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+============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0502, Walkable Loss: 1.1298 (Center Penalty: 0.3935, C1 Heatmap: 0.4330, C2 Repulsion: 1.9494), Relational Loss: 0.0348 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +table 0.979 1.035 0.235 -2.404 0.001 -1.012 -0.16° +nightstand 0.531 0.557 0.116 -0.093 -0.012 -1.106 0.16° +chair 0.263 0.423 0.318 -2.176 -0.009 -0.465 -89.87° +bed 0.606 1.493 0.814 -1.321 -0.062 -0.599 -0.69° +cabinet 0.785 1.021 0.363 -2.174 0.002 1.216 -179.98° +lamp 0.661 0.860 0.650 -1.247 1.949 0.069 -0.02° +wardrobe 2.742 2.356 0.286 0.629 -0.010 0.838 -90.31° +floor 5.855 0.001 2.904 -0.940 -0.002 0.324 0.08° +_scene_ 0.068 -0.000 0.020 -5.671 -0.005 -5.718 -57.29° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: table <-> floor depth=[0.979, 0.001, 0.234] + !! OVERLAP: nightstand <-> floor depth=[0.531, 0.001, 0.081] + !! OVERLAP: chair <-> floor depth=[0.263, 0.001, 0.318] + !! OVERLAP: bed <-> floor depth=[0.606, 0.001, 0.814] + !! OVERLAP: cabinet <-> floor depth=[0.785, 0.001, 0.363] + !! OVERLAP: wardrobe <-> floor depth=[2.729, 0.001, 0.286] +============================================================ + + +============================================================ +SCENE: MasterBedroom-9404 | 8 objects +============================================================ +Final Step Collision Loss: 0.0100, Room Outer Loss: 0.1028, Walkable Loss: 1.4248 (Center Penalty: 0.4708, C1 Heatmap: 0.3639, C2 Repulsion: 3.3144), Relational Loss: 0.0343 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +bed -0.003 1.536 0.476 0.440 -0.045 -0.743 -92.35° +wardrobe 1.080 2.409 -0.142 0.241 -0.024 -1.190 0.23° +wardrobe 1.720 2.239 0.311 0.089 0.001 -1.322 -0.01° +nightstand 0.207 0.635 0.445 0.841 0.010 1.654 -89.92° +nightstand 0.506 0.665 0.212 1.004 0.005 -0.908 -90.11° +tv_stand 2.072 0.464 0.357 -1.371 0.009 0.625 90.20° +floor 3.676 0.021 4.496 -0.551 0.002 0.855 1.68° +_scene_ 0.074 -0.000 0.019 -5.669 -0.005 -5.717 -57.28° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bed <-> floor depth=[-0.003, 0.021, 0.476] + !! OVERLAP: wardrobe <-> floor depth=[1.080, 0.021, -0.142] + !! OVERLAP: wardrobe <-> floor depth=[1.720, 0.021, 0.227] + !! OVERLAP: nightstand <-> floor depth=[0.207, 0.021, 0.445] + !! OVERLAP: nightstand <-> floor depth=[0.506, 0.021, 0.212] + !! OVERLAP: tv_stand <-> floor depth=[2.053, 0.021, 0.357] +============================================================ + + +============================================================ +SCENE: SecondBedroom-30034 | 6 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0465, Walkable Loss: 0.9064 (Center Penalty: 0.5994, C1 Heatmap: 0.1929, C2 Repulsion: 0.7632), Relational Loss: 0.0237 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +bed 1.022 0.946 1.121 0.929 -0.039 -0.037 -91.63° +nightstand 0.348 0.572 0.266 1.406 0.002 1.017 -90.29° +nightstand 0.488 0.489 0.351 1.274 0.001 -1.259 -90.01° +lamp 0.390 0.747 0.418 0.614 2.143 -0.511 -0.26° +floor 3.331 -0.036 3.085 0.890 0.005 -0.438 -0.64° +_scene_ 0.067 0.002 0.020 -5.665 -0.004 -5.708 -57.30° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bed <-> floor depth=[1.022, -0.036, 1.121] + !! OVERLAP: nightstand <-> floor depth=[0.348, -0.036, 0.220] + !! OVERLAP: nightstand <-> floor depth=[0.488, -0.036, 0.351] +============================================================ + + +============================================================ +SCENE: SecondBedroom-6482 | 8 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0000, Walkable Loss: 1.4446 (Center Penalty: 0.9852, C1 Heatmap: 0.2574, C2 Repulsion: 1.2676), Relational Loss: 0.0095 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +bed 0.836 0.919 1.179 -1.228 0.085 0.039 0.05° +chair 0.494 0.941 0.459 -1.385 0.006 1.446 140.91° +nightstand 0.410 0.705 0.306 -1.480 0.001 -0.970 0.11° +table 0.322 0.583 0.472 -0.840 -0.006 1.982 -0.04° +wardrobe 0.875 2.144 0.360 0.786 0.000 0.280 -90.38° +lamp 0.560 0.432 0.277 -0.575 2.434 0.537 -0.20° +floor 3.266 -0.021 3.982 -0.258 0.002 0.630 0.02° +_scene_ 0.071 0.001 0.023 -5.671 -0.005 -5.713 -57.31° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bed <-> floor depth=[0.836, -0.021, 1.179] + !! OVERLAP: chair <-> floor depth=[0.494, -0.021, 0.459] + !! OVERLAP: nightstand <-> floor depth=[0.410, -0.021, 0.306] + !! OVERLAP: table <-> floor depth=[0.322, -0.021, 0.472] + !! OVERLAP: wardrobe <-> floor depth=[0.875, -0.021, 0.360] +============================================================ + + +============================================================ +SCENE: SecondBedroom-11167 | 9 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.2673, Walkable Loss: 0.7465 (Center Penalty: 0.3632, C1 Heatmap: 0.2510, C2 Repulsion: 0.9120), Relational Loss: 0.0660 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +bed 0.770 2.275 1.338 -1.041 0.003 0.653 91.42° +cabinet 0.752 1.007 0.138 -1.161 0.012 -1.464 0.68° +table 0.750 1.665 0.483 1.176 -0.004 1.245 -89.92° +lamp 0.193 0.718 0.151 0.268 0.758 1.659 0.11° +lamp 0.987 0.793 0.376 -0.537 1.791 0.777 -0.50° +nightstand 0.348 0.656 0.250 -1.398 0.011 1.605 90.02° +nightstand 0.259 0.667 0.295 -1.360 0.006 -0.794 90.41° +floor 3.204 -0.031 4.808 -0.204 -0.024 0.985 -0.06° +_scene_ 0.070 0.001 0.022 -5.673 -0.005 -5.715 -57.29° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bed <-> floor depth=[0.770, -0.031, 1.338] + !! OVERLAP: cabinet <-> floor depth=[0.752, -0.031, 0.024] + !! OVERLAP: table <-> floor depth=[0.596, -0.031, 0.483] + !! OVERLAP: nightstand <-> floor depth=[0.348, -0.031, 0.250] + !! OVERLAP: nightstand <-> floor depth=[0.259, -0.031, 0.295] +============================================================ + + +============================================================ +SCENE: MasterBedroom-27127 | 7 objects +============================================================ +Final Step Collision Loss: 0.0133, Room Outer Loss: 0.1027, Walkable Loss: 2.1693 (Center Penalty: 1.3838, C1 Heatmap: 0.3077, C2 Repulsion: 2.6962), Relational Loss: 0.0091 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +bed 0.856 1.061 1.015 0.100 -0.021 0.817 -179.14° +nightstand 0.447 0.582 0.385 -1.206 0.001 -0.163 0.05° +nightstand 0.316 0.527 0.282 0.853 -0.001 0.782 89.93° +wardrobe 1.240 2.371 0.306 -1.512 0.011 -0.329 90.03° +desk 1.081 1.252 0.449 1.518 -0.007 0.193 -90.47° +floor 4.101 0.001 2.643 -0.076 -0.001 -0.010 -0.06° +_scene_ 0.054 0.002 0.013 -5.672 -0.005 -5.720 -57.30° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bed <-> floor depth=[0.856, 0.001, 1.002] + !! OVERLAP: nightstand <-> wardrobe depth=[0.447, 0.582, 0.179] + !! OVERLAP: nightstand <-> floor depth=[0.447, 0.001, 0.385] + !! OVERLAP: nightstand <-> floor depth=[0.316, 0.001, 0.282] + !! OVERLAP: wardrobe <-> floor depth=[1.235, 0.001, 0.306] + !! OVERLAP: desk <-> floor depth=[0.997, 0.001, 0.449] +============================================================ + + +============================================================ +SCENE: MasterBedroom-75552 | 5 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0616, Walkable Loss: 0.6687 (Center Penalty: 0.5083, C1 Heatmap: 0.2002, C2 Repulsion: 0.0013), Relational Loss: 0.0000 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +bed 0.116 0.880 1.268 -0.607 -0.015 -1.620 88.38° +wardrobe 2.008 2.418 0.198 -0.182 0.015 0.731 -179.78° +lamp 0.207 0.445 0.361 -0.106 2.008 -1.007 0.82° +floor 2.477 0.007 3.804 -0.395 0.002 -1.133 0.01° +_scene_ 0.061 0.001 0.026 -5.670 -0.003 -5.710 -57.34° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bed <-> floor depth=[0.116, 0.007, 1.268] + !! OVERLAP: wardrobe <-> floor depth=[2.008, 0.007, 0.136] +============================================================ + + +============================================================ +SCENE: SecondBedroom-19119 | 7 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0460, Walkable Loss: 0.8387 (Center Penalty: 0.3825, C1 Heatmap: 0.3116, C2 Repulsion: 1.0350), Relational Loss: 0.0126 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +bed 0.776 0.822 1.525 -0.933 -0.043 0.785 89.99° +wardrobe 1.422 2.358 0.217 -1.095 -0.017 -0.880 -0.29° +nightstand 0.408 0.622 0.388 -1.546 -0.000 1.642 90.08° +tv_stand 0.870 0.519 0.155 1.114 -0.001 0.608 -90.17° +lamp 0.770 0.750 0.738 -0.377 1.891 0.842 -0.34° +floor 3.498 -0.038 4.068 -0.216 -0.009 1.076 0.20° +_scene_ 0.072 0.001 0.028 -5.664 -0.004 -5.706 -57.34° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bed <-> floor depth=[0.776, -0.038, 1.525] + !! OVERLAP: wardrobe <-> floor depth=[1.422, -0.038, 0.187] + !! OVERLAP: nightstand <-> floor depth=[0.408, -0.038, 0.388] + !! OVERLAP: tv_stand <-> floor depth=[0.854, -0.038, 0.155] +============================================================ + + +============================================================ +SCENE: Bedroom-2719 | 8 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0000, Walkable Loss: 2.0638 (Center Penalty: 1.4171, C1 Heatmap: 0.3905, C2 Repulsion: 1.6716), Relational Loss: 0.0152 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +chair 0.343 0.497 0.331 -1.179 0.000 -1.371 0.01° +bookshelf 2.171 2.281 0.007 -0.400 0.067 -1.012 91.24° +table 0.734 1.281 0.288 -1.087 0.001 1.155 89.84° +bed 1.162 0.827 1.189 0.415 -0.054 0.949 89.46° +lamp 0.482 0.534 0.451 0.280 2.503 -0.911 0.22° +chair 0.383 0.840 0.466 0.921 0.003 -0.890 -90.21° +floor 2.982 -0.002 3.523 -0.000 -0.000 0.023 -0.01° +_scene_ 0.072 0.001 0.020 -5.672 -0.003 -5.713 -57.28° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: chair <-> floor depth=[0.343, -0.002, 0.331] + !! OVERLAP: bookshelf <-> floor depth=[2.171, -0.002, 0.007] + !! OVERLAP: table <-> floor depth=[0.734, -0.002, 0.288] + !! OVERLAP: bed <-> floor depth=[1.162, -0.002, 1.189] + !! OVERLAP: chair <-> floor depth=[0.383, -0.002, 0.466] +============================================================ + + +============================================================ +SCENE: Bedroom-430 | 6 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0000, Walkable Loss: 1.6772 (Center Penalty: 1.3862, C1 Heatmap: 0.1942, C2 Repulsion: 0.6780), Relational Loss: 0.0001 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +bed 0.802 1.449 1.168 -0.868 0.043 -0.155 95.37° +table 0.419 0.436 0.330 -1.193 0.006 0.978 89.98° +table 0.601 0.578 0.533 -1.123 0.001 -1.399 0.09° +lamp 0.706 0.754 0.783 -0.765 2.107 -0.559 -0.18° +floor 2.851 -0.004 3.409 -0.002 0.001 -0.024 -0.02° +_scene_ 0.124 0.001 0.128 -5.537 0.001 -5.599 -57.65° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bed <-> floor depth=[0.802, -0.004, 1.168] + !! OVERLAP: table <-> floor depth=[0.419, -0.004, 0.330] + !! OVERLAP: table <-> floor depth=[0.601, -0.004, 0.533] +============================================================ + + +============================================================ +SCENE: MasterBedroom-18415 | 8 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0859, Walkable Loss: 0.7355 (Center Penalty: 0.2421, C1 Heatmap: 0.3700, C2 Repulsion: 0.9871), Relational Loss: 0.0402 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +bed 0.880 0.648 0.961 -1.139 -0.009 0.870 89.98° +nightstand 0.442 0.776 0.363 -1.606 0.001 -0.372 90.10° +nightstand 0.407 0.783 0.340 -1.552 0.001 1.982 90.08° +wardrobe 2.055 2.573 0.138 -0.754 -0.008 -1.197 -0.03° +tv_stand 1.246 0.392 0.296 0.894 -0.005 1.309 -89.99° +lamp 0.608 0.928 0.616 -0.207 1.778 0.997 -0.03° +floor 3.344 0.040 4.938 -0.241 -0.006 1.125 -0.33° +_scene_ 0.076 -0.001 0.022 -5.668 -0.004 -5.711 -57.28° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bed <-> floor depth=[0.880, 0.040, 0.961] + !! OVERLAP: nightstand <-> floor depth=[0.442, 0.040, 0.363] + !! OVERLAP: nightstand <-> floor depth=[0.407, 0.040, 0.340] + !! OVERLAP: wardrobe <-> floor depth=[2.055, 0.040, 0.138] + !! OVERLAP: tv_stand <-> floor depth=[1.160, 0.040, 0.296] +============================================================ + + +============================================================ +SCENE: SecondBedroom-1145 | 6 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0705, Walkable Loss: 1.1815 (Center Penalty: 0.7315, C1 Heatmap: 0.2715, C2 Repulsion: 1.1642), Relational Loss: 0.0489 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +bed 1.096 0.900 1.507 -0.521 -0.026 -0.740 -0.63° +nightstand 0.469 0.586 0.400 -1.616 -0.002 -1.122 0.03° +nightstand 0.352 0.563 0.356 0.651 0.003 -1.187 -0.03° +lamp 0.694 0.658 0.620 -0.729 2.402 0.259 -0.20° +floor 4.721 -0.016 3.020 -0.880 -0.009 0.088 0.78° +_scene_ 0.068 0.001 0.018 -5.667 -0.005 -5.712 -57.32° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bed <-> floor depth=[1.096, -0.016, 1.436] + !! OVERLAP: nightstand <-> floor depth=[0.469, -0.016, 0.400] + !! OVERLAP: nightstand <-> floor depth=[0.352, -0.016, 0.356] +============================================================ + + +============================================================ +SCENE: SecondBedroom-2787 | 6 objects +============================================================ +Final Step Collision Loss: 0.0105, Room Outer Loss: 0.0000, Walkable Loss: 2.0566 (Center Penalty: 1.5039, C1 Heatmap: 0.3681, C2 Repulsion: 1.2909), Relational Loss: 0.0000 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +bed 1.419 0.829 1.476 -0.604 0.009 -0.613 90.33° +nightstand 0.400 0.536 0.449 -1.445 0.009 -0.070 89.98° +desk 0.888 1.143 0.456 1.252 0.001 -0.493 -90.04° +lamp 0.297 0.358 0.361 -0.378 2.276 -0.762 90.45° +floor 3.494 0.001 3.023 -0.010 0.000 -0.014 -0.04° +_scene_ 0.073 0.001 0.023 -5.669 -0.004 -5.713 -57.30° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bed <-> nightstand depth=[0.068, 0.536, 0.419] + !! OVERLAP: bed <-> floor depth=[1.419, 0.001, 1.476] + !! OVERLAP: nightstand <-> floor depth=[0.400, 0.001, 0.449] + !! OVERLAP: desk <-> floor depth=[0.888, 0.001, 0.456] +============================================================ + + +============================================================ +SCENE: Bedroom-87322 | 9 objects +============================================================ +Final Step Collision Loss: 0.0017, Room Outer Loss: 0.0442, Walkable Loss: 1.5891 (Center Penalty: 0.8459, C1 Heatmap: 0.4107, C2 Repulsion: 2.0730), Relational Loss: 0.0189 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +bed 0.814 1.317 1.754 0.820 0.008 -0.592 -90.35° +nightstand 0.213 0.792 0.386 1.251 0.004 0.552 -90.64° +chair 0.889 0.585 0.275 0.243 -0.006 -1.407 -90.56° +wardrobe 0.886 2.352 0.202 0.797 -0.008 1.120 -179.74° +tv_stand 1.517 0.476 0.287 -1.330 0.004 -0.771 90.01° +lamp 0.453 0.478 0.078 0.141 2.008 0.944 0.14° +lamp 0.644 0.133 0.613 0.319 2.426 -0.764 -0.07° +floor 3.876 0.046 3.684 -0.625 0.011 -0.588 -0.35° +_scene_ 0.071 -0.001 0.021 -5.674 -0.005 -5.715 -57.29° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bed <-> chair depth=[0.274, 0.585, 0.200] + !! OVERLAP: bed <-> floor depth=[0.814, 0.046, 1.754] + !! OVERLAP: nightstand <-> floor depth=[0.169, 0.046, 0.386] + !! OVERLAP: chair <-> floor depth=[0.889, 0.046, 0.275] + !! OVERLAP: wardrobe <-> floor depth=[0.886, 0.046, 0.202] + !! OVERLAP: tv_stand <-> floor depth=[1.517, 0.046, 0.287] +============================================================ + + +============================================================ +SCENE: Bedroom-68718 | 7 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0264, Walkable Loss: 1.8567 (Center Penalty: 1.3841, C1 Heatmap: 0.3507, C2 Repulsion: 0.9606), Relational Loss: 0.0327 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +bed 1.117 1.618 0.948 0.115 -0.009 -1.126 -0.91° +nightstand 0.516 0.542 0.262 -1.109 0.000 -1.477 0.05° +nightstand 0.419 0.538 0.365 1.127 0.000 -1.459 -0.03° +wardrobe 1.978 2.204 0.341 -0.272 0.007 1.400 -179.65° +lamp 0.625 1.217 0.677 0.183 1.543 -0.767 -0.44° +floor 3.298 -0.001 3.262 -0.004 -0.000 0.016 -0.01° +_scene_ 0.073 0.000 0.022 -5.668 -0.004 -5.710 -57.31° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bed <-> floor depth=[1.117, -0.001, 0.948] + !! OVERLAP: nightstand <-> floor depth=[0.516, -0.001, 0.262] + !! OVERLAP: nightstand <-> floor depth=[0.419, -0.001, 0.338] + !! OVERLAP: wardrobe <-> floor depth=[1.978, -0.001, 0.341] +============================================================ + + +============================================================ +SCENE: SecondBedroom-35821 | 8 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0000, Walkable Loss: 2.0892 (Center Penalty: 1.3403, C1 Heatmap: 0.3913, C2 Repulsion: 2.1793), Relational Loss: 0.0019 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +bed 1.005 1.157 1.178 -1.207 -0.018 -0.005 89.38° +nightstand 0.534 0.523 0.452 -1.626 0.002 1.181 90.00° +nightstand 0.504 0.495 0.467 -1.671 0.001 -1.084 89.95° +tv_stand 1.404 0.350 0.188 1.087 0.012 0.029 -89.98° +lamp 0.730 0.731 0.826 -0.868 1.845 -0.393 -0.20° +chair 1.100 0.832 0.529 -0.399 -0.011 1.148 90.39° +floor 3.807 -0.005 3.423 -0.104 0.000 -0.027 -0.03° +_scene_ 0.073 0.000 0.022 -5.677 -0.006 -5.716 -57.28° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bed <-> floor depth=[1.005, -0.005, 1.178] + !! OVERLAP: nightstand <-> floor depth=[0.534, -0.005, 0.452] + !! OVERLAP: nightstand <-> floor depth=[0.504, -0.005, 0.467] + !! OVERLAP: tv_stand <-> floor depth=[1.404, -0.005, 0.188] + !! OVERLAP: chair <-> floor depth=[1.100, -0.005, 0.529] +============================================================ + + +============================================================ +SCENE: Bedroom-18055 | 8 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0000, Walkable Loss: 1.8858 (Center Penalty: 1.2215, C1 Heatmap: 0.4753, C2 Repulsion: 1.4201), Relational Loss: 0.0349 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +bed 1.061 1.113 1.676 0.762 -0.018 -0.577 -88.62° +wardrobe 1.990 2.494 0.427 0.338 -0.001 2.059 -179.92° +nightstand 0.523 0.541 0.434 1.042 -0.001 0.900 -90.11° +nightstand 0.445 0.585 0.415 1.101 -0.000 -1.722 -90.27° +lamp 0.766 0.764 0.171 0.878 1.839 0.861 4.66° +lamp 0.337 0.759 0.366 1.013 1.778 -1.284 -0.03° +floor 2.801 -0.001 4.633 -0.026 -0.000 0.084 -0.04° +_scene_ 0.072 -0.000 0.015 -5.676 -0.006 -5.715 -57.33° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bed <-> floor depth=[1.061, -0.001, 1.676] + !! OVERLAP: wardrobe <-> floor depth=[1.990, -0.001, 0.427] + !! OVERLAP: nightstand <-> floor depth=[0.523, -0.001, 0.434] + !! OVERLAP: nightstand <-> floor depth=[0.445, -0.001, 0.415] +============================================================ + + +============================================================ +SCENE: SecondBedroom-19262 | 6 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0061, Walkable Loss: 0.9587 (Center Penalty: 0.3135, C1 Heatmap: 0.5856, C2 Repulsion: 0.8837), Relational Loss: 0.0000 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +bed 1.400 1.055 1.711 -1.003 -0.009 0.941 -179.60° +tv_stand 2.184 0.641 0.464 -0.705 -0.000 -1.311 -0.00° +wardrobe 0.646 2.188 0.665 0.668 -0.017 1.084 -90.83° +lamp 0.508 0.741 0.504 -0.679 1.862 0.636 179.73° +floor 4.310 0.052 3.511 -1.170 0.001 0.115 0.12° +_scene_ 0.070 0.002 0.018 -5.670 -0.005 -5.714 -57.30° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bed <-> floor depth=[1.400, 0.052, 1.711] + !! OVERLAP: tv_stand <-> floor depth=[2.184, 0.052, 0.464] + !! OVERLAP: wardrobe <-> floor depth=[0.640, 0.052, 0.665] +============================================================ + + +============================================================ +SCENE: Bedroom-12864 | 7 objects +============================================================ +Final Step Collision Loss: 0.0013, Room Outer Loss: 0.2749, Walkable Loss: 0.9811 (Center Penalty: 0.6143, C1 Heatmap: 0.2517, C2 Repulsion: 0.8272), Relational Loss: 0.0526 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +wardrobe 1.772 2.109 0.348 1.266 0.008 -0.722 -89.61° +bed 0.344 1.039 1.267 -0.910 -0.022 -0.393 93.13° +nightstand 0.239 0.484 0.345 -1.127 0.008 -1.266 90.42° +nightstand 0.315 0.467 0.400 -0.988 0.014 0.758 90.19° +lamp 0.159 0.944 0.014 1.084 1.162 -0.052 -0.90° +floor 3.204 0.013 3.417 0.528 0.004 -0.543 -0.59° +_scene_ 0.073 -0.001 0.028 -5.672 -0.006 -5.712 -57.25° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: wardrobe <-> floor depth=[1.750, 0.013, 0.348] + !! OVERLAP: bed <-> floor depth=[0.335, 0.013, 1.267] + !! OVERLAP: nightstand <-> floor depth=[0.066, 0.013, 0.345] + !! OVERLAP: nightstand <-> floor depth=[0.243, 0.013, 0.400] +============================================================ + + +============================================================ +SCENE: SecondBedroom-266050 | 6 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0000, Walkable Loss: 1.5531 (Center Penalty: 1.1131, C1 Heatmap: 0.4054, C2 Repulsion: 0.5786), Relational Loss: 0.0598 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +sofa 1.446 0.678 0.831 1.095 -0.003 -0.127 -90.08° +bed 0.967 1.223 1.223 -1.341 -0.014 0.177 91.85° +nightstand 0.588 0.753 0.485 -1.535 0.002 -1.339 90.00° +nightstand 0.536 0.624 0.419 -1.518 0.002 1.511 90.01° +floor 3.757 -0.002 4.463 -0.004 0.000 0.019 0.00° +_scene_ 0.081 0.000 0.028 -5.665 -0.005 -5.707 -57.28° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: sofa <-> floor depth=[1.446, -0.002, 0.831] + !! OVERLAP: bed <-> floor depth=[0.967, -0.002, 1.223] + !! OVERLAP: nightstand <-> floor depth=[0.588, -0.002, 0.485] + !! OVERLAP: nightstand <-> floor depth=[0.536, -0.002, 0.419] +============================================================ + + +============================================================ +SCENE: MasterBedroom-12352 | 6 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0121, Walkable Loss: 1.0808 (Center Penalty: 0.7196, C1 Heatmap: 0.1471, C2 Repulsion: 1.2173), Relational Loss: 0.0316 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +bed 0.783 0.861 1.139 -0.753 -0.004 0.735 90.06° +nightstand 0.262 0.641 0.323 -0.937 0.009 -0.387 90.40° +nightstand 0.330 0.684 0.225 -0.910 0.009 1.395 89.47° +lamp 0.803 0.904 0.510 -0.211 1.839 0.876 -0.41° +floor 3.061 -0.003 4.730 0.398 -0.003 0.689 -0.20° +_scene_ 0.070 -0.001 0.019 -5.672 -0.005 -5.713 -57.30° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bed <-> nightstand depth=[0.330, 0.684, 0.021] + !! OVERLAP: bed <-> floor depth=[0.771, -0.003, 1.139] + !! OVERLAP: nightstand <-> floor depth=[0.262, -0.003, 0.323] + !! OVERLAP: nightstand <-> floor depth=[0.330, -0.003, 0.225] +============================================================ + + +============================================================ +SCENE: MasterBedroom-7894 | 6 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0000, Walkable Loss: 1.0952 (Center Penalty: 0.5797, C1 Heatmap: 0.4835, C2 Repulsion: 0.6436), Relational Loss: 0.0194 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +bed 0.815 0.950 1.494 -0.622 0.013 1.054 89.57° +nightstand 0.265 0.528 0.306 -1.105 0.003 1.967 89.02° +lamp 0.925 0.935 0.268 0.194 1.831 0.845 -0.14° +wardrobe 2.732 2.586 0.449 0.544 -0.003 -1.263 0.02° +floor 3.413 -0.007 4.432 0.440 -0.009 0.659 -0.06° +_scene_ 0.069 0.002 0.018 -5.673 -0.004 -5.712 -57.28° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bed <-> floor depth=[0.815, -0.007, 1.494] + !! OVERLAP: nightstand <-> floor depth=[0.265, -0.007, 0.306] + !! OVERLAP: wardrobe <-> floor depth=[2.732, -0.007, 0.449] +============================================================ + + +============================================================ +SCENE: MasterBedroom-118594 | 6 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0000, Walkable Loss: 1.1806 (Center Penalty: 0.5851, C1 Heatmap: 0.4973, C2 Repulsion: 0.9885), Relational Loss: 0.0328 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +lamp 0.380 0.579 0.455 0.172 2.347 -0.671 -0.04° +bed 1.162 1.084 1.184 -0.238 -0.015 -0.913 -91.23° +bookshelf 2.929 2.652 0.004 -1.092 -0.006 1.533 -179.51° +wardrobe 1.492 1.971 0.306 -1.437 0.000 -0.752 89.94° +floor 3.537 -0.018 4.233 -1.335 -0.000 -0.059 0.31° +_scene_ 0.068 -0.000 0.022 -5.670 -0.005 -5.715 -57.30° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bed <-> wardrobe depth=[0.128, 1.084, 0.306] + !! OVERLAP: bed <-> floor depth=[1.162, -0.018, 1.184] + !! OVERLAP: bookshelf <-> floor depth=[2.929, -0.018, 0.004] + !! OVERLAP: wardrobe <-> floor depth=[1.492, -0.018, 0.306] +============================================================ + + +============================================================ +SCENE: MasterBedroom-6399 | 7 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.1279, Walkable Loss: 0.8597 (Center Penalty: 0.4909, C1 Heatmap: 0.2095, C2 Repulsion: 1.0061), Relational Loss: 0.0214 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +wardrobe 0.865 2.324 0.323 1.109 -0.014 -0.685 -91.33° +bed 0.566 0.772 1.207 -0.657 0.010 -0.854 -0.72° +table 0.823 1.307 0.343 -1.753 -0.003 -1.269 0.03° +chair 0.347 0.481 0.301 -1.542 0.001 -0.361 -179.98° +lamp 0.471 0.604 0.445 -0.817 2.081 -0.027 0.39° +floor 4.622 -0.019 2.877 -0.897 0.002 -0.630 -0.26° +_scene_ 0.066 0.000 0.021 -5.667 -0.004 -5.710 -57.30° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: wardrobe <-> floor depth=[0.737, -0.019, 0.323] + !! OVERLAP: bed <-> floor depth=[0.566, -0.019, 1.207] + !! OVERLAP: table <-> floor depth=[0.823, -0.019, 0.343] + !! OVERLAP: chair <-> floor depth=[0.347, -0.019, 0.301] +============================================================ + + +============================================================ +SCENE: SecondBedroom-52584 | 5 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0000, Walkable Loss: 1.6792 (Center Penalty: 1.3788, C1 Heatmap: 0.1456, C2 Repulsion: 0.9196), Relational Loss: 0.0243 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +lamp 0.786 0.969 0.812 -0.386 1.931 -0.712 0.24° +bed 0.706 1.249 1.153 0.819 -0.003 -0.662 -89.82° +table 0.489 0.699 0.436 1.193 0.012 -1.439 -90.03° +floor 3.160 -0.003 4.082 -0.020 0.000 -0.000 0.00° +_scene_ 0.055 0.004 0.015 -5.658 -0.004 -5.720 -57.31° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bed <-> table depth=[0.223, 0.699, 0.017] + !! OVERLAP: bed <-> floor depth=[0.706, -0.003, 1.153] + !! OVERLAP: table <-> floor depth=[0.489, -0.003, 0.436] +============================================================ + + +============================================================ +SCENE: SecondBedroom-860 | 7 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0767, Walkable Loss: 1.8328 (Center Penalty: 1.3130, C1 Heatmap: 0.2520, C2 Repulsion: 1.5910), Relational Loss: 0.0369 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +bed 0.863 1.087 1.088 -0.400 -0.028 -1.022 0.53° +nightstand 0.373 0.537 0.330 0.961 0.000 -1.346 -0.01° +nightstand 0.435 0.532 0.385 -1.396 0.001 -1.275 0.08° +wardrobe 1.415 2.394 0.232 1.395 0.006 -0.667 -90.38° +lamp 1.092 0.938 0.569 -0.818 1.876 -0.323 0.06° +floor 4.172 -0.000 2.941 0.003 -0.001 -0.036 -0.02° +_scene_ 0.070 0.001 0.020 -5.673 -0.005 -5.714 -57.31° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bed <-> floor depth=[0.863, -0.000, 1.028] + !! OVERLAP: nightstand <-> floor depth=[0.373, -0.000, 0.325] + !! OVERLAP: nightstand <-> floor depth=[0.435, -0.000, 0.385] + !! OVERLAP: wardrobe <-> floor depth=[1.402, -0.000, 0.232] +============================================================ + + +============================================================ +SCENE: MasterBedroom-514 | 5 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0000, Walkable Loss: 0.9652 (Center Penalty: 0.5765, C1 Heatmap: 0.2358, C2 Repulsion: 0.9999), Relational Loss: 0.0106 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +nightstand 0.302 0.463 0.318 1.170 -0.001 0.744 -90.05° +bed 0.869 1.139 1.742 1.056 -0.014 0.145 -90.60° +lamp 0.785 0.847 0.819 0.763 1.861 0.275 -90.00° +floor 2.730 -0.031 3.226 0.685 -0.011 0.614 -0.28° +_scene_ 0.066 0.001 0.021 -5.673 -0.005 -5.714 -57.30° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: nightstand <-> bed depth=[0.302, 0.463, 0.318] + !! OVERLAP: nightstand <-> floor depth=[0.302, -0.031, 0.318] + !! OVERLAP: bed <-> floor depth=[0.869, -0.031, 1.742] +============================================================ + + +============================================================ +SCENE: SecondBedroom-11204 | 7 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0917, Walkable Loss: 1.0076 (Center Penalty: 0.5182, C1 Heatmap: 0.2361, C2 Repulsion: 1.5026), Relational Loss: 0.0069 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +bed 0.703 1.156 1.740 -0.526 0.012 -0.689 89.36° +wardrobe 0.054 2.177 0.027 -0.757 0.082 0.773 176.87° +nightstand 0.123 0.523 0.368 -0.907 -0.004 0.637 89.52° +table 0.703 1.018 0.155 1.452 -0.002 -0.686 -89.96° +chair 0.348 0.455 0.175 0.882 0.004 -0.875 90.03° +floor 3.191 -0.059 3.592 0.718 0.017 -0.932 -0.08° +_scene_ 0.066 0.001 0.018 -5.672 -0.005 -5.712 -57.29° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bed <-> floor depth=[0.703, -0.059, 1.740] + !! OVERLAP: wardrobe <-> floor depth=[0.054, -0.059, 0.027] + !! OVERLAP: nightstand <-> floor depth=[0.032, -0.059, 0.368] + !! OVERLAP: table <-> floor depth=[0.703, -0.059, 0.155] + !! OVERLAP: chair <-> floor depth=[0.348, -0.059, 0.175] +============================================================ + + +============================================================ +SCENE: MasterBedroom-4089 | 7 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0440, Walkable Loss: 0.6689 (Center Penalty: 0.4709, C1 Heatmap: 0.1111, C2 Repulsion: 0.5453), Relational Loss: 0.0154 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +wardrobe 1.518 2.467 -0.164 -0.085 -0.003 1.189 -89.55° +nightstand 0.493 0.648 0.197 -1.444 -0.005 -0.736 -0.31° +nightstand -1.674 0.677 0.319 -0.719 0.006 0.810 -1.77° +bed 0.830 0.339 0.414 -1.162 -0.009 0.791 0.92° +lamp 0.110 1.184 0.083 -0.922 1.623 0.665 0.42° +floor 3.692 -0.008 3.090 -0.440 -0.023 0.754 -0.80° +_scene_ 0.066 0.001 0.020 -5.672 -0.005 -5.716 -57.30° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: wardrobe <-> floor depth=[1.518, -0.008, -0.164] + !! OVERLAP: nightstand <-> floor depth=[0.493, -0.008, 0.153] + !! OVERLAP: nightstand <-> floor depth=[-1.674, -0.008, 0.319] + !! OVERLAP: bed <-> floor depth=[0.830, -0.008, 0.414] +============================================================ + + +============================================================ +SCENE: MasterBedroom-21684 | 9 objects +============================================================ +Final Step Collision Loss: 0.0043, Room Outer Loss: 0.0711, Walkable Loss: 1.0386 (Center Penalty: 0.4980, C1 Heatmap: 0.2271, C2 Repulsion: 1.7942), Relational Loss: 0.0385 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +bed 0.565 0.966 1.533 0.527 0.023 -1.209 1.56° +nightstand 0.453 0.728 0.330 1.771 -0.001 -1.229 0.10° +cabinet 0.570 1.434 0.060 0.686 -0.016 0.854 179.76° +wardrobe 0.472 2.254 0.199 -0.742 -0.044 -1.525 90.94° +nightstand 0.343 0.776 0.296 -0.562 0.003 -1.390 -0.02° +chair 0.441 0.838 0.391 1.498 0.009 0.485 -151.27° +lamp 0.464 1.031 0.464 0.793 1.747 -0.078 -0.29° +floor 3.997 0.033 2.804 1.022 -0.025 -0.503 0.00° +_scene_ 0.068 0.001 0.023 -5.675 -0.005 -5.714 -57.31° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bed <-> floor depth=[0.565, 0.033, 1.462] + !! OVERLAP: nightstand <-> floor depth=[0.453, 0.033, 0.330] + !! OVERLAP: cabinet <-> floor depth=[0.570, 0.033, 0.060] + !! OVERLAP: wardrobe <-> nightstand depth=[0.227, 0.776, 0.112] + !! OVERLAP: wardrobe <-> floor depth=[0.471, 0.033, 0.199] + !! OVERLAP: nightstand <-> floor depth=[0.343, 0.033, 0.296] + !! OVERLAP: chair <-> floor depth=[0.441, 0.033, 0.391] +============================================================ + + +============================================================ +SCENE: SecondBedroom-8497 | 6 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0598, Walkable Loss: 1.7644 (Center Penalty: 1.3981, C1 Heatmap: 0.2391, C2 Repulsion: 0.8751), Relational Loss: 0.0000 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +bed 0.983 0.971 1.421 -0.992 0.006 -0.354 87.88° +nightstand 0.490 0.471 0.414 -1.267 0.011 0.915 89.99° +nightstand 0.479 0.571 0.231 -1.294 0.007 -1.495 90.08° +lamp 0.747 0.865 0.760 0.321 2.148 -0.727 -0.20° +floor 3.063 0.000 3.156 0.002 0.001 0.024 -0.01° +_scene_ 0.068 0.001 0.027 -5.667 -0.005 -5.711 -57.30° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bed <-> floor depth=[0.983, 0.000, 1.421] + !! OVERLAP: nightstand <-> floor depth=[0.490, 0.000, 0.414] + !! OVERLAP: nightstand <-> floor depth=[0.475, 0.000, 0.175] +============================================================ + + +============================================================ +SCENE: MasterBedroom-196 | 7 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.2306, Walkable Loss: 1.1498 (Center Penalty: 0.5202, C1 Heatmap: 0.4329, C2 Repulsion: 1.4164), Relational Loss: 0.0399 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +lamp 0.510 0.508 0.521 0.883 2.324 -0.100 -0.16° +wardrobe 2.154 2.505 0.370 -1.613 -0.004 -0.661 90.19° +bed 0.949 1.040 1.371 0.923 0.012 -0.217 -2.53° +nightstand 0.448 0.655 0.386 1.285 0.005 -1.449 -0.01° +nightstand 0.568 0.619 0.466 -0.732 0.001 -1.416 -0.05° +floor 3.971 0.012 3.483 -0.474 0.002 -0.871 -0.33° +_scene_ 0.068 -0.000 0.022 -5.671 -0.005 -5.714 -57.30° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: wardrobe <-> floor depth=[1.923, 0.012, 0.370] + !! OVERLAP: bed <-> floor depth=[0.949, 0.012, 1.371] + !! OVERLAP: nightstand <-> floor depth=[0.448, 0.012, 0.386] + !! OVERLAP: nightstand <-> floor depth=[0.568, 0.012, 0.466] +============================================================ + + +============================================================ +SCENE: MasterBedroom-132469 | 5 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0000, Walkable Loss: 1.4463 (Center Penalty: 1.1287, C1 Heatmap: 0.3621, C2 Repulsion: 0.1391), Relational Loss: 0.0000 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +bed 1.889 1.073 1.001 -0.457 -0.003 0.927 -89.28° +wardrobe 1.282 2.095 0.389 0.104 -0.009 -1.584 0.10° +lamp 0.540 0.168 0.542 -0.157 2.391 0.297 0.00° +floor 3.109 0.005 4.001 -0.761 0.010 -0.459 0.35° +_scene_ 0.090 -0.006 0.089 -5.612 -0.004 -5.663 -57.33° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bed <-> floor depth=[1.889, 0.005, 1.001] + !! OVERLAP: wardrobe <-> floor depth=[1.282, 0.005, 0.389] +============================================================ + + +============================================================ +SCENE: MasterBedroom-104323 | 5 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0000, Walkable Loss: 1.1565 (Center Penalty: 0.7610, C1 Heatmap: 0.2479, C2 Repulsion: 0.9855), Relational Loss: 0.0180 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +bed 0.904 1.318 1.796 -1.058 0.002 -0.196 89.94° +lamp 0.635 1.058 0.315 -0.838 1.749 0.458 0.09° +nightstand 0.284 0.591 0.281 -1.053 0.000 -0.952 89.91° +floor 2.685 -0.004 3.253 -0.197 0.013 -0.570 -0.58° +_scene_ 0.070 -0.001 0.021 -5.672 -0.006 -5.712 -57.34° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bed <-> nightstand depth=[0.284, 0.591, 0.281] + !! OVERLAP: bed <-> floor depth=[0.904, -0.004, 1.796] + !! OVERLAP: nightstand <-> floor depth=[0.284, -0.004, 0.281] +============================================================ + + +============================================================ +SCENE: SecondBedroom-69556 | 8 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0116, Walkable Loss: 0.8505 (Center Penalty: 0.6082, C1 Heatmap: 0.1838, C2 Repulsion: 0.4761), Relational Loss: 0.0256 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +bed 0.508 1.248 1.149 0.919 0.006 -0.790 -91.24° +wardrobe 1.135 2.529 -0.173 -0.895 -0.031 -0.110 -179.33° +table 0.325 0.529 0.338 1.349 0.000 0.498 -90.04° +cabinet 0.663 1.796 0.359 -1.196 -0.017 -1.665 90.01° +lamp 0.610 0.941 0.572 -0.185 1.634 -0.934 0.05° +table 0.435 0.594 0.389 1.365 0.000 -1.714 -90.19° +floor 3.251 0.039 3.652 -0.054 0.015 -0.925 -0.60° +_scene_ 0.069 -0.000 0.017 -5.668 -0.005 -5.707 -57.29° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bed <-> floor depth=[0.508, 0.039, 1.149] + !! OVERLAP: wardrobe <-> floor depth=[1.135, 0.039, -0.173] + !! OVERLAP: table <-> floor depth=[0.325, 0.039, 0.338] + !! OVERLAP: cabinet <-> floor depth=[0.663, 0.039, 0.359] + !! OVERLAP: table <-> floor depth=[0.423, 0.039, 0.389] +============================================================ + + +============================================================ +SCENE: Bedroom-6993 | 5 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.1034, Walkable Loss: 0.6282 (Center Penalty: 0.4726, C1 Heatmap: 0.1871, C2 Repulsion: 0.0291), Relational Loss: 0.0000 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +bed 0.976 0.514 0.636 -0.767 -0.010 1.020 91.80° +lamp 0.924 0.965 0.057 0.502 1.855 0.859 179.44° +wardrobe 1.559 2.637 0.245 -0.477 -0.007 -0.895 1.13° +floor 3.292 0.001 3.713 -0.050 -0.023 0.942 -0.18° +_scene_ 0.042 0.009 0.008 -5.659 -0.004 -5.718 -57.33° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bed <-> floor depth=[0.976, 0.001, 0.636] + !! OVERLAP: wardrobe <-> floor depth=[1.559, 0.001, 0.142] +============================================================ + + +============================================================ +SCENE: MasterBedroom-935 | 11 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.1620, Walkable Loss: 1.8389 (Center Penalty: 0.7180, C1 Heatmap: 0.4411, C2 Repulsion: 3.8402), Relational Loss: 0.0383 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +desk 0.956 0.741 0.382 1.661 -0.002 -0.939 -89.99° +lamp 0.325 0.585 0.343 0.223 2.040 0.788 -0.10° +lamp 0.804 0.971 0.784 1.311 1.695 1.822 -90.03° +lamp 0.870 1.100 0.324 1.286 1.364 -1.155 -0.13° +chair 0.317 0.859 0.420 0.721 0.001 -0.860 89.94° +bed 0.905 0.777 1.040 1.041 0.010 0.830 -90.84° +wardrobe 1.648 2.231 -0.033 0.690 -0.021 -1.893 -0.48° +tv_stand 1.514 0.641 0.289 -0.938 0.011 1.181 89.85° +nightstand 0.422 0.463 0.311 1.699 0.001 1.723 -90.10° +floor 3.672 -0.007 5.199 0.291 -0.002 0.682 -0.19° +_scene_ 0.067 0.001 0.021 -5.672 -0.005 -5.714 -57.31° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: desk <-> floor depth=[0.945, -0.007, 0.382] + !! OVERLAP: chair <-> floor depth=[0.317, -0.007, 0.420] + !! OVERLAP: bed <-> floor depth=[0.905, -0.007, 1.040] + !! OVERLAP: wardrobe <-> floor depth=[1.648, -0.007, -0.033] + !! OVERLAP: tv_stand <-> floor depth=[1.363, -0.007, 0.289] + !! OVERLAP: nightstand <-> floor depth=[0.422, -0.007, 0.311] +============================================================ + + +============================================================ +SCENE: SecondBedroom-2311 | 6 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0000, Walkable Loss: 1.7452 (Center Penalty: 1.3467, C1 Heatmap: 0.3773, C2 Repulsion: 0.4837), Relational Loss: 0.0000 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +bookshelf 1.434 2.663 0.327 -0.292 -0.000 -1.207 0.00° +lamp 0.833 0.727 0.815 0.225 1.924 0.831 -0.01° +bed 1.009 1.095 1.625 -1.055 0.005 0.475 179.35° +chair 0.582 0.671 0.602 1.414 -0.000 0.758 -90.07° +floor 4.047 -0.002 3.167 0.004 0.000 -0.024 -0.02° +_scene_ 0.074 0.003 0.035 -5.616 -0.003 -5.676 -57.36° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bookshelf <-> floor depth=[1.434, -0.002, 0.327] + !! OVERLAP: bed <-> floor depth=[1.009, -0.002, 1.625] + !! OVERLAP: chair <-> floor depth=[0.582, -0.002, 0.602] +============================================================ + + +============================================================ +SCENE: SecondBedroom-69136 | 8 objects +============================================================ +Final Step Collision Loss: 0.0015, Room Outer Loss: 0.0000, Walkable Loss: 1.4295 (Center Penalty: 0.5133, C1 Heatmap: 0.5644, C2 Repulsion: 2.3233), Relational Loss: 0.0288 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +bed 1.741 0.942 1.824 0.650 0.012 0.725 179.70° +wardrobe 0.238 2.194 -0.036 -0.852 -0.005 1.151 86.57° +nightstand 0.308 0.389 0.332 1.643 0.001 1.322 180.00° +nightstand 0.180 0.409 0.185 -0.614 0.002 1.452 179.90° +tv_stand 1.778 0.529 0.318 0.440 -0.001 -1.386 0.02° +lamp 0.512 0.102 0.515 0.812 2.441 -0.184 0.07° +floor 4.246 -0.058 3.437 1.132 0.015 0.120 1.14° +_scene_ 0.068 -0.000 0.019 -5.674 -0.005 -5.713 -57.30° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bed <-> nightstand depth=[0.031, 0.389, 0.332] + !! OVERLAP: bed <-> floor depth=[1.741, -0.058, 1.824] + !! OVERLAP: wardrobe <-> floor depth=[0.238, -0.058, -0.036] + !! OVERLAP: nightstand <-> floor depth=[0.308, -0.058, 0.332] + !! OVERLAP: nightstand <-> floor depth=[0.180, -0.058, 0.185] + !! OVERLAP: tv_stand <-> floor depth=[1.778, -0.058, 0.318] +============================================================ + + +============================================================ +SCENE: Bedroom-47437 | 5 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0000, Walkable Loss: 0.5162 (Center Penalty: 0.2747, C1 Heatmap: 0.2150, C2 Repulsion: 0.3475), Relational Loss: 0.0000 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +bed 0.752 1.150 1.400 0.418 0.009 0.922 -91.98° +nightstand 0.448 0.595 0.481 0.949 -0.001 2.181 -90.18° +nightstand 0.549 0.558 0.402 1.280 0.000 -0.719 -89.97° +floor 3.285 0.000 5.332 0.113 -0.002 0.998 0.43° +_scene_ 0.055 0.004 0.011 -5.669 -0.005 -5.714 -57.28° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bed <-> floor depth=[0.752, 0.000, 1.400] + !! OVERLAP: nightstand <-> floor depth=[0.448, 0.000, 0.481] + !! OVERLAP: nightstand <-> floor depth=[0.549, 0.000, 0.402] +============================================================ + + +============================================================ +SCENE: SecondBedroom-739 | 6 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0000, Walkable Loss: 0.8047 (Center Penalty: 0.5370, C1 Heatmap: 0.1363, C2 Repulsion: 0.7930), Relational Loss: 0.0426 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +bed 0.700 1.147 1.048 -0.850 -0.002 0.530 89.43° +table 0.379 0.487 0.319 -1.184 -0.001 1.336 90.00° +table 0.367 0.499 0.326 -1.133 0.001 -0.699 90.14° +lamp 0.329 0.980 0.634 -0.643 1.690 0.600 0.53° +floor 2.689 -0.028 3.652 -0.104 0.003 0.952 0.55° +_scene_ 0.045 0.040 0.061 -5.490 -0.009 -5.490 -58.43° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bed <-> floor depth=[0.700, -0.028, 1.048] + !! OVERLAP: table <-> floor depth=[0.379, -0.028, 0.319] + !! OVERLAP: table <-> floor depth=[0.367, -0.028, 0.326] +============================================================ + + +============================================================ +SCENE: MasterBedroom-6351 | 6 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0000, Walkable Loss: 1.9356 (Center Penalty: 1.5523, C1 Heatmap: 0.2592, C2 Repulsion: 0.8798), Relational Loss: 0.0511 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +bed 1.147 1.558 1.469 0.930 0.007 -0.374 -91.83° +nightstand 0.353 0.510 0.325 1.251 0.001 0.942 -89.98° +nightstand 0.311 0.630 0.310 1.317 0.003 -1.435 -90.13° +lamp 0.619 0.595 0.587 0.074 2.292 -0.663 -0.77° +floor 3.037 -0.001 3.741 -0.004 -0.000 0.013 -0.04° +_scene_ 0.069 0.001 0.021 -5.667 -0.005 -5.711 -57.29° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bed <-> floor depth=[1.147, -0.001, 1.469] + !! OVERLAP: nightstand <-> floor depth=[0.353, -0.001, 0.325] + !! OVERLAP: nightstand <-> floor depth=[0.311, -0.001, 0.310] +============================================================ + + +============================================================ +SCENE: SecondBedroom-22370 | 7 objects +============================================================ +Final Step Collision Loss: 0.0054, Room Outer Loss: 0.1915, Walkable Loss: 1.2673 (Center Penalty: 0.6960, C1 Heatmap: 0.3528, C2 Repulsion: 1.4456), Relational Loss: 0.0479 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +wardrobe 0.654 2.120 0.219 1.229 -0.037 0.097 -91.32° +bed 1.718 1.350 1.345 -1.008 -0.011 0.311 -179.76° +nightstand 0.392 0.550 0.244 1.035 0.022 0.989 -179.98° +nightstand 0.265 0.523 0.160 -1.595 0.002 0.995 -179.98° +lamp 0.715 0.748 0.382 -0.809 1.993 -0.272 0.06° +floor 4.062 0.001 3.198 -0.545 0.003 -0.567 0.27° +_scene_ 0.066 0.001 0.019 -5.670 -0.004 -5.717 -57.30° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: wardrobe <-> floor depth=[0.584, 0.001, 0.219] + !! OVERLAP: bed <-> nightstand depth=[0.265, 0.523, 0.068] + !! OVERLAP: bed <-> floor depth=[1.718, 0.001, 1.345] + !! OVERLAP: nightstand <-> floor depth=[0.392, 0.001, 0.165] + !! OVERLAP: nightstand <-> floor depth=[0.265, 0.001, 0.117] +============================================================ + + +============================================================ +SCENE: SecondBedroom-15551 | 5 objects +============================================================ +Final Step Collision Loss: 0.0061, Room Outer Loss: 0.0000, Walkable Loss: 0.8701 (Center Penalty: 0.3122, C1 Heatmap: 0.4220, C2 Repulsion: 1.1015), Relational Loss: 0.0028 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +bed 0.583 0.778 1.827 -0.957 0.012 -1.043 90.45° +wardrobe 2.280 2.438 0.392 -0.513 0.004 1.199 179.91° +nightstand 0.380 0.539 0.382 -1.130 0.000 -1.516 90.03° +floor 3.507 -0.022 4.024 -0.590 0.007 -0.570 0.50° +_scene_ 0.078 0.001 0.028 -5.666 -0.003 -5.708 -57.31° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bed <-> nightstand depth=[0.308, 0.539, 0.382] + !! OVERLAP: bed <-> floor depth=[0.583, -0.022, 1.827] + !! OVERLAP: wardrobe <-> floor depth=[2.280, -0.022, 0.392] + !! OVERLAP: nightstand <-> floor depth=[0.380, -0.022, 0.382] +============================================================ + + +============================================================ +SCENE: MasterBedroom-13100 | 8 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.3495, Walkable Loss: 1.6170 (Center Penalty: 0.9244, C1 Heatmap: 0.3832, C2 Repulsion: 1.9301), Relational Loss: 0.0339 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +lamp 0.331 0.950 0.286 0.498 1.826 0.702 -0.01° +bed 0.923 1.169 1.511 0.549 -0.017 -0.319 -90.63° +nightstand 0.191 0.606 0.440 1.017 0.003 -1.423 -90.44° +nightstand 0.389 0.648 0.464 1.077 -0.000 1.310 -89.92° +wardrobe 1.451 2.619 0.299 0.339 0.000 -1.785 0.99° +shelf 0.850 1.806 0.386 -1.390 0.003 1.405 89.90° +floor 3.315 0.061 4.242 -0.601 0.002 -0.586 0.41° +_scene_ 0.072 0.001 0.021 -5.671 -0.004 -5.715 -57.31° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bed <-> floor depth=[0.923, 0.061, 1.511] + !! OVERLAP: nightstand <-> wardrobe depth=[0.144, 0.606, 0.008] + !! OVERLAP: nightstand <-> floor depth=[0.136, 0.061, 0.440] + !! OVERLAP: nightstand <-> floor depth=[0.175, 0.061, 0.456] + !! OVERLAP: wardrobe <-> floor depth=[1.443, 0.061, 0.299] + !! OVERLAP: shelf <-> floor depth=[0.850, 0.061, 0.323] +============================================================ + + +============================================================ +SCENE: SecondBedroom-13841 | 5 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0000, Walkable Loss: 0.7997 (Center Penalty: 0.5416, C1 Heatmap: 0.1251, C2 Repulsion: 0.7901), Relational Loss: 0.0000 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +lamp 0.293 1.115 0.541 0.978 1.214 -0.191 -0.06° +bed 0.325 1.486 1.182 0.622 0.016 -1.058 1.14° +wardrobe 0.319 1.883 0.621 -0.578 0.019 -1.378 90.90° +floor 3.196 -0.021 3.449 0.699 -0.005 -0.212 0.59° +_scene_ 0.053 0.004 0.034 -5.601 -0.003 -5.675 -57.41° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bed <-> floor depth=[0.325, -0.021, 1.182] + !! OVERLAP: wardrobe <-> floor depth=[0.319, -0.021, 0.621] +============================================================ + + +============================================================ +SCENE: MasterBedroom-10364 | 8 objects +============================================================ +Final Step Collision Loss: 0.0049, Room Outer Loss: 0.0053, Walkable Loss: 1.4061 (Center Penalty: 0.8444, C1 Heatmap: 0.2635, C2 Repulsion: 1.7545), Relational Loss: 0.0126 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +bed 0.931 1.201 1.203 0.895 -0.013 -1.298 -0.68° +nightstand 0.517 0.744 0.498 1.558 -0.001 -1.594 0.03° +nightstand 0.510 0.604 0.474 -0.144 0.001 -1.607 -0.01° +wardrobe 0.775 1.856 0.351 -1.268 0.000 -1.049 89.93° +lamp 0.525 0.216 0.535 0.960 2.449 -0.415 -0.08° +lamp 0.485 0.561 0.291 -1.353 2.244 1.035 0.01° +floor 4.431 -0.004 4.038 -0.405 -0.001 -0.074 0.03° +_scene_ 0.067 0.001 0.022 -5.673 -0.004 -5.715 -57.30° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bed <-> nightstand depth=[0.062, 0.744, 0.498] + !! OVERLAP: bed <-> floor depth=[0.931, -0.004, 1.203] + !! OVERLAP: nightstand <-> floor depth=[0.512, -0.004, 0.498] + !! OVERLAP: nightstand <-> floor depth=[0.510, -0.004, 0.474] + !! OVERLAP: wardrobe <-> floor depth=[0.775, -0.004, 0.351] +============================================================ + + +============================================================ +SCENE: Bedroom-18 | 6 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0645, Walkable Loss: 0.7861 (Center Penalty: 0.5072, C1 Heatmap: 0.1765, C2 Repulsion: 0.6882), Relational Loss: 0.0000 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +bed 0.751 1.118 1.103 -0.072 0.011 -1.000 0.30° +nightstand 0.267 0.631 0.447 0.967 -0.004 -1.343 -0.15° +nightstand 0.578 0.592 0.546 -1.280 -0.001 -1.194 0.00° +lamp 0.248 0.669 0.289 -0.148 2.009 -0.989 -0.24° +floor 3.284 0.006 3.594 -0.606 -0.000 -0.603 0.09° +_scene_ 0.067 -0.000 0.024 -5.673 -0.005 -5.714 -57.30° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bed <-> floor depth=[0.751, 0.006, 1.103] + !! OVERLAP: nightstand <-> floor depth=[0.203, 0.006, 0.447] + !! OVERLAP: nightstand <-> floor depth=[0.578, 0.006, 0.546] +============================================================ + + +============================================================ +SCENE: SecondBedroom-11303 | 7 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0937, Walkable Loss: 1.0147 (Center Penalty: 0.5747, C1 Heatmap: 0.2955, C2 Repulsion: 1.0178), Relational Loss: 0.0495 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +bed 0.927 1.206 0.989 -0.526 -0.014 -1.121 3.98° +desk 1.369 0.688 0.473 -1.114 0.001 0.630 -179.93° +nightstand 0.225 0.429 0.271 0.923 0.000 0.462 -90.25° +wardrobe 0.476 2.111 0.388 0.941 0.002 -0.226 -90.45° +wardrobe 0.518 2.335 0.368 0.944 0.035 -0.968 -90.76° +floor 3.956 0.030 3.098 -0.834 0.008 -0.360 -0.35° +_scene_ 0.063 0.000 0.021 -5.672 -0.005 -5.714 -57.31° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bed <-> floor depth=[0.927, 0.030, 0.989] + !! OVERLAP: desk <-> floor depth=[1.369, 0.030, 0.473] + !! OVERLAP: nightstand <-> floor depth=[0.225, 0.030, 0.271] + !! OVERLAP: wardrobe <-> floor depth=[0.441, 0.030, 0.388] + !! OVERLAP: wardrobe <-> floor depth=[0.459, 0.030, 0.368] +============================================================ + + +============================================================ +SCENE: MasterBedroom-1362 | 8 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0404, Walkable Loss: 1.1092 (Center Penalty: 0.6157, C1 Heatmap: 0.2798, C2 Repulsion: 1.3481), Relational Loss: 0.0282 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +bed 0.628 1.388 1.307 0.881 0.015 0.678 -91.72° +table 0.243 0.513 0.315 1.228 -0.004 -0.787 -90.23° +table 0.441 0.545 0.508 1.189 0.001 1.655 -89.98° +wardrobe 1.174 1.870 0.170 0.614 -0.018 -1.165 0.00° +lamp 0.510 0.117 0.584 0.583 2.477 0.562 0.48° +chair 0.647 0.771 0.673 -1.254 -0.001 0.354 59.38° +floor 3.212 -0.019 4.328 -0.237 -0.006 0.890 0.11° +_scene_ 0.070 0.004 0.021 -5.667 -0.004 -5.710 -57.31° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bed <-> floor depth=[0.628, -0.019, 1.307] + !! OVERLAP: table <-> floor depth=[0.243, -0.019, 0.315] + !! OVERLAP: table <-> floor depth=[0.400, -0.019, 0.508] + !! OVERLAP: wardrobe <-> floor depth=[1.174, -0.019, 0.170] + !! OVERLAP: chair <-> floor depth=[0.647, -0.019, 0.673] +============================================================ + + +============================================================ +SCENE: SecondBedroom-34317 | 7 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0000, Walkable Loss: 1.1745 (Center Penalty: 0.8528, C1 Heatmap: 0.3075, C2 Repulsion: 0.3786), Relational Loss: 0.0006 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +bed 1.433 1.100 1.149 0.581 -0.044 0.985 89.94° +cabinet 1.168 0.730 0.243 0.907 0.002 -1.455 0.05° +nightstand 0.217 0.687 0.296 -0.837 -0.006 1.480 89.96° +nightstand 0.291 0.627 0.301 -0.822 -0.001 -1.020 90.06° +lamp 0.360 0.328 0.401 0.570 2.231 -0.523 -0.16° +floor 3.074 0.003 3.922 0.534 -0.009 0.354 -0.25° +_scene_ 0.068 0.004 0.019 -5.664 -0.005 -5.709 -57.30° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bed <-> floor depth=[1.433, 0.003, 1.149] + !! OVERLAP: cabinet <-> floor depth=[1.168, 0.003, 0.243] + !! OVERLAP: nightstand <-> floor depth=[0.217, 0.003, 0.296] + !! OVERLAP: nightstand <-> floor depth=[0.291, 0.003, 0.301] +============================================================ + + +============================================================ +SCENE: Bedroom-4098 | 7 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0000, Walkable Loss: 1.1691 (Center Penalty: 0.7130, C1 Heatmap: 0.2949, C2 Repulsion: 1.1011), Relational Loss: 0.0371 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +bed 0.981 1.036 1.573 -0.750 0.006 -0.669 -1.27° +nightstand 0.412 0.564 0.261 0.543 0.004 -1.336 0.07° +nightstand 0.405 0.526 0.388 -1.798 0.002 -1.225 0.01° +wardrobe 0.894 2.503 0.218 0.882 -0.027 0.410 -90.25° +lamp 0.487 0.365 0.474 -0.753 2.221 -0.339 -0.23° +floor 4.580 -0.025 3.275 -0.957 -0.011 0.069 0.17° +_scene_ 0.075 0.001 0.031 -5.670 -0.004 -5.716 -57.34° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bed <-> floor depth=[0.981, -0.025, 1.573] + !! OVERLAP: nightstand <-> floor depth=[0.412, -0.025, 0.261] + !! OVERLAP: nightstand <-> floor depth=[0.405, -0.025, 0.388] + !! OVERLAP: wardrobe <-> floor depth=[0.894, -0.025, 0.218] +============================================================ + + +============================================================ +SCENE: Bedroom-5265 | 9 objects +============================================================ +Final Step Collision Loss: 0.0052, Room Outer Loss: 0.2673, Walkable Loss: 1.3946 (Center Penalty: 0.4424, C1 Heatmap: 0.5130, C2 Repulsion: 2.7094), Relational Loss: 0.0332 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +bed 0.995 1.133 1.098 -0.508 -0.027 0.827 -179.95° +nightstand 0.392 0.527 0.349 -1.264 0.001 1.518 179.97° +nightstand 0.310 0.507 0.166 0.882 0.000 1.739 179.63° +tv_stand 1.863 0.664 0.396 -1.147 -0.000 -1.443 -0.04° +tv_stand 1.762 0.723 0.303 -0.725 -0.000 -1.141 -0.13° +wardrobe 0.814 2.425 0.416 0.946 -0.007 1.017 -90.47° +lamp 0.743 0.582 0.357 -0.979 1.986 0.385 0.26° +floor 4.289 0.037 3.514 -1.005 -0.010 0.012 0.09° +_scene_ 0.067 0.001 0.026 -5.674 -0.005 -5.716 -57.27° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bed <-> floor depth=[0.995, 0.037, 1.098] + !! OVERLAP: nightstand <-> floor depth=[0.392, 0.037, 0.349] + !! OVERLAP: nightstand <-> floor depth=[0.310, 0.037, 0.112] + !! OVERLAP: tv_stand <-> tv_stand depth=[1.391, 0.664, 0.047] + !! OVERLAP: tv_stand <-> floor depth=[1.863, 0.037, 0.396] + !! OVERLAP: tv_stand <-> floor depth=[1.762, 0.037, 0.303] + !! OVERLAP: wardrobe <-> floor depth=[0.600, 0.037, 0.416] +============================================================ + + +============================================================ +SCENE: MasterBedroom-22121 | 9 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0000, Walkable Loss: 2.0037 (Center Penalty: 1.2924, C1 Heatmap: 0.3860, C2 Repulsion: 2.0127), Relational Loss: 0.0480 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +bed 1.016 1.215 1.772 0.964 0.008 0.049 -88.24° +nightstand 0.396 0.513 0.296 1.131 -0.003 -1.142 0.12° +wardrobe 1.689 2.341 -0.153 0.302 0.043 -1.345 0.87° +table 0.707 0.905 0.382 -1.502 0.001 0.468 89.98° +nightstand 0.366 0.500 0.333 0.271 0.001 1.299 -0.05° +lamp 0.847 0.752 0.867 -0.201 1.770 -1.222 -0.06° +lamp 0.651 0.827 0.680 0.464 2.059 1.169 -0.02° +floor 3.670 0.006 3.859 -0.073 0.001 0.051 0.07° +_scene_ 0.070 0.000 0.021 -5.672 -0.005 -5.716 -57.29° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bed <-> floor depth=[1.016, 0.006, 1.772] + !! OVERLAP: nightstand <-> floor depth=[0.396, 0.006, 0.296] + !! OVERLAP: wardrobe <-> floor depth=[1.689, 0.006, -0.153] + !! OVERLAP: table <-> floor depth=[0.707, 0.006, 0.382] + !! OVERLAP: nightstand <-> floor depth=[0.366, 0.006, 0.333] +============================================================ + + +============================================================ +SCENE: Bedroom-47481 | 7 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0000, Walkable Loss: 1.8851 (Center Penalty: 1.4891, C1 Heatmap: 0.2680, C2 Repulsion: 0.9083), Relational Loss: 0.0256 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +bed 0.635 0.939 1.220 -1.035 -0.000 -0.375 90.60° +nightstand 0.381 0.469 0.286 -1.119 0.001 0.840 90.02° +wardrobe 1.890 2.349 0.136 -0.352 -0.009 1.831 179.78° +nightstand 0.422 0.481 0.347 -1.123 -0.000 -1.280 90.04° +lamp 0.632 0.642 0.385 0.211 2.087 -0.665 0.08° +floor 2.729 -0.002 3.944 -0.018 0.002 -0.016 -0.01° +_scene_ 0.076 0.000 0.026 -5.673 -0.006 -5.715 -57.30° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bed <-> floor depth=[0.635, -0.002, 1.220] + !! OVERLAP: nightstand <-> floor depth=[0.381, -0.002, 0.286] + !! OVERLAP: wardrobe <-> floor depth=[1.890, -0.002, 0.136] + !! OVERLAP: nightstand <-> floor depth=[0.422, -0.002, 0.347] +============================================================ + + +============================================================ +SCENE: Bedroom-2160 | 6 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0875, Walkable Loss: 1.4412 (Center Penalty: 0.6097, C1 Heatmap: 0.4243, C2 Repulsion: 2.4605), Relational Loss: 0.0206 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +bed 1.423 2.220 1.115 -1.047 0.015 0.087 177.44° +nightstand 0.532 0.567 0.186 -0.751 0.017 1.050 -179.34° +lamp 0.493 1.225 0.646 0.581 1.469 -0.793 -0.65° +wardrobe 1.575 2.104 0.555 0.064 -0.002 -1.517 0.02° +floor 2.772 -0.009 3.257 -0.508 0.004 -0.573 0.40° +_scene_ 0.070 -0.000 0.014 -5.677 -0.005 -5.713 -57.29° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bed <-> floor depth=[1.423, -0.009, 