0.01° +table 1.644 0.530 1.290 -0.818 0.001 0.744 -0.00° +tv_stand 2.524 0.668 0.494 -0.987 0.000 -1.528 0.03° +floor 4.659 -0.004 3.911 -0.066 0.000 0.172 -0.04° +_scene_ 0.036 -0.003 0.017 -5.674 -0.005 -5.719 -57.33° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: sofa <-> table depth=[1.644, 0.530, 0.914] + !! OVERLAP: sofa <-> floor depth=[3.568, -0.004, 1.596] + !! OVERLAP: table <-> floor depth=[1.644, -0.004, 1.290] + !! OVERLAP: tv_stand <-> floor depth=[2.524, -0.004, 0.494] +============================================================ + + +============================================================ +SCENE: LivingDiningRoom-9632 | 14 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0812, Walkable Loss: 3.1093 (Center Penalty: 0.6640, C1 Heatmap: 1.0563, C2 Repulsion: 8.0013), Relational Loss: 0.0000 +Guided Steps: 10/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +lamp 0.669 0.841 0.656 -0.796 1.732 -1.933 -0.03° +sofa 2.212 0.878 0.832 -1.942 0.000 1.866 89.92° +table 1.450 0.677 1.159 -0.613 -0.001 1.980 -90.03° +tv_stand 1.808 0.462 0.397 1.290 -0.000 1.996 -90.00° +chair 0.796 0.887 0.866 -1.934 0.003 0.118 89.85° +chair 0.870 0.968 0.946 -1.575 -0.001 -0.703 179.93° +cabinet 0.579 0.938 0.360 1.611 0.001 0.252 -90.20° +table 1.616 0.742 1.159 -0.414 -0.000 -2.299 0.11° +chair 0.425 0.495 0.464 0.667 0.000 -0.105 0.02° +chair 0.426 0.454 0.471 -0.170 0.001 1.572 -89.97° +chair 0.435 0.465 0.405 -0.507 -0.000 2.357 179.93° +lamp 0.760 0.697 0.720 -0.581 2.019 1.395 -0.04° +floor 5.802 -0.013 6.142 -0.810 0.004 0.086 0.17° +_scene_ 0.070 0.000 0.022 -5.671 -0.005 -5.715 -57.31° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: sofa <-> table depth=[0.503, 0.677, 0.832] + !! OVERLAP: sofa <-> floor depth=[2.212, -0.013, 0.832] + !! OVERLAP: table <-> chair depth=[0.426, 0.454, 0.407] + !! OVERLAP: table <-> chair depth=[0.435, 0.465, 0.405] + !! OVERLAP: table <-> floor depth=[1.450, -0.013, 1.159] + !! OVERLAP: tv_stand <-> floor depth=[1.706, -0.013, 0.397] + !! OVERLAP: chair <-> chair depth=[0.473, 0.887, 0.085] + !! OVERLAP: chair <-> floor depth=[0.796, -0.013, 0.866] + !! OVERLAP: chair <-> floor depth=[0.870, -0.013, 0.946] + !! OVERLAP: cabinet <-> floor depth=[0.579, -0.013, 0.360] + !! OVERLAP: table <-> floor depth=[1.616, -0.013, 1.159] + !! OVERLAP: chair <-> floor depth=[0.425, -0.013, 0.464] + !! OVERLAP: chair <-> floor depth=[0.426, -0.013, 0.471] + !! OVERLAP: chair <-> floor depth=[0.435, -0.013, 0.405] +============================================================ + + +============================================================ +SCENE: LivingRoom-860 | 10 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 1.5774, Walkable Loss: 3.6309 (Center Penalty: 1.5092, C1 Heatmap: 1.0849, C2 Repulsion: 6.2694), Relational Loss: 0.0000 +Guided Steps: 10/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +table 1.979 0.726 1.383 0.500 0.002 -0.619 0.00° +chair 0.506 0.849 0.547 0.449 0.000 2.094 -179.87° +chair 0.443 0.867 0.483 0.081 -0.001 1.500 -179.91° +table 1.219 0.483 0.732 0.784 0.001 2.000 179.90° +sofa 1.953 0.851 0.843 1.317 0.001 -0.381 -90.05° +tv_stand 2.137 1.040 0.547 -1.513 -0.000 -0.850 90.00° +cabinet 0.915 1.218 0.291 0.582 -0.000 -2.215 0.00° +lamp 0.901 1.161 0.883 0.730 1.596 -0.304 -0.02° +floor 3.339 0.001 5.646 -0.019 0.001 -0.116 -0.02° +_scene_ 0.068 -0.000 0.020 -5.672 -0.005 -5.716 -57.30° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: table <-> sofa depth=[1.150, 0.726, 0.843] + !! OVERLAP: table <-> tv_stand depth=[0.045, 0.726, 0.547] + !! OVERLAP: table <-> floor depth=[1.979, 0.001, 1.383] + !! OVERLAP: chair <-> table depth=[0.506, 0.483, 0.545] + !! OVERLAP: chair <-> floor depth=[0.506, 0.001, 0.547] + !! OVERLAP: chair <-> table depth=[0.128, 0.483, 0.108] + !! OVERLAP: chair <-> floor depth=[0.443, 0.001, 0.483] + !! OVERLAP: table <-> floor depth=[1.219, 0.001, 0.732] + !! OVERLAP: sofa <-> floor depth=[1.310, 0.001, 0.843] + !! OVERLAP: tv_stand <-> floor depth=[1.245, 0.001, 0.547] + !! OVERLAP: cabinet <-> floor depth=[0.915, 0.001, 0.291] +============================================================ + + +============================================================ +SCENE: LivingDiningRoom-8304 | 18 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.1170, Walkable Loss: 3.8712 (Center Penalty: 0.2221, C1 Heatmap: 0.9931, C2 Repulsion: 14.2732), Relational Loss: 0.0000 +Guided Steps: 10/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +chair 1.008 1.137 1.000 -1.031 0.003 4.335 179.95° +sofa 2.595 0.897 1.067 -1.862 0.001 2.011 89.90° +chair 0.848 0.811 1.130 -0.688 0.005 1.866 53.74° +table 0.838 0.345 1.053 -0.775 0.001 2.194 -0.08° +tv_stand 1.663 0.896 0.430 0.671 0.002 2.528 -90.18° +table 0.514 0.548 0.530 -2.121 0.002 0.629 -0.02° +table 0.528 0.456 0.564 -2.051 -0.001 3.798 0.06° +cabinet 0.972 2.377 0.494 -2.007 -0.002 -1.132 0.11° +chair 0.637 0.984 0.699 1.480 0.001 -2.222 -89.92° +table 1.731 0.740 0.843 0.998 0.007 -3.050 90.01° +chair 0.555 1.035 0.705 1.712 -0.001 -3.360 -89.72° +chair 0.580 1.014 0.576 0.230 0.000 -2.678 90.03° +chair 0.627 0.994 0.625 0.249 0.002 -3.235 89.82° +bookshelf 1.539 2.151 0.333 -1.023 0.004 -3.373 -179.29° +lamp 0.701 0.591 0.709 -0.517 2.051 2.479 -0.00° +lamp 0.560 1.077 0.395 1.306 1.883 -3.044 0.01° +floor 5.170 0.000 8.897 -0.612 0.001 0.669 -0.01° +_scene_ 0.070 0.000 0.023 -5.674 -0.004 -5.715 -57.32° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: chair <-> floor depth=[1.008, 0.000, 1.000] + !! OVERLAP: sofa <-> chair depth=[0.548, 0.811, 0.953] + !! OVERLAP: sofa <-> table depth=[0.629, 0.345, 0.877] + !! OVERLAP: sofa <-> floor depth=[2.595, 0.000, 1.067] + !! OVERLAP: chair <-> table depth=[0.757, 0.345, 0.764] + !! OVERLAP: chair <-> floor depth=[0.848, 0.000, 1.130] + !! OVERLAP: table <-> floor depth=[0.838, 0.000, 1.053] + !! OVERLAP: tv_stand <-> floor depth=[1.663, 0.000, 0.430] + !! OVERLAP: table <-> floor depth=[0.514, 0.000, 0.530] + !! OVERLAP: table <-> floor depth=[0.528, 0.000, 0.564] + !! OVERLAP: cabinet <-> floor depth=[0.972, 0.000, 0.494] + !! OVERLAP: chair <-> floor depth=[0.637, 0.000, 0.699] + !! OVERLAP: table <-> chair depth=[0.429, 0.740, 0.463] + !! OVERLAP: table <-> chair depth=[0.387, 0.740, 0.337] + !! OVERLAP: table <-> chair depth=[0.429, 0.740, 0.549] + !! OVERLAP: table <-> floor depth=[1.731, 0.000, 0.843] + !! OVERLAP: chair <-> floor depth=[0.538, 0.000, 0.705] + !! OVERLAP: chair <-> chair depth=[0.580, 0.994, 0.044] + !! OVERLAP: chair <-> floor depth=[0.580, 0.000, 0.576] + !! OVERLAP: chair <-> floor depth=[0.627, 0.000, 0.625] + !! OVERLAP: bookshelf <-> floor depth=[1.539, 0.000, 0.333] +============================================================ + + +============================================================ +SCENE: LivingDiningRoom-13962 | 14 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.2865, Walkable Loss: 4.0330 (Center Penalty: 1.2534, C1 Heatmap: 0.9868, C2 Repulsion: 9.9508), Relational Loss: 0.0000 +Guided Steps: 10/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +lamp 0.647 1.413 0.678 -0.203 1.602 0.635 0.05° +tv_stand 2.083 0.453 0.457 1.005 0.001 1.849 -89.99° +table 0.471 0.298 0.445 -0.136 -0.000 1.243 -90.16° +table 0.423 0.447 0.341 -1.674 0.003 2.656 90.04° +table 0.579 0.511 0.564 -1.498 0.001 -0.572 0.02° +sofa 2.128 0.864 0.972 -1.503 -0.001 1.153 90.06° +chair 0.911 0.727 0.764 -0.199 -0.001 2.554 179.96° +chair 0.618 0.743 0.594 -0.243 0.002 -2.535 89.96° +chair 0.577 0.772 0.556 -0.288 0.002 -2.134 89.95° +chair 0.652 0.782 0.681 1.435 0.002 -2.440 -90.18° +chair 0.653 0.716 0.666 1.174 0.002 -2.176 -90.12° +table 1.763 0.741 0.717 0.479 -0.001 -2.106 -89.95° +floor 4.261 -0.000 6.915 -0.083 -0.000 0.299 -0.06° +_scene_ 0.068 0.000 0.020 -5.672 -0.005 -5.716 -57.29° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: tv_stand <-> floor depth=[2.083, -0.000, 0.457] + !! OVERLAP: table <-> floor depth=[0.471, -0.000, 0.445] + !! OVERLAP: table <-> floor depth=[0.423, -0.000, 0.341] + !! OVERLAP: table <-> floor depth=[0.579, -0.000, 0.564] + !! OVERLAP: sofa <-> floor depth=[1.775, -0.000, 0.972] + !! OVERLAP: chair <-> floor depth=[0.911, -0.000, 0.764] + !! OVERLAP: chair <-> chair depth=[0.552, 0.743, 0.174] + !! OVERLAP: chair <-> table depth=[0.468, 0.740, 0.226] + !! OVERLAP: chair <-> floor depth=[0.618, -0.000, 0.594] + !! OVERLAP: chair <-> table depth=[0.403, 0.741, 0.556] + !! OVERLAP: chair <-> floor depth=[0.577, -0.000, 0.556] + !! OVERLAP: chair <-> chair depth=[0.392, 0.716, 0.409] + !! OVERLAP: chair <-> table depth=[0.252, 0.741, 0.364] + !! OVERLAP: chair <-> floor depth=[0.652, -0.000, 0.681] + !! OVERLAP: chair <-> table depth=[0.513, 0.716, 0.622] + !! OVERLAP: chair <-> floor depth=[0.653, -0.000, 0.666] + !! OVERLAP: table <-> floor depth=[1.763, -0.000, 0.717] +============================================================ + + +============================================================ +SCENE: LivingRoom-41893 | 11 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0000, Walkable Loss: 4.2641 (Center Penalty: 1.4970, C1 Heatmap: 1.1172, C2 Repulsion: 9.3665), Relational Loss: 0.0000 +Guided Steps: 10/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +sofa 2.236 0.723 0.898 1.358 -0.001 0.601 -179.96° +chair 0.617 0.756 0.640 2.241 0.003 -0.206 -103.44° +table 0.794 0.509 0.762 0.125 -0.000 0.788 179.99° +chair 0.515 1.021 0.606 -1.298 -0.001 0.038 -89.89° +chair 0.610 1.023 0.666 -1.990 0.000 -0.314 90.00° +table 2.156 0.808 1.111 -0.953 0.001 0.212 90.04° +table 1.359 0.440 1.370 1.603 -0.000 -0.730 -0.02° +lamp 0.446 0.946 0.497 1.483 1.594 -0.754 -0.00° +lamp 0.304 0.919 0.265 -1.181 1.657 0.579 -0.02° +floor 5.947 0.002 2.831 0.148 -0.001 -0.026 0.04° +_scene_ 0.077 0.000 0.019 -5.670 -0.005 -5.711 -57.29° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: sofa <-> table depth=[0.282, 0.509, 0.643] + !! OVERLAP: sofa <-> floor depth=[2.236, 0.002, 0.898] + !! OVERLAP: chair <-> table depth=[0.350, 0.440, 0.481] + !! OVERLAP: chair <-> floor depth=[0.617, 0.002, 0.640] + !! OVERLAP: table <-> table depth=[0.397, 0.509, 0.361] + !! OVERLAP: table <-> floor depth=[0.794, 0.002, 0.762] + !! OVERLAP: chair <-> table depth=[0.515, 0.808, 0.606] + !! OVERLAP: chair <-> floor depth=[0.515, 0.002, 0.606] + !! OVERLAP: chair <-> table depth=[0.346, 0.808, 0.363] + !! OVERLAP: chair <-> floor depth=[0.610, 0.002, 0.666] + !! OVERLAP: table <-> floor depth=[2.156, 0.002, 1.111] + !! OVERLAP: table <-> floor depth=[1.359, 0.002, 1.370] +============================================================ + + +============================================================ +SCENE: LivingRoom-18042 | 6 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0753, Walkable Loss: 1.9091 (Center Penalty: 1.3035, C1 Heatmap: 0.6002, C2 Repulsion: 0.6274), Relational Loss: 0.0000 +Guided Steps: 10/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +sofa 2.332 0.771 0.956 0.628 0.000 -1.410 -0.02° +table 1.128 0.445 1.103 0.759 0.001 0.577 -0.00° +lamp 0.860 0.747 0.831 1.040 1.928 0.080 0.02° +table 1.493 1.275 0.450 -1.583 0.001 0.713 89.92° +floor 4.465 -0.002 5.105 -0.012 0.001 0.010 -0.02° +_scene_ 0.089 0.006 0.098 -5.631 -0.004 -5.699 -57.23° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: sofa <-> floor depth=[2.332, -0.002, 0.956] + !! OVERLAP: table <-> floor depth=[1.128, -0.002, 1.103] + !! OVERLAP: table <-> floor depth=[1.408, -0.002, 0.450] +============================================================ + + +============================================================ +SCENE: LivingDiningRoom-26816 | 17 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.6169, Walkable Loss: 5.1936 (Center Penalty: 2.0270, C1 Heatmap: 0.9887, C2 Repulsion: 11.8781), Relational Loss: 0.0000 +Guided Steps: 10/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +sofa 2.228 0.973 1.020 1.254 -0.001 -0.887 -90.45° +table 1.229 0.417 0.963 -0.107 0.002 -0.611 0.05° +table 0.548 0.681 0.533 1.600 0.001 -2.851 -90.02° +table 0.470 0.616 0.481 1.568 0.000 0.577 -90.35° +chair 1.017 0.706 0.877 -0.050 -0.000 0.787 -179.90° +chair 0.702 0.361 0.557 -0.133 0.002 -2.147 -0.01° +table 1.582 0.752 0.941 -0.076 0.004 2.746 -89.79° +chair 0.489 0.844 0.546 0.602 0.002 3.188 -90.22° +chair 0.580 0.842 0.557 0.504 0.000 2.171 -99.65° +chair 0.472 0.881 0.523 -0.401 0.006 3.318 179.78° +chair 0.581 0.864 0.572 -0.543 0.002 2.196 89.98° +lamp 0.286 0.659 0.182 0.220 1.876 2.799 0.09° +lamp 0.586 0.987 0.600 -0.149 1.800 -0.979 -0.02° +bookshelf 1.134 2.631 0.282 1.283 0.000 -3.728 0.11° +bookshelf 2.137 2.350 0.103 -0.535 0.018 -3.852 -0.02° +floor 3.706 -0.001 7.741 0.039 0.000 -0.095 -0.03° +_scene_ 0.068 0.001 0.018 -5.670 -0.005 -5.717 -57.31° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: sofa <-> table depth=[0.368, 0.417, 0.715] + !! OVERLAP: sofa <-> floor depth=[1.751, -0.001, 1.020] + !! OVERLAP: table <-> floor depth=[1.229, -0.001, 0.963] + !! OVERLAP: table <-> floor depth=[0.548, -0.001, 0.533] + !! OVERLAP: table <-> floor depth=[0.470, -0.001, 0.481] + !! OVERLAP: chair <-> floor depth=[1.017, -0.001, 0.877] + !! OVERLAP: chair <-> floor depth=[0.702, -0.001, 0.557] + !! OVERLAP: table <-> chair depth=[0.357, 0.752, 0.301] + !! OVERLAP: table <-> chair depth=[0.501, 0.752, 0.173] + !! OVERLAP: table <-> chair depth=[0.472, 0.752, 0.160] + !! OVERLAP: table <-> chair depth=[0.581, 0.752, 0.206] + !! OVERLAP: table <-> floor depth=[1.582, -0.001, 0.941] + !! OVERLAP: chair <-> floor depth=[0.489, -0.001, 0.546] + !! OVERLAP: chair <-> floor depth=[0.580, -0.001, 0.557] + !! OVERLAP: chair <-> floor depth=[0.472, -0.001, 0.523] + !! OVERLAP: chair <-> floor depth=[0.581, -0.001, 0.572] + !! OVERLAP: bookshelf <-> floor depth=[1.134, -0.001, 0.282] + !! OVERLAP: bookshelf <-> floor depth=[2.137, -0.001, 0.103] +============================================================ + + +============================================================ +SCENE: LivingDiningRoom-17385 | 12 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0000, Walkable Loss: 3.9173 (Center Penalty: 1.1284, C1 Heatmap: 1.1135, C2 Repulsion: 9.4902), Relational Loss: 0.0000 +Guided Steps: 10/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +sofa 2.313 0.886 0.895 1.496 0.000 1.114 179.94° +table 1.024 0.496 1.214 1.399 0.002 0.002 179.99° +tv_stand 2.122 0.947 0.495 1.411 -0.002 -1.334 -0.01° +table 2.155 0.748 0.969 -1.337 0.004 0.682 90.02° +chair 0.536 1.094 0.561 -0.670 0.000 1.369 -89.96° +chair 0.506 1.076 0.574 -0.798 0.001 0.735 -90.12° +chair 0.609 1.117 0.643 -1.991 0.001 1.204 89.93° +chair 0.514 1.063 0.492 -1.764 0.001 0.712 89.94° +lamp 0.835 0.974 0.882 1.345 1.643 0.181 -0.02° +lamp 0.366 0.844 0.298 -1.170 2.371 0.256 0.00° +floor 5.219 -0.001 3.264 0.267 -0.001 0.081 0.02° +_scene_ 0.073 0.000 0.022 -5.666 -0.004 -5.711 -57.32° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: sofa <-> floor depth=[2.313, -0.001, 0.895] + !! OVERLAP: table <-> floor depth=[1.024, -0.001, 1.214] + !! OVERLAP: tv_stand <-> floor depth=[2.122, -0.001, 0.463] + !! OVERLAP: table <-> chair depth=[0.536, 0.748, 0.077] + !! OVERLAP: table <-> chair depth=[0.506, 0.748, 0.574] + !! OVERLAP: table <-> chair depth=[0.609, 0.748, 0.284] + !! OVERLAP: table <-> chair depth=[0.514, 0.748, 0.492] + !! OVERLAP: table <-> floor depth=[2.083, -0.001, 0.969] + !! OVERLAP: chair <-> floor depth=[0.536, -0.001, 0.561] + !! OVERLAP: chair <-> floor depth=[0.506, -0.001, 0.574] + !! OVERLAP: chair <-> chair depth=[0.335, 1.063, 0.075] + !! OVERLAP: chair <-> floor depth=[0.609, -0.001, 0.643] + !! OVERLAP: chair <-> floor depth=[0.514, -0.001, 0.492] +============================================================ + + +============================================================ +SCENE: LivingRoom-31397 | 9 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.7445, Walkable Loss: 3.4166 (Center Penalty: 2.2827, C1 Heatmap: 0.6724, C2 Repulsion: 2.9800), Relational Loss: 0.0000 +Guided Steps: 10/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +tv_stand 1.789 0.555 0.402 1.440 -0.001 1.325 -90.16° +table 0.581 1.043 0.370 -1.330 0.003 1.802 89.97° +sofa 1.827 0.866 0.924 -0.971 -0.006 0.235 90.03° +table 0.972 0.353 0.574 0.408 0.001 0.634 89.95° +chair 0.809 0.756 0.888 -0.388 -0.002 2.187 -179.86° +bookshelf 1.155 1.789 0.355 -1.219 0.000 -2.094 89.86° +lamp 0.577 0.900 0.572 0.101 2.353 0.377 -0.02° +floor 3.585 -0.001 6.895 0.020 -0.001 0.023 -0.03° +_scene_ 0.066 0.000 0.019 -5.672 -0.005 -5.714 -57.30° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: tv_stand <-> floor depth=[1.268, -0.001, 0.402] + !! OVERLAP: table <-> floor depth=[0.581, -0.001, 0.370] + !! OVERLAP: sofa <-> table depth=[0.020, 0.353, 0.351] + !! OVERLAP: sofa <-> floor depth=[1.714, -0.001, 0.924] + !! OVERLAP: table <-> floor depth=[0.972, -0.001, 0.574] + !! OVERLAP: chair <-> floor depth=[0.809, -0.001, 0.888] + !! OVERLAP: bookshelf <-> floor depth=[1.131, -0.001, 0.355] +============================================================ + + +============================================================ +SCENE: LivingDiningRoom-14432 | 17 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.1896, Walkable Loss: 5.2181 (Center Penalty: 0.7180, C1 Heatmap: 1.4374, C2 Repulsion: 16.7506), Relational Loss: 0.0000 +Guided Steps: 10/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +table 1.651 0.986 0.530 2.569 -0.001 -2.213 0.01° +shelf 0.330 1.796 0.320 2.572 -0.000 -1.216 0.09° +table 1.929 0.732 1.368 1.576 0.001 1.795 -0.01° +table 1.236 0.717 1.247 1.383 0.000 1.705 -0.05° +chair 0.479 1.105 0.557 2.499 0.002 1.813 -89.95° +chair 0.554 1.074 0.622 0.972 -0.001 2.040 90.00° +chair 0.541 1.097 0.622 1.820 0.000 0.822 0.00° +chair 0.550 1.094 0.663 1.186 0.002 0.930 89.79° +table 0.542 0.622 0.385 -0.136 0.001 -0.883 -0.05° +sofa 2.634 0.815 1.286 -1.537 0.003 -1.355 89.97° +table 1.062 0.432 1.033 -1.288 -0.001 0.157 -0.04° +tv_stand 2.094 0.541 0.410 -1.288 0.000 2.830 179.97° +lamp 0.366 0.771 0.388 1.273 1.909 -1.163 -0.06° +lamp 0.266 1.121 0.234 1.195 1.399 1.984 -0.01° +lamp 0.221 0.716 0.223 -1.882 1.909 0.463 0.06° +floor 6.159 -0.005 5.756 0.161 0.002 0.588 -0.00° +_scene_ 0.069 -0.000 0.020 -5.671 -0.005 -5.715 -57.26° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: table <-> floor depth=[1.497, -0.005, 0.341] + !! OVERLAP: shelf <-> floor depth=[0.330, -0.005, 0.320] + !! OVERLAP: table <-> table depth=[1.236, 0.717, 1.218] + !! OVERLAP: table <-> chair depth=[0.282, 0.732, 0.557] + !! OVERLAP: table <-> chair depth=[0.554, 0.732, 0.622] + !! OVERLAP: table <-> chair depth=[0.541, 0.732, 0.022] + !! OVERLAP: table <-> chair depth=[0.550, 0.732, 0.150] + !! OVERLAP: table <-> floor depth=[1.929, -0.005, 1.368] + !! OVERLAP: table <-> chair depth=[0.484, 0.717, 0.600] + !! OVERLAP: table <-> chair depth=[0.452, 0.717, 0.051] + !! OVERLAP: table <-> chair depth=[0.550, 0.717, 0.180] + !! OVERLAP: table <-> floor depth=[1.236, -0.005, 1.247] + !! OVERLAP: chair <-> floor depth=[0.479, -0.005, 0.557] + !! OVERLAP: chair <-> floor depth=[0.554, -0.005, 0.622] + !! OVERLAP: chair <-> floor depth=[0.541, -0.005, 0.622] + !! OVERLAP: chair <-> floor depth=[0.550, -0.005, 0.663] + !! OVERLAP: table <-> sofa depth=[0.188, 0.622, 0.364] + !! OVERLAP: table <-> floor depth=[0.542, -0.005, 0.385] + !! OVERLAP: sofa <-> floor depth=[2.634, -0.005, 1.286] + !! OVERLAP: table <-> floor depth=[1.062, -0.005, 1.033] + !! OVERLAP: tv_stand <-> floor depth=[2.094, -0.005, 0.410] +============================================================ + + +============================================================ +SCENE: LivingRoom-5361 | 12 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0000, Walkable Loss: 4.9832 (Center Penalty: 1.3447, C1 Heatmap: 1.1998, C2 Repulsion: 13.3935), Relational Loss: 0.0000 +Guided Steps: 10/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +sofa 2.247 0.837 0.989 1.301 0.001 1.105 179.94° +chair 1.023 0.749 1.079 1.810 0.004 0.648 168.07° +table 1.104 0.454 1.229 0.931 -0.001 -0.830 -0.04° +table 1.241 0.354 1.171 1.154 -0.001 0.138 -0.05° +bookshelf 0.742 1.898 0.251 1.929 0.001 1.309 -90.15° +table 1.598 0.727 1.304 -1.201 0.002 1.167 89.95° +chair 0.519 0.772 0.519 -1.582 -0.001 0.323 0.02° +chair 0.579 0.786 0.566 -1.094 0.001 1.438 -89.89° +chair 0.551 0.783 0.530 -1.554 0.002 1.421 179.89° +lamp 0.480 0.750 0.495 0.807 1.848 0.022 -0.03° +floor 6.107 -0.001 3.847 0.132 -0.001 0.150 0.03° +_scene_ 0.070 0.001 0.022 -5.671 -0.005 -5.711 -57.30° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: sofa <-> chair depth=[1.023, 0.749, 0.577] + !! OVERLAP: sofa <-> table depth=[1.241, 0.354, 0.113] + !! OVERLAP: sofa <-> bookshelf depth=[0.742, 0.837, 0.251] + !! OVERLAP: sofa <-> floor depth=[2.247, -0.001, 0.989] + !! OVERLAP: chair <-> table depth=[0.476, 0.354, 0.615] + !! OVERLAP: chair <-> bookshelf depth=[0.742, 0.749, 0.004] + !! OVERLAP: chair <-> floor depth=[1.023, -0.001, 1.079] + !! OVERLAP: table <-> table depth=[0.949, 0.354, 0.232] + !! OVERLAP: table <-> floor depth=[1.104, -0.001, 1.229] + !! OVERLAP: table <-> floor depth=[1.241, -0.001, 1.171] + !! OVERLAP: bookshelf <-> floor depth=[0.742, -0.001, 0.251] + !! OVERLAP: table <-> chair depth=[0.519, 0.727, 0.067] + !! OVERLAP: table <-> chair depth=[0.579, 0.727, 0.566] + !! OVERLAP: table <-> chair depth=[0.551, 0.727, 0.530] + !! OVERLAP: table <-> floor depth=[1.598, -0.001, 1.304] + !! OVERLAP: chair <-> floor depth=[0.519, -0.001, 0.519] + !! OVERLAP: chair <-> chair depth=[0.105, 0.783, 0.530] + !! OVERLAP: chair <-> floor depth=[0.579, -0.001, 0.566] + !! OVERLAP: chair <-> floor depth=[0.551, -0.001, 0.530] +============================================================ + + +============================================================ +SCENE: LivingRoom-5655 | 11 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.6636, Walkable Loss: 3.7204 (Center Penalty: 1.1075, C1 Heatmap: 1.1585, C2 Repulsion: 8.4307), Relational Loss: 0.0000 +Guided Steps: 10/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +tv_stand 2.220 0.534 0.473 1.209 0.001 1.297 -90.03° +sofa 2.263 0.960 1.020 -1.022 0.004 1.480 89.97° +table 1.155 0.509 1.228 -0.389 0.000 1.321 90.10° +lamp 0.456 0.742 0.418 -0.315 1.990 1.179 -0.01° +table 1.877 0.723 1.267 -0.770 -0.002 -2.099 -92.08° +chair 0.531 0.812 0.573 -1.437 0.001 -2.296 0.05° +chair 0.547 0.829 0.591 -0.317 0.000 -2.441 -90.16° +chair 0.646 0.873 0.684 -1.309 0.000 -1.225 -179.99° +chair 0.613 0.818 0.681 -0.711 -0.000 -1.277 -180.00° +floor 3.771 -0.001 5.843 -0.071 0.001 -0.159 -0.00° +_scene_ 0.069 0.002 0.022 -5.666 -0.005 -5.709 -57.30° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: tv_stand <-> sofa depth=[0.011, 0.534, 0.473] + !! OVERLAP: tv_stand <-> table depth=[0.090, 0.509, 0.473] + !! OVERLAP: tv_stand <-> floor depth=[1.716, -0.001, 0.473] + !! OVERLAP: sofa <-> table depth=[1.076, 0.509, 0.965] + !! OVERLAP: sofa <-> floor depth=[2.066, -0.001, 1.020] + !! OVERLAP: table <-> floor depth=[1.155, -0.001, 1.228] + !! OVERLAP: table <-> chair depth=[0.531, 0.723, 0.573] + !! OVERLAP: table <-> chair depth=[0.547, 0.723, 0.587] + !! OVERLAP: table <-> chair depth=[0.646, 0.723, 0.101] + !! OVERLAP: table <-> chair depth=[0.613, 0.723, 0.152] + !! OVERLAP: table <-> floor depth=[1.877, -0.001, 1.267] + !! OVERLAP: chair <-> floor depth=[0.531, -0.001, 0.573] + !! OVERLAP: chair <-> floor depth=[0.547, -0.001, 0.591] + !! OVERLAP: chair <-> chair depth=[0.032, 0.818, 0.630] + !! OVERLAP: chair <-> floor depth=[0.646, -0.001, 0.684] + !! OVERLAP: chair <-> floor depth=[0.613, -0.001, 0.681] +============================================================ + + +============================================================ +SCENE: LivingRoom-55 | 10 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0000, Walkable Loss: 3.7700 (Center Penalty: 2.3269, C1 Heatmap: 0.9769, C2 Repulsion: 3.3075), Relational Loss: 0.0000 +Guided Steps: 10/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +sofa 2.558 0.831 0.968 -0.317 0.001 1.595 -179.97° +table 0.584 0.664 0.523 1.755 0.001 1.565 179.95° +table 0.539 0.701 0.468 -2.176 -0.000 1.689 179.93° +chair 0.736 0.811 0.769 2.008 0.000 0.114 -54.59° +table 1.353 1.179 0.871 -0.526 0.004 0.204 -179.97° +tv_stand 2.306 0.306 0.450 -0.158 0.000 -1.772 0.03° +lamp 1.362 1.051 0.959 -0.276 1.778 -0.148 -0.01° +chair 0.603 0.797 0.606 -2.233 0.003 -0.058 8.14° +floor 6.429 -0.002 4.186 -0.340 0.001 -0.029 0.01° +_scene_ 0.061 -0.001 0.025 -5.671 -0.005 -5.712 -57.28° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: sofa <-> floor depth=[2.558, -0.002, 0.953] + !! OVERLAP: table <-> floor depth=[0.584, -0.002, 0.523] + !! OVERLAP: table <-> floor depth=[0.539, -0.002, 0.468] + !! OVERLAP: chair <-> floor depth=[0.736, -0.002, 0.769] + !! OVERLAP: table <-> floor depth=[1.353, -0.002, 0.871] + !! OVERLAP: tv_stand <-> floor depth=[2.306, -0.002, 0.450] + !! OVERLAP: chair <-> floor depth=[0.603, -0.002, 0.606] +============================================================ + + +============================================================ +SCENE: LivingDiningRoom-941 | 15 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0000, Walkable Loss: 4.0345 (Center Penalty: 1.4151, C1 Heatmap: 0.9432, C2 Repulsion: 9.3241), Relational Loss: 0.0000 +Guided Steps: 10/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +sofa 2.303 0.843 0.913 1.895 0.001 1.098 179.97° +table 0.871 0.775 0.799 2.367 0.003 -0.366 -89.90° +chair 0.886 0.755 0.903 3.304 0.001 -0.455 -89.71° +table 0.713 0.364 0.633 0.041 0.001 1.106 -0.02° +lamp 0.640 0.885 0.728 1.534 2.006 -0.712 0.16° +chair 0.542 0.750 0.596 -1.754 0.002 -2.006 -0.03° +chair 0.511 0.765 0.565 -0.764 0.000 -0.733 -89.99° +chair 0.527 0.789 0.534 -1.686 0.003 -0.218 179.92° +table 1.483 0.743 1.355 -1.414 -0.001 -0.705 0.05° +lamp 0.427 0.707 0.420 -1.738 2.040 -1.087 0.02° +table 1.204 1.163 0.436 -3.024 0.003 0.979 89.96° +chair 0.627 0.703 0.578 -2.519 0.002 -0.830 89.97° +chair 0.426 0.347 0.399 0.673 0.003 -0.341 90.03° +floor 8.142 -0.009 4.165 0.259 -0.001 -0.105 0.01° +_scene_ 0.067 0.002 0.026 -5.670 -0.005 -5.708 -57.29° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: sofa <-> floor depth=[2.303, -0.009, 0.913] + !! OVERLAP: table <-> floor depth=[0.871, -0.009, 0.799] + !! OVERLAP: chair <-> floor depth=[0.886, -0.009, 0.903] + !! OVERLAP: table <-> floor depth=[0.713, -0.009, 0.633] + !! OVERLAP: chair <-> floor depth=[0.542, -0.009, 0.479] + !! OVERLAP: chair <-> table depth=[0.346, 0.743, 0.565] + !! OVERLAP: chair <-> floor depth=[0.511, -0.009, 0.565] + !! OVERLAP: chair <-> table depth=[0.527, 0.743, 0.458] + !! OVERLAP: chair <-> floor depth=[0.527, -0.009, 0.534] + !! OVERLAP: table <-> floor depth=[1.483, -0.009, 1.355] + !! OVERLAP: table <-> floor depth=[1.204, -0.009, 0.436] + !! OVERLAP: chair <-> floor depth=[0.627, -0.009, 0.578] + !! OVERLAP: chair <-> floor depth=[0.426, -0.009, 0.399] +============================================================ + + +============================================================ +SCENE: LivingRoom-2715 | 15 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.5017, Walkable Loss: 4.6372 (Center Penalty: 0.7194, C1 Heatmap: 1.4697, C2 Repulsion: 13.7104), Relational Loss: 0.0000 +Guided Steps: 10/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +lamp 1.186 0.952 1.157 -0.509 1.709 1.623 -0.02° +table 1.515 0.353 1.249 -1.108 -0.001 1.713 89.96° +tv_stand 1.874 0.672 0.481 0.878 -0.000 1.620 -89.96° +sofa 2.761 0.810 1.570 -1.073 -0.000 1.726 90.04° +table 1.924 0.735 1.363 -1.069 -0.001 -2.658 -0.04° +table 1.847 0.504 0.793 -1.108 0.003 3.054 -166.75° +table 1.332 0.386 1.084 -1.262 -0.001 -0.984 0.03° +chair 0.546 0.994 0.630 -1.620 -0.002 -1.905 -179.97° +chair 0.435 0.953 0.378 -1.056 0.002 -2.114 -137.82° +chair 0.481 0.946 0.523 -1.724 -0.002 -3.129 -0.00° +chair 0.566 0.864 0.557 -0.701 0.001 -2.941 -71.13° +lamp 1.196 1.034 0.817 -1.460 1.682 -2.462 -0.04° +table 0.385 1.384 0.486 1.023 0.003 -0.579 -90.04° +floor 3.996 0.002 7.064 -0.383 0.001 0.239 -0.13° +_scene_ 0.071 -0.001 0.027 -5.668 -0.004 -5.714 -57.27° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: table <-> sofa depth=[1.515, 0.353, 1.249] + !! OVERLAP: table <-> floor depth=[1.515, 0.002, 1.249] + !! OVERLAP: tv_stand <-> sofa depth=[0.366, 0.672, 0.481] + !! OVERLAP: tv_stand <-> floor depth=[1.673, 0.002, 0.481] + !! OVERLAP: sofa <-> floor depth=[2.688, 0.002, 1.570] + !! OVERLAP: table <-> chair depth=[0.546, 0.735, 0.244] + !! OVERLAP: table <-> chair depth=[0.435, 0.735, 0.327] + !! OVERLAP: table <-> chair depth=[0.481, 0.735, 0.472] + !! OVERLAP: table <-> chair depth=[0.566, 0.735, 0.557] + !! OVERLAP: table <-> floor depth=[1.924, 0.002, 1.317] + !! OVERLAP: table <-> floor