1.115] + !! OVERLAP: nightstand <-> floor depth=[0.532, -0.009, 0.099] + !! OVERLAP: wardrobe <-> floor depth=[1.575, -0.009, 0.555] +============================================================ + + +============================================================ +SCENE: SecondBedroom-9825 | 7 objects +============================================================ +Final Step Collision Loss: 0.0135, Room Outer Loss: 0.1672, Walkable Loss: 1.1135 (Center Penalty: 0.4587, C1 Heatmap: 0.3931, C2 Repulsion: 1.7013), Relational Loss: 0.0000 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +wardrobe 1.283 2.411 0.377 -0.403 0.018 1.248 179.73° +bed 1.128 1.150 1.803 -0.314 -0.000 -0.992 90.47° +table 0.274 0.539 0.278 -1.035 -0.007 1.261 89.93° +table 0.153 0.574 0.367 -0.863 -0.003 -1.936 90.74° +lamp 0.655 0.924 0.647 -0.278 2.183 -0.919 -0.38° +floor 3.489 -0.002 4.226 0.720 -0.013 -0.659 -0.82° +_scene_ 0.070 0.000 0.019 -5.673 -0.005 -5.716 -57.29° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: wardrobe <-> table depth=[0.146, 0.539, 0.278] + !! OVERLAP: wardrobe <-> floor depth=[1.263, -0.002, 0.377] + !! OVERLAP: bed <-> table depth=[0.092, 0.574, 0.141] + !! OVERLAP: bed <-> floor depth=[1.128, -0.002, 1.803] + !! OVERLAP: table <-> floor depth=[0.126, -0.002, 0.278] + !! OVERLAP: table <-> floor depth=[0.153, -0.002, 0.367] +============================================================ + + +============================================================ +SCENE: Bedroom-1989 | 7 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.1379, Walkable Loss: 1.9846 (Center Penalty: 1.3553, C1 Heatmap: 0.3959, C2 Repulsion: 1.5630), Relational Loss: 0.0121 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +bed 0.470 0.793 1.239 1.178 -0.019 -0.434 -89.72° +nightstand 0.271 0.761 0.189 1.273 0.002 0.487 -90.07° +wardrobe 2.875 2.540 0.147 -0.193 0.009 1.439 -179.74° +tv_stand 1.189 0.596 0.020 -0.840 -0.057 0.671 90.64° +lamp 0.663 0.691 0.056 -0.190 1.969 -0.914 -0.63° +floor 3.002 0.000 3.042 -0.001 0.001 -0.017 -0.02° +_scene_ 0.072 0.001 0.030 -5.668 -0.005 -5.708 -57.32° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bed <-> floor depth=[0.470, 0.000, 1.239] + !! OVERLAP: nightstand <-> floor depth=[0.271, 0.000, 0.189] + !! OVERLAP: wardrobe <-> floor depth=[2.746, 0.000, 0.139] + !! OVERLAP: tv_stand <-> floor depth=[1.189, 0.000, 0.020] +============================================================ + + +============================================================ +SCENE: SecondBedroom-143 | 9 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0230, Walkable Loss: 1.9797 (Center Penalty: 1.1733, C1 Heatmap: 0.5145, C2 Repulsion: 1.9744), Relational Loss: 0.0365 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +wardrobe 1.421 2.387 0.531 -1.485 0.042 0.068 91.08° +bed 0.919 1.200 1.326 0.246 0.003 0.929 -178.53° +nightstand 0.761 0.483 0.364 1.539 0.000 1.306 179.99° +nightstand 0.594 0.508 0.485 -1.504 0.000 1.411 179.90° +cabinet 1.113 1.105 0.343 0.707 0.001 -1.589 0.04° +cabinet 0.931 1.170 0.333 -0.622 -0.002 -1.600 0.02° +shelf 0.372 1.414 0.355 1.833 0.005 -0.956 -139.30° +floor 4.392 -0.002 3.445 -0.003 0.000 -0.030 -0.00° +_scene_ 0.065 0.001 0.024 -5.667 -0.004 -5.713 -57.29° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: wardrobe <-> floor depth=[1.421, -0.002, 0.531] + !! OVERLAP: bed <-> floor depth=[0.919, -0.002, 1.326] + !! OVERLAP: nightstand <-> floor depth=[0.761, -0.002, 0.364] + !! OVERLAP: nightstand <-> floor depth=[0.594, -0.002, 0.485] + !! OVERLAP: cabinet <-> floor depth=[1.113, -0.002, 0.335] + !! OVERLAP: cabinet <-> floor depth=[0.931, -0.002, 0.319] + !! OVERLAP: shelf <-> floor depth=[0.372, -0.002, 0.355] +============================================================ + + +============================================================ +SCENE: SecondBedroom-13044 | 5 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0000, Walkable Loss: 1.1263 (Center Penalty: 1.0211, C1 Heatmap: 0.0812, C2 Repulsion: 0.2011), Relational Loss: 0.0278 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +bed -0.044 1.244 0.691 1.194 -0.016 0.887 -89.73° +wardrobe 1.299 2.253 0.110 0.499 -0.002 -1.429 0.26° +nightstand 0.314 0.493 0.290 1.196 -0.002 1.420 -90.06° +floor 3.034 -0.002 3.937 -0.031 0.000 0.012 -0.02° +_scene_ 0.074 0.002 0.020 -5.672 -0.004 -5.708 -57.30° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bed <-> floor depth=[-0.044, -0.002, 0.691] + !! OVERLAP: wardrobe <-> floor depth=[1.299, -0.002, 0.110] + !! OVERLAP: nightstand <-> floor depth=[0.314, -0.002, 0.290] +============================================================ + + +============================================================ +SCENE: Bedroom-8490 | 8 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0000, Walkable Loss: 1.9755 (Center Penalty: 1.2281, C1 Heatmap: 0.5261, C2 Repulsion: 1.6324), Relational Loss: 0.0090 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +wardrobe 3.167 2.479 0.384 0.013 -0.002 -1.496 0.02° +lamp 0.687 0.707 0.764 -0.600 2.270 0.657 -0.26° +bed 0.798 0.954 1.170 -0.331 0.016 1.287 178.77° +nightstand 0.462 0.578 0.418 1.182 -0.000 1.343 179.85° +nightstand 0.458 0.490 0.383 -1.399 0.000 1.440 179.79° +lamp 0.116 0.865 0.103 1.376 1.051 1.432 0.02° +floor 3.287 -0.002 3.847 0.007 0.000 0.100 -0.03° +_scene_ 0.064 0.000 0.026 -5.669 -0.005 -5.723 -57.27° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: wardrobe <-> floor depth=[3.167, -0.002, 0.384] + !! OVERLAP: bed <-> floor depth=[0.798, -0.002, 1.170] + !! OVERLAP: nightstand <-> floor depth=[0.462, -0.002, 0.418] + !! OVERLAP: nightstand <-> floor depth=[0.458, -0.002, 0.383] +============================================================ + + +============================================================ +SCENE: MasterBedroom-424 | 7 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0000, Walkable Loss: 1.4050 (Center Penalty: 0.6746, C1 Heatmap: 0.4392, C2 Repulsion: 1.8949), Relational Loss: 0.0347 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +bed 1.307 1.080 1.565 -0.694 0.007 0.744 90.62° +wardrobe 1.779 1.897 0.287 -0.625 -0.014 -1.249 -0.02° +nightstand 0.389 0.449 0.316 -1.443 -0.005 -0.616 89.96° +nightstand 0.361 0.499 0.301 -1.393 0.001 1.719 90.07° +lamp 0.548 0.202 0.513 -0.136 2.351 0.741 0.00° +floor 3.557 0.036 4.720 0.003 -0.018 0.897 -1.00° +_scene_ 0.076 -0.000 0.023 -5.667 -0.004 -5.711 -57.30° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bed <-> floor depth=[1.307, 0.036, 1.565] + !! OVERLAP: wardrobe <-> floor depth=[1.779, 0.036, 0.287] + !! OVERLAP: nightstand <-> floor depth=[0.389, 0.036, 0.316] + !! OVERLAP: nightstand <-> floor depth=[0.361, 0.036, 0.301] +============================================================ + + +============================================================ +SCENE: SecondBedroom-32238 | 7 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.1429, Walkable Loss: 0.4023 (Center Penalty: 0.2161, C1 Heatmap: 0.0973, C2 Repulsion: 0.5421), Relational Loss: 0.0144 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +bed 0.343 1.926 0.587 1.312 -0.051 0.284 -92.23° +nightstand 0.553 0.640 0.351 1.527 0.002 -0.459 -90.01° +nightstand 0.405 0.506 0.286 1.340 0.012 1.130 -89.82° +cabinet 0.354 0.527 0.275 1.470 -0.001 -1.617 -0.07° +cabinet 0.285 0.627 0.288 -0.950 -0.001 -1.364 67.20° +floor 3.314 -0.049 3.757 0.609 -0.003 -0.704 -0.22° +_scene_ 0.061 0.012 0.033 -5.669 -0.005 -5.699 -57.27° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bed <-> floor depth=[0.343, -0.049, 0.587] + !! OVERLAP: nightstand <-> floor depth=[0.553, -0.049, 0.351] + !! OVERLAP: nightstand <-> floor depth=[0.405, -0.049, 0.187] + !! OVERLAP: cabinet <-> floor depth=[0.354, -0.049, 0.275] + !! OVERLAP: cabinet <-> floor depth=[0.241, -0.049, 0.288] +============================================================ + + +============================================================ +SCENE: SecondBedroom-258160 | 8 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0452, Walkable Loss: 1.1443 (Center Penalty: 0.5806, C1 Heatmap: 0.2844, C2 Repulsion: 1.6808), Relational Loss: 0.0354 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +bed 0.632 1.154 1.299 0.689 -0.005 -0.771 -0.30° +nightstand 0.418 0.502 0.298 -0.402 -0.001 -1.407 0.02° +nightstand 0.422 0.505 0.250 1.542 0.001 -1.405 0.05° +wardrobe 0.666 2.530 0.189 -0.473 -0.034 -0.824 89.93° +tv_stand 1.746 1.877 0.144 0.413 0.003 1.295 179.93° +lamp 0.640 0.658 0.201 0.867 2.060 -0.589 -0.07° +floor 3.446 -0.020 3.518 0.953 -0.009 0.213 1.40° +_scene_ 0.069 0.001 0.024 -5.676 -0.005 -5.711 -57.31° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bed <-> floor depth=[0.632, -0.020, 1.299] + !! OVERLAP: nightstand <-> floor depth=[0.418, -0.020, 0.288] + !! OVERLAP: nightstand <-> floor depth=[0.422, -0.020, 0.250] + !! OVERLAP: wardrobe <-> floor depth=[0.631, -0.020, 0.189] + !! OVERLAP: tv_stand <-> floor depth=[1.746, -0.020, 0.144] +============================================================ + + +============================================================ +SCENE: SecondBedroom-19232 | 6 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0000, Walkable Loss: 0.3706 (Center Penalty: 0.1880, C1 Heatmap: 0.0403, C2 Repulsion: 0.7520), Relational Loss: 0.0052 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +bed -0.368 1.262 1.385 -1.118 0.037 -0.967 93.64° +nightstand 0.291 0.472 0.249 -1.296 -0.003 0.757 90.18° +nightstand 0.328 0.492 0.320 -1.155 0.000 -1.244 90.01° +lamp 0.386 0.377 0.402 0.133 2.146 -1.127 0.36° +floor 3.235 0.006 4.045 -0.163 0.030 -1.097 1.23° +_scene_ 0.068 0.000 0.019 -5.670 -0.005 -5.713 -57.28° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bed <-> floor depth=[-0.368, 0.006, 1.385] + !! OVERLAP: nightstand <-> floor depth=[0.291, 0.006, 0.249] + !! OVERLAP: nightstand <-> floor depth=[0.328, 0.006, 0.320] +============================================================ + + +============================================================ +SCENE: SecondBedroom-6685 | 5 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.1558, Walkable Loss: 1.0393 (Center Penalty: 0.5093, C1 Heatmap: 0.5409, C2 Repulsion: 0.4863), Relational Loss: 0.0000 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +wardrobe 1.332 2.176 0.451 0.221 0.001 1.001 -179.99° +bed 1.840 1.092 1.887 0.256 -0.004 -0.988 -89.95° +lamp 0.661 0.360 0.624 0.341 2.165 -1.129 0.00° +floor 2.679 0.023 4.001 -0.227 0.017 -0.866 0.67° +_scene_ 0.074 0.003 0.022 -5.661 -0.004 -5.705 -57.29° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: wardrobe <-> floor depth=[1.332, 0.023, 0.358] + !! OVERLAP: bed <-> floor depth=[1.777, 0.023, 1.887] +============================================================ + + +============================================================ +SCENE: SecondBedroom-24334 | 7 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0000, Walkable Loss: 1.8543 (Center Penalty: 1.4108, C1 Heatmap: 0.2637, C2 Repulsion: 1.1623), Relational Loss: 0.0596 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +nightstand 0.366 0.504 0.359 1.513 0.001 -1.144 0.01° +desk 1.230 1.466 0.168 0.072 -0.007 -1.420 0.02° +wardrobe 1.205 2.142 0.471 -1.108 0.006 -0.522 91.92° +lamp 0.255 0.666 0.383 0.208 1.867 0.768 0.58° +bed 0.296 0.901 1.448 1.156 -0.131 -0.242 1.27° +floor 3.502 -0.001 3.181 -0.004 -0.001 -0.014 -0.01° +_scene_ 0.067 0.001 0.023 -5.674 -0.005 -5.715 -57.29° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: nightstand <-> floor depth=[0.366, -0.001, 0.359] + !! OVERLAP: desk <-> floor depth=[1.230, -0.001, 0.168] + !! OVERLAP: wardrobe <-> floor depth=[1.205, -0.001, 0.471] + !! OVERLAP: bed <-> floor depth=[0.296, -0.001, 1.448] +============================================================ + + +============================================================ +SCENE: Bedroom-35352 | 7 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0622, Walkable Loss: 0.8187 (Center Penalty: 0.4309, C1 Heatmap: 0.2528, C2 Repulsion: 0.9277), Relational Loss: 0.0273 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +bed 0.914 1.277 1.126 1.298 -0.003 0.291 -91.26° +wardrobe 0.945 2.400 0.496 -0.997 -0.001 0.517 89.96° +nightstand 0.481 0.561 0.321 1.546 0.001 -0.831 -90.00° +nightstand 0.436 0.567 0.346 1.600 0.001 1.331 -90.03° +lamp 1.271 0.800 0.477 0.557 1.723 0.801 0.03° +floor 3.431 -0.012 3.700 0.194 0.004 0.920 0.06° +_scene_ 0.070 0.001 0.021 -5.673 -0.005 -5.715 -57.29° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bed <-> floor depth=[0.914, -0.012, 1.126] + !! OVERLAP: wardrobe <-> floor depth=[0.945, -0.012, 0.496] + !! OVERLAP: nightstand <-> floor depth=[0.481, -0.012, 0.259] + !! OVERLAP: nightstand <-> floor depth=[0.436, -0.012, 0.346] +============================================================ + + +============================================================ +SCENE: MasterBedroom-4284 | 6 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0000, Walkable Loss: 1.0062 (Center Penalty: 0.5159, C1 Heatmap: 0.4071, C2 Repulsion: 0.8230), Relational Loss: 0.0000 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +wardrobe 1.107 2.098 0.525 -0.016 -0.001 -1.686 0.09° +bed 1.123 1.397 1.788 0.527 0.007 0.823 -90.73° +nightstand 0.260 0.628 0.326 1.163 0.003 -1.081 -90.16° +nightstand 0.306 0.656 0.556 1.132 -0.004 2.100 -90.30° +floor 3.566 0.002 5.067 -0.451 -0.005 0.557 -0.12° +_scene_ 0.076 0.002 0.021 -5.663 -0.005 -5.706 -57.26° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: wardrobe <-> floor depth=[1.107, 0.002, 0.525] + !! OVERLAP: bed <-> floor depth=[1.123, 0.002, 1.788] + !! OVERLAP: nightstand <-> floor depth=[0.260, 0.002, 0.326] + !! OVERLAP: nightstand <-> floor depth=[0.306, 0.002, 0.556] +============================================================ + + +============================================================ +SCENE: MasterBedroom-1069 | 7 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.1065, Walkable Loss: 1.0468 (Center Penalty: 0.8952, C1 Heatmap: 0.0478, C2 Repulsion: 0.5670), Relational Loss: 0.0170 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +lamp 0.588 0.604 0.434 -0.827 2.127 -0.345 0.04° +wardrobe 0.956 2.645 -0.358 -0.375 -0.007 0.641 -93.30° +bed 0.657 0.705 0.336 -1.453 0.049 0.136 -177.48° +nightstand 0.419 0.449 0.183 -1.550 0.001 0.684 179.77° +nightstand 0.048 0.401 -0.071 -0.631 -0.032 0.562 -179.61° +floor 3.794 -0.001 2.853 -0.741 -0.015 -0.758 -0.71° +_scene_ 0.065 0.000 0.021 -5.671 -0.005 -5.718 -57.30° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bed <-> floor depth=[0.657, -0.001, 0.336] + !! OVERLAP: nightstand <-> floor depth=[0.419, -0.001, 0.077] + !! OVERLAP: nightstand <-> floor depth=[0.048, -0.001, -0.071] +============================================================ + + +============================================================ +SCENE: MasterBedroom-113 | 7 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0333, Walkable Loss: 1.0046 (Center Penalty: 0.7726, C1 Heatmap: 0.1381, C2 Repulsion: 0.6075), Relational Loss: 0.0259 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +tv_stand 0.729 0.591 0.266 0.546 0.020 -0.854 -90.44° +bed 0.231 1.306 1.246 -1.079 0.046 0.079 91.44° +nightstand 0.412 0.567 0.279 -1.275 -0.011 0.879 89.91° +nightstand 0.445 0.528 0.368 -1.231 0.001 -0.883 89.93° +lamp 0.796 0.435 0.213 0.024 2.144 -0.855 -0.07° +floor 2.984 0.014 3.102 -0.615 0.008 -0.476 0.18° +_scene_ 0.065 0.001 0.021 -5.673 -0.005 -5.717 -57.29° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: tv_stand <-> floor depth=[0.695, 0.014, 0.266] + !! OVERLAP: bed <-> floor depth=[0.231, 0.014, 1.246] + !! OVERLAP: nightstand <-> floor depth=[0.412, 0.014, 0.279] + !! OVERLAP: nightstand <-> floor depth=[0.445, 0.014, 0.368] +============================================================ + + +============================================================ +SCENE: SecondBedroom-48968 | 6 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0000, Walkable Loss: 1.8180 (Center Penalty: 1.5359, C1 Heatmap: 0.1720, C2 Repulsion: 0.7230), Relational Loss: 0.0556 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +bed 0.920 1.087 0.746 -0.592 0.034 -0.856 90.67° +nightstand 0.415 0.496 0.278 -1.355 0.001 -1.111 90.01° +desk 1.011 1.485 0.361 1.035 0.010 -1.141 -90.55° +lamp 0.649 0.319 0.645 -0.457 2.355 -0.457 -0.13° +floor 3.999 -0.003 2.481 -0.069 0.002 -0.083 -0.01° +_scene_ 0.069 -0.000 0.019 -5.666 -0.004 -5.711 -57.30° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bed <-> floor depth=[0.920, -0.003, 0.746] + !! OVERLAP: nightstand <-> floor depth=[0.415, -0.003, 0.278] + !! OVERLAP: desk <-> floor depth=[1.011, -0.003, 0.361] +============================================================ + + +============================================================ +SCENE: MasterBedroom-9222 | 8 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0000, Walkable Loss: 0.8731 (Center Penalty: 0.3705, C1 Heatmap: 0.3780, C2 Repulsion: 1.0004), Relational Loss: 0.0232 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +bed 0.553 1.401 1.216 -1.157 -0.010 -0.501 90.58° +wardrobe 1.762 2.251 0.170 -0.746 0.018 1.136 -179.64° +nightstand 0.503 0.724 0.382 -1.359 0.002 -1.700 89.90° +nightstand 0.337 0.684 0.229 -1.358 -0.000 0.411 90.26° +tv_stand 1.670 0.555 0.347 1.384 0.002 -0.202 -90.08° +lamp 0.689 0.607 0.194 0.099 2.061 -0.927 -0.44° +floor 4.033 -0.088 4.548 0.320 0.003 -1.048 0.72° +_scene_ 0.072 0.000 0.022 -5.673 -0.005 -5.711 -57.28° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bed <-> floor depth=[0.553, -0.088, 1.216] + !! OVERLAP: wardrobe <-> floor depth=[1.762, -0.088, 0.170] + !! OVERLAP: nightstand <-> floor depth=[0.503, -0.088, 0.382] + !! OVERLAP: nightstand <-> floor depth=[0.337, -0.088, 0.229] + !! OVERLAP: tv_stand <-> floor depth=[1.670, -0.088, 0.347] +============================================================ + + +============================================================ +SCENE: Bedroom-32051 | 7 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.1263, Walkable Loss: 0.9152 (Center Penalty: 0.5216, C1 Heatmap: 0.3524, C2 Repulsion: 0.5586), Relational Loss: 0.0000 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +bed 1.002 1.055 1.328 0.640 -0.000 0.509 179.73° +cabinet 1.120 1.079 0.384 -1.184 -0.000 -1.262 0.02° +wardrobe 1.086 2.301 0.323 -1.065 -0.006 1.192 -179.94° +chair 0.615 0.720 0.343 -1.392 -0.006 0.248 -29.62° +lamp 0.189 0.545 0.205 0.953 2.237 0.040 -0.07° +floor 4.475 -0.003 3.272 -1.076 -0.011 -0.409 -0.46° +_scene_ 0.067 -0.001 0.012 -5.678 -0.005 -5.713 -57.34° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bed <-> floor depth=[1.002, -0.003, 1.328] + !! OVERLAP: cabinet <-> floor depth=[1.120, -0.003, 0.384] + !! OVERLAP: wardrobe <-> floor depth=[1.086, -0.003, 0.197] + !! OVERLAP: chair <-> floor depth=[0.615, -0.003, 0.343] +============================================================ + + +============================================================ +SCENE: MasterBedroom-86835 | 7 objects +============================================================ +Final Step Collision Loss: 0.0065, Room Outer Loss: 0.1909, Walkable Loss: 1.2614 (Center Penalty: 0.2811, C1 Heatmap: 0.5362, C2 Repulsion: 2.7565), Relational Loss: 0.0254 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +bed 0.803 1.150 1.618 -1.112 0.028 0.751 89.81° +wardrobe 0.740 2.069 0.358 -1.195 0.008 -1.098 89.95° +wardrobe 1.167 2.001 0.482 -0.462 0.000 -1.027 0.06° +tv_stand 2.104 0.602 0.433 1.013 0.003 0.810 -89.98° +nightstand 0.382 0.465 0.308 -1.565 0.001 0.031 89.94° +floor 3.630 -0.003 4.610 0.100 -0.004 1.009 0.07° +_scene_ 0.073 -0.000 0.024 -5.671 -0.006 -5.711 -57.30° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bed <-> nightstand depth=[0.139, 0.465, 0.243] + !! OVERLAP: bed <-> floor depth=[0.803, -0.003, 1.618] + !! OVERLAP: wardrobe <-> wardrobe depth=[0.221, 2.001, 0.349] + !! OVERLAP: wardrobe <-> floor depth=[0.740, -0.003, 0.358] + !! OVERLAP: wardrobe <-> floor depth=[1.167, -0.003, 0.482] + !! OVERLAP: tv_stand <-> floor depth=[1.954, -0.003, 0.433] + !! OVERLAP: nightstand <-> floor depth=[0.341, -0.003, 0.308] +============================================================ + + +============================================================ +SCENE: SecondBedroom-86888 | 6 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.1992, Walkable Loss: 0.7172 (Center Penalty: 0.3538, C1 Heatmap: 0.1681, C2 Repulsion: 1.1444), Relational Loss: 0.0300 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +bed 0.800 0.946 0.699 -0.711 0.002 -0.988 91.48° +nightstand 0.454 0.562 0.324 -1.156 0.002 0.177 90.02° +wardrobe 0.951 1.931 0.285 0.370 0.010 1.057 179.43° +nightstand 0.418 0.482 0.386 -1.292 0.002 -1.297 90.09° +floor 2.621 0.013 3.849 -0.282 0.015 -0.924 -0.47° +_scene_ 0.072 0.001 0.022 -5.670 -0.004 -5.712 -57.29° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bed <-> nightstand depth=[0.028, 0.482, 0.234] + !! OVERLAP: bed <-> floor depth=[0.800, 0.013, 0.699] + !! OVERLAP: nightstand <-> floor depth=[0.454, 0.013, 0.324] + !! OVERLAP: wardrobe <-> floor depth=[0.951, 0.013, 0.086] + !! OVERLAP: nightstand <-> floor depth=[0.418, 0.013, 0.386] +============================================================ + + +============================================================ +SCENE: MasterBedroom-9583 | 10 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0000, Walkable Loss: 2.0813 (Center Penalty: 1.1403, C1 Heatmap: 0.5850, C2 Repulsion: 2.3653), Relational Loss: 0.0237 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +cabinet 0.667 0.813 0.194 1.294 0.002 -0.281 -90.32° +lamp 0.887 0.767 0.816 -0.492 1.971 0.947 -0.01° +bed 0.806 1.313 1.532 -1.271 0.029 0.033 91.01° +nightstand 0.432 0.510 0.368 -1.492 0.001 -1.058 90.07° +nightstand 0.368 0.509 0.299 -1.379 0.001 1.084 89.98° +table 0.625 1.307 0.218 -1.371 -0.001 1.819 89.98° +wardrobe 2.013 2.227 0.185 -0.622 -0.023 -2.047 0.41° +desk 1.565 0.615 0.830 0.644 -0.004 1.350 -96.83° +floor 3.362 -0.002 4.727 -0.043 0.002 -0.148 0.00° +_scene_ 0.071 0.001 0.023 -5.666 -0.004 -5.717 -57.29° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: cabinet <-> floor depth=[0.667, -0.002, 0.194] + !! OVERLAP: bed <-> floor depth=[0.806, -0.002, 1.532] + !! OVERLAP: nightstand <-> floor depth=[0.432, -0.002, 0.368] + !! OVERLAP: nightstand <-> floor depth=[0.368, -0.002, 0.299] + !! OVERLAP: table <-> floor depth=[0.625, -0.002, 0.218] + !! OVERLAP: wardrobe <-> floor depth=[2.013, -0.002, 0.185] + !! OVERLAP: desk <-> floor depth=[1.565, -0.002, 0.830] +============================================================ + + +============================================================ +SCENE: SecondBedroom-8823 | 5 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0094, Walkable Loss: 1.6419 (Center Penalty: 1.3166, C1 Heatmap: 0.3364, C2 Repulsion: 0.2812), Relational Loss: 0.0000 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +bed 1.482 1.243 1.626 0.833 -0.005 -0.775 -91.19° +nightstand 0.353 0.505 0.368 1.351 0.000 0.968 -90.09° +lamp 0.985 0.948 0.493 -0.512 1.948 0.674 89.82° +floor 3.169 -0.002 3.116 -0.001 0.001 -0.021 -0.03° +_scene_ 0.068 -0.000 0.021 -5.674 -0.005 -5.719 -57.28° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bed <-> floor depth=[1.482, -0.002, 1.617] + !! OVERLAP: nightstand <-> floor depth=[0.353, -0.002, 0.368] +============================================================ + + +============================================================ +SCENE: SecondBedroom-13218 | 7 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0288, Walkable Loss: 2.3719 (Center Penalty: 1.6569, C1 Heatmap: 0.4305, C2 Repulsion: 1.8527), Relational Loss: 0.0696 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +bed 0.935 1.424 1.366 -0.850 -0.007 -0.355 90.37° +wardrobe 1.937 2.272 0.277 -0.267 -0.001 1.255 -179.90° +nightstand 0.437 0.598 0.431 -1.106 -0.005 -1.353 89.92° +tv_stand 2.017 1.023 -0.214 0.441 -0.016 -0.879 -90.41° +lamp 0.523 0.536 0.536 -0.385 2.024 0.685 0.31° +floor 2.843 -0.001 3.297 -0.000 0.000 0.011 -0.04° +_scene_ 0.074 0.001 0.023 -5.677 -0.005 -5.707 -57.28° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bed <-> tv_stand depth=[0.184, 1.023, -0.214] + !! OVERLAP: bed <-> floor depth=[0.935, -0.001, 1.366] + !! OVERLAP: wardrobe <-> floor depth=[1.937, -0.001, 0.277] + !! OVERLAP: nightstand <-> floor depth=[0.437, -0.001, 0.431] + !! OVERLAP: tv_stand <-> floor depth=[1.989, -0.001, -0.214] +============================================================ + + +============================================================ +SCENE: SecondBedroom-36408 | 9 objects +============================================================ +Final Step Collision Loss: 0.0034, Room Outer Loss: 0.1578, Walkable Loss: 1.5773 (Center Penalty: 0.4391, C1 Heatmap: 0.3821, C2 Repulsion: 4.1624), Relational Loss: 0.0251 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +bed 1.042 1.262 1.251 -0.958 0.004 0.697 91.74° +table 0.432 0.510 0.542 -1.355 -0.005 1.864 -0.03° +table 0.327 0.566 0.439 -1.333 0.005 -0.541 89.66° +wardrobe 0.987 1.981 0.358 -1.006 -0.004 -1.005 -0.08° +wardrobe 0.740 1.978 0.202 -0.309 -0.001 -1.188 0.12° +lamp 0.499 0.202 0.407 0.183 2.529 1.007 0.42° +lamp 0.623 1.074 0.757 -0.343 1.461 1.941 0.97° +floor 2.965 -0.006 4.360 -0.002 0.010 0.936 0.01° +_scene_ 0.069 -0.000 0.023 -5.671 -0.005 -5.718 -57.27° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bed <-> floor depth=[1.042, -0.006, 1.251] + !! OVERLAP: table <-> floor depth=[0.346, -0.006, 0.542] + !! OVERLAP: table <-> floor depth=[0.315, -0.006, 0.439] + !! OVERLAP: wardrobe <-> wardrobe depth=[0.167, 1.977, 0.097] + !! OVERLAP: wardrobe <-> floor depth=[0.972, -0.006, 0.358] + !! OVERLAP: wardrobe <-> floor depth=[0.740, -0.006, 0.156] +============================================================ + + +============================================================ +SCENE: MasterBedroom-36389 | 8 objects +============================================================ +Final Step Collision Loss: 0.0141, Room Outer Loss: 0.1915, Walkable Loss: 1.2249 (Center Penalty: 0.5045, C1 Heatmap: 0.3839, C2 Repulsion: 2.0664), Relational Loss: 0.0159 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +bed 0.783 1.137 1.285 -1.332 -0.023 0.417 -93.93° +nightstand 0.348 0.554 0.348 1.346 -0.001 1.929 -90.24° +nightstand 0.365 0.655 0.392 1.182 0.003 0.079 -89.93° +wardrobe 1.665 2.167 0.308 0.132 -0.006 -1.046 -0.04° +wardrobe 1.112 2.090 0.489 -0.750 -0.009 -0.740 -0.00° +lamp 0.811 0.900 0.847 0.245 1.795 1.051 -0.06° +floor 3.233 -0.036 4.203 -0.150 -0.010 1.040 0.44° +_scene_ 0.069 0.001 0.024 -5.672 -0.005 -5.715 -57.29° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bed <-> floor depth=[0.783, -0.036, 1.285] + !! OVERLAP: nightstand <-> floor depth=[0.294, -0.036, 0.348] + !! OVERLAP: nightstand <-> floor depth=[0.365, -0.036, 0.392] + !! OVERLAP: wardrobe <-> wardrobe depth=[0.506, 2.090, 0.093] + !! OVERLAP: wardrobe <-> floor depth=[1.665, -0.036, 0.170] + !! OVERLAP: wardrobe <-> floor depth=[1.112, -0.036, 0.489] +============================================================ + + +============================================================ +SCENE: SecondBedroom-7635 | 6 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0000, Walkable Loss: 1.0581 (Center Penalty: 0.4385, C1 Heatmap: 0.4822, C2 Repulsion: 1.1692), Relational Loss: 0.0006 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +bed 1.667 1.495 1.585 1.224 -0.007 -0.267 -90.71° +wardrobe 1.237 2.139 0.573 -0.757 -0.000 -1.286 0.13° +desk 0.452 0.756 0.223 -1.515 0.045 -0.134 90.72° +chair 0.400 0.543 0.363 -0.998 0.005 0.316 -88.15° +floor 3.904 -0.052 2.922 0.205 0.006 -0.792 -0.84° +_scene_ 0.060 0.001 0.021 -5.670 -0.004 -5.717 -57.31° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bed <-> floor depth=[1.667, -0.052, 1.585] + !! OVERLAP: wardrobe <-> floor depth=[1.237, -0.052, 0.573] + !! OVERLAP: desk <-> floor depth=[0.452, -0.052, 0.223] + !! OVERLAP: chair <-> floor depth=[0.400, -0.052, 0.363] +============================================================ + + +============================================================ +SCENE: Bedroom-1541 | 6 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0547, Walkable Loss: 1.8840 (Center Penalty: 1.3596, C1 Heatmap: 0.3446, C2 Repulsion: 1.2439), Relational Loss: 0.0434 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +bed 1.259 0.998 1.735 0.153 0.015 -0.665 -88.59° +table -0.029 0.539 0.278 0.641 -0.005 0.653 -90.26° +wardrobe 1.090 2.328 0.095 0.147 -0.009 0.878 -179.90° +lamp 0.547 0.984 0.431 -0.074 1.836 -0.788 -0.09° +floor 2.739 0.033 3.040 -0.642 0.012 -0.459 0.28° +_scene_ 0.058 0.001 0.020 -5.670 -0.005 -5.714 -57.28° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bed <-> floor depth=[1.204, 0.033, 1.735] + !! OVERLAP: table <-> floor depth=[-0.029, 0.033, 0.278] + !! OVERLAP: wardrobe <-> floor depth=[1.090, 0.033, 0.095] +============================================================ + + +============================================================ +SCENE: Bedroom-11202 | 6 objects +============================================================ +Final Step Collision Loss: 0.0133, Room Outer Loss: 0.0000, Walkable Loss: 2.0978 (Center Penalty: 1.5818, C1 Heatmap: 0.3809, C2 Repulsion: 1.0564), Relational Loss: 0.0117 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +bed 1.331 1.010 1.362 1.146 -0.008 0.305 178.76° +wardrobe 1.007 2.116 0.417 -1.288 0.007 -0.020 89.73° +desk 1.258 0.735 0.256 1.123 0.014 1.094 -179.80° +lamp 0.676 0.101 0.622 0.604 2.424 -0.059 0.06° +floor 3.673 -0.002 3.091 0.001 -0.000 0.011 -0.04° +_scene_ 0.057 0.000 0.015 -5.672 -0.005 -5.713 -57.30° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bed <-> desk depth=[1.258, 0.735, 0.021] + !! OVERLAP: bed <-> floor depth=[1.331, -0.002, 1.362] + !! OVERLAP: wardrobe <-> floor depth=[1.007, -0.002, 0.417] + !! OVERLAP: desk <-> floor depth=[1.258, -0.002, 0.256] +============================================================ + + +============================================================ +SCENE: Bedroom-26487 | 13 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0000, Walkable Loss: 1.5436 (Center Penalty: 0.6243, C1 Heatmap: 0.3934, C2 Repulsion: 3.0232), Relational Loss: 0.0258 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +bed 0.726 1.311 1.424 -0.996 0.077 0.413 90.46° +nightstand 0.524 0.582 0.398 -1.263 0.005 2.047 90.12° +nightstand 0.432 0.587 0.278 -1.372 0.003 -0.673 90.10° +tv_stand 0.978 0.469 0.092 0.972 -0.014 0.858 -89.81° +wardrobe 0.907 2.356 0.151 -1.159 0.006 -1.474 1.22° +wardrobe 0.931 2.314 0.453 0.096 0.000 -1.393 0.03° +lamp 0.044 0.894 0.038 -1.499 1.090 -0.870 0.03° +lamp 0.177 0.815 0.144 -1.454 1.053 1.575 0.03° +lamp 1.171 0.843 0.597 -0.221 1.902 0.942 0.06° +chair 0.403 0.667 0.362 -0.279 0.006 2.165 150.16° +table 0.529 0.546 0.534 0.577 0.001 2.051 90.04° +floor 3.219 0.000 5.223 -0.127 0.004 0.760 -0.18° +_scene_ 0.066 -0.002 0.021 -5.686 -0.003 -5.718 -57.30° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bed <-> floor depth=[0.726, 0.000, 1.424] + !! OVERLAP: nightstand <-> floor depth=[0.524, 0.000, 0.398] + !! OVERLAP: nightstand <-> floor depth=[0.432, 0.000, 0.278] + !! OVERLAP: tv_stand <-> floor depth=[0.978, 0.000, 0.092] + !! OVERLAP: wardrobe <-> floor depth=[0.907, 0.000, 0.151] + !! OVERLAP: wardrobe <-> floor depth=[0.931, 0.000, 0.453] + !! OVERLAP: chair <-> floor depth=[0.403, 0.000, 0.362] + !! OVERLAP: table <-> floor depth=[0.529, 0.000, 0.534] +============================================================ + + +============================================================ +SCENE: Bedroom-691 | 5 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0000, Walkable Loss: 0.6557 (Center Penalty: 0.3756, C1 Heatmap: 0.1448, C2 Repulsion: 0.8213), Relational Loss: 0.0186 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +bed 1.629 0.715 0.189 -1.204 0.068 0.498 92.06° +lamp 0.219 0.759 0.309 -1.017 1.958 -0.520 132.73° +wardrobe 1.643 2.529 -0.219 -0.581 -0.016 0.736 -87.44° +floor 3.293 0.016 3.678 -0.978 0.021 -0.463 0.07° +_scene_ 0.017 0.004 0.001 -5.570 -0.007 -5.641 -57.53° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bed <-> floor depth=[1.629, 0.016, 0.189] + !! OVERLAP: wardrobe <-> floor depth=[1.643, 0.016, -0.219] +============================================================ + + +============================================================ +SCENE: SecondBedroom-14817 | 6 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0000, Walkable Loss: 1.6506 (Center Penalty: 1.2582, C1 Heatmap: 0.2781, C2 Repulsion: 0.8492), Relational Loss: 0.0540 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +nightstand 0.375 0.533 0.374 -0.775 0.001 -1.151 0.04° +bed 1.020 1.092 1.373 0.619 -0.038 -0.584 -0.31° +nightstand 0.365 0.657 0.375 1.708 -0.002 -0.857 -89.83° +wardrobe 0.737 2.402 0.433 -1.731 0.007 -0.447 89.85° +floor 4.336 -0.001 2.760 -0.008 0.001 -0.006 -0.05° +_scene_ 0.068 0.000 0.021 -5.673 -0.005 -5.715 -57.31° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: nightstand <-> floor depth=[0.375, -0.001, 0.374] + !! OVERLAP: bed <-> floor depth=[1.020, -0.001, 1.373] + !! OVERLAP: nightstand <-> floor depth=[0.365, -0.001, 0.375] + !! OVERLAP: wardrobe <-> floor depth=[0.737, -0.001, 0.433] +============================================================ + + +============================================================ +SCENE: MasterBedroom-30192 | 9 objects +============================================================ +Final Step Collision Loss: 0.0014, Room Outer Loss: 0.1630, Walkable Loss: 1.5113 (Center Penalty: 0.7063, C1 Heatmap: 0.3165, C2 Repulsion: 2.7589), Relational Loss: 0.0265 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +bed 0.926 1.493 1.352 -1.377 0.007 0.080 90.16° +nightstand 0.469 0.490 0.140 -1.467 0.001 -0.931 90.33° +wardrobe 1.213 2.441 0.275 -0.923 -0.007 1.820 -179.16° +wardrobe 0.972 2.486 -0.085 0.670 0.016 -0.786 -90.51° +chair 0.277 0.793 0.652 0.950 -0.001 -0.325 -91.58° +lamp 0.658 0.883 0.707 -0.704 2.124 -0.101 0.35° +nightstand 0.387 0.439 0.288 -1.609 0.003 0.939 90.01° +floor 3.764 -0.011 3.543 -0.805 -0.014 0.844 -0.18° +_scene_ 0.069 0.000 0.021 -5.675 -0.005 -5.715 -57.30° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bed <-> floor depth=[0.926, -0.011, 1.352] + !! OVERLAP: nightstand <-> floor depth=[0.469, -0.011, 0.067] + !! OVERLAP: wardrobe <-> floor depth=[1.213, -0.011, 0.275] + !! OVERLAP: wardrobe <-> floor depth=[0.893, -0.011, -0.085] + !! OVERLAP: chair <-> floor depth=[0.266, -0.011, 0.652] + !! OVERLAP: nightstand <-> floor depth=[0.387, -0.011, 0.288] +============================================================ + + +============================================================ +SCENE: Bedroom-41491 | 6 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0000, Walkable Loss: 1.1416 (Center Penalty: 0.5159, C1 Heatmap: 0.4191, C2 Repulsion: 1.4525), Relational Loss: 0.0000 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +bed 1.267 1.043 1.811 -0.886 0.001 0.615 89.79° +desk 1.099 0.949 0.479 -1.154 0.014 -1.466 179.94° +chair 0.438 0.970 0.429 -0.885 0.000 -0.557 -179.84° +lamp 0.600 0.252 0.568 -0.472 2.350 0.792 0.36° +floor 3.079 0.001 4.213 -0.857 -0.002 -0.560 -0.71° +_scene_ 0.068 0.001 0.020 -5.671 -0.006 -5.715 -57.29° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bed <-> floor depth=[1.267, 0.001, 1.811] + !! OVERLAP: desk <-> floor depth=[1.099, 0.001, 0.479] + !! OVERLAP: chair <-> floor depth=[0.438, 0.001, 0.429] +============================================================ + + +============================================================ +SCENE: MasterBedroom-49865 | 7 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0727, Walkable Loss: 2.2115 (Center Penalty: 1.5492, C1 Heatmap: 0.4411, C2 Repulsion: 1.5471), Relational Loss: 0.0360 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +bed 1.239 1.226 1.741 0.744 0.002 0.405 -179.86° +nightstand 0.489 0.679 0.394 -0.646 0.002 1.207 179.86° +nightstand 0.384 0.614 0.397 1.632 0.000 1.107 179.99° +wardrobe 1.175 2.365 0.530 -1.622 0.001 0.007 90.00° +lamp 0.252 0.661 0.217 0.761 1.942 -0.216 -0.17° +floor 4.418 -0.001 2.766 0.013 -0.000 -0.038 -0.03° +_scene_ 0.069 -0.000 0.019 -5.672 -0.005 -5.715 -57.31° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bed <-> floor depth=[1.239, -0.001, 1.741] + !! OVERLAP: nightstand <-> floor depth=[0.489, -0.001, 0.335] + !! OVERLAP: nightstand <-> floor depth=[0.384, -0.001, 0.397] + !! OVERLAP: wardrobe <-> floor depth=[1.161, -0.001, 0.530] +============================================================ + + +============================================================ +SCENE: MasterBedroom-16450 | 7 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0000, Walkable Loss: 0.7830 (Center Penalty: 0.4743, C1 Heatmap: 0.2404, C2 Repulsion: 0.5818), Relational Loss: 0.0000 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +bed 0.678 0.763 1.534 -0.499 0.014 -0.870 0.04° +cabinet 0.561 0.995 0.101 -1.174 -0.006 0.991 -179.88° +nightstand 0.534 0.666 0.490 1.233 0.001 -1.222 0.03° +nightstand 0.520 0.681 0.416 -1.670 -0.002 -1.231 -0.06° +lamp 0.705 0.450 0.685 -1.007 2.257 0.026 0.05° +floor 4.730 0.019 3.312 -0.737 0.003 -0.516 0.15° +_scene_ 0.068 0.001 0.019 -5.671 -0.005 -5.717 -57.27° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bed <-> floor depth=[0.678, 0.019, 1.534] + !! OVERLAP: cabinet <-> floor depth=[0.561, 0.019, 0.101] + !! OVERLAP: nightstand <-> floor depth=[0.534, 0.019, 0.490] + !! OVERLAP: nightstand <-> floor depth=[0.520, 0.019, 0.416] +============================================================ + + +============================================================ +SCENE: SecondBedroom-14328 | 7 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0000, Walkable Loss: 1.6656 (Center Penalty: 1.1721, C1 Heatmap: 0.2766, C2 Repulsion: 1.3616), Relational Loss: 0.0396 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +table 1.261 1.209 0.305 -1.146 0.001 0.843 179.98° +nightstand 0.597 0.514 0.415 -1.365 0.000 -1.265 -0.02° +bed 1.188 0.701 0.867 0.003 -0.013 -1.002 -0.33° +nightstand 0.306 0.513 0.259 1.222 0.002 -1.296 0.02° +wardrobe 0.857 2.407 -0.151 1.279 -0.010 -0.595 -90.75° +floor 3.553 -0.003 2.949 -0.022 0.001 -0.010 -0.01° +_scene_ 0.074 0.000 0.022 -5.670 -0.005 -5.715 -57.28° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: table <-> floor depth=[1.261, -0.003, 0.305] + !! OVERLAP: nightstand <-> floor depth=[0.597, -0.003, 0.415] + !! OVERLAP: bed <-> floor depth=[1.188, -0.003, 0.867] + !! OVERLAP: nightstand <-> floor depth=[0.306, -0.003, 0.259] + !! OVERLAP: wardrobe <-> floor depth=[0.857, -0.003, -0.151] +============================================================ + + +============================================================ +SCENE: SecondBedroom-39108 | 8 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0000, Walkable Loss: 1.0437 (Center Penalty: 0.3918, C1 Heatmap: 0.6361, C2 Repulsion: 0.7155), Relational Loss: 0.0174 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +cabinet 0.837 1.065 0.520 -1.325 0.002 0.279 90.09° +cabinet 0.875 0.998 0.436 -1.325 -0.001 -1.498 90.02° +bed 2.029 0.663 2.206 0.922 -0.008 -0.791 -0.16° +lamp 0.501 0.830 0.317 0.659 1.946 -0.793 0.48° +lamp 0.402 0.736 0.417 0.790 2.273 -1.352 -0.06° +lamp 0.099 0.768 0.081 -1.154 2.078 0.958 -89.78° +floor 3.898 0.007 3.981 0.164 -0.005 -0.917 -0.25° +_scene_ 0.066 0.003 0.020 -5.673 -0.004 -5.712 -57.30° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: cabinet <-> floor depth=[0.837, 0.007, 0.520] + !! OVERLAP: cabinet <-> floor depth=[0.875, 0.007, 0.436] + !! OVERLAP: bed <-> floor depth=[2.029, 0.007, 2.206] +============================================================ + + +============================================================ +SCENE: MasterBedroom-19531 | 7 objects +============================================================ +Final Step Collision Loss: 0.0053, Room Outer Loss: 0.0980, Walkable Loss: 2.2286 (Center Penalty: 1.4200, C1 Heatmap: 0.4027, C2 Repulsion: 2.4325), Relational Loss: 0.0380 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +lamp 0.528 0.286 0.592 0.700 2.507 -0.363 0.36° +bed 1.065 1.051 1.450 0.702 0.036 -0.750 0.29° +nightstand 0.518 0.610 0.456 -0.813 -0.001 -1.249 0.04° +nightstand 0.513 0.665 0.495 1.439 0.000 -1.137 0.10° +wardrobe 1.503 2.588 0.446 -1.309 -0.015 -0.798 90.00° +floor 3.781 -0.005 3.125 -0.072 0.001 0.018 -0.02° +_scene_ 0.065 -0.000 0.019 -5.674 -0.005 -5.716 -57.28° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bed <-> nightstand depth=[0.052, 0.665, 0.495] + !! OVERLAP: bed <-> floor depth=[1.065, -0.005, 1.450] + !! OVERLAP: nightstand <-> wardrobe depth=[0.514, 0.610, 0.000] + !! OVERLAP: nightstand <-> floor depth=[0.518, -0.005, 0.456] + !! OVERLAP: nightstand <-> floor depth=[0.513, -0.005, 0.495] + !! OVERLAP: wardrobe <-> floor depth=[1.405, -0.005, 0.446] +============================================================ + + +============================================================ +SCENE: Bedroom-74 | 5 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.1121, Walkable Loss: 1.9125 (Center Penalty: 1.5585, C1 Heatmap: 0.3822, C2 Repulsion: 0.2409), Relational Loss: 0.0000 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +bed 1.349 1.540 1.578 -0.946 0.009 -0.335 89.59° +lamp 0.500 0.546 0.428 -0.700 2.060 0.100 -0.20° +wardrobe 1.097 2.272 0.597 1.192 -0.003 -0.050 -90.05° +floor 3.270 0.000 3.137 -0.006 0.000 -0.008 -0.04° +_scene_ 0.043 0.003 0.006 -5.662 -0.006 -5.718 -57.34° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bed <-> floor depth=[1.349, 0.000, 1.578] + !! OVERLAP: wardrobe <-> floor depth=[0.985, 0.000, 0.597] +============================================================ + + +============================================================ +SCENE: Bedroom-15856 | 8 objects +============================================================ +Final Step Collision Loss: 0.0045, Room Outer Loss: 0.1915, Walkable Loss: 1.3559 (Center Penalty: 0.7289, C1 Heatmap: 0.3303, C2 Repulsion: 1.8141), Relational Loss: 0.0208 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +bed 0.892 1.200 1.385 -0.426 0.003 0.615 91.54° +nightstand 0.550 0.690 0.216 -1.437 0.009 -0.782 90.15° +nightstand 0.429 0.790 0.397 -1.508 0.003 1.088 89.99° +lamp 0.626 0.367 0.294 0.894 2.470 -0.115 -0.16° +chair 0.414 0.869 0.545 1.839 0.002 -0.373 -30.05° +tv_stand 1.624 0.570 0.071 1.682 -0.001 0.534 -89.75° +floor 4.798 -0.018 2.817 0.555 0.002 0.710 0.21° +_scene_ 0.070 0.005 0.017 -5.670 -0.005 -5.714 -57.29° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bed <-> floor depth=[0.892, -0.018, 1.385] + !! OVERLAP: nightstand <-> floor depth=[0.550, -0.018, 0.025] + !! OVERLAP: nightstand <-> floor depth=[0.429, -0.018, 0.397] + !! OVERLAP: chair <-> floor depth=[0.414, -0.018, 0.545] + !! OVERLAP: tv_stand <-> floor depth=[1.624, -0.018, 0.071] +============================================================ + + +============================================================ +SCENE: MasterBedroom-3845 | 7 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0000, Walkable Loss: 1.0008 (Center Penalty: 0.4612, C1 Heatmap: 0.3966, C2 Repulsion: 1.1119), Relational Loss: 0.0302 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +wardrobe 2.559 2.384 0.400 -0.434 0.007 1.357 -179.72° +bed 0.769 0.883 0.921 -1.329 0.021 -0.481 91.49° +nightstand 0.458 0.515 0.371 -1.616 -0.000 -1.661 90.04° +nightstand 0.383 0.593 0.333 -1.668 0.001 0.664 90.02° +lamp 0.462 0.101 0.560 -0.159 2.546 -0.857 0.19° +floor 3.457 0.004 4.442 -0.670 0.002 -0.586 -0.47° +_scene_ 0.068 -0.001 0.019 -5.665 -0.004 -5.712 -57.31° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: wardrobe <-> floor depth=[2.559, 0.004, 0.400] + !! OVERLAP: bed <-> floor depth=[0.769, 0.004, 0.921] + !! OVERLAP: nightstand <-> floor depth=[0.458, 0.004, 0.371] + !! OVERLAP: nightstand <-> floor depth=[0.383, 0.004, 0.333] +============================================================ + + +============================================================ +SCENE: MasterBedroom-14075 | 7 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0000, Walkable Loss: 2.0252 (Center Penalty: 1.2715, C1 Heatmap: 0.6219, C2 Repulsion: 1.2811), Relational Loss: 0.0000 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +bed 1.284 0.970 1.427 0.324 -0.004 1.041 179.50° +tv_stand 2.996 0.742 0.433 0.193 -0.000 -1.331 -0.01° +lamp 0.695 0.550 0.485 0.825 2.182 0.509 0.10° +nightstand 0.402 0.463 0.317 1.451 0.005 1.614 179.89° +nightstand 0.460 0.474 0.376 -1.081 0.001 1.577 179.86° +floor 3.831 -0.002 3.754 0.025 -0.000 -0.009 -0.01° +_scene_ 0.070 0.001 0.030 -5.667 -0.004 -5.710 -57.29° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bed <-> floor depth=[1.284, -0.002, 1.427] + !! OVERLAP: tv_stand <-> floor depth=[2.996, -0.002, 0.433] + !! OVERLAP: nightstand <-> floor depth=[0.402, -0.002, 0.317] + !! OVERLAP: nightstand <-> floor depth=[0.460, -0.002, 0.376] +============================================================ + + +============================================================ +SCENE: Bedroom-22495 | 5 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0000, Walkable Loss: 1.0308 (Center Penalty: 0.4445, C1 Heatmap: 0.6312, C2 Repulsion: 0.4065), Relational Loss: 0.0000 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +bed 1.950 1.503 2.231 0.305 -0.002 0.947 -179.99° +lamp 0.865 0.948 0.900 0.531 1.787 0.703 -0.11° +wardrobe 1.361 2.126 0.470 0.468 -0.001 -1.414 0.04° +floor 3.498 -0.029 4.345 0.995 -0.023 0.502 1.37° +_scene_ 0.074 0.006 0.031 -5.666 -0.004 -5.717 -57.29° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bed <-> floor depth=[1.950, -0.029, 2.231] + !! OVERLAP: wardrobe <-> floor depth=[1.361, -0.029, 0.470] +============================================================ + + +============================================================ +SCENE: MasterBedroom-22581 | 9 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0060, Walkable Loss: 1.2130 (Center Penalty: 0.7433, C1 Heatmap: 0.2979, C2 Repulsion: 1.1569), Relational Loss: 0.0164 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +desk 1.160 0.694 -0.175 1.749 -0.012 -1.319 -1.09° +chair 0.458 0.697 0.459 2.029 0.002 -0.585 179.79° +wardrobe 0.917 2.021 0.380 -1.419 0.003 0.057 90.22° +cabinet 0.512 1.007 0.342 1.921 0.002 1.591 179.95° +nightstand 0.719 0.789 0.486 -1.140 -0.002 -1.127 -0.02° +bed 1.043 1.089 0.829 0.306 0.017 -0.922 2.05° +lamp 0.545 0.247 0.492 0.820 2.313 0.093 0.09° +floor 5.197 -0.019 3.387 0.728 0.001 0.228 -0.05° +_scene_ 0.070 0.001 0.022 -5.670 -0.005 -5.710 -57.30° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: desk <-> floor depth=[1.160, -0.019, -0.175] + !! OVERLAP: chair <-> floor depth=[0.458, -0.019, 0.459] + !! OVERLAP: wardrobe <-> floor depth=[0.911, -0.019, 0.380] + !! OVERLAP: cabinet <-> floor depth=[0.512, -0.019, 0.342] + !! OVERLAP: nightstand <-> floor depth=[0.719, -0.019, 0.486] + !! OVERLAP: bed <-> floor depth=[1.043, -0.019, 0.829] +============================================================ + + +============================================================ +SCENE: Bedroom-54381 | 6 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.1707, Walkable Loss: 0.6825 (Center Penalty: 0.4635, C1 Heatmap: 0.2059, C2 Repulsion: 0.2715), Relational Loss: 0.0000 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +bed 0.998 1.077 1.240 0.637 -0.036 -0.770 91.70° +nightstand 0.380 0.544 0.368 -0.800 -0.008 -1.348 89.93° +nightstand 0.306 0.594 0.389 -0.899 0.013 1.085 90.38° +lamp 0.555 0.774 0.792 0.602 1.774 -1.081 0.83° +floor 3.166 -0.017 3.868 0.647 -0.005 -0.514 -0.24° +_scene_ 0.065 0.001 0.015 -5.672 -0.005 -5.714 -57.29° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bed <-> floor depth=[0.998, -0.017, 1.240] + !! OVERLAP: nightstand <-> floor depth=[0.326, -0.017, 0.368] + !! OVERLAP: nightstand <-> floor depth=[0.190, -0.017, 0.389] +============================================================ + + +============================================================ +SCENE: Bedroom-5215 | 8 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0000, Walkable Loss: 1.6929 (Center Penalty: 0.6530, C1 Heatmap: 0.5242, C2 Repulsion: 3.1030), Relational Loss: 0.0134 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +bed 1.729 1.255 1.828 0.654 -0.000 -0.970 0.05° +nightstand 0.440 0.476 0.328 -0.452 0.004 -1.481 -0.04° +table 0.850 1.083 0.309 1.274 0.005 1.579 179.92° +chair 0.565 0.359 0.441 1.157 -0.001 0.948 -0.01° +wardrobe 0.521 2.113 0.368 -0.900 -0.042 -0.817 89.28° +lamp 0.597 0.252 0.547 0.696 2.189 0.396 0.01° +floor 3.883 -0.022 4.265 0.759 0.010 -0.372 -0.36° +_scene_ 0.072 0.000 0.023 -5.670 -0.005 -5.714 -57.30° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bed <-> floor depth=[1.729, -0.022, 1.828] + !! OVERLAP: nightstand <-> floor depth=[0.440, -0.022, 0.328] + !! OVERLAP: table <-> floor depth=[0.850, -0.022, 0.309] + !! OVERLAP: chair <-> floor depth=[0.565, -0.022, 0.441] + !! OVERLAP: wardrobe <-> floor depth=[0.521, -0.022, 0.368] +============================================================ + + +============================================================ +SCENE: MasterBedroom-12479 | 8 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0180, Walkable Loss: 1.9198 (Center Penalty: 1.3943, C1 Heatmap: 0.3826, C2 Repulsion: 1.0972), Relational Loss: 0.0234 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +bed 0.828 1.379 1.447 0.134 0.028 -0.935 0.23° +nightstand 0.464 0.688 0.387 -1.030 0.002 -1.489 -0.00° +nightstand 0.502 0.675 0.443 1.244 -0.001 -1.423 0.08° +shelf 0.597 1.061 0.230 -1.207 0.000 1.452 179.96° +tv_stand 1.654 0.564 0.393 0.759 -0.001 1.439 179.90° +lamp 0.687 0.549 0.697 0.724 2.123 -0.431 0.02° +floor 3.736 -0.002 3.342 -0.093 0.000 -0.054 -0.01° +_scene_ 0.072 -0.000 0.024 -5.670 -0.005 -5.711 -57.30° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bed <-> floor depth=[0.828, -0.002, 1.447] + !! OVERLAP: nightstand <-> floor depth=[0.464, -0.002, 0.387] + !! OVERLAP: nightstand <-> floor depth=[0.502, -0.002, 0.443] + !! OVERLAP: shelf <-> floor depth=[0.597, -0.002, 0.230] + !! OVERLAP: tv_stand <-> floor depth=[1.654, -0.002, 0.375] +============================================================ + + +============================================================ +SCENE: SecondBedroom-37794 | 7 objects +============================================================ +Final Step Collision Loss: 0.0203, Room Outer Loss: 0.0494, Walkable Loss: 1.1486 (Center Penalty: 0.5610, C1 Heatmap: 0.3525, C2 Repulsion: 1.5283), Relational Loss: 0.0655 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +lamp 0.750 0.965 0.752 -0.043 1.730 0.894 0.32° +bed 1.377 1.016 1.507 -0.871 0.010 0.818 0.18° +nightstand 0.338 0.584 0.274 -1.482 0.019 -0.505 0.19° +chair 0.408 0.569 0.351 1.562 -0.005 -0.400 88.52° +table 0.877 1.817 0.272 1.421 -0.009 -0.640 -89.43° +floor 4.905 0.005 3.029 0.111 -0.006 0.788 0.09° +_scene_ 0.068 -0.001 0.021 -5.674 -0.004 -5.717 -57.24° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bed <-> floor depth=[1.377, 0.005, 1.507] + !! OVERLAP: nightstand <-> floor depth=[0.338, 0.005, 0.274] + !! OVERLAP: chair <-> table depth=[0.408, 0.569, 0.072] + !! OVERLAP: chair <-> floor depth=[0.408, 0.005, 0.351] + !! OVERLAP: table <-> floor depth=[0.877, 0.005, 0.223] +============================================================ + + +============================================================ +SCENE: SecondBedroom-69017 | 8 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0270, Walkable Loss: 1.3591 (Center Penalty: 0.8476, C1 Heatmap: 0.3431, C2 Repulsion: 1.1850), Relational Loss: 0.0316 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +bed 0.981 1.303 1.010 -0.872 0.026 -1.006 2.59° +nightstand 0.410 0.823 0.284 0.750 0.001 -1.492 0.04° +nightstand 0.459 0.794 0.289 -1.895 0.000 -1.488 -0.03° +chair 1.097 0.508 0.548 -0.792 -0.001 0.830 -0.04° +lamp 0.732 0.827 0.532 -0.814 2.024 -0.182 0.05° +wardrobe 1.048 2.334 0.527 0.956 0.014 -0.547 -88.97° +floor 4.046 -0.012 3.132 -0.570 0.004 -0.354 0.33° +_scene_ 0.067 0.000 0.022 -5.673 -0.005 -5.715 -57.30° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bed <-> floor depth=[0.981, -0.012, 1.010] + !! OVERLAP: nightstand <-> floor depth=[0.410, -0.012, 0.284] + !! OVERLAP: nightstand <-> floor depth=[0.459, -0.012, 0.289] + !! OVERLAP: chair <-> floor depth=[1.097, -0.012, 0.548] + !! OVERLAP: wardrobe <-> floor depth=[1.021, -0.012, 0.527] +============================================================ + + +============================================================ +SCENE: MasterBedroom-1615 | 8 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0000, Walkable Loss: 1.5533 (Center Penalty: 0.7974, C1 Heatmap: 0.3499, C2 Repulsion: 2.3796), Relational Loss: 0.0376 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +bed 1.002 0.801 1.513 0.777 -0.015 0.805 -90.33° +wardrobe 1.450 2.315 -0.071 0.699 0.023 -0.940 1.73° +nightstand 0.359 0.512 0.308 1.334 0.001 -0.508 -90.54° +nightstand 0.406 0.469 0.386 1.327 0.001 1.720 -89.98° +lamp 0.545 0.170 0.519 0.133 2.392 0.781 -0.29° +tv_stand 1.029 0.712 0.249 -0.647 0.008 0.950 92.22° +floor 2.994 -0.002 3.665 0.209 -0.003 0.772 -0.54° +_scene_ 0.071 0.001 0.026 -5.670 -0.005 -5.717 -57.30° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bed <-> nightstand depth=[0.153, 0.469, 0.034] + !! OVERLAP: bed <-> floor depth=[1.002, -0.002, 1.513] + !! OVERLAP: wardrobe <-> floor depth=[1.450, -0.002, -0.071] + !! OVERLAP: nightstand <-> floor depth=[0.359, -0.002, 0.308] + !! OVERLAP: nightstand <-> floor depth=[0.406, -0.002, 0.386] + !! OVERLAP: tv_stand <-> floor depth=[1.029, -0.002, 0.249] +============================================================ + + +============================================================ +SCENE: MasterBedroom-8979 | 6 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0000, Walkable Loss: 0.9603 (Center Penalty: 0.3148, C1 Heatmap: 0.2775, C2 Repulsion: 2.1175), Relational Loss: 0.0429 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +wardrobe 1.531 2.327 0.268 -1.481 0.004 -0.933 89.75° +bed 0.868 1.304 1.194 0.074 0.035 -1.029 0.05° +nightstand 0.341 0.494 0.346 1.103 -0.001 -1.319 0.17° +nightstand 0.357 0.495 0.365 -0.931 0.002 -1.088 -0.16° +floor 4.510 0.029 2.833 -0.906 0.001 -0.229 0.27° +_scene_ 0.074 0.001 0.025 -5.672 -0.005 -5.716 -57.28° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: wardrobe <-> nightstand depth=[0.357, 0.495, 0.162] + !! OVERLAP: wardrobe <-> floor depth=[1.531, 0.029, 0.268] + !! OVERLAP: bed <-> floor depth=[0.868, 0.029, 1.194] + !! OVERLAP: nightstand <-> floor depth=[0.341, 0.029, 0.346] + !! OVERLAP: nightstand <-> floor depth=[0.357, 0.029, 0.365] +============================================================ + + +============================================================ +SCENE: MasterBedroom-6631 | 8 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0000, Walkable Loss: 2.1946 (Center Penalty: 1.2473, C1 Heatmap: 0.5422, C2 Repulsion: 2.5675), Relational Loss: 0.0196 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +bed 1.238 1.466 1.599 -1.052 0.008 -0.234 90.63° +nightstand 0.440 0.563 0.348 -1.312 0.002 1.115 90.07° +wardrobe 1.720 2.520 0.379 -0.670 0.003 1.546 179.87° +chair 0.628 0.850 0.610 -1.281 -0.007 -1.698 -7.58° +tv_stand 1.074 0.448 0.340 1.192 0.000 -0.914 -90.01° +lamp 0.850 0.081 0.397 -0.087 2.404 -0.979 -0.15° +floor 3.552 -0.002 4.224 0.018 -0.000 -0.076 -0.02° +_scene_ 0.071 -0.000 0.023 -5.672 -0.004 -5.711 -57.30° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bed <-> floor depth=[1.238, -0.002, 1.599] + !! OVERLAP: nightstand <-> floor depth=[0.440, -0.002, 0.348] + !! OVERLAP: wardrobe <-> floor depth=[1.720, -0.002, 0.379] + !! OVERLAP: chair <-> floor depth=[0.628, -0.002, 0.610] + !! OVERLAP: tv_stand <-> floor depth=[1.074, -0.002, 0.340] +============================================================ + + +============================================================ +SCENE: MasterBedroom-58086 | 5 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0000, Walkable Loss: 1.2895 (Center Penalty: 0.7939, C1 Heatmap: 0.3747, C2 Repulsion: 0.9788), Relational Loss: 0.0137 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +bed 0.468 0.806 1.019 -0.977 -0.037 -1.048 91.20° +wardrobe 2.412 2.425 0.610 -0.160 0.003 1.231 179.66° +chair 0.316 1.109 0.423 -0.584 -0.001 -1.622 -100.86° +floor 2.971 0.002 3.885 -0.031 0.002 -0.396 -0.06° +_scene_ 0.039 0.017 0.036 -5.540 -0.006 -5.609 -57.89° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bed <-> floor depth=[0.468, 0.002, 1.019] + !! OVERLAP: wardrobe <-> floor depth=[2.412, 0.002, 0.610] + !! OVERLAP: chair <-> floor depth=[0.316, 0.002, 0.423] +============================================================ + + +============================================================ +SCENE: MasterBedroom-34041 | 7 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0590, Walkable Loss: 2.0279 (Center Penalty: 1.5168, C1 Heatmap: 0.3547, C2 Repulsion: 1.1368), Relational Loss: 0.0292 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +bed 0.648 0.966 0.905 0.627 0.038 -0.817 0.66° +nightstand 0.514 0.655 0.367 -0.596 0.002 -1.097 0.04° +wardrobe 2.317 2.593 0.412 -1.087 0.030 0.203 89.82° +nightstand 0.408 0.545 0.334 1.608 0.002 -1.175 0.10° +lamp 0.798 0.759 0.817 0.652 2.116 0.480 -0.03° +floor 4.445 -0.001 2.722 0.036 -0.001 -0.019 -0.04° +_scene_ 0.065 0.000 0.018 -5.674 -0.006 -5.715 -57.28° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bed <-> floor depth=[0.648, -0.001, 0.905] + !! OVERLAP: nightstand <-> floor depth=[0.514, -0.001, 0.367] + !! OVERLAP: wardrobe <-> floor depth=[2.258, -0.001, 0.412] + !! OVERLAP: nightstand <-> floor depth=[0.408, -0.001, 0.334] +============================================================ + + +============================================================ +SCENE: MasterBedroom-63654 | 6 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0529, Walkable Loss: 0.5191 (Center Penalty: 0.2647, C1 Heatmap: 0.1973, C2 Repulsion: 0.4827), Relational Loss: 0.0528 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +nightstand 0.321 0.503 0.309 1.007 -0.002 -1.714 0.01° +nightstand 0.481 0.503 0.344 -1.500 -0.001 -1.527 0.03° +lamp 0.798 0.821 0.779 -0.672 2.089 -0.648 -0.11° +bed 0.717 1.298 1.493 -0.272 -0.029 -1.212 0.24° +floor 4.569 -0.011 4.168 -1.170 -0.032 -0.440 0.28° +_scene_ 0.068 0.001 0.021 -5.673 -0.005 -5.715 -57.28° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: nightstand <-> floor depth=[0.268, -0.011, 0.309] + !! OVERLAP: nightstand <-> floor depth=[0.481, -0.011, 0.344] + !! OVERLAP: bed <-> floor depth=[0.717, -0.011, 1.493] +============================================================ + + +============================================================ +SCENE: Bedroom-21085 | 8 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0000, Walkable Loss: 1.1826 (Center Penalty: 0.8042, C1 Heatmap: 0.2234, C2 Repulsion: 0.9984), Relational Loss: 0.0538 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +shelf 0.226 0.691 0.213 1.592 0.003 1.517 -90.11° +nightstand 0.519 0.663 0.420 1.411 0.005 -0.544 -0.19° +nightstand 0.192 0.781 0.158 -1.036 0.013 -0.150 -0.02° +bed 0.734 1.095 1.546 0.431 -0.053 0.948 0.41° +wardrobe 0.571 2.575 0.039 -1.376 0.031 -0.009 89.40° +lamp 0.628 0.774 0.362 0.384 2.103 0.873 0.29° +floor 3.500 0.009 2.963 0.085 -0.002 0.687 -0.53° +_scene_ 0.070 0.000 0.022 -5.673 -0.005 -5.712 -57.31° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: shelf <-> floor depth=[0.226, 0.009, 0.213] + !! OVERLAP: nightstand <-> floor depth=[0.519, 0.009, 0.420] + !! OVERLAP: nightstand <-> floor depth=[0.192, 0.009, 0.158] + !! OVERLAP: bed <-> floor depth=[0.734, 0.009, 1.546] + !! OVERLAP: wardrobe <-> floor depth=[0.571, 0.009, 0.039] +============================================================ + + +============================================================ +SCENE: Bedroom-13675 | 5 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.2964, Walkable Loss: 0.8830 (Center Penalty: 0.3586, C1 Heatmap: 0.5348, C2 Repulsion: 0.4824), Relational Loss: 0.0000 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +bed 1.524 0.774 1.642 -0.969 -0.023 -0.668 90.15° +wardrobe 1.880 2.422 0.650 1.164 -0.007 -0.148 -90.29° +lamp 0.610 0.800 0.553 -0.399 1.854 -0.845 179.81° +floor 3.686 0.007 3.578 -0.035 -0.022 -1.192 0.21° +_scene_ 0.054 -0.000 0.011 -5.680 -0.005 -5.718 -57.31° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bed <-> floor depth=[1.524, 0.007, 1.642] + !! OVERLAP: wardrobe <-> floor depth=[1.584, 0.007, 0.650] +============================================================ + + +============================================================ +SCENE: MasterBedroom-32488 | 9 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0876, Walkable Loss: 1.2243 (Center Penalty: 0.4306, C1 Heatmap: 0.2998, C2 Repulsion: 2.7694), Relational Loss: 0.0454 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +table 0.922 1.156 0.247 -2.154 -0.004 -1.171 0.06° +nightstand 0.327 0.550 0.209 0.116 0.014 -1.069 0.21° +chair 0.317 0.494 0.330 -2.240 0.002 -0.664 -90.06° +bed 0.947 1.486 0.814 -1.440 -0.003 0.176 -0.78° +cabinet 0.741 1.035 0.385 -2.176 0.002 1.547 -179.95° +lamp 0.848 0.868 0.829 -1.225 1.870 0.052 -0.04° +wardrobe 1.947 2.308 -0.107 -0.317 -0.004 -0.919 -91.64° +floor 5.784 0.006 3.270 -0.944 -0.001 0.428 -0.01° +_scene_ 0.074 -0.000 0.021 -5.672 -0.004 -5.712 -57.31° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: table <-> floor depth=[0.922, 0.006, 0.160] + !! OVERLAP: nightstand <-> floor depth=[0.327, 0.006, 0.209] + !! OVERLAP: chair <-> floor depth=[0.317, 0.006, 0.330] + !! OVERLAP: bed <-> floor depth=[0.947, 0.006, 0.814] + !! OVERLAP: cabinet <-> floor depth=[0.741, 0.006, 0.385] + !! OVERLAP: wardrobe <-> floor depth=[1.947, 0.006, -0.107] +============================================================ + + +============================================================ +SCENE: MasterBedroom-45545 | 8 objects +============================================================ +Final Step Collision Loss: 0.0028, Room Outer Loss: 0.0000, Walkable Loss: 1.8252 (Center Penalty: 1.2700, C1 Heatmap: 0.3284, C2 Repulsion: 1.4620), Relational Loss: 0.0331 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +table 0.878 1.453 0.269 1.519 0.001 1.470 179.94° +bed 0.789 1.644 1.060 0.500 0.034 -1.055 -0.42° +nightstand 0.425 0.546 0.359 -1.235 -0.000 -1.355 0.03° +nightstand 0.540 0.626 0.423 1.511 -0.000 -1.389 -0.03° +lamp 0.595 1.441 0.253 -0.273 0.997 0.900 0.29° +wardrobe 1.613 2.329 0.168 -1.230 0.014 -0.420 89.83° +floor 4.075 -0.003 3.245 -0.026 -0.000 -0.007 -0.04° +_scene_ 0.071 0.000 0.023 -5.673 -0.004 -5.714 -57.31° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: table <-> floor depth=[0.878, -0.003, 0.269] + !! OVERLAP: bed <-> floor depth=[0.789, -0.003, 1.060] + !! OVERLAP: nightstand <-> floor depth=[0.425, -0.003, 0.359] + !! OVERLAP: nightstand <-> floor depth=[0.540, -0.003, 0.423] + !! OVERLAP: wardrobe <-> floor depth=[1.613, -0.003, 0.168] +============================================================ + + +============================================================ +SCENE: Bedroom-18759 | 8 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0043, Walkable Loss: 0.8555 (Center Penalty: 0.3353, C1 Heatmap: 0.2929, C2 Repulsion: 1.4292), Relational Loss: 0.0187 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +bed 0.668 2.015 0.890 -0.973 -0.008 0.811 90.82° +nightstand 0.439 0.490 0.311 -1.532 0.003 0.084 90.05° +nightstand 0.444 0.433 0.301 -1.567 0.011 1.561 90.11° +tv_stand 1.101 0.579 0.050 0.838 -0.003 0.941 -90.83° +lamp 0.691 0.944 0.338 0.004 1.641 1.107 -0.14° +wardrobe 1.888 2.369 0.235 -0.826 0.010 -0.971 0.05° +floor 3.329 0.035 4.440 -0.280 -0.001 0.992 0.55° +_scene_ 0.079 -0.001 0.029 -5.659 -0.003 -5.713 -57.23° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bed <-> floor depth=[0.668, 0.035, 0.890] + !! OVERLAP: nightstand <-> floor depth=[0.439, 0.035, 0.311] + !! OVERLAP: nightstand <-> floor depth=[0.444, 0.035, 0.301] + !! OVERLAP: tv_stand <-> floor depth=[1.097, 0.035, 0.050] + !! OVERLAP: wardrobe <-> floor depth=[1.888, 0.035, 0.235] +============================================================ + + +============================================================ +SCENE: MasterBedroom-29436 | 8 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0000, Walkable Loss: 1.0022 (Center Penalty: 0.4122, C1 Heatmap: 0.5147, C2 Repulsion: 0.8909), Relational Loss: 0.0032 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +bed 1.238 0.859 1.648 0.330 -0.002 1.063 179.51° +wardrobe 1.227 2.240 0.453 -1.761 -0.002 -1.254 0.14° +tv_stand 1.650 0.578 0.300 0.629 0.022 -1.342 -0.63° +table 0.449 1.140 0.266 -0.667 0.003 2.199 179.89° +table 0.419 1.208 0.257 2.100 0.006 1.838 -90.01° +lamp 0.945 0.869 0.848 0.198 1.760 0.958 -0.17° +floor 5.001 0.010 4.929 0.091 -0.012 0.939 0.29° +_scene_ 0.073 0.001 0.021 -5.673 -0.005 -5.716 -57.29° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bed <-> floor depth=[1.238, 0.010, 1.648] + !! OVERLAP: wardrobe <-> floor depth=[1.227, 0.010, 0.453] + !! OVERLAP: tv_stand <-> floor depth=[1.650, 0.010, 0.300] + !! OVERLAP: table <-> floor depth=[0.449, 0.010, 0.266] + !! OVERLAP: table <-> floor depth=[0.419, 0.010, 0.257] +============================================================ + + +============================================================ +SCENE: Bedroom-15797 | 7 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0722, Walkable Loss: 2.1694 (Center Penalty: 1.3888, C1 Heatmap: 0.5314, C2 Repulsion: 1.7772), Relational Loss: 0.0000 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +bed 1.766 1.435 1.646 -0.269 0.014 -0.954 -90.41° +cabinet 1.204 0.996 0.338 0.511 0.003 1.792 179.85° +nightstand 0.565 0.788 0.456 1.098 0.001 -1.462 -89.92° +nightstand 0.565 0.700 0.554 1.068 -0.000 0.962 -89.94° +lamp 0.433 0.324 0.455 0.051 2.385 -0.847 -0.36° +floor 2.828 -0.002 3.874 -0.027 -0.001 -0.048 -0.00° +_scene_ 0.066 0.002 0.010 -5.670 -0.004 -5.710 -57.29° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bed <-> floor depth=[1.766, -0.002, 1.646] + !! OVERLAP: cabinet <-> floor depth=[1.204, -0.002, 0.266] + !! OVERLAP: nightstand <-> floor depth=[0.565, -0.002, 0.456] + !! OVERLAP: nightstand <-> floor depth=[0.565, -0.002, 0.554] +============================================================ + + +============================================================ +SCENE: MasterBedroom-13658 | 7 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0000, Walkable Loss: 1.8010 (Center Penalty: 1.2633, C1 Heatmap: 0.4083, C2 Repulsion: 1.0549), Relational Loss: 0.0369 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +wardrobe 2.352 2.321 0.416 -0.149 0.001 -1.906 0.11° +bed 0.949 0.890 1.247 -1.102 -0.005 0.679 89.50° +nightstand 0.254 0.505 0.228 -1.383 0.000 -0.802 90.00° +nightstand 0.387 0.522 0.351 -1.342 0.000 1.664 90.03° +lamp 0.687 0.305 0.879 -0.409 2.171 0.755 -0.10° +floor 3.192 -0.000 4.285 -0.059 0.001 -0.003 -0.05° +_scene_ 0.070 -0.001 0.021 -5.668 -0.004 -5.715 -57.29° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: wardrobe <-> floor depth=[2.352, -0.000, 0.416] + !! OVERLAP: bed <-> floor depth=[0.949, -0.000, 1.247] + !! OVERLAP: nightstand <-> floor depth=[0.254, -0.000, 0.228] + !! OVERLAP: nightstand <-> floor depth=[0.387, -0.000, 0.351] +============================================================ + + +============================================================ +SCENE: Bedroom-53437 | 7 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0000, Walkable Loss: 1.7028 (Center Penalty: 1.3849, C1 Heatmap: 0.1881, C2 Repulsion: 0.8373), Relational Loss: 0.0398 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +bed 0.631 1.004 1.043 0.520 -0.003 0.824 -179.08° +lamp 0.752 0.198 0.184 0.861 2.416 0.215 -0.14° +wardrobe 1.324 2.457 0.170 -1.365 0.006 0.548 88.90° +nightstand 0.374 0.633 0.230 -0.806 0.005 1.219 179.95° +nightstand 0.367 0.614 0.283 1.441 0.002 1.098 179.83° +floor 4.065 -0.002 2.820 -0.006 -0.001 0.005 -0.03° +_scene_ 0.065 -0.001 0.021 -5.675 -0.005 -5.717 -57.27° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bed <-> floor depth=[0.631, -0.002, 1.043] + !! OVERLAP: wardrobe <-> floor depth=[1.324, -0.002, 0.170] + !! OVERLAP: nightstand <-> floor depth=[0.374, -0.002, 0.230] + !! OVERLAP: nightstand <-> floor depth=[0.367, -0.002, 0.283] +============================================================ + + +============================================================ +SCENE: MasterBedroom-1096 | 8 objects +============================================================ +Final Step Collision Loss: 0.0044, Room Outer Loss: 0.0157, Walkable Loss: 2.2245 (Center Penalty: 1.4772, C1 Heatmap: 0.4337, C2 Repulsion: 2.0017), Relational Loss: 0.0087 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +bed 1.119 1.007 1.538 0.981 0.008 -0.597 -0.67° +table 1.016 1.154 0.267 0.483 0.008 -1.452 0.02° +wardrobe 1.328 2.036 0.349 -1.012 -0.003 0.528 90.31° +lamp 0.545 0.386 0.560 0.810 2.274 -0.302 0.09° +chair 0.384 0.703 0.396 -0.582 0.007 -0.923 -159.86° +bookshelf 0.659 1.568 0.347 1.160 0.000 1.088 -179.94° +floor 3.320 -0.003 3.192 -0.001 0.001 0.008 -0.02° +_scene_ 0.068 -0.000 0.021 -5.667 -0.005 -5.718 -57.30° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bed <-> table depth=[0.569, 1.007, 0.048] + !! OVERLAP: bed <-> floor depth=[1.119, -0.003, 1.538] + !! OVERLAP: table <-> floor depth=[1.016, -0.003, 0.267] + !! OVERLAP: wardrobe <-> floor depth=[1.313, -0.003, 0.349] + !! OVERLAP: chair <-> floor depth=[0.384, -0.003, 0.396] + !! OVERLAP: bookshelf <-> floor depth=[0.659, -0.003, 0.347] +============================================================ + + +============================================================ +SCENE: Bedroom-20397 | 11 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.1195, Walkable Loss: 2.7382 (Center Penalty: 1.4670, C1 Heatmap: 0.5160, C2 Repulsion: 4.2923), Relational Loss: 0.0185 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +wardrobe 1.600 2.470 0.170 -1.531 -0.003 0.747 89.63° +bed 1.257 0.665 1.395 0.412 -0.031 0.974 179.80° +nightstand 0.416 0.732 0.443 1.727 0.003 1.518 179.89° +nightstand 0.412 0.801 0.304 -1.153 0.004 1.540 179.87° +cabinet 1.394 0.907 0.281 0.229 0.001 -1.496 -0.04° +table 0.373 1.707 0.385 2.071 -0.003 -1.140 -91.05° +lamp 0.351 0.849 0.257 -1.164 1.373 1.012 0.03° +lamp 0.467 0.879 0.375 1.740 1.202 0.847 -0.66° +lamp 0.458 0.127 0.481 0.656 2.322 0.312 0.50° +floor 4.526 -0.005 3.435 0.051 0.000 0.052 -0.01° +_scene_ 0.077 -0.003 0.028 -5.672 -0.004 -5.707 -57.31° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: wardrobe <-> floor depth=[1.480, -0.005, 0.170] + !! OVERLAP: bed <-> floor depth=[1.257, -0.005, 1.395] + !! OVERLAP: nightstand <-> floor depth=[0.416, -0.005, 0.443] + !! OVERLAP: nightstand <-> floor depth=[0.412, -0.005, 0.304] + !! OVERLAP: cabinet <-> floor depth=[1.394, -0.005, 0.281] + !! OVERLAP: table <-> floor depth=[0.373, -0.005, 0.385] +============================================================ + + +============================================================ +SCENE: SecondBedroom-6261 | 6 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0000, Walkable Loss: 0.8545 (Center Penalty: 0.5859, C1 Heatmap: 0.1583, C2 Repulsion: 0.7096), Relational Loss: 0.0169 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +nightstand 0.145 0.568 0.244 1.241 0.014 -0.329 -90.23° +lamp 1.012 0.560 0.342 -0.269 1.961 1.044 -0.07° +bed 0.335 1.198 1.688 1.058 0.041 0.440 -90.63° +wardrobe 0.632 2.464 0.267 0.921 -0.004 -0.853 1.07° +floor 3.208 0.002 4.050 -0.211 -0.001 0.708 -0.02° +_scene_ 0.078 0.001 0.025 -5.665 -0.004 -5.710 -57.33° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: nightstand <-> bed depth=[0.057, 0.568, 0.196] + !! OVERLAP: nightstand <-> floor depth=[0.145, 0.002, 0.244] + !! OVERLAP: bed <-> floor depth=[0.335, 0.002, 1.688] + !! OVERLAP: wardrobe <-> floor depth=[0.632, 0.002, 0.267] +============================================================ + + +============================================================ +SCENE: SecondBedroom-9923 | 6 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.2072, Walkable Loss: 0.8401 (Center Penalty: 0.3051, C1 Heatmap: 0.4480, C2 Repulsion: 0.8830), Relational Loss: 0.0013 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +bed 1.224 0.727 1.393 0.969 0.030 -0.953 -0.19° +tv_stand 1.674 0.498 0.170 0.989 -0.000 0.511 179.87° +wardrobe 1.351 2.429 0.540 -0.990 -0.013 -0.619 89.67° +lamp 0.333 0.817 0.291 0.781 1.851 -0.781 0.07° +floor 4.095 -0.018 3.307 0.504 -0.043 -1.143 1.06° +_scene_ 0.072 0.002 0.021 -5.668 -0.004 -5.713 -57.29° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bed <-> floor depth=[1.224, -0.018, 1.393] + !! OVERLAP: tv_stand <-> floor depth=[1.674, -0.018, 0.085] + !! OVERLAP: wardrobe <-> floor depth=[1.229, -0.018, 0.540] +============================================================ + + +============================================================ +SCENE: Bedroom-38427 | 7 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0666, Walkable Loss: 1.3052 (Center Penalty: 0.9329, C1 Heatmap: 0.2368, C2 Repulsion: 0.9138), Relational Loss: 0.0095 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +lamp 0.770 0.989 0.815 -0.043 2.268 -0.557 -0.11° +wardrobe 0.764 1.810 0.317 0.742 0.007 0.851 179.23° +bed 0.996 0.845 1.179 0.190 0.037 -1.156 -2.07° +nightstand 0.505 0.479 0.407 -1.303 0.002 -1.576 -0.01° +nightstand 0.272 0.486 0.265 0.945 0.001 -1.676 -0.12° +floor 3.194 0.012 3.528 -0.097 0.007 -0.821 -1.07° +_scene_ 0.068 0.000 0.016 -5.673 -0.005 -5.715 -57.29° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: wardrobe <-> floor depth=[0.764, 0.012, 0.250] + !! OVERLAP: bed <-> floor depth=[0.996, 0.012, 1.179] + !! OVERLAP: nightstand <-> floor depth=[0.505, 0.012, 0.407] + !! OVERLAP: nightstand <-> floor depth=[0.272, 0.012, 0.265] +============================================================ + + +============================================================ +SCENE: SecondBedroom-48379 | 6 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0000, Walkable Loss: 0.7595 (Center Penalty: 0.3829, C1 Heatmap: 0.2748, C2 Repulsion: 0.7840), Relational Loss: 0.0000 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +bed 0.785 1.987 0.855 0.705 -0.021 -0.892 -88.37° +wardrobe 0.759 1.629 0.347 0.657 -0.001 -1.890 0.04° +lamp 0.300 0.329 0.425 0.181 2.486 -0.947 -0.04° +desk 1.494 0.793 0.593 1.229 0.000 0.923 -90.36° +floor 2.584 0.051 3.865 0.699 -0.007 -0.696 0.70° +_scene_ 0.075 -0.001 0.020 -5.668 -0.005 -5.707 -57.31° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bed <-> floor depth=[0.785, 0.051, 0.855] + !! OVERLAP: wardrobe <-> floor depth=[0.759, 0.051, 0.347] + !! OVERLAP: desk <-> floor depth=[1.494, 0.051, 0.593] +============================================================ + + +============================================================ +SCENE: Bedroom-74674 | 5 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0475, Walkable Loss: 0.7541 (Center Penalty: 0.5259, C1 Heatmap: 0.0375, C2 Repulsion: 0.9908), Relational Loss: 0.0023 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +bed 0.285 1.057 0.546 0.611 0.076 -0.920 -89.95° +table 0.297 0.706 0.356 0.766 -0.002 -1.265 -89.56° +lamp 0.526 0.434 0.327 0.420 2.262 -0.677 -0.55° +floor 3.045 0.013 4.125 -0.656 0.005 -0.731 0.11° +_scene_ 0.045 0.009 0.012 -5.617 -0.005 -5.681 -57.43° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bed <-> table depth=[0.136, 0.706, 0.107] + !! OVERLAP: bed <-> floor depth=[0.285, 0.013, 0.546] + !! OVERLAP: table <-> floor depth=[0.250, 0.013, 0.356] +============================================================ + + +============================================================ +SCENE: MasterBedroom-41843 | 11 objects +============================================================ +Final Step Collision Loss: 0.0022, Room Outer Loss: 0.0000, Walkable Loss: 1.0528 (Center Penalty: 0.3219, C1 Heatmap: 0.3633, C2 Repulsion: 2.2014), Relational Loss: 0.0178 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +lamp 0.679 0.781 0.540 -0.237 2.003 1.167 -0.19° +wardrobe 0.412 2.279 0.152 0.694 -0.013 -1.498 0.74° +wardrobe 1.115 2.095 0.187 0.933 0.001 -1.356 0.21° +bed 0.946 1.378 1.342 0.831 0.021 0.739 -91.77° +nightstand 0.373 0.537 0.342 1.410 0.005 -0.733 -90.40° +nightstand 0.431 0.613 0.466 1.306 0.000 1.960 -90.17° +cabinet 0.958 0.745 0.354 -1.521 0.004 0.920 90.04° +chair 0.496 0.870 0.213 -1.139 0.007 -1.315 35.71° +table 0.218 0.419 0.217 -1.458 0.010 -0.705 24.04° +floor 3.996 -0.051 5.067 -0.398 -0.009 0.880 -0.03° +_scene_ 0.070 0.001 0.023 -5.671 -0.005 -5.714 -57.31° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: wardrobe <-> wardrobe depth=[0.412, 2.095, 0.026] + !! OVERLAP: wardrobe <-> floor depth=[0.412, -0.051, 0.152] + !! OVERLAP: wardrobe <-> floor depth=[1.115, -0.051, 0.187] + !! OVERLAP: bed <-> floor depth=[0.946, -0.051, 1.342] + !! OVERLAP: nightstand <-> floor depth=[0.373, -0.051, 0.342] + !! OVERLAP: nightstand <-> floor depth=[0.431, -0.051, 0.466] + !! OVERLAP: cabinet <-> floor depth=[0.958, -0.051, 0.354] + !! OVERLAP: chair <-> floor depth=[0.496, -0.051, 0.213] + !! OVERLAP: table <-> floor depth=[0.218, -0.051, 0.217] +============================================================ + + +============================================================ +SCENE: MasterBedroom-21047 | 7 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0765, Walkable Loss: 0.8811 (Center Penalty: 0.4771, C1 Heatmap: 0.2035, C2 Repulsion: 1.2059), Relational Loss: 0.0221 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +wardrobe 0.921 2.366 0.297 0.792 0.007 -1.001 -90.82° +bed 0.715 1.154 1.176 -0.771 -0.016 -0.966 -0.25° +nightstand 0.439 0.627 0.431 -1.840 -0.001 -1.206 -0.00° +nightstand 0.295 0.565 0.230 0.007 -0.005 -1.295 0.17° +lamp 0.572 1.123 0.642 -0.973 1.555 0.250 -0.07° +floor 4.057 -0.002 3.074 -0.853 0.007 -0.147 0.53° +_scene_ 0.072 -0.001 0.021 -5.666 -0.003 -5.713 -57.29° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: wardrobe <-> floor depth=[0.844, -0.002, 0.297] + !! OVERLAP: bed <-> floor depth=[0.715, -0.002, 1.176] + !! OVERLAP: nightstand <-> floor depth=[0.439, -0.002, 0.431] + !! OVERLAP: nightstand <-> floor depth=[0.295, -0.002, 0.230] +============================================================ + + +============================================================ +SCENE: MasterBedroom-34469 | 6 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0000, Walkable Loss: 1.2203 (Center Penalty: 0.6433, C1 Heatmap: 0.5314, C2 Repulsion: 0.7594), Relational Loss: 0.0000 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +bed 1.718 0.900 1.925 -1.085 -0.001 -0.977 0.05° +wardrobe 0.812 2.503 0.558 0.770 -0.016 -1.066 -89.47° +table 0.966 1.192 0.483 -1.594 0.003 1.288 -179.96° +lamp 0.578 0.467 0.583 -0.384 2.258 -0.632 -0.01° +floor 4.198 -0.005 4.337 -0.810 -0.004 -0.117 0.01° +_scene_ 0.071 0.000 0.021 -5.672 -0.006 -5.718 -57.27° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bed <-> floor depth=[1.718, -0.005, 1.925] + !! OVERLAP: wardrobe <-> floor depth=[0.812, -0.005, 0.558] + !! OVERLAP: table <-> floor depth=[0.966, -0.005, 0.483] +============================================================ + + +============================================================ +SCENE: SecondBedroom-35274 | 5 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0000, Walkable Loss: 1.8327 (Center Penalty: 1.2937, C1 Heatmap: 0.6056, C2 Repulsion: 0.2724), Relational Loss: 0.0000 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +lamp 0.784 1.010 0.769 0.585 1.692 0.767 -0.20° +bed 1.979 0.871 2.079 0.496 -0.010 0.756 -90.55° +wardrobe 1.433 1.993 0.332 0.332 0.002 -1.802 0.08° +floor 2.774 -0.005 4.391 0.129 -0.001 0.113 0.00° +_scene_ 0.061 -0.001 0.023 -5.664 -0.006 -5.711 -57.30° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bed <-> floor depth=[1.979, -0.005, 2.079] + !! OVERLAP: wardrobe <-> floor depth=[1.433, -0.005, 0.332] +============================================================ + + +============================================================ +SCENE: SecondBedroom-66007 | 8 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0771, Walkable Loss: 1.0152 (Center Penalty: 0.5391, C1 Heatmap: 0.2151, C2 Repulsion: 1.5200), Relational Loss: 0.0411 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +bed 1.038 1.134 0.677 -1.112 -0.048 0.126 -179.71° +nightstand 0.245 0.477 0.245 -1.287 -0.000 1.152 179.91° +desk 0.863 1.029 0.246 0.704 0.003 1.204 179.29° +chair 0.253 0.677 0.336 1.022 -0.004 0.504 -23.53° +wardrobe 1.174 2.061 0.188 -1.925 -0.015 0.502 90.65° +lamp 0.419 0.105 0.401 -0.823 2.356 -0.005 0.50° +floor 3.905 0.041 2.699 -0.850 -0.037 0.650 0.20° +_scene_ 0.071 -0.001 0.024 -5.671 -0.003 -5.715 -57.30° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bed <-> wardrobe depth=[0.293, 1.134, 0.056] + !! OVERLAP: bed <-> floor depth=[1.038, 0.041, 0.677] + !! OVERLAP: nightstand <-> floor depth=[0.245, 0.041, 0.245] + !! OVERLAP: desk <-> floor depth=[0.831, 0.041, 0.246] + !! OVERLAP: chair <-> floor depth=[0.208, 0.041, 0.336] + !! OVERLAP: wardrobe <-> floor depth=[1.174, 0.041, 0.188] +============================================================ + + +============================================================ +SCENE: MasterBedroom-6907 | 9 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.2066, Walkable Loss: 0.9761 (Center Penalty: 0.4187, C1 Heatmap: 0.3401, C2 Repulsion: 1.4265), Relational Loss: 0.0304 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +cabinet 0.664 1.351 0.368 0.923 0.001 -0.690 -89.97° +table 0.508 1.201 0.410 0.958 0.025 0.927 -90.96° +nightstand 0.472 0.613 0.373 -1.875 0.002 -1.635 89.92° +chair 1.016 0.482 0.409 -0.673 0.003 -0.688 90.11° +bed 0.794 1.468 1.098 -1.585 -0.016 0.122 91.88° +nightstand 0.419 0.680 0.395 -1.895 0.003 1.159 90.08° +chair 0.549 0.807 0.567 -0.348 0.001 1.337 90.08° +floor 4.247 -0.008 4.088 -0.994 0.019 -0.121 1.29° +_scene_ 0.071 0.000 0.022 -5.672 -0.004 -5.714 -57.29° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: cabinet <-> floor depth=[0.539, -0.008, 0.368] + !! OVERLAP: table <-> floor depth=[0.427, -0.008, 0.410] + !! OVERLAP: nightstand <-> floor depth=[0.472, -0.008, 0.373] + !! OVERLAP: chair <-> floor depth=[1.016, -0.008, 0.409] + !! OVERLAP: bed <-> floor depth=[0.794, -0.008, 1.098] + !! OVERLAP: nightstand <-> floor depth=[0.419, -0.008, 0.395] + !! OVERLAP: chair <-> floor depth=[0.549, -0.008, 0.567] +============================================================ + + +============================================================ +SCENE: MasterBedroom-9302 | 7 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0421, Walkable Loss: 1.7279 (Center Penalty: 1.2754, C1 Heatmap: 0.3582, C2 Repulsion: 0.8298), Relational Loss: 0.0157 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +bed 1.365 1.326 1.278 -0.445 0.001 1.082 179.15° +nightstand 0.529 0.532 0.404 1.607 -0.001 1.576 179.92° +nightstand 0.396 0.617 0.298 -1.526 0.000 1.685 179.97° +table 0.651 1.068 0.349 1.398 0.001 -1.349 0.09° +chair 0.628 0.501 0.508 -0.200 0.005 -0.850 179.82° +floor 3.710 -0.002 3.883 -0.026 -0.001 -0.055 0.02° +_scene_ 0.071 -0.001 0.022 -5.668 -0.004 -5.706 -57.32° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bed <-> floor depth=[1.365, -0.002, 1.278] + !! OVERLAP: nightstand <-> floor depth=[0.487, -0.002, 0.404] + !! OVERLAP: nightstand <-> floor depth=[0.396, -0.002, 0.298] + !! OVERLAP: table <-> floor depth=[0.651, -0.002, 0.349] + !! OVERLAP: chair <-> floor depth=[0.628, -0.002, 0.508] +============================================================ + + +============================================================ +SCENE: MasterBedroom-3151 | 5 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0000, Walkable Loss: 0.7882 (Center Penalty: 0.6589, C1 Heatmap: 0.0789, C2 Repulsion: 0.3308), Relational Loss: 0.0081 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +bed 0.173 1.212 1.450 0.043 -0.020 1.288 -89.98° +nightstand 0.273 0.508 -0.262 0.413 -0.021 0.831 -91.07° +lamp 0.976 0.834 0.152 -0.307 1.703 0.938 -0.60° +floor 2.834 -0.012 3.602 -0.421 -0.018 0.649 -0.33° +_scene_ 0.069 -0.000 0.022 -5.668 -0.004 -5.714 -57.31° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bed <-> floor depth=[0.173, -0.012, 1.450] + !! OVERLAP: nightstand <-> floor depth=[0.273, -0.012, -0.262] +============================================================ + + +============================================================ +SCENE: SecondBedroom-13281 | 9 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0000, Walkable Loss: 2.0834 (Center Penalty: 1.1321, C1 Heatmap: 0.5201, C2 Repulsion: 2.6762), Relational Loss: 0.0425 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +bed 1.443 1.282 1.324 -0.027 0.061 1.167 -179.28° +wardrobe 1.998 2.403 0.450 0.858 -0.002 -1.141 0.13° +nightstand 0.520 0.493 0.421 1.629 0.001 1.698 179.91° +nightstand 0.471 0.490 0.341 -1.181 0.001 1.633 179.98° +lamp 0.442 1.058 0.440 -1.347 1.388 1.602 90.03° +lamp 0.680 0.773 0.725 1.437 1.584 1.566 -0.04° +lamp 0.779 1.003 0.651 -0.919 1.623 0.812 -0.35° +floor 3.877 0.000 3.880 -0.003 0.001 -0.009 -0.02° +_scene_ 0.070 -0.000 0.026 -5.671 -0.005 -5.717 -57.30° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bed <-> floor depth=[1.443, 0.000, 1.324] + !! OVERLAP: wardrobe <-> floor depth=[1.998, 0.000, 0.450] + !! OVERLAP: nightstand <-> floor depth=[0.520, 0.000, 0.421] + !! OVERLAP: nightstand <-> floor depth=[0.471, 0.000, 0.341] +============================================================ + + +============================================================ +SCENE: MasterBedroom-74105 | 8 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0428, Walkable Loss: 2.1328 (Center Penalty: 1.3656, C1 Heatmap: 0.4174, C2 Repulsion: 2.1663), Relational Loss: 0.0277 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +nightstand 0.335 0.527 0.326 1.350 0.000 0.692 -90.06° +nightstand 0.540 0.547 0.529 1.186 0.001 -1.430 -90.16° +bed 0.945 0.941 1.358 0.853 -0.007 -0.644 -90.04° +bookshelf 0.937 1.702 0.338 -0.992 0.006 -0.959 89.86° +wardrobe 1.578 2.411 0.447 0.531 0.006 1.280 179.95° +lamp 0.930 0.832 0.880 -0.053 1.771 -0.882 -0.31° +floor 2.944 -0.001 3.655 0.002 0.001 -0.006 -0.01° +_scene_ 0.073 -0.000 0.026 -5.669 -0.004 -5.713 -57.30° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: nightstand <-> floor depth=[0.292, -0.001, 0.326] + !! OVERLAP: nightstand <-> bed depth=[0.409, 0.547, 0.158] + !! OVERLAP: nightstand <-> floor depth=[0.540, -0.001, 0.529] + !! OVERLAP: bed <-> floor depth=[0.945, -0.001, 1.358] + !! OVERLAP: bookshelf <-> floor depth=[0.937, -0.001, 0.338] + !! OVERLAP: wardrobe <-> floor depth=[1.578, -0.001, 0.447] +============================================================ + + +============================================================ +SCENE: Bedroom-837 | 6 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0500, Walkable Loss: 1.7251 (Center Penalty: 1.3048, C1 Heatmap: 0.3391, C2 Repulsion: 0.7453), Relational Loss: 0.0182 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +bed 1.267 0.568 0.748 1.026 0.001 -0.176 1.73° +wardrobe 1.853 2.338 0.544 -0.940 -0.002 -0.615 90.48° +nightstand 0.455 0.422 0.288 1.513 -0.000 -1.088 0.01° +lamp 0.420 0.122 0.482 1.013 2.398 -0.278 -88.03° +floor 3.641 0.001 2.679 0.004 -0.001 -0.010 -0.06° +_scene_ 0.067 0.000 0.018 -5.669 -0.005 -5.712 -57.30° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bed <-> floor depth=[1.267, 0.001, 0.748] + !! OVERLAP: wardrobe <-> floor depth=[1.803, 0.001, 0.544] + !! OVERLAP: nightstand <-> floor depth=[0.455, 0.001, 0.288] +============================================================ + + +============================================================ +SCENE: SecondBedroom-24075 | 6 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0000, Walkable Loss: 1.2942 (Center Penalty: 1.1766, C1 Heatmap: 0.1118, C2 Repulsion: 0.1409), Relational Loss: 0.0000 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +bed 0.741 1.495 0.763 -0.121 0.020 1.098 178.03° +nightstand 0.338 0.476 0.271 -1.312 0.000 1.324 179.86° +nightstand 0.410 0.605 0.395 1.295 0.001 1.304 179.97° +lamp 0.866 0.721 0.553 0.773 2.128 -0.786 -1.05° +floor 3.545 -0.001 3.043 -0.011 0.000 -0.010 0.00° +_scene_ 0.064 0.001 0.015 -5.677 -0.004 -5.711 -57.30° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bed <-> floor depth=[0.741, -0.001, 0.763] + !! OVERLAP: nightstand <-> floor depth=[0.338, -0.001, 0.271] + !! OVERLAP: nightstand <-> floor depth=[0.410, -0.001, 0.395] +============================================================ + + +============================================================ +SCENE: Bedroom-22570 | 7 objects +============================================================ +Final Step Collision Loss: 0.0011, Room Outer Loss: 0.0000, Walkable Loss: 1.6258 (Center Penalty: 0.8454, C1 Heatmap: 0.5733, C2 Repulsion: 1.6088), Relational Loss: 0.0000 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +bed 1.172 1.060 1.474 0.847 -0.006 0.420 -178.92° +nightstand 0.270 0.462 0.199 -0.956 0.005 1.112 179.98° +nightstand 0.217 0.589 0.120 1.309 0.016 1.199 179.92° +lamp 0.608 0.752 0.601 0.624 1.910 0.426 -0.01° +wardrobe 2.851 2.447 0.596 -1.296 -0.012 -0.930 90.18° +floor 4.281 -0.004 3.480 -0.643 -0.015 -0.362 -0.14° +_scene_ 0.057 -0.000 0.014 -5.676 -0.006 -5.718 -57.26° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bed <-> nightstand depth=[0.217, 0.589, 0.018] + !! OVERLAP: bed <-> floor depth=[1.172, -0.004, 1.474] + !! OVERLAP: nightstand <-> floor depth=[0.270, -0.004, 0.199] + !! OVERLAP: nightstand <-> floor depth=[0.217, -0.004, 0.120] + !! OVERLAP: wardrobe <-> floor depth=[2.851, -0.004, 0.596] +============================================================ + + +============================================================ +SCENE: MasterBedroom-40255 | 8 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0682, Walkable Loss: 1.0905 (Center Penalty: 0.8280, C1 Heatmap: 0.1652, C2 Repulsion: 0.6516), Relational Loss: 0.0275 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +wardrobe 0.987 2.136 0.374 1.229 -0.003 -2.071 0.05° +wardrobe 0.995 2.249 0.287 -0.652 0.003 -1.329 0.03° +bed 0.015 1.238 1.221 -0.279 -0.019 1.285 93.61° +nightstand 0.230 0.574 0.318 -0.941 -0.020 1.686 89.27° +nightstand -0.199 0.556 0.339 -0.516 -0.026 0.884 90.74° +lamp 0.504 0.787 0.460 0.138 1.885 0.841 -0.41° +floor 3.464 -0.003 4.527 0.651 -0.004 -0.048 -0.01° +_scene_ 0.070 0.001 0.026 -5.672 -0.005 -5.715 -57.30° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: wardrobe <-> floor depth=[0.987, -0.003, 0.374] + !! OVERLAP: wardrobe <-> floor depth=[0.927, -0.003, 0.287] + !! OVERLAP: bed <-> floor depth=[0.015, -0.003, 1.221] + !! OVERLAP: nightstand <-> floor depth=[0.230, -0.003, 0.318] + !! OVERLAP: nightstand <-> floor depth=[-0.199, -0.003, 0.339] +============================================================ + + +============================================================ +SCENE: SecondBedroom-9594 | 8 objects +============================================================ +Final Step Collision Loss: 0.0024, Room Outer Loss: 0.1483, Walkable Loss: 2.3963 (Center Penalty: 1.4344, C1 Heatmap: 0.6069, C2 Repulsion: 2.3820), Relational Loss: 0.0007 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +desk 0.953 0.687 0.444 -1.280 -0.009 -1.269 89.70° +bed 1.551 0.994 1.103 0.831 0.011 -1.134 -92.50° +wardrobe 2.421 2.244 0.451 0.304 -0.001 1.486 -179.96° +nightstand 0.725 0.761 0.411 1.426 0.002 0.537 -89.97° +chair 0.352 0.949 0.395 -0.908 0.000 -1.011 -90.24° +lamp 0.663 0.118 0.667 0.316 2.535 -0.617 -0.07° +floor 3.445 -0.002 3.489 -0.007 0.001 -0.081 -0.01° +_scene_ 0.075 0.001 0.027 -5.667 -0.004 -5.710 -57.29° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: desk <-> chair depth=[0.281, 0.687, 0.161] + !! OVERLAP: desk <-> floor depth=[0.926, -0.002, 0.444] + !! OVERLAP: bed <-> floor depth=[1.551, -0.002, 1.103] + !! OVERLAP: wardrobe <-> floor depth=[2.421, -0.002, 0.403] + !! OVERLAP: nightstand <-> floor depth=[0.651, -0.002, 0.411] + !! OVERLAP: chair <-> floor depth=[0.352, -0.002, 0.395] +============================================================ + + +============================================================ +SCENE: MasterBedroom-18517 | 12 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.4023, Walkable Loss: 1.1914 (Center Penalty: 0.5222, C1 Heatmap: 0.2824, C2 Repulsion: 2.2162), Relational Loss: 0.0178 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +bed 0.998 1.046 0.826 -0.416 -0.015 0.655 -179.50° +nightstand 0.425 0.882 0.169 0.972 0.007 0.997 -179.97° +nightstand 0.476 0.720 0.137 -1.410 0.005 1.009 -179.89° +wardrobe 1.537 2.593 0.364 -1.910 -0.006 0.426 90.10° +chair 0.230 0.688 0.486 1.517 0.006 -1.356 -32.79° +table 0.308 0.459 0.370 1.393 -0.007 -0.514 -0.12° +cabinet 0.372 1.279 -0.108 1.401 0.012 0.941 -179.88° +lamp 0.773 1.073 0.756 -0.465 1.743 -1.049 0.15° +lamp 0.117 0.903 0.053 -1.139 1.789 0.895 0.03° +lamp 0.133 0.748 0.156 1.104 1.700 0.807 0.02° +floor 4.901 0.058 3.333 -0.962 0.020 -0.625 -0.59° +_scene_ 0.071 0.000 0.023 -5.672 -0.004 -5.714 -57.31° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bed <-> floor depth=[0.998, 0.058, 0.800] + !! OVERLAP: nightstand <-> floor depth=[0.425, 0.058, 0.129] + !! OVERLAP: nightstand <-> floor depth=[0.476, 0.058, 0.101] + !! OVERLAP: wardrobe <-> floor depth=[1.537, 0.058, 0.364] + !! OVERLAP: chair <-> floor depth=[0.087, 0.058, 0.486] + !! OVERLAP: table <-> floor depth=[0.250, 0.058, 0.370] + !! OVERLAP: cabinet <-> floor depth=[0.274, 0.058, -0.108] +============================================================ + + +============================================================ +SCENE: MasterBedroom-116808 | 6 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0000, Walkable Loss: 1.9826 (Center Penalty: 1.4273, C1 Heatmap: 0.4820, C2 Repulsion: 0.8487), Relational Loss: 0.0000 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +bed 1.131 1.279 1.755 0.626 -0.002 0.592 90.79° +nightstand 0.460 0.674 0.345 -0.996 0.000 1.269 89.93° +lamp 1.172 0.982 0.557 0.489 1.540 0.831 -0.29° +wardrobe 2.036 2.403 0.387 -0.081 -0.001 -1.262 -0.06° +floor 2.621 0.002 3.158 0.015 0.000 0.013 -0.01° +_scene_ 0.068 0.000 0.019 -5.672 -0.004 -5.716 -57.30° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bed <-> floor depth=[1.131, 0.002, 1.755] + !! OVERLAP: nightstand <-> floor depth=[0.460, 0.002, 0.345] + !! OVERLAP: wardrobe <-> floor depth=[2.036, 0.002, 0.387] +============================================================ + + +============================================================ +SCENE: MasterBedroom-34912 | 9 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.2002, Walkable Loss: 0.9826 (Center Penalty: 0.3120, C1 Heatmap: 0.3526, C2 Repulsion: 1.9421), Relational Loss: 0.0329 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +table 0.885 1.147 0.204 -2.416 0.001 -1.163 0.02° +nightstand 0.540 0.642 0.273 0.485 0.001 -1.099 0.08° +chair 0.226 0.504 0.306 -2.139 0.016 -0.657 -89.94° +bed 1.304 1.424 0.947 -1.383 -0.034 -0.047 -0.40° +cabinet 0.606 0.864 0.326 -2.049 0.002 1.451 179.99° +lamp 0.801 0.835 0.764 -1.060 1.938 0.177 -0.06° +wardrobe 1.453 2.314 0.254 1.001 0.032 0.639 -92.43° +floor 5.646 0.004 2.947 -1.088 -0.013 0.323 -0.09° +_scene_ 0.070 0.000 0.023 -5.671 -0.005 -5.716 -57.29° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: table <-> floor depth=[0.885, 0.004, 0.089] + !! OVERLAP: nightstand <-> floor depth=[0.540, 0.004, 0.188] + !! OVERLAP: chair <-> bed depth=[0.009, 0.504, 0.016] + !! OVERLAP: chair <-> floor depth=[0.226, 0.004, 0.306] + !! OVERLAP: bed <-> floor depth=[1.304, 0.004, 0.947] + !! OVERLAP: cabinet <-> floor depth=[0.606, 0.004, 0.326] + !! OVERLAP: wardrobe <-> floor depth=[1.453, 0.004, 0.254] +============================================================ + + +============================================================ +SCENE: SecondBedroom-3960 | 6 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0029, Walkable Loss: 1.4414 (Center Penalty: 1.1059, C1 Heatmap: 0.2342, C2 Repulsion: 0.7404), Relational Loss: 0.0530 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +bed 0.820 1.943 1.365 -1.024 0.050 -0.327 91.35° +nightstand 0.349 0.443 0.313 -1.282 0.001 0.851 90.08° +nightstand 0.451 0.505 0.330 -1.328 0.002 -1.429 90.04° +wardrobe 0.729 2.035 0.347 -0.013 -0.001 1.707 -179.97° +floor 3.174 -0.002 3.855 -0.015 0.002 -0.050 -0.03° +_scene_ 0.068 0.001 0.023 -5.671 -0.004 -5.708 -57.32° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bed <-> floor depth=[0.820, -0.002, 1.365] + !! OVERLAP: nightstand <-> floor depth=[0.349, -0.002, 0.313] + !! OVERLAP: nightstand <-> floor depth=[0.451, -0.002, 0.330] + !! OVERLAP: wardrobe <-> floor depth=[0.729, -0.002, 0.344] +============================================================ + + +============================================================ +SCENE: MasterBedroom-17206 | 10 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.3485, Walkable Loss: 1.0715 (Center Penalty: 0.3320, C1 Heatmap: 0.3244, C2 Repulsion: 2.3999), Relational Loss: 0.0208 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +bed 0.559 1.754 1.118 1.217 -0.039 0.693 -89.12° +nightstand 0.472 0.594 0.390 1.417 0.001 1.508 -90.00° +wardrobe 1.577 2.265 0.225 0.779 -0.014 -1.562 0.20° +chair 0.372 0.546 0.325 -0.825 -0.001 1.770 179.97° +table 0.254 1.305 0.345 -1.361 -0.001 1.445 90.53° +nightstand 0.419 0.616 0.381 1.526 0.002 -0.732 -90.35° +lamp 0.427 1.029 0.527 -0.355 1.745 1.046 0.17° +tv_stand 1.355 0.533 0.059 -0.886 -0.004 0.773 91.24° +floor 3.402 -0.021 4.793 0.245 -0.005 0.932 -0.59° +_scene_ 0.070 0.000 0.026 -5.669 -0.004 -5.716 -57.30° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bed <-> floor depth=[0.559, -0.021, 1.118] + !! OVERLAP: nightstand <-> floor depth=[0.472, -0.021, 0.390] + !! OVERLAP: wardrobe <-> floor depth=[1.577, -0.021, 0.015] + !! OVERLAP: chair <-> floor depth=[0.372, -0.021, 0.325] + !! OVERLAP: table <-> floor depth=[0.222, -0.021, 0.345] + !! OVERLAP: nightstand <-> floor depth=[0.419, -0.021, 0.381] + !! OVERLAP: tv_stand <-> floor depth=[1.248, -0.021, 0.059] +============================================================ + + +============================================================ +SCENE: MasterBedroom-109561 | 8 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.1495, Walkable Loss: 1.2797 (Center Penalty: 0.5497, C1 Heatmap: 0.4936, C2 Repulsion: 1.6759), Relational Loss: 0.0331 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +bed 1.387 0.945 1.076 -1.292 0.043 -0.008 -0.90° +lamp 1.023 0.874 0.814 -0.879 1.948 -0.036 0.36° +tv_stand 1.700 0.490 0.359 -0.257 -0.001 1.857 179.86° +chair 0.474 0.773 0.478 -1.465 -0.000 1.520 5.94° +nightstand 0.612 0.831 0.299 -1.487 -0.008 -1.226 -0.08° +wardrobe 1.190 2.292 0.573 0.713 -0.002 -0.677 -89.74° +floor 3.755 0.001 4.224 -0.719 0.001 0.644 0.04° +_scene_ 0.070 -0.001 0.022 -5.674 -0.005 -5.714 -57.30° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bed <-> floor depth=[1.387, 0.001, 1.076] + !! OVERLAP: tv_stand <-> floor depth=[1.700, 0.001, 0.359] + !! OVERLAP: chair <-> floor depth=[0.474, 0.001, 0.478] + !! OVERLAP: nightstand <-> floor depth=[0.612, 0.001, 0.299] + !! OVERLAP: wardrobe <-> floor depth=[1.040, 0.001, 0.573] +============================================================ + + +============================================================ +SCENE: SecondBedroom-30334 | 11 objects +============================================================ +Final Step Collision Loss: 0.0108, Room Outer Loss: 0.1315, Walkable Loss: 2.8408 (Center Penalty: 1.6087, C1 Heatmap: 0.5926, C2 Repulsion: 3.7901), Relational Loss: 0.0132 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +bed 1.384 0.855 1.614 0.702 0.014 -0.287 178.92° +wardrobe 1.092 2.269 0.345 2.195 -0.005 0.135 -90.31° +wardrobe 1.352 2.458 0.145 2.012 0.002 0.302 -89.71° +nightstand 0.438 0.612 0.351 1.254 0.002 1.235 179.97° +nightstand 0.469 0.686 0.360 -1.558 0.001 1.261 179.89° +chair 0.513 1.074 0.862 -1.988 -0.006 0.224 113.70° +table 0.675 0.512 0.547 -1.693 -0.000 -0.747 0.04° +lamp 0.360 0.798 0.170 -1.900 1.629 -0.183 -89.63° +lamp 0.534 1.033 0.562 -0.459 2.060 -0.642 -0.59° +floor 5.319 -0.003 2.879 -0.003 -0.001 -0.014 -0.02° +_scene_ 0.072 0.001 0.029 -5.670 -0.004 -5.712 -57.31° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bed <-> wardrobe depth=[0.058, 0.855, 0.145] + !! OVERLAP: bed <-> floor depth=[1.384, -0.003, 1.614] + !! OVERLAP: wardrobe <-> wardrobe depth=[1.039, 2.269, 0.077] + !! OVERLAP: wardrobe <-> floor depth=[1.008, -0.003, 0.345] + !! OVERLAP: wardrobe <-> floor depth=[1.321, -0.003, 0.145] + !! OVERLAP: nightstand <-> floor depth=[0.438, -0.003, 0.351] + !! OVERLAP: nightstand <-> floor depth=[0.469, -0.003, 0.344] + !! OVERLAP: chair <-> floor depth=[0.513, -0.003, 0.862] + !! OVERLAP: table <-> floor depth=[0.675, -0.003, 0.547] +============================================================ + + +============================================================ +SCENE: Bedroom-54233 | 9 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.1652, Walkable Loss: 0.9379 (Center Penalty: 0.6334, C1 Heatmap: 0.2561, C2 Repulsion: 0.4983), Relational Loss: 0.0024 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +wardrobe 0.969 1.489 0.268 0.386 -0.004 -1.924 0.17° +bed 0.224 1.006 1.716 0.890 0.033 -0.010 -93.78° +nightstand 0.502 0.449 0.316 1.141 0.000 -1.241 -89.98° +nightstand 0.298 0.449 0.435 1.162 -0.002 1.480 -90.27° +table 0.908 1.372 0.323 -0.841 0.013 1.562 90.19° +chair 0.173 0.504 0.172 -0.055 -0.002 2.252 -83.01° +lamp 0.693 0.116 0.662 0.179 2.440 0.749 -0.03° +floor 2.891 -0.021 5.900 -0.077 0.012 1.033 1.60° +_scene_ 0.070 0.001 0.020 -5.667 -0.004 -5.710 -57.31° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: wardrobe <-> floor depth=[0.969, -0.021, 0.127] + !! OVERLAP: bed <-> floor depth=[0.224, -0.021, 1.716] + !! OVERLAP: nightstand <-> floor depth=[0.478, -0.021, 0.316] + !! OVERLAP: nightstand <-> floor depth=[0.298, -0.021, 0.435] + !! OVERLAP: table <-> floor depth=[0.908, -0.021, 0.323] + !! OVERLAP: chair <-> floor depth=[0.173, -0.021, 0.172] +============================================================ + + +============================================================ +SCENE: Bedroom-17102 | 6 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0648, Walkable Loss: 1.7972 (Center Penalty: 1.2623, C1 Heatmap: 0.4410, C2 Repulsion: 0.9103), Relational Loss: 0.0226 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +bed 1.158 1.438 1.676 -0.569 0.033 0.743 90.18° +table 0.461 0.514 0.258 -1.177 -0.001 1.640 0.06° +lamp 0.399 0.701 0.413 -0.339 2.030 1.047 0.09° +wardrobe 1.686 2.376 0.536 -0.466 -0.003 -1.855 0.04° +floor 3.113 -0.000 4.156 -0.001 0.000 0.019 -0.00° +_scene_ 0.074 0.001 0.020 -5.673 -0.005 -5.715 -57.30° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bed <-> table depth=[0.201, 0.514, 0.070] + !! OVERLAP: bed <-> floor depth=[1.158, -0.000, 1.676] + !! OVERLAP: table <-> floor depth=[0.461, -0.000, 0.258] + !! OVERLAP: wardrobe <-> floor depth=[1.686, -0.000, 0.472] +============================================================ + + +============================================================ +SCENE: MasterBedroom-40319 | 10 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0000, Walkable Loss: 1.2537 (Center Penalty: 0.5787, C1 Heatmap: 0.3314, C2 Repulsion: 2.0491), Relational Loss: 0.0206 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +wardrobe 1.523 2.418 0.381 -1.738 -0.007 -0.738 90.27° +lamp 0.334 0.661 0.285 -1.182 1.583 -1.351 -0.05° +lamp -0.010 0.908 0.011 0.819 1.520 -1.469 -0.11° +lamp 0.578 0.798 0.593 -0.431 1.817 -0.685 0.03° +table 0.535 1.208 0.288 0.527 -0.001 1.361 179.88° +bed 0.922 1.017 1.392 -0.221 0.009 -0.936 0.43° +nightstand 0.238 0.497 0.129 0.587 -0.001 -1.344 0.21° +nightstand 0.304 0.483 0.232 -1.321 -0.001 -1.435 -0.00° +floor 3.941 0.027 3.298 -1.033 -0.007 -0.016 2.09° +_scene_ 0.075 0.000 0.024 -5.675 -0.004 -5.713 -57.31° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: wardrobe <-> floor depth=[1.523, 0.027, 0.381] + !! OVERLAP: table <-> floor depth=[0.535, 0.027, 0.288] + !! OVERLAP: bed <-> floor depth=[0.922, 0.027, 1.392] + !! OVERLAP: nightstand <-> floor depth=[0.238, 0.027, 0.129] + !! OVERLAP: nightstand <-> floor depth=[0.304, 0.027, 0.232] +============================================================ + + +============================================================ +SCENE: MasterBedroom-28978 | 9 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0567, Walkable Loss: 2.0731 (Center Penalty: 1.2912, C1 Heatmap: 0.4022, C2 Repulsion: 2.3007), Relational Loss: 0.0109 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +nightstand 0.369 0.501 0.317 1.111 0.000 -1.379 0.11° +bookshelf 1.204 1.914 0.232 -0.017 -0.002 -1.530 0.05° +wardrobe 1.835 2.312 0.160 -0.151 -0.003 1.603 179.70° +chair 0.388 0.843 0.359 -0.499 -0.003 -0.996 -113.71° +desk 0.761 0.813 0.384 -1.320 0.002 1.192 90.35° +bed 0.921 1.133 1.131 1.085 0.048 0.332 -86.80° +lamp 0.831 0.592 0.081 -0.384 2.347 0.971 -0.51° +floor 3.272 0.002 3.384 -0.007 0.000 0.003 -0.01° +_scene_ 0.069 -0.000 0.022 -5.673 -0.005 -5.716 -57.30° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: nightstand <-> floor depth=[0.369, 0.002, 0.317] + !! OVERLAP: bookshelf <-> floor depth=[1.204, 0.002, 0.232] + !! OVERLAP: wardrobe <-> floor depth=[1.835, 0.002, 0.160] + !! OVERLAP: chair <-> floor depth=[0.388, 0.002, 0.359] + !! OVERLAP: desk <-> floor depth=[0.704, 0.002, 0.384] + !! OVERLAP: bed <-> floor depth=[0.921, 0.002, 1.131] +============================================================ + + +============================================================ +SCENE: MasterBedroom-392 | 9 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0026, Walkable Loss: 1.3189 (Center Penalty: 0.6370, C1 Heatmap: 0.4032, C2 Repulsion: 1.7966), Relational Loss: 0.0184 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +wardrobe 1.980 2.360 0.197 -0.355 -0.009 -1.670 0.13° +nightstand 0.389 0.571 0.246 -1.401 0.000 -0.780 90.14° +nightstand 0.519 0.533 0.239 -0.820 0.003 -0.540 90.00° +nightstand 0.460 0.585 0.415 -1.340 0.001 1.870 90.10° +bed 0.984 1.024 1.268 -1.016 -0.014 0.831 90.64° +bookshelf 0.528 2.144 0.466 1.126 -0.005 1.546 -90.53° +lamp 0.483 0.921 0.360 0.001 1.745 1.139 -0.32° +floor 3.029 0.004 5.083 -0.078 0.002 0.695 0.13° +_scene_ 0.065 -0.000 0.016 -5.671 -0.005 -5.714 -57.30° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: wardrobe <-> floor depth=[1.980, 0.004, 0.197] + !! OVERLAP: nightstand <-> floor depth=[0.386, 0.004, 0.246] + !! OVERLAP: nightstand <-> floor depth=[0.519, 0.004, 0.239] + !! OVERLAP: nightstand <-> floor depth=[0.460, 0.004, 0.415] + !! OVERLAP: bed <-> floor depth=[0.984, 0.004, 1.268] + !! OVERLAP: bookshelf <-> floor depth=[0.528, 0.004, 0.466] +============================================================ + + +============================================================ +SCENE: MasterBedroom-3712 | 6 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0387, Walkable Loss: 2.1635 (Center Penalty: 1.4994, C1 Heatmap: 0.4786, C2 Repulsion: 1.4062), Relational Loss: 0.0537 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +lamp 0.474 0.648 0.530 0.798 2.107 -0.356 -0.15° +desk 1.390 0.736 0.766 0.916 -0.002 -0.142 0.20° +chair 0.472 0.848 0.446 0.952 -0.006 -1.171 156.86° +bed 1.231 1.050 1.748 -1.080 0.001 -0.148 0.36° +floor 3.302 0.002 2.842 -0.006 0.001 -0.008 0.02° +_scene_ 0.064 0.002 0.020 -5.672 -0.004 -5.716 -57.29° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: desk <-> floor depth=[1.390, 0.002, 0.766] + !! OVERLAP: chair <-> floor depth=[0.472, 0.002, 0.446] + !! OVERLAP: bed <-> floor depth=[1.192, 0.002, 1.748] +============================================================ + + +============================================================ +SCENE: MasterBedroom-1446 | 9 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0000, Walkable Loss: 0.9915 (Center Penalty: 0.2079, C1 Heatmap: 0.5344, C2 Repulsion: 1.7801), Relational Loss: 0.0105 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +bed 1.430 0.814 1.803 1.225 -0.005 1.053 -179.76° +nightstand 0.292 0.569 0.254 2.359 0.001 1.853 -90.10° +wardrobe 1.119 1.981 0.507 -1.150 -0.007 -1.406 0.08° +lamp 0.268 0.979 0.277 0.748 1.743 0.698 -0.06° +chair 0.370 0.887 0.472 -0.438 -0.002 1.708 -158.88° +chair 0.619 0.903 0.655 -1.375 -0.003 1.777 137.64° +chair 0.713 0.392 0.330 2.262 0.005 -0.530 179.90° +floor 5.659 0.004 4.375 1.098 -0.003 0.289 0.20° +_scene_ 0.060 0.001 0.017 -5.672 -0.005 -5.717 -57.29° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bed <-> floor depth=[1.430, 0.004, 1.803] + !! OVERLAP: nightstand <-> floor depth=[0.292, 0.004, 0.254] + !! OVERLAP: wardrobe <-> floor depth=[1.119, 0.004, 0.507] + !! OVERLAP: chair <-> floor depth=[0.370, 0.004, 0.472] + !! OVERLAP: chair <-> floor depth=[0.619, 0.004, 0.655] + !! OVERLAP: chair <-> floor depth=[0.713, 0.004, 0.330] +============================================================ + + +============================================================ +SCENE: SecondBedroom-6847 | 8 objects +============================================================ +Final Step Collision Loss: 0.0004, Room Outer Loss: 0.0693, Walkable Loss: 1.4639 (Center Penalty: 1.2938, C1 Heatmap: 0.1125, C2 Repulsion: 0.4003), Relational Loss: 0.0250 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +bed -0.340 1.179 0.890 0.921 -0.033 0.787 -99.13° +cabinet 0.819 2.135 -0.010 0.917 -0.007 1.355 179.41° +nightstand 0.300 0.623 0.218 1.450 0.000 0.822 -90.47° +nightstand 0.529 0.665 0.357 1.255 0.002 -1.353 -89.88° +cabinet 0.987 1.961 0.274 -1.142 -0.003 -0.949 89.86° +lamp 0.212 1.558 0.214 0.014 0.989 -0.867 -0.12° +floor 3.166 -0.002 3.660 -0.035 0.000 -0.025 -0.01° +_scene_ 0.065 -0.000 0.017 -5.676 -0.005 -5.715 -57.31° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bed <-> floor depth=[-0.340, -0.002, 0.890] + !! OVERLAP: cabinet <-> floor depth=[0.819, -0.002, -0.010] + !! OVERLAP: nightstand <-> floor depth=[0.249, -0.002, 0.218] + !! OVERLAP: nightstand <-> floor depth=[0.529, -0.002, 0.357] + !! OVERLAP: cabinet <-> floor depth=[0.969, -0.002, 0.274] +============================================================ + + +============================================================ +SCENE: MasterBedroom-12183 | 8 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0000, Walkable Loss: 2.2538 (Center Penalty: 1.5123, C1 Heatmap: 0.3911, C2 Repulsion: 2.1432), Relational Loss: 0.0197 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +desk 1.439 0.826 0.794 -1.299 -0.003 -0.425 90.26° +bed 0.940 1.249 1.345 0.786 0.018 -0.785 -0.68° +nightstand 0.436 0.623 0.386 -0.536 0.001 -1.219 -0.06° +nightstand 0.417 0.595 0.438 1.502 -0.000 -1.114 0.06° +lamp 0.430 0.232 0.454 0.694 2.402 -0.104 -89.51° +lamp 0.731 0.817 0.713 -1.494 1.973 -1.122 0.06° +floor 4.153 -0.001 3.090 -0.002 -0.000 -0.002 -0.03° +_scene_ 0.071 0.000 0.022 -5.673 -0.005 -5.711 -57.31° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: desk <-> floor depth=[1.439, -0.001, 0.794] + !! OVERLAP: bed <-> floor depth=[0.940, -0.001, 1.345] + !! OVERLAP: nightstand <-> floor depth=[0.436, -0.001, 0.386] + !! OVERLAP: nightstand <-> floor depth=[0.417, -0.001, 0.438] +============================================================ + + +============================================================ +SCENE: Bedroom-8136 | 5 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0000, Walkable Loss: 1.0389 (Center Penalty: 0.5549, C1 Heatmap: 0.5351, C2 Repulsion: 0.2794), Relational Loss: 0.0000 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +bed 1.250 1.260 1.763 0.141 -0.030 -1.061 -92.40° +wardrobe 2.434 2.423 0.372 -0.546 -0.003 1.282 179.61° +lamp 0.755 0.634 0.243 0.057 2.027 -0.931 0.24° +floor 3.203 0.008 4.073 -0.641 -0.018 -0.516 -0.26° +_scene_ 0.044 -0.001 0.003 -5.684 -0.006 -5.716 -57.37° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bed <-> floor depth=[1.250, 0.008, 1.763] + !! OVERLAP: wardrobe <-> floor depth=[2.434, 0.008, 0.372] +============================================================ + + +============================================================ +SCENE: MasterBedroom-24714 | 7 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0008, Walkable Loss: 1.0962 (Center Penalty: 0.5724, C1 Heatmap: 0.3291, C2 Repulsion: 1.3025), Relational Loss: 0.0184 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +wardrobe 1.369 2.375 0.274 0.673 0.022 -1.045 -0.69° +bed 0.745 1.294 1.576 1.180 -0.002 0.423 -91.65° +tv_stand 1.315 0.483 0.154 -0.735 -0.025 0.902 90.80° +nightstand 0.178 0.642 0.177 1.270 0.004 -0.585 -90.26° +lamp 0.599 0.920 0.886 0.096 1.960 1.031 -0.50° +floor 3.143 -0.006 4.014 0.180 -0.010 0.777 0.33° +_scene_ 0.071 0.000 0.022 -5.671 -0.005 -5.715 -57.31° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: wardrobe <-> floor depth=[1.369, -0.006, 0.274] + !! OVERLAP: bed <-> floor depth=[0.745, -0.006, 1.576] + !! OVERLAP: tv_stand <-> floor depth=[1.314, -0.006, 0.154] + !! OVERLAP: nightstand <-> floor depth=[0.178, -0.006, 0.177] +============================================================ + + +============================================================ +SCENE: Bedroom-13858 | 7 objects +============================================================ +Final Step Collision Loss: 0.0011, Room Outer Loss: 0.0000, Walkable Loss: 0.9779 (Center Penalty: 0.3554, C1 Heatmap: 0.3074, C2 Repulsion: 1.8830), Relational Loss: 0.0468 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +bed 1.104 1.356 1.534 -0.818 -0.001 -0.871 1.24° +wardrobe 0.741 2.212 0.390 0.724 -0.006 -0.909 -179.67° +nightstand 0.442 0.678 0.186 0.906 -0.002 -1.554 0.15° +nightstand 0.408 0.559 0.325 -1.569 -0.001 -1.536 0.05° +lamp 0.890 0.757 1.077 -0.750 2.198 -0.835 0.04° +floor 4.344 0.001 3.624 -0.960 0.002 -0.176 -0.48° +_scene_ 0.068 -0.001 0.019 -5.671 -0.005 -5.715 -57.32° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bed <-> nightstand depth=[0.005, 0.559, 0.265] + !! OVERLAP: bed <-> floor depth=[1.104, 0.001, 1.534] + !! OVERLAP: wardrobe <-> floor depth=[0.741, 0.001, 0.390] + !! OVERLAP: nightstand <-> floor depth=[0.442, 0.001, 0.186] + !! OVERLAP: nightstand <-> floor depth=[0.408, 0.001, 0.325] +============================================================ + + +============================================================ +SCENE: MasterBedroom-118 | 5 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0000, Walkable Loss: 0.8044 (Center Penalty: 0.5000, C1 Heatmap: 0.1322, C2 Repulsion: 0.9929), Relational Loss: 0.0144 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +bed 0.756 1.111 1.042 -0.997 -0.014 -0.294 91.83° +table 0.406 0.577 0.407 -1.214 0.000 -0.955 90.01° +lamp 0.842 1.022 0.830 -0.799 1.914 -0.116 -0.20° +floor 2.893 -0.040 3.347 -0.074 0.002 -1.060 -0.62° +_scene_ 0.065 0.001 0.041 -5.669 -0.005 -5.713 -57.30° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bed <-> table depth=[0.364, 0.577, 0.064] + !! OVERLAP: bed <-> floor depth=[0.756, -0.040, 1.042] + !! OVERLAP: table <-> floor depth=[0.406, -0.040, 0.407] +============================================================ + + +============================================================ +SCENE: LivingRoom-37659 | 10 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0000, Walkable Loss: 1.2777 (Center Penalty: 0.4881, C1 Heatmap: 0.4104, C2 Repulsion: 2.3064), Relational Loss: 0.0012 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +sofa 1.255 0.886 0.740 1.242 0.009 1.167 -89.86° +chair 0.606 0.879 0.637 0.406 0.003 2.488 179.91° +chair 0.580 0.444 0.310 0.289 0.001 -0.881 0.12° +table 1.089 0.576 0.480 -0.486 -0.002 0.909 -0.01° +chair 0.496 0.813 0.488 -0.670 -0.001 2.114 136.51° +table 0.781 0.615 0.377 -1.835 -0.000 -1.923 0.04° +table 0.484 0.688 0.494 -1.614 -0.000 2.698 0.03° +lamp 0.370 1.030 0.373 0.192 1.432 1.111 -0.02° +floor 4.597 -0.010 6.790 -0.398 0.002 0.976 -0.04° +_scene_ 0.069 -0.001 0.013 -5.669 -0.004 -5.713 -57.34° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: sofa <-> floor depth=[1.255, -0.010, 0.740] + !! OVERLAP: chair <-> floor depth=[0.606, -0.010, 0.637] + !! OVERLAP: chair <-> floor depth=[0.580, -0.010, 0.310] + !! OVERLAP: table <-> floor depth=[1.089, -0.010, 0.480] + !! OVERLAP: chair <-> floor depth=[0.496, -0.010, 0.488] + !! OVERLAP: table <-> floor depth=[0.781, -0.010, 0.377] + !! OVERLAP: table <-> floor depth=[0.484, -0.010, 