depth=[1.847, 0.002, 0.793] + !! OVERLAP: table <-> floor depth=[1.332, 0.002, 1.084] + !! OVERLAP: chair <-> floor depth=[0.546, 0.002, 0.630] + !! OVERLAP: chair <-> floor depth=[0.435, 0.002, 0.378] + !! OVERLAP: chair <-> floor depth=[0.481, 0.002, 0.426] + !! OVERLAP: chair <-> floor depth=[0.566, 0.002, 0.557] + !! OVERLAP: table <-> floor depth=[0.385, 0.002, 0.486] +============================================================ + + +============================================================ +SCENE: LivingDiningRoom-10201 | 13 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0915, Walkable Loss: 2.4002 (Center Penalty: 0.8783, C1 Heatmap: 0.8819, C2 Repulsion: 4.0817), Relational Loss: 0.0000 +Guided Steps: 10/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +tv_stand 2.485 0.841 0.483 -1.706 0.001 -1.562 90.02° +table 0.342 0.275 0.391 0.096 0.000 -2.358 -90.01° +lamp 0.516 0.790 0.521 0.197 2.037 -2.237 -0.02° +lamp 0.914 0.896 0.937 1.018 1.789 2.381 0.13° +sofa 2.584 0.790 1.358 1.781 -0.000 -2.063 -90.06° +table 0.607 0.742 0.569 -0.076 0.001 2.918 0.04° +chair 0.587 0.899 0.622 -0.508 0.001 2.297 89.83° +chair 0.442 0.959 0.503 -0.507 -0.000 3.150 90.07° +chair 0.483 0.800 0.546 1.696 0.000 2.169 -90.00° +chair 0.493 0.987 0.560 1.674 -0.001 3.154 -90.27° +table 1.281 0.458 1.044 1.530 -0.001 -0.545 -89.85° +floor 5.883 -0.004 7.499 0.023 0.002 0.312 -0.07° +_scene_ 0.068 -0.000 0.020 -5.672 -0.005 -5.716 -57.31° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: tv_stand <-> floor depth=[2.455, -0.004, 0.483] + !! OVERLAP: table <-> floor depth=[0.342, -0.004, 0.391] + !! OVERLAP: sofa <-> floor depth=[2.476, -0.004, 1.358] + !! OVERLAP: table <-> chair depth=[0.093, 0.742, 0.304] + !! OVERLAP: table <-> floor depth=[0.607, -0.004, 0.569] + !! OVERLAP: chair <-> floor depth=[0.587, -0.004, 0.622] + !! OVERLAP: chair <-> floor depth=[0.442, -0.004, 0.503] + !! OVERLAP: chair <-> floor depth=[0.483, -0.004, 0.546] + !! OVERLAP: chair <-> floor depth=[0.493, -0.004, 0.560] + !! OVERLAP: table <-> floor depth=[1.281, -0.004, 1.044] +============================================================ + + +============================================================ +SCENE: LivingRoom-24701 | 8 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0000, Walkable Loss: 3.1344 (Center Penalty: 1.2802, C1 Heatmap: 0.8888, C2 Repulsion: 5.7158), Relational Loss: 0.0000 +Guided Steps: 10/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +table 0.613 0.602 0.656 1.966 -0.001 1.404 -89.99° +tv_stand 2.417 0.545 0.417 -1.413 0.002 0.333 90.01° +table 1.689 1.818 0.536 0.624 -0.003 -0.678 -179.88° +table 0.671 0.543 0.627 1.869 0.002 -1.602 -0.05° +sofa 1.901 0.824 0.921 1.891 -0.001 -0.095 -90.05° +chair 0.852 0.948 0.836 0.836 0.000 0.820 -116.85° +floor 5.655 -0.003 5.109 0.052 0.001 0.167 -0.01° +_scene_ 0.051 0.024 0.169 -5.452 0.009 -5.518 -58.28° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: table <-> floor depth=[0.613, -0.003, 0.656] + !! OVERLAP: tv_stand <-> floor depth=[2.417, -0.003, 0.417] + !! OVERLAP: table <-> sofa depth=[0.528, 0.824, 0.146] + !! OVERLAP: table <-> floor depth=[1.689, -0.003, 0.536] + !! OVERLAP: table <-> floor depth=[0.671, -0.003, 0.627] + !! OVERLAP: sofa <-> floor depth=[1.901, -0.003, 0.921] + !! OVERLAP: chair <-> floor depth=[0.852, -0.003, 0.836] +============================================================ + + +============================================================ +SCENE: LivingDiningRoom-11440 | 13 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.5285, Walkable Loss: 3.0503 (Center Penalty: 1.2070, C1 Heatmap: 0.8416, C2 Repulsion: 5.8496), Relational Loss: 0.0000 +Guided Steps: 10/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +sofa 2.168 0.943 1.134 1.436 -0.002 1.745 -90.27° +table 1.193 0.701 0.905 -0.559 0.003 2.049 81.40° +tv_stand 2.182 0.781 0.437 -1.242 0.005 0.655 89.95° +table 1.054 0.602 0.550 0.686 -0.002 -1.112 90.04° +chair 0.484 0.694 0.450 0.378 0.000 -0.369 89.88° +chair 0.452 0.631 0.457 0.210 0.001 -1.412 0.01° +chair 0.517 0.564 0.453 1.564 0.002 -0.714 179.95° +chair 0.429 0.668 0.529 1.588 0.002 -1.813 -0.01° +cabinet 0.838 1.107 0.339 0.046 -0.001 -3.137 0.01° +lamp 0.823 0.836 0.516 -0.019 1.796 1.276 -0.00° +lamp 0.278 1.082 0.302 1.169 1.872 -1.161 0.01° +floor 4.222 -0.000 8.166 0.108 0.001 0.531 -0.10° +_scene_ 0.069 0.001 0.022 -5.668 -0.005 -5.711 -57.30° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: sofa <-> floor depth=[1.868, -0.000, 1.134] + !! OVERLAP: table <-> floor depth=[1.193, -0.000, 0.905] + !! OVERLAP: tv_stand <-> floor depth=[1.852, -0.000, 0.437] + !! OVERLAP: table <-> chair depth=[0.277, 0.602, 0.204] + !! OVERLAP: table <-> floor depth=[1.054, -0.000, 0.550] + !! OVERLAP: chair <-> floor depth=[0.484, -0.000, 0.450] + !! OVERLAP: chair <-> floor depth=[0.452, -0.000, 0.457] + !! OVERLAP: chair <-> floor depth=[0.517, -0.000, 0.453] + !! OVERLAP: chair <-> floor depth=[0.429, -0.000, 0.529] + !! OVERLAP: cabinet <-> floor depth=[0.838, -0.000, 0.339] +============================================================ + + +============================================================ +SCENE: LivingRoom-37001 | 13 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.4032, Walkable Loss: 3.7491 (Center Penalty: 1.5392, C1 Heatmap: 0.9381, C2 Repulsion: 7.2967), Relational Loss: 0.0000 +Guided Steps: 10/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +sofa 3.248 0.801 1.633 1.140 -0.001 -0.708 0.05° +table 1.380 0.495 0.540 0.637 0.002 -0.378 -0.01° +shelf 0.417 2.139 0.267 3.398 -0.009 -1.027 -0.04° +cabinet 0.820 1.172 0.430 -1.489 0.002 1.435 -179.97° +table 1.277 0.766 0.648 -3.333 0.005 -0.583 89.96° +chair 0.585 0.769 0.530 -3.379 0.002 -0.567 89.93° +chair 0.548 0.766 0.516 -3.491 0.003 -1.111 90.04° +chair 0.569 0.701 0.617 -1.960 0.000 -0.450 -90.02° +chair 0.571 0.682 0.586 -1.949 -0.000 -1.095 -90.08° +lamp 0.777 0.825 0.829 1.125 1.725 -0.042 -0.00° +lamp 0.847 0.935 0.815 -3.119 1.778 -0.618 -0.04° +floor 7.309 -0.005 3.340 -0.007 0.000 -0.132 -0.03° +_scene_ 0.068 -0.001 0.019 -5.674 -0.004 -5.713 -57.30° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: sofa <-> table depth=[1.380, 0.495, 0.540] + !! OVERLAP: sofa <-> floor depth=[3.248, -0.005, 1.633] + !! OVERLAP: table <-> floor depth=[1.380, -0.005, 0.540] + !! OVERLAP: shelf <-> floor depth=[0.417, -0.005, 0.267] + !! OVERLAP: cabinet <-> floor depth=[0.820, -0.005, 0.318] + !! OVERLAP: table <-> chair depth=[0.585, 0.764, 0.530] + !! OVERLAP: table <-> chair depth=[0.548, 0.763, 0.055] + !! OVERLAP: table <-> floor depth=[0.967, -0.005, 0.648] + !! OVERLAP: chair <-> floor depth=[0.575, -0.005, 0.530] + !! OVERLAP: chair <-> floor depth=[0.444, -0.005, 0.516] + !! OVERLAP: chair <-> floor depth=[0.569, -0.005, 0.617] + !! OVERLAP: chair <-> floor depth=[0.571, -0.005, 0.586] +============================================================ + + +============================================================ +SCENE: LivingRoom-1255 | 7 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.5673, Walkable Loss: 3.2621 (Center Penalty: 1.7668, C1 Heatmap: 1.0238, C2 Repulsion: 3.3813), Relational Loss: 0.0000 +Guided Steps: 10/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +bookshelf 3.558 2.592 0.419 -0.022 0.009 2.057 -179.99° +sofa 2.179 1.002 0.999 0.993 0.005 -1.240 -89.97° +table 1.218 0.630 1.300 0.860 -0.003 0.806 -89.95° +table 1.151 0.475 1.017 -0.290 -0.001 -1.129 -90.15° +lamp 0.545 0.508 0.354 0.448 2.371 0.394 -0.10° +floor 3.480 -0.001 4.851 -0.019 0.001 -0.010 -0.03° +_scene_ 0.061 0.002 0.031 -5.668 -0.005 -5.714 -57.22° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bookshelf <-> floor depth=[3.480, -0.001, 0.419] + !! OVERLAP: sofa <-> table depth=[0.382, 0.475, 0.897] + !! OVERLAP: sofa <-> floor depth=[1.818, -0.001, 0.999] + !! OVERLAP: table <-> floor depth=[1.218, -0.001, 1.300] + !! OVERLAP: table <-> floor depth=[1.151, -0.001, 1.017] +============================================================ + + +============================================================ +SCENE: LivingRoom-3168 | 17 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0000, Walkable Loss: 4.0196 (Center Penalty: 0.7839, C1 Heatmap: 1.0596, C2 Repulsion: 11.9401), Relational Loss: 0.0000 +Guided Steps: 10/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +table 2.456 0.717 1.252 0.233 0.001 -2.855 -0.00° +chair 0.472 0.998 0.542 1.117 0.002 -3.017 -0.37° +chair 0.484 0.968 0.554 1.355 -0.001 -1.728 179.96° +chair 0.494 1.023 0.594 0.704 -0.000 -1.959 179.99° +chair 0.531 0.967 0.574 0.726 0.001 -3.126 0.02° +lamp 0.740 0.813 0.750 -0.129 1.798 1.565 -0.05° +sofa 2.193 0.926 0.864 -1.861 0.001 1.480 89.92° +chair 0.834 0.825 0.826 -0.177 0.002 3.099 179.57° +chair 0.755 0.891 0.802 0.223 0.003 3.271 -162.32° +table 1.428 0.410 1.122 0.082 0.000 1.668 -0.08° +table 0.542 0.636 0.520 -1.648 0.000 0.231 89.90° +table 0.480 0.596 0.382 -1.952 -0.002 3.065 0.08° +chair 0.533 0.510 0.514 -0.239 -0.001 0.401 0.06° +table 1.254 0.722 0.343 -2.298 0.002 -1.546 89.96° +lamp 0.939 1.042 0.923 0.044 1.762 -2.048 -90.10° +floor 5.525 -0.001 8.160 -0.845 -0.001 0.586 -0.08° +_scene_ 0.070 0.000 0.021 -5.672 -0.004 -5.713 -57.30° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: table <-> chair depth=[0.472, 0.717, 0.542] + !! OVERLAP: table <-> chair depth=[0.494, 0.717, 0.026] + !! OVERLAP: table <-> chair depth=[0.531, 0.717, 0.574] + !! OVERLAP: table <-> floor depth=[2.456, -0.001, 1.252] + !! OVERLAP: chair <-> chair depth=[0.111, 0.967, 0.449] + !! OVERLAP: chair <-> floor depth=[0.472, -0.001, 0.542] + !! OVERLAP: chair <-> floor depth=[0.484, -0.001, 0.554] + !! OVERLAP: chair <-> floor depth=[0.494, -0.001, 0.594] + !! OVERLAP: chair <-> floor depth=[0.531, -0.001, 0.574] + !! OVERLAP: sofa <-> floor depth=[2.193, -0.001, 0.864] + !! OVERLAP: chair <-> chair depth=[0.395, 0.825, 0.642] + !! OVERLAP: chair <-> floor depth=[0.834, -0.001, 0.826] + !! OVERLAP: chair <-> floor depth=[0.755, -0.001, 0.802] + !! OVERLAP: table <-> floor depth=[1.428, -0.001, 1.122] + !! OVERLAP: table <-> floor depth=[0.542, -0.001, 0.520] + !! OVERLAP: table <-> floor depth=[0.480, -0.001, 0.382] + !! OVERLAP: chair <-> floor depth=[0.533, -0.001, 0.514] + !! OVERLAP: table <-> floor depth=[1.254, -0.001, 0.343] +============================================================ + + +============================================================ +SCENE: LivingRoom-26286 | 16 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0000, Walkable Loss: 5.1742 (Center Penalty: 1.1104, C1 Heatmap: 1.3266, C2 Repulsion: 15.0129), Relational Loss: 0.0000 +Guided Steps: 10/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +chair 0.529 0.918 0.521 1.859 0.001 -1.542 -0.01° +chair 0.567 0.911 0.597 2.345 -0.001 -1.511 0.13° +chair 0.474 0.928 0.584 2.005 0.002 0.203 -89.99° +chair 0.505 0.887 0.592 2.543 0.001 0.243 -90.10° +chair 0.477 0.853 0.449 -2.668 0.001 -0.394 89.93° +sofa 2.421 0.824 0.879 -1.744 0.002 1.192 179.93° +table 1.101 0.590 1.196 0.158 -0.000 1.140 0.00° +table 1.217 0.548 1.009 -2.654 0.002 0.993 -0.03° +table 1.243 0.451 1.120 -1.149 -0.001 -1.048 -0.02° +table 1.144 0.610 1.028 2.400 -0.001 -0.699 0.03° +table 1.617 1.574 0.375 1.142 0.002 1.647 -179.85° +table 1.221 0.474 1.073 -1.721 0.000 0.367 -90.55° +lamp 0.396 0.438 0.393 -1.330 2.192 -0.434 0.00° +lamp 0.849 0.641 0.467 1.972 1.978 -0.307 0.03° +floor 6.412 -0.004 4.281 -0.032 -0.000 -0.024 0.03° +_scene_ 0.077 -0.001 0.027 -5.631 -0.004 -5.682 -57.25° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: chair <-> chair depth=[0.062, 0.911, 0.521] + !! OVERLAP: chair <-> floor depth=[0.529, -0.004, 0.521] + !! OVERLAP: chair <-> floor depth=[0.567, -0.004, 0.597] + !! OVERLAP: chair <-> floor depth=[0.474, -0.004, 0.584] + !! OVERLAP: chair <-> floor depth=[0.505, -0.004, 0.592] + !! OVERLAP: chair <-> floor depth=[0.477, -0.004, 0.449] + !! OVERLAP: sofa <-> table depth=[0.909, 0.548, 0.745] + !! OVERLAP: sofa <-> table depth=[1.221, 0.474, 0.151] + !! OVERLAP: sofa <-> floor depth=[2.421, -0.004, 0.879] + !! OVERLAP: table <-> table depth=[0.375, 0.590, 0.279] + !! OVERLAP: table <-> floor depth=[1.101, -0.004, 1.196] + !! OVERLAP: table <-> table depth=[0.286, 0.474, 0.415] + !! OVERLAP: table <-> floor depth=[1.193, -0.004, 1.009] + !! OVERLAP: table <-> floor depth=[1.243, -0.004, 1.120] + !! OVERLAP: table <-> floor depth=[1.144, -0.004, 1.028] + !! OVERLAP: table <-> floor depth=[1.617, -0.004, 0.375] + !! OVERLAP: table <-> floor depth=[1.221, -0.004, 1.073] +============================================================ + + +============================================================ +SCENE: LivingRoom-4960 | 10 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0083, Walkable Loss: 3.7986 (Center Penalty: 2.2083, C1 Heatmap: 0.8398, C2 Repulsion: 4.5923), Relational Loss: 0.0000 +Guided Steps: 10/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +sofa 2.303 0.851 0.935 0.291 -0.000 -1.312 -0.04° +table 1.366 0.853 0.729 0.469 -0.000 0.042 0.00° +table 0.417 0.543 0.412 -1.333 -0.002 -1.551 -20.45° +chair 0.850 0.807 0.758 -1.577 -0.002 -0.350 65.34° +table 0.667 0.512 0.471 1.889 0.001 -1.516 -0.02° +chair 0.709 0.414 0.341 1.827 0.000 0.117 -90.24° +lamp 0.654 0.869 0.561 0.457 1.826 -0.130 -0.07° +tv_stand 1.905 0.526 0.387 0.918 -0.001 1.605 179.88° +floor 5.204 -0.002 3.616 0.019 0.000 0.020 -0.03° +_scene_ 0.071 0.002 0.022 -5.670 -0.005 -5.712 -57.33° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: sofa <-> floor depth=[2.303, -0.002, 0.935] + !! OVERLAP: table <-> floor depth=[1.366, -0.002, 0.729] + !! OVERLAP: table <-> floor depth=[0.417, -0.002, 0.412] + !! OVERLAP: chair <-> floor depth=[0.850, -0.002, 0.758] + !! OVERLAP: table <-> floor depth=[0.667, -0.002, 0.471] + !! OVERLAP: chair <-> floor depth=[0.709, -0.002, 0.341] + !! OVERLAP: tv_stand <-> floor depth=[1.905, -0.002, 0.387] +============================================================ + + +============================================================ +SCENE: LivingRoom-2410 | 12 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0000, Walkable Loss: 5.9195 (Center Penalty: 1.7967, C1 Heatmap: 1.0886, C2 Repulsion: 16.2595), Relational Loss: 0.0000 +Guided Steps: 10/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +table 0.584 0.481 0.597 0.338 -0.001 1.467 -179.97° +sofa 2.310 0.789 0.870 -0.300 0.001 1.157 179.76° +table 1.612 0.769 1.563 0.768 0.001 -0.963 0.05° +chair 0.520 0.969 0.559 1.262 0.002 -1.633 -90.01° +chair 0.548 1.018 0.573 1.169 0.000 -0.291 179.99° +chair 0.676 1.022 0.689 0.364 -0.002 -0.597 179.81° +chair 0.656 1.004 0.812 -0.002 0.003 -1.694 89.67° +chair 0.720 0.969 0.824 0.727 -0.000 -0.524 179.98° +chair 0.687 0.965 0.743 0.867 0.000 -1.893 -0.01° +bookshelf 0.506 1.319 0.306 -1.747 0.000 1.876 89.94° +floor 4.124 -0.001 5.630 -0.057 0.001 -0.017 -0.03° +_scene_ 0.068 0.001 0.021 -5.658 -0.004 -5.696 -57.33° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: table <-> sofa depth=[0.584, 0.481, 0.424] + !! OVERLAP: table <-> floor depth=[0.584, -0.001, 0.597] + !! OVERLAP: sofa <-> floor depth=[2.310, -0.001, 0.870] + !! OVERLAP: table <-> chair depth=[0.520, 0.769, 0.392] + !! OVERLAP: table <-> chair depth=[0.548, 0.769, 0.395] + !! OVERLAP: table <-> chair depth=[0.676, 0.769, 0.689] + !! OVERLAP: table <-> chair depth=[0.364, 0.769, 0.457] + !! OVERLAP: table <-> chair depth=[0.720, 0.769, 0.753] + !! OVERLAP: table <-> chair depth=[0.687, 0.769, 0.223] + !! OVERLAP: table <-> floor depth=[1.612, -0.001, 1.563] + !! OVERLAP: chair <-> chair depth=[0.209, 0.965, 0.391] + !! OVERLAP: chair <-> floor depth=[0.520, -0.001, 0.559] + !! OVERLAP: chair <-> chair depth=[0.192, 0.969, 0.465] + !! OVERLAP: chair <-> floor depth=[0.548, -0.001, 0.573] + !! OVERLAP: chair <-> chair depth=[0.335, 0.969, 0.683] + !! OVERLAP: chair <-> floor depth=[0.676, -0.001, 0.689] + !! OVERLAP: chair <-> floor depth=[0.656, -0.001, 0.812] + !! OVERLAP: chair <-> floor depth=[0.720, -0.001, 0.824] + !! OVERLAP: chair <-> floor depth=[0.687, -0.001, 0.743] + !! OVERLAP: bookshelf <-> floor depth=[0.506, -0.001, 0.306] +============================================================ + + +============================================================ +SCENE: LivingDiningRoom-17836 | 19 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0844, Walkable Loss: 6.1604 (Center Penalty: 1.0653, C1 Heatmap: 1.3220, C2 Repulsion: 20.1875), Relational Loss: 0.0000 +Guided Steps: 10/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +table 0.565 0.586 0.607 0.321 -0.000 1.480 179.92° +table 0.432 0.559 0.408 -2.607 -0.001 1.367 179.93° +table 0.999 0.429 0.986 -1.611 0.002 0.172 -0.07° +sofa 2.020 0.958 0.849 -1.174 -0.002 1.258 179.79° +chair 0.953 0.767 1.239 -0.808 0.001 0.273 -90.38° +chair 0.847 0.786 0.934 -3.253 -0.001 0.383 89.84° +table 1.856 0.769 1.289 2.017 0.004 0.804 0.02° +chair 0.521 0.917 0.601 1.894 0.001 0.067 0.01° +chair 0.496 0.935 0.539 2.291 -0.003 0.060 0.01° +chair 0.487 0.987 0.460 3.027 -0.003 0.065 -0.04° +chair 0.512 0.895 0.572 1.994 0.000 1.530 179.96° +chair 0.458 0.914 0.488 2.619 -0.004 1.453 179.93° +chair 0.438 0.964 0.534 3.082 0.001 1.466 -179.95° +tv_stand 2.296 0.775 0.415 -1.893 0.000 -1.530 0.03° +lamp 0.408 0.930 0.378 -1.479 1.560 -0.012 -0.02° +lamp 0.426 1.139 0.343 2.650 0.961 0.488 -0.08° +table 1.341 1.724 0.326 2.873 -0.002 -1.667 0.06° +floor 7.343 -0.002 4.218 -0.415 0.001 0.049 -0.03° +_scene_ 0.071 -0.001 0.025 -5.670 -0.004 -5.711 -57.31° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: table <-> floor depth=[0.565, -0.002, 0.607] + !! OVERLAP: table <-> floor depth=[0.432, -0.002, 0.408] + !! OVERLAP: table <-> chair depth=[0.173, 0.429, 0.986] + !! OVERLAP: table <-> floor depth=[0.999, -0.002, 0.986] + !! OVERLAP: sofa <-> chair depth=[0.953, 0.767, 0.059] + !! OVERLAP: sofa <-> floor depth=[2.020, -0.002, 0.849] + !! OVERLAP: chair <-> floor depth=[0.953, -0.002, 1.239] + !! OVERLAP: chair <-> floor depth=[0.847, -0.002, 0.934] + !! OVERLAP: table <-> chair depth=[0.521, 0.769, 0.209] + !! OVERLAP: table <-> chair depth=[0.496, 0.769, 0.171] + !! OVERLAP: table <-> chair depth=[0.162, 0.769, 0.136] + !! OVERLAP: table <-> chair depth=[0.512, 0.769, 0.205] + !! OVERLAP: table <-> chair depth=[0.458, 0.769, 0.239] + !! OVERLAP: table <-> chair depth=[0.082, 0.769, 0.249] + !! OVERLAP: table <-> floor depth=[1.856, -0.002, 1.289] + !! OVERLAP: chair <-> chair depth=[0.111, 0.917, 0.539] + !! OVERLAP: chair <-> floor depth=[0.521, -0.002, 0.601] + !! OVERLAP: chair <-> lamp depth=[0.103, 0.074, 0.014] + !! OVERLAP: chair <-> floor depth=[0.496, -0.002, 0.539] + !! OVERLAP: chair <-> floor depth=[0.473, -0.002, 0.460] + !! OVERLAP: chair <-> floor depth=[0.512, -0.002, 0.572] + !! OVERLAP: chair <-> floor depth=[0.458, -0.002, 0.488] + !! OVERLAP: chair <-> floor depth=[0.393, -0.002, 0.534] + !! OVERLAP: tv_stand <-> floor depth=[2.296, -0.002, 0.415] + !! OVERLAP: table <-> floor depth=[1.054, -0.002, 0.326] +============================================================ + + +============================================================ +SCENE: LivingRoom-52289 | 8 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0354, Walkable Loss: 3.6896 (Center Penalty: 2.4016, C1 Heatmap: 0.7923, C2 Repulsion: 3.2710), Relational Loss: 0.0000 +Guided Steps: 10/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +lamp 0.666 0.932 0.671 -0.181 1.797 0.039 -0.06° +chair 0.985 0.775 0.893 -1.448 -0.003 0.283 117.73° +sofa 2.545 0.970 1.025 -0.628 0.002 -1.168 0.02° +table 0.767 0.502 0.709 1.255 0.002 -1.366 -0.15° +table 0.904 0.523 0.804 1.660 0.002 0.313 -104.92° +table 0.804 0.431 1.225 -0.232 -0.000 0.751 -90.14° +floor 4.445 -0.001 3.738 -0.006 0.001 -0.025 -0.03° +_scene_ 0.071 0.017 0.044 -5.616 -0.002 -5.638 -57.38° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: chair <-> floor depth=[0.985, -0.001, 0.893] + !! OVERLAP: sofa <-> floor depth=[2.545, -0.001, 1.025] + !! OVERLAP: table <-> floor depth=[0.767, -0.001, 0.709] + !! OVERLAP: table <-> floor depth=[0.904, -0.001, 0.804] + !! OVERLAP: table <-> floor depth=[0.804, -0.001, 1.225] +============================================================ + + +============================================================ +SCENE: LivingDiningRoom-19931 | 19 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.1316, Walkable Loss: 4.7793 (Center Penalty: 1.1687, C1 Heatmap: 1.1526, C2 Repulsion: 13.4426), Relational Loss: 0.0000 +Guided Steps: 10/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +sofa 2.275 0.889 0.879 -1.424 0.002 -2.068 90.02° +chair 0.911 0.789 0.896 0.424 -0.001 -3.693 -14.16° +table 1.284 0.322 0.907 0.296 0.002 -1.674 89.95° +cabinet 0.895 1.881 0.384 1.923 0.000 3.622 -89.93° +table 2.096 0.833 1.114 0.118 0.000 1.938 -0.02° +chair 0.599 0.811 0.569 0.073 -0.000 1.255 0.01° +chair 0.516 0.809 0.573 0.956 0.000 1.707 -90.08° +chair 0.467 0.800 0.545 0.681 0.003 2.846 -90.18° +chair 0.485 0.806 0.550 -0.015 -0.000 2.916 -179.85° +chair 0.647 0.809 0.577 -1.014 0.000 2.886 89.96° +chair 0.583 0.792 0.602 -1.004 0.002 1.649 89.98° +tv_stand 2.008 0.383 0.428 1.569 0.012 -2.211 -89.88° +table 0.545 0.469 0.494 -1.414 0.002 -0.331 90.04° +table 0.504 0.483 0.416 -1.236 0.000 -3.544 89.90° +chair 0.743 0.895 0.759 -0.140 0.002 -0.754 170.09° +lamp 0.431 0.660 0.445 0.125 1.879 -2.101 -0.06° +lamp 0.348 0.481 0.360 0.399 2.110 2.005 -0.04° +floor 5.188 -0.005 8.209 -0.019 -0.001 -0.326 -0.01° +_scene_ 0.071 0.003 0.019 -5.664 -0.004 -5.714 -57.32° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: sofa <-> table depth=[0.059, 0.322, 0.499] + !! OVERLAP: sofa <-> floor depth=[2.275, -0.005, 0.879] + !! OVERLAP: chair <-> floor depth=[0.911, -0.005, 0.896] + !! OVERLAP: table <-> tv_stand depth=[0.374, 0.322, 0.130] + !! OVERLAP: table <-> floor depth=[1.284, -0.005, 0.907] + !! OVERLAP: cabinet <-> floor depth=[0.895, -0.005, 0.349] + !! OVERLAP: table <-> chair depth=[0.599, 0.811, 0.158] + !! OVERLAP: table <-> chair depth=[0.469, 0.809, 0.573] + !! OVERLAP: table <-> chair depth=[0.217, 0.792, 0.568] + !! OVERLAP: table <-> floor depth=[2.096, -0.005, 1.114] + !! OVERLAP: chair <-> floor depth=[0.599, -0.005, 0.569] + !! OVERLAP: chair <-> floor depth=[0.516, -0.005, 0.573] + !! OVERLAP: chair <-> floor depth=[0.467, -0.005, 0.545] + !! OVERLAP: chair <-> floor depth=[0.485, -0.005, 0.550] + !! OVERLAP: chair <-> floor depth=[0.647, -0.005, 0.577] + !! OVERLAP: chair <-> floor depth=[0.583, -0.005, 0.602] + !! OVERLAP: tv_stand <-> floor depth=[2.008, -0.005, 0.428] + !! OVERLAP: table <-> floor depth=[0.545, -0.005, 0.494] + !! OVERLAP: table <-> floor depth=[0.504, -0.005, 0.416] + !! OVERLAP: chair <-> floor depth=[0.743, -0.005, 0.759] +============================================================ + + +============================================================ +SCENE: LivingRoom-4789 | 23 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0000, Walkable Loss: 6.4726 (Center Penalty: 1.0801, C1 Heatmap: 1.1266, C2 Repulsion: 22.4559), Relational Loss: 0.0000 +Guided Steps: 10/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +sofa 2.050 0.869 0.827 -1.828 0.001 2.345 89.98° +chair 1.058 0.827 1.055 -0.582 0.000 3.833 179.90° +table 1.383 0.490 1.078 -0.322 0.002 2.392 90.06° +table 0.473 0.711 0.503 -1.845 0.004 3.796 89.92° +table 0.600 0.544 0.476 -1.820 0.002 0.858 89.98° +table 0.481 0.507 0.511 -1.901 0.003 3.368 90.05° +table 2.173 0.728 1.005 -1.339 0.001 -2.285 0.02° +chair 0.579 1.059 0.627 -1.978 -0.002 -2.986 0.04° +chair 0.583 1.194 0.578 -1.026 -0.003 -3.025 -0.21° +chair 0.548 1.150 0.597 -0.350 -0.002 -2.313 179.98° +chair 0.572 1.143 0.692 -2.149 -0.003 -1.842 -179.91° +chair 0.541 1.151 0.546 -0.938 -0.001 -1.683 179.99° +table 1.984 0.801 0.783 -1.324 0.001 -0.893 0.02° +table 0.589 0.512 0.512 -1.981 0.001 -0.101 90.00° +table 0.904 0.968 0.442 -0.906 0.007 -3.933 -89.99° +chair 0.592 0.454 0.547 -0.811 -0.001 0.988 0.09° +lamp 0.953 0.974 0.939 -0.626 1.731 2.146 0.00° +lamp 0.502 0.643 0.543 -0.811 2.106 0.420 90.15° +lamp 0.519 0.230 0.496 1.336 2.428 0.112 -0.04° +lamp 0.454 0.648 0.453 -1.607 2.210 -2.107 -0.03° +lamp 0.776 0.775 0.645 0.175 2.169 -3.759 90.10° +floor 5.159 -0.000 9.666 -0.327 -0.001 0.137 -0.01° +_scene_ 0.070 0.000 0.026 -5.662 -0.005 -5.708 -57.32° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: sofa <-> table depth=[0.211, 0.490, 0.827] + !! OVERLAP: sofa <-> floor depth=[2.050, -0.000, 0.827] + !! OVERLAP: chair <-> floor depth=[1.058, -0.000, 1.055] + !! OVERLAP: table <-> floor depth=[1.383, -0.000, 1.078] + !! OVERLAP: table <-> table depth=[0.421, 0.507, 0.079] + !! OVERLAP: table <-> floor depth=[0.473, -0.000, 0.503] + !! OVERLAP: table <-> floor depth=[0.600, -0.000, 0.476] + !! OVERLAP: table <-> floor depth=[0.481, -0.000, 0.511] + !! OVERLAP: table <-> chair depth=[0.579, 0.728, 0.115] + !! OVERLAP: table <-> chair depth=[0.583, 0.728, 0.052] + !! OVERLAP: table <-> chair depth=[0.371, 0.728, 0.597] + !! OVERLAP: table <-> chair depth=[0.562, 0.728, 0.406] + !! OVERLAP: table <-> chair depth=[0.541, 0.728, 0.175] + !! OVERLAP: table <-> floor depth=[2.173, -0.000, 1.005] + !! OVERLAP: chair <-> floor depth=[0.579, -0.000, 0.627] + !! OVERLAP: chair <-> floor depth=[0.583, -0.000, 0.578] + !! OVERLAP: chair <-> floor depth=[0.548, -0.000, 0.597] + !! OVERLAP: chair <-> floor depth=[0.572, -0.000, 0.692] + !! OVERLAP: chair <-> floor depth=[0.541, -0.000, 0.546] + !! OVERLAP: table <-> floor depth=[1.984, -0.000, 0.783] + !! OVERLAP: table <-> floor depth=[0.589, -0.000, 0.512] + !! OVERLAP: table <-> floor depth=[0.904, -0.000, 0.442] + !! OVERLAP: chair <-> floor depth=[0.592, -0.000, 0.547] +============================================================ + + +============================================================ +SCENE: LivingDiningRoom-814 | 5 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0000, Walkable Loss: 3.0645 (Center Penalty: 1.8774, C1 Heatmap: 0.9320, C2 Repulsion: 2.2075), Relational Loss: 0.0000 +Guided Steps: 10/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +table 3.485 0.106 3.075 -0.200 -0.000 0.778 -0.09° +chair 0.524 0.775 0.538 -0.202 -0.001 -0.396 0.02° +chair 0.405 0.812 0.460 -1.254 0.002 -0.509 0.01° +floor 4.950 -0.001 6.322 0.088 -0.001 -0.048 -0.06° +_scene_ 0.047 0.005 0.020 -5.656 -0.005 -5.715 -57.35° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: table <-> chair depth=[0.524, 0.106, 0.538] + !! OVERLAP: table <-> chair depth=[0.405, 0.106, 0.460] + !! OVERLAP: table <-> floor depth=[3.485, -0.001, 3.075] + !! OVERLAP: chair <-> floor depth=[0.524, -0.001, 0.538] + !! OVERLAP: chair <-> floor depth=[0.405, -0.001, 0.460] +============================================================ + + +============================================================ +SCENE: LivingRoom-35461 | 12 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.4053, Walkable Loss: 2.8248 (Center Penalty: 1.4201, C1 Heatmap: 0.5911, C2 Repulsion: 4.6593), Relational Loss: 0.0000 +Guided Steps: 10/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +chair 0.842 1.099 0.878 -1.221 0.016 0.757 58.96° +tv_stand 1.292 0.436 0.299 1.066 -0.001 0.772 -90.08° +table 0.559 0.789 0.530 -1.067 -0.001 2.494 0.06° +cabinet 0.782 0.978 0.264 1.020 0.001 2.263 -90.16° +lamp 0.485 0.660 0.515 -0.331 2.279 0.840 0.00° +lamp 1.053 0.865 1.118 -0.796 1.801 -2.379 -90.05° +lamp 1.109 0.952 1.023 -0.955 1.897 -2.267 -0.00° +table 1.522 0.542 1.162 -0.741 -0.002 0.621 -0.02° +chair 0.514 0.903 0.535 -0.774 0.001 -0.546 0.05° +chair 0.647 0.891 0.630 -0.485 0.001 2.132 179.91° +floor 3.243 0.001 7.217 -0.090 0.002 -0.309 -0.01° +_scene_ 0.072 0.000 0.023 -5.670 -0.004 -5.711 -57.30° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: chair <-> table depth=[0.702, 0.542, 0.878] + !! OVERLAP: chair <-> floor depth=[0.842, 0.001, 0.878] + !! OVERLAP: tv_stand <-> floor depth=[1.112, 0.001, 0.299] + !! OVERLAP: table <-> chair depth=[0.021, 0.789, 0.218] + !! OVERLAP: table <-> floor depth=[0.559, 0.001, 0.530] + !! OVERLAP: cabinet <-> floor depth=[0.782, 0.001, 0.264] + !! OVERLAP: lamp <-> lamp depth=[0.923, 0.812, 0.959] + !! OVERLAP: table <-> floor depth=[1.522, 0.001, 1.162] + !! OVERLAP: chair <-> floor depth=[0.514, 0.001, 0.535] + !! OVERLAP: chair <-> floor depth=[0.647, 0.001, 0.630] +============================================================ + + +============================================================ +SCENE: LivingRoom-360 | 8 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0355, Walkable Loss: 3.1381 (Center Penalty: 2.1976, C1 Heatmap: 0.6954, C2 Repulsion: 1.9212), Relational Loss: 0.0000 +Guided Steps: 10/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +table 1.833 0.696 