0.494] +============================================================ + + +============================================================ +SCENE: LivingRoom-1520 | 14 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0338, Walkable Loss: 1.5166 (Center Penalty: 0.3257, C1 Heatmap: 0.5233, C2 Repulsion: 3.8612), Relational Loss: 0.0358 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +sofa 1.859 0.905 0.587 -1.465 -0.001 2.043 90.41° +table 1.119 0.563 0.755 -0.670 0.001 1.533 90.05° +tv_stand 1.034 0.475 0.268 0.507 -0.006 2.028 -90.43° +chair 0.377 0.483 0.394 -0.964 -0.004 0.228 0.08° +table 0.368 0.715 0.603 -1.254 -0.021 -2.034 179.42° +chair 0.465 1.047 0.507 -1.762 0.002 -1.066 179.97° +chair 0.447 1.110 0.411 -0.750 0.000 -1.328 -179.83° +chair 0.317 1.032 0.487 -0.536 0.005 -2.170 -89.68° +chair 0.481 1.129 0.544 -1.983 -0.001 -2.415 -0.05° +cabinet 1.253 0.893 0.374 -0.071 -0.003 -3.153 0.05° +lamp 0.560 0.893 0.411 -1.329 1.675 -1.588 -0.03° +lamp 0.641 0.888 0.507 -0.635 1.765 1.973 -0.03° +floor 3.858 0.038 6.793 -0.939 0.003 0.033 0.23° +_scene_ 0.071 -0.000 0.023 -5.670 -0.005 -5.713 -57.28° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: sofa <-> table depth=[0.694, 0.563, 0.161] + !! OVERLAP: sofa <-> floor depth=[1.859, 0.038, 0.587] + !! OVERLAP: table <-> floor depth=[1.119, 0.038, 0.755] + !! OVERLAP: tv_stand <-> floor depth=[1.000, 0.038, 0.268] + !! OVERLAP: chair <-> floor depth=[0.377, 0.038, 0.394] + !! OVERLAP: table <-> floor depth=[0.368, 0.038, 0.603] + !! OVERLAP: chair <-> floor depth=[0.465, 0.038, 0.507] + !! OVERLAP: chair <-> floor depth=[0.447, 0.038, 0.411] + !! OVERLAP: chair <-> floor depth=[0.317, 0.038, 0.487] + !! OVERLAP: chair <-> floor depth=[0.481, 0.038, 0.544] + !! OVERLAP: cabinet <-> floor depth=[1.253, 0.038, 0.374] +============================================================ + + +============================================================ +SCENE: LivingRoom-17951 | 6 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0000, Walkable Loss: 2.1418 (Center Penalty: 1.5534, C1 Heatmap: 0.3840, C2 Repulsion: 1.4060), Relational Loss: 0.0000 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +sofa 1.824 0.767 0.899 -1.069 -0.001 -0.119 90.06° +table 1.373 0.590 0.244 0.472 -0.009 0.785 -90.27° +tv_stand 1.167 1.545 0.208 1.077 0.004 0.454 -90.39° +lamp 0.515 0.421 0.552 0.797 2.123 -0.219 0.07° +floor 3.736 -0.004 3.583 -0.161 -0.001 -0.031 -0.05° +_scene_ 0.072 0.002 0.025 -5.672 -0.004 -5.710 -57.30° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: sofa <-> floor depth=[1.824, -0.004, 0.899] + !! OVERLAP: table <-> floor depth=[1.373, -0.004, 0.244] + !! OVERLAP: tv_stand <-> floor depth=[1.167, -0.004, 0.208] +============================================================ + + +============================================================ +SCENE: LivingDiningRoom-629 | 16 objects +============================================================ +Final Step Collision Loss: 0.0007, Room Outer Loss: 0.1258, Walkable Loss: 1.7312 (Center Penalty: 0.2054, C1 Heatmap: 0.7358, C2 Repulsion: 4.6856), Relational Loss: 0.0250 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +sofa 1.855 0.835 0.598 0.919 -0.017 -1.287 -0.07° +tv_stand 1.891 0.583 0.254 1.037 0.004 1.143 179.96° +desk 0.888 0.416 0.390 1.464 -0.001 -0.342 -0.01° +table 0.036 0.933 0.661 -1.768 0.020 -0.377 0.64° +chair 0.434 0.608 0.421 -2.393 0.000 -0.976 89.91° +chair 0.267 0.653 0.252 -2.933 0.007 0.117 89.51° +chair 0.461 0.795 0.428 -1.128 0.001 -0.815 -89.91° +chair 0.385 0.710 0.389 -1.214 -0.001 -0.072 -90.06° +cabinet 2.629 2.395 0.052 -1.473 0.009 1.334 179.89° +bookshelf 1.849 2.255 -0.068 -1.873 -0.005 -2.124 0.07° +chair 0.287 0.663 0.301 -2.432 0.000 -0.250 89.90° +cabinet 1.105 2.074 -0.431 -2.498 0.037 0.148 89.94° +lamp 0.738 0.678 0.829 1.481 1.981 -0.425 -0.03° +lamp 0.260 0.549 0.249 -1.349 1.971 -0.401 -0.01° +floor 5.880 0.008 3.543 -1.034 -0.008 -0.458 0.77° +_scene_ 0.070 -0.002 0.017 -5.675 -0.006 -5.713 -57.30° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: sofa <-> floor depth=[1.855, 0.008, 0.598] + !! OVERLAP: tv_stand <-> floor depth=[1.814, 0.008, 0.254] + !! OVERLAP: desk <-> floor depth=[0.885, 0.008, 0.390] + !! OVERLAP: table <-> floor depth=[0.036, 0.008, 0.661] + !! OVERLAP: chair <-> floor depth=[0.434, 0.008, 0.421] + !! OVERLAP: chair <-> floor depth=[0.267, 0.008, 0.252] + !! OVERLAP: chair <-> floor depth=[0.461, 0.008, 0.428] + !! OVERLAP: chair <-> floor depth=[0.385, 0.008, 0.389] + !! OVERLAP: cabinet <-> floor depth=[2.629, 0.008, 0.005] + !! OVERLAP: bookshelf <-> floor depth=[1.849, 0.008, -0.068] + !! OVERLAP: chair <-> floor depth=[0.287, 0.008, 0.301] + !! OVERLAP: cabinet <-> floor depth=[1.105, 0.008, -0.431] +============================================================ + + +============================================================ +SCENE: LivingRoom-71071 | 16 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0478, Walkable Loss: 1.5538 (Center Penalty: 0.1401, C1 Heatmap: 0.6728, C2 Repulsion: 4.3771), Relational Loss: 0.0134 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +table 0.460 1.065 0.345 2.393 0.003 -0.257 -90.12° +table 0.525 0.528 0.577 3.085 0.001 -3.114 0.10° +lamp 0.909 0.990 0.925 1.417 1.887 -1.741 0.01° +tv_stand 2.033 0.495 0.451 -0.611 0.003 -1.442 90.00° +chair 0.379 0.790 0.395 1.519 -0.001 1.496 -90.39° +chair 0.457 0.884 0.418 1.466 -0.002 0.552 -170.97° +chair 0.467 0.778 0.515 -0.361 0.001 1.192 90.00° +chair 0.354 0.793 0.403 0.040 -0.002 2.028 90.11° +table 1.083 0.764 0.421 0.783 0.001 1.800 -90.49° +sofa 1.390 0.985 0.898 2.469 -0.006 -1.308 -90.09° +table 0.956 0.515 1.124 1.441 0.000 -1.218 -179.99° +lamp 0.507 0.244 0.515 -1.357 2.429 2.049 -0.30° +table 0.727 1.027 0.355 -1.277 0.002 3.151 179.81° +lamp 0.464 0.901 0.328 0.693 1.778 1.378 -0.03° +floor 5.943 0.010 7.240 1.101 0.006 -0.340 -0.07° +_scene_ 0.072 0.000 0.022 -5.669 -0.004 -5.713 -57.30° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: table <-> floor depth=[0.460, 0.010, 0.345] + !! OVERLAP: table <-> floor depth=[0.525, 0.010, 0.577] + !! OVERLAP: tv_stand <-> floor depth=[2.033, 0.010, 0.451] + !! OVERLAP: chair <-> floor depth=[0.379, 0.010, 0.395] + !! OVERLAP: chair <-> floor depth=[0.457, 0.010, 0.418] + !! OVERLAP: chair <-> floor depth=[0.467, 0.010, 0.515] + !! OVERLAP: chair <-> floor depth=[0.354, 0.010, 0.403] + !! OVERLAP: table <-> floor depth=[1.083, 0.010, 0.421] + !! OVERLAP: sofa <-> table depth=[0.146, 0.515, 0.898] + !! OVERLAP: sofa <-> floor depth=[1.390, 0.010, 0.898] + !! OVERLAP: table <-> floor depth=[0.956, 0.010, 1.124] + !! OVERLAP: table <-> floor depth=[0.727, 0.010, 0.307] +============================================================ + + +============================================================ +SCENE: LivingDiningRoom-9790 | 14 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0437, Walkable Loss: 1.2589 (Center Penalty: 0.3000, C1 Heatmap: 0.5687, C2 Repulsion: 2.5194), Relational Loss: 0.0096 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +sofa 2.143 0.924 0.728 -1.535 0.006 2.135 89.85° +tv_stand 1.267 0.491 0.316 1.282 0.004 2.336 -89.92° +cabinet 0.893 0.869 0.430 -2.028 0.002 -2.706 89.93° +table 0.955 0.938 0.701 -0.138 0.008 -1.099 -0.01° +chair 0.436 0.604 0.461 -1.179 0.002 -0.568 -179.96° +chair 0.422 0.602 0.439 -1.161 -0.001 -1.513 -0.01° +chair 0.491 0.636 0.529 1.200 0.002 -0.182 179.89° +chair 0.347 0.647 0.463 0.755 0.003 -1.234 0.04° +lamp 0.252 0.368 0.189 -1.742 2.275 -2.759 -0.05° +lamp 0.875 0.820 0.853 -0.451 1.942 1.685 0.02° +lamp 0.317 0.952 0.219 -0.068 2.053 -1.327 -0.04° +table 0.734 0.451 0.721 0.177 -0.001 1.817 -89.85° +floor 4.924 -0.035 7.782 -0.590 -0.001 0.955 -0.01° +_scene_ 0.068 -0.000 0.020 -5.673 -0.004 -5.714 -57.32° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: sofa <-> floor depth=[2.143, -0.035, 0.728] + !! OVERLAP: tv_stand <-> floor depth=[1.224, -0.035, 0.316] + !! OVERLAP: cabinet <-> floor depth=[0.893, -0.035, 0.430] + !! OVERLAP: table <-> floor depth=[0.955, -0.035, 0.701] + !! OVERLAP: chair <-> floor depth=[0.436, -0.035, 0.461] + !! OVERLAP: chair <-> floor depth=[0.422, -0.035, 0.439] + !! OVERLAP: chair <-> floor depth=[0.491, -0.035, 0.529] + !! OVERLAP: chair <-> floor depth=[0.347, -0.035, 0.463] + !! OVERLAP: table <-> floor depth=[0.734, -0.035, 0.721] +============================================================ + + +============================================================ +SCENE: LivingRoom-791 | 15 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0603, Walkable Loss: 1.4966 (Center Penalty: 0.5529, C1 Heatmap: 0.4727, C2 Repulsion: 2.8277), Relational Loss: 0.0302 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +table 1.188 0.642 -0.163 0.999 0.003 1.550 1.20° +chair 0.499 0.822 0.494 1.770 -0.001 2.120 179.79° +chair 0.524 0.855 0.565 0.855 0.002 2.229 179.93° +chair 0.469 0.888 0.486 2.178 0.001 0.758 0.06° +chair 0.432 0.885 0.438 1.070 -0.001 0.532 -0.03° +sofa 1.757 0.917 0.662 2.022 -0.002 -0.688 -90.46° +tv_stand 0.983 0.661 0.049 -0.446 -0.002 -1.800 90.49° +table 0.589 0.306 0.605 -0.126 -0.001 0.809 0.18° +table 0.736 1.302 0.331 -0.867 -0.009 1.635 178.78° +table 0.442 0.557 0.469 1.588 0.002 -2.268 0.04° +lamp 0.593 0.862 0.600 0.960 1.827 -0.029 0.09° +lamp 0.604 0.972 0.579 1.655 1.903 -0.196 -0.03° +lamp 0.509 1.091 0.490 -0.182 1.763 -1.697 0.03° +floor 4.673 -0.021 6.079 1.162 -0.004 0.107 -0.10° +_scene_ 0.074 -0.001 0.022 -5.671 -0.005 -5.712 -57.27° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: table <-> floor depth=[1.188, -0.021, -0.163] + !! OVERLAP: chair <-> floor depth=[0.499, -0.021, 0.494] + !! OVERLAP: chair <-> floor depth=[0.524, -0.021, 0.565] + !! OVERLAP: chair <-> floor depth=[0.469, -0.021, 0.486] + !! OVERLAP: chair <-> floor depth=[0.432, -0.021, 0.438] + !! OVERLAP: sofa <-> floor depth=[1.757, -0.021, 0.662] + !! OVERLAP: tv_stand <-> floor depth=[0.983, -0.021, 0.049] + !! OVERLAP: table <-> floor depth=[0.589, -0.021, 0.605] + !! OVERLAP: table <-> floor depth=[0.676, -0.021, 0.331] + !! OVERLAP: table <-> floor depth=[0.442, -0.021, 0.469] +============================================================ + + +============================================================ +SCENE: LivingRoom-24046 | 7 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0510, Walkable Loss: 1.1707 (Center Penalty: 0.5785, C1 Heatmap: 0.3762, C2 Repulsion: 1.4561), Relational Loss: 0.0003 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +bookshelf 1.037 1.446 0.411 1.237 0.009 -0.607 -90.06° +sofa 1.928 0.854 0.767 0.188 -0.002 -0.677 -90.06° +table 0.591 0.429 0.564 -1.455 0.001 0.093 179.96° +lamp 0.556 0.750 0.538 0.719 2.012 0.914 0.06° +chair 0.481 0.830 0.382 -1.363 0.045 -0.876 16.68° +floor 4.719 -0.034 3.989 -0.500 0.003 0.956 0.20° +_scene_ 0.074 0.001 0.028 -5.670 -0.004 -5.710 -57.31° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bookshelf <-> sofa depth=[0.434, 0.854, 0.411] + !! OVERLAP: bookshelf <-> floor depth=[1.037, -0.034, 0.411] + !! OVERLAP: sofa <-> floor depth=[1.928, -0.034, 0.745] + !! OVERLAP: table <-> floor depth=[0.591, -0.034, 0.564] + !! OVERLAP: chair <-> floor depth=[0.481, -0.034, 0.353] +============================================================ + + +============================================================ +SCENE: LivingRoom-13599 | 10 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0310, Walkable Loss: 1.5729 (Center Penalty: 0.6791, C1 Heatmap: 0.5584, C2 Repulsion: 2.2354), Relational Loss: 0.0444 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +chair 0.838 0.973 0.769 0.147 -0.000 -1.511 0.05° +chair 0.739 0.936 0.641 0.207 0.005 1.919 174.53° +table 0.473 0.577 0.318 -1.147 0.001 2.113 90.10° +table 0.588 0.429 0.604 -1.119 0.002 -1.277 90.08° +table 1.048 0.363 0.443 0.774 -0.001 0.489 90.06° +tv_stand 1.354 0.670 0.379 1.989 0.002 0.401 -90.22° +lamp 0.473 0.993 0.479 0.354 1.855 0.739 -0.16° +sofa 1.541 0.800 0.715 -0.706 0.010 0.676 90.46° +floor 4.179 0.043 6.573 0.644 -0.008 -0.962 -0.36° +_scene_ 0.082 0.001 0.030 -5.671 -0.004 -5.710 -57.30° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: chair <-> floor depth=[0.838, 0.043, 0.769] + !! OVERLAP: chair <-> floor depth=[0.739, 0.043, 0.641] + !! OVERLAP: table <-> floor depth=[0.473, 0.043, 0.318] + !! OVERLAP: table <-> floor depth=[0.588, 0.043, 0.604] + !! OVERLAP: table <-> floor depth=[1.048, 0.043, 0.443] + !! OVERLAP: tv_stand <-> floor depth=[1.354, 0.043, 0.379] + !! OVERLAP: sofa <-> floor depth=[1.510, 0.043, 0.715] +============================================================ + + +============================================================ +SCENE: LivingDiningRoom-13945 | 15 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.1617, Walkable Loss: 1.4661 (Center Penalty: 0.3740, C1 Heatmap: 0.6897, C2 Repulsion: 2.7015), Relational Loss: 0.0270 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +sofa 2.182 0.855 0.635 -0.707 0.014 -1.756 1.59° +chair 0.461 0.687 0.448 -2.944 0.000 -1.742 0.24° +chair 0.264 0.385 0.281 -2.415 0.000 -1.147 0.01° +chair 0.356 0.380 0.265 -2.714 0.000 -0.568 -0.05° +table 0.869 0.382 0.557 -1.367 -0.001 -0.398 -0.01° +chair 0.429 1.050 0.468 -0.166 0.001 0.876 89.96° +lamp 0.123 0.877 0.102 -3.067 1.629 -1.962 -0.06° +chair 0.378 1.020 0.400 1.273 -0.002 -0.277 -63.95° +cabinet 0.808 0.851 0.465 1.834 -0.001 2.024 -179.88° +table 0.332 1.174 0.414 2.156 -0.001 -1.907 -0.02° +shelf 0.008 2.075 0.230 2.310 -0.006 1.519 0.53° +lamp 0.294 0.955 0.240 1.025 1.846 0.229 -0.14° +tv_stand 3.362 0.754 0.359 -1.557 -0.001 2.454 0.21° +floor 7.085 0.039 5.936 -1.305 0.013 0.807 0.29° +_scene_ 0.072 -0.001 0.025 -5.671 -0.004 -5.712 -57.30° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: sofa <-> floor depth=[2.182, 0.039, 0.635] + !! OVERLAP: chair <-> floor depth=[0.461, 0.039, 0.448] + !! OVERLAP: chair <-> floor depth=[0.264, 0.039, 0.281] + !! OVERLAP: chair <-> floor depth=[0.356, 0.039, 0.265] + !! OVERLAP: table <-> floor depth=[0.869, 0.039, 0.557] + !! OVERLAP: chair <-> floor depth=[0.429, 0.039, 0.468] + !! OVERLAP: chair <-> floor depth=[0.378, 0.039, 0.400] + !! OVERLAP: cabinet <-> floor depth=[0.807, 0.039, 0.465] + !! OVERLAP: table <-> floor depth=[0.247, 0.039, 0.414] + !! OVERLAP: tv_stand <-> floor depth=[3.362, 0.039, 0.359] +============================================================ + + +============================================================ +SCENE: LivingDiningRoom-758 | 12 objects +============================================================ +Final Step Collision Loss: 0.0046, Room Outer Loss: 0.0787, Walkable Loss: 1.8710 (Center Penalty: 0.7346, C1 Heatmap: 0.5424, C2 Repulsion: 3.5121), Relational Loss: 0.0325 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +lamp 0.642 0.975 0.635 0.224 1.970 -1.265 -0.05° +table 0.846 0.759 0.026 -0.600 -0.033 0.611 178.40° +chair 0.554 0.878 0.176 0.719 0.002 1.153 -90.81° +chair 0.332 0.897 0.284 -1.220 -0.003 1.036 0.07° +lamp 0.300 0.752 0.160 -1.206 1.698 1.009 -0.04° +lamp 0.389 0.731 0.225 -0.448 1.870 1.064 0.06° +sofa 1.992 0.847 0.670 -1.164 0.014 -1.081 89.80° +table 0.714 0.330 0.552 0.817 -0.004 -0.670 -90.11° +tv_stand 1.735 0.541 0.345 1.045 0.019 -1.071 -89.75° +table 1.411 2.159 0.231 -1.815 0.000 0.375 89.76° +floor 4.397 0.013 4.151 -0.243 -0.006 -0.817 -0.17° +_scene_ 0.073 0.001 0.022 -5.676 -0.005 -5.715 -57.29° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: table <-> floor depth=[0.846, 0.013, 0.026] + !! OVERLAP: chair <-> floor depth=[0.554, 0.013, 0.176] + !! OVERLAP: chair <-> floor depth=[0.332, 0.013, 0.284] + !! OVERLAP: sofa <-> floor depth=[1.992, 0.013, 0.670] + !! OVERLAP: table <-> tv_stand depth=[0.714, 0.330, 0.047] + !! OVERLAP: table <-> floor depth=[0.714, 0.013, 0.552] + !! OVERLAP: tv_stand <-> floor depth=[1.735, 0.013, 0.345] + !! OVERLAP: table <-> floor depth=[1.332, 0.013, 0.231] +============================================================ + + +============================================================ +SCENE: LivingRoom-33324 | 9 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.1442, Walkable Loss: 1.3181 (Center Penalty: 0.8734, C1 Heatmap: 0.3639, C2 Repulsion: 0.7680), Relational Loss: 0.0136 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +tv_stand 1.199 0.617 0.227 1.292 -0.007 0.337 -90.14° +table 0.519 1.083 0.357 -1.253 0.001 2.044 89.93° +sofa 1.302 0.798 0.686 -0.980 0.038 0.482 89.72° +table 0.514 0.485 0.454 0.351 0.006 0.807 89.96° +chair 0.687 0.807 0.731 0.075 0.000 2.334 179.96° +bookshelf 1.035 2.347 0.213 -0.938 0.007 -2.063 0.09° +lamp 0.404 0.812 0.473 0.803 2.126 0.297 0.09° +floor 3.477 -0.014 6.085 0.239 -0.002 0.727 -0.04° +_scene_ 0.069 -0.000 0.021 -5.672 -0.005 -5.718 -57.29° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: tv_stand <-> floor depth=[1.199, -0.014, 0.227] + !! OVERLAP: table <-> floor depth=[0.506, -0.014, 0.357] + !! OVERLAP: sofa <-> floor depth=[1.170, -0.014, 0.686] + !! OVERLAP: table <-> floor depth=[0.514, -0.014, 0.454] + !! OVERLAP: chair <-> floor depth=[0.687, -0.014, 0.731] + !! OVERLAP: bookshelf <-> floor depth=[1.035, -0.014, 0.213] +============================================================ + + +============================================================ +SCENE: LivingRoom-30147 | 20 objects +============================================================ +Final Step Collision Loss: 0.0001, Room Outer Loss: 0.1823, Walkable Loss: 1.7975 (Center Penalty: 0.1634, C1 Heatmap: 0.5353, C2 Repulsion: 6.0296), Relational Loss: 0.0126 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +lamp 0.282 0.615 0.257 -0.138 2.045 2.263 0.03° +lamp 0.922 0.837 0.905 -0.874 1.728 -3.217 -0.01° +tv_stand 2.160 1.054 0.316 -2.495 0.005 2.907 90.02° +chair 0.503 0.416 0.418 0.298 0.008 1.094 89.92° +chair 0.419 0.422 0.335 -0.716 -0.003 0.991 0.06° +table 1.140 0.484 0.613 -0.074 0.006 2.348 -89.97° +table 0.418 0.660 0.346 1.602 -0.000 0.778 -90.01° +table 0.451 0.652 0.364 1.601 0.002 4.044 -90.00° +sofa 1.551 1.050 0.620 1.171 0.005 2.263 -90.24° +sofa 1.816 0.766 0.497 -0.227 0.002 4.190 179.97° +table 1.368 0.685 0.425 -1.034 -0.004 -3.012 0.05° +chair 0.556 1.115 0.591 -1.160 0.000 -1.779 -179.96° +chair 0.444 1.096 0.511 0.127 0.004 -2.528 -91.89° +chair 0.537 1.095 0.620 0.182 -0.000 -3.629 -89.51° +chair 0.520 1.136 0.534 -1.087 -0.004 -4.199 -0.02° +chair 0.522 1.047 0.577 -2.035 0.002 -3.675 90.13° +chair 0.278 1.032 0.465 -1.844 -0.015 -2.624 110.88° +table 0.525 0.601 0.376 -2.420 0.004 -0.780 90.03° +floor 5.813 0.001 10.295 -1.106 -0.016 0.675 -0.19° +_scene_ 0.067 0.000 0.016 -5.670 -0.005 -5.714 -57.29° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: tv_stand <-> floor depth=[2.160, 0.001, 0.316] + !! OVERLAP: chair <-> floor depth=[0.503, 0.001, 0.418] + !! OVERLAP: chair <-> floor depth=[0.419, 0.001, 0.335] + !! OVERLAP: table <-> sofa depth=[0.100, 0.484, 0.531] + !! OVERLAP: table <-> floor depth=[1.140, 0.001, 0.613] + !! OVERLAP: table <-> floor depth=[0.407, 0.001, 0.346] + !! OVERLAP: table <-> floor depth=[0.424, 0.001, 0.364] + !! OVERLAP: sofa <-> floor depth=[1.405, 0.001, 0.620] + !! OVERLAP: sofa <-> floor depth=[1.816, 0.001, 0.497] + !! OVERLAP: table <-> chair depth=[0.014, 0.685, 0.057] + !! OVERLAP: table <-> floor depth=[1.368, 0.001, 0.425] + !! OVERLAP: chair <-> floor depth=[0.556, 0.001, 0.591] + !! OVERLAP: chair <-> floor depth=[0.444, 0.001, 0.511] + !! OVERLAP: chair <-> floor depth=[0.537, 0.001, 0.620] + !! OVERLAP: chair <-> floor depth=[0.520, 0.001, 0.534] + !! OVERLAP: chair <-> floor depth=[0.522, 0.001, 0.577] + !! OVERLAP: chair <-> floor depth=[0.278, 0.001, 0.465] + !! OVERLAP: table <-> floor depth=[0.525, 0.001, 0.376] +============================================================ + + +============================================================ +SCENE: LivingRoom-29294 | 11 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0000, Walkable Loss: 1.3782 (Center Penalty: 0.3892, C1 Heatmap: 0.6339, C2 Repulsion: 2.4092), Relational Loss: 0.0227 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +table 0.548 1.100 0.361 -2.435 -0.001 -2.162 -0.10° +table 0.576 1.263 0.393 2.021 -0.001 -1.960 0.06° +sofa 1.873 0.934 0.789 -2.444 -0.005 0.378 90.04° +table 1.031 0.432 0.453 -0.768 0.003 0.623 -0.79° +chair 0.814 0.827 0.619 1.933 0.001 0.110 -67.92° +sofa 1.724 0.677 0.864 -0.339 0.000 -1.864 0.00° +table 0.419 0.861 0.438 1.093 0.001 -2.050 0.10° +table 0.402 0.713 0.525 -1.672 0.002 -1.771 0.02° +lamp 0.905 0.827 0.643 0.381 1.788 0.944 -0.97° +floor 5.958 0.003 5.063 -0.614 -0.001 -0.824 -0.01° +_scene_ 0.232 0.093 0.543 -4.724 0.013 -4.747 -62.73° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: table <-> floor depth=[0.548, 0.003, 0.361] + !! OVERLAP: table <-> floor depth=[0.576, 0.003, 0.393] + !! OVERLAP: sofa <-> floor depth=[1.873, 0.003, 0.789] + !! OVERLAP: table <-> floor depth=[1.031, 0.003, 0.453] + !! OVERLAP: chair <-> floor depth=[0.814, 0.003, 0.619] + !! OVERLAP: sofa <-> floor depth=[1.724, 0.003, 0.864] + !! OVERLAP: table <-> floor depth=[0.419, 0.003, 0.438] + !! OVERLAP: table <-> floor depth=[0.402, 0.003, 0.525] +============================================================ + + +============================================================ +SCENE: LivingDiningRoom-35401 | 11 objects +============================================================ +Final Step Collision Loss: 0.0162, Room Outer Loss: 0.0067, Walkable Loss: 1.1555 (Center Penalty: 0.2485, C1 Heatmap: 0.4785, C2 Repulsion: 2.6213), Relational Loss: 0.0170 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +chair 0.451 0.858 0.529 -0.364 0.003 1.178 89.87° +chair 0.386 0.830 0.521 -0.448 -0.001 1.856 90.09° +chair 0.498 0.903 0.631 1.073 -0.000 0.987 -89.97° +chair 0.468 0.893 0.528 0.961 0.001 1.872 -90.31° +sofa 1.995 0.837 0.705 -1.315 -0.003 -1.354 89.96° +table 1.235 1.945 -0.233 -1.201 -0.031 -0.538 92.68° +table 0.920 0.364 0.866 0.233 -0.001 -2.006 -90.01° +lamp 0.603 0.528 0.357 -0.007 2.361 -1.754 -0.09° +lamp 0.106 0.610 0.092 0.710 2.101 1.477 -89.93° +floor 3.812 0.002 6.908 -0.590 -0.001 -0.782 -0.10° +_scene_ 0.070 0.002 0.020 -5.666 -0.006 -5.711 -57.30° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: chair <-> floor depth=[0.451, 0.002, 0.529] + !! OVERLAP: chair <-> floor depth=[0.386, 0.002, 0.521] + !! OVERLAP: chair <-> floor depth=[0.491, 0.002, 0.631] + !! OVERLAP: chair <-> floor depth=[0.468, 0.002, 0.528] + !! OVERLAP: sofa <-> floor depth=[1.995, 0.002, 0.705] + !! OVERLAP: table <-> floor depth=[1.235, 0.002, -0.233] + !! OVERLAP: table <-> floor depth=[0.920, 0.002, 0.866] +============================================================ + + +============================================================ +SCENE: LivingRoom-35085 | 10 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0051, Walkable Loss: 1.8241 (Center Penalty: 1.0658, C1 Heatmap: 0.4757, C2 Repulsion: 1.8890), Relational Loss: 0.0257 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +sofa 0.826 0.730 0.688 1.009 0.045 0.503 -89.64° +table 0.368 0.477 0.303 1.117 -0.000 1.610 -90.50° +table 0.373 0.465 0.335 1.229 0.006 -2.026 -89.94° +table 0.917 0.417 0.880 -0.110 0.014 -0.740 -89.78° +chair 0.630 0.860 0.572 -1.280 0.002 -1.586 -0.04° +chair 0.701 0.859 0.740 -1.253 -0.001 1.670 171.25° +tv_stand 1.769 0.505 0.335 -1.765 0.000 -0.427 90.04° +lamp 0.380 0.960 0.386 -0.089 1.664 -0.704 -0.01° +floor 4.093 0.000 5.437 -0.598 -0.002 -0.504 -0.09° +_scene_ 0.063 -0.000 0.017 -5.674 -0.004 -5.714 -57.30° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: sofa <-> floor depth=[0.826, 0.000, 0.688] + !! OVERLAP: table <-> floor depth=[0.368, 0.000, 0.303] + !! OVERLAP: table <-> floor depth=[0.373, 0.000, 0.335] + !! OVERLAP: table <-> floor depth=[0.917, 0.000, 0.880] + !! OVERLAP: chair <-> floor depth=[0.630, 0.000, 0.572] + !! OVERLAP: chair <-> floor depth=[0.701, 0.000, 0.740] + !! OVERLAP: tv_stand <-> floor depth=[1.764, 0.000, 0.335] +============================================================ + + +============================================================ +SCENE: LivingRoom-25582 | 12 objects +============================================================ +Final Step Collision Loss: 0.0013, Room Outer Loss: 0.0349, Walkable Loss: 1.9784 (Center Penalty: 0.6221, C1 Heatmap: 0.4334, C2 Repulsion: 5.0481), Relational Loss: 0.0347 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +sofa 1.877 0.735 0.224 -0.811 -0.023 1.639 -179.73° +table 0.388 0.419 0.386 -1.280 -0.000 -0.472 0.02° +tv_stand 1.360 0.302 0.270 -0.705 0.004 -2.209 -0.04° +chair 0.333 1.087 0.662 0.458 0.004 -1.235 0.03° +chair 0.325 1.033 0.528 0.743 0.010 -1.037 -0.16° +chair 0.415 1.029 0.550 0.587 -0.002 1.507 90.19° +chair 0.124 1.032 0.357 0.838 -0.009 1.174 -179.48° +table 0.393 0.773 0.399 0.734 -0.025 0.536 0.09° +table 1.425 0.703 0.260 0.191 -0.009 2.221 179.00° +lamp 0.479 0.574 0.517 0.024 2.120 -0.846 -0.26° +floor 3.785 0.030 6.552 -0.991 0.007 -0.553 -0.12° +_scene_ 0.067 -0.000 0.022 -5.670 -0.004 -5.716 -57.30° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: sofa <-> floor depth=[1.877, 0.030, 0.224] + !! OVERLAP: table <-> floor depth=[0.388, 0.030, 0.386] + !! OVERLAP: tv_stand <-> floor depth=[1.360, 0.030, 0.270] + !! OVERLAP: chair <-> chair depth=[0.044, 1.033, 0.397] + !! OVERLAP: chair <-> floor depth=[0.333, 0.030, 0.662] + !! OVERLAP: chair <-> floor depth=[0.321, 0.030, 0.528] + !! OVERLAP: chair <-> chair depth=[0.018, 1.025, 0.120] + !! OVERLAP: chair <-> floor depth=[0.415, 0.030, 0.550] + !! OVERLAP: chair <-> floor depth=[0.124, 0.030, 0.357] + !! OVERLAP: table <-> floor depth=[0.363, 0.030, 0.399] + !! OVERLAP: table <-> floor depth=[1.423, 0.030, 0.260] +============================================================ + + +============================================================ +SCENE: LivingDiningRoom-109935 | 14 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0693, Walkable Loss: 1.7027 (Center Penalty: 0.3077, C1 Heatmap: 0.5475, C2 Repulsion: 4.7846), Relational Loss: 0.0339 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +sofa 1.423 0.727 -0.001 -1.682 -0.023 0.992 90.51° +chair 0.661 0.824 0.693 -2.321 0.000 2.294 89.73° +table 1.335 0.277 1.013 -0.207 0.000 1.691 -90.23° +chair 0.619 0.590 0.482 -0.976 -0.002 0.030 0.06° +tv_stand 1.423 0.478 0.281 0.598 0.006 1.668 -90.72° +table 1.485 0.748 -0.146 -0.111 -0.026 -1.359 -92.25° +chair 0.387 0.816 0.404 -0.686 -0.001 -2.081 0.14° +chair 0.366 0.862 0.433 -0.798 -0.000 -1.420 90.09° +chair 0.348 0.868 0.419 0.407 0.001 -2.030 -90.12° +chair 0.419 0.823 0.469 0.516 -0.003 -1.283 179.93° +lamp 0.649 0.813 0.481 -0.171 1.757 1.419 0.02° +lamp 0.697 0.605 0.314 -0.267 2.191 -1.721 -89.86° +floor 4.244 0.003 5.968 -0.819 -0.003 0.754 -0.10° +_scene_ 0.069 0.000 0.020 -5.668 -0.004 -5.715 -57.32° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: sofa <-> floor depth=[1.423, 0.003, -0.001] + !! OVERLAP: chair <-> floor depth=[0.661, 0.003, 0.693] + !! OVERLAP: table <-> tv_stand depth=[0.574, 0.277, 0.281] + !! OVERLAP: table <-> floor depth=[1.335, 0.003, 1.013] + !! OVERLAP: chair <-> floor depth=[0.619, 0.003, 0.482] + !! OVERLAP: tv_stand <-> floor depth=[1.416, 0.003, 0.281] + !! OVERLAP: table <-> chair depth=[0.238, 0.748, -0.146] + !! OVERLAP: table <-> chair depth=[0.325, 0.748, -0.146] + !! OVERLAP: table <-> floor depth=[1.485, 0.003, -0.146] + !! OVERLAP: chair <-> floor depth=[0.387, 0.003, 0.351] + !! OVERLAP: chair <-> floor depth=[0.366, 0.003, 0.433] + !! OVERLAP: chair <-> floor depth=[0.348, 0.003, 0.410] + !! OVERLAP: chair <-> floor depth=[0.419, 0.003, 0.469] +============================================================ + + +============================================================ +SCENE: LivingDiningRoom-76396 | 19 objects +============================================================ +Final Step Collision Loss: 0.0020, Room Outer Loss: 0.0000, Walkable Loss: 1.7518 (Center Penalty: 0.2204, C1 Heatmap: 0.7743, C2 Repulsion: 4.5600), Relational Loss: 0.0145 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +sofa 1.836 0.866 0.732 -2.556 0.017 2.222 -179.87° +sofa 1.714 0.918 0.908 -3.700 0.001 0.422 89.62° +table 0.512 0.426 0.489 -2.207 0.001 0.574 0.02° +tv_stand 2.225 0.612 0.365 -2.032 -0.000 -1.432 -0.03° +chair 0.715 0.927 0.783 -0.840 -0.004 0.710 -71.38° +table 0.864 0.779 0.316 1.462 -0.034 0.467 -0.81° +chair 0.419 0.780 0.447 3.049 0.001 1.104 -90.18° +chair 0.401 0.783 0.489 2.286 0.001 1.295 179.82° +chair 0.367 0.725 0.396 2.339 -0.002 0.035 0.02° +chair 0.411 0.775 0.438 3.093 0.002 0.100 -90.02° +table 1.124 1.431 0.164 1.010 -0.002 -1.493 0.09° +cabinet 1.671 2.026 0.261 1.412 0.001 2.457 -179.96° +table 0.394 0.472 0.472 -0.478 -0.007 2.096 0.12° +table 0.520 0.452 0.524 -3.201 -0.003 1.960 -90.21° +lamp 0.606 0.557 0.615 -1.605 2.602 0.358 0.02° +lamp 0.555 0.919 0.581 1.504 2.047 0.513 -0.01° +table 1.026 1.269 0.203 2.624 -0.004 -1.815 0.22° +floor 8.472 -0.031 5.173 -0.842 -0.003 0.628 0.02° +_scene_ 0.072 0.000 0.024 -5.673 -0.005 -5.716 -57.30° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: sofa <-> table depth=[0.520, 0.452, 0.365] + !! OVERLAP: sofa <-> floor depth=[1.836, -0.031, 0.732] + !! OVERLAP: sofa <-> floor depth=[1.714, -0.031, 0.908] + !! OVERLAP: table <-> floor depth=[0.512, -0.031, 0.489] + !! OVERLAP: tv_stand <-> floor depth=[2.225, -0.031, 0.365] + !! OVERLAP: chair <-> floor depth=[0.715, -0.031, 0.783] + !! OVERLAP: table <-> floor depth=[0.864, -0.031, 0.316] + !! OVERLAP: chair <-> floor depth=[0.419, -0.031, 0.447] + !! OVERLAP: chair <-> floor depth=[0.401, -0.031, 0.489] + !! OVERLAP: chair <-> floor depth=[0.367, -0.031, 0.396] + !! OVERLAP: chair <-> floor depth=[0.411, -0.031, 0.438] + !! OVERLAP: table <-> floor depth=[1.124, -0.031, 0.164] + !! OVERLAP: cabinet <-> floor depth=[1.671, -0.031, 0.261] + !! OVERLAP: table <-> floor depth=[0.394, -0.031, 0.472] + !! OVERLAP: table <-> floor depth=[0.520, -0.031, 0.524] + !! OVERLAP: table <-> floor depth=[1.026, -0.031, 0.203] +============================================================ + + +============================================================ +SCENE: LivingDiningRoom-18728 | 15 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.1140, Walkable Loss: 1.3956 (Center Penalty: 0.3335, C1 Heatmap: 0.5542, C2 Repulsion: 3.0939), Relational Loss: 0.0189 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +table 1.216 0.997 0.218 -1.715 -0.004 -2.578 0.19° +table 0.909 0.847 0.355 1.432 0.005 -1.929 -90.17° +tv_stand 1.519 0.401 0.187 1.132 0.002 1.706 -89.89° +sofa 1.926 0.795 0.571 -1.523 0.000 2.196 90.01° +chair 0.677 0.707 0.688 -2.370 -0.003 2.429 90.06° +table 1.325 0.647 -0.665 0.177 -0.033 -1.520 -89.93° +chair 0.293 0.725 0.388 0.637 -0.001 -2.032 -0.00° +chair 0.422 0.724 0.461 -0.282 -0.000 -2.035 0.00° +chair 0.411 0.667 0.268 -0.460 0.005 -0.989 -179.44° +chair 0.322 0.744 0.307 0.375 -0.001 -1.001 179.68° +table 1.283 0.380 0.609 -0.282 -0.003 2.345 -93.23° +lamp 0.494 0.603 0.455 -0.357 2.086 1.731 -90.17° +lamp 1.048 0.601 0.139 -0.023 2.156 -1.340 -0.08° +floor 5.006 -0.002 7.160 -0.671 0.001 0.837 0.02° +_scene_ 0.062 -0.000 0.020 -5.671 -0.005 -5.717 -57.31° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: table <-> floor depth=[1.216, -0.002, 0.218] + !! OVERLAP: table <-> floor depth=[0.855, -0.002, 0.355] + !! OVERLAP: tv_stand <-> floor depth=[1.460, -0.002, 0.187] + !! OVERLAP: sofa <-> chair depth=[0.455, 0.707, 0.396] + !! OVERLAP: sofa <-> table depth=[0.363, 0.380, 0.440] + !! OVERLAP: sofa <-> floor depth=[1.926, -0.002, 0.571] + !! OVERLAP: chair <-> floor depth=[0.677, -0.002, 0.688] + !! OVERLAP: table <-> floor depth=[1.325, -0.002, -0.665] + !! OVERLAP: chair <-> floor depth=[0.293, -0.002, 0.388] + !! OVERLAP: chair <-> floor depth=[0.422, -0.002, 0.461] + !! OVERLAP: chair <-> floor depth=[0.411, -0.002, 0.268] + !! OVERLAP: chair <-> floor depth=[0.322, -0.002, 0.307] + !! OVERLAP: table <-> floor depth=[1.283, -0.002, 0.609] +============================================================ + + +============================================================ +SCENE: LivingDiningRoom-46747 | 17 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0000, Walkable Loss: 1.9394 (Center Penalty: 0.5645, C1 Heatmap: 0.4570, C2 Repulsion: 5.0463), Relational Loss: 0.0263 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +sofa 1.651 0.738 0.591 -0.959 0.003 1.530 90.22° +chair 0.497 0.918 0.571 0.029 0.001 3.324 180.00° +table 0.816 0.475 0.638 0.055 0.016 2.040 90.52° +table 1.097 0.699 -0.080 0.001 -0.003 -1.653 -2.00° +chair 0.346 0.987 0.364 0.104 0.004 -1.054 -179.92° +chair 0.342 0.994 0.362 0.803 0.001 -0.865 -179.96° +chair 0.352 0.890 0.407 0.082 -0.001 -2.100 -0.02° +chair 0.353 0.898 0.439 0.929 0.002 -2.209 0.09° +table 1.300 0.872 0.015 0.171 -0.004 -2.939 0.15° +lamp 0.852 0.927 0.876 -0.047 1.869 2.123 0.05° +lamp 1.239 0.899 0.356 0.208 1.821 -1.574 -0.03° +lamp 0.964 0.845 0.567 0.384 2.002 -2.114 -0.07° +chair 0.506 0.678 0.629 0.094 0.010 0.810 4.39° +table 0.642 1.034 0.351 -1.555 0.003 0.716 89.91° +table 0.528 0.957 0.458 -1.688 0.000 3.168 89.98° +floor 3.592 0.000 7.940 -0.402 -0.001 0.955 0.74° +_scene_ 0.069 -0.000 0.024 -5.671 -0.004 -5.711 -57.31° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: sofa <-> table depth=[0.219, 0.475, 0.105] + !! OVERLAP: sofa <-> floor depth=[1.651, 0.000, 0.591] + !! OVERLAP: chair <-> floor depth=[0.497, 0.000, 0.571] + !! OVERLAP: table <-> floor depth=[0.816, 0.000, 0.638] + !! OVERLAP: table <-> floor depth=[1.097, 0.000, -0.080] + !! OVERLAP: chair <-> floor depth=[0.346, 0.000, 0.364] + !! OVERLAP: chair <-> floor depth=[0.342, 0.000, 0.362] + !! OVERLAP: chair <-> floor depth=[0.352, 0.000, 0.407] + !! OVERLAP: chair <-> floor depth=[0.353, 0.000, 0.439] + !! OVERLAP: table <-> floor depth=[1.300, 0.000, 0.015] + !! OVERLAP: chair <-> floor depth=[0.506, 0.000, 0.629] + !! OVERLAP: table <-> floor depth=[0.642, 0.000, 0.351] + !! OVERLAP: table <-> floor depth=[0.528, 0.000, 0.458] +============================================================ + + +============================================================ +SCENE: LivingRoom-88425 | 19 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0429, Walkable Loss: 1.7583 (Center Penalty: 0.2128, C1 Heatmap: 0.5811, C2 Repulsion: 5.4032), Relational Loss: 0.0261 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +sofa 1.487 0.812 0.624 -1.835 0.002 1.412 90.27° +chair 0.977 0.822 0.437 -0.969 0.001 -0.184 19.89° +sofa 1.933 0.948 0.641 -0.298 0.000 3.599 179.91° +table 0.496 0.365 0.401 -0.474 0.000 1.977 90.02° +table 0.421 0.480 0.401 -1.764 0.002 0.071 90.06° +table 0.520 0.578 0.375 -2.075 0.004 3.335 89.91° +table 1.788 0.845 -0.107 -1.316 -0.044 -2.980 0.21° +chair 0.347 0.698 0.329 -0.548 -0.001 -2.469 0.04° +chair 0.412 0.723 0.417 -0.703 -0.002 -1.497 -179.92° +chair 0.396 0.729 0.442 0.110 -0.002 -1.534 179.99° +chair 0.398 0.730 0.451 -1.358 0.005 -1.508 161.98° +chair 0.463 0.644 0.470 -1.470 -0.001 -2.408 89.93° +chair 0.440 0.677 0.440 0.415 0.007 -2.475 -90.20° +lamp 0.903 0.760 0.794 -0.768 1.966 1.641 0.07° +lamp 0.898 0.807 0.894 -0.395 1.960 -2.435 0.03° +table 1.121 1.620 0.232 -0.254 -0.004 -3.655 0.08° +tv_stand 1.274 0.435 0.325 0.947 -0.005 1.882 -90.44° +floor 5.509 -0.010 7.870 -1.200 -0.002 0.177 -0.06° +_scene_ 0.071 0.002 0.028 -5.669 -0.004 -5.709 -57.34° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: sofa <-> floor depth=[1.487, -0.010, 0.624] + !! OVERLAP: chair <-> floor depth=[0.977, -0.010, 0.437] + !! OVERLAP: sofa <-> floor depth=[1.933, -0.010, 0.641] + !! OVERLAP: table <-> floor depth=[0.496, -0.010, 0.401] + !! OVERLAP: table <-> floor depth=[0.421, -0.010, 0.401] + !! OVERLAP: table <-> floor depth=[0.520, -0.010, 0.375] + !! OVERLAP: table <-> floor depth=[1.788, -0.010, -0.107] + !! OVERLAP: chair <-> floor depth=[0.347, -0.010, 0.329] + !! OVERLAP: chair <-> floor depth=[0.412, -0.010, 0.417] + !! OVERLAP: chair <-> floor depth=[0.396, -0.010, 0.442] + !! OVERLAP: chair <-> floor depth=[0.398, -0.010, 0.451] + !! OVERLAP: chair <-> floor depth=[0.463, -0.010, 0.470] + !! OVERLAP: chair <-> floor depth=[0.440, -0.010, 0.440] + !! OVERLAP: table <-> floor depth=[1.121, -0.010, 0.219] + !! OVERLAP: tv_stand <-> floor depth=[1.245, -0.010, 0.325] +============================================================ + + +============================================================ +SCENE: LivingDiningRoom-35769 | 19 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0927, Walkable Loss: 1.4275 (Center Penalty: 0.1086, C1 Heatmap: 0.3607, C2 Repulsion: 5.1518), Relational Loss: 0.0256 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +sofa 1.650 0.749 0.786 3.279 0.005 0.882 179.98° +chair 0.833 1.031 0.921 5.042 0.006 -0.691 -90.18° +chair 0.576 1.184 0.729 1.194 -0.009 -0.545 127.63° +table 1.197 0.397 0.913 2.999 -0.002 -0.806 179.84° +table 0.404 0.538 0.413 4.972 -0.000 0.943 -179.93° +table 0.535 0.568 0.565 1.597 0.001 0.933 -179.95° +table 0.553 0.760 0.432 -3.126 -0.011 1.147 0.83° +chair 0.406 0.862 0.430 -3.730 0.002 0.226 -0.03° +chair 0.471 0.904 0.498 -3.107 0.001 0.334 0.03° +chair 0.438 0.888 0.418 -3.837 0.002 1.875 179.96° +chair 0.512 0.911 0.461 -3.059 0.002 1.861 -179.95° +chair 0.429 0.918 0.511 -1.982 -0.000 0.921 -89.80° +chair 0.525 0.832 0.460 -4.553 0.004 1.009 89.88° +cabinet 0.744 1.400 0.145 -1.080 0.002 2.163 -179.63° +table 0.814 1.984 -0.140 -4.272 0.018 0.738 89.98° +lamp 0.809 0.768 0.717 2.669 1.933 -0.907 0.07° +lamp 1.066 0.968 1.060 -3.702 1.886 1.149 -0.08° +floor 11.222 -0.002 6.348 0.478 -0.006 -1.031 -0.37° +_scene_ 0.070 -0.001 0.024 -5.675 -0.005 -5.712 -57.31° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: sofa <-> floor depth=[1.650, -0.002, 0.786] + !! OVERLAP: chair <-> floor depth=[0.833, -0.002, 0.921] + !! OVERLAP: chair <-> floor depth=[0.576, -0.002, 0.729] + !! OVERLAP: table <-> floor depth=[1.197, -0.002, 0.913] + !! OVERLAP: table <-> floor depth=[0.404, -0.002, 0.413] + !! OVERLAP: table <-> floor depth=[0.535, -0.002, 0.565] + !! OVERLAP: table <-> floor depth=[0.553, -0.002, 0.432] + !! OVERLAP: chair <-> floor depth=[0.406, -0.002, 0.430] + !! OVERLAP: chair <-> floor depth=[0.471, -0.002, 0.498] + !! OVERLAP: chair <-> floor depth=[0.438, -0.002, 0.418] + !! OVERLAP: chair <-> floor depth=[0.512, -0.002, 0.461] + !! OVERLAP: chair <-> floor depth=[0.429, -0.002, 0.511] + !! OVERLAP: chair <-> floor depth=[0.525, -0.002, 0.460] + !! OVERLAP: cabinet <-> floor depth=[0.744, -0.002, 0.053] + !! OVERLAP: table <-> floor depth=[0.814, -0.002, -0.140] +============================================================ + + +============================================================ +SCENE: LivingRoom-1097 | 19 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0000, Walkable Loss: 1.6493 (Center Penalty: 0.1880, C1 Heatmap: 0.7621, C2 Repulsion: 4.2581), Relational Loss: 0.0235 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +table 0.431 1.142 0.241 0.641 0.006 -1.054 -90.07° +sofa 2.060 0.843 0.351 -1.404 -0.024 -0.334 -0.24° +table 0.546 0.662 0.502 -0.742 -0.001 -2.660 0.74° +tv_stand 1.987 0.512 0.377 -0.737 -0.004 2.581 179.95° +table 1.096 0.732 0.830 -1.006 -0.002 1.168 0.01° +chair 0.694 0.848 0.821 0.995 0.001 1.232 -129.09° +chair 0.388 0.875 0.460 -1.484 -0.003 -3.204 -0.29° +chair 0.378 0.907 0.470 -0.561 -0.002 -3.789 -0.10° +chair 0.353 0.918 0.458 -0.779 -0.002 -1.850 -179.89° +chair 0.377 0.930 0.426 -1.476 -0.008 -1.977 179.99° +table 0.563 1.333 0.391 0.742 0.002 2.949 -90.07° +table 0.704 1.359 0.399 -2.650 0.001 2.697 89.90° +cabinet 1.429 0.757 0.152 -2.362 -0.004 -2.145 89.56° +lamp 0.843 0.873 0.594 -0.865 1.810 1.253 0.01° +cabinet 0.787 1.157 0.370 1.157 0.008 -2.418 -90.33° +chair 0.341 0.372 0.394 1.327 0.001 -1.282 -90.40° +lamp 0.658 0.937 0.630 -0.973 1.582 -2.629 0.08° +floor 4.967 -0.005 7.548 -0.924 -0.005 -0.551 -0.06° +_scene_ 0.068 -0.001 0.021 -5.671 -0.005 -5.716 -57.31° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: table <-> floor depth=[0.431, -0.005, 0.241] + !! OVERLAP: sofa <-> floor depth=[2.060, -0.005, 0.351] + !! OVERLAP: table <-> floor depth=[0.546, -0.005, 0.502] + !! OVERLAP: tv_stand <-> floor depth=[1.987, -0.005, 0.377] + !! OVERLAP: table <-> floor depth=[1.096, -0.005, 0.830] + !! OVERLAP: chair <-> floor depth=[0.694, -0.005, 0.821] + !! OVERLAP: chair <-> floor depth=[0.388, -0.005, 0.460] + !! OVERLAP: chair <-> floor depth=[0.378, -0.005, 0.470] + !! OVERLAP: chair <-> floor depth=[0.353, -0.005, 0.458] + !! OVERLAP: chair <-> cabinet depth=[0.017, 0.757, 0.121] + !! OVERLAP: chair <-> floor depth=[0.377, -0.005, 0.426] + !! OVERLAP: table <-> floor depth=[0.563, -0.005, 0.391] + !! OVERLAP: table <-> floor depth=[0.704, -0.005, 0.399] + !! OVERLAP: cabinet <-> floor depth=[1.429, -0.005, 0.152] + !! OVERLAP: cabinet <-> floor depth=[0.787, -0.005, 0.370] + !! OVERLAP: chair <-> floor depth=[0.341, -0.005, 0.394] +============================================================ + + +============================================================ +SCENE: LivingDiningRoom-2729 | 18 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0000, Walkable Loss: 1.6793 (Center Penalty: 0.1756, C1 Heatmap: 0.7480, C2 Repulsion: 4.5266), Relational Loss: 0.0277 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +table 0.770 0.737 0.586 -2.258 0.014 -0.719 0.36° +lamp 0.369 0.812 0.349 -2.184 1.766 -0.600 0.05° +chair 0.488 0.876 0.523 -1.204 -0.002 -0.646 -90.23° +chair 0.493 0.918 0.525 -1.483 0.000 -1.696 0.08° +chair 0.488 0.952 0.480 -1.752 -0.002 0.281 179.72° +chair 0.405 0.816 0.351 -2.807 0.014 0.028 -179.89° +chair 0.478 0.843 0.560 -3.308 0.001 -0.891 89.72° +chair 0.546 0.860 0.600 -2.592 0.002 -2.023 -0.08° +table 0.644 0.503 0.852 2.026 0.001 -0.622 -0.07° +tv_stand 2.162 1.022 0.328 1.610 0.006 0.836 179.86° +sofa 2.179 0.927 0.775 1.120 -0.000 -2.415 -0.05° +chair 0.371 1.082 0.572 2.952 0.005 -1.222 -61.64° +chair 0.487 0.417 0.240 -0.053 0.006 -1.271 90.23° +chair 0.539 0.422 0.429 0.839 0.005 -0.816 90.11° +lamp 0.267 0.684 0.292 1.618 1.908 -0.617 0.03° +cabinet 0.573 0.729 0.373 -2.948 0.008 1.242 179.95° +floor 8.606 0.015 5.368 -0.388 0.000 -1.197 -0.15° +_scene_ 0.068 -0.000 0.021 -5.671 -0.003 -5.711 -57.31° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: table <-> floor depth=[0.770, 0.015, 0.586] + !! OVERLAP: chair <-> floor depth=[0.488, 0.015, 0.523] + !! OVERLAP: chair <-> floor depth=[0.493, 0.015, 0.525] + !! OVERLAP: chair <-> floor depth=[0.488, 0.015, 0.480] + !! OVERLAP: chair <-> floor depth=[0.405, 0.015, 0.351] + !! OVERLAP: chair <-> floor depth=[0.478, 0.015, 0.560] + !! OVERLAP: chair <-> floor depth=[0.546, 0.015, 0.600] + !! OVERLAP: table <-> floor depth=[0.644, 0.015, 0.852] + !! OVERLAP: tv_stand <-> floor depth=[2.162, 0.015, 0.328] + !! OVERLAP: sofa <-> floor depth=[2.179, 0.015, 0.775] + !! OVERLAP: chair <-> floor depth=[0.371, 0.015, 0.572] + !! OVERLAP: chair <-> floor depth=[0.487, 0.015, 0.240] + !! OVERLAP: chair <-> floor depth=[0.539, 0.015, 0.429] + !! OVERLAP: cabinet <-> floor depth=[0.573, 0.015, 0.373] +============================================================ + + +============================================================ +SCENE: LivingDiningRoom-19784 | 14 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0000, Walkable Loss: 1.5360 (Center Penalty: 0.1758, C1 Heatmap: 0.6799, C2 Repulsion: 4.0811), Relational Loss: 0.0219 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +sofa 1.847 0.832 0.736 1.510 0.005 -1.932 -90.46° +chair 0.711 1.030 0.771 0.316 -0.002 -3.849 -0.02° +table 1.105 0.494 0.921 0.431 0.001 -1.469 90.12° +table 0.313 1.173 0.374 2.209 0.000 -3.280 -89.86° +tv_stand 1.711 0.576 0.415 -1.183 0.005 -1.592 90.06° +table 1.059 0.716 0.690 0.670 0.015 1.408 -91.20° +chair 0.452 1.122 0.540 -0.407 0.001 1.175 89.94° +chair 0.408 1.023 0.440 -0.339 0.006 1.922 90.03° +chair 0.466 1.078 0.597 1.864 0.000 1.014 -90.04° +chair 0.375 0.996 0.456 1.700 -0.002 1.866 -90.03° +lamp 1.092 1.341 1.088 0.207 2.056 -1.594 -0.00° +lamp 0.771 0.950 0.810 1.029 1.755 1.576 -0.04° +floor 4.552 -0.004 7.243 0.164 -0.000 -1.046 -0.15° +_scene_ 0.071 0.001 0.024 -5.669 -0.004 -5.714 -57.32° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: sofa <-> table depth=[0.397, 0.494, 0.366] + !! OVERLAP: sofa <-> floor depth=[1.847, -0.004, 0.736] + !! OVERLAP: chair <-> floor depth=[0.711, -0.004, 0.771] + !! OVERLAP: table <-> floor depth=[1.105, -0.004, 0.921] + !! OVERLAP: table <-> floor depth=[0.313, -0.004, 0.374] + !! OVERLAP: tv_stand <-> floor depth=[1.711, -0.004, 0.415] + !! OVERLAP: table <-> floor depth=[1.059, -0.004, 0.690] + !! OVERLAP: chair <-> floor depth=[0.452, -0.004, 0.540] + !! OVERLAP: chair <-> floor depth=[0.408, -0.004, 0.440] + !! OVERLAP: chair <-> floor depth=[0.466, -0.004, 0.597] + !! OVERLAP: chair <-> floor depth=[0.375, -0.004, 0.456] +============================================================ + + +============================================================ +SCENE: LivingDiningRoom-10493 | 16 objects +============================================================ +Final Step Collision Loss: 0.0003, Room Outer Loss: 0.0000, Walkable Loss: 1.1004 (Center Penalty: 0.0484, C1 Heatmap: 0.4797, C2 Repulsion: 3.3412), Relational Loss: 0.0121 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +lamp 0.652 0.929 0.630 -1.512 1.868 -2.711 -0.10° +table 1.107 0.909 0.556 0.441 0.036 -2.152 -84.37° +chair 0.525 0.715 0.519 1.635 -0.001 -2.911 0.09° +chair 0.430 0.769 0.475 0.632 0.005 -3.010 0.04° +chair 0.466 0.730 0.482 1.593 -0.003 -1.275 179.75° +chair 0.404 0.773 0.449 0.742 0.004 -1.421 -179.97° +lamp 0.959 0.864 0.941 -1.596 1.960 1.528 -179.97° +table 0.527 0.566 0.427 -3.187 0.002 -0.080 90.00° +table 0.470 0.538 0.552 -3.092 0.004 3.675 89.84° +table 0.709 0.401 0.733 -1.655 0.000 1.564 90.33° +tv_stand 1.354 0.605 0.317 -0.169 0.000 2.017 -89.95° +sofa 1.824 0.900 0.550 -3.329 0.007 1.766 90.06° +chair 0.739 1.055 0.845 -1.547 0.002 3.381 175.41° +table 0.811 0.708 0.475 -1.526 0.011 0.046 179.98° +floor 7.171 -0.007 8.508 -1.299 -0.000 0.162 -0.03° +_scene_ 0.070 0.000 0.021 -5.670 -0.004 -5.712 -57.32° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: table <-> floor depth=[1.107, -0.007, 0.556] + !! OVERLAP: chair <-> floor depth=[0.525, -0.007, 0.519] + !! OVERLAP: chair <-> floor depth=[0.430, -0.007, 0.475] + !! OVERLAP: chair <-> floor depth=[0.466, -0.007, 0.482] + !! OVERLAP: chair <-> floor depth=[0.404, -0.007, 0.449] + !! OVERLAP: table <-> floor depth=[0.527, -0.007, 0.427] + !! OVERLAP: table <-> floor depth=[0.470, -0.007, 0.552] + !! OVERLAP: table <-> floor depth=[0.709, -0.007, 0.733] + !! OVERLAP: tv_stand <-> floor depth=[1.354, -0.007, 0.317] + !! OVERLAP: sofa <-> floor depth=[1.824, -0.007, 0.550] + !! OVERLAP: chair <-> floor depth=[0.739, -0.007, 0.845] + !! OVERLAP: table <-> floor depth=[0.811, -0.007, 0.475] +============================================================ + + +============================================================ +SCENE: LivingRoom-23405 | 10 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0000, Walkable Loss: 2.0838 (Center Penalty: 1.4404, C1 Heatmap: 0.2773, C2 Repulsion: 2.1076), Relational Loss: 0.0324 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +table 0.582 0.804 0.108 -1.283 -0.002 0.274 91.75° +chair 0.466 0.973 0.481 -1.864 0.003 0.473 89.87° +chair 0.434 0.927 0.479 -1.941 0.003 -0.235 90.05° +chair 0.383 0.940 0.393 -0.743 0.003 0.717 -90.09° +chair 0.259 0.956 0.439 -1.074 0.004 -0.404 -90.80° +table 1.284 0.727 0.499 1.219 -0.001 0.366 -90.06° +cabinet 0.815 1.415 0.547 1.575 0.006 -1.235 0.10° +lamp 0.329 0.466 0.324 -0.854 2.121 -0.184 -0.14° +floor 5.241 -0.003 2.904 -0.001 0.001 -0.142 0.02° +_scene_ 0.068 0.001 0.020 -5.671 -0.004 -5.715 -57.29° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: table <-> floor depth=[0.582, -0.003, 0.108] + !! OVERLAP: chair <-> floor depth=[0.466, -0.003, 0.481] + !! OVERLAP: chair <-> floor depth=[0.434, -0.003, 0.479] + !! OVERLAP: chair <-> floor depth=[0.383, -0.003, 0.393] + !! OVERLAP: chair <-> floor depth=[0.259, -0.003, 0.439] + !! OVERLAP: table <-> floor depth=[1.284, -0.003, 0.499] + !! OVERLAP: cabinet <-> floor depth=[0.815, -0.003, 0.547] +============================================================ + + +============================================================ +SCENE: LivingRoom-3797 | 13 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0362, Walkable Loss: 1.3073 (Center Penalty: 0.3270, C1 Heatmap: 0.4623, C2 Repulsion: 3.0524), Relational Loss: 0.0214 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +sofa 1.238 0.784 0.683 1.529 0.006 1.126 -90.25° +table 0.795 0.396 0.580 0.223 0.003 1.490 -91.06° +table 0.164 0.874 0.563 1.567 -0.003 -0.541 0.94° +chair 0.375 0.811 0.394 1.071 0.003 0.014 -179.98° +chair 0.394 0.855 0.389 1.961 0.001 -0.053 179.89° +chair 0.399 0.840 0.458 0.973 0.001 -1.139 0.02° +chair 0.338 0.800 0.398 1.796 0.000 -1.282 0.08° +tv_stand 2.002 0.606 0.252 -1.099 0.000 1.451 90.07° +cabinet 0.951 1.021 0.070 -0.531 -0.004 -1.769 -0.64° +lamp 0.522 0.390 0.392 0.049 2.192 1.614 0.04° +lamp 0.124 1.195 0.125 1.322 1.561 -0.696 0.00° +floor 4.259 -0.008 5.396 0.034 0.003 0.925 0.15° +_scene_ 0.066 -0.001 0.017 -5.673 -0.005 -5.718 -57.30° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: sofa <-> floor depth=[1.238, -0.008, 0.683] + !! OVERLAP: table <-> tv_stand depth=[0.078, 0.396, 0.252] + !! OVERLAP: table <-> floor depth=[0.795, -0.008, 0.580] + !! OVERLAP: table <-> floor depth=[0.164, -0.008, 0.563] + !! OVERLAP: chair <-> floor depth=[0.375, -0.008, 0.394] + !! OVERLAP: chair <-> floor depth=[0.394, -0.008, 0.389] + !! OVERLAP: chair <-> floor depth=[0.399, -0.008, 0.458] + !! OVERLAP: chair <-> floor depth=[0.338, -0.008, 0.398] + !! OVERLAP: tv_stand <-> floor depth=[1.998, -0.008, 0.252] + !! OVERLAP: cabinet <-> floor depth=[0.951, -0.008, 0.039] +============================================================ + + +============================================================ +SCENE: LivingRoom-50084 | 12 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0504, Walkable Loss: 1.1887 (Center Penalty: 0.2829, C1 Heatmap: 0.5402, C2 Repulsion: 2.3686), Relational Loss: 0.0131 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +chair 0.572 0.792 0.660 -0.568 -0.002 2.938 150.43° +chair 0.817 0.312 0.447 -1.011 -0.001 -0.006 -0.01° +table 0.334 0.428 0.489 -0.274 0.008 1.648 -90.07° +table 0.743 0.556 0.582 1.403 -0.009 0.187 -0.11° +table 0.557 0.550 0.632 0.702 -0.002 2.867 -0.10° +tv_stand 2.064 0.788 0.317 -1.570 -0.002 1.682 90.17° +cabinet 0.911 0.999 0.298 2.159 0.001 -1.024 -89.89° +lamp 1.012 0.524 0.313 -0.228 2.050 1.335 0.05° +lamp 0.630 0.304 0.408 2.300 2.173 -2.124 -0.16° +sofa 1.845 0.939 0.349 1.134 -0.010 1.572 -179.88° +floor 5.724 -0.004 6.962 0.310 0.003 1.014 -0.12° +_scene_ 0.068 0.001 0.019 -5.669 -0.005 -5.714 -57.30° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: chair <-> floor depth=[0.572, -0.004, 0.660] + !! OVERLAP: chair <-> floor depth=[0.817, -0.004, 0.447] + !! OVERLAP: table <-> floor depth=[0.334, -0.004, 0.489] + !! OVERLAP: table <-> floor depth=[0.743, -0.004, 0.582] + !! OVERLAP: table <-> floor depth=[0.557, -0.004, 0.632] + !! OVERLAP: tv_stand <-> floor depth=[2.013, -0.004, 0.317] + !! OVERLAP: cabinet <-> floor depth=[0.911, -0.004, 0.298] + !! OVERLAP: sofa <-> floor depth=[1.845, -0.004, 0.349] +============================================================ + + +============================================================ +SCENE: LivingRoom-1772 | 15 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0000, Walkable Loss: 1.5564 (Center Penalty: 0.4680, C1 Heatmap: 0.6243, C2 Repulsion: 2.9449), Relational Loss: 0.0224 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +sofa 1.911 0.771 0.744 2.161 -0.004 0.885 179.90° +table 1.154 0.407 0.743 2.349 0.000 0.089 -0.07° +chair 0.409 0.475 0.439 1.134 -0.002 -0.322 -0.07° +bookshelf 2.900 2.651 -0.114 -1.264 -0.006 1.307 -179.69° +table 0.749 0.667 0.354 -1.326 -0.008 -1.235 0.14° +chair 0.461 0.890 0.467 -2.332 -0.002 -1.382 -0.02° +chair 0.431 0.899 0.411 -1.874 -0.004 -0.472 179.83° +chair 0.472 0.921 0.502 -0.233 -0.000 -1.200 -90.24° +chair 0.385 0.961 0.397 -0.897 0.004 -0.384 -90.04° +lamp 0.610 0.701 0.632 1.924 1.964 -0.328 -0.01° +lamp 0.188 0.945 0.194 -1.381 1.335 -1.984 -0.02° +lamp 0.351 0.933 0.247 -1.345 1.518 -1.291 -0.01° +lamp 0.252 0.876 0.243 -1.439 1.726 -0.585 -0.03° +floor 6.953 -0.005 5.236 -0.009 0.002 -0.905 -0.04° +_scene_ 0.067 0.000 0.022 -5.668 -0.005 -5.716 -57.30° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: sofa <-> floor depth=[1.911, -0.005, 0.744] + !! OVERLAP: table <-> floor depth=[1.154, -0.005, 0.743] + !! OVERLAP: chair <-> floor depth=[0.409, -0.005, 0.439] + !! OVERLAP: bookshelf <-> floor depth=[2.900, -0.005, -0.114] + !! OVERLAP: table <-> floor depth=[0.749, -0.005, 0.354] + !! OVERLAP: chair <-> floor depth=[0.461, -0.005, 0.467] + !! OVERLAP: chair <-> floor depth=[0.431, -0.005, 0.411] + !! OVERLAP: chair <-> floor depth=[0.472, -0.005, 0.502] + !! OVERLAP: chair <-> floor depth=[0.385, -0.005, 0.397] +============================================================ + + +============================================================ +SCENE: LivingRoom-30098 | 11 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.1126, Walkable Loss: 1.2687 (Center Penalty: 0.2933, C1 Heatmap: 0.6841, C2 Repulsion: 2.1408), Relational Loss: 0.0008 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +sofa 1.556 0.775 0.754 -1.454 -0.002 0.251 90.15° +chair 0.689 0.900 0.854 -0.201 -0.001 3.019 166.95° +chair 0.797 1.026 0.745 -0.079 -0.000 -1.442 9.00° +table 0.437 0.344 0.439 -1.415 0.001 -1.221 0.00° +table 0.443 0.558 0.417 -1.350 0.001 1.973 -0.07° +table 0.732 0.454 0.928 0.126 0.001 1.141 0.12° +tv_stand 2.214 2.447 0.394 1.648 -0.003 0.475 -89.92° +cabinet 1.011 0.823 0.312 1.236 0.001 2.862 179.89° +lamp 0.606 0.844 0.582 0.010 1.869 1.083 -0.13° +floor 4.948 -0.031 7.189 0.168 0.002 1.073 -0.54° +_scene_ 0.074 0.001 0.027 -5.668 -0.006 -5.713 -57.28° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: sofa <-> floor depth=[1.556, -0.031, 0.754] + !! OVERLAP: chair <-> floor depth=[0.689, -0.031, 0.854] + !! OVERLAP: chair <-> floor depth=[0.797, -0.031, 0.745] + !! OVERLAP: table <-> floor depth=[0.437, -0.031, 0.439] + !! OVERLAP: table <-> floor depth=[0.443, -0.031, 0.417] + !! OVERLAP: table <-> floor depth=[0.732, -0.031, 0.928] + !! OVERLAP: tv_stand <-> floor depth=[2.101, -0.031, 0.394] + !! OVERLAP: cabinet <-> floor depth=[1.011, -0.031, 0.312] +============================================================ + + +============================================================ +SCENE: LivingRoom-3540 | 17 objects +============================================================ +Final Step Collision Loss: 0.0006, Room Outer Loss: 0.0861, Walkable Loss: 2.0245 (Center Penalty: 0.2489, C1 Heatmap: 0.7793, C2 Repulsion: 5.7604), Relational Loss: 0.0277 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +sofa 1.951 0.899 0.762 -1.676 -0.000 -1.648 90.00° +chair 0.828 0.821 0.768 -0.141 -0.003 -3.294 10.69° +chair 1.045 0.383 0.180 0.749 0.000 -0.616 89.63° +table 0.970 0.325 0.494 0.087 0.003 -1.681 -90.96° +table 0.583 0.592 0.473 -1.629 -0.000 -3.500 89.99° +table 0.609 0.678 0.551 -1.486 -0.000 0.100 0.01° +tv_stand 1.827 0.441 0.329 1.272 0.005 -2.312 -90.43° +table 1.389 0.701 0.778 -0.021 -0.003 2.338 179.96° +chair 0.478 0.565 0.478 0.824 -0.001 1.342 -90.09° +chair 0.389 0.508 0.399 0.988 0.002 2.690 -90.15° +chair 0.442 0.656 0.410 -0.739 0.001 1.418 90.08° +chair 0.422 0.630 0.412 -0.778 0.002 2.654 90.10° +table 1.117 0.941 0.365 -2.109 -0.001 2.667 90.03° +lamp 0.651 0.717 0.640 0.217 1.903 -1.724 -0.01° +lamp 0.476 0.830 0.459 0.229 1.729 2.067 -0.02° +floor 4.885 0.027 8.687 -0.343 -0.008 -1.115 -0.34° +_scene_ 0.076 -0.000 0.018 -5.668 -0.003 -5.711 -57.31° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: sofa <-> floor depth=[1.951, 0.027, 0.762] + !! OVERLAP: chair <-> floor depth=[0.828, 0.027, 0.768] + !! OVERLAP: chair <-> floor depth=[1.045, 0.027, 0.180] + !! OVERLAP: table <-> floor depth=[0.970, 0.027, 0.494] + !! OVERLAP: table <-> floor depth=[0.583, 0.027, 0.473] + !! OVERLAP: table <-> floor depth=[0.609, 0.027, 0.551] + !! OVERLAP: tv_stand <-> floor depth=[1.741, 0.027, 0.329] + !! OVERLAP: table <-> chair depth=[0.148, 0.630, 0.279] + !! OVERLAP: table <-> floor depth=[1.389, 0.027, 0.778] + !! OVERLAP: chair <-> floor depth=[0.478, 0.027, 0.478] + !! OVERLAP: chair <-> floor depth=[0.389, 0.027, 0.399] + !! OVERLAP: chair <-> floor depth=[0.442, 0.027, 0.410] + !! OVERLAP: chair <-> floor depth=[0.422, 0.027, 0.412] + !! OVERLAP: table <-> floor depth=[1.117, 0.027, 0.365] +============================================================ + + +============================================================ +SCENE: LivingDiningRoom-2583 | 18 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0000, Walkable Loss: 2.0862 (Center Penalty: 0.2533, C1 Heatmap: 0.6732, C2 Repulsion: 6.4717), Relational Loss: 0.0254 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +sofa 1.693 0.983 0.654 -1.877 0.005 1.643 89.89° +table 1.349 0.394 1.128 -0.458 0.001 1.690 -0.05° +chair 0.662 0.967 0.698 -0.431 0.001 3.115 179.93° +table 0.498 0.637 0.368 -2.212 0.001 -0.043 90.01° +table 0.564 0.603 0.380 -2.083 0.000 3.350 89.90° +tv_stand 1.097 0.473 0.237 0.586 0.007 1.625 -89.70° +chair 0.720 0.997 0.634 -1.010 0.007 -0.579 10.80° +table 0.923 0.841 -0.042 -1.187 -0.018 -2.006 0.01° +chair 0.338 1.042 0.311 -1.156 0.015 -1.471 -179.69° +chair 0.457 0.965 0.514 -1.247 -0.003 -2.413 0.12° +chair 0.437 0.972 0.479 -0.349 -0.002 -2.529 0.03° +chair 0.355 0.992 0.484 -0.406 -0.001 -1.424 179.71° +table 0.562 0.548 0.486 -1.321 -0.001 -3.152 -0.27° +table 0.661 1.298 0.239 0.822 0.001 -3.299 -90.17° +lamp 0.798 0.784 0.729 -0.625 1.895 -2.299 -0.05° +lamp 1.396 1.116 1.380 -0.901 1.706 1.739 0.01° +floor 4.504 0.002 7.125 -0.933 -0.000 0.138 0.06° +_scene_ 0.070 0.000 0.028 -5.672 -0.004 -5.717 -57.32° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: sofa <-> table depth=[0.103, 0.394, 0.654] + !! OVERLAP: sofa <-> floor depth=[1.693, 0.002, 0.654] + !! OVERLAP: table <-> tv_stand depth=[0.179, 0.394, 0.237] + !! OVERLAP: table <-> floor depth=[1.349, 0.002, 1.128] + !! OVERLAP: chair <-> floor depth=[0.662, 0.002, 0.698] + !! OVERLAP: table <-> floor depth=[0.498, 0.002, 0.368] + !! OVERLAP: table <-> floor depth=[0.564, 0.002, 0.380] + !! OVERLAP: tv_stand <-> floor depth=[1.097, 0.002, 0.237] + !! OVERLAP: chair <-> floor depth=[0.720, 0.002, 0.634] + !! OVERLAP: table <-> floor depth=[0.923, 0.002, -0.042] + !! OVERLAP: chair <-> floor depth=[0.338, 0.002, 0.311] + !! OVERLAP: chair <-> floor depth=[0.457, 0.002, 0.514] + !! OVERLAP: chair <-> floor depth=[0.437, 0.002, 0.479] + !! OVERLAP: chair <-> floor depth=[0.355, 0.002, 0.484] + !! OVERLAP: table <-> floor depth=[0.562, 0.002, 0.486] + !! OVERLAP: table <-> floor depth=[0.661, 0.002, 0.239] +============================================================ + + +============================================================ +SCENE: LivingRoom-68491 | 13 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0000, Walkable Loss: 1.2972 (Center Penalty: 0.2327, C1 Heatmap: 0.5151, C2 Repulsion: 3.2626), Relational Loss: 0.0426 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +chair 0.535 0.904 0.559 -0.790 -0.003 -0.773 -77.48° +table 0.503 0.300 0.460 1.137 -0.002 -0.609 -0.11° +sofa 1.638 0.877 0.542 1.042 0.008 -1.836 -0.33° +chair 0.903 1.024 0.757 2.612 0.002 -0.166 -113.38° +table 0.484 0.468 0.466 2.762 0.001 -1.890 -0.05° +table 0.497 0.488 0.545 -0.305 -0.000 -1.929 -0.06° +lamp 0.664 0.823 0.671 1.139 1.905 -0.773 0.01° +chair 0.535 1.059 0.613 -2.874 0.001 -1.875 -0.03° +chair 0.544 0.977 0.608 -2.511 0.000 -0.490 179.84° +table 1.474 0.717 -0.013 -2.007 -0.007 -1.884 88.92° +cabinet 0.920 0.765 0.198 -1.498 0.000 -1.778 0.13° +floor 7.432 -0.003 5.222 -0.640 -0.004 -0.901 -0.19° +_scene_ 0.072 0.001 0.027 -5.670 -0.004 -5.713 -57.31° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: chair <-> floor depth=[0.535, -0.003, 0.559] + !! OVERLAP: table <-> floor depth=[0.503, -0.003, 0.460] + !! OVERLAP: sofa <-> floor depth=[1.638, -0.003, 0.542] + !! OVERLAP: chair <-> floor depth=[0.903, -0.003, 0.757] + !! OVERLAP: table <-> floor depth=[0.484, -0.003, 0.466] + !! OVERLAP: table <-> floor depth=[0.497, -0.003, 0.545] + !! OVERLAP: chair <-> table depth=[0.138, 0.717, -0.013] + !! OVERLAP: chair <-> floor depth=[0.535, -0.003, 0.613] + !! OVERLAP: chair <-> floor depth=[0.544, -0.003, 0.608] + !! OVERLAP: table <-> floor depth=[1.474, -0.003, -0.013] + !! OVERLAP: cabinet <-> floor depth=[0.920, -0.003, 0.198] +============================================================ + + +============================================================ +SCENE: LivingRoom-22102 | 8 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0353, Walkable Loss: 0.8238 (Center Penalty: 0.2125, C1 Heatmap: 0.5491, C2 Repulsion: 0.8598), Relational Loss: 0.0000 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +table 1.157 0.359 0.499 0.206 -0.008 1.119 89.35° +table 0.471 0.582 0.520 -1.297 0.004 -1.856 16.79° +sofa 2.037 0.835 0.889 -1.555 -0.002 0.152 89.99° +chair 0.733 0.916 0.738 0.333 -0.003 -1.276 -29.93° +tv_stand 1.140 0.717 0.455 1.741 0.009 0.465 -90.20° +lamp 0.346 0.505 0.340 0.758 2.147 0.913 -0.08° +floor 5.064 -0.031 5.522 -0.257 -0.006 -1.253 -0.07° +_scene_ 0.063 0.002 0.019 -5.665 -0.003 -5.716 -57.24° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: table <-> floor depth=[1.157, -0.031, 0.499] + !! OVERLAP: table <-> floor depth=[0.471, -0.031, 0.520] + !! OVERLAP: sofa <-> floor depth=[2.037, -0.031, 0.889] + !! OVERLAP: chair <-> floor depth=[0.733, -0.031, 0.738] + !! OVERLAP: tv_stand <-> floor depth=[1.104, -0.031, 0.455] +============================================================ + + +============================================================ +SCENE: LivingDiningRoom-2106 | 10 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0000, Walkable Loss: 0.8380 (Center Penalty: 0.1484, C1 Heatmap: 0.5587, C2 Repulsion: 1.2132), Relational Loss: 0.0281 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +lamp 0.581 0.822 0.333 0.067 1.845 -1.620 -0.01° +tv_stand 1.424 0.381 0.186 -1.256 0.017 1.613 89.87° +sofa 2.066 0.833 0.900 1.432 -0.000 1.539 -89.99° +cabinet 1.128 1.032 0.465 1.579 0.003 -0.560 -89.95° +table 0.952 0.417 0.501 -0.034 -0.000 1.892 90.08° +bookshelf 0.797 2.429 0.418 -1.488 -0.000 -0.619 90.02° +lamp 0.988 1.256 1.056 -0.110 1.642 1.443 0.08° +chair 0.494 1.093 0.508 -0.065 0.005 -1.920 22.47° +floor 4.574 -0.001 6.964 0.265 0.001 1.001 0.02° +_scene_ 0.070 0.001 0.022 -5.671 -0.004 -5.712 -57.29° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: tv_stand <-> floor depth=[1.424, -0.001, 0.186] + !! OVERLAP: sofa <-> table depth=[0.043, 0.417, 0.348] + !! OVERLAP: sofa <-> floor depth=[2.066, -0.001, 0.900] + !! OVERLAP: cabinet <-> floor depth=[1.128, -0.001, 0.465] + !! OVERLAP: table <-> floor depth=[0.952, -0.001, 0.501] + !! OVERLAP: bookshelf <-> floor depth=[0.797, -0.001, 0.418] + !! OVERLAP: chair <-> floor depth=[0.494, -0.001, 0.508] +============================================================ + + +============================================================ +SCENE: LivingRoom-38721 | 10 objects +============================================================ +Final Step Collision Loss: 0.0121, Room Outer Loss: 0.0277, Walkable Loss: 1.4567 (Center Penalty: 0.5195, C1 Heatmap: 0.3490, C2 Repulsion: 3.2899), Relational Loss: 0.0129 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +lamp 1.023 0.983 1.075 -0.926 1.966 1.139 0.01° +tv_stand 1.174 0.486 0.175 0.174 -0.018 -1.261 -90.33° +table 0.671 0.479 0.503 -1.125 0.003 -1.326 89.80° +sofa 1.807 0.791 0.585 -0.884 0.012 -0.797 91.76° +table 0.827 0.458 0.260 -0.617 -0.000 1.422 179.80° +chair 0.256 0.712 0.267 -1.060 0.008 0.827 -179.96° +chair 0.365 0.717 0.310 -0.474 0.004 0.751 0.13° +lamp 0.381 0.268 0.380 -0.758 2.160 -1.080 -0.04° +floor 2.704 -0.009 5.151 -0.619 0.008 -0.790 -0.17° +_scene_ 0.066 0.001 0.020 -5.671 -0.004 -5.715 -57.31° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: tv_stand <-> floor depth=[1.146, -0.009, 0.175] + !! OVERLAP: table <-> sofa depth=[0.671, 0.479, 0.015] + !! OVERLAP: table <-> floor depth=[0.671, -0.009, 0.503] + !! OVERLAP: sofa <-> floor depth=[1.807, -0.009, 0.585] + !! OVERLAP: table <-> floor depth=[0.827, -0.009, 0.260] + !! OVERLAP: chair <-> floor depth=[0.256, -0.009, 0.267] + !! OVERLAP: chair <-> floor depth=[0.365, -0.009, 0.310] +============================================================ + + +============================================================ +SCENE: LivingRoom-2159 | 7 objects +============================================================ +Final Step Collision Loss: 0.0067, Room Outer Loss: 0.0000, Walkable Loss: 2.2816 (Center Penalty: 1.0591, C1 Heatmap: 0.7871, C2 Repulsion: 2.9642), Relational Loss: 0.0032 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +table 0.908 0.443 0.779 1.266 -0.001 0.259 0.17° +table 0.519 0.672 0.423 1.610 -0.001 -0.213 0.00° +sofa 3.054 1.058 0.887 0.570 -0.001 -1.627 -0.03° +chair 0.376 0.820 0.420 -1.386 -0.003 -0.278 70.26° +tv_stand 2.433 0.760 0.467 0.841 0.001 1.810 179.97° +floor 5.008 -0.004 4.393 0.008 0.001 0.036 -0.03° +_scene_ 0.051 -0.003 0.027 -5.642 -0.001 -5.679 -57.30° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: table <-> table depth=[0.370, 0.443, 0.129] + !! OVERLAP: table <-> floor depth=[0.908, -0.004, 0.779] + !! OVERLAP: table <-> floor depth=[0.519, -0.004, 0.423] + !! OVERLAP: sofa <-> floor depth=[3.054, -0.004, 0.887] + !! OVERLAP: chair <-> floor depth=[0.376, -0.004, 0.420] + !! OVERLAP: tv_stand <-> floor depth=[2.433, -0.004, 0.467] +============================================================ + + +============================================================ +SCENE: LivingRoom-1618 | 10 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0658, Walkable Loss: 1.9014 (Center Penalty: 1.0739, C1 Heatmap: 0.4858, C2 Repulsion: 2.1946), Relational Loss: 0.0187 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +sofa 1.605 0.698 0.599 -1.314 0.002 -0.031 90.05° +table 1.028 1.094 0.309 -1.705 0.001 -1.695 90.12° +tv_stand 0.922 0.625 0.280 0.723 0.021 -0.632 -89.66° +table 1.737 0.779 0.464 -0.561 0.016 1.535 0.36° +chair 0.337 0.955 0.354 0.216 0.005 2.319 -156.67° +chair 0.318 0.875 0.327 -0.489 0.004 2.517 160.60° +lamp 0.454 0.978 0.501 -0.559 1.759 0.047 -0.06° +chair 0.565 0.410 0.525 -0.226 0.000 -1.731 0.04° +floor 3.402 0.008 5.320 -0.584 0.006 0.440 0.33° +_scene_ 0.069 -0.000 0.025 -5.669 -0.005 -5.716 -57.30° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: sofa <-> floor depth=[1.605, 0.008, 0.599] + !! OVERLAP: table <-> floor depth=[1.028, 0.008, 0.309] + !! OVERLAP: tv_stand <-> floor depth=[0.856, 0.008, 0.280] + !! OVERLAP: table <-> floor depth=[1.737, 0.008, 0.464] + !! OVERLAP: chair <-> floor depth=[0.337, 0.008, 0.354] + !! OVERLAP: chair <-> floor depth=[0.318, 0.008, 0.327] + !! OVERLAP: chair <-> floor depth=[0.565, 0.008, 0.525] +============================================================ + + +============================================================ +SCENE: LivingDiningRoom-25795 | 17 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0000, Walkable Loss: 1.7178 (Center Penalty: 0.4258, C1 Heatmap: 0.6733, C2 Repulsion: 3.7668), Relational Loss: 0.0139 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +chair 0.386 0.794 0.546 1.873 0.007 0.185 -83.23° +sofa 1.883 0.861 0.437 1.228 0.002 -1.565 -0.47° +chair 0.579 0.489 0.455 -0.242 -0.005 0.780 -90.46° +table 0.403 0.293 0.351 1.241 0.002 -0.327 -180.00° +table 0.295 0.429 0.404 2.057 0.002 -1.013 179.90° +table 0.571 0.411 0.533 -0.686 0.002 -1.221 179.95° +table 1.230 0.706 0.404 -2.036 -0.002 0.762 180.00° +chair 0.491 0.811 0.521 -2.881 0.001 1.725 179.99° +chair 0.477 0.810 0.453 -1.919 0.002 1.686 179.99° +chair 0.468 0.815 0.470 -1.916 0.001 -0.079 0.04° +chair 0.512 0.740 0.489 -2.872 0.001 -0.126 0.01° +tv_stand 2.418 0.716 0.372 0.844 -0.003 2.755 179.69° +cabinet 0.953 1.167 0.334 -2.832 -0.002 -1.903 89.68° +lamp 0.291 0.754 0.310 1.280 1.900 0.701 0.01° +lamp 0.618 0.930 0.646 -1.826 2.028 0.759 0.01° +floor 6.193 -0.008 5.578 -0.889 0.001 0.645 0.06° +_scene_ 0.070 -0.001 0.014 -5.675 -0.005 -5.716 -57.31° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: chair <-> floor depth=[0.386, -0.008, 0.546] + !! OVERLAP: sofa <-> floor depth=[1.883, -0.008, 0.437] + !! OVERLAP: chair <-> floor depth=[0.579, -0.008, 0.455] + !! OVERLAP: table <-> floor depth=[0.403, -0.008, 0.351] + !! OVERLAP: table <-> floor depth=[0.295, -0.008, 0.404] + !! OVERLAP: table <-> floor depth=[0.571, -0.008, 0.533] + !! OVERLAP: table <-> floor depth=[1.230, -0.008, 0.404] + !! OVERLAP: chair <-> floor depth=[0.491, -0.008, 0.521] + !! OVERLAP: chair <-> floor depth=[0.477, -0.008, 0.453] + !! OVERLAP: chair <-> floor depth=[0.468, -0.008, 0.470] + !! OVERLAP: chair <-> floor depth=[0.512, -0.008, 0.489] + !! OVERLAP: tv_stand <-> floor depth=[2.418, -0.008, 0.372] + !! OVERLAP: cabinet <-> floor depth=[0.953, -0.008, 0.334] +============================================================ + + +============================================================ +SCENE: LivingDiningRoom-62037 | 16 objects +============================================================ +Final Step Collision Loss: 0.0037, Room Outer Loss: 0.0476, Walkable Loss: 2.5074 (Center Penalty: 0.6466, C1 Heatmap: 0.5883, C2 Repulsion: 6.9513), Relational Loss: 0.0205 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +table 0.975 0.972 0.815 -0.107 0.000 -2.366 90.03° +table 1.191 0.867 0.420 1.124 -0.004 0.690 -0.30° +tv_stand 1.122 0.469 0.283 -0.974 0.000 -2.512 89.85° +cabinet 0.703 1.249 0.053 -1.195 -0.003 2.962 90.34° +cabinet 0.585 0.697 0.230 -1.346 0.002 0.117 90.05° +table 0.361 0.517 0.346 1.166 -0.002 -1.211 -0.05° +bookshelf 1.766 2.281 0.112 0.954 0.001 2.283 179.87° +sofa 1.944 0.757 0.672 0.840 -0.005 -3.210 -90.57° +lamp 0.878 0.820 0.914 -0.196 1.820 -2.214 90.09° +chair 0.450 0.951 0.484 0.348 -0.002 1.212 -179.99° +lamp 0.722 1.003 0.727 0.656 1.744 0.579 0.09° +chair 0.460 0.999 0.509 1.301 0.001 1.093 179.95° +chair 0.416 0.998 0.480 0.961 0.002 -0.072 0.10° +chair 0.442 1.057 0.531 1.136 0.001 -0.271 0.06° +floor 3.428 -0.017 8.166 0.120 -0.010 -1.057 -0.21° +_scene_ 0.069 0.001 0.022 -5.670 -0.005 -5.714 -57.31° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: table <-> tv_stand depth=[0.181, 0.469, 0.283] + !! OVERLAP: table <-> floor depth=[0.975, -0.017, 0.815] + !! OVERLAP: table <-> chair depth=[0.460, 0.867, 0.062] + !! OVERLAP: table <-> floor depth=[1.191, -0.017, 0.420] + !! OVERLAP: tv_stand <-> floor depth=[1.122, -0.017, 0.283] + !! OVERLAP: cabinet <-> floor depth=[0.703, -0.017, 0.053] + !! OVERLAP: cabinet <-> floor depth=[0.540, -0.017, 0.230] + !! OVERLAP: table <-> floor depth=[0.361, -0.017, 0.346] + !! OVERLAP: bookshelf <-> floor depth=[1.763, -0.017, 0.112] + !! OVERLAP: sofa <-> floor depth=[1.944, -0.017, 0.672] + !! OVERLAP: chair <-> floor depth=[0.450, -0.017, 0.484] + !! OVERLAP: chair <-> floor depth=[0.460, -0.017, 0.509] + !! OVERLAP: chair <-> chair depth=[0.254, 0.998, 0.306] + !! OVERLAP: chair <-> floor depth=[0.416, -0.017, 0.480] + !! OVERLAP: chair <-> floor depth=[0.442, -0.017, 0.531] +============================================================ + + +============================================================ +SCENE: LivingDiningRoom-17657 | 13 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0000, Walkable Loss: 1.4899 (Center Penalty: 0.1432, C1 Heatmap: 0.5621, C2 Repulsion: 4.4855), Relational Loss: 0.0339 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +table 1.355 0.736 -0.096 -0.159 -0.013 -1.303 -93.70° +chair 0.354 0.879 0.289 -0.602 0.006 -2.069 0.01° +chair 0.403 0.906 0.468 -0.764 -0.002 -1.518 179.63° +chair 0.297 0.798 0.338 0.456 -0.000 -1.999 -90.16° +chair 0.284 0.833 0.340 0.663 0.006 -1.453 -102.53° +sofa 1.959 0.923 0.662 -1.700 -0.002 1.558 89.96° +table 1.047 0.374 0.494 -0.372 -0.000 1.743 90.15° +table 0.796 0.406 0.736 -1.687 0.003 -0.168 90.08° +tv_stand 1.785 0.577 0.169 0.149 0.004 1.666 -90.64° +lamp 0.740 0.852 0.740 -0.200 1.789 1.349 -0.02° +lamp 0.166 0.898 0.186 -0.020 2.081 -1.766 -0.00° +floor 3.919 0.000 6.074 -0.830 0.002 0.814 -0.45° +_scene_ 0.069 0.001 0.019 -5.669 -0.005 -5.719 -57.32° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: table <-> floor depth=[1.355, 0.000, -0.096] + !! OVERLAP: chair <-> floor depth=[0.354, 0.000, 0.289] + !! OVERLAP: chair <-> floor depth=[0.403, 0.000, 0.468] + !! OVERLAP: chair <-> floor depth=[0.297, 0.000, 0.338] + !! OVERLAP: chair <-> floor depth=[0.284, 0.000, 0.340] + !! OVERLAP: sofa <-> table depth=[0.175, 0.374, 0.394] + !! OVERLAP: sofa <-> tv_stand depth=[0.023, 0.577, 0.169] + !! OVERLAP: sofa <-> floor depth=[1.959, 0.000, 0.662] + !! OVERLAP: table <-> tv_stand depth=[0.895, 0.374, 0.169] + !! OVERLAP: table <-> floor depth=[1.047, 0.000, 0.494] + !! OVERLAP: table <-> floor depth=[0.796, 0.000, 0.736] + !! OVERLAP: tv_stand <-> floor depth=[1.785, 0.000, 0.169] +============================================================ + + +============================================================ +SCENE: LivingRoom-11224 | 6 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0000, Walkable Loss: 1.0119 (Center Penalty: 0.6721, C1 Heatmap: 0.2549, C2 Repulsion: 0.6796), Relational Loss: 0.0362 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +sofa 1.831 0.851 0.702 -1.343 -0.011 -0.648 90.21° +table 0.924 0.645 0.212 -0.005 -0.023 -0.965 -92.28° +tv_stand 0.543 0.415 -0.018 0.547 0.039 -0.982 -90.79° +lamp 0.455 0.371 0.411 0.268 2.047 0.649 -0.10° +floor 4.056 0.031 2.578 -1.198 0.002 0.198 0.61° +_scene_ 0.066 -0.001 0.035 -5.658 -0.005 -5.696 -57.26° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: sofa <-> table depth=[0.039, 0.645, 0.141] + !! OVERLAP: sofa <-> floor depth=[1.831, 0.031, 0.702] + !! OVERLAP: table <-> tv_stand depth=[0.181, 0.415, -0.018] + !! OVERLAP: table <-> floor depth=[0.924, 0.031, 0.212] + !! OVERLAP: tv_stand <-> floor depth=[0.543, 0.031, -0.018] +============================================================ + + +============================================================ +SCENE: LivingRoom-13136 | 14 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0000, Walkable Loss: 1.5619 (Center Penalty: 0.2680, C1 Heatmap: 0.6049, C2 Repulsion: 4.0499), Relational Loss: 0.0153 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +sofa 1.744 0.813 0.655 -0.847 0.001 -1.434 90.17° +table 1.387 0.509 0.660 0.939 -0.015 -1.326 89.70° +chair 0.624 0.897 0.683 0.304 0.001 -2.685 0.07° +table 0.483 0.532 0.461 -1.382 0.003 -3.427 89.88° +table 0.483 0.636 0.493 -1.387 0.001 -0.142 90.00° +table 0.916 0.781 0.750 0.840 -0.016 2.745 -0.21° +chair 0.424 0.972 0.509 -0.163 -0.004 1.748 90.08° +chair 0.332 0.992 0.437 -0.160 0.003 2.697 -179.72° +chair 0.406 0.928 0.536 1.605 -0.000 1.700 -89.93° +chair 0.429 0.902 0.475 1.699 -0.001 2.670 -111.61° +bookshelf 0.981 2.041 0.201 -1.008 0.003 0.741 -179.85° +lamp 0.790 0.952 0.824 0.997 1.660 2.719 -0.06° +floor 5.126 -0.015 8.226 0.735 -0.003 -0.531 -0.11° +_scene_ 0.070 -0.000 0.022 -5.671 -0.005 -5.713 -57.30° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: sofa <-> floor depth=[1.744, -0.015, 0.655] + !! OVERLAP: table <-> floor depth=[1.387, -0.015, 0.660] + !! OVERLAP: chair <-> floor depth=[0.624, -0.015, 0.683] + !! OVERLAP: table <-> floor depth=[0.483, -0.015, 0.461] + !! OVERLAP: table <-> floor depth=[0.483, -0.015, 0.493] + !! OVERLAP: table <-> floor depth=[0.916, -0.015, 0.750] + !! OVERLAP: chair <-> floor depth=[0.424, -0.015, 0.509] + !! OVERLAP: chair <-> floor depth=[0.332, -0.015, 0.437] + !! OVERLAP: chair <-> floor depth=[0.406, -0.015, 0.536] + !! OVERLAP: chair <-> floor depth=[0.429, -0.015, 0.475] + !! OVERLAP: bookshelf <-> floor depth=[0.981, -0.015, 0.201] +============================================================ + + +============================================================ +SCENE: LivingRoom-40975 | 7 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.1783, Walkable Loss: 0.7063 (Center Penalty: 0.2034, C1 Heatmap: 0.3335, C2 Repulsion: 1.1803), Relational Loss: 0.0376 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +cabinet 0.598 1.193 0.313 -0.040 0.003 2.546 179.99° +sofa 1.768 0.822 0.698 0.767 -0.003 0.716 0.22° +table 0.824 0.735 0.978 1.262 -0.002 1.824 90.05° +lamp 0.762 0.684 0.701 0.765 2.093 1.122 0.00° +lamp 0.435 0.770 0.270 -1.253 2.279 -1.326 -90.02° +floor 5.344 0.014 4.647 -1.099 0.003 0.383 0.45° +_scene_ 0.062 0.001 0.015 -5.671 -0.005 -5.709 -57.34° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: cabinet <-> floor depth=[0.598, 0.014, 0.313] + !! OVERLAP: sofa <-> floor depth=[1.691, 0.014, 0.698] + !! OVERLAP: table <-> floor depth=[0.723, 0.014, 0.978] +============================================================ + + +============================================================ +SCENE: LivingRoom-6045 | 9 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0855, Walkable Loss: 1.2586 (Center Penalty: 0.5905, C1 Heatmap: 0.4446, C2 Repulsion: 1.5623), Relational Loss: 0.0099 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +tv_stand 1.551 0.601 0.219 1.239 0.001 0.987 -90.21° +cabinet 0.449 1.150 0.338 -1.678 0.003 1.896 89.98° +sofa 1.462 1.002 0.737 -1.242 -0.004 0.663 91.34° +table 0.546 0.265 0.299 0.013 0.002 0.907 -0.31° +chair 0.747 0.775 0.839 -0.076 0.000 2.116 -179.83° +bookshelf 1.143 1.796 0.269 -1.408 0.001 -1.523 89.77° +lamp 0.868 0.704 0.844 -0.382 2.026 0.829 0.01° +floor 3.922 0.008 5.570 -0.000 -0.004 0.921 0.16° +_scene_ 0.073 0.000 0.025 -5.672 -0.004 -5.714 -57.31° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: tv_stand <-> floor depth=[1.497, 0.008, 0.219] + !! OVERLAP: cabinet <-> floor depth=[0.449, 0.008, 0.338] + !! OVERLAP: sofa <-> floor depth=[1.450, 0.008, 0.737] + !! OVERLAP: table <-> floor depth=[0.546, 0.008, 0.299] + !! OVERLAP: chair <-> floor depth=[0.747, 0.008, 0.839] + !! OVERLAP: bookshelf <-> floor depth=[1.125, 0.008, 0.269] +============================================================ + + +============================================================ +SCENE: LivingRoom-2050 | 10 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0560, Walkable Loss: 1.1393 (Center Penalty: 0.2016, C1 Heatmap: 0.6165, C2 Repulsion: 2.2227), Relational Loss: 0.0049 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +sofa 2.185 0.742 0.736 0.029 0.002 -1.756 0.03° +chair 0.771 0.961 0.673 2.129 0.006 -0.354 -66.20° +table 1.076 0.920 0.218 1.163 0.014 0.492 -0.60° +tv_stand 1.959 0.622 0.254 0.056 0.004 1.214 179.94° +table 0.451 0.428 0.331 -1.910 -0.000 -1.858 -0.12° +table 0.409 0.463 0.413 2.333 0.002 -1.596 -0.10° +lamp 0.496 0.765 0.519 1.097 1.783 0.000 -0.09° +chair 0.572 0.787 0.627 -1.873 0.005 -0.281 52.21° +floor 7.457 0.029 4.311 -1.230 0.017 -0.762 -0.25° +_scene_ 0.067 -0.001 0.018 -5.670 -0.005 -5.713 -57.31° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: sofa <-> floor depth=[2.185, 0.029, 0.736] + !! OVERLAP: chair <-> floor depth=[0.754, 0.029, 0.673] + !! OVERLAP: table <-> floor depth=[1.076, 0.029, 0.218] + !! OVERLAP: tv_stand <-> floor depth=[1.959, 0.029, 0.254] + !! OVERLAP: table <-> floor depth=[0.451, 0.029, 0.331] + !! OVERLAP: table <-> floor depth=[0.370, 0.029, 0.413] + !! OVERLAP: chair <-> floor depth=[0.572, 0.029, 0.627] +============================================================ + + +============================================================ +SCENE: LivingRoom-12271 | 7 objects +============================================================ +Final Step Collision Loss: 0.0027, Room Outer Loss: 0.0000, Walkable Loss: 0.8363 (Center Penalty: 0.4662, C1 Heatmap: 0.2512, C2 Repulsion: 0.8457), Relational Loss: 0.0491 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +lamp 0.596 0.160 0.603 -1.039 2.560 0.410 -0.58° +table 0.665 0.644 0.496 -1.065 -0.017 -0.383 -91.29° +sofa 1.467 1.368 0.558 -1.467 -0.006 0.703 111.51° +table 0.503 1.077 0.382 1.377 -0.001 1.651 -90.39° +sofa 0.605 0.384 0.552 0.595 -0.004 0.502 -56.26° +floor 5.368 -0.131 4.140 -1.023 -0.016 1.285 -1.69° +_scene_ 0.070 0.002 0.046 -5.662 -0.005 -5.709 -57.27° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: table <-> floor depth=[0.665, -0.131, 0.496] + !! OVERLAP: sofa <-> floor depth=[1.467, -0.131, 0.558] + !! OVERLAP: table <-> floor depth=[0.503, -0.131, 0.382] + !! OVERLAP: sofa <-> floor depth=[0.605, -0.131, 0.552] +============================================================ + + +============================================================ +SCENE: LivingDiningRoom-52564 | 10 objects +============================================================ +Final Step Collision Loss: 0.0004, Room Outer Loss: 0.0000, Walkable Loss: 1.0448 (Center Penalty: 0.1103, C1 Heatmap: 0.5076, C2 Repulsion: 2.6426), Relational Loss: 0.0138 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +tv_stand 1.608 0.637 0.262 -1.696 -0.012 -1.671 89.93° +table 0.449 0.329 0.491 1.980 0.001 -2.156 -0.16° +table 1.224 1.451 0.415 -2.888 0.001 0.099 90.05° +table 0.629 0.706 0.570 -1.270 0.005 -0.618 0.00° +table 0.504 0.689 0.418 -1.437 -0.003 -2.622 -0.06° +sofa 2.301 0.955 0.710 1.137 0.003 -1.533 -89.49° +lamp 1.028 1.204 0.748 0.592 1.555 1.581 0.05° +lamp 0.468 0.691 0.488 0.216 2.026 -1.950 -0.06° +floor 6.011 0.020 6.520 -0.578 -0.002 -0.941 -0.03° +_scene_ 0.112 -0.003 0.139 -5.602 -0.003 -5.640 -57.25° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: tv_stand <-> floor depth=[1.608, 0.020, 0.262] + !! OVERLAP: table <-> floor depth=[0.449, 0.020, 0.491] + !! OVERLAP: table <-> floor depth=[1.224, 0.020, 0.415] + !! OVERLAP: table <-> floor depth=[0.629, 0.020, 0.570] + !! OVERLAP: table <-> floor depth=[0.504, 0.020, 0.418] + !! OVERLAP: sofa <-> floor depth=[2.301, 0.020, 0.710] +============================================================ + + +============================================================ +SCENE: LivingRoom-423 | 21 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0845, Walkable Loss: 1.8208 (Center Penalty: 0.3683, C1 Heatmap: 0.6026, C2 Repulsion: 4.8518), Relational Loss: 0.0132 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +bookshelf 0.994 2.638 0.117 0.949 0.009 3.240 -92.22° +table 1.334 0.765 0.093 -1.130 -0.001 1.768 0.90° +chair 0.502 0.827 0.488 -1.299 -0.002 0.761 0.00° +chair 0.477 0.818 0.527 -0.338 0.001 1.034 0.08° +chair 0.438 0.838 0.402 -1.035 0.002 2.677 -179.97° +chair 0.419 0.806 0.380 -0.025 0.005 2.844 -179.95° +chair 0.463 0.770 0.512 0.433 0.003 1.977 -90.09° +chair 0.412 0.827 0.409 -1.931 0.003 2.024 90.10° +sofa 1.533 1.009 0.742 -1.948 -0.014 -2.839 90.12° +sofa 1.171 0.831 0.800 -0.118 -0.001 -4.154 -0.03° +chair 0.869 0.961 0.951 -0.458 -0.000 -0.901 166.92° +table 1.063 0.635 0.647 -0.313 0.004 -2.546 89.76° +table 0.516 0.410 0.460 -1.907 0.002 -0.488 90.02° +table 0.414 0.322 0.487 -1.875 0.007 -4.286 0.10° +cabinet 1.801 2.097 0.339 -1.314 0.003 3.842 179.88° +tv_stand 1.092 0.621 0.119 1.040 -0.003 -2.234 -90.27° +lamp 0.792 0.751 0.777 -0.397 2.006 -2.465 -0.04° +lamp 0.682 0.855 0.706 -0.411 1.683 2.787 0.00° +lamp 0.379 1.419 0.329 0.686 1.443 4.259 0.24° +floor 4.973 -0.020 9.351 -0.985 0.002 -0.191 -0.17° +_scene_ 0.068 0.000 0.021 -5.671 -0.005 -5.713 -57.31° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bookshelf <-> floor depth=[0.994, -0.020, 0.117] + !! OVERLAP: table <-> floor depth=[1.334, -0.020, 0.093] + !! OVERLAP: chair <-> floor depth=[0.502, -0.020, 0.488] + !! OVERLAP: chair <-> floor depth=[0.477, -0.020, 0.527] + !! OVERLAP: chair <-> floor depth=[0.438, -0.020, 0.402] + !! OVERLAP: chair <-> floor depth=[0.419, -0.020, 0.380] + !! OVERLAP: chair <-> floor depth=[0.463, -0.020, 0.512] + !! OVERLAP: chair <-> floor depth=[0.412, -0.020, 0.409] + !! OVERLAP: sofa <-> floor depth=[1.533, -0.020, 0.742] + !! OVERLAP: sofa <-> floor depth=[1.171, -0.020, 0.800] + !! OVERLAP: chair <-> floor depth=[0.869, -0.020, 0.951] + !! OVERLAP: table <-> floor depth=[1.063, -0.020, 0.647] + !! OVERLAP: table <-> floor depth=[0.516, -0.020, 0.460] + !! OVERLAP: table <-> floor depth=[0.414, -0.020, 0.487] + !! OVERLAP: cabinet <-> floor depth=[1.801, -0.020, 0.339] + !! OVERLAP: tv_stand <-> floor depth=[1.008, -0.020, 0.119] +============================================================ + + +============================================================ +SCENE: LivingRoom-34874 | 6 objects +============================================================ +Final Step Collision Loss: 0.0380, Room Outer Loss: 0.2201, Walkable Loss: 0.8184 (Center Penalty: 0.2711, C1 Heatmap: 0.4137, C2 Repulsion: 1.0815), Relational Loss: 0.0122 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +sofa 2.077 0.911 0.321 -0.548 -0.019 1.316 178.29° +lamp 0.370 0.507 0.504 -0.703 2.077 0.706 -0.21° +table 1.433 0.453 0.367 -0.824 -0.002 1.046 -0.27° +tv_stand 2.470 0.701 -0.113 -1.196 -0.004 -0.849 0.69° +floor 4.803 0.040 3.735 0.072 -0.007 1.137 1.01° +_scene_ 0.067 0.002 0.022 -5.668 -0.003 -5.703 -57.25° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: sofa <-> table depth=[1.433, 0.453, 0.074] + !! OVERLAP: sofa <-> floor depth=[2.077, 0.040, 0.321] + !! OVERLAP: table <-> floor depth=[1.433, 0.040, 0.367] +============================================================ + + +============================================================ +SCENE: LivingDiningRoom-9632 | 14 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0096, Walkable Loss: 1.7481 (Center Penalty: 0.1594, C1 Heatmap: 0.7884, C2 Repulsion: 4.7899), Relational Loss: 0.0260 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +lamp 0.524 0.781 0.527 -0.699 1.860 -1.728 -0.03° +sofa 2.091 0.902 0.607 -2.149 -0.002 1.862 89.82° +table 1.394 0.704 0.904 -1.065 -0.001 1.939 -90.31° +tv_stand 1.540 0.446 0.332 1.101 0.004 1.867 -90.37° +chair 0.606 0.975 0.701 -1.894 0.002 0.366 90.07° +chair 0.833 0.945 0.823 -1.497 0.001 -0.681 179.98° +cabinet 0.425 0.968 0.267 1.310 0.001 0.493 -90.03° +table 1.568 0.734 0.884 -0.195 -0.002 -2.239 -90.29° +chair 0.384 0.438 0.414 1.121 -0.011 -0.353 -0.02° +chair 0.299 0.461 0.316 0.107 -0.000 1.609 -89.84° +chair 0.319 0.411 0.271 -0.192 0.000 2.415 -95.71° +lamp 0.719 0.653 0.622 -0.545 2.061 1.458 -0.04° +floor 5.944 -0.017 6.386 -1.110 0.001 0.448 0.06° +_scene_ 0.061 0.001 0.024 -5.665 -0.004 -5.727 -57.36° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: sofa <-> table depth=[0.658, 0.704, 0.607] + !! OVERLAP: sofa <-> floor depth=[2.091, -0.017, 0.607] + !! OVERLAP: table <-> floor depth=[1.394, -0.017, 0.904] + !! OVERLAP: tv_stand <-> floor depth=[1.531, -0.017, 0.332] + !! OVERLAP: chair <-> floor depth=[0.606, -0.017, 0.701] + !! OVERLAP: chair <-> floor depth=[0.833, -0.017, 0.823] + !! OVERLAP: cabinet <-> floor depth=[0.425, -0.017, 0.267] + !! OVERLAP: table <-> floor depth=[1.568, -0.017, 0.884] + !! OVERLAP: chair <-> floor depth=[0.384, -0.017, 0.414] + !! OVERLAP: chair <-> floor depth=[0.299, -0.017, 0.316] + !! OVERLAP: chair <-> floor depth=[0.319, -0.017, 0.271] +============================================================ + + +============================================================ +SCENE: LivingRoom-860 | 10 objects +============================================================ +Final Step Collision Loss: 0.0003, Room Outer Loss: 0.0558, Walkable Loss: 1.1182 (Center Penalty: 0.4286, C1 Heatmap: 0.2888, C2 Repulsion: 2.2926), Relational Loss: 0.0305 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +table 0.392 0.766 0.345 0.631 0.014 -1.165 1.67° +chair 0.302 0.856 0.304 0.050 0.001 2.143 179.75° +chair 0.334 0.846 0.337 0.095 0.000 1.504 -179.95° +table 0.481 0.519 0.479 0.426 0.004 2.131 179.61° +sofa 0.483 0.794 -0.178 0.403 0.009 -1.246 -89.46° +tv_stand 2.012 1.001 0.472 -1.510 0.000 -0.662 90.06° +cabinet 0.615 1.282 0.169 0.287 0.004 -2.305 0.01° +lamp 0.625 1.118 0.802 0.379 1.631 -0.976 0.26° +floor 3.414 -0.001 6.052 -0.753 -0.007 -0.383 0.42° +_scene_ 0.068 0.001 0.022 -5.671 -0.005 -5.714 -57.30° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: table <-> sofa depth=[0.209, 0.766, -0.178] + !! OVERLAP: table <-> floor depth=[0.392, -0.001, 0.345] + !! OVERLAP: chair <-> table depth=[0.016, 0.519, 0.304] + !! OVERLAP: chair <-> floor depth=[0.302, -0.001, 0.304] + !! OVERLAP: chair <-> floor depth=[0.334, -0.001, 0.337] + !! OVERLAP: table <-> floor depth=[0.481, -0.001, 0.479] + !! OVERLAP: sofa <-> floor depth=[0.483, -0.001, -0.178] + !! OVERLAP: tv_stand <-> floor depth=[1.956, -0.001, 0.472] + !! OVERLAP: cabinet <-> floor depth=[0.615, -0.001, 0.169] +============================================================ + + +============================================================ +SCENE: LivingDiningRoom-8304 | 18 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0000, Walkable Loss: 1.7004 (Center Penalty: 0.1194, C1 Heatmap: 0.5489, C2 Repulsion: 5.7093), Relational Loss: 0.0118 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +chair 0.812 1.146 0.965 -0.715 0.001 4.034 179.75° +sofa 1.991 0.877 0.720 -2.512 0.056 2.481 90.71° +chair 0.677 0.759 0.851 -0.862 -0.000 1.370 56.68° +table 0.731 0.303 0.643 -0.728 0.002 2.673 0.21° +tv_stand 1.571 0.898 0.303 0.634 0.001 2.505 -89.97° +table 0.494 0.578 0.464 -2.167 0.000 0.519 0.01° +table 0.453 0.528 0.471 -2.145 -0.001 4.075 0.16° +cabinet 0.784 2.293 0.387 -1.960 -0.001 -1.333 0.15° +chair 0.473 1.010 0.547 1.377 0.002 -2.279 -90.26° +table 1.042 0.667 0.422 0.793 -0.011 -2.586 90.65° +chair 0.401 1.028 0.561 1.418 -0.002 -3.341 -90.33° +chair 0.445 0.982 0.498 -0.058 -0.002 -2.596 90.00° +chair 0.472 1.028 0.481 0.130 0.003 -3.421 89.92° +bookshelf 1.464 2.023 0.204 -1.207 -0.007 -3.632 89.89° +lamp 0.645 0.649 0.619 -0.502 2.002 2.399 -0.02° +lamp 0.393 0.919 0.389 1.143 2.041 -3.108 -0.05° +floor 5.202 0.006 8.883 -0.968 0.001 0.385 0.09° +_scene_ 0.070 0.000 0.021 -5.672 -0.005 -5.715 -57.31° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: chair <-> floor depth=[0.812, 0.006, 0.965] + !! OVERLAP: sofa <-> floor depth=[1.991, 0.006, 0.720] + !! OVERLAP: chair <-> floor depth=[0.677, 0.006, 0.851] + !! OVERLAP: table <-> floor depth=[0.731, 0.006, 0.643] + !! OVERLAP: tv_stand <-> floor depth=[1.571, 0.006, 0.303] + !! OVERLAP: table <-> floor depth=[0.494, 0.006, 0.464] + !! OVERLAP: table <-> floor depth=[0.453, 0.006, 0.471] + !! OVERLAP: cabinet <-> floor depth=[0.784, 0.006, 0.387] + !! OVERLAP: chair <-> table depth=[0.174, 0.667, 0.178] + !! OVERLAP: chair <-> floor depth=[0.473, 0.006, 0.547] + !! OVERLAP: table <-> floor depth=[1.042, 0.006, 0.422] + !! OVERLAP: chair <-> floor depth=[0.401, 0.006, 0.561] + !! OVERLAP: chair <-> floor depth=[0.445, 0.006, 0.498] + !! OVERLAP: chair <-> floor depth=[0.472, 0.006, 0.481] + !! OVERLAP: bookshelf <-> floor depth=[1.464, 0.006, 0.204] +============================================================ + + +============================================================ +SCENE: LivingDiningRoom-13962 | 14 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.1279, Walkable Loss: 1.7476 (Center Penalty: 0.3286, C1 Heatmap: 0.5121, C2 Repulsion: 5.0467), Relational Loss: 0.0223 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +lamp 0.542 1.285 0.511 -0.294 1.623 0.787 0.00° +tv_stand 1.552 0.444 0.196 0.461 -0.009 1.582 -90.83° +table 0.480 0.264 0.349 -0.327 0.001 1.380 -90.41° +table 0.458 0.452 0.368 -1.697 0.003 2.745 90.03° +table 0.419 0.549 0.412 -1.656 0.002 -0.357 90.09° +sofa 1.785 0.940 0.582 -1.750 0.004 1.200 90.40° +chair 0.689 0.706 0.645 -0.384 -0.001 2.603 179.92° +chair 0.490 0.726 0.461 -0.317 0.000 -2.742 90.03° +chair 0.410 0.777 0.428 -0.466 0.003 -2.064 90.24° +chair 0.333 0.772 0.480 1.048 0.001 -2.725 -90.66° +chair 0.450 0.758 0.390 0.843 -0.003 -1.927 -90.53° +table 1.119 0.663 0.142 0.412 -0.011 -2.092 -90.34° +floor 4.517 -0.033 6.984 -1.097 -0.008 0.461 0.09° +_scene_ 0.067 0.000 0.021 -5.671 -0.005 -5.716 -57.31° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: tv_stand <-> table depth=[0.228, 0.264, 0.070] + !! OVERLAP: tv_stand <-> floor depth=[1.477, -0.033, 0.196] + !! OVERLAP: table <-> floor depth=[0.480, -0.033, 0.349] + !! OVERLAP: table <-> floor depth=[0.458, -0.033, 0.368] + !! OVERLAP: table <-> floor depth=[0.419, -0.033, 0.412] + !! OVERLAP: sofa <-> floor depth=[1.785, -0.033, 0.582] + !! OVERLAP: chair <-> floor depth=[0.689, -0.033, 0.645] + !! OVERLAP: chair <-> floor depth=[0.490, -0.033, 0.461] + !! OVERLAP: chair <-> floor depth=[0.410, -0.033, 0.428] + !! OVERLAP: chair <-> floor depth=[0.280, -0.033, 0.480] + !! OVERLAP: chair <-> table depth=[0.353, 0.663, 0.101] + !! OVERLAP: chair <-> floor depth=[0.450, -0.033, 0.390] + !! OVERLAP: table <-> floor depth=[1.119, -0.033, 0.142] +============================================================ + + +============================================================ +SCENE: LivingRoom-41893 | 11 objects +============================================================ +Final Step Collision Loss: 0.0003, Room Outer Loss: 0.0628, Walkable Loss: 1.7396 (Center Penalty: 0.4837, C1 Heatmap: 0.4726, C2 Repulsion: 4.3890), Relational Loss: 0.0467 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +sofa 1.684 0.715 0.411 1.406 -0.006 0.607 179.25° +chair 0.512 0.764 0.546 2.305 0.004 -0.195 -101.93° +table 0.689 0.512 0.657 0.246 0.000 0.861 179.82° +chair 0.402 0.992 0.420 -1.161 0.000 -0.101 -90.13° +chair 0.522 1.054 0.644 -1.932 0.004 -0.099 -179.92° +table 1.129 0.788 0.507 -1.075 -0.006 0.695 91.61° +table 0.874 0.466 0.668 1.342 -0.009 -0.861 0.26° +lamp 0.433 0.929 0.421 1.444 1.578 -0.677 0.03° +lamp 0.357 0.950 0.330 -1.264 1.631 0.634 0.01° +floor 6.243 0.004 2.826 0.961 0.000 -0.253 -0.08° +_scene_ 0.071 0.000 0.021 -5.672 -0.005 -5.712 -57.30° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: sofa <-> table depth=[0.027, 0.512, 0.280] + !! OVERLAP: sofa <-> floor depth=[1.684, 0.004, 0.411] + !! OVERLAP: chair <-> floor depth=[0.512, 0.004, 0.546] + !! OVERLAP: table <-> floor depth=[0.689, 0.004, 0.628] + !! OVERLAP: chair <-> floor depth=[0.402, 0.004, 0.420] + !! OVERLAP: chair <-> floor depth=[0.489, 0.004, 0.644] + !! OVERLAP: table <-> floor depth=[1.129, 0.004, 0.507] + !! OVERLAP: table <-> floor depth=[0.874, 0.004, 0.668] +============================================================ + + +============================================================ +SCENE: LivingRoom-18042 | 6 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0685, Walkable Loss: 0.7514 (Center Penalty: 0.3179, C1 Heatmap: 0.4863, C2 Repulsion: 0.2226), Relational Loss: 0.0000 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +sofa 2.111 0.782 0.859 0.702 0.000 -1.419 -0.01° +table 0.936 0.410 0.964 0.723 0.001 0.825 0.08° +lamp 0.826 0.794 0.827 1.021 1.863 0.142 0.00° +table 1.166 1.208 0.474 -1.333 0.001 0.755 89.85° +floor 5.080 -0.022 5.093 0.692 0.005 -0.843 0.38° +_scene_ 0.091 0.005 0.082 -5.630 -0.004 -5.699 -57.22° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: sofa <-> floor depth=[2.111, -0.022, 0.859] + !! OVERLAP: table <-> floor depth=[0.936, -0.022, 0.964] + !! OVERLAP: table <-> floor depth=[1.098, -0.022, 0.474] +============================================================ + + +============================================================ +SCENE: LivingDiningRoom-26816 | 17 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0000, Walkable Loss: 1.5947 (Center Penalty: 0.6006, C1 Heatmap: 0.4996, C2 Repulsion: 2.9719), Relational Loss: 0.0201 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +sofa 1.397 0.967 0.605 1.314 0.005 -0.909 -91.57° +table 0.938 0.417 0.773 -0.480 0.010 -0.789 -90.07° +table 0.447 0.634 0.500 1.479 0.003 -2.724 -90.60° +table 0.536 0.625 0.441 1.498 -0.000 0.451 -90.10° +chair 0.959 0.706 0.577 -0.047 0.002 0.948 179.89° +chair 0.797 0.330 0.495 -0.188 0.002 -2.425 -0.03° +table 0.885 0.746 -0.083 -0.199 -0.007 2.225 179.95° +chair 0.368 0.809 0.366 0.894 0.002 2.477 -90.26° +chair 0.370 0.891 0.395 0.402 0.006 1.863 -103.98° +chair 0.238 0.964 0.154 -0.661 -0.002 2.528 178.93° +chair 0.334 0.900 0.379 -0.721 -0.005 1.774 89.69° +lamp 0.536 0.668 0.029 0.176 1.793 2.451 -0.05° +lamp 0.631 0.977 0.659 -0.089 1.884 -1.172 -0.06° +bookshelf 0.844 2.528 0.261 1.123 0.003 -3.762 0.19° +bookshelf 1.870 2.305 0.258 -0.986 0.000 -4.230 0.05° +floor 4.198 0.032 7.364 -0.063 0.007 -0.930 -0.37° +_scene_ 0.066 0.001 0.019 -5.667 -0.004 -5.713 -57.31° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: sofa <-> floor depth=[1.397, 0.032, 0.605] + !! OVERLAP: table <-> floor depth=[0.938, 0.032, 0.773] + !! OVERLAP: table <-> floor depth=[0.447, 0.032, 0.500] + !! OVERLAP: table <-> floor depth=[0.536, 0.032, 0.441] + !! OVERLAP: chair <-> floor depth=[0.959, 0.032, 0.577] + !! OVERLAP: chair <-> floor depth=[0.797, 0.032, 0.495] + !! OVERLAP: table <-> floor depth=[0.885, 0.032, -0.083] + !! OVERLAP: chair <-> floor depth=[0.368, 0.032, 0.366] + !! OVERLAP: chair <-> floor depth=[0.370, 0.032, 0.395] + !! OVERLAP: chair <-> floor depth=[0.238, 0.032, 0.154] + !! OVERLAP: chair <-> floor depth=[0.334, 0.032, 0.379] + !! OVERLAP: bookshelf <-> floor depth=[0.844, 0.032, 0.261] + !! OVERLAP: bookshelf <-> floor depth=[1.870, 0.032, 0.258] +============================================================ + + +============================================================ +SCENE: LivingDiningRoom-17385 | 12 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.1124, Walkable Loss: 1.6455 (Center Penalty: 0.2853, C1 Heatmap: 0.5751, C2 Repulsion: 4.5007), Relational Loss: 0.0301 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +sofa 2.068 0.875 0.655 1.457 0.007 1.305 179.91° +table 0.789 0.460 0.915 1.477 0.004 0.140 -179.98° +tv_stand 1.978 0.959 0.232 1.280 0.001 -0.893 -0.09° +table 1.044 0.780 -0.138 -1.314 -0.017 0.698 90.24° +chair 0.390 1.110 0.449 -0.665 0.004 1.544 -89.99° +chair 0.399 1.076 0.433 -0.715 0.001 0.767 -89.97° +chair 0.435 1.095 0.468 -1.875 0.003 1.390 89.96° +chair 0.450 1.079 0.440 -1.810 0.002 0.730 89.95° +lamp 0.731 0.919 0.769 1.440 1.634 0.198 0.04° +lamp 0.391 0.843 0.355 -1.279 2.378 0.226 -0.01° +floor 5.847 0.005 3.662 0.577 0.010 0.934 -0.55° +_scene_ 0.070 0.000 0.020 -5.669 -0.004 -5.710 -57.33° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: sofa <-> floor depth=[2.068, 0.005, 0.655] + !! OVERLAP: table <-> floor depth=[0.789, 0.005, 0.915] + !! OVERLAP: tv_stand <-> floor depth=[1.978, 0.005, 0.120] + !! OVERLAP: table <-> chair depth=[0.122, 0.780, -0.138] + !! OVERLAP: table <-> chair depth=[0.251, 0.780, -0.138] + !! OVERLAP: table <-> floor depth=[1.044, 0.005, -0.138] + !! OVERLAP: chair <-> floor depth=[0.390, 0.005, 0.449] + !! OVERLAP: chair <-> floor depth=[0.399, 0.005, 0.433] + !! OVERLAP: chair <-> floor depth=[0.435, 0.005, 0.468] + !! OVERLAP: chair <-> floor depth=[0.450, 0.005, 0.440] +============================================================ + + +============================================================ +SCENE: LivingRoom-31397 | 9 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.1495, Walkable Loss: 1.0308 (Center Penalty: 0.5370, C1 Heatmap: 0.3234, C2 Repulsion: 1.1752), Relational Loss: 0.0079 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +tv_stand 1.796 0.552 0.365 1.870 0.001 1.339 -89.98° +table 0.335 1.057 0.287 -0.981 0.003 1.731 90.07° +sofa 0.858 0.845 0.361 -0.734 -0.004 1.092 91.57° +table 0.613 0.312 0.442 0.390 -0.005 1.040 89.74° +chair 0.667 0.736 0.697 -0.117 -0.002 2.490 -179.96° +bookshelf 0.735 1.699 0.258 -0.803 0.016 -2.102 89.60° +lamp 0.430 0.926 0.472 -0.069 2.323 0.918 -0.18° +floor 3.918 -0.018 6.706 0.848 -0.002 -0.025 -0.03° +_scene_ 0.065 0.001 0.024 -5.672 -0.005 -5.715 -57.30° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: tv_stand <-> floor depth=[1.796, -0.018, 0.365] + !! OVERLAP: table <-> floor depth=[0.297, -0.018, 0.287] + !! OVERLAP: sofa <-> floor depth=[0.806, -0.018, 0.361] + !! OVERLAP: table <-> floor depth=[0.613, -0.018, 0.442] + !! OVERLAP: chair <-> floor depth=[0.667, -0.018, 0.697] + !! OVERLAP: bookshelf <-> floor depth=[0.675, -0.018, 0.258] +============================================================ + + +============================================================ +SCENE: LivingDiningRoom-14432 | 17 objects +============================================================ +Final Step Collision Loss: 0.0003, Room Outer Loss: 0.0000, Walkable Loss: 1.9349 (Center Penalty: 0.2716, C1 Heatmap: 0.7197, C2 Repulsion: 5.4377), Relational Loss: 0.0271 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +table 1.639 0.920 0.137 2.354 0.006 -1.800 -0.20° +shelf 0.283 1.811 0.235 2.811 0.016 -1.130 0.19° +table 1.121 0.683 -0.147 1.807 -0.036 2.218 -0.67° +table 0.608 0.743 0.270 1.545 -0.018 1.554 -0.30° +chair 0.394 1.094 0.529 2.489 0.002 1.637 -90.04° +chair 0.352 1.058 0.389 0.819 0.000 2.057 89.94° +chair 0.421 1.137 0.475 2.127 -0.002 0.844 -0.36° +chair 0.486 1.087 0.535 1.180 -0.002 0.967 90.03° +table 0.425 0.616 0.452 -0.240 0.006 -1.139 -0.02° +sofa 2.508 0.792 1.049 -1.813 0.002 -1.096 90.00° +table 0.761 0.385 0.478 -1.095 -0.002 0.267 -0.22° +tv_stand 2.069 0.508 0.386 -1.346 0.001 3.079 -179.93° +lamp 0.394 0.768 0.407 1.514 1.906 -1.137 -0.05° +lamp 0.155 1.144 0.136 1.414 1.400 1.886 -0.00° +lamp 0.285 0.708 0.279 -1.913 1.971 0.366 0.07° +floor 7.243 -0.015 5.794 0.365 0.001 0.973 -0.01° +_scene_ 0.071 -0.000 0.021 -5.670 -0.005 -5.713 -57.30° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: table <-> floor depth=[1.639, -0.015, 0.137] + !! OVERLAP: shelf <-> floor depth=[0.283, -0.015, 0.235] + !! OVERLAP: table <-> floor depth=[1.121, -0.015, -0.147] + !! OVERLAP: table <-> floor depth=[0.608, -0.015, 0.270] + !! OVERLAP: chair <-> floor depth=[0.394, -0.015, 0.529] + !! OVERLAP: chair <-> floor depth=[0.352, -0.015, 0.389] + !! OVERLAP: chair <-> floor depth=[0.421, -0.015, 0.475] + !! OVERLAP: chair <-> floor depth=[0.486, -0.015, 0.535] + !! OVERLAP: table <-> floor depth=[0.425, -0.015, 0.452] + !! OVERLAP: sofa <-> floor depth=[2.508, -0.015, 1.049] + !! OVERLAP: table <-> floor depth=[0.761, -0.015, 0.478] + !! OVERLAP: tv_stand <-> floor depth=[2.069, -0.015, 0.386] +============================================================ + + +============================================================ +SCENE: LivingRoom-5361 | 12 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0000, Walkable Loss: 1.6142 (Center Penalty: 0.4355, C1 Heatmap: 0.4571, C2 Repulsion: 4.0649), Relational Loss: 0.0400 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +sofa 1.437 0.854 0.459 0.844 -0.013 1.355 -179.90° +chair 0.612 0.737 0.680 1.964 -0.005 0.365 178.99° +table 1.098 0.470 0.889 0.837 -0.000 -0.955 0.05° +table 0.397 0.402 0.551 0.951 0.003 0.209 -179.88° +bookshelf 0.685 1.890 0.114 1.839 0.001 1.522 -90.16° +table 0.377 0.608 0.494 -1.599 -0.009 0.910 90.84° +chair 0.409 0.786 0.364 -1.520 -0.002 0.295 0.01° +chair 0.434 0.735 0.434 -0.791 -0.001 1.338 -89.93° +chair 0.470 0.752 0.443 -1.563 0.000 1.547 179.86° +lamp 0.409 0.690 0.427 0.954 1.896 -0.177 -0.04° +floor 6.037 -0.019 4.080 1.153 0.001 -0.028 0.21° +_scene_ 0.070 0.001 0.024 -5.670 -0.004 -5.710 -57.30° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: sofa <-> bookshelf depth=[0.067, 0.854, 0.114] + !! OVERLAP: sofa <-> floor depth=[1.437, -0.019, 0.459] + !! OVERLAP: chair <-> floor depth=[0.612, -0.019, 0.680] + !! OVERLAP: table <-> floor depth=[1.098, -0.019, 0.889] + !! OVERLAP: table <-> floor depth=[0.397, -0.019, 0.551] + !! OVERLAP: bookshelf <-> floor depth=[0.685, -0.019, 0.114] + !! OVERLAP: table <-> floor depth=[0.377, -0.019, 0.494] + !! OVERLAP: chair <-> floor depth=[0.409, -0.019, 0.364] + !! OVERLAP: chair <-> floor depth=[0.434, -0.019, 0.434] + !! OVERLAP: chair <-> floor depth=[0.470, -0.019, 0.443] +============================================================ + + +============================================================ +SCENE: LivingRoom-5655 | 11 objects +============================================================ +Final Step Collision Loss: 0.0052, Room Outer Loss: 0.1451, Walkable Loss: 1.5583 (Center Penalty: 0.3256, C1 Heatmap: 0.5820, C2 Repulsion: 3.8355), Relational Loss: 0.0466 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +tv_stand 1.409 0.538 0.283 0.498 0.007 1.410 -90.54° +sofa 2.003 0.896 0.734 -1.374 -0.007 1.191 90.04° +table 1.006 0.498 0.981 -0.609 0.010 1.159 89.96° +lamp 0.371 0.730 0.376 -0.540 1.952 1.394 -0.11° +table 0.524 0.697 0.460 -0.743 -0.016 -1.663 -98.73° +chair 0.498 0.813 0.525 -1.633 0.002 -2.152 0.03° +chair 0.388 0.786 0.293 -0.317 0.000 -2.264 -89.80° +chair 0.435 0.837 0.503 -1.556 -0.002 -1.056 179.95° +chair 0.335 0.852 0.361 -0.718 0.000 -0.995 -179.62° +floor 3.434 -0.001 5.658 -0.621 -0.000 -0.613 -0.38° +_scene_ 0.071 0.001 0.025 -5.668 -0.005 -5.715 -57.31° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: tv_stand <-> table depth=[0.100, 0.498, 0.283] + !! OVERLAP: tv_stand <-> floor depth=[1.301, -0.001, 0.283] + !! OVERLAP: sofa <-> table depth=[0.740, 0.498, 0.734] + !! OVERLAP: sofa <-> floor depth=[1.965, -0.001, 0.734] + !! OVERLAP: table <-> floor depth=[1.006, -0.001, 0.981] + !! OVERLAP: table <-> floor depth=[0.524, -0.001, 0.460] + !! OVERLAP: chair <-> floor depth=[0.498, -0.001, 0.525] + !! OVERLAP: chair <-> floor depth=[0.388, -0.001, 0.293] + !! OVERLAP: chair <-> floor depth=[0.435, -0.001, 0.503] + !! OVERLAP: chair <-> floor depth=[0.335, -0.001, 0.361] +============================================================ + + +============================================================ +SCENE: LivingRoom-55 | 10 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0000, Walkable Loss: 1.4336 (Center Penalty: 0.5702, C1 Heatmap: 0.6719, C2 Repulsion: 1.6294), Relational Loss: 0.0010 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +sofa 2.038 0.855 0.685 -0.194 -0.012 2.101 -179.95° +table 0.571 0.624 0.542 1.702 0.002 1.620 179.89° +table 0.482 0.729 0.481 -2.109 0.000 1.658 179.98° +chair 0.698 0.818 0.619 1.731 -0.005 0.045 -48.13° +table 1.102 1.243 0.583 -0.453 0.010 0.773 -179.40° +tv_stand 2.055 0.329 0.391 -0.300 -0.000 -1.454 -0.09° +lamp 1.085 0.877 0.928 -0.779 1.853 -0.189 -0.18° +chair 0.628 0.791 0.627 -2.207 0.006 -0.025 12.70° +floor 6.412 0.052 4.490 -1.090 0.005 0.301 -0.37° +_scene_ 0.064 -0.002 0.019 -5.671 -0.004 -5.710 -57.31° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: sofa <-> floor depth=[2.038, 0.052, 0.685] + !! OVERLAP: table <-> floor depth=[0.571, 0.052, 0.542] + !! OVERLAP: table <-> floor depth=[0.482, 0.052, 0.481] + !! OVERLAP: chair <-> floor depth=[0.698, 0.052, 0.619] + !! OVERLAP: table <-> floor depth=[1.102, 0.052, 0.583] + !! OVERLAP: tv_stand <-> floor depth=[2.055, 0.052, 0.391] + !! OVERLAP: chair <-> floor depth=[0.628, 0.052, 0.627] +============================================================ + + +============================================================ +SCENE: LivingDiningRoom-941 | 15 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0270, Walkable Loss: 1.6611 (Center Penalty: 0.5196, C1 Heatmap: 0.4936, C2 Repulsion: 3.7331), Relational Loss: 0.0314 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +sofa 1.870 0.880 0.627 1.518 -0.001 0.512 -179.69° +table 0.562 0.769 0.664 2.074 0.004 -0.557 -90.06° +chair 0.815 0.708 0.813 3.315 0.005 -0.580 -89.38° +table 0.649 0.318 0.475 -0.420 -0.002 0.650 -0.09° +lamp 0.784 0.889 0.816 1.610 1.950 -0.614 -90.12° +chair 0.420 0.766 0.416 -1.638 0.000 -1.846 -0.10° +chair 0.501 0.767 0.491 -0.862 0.001 -0.797 -90.03° +chair 0.371 0.796 0.494 -1.766 0.002 -0.159 179.81° +table 0.416 0.745 0.366 -1.932 -0.011 -0.948 90.05° +lamp 0.366 0.807 0.294 -1.787 1.945 -1.061 0.00° +table 1.223 1.139 0.246 -3.149 0.006 0.578 89.94° +chair 0.555 0.734 0.507 -2.407 0.001 -0.919 90.00° +chair 0.382 0.289 0.248 1.004 -0.000 -0.652 0.08° +floor 8.089 -0.016 3.930 -0.035 0.009 -1.104 -0.15° +_scene_ 0.067 0.001 0.026 -5.671 -0.005 -5.710 -57.31° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: sofa <-> floor depth=[1.870, -0.016, 0.627] + !! OVERLAP: table <-> floor depth=[0.562, -0.016, 0.664] + !! OVERLAP: chair <-> floor depth=[0.815, -0.016, 0.813] + !! OVERLAP: table <-> floor depth=[0.649, -0.016, 0.448] + !! OVERLAP: chair <-> floor depth=[0.420, -0.016, 0.416] + !! OVERLAP: chair <-> floor depth=[0.501, -0.016, 0.491] + !! OVERLAP: chair <-> floor depth=[0.371, -0.016, 0.494] + !! OVERLAP: table <-> chair depth=[0.010, 0.727, 0.366] + !! OVERLAP: table <-> floor depth=[0.416, -0.016, 0.366] + !! OVERLAP: table <-> floor depth=[1.223, -0.016, 0.246] + !! OVERLAP: chair <-> floor depth=[0.555, -0.016, 0.507] + !! OVERLAP: chair <-> floor depth=[0.382, -0.016, 0.248] +============================================================ + + +============================================================ +SCENE: LivingRoom-2715 | 15 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0210, Walkable Loss: 2.1908 (Center Penalty: 0.2943, C1 Heatmap: 0.7780, C2 Repulsion: 6.3710), Relational Loss: 0.0291 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +lamp 1.111 0.983 1.050 -0.528 1.647 1.395 0.01° +table 1.261 0.379 0.832 -0.946 -0.002 1.459 89.88° +tv_stand 1.669 0.663 0.334 0.570 0.005 1.801 -90.35° +sofa 2.137 0.774 0.422 -1.712 -0.005 1.349 90.32° +table 1.015 0.775 0.508 -1.886 -0.025 -2.691 0.65° +table 1.749 0.497 0.472 -1.395 0.006 3.057 -179.04° +table 1.017 0.370 0.867 -1.349 -0.005 -0.787 0.12° +chair 0.449 1.015 0.463 -1.881 0.002 -1.989 179.97° +chair 0.377 0.939 0.455 -0.913 -0.013 -2.000 -142.33° +chair 0.474 1.006 0.459 -1.894 -0.002 -3.308 -0.04° +chair 0.357 0.920 0.392 -0.971 0.006 -3.253 -56.72° +lamp 0.875 1.029 0.804 -1.415 1.652 -2.544 0.03° +table 0.342 1.349 0.408 0.956 0.002 -0.792 -90.22° +floor 4.580 0.006 6.841 -0.857 -0.002 -0.096 0.05° +_scene_ 0.070 -0.000 0.026 -5.665 -0.005 -5.711 -57.30° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: table <-> sofa depth=[0.933, 0.379, 0.422] + !! OVERLAP: table <-> floor depth=[1.261, 0.006, 0.832] + !! OVERLAP: tv_stand <-> floor depth=[1.669, 0.006, 0.334] + !! OVERLAP: sofa <-> floor depth=[2.137, 0.006, 0.422] + !! OVERLAP: table <-> floor depth=[1.015, 0.006, 0.508] + !! OVERLAP: table <-> floor depth=[1.749, 0.006, 0.472] + !! OVERLAP: table <-> floor depth=[1.017, 0.006, 0.867] + !! OVERLAP: chair <-> floor depth=[0.449, 0.006, 0.463] + !! OVERLAP: chair <-> floor depth=[0.377, 0.006, 0.455] + !! OVERLAP: chair <-> floor depth=[0.474, 0.006, 0.438] + !! OVERLAP: chair <-> floor depth=[0.357, 0.006, 0.392] + !! OVERLAP: table <-> floor depth=[0.342, 0.006, 0.408] +============================================================ + + +============================================================ +SCENE: LivingDiningRoom-10201 | 13 objects +============================================================ +Final Step Collision Loss: 0.0022, Room Outer Loss: 0.0465, Walkable Loss: 1.0068 (Center Penalty: 0.0988, C1 Heatmap: 0.6710, C2 Repulsion: 1.8555), Relational Loss: 0.0147 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +tv_stand 1.900 0.860 0.448 -1.169 -0.003 -1.561 89.94° +table 0.380 0.319 0.460 0.155 0.001 -2.345 0.05° +lamp 0.478 0.836 0.485 0.374 2.002 -2.213 -0.02° +lamp 0.972 0.908 0.930 1.090 1.759 2.202 -0.02° +sofa 2.475 0.776 1.119 1.972 -0.002 -2.126 -90.29° +table 0.462 0.714 0.394 0.306 -0.002 3.043 -0.01° +chair 0.509 0.924 0.592 -0.252 0.001 1.918 89.95° +chair 0.443 0.952 0.530 -0.521 0.001 3.049 90.03° +chair 0.400 0.829 0.469 1.786 0.000 2.129 -90.05° +chair 0.474 0.952 0.593 1.843 -0.001 3.175 -90.03° +table 1.190 0.462 0.852 1.875 0.006 -0.401 -89.94° +floor 5.975 -0.004 6.831 0.914 0.001 0.574 0.07° +_scene_ 0.068 -0.000 0.022 -5.672 -0.005 -5.714 -57.32° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: tv_stand <-> floor depth=[1.854, -0.004, 0.448] + !! OVERLAP: table <-> floor depth=[0.380, -0.004, 0.460] + !! OVERLAP: sofa <-> floor depth=[2.475, -0.004, 1.119] + !! OVERLAP: table <-> floor depth=[0.462, -0.004, 0.394] + !! OVERLAP: chair <-> floor depth=[0.509, -0.004, 0.592] + !! OVERLAP: chair <-> floor depth=[0.443, -0.004, 0.530] + !! OVERLAP: chair <-> floor depth=[0.400, -0.004, 0.469] + !! OVERLAP: chair <-> floor depth=[0.474, -0.004, 0.593] + !! OVERLAP: table <-> floor depth=[1.190, -0.004, 0.852] +============================================================ + + +============================================================ +SCENE: LivingRoom-24701 | 8 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0000, Walkable Loss: 1.3571 (Center Penalty: 0.4015, C1 Heatmap: 0.5730, C2 Repulsion: 2.4861), Relational Loss: 0.0248 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +table 0.640 0.537 0.570 2.023 0.003 1.359 -90.22° +tv_stand 1.991 0.574 0.293 -1.004 -0.000 0.587 90.02° +table 1.292 1.809 0.535 0.422 0.004 -0.894 179.89° +table 0.807 0.532 0.539 1.932 0.001 -1.317 -0.07° +sofa 1.453 0.840 0.678 2.183 0.005 0.078 -90.16° +chair 0.630 1.004 0.695 0.849 -0.001 0.896 -117.57° +floor 5.600 -0.010 4.825 0.602 -0.001 0.774 0.04° +_scene_ 0.072 0.025 0.182 -5.441 0.003 -5.498 -58.51° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: table <-> floor depth=[0.640, -0.010, 0.570] + !! OVERLAP: tv_stand <-> floor depth=[1.991, -0.010, 0.293] + !! OVERLAP: table <-> floor depth=[1.292, -0.010, 0.535] + !! OVERLAP: table <-> floor depth=[0.807, -0.010, 0.539] + !! OVERLAP: sofa <-> floor depth=[1.453, -0.010, 0.678] + !! OVERLAP: chair <-> floor depth=[0.630, -0.010, 0.695] +============================================================ + + +============================================================ +SCENE: LivingDiningRoom-11440 | 13 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0168, Walkable Loss: 1.1160 (Center Penalty: 0.2859, C1 Heatmap: 0.5768, C2 Repulsion: 1.8437), Relational Loss: 0.0090 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +sofa 1.880 0.983 1.025 1.515 -0.001 2.210 -89.79° +table 0.791 0.684 0.709 -0.220 -0.001 1.980 0.09° +tv_stand 1.985 0.781 0.296 -1.355 0.013 0.932 90.06° +table 0.724 0.529 0.244 1.014 0.009 -1.327 90.41° +chair 0.309 0.722 0.304 0.907 -0.005 -0.255 179.13° +chair 0.357 0.629 0.386 0.193 -0.000 -1.490 -0.03° +chair 0.398 0.542 0.423 1.691 0.004 -0.733 179.85° +chair 0.404 0.664 0.440 1.738 0.000 -1.671 0.02° +cabinet 0.928 1.111 0.237 0.092 0.003 -2.493 0.19° +lamp 0.825 0.898 0.596 0.010 1.782 1.374 -0.00° +lamp 0.183 1.123 0.222 1.211 1.852 -1.083 0.10° +floor 4.889 0.009 7.504 0.077 0.002 1.157 0.01° +_scene_ 0.069 0.001 0.023 -5.667 -0.005 -5.710 -57.30° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: sofa <-> floor depth=[1.880, 0.009, 1.025] + !! OVERLAP: table <-> floor depth=[0.791, 0.009, 0.709] + !! OVERLAP: tv_stand <-> floor depth=[1.985, 0.009, 0.296] + !! OVERLAP: table <-> floor depth=[0.724, 0.009, 0.244] + !! OVERLAP: chair <-> floor depth=[0.309, 0.009, 0.304] + !! OVERLAP: chair <-> floor depth=[0.357, 0.009, 0.386] + !! OVERLAP: chair <-> floor depth=[0.398, 0.009, 0.423] + !! OVERLAP: chair <-> floor depth=[0.404, 0.009, 0.440] + !! OVERLAP: cabinet <-> floor depth=[0.928, 0.009, 0.220] +============================================================ + + +============================================================ +SCENE: LivingRoom-37001 | 13 objects +============================================================ +Final Step Collision Loss: 0.0024, Room Outer Loss: 0.0000, Walkable Loss: 1.5355 (Center Penalty: 0.2385, C1 Heatmap: 0.5367, C2 Repulsion: 4.3384), Relational Loss: 0.0159 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +sofa 2.659 0.794 1.040 1.250 -0.006 -0.562 0.06° +table 1.098 0.443 -0.048 1.145 -0.041 -1.081 -1.12° +shelf 0.227 2.216 0.264 3.391 -0.004 -1.082 0.04° +cabinet 0.637 1.174 0.256 -1.302 0.007 0.442 -90.34° +table 1.164 0.751 0.353 -3.070 -0.000 -0.755 90.35° +chair 0.490 0.757 0.415 -3.383 0.001 -0.576 90.02° +chair 0.321 0.792 0.400 -3.332 0.001 -1.439 89.59° +chair 0.344 0.700 0.400 -2.030 0.001 -0.426 -90.04° +chair 0.511 0.680 0.559 -1.931 0.001 -1.238 -90.39° +lamp 0.762 0.851 0.787 1.187 1.715 -0.089 -0.03° +lamp 0.896 0.951 0.900 -3.118 1.756 -0.729 0.00° +floor 7.346 -0.025 3.172 -0.156 0.010 -1.004 0.00° +_scene_ 0.064 -0.000 0.017 -5.674 -0.004 -5.714 -57.29° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: sofa <-> floor depth=[2.659, -0.025, 1.040] + !! OVERLAP: table <-> floor depth=[1.098, -0.025, -0.048] + !! OVERLAP: shelf <-> floor depth=[0.227, -0.025, 0.264] + !! OVERLAP: cabinet <-> floor