1.116 -1.754 -0.001 0.296 90.04° +sofa 2.359 0.883 0.972 1.521 -0.000 0.368 -89.86° +chair 0.605 0.998 0.666 -0.194 0.000 0.210 -89.98° +chair 0.517 0.882 0.542 -1.795 0.000 0.746 89.93° +lamp 0.900 0.723 0.867 0.602 1.984 -0.187 0.06° +lamp 0.584 0.730 0.583 -1.261 2.017 0.475 -0.01° +floor 5.749 -0.001 2.535 -0.265 0.000 0.150 0.12° +_scene_ 0.076 0.001 0.025 -5.667 -0.004 -5.708 -57.31° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: table <-> chair depth=[0.517, 0.696, 0.379] + !! OVERLAP: table <-> floor depth=[1.833, -0.001, 1.116] + !! OVERLAP: sofa <-> floor depth=[2.269, -0.001, 0.972] + !! OVERLAP: chair <-> floor depth=[0.605, -0.001, 0.666] + !! OVERLAP: chair <-> floor depth=[0.517, -0.001, 0.542] +============================================================ + + +============================================================ +SCENE: DiningRoom-15534 | 10 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.3203, Walkable Loss: 5.7328 (Center Penalty: 3.5139, C1 Heatmap: 0.8319, C2 Repulsion: 7.7665), Relational Loss: 0.0000 +Guided Steps: 10/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +table 2.241 0.773 0.951 -0.090 -0.000 -0.117 -90.06° +chair 0.533 0.872 0.570 -1.401 -0.001 0.280 90.00° +chair 0.575 0.920 0.652 -1.367 0.006 -0.734 90.01° +chair 0.523 0.943 0.543 0.968 0.002 0.214 -89.95° +chair 0.467 0.893 0.545 1.124 0.004 -1.022 -89.93° +cabinet 2.975 2.473 0.489 0.593 -0.001 1.512 -179.94° +lamp 0.083 0.991 0.102 0.087 1.196 -0.624 -0.07° +lamp 0.023 0.851 0.090 -0.026 1.188 0.265 -90.13° +floor 3.979 0.000 2.989 -0.023 0.000 0.000 0.00° +_scene_ 0.072 0.001 0.024 -5.674 -0.005 -5.710 -57.31° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: table <-> chair depth=[0.076, 0.773, 0.364] + !! OVERLAP: table <-> chair depth=[0.131, 0.773, 0.185] + !! OVERLAP: table <-> chair depth=[0.325, 0.773, 0.416] + !! OVERLAP: table <-> floor depth=[2.241, 0.000, 0.951] + !! OVERLAP: chair <-> floor depth=[0.533, 0.000, 0.570] + !! OVERLAP: chair <-> floor depth=[0.575, 0.000, 0.652] + !! OVERLAP: chair <-> floor depth=[0.523, 0.000, 0.543] + !! OVERLAP: chair <-> floor depth=[0.467, 0.000, 0.545] + !! OVERLAP: cabinet <-> floor depth=[2.862, 0.000, 0.227] +============================================================ + + +============================================================ +SCENE: DiningRoom-31158 | 8 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0000, Walkable Loss: 5.5715 (Center Penalty: 4.1102, C1 Heatmap: 0.4497, C2 Repulsion: 5.5076), Relational Loss: 0.0000 +Guided Steps: 10/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +table 1.501 0.832 1.284 -0.040 0.000 0.107 90.02° +chair 0.558 0.787 0.561 0.501 0.004 0.620 179.89° +chair 0.529 0.805 0.545 -0.630 0.001 0.309 178.41° +chair 0.549 0.792 0.561 0.357 0.000 -0.755 -0.08° +chair 0.621 0.768 0.623 -0.641 0.001 -0.628 -0.00° +lamp 1.128 1.096 1.214 -0.243 1.568 0.152 0.03° +floor 3.833 0.001 2.531 -0.015 0.001 -0.034 -0.03° +_scene_ 0.071 0.000 0.023 -5.675 -0.004 -5.714 -57.27° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: table <-> chair depth=[0.489, 0.787, 0.410] + !! OVERLAP: table <-> chair depth=[0.425, 0.805, 0.545] + !! OVERLAP: table <-> chair depth=[0.549, 0.792, 0.061] + !! OVERLAP: table <-> chair depth=[0.461, 0.768, 0.219] + !! OVERLAP: table <-> floor depth=[1.501, 0.001, 1.284] + !! OVERLAP: chair <-> floor depth=[0.558, 0.001, 0.561] + !! OVERLAP: chair <-> floor depth=[0.529, 0.001, 0.545] + !! OVERLAP: chair <-> floor depth=[0.549, 0.001, 0.561] + !! OVERLAP: chair <-> floor depth=[0.621, 0.001, 0.623] +============================================================ + + +============================================================ +SCENE: DiningRoom-197500 | 13 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.6157, Walkable Loss: 6.8267 (Center Penalty: 3.2926, C1 Heatmap: 1.0053, C2 Repulsion: 13.6493), Relational Loss: 0.0000 +Guided Steps: 10/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +table 1.485 0.706 1.050 -0.483 0.001 -0.365 -179.79° +chair 0.505 0.862 0.535 -0.309 0.001 0.707 -179.92° +chair 0.550 0.858 0.527 0.398 0.006 0.799 -132.96° +chair 0.467 0.890 0.490 0.463 -0.003 -0.835 -50.40° +chair 0.564 0.894 0.563 -0.236 0.000 -1.024 0.04° +chair 0.530 0.855 0.566 -1.323 -0.003 0.431 140.82° +cabinet 2.532 2.511 0.358 -2.069 -0.004 0.248 89.91° +cabinet 1.835 2.145 0.412 1.866 -0.001 -0.636 -90.14° +chair 0.477 0.822 0.439 -1.027 0.004 -0.766 50.98° +cabinet 1.909 2.173 0.384 1.609 -0.001 0.347 -90.12° +lamp 0.367 0.588 0.331 -0.339 2.326 -0.174 -0.03° +floor 5.277 -0.005 4.399 0.174 0.003 0.092 0.03° +_scene_ 0.065 0.000 0.021 -5.674 -0.005 -5.715 -57.29° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: table <-> chair depth=[0.030, 0.706, 0.300] + !! OVERLAP: table <-> chair depth=[0.564, 0.706, 0.148] + !! OVERLAP: table <-> chair depth=[0.167, 0.706, 0.011] + !! OVERLAP: table <-> cabinet depth=[0.422, 0.706, 0.091] + !! OVERLAP: table <-> chair depth=[0.437, 0.706, 0.344] + !! OVERLAP: table <-> floor depth=[1.485, -0.005, 1.050] + !! OVERLAP: chair <-> floor depth=[0.505, -0.005, 0.535] + !! OVERLAP: chair <-> cabinet depth=[0.018, 0.858, 0.003] + !! OVERLAP: chair <-> floor depth=[0.550, -0.005, 0.527] + !! OVERLAP: chair <-> floor depth=[0.467, -0.005, 0.490] + !! OVERLAP: chair <-> floor depth=[0.564, -0.005, 0.563] + !! OVERLAP: chair <-> cabinet depth=[0.530, 0.855, 0.279] + !! OVERLAP: chair <-> floor depth=[0.530, -0.005, 0.566] + !! OVERLAP: cabinet <-> floor depth=[1.661, -0.005, 0.358] + !! OVERLAP: cabinet <-> floor depth=[1.835, -0.005, 0.412] + !! OVERLAP: chair <-> floor depth=[0.477, -0.005, 0.439] + !! OVERLAP: cabinet <-> floor depth=[1.909, -0.005, 0.384] +============================================================ + + +============================================================ +SCENE: DiningRoom-26805 | 9 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0000, Walkable Loss: 4.9021 (Center Penalty: 3.0030, C1 Heatmap: 0.6070, C2 Repulsion: 7.0674), Relational Loss: 0.0000 +Guided Steps: 10/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +chair 0.398 0.705 0.457 -0.806 0.003 -1.076 70.07° +table 2.674 0.992 0.962 0.052 0.002 -0.264 89.74° +chair 0.509 0.700 0.556 -0.888 0.002 -0.283 89.98° +chair 0.533 0.726 0.555 -0.933 -0.002 0.797 124.16° +chair 0.471 0.695 0.437 0.715 0.004 0.843 -128.90° +chair 0.509 0.746 0.544 0.606 0.000 -0.081 -90.53° +chair 0.519 0.705 0.480 0.534 -0.001 -1.120 -59.57° +floor 3.832 -0.006 4.585 -0.000 0.000 0.098 -0.04° +_scene_ 0.102 -0.005 0.087 -5.584 -0.003 -5.642 -57.32° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: chair <-> floor depth=[0.398, -0.006, 0.457] + !! OVERLAP: table <-> chair depth=[0.509, 0.700, 0.556] + !! OVERLAP: table <-> chair depth=[0.509, 0.746, 0.544] + !! OVERLAP: table <-> floor depth=[2.674, -0.006, 0.962] + !! OVERLAP: chair <-> floor depth=[0.509, -0.006, 0.556] + !! OVERLAP: chair <-> floor depth=[0.533, -0.006, 0.555] + !! OVERLAP: chair <-> floor depth=[0.471, -0.006, 0.437] + !! OVERLAP: chair <-> floor depth=[0.509, -0.006, 0.544] + !! OVERLAP: chair <-> floor depth=[0.519, -0.006, 0.480] +============================================================ + + +============================================================ +SCENE: DiningRoom-17995 | 9 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0000, Walkable Loss: 3.1015 (Center Penalty: 1.8237, C1 Heatmap: 0.4497, C2 Repulsion: 4.5901), Relational Loss: 0.0000 +Guided Steps: 10/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +cabinet 0.839 1.431 0.340 1.837 -0.000 1.614 -179.93° +table 1.759 0.750 0.997 -1.283 0.002 -0.711 0.00° +chair 0.516 0.905 0.562 -1.633 0.001 -1.359 0.01° +chair 0.520 0.889 0.519 -0.622 0.001 -1.382 -0.04° +chair 0.496 0.843 0.584 -1.773 -0.001 -0.459 128.49° +chair 0.498 0.885 0.472 -0.472 0.001 -0.221 -150.67° +lamp 1.076 0.772 0.856 -0.619 1.916 -0.600 -0.07° +floor 5.030 0.000 3.885 0.316 0.000 -0.061 -0.07° +_scene_ 0.072 0.002 0.022 -5.672 -0.004 -5.715 -57.31° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: cabinet <-> floor depth=[0.839, 0.000, 0.340] + !! OVERLAP: table <-> chair depth=[0.516, 0.750, 0.131] + !! OVERLAP: table <-> chair depth=[0.479, 0.750, 0.087] + !! OVERLAP: table <-> chair depth=[0.496, 0.750, 0.538] + !! OVERLAP: table <-> chair depth=[0.318, 0.750, 0.245] + !! OVERLAP: table <-> floor depth=[1.759, 0.000, 0.997] + !! OVERLAP: chair <-> floor depth=[0.516, 0.000, 0.562] + !! OVERLAP: chair <-> floor depth=[0.520, 0.000, 0.519] + !! OVERLAP: chair <-> floor depth=[0.496, 0.000, 0.584] + !! OVERLAP: chair <-> floor depth=[0.498, 0.000, 0.472] +============================================================ + + +============================================================ +SCENE: DiningRoom-16628 | 10 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0000, Walkable Loss: 5.8551 (Center Penalty: 3.8534, C1 Heatmap: 0.5064, C2 Repulsion: 7.9829), Relational Loss: 0.0000 +Guided Steps: 10/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +table 1.446 0.719 1.362 -0.137 0.001 0.398 89.99° +chair 0.535 0.770 0.538 0.835 0.002 -0.377 -89.87° +chair 0.472 0.855 0.559 0.798 -0.002 0.354 -90.03° +chair 0.500 0.822 0.524 -0.070 -0.001 1.335 179.96° +chair 0.586 0.758 0.550 -0.823 0.001 0.505 90.02° +chair 0.495 0.791 0.488 -0.786 0.001 -0.163 90.02° +chair 0.565 0.839 0.579 0.047 0.001 -1.103 0.03° +lamp 0.943 0.711 0.963 -0.117 2.241 0.133 -0.01° +floor 3.240 -0.004 3.811 -0.005 0.000 0.080 -0.01° +_scene_ 0.076 -0.004 0.046 -5.635 -0.003 -5.688 -57.20° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: table <-> chair depth=[0.018, 0.719, 0.176] + !! OVERLAP: table <-> chair depth=[0.024, 0.719, 0.559] + !! OVERLAP: table <-> chair depth=[0.500, 0.719, 0.006] + !! OVERLAP: table <-> chair depth=[0.331, 0.719, 0.550] + !! OVERLAP: table <-> chair depth=[0.322, 0.719, 0.364] + !! OVERLAP: table <-> floor depth=[1.446, -0.004, 1.362] + !! OVERLAP: chair <-> floor depth=[0.535, -0.004, 0.538] + !! OVERLAP: chair <-> floor depth=[0.472, -0.004, 0.559] + !! OVERLAP: chair <-> floor depth=[0.500, -0.004, 0.524] + !! OVERLAP: chair <-> floor depth=[0.586, -0.004, 0.550] + !! OVERLAP: chair <-> floor depth=[0.495, -0.004, 0.488] + !! OVERLAP: chair <-> floor depth=[0.565, -0.004, 0.579] +============================================================ + + +============================================================ +SCENE: DiningRoom-11628 | 11 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0236, Walkable Loss: 3.4272 (Center Penalty: 1.8037, C1 Heatmap: 0.3726, C2 Repulsion: 6.6270), Relational Loss: 0.0000 +Guided Steps: 10/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +table 1.330 0.820 0.855 0.725 -0.000 0.848 0.00° +chair 0.541 0.784 0.605 0.469 0.001 0.269 0.07° +chair 0.545 0.819 0.578 0.988 0.001 0.154 0.02° +chair 0.439 0.780 0.448 0.919 0.003 1.711 179.92° +chair 0.506 0.797 0.578 0.522 0.002 1.615 179.96° +bookshelf 0.944 1.246 0.343 -0.602 0.000 0.842 90.00° +lamp 0.746 1.042 0.785 0.568 1.820 1.038 -0.03° +lamp 0.424 0.267 0.422 -1.340 2.375 -1.960 -0.06° +lamp 0.725 0.547 0.155 0.619 1.876 -1.580 -0.01° +floor 3.156 -0.003 4.797 -0.020 0.002 0.066 0.02° +_scene_ 0.060 0.001 0.014 -5.669 -0.004 -5.710 -57.33° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: table <-> chair depth=[0.541, 0.784, 0.151] + !! OVERLAP: table <-> chair depth=[0.545, 0.818, 0.023] + !! OVERLAP: table <-> floor depth=[1.330, -0.003, 0.855] + !! OVERLAP: chair <-> chair depth=[0.023, 0.784, 0.477] + !! OVERLAP: chair <-> floor depth=[0.541, -0.003, 0.605] + !! OVERLAP: chair <-> floor depth=[0.545, -0.003, 0.578] + !! OVERLAP: chair <-> chair depth=[0.075, 0.780, 0.417] + !! OVERLAP: chair <-> floor depth=[0.439, -0.003, 0.448] + !! OVERLAP: chair <-> floor depth=[0.506, -0.003, 0.578] + !! OVERLAP: bookshelf <-> floor depth=[0.944, -0.003, 0.343] +============================================================ + + +============================================================ +SCENE: DiningRoom-29864 | 11 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0607, Walkable Loss: 2.2944 (Center Penalty: 0.9026, C1 Heatmap: 0.3738, C2 Repulsion: 5.4638), Relational Loss: 0.0000 +Guided Steps: 10/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +table 1.375 0.734 0.942 1.139 -0.001 -2.856 90.06° +chair 0.508 0.910 0.536 0.410 0.001 -2.759 89.83° +lamp 0.821 1.091 0.876 0.791 1.663 -2.529 -90.01° +chair 0.425 0.998 0.510 1.419 0.000 -2.904 -89.87° +chair 0.506 0.962 0.499 0.301 0.001 -2.198 89.97° +chair 0.385 0.914 0.403 1.402 0.002 -2.113 -90.23° +table 1.522 1.122 0.337 -0.756 0.002 0.206 0.02° +shelf 0.851 1.898 0.326 -0.831 -0.002 -1.010 0.07° +lamp 0.262 0.477 0.221 0.316 2.409 1.108 -0.05° +floor 3.534 -0.003 7.102 -0.068 -0.002 -0.593 -0.05° +_scene_ 0.072 -0.000 0.021 -5.670 -0.005 -5.707 -57.31° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: table <-> chair depth=[0.212, 0.734, 0.536] + !! OVERLAP: table <-> chair depth=[0.425, 0.734, 0.510] + !! OVERLAP: table <-> chair depth=[0.102, 0.734, 0.063] + !! OVERLAP: table <-> floor depth=[1.247, -0.003, 0.942] + !! OVERLAP: chair <-> floor depth=[0.508, -0.003, 0.536] + !! OVERLAP: chair <-> floor depth=[0.425, -0.003, 0.510] + !! OVERLAP: chair <-> floor depth=[0.506, -0.003, 0.499] + !! OVERLAP: chair <-> floor depth=[0.385, -0.003, 0.403] + !! OVERLAP: table <-> floor depth=[1.522, -0.003, 0.337] + !! OVERLAP: shelf <-> floor depth=[0.851, -0.003, 0.326] +============================================================ + + +============================================================ +SCENE: DiningRoom-2817 | 9 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.4087, Walkable Loss: 4.8748 (Center Penalty: 3.6709, C1 Heatmap: 0.4364, C2 Repulsion: 4.2740), Relational Loss: 0.0000 +Guided Steps: 10/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +table 1.755 0.764 1.034 -0.071 -0.001 0.509 0.01° +chair 0.292 0.457 0.306 -0.282 -0.000 -0.557 0.02° +chair 0.388 0.442 0.375 0.531 0.001 -0.652 0.02° +chair 0.361 0.528 0.419 -0.276 0.002 0.849 179.91° +chair 0.467 0.613 0.417 0.554 0.009 0.817 179.88° +cabinet 1.156 1.145 0.392 -1.631 -0.000 -0.345 89.98° +lamp 2.032 0.952 0.500 0.102 1.825 0.035 -0.05° +floor 3.484 -0.000 3.592 -0.006 0.002 -0.012 0.02° +_scene_ 0.074 0.000 0.025 -5.668 -0.004 -5.711 -57.30° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: table <-> chair depth=[0.361, 0.528, 0.386] + !! OVERLAP: table <-> chair depth=[0.467, 0.613, 0.417] + !! OVERLAP: table <-> floor depth=[1.755, -0.000, 1.034] + !! OVERLAP: chair <-> floor depth=[0.292, -0.000, 0.306] + !! OVERLAP: chair <-> floor depth=[0.388, -0.000, 0.375] + !! OVERLAP: chair <-> floor depth=[0.361, -0.000, 0.419] + !! OVERLAP: chair <-> floor depth=[0.467, -0.000, 0.417] + !! OVERLAP: cabinet <-> floor depth=[0.695, -0.000, 0.392] +============================================================ + + +============================================================ +SCENE: DiningRoom-35065 | 9 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.1063, Walkable Loss: 5.0164 (Center Penalty: 3.4799, C1 Heatmap: 0.4806, C2 Repulsion: 5.7603), Relational Loss: 0.0000 +Guided Steps: 10/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +cabinet 0.848 1.927 0.393 1.491 0.002 1.027 -90.13° +lamp 0.497 0.880 0.489 -0.646 1.805 -0.098 -0.04° +chair 0.583 0.782 0.584 0.355 0.002 -0.532 0.04° +chair 0.552 0.758 0.570 -0.634 -0.000 -0.599 -0.02° +table 1.483 0.712 1.394 -0.146 -0.001 -0.017 0.04° +chair 0.558 0.815 0.610 -0.602 0.004 0.689 -180.00° +chair 0.460 0.798 0.474 0.107 0.005 0.852 179.99° +floor 3.723 0.002 2.657 -0.165 -0.001 -0.007 -0.07° +_scene_ 0.065 0.000 0.025 -5.670 -0.005 -5.717 -57.31° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: cabinet <-> floor depth=[0.629, 0.002, 0.393] + !! OVERLAP: chair <-> table depth=[0.532, 0.712, 0.474] + !! OVERLAP: chair <-> floor depth=[0.583, 0.002, 0.584] + !! OVERLAP: chair <-> table depth=[0.530, 0.712, 0.400] + !! OVERLAP: chair <-> floor depth=[0.552, 0.002, 0.570] + !! OVERLAP: table <-> chair depth=[0.558, 0.712, 0.296] + !! OVERLAP: table <-> chair depth=[0.460, 0.712, 0.065] + !! OVERLAP: table <-> floor depth=[1.483, 0.002, 1.394] + !! OVERLAP: chair <-> floor depth=[0.558, 0.002, 0.610] + !! OVERLAP: chair <-> floor depth=[0.460, 0.002, 0.474] +============================================================ + + +============================================================ +SCENE: DiningRoom-88173 | 13 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0000, Walkable Loss: 8.4601 (Center Penalty: 4.4339, C1 Heatmap: 0.9581, C2 Repulsion: 16.2985), Relational Loss: 0.0000 +Guided Steps: 10/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +lamp 1.069 0.842 0.262 -0.047 1.530 -0.210 90.19° +table 1.501 0.633 1.423 -0.294 -0.001 -0.031 0.06° +chair 0.547 1.022 0.615 0.720 -0.000 0.299 -99.52° +chair 1.075 1.070 0.603 -0.030 0.001 1.559 -179.96° +chair 0.650 1.048 0.648 0.695 0.001 -0.106 -98.25° +chair 0.558 1.054 0.619 0.656 -0.001 -0.570 -73.78° +chair 0.634 1.075 0.715 -0.777 -0.001 0.274 110.58° +chair 0.809 1.113 0.899 -0.855 0.003 -0.089 71.26° +chair 0.657 1.061 0.742 -0.897 0.001 -0.328 89.96° +chair 0.716 1.006 0.674 -0.204 -0.001 -1.631 -0.03° +table 1.361 0.639 0.314 -0.127 0.002 -2.075 -0.06° +floor 2.692 0.000 5.260 -0.000 -0.001 -0.048 0.01° +_scene_ 0.121 -0.010 0.111 -5.614 -0.002 -5.669 -57.12° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: table <-> chair depth=[0.010, 0.633, 0.615] + !! OVERLAP: table <-> chair depth=[0.086, 0.633, 0.648] + !! OVERLAP: table <-> chair depth=[0.080, 0.633, 0.481] + !! OVERLAP: table <-> chair depth=[0.584, 0.633, 0.715] + !! OVERLAP: table <-> chair depth=[0.594, 0.633, 0.899] + !! OVERLAP: table <-> chair depth=[0.476, 0.633, 0.742] + !! OVERLAP: table <-> floor depth=[1.501, 0.000, 1.423] + !! OVERLAP: chair <-> chair depth=[0.547, 1.022, 0.226] + !! OVERLAP: chair <-> floor depth=[0.547, 0.000, 0.615] + !! OVERLAP: chair <-> floor depth=[1.075, 0.000, 0.603] + !! OVERLAP: chair <-> chair depth=[0.558, 1.048, 0.169] + !! OVERLAP: chair <-> floor depth=[0.650, 0.000, 0.648] + !! OVERLAP: chair <-> floor depth=[0.558, 0.000, 0.619] + !! OVERLAP: chair <-> chair depth=[0.634, 1.075, 0.445] + !! OVERLAP: chair <-> chair depth=[0.526, 1.061, 0.127] + !! OVERLAP: chair <-> floor depth=[0.634, 0.000, 0.715] + !! OVERLAP: chair <-> chair depth=[0.657, 1.061, 0.581] + !! OVERLAP: chair <-> floor depth=[0.809, 0.000, 0.899] + !! OVERLAP: chair <-> floor depth=[0.657, 0.000, 0.742] + !! OVERLAP: chair <-> table depth=[0.716, 0.639, 0.050] + !! OVERLAP: chair <-> floor depth=[0.716, 0.000, 0.674] + !! OVERLAP: table <-> floor depth=[1.361, 0.000, 0.314] +============================================================ + + +============================================================ +SCENE: DiningRoom-35093 | 9 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0000, Walkable Loss: 4.5528 (Center Penalty: 3.1756, C1 Heatmap: 0.4675, C2 Repulsion: 5.0159), Relational Loss: 0.0000 +Guided Steps: 10/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +table 1.357 0.769 1.424 0.150 0.001 -0.531 0.14° +chair 0.449 1.041 0.502 -0.814 -0.001 0.597 179.86° +chair 0.510 0.870 0.528 0.362 0.002 0.603 179.89° +chair 0.500 0.830 0.585 1.291 0.001 0.525 -179.91° +chair 0.544 0.836 0.613 1.043 0.001 -0.937 0.03° +chair 0.478 0.865 0.546 0.061 0.002 -0.868 0.05° +lamp 0.651 0.956 0.630 0.197 1.650 -0.260 0.03° +floor 3.927 -0.003 2.740 0.034 0.001 -0.009 -0.06° +_scene_ 0.065 0.003 0.023 -5.670 -0.005 -5.707 -57.30° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: table <-> chair depth=[0.058, 0.769, 0.613] + !! OVERLAP: table <-> chair depth=[0.478, 0.769, 0.546] + !! OVERLAP: table <-> floor depth=[1.357, -0.003, 1.424] + !! OVERLAP: chair <-> floor depth=[0.449, -0.003, 0.502] + !! OVERLAP: chair <-> floor depth=[0.510, -0.003, 0.528] + !! OVERLAP: chair <-> floor depth=[0.500, -0.003, 0.585] + !! OVERLAP: chair <-> floor depth=[0.544, -0.003, 0.613] + !! OVERLAP: chair <-> floor depth=[0.478, -0.003, 0.546] +============================================================ + + +============================================================ +SCENE: DiningRoom-10302 | 11 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.2266, Walkable Loss: 3.5170 (Center Penalty: 1.7321, C1 Heatmap: 0.5967, C2 Repulsion: 6.5376), Relational Loss: 0.0000 +Guided Steps: 10/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +table 1.470 0.480 0.392 -0.879 0.002 0.898 179.94° +shelf 0.427 0.815 0.204 -1.101 -0.001 -1.331 0.07° +chair 0.470 0.857 0.504 1.624 0.002 0.968 179.94° +chair 0.520 0.863 0.571 0.882 0.002 1.135 179.94° +chair 0.526 0.850 0.582 1.422 -0.000 -0.451 0.07° +chair 0.459 0.840 0.515 1.093 0.001 -0.314 0.04° +table 2.062 0.844 1.048 1.003 0.001 0.242 -90.21° +lamp 0.336 0.768 0.183 1.358 1.899 0.753 -0.01° +lamp 0.581 0.841 0.575 0.645 1.760 -0.396 -0.05° +floor 3.836 0.004 3.337 -0.029 0.001 -0.002 0.02° +_scene_ 0.075 -0.000 0.023 -5.668 -0.005 -5.716 -57.25° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: table <-> floor depth=[1.470, 0.004, 0.392] + !! OVERLAP: shelf <-> floor depth=[0.427, 0.004, 0.204] + !! OVERLAP: chair <-> table depth=[0.470, 0.844, 0.050] + !! OVERLAP: chair <-> floor depth=[0.470, 0.004, 0.504] + !! OVERLAP: chair <-> floor depth=[0.520, 0.004, 0.571] + !! OVERLAP: chair <-> chair depth=[0.164, 0.840, 0.411] + !! OVERLAP: chair <-> table depth=[0.526, 0.844, 0.122] + !! OVERLAP: chair <-> floor depth=[0.526, 0.004, 0.582] + !! OVERLAP: chair <-> table depth=[0.459, 0.840, 0.225] + !! OVERLAP: chair <-> floor depth=[0.459, 0.004, 0.515] + !! OVERLAP: table <-> floor depth=[1.917, 0.004, 1.048] +============================================================ + + +============================================================ +SCENE: DiningRoom-113004 | 9 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0000, Walkable Loss: 3.7521 (Center Penalty: 2.3085, C1 Heatmap: 0.5781, C2 Repulsion: 4.9058), Relational Loss: 0.0000 +Guided Steps: 10/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +table 2.124 0.695 0.797 -0.218 -0.000 0.720 -0.07° +chair 0.490 0.857 0.517 -0.819 0.001 -0.002 0.00° +chair 0.537 0.852 0.548 0.438 0.002 -0.061 0.03° +chair 0.529 0.832 0.513 -0.570 0.011 1.326 -179.94° +chair 0.473 0.832 0.526 0.342 0.002 1.201 -179.99° +table 1.517 0.811 0.631 -0.595 0.004 -1.457 -0.04° +lamp 1.043 0.607 1.124 0.071 2.073 0.984 0.02° +floor 3.504 -0.001 3.953 -0.057 0.001 0.001 0.00° +_scene_ 0.070 0.002 0.020 -5.666 -0.005 -5.715 -57.31° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: table <-> chair depth=[0.529, 0.695, 0.049] + !! OVERLAP: table <-> chair depth=[0.473, 0.695, 0.181] + !! OVERLAP: table <-> floor depth=[2.124, -0.001, 0.797] + !! OVERLAP: chair <-> floor depth=[0.490, -0.001, 0.517] + !! OVERLAP: chair <-> floor depth=[0.537, -0.001, 0.548] + !! OVERLAP: chair <-> floor depth=[0.529, -0.001, 0.513] + !! OVERLAP: chair <-> floor depth=[0.473, -0.001, 0.526] + !! OVERLAP: table <-> floor depth=[1.517, -0.001, 0.631] +============================================================ + + +============================================================ +SCENE: DiningRoom-22384 | 8 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0000, Walkable Loss: 3.2380 (Center Penalty: 1.9970, C1 Heatmap: 0.4765, C2 Repulsion: 4.2990), Relational Loss: 0.0000 +Guided Steps: 10/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +table 1.859 0.777 1.136 0.535 -0.001 -0.413 -0.04° +lamp 1.094 0.825 1.084 0.565 1.922 -1.155 50.52° +chair 0.515 1.039 0.567 -0.277 0.004 -1.426 89.85° +chair 0.540 1.031 0.625 -0.464 0.000 -0.339 89.97° +chair 0.561 1.049 0.589 1.301 0.001 -1.164 -88.51° +chair 0.497 0.997 0.566 1.280 0.002 -0.114 -90.10° +floor 3.475 0.001 3.780 0.004 0.006 -0.075 0.04° +_scene_ 0.066 0.001 0.030 -5.666 -0.003 -5.709 -57.32° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: table <-> chair depth=[0.200, 0.777, 0.625] + !! OVERLAP: table <-> chair depth=[0.445, 0.777, 0.112] + !! OVERLAP: table <-> chair depth=[0.433, 0.777, 0.553] + !! OVERLAP: table <-> floor depth=[1.859, 0.001, 1.136] + !! OVERLAP: chair <-> floor depth=[0.515, 0.001, 0.567] + !! OVERLAP: chair <-> floor depth=[0.540, 0.001, 0.625] + !! OVERLAP: chair <-> floor depth=[0.561, 0.001, 0.589] + !! OVERLAP: chair <-> floor depth=[0.497, 0.001, 0.566] +============================================================ + + +============================================================ +SCENE: DiningRoom-11145 | 9 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0000, Walkable Loss: 5.2229 (Center Penalty: 3.6205, C1 Heatmap: 0.5092, C2 Repulsion: 5.9756), Relational Loss: 0.0000 +Guided Steps: 10/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +table 1.410 0.768 1.114 -0.118 -0.002 -0.719 0.02° +chair 0.518 0.934 0.529 0.587 0.003 0.019 -179.86° +chair 0.542 0.852 0.512 -0.390 0.002 0.149 -179.97° +chair 0.543 0.890 0.584 0.500 0.001 -1.130 0.03° +chair 0.532 0.908 0.569 -0.319 0.002 -0.997 0.05° +table 1.629 1.274 0.425 0.159 0.002 1.350 -179.88° +lamp 1.001 0.965 0.878 -0.018 1.784 -0.300 -0.03° +floor 2.585 0.001 3.166 0.011 -0.000 0.033 -0.00° +_scene_ 0.059 0.001 0.017 -5.661 -0.005 -5.713 -57.29° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: table <-> chair depth=[0.259, 0.768, 0.084] + !! OVERLAP: table <-> chair depth=[0.359, 0.768, 0.438] + !! OVERLAP: table <-> chair depth=[0.532, 0.768, 0.564] + !! OVERLAP: table <-> floor depth=[1.410, 0.001, 1.114] + !! OVERLAP: chair <-> floor depth=[0.518, 0.001, 0.529] + !! OVERLAP: chair <-> floor depth=[0.542, 0.001, 0.512] + !! OVERLAP: chair <-> floor depth=[0.543, 0.001, 0.584] + !! OVERLAP: chair <-> floor depth=[0.532, 0.001, 0.569] + !! OVERLAP: table <-> floor depth=[1.629, 0.001, 0.425] +============================================================ + + +============================================================ +SCENE: DiningRoom-10559 | 12 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0000, Walkable Loss: 3.4188 (Center Penalty: 1.4486, C1 Heatmap: 0.8233, C2 Repulsion: 6.5577), Relational Loss: 0.0000 +Guided Steps: 10/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +table 2.115 0.747 1.003 0.890 -0.003 -0.877 0.01° +chair 0.531 0.966 0.591 1.711 0.001 -1.598 -0.00° +chair 0.658 0.918 0.647 0.743 0.002 -0.415 179.80° +cabinet 1.542 2.084 0.422 0.698 0.002 1.228 -179.98° +chair 0.475 0.962 0.572 2.013 -0.001 -0.595 179.83° +chair 0.568 0.997 0.611 0.806 0.001 -1.723 -0.01° +lamp 0.661 0.305 0.654 0.251 2.257 -0.892 -0.06° +cabinet 1.415 1.803 0.489 -2.347 -0.005 -0.882 0.00° +tv_stand 1.547 0.337 0.251 -2.242 0.002 1.384 -179.99° +chair 0.434 0.514 0.410 -0.432 -0.002 0.939 179.99° +floor 6.540 -0.002 3.744 -0.144 -0.001 -0.328 0.01° +_scene_ 0.065 0.001 0.027 -5.672 -0.003 -5.715 -57.34° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: table <-> chair depth=[0.502, 0.747, 0.076] + !! OVERLAP: table <-> chair depth=[0.658, 0.747, 0.363] + !! OVERLAP: table <-> chair depth=[0.172, 0.747, 0.505] + !! OVERLAP: table <-> floor depth=[2.115, -0.002, 1.003] + !! OVERLAP: chair <-> floor depth=[0.531, -0.002, 0.591] + !! OVERLAP: chair <-> floor depth=[0.658, -0.002, 0.647] + !! OVERLAP: cabinet <-> floor depth=[1.542, -0.002, 0.422] + !! OVERLAP: chair <-> floor depth=[0.475, -0.002, 0.572] + !! OVERLAP: chair <-> floor depth=[0.568, -0.002, 0.611] + !! OVERLAP: cabinet <-> floor depth=[1.415, -0.002, 0.489] + !! OVERLAP: tv_stand <-> floor depth=[1.547, -0.002, 0.251] + !! OVERLAP: chair <-> floor depth=[0.434, -0.002, 0.410] +============================================================ + + +============================================================ +SCENE: DiningRoom-85692 | 8 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0000, Walkable Loss: 3.7564 (Center Penalty: 2.5479, C1 Heatmap: 0.4503, C2 Repulsion: 4.2412), Relational Loss: 0.0000 +Guided Steps: 10/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +table 1.620 0.766 1.484 -0.702 0.004 -0.147 89.97° +chair 0.497 0.737 0.548 0.885 -0.001 0.539 -90.02° +chair 0.466 0.800 0.488 0.886 0.001 -0.264 -90.14° +chair 0.442 0.779 0.493 -0.899 -0.000 0.333 90.00° +chair 0.517 0.718 0.457 -0.859 0.001 -0.091 87.05° +lamp 0.762 0.974 0.760 0.480 1.921 -0.430 -0.06° +floor 3.709 -0.000 2.833 0.028 0.001 0.007 -0.02° +_scene_ 0.074 0.001 0.030 -5.656 -0.002 -5.692 -57.31° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: table <-> chair depth=[0.442, 0.766, 0.493] + !! OVERLAP: table <-> chair depth=[0.517, 0.718, 0.457] + !! OVERLAP: table <-> floor depth=[1.620, -0.000, 1.484] + !! OVERLAP: chair <-> floor depth=[0.497, -0.000, 0.548] + !! OVERLAP: chair <-> floor depth=[0.466, -0.000, 0.488] + !! OVERLAP: chair <-> chair depth=[0.440, 0.718, 0.051] + !! OVERLAP: chair <-> floor