depth=[0.637, -0.025, 0.256] + !! OVERLAP: table <-> chair depth=[0.490, 0.751, 0.205] + !! OVERLAP: table <-> floor depth=[1.164, -0.025, 0.353] + !! OVERLAP: chair <-> floor depth=[0.490, -0.025, 0.415] + !! OVERLAP: chair <-> floor depth=[0.321, -0.025, 0.400] + !! OVERLAP: chair <-> floor depth=[0.344, -0.025, 0.400] + !! OVERLAP: chair <-> floor depth=[0.511, -0.025, 0.559] +============================================================ + + +============================================================ +SCENE: LivingRoom-1255 | 7 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0000, Walkable Loss: 1.8693 (Center Penalty: 1.2601, C1 Heatmap: 0.4328, C2 Repulsion: 1.3147), Relational Loss: 0.0249 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +bookshelf 3.096 2.619 0.183 0.123 0.024 2.043 179.96° +sofa 1.489 0.983 0.295 0.937 -0.002 -1.183 -90.72° +table 0.425 0.669 0.632 1.289 -0.009 0.017 0.29° +table 0.567 0.474 0.402 0.091 -0.012 -1.179 -107.74° +lamp 0.445 0.579 0.224 0.592 2.341 0.709 0.04° +floor 3.384 -0.001 4.589 0.097 0.000 -0.072 -0.02° +_scene_ 0.064 0.000 0.027 -5.671 -0.004 -5.712 -57.30° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bookshelf <-> floor depth=[3.096, -0.001, 0.183] + !! OVERLAP: sofa <-> table depth=[0.182, 0.474, 0.295] + !! OVERLAP: sofa <-> floor depth=[1.489, -0.001, 0.295] + !! OVERLAP: table <-> floor depth=[0.425, -0.001, 0.632] + !! OVERLAP: table <-> floor depth=[0.567, -0.001, 0.402] +============================================================ + + +============================================================ +SCENE: LivingRoom-3168 | 17 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0000, Walkable Loss: 1.6815 (Center Penalty: 0.2028, C1 Heatmap: 0.6024, C2 Repulsion: 4.9838), Relational Loss: 0.0222 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +table 1.395 0.646 0.172 0.030 0.002 -2.556 -0.79° +chair 0.433 0.981 0.520 1.266 0.001 -3.014 0.06° +chair 0.228 0.966 0.351 0.503 -0.004 -1.729 179.39° +chair 0.388 1.000 0.536 1.122 0.003 -1.764 -179.88° +chair 0.477 0.996 0.455 0.395 -0.000 -3.158 -0.02° +lamp 0.746 0.812 0.697 -0.040 1.855 1.689 -0.05° +sofa 1.664 0.952 0.622 -2.178 0.003 1.470 90.16° +chair 0.620 0.873 0.699 -0.657 0.002 3.003 -168.67° +chair 0.691 0.888 0.729 0.306 0.003 3.531 -165.06° +table 1.357 0.420 0.709 0.088 0.000 1.613 90.00° +table 0.546 0.613 0.480 -1.747 0.000 0.125 -0.00° +table 0.441 0.561 0.452 -1.835 -0.002 3.276 0.06° +chair 0.442 0.553 0.465 -0.667 -0.000 0.835 -0.01° +table 1.233 0.735 0.295 -2.190 0.002 -1.642 90.00° +lamp 0.904 1.088 0.914 0.116 1.751 -2.334 0.03° +floor 5.212 0.003 8.426 -1.012 0.001 0.434 0.03° +_scene_ 0.070 -0.000 0.019 -5.672 -0.005 -5.714 -57.30° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: table <-> floor depth=[1.395, 0.003, 0.172] + !! OVERLAP: chair <-> floor depth=[0.433, 0.003, 0.520] + !! OVERLAP: chair <-> floor depth=[0.228, 0.003, 0.351] + !! OVERLAP: chair <-> floor depth=[0.388, 0.003, 0.536] + !! OVERLAP: chair <-> floor depth=[0.477, 0.003, 0.455] + !! OVERLAP: sofa <-> floor depth=[1.664, 0.003, 0.622] + !! OVERLAP: chair <-> floor depth=[0.620, 0.003, 0.699] + !! OVERLAP: chair <-> floor depth=[0.691, 0.003, 0.729] + !! OVERLAP: table <-> floor depth=[1.357, 0.003, 0.709] + !! OVERLAP: table <-> floor depth=[0.546, 0.003, 0.480] + !! OVERLAP: table <-> floor depth=[0.441, 0.003, 0.452] + !! OVERLAP: chair <-> floor depth=[0.442, 0.003, 0.465] + !! OVERLAP: table <-> floor depth=[1.233, 0.003, 0.295] +============================================================ + + +============================================================ +SCENE: LivingRoom-26286 | 16 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0000, Walkable Loss: 1.8370 (Center Penalty: 0.2171, C1 Heatmap: 0.7273, C2 Repulsion: 5.1905), Relational Loss: 0.0231 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +chair 0.328 0.954 0.405 2.056 0.000 -0.783 -0.40° +chair 0.383 0.908 0.246 2.785 0.010 -0.916 0.75° +chair 0.440 0.946 0.523 2.013 0.002 0.242 -90.03° +chair 0.372 0.880 0.488 2.935 0.004 0.570 -90.23° +chair 0.400 0.853 0.471 -2.837 0.001 -0.142 89.97° +sofa 2.167 0.785 0.616 -1.479 0.000 1.796 -179.91° +table 0.847 0.586 0.942 0.034 0.000 1.187 -0.01° +table 0.594 0.578 0.580 -2.942 -0.000 0.960 0.29° +table 1.150 0.489 0.688 -1.286 0.000 -0.635 0.18° +table 0.451 0.617 0.335 2.730 -0.020 -0.216 0.95° +table 1.305 1.484 0.324 1.332 0.002 1.677 -179.12° +table 0.886 0.485 0.602 -1.626 -0.009 0.428 -90.18° +lamp 0.379 0.349 0.378 -1.480 2.296 0.005 0.07° +lamp 0.784 0.657 0.340 1.938 1.936 0.021 0.02° +floor 6.917 -0.018 4.120 -0.223 -0.008 0.996 0.42° +_scene_ 0.066 0.001 0.034 -5.640 -0.003 -5.688 -57.31° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: chair <-> floor depth=[0.328, -0.018, 0.405] + !! OVERLAP: chair <-> floor depth=[0.383, -0.018, 0.246] + !! OVERLAP: chair <-> floor depth=[0.440, -0.018, 0.523] + !! OVERLAP: chair <-> floor depth=[0.372, -0.018, 0.488] + !! OVERLAP: chair <-> floor depth=[0.400, -0.018, 0.471] + !! OVERLAP: sofa <-> floor depth=[2.167, -0.018, 0.616] + !! OVERLAP: table <-> floor depth=[0.847, -0.018, 0.942] + !! OVERLAP: table <-> floor depth=[0.594, -0.018, 0.580] + !! OVERLAP: table <-> floor depth=[1.150, -0.018, 0.688] + !! OVERLAP: table <-> floor depth=[0.451, -0.018, 0.335] + !! OVERLAP: table <-> floor depth=[1.305, -0.018, 0.324] + !! OVERLAP: table <-> floor depth=[0.886, -0.018, 0.602] +============================================================ + + +============================================================ +SCENE: LivingRoom-4960 | 10 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0000, Walkable Loss: 1.7188 (Center Penalty: 0.7676, C1 Heatmap: 0.5665, C2 Repulsion: 2.4897), Relational Loss: 0.0192 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +sofa 1.781 0.833 0.509 0.335 0.003 -1.681 -0.10° +table 1.135 0.873 0.666 0.856 0.004 0.008 0.08° +table 0.505 0.575 0.479 -1.173 0.001 -1.478 -0.10° +chair 0.659 0.850 0.743 -1.250 0.003 -0.406 68.10° +table 0.597 0.523 0.461 1.800 0.001 -1.534 -0.01° +chair 0.506 0.399 0.322 2.003 0.001 0.072 -89.88° +lamp 0.601 0.879 0.624 0.750 1.765 0.159 -0.25° +tv_stand 1.925 0.539 0.196 1.060 -0.001 1.419 179.94° +floor 5.200 -0.000 3.589 0.895 -0.017 -0.160 0.15° +_scene_ 0.069 0.001 0.021 -5.673 -0.004 -5.710 -57.30° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: sofa <-> floor depth=[1.781, -0.000, 0.509] + !! OVERLAP: table <-> floor depth=[1.135, -0.000, 0.666] + !! OVERLAP: table <-> floor depth=[0.505, -0.000, 0.479] + !! OVERLAP: chair <-> floor depth=[0.659, -0.000, 0.743] + !! OVERLAP: table <-> floor depth=[0.597, -0.000, 0.461] + !! OVERLAP: chair <-> floor depth=[0.506, -0.000, 0.322] + !! OVERLAP: tv_stand <-> floor depth=[1.925, -0.000, 0.196] +============================================================ + + +============================================================ +SCENE: LivingRoom-2410 | 12 objects +============================================================ +Final Step Collision Loss: 0.0040, Room Outer Loss: 0.0000, Walkable Loss: 1.5317 (Center Penalty: 0.3527, C1 Heatmap: 0.2907, C2 Repulsion: 4.7322), Relational Loss: 0.0280 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +table 0.499 0.540 0.480 0.319 -0.002 1.454 90.09° +sofa 1.413 0.807 0.349 0.047 -0.002 1.269 90.30° +table 0.196 0.669 0.391 0.927 0.029 -1.309 1.08° +chair 0.395 0.944 0.371 1.340 0.007 -1.752 -90.22° +chair 0.428 0.994 0.288 1.301 -0.002 -0.323 179.66° +chair 0.417 1.021 0.504 0.456 0.008 -0.781 -179.66° +chair 0.521 0.992 0.585 -0.003 0.000 -1.693 89.76° +chair 0.327 0.979 0.285 1.153 -0.004 -0.782 -179.83° +chair 0.447 0.902 0.421 0.728 -0.009 -2.217 -4.14° +bookshelf 0.124 1.262 0.160 -0.537 0.033 2.166 -0.48° +floor 3.810 0.056 6.612 1.222 -0.009 -0.104 0.33° +_scene_ 0.067 0.002 0.023 -5.659 -0.004 -5.694 -57.32° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: table <-> sofa depth=[0.499, 0.540, 0.230] + !! OVERLAP: table <-> floor depth=[0.499, 0.056, 0.480] + !! OVERLAP: sofa <-> floor depth=[1.413, 0.056, 0.349] + !! OVERLAP: table <-> floor depth=[0.196, 0.056, 0.391] + !! OVERLAP: chair <-> floor depth=[0.395, 0.056, 0.371] + !! OVERLAP: chair <-> floor depth=[0.428, 0.056, 0.288] + !! OVERLAP: chair <-> floor depth=[0.417, 0.056, 0.504] + !! OVERLAP: chair <-> floor depth=[0.521, 0.056, 0.585] + !! OVERLAP: chair <-> floor depth=[0.327, 0.056, 0.285] + !! OVERLAP: chair <-> floor depth=[0.447, 0.056, 0.421] + !! OVERLAP: bookshelf <-> floor depth=[0.124, 0.056, 0.160] +============================================================ + + +============================================================ +SCENE: LivingDiningRoom-17836 | 19 objects +============================================================ +Final Step Collision Loss: 0.0048, Room Outer Loss: 0.2255, Walkable Loss: 2.4383 (Center Penalty: 0.3116, C1 Heatmap: 0.6767, C2 Repulsion: 7.9266), Relational Loss: 0.0185 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +table 0.383 0.543 0.400 0.073 0.001 1.262 179.94° +table 0.374 0.547 0.385 -2.776 -0.001 1.238 179.98° +table 0.849 0.380 0.859 -1.475 -0.000 0.001 -0.02° +sofa 1.564 0.976 0.402 -1.281 -0.000 1.240 -179.71° +chair 0.738 0.731 0.968 -1.162 0.001 0.152 -90.24° +chair 0.647 0.823 0.758 -3.338 0.001 0.229 89.91° +table 0.729 0.710 0.200 1.540 0.044 0.695 -2.21° +chair 0.410 0.869 0.512 1.619 0.000 -0.259 0.28° +chair 0.277 0.936 0.327 2.354 -0.001 0.032 -0.04° +chair 0.325 0.987 0.316 2.543 0.002 -0.046 -90.43° +chair 0.284 0.858 0.367 1.945 -0.001 1.243 -179.99° +chair 0.119 0.918 0.255 2.498 -0.005 1.194 -179.75° +chair 0.250 0.915 0.386 2.714 0.010 0.857 -90.07° +tv_stand 2.044 0.716 0.295 -1.871 -0.000 -1.612 -0.00° +lamp 0.512 0.959 0.348 -1.416 1.525 0.030 0.02° +lamp 0.250 1.163 0.243 2.554 0.900 0.404 -0.07° +table 1.040 1.582 0.146 2.245 -0.003 -1.620 0.06° +floor 7.401 0.005 3.428 -0.891 -0.000 -0.323 -0.00° +_scene_ 0.067 -0.001 0.024 -5.667 -0.004 -5.712 -57.30° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: table <-> floor depth=[0.383, 0.005, 0.328] + !! OVERLAP: table <-> floor depth=[0.374, 0.005, 0.345] + !! OVERLAP: table <-> chair depth=[0.480, 0.380, 0.763] + !! OVERLAP: table <-> floor depth=[0.849, 0.005, 0.859] + !! OVERLAP: sofa <-> floor depth=[1.564, 0.005, 0.352] + !! OVERLAP: chair <-> floor depth=[0.738, 0.005, 0.968] + !! OVERLAP: chair <-> floor depth=[0.647, 0.005, 0.758] + !! OVERLAP: table <-> floor depth=[0.729, 0.005, 0.200] + !! OVERLAP: chair <-> floor depth=[0.410, 0.005, 0.512] + !! OVERLAP: chair <-> chair depth=[0.112, 0.936, 0.243] + !! OVERLAP: chair <-> floor depth=[0.277, 0.005, 0.327] + !! OVERLAP: chair <-> floor depth=[0.325, 0.005, 0.316] + !! OVERLAP: chair <-> floor depth=[0.284, 0.005, 0.331] + !! OVERLAP: chair <-> floor depth=[0.119, 0.005, 0.255] + !! OVERLAP: chair <-> floor depth=[0.221, 0.005, 0.386] + !! OVERLAP: tv_stand <-> floor depth=[2.044, 0.005, 0.295] + !! OVERLAP: table <-> floor depth=[1.040, 0.005, 0.146] +============================================================ + + +============================================================ +SCENE: LivingRoom-52289 | 8 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0180, Walkable Loss: 1.2925 (Center Penalty: 0.5443, C1 Heatmap: 0.5288, C2 Repulsion: 1.6256), Relational Loss: 0.0203 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +lamp 0.498 0.873 0.499 -0.696 1.851 0.265 0.48° +chair 0.889 0.794 0.788 -1.649 -0.002 0.389 114.96° +sofa 2.247 0.929 0.933 -0.552 0.003 -1.278 0.11° +table 0.481 0.501 0.523 0.855 -0.001 -1.296 -0.10° +table 0.168 0.432 0.242 0.974 -0.012 0.803 -104.97° +table 0.675 0.436 0.841 -0.399 -0.002 1.106 -90.19° +floor 4.700 0.037 3.674 -1.123 0.009 0.111 0.03° +_scene_ 0.077 0.018 0.043 -5.620 -0.002 -5.637 -57.38° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: chair <-> floor depth=[0.889, 0.037, 0.788] + !! OVERLAP: sofa <-> floor depth=[2.247, 0.037, 0.915] + !! OVERLAP: table <-> floor depth=[0.481, 0.037, 0.523] + !! OVERLAP: table <-> floor depth=[0.168, 0.037, 0.242] + !! OVERLAP: table <-> floor depth=[0.675, 0.037, 0.841] +============================================================ + + +============================================================ +SCENE: LivingDiningRoom-19931 | 19 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.1709, Walkable Loss: 1.7274 (Center Penalty: 0.3204, C1 Heatmap: 0.5996, C2 Repulsion: 4.6369), Relational Loss: 0.0211 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +sofa 2.173 0.907 0.733 -1.756 -0.001 -2.052 90.00° +chair 0.797 0.816 0.763 0.345 -0.004 -3.953 -15.67° +table 0.895 0.315 0.536 0.365 -0.005 -1.572 90.06° +cabinet 0.461 1.840 0.301 1.636 -0.002 3.397 -90.23° +table 0.746 0.758 0.182 0.394 0.018 2.096 -90.21° +chair 0.497 0.813 0.475 0.032 -0.001 1.153 0.02° +chair 0.477 0.801 0.514 1.107 0.002 1.663 -90.02° +chair 0.342 0.859 0.441 0.662 0.001 2.889 -90.15° +chair 0.367 0.814 0.400 -0.130 -0.000 2.813 179.88° +chair 0.578 0.828 0.598 -1.071 0.003 2.917 89.95° +chair 0.523 0.830 0.523 -1.038 -0.000 1.624 89.95° +tv_stand 1.403 0.441 0.189 1.316 -0.002 -2.396 -90.33° +table 0.539 0.469 0.450 -1.426 -0.001 -0.415 81.30° +table 0.492 0.516 0.493 -1.262 0.005 -3.786 89.89° +chair 0.614 0.890 0.630 -0.416 -0.002 -0.988 173.54° +lamp 0.380 0.576 0.314 0.154 1.884 -2.157 -0.04° +lamp 0.511 0.401 0.415 0.342 2.155 1.904 -0.05° +floor 5.189 -0.011 8.524 -0.738 -0.002 -0.685 -0.00° +_scene_ 0.071 0.003 0.020 -5.670 -0.005 -5.711 -57.30° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: sofa <-> floor depth=[2.173, -0.011, 0.733] + !! OVERLAP: chair <-> floor depth=[0.797, -0.011, 0.763] + !! OVERLAP: table <-> floor depth=[0.895, -0.011, 0.536] + !! OVERLAP: cabinet <-> floor depth=[0.451, -0.011, 0.301] + !! OVERLAP: table <-> floor depth=[0.746, -0.011, 0.182] + !! OVERLAP: chair <-> floor depth=[0.497, -0.011, 0.475] + !! OVERLAP: chair <-> floor depth=[0.477, -0.011, 0.514] + !! OVERLAP: chair <-> floor depth=[0.342, -0.011, 0.441] + !! OVERLAP: chair <-> floor depth=[0.367, -0.011, 0.400] + !! OVERLAP: chair <-> floor depth=[0.578, -0.011, 0.598] + !! OVERLAP: chair <-> floor depth=[0.523, -0.011, 0.523] + !! OVERLAP: tv_stand <-> floor depth=[1.242, -0.011, 0.189] + !! OVERLAP: table <-> floor depth=[0.539, -0.011, 0.450] + !! OVERLAP: table <-> floor depth=[0.492, -0.011, 0.493] + !! OVERLAP: chair <-> floor depth=[0.614, -0.011, 0.630] +============================================================ + + +============================================================ +SCENE: LivingRoom-4789 | 23 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0000, Walkable Loss: 1.9974 (Center Penalty: 0.3116, C1 Heatmap: 0.5566, C2 Repulsion: 6.2023), Relational Loss: 0.0167 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +sofa 1.796 0.918 0.421 -2.607 -0.010 2.412 90.86° +chair 0.954 0.828 0.961 -0.360 -0.000 4.026 179.80° +table 1.210 0.473 0.910 -0.229 0.002 2.315 90.09° +table 0.387 0.696 0.376 -1.948 0.002 4.062 89.89° +table 0.476 0.531 0.460 -1.874 0.001 0.956 90.04° +table 0.337 0.481 0.357 -1.788 0.004 3.297 90.16° +table 1.406 0.741 -0.215 -1.929 -0.030 -2.275 0.28° +chair 0.500 1.058 0.576 -2.100 0.000 -3.092 0.87° +chair 0.385 1.162 0.438 -1.093 0.001 -2.965 -11.80° +chair 0.471 1.156 0.565 -0.156 -0.002 -2.207 179.99° +chair 0.563 1.131 0.618 -2.258 -0.004 -1.936 179.88° +chair 0.439 1.190 0.428 -1.115 0.001 -1.786 -179.83° +table 1.234 0.837 0.235 -1.438 -0.012 -1.005 0.23° +table 0.472 0.539 0.424 -2.153 0.002 -0.000 90.02° +table 0.844 0.948 0.384 -1.019 0.012 -3.965 -89.45° +chair 0.654 0.429 0.531 -0.891 -0.002 1.033 0.03° +lamp 0.945 0.993 0.998 -0.643 1.752 2.246 -0.03° +lamp 0.434 0.637 0.420 -0.920 2.118 0.290 90.09° +lamp 0.498 0.140 0.512 1.216 2.534 0.043 -0.04° +lamp 0.463 0.660 0.467 -1.624 2.249 -2.088 -0.03° +lamp 0.786 0.821 0.499 -0.008 2.116 -3.757 90.05° +floor 5.434 -0.004 9.981 -1.034 0.001 0.457 0.13° +_scene_ 0.072 0.000 0.025 -5.660 -0.005 -5.705 -57.32° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: sofa <-> floor depth=[1.796, -0.004, 0.421] + !! OVERLAP: chair <-> floor depth=[0.954, -0.004, 0.961] + !! OVERLAP: table <-> floor depth=[1.210, -0.004, 0.910] + !! OVERLAP: table <-> floor depth=[0.387, -0.004, 0.376] + !! OVERLAP: table <-> floor depth=[0.476, -0.004, 0.460] + !! OVERLAP: table <-> floor depth=[0.337, -0.004, 0.357] + !! OVERLAP: table <-> floor depth=[1.406, -0.004, -0.215] + !! OVERLAP: chair <-> floor depth=[0.500, -0.004, 0.576] + !! OVERLAP: chair <-> floor depth=[0.385, -0.004, 0.438] + !! OVERLAP: chair <-> floor depth=[0.471, -0.004, 0.565] + !! OVERLAP: chair <-> floor depth=[0.563, -0.004, 0.618] + !! OVERLAP: chair <-> floor depth=[0.439, -0.004, 0.428] + !! OVERLAP: table <-> floor depth=[1.234, -0.004, 0.235] + !! OVERLAP: table <-> floor depth=[0.472, -0.004, 0.424] + !! OVERLAP: table <-> floor depth=[0.844, -0.004, 0.384] + !! OVERLAP: chair <-> floor depth=[0.654, -0.004, 0.531] +============================================================ + + +============================================================ +SCENE: LivingDiningRoom-814 | 5 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0000, Walkable Loss: 0.7293 (Center Penalty: 0.2721, C1 Heatmap: 0.4551, C2 Repulsion: 0.4651), Relational Loss: 0.0000 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +table 2.118 0.196 1.505 0.047 -0.020 1.402 1.64° +chair 0.523 0.784 0.524 -0.319 0.003 -1.005 -0.07° +chair 0.389 0.815 0.407 -1.284 0.002 -0.721 0.00° +floor 5.097 -0.002 6.392 0.457 -0.003 0.897 -0.05° +_scene_ 0.048 0.003 0.018 -5.653 -0.006 -5.712 -57.35° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: table <-> floor depth=[2.118, -0.002, 1.505] + !! OVERLAP: chair <-> floor depth=[0.523, -0.002, 0.524] + !! OVERLAP: chair <-> floor depth=[0.389, -0.002, 0.407] +============================================================ + + +============================================================ +SCENE: LivingRoom-35461 | 12 objects +============================================================ +Final Step Collision Loss: 0.0077, Room Outer Loss: 0.0000, Walkable Loss: 0.7397 (Center Penalty: 0.2809, C1 Heatmap: 0.2347, C2 Repulsion: 1.3551), Relational Loss: 0.0263 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +chair 0.659 1.140 0.681 -1.553 0.008 0.804 62.63° +tv_stand 0.834 0.441 0.137 0.218 -0.019 1.120 -89.54° +table 0.382 0.784 0.377 -1.391 0.000 2.489 89.97° +cabinet 0.480 1.046 0.116 0.397 -0.012 2.501 -90.58° +lamp 0.338 0.703 0.364 -0.469 2.209 1.147 0.07° +lamp 0.993 0.926 1.017 -0.752 1.737 -2.561 -89.92° +lamp 0.982 0.849 1.077 -1.056 2.052 -1.932 -89.62° +table 0.633 0.601 0.294 -0.541 -0.059 1.132 0.19° +chair 0.524 0.924 0.599 -1.059 -0.000 -0.533 0.07° +chair 0.553 0.924 0.579 -0.453 0.001 2.221 179.97° +floor 3.426 0.013 7.451 -1.020 0.006 -0.635 0.45° +_scene_ 0.069 0.000 0.022 -5.673 -0.005 -5.715 -57.30° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: chair <-> floor depth=[0.659, 0.013, 0.681] + !! OVERLAP: tv_stand <-> floor depth=[0.834, 0.013, 0.137] + !! OVERLAP: table <-> floor depth=[0.382, 0.013, 0.377] + !! OVERLAP: cabinet <-> floor depth=[0.480, 0.013, 0.116] + !! OVERLAP: lamp <-> lamp depth=[0.683, 0.573, 0.418] + !! OVERLAP: table <-> floor depth=[0.633, 0.013, 0.294] + !! OVERLAP: chair <-> floor depth=[0.524, 0.013, 0.599] + !! OVERLAP: chair <-> floor depth=[0.553, 0.013, 0.579] +============================================================ + + +============================================================ +SCENE: LivingRoom-360 | 8 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0559, Walkable Loss: 1.0951 (Center Penalty: 0.5542, C1 Heatmap: 0.2359, C2 Repulsion: 1.7606), Relational Loss: 0.0166 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +table 1.267 0.629 0.173 -1.476 0.009 0.288 89.49° +sofa 1.424 0.820 0.593 1.465 -0.002 0.314 -90.00° +chair 0.340 0.948 0.366 0.710 0.015 0.635 -90.62° +chair 0.376 0.892 0.441 -1.862 -0.001 0.931 89.79° +lamp 0.705 0.725 0.693 0.915 1.956 -0.123 -0.07° +lamp 0.513 0.744 0.498 -1.375 1.980 0.577 -0.00° +floor 5.694 -0.021 2.493 -0.726 0.012 0.585 -0.56° +_scene_ 0.075 0.005 0.024 -5.663 -0.000 -5.700 -57.39° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: table <-> floor depth=[1.267, -0.021, 0.173] + !! OVERLAP: sofa <-> chair depth=[0.127, 0.820, 0.159] + !! OVERLAP: sofa <-> floor depth=[1.368, -0.021, 0.593] + !! OVERLAP: chair <-> floor depth=[0.340, -0.021, 0.366] + !! OVERLAP: chair <-> floor depth=[0.376, -0.021, 0.441] +============================================================ + + +============================================================ +SCENE: DiningRoom-15534 | 10 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0212, Walkable Loss: 2.0806 (Center Penalty: 1.1328, C1 Heatmap: 0.5166, C2 Repulsion: 2.6720), Relational Loss: 0.0077 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +table 1.944 0.702 -0.038 -0.186 -0.032 -1.085 -91.01° +chair 0.459 0.889 0.531 -1.409 0.002 0.302 90.08° +chair 0.411 0.885 0.503 -1.453 0.000 -0.780 90.02° +chair 0.410 0.923 0.530 1.211 0.005 0.233 -90.03° +chair 0.420 0.886 0.503 1.099 0.007 -0.907 -89.56° +cabinet 3.004 2.429 0.322 0.640 -0.001 1.475 -179.88° +lamp 0.025 0.915 0.035 0.204 1.101 -0.919 0.04° +lamp 0.096 0.900 0.091 -0.615 1.205 0.755 -89.74° +floor 4.264 -0.006 2.896 0.447 0.000 0.166 -0.00° +_scene_ 0.074 0.001 0.020 -5.671 -0.003 -5.713 -57.27° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: table <-> floor depth=[1.944, -0.006, -0.038] + !! OVERLAP: chair <-> floor depth=[0.459, -0.006, 0.531] + !! OVERLAP: chair <-> floor depth=[0.411, -0.006, 0.503] + !! OVERLAP: chair <-> floor depth=[0.410, -0.006, 0.530] + !! OVERLAP: chair <-> floor depth=[0.420, -0.006, 0.503] + !! OVERLAP: cabinet <-> floor depth=[3.004, -0.006, 0.300] +============================================================ + + +============================================================ +SCENE: DiningRoom-31158 | 8 objects +============================================================ +Final Step Collision Loss: 0.0072, Room Outer Loss: 0.0000, Walkable Loss: 2.2953 (Center Penalty: 1.8820, C1 Heatmap: 0.1564, C2 Repulsion: 1.4408), Relational Loss: 0.0170 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +table 0.949 0.858 0.364 -1.125 -0.017 -0.615 91.29° +chair 0.509 0.769 0.334 0.086 0.002 0.903 179.74° +chair 0.465 0.815 0.402 -0.860 -0.001 0.558 179.98° +chair 0.427 0.773 0.470 0.035 0.001 -0.788 -0.01° +chair 0.442 0.779 0.383 -0.806 0.002 -0.713 0.26° +lamp 0.560 1.095 0.825 -0.756 1.534 0.628 1.23° +floor 3.774 -0.001 2.148 -0.010 -0.001 0.033 -0.04° +_scene_ 0.069 0.001 0.023 -5.675 -0.005 -5.713 -57.28° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: table <-> chair depth=[0.377, 0.779, 0.277] + !! OVERLAP: table <-> floor depth=[0.949, -0.001, 0.364] + !! OVERLAP: chair <-> floor depth=[0.509, -0.001, 0.334] + !! OVERLAP: chair <-> floor depth=[0.465, -0.001, 0.402] + !! OVERLAP: chair <-> floor depth=[0.427, -0.001, 0.470] + !! OVERLAP: chair <-> floor depth=[0.442, -0.001, 0.383] +============================================================ + + +============================================================ +SCENE: DiningRoom-197500 | 13 objects +============================================================ +Final Step Collision Loss: 0.0021, Room Outer Loss: 0.0764, Walkable Loss: 1.8109 (Center Penalty: 0.8327, C1 Heatmap: 0.3723, C2 Repulsion: 3.4021), Relational Loss: 0.0155 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +table 0.894 0.692 0.425 -0.939 -0.006 -0.263 -179.62° +chair 0.410 0.854 0.394 -0.552 0.006 0.976 -179.87° +chair 0.357 0.907 0.400 0.256 -0.008 1.119 -133.00° +chair 0.446 0.917 0.445 0.572 0.005 -1.115 -41.46° +chair 0.448 0.918 0.457 -0.382 -0.001 -1.195 0.04° +chair 0.448 0.870 0.508 -1.285 0.001 0.486 142.65° +cabinet 1.980 2.483 0.197 -2.601 0.003 -0.296 90.00° +cabinet 0.549 2.031 0.313 1.156 0.013 0.365 -91.35° +chair 0.352 0.858 0.372 -1.183 0.011 -1.041 48.74° +cabinet 0.651 2.204 0.382 1.179 -0.002 -0.169 -89.41° +lamp 0.357 0.643 0.370 -0.818 2.344 -0.223 -0.07° +floor 5.124 0.009 4.544 -1.132 -0.013 0.271 0.50° +_scene_ 0.066 0.000 0.022 -5.673 -0.005 -5.715 -57.29° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: table <-> floor depth=[0.894, 0.009, 0.425] + !! OVERLAP: chair <-> floor depth=[0.410, 0.009, 0.394] + !! OVERLAP: chair <-> floor depth=[0.357, 0.009, 0.400] + !! OVERLAP: chair <-> floor depth=[0.446, 0.009, 0.445] + !! OVERLAP: chair <-> floor depth=[0.448, 0.009, 0.457] + !! OVERLAP: chair <-> floor depth=[0.448, 0.009, 0.508] + !! OVERLAP: cabinet <-> floor depth=[1.980, 0.009, 0.197] + !! OVERLAP: cabinet <-> floor depth=[0.548, 0.009, 0.313] + !! OVERLAP: chair <-> floor depth=[0.352, 0.009, 0.372] + !! OVERLAP: cabinet <-> floor depth=[0.576, 0.009, 0.382] +============================================================ + + +============================================================ +SCENE: DiningRoom-26805 | 9 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0000, Walkable Loss: 1.8910 (Center Penalty: 1.5402, C1 Heatmap: 0.1976, C2 Repulsion: 0.9636), Relational Loss: 0.0230 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +chair 0.330 0.697 0.376 -0.890 -0.005 -1.432 30.20° +table 1.602 1.011 -0.184 0.015 0.102 -1.097 90.44° +chair 0.447 0.723 0.517 -0.966 0.001 -0.315 90.02° +chair 0.508 0.756 0.493 -1.097 -0.000 0.713 132.32° +chair 0.492 0.654 0.466 0.772 0.007 0.836 -130.08° +chair 0.408 0.734 0.397 0.806 -0.006 -0.387 -98.79° +chair 0.325 0.738 0.326 0.782 -0.002 -1.095 -55.58° +floor 3.795 -0.004 4.232 0.087 -0.001 0.028 -0.06° +_scene_ 0.094 -0.005 0.084 -5.591 -0.005 -5.653 -57.22° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: chair <-> floor depth=[0.330, -0.004, 0.376] + !! OVERLAP: table <-> chair depth=[0.197, 0.738, -0.184] + !! OVERLAP: table <-> floor depth=[1.602, -0.004, -0.184] + !! OVERLAP: chair <-> floor depth=[0.447, -0.004, 0.517] + !! OVERLAP: chair <-> floor depth=[0.508, -0.004, 0.493] + !! OVERLAP: chair <-> floor depth=[0.492, -0.004, 0.466] + !! OVERLAP: chair <-> floor depth=[0.408, -0.004, 0.397] + !! OVERLAP: chair <-> floor depth=[0.325, -0.004, 0.326] +============================================================ + + +============================================================ +SCENE: DiningRoom-17995 | 9 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0724, Walkable Loss: 1.1342 (Center Penalty: 0.4101, C1 Heatmap: 0.1856, C2 Repulsion: 2.8778), Relational Loss: 0.0306 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +cabinet 0.762 1.498 0.335 1.684 -0.000 1.002 -90.04° +table 0.647 0.805 0.629 -1.342 0.026 -1.039 -0.73° +chair 0.320 0.953 0.412 -1.941 0.000 -1.386 0.06° +chair 0.403 0.910 0.434 -0.642 -0.000 -1.391 -0.19° +chair 0.485 0.900 0.506 -1.891 -0.000 -0.343 89.96° +chair 0.437 0.879 0.233 -0.926 -0.011 -0.314 -118.45° +lamp 0.867 0.711 0.792 -0.844 2.032 -0.719 -0.08° +floor 4.889 0.008 3.947 -0.372 0.007 -0.876 -0.22° +_scene_ 0.073 0.001 0.022 -5.672 -0.004 -5.716 -57.31° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: cabinet <-> floor depth=[0.762, 0.008, 0.263] + !! OVERLAP: table <-> floor depth=[0.647, 0.008, 0.629] + !! OVERLAP: chair <-> floor depth=[0.320, 0.008, 0.412] + !! OVERLAP: chair <-> floor depth=[0.403, 0.008, 0.434] + !! OVERLAP: chair <-> floor depth=[0.485, 0.008, 0.506] + !! OVERLAP: chair <-> floor depth=[0.437, 0.008, 0.233] +============================================================ + + +============================================================ +SCENE: DiningRoom-16628 | 10 objects +============================================================ +Final Step Collision Loss: 0.0125, Room Outer Loss: 0.0716, Walkable Loss: 2.0102 (Center Penalty: 1.2095, C1 Heatmap: 0.2346, C2 Repulsion: 3.0651), Relational Loss: 0.0295 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +table 0.722 0.724 0.791 -0.728 -0.004 0.642 90.70° +chair 0.450 0.800 0.446 1.034 -0.001 -0.248 -89.84° +chair 0.448 0.858 0.526 0.942 0.000 0.592 -90.06° +chair 0.441 0.824 0.513 -0.027 0.002 1.490 -179.94° +chair 0.439 0.764 0.465 -0.873 -0.002 0.894 90.18° +chair 0.374 0.788 0.405 -0.977 -0.002 0.013 90.13° +chair 0.546 0.792 0.194 0.310 -0.008 -0.783 -0.13° +lamp 0.905 0.787 1.046 -0.126 2.091 0.758 179.95° +floor 3.057 0.026 3.685 -0.064 -0.003 1.033 -0.07° +_scene_ 0.070 -0.001 0.050 -5.643 -0.005 -5.692 -57.31° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: table <-> chair depth=[0.436, 0.724, 0.375] + !! OVERLAP: table <-> floor depth=[0.722, 0.026, 0.791] + !! OVERLAP: chair <-> floor depth=[0.450, 0.026, 0.446] + !! OVERLAP: chair <-> floor depth=[0.448, 0.026, 0.526] + !! OVERLAP: chair <-> floor depth=[0.441, 0.026, 0.513] + !! OVERLAP: chair <-> floor depth=[0.439, 0.026, 0.465] + !! OVERLAP: chair <-> floor depth=[0.374, 0.026, 0.405] + !! OVERLAP: chair <-> floor depth=[0.546, 0.026, 0.123] +============================================================ + + +============================================================ +SCENE: DiningRoom-11628 | 11 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0000, Walkable Loss: 1.2644 (Center Penalty: 0.7072, C1 Heatmap: 0.1757, C2 Repulsion: 2.0834), Relational Loss: 0.0156 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +table 0.925 0.829 0.299 1.094 -0.005 1.080 -0.29° +chair 0.341 0.757 0.347 0.592 -0.001 0.508 -0.18° +chair 0.379 0.853 0.425 1.233 -0.001 0.281 -0.03° +chair 0.348 0.751 0.326 1.029 0.003 1.878 179.86° +chair 0.391 0.797 0.414 0.401 0.003 1.843 -179.96° +bookshelf 0.898 1.224 0.358 -0.745 0.002 1.007 90.03° +lamp 0.688 1.029 0.701 0.692 1.791 1.279 -0.03° +lamp 0.166 0.322 0.164 -1.335 2.419 -1.281 -1.35° +lamp 0.691 0.582 0.060 0.661 1.879 -1.304 -0.01° +floor 3.254 0.000 4.672 -0.038 -0.003 0.788 0.22° +_scene_ 0.073 0.000 0.027 -5.674 -0.001 -5.704 -57.35° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: table <-> floor depth=[0.925, 0.000, 0.299] + !! OVERLAP: chair <-> floor depth=[0.341, 0.000, 0.347] + !! OVERLAP: chair <-> floor depth=[0.379, 0.000, 0.425] + !! OVERLAP: chair <-> floor depth=[0.348, 0.000, 0.326] + !! OVERLAP: chair <-> floor depth=[0.391, 0.000, 0.414] + !! OVERLAP: bookshelf <-> floor depth=[0.898, 0.000, 0.358] +============================================================ + + +============================================================ +SCENE: DiningRoom-29864 | 11 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0000, Walkable Loss: 0.8683 (Center Penalty: 0.3256, C1 Heatmap: 0.2295, C2 Repulsion: 1.7958), Relational Loss: 0.0167 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +table 0.491 0.708 0.060 1.105 0.022 -2.625 80.60° +chair 0.387 0.905 0.384 0.735 -0.006 -2.961 89.87° +lamp 0.793 1.124 0.866 0.800 1.656 -2.689 -89.88° +chair 0.334 1.007 0.382 1.627 0.004 -2.960 -89.93° +chair 0.491 0.924 0.494 0.355 0.001 -2.256 90.02° +chair 0.333 0.964 0.378 1.517 0.001 -2.093 -89.93° +table 1.467 1.080 0.320 -0.849 0.002 0.682 -0.00° +shelf 0.805 1.897 0.398 -0.846 -0.000 -1.250 0.19° +lamp 0.345 0.341 0.198 0.002 2.505 1.151 0.15° +floor 3.586 -0.007 8.092 0.198 -0.003 -0.952 -0.19° +_scene_ 0.072 -0.000 0.012 -5.674 -0.005 -5.707 -57.36° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: table <-> floor depth=[0.491, -0.007, 0.060] + !! OVERLAP: chair <-> floor depth=[0.387, -0.007, 0.384] + !! OVERLAP: chair <-> floor depth=[0.334, -0.007, 0.382] + !! OVERLAP: chair <-> floor depth=[0.491, -0.007, 0.494] + !! OVERLAP: chair <-> floor depth=[0.333, -0.007, 0.378] + !! OVERLAP: table <-> floor depth=[1.467, -0.007, 0.320] + !! OVERLAP: shelf <-> floor depth=[0.805, -0.007, 0.398] +============================================================ + + +============================================================ +SCENE: DiningRoom-2817 | 9 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0745, Walkable Loss: 2.1687 (Center Penalty: 1.8000, C1 Heatmap: 0.2249, C2 Repulsion: 0.9438), Relational Loss: 0.0013 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +table 1.217 0.783 0.428 1.047 -0.013 -0.008 0.49° +chair 0.314 0.495 0.366 -0.152 -0.002 -0.959 -0.00° +chair 0.325 0.450 0.322 0.764 -0.001 -0.852 -0.10° +chair 0.395 0.516 0.389 -0.241 0.001 0.965 179.84° +chair 0.405 0.626 0.481 0.720 0.002 0.958 179.88° +cabinet 1.018 1.053 0.335 -1.464 0.007 -0.360 89.98° +lamp 1.490 0.939 0.334 0.643 1.827 -0.458 -0.08° +floor 3.754 -0.003 3.785 -0.021 -0.000 -0.119 0.03° +_scene_ 0.072 0.001 0.021 -5.669 -0.004 -5.714 -57.29° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: table <-> floor depth=[1.217, -0.003, 0.428] + !! OVERLAP: chair <-> floor depth=[0.314, -0.003, 0.366] + !! OVERLAP: chair <-> floor depth=[0.325, -0.003, 0.322] + !! OVERLAP: chair <-> floor depth=[0.395, -0.003, 0.389] + !! OVERLAP: chair <-> floor depth=[0.405, -0.003, 0.481] + !! OVERLAP: cabinet <-> floor depth=[0.943, -0.003, 0.335] +============================================================ + + +============================================================ +SCENE: DiningRoom-35065 | 9 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0000, Walkable Loss: 1.5793 (Center Penalty: 1.0248, C1 Heatmap: 0.1600, C2 Repulsion: 2.1324), Relational Loss: 0.0473 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +cabinet 0.707 1.869 0.206 0.421 0.004 1.097 -90.95° +lamp 0.527 0.834 0.512 -1.046 1.914 -0.212 0.20° +chair 0.361 0.814 0.394 0.025 0.019 -0.782 0.09° +chair 0.425 0.766 0.407 -0.843 -0.001 -0.681 0.24° +table 0.593 0.821 0.692 -0.876 0.016 -0.038 90.24° +chair 0.401 0.857 0.392 -0.916 0.000 0.733 -179.85° +chair 0.276 0.788 0.340 -0.305 0.004 0.959 179.85° +floor 3.929 -0.055 2.852 -1.157 0.017 0.263 1.45° +_scene_ 0.067 0.001 0.021 -5.671 -0.005 -5.717 -57.28° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: cabinet <-> floor depth=[0.707, -0.055, 0.206] + !! OVERLAP: chair <-> floor depth=[0.361, -0.055, 0.394] + !! OVERLAP: chair <-> floor depth=[0.425, -0.055, 0.407] + !! OVERLAP: table <-> floor depth=[0.593, -0.055, 0.692] + !! OVERLAP: chair <-> floor depth=[0.401, -0.055, 0.392] + !! OVERLAP: chair <-> floor depth=[0.276, -0.055, 0.340] +============================================================ + + +============================================================ +SCENE: DiningRoom-88173 | 13 objects +============================================================ +Final Step Collision Loss: 0.0001, Room Outer Loss: 0.0000, Walkable Loss: 2.5140 (Center Penalty: 1.2292, C1 Heatmap: 0.3101, C2 Repulsion: 5.1837), Relational Loss: 0.0411 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +lamp 0.855 0.834 0.174 -0.273 1.655 -0.879 0.07° +table 0.272 0.478 0.308 -1.102 -0.011 0.372 -0.23° +chair 0.323 1.003 0.439 0.832 -0.005 0.606 -107.13° +chair 0.991 1.037 0.278 -0.098 0.001 1.202 179.98° +chair 0.344 1.042 0.547 0.842 -0.004 0.161 -100.47° +chair 0.434 1.029 0.522 0.739 -0.001 -0.723 -74.35° +chair 0.340 1.102 0.445 -0.724 0.002 0.630 114.97° +chair 0.108 1.005 0.469 -1.280 0.034 0.093 90.15° +chair 0.457 1.021 0.549 -0.835 -0.002 -0.397 89.97° +chair 0.589 0.997 0.582 -0.266 -0.001 -1.479 -0.27° +table 1.242 0.612 0.176 -0.135 0.008 -2.437 0.06° +floor 2.639 -0.016 5.108 -0.085 0.040 -1.151 0.21° +_scene_ 0.133 -0.010 0.129 -5.610 -0.003 -5.658 -57.19° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: table <-> chair depth=[0.012, 0.478, 0.109] + !! OVERLAP: table <-> floor depth=[0.272, -0.016, 0.308] + !! OVERLAP: chair <-> chair depth=[0.323, 1.003, 0.048] + !! OVERLAP: chair <-> floor depth=[0.323, -0.016, 0.439] + !! OVERLAP: chair <-> floor depth=[0.991, -0.016, 0.278] + !! OVERLAP: chair <-> floor depth=[0.344, -0.016, 0.547] + !! OVERLAP: chair <-> floor depth=[0.434, -0.016, 0.522] + !! OVERLAP: chair <-> floor depth=[0.340, -0.016, 0.445] + !! OVERLAP: chair <-> floor depth=[0.108, -0.016, 0.469] + !! OVERLAP: chair <-> floor depth=[0.457, -0.016, 0.549] + !! OVERLAP: chair <-> floor depth=[0.589, -0.016, 0.582] + !! OVERLAP: table <-> floor depth=[1.242, -0.016, 0.176] +============================================================ + + +============================================================ +SCENE: DiningRoom-88173 | 13 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0000, Walkable Loss: 2.9969 (Center Penalty: 1.8502, C1 Heatmap: 0.3518, C2 Repulsion: 4.3264), Relational Loss: 0.0452 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +lamp 1.143 0.758 0.204 0.450 1.741 -0.826 -0.37° +table 0.609 0.564 -0.105 -0.888 -0.054 0.456 -0.04° +chair 0.427 0.996 0.582 1.003 -0.005 0.734 -99.81° +chair 0.858 1.076 0.381 0.004 -0.002 1.501 -179.94° +chair 0.526 1.037 0.602 0.864 0.002 -0.030 -100.05° +chair 0.429 1.055 0.516 0.779 0.002 -0.833 -81.18° +chair 0.317 1.104 0.459 -0.823 -0.016 0.950 117.08° +chair 0.338 1.018 0.493 -0.940 0.011 0.136 87.04° +chair 0.426 1.025 0.604 -0.921 0.001 -0.567 89.89° +chair 0.553 1.002 0.571 -0.176 0.000 -1.494 -0.15° +table 1.185 0.629 0.272 -0.024 0.001 -2.244 -0.06° +floor 2.565 -0.001 5.145 -0.009 -0.001 -0.258 -0.04° +_scene_ 0.125 -0.009 0.130 -5.613 -0.002 -5.660 -57.16° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: table <-> floor depth=[0.609, -0.001, -0.105] + !! OVERLAP: chair <-> floor depth=[0.427, -0.001, 0.582] + !! OVERLAP: chair <-> floor depth=[0.858, -0.001, 0.381] + !! OVERLAP: chair <-> floor depth=[0.526, -0.001, 0.602] + !! OVERLAP: chair <-> floor depth=[0.429, -0.001, 0.516] + !! OVERLAP: chair <-> floor depth=[0.317, -0.001, 0.459] + !! OVERLAP: chair <-> floor depth=[0.338, -0.001, 0.493] + !! OVERLAP: chair <-> floor depth=[0.426, -0.001, 0.604] + !! OVERLAP: chair <-> floor depth=[0.553, -0.001, 0.571] + !! OVERLAP: table <-> floor depth=[1.185, -0.001, 0.272] +============================================================ + + +============================================================ +SCENE: DiningRoom-35093 | 9 objects +============================================================ +Final Step Collision Loss: 0.0050, Room Outer Loss: 0.0000, Walkable Loss: 2.0369 (Center Penalty: 1.5548, C1 Heatmap: 0.1790, C2 Repulsion: 1.6943), Relational Loss: 0.0229 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +table 0.712 0.872 0.373 0.277 0.017 -0.888 90.38° +chair 0.443 1.023 0.547 -0.864 -0.002 0.500 -179.92° +chair 0.460 0.871 0.408 0.346 0.006 0.857 179.85° +chair 0.422 0.826 0.534 1.161 0.001 0.452 -179.92° +chair 0.466 0.811 0.452 1.055 -0.001 -0.832 0.04° +chair 0.398 0.815 0.388 -0.018 0.001 -0.960 0.05° +lamp 0.580 0.989 0.525 0.330 1.615 -0.776 0.11° +floor 3.704 -0.009 2.786 -0.461 0.010 0.225 0.55° +_scene_ 0.064 0.002 0.022 -5.670 -0.005 -5.707 -57.29° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: table <-> chair depth=[0.260, 0.815, 0.308] + !! OVERLAP: table <-> floor depth=[0.712, -0.009, 0.373] + !! OVERLAP: chair <-> floor depth=[0.443, -0.009, 0.547] + !! OVERLAP: chair <-> floor depth=[0.460, -0.009, 0.408] + !! OVERLAP: chair <-> floor depth=[0.422, -0.009, 0.534] + !! OVERLAP: chair <-> floor depth=[0.466, -0.009, 0.452] + !! OVERLAP: chair <-> floor depth=[0.398, -0.009, 0.388] +============================================================ + + +============================================================ +SCENE: DiningRoom-10302 | 11 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0495, Walkable Loss: 1.5670 (Center Penalty: 1.1403, C1 Heatmap: 0.1268, C2 Repulsion: 1.6261), Relational Loss: 0.0161 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +table 1.159 0.423 0.206 -1.210 0.000 0.983 179.89° +shelf 0.338 0.846 0.223 -1.092 -0.001 -1.343 0.05° +chair -0.011 0.986 0.005 0.398 0.091 1.329 178.36° +chair 0.236 0.918 0.265 0.515 0.001 1.257 179.78° +chair 0.205 0.847 0.510 0.690 -0.005 -0.322 0.22° +chair 0.219 0.860 0.341 0.504 -0.000 -0.746 -0.50° +table 0.362 0.789 0.463 0.567 0.049 0.629 -89.82° +lamp 0.167 0.791 0.179 0.805 1.854 0.886 -0.23° +lamp 0.552 0.866 0.562 0.248 1.733 -0.903 -0.08° +floor 3.693 0.038 3.506 -0.993 -0.008 -0.378 0.16° +_scene_ 0.070 0.000 0.020 -5.670 -0.004 -5.715 -57.30° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: table <-> floor depth=[1.159, 0.038, 0.206] + !! OVERLAP: shelf <-> floor depth=[0.338, 0.038, 0.223] + !! OVERLAP: chair <-> floor depth=[-0.011, 0.038, 0.005] + !! OVERLAP: chair <-> floor depth=[0.236, 0.038, 0.250] + !! OVERLAP: chair <-> chair depth=[0.026, 0.847, 0.002] + !! OVERLAP: chair <-> floor depth=[0.205, 0.038, 0.510] + !! OVERLAP: chair <-> floor depth=[0.219, 0.038, 0.341] + !! OVERLAP: table <-> floor depth=[0.362, 0.038, 0.463] +============================================================ + + +============================================================ +SCENE: DiningRoom-113004 | 9 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0000, Walkable Loss: 1.6285 (Center Penalty: 1.0506, C1 Heatmap: 0.2333, C2 Repulsion: 1.9563), Relational Loss: 0.0425 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +table 1.220 0.674 -0.014 -0.896 -0.003 0.427 0.58° +chair 0.375 0.843 0.369 -1.274 -0.001 -0.226 0.02° +chair 0.351 0.883 0.369 -0.527 -0.010 -0.327 0.13° +chair 0.364 0.835 0.344 -0.882 0.002 1.055 -179.97° +chair 0.382 0.844 0.412 -0.173 -0.002 1.027 179.91° +table 1.381 0.781 0.529 -0.773 0.001 -1.541 -0.08° +lamp 1.020 0.628 0.889 -0.688 2.096 0.863 -0.26° +floor 3.744 -0.005 3.857 -0.749 0.000 -0.529 -0.19° +_scene_ 0.068 0.002 0.018 -5.667 -0.005 -5.714 -57.30° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: table <-> floor depth=[1.220, -0.005, -0.014] + !! OVERLAP: chair <-> floor depth=[0.375, -0.005, 0.369] + !! OVERLAP: chair <-> floor depth=[0.351, -0.005, 0.369] + !! OVERLAP: chair <-> floor depth=[0.364, -0.005, 0.344] + !! OVERLAP: chair <-> floor depth=[0.382, -0.005, 0.412] + !! OVERLAP: table <-> floor depth=[1.381, -0.005, 0.529] +============================================================ + + +============================================================ +SCENE: DiningRoom-22384 | 8 objects +============================================================ +Final Step Collision Loss: 0.0015, Room Outer Loss: 0.0000, Walkable Loss: 1.4841 (Center Penalty: 0.6305, C1 Heatmap: 0.2454, C2 Repulsion: 3.2862), Relational Loss: 0.0319 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +table 1.070 0.828 0.922 0.706 -0.001 -0.756 0.44° +lamp 0.848 0.802 0.866 0.788 1.984 -1.113 0.24° +chair 0.454 1.047 0.517 -0.143 0.001 -1.636 89.98° +chair 0.467 0.979 0.464 -0.430 0.001 -0.850 90.27° +chair 0.404 1.021 0.482 1.474 -0.004 -1.424 -84.85° +chair 0.395 0.984 0.410 1.416 -0.001 -0.438 -89.68° +floor 3.637 0.000 3.715 0.482 -0.005 -0.595 0.02° +_scene_ 0.062 -0.001 0.021 -5.675 -0.002 -5.710 -57.32° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: table <-> chair depth=[0.023, 0.828, 0.347] + !! OVERLAP: table <-> floor depth=[1.070, 0.000, 0.922] + !! OVERLAP: chair <-> floor depth=[0.454, 0.000, 0.517] + !! OVERLAP: chair <-> floor depth=[0.467, 0.000, 0.464] + !! OVERLAP: chair <-> floor depth=[0.404, 0.000, 0.482] + !! OVERLAP: chair <-> floor depth=[0.395, 0.000, 0.410] +============================================================ + + +============================================================ +SCENE: DiningRoom-11145 | 9 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0000, Walkable Loss: 2.7501 (Center Penalty: 1.9953, C1 Heatmap: 0.2703, C2 Repulsion: 2.6927), Relational Loss: 0.0562 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +table 0.793 0.811 0.507 -0.528 0.013 -0.843 0.43° +chair 0.421 1.026 0.529 0.633 0.004 -0.587 179.96° +chair 0.519 0.851 0.615 -0.693 0.002 0.315 179.86° +chair 0.386 0.903 0.432 0.308 -0.000 -1.358 0.09° +chair 0.405 0.890 0.405 -0.404 0.001 -1.323 0.01° +table 1.367 1.282 0.352 0.089 0.001 1.354 -179.88° +lamp 0.906 0.905 0.703 -0.196 1.887 -0.808 -0.10° +floor 2.655 -0.001 3.212 -0.005 -0.000 -0.001 -0.01° +_scene_ 0.059 0.001 0.021 -5.667 -0.005 -5.715 -57.28° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: table <-> floor depth=[0.793, -0.001, 0.507] + !! OVERLAP: chair <-> floor depth=[0.421, -0.001, 0.529] + !! OVERLAP: chair <-> floor depth=[0.519, -0.001, 0.615] + !! OVERLAP: chair <-> floor depth=[0.386, -0.001, 0.432] + !! OVERLAP: chair <-> floor depth=[0.405, -0.001, 0.405] + !! OVERLAP: table <-> floor depth=[1.367, -0.001, 0.352] +============================================================ + + +============================================================ +SCENE: DiningRoom-10559 | 12 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.1075, Walkable Loss: 1.4908 (Center Penalty: 0.8042, C1 Heatmap: 0.3421, C2 Repulsion: 2.0646), Relational Loss: 0.0250 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +table 1.148 0.791 -0.243 1.410 0.027 -1.155 -1.50° +chair 0.421 0.965 0.399 1.665 -0.001 -1.680 0.05° +chair 0.426 0.918 0.515 0.895 0.003 -0.496 -179.96° +cabinet 1.407 2.045 0.143 0.941 -0.009 0.561 -179.95° +chair 0.485 0.943 0.537 1.975 0.000 -0.593 179.95° +chair 0.462 1.000 0.528 0.629 0.004 -1.670 -0.00° +lamp 0.556 0.379 0.553 0.296 2.112 -0.944 -0.04° +cabinet 1.223 1.734 0.286 -2.244 -0.004 -0.942 0.01° +tv_stand 1.421 0.359 0.019 -2.068 0.004 0.660 179.84° +chair 0.405 0.530 0.349 -0.568 0.001 0.430 179.97° +floor 6.599 0.002 3.386 -0.207 0.004 -1.093 0.09° +_scene_ 0.076 0.000 0.025 -5.671 -0.003 -5.709 -57.31° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: table <-> floor depth=[1.148, 0.002, -0.243] + !! OVERLAP: chair <-> floor depth=[0.421, 0.002, 0.399] + !! OVERLAP: chair <-> floor depth=[0.426, 0.002, 0.515] + !! OVERLAP: cabinet <-> floor depth=[1.407, 0.002, 0.110] + !! OVERLAP: chair <-> floor depth=[0.485, 0.002, 0.537] + !! OVERLAP: chair <-> floor depth=[0.462, 0.002, 0.528] + !! OVERLAP: cabinet <-> floor depth=[1.223, 0.002, 0.286] + !! OVERLAP: chair <-> floor depth=[0.405, 0.002, 0.345] +============================================================ + + +============================================================ +SCENE: DiningRoom-85692 | 8 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0000, Walkable Loss: 1.5237 (Center Penalty: 0.9929, C1 Heatmap: 0.1502, C2 Repulsion: 2.0527), Relational Loss: 0.0329 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +table 0.591 0.853 0.807 -0.055 0.052 0.860 90.19° +chair 0.440 0.728 0.428 0.873 -0.001 0.784 -90.27° +chair 0.416 0.799 0.465 1.085 0.006 0.055 -90.05° +chair 0.305 0.696 0.368 -0.801 0.002 0.870 90.17° +chair 0.340 0.719 0.356 -0.717 -0.002 0.148 88.56° +lamp 0.621 0.889 0.592 1.006 2.093 -0.156 -0.10° +floor 3.271 -0.014 3.069 0.670 -0.012 0.903 -0.17° +_scene_ 0.074 0.001 0.028 -5.655 -0.002 -5.692 -57.26° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: table <-> floor depth=[0.591, -0.014, 0.807] + !! OVERLAP: chair <-> floor depth=[0.440, -0.014, 0.428] + !! OVERLAP: chair <-> floor depth=[0.416, -0.014, 0.465] + !! OVERLAP: chair <-> floor depth=[0.305, -0.014, 0.368] + !! OVERLAP: chair <-> floor depth=[0.340, -0.014, 0.356] +============================================================ + + +============================================================ +SCENE: DiningRoom-12866 | 10 objects +============================================================ +Final Step Collision Loss: 0.0027, Room Outer Loss: 0.2589, Walkable Loss: 1.5803 (Center Penalty: 0.5574, C1 Heatmap: 0.2908, C2 Repulsion: 3.9511), Relational Loss: 0.0222 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +chair 0.330 1.050 0.409 -0.141 0.004 -1.551 63.93° +chair 0.368 1.019 0.496 -0.181 -0.001 -0.822 89.39° +chair 0.489 1.018 0.545 0.932 0.000 -0.424 -89.98° +chair 0.381 1.096 0.529 1.186 -0.003 -1.244 -90.00° +table 0.719 0.783 0.736 0.399 -0.027 -1.439 90.78° +table 1.424 0.825 0.305 0.186 0.001 1.556 179.88° +chair 0.338 0.658 0.367 1.343 0.001 0.965 179.89° +lamp 0.909 0.801 0.953 0.140 1.850 -1.008 -0.05° +floor 3.206 -0.043 4.153 1.287 0.007 0.235 2.00° +_scene_ 0.067 0.002 0.022 -5.669 -0.004 -5.709 -57.27° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: chair <-> floor depth=[0.330, -0.043, 0.409] + !! OVERLAP: chair <-> floor depth=[0.319, -0.043, 0.496] + !! OVERLAP: chair <-> floor depth=[0.489, -0.043, 0.545] + !! OVERLAP: chair <-> floor depth=[0.381, -0.043, 0.529] + !! OVERLAP: table <-> floor depth=[0.719, -0.043, 0.736] + !! OVERLAP: table <-> floor depth=[1.214, -0.043, 0.305] + !! OVERLAP: chair <-> floor depth=[0.338, -0.043, 0.367] +============================================================ + + +============================================================ +SCENE: DiningRoom-9824 | 10 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0000, Walkable Loss: 1.1813 (Center Penalty: 0.7264, C1 Heatmap: 0.1294, C2 Repulsion: 1.7567), Relational Loss: 0.0387 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +table 0.678 0.908 0.155 0.879 0.012 -0.555 0.04° +table 1.475 0.712 -0.101 -0.237 -0.015 1.535 -179.12° +chair 0.338 0.485 0.325 -1.042 0.005 0.290 90.01° +chair 0.314 0.469 0.251 0.094 -0.002 0.781 0.03° +chair 0.264 0.550 0.264 0.388 0.000 1.221 -89.94° +chair 0.245 0.516 0.296 -0.782 0.001 1.127 90.10° +chair 0.331 0.534 0.333 1.022 -0.003 0.958 -90.02° +lamp 1.606 0.585 1.672 -0.059 2.172 1.060 0.09° +floor 3.391 -0.011 3.944 -0.112 -0.001 1.309 0.94° +_scene_ 0.062 0.002 0.016 -5.669 -0.004 -5.716 -57.30° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: table <-> floor depth=[0.678, -0.011, 0.155] + !! OVERLAP: table <-> floor depth=[1.475, -0.011, -0.101] + !! OVERLAP: chair <-> floor depth=[0.338, -0.011, 0.325] + !! OVERLAP: chair <-> floor depth=[0.314, -0.011, 0.251] + !! OVERLAP: chair <-> floor depth=[0.264, -0.011, 0.264] + !! OVERLAP: chair <-> floor depth=[0.245, -0.011, 0.296] + !! OVERLAP: chair <-> floor depth=[0.331, -0.011, 0.333] +============================================================ + + +============================================================ +SCENE: DiningRoom-88590 | 10 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0000, Walkable Loss: 1.3752 (Center Penalty: 0.6996, C1 Heatmap: 0.2876, C2 Repulsion: 2.2278), Relational Loss: 0.0300 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +lamp 1.036 0.632 0.242 -0.863 1.897 0.544 0.00° +chair 0.346 0.713 0.435 -1.206 0.030 -0.736 0.12° +chair 0.404 0.366 0.394 0.653 0.001 -1.463 -0.03° +chair 0.513 0.746 0.562 -0.361 0.002 -0.809 -0.41° +cabinet 1.389 1.908 0.136 -2.351 0.003 -0.053 90.14° +table 1.069 0.815 0.436 -1.143 -0.009 0.350 90.53° +chair 0.476 0.741 0.410 -0.114 -0.005 0.947 -124.31° +chair 0.535 0.787 0.536 -0.919 -0.000 1.311 179.87° +floor 5.875 0.018 3.560 -1.034 0.004 -0.057 -0.15° +_scene_ 0.062 0.000 0.020 -5.672 -0.004 -5.716 -57.29° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: chair <-> floor depth=[0.346, 0.018, 0.435] + !! OVERLAP: chair <-> floor depth=[0.404, 0.018, 0.394] + !! OVERLAP: chair <-> floor depth=[0.513, 0.018, 0.562] + !! OVERLAP: cabinet <-> floor depth=[1.389, 0.018, 0.136] + !! OVERLAP: table <-> floor depth=[1.069, 0.018, 0.436] + !! OVERLAP: chair <-> floor depth=[0.476, 0.018, 0.410] + !! OVERLAP: chair <-> floor depth=[0.535, 0.018, 0.536] +============================================================ + + +============================================================ +SCENE: DiningRoom-7217 | 8 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0000, Walkable Loss: 2.8425 (Center Penalty: 2.2663, C1 Heatmap: 0.1526, C2 Repulsion: 2.2701), Relational Loss: 0.0362 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +table 1.068 0.766 0.357 -0.378 -0.016 0.567 -90.05° +chair 0.343 1.043 0.474 0.634 0.012 -0.139 -90.15° +chair 0.450 1.010 0.492 0.602 0.001 0.528 -89.86° +chair 0.183 0.893 0.294 -1.045 -0.005 0.002 90.54° +chair 0.480 1.011 0.402 -1.071 -0.002 0.598 90.06° +lamp 0.709 1.084 0.678 0.283 1.674 0.395 0.25° +floor 2.656 -0.020 3.021 -0.444 0.005 -0.537 -0.05° +_scene_ 0.066 0.005 0.021 -5.667 -0.005 -5.717 -57.33° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: table <-> chair depth=[0.081, 0.766, 0.349] + !! OVERLAP: table <-> floor depth=[1.068, -0.020, 0.357] + !! OVERLAP: chair <-> floor depth=[0.343, -0.020, 0.474] + !! OVERLAP: chair <-> floor depth=[0.450, -0.020, 0.492] + !! OVERLAP: chair <-> floor depth=[0.183, -0.020, 0.294] + !! OVERLAP: chair <-> floor depth=[0.480, -0.020, 0.402] +============================================================ + + +============================================================ +SCENE: DiningRoom-19325 | 8 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0000, Walkable Loss: 2.0351 (Center Penalty: 1.3862, C1 Heatmap: 0.2246, C2 Repulsion: 2.3459), Relational Loss: 0.0458 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +table 1.010 0.785 0.467 -0.764 0.017 -0.250 1.11° +chair 0.580 0.981 0.599 -0.932 0.002 0.488 179.81° +chair 0.437 1.017 0.474 -0.944 -0.001 -0.976 -0.01° +chair 0.507 1.026 0.512 0.319 0.003 0.489 -179.91° +chair 0.509 0.923 0.593 0.266 0.001 -0.971 0.01° +lamp 0.210 0.858 0.286 -0.773 1.644 -0.605 -0.18° +floor 3.503 0.017 2.572 -0.779 0.019 -0.460 -0.49° +_scene_ 0.075 0.000 0.030 -5.669 -0.004 -5.707 -57.30° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: table <-> floor depth=[1.010, 0.017, 0.467] + !! OVERLAP: chair <-> floor depth=[0.580, 0.017, 0.599] + !! OVERLAP: chair <-> floor depth=[0.437, 0.017, 0.474] + !! OVERLAP: chair <-> floor depth=[0.507, 0.017, 0.512] + !! OVERLAP: chair <-> floor depth=[0.509, 0.017, 0.593] +============================================================ + + +============================================================ +SCENE: DiningRoom-27933 | 8 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0000, Walkable Loss: 2.4869 (Center Penalty: 2.1476, C1 Heatmap: 0.1383, C2 Repulsion: 1.1429), Relational Loss: 0.0423 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +table 1.273 0.776 0.299 -0.096 0.019 0.779 90.34° +chair 0.347 0.582 0.324 0.837 0.001 0.647 -90.05° +chair 0.365 0.598 0.425 0.972 0.000 -0.234 -89.92° +chair 0.279 0.589 0.239 -0.712 0.010 0.683 89.99° +chair 0.316 0.521 0.347 -0.777 0.004 -0.367 90.07° +lamp 0.476 0.768 0.496 0.532 1.945 -0.649 90.50° +floor 2.309 0.001 2.434 0.005 -0.001 -0.014 -0.03° +_scene_ 0.073 0.000 0.025 -5.666 -0.004 -5.710 -57.31° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: table <-> chair depth=[0.160, 0.589, 0.173] + !! OVERLAP: table <-> floor depth=[1.273, 0.001, 0.299] + !! OVERLAP: chair <-> floor depth=[0.347, 0.001, 0.324] + !! OVERLAP: chair <-> floor depth=[0.365, 0.001, 0.425] + !! OVERLAP: chair <-> floor depth=[0.279, 0.001, 0.239] + !! OVERLAP: chair <-> floor depth=[0.316, 0.001, 0.347] +============================================================ + + +============================================================ +SCENE: DiningRoom-9630 | 10 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0780, Walkable Loss: 1.2741 (Center Penalty: 0.5492, C1 Heatmap: 0.2174, C2 Repulsion: 2.7544), Relational Loss: 0.0259 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +table 0.969 0.713 0.510 -0.498 0.001 -1.120 -89.90° +chair 0.271 0.990 0.353 0.209 0.006 -0.883 -179.90° +chair 0.319 0.896 0.406 0.193 -0.006 -1.831 -41.64° +chair 0.428 0.987 0.434 -0.879 -0.002 -1.838 -0.04° +chair 0.484 0.858 0.502 -1.206 -0.001 -0.792 90.55° +bookshelf 0.915 2.173 0.378 0.250 -0.000 1.105 -90.17° +lamp 0.473 0.813 0.298 -0.005 1.774 1.280 -0.01° +lamp 0.533 1.119 0.511 -0.211 1.707 -1.326 -0.02° +floor 3.165 -0.009 4.786 -0.954 0.015 -0.208 -0.41° +_scene_ 0.068 0.001 0.018 -5.671 -0.005 -5.716 -57.30° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: table <-> chair depth=[0.019, 0.713, 0.178] + !! OVERLAP: table <-> floor depth=[0.969, -0.009, 0.510] + !! OVERLAP: chair <-> floor depth=[0.271, -0.009, 0.353] + !! OVERLAP: chair <-> floor depth=[0.319, -0.009, 0.406] + !! OVERLAP: chair <-> floor depth=[0.428, -0.009, 0.434] + !! OVERLAP: chair <-> floor depth=[0.484, -0.009, 0.502] + !! OVERLAP: bookshelf <-> floor depth=[0.837, -0.009, 0.378] +============================================================ + + +============================================================ +SCENE: DiningRoom-225770 | 8 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0000, Walkable Loss: 1.2255 (Center Penalty: 0.6681, C1 Heatmap: 0.2459, C2 Repulsion: 1.8031), Relational Loss: 0.0658 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +chair 0.471 0.928 0.525 -0.663 0.001 -1.042 0.00° +chair 0.408 0.935 0.523 0.851 -0.001 -0.483 -68.81° +chair 0.526 0.929 0.580 0.438 0.002 0.977 -134.84° +chair 0.469 0.966 0.499 -0.862 0.001 0.998 166.51° +chair 0.464 0.963 0.463 -1.486 0.001 -0.470 68.28° +table 1.077 0.783 0.477 -0.922 -0.026 0.365 -0.27° +floor 4.313 -0.017 5.953 -0.059 0.000 0.903 -0.27° +_scene_ 0.135 -0.004 0.179 -5.419 -0.000 -5.487 -57.61° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: chair <-> floor depth=[0.471, -0.017, 0.525] + !! OVERLAP: chair <-> floor depth=[0.408, -0.017, 0.523] + !! OVERLAP: chair <-> floor depth=[0.526, -0.017, 0.580] + !! OVERLAP: chair <-> floor depth=[0.469, -0.017, 0.499] + !! OVERLAP: chair <-> floor depth=[0.464, -0.017, 0.463] + !! OVERLAP: table <-> floor depth=[1.077, -0.017, 0.477] +============================================================ + + +============================================================ +SCENE: DiningRoom-116178 | 11 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0000, Walkable Loss: 0.7929 (Center Penalty: 0.3246, C1 Heatmap: 0.2565, C2 Repulsion: 1.3158), Relational Loss: 0.0438 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +table 0.874 0.666 0.089 -0.864 0.009 1.944 89.76° +chair 0.380 0.849 0.452 -1.260 -0.005 1.154 136.69° +chair 0.363 0.786 0.348 -0.274 0.008 1.247 -157.52° +chair 0.514 0.821 0.529 0.564 0.004 1.239 -131.68° +chair 0.492 0.802 0.494 -1.264 0.001 -0.803 16.25° +chair 0.349 0.795 0.426 -0.287 -0.001 -1.285 -12.85° +chair 0.320 0.816 0.386 0.455 -0.007 -1.269 -41.67° +chair 0.519 0.829 0.564 0.994 -0.000 0.021 -77.88° +chair 0.527 0.842 0.571 -1.772 -0.000 0.302 89.93° +floor 4.456 -0.012 6.370 -0.807 -0.004 0.921 0.06° +_scene_ 1.026 0.390 1.823 -2.499 0.009 -2.818 -82.69° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: table <-> floor depth=[0.874, -0.012, 0.089] + !! OVERLAP: chair <-> floor depth=[0.380, -0.012, 0.452] + !! OVERLAP: chair <-> floor depth=[0.363, -0.012, 0.348] + !! OVERLAP: chair <-> floor depth=[0.514, -0.012, 0.529] + !! OVERLAP: chair <-> floor depth=[0.492, -0.012, 0.494] + !! OVERLAP: chair <-> floor depth=[0.349, -0.012, 0.426] + !! OVERLAP: chair <-> floor depth=[0.320, -0.012, 0.386] + !! OVERLAP: chair <-> floor depth=[0.519, -0.012, 0.564] + !! OVERLAP: chair <-> floor