depth=[0.442, -0.000, 0.493] + !! OVERLAP: chair <-> floor depth=[0.517, -0.000, 0.457] +============================================================ + + +============================================================ +SCENE: DiningRoom-12866 | 10 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0000, Walkable Loss: 4.0145 (Center Penalty: 2.2867, C1 Heatmap: 0.5955, C2 Repulsion: 6.2569), Relational Loss: 0.0000 +Guided Steps: 10/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +chair 0.607 1.031 0.603 -0.380 -0.001 -1.323 59.92° +chair 0.638 0.993 0.651 -0.588 -0.002 -0.396 89.97° +chair 0.472 0.995 0.556 0.861 0.001 -0.312 -90.00° +chair 0.478 1.056 0.588 0.880 0.001 -1.115 0.03° +table 1.320 0.758 1.374 0.252 0.001 -0.721 90.00° +table 1.583 0.864 0.407 -0.179 0.006 1.492 179.97° +chair 0.556 0.565 0.505 1.257 -0.001 0.949 179.96° +lamp 1.028 0.850 1.031 0.142 1.827 -0.659 -0.03° +floor 3.379 -0.003 3.851 0.108 0.001 -0.055 0.02° +_scene_ 0.072 0.001 0.025 -5.675 -0.003 -5.705 -57.29° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: chair <-> table depth=[0.331, 0.758, 0.386] + !! OVERLAP: chair <-> floor depth=[0.607, -0.003, 0.603] + !! OVERLAP: chair <-> table depth=[0.139, 0.758, 0.651] + !! OVERLAP: chair <-> floor depth=[0.638, -0.003, 0.651] + !! OVERLAP: chair <-> table depth=[0.287, 0.758, 0.556] + !! OVERLAP: chair <-> floor depth=[0.472, -0.003, 0.556] + !! OVERLAP: chair <-> table depth=[0.270, 0.758, 0.587] + !! OVERLAP: chair <-> floor depth=[0.478, -0.003, 0.588] + !! OVERLAP: table <-> floor depth=[1.320, -0.003, 1.374] + !! OVERLAP: table <-> floor depth=[1.583, -0.003, 0.407] + !! OVERLAP: chair <-> floor depth=[0.556, -0.003, 0.505] +============================================================ + + +============================================================ +SCENE: DiningRoom-9824 | 10 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0000, Walkable Loss: 4.0384 (Center Penalty: 2.6033, C1 Heatmap: 0.5262, C2 Repulsion: 5.0705), Relational Loss: 0.0000 +Guided Steps: 10/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +table 0.928 0.896 0.312 0.580 0.001 -1.407 -0.02° +table 2.401 0.716 1.081 0.184 0.009 0.944 179.98° +chair 0.360 0.502 0.349 -0.978 0.001 -0.027 90.06° +chair 0.367 0.492 0.400 -0.028 0.000 0.154 -0.04° +chair 0.427 0.532 0.506 0.352 0.001 1.012 -90.03° +chair 0.411 0.512 0.401 -0.729 0.000 0.899 90.03° +chair 0.339 0.568 0.356 0.967 -0.000 0.535 -89.85° +lamp 1.763 0.652 1.787 -0.054 2.213 1.020 -0.03° +floor 3.358 0.001 3.796 -0.004 0.001 0.042 0.02° +_scene_ 0.060 0.002 0.014 -5.668 -0.005 -5.715 -57.29° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: table <-> floor depth=[0.928, 0.001, 0.312] + !! OVERLAP: table <-> chair depth=[0.427, 0.532, 0.506] + !! OVERLAP: table <-> chair depth=[0.411, 0.512, 0.401] + !! OVERLAP: table <-> chair depth=[0.339, 0.568, 0.308] + !! OVERLAP: table <-> floor depth=[2.401, 0.001, 1.081] + !! OVERLAP: chair <-> floor depth=[0.360, 0.001, 0.349] + !! OVERLAP: chair <-> floor depth=[0.367, 0.001, 0.400] + !! OVERLAP: chair <-> floor depth=[0.427, 0.001, 0.506] + !! OVERLAP: chair <-> floor depth=[0.411, 0.001, 0.401] + !! OVERLAP: chair <-> floor depth=[0.339, 0.001, 0.356] +============================================================ + + +============================================================ +SCENE: DiningRoom-88590 | 10 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0000, Walkable Loss: 5.4090 (Center Penalty: 3.0419, C1 Heatmap: 0.8859, C2 Repulsion: 8.2917), Relational Loss: 0.0000 +Guided Steps: 10/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +lamp 0.953 0.628 0.276 -0.580 2.014 0.434 -0.01° +chair 0.665 0.761 0.679 -0.657 0.003 -0.543 0.07° +chair 0.529 0.418 0.366 0.832 0.001 -1.535 -89.81° +chair 0.605 0.791 0.655 -0.034 -0.003 -0.203 -11.99° +cabinet 1.848 1.962 0.372 -1.929 0.002 0.097 89.91° +table 2.364 0.741 1.435 -0.356 -0.002 0.359 -0.02° +chair 0.639 0.767 0.630 0.256 0.003 1.003 -126.47° +chair 0.595 0.772 0.580 -0.635 -0.000 1.259 179.90° +floor 5.071 -0.011 4.178 -0.280 -0.001 0.088 -0.04° +_scene_ 0.066 -0.000 0.016 -5.671 -0.005 -5.716 -57.27° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: chair <-> chair depth=[0.013, 0.761, 0.327] + !! OVERLAP: chair <-> table depth=[0.665, 0.741, 0.155] + !! OVERLAP: chair <-> floor depth=[0.665, -0.011, 0.679] + !! OVERLAP: chair <-> floor depth=[0.529, -0.011, 0.366] + !! OVERLAP: chair <-> table depth=[0.605, 0.741, 0.483] + !! OVERLAP: chair <-> floor depth=[0.605, -0.011, 0.655] + !! OVERLAP: cabinet <-> table depth=[0.533, 0.741, 0.372] + !! OVERLAP: cabinet <-> floor depth=[1.810, -0.011, 0.372] + !! OVERLAP: table <-> chair depth=[0.639, 0.741, 0.389] + !! OVERLAP: table <-> chair depth=[0.595, 0.741, 0.107] + !! OVERLAP: table <-> floor depth=[2.364, -0.011, 1.435] + !! OVERLAP: chair <-> floor depth=[0.639, -0.011, 0.630] + !! OVERLAP: chair <-> floor depth=[0.595, -0.011, 0.580] +============================================================ + + +============================================================ +SCENE: DiningRoom-7217 | 8 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0000, Walkable Loss: 5.3013 (Center Penalty: 3.8438, C1 Heatmap: 0.4333, C2 Repulsion: 5.5545), Relational Loss: 0.0000 +Guided Steps: 10/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +table 1.713 0.747 0.898 -0.051 0.000 0.074 -89.98° +chair 0.589 1.025 0.652 0.608 0.005 -0.396 -89.95° +chair 0.613 1.042 0.663 0.771 0.001 0.407 -90.26° +chair 0.591 0.952 0.647 -0.835 0.002 -0.185 89.95° +chair 0.596 1.063 0.677 -0.878 0.001 0.718 90.05° +lamp 0.823 1.112 0.802 0.127 1.606 -0.023 0.16° +floor 2.583 -0.002 2.986 -0.020 0.003 -0.029 -0.00° +_scene_ 0.064 0.005 0.018 -5.664 -0.005 -5.716 -57.32° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: table <-> chair depth=[0.492, 0.747, 0.304] + !! OVERLAP: table <-> chair depth=[0.341, 0.747, 0.448] + !! OVERLAP: table <-> chair depth=[0.368, 0.747, 0.513] + !! OVERLAP: table <-> chair depth=[0.328, 0.747, 0.144] + !! OVERLAP: table <-> floor depth=[1.713, -0.002, 0.898] + !! OVERLAP: chair <-> floor depth=[0.589, -0.002, 0.652] + !! OVERLAP: chair <-> floor depth=[0.613, -0.002, 0.663] + !! OVERLAP: chair <-> floor depth=[0.591, -0.002, 0.647] + !! OVERLAP: chair <-> floor depth=[0.596, -0.002, 0.677] +============================================================ + + +============================================================ +SCENE: DiningRoom-19325 | 8 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0000, Walkable Loss: 4.9935 (Center Penalty: 3.7066, C1 Heatmap: 0.4426, C2 Repulsion: 4.6644), Relational Loss: 0.0000 +Guided Steps: 10/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +table 1.532 0.749 1.104 -0.081 0.000 -0.318 -0.04° +chair 0.605 0.958 0.651 -0.885 -0.001 0.332 -179.98° +chair 0.538 0.989 0.557 -0.946 0.001 -0.926 0.04° +chair 0.547 1.004 0.639 0.226 -0.000 0.335 179.77° +chair 0.538 0.937 0.554 0.284 0.001 -0.953 0.04° +lamp 0.304 0.906 0.284 -0.140 1.642 -0.325 -0.04° +floor 2.807 -0.005 2.579 0.004 -0.000 0.033 -0.07° +_scene_ 0.069 -0.000 0.026 -5.669 -0.004 -5.707 -57.31° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: table <-> chair depth=[0.265, 0.749, 0.228] + !! OVERLAP: table <-> chair depth=[0.170, 0.749, 0.222] + !! OVERLAP: table <-> chair depth=[0.547, 0.749, 0.219] + !! OVERLAP: table <-> chair depth=[0.538, 0.749, 0.194] + !! OVERLAP: table <-> floor depth=[1.532, -0.005, 1.104] + !! OVERLAP: chair <-> floor depth=[0.605, -0.005, 0.651] + !! OVERLAP: chair <-> floor depth=[0.538, -0.005, 0.557] + !! OVERLAP: chair <-> floor depth=[0.547, -0.005, 0.639] + !! OVERLAP: chair <-> floor depth=[0.538, -0.005, 0.554] +============================================================ + + +============================================================ +SCENE: DiningRoom-27933 | 8 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0209, Walkable Loss: 5.3823 (Center Penalty: 4.2250, C1 Heatmap: 0.3822, C2 Repulsion: 4.2580), Relational Loss: 0.0000 +Guided Steps: 10/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +table 2.154 0.710 0.877 0.066 0.011 -0.038 89.86° +chair 0.442 0.642 0.459 0.730 0.002 0.587 -90.08° +chair 0.335 0.650 0.364 0.618 0.002 -0.287 -90.05° +chair 0.446 0.601 0.436 -0.415 0.001 0.587 90.02° +chair 0.441 0.551 0.488 -0.539 0.001 -0.311 90.10° +lamp 0.697 0.820 0.673 0.232 1.906 -0.193 89.84° +floor 2.425 -0.001 2.346 0.007 -0.000 0.010 -0.03° +_scene_ 0.071 0.001 0.023 -5.666 -0.004 -5.715 -57.31° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: table <-> chair depth=[0.442, 0.642, 0.043] + !! OVERLAP: table <-> chair depth=[0.335, 0.650, 0.364] + !! OVERLAP: table <-> chair depth=[0.446, 0.601, 0.032] + !! OVERLAP: table <-> chair depth=[0.441, 0.551, 0.409] + !! OVERLAP: table <-> floor depth=[2.154, -0.001, 0.877] + !! OVERLAP: chair <-> floor depth=[0.442, -0.001, 0.459] + !! OVERLAP: chair <-> floor depth=[0.335, -0.001, 0.364] + !! OVERLAP: chair <-> floor depth=[0.446, -0.001, 0.436] + !! OVERLAP: chair <-> floor depth=[0.441, -0.001, 0.488] +============================================================ + + +============================================================ +SCENE: DiningRoom-9630 | 10 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0227, Walkable Loss: 2.9453 (Center Penalty: 1.8003, C1 Heatmap: 0.3838, C2 Repulsion: 4.1902), Relational Loss: 0.0000 +Guided Steps: 10/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +table 1.293 0.704 0.902 -0.583 -0.001 -1.121 -90.22° +chair 0.470 0.917 0.503 0.057 0.003 -0.549 -179.94° +chair 0.439 0.932 0.497 0.252 -0.005 -1.698 -36.62° +chair 0.487 0.971 0.540 -0.832 -0.000 -1.772 0.04° +chair 0.464 0.861 0.498 -1.082 -0.002 -0.594 114.65° +bookshelf 1.363 2.286 0.265 0.790 -0.001 1.147 -90.10° +lamp 0.499 0.931 0.309 0.072 1.737 1.148 -0.05° +lamp 0.700 1.180 0.675 -0.162 1.685 -1.200 -0.01° +floor 3.021 -0.003 4.667 -0.011 -0.000 -0.021 -0.01° +_scene_ 0.069 0.001 0.018 -5.671 -0.005 -5.716 -57.30° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: table <-> chair depth=[0.241, 0.704, 0.130] + !! OVERLAP: table <-> chair depth=[0.030, 0.704, 0.122] + !! OVERLAP: table <-> chair depth=[0.487, 0.704, 0.070] + !! OVERLAP: table <-> chair depth=[0.379, 0.704, 0.174] + !! OVERLAP: table <-> floor depth=[1.293, -0.003, 0.902] + !! OVERLAP: chair <-> floor depth=[0.470, -0.003, 0.503] + !! OVERLAP: chair <-> floor depth=[0.439, -0.003, 0.497] + !! OVERLAP: chair <-> floor depth=[0.487, -0.003, 0.540] + !! OVERLAP: chair <-> floor depth=[0.464, -0.003, 0.498] + !! OVERLAP: bookshelf <-> floor depth=[1.363, -0.003, 0.265] +============================================================ + + +============================================================ +SCENE: DiningRoom-225770 | 8 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0000, Walkable Loss: 3.7964 (Center Penalty: 2.4625, C1 Heatmap: 0.4569, C2 Repulsion: 4.8419), Relational Loss: 0.0000 +Guided Steps: 10/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +chair 0.541 0.924 0.587 -0.534 0.001 -0.964 -0.01° +chair 0.479 0.951 0.518 0.816 -0.002 -0.387 -64.41° +chair 0.537 0.926 0.550 0.582 0.001 0.685 -133.33° +chair 0.516 0.968 0.545 -0.733 0.000 0.930 179.62° +chair 0.561 0.981 0.579 -1.341 0.003 -0.375 63.22° +table 1.781 0.755 0.965 -0.013 0.002 0.366 0.00° +floor 4.105 -0.001 4.885 0.005 -0.000 -0.074 -0.07° +_scene_ 0.139 -0.006 0.176 -5.401 -0.002 -5.471 -57.74° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: chair <-> floor depth=[0.541, -0.001, 0.587] + !! OVERLAP: chair <-> floor depth=[0.479, -0.001, 0.518] + !! OVERLAP: chair <-> table depth=[0.537, 0.755, 0.438] + !! OVERLAP: chair <-> floor depth=[0.537, -0.001, 0.550] + !! OVERLAP: chair <-> table depth=[0.428, 0.755, 0.192] + !! OVERLAP: chair <-> floor depth=[0.516, -0.001, 0.545] + !! OVERLAP: chair <-> floor depth=[0.561, -0.001, 0.579] + !! OVERLAP: table <-> floor depth=[1.781, -0.001, 0.965] +============================================================ + + +============================================================ +SCENE: DiningRoom-116178 | 11 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0000, Walkable Loss: 2.3800 (Center Penalty: 0.7971, C1 Heatmap: 0.4714, C2 Repulsion: 6.0290), Relational Loss: 0.0000 +Guided Steps: 10/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +table 1.363 0.788 0.674 -1.241 0.001 1.909 90.04° +chair 0.636 0.838 0.660 -1.091 -0.002 1.111 138.57° +chair 0.570 0.818 0.584 -0.254 0.004 1.201 -161.30° +chair 0.580 0.814 0.601 0.349 0.002 1.272 -128.98° +chair 0.528 0.812 0.548 -1.212 0.003 -0.876 21.52° +chair 0.482 0.801 0.491 -0.409 -0.006 -1.349 -11.48° +chair 0.526 0.808 0.514 0.284 -0.002 -1.201 -43.06° +chair 0.516 0.813 0.505 0.867 -0.000 0.027 -77.33° +chair 0.519 0.858 0.554 -1.819 -0.004 0.358 103.86° +floor 5.328 -0.010 6.330 -0.636 -0.001 0.361 -0.05° +_scene_ 0.929 0.380 1.721 -2.476 0.008 -2.795 -82.37° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: table <-> floor depth=[1.363, -0.010, 0.674] + !! OVERLAP: chair <-> floor depth=[0.636, -0.010, 0.660] + !! OVERLAP: chair <-> floor depth=[0.570, -0.010, 0.584] + !! OVERLAP: chair <-> floor depth=[0.580, -0.010, 0.601] + !! OVERLAP: chair <-> floor depth=[0.528, -0.010, 0.548] + !! OVERLAP: chair <-> floor depth=[0.482, -0.010, 0.491] + !! OVERLAP: chair <-> floor depth=[0.526, -0.010, 0.514] + !! OVERLAP: chair <-> floor depth=[0.516, -0.010, 0.505] + !! OVERLAP: chair <-> floor depth=[0.519, -0.010, 0.554] + !! OVERLAP: floor <-> _scene_ depth=[0.929, -0.010, 0.869] +============================================================ + + +============================================================ +SCENE: DiningRoom-22156 | 10 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0000, Walkable Loss: 6.1443 (Center Penalty: 4.0528, C1 Heatmap: 0.4611, C2 Repulsion: 8.6135), Relational Loss: 0.0000 +Guided Steps: 10/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +table 1.410 0.707 1.078 -0.174 -0.002 -0.006 89.68° +chair 0.536 0.961 0.594 -0.248 0.000 -0.863 0.05° +chair 0.583 0.875 0.595 0.264 0.000 -0.955 0.04° +chair 0.542 0.935 0.553 -0.250 0.001 0.742 179.97° +chair 0.498 0.929 0.555 0.241 0.002 0.844 -179.95° +chair 0.568 0.985 0.597 -1.068 0.000 -0.295 90.00° +chair 0.520 0.962 0.546 1.050 0.001 -0.121 -90.13° +lamp 0.663 1.114 0.515 0.083 1.492 -0.159 0.01° +floor 3.192 -0.004 3.270 0.007 0.001 -0.008 -0.03° +_scene_ 0.064 -0.008 0.055 -5.601 0.001 -5.647 -57.35° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: table <-> chair depth=[0.542, 0.707, 0.068] + !! OVERLAP: table <-> chair depth=[0.095, 0.707, 0.548] + !! OVERLAP: table <-> floor depth=[1.410, -0.004, 1.078] + !! OVERLAP: chair <-> chair depth=[0.048, 0.875, 0.503] + !! OVERLAP: chair <-> floor depth=[0.536, -0.004, 0.594] + !! OVERLAP: chair <-> floor depth=[0.583, -0.004, 0.595] + !! OVERLAP: chair <-> chair depth=[0.030, 0.929, 0.452] + !! OVERLAP: chair <-> floor depth=[0.542, -0.004, 0.553] + !! OVERLAP: chair <-> floor depth=[0.498, -0.004, 0.555] + !! OVERLAP: chair <-> floor depth=[0.568, -0.004, 0.597] + !! OVERLAP: chair <-> floor depth=[0.520, -0.004, 0.546] +============================================================ + + +============================================================ +SCENE: DiningRoom-22308 | 10 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0000, Walkable Loss: 6.5842 (Center Penalty: 4.2638, C1 Heatmap: 0.5786, C2 Repulsion: 9.2879), Relational Loss: 0.0000 +Guided Steps: 10/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +table 1.930 0.793 1.151 -0.018 0.000 -0.029 0.01° +chair 0.541 0.962 0.545 -0.638 -0.001 0.625 90.00° +chair 0.480 0.950 0.536 0.693 0.001 0.426 -90.04° +chair 0.541 0.993 0.557 0.696 0.004 -0.227 -80.85° +chair 0.453 0.954 0.555 -0.801 -0.000 -0.295 89.97° +chair 0.566 0.974 0.585 0.064 0.001 1.035 179.81° +chair 0.525 0.956 0.568 -0.115 0.000 -1.216 0.07° +lamp 0.419 0.729 0.388 -0.005 2.071 0.006 -0.01° +floor 2.603 -0.003 3.390 -0.028 0.001 -0.008 -0.00° +_scene_ 0.075 -0.001 0.043 -5.650 -0.003 -5.689 -57.35° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: table <-> chair depth=[0.541, 0.793, 0.194] + !! OVERLAP: table <-> chair depth=[0.480, 0.793, 0.389] + !! OVERLAP: table <-> chair depth=[0.522, 0.793, 0.557] + !! OVERLAP: table <-> chair depth=[0.408, 0.793, 0.555] + !! OVERLAP: table <-> floor depth=[1.930, -0.003, 1.151] + !! OVERLAP: chair <-> floor depth=[0.541, -0.003, 0.545] + !! OVERLAP: chair <-> floor depth=[0.480, -0.003, 0.536] + !! OVERLAP: chair <-> floor depth=[0.541, -0.003, 0.557] + !! OVERLAP: chair <-> floor depth=[0.453, -0.003, 0.555] + !! OVERLAP: chair <-> floor depth=[0.566, -0.003, 0.585] + !! OVERLAP: chair <-> floor depth=[0.525, -0.003, 0.568] +============================================================ + + +============================================================ +SCENE: DiningRoom-11336 | 10 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0000, Walkable Loss: 6.3007 (Center Penalty: 3.9704, C1 Heatmap: 0.5211, C2 Repulsion: 9.5673), Relational Loss: 0.0000 +Guided Steps: 10/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +table 1.684 0.763 0.982 -0.241 -0.000 -0.264 -0.00° +chair 0.536 0.942 0.586 -1.046 -0.001 0.201 90.06° +chair 0.595 0.968 0.601 0.655 0.002 0.224 -90.08° +chair 0.576 0.999 0.553 0.662 0.000 -0.350 -75.79° +chair 0.612 0.930 0.596 -0.936 0.001 -0.278 67.79° +chair 0.545 0.865 0.562 -0.304 0.001 0.962 179.99° +chair 0.623 0.905 0.589 -0.272 -0.001 -1.088 0.04° +lamp 0.540 0.531 0.536 -0.178 2.240 -0.175 0.00° +floor 2.731 -0.005 2.800 -0.021 0.000 -0.023 -0.04° +_scene_ 0.064 -0.002 0.028 -5.663 -0.005 -5.705 -57.30° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: table <-> chair depth=[0.305, 0.763, 0.319] + !! OVERLAP: table <-> chair depth=[0.244, 0.763, 0.303] + !! OVERLAP: table <-> chair depth=[0.228, 0.763, 0.553] + !! OVERLAP: table <-> chair depth=[0.453, 0.763, 0.596] + !! OVERLAP: table <-> floor depth=[1.684, -0.005, 0.982] + !! OVERLAP: chair <-> chair depth=[0.464, 0.930, 0.112] + !! OVERLAP: chair <-> floor depth=[0.536, -0.005, 0.586] + !! OVERLAP: chair <-> chair depth=[0.576, 0.968, 0.003] + !! OVERLAP: chair <-> floor depth=[0.595, -0.005, 0.601] + !! OVERLAP: chair <-> floor depth=[0.576, -0.005, 0.553] + !! OVERLAP: chair <-> floor depth=[0.612, -0.005, 0.596] + !! OVERLAP: chair <-> floor depth=[0.545, -0.005, 0.562] + !! OVERLAP: chair <-> floor depth=[0.623, -0.005, 0.589] +============================================================ + + +============================================================ +SCENE: DiningRoom-6151 | 11 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 1.2444, Walkable Loss: 4.1078 (Center Penalty: 1.6690, C1 Heatmap: 0.9344, C2 Repulsion: 8.4566), Relational Loss: 0.0000 +Guided Steps: 10/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +table 1.622 1.378 0.292 -1.593 0.001 -0.823 89.93° +chair 0.560 0.983 0.586 0.564 0.001 -1.031 0.00° +chair 0.491 0.994 0.576 1.356 0.001 -1.068 -0.03° +chair 0.516 0.996 0.589 0.749 0.001 0.733 -179.97° +chair 0.522 0.947 0.578 1.747 0.001 0.570 -179.94° +table 1.634 0.740 0.940 1.062 -0.002 -0.136 0.02° +table 1.686 0.768 0.541 -1.282 0.004 -0.580 90.05° +cabinet 2.506 2.157 0.480 -1.604 0.000 0.158 89.92° +lamp 0.813 0.853 0.765 0.686 2.341 -0.304 -0.02° +floor 3.987 -0.001 3.506 0.012 0.000 -0.017 -0.01° +_scene_ 0.071 -0.000 0.024 -5.670 -0.005 -5.714 -57.30° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: table <-> table depth=[1.343, 0.768, 0.173] + !! OVERLAP: table <-> floor depth=[1.200, -0.001, 0.292] + !! OVERLAP: chair <-> floor depth=[0.560, -0.001, 0.586] + !! OVERLAP: chair <-> floor depth=[0.491, -0.001, 0.576] + !! OVERLAP: chair <-> floor depth=[0.516, -0.001, 0.589] + !! OVERLAP: chair <-> table depth=[0.392, 0.740, 0.053] + !! OVERLAP: chair <-> floor depth=[0.519, -0.001, 0.578] + !! OVERLAP: table <-> floor depth=[1.634, -0.001, 0.940] + !! OVERLAP: table <-> floor depth=[1.543, -0.001, 0.541] + !! OVERLAP: cabinet <-> floor depth=[1.631, -0.001, 0.480] +============================================================ + + +============================================================ +SCENE: DiningRoom-663 | 10 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0000, Walkable Loss: 4.9451 (Center Penalty: 3.5274, C1 Heatmap: 0.5193, C2 Repulsion: 5.0113), Relational Loss: 0.0000 +Guided Steps: 10/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +table 1.745 0.774 1.617 0.471 0.003 -0.263 89.91° +chair 0.489 0.885 0.518 0.753 0.001 0.530 179.96° +chair 0.526 0.848 0.571 0.672 0.001 -0.647 0.07° +chair 0.533 0.845 0.567 -0.313 0.001 0.777 179.99° +chair 0.548 0.827 0.657 -0.056 0.001 -0.658 0.02° +lamp 1.206 0.987 1.262 0.582 1.609 -0.705 -0.05° +lamp 1.222 0.972 1.382 0.268 1.678 0.707 0.00° +lamp 1.453 0.942 1.574 0.673 1.579 -0.410 0.00° +floor 3.745 0.001 2.645 0.031 -0.002 -0.034 0.03° +_scene_ 0.066 -0.000 0.020 -5.672 -0.004 -5.714 -57.29° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: table <-> chair depth=[0.489, 0.774, 0.275] + !! OVERLAP: table <-> chair depth=[0.526, 0.774, 0.571] + !! OVERLAP: table <-> chair depth=[0.354, 0.774, 0.052] + !! OVERLAP: table <-> chair depth=[0.548, 0.774, 0.657] + !! OVERLAP: table <-> floor depth=[1.745, 0.001, 1.617] + !! OVERLAP: chair <-> floor depth=[0.489, 0.001, 0.518] + !! OVERLAP: chair <-> floor depth=[0.526, 0.001, 0.571] + !! OVERLAP: chair <-> floor depth=[0.533, 0.001, 0.567] + !! OVERLAP: chair <-> floor depth=[0.548, 0.001, 0.657] + !! OVERLAP: lamp <-> lamp depth=[1.206, 0.934, 1.123] + !! OVERLAP: lamp <-> lamp depth=[0.932, 0.859, 0.360] +============================================================ + + +============================================================ +SCENE: DiningRoom-2432 | 9 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0000, Walkable Loss: 5.0913 (Center Penalty: 3.1840, C1 Heatmap: 0.5473, C2 Repulsion: 7.3478), Relational Loss: 0.0000 +Guided Steps: 10/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +table 1.797 0.737 0.497 -0.235 0.001 1.425 179.93° +table 1.500 0.764 1.063 -0.463 0.000 0.062 -179.86° +chair 0.531 0.886 0.493 -0.147 0.001 -1.089 0.10° +chair 0.477 0.882 0.517 -1.064 0.000 -0.928 -0.00° +chair 0.435 0.930 0.485 -0.200 -0.001 0.417 -179.84° +chair 0.515 0.884 0.526 -1.062 -0.001 0.613 179.93° +lamp 1.873 0.779 0.178 -0.256 2.033 -0.273 -0.02° +floor 2.588 0.001 3.494 0.000 0.002 -0.021 -0.01° +_scene_ 0.062 0.006 0.014 -5.671 -0.006 -5.719 -57.31° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: table <-> floor depth=[1.797, 0.001, 0.497] + !! OVERLAP: table <-> chair depth=[0.435, 0.764, 0.419] + !! OVERLAP: table <-> chair depth=[0.409, 0.764, 0.244] + !! OVERLAP: table <-> floor depth=[1.500, 0.001, 1.063] + !! OVERLAP: chair <-> floor depth=[0.531, 0.001, 0.493] + !! OVERLAP: chair <-> floor depth=[0.468, 0.001, 0.517] + !! OVERLAP: chair <-> floor depth=[0.435, 0.001, 0.485] + !! OVERLAP: chair <-> floor depth=[0.489, 0.001, 0.526] +============================================================ + + +============================================================ +SCENE: DiningRoom-24272 | 8 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0000, Walkable Loss: 4.6336 (Center Penalty: 3.2875, C1 Heatmap: 0.4928, C2 Repulsion: 4.7594), Relational Loss: 0.0000 +Guided Steps: 10/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +table 1.548 0.804 1.373 0.465 0.000 0.212 89.85° +chair 0.581 0.974 0.619 -0.591 -0.004 -0.562 37.60° +chair 0.574 1.008 0.658 0.635 0.001 -0.542 0.05° +chair 0.566 0.913 0.717 -0.210 0.000 0.916 179.84° +chair 0.502 0.978 0.523 0.547 0.000 0.828 -179.90° +lamp 0.970 0.907 0.919 0.122 1.750 0.007 0.05° +floor 3.164 -0.003 2.908 -0.020 0.002 -0.048 -0.02° +_scene_ 0.075 0.006 0.041 -5.655 -0.004 -5.703 -57.28° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: table <-> chair depth=[0.008, 0.804, 0.222] + !! OVERLAP: table <-> chair depth=[0.574, 0.804, 0.261] + !! OVERLAP: table <-> chair depth=[0.382, 0.804, 0.342] + !! OVERLAP: table <-> chair depth=[0.502, 0.804, 0.333] + !! OVERLAP: table <-> floor depth=[1.548, -0.003, 1.373] + !! OVERLAP: chair <-> floor depth=[0.581, -0.003, 0.619] + !! OVERLAP: chair <-> floor depth=[0.574, -0.003, 0.658] + !! OVERLAP: chair <-> floor depth=[0.566, -0.003, 0.717] + !! OVERLAP: chair <-> floor depth=[0.502, -0.003, 0.523] +============================================================ + + +============================================================ +SCENE: DiningRoom-25528 | 10 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0000, Walkable Loss: 6.0579 (Center Penalty: 3.7325, C1 Heatmap: 0.5856, C2 Repulsion: 9.2847), Relational Loss: 0.0000 +Guided Steps: 10/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +table 1.902 0.759 1.258 -0.330 -0.002 -0.405 -0.01° +chair 0.515 0.813 0.396 -0.952 0.010 -0.782 46.90° +chair 0.538 0.765 0.598 -0.212 -0.000 -0.943 0.03° +chair 0.650 0.711 0.592 0.726 0.003 -0.700 -54.22° +chair 0.531 0.752 0.550 -0.897 -0.001 0.680 149.62° +chair 0.554 0.743 0.513 0.569 0.002 0.177 -126.65° +chair 0.551 0.767 0.544 -0.248 0.002 0.808 179.24° +lamp 0.517 1.006 0.506 0.074 1.716 -0.101 -0.02° +floor 3.866 -0.002 3.763 -0.005 0.000 -0.039 -0.07° +_scene_ 0.058 0.009 0.022 -5.665 -0.005 -5.713 -57.36° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: table <-> chair depth=[0.515, 0.759, 0.396] + !! OVERLAP: table <-> chair depth=[0.538, 0.759, 0.390] + !! OVERLAP: table <-> chair depth=[0.220, 0.711, 0.592] + !! OVERLAP: table <-> chair depth=[0.329, 0.743, 0.304] + !! OVERLAP: table <-> floor depth=[1.902, -0.002, 1.258] + !! OVERLAP: chair <-> floor depth=[0.515, -0.002, 0.396] + !! OVERLAP: chair <-> floor depth=[0.538, -0.002, 0.598] + !! OVERLAP: chair <-> floor depth=[0.650, -0.002, 0.592] + !! OVERLAP: chair <-> floor depth=[0.531, -0.002, 0.550] + !! OVERLAP: chair <-> floor depth=[0.554, -0.002, 0.513] + !! OVERLAP: chair <-> floor depth=[0.551, -0.002, 0.544] +============================================================ + + +============================================================ +SCENE: DiningRoom-43067 | 10 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0000, Walkable Loss: 4.6069 (Center Penalty: 3.0345, C1 Heatmap: 0.4390, C2 Repulsion: 6.1055), Relational Loss: 0.0000 +Guided Steps: 10/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +table 1.267 0.810 1.407 0.537 0.002 -0.274 0.06° +chair 0.499 0.760 0.517 0.887 0.003 0.370 -90.18° +chair 0.515 0.708 0.513 0.968 0.003 -0.507 -89.76° +chair 0.443 0.726 0.461 0.291 0.001 1.048 179.95° +chair 0.475 0.673 0.453 -0.712 0.001 -0.307 89.98° +chair 0.536 0.667 0.529 -0.838 0.000 0.493 90.01° +chair 0.508 0.696 0.507 0.324 0.002 -1.070 0.05° +lamp 0.610 0.790 0.592 -0.440 2.013 -0.376 0.07° +floor 3.283 -0.003 4.237 0.000 0.000 0.033 -0.01° +_scene_ 0.059 0.002 0.020 -5.660 -0.004 -5.700 -57.29° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: table <-> chair depth=[0.499, 0.760, 0.317] + !! OVERLAP: table <-> chair depth=[0.460, 0.708, 0.513] + !! OVERLAP: table <-> chair depth=[0.508, 0.696, 0.161] + !! OVERLAP: table <-> floor depth=[1.267, -0.003, 1.407] + !! OVERLAP: chair <-> floor depth=[0.499, -0.003, 0.517] + !! OVERLAP: chair <-> floor depth=[0.515, -0.003, 0.513] + !! OVERLAP: chair <-> floor depth=[0.443, -0.003, 0.461] + !! OVERLAP: chair <-> floor depth=[0.475, -0.003, 0.453] + !! OVERLAP: chair <-> floor depth=[0.536, -0.003, 0.529] + !! OVERLAP: chair <-> floor depth=[0.508, -0.003, 0.507] +============================================================ + + +============================================================ +SCENE: DiningRoom-8121 | 9 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0000, Walkable Loss: 3.6766 (Center Penalty: 2.0868, C1 Heatmap: 0.4588, C2 Repulsion: 6.1136), Relational Loss: 0.0000 +Guided Steps: 10/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +lamp 0.679 0.903 0.511 0.144 1.904 -0.637 89.97° +table 1.795 1.270 0.423 0.050 0.003 1.422 -179.91° +chair 0.514 0.596 0.540 -0.666 0.001 -0.596 89.92° +table 1.530 0.807 0.781 -0.146 0.002 -0.919 90.06° +chair 0.465 0.702 0.484 -0.659 0.001 -1.081 89.93° +chair 0.365 0.634 0.417 0.883 0.001 -0.967 -90.22° +chair 0.490 0.695 0.532 0.700 0.002 -1.114 -89.96° +floor 2.662 -0.005 4.191 0.039 -0.001 -0.048 0.00° +_scene_ 0.072 -0.000 0.019 -5.671 -0.004 -5.714 -57.32° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: table <-> floor depth=[1.795, -0.005, 0.423] + !! OVERLAP: chair <-> table depth=[0.501, 0.596, 0.337] + !! OVERLAP: chair <-> chair depth=[0.465, 0.596, 0.027] + !! OVERLAP: chair <-> floor depth=[0.514, -0.005, 0.540] + !! OVERLAP: table <-> chair depth=[0.465, 0.702, 0.471] + !! OVERLAP: table <-> chair depth=[0.164, 0.695, 0.462] + !! OVERLAP: table <-> floor depth=[1.530, -0.005, 0.781] + !! OVERLAP: chair <-> floor depth=[0.465, -0.005, 0.484] + !! OVERLAP: chair <-> chair depth=[0.245, 0.634, 0.327] + !! OVERLAP: chair <-> floor depth=[0.365, -0.005, 0.417] + !! OVERLAP: chair <-> floor depth=[0.490, -0.005, 0.532] +============================================================ + + +============================================================ +SCENE: DiningRoom-6919 | 13 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0000, Walkable Loss: 5.6283 (Center Penalty: 2.9959, C1 Heatmap: 0.5870, C2 Repulsion: 10.8139), Relational Loss: 0.0000 +Guided Steps: 10/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +chair 0.579 0.687 0.543 -0.934 -0.000 1.041 177.14° +table 1.427 0.826 0.957 -0.566 0.001 0.229 179.94° +chair 0.600 0.678 0.498 -0.462 0.001 0.998 179.43° +chair 0.572 0.719 0.502 0.105 0.004 0.911 -146.55° +chair 0.486 0.697 0.492 0.145 -0.000 -0.829 -0.01° +chair 0.488 0.640 0.481 -0.503 -0.001 -0.881 0.03° +chair 0.525 0.698 0.497 -1.002 0.001 -0.807 0.04° +chair 0.461 0.694 0.490 0.695 0.001 0.103 -90.10° +chair 0.511 0.687 0.510 -1.373 0.003 0.164 89.94° +table 1.766 0.825 0.389 1.948 0.000 0.748 -90.07° +lamp 0.663 0.973 0.673 -0.386 1.830 0.068 -0.05° +floor 5.955 -0.002 3.667 -0.069 -0.000 0.036 0.08° +_scene_ 0.062 0.003 0.046 -5.626 -0.005 -5.697 -57.27° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: chair <-> chair depth=[0.117, 0.678, 0.477] + !! OVERLAP: chair <-> floor depth=[0.579, -0.002, 0.543] + !! OVERLAP: table <-> chair depth=[0.329, 0.719, 0.047] + !! OVERLAP: table <-> chair depth=[0.162, 0.687, 0.510] + !! OVERLAP: table <-> floor depth=[1.427, -0.002, 0.957] + !! OVERLAP: chair <-> chair depth=[0.019, 0.678, 0.413] + !! OVERLAP: chair <-> floor depth=[0.600, -0.002, 0.498] + !! OVERLAP: chair <-> floor depth=[0.572, -0.002, 0.502] + !! OVERLAP: chair <-> floor depth=[0.486, -0.002, 0.492] + !! OVERLAP: chair <-> chair depth=[0.008, 0.640, 0.415] + !! OVERLAP: chair <-> floor depth=[0.488, -0.002, 0.481] + !! OVERLAP: chair <-> floor depth=[0.525, -0.002, 0.497] + !! OVERLAP: chair <-> floor depth=[0.461, -0.002, 0.490] + !! OVERLAP: chair <-> floor depth=[0.511, -0.002, 0.510] + !! OVERLAP: table <-> floor depth=[1.766, -0.002, 0.389] +============================================================ + + +============================================================ +SCENE: DiningRoom-17147 | 13 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.4556, Walkable Loss: 5.5479 (Center Penalty: 2.8528, C1 Heatmap: 0.5866, C2 Repulsion: 11.1292), Relational Loss: 0.0000 +Guided Steps: 10/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +chair 0.507 0.652 0.475 -0.911 0.001 0.924 179.75° +table 1.366 0.716 0.866 -0.770 0.002 -0.123 0.00° +chair 0.533 0.636 0.520 -0.469 0.001 0.985 -180.00° +chair 0.498 0.665 0.459 0.113 0.002 0.971 -179.94° +chair 0.362 0.627 0.389 0.035 -0.001 -0.761 -0.01° +chair 0.475 0.619 0.477 -0.457 0.001 -0.717 0.03° +chair 0.485 0.653 0.483 -1.013 0.001 -0.982 0.03° +chair 0.568 0.680 0.573 0.774 -0.001 0.010 -90.17° +chair 0.478 0.670 0.477 -1.376 0.003 0.120 89.97° +table 1.687 0.841 0.559 1.796 0.001 0.844 -89.93° +lamp 0.654 0.803 0.652 -0.786 1.739 0.123 -0.05° +floor 4.716 -0.004 3.453 -0.075 -0.001 -0.018 -0.01° +_scene_ 0.100 -0.007 0.097 -5.623 -0.002 -5.655 -57.18° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: chair <-> chair depth=[0.079, 0.636, 0.437] + !! OVERLAP: chair <-> floor depth=[0.507, -0.004, 0.475] + !! OVERLAP: table <-> chair depth=[0.475, 0.619, 0.078] + !! OVERLAP: table <-> chair depth=[0.316, 0.670, 0.428] + !! OVERLAP: table <-> floor depth=[1.366, -0.004, 0.866] + !! OVERLAP: chair <-> floor depth=[0.533, -0.004, 0.520] + !! OVERLAP: chair <-> floor depth=[0.498, -0.004, 0.459] + !! OVERLAP: chair <-> floor depth=[0.362, -0.004, 0.389] + !! OVERLAP: chair <-> floor depth=[0.475, -0.004, 0.477] + !! OVERLAP: chair <-> floor depth=[0.485, -0.004, 0.483] + !! OVERLAP: chair <-> floor depth=[0.568, -0.004, 0.573] + !! OVERLAP: chair <-> floor depth=[0.478, -0.004, 0.477] + !! OVERLAP: table <-> floor depth=[1.331, -0.004, 0.559] +============================================================ + + +============================================================ +SCENE: DiningRoom-6259 | 9 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.9027, Walkable Loss: 5.3142 (Center Penalty: 3.6259, C1 Heatmap: 0.4940, C2 Repulsion: 6.4654), Relational Loss: 0.0000 +Guided Steps: 10/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +table 1.351 1.110 0.348 -1.745 0.000 -0.320 89.99° +lamp 1.315 1.172 0.403 -0.237 1.779 0.106 0.01° +table 1.597 0.768 1.185 -0.263 -0.000 0.043 0.01° +chair 0.529 0.898 0.546 -0.407 0.000 -0.692 0.03° +chair 0.435 0.933 0.487 0.276 0.000 -0.776 0.02° +chair 0.511 0.928 0.523 -0.497 -0.000 0.800 179.98° +chair 0.492 0.929 0.545 0.196 0.002 0.854 -179.99° +floor 3.036 -0.006 2.916 0.001 0.001 0.015 -0.04° +_scene_ 0.089 0.008 0.071 -5.635 -0.004 -5.667 -57.26° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: table <-> floor depth=[0.447, -0.006, 0.348] + !! OVERLAP: table <-> chair depth=[0.529, 0.768, 0.131] + !! OVERLAP: table <-> chair depth=[0.435, 0.768, 0.017] + !! OVERLAP: table <-> chair depth=[0.511, 0.768, 0.097] + !! OVERLAP: table <-> chair depth=[0.492, 0.768, 0.053] + !! OVERLAP: table <-> floor depth=[1.597, -0.006, 1.185] + !! OVERLAP: chair <-> floor depth=[0.529, -0.006, 0.546] + !! OVERLAP: chair <-> floor depth=[0.435, -0.006, 0.487] + !! OVERLAP: chair <-> floor depth=[0.511, -0.006, 0.523] + !! OVERLAP: chair <-> floor depth=[0.492, -0.006, 0.545] +============================================================ + + +============================================================ +SCENE: DiningRoom-451 | 11 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.6798, Walkable Loss: 5.5719 (Center Penalty: 3.4752, C1 Heatmap: 0.5664, C2 Repulsion: 8.2179), Relational Loss: 0.0000 +Guided Steps: 10/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +table 1.442 0.874 0.605 0.968 -0.001 -1.148 -90.30° +chair 0.519 0.896 0.555 -0.736 0.001 -1.118 0.03° +table 1.397 0.698 1.119 -0.409 0.000 -0.539 0.03° +chair 0.455 0.861 0.463 -0.052 0.001 -1.058 0.02° +chair 0.482 0.838 0.524 -0.501 0.002 0.980 179.97° +chair 0.513 0.840 0.542 -0.200 0.002 0.831 -179.99° +cabinet 1.151 1.108 0.368 -1.287 0.002 0.525 90.05° +lamp 0.773 0.766 0.754 -0.241 1.653 -0.012 0.03° +lamp 1.272 0.861 0.621 -0.544 1.800 -0.154 0.00° +floor 2.766 -0.002 3.777 0.018 -0.000 -0.038 -0.03° +_scene_ 0.064 0.000 0.016 -5.674 -0.006 -5.718 -57.32° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: table <-> table depth=[0.042, 0.698, 0.253] + !! OVERLAP: table <-> floor depth=[1.154, -0.002, 0.605] + !! OVERLAP: chair <-> table depth=[0.519, 0.698, 0.259] + !! OVERLAP: chair <-> floor depth=[0.519, -0.002, 0.555] + !! OVERLAP: table <-> chair depth=[0.455, 0.698, 0.273] + !! OVERLAP: table <-> floor depth=[1.397, -0.002, 1.119] + !! OVERLAP: chair <-> floor depth=[0.455, -0.002, 0.463] + !! OVERLAP: chair <-> chair depth=[0.196, 0.838, 0.384] + !! OVERLAP: chair <-> floor depth=[0.482, -0.002, 0.524] + !! OVERLAP: chair <-> floor depth=[0.513, -0.002, 0.542] + !! OVERLAP: cabinet <-> floor depth=[0.653, -0.002, 0.368] + !! OVERLAP: lamp <-> lamp depth=[0.719, 0.666, 0.546] +============================================================ + + +============================================================ +SCENE: DiningRoom-18332 | 10 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0000, Walkable Loss: 5.7502 (Center Penalty: 3.6473, C1 Heatmap: 0.5575, C2 Repulsion: 8.2845), Relational Loss: 0.0000 +Guided Steps: 10/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +table 2.445 0.778 0.989 -0.085 -0.001 0.494 179.97° +chair 0.474 0.731 0.472 -1.199 0.001 0.314 90.00° +chair 0.422 0.625 0.468 0.821 -0.000 0.186 -90.02° +chair 0.509 0.568 0.510 -0.437 0.001 -0.613 0.03° +chair 0.524 0.606 0.400 -0.058 0.001 -0.727 0.02° +chair 0.466 0.543 0.475 0.071 -0.000 0.950 179.92° +chair 0.445 0.544 0.398 -0.313 0.000 1.050 179.75° +lamp 0.790 0.636 0.808 -0.419 2.164 0.205 -0.00° +floor 3.426 -0.006 3.057 -0.004 0.000 0.007 -0.05° +_scene_ 0.066 0.003 0.031 -5.631 -0.004 -5.684 -57.30° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: table <-> chair depth=[0.345, 0.731, 0.472] + !! OVERLAP: table <-> chair depth=[0.422, 0.625, 0.421] + !! OVERLAP: table <-> chair depth=[0.466, 0.543, 0.276] + !! OVERLAP: table <-> chair depth=[0.445, 0.544, 0.138] + !! OVERLAP: table <-> floor depth=[2.445, -0.006, 0.989] + !! OVERLAP: chair <-> floor depth=[0.474, -0.006, 0.472] + !! OVERLAP: chair <-> floor depth=[0.422, -0.006, 0.468] + !! OVERLAP: chair <-> chair depth=[0.137, 0.568, 0.341] + !! OVERLAP: chair <-> floor depth=[0.509, -0.006, 0.510] + !! OVERLAP: chair <-> floor depth=[0.524, -0.006, 0.400] + !! OVERLAP: chair <-> chair depth=[0.072, 0.543, 0.337] + !! OVERLAP: chair <-> floor depth=[0.466, -0.006, 0.475] + !! OVERLAP: chair <-> floor depth=[0.445, -0.006, 0.398] +============================================================ + + +============================================================ +SCENE: DiningRoom-8951 | 8 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0778, Walkable Loss: 3.5577 (Center Penalty: 3.1707, C1 Heatmap: 0.2004, C2 Repulsion: 1.1334), Relational Loss: 0.0000 +Guided Steps: 10/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +chair 0.484 0.870 0.517 -0.907 -0.007 0.612 134.82° +chair 0.552 0.920 0.552 -0.047 0.001 0.900 -103.88° +chair 0.474 0.851 0.529 0.418 0.001 -0.203 -47.77° +chair 0.632 0.858 0.658 -0.678 0.001 -0.559 0.09° +lamp 0.980 1.013 1.023 -0.074 1.694 -0.143 0.02° +table 0.488 1.216 0.375 1.359 0.004 -1.417 -89.93° +floor 3.236 -0.003 4.133 -0.006 0.001 0.013 -0.01° +_scene_ 0.082 -0.000 0.027 -5.678 -0.005 -5.713 -57.27° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: chair <-> floor depth=[0.484, -0.003, 0.517] + !! OVERLAP: chair <-> floor depth=[0.552, -0.003, 0.552] + !! OVERLAP: chair <-> floor depth=[0.474, -0.003, 0.529] + !! OVERLAP: chair <-> floor depth=[0.632, -0.003, 0.658] + !! OVERLAP: table <-> floor depth=[0.488, -0.003, 0.375] +============================================================ + + +============================================================ +SCENE: DiningRoom-9982 | 9 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0000, Walkable Loss: 4.2944 (Center Penalty: 2.6722, C1 Heatmap: 0.5313, C2 Repulsion: 5.9856), Relational Loss: 0.0000 +Guided Steps: 10/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +shelf 0.937 1.997 0.367 0.980 0.001 1.399 -90.02° +table 1.689 0.731 1.254 -0.625 -0.001 -0.446 89.91° +chair 0.608 0.968 0.676 -0.768 -0.001 -1.415 0.04° +chair 0.476 0.920 0.549 -0.100 0.000 -1.214 -89.95° +chair 0.577 0.939 0.637 -1.083 0.000 -0.252 89.92° +chair 0.535 0.943 0.579 -0.245 0.000 0.315 -179.97° +lamp 1.790 0.728 0.171 0.279 2.175 -0.676 -0.09° +floor 2.789 -0.001 4.021 0.006 -0.000 0.004 -0.03° +_scene_ 0.058 -0.000 0.026 -5.666 -0.004 -5.714 -57.30° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: shelf <-> floor depth=[0.890, -0.001, 0.367] + !! OVERLAP: table <-> chair depth=[0.476, 0.731, 0.134] + !! OVERLAP: table <-> chair depth=[0.577, 0.731, 0.637] + !! OVERLAP: table <-> chair depth=[0.535, 0.731, 0.156] + !! OVERLAP: table <-> floor depth=[1.608, -0.001, 1.254] + !! OVERLAP: chair <-> floor depth=[0.608, -0.001, 0.676] + !! OVERLAP: chair <-> floor depth=[0.476, -0.001, 0.549] + !! OVERLAP: chair <-> floor depth=[0.577, -0.001, 0.637] + !! OVERLAP: chair <-> floor depth=[0.535, -0.001, 0.579] +============================================================ + + +============================================================ +SCENE: DiningRoom-168152 | 8 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.3103, Walkable Loss: 4.1582 (Center Penalty: 2.5015, C1 Heatmap: 0.5586, C2 Repulsion: 6.0490), Relational Loss: 0.0000 +Guided Steps: 10/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +cabinet 1.865 1.821 0.372 -1.532 0.000 0.325 89.90° +table 1.657 0.754 1.159 0.628 -0.002 -0.154 0.08° +chair 0.609 0.937 0.596 -0.056 0.001 -0.774 0.01° +chair 0.566 0.966 0.546 0.711 0.002 -0.678 -0.02° +chair 0.510 0.927 0.544 0.068 0.001 0.604 -180.00° +chair 0.440 0.921 0.491 0.856 -0.000 0.550 -179.95° +floor 4.115 -0.004 3.683 -0.026 0.000 0.018 0.04° +_scene_ 0.065 -0.001 0.022 -5.668 -0.004 -5.707 -57.28° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: cabinet <-> floor depth=[1.484, -0.004, 0.372] + !! OVERLAP: table <-> chair depth=[0.449, 0.754, 0.258] + !! OVERLAP: table <-> chair depth=[0.566, 0.754, 0.329] + !! OVERLAP: table <-> chair depth=[0.510, 0.754, 0.094] + !! OVERLAP: table <-> chair depth=[0.440, 0.754, 0.121] + !! OVERLAP: table <-> floor depth=[1.657, -0.004, 1.159] + !! OVERLAP: chair <-> floor depth=[0.609, -0.004, 0.596] + !! OVERLAP: chair <-> floor depth=[0.566, -0.004, 0.546] + !! OVERLAP: chair <-> floor depth=[0.510, -0.004, 0.544] + !! OVERLAP: chair <-> floor depth=[0.440, -0.004, 0.491] +============================================================ + + +============================================================ +SCENE: DiningRoom-5492 | 11 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0000, Walkable Loss: 3.2899 (Center Penalty: 0.9455, C1 Heatmap: 0.6082, C2 Repulsion: 9.2889), Relational Loss: 0.0000 +Guided Steps: 10/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +table 1.423 0.737 1.425 0.300 0.001 1.201 -0.05° +chair 0.455 0.740 0.482 0.475 0.003 1.827 179.73° +chair 0.544 0.740 0.576 0.518 0.001 1.685 -179.98° +chair 0.529 0.756 0.525 0.380 -0.001 0.561 0.02° +chair 0.595 0.755 0.599 0.913 0.001 0.148 0.04° +chair 0.518 0.745 0.451 -0.536 0.001 1.085 90.09° +chair 0.416 0.782 0.474 1.329 0.001 1.069 -90.18° +table 1.318 0.723 0.609 -1.538 0.002 -0.306 0.07° +lamp 0.474 0.600 0.311 0.350 1.966 1.310 -0.00° +floor 5.018 0.004 5.407 -0.400 0.002 0.828 -0.09° +_scene_ 0.065 -0.000 0.016 -5.668 -0.005 -5.714 -57.30° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: table <-> chair depth=[0.455, 0.737, 0.327] + !! OVERLAP: table <-> chair depth=[0.544, 0.737, 0.516] + !! OVERLAP: table <-> chair depth=[0.529, 0.737, 0.336] + !! OVERLAP: table <-> chair depth=[0.135, 0.737, 0.451] + !! OVERLAP: table <-> floor depth=[1.423, 0.004, 1.425] + !! OVERLAP: chair <-> chair depth=[0.455, 0.738, 0.387] + !! OVERLAP: chair <-> floor depth=[0.455, 0.004, 0.482] + !! OVERLAP: chair <-> floor depth=[0.544, 0.004, 0.576] + !! OVERLAP: chair <-> chair depth=[0.029, 0.754, 0.149] + !! OVERLAP: chair <-> floor depth=[0.529, 0.004, 0.525] + !! OVERLAP: chair <-> floor depth=[0.595, 0.004, 0.599] + !! OVERLAP: chair <-> floor depth=[0.518, 0.004, 0.451] + !! OVERLAP: chair <-> floor depth=[0.416, 0.004, 0.474] + !! OVERLAP: table <-> floor depth=[1.318, 0.004, 0.609] +============================================================ + + +============================================================ +SCENE: DiningRoom-375 | 8 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0000, Walkable Loss: 5.2096 (Center Penalty: 3.8588, C1 Heatmap: 0.4642, C2 Repulsion: 4.8972), Relational Loss: 0.0000 +Guided Steps: 10/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +table 1.680 0.767 1.219 0.230 -0.001 -0.102 0.06° +chair 0.507 0.932 0.514 -0.506 0.000 0.640 131.25° +chair 0.538 0.948 0.559 0.534 -0.000 0.563 179.94° +chair 0.472 0.951 0.552 -0.210 -0.002 -0.862 8.97° +chair 0.569 0.973 0.650 0.678 -0.001 -0.647 -65.76° +lamp 0.456 0.718 0.444 0.120 1.882 0.020 -0.00° +floor 2.754 -0.003 2.975 -0.023 0.000 0.016 0.02° +_scene_ 0.069 -0.000 0.022 -5.664 -0.004 -5.714 -57.32° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: table <-> chair depth=[0.357, 0.767, 0.125] + !! OVERLAP: table <-> chair depth=[0.538, 0.767, 0.224] + !! OVERLAP: table <-> chair depth=[0.472, 0.767, 0.126] + !! OVERLAP: table <-> chair depth=[0.569, 0.767, 0.389] + !! OVERLAP: table <-> floor depth=[1.680, -0.003, 1.219] + !! OVERLAP: chair <-> floor depth=[0.507, -0.003, 0.514] + !! OVERLAP: chair <-> floor depth=[0.538, -0.003, 0.559] + !! OVERLAP: chair <-> floor depth=[0.472, -0.003, 0.552] + !! OVERLAP: chair <-> floor depth=[0.569, -0.003, 0.650] +============================================================ + + +============================================================ +SCENE: DiningRoom-3017 | 8 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0003, Walkable Loss: 3.2118 (Center Penalty: 2.4464, C1 Heatmap: 0.3312, C2 Repulsion: 2.5024), Relational Loss: 0.0000 +Guided Steps: 10/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +table 1.549 0.730 0.788 -0.022 0.001 -0.811 -0.03° +chair 0.480 0.854 0.476 -1.026 0.003 -0.487 75.77° +chair 0.483 0.858 0.512 -0.406 -0.001 0.678 -179.97° +chair 0.439 0.806 0.493 0.300 -0.001 1.002 179.89° +table 0.606 1.219 0.273 1.047 0.000 -0.873 -89.86° +lamp 0.670 0.335 0.689 -0.236 2.261 -0.364 -0.02° +floor 2.974 -0.003 3.729 -0.012 0.001 -0.004 -0.02° +_scene_ 0.067 0.003 0.018 -5.666 -0.005 -5.714 -57.30° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: table <-> chair depth=[0.010, 0.730, 0.308] + !! OVERLAP: table <-> table depth=[0.009, 0.730, 0.273] + !! OVERLAP: table <-> floor depth=[1.549, -0.003, 0.788] + !! OVERLAP: chair <-> floor depth=[0.480, -0.003, 0.476] + !! OVERLAP: chair <-> floor depth=[0.483, -0.003, 0.512] + !! OVERLAP: chair <-> floor depth=[0.439, -0.003, 0.493] + !! OVERLAP: table <-> floor depth=[0.606, -0.003, 0.273] +============================================================ + + +============================================================ +SCENE: DiningRoom-164 | 11 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0000, Walkable Loss: 4.9734 (Center Penalty: 2.8400, C1 Heatmap: 0.6247, C2 Repulsion: 8.1684), Relational Loss: 0.0000 +Guided Steps: 10/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +chair 0.453 0.913 0.504 -0.927 0.000 0.117 90.03° +chair 0.494 0.916 0.550 -0.733 0.000 0.745 90.01° +chair 0.484 0.901 0.572 0.972 -0.000 -0.012 -90.03° +chair 0.479 0.929 0.514 0.966 0.004 0.659 -90.21° +chair 0.478 0.888 0.568 0.309 -0.000 1.763 -179.97° +chair 0.542 0.917 0.587 0.136 -0.000 -1.167 0.06° +table 1.851 0.626 0.487 -0.097 0.001 -1.911 -0.06° +table 1.294 0.784 1.202 0.074 -0.002 0.613 -90.09° +lamp 1.138 0.874 0.495 0.158 1.778 0.510 90.04° +floor 3.220 -0.005 5.015 0.061 -0.001 0.188 -0.01° +_scene_ 0.075 0.006 0.047 -5.643 -0.004 -5.699 -57.35° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: chair <-> floor depth=[0.453, -0.005, 0.504] + !! OVERLAP: chair <-> table depth=[0.086, 0.784, 0.550] + !! OVERLAP: chair <-> floor depth=[0.494, -0.005, 0.550] + !! OVERLAP: chair <-> floor depth=[0.484, -0.005, 0.572] + !! OVERLAP: chair <-> floor depth=[0.479, -0.005, 0.514] + !! OVERLAP: chair <-> floor depth=[0.478, -0.005, 0.568] + !! OVERLAP: chair <-> floor depth=[0.542, -0.005, 0.587] + !! OVERLAP: table <-> floor depth=[1.851, -0.005, 0.487] + !! OVERLAP: table <-> floor depth=[1.294, -0.005, 1.202] +============================================================ + + +============================================================ +SCENE: DiningRoom-34036 | 15 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.7788, Walkable Loss: 5.9090 (Center Penalty: 3.6091, C1 Heatmap: 0.7090, C2 Repulsion: 8.6637), Relational Loss: 0.0000 +Guided Steps: 10/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +table 1.172 0.561 1.360 -0.576 0.002 0.213 89.97° +cabinet 2.572 2.774 0.311 -1.448 0.003 -0.345 89.95° +cabinet 0.549 1.122 0.352 1.404 0.005 -0.447 -89.93° +cabinet 0.589 0.944 0.543 1.513 0.001 -1.620 -90.06° +chair 0.530 0.749 0.526 -1.032 0.001 -0.288 90.00° +chair 0.438 0.776 0.476 0.547 0.001 -0.652 -90.01° +chair 0.426 0.777 0.436 0.666 0.001 0.318 -89.96° +chair 0.410 0.768 0.430 -0.976 0.001 0.806 90.00° +chair 0.469 0.721 0.475 -0.317 0.003 1.278 161.47° +chair 0.405 0.739 0.432 -0.307 0.000 -1.219 0.06° +lamp 0.357 0.884 0.362 -0.127 1.587 0.845 0.00° +lamp 0.226 0.997 0.227 0.052 1.606 0.235 -0.02° +lamp 0.354 0.724 0.373 0.948 1.819 -0.346 0.01° +floor 4.027 -0.002 5.007 -0.076 0.002 0.072 -0.02° +_scene_ 0.064 0.002 0.018 -5.674 -0.005 -5.719 -57.30° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: table <-> cabinet depth=[1.000, 0.561, 0.277] + !! OVERLAP: table <-> chair depth=[0.395, 0.561, 0.443] + !! OVERLAP: table <-> chair depth=[0.392, 0.561, 0.302] + !! OVERLAP: table <-> floor depth=[1.172, -0.002, 1.360] + !! OVERLAP: cabinet <-> chair depth=[0.530, 0.749, 0.311] + !! OVERLAP: cabinet <-> floor depth=[1.927, -0.002, 0.311] + !! OVERLAP: cabinet <-> floor depth=[0.549, -0.002, 0.352] + !! OVERLAP: cabinet <-> floor depth=[0.589, -0.002, 0.543] + !! OVERLAP: chair <-> floor depth=[0.530, -0.002, 0.526] + !! OVERLAP: chair <-> floor depth=[0.438, -0.002, 0.476] + !! OVERLAP: chair <-> floor depth=[0.426, -0.002, 0.436] + !! OVERLAP: chair <-> floor depth=[0.410, -0.002, 0.430] + !! OVERLAP: chair <-> floor depth=[0.469, -0.002, 0.475] + !! OVERLAP: chair <-> floor depth=[0.405, -0.002, 0.432] +============================================================ + + +============================================================ +SCENE: DiningRoom-114621 | 9 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0785, Walkable Loss: 4.0083 (Center Penalty: 2.6600, C1 Heatmap: 0.4753, C2 Repulsion: 4.8404), Relational Loss: 0.0000 +Guided Steps: 10/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +cabinet 1.308 1.268 0.282 0.585 0.002 1.389 179.97° +table 1.250 0.802 1.264 -0.634 0.002 -0.346 90.03° +chair 0.621 0.811 0.600 -0.769 0.000 -0.650 0.09° +chair 0.583 0.862 0.532 -0.800 -0.008 0.063 134.73° +chair 0.480 0.808 0.528 0.898 0.000 -0.449 0.06° +chair 0.512 0.831 0.530 0.953 0.002 0.021 -89.95° +lamp 0.928 0.946 0.909 0.474 1.737 -0.311 0.01° +floor 3.931 -0.001 2.857 -0.003 0.000 0.020 0.01° +_scene_ 0.065 0.001 0.023 -5.673 -0.005 -5.716 -57.29° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: cabinet <-> floor depth=[1.308, -0.001, 0.201] + !! OVERLAP: table <-> chair depth=[0.621, 0.802, 0.600] + !! OVERLAP: table <-> chair depth=[0.583, 0.802, 0.489] + !! OVERLAP: table <-> floor depth=[1.250, -0.001, 1.264] + !! OVERLAP: chair <-> floor depth=[0.621, -0.001, 0.600] + !! OVERLAP: chair <-> floor depth=[0.583, -0.001, 0.532] + !! OVERLAP: chair <-> chair depth=[0.441, 0.808, 0.058] + !! OVERLAP: chair <-> floor depth=[0.480, -0.001, 0.528] + !! OVERLAP: chair <-> floor depth=[0.512, -0.001, 0.530] +============================================================ + + +============================================================ +SCENE: DiningRoom-33238 | 5 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0151, Walkable Loss: 2.5125 (Center Penalty: 1.9094, C1 Heatmap: 0.4225, C2 Repulsion: 1.3255), Relational Loss: 0.0000 +Guided Steps: 10/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +cabinet 0.707 1.270 0.433 -1.383 0.002 0.707 89.94° +table 1.495 1.038 0.569 1.276 -0.000 0.538 -89.89° +table 1.586 0.733 1.138 -0.184 0.001 -0.120 89.98° +floor 3.790 -0.003 3.489 0.042 -0.000 0.144 -0.06° +_scene_ 0.007 0.087 0.128 -5.304 0.031 -5.424 -59.12° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: cabinet <-> floor depth=[0.707, -0.003, 0.433] + !! OVERLAP: table <-> table depth=[0.081, 0.733, 0.195] + !! OVERLAP: table <-> floor depth=[1.409, -0.003, 0.569] + !! OVERLAP: table <-> floor depth=[1.586, -0.003, 1.138] +============================================================ + + +============================================================ +SCENE: DiningRoom-69393 | 11 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0000, Walkable Loss: 3.7779 (Center Penalty: 1.7658, C1 Heatmap: 0.6841, C2 Repulsion: 7.3244), Relational Loss: 0.0000 +Guided Steps: 10/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +chair 0.485 0.797 0.547 -0.950 0.001 0.588 90.00° +chair 0.590 0.847 0.599 -1.121 0.001 1.480 90.09° +chair 0.465 0.831 0.515 0.611 0.000 0.639 -90.14° +chair 0.508 0.837 0.554 0.620 0.001 1.414 -90.12° +chair 0.492 0.841 0.560 -0.068 0.001 2.102 179.94° +chair 0.486 0.828 0.493 -0.016 -0.000 -0.418 0.09° +table 1.999 0.660 0.723 -0.079 0.001 -1.782 -0.05° +table 1.584 0.755 1.032 -0.097 -0.000 1.110 89.85° +lamp 0.750 0.855 0.712 -0.105 1.840 0.895 -0.01° +floor 4.040 0.002 5.734 -0.075 0.002 0.743 -0.03° +_scene_ 0.066 0.002 0.027 -5.651 -0.004 -5.702 -57.30° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: chair <-> table depth=[0.181, 0.755, 0.267] + !! OVERLAP: chair <-> floor depth=[0.485, 0.002, 0.547] + !! OVERLAP: chair <-> table depth=[0.063, 0.755, 0.446] + !! OVERLAP: chair <-> floor depth=[0.590, 0.002, 0.599] + !! OVERLAP: chair <-> table depth=[0.315, 0.755, 0.303] + !! OVERLAP: chair <-> floor depth=[0.465, 0.002, 0.515] + !! OVERLAP: chair <-> table depth=[0.329, 0.755, 0.490] + !! OVERLAP: chair <-> floor depth=[0.508, 0.002, 0.554] + !! OVERLAP: chair <-> floor depth=[0.492, 0.002, 0.560] + !! OVERLAP: chair <-> floor depth=[0.486, 0.002, 0.493] + !! OVERLAP: table <-> floor depth=[1.999, 0.002, 0.703] + !! OVERLAP: table <-> floor depth=[1.584, 0.002, 1.032] +============================================================ + + +============================================================ +SCENE: DiningRoom-87276 | 12 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0000, Walkable Loss: 6.9186 (Center Penalty: 3.8627, C1 Heatmap: 0.6435, C2 Repulsion: 12.7056), Relational Loss: 0.0000 +Guided Steps: 10/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +table 2.117 1.025 1.083 -0.066 -0.004 -0.067 -97.78° +chair 0.503 0.803 0.521 -0.826 -0.000 0.893 138.61° +chair 0.511 0.704 0.491 0.130 0.002 0.982 179.94° +chair 0.523 0.767 0.528 0.626 0.007 0.771 -117.15° +chair 0.542 0.778 0.528 0.597 -0.002 -0.616 -47.80° +chair 0.462 0.759 0.518 -0.111 0.000 -0.866 0.07° +chair 0.516 0.779 0.491 -0.758 0.016 -0.694 51.98° +chair 0.509 0.793 0.562 0.994 0.001 0.152 -90.04° +chair 0.517 0.761 0.529 -1.177 -0.001 0.044 90.03° +lamp 0.554 0.931 0.546 -0.066 1.732 -0.062 -0.04° +floor 4.449 -0.002 3.831 0.094 0.000 0.065 -0.01° +_scene_ 0.095 -0.003 0.154 -5.569 0.003 -5.590 -57.48° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: table <-> chair depth=[0.542, 0.778, 0.256] + !! OVERLAP: table <-> chair depth=[0.462, 0.759, 0.001] + !! OVERLAP: table <-> chair depth=[0.516, 0.779, 0.160] + !! OVERLAP: table <-> chair depth=[0.253, 0.793, 0.562] + !! OVERLAP: table <-> chair depth=[0.206, 0.761, 0.529] + !! OVERLAP: table <-> floor depth=[2.117, -0.002, 1.083] + !! OVERLAP: chair <-> floor depth=[0.503, -0.002, 0.521] + !! OVERLAP: chair <-> chair depth=[0.021, 0.704, 0.299] + !! OVERLAP: chair <-> floor depth=[0.511, -0.002, 0.491] + !! OVERLAP: chair <-> floor depth=[0.523, -0.002, 0.528] + !! OVERLAP: chair <-> floor depth=[0.542, -0.002, 0.528] + !! OVERLAP: chair <-> floor depth=[0.462, -0.002, 0.518] + !! OVERLAP: chair <-> floor depth=[0.516, -0.002, 0.491] + !! OVERLAP: chair <-> floor depth=[0.509, -0.002, 0.562] + !! OVERLAP: chair <-> floor depth=[0.517, -0.002, 0.529] +============================================================ + + +============================================================ +SCENE: DiningRoom-16460 | 12 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0000, Walkable Loss: 4.9538 (Center Penalty: 2.1761, C1 Heatmap: 0.7704, C2 Repulsion: 10.8069), Relational Loss: 0.0000 +Guided Steps: 10/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +table 1.208 0.779 0.649 1.247 0.001 -0.708 -89.90° +table 1.930 0.738 1.111 -0.603 0.001 0.372 0.03° +chair 0.599 0.791 0.665 -1.572 0.002 -0.309 0.07° +chair 0.573 0.726 0.525 -0.724 -0.000 -0.580 0.00° +chair 0.491 0.733 0.491 -1.566 0.001 0.848 179.97° +chair 0.453 0.804 0.505 -0.748 0.001 0.851 180.00° +table 1.320 0.855 0.374 -1.040 0.003 -1.306 -0.01° +lamp 0.399 0.771 0.362 -0.737 1.972 -0.013 0.02° +chair 0.472 0.703 0.425 0.267 -0.003 -0.717 -49.35° +chair 0.596 0.751 0.534 0.418 -0.001 0.874 -125.60° +floor 5.291 -0.004 3.514 -0.199 -0.001 0.250 -0.02° +_scene_ 0.072 -0.001 0.026 -5.671 -0.007 -5.710 -57.31° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: table <-> floor depth=[1.208, -0.004, 0.649] + !! OVERLAP: table <-> chair depth=[0.296, 0.738, 0.207] + !! OVERLAP: table <-> chair depth=[0.247, 0.733, 0.326] + !! OVERLAP: table <-> chair depth=[0.453, 0.738, 0.330] + !! OVERLAP: table <-> chair depth=[0.242, 0.738, 0.321] + !! OVERLAP: table <-> floor depth=[1.930, -0.004, 1.111] + !! OVERLAP: chair <-> floor depth=[0.599, -0.004, 0.665] + !! OVERLAP: chair <-> floor depth=[0.573, -0.004, 0.525] + !! OVERLAP: chair <-> floor depth=[0.491, -0.004, 0.491] + !! OVERLAP: chair <-> floor depth=[0.453, -0.004, 0.505] + !! OVERLAP: table <-> floor depth=[1.320, -0.004, 0.374] + !! OVERLAP: chair <-> floor depth=[0.472, -0.004, 0.425] + !! OVERLAP: chair <-> floor depth=[0.596, -0.004, 