depth=[0.527, -0.012, 0.571] + !! OVERLAP: floor <-> _scene_ depth=[1.026, -0.012, 0.357] +============================================================ + + +============================================================ +SCENE: DiningRoom-22156 | 10 objects +============================================================ +Final Step Collision Loss: 0.0018, Room Outer Loss: 0.0000, Walkable Loss: 2.5697 (Center Penalty: 1.8672, C1 Heatmap: 0.2362, C2 Repulsion: 2.5678), Relational Loss: 0.0353 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +table 0.628 0.705 0.703 -0.746 0.046 0.057 88.95° +chair 0.396 0.975 0.441 -0.610 -0.003 -0.926 -0.11° +chair 0.394 0.891 0.424 0.205 0.003 -1.027 -0.03° +chair 0.411 0.953 0.386 -0.507 0.005 0.945 179.98° +chair 0.424 0.907 0.517 0.366 -0.000 0.961 179.95° +chair 0.478 1.022 0.480 -1.226 -0.000 -0.269 90.07° +chair 0.418 0.946 0.486 1.167 0.002 -0.016 -89.90° +lamp 0.383 1.191 0.359 0.888 1.362 -0.971 0.67° +floor 3.597 -0.006 3.083 -0.083 0.002 -0.036 -0.04° +_scene_ 0.068 -0.004 0.081 -5.589 -0.001 -5.631 -57.56° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: table <-> chair depth=[0.073, 0.705, 0.265] + !! OVERLAP: table <-> floor depth=[0.628, -0.006, 0.703] + !! OVERLAP: chair <-> floor depth=[0.396, -0.006, 0.441] + !! OVERLAP: chair <-> floor depth=[0.394, -0.006, 0.424] + !! OVERLAP: chair <-> floor depth=[0.411, -0.006, 0.386] + !! OVERLAP: chair <-> floor depth=[0.424, -0.006, 0.517] + !! OVERLAP: chair <-> floor depth=[0.478, -0.006, 0.480] + !! OVERLAP: chair <-> floor depth=[0.418, -0.006, 0.486] +============================================================ + + +============================================================ +SCENE: DiningRoom-22308 | 10 objects +============================================================ +Final Step Collision Loss: 0.0051, Room Outer Loss: 0.4257, Walkable Loss: 2.6388 (Center Penalty: 1.6415, C1 Heatmap: 0.2589, C2 Repulsion: 3.9510), Relational Loss: 0.0513 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +table 1.254 0.864 0.435 -0.319 -0.004 -0.884 0.06° +chair 0.562 0.986 0.595 -0.845 -0.000 0.635 90.00° +chair 0.314 0.959 0.415 0.324 -0.004 0.604 -90.49° +chair 0.237 0.986 0.519 0.290 0.015 -0.478 -84.84° +chair 0.461 0.983 0.419 -1.044 -0.001 -0.372 89.78° +chair 0.414 0.965 0.455 0.036 -0.000 1.238 179.62° +chair 0.484 0.974 0.479 -0.126 -0.000 -1.242 0.01° +lamp 0.365 0.666 0.185 -0.091 2.145 -0.881 -0.41° +floor 2.867 -0.118 3.921 -1.176 -0.028 0.286 0.55° +_scene_ 0.074 -0.000 0.041 -5.647 -0.004 -5.687 -57.33° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: table <-> chair depth=[0.136, 0.864, 0.071] + !! OVERLAP: table <-> chair depth=[0.484, 0.864, 0.099] + !! OVERLAP: table <-> floor depth=[1.203, -0.118, 0.435] + !! OVERLAP: chair <-> floor depth=[0.562, -0.118, 0.595] + !! OVERLAP: chair <-> floor depth=[0.090, -0.118, 0.415] + !! OVERLAP: chair <-> floor depth=[0.085, -0.118, 0.519] + !! OVERLAP: chair <-> floor depth=[0.461, -0.118, 0.419] + !! OVERLAP: chair <-> floor depth=[0.414, -0.118, 0.455] + !! OVERLAP: chair <-> floor depth=[0.484, -0.118, 0.479] +============================================================ + + +============================================================ +SCENE: DiningRoom-11336 | 10 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0000, Walkable Loss: 2.4884 (Center Penalty: 1.8990, C1 Heatmap: 0.2173, C2 Repulsion: 2.0776), Relational Loss: 0.0643 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +table 0.536 0.771 0.387 -1.207 0.059 0.807 0.24° +chair 0.334 0.955 0.376 -1.223 -0.007 0.286 114.45° +chair 0.564 0.898 0.636 0.800 0.006 0.697 -123.01° +chair 0.437 0.992 0.461 0.740 -0.001 -0.502 -80.19° +chair 0.452 0.976 0.420 -1.144 0.005 -0.291 61.03° +chair 0.474 0.881 0.482 -0.236 0.000 1.046 179.73° +chair 0.532 0.932 0.524 -0.269 -0.001 -1.177 0.07° +lamp 0.499 0.512 0.537 -0.442 2.336 -0.502 -0.08° +floor 2.799 -0.006 2.901 -0.216 -0.002 -0.023 0.11° +_scene_ 0.072 -0.001 0.033 -5.658 -0.004 -5.703 -57.29° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: table <-> floor depth=[0.536, -0.006, 0.387] + !! OVERLAP: chair <-> floor depth=[0.334, -0.006, 0.376] + !! OVERLAP: chair <-> floor depth=[0.564, -0.006, 0.636] + !! OVERLAP: chair <-> floor depth=[0.437, -0.006, 0.461] + !! OVERLAP: chair <-> floor depth=[0.452, -0.006, 0.420] + !! OVERLAP: chair <-> floor depth=[0.474, -0.006, 0.482] + !! OVERLAP: chair <-> floor depth=[0.532, -0.006, 0.524] +============================================================ + + +============================================================ +SCENE: DiningRoom-6151 | 11 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.1410, Walkable Loss: 1.7866 (Center Penalty: 0.5923, C1 Heatmap: 0.3099, C2 Repulsion: 4.7317), Relational Loss: 0.0391 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +table 0.865 1.381 -0.178 -0.860 0.029 -1.144 90.37° +chair 0.364 0.970 0.519 0.608 0.002 -1.037 0.01° +chair 0.369 0.982 0.419 1.266 0.001 -1.188 0.16° +chair 0.425 0.995 0.481 0.733 -0.000 1.015 179.92° +chair 0.422 0.959 0.482 1.612 0.000 0.709 179.72° +table 1.198 0.741 0.727 1.218 -0.006 -0.125 -0.15° +table 1.265 0.769 0.218 -0.629 -0.013 -0.821 90.00° +cabinet 1.712 1.830 -0.723 -0.316 -0.027 -1.191 90.16° +lamp 0.787 0.792 0.812 0.936 2.359 -0.227 -0.13° +floor 4.461 0.001 3.393 1.023 -0.000 -0.316 0.40° +_scene_ 0.071 -0.001 0.022 -5.667 -0.003 -5.718 -57.28° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: table <-> floor depth=[0.779, 0.001, -0.178] + !! OVERLAP: chair <-> floor depth=[0.364, 0.001, 0.519] + !! OVERLAP: chair <-> floor depth=[0.369, 0.001, 0.419] + !! OVERLAP: chair <-> floor depth=[0.425, 0.001, 0.481] + !! OVERLAP: chair <-> floor depth=[0.422, 0.001, 0.482] + !! OVERLAP: table <-> floor depth=[1.198, 0.001, 0.727] + !! OVERLAP: table <-> floor depth=[1.210, 0.001, 0.218] + !! OVERLAP: cabinet <-> floor depth=[1.712, 0.001, -0.723] +============================================================ + + +============================================================ +SCENE: DiningRoom-663 | 10 objects +============================================================ +Final Step Collision Loss: 0.0305, Room Outer Loss: 0.0000, Walkable Loss: 1.4045 (Center Penalty: 1.0294, C1 Heatmap: 0.1258, C2 Repulsion: 1.3726), Relational Loss: 0.0562 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +table 0.571 0.709 0.574 1.119 -0.032 -0.243 91.06° +chair 0.348 0.861 0.383 0.988 0.000 0.684 179.78° +chair 0.344 0.863 0.428 1.029 -0.002 -0.896 0.00° +chair 0.240 0.820 0.351 0.370 0.015 0.704 179.76° +chair 0.474 0.796 0.479 0.175 -0.002 -1.015 0.09° +lamp 1.047 0.964 0.961 0.833 1.680 -0.916 -0.11° +lamp 0.645 0.907 0.791 1.041 1.722 0.300 0.29° +lamp 1.184 0.883 1.078 0.797 1.529 0.131 0.21° +floor 3.691 -0.047 3.021 1.022 0.004 -0.588 0.14° +_scene_ 0.062 -0.001 0.018 -5.676 -0.004 -5.716 -57.31° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: table <-> floor depth=[0.571, -0.047, 0.574] + !! OVERLAP: chair <-> floor depth=[0.348, -0.047, 0.383] + !! OVERLAP: chair <-> floor depth=[0.344, -0.047, 0.428] + !! OVERLAP: chair <-> floor depth=[0.240, -0.047, 0.351] + !! OVERLAP: chair <-> floor depth=[0.474, -0.047, 0.479] + !! OVERLAP: lamp <-> lamp depth=[0.645, 0.701, 0.765] +============================================================ + + +============================================================ +SCENE: DiningRoom-2432 | 9 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0000, Walkable Loss: 1.6662 (Center Penalty: 0.8754, C1 Heatmap: 0.2283, C2 Repulsion: 3.0408), Relational Loss: 0.0355 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +table 1.614 0.759 0.115 -0.461 0.002 1.081 179.99° +table 0.929 0.710 0.413 -1.001 0.001 -0.358 179.62° +chair 0.453 0.895 0.446 -0.386 -0.000 -1.161 0.04° +chair 0.440 0.902 0.489 -1.169 0.003 -1.146 0.03° +chair 0.313 0.882 0.329 -0.646 -0.001 0.609 179.89° +chair 0.265 0.911 0.306 -1.334 0.000 0.385 179.51° +lamp 2.178 0.943 0.067 -0.351 1.885 -0.772 0.00° +floor 2.778 0.007 3.780 -0.571 0.015 -0.714 0.09° +_scene_ 0.062 0.005 0.020 -5.667 -0.006 -5.716 -57.28° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: table <-> floor depth=[1.614, 0.007, 0.115] + !! OVERLAP: table <-> floor depth=[0.929, 0.007, 0.413] + !! OVERLAP: chair <-> floor depth=[0.453, 0.007, 0.446] + !! OVERLAP: chair <-> floor depth=[0.440, 0.007, 0.489] + !! OVERLAP: chair <-> floor depth=[0.313, 0.007, 0.329] + !! OVERLAP: chair <-> floor depth=[0.265, 0.007, 0.306] +============================================================ + + +============================================================ +SCENE: DiningRoom-24272 | 8 objects +============================================================ +Final Step Collision Loss: 0.0023, Room Outer Loss: 0.0121, Walkable Loss: 2.0072 (Center Penalty: 1.4553, C1 Heatmap: 0.2063, C2 Repulsion: 1.9345), Relational Loss: 0.0620 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +table 0.789 0.777 0.892 0.687 0.005 -0.321 90.71° +chair 0.512 0.992 0.436 -0.498 0.019 -0.989 44.11° +chair 0.406 1.056 0.477 0.674 0.007 -0.929 0.05° +chair 0.398 0.919 0.499 -0.104 0.002 0.847 179.87° +chair 0.421 0.950 0.447 0.648 -0.001 0.890 -179.97° +lamp 0.817 0.913 0.817 0.363 1.783 -0.544 0.01° +floor 3.493 -0.005 3.318 -0.677 -0.013 -0.517 -0.33° +_scene_ 0.075 0.005 0.041 -5.655 -0.004 -5.703 -57.30° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: table <-> chair depth=[0.406, 0.777, 0.076] + !! OVERLAP: table <-> floor depth=[0.777, -0.005, 0.892] + !! OVERLAP: chair <-> floor depth=[0.512, -0.005, 0.436] + !! OVERLAP: chair <-> floor depth=[0.406, -0.005, 0.477] + !! OVERLAP: chair <-> floor depth=[0.398, -0.005, 0.499] + !! OVERLAP: chair <-> floor depth=[0.421, -0.005, 0.447] +============================================================ + + +============================================================ +SCENE: DiningRoom-25528 | 10 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0000, Walkable Loss: 2.4885 (Center Penalty: 2.0082, C1 Heatmap: 0.1640, C2 Repulsion: 1.7449), Relational Loss: 0.0534 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +table 1.168 0.722 -0.009 -1.089 0.010 -0.241 0.71° +chair 0.378 0.795 0.334 -0.898 0.007 -0.953 26.99° +chair 0.417 0.766 0.446 -0.084 0.003 -1.074 0.03° +chair 0.302 0.734 0.311 0.563 0.001 -1.053 -52.33° +chair 0.586 0.765 0.403 -1.052 0.006 0.565 154.98° +chair 0.392 0.726 0.254 0.810 0.016 -0.460 -137.69° +chair 0.448 0.801 0.411 -0.339 0.000 1.060 -179.86° +lamp 0.504 0.972 0.419 -0.132 1.751 -0.642 0.15° +floor 3.653 -0.005 3.137 -0.035 0.000 -0.025 0.02° +_scene_ 0.060 0.008 0.028 -5.666 -0.005 -5.714 -57.34° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: table <-> floor depth=[1.168, -0.005, -0.009] + !! OVERLAP: chair <-> floor depth=[0.378, -0.005, 0.334] + !! OVERLAP: chair <-> floor depth=[0.417, -0.005, 0.446] + !! OVERLAP: chair <-> floor depth=[0.302, -0.005, 0.311] + !! OVERLAP: chair <-> floor depth=[0.586, -0.005, 0.403] + !! OVERLAP: chair <-> floor depth=[0.392, -0.005, 0.254] + !! OVERLAP: chair <-> floor depth=[0.448, -0.005, 0.411] +============================================================ + + +============================================================ +SCENE: DiningRoom-43067 | 10 objects +============================================================ +Final Step Collision Loss: 0.0005, Room Outer Loss: 0.0000, Walkable Loss: 2.4200 (Center Penalty: 1.8586, C1 Heatmap: 0.2031, C2 Repulsion: 1.9946), Relational Loss: 0.0282 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +table 0.771 0.932 0.401 0.640 0.015 -0.508 -1.31° +chair 0.432 0.769 0.502 1.063 0.005 0.377 -90.01° +chair 0.281 0.688 0.341 1.166 0.001 -0.594 -89.87° +chair 0.430 0.728 0.430 0.351 0.002 1.252 179.87° +chair 0.416 0.689 0.400 -0.734 0.009 -0.780 89.97° +chair 0.543 0.699 0.563 -1.023 0.001 0.430 90.02° +chair 0.428 0.692 0.432 0.447 0.005 -1.202 0.07° +lamp 0.585 0.808 0.568 -0.313 1.896 -0.785 0.04° +floor 3.214 -0.000 3.929 0.025 0.001 -0.072 -0.02° +_scene_ 0.060 0.001 0.022 -5.661 -0.004 -5.706 -57.31° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: table <-> floor depth=[0.771, -0.000, 0.401] + !! OVERLAP: chair <-> floor depth=[0.432, -0.000, 0.502] + !! OVERLAP: chair <-> floor depth=[0.281, -0.000, 0.341] + !! OVERLAP: chair <-> floor depth=[0.430, -0.000, 0.430] + !! OVERLAP: chair <-> floor depth=[0.416, -0.000, 0.400] + !! OVERLAP: chair <-> floor depth=[0.543, -0.000, 0.563] + !! OVERLAP: chair <-> floor depth=[0.428, -0.000, 0.432] +============================================================ + + +============================================================ +SCENE: DiningRoom-8121 | 9 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0409, Walkable Loss: 1.4722 (Center Penalty: 0.5453, C1 Heatmap: 0.2283, C2 Repulsion: 3.7212), Relational Loss: 0.0108 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +lamp 0.576 0.802 0.559 0.173 2.033 -0.965 0.15° +table 1.767 1.346 0.198 0.494 -0.007 0.983 -179.90° +chair 0.391 0.636 0.404 -0.626 -0.001 -0.870 90.03° +table 1.130 0.780 0.237 0.093 0.005 -1.437 90.36° +chair 0.373 0.671 0.320 -0.510 -0.001 -1.479 90.06° +chair 0.267 0.616 0.069 0.570 0.013 -1.396 -90.55° +chair 0.350 0.662 0.282 0.765 0.006 -1.453 -90.27° +floor 2.710 -0.030 3.643 0.562 -0.006 -0.752 -0.01° +_scene_ 0.071 0.000 0.023 -5.670 -0.003 -5.714 -57.29° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: table <-> floor depth=[1.767, -0.030, 0.185] + !! OVERLAP: chair <-> floor depth=[0.363, -0.030, 0.404] + !! OVERLAP: table <-> chair depth=[0.149, 0.671, 0.237] + !! OVERLAP: table <-> chair depth=[0.222, 0.616, 0.069] + !! OVERLAP: table <-> chair depth=[0.068, 0.662, 0.237] + !! OVERLAP: table <-> floor depth=[1.130, -0.030, 0.237] + !! OVERLAP: chair <-> floor depth=[0.373, -0.030, 0.320] + !! OVERLAP: chair <-> chair depth=[0.113, 0.616, 0.069] + !! OVERLAP: chair <-> floor depth=[0.267, -0.030, 0.069] + !! OVERLAP: chair <-> floor depth=[0.350, -0.030, 0.282] +============================================================ + + +============================================================ +SCENE: DiningRoom-6919 | 13 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0382, Walkable Loss: 2.1521 (Center Penalty: 1.2370, C1 Heatmap: 0.2891, C2 Repulsion: 3.4190), Relational Loss: 0.0350 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +chair 0.363 0.672 0.400 -1.289 -0.002 0.993 176.96° +table 0.621 0.823 0.466 -0.927 0.014 0.221 0.62° +chair 0.306 0.705 0.302 -0.691 -0.000 1.054 176.22° +chair 0.426 0.685 0.405 -0.109 0.012 1.089 -154.34° +chair 0.446 0.669 0.317 -0.418 0.002 -0.883 0.03° +chair 0.330 0.645 0.177 -0.866 -0.020 -0.522 -0.20° +chair 0.379 0.735 0.360 -1.257 0.001 -0.876 0.09° +chair 0.364 0.713 0.426 0.790 0.003 0.018 -90.48° +chair 0.437 0.682 0.441 -1.787 0.001 0.178 90.10° +table 1.387 0.778 0.375 1.620 0.012 0.965 -90.11° +lamp 0.609 0.899 0.603 -0.843 1.831 0.208 0.00° +floor 5.892 -0.013 3.995 -0.670 0.005 0.730 0.08° +_scene_ 0.064 0.004 0.049 -5.621 -0.004 -5.694 -57.24° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: chair <-> floor depth=[0.363, -0.013, 0.400] + !! OVERLAP: table <-> floor depth=[0.621, -0.013, 0.466] + !! OVERLAP: chair <-> floor depth=[0.306, -0.013, 0.302] + !! OVERLAP: chair <-> floor depth=[0.426, -0.013, 0.405] + !! OVERLAP: chair <-> floor depth=[0.446, -0.013, 0.317] + !! OVERLAP: chair <-> floor depth=[0.330, -0.013, 0.177] + !! OVERLAP: chair <-> floor depth=[0.379, -0.013, 0.360] + !! OVERLAP: chair <-> floor depth=[0.364, -0.013, 0.426] + !! OVERLAP: chair <-> floor depth=[0.437, -0.013, 0.441] + !! OVERLAP: table <-> floor depth=[1.349, -0.013, 0.375] +============================================================ + + +============================================================ +SCENE: DiningRoom-17147 | 13 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0334, Walkable Loss: 2.2690 (Center Penalty: 1.3323, C1 Heatmap: 0.2637, C2 Repulsion: 3.6282), Relational Loss: 0.0345 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +chair 0.362 0.648 0.330 -1.164 0.003 0.866 -179.87° +table 0.793 0.774 0.343 -0.881 0.024 0.160 -0.17° +chair 0.268 0.714 0.291 -0.602 -0.003 0.871 179.92° +chair 0.390 0.641 0.370 -0.077 0.002 0.920 -179.95° +chair 0.372 0.635 0.400 -0.145 -0.001 -0.948 -0.07° +chair 0.287 0.571 0.243 -0.681 -0.003 -0.922 0.07° +chair 0.353 0.630 0.402 -1.245 0.001 -0.837 0.03° +chair 0.452 0.660 0.465 0.708 -0.001 0.226 -90.22° +chair 0.462 0.669 0.364 -1.721 -0.003 -0.045 89.98° +table 1.140 0.860 0.370 1.378 0.006 0.746 -90.78° +lamp 0.694 0.863 0.705 -0.956 1.662 0.256 -0.01° +floor 5.528 -0.006 3.577 -0.786 0.005 -0.716 0.59° +_scene_ 0.123 -0.009 0.130 -5.612 -0.002 -5.637 -57.17° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: chair <-> floor depth=[0.362, -0.006, 0.330] + !! OVERLAP: table <-> floor depth=[0.793, -0.006, 0.343] + !! OVERLAP: chair <-> floor depth=[0.268, -0.006, 0.291] + !! OVERLAP: chair <-> floor depth=[0.390, -0.006, 0.337] + !! OVERLAP: chair <-> floor depth=[0.372, -0.006, 0.400] + !! OVERLAP: chair <-> floor depth=[0.287, -0.006, 0.243] + !! OVERLAP: chair <-> floor depth=[0.353, -0.006, 0.402] + !! OVERLAP: chair <-> floor depth=[0.452, -0.006, 0.465] + !! OVERLAP: chair <-> floor depth=[0.462, -0.006, 0.364] + !! OVERLAP: table <-> floor depth=[1.140, -0.006, 0.370] +============================================================ + + +============================================================ +SCENE: DiningRoom-6259 | 9 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0000, Walkable Loss: 1.6449 (Center Penalty: 1.3584, C1 Heatmap: 0.0610, C2 Repulsion: 1.1880), Relational Loss: 0.0371 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +table 0.245 1.180 -0.052 -1.232 0.002 -0.534 91.15° +lamp 1.042 1.212 0.325 -0.617 1.683 -0.431 0.10° +table 0.308 0.781 0.045 -0.745 0.041 -0.542 -0.49° +chair 0.368 0.924 0.407 -0.561 -0.000 -0.945 0.08° +chair 0.427 0.929 0.499 0.062 -0.001 -1.033 0.08° +chair 0.251 0.973 0.080 -1.026 -0.005 0.182 -179.51° +chair 0.180 0.891 0.150 -0.639 0.028 0.166 179.95° +floor 2.964 0.021 2.990 0.111 0.021 -1.096 0.36° +_scene_ 0.091 0.005 0.066 -5.639 -0.006 -5.666 -57.35° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: table <-> floor depth=[0.245, 0.021, -0.052] + !! OVERLAP: table <-> floor depth=[0.308, 0.021, 0.045] + !! OVERLAP: chair <-> floor depth=[0.368, 0.021, 0.407] + !! OVERLAP: chair <-> floor depth=[0.427, 0.021, 0.499] + !! OVERLAP: chair <-> floor depth=[0.251, 0.021, 0.080] + !! OVERLAP: chair <-> floor depth=[0.180, 0.021, 0.150] +============================================================ + + +============================================================ +SCENE: DiningRoom-451 | 11 objects +============================================================ +Final Step Collision Loss: 0.0078, Room Outer Loss: 0.1146, Walkable Loss: 1.7951 (Center Penalty: 1.2610, C1 Heatmap: 0.1865, C2 Repulsion: 1.9245), Relational Loss: 0.0388 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +table 1.042 0.909 0.406 0.649 0.002 -1.168 -90.51° +chair 0.303 0.927 0.399 -1.139 -0.001 -1.094 -0.02° +table 0.368 0.612 0.402 -0.682 -0.028 -0.514 0.60° +chair 0.424 0.858 0.367 -0.425 -0.000 -1.184 0.13° +chair 0.393 0.861 0.415 -0.817 0.002 0.955 -179.94° +chair 0.302 0.911 0.233 -0.746 0.011 0.496 -179.49° +cabinet 0.978 1.086 0.021 -1.407 0.006 0.132 90.32° +lamp 0.331 0.707 0.401 -0.753 1.555 -0.122 0.06° +lamp 1.029 0.864 0.785 -0.956 1.783 -0.264 -0.03° +floor 3.119 -0.016 3.702 -0.504 0.020 -0.681 -0.24° +_scene_ 0.066 0.001 0.017 -5.676 -0.004 -5.718 -57.30° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: table <-> floor depth=[0.928, -0.016, 0.406] + !! OVERLAP: chair <-> floor depth=[0.303, -0.016, 0.399] + !! OVERLAP: table <-> floor depth=[0.368, -0.016, 0.402] + !! OVERLAP: chair <-> floor depth=[0.424, -0.016, 0.367] + !! OVERLAP: chair <-> floor depth=[0.393, -0.016, 0.415] + !! OVERLAP: chair <-> floor depth=[0.302, -0.016, 0.233] + !! OVERLAP: cabinet <-> floor depth=[0.978, -0.016, 0.021] + !! OVERLAP: lamp <-> lamp depth=[0.331, 0.557, 0.401] +============================================================ + + +============================================================ +SCENE: DiningRoom-18332 | 10 objects +============================================================ +Final Step Collision Loss: 0.0009, Room Outer Loss: 0.0000, Walkable Loss: 1.8034 (Center Penalty: 1.4712, C1 Heatmap: 0.1118, C2 Repulsion: 1.2135), Relational Loss: 0.0376 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +table 1.236 0.723 -0.373 -0.829 -0.022 0.255 -179.64° +chair 0.386 0.678 0.343 -1.252 0.002 0.111 90.10° +chair 0.351 0.616 0.423 0.786 0.001 0.097 -90.14° +chair 0.360 0.599 0.333 -0.810 0.000 -0.728 -0.02° +chair 0.413 0.616 0.344 -0.084 -0.001 -0.984 -0.01° +chair 0.324 0.500 0.285 0.482 0.010 0.843 179.81° +chair 0.367 0.570 0.301 -0.575 0.001 0.900 179.96° +lamp 0.738 0.652 0.649 -0.799 2.110 -0.089 -0.03° +floor 3.610 -0.005 3.169 -0.841 0.020 -0.462 0.20° +_scene_ 0.064 0.004 0.034 -5.636 -0.007 -5.679 -57.37° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: table <-> floor depth=[1.236, -0.005, -0.373] + !! OVERLAP: chair <-> floor depth=[0.386, -0.005, 0.343] + !! OVERLAP: chair <-> floor depth=[0.351, -0.005, 0.423] + !! OVERLAP: chair <-> floor depth=[0.360, -0.005, 0.333] + !! OVERLAP: chair <-> floor depth=[0.413, -0.005, 0.344] + !! OVERLAP: chair <-> floor depth=[0.324, -0.005, 0.285] + !! OVERLAP: chair <-> floor depth=[0.367, -0.005, 0.301] +============================================================ + + +============================================================ +SCENE: DiningRoom-8951 | 8 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0305, Walkable Loss: 0.7793 (Center Penalty: 0.6460, C1 Heatmap: 0.0944, C2 Repulsion: 0.2891), Relational Loss: 0.0084 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +chair 0.164 0.723 0.276 -0.366 -0.001 0.842 119.50° +chair 0.301 0.842 0.460 0.265 -0.001 1.050 -89.93° +chair 0.419 0.836 0.291 0.513 0.009 -0.790 -54.38° +chair 0.350 0.829 0.478 -0.195 0.012 -1.128 -0.27° +lamp 0.504 0.934 1.215 0.560 1.701 -1.159 -0.62° +table 0.525 1.192 0.386 1.529 0.001 -1.567 -90.07° +floor 3.015 -0.040 4.258 1.090 -0.034 -0.189 0.20° +_scene_ 0.072 0.001 0.021 -5.675 -0.004 -5.717 -57.32° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: chair <-> floor depth=[0.133, -0.040, 0.276] + !! OVERLAP: chair <-> floor depth=[0.301, -0.040, 0.460] + !! OVERLAP: chair <-> floor depth=[0.419, -0.040, 0.291] + !! OVERLAP: chair <-> floor depth=[0.350, -0.040, 0.478] + !! OVERLAP: table <-> floor depth=[0.525, -0.040, 0.386] +============================================================ + + +============================================================ +SCENE: DiningRoom-9982 | 9 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0000, Walkable Loss: 2.2406 (Center Penalty: 1.5744, C1 Heatmap: 0.2289, C2 Repulsion: 2.4153), Relational Loss: 0.0326 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +shelf 0.818 1.926 0.206 0.949 0.004 1.541 -90.10° +table 0.568 0.698 0.732 -1.118 -0.018 -0.470 89.53° +chair 0.460 1.003 0.561 -1.038 0.001 -1.324 0.18° +chair 0.443 0.927 0.555 -0.089 0.001 -1.208 -90.10° +chair 0.407 0.951 0.533 -1.195 0.005 0.095 89.55° +chair 0.491 0.889 0.580 -0.447 -0.002 0.699 -179.97° +lamp 1.654 0.796 0.051 0.478 2.109 -0.839 -0.25° +floor 2.851 -0.002 3.901 -0.003 0.002 0.004 -0.01° +_scene_ 0.062 -0.001 0.024 -5.664 -0.003 -5.714 -57.30° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: shelf <-> floor depth=[0.818, -0.002, 0.206] + !! OVERLAP: table <-> chair depth=[0.407, 0.698, 0.067] + !! OVERLAP: table <-> floor depth=[0.568, -0.002, 0.732] + !! OVERLAP: chair <-> floor depth=[0.460, -0.002, 0.561] + !! OVERLAP: chair <-> floor depth=[0.443, -0.002, 0.555] + !! OVERLAP: chair <-> floor depth=[0.407, -0.002, 0.533] + !! OVERLAP: chair <-> floor depth=[0.491, -0.002, 0.580] +============================================================ + + +============================================================ +SCENE: DiningRoom-168152 | 8 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0000, Walkable Loss: 1.4506 (Center Penalty: 0.7852, C1 Heatmap: 0.2606, C2 Repulsion: 2.2850), Relational Loss: 0.0232 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +cabinet 1.759 1.899 0.225 -1.706 0.001 0.196 89.92° +table 0.718 0.753 0.474 0.956 -0.001 0.022 -0.59° +chair 0.465 0.905 0.445 0.209 -0.008 -0.898 -0.07° +chair 0.343 0.915 0.359 0.966 0.000 -0.783 0.05° +chair 0.403 0.960 0.437 0.336 0.001 0.729 179.95° +chair 0.369 0.924 0.508 1.042 -0.002 0.651 180.00° +floor 4.143 -0.018 3.840 -0.715 -0.010 -0.905 -1.07° +_scene_ 0.066 -0.001 0.022 -5.670 -0.004 -5.708 -57.26° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: cabinet <-> floor depth=[1.759, -0.018, 0.225] + !! OVERLAP: table <-> floor depth=[0.718, -0.018, 0.474] + !! OVERLAP: chair <-> floor depth=[0.465, -0.018, 0.445] + !! OVERLAP: chair <-> floor depth=[0.343, -0.018, 0.359] + !! OVERLAP: chair <-> floor depth=[0.403, -0.018, 0.437] + !! OVERLAP: chair <-> floor depth=[0.369, -0.018, 0.508] +============================================================ + + +============================================================ +SCENE: DiningRoom-5492 | 11 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0000, Walkable Loss: 1.2259 (Center Penalty: 0.6062, C1 Heatmap: 0.2580, C2 Repulsion: 2.0664), Relational Loss: 0.0217 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +table 0.541 0.807 0.464 0.370 -0.008 1.278 0.13° +chair 0.345 0.764 0.342 0.314 -0.009 2.065 179.88° +chair 0.190 0.724 0.277 0.871 0.007 1.745 179.91° +chair 0.433 0.743 0.520 0.390 0.000 0.577 -0.04° +chair 0.294 0.750 0.385 1.174 0.001 0.528 0.67° +chair 0.460 0.775 0.490 -0.669 -0.002 1.185 90.31° +chair 0.388 0.803 0.453 1.513 0.001 1.190 -90.38° +table 1.316 0.746 0.468 -1.816 0.002 -0.347 0.08° +lamp 0.277 0.649 0.265 0.405 1.957 1.459 -0.01° +floor 5.702 -0.014 5.489 -0.520 0.000 0.876 -0.02° +_scene_ 0.064 -0.001 0.020 -5.669 -0.005 -5.716 -57.31° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: table <-> floor depth=[0.541, -0.014, 0.464] + !! OVERLAP: chair <-> floor depth=[0.345, -0.014, 0.342] + !! OVERLAP: chair <-> floor depth=[0.190, -0.014, 0.277] + !! OVERLAP: chair <-> floor depth=[0.433, -0.014, 0.520] + !! OVERLAP: chair <-> floor depth=[0.294, -0.014, 0.385] + !! OVERLAP: chair <-> floor depth=[0.460, -0.014, 0.490] + !! OVERLAP: chair <-> floor depth=[0.388, -0.014, 0.453] + !! OVERLAP: table <-> floor depth=[1.316, -0.014, 0.468] +============================================================ + + +============================================================ +SCENE: DiningRoom-375 | 8 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0000, Walkable Loss: 1.6613 (Center Penalty: 1.3034, C1 Heatmap: 0.1077, C2 Repulsion: 1.3588), Relational Loss: 0.0458 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +table 0.599 0.785 0.482 -0.016 -0.026 0.844 -1.20° +chair 0.322 0.902 0.276 -0.767 0.013 0.869 125.72° +chair 0.285 0.985 0.414 0.626 0.001 0.900 179.82° +chair 0.358 0.953 0.187 -0.999 0.013 0.275 5.04° +chair 0.360 0.965 0.574 0.678 -0.001 0.048 -77.32° +lamp 0.728 0.829 0.093 0.239 1.939 0.708 -0.34° +floor 2.714 0.012 2.974 -0.402 -0.006 1.101 0.15° +_scene_ 0.066 -0.000 0.021 -5.665 -0.005 -5.713 -57.30° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: table <-> floor depth=[0.599, 0.012, 0.482] + !! OVERLAP: chair <-> floor depth=[0.322, 0.012, 0.276] + !! OVERLAP: chair <-> floor depth=[0.285, 0.012, 0.414] + !! OVERLAP: chair <-> floor depth=[0.358, 0.012, 0.187] + !! OVERLAP: chair <-> floor depth=[0.360, 0.012, 0.574] +============================================================ + + +============================================================ +SCENE: DiningRoom-3017 | 8 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0000, Walkable Loss: 1.5338 (Center Penalty: 1.2726, C1 Heatmap: 0.1652, C2 Repulsion: 0.6449), Relational Loss: 0.0068 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +table 0.979 0.754 0.469 -0.180 0.005 -1.034 0.01° +chair 0.289 0.864 0.385 -0.961 0.004 -0.647 77.22° +chair 0.503 0.883 0.459 -0.708 0.002 0.443 -179.76° +chair 0.420 0.862 0.438 0.861 0.027 0.549 -171.13° +table 0.583 1.199 0.261 1.242 0.000 -1.015 -89.75° +lamp 0.507 0.347 0.523 -0.354 2.259 -0.594 -0.09° +floor 2.938 0.000 3.537 0.143 -0.004 -0.729 -0.28° +_scene_ 0.065 0.003 0.020 -5.667 -0.005 -5.712 -57.31° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: table <-> floor depth=[0.979, 0.000, 0.469] + !! OVERLAP: chair <-> floor depth=[0.289, 0.000, 0.385] + !! OVERLAP: chair <-> floor depth=[0.503, 0.000, 0.459] + !! OVERLAP: chair <-> floor depth=[0.420, 0.000, 0.438] + !! OVERLAP: table <-> floor depth=[0.583, 0.000, 0.261] +============================================================ + + +============================================================ +SCENE: DiningRoom-164 | 11 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0000, Walkable Loss: 1.3470 (Center Penalty: 0.7826, C1 Heatmap: 0.1969, C2 Repulsion: 2.0340), Relational Loss: 0.0414 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +chair 0.473 0.910 0.488 -1.065 -0.000 0.151 90.11° +chair 0.345 0.881 0.434 -1.078 -0.004 0.925 90.37° +chair 0.295 0.938 0.419 1.004 0.003 0.159 -90.08° +chair 0.392 0.912 0.448 0.862 0.009 0.806 -89.94° +chair 0.434 0.891 0.467 0.256 0.000 1.692 180.00° +chair 0.457 0.866 0.434 0.037 -0.002 -1.368 0.11° +table 1.332 0.608 -0.278 -0.909 -0.007 -1.459 0.16° +table 0.498 0.775 0.412 -0.231 -0.030 1.165 -90.39° +lamp 0.792 0.897 0.555 0.133 1.670 1.052 89.96° +floor 2.983 -0.003 5.394 -0.231 -0.010 0.759 0.22° +_scene_ 0.074 0.007 0.048 -5.642 -0.004 -5.695 -57.37° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: chair <-> floor depth=[0.473, -0.003, 0.488] + !! OVERLAP: chair <-> floor depth=[0.345, -0.003, 0.434] + !! OVERLAP: chair <-> floor depth=[0.295, -0.003, 0.419] + !! OVERLAP: chair <-> floor depth=[0.392, -0.003, 0.448] + !! OVERLAP: chair <-> floor depth=[0.434, -0.003, 0.467] + !! OVERLAP: chair <-> floor depth=[0.457, -0.003, 0.434] + !! OVERLAP: table <-> floor depth=[1.332, -0.003, -0.278] + !! OVERLAP: table <-> floor depth=[0.498, -0.003, 0.412] +============================================================ + + +============================================================ +SCENE: DiningRoom-34036 | 15 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0154, Walkable Loss: 1.7570 (Center Penalty: 1.1417, C1 Heatmap: 0.2681, C2 Repulsion: 2.0042), Relational Loss: 0.0210 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +table 0.404 0.688 0.510 -0.958 -0.033 0.293 90.32° +cabinet 1.532 2.656 -0.295 -1.649 0.051 1.405 89.59° +cabinet 0.430 1.121 0.397 1.078 0.001 -0.199 -90.12° +cabinet 0.539 0.948 0.440 1.051 -0.005 -1.735 -90.14° +chair 0.445 0.763 0.438 -1.104 0.002 -0.562 90.09° +chair 0.409 0.752 0.411 0.611 0.001 -0.934 -89.93° +chair 0.443 0.754 0.532 0.678 0.002 0.776 -90.66° +chair 0.409 0.796 0.387 -1.005 0.002 0.918 90.01° +chair 0.397 0.713 0.433 -0.381 0.007 1.475 163.67° +chair 0.453 0.742 0.436 -0.257 0.001 -1.300 0.09° +lamp 0.287 0.916 0.313 -0.212 1.542 1.059 0.01° +lamp 0.165 1.028 0.248 0.425 1.581 0.690 -89.65° +lamp 0.286 0.694 0.317 0.953 1.752 -0.448 -0.05° +floor 4.232 -0.019 5.235 -0.810 -0.012 -0.603 0.66° +_scene_ 0.064 0.002 0.018 -5.673 -0.005 -5.717 -57.31° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: table <-> floor depth=[0.404, -0.019, 0.510] + !! OVERLAP: cabinet <-> floor depth=[1.532, -0.019, -0.295] + !! OVERLAP: cabinet <-> floor depth=[0.430, -0.019, 0.397] + !! OVERLAP: cabinet <-> floor depth=[0.524, -0.019, 0.440] + !! OVERLAP: chair <-> floor depth=[0.445, -0.019, 0.438] + !! OVERLAP: chair <-> floor depth=[0.409, -0.019, 0.411] + !! OVERLAP: chair <-> floor depth=[0.443, -0.019, 0.532] + !! OVERLAP: chair <-> floor depth=[0.409, -0.019, 0.387] + !! OVERLAP: chair <-> floor depth=[0.397, -0.019, 0.433] + !! OVERLAP: chair <-> floor depth=[0.453, -0.019, 0.436] +============================================================ + + +============================================================ +SCENE: DiningRoom-114621 | 9 objects +============================================================ +Final Step Collision Loss: 0.0008, Room Outer Loss: 0.0333, Walkable Loss: 2.0791 (Center Penalty: 1.4376, C1 Heatmap: 0.2637, C2 Repulsion: 2.1526), Relational Loss: 0.0332 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +cabinet 1.288 1.283 0.205 0.811 0.002 1.313 -179.92° +table 1.029 0.843 0.845 -0.397 -0.001 -0.927 89.91° +chair 0.343 0.833 0.358 -0.977 0.008 -0.913 0.41° +chair 0.314 0.887 0.225 -1.117 -0.004 -0.324 123.18° +chair 0.341 0.809 0.353 0.863 0.001 -1.099 0.08° +chair 0.470 0.803 0.517 1.051 0.002 -0.224 -90.05° +lamp 0.633 0.985 0.698 0.855 1.743 -0.710 0.09° +floor 3.840 -0.004 2.795 -0.002 0.000 -0.015 0.00° +_scene_ 0.065 0.001 0.022 -5.672 -0.004 -5.715 -57.31° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: cabinet <-> floor depth=[1.288, -0.004, 0.171] + !! OVERLAP: table <-> chair depth=[0.106, 0.830, 0.358] + !! OVERLAP: table <-> floor depth=[1.029, -0.004, 0.845] + !! OVERLAP: chair <-> floor depth=[0.343, -0.004, 0.358] + !! OVERLAP: chair <-> floor depth=[0.314, -0.004, 0.225] + !! OVERLAP: chair <-> floor depth=[0.341, -0.004, 0.353] + !! OVERLAP: chair <-> floor depth=[0.470, -0.004, 0.517] +============================================================ + + +============================================================ +SCENE: DiningRoom-33238 | 5 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0000, Walkable Loss: 0.7426 (Center Penalty: 0.4211, C1 Heatmap: 0.2856, C2 Repulsion: 0.4653), Relational Loss: 0.0000 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +cabinet 0.361 1.150 0.343 -0.868 -0.004 0.542 89.86° +table 1.277 0.965 0.518 1.443 -0.001 0.250 -89.75° +table 1.298 0.795 0.896 -0.101 -0.006 -0.957 89.90° +floor 3.469 -0.033 3.336 0.681 -0.003 -0.753 0.06° +_scene_ -0.051 0.083 0.024 -5.293 0.075 -5.450 -59.35° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: cabinet <-> floor depth=[0.361, -0.033, 0.343] + !! OVERLAP: table <-> floor depth=[1.277, -0.033, 0.518] + !! OVERLAP: table <-> floor depth=[1.298, -0.033, 0.896] +============================================================ + + +============================================================ +SCENE: DiningRoom-69393 | 11 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.1520, Walkable Loss: 1.5819 (Center Penalty: 0.6592, C1 Heatmap: 0.3913, C2 Repulsion: 3.0486), Relational Loss: 0.0420 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +chair 0.411 0.852 0.473 -1.080 0.001 0.432 90.06° +chair 0.400 0.814 0.453 -1.055 -0.002 1.373 89.86° +chair 0.356 0.805 0.344 0.798 0.000 0.706 -89.84° +chair 0.420 0.781 0.404 0.700 0.001 1.463 -90.18° +chair 0.386 0.823 0.451 -0.136 0.001 2.061 179.89° +chair 0.469 0.823 0.335 -0.336 -0.001 -0.839 -0.31° +table 1.859 0.609 0.479 0.130 -0.004 -1.623 -0.15° +table 1.179 0.777 0.422 -0.160 -0.004 0.980 90.80° +lamp 0.705 0.848 0.683 -0.017 1.862 1.016 -0.02° +floor 4.591 0.031 6.291 -0.158 -0.025 1.435 -0.47° +_scene_ 0.066 0.003 0.029 -5.649 -0.003 -5.699 -57.32° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: chair <-> floor depth=[0.411, 0.031, 0.473] + !! OVERLAP: chair <-> floor depth=[0.400, 0.031, 0.453] + !! OVERLAP: chair <-> floor depth=[0.356, 0.031, 0.344] + !! OVERLAP: chair <-> floor depth=[0.420, 0.031, 0.404] + !! OVERLAP: chair <-> floor depth=[0.386, 0.031, 0.451] + !! OVERLAP: chair <-> floor depth=[0.469, 0.031, 0.335] + !! OVERLAP: table <-> floor depth=[1.859, 0.031, 0.327] + !! OVERLAP: table <-> floor depth=[1.179, 0.031, 0.422] +============================================================ + + +============================================================ +SCENE: DiningRoom-87276 | 12 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0000, Walkable Loss: 2.8113 (Center Penalty: 2.3566, C1 Heatmap: 0.2109, C2 Repulsion: 1.4299), Relational Loss: 0.0558 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +table 0.934 1.036 -0.098 0.387 0.063 1.085 -88.82° +chair 0.416 0.749 0.289 -0.966 -0.002 1.036 133.45° +chair 0.379 0.749 0.412 -0.097 0.001 1.205 179.88° +chair 0.373 0.787 0.312 1.009 0.005 0.975 -112.46° +chair 0.466 0.722 0.391 0.856 -0.005 -0.835 -43.95° +chair 0.412 0.736 0.418 -0.012 -0.002 -0.979 0.04° +chair 0.414 0.759 0.462 -0.993 0.001 -0.859 39.95° +chair 0.423 0.784 0.481 1.180 -0.001 0.126 -89.63° +chair 0.520 0.776 0.538 -1.313 -0.000 0.070 90.06° +lamp 0.559 1.021 0.556 -0.211 1.719 0.033 0.03° +floor 4.940 -0.004 3.796 -0.082 -0.000 0.126 -0.02° +_scene_ 0.101 -0.007 0.146 -5.574 0.000 -5.586 -57.71° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: table <-> chair depth=[0.173, 0.749, -0.098] + !! OVERLAP: table <-> floor depth=[0.934, -0.004, -0.098] + !! OVERLAP: chair <-> floor depth=[0.416, -0.004, 0.289] + !! OVERLAP: chair <-> floor depth=[0.379, -0.004, 0.412] + !! OVERLAP: chair <-> floor depth=[0.373, -0.004, 0.312] + !! OVERLAP: chair <-> floor depth=[0.466, -0.004, 0.391] + !! OVERLAP: chair <-> floor depth=[0.412, -0.004, 0.418] + !! OVERLAP: chair <-> floor depth=[0.414, -0.004, 0.462] + !! OVERLAP: chair <-> floor depth=[0.423, -0.004, 0.481] + !! OVERLAP: chair <-> floor depth=[0.520, -0.004, 0.538] +============================================================ + + +============================================================ +SCENE: DiningRoom-16460 | 12 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0382, Walkable Loss: 1.8175 (Center Penalty: 0.6107, C1 Heatmap: 0.3611, C2 Repulsion: 4.5899), Relational Loss: 0.0324 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +table 1.081 0.797 0.599 1.051 -0.000 -0.846 -90.00° +table 0.796 0.813 0.375 -1.039 -0.048 0.180 86.64° +chair 0.459 0.777 0.478 -1.591 0.000 -0.442 0.07° +chair 0.345 0.725 0.344 -0.920 -0.000 -0.648 0.08° +chair 0.374 0.727 0.413 -1.626 0.000 0.920 179.94° +chair 0.436 0.743 0.440 -0.848 0.003 1.057 179.77° +table 1.278 0.840 0.351 -1.126 0.001 -1.324 0.03° +lamp 0.292 0.754 0.284 -1.229 2.020 0.014 0.06° +chair 0.362 0.757 0.315 -0.209 -0.011 -0.937 -54.48° +chair 0.475 0.763 0.424 0.199 0.003 1.031 -103.38° +floor 5.607 -0.025 3.628 -1.187 0.002 0.353 -0.09° +_scene_ 0.069 0.001 0.028 -5.670 -0.005 -5.709 -57.30° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: table <-> floor depth=[1.081, -0.025, 0.599] + !! OVERLAP: table <-> floor depth=[0.796, -0.025, 0.375] + !! OVERLAP: chair <-> floor depth=[0.459, -0.025, 0.478] + !! OVERLAP: chair <-> floor depth=[0.345, -0.025, 0.344] + !! OVERLAP: chair <-> floor depth=[0.374, -0.025, 0.413] + !! OVERLAP: chair <-> floor depth=[0.436, -0.025, 0.440] + !! OVERLAP: table <-> floor depth=[1.278, -0.025, 0.313] + !! OVERLAP: chair <-> floor depth=[0.362, -0.025, 0.315] + !! OVERLAP: chair <-> floor depth=[0.475, -0.025, 0.424] +============================================================ + + +============================================================ +SCENE: DiningRoom-31322 | 11 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0000, Walkable Loss: 1.4031 (Center Penalty: 0.6505, C1 Heatmap: 0.2675, C2 Repulsion: 2.6926), Relational Loss: 0.0083 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +table 0.937 0.786 0.389 -1.388 0.000 1.527 179.90° +cabinet 0.514 1.005 0.266 0.948 0.004 -1.224 -90.15° +cabinet 0.454 1.058 0.292 0.949 0.010 -0.381 -90.24° +table 1.453 0.729 0.446 -0.490 0.013 -1.070 90.01° +chair 0.198 0.872 0.281 0.214 0.003 -0.940 -90.21° +lamp 0.298 1.372 0.267 -0.795 1.508 -1.044 119.80° +chair 0.345 0.833 0.305 0.109 0.005 -1.448 -89.98° +chair 0.316 0.894 0.371 -1.514 0.002 -1.317 90.00° +chair 0.329 0.894 0.371 -1.508 0.001 -0.474 90.00° +floor 4.140 -0.006 4.387 -0.816 0.003 -0.182 0.11° +_scene_ 0.066 0.000 0.025 -5.673 -0.005 -5.715 -57.31° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: table <-> floor depth=[0.937, -0.006, 0.389] + !! OVERLAP: cabinet <-> floor depth=[0.514, -0.006, 0.266] + !! OVERLAP: cabinet <-> floor depth=[0.454, -0.006, 0.292] + !! OVERLAP: table <-> chair depth=[0.121, 0.729, 0.234] + !! OVERLAP: table <-> floor depth=[1.453, -0.006, 0.446] + !! OVERLAP: chair <-> floor depth=[0.198, -0.006, 0.281] + !! OVERLAP: chair <-> floor depth=[0.345, -0.006, 0.305] + !! OVERLAP: chair <-> floor depth=[0.316, -0.006, 0.371] + !! OVERLAP: chair <-> floor depth=[0.329, -0.006, 0.371] +============================================================ + + +============================================================ +SCENE: DiningRoom-20718 | 11 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0000, Walkable Loss: 1.2134 (Center Penalty: 0.5008, C1 Heatmap: 0.3351, C2 Repulsion: 2.2229), Relational Loss: 0.0485 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +table 1.156 0.737 -0.403 -1.227 -0.030 -0.507 -88.32° +chair 0.374 0.862 0.435 -0.914 0.003 0.163 -179.80° +chair 0.429 0.795 0.441 -0.594 0.001 -1.347 0.05° +chair 0.516 0.789 0.529 -1.584 0.000 -1.416 0.05° +chair 0.335 0.890 0.358 -1.485 -0.002 0.124 179.09° +table 0.942 0.967 0.189 0.498 0.001 -1.484 -90.21° +lamp 0.787 0.904 0.542 -1.009 1.811 -1.094 -0.05° +table 1.723 0.745 0.561 -0.418 0.002 1.755 179.71° +chair 0.447 0.471 0.389 0.556 0.002 1.110 0.02° +floor 3.758 0.004 5.221 -0.892 -0.001 0.064 0.40° +_scene_ 0.066 0.002 0.018 -5.671 -0.005 -5.719 -57.32° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: table <-> floor depth=[1.156, 0.004, -0.403] + !! OVERLAP: chair <-> floor depth=[0.374, 0.004, 0.435] + !! OVERLAP: chair <-> floor depth=[0.429, 0.004, 0.441] + !! OVERLAP: chair <-> floor depth=[0.516, 0.004, 0.529] + !! OVERLAP: chair <-> floor depth=[0.335, 0.004, 0.358] + !! OVERLAP: table <-> floor depth=[0.942, 0.004, 0.189] + !! OVERLAP: table <-> floor depth=[1.723, 0.004, 0.561] + !! OVERLAP: chair <-> floor depth=[0.447, 0.004, 0.389] +============================================================ + + +============================================================ +SCENE: DiningRoom-7122 | 9 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0000, Walkable Loss: 0.8640 (Center Penalty: 0.4387, C1 Heatmap: 0.1196, C2 Repulsion: 1.6484), Relational Loss: 0.0312 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +table 0.730 0.902 0.109 -0.676 0.002 0.863 179.72° +chair 0.216 0.904 0.260 0.377 -0.006 -1.742 -90.22° +chair 0.383 0.846 0.404 0.629 0.006 -1.002 -89.88° +chair 0.396 0.933 0.465 -0.796 -0.003 -1.509 90.14° +chair 0.453 0.963 0.486 -0.804 -0.000 -0.857 90.11° +lamp 0.898 0.575 0.056 -0.323 1.812 -1.068 -89.49° +table 0.624 0.732 0.071 -0.073 -0.003 -1.191 1.98° +floor 2.821 -0.034 4.355 0.327 -0.034 -1.077 -0.42° +_scene_ 0.062 0.000 0.026 -5.664 -0.004 -5.701 -57.29° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: table <-> floor depth=[0.730, -0.034, 0.109] + !! OVERLAP: chair <-> floor depth=[0.216, -0.034, 0.260] + !! OVERLAP: chair <-> floor depth=[0.383, -0.034, 0.404] + !! OVERLAP: chair <-> floor depth=[0.396, -0.034, 0.465] + !! OVERLAP: chair <-> floor depth=[0.453, -0.034, 0.486] + !! OVERLAP: table <-> floor depth=[0.624, -0.034, 0.071] +============================================================ + + +============================================================ +SCENE: DiningRoom-22339 | 10 objects +============================================================ +Final Step Collision Loss: 0.0044, Room Outer Loss: 0.0000, Walkable Loss: 2.4740 (Center Penalty: 1.7629, C1 Heatmap: 0.2389, C2 Repulsion: 2.6002), Relational Loss: 0.0496 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +chair 0.460 0.938 0.495 -0.192 -0.004 -1.252 -5.49° +table 0.772 0.686 0.578 -0.643 -0.000 -0.964 0.01° +chair 0.432 0.961 0.454 -0.274 0.000 1.154 -180.00° +chair 0.457 0.982 0.499 -1.078 -0.000 -0.518 89.97° +chair 0.466 0.911 0.499 -1.015 0.002 0.346 99.36° +chair 0.366 0.932 0.417 0.691 -0.003 -0.873 -90.08° +chair 0.495 0.942 0.528 0.763 0.010 0.405 -107.82° +lamp 0.786 0.799 0.659 0.258 1.867 -0.947 0.36° +floor 2.877 -0.002 3.855 0.036 0.000 -0.085 -0.04° +_scene_ 0.062 -0.002 0.028 -5.661 -0.004 -5.704 -57.32° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: chair <-> table depth=[0.166, 0.686, 0.247] + !! OVERLAP: chair <-> floor depth=[0.460, -0.002, 0.495] + !! OVERLAP: table <-> chair depth=[0.179, 0.686, 0.093] + !! OVERLAP: table <-> floor depth=[0.772, -0.002, 0.578] + !! OVERLAP: chair <-> floor depth=[0.432, -0.002, 0.454] + !! OVERLAP: chair <-> floor depth=[0.457, -0.002, 0.499] + !! OVERLAP: chair <-> floor depth=[0.466, -0.002, 0.499] + !! OVERLAP: chair <-> floor depth=[0.366, -0.002, 0.417] + !! OVERLAP: chair <-> floor depth=[0.495, -0.002, 0.528] +============================================================ + + +============================================================ +SCENE: DiningRoom-12376 | 14 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0000, Walkable Loss: 2.2747 (Center Penalty: 0.9535, C1 Heatmap: 0.5234, C2 Repulsion: 4.5123), Relational Loss: 0.0112 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +table 1.666 0.749 0.896 -0.838 0.008 0.795 89.85° +chair 0.546 0.930 0.511 0.785 -0.003 0.301 -179.54° +chair 0.470 0.972 0.620 0.276 0.003 -0.951 -90.07° +chair 0.342 0.942 0.282 -1.488 -0.005 -0.021 -179.20° +chair 0.556 0.959 0.614 -1.164 -0.000 -1.133 0.08° +table 1.200 1.311 0.164 -2.163 0.010 0.018 89.78° +table 0.913 1.492 0.315 -2.134 0.007 -1.039 89.84° +lamp 1.173 1.133 1.134 -0.551 1.803 -0.394 90.13° +cabinet 0.372 1.227 0.196 1.680 -0.000 -1.723 0.17° +cabinet 0.426 1.188 0.233 1.479 -0.001 -2.341 -0.23° +cabinet 0.495 1.232 0.212 0.977 0.001 -1.889 0.02° +cabinet 0.610 1.245 0.198 0.306 -0.001 -2.343 -0.01° +floor 5.132 0.022 4.671 -0.609 -0.000 -0.932 0.35° +_scene_ 0.069 0.000 0.020 -5.673 -0.004 -5.713 -57.30° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: table <-> floor depth=[1.666, 0.022, 0.896] + !! OVERLAP: chair <-> floor depth=[0.546, 0.022, 0.511] + !! OVERLAP: chair <-> floor depth=[0.470, 0.022, 0.620] + !! OVERLAP: chair <-> table depth=[0.096, 0.942, 0.164] + !! OVERLAP: chair <-> floor depth=[0.342, 0.022, 0.282] + !! OVERLAP: chair <-> floor depth=[0.556, 0.022, 0.614] + !! OVERLAP: table <-> floor depth=[1.200, 0.022, 0.164] + !! OVERLAP: table <-> floor depth=[0.913, 0.022, 0.315] + !! OVERLAP: cabinet <-> floor depth=[0.372, 0.022, 0.196] + !! OVERLAP: cabinet <-> floor depth=[0.426, 0.022, 0.233] + !! OVERLAP: cabinet <-> floor depth=[0.495, 0.022, 0.212] + !! OVERLAP: cabinet <-> floor depth=[0.610, 0.022, 0.198] +============================================================ + + +============================================================ +SCENE: DiningRoom-19885 | 9 objects +============================================================ +Final Step Collision Loss: 0.0016, Room Outer Loss: 0.0000, Walkable Loss: 1.3170 (Center Penalty: 0.9211, C1 Heatmap: 0.1466, C2 Repulsion: 1.3930), Relational Loss: 0.0490 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +table 1.252 0.551 -0.686 -0.727 0.034 1.247 2.51° +chair 0.238 0.969 0.474 -0.244 0.002 1.067 179.17° +chair 0.527 0.928 0.442 -0.992 -0.004 0.800 136.76° +chair 0.445 0.929 0.354 -0.430 0.007 -0.727 0.34° +chair 0.423 0.918 0.276 -1.031 0.011 -0.458 54.98° +chair 0.407 0.934 0.434 0.609 -0.001 0.876 -142.72° +chair 0.544 0.876 0.478 0.816 0.004 -0.552 -58.80° +floor 3.185 0.027 3.857 -0.074 0.024 0.879 1.29° +_scene_ 0.077 0.036 0.092 -5.280 -0.002 -5.440 -58.75° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: table <-> floor depth=[1.252, 0.027, -0.686] + !! OVERLAP: chair <-> floor depth=[0.238, 0.027, 0.474] + !! OVERLAP: chair <-> floor depth=[0.527, 0.027, 0.442] + !! OVERLAP: chair <-> floor depth=[0.445, 0.027, 0.354] + !! OVERLAP: chair <-> floor depth=[0.423, 0.027, 0.276] + !! OVERLAP: chair <-> floor depth=[0.407, 0.027, 0.434] + !! OVERLAP: chair <-> floor depth=[0.544, 0.027, 0.478] +============================================================ + + +============================================================ +SCENE: DiningRoom-2831 | 8 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0000, Walkable Loss: 2.7430 (Center Penalty: 1.9783, C1 Heatmap: 0.2995, C2 Repulsion: 2.6251), Relational Loss: 0.0175 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +table 1.712 0.762 0.519 0.574 -0.000 -0.371 0.01° +chair 0.459 1.014 0.499 -0.297 0.001 -0.952 0.06° +chair 0.449 0.955 0.456 0.746 0.002 -0.955 0.09° +chair 0.549 0.956 0.566 -0.189 0.003 1.002 179.97° +chair 0.494 1.046 0.564 0.869 0.005 0.884 179.87° +lamp 0.459 0.750 0.152 -0.736 1.905 -0.437 -0.11° +floor 3.221 -0.005 3.047 -0.055 0.001 -0.015 0.00° +_scene_ 0.074 0.001 0.023 -5.666 -0.005 -5.711 -57.30° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: table <-> floor depth=[1.712, -0.005, 0.519] + !! OVERLAP: chair <-> floor depth=[0.459, -0.005, 0.499] + !! OVERLAP: chair <-> floor depth=[0.449, -0.005, 0.456] + !! OVERLAP: chair <-> floor depth=[0.549, -0.005, 0.566] + !! OVERLAP: chair <-> floor depth=[0.494, -0.005, 0.564] +============================================================ + + +============================================================ +SCENE: DiningRoom-60525 | 9 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0039, Walkable Loss: 1.5830 (Center Penalty: 0.9744, C1 Heatmap: 0.1498, C2 Repulsion: 2.4439), Relational Loss: 0.0160 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +table 0.982 0.625 0.210 0.121 0.001 1.069 89.44° +chair 0.307 0.879 0.284 -0.610 0.003 1.365 89.78° +chair 0.409 0.869 0.417 -0.767 0.002 0.526 90.07° +chair 0.380 0.891 0.370 0.972 0.001 0.287 -90.39° +chair 0.363 0.912 0.401 0.827 0.005 0.999 -90.33° +table 0.679 0.984 0.296 -1.142 0.011 0.879 90.91° +lamp 0.879 1.187 0.908 0.301 1.671 0.835 -0.05° +floor 3.336 -0.002 4.671 0.191 0.000 0.749 0.04° +_scene_ 0.062 0.002 0.020 -5.672 -0.003 -5.720 -57.31° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: table <-> floor depth=[0.982, -0.002, 0.210] + !! OVERLAP: chair <-> floor depth=[0.307, -0.002, 0.284] + !! OVERLAP: chair <-> table depth=[0.169, 0.869, 0.003] + !! OVERLAP: chair <-> floor depth=[0.409, -0.002, 0.417] + !! OVERLAP: chair <-> floor depth=[0.380, -0.002, 0.370] + !! OVERLAP: chair <-> floor depth=[0.363, -0.002, 0.401] + !! OVERLAP: table <-> floor depth=[0.675, -0.002, 0.296] +============================================================ + + +============================================================ +SCENE: DiningRoom-55572 | 14 objects +============================================================ +Final Step Collision Loss: 0.0035, Room Outer Loss: 0.0262, Walkable Loss: 2.0122 (Center Penalty: 0.1742, C1 Heatmap: 0.6560, C2 Repulsion: 6.5661), Relational Loss: 0.0484 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +table 0.828 0.508 1.027 1.069 -0.001 -1.147 -0.04° +sofa 1.476 0.810 0.605 1.623 -0.009 -1.885 0.04° +wardrobe 0.448 2.410 0.417 -1.656 0.033 0.903 89.81° +chair 0.410 0.906 0.442 -0.134 -0.004 -1.611 -90.33° +chair 0.529 0.912 0.554 -0.843 0.004 -1.094 89.89° +lamp 0.843 0.851 0.816 0.980 1.774 -1.148 0.01° +chair 0.570 0.802 0.562 1.274 0.003 0.273 -164.64° +sofa 1.766 0.926 0.867 0.870 -0.012 -2.518 0.23° +sofa 1.147 0.923 -0.060 1.919 0.012 -0.675 -89.20° +table 0.804 1.147 0.406 2.226 0.001 1.091 179.95° +cabinet 0.506 1.347 0.153 -1.554 0.014 1.681 90.05° +table 0.469 1.301 0.304 -0.696 0.003 1.847 -179.92° +floor 5.765 0.039 5.441 1.029 0.017 -0.351 0.13° +_scene_ 0.075 -0.000 0.017 -5.670 -0.005 -5.710 -57.27° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: table <-> sofa depth=[0.598, 0.508, 0.078] + !! OVERLAP: table <-> sofa depth=[0.138, 0.508, -0.060] + !! OVERLAP: table <-> floor depth=[0.828, 0.039, 1.027] + !! OVERLAP: sofa <-> sofa depth=[0.868, 0.810, 0.104] + !! OVERLAP: sofa <-> floor depth=[1.476, 0.039, 0.605] + !! OVERLAP: wardrobe <-> floor depth=[0.422, 0.039, 0.417] + !! OVERLAP: chair <-> floor depth=[0.410, 0.039, 0.442] + !! OVERLAP: chair <-> floor depth=[0.529, 0.039, 0.554] + !! OVERLAP: chair <-> floor depth=[0.570, 0.039, 0.562] + !! OVERLAP: sofa <-> floor depth=[1.766, 0.039, 0.867] + !! OVERLAP: sofa <-> floor depth=[1.147, 0.039, -0.060] + !! OVERLAP: table <-> floor depth=[0.804, 0.039, 0.406] + !! OVERLAP: cabinet <-> floor depth=[0.506, 0.039, 0.153] + !! OVERLAP: table <-> floor depth=[0.469, 0.039, 0.304] +============================================================ + + +============================================================ +SCENE: DiningRoom-24191 | 12 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0000, Walkable Loss: 1.9070 (Center Penalty: 1.0466, C1 Heatmap: 0.2853, C2 Repulsion: 3.1609), Relational Loss: 0.0488 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +table 1.073 0.821 0.072 0.381 -0.056 -0.844 90.47° +chair 0.393 0.809 0.494 1.011 0.000 -1.351 -90.06° +chair 0.442 0.869 0.482 1.138 0.001 -0.472 -89.99° +chair 0.441 0.781 0.479 0.261 0.000 1.153 179.97° +chair 0.443 0.808 0.517 -0.923 -0.001 -0.376 90.33° +chair 0.430 0.831 0.441 -0.795 0.003 -1.223 90.00° +chair 0.486 0.828 0.469 0.082 -0.000 -1.591 0.05° +chair 0.495 0.836 0.593 -1.067 0.002 0.429 90.16° +chair 0.455 0.822 0.552 1.105 0.002 0.406 -90.23° +lamp 0.534 0.825 0.548 -0.019 1.762 -0.889 -0.40° +floor 4.112 0.018 4.928 -0.276 -0.003 -0.776 -0.26° +_scene_ 0.081 -0.001 0.058 -5.647 -0.003 -5.665 -57.32° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: table <-> floor depth=[1.073, 0.018, 0.072] + !! OVERLAP: chair <-> floor depth=[0.393, 0.018, 0.494] + !! OVERLAP: chair <-> floor depth=[0.442, 0.018, 0.482] + !! OVERLAP: chair <-> floor depth=[0.441, 0.018, 0.479] + !! OVERLAP: chair <-> floor depth=[0.443, 0.018, 0.517] + !! OVERLAP: chair <-> floor depth=[0.430, 0.018, 0.441] + !! OVERLAP: chair <-> floor depth=[0.486, 0.018, 0.469] + !! OVERLAP: chair <-> floor depth=[0.495, 0.018, 0.593] + !! OVERLAP: chair <-> floor depth=[0.455, 0.018, 0.552] +============================================================ + + +============================================================ +SCENE: DiningRoom-13034 | 8 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0000, Walkable Loss: 1.6946 (Center Penalty: 1.1142, C1 Heatmap: 0.1172, C2 Repulsion: 2.4336), Relational Loss: 0.0241 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +table 0.924 0.749 0.404 0.347 0.023 -0.777 90.19° +chair 0.391 0.793 0.432 1.194 0.003 -0.181 -90.11° +chair 0.292 0.838 0.261 0.965 0.008 -0.892 -90.14° +chair 0.305 0.800 0.362 -0.542 0.006 -0.583 90.45° +chair 0.222 0.726 0.334 -0.299 0.008 -0.988 89.81° +lamp 0.493 1.090 0.513 0.776 1.642 -0.605 90.55° +floor 3.052 0.035 3.863 0.662 -0.018 0.506 0.31° +_scene_ 0.084 0.006 0.034 -5.659 -0.004 -5.692 -57.29° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: table <-> floor depth=[0.924, 0.035, 0.404] + !! OVERLAP: chair <-> floor depth=[0.391, 0.035, 0.432] + !! OVERLAP: chair <-> floor depth=[0.292, 0.035, 0.261] + !! OVERLAP: chair <-> floor depth=[0.305, 0.035, 0.362] + !! OVERLAP: chair <-> floor depth=[0.222, 0.035, 0.334] +============================================================ + + +============================================================ +SCENE: DiningRoom-21509 | 10 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.1422, Walkable Loss: 1.2586 (Center Penalty: 0.5547, C1 Heatmap: 0.1325, C2 Repulsion: 2.9894), Relational Loss: 0.0228 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +table 0.748 0.816 0.037 -1.298 -0.024 0.606 0.17° +chair 0.451 0.948 0.480 -0.686 -0.002 0.923 -179.88° +chair 0.384 0.980 0.461 -0.782 0.004 0.151 -89.92° +chair 0.328 0.936 0.357 -1.971 -0.009 0.648 90.00° +chair 0.464 0.985 0.414 -1.646 0.003 -0.091 0.06° +lamp 0.669 1.200 0.461 -0.734 1.640 -0.765 -179.76° +cabinet 0.422 1.864 0.254 0.669 -0.005 -1.452 0.28° +lamp 0.162 0.991 0.168 -1.518 1.344 1.032 0.05° +floor 3.646 -0.016 3.460 -0.955 -0.002 -0.655 -0.16° +_scene_ 0.068 0.001 0.019 -5.671 -0.005 -5.715 -57.32° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: table <-> floor depth=[0.748, -0.016, 0.037] + !! OVERLAP: chair <-> floor depth=[0.451, -0.016, 0.392] + !! OVERLAP: chair <-> floor depth=[0.384, -0.016, 0.461] + !! OVERLAP: chair <-> floor depth=[0.328, -0.016, 0.357] + !! OVERLAP: chair <-> floor depth=[0.464, -0.016, 0.414] + !! OVERLAP: cabinet <-> floor depth=[0.410, -0.016, 0.254] +============================================================ + + +============================================================ +SCENE: DiningRoom-42541 | 8 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.1666, Walkable Loss: 1.6264 (Center Penalty: 1.0057, C1 Heatmap: 0.0910, C2 Repulsion: 2.7392), Relational Loss: 0.0206 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +table 0.616 0.709 0.119 -1.022 0.042 -0.011 -0.43° +chair 0.328 0.886 0.363 -0.505 -0.006 0.445 179.98° +chair 0.410 0.861 0.414 -1.137 0.001 0.471 -179.96° +chair 0.370 0.948 0.346 -0.698 -0.006 -0.602 0.20° +chair 0.371 0.891 0.349 -1.230 0.006 -0.548 0.08° +lamp 0.609 0.657 0.324 -0.990 2.506 0.309 0.28° +floor 3.731 0.057 1.370 -1.056 0.015 -0.116 -0.68° +_scene_ 0.065 0.000 0.015 -5.664 -0.004 -5.707 -57.30° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: table <-> floor depth=[0.616, 0.057, 0.119] + !! OVERLAP: chair <-> floor depth=[0.328, 0.057, 0.305] + !! OVERLAP: chair <-> floor depth=[0.410, 0.057, 0.305] + !! OVERLAP: chair <-> floor depth=[0.370, 0.057, 0.346] + !! OVERLAP: chair <-> floor depth=[0.371, 0.057, 0.349] +============================================================ + + +============================================================ +SCENE: DiningRoom-13727 | 10 objects +============================================================ +Final Step Collision Loss: 0.0034, Room Outer Loss: 0.0000, Walkable Loss: 1.8260 (Center Penalty: 0.8578, C1 Heatmap: 0.3466, C2 Repulsion: 3.4549), Relational Loss: 0.0532 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +table 0.625 0.602 0.751 -0.741 0.030 -0.856 -0.61° +chair 0.492 0.746 0.425 0.612 -0.001 0.854 179.91° +chair 0.515 0.712 0.513 -0.403 0.001 0.984 160.88° +chair 0.464 0.735 0.455 -1.114 -0.000 0.048 90.07° +chair 0.338 0.746 0.312 -0.384 -0.005 -1.078 15.62° +chair 0.494 0.820 0.478 0.606 -0.002 -0.998 -20.37° +chair 0.447 0.781 0.475 0.968 0.006 -0.031 -83.98° +cabinet 1.831 2.207 0.147 -1.583 -0.002 -1.058 89.82° +floor 4.594 0.002 3.418 -0.873 0.000 -0.252 0.28° +_scene_ 0.071 0.004 0.046 -5.635 -0.005 -5.671 -57.34° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: table <-> chair depth=[0.125, 0.602, 0.310] + !! OVERLAP: table <-> cabinet depth=[0.387, 0.602, 0.147] + !! OVERLAP: table <-> floor depth=[0.625, 0.002, 0.751] + !! OVERLAP: chair <-> floor depth=[0.492, 0.002, 0.425] + !! OVERLAP: chair <-> floor depth=[0.515, 0.002, 0.513] + !! OVERLAP: chair <-> floor depth=[0.464, 0.002, 0.455] + !! OVERLAP: chair <-> floor depth=[0.338, 0.002, 0.312] + !! OVERLAP: chair <-> floor depth=[0.494, 0.002, 0.478] + !! OVERLAP: chair <-> floor depth=[0.447, 0.002, 0.475] + !! OVERLAP: cabinet <-> floor depth=[1.831, 0.002, 0.147] +============================================================ + + +============================================================ +SCENE: Library-4425 | 6 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0706, Walkable Loss: 2.0755 (Center Penalty: 1.5178, C1 Heatmap: 0.2630, C2 Repulsion: 1.7364), Relational Loss: 0.0000 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +table 1.007 0.798 0.401 0.840 0.002 -0.600 -90.01° +chair 0.362 0.687 0.404 -0.927 -0.003 -0.289 90.29° +bookshelf 0.869 2.055 0.135 -0.750 0.004 1.228 -179.91° +lamp 1.120 1.330 0.959 -0.171 1.377 -0.838 -0.06° +floor 2.553 -0.001 2.745 -0.003 0.001 0.000 -0.01° +_scene_ 0.064 0.001 0.018 -5.672 -0.005 -5.714 -57.28° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: table <-> floor depth=[0.937, -0.001, 0.401] + !! OVERLAP: chair <-> floor depth=[0.362, -0.001, 0.404] + !! OVERLAP: bookshelf <-> floor depth=[0.869, -0.001, 0.135] +============================================================ + + +============================================================ +SCENE: Library-4345 | 6 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0930, Walkable Loss: 1.1541 (Center Penalty: 0.8993, C1 Heatmap: 0.1275, C2 Repulsion: 0.7641), Relational Loss: 0.0159 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +bookshelf 1.649 2.137 0.071 0.262 -0.001 1.209 -179.86° +lamp 0.597 1.371 0.113 -0.729 0.011 -0.612 90.29° +desk 1.109 2.541 -0.067 -0.985 0.016 -0.148 -2.58° +lamp 0.180 0.244 0.469 -0.251 2.335 -1.172 -0.62° +floor 2.639 -0.015 3.392 -0.233 0.004 -0.545 0.02° +_scene_ 0.069 0.002 0.063 -5.666 -0.004 -5.687 -57.31° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: lamp <-> floor depth=[0.597, -0.015, 0.113] + !! OVERLAP: desk <-> floor depth=[1.109, -0.015, -0.067] +============================================================ + + +============================================================ +SCENE: Library-16688 | 8 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0572, Walkable Loss: 0.9269 (Center Penalty: 0.5242, C1 Heatmap: 0.3048, C2 Repulsion: 0.7939), Relational Loss: 0.0164 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +lamp 0.840 0.900 0.454 0.836 2.086 0.677 0.61° +bookshelf 0.209 2.564 0.362 1.216 -0.012 0.955 -90.08° +bookshelf 0.089 2.488 0.199 1.397 -0.002 -0.548 -90.05° +bookshelf 0.428 2.262 0.247 1.247 -0.016 0.255 -89.65° +desk 1.303 0.721 0.274 0.031 0.001 1.354 -179.92° +sofa 1.726 0.822 0.733 -0.864 -0.005 -0.247 -0.24° +floor 4.046 0.003 2.828 -0.561 0.012 0.812 -0.01° +_scene_ 0.063 0.001 0.023 -5.667 -0.004 -5.699 -57.30° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bookshelf <-> floor depth=[0.209, 0.003, 0.362] + !! OVERLAP: bookshelf <-> floor depth=[0.089, 0.003, 0.154] + !! OVERLAP: bookshelf <-> floor depth=[0.428, 0.003, 0.247] + !! OVERLAP: desk <-> floor depth=[1.303, 0.003, 0.274] + !! OVERLAP: sofa <-> floor depth=[1.726, 0.003, 0.721] +============================================================ + + +============================================================ +SCENE: Library-29416 | 7 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0455, Walkable Loss: 2.4369 (Center Penalty: 1.8799, C1 Heatmap: 0.2084, C2 Repulsion: 1.9516), Relational Loss: 0.0239 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +bookshelf 1.530 2.758 0.137 0.725 0.040 -0.488 -89.08° +bookshelf 1.230 2.572 0.133 0.959 0.000 0.657 -90.48° +desk 1.082 0.831 0.155 -0.539 0.045 0.975 89.72° +chair 0.650 0.717 0.229 0.192 -0.032 0.842 -90.01° +lamp 0.422 0.762 0.381 -0.499 1.987 0.612 0.03° +floor 3.059 -0.001 3.138 -0.001 0.001 -0.000 -0.03° +_scene_ 0.073 0.001 0.029 -5.666 -0.004 -5.696 -57.26° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bookshelf <-> floor depth=[1.530, -0.001, 0.137] + !! OVERLAP: bookshelf <-> floor depth=[1.184, -0.001, 0.133] + !! OVERLAP: desk <-> chair depth=[0.135, 0.698, 0.059] + !! OVERLAP: desk <-> floor depth=[1.082, -0.001, 0.155] + !! OVERLAP: chair <-> floor depth=[0.650, -0.001, 0.229] +============================================================ + + +============================================================ +SCENE: Library-110125 | 7 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0000, Walkable Loss: 1.1132 (Center Penalty: 0.8797, C1 Heatmap: 0.1595, C2 Repulsion: 0.5294), Relational Loss: 0.0071 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +desk 1.066 0.784 0.150 -1.222 -0.003 0.608 179.86° +chair 0.413 0.940 0.345 -1.074 -0.012 -0.094 -53.18° +bookshelf 1.265 2.162 0.193 -1.074 -0.003 -1.589 0.05° +lamp 0.803 1.226 0.737 0.867 1.516 -0.097 90.23° +chair 0.405 0.586 0.545 1.151 0.009 -0.318 -90.24° +floor 3.703 -0.014 2.832 -0.473 -0.005 -0.376 0.06° +_scene_ 0.070 0.000 0.023 -5.671 -0.004 -5.711 -57.32° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: desk <-> floor depth=[1.066, -0.014, 0.150] + !! OVERLAP: chair <-> floor depth=[0.413, -0.014, 0.345] + !! OVERLAP: bookshelf <-> floor depth=[1.265, -0.014, 0.193] + !! OVERLAP: chair <-> floor depth=[0.405, -0.014, 0.545] +============================================================ + + +============================================================ +SCENE: Library-19478 | 5 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0000, Walkable Loss: 1.1467 (Center Penalty: 0.8123, C1 Heatmap: 0.1714, C2 Repulsion: 0.9863), Relational Loss: 0.0177 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +desk 0.939 0.906 0.684 0.093 0.011 -0.781 -90.00° +bookshelf 1.392 2.443 0.241 -0.183 0.000 -1.403 0.02° +lamp 0.364 1.177 0.655 0.228 1.966 -0.803 -0.20° +floor 2.214 0.014 2.775 -0.417 0.038 -0.712 -0.11° +_scene_ 0.066 -0.009 0.117 -5.504 0.013 -5.523 -58.24° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: desk <-> floor depth=[0.939, 0.014, 0.684] + !! OVERLAP: bookshelf <-> floor depth=[1.392, 0.014, 0.241] +============================================================ + + +============================================================ +SCENE: Library-898 | 5 objects +============================================================ +Final Step Collision Loss: 0.0008, Room Outer Loss: 0.2236, Walkable Loss: 1.9803 (Center Penalty: 1.2332, C1 Heatmap: 0.2446, C2 Repulsion: 2.7571), Relational Loss: 0.0316 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +bookshelf 2.421 2.432 0.059 -0.763 0.043 -0.574 90.34° +desk 1.175 1.483 0.078 -0.129 -0.009 -0.932 -178.15° +chair 0.452 0.757 0.460 0.098 -0.002 -0.647 0.12° +floor 2.620 0.027 3.167 -0.440 -0.003 -0.419 0.05° +_scene_ 0.054 0.000 0.037 -5.624 0.000 -5.678 -57.46° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bookshelf <-> chair depth=[0.452, 0.757, 0.059] + !! OVERLAP: bookshelf <-> floor depth=[2.198, 0.027, 0.059] + !! OVERLAP: desk <-> floor depth=[1.175, 0.027, 0.078] + !! OVERLAP: chair <-> floor depth=[0.452, 0.027, 0.460] +============================================================ + + +============================================================ +SCENE: Library-2159 | 7 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0000, Walkable Loss: 0.6657 (Center Penalty: 0.2356, C1 Heatmap: 0.2586, C2 Repulsion: 1.1159), Relational Loss: 0.0400 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +bookshelf 2.518 2.259 -0.081 0.217 -0.010 -1.398 -92.05° +chair 0.406 0.863 0.367 -0.904 0.019 -1.732 5.07° +desk 1.048 0.665 0.029 -1.150 0.008 -0.792 90.74° +sofa 0.879 0.954 0.274 -1.429 -0.030 0.399 90.18° +table 0.387 0.440 0.405 -0.816 -0.011 1.264 0.01° +floor 3.473 -0.001 4.828 -0.244 -0.007 -0.903 0.08° +_scene_ 0.069 0.001 0.025 -5.666 -0.005 -5.711 -57.30° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bookshelf <-> floor depth=[2.518, -0.001, -0.081] + !! OVERLAP: chair <-> floor depth=[0.406, -0.001, 0.367] + !! OVERLAP: desk <-> floor depth=[1.048, -0.001, 0.029] + !! OVERLAP: sofa <-> floor depth=[0.879, -0.001, 0.274] + !! OVERLAP: table <-> floor depth=[0.387, -0.001, 0.405] +============================================================ + + +============================================================ +SCENE: Library-7291 | 7 objects +============================================================ +Final Step Collision Loss: 0.0031, Room Outer Loss: 0.0178, Walkable Loss: 1.2596 (Center Penalty: 0.6708, C1 Heatmap: 0.3964, C2 Repulsion: 1.3581), Relational Loss: 0.0000 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +chair 0.499 0.485 0.435 -1.100 -0.002 0.395 0.15° +bookshelf 0.589 1.900 0.200 1.142 0.008 0.560 -90.01° +lamp 0.372 0.649 0.191 -0.794 2.219 0.151 0.05° +desk 1.534 0.862 0.279 -0.820 0.001 0.721 179.96° +sofa 1.921 0.816 0.835 -0.354 0.002 -1.366 -0.06° +floor 3.257 0.005 3.518 -0.059 -0.004 -0.916 -0.15° +_scene_ 0.061 -0.000 0.028 -5.657 -0.004 -5.703 -57.29° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: chair <-> desk depth=[0.499, 0.485, 0.031] + !! OVERLAP: chair <-> floor depth=[0.499, 0.005, 0.435] + !! OVERLAP: bookshelf <-> floor depth=[0.589, 0.005, 0.200] + !! OVERLAP: desk <-> floor depth=[1.534, 0.005, 0.262] + !! OVERLAP: sofa <-> floor depth=[1.921, 0.005, 0.835] +============================================================ + + +============================================================ +SCENE: Library-24727 | 5 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0000, Walkable Loss: 1.5210 (Center Penalty: 1.3329, C1 Heatmap: 0.2061, C2 Repulsion: 0.1157), Relational Loss: 0.0000 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +bookshelf 1.386 2.328 0.402 -1.156 0.019 0.497 89.83° +chair 0.923 0.810 0.821 0.533 0.003 0.943 -173.46° +lamp 0.283 0.702 0.300 0.437 2.246 0.791 -0.21° +floor 3.727 0.001 3.064 -0.001 0.000 0.003 -0.00° +_scene_ 0.052 0.001 0.072 -5.586 -0.000 -5.614 -57.57° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bookshelf <-> floor depth=[1.386, 0.001, 0.402] + !! OVERLAP: chair <-> floor depth=[0.923, 0.001, 0.821] +============================================================ + + +============================================================ +SCENE: Library-43565 | 7 objects +============================================================ +Final Step Collision Loss: 0.0034, Room Outer Loss: 0.0841, Walkable Loss: 2.6165 (Center Penalty: 2.1333, C1 Heatmap: 0.2346, C2 Repulsion: 1.4771), Relational Loss: 0.0138 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +bookshelf 1.140 2.508 0.381 -0.832 -0.043 0.918 90.44° +bookshelf 0.624 2.024 0.351 0.795 0.002 0.946 -179.97° +chair 0.549 0.730 0.423 -0.626 0.001 -0.267 89.63° +lamp 0.447 0.248 0.442 -0.522 2.277 0.383 0.28° +desk 1.217 0.983 0.490 -0.451 -0.026 -0.756 0.13° +floor 2.677 -0.001 2.876 0.021 0.001 -0.008 -0.03° +_scene_ 0.057 0.003 0.021 -5.675 -0.005 -5.706 -57.31° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bookshelf <-> floor depth=[1.056, -0.001, 0.381] + !! OVERLAP: bookshelf <-> floor depth=[0.624, -0.001, 0.351] + !! OVERLAP: chair <-> floor depth=[0.549, -0.001, 0.423] + !! OVERLAP: desk <-> floor depth=[1.217, -0.001, 0.490] +============================================================ + + +============================================================ +SCENE: Library-24675 | 6 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0807, Walkable Loss: 1.4538 (Center Penalty: 1.1073, C1 Heatmap: 0.2054, C2 Repulsion: 0.9108), Relational Loss: 0.0002 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +lamp 0.873 1.124 0.850 0.077 1.688 -0.659 -0.19° +chair 0.405 0.867 0.361 -1.009 -0.002 0.285 90.09° +desk 1.094 0.707 0.501 0.322 -0.002 -0.588 -90.05° +bookshelf 1.437 2.697 0.352 -1.054 0.008 -0.648 90.05° +floor 2.852 0.043 2.864 -0.274 -0.004 -0.975 -0.58° +_scene_ 0.046 0.001 0.023 -5.530 -0.003 -5.621 -57.84° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: lamp <-> bookshelf depth=[0.024, 0.230, 0.352] + !! OVERLAP: chair <-> floor depth=[0.405, 0.043, 0.352] + !! OVERLAP: desk <-> floor depth=[1.094, 0.043, 0.501] + !! OVERLAP: bookshelf <-> floor depth=[1.365, 0.043, 0.352] +============================================================ + + +============================================================ +SCENE: Library-11256 | 10 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0991, Walkable Loss: 2.4499 (Center Penalty: 1.7458, C1 Heatmap: 0.2564, C2 Repulsion: 2.4950), Relational Loss: 0.0183 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +bookshelf 1.703 2.619 -0.475 0.988 -0.011 -0.061 -90.98° +bookshelf 1.758 2.139 -0.229 0.899 -0.017 0.386 -90.33° +desk 1.140 0.923 0.380 -0.561 0.004 1.092 180.00° +chair 0.447 0.912 0.424 0.456 -0.002 1.090 -89.99° +chair 0.364 0.871 0.470 -1.654 -0.000 -1.327 35.51° +chair 0.386 0.431 0.365 -1.550 -0.000 -0.306 89.46° +table 0.560 0.595 0.486 -0.575 0.000 -1.236 0.03° +lamp 0.351 0.604 0.285 -0.534 2.154 0.530 -0.12° +floor 3.627 -0.000 3.637 -0.055 0.001 -0.008 0.00° +_scene_ 0.070 0.002 0.022 -5.673 -0.005 -5.710 -57.30° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bookshelf <-> floor depth=[1.622, -0.000, -0.475] + !! OVERLAP: bookshelf <-> floor depth=[1.739, -0.000, -0.229] + !! OVERLAP: desk <-> floor depth=[1.140, -0.000, 0.380] + !! OVERLAP: chair <-> floor depth=[0.447, -0.000, 0.424] + !! OVERLAP: chair <-> floor depth=[0.364, -0.000, 0.470] + !! OVERLAP: chair <-> floor depth=[0.386, -0.000, 0.365] + !! OVERLAP: table <-> floor depth=[0.560, -0.000, 0.486] +============================================================ + + +============================================================ +SCENE: Library-70308 | 6 objects +============================================================ +Final Step Collision Loss: 0.0007, Room Outer Loss: 0.0310, Walkable Loss: 1.3558 (Center Penalty: 1.0206, C1 Heatmap: 0.0692, C2 Repulsion: 1.3997), Relational Loss: 0.0079 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +desk 0.946 0.777 0.212 -0.266 0.003 0.735 -179.40° +chair 0.221 1.015 0.238 -0.563 -0.027 0.485 18.84° +bookshelf 0.430 2.435 -0.133 1.046 -0.014 -1.082 -92.17° +lamp 0.343 1.546 0.405 -1.188 1.412 0.410 0.80° +floor 2.677 -0.020 3.482 0.010 -0.011 -0.732 0.28° +_scene_ 0.025 0.008 0.008 -5.627 -0.005 -5.695 -57.31° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: desk <-> floor depth=[0.946, -0.020, 0.212] + !! OVERLAP: chair <-> floor depth=[0.221, -0.020, 0.238] + !! OVERLAP: bookshelf <-> floor depth=[0.430, -0.020, -0.133] +============================================================ + + +============================================================ +SCENE: Library-57472 | 7 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0428, Walkable Loss: 0.8083 (Center Penalty: 0.5166, C1 Heatmap: 0.1910, C2 Repulsion: 0.6945), Relational Loss: 0.0048 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +desk 0.993 0.785 0.254 -0.329 0.009 1.350 179.69° +bookshelf 0.115 1.756 0.141 0.922 -0.001 0.836 179.89° +chair 0.479 0.704 0.463 -0.770 -0.001 0.542 0.05° +bookshelf 1.838 1.955 0.116 -1.162 0.003 -0.542 -0.01° +lamp 0.973 1.013 0.568 -0.995 2.112 0.170 0.11° +floor 3.518 0.041 2.518 -0.823 -0.012 0.643 0.75° +_scene_ 0.066 -0.001 0.030 -5.674 -0.005 -5.716 -57.31° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: desk <-> floor depth=[0.993, 0.041, 0.254] + !! OVERLAP: bookshelf <-> floor depth=[0.072, 0.041, 0.141] + !! OVERLAP: chair <-> floor depth=[0.479, 0.041, 0.463] + !! OVERLAP: bookshelf <-> floor depth=[1.838, 0.041, 0.116] +============================================================ + + +============================================================ +SCENE: Library-32231 | 7 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0000, Walkable Loss: 1.5645 (Center Penalty: 1.1672, C1 Heatmap: 0.0740, C2 Repulsion: 1.6906), Relational Loss: 0.0228 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +desk 0.726 0.896 0.045 -0.489 -0.000 -1.213 -89.36° +bookshelf 1.156 2.258 -0.039 -0.491 0.031 -0.371 -177.51° +cabinet 1.123 1.122 -0.143 -0.114 0.020 -1.063 92.24° +lamp 0.484 0.573 0.498 -0.090 2.124 -0.690 -0.10° +chair 0.055 0.915 0.195 0.264 0.012 -1.465 -21.18° +floor 2.369 -0.018 3.892 0.105 0.013 -0.932 0.04° +_scene_ 0.062 -0.001 0.020 -5.672 -0.005 -5.714 -57.29° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: desk <-> floor depth=[0.726, -0.018, 0.045] + !! OVERLAP: bookshelf <-> floor depth=[1.156, -0.018, -0.039] + !! OVERLAP: cabinet <-> floor depth=[1.123, -0.018, -0.143] + !! OVERLAP: chair <-> floor depth=[0.055, -0.018, 0.195] +============================================================ + + +============================================================ +SCENE: Library-2480 | 5 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0000, Walkable Loss: 0.7232 (Center Penalty: 0.6744, C1 Heatmap: 0.0403, C2 Repulsion: 0.0825), Relational Loss: 0.0256 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +chair 0.373 0.848 0.333 -0.869 -0.004 -0.238 90.02° +bookshelf 1.395 2.173 -0.723 0.359 -0.043 0.982 179.22° +desk 0.364 0.648 0.455 0.985 0.001 0.414 -92.23° +floor 2.642 -0.008 3.714 0.264 -0.006 -0.773 -0.41° +_scene_ 0.100 0.005 0.067 -5.647 -0.004 -5.685 -57.25° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: chair <-> floor depth=[0.373, -0.008, 0.333] + !! OVERLAP: desk <-> floor depth=[0.364, -0.008, 0.455] +============================================================ + + +============================================================ +SCENE: Library-23898 | 8 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0197, Walkable Loss: 0.9859 (Center Penalty: 0.8216, C1 Heatmap: 0.1646, C2 Repulsion: 0.1634), Relational Loss: 0.0198 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +table 0.958 0.672 0.516 -0.837 -0.008 0.000 -0.10° +lamp 0.746 0.752 0.156 0.298 1.866 0.767 -0.05° +bookshelf 0.229 2.039 0.417 1.442 0.002 -0.562 -89.66° +chair 0.446 0.934 0.471 -0.255 -0.004 1.139 174.43° +bookshelf 0.688 1.929 0.235 1.398 0.006 1.506 -90.30° +bookshelf 0.558 2.049 0.252 1.414 0.004 0.402 -90.07° +floor 3.350 0.005 3.316 0.048 -0.000 0.855 -0.33° +_scene_ 0.050 0.003 0.020 -5.674 -0.006 -5.715 -57.30° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: table <-> floor depth=[0.958, 0.005, 0.516] + !! OVERLAP: bookshelf <-> floor depth=[0.229, 0.005, 0.417] + !! OVERLAP: chair <-> floor depth=[0.446, 0.005, 0.471] + !! OVERLAP: bookshelf <-> floor depth=[0.668, 0.005, 0.235] + !! OVERLAP: bookshelf <-> floor depth=[0.558, 0.005, 0.252] +============================================================ + + +============================================================ +SCENE: Library-19283 | 5 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0000, Walkable Loss: 1.0854 (Center Penalty: 0.8427, C1 Heatmap: 0.1107, C2 Repulsion: 0.7709), Relational Loss: 0.0306 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +bookshelf 1.153 2.601 -0.105 0.749 0.029 -0.924 -87.82° +desk 1.225 1.012 0.260 -0.654 0.005 -0.773 91.04° +chair 0.319 0.817 0.346 0.061 0.013 -0.729 -89.43° +floor 2.658 -0.021 3.389 0.000 0.008 -0.763 0.07° +_scene_ 0.050 0.035 0.082 -5.246 0.001 -5.455 -57.69° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bookshelf <-> floor depth=[1.153, -0.021, -0.105] + !! OVERLAP: desk <-> chair depth=[0.057, 0.817, 0.259] + !! OVERLAP: desk <-> floor depth=[1.225, -0.021, 0.260] + !! OVERLAP: chair <-> floor depth=[0.319, -0.021, 0.346] +============================================================ + + +============================================================ +SCENE: Library-29744 | 6 objects +============================================================ +Final Step Collision Loss: 0.0110, Room Outer Loss: 0.0117, Walkable Loss: 1.1487 (Center Penalty: 0.5288, C1 Heatmap: 0.1678, C2 Repulsion: 2.4284), Relational Loss: 0.0253 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +bookshelf 2.036 2.256 -0.197 -1.234 -0.003 0.556 91.03° +bookshelf 1.600 2.272 -0.437 -0.625 0.006 -0.693 -91.78° +desk 1.224 0.739 0.123 -0.043 0.001 -1.156 0.40° +chair 0.236 0.664 0.355 -0.951 0.000 -0.221 179.05° +floor 2.872 0.033 2.746 -0.804 -0.012 -0.675 0.07° +_scene_ 0.064 -0.001 0.025 -5.662 -0.004 -5.706 -57.33° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bookshelf <-> floor depth=[2.024, 0.033, -0.197] + !! OVERLAP: bookshelf <-> floor depth=[1.600, 0.033, -0.437] + !! OVERLAP: desk <-> floor depth=[1.224, 0.033, 0.123] + !! OVERLAP: chair <-> floor depth=[0.236, 0.033, 0.355] +============================================================ + + +============================================================ +SCENE: Library-22443 | 7 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.1180, Walkable Loss: 1.2150 (Center Penalty: 0.8793, C1 Heatmap: 0.0876, C2 Repulsion: 1.3283), Relational Loss: 0.0041 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +bookshelf 0.425 2.003 0.142 -0.716 0.012 -0.379 90.12° +bookshelf 0.121 2.110 0.332 -0.752 -0.014 -0.841 90.25° +desk 1.171 0.740 0.243 0.312 -0.010 -1.101 -90.18° +chair 0.207 0.865 0.288 -0.289 -0.010 -0.941 87.62° +lamp 0.389 0.521 0.356 -0.292 2.563 -0.754 -0.46° +floor 2.822 -0.017 3.801 0.600 0.015 -1.093 0.22° +_scene_ 0.060 -0.001 0.022 -5.677 -0.005 -5.714 -57.30° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bookshelf <-> floor depth=[0.308, -0.017, 0.142] + !! OVERLAP: bookshelf <-> floor depth=[0.120, -0.017, 0.332] + !! OVERLAP: desk <-> chair depth=[0.087, 0.740, 0.105] + !! OVERLAP: desk <-> floor depth=[1.171, -0.017, 0.243] + !! OVERLAP: chair <-> floor depth=[0.207, -0.017, 0.288] +============================================================ + + +============================================================ +SCENE: Library-1093 | 8 objects +============================================================ +Final Step Collision Loss: 0.0002, Room Outer Loss: 0.3710, Walkable Loss: 1.4089 (Center Penalty: 1.0362, C1 Heatmap: 0.1323, C2 Repulsion: 1.3340), Relational Loss: 0.0102 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +bookshelf 0.639 2.162 0.164 -1.006 0.009 0.622 119.38° +bookshelf 0.502 2.011 0.222 -1.164 0.000 -0.542 89.81° +bookshelf 0.777 2.129 0.303 1.041 0.002 -0.421 -90.17° +chair 0.461 0.811 0.546 -0.799 -0.004 -0.986 88.60° +lamp 0.499 0.392 0.495 0.798 2.442 0.079 -90.09° +chair 0.386 0.561 0.417 -0.015 -0.001 -1.065 89.99° +floor 2.579 0.012 3.425 0.069 0.010 -0.638 0.28° +_scene_ 0.061 -0.001 0.014 -5.667 -0.006 -5.713 -57.33° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bookshelf <-> floor depth=[0.534, 0.012, 0.164] + !! OVERLAP: bookshelf <-> floor depth=[0.307, 0.012, 0.222] + !! OVERLAP: bookshelf <-> floor depth=[0.707, 0.012, 0.303] + !! OVERLAP: chair <-> floor depth=[0.461, 0.012, 0.546] + !! OVERLAP: chair <-> floor depth=[0.386, 0.012, 0.417] +============================================================ + + +============================================================ +SCENE: Library-13832 | 6 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0944, Walkable Loss: 1.5892 (Center Penalty: 1.2797, C1 Heatmap: 0.0701, C2 Repulsion: 1.2670), Relational Loss: 0.0257 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +bookshelf 0.538 1.660 0.189 -1.157 -0.007 0.045 90.30° +desk 0.924 0.616 0.175 -0.518 0.034 -0.663 -90.93° +chair 0.360 0.733 0.317 -0.699 0.002 0.163 89.75° +lamp 0.772 1.038 0.738 -0.088 1.746 -0.732 -0.09° +floor 2.320 -0.008 2.959 -0.172 0.010 -0.785 0.60° +_scene_ 0.060 -0.001 0.016 -5.668 -0.003 -5.711 -57.32° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bookshelf <-> floor depth=[0.444, -0.008, 0.189] + !! OVERLAP: desk <-> floor depth=[0.924, -0.008, 0.175] + !! OVERLAP: chair <-> floor depth=[0.360, -0.008, 0.317] +============================================================ + + +============================================================ +SCENE: Library-16869 | 8 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0073, Walkable Loss: 2.0292 (Center Penalty: 1.6676, C1 Heatmap: 0.2202, C2 Repulsion: 0.9275), Relational Loss: 0.0542 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +chair 0.381 0.736 0.423 0.789 0.004 0.040 0.28° +desk 1.270 1.132 0.482 0.735 0.007 0.971 -179.96° +chair 0.307 0.713 0.295 -0.786 -0.001 -0.181 -0.06° +bookshelf 0.845 1.260 0.197 0.447 -0.001 -1.330 0.01° +bookshelf 0.657 1.035 0.256 -0.944 0.002 -1.410 0.10° +desk 0.934 1.253 0.002 -0.539 0.037 1.170 179.11° +floor 2.737 -0.000 3.185 -0.006 0.001 -0.032 -0.02° +_scene_ 0.064 0.000 0.022 -5.672 -0.004 -5.713 -57.27° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: chair <-> floor depth=[0.381, -0.000, 0.423] + !! OVERLAP: desk <-> floor depth=[1.263, -0.000, 0.482] + !! OVERLAP: chair <-> floor depth=[0.307, -0.000, 0.295] + !! OVERLAP: bookshelf <-> floor depth=[0.845, -0.000, 0.197] + !! OVERLAP: bookshelf <-> floor depth=[0.657, -0.000, 0.256] + !! OVERLAP: desk <-> floor depth=[0.934, -0.000, 0.002] +============================================================ + + +============================================================ +SCENE: Library-29737 | 6 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0000, Walkable Loss: 1.5535 (Center Penalty: 1.3846, C1 Heatmap: 0.1234, C2 Repulsion: 0.3507), Relational Loss: 0.0133 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +chair 0.321 1.082 0.220 0.486 0.001 0.950 -161.12° +desk 1.688 0.734 -0.399 0.024 -0.044 -1.142 -1.03° +lamp 1.046 0.699 0.113 -0.678 1.899 -0.583 -0.18° +bookshelf 1.830 2.509 -0.047 -0.218 0.004 1.516 -179.98° +floor 2.715 -0.001 3.147 -0.009 0.001 -0.033 -0.02° +_scene_ 0.058 -0.001 0.038 -5.649 -0.003 -5.690 -57.28° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: chair <-> floor depth=[0.321, -0.001, 0.220] + !! OVERLAP: desk <-> floor depth=[1.688, -0.001, -0.399] + !! OVERLAP: bookshelf <-> floor depth=[1.830, -0.001, -0.047] +============================================================ + + +============================================================ +SCENE: Library-13751 | 6 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0000, Walkable Loss: 1.9932 (Center Penalty: 1.5932, C1 Heatmap: 0.3065, C2 Repulsion: 0.7738), Relational Loss: 0.0193 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +lamp 0.372 0.230 0.372 -0.129 2.456 0.850 -0.11° +bookshelf 1.581 1.987 0.199 0.103 -0.001 -1.283 0.12° +desk 1.769 0.685 0.638 0.389 -0.009 0.882 179.12° +chair 0.437 0.867 0.378 0.726 0.002 -0.587 -17.99° +floor 2.830 -0.002 2.772 0.014 0.000 -0.021 -0.01° +_scene_ 0.044 0.007 0.017 -5.609 -0.007 -5.671 -57.38° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bookshelf <-> floor depth=[1.581, -0.002, 0.199] + !! OVERLAP: desk <-> floor depth=[1.769, -0.002, 0.638] + !! OVERLAP: chair <-> floor depth=[0.437, -0.002, 0.378] +============================================================ + + +============================================================ +SCENE: Library-11820 | 6 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0356, Walkable Loss: 1.8993 (Center Penalty: 1.5095, C1 Heatmap: 0.3316, C2 Repulsion: 0.6223), Relational Loss: 0.0182 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +lamp 0.601 0.276 0.384 -0.553 2.411 0.425 0.11° +chair 0.375 0.890 0.338 1.055 0.001 -0.719 -112.83° +desk 0.943 0.711 0.453 0.306 -0.008 -1.194 -0.49° +bookshelf 2.453 1.848 0.417 0.029 -0.000 1.241 179.89° +floor 2.492 0.000 2.959 -0.015 0.002 -0.013 -0.01° +_scene_ 0.085 0.001 0.034 -5.661 -0.004 -5.702 -57.29° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: chair <-> floor depth=[0.364, 0.000, 0.338] + !! OVERLAP: desk <-> floor depth=[0.943, 0.000, 0.453] + !! OVERLAP: bookshelf <-> floor depth=[2.429, 0.000, 0.417] +============================================================ + + +============================================================ +SCENE: Library-45741 | 6 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0636, Walkable Loss: 1.8770 (Center Penalty: 1.5801, C1 Heatmap: 0.1728, C2 Repulsion: 0.7931), Relational Loss: 0.0000 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +desk 1.502 0.873 0.506 -0.548 0.010 0.908 90.36° +chair 0.440 0.746 0.393 0.807 -0.006 0.442 -90.40° +bookshelf 0.493 2.100 0.251 1.147 0.009 -0.116 -89.57° +lamp 0.689 0.244 0.621 -0.652 2.208 0.566 0.08° +floor 2.700 -0.001 3.192 -0.020 0.000 -0.040 -0.01° +_scene_ 0.049 0.002 0.014 -5.641 -0.005 -5.700 -57.32° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: desk <-> floor depth=[1.502, -0.001, 0.506] + !! OVERLAP: chair <-> floor depth=[0.440, -0.001, 0.393] + !! OVERLAP: bookshelf <-> floor depth=[0.430, -0.001, 0.251] +============================================================ + + +============================================================ +SCENE: Library-4659 | 5 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0000, Walkable Loss: 0.7026 (Center Penalty: 0.4498, C1 Heatmap: 0.2698, C2 Repulsion: 0.1847), Relational Loss: 0.0001 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +desk 2.211 0.891 0.528 0.686 0.010 -1.138 -0.29° +chair 0.434 1.042 0.623 0.823 0.014 0.458 -179.99° +lamp 0.486 0.584 0.865 0.079 2.025 -0.919 -0.68° +floor 2.686 0.003 3.886 0.608 -0.014 -0.983 -1.01° +_scene_ 0.116 0.154 0.283 -4.581 0.112 -4.606 -64.30° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: desk <-> floor depth=[2.211, 0.003, 0.528] + !! OVERLAP: chair <-> floor depth=[0.434, 0.003, 0.623] +============================================================ + + +============================================================ +SCENE: Library-1808 | 7 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.1690, Walkable Loss: 2.2734 (Center Penalty: 1.8260, C1 Heatmap: 0.2521, C2 Repulsion: 1.2287), Relational Loss: 0.0686 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +bookshelf 2.125 2.610 -0.102 0.532 -0.022 0.868 -89.97° +bookshelf 1.914 2.633 -0.236 0.543 -0.034 -0.970 -90.60° +desk 1.086 0.860 0.277 -0.735 0.013 0.828 91.66° +chair 0.425 1.049 0.388 -0.366 0.025 -0.832 -90.35° +lamp 0.415 0.610 0.467 -0.733 2.066 0.060 -0.19° +floor 2.919 -0.002 3.003 0.003 -0.000 -0.020 -0.04° +_scene_ 0.070 -0.000 0.031 -5.659 -0.003 -5.699 -57.29° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bookshelf <-> desk depth=[0.339, 0.860, -0.102] + !! OVERLAP: bookshelf <-> floor depth=[1.993, -0.002, -0.102] + !! OVERLAP: bookshelf <-> floor depth=[1.877, -0.002, -0.236] + !! OVERLAP: desk <-> floor depth=[1.086, -0.002, 0.277] + !! OVERLAP: chair <-> floor depth=[0.425, -0.002, 0.388] +============================================================ + + +============================================================ +SCENE: Library-457 | 5 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0001, Walkable Loss: 1.3424 (Center Penalty: 1.1274, C1 Heatmap: 0.2193, C2 Repulsion: 0.1976), Relational Loss: 0.0000 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +bookshelf 1.858 2.400 0.350 0.785 0.004 -0.194 -90.14° +lamp 0.864 0.972 1.231 0.008 1.672 -0.851 -0.09° +table 1.110 0.710 0.345 -0.662 0.002 -0.532 89.81° +floor 2.936 -0.017 3.194 0.251 -0.006 -0.642 0.09° +_scene_ 0.101 0.012 0.133 -5.480 -0.005 -5.619 -57.39° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bookshelf <-> lamp depth=[0.584, 0.018, 0.134] + !! OVERLAP: bookshelf <-> table depth=[0.036, 0.710, 0.010] + !! OVERLAP: bookshelf <-> floor depth=[1.858, -0.017, 0.350] + !! OVERLAP: table <-> floor depth=[1.109, -0.017, 0.345] +============================================================ + + +============================================================ +SCENE: Library-123545 | 8 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0345, Walkable Loss: 3.0538 (Center Penalty: 2.1588, C1 Heatmap: 0.2548, C2 Repulsion: 3.4557), Relational Loss: 0.0857 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +desk 1.141 0.801 0.377 0.796 0.004 0.367 -89.86° +chair 0.386 0.882 0.465 -0.491 -0.006 0.809 90.09° +bookshelf 1.530 2.346 -0.253 -0.873 0.006 0.569 91.12° +bookshelf 2.411 2.422 -0.632 -0.253 0.055 -1.111 89.19° +bookshelf 1.875 2.483 -0.168 -0.512 -0.038 -0.672 86.40° +lamp 1.070 0.867 0.199 0.424 1.903 0.588 -89.71° +floor 3.201 -0.001 3.196 -0.003 -0.000 0.004 -0.06° +_scene_ 0.074 0.003 0.069 -5.634 -0.002 -5.650 -57.43° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: desk <-> floor depth=[1.141, -0.001, 0.377] + !! OVERLAP: chair <-> floor depth=[0.386, -0.001, 0.465] + !! OVERLAP: bookshelf <-> floor depth=[1.496, -0.001, -0.253] + !! OVERLAP: bookshelf <-> floor depth=[2.411, -0.001, -0.632] + !! OVERLAP: bookshelf <-> floor depth=[1.875, -0.001, -0.168] +============================================================ + + +============================================================ +SCENE: Library-71638 | 7 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.3098, Walkable Loss: 1.1328 (Center Penalty: 0.8020, C1 Heatmap: 0.1704, C2 Repulsion: 0.9722), Relational Loss: 0.0024 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +desk 1.076 0.771 0.365 0.028 0.004 1.310 179.86° +bookshelf 0.346 1.775 0.197 1.375 0.003 0.516 -90.05° +chair 0.244 0.751 0.139 0.137 -0.008 0.868 0.54° +bookshelf 1.322 1.973 0.345 0.166 -0.020 -1.068 -1.10° +lamp 0.911 1.108 0.870 0.711 1.998 0.106 0.10° +floor 2.920 0.015 2.834 1.094 0.004 0.038 -0.12° +_scene_ 0.061 0.002 0.032 -5.673 -0.004 -5.703 -57.29° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: desk <-> floor depth=[0.932, 0.015, 0.327] + !! OVERLAP: bookshelf <-> floor depth=[0.346, 0.015, 0.197] + !! OVERLAP: chair <-> floor depth=[0.244, 0.015, 0.139] + !! OVERLAP: bookshelf <-> floor depth=[1.194, 0.015, 0.345] +============================================================ + + +============================================================ +SCENE: Library-90753 | 6 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0166, Walkable Loss: 1.2156 (Center Penalty: 0.5003, C1 Heatmap: 0.1969, C2 Repulsion: 2.7892), Relational Loss: 0.0012 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +chair 0.169 1.051 0.390 0.422 0.001 -0.910 37.79° +desk 0.497 0.714 0.131 0.019 0.030 -1.081 -90.35° +bookshelf 1.611 2.414 0.301 -1.134 0.011 -0.144 90.28° +lamp 0.668 1.268 0.668 -0.224 1.464 -1.076 -0.24° +floor 2.453 -0.003 3.107 -0.697 -0.011 -0.793 0.61° +_scene_ 0.064 -0.001 0.040 -5.642 -0.002 -5.681 -57.32° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: chair <-> floor depth=[0.169, -0.003, 0.390] + !! OVERLAP: desk <-> floor depth=[0.497, -0.003, 0.131] + !! OVERLAP: bookshelf <-> floor depth=[1.595, -0.003, 0.301] +============================================================ + + +============================================================ +SCENE: Library-8543 | 6 objects +============================================================ +Final Step Collision Loss: 0.0026, Room Outer Loss: 0.0005, Walkable Loss: 2.3823 (Center Penalty: 2.0333, C1 Heatmap: 0.1739, C2 Repulsion: 1.0495), Relational Loss: 0.0000 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +desk 0.913 0.838 0.325 -0.683 -0.004 -0.542 -90.67° +chair 0.326 0.994 0.412 -0.990 0.001 -0.256 0.09° +bookshelf 1.571 2.350 0.280 0.790 -0.007 0.393 -89.82° +lamp 0.280 0.734 0.205 0.178 1.766 -0.560 -0.02° +floor 2.957 -0.001 2.708 0.097 -0.000 -0.025 -0.04° +_scene_ 0.066 0.003 0.025 -5.659 -0.003 -5.690 -57.34° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: desk <-> chair depth=[0.312, 0.838, 0.082] + !! OVERLAP: desk <-> floor depth=[0.913, -0.001, 0.325] + !! OVERLAP: chair <-> floor depth=[0.326, -0.001, 0.412] + !! OVERLAP: bookshelf <-> floor depth=[1.571, -0.001, 0.280] +============================================================ + + +============================================================ +SCENE: Library-28947 | 5 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0000, Walkable Loss: 1.1382 (Center Penalty: 0.8370, C1 Heatmap: 0.1373, C2 Repulsion: 0.9569), Relational Loss: 0.0111 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +desk 1.645 1.375 0.254 -0.463 -0.001 -1.081 0.05° +chair 0.460 0.744 0.437 -0.739 -0.002 -0.530 -179.81° +lamp 0.083 0.522 0.420 -0.540 1.965 -0.570 -87.66° +floor 2.189 0.025 2.798 -0.256 0.010 -0.742 -0.63° +_scene_ -0.060 0.344 0.024 -2.585 1.330 -2.536 -69.36° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: desk <-> floor depth=[1.645, 0.025, 0.254] + !! OVERLAP: chair <-> floor depth=[0.460, 0.025, 0.437] +============================================================ + + +============================================================ +SCENE: Library-163346 | 5 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0000, Walkable Loss: 0.7115 (Center Penalty: 0.5729, C1 Heatmap: 0.1068, C2 Repulsion: 0.2655), Relational Loss: 0.0000 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +desk 0.954 0.727 0.405 0.167 0.001 -0.885 -89.95° +bookshelf 0.805 2.330 0.372 -0.857 -0.000 -0.727 89.95° +lamp 0.594 0.573 0.615 0.354 2.403 -1.079 0.34° +floor 2.252 -0.010 3.182 -0.149 0.013 -0.858 0.33° +_scene_ 0.064 0.082 0.034 -4.909 0.007 -5.039 -60.97° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: desk <-> floor depth=[0.954, -0.010, 0.405] + !! OVERLAP: bookshelf <-> floor depth=[0.805, -0.010, 0.372] +============================================================ + + +============================================================ +SCENE: Library-32140 | 5 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.1696, Walkable Loss: 0.4335 (Center Penalty: 0.2863, C1 Heatmap: 0.0810, C2 Repulsion: 0.4118), Relational Loss: 0.0081 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +desk 1.311 1.513 0.291 0.178 0.002 -1.468 0.06° +chair -0.003 0.936 0.140 -0.225 0.000 -1.040 178.51° +lamp 0.278 0.240 0.061 -0.034 2.078 -1.084 1.50° +floor 2.213 0.092 3.072 0.799 -0.041 -0.811 -0.73° +_scene_ 0.089 -0.005 0.072 -5.594 0.010 -5.618 -57.26° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: desk <-> floor depth=[1.142, 0.092, 0.291] + !! OVERLAP: chair <-> floor depth=[-0.003, 0.092, 0.140] +============================================================ + + +============================================================ +SCENE: Library-19891 | 9 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.1246, Walkable Loss: 1.2408 (Center Penalty: 0.5527, C1 Heatmap: 0.3398, C2 Repulsion: 2.0812), Relational Loss: 0.0199 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +bookshelf 2.238 2.463 0.080 0.676 -0.004 1.227 179.81° +desk 1.542 0.800 0.171 1.267 0.015 -0.009 -179.57° +chair 0.056 0.954 0.244 1.380 0.002 0.688 -179.59° +chair 0.465 1.054 0.565 -0.314 -0.000 -1.481 3.17° +chair 0.461 0.975 0.565 1.237 0.000 -1.271 0.11° +table 0.443 0.598 0.453 0.455 -0.000 -1.322 -0.02° +lamp 0.516 0.669 0.473 0.464 1.935 -0.606 0.20° +floor 3.378 0.061 3.215 0.874 -0.054 -0.465 0.14° +_scene_ 0.064 0.001 0.021 -5.671 -0.005 -5.716 -57.30° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: desk <-> floor depth=[1.542, 0.061, 0.171] + !! OVERLAP: chair <-> floor depth=[0.056, 0.061, 0.244] + !! OVERLAP: chair <-> floor depth=[0.465, 0.061, 0.565] + !! OVERLAP: chair <-> floor depth=[0.461, 0.061, 0.565] + !! OVERLAP: table <-> floor depth=[0.443, 0.061, 0.453] +============================================================ + + +============================================================ +SCENE: Library-7168 | 6 objects +============================================================ +Final Step Collision Loss: 0.0091, Room Outer Loss: 0.0019, Walkable Loss: 0.8469 (Center Penalty: 0.4667, C1 Heatmap: 0.1880, C2 Repulsion: 1.1486), Relational Loss: 0.0018 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +desk 1.132 0.757 0.182 -0.310 0.001 -0.900 90.08° +bookshelf 0.893 2.588 0.205 -0.822 -0.003 -0.877 0.15° +bookshelf 0.097 2.331 0.211 0.371 0.033 -1.093 -89.74° +bookshelf 1.743 2.086 0.077 -0.476 -0.000 0.941 -179.92° +floor 2.153 -0.002 3.951 -0.658 0.002 -0.944 -0.86° +_scene_ 0.112 0.220 0.311 -2.961 0.005 -3.003 -79.91° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: desk <-> bookshelf depth=[0.500, 0.757, 0.170] + !! OVERLAP: desk <-> floor depth=[1.132, -0.002, 0.182] + !! OVERLAP: bookshelf <-> floor depth=[0.893, -0.002, 0.205] + !! OVERLAP: bookshelf <-> floor depth=[0.096, -0.002, 0.211] + !! OVERLAP: bookshelf <-> floor depth=[1.743, -0.002, 0.077] +============================================================ + + +============================================================ +SCENE: Library-17832 | 9 objects +============================================================ +Final Step Collision Loss: 0.0001, Room Outer Loss: 0.0677, Walkable Loss: 1.2006 (Center Penalty: 0.7355, C1 Heatmap: 0.2027, C2 Repulsion: 1.5150), Relational Loss: 0.0388 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +desk 0.573 0.587 0.134 1.019 -0.002 -0.437 1.29° +chair 0.366 0.870 0.469 0.584 0.003 -1.050 90.10° +wardrobe 1.164 2.137 0.188 -1.467 -0.002 0.763 -179.80° +wardrobe 0.758 2.280 0.489 -1.843 -0.005 -0.592 90.07° +wardrobe 0.576 2.227 0.368 1.407 0.004 -0.791 -89.87° +wardrobe 0.482 1.934 0.376 1.543 0.004 0.391 -90.04° +lamp 0.547 0.115 0.542 0.246 2.777 -0.649 -0.20° +floor 4.079 0.023 3.352 -0.288 0.003 -0.855 -0.39° +_scene_ 0.044 0.000 0.014 -5.671 -0.005 -5.704 -57.37° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: desk <-> floor depth=[0.573, 0.023, 0.134] + !! OVERLAP: chair <-> floor depth=[0.366, 0.023, 0.469] + !! OVERLAP: wardrobe <-> floor depth=[1.164, 0.023, 0.153] + !! OVERLAP: wardrobe <-> floor depth=[0.758, 0.023, 0.489] + !! OVERLAP: wardrobe <-> floor depth=[0.576, 0.023, 0.368] + !! OVERLAP: wardrobe <-> floor depth=[0.450, 0.023, 0.376] +============================================================ + + +============================================================ +SCENE: Library-25138 | 6 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.1039, Walkable Loss: 1.4197 (Center Penalty: 1.2170, C1 Heatmap: 0.0853, C2 Repulsion: 0.6727), Relational Loss: 0.0132 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +chair 0.595 0.816 0.545 -0.355 0.000 0.908 -179.87° +chair 0.440 0.861 0.661 -0.625 0.004 0.079 0.06° +lamp 0.399 0.747 0.445 1.505 2.152 0.098 -179.90° +lamp 0.254 0.766 0.303 -0.479 1.723 -0.317 -0.09° +floor 3.034 -0.024 3.958 0.775 -0.000 -0.781 0.03° +_scene_ 0.070 0.000 0.025 -5.651 -0.005 -5.685 -57.37° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: chair <-> floor depth=[0.595, -0.024, 0.545] + !! OVERLAP: chair <-> floor depth=[0.337, -0.024, 0.661] +============================================================ + + +============================================================ +SCENE: Library-36052 | 7 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0000, Walkable Loss: 1.5172 (Center Penalty: 0.9636, C1 Heatmap: 0.0344, C2 Repulsion: 2.6306), Relational Loss: 0.0101 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +bookshelf 0.805 2.546 -0.462 -1.075 0.007 -0.441 -88.54° +bookshelf 1.101 2.319 -0.349 -0.985 0.009 0.024 -93.19° +bookshelf 1.118 2.423 -0.560 -0.864 0.026 -0.004 -88.61° +bookshelf 1.344 2.363 -0.503 -0.738 -0.005 0.043 -90.78° +desk 0.693 0.750 0.128 -1.256 -0.006 -0.864 91.46° +floor 2.083 0.049 3.358 -0.903 0.006 -0.178 0.10° +_scene_ 0.037 0.326 1.814 -3.736 -0.014 -2.901 -80.29° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bookshelf <-> floor depth=[0.805, 0.049, -0.462] + !! OVERLAP: bookshelf <-> floor depth=[1.101, 0.049, -0.349] + !! OVERLAP: bookshelf <-> floor depth=[1.118, 0.049, -0.560] + !! OVERLAP: bookshelf <-> floor depth=[1.344, 0.049, -0.503] + !! OVERLAP: desk <-> floor depth=[0.693, 0.049, 0.128] +============================================================ + + +============================================================ +SCENE: Library-40642 | 6 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0038, Walkable Loss: 2.0079 (Center Penalty: 1.4573, C1 Heatmap: 0.3155, C2 Repulsion: 1.4912), Relational Loss: 0.0102 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +desk 1.387 0.717 0.513 0.025 0.002 -1.635 0.14° +chair 0.424 0.905 0.345 -0.326 -0.017 -1.041 -144.17° +bookshelf 0.844 2.010 0.308 0.785 -0.002 0.936 -90.28° +lamp 1.042 1.236 0.947 -0.417 1.480 0.642 -0.56° +floor 2.403 -0.000 3.826 0.002 -0.001 0.008 -0.01° +_scene_ 0.067 0.001 0.016 -5.648 -0.004 -5.698 -57.29° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: desk <-> floor depth=[1.387, -0.000, 0.513] + !! OVERLAP: chair <-> floor depth=[0.424, -0.000, 0.345] + !! OVERLAP: bookshelf <-> floor depth=[0.841, -0.000, 0.308] +============================================================ + + +============================================================ +SCENE: Library-58697 | 7 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0000, Walkable Loss: 1.1148 (Center Penalty: 0.7672, C1 Heatmap: 0.2641, C2 Repulsion: 0.6818), Relational Loss: 0.0176 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +desk 1.712 0.676 0.560 -0.715 0.000 -0.329 -0.07° +bookshelf 0.973 2.450 0.274 -1.063 0.011 1.344 179.92° +bookshelf 0.701 2.216 0.358 0.735 0.001 1.398 179.99° +bookshelf 0.345 2.160 0.202 -0.243 0.001 1.383 -179.80° +lamp 0.869 0.148 0.834 -0.839 2.617 -0.056 -0.23° +floor 3.902 -0.050 2.626 -0.558 -0.022 0.693 0.74° +_scene_ 0.015 -0.006 0.002 -5.635 -0.001 -5.674 -57.34° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: desk <-> floor depth=[1.712, -0.050, 0.560] + !! OVERLAP: bookshelf <-> floor depth=[0.973, -0.050, 0.274] + !! OVERLAP: bookshelf <-> floor depth=[0.701, -0.050, 0.358] + !! OVERLAP: bookshelf <-> floor depth=[0.345, -0.050, 0.202] +============================================================ + + +============================================================ +SCENE: Library-145994 | 10 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0169, Walkable Loss: 1.8081 (Center Penalty: 0.6495, C1 Heatmap: 0.2566, C2 Repulsion: 4.7670), Relational Loss: 0.0368 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +bookshelf 1.365 2.064 -0.168 -2.035 0.002 0.367 90.21° +bookshelf 1.750 2.041 -0.009 -0.832 0.005 0.962 -179.85° +bookshelf 1.300 2.057 -0.328 -1.855 0.002 0.519 89.16° +bookshelf 1.303 1.934 -0.296 -1.487 0.017 0.309 90.40° +bookshelf 1.033 2.082 0.180 0.053 0.006 -1.148 0.11° +bookshelf 1.150 2.000 -0.110 -0.017 -0.003 -1.570 0.34° +desk 1.983 2.768 -0.505 -0.900 -0.002 -0.474 178.43° +lamp 0.415 0.443 0.401 -0.431 2.239 0.623 -0.77° +floor 3.286 -0.024 2.940 -1.058 0.026 -0.395 -0.98° +_scene_ 0.178 0.239 0.788 -2.952 1.057 -2.089 -84.01° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bookshelf <-> floor depth=[1.348, -0.024, -0.168] + !! OVERLAP: bookshelf <-> floor depth=[1.750, -0.024, -0.009] + !! OVERLAP: bookshelf <-> floor depth=[1.300, -0.024, -0.328] + !! OVERLAP: bookshelf <-> floor depth=[1.303, -0.024, -0.296] + !! OVERLAP: bookshelf <-> floor depth=[1.033, -0.024, 0.180] + !! OVERLAP: bookshelf <-> floor depth=[1.150, -0.024, -0.110] + !! OVERLAP: desk <-> floor depth=[1.983, -0.024, -0.505] +============================================================ + + +============================================================ +SCENE: Library-39529 | 6 objects +============================================================ +Final Step Collision Loss: 0.0231, Room Outer Loss: 0.1546, Walkable Loss: 1.2711 (Center Penalty: 0.8582, C1 Heatmap: 0.2247, C2 Repulsion: 1.1655), Relational Loss: 0.0000 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +bookshelf 1.422 2.381 0.341 1.038 -0.003 -0.494 -90.35° +desk 1.213 0.986 0.480 -0.614 0.004 -0.563 90.14° +chair 0.481 0.835 0.496 0.673 0.003 -0.719 -90.61° +lamp 0.468 0.657 0.384 0.479 1.968 -0.657 0.07° +floor 2.966 0.009 2.990 0.111 -0.005 -1.009 1.23° +_scene_ 0.068 -0.002 0.043 -5.650 -0.005 -5.684 -57.32° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bookshelf <-> chair depth=[0.481, 0.835, 0.193] + !! OVERLAP: bookshelf <-> floor depth=[1.267, 0.009, 0.341] + !! OVERLAP: desk <-> floor depth=[1.213, 0.009, 0.480] + !! OVERLAP: chair <-> floor depth=[0.481, 0.009, 0.496] +============================================================ + + +============================================================ +SCENE: Library-56351 | 6 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0000, Walkable Loss: 1.5317 (Center Penalty: 0.9527, C1 Heatmap: 0.1403, C2 Repulsion: 2.3336), Relational Loss: 0.0254 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +bookshelf 2.022 2.597 -0.455 -0.766 -0.008 0.474 -178.73° +bookshelf 2.073 2.188 -0.599 -0.803 -0.042 0.060 178.55° +desk 1.610 0.724 -0.178 -0.797 0.031 -0.122 178.66° +chair 0.478 0.796 0.229 -0.542 0.003 -1.116 0.30° +floor 2.901 -0.030 3.621 -0.496 0.009 -0.812 -0.58° +_scene_ 0.069 0.004 0.041 -5.676 -0.006 -5.698 -57.27° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bookshelf <-> floor depth=[2.022, -0.030, -0.455] + !! OVERLAP: bookshelf <-> floor depth=[2.073, -0.030, -0.599] + !! OVERLAP: desk <-> floor depth=[1.610, -0.030, -0.178] + !! OVERLAP: chair <-> floor depth=[0.478, -0.030, 0.229] +============================================================ + + +============================================================ +SCENE: Library-5406 | 9 objects +============================================================ +Final Step Collision Loss: 0.0005, Room Outer Loss: 0.1021, Walkable Loss: 1.4826 (Center Penalty: 0.8279, C1 Heatmap: 0.2507, C2 Repulsion: 2.2706), Relational Loss: 0.0308 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +desk 1.186 0.796 0.790 -0.097 0.010 -1.030 -0.16° +bookshelf 0.505 2.047 0.152 0.401 0.004 1.252 -179.68° +bookshelf 0.615 2.155 0.202 -0.293 -0.000 1.128 179.93° +chair 0.444 0.760 0.440 -0.691 -0.001 -0.447 0.12° +bookshelf 0.661 2.101 0.377 -1.774 -0.000 -1.023 89.95° +bookshelf 0.502 2.140 0.280 -0.944 0.005 1.094 -179.72° +lamp 0.620 0.102 0.508 -0.309 2.515 -0.772 -0.06° +floor 3.262 0.011 3.125 -1.080 -0.007 -0.206 0.34° +_scene_ 0.082 0.061 0.229 -5.455 -0.008 -5.552 -59.80° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: desk <-> chair depth=[0.221, 0.760, 0.033] + !! OVERLAP: desk <-> floor depth=[1.186, 0.011, 0.790] + !! OVERLAP: bookshelf <-> floor depth=[0.402, 0.011, 0.152] + !! OVERLAP: bookshelf <-> floor depth=[0.615, 0.011, 0.202] + !! OVERLAP: chair <-> floor depth=[0.444, 0.011, 0.440] + !! OVERLAP: bookshelf <-> floor depth=[0.661, 0.011, 0.377] + !! OVERLAP: bookshelf <-> floor depth=[0.502, 0.011, 0.280] +============================================================ + + +============================================================ +SCENE: Library-51220 | 6 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0000, Walkable Loss: 1.0473 (Center Penalty: 0.8943, C1 Heatmap: 0.0382, C2 Repulsion: 0.6117), Relational Loss: 0.0218 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +desk 0.433 0.822 0.445 -0.276 -0.019 -1.158 -88.10° +chair 0.232 0.883 0.355 -0.610 0.003 -0.581 90.12° +bookshelf 0.131 1.837 -0.018 0.246 -0.046 -1.342 -90.56° +lamp 0.556 0.425 0.562 -0.447 2.227 -0.519 -0.09° +floor 2.452 0.019 2.626 -0.641 -0.007 -0.671 0.44° +_scene_ 0.069 -0.002 0.034 -5.647 -0.002 -5.692 -57.29° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: desk <-> floor depth=[0.433, 0.019, 0.445] + !! OVERLAP: chair <-> floor depth=[0.232, 0.019, 0.355] + !! OVERLAP: bookshelf <-> floor depth=[0.131, 0.019, -0.018] +============================================================ + + +============================================================ +SCENE: Library-5781 | 6 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0000, Walkable Loss: 2.0292 (Center Penalty: 1.6825, C1 Heatmap: 0.2608, C2 Repulsion: 0.6904), Relational Loss: 0.0005 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +desk 1.249 0.796 0.539 0.451 -0.001 0.766 179.92° +chair 0.428 0.869 0.438 -0.665 -0.001 -0.580 10.51° +bookshelf 1.823 2.472 0.248 0.120 -0.000 -1.310 0.03° +lamp 0.981 0.877 0.941 -0.290 1.985 0.776 0.25° +floor 2.763 -0.003 2.900 0.040 0.001 -0.089 -0.01° +_scene_ 0.038 0.002 0.025 -5.645 -0.005 -5.692 -57.27° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: desk <-> floor depth=[1.249, -0.003, 0.539] + !! OVERLAP: chair <-> floor depth=[0.428, -0.003, 0.438] + !! OVERLAP: bookshelf <-> floor depth=[1.823, -0.003, 0.248] +============================================================ + + +============================================================ +SCENE: Library-123334 | 7 objects +============================================================ +Final Step Collision Loss: 0.0162, Room Outer Loss: 0.0000, Walkable Loss: 2.1949 (Center Penalty: 1.3922, C1 Heatmap: 0.4449, C2 Repulsion: 2.2343), Relational Loss: 0.0129 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +desk 0.582 0.793 0.099 -1.139 0.003 0.219 0.24° +chair 0.316 0.894 0.241 -0.582 -0.007 0.654 -97.46° +bookshelf 2.791 2.653 0.005 -0.025 -0.002 1.619 179.92° +bookshelf 2.505 2.550 0.208 0.064 0.001 1.522 -179.91° +lamp 0.957 0.743 0.289 0.607 1.900 -0.891 -0.18° +floor 2.970 -0.002 3.512 -0.043 0.001 -0.011 -0.02° +_scene_ 0.074 0.001 0.039 -5.670 -0.005 -5.708 -57.30° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: desk <-> floor depth=[0.582, -0.002, 0.099] + !! OVERLAP: chair <-> floor depth=[0.316, -0.002, 0.241] + !! OVERLAP: bookshelf <-> bookshelf depth=[2.505, 2.550, 0.005] + !! OVERLAP: bookshelf <-> floor depth=[2.791, -0.002, 0.005] + !! OVERLAP: bookshelf <-> floor depth=[2.505, -0.002, 0.208] +============================================================ + + +============================================================ +SCENE: Library-1511 | 5 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0109, Walkable Loss: 1.5353 (Center Penalty: 1.3476, C1 Heatmap: 0.1685, C2 Repulsion: 0.2644), Relational Loss: 0.0000 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +desk 1.476 1.075 0.600 0.490 0.018 0.886 179.51° +chair 0.339 0.801 0.551 1.219 0.000 -0.263 -90.21° +lamp 0.454 0.302 0.540 -0.797 2.359 0.483 -0.10° +floor 2.767 -0.001 3.163 -0.007 -0.000 -0.027 -0.01° +_scene_ 0.045 0.007 0.026 -5.646 -0.002 -5.654 -57.20° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: desk <-> floor depth=[1.476, -0.001, 0.600] + !! OVERLAP: chair <-> floor depth=[0.328, -0.001, 0.551] +============================================================ + + +============================================================ +SCENE: Library-74566 | 6 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0000, Walkable Loss: 2.0934 (Center Penalty: 1.6031, C1 Heatmap: 0.1276, C2 Repulsion: 1.9412), Relational Loss: 0.0383 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +wardrobe 1.445 2.127 0.028 -0.140 0.032 -0.964 91.08° +desk 0.828 0.723 0.315 -0.696 -0.020 -1.317 -0.83° +chair 0.367 0.805 0.481 -0.830 0.003 -0.567 89.73° +lamp 0.363 0.253 0.354 -0.307 2.431 -0.694 0.61° +floor 2.358 0.003 3.331 -0.014 0.003 -0.057 -0.01° +_scene_ 0.058 0.002 0.025 -5.671 -0.005 -5.716 -57.30° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: wardrobe <-> floor depth=[1.445, 0.003, 0.028] + !! OVERLAP: desk <-> floor depth=[0.828, 0.003, 0.315] + !! OVERLAP: chair <-> floor depth=[0.367, 0.003, 0.481] +============================================================ + + +============================================================ +SCENE: Library-35695 | 9 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0000, Walkable Loss: 1.4238 (Center Penalty: 0.8685, C1 Heatmap: 0.2543, C2 Repulsion: 1.7593), Relational Loss: 0.0264 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +bookshelf 1.565 2.795 -0.089 0.228 0.002 -1.661 -0.10° +bookshelf 1.913 2.441 0.052 -1.025 -0.001 -1.510 0.21° +desk 0.842 0.744 0.177 -0.642 0.009 -0.287 -179.75° +chair 0.215 1.039 0.105 -0.364 0.011 -0.869 -0.36° +table 0.533 0.889 0.015 0.763 0.038 -0.860 -91.06° +chair 0.576 0.954 0.596 -1.361 0.006 1.056 165.50° +lamp 0.372 0.894 0.442 -0.811 2.008 0.466 -0.03° +floor 4.470 -0.015 3.119 -1.126 -0.008 -0.172 0.08° +_scene_ 0.067 0.001 0.023 -5.669 -0.005 -5.711 -57.32° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bookshelf <-> floor depth=[1.565, -0.015, -0.089] + !! OVERLAP: bookshelf <-> floor depth=[1.913, -0.015, 0.052] + !! OVERLAP: desk <-> floor depth=[0.842, -0.015, 0.177] + !! OVERLAP: chair <-> floor depth=[0.215, -0.015, 0.105] + !! OVERLAP: table <-> floor depth=[0.533, -0.015, 0.015] + !! OVERLAP: chair <-> floor depth=[0.576, -0.015, 0.596] +============================================================ + + +============================================================ +SCENE: Library-934 | 8 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0563, Walkable Loss: 1.9980 (Center Penalty: 1.3437, C1 Heatmap: 0.4724, C2 Repulsion: 1.3821), Relational Loss: 0.0205 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +lamp 0.278 0.873 0.360 0.397 2.064 -0.816 -0.41° +desk 1.290 0.776 0.474 -0.207 0.001 -1.205 -0.00° +bookshelf 2.821 1.615 0.269 0.502 0.002 1.309 -179.96° +chair 0.482 0.979 0.531 -1.158 -0.001 -0.333 138.79° +chair 0.507 1.005 0.591 1.267 -0.001 -0.769 -89.93° +table 0.410 0.726 0.458 1.390 0.000 0.285 179.94° +floor 3.782 -0.003 2.967 -0.034 0.001 -0.023 -0.01° +_scene_ 0.080 0.002 0.028 -5.667 -0.004 -5.713 -57.31° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: desk <-> floor depth=[1.290, -0.003, 0.474] + !! OVERLAP: bookshelf <-> floor depth=[2.764, -0.003, 0.269] + !! OVERLAP: chair <-> floor depth=[0.482, -0.003, 0.531] + !! OVERLAP: chair <-> floor depth=[0.507, -0.003, 0.591] + !! OVERLAP: table <-> floor depth=[0.410, -0.003, 0.458] +============================================================ + diff --git a/current_works/work_37/extracted_part2/2050/echoscene/Bedroom-11202_echoscene.glb b/current_works/work_37/extracted_part2/2050/echoscene/Bedroom-11202_echoscene.glb new file mode 100644 index 0000000000000000000000000000000000000000..6b32716cceaa1ce3920193c3774f46e0a8f6d5fb --- /dev/null +++ b/current_works/work_37/extracted_part2/2050/echoscene/Bedroom-11202_echoscene.glb @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:5558395c60ebe2cfa7d92d53815ae6412dc1bbc393c8be89513c6a3fa46802a6 +size 2479284 diff --git a/current_works/work_37/extracted_part2/2050/echoscene/Bedroom-12864_echoscene.glb b/current_works/work_37/extracted_part2/2050/echoscene/Bedroom-12864_echoscene.glb new file mode 100644 index 0000000000000000000000000000000000000000..328b39cb281f9696046d9f6f97fd72d257bbf43d --- /dev/null +++ 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