0.534] +============================================================ + + +============================================================ +SCENE: DiningRoom-31322 | 11 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0021, Walkable Loss: 3.0106 (Center Penalty: 1.5995, C1 Heatmap: 0.5020, C2 Repulsion: 5.0475), Relational Loss: 0.0000 +Guided Steps: 10/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +table 0.832 0.795 0.458 -1.622 0.008 1.719 -179.99° +cabinet 0.746 1.065 0.380 1.160 0.003 -1.266 -90.09° +cabinet 0.736 1.036 0.350 1.221 0.002 0.047 -90.03° +table 1.931 0.737 0.847 -0.448 0.007 -0.980 90.01° +chair 0.448 0.825 0.512 0.296 0.002 -0.587 -90.18° +lamp 0.413 1.394 0.420 -0.679 1.528 -0.883 125.96° +chair 0.459 0.854 0.538 -0.082 0.004 -1.287 -90.06° +chair 0.452 0.892 0.449 -1.515 0.003 -1.141 89.93° +chair 0.422 0.897 0.457 -1.518 0.001 -0.445 90.03° +floor 4.129 -0.002 4.319 -0.337 0.001 -0.066 0.03° +_scene_ 0.069 0.000 0.023 -5.672 -0.005 -5.713 -57.31° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: table <-> floor depth=[0.832, -0.002, 0.458] + !! OVERLAP: cabinet <-> floor depth=[0.746, -0.002, 0.380] + !! OVERLAP: cabinet <-> floor depth=[0.736, -0.002, 0.350] + !! OVERLAP: table <-> chair depth=[0.445, 0.737, 0.286] + !! OVERLAP: table <-> chair depth=[0.459, 0.737, 0.385] + !! OVERLAP: table <-> chair depth=[0.125, 0.737, 0.449] + !! OVERLAP: table <-> chair depth=[0.107, 0.737, 0.117] + !! OVERLAP: table <-> floor depth=[1.931, -0.002, 0.847] + !! OVERLAP: chair <-> floor depth=[0.448, -0.002, 0.512] + !! OVERLAP: chair <-> floor depth=[0.459, -0.002, 0.538] + !! OVERLAP: chair <-> floor depth=[0.452, -0.002, 0.449] + !! OVERLAP: chair <-> floor depth=[0.422, -0.002, 0.457] +============================================================ + + +============================================================ +SCENE: DiningRoom-20718 | 11 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0000, Walkable Loss: 3.6807 (Center Penalty: 1.4236, C1 Heatmap: 0.8421, C2 Repulsion: 7.9168), Relational Loss: 0.0000 +Guided Steps: 10/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +table 2.298 0.783 0.915 -0.679 -0.001 -0.825 -89.99° +chair 0.477 0.829 0.471 -0.833 -0.001 -0.108 179.97° +chair 0.544 0.846 0.583 -0.657 0.001 -1.427 -0.30° +chair 0.502 0.785 0.511 -1.456 -0.001 -1.423 0.06° +chair 0.476 0.849 0.496 -1.270 0.000 0.133 179.97° +table 1.086 0.989 0.336 1.143 0.003 -1.385 -90.01° +lamp 0.951 0.894 0.651 -0.850 1.759 -1.053 -0.02° +table 2.106 0.773 0.684 -0.365 0.001 1.754 179.82° +chair 0.575 0.482 0.539 0.515 0.001 0.950 0.02° +floor 3.728 -0.000 5.519 -0.003 0.000 0.006 -0.10° +_scene_ 0.070 0.002 0.024 -5.673 -0.004 -5.718 -57.27° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: table <-> chair depth=[0.544, 0.783, 0.147] + !! OVERLAP: table <-> chair depth=[0.502, 0.783, 0.115] + !! OVERLAP: table <-> floor depth=[2.298, -0.000, 0.915] + !! OVERLAP: chair <-> chair depth=[0.040, 0.829, 0.243] + !! OVERLAP: chair <-> floor depth=[0.477, -0.000, 0.471] + !! OVERLAP: chair <-> floor depth=[0.544, -0.000, 0.583] + !! OVERLAP: chair <-> floor depth=[0.502, -0.000, 0.511] + !! OVERLAP: chair <-> floor depth=[0.476, -0.000, 0.496] + !! OVERLAP: table <-> floor depth=[1.086, -0.000, 0.336] + !! OVERLAP: table <-> floor depth=[2.106, -0.000, 0.684] + !! OVERLAP: chair <-> floor depth=[0.575, -0.000, 0.539] +============================================================ + + +============================================================ +SCENE: DiningRoom-7122 | 9 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0000, Walkable Loss: 3.8198 (Center Penalty: 2.0617, C1 Heatmap: 0.5757, C2 Repulsion: 6.4881), Relational Loss: 0.0000 +Guided Steps: 10/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +table 1.248 0.892 0.492 -0.624 0.004 1.270 179.96° +chair 0.551 0.932 0.596 0.619 0.004 -1.189 -90.18° +chair 0.578 0.915 0.665 0.655 0.000 -0.613 -90.18° +chair 0.584 0.957 0.619 -0.783 0.000 -1.136 85.24° +chair 0.502 0.909 0.556 -0.813 0.000 -0.669 90.01° +lamp 0.924 0.570 0.370 -0.200 1.818 -0.710 -89.72° +table 1.911 0.778 1.059 -0.167 -0.001 -0.781 90.05° +floor 2.951 -0.002 3.809 -0.007 0.002 -0.096 0.02° +_scene_ 0.061 0.001 0.024 -5.661 -0.003 -5.701 -57.29° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: table <-> floor depth=[1.248, -0.002, 0.492] + !! OVERLAP: chair <-> chair depth=[0.528, 0.915, 0.055] + !! OVERLAP: chair <-> table depth=[0.445, 0.778, 0.420] + !! OVERLAP: chair <-> floor depth=[0.551, -0.002, 0.596] + !! OVERLAP: chair <-> table depth=[0.422, 0.778, 0.665] + !! OVERLAP: chair <-> floor depth=[0.578, -0.002, 0.665] + !! OVERLAP: chair <-> chair depth=[0.502, 0.909, 0.120] + !! OVERLAP: chair <-> table depth=[0.584, 0.778, 0.483] + !! OVERLAP: chair <-> floor depth=[0.584, -0.002, 0.619] + !! OVERLAP: chair <-> table depth=[0.502, 0.778, 0.556] + !! OVERLAP: chair <-> floor depth=[0.502, -0.002, 0.556] + !! OVERLAP: table <-> floor depth=[1.911, -0.002, 1.059] +============================================================ + + +============================================================ +SCENE: DiningRoom-22339 | 10 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0000, Walkable Loss: 5.4138 (Center Penalty: 3.4994, C1 Heatmap: 0.5009, C2 Repulsion: 7.5684), Relational Loss: 0.0000 +Guided Steps: 10/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +chair 0.544 0.945 0.556 -0.364 0.000 -1.139 -0.04° +table 1.572 0.752 1.229 -0.476 0.003 -0.414 0.03° +chair 0.459 0.959 0.514 -0.271 0.002 1.175 179.98° +chair 0.577 0.980 0.576 -1.014 -0.000 -0.454 82.92° +chair 0.488 0.930 0.490 -1.045 0.003 0.120 101.62° +chair 0.519 0.999 0.629 0.547 0.002 -0.596 -89.65° +chair 0.487 0.922 0.546 0.528 0.005 0.442 -112.42° +lamp 0.757 0.852 0.718 -0.068 1.834 -0.152 -0.00° +floor 2.775 -0.003 4.058 -0.005 0.000 -0.008 -0.01° +_scene_ 0.061 -0.003 0.026 -5.658 -0.002 -5.703 -57.33° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: chair <-> table depth=[0.544, 0.752, 0.168] + !! OVERLAP: chair <-> floor depth=[0.544, -0.003, 0.556] + !! OVERLAP: table <-> chair depth=[0.536, 0.752, 0.576] + !! OVERLAP: table <-> chair depth=[0.461, 0.752, 0.325] + !! OVERLAP: table <-> chair depth=[0.023, 0.752, 0.629] + !! OVERLAP: table <-> chair depth=[0.026, 0.752, 0.032] + !! OVERLAP: table <-> floor depth=[1.572, -0.003, 1.229] + !! OVERLAP: chair <-> floor depth=[0.459, -0.003, 0.514] + !! OVERLAP: chair <-> floor depth=[0.577, -0.003, 0.576] + !! OVERLAP: chair <-> floor depth=[0.488, -0.003, 0.490] + !! OVERLAP: chair <-> floor depth=[0.519, -0.003, 0.629] + !! OVERLAP: chair <-> floor depth=[0.487, -0.003, 0.546] +============================================================ + + +============================================================ +SCENE: DiningRoom-12376 | 14 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0000, Walkable Loss: 6.2183 (Center Penalty: 3.0379, C1 Heatmap: 0.8665, C2 Repulsion: 12.4363), Relational Loss: 0.0000 +Guided Steps: 10/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +table 2.065 0.733 1.271 -0.677 0.001 0.531 89.95° +chair 0.547 0.935 0.599 0.220 -0.000 0.280 -179.91° +chair 0.572 0.951 0.683 0.297 0.001 -0.822 -89.80° +chair 0.586 0.947 0.580 -1.229 -0.000 -0.019 179.15° +chair 0.607 0.965 0.640 -1.081 0.001 -1.076 0.04° +table 1.572 1.473 0.382 -1.793 0.001 0.087 89.90° +table 1.026 1.586 0.468 -1.922 -0.001 -0.900 89.93° +lamp 1.181 1.186 1.181 -0.302 1.735 -0.036 90.08° +cabinet 0.557 1.227 0.425 2.169 0.002 -1.805 0.03° +cabinet 0.603 1.220 0.342 1.299 0.001 -1.970 -0.14° +cabinet 0.588 1.237 0.313 1.071 0.002 -1.674 0.02° +cabinet 0.662 1.244 0.334 0.244 0.003 -2.318 0.03° +floor 5.274 0.002 4.391 -0.035 0.000 -0.221 0.01° +_scene_ 0.069 -0.000 0.022 -5.674 -0.003 -5.713 -57.29° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: table <-> chair depth=[0.409, 0.733, 0.599] + !! OVERLAP: table <-> chair depth=[0.586, 0.733, 0.375] + !! OVERLAP: table <-> table depth=[0.702, 0.733, 0.382] + !! OVERLAP: table <-> floor depth=[2.065, 0.002, 1.271] + !! OVERLAP: chair <-> floor depth=[0.547, 0.002, 0.599] + !! OVERLAP: chair <-> floor depth=[0.572, 0.002, 0.683] + !! OVERLAP: chair <-> table depth=[0.514, 0.947, 0.375] + !! OVERLAP: chair <-> floor depth=[0.586, 0.002, 0.580] + !! OVERLAP: chair <-> floor depth=[0.607, 0.002, 0.640] + !! OVERLAP: table <-> floor depth=[1.572, 0.002, 0.382] + !! OVERLAP: table <-> floor depth=[1.026, 0.002, 0.468] + !! OVERLAP: cabinet <-> floor depth=[0.557, 0.002, 0.425] + !! OVERLAP: cabinet <-> cabinet depth=[0.367, 1.220, 0.032] + !! OVERLAP: cabinet <-> floor depth=[0.603, 0.002, 0.342] + !! OVERLAP: cabinet <-> floor depth=[0.588, 0.002, 0.313] + !! OVERLAP: cabinet <-> floor depth=[0.662, 0.002, 0.265] +============================================================ + + +============================================================ +SCENE: DiningRoom-19885 | 9 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0000, Walkable Loss: 5.8273 (Center Penalty: 3.3826, C1 Heatmap: 0.6249, C2 Repulsion: 9.7236), Relational Loss: 0.0000 +Guided Steps: 10/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +table 2.029 0.732 1.262 -0.026 0.001 -0.057 -0.02° +chair 0.552 0.952 0.606 -0.105 0.000 0.676 179.98° +chair 0.625 0.877 0.611 -0.755 -0.001 0.692 139.50° +chair 0.549 0.915 0.599 -0.085 0.000 -0.685 0.05° +chair 0.523 0.920 0.535 -0.651 0.000 -0.559 49.59° +chair 0.491 0.916 0.553 0.637 0.002 0.768 -145.34° +chair 0.604 0.837 0.607 0.984 0.002 -0.484 -59.14° +floor 3.523 -0.004 3.764 -0.044 -0.002 -0.011 -0.06° +_scene_ 0.083 0.049 0.122 -5.132 0.000 -5.370 -59.32° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: table <-> chair depth=[0.552, 0.732, 0.201] + !! OVERLAP: table <-> chair depth=[0.598, 0.732, 0.187] + !! OVERLAP: table <-> chair depth=[0.549, 0.732, 0.302] + !! OVERLAP: table <-> chair depth=[0.523, 0.732, 0.396] + !! OVERLAP: table <-> chair depth=[0.491, 0.732, 0.083] + !! OVERLAP: table <-> chair depth=[0.306, 0.732, 0.508] + !! OVERLAP: table <-> floor depth=[2.029, -0.004, 1.262] + !! OVERLAP: chair <-> floor depth=[0.552, -0.004, 0.606] + !! OVERLAP: chair <-> floor depth=[0.625, -0.004, 0.611] + !! OVERLAP: chair <-> floor depth=[0.549, -0.004, 0.599] + !! OVERLAP: chair <-> floor depth=[0.523, -0.004, 0.535] + !! OVERLAP: chair <-> floor depth=[0.491, -0.004, 0.553] + !! OVERLAP: chair <-> floor depth=[0.604, -0.004, 0.607] +============================================================ + + +============================================================ +SCENE: DiningRoom-2831 | 8 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0000, Walkable Loss: 4.6208 (Center Penalty: 3.4394, C1 Heatmap: 0.4028, C2 Repulsion: 4.2954), Relational Loss: 0.0000 +Guided Steps: 10/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +table 1.952 0.747 0.607 0.397 -0.003 -0.258 0.03° +chair 0.560 1.003 0.579 -0.418 0.001 -0.749 0.05° +chair 0.454 0.980 0.568 0.746 0.001 -0.722 0.03° +chair 0.604 0.979 0.679 -0.334 0.000 0.773 179.99° +chair 0.538 1.021 0.599 0.841 0.000 0.463 179.99° +lamp 0.661 0.793 0.316 -0.271 1.902 -0.014 0.05° +floor 3.238 -0.005 2.916 -0.030 0.001 -0.030 -0.02° +_scene_ 0.072 0.000 0.022 -5.666 -0.004 -5.712 -57.32° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: table <-> chair depth=[0.440, 0.747, 0.102] + !! OVERLAP: table <-> chair depth=[0.454, 0.747, 0.123] + !! OVERLAP: table <-> floor depth=[1.952, -0.005, 0.607] + !! OVERLAP: chair <-> floor depth=[0.560, -0.005, 0.579] + !! OVERLAP: chair <-> floor depth=[0.454, -0.005, 0.568] + !! OVERLAP: chair <-> floor depth=[0.604, -0.005, 0.679] + !! OVERLAP: chair <-> floor depth=[0.538, -0.005, 0.599] +============================================================ + + +============================================================ +SCENE: DiningRoom-60525 | 9 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.5176, Walkable Loss: 5.1785 (Center Penalty: 3.1770, C1 Heatmap: 0.5017, C2 Repulsion: 8.0006), Relational Loss: 0.0000 +Guided Steps: 10/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +table 1.763 0.728 0.770 0.139 -0.001 0.416 90.07° +chair 0.509 0.929 0.552 -0.676 0.001 0.819 90.00° +chair 0.477 0.893 0.512 -0.757 0.001 0.108 90.03° +chair 0.508 0.909 0.542 0.813 0.000 -0.054 -89.90° +chair 0.485 0.908 0.494 0.828 0.003 0.462 -89.88° +table 1.524 1.028 0.483 -1.413 0.008 0.189 89.98° +lamp 0.876 1.185 0.863 0.226 1.729 0.537 0.01° +floor 3.349 -0.002 4.648 0.001 0.001 -0.027 0.02° +_scene_ 0.060 0.002 0.021 -5.677 -0.007 -5.722 -57.33° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: table <-> chair depth=[0.321, 0.728, 0.258] + !! OVERLAP: table <-> chair depth=[0.224, 0.728, 0.333] + !! OVERLAP: table <-> chair depth=[0.461, 0.728, 0.186] + !! OVERLAP: table <-> chair depth=[0.434, 0.728, 0.494] + !! OVERLAP: table <-> table depth=[0.091, 0.728, 0.400] + !! OVERLAP: table <-> floor depth=[1.763, -0.002, 0.770] + !! OVERLAP: chair <-> floor depth=[0.509, -0.002, 0.552] + !! OVERLAP: chair <-> table depth=[0.345, 0.893, 0.416] + !! OVERLAP: chair <-> floor depth=[0.477, -0.002, 0.512] + !! OVERLAP: chair <-> chair depth=[0.482, 0.906, 0.001] + !! OVERLAP: chair <-> floor depth=[0.508, -0.002, 0.542] + !! OVERLAP: chair <-> floor depth=[0.485, -0.002, 0.494] + !! OVERLAP: table <-> floor depth=[1.022, -0.002, 0.483] +============================================================ + + +============================================================ +SCENE: DiningRoom-55572 | 14 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.1486, Walkable Loss: 4.7949 (Center Penalty: 0.7364, C1 Heatmap: 1.5705, C2 Repulsion: 14.0103), Relational Loss: 0.0000 +Guided Steps: 10/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +table 1.430 0.461 1.407 1.004 0.002 -1.318 0.04° +sofa 2.238 0.786 1.333 1.626 0.000 -1.725 -0.01° +wardrobe 0.973 2.423 0.507 -2.194 0.000 0.939 89.92° +chair 0.616 0.877 0.669 -0.675 -0.002 -1.691 -90.03° +chair 0.603 0.891 0.623 -0.847 0.001 -1.140 89.91° +lamp 0.852 0.857 0.835 1.008 1.806 -1.023 -0.02° +chair 0.688 0.800 0.701 0.974 0.001 0.414 -142.52° +sofa 2.461 0.915 1.119 0.372 -0.000 -2.174 -0.02° +sofa 2.147 0.796 1.056 1.354 -0.002 -0.725 -90.02° +table 0.870 1.117 0.482 2.239 -0.000 1.223 179.98° +cabinet 0.766 1.365 0.313 -2.107 0.001 1.697 89.92° +table 0.549 1.347 0.438 -0.680 0.002 1.810 -179.76° +floor 5.102 -0.003 5.500 0.276 -0.001 -0.551 -0.03° +_scene_ 0.071 -0.000 0.024 -5.672 -0.005 -5.710 -57.30° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: table <-> sofa depth=[1.212, 0.461, 0.963] + !! OVERLAP: table <-> sofa depth=[1.313, 0.461, 0.407] + !! OVERLAP: table <-> sofa depth=[1.430, 0.461, 0.639] + !! OVERLAP: table <-> floor depth=[1.430, -0.003, 1.407] + !! OVERLAP: sofa <-> sofa depth=[1.096, 0.786, 0.777] + !! OVERLAP: sofa <-> sofa depth=[1.920, 0.786, 0.195] + !! OVERLAP: sofa <-> floor depth=[2.238, -0.003, 1.333] + !! OVERLAP: wardrobe <-> floor depth=[0.569, -0.003, 0.507] + !! OVERLAP: chair <-> chair depth=[0.438, 0.877, 0.095] + !! OVERLAP: chair <-> sofa depth=[0.491, 0.877, 0.411] + !! OVERLAP: chair <-> floor depth=[0.616, -0.003, 0.669] + !! OVERLAP: chair <-> floor depth=[0.603, -0.003, 0.623] + !! OVERLAP: chair <-> floor depth=[0.688, -0.003, 0.701] + !! OVERLAP: sofa <-> floor depth=[2.461, -0.003, 1.119] + !! OVERLAP: sofa <-> floor depth=[2.147, -0.003, 1.056] + !! OVERLAP: table <-> floor depth=[0.870, -0.003, 0.482] + !! OVERLAP: cabinet <-> floor depth=[0.551, -0.003, 0.313] + !! OVERLAP: table <-> floor depth=[0.549, -0.003, 0.438] +============================================================ + + +============================================================ +SCENE: DiningRoom-24191 | 12 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0000, Walkable Loss: 6.9512 (Center Penalty: 3.8137, C1 Heatmap: 0.6502, C2 Repulsion: 13.0865), Relational Loss: 0.0000 +Guided Steps: 10/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +table 1.984 0.747 0.807 0.332 0.000 -0.296 -90.33° +chair 0.547 0.835 0.613 0.954 0.001 -1.028 -90.26° +chair 0.457 0.837 0.521 0.924 0.005 -0.176 -90.07° +chair 0.580 0.792 0.550 0.308 0.001 1.142 179.81° +chair 0.551 0.793 0.635 -0.686 0.000 -0.131 90.00° +chair 0.515 0.831 0.526 -0.586 0.001 -0.892 89.91° +chair 0.581 0.816 0.600 0.119 0.000 -1.446 0.02° +chair 0.620 0.848 0.656 -0.869 0.000 0.447 90.04° +chair 0.557 0.835 0.586 1.001 -0.002 0.208 -89.67° +lamp 0.596 0.846 0.573 0.106 1.869 -0.102 0.02° +floor 3.507 -0.002 4.674 0.025 0.001 -0.021 0.11° +_scene_ 0.079 -0.000 0.063 -5.634 -0.006 -5.661 -57.36° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: table <-> chair depth=[0.457, 0.747, 0.521] + !! OVERLAP: table <-> chair depth=[0.249, 0.747, 0.556] + !! OVERLAP: table <-> chair depth=[0.332, 0.747, 0.071] + !! OVERLAP: table <-> chair depth=[0.557, 0.747, 0.192] + !! OVERLAP: table <-> floor depth=[1.984, -0.002, 0.807] + !! OVERLAP: chair <-> floor depth=[0.547, -0.002, 0.613] + !! OVERLAP: chair <-> chair depth=[0.430, 0.829, 0.169] + !! OVERLAP: chair <-> floor depth=[0.457, -0.002, 0.521] + !! OVERLAP: chair <-> floor depth=[0.580, -0.002, 0.550] + !! OVERLAP: chair <-> chair depth=[0.403, 0.793, 0.068] + !! OVERLAP: chair <-> floor depth=[0.551, -0.002, 0.635] + !! OVERLAP: chair <-> floor depth=[0.515, -0.002, 0.526] + !! OVERLAP: chair <-> floor depth=[0.581, -0.002, 0.600] + !! OVERLAP: chair <-> floor depth=[0.620, -0.002, 0.656] + !! OVERLAP: chair <-> floor depth=[0.557, -0.002, 0.586] +============================================================ + + +============================================================ +SCENE: DiningRoom-13034 | 8 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0000, Walkable Loss: 5.3474 (Center Penalty: 4.1182, C1 Heatmap: 0.3063, C2 Repulsion: 4.9209), Relational Loss: 0.0000 +Guided Steps: 10/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +table 1.418 0.772 0.734 0.036 0.001 0.031 90.02° +chair 0.474 0.762 0.539 1.172 0.003 0.195 -90.04° +chair 0.526 0.829 0.557 0.833 0.001 -0.765 -90.02° +chair 0.504 0.792 0.566 -0.435 0.002 -0.088 89.82° +chair 0.481 0.724 0.472 -0.600 -0.000 -0.386 90.06° +lamp 0.624 1.127 0.632 0.345 1.641 0.187 90.07° +floor 2.896 0.001 3.732 -0.001 0.003 -0.008 0.10° +_scene_ 0.080 0.005 0.033 -5.656 -0.005 -5.693 -57.29° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: table <-> chair depth=[0.491, 0.772, 0.532] + !! OVERLAP: table <-> chair depth=[0.314, 0.724, 0.187] + !! OVERLAP: table <-> floor depth=[1.418, 0.001, 0.734] + !! OVERLAP: chair <-> floor depth=[0.474, 0.001, 0.539] + !! OVERLAP: chair <-> floor depth=[0.526, 0.001, 0.557] + !! OVERLAP: chair <-> chair depth=[0.327, 0.724, 0.221] + !! OVERLAP: chair <-> floor depth=[0.504, 0.001, 0.566] + !! OVERLAP: chair <-> floor depth=[0.481, 0.001, 0.472] +============================================================ + + +============================================================ +SCENE: DiningRoom-21509 | 10 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0000, Walkable Loss: 3.8220 (Center Penalty: 1.9889, C1 Heatmap: 0.4017, C2 Repulsion: 7.5587), Relational Loss: 0.0000 +Guided Steps: 10/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +table 1.479 0.766 1.049 -0.922 0.000 0.781 0.04° +chair 0.513 0.917 0.551 -0.314 0.001 1.155 -179.94° +chair 0.504 0.973 0.545 -0.496 0.000 0.347 -89.65° +chair 0.521 0.975 0.606 -1.601 0.000 0.783 89.97° +chair 0.482 1.017 0.538 -1.480 0.001 -0.023 0.02° +lamp 0.694 1.261 0.553 -0.352 1.559 -0.467 -0.00° +cabinet 0.597 2.009 0.411 1.191 0.004 -1.501 0.07° +lamp 0.261 1.035 0.252 -1.324 1.340 0.887 0.06° +floor 3.601 -0.001 3.617 -0.259 0.000 -0.087 0.01° +_scene_ 0.068 0.001 0.020 -5.672 -0.004 -5.712 -57.31° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: table <-> chair depth=[0.388, 0.766, 0.426] + !! OVERLAP: table <-> chair depth=[0.504, 0.766, 0.362] + !! OVERLAP: table <-> chair depth=[0.321, 0.766, 0.606] + !! OVERLAP: table <-> floor depth=[1.479, -0.001, 1.049] + !! OVERLAP: chair <-> floor depth=[0.513, -0.001, 0.551] + !! OVERLAP: chair <-> floor depth=[0.504, -0.001, 0.545] + !! OVERLAP: chair <-> floor depth=[0.521, -0.001, 0.606] + !! OVERLAP: chair <-> floor depth=[0.482, -0.001, 0.538] + !! OVERLAP: cabinet <-> floor depth=[0.597, -0.001, 0.411] +============================================================ + + +============================================================ +SCENE: DiningRoom-42541 | 8 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.3012, Walkable Loss: 5.6922 (Center Penalty: 4.0678, C1 Heatmap: 0.4016, C2 Repulsion: 6.5155), Relational Loss: 0.0000 +Guided Steps: 10/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +table 1.376 0.709 1.130 -0.285 -0.001 -0.037 0.02° +chair 0.553 0.921 0.594 -0.065 -0.000 0.451 -179.98° +chair 0.536 0.892 0.564 -0.895 0.001 0.512 -179.96° +chair 0.599 0.949 0.597 -0.114 0.001 -0.558 0.00° +chair 0.566 0.937 0.571 -0.811 0.000 -0.396 0.02° +lamp 0.658 0.676 0.659 -0.029 2.555 0.214 -0.01° +floor 3.818 0.019 1.437 -0.116 -0.002 0.009 -0.04° +_scene_ 0.065 -0.000 0.026 -5.668 -0.004 -5.710 -57.33° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: table <-> chair depth=[0.553, 0.709, 0.374] + !! OVERLAP: table <-> chair depth=[0.346, 0.709, 0.298] + !! OVERLAP: table <-> chair depth=[0.599, 0.709, 0.342] + !! OVERLAP: table <-> chair depth=[0.445, 0.709, 0.491] + !! OVERLAP: table <-> floor depth=[1.376, 0.019, 1.130] + !! OVERLAP: chair <-> floor depth=[0.553, 0.019, 0.573] + !! OVERLAP: chair <-> floor depth=[0.536, 0.019, 0.497] + !! OVERLAP: chair <-> floor depth=[0.599, 0.019, 0.450] + !! OVERLAP: chair <-> floor depth=[0.566, 0.019, 0.571] +============================================================ + + +============================================================ +SCENE: DiningRoom-13727 | 10 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0000, Walkable Loss: 4.9834 (Center Penalty: 2.4023, C1 Heatmap: 0.7191, C2 Repulsion: 10.0291), Relational Loss: 0.0000 +Guided Steps: 10/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +table 1.886 0.758 1.403 -0.362 0.001 -0.263 0.03° +chair 0.488 0.773 0.470 0.529 0.003 0.871 -163.39° +chair 0.503 0.710 0.505 -0.414 0.004 1.036 160.44° +chair 0.563 0.728 0.496 -1.175 -0.002 -0.039 104.55° +chair 0.485 0.744 0.433 -0.411 -0.000 -0.946 19.06° +chair 0.534 0.789 0.531 0.518 0.003 -0.823 -26.40° +chair 0.530 0.778 0.481 0.935 0.003 -0.062 -83.53° +cabinet 1.978 2.136 0.336 -1.227 0.001 -0.941 89.91° +floor 4.902 0.001 3.463 0.040 -0.002 -0.073 -0.07° +_scene_ 0.067 0.003 0.043 -5.633 -0.007 -5.673 -57.31° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: table <-> chair depth=[0.412, 0.728, 0.496] + !! OVERLAP: table <-> chair depth=[0.485, 0.744, 0.235] + !! OVERLAP: table <-> chair depth=[0.330, 0.758, 0.408] + !! OVERLAP: table <-> cabinet depth=[1.066, 0.758, 0.192] + !! OVERLAP: table <-> floor depth=[1.886, 0.001, 1.403] + !! OVERLAP: chair <-> floor depth=[0.488, 0.001, 0.470] + !! OVERLAP: chair <-> floor depth=[0.503, 0.001, 0.505] + !! OVERLAP: chair <-> floor depth=[0.563, 0.001, 0.496] + !! OVERLAP: chair <-> cabinet depth=[0.415, 0.744, 0.336] + !! OVERLAP: chair <-> floor depth=[0.485, 0.001, 0.433] + !! OVERLAP: chair <-> floor depth=[0.534, 0.001, 0.531] + !! OVERLAP: chair <-> floor depth=[0.530, 0.001, 0.481] + !! OVERLAP: cabinet <-> floor depth=[1.978, 0.001, 0.336] +============================================================ + + +============================================================ +SCENE: Library-4425 | 6 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.1615, Walkable Loss: 3.7929 (Center Penalty: 2.9502, C1 Heatmap: 0.3704, C2 Repulsion: 2.7314), Relational Loss: 0.0000 +Guided Steps: 10/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +table 1.261 0.732 0.437 0.773 -0.001 -0.193 -89.84° +chair 0.586 0.694 0.568 -0.415 -0.000 -0.192 0.09° +bookshelf 0.790 1.931 0.308 -0.687 0.005 1.185 -179.99° +lamp 1.192 1.281 1.170 -0.056 1.350 -0.007 0.04° +floor 2.613 -0.001 2.633 -0.007 0.001 -0.034 -0.01° +_scene_ 0.072 0.001 0.021 -5.671 -0.004 -5.712 -57.30° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: table <-> floor depth=[1.158, -0.001, 0.437] + !! OVERLAP: chair <-> floor depth=[0.586, -0.001, 0.568] + !! OVERLAP: bookshelf <-> floor depth=[0.790, -0.001, 0.251] +============================================================ + + +============================================================ +SCENE: Library-4345 | 6 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.5568, Walkable Loss: 3.8160 (Center Penalty: 2.7722, C1 Heatmap: 0.8175, C2 Repulsion: 1.9487), Relational Loss: 0.0000 +Guided Steps: 10/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +bookshelf 1.924 2.097 0.297 0.453 0.001 1.278 -179.93° +lamp 0.813 1.218 0.819 -0.103 0.773 -0.535 -0.14° +desk 2.839 2.796 1.500 0.479 0.000 -0.637 -90.13° +lamp 0.595 0.167 0.559 -0.109 2.355 -0.200 -0.03° +floor 2.887 -0.001 3.241 -0.018 0.001 -0.068 -0.02° +_scene_ 0.075 0.002 0.064 -5.664 -0.003 -5.684 -57.29° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bookshelf <-> floor depth=[1.924, -0.001, 0.297] + !! OVERLAP: lamp <-> desk depth=[0.813, 1.218, 0.819] + !! OVERLAP: desk <-> floor depth=[2.366, -0.001, 1.500] +============================================================ + + +============================================================ +SCENE: Library-16688 | 8 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.2633, Walkable Loss: 3.5700 (Center Penalty: 2.5115, C1 Heatmap: 0.6040, C2 Repulsion: 2.8768), Relational Loss: 0.0000 +Guided Steps: 10/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +lamp 0.842 0.933 0.862 -0.112 1.936 -0.052 -0.01° +bookshelf 0.793 2.502 0.508 1.581 -0.002 1.078 -90.15° +bookshelf 0.742 2.478 0.476 1.499 -0.001 -1.120 -89.99° +bookshelf 0.790 2.267 0.484 1.516 0.000 0.025 -90.04° +desk 1.457 0.733 0.532 0.059 0.005 1.300 179.97° +sofa 2.072 0.784 0.941 -0.301 0.002 -0.504 -0.05° +floor 3.736 -0.003 3.014 -0.092 -0.002 0.022 -0.14° +_scene_ 0.068 0.000 0.024 -5.667 -0.005 -5.697 -57.29° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bookshelf <-> floor depth=[0.591, -0.003, 0.508] + !! OVERLAP: bookshelf <-> floor depth=[0.647, -0.003, 0.476] + !! OVERLAP: bookshelf <-> floor depth=[0.655, -0.003, 0.484] + !! OVERLAP: desk <-> floor depth=[1.457, -0.003, 0.495] + !! OVERLAP: sofa <-> floor depth=[2.072, -0.003, 0.941] +============================================================ + + +============================================================ +SCENE: Library-29416 | 7 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 1.3448, Walkable Loss: 4.5396 (Center Penalty: 3.0139, C1 Heatmap: 0.6516, C2 Repulsion: 5.0222), Relational Loss: 0.0000 +Guided Steps: 10/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +bookshelf 2.893 2.711 0.309 0.925 -0.000 0.061 -90.11° +bookshelf 1.873 2.617 0.294 1.007 -0.002 0.380 -90.08° +desk 1.575 0.927 0.699 -0.385 0.000 0.314 89.97° +chair 0.731 0.750 0.725 0.646 -0.001 0.202 -90.02° +lamp 0.607 0.753 0.604 -0.103 2.081 0.125 -0.03° +floor 3.040 -0.000 3.310 0.004 0.000 -0.008 -0.04° +_scene_ 0.078 0.001 0.036 -5.666 -0.004 -5.695 -57.29° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bookshelf <-> desk depth=[0.924, 0.927, 0.250] + !! OVERLAP: bookshelf <-> chair depth=[0.731, 0.750, 0.309] + !! OVERLAP: bookshelf <-> floor depth=[2.045, -0.000, 0.309] + !! OVERLAP: bookshelf <-> desk depth=[0.333, 0.927, 0.294] + !! OVERLAP: bookshelf <-> chair depth=[0.731, 0.750, 0.294] + !! OVERLAP: bookshelf <-> floor depth=[1.454, -0.000, 0.294] + !! OVERLAP: desk <-> chair depth=[0.123, 0.750, 0.599] + !! OVERLAP: desk <-> floor depth=[1.575, -0.000, 0.699] + !! OVERLAP: chair <-> floor depth=[0.731, -0.000, 0.725] +============================================================ + + +============================================================ +SCENE: Library-110125 | 7 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0000, Walkable Loss: 2.5930 (Center Penalty: 2.1900, C1 Heatmap: 0.2482, C2 Repulsion: 1.0218), Relational Loss: 0.0000 +Guided Steps: 10/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +desk 1.248 0.781 0.411 -1.192 -0.000 0.700 179.95° +chair 0.515 0.942 0.562 -0.955 0.001 -0.082 -32.83° +bookshelf 1.176 2.119 0.237 -1.090 -0.002 -1.311 0.04° +lamp 0.901 1.154 1.127 0.231 1.633 -0.048 0.28° +chair 0.489 0.556 0.551 0.990 -0.000 -0.160 -90.39° +floor 3.672 -0.003 2.793 0.007 0.000 -0.059 -0.03° +_scene_ 0.072 0.001 0.023 -5.670 -0.004 -5.711 -57.35° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: desk <-> floor depth=[1.248, -0.003, 0.411] + !! OVERLAP: chair <-> floor depth=[0.515, -0.003, 0.562] + !! OVERLAP: bookshelf <-> floor depth=[1.176, -0.003, 0.237] + !! OVERLAP: chair <-> floor depth=[0.489, -0.003, 0.551] +============================================================ + + +============================================================ +SCENE: Library-19478 | 5 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0000, Walkable Loss: 3.2533 (Center Penalty: 2.8081, C1 Heatmap: 0.3167, C2 Repulsion: 0.9589), Relational Loss: 0.0000 +Guided Steps: 10/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +desk 1.283 0.880 0.844 0.207 0.004 -0.320 -89.95° +bookshelf 1.824 2.497 0.400 -0.248 -0.000 -1.353 0.00° +lamp 0.621 1.036 0.896 0.075 1.994 0.057 0.03° +floor 2.332 0.013 3.005 -0.046 -0.000 -0.033 -0.05° +_scene_ 0.074 -0.015 0.128 -5.506 0.006 -5.535 -57.71° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: desk <-> floor depth=[1.283, 0.013, 0.844] + !! OVERLAP: bookshelf <-> floor depth=[1.824, 0.013, 0.382] +============================================================ + + +============================================================ +SCENE: Library-898 | 5 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 1.2345, Walkable Loss: 3.8423 (Center Penalty: 2.7342, C1 Heatmap: 0.6588, C2 Repulsion: 2.9051), Relational Loss: 0.0000 +Guided Steps: 10/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +bookshelf 3.278 2.514 0.375 -0.826 -0.000 -0.168 89.87° +desk 1.936 1.725 0.629 -0.037 0.003 0.222 179.99° +chair 0.625 0.756 0.674 0.184 -0.001 -0.467 0.09° +floor 2.684 -0.000 3.335 0.017 0.001 -0.039 -0.00° +_scene_ 0.052 -0.000 0.045 -5.616 0.004 -5.674 -57.41° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bookshelf <-> desk depth=[1.818, 1.725, 0.112] + !! OVERLAP: bookshelf <-> chair depth=[0.625, 0.756, 0.226] + !! OVERLAP: bookshelf <-> floor depth=[2.138, -0.000, 0.375] + !! OVERLAP: desk <-> floor depth=[1.936, -0.000, 0.629] + !! OVERLAP: chair <-> floor depth=[0.625, -0.000, 0.674] +============================================================ + + +============================================================ +SCENE: Library-2159 | 7 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 1.3733, Walkable Loss: 3.8448 (Center Penalty: 1.6196, C1 Heatmap: 1.1309, C2 Repulsion: 6.6023), Relational Loss: 0.0000 +Guided Steps: 10/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +bookshelf 3.775 2.350 0.433 0.962 -0.001 -0.647 -90.10° +chair 0.857 0.853 0.873 -0.749 0.005 -1.561 -19.38° +desk 1.465 0.676 0.599 -0.605 0.002 -1.287 90.00° +sofa 2.209 0.956 1.337 -0.543 0.001 0.162 90.03° +table 0.674 0.476 0.719 -0.464 -0.000 1.518 0.02° +floor 3.196 -0.002 4.860 0.004 0.001 -0.025 -0.03° +_scene_ 0.068 0.000 0.023 -5.668 -0.004 -5.711 -57.29° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bookshelf <-> sofa depth=[1.488, 0.956, 0.076] + !! OVERLAP: bookshelf <-> floor depth=[2.528, -0.002, 0.433] + !! OVERLAP: chair <-> desk depth=[0.857, 0.676, 0.461] + !! OVERLAP: chair <-> floor depth=[0.857, -0.002, 0.873] + !! OVERLAP: desk <-> floor depth=[1.465, -0.002, 0.599] + !! OVERLAP: sofa <-> floor depth=[2.156, -0.002, 1.337] + !! OVERLAP: table <-> floor depth=[0.674, -0.002, 0.719] +============================================================ + + +============================================================ +SCENE: Library-7291 | 7 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0880, Walkable Loss: 3.4086 (Center Penalty: 2.3541, C1 Heatmap: 0.6811, C2 Repulsion: 2.5481), Relational Loss: 0.0000 +Guided Steps: 10/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +chair 0.691 0.511 0.811 -0.800 0.001 0.601 -0.01° +bookshelf 0.775 1.945 0.323 1.159 -0.000 0.734 -90.00° +lamp 0.368 0.576 0.380 -0.074 2.198 0.195 -0.05° +desk 2.081 0.806 0.849 -0.302 0.001 0.931 179.90° +sofa 2.035 0.805 0.992 -0.430 0.004 -1.070 -0.05° +floor 3.103 0.001 3.322 -0.026 0.000 0.006 -0.00° +_scene_ 0.062 -0.001 0.029 -5.652 -0.004 -5.699 -57.31° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: chair <-> desk depth=[0.691, 0.511, 0.500] + !! OVERLAP: chair <-> floor depth=[0.691, 0.001, 0.811] + !! OVERLAP: bookshelf <-> floor depth=[0.754, 0.001, 0.323] + !! OVERLAP: desk <-> floor depth=[2.081, 0.001, 0.849] + !! OVERLAP: sofa <-> floor depth=[2.035, 0.001, 0.992] +============================================================ + + +============================================================ +SCENE: Library-24727 | 5 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.1886, Walkable Loss: 2.2169 (Center Penalty: 2.0056, C1 Heatmap: 0.2249, C2 Repulsion: 0.1569), Relational Loss: 0.0000 +Guided Steps: 10/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +bookshelf 1.383 2.364 0.423 -1.258 0.022 0.322 89.83° +chair 0.961 0.797 0.821 0.415 -0.004 0.861 -150.22° +lamp 0.329 0.595 0.349 0.130 2.233 0.270 -0.04° +floor 3.806 0.000 3.193 0.044 0.000 -0.022 -0.02° +_scene_ 0.043 0.000 0.051 -5.593 -0.002 -5.616 -57.56° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bookshelf <-> floor depth=[1.292, 0.000, 0.423] + !! OVERLAP: chair <-> floor depth=[0.961, 0.000, 0.821] +============================================================ + + +============================================================ +SCENE: Library-43565 | 7 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 1.6516, Walkable Loss: 4.8553 (Center Penalty: 3.4786, C1 Heatmap: 0.7952, C2 Repulsion: 3.7025), Relational Loss: 0.0000 +Guided Steps: 10/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +bookshelf 3.533 2.432 0.368 -0.997 -0.002 -0.059 89.92° +bookshelf 0.559 1.971 0.422 0.780 0.003 0.857 -179.95° +chair 0.576 0.749 0.596 -0.049 0.009 -0.494 89.58° +lamp 0.664 0.387 0.586 -0.028 2.222 0.003 -0.09° +desk 1.959 0.772 1.019 0.372 -0.001 -0.334 -0.04° +floor 2.678 -0.001 2.851 0.012 0.001 -0.001 -0.01° +_scene_ 0.060 0.003 0.020 -5.675 -0.004 -5.707 -57.31° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bookshelf <-> chair depth=[0.576, 0.749, 0.047] + !! OVERLAP: bookshelf <-> desk depth=[1.377, 0.772, 0.368] + !! OVERLAP: bookshelf <-> floor depth=[2.097, -0.001, 0.368] + !! OVERLAP: bookshelf <-> floor depth=[0.559, -0.001, 0.422] + !! OVERLAP: chair <-> desk depth=[0.576, 0.749, 0.596] + !! OVERLAP: chair <-> floor depth=[0.576, -0.001, 0.596] + !! OVERLAP: desk <-> floor depth=[1.958, -0.001, 1.019] +============================================================ + + +============================================================ +SCENE: Library-24675 | 6 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.7223, Walkable Loss: 3.3980 (Center Penalty: 2.8497, C1 Heatmap: 0.2951, C2 Repulsion: 1.5609), Relational Loss: 0.0000 +Guided Steps: 10/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +lamp 1.065 1.122 1.056 0.084 1.641 -0.176 -0.00° +chair 0.504 0.907 0.593 -0.781 0.000 0.296 89.85° +desk 1.131 0.717 0.595 0.338 0.001 -0.316 -89.98° +bookshelf 1.899 2.693 0.397 -1.284 0.000 -0.276 89.95° +floor 2.956 -0.004 2.943 -0.007 0.001 -0.012 -0.02° +_scene_ 0.045 0.005 0.023 -5.528 -0.003 -5.621 -57.95° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: lamp <-> bookshelf depth=[0.114, 0.267, 0.397] + !! OVERLAP: chair <-> floor depth=[0.504, -0.004, 0.593] + !! OVERLAP: desk <-> floor depth=[1.131, -0.004, 0.595] + !! OVERLAP: bookshelf <-> floor depth=[1.150, -0.004, 0.397] +============================================================ + + +============================================================ +SCENE: Library-11256 | 10 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 2.1477, Walkable Loss: 4.1649 (Center Penalty: 1.9992, C1 Heatmap: 0.9676, C2 Repulsion: 6.9578), Relational Loss: 0.0000 +Guided Steps: 10/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +bookshelf 2.798 2.600 0.243 1.398 -0.002 1.461 -90.11° +bookshelf 3.389 2.395 0.296 1.336 -0.001 -0.153 -90.11° +desk 1.436 0.918 0.594 -0.376 -0.001 1.031 -179.98° +chair 0.589 0.915 0.641 0.489 0.000 0.997 -90.22° +chair 0.849 0.868 0.944 -1.228 -0.001 -1.211 33.09° +chair 0.461 0.400 0.434 -1.630 0.002 -0.152 90.00° +table 0.627 0.590 0.655 -0.518 0.001 -1.059 0.06° +lamp 0.350 0.536 0.347 -0.134 2.178 0.370 -0.04° +floor 3.877 -0.000 3.733 -0.034 0.001 -0.019 -0.01° +_scene_ 0.067 0.002 0.021 -5.671 -0.004 -5.708 -57.30° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bookshelf <-> floor depth=[1.906, -0.000, 0.243] + !! OVERLAP: bookshelf <-> floor depth=[2.263, -0.000, 0.296] + !! OVERLAP: desk <-> chair depth=[0.148, 0.915, 0.583] + !! OVERLAP: desk <-> floor depth=[1.436, -0.000, 0.594] + !! OVERLAP: chair <-> floor depth=[0.589, -0.000, 0.641] + !! OVERLAP: chair <-> table depth=[0.028, 0.590, 0.647] + !! OVERLAP: chair <-> floor depth=[0.849, -0.000, 0.944] + !! OVERLAP: chair <-> floor depth=[0.461, -0.000, 0.434] + !! OVERLAP: table <-> floor depth=[0.627, -0.000, 0.655] +============================================================ + + +============================================================ +SCENE: Library-70308 | 6 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.1829, Walkable Loss: 4.3904 (Center Penalty: 3.0487, C1 Heatmap: 0.5065, C2 Repulsion: 4.6823), Relational Loss: 0.0000 +Guided Steps: 10/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +desk 1.457 0.777 0.651 -0.252 0.002 0.504 -179.97° +chair 0.631 1.010 0.682 -0.471 -0.001 0.306 17.41° +bookshelf 1.310 2.206 0.366 0.963 0.002 0.401 -90.16° +lamp 1.301 1.469 1.244 -0.118 1.418 0.119 0.08° +floor 2.852 -0.002 3.311 -0.007 0.000 -0.010 -0.01° +_scene_ 0.024 0.008 0.019 -5.621 -0.005 -5.681 -57.45° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: desk <-> chair depth=[0.631, 0.777, 0.468] + !! OVERLAP: desk <-> bookshelf depth=[0.168, 0.777, 0.366] + !! OVERLAP: desk <-> floor depth=[1.457, -0.002, 0.651] + !! OVERLAP: chair <-> floor depth=[0.631, -0.002, 0.682] + !! OVERLAP: bookshelf <-> lamp depth=[0.225, 0.421, 0.366] + !! OVERLAP: bookshelf <-> floor depth=[1.112, -0.002, 0.366] +============================================================ + + +============================================================ +SCENE: Library-57472 | 7 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0389, Walkable Loss: 2.6975 (Center Penalty: 2.2297, C1 Heatmap: 0.2991, C2 Repulsion: 1.1427), Relational Loss: 0.0000 +Guided Steps: 10/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +desk 1.182 0.795 0.489 -0.336 0.002 1.091 179.93° +bookshelf 0.407 1.717 0.260 1.315 0.005 0.718 -179.97° +chair 0.498 0.702 0.487 -0.579 -0.000 0.579 0.06° +bookshelf 1.971 1.974 0.277 -0.709 -0.001 -1.005 0.09° +lamp 1.218 0.953 0.829 -0.297 2.178 0.018 0.05° +floor 3.183 -0.003 2.682 -0.072 0.000 0.028 -0.05° +_scene_ 0.069 -0.001 0.025 -5.674 -0.005 -5.715 -57.30° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: desk <-> floor depth=[1.182, -0.003, 0.489] + !! OVERLAP: bookshelf <-> floor depth=[0.407, -0.003, 0.260] + !! OVERLAP: chair <-> floor depth=[0.498, -0.003, 0.487] + !! OVERLAP: bookshelf <-> floor depth=[1.940, -0.003, 0.277] +============================================================ + + +============================================================ +SCENE: Library-32231 | 7 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 1.0326, Walkable Loss: 4.2466 (Center Penalty: 2.8673, C1 Heatmap: 0.7147, C2 Repulsion: 4.0381), Relational Loss: 0.0000 +Guided Steps: 10/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +desk 1.332 0.826 0.556 -0.170 -0.001 -0.465 -90.07° +bookshelf 2.898 2.626 0.321 -0.313 0.006 1.292 -179.90° +cabinet 2.186 1.317 0.725 -0.216 0.003 -0.678 89.88° +lamp 0.587 0.569 0.598 -0.003 2.168 -0.241 -0.04° +chair 0.414 0.874 0.437 0.433 0.000 -1.398 -25.85° +floor 2.195 0.001 3.621 0.005 0.002 -0.087 -0.02° +_scene_ 0.064 -0.000 0.021 -5.672 -0.004 -5.717 -57.31° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: desk <-> cabinet depth=[1.332, 0.826, 0.427] + !! OVERLAP: desk <-> floor depth=[1.332, 0.001, 0.556] + !! OVERLAP: bookshelf <-> floor depth=[2.195, 0.001, 0.321] + !! OVERLAP: cabinet <-> floor depth=[1.970, 0.001, 0.725] + !! OVERLAP: chair <-> floor depth=[0.414, 0.001, 0.437] +============================================================ + + +============================================================ +SCENE: Library-2480 | 5 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0000, Walkable Loss: 1.9457 (Center Penalty: 1.4843, C1 Heatmap: 0.4118, C2 Repulsion: 0.6597), Relational Loss: 0.0000 +Guided Steps: 10/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +chair 0.508 0.852 0.493 -0.872 0.000 -0.139 90.02° +bookshelf 1.887 2.129 0.209 -0.077 0.001 1.600 -179.88° +desk 1.633 0.707 1.025 0.665 0.002 -0.655 0.03° +floor 2.738 0.002 3.728 0.010 -0.001 -0.022 0.01° +_scene_ 0.104 0.005 0.071 -5.649 -0.005 -5.681 -57.24° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: chair <-> floor depth=[0.508, 0.002, 0.493] + !! OVERLAP: bookshelf <-> floor depth=[1.887, 0.002, 0.209] + !! OVERLAP: desk <-> floor depth=[1.530, 0.002, 1.025] +============================================================ + + +============================================================ +SCENE: Library-23898 | 8 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.3897, Walkable Loss: 2.7173 (Center Penalty: 2.3133, C1 Heatmap: 0.2806, C2 Repulsion: 0.8976), Relational Loss: 0.0000 +Guided Steps: 10/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +table 1.228 0.734 0.570 -0.314 0.002 -0.614 -0.03° +lamp 0.558 0.801 0.120 -0.047 1.886 0.336 -0.03° +bookshelf 0.527 2.063 0.263 1.127 0.000 -1.054 -0.05° +chair 0.512 0.910 0.570 -0.154 -0.003 0.797 175.65° +bookshelf 1.004 1.932 0.405 1.390 0.001 1.530 -90.07° +bookshelf 0.668 2.122 0.326 1.401 0.008 0.412 -90.06° +floor 3.247 -0.004 2.940 0.030 -0.001 0.347 -0.07° +_scene_ 0.049 0.003 0.014 -5.677 -0.006 -5.715 -57.29° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: table <-> floor depth=[1.228, -0.004, 0.570] + !! OVERLAP: bookshelf <-> floor depth=[0.527, -0.004, 0.201] + !! OVERLAP: chair <-> floor depth=[0.512, -0.004, 0.570] + !! OVERLAP: bookshelf <-> floor depth=[0.766, -0.004, 0.405] + !! OVERLAP: bookshelf <-> floor depth=[0.587, -0.004, 0.326] +============================================================ + + +============================================================ +SCENE: Library-19283 | 5 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.6972, Walkable Loss: 3.3802 (Center Penalty: 2.4857, C1 Heatmap: 0.4505, C2 Repulsion: 2.6706), Relational Loss: 0.0000 +Guided Steps: 10/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +bookshelf 2.489 2.362 0.356 0.711 -0.001 -0.203 -90.17° +desk 1.550 0.995 0.720 -0.609 0.000 -0.325 89.98° +chair 0.620 0.849 0.607 -0.011 0.001 -0.290 -89.65° +floor 2.710 0.000 3.213 -0.022 -0.000 -0.054 -0.03° +_scene_ 0.066 0.032 0.094 -5.268 -0.003 -5.452 -58.53° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bookshelf <-> desk depth=[0.699, 0.995, 0.356] + !! OVERLAP: bookshelf <-> chair depth=[0.620, 0.849, 0.356] + !! OVERLAP: bookshelf <-> floor depth=[1.866, 0.000, 0.356] + !! OVERLAP: desk <-> chair depth=[0.487, 0.849, 0.607] + !! OVERLAP: desk <-> floor depth=[1.543, 0.000, 0.720] + !! OVERLAP: chair <-> floor depth=[0.620, 0.000, 0.607] +============================================================ + + +============================================================ +SCENE: Library-29744 | 6 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 2.3455, Walkable Loss: 3.9824 (Center Penalty: 2.2230, C1 Heatmap: 0.9626, C2 Repulsion: 4.9464), Relational Loss: 0.0000 +Guided Steps: 10/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +bookshelf 3.098 2.332 0.360 -0.967 0.005 0.284 89.91° +bookshelf 2.764 2.200 0.327 1.015 -0.000 -0.095 -90.14° +desk 2.089 0.735 0.814 0.236 0.001 -0.877 -0.06° +chair 0.612 0.741 0.578 -0.383 0.001 -0.055 -179.93° +floor 2.685 -0.002 3.180 -0.008 0.001 -0.020 -0.01° +_scene_ 0.063 -0.000 0.019 -5.660 -0.004 -5.706 -57.31° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bookshelf <-> chair depth=[0.612, 0.741, 0.130] + !! OVERLAP: bookshelf <-> floor depth=[1.933, -0.002, 0.360] + !! OVERLAP: bookshelf <-> chair depth=[0.291, 0.741, 0.327] + !! OVERLAP: bookshelf <-> floor depth=[1.702, -0.002, 0.327] + !! OVERLAP: desk <-> floor depth=[2.089, -0.002, 0.814] + !! OVERLAP: chair <-> floor depth=[0.612, -0.002, 0.578] +============================================================ + + +============================================================ +SCENE: Library-22443 | 7 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.6336, Walkable Loss: 4.3551 (Center Penalty: 3.2655, C1 Heatmap: 0.3130, C2 Repulsion: 4.1961), Relational Loss: 0.0000 +Guided Steps: 10/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +bookshelf 1.111 2.034 0.327 -1.163 0.005 0.232 89.93° +bookshelf 0.999 2.073 0.224 -1.237 0.002 -0.546 89.92° +desk 1.408 0.707 0.632 0.120 0.000 -0.413 -90.18° +chair 0.492 0.865 0.581 -0.443 0.001 -0.206 89.51° +lamp 0.618 0.401 0.596 0.018 2.576 -0.105 -0.03° +floor 2.859 0.001 4.088 -0.002 0.001 -0.067 -0.01° +_scene_ 0.064 -0.003 0.022 -5.673 -0.003 -5.709 -57.31° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bookshelf <-> chair depth=[0.081, 0.865, 0.015] + !! OVERLAP: bookshelf <-> floor depth=[0.824, 0.001, 0.327] + !! OVERLAP: bookshelf <-> floor depth=[0.694, 0.001, 0.224] + !! OVERLAP: desk <-> chair depth=[0.386, 0.707, 0.400] + !! OVERLAP: desk <-> floor depth=[1.408, 0.001, 0.632] + !! OVERLAP: chair <-> floor depth=[0.492, 0.001, 0.581] +============================================================ + + +============================================================ +SCENE: Library-1093 | 8 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.6845, Walkable Loss: 3.0026 (Center Penalty: 2.3577, C1 Heatmap: 0.3025, C2 Repulsion: 2.0148), Relational Loss: 0.0000 +Guided Steps: 10/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +bookshelf 0.815 2.098 0.458 -1.006 0.002 1.050 179.93° +bookshelf 0.912 2.043 0.317 -1.090 0.002 -0.681 89.88° +bookshelf 1.127 2.060 0.373 1.347 0.001 -0.081 -89.99° +chair 0.613 0.843 0.739 -0.870 0.001 -0.574 89.88° +lamp 0.612 0.381 0.632 0.260 2.411 0.012 -90.04° +chair 0.504 0.550 0.517 0.013 0.002 -0.819 89.99° +floor 2.825 0.000 3.219 -0.009 0.002 -0.013 -0.04° +_scene_ 0.067 -0.001 0.017 -5.664 -0.006 -5.708 -57.34° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bookshelf <-> floor depth=[0.815, 0.000, 0.458] + !! OVERLAP: bookshelf <-> chair depth=[0.542, 0.843, 0.317] + !! OVERLAP: bookshelf <-> floor depth=[0.787, 0.000, 0.317] + !! OVERLAP: bookshelf <-> floor depth=[0.620, 0.000, 0.373] + !! OVERLAP: chair <-> floor depth=[0.613, 0.000, 0.739] + !! OVERLAP: chair <-> floor depth=[0.504, 0.000, 0.517] +============================================================ + + +============================================================ +SCENE: Library-13832 | 6 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.5937, Walkable Loss: 4.3179 (Center Penalty: 3.5984, C1 Heatmap: 0.3625, C2 Repulsion: 2.1474), Relational Loss: 0.0000 +Guided Steps: 10/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +bookshelf 1.233 1.744 0.311 -1.130 -0.002 0.059 89.94° +desk 1.934 0.731 0.794 0.284 -0.001 -0.126 -89.85° +chair 0.474 0.813 0.530 -0.456 0.001 0.079 89.93° +lamp 1.167 1.082 0.943 0.098 1.614 -0.074 0.01° +floor 2.400 0.003 2.920 0.000 0.000 -0.006 -0.01° +_scene_ 0.067 -0.000 0.018 -5.666 -0.003 -5.708 -57.31° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bookshelf <-> desk depth=[0.170, 0.731, 0.311] + !! OVERLAP: bookshelf <-> chair depth=[0.180, 0.813, 0.311] + !! OVERLAP: bookshelf <-> floor depth=[0.687, 0.003, 0.311] + !! OVERLAP: desk <-> chair depth=[0.463, 0.731, 0.457] + !! OVERLAP: desk <-> floor depth=[1.883, 0.003, 0.794] + !! OVERLAP: chair <-> floor depth=[0.474, 0.003, 0.530] +============================================================ + + +============================================================ +SCENE: Library-16869 | 8 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0201, Walkable Loss: 3.2619 (Center Penalty: 2.3189, C1 Heatmap: 0.4686, C2 Repulsion: 2.8408), Relational Loss: 0.0000 +Guided Steps: 10/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +chair 0.466 0.730 0.458 0.456 -0.002 -0.129 0.01° +desk 1.502 1.054 0.599 0.595 0.005 0.799 -179.98° +chair 0.417 0.673 0.352 -0.690 -0.002 -0.145 0.04° +bookshelf 1.045 1.351 0.288 0.489 -0.001 -1.333 0.05° +bookshelf 0.701 1.059 0.380 -0.964 0.001 -1.295 0.03° +desk 1.627 1.096 0.678 -0.165 0.002 1.062 -179.98° +floor 2.820 -0.000 3.138 -0.005 0.001 -0.008 -0.02° +_scene_ 0.065 0.001 0.018 -5.675 -0.005 -5.717 -57.31° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: chair <-> floor depth=[0.466, -0.000, 0.458] + !! OVERLAP: desk <-> desk depth=[0.804, 1.054, 0.375] + !! OVERLAP: desk <-> floor depth=[1.502, -0.000, 0.599] + !! OVERLAP: chair <-> floor depth=[0.417, -0.000, 0.352] + !! OVERLAP: bookshelf <-> floor depth=[1.045, -0.000, 0.288] + !! OVERLAP: bookshelf <-> floor depth=[0.701, -0.000, 0.380] + !! OVERLAP: desk <-> floor depth=[1.627, -0.000, 0.678] +============================================================ + + +============================================================ +SCENE: Library-29737 | 6 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0103, Walkable Loss: 3.9154 (Center Penalty: 3.0179, C1 Heatmap: 0.5761, C2 Repulsion: 2.1833), Relational Loss: 0.0000 +Guided Steps: 10/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +chair 0.581 1.027 0.576 0.087 -0.000 0.590 -154.84° +desk 2.358 0.807 1.108 0.159 0.001 -0.593 -0.04° +lamp 0.529 0.695 0.426 -0.160 1.918 0.013 -0.02° +bookshelf 1.927 2.464 0.326 -0.168 0.002 1.430 179.99° +floor 2.711 -0.001 3.094 -0.003 0.000 -0.005 0.00° +_scene_ 0.064 -0.001 0.040 -5.654 -0.004 -5.689 -57.28° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: chair <-> floor depth=[0.581, -0.001, 0.576] + !! OVERLAP: desk <-> floor depth=[2.358, -0.001, 1.108] + !! OVERLAP: bookshelf <-> floor depth=[1.927, -0.001, 0.275] +============================================================ + + +============================================================ +SCENE: Library-13751 | 6 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0000, Walkable Loss: 4.4264 (Center Penalty: 3.5581, C1 Heatmap: 0.5496, C2 Repulsion: 2.1429), Relational Loss: 0.0000 +Guided Steps: 10/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +lamp 0.695 0.300 0.691 -0.075 2.460 0.158 -0.06° +bookshelf 1.622 1.996 0.413 -0.055 -0.000 -1.253 0.02° +desk 2.139 0.691 1.148 0.158 0.000 0.133 -89.95° +chair 0.561 0.924 0.584 0.504 -0.001 0.043 -23.47° +floor 2.591 0.000 2.842 0.004 0.000 -0.019 -0.00° +_scene_ 0.048 0.010 0.026 -5.621 -0.005 -5.675 -57.38° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bookshelf <-> floor depth=[1.622, 0.000, 0.394] + !! OVERLAP: desk <-> chair depth=[0.561, 0.691, 0.584] + !! OVERLAP: desk <-> floor depth=[2.139, 0.000, 1.148] + !! OVERLAP: chair <-> floor depth=[0.561, 0.000, 0.584] +============================================================ + + +============================================================ +SCENE: Library-11820 | 6 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0301, Walkable Loss: 2.7286 (Center Penalty: 2.1923, C1 Heatmap: 0.4332, C2 Repulsion: 0.9484), Relational Loss: 0.0000 +Guided Steps: 10/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +lamp 0.611 0.360 0.592 -0.153 2.331 0.043 -0.08° +chair 0.501 0.897 0.463 1.087 0.000 -0.566 -115.92° +desk 1.584 0.757 0.605 -0.119 0.001 -1.152 -0.17° +bookshelf 2.432 1.819 0.377 0.077 0.000 1.182 -179.97° +floor 2.609 -0.001 2.949 0.037 0.000 -0.002 -0.03° +_scene_ 0.084 0.002 0.035 -5.659 -0.004 -5.699 -57.29° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: chair <-> floor depth=[0.501, -0.001, 0.463] + !! OVERLAP: desk <-> floor depth=[1.584, -0.001, 0.605] + !! OVERLAP: bookshelf <-> floor depth=[2.432, -0.001, 0.377] +============================================================ + + +============================================================ +SCENE: Library-45741 | 6 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.1089, Walkable Loss: 4.5317 (Center Penalty: 3.5814, C1 Heatmap: 0.4528, C2 Repulsion: 2.9402), Relational Loss: 0.0000 +Guided Steps: 10/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +desk 2.187 0.889 0.913 -0.321 0.004 0.161 89.83° +chair 0.550 0.763 0.627 0.486 -0.000 0.174 -90.05° +bookshelf 1.266 2.154 0.423 0.856 -0.005 0.103 -90.29° +lamp 0.569 0.331 0.565 -0.095 2.242 0.022 -0.01° +floor 2.851 -0.000 3.260 -0.001 0.000 -0.009 -0.03° +_scene_ 0.052 0.003 0.022 -5.641 -0.004 -5.696 -57.33° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: desk <-> chair depth=[0.550, 0.763, 0.627] + !! OVERLAP: desk <-> bookshelf depth=[0.550, 0.889, 0.423] + !! OVERLAP: desk <-> floor depth=[2.187, -0.000, 0.913] + !! OVERLAP: chair <-> bookshelf depth=[0.538, 0.763, 0.423] + !! OVERLAP: chair <-> floor depth=[0.550, -0.000, 0.627] + !! OVERLAP: bookshelf <-> floor depth=[1.202, -0.000, 0.423] +============================================================ + + +============================================================ +SCENE: Library-4659 | 5 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0005, Walkable Loss: 2.7898 (Center Penalty: 2.4546, C1 Heatmap: 0.3067, C2 Repulsion: 0.4496), Relational Loss: 0.0000 +Guided Steps: 10/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +desk 2.297 0.864 0.600 0.186 -0.002 -0.886 0.02° +chair 0.425 0.992 0.593 0.514 0.017 0.467 -179.78° +lamp 0.880 0.618 0.954 0.024 1.970 -0.051 0.04° +floor 2.636 0.011 3.437 0.113 -0.001 -0.269 -0.12° +_scene_ 0.085 0.112 0.291 -4.685 0.088 -4.717 -65.57° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: desk <-> floor depth=[2.297, 0.011, 0.600] + !! OVERLAP: chair <-> floor depth=[0.425, 0.011, 0.593] +============================================================ + + +============================================================ +SCENE: Library-1808 | 7 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 2.1872, Walkable Loss: 6.3681 (Center Penalty: 4.2805, C1 Heatmap: 1.1359, C2 Repulsion: 5.8942), Relational Loss: 0.0000 +Guided Steps: 10/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +bookshelf 3.511 2.567 0.282 1.041 0.000 0.376 -90.14° +bookshelf 3.405 2.725 0.393 0.714 -0.000 0.176 -89.87° +desk 1.904 0.830 0.939 -0.165 0.002 0.215 89.94° +chair 0.569 1.023 0.932 0.081 -0.000 -0.031 -88.56° +lamp 0.930 0.539 0.648 -0.062 2.145 0.008 -0.05° +floor 3.044 -0.004 2.987 0.001 0.000 -0.007 -0.04° +_scene_ 0.083 0.001 0.024 -5.660 -0.007 -5.699 -57.27° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bookshelf <-> bookshelf depth=[3.131, 2.567, 0.138] + !! OVERLAP: bookshelf <-> desk depth=[1.501, 0.830, 0.282] + !! OVERLAP: bookshelf <-> chair depth=[0.569, 1.023, 0.200] + !! OVERLAP: bookshelf <-> floor depth=[2.238, -0.004, 0.282] + !! OVERLAP: bookshelf <-> desk depth=[1.775, 0.830, 0.393] + !! OVERLAP: bookshelf <-> chair depth=[0.569, 1.023, 0.393] + !! OVERLAP: bookshelf <-> floor depth=[2.512, -0.004, 0.393] + !! OVERLAP: desk <-> chair depth=[0.569, 0.830, 0.689] + !! OVERLAP: desk <-> floor depth=[1.904, -0.004, 0.939] + !! OVERLAP: chair <-> floor depth=[0.569, -0.004, 0.932] +============================================================ + + +============================================================ +SCENE: Library-457 | 5 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.6329, Walkable Loss: 2.8985 (Center Penalty: 2.4832, C1 Heatmap: 0.3354, C2 Repulsion: 0.7350), Relational Loss: 0.0000 +Guided Steps: 10/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +bookshelf 2.319 2.399 0.487 0.914 -0.002 0.185 -90.03° +lamp 1.030 0.965 1.072 -0.159 1.600 0.005 0.00° +table 1.257 0.747 0.418 -0.476 -0.000 -0.561 0.06° +floor 2.980 0.000 3.467 -0.007 0.001 -0.072 -0.04° +_scene_ 0.099 0.008 0.167 -5.459 -0.004 -5.601 -57.45° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bookshelf <-> lamp depth=[0.602, 0.080, 0.487] + !! OVERLAP: bookshelf <-> floor depth=[1.728, 0.000, 0.487] + !! OVERLAP: table <-> floor depth=[1.257, 0.000, 0.418] +============================================================ + + +============================================================ +SCENE: Library-123545 | 8 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 3.9831, Walkable Loss: 4.9937 (Center Penalty: 2.4619, C1 Heatmap: 1.3577, C2 Repulsion: 7.2280), Relational Loss: 0.0000 +Guided Steps: 10/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +desk 1.238 0.813 0.497 0.890 -0.001 -0.015 -89.80° +chair 0.488 0.877 0.620 -0.588 0.000 0.404 89.86° +bookshelf 3.611 2.470 0.317 -1.122 0.003 0.203 89.88° +bookshelf 3.282 2.367 0.389 -1.224 -0.005 -0.067 89.98° +bookshelf 3.808 2.471 0.413 -1.032 0.002 0.737 89.73° +lamp 1.069 0.926 0.557 0.342 1.939 0.458 -89.72° +floor 3.228 -0.002 3.136 -0.009 -0.000 -0.013 -0.04° +_scene_ 0.081 0.000 0.064 -5.642 -0.005 -5.649 -57.31° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: desk <-> bookshelf depth=[0.412, 0.813, 0.189] + !! OVERLAP: desk <-> bookshelf depth=[0.145, 0.813, 0.389] + !! OVERLAP: desk <-> floor depth=[1.238, -0.002, 0.497] + !! OVERLAP: chair <-> bookshelf depth=[0.488, 0.877, 0.268] + !! OVERLAP: chair <-> bookshelf depth=[0.488, 0.877, 0.034] + !! OVERLAP: chair <-> bookshelf depth=[0.488, 0.877, 0.184] + !! OVERLAP: chair <-> floor depth=[0.488, -0.002, 0.620] + !! OVERLAP: bookshelf <-> bookshelf depth=[3.282, 2.367, 0.083] + !! OVERLAP: bookshelf <-> floor depth=[2.307, -0.002, 0.317] + !! OVERLAP: bookshelf <-> floor depth=[2.040, -0.002, 0.389] + !! OVERLAP: bookshelf <-> floor depth=[2.496, -0.002, 0.413] +============================================================ + + +============================================================ +SCENE: Library-71638 | 7 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0823, Walkable Loss: 3.0542 (Center Penalty: 2.5591, C1 Heatmap: 0.3118, C2 Repulsion: 1.2285), Relational Loss: 0.0000 +Guided Steps: 10/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +desk 1.155 0.814 0.546 -0.235 0.000 1.097 179.94° +bookshelf 0.339 1.787 0.299 1.237 0.006 0.524 -90.09° +chair 0.469 0.764 0.553 -0.334 0.000 0.539 0.06° +bookshelf 1.735 1.861 0.488 -0.554 -0.001 -1.017 0.02° +lamp 0.883 1.163 0.881 -0.098 1.864 -0.030 0.01° +floor 2.953 -0.002 2.887 0.000 0.000 -0.000 -0.02° +_scene_ 0.064 0.002 0.024 -5.674 -0.005 -5.703 -57.29° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: desk <-> floor depth=[1.155, -0.002, 0.546] + !! OVERLAP: bookshelf <-> floor depth=[0.339, -0.002, 0.299] + !! OVERLAP: chair <-> floor depth=[0.469, -0.002, 0.553] + !! OVERLAP: bookshelf <-> floor depth=[1.735, -0.002, 0.488] +============================================================ + + +============================================================ +SCENE: Library-90753 | 6 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.5992, Walkable Loss: 3.6550 (Center Penalty: 3.0975, C1 Heatmap: 0.3133, C2 Repulsion: 1.5340), Relational Loss: 0.0000 +Guided Steps: 10/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +chair 0.722 0.925 0.793 0.765 0.000 -0.231 0.10° +desk 0.924 0.783 0.715 0.339 -0.001 -0.039 -89.99° +bookshelf 1.993 2.438 0.278 -1.029 -0.002 -0.026 89.99° +lamp 0.953 1.205 0.991 0.013 1.589 0.104 -0.06° +floor 2.596 0.000 3.113 -0.020 0.000 -0.074 -0.03° +_scene_ 0.062 -0.000 0.039 -5.641 -0.003 -5.677 -57.34° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: chair <-> desk depth=[0.397, 0.783, 0.562] + !! OVERLAP: chair <-> floor depth=[0.722, 0.000, 0.793] + !! OVERLAP: desk <-> bookshelf depth=[0.090, 0.783, 0.278] + !! OVERLAP: desk <-> floor depth=[0.924, 0.000, 0.715] + !! OVERLAP: bookshelf <-> lamp depth=[0.431, 0.231, 0.278] + !! OVERLAP: bookshelf <-> floor depth=[1.285, 0.000, 0.278] +============================================================ + + +============================================================ +SCENE: Library-8543 | 6 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.3949, Walkable Loss: 3.5619 (Center Penalty: 2.9703, C1 Heatmap: 0.3519, C2 Repulsion: 1.5504), Relational Loss: 0.0000 +Guided Steps: 10/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +desk 1.272 0.851 0.770 -0.503 0.000 -0.148 -90.04° +chair 0.531 0.993 0.591 -0.772 0.000 0.026 0.03° +bookshelf 1.901 2.304 0.305 0.984 0.001 0.056 -90.07° +lamp 0.413 0.792 0.416 0.188 1.729 0.109 -0.05° +floor 2.981 0.000 2.631 0.017 0.000 -0.022 -0.04° +_scene_ 0.065 0.001 0.020 -5.657 -0.000 -5.690 -57.34° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: desk <-> chair depth=[0.531, 0.851, 0.507] + !! OVERLAP: desk <-> bookshelf depth=[0.100, 0.851, 0.305] + !! OVERLAP: desk <-> floor depth=[1.272, 0.000, 0.770] + !! OVERLAP: chair <-> floor depth=[0.531, 0.000, 0.591] + !! OVERLAP: bookshelf <-> floor depth=[1.474, 0.000, 0.305] +============================================================ + + +============================================================ +SCENE: Library-28947 | 5 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0009, Walkable Loss: 2.5831 (Center Penalty: 2.1766, C1 Heatmap: 0.2603, C2 Repulsion: 0.9913), Relational Loss: 0.0000 +Guided Steps: 10/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +desk 1.965 1.498 0.619 -0.073 0.000 -1.005 0.16° +chair 0.480 0.752 0.588 -0.699 -0.002 -0.335 179.98° +lamp 0.245 0.591 0.489 0.008 1.937 -0.150 -85.47° +floor 1.950 0.025 2.681 -0.039 -0.001 -0.215 -0.22° +_scene_ -0.055 0.384 0.048 -2.766 1.296 -2.967 -70.91° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: desk <-> floor depth=[1.924, 0.025, 0.619] + !! OVERLAP: chair <-> floor depth=[0.480, 0.025, 0.588] +============================================================ + + +============================================================ +SCENE: Library-163346 | 5 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.4291, Walkable Loss: 3.0064 (Center Penalty: 2.7713, C1 Heatmap: 0.1596, C2 Repulsion: 0.5365), Relational Loss: 0.0000 +Guided Steps: 10/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +desk 0.921 0.729 0.495 0.014 0.002 -0.427 -89.81° +bookshelf 1.284 2.231 0.404 -0.941 0.002 -0.274 89.99° +lamp 0.627 0.610 0.640 -0.006 2.376 -0.158 -0.04° +floor 2.418 0.002 2.847 -0.010 0.000 -0.036 -0.08° +_scene_ 0.059 0.154 0.053 -4.720 -0.010 -4.823 -61.18° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: desk <-> bookshelf depth=[0.149, 0.729, 0.297] + !! OVERLAP: desk <-> floor depth=[0.921, 0.002, 0.495] + !! OVERLAP: bookshelf <-> floor depth=[0.921, 0.002, 0.404] +============================================================ + + +============================================================ +SCENE: Library-32140 | 5 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0000, Walkable Loss: 2.4125 (Center Penalty: 2.1440, C1 Heatmap: 0.2312, C2 Repulsion: 0.4180), Relational Loss: 0.0000 +Guided Steps: 10/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +desk 1.795 1.420 0.453 -0.355 0.004 -1.326 -0.02° +chair 0.648 0.892 0.673 -0.851 0.005 -0.002 -179.99° +lamp 0.605 0.321 0.587 -0.139 2.294 0.144 -0.02° +floor 2.488 0.002 3.295 -0.019 -0.000 0.030 -0.02° +_scene_ 0.076 -0.002 0.100 -5.581 0.010 -5.608 -57.28° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: desk <-> floor depth=[1.795, 0.002, 0.453] + !! OVERLAP: chair <-> floor depth=[0.648, 0.002, 0.673] +============================================================ + + +============================================================ +SCENE: Library-19891 | 9 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0006, Walkable Loss: 3.7522 (Center Penalty: 2.2864, C1 Heatmap: 0.6980, C2 Repulsion: 4.5367), Relational Loss: 0.0000 +Guided Steps: 10/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +bookshelf 2.681 2.474 0.345 0.243 -0.004 1.169 -179.98° +desk 1.748 0.705 0.944 0.693 0.000 0.410 -0.05° +chair 0.458 1.002 0.532 0.854 0.001 0.683 179.82° +chair 0.604 1.036 0.586 -0.758 -0.001 -1.331 41.28° +chair 0.579 0.967 0.636 1.248 0.001 -1.228 0.05° +table 0.573 0.590 0.534 0.349 0.001 -1.201 0.04° +lamp 0.535 0.708 0.541 0.148 1.916 -0.378 -0.06° +floor 3.185 -0.002 3.328 0.093 0.000 -0.011 -0.02° +_scene_ 0.068 -0.000 0.021 -5.669 -0.005 -5.714 -57.29° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bookshelf <-> floor depth=[2.681, -0.002, 0.345] + !! OVERLAP: desk <-> chair depth=[0.458, 0.705, 0.465] + !! OVERLAP: desk <-> floor depth=[1.748, -0.002, 0.944] + !! OVERLAP: chair <-> floor depth=[0.458, -0.002, 0.532] + !! OVERLAP: chair <-> floor depth=[0.604, -0.002, 0.586] + !! OVERLAP: chair <-> floor depth=[0.579, -0.002, 0.636] + !! OVERLAP: table <-> floor depth=[0.573, -0.002, 0.534] +============================================================ + + +============================================================ +SCENE: Library-7168 | 6 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.6155, Walkable Loss: 2.4523 (Center Penalty: 1.6599, C1 Heatmap: 0.4826, C2 Repulsion: 2.0316), Relational Loss: 0.0000 +Guided Steps: 10/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +desk 1.811 0.768 0.853 0.160 0.001 -0.459 90.00° +bookshelf 1.259 2.646 0.381 -0.485 0.000 -0.893 0.11° +bookshelf 0.470 2.322 0.287 1.342 0.002 -0.687 -89.94° +bookshelf 1.701 2.173 0.330 0.356 0.000 1.292 -180.00° +floor 2.303 0.003 3.472 -0.030 0.003 -0.183 -0.07° +_scene_ 0.134 0.227 0.305 -2.836 0.010 -2.940 -80.66° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: desk <-> bookshelf depth=[0.890, 0.768, 0.183] + !! OVERLAP: desk <-> floor depth=[1.811, 0.003, 0.853] + !! OVERLAP: bookshelf <-> floor depth=[1.259, 0.003, 0.381] + !! OVERLAP: bookshelf <-> floor depth=[0.015, 0.003, 0.287] + !! OVERLAP: bookshelf <-> floor depth=[1.617, 0.003, 0.330] +============================================================ + + +============================================================ +SCENE: Library-17832 | 9 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.1456, Walkable Loss: 4.5930 (Center Penalty: 2.6770, C1 Heatmap: 1.0702, C2 Repulsion: 5.2995), Relational Loss: 0.0000 +Guided Steps: 10/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +desk 3.100 0.796 1.910 0.336 0.003 -0.620 -0.02° +chair 0.499 0.906 0.541 0.481 0.005 -0.509 89.65° +wardrobe 1.537 2.156 0.404 -1.114 0.001 1.365 -179.95° +wardrobe 0.945 2.383 0.770 -1.763 0.003 -0.236 90.02° +wardrobe 1.127 2.221 0.551 1.441 -0.001 -0.598 -90.08° +wardrobe 0.833 2.081 0.534 1.643 -0.003 0.685 179.98° +lamp 0.524 0.163 0.515 0.096 2.742 -0.079 -0.06° +floor 4.084 -0.001 3.387 -0.009 0.001 -0.016 -0.01° +_scene_ 0.036 0.001 0.025 -5.670 -0.006 -5.708 -57.34° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: desk <-> chair depth=[0.499, 0.796, 0.541] + !! OVERLAP: desk <-> wardrobe depth=[1.009, 0.796, 0.551] + !! OVERLAP: desk <-> floor depth=[3.100, -0.001, 1.910] + !! OVERLAP: chair <-> floor depth=[0.499, -0.001, 0.541] + !! OVERLAP: wardrobe <-> floor depth=[1.537, -0.001, 0.404] + !! OVERLAP: wardrobe <-> floor depth=[0.760, -0.001, 0.770] + !! OVERLAP: wardrobe <-> floor depth=[1.127, -0.001, 0.551] + !! OVERLAP: wardrobe <-> floor depth=[0.807, -0.001, 0.534] +============================================================ + + +============================================================ +SCENE: Library-25138 | 6 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0000, Walkable Loss: 1.8829 (Center Penalty: 1.7348, C1 Heatmap: 0.1242, C2 Repulsion: 0.2438), Relational Loss: 0.0000 +Guided Steps: 10/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +chair 0.581 0.815 0.638 -0.165 0.001 1.053 -179.91° +chair 0.689 0.845 0.742 -0.949 -0.000 -0.036 0.02° +lamp 0.515 0.703 0.539 1.156 2.190 0.153 179.32° +lamp 0.345 0.682 0.360 -0.292 1.719 -0.049 -0.01° +floor 3.409 -0.012 3.926 0.293 0.001 -0.456 0.08° +_scene_ 0.067 0.002 0.026 -5.652 -0.003 -5.691 -57.33° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: chair <-> floor depth=[0.581, -0.012, 0.638] + !! OVERLAP: chair <-> floor depth=[0.689, -0.012, 0.742] +============================================================ + + +============================================================ +SCENE: Library-36052 | 7 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 4.3900, Walkable Loss: 6.2186 (Center Penalty: 3.1857, C1 Heatmap: 1.3006, C2 Repulsion: 9.9622), Relational Loss: 0.0000 +Guided Steps: 10/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +bookshelf 2.779 2.495 0.213 0.435 0.001 -0.066 -90.00° +bookshelf 2.547 2.512 0.334 0.366 0.008 -0.497 -90.46° +bookshelf 2.227 2.560 0.249 0.672 -0.003 -0.298 -90.39° +bookshelf 3.134 2.504 0.352 0.590 -0.002 -0.454 -90.56° +desk 1.511 0.817 1.322 -0.378 0.002 -0.197 90.05° +floor 1.950 0.013 3.577 -0.079 0.013 -0.001 -0.16° +_scene_ 0.105 0.285 2.028 -3.089 0.018 -2.846 -80.42° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bookshelf <-> desk depth=[1.333, 0.817, 0.213] + !! OVERLAP: bookshelf <-> floor depth=[1.851, 0.013, 0.213] + !! OVERLAP: bookshelf <-> bookshelf depth=[2.082, 2.512, 0.093] + !! OVERLAP: bookshelf <-> bookshelf depth=[2.547, 2.498, 0.299] + !! OVERLAP: bookshelf <-> desk depth=[1.285, 0.817, 0.334] + !! OVERLAP: bookshelf <-> floor depth=[1.804, 0.013, 0.334] + !! OVERLAP: bookshelf <-> bookshelf depth=[2.227, 2.504, 0.145] + !! OVERLAP: bookshelf <-> desk depth=[0.820, 0.817, 0.249] + !! OVERLAP: bookshelf <-> floor depth=[1.338, 0.013, 0.249] + !! OVERLAP: bookshelf <-> desk depth=[1.355, 0.817, 0.352] + !! OVERLAP: bookshelf <-> floor depth=[1.873, 0.013, 0.352] + !! OVERLAP: desk <-> floor depth=[1.432, 0.013, 1.322] +============================================================ + + +============================================================ +SCENE: Library-40642 | 6 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0322, Walkable Loss: 2.7555 (Center Penalty: 2.3113, C1 Heatmap: 0.2844, C2 Repulsion: 1.0831), Relational Loss: 0.0000 +Guided Steps: 10/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +desk 1.639 0.719 0.684 -0.037 0.003 -1.138 0.04° +chair 0.534 0.918 0.613 -0.361 0.002 -0.884 -148.46° +bookshelf 0.913 2.025 0.477 0.789 -0.000 0.684 -90.03° +lamp 1.220 1.269 1.118 -0.061 1.499 0.095 0.02° +floor 2.311 0.000 3.930 0.000 0.000 0.023 0.00° +_scene_ 0.066 0.001 0.022 -5.653 -0.003 -5.702 -57.31° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: desk <-> chair depth=[0.534, 0.719, 0.395] + !! OVERLAP: desk <-> floor depth=[1.639, 0.000, 0.684] + !! OVERLAP: chair <-> floor depth=[0.534, 0.000, 0.613] + !! OVERLAP: bookshelf <-> lamp depth=[0.217, 0.149, 0.208] + !! OVERLAP: bookshelf <-> floor depth=[0.823, 0.000, 0.477] +============================================================ + + +============================================================ +SCENE: Library-58697 | 7 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0053, Walkable Loss: 2.9166 (Center Penalty: 2.2205, C1 Heatmap: 0.3929, C2 Repulsion: 1.9088), Relational Loss: 0.0000 +Guided Steps: 10/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +desk 1.763 0.702 0.828 -0.446 -0.001 -0.466 0.01° +bookshelf 1.091 2.423 0.331 -1.036 0.001 1.243 -179.93° +bookshelf 0.895 2.298 0.363 0.897 -0.001 1.246 -179.98° +bookshelf 0.664 2.183 0.334 -0.184 0.002 1.224 179.99° +lamp 0.842 0.181 0.845 -0.385 2.495 -0.095 -0.00° +floor 3.726 -0.001 2.777 -0.086 0.001 0.052 -0.06° +_scene_ 0.006 -0.007 -0.014 -5.633 -0.001 -5.675 -57.32° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: desk <-> floor depth=[1.763, -0.001, 0.828] + !! OVERLAP: bookshelf <-> bookshelf depth=[0.026, 2.183, 0.313] + !! OVERLAP: bookshelf <-> floor depth=[1.091, -0.001, 0.331] + !! OVERLAP: bookshelf <-> floor depth=[0.895, -0.001, 0.363] + !! OVERLAP: bookshelf <-> floor depth=[0.664, -0.001, 0.334] +============================================================ + + +============================================================ +SCENE: Library-145994 | 10 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 1.5637, Walkable Loss: 6.8423 (Center Penalty: 3.0275, C1 Heatmap: 1.4100, C2 Repulsion: 13.4343), Relational Loss: 0.0000 +Guided Steps: 10/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +bookshelf 2.014 2.108 0.356 -1.661 -0.001 0.255 89.94° +bookshelf 2.001 2.129 0.316 -0.690 -0.003 0.857 -179.81° +bookshelf 1.790 2.052 0.341 -1.341 -0.002 0.355 89.96° +bookshelf 1.926 1.908 0.276 -1.544 -0.001 0.248 89.93° +bookshelf 1.809 2.062 0.398 0.568 0.002 -1.034 0.00° +bookshelf 1.908 2.054 0.322 0.448 -0.001 -1.076 0.04° +desk 2.634 2.771 1.253 -0.045 0.003 0.383 -179.91° +lamp 0.749 0.462 0.737 0.038 2.217 0.065 -0.03° +floor 3.758 0.001 2.970 -0.023 -0.000 -0.038 -0.03° +_scene_ 0.086 0.281 0.863 -3.015 0.756 -2.142 -84.56° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bookshelf <-> bookshelf depth=[1.582, 2.052, 0.248] + !! OVERLAP: bookshelf <-> bookshelf depth=[1.853, 1.908, 0.276] + !! OVERLAP: bookshelf <-> desk depth=[0.708, 2.108, 0.356] + !! OVERLAP: bookshelf <-> floor depth=[1.248, 0.001, 0.356] + !! OVERLAP: bookshelf <-> desk depth=[1.673, 2.129, 0.311] + !! OVERLAP: bookshelf <-> floor depth=[2.001, 0.001, 0.316] + !! OVERLAP: bookshelf <-> bookshelf depth=[1.655, 1.908, 0.201] + !! OVERLAP: bookshelf <-> desk depth=[0.916, 2.052, 0.341] + !! OVERLAP: bookshelf <-> floor depth=[1.456, 0.001, 0.341] + !! OVERLAP: bookshelf <-> desk depth=[0.781, 1.908, 0.276] + !! OVERLAP: bookshelf <-> floor depth=[1.321, 0.001, 0.276] + !! OVERLAP: bookshelf <-> bookshelf depth=[1.737, 2.054, 0.318] + !! OVERLAP: bookshelf <-> floor depth=[1.809, 0.001, 0.398] + !! OVERLAP: bookshelf <-> floor depth=[1.908, 0.001, 0.322] + !! OVERLAP: desk <-> floor depth=[2.634, 0.001, 1.253] +============================================================ + + +============================================================ +SCENE: Library-39529 | 6 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.4561, Walkable Loss: 3.8611 (Center Penalty: 3.1294, C1 Heatmap: 0.3158, C2 Repulsion: 2.3954), Relational Loss: 0.0000 +Guided Steps: 10/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +bookshelf 1.912 2.205 0.247 1.056 -0.000 -0.287 -90.17° +desk 1.518 0.964 0.653 -0.299 0.001 -0.251 90.03° +chair 0.596 0.848 0.664 0.693 0.001 -0.312 -90.11° +lamp 0.502 0.582 0.478 0.145 1.944 0.094 0.02° +floor 2.869 -0.001 3.181 -0.005 0.000 -0.030 -0.01° +_scene_ 0.069 -0.002 0.042 -5.650 -0.005 -5.686 -57.29° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bookshelf <-> desk depth=[0.361, 0.964, 0.247] + !! OVERLAP: bookshelf <-> chair depth=[0.596, 0.848, 0.247] + !! OVERLAP: bookshelf <-> floor depth=[1.330, -0.001, 0.247] + !! OVERLAP: desk <-> chair depth=[0.066, 0.848, 0.598] + !! OVERLAP: desk <-> floor depth=[1.518, -0.001, 0.653] + !! OVERLAP: chair <-> floor depth=[0.596, -0.001, 0.664] +============================================================ + + +============================================================ +SCENE: Library-56351 | 6 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 2.0425, Walkable Loss: 4.2101 (Center Penalty: 2.2404, C1 Heatmap: 1.3686, C2 Repulsion: 4.3743), Relational Loss: 0.0000 +Guided Steps: 10/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +bookshelf 4.021 2.534 0.491 -0.044 0.001 0.924 -179.96° +bookshelf 3.614 2.411 0.691 -0.192 0.025 0.426 -179.93° +desk 2.269 0.759 0.930 0.550 0.003 0.573 179.95° +chair 0.565 0.782 0.588 -0.211 0.001 -0.992 0.03° +floor 2.793 -0.005 3.523 -0.000 0.000 -0.001 -0.02° +_scene_ 0.071 0.004 0.044 -5.672 -0.005 -5.696 -57.27° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bookshelf <-> bookshelf depth=[3.614, 2.411, 0.093] + !! OVERLAP: bookshelf <-> desk depth=[2.269, 0.759, 0.360] + !! OVERLAP: bookshelf <-> floor depth=[2.793, -0.005, 0.491] + !! OVERLAP: bookshelf <-> desk depth=[2.199, 0.759, 0.663] + !! OVERLAP: bookshelf <-> floor depth=[2.793, -0.005, 0.691] + !! OVERLAP: desk <-> floor depth=[1.981, -0.005, 0.930] + !! OVERLAP: chair <-> floor depth=[0.565, -0.005, 0.588] +============================================================ + + +============================================================ +SCENE: Library-5406 | 9 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.1734, Walkable Loss: 4.0666 (Center Penalty: 2.9668, C1 Heatmap: 0.4923, C2 Repulsion: 3.5296), Relational Loss: 0.0000 +Guided Steps: 10/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +desk 1.802 0.824 1.050 0.199 0.001 -0.701 -0.00° +bookshelf 0.782 2.057 0.262 0.867 -0.001 1.182 -179.89° +bookshelf 0.867 2.142 0.336 -0.215 0.002 1.048 -179.94° +chair 0.530 0.759 0.542 -0.561 -0.002 -0.142 0.10° +bookshelf 0.621 2.070 0.373 -1.612 0.001 -1.054 89.96° +bookshelf 0.754 2.104 0.387 -0.620 0.002 1.231 -179.97° +lamp 0.646 0.129 0.614 0.128 2.424 0.009 -0.03° +floor 3.313 -0.005 2.889 -0.121 -0.001 -0.034 0.05° +_scene_ 0.074 0.060 0.165 -5.443 -0.012 -5.533 -60.33° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: desk <-> chair depth=[0.405, 0.759, 0.237] + !! OVERLAP: desk <-> floor depth=[1.802, -0.005, 1.050] + !! OVERLAP: bookshelf <-> floor depth=[0.782, -0.005, 0.262] + !! OVERLAP: bookshelf <-> bookshelf depth=[0.405, 2.104, 0.178] + !! OVERLAP: bookshelf <-> floor depth=[0.867, -0.005, 0.336] + !! OVERLAP: chair <-> floor depth=[0.530, -0.005, 0.542] + !! OVERLAP: bookshelf <-> floor depth=[0.476, -0.005, 0.373] + !! OVERLAP: bookshelf <-> floor depth=[0.754, -0.005, 0.373] +============================================================ + + +============================================================ +SCENE: Library-51220 | 6 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.2736, Walkable Loss: 4.5452 (Center Penalty: 3.8064, C1 Heatmap: 0.3884, C2 Repulsion: 2.1400), Relational Loss: 0.0000 +Guided Steps: 10/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +desk 1.729 0.751 1.083 0.180 -0.002 -0.347 -89.95° +chair 0.579 0.904 0.700 -0.138 -0.001 -0.164 89.94° +bookshelf 0.869 1.813 0.418 0.989 0.001 0.068 -89.91° +lamp 0.687 0.485 0.673 -0.088 2.270 -0.113 -0.07° +floor 2.587 -0.002 2.384 -0.014 0.000 -0.101 -0.05° +_scene_ 0.077 -0.003 0.041 -5.638 -0.004 -5.686 -57.25° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: desk <-> chair depth=[0.579, 0.751, 0.700] + !! OVERLAP: desk <-> bookshelf depth=[0.490, 0.751, 0.335] + !! OVERLAP: desk <-> floor depth=[1.729, -0.002, 1.083] + !! OVERLAP: chair <-> floor depth=[0.579, -0.002, 0.700] + !! OVERLAP: bookshelf <-> floor depth=[0.724, -0.002, 0.418] +============================================================ + + +============================================================ +SCENE: Library-5781 | 6 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0000, Walkable Loss: 3.7212 (Center Penalty: 3.1642, C1 Heatmap: 0.3182, C2 Repulsion: 1.5122), Relational Loss: 0.0000 +Guided Steps: 10/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +desk 1.308 0.791 0.515 0.335 0.002 0.657 179.98° +chair 0.451 0.935 0.540 -0.186 -0.001 -0.305 10.75° +bookshelf 2.068 2.426 0.343 0.084 0.001 -1.305 0.03° +lamp 0.997 0.843 0.991 0.016 1.960 0.090 -0.01° +floor 2.726 -0.006 2.743 -0.021 -0.003 -0.037 -0.10° +_scene_ 0.024 0.000 0.012 -5.644 -0.006 -5.699 -57.15° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: desk <-> floor depth=[1.308, -0.006, 0.515] + !! OVERLAP: chair <-> floor depth=[0.451, -0.006, 0.540] + !! OVERLAP: bookshelf <-> floor depth=[2.068, -0.006, 0.276] +============================================================ + + +============================================================ +SCENE: Library-123334 | 7 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.1748, Walkable Loss: 4.8269 (Center Penalty: 3.4187, C1 Heatmap: 0.7735, C2 Repulsion: 3.9470), Relational Loss: 0.0000 +Guided Steps: 10/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +desk 1.316 0.779 0.728 -0.222 0.001 -0.455 0.03° +chair 0.533 0.846 0.575 -0.076 -0.004 0.284 -113.65° +bookshelf 2.863 2.583 0.434 0.085 0.001 1.523 -179.95° +bookshelf 2.692 2.545 0.443 0.081 0.001 1.559 -179.97° +lamp 0.987 0.828 0.965 0.028 2.009 -0.168 0.01° +floor 2.750 0.000 3.382 -0.000 0.000 0.019 -0.03° +_scene_ 0.071 0.001 0.037 -5.670 -0.005 -5.710 -57.30° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: desk <-> floor depth=[1.316, 0.000, 0.728] + !! OVERLAP: chair <-> floor depth=[0.533, 0.000, 0.575] + !! OVERLAP: bookshelf <-> bookshelf depth=[2.692, 2.545, 0.402] + !! OVERLAP: bookshelf <-> floor depth=[2.721, 0.000, 0.403] + !! OVERLAP: bookshelf <-> floor depth=[2.641, 0.000, 0.372] +============================================================ + + +============================================================ +SCENE: Library-1511 | 5 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0000, Walkable Loss: 2.9758 (Center Penalty: 2.5792, C1 Heatmap: 0.2457, C2 Repulsion: 1.0000), Relational Loss: 0.0000 +Guided Steps: 10/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +desk 1.665 1.098 0.753 0.494 0.003 0.246 179.86° +chair 0.567 0.807 0.630 1.119 0.001 -0.197 -89.95° +lamp 0.455 0.312 0.454 -0.131 2.305 0.142 0.00° +floor 2.746 -0.001 3.351 -0.000 -0.000 0.008 -0.02° +_scene_ 0.057 0.002 0.020 -5.653 -0.003 -5.651 -57.48° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: desk <-> chair depth=[0.491, 0.807, 0.248] + !! OVERLAP: desk <-> floor depth=[1.665, -0.001, 0.753] + !! OVERLAP: chair <-> floor depth=[0.537, -0.001, 0.630] +============================================================ + + +============================================================ +SCENE: Library-74566 | 6 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.5151, Walkable Loss: 4.1224 (Center Penalty: 2.9830, C1 Heatmap: 0.6807, C2 Repulsion: 2.9743), Relational Loss: 0.0000 +Guided Steps: 10/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +wardrobe 2.472 2.090 0.940 -0.244 0.002 -0.337 89.87° +desk 1.789 0.721 0.855 -0.215 0.001 -1.224 -0.03° +chair 0.794 0.836 0.715 -0.834 -0.000 -0.271 89.97° +lamp 0.645 0.370 0.611 -0.102 2.411 -0.081 -0.05° +floor 2.207 0.003 3.305 0.016 0.000 0.016 -0.01° +_scene_ 0.067 0.002 0.023 -5.669 -0.004 -5.715 -57.32° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: wardrobe <-> desk depth=[1.789, 0.721, 0.011] + !! OVERLAP: wardrobe <-> chair depth=[0.794, 0.836, 0.715] + !! OVERLAP: wardrobe <-> floor depth=[2.080, 0.003, 0.940] + !! OVERLAP: desk <-> floor depth=[1.767, 0.003, 0.840] + !! OVERLAP: chair <-> floor depth=[0.651, 0.003, 0.715] +============================================================ + + +============================================================ +SCENE: Library-35695 | 9 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0539, Walkable Loss: 4.6987 (Center Penalty: 3.1831, C1 Heatmap: 0.6784, C2 Repulsion: 4.8645), Relational Loss: 0.0000 +Guided Steps: 10/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +bookshelf 1.826 2.793 0.338 0.721 0.001 -1.500 0.01° +bookshelf 2.249 2.506 0.341 -0.983 -0.002 -1.376 0.00° +desk 1.224 0.755 0.658 0.285 -0.000 0.124 179.91° +chair 0.545 1.001 0.624 0.107 0.001 -0.667 0.03° +table 1.079 0.953 0.418 1.759 0.001 -0.099 -90.05° +chair 0.798 0.941 0.946 -1.410 -0.002 1.097 169.04° +lamp 0.538 0.841 0.554 -0.105 2.058 0.247 -0.06° +floor 4.505 -0.002 3.468 -0.042 0.001 0.035 -0.06° +_scene_ 0.073 0.000 0.020 -5.680 -0.005 -5.712 -57.30° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bookshelf <-> bookshelf depth=[0.334, 2.506, 0.215] + !! OVERLAP: bookshelf <-> floor depth=[1.826, -0.002, 0.338] + !! OVERLAP: bookshelf <-> floor depth=[2.249, -0.002, 0.341] + !! OVERLAP: desk <-> floor depth=[1.224, -0.002, 0.658] + !! OVERLAP: chair <-> floor depth=[0.545, -0.002, 0.624] + !! OVERLAP: table <-> floor depth=[0.990, -0.002, 0.418] + !! OVERLAP: chair <-> floor depth=[0.798, -0.002, 0.946] +============================================================ + + +============================================================ +SCENE: Library-934 | 8 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.1594, Walkable Loss: 3.1964 (Center Penalty: 2.1952, C1 Heatmap: 0.6350, C2 Repulsion: 2.4661), Relational Loss: 0.0000 +Guided Steps: 10/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +lamp 0.616 0.738 0.633 0.047 2.084 -0.128 -0.02° +desk 1.439 0.751 0.555 -0.390 0.002 -1.175 -0.02° +bookshelf 3.205 1.543 0.458 0.424 -0.000 1.371 179.93° +chair 0.520 0.965 0.523 -1.127 0.003 -0.104 135.37° +chair 0.601 0.995 0.686 1.295 0.000 -0.711 -89.99° +table 0.504 0.717 0.514 1.391 0.000 0.354 179.99° +floor 3.821 -0.002 3.075 0.024 -0.000 0.023 -0.03° +_scene_ 0.064 0.000 0.019 -5.670 -0.005 -5.716 -57.29° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: desk <-> floor depth=[1.439, -0.002, 0.555] + !! OVERLAP: bookshelf <-> floor depth=[3.113, -0.002, 0.418] + !! OVERLAP: chair <-> floor depth=[0.520, -0.002, 0.523] + !! OVERLAP: chair <-> floor depth=[0.601, -0.002, 0.686] + !! OVERLAP: table <-> floor depth=[0.504, -0.002, 0.514] +============================================================ + diff --git a/current_works/work_34/extracted/2050/echoscene/Bedroom-11202_echoscene.glb b/current_works/work_34/extracted/2050/echoscene/Bedroom-11202_echoscene.glb new file mode 100644 index 0000000000000000000000000000000000000000..48fec5c2d0d7286df8ea29b208c79f24b690fe79 --- /dev/null +++ b/current_works/work_34/extracted/2050/echoscene/Bedroom-11202_echoscene.glb @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:6c2f7366dbb5657d7433ff2b37b63c72825a694f1acf701aef75cd892afe04a3 +size 1801348 diff --git a/current_works/work_34/extracted/2050/echoscene/Bedroom-12864_echoscene.glb b/current_works/work_34/extracted/2050/echoscene/Bedroom-12864_echoscene.glb new file mode 100644 index 0000000000000000000000000000000000000000..99b05c8639bcae4d8353b2a1f211226a25412589 --- /dev/null +++ b/current_works/work_34/extracted/2050/echoscene/Bedroom-12864_echoscene.glb @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:c3d6a49142c6083d1410a3e2c59725f4185f97ab6fc8c7919473bc38dac6901d +size 4564676